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Aerotech UNIDEX 600 Series User Manual

Pc based isa bus controller
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Aerotech UNIDEX 600 Series 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 UNIDEX® 600 S ERIES ’ UIDE P/N: EDU157 (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.aerotechinc.com...
  • Page 3 Our web site is continually updated with new product information, free downloadable software and special pricing on selected products. UNIDEX 600 and UNIDEX 650 are products of Aerotech, Inc. Windows, Windows 95, and Windows NT are registered trademarks of Microsoft.

  • Page 4: Table Of Contents

    Configuring a Spindle (Open-Loop Velocity Mode).... 2-9 2.4. Motor Units (Resolution and Direction).......... 2-10 2.4.1. Linear vs. Rotary type ............2-10 2.4.2. Motor Resolution ............... 2-10 2.4.3. Motor Direction..............2-10 2.5. Drive Signals ..................2-11 2.6. Axis Faults..................2-11 Aerotech, Inc. Version 1.4...
  • Page 5 The Prompt ..................4-3 4.3.1. Entering Commands ............. 4-3 4.3.2. Special Keys................. 4-4 4.3.3. Help ..................4-5 4.4. Axis and Faultmask Configurations............ 4-6 4.4.1. Configuring an Axis ............. 4-7 4.4.1.1. CONFIGRESOLVER - Resolver or Inductosyn Feedback ..............4-7 Aerotech, Inc. Version 1.4...
  • Page 6 4.6.24. EXELINE (“command string”) .......... 4-26 4.6.25. EXEPRG (filespec) ............4-26 4.6.26. EXIT .................. 4-26 4.6.27. GETPROG ................. 4-26 4.6.28. INFO .................. 4-26 4.6.29. IOGET (type) (point_number) ........... 4-27 4.6.30. IOMON (type) (point_number).......... 4-27 4.6.31. IOSET (type) (point_number) (value)........ 4-28 Aerotech, Inc. Version 1.4...
  • Page 7 4.6.76. RESET ................4-40 4.6.77. RGINFO [device_id] [card_num] ........4-40 4.6.78. RL (address) ............... 4-40 4.6.79. RW (address)..............4-40 4.6.80. SPENDANTTEXT (channel) (line #) (text)....... 4-41 4.6.81. TK (task_number) .............. 4-41 4.6.82. TSKASSOC (filespec) ............4-41 Aerotech, Inc. Version 1.4...
  • Page 8 5.4.2.1. Amplitude of Excitation in AutoTune....5-13 5.4.2.2. Excitation Amplitude will exceed Velocity Trap Limit..............5-13 5.4.2.3. Units: Inches/Degrees or Counts......5-13 5.4.2.4. Starting Frequency for Excitation in AutoTune ... 5-13 5.4.2.5. Ending Frequency for Excitation in AutoTune ..5-13 Aerotech, Inc. Version 1.4...
  • Page 9 Overview .................... 7-2 CHAPTER 8: AERREG ................... 8-1 8.1. Introduction ..................8-1 8.2. Editing Registry Entries..............8-1 8.2.1. Finding and/or Creating a “Card 1” Entry ......8-1 8.2.2. Modifying the “Card 1” Entry ..........8-2 Aerotech, Inc. viii Version 1.4...
  • Page 10 12.4.6.8.Configuring Dual Loop Axes......12-18 12.4.7. Configuring Axis Calibration Data........12-19 12.4.8. Saving an Axis Configuration .......... 12-20 12.5. Scaling and Feedrates ..............12-21 12.6. Home Cycle Configuration............. 12-22 12.7. Asynchronous and G0 Accel/Decel Parameters ......12-24 Aerotech, Inc. Version 1.4...
  • Page 11 ALPHA.................C-7 C.2.8. ALT_STATUS ..............C-7 C.2.9. AUX (Mode) Output ............C-8 C.2.10. AUXDELAY................C-9 C.2.11. AUXMASK................C-9 C.2.12. AUXOFFSET...............C-9 C.2.13. AUXVELCMD ..............C-9 C.2.14. AVGVEL ................C-10 C.2.15. AVGVELTIME..............C-10 C.2.16. B0/B1/B2/A1/A2..............C-10 C.2.16.1. A Typical Low-Pass Filter ......C-11 C.2.17. BASE_SPEED ..............C-12 C.2.18. BRAKEMASK..............C-12 Aerotech, Inc. Version 1.4...
  • Page 12 Mode) ............C-26 C.2.54. INPOSLIMIT ..............C-27 C.2.55. INTMASK .................C-27 C.2.56. IOLEVEL................C-27 C.2.57. IVEL ..................C-28 C.2.58. KI ..................C-28 C.2.59. KP ..................C-28 C.2.60. MASTERLEN..............C-29 C.2.61. MASTERPOS ..............C-29 C.2.61.1. Master Axis Selection ........C-30 C.2.62. MASTERRES ..............C-30 C.2.63. MAX_PHASE..............C-30 C.2.64. MAXCAMACCEL ............C-30 Aerotech, Inc. Version 1.4...
  • Page 13 C.2.100. VELTIMECONST .............C-43 C.2.101. VFF ..................C-44 C.2.102. VGAIN................C-44 C.3. Machine Parameters................C-45 C.3.1. Modifying a Machine Parameter within a CNC Program ................C-46 C.3.2. AvgVelUnits...............C-46 C.3.3. AxisState ................C-46 C.3.4. CntsPerDeg.................C-46 C.3.5. CntsPerInch ................C-47 C.3.6. ControllingTask..............C-47 C.3.7. FixtureOffset ..............C-48 Aerotech, Inc. Version 1.4...
  • Page 14 TYPE 0 - Home to Limit AND Reference Pulse .............C-50 C.3.18.2. TYPE 1 - Home into Limit & Reverse to Reference Pulse, (Aerotech Std.) ....C-50 C.3.18.3. TYPE 2 - Home to Marker ......C-51 C.3.18.4. TYPE 3 - Quick Home to Limit Switch..C-52 C.3.18.5.
  • Page 15 C.4.31. CutterY................C-73 C.4.32. DecelOnProgramAbortMask ..........C-74 C.4.33. DecelRate ................C-74 C.4.34. DecelRateDPS2..............C-74 C.4.35. DecelRateIPS2 ..............C-74 C.4.36. DecelTimeSec ..............C-75 C.4.37. DryRunLinearFeedRateIPM..........C-75 C.4.38. DryRunRotaryFeedRateRPM ..........C-75 C.4.39. ErrCode ................C-75 C.4.40. EStopInput................C-75 C.4.41. ExecuteNumLines ..............C-75 C.4.42. ExecuteNumMonitors............C-77 C.4.43. ExecuteNumSpindles ............C-77 C.4.44. FeedHold ................C-77 Aerotech, Inc. Version 1.4...
  • Page 16 C.4.79. MaxRadiusAdjust...............C-85 C.4.80. MaxRadiusError..............C-85 C.4.81. MFO...................C-86 C.4.82. Mode1 ................C-86 C.4.83. MSO...................C-88 C.4.84. NormalcyToleranceDeg .............C-88 C.4.85. NormalcyAxis ..............C-88 C.4.86. NormalcyX.................C-89 C.4.87. NormalcyY.................C-89 C.4.88. Number................C-89 C.4.89. NumTaskAxisPts..............C-89 C.4.90. NumTaskDoubles...............C-89 C.4.91. NumTaskStrings..............C-89 C.4.92. ROReq1................C-89 C.4.93. RIAction1................C-90 C.4.94. RIActionAxis ..............C-91 Aerotech, Inc. Version 1.4...
  • Page 17 C.4.137. SlewPair8 .................C-104 C.4.138. SlewPair# Example ............C-104 C.4.139. Task Modes ..............C-104 C.4.140. Status1 ................C-105 C.4.140.1. CNC Program Active ........C-106 C.4.140.2. CNC Program Executing......C-106 C.4.140.3. CNC Program Aborted .......C-106 C.4.141. Status2 ................C-106 C.4.141.1. Spindle FeedHold Active ......C-107 Aerotech, Inc. Version 1.4...
  • Page 18 Measurement Mode............C-117 C.5.10. NumCannedFunctions ............C-117 C.5.11. NumDecimalsCompare ............C-118 C.5.12. NumGlobalAxisPts............C-118 C.5.13. NumGlobalDoubles............C-118 C.5.14. NumGlobalStrings............C-118 C.5.15. ThrowTaskWarningsAsFaults ..........C-118 C.5.16. UserMode.................C-118 C.5.17. Version ................C-118 APPENDIX D: WARRANTY AND FIELD SERVICE POLICY ......D-1 INDEX ∇ ∇ ∇ Aerotech, Inc. Version 1.4 xvii...
  • Page 19 Table of Contents U600 User’s Guide Aerotech, Inc. xviii Version 1.4...
  • Page 20 Figure 12-1. The Setup Wizard Start Screen............12-1 Figure 12-2. The Axis Name/Number Configuration Screen ........ 12-2 Figure 12-3. The Axis “Type” Configuration Screen..........12-3 Figure 12-4. The Axis Configuration “Correct or Reconfigure” Screen ....12-4 Aerotech, Inc. Version 1.4...
  • Page 21 Orientation of G2, in various planes in Coordinate System #2..C-70 Figure C-16. Cutter Compensation Radius ............C-71 Figure C-17. Cutter Compensation Illustration ............C-72 Figure C-18. Normalcy ..................C-88 Figure C-19. Part Rotation..................C-96 Figure C-20. UpdateTimeSec Diagram..............C-111 ∇ ∇ ∇ Aerotech, Inc. Version 1.4...
  • Page 22 Table C-10. Task Parameters ................C-57 Table C-11. Mode1 Bit Descriptions..............C-87 Table C-12. ROReq1 Bit Descriptions ..............C-90 Table C-13. RIAction1 Bit Descriptions ..............C-91 Table C-14. ROAction1 Bit Descriptions.............C-94 Table C-15. R-Theta Transformations..............C-97 Table C-16. Status1 Bit Descriptions ..............C-105 Aerotech, Inc. Version 1.4...
  • Page 23 List of Tables U600 User’s Guide Table C-17. Status2 Bit Descriptions ..............C-106 Table C-18. Status3 Bit Descriptions ..............C-107 Table C-19. Global Parameters................C-113 Table C-20. Compatibility Chart ................C-115 Table C-21. U600 UserMode Meanings.............C-118 ∇ ∇ ∇ Aerotech, Inc. xxii Version 1.4...

  • Page 24: Introduction

    This chapter provides information on the AerPlot program that allows the user to display a mix of up to 16 axes and/or analog user input information from the UNIDEX 600 series controller card in a visual format with a user definable time base reference.
  • Page 25 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. Aerotech, Inc.
  • Page 26 This manual uses the symbol "∇ ∇ ∇" to indicate the end of a chapter. é 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. Version 1.4...
  • Page 27 Preface U600 User’s Guide Aerotech, Inc. xxvi Version 1.4...

  • Page 28: Installation

    1.1. Introduction The UNIDEX 600 Series controller is a PC based ISA bus controller. The basic software package includes three items: a RS-274 G-code compiler, library routines and utility programs. The RS-274 compiler and library routines program the controller, and are described in Chapter 3.

  • Page 29: Programming

    Called, and RS-274 G-code. The correct interface or combination of interfaces the programmer should use depends on the target application, therefore, the programmer must understand the fundamentals of both in order to make the correct decision. Refer to Chapter 3: Programming, for more details. Aerotech, Inc. Version 1.4...

  • Page 30: Architecture Overview

    Introduction and Overview 1.4. Architecture Overview A UNIDEX 600 Series controller installed in a PC acts as a dual processor system. The PC’s CPU is one processor and the UNIDEX 600 card (referred to as the axis processor) is another independent processor.

  • Page 31: Axis Processor

    EDU 156, under AerStrip functions Monitoring for Axis Faults EDU 157 under Fault Masks Digital Probe monitoring EDU 158, under PROBE command Increment Clock EDU 157, under CLOCK axis parameter Read analog MFO/MSO EDU 157 under AnalogMFOInput task parameter Aerotech, Inc. Version 1.4...

  • Page 32: Library Servicer

    The Axis processor generates PC interrupts in two cases: Faults (axis or task) and Callbacks. The U600MMI or any other Aerotech utility software running on the PC does not use fault interrupts; they are for the convenience of the application programmer, if they desire to use them (see the AerEventxxx functions).

  • Page 33: Motion

    Asynchronous motion offers more versatility, allowing the user to perform other tasks during a time consuming move. However, asynchronous moves are potentially more dangerous, since the programmer is responsible for making sure that the first move Aerotech, Inc. Version 1.4...

  • Page 34: Monitoring Motion

    However, in synchronized CNC motion (G1,G2) the points lying on the user-specified profile are generated every 10 milliseconds and the controller uses cubic splines to generate 1 millisecond values lying between the user-specified points. Aerotech, Inc. Version 1.4...

  • Page 35: Faults

    1.4.1) 1.6.1. Axis Faults The UNIDEX 600 Series controllers monitor a large range of axis conditions (such as feedback error or too large position error) on a once per millisecond basis. When the axis processor finds that the condition is true, a fault occurs. The programmer can determine if...

  • Page 36: Task Faults

    For example, if the taskfault bit is set for ABORTMASK of axis 1, then a task fault causes axis 1 to abort its motion. Unlike axis faults, the user cannot impose different actions based on different types of task faults. Aerotech, Inc. Version 1.4...

  • Page 37: Option Ordering Information

    Available Software Options Part Number Description MMI600-NT CNC MMI for Windows NT/95 SDK600-NT Software Development Kit for Windows NT/95 MMISRC600-NT Source Code for Aerotech’s MMI600-NT CNC Application CIMLITE Computer Integrated Manufacturing Software CIMCAD Computer Integrated Design & Manufacturing Software Custom Turnkey Applications per Customer Requirements Refer to the U600 hardware manual (EDU154) for information on hardware options.

  • Page 38: Introduction

    If a complete system was purchased from Aerotech (with rotary and/or linear positioning tables), the configuration of the system was done at the factory. If drives and motors were only purchased, the axes will be configured for the respective type of motor, but the axes will most likely require tuning depending upon the load placed on the motor.

  • Page 39: Getting Started

    Table 2-2. Table 2-1. Minimum Requirements and Recommendations Minimum Requirements Windows 95 Windows NT PC Speed 90 MHz 90 MHz RAM (per MS specs) 16 Megabytes 24 Megabytes Graphics Display 800x600 800x600 OS version 4.0+ Aerotech, Inc. Version 1.4...

  • Page 40: Fundamentals

    Machine parameter distances and times are in user units and seconds. Task parameters are only relevant to the CNC G-code interface and define information used by that interface, such as the speed of G0 moves. Aerotech, Inc. Version 1.4...

  • Page 41: Bit Masks

    … Table 2-3 indicates the hexadecimal values are preceded by a “0x”. This is the convention used throughout this and all other UNIDEX 600 Series manuals. However, the syntax for specifying hexadecimal numbers within the UNIDEX 600 Series programming language is, 0h ( i.e.;...

  • Page 42: Software Installation

    16-kilobyte regions of unused high memory to map the memory window into the UNIDEX 600 controller’s address space (an AT window). This might require changing the PC's CMOS settings to be sure that the selected memory window address range is not shadowed or cached by the PC. Aerotech, Inc. Version 1.4...

  • Page 43: Software Installation Testing

    This could be due to a bad image file, or a bad jumper setting of JP2 or JP3 on the UNIDEX 600 PC based motion controller card. Aerotech, Inc. Version 1.4...

  • Page 44: Axis Configuration

    2.3. Axis Configuration If a complete system was purchased from Aerotech (with rotary and/or linear positioning tables), the configuration of the system is done at the factory. Also, an Engineering Specification (ES) is provided along with the documentation package indicating the resolutions and maximum speeds of the axes.

  • Page 45: Configuring Closed-Loop (Torque Or Velocity)

    It is this number, four times the physical number of pulses per revolution of the encoder that should be entered into the axes parameters for the pulses per revolution of the encoder. Aerotech, Inc. Version 1.4...

  • Page 46: Digital-To-Analog Conversion (Output To The Amplifier)

    For more information, see the description for the M-codes in the UNIDEX 600 Series CNC Programming WIN95/NT Manual, P/N EDU158. Aerotech, Inc.

  • Page 47: Motor Units (Resolution And Direction)

    (degrees/inches/millimeters) as measured from zero units, is reached by a clockwise rotation of the motor. A negative sign indicates that a negative units value (degrees/inches/millimeters) as measured from zero units, is reached by a counter clockwise rotation of the motor. Aerotech, Inc. 2-10 Version 1.4...

  • Page 48: Drive Signals

    The easiest way to set the IOLEVEL axis parameter is to observe the state of these signals as reported by the Aerotech controller (this is easily done using the AerStat utility program and then viewing the Axis Status tab) and insure that these reported signals agree with the hardware.

  • Page 49: Fault

    RapidFeedRateIPM and RapidFeedRateRPM task parameters. If these are violated, the system generates a Task fault (see section 2.7). The C/C++ programmer also has the User Axis Fault available (see chart), where they can force an axis fault. Aerotech, Inc. 2-12 Version 1.4...

  • Page 50: Table 2-5. Axis Faults

    Distance traveled from when the system detected the marker pulse (or the Resolver null), until the system encountered the home limit switch is less than the value specified in the HOMESWITCHTOL parameter. This occurs during a homing sequence. Aerotech, Inc. Version 1.4 2-13...

  • Page 51: Fault Masks

    26-31 Unused 2.6.2. Fault Masks The UNIDEX 600 Series controller has several bit mask axis parameters that define the controller’s reaction to fault conditions. These parameters are FAULTMASK, AUXMASK, ABORTMASK, BRAKEMASK, DISABLEMASK, HALTMASK, and INTMASK. The actions associated with these parameters are detailed in the following sections.

  • Page 52: Faultmask

    DECEL, DECELRATE, and DECELMODE axis parameters. The halt mask bits are ANDed with the fault mask bits. If any of the resultant bits test true (match the FAULT axis parameter value), the UNIDEX 600 Series controller decelerates the drive to a stop. The bit descriptions are listed in Table 2-5.

  • Page 53: Abortmask

    The interrupt mask bits are “ANDed” with the fault status bits. If any of the resultant bits test true (match), the UNIDEX 600 Series controller will generate an axis interrupt. The “phase” bits (bits 19 through 22) are an exception, the FAULTMASK does not need to be set for these to be active;...
  • Page 54 Summing Bits for ABORT MASK Bit # Decimal Description Bit 0 Position error exceeded POSERRLIMIT parameter. Bit 2 CW hardware end of travel limit encountered. Bit 3 CCW hardware end-of-travel limit encountered. ABORTMASK = 0x0D Aerotech, Inc. Version 1.4 2-17...

  • Page 55: Task Faults

    TaskFault task parameter documentation for details. The user cannot run programs on any task while the ESTOP task fault is on. However, the user can run most immediate mode commands, excepting those that initiate motion, or enable drives. Aerotech, Inc. 2-18 Version 1.4...

  • Page 56: Axis Testing

    The user should feel some shaft stiffness. It is possible that moving the motor, or even enabling the drive causes instability. If so, the axis needs tuning. See section 2.11. Aerotech, Inc. Version 1.4 2-19...

  • Page 57: Accelerations

    These commands can be used to monitor the progress of the move. TSKI ; This should show “No Errors” in the fault line PARMMON A POS ; Shows the position moving (counts) PARMMON M POSUNITS ; Shows the position moving (mm/inch) Aerotech, Inc. 2-20 Version 1.4...

  • Page 58: Homing

    U600 User’s Guide Getting Started See Chapter 4: AerDebug for details on the AX, EXEL and PARMSET parameters. See the UNIDEX 600 Series CNC Programming manual, EDU158 for details on the MAP, BIND and INDEX commands. 2.13. Homing There are a number of types of homing and a number of adjustable parameters affecting the performance of homing.

  • Page 59: Programmed Moves

    For CNC moves refer to Appendix A in the UNIDEX 600 Series CNC Programming Manual, P/N EDU158 for motion details. For the library interface refer to the UNIDEX 600 Series Library Reference, P/N EDU156 under the AerMove functions chapter.

  • Page 60: Table 2-10. Relationship Between U600/Encoder I/O And Virtual I/O Mapping

    P9 pins 47 - 33 (odd pins) Expansion Board 3 OUT 8-15 104 through 111 P10 pins 47 - 33 (odd pins) Expansion Board 3 OUT 16-39 112 through 135 P7 pins 47 -1 (odd pins) Aerotech, Inc. Version 1.4 2-23...

  • Page 61: Other Manuals

    EDO105). 2.16.2. Programming Manuals For information on writing motion programs in the UNIDEX 600 Series CNC G-code programming language, reference the UNIDEX 600 Series CNC Programming Manual (P/N EDU158), or, preferably, the online help file for the most up-to-date information.

  • Page 62: Chapter 3: Programming

    Therefore, the programmer must understand the fundamentals of both in order to make the correct decision. The UNIDEX 600 Series motion controllers can command or monitor motion through two fundamentally different methods; see summary in Table 3-1. Table 3-1.

  • Page 63: Combination Programming

    However, in both interfaces the user must understand that a single processor is utilized underneath the multi-tasking and that multi-tasking is only achieved at the cost of slowing down the execution of the individual tasks. Aerotech, Inc. Version 1.4...

  • Page 64: The Library Programming Interface

    CNC packets and sends them to the axis processor to execute, thereby completely duplicating the CNC interface. However, the programmer should be warned, this is not a simple thing to do due to the inherent complexity of compiling. Aerotech, Inc. Version 1.4...

  • Page 65: Basic Elements Of A Library Interface Program

    Programming U600 User’s Guide 3.2.1. Basic Elements of a Library Interface Program All library controlled application programs written for the UNIDEX 600 Series controllers must have a minimum subset of functionality in common. These functions include: 1) Opening a channel of communication to the UNIDEX 600 Controller and downloading the firmware.

  • Page 66: Cnc G-Code Programming

    Although the CNC language is not as rich as C or C++, it should be mentioned here that the AEROTECH U600 CNC language goes far beyond the RS-274 language in providing language structures normally only found in languages such as C. Refer to the UNIDEX 600 CNC Programming Manual Win NT/95, P/N EDU 158 for more details.

  • Page 67: Cnc Tasks And Programs

    Another disadvantage is neither axis configuration nor CNC program control functions are available from the CNC language. However, Aerotech has created an application program that serves as the Man-Machine Interface (MMI600-NT) used to configure axes and control/monitor CNC program execution.

  • Page 68: Cnc Program Execution

    U600 User’s Guide Programming Please see the UNIDEX 600 Series CNC Programming Manual, Win NT/95, P/N EDU158 under Chapter 3, for more details on variable usage and scope. 3.3.2. CNC Program Execution Although CNC programs run on the axis processor, the programmer must load, invoke and run CNC programs from the PC.

  • Page 69: Motion From A Cnc Program

    However, two different tasks can freely use the same task letters, as long as each task binds that letter to a different channel number. ∇ ∇ ∇ Aerotech, Inc. Version 1.4...

  • Page 70: Chapter 4: Aerdebug

    AerDebug covers a broad range of the axis processor capabilities including direct memory access and monitoring, CNC program handling, and parameter viewing access. AerDebug is the major debugging tool used by Aerotech to develop new axis processor functions and has become a robust and user-friendly program. AerDebug can safely run concurrently with any other application that communicates with the axis processor card, and is useful for monitoring the effects of that application on the axis processor.

  • Page 71: The Screen

    The STATUS screen consists of a single line at the bottom of the screen. Its purpose is to indicate important conditions to the user and to echo partial command matches. Data Screen Help Screen Status Screen Figure 4-1. AerDebug Screen Aerotech, Inc. Version 1.4...

  • Page 72: The Prompt

    (not execute anything) and print an error message in the status bar. For example, if the user types “AX 44” and hits return, Aerdebug will ignore the return key because 44 is not a valid axis. Aerotech, Inc. Version 1.4...

  • Page 73: Special Keys

    HUDVHV FXUUHQW FRPPDQG OLQH " 5HWULHYH KHOS IRU WKH FXUUHQW FRPPDQG OLQH ´ $OO $6&,, FKDUDFWHUV EHWZHHQ ´µ DUH 127 LQWHUSUHWHG DV D VSHFLDO FKDUDFWHU $V ILUVW FKDUDFWHU LQ OLQH SUHIL[HV D GLUHFW PHPRU\ DFFHVV FRPPDQG 6HH &RPPDQG 6XPPDU\  Aerotech, Inc. Version 1.4...

  • Page 74: Help

    Typing “?” at the command prompt will produce a list of the available Aerdebug commands. Most directly correspond to Aerotech library functions described within the UNIDEX 600 Series Library Reference Manual. Section 4.7., in this chapter, provides a cross reference between the commands and the library functions. To receive more help on a command the user may type that command followed by a question mark (?);...

  • Page 75: Axis And Faultmask Configurations

    An axis can not be configured if the drive is enabled. (For information on the DRIVE parameter, refer to the UNIDEX 600 Series Library Reference Manual, P/N EDU156 or the U600 MMI online help file). The parameter monitor command (PARMMON) in AerDebug is very useful for configuring and debuging the axes hardware in a system.

  • Page 76: Configuring An Axis

    If specifying the number of bits for the resolution, it is also necessary to specify a value for the number of poles. Omission of any or all of the above arguments will cause default values to be used. Aerotech, Inc. Version 1.4...

  • Page 77: Configencoder - Encoder Feedback

    16,384 for 0 to 360°. comm_ch Encoder channel used to provide Hall effect and encoder commutation data. The default is the current axis. bounded Enable (bounded=1), disable (bounded=0) software limits. The default is zero (0). Aerotech, Inc. Version 1.4...

  • Page 78: Confighresolver - Resolver And Hall Effect Sensor Feedback

    The following syntax applies: CONFIGD2A [ channel ] where channel Channel specifies the D/A channel to be assigned to this axis. Aerotech, Inc. Version 1.4...

  • Page 79: Configread - Read An Axis Configuration From A File

    ConfigRead - Read an Axis Configuration From a File Axes may be configured quickly, once a configuration file has been created, preferably by the ConfigWrite command (the file format is documented in the UNIDEX 600 Series Library Manual). The ConfigRead command will read the configuration of the current axis from the file, as indicated by the AerDebug prompt and configure the axis.

  • Page 80: Faults, Errors, And Faultmasks

    0 and 2. After a fault is cleared, there is no longer a record that it occurred. The only way to remove fault conditions is to acknowledge them. The user may also monitor a fault using the PARMMON A FAULT command. Aerotech, Inc. Version 1.4 4-11...

  • Page 81: Programming Errors

    Asynchronous commands are commands that would finish execution immediately, meaning, they would have a defined cycle time no longer than the time required by the UNIDEX 600 Series controller to begin the command. This disallows commands such as G1 moves.
  • Page 82 CNC programs, so the program must be associated with one of four tasks after it has been loaded into memory. For information on CNC commands and their syntax reference the UNIDEX 600 Series Programming WIN 95/NT Manual, P/N EDU158.
  • Page 83 ; Execute, stepover, first line of the queue program. This will free a ; queue line to load another line. PRG1 "$global0=4" PRGL "?" 0 2 ; Download this as userline 4 in the queue Aerotech, Inc. 4-14 Version 1.4...

  • Page 84: Programming Commands

    Read a longword from the specified address. Address Write the byte at the specified address. Address, Data Write the word at the specified address. Address, Data Write the longword at the specified address. Address, Data Aerotech, Inc. Version 1.4 4-15...
  • Page 85 MQHOLD Places the queue for the selected axis into the hold state. None MQINCREMENTAL Queued version of the MQABSOLUTE command. Distance, Speed MQUICKHOME Starts the currently selected axis homing in the specified direction. Direction, Speed Aerotech, Inc. 4-16 Version 1.4...
  • Page 86 Monitor a string variable [G]/T/P. type, # VSSET Set a string variable [G]/T/P. type, #, text WAIT Wait on status. [!] condition WRITESERIAL Writes to serial port None ZMONITOR Display monitor data. None ZONGOSUB Display ongosub data. None Aerotech, Inc. Version 1.4 4-17...

  • Page 87: Or (Command)

    ML, RB, RW, RL, WB, WW, and WL specifying that the memory operation should not be performed via the firmware resident on the UNIDEX 600 Series controller. Instead, the operation will be performed by configuring the U600 memory interface hardware directly and performed solely under the control of the PC software.

  • Page 88: Cmderr (Axis_Number)

    1 through 16. This information is not intended for the user. It is for debugging purposes only, since it displays the command error as an opcode and sub opcode with the byte count of the data transfer between the PC and UNIDEX 600 Series controller card.

  • Page 89: Configencoder (Encoder_Ch)

    The lines per revolution parameter indicates the number of lines per revolution of the encoder times 4. The UNIDEX 600 Series controller electronically multiplies the effective line count of the encoder by 4, so the lines per revolution entered should always be four times the physical line count of the encoder.

  • Page 90: Confighencoder (Encoder_Ch) (Lines_Per_Rev)

    ;will be 4000 counts per ;motor revolution, there ;are 1000 encoder lines ;per electrical cycle, the ;resolver is 180 electrical ;degrees (8192) out of ;phase with the motor, hall ;effect channel 2 is used, ;software limits are ;disabled Aerotech, Inc. Version 1.4 4-21...

  • Page 91: Confighresolver (Resolver_Ch) (Resolution)

    1 for this parameter (0 to disable them). UNIDEX 600 Series controllers have 4 channels provided by each resolver (R/D) card. Their channel numbers are determined by the R/D board number. Resolver board number one will be channels 1 through 4, board two will be channels 5 through 8, etc.

  • Page 92: Configread (Filespec)

    1 for this parameter (0 to disable them). UNIDEX 600 Series controllers have 4 channels provided by each resolver (R/D) card. Their channel numbers are determined by the R/D board number. Resolver board number one will be channels 1 through 4, board two will be channels 5 through 8, etc.

  • Page 93: Configwrite (Filespec)

    EXAMPLE: DCAX ; display status on current axis 4.6.16. DIR The DIR command displays a directory of the programs on the UNIDEX 600 Series controller and the state of the program (compiled, downloaded, associated). EXAMPLE: 4.6.17. DOWNLOAD The DOWNLOAD command loads the axis firmware into the UNIDEX 600 Series controller card and initialize it to it’s power up state.

  • Page 94: Drvinfo

    ; display a Long word of data at 80c 4.6.23. ENABLEPENDANT (channel) (mode 1) The ENABLEPENDANT command enables the pendant with a given channel number. See AerPendantSetModexxx function in the UNIDEX 600 Library Reference Manual, P/N EDU156. EXAMPLE: ENABLEPENDANT ; enable teach pendant Aerotech, Inc. Version 1.4 4-25...

  • Page 95: Exeline ("Command String")

    ; display last error, if any! 4.6.28. INFO The INFO command displays the DAC channel number assigned to the current axis and the encoder feedback channel and type of feedback (resolver, encoder, etc.) configured for the axis. EXAMPLE: INFO Aerotech, Inc. 4-26 Version 1.4...
  • Page 96 ; monitor binary input 3 IOMON BO 127 ; monitor the state of binary output 127 IOMON RI 511 ; monitor register input 511 IOMON RO 0 ; monitor the state of register output 0 Aerotech, Inc. Version 1.4 4-27...
  • Page 97 The axis accelerates and decelerates in the mode, rate/time defined by the Accel, Decel, AccelMode, DecelMode, AccelRate and DecelRate axis parameters. EXAMPLE: MABORT ; stop motion on the current axis Aerotech, Inc. 4-28 Version 1.4...
  • Page 98 This will overwrite the HOMEOFFSET axis parameter, setting it to the correct value for the desired offset in machine steps. EXAMPLE: PARMSET A DRIVE 1 ; enable the drive! MALTHOME -1 2000 ; home direction is counter-clockwise, ; move at 2,000 steps per second Aerotech, Inc. Version 1.4 4-29...
  • Page 99 It applies only to the motion started by the move or motion commands beginning with an ‘M’, such as: MABSOLUTE, MHOME, etc. EXAMPLE: MHOLD ; feedhold the currently selected axis MRELEASE ; accelerate back up to speed of previous motion Aerotech, Inc. 4-30 Version 1.4...
  • Page 100 EXAMPLE: PARMSET A DRIVE 1 ; enable the drive! MINCREMENTAL -10000 2000 ; move to -10,000 machine steps, at ; 2,000 steps per second Aerotech, Inc. Version 1.4 4-31...
  • Page 101 The MABORT command stops this command. The distance and velocity are in machine steps. The axis accelerates and decelerates at the currently selected modes (linear/sinusoidal) and rates/times. EXAMPLE: MOSCILLATE 25400 12700 ; cycle 25,400 steps at 12,700 steps per ; second Aerotech, Inc. 4-32 Version 1.4...
  • Page 102 The specified drive must be enabled and the axis must not be in the sync mode or a programming error occurs. EXAMPLE: MQINCREMENTAL 50000 10000 ; move 50,000 steps at 10,000 steps ; per second Aerotech, Inc. Version 1.4 4-33...
  • Page 103 EXAMPLE: MB 80c ; monitor a byte of data at 80c 4.6.51. MEM The MEM command selects the memory command prompt mode that is used for executing memory commands. EXAMPLE: ; switch to memory mode Aerotech, Inc. 4-34 Version 1.4...
  • Page 104 The OUTPAUSE command temporarily suspends echoing output to the file. After pausing the output to the file it may be reactivated by using the OUTPAUSE command to toggle echoing back to the output file. EXAMPLE: OUTPAUSE ; toggle state of echoing to output file Aerotech, Inc. Version 1.4 4-35...
  • Page 105 M and A respectively. The parameter names of each type are shown in Table 4-2 under the PARMGET command. For a comprehensive description of each parameter refer to the UNIDEX 600 Series Library Reference Manual, P/N EDU156 or the U600 MMI online help file.
  • Page 106 For example, if it were desired to create a listing file and not to write the object file to the disk, the option parameter would be set 10(8+2=10). EXAMPLE: PRGCPMPL \U600\TEST.PGM 10 ; compile test.pgm with options ; described in text above Aerotech, Inc. Version 1.4 4-37...
  • Page 107 In either case the program lines will be placed down with user line numbers starting at the userline_offset parameter. For an example of how PRGLOAD works with queues, see the section on queues, under the Running CNC Programs Chapter. EXAMPLE: PRGLOAD \U600\TEST.PGM ;download test.pgm to axis processor Aerotech, Inc. 4-38 Version 1.4...
  • Page 108 (specified in AerReg) is non-zero, then this is automatically done when the axis processor firmware is downloaded. Normally, this does not need to be done manually. EXAMPLE: PSODOWNLOAD ; Load firmware 4.6.73. QUIT The QUIT command terminates the AerDebug.exe application, as does the EXIT command. Aerotech, Inc. Version 1.4 4-39...
  • Page 109 EXAMPLE: RESET ; reset the axis processor card 4.6.77. RGINFO [device_id] [card_num] The RGINFO command displays the UNIDEX 600 Series controller information contained within the operating systems registry. EXAMPLE: RGINFO ; display registry information 4.6.78. RL (address) The RL command reads the value of a long word at the specified address.
  • Page 110 (english/metric, absolute/incremental, etc.), faults, current CNC line number, and priority level. EXAMPLE: TSKINFO ; display current task info Aerotech, Inc. Version 1.4 4-41...
  • Page 111 VAGET T ; display all Task axis point variables 4.6.88. VCGET The VCGET command displays the variables for the task subroutine call stack. EXAMPLE: VCGET ; display the variable for the subroutine ; call stack Aerotech, Inc. 4-42 Version 1.4...
  • Page 112 ; monitor Global double variable 9 VDMON T 0 ; monitor Task double variable 0 VDMON P 3 ; monitor Program double variable 3 VDMON S 25 ; monitor call Stack parameter double ; variable 25 Aerotech, Inc. Version 1.4 4-43...
  • Page 113 CNC program associated with the current task. EXAMPLE: VSMON G 9 ; monitor Global string variable 9 VSMON T 19 ; monitor Task string variable 19 VSMON P 0 ; monitor Program string variable 0 Aerotech, Inc. 4-44 Version 1.4...
  • Page 114 SingleStepOver InterruptFaultPending InterruptCallBackPending ProgramCleanup EStopInputActive FeedHoldInputActive SpindleFeedHoldActive MotionFeedHoldActive MotionContinuous EXAMPLES: WAIT ProgramAssociated ; wait till a program has been associated ; with this task WAIT ! ProgramExecuting ; wait till the program is done executing Aerotech, Inc. Version 1.4 4-45...
  • Page 115 The WW command writes the value-specified word to the specified address. EXAMPLE: WW 80c 55AA ; write AA55 to 80c 4.6.99. WL (address) (value) The WL command writes the value-specified long word to the specified address. EXAMPLE: WL 80c 123455AA ; write 1234AA55 to 80c Aerotech, Inc. 4-46 Version 1.4...
  • Page 116 The ZONGOSUB command displays all the ongosub conditions defined within the current CNC program associated with the current task. The maximum number of conditions permitted is determined by the MaxOnGosubData task parameter. EXAMPLE: ZONGOSUB ; display all the current ongosub ; conditions defined Aerotech, Inc. Version 1.4 4-47...
  • Page 117 Configure an axis from an .INI file. AerConfig AerConfigGet CONFIGWRITE Write the axis configuration to an .INI file. AerConfigWritePacket DCAX Axis data center data. AerDCGetAxisDirect GETPROG Display programming error. AerProgGet INFO Axis configuration information. AerConfigGet Aerotech, Inc. 4-48 Version 1.4...

  • Page 118: Ioget (Type) (Point_Number)

    Dump program machine code lines. AerProgramGetLabel AerProgramGetLine AerCompilerErrsGetNumOf PRGERRS Shows program compile errors. AerCompilerErrGetData AerCompilerErrGetText PRGINFO Displays program information. AerProgramGetInfo PRGLOAD Loads a CNC program into the Axis Processor. AerCompilerDownload AerTaskProgramSetLineUser PRGRUN Runs a CNC program. AerTaskProgramExecute Aerotech, Inc. Version 1.4 4-49...

  • Page 119: Tskprg (Mode) (Execution_Type Or Line_Number)

    VSSET Set a string variable [G]/T/P. AerVarTaskSetString AerVarProgramSetString WAIT Wait on status. AerDCGetTaskDirect WRITESERIAL Writes same text to a serial port AerSerialWrite ZMONITOR Display monitor data. AerTaskMonitorGetData ZONGOSUB Display ongosub data. AerTaskOnGosubGetData ∇ ∇ ∇ Aerotech, Inc. 4-50 Version 1.4...

  • Page 120: Introduction

    The AerTune program is a utility for visually observing and fine-tuning the performance of the motion generated by a UNIDEX 600 Series controller. The utility allows multiple windows to be displayed, providing a separate window for each axis. Each window allows a single step or continuous cycle command to be generated for an axis to simulate a typical move profile for the users desired application.

  • Page 121: The Main Window Of The Aertune Program

    This comment is not saved to the .dat file when the plot is saved, but will be visible when the plot is printed. Figure 5-2. Plot Comment Aerotech, Inc. Version 1.4...

  • Page 122: The Plot Menu

    The Collect Data Continuous menu selection will collect the specified number of points, update the screen, then repeat the cycle until halted by the user. The Collect Halt Data Continuous menu selection will terminate the Continuous Data Collection mode. Aerotech, Inc. Version 1.4...

  • Page 123: The Axis Menu

    The Gain parameter fields (all Axis parameters) allow the user to adjust the response of the servo loop. The PGain parameter varies the position loop gain of the servo loop and minimizes position errors during acceleration and deceleration while at rest. The Kp Aerotech, Inc. Version 1.4...

  • Page 124: Step Move Parameters

    ACCELMODE/DECELMODE axis parameters, which also select linear/sinusoidal profiles. The appropriate axis parameter (shown below) will then determine the acceleration/deceleration of the axes. Acceleration Axis Parameters Deceleration Axis Parameters ACCELMODE DECELMODE ACCEL (time) DECEL (time) ACCELRATE DECELRATE Figure 5-3. Step Move Parameters Aerotech, Inc. Version 1.4...

  • Page 125: Fft Analysis

    You may select the number of points to display on the plot: 64, 128, 256, 512, 1024, 2048, 4096, 8192 Tools Menu Disable Bias Correction Low Pass Filter Data Remove DC Bias from Position Data Remove DC Bias from Torque Data Aerotech, Inc. Version 1.4...

  • Page 126: Determining The Maximum Acceleration Of An Axis

    Increase (or decrease) the ACCELRATE field on the “Update Step Move Parameters” window until the axis produces a 10 volt torque command during acceleration. The value in the ACCELRATE field is the maximum rate at which the axis can accelerate with the current load. Aerotech, Inc. Version 1.4...

  • Page 127: Identifying An Instability Within The Servo Loop

    Hall effect alignment. One electrical cycle of the motor can be determined from Aerotech’s motor specifications. Assuming that you do not have an inductive current probe, follow this...

  • Page 128: Ac Brushless Motor Tuning Tip

    See the online help file for the pole count of BM/BMS motors and the length on the electrical cycle of BLM linear motors. Figure 5-5. Torque Ripple Plot of an AC Brushless Motor See Section 5.3.5. regarding minimizing torque ripple. Aerotech, Inc. Version 1.4...

  • Page 129: Computing Torque (Closed-Loop Torque Mode)

    (knowing the G (transconductance) value of the servo amplifier allows the current (Amps) output to be calculated). Aerotech’s amplifiers typically (model dependant) have a peak output of 20 or 30 amps. Simply meaning, a +/- 10 volts in to the amplifier will be equal to +/- x amps, where x is the peak output current of the servo amplifier.

  • Page 130: Servo Loop Auto Tuning

    Most systems should be able to achieve about 30 Hz bandwidth. Systems with a larger mass or high inertia may need to reduce the excitation frequency to .25 - .5 Hz. Smaller systems may need to increase this to 2 Hz. Aerotech, Inc. Version 1.4 5-11...

  • Page 131: Setting Up Autotune Parameters

    Most axes should be able to achieve about 30 Hz bandwidth • Begin at 10 Hz bandwidth, AutoTune, and then accept the calculated gains, increase the bandwidth, working up until each axis becomes unstable, then reduce the bandwidth to the previous stable value. Aerotech, Inc. 5-12 Version 1.4...

  • Page 132: Excitation Parameters

    5.4.2.5. Ending Frequency for Excitation in AutoTune The Ending Frequency for excitation in AutoTune will always be 4 times the Start Frequency. Additionally, there will be an intermediate frequency generated 2 times the Starting Frequency. Aerotech, Inc. Version 1.4 5-13...

  • Page 133: Points To Collect In Autotune

    Typically, the value of useful damping factors will be between 0.5 and 1.0. As the damping factor is reduced towards 0, the system step response will be quicker at the expense of larger overshoot and longer settling times. As the damping factor is increased Aerotech, Inc. 5-14 Version 1.4...

  • Page 134: Calculate Affgain

    5.4.3.3. Use VFF If this box is checked, AutoTune will set VFF to 1. 5.4.3.4. Calculate AFFGAIN If this box is checked, AutoTune will calculate an AFFGAIN Aerotech, Inc. Version 1.4 5-15...

  • Page 135: Manual Servo Loop Tuning

    The AutoTuning algorithm, available from the Tools menu, may be used to automatically tune the servo-loop. If your axis is configured as a gantry, the resultant servo-loop gains must be manually copied to the slaves’ axis parameters. Aerotech, Inc. 5-16 Version 1.4...

  • Page 136: Figure 5-9. Servo Loop (Open-Loop Velocity Mode)

    POSITION LOOP Position Feedback from Primary Feedback Device Figure 5-8. Servo Loop Diagram (Torque Mode) Velocity Velocity Command Command 2nd Order Digital (U600/620 only) To Amplifier Filter DACOFFSET Figure 5-9. Servo Loop (Open-Loop Velocity Mode) Aerotech, Inc. Version 1.4 5-17...

  • Page 137: Kp - Proportional Gain

    This is the Velocity Feedforward Gain. It is the only parameter in UNIDEX 600’s velocity feedforward loop. This parameter is either 1, enabling velocity feedforward, or 0 to disable it. This parameter is used to minimize position errors proportional to velocity. Aerotech, Inc. 5-18 Version 1.4...

  • Page 138: Affgain - Acceleration Feedforward Gain

    The VGain parameter is multiplied by the commanded velocity to produce a voltage proportional to velocity that is added to the DAC output value to the servo amplifier that minimizes the following error. Aerotech, Inc. Version 1.4 5-19...

  • Page 139: Tuning Procedure For Torque (Current) Mode Servo Loops

    Figure 5-11 shows the overall tuning process with the AerTune utility. The tuning process discussed in this section was performed using the “X” (lower) Axis of an Aerotech ATS3220140P X-Y open frame table, with a BM130 AC brushless motor and an AS32030 amplifier at 160VDC.

  • Page 140: Figure 5-11. Flowchart Of Overall Tuning Process

    Adjust Kp Gain Adjust Velocity Loop Adjust Ki Gain Adjust Position Loop (Adjust PGain) Vff = 1 Adjust Acceleration Feedforward(AffGain) (Optional) Turn on Position Error & Integral Error FINISHED! Figure 5-11. Flowchart of Overall Tuning Process Aerotech, Inc. Version 1.4 5-21...

  • Page 141: Table 5-1. Initial Torque Mode Servo Loop Parameter Values

    Step buttons (positive [+] or negative [-]). Adjust the Velocity Loop using Kp. The PGain and Ki have been set to zero (0) to eliminate the Position Loop. Thus, the only servo loop gain having any effect is Kp. Aerotech, Inc. 5-22 Version 1.4...
  • Page 142 If the motor doesn’t move, Kp is too low. Increase the value of Kp and try again by pressing the “Step+” or “Step-“ buttons. If the user is fine tuning the servo loop gains that Aerotech provided for the system, use the existing Kp as your starting point.

  • Page 143: Figure 5-13. Acceptable Velocity Error (While Adjusting Kp)

    Also, a very large Ki will introduce a low frequency oscillation in the position error. From the perspective of the load, this is an unwanted vibration, that may be unacceptable to the user, refer to Figure 5-14. Aerotech, Inc. 5-24 Version 1.4...

  • Page 144: Figure 5-14. Unacceptable Position Error (While Adjusting Ki)

    Shown in Figure 5-15 is a graph with Ki adjusted more optimally. Observing the position error, it is smoother and the position error does not cross through zero indicating positional overshoot. Likewise, the velocity error has been reduced. Aerotech, Inc. Version 1.4 5-25...

  • Page 145: Figure 5-16. Plot Showing An Appropriate Value For

    “in position” at the end of the commanded move. For comparison, Figure 5-17 illustrates a plot where PGain is too high. Figure 5-16. Plot Showing an Appropriate Value for PGain Figure 5-17. Plot Showing Overall Effects when PGain is High Aerotech, Inc. 5-26 Version 1.4...

  • Page 146: Figure 5-18. Plot Showing Velocity Feedforward Enabled (Vff=1)

    The Alpha servo loop parameter was not modified from its default setting of 65,536 providing no filtering of the AffGain servo loop parameter. Adjusting the AffGain servo loop parameter is optional. The user’s application may not require it. Aerotech, Inc. Version 1.4 5-27...

  • Page 147: Figure 5-19. Plot Showing Optimal Affgain Adjustment

    Figure 5-20. The distance of the move in the plot is 110,000 machine steps (110mm). The velocity of the move in the plot is 120,000 machine steps per second (120mm, or 4.7 inches per second). In summary, the points that should be noted include the actual Aerotech, Inc. 5-28 Version 1.4...
  • Page 148 AerDebug utility. Turn the “Position Error” and the “Velocity Trap” back on by using the ParmSet command as follows: ParmSet A FaultMask #### “####” represents the number returned by the ParmGet command in step 2 of this tuning procedure. This will re-enable these fault conditions. Aerotech, Inc. Version 1.4 5-29...

  • Page 149: Tuning With Tachometer Feedback

    5.7. Tuning With Tachometer Feedback The UNIDEX 600 Series controller configures easily for controlling motors with external tachometers providing velocity feedback. To configure the controller for an external tachometer based Velocity Loop, the inherent digital Velocity Loop operation within the controller must be disabled.

  • Page 150: The Servo Loop Parameters For Tachometer-Based Systems

    UNIDEX 600’s Servo Loop. For systems with tachometers, it must be set to zero (0). 5.7.4.6. VGain - Constant Velocity Gain The VGain servo loop parameter is used to reduce the amount of position error during constant velocity mode. Aerotech, Inc. Version 1.4 5-31...

  • Page 151: Tuning Tachometer Loops

    UNIDEX 600 Servo Loop. The tuning process discussed in this section was performed using the “X” (lower) Axis of an Aerotech ATS3220140P X-Y open frame table, with a 1035DC brush motor and an DS16020 amplifier at 40VDC. The user’s system may behave differently and have different values for servo loop gains.

  • Page 152: Table 5-3. Initial Servo Parameter Values - Tachometer Tuning

    Always 0 Always 0 Adjust the Velocity Loop on the amplifier. If the user has a non-Aerotech amplifier, the manufacturer should provide information for configuring the amplifier to accept a Velocity Command and explain how to optimize the Velocity Loop.

  • Page 153: Figure 5-22. Cross-Section Of The Ds16020/16030 Amplifier

    Make rough adjustments to the potentiometers on the Aerotech DS16020/16030 servo amplifier as shown in Figure 5-23, then run the axis at its maximum speed. This maximum speed will be provided to the user by Aerotech if the user purchased a complete system from Aerotech. Otherwise, the user will have to calculate the maximum speed.
  • Page 154 If the motor doesn’t move, then PGain is too low. Increase the value of PGain and try again by pressing the “Step+” or “Step-“ button. The axis may tend to drift away on its own when it is enabled. Adjusting the DACOffset axis parameter will null the offset causing the drift. Aerotech, Inc. Version 1.4 5-35...
  • Page 155 AerTune U600 User’s Guide If the user is fine tuning the servo loop gains that Aerotech has setup for the system, use the existing PGain as the starting point. As PGain increases, the position error will begin to be at zero or near the end of the commanded move.

  • Page 156: Figure 5-24. Oscilloscope Showing Current Feedback For One Move

    Increasing the PGain will lower the axis settling time. If the PGain parameter is too high, the motor will oscillate. Aerotech, Inc. Version 1.4 5-37...
  • Page 157 AerDebug utility and using the ParmSet command as follows: ParmSet A FaultMask #### “####” represents the number returned by the ParmGet command in step 2 of this tuning procedure. This will re-enable these fault conditions. ∇ ∇ ∇ Aerotech, Inc. 5-38 Version 1.4...

  • Page 158: Chapter 6: Aerplot

    (single or continuous) of the data may also be captured. AerPlot will also display which is collected under CNC program control via the data. Figure 6-1. AerPlot Screen Aerotech, Inc. Version 1.4...

  • Page 159: File Menu

    Plot area of the Plot Selection Window (see Figure 6-2) will be displayed for each axis checked in the Axis area of the Window. Additionally, any analog inputs checked in the System Data area will also be displayed. Figure 6-2. Plot Selection Window Aerotech, Inc. Version 1.4...

  • Page 160: Trigger Menu

    The Zoom menu allows the Zoom feature to be activated, disabled (so that the cursor functions may be used), and to Un-Zoom. These features are available via the Zoom button also. To Un-Zoom using the Zoom button, click the right mouse button on the Zoom button. Aerotech, Inc. Version 1.4...

  • Page 161: Tools Menu

    The Fault Acknowledge selection will attempt to acknowledge and clear any faults that are present. The Fault Acknowledge button on the status tool bar will attempt to clear the faults also. Figure 6-3. FFT Analysis Window Aerotech, Inc. Version 1.4...

  • Page 162: The Fft Analysis Window Menu Description

    Remove DC Bias from Torque Data 6.9. Help Menu The Aerotech U600 Help menu selection will display the information in the online help file for AerPlot. The About UNIDEX 600 AerPlot will display version information for AerPlot. ∇ ∇ ∇...
  • Page 163 AerPlot U600 User’s Guide Aerotech, Inc. Version 1.4...

  • Page 164: Chapter 7: Aerstat

    Pressing the F1 key will display information about all of the parameters displayed by AerStat. Figure 7-1. AerStat Screen Aerotech, Inc. Version 1.4...

  • Page 165: Overview

    The information on the screen is updated at a rate of 250 milliseconds (4 times per second). Refer to Appendix C: Parameters for a full description of parameters. ∇ ∇ ∇ Aerotech, Inc. Version 1.4...

  • Page 166: Chapter 8: Aerreg

    8.2.1. Finding and/or Creating a “Card 1” Entry A “Card 1” entry is required by Aerotech’s software. If a ‘+’ sign is displayed next to the “UNIDEX 600” entry, click on the ‘+’ sign to display the “Card 1” entry. If there is no ‘+’...

  • Page 167: Modifying The "Card 1" Entry

    After updating/creating a new entry, click ‘OK’ to return to the main screen. Click ‘OK’ again to close the program, after double checking the data entered into the registry. Figure 8-2. AerReg Registry Editor Screen Aerotech, Inc. Version 1.4...
  • Page 168 PSO (the default values for the PSO-PC, if present, are): IO Base 0x310 Image Name C:\U600\BIN\PSO.IMG The IOBase address and IRQ values are determined by hardware jumpers on the UNIDEX 600/620 controller card. ∇ ∇ ∇ Aerotech, Inc. Version 1.4...
  • Page 169 AerReg U600 User’s Guide Aerotech, Inc. Version 1.4...

  • Page 170: Figure 9-1. The Setup Screen Of Aerplot3D

    Save Setup menu selection, as shown in Figure 9-1. The Save Setup menu selection allows up to five configurations to be defined for AerPlot3D, each with a comment describing their configuration. Figure 9-1. The Setup Screen of AerPlot3D Aerotech, Inc. Version 1.4...

  • Page 171: Reading And Displaying A Plot Data File

    Plot Type menu selection. Each axis may have its position feedback, position command, position error, velocity feedback, velocity command, velocity error, torque, or acceleration selected for display. Figure 9-2. The Setup Screen of AerPlot3D Aerotech, Inc. Version 1.4...

  • Page 172: Colors Menu

    The Units menu allows the units for the X, Y, and Z (if 3D mode is active) to be selected. Each may be displayed as machine steps (counts), or user units. 9.1.7. Start Menu The Start menu will begin plotting the selected lines Aerotech, Inc. Version 1.4...

  • Page 173: Stop Menu

    9.1.11. Help Menu The Help menu has 2 selections. The Aerotech UNIDEX 600 Help menu selection will display the information in the online help file for AerPlot3D. The About U600 AerPlot3D will display version information for AerPlot3D.

  • Page 174: Chapter 10: Aerplotio

    Each 32-bit word can represent 32 binary inputs/outputs, or 2 register inputs/outputs. The number of binary traces that may be selected will be limited if all of the bits selected do not fall within four 32-bit blocks. Figure 10-1. AerPlotIO Screen Aerotech, Inc. Version 1.4 10-1...
  • Page 175 To set up conditional triggering: In order to enable conditional triggering, the conditional triggering enabled check box must be checked. 16 binary inputs, 16 binary outputs, a register input, or a register output may be used for conditional triggering. Aerotech, Inc. 10-2 Version 1.4...

  • Page 176: Figure 10-2. Aerplotio Screen

    1, bit 1 must be a one and all other bits that are in the IO Mask must be zero to trigger data collection. For register inputs/outputs, the IO Value is the value of the register that will trigger data collection. ∇ ∇ ∇ Aerotech, Inc. Version 1.4 10-3...
  • Page 177 AerPlotIO U600 User’s Guide Aerotech, Inc. 10-4 Version 1.4...

  • Page 178: Chapter 11: Filter

    You must disable the axis before entering the filter constants. The “Remove Filter” button will reset the digital filter to no filtering. You must click the “Download” and “Write to File” buttons also. Figure 11-1. The Filter Screen ∇ ∇ ∇ Aerotech, Inc. Version 1.4 11-1...
  • Page 179 Filter U600 User’s Guide Aerotech, Inc. 11-2 Version 1.4...

  • Page 180: Chapter 12: Setup Wiz

    MMI600. It will save all of the parameters to the default .Ini files as defined by the MMI600 Setup Page. See Figure 12-1. Figure 12-1. The Setup Wizard Start Screen Aerotech, Inc. Version 1.4 12-1...

  • Page 181: Axis Names And Number

    FOR, IF, etc. Since there is an axis named X and x, the case of axis name is significant. Axis names are limited to 32 characters, maximum. If you reassign an axis name, you must exit the MMI600 and restart it for the change to take effect. Aerotech, Inc. 12-2 Version 1.4...

  • Page 182: Configuring Axis Type

    Is there a MSO/MFO [Task/MSO or MFO] control? How many digits are displayed to the right of the decimal point (dependent on the mode that you have selected) in: English mode [Machine/NumDecimalsEnglish]? Metric mode [Machine/NumDecimals/Metric]? Aerotech, Inc. Version 1.4 12-3...

  • Page 183: Axis Configuration

    If the axis configuration shown is correct, select the ‘Next’ button, otherwise, select the ‘Reconfigure Axis’ button (see Section 12.4.1.). Selecting ‘Reconfigure Axis’ will open the Axis Configuration Wizard. Figure 12-4. The Axis Configuration “Correct or Reconfigure” Screen Aerotech, Inc. 12-4 Version 1.4...

  • Page 184: Axis Configuration Wizard

    Axis Configuration Wizard The Axis Configuration Wizard will guide you through the process of configuring the axis. UNIDEX 600 Series Controllers support any motor accepting a velocity or torque command and providing feedback from a supported feedback device (such as an encoder, resolver, or inductosyn).

  • Page 185: Axis & Parameter Names And Task Number Configuration

    Selecting ‘Next’ will advance you to the next Wizard configuration screen, ‘Back’ will take you to the previous Wizard screen, ‘Cancel’ will exit the Wizard without saving any changes to the axis configuration. ‘Finish’ will save the axis configuration and exit the Wizard. Aerotech, Inc. 12-6 Version 1.4...

  • Page 186: Configuring Axis Type

    Selecting ‘Next’ will advance you to the next Wizard configuration screen, ‘Back’ will take you to the previous Wizard screen, ‘Cancel’ will exit the Wizard without saving any changes to the axis configuration. ‘Finish’ will save the axis configuration and exit the Wizard. Aerotech, Inc. Version 1.4 12-7...

  • Page 187: 1.Predefined Axis Types

    Resolver Configuration (or Inductosyn) – Section 12.4.6.4. on page 12-15. ResolverHall Configuration (or Inductosyn) – Section 12.4.6.5. on page 12-16. Stepper Motor Configuration – Section 12.4.6.6. on page 12-17. Null (Virtual) Configuration – Section 12.4.6.7. on page 12-18. Aerotech, Inc. 12-8 Version 1.4...

  • Page 188: Configuring A Dac Channel

    The D/A (D2A, DAC, or Digital to Analog Converter) channel number must be specified for all axes (except virtual), to provide the command (velocity or torque) to the driver module. Figure 12-9. The Axis Configuration Wizard – D2A Screen Aerotech, Inc. Version 1.4 12-9...

  • Page 189: Configuring The Secondary Feedback Device

    Selecting ‘Next’ will advance you to the next Wizard configuration screen, ‘Back’ will take you to the previous Wizard screen, ‘Cancel’ will exit the Wizard without saving any changes to the axis configuration. ‘Finish’ will save the axis configuration and exit the Wizard. Aerotech, Inc. 12-10 Version 1.4...

  • Page 190: 1.Encoder Configuration

    Channels 1 through 4 are on the UNIDEX 600 card, channels 5 through 8 are on the 4EN-PC card configured as Board 1, channels 9 through 12 are on the 4EN-PC card configured as Board 2, channels 13 through 16 are on the 4EN-PC card configured as Board 3. Aerotech, Inc. Version 1.4 12-11...
  • Page 191 - 8 are on the RDP-PC card configured as Board 2. Channels 9 - 12 are on the RDP- PC card configured as Board 3, and channels 13 - 16 are on the RDP-PC card configured as Board 4. Aerotech, Inc. 12-12 Version 1.4...

  • Page 192: 3.Encoderhall (Pole Pairs) Configuration

    Channels 1 through 4 are on the UNIDEX 600 card, channels 5 through 8 are on the 4EN-PC card configured as Board 1, channels 9 through 12 are on the 4EN-PC card configured as Board 2, channels 13 through 16 are on the 4EN-PC card configured as Board 3. Aerotech, Inc. Version 1.4 12-13...
  • Page 193 - 8 are on the RDP-PC card configured as Board 2. Channels 9 - 12 are on the RDP- PC card configured as Board 3, and channels 13 - 16 are on the RDP-PC card configured as Board 4. Aerotech, Inc. 12-14 Version 1.4...

  • Page 194: 4.Resolver Configuration (Or Inductosyn)

    Number of Pole Pairs The number of Pole Pairs is the number of permanent magnetic poles, expressed as pole pairs, that an Aerotech motor has. Commutation Offset The commutation offset indicates the number of electrical degrees to align the absolute rotor reference (provided by the commutation channel) to the rotor of the motor.

  • Page 195: 5.Resolverhall Configuration

    This is set equal to the number of resolver counts per revolution of the motor, divided by the number of electrical cycles per revolution of the motor (number of poles (pairs)). Linear Encoder This is set equal to the number of resolver counts per electrical cycle of the forcer (motor). Aerotech, Inc. 12-16 Version 1.4...

  • Page 196: 6.Stepper Motor Configuration

    (i.e., a ball-screw with a pitch of .1inch, having a linear encoder with 1,270,000 counts per inch (after x4 multiplication), would have 127,000 entered for the number of lines (1,270,000 * .1 = 127,000). Aerotech, Inc. Version 1.4 12-17...

  • Page 197: 7.Null (Virtual) Configuration

    The use must be aware of this when configuring axes. Dual loop encoder axes MUST be configured as follows: Aerotech, Inc. 12-18 Version 1.4...

  • Page 198: Configuring Axis Calibration Data

    The master axis is normally the current axis and will be the default master axis number. Another axis may be used as the master axis, such as for orthogonality correction. Aerotech, Inc. Version 1.4 12-19...

  • Page 199: Saving An Axis Configuration

    Selecting ‘Back’ will take you the previous Wizard screen. ‘Next’ will advance you to the next Wizard Configuration screen. ‘Cancel’ will exit the Wizard without saving any changes to the configuration, and ‘Finish’ will save the axis configuration and exit the Wizard. Aerotech, Inc. 12-20 Version 1.4...

  • Page 200: Scaling And Feedrates

    Linear Axes [Machine/MaxFeedrateIPM] Rotary Axes [Machine/MaxFeedrateRPM] Spindle Axes [Machine/MaxFeedrateRPM] Enter the G0 rapid feedrate that may be commanded for the axis. Linear Axes [Machine/RapidFeedrateIPM] Rotary Axes [Machine/RapidFeedrateRPM] Spindle Axes [Machine/RapidFeedrateRPM] Figure 12-13. The Scaling and Feedrate Screen Aerotech, Inc. Version 1.4 12-21...

  • Page 201: Home Cycle Configuration

    Enter the Home Feed Rate for: Linear Axes [Machine/HomeFeedrateIPM] Rotary Axes [Machine/HomeFeedrateRPM] Spindle Axes [Machine/HomeFeedrateRPM] Enter a Home Offset for (optional): Linear Axes [Machine/HomeOffsetInch] Rotary Axes [Machine/HomeOffsetDeg] Spindle Axes [Machine/HomeOffsetDeg] Figure 12-14. The Home Cycle Screen Aerotech, Inc. 12-22 Version 1.4...
  • Page 202 If an axis is in the Simulation, Dry Run, or Machine Lock modes when it is homed, the home command will never complete, because the axis does not move in these modes. Homing will disable normalcy, cutter offset and cutter radius compensation modes. Aerotech, Inc. Version 1.4 12-23...

  • Page 203: Asynchronous And G0 Accel/Decel Parameters

    Enter the desired Position Error Limit (in user units) [Axis/POSERRLIMIT] Enter the In Position Error Limit (in user units) [Axis/INPOSLIMIT] Enter the Velocity Trap (in user units) Figure 12-16. Position Limits and Velocity Trap Screen Aerotech, Inc. 12-24 Version 1.4...

  • Page 204: Configure The Drive Interface States

    Be sure to set the CW, CCW, and Drive Fault bits in the FAULTMASK axis parameter to enable the detection of these faults, then set the bits in the appropriate mask parameters (DISABLEMASK, HALTMASK, AUXMASK, ABORTMASK, INTMASK, and BRAKEMASK) for actions to occur on these faults. Aerotech, Inc. Version 1.4 12-25...

  • Page 205: Configure The Faultmask

    You can also trigger program-related actions to take place when an axis fault occurs, with the TaskFault task parameter. CNC programs may be stopped when by axis faults, via the HaltTaskOnAxisFault task parameter. Figure 12-18. The FAULTMASK Configuration Screen Aerotech, Inc. 12-26 Version 1.4...

  • Page 206: Configure The Disablemask

    (set active) on the FAULTMASK page (Section 12.10.). If a box is grayed and checked, it will also be inactive on this screen. It will be ignored unless its corresponding checkbox is also set on the FAULTMASK page. Aerotech, Inc. Version 1.4 12-27...

  • Page 207: Configure The Haltmask

    ABORTMASK, i.e; if the DISABLEMASK is set to occur, the HALTMASK or ABORTMASK will have no effect, because the DISABLEMASK would disable the axis before it could halt or abort. Figure 12-20. The HALTMASK Configuration Screen Aerotech, Inc. 12-28 Version 1.4...

  • Page 208: Configure The Auxmask

    (mode) output associated with the axis. This parameter is a bit mask where each bit corresponds to a specific fault. Each bit set in this parameter should also be set in the FAULTMASK axis parameter, to enable detection of that fault condition. Figure 12-21. The AUXMASK Configuration Screen Aerotech, Inc. Version 1.4 12-29...

  • Page 209: Configure The Abortmask

    ABORTMASK (i.e., if the DISABLEMASK is set to occur, the HALTMASK or ABORTMASK will have no effect, because the DISABLEMASK would disable the axis before it could halt or abort). Figure 12-22. The ABORTMASK Configuration Screen Aerotech, Inc. 12-30 Version 1.4...

  • Page 210: Configure The Intmask

    Interrupts will only be generated for new axis faults, that is, the controller will only generate an interrupt once for each occurrence of a particular axis fault. Figure 12-23. The INTMASK Configuration Screen Aerotech, Inc. Version 1.4 12-31...

  • Page 211: Configure The Brakemask

    DISABLEMASK parameters, such that, if one of the axes were to generate a fault and be disabled, all other axes controlled by the brake output would also be disabled, since the brake, would then be activated by the first axis generating the fault. Figure 12-24. The BRAKEMASK Configuration Screen Aerotech, Inc. 12-32 Version 1.4...

  • Page 212: Configure The Current Limits

    Enter the peak current that your amplifier is capable of producing (see Aerotech Servo Amplifier information in the online help file). Enter the peak current rating of your motor (see Aerotech motor information in the online help file). Enter the continuous current rating of your motor (see Aerotech Motor Information in the online help file).

  • Page 213: Axis Configuration Complete

    (if there are more axes to be configured). Once all axes are configured, you will begin configuring the Task and Global parameters. Figure 12-26. The Axis Configuration Complete Screen Aerotech, Inc. 12-34 Version 1.4...

  • Page 214: Accel/Decel And Task Initialization

    Select an axis for the Coordinate System 1 I Axis. Select an axis for the Coordinate System 1 J Axis. Select an axis for the Coordinate System 1 K Axis. Figure 12-27. The Accel/Decel and Task Initialization Screen Aerotech, Inc. Version 1.4 12-35...

  • Page 215: Configure The Estop, Feedhold, And Mfo

    Would you like the Global Emergency Stop [Task/ESTOP] input active? Would you like an external Feedhold [Task/Feedhold] input? Would you like an external Manual Feedrate Override [Task/MFO]? Figure 12-28. The ESTOP, FeedHold, and MFO Configuration Screen Aerotech, Inc. 12-36 Version 1.4...

  • Page 216: Configure Synchronous Accel/Decel

    Enter the Deceleration Rate [Task/DecelRateIPS2] for synchronous motion when Linear Axes are dominant. Enter the Deceleration Rate [Task/DecelRateDPS2] for synchronous motion when Rotary Axes are dominant. Enter the Deceleration Time [Task/DecelTimeSec] for synchronous motion. Figure 12-29. The Synchronous Move Information Screen Aerotech, Inc. Version 1.4 12-37...

  • Page 217: Setup Wizard - Configuration Complete

    Setup Wizard U600 User’s Guide 12.22. Setup Wizard – Configuration Complete Figure 12-30. The Finish Screen of the Setup Wizard ∇ ∇ ∇ Aerotech, Inc. 12-38 Version 1.4...

  • Page 218: Chapter 13: Prmsetup

    13.1. Introduction The PrmSetup utility is provided when a complete system (motors, drives, tables, etc) is purchased from Aerotech as a system (a single customer order). It will install the pre- configured .Ini files onto your PC. It may be distributed on the CD-ROM containing the UNIDEX 600 software or on its own.
  • Page 219 PrmSetup U600 User’s Guide Aerotech, Inc. 13-2 Version 1.4...

  • Page 220: Introduction

    U600. Executing - A task is executing if processing the actions of a single program block. A program is executing if it is active and a block is being processed by a task. Aerotech, Inc. Version 1.4...
  • Page 221 - X Y Z U V W A B x y z u v w a b. Task Index - Zero based index used to identify a task. Task Parameters - Parameters that affect a given task. Aerotech, Inc. Version 1.4...
  • Page 222 Upload - Implies communications to the axis processor card. Data is always uploaded to the U600. Write (Save) - Implies file access. A file is always written or saved. ∇ ∇ ∇ Aerotech, Inc. Version 1.4...
  • Page 223 Glossary of Terms U600 User’s Guide Aerotech, Inc. Version 1.4...

  • Page 224: Appendix B: Troubleshooting

    User fault - User error has 1. The frontend application caused this 1. Contact the developer to correct fault to be generated, it should have the frontend application. occured. handled it. Aerotech, Inc. Version 1.4...

  • Page 225: Appendix C: Parameters

    1. Correct the CNC program or a SafeZone defined by the safezone defined by the modify the SafeZoneMode, SafeZone axis parameter. SafeZoneMode, SafeZoneCW, and the SafeZoneCW, and SafeZoneCCW axis parameters. SafeZoneCCW axis parameters. ∇ ∇ ∇ Aerotech, Inc. Version 1.4...
  • Page 226 The following tables provide the names of every UNIDEX 600 Series controller parameter, and its maximum, minimum and default values. These tables are generated by the PrmManul example program that queries the axis processor directly.
  • Page 227 “n/a”. This indicates the parameter has the full range of an integer 32-bit value (-2,147,483,648 to +2,147,483,648). C.1.5. Default This is the value of the parameter immediately after the controller is reset. Aerotech, Inc. Version 1.4...

  • Page 228: Table C-1. Axis Parameters

    CAMOFFSET -2,147,483,648 2,147,483,647 CAMPOINT 4,294,967,295 CAMPOSITION 4,294,967,295 CCWEOT -2,147,483,648 2,147,483,647 -2,147,483,647 CLOCK 4,294,967,295 CWEOT -2,147,483,648 2,147,483,647 2,147,483,647 DACOFFSET -32,767 32,767 DECEL 100,000 DECELMODE DECELRATE 2,147,483,647 100,000 DISABLEMASK 4,294,967,295 12,483 DRIVE ECHO 4,294,967,295 EXTR2DSCL 65,536 FAULT 4,294,967,295 Aerotech, Inc. Version 1.4...
  • Page 229 MAX_PHASE MOTIONSTATUS 4,294,967,295 MOVEQDEPTH 4,294,967,295 MOVEQSIZE 4,294,967,295 PGAIN 100,000 PHASE_SPEED 10,000,000 PHASEAOFFSET -32,767 32,767 PHASEBOFFSET -32,767 32,767 -2,147,483,648 2,147,483,647 POSCMD -2,147,483,648 2,147,483,647 POSERR -2,147,483,648 2,147,483,647 POSERRLIMIT 10,000,000 65,536 POSTARGET -2,147,483,648 2,147,483,647 POSTOGO -2,147,483,648 2,147,483,647 POSTOGOIRQ 2,147,483,648 Aerotech, Inc. Version 1.4...
  • Page 230 FAULTMASK axis parameter, to enable detection of that fault condition. The DISABLEMASK takes priority over the HALTMASK and ABORTMASK, i.e.; if the DISABLEMASK is set to occur, the Aerotech, Inc. Version 1.4...

  • Page 231: Figure C-1. Accelmode Ramp Setting

    0 - (1-Cosine) Ramping - Time Based 1 - Linear Ramping - Time Based 2 - (1-Cosine) Ramping - Rate Based 3 - Linear Ramping - Rate Based Velocity Command Time Sinusoidal Linear Figure C-1. ACCELMODE Ramp Setting Aerotech, Inc. Version 1.4...
  • Page 232 This is a bitwise value that provides additional status for the axis. To test for a particular condition, simply bitwise-and (BAND operator) the SERVOSTATUS with the desired bit value. For example; If (ALT_STATUS.X BAND 0h00040000) could be used to test for the X axis being used in simulation mode. Aerotech, Inc. Version 1.4...

  • Page 233: Table C-2. Alt_Status Bit Definitions

    Refer to the IOLEVEL axis parameter for an explanation of the process. By default the AUX is active low, meaning, when the AUX is enabled, there is a zero voltage (sinking current) on the auxiliary line. Aerotech, Inc. Version 1.4...
  • Page 234 5 degrees as the master position to search the table. To understand how this parameter functions, the reader must be familiar with the operation of the synchronized auxiliary output tables on the UNIDEX 600 Series motion controller. In brief, each synchronized auxiliary output table entry specifies a master position and a corresponding state for the auxiliary output.
  • Page 235 Setting B0=B1=4,096 will provide the minimal amount of filtering. You must disable the axis before entering the filter constants. If this filter is used in conjunction with the GANTRYMODE, it must be applied to the master and slave axes. Aerotech, Inc. C-10 Version 1.4...
  • Page 236 U600 User’s Guide Parameters Aerotech provides a utility, Filter.exe to compute coefficients (B0/B1/B2/A2/A3) for the torque command filter based upon a desired roll-off frequency. You may use digital filter design software utilities other than Filter.exe to calculate the coefficients, but there are some considerations.

  • Page 237: Figure C-2. Phase Advance, Torque Angle Vs. Speed Relationship

    DISABLEMASK parameters such that if one of the axes were to generate a fault and be disabled, that all other axes controlled by the brake output would also be disabled, since the brake would then be activated by the first axis generating the fault. Aerotech, Inc. C-12 Version 1.4...

  • Page 238: Figure C-3. Camming Illustration

    1 inch to correspond to slave position “s”, then set the CAMOFFSET value to (10,000 counts/inch)/(3-1 inches) = 5,000 counts: CAMOFFSET.Y = 5000 Without the CAMOFFSET value Slave Position With the CAMOFFSET value Master Position CAMOFFSET (negative value) Figure C-3. Camming Illustration Aerotech, Inc. Version 1.4 C-13...
  • Page 239 Software limits will be ignored until after the axis has been homed, if the SOFTLIMITMODE parameter is set to one. Software limits may not be activated for virtual axes. Aerotech, Inc. C-14 Version 1.4...
  • Page 240 Software limits will be ignored until after the axis has been homed, if the SOFTLIMITMODE parameter is set to one. Software limits may not be activated for virtual axes. Aerotech, Inc. Version 1.4 C-15...
  • Page 241 0 - Linear Ramping - Time Based 1 - (1-Cosine) Ramping - Time Based 2 - Linear Ramping - Rate Based 3 - (1-Cosine) Ramping - Rate Based The user may also specify deceleration mode parameters from within a parts program. Aerotech, Inc. C-16 Version 1.4...

  • Page 242: Figure C-4. Decelmode Ramp Setting

    Redefining the ENABLE command as a Canned Function allows a subroutine to be called whenever the drive is enabled. This is useful for initializing brushless motors without hall- effect feedback sensors present via the MSET command. Aerotech, Inc. Version 1.4 C-17...
  • Page 243 “2.” The user should keep in mind that if the condition causing the axis fault is still present, the axis fault will immediately reoccur, so that it will appear as though the fault did not clear. Aerotech, Inc. C-18 Version 1.4...

  • Page 244: Table C-3. Axis Faults

    Distance traveled from when the system detected the marker pulse (or the Resolver null), until the system encountered the home limit switch is less than the value specified in the HOMESWITCHTOL parameter. This occurs during a homing sequence. Aerotech, Inc. Version 1.4 C-19...
  • Page 245 You can also trigger program-related actions to take place when an axis fault occurs, with the TaskFault task parameter. CNC programs may be stopped when by axis faults, via the HaltTaskOnAxisFault task parameter. Aerotech, Inc. C-20 Version 1.4...
  • Page 246 Set GANTRYMODE to mode 1 C.2.39. GANTRYOFFSET This axis parameter is set for the master axis and represents the distance the slave axis should be away from the marker in machine steps. Aerotech, Inc. Version 1.4 C-21...
  • Page 247 TRACK command, which allows you to establish gearing while simultaneously blending in an acceleration for the slave axis. See the CFGMASTER command for an example WARNING program. Aerotech, Inc. C-22 Version 1.4...
  • Page 248 C.2.45. HOMESWITCHPOS This axis parameter indicates the resolver value when the home limit switch is encountered. This parameter is valid only for axis using resolver based feedback. Aerotech, Inc. Version 1.4 C-23...
  • Page 249 K (motor torque constant). The UNIDEX 600\650 Controllers have a 16 bit Digital-to-Analog converter used to convert a signed 16 bit number (+32,767 through -32,767) to an analog voltage in Aerotech, Inc. C-24 Version 1.4...
  • Page 250 (A RMS) specified after converting it to Peak by multiplying it by 1.414 To calculate this value for an Aerotech DC brush motor, from the motor data, use the RMS current specified for the motor, or divide the continuous toque (Tc) by the motor torque constant (Kt);...
  • Page 251 (knowing the G (transconductance) value of the servo amplifier allows the current (Amps) output to be calculated). Aerotech’s amplifiers typically (model dependant) have a peak output of 20 or 30 amps. Simply meaning, a +/- 10 volts in to the amplifier will be equal to +/- x amps, where x is the peak output current of the servo amplifier.

  • Page 252: Figure C-5. Closed-Loop Torque Mode

    C.2.56. IOLEVEL This axis parameter allows the user to specify the active state for the axis and drive interface signals. The user may configure the active state of the following signals. Aerotech, Inc. Version 1.4 C-27...
  • Page 253 Note, that you may use the AutoTune feature, within the AerTune.exe utility (on the Tools menu) to automatically determine servo loop gains for a torque mode axis. For axis with a tachometer (velocity command mode), set this parameter to 0. Aerotech, Inc. C-28 Version 1.4...
  • Page 254 2. Therefore the following line is always recommended prior to synchronization. MASTERPOS.X = POS.Y ; where X is the slave, Y is the master Or, if you are tracking Position command on the master: Aerotech, Inc. Version 1.4 C-29...
  • Page 255 If this axis parameter is non-zero, it will limit the acceleration of the slave axis to its value, which is in user units/sec/sec. To deactivate this feature, set the parameter value to 0. Aerotech, Inc. C-30 Version 1.4...

  • Page 256: Table C-4. Motionstatus Bit Definitions

    & cleared when checker runs QUICK_HOME 0h08000000 quick home active IRQ_PENDING 0h10000000 interrupt pending PENDANT_JOG 0h20000000 pendant jog mode active MRKR_ARMED 0h40000000 marker armed Jog Mode Enabled 0h80000000 Jog mode is enabled Aerotech, Inc. Version 1.4 C-31...

  • Page 257: Moving Bit In The Motionstatus Axis Parameter

    For example, if an axis has a 60 mV (.060 volt) offset, -392 would be entered for this parameter. This is calculated by dividing the offset by the voltage value of each step of the DAC. UNIDEX 600 has a 16-bit DAC (+/- 32767 counts), generating a +/- 10-volt Aerotech, Inc. C-32 Version 1.4...

  • Page 258: Phaseboffset

    C.2.74. POSERR The position error is the instantaneous difference, in counts, between the commanded position (POSCMD) and the actual position (POS). POSERR = (POSCMD-POS); this axis parameter is continuously updated on each servo loop cycle. Aerotech, Inc. Version 1.4 C-33...

  • Page 259: Poserrlimit

    C.2.78. POSTOGOIRQ The user can configure the UNIDEX 600 Series controller to generate an interrupt based on the position to go left in a move. The POSTOGOIRQ axis parameter specifies the distance from the end of the commanded move where the interrupt will be generated. This interrupt is based on the commanded position to go and does not take into account the position error of the axis.

  • Page 260: Postolerance

    (counts) required to compensate for any backlash present in the system. Backlash, is the “play” or “slop” in the mechanics, and occurs when a drive screw changes direction and turns a fixed amount before the load begins to actually move in the Aerotech, Inc. Version 1.4 C-35...

  • Page 261: Reversalvalue

    Figure C-6. REVERSALMODE Accuracy Position C.2.87. REVERSALVALUE This axis parameter is the current correction value (in machine counts) for the reversal mode (backlash compensation), output in the current direction. This parameter is read only. Aerotech, Inc. C-36 Version 1.4...

  • Page 262: Safezoneccw

    Mode 1 is based upon position error. When the POSERR < 100 machine counts, the PGAIN axis parameter will be multiplied by the corresponding value in the table producing a stiffer steady state (at rest) servo loop. To enable the PGAIN scaling, set Aerotech, Inc. Version 1.4 C-37...

  • Page 263: Table C-6. Mode 2

    If IVEL is 18 or greater, the PGAIN multiplier would be 1. Table C-6. Mode 2 ELEMENT # Element 0 Element 10 Element 20 Element 30 Element 40 Element 50 Element 60 Element 70 Element 80 Element 90 Aerotech, Inc. C-38 Version 1.4...

  • Page 264: Servostatus

    SCALEPGAIN active 0h04000000 AC motor selected MSET 0h08000000 Axis in MSET mode HOMED 0h10000000 Axis has been homed since reset ENCODER 0h20000000 Axis has encoder feedback ERROR_MAP 0h40000000 Error mapping enabled PLOOP_ONLY 0h80000000 Position loop only Aerotech, Inc. Version 1.4 C-39...

  • Page 265: Simulation

    The default value is zero (0), which causes software limits and safe zones to be active before and after homing the axis. Software limits and safe zones are never active during a homing cycle. Aerotech, Inc. C-40 Version 1.4...

  • Page 266: Status

    CAM_TABLE 0h01000000 cam table enabled HOME_DIR 0h02000000 home direction CONT_MOVE 0h04000000 continuous move QUEUE 0h08000000 motion queue active HOLD 0h10000000 hold active AUX_MODE 0h20000000 aux mode BLOCK_MOTION 0h40000000 block motion HOLD_QUEUE 0h80000000 hold queue Aerotech, Inc. Version 1.4 C-41...

  • Page 267: Syncspeed

    To understand this axis parameter, the user must be familiar with the operation of the synchronized motion through the CAM tables on the UNIDEX 600 Series motion controller. For a brief discussion of this feature, refer to the discussion of the MASTERPOS axis parameter.

  • Page 268: Veltimeconst

    This parameter is manipulated by the G23 / G24 commands to implement corner-rounding on the UNIDEX 600 Series controller and may be set by the user, but, not while G23 is active. Setting this parameter to non- zero activates filtering.

  • Page 269: Vff

    (much like VFF would be used in a torque loop) by feed forward. Note, that you can use the AutoTune feature, within the AerTune.exe utility (on the Tools menu) to automatically determine servo loop gains for a torque mode axis. Aerotech, Inc. C-44 Version 1.4...

  • Page 270: Parameters

    1,000,000 MaxFeedRateIPM 1,000,000 500.0 MaxFeedRateRPM 1,000,000 300.0 NumDecimalsEnglish 14.0 NumDecimalsMetric 14.0 PositionCmdUnits <NA> <NA> <NA> PositionUnits <NA> <NA> <NA> PresetCmdUnits <NA> <NA> <NA> RapidFeedRateIPM 1,000,000 120.0 RapidFeedRateRPM 1,000,000 60.0 ReverseSlewDir ScaleFactor -1,000,000 1,000,000 Type UnusedAxis Aerotech, Inc. Version 1.4 C-45...
  • Page 271 Normally, this parameter is automatically set by the Parameter Configuration Wizard during the motor configuration process. This parameter should not be changed during program execution, doing so may cause unusual motion. Use the ScaleFactor task machine parameter to rescale the system coordinates during program execution. Aerotech, Inc. C-46 Version 1.4...
  • Page 272 1 binds axis 1 to X, then the ControllingTask value for axis 1 is 0. If task 3 later captures axis 1, then the ControllingTask value is 2. After task 3 releases axis 1, the ControllingTask value reverts back to 0. Aerotech, Inc. Version 1.4 C-47...
  • Page 273 CNC home and homeasync commands. This feedrate is only used for linear axes. C.3.15. HomeFeedRateRPM This machine parameter specifies the feedrate in RPM to be used by the CNC home and homeasync commands. This feedrate is only used for rotary axes. Aerotech, Inc. C-48 Version 1.4...
  • Page 274 A low speed is not detrimental to machine throughput, since it is only done occasionally or when the machine is first powered up. While homing, the axis follows the accel/decel axis parameters (see ACCELMODE axis parameter). However, the accel and Aerotech, Inc. Version 1.4 C-49...

  • Page 275: Figure C-8. Home To Limit Illustration

    The five types of homing cycles are: HomeType 0 – To Home Limit AND Reference Pulse HomeType 1 – To Home Limit & then Reverse to Reference pulse, (Aerotech Std.) HomeType 2 – To Marker HomeType 3 – To Home Limit Switch HomeType 4 –...

  • Page 276: Figure C-9. Home Into Limit Illustration

    TYPE 2 - Home to Marker The home position is the reference pulse. It rotates in the specified home direction and stops on the first marker or resolver null. Home Direction Marker Figure C-10. Home to Marker Illustration Aerotech, Inc. Version 1.4 C-51...
  • Page 277 This machine parameter specifies the speed for this axis on the Jog Page(if it is a rotary Type axis), when the High speed range is selected. If this parameter is 0, the value of the RapidFeedRateRPM machine parameter will be used. Aerotech, Inc. C-52 Version 1.4...
  • Page 278 This is the total number of digits displayed after the decimal point. C.3.26. NumDecimalsMetric This parameter allows the user to define the position display when the G71 Metric mode is active. This is the total number of digits displayed after the decimal point. Aerotech, Inc. Version 1.4 C-53...
  • Page 279 UNIDEX 600 MMI. This feedrate is only used for rotary axes, as defined by the Type machine parameter. C.3.32. ReverseSlewDir This machine parameter will reverse the direction of travel commanded by the joystick. To invert the direction, set this parameter to –1. Aerotech, Inc. C-54 Version 1.4...
  • Page 280 The error “Parameter too high” can occur when setting this parameter from a CNC program. The message may not refer to this parameter, but can also refer to the MaxFeedrateIPM and MaxFeedRateRPM machine parameters, which are “reset” when this parameter is set. Aerotech, Inc. Version 1.4 C-55...
  • Page 281 ; The CNC removes X and Y from NotInUseMask ; and places in ProfileMask b) UnusedAxis.X = 1 ; Tell the CNC we’re no longer using the X Axis Now perform steps 2) and 3) Aerotech, Inc. C-56 Version 1.4...

  • Page 282: Table C-10. Task Parameters

    CutterOffsetX 1.0e+037 CutterOffsetY 1.0e+037 CutterRadius 100.0 CutterRadiusInch 100.0 CutterToleranceDeg 1.0e+037 CutterWear 1.0e+037 CutterX CutterY CutterZ DecelOnProgramAbortMask 65,535 DecelRate 100,000 30.0 DecelRateDPS2 360,000.0 60.0 DecelRateIPS2 100,000.0 30.0 DecelTimeSec 100.0 DryRunLinearFeedRateIPM 1.0e+037 DryRunRotaryFeedRateRPM 1.0e+037 ErrCode -2,147,483,648 2,147,483,648 Aerotech, Inc. Version 1.4 C-57...

  • Page 283: Figure C-18. Normalcy

    65,535 JogPair1Axis2 65,535 JogPair1Mode JogPair2Axis1MinusIn JogPair2Axis1PlusIn JogPair2Axis2MinusIn JogPair2Axis2PlusIn JogPair2EnableIn JogPair2Axis1 65,535 JogPair2Axis2 65,535 JogPair2Mode JoyStickPort LinearFeedRate 1.0e+037 LinearFeedRateActual 1.0e+037 LineNumberUser 2,147,483,648 LineNumber960 2,147,483,648 MaxCallStack MaxLookAheadMoves 1,000,000 MaxModeStack MaxMonitorData 1,000 MaxOnGosubData 1,000 MaxRadiusAdjust MaxRadiusError Mode1 NormalcyToleranceDeg Aerotech, Inc. C-58 Version 1.4...
  • Page 284 1.0e+006 300.0 S1_SpindleRadius -99,999,999 99,999,999 S2_AnalogMSOInput S2_Index S2_MSO S2_RPM 1.0e+006 300.0 S2_SpindleRadius -99,999,999 99,999,999 S3_AnalogMSOInput S3_Index S3_MSO S3_RPM 1.0e+006 300.0 S3_SpindleRadius -99,999,999 99,999,999 S4_AnalogMSOInput S4_Index S4_MSO S4_RPM 1.0e+006 300.0 S4_SpindleRadius -99,999,999 99,999,999 SlewPair1 49,152 (0xc000) Aerotech, Inc. Version 1.4 C-59...
  • Page 285 This task parameter will indicate or may be used to specify the current Acceleration rate of the task in the current user units. This parameter is inconsequential, if rotary axes are dominant. In this case, refer to the AccelRateDPS2 task parameter. Aerotech, Inc. C-60 Version 1.4...
  • Page 286 (G1, G2, G3, G12, and G13). The G67 mode must be set. Otherwise, G68 will be active and the acceleration will be rate based and one of the acceleration rate task parameters will be used. Aerotech, Inc. Version 1.4 C-61...
  • Page 287 The units of this parameter are acceleration, in inches per second squared. For best results blending motion with this parameter, it is recommended that rate based (G68) linear acceleration and deceleration (G64) be used. This parameter may be used via the methods described below: Aerotech, Inc. C-62 Version 1.4...
  • Page 288 ; inches, relative mode, linear moves • • F600 ; 600 inches/minute G108 ; tell controller to not stop between moves. • ; Move from point A to point B ; Move from point B to point C Aerotech, Inc. Version 1.4 C-63...

  • Page 289: Calculating The Value For The Blendmaxaccellinearips2 And Blendmaxaccelrotarydps2 Task Parameters

    ACCELRATE axis parameters, as a very rough starting point. The ACCELRATE axis parameter must be converted from machine counts / second / second to inches / second / second, as follows: BlendMaxAccelLinearIPS2 <= ACCELRATE / CntsPerInch BlendMaxAccelRotaryDPS2 <= ACCELRATE / CntsPerDeg Aerotech, Inc. C-64 Version 1.4...

  • Page 290: Blendmaxaccelrotarydps2

    Corners for more information. For best results blending motion with this parameter, it is recommended that rate based (G68) linear acceleration and deceleration (G64) be used. Aerotech, Inc. Version 1.4 C-65...

  • Page 291: Calculating The Value Of The Blendmaxaccelcircleips2 Task Parameter

    This is accomplished by varying the Update Time of the CNC Profiler or the velocity of a CNC Program block. A CNC program block will always move at the lesser of the two velocities defined below. Aerotech, Inc. C-66 Version 1.4...

  • Page 292: Chordicaltoleranceinch

    This parameter is 1 based, where 1 represents plane 1, comprised of the axes defined by the Coord1I and Coord1J task parameters, as shown in Figure C-12. Refer to Figure C-13 also. Version 1.4 Aerotech, Inc. C-67...

  • Page 293: Clockwise Circular Axes Plane

    The G16 command may be used to assign this parameter more easily within a CNC program however, it will not be saved to the task parameter .Ini file, requiring it to be set within all CNC programs. Aerotech, Inc. C-68 Version 1.4...

  • Page 294: Coord1I

    This parameter is 1 based, where 1 represents plane 1, comprised of the axes defined by the Coord2I and Coord2J task parameters, Figure C-14. Refer to Figure C-15 also. Aerotech, Inc. Version 1.4 C-69...

  • Page 295: Figure C-14. Coordinate System 2 Orientation (Clockwise Or G2 Motion

    The G26 command may be used to assign this parameter more easily within a CNC program however, it will not be saved to the task parameter .Ini file, requiring it to be set within all CNC programs. Aerotech, Inc. C-70 Version 1.4...

  • Page 296: Coord2I

    C o n t o u r e d P a t h C u t t e r X C u t t e r C o m p e n s a t i o n Figure C-16. Cutter Compensation Radius Aerotech, Inc. Version 1.4 C-71...

  • Page 297: Cuttertolerancedeg

    WARNING the value of the value of CutterToleranceDeg. • CutterY • • θ Actual Path Move 1 Move 2 Programmed Path CutterX Figure C-17. Cutter Compensation Illustration Aerotech, Inc. C-72 Version 1.4...

  • Page 298: Link Move

    CutterY This task parameter specifies which task axis is used for the Z or “tool length” axis used by the cutter offset compensation. This parameter may not be changed while cutter offset compensation is active. Aerotech, Inc. Version 1.4 C-73...

  • Page 299: Decelonprogramabortmask

    UpdateTimeSec task parameter value. Therefore, for high rates of acceleration/deceleration and/or acceleration/decelerations between very similar speeds, the rate can be less than that specified. Aerotech, Inc. C-74 Version 1.4...

  • Page 300: Deceltimesec

    The controller has four tasks available for running programs. However each task can also perform a number of functions in addition to program execution; such as ESTOP and Aerotech, Inc. Version 1.4 C-75...
  • Page 301 ESTOP monitoring, as well as the update rate of the positions in the UNIDEX 600 MMI. The user must understand the tradeoffs involved, and be willing to accept reduced performance is some areas, in order to obtain the increased performance in others. Aerotech, Inc. C-76 Version 1.4...

  • Page 302: Executenummonitors

    This input is treated as a level sensitive signal. A value of -1 disables the feed hold check. Each task may have a separate feed hold input. The FeedHold Input takes precedence over the FeedHold task parameter. In other words, if he FeedHoldInput is not set to –1, Aerotech, Inc. Version 1.4 C-77...
  • Page 303 The way that the interrupt mode exits, depends on the setting of the InterruptMotionReturnType task parameter. If the InterruptMotionReturnType task parameter defines that interrupted motion is to be resumed, then feedhold is released. Aerotech, Inc. C-78 Version 1.4...
  • Page 304 Define the Jog Mode via the JogPair1Mode task parameter. Define the virtual inputs for the Plus and Minus Inputs for Axis1. Define the Plus and Minus Inputs for Axis 2. Enable the jog keys via the JogPair1EnableIn task parameter. Aerotech, Inc. Version 1.4 C-79...
  • Page 305 JogPair1EnableIn task parameter. The value is specified as a bitmask. Bit 0 represents the first axis (default name X), bit 2 the second axis (default name Y), etc. See Section C.4.59.1. for more information on setting this parameter. Aerotech, Inc. C-80 Version 1.4...
  • Page 306 This task parameter defines the virtual input number that when True (active high) will cause Axis 1 of Jog Pair 2 (as defined by JogPair2Axis1 ) to jog minus in the current jog mode (as defined by the JogPair2Mode task parameter). Aerotech, Inc. Version 1.4 C-81...
  • Page 307 The axes move at the velocity and distance specified by the jog machine parameters. The motion begins when the input becomes True and does not stop unless mode 3, Halt is activated. Halt = 3 The axes decelerate to a stop. Aerotech, Inc. C-82 Version 1.4...
  • Page 308 The CNC “F word ” is equivalent to the LinearFeedRate parameter, and the value of this parameter can be observed from the MMI600 in the “F” window of the active G code section of the Run or manual screens. Aerotech, Inc. Version 1.4 C-83...
  • Page 309 “next” contoured motion statement. If the specified number of non- contoured motion statements is reached before finding a contoured-motion statement, the controller declares that there is no next motion statement. Aerotech, Inc. C-84 Version 1.4...
  • Page 310 It is recommended that the Circular Radius Error test be left active until the program is completely debugged. Turning it off allows the user to write invalid (non-circular) G2 / G3 commands without any warning being issued to the user. Aerotech, Inc. Version 1.4 C-85...
  • Page 311 ‘’logically or’’ the new bits, so as to not reset all the other modes. The user should consult the G code listed in the right column of the table below, for more information on the modal G code. Aerotech, Inc. C-86 Version 1.4...

  • Page 312: Table C-5. Mode 1

    Bit 1, False, implies Incremental programming mode is active Bit 2, False, implies Sinusoidal (1-Cosine) acceleration is active, Bit 3, False, implies Time based acceleration is active, Bit 4, False, implies Linear Axes Feedrates are dominant, etc.. Aerotech, Inc. Version 1.4 C-87...
  • Page 313 The axes used to determine the normalcy plane are specified by the NormalcyX and NormalcyY parameters. This parameter is 0 based, i.e.; the 1st axis (X) is represented as NormalcyY NormalAxis Orienation Contoured Path NormalcyX Normalcy Plane Figure C-18. Normalcy Aerotech, Inc. C-88 Version 1.4...
  • Page 314 Setting this parameter to –1, disables this mode. See the RoReq1Mask task parameter for specifying only those requests, which you wish to respond to. Aerotech, Inc. Version 1.4 C-89...
  • Page 315 Action words are broken into individual bits, each bit representing a different action. The UNIDEX 600 Series Controller will respond to each action specified in the Action Word and then clear the appropriate bit from the action register.
  • Page 316 The RIActionAxis task parameter is used as a parameter for the RIActionOpCode task parameter to specify the axis used for the action. This parameter is 0 based, implying that the first axis (X) would be specified as zero. Aerotech, Inc. Version 1.4 C-91...
  • Page 317 - Axis to Move RIActionParm1 - Distance to move RIActionParm2 - Velocity to move at 10 – Queue Index RIACTION_OPCODE_ASYNCTYPE_QINDEX RIActionAxis - Axis to Move RIActionParm1 - Distance to move to RIActionParm2 - Velocity to move at Aerotech, Inc. C-92 Version 1.4...
  • Page 318 RIO_ASYNC_MOVE ENDDFS DFS SpindleOff RIActionOpCode.1 = RIACTION_OPCODE_SPINDLE_OFF RIActionParm1 .1 ; Spindle 1 $RI[RIAction1.1] RIO_ASYNC_MOVE ENDDFS DFS IndexXAxis RIActionOpCode.1 = RIACTION_OPCODE_ASYNCTYPE_INDEX RIActionAxis .1 ; Axis Number RIActionParm1 .1 ; Distance RIActionParm2.1 ; Velocity $RI[RIAction1.1] RIO_ASYNC_MOVE ENDDFS Aerotech, Inc. Version 1.4 C-93...
  • Page 319 Action words are broken into individual bits, each bit representing a different action. The UNIDEX 600 Series Controller will respond to each action specified in the RIAction1 register and then clear the appropriate bit from the RIAction1 register, then sets the bit in the output action word, ROAction1, in this case, indicating that the action has occurred.
  • Page 320 However, due to feedrate limiting and the MFO, the actual vectorial velocity during a contoured move may differ from the programmed vectorial velocity. The RotaryFeedRateActual task parameter indicates the actual vectorial velocity. Aerotech, Inc. Version 1.4 C-95...
  • Page 321 To disable the parts rotation, set this parameter to –99,999. Rotated Path RotateY Programmed Path Point of Rotation RotateX Parts Rotation Figure C-19. Part Rotation Aerotech, Inc. C-96 Version 1.4...

  • Page 322: Table C-15. R-Theta Transformations

    X-Y plane. The RThetaR and RThetaT parameters are used to determine the polar R-Theta coordinate system. The RThetaT and RThetaY parameters are used to determine the cylindrical R-Theta coordinate system. Aerotech, Inc. Version 1.4 C-97...
  • Page 323 This parameter may not be changed while the spindle is in motion. C.4.113. S1_RPM This task parameter defines the feedrate of spindle number one. By default, the units are revolutions per minute. The G codes listed below will change the units of this parameter. Aerotech, Inc. C-98 Version 1.4...
  • Page 324 –1, other values will enable external control, causing the slider bar to display the set value. You must have the ExecuteNumSpindles task parameter set properly to utilize more than one spindle. Aerotech, Inc. Version 1.4 C-99...
  • Page 325 MFO slider bar on the Run and Manual (MDI) screens of the MMI600 can only be used when this parameter is set to –1, other values will enable external control, causing the slider bar to display the set value. Aerotech, Inc. C-100 Version 1.4...
  • Page 326 This does not affect any other type of motion. This value can not be changed if the MSOLock task mode is active. Also, if the S4_AnalogMSOInput task parameter is not -1, the specified analog input determines the Aerotech, Inc. Version 1.4 C-101...
  • Page 327 SlewPair1 to be the only axes pair. This parameter is set to a value representing the summation of the two task axes numeric values, assigned when the axis is configured within the axis configuration wizard. See Section C.4.138. for an example. Aerotech, Inc. C-102 Version 1.4...
  • Page 328 SlewPair1 to be selected after SlewPair6. This parameter is set to a value representing the summation of the two task axes numeric values, assigned when the axis is configured within the axis configuration wizard. See Section C.4.138. for an example. Aerotech, Inc. Version 1.4 C-103...
  • Page 329 Status3 – Modal G code states Additional information is provided in the axis parameters. ALT_STATUS – Misc. Information STATUS – Axis instantaneous state MOTIONSTATUS – More axis states SERVOSTATUS – Axis I/O states (Drive, Aux, Limits, Hall inputs, Marker etc.) Aerotech, Inc. C-104 Version 1.4...

  • Page 330: Table C-16. Status1 Bit Descriptions

    Retrace Mode Active 0h80000 Insert Link Move 0h100000 Interrupt Active 0h200000 Slew Active 0h400000 Corner Rounding 0h800000 ROReq1 Active 0h1000000 Canned Function Pending 0h2000000 Canned Function Active 0h4000000 Canned Function Executing 0h8000000 Program Reset 0h10000000 Aerotech, Inc. Version 1.4 C-105...

  • Page 331: Table C-17. Status2 Bit Descriptions

    Spindle #1 Active Spindle #2 Active Spindle #3 Active Spindle #4 Active MSO Change 0h10 Spindle FeedHold Active 0h20 Asynchronous FeedHold Active 0h40 Cutter Enabling 0h80 Cutter Disabling 0h100 Cutter Offsets Enabling 0h200 Cutter Offsets Disabling 0h400 Aerotech, Inc. C-106 Version 1.4...

  • Page 332: Table C-18. Status3 Bit Descriptions

    Left Normalcy Mode Active 0h10000 Right Normalcy Mode Active 0h20000 Normalcy Mode Alignment Active 0h40000 Program FeedRate in Minutes/Unit 0h80000 Program FeedRate in Units/Revolution 0h100000 Limit FeedRate Active 0h200000 Limit MFO Active 0h400000 Coord1Plane1 0h800000 Coord1Plane2 0h1000000 Aerotech, Inc. Version 1.4 C-107...
  • Page 333 When a task fault occurs, the U600 MMI reports an explanation of the task fault in the lower right-hand corner of the Run or Manual page. The user can view the task fault description from AerDebug by typing “TK x”, (where x is the task number) and then Aerotech, Inc. C-108 Version 1.4...
  • Page 334 This is done to allow the programmer to stop, halt or abort axis motion due to a task fault. The behavior is as follows: An ESTOP task fault, (generated by either a global or task ESTOP) will generate an ESTOP axis fault. Aerotech, Inc. Version 1.4 C-109...
  • Page 335 UNIDEX 600 Controller and its operation. The resolution of the profile time is 0.001 and its value must be greater than zero. This parameter has no effect on camming motion. Aerotech, Inc. C-110 Version 1.4...
  • Page 336 This delay is seen when aborting or changing the speed of a contoured move. (i.e. using the MFO, Jog/Interrupt or feedhold). Once a target position is passed to the motion queue, that motion will occur as calculated, regardless of changes to the MFO, Aerotech, Inc. Version 1.4 C-111...
  • Page 337 / spindle3-revolution G495 user-units / spindle4-revolution Note that the value of this parameter will change the units of the LinearFeedRate task parameter (the F keyword) and the units of the RotaryFeedRate task parameter (the E keyword). Aerotech, Inc. C-112 Version 1.4...

  • Page 338: Table C-19. Global Parameters

    Therefore, this time represents the average minimum amount of time required for the controller to respond to a library call. This is a read-only parameter and is updated continuously by the controller. All actions not executed off of Aerotech, Inc. Version 1.4 C-113...
  • Page 339 UNIDEX 600 MMI). This number does not necessarily indicate compatibility, (i.e., BuildNumber 20 files may or may not be compatible with BuildNumber 19 files). Compatibility is represented by the version numbers, which are the first numbers in the version string. Aerotech, Inc. C-114 Version 1.4...

  • Page 340: Table C-20. Compatibility Chart

    Otherwise, if the bit is 1, the parameters are assumed to be in the state defined by the G70 / G71 modal commands. This bit will default to one, True, on new software installations. On updates of older systems this bit will be remain zero, to maintain compatibility. Aerotech, Inc. Version 1.4 C-115...
  • Page 341 The old style contouring mode refers to small changes made in the manner in which G1, G2 and G3 contours are generated. Both styles are virtually identical. The old style is maintained only for compatibility with internal Aerotech testing. The user should never use the old style. Old style is: “Slice lookahead”...
  • Page 342 A 1 indicates the E-Stop input will be used. A 0 will cause the software to ignore the hardware E-Stop input. Refer to the UNIDEX 600 Series Hardware Manual, P/N EDU154 for more details. This input is active low.

  • Page 343: Table C-21. U600 Usermode Meanings

    Manual or Jog Page is active Run Page is active None of the above C.5.17. Version This parameter specifies the current version of (major.minor) the software running on the axis processor. This is a read only parameter. ∇ ∇ ∇ Aerotech, Inc. C-118 Version 1.4...
  • Page 344 Aerotech makes no warranty that its products are fit for the use or purpose to which they may be put by the buyer, where 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 buyer’s use...
  • Page 345 U600 User’s Guide 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 346 CNC program execution, 4-12 Reducing noise, 5-19 com_offset parameter, 4-23 Alphabetic keystrokes, 4-3 Command line, 4-3 ALT_STATUS, C-7 Commands Architecture, 1-3 CONFIG, 4-7 Asynchronous motion, 1-6 CONFIGENCODER, 4-8 AUX, C-8 CONFIGHALL, 4-8, 4-9 AUXOFFSET, C-9 PROG, 4-12 Aerotech, Inc. Version 1.4...
  • Page 347 Default axis, 4-3 Delete, 4-4 Fault Acknowledgements, 4-11 Digital I/O, 2-22 Fault conditions, 2-14 Digital-to-Analog Converter, 2-8 Fault Handling Digital-to-Analog-Converter, 4-19 FAULT TYPE, 2-13, 2-14, C-19, C-20 DIR command, 4-24 BIT LOCATION, 2-13, 2-14, C-19, C-20 Aerotech, Inc. Version 1.4...
  • Page 348 Between, C-24 LZR laser interferometer system, 2-8 Home Limits Switch, C-24 Home Marker Pulse, C-24 Home Position, C-24 Home Tolerance Fault, 2-13, C-19 MABORT command, 4-28 HOME_SWITCH_TOLERANCE Fault, C-24 MABSOLUTE command, 4-29 HomeDirection, C-48 MALTHOME command, 4-29 Aerotech, Inc. Version 1.4...
  • Page 349 Acknowledge, 4-12 Clear, 4-12 offset argument, 4-7, 4-8, 4-9 Programming Fault, 2-13, C-19 OUTOFF command, 4-35 Prompt, 4-3 OUTON command, 4-35 Proportional gain - Kp, 5-31 OUTPAUSE command, 4-35 Proportional gain parameter Kp, 5-30 PSODOWNLOAD, 4-39 Aerotech, Inc. Version 1.4...
  • Page 350 VDMON command, 4-43 Setup Wizard, 0-1 VDSET command, 4-44 SOFTLIMITMODE, C-40 Velocity, 4-32 Software installation process, 2-5 Velocity command, 1-4 Software Limits Disabled, 4-7 Vgain parameter, 5-30 Software Limits Enabled, 4-7 Velocity Command Trap Fault, 2-13, C-19 Aerotech, Inc. Version 1.4...
  • Page 351 WL command, 4-46 VGain parameter, 5-19 WRITESERIAL, 4-46 Virtual I/O mapping, 2-22 WW command, 4-46 Virtual I/O point, 4-27 Virtual inputs, 4-28 Visual Basic, 3-3 VME bus, 1-1 ZMONITOR command, 4-47 VSGET command, 4-44 ZONGOSUB command, 4-47 Aerotech, Inc. Version 1.4...
  • Page 352 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 354 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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