Emerson Epsilon EP Drive 400518-01 Manual de instalación descargar pdf (Pagina 43)

Setting Up Parameters

Update Rate Group

Trajectory

This parameter configures the interrupt interval for the device 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. After Control Loop is complete, all messages are

handled. Messages are Modbus data, DeviceNet data, Keypad/Display information, and are only processed if a message is

waiting. If no device is querying data from the FM-3/4 or Epsilon EP-P drive or sending data to the FM-3/4 or Epsilon EP-P

drive, then messages do not take up any time. Once messages have been processed, the remainder of the interrupt is dedicated

to running the motion programs of user programs.

Available selections for Trajectory Update are 800, 1200, and 1600 microseconds. The longer the update, the more time is

dedicated to the user programs, and the less time dedicated to servo performance. The shorter the update, the more precise

the servo performance, but less time is available to process user programs. Diagnostics are available on the Status Online tab

when online with the device to help select the ideal setting. (See description of Control Loop Group of online parameters on

page 32 for further information)

Switching Frequency Group

This parameter defines the switching frequency of the drive. For the EN and Epsilon EP drives, the switching frequency must

be 10 kHz and cannot be changed. For MDS, the switching frequency can be modified to change system performance.

Available selections are 5 kHz and 10 kHz. For more information on this setting refer to the MDS Reference Manual, P/N

400525-01.

Status Online Tab (Online Only)

The Status Online tab (see Figure 36) is visible when online and consists of the Motor Position group, Motor Velocity group,

Control Loop group, Master Feedback group, and the Torque group.

Figure 36: Setup View - Online Status Tab

Motor Position Group

Position Command

Position command (PosnCommand) is the commanded motor position sent to the drive by the FM-3/4 module. This

parameter does not take following error into account. See also Position Feedback and Following Error. Units are in user units.

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Emerson Epsilon EP Drive 400518-01 Manual de instalación Pagina 43