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Aerotech UNIDEX 600 Training Manual

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T
UNIDEX® 600 M
HE
OTION
C
ONTROLLER
TRAINING MANUAL
P/N: EDT 001 (V1.0)
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); (412) 967-6427 (BBS)
www.aerotechinc.com

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  • Page 1 UNIDEX® 600 M OTION ONTROLLER TRAINING MANUAL P/N: EDT 001 (V1.0) 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); (412) 967-6427 (BBS) www.aerotechinc.com...
  • Page 2 UNIDEX 600,UNIDEX 631, and UNIDEX 650 are products of Aerotech, Inc. Windows, Windows 95, and Windows NT are registered trademarks of Microsoft. Windows, Windows NT, and Visual Basic are products of Microsoft Corporation. Visual Basic is a registered trademark of Microsoft.

  • Page 3: Table Of Contents

    Unidex 600 Jumper Configuration ............. 2-3 2.3.1. Base Address Jumpers (JP7, JP8, and JP9)......2-4 2.3.2. IRQ Jumpers (JP4A-JP4D, JP5A-JP5D) ......2-5 2.4. Installing the UNIDEX 600 PC Card ..........2-8 2.5. Software Installation and Configuration ........... 2-10 2.5.1. MMI Software Installation ..........2-11 2.6.
  • Page 4 Table of Contents UNIDEX 600 Training Manual MODULE 5: USING THE MMI SOFTWARE ............. 5-1 5.1. Module Objective ................5-1 5.2. Configuring the Machine Using the MMI........... 5-2 5.3. Simple Program ................5-22 5.4. Test and Verify ................. 5-22 ∇ ∇ ∇...
  • Page 5 Configure New Device in Registry Dialog Box........2-13 Figure 3-1. Block Diagram of U600 & Aerotech BA Amps and Motors....3-2 Figure 3-2. Block Diagram of U600 & Non Aerotech Drives and Motors ....3-3 Figure 3-3. U600 with DR500 and Motors/Stages ............ 3-4 Figure 3-4.
  • Page 6 List of Figures UNIDEX 600 Training Manual Figure 5-1. U600 MMI Main Screen................5-2 Figure 5-2. U600 MMI Setup (Task) Page..............5-3 Figure 5-3. U600 MMI Setup (Axis) Page..............5-4 Figure 5-4. Axis Configuration Page................5-5 Figure 5-5. Axis Configuration Wizard..............5-6 Figure 5-6.

  • Page 7: List Of Tables

    Table 2-4. Free Disk Space Requirements ..............2-10 Table 4-1. UNIDEX 600 Series Required Axis Parameters......... 4-3 Table 4-2. UNIDEX 600 Series Required Machine Parameters ........4-5 Table 4-3. UNIDEX 600 Series Required Task Parameters ........4-6 Table 4-4. UNIDEX 600 Global Parameters ............... 4-8 ∇...
  • Page 8 List of Tables UNIDEX 600 Training Manual Aerotech, Inc. viii Version 1.0...

  • Page 9: Module 1: Introduction

    UNIDEX 600 Training Manual Introduction MODULE 1: INTRODUCTION In This Section: • Module Objective ............1-1 • Overview of the UNIDEX 600 ........1-2 • Motion Capabilities ............1-4 • Programming Capabilities ..........1-5 • Man Machine Interface...........1-8 1.1. Module Objective The objective of this module is to provide a brief introduction and overview of the: Aerotech, Inc.

  • Page 10: Introduction

    A typical system is illustrated in Figure 1-1. Optional digitizing joystick electric handwheel Graphical user interface UNIDEX 600 control card DR500 Drive OP500 Rotary and linear interface cable positioning stages Software User supplied PC Figure 1-1. The UNIDEX 600 System Diagram Aerotech, Inc. Version 1.0...

  • Page 11: Figure 1-2. Unidex 600 Motion Control Card

    UNIDEX 600 Training Manual Introduction The UNIDEX 600 control card, shown in Figure 1-2: Figure 1-2. UNIDEX 600 Motion Control Card The UNIDEX 600 offers flexibility: Aerotech, Inc. Version 1.0...

  • Page 12: Motion Capabilities

    Introduction UNIDEX 600 Training Manual 1.3. Motion Capabilities The UNIDEX 600 provides outstanding performance in a variety of demanding applications that require one or more of the following capabilities: Path Conveyor Z Axis X Axis Y Axis Aerotech, Inc. Version 1.0...

  • Page 13: Programming Capabilities

    UNIDEX 600 Training Manual Introduction 1.4. Programming Capabilities The U600 series controllers can command or monitor motion through two fundamentally different methods, see Table 1-1. Table 1-1. The Two Programming Interfaces Available Programming Language Syntax Processor Manual Interface Run On...

  • Page 14: Table 1-2. Advantages Of The Two Programming Interfaces

    Introduction UNIDEX 600 Training Manual The correct interface or combination of interfaces used depends on the target application, therefore, the programmer must understand the fundamentals of both in order to make the correct decision. Most notably, commands in one syntax are not understandable to the other.

  • Page 15: Multitasking

    UNIDEX 600 Training Manual Introduction 1.4.1. Multitasking In the Library interface: In the CNC interface: Be aware that multitasking is achieved at the cost of slowing down execution of individual tasks when utilizing a single processor. Aerotech, Inc. Version 1.0...

  • Page 16: Man Machine Interface

    UNIDEX 600 Training Manual 1.5. Man Machine Interface Aerotech offers some additional software options to control the UNIDEX 600. A U600 Man Machine Interface (U600MMI-NT), which is a Windows NT/95 Graphical User Interface (GUI) can be purchased to simplify programming and debugging the operation of the U600 controller.

  • Page 17: Module Objective

    MODULE 2: INSTALLATION & CONFIGURATION In This Section: • Module Objective............2-1 • Hardware Requirements ..........2-2 • Unidex 600 Jumper Configuration .........2-3 • Installing the UNIDEX 600 PC Card ......2-8 • Software Installation and Configuration.......2-10 • Establishing and Testing Communications....2-12 2.1. Module Objective The objective of this module is to provide you with: Aerotech, Inc.

  • Page 18: Hardware Requirements

    Installation & Configuration Unidex 600 Training Manual 2.2. Hardware Requirements Minimum hardware requirements and recommended system configurations for the Unidex 600 are shown in Table 2-1. Table 2-1. Minimum Hardware Requirements and Recommendations Equipment Minimum Recommended Computer IBM PC Pentium 90 MHz...

  • Page 19: Unidex 600 Jumper Configuration

    Unidex 600 Jumper Configuration This section summarizes the two most important jumper configurations the user must be concerned with in order to use and communicate to the UNIDEX 600. They are the Base Address jumpers and the PC Interrupt jumpers. Additional jumper settings are configured at the factory according to the customer application specifications.

  • Page 20: Base Address Jumpers (Jp7, Jp8, And Jp9)

    Installation & Configuration Unidex 600 Training Manual 2.3.1. Base Address Jumpers (JP7, JP8, and JP9) If the U600 does not initialize properly or exhibits sporadic operation, there may be another board in the computer that is using the same I/O address. Use the...

  • Page 21: Irq Jumpers (Jp4A-Jp4D, Jp5A-Jp5D)

    Refer to Chapter 3 of the Unidex 600 Hardware Manual, EDU154 for information on the other jumpers. The interrupt level is jumper selectable and is outlined in Table 2-3. Each Unidex 600 in the same PC must have a distinct IRQ level. Aerotech, Inc. Version 1.0...
  • Page 22 Installation & Configuration Unidex 600 Training Manual Table 2-3. PC Bus Interrupt Jumper Settings Jumper State Jumper Settings Function JP4A Interrupt IRQ3(COM2) JP4A IRQ3 not selected (default) JP4A JP4B Interrupt IRQ4 (COM1) JP4A IRQ4 not selected (default) JP4A JP4C Interrupt IRQ5 (LPT)

  • Page 23: Table 2-3. Pc Bus Interrupt Jumper Settings

    Unidex 600 Training Manual Installation & Configuration Table 2-3. PC Bus Interrupt Jumper Settings (cont’d) Jumper State Jumper Settings Function IRQ9 not selected (default) JP4A JP5A Interrupt IRQ15 (AT unassigned) JP5A (default) IRQ15 not selected JP5A JP5B Interrupt IRQ3 (AT unassigned)

  • Page 24: Installing The Unidex 600 Pc Card

    8. Reconnect the PC’s power cord to the power source. 9. Move the PC’s power switch to the ON position and note the status of the UNIDEX 600 board’s LED. The LED (visible from the rear of the system) of the UNIDEX 600 board must After Reset and Reset Software Init.

  • Page 25: Figure 2-2. Installation Of The Unidex 600 Motion Controller Board

    PC boards, consult the user manual of the PC being used. Cover Screws PC Cover UNIDEX 600 Motion Control AT-bus Board Sample PC with 80486 Microprocessor Mouse Keyboard Figure 2-2. Installation of the UNIDEX 600 Motion Controller Board Aerotech, Inc. Version 1.0...

  • Page 26: Software Installation And Configuration

    U600 card for proper operation. An LED is provided (visible from the rear of the PC) on the Unidex 600 board which must come ON when power is first applied to the card and remain ON until the card has its software loaded via the U600MMI-NT or an AerDebug.exe command.

  • Page 27: Mmi Software Installation

    5. Follow any subsequent instructions that are displayed on the screen. When installation is complete, “UNIDEX 600” and “UNIDEX 600 MMI” entries are placed under the Programs menu, which appears after pushing the Start button.

  • Page 28: Establishing And Testing Communications

    Installation & Configuration Unidex 600 Training Manual 2.6. Establishing and Testing Communications The next step is to configure the operating system (OS) registry information for the device driver. This is done by running the AerReg.exe utility. 1. Run the AerReg.exe utility program. Refer to Figure 2-3.

  • Page 29: Figure 2-4. Configure New Device In Registry Dialog Box

    "C:\U600\BIN\PC960.IMG", if not displayed. Refer to Figure 2-4. 6. Select an AT Window within the PC’s extended address space in order to communicate with the UNIDEX 600. This is an area of extended memory used to communicate to the UNIDEX 600 card.
  • Page 30 Installation & Configuration Unidex 600 Training Manual All errors are reported in the white status box at the bottom of the window, refer to Figure 2-3. If the AT Window, I/O Base address, and IRQ interrupt were properly configured, there should be no errors. This means you have successfully established communication with the U600 card(s).
  • Page 31 • Module Objective .............. 3-1 • Block Diagrams ..............3-2 • Aerotech Motors, BA Amplifiers &BB501 ....... 3-5 • Connecting to the DR500 ..........3-7 • Non Aerotech Motors and Drives + BB500 ...... 3-9 • Connecting Digital I/O ............ 3-14 3.1. Module Objective The objective of this module is to provide you with: Aerotech, Inc.

  • Page 32: Wiring To Motors And Drives

    Unidex 600 Training Manual 3.2. Block Diagrams The following are block diagrams illustrating the wiring configurations to the U600 depending on the hardware involved. Figure 3-1. Block Diagram of U600 & Aerotech BA Amps and Motors and BB501 Aerotech, Inc. Version 1.0...

  • Page 33: Figure 3-2. Block Diagram Of U600 & Non Aerotech Drives And Motors

    Unidex 600 Training Manual Wiring to Motors and Drives Figure 3-2. Block Diagram of U600 & Non Aerotech Drives and Motors with BB500 Aerotech, Inc. Version 1.0...

  • Page 34: Figure 3-3. U600 With Dr500 And Motors/Stages

    Wiring to Motors and Drives Unidex 600 Training Manual Figure 3-3. U600 with DR500 and Motors/Stages Aerotech, Inc. Version 1.0...

  • Page 35: Aerotech Motors, Ba Amplifiers &Bb501

    Aerotech Motors, BA Amplifiers &BB501 The BB501 Interface Board provides the ability to interface an Aerotech U600 control board to Aerotech’s BA Series drives and motors. This board provides 4 axes of amplifier and feedback connectors, a joystick port, several I/O and misc.

  • Page 36: Figure 3-4. U600 Wiring, Bb501, Aerotech Drives And Motors

    Wiring to Motors and Drives Unidex 600 Training Manual Figure 3-4. U600 Wiring, BB501, Aerotech drives and Motors Aerotech, Inc. Version 1.0...

  • Page 37: Connecting To The Dr500

    Wiring to Motors and Drives 3.4. Connecting to the DR500 The DR500 drive chassis is an integral part of the Unidex 600 control system. Refer to Figure 3-5. 1. Connect the OP500 cable to P1 of the U600 card to the "From UNIDEX 500/600 Connector"...

  • Page 38: Figure 3-5. U600 Connection To Dr500

    Wiring to Motors and Drives Unidex 600 Training Manual Figure 3-5. U600 Connection to DR500 Aerotech, Inc. Version 1.0...

  • Page 39: Non Aerotech Motors And Drives + Bb500

    Wiring to Motors and Drives 3.5. Non Aerotech Motors and Drives + BB500 If you are using non-Aerotech drives and motors, the signals from the main connector (P1) of the U600 need to be accessed individually or "broken out" and routed to the appropriate amplifiers, motors, etc.

  • Page 40: Figure 3-7. Unidex 600 Commutated Brushless Motor Wiring Configuration

    Wiring to Motors and Drives Unidex 600 Training Manual Figure 3-7. UNIDEX 600 Commutated Brushless Motor Wiring Configuration Aerotech, Inc. 3-10 Version 1.0...

  • Page 41: Figure 3-8. Wiring Configuration Of Brush Motor With Tachometer (Velocity Command Mode)

    Unidex 600 Training Manual Wiring to Motors and Drives Figure 3-8. Wiring Configuration of Brush Motor with Tachometer (Velocity Command Mode) Aerotech, Inc. Version 1.0 3-11...

  • Page 42: Figure 3-9. Wiring Configuration Of A Brushless Motor With A Self-Commutating Amplifier

    Wiring to Motors and Drives Unidex 600 Training Manual Figure 3-9. Wiring Configuration of a Brushless Motor with a Self-Commutating Amplifier Aerotech, Inc. 3-12 Version 1.0...

  • Page 43: Figure 3-10. Brush Motor Without Tachometer (Current Command Mode)

    Unidex 600 Training Manual Wiring to Motors and Drives Figure 3-10. Brush Motor without Tachometer (Current Command Mode) Aerotech, Inc. Version 1.0 3-13...

  • Page 44: Connecting Digital I/O

    Unidex 600 Training Manual 3.6. Connecting Digital I/O The UNIDEX 600 has 16 inputs and 16 outputs available for user applications. Refer to Figure 3-11 for a typical I/O interconnection example. NOTE: If brushless motors are not used, this cable could connect directly to a PB8 card to provide the additional eight outputs (Out8 through Out15).

  • Page 45: Figure 3-11. U600 I/O Connections Using Non-Aerotech Motors/Amplifiers

    Unidex 600 Training Manual Wiring to Motors and Drives Figure 3-11. U600 I/O Connections using Non-Aerotech Motors/Amplifiers Aerotech, Inc. Version 1.0 3-15...

  • Page 46: Figure 3-12. U600 Digital I/O

    Wiring to Motors and Drives Unidex 600 Training Manual Figure 3-12. U600 Digital I/O ∇ ∇ ∇ Aerotech, Inc. 3-16 Version 1.0...

  • Page 47: Setup Wizard & U600 Utilities

    UNIDEX 600 Training Manual Setup Wizard & U600 Utilities MODULE 4: SETUP WIZARD & U600 UTILITIES In This Section: • Module Objective .............. 4-1 • Configuring the System with Setup Wizard....... 4-9 • U600 Software Utilities ........... 4-40 4.1. Module Objective The objective of this module is to provide you with information: Aerotech, Inc.

  • Page 48: Unidex 600 Parameters

    UNIDEX 600 Training Manual 4.2. UNIDEX 600 Parameters There are four types of parameters used within the UNIDEX 600 system: The Axis parameters define the characteristics and limits of the motor. This includes maximum/continuous current, fault actions, servo loop gains and drive interface signal active states.

  • Page 49: Axis Parameters

    The following table is a list of the required Axis parameters needed to configure your axis. These are not all of the axis parameters (refer to the UNIDEX 600 User’s Guide, P/N EDU157 for a complete list and descriptions), you may need to configure more depending on your application.

  • Page 50: Machine Parameters

    The following table is a list of the required Machine parameters needed to configure your axis. These are not all of the Machine parameters (refer to the UNIDEX 600 User’s Guide, P/N EDU157 for a complete list and descriptions), you may need to configure more depending on your application. These are the same parameters configured using the Setup Wizard, discussed later in this module.

  • Page 51: Task Parameters

    The following table is a list of the required Task parameters needed to configure your axis. These are not all of the Task parameters (refer to the UNIDEX 600 User’s Guide, P/N EDU157 for a complete list and descriptions), you may need to configure more depending on your application.

  • Page 52: Table 4-3. Unidex 600 Series Required Task Parameters

    Setup Wizard & U600 Utilities UNIDEX 600 Training Manual Table 4-3. UNIDEX 600 Series Required Task Parameters Name Param Number Access Minimum Maximum Default AccelRateDPS2 360000.0 60.0 AccelRateIPS2 100000.0 30.0 AccelTimeSec 100.0 AnalogMFOInput AnalogMSOInput Coord1I Coord1J Coord1K Coord1Plane Coord2I Coord2J...

  • Page 53: Global Parameters

    UNIDEX 600 Training Manual Setup Wizard & U600 Utilities Table 4-3. Task Parameters (Cont’d) Name Param Number Access Minimum Maximum Default S3_RPM 1.0e+006 300.0 S4_Index S4_RPM 1.0e+006 300.0 SlewPair1 49152 (0xc000) SlewPair2 49152 (0xc000) SlewPair3 49152 (0xc000) SlewPair4 49152 (0xc000)

  • Page 54: Table 4-4. Unidex 600 Global Parameters

    Setup Wizard & U600 Utilities UNIDEX 600 Training Manual Table 4-4. UNIDEX 600 Global Parameters Name Param Number Access Minimum Maximum Default AvgPollTimeSec <NA> <NA> 0.000429688 BuildNumber <NA> <NA> 23.0 CallBackTimeoutSec 60.0 Enable1KHzServo EStopEnabled Interrupt2TimeSec 60.0 NumGlobalAxisPts 1000 NumGlobalDoubles 1000...

  • Page 55: Configuring The System With Setup Wizard

    UNIDEX 600 Training Manual Setup Wizard & U600 Utilities 4.3. Configuring the System with Setup Wizard The Setup Wizard walks you through the minimum parameter settings for each axis. Depending on your application, additional parameters may need to be set.

  • Page 56: Figure 4-2. Setup Wizard (Number Of Axes In Application)

    Setup Wizard & U600 Utilities UNIDEX 600 Training Manual Figure 4-2. Setup Wizard (Number of Axes in Application) 5. Next, specify whether the axis is a linear, rotary, or spindle axis, refer to Figure 4-3. If the axis is a spindle, an option box is enabled which allows you to specify the default rpm of the spindle, the spindle index, and the channel that is being used for the manual spindle override.

  • Page 57: Figure 4-3. Setup Wizard Axis Type

    Configuration Wizard. a. The Axis Configuration Wizard (Figure 4-5) 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.

  • Page 58: Figure 4-4. Setup Wizard Current Axis Configuration

    Setup Wizard & U600 Utilities UNIDEX 600 Training Manual Figure 4-4. Setup Wizard Current Axis Configuration To configure an axis; select the axis with the mouse that you wish to configure and select the F7-Wizard function key. The left dialog box in the new display window will show the templates available to configure the axis by.

  • Page 59: Figure 4-5. Axis Configuration Wizard (Template Selection)

    UNIDEX 600 Training Manual Setup Wizard & U600 Utilities Figure 4-5. Axis Configuration Wizard (Template Selection) The axis may be configured as a Null or Virtual axis for debugging purposes. Selecting ‘Next’ will advance you to the next Wizard configuration screen;...

  • Page 60: Figure 4-6. Axis Configuration Wizard (Axis Name Assignment)

    Setup Wizard & U600 Utilities UNIDEX 600 Training Manual Selecting Feedback Types b. The second Axis Wizard Configuration screen (refer to Figure 4-6) • allows axis names to be assigned • the task axis to be assigned • and the axis to be bound to task 1 through 4 Most users will bind all axes to task 1.

  • Page 61: Figure 4-7. Axis Configuration (Primary Feedback)

    UNIDEX 600 Training Manual Setup Wizard & U600 Utilities Figure 4-7. Axis Configuration (Primary Feedback) Configuring the Primary Feedback Device c. The third Axis Wizard Configuration screen (refer to Figure 4-7) allows the primary feedback device to be configured. This screen will vary depending upon the primary feedback device selected.

  • Page 62: Figure 4-8. Axis Configuration (Configuring Dac Channel)

    Setup Wizard & U600 Utilities UNIDEX 600 Training Manual Configuring a DAC Channel d. 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. Refer to Figure 4-8.

  • Page 63: Figure 4-9. Axis Configuration (Secondary Feedback)

    UNIDEX 600 Training Manual Setup Wizard & U600 Utilities Configuring the Secondary Feedback Device e. The fifth Axis Wizard Configuration screen (refer to Figure 4-9) allows the secondary feedback device to be configured. This screen will vary depending upon the Secondary feedback device selected.

  • Page 64: Figure 4-10. Axis Configuration (Calibration Data)

    Setup Wizard & U600 Utilities UNIDEX 600 Training Manual Configuring Axis Calibration Data f. The Calibration File Name field on the last page of the Axis Configuration Wizard screen allows ASCII text files to be specified, containing a look-up table of absolute positions and correction values at those absolute positions.

  • Page 65: Figure 4-11. Axis Configuration (Saving Axis Configuration)

    UNIDEX 600 Training Manual Setup Wizard & U600 Utilities 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.

  • Page 66: Figure 4-12. Axis Scaling

    Setup Wizard & U600 Utilities UNIDEX 600 Training Manual h. Selecting ‘Finish’ will save your settings and exit the axis configuration Wizard displaying the following screen in Figure 4-12, ‘Back’ will take you to the previous Wizard screen, ‘Cancel’ will exit the wizard without saving any changes to the axis configuration.
  • Page 67 UNIDEX 600 Training Manual Setup Wizard & U600 Utilities CntsPerDeg The CntsPerDeg parameter specifies the number of machine counts per degree of movement. This parameter is used by the CNC interface to determine the number of counts to move per degree. A positive value indicates positive motion is in the CW direction.

  • Page 68: Figure 4-13. Home Cycle Information

    Setup Wizard & U600 Utilities UNIDEX 600 Training Manual 9. The next screen sets up the home cycle. It sets the Home Type, Home Direction, Home Feed Rate, and Home Offset. Refer to Figure 4-13. Figure 4-13. Home Cycle Information HomeType The HomeType machine parameter defines one of four homing cycles.
  • Page 69 HomeType 1 - Home into Limit & Reverse to Reference Pulse (Aerotech Std.) The home position is found at the first reference pulse that occurs after the home limit switch is false following the direction reversal.
  • Page 70 Setup Wizard & U600 Utilities UNIDEX 600 Training Manual HomeDirection Specifies the direction to start homing. A “0” or “1” specifies that the axis will begin homing in the CW direction. A “-1” specifies that the axis will begin homing in the CCW direction.

  • Page 71: Figure 4-14. Asynchronous Move Information

    UNIDEX 600 Training Manual Setup Wizard & U600 Utilities 10. After configuring the home cycle, the next screen configures the Asynchronous Move Information. This sets the Acceleration \ Deceleration Mode, the Acceleration \ Deceleration time, and the Acceleration \ Deceleration rate for G0 and asynchronous motion. Refer to Figure 4-14.

  • Page 72: Figure 4-15. Position Limits

    Setup Wizard & U600 Utilities UNIDEX 600 Training Manual ACCELRATE This parameter sets the rate of acceleration for G0 (point to point) moves and asynchronous moves, while the ACCELMODE parameter specifies rate based ramping. The units are machine counts per second squared. This parameter is used only when the ACCELMODE parameter is set to 2 and 3.

  • Page 73: Figure 4-16. Iolevel (Axis Verification)

    12. The next step sets the IOLEVEL parameter. If the Setup Wizard can establish communication with the UNIDEX 600 card, a display is shown which shows the actual status of the UNIDEX 600 card signals. Refer to Figure 4-16. Figure 4-16. IOLEVEL (Axis Verification) Aerotech, Inc.

  • Page 74: Figure 4-17. Fault Mask Screen (Shown With All Checkboxes Enabled)

    Setup Wizard & U600 Utilities UNIDEX 600 Training Manual The IOLEVEL parameter allows the user to specify the active state for the axis and drive interface signals. The value specified is a bit-mask where only the specified bits are valid. Setting a bit to one implies the input or output is active high.
  • Page 75 UNIDEX 600 Training Manual Setup Wizard & U600 Utilities All subsequent Mask screens contain the same listing of faults as the Fault Mask screen. Each screen looks the same, except for its nomenclature. All of these screens are dependent on the selections made on the Fault Mask screen.
  • Page 76 However, a non-zero BRAKEMASK parameter will cause the brake to be enabled whenever the drive is disabled. On the UNIDEX 600/650, which has only one brake output, any disabled axis with a non-zero BRAKEMASK parameter will engage the brake. The brake will be disengaged when all axes with their BRAKEMASK set are enabled.

  • Page 77: Figure 4-18. Current Limits

    UNIDEX 600 Training Manual Setup Wizard & U600 Utilities Figure 4-18. Current Limits IAVGLIMIT Detects an over current condition based upon the setting of the IAVGTIME parameter. The value specified in the IAVGTIME parameter determines what time to average the instantaneous current. An RMS current limit fault occurs if the RMS average exceeds the limit set by this parameter.

  • Page 78: Figure 4-19. Axis Configuration Has Been Completed Screen

    Setup Wizard & U600 Utilities UNIDEX 600 Training Manual IMAX This parameter sets the peak commanded output current, when the axis is operating in the current (torque) mode. This is done by limiting the maximum output voltage of the current command signal, which is in turn translated into a proportional motor current by the drive module.

  • Page 79: Figure 4-20. Task Configuration Screen

    UNIDEX 600 Training Manual Setup Wizard & U600 Utilities Figure 4-20. Task Configuration Screen Sinusoidal (1-Cosine) Acceleration Mode G63 The G63 command (refer to Figure 4-20) specifies that the acceleration type to be used is sinusoidal. Sinusoidal acceleration, is called (1-cosine), since this...
  • Page 80 Setup Wizard & U600 Utilities UNIDEX 600 Training Manual Linear Acceleration Mode G64 The G64 command specifies that the acceleration type to be used is linear. This command is the default. Refer to Figure 4-20. Typically used on systems that require constant rates of acceleration within each move is linear acceleration.
  • Page 81 Setup Wizard & U600 Utilities Absolute Dimension Programming Mode (Position) G90 Prior to the execution of motion commands, the UNIDEX 600 Series controller must be told whether programmed dimensional data is to be interpreted as absolute coordinates, or as an offset from the current axis position. The G90 command specifies that all move values be interpreted as absolute coordinates.

  • Page 82: Figure 4-21. Global E-Stop Configuration (Task Configuration)

    Setup Wizard & U600 Utilities UNIDEX 600 Training Manual 23. This step configures the global ESTOP, the Feedhold information, and the manual feed override input. Refer to Figure 4-21. Figure 4-21. Global E-stop Configuration (Task Configuration) The global ESTOP input, defaults to the inactive state. To enable it, the EStopEnabled global parameter must be set to 1.
  • Page 83 UNIDEX 600 Training Manual Setup Wizard & U600 Utilities FeedHoldInput Specifies which binary input is used as a feed hold input for this task. This input is treated as a level sensitive signal. A value of -1 disables the feed hold check.

  • Page 84: Figure 4-22. Acceleration/Deceleration Configuration (Task Configuration Section)

    Setup Wizard & U600 Utilities UNIDEX 600 Training Manual 24. This page configures the Acceleration and Deceleration Rate in DPS2 or IPS2 and the Acceleration and Deceleration time. Only the acceleration parameters are explained. Refer to Figure 4-22. Figure 4-22. Acceleration/Deceleration Configuration (Task Configuration Section)

  • Page 85: Figure 4-23. Setup Wizard Complete Screen

    UNIDEX 600 Training Manual Setup Wizard & U600 Utilities AccelTimeSec This parameter specifies the acceleration time in seconds used by the CNC for contoured motion acceleration (G1,G2,and G3). 25. This step tells the user that the Setup Wizard is complete, refer to Figure 4-23.

  • Page 86: U600 Software Utilities

    Setup Wizard & U600 Utilities UNIDEX 600 Training Manual 4.4. U600 Software Utilities When you purchase the U600, it comes with the software utilities: These utilities test and control specific aspects of your system. 4.4.1. AerDebug For example, you can continuously monitor axis positions while motion is directed by other applications.

  • Page 87: Aerreg

    UNIDEX 600 Training Manual Setup Wizard & U600 Utilities AerDebug is most typically used for: For a list of commands used with the Aerdebug utility, refer to the UNIDEX 600 User’s Guide, P/N EDU157. 4.4.2. AerReg The AerReg utility is Aerotech’s operating system registry editor program that permits registry information to be created or edited by you without knowing the required structure of the registry database.

  • Page 88: Aerstat

    Setup Wizard & U600 Utilities UNIDEX 600 Training Manual 4.4.4. AerStat The AerStat utility is a debugging tool that: The unused axes may be slid off the screen to remove useless information by grabbing the vertical bar to the right of the axes number with the left mouse button, and sliding it to the right of the screen.

  • Page 89: Aertune

    UNIDEX 600 Training Manual Setup Wizard & U600 Utilities 4.4.5. AerTune The AerTune program is an easy to use utility for: ∇ ∇ ∇ Aerotech, Inc. Version 1.0 4-43...
  • Page 90 Setup Wizard & U600 Utilities UNIDEX 600 Training Manual Aerotech, Inc. 4-44 Version 1.0...

  • Page 91: Module 5: Using The Mmi Software

    UNIDEX 600 Training Manual Using the MMI Software MODULE 5: USING THE MMI SOFTWARE In This Section: • Module Objective .............. 5-1 • Configuring the Machine Using the MMI ......5-2 • Simple Program ............... 5-22 • Test and Verify..............5-22 5.1.

  • Page 92: Configuring The Machine Using The Mmi

    Configuring the Machine Using the MMI To start the MMI600 software, push the Start button, then select programs and find the program group "UNIDEX 600 MMI." Figure 5-1 is the Main screen that appears when starting the MMI software. Figure 5-1. U600 MMI Main Screen The next step is to configure your machine.

  • Page 93: Figure 5-2. U600 Mmi Setup (Task) Page

    UNIDEX 600 Training Manual Using the MMI Software Figure 5-2. U600 MMI Setup (Task) Page From this screen you can: Aerotech, Inc. Version 1.0...

  • Page 94: Figure 5-3. U600 Mmi Setup (Axis) Page

    Using the MMI Software UNIDEX 600 Training Manual If you hit the F12 function key, you will notice that it (F12) toggles between <Axis menu> and <Task Menu>. You will also notice that the F7 key toggles from Task Parameters to Axis Configuration; F8 toggles from Task Initialization to Axis Parameters;...

  • Page 95: Figure 5-4. Axis Configuration Page

    Figure 5-4. Axis Configuration Page To configure an axis, you should always use the Axis Configuration Wizard. It 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.

  • Page 96: Figure 5-5. Axis Configuration Wizard

    Using the MMI Software UNIDEX 600 Training Manual Figure 5-5. Axis Configuration Wizard Selecting Next> advances you to the next screen of the Axis Configuration Wizard, refer to Figure 5-6. You will notice that the screen is similar to the screen used when running the Setup Wizard utility.

  • Page 97: Figure 5-6. Axis Configuration Wizard (Axis Name Assignment)

    UNIDEX 600 Training Manual Using the MMI Software Figure 5-6. Axis Configuration Wizard (Axis Name Assignment) To configure the Axis parameters for each axis, you need to access the Axis Parameter Page, refer to Figure 5-7. From the Setup (Axis) Page, hit the F8 - Axis Parameters function key to display the Axis Parameter Page.

  • Page 98: Figure 5-7. Axis Parameter Page

    Using the MMI Software UNIDEX 600 Training Manual Figure 5-7. Axis Parameter Page Hit the Esc <Setup Page> function key to return to the Setup Page. To configure the Machine parameters, hit the F9 - Machine Parameters function key. The Machine Parameter Page appears, refer to Figure 5-8.

  • Page 99: Figure 5-8. Machine Parameter Page

    UNIDEX 600 Training Manual Using the MMI Software Figure 5-8. Machine Parameter Page Like the Axis Parameter Page, you can scroll down and across to configure any of the Machine parameters for each axis. Machine parameters define each axis, such as: Aerotech, Inc.

  • Page 100: Figure 5-9. Task Parameter Page

    Using the MMI Software UNIDEX 600 Training Manual Hit the Esc <Setup Page> function key to return to the Setup Page. Toggle the F12 function key to display the <Task Menu>. To configure the Task parameters, hit the F7 - Task Parameters function key. The Task Parameter Page appears, refer to Figure 5-9.

  • Page 101: Figure 5-10. Global Parameters Page

    UNIDEX 600 Training Manual Using the MMI Software Hit the Esc <Setup Page> function key to return to the Setup Page. To configure the Global parameters, hit the F5 - Global Parameters function key. The Global Parameter Page appears, refer to Figure 5-10.

  • Page 102: Figure 5-11. Initialization Page (Task 1)

    The Task initialization page within the Setup page allows you to define the initial modes of all of the G-codes groups. Refer to either the U600 online help or the UNIDEX 600 Series CNC Programming Manual, P/N EDU158 for descriptions of each of the G-code commands.

  • Page 103: Figure 5-12. Setup Position Display Page

    UNIDEX 600 Training Manual Using the MMI Software Hit the Esc <Setup Page> function key to return to the Setup Page. The next step is to configure the Position Display Page, hit the F4 - Position Display function key. The Setup Position Display Page appears, refer to Figure 5-12.

  • Page 104: Figure 5-13. Manual Page (Task 1)

    Using the MMI Software UNIDEX 600 Training Manual Hit the Esc <Setup Page> function key to return to the Setup Page. Then hit the Esc <Home Page> function key to return to the Main screen. The next step is to look at the Manual Page.

  • Page 105: Figure 5-14. Manual Page (Jog Mode)

    UNIDEX 600 Training Manual Using the MMI Software As the CNC command executes, the display will update, tracking the axes positions and the state of the various G-codes. Figure 5-14. Manual Page (Jog Mode) Aerotech, Inc. Version 1.0 5-15...
  • Page 106 Using the MMI Software UNIDEX 600 Training Manual This message display window is the custom display window (CDW). The display command messages are displayed here. After activating the message display portion of the page, the F10 key becomes a split key indicating that F10 will hide the message window returning the G-code status window.

  • Page 107: Figure 5-15. Run Page

    UNIDEX 600 Training Manual Using the MMI Software The Run Page is accessed by selecting the F2 - Run function key on the main screen, refer to Figure 5-15. Figure 5-15. Run Page If any compiler/programming errors are found, they will be displayed in the Msg tab of the program tracking display and the Message button will be green indicating there is a message awaiting the user.
  • Page 108 Using the MMI Software UNIDEX 600 Training Manual Selecting a new task will update the state of the Run page for the current task. As the program executes, the display will update, tracking the axes positions and the state of the various G-codes.

  • Page 109: Figure 5-16. Edit Page (File Menu)

    UNIDEX 600 Training Manual Using the MMI Software The Edit Page (File Menu) is accessed by selecting the F4 - File function key on the main screen, refer to Figure 5-16. Figure 5-16. Edit Page (File Menu) The Edit Page (File Menu) permits you to: In addition the File Menu provides error reporting capability for the Run Page by highlighting incorrect CNC lines after compiling the program.

  • Page 110: Figure 5-17. Edit Page (Run Menu)

    Using the MMI Software UNIDEX 600 Training Manual The Edit Page (Run Menu) is accessed by selecting the F5 <Run Menu> function key on the File Menu page, refer to Figure 5-17. Figure 5-17. Edit Page (Run Menu) The Run menu allows the program to be processed for execution by the UNIDEX 600 controller.

  • Page 111: Figure 5-18. Virtual Io Page

    UNIDEX 600 Training Manual Using the MMI Software These two steps (compiling and downloading) may be accomplished in one keystroke by selecting the F9 - Run function key, which will also display the Run page and wait for a Cycle start from the operator.

  • Page 112: Simple Program

    Using the MMI Software UNIDEX 600 Training Manual Each of the I/O displays also has an associated scroll bar that may be used to select a block of each type of I/O for display, with the exception of the analog inputs.
  • Page 113 READER’S COMMENTS AEROTECH UNIDEX 600 Motion Controller Training Manual P/N EDT 001, August, 1998 Please answer the questions below and add any suggestions for improving this document. Is the information: Adequate to the subject? ____ ____ Well organized? ____ ____...

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