Aerotech UNIDEX 511 Manuals

Aerotech UNIDEX 511 Manuals

Manuals and User Guides for Aerotech UNIDEX 511. We have 1 Aerotech UNIDEX 511 manual available for free PDF download: User Manual

Aerotech UNIDEX 511 User Manual

Aerotech UNIDEX 511 User Manual (476 pages)

Motion Controller

Brand: Aerotech | Category: Controller | Size: 4 MB

Table of Contents

Table of Contents

4
List of Figures

14
- Chapter 1: Introduction
  
  24
Getting Started

34
- Chapter 2 : Getting Started
  
  34
The User Interface

42
- Chapter 3: The User Interface
  
  42
: Parameters

76
- Chapter 4: Parameters
  
  76
  - Introduction
    76
  - Table 4-1. U511 Parameters Grouped by Page
    76
  - System Configuration
    82
    
    Auto Enable Axes
    82
    
    Auto Run Program
    82
    
    Axis Calibration File
    82
    
    Firmware File
    82
    
    M-Code File
    82
    
    Parameter File
    82
    
    Global Subroutine File
    83
    
    PSO-PC DPRAM Address" (Hex Address 0Xnnnn)
    83
    
    PSO-PC Firmware File
    83
    
    Option Board Setup Code
    84
    
    PSO-PC I/O Address" (Hex Address 0Xnnn)
    84
    
    Safe Zone Output Bit 0,1-8
    84
    
    A/D Channel N Joystick Deadband" Parameters
    85
    
    Table 4-4. Joystick Deadband Parameters
    85
    
    User Interrupt Setup Code
    85
    
    A/D Channel N Center" Position Parameters
    86
    
    Enable Speaker
    86
    
    Table 4-5. Joystick Center Position Parameters
    86
    
    Abort on Input High 0, 1-16
    87
    
    Password
    87
  - Pages 2 and 3: Serial Port #N Setup
    88
    
    Baud Rate" (Bits Per Second)
    88
    
    Data Bits" (7-8)
    88
    
    End of String Character
    88
    
    Fast Output?" (Y/N)
    88
    
    Parity" (N, O, E)
    88
    
    Stop Bits" (1-2)
    88
    
    Command ACK Character
    89
    
    Command NAK Character
    89
    
    Default Configuration
    89
  - GPIB/IEEE-488 Setup
    90
    
    Default Configuration
    90
    
    EOS Character
    90
    
    GPIB Address" (0-30)
    90
    
    Parallel Pol Response Bit" (0-NONE or 1-8)
    90
    
    Time Out" (Seconds)
    90
  - Axis Configuration
    91
    
    Metric (X00) and English (X01) Conversion Factors
    91
    
    Table 4-8. Relationship between Number of Decimal Digits Parameters and the Number of Programming Steps Per Programming Unit
    92
    
    Max Accel/Decel" (Machine Steps/Ms/Ms)
    94
    
    Positive (+) Move Is CW" (Y/N)
    94
    
    Enable Pause in Freerun" (Y/N)
    95
    
    Positive (+) Jog same as + Move" (Y/N)
    95
    
    Enable Axis Calibration" (Y/N)
    96
    
    Enable MFO in Freerun" (Y/N)
    96
    
    Table 4-14. Settings for Parameter X15
    97
    
    Table 4-15. Sample Calibration Table
    98
    
    In Position Deadband" (Machine Steps)
    100
    
    Backlash Correction Amount" (Machine Steps)
    101
    
    Joystick High Speed" (Machine Steps/Sec)
    102
    
    Table 4-21. Settings for Parameter X71
    104
    
    Table 4-23. Settings for Parameter X83
    106
    
    Table 4-24. Settings for Parameter X84
    106
    
    Servo Loop
    107
    
    Table 4-27. Bits of Parameter X78 and PID Loop Configuration
    114
    
    Table 4-28. Decimal Settings for Parameter X78
    114
    
    Homing and Limits
    116
    
    Figure 4-6. Typical Stage Showing CW and CCW Motor Rotation
    117
    
    Table 4-29. Settings for Parameter X02
    117
    
    Table 4-30. Settings for Parameter X03
    118
    
    Table 4-33. Settings for Parameter X09
    120
    
    Table 4-38. Settings for Parameter X77
    123
    
    Table 4-39. Motor Feedback Parameters
    124
    
    Table 4-40. Commutation Factors for 4, 6, and 8 Poles
    128
    
    Table 4-42. RDP Resolution and Setup Codes
    130
    
    Table 4-43. Settings for Parameter X38
    131
    
    Table 4-44. Settings for Parameter X39
    132
    
    Table 4-46. Settings for Parameter X41
    134
    
    Table 4-48. Sample Commutation Factors for AC Brushless Motors
    136
    
    Stepper High Current %" (0-100%) (Stepper Drives Only)
    137
    
    Microstepping Resolution" (Machine Steps) (Stepper Drives Only)
    138
    
    Stepper Correction" (Y/N) (Stepper Drives Only)
    138
    
    Stepper Low Current %" (0-100%) (Stepper Drives Only)
    138
    
    Base Speed" (Machine Steps/Ms) (AC Brushless Only)
    139
    
    Figure 4-8. Phase Advance Slope
    139
    
    Stepper Correction Speed" (Microsteps/Ms)
    139
    
    Base Speed Advance" (0-359 Degrees) (AC Brushless Only)
    140
    
    DAC Offset Parameters" (MV)
    140
    
    Phase Speed Advance" (0-359 Degrees) (AC Brushless Only)
    140
    
    Phase Speed" (Machine Steps/Ms) (AC Brushless Only)
    140
    
    Table 4-50. Settings for Parameters X79 and X80
    140
    
    Encoder Factor
    141
    
    Table 4-51. Settings for Parameter X82
    141
    
    Fault Masks
    142
    
    Introduction to Fault Masks
    142
    
    Table 4-52. Fault Mask Bit Descriptions
    143
    
    AUX Output
    144
    
    Disable
    144
    
    Global Fault Mask
    144
    
    Interrupt
    144
    
    Abort Motion
    145
    
    Enable Brake
    145
    
    Halt Queue
    145
    
    Top Feedrate" (Machine Steps/Ms)
    146
    
    Traps
    146
    
    Maximum Velocity Error" (0-8,388,607)
    147
    
    Maximum Position Error" (0-8,388,607)
    148
    
    Maximum Integral Error" (0-8,388,607)
    149
    
    RMS Current Trap" (0-100%)
    150
    
    RMS Current Sample Time" (1-16,383 Ms)
    152
    
    Clamp Current Output" (0-100%)
    153
    
    AUX Fault Output Bit" (0, 1-8)
    154
    
    Table 4-60. Settings for Parameter X54
    154
    
    Amplifier Fault Active Low" (Y/N)
    155
    
    Table 4-61. Settings for Parameter X70
    155
    
    Figure 4-10. Programming Control Using a Single Plane
    156
    
    Overview of Planes
    156
    
    Planes and Mapping
    156
    
    Figure 4-11. Programming Control Using Four Planes
    157
    
    Figure 4-12. Sample Programming Segment Showing the Use of Planes
    158
    
    Number of Contour Planes" (1, 2, or 4)
    159
    
    Keep Position after Reset?" (Y/N)
    161
    
    Figure 4-13. MFO Potentiometer with and Without Offsets
    162
    
    MFO Pot Offset" (0-255)
    162
    
    Axis {1, 2, 3, 4} Plane 1-4 as X, Y, Z, U
    163
    
    Axis {1,2,3,4} Gantry Yes/None Slave {1,2,3,4
    165
    
    Figure 4-14. Using "Home Offset" Parameter to Keep Gantry Aligned after Homing
    167
    
    Segment Time" (1-20 Ms)
    168
    
    Ramp Time" (1-32,000 Ms)
    169
    
    Default to Metric" (Yes/No)
    170
    
    Table 4-70. Parameter Associations between Planes, Measurement Units, and the Number of Decimal Digits
    170
    
    Figure 4-16. Graphs of Linear and Inverse Sine Ramping Trajectories
    171
    
    Linear Accel/Decel" (Y/N)
    171
    
    Contour Feedrate" (Program Steps/Ms)
    172
    
    Table 4-73. Point-To-Point Feedrate Parameter Assignments and Settings
    172
    
    X, Y, Z, and U Axes Index Feedrates" (Program Steps/Ms)
    172
    
    Clamp Feedrate" (Program Steps/Ms)
    173
    
    Corner Rounding Time" (1-32,000 Ms)
    173
    
    Contouring Mode
    178
    
    Direct Variables (V0 through V255)
    181
    
    Indirect Variables (VV0 through VV255)
    181
    
    Mathematical Function Commands
    181
    
    Table 5-2. Single Character Arguments for Programming
    181
    
    Functions
    182
    
    Operators and Evaluation Hierarchy
    183
    
    Table 5-3. Supported Functions
    183
    
    Relative Position Registers
    184
    
    System Registers
    184
    
    Absolute Position Registers
    185
    
    Real Time Feedback Position Registers
    185
    
    Table 5-6. Absolute Position Registers
    185
    
    Table 5-7. Real Time Feedback Position Registers
    185
    
    Real Time Command Position Registers
    186
    
    Table 5-8. Real Time Commanded Position Registers
    186
    
    Understanding the Concept of Program Steps
    186
    
    A/D Channel Registers
    187
    
    System Inputs $INP and $IN0-$INF
    187
    
    Table 5-9. A/D Channel Registers
    187
    
    Programming Commands
    188
    
    Table 5-10. UNIDEX 511 Programming Commands
    190
    
    Abort
    192
    
    Acceleration
    192
    
    Ac Pl (Accel Plane)
    193
    
    AFCO (Auto Focus)
    194
    
    Table 5-11. Optional Arguments
    195
    
    Again
    197
    
    AT (Autotune)
    198
    
    Beep
    199
    
    Board
    199
    
    Brake
    200
    
    CAL (Load Calibration File)
    201
    
    CLOCKWISE and COUNTERCLOCKWISE CIRCULAR
    201
    
    Interpolation
    201
    
    CI (Command Interrupt)
    205
    
    CLRSCR (Clear Screen)
    205
    
    CM (Contouring Mode)
    206
    
    COMREC (Strings in Port)
    207
    
    COMVAR (String to Variable)
    208
    
    CS (Command Scope)
    209
    
    Cutter Compensation Commands
    210
    
    Figure 5-1. Startup Moves
    210
    
    Figure 5-2. Ending Moves
    211
    
    CVI (Convert to Integer)
    213
    
    Cycle
    213
    
    DAC (D/A Output)
    214
    
    Figure 5-4. CYCLE START Function
    214
    
    Disable
    215
    
    DS (Display Servo Loop Data)
    216
    
    Dwell
    217
    
    DY (Dynamic Gain)
    217
    
    Enable
    218
    
    Error
    219
    
    Exit
    220
    
    Fault Acknowledge
    221
    
    FL (Filter Time Constant)
    221
    
    Freerun
    222
    
    Gain
    223
    
    Gear
    224
    
    Goto
    225
    
    Figure 5-5. Sample Uses of the GOTO Command
    226
    
    Halt
    226
    
    Home
    227
    
    Index
    229
    
    Inn (Read Inputs)
    230
    
    Interrupt
    231
    
    IO (Set/Read 8 X 3 I/O)
    231
    
    IOSET (Setup 8 X 3 I/O)
    232
    
    Jog
    233
    
    Label Marker (:)
    233
    
    Linear
    234
    
    Loop
    235
    
    Lvdt
    236
    
    M0 (M Zero)
    237
    
    Map
    237
    
    MCOMM (Motor Commutation)
    238
    
    Message
    239
    
    MR (Memory Read)
    240
    
    MSET (Motor Setup)
    241
    
    Table 5-14. Motor Phase Labels and Hall States
    242
    
    MW (Memory Write)
    243
    
    Next
    244
    
    Oen (Extended Output)
    244
    
    Output
    245
    
    Parallel
    246
    
    Prm (Parameter Read)
    246
    
    Pause
    247
    
    Plane
    248
    
    Program
    249
    
    Queue
    251
    
    Ramp
    253
    
    Reference
    254
    
    Return
    254
    
    ROTATE (Part Rotation)
    254
    
    Figure 5-8. Illustration of no Corner Rounding (G24)
    255
    
    Rounding
    255
    
    SCF (Overriding Scale Factor)
    256
    
    Segment
    258
    
    SKEY (Soft Keys)
    259
    
    Figure 5-10. Optional UNIDEX 511 Joystick, JI Model Left, JBV Model Right
    260
    
    Slew
    260
    
    Software
    262
    
    Spline
    263
    
    Start
    264
    
    Subroutine
    265
    
    Sync
    266
    
    Target Tracking Commands (TE, TD, TP)
    266
    
    Trajectory
    267
    
    Trigger
    268
    
    UMFO (Manual Feed Override)
    269
    
    VAR (Read/Write Variables)
    270
    
    Velocity
    271
    
    Correct Usage and Limitations of the Velocity Profiling Algorithm
    272
    
    Figure 5-11. Plot of Velocity Without Velocity Profiling
    272
    
    Figure 5-12. Plot of Velocity with Velocity Profiling
    272
    
    Figure 5-13. Short Middle Move with no Velocity Profiling
    273
    
    Figure 5-15. same Motion with Ramping Time Reduced
    274
    
    Figure 5-16. Circular Profiling with Long Ramp Time
    274
    
    Figure 5-17. Circular Profiling with Short Ramp Time
    274
    
    CM1 Contouring Mode
    275
    
    Figure 5-18. Two Axis Linear Move with Velocity Profiling
    275
    
    Figure 5-21. Velocity Profile Without a G9 Command at the End of the Sequence
    278
    
    Wait
    279
    
    While/Endwhile
    280
- Chapter 5 : Programming Commands
  
  181
- Chapter 6: Remote Mode Operations
  
  282
  - GPIB IEEE-488 Interface
    282
  - COM1 and COM2) Interface
    282
  - Troubleshooting Remote Communications
    283
  - Command Handshake Mode (RS-232 Only)
    283
  - Remote Commands
    283
    
    Enable RS-232 Remote Communications
    283
    
    Program Execution
    284
    
    Table 6-1. Enable RS-232 Remote Mode Sequence
    284
    
    Table 6-2. Auto Run a Program Communication Sequence
    284
    
    PA: Program Abort
    285
    
    Service Request Mode (SRQ)
    286
    
    Table 6-5. Service Request on Sequence
    286
    
    Hold/Trigger/Cancel
    288
    
    Table 6-10. Disable Hold Mode Sequence
    288
    
    Table 6-9. Enable Hold Mode Sequence
    288
    
    PE: Print Error Message String
    289
    
    Table 6-11. Trigger Command Sequence
    289
    
    Table 6-12. Print Error Message Sequence
    289
    
    I: Execute Immediate Command
    290
    
    Table 6-13. Immediate Command Sequence
    290
    
    Fmn: Format of Returned Data
    291
    
    Table 6-14. Format of Return Data Command Sequence
    291
    
    Pxn, Pyn, Pzn, Pun: Axis Positions
    292
    
    Table 6-15. Values of "N" and Feedback Type for the Axis Positions Commands
    292
    
    Table 6-16. Print Axis Position Sequence
    292
    
    Q: Serial Pol Command
    293
    
    Table 6-17. Status Byte Bit Assignments
    293
    
    Psn: Print Status
    294
    
    Table 6-18. Serial Pol Sequence
    294
    
    Table 6-19. Values of "N" and Corresponding Status for the Psn Command
    294
    
    Rrn/Wrn,Val: Read / Write Register
    297
    
    Table 6-20. Print Status Sequence
    297
    
    Table 6-21. Read Register Sequence
    297
    
    Table 6-22. Write Register Sequence
    298
    
    Parameter Editing
    299
    
    Table 6-24. Write Parameter Sequence
    299
    
    Table 6-25. Read Parameter Sequence
    299
    
    RE: Hardware Reset
    300
    
    Table 6-26. Save Parameters Sequence
    300
    
    Table 6-27. Hardware Reset Sequence
    300
    
    File Transfers
    301
    
    Table 6-28. Upload File Sequence
    302
    
    PD: Print Directory
    303
    
    Table 6-29. Sequence of Commands When Downloading Files
    303
    
    Table 6-30. Print Directory Sequence
    303
    
    Ppfile: Print Program "File" to Port
    304
    
    Rvn: Read Variable
    304
    
    Table 6-31. Print Program "File" Sequence
    304
    
    Table 6-32. Read Variable Sequence
    304
    
    Dffilename: Delete File
    305
    
    HE [CMD]: Help Menu
    305
    
    Table 6-33. Delete File Sequence
    305
    
    Table 6-34. Help Menu Command Sequence
    305
    
    GV: Software Version
    306
    
    Table 6-35. Software Version Command Sequence
    306
  - UNIDEX 511 Remote Timing
    307
  - Figure 6-1. Plot Showing Signals Generated by a GPIB Command
    307
  - C Program Example
    308
  - Figure 6-2. Receive and Transmit Lines During Transfer at 9600 Baud
    308
- Chapter 7 : Windows Interface and Utilities
  
  312
  - Introduction
    312
  - UNIDEX 511 Parameter Editor
    313
  - Figure 7-2. the Cascaded Transfer Menu
    314
  - Figure 7-3. Transfer Parameter Values between Axes Popup
    314
    
    Edit Parameters: the Number, Value, and Axis Fields
    315
    
    Figure 7-4. Transfer Parameter Values between Planes Popup
    315
  - UNIDEX 511 Axis Scope Utility
    316
  - UNIDEX 511 Diagnostics Screen
    316
  - Figure 7-5. the Diagnostics Window
    316
  - Table 7-1. Software Status Diagnostics
    318
  - Table 7-2. Axis Position Diagnostics
    318
  - Table 7-3. Hardware Status Diagnostics
    318
  - UNIDEX 511 File Transfer Utility
    320
    
    Loading System Software
    320
    
    Manufacturing Mode
    320
    
    Erasing B Drive
    321
    
    Loading DOS or BIOS
    321
    
    Uploading a File (to UNIDEX 511)
    321
    
    Downloading a File (from UNIDEX 511)
    322
- Chapter 8: Tuning Servo Loops
  
  325
  - Figure 8-1. UNIDEX 511 Servo Loop
    325
    
    Axis Scope Tuning Window
    326
    
    Figure 8-2. Axis Scope Window
    326
    
    Table 8-1. Menu Items on the Axis Scope Window
    326
    
    Table 8-2. File Menu Options in Axis Scope
    327
    
    The File Menu
    327
    
    The Remote Menu
    327
    
    The Plot Menu
    328
    
    The Trigger Menu
    328
    
    Table 8-3. Trigger Menu Options in Axis Scope
    329
    
    The Collect Menu
    329
    
    The Display Menu
    329
    
    The Axis Menu
    330
    
    The Tools Menu
    330
    
    The Units Menu
    330
    
    The Axis Scope Toolbars
    331
    
    Aff" Acceleration Feedforward Gain
    332
    
    Ki" Integral Gain
    332
    
    Kp" Proportional Gain
    332
    
    Kpos" Position Gain
    332
    
    Vff" Velocity Feedforward Gain
    332
    
    Autotuning
    333
    
    Bandwidth and Damping
    333
    
    Setting up an Excitation
    333
    
    Specifying Desired Performance
    333
    
    Autotuning Procedure
    335
    
    Figure 8-6. Autotune Plot Where "Dist" Has Been Set too Low
    336
    
    Figure 8-7. Autotune Plot Where "Dist" Has Been Set too High
    336
    
    Dual Loop Systems
    337
    
    Figure 8-8. Autotune Plot Showing Proper Calibration
    337
    
    Guidelines and Limitations
    337
    
    Table 8-4. Troubleshooting the Autotune Process
    338
    
    Troubleshooting Autotuning
    338
    
    Figure 8-9. Flowchart of Overall Tuning Process
    339
    
    Tuning Procedure for Servo Loops
    339
    
    Figure 8-10. the Faults Tab of the Parameter Editor
    340
    
    Figure 8-11. Servo Loop Tab of the Parameter Editor
    341
    
    Table 8-5. Initial Servo Parameter Values
    341
    
    Figure 8-12. MAXIMIZE Button on the Axis Scope Window
    342
    
    Figure 8-13. Unacceptable Velocity Error
    343
    
    Figure 8-14. Acceptable Velocity Error (When Adjusting "Kp")
    344
    
    Figure 8-15. Proper Adjustment of "KI
    344
    
    Figure 8-16. Oscillation in Position Error When "Ki" Is too High
    345
    
    Figure 8-17. Plot Showing an Appropriate Value for "Kpos
    346
    
    Figure 8-18. Plot Showing Overall Effects When "Kpos" Is High
    346
    
    Tuning Tips
    347
    
    In-Position Integrator
    348
    
    Tuning with Tachometer Feedback
    348
    
    Velocity Feed Forward
    348
    
    Servo Parameter Setup for Tachometer Feedback
    349
    
    The Axis Scope Toolbars
    349
    
    Figure 8-20. Faults Tab of the Parameter Editor
    352
    
    Figure 8-21. Servo Loop Tab of the Parameter Editor
    353
    
    Table 8-7. Initial Servo Parameter Values - Tach Tuning
    353
    
    Figure 8-24. Axis Scope Window Showing "Kpos" too Low
    356
    
    Figure 8-25. Plot Showing a Roughly Tuned Axis (When Adjusting "Kpos")
    357
    
    Figure 8-26. Plot Showing the Removal of DC Offsets in the Position Error
    358
    
    Figure 8-27. O-Scope Showing Current Feedback for One Move
    359
    
    Figure 8-28. Plot Illustrating Smoothness in the Position Error
    360
    
    Figure 8-29. Plot Showing Effects on Position Error (When "Ki" Is too High)
    361
    
    Figure 8-30. Plot of the Position Error with Appropriate "Ki" Value
    361
    
    Figure 8-31. Position Error after Increasing "Vff
    362
    
    Figure 8-32. Position Error Reduced to Within 10 Counts of Error Using "Vff
    362
    
    Figure 8-33. Plot of Position Error When "Vff" Is too High
    363
Programming Examples

364
- Chapter 9: Programming Examples
  
  365
Troubleshooting

412
- Chapter 11 : Troubleshooting
  
  413

Advertisement

Advertisement

Related Products

Aerotech Categories

Industrial Equipment DC Drives Controller Engine Amplifier

More Aerotech Manuals