Control Techniques Epsilon EP-P, Reference Manual

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Epsilon EP-P Drive Reference Manual
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www.controltechniques.com Revision: A4
Control Loop Limit
This parameter shows the lowest measured time difference (in microseconds) between the Trajectory Update Rate and the time taken to
process the control loop since the last reset. Certain features in the Epsilon EP-P require more time to process (i.e. Real Time program
execution, PLS, Capture, Compound Indexes), and therefore will cause lower limits. The software records the lowest measured value and
displays it as the limit. To reset the limit to the average and continue tracking the lowest value, the user can click on the Limit button. If the Limit
reaches 0, a fault will be generated. If a Limit of less then 75 - 100 usec is seen, it is recommended to switch the trajectory update rate to the
next higher value.
The cyclic program is run as a high priority user program and is not part of the Control loop time.
Average Margin
This parameter shows a running average of the difference (in microseconds) between the Trajectory Update Rate and the time taken to
process the control loop since the Status Online tab was brought up. The higher the value, the more time available to run user programs. For
Averages less than 150 usec, it is recommended to switch the trajectory update rate to the next higher value.
3.1.5 Master Feedback Group
Master Position
Used for synchronized motion, this displays the position of the master encoder in the user units name, defined on the Master Units View.
Encoder Position
This displays the position of the master encoder in counts.
Master Velocity
This displays the velocity of the master encoder in master user units/second.
3.1.6 Torque Group
Torque Command
This displays the torque command value before it is limited. The torque command may be limited by the motors rating, the drives rating, the
Torque Limit (if the Torque Limit Enable destination is active) or Current Foldback. Units for this parameter are defined in the Torque Group on
the User Units View.
Limited Torque
This is the actual torque commanded to the motor. This value is the result after the TorqueCommand is limited by the current foldback or the
TorqueLimit value (if enabled).
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 explanation of foldback.
Shunt Power RMS
This parameter models the thermal heating and cooling of the drive internal shunt. This parameter indicates the percent of shunt capacity
utilization. When this value reaches 100 percent, the drive will generate an RMS Shunt Power Fault.
3.1.7 Information Tab (Online Only)
PowerTools Pro is designed to work with all releases of drive firmware. PowerTools Pro internally uses interface revisions to negotiate and
define the application to match the connected drive. The first line shows the file name and user application for reference.
3.1.8 Drive Information Group
Firmware Revision
Displays the revision of the drive firmware.
Serial Number
Displays the serial number of the drive.
The following interface revisions are PowerTools and the drive firmware internal revision numbers to identify parameter sets, data structures,
data ranges and access attributes to match the drives’s data structures to PowerTools. When parameters are added to support new features or
parameters are altered, a new interface revision is assigned.
Base Interface Revision
This parameter displays the interface revision of the data parameter structure in the Epp's base drive. This revision has a correlation with the
features supported by the Epp drive.
Registry Interface Revision
This parameter displays the interface revision of the "Registry" data parameter structure in the Epp drive. This revision has a correlation with
the features supported by the Epp. On download, both the Registry and Base Interface revisions are used to convert the Power Tools data set
to match the drive's data structure. In this way Power Tools can support different releases of the EPP Flashes. For the most part the user does
not need to be concerned over interface revisions.
FPGA Revision
The Field Programmable Date Array (FPGA) is an electronic component in the drives. The FPGA revision is only displayed because when the
Epsilon EP drive was first released the FPGA was not field upgradable. When the revision is <100 the drive is not field upgradable. When the
revision is >100 the FPGA can be upgraded by flash upgrading and then Virtual Master Sync Output will work.