Control Techniques Epsilon EP-P Reference Manual Download Page 133

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Epsilon EP-P Drive Reference Manual

119

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Revision A4

www.controltechniques.com

Figure 133:

Diagram of User Program and a Real Time Program

When the Real Time program is to large and can not be completed in the update rate time the drive will fault.

Figure 134:

Diagram of User Program and a Real Time Program

Figure 135 shows how the Real Time program finishes and the two task user programs are processed.

Figure 135:

Diagram of User Programs on Two Tasks and a Real Time Program

Control Loop

User program can be "choked" if too much code is put into
real time program

User Program

Control Loop

Update Rate

User Program

Real Time Program

Control Loop

Real Time program must complete every update rate. If too
much code is put in realitime program, overrun error can
occur

User Program

Control Loop

Real Time Program

Update Rate

User Program

Overrun Error

Control Loop

Real Time Program

Update Rate

Control Loop + Real Time Prog + User Progs on two Tasks

User Program

Summary of Contents for Epsilon EP-P

Page 1: ...Reference Manual Epsilon EP P Servo Drive MOTION MADE EASY Part Number 400518 04 Revision A4 Date December 29 2017...

Page 2: ......

Page 3: ...serves the right to change the design or operation of the equipment described herein and any associated motion products without notice Control Techniques Americas also assumes no responsibility for an...

Page 4: ...global organization a Nidec Corporation business The following are trademarks of Control Techniques Americas and may not be reproduced in any fashion without written approval of Control Techniques Ame...

Page 5: ...d Whether it s by phone fax or email found on our website you can access Control Techniques support information 24 hours a day seven days a week FAX 952 995 8129 You can FAX questions and comments to...

Page 6: ...owing related reference and installation manuals may be useful with your particular system Epsilon EP Installation Manual P N 400518 01 Epsilon EP Connectivity Manual P N 400518 05 This Represents bol...

Page 7: ...product is designed for use in an environment classified as pollution degree 2 in accordance with IEC664 1 This means that only dry non conducting contamination is acceptable Setup Commissioning and M...

Page 8: ...t which is only separated from the charge stored in the bus capacitor by semiconductor devices To avoid any possibility of electric shock from the pins if they are accessible a means must be provided...

Page 9: ...atability 6 Home Offset 6 End of Home Position 8 Home Limit Distance 8 Home Examples 8 How Indexes Work 11 Absolute vs Incremental 11 How Communications Work 14 Configuring Communication 14 Upload Dri...

Page 10: ...p 36 Dual Loop View 37 Display Dual Loop Setup 37 Position Encoder Setup Group 37 Sync Output Connector Group 38 Dual Loop Encoder Ration 38 Master Units View 38 Encoder Setup Group 38 Sync Output Con...

Page 11: ...rograms 70 Variables View 70 Adding and Deleting Variables 71 Using Variables in a Program 71 Bits View 71 Adding and Deleting User Bits 72 User 32 bit Bit Register and User Bit Masking 72 Configuring...

Page 12: ...s 102 Multiple Profiles 103 Stopping Motion 104 MotionStop from a Program 104 MotionStop from an Assignment 105 Profile MotionStop from a Program 105 Profile MotionStop from an Assignment 105 Network...

Page 13: ...es 193 Fault Codes 194 Drive Faults 197 Error Messages 197 Non Programming Error Messages 198 Programming Error Messages 198 Online Status Indicators 200 Watch Window 200 Global Where Am I Button 203...

Page 14: ...xii Epsilon EP P Drive Reference Manual www controltechniques com Revision A4 Glossary 225 Index 231...

Page 15: ...y applications in less than 5 minutes with PowerTools Pro software on a PC running Windows 98 2000 XP 32 bit or Vista 32 bit Complete diagnostics are provided for quick troubleshooting A diagnostic di...

Page 16: ...nly DeviceNet Connector J9 EP PDN only Digital I O Connector J3 Encoder Feedback Connector J6 Sync Input Connector J10 Analog Sync Output Connector J5 Profibus Connector J13 EP PPB only Shunt Connecto...

Page 17: ...archy Tree for quick navigation to any setup view Simple I O function assignments Powerful online diagnostic capabilities Programming Figure 4 Hierarchy Tree The Hierarchy Tree shown above in the left...

Page 18: ...no distance parameter associated with it If trying to move a specific distance or to a known position then an index is used Jog velocity can be changed on the fly with a negative value reversing the d...

Page 19: ...ed in detail on the following pages NOTE The Home function will NOT be initiated when any other motion command is in progress 2 5 2 Establishing a Home Reference Position The first step in setting up...

Page 20: ...00 sec sensor capture interval NOTE The data above assumes the use of a perfectly repeatable home sensor In Sensor then Marker applications the marker must be at least 800 sec after the rising edge of...

Page 21: ...will do whatever is necessary to reach the offset position This may be as simple as a deceleration to a stop a continuation at speed followed by a deceleration to a stop or a deceleration followed by...

Page 22: ...arameter 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 Dista...

Page 23: ...der marker channel is sensed The rising edge of the motor s encoder marker channel is used to establish the reference position Once the home reference is detected the motor decelerates to a stop and m...

Page 24: ...e motor continues at that velocity until it first senses the Home Sensor input The motor continues on at the home velocity until the marker is activated The rising edge of the motor s encoder marker c...

Page 25: ...rt move with long acceleration and deceleration ramps may not reach the target velocity entered Indexes cannot be initiated when any other motion jogging homing or program is in progress Indexes can b...

Page 26: ...te in the negative direction to end up at 5 revs The figure below shows this Figure 24 Absolute Index Example 2 Absolute indexes with Rotary Rollover enabled will take the shortest path to the positio...

Page 27: ...tor must move until an object is detected and then move a specific distance from the point of detection such as finding a registration mark and moving a distance beyond The Registration Index consists...

Page 28: ...r download a configuration file using PowerTool Pro the software must be configured to the correct communication settings for the intended communication connection The Epsilon EP P drive supports both...

Page 29: ...been clicked To download information to a drive click the Download button on the PowerTools Pro toolbar or from the Device menu choose Download The Download to Device IDx x equals the modbus address d...

Page 30: ...one Ip Address Com port and wishes to change to another The dialog box provides the user with communication information available on the Modbus and Ethernet network This information contains Ip Addres...

Page 31: ...fully downloaded Keep This option will download the entire user configuration but then NVM parameters will be restored to the value prior to download This is similar to the Update option but the Keep...

Page 32: ...AM button will be disabled and the changes will not be sent 2 7 7 Options Preferences Ptools Operation Communications Tab This tab allows the user to set up the serial communication baud rate The driv...

Page 33: ...hen this option is selected PowerTools Pro will poll the drive on download for all of the values that have been added to the NVM list PowerTools Pro then stores these values into a temporary memory lo...

Page 34: ...the Unidrive SP SP Standard Motor DDF Name The name of the standard motor ddf file is entered in the text box default is spstdmotor ddf SP User Motor DDF Name When a custom motor is created this is t...

Page 35: ...be changed to allow the user to open it The secure file is only valid for use by the secure download function If a user attempts to upload a secure file a message will appear indicating that the file...

Page 36: ...specially look for an edge Once the buffer is filled the trigger is armed and the check for trigger level is started Since the drive is looking back in the buffer at data captured during the fill the...

Page 37: ...e motor and is not scaled into user units This is a signed 32 bit value 3 1 3 Motor Velocity Group Velocity Command The Velocity Command VelCommand is the velocity that the drive is commanding the mot...

Page 38: ...d Foldback RMS This parameter accurately models the thermal heating and cooling of the drive and motor When it reaches 100 percent current foldback will be activated See the Diagnostics section for an...

Page 39: ...Pro to monitor the graph state for the triggered condition When this condition occurs it automatically initiates the UploadPlot command waits for a brief time then initiates the Run button to repeat...

Page 40: ...Update to RAM or Download button If a manual trigger is desired set the channel to None and select the corresponding trigger radio button If no trigger is selected the capture will begin when the Run...

Page 41: ...ange IP Address check box is selected then the scanner selected address becomes the new application address saved with application This applies for Download Upload into an existing application and Cha...

Page 42: ...arameter defines the encoder resolution lines per revolution of the drive s encoder output This feature allows you to change the drive encoder output resolution in increments of 1 line per revolution...

Page 43: ...es the switching frequency of the drive For the Epsilon EP drives the switching frequency is 10 kHz and cannot be changed 3 4 Motor View The Motor view under Setup view is used for many different func...

Page 44: ...are the motor parameter with a brief description Motor Name The motor name is limited to 12 characters and must begin with an alpha character non numeric character This is the motor name that will app...

Page 45: ...ins a crude 30 estimate of the electrical angle Encoder Reference Motion Specifies the direction of motion assumed in phase plots of the encoder s quadrature and summation signals The supported values...

Page 46: ...ce 1 of motor poles motor revs Either Direction Move 2 Vel Max Motor Vel Distance 1 of motor poles motor revs Either Direction Move 3 Vel 0 15 Electrical Cycles sec approx 1 rev min Distance 1 0 Revol...

Page 47: ...Drive column will all read zero 3 4 6 Apply to Config Button After any Auto Tune has been performed the results are displayed in the Values from Drive column on the Motor view and the measured parame...

Page 48: ...le Load and use motor parameters from matching motor in ddf file If this option is selected the motor data in the Motor ddf or stdmotor ddf file for the matching Motor Name will overwrite the data in...

Page 49: ...decimal places of accuracy NOTE When the number of decimal places are changed in an existing configuration file the Index accel and decel parameters need to be checked Scaling A Characteristic Distanc...

Page 50: ...ce user units that are equal to one velocity scaled distance unit Separate Distance Units Example A user has an application using a leadscrew with a 0 5 turn lead The user wants to have Distance Units...

Page 51: ...der Setup Group Position Feedback Polarity Position Feedback Polarity defines the direction of the position encoder that corresponds to a positive position change This value is somewhat arbitrary sinc...

Page 52: ...Units View 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...

Page 53: ...until it reaches zero and then start over at the Rotary Rollover value 3 7 4 Master Distance Units Group The parameters in this group are used to establish the scaling of the master axis into user un...

Page 54: ...of samples used by the filter to smooth the master signal Increasing the number of samples increases smoothness but also increases lag See Filter table above to select proper setting Enable Feedforwa...

Page 55: ...The denominator bottom value of the scaling fraction is VirtualMaster CharateristicDistance in user units and is used with VirtualMaster CharacteristicLength to create the virtual master conversion r...

Page 56: ...on Window parameter value 3 9 2 Limits Group Enable Following Error Check Box Select this check box FollowingErrorEnable to enable or disable if the check box is clear the Following Error Limit If ena...

Page 57: ...60 The motor is travelling in the positive direction As the feedback position reaches 359 999 and continues on the feedback position will reset or roll over to zero If the motor changes direction and...

Page 58: ...dwells and synchronized motion This parameter may be modified via Modbus or in a program FeedRate Decel Accel The FeedRate Decel Accel parameter specifies the ramp used when velocity changes due to a...

Page 59: ...tion rates but they are the least smooth ramp type 5 8 S Curve ramps and 1 4 S Curve ramps use smoothing at the beginning and end of the ramp but have constant linear acceleration rates in the middle...

Page 60: ...lculate the necessary ramp to reach the target velocity within the user specified distance without any overshoot In this scenario the user entered acceleration of deceleration rate is ignored See the...

Page 61: ...Group Stop Deceleration The value you enter here defines the deceleration rate which is used when the Stop destination is activated The default is 100 RPM second The Stop destination is found in the R...

Page 62: ...ue 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 Ena...

Page 63: ...e distance recovery index in user units Deceleration This DistanceRecovery Decel is the deceleration rate for the distance recovery index in user units 3 14 Tuning View The Tuning View allows you to m...

Page 64: ...forwards Check Box When feedforwards are enabled the accuracy of the Inertia and Friction parameters is very important If the Inertia parameter is larger than the actual inertia the result could be a...

Page 65: ...istance value of the shunt resistor 3 15 2 Shunt Control Group The parameters in this group are read only and only available when online with the drive Shunt Power RMS This parameter models the therma...

Page 66: ...ault is detected the Faults window opens showing the fault condition and allows the fault to be reset or ignored Pressing Reset attempts to reset the fault if the cause of the fault has been removed P...

Page 67: ...p Drive Total Power Up This parameter shows the total time that the drive has been powered up since reset by the factory 3 16 3 Fault Log Tab The Fault Log tab is visible when online and consists of a...

Page 68: ...download A few faults are saved in non volatile memory so that the total number of times they have occurred can be easily viewed These faults tend to have hardware significance Fault Code This is the...

Page 69: ...o that the most recent is listed first Fault Code The fault code has the same description of the fault that is or was reported in the Active Faults window Power Up Counts This is the Drive Power Up Co...

Page 70: ...lled by the drive ON Point PLS Status will be active when the selected source position is between the PLS OnPosn and the PLS OffPosn Examples Example 1 Assume that the PLS Source is MotorPosnFeedback...

Page 71: ...e the knife only when the axis is moving in the positive direction If accessing this parameter from a network the following table displays the value for this 16 bit integer Rotary Enable This paramete...

Page 72: ...edge of CaptureActivate will capture the four data parameters and cause CaptureTriggered to be activated If the Capture component is not enabled or has not been reset the CaptureActivate will be ignor...

Page 73: ...ure component is re enabled and CaptureActivate is activated 3 CaptureActivate has no effect while the capture component is not enabled Assignments that Automatically Use Position Capture Certain assi...

Page 74: ...er The Offset distance is added to the captured position to get the accurate stopping position for the registration index 3 21 Queues View Many applications require the ability to store data in a temp...

Page 75: ...n width with a maximum of 12 characters Simply double click on the Name field of any queue s line to assign a name to it Number of Queue Units This selects the number of Queues available Maximum of ei...

Page 76: ...everal different types of Timers available to the user based on the task they are trying to achieve Figure 66 Timers View Number of Timers This parameter determines the number of Timer objects that ar...

Page 77: ...the Preset Time is reached unless the Reset activates before the Preset Time is reached The Timer Output will remain ON until the Reset is activated or the TimerEnable is deactivated Figure 67 Edge On...

Page 78: ...ternal clock begins to count Once the Preset time is reached the Output of the timer turns OFF If the Input turns ON again before the Preset time is reached the clock resets to zero and waits again fo...

Page 79: ...art it at zero The figure below shows an example of this Figure 72 Cumulative ON Timer with Reset Timing Diagram Cumulative OFF Timer This type of timer works exactly like the Level OFF Timer except t...

Page 80: ...imer With this type of timer when the Enable of the timer activates the internal clock begins to count If a rising edge is seen on the Input before the Preset Time is reached the Elapsed Time is set t...

Page 81: ...the timer will reset The Output deactivates and will not become active until the Preset time has past Figure 76 One Shot Timer Timing Diagram Timer Timebase This parameter is used to select the desire...

Page 82: ...his parameter has the same resolution as the Preset parameter If a Timer is Reset or Enable deactivates this value is zeroed out automatically Once the Preset time is reached the Elapsed Time will rem...

Page 83: ...tely begin counting again even if the user holds the Reset input ON Additionally when resetting a timer in user program the user must only set the Reset ON and the controller will automatically set it...

Page 84: ...or Timer Output ON or OFF To change the value of a Timer Preset in a program Timer Preset 12 345 Seconds To check if a timer is running If Timer Active ON Then Some code Endif To wait for a Timer to s...

Page 85: ...s 3 23 2 Using Variables in a Program Once setup user variables can be used inside a program in calculations motion profile setup or any other user desired function To access user variables click on t...

Page 86: ...g to access them individually In the Epsilon EP P drive it is possible to access 32 User Bits in a single parameter This parameter is named BitRegister Value Because some of the 32 User Bits may be us...

Page 87: ...ated by an empty square Bit 31 is the most significant bit in the word and bit 0 is the least significant bit If the bit is shaded it means that particular bit will be passed through when written Each...

Page 88: ...ord s and Status Word s These words once configured can then be accessed via communication networks and or within user programs to handle the bits as desired Control Words A master device such as a PL...

Page 89: ...checkbox If the checkbox is clear the view remains blank default If the checkbox is selected then the mapping tree appears which allows the user to configure the Control Word s as desired This checkbo...

Page 90: ...light it Once both are highlighted the Add button on the right side of the view see Figure 87 above should become enabled Simply click the Add button and the highlighted parameter will be assigned to...

Page 91: ...ork to pass bit level status information from the drive back to the master device as a 16 bit word s The user configures the Status Word s by dragging and dropping the desired bit level parameters the...

Page 92: ...nto the existing status word s The method for mapping parameters to the Status Word s is the same as for the Control Words See the Drag and Drop and Add Button methods described in the Control Words s...

Page 93: ...a mechanism for the user to define the internal and external dynamic control structure to separate complex motion profiles These functions directly correspond to any input or output line on the drive...

Page 94: ...d the button down While holding the left button down drag the source until the pointer is positioned over the desired destination and release the left mouse button Destinations can also be dragged ove...

Page 95: ...ttings as desired in the Polarity dialog box Click OK to apply the changes Right Click Method Position the pointer over the specific assignment you with to change polarity of and click the right mouse...

Page 96: ...ely at the end of the previous motion PLS Status A rising or a falling edge of a Global PLS will automatically capture data for use in initiating motion In order to accurately initiate motion from a G...

Page 97: ...Select line n Sn 0 if Selector Select line n is inactive and Sn 1 if Selector Select line n is active The sum of all the binary values determines which Selector Selection line will be active The follo...

Page 98: ...n the Input Lines View Figure 97 Input Lines View The following two functions can be performed on the Input Lines view Name You can assign a descriptive name to each input and make the setup easier to...

Page 99: ...alog input is scanned by the drive every 100 microseconds Figure 100 Analog Inputs View Enabled 3 31 1 Enable Channel Check Box By default the analog input channel is not enabled meaning that the driv...

Page 100: ...hand or set the analog source to it s minimum value with just a click of the Set MinVoltage to Measured button next to the text box Set Min Voltage To Measured Button Click this button to read the cu...

Page 101: ...sponds to the maximum analog output value 3 32 4 Maximum Output The analog output is a linear interpolation of the selected drive variable between the minimum and maximum specified end points Each end...

Page 102: ...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 PowerTools Pro 3 34 1...

Page 103: ...irection The jog velocity is determined by which jog Jog0 or Jog1 is active or not A jog stops when this destination is deactivated If the jog velocity is negative Jog MinusActivate will cause the mot...

Page 104: ...destination activates the motor will behave the same as if it would if Jog PlusActivate just deactivated The Stop destination found under the Ramps group in the Assignments view will override the Jog...

Page 105: ...velocity until the sensor deactivates The motor then decelerates to a stop and performs a standard home Go forward to next sensor Radio Button If this radio button is selected then the system will ig...

Page 106: ...and remains active until all motion related to the Home has completed Home Decelerating This source is active while a home is decelerating from its target velocity Once the home reaches zero velocity...

Page 107: ...d during the index motion Correction indexes use incremental distance values The index distance value can be updated via Fieldbus by simply writing to the index distance parameter If the analog input...

Page 108: ...indexes do not have a specified distance or absolute position If a Registration or Posn Track type index is selected then the Timed check box will become disabled Based on the Distance entered or Posi...

Page 109: ...ncremental distance from the start position of the index at which the PLS Status will become active It is an unsigned value in user units The On Point must always be less than the Off Point PLS Off Po...

Page 110: ...sition If a registration sensor is seen outside of this window not between the WindowStart and WindowEnd positions then it will be ignored Window End This parameter defines the end of the Registration...

Page 111: ...pecified time Destinations Index ResetProfileLimited If a timed index was not able to complete in the specified time the Index ProfileLimited source will activate Index ResetProfileLimited is used to...

Page 112: ...cified as a relationship between follower distance units and master distance units The ratio is as follows The ratio Gear Ratio is defined as the number of follower distance units to move the motor pe...

Page 113: ...nment or from a program instruction Gear Initiate If initiated from an assignment the Gear Activate destination is a level sensitive event This means that gearing will be active as long as the source...

Page 114: ...together to form a full sequence of motion Each cam table is a user specific sequence of movements whereby the user can specify the master and follower movement along with the interpolation type Coup...

Page 115: ...Absolute MFI Absolute MFI allows a different master follower and interpolation for each point in the cam The values are in reference to the beginning of the cam table position zero The master positio...

Page 116: ...motion integration Figure 115 Torque Mode Online 3 39 1 Torque Mode Settings Group Torque Command This parameter TorqueMode TorqueCommand value is the torque level that will be applied when Torque mo...

Page 117: ...one uses Profile 0 because it is specified The On Profile 0 command is completely optional but may be used for clarity To run a motion object on the other profile Profile 1 we must specify the use of...

Page 118: ...starting point Index 3 Initiate Using Capture 1 On Profile 1 3 41 Stopping Motion 3 41 1 MotionStop from a Program The MotionStop command will cause all motion to stop regardless of what type of moti...

Page 119: ...m a Profile MotionStop on the profile doing the correction moves The below example uses a separate program to control the Profile Stop The Profile MotionStop instruction does not stop the program that...

Page 120: ...us address must be assigned to the specific parameter To do this locate the parameter you wish to read write to or from in the variables list in the middle of the view Once you have found the proper p...

Page 121: ...to the slave s then use the user program instructions to directly read or write either bits or words to the identified slave s Configuring Modbus Master The Modbus Master view RTU Setup tab allows the...

Page 122: ...en the master considers the partial packet incomplete and sets the slave device status to no_response c Inter Frame Specifies the period of no data transmission indicating the end of the Modbus packet...

Page 123: ...ption please refer to the Epsilon EP Drive Connectivity Reference Manual P N 400518 04 which can be found on the Control Techniques MME Power CD 3 47 Ethernet View This view is used to navigate throug...

Page 124: ...110 Epsilon EP P Drive Reference Manual www controltechniques com Revision A4...

Page 125: ...only available when online with the drive and others are not available in a Real Time or Cyclic programs Undo Last Change This button will undo the last change made to the program PowerTools Pro will...

Page 126: ...gram Toggling this button will lock and unlock the program for editing When locked the user is not able to modify the program code After downloading the program automatically locks to prevent the user...

Page 127: ...tions the execution of the Cyclic Program is spread out over several control loops based on the Utilize percentage The drive s CPU time is allocated between the background processes and the foreground...

Page 128: ...ltaneously the two programs must be assigned to two different tasks Multiple programs can be assigned to the same task if desired but that means that the two programs cannot be run at the same time If...

Page 129: ...a background task that monitors parameters for fault detection The Epsilon EP P processor has the ability to execute multiple tasks Because only one task can be processed at a time a process called ti...

Page 130: ...n execution switches to the user programs The user programs are assigned to tasks and the tasks are handled in ascending order starting with task 0 If a task has been assigned but not initiated then t...

Page 131: ...ns cyclic program is suspended after 80 of update is reached then resumed next update Cyclic Program Utilization set to 80 T0 Control Loop Cyclic Program Update Rate User Program T0 T0 Cyclic Update 3...

Page 132: ...d a Real Time Program T0 Control Loop Cyclic Program Update Rate User Program T1 T0 Cyclic Update 3x Update Rate T1 T0 T1 Control Loop Cyclic Prog User Progs on two Tasks Cyclic Program Utilization se...

Page 133: ...s are processed Figure 135 Diagram of User Programs on Two Tasks and a Real Time Program Control Loop User program can be choked if too much code is put into real time program User Program Control Loo...

Page 134: ...Control Loop Real Time Cyclic User Program on one Task Cyclic Program Update Rate set to 4x Trajectory Update Rate and Utilization set to 80 Cyclic Program Utilization set to 80 Real Time Program T0...

Page 135: ...er instruction match all the instructions that follow the case instruction up to a Break or EndSwitch are executed This includes instructions following the next case instructions and the default instr...

Page 136: ...nside of If Then Endif constructs to end the program if a certain condition has been met Example If DriveInput 1 OFF Then End Endif Example If DriveInput 1 ON Then DriveOutput 1 ON End Endif For Count...

Page 137: ...hese conditions a RedDot error will be generated The Label to which program flow transfers is a character string up to 50 characters in length and can be made up of any alphanumeric character The labe...

Page 138: ...program flow to transfer based on the switch expression value and execute the instructions associated with that case instruction In the following example if the value of var var0 is one then case 1 wi...

Page 139: ...am Math Functions Cos This trig function can be used in formulas from within a program Example var var0 Cos var var1 Returns the trigonometric cosine in degrees Cos x x is in degrees and accurate to 6...

Page 140: ...r and element number Example Cam 0 3 Master 7 Cam Follower This instruction allows the user to write to a cam tables master value at a given table number and element number Example Cam 1 2 Follower 3...

Page 141: ...by Expression No comments will be added to this instruction as the index selected can change anytime before the initiate command is encountered The following example will initiate index 0 wait for com...

Page 142: ...he next line of code It is also possible make the program wait until the index is complete and the following error is less than a specified amount This is accomplished by changing the Wait For Index A...

Page 143: ...ogram instruction Index 0 Initiate or Index 0 CompoundInitiate not the index itself determines whether or not the index will execute a deceleration ramp For example Index 0 can be used multiple times...

Page 144: ...of the next index blended into index is not looked at Hence blending an index into another index will not cause the index to cross through zero velocity Example Index 0 BlendInitiate into 1 DriveOutpu...

Page 145: ...e issued but will be ignored If the program that is stopped was called by another program the call is killed This means that program flow will not return to the program that originally called the prog...

Page 146: ...For MasterDist instructions By inserting the On Profile modifier it specifies which Profile the instruction will run on See Multiple Profiles section for more information Select from Profile 0 or Prof...

Page 147: ...ad several coil status bits or inputs into User Bits The program will not proceed to the next instruction until either the data transfer is complete or an error has occurred Example Read from slave 2...

Page 148: ...t the coil values will be set to This is a block transfer command that can set several coil status bits from the User Bits The program will not proceed to the next instruction until either the data tr...

Page 149: ...d The instance number of a defined slave See Network Modbus Master Slave tab ModbusAddr The starting modbus address of the slave coil or holding register Qty The number of Modbus addresses of the spec...

Page 150: ...and select the program you wish to delete From the PowerTools Pro menu bar select Edit Delete Program The selected Program will be deleted from the configuration 4 5 3 Right Click Method Adding a Prog...

Page 151: ...anytime while the drive is faulted or disabled the task will be stopped Resetting Faults in Run Anytime Programs To reset a fault from a Run Anytime program use Fault Reset ON command in the user prog...

Page 152: ...ait For condition does not have to be TRUE at the exact time the task is processed If the Wait For condition is satisfied at any time even when that task is not being processed the task will be schedu...

Page 153: ...ription Home Wait For an input Move out to an absolute position set an output dwell for 1 second clear the output return to home position repeat the out and return sequence until the stop input halts...

Page 154: ...at Do While TRUE Repeat until the program is halted Index 0 Initiate Sync Registration Offset 0 500 Dist 50 000 Vel 1 000in in Registration move to product sensor Go to head of next product Wait For I...

Page 155: ...the master axis The PLS is configured in the PLS view The PLS output does not necessarily need to be connected to an output line on the drive because it is used within the program to initiate an index...

Page 156: ...panel but inputs could be used as described below DriveOutput 3 OFF DriveOutput 4 OFF Do While TRUE Repeat until the program is halted If DriveInput 2 ON Then Fill a box if the Go input is on Index 1...

Page 157: ...lete Call Program 1 Program 1 allows the axis to be jogged into position If DriveInput 1 ON Then Learn the new position if the Learn input is on Index 2 Dist PosnCommand Read the Position Command into...

Page 158: ...yback Program Program 2 Home 0 Initiate Sensor Offset 0 000in Vel 10in s Do While TRUE Repeat until the program is halted Index 1 Initiate Absolute Posn 1 000in Vel 5in s Wait For InPosn DriveOutput 1...

Page 159: ...tant linear accel 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 useful on machines where produc...

Page 160: ...he point within a cam table that is being executed This is useful to determine the cam location when a fault occurs This is only available when online Active Table Cam ActiveTable This parameter is ac...

Page 161: ...es the cam execution from a Cam Suspend command or SetCamMasterOffset MasterPosn or SetCamFollowerOffset FollowerPosn The cam points are all relative to the start of the Cam table On Cam Resume the cu...

Page 162: ...Stop Decel Cam StopDecel This parameter is the deceleration rate of the cam after a Cam Suspend or Cam Stop command is initiated A value of zero disables the stop decel ramp as well as clearing the S...

Page 163: ...chaining simply set the Initial Velocity to zero Forward Chain Cam ForwardChain This parameter holds the next cam table to initiate when this cam table is completed If no cam table is to be initiated...

Page 164: ...n value to it own cam table number Table Limit Cam TableLimit The cam table execution is limited to this value so you can programmatically change the size of the cam table execution On download and re...

Page 165: ...eter is not Therefore if another capture occurs after the position has been zeroed the value stored in the Captured Master Position parameter will be off by the value of the master axis before the pos...

Page 166: ...this input function the absolute position is set equal to the DefineHomePosn and the AbsolutePosnValid output function source is activated Define Home Position DefineHomePosn This is the value to whi...

Page 167: ...g Inputs View When the Popup Variables button is pressed a window will open containing the list of variables that can be dragged into the Destination Variable text box Destination Variable is used to...

Page 168: ...ive analog sync connector Analog Output Maximum Output DriveAnalogOutput MaxOutputValue The analog output is a linear interpolation of the selected module variable between the minimum and maximum spec...

Page 169: ...the input will be forced when the ForceEnable bit is activated Drive Input Force Enable DriveInput ForceEnable If DriveInput ForceEnable parameter is activated then the state of the DriveInput Force...

Page 170: ...meter is the numerator in the ratio used to define the mechanical ratio between the Motor Encoder and the Position Feedback Encoder This parameter is only used when Dual Loop Control Mode is enabled a...

Page 171: ...hernet IP device and the device responds NOTE This parameter does not indicate a successful explicit message The Ethernet EthernetExplicit CommandComplete bit turns off when the corresponding Ethernet...

Page 172: ...r Flt A non recoverable fault occurred The module needs to have it s 24 V power cycled to reset Network Status Ethernet EthernetStatus EthernetNetworkStatus Network Status is an Ethernet IP protocol s...

Page 173: ...Counts button on the Faults view Faults Counts Tab when online with the drive Fault Counts Fault Counts The drive stores the total number of times the specific fault has occurred since it was manufact...

Page 174: ...eset Resets faults that do not require a power down This event is or ed with the reset button on the drive Fault Log Fault Type FaultLog FaultType This is the fault identifier for the current fault lo...

Page 175: ...is deactivated the motor will accelerate back up to the programmed speed in the same amount of time It is used to hold motion without cancelling the move in progress If a feedhold is activated during...

Page 176: ...view or from a program When enabled a following error fault will be generated if the absolute value of the Following Error exceeds the Following Error Limit Following Error Limit FollowingErrorLimit T...

Page 177: ...llower Units Velocity Time Base Acceleration Time Base The Gear Decel functions only when the follower is ramping its speed down after the gearing function has turned off Gear Decel Enable Gear DecelE...

Page 178: ...alculated by PowerTools Command Complete Home CommandComplete This source is active when the specified home command is completed if a stop is activated before the home has completed the function or if...

Page 179: ...ome Reference Home Reference This parameter determines how the reference position is determined The parameter can have one of three different values Sensor Marker Sensor then Marker When the home refe...

Page 180: ...This function is edge sensitive so holding Reset Profile Limited active will not prevent ProfileLimited from activating Acceleration Index Accel This parameter is the average Acceleration rate used d...

Page 181: ...0 001 Seconds or milliseconds If TimeBase is set to Synchronized the units defined by the Master Distance Units found on the Master Units view Initiate Index Initiate The Index Initiate destination i...

Page 182: ...If a registration sensor is seen outside of this window not between the WindowStart and WindowEnd positions then it will be ignored Window Start Index RegistrationWindowStart This parameter defines t...

Page 183: ...nd reaches zero commanded speed It deactivates when another jog is initiated Minus Activate Jog MinusActivate This destination is used to initiate jogging motion in the negative direction using the jo...

Page 184: ...ration ramp for the specific jog Decelerating Jog Decelerating This source turns on at the beginning of a jog deceleration ramp and turns off at the completion of the ramp Initiate Minus Jog MinusInit...

Page 185: ...commands Force Slave Mode MbMaster CommPort ForceSlaveMode When this parameter is active it forces the drive to operate the serial port in Modbus slave mode This will override both Modbus bridging mod...

Page 186: ...n to the slave failed Error Status MbMaster ErrorStatus The status of the last command processed by the specified slave The slave status is updated as follows Cleared at start of the command At end of...

Page 187: ...ransmissions to the slave device This parameter can be cleared by setting it to zero in a user program Transmission Time MbMaster TransTime This parameter indicates in milliseconds the time to complet...

Page 188: ...in the positive direction PLS Off Point PLS OffPosn PLS Status will be active when the selected source position is between the PLS OnPosn and the PLS OffPosn The terms On and Off assume you are trave...

Page 189: ...360 100 and continue repeating every 360 degrees forever PLS Source PLS Source PLSs can be assigned to four different sources MotorPosnFeedback MotorPosnCommand MasterPosnFeedback or FreeRunTime This...

Page 190: ...rammed velocity This function will activate after the acceleration ramp is completed and before the deceleration ramp begins This allows the user to see when any motion being run on this profile is at...

Page 191: ...ogram AnyComplete This source is activated when any program ends normally If a program ends due to a fault or the stop destination this source does not activate Deactivates when any program is initiat...

Page 192: ...he queue and remain inactive until all data has been removed from the queue Queue Exit Queue QueueExit This source activates when the Comparator Select parameter is equal to the sum of the data entere...

Page 193: ...parameter selects the number of destinations input lines to be used by the selector The number of lines used determines the number of sources selections that can be made by the selector that is 2 inp...

Page 194: ...e will automatically home on power up or reboot StartUp will activate when the Epsilon EP P drive has powered up and no faults are active Startup may take as long as five seconds to activate Depending...

Page 195: ...isabled using a program the travel limits will automatically be re enabled when the program ends if they haven t already been enabled This feature is typically used when a machine must use one of its...

Page 196: ...ent parameters make sure that the parameter and the User Variable have the same number of decimal places Velocity Command VelCommand The Velocity Command is the velocity that the Epsilon EP P drive is...

Page 197: ...the VirtualMaster CharacteristicLength and is used with VirtualMaster CharacteristicDistance to create the virtual master conversion ratio scaling Converting the user units distance into virtual coun...

Page 198: ...MarkerCount specifies the number of VirtualMaster Counts per encoder marker pulse generated Minus Activate VirtualMaster MinusActivate When active this executes a Virtual Master jog in the minus dire...

Page 199: ...l 185 Revision A4 www controltechniques com Enable Virtual Master VirtualMaster VirtualMasterEnable Enable Virtual Master check box by default is clear Select the check box to enable virtual master Vi...

Page 200: ...186 Epsilon EP P Drive Reference Manual www controltechniques com Revision A4...

Page 201: ...ects of the system are not compensated for in the PID loop The results are that the system response is compromised to avoid instability The drive state space control algorithm uses a number of interna...

Page 202: ...e drive 3 Enter the parameters 4 Enable the drive and run the system 5 Adjust Response to obtain the best performance General Tuning Hints General Tuning Procedure 1 Calculate inertia of the system Th...

Page 203: ...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 inertia mismatch with the default Inertia Ratio value of 0 0 Inertial mismatches...

Page 204: ...Inertia Ratio parameter and the feedforward velocity gain is calculated from the Friction parameter When Feedforwards are enabled the accuracy of the Inertia Ratio and Friction parameters is very imp...

Page 205: ...ure Procedure for Determining Friction 1 Run the motor at the low test speed at least 500 RPM 2 While at speed note the Torque Command Actual value TCL NOTE If the friction loading of your system vari...

Page 206: ...ignals of torque and velocity Inertia Measurement Procedure NOTE The test profile will need to be run a number of times in order to get a good sample of data 1 Enable the drives and run the test profi...

Page 207: ...Engaged Output Off Motor brake is mechanically engaged This character will only appear if the Brake output function is assigned to an output line See Brake Operation section for detailed description...

Page 208: ...here the power stage is disabled the drive will continue to track the motor s position provided the logic power is not interrupted The Travel Limit faults are automatically cleared when the fault cond...

Page 209: ...fault cannot be reset with the reset command or reset button NVM Invalid At power up the drive tests the integrity of the non volatile memory This fault is generated if the contents of the non volatil...

Page 210: ...heck box on the Advanced view Encoder Hardware If any pair of complementary encoder lines A B Z are in the same state an encoder line fault is generated Also can be generated if all three commutation...

Page 211: ...ess than 1 second If this display persists call Control Techniques for service advice 7 2 Drive Faults The Active Drive Faults dialog box is automatically displayed whenever a fault occurs There are t...

Page 212: ...rop a drag source The parser detects errors and marks the line with a Red Dot To get further information on the cause of the error use the program toolbar Red Dot Help button This is an on off setting...

Page 213: ...rs The Boolean variables can only be assigned an Event or Boolean value The Variable only accepts types consisting of Boolean and events The destination variable does not accept Data The Variable s in...

Page 214: ...instruction there must be at least one free assignment The Selection variable can only be assigned a Selection value The destination variable only accepts selection values Selection values are fixed...

Page 215: ...ow or drag and drop the parameter from the Drag Source window on the left over to the Parameters Displayed in Watch Window on the right and it will be added to the Watch Window Figure 148 The Watch Wi...

Page 216: ...ped if stop is active PowerSupplyReady True PowerSupplyReady will become inactive if the 24 volt logic power is taken away or if the bus voltage drops below the low bus fault threshold MotionStop Fals...

Page 217: ...d will be shown along with either a check box text box or list box The type of box is depended on the parameter selected Enter the new parameter value and press the Write button The data should change...

Page 218: ...204 Epsilon EP P Drive Reference Manual www controltechniques com Revision A4...

Page 219: ...nsions and Clearances Drive Model Dimension A shown in inches mm Dimension B shown in inches mm EP202 B I IDN 2 11 53 59 0 45 11 4 EP204 B I IDN 2 11 53 59 0 45 11 4 EP206 B I IDN 2 82 71 63 0 45 11 4...

Page 220: ...e 150 Dimensional Drawing for all Epsilon EP209 Drive EP209 XXX XX00 9606XX XX A1 SN 0610E014 5 23 132 84 5 86 148 85 5 94 150 88 9 60 243 84 0 20 5 08 9 20 233 68 2 69 68 33 3 40 86 36 1 03 26 16 1 2...

Page 221: ...sion A4 www controltechniques com Figure 151 Dimensional Drawings for all Epsilon EP216 Drives 9 60 243 84 9 20 233 68 3 40 876 9 1 03 26 16 1 20 30 48 5 96 151 38 5 23 132 84 3 50 88 0 Cable Clearenc...

Page 222: ...T GRN WHT PUR GRY GRN BRN PUR WHT GRY WHT BLU WHT BLK RED BLU PNK RED WHT GRN WHT PNK WHT YEL GRY YEL ORG LT GRN WHT ORG WHT LT BLU WHT LT BLU DRAIN WIRE WHT BLK BLK WHT OUTPUT LINE 2 INPUT LINE12 INP...

Page 223: ...on EP P Drive Reference Manual 209 Revision A4 www controltechniques com 8 3 XV Motor Cables 8 3 1 XTMDS PIN 1 GRN YEL BRN BLK BLU 2 3 4 1 BRAID SHIELD FORM WIRE R S T PE GND 1 3 2 4 REAR VIEW OF CONN...

Page 224: ...on EP P Drive Reference Manual www controltechniques com Revision A4 8 3 2 XCMDS GRN YEL BRN BLK BLU B C D A BRAID SHIELD FORM WIRE BLU 20 AWG BLU WHT 20 AWG Drain Wire U V W PE GND SOLDER SIDE C D B...

Page 225: ...Reference Manual 211 Revision A4 www controltechniques com 8 3 3 XCMDBS U V W PE GND BRK BRK SOLDER SIDE D E G F C B A GRN YEL BRN BLK BLU B C D A BRAID SHIELD FORM WIRE E F BLU 20 AWG BLU WHT 20 AWG...

Page 226: ...212 Epsilon EP P Drive Reference Manual www controltechniques com Revision A4 8 3 4 XTBMS RED BLK DRAIN WIRE 1 2 0V 24V PIN 1 1 2 REAR VIEW OF CONNECTOR...

Page 227: ...5 4 3 1 2 Pin 1 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 SHIELD 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 P P P P P P P P RED GRN...

Page 228: ...A Pin 1 P P P P P P P P RED GRN GRN RED Overall Shield Drain Wire BLU ORN GRN BRN BLK YEL WHT BRN BRN WHT WHT GRY GRY WHT RED ORG ORG RED RED BLU 18 ga BLU RED 18 ga Inner Drain Wire Inner Drain Wire...

Page 229: ...4 www controltechniques com 8 4 NT and MG Motors Cables 8 4 1 CMDS 8 4 2 CMMS 3 3 4 MAX 1 1 2 MAX F C SOLDER SIDE E D BLK BLU A G H B SHELL C B GRN YEL BRN A D T S R 3 3 4 MAX 1 1 2 MAX C BLU SOLDERSI...

Page 230: ...216 Epsilon EP P Drive Reference Manual www controltechniques com Revision A4 8 4 3 CBMS SOLDER SIDE RED BLK DRAIN WIRE A B C GND C A B Socket...

Page 231: ...T RED ORG ORG RED RED BLU BLU RED RED GRN Outer Drain Wire E V A T K H F G M P N B R S C U Z U MOTOR OVERTEMP NOT USED 5 VDC GND W V W V U Z Z B B A A 3 3 4 MAX 1 1 2 MAX Socket 9 10 7 8 6 14 SOLDER S...

Page 232: ...ce Manual www controltechniques com Revision A4 8 5 SYNC Cables 8 5 1 ENCO Cable SOLDER SIDE Socket J C F E D I G H A B GND 5 V Shield A Z Z B B A P P P P YEL WHT RED WHT BLK WHT BLU WHT BLU YEL DRAIN...

Page 233: ...controltechniques com 8 5 2 SNCDD 915 ORG RED P BRN BLK GRN YEL PUR BLU 8 P 3 11 10 2 1 9 P P Drain Wire A Z A GND Z B B 7 4 8 1 2 3 5 6 Pin 7 SOLDER SIDE 9 8 5 3 4 6 2 1 Pin 10 SOLDER SIDE 12 11 5 3...

Page 234: ...7 3 11 10 2 1 9 ENCODER OUT A ENCODER OUT Z ENCODER OUT A PULSE IN A SINGLE ENDED ENCODER OUT Z ENCODER OUT B ENCODER OUT B ANALOG OUT 0V ANALOG OUT 0V ANALOG COMMAND IN ANALOG COMMAND IN ANALOG OUT...

Page 235: ...BLK BRN PUR BLU DRAIN WIRE 8 7 6 5 3 2 1 ORG GRN Z 5 VDC GND Z B B A A 8 3 11 10 2 1 9 Pin SOLDER SIDE 10 12 11 5 3 4 9 2 1 13 6 14 7 15 8 Pin 1 3 5 4 1 2 Pin CONNECTOR END VIEW 7 8 6 ORG RED P BRN BL...

Page 236: ...RED BRN BLK BLU PUR Drain Wire Pin SOLDER SIDE 7 9 8 5 3 4 6 2 1 7 4 8 1 2 3 5 6 9 A Z A GND 5V Z B B N C 6 8 4 7 2 5 3 1 Pin removed CONNECTOR END VIEW 6 8 7 Completely remove pin 4 Pin 1 Pin 1 C J D...

Page 237: ...16 20 20 8 7 22 22 9 21 21 23 23 11 11 13 13 12 12 25 25 24 24 10 10 8 4 5 1 3 7 2 6 BLU WHT BRN GRN WHT ORG BRN ORG WHT BLU Drain Wire WHT GRN P P P P Pin SOLDER SIDE 470 470 220 10 22 7 5 4 15 16 18...

Page 238: ...224 Epsilon EP P Drive Reference Manual www controltechniques com Revision A4...

Page 239: ...others Complex Motion A string of multiple motion commands and logical instructions that form a repeatable operation For the Epsilon EP P drive the configuration file defines complex motion by setups...

Page 240: ...upled into sensitive electronic circuits may cause problems Firmware The term firmware refers to software i e computer programs that are stored in some fixed form such as read only memory ROM Flash An...

Page 241: ...Jog A jog produces rotation of the motor at controlled velocities in a positive or negative direction Least Significant Bit The bit in a binary number that is the least important or having the least w...

Page 242: ...ogic Controller Also known as a programmable controller these devices are used for machine control and sequencing PowerTools Pro V PowerTools Pro V is a Windows based software to interface with the Ep...

Page 243: ...tation about an axis Uploading The transfer of a complete set of parameters from a drive to the configuration file User Units Ability of program to allow user to specify which type of units will measu...

Page 244: ...230 Epsilon EP P Drive Reference Manual www controltechniques com Revision A4...

Page 245: ...rag In I O 112 Drag In Operands 112 Drag In Variables 112 Drive Faults 197 Drive Input Signal 37 Dual Loop Encoder Ration 38 Dual Loop View 37 Dwell for Master Dist 127 Dwell For Time 126 E Else 122 E...

Page 246: ...ere Am I 112 Program ProgramStop 131 Program Initiate 131 Programming Error Messages 198 R Red Dot Help 111 Redo Last Change 111 Registration Index 13 RMS Shunt Power Fault 196 Rotary and Rotary Index...

Page 247: ......

Page 248: ...of use reliability and high performance For more information about Control Techniques Motion Made Easy products and services call 800 893 2321 or contact our website at www controltechniques com Contr...

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