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17
Operational Overview
Figure 20: Home Velocity Profile
How Indexes Work
An index is a complete motion sequence that moves the motor a specific incremental distance
or to an absolute position. This motion sequence includes an acceleration ramp to a
programmed velocity, a run at velocity, and a deceleration to a stop.
Figure 21: Index Motion Sequence
Velocity
Time
Acceleration
Deceleration
Run at Velocity
- 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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