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Manuals and User Guides for Aerotech BA-Intellidrive BAI 75. We have
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Aerotech BA-Intellidrive BAI 75 manual available for free PDF download: User Manual
Aerotech
BA-Intellidrive BAI 10
User Manual
Aerotech BA-Intellidrive BAI 75 User Manual (202 pages)
Brand:
Aerotech
| Category:
DC Drives
| Size: 3.66 MB
Table of Contents
Table of Contents
4
Chapter 1: Introduction
20
Product Overview
22
Indexer
23
Figure 1-2. BAI Indexer/Positioner Mode
23
Chapter 1: Introduction
23
Figure 1-3. Illustration of Local and Remote Mode
24
Teach Mode
25
Figure 1-5. Teach Mode (Using BAI MMI)
26
Figure 1-6. Teach Mode (Using a Hand Held Terminal)
26
BAI DOS Software
27
Clock and Direction
27
Figure 1-7. Operating Mode (Clock and Direction)
27
Figure 1-8. BA-Intellidrive Hardware - 10/20/30 a Models
28
Figure 1-9. BA-Intellidrive Hardware - 50/75/100 Models
28
Bai 10/20/30
29
Figure 1-10. Motor and AC Power Connections - 10/20/30 Models
29
Motor and AC Power Connections
29
Bai 50/75/100
30
Figure 1-11. Motor and AC Power Connections - 50/75/100 Models
30
Bai 10/20/30
31
Fusing and Inrush Limiting
31
Volt Option - BAI 10/20/30
33
COM Port
34
RS232 Daisy Chain Configuration
34
LED Status Indicators
35
The I/O Port (P1)
35
Encoder/Limits/Hall Effects Port (P3)
36
Table 1-2. I/O Connector Pinouts (P1)
36
Table 1-3. Pinouts for the Encoder/Limits/Hall Effects Port (P3)
37
Hardware Overview and Function
28
Safety Procedures and Warnings
38
Chapter 2: Getting Started
41
Unpacking the BA-Intellidrive
41
Minimum Hardware Requirements and Recommended System Configurations
41
Recommended System Configurations
41
Inspection of the BAI
42
Physical Setup of the Motion Controller
42
BAI Cable Connections
43
Local Mode
43
Standard Installation of the Software
44
Figure 2-5. BAI Display Window
45
Figure 2-6. BAI Resetting Window
45
Figure 2-8. DOS Editor Screen
46
Writing a Short BAI Program
46
Figure 2-9. File Operations Screen
47
Figure 2-11. File Upload Screen
48
Figure 2-12. Other Menu Options Screen
48
Figure 2-14. Enter File Screen
49
BAI Windows Software Interface
50
Figure 2-16. Programs Window
51
Figure 2-17. Parameters Screen
51
BAI MMI Windows Software Installation
52
Figure 2-18. MMI Main Screen
52
Figure 2-19. MMI Text Editor Window
53
Figure 2-21. Main Screen (Run Mode)
54
Figure 2-22. Display Code (Main Screen)
55
Parameters Screen - BAI MMI
56
Figure 2-23. Parameters Screen (BAI MMI)
56
Figure 2-24. Motor Profiles Selection (Parameter Screen)
57
Axis Scope Tuning Window
58
Figure 2-25. Axis Scope Window (BAI MMI)
58
Figure 2-26. Axis Scope Toolbars
59
Figure 2-27. Cursors Toolbar (Axis Scope Screen)
60
Tuning Procedure for Servo Loops
60
Figure 2-29. Maximize Button on the Axis Scope Window
62
Table 2-2. Initial Servo Parameter Values
62
Figure 2-30. Unacceptable Velocity Error
64
Figure 2-31. Acceptable Velocity Error (When Adjusting Kp)
64
Figure 2-32. Unacceptable Position Error (When Adjusting Ki)
65
Figure 2-33. Plot Showing an Appropriate Value for Kpos
66
Figure 2-34. Plot Showing Overall Effects When Kpos Is High
67
Autotuning
68
Figure 2-35. the "Gains" and "Auto Tune" Toolbars
68
Figure 2-36. Autotune Plot Where "Dist" Has Been Set too Low
69
Figure 2-37. Autotune Plot Where "Dist" Has Been Set too High
70
Figure 2-38. Autotune Plot Showing Proper Calibration
71
Tuning Tips
72
Figure 2-39. Tuning Plot of an AC Brushless Motor
72
Chapter 3: Communication and Commands
74
Introduction
74
BAI Communications Modes
74
Figure 3-1. Tracking Screen
74
Local Mode
74
Enabling RS232 Remote Communications
75
Remote Mode
75
Daisy Chain
76
Menu Commands
77
C-Change Parameter
77
Figure 3-2. the Change Parameter Screen
78
D-Display Tracking Information
79
O-Other Menus
80
Figure 3-5. Other Menu Options
80
Running a Program
80
Display Error Message
81
Figure 3-7. Read Register Screen
81
Read Register
81
Read/Write Parameter
81
F-File Operations
82
F1- Abort Entry/Up One Menu Level
82
F2/F3 - Previous/Next Menu
82
Figure 3-8. File Operation Screen
82
F5 - Aborts Motion and Programs
83
I - Enter Motion Command
83
S - Save Parameters to Flash
83
T-Teach Mode
84
Space Bar
85
Figure 3-11. Teach Mode (Using BAI MMI)
85
BAI System Commands
86
Table 3-2. System Commands
86
DF Delete File
87
File Transfers - Download File to PC
87
Program Execution
87
Program/Motion Abort
87
Table 3-3. BAI File Transfers Transmit Sequence
87
Format
88
Get Message Command
88
Hold/Trigger/Cancel
88
Table 3-4. Hold/Trigger/Cancel Variables
88
Execute Immediate Command
89
Print Directory
89
Return Error Message String
89
Print Program "File" to Port
90
Print Status
90
Table 3-5. Bit Definitions for the PS Print Status Command
90
Return Axis Position
91
Serial Poll Command
91
Table 3-6. Return Axis Position Type Variables
91
Table 3-7. Return Axis Position Type Variables
91
Hardware Reset
92
Parameter Editing
92
Read/Write Register
93
Save Program/Parameters to Flash Memory
93
Service Request Mode (SRQ)
93
Table 3-8. SRQ Service Request Variables
93
File Transfers - Upload File to BAI
94
Comment
95
BAI Motion and Program Commands
96
Table 3-10. Motion Commands
96
Acceleration Command
97
Clear Limit
97
Conditional Gosub
97
Conditional Goto
97
Disable Amplifier
98
Dwell Command
98
Enable Amplifier
98
Fault Acknowledge
98
Freerun
99
Gain Command
99
Gosub Command
100
Goto Command
100
Home Command
100
Figure 3-13. Parameters Affecting the Home Cycle
101
Index Command
101
Command
102
Label - Define a Label
102
Load Position Register
102
Change Opto-Isolated Outputs
103
Loop Start and Loop End
103
Motor Commutate
103
Print Message
103
Position Mode - Absolute or Incremental
104
Program Stop
104
Ramp Time
104
Register Functions
105
Return from Subroutine
105
Run the Teach Program
105
WM/WA - Wait Move
105
Figure 3-14. Teach Mode Screen
106
Teach Mode
106
Using the Teach Program
106
F2/F3 Next/Previous Index
107
Figure 3-15. Teach Screen for Position "0" (Showing Current Position and Teach, POS, VEL, and I/O Pattern)
107
Figure 3-16. Teach Screen for Position "0" (Showing Current Position and Teach, POS, VEL, and I/O Pattern)
107
Increment/Decrement Current Position
107
Learn the Current Position/Feedrate/Bit Pattern
107
I-Change the Index
108
S-Save the Teach Program
108
Z-Zero the Teach Program
108
Sample Programs
109
Chapter 4: Parameters
112
Introduction
112
Table 4-1. BAI Parameters
112
Servo Loop Parameters
115
PRM:0 Proportional Velocity Gain KP
116
PRM:1 Integral Velocity Gain KI
116
PRM:2 Proportional Position Gain KPOS
116
Table 4-2. Settings for Proportional Velocity Gain PRM:0
116
Table 4-3. Settings for Integral Velocity Gain PRM:1
116
Table 4-4. Settings for Proportional Position Gain PRM:2
116
PRM:3 Incremental Change for KP
117
PRM:4 Incremental Change for KI
117
Table 4-5. Settings for Incremental Change for KP PRM:3
117
Table 4-6. Settings for Incremental Change for KI PRM:4
117
PRM:5 Incremental Change for KPOS
118
PRM:6 Servo "In Position" Tolerance
118
Table 4-7. Settings for Incremental Change for KPOS PRM:5
118
Table 4-8. Settings for Servo "In Position" Tolerance PRM:6
118
PRM:7 Servo Peak Current Limit
119
PRM:8 Servo RMS Limit
119
Table 4-9. Settings for Servo Peak Current Limit PRM:7
119
Table 4-10. Settings for Servo RMS Limit PRM:8
119
PRM:9 Servo RMS Current Timeout
120
PRM:10 Servo Velocity Trap
120
Table 4-11. Settings for Servo RMS Current Timeout PRM:9
120
Table 4-12. Settings for Servo Velocity Trap PRM:10
120
PRM:11 Integral Clamp
121
PRM:12 Position Error Trap
121
Table 4-13. Settings for Integral Clamp PRM:11
121
Table 4-14. Settings for Position Error PRM:12
121
PRM:13 Servo Update Rate
122
PRM:14 Encoder Resolution
122
Table 4-15. Settings for Servo Update Rate PRM:13
122
PRM:15 Electrical Cycles/Mechanical Revolution
123
PRM:16 Hall Effects Available
124
PRM:17 Initialization Current
124
Table 4-19. Settings for Hall Effects Available PRM:16
124
PRM:18 Velocity Feedforward VFF
125
PRM:20 Operating Mode
125
Table 4-20. Settings for Initialization Current PRM:17
125
Table 4-21. Settings for VFF - Velocity Feedforward PRM:18
125
Table 4-22. Operating Modes PRM:20
125
PRM:22 Position Save
126
PRM:23 Reload Saved Position on Power-Up
126
Table 4-23. Settings for Operating Mode PRM:20
126
Table 4-24. Settings for Position Save PRM:22
126
Table 4-25. Settings for PRM:23
126
PRM:24 Saved Position
127
PRM:26 Low Pass Filter
127
Table 4-26. Settings for Saved Position PRM:24
127
Table 4-27. Settings for Low Pass Filter PRM:26
127
PRM:27 Phase Offset
128
PRM:29 Input Command Offset
128
Table 4-28. Settings for Phase Offset PRM:27
128
Table 4-29. Settings for Input Command Offset PRM:29
128
PRM:30 Default Velocity
129
PRM:31 Jog Value
129
Table 4-30. Settings for Default Velocity PRM:30
129
Table 4-31. Settings for Jog Value PRM:31
129
PRM:32 in Position Bit
130
PRM:33 Dead Band Wait Time
130
PRM:34 Thermistor Polarity
130
Table 4-32. Settings for in Position Bit PRM:32
130
Table 4-33. Settings for Dead Band Wait Time PRM:33
130
PRM:36 Position Mode
131
Figure 4-2. Thermistor Input Circuit
131
Table 4-34. Settings for Thermistor Polarity PRM:34
131
Table 4-35. Settings for Position Mode PRM:36
131
PRM:37 Estop Action
132
PRM:38,39 Current Offset Adjustment
132
PRM:40 Registration Input
132
Table 4-36. Settings for Estop Action PRM:37
132
Table 4-37. Settings for Current Offset Adjustment PRM:38, PRM:39
132
Table 4-38. Settings for Registration Input PRM:40
132
PRM:41 Encoder Scale Factor
133
PRM:42 I/O Read Time Delay
133
Table 4-39. Settings for Encoder Scale Factor PRM:41
133
Table 4-40. Settings for I/O Read Time Delay PRM:42
133
PRM:43 Trajectory Type
134
PRM:44 Encoder Fault Enable
134
PRM:45 Estop Polarity
134
Table 4-41. Settings for Trajectory Type PRM:43
134
Table 4-42. Settings for Encoder Fault Enable PRM:44
134
Table 4-43. Settings for Estop Polarity PRM:45
134
PRM:46 Send ACK after Move Completes
135
PRM:47 in Position Output Polarity
135
PRM:52 RMS Method
135
Table 4-44. Settings for Send ACK after Move Completes PRM:46
135
Table 4-45. Settings for in Position Output Polarity PRM:47
135
Table 4-46. Settings for RMS Method PRM:52
135
Limit Parameters
136
PRM:60 Limit Check
136
PRM:61 Limit Type
136
PRM:62 Home Direction
136
Table 4-47. Settings for Limit Check PRM:60
136
Table 4-48. Settings for Limit Type PRM:61
136
Table 4-49. Settings for Home Direction PRM:62
136
PRM:63 Home Type
137
PRM:64 Home Velocity
137
PRM:65 Home Ending Offset
137
Table 4-50. Settings for Home Type PRM:63
137
Table 4-51. Settings for Home Velocity PRM:64
137
Table 4-52. Settings for Home Ending Offset PRM:65
137
PRM:66 Home Marker Velocity
138
PRM:67 Negative Software Limit
138
PRM:68 Positive Software Limit
138
Table 4-53. Settings for Home Marker Velocity PRM:66
138
Table 4-54. Settings for Negative Software Limit PRM:67
138
Table 4-55. Settings for Positive Software Limit PRM:68
138
PRM:69 Deceleration Distance
139
PRM:70 +/- Limit Reset Distance
139
PRM:71 Check Move against Software Limits
139
Table 4-56. Settings for Deceleration Distance PRM:69
139
Table 4-57. Settings for +/- Limit Reset Distance PRM:70
139
Table 4-58. Settings for Check Move against Software Limits PRM:71
139
PRM:72 Marker Type
140
PRM:73 Offset to Marker
140
PRM:74 Program Execution
140
Table 4-59. Settings for Marker Type PRM:72
140
Table 4-60. Settings for Offset to Marker PRM:73
140
Table 4-61. Settings for Program Execution PRM:74
140
PRM:75 Home Velocity out
141
PRM:76 Marker Polarity
141
PRM:77 Output Disable
141
Table 4-62. Settings for Home Velocity out PRM:75
141
Table 4-63. Settings for Marker Polarity PRM:76
141
Table 4-64. Settings for Output Disable PRM:77
141
Communications/Startup Parameters
142
PRM:90 Baud Rate
142
PRM:91 Service Request (SRQ) Character
142
PRM:92 Displayable Digits
142
Table 4-65. Settings for Baud Rate PRM:90
142
Table 4-66. Settings for Service Request Character PRM:91
142
Table 4-67. Settings for Displayable Digits PRM:92
142
PRM:94 Unit Address
143
PRM:95 Enable/Disable Daisy Chain - Places in Remote Mode
143
PRM:96 Autorun Program on Power-Up
143
Table 4-68. Settings for Unit Address PRM:94
143
Table 4-69. Settings for Enable/Disable Daisy Chain PRM:95
143
Table 4-70. Settings for Autorun Program PRM:96
143
PRM:97 Bootup Program Name
144
PRM:98 Status on Power-Up
144
PRM:99 External Enable Polarity
144
Table 4-71. Settings for Bootup Program Name PRM:97
144
Table 4-72. Settings for Amplifier Status on Power-Up PRM:98
144
Table 4-73. Settings for External Enable Polarity PRM:99
144
PRM:100 Display Type
145
PRM:101 General Fault Output
145
PRM:102 Fault Output Polarity
145
Table 4-74. Settings for Display Type PRM:100
145
Table 4-75. Settings for General Fault Output PRM:101
145
Table 4-76. Settings for PRM:102
145
Miscellaneous
146
PRM:200 Position Scale Factor
146
PRM:201 Default Ramp Time
146
PRM:202 Filter Cutoff
146
Table 4-77. Settings for Position Scale Factor PRM:200
146
Table 4-78. Settings for Default Ramp Time PRM:201
146
Table 4-79. Settings for Filter Cutoff PRM:202
146
PRM:204 Autotune Distance
147
PRM:205 Autotune Velocity Loop Bandwidth
147
Table 4-80. Settings for Autotune Distance PRM:204
147
Table 4-81. Settings for Autotune Velocity Loop Bandwidth PRM:205
147
PRM:206 Autotune Damping Factor
148
PRM:207 Start Frequency
148
PRM:208 Autotune Sampling Time
148
Table 4-82. Settings for Autotune Damping Factor PRM:206
148
Table 4-83. Settings for Start Frequency PRM:207
148
Table 4-84. Settings for Autotune Sampling Time PRM:208
148
PRM:209 Clock/Direction Multiplier
149
PRM:210 Acceleration
149
Table 4-85. Settings for Clock/Direction Multiplier PRM:209
149
Table 4-86. Settings for Acceleration
149
Chapter 5: Registers
150
Introduction
150
RG1 Program Bytes Remaining
150
RG2 BAI Status
150
RG3 Position Feedback
151
RG4 Velocity Feedback
151
RG5 Position Command
151
RG6 Position Error
151
RG7 Current Command
151
RG8 Firmware Version
151
RG9 Velocity Command
152
RG12 A/D Input
152
RG14, RG15 Timers
152
Chapter 6: Mode of Operation
154
Introduction
154
Modes of Operation
155
Figure 6-1. Trapezoidal Motion Profile
155
Clock and Direction
156
Chapter 7: Technical Details
158
Introduction
158
BAI Control Board Jumper Selections
158
Table 7-1. BAI Board Jumper Selections
158
The I/O Port
159
Figure 7-1. BAI Jumper Locations
159
Table 7-2. I/O Connector Pinouts (P1)
159
Clock/Direction Inputs Signals
160
Estop Input Signal
160
Restore/Reset Signal
160
Analog Inputs
161
Opto-Isolated Inputs
161
Thermistor Input Signal
161
Figure 7-4. Electrical Characteristics of Opto-Isolated Input
162
Opto-Isolated Outputs
162
Figure 7-5. Electrical Characteristics of Opto-Isolated Output
163
Encoder/Limits/Hall Effects Port P3
164
Encoder Interface
165
Limits Interface
165
Figure 7-6. CW Motor Rotation (Viewed from the Mounting Flange End)
165
Hall Effect Interface
166
Figure 7-10. Motor Rotation (from Mounting Flange End)
167
Figure 7-11. Motor Phase Voltage Observation Scheme
169
Figure 7-12. Encoder Phase Voltage Observation Scheme
169
Servo Amplifier Specifications
170
AC Input and Motor Wiring
172
Minimizing EMI Interference
172
Minimizing 50/60 HZ Line Interference
174
Figure 7-16. Isolation Transformer Connection (Eliminates Torque Disturbance)
175
BAI Amplifier Dimensions
176
Mounting Procedures for the BAI 10/20/30/50
178
Figure 7-20. BAI Top View (Preferred Mounting - 10/20/30/50)
179
Mounting Procedures for the BAI 75/100
180
Chapter 8: Troubleshooting
184
Amplifier Related Problems
184
Appendix A: Glossary of Terms
186
Appendix B: Warranty and Field Service
193
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