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Reference Manual P/N 400518-02 Revision: A1 Date: December 22, 2006 © Control Techniques Americas LLC 2006 Epsilon EP-I Indexing Drive and FM-2 Indexing Module.
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Information furnished by Control Techni ques Drives Inc. (Control Techniques) is believed to be accurate and reliable. However, no responsibility is assumed by Control Techniques for its use.
ii © Control Techniques Americas LLC, 2006 Part Number: 400518-02 Revision: A1 Date: December 2006 Printed in United States of America Information in this docum ent is subject to change without notice.
iii Customer Support Control Techniqu es Americas LLC 12005 Technology Drive Eden Prairie, Minnesota 55344-3620 U.S.A. Telephone: (952) 995-800 0 or (8 00) 893-2321 It is Control Techniques’ goal to en sure your greatest possible satisfaction with the operation of ou r products.
iv Customer Service (Sales) (952) 995-8000 or (800) 893-2321 Email: customer.ser vice@emersonct.com Authorized Control Techniques distributors may place orders di rectly with our Customer Se rvice department. Contact the Customer Service department at this number for the distributor nearest you.
v Safety Instructions General Warning Failure to follow safe installation gu idelines can cause deat h or serious injury. The voltages used in the product can cause severe electric shock and/or burns and coul d be lethal. Extreme care is necessary at all times when workin g with or adjacent to the product.
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vii Safety Considerations Safety Precautions This product is intended for professional incorp oration into a co mp lete system by quali fied persons. If you install the product incorrectly, it may present a safety hazard.
viii Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Identification of Safety Information Safety related information thro ugh ou t this manual is identified with the fo llo wing markings. “Warning” indicates a potentially hazardous situation that, if not avoided, could result in death or serious injury.
ix Customer Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . . . .
x Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Quick S t art 89 Offline Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 Introduction Epsilon Indexing Drives The Epsilon EP-I drives are stand-alone, fully digi tal brushl ess servo drives designed and built to reliably provi de high performance and flexibility without sacrificing ease of use. The use of State-Space algorithms make tuni ng very simple and forgiving.
2 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Module is setup using PowerTools Pro v4.0 so ftware. PowerTools Pro v4.0 is an easy-to-use Microsoft ® Windows® based setup and diagnostics tool.
3 Setting Up Parameters Graph View Figure 3: Graph View Data Capture Group Graph State There are three graph state conditio ns in the fo llow ing order: Filling Buffer, Filled.
4 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Timing Group The sliders can be moved in several different ways. 1. With the mou se pointer over the slider, left click and hold wh ile dragging the slider back or forth to the desire setting.
5 Setting Up Parameters Setup View The Setup View contains all of the prima ry system setup parameters. These parameters must be setup prior to using your system. By selecting Setup in the Hierarchy Tree, the Setup view will appear on the right side of the vi ew (see Figure 4).
6 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Switching Frequency Group (FM-2 only) Switching Frequency (FM-2 Only) “Switching Frequency” is used to select the Driv e Module switching frequency. There are two switch ing frequencies, 5 KHz (default) and 10 KHz.
7 Setting Up Parameters Following is a description of all the different fu nctions on the Motor view. Figure 6: Motor View Motor Type List Box Use this list box to select the motor typ e. PowerTo ols Pro soft ware will display all the stand ard motor models and any user defined motors.
8 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Motor Parameters Column Motor Parameters column i s a column of data displayed on the Motor view under the Set up view (See Figure 6). This column of data contains the values for eac h of the motor data parame ters.
9 Setting Up Parameters nLines = Total number of Encoder Lines n = Motor Encoder Lines per Rev Coefficient x = Motor Encoder Exponent The total number of encoder lines is used both for commut ation and for position/velocity control.
10 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual in the FM3/4 module. Therefore, in o rder to store the values in the FM module, the Auto-Tune v alues must be app lied to the configuration file. When t he user presses “Apply t o Config.
11 Setting Up Parameters Figure 7: Auto-Tune Dialog Box - Auto-Tune Mode 3 After the Auto-Tune Mode has been select ed, click Proceed, to start the Auto-Tune. When the Auto-Tu ne is compl e ted th e results will be in the Values from Drive column on the Motor view.
12 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Figure 8: The User Defined Motor Name Conflict Dia log Box The User Defined Motor Name Conflict dial og box presents the user with four opt ions on how to proceed with saving the motor data.
13 Setting Up Parameters Parameters Not Matching List This list is part of the User Defined Motor Name Conflict dialog box and d isplays the param eter value(s) from the Motor Parameters column that do not match the equivale nt parameter value in either the mot or.
14 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Time Scale Group Time Base Select either minute or second as the time scale for the configur ation. The default time scale is minutes. If the selected time scale is seconds, then the ve locity units will appear as user units/sec.
15 Setting Up Parameters Or the In Position window is set to 0.001 inches. If at the end of an index, the following error is calculated to be 0.0015 inches, then the InPosn output will not activate.
16 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Following Error The Following Error is the difference (in user units) between the Position Comma nd and the Position Feedback. It is positive when the Position Comm and is gr eater than the Position Feedback.
17 Setting Up Parameters Velocity View This view allows the user to set the drive limits, an d if online, view the velo city feedback parameters. Figure 11: Velocity View - O nline Limits Group Overspeed Velocity This parameter specifies the maximum al lowable s peed.
18 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Ramps View Ramps Group Stop Deceleration The value you enter here defines the rate of velocity change to zero speed when a Stop inp ut fu nction is activated.
19 Setting Up Parameters Torque Level 1 and 2 This parameter sets the activation level for the Torque Le vel 1 Active and Torque Level 2 Activ e outpu t fun ctions. Peak Torque Available This displays the maximum torque available from the selected drive and motor combination .
20 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Tuning View All parameters on the Tuning view are relate d to the lo ad on the m otor and application requirement s. The load on th e motor is sp ecified by two p arameters: Inerti a Ratio and Friction.
21 Setting Up Parameters Low Pass Filter Group Low Pass Filter Enable Check Box This check box when selected enables a low pass filter applied to the output of the velocity command before the torq ue compensator. The low pass filter is only active in Pulse and Veloci ty m odes, not Torq ue Modes.
22 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Alternate Mode View Figure 14: Alternate View Alternate Mode Selection See “Alternate Mode Select” on page 70 for details on selecting a mode of operation.
23 Setting Up Parameters Faults View Figure 15: Faults View - On line Fault Enable Group Low DC Bus Fault Enable This parameter’s default setting is enabled. When enabled, th e drive will detect a low DC bus at 60 Vdc and will log a Low DC Bus Fault if a power down is not completed after the low DC bus is detected.
24 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual I/O Setup Input Lines View The Input Lines view is used to assign an input function to an input line. This view is divi ded into two window s. The “Input Function” window, on the left side, displays the input fun ctio ns available and t he function configurati on.
25 Setting Up Parameters Input Line Window This window displays the input function assigned to the input lin e and the configuration of the input line and input function. Attached Function This displays the Input Function as signed each particular Input Line.
26 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Outputs View This view is divided into two windows. The “Outpu t Functio n” window, on the left side, displays the available output functions.
27 Setting Up Parameters Active Off Check Box The default active state of an output line is Active On. This means that the output line will supply a voltage when the result of the logical Or of the output function(s) assigned to that out put line is active.
28 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Analog Outputs View This view displays the setup and fee dback data for the two Analog Outputs. Figure 20: Analog View - Online Analog Outputs Group Source Select the signal to use as the source fo r the Analog Output.
29 Setting Up Parameters Figure 21: Jog View Jog Velocity This parameter specifies the velocity used for jogging with the Jog + or Jog - input functions. Jog Fast Velocity This parameter sp ecifies the velocity u sed for fast jogging wit h the Jog Fast input funct ion in conjunction with either the Jog + or Jog - input functions.
30 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Home View This view allows you to enable and define the home function. Figure 22: Home View Home Type The Home Type parameter determines the type of home, Standard Home or One Side Home.
31 Setting Up Parameters Acceleration This parameter specifies the acceleration value to be used du ring the home. The acceleration un its are defined by the Time Scale parameter on the User Units view. Deceleration This parameter specifies the deceleration value to be used during th e home.
32 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Figure 23: Index0 View Index Number The device supports up to 16 i ndexes (0 - 15). Use the scroll ar rows to change the index number or cli ck on the index number in the hierarchy tree.
33 Setting Up Parameters Velocity The Velocity parameter specifies the velocity used for the index . The velocity parame ter is unsigned and must be greater than zero. Acceleration The Acceleration parameter specifies the acceleration value to be used during the inde x.
34 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Figure 24: Index View - C hain Tab Compound Indexes This chaining instruction is used to initiate an index whic h has no deceleration ramp. The index accelerates up to speed and runs at speed until the specified distance is reached.
35 Setting Up Parameters Figure 27: Index 0 C ompounded i nto Index 1 Status View This view has two tabs, the Status Online tab displays the drive status in real time and th e Inform ation tab displays general information about the drive/module th e user is online with.
36 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Following Error The Following Error is the difference be tween the Position Command and the Positi on Feedback. It is positive when the Position Command is greater than the Position Feed back.
37 Setting Up Parameters ID Group Firmware Revision (Epsilon only) Displays the revision of the firmware in the drive you are cu rrently online with. FM Firmware (FM-2 only) Displays the revision of the firmware in the drive you are cu rrently online with.
38 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Data Capture The Data Capture group includes initiate, stop , and graph commands for the graphical monitor. The “Run” button commands the drive to begin a high speed da ta capture of the parameters as selected in each of the four data channels.
39 Setting Up Parameters Figure 30: Graphical Plo t.
40 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual.
41 Operational Overview The FM-2 Module augments the base drive by providing single axis position control. When an FM-2 Module is attached to a base drive, it overrides the operation an d user acces sible features of the drive. The base driv e’s basic operating mode, Torque Presets is not available wh en a FM-2 Module is attached.
42 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Figure 32: Jog View Jog and Jog Fast Velocity The Jog Velocity parameter specifies the v elocity used for jogging with the Jog + or Jog - input fun ctions.
43 Operational Overview Figure 33: Jog Input Figure 34: Jog Input and Jog Fast Input When the Jog Fast input function is not active, the target velocit y for the jog is the Jog Velocity. If the Jog Fast input func tion is active, the target velocity of the jog is the Jog Fast Velo city.
44 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Figure 35: Home View Home Type The first step in setting up a home routine is to select the desired home type. Standard Home The device can home the motor to an external sensor, the motor’s encoder mark er pulse or to a sensor and then to the encoder marker pulse.
45 Operational Overview Standard Home Sequence Figure 37: Flow Chart of a Standard Home Routine Homing to the motor’s encoder marker will establ ish the most accurate and repeatable home positio n. This metho d will position the motor relative to the location of th e rising edge of the encoder marker pulse.
46 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual One Side Home Sequence Figure 38: Flow Chart of a One Side Home Routine Several parameters (includ ing input and output fu nctions) aff ect how the Home function operates. Each of these parameters are explained in d etail on the following page s.
47 Operational Overview Establishing a Home Reference Position The second step in setting up a home routine is to select the desired home refere nce type. The Home Reference parameter selected determines how the Home Reference Position is esta blished.
48 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Note The data above assumes the use of a perfectly repeatable home sensor. Sensor and Marker, and Marker home ty pes will establish a re peatable home posi tion within one encoder count at any motor velocity.
49 Operational Overview The calculated offset is the distance trav elled during deceleration ramp from the ho me velocity to a stop plus the distance travelled at the home velocity for 400µs. This extra distan ce is used to guarantee that the motor will not need to backup after the deceleration ramp.
50 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Home Offset Examples The following three home cycle examples each use a differen t offset method or value. Example 1: Calculated Offset In the example below, a cal culated offset is used.
51 Operational Overview Figure 47: Specified Offset Screen Figure 48: Specified Of fset, Greater than Ca lculated Offset.
52 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Example 3: Specified Of fset, Back up Required In the example below the specifie d offs et is located such that the m otor must sto p and back up t o get to the offset posi tion.
53 Operational Overview Figure 51: Back Off Sensor Example Figure 52: Back Off Sen sor In the figure on the previous page, the moto r has restricted travel.
54 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Figure 53: Move Forward O ff Sensor Example In the application shown above we will a ssume that the motor can only move in the positive (+) direction. The Home Sensor input can be triggered by any one of the spacer lugs on the belt .
55 Operational Overview Home Limit Distance Hit This output function indicates that no home reference was fo und while traveling to the Home Lim it Distance. The device will decelerate and stop at the Home Limit Distance. This output function is act ivated when the motor stops.
56 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Figure 55: Home Screen, Sensor and Marker Selected Figure 56: Home Velo city Profile Figure 57: Home Move Sequ ence Example 2: Rotary Application This example uses an external sensor and the motor’s en coder marker pulse to es tablish a home reference position.
57 Operational Overview Figure 58: Sensor and Marker then Offset When the device sees the rising edge of the Home Initiate input function, it accelerates the motor to the Home Velocity. The motor continues at that velocity unt il it first senses the Home Sensor input.
58 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Figure 60: Home Velo city Profile Figure 61: Home Move Sequ ence How Indexes Work An index is a complete motion sequence that moves the motor a sp ec ific incremental distance or to an absolute position .
59 Operational Overview Figure 63: Index 0 View All Indexes use linear acceleration and de celeration ramps which may or may not r each the specified velocity depending on the total distance and the ramp values. For example, a short move with long accelera tion and deceleration ramps may not reach the peak velocity entered.
60 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Figure 64: Absolute Index In the example above, the index position is 4 revs. If this index is initiated the m otor will travel to a positi on of 4 revs no matter where it is sitting before the move.
61 Operational Overview regardless of the starti ng point. A Rotary Plus Index moves to the specified position, but is forced in a positive direction. Similarly, a Rot ary Minus Index mov es to the specifi c po sition, but is forced in a negative direction.
62 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Dwell Time The Index Dwell Time par ameter specifies the amount of time th e system will wait after the index motion before the index is considered complete. Index Count The Index Count parameter specifies how many times the ind ex w ill repeat itsel f upo n being initiated.
63 Operational Overview Registration Window End This parameter defines the end of the Registrat ion Sensor Valid Window relative to start position of this index. This is an unsigned value and is relative only to starting po sition of this index . In dex directio n does not affect this parameter.
64 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual How Chaining Works Chaining is a way to combine two or more indexes into a single sequence.
65 Operational Overview Stop If “Stop” is selected, then the motor will come to a stop at the end of the index a nd the system will return to a Ready state.
66 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual functions. The table below shows this concep t. The status of the four Index Select Input fu nctions are combined toge ther to form a 4 bit binary number.
67 Operational Overview End of Chaining Co unt This output function i s activated when th e index chain has repeat ed the chain the numb er of times as specified in the Global Chain Count parameter.
68 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual When this index is complete then: St op Chain Count = 1 Figure 68: Example 1 – Index1 is chained to Index2 with a Chain Count of 1. Figure 69: Example 2 – Index3 is chained to Index4 with a Chain Count of 2.
69 Operational Overview Figure 70: Example 3 – Index5 is chained to Index6 using the Wait for Run Next Index input function. How Alternate Mode Works In addition to Jog, Index, and Home function s, the EP-I dr ive provides three basic modes of operation in Alt ern ate Mode: Analog Velocity, Analog Torq ue, and Pulse Mo de.
70 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Alternate Mode Select Analog Velocity Mode Analog Inputs The Analog Inputs receives an analog voltage which is converted to the Veloc ity Command Analog pa rameter using the Full Scale Velocity, Analog Input Fu ll Scale, and Analog I nput Zero Offset parameters.
71 Operational Overview In Torque mode the drive recei ves an Analog Input which is scaled to the Analog Torque Command by the Full Scale Torque, Analog Input Full Scal e, and Analog Input Zero Offset parameters.
72 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Pulse Mode In Pulse mode, the drive will receive pulses which are used to control the position and velocity of the motor. There are three pulse interpretations asso ciated with Pulse mode : Pulse/Pulse, Pu lse/Direction and Puls e/Quadrature.
73 Operational Overview Figure 76: Pulse/Direction S ignals, Differential Inputs Pulse/Quadrature Interpretation In Pulse/Quadrature in terpretation, a full quadrature en coder signal is used as the command. When B leads A encoder counts are received they are interpreted as positive changes to the Pulse Position Input .
74 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Differential Source The Differential setting (default) is perfect for most encoders or upstream dr ives. The differential input circuit is RS-422 compatible making it inherently noise immune while being able to accept puls e rates of up to 1.
75 Operational Overview Signal common connected to Drive Logic 0V (Sync Encoder Common 0V) Epsilon EP-I Wiring Example: Note Actual motor rotation direction will depen d on pul se ratio polarity and setting of the Po si tiv e Direction bit.
76 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Online Tab This tab is only available when online with the drive. Velocity Group Analog Command Velocity When the drive is in Analog Velocity mo de this parameter shows the current velo city commanded after the scaling of the Analog input function.
77 Operational Overview Drive Modifiers This section describes functions that can modify the operation of th e drive. Sto p The Stop input functi on, when activated, wil l cause motion to stop regardless of motor d irection or the operating mode. The Stop Deceleration Ramp defi nes the rate of velocity change to zero speed.
78 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual RMS Foldback RMS foldback protects the motor from ov erheating. The RMS Foldback parameter models the thermal heating and cooling of the drive and mot or based on the comm anded current and the motor velocity .
79 Operational Overview Note No motion should be commanded whil e the brake is engag ed. * (1) = Active output function (0) = Inactive output function Brake Release The Brake Release input function will release the brake under a ll conditions. When thi s input function is on, the Brake output function will be on (i.
80 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual • Position Feedback Default Analog Output Sou rce: • Channel 1 = Velocity Command • Channel 2 = Velocity Command Each channel includes a programmable Anal og Output Offset and an Analog Output Scale.
81 Operational Overview All inputs and outputs are co nfigured as sourcing and are desi gned t o operate from a +10 Vdc to +30 Vdc power source. The user is responsible for limiting the output curr ent to less than 150 mA for each digital output.
82 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Making an output line "Active Of f" means that the line will be “Off” (not conducting) when the re sult of the .
83 Operational Overview With all four Index Select lines assign ed , but none of them act ive, Index number 0 will be init iated when the Index Initiate input function goes acti vated. If you activate Index Select lines 0 and 1, Index number 3 (1 + 2 = 3) will be initiated when th e Index Initiate function go es active.
84 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Torque Limit Enable This input function, when active, causes the Torque Comm and to be limited to the value of the Torque Limit parameter.
85 Operational Overview Home Limit Distance Hit This output function indicates that no home reference was sensed during the move to the Home Li mi t Distan ce. In + and In - Motion This output function is activated when ev er the velocity is great er than the In Motion Velocity parameter in the posi tive or negative direction.
86 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual How Communications Work Configuring Communication Before attempting to u pload or download a confi guration file using PowerTools Pro, the softw are must be configured to the correct communication settings for the intended comm unication connection.
87 Operational Overview Downloading Downloading is the process of sending the configuration created with PowerTool s Pr o from the PC to the device. Changes made in PowerTools Pro will not take effect unt il the in format ion has been downloaded or the Update to RAM button has been clicked.
88 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual • Base/Drive FW Revision • Module FW Revision • Module Serial Number • Drive Serial Number Figure 83: Change Path Dialog Box Select the device in the list and then click OK.
89 Quick Start Offline Setup Note Generally, online setup is used when editing param eters in a device. O ffline setup editing is usually only don e when not connected to a device. Step 1: Opening an Offline Configuration Wind ow To open an offline Configuration Window, cli ck the New but ton from the toolbar or select New from the File menu.
90 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Figure 86: Setup View Entering Identification Parameters: 1. Enter an axis identifyi ng name fo r the drive you are setting up. You can use up to 24 alpha- numeric characters. 2.
91 Quick S t art Step 3: Assigning Inputs Inputs are assigned in the Inputs view which is div ided into two windows. The “Input Functions ” windo w, on the left side, displays the input functions av ailable, th e function polarity and the always active state.
92 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Figure 89: Outputs View To assign an Output Functi on to an Output Line: 1. Assign an output by highlighti ng an out put function in the “Output Function” window and drag the highlighted output function to the desired output in the "Out put Lin e" window.
93 Quick S t art Figure 90: Jogging Param eter Set-up Before initiating joggi ng mo tion, enter the jo g related parameters as desc ri b e d bel ow. 1. The Jog Velocity parameter specifies the velocity used for jogging when the Jog Fast input function is not active.
94 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual 1. The Home Reference parameter det ermines how the home refe rence positio n is established. The parameter can have one of three different values: ‘Senso r’, ‘Marker’, ‘Sensor an d Marker’.
95 Quick S t art 1. Use the scroll wheels to select the Inde x Number you want to modify (0 to 15) or click the on the index number in the hierarchy view. 2. Select the index type. Ab solute indexes travel to specific absolute positions. Incremental indexe s move the axis a specific distance from its current position.
96 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Figure 93: Communications Setup Screen Note After communications are establ ished the baud rate can be ch anged by selecting from the Device menu, cho ose Change Baud Rate .
97 Quick S t art Figure 94: Upload D rive Configuration Di alog Box Step 5: Operation Verification After downloading a configuration file to the device the user may want to verify the operation of the sy stem using the checklist below. 1. I/O powered and Logic powered if applicable 2.
98 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual.
99 Tuning Procedures The drive uses closed loop controllers to control the position and velocity Travel Li mit of the attached motor. These position and velocity controllers and the associated tuning parameters ar e in effect when the drive is in velocity or pulse mode and have no effect when the drive is in Torque mode.
100 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Tuning steps If your Inertia Ratio is gr eater than 10 times the motor inertia, go directly to the Int erm ediat e Level tuning. No Tuning No tuning will be required in most appl icatio ns wher e the load inertia is 10 times the motor inertia or less.
101 T uning Proced ures Figure 95: Default Inertia Setting (0) Figure 96: Inertia Setting (5) 2. Increase the response parameter The Response is normally the next adjustment when tuning. For best perfo rmance the Response sh ould be lower with a higher inertia mismatch (>10:1) and higher with a lower inertia mismatch.
102 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Figure 97: Inertia Setting (5) Response 3. Position Error Integral The difference in motion when this parameter is disabled and en abled can be observed in the fo llowing graphs.
103 T uning Proced ures Tuning Parameters Inertia Ratio Inertia Ratio specifies the load to motor in ertia ratio and has a range of 0.0 to 50.0. A value of 1.0 sp eci fies that load iner tia equals the motor inertia (1:1 load to motor inertia). The driv es can control up to a 10:1 iner tia mismat ch with the d efault Inertia Ratio value o f 0.
104 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual High Performance Gains Enabling High Performa nce Gains fundamentally affect s the closed loop operation of th e drive and greatly modifies the effect of the Response parameter.
105 T uning Proced ures Determining Tuning Parameter Values For optimum performance you wi ll need to enter the actual system paramete rs into the dri ve.
106 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual 3. Use the appropriate formula below to calculate the inerti a. For horizontal loads or co unterbalanced vertical loads use .
107 T uning Proced ures MG-316 EN-208 3.17 30 600 MG-340 3.14 30 600 MG-455 2.44 30 600 NT -320 5.16 30 600 NT -330 6.87 30 600 NT -345 6.72 30 600 NT -355 5.97 30 600 MG-455 EN-214 2.44 30 600 MG-490 1.85 30 600 MG-4120 1.69 30 600 NT -345 6.72 30 600 NT -355 5.
108 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual.
109 Diagnostics and Troubleshooting Diagnostic Display The diagnostic display on the front of the drive shows drive, ba se drive and FM-2 Module status and fault codes. When a fault condition occurs, the drive will display the fau lt cod e, overriding the status code.
11 0 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Fault Codes A number of diagnostic and fault detection ci rcuits are incorporated to protect the dr ive. Some faults, like hig h DC bus and amplifier or motor over temperat ure, can be reset with the Rese t bu tton on the front of the dri ve or the Reset input function.
111 Diagnostics and T roubleshooting Fault Descriptions Flash Invalid This fault indicates that the firmware checksum has failed. From the Tools menu, Flash Upgrade to re program/upgrade the firmware stored in flash memory. If thi s problem persists, call Control Techni ques.
11 2 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual This can also happen when a FM is removed from a drive and the drive is powered-up. To reset the fault, create or open a co nfiguration file with the correct d rive and motor selections and downlo ad the configuration to the FM o r drive.
11 3 Diagnostics and T roubleshooting Max Following Error This fault is generated when the followin g error exceeds the following error limit (default following error limit is 0.2 revs). With PowerTools Pro you can change the Following Error Lim it val ue or disable it on the Position view.
11 4 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Figure 101: Diagno stic Cable (DGNE) Diagram.
11 5 Diagnostics and T roubleshooting Drive Faults Faults View The Faults view displays any active fau lts in the system. Those faults that do not require a reboot, can be cleared by clicking on the Reset button on the front of the drive or module.
11 6 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Watch Window PowerTools Pro contains a diagnostic utility called the Watch Window. The Watch Window can be used while PowerTools Pro is running and the PC is online with th e device.
11 7 Diagnostics and T roubleshooting Figure 104: The Wat ch Window Once a parameter is added to the Watch Window, it’s current valu e or state is constantly monitored. If a parameter in the window changes value or state, it will ch ange to a red color.
11 8 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Error Messages PowerTools Pro will pop-u p an error message box to alert you to any errors it encoun ters. These message boxes will describe the error and offer a possible solution.
11 9 User Defined Motors Drives can be configured to operate with brushl ess DC (synchronous perman ent magnet ) motors not manufactured by Control Techniques. This feature is very useful for users who are retrofitting drives on existing systems or who have special motor requirements.
120 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual 1. Assume the motor terminals of the non-Control-Techni ques mo tor are designated A, B and C. If they are not marked, name the terminals randomly . The next steps wi ll determine their working designation s.
121 User Defined Moto rs Figure 106: Phase Plot Used to Determini ng Sta tor Wiring Note For the remainder o f this proced ure we will refer to the mo tor terminals using the Contro l Techniques designations R, S and T. Step 2:Motor Feedback Wiring This step describes how to wire the feedb ack signals to the drive.
122 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Figure 107: Encoder Connections, User Motor to a Control Tech niq ues Drive Note The maximum current available out of th e drive encoder +5 volt supply connection i s 250 mA.
123 User Defined Moto rs • Voltage rating min: 10 Vdc • I capacity min: 1 mA Encoder Logical Interfacing The encoder is expected to provide six logi cal signals: A, B, Z, U, V and W. Each of these signals is recei ved at the drive by a differential receiver circuit.
124 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Encoder signals are used for commutation. Incorrectly wired encoder signals can cause damage to the drive.
125 User Defined Moto rs Figure 112: CCW Electrical Angle Plot Where: EUA = Motor Encoder “U” Angle If EUA is >360° subt ract 360°. Next, use the oscilloscope to examine the phase relationship between Z and V TS . Use Figure 76 to determine the electrical angle at the rising edge Z.
126 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual V TS . Use the figure below to determine the elect rical angle at the rising edge of U.
127 User Defined Moto rs Static Alignment Method Another method to align the en coder is to apply DC current through the moto r power phases R to S and rotate t he encoder on it’s mounting until the rising edge of U is detected wi th a vol tmeter or an oscilloscope.
128 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual 4. Determine the actual RPM using a photo-tachometer or by monitoring the frequency of the Z channel with an ocsilloscope. Note When using an oscilloscope, use the following form ula to determine the motor vel ocity in RPM.
129 User Defined Moto rs Header The header includes the revision and serial number information along with a count of how many special motor definitions are included in the particular file. Standard Cont rol Techniques motors will not appear in this file becau se their data is hard cod ed into the drive’s memory.
130 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual encoderMarker=330 encoderU=330 encoderRef=0 rotorInertia=0.00017 motorKE=28.
131 User Defined Moto rs Motor Encoder U Angle Specifies the electrical an gle at which the rising edge of the U commut ation track will occur with reference to V TS when the motor is spun in the encoder reference direction.
132 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Selecting a User Defined Motor Use the following procedure to select the user defined motor with PowerTools Pro. 1. Start PowerTools Pro and either open an existin g fil e or start a new file offli ne.
133 User Defined Moto rs At a certain poin t in the test i t will be necessary t o manually rotate the m otor through an integral num ber of revolutions. Thi s can only be done if the mo tor shaft and ho using are marked in some way so that the motor can be aligned to a specific position.
134 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual To confirm this repeat Steps 7-9 several times with differen t motor shaft starting locati ons. If the absolute valu e of the parameter is greater than 40, there is e ither a problem with the phas ing of U, V and W or an inconsistency in the encoder alignment parameters.
135 User Defined Moto rs 5. Confirm that the motor velocity is really 6 RPM by confirming that it takes 10 seconds to make on e revolution. If this is not the case, the problem may be that both the motor poles and the encoder line density ar e off by the same factor.
136 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual.
137 Options and Accessories Epsilon EP Drive Options Epsilon EP reset 3 MIN serial (J2) L1 L2 PE S R T + _ logic motor digital i/o (J3) J8 J6 J5 J10 EP204-I00-0000 9606XX-XX A1 SN 0610E014 Epsilon EP .
138 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual FM-2 Indexing Module Options The following cables are used to connect variou s components to the MDS drive modul e and FM-2.
139 Options and Accessories STI-24IO Interface The STI-24IO interface for the Eps ilon EP-I drives, see figure 1 16, allows access to all digital input and output signals. The STI-24IO board mounts directly to th e Epsilon EP-I drive Input/Output Connection (J3) and away from any hig h voltage wiring.
140 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual STI-EIO Interface The STI-EIO interface for the Epsilon Classi c drives, see figure 117, a llows acces s to all digital i nput and output signals.
141 Options and Accessories ECI-44 External Connector Interface The ECI-44 allows access to all command and input and output signals on the MDS drive mo dule. The ECI-44 should be mounted close to the drive modul e and away from any h igh voltage wiring.
142 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Figure 119: ECI-44 Signal Connections AG +2 +1 Analog Out AG Command Input + - - - I/O P.
143 Specifications Drive overload protection. FM-2 Specifications Power consumption: 5 W from th e drive module power supply. Rated output current (Am ps RMS ) Drive Model Continuous Peak Ei-202 1.
144 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Dimensions and Clearances Epsilon EP-I Drive The following table applies to the "A" as shown in the figure below. Drive Model Dimension "A" (shown in inches/mm) EP202/204 2.
145 S pecifications FM-2 Dimensions and Clearances Figure 120: FM-2 Module Dimensions.
146 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual Power Dissipation Calculation Calculating actual dissi patio n requirements in an application can help minimize en closure cooling requirements, especially in multi-axis systems.
147 S pecifications Cable Diagrams CMDS-XXX Cable CMMS-XXX Cable S OLDER S IDE GRN/YEL BRN BLK BLU C B D A A B C D E F G H R S T PE/GND BR A ID S HIELD FORM WIRE S oc k et 62/'(56,'( *51<(/ %51 %/.
148 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual ESA-SP-485 14 14 1 3 15 15 2 5 17 17 4 19 19 6 18 18 16 16 20 20 8 7 22 22 9 21 21 23 23 11 11 13 13 12 12 25 25 24 24 10 10.
149 S pecifications SNCE Pin 1 C J D A B I H F 1 RED/WHT 6 8 7 3 5 2 DRAIN WIRE BLK RED BLU BLK/WHT BLU/WHT Y EL/WHT Y EL P P P P 4 A+ A- B+ B- Z+ Z- +5 Vdc GND GND +5 Vdc Z- Z+ B- B+ A- A+.
150 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual SNCDD-915 Y EL GRN P ORG RED BRN BLK BLU PUR 8 14 15 13 12 6 7 4 5 P 3 11 10 2 1 9 P P Drain Wire A Z A GND N/C Z B B 7 4 8 .
151 S pecifications SNCFLI YEL GRN P ORG RED BRN BLK BLU PUR P P P Drain Wire 7 4 8 1 2 3 5 6 Pin 7 SOLDER SIDE 98 5 3 4 6 2 1 A Z A GND 5V Z B B 9 N/C Pin 1 Blunt end.
152 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual SNCFLOA Pin SOLDER SIDE 10 12 1 1 5 3 4 9 2 1 13 6 14 7 15 8 Blunt end Pin 1 4 13 8 5 14 15 6 12 7 3 11 10 2 1 9 ENCODER OUT.
153 S pecifications MOTOR POWER CABLES XTMDS PIN 1 GRN/ Y EL BRN BLK BLU 2 3 4 1 BRAID SHIELD FORM WIRE R S T PE/GND 1 3 2 4 REAR VIEW OF CONNECTOR.
154 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual XCMDS XCMDBS GRN/ Y EL BRN BLK BLU B C D A BRAID SHIELD FORM WIRE BLU (20 A WG) BLU/WHT (20 A WG) Drain Wire U V W PE/GND SO.
155 S pecifications MOTOR FEEDBACK CABLES XEFTS PIN 1 P RED/GRN GRN/RED 9 14 13 12 7 11 5 2 1 3 10 8 4 6 15 U +5 VDC 0V W/ V W V/ U/ Z Z/ B/ B A/ A REAR VIEW OF CONNECTOR 12345 1 1 12 13 14 15 6 7 10 .
156 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual XEFCS SOLDER SIDE Pin 6 15 11 13 14 12 10 9 8 7 5 4 2 3 1 Z/ MOTOR TEMP +5 VDC W COMMON W/ U/ V/ V U B/ Z A/ B A Pin 1 P P P P P P P P RED/GRN GRN/RED Overall Shield Drain Wire BLU ORN GRN BRN BLK Y EL WHT/BRN BRN/WHT WHT/GR Y GR Y /WHT RED/ORG ORG/RED RED/BLU (18 ga.
157 S pecifications EFCS SOLDER SIDE J H G F R Z Y M W X L K V N P C S E T U D B A P P P P P P P P E V A T K H F G M P N B R S C U Z U MOTOR OVER TEMP NOT USED +5 VDC GND W/ V W V/ U/ Z Z/ B/ B A/ A S.
158 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual.
159 Glossary µs Microsecond, which is 0.000001 seconds. A Ampere. The unit of electrical current. Amplifier Servo Drive. ARMS Ampere (RMS).Root Mean Square. AWG American Wire Gauge. Baud Rate The number of binary bi ts transmitted per second on a serial com m unications link such as RS-232.
160 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual EMC Electromagnetic Comp atibility EMI - Electro-Magne tic Interference EMI is noise which, when coupled into sensitiv e elect ro nic circu its, may cause pro blems. Firmware The term firmware refers to software (i.
161 Glossary mA Milliamp, which is 1/1000th of an Ampere. MB Mega-byte. MODBUS® Communication Protocol by Gould, Inc. for in dustrial comm unications systems comprised of programmable controller interface units, protocol software and mo dems.
162 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual PowerTools Pro Windows®-based software to interface with the Epsilon Classic and EP driv es, MDS system, and FM-2/3/4 Function Modules.
163 Index A Absolute Index, 59 Assigning Outputs, 91 D Diagnostics and Troublesh oot ing, 109 Diagnostic Analog O utput Test Points, 113 Diagnostic Display, 109 Drive Faults, 115 Error Messages, 118 F.
164 Epsilon EP-I Inde xing Drive and FM-2 Indexing Mod ule Reference Manual T Tuning Procedures, 99 Determining Tuning Parameter Values, 105 Fault Codes, 110 PID vs.
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Since 1979, the “Motion Made Easy” products, designed and manufactured in Minnesota U.S.A., are re nowned in the motion control industry for their ease of use, reliability and high perform ance. For more information about Contro l Techniques “Motion M ade Easy” products and services, call (80 0) 397-3786 or contact our website at www.
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