Aerotech BA-Intellidrive BAI 10 User Manual
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Aerotech BA-Intellidrive BAI 10 User Manual

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  • 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 BA-I NTELLIDRIVE USER’S MANUAL P/N: EDU163 (V1.4) 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.aerotech.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 BAI amplifier and BAI software are products of Aerotech, Inc. Windows 95/NT are products of Microsoft Corporation. The BA-Intellidrive User’s Manual Revision History: Preliminary December 12,1997 Version 1.0 February 10, 1998...

  • Page 4: Table Of Contents

    Local Mode ................3-1 3.2.2. Remote Mode ............... 3-2 3.2.2.1. Enabling RS232 Remote Communications .... 3-2 3.2.2.2. Daisy Chain............3-3 3.3. Menu Commands................3-4 Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 5 Fault Acknowledge............. 3-25 3.5.9. Freerun ................3-26 3.5.10. Gain Command..............3-26 3.5.11. Gosub Command ..............3-27 3.5.12. Goto Command ..............3-27 3.5.13. Home Command..............3-27 Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 6 4.2.19. PRM:18 Velocity Feedforward VFF ......... 4-14 4.2.20. PRM:20 Operating Mode..........4-14 4.2.21. PRM:22 Position Save ............4-15 4.2.22. PRM:23 Reload Saved Position on Power-Up ....4-15 Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 7 PRM:96 Autorun Program on Power-Up ......4-32 4.4.7. PRM:97 Bootup Program Name ........4-33 4.4.8. PRM:98 Status on Power-Up ..........4-33 4.4.9. PRM:99 External Enable Polarity ........4-33 Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 8 Encoder/Limits/Hall Effects Port P3 ..........7-7 7.4.1. Encoder Interface ..............7-8 7.4.2. Limits Interface ..............7-8 7.4.3. Hall Effect Interface ............. 7-9 7.5. Servo Amplifier Specifications............7-13 Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 9 Amplifier Related Problems ............... 8-1 APPENDIX A: GLOSSARY OF TERMS..............A-1 APPENDIX B: WARRANTY AND FIELD SERVICE .......... B-1 INDEX ∇ ∇ ∇ Aerotech, Inc. viii Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 10 Figure 1-14. 20 – 80V Option................1-12 Figure 1-15. RS232 Daisy Chain ................1-14 Figure 2-1. Physical Setup of the BAI and Aerotech Motors (Application 1)..2-3 Figure 2-2. Remote Mode Configuration .............. 2-4 Figure 2-3. Local Mode Configuration ..............2-4 Figure 2-4.
  • Page 11 Back-Propagation Line Filter Connection ........7-17 Figure 7-16. Isolation Transformer Connection (eliminates torque disturbance) ..................7-18 Figure 7-17. BAI Amplifier Dimensions – 10/20/30..........7-19 Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 12 Preferred Mounting - 75/100 ............7-24 Figure 7-23. BAI Side View (75/100)..............7-25 Figure 7-24. BAI Top View (75/100) ..............7-25 ∇ ∇ ∇ Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 13 List of Figures BA Intellidrive User’s Manual Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 14 Settings for Input Command Offset PRM:29 ........4-17 Table 4-30. Settings for Default Velocity PRM:30 ..........4-18 Table 4-31. Settings for Jog Value PRM:31............. 4-18 Aerotech, Inc. Version 1.4 xiii Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 15 Settings for Autotune Distance PRM:204 ..........4-36 Table 4-81. Settings for Autotune Velocity Loop Bandwidth PRM:205 ....4-36 Table 4-82. Settings for Autotune Damping Factor PRM:206........4-37 Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 16 Electrical Specifications for BAI 10/20/30 ........... 7-13 Table 7-5. Electrical Specifications for BAI 50/75/100 ......... 7-14 Table 8-1. Amplifier Faults, Causes, and Solutions..........8-1 ∇ ∇ ∇ Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 17 List of Tables BA Intellidrive User’s Manual Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 18 BA Intellidrive User’s 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: BA Intellidrive/BA Sinedrive Conforms to the following product specifications: EMC: EN 55011: Class B Emissions...
  • Page 19 Regulatory Information BA Intellidrive User’s Manual Aerotech, Inc. xviii Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 20: Chapter 1: Introduction

    APPENDIX A: GLOSSARY OF TERMS Appendix A contains a list of terminology and abbreviations used in this manual. APPENDIX B: WARRANTY AND FIELD SERVICE Appendix B contains the warranty and field service policy for Aerotech products. Aerotech, Inc. Version 1.4...
  • Page 21 A customer survey form is included at the end of this manual for the reader’s comments and suggestions about this manual. Readers 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: é...

  • Page 22: Product Overview

    The BA-Intellidrive (BAI) is a single-axis indexer (refer to Figure 1-1). The indexer card is coupled with Aerotech’s BA Series amplifiers and can control either brush or brushless motors. The BAI consists of an amplifier, control board, and internal power supply.

  • Page 23: Indexer

    Refer to Figure 1-3 for an illustration of remote mode and local mode. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 24: Figure 1-3. Illustration Of Local And Remote Mode

    This could come from a PC or PLC (or other serial device). Example Commands: ‘IEN<CR>’ ‘IIN5500 F10000<CR>’ ‘IHO’ Figure 1-3. Illustration of Local and Remote Mode Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 25: Teach Mode

    (MMI [refer to Figure 1-5]). In addition, the BAI can operate in the Teach mode using the HT (Hand held Terminal), refer to Figure 1-6. Figure 1-4. Teach Mode (using DOS-based COM_BAI) Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 26: Figure 1-5. Teach Mode (Using Bai Mmi)

    Teach Mode (using BAI MMI) Enter Teach Mode by pressing “T” PMC-15 BFC-15 Inputs Figure 1-6. Teach Mode (using a Hand Held Terminal) Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 27: Clock And Direction

    For Windows NT, add the following line to the config.nt file in the winnt\system32 directory. DEVICE=%SystemRoot%\system32\ansi.sys Restart the PC after making these changes. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 28: Hardware Overview And Function

    BA-Intellidrive Hardware – 10/20/30 A Models AC Power Motor Connections LED Status Indicator Com Port I/O Port Encoder/Limits/Hall Effects Port P3 Figure 1-9. BA-Intellidrive Hardware – 50/75/100 Models Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 29: Bai 10/20/30

    Motor Connection AC Power Motor Cables Motor 110VAC or 220VAC Figure 1-10. Motor and AC Power Connections – 10/20/30 Models Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 30: Bai 50/75/100

    Auxiliary Power Input Ground Motor Connector A Motor Connector B Motor Connector C Ground Figure 1-11. Motor and AC Power Connections – 50/75/100 Models Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 31: Fusing And Inrush Limiting

    ALTERNATELY, 2 THERMISTORS CAN BE USED IN AC HI & LO FOR MULTIPLE AMPS IN PARALLEL. Figure 1-12. Fuse and Inrush Limiting – 10/20/30 Models Aerotech, Inc. 1-10 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 32 Motor connections are made through the A, B, and C connections on the front of the unit. BAI SERIES FUSING A.C. Input FUSES Figure 1-13. AC Input Fusing – 50/75/100 Models Aerotech, Inc. Version 1.4 1-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 33: Volt Option - Bai 10/20/30

    The internal power supply of the BA amplifier requires a minimum of 80VAC input to operate properly. Figure 1-14 shows the connection to the separate AC power board. The connection is made to the AC input board with a three terminal connector (Aerotech Part # ECK00213). 115/240 VAC 115VAC...

  • Page 34: Com Port

    9-pin “D” style connector located on the front of the BAI, refer to Figure 1-8. It consists of two signal lines; transmit (TXD) and receive (RXD); a ground, shield, and a 5V power supply line used to power the Aerotech HT. Table 1-1 contains the connector pinouts.

  • Page 35: Led Status Indicators

    The pinouts for the 25-pin connector are shown in Table 1-2. More detailed information about pin functions is in Chapter 7: Technical Details. Aerotech, Inc. 1-14 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 36: Encoder/Limits/Hall Effects Port (P3)

    (Home Limit). The Hall effect switch inputs are recommended for AC brushless motor commutation but not required. The pinouts for the connector is shown in Table 1-3. Aerotech, Inc. Version 1.4 1-15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 37: Table 1-3. Pinouts For The Encoder/Limits/Hall Effects Port (P3)

    Home Limit-N Hall Effect C 23, 25 CW Limit-N CCW Limit-N The maximum encoder frequency input is 2.5 MHz per signal. IMPORTANT Aerotech, Inc. 1-16 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 38: Safety Procedures And Warnings

    To minimize the risk of bodily injury, make certain that all electrical power switches (all switches external to the amplifier) are in the off position prior to making any mechanical adjustments. DANGER ∇ ∇ ∇ Aerotech, Inc. Version 1.4 1-17 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 39 Introduction BA Intellidrive User’s Manual Aerotech, Inc. 1-18 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 40 BAI. More detailed explanations about the BAI, programming commands, and parameters are in Chapter 3 through Chapter 8. IMPORTANT Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 41: Chapter 2: Getting Started

    Floppy Disk Drives 3 1/2" DSHD CD-ROM Windows Windows 95/98 or NT Windows 95/98 or NT 5.0 or higher 5.0 or higher Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 42: Inspection Of The Bai

    2.4. Inspection of the BAI 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 will arrive in less than perfect condition due to improper handling during shipment.

  • Page 43: Bai Cable Connections

    COM_BAI.exe and is used to execute programs or individual commands and checks the BAI’s status information. Hand Terminal RS232 Figure 2-3. Local Mode Configuration Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 44: Standard Installation Of The Software

    In order for the COM_BAI.exe program to function correctly in DOS, the ansi.sys drive must be added to the config.sys file. Using an editor, add the following command to the config.sys file: DEVICE=c:\dos\ansi.sys Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 45: Figure 2-5. Bai Display Window

    BAI Display Window Hit CTRL-D to reset the BAI. The display window will read "RESETTING", see Figure 2-6. Figure 2-6. BAI Resetting Window Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 46: Writing A Short Bai Program

    The extension must be "BAI." The filename can consist of characters or numbers, no other symbols are allowed. So, save this program to file by calling it "TEST1.BAI." Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 47: Figure 2-9. File Operations Screen

    Type U to upload the program file just created. The screen in Figure 2-10 appears. Figure 2-10. File and Parameters Transfer Screen Type F and the File Upload screen appears, refer to Figure 2-11. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 48: Figure 2-11. File Upload Screen

    Figure 2-13. This screen permits an auto run or block run of a program. Block run steps through the program line by line, whereas, auto run executes the program without user interaction. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 49: Figure 2-14. Enter File Screen

    This is a simple looping program, so the motor moves a distance of 4000 counts, stops for 300 milliseconds, then repeats another move of 4000 counts. Aerotech, Inc. 2-10 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 50: Bai Windows Software Interface

    (such as Notepad) to create your program and save the file with a .BAI extension. Uploading/Downloading and Running programs is taken care of in the Programs window. Figure 2-16 shows the Programs window. Aerotech, Inc. Version 1.4 2-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 51: Figure 2-16. Programs Window

    Figure 2-17 shows the BAI Software Interface Parameters Screen. Figure 2-17. Parameters Screen Aerotech, Inc. 2-12 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 52: Bai Mmi Windows Software Installation

    NULL modem cable is being used. Also, check to make sure the correct COM port on the PC is selected under the communication menu. Figure 2-18. MMI Main Screen Aerotech, Inc. Version 1.4 2-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 53: Figure 2-19. Mmi Text Editor Window

    Open the transfer window (Figure 2-20) by selecting File, then Transfer from the File pull-down menu. Figure 2-20. File Transfer Window (MMI) Aerotech, Inc. 2-14 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 54: Figure 2-21. Main Screen (Run Mode)

    Step, Cycle, and Stop buttons are half-toned. Highlight the "test2.bai" program in the box, then select the "Display Code" button. The lines of code for test2.bai are displayed in the box, refer to Figure 2-22. Aerotech, Inc. Version 1.4 2-15...

  • Page 55: Figure 2-22. Display Code (Main Screen)

    To run the program, select the Cycle button. Notice that the program cycles through the lines of code in the box as it cycles through the moves. Aerotech, Inc. 2-16 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 56: Parameters Screen - Bai Mmi

    Figure 2-23. Also, there is a Motor Profiles pull-down menu that permits the user to select a motor profile and type if using Aerotech’s motors or a generic motor profile if using non-Aerotech motors, refer to Figure 2-24.

  • Page 57: Figure 2-24. Motor Profiles Selection (Parameter Screen)

    It is very important that user download all new parameter settings before exiting the parameter screen. If the parameter settings are not downloaded, the previous settings are used and all new settings are lost. Aerotech, Inc. 2-18 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 58: Axis Scope Tuning Window

    - specifies distance and time measurement units for the plot display ½ Tools - used to enable and disable the display of four toolbars Figure 2-25. Axis Scope Window (BAI MMI) Aerotech, Inc. Version 1.4 2-19 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 59: Figure 2-26. Axis Scope Toolbars

    The Cursors option is used to display/hide the Cursors tool bar. This tool bar contains features that assist the operator in determining time differences between points on the plot as well as frequency information. The Cursors tool bar is illustrated in Figure 2-27. Aerotech, Inc. 2-20 Version 1.4...

  • Page 60: Tuning Procedure For Servo Loops

    Make a decision on whether to increase or decrease the value of the servo gain and if the observed signal is acceptable to move on to the next servo gain. Repeat. Aerotech, Inc. Version 1.4 2-21 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 61 Adjust Ki Gain Adjust Position Loop (Adjust Kpos Gain) Turn on Position Error & Integral Error FINISHED! Figure 2-28. Flowchart of Overall Tuning Process Aerotech, Inc. 2-22 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 62: Figure 2-29. Maximize Button On The Axis Scope Window

    IN 50000 F50000 for Forward Motion... and IN - 50000 F50000 for Reverse Motion... Also set the Sample Rate to 1. In the Tools menu select Status, Control, and Gains. Aerotech, Inc. Version 1.4 2-23 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 63 If the motor doesn’t move, Kp is too low. Increase the value of Kp and try again by pressing the Single button. If you are adjusting the gains that Aerotech has setup for your system, use the existing Kp as your starting point.

  • Page 64: Figure 2-30. Unacceptable Velocity Error

    BA Intellidrive User’s Manual Getting Started Figure 2-30. Unacceptable Velocity Error Figure 2-31. Acceptable Velocity Error (When Adjusting Kp) Aerotech, Inc. Version 1.4 2-25 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 65: Figure 2-32. Unacceptable Position Error (When Adjusting Ki)

    Shown in Figure 2-33 is a graph with a much better Ki. As can be observed from the position error, it is smoother and the position error does not cross over the horizontal axis. Moreover, the velocity error has been reduced as well. Aerotech, Inc. 2-26 Version 1.4...

  • Page 66: Figure 2-33. Plot Showing An Appropriate Value For Kpos

    For comparison, Figure 2-34 illustrates a plot where Kpos is too high. Figure 2-33. Plot Showing an Appropriate Value for Kpos Aerotech, Inc. Version 1.4 2-27 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 67: Figure 2-34. Plot Showing Overall Effects When Kpos Is High

    “Position Error” and the “Integral Error” back on by checking the boxes. This will reactivate these traps. Save and exit the Parameters window. Reinitialize the BAI. Aerotech, Inc. 2-28 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 68: Autotuning

    The torque should be examined even if gains were determined. Autotuning should be run again to achieve a better tuned system, if the torque is not generally sinusoidal with a peak value greater than one volt. Aerotech, Inc. Version 1.4 2-29...

  • Page 69: Figure 2-36. Autotune Plot Where "Dist" Has Been Set Too Low

    This stage should be retuned with the number of steps increased. Figure 2-36. Autotune Plot where “Dist” Has Been Set Too Low Aerotech, Inc. 2-30 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 70: Figure 2-37. Autotune Plot Where "Dist" Has Been Set Too High

    A resulting plot similar to this should identify the parameters of the motor/stage and produce gains that will allow the stage to be run adequately. Aerotech, Inc. Version 1.4 2-31...

  • Page 71: Figure 2-38. Autotune Plot Showing Proper Calibration

    Getting Started BA Intellidrive User’s Manual Figure 2-38. Autotune Plot Showing Proper Calibration Aerotech, Inc. 2-32 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 72: Tuning Tips

    DC brush motors. This ripple effect has been observed to be 10 machine steps peak with an unloaded AC brushless motor. Figure 2-39. Tuning Plot of an AC Brushless Motor ∇ ∇ ∇ Aerotech, Inc. Version 1.4 2-33 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 73 Getting Started BA Intellidrive User’s Manual Aerotech, Inc. 2-34 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 74: Chapter 3: Communication And Commands

    DOS-based emulation program on a PC. The first screen the user will see using the DOS emulation program is shown in . This is the tracking screen (COM_BAI). Figure 3-1. Tracking Screen Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 75: Remote Mode

    CTRL-A is a toggle between local and remote. The DOS terminal program, TERM_BAI.exe, can be used to operate the BAI in remote mode. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 76: Daisy Chain

    (0x00 to 0x1F) are global commands, (all the units in the chain [see Figure 1-15]) will be transmitted back to the PC. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 77: Menu Commands

    These parameters are discussed in Chapter 4: Parameters. Pressing the F1 key aborts changing the parameter. When changing the parameters, the user also sees the absolute parameter number. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 78: Figure 3-2. The Change Parameter Screen

    Chapter 4: Parameters. If the user enters a number for a parameter that is out of the allowable range, an error message appears. Figure 3-3. Example of Changing a Parameter in the Change Parameter Screen Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 79: D-Display Tracking Information

    1 = axis fault (cleared by FAULT ACK) bit 5: 1 = command is executing bit 6: 1 = service request pending bit 7: 1 = any error Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 80: O-Other Menus

    Regardless of the option chosen, the user will be prompted to enter the filename. If any errors occur, a message will be displayed. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 81: Read Register

    To display these error messages, the error message selection should be chosen from the menu. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 82: F-File Operations

    This command allows the user to change the displayed parameters. The parameter screens are circular, (i.e., if the user continually presses F3 or F2, they will eventually return to the starting screen). Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 83: F5 - Aborts Motion And Programs

    Enter Immediate Command Screen 3.3.9. S – Save Parameters to Flash This command saves all parameters, programs, and teach programs to flash memory. Aerotech, Inc. 3-10 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 84: T-Teach Mode

    (refer to Figure 3-10) or through the BAI Man Machine Interface (MMI [refer to Figure 3-11]). Figure 3-10. Teach Mode (using DOS-based COM_BAI) Aerotech, Inc. Version 1.4 3-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 85: Space Bar

    Figure 3-12. Teach Mode screen (COM_BAI.exe) 3.3.11. Space Bar Pressing the space bar cycles through the available commands on the top-level menu. Aerotech, Inc. 3-12 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 86: Bai System Commands

    Serial poll Reset unit Read parameter Read Register Save parameters to flash Define service request character Trigger Upload file Write Register Write Parameter Aerotech, Inc. Version 1.4 3-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 87: Program/Motion Abort

    ASCII string terminated by the < LF> character. The host should then send the ACK (0x6) character when it is ready to accept the data. If the host does not want to download this data, it should send the NAK (0x18) Aerotech, Inc. 3-14 Version 1.4...

  • Page 88: Format

    Refer to Table 3-4 for variable settings. The trigger command (TR) is also used to advance a program when running in blockmode. Aerotech, Inc. Version 1.4 3-15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 89: Execute Immediate Command

    The error message is cleared when a successful command is sent. The BAI will return the message followed by a <LF>. Example: "Error: Axis in limit" Aerotech, Inc. 3-16 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 90: Print Program "File" To Port

    Flash memory fault Estop fault Thermistor fault Hall A Hall B Hall C CCW limit encountered CW limit encountered Home Marker active Amp active Aerotech, Inc. Version 1.4 3-17 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 91: Return Axis Position

    1: 1 = program is currently running bit 2: set when: 1) Program runtime error. 2) Immediate command syntax error ("I..."). Aerotech, Inc. 3-18 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 92: Hardware Reset

    After changing a parameter, an SP must be issued to save the parameter to flash memory. Aerotech, Inc. Version 1.4 3-19 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 93: Read/Write Register

    Block has finished executing in BLOCK mode • Immediate command has finished execution • Runtime error in the program • Syntax error in the program Aerotech, Inc. 3-20 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 94: File Transfers - Upload File To Bai

    The maximum file size = 5KB with out comments. The total number of lines in a page is 500. 1 byte = 1 char. Aerotech, Inc. Version 1.4 3-21 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 95: Comment

    BAI, everything after the “;” is ignored and not stored in the flash memory. This was done to conserve memory. EXAMPLE: ;home axis RA 0.1 ;0.1 second ramp IN 1000 F2000 ;move 1000 units @2500 feedrate Aerotech, Inc. 3-22 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 96: Bai Motion And Program Commands

    Incremental mode Program stop Set the ramp time Register function Run teach program Return from subroutine Wait Move Wait for move to finish Aerotech, Inc. Version 1.4 3-23 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 97: Acceleration Command

    When this statement is reached in a program, the BAI will branch to label if the condition is true, otherwise it will continue with the next statement. The label must be defined elsewhere in the program. Aerotech, Inc. 3-24 Version 1.4...

  • Page 98: Disable Amplifier

    If the axis is in a limit, the FA command attempts to clear the limit by moving the motor in the reverse direction to back off of the limit switch. Aerotech, Inc. Version 1.4 3-25...

  • Page 99: Freerun

    This command changes the PID gains for the controller. The user can change either one or more of the gains. The gains can be listed in any order. The gains are not saved to flash memory after issuing this command. Aerotech, Inc. 3-26 Version 1.4...

  • Page 100: Gosub Command

    The BAI searches for the marker pulse (PRM:72) at feedrate given by PRM:64. After the marker is found, the motor moves an extra distance provided by PRM:65. Aerotech, Inc. Version 1.4 3-27 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 101: Index Command

    Before motion takes place, the trajectory generator determines if the move can be made with the given parameters. If the move cannot be made with the given parameters, adjustments are made to ensure that the final position is met. Aerotech, Inc. 3-28 Version 1.4...

  • Page 102: Command

    Command Syntax: LD x This command allows the user to load the position feedback with a register with an arbitrary value (x). Aerotech, Inc. Version 1.4 3-29 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 103: Loop Start And Loop End

    “ must be used. The contents of registers can also be printed. PM “Hello World <LF> PM RG38 <LF> Aerotech, Inc. 3-30 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 104: Position Mode - Absolute Or Incremental

    AC is used or PRM:210 ≠ 0, the ramp time will be ignored. EXAMPLE: RA .015 ;set ramp time to 15 milliseconds Aerotech, Inc. Version 1.4 3-31 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 105: Register Functions

    EXAMPLE: WA 50000 F RG33 ;start a move OT 110 ;change outputs IT 001 ;wait for input ;wait for move to complete Aerotech, Inc. 3-32 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 106: Teach Mode

    The second, third and fourth lines show the position, velocity and I/O pattern for the current index. In this case, the index is zero. The bottom right part of the screen shows the various options available to the user. The following sections describe these options. Aerotech, Inc. Version 1.4 3-33...

  • Page 107: Increment/Decrement Current Position

    This can be seen in Figure 3-16. Figure 3-16. Teach Screen for Position “0” (Showing Current Position and Teach, POS, VEL, and I/O Pattern) Aerotech, Inc. 3-34 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 108: I-Change The Index

    Pressing “Z” resets the teach program to zero’s. 3.6.1.6. S-Save the Teach Program Pressing “S” saves the teach program to the flash memory. Aerotech, Inc. Version 1.4 3-35 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 109: Sample Programs

    GS 20 ;gosub 20 GT 50 ;restart the program from the ;beginning LB 20 ;label 20 IN 34000 F20000 ;return from sub routine Aerotech, Inc. 3-36 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 110 IN -5000 F10000 This program will execute the move 10 times and after each, pulse output 0. After all 10 moves have completed, it returns home and sets output 1. Aerotech, Inc. Version 1.4 3-37 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 111 This program will simply execute a freerun while INPUT 0 is low. ;Start freerunning at 50000 FR 50000 ;CNTS/SECONDS IT XX1 FR 0 ;Change all of the outputs to zero ∇ ∇ ∇ Aerotech, Inc. 3-38 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 112: Chapter 4: Parameters

    Velocity Feedforward VFF 4-14 PRM:19 Moved to PRM:209 4-38 PRM:20 Operating Mode 4-15 PRM:22 Position Save 4-15 PRM:23 Reload Saved Position on Powerup 4-15 Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 113 4-27 PRM:68 Positive Software Limit 4-27 PRM:69 Deceleration Distance 4-28 PRM:70 +/- Limit Reset Distance 4-28 PRM:71 Check Move Against Software Limits 4-28 Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 114 4-36 PRM:206 Autotune Damping Factor 4-37 PRM:207 Start Frequency 4-37 PRM:208 Autotune Sampling Time 4-37 PRM:209 Clock Direction Multiplier 4-38 PRM:210 Acceleration 4-38 Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 115: Servo Loop Parameters

    8PHH6I9 ASPHÃ8GP8F 9DS@8UDPIÃDIQVU TDI@ÃX6W@ QSH)!%ÃQSH)!! ÃÃÃÃQSH)!$ 8PHHVU6UDPI QSH) #ÃQSH $ FD† QSH)  QPTDUDPI A@@9768F W@GP8DU` A@@9768F ASPHÃ@I8P9@S Figure 4-1. PID Control Loop Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 116: Prm:0 Proportional Velocity Gain Kp

    PID Control loop, refer to Table 4-4. Table 4-4. Settings for Proportional Position Gain PRM:2 PRM:2 Settings Default Value 15000 Maximum Value 2147483647 Minimum Value Type Long (32bit) Units Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 117: Prm:3 Incremental Change For Kp

    Table 4-6. Settings for Incremental Change for KI PRM:4 PRM:4 Settings Default Value Maximum Value 100000 Minimum Value Type Long (32bit) Units Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 118: Prm:5 Incremental Change For Kpos

    Table 4-8. Settings for Servo “In Position” Tolerance PRM:6 PRM:6 Settings Default Value Maximum Value 1000 Minimum Value Type Long (32bit) Units Counts Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 119: Prm:7 Servo Peak Current Limit

    Settings for Servo RMS Limit PRM:8 PRM:8 Settings Default Value Maximum Value Minimum Value Type Long (32bit) Units Percent (%) Requires a reset (CTRL-D) before taking effect. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 120: Prm:9 Servo Rms Current Timeout

    Settings for Servo Velocity Trap PRM:10 PRM:10 Settings Default Value Maximum Value 65535 Minimum Value Type Long (32bit) Units Counts/Samples Requires a reset (CTRL-D) before taking effect. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 121: Prm:11 Integral Clamp

    Settings for Position Error PRM:12 PRM:12 Settings Default Value Maximum Value 65535 Minimum Value Type Long (32bit) Units Counts Requires a reset (CTRL-D) before taking effect. Aerotech, Inc. 4-10 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 122: Prm:13 Servo Update Rate

       Refer to Table 4-16 for parameter settings. Requires a reset (CTRL-D) before taking effect. Table 4-17 shows values for PRM:14 when using Aerotech linear motors and common encoder resolutions. Aerotech, Inc. Version 1.4 4-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 123: Prm:15 Electrical Cycles/Mechanical Revolution

    Requires a reset (CTRL-D) before taking effect. Table 4-18. Settings for Electrical Cycles/Mechanical Revolution PRM:15 PRM:15 Settings Default Value Maximum Value Minimum Value Type Long (32bit) Units Aerotech, Inc. 4-12 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 124: Prm:16 Hall Effects Available

    Care must be taken to ensure that the peak current applied to the motor does not exceed the motor’s ratings. IMPORTANT Motor may jump during initialization. WARNING Requires a reset (CTRL-D) before taking effect. Aerotech, Inc. Version 1.4 4-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 125: Prm:18 Velocity Feedforward Vff

    Operating mode 4 uses the trajectory generator to generate motion. Operating mode 5 uses the an external clock/direction input to generate motion. Refer to Table 4-23 for parameter settings. Aerotech, Inc. 4-14 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 126: Prm:22 Position Save

    Table 4-25. Settings for PRM:23 PRM:23 Settings Default Value 0 (position is not reloaded) Maximum Value Minimum Value Type Long (32bit) Units Aerotech, Inc. Version 1.4 4-15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 127: Prm:24 Saved Position

    Settings for Low Pass Filter PRM:26 PRM:26 Settings Default Value 0 (filter is not enabled) Maximum Value Minimum Value Type Long (32bit) Units Aerotech, Inc. 4-16 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 128: Prm:27 Phase Offset

    Table 4-29. Settings for Input Command Offset PRM:29 PRM:29 Settings Default Value Maximum Value 1000 Minimum Value -1000 Type Long (32bit) Units Aerotech, Inc. Version 1.4 4-17 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 129: Prm:30 Default Velocity

    Table 4-31. Settings for Jog Value PRM:31 PRM:31 Settings Default Value 1000 Maximum Value 2147483647 Minimum Value Type Long (32bit) Units Counts Aerotech, Inc. 4-18 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 130: Prm:32 In Position Bit

    The thermistor input on the BAI assumes this type of device is used in the motor. Under normal operating conditions, the resistance of the thermistor is low (i.e., 100 ohms). The BAI will see this as a low signal. As the Aerotech, Inc. Version 1.4 4-19...

  • Page 131: Prm:36 Position Mode

    Refer to Table 4-35 for parameter settings. Table 4-35. Settings for Position Mode PRM:36 PRM:36 Settings Default Value Maximum Value Minimum Value Type Long (32bit) Units Aerotech, Inc. 4-20 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 132: Prm:37 Estop Action

    Refer Table 4-38 for parameter settings. Table 4-38. Settings for Registration Input PRM:40 PRM:40 Settings Default Value Maximum Value Minimum Value Type Long (32bit) Units Aerotech, Inc. Version 1.4 4-21 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 133: Prm:41 Encoder Scale Factor

    Table 4-40. Settings for I/O Read Time Delay PRM:42 PRM:42 Settings Default Value Maximum Value 15000 Minimum Value Type Long (32bit) Units Milliseconds Aerotech, Inc. 4-22 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 134: Prm:43 Trajectory Type

    Table 4-43 for parameter settings. Table 4-43. Settings for Estop Polarity PRM:45 PRM:45 Settings Default Value Maximum Value Minimum Value Type Long Units Aerotech, Inc. Version 1.4 4-23 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 135: Prm:46 Send Ack After Move Completes

    I*I*R, which is the power loss in the motor. Refer to Table 4-46 for parameter settings. Table 4-46. Settings for RMS Method PRM:52 PRM:52 Settings Default Value Maximum Value Minimum Value Type Integer Units Aerotech, Inc. 4-24 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 136: Limit Parameters

    This is the initial direction the axis takes to seek the home limit switch. Refer to Table 4-49 for parameter settings. Table 4-49. Settings for Home Direction PRM:62 PRM:62 Settings Default Aerotech, Inc. Version 1.4 4-25 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 137: Prm:63 Home Type

    Table 4-52. Settings for Home Ending Offset PRM:65 PRM:65 Settings Default Value Maximum Value 2147483647 Minimum Value -2147483647 Type Long (32bit) Units Counts Aerotech, Inc. 4-26 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 138: Prm:66 Home Marker Velocity

    Settings for Positive Software Limit PRM:68 PRM:68 Settings Default Value 2147483647 Maximum Value 2147483647 Minimum Value -2147483647 Type Long (32bit) Units Counts Aerotech, Inc. Version 1.4 4-27 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 139: Prm:69 Deceleration Distance

    Settings for Check Move Against Software Limits PRM:71 PRM:71 Settings Default Value 0 (distance not checked) Maximum Value Minimum Value Type Long (32bit) Units Aerotech, Inc. 4-28 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 140: Prm:72 Marker Type

    If set to 1, motion stops, but program execution continues. Refer to Table 4-61 for parameter settings. Table 4-61. Settings for Program Execution PRM:74 PRM:74 Settings Default Value Max. Value Min. Value Units Aerotech, Inc. Version 1.4 4-29 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 141: Prm:75 Home Velocity Out

    This parameter, when set, will turn off all outputs if a fault occurs. Refer to Table 4-64 for parameter settings. Table 4-64. Settings for Output Disable PRM:77 PRM:77 Settings Default Value Maximum Value Minimum Value Type Long Units Aerotech, Inc. 4-30 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 142: Communications/Startup Parameters

    Table 4-67. Settings for Displayable Digits PRM:92 PRM:92 Settings Default Value Maximum Value Minimum Value Type Long (32bit) Units Aerotech, Inc. Version 1.4 4-31 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 143: Prm:94 Unit Address

    Table 4-70. Settings for Autorun Program PRM:96 PRM:96 Settings Default Value 0 (do not autoboot) Maximum Value Minimum Value Type Long (32bit) Units Aerotech, Inc. 4-32 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 144: Prm:97 Bootup Program Name

    The external enable is found on P1-5. Refer to Table 4-73 for parameter settings. Table 4-73. Settings for External Enable Polarity PRM:99 PRM:99 Settings Default Value Maximum Value Minimum Value Type Long (32bit) Units Aerotech, Inc. Version 1.4 4-33 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 145: Prm:100 Display Type

    PRM:101. Refer to Table 4-76 for parameter settings. Table 4-76. Settings for PRM:102 PRM:102 Settings Default Value Maximum Value Minimum Value Type Long Units Aerotech, Inc. 4-34 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 146: Miscellaneous

    Table 4-79. Settings for Filter Cutoff PRM:202 PRM:202 Settings Default Value 500.0 Maximum Value 20000.0 Minimum Value Type Float Units Aerotech, Inc. Version 1.4 4-35 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 147: Prm:204 Autotune Distance

    Table 4-81. Settings for Autotune Velocity Loop Bandwidth PRM:205 PRM:205 Settings Default Value Maximum Value Minimum Value Type Float Units Aerotech, Inc. 4-36 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 148: Prm:206 Autotune Damping Factor

    Refer to Table 4-84 for parameter settings. Table 4-84. Settings for Autotune Sampling Time PRM:208 PRM:208 Settings Default Value Maximum Value 1000 Minimum Value Type Integer Units Milliseconds Aerotech, Inc. Version 1.4 4-37 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 149: Prm:209 Clock/Direction Multiplier

    Table 4-86. Settings for Acceleration PRM:210 Settings Default Value Maximum Value 5.1x10 Minimum Value Type Float Units User units/sec ∇ ∇ ∇ Aerotech, Inc. 4-38 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 150: Chapter 5: Registers

    RR 2 <ENTER> PC 13562 <LF> BAI If the "FM 1" command is issued, the status returns as a hex number that is easier to interrogate. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 151: Rg3 Position Feedback

    5.1.8. RG8 Firmware Version This register contains the current version of the firmware in flash memory. Example: RR 8 <ENTER> PC 241 <LF> BAI Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 152: Rg9 Velocity Command

    ;start motor moving at 35000 units/sec LB 10 CT 10 RG14<20000 ;stay at this speed for 5 seconds FR 0 :decel motor to zero ∇ ∇ ∇ Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 153 Registers BA Intellidrive User’s Manual Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 154: Chapter 6: Mode Of Operation

    This can be seen in Figure 6-1, which shows an example move. Figure 6-2 shows the same move with the S-curve profile. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 155: Modes Of Operation

    Trapezoidal Motion Profile FEEDRATE IN 100000 F50000 50000 TIME RAMP TIME (PRM:201) POSITION IN 100000 F50000 100000 TIME Figure 6-2. Sinusoidal Motion Profile (S-curve) Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 156: Clock And Direction

    P1-8 clock) and P1-7 direction). During each servo cycle, the BAI reads the clock counter and uses this information as the position/velocity command. The maximum clock frequency into P1-8 is 1 MHz. ∇ ∇ ∇ Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 157 Modes of Operation BA Intellidrive User’s Manual Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 158: Chapter 7: Technical Details

    BAI Board Jumper Selections Jumper Position Mode 5V Input common 24V Input common Brushless Brush Remove power from unit before changing jumpers. DANGER Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 159: The I/O Port

    Input Common Analog Input - Direction Thermistor Clock Restore/Reset Output Common Amplifier Fault Out Out1 Out2 * Do not connect to the NC pins. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 160: Restore/Reset Signal

    With PRM:37=2, the motor will servo to a controlled stop, and then the amp. will disable. The rate of deceleration is determined by the ramp time parameter PRM:201. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 161: Thermistor Input Signal

    Register 12. The data can be used to dictate program flow. 7.3.6. Opto-Isolated Inputs There are three general purpose opto-isolated inputs on the BAI. shows the Figure 7-4 electrical characteristics of each input. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 162: Opto-Isolated Outputs

    See Section 4.4.11. for details on how to set the BAI up for a general purpose fault output. The electrical characteristics of each output is shown in the Figure 7-5. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 163: Figure 7-5. Electrical Characteristics Of Opto-Isolated Output

    The maximum external power supply voltage is 80 volts. EXAMPLE: Using a 24Vdc external supply, find R − 1180 ohms 0 02 The fault output signal is also an opto-isolated output. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 164: Encoder/Limits/Hall Effects Port P3

    Hall Effect A Home Limit-N Hall Effect C 23, 25 CW Limit-N CCW Limit-N The maximum encoder frequency input is 2.5 MHz per signal. IMPORTANT Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 165: Encoder Interface

    (CCW) is inhibited by the “CCWlimit”. Refer to Figure 7-7 for limit switch circuitry. 10K (x3) CWLIMIT .01uF CCWLIMIT .01uF HOME LIMIT .01uF Figure 7-7. Limit Switch Input Circuit Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 166: Hall Effect Interface

    Figure 7-8. 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:27 and is set at “0”.

  • Page 167: Figure 7-10. Motor Rotation (From Mounting Flange End)

    Motor voltage is monitored without power applied to the motor. Before performing the following steps, remove all connections to the motor except the wye resistor network. Remove all mechanical connections to the motor shaft. Aerotech, Inc. 7-10 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 168 Repeat this process for the other two motor phases Using this procedure, connect the Hall effect signals with the appropriate motor phases as shown in Figure 7-8. Aerotech, Inc. Version 1.4 7-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 169: Figure 7-11. Motor Phase Voltage Observation Scheme

    Motor Phase Voltage Observation Scheme Hall Effect A, B, and C Encoder Connector O-Scope Probe Figure 7-12. Encoder Phase Voltage Observation Scheme Aerotech, Inc. 7-12 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 170: Servo Amplifier Specifications

    Programmable Outputs Standard Outputs Fault Standard Inputs Enable The input and output voltages require different units, consult the factory for more information. Aerotech, Inc. Version 1.4 7-13 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 171 Programmable Outputs Standard Outputs Fault Standard Inputs Enable The input and output voltages require different units, consult the factory for more information. Aerotech, Inc. 7-14 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 172: Ac Input And Motor Wiring

    If possible, do not route motor cables near cables carrying logic signals and use shielded cable to carry logic signals. Aerotech, Inc. Version 1.4 7-15 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 173 This configuration is especially important if the BAI amplifier is operating at DC bus voltages of 160 VDC or 320 VDC (e.g., 115 VAC or 230 VAC input power). Figure 7-14. Wiring to Minimize EMI and Capacitive Coupling (BAI 50) Aerotech, Inc. 7-16 Version 1.4...

  • Page 174: Minimizing 50/60 Hz Line Interference

    This configuration is especially important if the BAI amplifier operating at DC bus voltages of 160 VDC or 320 VDC (e.g., 115 VAC or 230 VAC input power). Figure 7-15. Back-Propagation Line Filter Connection Aerotech, Inc. Version 1.4 7-17 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 175: Figure 7-16. Isolation Transformer Connection (Eliminates Torque Disturbance)

    This configuration is especially important if the BAI amplifier is operating at DC bus voltages of 160 VDC or 320 VDC (e.g., 115 VAC or 230 VAC input power). Figure 7-16. Isolation Transformer Connection (eliminates torque disturbance) Aerotech, Inc. 7-18 Version 1.4...

  • Page 176: Bai Amplifier Dimensions

    177.8 [7.00] A E R O T E C H ® 169.4 [6.67] Typ. ENABLE DRIVE COMPONENTS DIVISION 186.7 [7.35] COM. ENC. AEROTECH, INC. PITTSBURGH, PA USA 4.4 [.17] 4.8 [.19] 82.0 [3.23] 12.7 [.50] Typ. Typ. Typ. Typ. 132.6 [5.22] 73.8 [2.91]...
  • Page 177 217.9 [8.58] ACTIVE 231.4 [9.11] AEROTECH 182.9 [7.20] Typ. ENABLE DRIVE COMPONENTS 213.4 [8.40] DIVISION COMM AEROTECH, INC. PITTSBURGH, PA USA 24.1 [.95] 50.8 [2.00] 152.4 [6.00] Typ. Typ. Dimensions – Millimeters [Inches] Typ . 28.6 [1.13] BAI100 85.9 [3.38] Typ .

  • Page 178: Mounting Procedures For The Bai 10/20/30/50

    BA Intellidrive User’s Manual Technical Details 7.7.1. Mounting Procedures for the BAI 10/20/30/50 To ensure proper heat dissipation, Aerotech recommends the following procedures (for the BAI 10/20/30/50): Use the mounting procedure shown in Figure 7-20. The wider part of the amp should be mounted to the heat sink.

  • Page 179: Figure 7-20. Bai Top View (Preferred Mounting - 10/20/30/50)

    BAI Top View (Preferred Mounting – 10/20/30/50) It is advisable that the amplifier be mounted lying flat on a metal panel not less than two square feet for better heat dissipation. Refer to Figure 7-21. Aerotech, Inc. 7-22 Version 1.4...

  • Page 180: Mounting Procedures For The Bai 75/100

    Preferred Mounting of BAI Amplifiers (10/20/30/50) 7.7.2. Mounting Procedures for the BAI 75/100 To ensure proper heat dissipation, Aerotech recommends the following procedures: Use the mounting procedure shown in Figure 7-22. The wider part of the amp should be mounted to the heat sink.
  • Page 181 Technical Details BA Intellidrive User’s Manual Metal Panel (Preferred mounting for better heat dissipation) Figure 7-22. Preferred Mounting (75/100) Aerotech, Inc. 7-24 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 182 BA Intellidrive User’s Manual Technical Details BAI100 BAI75 Figure 7-23. BAI Side View (75/100) BAI75 BAI100 Figure 7-24. BAI Top View (75/100) ∇ ∇ ∇ Aerotech, Inc. Version 1.4 7-25 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 183 Technical Details BA Intellidrive User’s Manual Aerotech, Inc. 7-26 Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 184: Chapter 8: Troubleshooting

    There is problem with the system registry. Run REG95.BAT or REGNT.BAT file error when attempting to open the that are included in the installation. For more information, refer to the parameters screen. README.TXT file. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 185 Kp, Ki, and Kpos. There are offsets in the D/A converters. Adjusting parameters 38 and 39 can help null out these offsets, however, it is a precarious process. For additional help, contact Aerotech. When I connect the serial Problem with the serial cable.

  • Page 186: Appendix A: Glossary Of Terms

    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 187 "0x" rather than using the subscript 16. For example, the hexadecimal number 12A5 is written 0x12A5. Numbers without the preceding "0x" are assumed to be decimal unless otherwise indicated. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 188 Popup windows typically contain fields (for additional information to be supplied), buttons (to acknowledge or cancel a particular operation, for example) or a combination of both. Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 189 Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 190 - 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 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 191 Appendix A BA Intellidrive User’s Manual Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 192 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 193: Appendix B: Warranty And Field Service

    Warranty and Field Service 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 194 COM_BAI.exe, 1-6 EMI, 7-17 Commands, 3-1, 3-23 EMI interference, 7-15 Comment, 3-22 Enable Amplifier, 3-25 Communication, 3-1 Enable/Disable Daisy Chain, 4-32 Communication modes, 1-2 Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 195 Kp Proportional gain, 2-24 Hall Effects Available, 4-13 Kpos Position gain, 2-27 Hall effects port, 1-15, 7-7 Hand held Terminal, 2-3 Hard Disk Space, Recommended, 2-2 Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 196 20, 4-14 Back-propagation, 7-17 200, 4-35 Null modem cable, 2-5 201, 4-35 202, 4-35 Autotune distance, 4-36 Offset to Marker, 4-29 Operating Mode, 4-14 Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 197 Safety procedures, 1-17 91, 4-31 Safety Procedures, 1-17 92, 4-31 Sample programs, 3-36 94, 4-32 Save parameters, 3-10 95, 4-32 Save programs, 3-20 Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 198 Teach Mode, 3-11, 3-33 Set parameter, 3-19 Teach program, 3-33 Writing a program, 2-7, 2-14 Technical details, 7-1 Thermistor Input Signal, 7-4 ∇ ∇ ∇ Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 199 Index BA Intellidrive User’s Manual Aerotech, Inc. Version 1.4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 200 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) 967-6870...
  • Page 201 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 202 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 •...

This manual is also suitable for:

Ba-intellidrive bai 50Ba-intellidrive seriesBa-intellidrive bai 75Ba-intellidrive bai 20Ba-intellidrive bai 100Ba-intellidrive bai 30

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