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EZMotion
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EZMotion User/Programming Guide
255
Revision A8
www.controltechniques.com
VelFeedback, 228
Velocity View, 86
VelocityFeedforwardEnable, 228
VelocityLoopBandwidth, 228
VelocityUnits.TimeScal
e, 228
264
266
Table of Contents
Main Page
Default Chapter
7
Table of Contents
7
Safety Information
13
Introduction
15
SM-Ezmotion Module for Unidrive SP
15
Ezmotion for the Digitax ST Drive
15
Development Software
16
Features
16
Solution Module Compatibility Chart
17
Installation
19
Mechanical Installation
19
General Installation
19
Slot Selection
19
Electrical Connections
19
Digital I/O Connections
19
Digital I/O Specifications
20
Connecting Motor Encoder Feedback to the Unidrive SP
20
Simple Servo Motor Phasing Test
21
Powertools Pro Software
23
Introduction
23
Installing Powertools Pro
23
From the SM-Ezmotion CD
23
From the Web
23
How Powertools Pro Is Organized
24
Menu Bar
24
File
24
Edit
26
Device
27
Options
28
Tools
30
View
31
Window
32
Help
32
Toolbar
32
New
32
Open
32
Save
32
Print
33
Upgrade Configuration
33
Upload
33
Download
33
Reconnect to Device
33
Change Connection Path
33
Send to RAM
33
Upload NVM
33
Disconnect
33
Add Index
33
Add Program
34
Delete Program
34
View Current Errors
34
Clear Errors
34
Watch Window
34
Drive Watch Window
34
Stop
34
Feedhold
34
Global Where am I
34
Hide/Show Hierarchy Tree
34
View
35
View Tabs
35
Status Bar
35
Communications
37
Communications Protocol
37
Connecting the PC to the SM-Ezmotion Module
37
Modbus
37
Ethernet
37
Configuring Communications in Powertools Pro
37
Communications Tab
37
Uploading and Downloading Using Powertools Pro
38
Uploading
38
Downloading
39
Non-Volatile Memory (NVM) Options for Uploading and Downloading
40
Update to RAM
41
Powertools Pro Operation Preferences
41
Secure Downloading
42
Change Path
43
How Motion Works
45
Jog
45
Home
45
Home to Marker
45
Home to Sensor
47
Home to Sensor then Marker
47
If on Sensor Options
48
Index
49
Absolute Index
49
Incremental Index
50
Correction Index
50
Posn Tracker Cont Index and Posn Tracker Once Index
50
Registration Index
50
Rotary Plus Index
52
Rotary Minus Index
52
Timed Index
53
Gearing
54
Camming
55
Motion Timebase (Realtime Vs. Synchronized)
56
Summing Multiple Profiles
57
Configuring an Application
59
Introduction
59
Define Hardware
59
Drive/Encoder View
59
Motor Parameters Column
61
Servo Motors
61
Closed-Loop Vector Motors- SM-Ezmotion/Unidrive SP Only
62
Values from Drive Column
63
Apply to Config. Button
64
Run Auto-Tune Button
64
Save .Ddf Values Button
67
Help Button
68
Slot # View
69
Empty Slot View
69
Ezmotion Module View
69
SM-I/O Plus Module View
69
SM-Universal Encoder Plus Module View
70
SM-Resolver Module View
75
SM-Devicenet Module View
76
SM-Profibus DP Module View
79
SM-Applications Plus Module View
81
SM-Ethernet
81
Sm-I/O 120V
83
Sm-I/O 32
84
Drive Menu Watch View
85
Drive Menu Initialize View
85
Configure Setup Parameters
86
Setup View
86
User Units View
88
Master Units View
89
Absolute Position View
91
Reasons for Re-Homing
94
Virtual Master View
95
Position View
97
Velocity View
98
Ramps View
98
Current View
101
Distance Recovery View
102
Tuning View
103
Errors View
105
Setup NVM View
107
Devices / Vars
107
PLS View
107
Capture View
108
Queues View
110
Timers View
112
Timer Signals/Events
118
Using Timers Within Programs
120
Variables View
121
Bits View
121
Packed Bits
124
Packed Bits Control Words View
125
Pack Bits Status Words View
127
Configure I/O
129
Assignments View
129
Selector View
131
Drive I/O Setup View
133
Ezmotion I/O Setup View
134
Analog Inputs View
134
Analog Input - Channel 2
135
Analog Outputs View
136
Analog Output - Channel 1
136
Analog Output - Channel 2
138
Define Motion Profiles
139
Jog View
139
Home View
141
Index View
143
Gearing View
148
Camming View
149
Torque Mode View
151
Multiple Profiles
152
Create User Programs
153
Programs View
153
Graph View
154
Data Capture Group
154
Timing Group
154
Data Group
155
Network
155
Parameter Access View
155
How I/O Works
157
I/O Scan
157
Ezmotion I/O
157
Unidrive Sp/Digitax ST I/O
157
SM-I/O Plus Module I/O
157
SM-I/O 32 Module I/O
157
Programming
159
Programs
159
Program Window Components
159
Program Toolbar
159
Cyclic Program View
161
Program Parameters for a Cyclic Program
161
User Programs View
162
Program Parameters for User Programs
162
Global Where am I Enable
163
Real Time Program View
163
Program Parameter for a Real Time Program
163
Program Multi-Tasking
163
Timing Diagram
164
Program Instruction List
172
Program Flow Instructions
172
Program Math Functions
177
Program Array Access
177
Motion Instructions
177
Motion Modifier Instructions
182
Red Dot Error Bar
182
Program Code Window
182
Program Blocking
182
Program Math Functions
184
Starting and Stopping Motion
187
Starting Motion
187
From Assignments
187
From Programs
188
From Powertools Pro
191
Stopping Motion
191
From Assignments
191
From Programs
192
From Powertools Pro
192
Starting and Stopping Programs
193
Starting Programs
193
From Assignments
193
From Programs
193
From Powertools Pro
193
Stopping Programs
193
Parameter Descriptions
195
Drive Parameters Used by Ezmotion
243
Description
243
Chart
243
Watch Window
245
Ezmotion Setup Parameters
246
Errors View
247
Status Bar
248
Diagnostics
249
Errors and Error Codes
249
Analog Outputs
252
Powertools Pro
253
Where am I
256
Online View Tabs
257
Clearing Slx.df Trip after Installing SM-Ezmotion Module
257
Clearing the SM-Ezmotion Module Memory
257
Glossary
257
Index
261
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