Aerotech UNIDEX U100i Operation & Technical Manual
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Aerotech UNIDEX U100i Operation & Technical Manual

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Aerotech UNIDEX U100i Operation & Technical Manual
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Summary of Contents for Aerotech UNIDEX U100i

  • Page 1 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...
  • Page 2 OTION ONTROLLER OPERATION & TECHNICAL MANUAL P/N: EDU128 (V1.6) AEROTECH, Inc. • 101 Zeta Drive • Pittsburgh, PA. 15238-2897 • USA Phone (412) 963-7470 • Fax (412) 963-7459 Product Service: (412) 967-6440; (412) 967-6870 (Fax) www.aerotechinc.com Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 3 Our web site is continually updated with new product information, free downloadable software and special pricing on selected products. The UNIDEX 100 PC-based motion controller and UNIDEX 100i are products of Aerotech, Inc., LabVIEW software package is a product of Natioinal Instruments.

  • Page 4: Table Of Contents

    Firmware Boot Jumper (JP34) ........... 3-11 3.4. U100 Power Configurations - U100 Controller....... 3-12 3.4.1. U100 Transformer.............. 3-12 3.4.2. U100 Fuses................. 3-13 3.5. Installing Other Aerotech Components..........3-14 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 5 5.4.3. Latch Mask................. 5-11 5.4.4. Error Status Register ............5-11 5.4.5. Disable Mask..............5-12 5.4.6. SRQ Mask ................5-12 5.4.7. Auxiliary Mask..............5-12 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 6 5.7.32. = Assign a value to ............5-60 5.7.33. EXIT Command ..............5-60 5.7.34. GC Command (Get Character) ........... 5-62 5.7.35. GEAR Command ............... 5-62 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 7 6.2.9. IEEE-488 Address Register "1" PRM:009......6-11 6.2.10. IEEE-488 Auxiliary Register "A" PRM:010 ...... 6-11 6.2.11. IEEE-488 Auxiliary Register "B" PRM:011 ...... 6-11 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 8 "S" Curve Generation PRM:108 ........6-27 6.4.10. In Position “Wait” PRM:109..........6-28 6.4.11. Lower "Modulo" Index Limit PRM:110 ......6-28 6.4.12. Upper "Modulo" Index Limit PRM:111 ......6-28 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 9 Drive Parameters ................6-46 6.5.1. Stepper Power Stage Mode PRM:200........ 6-47 6.5.2. Stepper Running Current PRM:201 ........6-47 6.5.3. Stepper Holding Current PRM:202 ........6-47 Aerotech, Inc. viii Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 10 6.6.13. Control Loop Checks PRM:312 ......... 6-67 6.6.14. Combine Task 1 and Task 2 Time Slots PRM:313 .... 6-67 6.6.15. Library Ending Offset PRM:314 ........6-67 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 11 REG:021 / REG:031 ..........7-13 7.2.17.3.Preset Registers (Write Only, Integer) REG:022 / REG:032 ............7-13 7.2.17.4.Master Control Regs (Write Only, Int.) REG:023 / REG:033 ..........7-14 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 12 7.4.11. Accel/Decel Feedback (Read Only, long) REG:210 ..7-24 7.4.12. Axis Calibrated Position Cmd (Read Only, long) REG:211 ................7-24 7.4.13. Axis Calibrated Position Feedback (Read Only, long) REG:212 ................7-24 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 13 DC Brush Motor Wiring............9-4 9.2.2. Stepping Motor Wiring ............9-5 9.2.3. AC Brushless Motor Wiring..........9-7 9.3. Limits and Primary Encoder Port (U100/U100i)........ 9-8 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 14 12.3.17. Retrieve the Value of a String Storage Buffer....12-16 12.3.18. Move Out of a Limit............12-17 12.3.19. Task Control Functions ............ 12-17 Aerotech, Inc. Version 1.6 xiii Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 15 In-Process Compiler Errors ............... D-2 D.3. Post-Compiler Errors................. D-3 D.4. Host Errors ..................D-4 D.5. Run Time Errors ................D-6 INDEX ∇ ∇ ∇ Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 16 UNIDEX 100 with Aerotech’s Brushless Motor......... 2-6 Figure 2-4. UNIDEX 100i System Configuration..........2-6 Figure 2-5. UNIDEX 100i & BA Amplifier with Aerotech’s Brushless Motor..2-7 Figure 2-6. UNIDEX 100/U100I & BA Amplifier with Aerotech’s BLM Linear Motor..................2-7 Figure 2-7.
  • Page 17 Machine and Library Selection Menu..........4-24 Figure 4-49. Enter Parameter (Machine and Library Image) ........ 4-25 Figure 4-50. HT to U100/U100i Configuration ............ 4-27 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 18 Velocity Feedback Signals ............... 11-6 Figure C-1. Diagram of a Typical Spline Profile ...........C-2 Figure C-2. Trajectory Generation Overview ............C-4 ∇ ∇ ∇ Aerotech, Inc. Version 1.6 xvii Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 19 List of Figures UNIDEX 100/U100i and Software Aerotech, Inc. xviii Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 20 Settings for Motion Status Scan Type (PRM:040) ......6-21 Table 6-13. Settings for Motion Status Scan Type (PRM:041) ......6-21 Table 6-14. Motion Parameters Summary ............6-24 Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 21 Error Status Bit Definitions .............. 6-69 Table 6-63. Error Status Latch Mask Bit Definitions........... 6-71 Table 6-64. Error Status Disable Mask Bit Definitions ........6-72 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 22 Table 12-3. Task 2 Service Request Status Codes ..........12-3 Table 12-4. Kernel Service Request Status Codes..........12-4 Table D-1. Pre-Compiler Error Codes..............D-2 Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 23 Table D-6. Run Time Error Codes............... D-6 Table D-7. Run Time Error Codes [RUN ( ) Command Only] ......D-8 ∇ ∇ ∇ xxii Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 24 UNIDEX 100 Operations Manual Regulatory Information DECLARATION OF CONFORMITY Manufacturer’s Name and Address Aerotech, Inc. 101 Zeta Drive Pittsburgh, PA 15238-2897 Declares that the product: Product Name: UNIDEX 100 Single Axis Controller Conforms to the following product specifications : EMC: EN 55011: 1991 Class B Emissions...
  • Page 25 Regulatory Information UNIDEX 100 Operations Manual xxiv Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 26 UNIDEX 100/U100i system. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 27 Appendix A contains a list of definitions of terms used in this manual. APPENDIX B: WARRANTY AND FIELD SERVICE Appendix B contains the warranty and field service policy for Aerotech products. APPENDIX C: SPLINE GENERATION Appendix C contains a detailed explanation of the spline generation mode initiated by the CAM() command.
  • Page 28 A customer survey form is included at the end of this manual for the reader’s comments and suggestions about this manual. Reader’s are encouraged to critique the manual and offer their feedback by completing the form and either mailing or faxing it to Aerotech. Throughout this manual the following conventions are used: Capitalized letters within a command indicate the command must use all capital letters (e.g., BEGIN)
  • Page 29 Although every effort has been made to ensure consistency, subtle differences may exist between the illustrations in this manual and the component and/or software screens that they represent. ∇ ∇ ∇ Aerotech, Inc. xxviii Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 30: Chapter 1: Introduction

    100i controller package consists only of the control board. The controller’s versatility provides features such as variables, math and multitasking that make it ideal for tough automation projects. The U100i integrates with Aerotech’s BA Series amplifiers or third party amplifiers providing the user more flexibility for motion control applications. Both...

  • Page 31: Ordering Information

    1.2. Ordering Information Table 1-1 lists the motion control models in the 100 series that are available from Aerotech, Inc. For complete ordering information, refer to the Aerotech Motion Control Catalog. Table 1-1. Available Motion Controllers in the UNIDEX 100 Series...

  • Page 32: Table 1-2. Available Stepping Motor Drivers For Unidex 100 Series

    UNIDEX 100/U100i and Software Introduction Table 1-2 lists the available Aerotech stepping motor drivers that can be used with the UNIDEX 100 series motion controllers. The available DC servo and AC brushless drivers are listed in Tables 1-3 and 1-4, respectively.

  • Page 33: Table 1-4. Available Brushless Servo Motor Drives For Unidex 100 Series

    (13.9x10 (5.0) BM800 2000 6,000 1400 0.042 14.5 (5.5) (14) (30x10 (6.6) BM1400 1365 3400 6,000 2330 0.080 23.5 (9.6) (24) (56x10 (10.7) Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 34: Options And Accessories

    A variety of options and accessories may be purchased with the UNIDEX 100/U100i to enhance its standard operation. Table 1-5 lists the Aerotech options and accessories that can be used with the UNIDEX 100 Series motion controllers. Brief descriptions of each option follow.

  • Page 35: Safety Procedures And Warnings

    To minimize the possibility of bodily injury, make certain that all electrical power switches are in the off position prior to making any mechanical adjustments. ∇ ∇ ∇ Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 36: Chapter 2: Getting Started

    All electronic equipment is wrapped in antistatic material and packaged with desiccant (a drying agent used to reduce moisture). Make certain that the antistatic material is not damaged during unpacking. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 37: Minimum Hardware Requirements And Recommended System Configurations

    The minimum PC requirements are listed in Table 2-1. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 38: Inspection Of The Unidex 100/U100I

    2.4. Inspection of the UNIDEX 100/U100i All products undergo a total quality inspection before they are shipped from Aerotech. Even with a stringent quality assurance program, however, it is still possible that a product may arrive in less than perfect condition due to improper handling during shipment.

  • Page 39: Figure 2-1. Typical Interface Board

    The U100 series interface cards were tested and inspected before being shipped from Aerotech, Inc. Vibration during shipment, however, may have loosened certain board components. Immediately prior to installing an interface card into the controller, visually inspect the card.

  • Page 40: Physical Setup Of The Motion Controller

    Also, a simple application is provided so the user can become familiar with using the motion control system. The electrical signal connections between the U100/U100i and Aerotech’s rotary stages, brushless amplifiers, brushless motors, and linear motors are shown in Figure 2-2, Figure 2-3, Figure 2-4, Figure 2-5, and Figure 2-6.

  • Page 41: Figure 2-3. Unidex 100 With Aerotech's Brushless Motor

    U100 BM200E Motor Figure 2-3. UNIDEX 100 with Aerotech’s Brushless Motor RS232 (NULL Cable) 9 to 25 pin configuration P/N CBL232 Connects to PC or HT (Hand Terminal) Thumbwheel Assembly Power Cord...
  • Page 42 BA Amplifier – TB1 U100 – Motor Coil (Forcer) Assembly Track Assembly Figure 2-6. UNIDEX 100/U100I & BA Amplifier with Aerotech’s BLM Linear Motor Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 43: Standard Installation

    U100i Shield Shield Shield To BACKSHELL Screw 20 DTR Standard 25 pin R-232-C configuration 9 pin RS-232-C configuration Figure 2-7. RS-232-C Connection Diagram Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 44: Figure 2-8. Software Display Window

    Turn on the U100 power switch and the Main Menu window in Figure 2-9 appears. If using the U100i, power is applied after plugging in the power cord. Hit CTRL-D if the screen does not appear. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 45 Chapter 10: Troubleshooting to determine the problem. Type "D" to get into the Status Menu and another "D" to display the Version Menu. The Version Menu returns the software version number installed in the controller. Aerotech, Inc. 2-10 Version 1.6...

  • Page 46: Simple Program Applications

    The function keys F2, F3, and F4 have no function when moving between menus, but do have functions when editing a file. Their functions are discussed in Chapter 4: Software Installation and Interface. Aerotech, Inc. Version 1.6 2-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 47: Sample Program Number One

    Press “A” again in the File Edit window to display the Edit File Type window in Figure 2-13. Figure 2-13. Edit File Type Window Aerotech, Inc. 2-12 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 48: Figure 2-15. Edit File Window

    Hit F5 twice, then press “Y” to exit the editor. Refer to Figure 2-16. Aerotech, Inc. Version 1.6 2-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 49: Figure 2-17. Select Task Window

    Select Running Mode Window 11. Press “A” for Auto mode. The Enter File # window appears, enter “1” to run the file just created, refer to Figure 2-19. Hit “Enter” or “Return”. Aerotech, Inc. 2-14 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 50: Figure 2-19. Enter File Number Window

    After the motor starts to rotate, press F1 to return to the Main Menu. Press “D” (STATUS) to bring up the Status Selection window in Figure 2-20. Aerotech, Inc. Version 1.6 2-15...

  • Page 51: Figure 2-20. Status Selection Window

    Control Select window in Figure 2-22 appears. Figure 2-22. Control Selection Window Press “B” (TASK WINDOW) and the Task window will appear, refer to Figure 2-23. Aerotech, Inc. 2-16 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 52: Multitasking Programs

    Task 1 and Task 2 to execute simultaneously. For an example of multitasking, type in the following program in the Edit File window. Perform the same steps as in the previous sections and name this program number 3. Aerotech, Inc. Version 1.6 2-17...
  • Page 53 This means that pressing F1 will not return the user to the Main Menu. To end the programs, hit CTRL -D. ∇ ∇ ∇ Aerotech, Inc. 2-18 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 54 • Introduction ..................3-1 • UNIDEX 100/U100i Motion Controllers .......... 3-2 • UNIDEX 100/U100i Control Board Jumper Configurations .... 3-8 • U100 Power Configurations ............3-12 • Installing Other Aerotech Components..........3-14 • After Factory Installation of Option Boards ........3-33 3.1. Introduction This chapter explains how to configure and install the UNIDEX 100 and U100i as well as optional hardware accessories.

  • Page 55: Chapter 3: Hardware Configuration & Description

    STANDARD I/O PORT (P2) ENDCODER/LIMITS/HALL EFFECT SENSOR PORT (P3) OPTION BAY STATUS INDICATOR AUXILIARY ENCODER PORT LEDs (P4) POWER SWITCH Figure 3-1. UNIDEX 100 Controller Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 56: Com Port (U100/U100I)

    (TXD) and receive (RXD), a ground, shield, and a 5V power supply line used to power the Aerotech Hand held Terminal (HT). The COM port can be configured for standard RS-232-C communication or RS-422-A. The differences between the two standards are: the RS-422 interface adds two complimentary signals;...

  • Page 57: Shunt Active Led

    U100 compiler and are not capable of being executed (e.g., changing motor direction within one motion block). Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 58: Remote Led

    (see Chapter 5 regarding these fault masks). Activation of any of the aforementioned limit conditions, illuminates the appropriate LED and prohibits further movement in that direction. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 59: I/O Port (U100/U100I)

    Figure 3-3 shows a simple system using this application. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 60: Option Ports

    IEEE 488 interface card, and a resolver/Inductosyn to digital converter card. A detailed explanation of these options is provided later in this chapter. 3.2.8. Amplifier Feedback (U100i only) The amplifier feedback connector is the interface between the U100i and Aerotech’s BA Series amplifiers or similar. Aerotech, Inc.

  • Page 61: Unidex 100/U100I Control Board Jumper Configurations

    1 2 3 1 JP13 JP17 JP16 TP16 JP34 JP33 JP26 JP32 JP27 JP31 JP10 JP35 JP28 JP23 JP22 Figure 3-4. UNIDEX 100/U100i Control Board Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 62: Current/Velocity Command Jumper (Jp8)

    Table 3-1. Current/Velocity Command Jumper Setting Configuration Current Command (default) Velocity Command The Resistor and Capacitor Network (RCN1) must be installed if configured for Velocity command. IMPORTANT Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 63: Current Output Jumpers (Jp13, Jp18 & Jp19)

    8. 5 Amps (default) 20 Amps 10 Amps The current range is the absolute maximum current that the U100/U100i outputs for a given setting. Aerotech, Inc. 3-10 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 64: Motor Type Configuration Jumpers (Jp16 & Jp17)

    U100 through the RS-232 connection. Refer to Table 3-4 for jumper settings. Figure 3-4 shows jumper location. Table 3-4. Firmware Boot Jumper Selections (JP34) Mode JP34 Normal Boot loaded Aerotech, Inc. Version 1.6 3-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 65: U100 Power Configurations - U100 Controller

    Depending on the specification provided by the user, the auto transformer is factory installed. Figure 3-5 shows the location of the auto transformer and the power connections on the power board when installed in the U100. Aerotech, Inc. 3-12 Version 1.6...

  • Page 66: U100 Fuses

    U100. The value of the motor fuse (F1) depends upon the type of motor being driven by the U100. Aerotech, Inc. Version 1.6 3-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 67: Installing Other Aerotech Components

    Installing Other Aerotech Components System installation varies with the number and types of components that have been purchased from Aerotech, Inc. to complement the UNIDEX 100/U100i controllers. The following descriptions may not be applicable to all systems. 3.5.1. The Hand Held Terminal (HT) The Hand Held Terminal or (HT), shown in Figure 3-6, is an optional operator interface that provides the operator local control of the controller through menu assisted screens.

  • Page 68: Figure 3-8. Ht Configuration (U100I)

    UNIDEX 100/U100i and Software Hardware Configuration & Description COM Port (P1) Power Cord To BA Drive Figure 3-8. HT Configuration (U100i) Aerotech, Inc. Version 1.6 3-15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 69: Joystick

    (Factory Set) Unlocks Vertical Stick Travel Return Button A Button B Unlocks Horizontal Stick Travel Return Figure 3-9. Optional UNIDEX 100/U100i Joystick Aerotech, Inc. 3-16 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 70: Thumbwheel

    The interface is the same for the U100i using its single option port. Aerotech, Inc. Version 1.6 3-17 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 71 Base Address SW1-1 SW1-2 SW1-3 SW1-4 0xE000 0xE010 0xE020 0xE030 0xE040 0xE050 0xE060 0xE070 0xE080 0xE090 0xE0A0 0xE0B0 0xE0C0 0xE0D0 0xE0E0 0xE0F0 Aerotech, Inc. 3-18 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 72: Thumbwheel Sign

    The execute status is bit #16 and uses the same address as the sign. Bit #16 is high upon pressing the execute button. For example IF(PV=0xE001 AND 0x010000) which checks for a Thumbwheel #1 execute switch closure. Aerotech, Inc. Version 1.6 3-19...

  • Page 73: Display Option

    P2 on the display box (refer to Figure 3-13). The interface is the same for the U100i using its single option port. Aerotech, Inc. 3-20 Version 1.6...

  • Page 74: Table 3-6. Display Bus Addresses

    Number of places after the decimal point (in this example, the decimal point is removed). Figure 3-14. Programmable Locations on LED Display Aerotech, Inc. Version 1.6 3-21 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 75: Resolver-To-Digital Converter

    Table 3-8 shows the parameters and their settings. For additional settings for each of these parameters, turn to Chapter 6: Parameters. Aerotech, Inc. 3-22 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 76 Enables 16/14 bit auto-select mode PRM:138 Enables velocity feedback from R/D PRM:139 Enables position feedback from R/D PRM:310 Sets the R/D update rate at .8 ms Aerotech, Inc. Version 1.6 3-23 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 77: The Int Option

    8. EXAMPLE: PB24 INPUT OUTPUT 0 ----------------------- 24 8 ----------------------- 16 16 ----------------------- 8 24 ----------------------- 0 Aerotech, Inc. 3-24 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 78: Figure 3-16. Sample Uses Of The Pb# Boards

    INT option board. Refer to Table 3-9 for base address selections. Address selections provide the capability to use multiple boards or more than one INT option board. Aerotech, Inc. Version 1.6 3-25 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 79: Table 3-9. Int Bus Address Selections

    On a PB24, modules 0-7 could be configured as inputs with modules 8-23 configured as outputs. On a PB24, modules 0-7 and 16-23 could be configured as outputs with modules 8-15 configured as inputs. Aerotech, Inc. 3-26 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 80: Int Jumper Settings

    I/O points as inputs or outputs. One group of jumpers can be used as interrupts for the controller extension bus. Refer to Table 3-10 for jumper selections on INT board. Figure 3-17 shows the location of these jumpers. Aerotech, Inc. Version 1.6 3-27...
  • Page 81 Note: JP13 must always be set to Polarity Active 1-2. 2-3 is invalid. Interrupt 1 Enable Interrupt 1 Disable Interrupt 2 Enable Interrupt 2 Disable Aerotech, Inc. 3-28 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 82 The IE-488 connector is a 24 pin CHAMP connector. Figure 3-18 shows the IEEE-488 interface card and connector P2 pinouts. Refer to Table 3-11 for pin descriptions. Aerotech, Inc. Version 1.6 3-29...
  • Page 83 IFC (Interface Clear) - The system controller activates this control line and place all devices in the unaddressed state. This line will also cause the system controller to be the active device. Aerotech, Inc. 3-30 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 84: Table 3-11. Ieee-488 Connector P2 Pin Descriptions

    Setting Function PRM:008 0x24(default) Sets the mode zero address PRM:009 0x44(default) sets the mode one address PRM:019 Selects IEEE-488 mode of Communication Aerotech, Inc. Version 1.6 3-31 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 85 Descriptions of the error codes are in Appendix D of this manual. The status registers used by the controller are in Chapter 7: Registers and Variables. IEEE-488 basic programming examples are in Chapter 8: Sample Programs Aerotech, Inc. 3-32 Version 1.6...

  • Page 86: After Factory Installation Of Option Boards

    (P5). A maximum of two option boards can be mounted to the U100 control board. The second board mounts below the first (not shown in Figure 3-19). Aerotech, Inc. Version 1.6 3-33 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 87 Hardware Configuration & Description UNIDEX 100/U100i and Software If two boards are required, consult Aerotech, Inc. for wiring specifications. The U100i has only one option board capability. 630B1541 is the 64 pin ribbon cable shipped standard with all options. For installing 2 options, consult factory for wiring.

  • Page 88: Chapter 4: Software Installation And Interface

    "com_100.exe" utility program. The file contains one or more parameter statements (e.g., PRM:133=2). This file includes a list of all the parameters that Aerotech changed to match the configuration found on the customer order form. This file lists all parameters that deviate from the default settings.
  • Page 89 Before the software is installed, the system PC must meet or exceed certain minimum requirements for proper operation. These requirements are listed in Table 4-2. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 90: Standard Installation

    U100i Shield Shield Shield To BACKSHELL Screw 20 DTR Standard 25 pin R-232-C configuration 9 pin RS-232-C configuration Figure 4-1. RS-232-C Connection Diagram Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 91: Figure 4-2. Software Display Window

    U100 DISPLAY WINDOW Figure 4-2. Software Display Window Turn on the U100 power switch and the Main Menu window in Figure 4-3 appears. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 92: Overview Of The Main Menu Window

    Main Menu window, pressing F1 on the keyboard returns the user to the Main Menu. Pressing F5 returns the user to the previous menu. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 93: The File Edit Menu

    Edit File Type Window The user is then prompted to enter the desired file number in the Enter File Number window shown in Figure 4-7. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 94: Figure 4-7. Enter File Number Window

    Table 4-3 lists the keys and their function while in the file edit mode. Figure 4-8 is an example of the edit window displayed on the user’s monitor. Figure 4-8. Edit File Window Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 95: Figure 4-9. File Directory Window

    File Directory Window If there are no files present in the controller directory, the controller prompts the viewer with a message “No Programs Found”. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 96: Run Selection Menu

    Block mode. Auto mode executes the entire program at one time. Block mode walks the user through the entire program. Figure 4-10. Select Task Window Figure 4-11. Select Running Mode window Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 97: Auto Mode

    After selecting the task, the user may enter either a command or parameter change into the Enter Command window, refer to Figure 4-13. Figure 4-13. Enter Command Window (MDI Mode) Aerotech, Inc. 4-10 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 98: Status Selection Menu

    (STATUS) from the Main Menu window and the Status Selection window shown in Figure 4-15 will appear. Figure 4-15. Status Selection Window Aerotech, Inc. Version 1.6 4-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 99: Motion Status Window

    The final status is the MASK status and is true if any of the bits of the Active Mask register are true (see Exception Processing in Chapter 5: Programming Commands). Figure 4-17. General Status Window Aerotech, Inc. 4-12 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 100: Memory Status And Version Windows

    To access the Control Select Menu, press “E” (CONTROL) from the Main Menu and the window in Figure 4-20 appears. Figure 4-20. Control Select Window Aerotech, Inc. Version 1.6 4-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 101: Figure 4-21. Limit Reset Window

    QUIT indicates a command or program is being executed in that task. The asterisk indicates a feedhold when it appears before HLD1 or HLD2. To indicate the Block mode the asterisk appears before BLK1 or BLK2. Aerotech, Inc. 4-14 Version 1.6...

  • Page 102: Misc Selection Menu

    To erase a single file, select “A” or to erase all files, select “B”. If erasing a single file, a file type must be selected from the File to Erase Selection window shown in Figure 4-25. Aerotech, Inc. Version 1.6 4-15 Artisan Technology Group - Quality Instrumentation ...

  • Page 103: Copy Files Menu

    The user must select the file type to copy from the Copy File Type Selection window, refer to Figure 4-27. Figure 4-27. Copy File Type Selection Window Aerotech, Inc. 4-16 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 104: Setup Data Types Menu

    Change Parameter window appears in one of two ways, refer to Figure 4-30 and Figure 4-31. The parameter selected will determine which window appears. Aerotech, Inc. Version 1.6 4-17 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 105 The window that appears is the same as the Parameter Type Setup window in Figure 4-29. If a selected register is a read/write register, the window in Figure 4-33 appears. Aerotech, Inc. 4-18 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 106: Figure 4-33. Read/Write Selection Window

    Figure 4-35 applies to the read access a selected register. Like the write access registers, the “A=Base” changes the initial hex value to the decimal equivalent. The “B=Redisplay” updates the value on the screen (this value could be changing internally). Aerotech, Inc. Version 1.6 4-19...

  • Page 107: Figure 4-36. Load Register Window

    The Modify/Scan Select window shown in Figure 4-39 prompts the user to either modify or scan the variable entered. Scanning a variable means it is constantly being updated. If the user selects “B” (or Scan) the Scan Variable window in Figure 4-40 appears. Aerotech, Inc. 4-20 Version 1.6...

  • Page 108: Figure 4-39. Modify/Scan Select Window

    Figure 4-41. Enter String Window Once the user enters the string number to be modified, the Modify String window in Figure 4-42 appears. Aerotech, Inc. Version 1.6 4-21 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 109: Figure 4-42. Modify String Window

    The controller transfers these files in two ways. First, is to take an existing file directly from the Host PC and down load that file to the controller. The second is to take an existing file from the controller's memory and upload that file to the PC. To perform one Aerotech, Inc. 4-22 Version 1.6...

  • Page 110: Figure 4-44. Transfer Select Window

    Transfer File to PC Window If the file exist, the controller overwrites it during the transfer process regardless of the direction of the transfer. Aerotech, Inc. Version 1.6 4-23 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 111: Archive Files Menu

    Selecting either menu item produces the menu in Figure 4-49. The "Library Image" section is only valid when using the "MEM" board option. Its use is not discussed in this manual. Aerotech, Inc. 4-24 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 112: Figure 4-49. Enter Parameter (Machine And Library Image)

    Writing to "flash" ROM takes about five to eight seconds per sector. During this period, the UNIDEX 100 communications are suspended. However, the operating kernel (i.e., PID loop, fault masks, etc.) are still operational. Aerotech, Inc. Version 1.6 4-25 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 113: Controller Setup Process U100/U100I

    Power up the U100/U100i for approximately 5 seconds. Remove power. Remove jumpers from the I/O connector (P2). The U100/U100i is setup with the parameters set at the default settings. Aerotech, Inc. 4-26 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 114: Using The Hand Held Terminal (Ht)

    HT Menu The menu selections and functions on the HT are the same as those discussed in the previous sections when interfacing the controller with a PC. Aerotech, Inc. Version 1.6 4-27 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 115 • The F5 function key returns the user to the previous menu • Pressing <CTRL> +<D> resets the controller ∇ ∇ ∇ Aerotech, Inc. 4-28 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 116 Throughout this chapter the commands appear in uppercase letters for easy recognition. This chapter uses the typographical conventions listed in Table 5-1. Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 117: Chapter 5: Programming Commands

    <description> marks (“”) are not necessary. <number> Refers to the linking of an integer number to a command (e.g., MAC<number> same as MAC22). Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 118: Multitasking Operating System

    12.8 millisec and is responsible for PID Loop Trap and General Error Processing. The Scaled Trajectory External Port Fetch (PRM:303) gets updated every 6.4 millisec. Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 119: Table 5-2. Kernel Interrupt Time Slot Description

    2.6 msec " " 2.7 msec " " 2.8 msec " " 2.9 msec " " 3.0 msec " " 3.1 msec " " Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 120 6.1 msec " " 6.2 msec " " 6.3 msec " " 6.4 msec " " 6.5 msec 6.6 msec 6.7 msec " " Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 121 9.9 msec " " 10.0 msec " " 10.1 msec " " 10.2 msec " " 10.3 msec " " 10.4 msec " " Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 122: Multiple Programs

    Select and execute the first program, then select and run the second program in the remaining task. Programs are initiated immediately after loading them and do not start together. Interrupts must use Task 2. Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 123: Interrupts

    ; and put final result in the LV variable. BV:1=BV:1+1 ; Set integer variable equal to integer, ; variable 1 plus one. ; Enable the external interrupt. ; End the program. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 124: Exception Processing

    12.8 milliseconds and depends on the setting of PRM:311 (Fault Mask Update Time). The following sections describe each step of the Exception Process, refer to Figure 5-1. Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 125: Invert Mask

    PRM:317 unless a prior change occurred regarding the polarity of the hardware related faults (e.g., change limit switch polarity). The invert mask bit description is the same as the error status register. 5-10 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 126: Reset Status Register

    Run Time Error occurs in Task 1 BIT 20 Run Time Error occurs in Task 2 BIT 21 Axis Calibration Range Error BIT 22 Reserved BIT 23 Reserved Version 1.6 Aerotech, Inc. 5-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 127: Disable Mask

    Operation. The value set in PRM:125 determines the Task 2 Exception Operation. The Task 2 Mask bit description is the same as the error status register. 5-12 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 128: Positive Direction Mask

    Freeze Mask BIT 5 Task 1 Mask BIT 6 Task 2 Mask BIT 7 + Direction Mask BIT 8 - Direction Mask Version 1.6 Aerotech, Inc. 5-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 129: Service Request

    "Line #" Update for "Task 2 Window" Running in the RS-232 Host Mode only 0x07 Ready for Commands in Host Mode (RS-232 only) 5-14 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 130: Table 5-6. Task 1 Service Request Status Codes

    User Defined #10 0x2B User Defined #11 0x2C User Defined #12 0x2D User Defined #13 0x2E User Defined #14 0x2F User Defined #15 Version 1.6 Aerotech, Inc. 5-15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 131: Table 5-8. Kernel Service Request Status Codes

    Service Request Acknowledge causes the controller to get hung up and not respond to commands. A Service Request Acknowledge sent to the controller without a previous SRQ does not cause a problem. 5-16 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 132: U100/U100I Supported File Types

    PGM2 Task 2 300 LINES BEGIN Is 5 lines TOTAL V(1000) long D(20000) Figure 5-2. Example of Maximum Lines in PGM Files Version 1.6 Aerotech, Inc. 5-17 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 133: Table 5-9. Pgm File Template

    Secondly, as an end of execution for simple programs that do not incorporate subroutine calls. It must be capitalized. 5-18 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 134: Macro Files

    . Refer to the following controller examples, the first is the main program that calls two macros from the second example which is a MAC file. Version 1.6 Aerotech, Inc. 5-19 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 135 ; End the macro DSPLY. ENDMAC Comments (;) are not allowed in MAC files. The example above is for the readability of the syntax only. 5-20 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 136: List Files (Lst)

    ; is distance. DW(4) ; Set the dwell time equal to four seconds. ; End the program. CUR(1,1) PM("RUN") DW(2) T(1) V(50000) D(400000) DW(4) Version 1.6 Aerotech, Inc. 5-21 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 137: Definition Files (Def)

    ; Print the result of floating point variable ; OUTPUT, but suppress the zero's to two ; places following the decimal. ; End the program. 5-22 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 138: Cam Files

    A “newline” character 3.8901 must terminate each line. 1.234e-1 1.44e-2 There are no blank lines separating the individual rows. IMPORTANT Version 1.6 Aerotech, Inc. 5-23 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 139: Table 5-10. Unidex 100/U100I Programming Commands

    Represents the distance in user units to move/position 5-45 Digital to analog conversion 5-46 Allows the user to enter a trajectory command directly to the drive 5-24 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 140 Therefore, operator precedence does not apply. ABS (Absolute Value) 5-28 Calculates the absolute value of integers, long integers, floating point, and hexadecimal numbers Version 1.6 Aerotech, Inc. 5-25 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 141 Allows retrieval of data stored in one of the four MEM board image sectors of the flash ROM, accessible by a user program 5-26 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 142: A Command (Accel/Decel Ramp Rate In User Units/Sec 2)

    ; Set the velocity equal to 50000 units/sec. ; Start the move from the home position. ; End of the program. Related Commands D, T, V, GO Version 1.6 Aerotech, Inc. 5-27 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 143: Abs Absolute Value

    ; Set integer, variable 1 equal to the absolute ; value of a negative five and seventy-five ; hundreds. The result is five. ; End the program. 5-28 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 144: Absl Absolute Positioning Mode

    ; commanded position of 250000 minus the ; present position of 100000 and therefore only ; moves 150000 steps. ; End of the program. Related Commands INCR Version 1.6 Aerotech, Inc. 5-29 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 145: Adc Analog To Digital Conversion

    ADC# = {(Analog Volts in - Dead Band Volts) / (10.0V - Deadband Volts)} x PRM:140 ADC# = {(-5.0 Volts - 0 Volts) / (10.0 - 0 Volts)} x 1.0 ADC# = -.5 5-30 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 146: Add

    ; Set integer, variable 2 equal to the sum of ; integer, variable 1 and port, variable 1. The ; result is fifteen. ; End the program. Related Commands /, = Version 1.6 Aerotech, Inc. 5-31 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 147: And (Logical And)

    0x10 – SV:1 through SV:19 and parameters PRM:0xx, PRM:1xx, PRM:2xx, PRM:3xx booted or transferred. 0x20 – PV:0x200 through PV:0xdfff or Library files booted or transferred (requires MEM board option). 5-32 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 148: Begin Command

    “FV” variable array starting with FV:1. The second column represents the output data loaded in the “BV” variable array starting with BV:1. Version 1.6 Aerotech, Inc. 5-33 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 149 The problem of compiling and running a file for another task in this situation can be eliminated if parameter PRM:025 is set to zero (“LST1” file generation is disabled). 5-34 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 150 CAM() command is issued, the value of PRM:301 (Task 1) or PRM:302 (Task 2) must be increased to “20” time slots or a "Runtime Error", 121 will be issued. IMPORTANT Version 1.6 Aerotech, Inc. 5-35 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 151: Cbi: Command

    ; result in integer, variable 3. ; Internal bit representation appears as: ; 0000 0000 0000 0000 0000 1010 ; End the program. Related Commands 5-36 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 152: Cib Command

    ; BCD value of integer, variable 1. The result is ; 0x1234. ; Internal bit representation appears as: ; 0000 0000 0001 0010 0011 0100 ; End the program. Related Commands Version 1.6 Aerotech, Inc. 5-37 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 153: Cln Command

    ; prints only the message "This is a demo". DW(5) ; Set the dwell time for 5 seconds. ; End of the program. Related Commands CLS, CUR 5-38 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 154: Cls Command

    ; Print the message to the terminal. PM("Did you understand?") ; Set the dwell time to 5 seconds. DW(5) ; End of the program. Related Commands CLN, CUR Version 1.6 Aerotech, Inc. 5-39 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 155: Cos Command (Cosine)

    ; of floating point, variable 3. The FV:4 variable ; stores the result of 1.000000. ; End the program. Related Commands SIN, TAN 5-40 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 156: Cur Command

    ; screen directly under the first message but ; indented 3 character spaces. ; Set the dwell time to 5 seconds. DW(5) ; End of the program. Version 1.6 Aerotech, Inc. 5-41 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 157: D Command (Distance In User Units To Move/Position)

    The example shown below produces the profile shown in Figure 5-3. D(100000) Segment 1 V(5000) Segment 1 T(1) Segment 1 D(200000) Segment 2 V(10000) Segment 2 D(100000) Segment 3 V(2000) Segment 3 5-42 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 158 2. The output statement "REG:2=0x33" and input statement "FV:1=REG:202" execute between the ending of segment 2 and the beginning of segment 3. Version 1.6 Aerotech, Inc. 5-43 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 159 Start the move from the previous position of 100000. Move an additional 250,000 steps and stop at 350,000. End the program. Related Commands A, GO, T, V 5-44 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 160: Dac Command (Digital To Analog Conversion)

    ; Scale and output floating point variable #1 as ; analog voltage based on parameter #142 (100%) ; End the program. Related Commands Version 1.6 Aerotech, Inc. 5-45 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 161: Dd Command (Direct Drive)

    ; Otherwise, break the loop. ; Output the trajectory command directly to the DD(FV:1) ; drive. ENDWHL ; End the while loop. ; End the program. 5-46 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 162: Dec Command (Decrement)

    ; End the while loop when integer, variable 1 is ENDWHL ; equal to one. ; End of the program. Related Commands Version 1.6 Aerotech, Inc. 5-47 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 163: Def File

    Once compiled, the definition is replaced by the controller statement. To verify replacement, view the LST1 list file. Defined names should not be substrings of other names (e.g., X=BV:1 or X1=BV:10). 5-48 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 164 ;Print the result of floating point variable ;OUTPUT, but suppress the zero’s to two places PM(OUTPUT,"%.2f") ;following the decimal. ;End the program. Related Commands PGM, MAC Version 1.6 Aerotech, Inc. 5-49 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 165: Di Command (Disable Interrupt)

    ; Set the distance equal to 20000. ; Start the move. ; Disable the external interrupt. ; End the program. Related Commands EI, RI 5-50 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 166: Divide Command

    ; quotient of integer, variable 1 and long integer, ; variable 2. The result is two. ; End the program. Related Commands *, = Version 1.6 Aerotech, Inc. 5-51 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 167: Dw Command (Dwell Time)

    Set the velocity equal to 1000. D(20000) Set the distance equal to 20000. Start the move. Disable the external interrupt. End the program. Related Commands DI, RI 5-52 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 168: Else Command

    ; screen, but only include two decimal places to ; the right of the decimal. ; End the program. Related Commands IF, ELSEIF, ENDIF Version 1.6 Aerotech, Inc. 5-53 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 169: Elseif Command

    ; Print the value of integer variable 1 to the PM(BV:1) ; terminal screen. ; End the program. Related Commands IF, ELSE, ENDIF 5-54 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 170: End Command

    ; Set the distance equal to twenty thousand. D(20000) ; Start the program. ; End compiler and program execution. Related commands BEGIN, EXIT Version 1.6 Aerotech, Inc. 5-55 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 171: Endif Command

    DW(1.0) ; corresponding IF statement is true. ; End the IF statement. ENDIF ; End the program. Related Commands IF, ELSE, ELSEIF 5-56 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 172: Endmac Command

    ; argument in the main program. ; Set the dwell time equal to 2 seconds. DW(2) ENDMAC ; End the macro DSPLY. Related Commands MAC<macro number> Version 1.6 Aerotech, Inc. 5-57 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 173: Endsub Command

    ; Set the output bit register 2 equal to 0Xff. REG:2=0Xff ENDSUB ; End the subroutine. ; End the program. Related Commands SUB, GOSUB 5-58 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 174: Endwhl Command

    ; Set the dwell time equal to one second. ; Increment the integer, variable 1 by one. INC(BV:1) ENDWHL ; End the while loop. ; End the program. Related Commands Version 1.6 Aerotech, Inc. 5-59 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 175: Assign A Value To

    Failure to place an EXIT command before a subroutine results in an in-process compiler error #202. This error may indicate that the user failed to end a subroutine using the “ENDSUB” command. SYNTAX: EXIT 5-60 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 176 ; Set the output bit register 2 equal to 0Xff. REG:2=0Xff ENDSUB ; End the subroutine. ; End the program. Related Commands SUB, ENDSUB Version 1.6 Aerotech, Inc. 5-61 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 177: Gc Command (Get Character)

    PRM:104 (default ramp time parameter). SYNTAX: GEAR(<var or constant>) Where: Parameter “1” specifies 1 for ON or 0 for OFF 5-62 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 178: Gm Command (Get Message)

    However, if the user should accidentally enter a return at this prompt the message displays a zero. SYNTAX: <var>=GM(<constant or var>) SV:<number>=GM(<constant or var>) Version 1.6 Aerotech, Inc. 5-63 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 179: Go Command (Begin Move)

    ; direction. ; Start the move from the home position. ; End the program. Related Commands A, ABSL, D, GO, INCR, T, V 5-64 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 180: Gosub Command

    ; Set the output bit register 2 equal to 0Xff. REG:2=0Xff ENDSUB ; End the subroutine. ; End the program. Related Commands ENDSUB, SUB Version 1.6 Aerotech, Inc. 5-65 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 181: Goto Command

    ; variable 1 is not equal to ten. ; End the IF statement. ENDIF ; End the program. Related Commands LB, GOSUB 5-66 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 182: Hm Command (Hardware Home)

    In this case, the system uses the power up velocity (PRM:119) to find the switch and no ramping is executed. Version 1.6 Aerotech, Inc. 5-67 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 183 The distance set in PRM:121 executes automatically after finding the home marker (if one exists). This feature provides home offset control. After executing this distance, the system sets the Position Command register to a "0". 5-68 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 184: If Command

    ; Store a one in integer, variable 1 if the IF BV:1=1 ; statement is true. ; End the IF statement. ENDIF ; End the program. Related Commands ELSE, ELSEIF, ENDIF Version 1.6 Aerotech, Inc. 5-69 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 185: Inc Command (Increment)

    ; register 1 is equal to 0Xff. ENDWHL ; End the while loop when register 1 is 0Xff. ; End of the program. Related Commands 5-70 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 186: Incr Command (Incremental Position Mode)

    ; Start the move from the previously established ; position of 100000. The resulting position is ; 25000. ; End the program. Related Commands ABSL Version 1.6 Aerotech, Inc. 5-71 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 187: Lb Command (Label)

    ; Jump to the block labeled 10 when integer, ; variable 1 is not equal to ten. ENDIF ; End the IF statement. ; End the program. Related Commands GOTO 5-72 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 188: Lock Command (Lock Task Execution)

    ; with no chance of being interrupted by the multitasking ; kernel ; normal multitasking operation resumes LOCK(0) ; End the program. Version 1.6 Aerotech, Inc. 5-73 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 189: Mac Command

    The following is an example of the macro file used with the above “PGM” program example. This macro file contains 2 macros called “MOVE” and “DSPLY”. The file name is “MAC1”. 5-74 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 190: 1.Mac Definition

    Following the macro name the PGM file requires that the user specify any argument, in parenthesis, for the macro to use. Refer to first example. SYNTAX: MAC<space><macro name> Related Commands ENDMAC Version 1.6 Aerotech, Inc. 5-75 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 191: Mdx Command Modulo Index

    ; Get the array location. BV:1=MDX(BV:22) DD(FV:BV:1) ; Output the trajectory from the array. ; Repeat the trajectory loop. GOTO:1 ; End the program. 5-76 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 192: Multiply

    ; half. The result is stored in floating point, ; variable 1 and is equal to ten and a half. ; End the program. Related Commands /, = Version 1.6 Aerotech, Inc. 5-77 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 193: Or Command (Logical Or)

    ; Set integer, variable 1 equal to fifty. BV:1=50 DW(5) ; Set the dwell time to five seconds. ; End of the program. 5-78 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 194: Pm Command (Print Message)

    ; same line of the terminal screen. DW(5) ; Set the dwell time to 5 seconds. ; End of the program. Related Commands PM(<var or quote>, <quote>) Version 1.6 Aerotech, Inc. 5-79 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 195: 1.Pm Command (Print Formatted Messages)

    "floating decimal point with exponential notation" data. Three digit positions out of the ten are allocated for digits to the "right" of the decimal point. 5-80 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 196: Pvi Command

    Parameter “1” specifies the port variable number 0x200 through 0xdfff. Parameter “2” specifies the image (1 through 4) in flash ROM for which the copy of the variable resides. Version 1.6 Aerotech, Inc. 5-81 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 197: Ri Command (Reset Interrupt Latch)

    ; Set the time equal to .1 second. ; Start the move. ; End the while loop. ENDWHL ; End the program. Related Commands DI, EI 5-82 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 198: Run Command (Run Pre-Compiled Pgm Program)

    Like the original RUN command, this form of the command can only be executed from Task 1. Version 1.6 Aerotech, Inc. 5-83 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 199: Sin Command (Sine)

    ; of floating point, variable 3. The FV:4 variable ; stores the result of .000000. ; End of the program. Related Commands COS, TAN 5-84 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 200: Srq Command (Service Request)

    ; Set the velocity equal to 10000. V(10000) D(50000) ; Set the distance equal to 50000. ; Start the move. ; End the program. Version 1.6 Aerotech, Inc. 5-85 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 201: Sqrt Command (Square Root)

    ; Set integer, variable 4 equal to the square root ; of ten. The result is three. ; End of the program. 5-86 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 202: Sub Command

    ; Set the output bit register 2 equal to 0Xff. ; End the subroutine. ENDSUB ; End the program. Related Commands ENDSUB, EXIT, GOSUB Version 1.6 Aerotech, Inc. 5-87 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 203: Subtract

    BV:3=PV:2-BV:1 ; port, variable 2 and integer, variable 1. The ; result is five. ; End the program. Related Commands /, = 5-88 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 204: Sync Command

    ; of floating, point variable 2 and floating point, ; variable 3. ; Set floating point variable equal to 1.3 FV:2=1.3 ; End the program. Version 1.6 Aerotech, Inc. 5-89 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 205: T Command (Ramp Time)

    D(100000) ; CW direction. ; Start the move from the home position. ; End the program. Related Commands A, D, GO, V 5-90 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 206: Tan Tangent

    ; tangent of floating point, variable 3. The FV:4 ; variable stores the result of .000000. ; End of the program. Related Commands COS, SIN Version 1.6 Aerotech, Inc. 5-91 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 207: Title Command

    ; Set the time equal to .1 second. T(.1) ; Start the move. ; Set the dwell time equal to one second. DW(1) ; End the program. 5-92 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 208: Tune Command (Autotune The System)

    Assign a small value to PRM:105 (e.g., 32000), the reason is, the larger the value of PRM:105, the faster the motor will move. Version 1.6 Aerotech, Inc. 5-93 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 209: Command (Velocity)

    ; positive CW direction. ; Start the move from the home position. ; End the program. Related Commands A, D, GO, T 5-94 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 210: Whl Command

    ; Increment the integer, variable 1 by one. INC(BV:1) ENDWHL ; End the while loop. ; End the program. Related Commands ENDWHL Version 1.6 Aerotech, Inc. 5-95 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 211: Xor Exclusive Or

    ; For example: binary 2 XOR binary 3 = binary 1 ; 00000010 XOR ½00000011 = ½00000001 ; End of the program. Related Commands AND, OR ∇ ∇ ∇ 5-96 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 212: Chapter 6: Parameters

    Octal (base 8) • Decimal (base 10) • and Hexadecimal (base 16) The default base is “decimal”. The following are examples of each. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 213: Communication Parameters

    “octal” (e.g., PRM:009 would be entered as IMPORTANT PRM:9 if it is intended that the “9” be interpreted as a decimal number). Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 214: Table 6-1. Communication Parameters

    Motion Status Total Digits (min.), Line 2 integer Motion Status Decimal Digits, Line 2 integer Motion Status Scan Type, Line 2 integer Motion Status Scan Type, Line 1 integer Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 215: Rs-232-C General Control Register Prm:001

    Reserved To activate this parameter after its been changed, the controller must be reset. To initialize a reset hit <CTRL> + <D> . Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 216: Table 6-3. Parameter Settings For Clock Control Register (Prm:002)

    0x2084 To activate this parameter after its been changed, the controller must be reset. To initialize a reset hit <CTRL> + <D> . Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 217: Rs-232-C Loop Control Character Prm:003

    The default value for this parameter is zero (0). Refer to Table 6-4 for parameter settings. Table 6-4. Settings for Daisy Chain Enable/Disable (PRM:005) Mode PRM:005 Daisy chain enabled Daisy chain disabled 0 (default) Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 218: Daisy Chain Operation

    (the character set in PRM:006) is sent and every controller setup for a trigger operation will begin execution of the command or program. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 219: Figure 6-1. 4-Axis Daisy Chain Configuration

    Parameters UNIDEX 100/U100i and Software Figure 6-1. 4-Axis Daisy Chain Configuration Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 220: Figure 6-2. 4-Axis Daisy Chain Configuration (U100I)

    Power Cord U100-Data Out SIG COM SHIELD The Daisy Chain continues to units 3 and 4. Figure 6-2. 4-Axis Daisy Chain Configuration (U100i) Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 221 0 to 0xff. To activate this parameter after it has been changed, the controller must be reset. To initialize a reset hit <CTRL>+<D>. Aerotech, Inc. 6-10 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 222 0 to 0x1f. To activate this parameter after it has been changed, the controller must be reset. To initialize a reset hit <CTRL>+<D>. Aerotech, Inc. Version 1.6 6-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 223: Ieee-488 Command Register Prm:012

    0 to 0x3. To activate this parameter after it has been changed, the controller must be reset. To initialize a reset hit <CTRL>+<D>. Aerotech, Inc. 6-12 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 224: Ieee-488 Parallel Poll Register Prm:014

    0 to 0xff. To activate this parameter after it has been changed, the controller must be reset. To initialize a reset hit <CTRL>+<D>. Aerotech, Inc. Version 1.6 6-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 225: Communications Mode Prm:019

    Table 6-6. Settings for Group Trigger Enable/Disable (PRM:020) Function PRM:020 disable the RS-232 Trigger Mode 0 (default) enable the RS-232 Trigger Mode Aerotech, Inc. 6-14 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 226: Cursor Control For "Cur( )" Command Prm:021

    The default value for this parameter is 1. Refer to Table 6-8 for alternate setting. Table 6-8. Settings for Communications SRQ On/Off (PRM:022) Function PRM:022 disable the Service Request enable the Service Request 1 (default) Aerotech, Inc. Version 1.6 6-15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 227: Table 6-9. Settings For Send Srq At End Of Task 1 (Prm:023)

    Service Request 0x21 for Task 2 0 (default) enable the sending of Service Request 0x21 for Task 2 Aerotech, Inc. 6-16 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 228: Lst1 File Generation On/Off Prm:025

    U100/U100i memory when this parameter is enabled and issuing a MDI command , or an error will occur. The MAC100 and DEF100 are special files provided by Aerotech to enhance (extend) the U100/U100i command language through the manipulation of the parameter and register sets.

  • Page 229: Service Acknowledge Character Code Prm:029

    "Queue" overload. (See also PRM:032.) The default value for this parameter is 0x1D. Change this value by entering an integer from 0 to 0x1f. Aerotech, Inc. 6-18 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 230: Software Reset (Ht Mode) Prm:034

    (-) sign. The default value for this parameter is set for ten (10) and includes the decimal point. Change this value by entering an integer from 1 to 12. Aerotech, Inc. Version 1.6 6-19...

  • Page 231: Motion Status Decimal Digits, Line 1 Prm:037

    The default value for this parameter is two (2). Change this value by entering an integer from 0 to 12. Aerotech, Inc. 6-20 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 232: Motion Status Scan Type, Line 2 Prm:040

    Table 6-13. Settings for Motion Status Scan Type (PRM:041) Function PRM:041 disable (the screen displays all 20 characters of SV:16) position feedback 1 (default) position command position error Aerotech, Inc. Version 1.6 6-21 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 233: Trajectory Generation

    Block 1 in Figure 6-3 shows how to generate motion trajectories using the “D( )”and “GO( )” sequence of commands. Typically, General Trajectory profiles that involve this type of motion are trapezoidal and contain the following three segments: an accel, a run Aerotech, Inc. 6-22 Version 1.6...

  • Page 234: Scaled Trajectory Modifier

    6.3.8. Motor Block 7 in Figure 6-3 is the motor, which can be DC, brushless, or stepper. To close the position loop, all motors except the stepper require a position feedback device. Aerotech, Inc. Version 1.6 6-23 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 235: Motion Parameters

    Home Velocity After Power Up float 10000.0 Home Limit Offset float Home Ending Offset float Home Marker Velocity float 625.0 Reserved Task 1 Exception Processing integer Aerotech, Inc. 6-24 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 236 Spline output PV index integer 0xE000 0x200 0xE100 The range for the maximum value is dependent on the size of the available storage. Aerotech, Inc. Version 1.6 6-25 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 237: User Units Scale Factor Prm:100

    (PRM:222) and acceleration feedforward compensation (PRM:221) are enhanced. When interpolation is enabled, the Command Segment Filter mode (parameters PRM:101 and PRM:102) are disabled. Aerotech, Inc. 6-26 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 238: Default Ramp Time Prm:104

    The "S" curve profiling of the velocity changes is preferred when high inertia loads are present. The default value is zero (0). Refer to Table 6-16 for alternate value setting. Aerotech, Inc. Version 1.6 6-27 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 239: Table 6-16. Settings For "S" Curve Generation (Prm:108)

    This parameter is the User Units Scale Factor for the DD Trajectory command (e.g., DD(<var>) command). The default value is 1.0. To change this, enter a floating point number greater than or equal to zero. Aerotech, Inc. 6-28 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 240: Home Switch Fast Reference Prm:115

    "-" Limit Switch going high. "-" Limit Switch going low. Home Limit Switch going high. 6 (default) Home Limit Switch going low. Aerotech, Inc. Version 1.6 6-29 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 241: Home Marker Selection Prm:118

    (not applicable when PRM:118 equals 3). The default value is 0.0 user units. To change this, enter a floating point number greater than or equal to zero. Aerotech, Inc. 6-30 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 242: Home Ending Offset Prm:121

    (and/or rate controlled feedhold of motion via PRM:151). abort Task 2 operation. abort motion only, and continue with next program statement. Aerotech, Inc. Version 1.6 6-31 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 243: Limit Reset Distance Prm:128

    Refer to Table 6-24 for value settings. Table 6-24. Settings for Software Limit Reference (PRM:131) PRM:131 Function Feedback position 1 (default) Command position Aerotech, Inc. 6-32 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 244: External Interrupt Latch Source Prm:132

    R/D is latched (optional). To activate this parameter after it has been changed, the controller must be reset. To initialize a reset hit <CTRL>+<D>. Aerotech, Inc. Version 1.6 6-33 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 245: External Interrupt Mode Prm:133

    A(), or T() command but not a V() command. Example: D(100000) V(8000) T(.1) D(100000) D(12000) D(8000) T(.05) Aerotech, Inc. 6-34 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 246: External Interrupt Type Prm:134

    External Input Interrupt Line. To activate this parameter after it has been changed, the controller must be reset. To initialize a reset hit <CTRL>+<D>. Aerotech, Inc. Version 1.6 6-35 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 247: Velocity Feedback Type Prm:138

    Encoder 1. velocity feedback is Encoder 2. velocity feedback is ENC (optional interface). velocity feedback is R/D (optional interface). Aerotech, Inc. 6-36 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 248: Position Feedback Type Prm:139

    The default value for this parameter is 1.0. To change this, enter a floating point number greater than or equal to zero. Aerotech, Inc. Version 1.6 6-37 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 249: Scaled Trajectory Task 1 Variable Type Prm:144

    Window" controls the scaling. Modes 1 through 7, the "HLD" overrides the selected variable or register. Mode zero turns off the scaled trajectory algorithm. Aerotech, Inc. 6-38 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 250: Scaled Trajectory Task 1 Index (Pv/Bv/Lv/Fv)

    0% in one second. Ramp times are entered in units of seconds and are used for Task 1. The default value for this parameter is 1.0 (sec). To change this, enter a floating point number. Aerotech, Inc. Version 1.6 6-39...

  • Page 251: Scaled Trajectory Task 2 Variable Type Prm:148

    Task 2. The default value for this parameter is 1.0 (sec). To change this, enter a floating point number. Aerotech, Inc. 6-40 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 252: Spline Interpolation Mode Prm:152

    This command is used during setup for the cubic spline trajectory generation command, CAM(). A detailed description on the use of cubic spline trajectory generation can be found in Appendix C. Aerotech, Inc. Version 1.6 6-41 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 253: Spline Reference Mode Prm:155

    Same as mode 3 except position feedback is from encoder 2. Position feedback is from the resolver or inductosyn feedback (R/D option board required). Aerotech, Inc. 6-42 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 254: Spline Reference -Limit Prm:158

    Like parameter PRM:158, this parameter is applicable for all modes of operation specified in PRM:155 and PRM:161. The default value for this parameter is 0.0. Aerotech, Inc. Version 1.6 6-43 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 255: Spline Reference (+Limit) Prm:160

    PRM:153. Also, parameter PRM:159 should be set to a value less than the magnitude of PRM:153. Aerotech, Inc. 6-44 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 256: Spline Output Mode Prm:162

    3 of parameter PRM:162 is selected. The index number can range between 0x200 and 0xe0ff hexadecimal. The default for this parameter is 0xE000. Aerotech, Inc. Version 1.6 6-45 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 257: Drive Parameters

    Axis Calibration Backlash integer -100 Reserved *Brushless Commutation Type integer *Brushless Commutation Step/Cycle integer 1500 *Brushless Commutation Table Step Shift integer -127 Aerotech, Inc. 6-46 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 258: Stepper Power Stage Mode Prm:200

    (set in PRM:201). The default value for this parameter is 1.0 Amps. To change this, enter a floating point number from 0 to 20.0 Amps. Aerotech, Inc. Version 1.6 6-47...

  • Page 259: Stepper Resolution Prm:203

    (see PRM:204). The default value for this parameter is 4000.0 user units/sec. To change this, enter a floating point number. Aerotech, Inc. 6-48 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 260: Stepper Damping Enable/Disable Prm:207

    (PRM:205 and PRM:208, respectively). If PRM:205 and PRM:208 are set to low values, a slower correction velocity is necessary to keep the stepping motor from oscillating. Aerotech, Inc. Version 1.6 6-49 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 261: Servo Current Limit Trap Time Prm:213

    The default value for this parameter is 1 (±1 machine steps). To change this, enter an integer greater than or equal to zero. Aerotech, Inc. 6-50 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 262: Servo Peak Current Limit Prm:216

    6.5.20. Servo Feedforward On/Off PRM:222 This parameter enables or disables the velocity feedforward compensation to the PID Control Loop, refer to Figure 6-4. Aerotech, Inc. Version 1.6 6-51 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 263: Servo Position Error Trap Prm:223

    This parameter sets the maximum amount of feedback acceleration or deceleration allowed before causing a trap. REG:210 permits the user to view the feedback acceleration, refer to Figure 6-3. Aerotech, Inc. 6-52 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 264: Tune Minimum Frequency Prm:227

    This parameter sets the corner frequency (in Hertz) of the velocity loop. Increasing or decreasing this parameter raises and lowers the bandwidth of the velocity loop. The default value for this parameter is 20. Aerotech, Inc. Version 1.6 6-53 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 265: Table 6-45. Gear Mode Selections (Prm:231)

    Table 6-46 for selections. Table 6-46. Gear Source Selections (PRM:232) PRM:232 Function Encoder 1 Encoder 2 Virtual (Freerun) Number 3 selection permits freerun capability. Aerotech, Inc. 6-54 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 266: Gear Scale Factor Prm:233

    This parameter sets the upper limit of the axis calibration table array (refer to PRM:234). The default value for this parameter is 500. To change this, enter an integer between 100 and 1,000. Aerotech, Inc. Version 1.6 6-55 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 267: Axis Calibration Increment Size Prm:236

    REG:213. REG:211 contains the current uncompensated position command. REG:213 contains the current uncompensated position feedback. Aerotech, Inc. 6-56 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 268: Brushless Commutation Type Prm:239

    6000 3000 60mm BLMH BLMF 600000 120000 60000 12000 6000 3000 60mm * PRM:239 = 4 with the above values for PRM:240. Aerotech, Inc. Version 1.6 6-57 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 269 DEG = PRM:241*1.40625 To activate this parameter after it has been changed, the controller must be reset. To initialize a reset, hit <CTRL>+<D>. Aerotech, Inc. 6-58 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 270: System Parameters

    Reserved Reserved Command Buffer Partition integer Extension Buffer Partition integer String Buffer Partition integer Reserved Reset Delay on Motion integer 2000 10000 Aerotech, Inc. Version 1.6 6-59 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 271: Port Variable (Pv) Wait States Prm:300

    Entering a 24 provides the maximum background time of 2.4 msec for Task 2. To activate this parameter after it has been changed, the controller must be reset. To initialize a reset, hit <CTRL>+<D>. Aerotech, Inc. 6-60 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 272: Scaled Trajectory External Port Fetch On/Off Prm:303

    Servo Loop update time at 3.2 msec. To activate this parameter after it has been changed, the controller must be reset. To initialize a reset, hit <CTRL>+<D>. Aerotech, Inc. Version 1.6 6-61 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 273: Commutation Loop Update Time Prm:305

    0.8 msec. To activate this parameter after it has been changed, the controller must be reset. To initialize a reset, hit <CTRL>+<D>. Aerotech, Inc. 6-62 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 274: Encoder 1 Update Time Prm:307

    PRM:307 equal to or greater than the servo update time (set in PRM:304). To activate this parameter after it has been changed, the controller must be reset. To initialize a reset, hit <CTRL>+<D>. Aerotech, Inc. Version 1.6 6-63 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 275: Encoder 2 Update Time Prm:308

    PRM:308 equal to or greater than the servo update time (set in PRM:304). To activate this parameter after it has been changed, the controller must be reset. To initialize a reset, hit <CTRL>+<D>. Aerotech, Inc. 6-64 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 276: Enc Update Time Prm:309

    ENC update time at 12.8 msec. To activate this parameter after it has been changed, the controller must be reset. To initialize a reset, hit <CTRL>+<D>. Aerotech, Inc. Version 1.6 6-65 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 277: Resolver-To-Digital Update Time Prm:310

    3.2 msec. 2 (default) set the fault mask update time at 6.4 msec. set the fault mask update time at 12.8 msec. Aerotech, Inc. 6-66 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 278: Control Loop Checks Prm:312

    Library file generation and usage can only be accomplished with the MEM option (memory board option). See the UNIDEX 100 Memory Expansion Board Option Manual P/N EDU 136 for more information concerning this parameter. Aerotech, Inc. Version 1.6 6-67 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 279: Library Memory Limit Prm:316

    (1) in REG:302. The default value for this parameter is 0x329. To change this, enter a hexadecimal number that is an integer. Aerotech, Inc. 6-68 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 280: Table 6-62. Error Status Bit Definitions

    Runtime Error in Task 1 Run Time Error in Task 2 BIT 20 BIT 21 Axis Calibration Range Error Reserved BIT 22 BIT 23 Reserved Aerotech, Inc. Version 1.6 6-69 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 281: Figure 6-5. Decimal To Binary To Hexadecimal Conversion Chart

    Parameters UNIDEX 100/U100i and Software Figure 6-5. Decimal to Binary to Hexadecimal Conversion Chart Aerotech, Inc. 6-70 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 282: Error Status Latch Mask Prm:318

    Runtime Error in Task 1 Run Time Error in Task 2 BIT 20 BIT 21 Axis Calibration Range Error BIT 22 Reserved BIT 23 Reserved Aerotech, Inc. Version 1.6 6-71 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 283: Error Status Disable Mask Prm:319

    Runtime Error in Task 1 Run Time Error in Task 2 BIT 20 BIT 21 Axis Calibration Range Error Reserved BIT 22 BIT 23 Reserved Aerotech, Inc. 6-72 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 284: Error Status Service Request Mask Prm:321

    Runtime Error in Task 1 BIT 20 Run Time Error in Task 2 BIT 21 Axis Calibration Range Error BIT 22 Reserved BIT 23 Reserved Aerotech, Inc. Version 1.6 6-73 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 285: Error Status Auxiliary Mask Prm:322

    BIT 19 BIT 20 Run Time Error in Task 2 Axis Calibration Range Error BIT 21 BIT 22 Reserved BIT 23 Reserved Aerotech, Inc. 6-74 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 286: Error Status Freeze Mask Prm:323

    Runtime Error in Task 1 Run Time Error in Task 2 BIT 20 BIT 21 Axis Calibration Range Error Reserved BIT 22 BIT 23 Reserved Aerotech, Inc. Version 1.6 6-75 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 287: Error Status Task 1 Mask Prm:324

    Runtime Error in Task 1 BIT 20 Run Time Error in Task 2 BIT 21 Axis Calibration Range Error BIT 22 Reserved BIT 23 Reserved Aerotech, Inc. 6-76 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 288: Error Status Task 2 Mask Prm:325

    Runtime Error in Task 1 BIT 20 Run Time Error in Task 2 BIT 21 Axis Calibration Range Error BIT 22 Reserved BIT 23 Reserved Aerotech, Inc. Version 1.6 6-77 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 289: Error Status "+" Direction Mask Prm:326

    BIT 19 BIT 20 Run Time Error in Task 2 BIT 21 Axis Calibration Range Error BIT 22 Reserved Reserved BIT 23 Aerotech, Inc. 6-78 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 290: Error Status "-" Direction Mask Prm:327

    Runtime Error in Task 1 Run Time Error in Task 2 BIT 20 BIT 21 Axis Calibration Range Error Reserved BIT 22 BIT 23 Reserved Aerotech, Inc. Version 1.6 6-79 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 291: Command Buffer Partition Prm:330

    The default value for this parameter is 2000. To change this, enter an integer from 1 to 10000. ∇ ∇ ∇ Aerotech, Inc. 6-80 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 292: Chapter 7: Registers And Variables

    Base 16 - “Hexadecimal” uses a leading “0x” in front of the constant. For example: PV:0x100=1234 is equivalent to PV:256=1234 in base 10. Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 293: Communication Registers

    “octal” (e.g., REG:020 would be entered as REG:20 if it is IMPORTANT intended that the “20” be interpreted as a decimal number). Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 294: Table 7-1. Communication Registers Summary

    IEEE-488 Serial Poll Status integer Read Only IEEE-488 Address Status integer Read Only IEEE-488 Data In integer Read Only IEEE-488 Data Out integer Write Only Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 295: Figure 7-1. Connector P2 Bit To Input/Output For Registers

    The "Bit to Output Pin" correspondence for register REG:002 is shown in Table 7-3. Table 7-3. Bit Output for Register:002 Bit # Output # Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 296: Reg:001

    ROM bank select. Where: BIT 12 0=lower portion of program memory. 1=upper portion of program memory. Not Used BIT 13 BIT 14 Not Used Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 297: Port C Status (Read Only, Integer) Reg:004

    Current output range bit 1. BIT 5 BIT 6 Current output range bit 2. BIT 7 Mode type bit 0. BIT 8 Mode type bit 1. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 298: Timer Control/Status (Read/Write, Integer) Reg:005

    Mode 2 Mode 1 Mode 0 General Purpose I/O Timer Pulse Timer Toggle (not used) Input Width Input Period Timer Counter Event Counter Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 299: Rs-232-C Queue In Pointer (Read Only, Integer)

    (e.g., a difference of zero denotes no unprocessed character in the queue). Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 300: Queue Out Pointer (Read Only, Integer) Reg:011

    BIT 5 Set if PV:0x200 through PV:0xdfff are to be updated during power-up (requires MEM board option). Not used. BIT 6 - 23 Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 301: Compiler Error Line Number (Read Only, Integer)

    This section contains information on the counters and references the register addresses for each of the two counters. 7-10 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 302 If the jumpers are set to positions 2-3, the BW (borrow) and CY (carry) functions can be used to trigger the monostable outputs. Version 1.6 Aerotech, Inc. 7-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 303 The standard procedure for reading OSR into a variable is: BV:1=REG:20 or BV:1=REG:30 Table 7-10 contains the bit definitions for registers REG:020 and REG:030. 7-12 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 304: Reg:020 / Reg:030

    The standard procedure for writing either a variable value or a constant into the preset register is: REG:22=BV:1 or REG:32=BV:1 REG:22=<constant> or REG:32=<constant> Version 1.6 Aerotech, Inc. 7-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 305: Table 7-11. Bit Definitions For Master Control Registers

    The standard procedure for writing either a variable value or a constant into the master control register is: REG:23=BV:1 or REG:33=BV:1 REG:23=<constant> or REG:33 = <constant> The control functions can be combined. 7-14 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 306: 5.Input Control Regs (Write Only, Int.) Reg:024

    The standard procedure for writing either a variable value or a constant into the input control register is: REG:24=BV:1 or REG:34=BV:1 REG:24=<constant> or REG:34=<constant> Version 1.6 Aerotech, Inc. 7-15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 307: 6.Output Control Regs (Write Only, Int) Reg:025

    = Complemented borrow out (active low). = True borrow out (active high). = Borrow toggle flip-flop out. COMPT = Comparator out (active high). 7-16 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 308: R/D Counter Register (Read Only, Integer) Reg:038

    IEEE-488 device. For a more detailed description of this register refer to the data sheet for the NEC PD7210 interface chip. Version 1.6 Aerotech, Inc. 7-17 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 309: Ieee-488 Status Register 1 (Read Only, Integer)

    The controller provides this register for instances in which it is desired that an executing PGM file uses these registers to "interact" to another controller (running a similar PGM file) on another IEEE-488 device. 7-18 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 310: Ieee-488 Address Status (Read Only, Integer)

    IEEE-488 device. For a more detailed description of this register refer to the data sheet for the NEC PD7210 interface chip. Version 1.6 Aerotech, Inc. 7-19 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 311: Motion Registers

    This register is the position, in steps, of encoder #2. 7.3.3. R/D Position (Read/Write, long) REG:104 This register is the position, in steps, of the R/D option. 7-20 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 312: Enc Position (Read/Write, Long) Reg:105

    This register is the present ENC velocity (steps/sample). 7.3.9. External Interrupt Position Latch (Read Only, long) REG:113 This register latches the position (in steps) for an external interrupt. Version 1.6 Aerotech, Inc. 7-21 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 313: Drive Registers

    Read Only Axis Calibrated Position Command long Read Only Axis Calibrated Position Feedback long Read Only Axis Calibration Compensation long Read Only 7-22 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 314: Position Reset (Read/Write, Long) Reg:200

    Serious operational side-effects can be generated by the improper use of this register. This register is used by predefined macro command libraries supplied with U100 controller (e.g., MAC100 and DEF100 files). Version 1.6 Aerotech, Inc. 7-23 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 315: Averaged Velocity Feedback (Read Only, Long)

    (see PRM:234, PRM:235, PRM:236, and PRM:237) and subtracting the result from the present position command. This process occurs every 3.2 msec. 7-24 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 316: System Registers

    This bit is set when the index pulse for Encoder 1 or Encoder 2 is true. PRM:118 selects the encoder to be monitored. Version 1.6 Aerotech, Inc. 7-25 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 317: Error Status (Read Only, Integer) Reg:302

    Present position is less than zero Present position is greater than 16,000,000 steps Calibration Table size (PRM:235) is exceeded Reserved BIT 22-23 7-26 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 318: Axis Status (Read Only, Integer) Reg:303

    Motion command is present "DISABLE" fault mask processing in progress BIT 22 BIT 23 Home initiated since power up or software reset Version 1.6 Aerotech, Inc. 7-27 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 319: System Status (Read Only, Integer) Reg:304

    This bit is set if PRM:200 is set to a “2”. In this mode, recirculation remains on at all times, even during motion execution. BIT 14 Gear mode active. Axis Calibration Enabled BIT 15 7-28 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 320 Service Request Processing in Progress This bit indicates that a Service Request has been sent to the Host. See Chapter 5: Programming Commands for more information. Version 1.6 Aerotech, Inc. 7-29 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 321: Error Status "Active Mask" (Read Only, Integer) Reg:307

    Bit 18 disables the power amplifier (turning off the power amplifier). For all three definitions above, the default condition is to latch these conditions. 7-30 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 322: Variables

    An example of an equate statement to a floating point variable using BV:10 as the "index variable" is as follows. FV:BV:10 = 1.34 The statement above can be interpreted as follows: Version 1.6 Aerotech, Inc. 7-31 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 323: Numerical Data Types

    Example Statement: FV:1 = 1.234 Floating Point Notation: signed exponential, base 10 Example Statement: FV:10 = 3.456789e-3 ∇ ∇ ∇ 7-32 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 324: Chapter 8: Sample Programs

    (including comments, commands, etc.) becomes too large Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 325: Trapezoidal Move

    ; Set the distance equal to one inch. Turn off the ; glue and move another inch. ; Start the move. ; End the program. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 326: Thumbwheel Input For Distance

    Start the move. End the program. The DEF file below, referred to as DEF304, corresponds to the above program. BUTADR=PV:0xE001 THUMB=PV:0xE000 SIGN=PV:0xE001 BUTTON=BV:1 DIST=FV:1 Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 327: Display Readout

    This program would normally execute in one task while motion is performed in the other. This program only monitors position feedback and displays it. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 328: Operator Input From Ht

    ; End the while loop. ENDWHL ; End the program. The following file is the “DEF2” file that corresponds to PGM2 shown above. DIST=FV:1 CYCLE=BV:2 Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 329: Multitasking

    Set the DP variable equal to four. DW(.1) Set the dwell time equal to .1 second. GOTO:10 Jump to the block labeled 10. End the program. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 330 ;Ramp time of 100 mSec ;make move DW(1) ;dwell 1 second D(-10) ;move back 10 inches ;Make move DW(1) ;Dwell 1 second GOTO :20 ;Repeat program block Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 331: Data Logging On-The-Fly

    ; End the program. For the program above, the following parameter values apply. PRM:133=1 “Task2 interrupt” PRM:134=2 “Unlatched, edge low” PRM:135=2 “External Interrupt” Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 332: Master/Slave Move

    ; Set the distance equal to negative five. ; Start the move. GOTO:10 ; Jump to the block labeled 10. ; End the program. Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 333: Proportional Joystick

    ; Print the encoder position to the terminal screen. ENDIF ; End the IF statement. ENDWHL ; End the while loop. ; End the program. 8-10 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 334: Synchronized Trajectory Table Execution

    ; Get the next trajectory. GOTO:1 ; End the program. The user must enable the Encoder 2 update by adjusting parameter PRM:308. Version 1.6 Aerotech, Inc. 8-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 335: Using External Interrupt To Change A Motion Trajectory

    Disable the interrupt at end (note that the interrupt may or may not have occurred). ENDWHL End the outer loop. End the program. 8-12 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 336 The program trajectory is aborted and execution in PGM1 continues with the "DI" command. End the program. Version 1.6 Aerotech, Inc. 8-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 337: Initializing Counter Chip/Data Transfer From Preset Register

    Print the message to the terminal screen. GOTO:1 Go to the label #1 and repeat the function indefinitely. End of the program. 8-14 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 338: Transferring Data From The Counter To Output Latch

    Print the message to the terminal screen. GOTO:1 Go to the label #1 and repeat the function indefinitely. End of the program. Version 1.6 Aerotech, Inc. 8-15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 339: Using Comparator Outputs Of The Encoder Counter Chip

    When using comparator outputs of the encoder counter chip, jumpers JP22 and JP23 on controller control board must be placed in positions 1-2. Refer to Chapter 3: Hardware Configuration and Description, Figure 3-4. 8-16 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 340 DW(.5) Dwell for a period of 0.5 seconds. ENDWHL End the WHILE loop. End of the program. Version 1.6 Aerotech, Inc. 8-17 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 341: Borrow And Carry Control Outputs Of The Counter Chip

    Jumpers JP22 and JP23 must be placed in positions 2-3, refer to Figure 3-4 in Chapter 3: Hardware Configuration and Description. 8-18 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 342 ;Transfer PR to CNTR D(-50000) DW(2) ;Wait for 2 seconds INC(BV:2) ENDWHL REG:34 = 0x40 ;Disable P4 -3, 8, 2, 7 inputs Version 1.6 Aerotech, Inc. 8-19 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 343: Ieee-488 Program Examples

    Read 110 ENTER 704 USING 90 ; X$ Input BV:28 value 120 DISP X$ Display BV:28 value 130 END End of Program 8-20 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 344: Hp85 Retrieve Program From Unidex 100

    1050 B=1 Set serial poll flag 1060 ENABLE INTR 7 ; 8 @ RETURN Enable serial poll interrupt 1100 END End of Program Version 1.6 Aerotech, Inc. 8-21 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 345: Qb Immediate Mode Command

    8.17.4. QB Immediate Mode Command The following program is a Quick Basic program used to issue an immediate mode motion command to the UNIDEX 100. Initially, Aerotech wrote this program for the National Instruments GPIB board using the Universal language interface "HP-Style Calls".

  • Page 346: Qb Write And Read Bv Variable

    The following program is a Quick Basic program used to load BV:28 with a value of 10 and also read the value of BV:28 back. Aerotech wrote this program for the National Instruments GPIB board using the Universal Language. "HP-style Calls".

  • Page 347: Retrieve Program From Unidex 100

    8.17.6. Retrieve Program from UNIDEX 100 The following program is a Quick Basic program used to get a program from the UNIDEX 100. Aerotech wrote this program for the National Instruments GPIB board using the Universal language Interface "HP-Style Calls". This program will acquire program No.

  • Page 348: Chapter 9: Technical Details

    The other bank is used for system operations and is available for stack storage and storing the compiled version of an executing program. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 349: Figure 9-1. Control Board

    Technical Details UNIDEX 100/U100i and Software I CMD 2 I CMD 1 Figure 9-1. Control Board Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 350: Figure 9-2. Power Board (U100 Controller Only)

    UNIDEX 100/U100i and Software Technical Details MOTOR DRIVER D MOTOR DRIVER C MOTOR DRIVER B MOTOR DRIVER A Figure 9-2. Power Board (U100 Controller Only) Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 351: Motor Output Power (U100 Only)

    General practice is to not connect the shield at the motor end of the cable, refer to Figure 9-4. U100S MODEL 1050LT MOTOR High voltage at ENCODER these connections. Power cord plugs in here. Typical Aerotech Components Motor connector plugs in here. DCC CABLE Encoder/Limits connector plugs in here. Figure 9-3. DC Brush Motor System Aerotech, Inc.

  • Page 352: Stepping Motor Wiring

    General practice is to not connect the shield at the motor end of the cable, refer to Figure 9-6. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 353 Technical Details UNIDEX 100/U100i and Software U100M MODEL 140SMP MOTOR (HIGH VOLTAGE AT THESE CONNECTIONS) POWER CORD PLUGS IN HERE Typical Aerotech Components MOTOR CONNECTOR “INTEGRAL” CABLE PLUGS IN HERE Figure 9-5. Stepping Motor System STEPPING MOTOR PHASE B’ PHASE A B’...

  • Page 354: Ac Brushless Motor Wiring

    BMP1 CABLE PLUGS IN HERE ENCODER/LIMITS BFC CABLE CONNECTOR PLUGS IN HERE Typical Aerotech Components LIMITS CONNECTOR Figure 9-7. AC Brushless Motor System General practice is to not connect the shield at the motor end of the cable, refer to Figure 9-8.

  • Page 355: Limits And Primary Encoder Port (U100/U100I)

    (PRM:221) (PRM:222) P_cmd Kpos (PRM:218) (REG:202) (PRM:220) I_cmd (REG:204) (REG:208) Ki/s P_fbk V_fbk (PRM:219) (PRM:139) (PRM:138) (REG:203) (REG:205) Figure 9-9. U100/U100i Servo Loop Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 356: Encoder Interface

    COSINE-N – 08 03 – COSINE SINE-N – 07 02 – SINE MARKER-N – 06 01 – SHIELD Figure 9-11. Auxiliary Encoder Port (P4) Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 357: Limits Interface

    “+limit”, while counterclockwise (CCW) rotation is inhibited by the “-limit”. Viewing the motor from the mounting flange end of the motor determines motor rotation. Refer to Figure 9-14. Aerotech, Inc. 9-10 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 358 (normally open limit switch). To establish limit polarity with the controller, follow procedures for setting parameters in Chapter 6: Parameters. Aerotech, Inc. Version 1.6 9-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 359: Hall Effect Interface

    Figure 9-15. Hall Effect Input Circuit Aerotech brushless rotary motors are shipped from the factory with the correct motor phase to Hall effect device relationship established. This is essential for proper motor commutation. The parameter that affects this relationship is PRM:241 and is set at “-42”, refer to Figure 9-16.
  • Page 360 Observe the phase relationship of the motor phase to the Hall effect signal. It is necessary for the voltage generated by the motor phase A to be in phase with signal used as Hall effect A, refer to Figure 9-16. Aerotech, Inc. Version 1.6 9-13...

  • Page 361: Communications Port (U100/U100I)

    Figure 9-21 represents the circuit used for this interface. The advantage of the RS-422-A interface over the RS-232 is it provides higher noise immunity, eliminating oscillations and ensuring a cleaner signal. Aerotech, Inc. 9-14 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 362: Figure 9-19. Com Port (P1)

    Standard RS-232-C Interface SN75158 7 TXD – N 3 TXD SN75157 2 RXD 8 RXD – N 180 OHM Figure 9-21. Optional RS-422-A Interface Aerotech, Inc. Version 1.6 9-15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 363: I/O Port

    User programmable output Pin 7 Output 3 User programmable output Pin 27 Output 4 User programmable output Pin 8 Output 5 User programmable output Aerotech, Inc. 9-16 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 364: Digital Inputs Specifications

    5V power supply. Refer to Figure 9-23 for electrical characteristics of the input circuit. If opto-isolation is not necessary, 5 volts can be supplied from the U100 on-board supply. Aerotech, Inc. Version 1.6 9-17 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 365: Figure 9-23. Electrical Characteristics Of Opto-Isolated Input

    External Power Supply Voltage total =〉 − total =〉 Power Rating × Resistance (R) expressed in ohms. Power rating expressed in watts. Aerotech, Inc. 9-18 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 366: Digital Outputs Specifications

    Electrical Characteristics of Opto-Isolated Output All digital outputs must operate from the same power supply, since they all reference the same OUTPUT COMMON line (P2 - 25). Aerotech, Inc. Version 1.6 9-19 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 367: Analog Input And Output

    Amplifier Connector (U100i) The amplifier connector is only available on the U100i and provides the interface for input and output control connections between the U100i and Aerotech’s BA Series amplifiers or similar. Refer to Figure 9-26 for the amplifier connector pinout.

  • Page 368: Chapter 10: Troubleshooting

    If developing own application, we will need to know what compiler and version number being used (e.g., Borland C v3.1, Microsoft Visual C, etc.). If at all possible, try to be in front of the system where the problems are occurring. Aerotech, Inc. Version 1.6 10-1...

  • Page 369: Installation, Startup And Communication Problems

    This may result from installation of new software or corrupted 4.4. programs. memory. Perform SETUP function as described above and/or clear memory. Aerotech, Inc. 10-2 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 370: Motor And Related Problems

    If the position feedback encoder connects to P4, it is still necessary to connect the Hall effect switches to P3. Aerotech, Inc. Version 1.6 10-3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 371 R2, located near F4, so that shunt turns on when bus regeneration is 15% higher than the bus voltage. For the U100i, refer to the applicable amplifier manual. Aerotech, Inc. 10-4 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 372: Fault Conditions And Other Related Problems

    If PRM:217 matches the RMS current limit of the motor in use, the system exceeds the capabilities of the motor. Aerotech, Inc. Version 1.6 10-5 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 373 1. Active high hardware limits must have bits 8 and 9 set Chapter 6 to a 0. Section 6.6.18. ∇ ∇ ∇ Aerotech, Inc. 10-6 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 374: Chapter 11: Pid Loop Tuning

    AMPLIFIER) POSITION ERROR (PRM:219) (REG:208) V_fbk P_fbk (PRM:138) (PRM:214) (PRM:139) (REG:205) (REG:203) I_SWITCH VELOCITY LOOP POSITION LOOP Figure 11-1. U100/U100i PID Loop Aerotech, Inc. Version 1.6 11-1 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 375: Pid Gain Parameters

    F_switch is open). In the calculation under Kp, the “Maximum Motor Current Setting” is in amps and is set by jumpers JP13, JP18, and JP19. Aerotech, Inc. 11-2 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 376: Tuning The Pid Loop

    “10000”. With Kpos set to zero (0), the position of the motor will drift. If this can not be tolerated, set Kpos to a small value of “.01”. Aerotech, Inc. Version 1.6 11-3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 377 (no more than a quarter of a second after the commanded move ends). Too large a value will cause the motor to oscillate. Aerotech, Inc. 11-4 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 378 (pin 17 of the I/O connector P2). With the use of an O-scope and the probe connected to P2 - pin 17 and the reference connected to P2 - pin 16 view the velocity feedback signal. Aerotech, Inc. Version 1.6 11-5...

  • Page 379: Figure 11-2. Velocity Feedback Signals

    Kpos (PRM:220) causes a reduction in overshoot. However, this is only possible if Kp (PRM:218) and Ki (PRM:219) were adjusted properly as just described. ACCEPTABLE UNACCEPTABLE Figure 11-2. Velocity Feedback Signals Aerotech, Inc. 11-6 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 380: Parameters And The Effect Of Servo Loop Performance

    Error) in the program listed. Since position error magnitude is typically larger than velocity, it may be necessary to rescale PRM:142 (Digital to Analog Scale Factor). ∇ ∇ ∇ Aerotech, Inc. Version 1.6 11-7 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 381 PID Loop Tuning UNIDEX 100/U100i and Software Aerotech, Inc. 11-8 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 382: Chapter 12: Host Mode Operation

    “0x03” gets sent to the Host (applies to IEEE-488 and RS-232-C interface modes). The controller sends a host error code following the SRQ code. To determine the specific error code, refer Appendix D. Aerotech, Inc. Version 1.6 12-1...

  • Page 383: Service Request

    "Line #" Update for "Task 2 Window" Running in the RS-232 Host Mode only 0x07 Ready for Commands in Host Mode (RS-232 only) Aerotech, Inc. 12-2 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 384: Table 12-2. Task 1 Service Request Status Codes

    User Defined #10 0x2B User Defined #11 0x2C User Defined #12 0x2D User Defined #13 0x2E User Defined #14 0x2F User Defined #15 Aerotech, Inc. Version 1.6 12-3 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 385: Host Mode Command Set

    PC. This is useful for OEMs requiring all units to run with the same user-defined default parameters and programs. The HOST_100 files are on the UT100 disk that accompanies each controller. Aerotech, Inc. 12-4 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 386: Running A "Pgm:xx" File

    ASCII string containing the specified <command string> command. Chapter 6 lists the available controller command set. However, certain commands applicable immediate commands (e.g., GOTO:1). Aerotech, Inc. Version 1.6 12-5 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 387: Making A Copy Of A File

    <file number 2> number of file to be copied to. EXAMPLE: #FBA1<LF>2<LF> Copy file PGM1 to PGM2. Service request after copy. Aerotech, Inc. 12-6 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 388: Erasing A File

    (e.g., PGM:xx, DEF:xx, etc.). Syntax: #AB<LF> EXAMPLE: #AB<LF> Generate a file directory. After generating the directory the Service Request is sent. Aerotech, Inc. Version 1.6 12-7 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 389: Transfer A File From The Host To The Controller

    "C" for "MAC" file "D" for "CAM" file "E" for "LST" file "F" for "DIR" file <file number> number of selected file type to transfer. Aerotech, Inc. 12-8 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 390: Modify The Value Of A Parameter

    EXAMPLE: #FCAB39<LF>B3<LF> Modify parameter #139 to the value 3. After modifying the parameter value, the service request gets sent. Aerotech, Inc. Version 1.6 12-9 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 391: Retrieve The Value Of A Parameter

    PRM:033 is 33). EXAMPLE: #FCAA33<LF>A Retrieve the value of parameter PRM:033. After retrieving the parameter a service request gets sent. Aerotech, Inc. 12-10 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 392: Modify The Value Of A "Write Only" Register

    Modify the value of the write only register REG:008 to the hexadecimal value of 0x300. After modifying the register the service request gets sent. Aerotech, Inc. Version 1.6 12-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 393: Retrieve The Value Of A "Read Only" Register

    (e.g., the register number for REG:015 is 15). EXAMPLE: #FCBA15<LF> Retrieve the value of the read only register REG:015. After reading the register the service request gets sent. Aerotech, Inc. 12-12 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 394: Modify The Value Of A "Read/Write" Register

    #FCBC2<LF>B0<LF> Modify the value of a read/write register REG:202 to the value 0. After modifying the register the service request gets sent. Aerotech, Inc. Version 1.6 12-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 395: Retrieve The Value Of A "Read/Write" Register

    REG:202 is 02). EXAMPLE: #FCBC2<LF>A Retrieve the value of a read/write register REG:202. After reading the register the service request gets sent. Aerotech, Inc. 12-14 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 396: Modify The Value Of A Variable

    VAR:xx selected for retrieval. EXAMPLE: #FCCA33<LF>A Retrieve the value of the variable BV:33. After reading the variable the service request gets sent. Aerotech, Inc. Version 1.6 12-15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 397: Modify The Value Of A String Storage Buffer

    #FCD1<LF>A Retrieve the character string that is stored in the string variable SV:1. After reading the string the service request gets sent. Aerotech, Inc. 12-16 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 398: Move Out Of A Limit

    The user must send the F1 code to return to the host mode. (The F1 code is equal to 11 Hex or 17 Dec.) Aerotech, Inc. Version 1.6 12-17 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 399 The user must acknowledge the service request after the F1 code is sent to return to the host mode. (F1 is equal to 11 Hex or 17 Dec.) ∇ ∇ ∇ Aerotech, Inc. 12-18 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 400 (I/O) information can be stored. All devices (e.g., the U100 card, network cards, tape backup cards, etc.) within a computer must have unique I/O base addresses. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 401 0 and 1, etc. brushless motor - Aerotech brushless motors are three-phase, rare earth permanent magnet servo motors which generate a sinusoidal back EMF voltage and are usually referred to as AC brushless motors.
  • Page 402 Feedrate parameter [x17]). Feedrate errors are necessary because certain stages or motors have a maximum operating speed above which components may be damaged. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 403 - The home marker option is a type of encoder that can be used with stepper motors. This option provides an inexpensive way of establishing a very accurate home reference (usually within 0.1 microns, in most Aerotech equipment). The home marker is protected in a rugged housing that also provides terminal connections for the encoder, the motor and the limit switch.
  • Page 404 - Microstepping is a technique for driving stepping motors more smoothly and with higher resolution than full step control. Current is divided in a sine-cosine Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 405 A position error fault occurs if the current position error exceeds a programmable maximum position error (parameter x19). Position error is measured in machine steps. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 406 QuickBASIC - QuickBASIC is a popular compiler program from Microsoft, Inc. which provides an advanced number of features to the BASIC programming language. registers - reset - see initialization. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 407 - Tuning is the process of optimizing the operation of a servo system. variables - Variables are programming terms that are used as temporary storage locations for calculations. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 408 - A word is a number of bytes that are processed as a single unit by a computer. In the U100, a word consists of two bytes or 16 bits. ∇ ∇ ∇ Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 409 Appendix A UNIDEX 100/U100i and Software Aerotech, Inc. A-10 Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 410 Aerotech makes no warranty that its products are fit for the use or purpose to which they may be put by the buyer, whether or not such use or purpose has been disclosed to Aerotech in specifications or drawings previously or subsequently provided, or whether or not Aerotech’s products are specifically designed and/or manufactured for...
  • Page 411 UNIDEX 100/U100i and Software Returned Product Non- After Aerotech’s examination, the buyer shall be notified of the repair cost. At such time warranty Determination the buyer must issue a valid purchase order to cover the cost of the repair and freight, or authorize the product(s) to be shipped back as is, at the buyer’s expense.
  • Page 412 A, B, and C multiplied by the appropriate powers of the fractional part of the reference variable “x” and added to a constant coefficient D. A Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 413: Figure C-1. Diagram Of A Typical Spline Profile

    The numbers in parenthesis on the “x” axis are defined as the “Sub-Intervals” of the spline and are always equal to the number of spline points set by PRM:153. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 414 The starting point for the spline (set by PRM:159) is always relative to the current position of the controller, regardless of the controller being set for incremental or absolute mode (INCR or ABSL commands). Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 415 Since the “Scaled Trajectory Modifier” algorithm operates with it’s reference variable based on “time”, this reference scaling mode can only be utilized when parameter PRM:155 is set to 1 (time reference spline generation). Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 416: Figure C-2. Trajectory Generation Overview

    4.0001 to 3.9999, then the data in BV:3 will be sent. The data sent to the output location remains in a latched state until the next sub-interval transition. Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 417 This mode is also useful for passing status flags to a “HOST” program (communicating through the RS-232 or IEEE-488 interface), or monitor program running in the unused task. ∇ ∇ ∇ Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 418 In addition, the compiler errors are broken into three sections, one for each phase of compilation. The detailed description of these errors along with the transfer and Run Time errors are described in the sections that follow. Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 419: Table D-1. Pre-Compiler Error Codes

    Read Only register is placed at the left of the "=" sign or a Write Only register is placed in the variable (or variables) position to the right of the "=" sign. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 420: Post-Compiler Errors

    Encountered a "GOSUB:x" command without an associated "SUB:x" statement. Failed attempt to locate an "END" statement. Encountered a "GOTO:x" statement without an associated "LB:x" statement. Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 421: Host Errors

    Error encountered in erasing a machine or library image. Error encountered in writing to a library image. Attempted to read a machine image that has not yet been programmed. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 422 Attempted to read a machine image that has not yet been programmed. * May appear when in HT mode (menu mode via com_100.exe) when using the ARCHIVE utility. Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 423: Run Time Errors

    Less than four spline point data entries were detected in a CAM file. Data entries must be greater than or equal to four in order to compute a cubic spline. Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 424 Parameter 2 of "ARCH(<var or constant>,<BV: or constant>) can only be a BV: variable or integer constant. The value specified for parameter 2 of "ARCH()" command can only have a range from "0" through "0x3f" (decimal 63). Version 1.6 Aerotech, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 425 This error occurs if a RUN( ) command attempts to execute a program while Task 2 is busy (e.g., still running a program from a previous “RUN( )” command). ∇ ∇ ∇ Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 426 Brushless Commutation Type parameter, 6-57 Assign a value to, 5-60 Bus addresses Assign Names to Strings, 5-22 Display, 3-21 Assign Names to Variables, 5-22 INT option, 3-26 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 427 AND, 5-32 Communication Difficulty, 4-26 BEGIN, 5-22 Communication parameters, 6-2 CBI, 5-36 Communication port (P1), 9-15 CIB, 5-37 Communication Registers, 7-2 COS, 5-40 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 428 Distance in User Units to move/position, 5-42 Data Output Procedures, 3-26 Divide, 5-51 Data Types DOS Version, Recommended, 2-3 Parameters, 4-17 Downloading Files, 4-22 Registers, 4-17 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 429 Encoder counter circuits, 7-11 External Interrupt Position Latch register, 7-21 Encoder Counter Programming, 10-5 External Interrupt Source parameter, 6-35 Encoder Input Ports, 7-10 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 430 Host Mode Variable Value Modification, 12-15 GPIB interface, 7-19 Host Mode Variable Value Retrieval, 12-15 Graphics Display, Recommended, 2-3 Host Mode Write Only Register Modification, 12-11 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 431 Inspecting the UNIDEX 100 Controller, 2-3 Leadscrew Drive Application, 11-3 Installation of option boards, 3-33 LED Status Indicators, 3-3 Installation Problems, 10-2 LEDs, 3-2 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 432 Numerical Data Types, 7-32 MEM option board, D-8 Memory conventional (recommended), 2-3 extended, 2-3 OCR, 7-16 Memory Status, 4-11, 4-13 Offset from the Home Limit, 6-30 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 433 Command Segment Filter Coefficient, 6-26 Scaled Trajectory Task 1 Index (PV/BV/LV/FV), Command Segment Filter On/Off, 6-26 6-39 Commutation Loop Update Time, 6-62 Aerotech, Inc. viii Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 434 PID Loop Position Command, 7-23 Procedures for Corrupted Battery Backed Memory, 3- PID Loop Trap, 5-3 PID Servo Loop, 6-75 Procedures for Data Output, 3-26 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 435 Timer count, 7-8 Reading Programmed State of Outputs, 3-27 Relative Motion, 8-1, 8-2 Reading the Thumbwheel #1 Sign, 3-19 Remote LED, 3-5 Register Load, 7-14 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 436 Setting In-position Tolerance, 6-28 Running a "PGM:xx" File, 12-5 SETUP, 10-2 Setup Function, 3-24 Setup procedure, 4-26 SETUP.EXE file, 4-2 SETUP.LST file, 4-2 Safety Procedures, 1-6 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 437 Stepper Loop Update Time, 5-3 Task 2 Trajectory Scaling, 6-40 Stepper Loop Update Time parameter, 6-62 Task Control Functions, 12-17 Stepper Motor Commutation, 6-62 Task Interaction, 8-6 Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 438 U100 Firmware Update, 4-26 U100 Lock Up, 5-14, 12-2 U100 Main Menu Display, 2-9, 4-4 Warnings, 1-6 U100 power board, 9-3 Warranty Information, B-1 Aerotech, Inc. Version 1.6 xiii Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 439 +/- Limit Reset Distance parameter, 6-32 = command, 5-60 0x, 5-14, 12-2 100, 1-2 25-pin "D" Style Connector, 3-6 80386 microprocessor, 4-3 80486 microprocessor, 4-3 ∇ ∇ ∇ Aerotech, Inc. Version 1.6 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 440 Company name ________________ Address ________________ ________________ Remove this page from the document and fax or mail your comments to the technical writing department of Aerotech. AEROTECH, INC. Technical Writing Department 101 Zeta Drive Pittsburgh, PA. 15238-2897 U.S.A. Fax number (412) 963-7009...
  • Page 441 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 442 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...

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Unidex 100

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