Emerson Epsilon EP Drive 400518-01 Manuel d'installation

Reference ManualP/N 400518-04Revision: A1Date: December 22, 2006© Control Techniques Americas LLC, 2006Epsilon EP-P Drive and FM-3/4 Modules

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88Epsilon EP-P Drive and FM-3/4 Module Reference ManualIndexTypeSelect the index type from Incremental, Absolute, Registration, Rotary Plus, or Rotary

89Setting Up Parameters Figure 82: Time Check Box EnabledIf the values for Max.Velocity, Max.Acceleration, and Max.Deceleration are such that the dist

90Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 83: Timed Index ProfilesEnable Index PLSThis check box enables (when selected) or disab

91Setting Up ParametersRegistration ParametersThe following parameters are entered on the Registration tab and are only available if Registration is s

92Epsilon EP-P Drive and FM-3/4 Module Reference ManualIf the Registration Offset distance is in the opposite direction from the move, or is so short

93Setting Up ParametersIndex.#.Initiate The Index.#.Initiate destination is used to initiate the specific index. The Index is initiated on the rising

94Epsilon EP-P Drive and FM-3/4 Module Reference ManualGearing View Figure 84: Gearing ViewGearing is used to fix the motion of the motor to the motio

95Setting Up Parameters Figure 85: Gearing Acceleration Ramp DescriptionThe GearRatio can be changed on the fly (while in motion), but acceleration or

96Epsilon EP-P Drive and FM-3/4 Module Reference ManualBoth of these lines of code will initiate Index 0 on Profile 0. The first one uses Profile 0 b

97Setting Up ParametersIndex.1.Initiate On Profile.1Wait For Index.1.CommandCompleteDriveOutput.1 = ONIf using the “On Profile” command on the same li

ixCustomer Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

98Epsilon EP-P Drive and FM-3/4 Module Reference ManualWait For DriveInput.2 = OFFMotionStop = OFFMotionStop for an AssignmentThe MotionStop as explai

99Setting Up ParametersBy selecting Modbus in the Hierarchy Tree, the Modbus View will appear on the right (see Figure 87). The right part of the wind

100Epsilon EP-P Drive and FM-3/4 Module Reference ManualSome Modbus addresses have been reserved and can not be assigned: 39980-39999 and 49501-49999.

101ProgrammingBy selecting Program in the Hierarchy Tree, the Program View will appear on the right (see Figure 89). The left side of this view contai

102Epsilon EP-P Drive and FM-3/4 Module Reference ManualBook MarkThis button will insert a bookmark on the line of code on which the cursor is placed.

103ProgrammingProgram Where Am I?Clicking on this button will show the line of the program that is currently being executed. A blue arrow will point t

104Epsilon EP-P Drive and FM-3/4 Module Reference Manual‘Input.1 is ON and DriveInput.2 is OFFDriveOutput.1=ONDriveOutput.2=OFFEndifIf (DriveInput.2=O

105ProgrammingExamples:Do While DriveInput.1=ON ‘Repeat the three lines of code below ‘as long as DriveInput.1 is ON.Index.1.Initiate ‘Incremental,Dis

106Epsilon EP-P Drive and FM-3/4 Module Reference ManualDriveOutput.1=OFFWait For Index.AnyCommandCompleteLoopCall ProgramThis program flow instructio

107Programmingvar.var1 = 1111111111111111111111111111111bvar.var2 = 0000000000000000000001111101000bBitOrThis operator may be used when it is desirabl

xMotion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

108Epsilon EP-P Drive and FM-3/4 Module Reference ManualProgram Math FunctionsCosThis trig function can be used in formulas from within a program. Exa

109ProgrammingExamples:Do While (TRUE)Index.0.Initiate‘Incremetal,Dist=25.000in,Vel=25in/sDwell For Time 1.000‘SecondsLoopDo While (TRUE)Index.0.Initi

110Epsilon EP-P Drive and FM-3/4 Module Reference ManualCompoundIndexInitiate var.var0goto a:Index.InitiateThis program instruction is used to initiat

111ProgrammingWait For Index.AnyCommandComplete Figure 90: Index Velocity ProfileIndex.0.CompoundInitiate ‘Incremetal,Dist=5.000in,Vel=50in/sDriveOutp

112Epsilon EP-P Drive and FM-3/4 Module Reference ManualExample:Index.0.BlendInitiate into (1)DriveOutput.1=ONIndex.1.BlendInitiate into (2)DriveOutpu

113ProgrammingExamples:Jog.0.MinusInitiate ‘Vel=27.2in/sJog.1.MinusInitiate ‘Sync,Vel=1.000in/inProgram.ProgramStopThe Program.#.ProgramStop instructi

114Epsilon EP-P Drive and FM-3/4 Module Reference ManualPrior to A1 firmware in the FM-3/4, the user had no control over the timeline. If a motion ini

115ProgrammingGear.Initiate On Profile.1 'Gear operates on Profile 1Wait For DriveInput.3 = ONGear.Stop On Profile.1 'Stop Gear running on P

116Epsilon EP-P Drive and FM-3/4 Module Reference Manualeven through a fault condition. In order to do this, a program must be classified as “Run Anyt

117ProgrammingProgram Multi-TaskingMany applications require the operation of a background task that operates outside of the main program loop, but mu

1IntroductionEpsilon EP DriveThe Epsilon EP drive is a stand-alone, fully digital brushless servo drive designed and built to reliably provide high pe

118Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 94: Time Slicing and Multiple Tasking HandlingIn Figure 94, the Update Rate (found on

119ProgrammingA Dwell instruction is also a motion instruction and can block the program in the same way. The Dwell cannot start until Index0 is comp

120Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 96: Time Slicing Flow ChartExample ProgramsOut and Return - SimpleDescription: Move ou

121ProgrammingDo While (TRUE) ‘Repeat until the program is haltedWait For DriveInput.2=ON ‘Wait for the “Go” InputDriveOutput.1=OFF ‘Clear the “At Pos

122Epsilon EP-P Drive and FM-3/4 Module Reference ManualIf(DriveInput.2=ON) Then ‘Jog+ when DriveInput.2=ONJog.0.PlusInitiate ‘Vel=20in/sWait For Driv

123ProgrammingLoopSynchronized Jog with Manual Phase AdjustmentThe motor controls a lugged conveyor belt which is synchronized to another lugged conve

124Epsilon EP-P Drive and FM-3/4 Module Reference ManualIf ((DriveInput.4=ON) AND (DriveOutput.4=OFF)) ThenIndex.1.Dist = Index.1.Dist - 0.10 ‘ouncesD

125ProgrammingSubroutine for Jogging the Axis into the Desired Position (Program 1)‘Allow jogging until either the “Learn” input (DriveInput.1)‘or the

126Epsilon EP-P Drive and FM-3/4 Module Reference Manual

127Parameter DescriptionsThis section lists all programmable and feedback parameters available. The parameters are listed alphabetically by variable n

2Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 2: EN Drive with FM-3/4 Function ModuleNote that the drive’s firmware is disabled whenev

128Epsilon EP-P Drive and FM-3/4 Module Reference ManualBit Number ValueBit.B#This read/write bit may be used in a program as an intermediary variable

129Parameter DescriptionsCapture ResetCaptureReset The CaptureReset is used to reset or re-arm the capture component after it has been activated. If

130Epsilon EP-P Drive and FM-3/4 Module Reference ManualCommutation Angle CorrectionCommutationAngleCorrectionThe difference between the electrical an

131Parameter Descriptionsdecimal places set in this parameter determines the number of decimal places used in all distance parameters throughout the s

132Epsilon EP-P Drive and FM-3/4 Module Reference ManualDrive Input RawDriveInput.#.RawThis displays the raw state of the digital input without deboun

133Parameter DescriptionsFault CountsFault.#.CountsThe module stores the total number of times the specific fault has occurred since it was manufactur

134Epsilon EP-P Drive and FM-3/4 Module Reference Manual7 = Module program fault8 = No Program9 = DN Connection Time Out10 = DN Bus Off11 = DN Duplica

135Parameter DescriptionsFault Log - Power Up CountFaultLog.#.PowerUpCountThis is the module power up count at the time that the fault occurred.Fault

136Epsilon EP-P Drive and FM-3/4 Module Reference ManualFeedRate DeactivateFeedRateDeactivateThis destination allows the user to deactivate the FeedRa

137Parameter DescriptionsGear AccelGear.AccelThis parameter sets the acceleration of the realtime gearing ramp. Gear.Accel units are in Follower Units

3Operational OverviewThis section provides a complete functional description of the Epsilon EP-P drive and FM-3/4 module . It is intended to provide y

138Epsilon EP-P Drive and FM-3/4 Module Reference ManualGear DeceleratingGear.DeceleratingIf Gear.DecelEnable is activated, this source is activated d

139Parameter DescriptionsDeceleratingHome.#.DeceleratingThis source is active during any deceleration while the specified home is in progress. Deceler

140Epsilon EP-P Drive and FM-3/4 Module Reference ManualHome ReferenceHome.#.ReferenceThis parameter determines how the reference position is determin

141Parameter DescriptionsAccelerationIndex.#.AccelThis parameter is the average Acceleration rate used during the index. Units are specified on the Us

142Epsilon EP-P Drive and FM-3/4 Module Reference ManualDistanceIndex.#.DistThis parameter is the Incremental distance that the index will travel or t

143Parameter DescriptionsPLS StatusIndex.#.PLSStatusControlled by the PLSOn and PLSOff Points, this is relative to the distance commanded since the st

144Epsilon EP-P Drive and FM-3/4 Module Reference ManualVelocityIndex.#.VelThis parameter sets the target velocity of the specific index. The units f

145Parameter DescriptionsSelectJog.Select0This destination is used to select between the jogs. It is used along with the Jog.PlusActivate and Jog.Minu

146Epsilon EP-P Drive and FM-3/4 Module Reference ManualInitiate MinusJog.#.MinusInitiateThis is used inside a program to initiate a specific jog. Wh

147Parameter DescriptionsModule Input Debounce TimeModuleInput.#.DebounceTimeThe Module Input Debounce Time parameter is the minimum time a digital in

4Epsilon EP-P Drive and FM-3/4 Module Reference ManualThe “Hierarchy Tree” (shown above) contains expandable groups of parameters. The groups can be e

148Epsilon EP-P Drive and FM-3/4 Module Reference ManualModule Output ForceModuleOutput.#.ForceA module output can be forced either On or Off. If the

149Parameter DescriptionsPLS Off PointPLS.#.OffPosnPLS.#.Status will be active when the selected source position is between the PLS.#.OnPosn and the P

150Epsilon EP-P Drive and FM-3/4 Module Reference ManualPLS SourcePLS.#.SourcePLSs can be assigned to three different sources: MotorPosnFeedback, Moto

151Parameter DescriptionsPower Stage EnabledPowerStageEnabledThis source (output function) is active when the drive's power stage is enabled.Powe

152Epsilon EP-P Drive and FM-3/4 Module Reference Manualdeactivate. This allows the user to see when any motion being run on this profile is decelerat

153Parameter DescriptionsSizeQueue SizeThis is the maximum number of elements that can be stored in the queue. If more than this number of pieces of

154Epsilon EP-P Drive and FM-3/4 Module Reference ManualQueue OverflowQueue.#.QueueOverflowThis source activates when there is no more room in the que

155Parameter DescriptionsShunt ActiveShuntActiveThis source is active when the drive's internal shunt is active (conducting current).Shunt Power

156Epsilon EP-P Drive and FM-3/4 Module Reference ManualStopStopActivate this destination to stop all motion and programs. If Stop is activated when a

157Parameter Descriptions(hardware or software) are no longer valid. If disabled using a program, the travel limits will automatically be re-enabled

5Operational OverviewParameter ScreensAfter selecting a group using one of the soft keys, the FM-3/4 module will display a Parameter screen for that g

158Epsilon EP-P Drive and FM-3/4 Module Reference ManualVariable DecimalVar.Var#.DecimalThis parameter specifies the number of decimal placed of resol

159Parameter DescriptionsTime ScaleVelocityUnits.TimeScaleVelocity time scale can be set to user units per second or user units per minute, used for a

160Epsilon EP-P Drive and FM-3/4 Module Reference Manual

161Quick Start for an FM-4 ModuleThe quick start guide provides information on the basic operation and functions of the FM-4 module. The quick start s

162Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 98: Setup View On this view, you must enter the following parameters before entering o

163Quick Start for an FM-4 ModuleNow set up the parameters in the Distance group on the User Units view. The Tab key is used to easily jump through t

164Epsilon EP-P Drive and FM-3/4 Module Reference ManualSoftware Travel Limit + and - - If the position feedback ever exceeds these values when travel

165Quick Start for an FM-4 Module Figure 102: Tuning ViewInertia Ratio - This parameter is the ratio between the reflected inertia of the load and the

166Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 103: Making AssignmentsThe Input Lines view shows the assignments that have been made

167Quick Start for an FM-4 ModuleStep 4: Setting Up Motion ParametersNow that all of the assignments have been made, you next setup the jog, home, and

6Epsilon EP-P Drive and FM-3/4 Module Reference ManualNumeric parameter units are sometimes shown before the actual value, because the parameter value

168Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 106: Home Setup ViewDeceleration - Is the average deceleration rate used to decelerate

169Quick Start for an FM-4 Module Figure 107: Index Setup View (Absolute Type)Indexes use the following parameters:Index Name - Is a 12-character stri

170Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 108: Index Setup View (Incremental Type)Now that all of the motion parameters are setu

171Quick Start for an FM-4 Module Figure 109: Program ViewThe window in the middle of the view allows selection from a list of Program Flow and Motion

172Epsilon EP-P Drive and FM-3/4 Module Reference ManualA comment is automatically inserted after the index instruction, which shows key data about th

173Quick Start for an FM-4 ModuleEnable Following Error – Enable this check box.Following Error Limit – The example uses a limit of 0.25 Inches.Enable

174Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 113: Assignments ViewThe Input Lines view shows all of the assignments that have been

175Quick Start for an FM-4 Module Figure 115: Output Lines ViewHome SetupThe example application calls for setup of the following parameters:Home Refe

176Epsilon EP-P Drive and FM-3/4 Module Reference ManualAbsolute Index Figure 116: Index Setup View (Absolute Type)Indexes 0 and 1 are both Absolute t

177Quick Start for an FM-4 ModuleDistance – The distance is a signed value that specifies the distance the load will travel from the start position. T

7Operational Overview Figure 7: Basic Home Function, ExampleThe figure above show a basic home function using a ball screw. This example uses most of

178Epsilon EP-P Drive and FM-3/4 Module Reference ManualWait For – This program instruction halts program execution until the expression becomes True.

179Tuning ProceduresThe drive uses closed loop controllers to control the position and velocity Travel Limit of the attached motor. These position and

180Epsilon EP-P Drive and FM-3/4 Module Reference Manual• Feedforwards = DisabledTuning StepsIf your Inertia Ratio is greater than 10 times the motor

181Tuning Procedures Figure 119: Default Inertia Setting (0) Figure 120: Inertia Setting (5)2. Increase the response parameterThe Response is normally

182Epsilon EP-P Drive and FM-3/4 Module Reference ManualFeedforwards can be enabled if the performance requirements are very demanding. However when u

183Tuning Proceduresload disturbance corrections but will affect their cycle frequency. The response level generally should be decreased as the load t

184Epsilon EP-P Drive and FM-3/4 Module Reference ManualInitial Test SettingsWhen running the tests outlined in this section, the motor and drive must

185Tuning ProceduresRPML = Lower RPM (velocity)FV = Friction valueThe figure below shows the relationship of Torque Command to the Velocity Feedback.

186Epsilon EP-P Drive and FM-3/4 Module Reference ManualFor horizontal loads or counterbalanced vertical loads use the following formula:Where:IR = In

187Tuning ProceduresNT-320EN-2085.16 30 600NT-330 6.87 30 600NT-345 6.72 30 600NT-355 5.97 30 600MG-316 3.17 30 600MG-340 3.14 30 600MG-455 2.44 30 60

8Epsilon EP-P Drive and FM-3/4 Module Reference ManualMarkerSelecting Marker means the rising edge of the motor’s encoder marker channel is used to es

188Epsilon EP-P Drive and FM-3/4 Module Reference Manual

189Diagnostics and TroubleshootingDiagnostic DisplayThe diagnostic segment display on the front of the base drive and Epsilon EP-P drive shows drive s

190Epsilon EP-P Drive and FM-3/4 Module Reference ManualFault CodesA number of diagnostic and fault detection circuits are incorporated to protect the

191Diagnostics and TroubleshootingFault DescriptionsFlash InvalidThis fault indicates that the firmware checksum has failed. Use the Tools Program Fla

192Epsilon EP-P Drive and FM-3/4 Module Reference ManualPower Up Test This fault indicates that the power-up self-test has failed. This fault cannot b

193Diagnostics and TroubleshootingRMS Shunt PowerThis fault is generated when RMS shunt power dissipation is greater than the design rating of the int

194Epsilon EP-P Drive and FM-3/4 Module Reference ManualCn TmoutA connection time-out occurs when a FM-3/4DN or any other device on the network does n

195Diagnostics and TroubleshootingThe Parser is an internal component of PowerTools Pro software that reads your program text file and generates execu

196Epsilon EP-P Drive and FM-3/4 Module Reference ManualString does not represent a predefined name...The string needs to match one of the defined str

197Diagnostics and TroubleshootingOnline Status IndicatorsWatch WindowPowerTools Pro contains a diagnostic utility called the Watch Window. The Watch

9Operational Overview Figure 11: Sensor then Marker Home Reference Position Example 2The Home Sensor must be “On” for at least 800 µsec to guarantee t

198Epsilon EP-P Drive and FM-3/4 Module Reference Manualdrag and drop the parameter from the Drag Source window on the left over to the Parameters Dis

199Diagnostics and Troubleshootingin the system will be seen in the list. This allows the user to select the User Level they are most comfortable with

200Epsilon EP-P Drive and FM-3/4 Module Reference ManualDiagnostic Analog Output Test PointsThe drives have two 10 bit Analog Outputs which may be use

201SpecificationsPower consumption: 3 W from drive power supply.I/O Supply Voltage: 10 Vdc-30 Vdc.Dimensions and Clearances Figure 126: FM-3/4 Dimensi

202Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 127: FM-3/4 Module Mounted on an EN Drive Dimensional DrawingAX4-CENCDRO

203Specifications Figure 128: Epsilon EP-P Drive Dimensions and Clearances1.20[30.48]0.92[23.37](4X)Ø.219[5.56]5.22[132.59]5.94[150.88]8.099[205.72].2

204Epsilon EP-P Drive and FM-3/4 Module Reference ManualCable Diagrams Figure 129: Syn Cables for the FM-3/4 ModulesSCSLD-xEncoderEN Drivew/ FM-4EN Dr

205SpecificationsSNCE-XXX CableSNCDD-001.5 CablePin 1CJDABIHF1RED/WHT687352DRAIN WIREBLKREDBLUBLK/WHTBLU/WHTYEL/WHTYELPPPP4A+A-B+B-Z+Z-+5 VdcGNDGND+5

206Epsilon EP-P Drive and FM-3/4 Module Reference ManualSNCO-003 CableSNCI-003 CablePin 1PBLKPPPORGYELGRNBLUVIODRAIN WIRE8765321BRNRED-ZGND+Z-B+B+A-A6

207SpecificationsSNCLI-003 Cable4PBLKPPPORGYELGRNBLUVIODRAIN WIRE8765321BRNRED-Z+5 VdcGND+Z-B+B+A-A35412

10Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 13: Calculated Home Offset, Peak Velocity Not ReachedIf the Home Reference is detected

208Epsilon EP-P Drive and FM-3/4 Module Reference ManualENCO CableSOLDER SIDESocketJCFEDIGHABGND+5 VShieldA/Z/ZB/BAPPPPYEL/WHTRED/WHTBLK/WHTBLU/WHTBLU

209SpecificationsCMDX-XXX CableNoteSome CMDX cables may have White/Yellow and Yellow/White wires in place of the White/Orange and Orange/White shown i

210Epsilon EP-P Drive and FM-3/4 Module Reference ManualCMDO-XXX CableNoteSome CMDO cables may have White/Yellow and Yellow/White wires in place of th

211SpecificationsCDRO-XXX CablePin 1GRN/PURPulse Input APulse Input A/2741Drain WirePUR/GRNPDiagnostic Output 2Diagnostic Output 1I/O Supply +I/O Comm

212Epsilon EP-P Drive and FM-3/4 Module Reference ManualTIA-XXX CableDDS-XXX Cable(Typ) 2 1/2"Pin 1Pin 1(Typ) .63"BLKWHTBLU352325DB-9 MALEDB

213SpecificationsTERM-H (Head) TerminatorTERM-T (Tail) Terminator NoteSee the "Multi-drop Communications" section for resistor values.

214Epsilon EP-P Drive and FM-3/4 Module Reference ManualCMDS-XXX CableCMMS-XXX Cable3 3/4" MAX.1 1/2" MAX.GRN/YELBRNBLKBLUCBDARSTPE/GNDBRAID

215SpecificationsCFCS-XXX CablePin 11 1/2" MAX.3 3/4" MAX.PPPPPPPPBLUORNGRNBRNBLKYELWHT/BRNBRN/WHTWHT/GRYGRY/WHTRED/ORGORG/REDRED/BLUBLU/RED

216Epsilon EP-P Drive and FM-3/4 Module Reference ManualCFCO-XXX CablePin 1PGRY/WHTV/MOTOR OVERTEMP+5 VdcGNDW/NOT USEDRED/ORGORG/REDRED/BLURED/GRNBLU/

217SpecificationsCFOS-XXX Cable1 1/2" MAX.3 3/4" MAX.PPPPPPPPBLUORNGRNBRNBLKYELWHT/BRNBRN/WHTWHT/GRYGRY/WHTRED/ORGORG/REDRED/BLUBLU/REDRED/G

11Operational Overview Figure 16: Specified Home Offset, Backup RequiredEnd of Home PositionThe End of Home Position (End Posn) defines the home posit

218Epsilon EP-P Drive and FM-3/4 Module Reference Manual

219GlossaryµsMicrosecond, which is 0.000001 seconds.AAmps.AmplifierServo Drive.ARMSAmps Root Mean Squared (RMS).AxisThe full system to control in a si

220Epsilon EP-P Drive and FM-3/4 Module Reference ManualDLLIn Microsoft® Windows®, a Dynamic Link Library contains a library of machine-language proce

221GlossaryInertiaThe property of an object to resist changes in rotary velocity unless acted upon by an outside force. Higher inertia objects require

222Epsilon EP-P Drive and FM-3/4 Module Reference ManualOpto-isolatedA method of sending a signal from one piece of equipment to another without the u

223GlossarySerial PortA digital data communications port configured with a minimum number of signal lines. This is achieved by passing binary informat

224Epsilon EP-P Drive and FM-3/4 Module Reference Manual

225IndexSymbols+/- Travel Limit, 193AAdd Program Icon, 115Adding a Program, 115All "On", 193Analog Output, 194BBook Mark, 102Brake Operation

226Epsilon EP-P Drive and FM-3/4 Module Reference ManualLLabel, 107Lock Program, 102Low DC Bus Fault, 192MMotion Instructions, 108Motion Modifiers, 11

12Epsilon EP-P Drive and FM-3/4 Module Reference ManualThe motor continues at that velocity until it first senses the Home Sensor input. It continues

Since 1979, the “Motion Made Easy” products, designed and manufactured in Minnesota U.S.A., are renowned in the motion control industry for their ease

13Operational Overview Figure 20: Home Sensor and Marker then Offset, Example When the device sees the rising edge of the Home Initiate function, it a

14Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 23: Indexes ViewIndexes use acceleration and deceleration ramps which may or may not re

15Operational Overview Figure 24: Absolute Index Example 1In the example above, the current position is 1 rev. If this index is initiated, the motor w

16Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 27: Incremental Index Example 2Registration IndexA Registration Index is used in applic

17Operational OverviewRotary Minus indexes move to the specified position, but are forced to travel in the negative (or minus) direction. Rotary Minu

Information furnished by Control Techniques Americas LLC (Control Techniques) is believed to be accurate and reliable. However, no responsibility is a

18Epsilon EP-P Drive and FM-3/4 Module Reference Manual. Figure 28: Upload Drive Configuration Dialog BoxSelect the device to upload and click Upload

19Operational Overview Figure 29: Download to Device ID 1 Dialog boxSelect the device to download to and click OK.Change Path ConnectionThis function

20Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 30: Change Path Dialog BoxSelect the device in the list and then click OK. The communic

21Operational OverviewUpdate – This option will upload the current NVM parameter values from the device and enter them into the user configuration (Po

22Epsilon EP-P Drive and FM-3/4 Module Reference Manual• If the user modifies parameters, and disconnects, the update button will be disabled, and the

23Operational OverviewDownload Section:Ignore saving file on Ptools/Drive revision conversion.On a download PowerTools Pro checks the firmware revisio

24Epsilon EP-P Drive and FM-3/4 Module Reference ManualIn this dialog box, select the “Save also as secure download format” check box located at the b

25Operational OverviewBrake ActivateThe Brake.Activate destination function, when active, will engage the brake unless overridden by the Brake Release

26Epsilon EP-P Drive and FM-3/4 Module Reference Manualis available, indicating the application and drive are out of sync, (Update to RAM remains unav

27Setting Up ParametersGraph View Figure 34: Graph ViewData Capture GroupGraph StateThere are three graph state conditions in the following order: Fil

ii© Control Techniques Americas LLC, 2006 All rights reserved.Part Number: 400518-04Revision: A1Date: December 2006Printed in United States of America

28Epsilon EP-P Drive and FM-3/4 Module Reference ManualTiming GroupThe sliders can be moved in several different ways.1. With the mouse pointer over t

29Setting Up ParametersSetup ViewThe Setup View contains all of the primary system setup parameters. These parameters must be setup prior to using you

30Epsilon EP-P Drive and FM-3/4 Module Reference ManualGateway (FM-3/4E and Epsilon EP-P only)This 32-bit parameter indicates the default Gateway addr

31Setting Up ParametersUpdate Rate GroupTrajectoryThis parameter configures the interrupt interval for the device processor. This defines how often th

32Epsilon EP-P Drive and FM-3/4 Module Reference ManualPosition FeedbackFeedback position (PosnFeedback) is the actual motor position in user units. P

33Setting Up ParametersTorque GroupTorque CommandThis displays the torque command value before it is limited. The torque command may be limited by eit

34Epsilon EP-P Drive and FM-3/4 Module Reference ManualFollowing is a description of all the different functions on the Motor view. Figure 37: Motor V

35Setting Up ParametersMotor Parameters ColumnMotor Parameters column is a column of data displayed on the Motor view under the Setup view (See Figure

36Epsilon EP-P Drive and FM-3/4 Module Reference ManualnLines = Total number of Encoder Linesn = Motor Encoder Lines per Rev Coefficientx = Motor Enco

37Setting Up Parametersin the FM3/4 module. Therefore, in order to store the values in the FM module, the Auto-Tune values must be applied to the conf

iiiCustomer SupportControl Techniques Americas LLC12005 Technology DriveEden Prairie, Minnesota 55344-3620U.S.A.Telephone: (952) 995-8000 or (800) 893

38Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 38: Auto-Tune Dialog Box - Auto-Tune Mode 3After the Auto-Tune Mode has been selected,

39Setting Up Parameters Figure 39: The User Defined Motor Name Conflict Dialog BoxThe User Defined Motor Name Conflict dialog box presents the user wi

40Epsilon EP-P Drive and FM-3/4 Module Reference ManualParameters Not Matching ListThis list is part of the User Defined Motor Name Conflict dialog bo

41Setting Up ParametersCharacteristic DistanceThis is the distance the load travels (in user units) when the motor travels the characteristic length (

42Epsilon EP-P Drive and FM-3/4 Module Reference ManualDistance Units Name — Inches Enable Separate Distance Units — Select check box (enabled)Scaled

43Setting Up Parameters Figure 41: Master Units ViewEncoder Setup GroupMaster Source (FM-3/4 only)Master Source indicates the hardware location of the

44Epsilon EP-P Drive and FM-3/4 Module Reference ManualMaster Position Setup GroupDefine Home PositionDefine Home Position is the value that the Maste

45Setting Up ParametersThe user may set the number of filter samples to be used to “smooth” the master encoder velocity. The more samples used by the

46Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 42: Position View Settings GroupDefine Home PositionThis is the value to which the posi

47Setting Up Parametersthe drive will generate a Following Error Fault (F). All accumulated Following Error will be cleared when the drive is disabled

ivCustomer Service (Sales) (952) 995-8000 or (800) 893-2321Email: [email protected] Control Techniques distributors may place o

48Epsilon EP-P Drive and FM-3/4 Module Reference ManualPosition FeedbackThis is the feedback position of the motor in user units.Following ErrorThe Fo

49Setting Up ParametersA user wishes to accelerate from 100% programmed velocity to 175% in 0.5 Seconds. Therefore, the value they need to enter for

50Epsilon EP-P Drive and FM-3/4 Module Reference ManualS-Curve accelerations are very useful on machines where product slip is a problem. They are al

51Setting Up Parameters1. Index.1.Accel specified by user is used to decelerate from Index.0.Vel, to Index.1.Vel, but overshoots since ramp is not agg

52Epsilon EP-P Drive and FM-3/4 Module Reference ManualRamps GroupStop DecelerationThe value you enter here defines the deceleration rate which is use

53Setting Up ParametersLimits GroupTorque LimitThis parameter sets the value to which the Torque Command will be limited when the Torque Limit Enable

54Epsilon EP-P Drive and FM-3/4 Module Reference ManualLow Pass Filter Enable Check BoxWhen this check box is selected it enables a Low Pass Filter to

55Setting Up Parameters Figure 49: Faults View - OfflineWhen online and a fault is detected, the Faults window opens, showing the fault condition and

56Epsilon EP-P Drive and FM-3/4 Module Reference ManualWhen online, the Active Faults window, Reset button and Power Up group window become active. Th

57Setting Up ParametersFault CodeThe fault code has the same description of the fault that is or was reported in the Active Faults window.Fault Sub Co

vSafety InstructionsGeneral WarningFailure to follow safe installation guidelines can cause death or serious injury. The voltages used in the product

58Epsilon EP-P Drive and FM-3/4 Module Reference ManualFault CodeThis is the faults parameter name.Fault CountsThis is the number of times that the fa

59Setting Up Parameters Figure 54: PLS ViewA PLS can be used to turn on or off a bit based on feedback position, commanded position, or master feedbac

60Epsilon EP-P Drive and FM-3/4 Module Reference ManualIf using negative values for your OnPosn and OffPosn, the most negative value should go in the

61Setting Up Parameters Figure 55: Setup NVM View FM OnlyNVM Warning: Assigning parameters to NVM could shorten the life of your FM-3 or FM-4!The Non-

62Epsilon EP-P Drive and FM-3/4 Module Reference ManualThe user must determine which signals are used to enable, activate, and then reset the Capture

63Setting Up ParametersCapture.#.CapturedPositionCommandThe command position, in user units, at the time when CaptureTriggered activated.Capture.#.Cap

64Epsilon EP-P Drive and FM-3/4 Module Reference ManualIndex/Jog At Velocity – Activation of the command complete signal at the end of indexes and jog

65Setting Up Parameters Figure 60: Queue Object and Components DiagramA detailed explanation of each of the queue components is as follows:Queue DataT

66Epsilon EP-P Drive and FM-3/4 Module Reference ManualQueue Full – The Queue Full source will activate if the number of pieces of data in the queue e

67Setting Up Parameters Figure 62: User Variables ViewThe following parameters are part of the User Variable definition:NameThis is a twelve-character

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68Epsilon EP-P Drive and FM-3/4 Module Reference ManualThe Initial Value for each user bit is configured using a check box for the specific bit. To ma

69Setting Up ParametersWhen a User Bit Register (group of 32 User Bits) is written to, the value is then logic-AND’ed with the mask to determine the r

70Epsilon EP-P Drive and FM-3/4 Module Reference ManualConfiguring the User Bit Mask RegisterThe User Bit Mask is a 32-bit parameter that can be confi

71Setting Up ParametersFM-3/4 ModulesThe base drive is equipped with five optically isolated input lines (one dedicated to a Drive Enable function) an

72Epsilon EP-P Drive and FM-3/4 Module Reference ManualDrag and Drop MethodFirst, position the mouse pointer over the source on the left to assign to

73Setting Up Parametersinactive when the source is inactive. Making an assignment “Active Off” means that the destination will be active when the sour

74Epsilon EP-P Drive and FM-3/4 Module Reference ManualIndex/Jog At Velocity – Activation of the command complete signal at the end of indexes and jog

75Setting Up Parameters Figure 70: Assignment View - FM-3/4 ModuleFor example, if we entered 3 for the number of Selector Input Destinations, we would

76Epsilon EP-P Drive and FM-3/4 Module Reference ManualTotal Binary Value = 3Therefore, Selector.Selection3 would activate.The Selector.Select lines c

77Setting Up ParametersIf the Input Line attached to the home sensor is debounced, the actual rising edge of the Home Sensor is used to determine the

viiSafety ConsiderationsSafety PrecautionsThis product is intended for professional integration into a complete system. If you install the product inc

78Epsilon EP-P Drive and FM-3/4 Module Reference Manual Figure 74: Analog Inputs View for a FM-3/4 ModuleEnable Channel Check BoxBy default, the analo

79Setting Up ParametersWhen the Popup Variables... button is pressed, the Select FM Variables window will open containing a list of variables that can

80Epsilon EP-P Drive and FM-3/4 Module Reference ManualThe analog output is scaled from the units of the selected variable to the +10/-10 volt range o

81Setting Up Parametersplaces for both values is taken from the selected module variable. MaxOutputValue is the maximum analog output value which corr

82Epsilon EP-P Drive and FM-3/4 Module Reference ManualJog NameThis is a descriptive character string which can be assigned to the specific jog. Givin

83Setting Up ParametersJog.MinusActivateWhen this destination is activated, jogging motion will begin in the negative direction. The jog velocity is d

84Epsilon EP-P Drive and FM-3/4 Module Reference ManualNoteThe Jog destinations cannot be initiated when any other motion type (homing, indexing, or p

85Setting Up ParametersAccelerationAverage Acceleration rate used during the home. Units are specified on the User Units View. DecelerationThis is the

86Epsilon EP-P Drive and FM-3/4 Module Reference ManualBelow is a diagram of a home using the "Back off before homing" radio box, a Home Ref

87Setting Up ParametersHome.#.LimitDistHitThis source is activated when the home reference is not found before the Home Limit Distance is traveled. It