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3
Operational Overview
This section provides a complete functional description of the FM-3. It is intended to provide
you with a thorough understanding of all operations. The description includes references to
many FM-3 and E Series drive parameters which can be displayed and/or edited using
Emerson Motion Control PowerTools® FM-3 software, or through any Modbus interface.
The FM-3 augments the E Series drive by providing the ability to implement programs
written using PowerTools FM-3. When an FM-3 is attached to an E Series drive, it overrides
the operation and user accessible features of the drive. The drive’s basic operating modes
(Pulse, Velocity and Torque) are not available when an FM-3 is attached.
The FM-3 stores E Series drive setup parameters within the module itself. This allows you to
transfer the FM-3 to another E Series drive without losing setup parameters.
The FM-3 allows you to set up 55 different indexes, Jog functions and multiple Homes. It also
provides eight digital input lines and four digital output lines in addition to the four input and
three output lines available on the drive.
Software Interface
The FM-3 is set up using PowerTools FM-3 software. PowerTools FM-3 is an easy-to-use
Windows® based setup and diagnostics tool. It provides you with the ability to create, edit
and maintain your drive’s 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.
PowerTools FM-3 Setup Software
PowerTools FM-3 is designed to be the easiest to use software available for single axis motion
controllers.
Features
• “Hierarchy View” for quick navigation to any setup screen
• Simple I/O function assignments
• Powerful online diagnostic capabilities
• Programming
FM-3 Programming Module Reference Manual
- Reference Manual 3
- Customer Service 5
- Document Conventions 7
- Safety Instructions 8
- Reference Materials 8
- Safety Considerations 9
- Table of Contents 11
- Specifications 189 13
- Glossary 205 13
- Index 213 13
- Introduction 15
- Programming Module 16
- Operational Overview 17
- Keypad Interface 18
- How Motion Works 20
- How Jogging Works 20
- How Home Works 21
- Home Sequence 22
- Accuracy and Repeatability 24
- 1600 µsec 25
- Sensor Min 25
- Calculated 26
- Home Offset 26
- Specified 27
- Home Examples 28
- (2.0 Revs) 29
- Offset Move 29
- Velocity 31
- Acceleration 31
- Deceleration 31
- Run at Velocity 31
- Absolute vs. Incremental 32
- Absolute Index 33
- Incremental Indexes 34
- How Communications Work 36
- Setting Up Parameters 39
- Configuration Group 40
- Drive Encoder Output Group 40
- Positive Direction Group 41
- Motor Position Group 41
- Drive Information Group 42
- Motor Velocity Group 42
- Module Information Group 42
- Master Feedback Group 42
- Torque Group 43
- Scaling 45
- Velocity Group 46
- Acceleration Group 47
- Master Position Setup Group 49
- Master Distance Units 49
- Decimal Places 50
- Master Velocity Units 50
- Master Acceleration Units 50
- Limits Group 52
- Rotary Group 53
- Online Tab 54
- Online Tab (not shown) 56
- Assignments Tab (shown) 56
- Ramps Group 58
- Assignments Tab 58
- Online Status Tab 60
- Tuning Group 62
- Position Error Integral Group 62
- Time Constant 63
- Faults View 64
- PLS View 65
- On Point 66
- Off Point 66
- Direction 66
- Rotary Enable 67
- Rollover Point 67
- I/O Setup Group 68
- Selector View 68
- Assignments 70
- Assignments View 71
- Creating An Assignment: 72
- Deleting An Assignment 72
- Assignment Polarity 73
- Input Lines View 74
- Output Lines View 75
- Motion Group 76
- Jog View 76
- Jog Number 77
- Jog Name 77
- Time Base 77
- Jog Velocity 77
- Jog Acceleration 77
- Jog Sources and Destinations 78
- Home View 82
- Limit Distance 84
- End of Home Position 84
- Home Sources and Destinations 85
- Index View 86
- Enable Index PLS 88
- PLS On Point 88
- PLS Off Point 88
- Registration Parameters 89
- Destinations 91
- Index.#.Sensor Trigger 92
- Network Group 93
- Modbus View 93
- Wait For InPosn 95
- Jog.PlusInitiate 97
- Program Flow Instructions 99
- Index.1.Vel = 20.0 104
- ModuleOutput.1 = ON 104
- Example Programs 105
- ‘Dist=50.000,Vel=1.000in/in 106
- Flying Cutoff/Shear 107
- Programming 109
- Sequence Learn and Playback 110
- Playback Program (Program 2) 112
- Parameter Descriptions 113
- Parameters Saved to NVM 141
- Installation 143
- Modbus Communications 144
- Software Installation 145
- PC System Configuration 145
- Installing PowerTools FM-3 145
- Starting the Software 146
- Accessing Help 147
- Quick Start 149
- User Units View 150
- Master Units View 151
- Position View 151
- Velocity View 152
- Ramps View 153
- Torque View 153
- Tuning View 153
- Step 3: Making Assignments 154
- Click and Hold 155
- Jog Setup 156
- Home Setup 157
- Index Setup 158
- Step 5: Creating a Program 160
- Example Application Start Up 163
- Software Travel Limits 163
- Home Prox 163
- Making Assignments 164
- Tuning Procedures 171
- Tuning Procedure 172
- General Tuning Hints 173
- Tuning Parameters 174
- Response 175
- Feedforwards 175
- Low Pass Filter Group 176
- Line Voltage 176
- Initial Test Settings 177
- Determining Friction 178
- RPM - RPM 179
- FV )100(= 179
- Ramp Units Conversion 181
- Diagnostic Display 183
- Fault Codes 184
- Fault Descriptions 186
- Brake Operation 190
- Analog Outputs 191
- Channel #2 192
- Channel #1 192
- Analog GND 192
- Drive Faults 194
- Error Messages 194
- Programming Error Messages 196
- Online Status Indicators 201
- Specifications 203
- Cable Diagrams 205
- SNCE-XXX Cable 206
- SNCDD-001.5 Cable 206
- SNCO-003 Cable 207
- SNCI-003 Cable 207
- SNCLI-003 Cable 208
- CMDX-XXX Cable 209
- CMDO-XXX Cable 210
- CDRO-XXX Cable 211
- TIA-XXX Cable 212
- DDS-XXX Cable 212
- TERM-H (Head) Terminator 213
- TERM-T (Tail) Terminator 213
- CMDS-XXX Cable 214
- CMMS-XXX Cable 214
- CFCS-XXX Cable 215
- CFCO-XXX Cable 216
- CFOS-XXX Cable 217
- Vendor Contact Information 218
- Glossary 219
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