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4

Epsilon EP-P Drive Reference Manual



www.controltechniques.com

Revision: A4

zero, index 1 may run on profile one.
Please note that Indexes and Jogs can be run simultaneously by using the two Profiles, however, Gearing or Camming can only run on one
profile at a time. This means that two indexes or two jogs can run at the same time, but gearing or camming can not be run on multiple profiles
simultaneously.
The Positive direction parameter affects all motion types by specifying which direction of motor revolution (CW or CCW) is considered motion
in the “+” direction.

2.4

How Jogging Works

Jogging produces rotation of the motor at controlled velocities in a positive or negative direction.
Assignments to jogs are level sensitive such that when the jog input is turned on, jogging begins and continues jogging until the jog input is
removed.
Each jog has its own acceleration and deceleration ramp along with a specified velocity. Jogging has no distance parameter associated with it.
If trying to move a specific distance or to a known position, then an index is used.
Jog velocity can be changed on the fly with a negative value reversing the direction. The velocity transition will use the deceleration or
acceleration parameters.

Figure 5:

Jog View

2.5

How Home Works

The Home is used in applications in which the axis must be precisely aligned with some part of the machine. The Home is initiated in one of
three ways: with the Initiate Destination function found in the Assignments view, through a program, or with the Online tab. A Home or Define
Home is required to set the Absolute Position Valid so that any index to absolute position can work.

The Epsilon EP-P drive can home the motor to an external sensor, the motor’s encoder marker pulse, or to a sensor and then to the encoder
marker pulse.

Figure 6:

Basic Home Function, Example

The figure above show a basic home function using a ball screw. This example uses most of the setup features in the PowerTools Pro Home

NT Motor
with Encoder

Gear Reducer

Carriage

External
Home Sensor

Home Offset
Distance

Sensor Point

+

-

Dir

ec

tion

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Содержание Epsilon EP-P

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

Страница 2: ......

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Страница 22: ...arameter places an upper limit on the incremental distance the motor will travel during the home If no reference is found the system will decelerate and stop at the limit distance The Home Limit Dista...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Страница 52: ...Units View provides the setup parameters for use with synchronized motion This setup window determines how the encoder signals are interpreted and establishes the scaling for all master units master...

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

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

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

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

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

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

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

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

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

Страница 62: ...ue Limit This parameter sets the value to which the Torque Command will be limited when the Torque Limit Enable destination is active To make the Torque Limit always active assign the Torque Limit Ena...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Страница 102: ...individual Jog If S Curve ramps are used then this is the average deceleration rate for the entire ramp The units for the deceleration are setup in the Setup User Units view in PowerTools Pro 3 34 1...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Страница 159: ...tant linear accel rates in the middle of their profiles The 5 8 S Curve is less smooth than the S Curve but smoother than the 1 4 S Curve S Curve accelerations are very useful on machines where produc...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Страница 203: ...1 0 specifies that load inertia equals the motor inertia 1 1 load to motor inertia The drives can control up to a 10 1 inertia mismatch with the default Inertia Ratio value of 0 0 Inertial mismatches...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Страница 227: ...5 4 3 1 2 Pin 1 9 14 13 12 7 11 5 2 1 3 10 8 4 6 15 U 5 VDC 0V W V W V U Z Z B B A A SHIELD 6 15 11 13 14 12 10 9 8 7 5 4 2 3 1 Z MOTOR TEMP 5 VDC W COMMON W U V V U B Z A B A P P P P P P P P RED GRN...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Страница 247: ......

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

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