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Emerson EZMotion, User Manual

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viii

EZMotion User/Programming Guide

www.controltechniques.com

Revision: A8

Analog Output – Channel 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  124
Analog Output – Channel 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  126

Define Motion Profiles  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  127

Jog View  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  127
Home View  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  129
Index View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  131
Gearing View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  136
Camming View  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  137
Torque Mode View  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  139

Multiple Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  140
Create User Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  141

Programs View  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  141

Graph View  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  142

Data Capture Group  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  142
Timing Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  142
Data Group  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  143

Network  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  143

Parameter Access View  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  143

How I/O Works  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

I/O Scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  145
EZMotion I/O  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  145
Unidrive SP/Digitax ST I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  145
SM-I/O Plus Module I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  145
SM-I/O 32 Module I/O  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  145

Programming  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  147
Program Window Components  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  147

Program Toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  147

Cyclic Program View  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  149

Program Parameters for a Cyclic Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  149

User Programs View  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  150

Program Parameters for User Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  150
Global Where Am I Enable  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  151

Real Time Program View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  151

Program Parameter for a Real Time Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  151

Program Multi-Tasking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  151
Timing Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  152
Program Instruction List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  160

Program Flow Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  160
Program Math Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  165
Program Array Access. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  165
Motion Instructions  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  166
Motion Modifier Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  170

Red Dot Error Bar  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  171
Program Code Window  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  171
Program Blocking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  171

Program Math Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  173

Starting and Stopping Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

Starting Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  175

From Assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  175
From Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  176
From PowerTools Pro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  179

Stopping Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  179

Summary of Contents for EZMotion

Page 1: ...User Programming Guide EZMotion SM EZMotion Module Digitax ST EZMotion Part Number 400361 00 Revision A8 Date March 26 2009 ...

Page 2: ......

Page 3: ...ves the right to change the design or operation of the equipment described herein and any associated motion products without notice Control Techniques also assumes no responsibility for any errors that may appear in this document Information in this document is subject to change without notice P N 400361 00 Revision A8 Date March 26 2009 Control Techniques Americas LLC 2003 2009 EZMotion User Prog...

Page 4: ...ERSON Motion Control EMERSON Motion Control PowerTools Control Techniques is a Division of EMERSON Co Control Techniques is not affiliated with Microsoft Corporation owner of the MicroSoft Windows and Windows NT trademarks Microsoft Windows and Windows NT are registered trademarks of Microsoft Corporation MODBUS is a registered trademark of Gould Inc DeviceNet is a registered trademark of the Open...

Page 5: ...t The installation must comply with all relevant safety legislation in the country of use Qualified Person For the purpose of this manual and product a qualified person is one who is familiar with the installation construction and operation of the equipment and the hazards involved In addition this individual has the following qualifications Is trained and authorized to energize de energize clear ...

Page 6: ...icular system Unidrive SP User Guide Unidrive SP Advanced User Guide SM I O Plus User Guide SM I O 32 User Guide SM DeviceNet User Guide SM Profibus DP User Guide SM INTERBUS User Guide SM CANOpen User Guide SM Resolver User Guide SM Universal Encoder User Guide SM Ethernet User Guide Digitax ST User Guide Digitax ST Installation Guide Digitax ST Technical Data Guide ...

Page 7: ...pecifications 8 Connecting Motor Encoder Feedback to the Unidrive SP 8 Simple Servo Motor Phasing Test 9 PowerTools Pro Software 11 Introduction 11 Installing PowerTools Pro 11 From the SM EZMotion CD 11 From the Web 11 How PowerTools Pro is Organized 12 Menu Bar 12 File 12 Edit 14 Device 15 Options 16 Tools 18 View 19 Window 20 Help 20 Toolbar 20 New 20 Open 20 Save 20 Print 21 Upgrade Configurat...

Page 8: ...ding using PowerTools Pro 26 Uploading 26 Downloading 27 Non Volatile Memory NVM Options for Uploading and Downloading 28 Update to RAM 29 PowerTools Pro Operation Preferences 29 Secure Downloading 30 Change Path 31 How Motion Works 33 Jog 33 Home 33 Home to Marker 33 Home to Sensor 34 Home to Sensor then Marker 35 If On Sensor Options 36 Index 37 Absolute Index 37 Incremental Index 38 Correction ...

Page 9: ...Drive Menu Watch View 73 Drive Menu Initialize View 73 Configure Setup Parameters 74 Setup View 74 User Units View 76 Master Units View 77 Absolute Position View 79 Reasons for Re Homing 82 Virtual Master View 83 Position View 85 Velocity View 86 Ramps View 86 Current View 89 Distance Recovery View 90 Tuning View 91 Errors View 93 Setup NVM View 95 Devices Vars 95 PLS View 95 Capture View 96 Queue...

Page 10: ...45 Programming 147 Programs 147 Program Window Components 147 Program Toolbar 147 Cyclic Program View 149 Program Parameters for a Cyclic Program 149 User Programs View 150 Program Parameters for User Programs 150 Global Where Am I Enable 151 Real Time Program View 151 Program Parameter for a Real Time Program 151 Program Multi Tasking 151 Timing Diagram 152 Program Instruction List 160 Program Fl...

Page 11: ...1 From Assignments 181 From Programs 181 From PowerTools Pro 181 Parameter Descriptions 183 Drive Parameters Used by EZMotion 231 Description 231 Chart 231 EZMotion Setup Parameters 234 Diagnostics 237 Errors and Error Codes 237 Analog Outputs 240 PowerTools Pro 241 Watch Window 241 Errors View 243 Status Bar 244 Where Am I 244 Online View Tabs 245 Clearing SLX dF trip after installing SM EZMotion...

Page 12: ...x EZMotion User Programming Guide www controltechniques com Revision A8 ...

Page 13: ...ersion of user interface and machine control software If this product is to be used on a new or existing system with other drives there may be some differences between their software and the software in this product These differences may cause this product to function differently This may also apply to drives returned from a Control Techniques Service Centre If there is any doubt contact a Control...

Page 14: ...controltechniques com Revision A8 Isolation of control circuits The installer must ensure that the external control circuits are isolated from human contact by at least one layer of insulation rated for use at the applied AC supply voltage ...

Page 15: ...flexibility of the Unidrive SP Digitax ST can be substantially increased by using an EZMotion EZMotion is 1 1 2 axis controller with a dedicated processor that allows the user to write their own application specific software The Unidrive SP Digitax ST drive also offers powerful networking capabilities in addition to EZMotion so that many drives and other equipment can be linked together to communi...

Page 16: ...Software Applications for EZMotion are developed by the user using PowerTools Pro software PowerTools Pro is an easy to use Windows based setup and diagnostics tool It provides you with the ability to create edit and maintain your system setup You can download or upload your setup data to or from a device You can also save it to a file on your PC or print it for review or permanent storage PowerTo...

Page 17: ...er passing to from the solutions module 2 indicates that support for this module was introduced in earlier rev than indicated but user is required to use the revision shown for proper operation Module Compatible with SM EZMotion Configured by PowerTools Pro PowerTools Pro Rev Required SM EZMotion Firmware Rev Required SM Resolver X X 3 0 or greater A3 or greater SM Universal Encoder Plus X X 3 0 o...

Page 18: ...6 EZMotion User Programming Guide www controltechniques com Revision A8 ...

Page 19: ...le may be placed in any of the three available option slots on the Unidrive SP or the two available option slots on the Digitax ST The user must indicate which slot the SM EZMotion module is fitted in using PowerTools Pro configuration software The default slot number is Slot 1 in the configuration software 3 4 Electrical Connections EZMotion has a single terminal block allowing screw terminal acc...

Page 20: ...ivate to within 1 microsecond Therefore when Capture is used they can be accurate to 1 microsecond see Capture View on page 96 for more information on Capture object Figure 4 below shows a wiring diagram for the digital I O on the SM EZMotion module Figure 4 SM EZMotion I O Wiring Diagram 3 6 Digital I O Specifications 3 7 Connecting Motor Encoder Feedback to the Unidrive SP Figure 5 can be used t...

Page 21: ...fer to the Unidrive SP User Guide for further wiring information Begin by entering the motor peak current continuous current number of poles encoder lines per rev etc Then follow the steps below Step 1 Verify wiring of encoder channels per the documentation Define CW rotation of the motor shaft from the flange side with increasing counts I O Connector 1 I O Connector 2 I O Connector 4 UD BV1 UD BV...

Page 22: ...te the keypad to display parameter 0 40 D Set the parameter to 1 The phasing test will command the motor to move one rev CW It will also reset the parameter to 0 E If the motor moves in the CCW direction the motor power is wired incorrectly F Swap the U and V phases and repeat A through D of Step 2 NOTE Disregard any encoder phasing trip at this time tunEx trips Step 3 Verify wiring of commutation...

Page 23: ...e used as a diagnostic tool and troubleshooting assistance 4 2 Installing PowerTools Pro 4 2 1 From the SM EZMotion CD PowerTools Pro can be installed directly from the SM EZMotion CD that ships with every SM EZMotion module To install PowerTools Pro insert the SM EZMotion CD into the CD ROM drive of your PC The SM EZMotion CD will auto launch on your PC if not use Windows Explorer to find the Lau...

Page 24: ...under certain conditions i e online configuration open etc Figure 9 Menu Bar To use a menu choose one of the following methods On the menu bar click a menu name to display a list of commands On the menu either click a command or use the DOWN ARROW to move down the list and then press ENTER Press ALT and press the underlined letter in the menu name Then press the underlined letter in the option nam...

Page 25: ...P file into an SM EZMotion Digitax ST configuration To import the file open a new file and select the configuration type that you wish to convert to Once the new file of the desired configuration type is open select Import and find the file that is to be converted Select the file to be converted and then click Open The existing file will then be converted into the new file type The new file must t...

Page 26: ...utton Once the text is selected the text can be cut copied or pasted Paste Selecting Paste will place the last cut or copied text into a user program See Cut and Copy above for further information Find Selecting Find will open the Find window In the Find window the user can type in a specific word number or any character that they wish to find in a user program Once the user enters the text they w...

Page 27: ...ser will be prompted for the new node address After entering the new node address click OK The drive will immediately change to the new address Download Download will send the active configuration from the PC to the target node address specified on the Setup view For more information on Downloading see Section 4 Communications in this manual Disconnect Selecting Disconnect will terminate communica...

Page 28: ...tion on Feedhold see Section 8 Starting and Stopping Motion in this manual Where Am I Global Selecting Where Am I will launch a utility that shows the user what line in a user program is currently being processed If multiple user programs are running simultaneously the user will be asked to specify which task they wish to follow A blue arrow will appear next to the active line of the program The g...

Page 29: ...user will no longer be prompted with pop ups when they upload or download files For more information on these options refer to PowerTools Pro Operation Preferences on page 29 in this manual Figure 16 PowerTools Preferences Communications Tab The Communications tab is used to configure which communication ports are scanned when uploading or downloading When the check box is selected that port will ...

Page 30: ...e name of the motor ddf file where the information is stored default is spmotor ddf 4 4 5 Tools Figure 18 shows the Tools menu as selected from the PowerTools Pro Menu Bar Figure 18 Tools Menu Watch Window Selecting Watch Window will launch a diagnostics tool that allows the user to view the current value of multiple EZMotion parameters while online with the drive For more information on the Watch...

Page 31: ...location where the new flash file is stored Select the new flash file and click Open If the selected flash file is compatible with the devices in the list the LED next to the device will turn from red to green If the selected flash file is not compatible with the device the LED will remain red Once the LED next to the desired device has turned green click on the device to be upgraded so that it is...

Page 32: ...e will be launched allowing the user to lookup and read information related to the SM EZMotion module and PowerTools Pro software Using Help Selecting Using Help will launch a window that lets the user select different topics available as part of the help file This utility makes it easier to navigate the different sections of the help file About PowerTools About PowerTools Pro will open a window t...

Page 33: ...oad Same as Device Download from the menu bar Selecting Download will send the active configuration from the PC to the target node address specified on the Setup view For more information on Downloading see Communications on page 25 in this manual 4 5 8 Reconnect to Device Same as Device Reconnect from the menu bar 4 5 9 Change Connection Path Same as Device Path Change from the menu bar Selecting...

Page 34: ...dhold will put EZMotion into a feedhold condition Feedholding is a means of pausing motion that is active For more information on Feedhold see Starting and Stopping Motion on page 175 in this manual 4 5 23 Global Where Am I Same as Device Where Am I from the menu bar Selecting Where Am I will launch a utility that shows the user what line in a user program is currently being processed If multiple ...

Page 35: ...ck boxes or other windows editing mechanisms The views are designed to separate parameters into logical groups so that they are easier to find and use The view that is visible at any time is dependant upon what branch is selected on the hierarchy tree To see a specific view it must be selected on the PowerTools Pro hierarchy tree 4 8 View Tabs Some views in PowerTools Pro see explanation of view a...

Page 36: ...24 EZMotion User Programming Guide www controltechniques com Revision A8 ...

Page 37: ...nt of the Digitax ST The pin out for this connector is the same for both Unidrive SP Digitax ST and is described in the table below 5 2 2 Ethernet Ethernet communication is only possible when a SM Ethernet module is in one of the Unidrive SP Digitax ST slots The SM Ethernet module communicates to the PC using a standard RJ45 connection to a 10 Mbps 100 Mbps Ethernet system For more information on ...

Page 38: ...ndow Communications Tab 5 4 Uploading and Downloading using PowerTools Pro Figure 25 will be used throughout the Uploading and Downloading section of the manual to describe certain processes Figure 25 Memory Storage in the EZMotion 5 4 1 Uploading Uploading is the process of reading the configuration stored in EZMotion and loading that data into a configuration file on the PC Arrow B in Figure 25 ...

Page 39: ... Type Communication Options Base Drive Revision Module Revision Module Serial Number Drive Serial Number Select the device to upload and click Upload 5 4 2 Downloading Downloading is the process of sending the PowerTools Pro configuration from the PC to EZMotion Changes made in PowerTools Pro will not take effect until the information has been downloaded or the Update to RAM button has been clicke...

Page 40: ...guration file values Arrow H in Figure 25 If No is selected the values entered into the PowerTools Pro configuration file will remain the same as those that were last downloaded to EZMotion Downloading When downloading to EZMotion the user will be required to select how to handle the NVM parameters upon downloading Figure 28 shows the dialog box asking the user to select one of three options for t...

Page 41: ... to RAM to make changes and then downloading when complete to save changes to NVM Figure 30 Update to RAM flowchart The Update to RAM button operates according to the following rules If no parameters have been modified the Update to RAM button will be disabled If the user modifies a parameter that does not require a full download the Update to RAM button will become enabled If while the button is ...

Page 42: ...orks see the Download NVM Options above Keep Remember the values and restore them after the download When this radio button is selected the Keep option will be used on every download to the module For more details on how the Keep option works see the Download NVM Options above Ask on each download When this radio button is selected the user will be prompted on every download to select either the O...

Page 43: ...e standard file format EZ_ as well as in the secure file format EZ_s The _ in the file extension is a variable EZM is for Unidrive SP EZMB is for the Digitax ST B drive and EZME is for the Digitax ST Z drive The s at the end of the file extension stands for secure The secure file will be saved to the same directory as the standard file To perform the Secure Download close all open files in PowerTo...

Page 44: ...r on the Device menu click Path Change Figure 35 Change Path Dialog Box The Change Path dialog box will open all communication connections are scanned and the results appear The Change Path dialog box contains the following information for every device found IP Address COM Modbus Address ID Drive Type Module Type Communication Options Base Drive Revision Module Revision Module Serial Number Drive ...

Page 45: ...he distance the motor moves an Index is the preferred motion object type 6 2 Home Home is a motion object that has Acceleration Velocity and Deceleration A Home works by accelerating up to the specified velocity until a reference signal activates Once the reference signal activates the motor either begins to decelerate to a stop immediately called Calculated Offset or continues at the Home velocit...

Page 46: ...8 Figure 36 Home to Marker Profile Calculated Offset Figure 37 Home to Marker Profile Specified Offset Velocity Home Accel Home Velocity Home Decel Time Home Initiate Encoder Marker Velocity Home Accel Home Velocity Home Decel Time Home Initiate Encoder Marker Home Offset ...

Page 47: ...l sensor mounted to the machine is used as the reference In a Home to Sensor routine the motor accelerates to the Home Velocity The motor continues at the Home Velocity until the external sensor activates Once this sensor activates the motor immediately decelerates to a stop or continues for a specified offset distance before stopping Figures 38 and 39 show examples of the Home to Sensor profile w...

Page 48: ...re stopping Figures 40 and 41 show examples of the Home to Sensor then Marker profile with calculated offset and specified offset respectively Figure 40 Home to Sensor then Marker Profile Calculated Offset Figure 41 Home to Sensor then Marker Profile Specified Offset 6 2 4 If On Sensor Options In a Home to Sensor or Home to Sensor then Marker profile special conditions must be created to handle th...

Page 49: ...ny different applications that can be solved using different combinations of Index types The five major types of Indexes are Absolute Incremental Registration Rotary Plus and Rotary Minus Each of these Index types are described in detail below 6 3 1 Absolute Index An Absolute Index is used to move the motor to a specific position After completing an Absolute Index the motor will always be in the s...

Page 50: ... updated by the Analog Input This can be set to a automatic refresh using the Analog Input view 6 3 4 Posn Tracker Cont Index and Posn Tracker Once Index Posn Tracker Cont and Posn Tracker Once are indexes which expect their position values to be dynamically changed while executing Position Tracker indexes use absolute position values Posn Tracker Cont index once initiated will remain active until...

Page 51: ...e capability Three Figures below show examples of a Registration Index to Sensor using different Offset values Figure 48 Registration to Sensor Profile Offset 0 Figure 49 Registration to Sensor Profile Offset 0 Figure 50 Registration to Sensor Profile Offset 0 Velocity Index Accel Index Velocity Index Decel Time Index Initiate Registration Sensor Index Registration Offset Velocity Index Accel Inde...

Page 52: ...o get to its programmed position The programmed position for a Rotary Plus Index must be within the Rotary Rollover range Posn Rotary Rollover Figure 51 compares a Rotary Plus Index to an Absolute Index Rotary Rollover is enabled Figure 51 Rotary Plus Index Profile Rotary Rollover 360 o Index Position 270 o 0 o 90 o 270 o 180 o 0 o 90 o 270 o 180 o 0 o 90 o 270 o 180 o Rotary Plus Forced Positive ...

Page 53: ...s how far the load must move in a certain period of time Rather than making the user calculate an acceleration velocity and deceleration so that an index takes the right amount of time EZMotion allows the user to enter the distance and the time instead In a Timed Index the user provides the distance and time and the firmware automatically calculates the accel velocity and decel to finish in the ri...

Page 54: ... the control loop will attempt to achieve the programmed ratio within one update without programmed acceleration Analogously when gearing is deactivated the motor will use peak torque to bring the motor to a stop without a deceleration ramp Acceleration and Deceleration ramps can be enabled by the user If enabled the Accel and Decel ramps are specified in units of Follower Units Velocity Time Base...

Page 55: ... motor driving a linear axis programmed with an electronic cam The cam motion object uses a master follower principal in a synchronized mode and also has a follower with Realtime mode that allows the follower to travel through its cam table without a physical master axis moving Control Techniques provides a Cam as a collection of cam table s that can be used individually of chained together to for...

Page 56: ...ctual time minutes or seconds Selecting a Timebase of Synchronized means that all units of velocity and acceleration are a function of Master Distance rather than time Therefore the motor velocity acceleration and position are all functions of the position and velocity of the master axis The units for velocity of a Synchronized move are as follows Follower Distance Units Master Distance Unit There...

Page 57: ...les simultaneously a program must be used To specify which profile a motion object runs on the On Profile instruction is used The default Profile is Profile 0 and therefore it is unnecessary to specify On Profile 0 in user programs If no Profile is specified the default profile is used All motion run from the Assignments view is automatically run on Profile 0 It is not possible to change the Profi...

Page 58: ...ww controltechniques com Revision A8 Figure 57 Two Indexes Summed Profile 200 Velocity Time Index 0 Profile 0 100 Velocity Time Index 1 Profile 1 200 Velocity Time Index 0 plus Index 1 Summed Profile 100 Index 1 Initiate Index 0 Initiate ...

Page 59: ...are setup parameters devices vars I O and motion have been configured the user writes programs to tie the entire application together Once the programs are complete the user can create the interface for Modbus communications to the different drive module parameters 8 2 Define Hardware 8 2 1 Drive Encoder View The Drive Encoder view allows the user to configure the Drive Type and Encoder Type being...

Page 60: ... used the Drive Menu Initialize file to configure parameter 7 15 in the Unidrive SP drive If an old file has been upgraded to work with this feature it may be necessary to remove the line from the Drive Menu Initialize file that configures this parameter i e Menu 7 15 8 Analog Input 3 should be For more information on this see the Drive Menu Initialize View on page 73 NOTE This parameter only appl...

Page 61: ...ailable if the Use Motor Data From ddf File check box is selected This means that since the data is associated with the ddf file it cannot be changed The values in this column become available when the Use Motor Data From ddf File check box is cleared The user can then change one or more of the parameter values because there no longer linked to data in the ddf file If the user does edit motor para...

Page 62: ...n of a Vector motor and a description of each 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 appear in the Motor Type list box on the Drive Encoder view in PowerTools Pro Peak Current Specifies the peak current allowed by the motor The valid range is 0 00 to 9999 99 Amps rms The motor manufacturer ...

Page 63: ...e Unidrive SP for thermal protection of the motor The drive models the temperature of the motor using a formula that generates an overload accumulator value The formula is a function of the Thermal Time Constant When the accumulator reaches 100 the drive can trip or foldback depending on other drive settings For more information on the Thermal Time Constant please refer to the Unidrive SPAdvanced ...

Page 64: ...fig the values in the Values From Drive column are transferred into the Motor Parameters column Then the values must be downloaded by downloading the entire configuration file using Device Download 8 2 7 Run Auto Tune Button The Unidrive SP and Digitax ST drive have the ability to run an Auto Tune operation thereby measuring several different motor parameters Doing so allows the drive to obtain ce...

Page 65: ...tor tab on the Drive Encoder view The Auto Tune window opens and contains warnings and instructions related to the Auto Tune procedure as well as selection of the Auto Tune mode Some Auto Tunes cause motion while others do not Some Auto Tunes should be run with the motor unloaded and others with the load attached It is important to read and understand the warnings and instructions on the Auto Tune...

Page 66: ...rtain motor parameters that are not provided by the motor manufacturer or are not easily accessible The following chart shows which parameters must be entered in order to run an Auto Tune and which parameters are measured by the Auto Tune Motor Parameter Required For Operation Required for Excellent Operation Motor Name Yes Peak Current Yes Yes Continuous Current Yes Yes Motor Poles Yes Yes Rotor ...

Page 67: ...e specific application configuration file that it has been entered into In order to save the motor data to the SPMotor ddf file the user simply clicks on Save ddf Values on the Motor Tab Doing so will take all the parameter values and write them to the SPMotor ddf file automatically When saving to the ddf file if PowerTools Pro finds that a motor already exists with the same name the User Defined ...

Page 68: ...ion is selected the motor data in the SPMotor ddf or SPStdMotor ddf file for the matching Motor Name will overwrite the data in the Motor Parameters column After this option is selected the Use Motor Data From ddf File check box will be selected and all the parameter values will be unavailable 4 Retain existing defined Motor parameters as Appl defined If the user selects this option the values in ...

Page 69: ...lots When a new application file is started for the Digitax ST EZMotion drive the EZMotion is automatically set in PowerTools Pro 8 3 1 Empty Slot View If Empty Slot is selected in the Slot Module list box the remainder of the view should be blank The hierarchy tree automatically updates to show that no module is populated in the specific slot see Figure 64 Figure 64 Slot View Empty Slot 8 3 2 EZM...

Page 70: ... View If Universal Encoder Plus is selected in the Slot Module list box the remainder of the view should have configuration parameters to define what type of encoder is being used and to define the encoder properties The hierarchy tree automatically updates to show that a SM Universal Encoder Plus module is populated in that specific slot see Figure 67 Figure 67 Slot View SM Encoder Plus Module ...

Page 71: ...cleared then the user must specify the correct values for these three parameters Encoder Turns Encoder Comms Resolution and Equivalent Lines Per Revolution The aforementioned encoder parameter values are stored in non volatile memory NVM embedded in the encoder The values stored in NVM cannot be changed by the user Encoder Turns This parameter determines the maximum number of revolutions before th...

Page 72: ...any ratio By default the Numerator and Denominator are 1 000 implying that the actual output value is equal to the Source value Following is an equation that defines the use of the Numerator and Denominator parameters Simulated Encoder Output Signal Simulated Encoder Source Numerator Denominator SC EnDat Heidenhain Encoder Setup Parameters Encoder Supply Voltage Because of the wide variety of enco...

Page 73: ...ncoder Simulation Source The SM Universal Encoder Plus module has a feature that allows the user to send out a simulated encoder signal for use by an external device The Encoder Simulation Source is used to define the source of the encoder signal By default the Source will be configured as the SM Universal Encoder Plus position x 05 Any drive parameter in the form of a 0 65535 rollover counter can...

Page 74: ... signals are used the equivalent number of encoder lines per revolution must be set up correctly to give the correct speed and position feedback The Equivalent Lines Per Revolution ELPR is defined as follows SC Hiper SC EnDat SC SSINumber of singe waves per revolution For SC Hiper SC EnDat and SC SSI encoders the sine wave signal frequency can be up to 166 kHz but the resolution is reduced at high...

Page 75: ...ltiplying the source with scaling factor The scaling factor is made up of a numerator and denominator allowing the user to achieve nearly any ratio By default the Numerator and Denominator are 1 000 implying that the actual output value is equal to the Source value Following is an equation that defines the use of the Numerator and Denominator parameters Simulated Encoder Output Signal Simulated En...

Page 76: ...re Simulated Encoder Output Parameters Encoder Simulation Source The SM Resolver module has a feature that allows the user to use a simulated quadrature encoder output signal for an external device The Encoder Simulation Source is used to define the Source of the quadrature encoder output signal By default the Source will be configured as the SM Resolver position x 05 meaning that the resolver sig...

Page 77: ...configured for the DeviceNet network 125k 250k and 500k Endian Format Although other fieldbus networks allow the user to choose the Endian format the DeviceNet specification is locked to be little endian I O Data Mapping Tab The left side of the view contains a list of the EZMotion and SP parameters that may be mapped to the words on the Master Send or Master Receive tabs on the right by dragging ...

Page 78: ...the SM DeviceNet User Guide Bus Off Trip Disable When selected the SM DeviceNet module will not trip the Unidrive SP Digitax ST when there is a network fault See the SM DeviceNet User Guide for more information Expected Packet Rate Timeout Trip Enable When selected enabled the SM DeviceNet will trip the Unidrive SP Digitax ST when the expected packet rate timeout occurs This is an alternative netw...

Page 79: ...ssigned to a particular node on the Profibus network Every node on a Profibus network must have a unique node address with a range between 0 to 126 Endian Format When data is sent over the Profibus DP network it is transmitted as 8 bit bytes Therefore when a 32 bit word or 16 bit word is transmitted it is split into four or two 8 bit bytes It is important that the receiving node reconstruct the re...

Page 80: ...le is 32 These may be divided between EZMotion parameter words and SP parameter words This text box shows the number of words allocated vs the total number available Advanced Tab Figure 72 Slot View SM Profibus Advanced Tab Max Loss Timeout This provides a method on the drive to ensure that communication with the Profibus master is still present The SM Profibus module resets an internal timer when...

Page 81: ...utomatically updates to show that an Applications Plus module is populated in the specific slot see Figure 73 Figure 73 Slot View SM Applications Plus Module 8 3 9 SM Ethernet If Ethernet is selected in the Slot Module list box the remainder of the view should have configuration parameters for the Ethernet module communications The hierarchy tree automatically updates to show that an Ethernet modu...

Page 82: ...iled description of the Gateway address refer to the SM Ethernet User Guide Data Rate The SM Ethernet module can be set to automatically detect the data rate or be fixed at either 10 Mbs to 100 Mbs NOTE This parameter should be left in the auto detect state Actual Data Rate When online with the SM Ethernet module the actual data rate is displayed Disable Auto crossover Check Box Connecting a PC di...

Page 83: ...ers Used by EZMotion Diagnostics Glossary Index EZMotion User Programming Guide 71 Revision A8 www controltechniques com 8 3 10 SM I O 120V If I O 120V is selected in the Slot Module list box the remainder of the view should have configuration parameters for the module s digital I O points The hierarchy tree automatically updates to show that an SM IO 120V module is populated in the specific slot ...

Page 84: ...of the I O points Green ON Gray OFF When an SM I O 32 is used the digital I O for that module can be accessed on the Assignments view in PowerTools Pro just as any of the I O on the Unidrive SP Digitax ST or EZMotion itself When used with EZMotion the SM I O 32 module is only used in Fast Update Mode See the SM I O 32 User Guide for details When an SM I O 32 module is used EZMotion automatically r...

Page 85: ...ameter value will be highlighted in yellow in the default column 8 3 13 Drive Menu Initialize View The Drive Menu Initialize View is a utility to aid the user in configuring the Unidrive SP Digitax ST base drive setup Because the Unidrive SP Digitax ST can operate in many different modes and has many different features it must be put into a known state so that EZMotion can control it To get into t...

Page 86: ...ange to the initialization for every new file they create then changes can be made directly to the source SpInitialize ini file Using a text editor i e Microsoft Notepad the ini file can be modified to include new parameters or remove existing default parameters Once the modified ini file is saved those changes will be included in every new EZMotion configuration file created in the future Care sh...

Page 87: ...es the interrupt interval for the processor This defines how often the motion program is interrupted and the Control Loop is processed In the Control Loop the feedback information is processed and a new position command is generated Also in the Control Loop the I O is scanned Available selections for Trajectory Update Rate are 1 1 25 1 5 1 75 2 2 25 and 2 5 milliseconds The longer the update rate ...

Page 88: ... Feedback Encoder This parameter is only used when Dual Loop Control Mode is enabled and must be set correctly to achieve the correct target velocity Posn Fdbk Enc Revs This parameter is the denominator 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 and must be set corre...

Page 89: ...ed allowed by the application Acceleration Time Scale List Box From this list box select the acceleration time scale 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 Places The number of decimal places defined in this parameter determines the max resolution of all real ti...

Page 90: ...c Distance is the number of Master Distance Units that will be traveled per number of units defined in the bottom value of the fraction denominator When the Master Feedback Source is Drive or one of the Slot s then the denominator MasterDistUnits MasterRev is the of encoder revolutions The master revs parameter is the number of incoming whole revolutions it takes to travel the specified characteri...

Page 91: ...e acceleration and deceleration parameters found throughout the software Set between 0 and 6 decimal places 8 4 4 Absolute Position View NOTE If not using an absolute encoder type in your application this view can be skipped altogether The primary reason for using an absolute encoder is that position is not lost when power to the machine is cycled The absolute encoder does not require that you mai...

Page 92: ...etect this condition and therefore the absolute position would be incorrectly calculated on the next power up EXAMPLE The user homes the motor to a sensor When the sensor activates the motor is at the machine home position PM 0 revs where PM is the Position feedback of the Machine When the motor is at the home position of 0 revs the absolute encoder reads PA 1375 revs where PA is the Position feed...

Page 93: ... at Home PMH 0 Position Feedback of Absolute Encoder when at Home PAH 1375 We then need to calculate the value equal to half the resolution of the encoder Ehalf and the position that distributes the encoder resolution in half This is the position feedback of the absolute encoder at the rollover point or PAR Ehalf Max Resolution 2 4096 2 2048 PAR PAH Ehalf 1375 2048 3423 PAR must be within the max ...

Page 94: ...nd hence the system needs to be re homed to re learn the absolute home position of the machine The absolute home position is not stored as part of the user configuration so downloading the previous user configuration will not re load the absolute home position 2 UndefineHome or MasterAxis UndefineHome The UndefineHome function for the motor or follower axis and the MasterAxis UndefineHome function...

Page 95: ... not move outside of its supported absolute range 4 Disabling of Absolute Position Auto Calculate Enable If the user un checks the Absolute Position Auto Calculate Enable check box after the system has been homed and then downloads the configuration the AbsoluteHomeDefined signal will be automatically reset The previously stored home position registers will not be cleared Note that simply re selec...

Page 96: ... units distance into virtual counts VirtCnts The numerator top value of the scaling fraction is the VirtualMaster CharacteristicLength The characteristic length is the number of virtual counts that will be generated per the distance in user units defined by the denominator bottom number of the scaling fraction Distance UserUnits The denominator bottom value of the scaling fraction is VirtualMaster...

Page 97: ...source will activate In Position window is set to 0 001 inches If at the end of an index the following error is calculated to be 0 0015 inches then the InPosn source will not activate In Position Time This is the amount of time in seconds that commanded motion must be complete and the absolute value of the following error must be less than the In Position Window for the InPosn source to activate I...

Page 98: ...ware If an absolute index is used with a non zero rotary rollover point the EZMotion will calculate the shortest path to its destination and move in the required direction To force the motor to run a certain direction use the Rotary Plus or Rotary Minus type of indexes 8 4 8 Velocity View The Velocity view allows the user to define parameters related to the velocity control of EZMotion Figure 86 s...

Page 99: ...e motion control system By default User Ramps is selected The user can change the ramp controls in PowerTools Pro and perform a download to make the change or the parameter AutoCalcRampsEnable can be turned On or Off within a program To enable User Ramps AutoCalcRampsEnable should be turned Off and to enable Auto Ramps AutoCalcRampsEnable should be turned On Once a motion profile is in progress ch...

Page 100: ...3 Revs without any overshoot If Index 1 Accel and or Decel were aggressive enough to reach zero speed within 3 Revs they would have been used instead of automatically calculating the ramp 4 Index 1 begins at Index 1 Vel and ramps is automatically calculated to reach zero speed within Index 1 Dist of 3 Revs without any overshoot If Index 1 Decel was aggressive enough to reach zero speed within 3 Re...

Page 101: ...1 Vel within 5 Revs no automatic ramp calculation would be required and the user entered acceleration rate would be followed Ramps 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 Ramps Group in the Assignments view Feedhold Decel Accel When the Feedhold d...

Page 102: ... remember the Current Limit Enable must be active to limit the current If the Motor current rating is lower than the Drive current rating then the system is said to be Motor Limited If the Drive current rating is lower than the Motor current rating then the system is called Drive Limited Limits Current Limit This parameter sets the value to which the Current Command will be limited when the Curren...

Page 103: ...le Distance Recovery Check box DistanceRecovery DistanceRecoveryEnable is clear disabled by default Select the check box to enable the additive distance recovery index feature Velocity This parameter DistanceRecovery Vel is the velocity limit of the distance recovery index in user units Acceleration Acceleration DistanceRecovery Accel is acceleration rate for the distance recovery index in user un...

Page 104: ...ble the Velocity Feedforward signal Filter Current Demand Filter The Current Demand Filter is a first order low pass filter applied to the current command of the Unidrive SP The parameter entered by the user is a time constant t in the filter formula The frequency of the filter f can be derived as follows The units for the parameter are milliseconds This parameter is written directly to parameter ...

Page 105: ...op Response until Following Error is minimized Often a value approximately 1 4th of the Velocity Loop Bandwidth will work well Increase until oscillation is introduced and then slightly decrease 12 Save file 8 4 13 Errors View The Errors view contains information about Drive Trips and Module Errors that are currently active as well as a log of the last ten drive trips PowerTools Pro must be online...

Page 106: ...n the Unidrive SP Digitax ST This information is read directly from the Unidrive SP Digitax ST and is not stored in EZMotion PowerTools Pro must be online to view the Trip Log Within the Trip Log Tab is the Parameter Trip 0 Time The Trip 0 Time is a reference of when the most recent drive trip occurred The time in this parameter is based off of the Drive Run Time described above This means that th...

Page 107: ...arameter is in the list the value that was being used just before power is cycled will be used when power is restored Figure 94 Setup NVM View 8 5 Devices Vars 8 5 1 PLS View The PLS view allows users to define the Programmable Limit Switches PLS for advanced machine operation A PLS can be used to accurately turn on or off a bit based on the PLS Source value There are eight global PLS s available ...

Page 108: ...Posn is greater than the OffPosn the PLS will be active whenever the position feedback is not between the On and Off positions and in active whenever the position feedback is between the two positions However the PLS Status will not turn on until it reaches the OnPosn the first time All on off positions are defined in user units Direction This parameter specifies the direction of motion that a par...

Page 109: ... capture will be over written by the most recent capture data Capture Sources and Destinations Figure 97 shows a block diagram of the Capture object Figure 97 Capture Object Sources CaptureTriggered The CaptureTriggered signal is read only and indicates that the Capture component was activated and that data has been captured CaptureTriggered will activate on the leading edge of CaptureActivate if ...

Page 110: ...Complete Index AtVelocity Jog 0 AtVelocity PLS Status All other Sources are only accurate to the Trajectory Update Rate Assignments that Automatically Use Position Capture The sources listed above automatically capture data each time they activate even when a capture object is not configured If any of these Sources are assigned to a destination the captured data may be used by the destination func...

Page 111: ... of pieces of data is in the queue at a time then a Queue Overflow source will activate Full Level The amount of data in the queue is constantly monitored and the Queue Full source will activate when the number of pieces of data in the queue exceeds the Full Level parameter Queue Full is only a flag and does not cause an error or a trip of any kind Queue Offset The Queue Offset is the value that i...

Page 112: ...e to function If the Compare Enable is inactive then the Queue Exit source will never activate If activated then the Queue Exit source will activate when the Queue Data plus the Queue Offset is greater than or equal to the Comparator Select parameter To fully understand the operation of the queue Figure 101 has a more detailed view of the Queue object Figure 101 Queue Object and Components Diagram...

Page 113: ...llow The length of the text string is limited by the column width with a maximum of 12 characters Spaces are not allowed in the name but underscores are Simply click on the name field to modify the individual Timer Name Timer Type There are several types of Timers available that help you to achieve different tasks Use the combo box in the Type column to change the individual Timer Type The Enable ...

Page 114: ...e Input of the timer activates the Output turns ON automatically When the Input turns OFF the internal clock begins to count Once the Preset time is reached the Output of the timer turns OFF As soon as the Input turns OFF it does not matter what happens to the state of the Input the Output will turn OFF when the Preset time is reached The Output will remain OFF until the Reset is activated Note th...

Page 115: ...FF as long as the Input remains OFF Figure 106 Level Off Timer Timing Diagram Cumulative ON Timer This type of timer works exactly like the Level ON Timer except that if the Input turns OFF before the Preset time is reached the elapsed time is not reset The total time that the Input is ON is added together such that when the total time of the Input being ON reaches the Preset time the Output turns...

Page 116: ...mer activates the output turns ON When the Input turns off the internal 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 for the Input to turn OFF before resuming the count again Figure 109 Cumulative Off Timer Timing Diagram Additionally a Reset signal can ...

Page 117: ...dog Timer 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 to zero and the internal clock again starts counting immediately The duration that the Input remains on does not have any effect on the Output If at any point the Elapsed Timer reaches Preset time...

Page 118: ...his means that you are using the master encoder position to control the duration of the Timer rather than actual Time When the Timebase of the Timer is set to Synchronized the Preset is entered in units of Master Distance rather than units of Time Use the combo box in the Timebase column to change the individual Timer Timebase settings Timer Preset This parameter is used to control the actual dura...

Page 119: ...gnments view Timer TimerEnable The Timer Enable event is level sensitive not edge only and is used to enable the Timer object If a timer is not Enabled the Output will never activate regardless of the state of the Input When the TimerEnable is deactivated all output events associated with that Timer object will also deactivate and Elapsed Time will be set to zero All timer types use the Enable eve...

Page 120: ...tate is controlled by the Timer Input the Timer Type and the other configuration settings of the Timer object See the various timing diagrams in Figures 2 through 10 to see how Timer Output functions The Timer Output can be assigned to multiple Destinations on the Assignments view just as any other Output Event Timer TimerActive The TimerActive event is used as an indicator that the Timer is activ...

Page 121: ...he decimal point for the specific variable This is the maximum resolution that the parameter will have Initial Value This is the initial value of the variable that will be used on power up If the variable has been configured as a Save to NVM parameter then the value in NVM will overwrite the initial value on power up Adding and Deleting Variables The default number of variables is ten To add more ...

Page 122: ...e used Adding and Deleting Bits Bits can be added or deleted in groups of 32 bits Individual bits cannot be added or deleted The default number of Bits available is 32 To add an additional 32 bits click the Up Arrow on the spin box at the top of the Bits view see Figure 117 To decrease the number of Bits by 32 click the Down Arrow on the spin box When decreasing the number of Bits it is always the...

Page 123: ...ask is a 32 bit parameter that can be configured through Power Tools Pro in the User Program or over the communications network The default value for the Mask register is 0xFFFFFFFF HEX or all bits ON To change the Mask value using PowerTools Pro navigate to the Mask tab on the Bits view see Figure 120 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 1 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 ...

Page 124: ...rites a 1 into all bits of the upper sixteen bits and 0 into each of the lower sixteen bits using hexadecimal value To write the same value using decimal notation the following instruction would be used Example BitRegister 0 ValueMask 4294901760 This instruction would also write a 1 into each of the upper sixteen bits and a 0 into each of the lower sixteen bits 8 5 9 Packed Bits Packed Bits are 16...

Page 125: ...ts Control Words View Control Words handle data being written to the user defined drive bit level parameters The user configures the Control Word s by dragging and dropping the desired bit level parameters they wish to write into the Control Word mapping Figure Modbus EtherNet I P Profibus DeviceNet PLC HMI Jog 0 PlusActivate Jog 0 MinusActivate Home 0 Initiate Index 0 Initiate Index 1 Initiate Pr...

Page 126: ...w bit level parameters to find the desired parameter they wish to control write to Once the desired parameter is found the user left clicks and hold on the desired parameter While still holding the left button down the user drags the parameter onto the desired bit of the desired Control Word Then the left button is released Doing so will map the selected bit parameter to the selected Control Word ...

Page 127: ...er they can be utilized by fieldbus communications i e Modbus EtherNet I P Profibus DeviceNet etc or within a user program Figure 88 shows an example in which the user will write to the Control Word 0 and 1 via Ethernet I P Figure 125 Using Ethernet to Communicate to the Control Words 0 and 1 8 5 11 Pack Bits Status Words View Status Words work to pass bit level status information from the drive b...

Page 128: ...tus Words cannot be adjusted while online with the device If online the user must disconnect communications and then adjust the number of status words Status Word Setup Tab The Status Word Setup Tab is used to map the desired bit level parameters onto 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...

Page 129: ...ructure to separate complex motion profiles These functions directly correspond to any input or output line on the drive or option modules External controllers such as a PLC or other motion controllers may be connected to affect or monitor the device s operation The Unidrive SP Digitax ST is equipped with up to six input lines three can be configured as Input or Output and up to five output lines ...

Page 130: ...Source has been assigned to it Destinations can also be dragged from right to left over to Sources Assign Button Method Select both the Source and Destination that are to be assigned to each other Once both are selected the Assign button in the lower left corner of the view will become available Click Assign to complete the assignment The view will update to show that the assignment was created In...

Page 131: ... and change the settings as desired in the Polarity dialog box Click OK to apply the changes Right Click Method Point to the specific assignment you wish to change polarity on and right click A shortcut menu box will appear choose Polarity The Polarity dialog box will appear Change the Polarity settings as desired and click OK to apply the changes Only Show Assigned This check box removes the unas...

Page 132: ...d 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 following examples demonstrate how to determine which Selector Selection will activate based on the Selector Select lines Example If Selector Select2 is active Selector Select1 is inactive and Selector Select0 is active then the total binary value is as follows S2...

Page 133: ...ramming Guide 121 Revision A8 www controltechniques com Figure 131 Selector Assignments Example 8 6 3 Drive I O Setup View Figure 132 Drive I O Setup View The Drive I O Setup view allows the user to configure the digital I O on the Unidrive SP Digitax ST The first three I O on the Unidrive SP Digitax ST can be configured as Inputs or Outputs Use the list boxes to configure as desired While online ...

Page 134: ...e 134 Analog Inputs View The Unidrive SP Digitax ST has three Analog Input channels that can be used for a wide variety of applications These Analog Inputs can be referred to as Analog Input 1 Analog Input 2 and Analog Input 3 By default Analog Input 3 is configured for thermistor mode meaning that the motor over temperature device is connected to Analog Input 3 Therefore PowerTools Pro does not h...

Page 135: ...the value of the selected Module Variable will be set to 5000 Set Maximum Input Button By pressing this button the current value of the analog input will be read and stored in the Maximum Input text box This is a simple tool that allows the user to set the analog input to full scale and then easily read the value without requiring additional calibration The button appears dim except when online wi...

Page 136: ...d the configuration parameters will become available for editing If the user wishes to control the Analog Output through other means within the Unidrive SP Digitax ST it is necessary to clear the Enable Channel check box Source The user can create a direct connection from a Source parameter to the Analog Output This means that the current value of the parameter selected as the Source will directly...

Page 137: ...motor The units for this selection are Amps Menu 5 03 Output Power Selecting this Source will write the Unidrive SP Digitax ST Output Power to the Analog Output directly The Output Power is the product of the Output Voltage and the Active Current The units for this selection are kW Module Variable The Module Variable parameter is only available once the user has selected User Defined Module Variab...

Page 138: ... Mode The Analog Outputs on the Unidrive SP Digitax ST support four different modes of operation to provide a very flexible solution to nearly any application The four modes of operation are described below 1 0 20 mA Mode In this mode the analog output channel will send out a current signal ranging from 0 mAmps minimum scale to 20 mAmps full scale 2 4 20 mA Mode In this mode the analog output chan...

Page 139: ...ping 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 PowerTools Pro Jog Sources and Destinations Sources Jog AnyCommandComplete The Jog AnyCommandComplete source will activate when either Jog0 or Jog1 completes its deceleration ramp and reaches zero commanded veloci...

Page 140: ...nusActivate will cause the motor to jog in the positive direction Jog Select0 This destination is used to select between Jog0 and Jog1 When the Jog Select0 destination is not active the target velocity for the jog is the Jog 0 Velocity If the Jog Select0 destination is active the target velocity of the jog is the Jog 1 Velocity Jog Select0 can be toggled On or Off while jogging Jog acceleration an...

Page 141: ...h that is active 8 7 2 Home View Figure 139 Home View Home Number The Home Number parameter displays which home sequence you are editing and allows you to scroll through multiple home sequences using the up and down arrows The first release only allows for one home sequence Name Allows you to assign a descriptive name to the home sequence up to 10 characters in length Home Reference This parameter...

Page 142: ...hen 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 when the device is powered down unless using Auxiliary Logic Supply ALP Home AnyCommandComplete This source is activated when any home motion command is completed If a drive stop destination is activated before the home ha...

Page 143: ...t to the home reference point The absolute index could run in either a clockwise CW or counterclockwise CCW direction dependent on the current position when it is initiated Correction Indexes are used to follow a dynamic fieldbus or analog value that changes the index distance of the index prior to and during the index motion Correction indexes use incremental distance values The index distance va...

Page 144: ...x or compound out of a Timed Index All index types can be specified as a Timed Index except for Registration type indexes This is because a registration index does not have a specified distance or absolute position During a registration type index the registration sensor could activate at any time and therefore it is impossible to calculate the necessary velocity accel and decel If Registration ty...

Page 145: ...updated when Index is run The direction of the PLS does not matter the Index PLSStatus will activate and deactivate the same incremental distance from the start of the index PLS On Point This parameter is an incremental 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 P...

Page 146: ...tions then it will be ignored 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 The Registration Window End position or distance should be greater than the Registration Window Start position If a re...

Page 147: ...did not complete in the specified time This can be activated through an assignment or through a user program This function is edge sensitive so holding it active will not prevent ProfileLimited from activating Index Initiate The Index Initiate destination is used to initiate the specific index The Index is initiated on the rising edge of this function An Index cannot be initiated if there is an Ho...

Page 148: ...o can be positive or negative and is a signed 32 bit parameter The resolution of the parameter is determined by the number of decimal places configured for the Master Velocity Units on the Master Units Setup view By default gearing does not use acceleration or deceleration ramps with respect to the master encoder This means that once gearing is activated peak torque is available to try to achieve ...

Page 149: ... Camming View Electronic cams provide a non linear motion function for a single axis The basic motion can best be illustrated in Figure 111 of a mechanical cam and cam follower or slave Figure 144 Mechanical Master and Slave Follower As the master axis the cam lobe rotates the follower axis produces a non linear motion profile This same profile can then be produced with a single motor driving a li...

Page 150: ...fixed interpolation type of Linear for each point This is convenient when there are many points entered or are importing data from a CAD system A large number of data points are required for smooth motion 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 pos...

Page 151: ...milely face will appear in the graph area of the view To correct this error just change parameter values until the smilely face is cleared and the plot appears 8 7 6 Torque Mode View Torque Mode is a mode where the drive is controlled by torque command rather than a position command The drive can switch between position and torque mode Note that when in torque mode there is no following error Torq...

Page 152: ...on Check Box Select this check box TorrqueMode DecelEnable when an deceleration ramp is desired Deceleration This parameter TorqueMode Decel is the deceleration ramp for the velocity limit feature when enabled 8 8 Multiple Profiles Motor motion or Axis motion may be generated from either of two Profiles Profile 0 and Profile 1 Each of these Profiles can run any type of motion i e Index Jog Gear et...

Page 153: ...1 Legal Index 0 Initiate Wait For Index 0 CommandComplete Index 0 Initiate On Profile 1 Any two motion objects can be run on both profiles at the same time For example it is legal to run Index 0 on Profile 0 and Index 1 on Profile 1 at the same time Legal Index 0 Initiate Index 1 Initiate On Profile 1 The distance and velocity of the two indexes is summed to generate the overall position command a...

Page 154: ...uto update will stop and it will restart when returning to the Graph view Print The Print button is used to print the graph in the Graph window 8 10 2 Timing Group The sliders can be moved in several different ways 1 With the mouse pointer over the slider left click and hold while dragging the slider back or forth to the desire setting 2 With the mouse pointer over the slider left click on the sli...

Page 155: ...ill begin when the Run button is clicked and end at the end of the Total Sample Rate Module Parameter A Module parameter text box is only available once the user has selected Module Parameter from the Data Channel Select list box This field is used to define what EZMotion parameter will be plotted on that channel The module parameter can be entered two ways by just typing any module parameter usin...

Page 156: ...sition has four decimal places If PosnCommand is equal to 12 8434 menu 20 30 will equal 128434 For read write parameters the value can be changed by either the registry parameter being directly changed or by the menu parameter being changed If Index 0 Dist is assigned to menu 20 21 and a program changes the value of Index 0 Dist to 12 8000 menu 20 21 will equal 128000 If a user changes menu 20 21 ...

Page 157: ...d solely for Unidrive SP Digitax ST functions i e Threshold Detectors Programmable Logic Binary Sum etc then they are updated every 4 milliseconds To use theUnidrive SP Digitax ST I O in the PowerTools Pro Assignments view the three Input Output lines are called SPIO In or SPIO Out depending on how they are configured where represents the specific I O number The configured Input Output lines will ...

Page 158: ...146 EZMotion User Programming Guide www controltechniques com Revision A8 ...

Page 159: ... update rate cycles as needed to complete the program 9 2 Program Window Components There are 5 major components to the Program Views or programming window These components are the Program Parameters Program Toolbar Instruction List Red Dot Error Bar and the Code Window Figure 151 points out the components listed above Figure 151 Program View Components Each of these main components must be used t...

Page 160: ...t the particular error is click on the Red Dot Help button and then click on the line of code with the red dot next to it PowerTools Pro will attempt to give a detailed description of the error Drag In Operands This button will open the Drag In Operands pop up window From this window the user can drag formula Operands i e into the program formula Drag In Variables This button will open the Drag In...

Page 161: ...program It allows the user to give a descriptive name to the program for ease of use Update Rate This parameter defines the number of Update rates the cyclic program has to finish This parameter can only be setup on the Cyclic Program view Utilize Utilize is the percent of the Control Loop time utilized for control loop Real Time Program and a portion of the Cyclic Program When this limit is hit t...

Page 162: ...Motion programming environment has been designed to automatically stop all user programs when a error occurs regardless of what type of error or when the drive is disabled Some applications require the ability to run a program as soon as a error occurs or continue running a program even through a error is active In order to do this the program must be classified as Run Anytime To configure the pro...

Page 163: ... clicking the Global Where Am I button on the PowerTools Pro toolbar a blue arrow will follow the program flow on a given task by pointing to the line of the user program that is currently being processed If the Global Where Am I is active and one user program calls another user program using the Call Program instruction the PowerTools Pro view will automatically switch to the called program In so...

Page 164: ...gram view Figure 157 shows the Program view with the Task Number parameter Use the up and down arrows next to the Task Number to change the task number To create a new Task simply click the up arrow until PowerTools Pro asks if you wish to create a new Task Figure 157 User Program View EZMotion allows up to four different tasks in a single application If the user wishes to operate two programs sim...

Page 165: ...cessed depends on how many have been assigned by the user the whole process starts over at the first task This process description is accurate as long as no program is blocked The following figure shows examples of user programs and task numbers and how the ezmotion processes them Figure 159 Diagram of User Programs with Multiple Tasks The following three figures are timing diagrams of a cyclic pr...

Page 166: ... one Task Cyclic Program Utilization set to 80 means cyclic program is suspended after 80 of update is reached then resumed next update Cyclic Program Utilization set to 80 Cyclic Update 3x Update Rate Update Rate T0 Control Loop Cyclic Program Update Rate User Program T0 T0 Cyclic Update 3x Update Rate Same as above except Cyclic Program Utilization is set to 50 instead of 80 Note that Cyclic Pro...

Page 167: ...al tasks Figure 163 Diagram of User Programs on Two Tasks and a Cyclic Program T0 Control Loop Cyclic Program Update Rate User Program T0 Cyclic Update 3x Update Rate Same as above except Cyclic Program Utilization is set to 40 In this scenario Cyclic Program cannot complete within 3 updates and so Overrun Error occurs in next update Need less code in Cyclic Prog higher Utilization setting or Larg...

Page 168: ... and a Real Time Program T0 Control Loop Cyclic Program Update Rate User Program T1 T2 Cyclic Update 3x Update Rate T0 T1 T2 Control Loop Cyclic Prog User Progs on three Tasks Note how when the number of Tasks is the same as the Cyclic Program Update Rate setting some programs get shortchanged This should be avoided by changing the Cyclic Program Update Rate Cyclic Program Utilization set to 70 T0...

Page 169: ... will error Figure 167 Diagram of User Program and a Real Time Program Figure 168 shows how the Real Time program finishes and the two task User programs are processed Figure 168 Diagram of User Programs on Two Tasks and a Real Time Program The following three figures show how the module processes Real Time Cyclic and User Programs with different number of tasks Control Loop Realtime Program Realt...

Page 170: ... Update Rate Control Loop Realtime 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 Realtime Program T0 T0 T0 T0 T0 Control Loop Cyclic Program Update Rate User Program T1 T0 Cyclic Update 4x Update Rate Control Loop Realtime Cyclic User Programs on two Tasks Cyclic Program Update Rate set to ...

Page 171: ...s Glossary Index EZMotion User Programming Guide 159 Revision A8 www controltechniques com Figure 171 Diagram of User Programs on Three Tasks a Real Time Program and a Cyclic Program T0 Control Loop Cyclic Program Update Rate User Program T1 T2 Cyclic Update 4x Update Rate Control Loop Realtime Cyclic User Programs on three Tasks Cyclic Program Update Rate set to 4x Trajectory Update Rate and Util...

Page 172: ...ion flow and continues execution after the Loop instruction With the For Count instruction Break stops the instruction execution flow and continues execution after the Next instruction Example Switch var var0 case 1 Home 0 Initiate Home0 Sensor SpecifiedOffset 0 0000 revs Vel 200 revs m break case 2 Dwell For Time 60 seconds break Default Index 0 Initiate Index0 Incremental Distance 300 revs Vel 2...

Page 173: ...ound Duplicate Case numbers are not allowed Default The default is an optional statement within the switch instruction It must follow all the case instruction within a Switch instruction When none of the case instruction numbers match the switch expression value the program instructions following the Default instruction are executed They are also executed if there is no break instruction in the pr...

Page 174: ...age 16 Formulas can also be created by simply typing them into the program This instruction was created to inform the user that formulas can be used in a program Examples Index 1 Vel 20 0 Index 0 Dist Index 2 Dist 0 1 EZOutput 1 ON Index 0 Accel Index 0 Accel 1000 5 00 For var This program instruction is used to execute a section of code as long as the end number is not reached For variable start ...

Page 175: ... Example If EZInput 1 ON Then EZOutput 1 ON EZOutput 2 OFF Endif Example If EZInput 1 ON AND EZInput 2 OFF Then EZOutput 1 ON EZOutput 2 OFF Endif Example If SPInput 4 OFF Then Jog 0 PlusInitiate Vel 20in s Wait For SPInput 4 OFF Jog Stop Endif Example If NOT SPInput 5 ON Then Jog 0 MinusInitiate Vel 20in s Wait For SPInput 5 OFF Jog Stop Endif Label The Label instruction is used in conjunction wi...

Page 176: ...Stop Endif Example Wait For MasterAxis PosnFeedback 1000 00 EZOutput 1 ON Example Wait For VelFeedback 50 00 EZOutput 2 ON Wait For Control Loop This program instruction is used to halt the program execution until the next control loop The control loop processes the input and output events So the Wait For Control Loop is very useful to allow event to be processed before using the results or cleari...

Page 177: ...e 4 Modulus 5 1 4 Returns 0 8 Sin This trig function can be used in formulas from within a program Example var var0 Sin var var1 Returns the trigonometric sine in degrees Sin x x is in degrees and accurate to 6 decimal places Tan This trig function can be used in formulas from within a program Example var var0 Tan var var1 Returns the trigonometric tangent in degrees Tan x x is in degrees and accu...

Page 178: ...ndex 1 wait for complete index 2 etc Example var var0 0 a IndexInitiate var var0 Var var0 1 var var0 Wait for Index AnyCommandComplete goto a CompoundIndexInitiate By Expression This motion instruction is used to vary the index numbers making up a compound index No comments will be added to this instruction as the index selected can change anytime before the initiate command is encountered The fol...

Page 179: ...single index The index is preset to include an acceleration up to speed a run at speed and a deceleration to a stop A comment is automatically inserted after the index instruction which shows key data about the particular index The comment starts with the apostrophe character A Wait For Index AnyCommandComplete instruction is also automatically inserted after each index This insures that the index...

Page 180: ...the same time base as the present index synch versus real time If the index does not exist or the time base is different the blended index will convert into a regular compound index The direction 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 SPIO 1 OUT ON ...

Page 181: ...would return back to Program 1 Because Program 2 was terminated using the Program Stop instruction program flow does not return to Program 1 The ProgramComplete signal will not activate if a program has been stopped using the Program ProgramStop instruction Profile ProfileStop Profile ProfileStop is used to stop motion on a single profile without stopping the other profiles The user must specify t...

Page 182: ...cts a mistake i e syntax error in an instruction a Red Dot will appear next to that line of code in the Red Dot Error Bar To find out what the error is PowerTools Pro has a utility called Red Dot Help To use Red Dot Help click the Red Dot Help button on the program toolbar This will place PowerTools Pro into Red Dot Help Mode While in this mode the mouse pointer should have a red and yellow questi...

Page 183: ...tion instruction and can block the program in the same way Index 0 Initiate Dwell For Time 0 550 sec EZOutput 2 ON The Dwell cannot start until other motion on the same profile is complete and therefore the program or task is blocked until Index0 is finished The Wait For instruction will block the program until the Wait For condition is satisfied The Wait For condition does not have to be TRUE at ...

Page 184: ...igonometric sine in degrees Sin x x is in degrees and accurate to 6 decimal places Tan This trig function can be used in formulas from within a program Example var var0 Tan var var1 Returns the trigonometric tangent in degrees Tan x x is in degrees and accurate to 6 decimal places ArcCos This trig function can be used in formulas from within a program Example var var0 ArcCos var var1 Returns the t...

Page 185: ...hin a program Example var var0 ArcTan var var1 Returns the trigonometric ArcTan in degrees The ArcTan is the angle whose Tan is the given number Modulus Returns the remainder Modulus resulting when a numerator is divided by a denominator The result has the same sign as the denominator The floating point operators are NOT rounded to integers as would be in the Mod operator Examples Example 1 Modulu...

Page 186: ...174 EZMotion User Programming Guide www controltechniques com Revision A8 ...

Page 187: ... Jog Select activates or deactivates while Jogging is active the motor will change to the new Jog Velocity using the new Jog Acceleration ramp Jog Deceleration is only used when Jogging motion is stopped Figure 175 shows an example of changing Jog Select while Jog is active Figure 175 Jog Select Example Jog MinusActivate Jog MinusActivate will when active cause the motor to run at a specified Jog ...

Page 188: ... Jog Stop instruction is used in the same program If the program ends while jogging motion is active the jog will automatically be stopped Home Initiate Home Initiate is used in a program to initiate the Home sequence The user must specify which Home is to be initiated in the instance location should be replaced with 0 for Home 0 even though there is only one instance available Since Home is edge ...

Page 189: ...tring has a short distance and a slow acceleration ramp Index 0 will start from a velocity of 500 RPM Index 1 Vel and accelerate down to its programmed velocity of 100 RPM at a rate of 100 Revs Min Sec The distance required to accelerate from 500 to 100 RPM is greater than the index distance of 10 Revs The programmed ramp is always maintained and therefore the final index will travel greater than ...

Page 190: ...es not exist or the time base is different the blended index will convert into a regular compound index The direction 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 1 Index 0 BlendInitiate into 1 Index0 Dist 5 Vel 100 Accel 100 Decel 1000 Index 1 BlendInitiate into 2 Index1 Dist 20 Vel...

Page 191: ...Motion 10 2 1 From Assignments There are numerous different methods that can be used to stop or pause motion using Assignments in the EZMotion Listed below are the various assignment Destinations Stop The Stop Destination will when activated stop any motion that is active along with any user programs that are active Stop is level sensitive so that while it is active all motion and programs are pre...

Page 192: ...activate Feedhold from a program it must be set equal to ON Feedhold will remain active until it is deactivated from a program Feedhold OFF See Feedhold from Assignments above for further details Profile Feedhold The Profile Feedhold instruction functions identically in a program as it does from an assignment To activate Profile Feedhold from a program it must be set equal to ON Feedhold will rema...

Page 193: ...program editor 11 1 3 From PowerTools Pro Individual programs can be initiated from PowerTools Pro while online with the system To initiate a program while online click on the Run Program button on the Program Toolbar Doing so will initiate the program number that is currently displayed 11 2 Stopping Programs 11 2 1 From Assignments There are numerous different methods that can be used to stop pro...

Page 194: ...op any motion pr program from the keyboard on your PC by pressing the Pause Break key Pressing Pause Break is identical to clicking on the Stop All button on the PowerTools Pro toolbar Once motion has been stopped using the Pause Break key on the keyboard it is necessary to press the Pause Break key a again to allow motion ...

Page 195: ...if the user changes the number of decimal places on the distance user units after the absolute home position is defined the system does not need to be re homed This parameter is not overwritten on a download Absolute Home Position in User Units AbsHomePosnUserUnits This read only parameter is used to store the position of the system when at the absolute home position This parameter is written to a...

Page 196: ...position likely will not be correctly calculated on the subsequent power up For examples on One Sided or Two Sided Modes see the Absolute Position View section of this manual Accelerating Accelerating This source is active when EZMotion is executing an acceleration ramp A normal index consists of 3 segments Accelerating At Velocity and Decelerating The Accelerating source will be set active during...

Page 197: ...it B The BitRegister Value The BitRegister Value register may be accessed bitwise by using Bit B or double word wise by using BitRegister Value Bit Register Number Value Mask BitRegister ValueMask This parameter is the Mask for the BitRegister Value Each bit location is set to either transfer the current data in the corresponding bit location of BitRegister Value by setting the bit location to 1 o...

Page 198: ...sition Cam CapturedMasterPosition The master commanded position captured when the current running cam table was initiated If the cam is not running it is the Master Position when the cam was exited by stop suspend or normal completion Captured Position Command Cam CapturedPositionCommand The follower commanded position captured when the current running cam table was initiated If the cam is not run...

Page 199: ...ime based index allows easy entry to dynamically define either the distance at a fixed time or dynamically define time at a fixed distance or dynamically alter both distance and time Resume Follower Position Cam ResumeFollowerPosn This will be the initial Follower Position the cam will be set to on execution of the Cam Resume command This value is valid only after Cam Suspend SetCamMasterOffset Ma...

Page 200: ...able In Motion Cam CamTableInMotion This parameter is active on when the specified cam table is executing Note this source may be on even when no physical motor motion is occurring For example the master may not be moving but the follower is still considered to be in a Commanding Motion state Cam Table Size Cam CamTableSize This parameter is the number of elements entered in the specified cam tabl...

Page 201: ... profile into another For MFI and Spline cam tables If the first segment interpolation type is Linear the initial velocity is the calculated velocity of the first segment When using a single cam table with no chaining simply set the Initial Velocity to zero Initiate Cam Initiate Cam Initiate has two forms Program Instruction and Assignment as a Destination Both are used to initiate a specific Cam ...

Page 202: ...the CaptureTriggered destination will be active The capture component cannot capture data again until it has been reset The capture component will automatically reset itself if the CaptureEnable signal is removed Capture Triggered Capture CaptureTriggered The CaptureTriggered signal is read only and indicates that the Capture component was activated and that data has been captured CaptureTriggered...

Page 203: ...the Current Demand are of rated current 100 rated current is defined as the rated current of the system Motor Rated Current System Rated Current Drive Rated Current This read only parameter can be found on the Online tabs of the Status and Current views Current Level CurrentLevel EZMotion constantly monitors the amount of current being output from the drive The user can set the Current Level param...

Page 204: ...nValid output function source is activated Define Home Position DefineHomePosn The DefineHome parameter is used to set the motors absolute position to the value stored in the DefineHomePosn variable On the rising edge of the DefineHome function the Commanded Position is set equal to the DefineHomePosn and the AbsolutePosnValid source is activated Acceleration DistanceRecovery Accel This parameter ...

Page 205: ...s enabled This parameter is read only and is read directly from parameter 10 02 in the database If When a drive trip occurs this parameter will deactivate automatically Drive Enable Status DriveEnableStatus This source is active when the drive is enabled Drive Healthy DriveHealthy The Drive Healthy signal indicates that the drive is not in the trip state This bit is active when no trip is active O...

Page 206: ...ivated Once the Force Enable for the input is active the input can be forced on or off using the following instructions EZInput Force ON EZInput Force OFF Forcing an input On or Off does not prevent it from changing state again It is solely a means of changing the state from within a user program EZInput Force Enable EZInput ForceEnable EZInput Force must be active to force a specified input on or...

Page 207: ...etting is less than the actual friction velocity error will be reduced but not eliminated Feedhold Feedhold When this destination is activated the motor will decelerate to a stop in the time specified by the FeedholdDecelTime parameter When it 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...

Page 208: ...atio Gear Accel Enable Gear AccelEnable Gear AccelEnable is a Destination that when it is on allows a gear to run a specified accel ramp after the gearing command is turned on Gear Accelerating Gear Accelerating If Gear AccelEnable is activated this source is activated during the time between Gear Initate On and Gear AtVel On Gear Activate Gear Activate The Gear Activate destination is used to sta...

Page 209: ...ed through an assignment 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 to which it is assigned is active If gearing from a user program the Gear Stop instruction is used to stop the gearing motion The gearing function must be stopped by the same method...

Page 210: ...ered Stop loading buffer trigger is found and offset data after the trigger is in the buffer ready for upload Graph Run GraphRun This instruction allows the user to enable the graph from a user program It is similar to pressing the Run button on the Graph view This instruction will wait until the graph buffer is full then it exits into the looking for trigger state SlotX Module Type Hardware SlotX...

Page 211: ...eceleration while the specified home is in progress Decelerating will turn off and on based on the type of Home selected Decelerating will activate during the Home back off sensor motion End of Home Position Home EndPosn This parameter defines the drive position at the completion of a home Typically used to define the machine coordinate home position Home Initiate Home Initiate When activated this...

Page 212: ...ither realtime which allows velocities acceleration and deceleration to be based on real time or synchronized which allows for an external synchronization signal Home Velocity Home Vel This parameter sets the target velocity for all of moves in the home The sign determines the home direction Positive numbers cause motion in the positive direction and negative numbers cause motion in the negative d...

Page 213: ...p to accelerate or decelerate towards the velocity of the next index specified The next index that is to be blended into from the first is on the command line is in parenthesis The value within the parenthesis can also be a variable Index Command Complete Index CommandComplete The Index CommandComplete source will activate when the specific index completes its deceleration ramp It will remain acti...

Page 214: ... point This is an unsigned value and is relative only to starting position of this index Index direction does not affect this parameter Index PLSStatus will be active if the distance traveled from the start of the index is greater than the Index PLSOnDist and less than the Index PLSOffDist Index PLS On Point Index PLSOnDist This an incremental distance from the start of the index to the Index PLS ...

Page 215: ...ion and deceleration to be based on real time or synchronized which allows for an external synchronization signal Index Timed Index Enable Index TimedIndexEnable This parameter is used in conjunction with the Index IndexTime parameter If Index TimedIndexEnable is active then the programmed Velocity Acceleration and Deceleration will be used as maximum values and the Index Time parameter will deter...

Page 216: ... for jogging If the Jog Select destination is changed during jogging motion the axis will ramp smoothly from the previously selected jog velocity to the new jog velocity using the specified jog acceleration This is level sensitive Jog Stop Jog Stop This is used only in programs to halt jogging motion Jogging motion is initiated in programs using the Jog MinusActivate or Jog PlusActivate instructio...

Page 217: ...ts view Master Absolute Home Defined MasterAxis AbsHomeDefined See Absolute Home Defined This parameter is a duplicate of Absolute Home Defined except it applies to the Master Axis absolute position feedback instead of the Motor Axis Master Absolute Home Position Decimal Places MasterAxis AbsHomePosnDecimalPlaces See Absolute Home Position Decimal Places This parameter is a duplicate of Absolute H...

Page 218: ...ns of the master encoder X in this case is the Master Axis Revs parameter see below Example A master encoder is attached directly to a pulley measuring 3 inches in diameter The user wishes to use units of Inches on the master axis The circumference of the pulley is therefore Diameter PI 3 0 3 14 9 425 inches This means the master encoder would travel 9 425 inches for each revolution of the pulley ...

Page 219: ...ure measured on EZMotion A module error will be generated if the module temperature reaches or exceeds 89ºC Available only in Too Much Mode When temperature reported by module reaches or exceeds 84ºC the internal fan of the Unidrive SP will be forced to full speed The fan will remain at full speed until the temperature drops below 79ºC Motion Stop MotionStop This destination is used to stop all mo...

Page 220: ...aches the OffPosn and will deactivate when it continues past the OnPosn The important thing to remember is that the PLS Status will be active if between the PLS On and Off points If using negative values for the OnPosn and OffPosn the most negative value should go in the OnPosn parameter and the least negative value should go in the OffPosn If the PLS has a rollover point and the OnPosn is greater...

Page 221: ...LS source motor or master is greater than or equal to the OnPosn and less than the OffPosn Position Loop Response PositionLoopResponse The Position Loop Response is effectively a proportional gain for the EZMotion position loop The units for the parameter are Hz A larger value for the Position Loop Response will result in a tighter position loop less following error however if it is set too high i...

Page 222: ...e This function is active during all segments of a motion Accel AtVel and Decel This function will deactivate when the CommandComplete signal activates The CommandInProgress signal can be active without actual motor movement if the master encoder stops during gearing or synchronized motion This allows the user to see when any motion being run on this profile is in progress rather than having to mo...

Page 223: ...ctivates when the specific program is initiated again Program X Run Anytime Enable Program RunAnytimeEnable By default the drive must be enabled for user programs to operate There are some cases where a user may want a program to run even when the drive is not enabled Therefore if the user checks the Run Anytime check box that particular program will be allowed to run under any condition It is rec...

Page 224: ...xit This event activates when the source parameter is equal to the QueueExitPosition Queue Exit deactivates when the Queue Remove instruction is processed Queue Exit Position Queue ExitPosition Queue Exit Position is the sum of Queue Data Out and the Queue Offset When the Queue Exit Position is equal to the selected source parameter Then the Queue Exit event activates Queue Exit position is only u...

Page 225: ...ng that as long as this signal is active the selection outputs from the selector will automatically update Select Selector Select This source selects Binary inputs to the selector usually assigned to input lines This is level sensitive Selection Selector Selection This source selects Decimal outputs from the selector assigned to indexes homes or programs Slot 1 Error Status Slot1 ErrorStatus If th...

Page 226: ...rogram to activate an output or on the Assignments view to activate when a specified Source event activates If assigned to a source on the assignments view when the source event activates the output that it is assigned to will turn on NOTE This parameter will appear on the Assignments view under the Outputs group of Destinations even if the I O point has been configured as a digital input SlotX En...

Page 227: ...e when an SM Universal Encoder Plus option module has been populated in one of the Unidrive SP slots The X in SlotX defines the slot number that the SM Universal Encoder Plus option module has been fitted in For example if the Universal Encoder Plus module is in slot 2 the parameter would be named Slot2 EncoderSimulationNumerator The SM Universal Encoder Plus is capable of sending out a simulated ...

Page 228: ...el This parameter is available only when using a SM Resolver module The Wire Break Detect check box provides direct access to parameter x 17 from the SM Resolver module configuration menu If the check box is not active unchecked the wire break trip will never be active For more information see the SM Resolver User Guide SlotX Resolver Excitation SlotX Excitation This parameter is available only wh...

Page 229: ...eter is modified automatically when the user changes the settings on the Slot X view SM I O Plus Module IO Status SlotX IO In This parameter is only available for SM I O Plus module that has been populated in one of the Unidrive SP Digitax ST slots The X in SlotX defines the slot number that the SM I O Plus module has been fitted in For example if the I O Plus module is in slot 2 the parameter wou...

Page 230: ...nly available when an SM I O Plus or SM I O 120V module has been populated in one of the Unidrive SP slots The X in SlotX defines the slot number that the I O module has been fitted in For example if the I O module is in slot 2 the parameter would be named Slot2 Relay Out The SM I O Plus pins 21 and 23 and SM I O 120V pins 10 and 12 modules have two relay outputs that can be used to control device...

Page 231: ... point on the curve for the linear interpolation Drive Analog Input X Minimum Input Value SPAnalogInput MinInputValue EZMotion reads the value of the analog input in units of 0 to 100 and then scales that using linear interpolation and then populates the specified destination parameter variable When the analog input reaches the Minimum Input Value the destination variable will be equal to the Mini...

Page 232: ... linear interpolation to scale the value properly When the selected source parameter is equal to the Maximum User Value then the Analog Output will be equal to the Maximum Output Value This parameter is used in conjunction with the Maximum Output Value to define a single point on the curve used for linear interpolation Drive Analog Output X Minimum Output Value SPAnalogOutput MinOutputValue EZMoti...

Page 233: ...the analog output When the user selects a parameter the current value of that parameter will constantly be used to update the value of the analog output For a list of parameters that can be used refer to the Drive Menu Watch view in PowerTools Pro or the Unidrive SP Advanced User Guide I O Status Word SPConnect DigitalIOReadWord This parameter is a bitmap that contains the status of the digital I ...

Page 234: ...parameter are always 1 232 of a revolution since those are the units used by the Unidrive SP and its option modules The value for this parameter comes from parameter 3 30 of the database Early releases of the SM EZMotion module do not support use of high resolution encoders Therefore the value for this parameter will always be displayed as 0 Unidrive SP Encoder Position SPDriveEncRevPosition This ...

Page 235: ...whether the I O point acts as a digital input or digital output Valid entries for this parameter are selInput or selOutput This parameter is modified automatically when the user changes the settings on the SP I O Setup view SPIO Status SPIO In The first three digital I O points on the Unidrive SP pins 24 25 and 26 are configured as Inputs or Outputs using PowerTools Pro software If the I O points ...

Page 236: ...program If writing to or reading from a Unidrive SP menu parameter in a program use the Menu MM PP instruction instead In this instruction MM represents the desired menu and PP represents the desired parameter number SP Menu Value SPMenu Value This parameter is used behind the scenes in PowerTools Pro when reading or writing to a SP menu parameter using the Drive Watch Window button These are not ...

Page 237: ... a home so that a machine will automatically home on power up or reboot StartUp will activate when EZMotion has powered up and no faults are active Startup may take as long as five seconds to activate Depending on what the Startup source is assigned to the drive may need to be enabled to perform the function If the drive is not enabled the startup source cannot initiate programs or motion The sour...

Page 238: ... Active TravelLimitPlusActive This source is active when the TravelLimitPlusActivate is active Variable Decimal Var Var Decimal This parameter specifies the number of decimal placed of resolution that this particular user variable will use Minimum value is 0 default and the maximum number of decimal places in 6 0 000000 When assigning the value of a User Variable to different parameters make sure ...

Page 239: ...l master conversion ratio Converting the user units distance into virtual counts Scaling VirtualMaster CharacteristicLength The numerator top value of the scaling fraction is the VirtualMaster CharacteristicLength and is used with VirtualMaster CharacteristicDistance to create the virtual master conversion ratio scaling Converting the user units distance into virtual counts Scaling Virtual MasterC...

Page 240: ...n ratio to display the position in user units This is zeroed by clearing VirtualMaster PosnCmdInCounts Velocity VirtualMaster Vel This parameter is the maximum virtual velocity that will be attained by the virtual master This parameter is in user units Enable Virtual Master VirtualMaster VirtualMasterEnable Enable Virtual Master check box by default is clear Select the check box to enable virtual ...

Page 241: ...Digitax ST Trip Log will be updated with the Sl Er trip To find out what the specific error in the module was the user needs to query parameter MM 50 where MM is 15 16 or 17 depending on the slot of the module Parameter MM 50 stores the error code for the specific error that occurred Following is a list of Errors that can occur in EZMotion along with Error Codes potential causes and reset methods ...

Page 242: ...ror Maximum allowable position change within one control loop update has been exceeded If using the Using Capture instruction after an Index Initiate instruction in your user program make sure that the captured data is recent enough so that the motor can actually achieve the necessary acceleration 109 Y Trajectory Update Overrun Error Control Loop processing time has taken longer than the user sel...

Page 243: ...ominator in all division formulas is not equal to zero 137 Y Program Error Math Divide Operand Too Large 138 Y Program Error Math Multiplication Normalization Failed Normalization of multiplication parameters in user program has failed 139 Y Program Error Math Multiplication Operand Too Large 140 Y Program Error Overflow 141 Y Program Error Math Subtraction Overflow 142 Y Program Error Math Stack ...

Page 244: ... SM EZMotion parameter in user program is out of range 171 Y Invalid Slot 1 Selection Option module selected for Slot 1 in PowerTools Pro file does not match actual module type fitted Switch module located in Slot 1 to match module type selected in PowerTools Pro file Alternatively update the PowerTools Pro configuration to match the module type actually fitted and then re download the configurati...

Page 245: ... example of the Watch Window is found in Figure 181 Figure 181 Watch Window Example To setup the Watch Window select Tools Watch Window from the PowerTools Pro menu bar If not online with the module the Watch Window will be a unavailable on the menu Upon selecting Watch Window the Select Drive Parameters window will open The Select Drive Parameters window as seen in Figure 182 allows the user to s...

Page 246: ...een saved the Restore Selections button can be used to monitor all the same parameters the next time the user opens the Watch Window Therefore if there is a list of helpful diagnostic parameters the user wishes to see when online those specific parameters can be saved and recalled in the Watch Window at any time The settings can be saved in the default file named fm3watch wch or the user can creat...

Page 247: ... error activates an error pop up window will appear that shows the active error There are two buttons on the pop up window that allow the user to clear an error and trip or simply ignore it and remove the pop up window An example of the pop up window is shown in Figure 183 MotionStop False Motion is stopped on motion stop SoftDriveDisable False Motion is prevented by SoftDriveDisable AbsolutePosnV...

Page 248: ... It will indicate whether the drive is enabled or not and will also indicate which programs and motion profiles are active The second segment shows what motion is currently running on Profile 0 The third segment shows what motion is currently running on Profile 1 The fourth segment shows the current Feedback Position and Feedback Velocity in user units The fifth segment shows the current communica...

Page 249: ...Motion module for the first time the Unidrive SP will display a SLX dF trip where X is the slot number that the SM EZMotion module is in This trip occurs because the drive detects the module type in the slot has changed This trip will occur on each successive power up until the drive parameter database has been saved To save the drive parameter database follow the instructions below Saving the Dri...

Page 250: ...memory sequence the SM EZMotion module will cause a SLX Er trip where X indicates the slot number that the SM EZMotion module is fitted in The Error Code for the SM EZMotion module will be 107 No Program Error indicating that the module has no configuration stored in it Download a new configuration using PowerTools Pro to clear the trip ...

Page 251: ...umber and Parameter Number in the following format Menu Number Parameter Number or MM PP An example of this is Menu Number 5 Parameter Number 7 is accessed using 5 07 In order to configure the drive to operate as desired the MM PP parameters must be set to a specific value To make configuration of the base drive parameters behind the scenes Since some advanced users may wish to utilize various dri...

Page 252: ... 211 7 213 8 212 10 211 3 224 4 222 6 221 7 225 8 222 10 221 3 235 6 231 7 233 8 232 10 231 11 233 3 245 5 243 7 243 8 242 10 241 11 242 3 253 5 253 8 252 10 251 11 253 3 263 8 262 10 261 11 265 3 271 8 272 10 271 3 281 6 282 8 282 10 281 3 291 5 293 6 291 8 292 10 291 11 291 3 301 5 303 8 302 3 315 8 313 11 312 5 323 8 323 11 321 3 333 8 333 11 331 3 343 6 345 11 341 3 353 3 363 5 352 3 373 3 383...

Page 253: ...oses in PowerTools Pro Software Primary use is for diagnostics Menu 12 Menu 13 Menu 14 Menu 15 Menu 16 Menu 17 Menu 18 Menu 19 Menu 20 Menu 21 Threshold Var Slctr Posn Control User PID Controller Option Module 1 Option Module 2 Option Module 3 User Vars 1 User Vars 2 User Vars 3 2nd Motor Setup 18 011 18 316 19 317 18 326 19 327 18 336 19 337 18 346 19 347 18 356 19 357 20 359 18 366 19 367 20 369...

Page 254: ...he SM EZMotion option module can be fitted The following SM EZMotion parameters are available from the keypad on the Unidrive SP The slot that the module is plugged into directly determines which menu these parameters are found under Slot 1 Menu 15 Slot 2 Menu 16 Slot 3 Menu 17 x 01 Option ID Code When no option module is fitted in the relevant slot this parameter is zero When a module is fitted i...

Page 255: ...cates that the Output is active A value of 0 indicates that the Output is inactive This equates Pin 7 on the EZMotion I O Connector x 17 EZInput 1 Status This parameter shows the status of digital Input 1 on EZMotion A value of 1 indicates that the Input is active A value of 0 indicates that the Input is inactive This equates Pin 2 on the EZMotion I O Connector x 18 EZInput 2 Status This parameter...

Page 256: ...mber A value of zero indicates that the module has not detected an error A non zero value indicates that an error has been detected See Errors and Error Codes in Diagnostics section of this manual When the drive is reset this parameter is cleared for the relevant option module All parameters between x 00 through x 50 not listed above are not used by EZMotion Task 3 Status 0 Not Active 1 Active 2 P...

Page 257: ...rograms Compound Motion The combination of indexes in a row in which the deceleration ramp of the first index goes to the velocity of the secondary index The first index must be initiated within a program Index CompoundInitiate Configuration The user created application It can be saved as a disk file or downloaded to configure the SM EZMotion module It includes all the user defined setup assignmen...

Page 258: ...ly depicting values for speed temperature flow etc Index An index is a complete motion sequence defined motion profile that moves the motor a specific incremental distance or to an absolute position Inertia The property of an object to resist changes in rotary velocity unless acted upon by an outside force Higher inertia objects require larger torque to accelerate and decelerate Inertia is depende...

Page 259: ...An acronym that describes the compensation structure that can be used in many closed loop systems PLC Programmable Logic Controller Also known as a programmable controller these devices are used for machine control and sequencing PowerTools Pro PowerTools Pro is a Windows based software to interface with the SM EZMotion module Radio Button Also known as the Option Button In a dialog box radio butt...

Page 260: ... to specify which type of units will measure and specify motion and time Vac Volts Alternating Current Variable A labeled value that encompasses numeric boolean input function and output functions VDC Volts Direct Current Velocity The rate of change in position in a given direction during a certain time interval View Portion of screen within frame Windows Microsoft Microsoft Windows is an operatin...

Page 261: ...dback to the Unidrive SP 8 Current View 89 CurrentDemand 191 CurrentLevel 191 CurrentLevelActive 191 CurrentLimit 191 CurrentLimitActive 192 CurrentLimitEnable 192 D Decelerating 192 DefineHome 192 DefineHomePosn 192 Digital I O Connections 7 DistUnits CharacteristicDist 192 DistUnits CharacteristicLength 192 DistUnits Decimal 193 DistUnits Name 193 Drive I O Setup View 121 Drive Menu Initialize V...

Page 262: ...x Accel 201 Index Accelerating 201 Index AtVel 201 Index CommandComplete 201 Index CommandInProgress 202 Index CompoundInitiate 202 Index Decel 202 Index Decelerating 202 Index Dist 202 Index IndexTime 202 Index Initiate 202 Index LimitDistHit 202 Index Name 202 Index PLSEnable 202 Index PLSOffDist 202 Index PLSOnDist 203 Index PLSStatus 203 Index RegistrationOffset 203 Index RegistrationType 203 ...

Page 263: ...Profile Feedhold 211 Profile MotionStop 211 Program Blocking 171 Program View 141 Program GlobalWhereAmIEnable 211 Program Initiate 211 Program Name 212 Program ProgramComplete 212 Program RunAnytimeEnable 212 Program Stop 212 Program AnyComplete 211 Programming Examples 160 Q Queue Name 212 Queue Size 212 Queue DataIn 212 Queue DataOut 212 Queue ExitPosition 213 Queue FullLevel 212 Queue QueueCle...

Page 264: ...Output MaxUserValue 221 SPAnalogOutput MinOutputValue 221 SPAnalogOutput MinUserValue 221 SPAnalogOutput ModuleSource 222 SPAnalogOutput OutputMode 222 SPAnalogOutput Scale 222 SPAnalogOutput Source 222 SPAnalogOutput SPMenuSource 222 SPConnect DigitalIOReadWord 222 SPDrive DriveMode 222 SPDrive EncoderSupplyVoltage 223 SPDrive SoftwareSubVersion 223 SPDrive SoftwareVersion 223 SPDriveEncRevCount ...

Page 265: ...EZMotion User Programming Guide 255 Revision A8 www controltechniques com VelFeedback 228 Velocity View 86 VelocityFeedforwardEnable 228 VelocityLoopBandwidth 228 VelocityUnits TimeScale 228 ...

Page 266: ...256 EZMotion User Programming Guide www controltechniques com Revision A8 ...

Page 267: ......

Page 268: ...mation about Control Techniques Motion Made Easy products and services call 800 893 2321 or contact our website at www emersonct com Control Techniques Americas LLC Division of EMERSON Co 12005 Technology Drive Eden Prairie Minnesota 55344 U S A Customer Service Phone 952 995 8000 or 800 893 2321 Fax 952 995 8129 Technical Support Phone 952 995 8033 or 800 893 2321 Fax 952 995 8020 Printed in U S ...

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