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6 Programmable Features and Parameters
All PositionServo drives are configured through one of the following interfaces: RS485
or Ethernet. The drives have many programmable and configurable features and
parameters. These features and parameters are accessible via a universal software
called MotionView. Please refer to the MotionView Manual for details on how to make
a connection to the drive and change parameter values.
This chapter covers programmable features and parameters specific to the
PositionServo drive in the order they appear in the Parameter Tree of MotionView.
Programmable parameters are divided into groups. Each group holds one or more
user’s adjustable parameters.
All drives can execute a User Program in parallel with motion. Motion can be specified
by variety of sources and in three different modes:
• Torque
• Velocity
• Position
In Torque and Velocity mode Reference can be taken from Analog Input AIN1 or
from the User Program by setting a particular variable (digital reference). In Position
mode, the reference could be taken from MA/MB master encoder/step and directions
inputs (available in terminal P3) or from trajectory generator. Access to the trajectory
generator is provided through the User Program’s motion statements, MOVEx and
MDV. Refer to the PositionServo Programming Manual for details on programming.
Whether the reference comes from an external device, (AIN1 or MA/MB ) or from the
drives internal variables (digital reference and trajectory generator) will depend on the
parameter settings. Refer to “Parameters” group in MotionView.
6.1 Parameter Storage and EPM Operation
6.1.1 Parameter Storage
All settable parameters are stored in the drive’s internal non-volatile memory.
Parameters are saved automatically when they are changed. In addition, parameters
are copied to the EPM memory module located on the drive’s front panel. In the
unlikely event of drive failure, the EPM can be removed and inserted into the
replacement drive, thus making an exact copy of the drive being replaced. This
shortens down time by eliminating the configuration procedure. The EPM can also be
used for replication of the drive’s settings.
6.1.2 EPM Operation
When the drive is powered up it first checks for a white EPM in the EPM Port. If the
EPM Port is empty, no further operation is possible until a white EPM is installed into
the EPM Port. The drive will display “-EP- ” until an EPM is inserted.
If a different color EPM is inserted the drive may appear to function however, some
operations will not be correct and the drive may hang. The white EPM is the only
acceptable EPM for the PositionServo drive. If a white EPM is detected, the drive
compares data in the EPM to that in its internal memory. In order for the drive to
operate, the contents of the drive’s memory and EPM must be the same. If “FEP?” is
displayed press the enter button to load the EPM’s data to the drive, this will take a
moment.
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