Document Outline

• SM-EZMotion Module User Guide
  • Customer Support
  • Safety Instructions
  • Reference Materials
  • Safety Considerations
  • Table of Contents
  • 1 Introduction
    • 1.1 Introduction
    • 1.2 SM-EZMotion Module for Unidrive SP
    • 1.3 Development Software
      • 1.3.1 Features
  • 2 Installation
    • 2.1 Mechanical Installation
    • 2.2 Slot Selection
    • 2.3 Electrical Connections
    • 2.4 Digital I/O Connections
    • 2.5 Connecting Motor Encoder Feedback to the Unidrive SP
    • 2.6 Simple Servo Motor Phasing Test
  • 3 PowerTools Pro Configuration Software
    • 3.1 Introduction
    • 3.2 Installing PowerTools Pro
      • 3.2.1 From the Power CD
      • 3.2.2 From the Web
    • 3.3 How PowerTools Pro is Organized
      • 3.3.1 Menu Bar
      • 3.3.2 Tool Bar
      • 3.3.3 Hierarchy
      • 3.3.4 View
      • 3.3.5 View Tabs
      • 3.3.6 Status Bar
  • 4 Communications
    • 4.1 Communications Protocol
    • 4.2 Connecting the PC to the SM-EZMotion Module
    • 4.3 Configuring Communications in PowerTools Pro
    • 4.4 Uploading and Downloading using PowerTools Pro
      • 4.4.1 Uploading
      • 4.4.2 Downloading
      • 4.4.3 Non-Volatile Memory (NVM) Options for Uploading and Downloading
      • 4.4.4 Updating to RAM
      • 4.4.5 PowerTools Pro Operation Preferences
      • 4.4.6 Secure Downloading
  • 5 How Motion Works
    • 5.1 Introduction
    • 5.2 Jog
    • 5.3 Home
      • 5.3.1 Home to Marker
      • 5.3.2 Home to Sensor
      • 5.3.3 Home to Sensor then Marker
      • 5.3.4 If On Sensor Options
    • 5.4 Index
      • 5.4.1 Absolute Index
      • 5.4.2 Incremental Index
      • 5.4.3 Registration Index
      • 5.4.4 Rotary Plus Index
      • 5.4.5 Rotary Minus Index
      • 5.4.6 Timed Index
    • 5.5 Gear
    • 5.6 Motion Timebase (Realtime vs. Synchronized)
    • 5.7 Summing Multiple Profiles
  • 6 How I/O Works
    • 6.1 I/O Scan
    • 6.2 SM-EZMotion Module I/O
    • 6.3 Unidrive SP I/O
    • 6.4 SM-I/O Plus Module I/O
  • 7 Configuring an Application
    • 7.1 Introduction
    • 7.2 Define Hardware
      • 7.2.1 Drive/Encoder View
      • 7.2.2 Slot # View
      • 7.2.3 Unidrive SP Parameters View
      • 7.2.4 SP Menu Initialization View
    • 7.3 Configure Setup Parameters
      • 7.3.1 Setup View
      • 7.3.2 User Units View
      • 7.3.3 Master Units Setup View
      • 7.3.4 Position View
      • 7.3.5 Velocity View
      • 7.3.6 Ramps View
      • 7.3.7 Current View
      • 7.3.8 Tuning View
      • 7.3.9 Errors View
      • 7.3.10 PLS View
      • 7.3.11 Setup NVM View
      • 7.3.12 Capture View
      • 7.3.13 Queues View
      • 7.3.14 User Variables View
      • 7.3.15 User Bits View
    • 7.4 Configure I/O
      • 7.4.1 Assignments View
      • 7.4.2 SP I/O Setup View
      • 7.4.3 EZ Motion I/O Setup View
      • 7.4.4 Selector View
    • 7.5 Define Motion Profiles
      • 7.5.1 Jog View
      • 7.5.2 Home View
      • 7.5.3 Index View
      • 7.5.4 Gearing View
    • 7.6 Create User Programs
      • 7.6.1 Program View
  • 8 How User Programs Work
    • 8.1 Program Window Components
    • 8.2 Program Parameters
      • 8.2.1 Program Name
      • 8.2.2 Program Number
      • 8.2.3 Task Number
      • 8.2.4 Run Anytime Enable
    • 8.3 Program Toolbar
      • 8.3.1 Undo
      • 8.3.2 Redo
      • 8.3.3 Find
      • 8.3.4 Find Next
      • 8.3.5 Bookmark
      • 8.3.6 Goto Next Bookmark
      • 8.3.7 Goto Previous Bookmark
      • 8.3.8 Clear All Bookmarks
      • 8.3.9 Red Dot Help
      • 8.3.10 Drag In Operands
      • 8.3.11 Drag In Variables
      • 8.3.12 Lock Program
      • 8.3.13 Run Program
      • 8.3.14 Program Where Am I?
      • 8.3.15 Stop
      • 8.3.16 Disable/Enable Error Check
    • 8.4 Program Instruction List
      • 8.4.1 Program Flow Instructions
      • 8.4.2 Motion Instructions
      • 8.4.3 Motion Modifier Instructions
    • 8.5 Red Dot Error Bar
    • 8.6 Program Code Window
    • 8.7 Program Multi-tasking
  • 9 Starting and Stopping Motion
    • 9.1 Starting Motion
      • 9.1.1 From Assignments
      • 9.1.2 From Programs
      • 9.1.3 From PowerTools Pro
    • 9.2 Stopping Motion
      • 9.2.1 From Assignments
      • 9.2.2 From Programs
      • 9.2.3 From PowerTools Pro
  • 10 Starting and Stopping Programs
    • 10.1 Starting Programs
      • 10.1.1 From Assignments
      • 10.1.2 From Programs
      • 10.1.3 From PowerTools Pro
    • 10.2 Stopping Programs
      • 10.2.1 From Assignments
      • 10.2.2 From Programs
      • 10.2.3 From PowerTools Pro
  • 11 Parameter Descriptions
    • A
      • AbsolutePosnValid
      • Accelerating
      • AccelType
      • AccelUnits.Decimal
      • AccelUnits.TimeScale
      • AtVel
    • B
      • Bit.B#
      • BitRegister.#.Value
      • BitRegister.#.ValueMask
      • BrakeOverloadAccumulator
      • BrakeResistorAlarm
      • BusVoltage
    • C
      • CaptureEnable
      • CaptureActivate
      • CaptureReset
      • CaptureTriggered
      • Capture.Name
      • Capture.Number
      • Capture.#.CapturedTime
      • Capture.#.CapturedPositionCommand
      • Capture.#.CapturedPositionFeedback
      • Capture.#.CapturedMasterPostion
      • Captured.#.CapturedMasterPosHomed
      • ClearFollowingError
      • CommandingMotion
      • CurrentDemand
      • CurrentLevel
      • CurrentLevelActive
      • CurrentLimit
      • CurrentLimitActive
      • CurrentLimitEnable
    • D
      • Decelerating
      • DefineHome
      • DefineHomePosn
      • DistUnits.CharacteristicDist
      • DistUnits.CharacteristicLength
      • DistUnits.Decimal
      • DistUnits.Name
      • DriveActive
      • DriveEnableStatus
      • DriveHealthy
      • DriveSerialNumber
    • E
      • Error.Reset
      • EZConnect.DigitalIOReadWord
      • EZInput.#.DebounceTime
      • EZInput.#.Force
      • EZInput.#.ForceEnable
      • EZInput.#.In
      • EZOutput.#.Name
      • EZOutput.#.Out
    • F
      • Fault.DriveOK
      • FeedforwardsEnable
      • Feedhold
      • FeedholdDecelTime
      • FeedRateDeactivate
      • FeedRateOverride
      • FollowingError
      • FollowingErrorEnable
      • FollowingErrorLimit
    • G
      • Gear.Accel
      • Gear.AccelEnable
      • Gear.Accelerating
      • Gear.Activate
      • Gear.AtVel
      • Gear.CommandComplete
      • Gear.CommandInProgrees
      • Gear.Decel
      • Gear.DecelEnable
      • Gear.Decelerating
      • Gear.RecoveryDist
    • H
      • Hardware.SlotXModuleType
      • Home.AnyCommandComplete
      • Home.#.Accel
      • Home.#.Accelerating
      • Home.#.AtVel
      • Home.#.CalculatedOffset
      • Home.#.CommandComplete
      • Home.#.CommandInProgress
      • Home.#.Decel
      • Home.#.Decelerating
      • Home.#.EndPosn
      • Home.#.Initiate
      • Home.#.LimitDist
      • Home.#.LimitDistEnable
      • Home.#.LimitDistHit
      • Home.#.Name
      • Home.#.OffsetType
      • Home.#.OnSensorAction
      • Home.#.Reference
      • Home.#.SensorTrigger
      • Home.#.SpecifiedOffset
      • Home.#.TimeBase
      • Home.#.Vel
    • I
      • Index.AnyCommandComplete
      • Index.ProfileLimited
      • Index.ResetProfileLimited
      • Index.#.Accel
      • Index.#.Accelerating
      • Index.#.AtVel
      • Index.#.CommandComplete
      • Index.#.CommandInProgress
      • Index.#.CompoundInitiate
      • Index.#.Decel
      • Index.#.Decelerating
      • Index.#.Dist
      • Index#.IndexTime
      • Index.#.Initiate
      • Index.#.LimitDistHit
      • Index.#.Name
      • Index.#.PLSEnable
      • Index.#.PLSOffDist
      • Index.#.PLSOnDist
      • Index.#.PLSStatus
      • Index.#.RegistrationOffset
      • Index.#.RegistrationType
      • Index.#.RegistrationWindowEnable
      • Index.#.RegistrationWindowEnd
      • Index.#.RegistrationWindowStart
      • Index.#.SensorTrigger
      • Index.#.TimeBase
      • Index.#.TimedIndexEnable
      • Index.#.Vel
      • InertiaRatio
      • InitiallyActive
      • InPosn
      • InPosnTime
      • InPosnWindow
    • J
      • Jog.AnyCommandComplete
      • Jog.MinusActivate
      • Jog.PlusActivate
      • Jog.Select0
      • Jog.Stop
      • Jog.#.Accel
      • Jog.#.Accelerating
      • Jog.#.AtVel
      • Jog.#.CommandComplete
      • Jog.#.CommandInProgress
      • Jog.#.Decel
      • Jog.#.Decelerating
      • Jog.#.MinusInitiate
      • Jog.#.PlusInitiate
      • Jog.#.TimeBase
      • Jog.#.Vel
    • M
      • MasterAxis.MasterEncRevCount
      • MasterAxis.MasterEncRevPosition
      • MasterAxis.SpeedFeedbackSelector
      • ModuleSerialNumber
      • ModuleTemperature
      • MotionStop
      • MotorType
    • N
      • Name
    • O
      • OverloadAccumulator
    • P
      • PLS.#.Direction
      • PLS.#.OffPosn
      • PLS.#.OnPosn
      • PLS.#.PLSEnable
      • PLS.#.RotaryRolloverEnable
      • PLS.#.RotaryRolloverPosn
      • PLS.#.Source
      • PLS.#.Status
      • PositionLoopResponse
      • PositiveDirection
      • PosnCommand
      • PosnFeedback
      • PowerUpCount
      • PowerUpTime
      • Profile.#.Accelerating
      • Profile.#.AtVel
      • Profile.#.CommandComplete
      • Profile.#.CommandInProgress
      • Profile.#.Decelerating
      • Profile.#.Feedhold
      • Profile.#.MotionStop
      • Program.AnyComplete
      • Program.#.Initiate
      • Program.#.Name
      • Program.#.ProgramComplete
      • Program.#.Stop
    • Q
      • Queue Name
      • Queue Size
      • Queue.#.FullLevel
      • Queue.#.QueueClear
      • Queue.#.QueueCompareEnable
      • Queue.#.DataIn
      • Queue.#.DataOut
      • Queue.#.QueueEmpty
      • Queue.#.QueueExit
      • Quene.#.ExitPosition
      • Queue.#.QueueFull
      • Queue.#.QueueOffset
      • Queue.#.QueueOverflow
      • Queue.#.Remove
      • Queue.#.Source
    • R
      • RotaryRolloverEnable
    • S
      • Selector.SelectLinesUsed
      • Selector.#.Select
      • Selector.#.Selection
      • Selector.SelectorInitiate
      • Slot1.ErrorStatus
      • Slot2.ErrorStatus
      • Slot3.ErrorStatus
      • SlotX.EncoderLinesPerRev
      • SlotX.EncoderSimulationDenominator
      • SlotX.EncoderSimulationNumerator
      • SlotX.EncoderSimulationSource
      • SlotX.EncoderSupplyVoltage
      • SlotX.EncoderType
      • SlotX.Input.#.In
      • SlotX.Input.#.Name
      • SlotX.IO.#.Direction
      • SlotX.IO.#.In
      • SlotX.IO.#.Name
      • SlotX.IO.#.Out
      • SlotX.Relay.#.Name
      • SlotX.Relay.#.Out
      • SoftwareTravelLimitEnable
      • SoftwareTravelLimitMinusActive
      • SoftwareTravelLimitMinusPosn
      • SoftwareTravelLimitPlusActive
      • SoftwareTravelLimitPlusPosn
      • SPConnect.DigitalIOReadWord
      • SPDrive.EncoderSupplyVoltage
      • SPDriveEncRevCount
      • SPDriveEncRevFinePosition
      • SPDriveEncRevPosition
      • SPDriveStatus
      • SPDrive.SoftwareSubVersion
      • SPDrive.SoftwareVersion
      • SpeedFeedbackSelector
      • SPInput.#.In
      • SPInput.#.Name
      • SPIO.#.Direction
      • SPIO.#.In
      • SPIO.#.Name
      • SPIO.#.Out
      • SPMenu.Decimal
      • SPMenu.DriveDecimal
      • SPMenu.ErrorStatus
      • SPMenu.MenuID
      • SPMenu.ParamID
      • SPMenu.Value
      • SPPowerUpTimeHoursMinutes
      • SPPowerUpTimeYearsDays
      • SPRelay.#.Name
      • SPRelay.#.Out
      • SPRunTimeHoursMinutes
      • SPRunTimeYearsDays
      • StackTemperature1
      • StartUp
      • Stop
      • StopDecel
      • SwitchingFrequency
    • T
      • TotalPowerUpTime
      • TravelLimitDecel
      • TravelLimitDisable
      • TravelLimitMinusActivate
      • TravelLimitPlusActivate
      • TravelLimitMinusActive
      • TravelLimitPlusActive
    • V
      • Var.Var#.Decimal
      • Var.Var#.Value
      • VelCommand
      • VelFeedback
      • VelocityFeedforwardEnable
      • VelocityLoopBandwidth
      • VelocityUnits.TimeScale
  • 12 Drive Parameters Used by SM-EZMotion Module
    • 12.1 Description
    • 12.2 Chart
    • 12.3 SM-EZMotion Module Setup Parameters
  • 13 Diagnostics
    • 13.1 Errors and Error Codes
    • 13.2 Analog Outputs
    • 13.3 PowerTools Pro
      • 13.3.1 Watch Window
      • 13.3.2 Errors View
      • 13.3.3 Status Bar
      • 13.3.4 Where Am I?
      • 13.3.5 Online View Tabs
    • 13.4 Clearing SLX.dF trip after installing SM-EZMotion module
    • 13.5 Clearing the SM-EZMotion module memory
  • 14 Creating a Custom Motor File
  • 15 Glossary
  • 16 Index