Emerson P/N 400518-02 User Manuals

Emerson

User Manual (English)

User Manual

Table of Contents

Customer Support
5
- Document Conventions
  6
Safety Instructions
7
- General Warning
  7
- Qualified Person
  7
Reference Materials
7
Safety Considerations
9
- Safety Precautions
  9
Table of Contents
11
Introduction
13
- Epsilon Indexing Drives
  13
- FM-2 Indexing Module
  13
Setting Up Parameters
15
- Graph View
  15
  - Data Capture Group
    15
    - Graph State
      15
    - Run
      15
    - Upload and Plot
      15
    - Stop
      15
    - Automatically Re-trigger and Plot Check Box
      15
    - Print
      15
  - Timing Group
    16
    - Sample Rate
      16
    - Trigger Offset
      16
    - Buffer Upload Size
      16
  - Data Group
    16
- Setup View
  17
  - Identification Group
    17
    - Axis
      17
    - Axis Address
      17
  - Configuration Group
    17
    - Drive Type
      17
    - Motor Type
      17
  - Switching Frequency Group (FM-2 only)
    18
    - Switching Frequency (FM-2 Only)
      18
  - Drive Encoder Output Group
    18
    - Encoder Output Scaling Check Box
      18
    - Encoder Scaling
      18
  - Positive Direction Group
    18
    - CW Motor Rotation Option Button
      18
    - CCW Motor Rotation Option Button
      18
- Motor View
  18
  - Motor Type List Box
    19
  - Use Motor Data From .ddf File Check box
    19
  - Motor Parameters Column
    20
    - Motor Name
      20
    - Peak Current
      20
    - Continuous Current Rating
      20
    - Motor Poles
      20
    - Rotor Inertia
      20
    - Motor KE
      20
    - Phase Resistance
      20
    - Phase Inductance
      20
    - Max Operating Speed
      20
    - Encoder Lines/Rev
      20
    - Encoder Lines/Rev Exponent
      21
    - Encoder Marker Angle
      21
    - Encoder U-track Angle
      21
    - Encoder Reference Motion
      21
    - Encoder Type
      21
  - Values from Drive Column
    21
  - Apply to Config. Button
    21
  - Run Auto-Tune Button
    22
  - Save .ddf Values Button
    23
- User Units View
  25
  - Distance Group
    25
    - Units Name
      25
    - Decimal Places
      25
    - Distance Scaling
      25
  - Velocity Group
    25
    - Decimal Places
      25
  - Time Scale Group
    26
    - Time Base
      26
  - Acceleration Group
    26
    - Decimal Places
      26
- Position View
  26
  - Index In Position Group
    26
    - In Position
      26
      - In Position Window
        26
      - In Position Time
        27
  - Following Error Group
    27
    - Following Error Limit Enable Check Box
      27
    - Following Error Limit
      27
  - Rotary Group
    27
    - Rotary Rollover Enable Check Box
      27
    - Rollover Position
      27
      - Example:
        27
  - Online Tab
    27
  - Motor Position Group
    27
    - Position Command
      27
    - Position Feedback
      27
    - Following Error
      28
    - Encoder Position
      28
    - Pulse Input Posn
      28
- Velocity View
  29
  - Limits Group
    29
    - Overspeed Velocity
      29
  - Trigger Group
    29
    - In Motion Velocity
      29
  - Online Tab
    29
  - Velocity Group
    29
    - Velocity Command
      29
    - Velocity Feedback
      29
    - Analog Command Velocity
      29
- Ramps View
  30
  - Ramps Group
    30
    - Stop Deceleration
      30
    - Travel Limit Deceleration
      30
  - Limits Group
    30
    - Analog Accel/Decel Limit
      30
- Torque View
  30
  - Settings Group
    30
    - Torque Limit
      30
    - Torque Level 1 and 2
      31
    - Peak Torque Available
      31
  - Online Tab
    31
  - Torque Group
    31
    - Torque Command
      31
    - Torque Cmd Limited
      31
    - Foldback RMS
      31
- Tuning View
  32
  - Load Group
    32
    - Inertia Ratio
      32
    - Friction
      32
  - Tuning Group
    32
    - Velocity Response
      32
    - Feedforwards Enable Check Box
      32
  - Low Pass Filter Group
    33
    - Low Pass Filter Enable Check Box
      33
    - Low Pass Frequency
      33
  - Position Error Integral Group
    33
    - Position Error Integral Enable Check Box
      33
    - Time Constant
      33
- Alternate Mode View
  34
  - Alternate Mode Selection
    34
- Faults View
  35
  - Fault Enable Group
    35
- I/O Setup
  36
  - Input Lines View
    36
    - Input Function Window
      36
      - Configuration
        36
    - Active Off Check Box
      36
    - Always Active Check Box
      36
    - Input Line Window
      37
      - Attached Function
        37
      - Configuration
        37
    - Debounce Text box
      37
- Outputs View
  38
  - Output Function Window
    38
  - Output Lines Window
    38
    - Attached Function
      38
    - Configuration
      38
  - Active Off Check Box
    39
- Analog Inputs View
  39
  - Bandwidth
    39
  - Analog Full Scale
    39
  - Analog Zero Offset
    39
  - Online Tab
    39
    - Analog Input Status
      39
- Analog Outputs View
  40
  - Analog Outputs Group
    40
    - Source
      40
    - Offset
      40
    - Scale
      40
    - Online Tab
      40
      - Analog Out Feedback
        40
- Jog View
  40
  - Jog Velocity
    41
  - Jog Fast Velocity
    41
  - Acceleration
    41
  - Deceleration
    41
  - Max Motor Speed
    41
- Home View
  42
  - Home Type
    42
  - Home Reference
    42
    - Sensor
      42
    - Marker
      42
    - Sensor and Marker
      42
  - Chain to Index
    42
  - Velocity
    42
  - Acceleration
    43
  - Deceleration
    43
  - If on sensor ... Group
    43
    - Back off before homing Option Button
      43
    - Go forward to next sensor Option Button
      43
  - Home Offset Group
    43
  - End of Home Position
    43
- Index # View
  43
  - Index Number
    44
  - Index Type
    44
    - Absolute
      44
    - Incremental
      44
    - Registration
      44
    - Rotary Plus and Rotary Minus
      44
  - Distance/Position/Limit Distance
    44
  - Velocity
    45
  - Acceleration
    45
  - Deceleration
    45
  - Dwell Time
    45
  - Index Count Group
    45
  - Registration Tab
    45
  - Calculations Tab
    45
    - This displays various index calculations, such as index distance, index time, acceleration, deceleration and at velocity results.
      45
    - Start Position
      45
  - Chain Tab
    45
    - Compound Indexes
      46
- Status View
  47
  - Status Online Tab
    47
  - Position Group
    47
    - Pulse Input Posn
      47
    - Position Command
      47
    - Following Error
      48
    - Encoder Feedback
      48
    - Position Feedback
      48
  - Velocity Group
    48
    - Analog Command
      48
    - Velocity Command
      48
    - Velocity Feedback
      48
  - Torque Group
    48
    - Analog Torque
      48
    - Torque Command
      48
    - Torque Cmd Limited
      48
    - Torque Feedback
      48
    - Actual Command
      48
  - Drive Status Group
    48
    - Drive Status
      48
    - Foldback RMS
      48
    - Shunt Power RMS (Epsilon only)
      48
    - Segment Display
      48
    - Bus Voltage
      48
  - ID Group
    49
  - Time Group
    49
    - Total Power Up Time
      49
    - Power Up Count
      49
    - Power Up Time
      49
- Graph View
  49
  - Data Capture
    50
  - Timing Group
    50
    - Sample Rate
      50
    - Trigger Offset
      50
    - Buffer Upload Size
      50
  - Data Group
    50
    - Channel 1 - 4
      50
    - Trigger
      50
Operational Overview
53
- User Interface
  53
- How Motion Works
  53
- How Jogging Works
  53
- How Home Works
  55
  - Home Type
    56
    - Standard Home
      56
    - One Side Home
      56
  - Standard Home Sequence
    57
  - One Side Home Sequence
    58
  - Establishing a Home Reference Position
    59
- How Indexes Work
  70
- How Chaining Works
  76
  - Chaining Parameters
    76
    - When this index is complete then:
      76
    - Stop
      77
    - Start Next Index
      77
    - Wait for "Run Next Index" input function
      77
    - Compound into Next Index
      77
      - Index Chain
        77
    - Global Chain Count
      77
    - Repeat Forever
      77
    - Repeat Count
      77
- Index Input and Output Functions
  77
  - Inputs
    77
    - Index Initiate
      77
    - Index Select Input 0 through 3
      77
    - Registration Sensor 1
      78
    - Registration Sensor 2
      78
    - Run Next Index
      78
    - Repeat Current Index
      78
  - Outputs
    78
    - End Of Index
      78
    - End of Chaining Count
      79
    - End of Index Motion
      79
    - Index In Position
      79
  - Examples
    79
- How Alternate Mode Works
  81
- Drive Modifiers
  89
- Encoder Output Scaling
  89
- Current Foldback
  89
  - RMS Foldback
    90
- Shunt Operation
  90
  - Epsilon EP-I
    90
    - Shunt Operation
      90
    - External Shunt Operation
      90
    - Shunt Control
      90
- Brake Operation
  90
  - Brake Release
    91
  - Brake Control
    91
  - Brake
    91
- Analog Inputs View
  91
  - Settings Group
    91
    - Bandwidth
      91
    - Analog Full Scale
      91
    - Analog Zero Offset
      91
- Analog Outputs
  91
- Digital Inputs and Outputs
  92
  - Input Function Active State
    93
    - Input Lines Forced On and Forced Off
      93
  - Input Line Debounce Time
    93
    - Output Lines Forced On and Forced Off
      93
  - Output Line Active State
    93
  - Input Functions
    94
    - Alternate Mode Enable
      94
    - Brake Control
      94
    - This input function, when active, will engage the brake unless overridden by the Brake Release input function. This input functi...
      94
    - Brake Release
      94
    - Define Home
      94
    - Home Initiate
      94
    - Home Sensor
      94
    - Index Initiate
      94
    - Index Select 0 through 3
      94
    - Jog +
      95
    - Jog -
      95
    - Jog Fast
      95
    - Registration Sensor 1
      95
    - Registration Sensor 2
      95
    - Repeat Current Index
      95
    - Reset
      95
    - Run Next Index
      95
    - Stop
      95
    - Torque Limit Enable
      96
    - Travel Limit + and -
      96
  - Output Functions
    96
    - Absolute Position Valid
      96
    - At Velocity
      96
    - Brake
      96
    - Drive OK
      96
    - End of Chaining Count
      96
    - End of Home
      96
    - End of Index
      96
    - End of Index Count
      96
    - End of Index Motion
      96
    - Fault
      96
    - Foldback Active
      96
    - Home Limit Distance Hit
      97
    - In + and In - Motion
      97
    - Index in Position
      97
    - Over Temperature Current Limit Active (MDS Only)
      97
    - Power Module System Ready (MDS Only)
      97
    - Power Stage Enabled
      97
    - Registration Limit Distance Hit
      97
    - Shunt Active
      97
    - Travel Limit + and -
      97
    - Torque at Max Velocity
      97
    - Torque Level 1 and 2 Active
      97
    - Torque Limit Active
      97
- How Communications Work
  98
  - Configuring Communication
    98
  - Uploading
    98
  - Downloading
    99
  - Change Path Connection
    99
Quick Start
101
- Offline Setup
  101
- Online Setup
  107
Tuning Procedures
111
- PID vs. State-Space
  111
- Tuning Procedure
  111
  - Initial Settings
    111
  - Tuning steps
    112
    - No Tuning
      112
    - Basic Level
      112
    - Intermediate Level
      112
    - Fully Optimized Level
      112
  - General Tuning Hints
    112
    - General Tuning Procedure:
      112
- Tuning Parameters
  115
  - Inertia Ratio
    115
  - Friction
    115
  - Response
    115
  - High Performance Gains
    116
  - Feedforwards
    116
  - Low Pass Filter Group
    116
  - Line Voltage
    116
- Determining Tuning Parameter Values
  117
Diagnostics and Troubleshooting
121
- Diagnostic Display
  121
- Fault Codes
  122
  - Fault Descriptions
    123
- Diagnostic Analog Output Test Points
  125
- Drive Faults
  127
  - Faults View
    127
  - Resetting Faults
    127
  - Viewing Active Drive Faults
    127
  - Rebooting the Drive
    127
- Watch Window
  128
  - Clear All Button
    129
  - Save Selections Button
    129
  - Restore Selections Button
    129
  - Select Defaults
    129
  - Select I/O
    129
  - Close
    129
  - Help
    129
- Error Messages
  130
User Defined Motors
131
- Commutation Basics
  131
  - Tools Required:
    131
  - Procedure
    131
  - Step 1:Motor Wiring
    131
  - Step 2:Motor Feedback Wiring
    133
    - Encoder Electrical Interfacing
      133
    - Thermal Switch Interfacing
      134
    - Encoder Logical Interfacing
      135
  - Step 3:Determine Encoder Alignment
    136
    - Reading Encoder Alignment
      136
    - CCW Reference Rotation
      136
    - CW Reference Rotation
      137
  - Establishing a Standard Alignment
    138
    - Dynamic Alignment Method
      138
    - Static Alignment Method
      139
  - Step 4: Determine Motor Parameters
    139
    - Motor Ke
      139
    - Motor Pole Count
      140
  - Step 5:Editing the MOTOR.DDF File
    140
    - Header
      141
  - Revision
    141
  - Serial
    141
  - Beta
    141
  - NameCount
    141
    - Motor Data
      141
    - Motor Parameter Descriptions
      142
  - Motor Poles
    142
  - Motor Encoder Lines Per Revolution
    142
  - Motor Encoder Marker Angle
    142
  - Motor Encoder U Angle
    143
  - Motor Encoder Reference Motion
    143
  - Motor Inertia
    143
  - Motor KE
    143
  - Motor Resistance
    143
  - Motor Inductance
    143
  - Motor Peak Current
    143
  - Motor Continuous Current
    143
  - Motor Maximum Operating Speed
    143
    - Step 6:Configuring the Drive
      143
      - Selecting a User Defined Motor
        144
    - Step 7:Verification and Checkout
      144
      - Rotation Test
        145
      - Torque Test
        146
      - Commutation Accuracy Test
        146
      - Velocity Test
        146
Options and Accessories
149
- Epsilon EP Drive Options
  149
- FM-2 Indexing Module Options
  150
- STI-24IO Interface
  151
- STI-EIO Interface
  152
- ECI-44 External Connector Interface
  153
Specifications
155
- Drive overload protection.
  155
- FM-2 Specifications
  155
- Dimensions and Clearances
  156
  - Epsilon EP-I Drive
    156
- FM-2 Dimensions and Clearances
  157
  - Power Dissipation Calculation
    158
- Cable Diagrams
  159
  - CMDS-XXX Cable
    159
  - CMMS-XXX Cable
    159
  - ESA-SP-485
    160
  - SNCE
    161
  - SNCDD-915
    162
  - SNCFLI
    163
  - SNCFLOA
    164
  - MOTOR POWER CABLES
    165
    - XTMDS
      165
    - XCMDS
      166
    - XCMDBS
      166
  - MOTOR FEEDBACK CABLES
    167
    - XEFTS
      167
    - XEFCS
      168
    - EFCS
      169
Glossary
171
- µs
  171
- A
  171
- Amplifier
  171
- ARMS
  171
- AWG
  171
- Baud Rate
  171
- Check Box
  171
- Configuration
  171
- CRC
  171
- Dialog Box
  171
- DIN Rail
  171
- DLL
  171
- Downloading
  171
- Drive
  171
- EEPROM
  171
- EMC
  172
- EMI - Electro-Magnetic Interference
  172
- Firmware
  172
- Flash
  172
- Flash File
  172
- FM
  172
- Home Routine
  172
- Hysteresis
  172
- I/O
  172
- Index
  172
- Inertia
  172
- Input Function
  172
- Input Line
  172
- Least Significant Bit
  172
- LED
  172
- List Box
  172
- mA
  173
- MB
  173
- MODBUS®
  173
- Module
  173
- Most Significant Bit
  173
- ms
  173
- NVM
  173
- NTC
  173
- Option Button
  173
- Opto-isolated
  173
- Output Function
  173
- Output Line
  173
- Parameters
  173
- PE
  173
- PID
  173
- PLC
  173
- PowerTools Pro
  174
- Radio Button
  174
- RAM
  174
- RMS
  174
- ROM
  174
- RPM
  174
- Serial Port
  174
- Travel Limit
  174
- Torque
  174
- Uploading
  174
- Vac
  174
- Variable
  174
- Vdc
  174
- Velocity
  174
- Windows, Microsoft
  174
Index
175

Size:

4.36 MB
Pages:

178
Language:

English