Emerson FM-3 Manuel d'installation

P/N 400508-01Revision: A2Date: August 23, 2000© EMERSON Motion Control, Inc. 2000FM-3 Programming Module Reference Manual

viiirelevant safety legislation in the country of use.AC supply isolation deviceThe AC supply must be removed from the drive using an approved isolati

86FM-3 Programming Module Reference ManualDriveOutput.2=OFFEndifIf (DriveInput.1=ON AND DriveInput.2=OFF) Then‘Turn Outputs 1 On and 2 Off if Drive‘In

87ProgrammingFor Count/NextThis instruction is used to execute section of code a specific number of times.Examples:For Count = 1 to 5Index.1.Initiate

88FM-3 Programming Module Reference ManualDwell For Time 1.000 ‘secondsLoopWait ForThis program flow instruction is used to halt program execution unt

89ProgrammingWait For Time 1.000 ‘secondsDriveOutput.1=OFFWait For Index.AnyCommandCompleteLoopCall ProgramThis program flow instruction is used to c

90FM-3 Programming Module Reference ManualFormulaThis program instruction can be used to enter a formula or assignment into a program. All FM-3 param

91ProgrammingExample ProgramsOut and Return - SimpleDescription: Move out to an absolute position and returnIndex.2.Initiate ‘Absolute,Posn=10.000in,V

92FM-3 Programming Module Reference ManualRegistration Index to Place a Product on a Conveyor After Each LugRegistration Index (synchronized) to find

93ProgrammingRotary Table with “Calibrated” Stop PositionsHome the axis, wait for an input and then index to 3 different stop positions (absolute posi

94FM-3 Programming Module Reference ManualHome.0.Initiate ‘Sensor,Offset=1.000in,Vel=-5.0 in/sModuleEncoderInput.DefineHome=ON ‘Set the master positio

95ProgrammingAuger Filler with Inputs to Adjust the Fill AmountIncremental indexes are used to squirt a specified amount of food product into a box.

ixCustomer Service. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iiiRefere

96FM-3 Programming Module Reference ManualSequence Learn and PlaybackThis example consists of three programs. The first program is used to learn 3 po

97ProgrammingSubroutine for Jogging the Axis into the Desired Position (Program 1)‘Allow jogging until either the “Learn” input (ModuleInput.1)‘or the

98FM-3 Programming Module Reference ManualPlayback Program (Program 2)Home.0.Initiate ‘Sensor,Offset=0.000in,Vel=-10in/sDo While (TRUE) ‘Repeat until

99Parameter DescriptionsThis section lists all programmable and feedback parameters available. The parameters are listed alphabetically by variable na

100FM-3 Programming Module Reference ManualAcceleration Time Scale AccelUnits.TimeScaleThis parameter is the time units for accel./decel. ramps. Poss

101Parameter DescriptionsDefine Home DefineHomeThis destination is used to set the Commanded Position to the value specified in the DefineHomePosn var

102FM-3 Programming Module Reference ManualDrive Ambient Temperature DriveAmbientTempThis parameter should be set to reflect the ambient air temperatu

103Parameter DescriptionsDrive Input Raw DriveInput.#.RawThis displays the raw state of the digital input without debounce or forcing to override the

104FM-3 Programming Module Reference ManualDrive Faults Bitmap Fault.DriveFaultsBitmapThis parameter is a 32-bit register which holds all of the drive

105Parameter DescriptionsFault Counts Fault.#.CountsThe module stores the total number of times the specific fault has occurred since it was manufactu

xIndex View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72Netwo

106FM-3 Programming Module Reference Manualto the programmed speed in the same amount of time. It is used to hold motion without cancelling the move

107Parameter DescriptionsFollowing Error Limit FollowingErrorLimitThis parameter is used when the FollowingErrorEnable bit is set. This limit is compa

108FM-3 Programming Module Reference ManualCalculated Offset Home.#.Calculate

109Parameter DescriptionsLimit Distance Hit Home.#.LimitDistHitThis source is activated when the home sensor is not found before the Home Limit Distan

110FM-3 Programming Module Reference ManualTime Base Home.#.TimeBaseThe time base selects either realtime, which allows velocities, acceleration and d

111Parameter Descriptionsdeactivate at the start of any deceleration or acceleration. During a synchronized index, this source could be active even w

112FM-3 Programming Module Reference ManualLimit Distance Hit Index.#.LimitDistHitThis source is activated when the registration sensor is not found b

113Parameter DescriptionsEnable Registration Window Index.#.RegistrationWindowEnableThis check box enables (if checked

114FM-3 Programming Module Reference ManualInertia Ratio InertiaRatioThis specifies the load to motor inertia ratio. For example, a value of 25.0 spec

115Parameter DescriptionsAt Velocity Jog.#.AtVelThis source activates when the particular jog has reached its target velocity. It deactivates when acc

xiOnline Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187Specificati

116FM-3 Programming Module Reference ManualVelocity Jog.#.VelThis parameter specifies the velocity used for jogging with the Jog.PlusActivate and Jog.

117Parameter DescriptionsModbus Id Modbus.ModbusIdModbus ID # for this FM module and drive. Debounced

118FM-3 Programming Module Reference ManualModuleOutput Enable Force ModuleOutput.#.ForceEnableIf ModuleOu

119Parameter Descriptionsdeactivate when it continues past the OnPosn. The important thing to remember is that the PLS.#.Status will be active if bet

120FM-3 Programming Module Reference Manualan absolute position of zero and ends at the RotaryRolloverPosn. For example in a rotary application a PLS

121Parameter DescriptionsFor example, with “Response” set to 50, the minimum time constant value is 1000/50 = 20 msec.Position Feedback PosnFeedbackFe

122FM-3 Programming Module Reference ManualName Program.#.NameThis is a character string which the user can assign to an individual program. It allow

123Parameter DescriptionsInitiate Selector.SelectorInitiateWhen this destination is activated, the selector checks the status of all Selector.Select d

124FM-3 Programming Module Reference ManualSoftware Travel Limit Plus Position SoftwareTravelLimitPlusPosnThe SoftwareTr

125Parameter DescriptionsTorque Limit TorqueLimitThis is the level to which the TorqueCommand will be limited when the TorqueLimitEnable input functio

xii

126FM-3 Programming Module Reference ManualUnits Name TorqueUnits.NameThe User can specify a torque unit name of up to 12 characters. Default is % Con

127Parameter DescriptionsUnits Name VelocityUnits.NameIf the user wants the velocity units to have a different distance scaling than the distance unit

128FM-3 Programming Module Reference Manual• Index.#.PLSOffDistance• Index.#.PLSOnDistance• Index.#.RegistrationOffset• Index.#.RegistrationWindowEnd•

129InstallationBasic Installation NotesYou are required to follow all safety precautions during start-up such as providing proper equipment grounding,

130FM-3 Programming Module Reference Manual Figure 55: Detaching the FM-3 from the Drive ConnectionsCautionDo not attach or detach the FM-3 when power

131InstallationSoftware InstallationEmerson Motion Control PowerTools® FM-3 software was designed for users who need access to all setup options and d

132FM-3 Programming Module Reference Manual3. In the Run dialog box, type a:/setup, where a is the letter assigned to your 3.5" floppy drive.4.

133InstallationExiting the SoftwareChoose File from the menubar, then click Exit. If you are using the keyboard, press the shortcut key combination Al

134FM-3 Programming Module Reference Manual

135Quick StartThe quick start guide provides information on the basic operation and functions of the FM-3. The quick start steps cover only the most b

1IntroductionFM-3 is a compact and rugged function module that attaches to the front of the E Series drive. It provides eight digital input lines and

136FM-3 Programming Module Reference ManualTo select one of the individual setup views, click on the element in the hierarchy view. The element will

137Quick Start Figure 58: User Units ViewNow setup the parameters in the Distance group on the User Units view. The Tab key is used to easily jump th

138FM-3 Programming Module Reference Manual Figure 59: Position ViewTo setup following error limit and software travel limits, fill out the following

139Quick StartRamps ViewYou must setup the deceleration rate to be used on the Ramps view if a travel limit is encountered. Figure 60: Ramps ViewTrave

140FM-3 Programming Module Reference Manual Figure 61: Tuning ViewInertia Ratio - This parameter is the ratio between the reflected inertia of the loa

141Quick Start Figure 62: Making AssignmentsNotice that a Name can be associated to each input line. Each input line can also have a debounce time.Na

142FM-3 Programming Module Reference Manual Figure 63: Output Lines ViewA name can also be given to each hardware output line. Figure 8 shows how to

143Quick Start Figure 64: Jog Setup ViewJog Deceleration - Is the average deceleration rate used when decelerating to zero speed or to the new target

144FM-3 Programming Module Reference Manual Figure 65: Home Setup ViewDeceleration - Is the average deceleration rate used to decelerate from the targ

145Quick Start Figure 66: Index Setup View (Absolute Type)Indexes use the following parameters:Index Name - Is a 12-character string that gives a desc

2FM-3 Programming Module Reference ManualThe FM-3 stores E Series drive setup parameters within the module itself. This allows you to transfer the FM-

146FM-3 Programming Module Reference Manual Figure 67: Index Setup View (Incremental Type)Now that all of the motion parameters are setup, the jogs an

147Quick Start Figure 68: Program ViewThe window in the middle of the view allows selection from a list of Program Flow and Motion instructions. To i

148FM-3 Programming Module Reference Manual Figure 69: Program View (Expanded)A comment is automatically inserted after the index instruction, which s

149Quick StartExample Application Start Up Figure 70: Example SystemIn order to make the setup easier to understand in this guide, the guide will use

150FM-3 Programming Module Reference Manualselects three digits allowing resolution of 0.001 Inches on all distance variables. Use the spinner window

151Quick Start Figure 71: Assignments ViewThe Input Lines view shows all of the assignments that have been made to the Inputs group of Sources. After

152FM-3 Programming Module Reference Manual Figure 72: Input Lines ViewNotice that a Name can be associated to each input line. Each input line can a

153Quick StartHome SetupThe example application calls for setup of the following parameters:Home Reference –The example calls for a Home to Sensor; th

154FM-3 Programming Module Reference ManualIndexes 0 and 1 are both Absolute type indexes and use the following parameters:Index Name - Is a 12-charac

155Quick Start Figure 75: Index Setup View (Incremental Type)Now that all of the motion parameters are setup, the jogs and indexes can be initiated th

3Operational OverviewThis section provides a complete functional description of the FM-3. It is intended to provide you with a thorough understanding

156FM-3 Programming Module Reference ManualWait For – This program instruction halts program execution until the expression becomes True. Once True,

157Tuning ProceduresThe drive uses closed loop controllers to control the position and velocity Travel Limit of the attached motor. These position and

158FM-3 Programming Module Reference ManualTuning ProcedureOnce the initial setup has been completed, you can run the system to determine if the level

159Tuning Procedures3. Enter the inertia value calculated into the Inertia Ratio parameter.4. Set the Line Voltage to the applied voltage (default is

160FM-3 Programming Module Reference ManualTuning ParametersInertia RatioInertia Ratio specifies the load to motor inertia ratio and has a range of 0.

161Tuning ProceduresIf the value entered is higher than the actual, system oscillation is likely. If the value entered is lower than the actual a more

162FM-3 Programming Module Reference Manualactual inertia, velocity error during ramping will be reduced but not eliminated. If the Friction parameter

163Tuning ProceduresInitial Test SettingsWhen running the tests outlined in this section, the motor and drive must be operational so you will need to

164FM-3 Programming Module Reference ManualIf your application has less than a 10:1 inertia mismatch, the default parameter settings will be acceptabl

165Tuning Procedures3. Repeat Step 1 using a velocity at least two times the low speed.4. While at speed, note the Torque Command Actual value (TCH).5

4FM-3 Programming Module Reference Manual Figure 3: Hierarchy ViewThe “Hierarchy View” (shown above) contains expandable groups of parameters. The gr

166FM-3 Programming Module Reference Manual• If your application has a very limited range of motion, it is recommended that you use a position control

167Tuning ProceduresTd = (unsigned) percent continuous torque required during deceleration ramping (0 - 300)Vm = motor constant value from Table 18 be

168FM-3 Programming Module Reference ManualMotor Drive VmPercent Continuous/volt Scaled Torque Command Output (default))RPM /volt Scaled Velocity Comm

169Diagnostics and TroubleshootingDiagnostic DisplayThe diagnostic segment display on the front of the drive shows drive status, FM-3 status, and faul

170FM-3 Programming Module Reference ManualFault CodesA number of diagnostic and fault detection circuits are incorporated to protect the drive. Some

171Diagnostics and TroubleshootingInvalid Configuration Button or Input Yes Invalid ConfPower Module Button or Input Yes Power Module High DC Bus But

172FM-3 Programming Module Reference ManualFault DescriptionsFlash InvalidThis fault indicates that the firmware checksum has failed. Use the Tools Pr

173Diagnostics and TroubleshootingInvalid ConfigurationThe FM was not on this drive during its previous power-up and it is not known if the setup data

174FM-3 Programming Module Reference ManualEncoder HardwareIf any pair of encoder lines are in the same state, an encoder line fault is generated. The

175Diagnostics and TroubleshootingFM-3 Specific Fault Descriptions Figure 78: FM-3 display is used to display drive and FM-3 faultsTraj FaultThis faul

5Operational Overviewinformation. The four arrow keys are used to navigate through parameter groups, select a specific parameter to be modified, and t

176FM-3 Programming Module Reference ManualBrake OperationMG motor brake operation is controlled by the Brake Release and Brake Control destinations.

177Diagnostics and TroubleshootingAnalog OutputsThe drive has two 10 bit Analog Outputs which may be used for diagnostics, monitoring or control purpo

178FM-3 Programming Module Reference ManualDiagnostic Analog Output Test PointsThe DGNE cable was designed to be use with either an oscilloscope or a

179Diagnostics and Troubleshooting Figure 80: Diagnostic Cable (DGNE) Diagram10 Ohm10 OhmYellowBlack(GND)BlueD/AD/ADGNE CableCommandConnector (J5)DGNE

180FM-3 Programming Module Reference ManualDrive FaultsThe Active Drive Faults dialog box is automatically displayed whenever a fault occurs. There ar

181Diagnostics and TroubleshootingThe terms below appear in the list the of common problems you might encounter when working with PowerTools software

182FM-3 Programming Module Reference ManualProgramming Error MessagesThese Red Dot Error messages occur while you are working in the Program View. Whe

183Diagnostics and TroubleshootingError: A string variable can only be assigned a quoted text stringThe Variable is string. It only accepts types con

184FM-3 Programming Module Reference ManualError: Syntax error encounteredParser Error Message. The Parser can not understand your text sequence.Erro

185Diagnostics and TroubleshootingError: The destination variable's resolution is less than the resolution of the numberYou attempted to assign a

6FM-3 Programming Module Reference Manual• INDEX (Index)• POSN (Position)• HOME (Home)• JOG (Jog)• RAMPS (Ramps)• SECUR (Security)Parameter ScreensAft

186FM-3 Programming Module Reference ManualError: The Selection variable can only be assigned a Selection value.The destination variable only accepts

187Diagnostics and TroubleshootingOnline Status IndicatorsGlobal Where Am I ButtonThe Program View, when online and executing a program or sequence of

188FM-3 Programming Module Reference Manual

189SpecificationsPower consumption: 3W from E Series drive power supply.I/O Supply Voltage: 10-30 VDC.Dimensions and ClearancesFunction Electrical Cha

190FM-3 Programming Module Reference Manual2.6(66.0)

191SpecificationsCable DiagramsCustomerSuppliedCableSync.InputSync.InputSync.InputSync.InputSync.OutputSync.OutputM FM FMFSNCE-xxx15', 25' o

192FM-3 Programming Module Reference ManualSNCE-XXX CableSNCDD-001.5 CableAHBIJDCF38476512BGRD+5MMBAASHIELDGRD+5MMBBAA

193SpecificationsSNCO-003 CableSNCI-003 Cable

194FM-3 Programming Module Reference ManualSNCLI-003 Cable

195SpecificationsCMDX-XXX CableNoteSome CMDX cables may have White/Yellow and Yellow/White wires in place of the White/Orange and Orange/White shown i

7Operational OverviewEach jog has its own acceleration and deceleration ramp along with a specified velocity. Jogging has no distance parameter associ

196FM-3 Programming Module Reference ManualCMDO-XXX CableNoteSome CMDO cables may have White/Yellow and Yellow/White wires in place of the White/Orang

197SpecificationsCDRO-XXX Cable89242338371112341614152941926401817313343444127

198FM-3 Programming Module Reference ManualTIA-XXX CableDDS-XXX Cable

199SpecificationsTERM-H (Head) TerminatorTERM-T (Tail) Terminator NoteSee the "Multi-drop Communications" section for resistor values.

200FM-3 Programming Module Reference ManualCMDS-XXX CableCMMS-XXX Cable

201SpecificationsCFCS-XXX Cable

202FM-3 Programming Module Reference ManualCFCO-XXX Cable

203SpecificationsCFOS-XXX Cable

204FM-3 Programming Module Reference ManualVendor Contact InformationSchaffner (AC Line Filters)(800) 367-5566 or (201) 379-7778 www.schaffner.comCoop

205GlossaryµsMicrosecond, which is 0.000001 seconds.AAmps.AmplifierServo Drive.ARMSAmps Root Mean Squared (RMS).AxisThe full system to control in a si

8FM-3 Programming Module Reference Manual Figure 6: Basic Home Function, ExampleThe figure above show a basic home function using a ball screw. This e

206FM-3 Programming Module Reference ManualConfigurationThe user-created application. It can be saved as a disk file or downloaded to configure the FM

207GlossaryFirmwareThe term firmware refers to software (i.e., computer programs) that are stored in some fixed form, such as read-only memory (ROM).F

208FM-3 Programming Module Reference ManualInertiaThe property of an object to resist changes in rotary velocity unless acted upon by an outside force

209GlossaryMost Significant BitThe bit in a binary number that is the most important or that has the most weight.msMillisecond, which is 1/1000th of a

PLCProgrammable Logic Controller. Also known as a programmable controller, these devices are used for machine control and sequencing.Emerson Motion Co

211GlossaryTorqueThe moment of force, a measure of its tendency to produce torsion and rotation about an axis.UploadingThe transfer of a complete set

212FM-3 Programming Module Reference Manual

213IndexSymbols+/- Limit, 174AAll "On", 174Analog Output, 177BBrake Operation and Wiring, 176CCable Diagrams, 191CDRO-XXX Cable, 197CFCO-XXX

214FM-3 Programming Module Reference ManualNNon-volatile Memory Invalid, 172OOver Speed Fault, 174PPower Stage Fault, 173Power-Up Self-Test Failure, 1

9Operational OverviewPowerTools FM-3 allows selection of one of three different Home References: Sensor, Marker, or Sensor and Marker.SensorSelecting

Since 1979, EMERSON Motion Control, a subsidiary of the Emerson Electric Company, has been a leader in the development and manufacturing of motion con

10FM-3 Programming Module Reference ManualSensor and MarkerSelecting Sensor and Marker means the reference position is established using the first mar

11Operational Overview Figure 10: Sensor and Marker Home Reference Position Example 2The Home Sensor must be “On” for at least 1.6 msec to guarantee t

12FM-3 Programming Module Reference ManualThe Specified Offset allows the user to choose an exact offset from the Home Reference.Once the home referen

13Operational OverviewTwo examples below show operation when the specified offset is greater or less than the calculated offset. This causes the axis

14FM-3 Programming Module Reference ManualHome Limit DistanceThis parameter places an upper limit on the incremental distance the motor will travel du

15Operational OverviewHome Sequence1. If on sensor then back off (if enabled)2. Search for sensor3. Search for marker4. Go to offset (2.0 Revs)5. Set

Information furnished by EMERSON Motion Control is believed to be accurate and reliable. However, no responsibility is assumed by EMERSON Motion Contr

16FM-3 Programming Module Reference ManualExample 2: Rotary ApplicationThis example uses an external sensor and the motor’s encoder marker pulse to es

17Operational Overview Figure 20: Home Velocity ProfileHow Indexes WorkAn index is a complete motion sequence that moves the motor a specific incremen

18FM-3 Programming Module Reference Manual Figure 22: Indexes ViewIndexes use acceleration and deceleration ramps which may or may not reach the speci

19Operational OverviewThe FM-3 calculates the distance required to move to the specified position from the current position.Absolute Index Figure 23:

20FM-3 Programming Module Reference ManualIncremental IndexesAn incremental index will move the motor a specified distance in the + or - direction reg

21Operational Overviewalso be used to determine the validity of a registration trigger. If a registration trigger is received outside of the registra

22FM-3 Programming Module Reference ManualExample 5: If the starting postion is 10° and the specified postion is 350°, a Rotary Plus index will travel

23Operational OverviewCautionThe parameters will be sent to the FM-3 without stopping motion or disabling the drives. Because of this, it is importan

24FM-3 Programming Module Reference Manual

25Setting Up ParametersSetup ViewThe Setup View contains all of the primary system setup parameters. These parameters must be setup prior to using you

ii© EMERSON Motion Control, Inc. 2000Part Number: 400508-01Revision: A2Date: August 2000Printed in United States of AmericaInformation in this documen

26FM-3 Programming Module Reference ManualTarget Drive AddressThis is the Modbus address of the target drive to which you will download the configurat

27Setting Up ParametersScaling parameter is set to a value higher than the motor encoder density, the drive encoder output density will equal that of

28FM-3 Programming Module Reference ManualDrive Information GroupFirmware Part NumberDisplays the part number of the drive firmware you are using.Firm

29Setting Up ParametersMaster VelocityThis displays the velocity of the master encoder in master units/second.Torque GroupTorque CommandThis displays

30FM-3 Programming Module Reference ManualUser Units ViewThe User Units View is used to scale the desired application units into known values. All inf

31Setting Up ParametersScaling A Characteristic Distance and Length must be established to allow the FM-3 to scale user units back to actual motor re

32FM-3 Programming Module Reference ManualVelocity GroupEnable Separate Distance Units Check BoxIf checked, separate distance and velocity units, name

33Setting Up ParametersAcceleration GroupTime Scale List BoxFrom this list box, select the acceleration timescale to be used for all real-time profile

34FM-3 Programming Module Reference ManualMaster Units ViewMaster Units setup provides the setup parameters for use with synchronized motion. This set

35Setting Up ParametersMaster InterpretationMaster Interpretation determines how the incoming pulses are seen to generate the synchronized motion comm

iiiCustomer ServiceIt is EMERSON Motion Control’s goal to ensure your greatest possible satisfaction with the operation of our products. We are dedica

36FM-3 Programming Module Reference ManualDecimal PlacesThe number of decimal places set in this parameter determines the number of digits after the d

37Setting Up ParametersPosition ViewThe Position View allows you to set up and view the parameters related to drive positioning.See Figure 31. The lef

38FM-3 Programming Module Reference ManualIn Position WindowThe absolute value of the Following Error must be less than or equal to this value at the

39Setting Up Parametersactive. Absolute Position Valid is active upon successful completion of a home or the DefineHome destination is activated. To r

40FM-3 Programming Module Reference ManualAssignments TabDisplays any assignments to functions on this view that have been made using the assignments

41Setting Up ParametersVelocity ViewThe Velocity View allows the setup of feedrate override details.By selecting Velocity in the hierarchy view, the V

42FM-3 Programming Module Reference ManualCautionUsing the Update to RAM to change the Feedrate Override will implement the changes instantly. Instant

43Setting Up ParametersRamps ViewThe Ramps View contains all setup information for the global acceleration and deceleration profiles. By selecting Ram

44FM-3 Programming Module Reference Manualramps use smoothing at the beginning and end of the ramp but have constant (linear) accel-eration rates in t

45Setting Up ParametersTorque ViewThe Torque View allows you to edit torque level and limit parameters as well as view realtime torque values when onl

ivNeed on-site help? EMERSON Motion Control provides service, in most cases, the next day. Just call EMERSON’s customer service center when on-site se

46FM-3 Programming Module Reference ManualLimits GroupTorque LimitThis parameter sets the value to which the Torque Command will be limited when the T

47Setting Up ParametersTuning ViewThe Tuning View allows you to modify tuning parameters based on specific application information. By selecting Tunin

48FM-3 Programming Module Reference ManualFrictionThis parameter is characterized in terms of the rate of friction increase per 100 motor RPM. If esti

49Setting Up ParametersTime ConstantPosition Error Integral is a control term, which can be used to compensate for the continuous torque required to h

50FM-3 Programming Module Reference ManualFaults ViewThe Faults View displays any active faults. See Figure 36. The Faults tab has been selected in th

51Setting Up ParametersPLS ViewThe PLS View allows users to define Programmable Limit Switches (PLS) for advanced machine operation. By selecting PLS

52FM-3 Programming Module Reference ManualSourceThe source of a PLS can be assigned to the motor axis (MotorPosnFeedback, MotorPosnCommand) or a maste

53Setting Up ParametersFor example, a flying cutoff or flying shear application may use this feature to activate the PLS to fire the knife only when t

54FM-3 Programming Module Reference ManualI/O Setup GroupThe I/O Setup group contains four views that control input and output functions as well as ot

55Setting Up ParametersThe maximum number of select lines is eight. Once you have determined how many select lines you want, the assignments to these

vDocument ConventionsManual conventions have been established to help you learn to use this manual quickly and easily. As much as possible, these conv

56FM-3 Programming Module Reference ManualIf Selector.Select2 is active, Selector.Select1 is inactive, and Selector.Select0 is active, then the total

57Setting Up ParametersThe E Series drive’s input and output lines can be accessed through the removable 10-pin I/O connector (J6), or through the 44-

58FM-3 Programming Module Reference ManualCreating An Assignment: Various methods will tie a source (such as DriveInput.1) to a destination, such as I

59Setting Up Parameters Figure 41: Tying a Source to a DestinationAssignment PolarityThe active state of an assignment can be programmed to be Active

60FM-3 Programming Module Reference ManualRight Click MethodPosition the pointer over the specific assignment you with to change polarity for and clic

61Setting Up ParametersNameYou can assign a descriptive name to each input and make the setup easier to follow. The length of the text string is limit

62FM-3 Programming Module Reference Manual Figure 44: Output Lines ViewNamesDescriptive text names can be assigned to individual output lines to make

63Setting Up Parameters Figure 45: Jog TabJog NumberThis scroll box allows you to select between Jog0 and Jog1 setup views.Jog NameThis is a descripti

64FM-3 Programming Module Reference ManualJog DecelerationThis is the deceleration ramp used when stopping this individual Jog. If S-Curve ramps are u

65Setting Up ParametersWhen this destination is activated, jogging motion will begin in the positive direction. The jog velocity is determined by whet

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

66FM-3 Programming Module Reference Manual Figure 46: Jog Activation Figure 47: Jog Select DetailsIf the Jog direction is reversed, the Jog.#.Decel va

67Setting Up ParametersIf the device is jogging with the Jog.PlusActivate destination active and the Jog.MinusActivate destination activates, the moto

68FM-3 Programming Module Reference ManualHome ViewThe Home is used in applications in which the axis must be precisely aligned with some part of the

69Setting Up ParametersTime BaseSelects the Time Base for the home move velocity and acceleration/deceleration. Real-time and sync are the allowed sel

70FM-3 Programming Module Reference Manualas specified. If the specified offset is smaller than the calculated offset, the motor will decelerate to a

71Setting Up ParametersHome Sources and DestinationsSourcesHome.AbsolutePosnValidThis source is activated when a Home is successfully completed. It in

72FM-3 Programming Module Reference ManualDestinationsHome.#.InitiateThe Home.#.Initiate destination is used to initiate the home function. The Home i

73Setting Up ParametersIndex NumberThe Index Number parameter selects the index number with a scroll box.Index NameThe User can specify an Index name

74FM-3 Programming Module Reference ManualDecelerationThe Deceleration parameter specifies the deceleration value to be used during the index in user

75Setting Up ParametersIf Index 1 is run, the Index.1.PLSStatus will activate when the position feedback reaches -4 Revs (or 4 Revs from the start of

vii Safety ConsiderationsSafety PrecautionsThis product is intended for professional integration into a complete system. If you install the product in

76FM-3 Programming Module Reference ManualWindow EndThis parameter defines the end of the Registration Sensor Valid Window relative to start position

77Setting Up ParametersIndex.#.AcceleratingThis source is active while an index is accelerating to its’ target velocity. Once the index reaches the t

78FM-3 Programming Module Reference ManualIndex.#.Sensor TriggerIf registration to Sensor is selected, when this destination activates, motor position

79Setting Up ParametersNetwork GroupModbus ViewThe Modbus View is used to assign Modbus addresses to individual parameters. By selecting Modbus in the

80FM-3 Programming Module Reference ManualA “New Assignment” dialog box will appear. This will automatically assign the next available modbus address,

81ProgrammingMotion Programs are a series of indexes, homes and jogs that have been previously setup. You combine these with other programming steps t

82FM-3 Programming Module Reference Manualacceleration ramp. The index will finish at velocity. The program then moves on to the next index. It smo

83Programming Figure 53: Index Velocity Profile with Drive OutputsIndex.0.CompoundInitiate ‘Incremetal,Dist=5.000in,Vel=50in/sDriveOutput.1=ON

84FM-3 Programming Module Reference ManualExamples:Jog.0.PlusInitiate ‘Vel=27.2in/sJog.1.PlusInitiate ‘Sync,Vel=1.000in/inJog.MinusInitiateThis progra

85ProgrammingDwell For TimeThis motion instruction is used to pause program execution for a very precise amount of time. It operates as a motion inst