Emerson FM-3- Manuals

vii Safety Considerations Safety Precautions This product is intended for professional integration into a complete system. If you install the product incorrectly, it may present a safety hazard. The product and system may use high voltages and currents, carry a high level of stored electrical energy...

ix Customer Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iiiReference Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi Safety Conside...

xi Online Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187 Specifications 189 Dimensions and Clearances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189Cable ...

1 Introduction FM-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 four digital output lines, in addition to the four input and three output lines available on the E Series E N drive. Unlike other function modules, ...

3 Operational Overview This section provides a complete functional description of the FM-3. It is intended to provide you with a thorough understanding of all operations. The description includes references to many FM-3 and E Series drive parameters which can be displayed and/or edited using Emerson...

4 FM-3 Programming Module Reference Manual Figure 3: Hierarchy View The “Hierarchy View” (shown above) contains expandable groups of parameters. The groups can be expanded and contracted just like folders in Windows Explorer. Left clicking on a view name in the Hierarchy view displays that View on t...

5 Operational Overview information. The four arrow keys are used to navigate through parameter groups, select a specific parameter to be modified, and to modify digital and numeric data. The operation of the arrow keys is dependent upon the type of parameter which is being modified. Figure 4: FM-3 D...

6 FM-3 Programming Module Reference Manual • INDEX (Index) • POSN (Position) • HOME (Home) • JOG (Jog) • RAMPS (Ramps) • SECUR (Security) Parameter Screens After selecting a group using one of the soft keys, the FM-3 will display a Parameter screen for that group. This screen could be either the fir...

7 Operational Overview Each jog has its own acceleration and deceleration ramp along with a specified velocity. Jogging has no distance parameter associated with it. If trying to move a specific distance or to a known position, then an index is used. Jogging in the opposite direction will move off a...

8 FM-3 Programming Module Reference Manual Figure 6: Basic Home Function, Example The figure above show a basic home function using a ball screw. This example uses most of the setup features in the PowerTools FM-3 Home tab. Home Sequence 1. Back off the sensor (if on the sensor. This step is optiona...

9 Operational Overview PowerTools FM-3 allows selection of one of three different Home References: Sensor, Marker, or Sensor and Marker. Sensor Selecting Sensor means the rising edge of the Home Sensor input function is used to establish the home reference position. Figure 7: Sensor Home Reference P...

10 FM-3 Programming Module Reference Manual Sensor and Marker Selecting Sensor and Marker means the reference position is established using the first marker rising edge after the device sees the rising edge of the Home Sensor input function. Figure 9: Sensor and Marker Home Reference Position Exampl...

11 Operational Overview Figure 10: Sensor and Marker Home Reference Position Example 2 The Home Sensor must be “On” for at least 1.6 msec to guarantee that it will be recognized. Figure 11: Sensor and Marker Home Reference Position Example 3 Home Offset The Home Offset is the distance from the Refer...

13 Operational Overview Two examples below show operation when the specified offset is greater or less than the calculated offset. This causes the axis to continue on at speed before decelerating and stopping at the offset position, or backing up after the home sensor. Figure 14: Specified Home Offs...

14 FM-3 Programming Module Reference Manual Home Limit Distance This parameter places an upper limit on the incremental distance the motor will travel during the home. If no reference is found, the system will decelerate and stop at the limit distance. The Home Limit Distance Hit function will be ac...

17 Operational Overview Figure 20: Home Velocity Profile How Indexes Work An index is a complete motion sequence that moves the motor a specific incremental distance or to an absolute position. This motion sequence includes an acceleration ramp to a programmed velocity, a run at velocity, and a dece...

18 FM-3 Programming Module Reference Manual Figure 22: Indexes View Indexes use acceleration and deceleration ramps which may or may not reach the specified velocity depending on the total distance and the ramp values. For example, a short move with long acceleration and deceleration ramps may not r...

20 FM-3 Programming Module Reference Manual Incremental Indexes An incremental index will move the motor a specified distance in the + or - direction regardless of the starting position. The direction of the incremental index motion is determined by the sign (+ or -) of the Index Distance parameter....

22 FM-3 Programming Module Reference Manual Example 5: If the starting postion is 10° and the specified postion is 350°, a Rotary Plus index will travel 340° in the positive direction. Rotary Minus indexes move to the specified position, but are forced to travel in the negative (or minus) direction....

23 Operational Overview Caution The parameters will be sent to the FM-3 without stopping motion or disabling the drives. Because of this, it is important to use caution when changing motion parameters while the motor is in motion. The Update to RAM button saves the parameters only to RAM and not to ...

25 Setting Up Parameters Setup View The Setup View contains all of the primary system setup parameters. These parameters must be setup prior to using your system. By selecting Setup in the hierarchy view, the Setup view will appear in the right side of the view (see Figure 28). The right part of the...

26 FM-3 Programming Module Reference Manual Target Drive Address This is the Modbus address of the target drive to which you will download the configuration. The default target drive address is 1. Configuration Group The configuration group consists of list boxes for Drive Type, Motor Type, and Line...

27 Setting Up Parameters Scaling parameter is set to a value higher than the motor encoder density, the drive encoder output density will equal that of the motor encoder. Positive Direction Group The Positive Direction group consists of a clockwise (CW) Motor Rotation Radio Button or a counter-clock...

28 FM-3 Programming Module Reference Manual Drive Information Group Firmware Part Number Displays the part number of the drive firmware you are using. Firmware Revision Displays the revision of the drive firmware you are using. Serial Number Displays the serial number of the drive with which you are...

29 Setting Up Parameters Master Velocity This displays the velocity of the master encoder in master units/second. Torque Group Torque Command This displays the torque command value before it is limited. The torque command may be limited by either the Torque Limit (if the Torque Limit Enable destinat...

30 FM-3 Programming Module Reference Manual User Units View The User Units View is used to scale the desired application units into known values. All information for distance, velocity, and accel/decel units are set up here and used throughout the system setup. By selecting User Units in the hierarc...

31 Setting Up Parameters Scaling A Characteristic Distance and Length must be established to allow the FM-3 to scale user units back to actual motor revolutions. This scaling factor is as follows: Characteristic Distance Scaling => Characteristic Length Characteristic Distance This is the distanc...

32 FM-3 Programming Module Reference Manual Velocity Group Enable Separate Distance Units Check Box If checked, separate distance and velocity units, name and scaling will be enabled. If not enabled, the velocity units, name and scaling will be defined by the Distance Group. Scaled Distance Name If ...

33 Setting Up Parameters Acceleration Group Time Scale List Box From this list box, select the acceleration timescale to be used for all real-time profiles. The time scale selected will be used for both acceleration and deceleration parameters. You can select from milliseconds or seconds. Decimal Pl...

34 FM-3 Programming Module Reference Manual Master Units View Master Units setup provides the setup parameters for use with synchronized motion. This setup window determines how the encoder signals are interpreted and establishes the scaling for all master units (master distance, master velocity, et...

35 Setting Up Parameters Master Interpretation Master Interpretation determines how the incoming pulses are seen to generate the synchronized motion command. This setting allows you to choose the appropriate signal type to match the device generating the master input pulses. Drive Input Signal Drive...

36 FM-3 Programming Module Reference Manual Decimal Places The number of decimal places set in this parameter determines the number of digits after the decimal point used in all distance and position parameters used in synchronized motion throughout the software. Using a high number of decimal place...

37 Setting Up Parameters Position View The Position View allows you to set up and view the parameters related to drive positioning. See Figure 31. The left part of the view shows that Position has been selected. The right part of the view is divided into groups. An explanation of the groups and thei...

38 FM-3 Programming Module Reference Manual In Position Window The absolute value of the Following Error must be less than or equal to this value at the end of an index in order for the InPosn destination to activate. This window is set in units specified in the User Units View. For example: The In ...

39 Setting Up Parameters active. Absolute Position Valid is active upon successful completion of a home or the DefineHome destination is activated. To recover from a software travel limit, a jog may be commanded in the opposite direction of travel. For example, if a software travel limit - is hit, t...

40 FM-3 Programming Module Reference Manual Assignments Tab Displays any assignments to functions on this view that have been made using the assignments view. Online Tab The Online Tab is shown in Figure 31. While online, the following real-time data will be displayed. Motor Position Group Position ...

41 Setting Up Parameters Velocity View The Velocity View allows the setup of feedrate override details. By selecting Velocity in the hierarchy view, the Velocity View will appear in the right (see Figure 32). Figure 32: Velocity View (Assignments Tab shown) Settings Group Feedrate Override This para...

42 FM-3 Programming Module Reference Manual Caution Using the Update to RAM to change the Feedrate Override will implement the changes instantly. Instantaneous acceleration changes will result. Online Tab (not shown) If online, this view will show the limits group and the velocity group. Velocity Gr...

43 Setting Up Parameters Ramps View The Ramps View contains all setup information for the global acceleration and deceleration profiles. By selecting Ramps in the hierarchy view, the Ramps View will appear in the right (see Figure 33). Figure 33: Ramps View Settings Group The Settings Group contains...

44 FM-3 Programming Module Reference Manual ramps use smoothing at the beginning and end of the ramp but have constant (linear) accel-eration rates in the middle of their profiles. The “5/8 S-Curve” is less smooth than the “S-Curve” but smoother than the “1/4 S-Curve”. S-Curve accelerations are very...

45 Setting Up Parameters Torque View The Torque View allows you to edit torque level and limit parameters as well as view realtime torque values when online. By selecting Torque in the hierarchy view, the Torque View will appear in the right (see Figure 34). The right part of the screen is divided i...

46 FM-3 Programming Module Reference Manual Limits Group Torque Limit This parameter sets the value to which the Torque Command will be limited when the Torque Limit Enable destination is active. To make the Torque Limit always active, assign the Torque Limit Enable destination to the Initially Acti...

47 Setting Up Parameters Tuning View The Tuning View allows you to modify tuning parameters based on specific application information. By selecting Tuning in the hierarchy view, the Tuning View will appear in the right (see Figure 35). The right part of the screen is divided into groups. An explanat...

48 FM-3 Programming Module Reference Manual 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 ...

49 Setting Up Parameters Time Constant Position Error Integral is a control term, which can be used to compensate for the continuous torque required to hold a vertical load against gravity. It is also useful in low speed applications, which have high friction. The user configures this control term u...

50 FM-3 Programming Module Reference Manual Faults View The Faults View displays any active faults. See Figure 36. The Faults tab has been selected in the hierarchy view to view the Faults view. Figure 36: Faults View Active Faults Group The Active Faults group contains the Active Faults window. Act...

51 Setting Up Parameters PLS View The PLS View allows users to define Programmable Limit Switches (PLS) for advanced machine operation. By selecting PLS in the hierarchy view, the PLS View will appear in the right (see Figure 37). Figure 37: PLS View A PLS can be used to turn on or off a bit based o...

52 FM-3 Programming Module Reference Manual Source The source of a PLS can be assigned to the motor axis (MotorPosnFeedback, MotorPosnCommand) or a master synchronization signal (MasterPosnFeedback). The term motor axis refers to the motor being controlled by the FM-3/drive combination. The source l...

53 Setting Up Parameters For example, a flying cutoff or flying shear application may use this feature to activate the PLS to fire the knife only when the axis is moving in the positive direction. Rotary Enable This parameter is used to enable the RotaryRolloverPosn for this PLS. Rollover Point This...

56 FM-3 Programming Module Reference Manual If Selector.Select2 is active, Selector.Select1 is inactive, and Selector.Select0 is active, then the total binary value is as follows: S 2 = 1, S 1 = 0, and S 0 = 1. Therefore, Total Binary Value = (1 x 2 2 ) + (0 x 2 1 ) + (1 x 2 0 ) Total Binary Value =...

58 FM-3 Programming Module Reference Manual Creating An Assignment: Various methods will tie a source (such as DriveInput.1) to a destination, such as Index.0.Initiate: Drag and Drop Method First, position your pointer over the source on the left that you wish to assign to the destination on the rig...

59 Setting Up Parameters Figure 41: Tying a Source to a Destination Assignment Polarity The active state of an assignment can be programmed to be Active Off, Active On, or Custom using PowerTools FM-3. Making an assignment “Active On” means that the destination will be active when the source it is a...

60 FM-3 Programming Module Reference Manual Right Click Method Position the pointer over the specific assignment you with to change polarity for and click the right mouse button. A selection box will appear. From this selection box, choose Polarity. A Polarity edit box will appear. Change the Polari...

61 Setting Up Parameters Name You can assign a descriptive name to each input and make the setup easier to follow. The length of the text string is limited by the column width with a maximum of 12 characters. Simply double click on the Name field of any input line to assign a name to it. Debounce Yo...

62 FM-3 Programming Module Reference Manual Figure 44: Output Lines View Names Descriptive text names can be assigned to individual output lines to make the setup easier to follow. Motion Group All motion parameters related to Jogs, Homes, and Indexes are located in the Motion hierarchy group. Motio...

63 Setting Up Parameters Figure 45: Jog Tab Jog Number This scroll box allows you to select between Jog0 and Jog1 setup views. Jog Name This is a descriptive character string which can be assigned to the specific jog. Giving a name to a jog can make the motion setup easier to follow. Time Base This ...

64 FM-3 Programming Module Reference Manual Jog Deceleration This is the deceleration ramp used when stopping this individual Jog. If S-Curve ramps are used, then this is the average deceleration rate for the entire ramp. The units for the deceleration are setup in the Setup - User Units view in Pow...

68 FM-3 Programming Module Reference Manual Home View The Home is used in applications in which the axis must be precisely aligned with some part of the machine. The Home is initiated with the Home.#.Initiate Destination or from a program. Figure 48: Home View, Online Home Number The Home Number par...

69 Setting Up Parameters Time Base Selects the Time Base for the home move velocity and acceleration/deceleration. Real-time and sync are the allowed selections. Velocity Sets the target velocity for the home. The polarity determines the home direction. Positive numbers cause motion in the positive ...

70 FM-3 Programming Module Reference Manual as specified. If the specified offset is smaller than the calculated offset, the motor will decelerate to a stop and then back up to its final offset position. Limit Distance LimitDistEnable This checkbox enables the specified Home Limit Distance. The Limi...

71 Setting Up Parameters Home Sources and Destinations Sources Home.AbsolutePosnValid This source is activated when a Home is successfully completed. It indicates that the device has been homed properly. It is will be deactivated by the Home.#.Initiate destination, an encoder fault, a reboot, or whe...

74 FM-3 Programming Module Reference Manual Deceleration The Deceleration parameter specifies the deceleration value to be used during the index in user units. Enable Index PLS This check box enables (when checked) or disables the Index PLS function. An Index PLS is similar to a global PLS (explaine...

75 Setting Up Parameters If Index 1 is run, the Index.1.PLSStatus will activate when the position feedback reaches -4 Revs (or 4 Revs from the start of the index). Index.1.PLSStatus will then deactivate when position feedback reaches -6 Revs (or 6 Revs from the start of the index). If Index 1 is run...

76 FM-3 Programming Module Reference Manual Window End This parameter defines the end of the Registration Sensor Valid Window relative to start position of this index. This is an unsigned value and is relative only to starting position of this index. Index direction does not affect this parameter. T...

81 Programming Motion Programs are a series of indexes, homes and jogs that have been previously setup. You combine these with other programming steps to create a complex motion profile. Each motion program provides a series of movements in conjunction with other machine functions. The movements are...

85 Programming Dwell For Time This motion instruction is used to pause program execution for a very precise amount of time. It operates as a motion instruction – similar to an index, home or jog. Like all other motion instructions it will not start until the preceding motion instruction has complete...

91 Programming Example Programs Out and Return - Simple Description: Move out to an absolute position and return Index.2.Initiate ‘Absolute,Posn=10.000in,Vel=5.0in/s Index.1.Initiate ‘Absolute,Posn=0.000in,Vel=10.0in/s Wait For Index.AnyCommandComplete Out and Return – More Complex Description: Home...

92 FM-3 Programming Module Reference Manual Registration Index to Place a Product on a Conveyor After Each Lug Registration Index (synchronized) to find the front edge of product, wait for input from a lug sensor and repeat. Do While (TRUE) ‘Repeat until the program is halted Index.0.Initiate ‘Sync,...

93 Programming Rotary Table with “Calibrated” Stop Positions Home the axis, wait for an input and then index to 3 different stop positions (absolute positions), wait for an input between indexes. The InPosn output function could be assigned to an output to indicate when the axis has completed the in...

94 FM-3 Programming Module Reference Manual Home.0.Initiate ‘Sensor,Offset=1.000in,Vel=-5.0 in/s ModuleEncoderInput.DefineHome=ON ‘Set the master position to 0.0 PLS.0.Enable=ON ‘Turn on PLS.0 Do While (TRUE) ‘Repeat until the program is halted Wait For DriveInput.1=ON ‘Input 1 is used as a “hold” i...

95 Programming Auger Filler with Inputs to Adjust the Fill Amount Incremental indexes are used to squirt a specified amount of food product into a box. Inputs are used to adjust the index distance. It would be much simpler to adjust the index distance with an OIT-3165 operator interface panel, but i...

96 FM-3 Programming Module Reference Manual Sequence Learn and Playback This example consists of three programs. The first program is used to learn 3 positions using “Jog+”, “Jog-“, “Jog Fast” and “Learn” inputs. The second program is called several times by the first program. The third program step...

99 Parameter Descriptions This section lists all programmable and feedback parameters available. The parameters are listed alphabetically by variable name on the right and give a description. Range is dynamic and depends on User Unit scaling. The units of the parameters are dynamic and depend on sel...

127 Parameter Descriptions Units Name VelocityUnits.Name If the user wants the velocity units to have a different distance scaling than the distance units a name can be entered here up to 12 characters, e.g. user distance units are inches and velocity units are feet per minute. Time Scale VelocityUn...

129 Installation Basic Installation Notes You are required to follow all safety precautions during start-up such as providing proper equipment grounding, correctly fused power and an effective Emergency Stop circuit which can immediately remove power in the case of a malfunction. See the “Safety Con...

130 FM-3 Programming Module Reference Manual Figure 55: Detaching the FM-3 from the Drive Connections Caution Do not attach or detach the FM-3 when power is applied to the drive It could cause drive instability. Modbus Communications The drive’s serial communication protocol is Modbus RTU slave with...

131 Installation Software Installation Emerson Motion Control PowerTools® FM-3 software was designed for users who need access to all setup options and diagnostic information for the drive. The software provides access to all commonly used drive parameters. PC System Configuration Required: • Micros...

132 FM-3 Programming Module Reference Manual 3. In the Run dialog box, type a:/setup , where a is the letter assigned to your 3.5" floppy drive. 4. Click the OK button, then follow the instructions on your screen. Installation will take about five minutes. The install program automatically: • Cr...

133 Installation Exiting the Software Choose File from the menubar, then click Exit. If you are using the keyboard, press the shortcut key combination Alt+F, X. If you made changes, PowerTools displays an Alert dialog box asking whether you want to save your current work. Click the Yes button or pre...

135 Quick Start The quick start guide provides information on the basic operation and functions of the FM-3. The quick start steps cover only the most basic steps required to setup a FM-3 for use with a drive. Basic Setup Steps Step 1: Opening a New Configuration Window To open a new configuration w...

140 FM-3 Programming Module Reference Manual Figure 61: Tuning View Inertia Ratio - This parameter is the ratio between the reflected inertia of the load and the inertia of the motor rotor. For assistance in calculating the Inertia ratio, see the Determining Tuning Parameter Values section of the FM...

142 FM-3 Programming Module Reference Manual Figure 63: Output Lines View A name can also be given to each hardware output line. Figure 8 shows how to enter a name for an individual output line. Name – This 12-character string allows a descriptive name assignment to an output line. This makes the co...

143 Quick Start Figure 64: Jog Setup View Jog Deceleration - Is the average deceleration rate used when decelerating to zero speed or to the new target velocity. Home Setup Next, select the Home view from the hierarchy window. Figure 10 shows the Home view and its associated home parameters. Home Re...

144 FM-3 Programming Module Reference Manual Figure 65: Home Setup View Deceleration - Is the average deceleration rate used to decelerate from the target velocity to zero velocity at the completion of the home. Home Offset – By selecting a specified offset, the home will travel at a set velocity un...

146 FM-3 Programming Module Reference Manual Figure 67: Index Setup View (Incremental Type) Now that all of the motion parameters are setup, the jogs and indexes can be initiated through assignments to hardware inputs that were made on the assignment view. Step 5: Creating a Program Now that the dri...

149 Quick Start Example Application Start Up Figure 70: Example System In order to make the setup easier to understand in this guide, the guide will use an example setup. The example application used in the quick start guide is a ball screw application (see the drawing above). The example uses these...

157 Tuning Procedures The drive uses closed loop controllers to control the position and velocity Travel Limit of the attached motor. These position and velocity controllers and the associated tuning parameters are in effect when the drive is in velocity or pulse mode and have no effect when the dri...

158 FM-3 Programming Module Reference Manual Tuning Procedure Once the initial setup has been completed, you can run the system to determine if the level of tuning is adequate for the application. There are basically four levels of tuning for a drive. • No Tuning • Basic Level • Intermediate Level •...

159 Tuning Procedures 3. Enter the inertia value calculated into the Inertia Ratio parameter. 4. Set the Line Voltage to the applied voltage (default is 230 VAC). 5. Leave all other tuning parameters at the initial values. 6. Enable the drive and run the system. 7. Adjust Response to obtain the best...

160 FM-3 Programming Module Reference Manual Tuning Parameters Inertia Ratio Inertia Ratio specifies the load to motor inertia ratio and has a range of 0.0 to 50.0. A value of 1.0 specifies that load inertia equals the motor inertia (1:1 load to motor inertia). The drives can control up to a 10:1 in...

161 Tuning Procedures If the value entered is higher than the actual, system oscillation is likely. If the value entered is lower than the actual a more sluggish response is likely but generally results in good operation. Response The Response adjusts the velocity and position loop bandwidths with a...

162 FM-3 Programming Module Reference Manual actual inertia, velocity error during ramping will be reduced but not eliminated. If the Friction parameter is greater than the actual friction, it may result in velocity error or instability. If the Friction parameter is less than the actual friction, ve...

163 Tuning Procedures Initial Test Settings When running the tests outlined in this section, the motor and drive must be operational so you will need to enter starting values.

164 FM-3 Programming Module Reference Manual If your application has less than a 10:1 inertia mismatch, the default parameter settings will be acceptable. If the inertial mismatch is greater than 10:1, use the following table for initial parameter settings. Determining Friction This parameter repres...

165 Tuning Procedures 3. 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. Use the following formula to calculate the friction: Where: T CH = Torque Command Limited value at higher speed T CL = Torque Command Limited at...

166 FM-3 Programming Module Reference Manual • If your application has a very limited range of motion, it is recommended that you use a position controller to produce the acceleration ramps and to prevent exceeding the axis range of motion. • The accel and decel ramp should be aggressive enough to r...

167 Tuning Procedures Td = (unsigned) percent continuous torque required during deceleration ramping (0 - 300)Vm = motor constant value from Table 18 below For un-counter balanced vertical loads use the following formula: Where: IR = Inertia Ratio R = ramp in ms/kRPMVm = motor constant value from th...

169 Diagnostics and Troubleshooting Diagnostic Display The diagnostic segment display on the front of the drive shows drive status, FM-3 status, and fault codes. When a fault condition occurs, the drive will display the fault code, overriding the status code. The alphanumeric display on the FM-3 pro...

170 FM-3 Programming Module Reference Manual Fault Codes A number of diagnostic and fault detection circuits are incorporated to protect the drive. Some faults, such as high DC bus and amplifier or motor over temperature can be reset with the Reset button on the front of the drive or the Reset input...

172 FM-3 Programming Module Reference Manual Fault Descriptions Flash Invalid This fault indicates that the firmware checksum has failed. Use the Tools Program Flash menu item from Emerson Motion Control PowerTools® to reprogram/upgrade the firmware stored in flash memory. If this problem persists, ...

175 Diagnostics and Troubleshooting FM-3 Specific Fault Descriptions Figure 78: FM-3 display is used to display drive and FM-3 faults Traj Fault This fault occurs when the drive has received trajectory data from the FM-3 that indicates a problem. Check the user units, velocities, accels and decels f...

176 FM-3 Programming Module Reference Manual Brake Operation MG motor brake operation is controlled by the Brake Release and Brake Control destinations. These destinations can be used together to control the state of the Brake source. The table below shows the relationship between the Brake sources ...

177 Diagnostics and Troubleshooting Analog Outputs The drive has two 10 bit Analog Outputs which may be used for diagnostics, monitoring or control purposes. These outputs are referred to as Channel 1 and Channel 2. They can be accessed from the command connector on the drive or from the diagnostics...

178 FM-3 Programming Module Reference Manual Diagnostic Analog Output Test Points The DGNE cable was designed to be use with either an oscilloscope or a meter. The wires are different lengths to avoid shorting to each other. However, if signals do get shorted to GND, the drive will not be damaged be...

180 FM-3 Programming Module Reference Manual Drive Faults The Active Drive Faults dialog box is automatically displayed whenever a fault occurs. There are two options in this dialog box: Reset Faults and Ignore Faults. Figure 81: Active Drive Faults Dialog Box Resetting Faults Some drive faults are ...

181 Diagnostics and Troubleshooting The terms below appear in the list the of common problems you might encounter when working with PowerTools software along with the error message displayed, the most likely cause and solution. Assign means to set a value using an equation. For example, x = 2, you a...

182 FM-3 Programming Module Reference Manual Programming Error Messages These Red Dot Error messages occur while you are working in the Program View. When creating a program, the parser is executed when you left mouse click, when you arrow off the current Line, when you enter the carriage return, wh...

187 Diagnostics and Troubleshooting Online Status Indicators Global Where Am I Button The Program View, when online and executing a program or sequence of programs, can display current program status. Pressing the Where Am I button on the PowerTools FM-3 toolbar creates a blue triangle that appears ...

189 Specifications Power consumption: 3W from E Series drive power supply.I/O Supply Voltage: 10-30 VDC. Dimensions and Clearances Function Electrical Characteristics Inputs ON State Voltage 10-30 VDC ON State Current 2mA-6.5mA OFF State Voltage 0-3VDC OFF State Current 0-400µA Outputs Max. ON State...

191 Specifications Cable Diagrams Customer Supplied Cable Sync. Input Sync. Input Sync. Input Sync. Input Sync. Output Sync. Output M F M F M F SNCE-xxx 15', 25' or 50' SNCDD-001.5 1.5' SNCO-003 3' SNCI-003 3' SNCO-003 3' SNCI-003 3' SCS-x Encoder E Series Drive w/ FM-3 E Series Drive w/ FM-3 E Seri...

204 FM-3 Programming Module Reference Manual Vendor Contact Information Schaffner (AC Line Filters)(800) 367-5566 or (201) 379-7778 www.schaffner.com Cooper Industries, Inc.Crouse-Hinds Division (Cable Shield Grommets)(315) 477-5531 www.crouse-hinds.com BussmanP.O. Box 14460St. Louis, MO. 63178-4460...

205 Glossary µs Microsecond, which is 0.000001 seconds. A Amps. Amplifier Servo Drive. ARMS Amps Root Mean Squared (RMS). Axis The full system to control in a single motor shaft. A single FM-3 with EN Drive can denote an axis. AWG American Wire Gauge. Baud Rate The number of binary bits transmitted ...

213 Index Symbols +/- Limit, 174 A All "On", 174Analog Output, 177 B Brake Operation and Wiring, 176 C Cable Diagrams, 191CDRO-XXX Cable, 197CFCO-XXX Cable, 202CFCS-XXX Cable, 201CFOS-XXX Cable, 203CMDO-XXX Cable, 196CMDS-XXX Cable, 200CMDX-XXX Cable, 195CMMS-XXX Cable, 200 D DDS-XXX Cable, ...