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Parameter Descriptions
Following Error Limit FollowingErrorLimit
This parameter is used when the FollowingErrorEnable bit is set. This limit is compared to
the absolute value of the FollowingError. If the FollowingError is greater than the
FollowingErrorLimit, a following error fault will be generated.
Friction
This parameter is characterized in terms of the rate of friction increase per 100 motor RPM.
If estimated, always use a conservative (less than or equal to actual) estimate. If the friction
is completely unknown, a value of zero should be used. A typical value used here is less than
one percent.
Any Command Complete Home.AnyCommandComplete
This source is active when any home motion command is completed, if a stop is activated
before the home has completed the function will not be activated. Inactivated when a home
command is executed.
Accelerating Home.#.Accelerating
Active during any acceleration while the specified home is in progress. Accelerating may turn
off and on again based on the type of Home selected. Accelerating will activate during the
Home back off sensor motion.
Acceleration Home.#.Accel
This parameter sets the average Acceleration rate used during the home, units are specified
on the User Units page.
At Velocity Home.#.AtVel
This source is activated when the home velocity is reached when a the specified home is in
progress. It will activate and deactivate base on the home. Home At Velocity will not be
activated during back off sensor portion of the home.
If On Sensor Home.#.OnSensorAction
If the home sensor input is active when the home is initiated, this parameter determines the
direction of motion. Two selections are possible. If "Back off before homing" is selected, the
motor will turn in the opposite direction of the home until the home sensor is clear and then
begin the home. If "Go forward to next sensor" is selected, the motor will turn in the
commanded direction until the next rising edge of the sensor is seen. If using Modbus to view
or modify this parameter, 1= Back off before homing, 0 = Go forward to next sensor.
- Reference Manual 3
- Customer Service 5
- Document Conventions 7
- Safety Instructions 8
- Reference Materials 8
- Safety Considerations 9
- Table of Contents 11
- Specifications 189 13
- Glossary 205 13
- Index 213 13
- Introduction 15
- Programming Module 16
- Operational Overview 17
- Keypad Interface 18
- How Motion Works 20
- How Jogging Works 20
- How Home Works 21
- Home Sequence 22
- Accuracy and Repeatability 24
- 1600 µsec 25
- Sensor Min 25
- Calculated 26
- Home Offset 26
- Specified 27
- Home Examples 28
- (2.0 Revs) 29
- Offset Move 29
- Velocity 31
- Acceleration 31
- Deceleration 31
- Run at Velocity 31
- Absolute vs. Incremental 32
- Absolute Index 33
- Incremental Indexes 34
- How Communications Work 36
- Setting Up Parameters 39
- Configuration Group 40
- Drive Encoder Output Group 40
- Positive Direction Group 41
- Motor Position Group 41
- Drive Information Group 42
- Motor Velocity Group 42
- Module Information Group 42
- Master Feedback Group 42
- Torque Group 43
- Scaling 45
- Velocity Group 46
- Acceleration Group 47
- Master Position Setup Group 49
- Master Distance Units 49
- Decimal Places 50
- Master Velocity Units 50
- Master Acceleration Units 50
- Limits Group 52
- Rotary Group 53
- Online Tab 54
- Online Tab (not shown) 56
- Assignments Tab (shown) 56
- Ramps Group 58
- Assignments Tab 58
- Online Status Tab 60
- Tuning Group 62
- Position Error Integral Group 62
- Time Constant 63
- Faults View 64
- PLS View 65
- On Point 66
- Off Point 66
- Direction 66
- Rotary Enable 67
- Rollover Point 67
- I/O Setup Group 68
- Selector View 68
- Assignments 70
- Assignments View 71
- Creating An Assignment: 72
- Deleting An Assignment 72
- Assignment Polarity 73
- Input Lines View 74
- Output Lines View 75
- Motion Group 76
- Jog View 76
- Jog Number 77
- Jog Name 77
- Time Base 77
- Jog Velocity 77
- Jog Acceleration 77
- Jog Sources and Destinations 78
- Home View 82
- Limit Distance 84
- End of Home Position 84
- Home Sources and Destinations 85
- Index View 86
- Enable Index PLS 88
- PLS On Point 88
- PLS Off Point 88
- Registration Parameters 89
- Destinations 91
- Index.#.Sensor Trigger 92
- Network Group 93
- Modbus View 93
- Wait For InPosn 95
- Jog.PlusInitiate 97
- Program Flow Instructions 99
- Index.1.Vel = 20.0 104
- ModuleOutput.1 = ON 104
- Example Programs 105
- ‘Dist=50.000,Vel=1.000in/in 106
- Flying Cutoff/Shear 107
- Programming 109
- Sequence Learn and Playback 110
- Playback Program (Program 2) 112
- Parameter Descriptions 113
- Parameters Saved to NVM 141
- Installation 143
- Modbus Communications 144
- Software Installation 145
- PC System Configuration 145
- Installing PowerTools FM-3 145
- Starting the Software 146
- Accessing Help 147
- Quick Start 149
- User Units View 150
- Master Units View 151
- Position View 151
- Velocity View 152
- Ramps View 153
- Torque View 153
- Tuning View 153
- Step 3: Making Assignments 154
- Click and Hold 155
- Jog Setup 156
- Home Setup 157
- Index Setup 158
- Step 5: Creating a Program 160
- Example Application Start Up 163
- Software Travel Limits 163
- Home Prox 163
- Making Assignments 164
- Tuning Procedures 171
- Tuning Procedure 172
- General Tuning Hints 173
- Tuning Parameters 174
- Response 175
- Feedforwards 175
- Low Pass Filter Group 176
- Line Voltage 176
- Initial Test Settings 177
- Determining Friction 178
- RPM - RPM 179
- FV )100(= 179
- Ramp Units Conversion 181
- Diagnostic Display 183
- Fault Codes 184
- Fault Descriptions 186
- Brake Operation 190
- Analog Outputs 191
- Channel #2 192
- Channel #1 192
- Analog GND 192
- Drive Faults 194
- Error Messages 194
- Programming Error Messages 196
- Online Status Indicators 201
- Specifications 203
- Cable Diagrams 205
- SNCE-XXX Cable 206
- SNCDD-001.5 Cable 206
- SNCO-003 Cable 207
- SNCI-003 Cable 207
- SNCLI-003 Cable 208
- CMDX-XXX Cable 209
- CMDO-XXX Cable 210
- CDRO-XXX Cable 211
- TIA-XXX Cable 212
- DDS-XXX Cable 212
- TERM-H (Head) Terminator 213
- TERM-T (Tail) Terminator 213
- CMDS-XXX Cable 214
- CMMS-XXX Cable 214
- CFCS-XXX Cable 215
- CFCO-XXX Cable 216
- CFOS-XXX Cable 217
- Vendor Contact Information 218
- Glossary 219
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