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40 www.emersonct.com SM-EZMotion Module User Guide
7.3.4 Position View
The Position View allows the user to configure parameters
related to position control of the SM-EZ Motion module.
Figure 68 shows a sample of the Position view.
Figure 68: Position View
Define Home Position
This is the value to which the position command will be set
when the Define Home destination is activated. This is
used in applications which do not use a home routine, but
require a known reference point. The units are defined on
the User Units View.
In Position Window
The absolute value of the Following Error must be less than
or equal to this value at the end of an index in order for the
InPosn source to activate. This window is set in units
specified in the User Units View.
Example:
The In Position window is set to 0.0025 revs. At the end of
an index, the following error is calculated to be 0.0012
revolutions. Therefore, the InPosn source will activate.
In Position window is set to 0.001 inches. If at the end of an
index, the following error is calculated to be 0.0015 inches,
then the InPosn source will not activate.
In Position Time
This is the amount of time in seconds that commanded
motion must be complete and the absolute value of the
following error must be less than the In Position Window for
the InPosn source to activate. If set to zero (default), then
InPosn will activate as soon as motion stops and the
following error is less than the In Position Window
parameter.
Enable Following Error
Check this box to enable (or disable if not checked) the
Following Error Limit. If enabled, a fault will be generated if
the absolute value of the following error ever exceeds the
value in the following error parameter. If disabled, a fault
will never be generated.
Following Error Limit
Following Error is the difference between the Position
Command and the Position Feedback. It is positive when
the Position Command is greater than the Position
Feedback. If the absolute value of the following error
exceeds the value you enter here, the drive will generate a
Following Error Fault. All accumulated Following Error will
be cleared when the drive is disabled.
The Following Error Limit is defined in user units.
Enable Software Travel Limits
Check this box to enable (or disable if not checked) the
software travel limits. If unchecked, the software travel
limits are not monitored.
Software Travel Limit Plus
If the absolute position is greater than or equal to this value
the Software Travel Limit Plus Active source shall activate.
A rising edge occurs when the absolute position is greater
than or equal to the parameter Software Travel Limit +. A
falling edge will be generated as soon as the above is not
true.
Software Travel Limit Minus
If the absolute position is less than or equal to this value the
Software Travel Limit Minus Activate shall activate.
A rising edge occurs when the absolute position is less
than or equal to the parameter Software Travel Limit -. A
falling edge will be generated as soon as the above is not
true.
Enable Rotary Rollover
Check this box to enable (or disable if not checked) the
rotary rollover feature.
Rotary Rollover Position
This parameter is used in rotary applications and
determines the position at which the internal position
counter will be reset to zero.
Example:
The user has a rotary table application with distance user
units of degrees, 360.00 degrees/1 rev. The Rotary
Rollover would be set to a value of 360°.
The motor is traveling in the positive direction. As the
feedback position reaches 359.999 and continues on, the
feedback position will reset (or roll-over) to zero. If the
motor changes direction and travels in the negative
direction, the position will rollover at 0 to 359.999 degrees
and count down. The resolution of the rotary rollover point
is determined by the Distance Units Decimal Places
parameter on the User Units view in the PowerTools Pro