Aerotech UNIDEX 600 Series Manuals

Manuals and User Guides for Aerotech UNIDEX 600 Series. We have 2 Aerotech UNIDEX 600 Series manuals available for free PDF download: User Manual, Training Manual

Aerotech UNIDEX 600 Series User Manual

Aerotech UNIDEX 600 Series User Manual (354 pages)

PC based ISA bus controller

Brand: Aerotech | Category: Controller | Size: 1 MB

Table of Contents
4
Chapter 1 : Introduction and Overview

24
- Introduction
  24
- Installation
  28
- Programming
  29
- Architecture Overview
  30
  - Figure 1-2. System Architecture
    30
  - Axis Processor
    31
    
    Table 1-1. Other Actions Performed Every Millisecond
    31
    
    The Motion Controller Execution Unit
    31
    
    CNC Engine
    32
    
    Library Servicer
    32
  - The PC
    32
    
    The PC Interrupt
    32
- Motion
  33
  - The Servo Loop
    33
  - Generating Motion
    33
  - Table 1-2. Available Motion Types
    33
  - Monitoring Motion
    34
  - Multi-Axis Motion
    34
  - Motion Resolution
    34
- Faults
  35
  - Axis Faults
    35
  - Task Faults
    36
- Option Ordering Information
  37
Introduction

38
Chapter 2 Getting Started

39
- Minimum Requirements
  39
- Figure 2-1. Flowchart Overviewing the Installation/Configuration Process
  39
- Fundamentals
  40
  - Parameters
    40
  - Bit Masks
    41
  - Faults
    41
  - Table 2-3. Hexadecimal Values of Bit Numbers
    41
- Software Installation
  42
  - UTIL600-NT Installation
    42
  - MMI Software Installation
    42
  - Winnt/Win95 Registration
    42
  - Software Installation Testing
    43
- Axis Configuration
  44
- Motor Units (Resolution and Direction)
  47
  - Linear Vs. Rotary Type
    47
  - Motor Resolution
    47
  - Motor Direction
    47
- Drive Signals
  48
- Axis Faults
  48
  - Fault
    49
    
    Axis Faults and Programming
    49
    
    Table 2-5. Axis Faults
    50
    
    Fault Masks
    51
    
    Auxmask
    52
    
    Disablemask
    52
    
    Faultmask
    52
    
    Haltmask
    52
    
    Abortmask
    53
    
    Brakemask
    53
    
    Example
    53
    
    Intmask
    53
  - Task Faults
    55
  - Emergency Stop (ESTOP)
    55
  - Axis Testing
    56
    
    Axis Feedback
    56
    
    Axis Limits
    56
    
    Axis Loop Closure
    56
  - Accelerations
    57
  - Axis Tuning
    57
  - Jogging
    57
  - Homing
    58
  - Programmed Moves
    59
  - Digital I/O
    59
    
    Associating Virtual I/O with Physical I/O
    59
    
    Table 2-10. Relationship between U600/Encoder I/O and Virtual I/O Mapping
    60
  - Other Manuals
    61
    
    Hardware Manuals (UNIDEX 600)
    61
    
    MMI Interface
    61
    
    Programming Manuals
    61
Chapter 3: Programming

62
- Introduction
  
  62
Chapter 4: Aerdebug

70
- Introduction
  70
- The Screen
  71
- Figure 4-1. Aerdebug Screen
  71
- The Prompt
  72
  - Entering Commands
    72
  - Special Keys
    73
  - Table 4-1. Aerdebug Special Character Keys
    73
  - Help
    74
- Axis and Faultmask Configurations
  75
- Faults, Errors, and Faultmasks
  80
  - Acknowledging (and Clearing) Faults
    80
- Programming Errors
  81
  - Running CNC Programs
    81
- Programming Commands
  84
  - Table 4-2. Aerdebug Commands
    84
  - (Memory_Command)
    87
  - AX (Axis_Number)
    87
  - Or (Command)
    87
  - CMDERR (Axis_Number)
    88
  - CMDLAST (Axis_Number)
    88
  - CONFIGD2A (D2A_Channel_Number)
    88
  - CONFIGENCODER (Encoder_Ch)
    89
  - CONFIGHENCODER (Encoder_Ch) (Lines_Per_Rev)
    90
    
    (Hall_Lines) (Com_Offset) (Comm_Ch) (Bounded)
    90
  - CONFIGHRESOLVER (Resolver_Ch) (Resolution)
    91
    
    (Hall_Lines) (Com_Offset) (Comm_Ch)(Bounded)
    91
  - CONFIGREAD (Filespec)
    92
  - CONFIGRESOLVER (Resolver_Ch) (Resolution)
    92
  - CONFIGWRITE (Filespec)
    93
  - DB (Address)
    93
  - Dcax
    93
  - Dir
    93
  - Download
    93
  - DL (Address)
    94
  - Drvinfo
    94
  - DUMPERROR (Table Number)
    94
  - DUMPTABLE (Table Number)
    94
  - DW (Address)
    94
  - ENABLEPENDANT (Channel) (Mode 1)
    94
  - EXELINE ("Command String")
    95
  - EXEPRG (Filespec)
    95
  - Exit
    95
  - Getprog
    95
  - Info
    95
  - IOGET (Type) (Point_Number)
    118
  - IOMON (Type) (Point_Number)
    118
  - IOSET (Type) (Point_Number) (Value)
    118
    
    Table 4-5. Task Command to Library Function Cross Reference
    118
    
    TSKPRG (Mode) (Execution_Type or Line_Number)
    119
    
    VDGET (Type) (Number)
    119
    
    VDMON (Type) (Number)
    119
    
    Zongosub
    119
    
    Introduction
    120
    
    The File Menu
    121
    
    The Help Menu
    121
    
    The Main Window of the Aertune Program
    121
    
    Figure 5-11. Flowchart of Overall Tuning Process
    140
    
    Table 5-1. Initial Torque Mode Servo Loop Parameter Values
    141
    
    Figure 5-13. Acceptable Velocity Error (While Adjusting Kp)
    143
    
    Figure 5-14. Unacceptable Position Error (While Adjusting Ki)
    144
    
    Figure 5-15. Acceptable Position Error (While Adjusting Ki)
    144
    
    Figure 5-16. Plot Showing an Appropriate Value for
    145
    
    Figure 5-17. Plot Showing Overall Effects When Pgain Is High
    145
    
    Table 5-3. Initial Servo Parameter Values - Tachometer Tuning
    152
    
    Figure 5-22. Cross-Section of the DS16020/16030 Amplifier
    153
    
    Figure 5-24. Oscilloscope Showing Current Feedback for One Move
    156
    
    Introduction
    158
    
    File Menu
    159
    
    Plot Menu
    159
    
    Axis Menu
    160
    
    Collect Menu
    160
    
    Graph Options Menu
    160
    
    Trigger Menu
    160
    
    Tools Menu
    161
    
    Help Menu
    162
    
    The FFT Analysis Window Menu Description
    162
    
    Introduction
    164
    
    Overview
    165
    
    Editing Registry Entries
    166
    
    Finding And/Or Creating a "Card 1" Entry
    166
    
    Introduction
    166
    
    Modifying the "Card 1" Entry
    167
  - Figure 5-18. Plot Showing Velocity Feedforward Enabled (Vff=1)
    146
  - Figure 5-19. Plot Showing Optimal Affgain Adjustment
    147
  - Figure 5-20. Plot Showing Final Performance of ATS3220140P X Axis Table, with a BM130 Motor and an AS32030 Amplifier
    147
  - Servo Parameter Setup for Tachometer Feedback
    149
  - Tuning with Tachometer Feedback
    149
  - Vff - Velocity Feed Forward
    149
  - Vgain - Constant Velocity Gain
    149
  - Affgain - Acceleration Feedforward Gain
    150
  - Ki - Integral Gain
    150
  - Kp - Proportional Gain
    150
  - Pgain - Position Gain
    150
  - The Servo Loop Parameters for Tachometer-Based Systems
    150
  - Vff - Velocity Feedforward Gain
    150
  - Vgain - Constant Velocity Gain
    150
  - Tuning Tachometer Loops
    151
Chapter 5: Aertune

121
- The Collect Menu
  122
- The Graph Options Menu
  122
- The Plot Menu
  122
- The Trigger Menu
  122
- The Axis Menu
  123
- The Tools Menu
  123
- Using Aertune
  123
- Step Move Parameters
  124
- FFT Analysis
  125
  - Figure 5-4. FFT Analysis
    125
    
    Figure 5-5. Torque Ripple Plot of an AC Brushless Motor
    128
    
    Figure 5-7. Autotune Screen
    131
    
    Amplitude of Excitation in Autotune
    132
    
    Ending Frequency for Excitation in Autotune
    132
    
    Excitation Amplitude will Exceed Velocity Trap Limit
    132
    
    Excitation Parameters
    132
    
    Starting Frequency for Excitation in Autotune
    132
    
    Units: Inches/Degrees or Counts
    132
    
    Damping
    133
    
    Points to Collect in Autotune
    133
    
    Tuning Parameters
    133
    
    Velocity Bandwidth
    133
    
    Calculate AFFGAIN
    134
    
    Manual Servo Loop Tuning
    135
    
    Figure 5-9. Servo Loop (Open-Loop Velocity Mode)
    136
    
    Figure 5-10. Servo Loop (Velocity Mode, Closed Loop)
    137
    
    Ki - Integral Gain
    137
    
    Kp - Proportional Gain
    137
    
    Pgain - Position Gain
    137
    
    Vff - Velocity Feedforward Gain
    137
    
    Affgain - Acceleration Feedforward Gain
    138
    
    Alpha - Affgain Filter
    138
    
    Vgain - Constant Velocity Gain
    138
    
    Tuning Procedure for Torque (Current) Mode Servo Loops
    139
  - Computing Torque (Closed-Loop Torque Mode)
    129
  - Servo Loop Auto Tuning
    130
  - Setting up Autotune Parameters
    131
- The FFT Analysis Window Menu Description
  125
- Determining the Maximum Acceleration of an Axis
  126
- Identifying an Instability Within the Servo Loop
  127
- Minimizing Position Error Due to Torque Ripple or Amplifier Offsets
  127
- AC Brushless Motor Tuning Tip
  128
Chapter 6: Aerplot

158
- Figure 6-1. Aerplot Screen
  158
- Figure 6-2. Plot Selection Window
  159
- Figure 6-3. FFT Analysis Window
  161
Chapter 7: Aerstat

164
- Figure 7-1. Aerstat Screen
  164
Chapter 8: Aerreg

166
Chapter 9 : Aerplot3D

171
- Figure 9-2. the Setup Screen of Aerplot3D
  171
  - Plot Type Menu
    171
    
    Setup Menu
    171
    
    Colors Menu
    172
    
    Figure 9-3. the Axis Min/Max Travel Screen of Aerplot3D
    172
    
    Grid Lines Menu
    172
    
    Start Menu
    172
    
    Units Menu
    172
    
    Figure 10-1. Aerplotio Screen
    174
    
    Figure 10-2. Aerplotio Screen
    176
    
    Figure 11-1. the Filter Screen
    178
    
    Axis Configuration
    183
    
    Figure 12-4. the Axis Configuration "Correct or Reconfigure" Screen
    183
    
    Axis Configuration
    184
    
    Figure 12-5. the Axis Configuration Wizard Welcome Screen
    184
    
    Axis & Parameter Names and Task Number Configuration
    185
    
    Figure 12-6. the Axis Configuration Wizard - Setup Name Screen
    185
    
    Configuring Axis Type
    186
    
    Figure 12-7. the Axis Configuration Wizard - Choose a Configuration Screen
    186
    
    1.Predefined Axis Types
    187
    
    Configuring the Primary Feedback Device
    187
    
    Configuring a DAC Channel
    188
    
    Configuring the Secondary Feedback Device
    189
    
    1.Encoder Configuration
    190
    
    2.Encoderhall Configuration
    190
    
    3.Encoderhall (Pole Pairs) Configuration
    192
    
    4.Resolver Configuration (or Inductosyn)
    194
    
    5.Resolverhall Configuration
    195
    
    6.Stepper Motor Configuration
    196
    
    7.Null (Virtual) Configuration
    197
    
    8.Configuring Dual Loop Axes
    197
    
    Configuring Axis Calibration Data
    198
    
    Saving an Axis Configuration
    199
    
    Scaling and Feedrates
    200
    
    Home Cycle Configuration
    201
    
    Asynchronous and G0 Accel/Decel Parameters
    203
    
    Position Limits and Velocity Trap
    203
    
    Configure the Drive Interface States
    204
    
    Configure the FAULTMASK
    205
    
    Configure the DISABLEMASK
    206
    
    Figure 12-30. the Finish Screen of the Setup Wizard
    217
  - Auto Scaling the Display in Aerplot3D
    173
  - Help Menu
    173
  - Resume Menu
    173
  - Stop Menu
    173
  - Introduction
    180
Chapter 10: Aerplotio

174
- Introduction
  174
- Configuring Axis Type
  182
Chapter 11: Filter

178
Chapter 12: Setup Wiz

180
Chapter 13: Prmsetup

218
- Introduction
  220
Appendix A: Glossary of Terms

224
Appendix B: Troubleshooting

224
Appendix C: Parameters

225
- Axis Parameter
  225
  - Description
    225
    
    Table C-1. Axis Parameters
    228
    
    Figure C-1. ACCELMODE Ramp Setting
    231
    
    Table C-2. ALT_STATUS Bit Definitions
    233
    
    Figure C-2. Phase Advance, Torque Angle Vs. Speed Relationship
    237
    
    Figure C-3. Camming Illustration
    238
    
    Figure C-4. DECELMODE Ramp Setting
    242
    
    Figure C-5. Closed-Loop Torque Mode
    252
    
    Table C-4. MOTIONSTATUS Bit Definitions
    256
    
    Moveqdepth
    257
    
    Moveqsize
    257
    
    Moving Bit in the MOTIONSTATUS Axis Parameter
    257
    
    Pgain
    257
    
    Phaseaoffset
    257
    
    Phase_Speed
    257
    
    Phaseboffset
    258
    
    Pos
    258
    
    Poscmd
    258
    
    Poserr
    258
    
    Poserrlimit
    259
    
    Postarget
    259
    
    Postogo
    259
    
    Postogoirq
    259
    
    Postolerance
    260
    
    Postoltime
    260
    
    Profiletime
    260
    
    Profqdepth
    260
    
    Profqsize
    260
    
    Rawpos
    260
    
    Resolver
    260
    
    Reversalmode
    260
    
    Reversalvalue
    261
    
    Safezoneccw
    262
    
    Safezonecw
    262
    
    Safezonemode
    262
    
    Scalepgain
    262
    
    Table C-6. Mode 2
    263
    
    Servostatus
    264
    
    Table C-7. SERVOSTATUS Bit Definitions
    264
    
    Simulation
    265
    
    Softlimitmode
    265
    
    Status
    266
    
    Table C-8. Status_Xxxx Constants
    266
    
    Calculating the Value for the Blendmaxaccellinearips2 and Blendmaxaccelrotarydps2 Task Parameters
    289
    
    (G9), if Maximum Acceleration Is
    290
    
    Blendmaxaccelcircleips2
    290
    
    Blendmaxaccelrotarydps2
    290
    
    Force Rotary Axes Deceleration to Zero
    290
    
    Limit Rotary Acceleration Without Full Deceleration
    290
    
    Calculating the Value of the Blendmaxaccelcircleips2 Task Parameter
    291
    
    Cannedfunctionid
    291
    
    Chordicalslowdownmsec
    291
    
    Chordicaltoleranceinch
    292
    
    Commandvelocityvariance
    292
    
    Coord1Plane
    292
    
    Clockwise Circular Axes Plane
    293
    
    Figure C-14. Coordinate System 2 Orientation (Clockwise or G2 Motion
    295
    
    Figure C-15. Orientation of G2, in Various Planes in Coordinate System #2
    295
    
    Figure C-16. Cutter Compensation Radius
    296
    
    Cuttertolerancedeg
    297
    
    Cutterx
    298
    
    Cuttery
    298
    
    Link Method
    298
    
    Link Move
    298
    
    Offset Method
    298
    
    Offset Move
    298
    
    Decelonprogramabortmask
    299
    
    Decelrate
    299
    
    Decelratedps2
    299
    
    Decelrateips2
    299
    
    Deceltimesec
    300
    
    Dryrunlinearfeedrateipm
    300
    
    Dryrunrotaryfeedraterpm
    300
    
    Errcode
    300
    
    Estopinput
    300
    
    Executenumlines
    300
    
    Executenummonitors
    302
    
    Executenumspindles
    302
    
    Feedhold
    302
    
    Table C-11. Mode1 Bit Descriptions
    312
    
    Table C-5. Mode 1
    312
    
    Table C-15. R-Theta Transformations
    322
    
    Table C-16. Status1 Bit Descriptions
    330
    
    Table C-17. Status2 Bit Descriptions
    331
    
    Table C-18. Status3 Bit Descriptions
    332
    
    Table C-19. Global Parameters
    338
    
    Table C-20. Compatibility Chart
    340
    
    Table C-21. U600 Usermode Meanings
    343
  - Syncspeed
    267
  - Systemclock
    267
  - Velcmdtrap
    267
  - Velposition
    267
  - Veltimeconst
    268
  - Vff
    269
  - Vgain
    269
  - Parameters
    270
  - Table C-9. Machine Parameters
    270
  - Figure C-8. Home to Limit Illustration
    275
  - Figure C-10. Home to Marker Illustration
    276
  - Figure C-9. Home into Limit Illustration
    276
  - Figure C-18. Normalcy
    283
  - Figure C-13. Orientation of G2, in Various Planes in Coordinate System #1
    293
  - Coord1I
    294
  - Coord1J
    294
  - Coord1K
    294
  - Coord2Plane
    294
- Coord2I
  296
- Coord2J
  296
- Coord2K
  296
- Cutterradiusinch
  296
- Table C-10. Task Parameters
  282
- Table C-3. Axis Faults
  244

Aerotech UNIDEX 600 Series Training Manual (114 pages)

MOTION CONTROLLER

Brand: Aerotech | Category: Controller | Size: 2 MB

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Industrial Equipment DC Drives Controller Engine Amplifier

More Aerotech Manuals

Aerotech UNIDEX 600 Series Manuals

Aerotech UNIDEX 600 Series User Manual (354 pages)

Table of Contents

Chapter 1 : Introduction and Overview

Introduction

Chapter 2 Getting Started

Chapter 3: Programming

Introduction

Chapter 4: Aerdebug

Chapter 5: Aertune

Chapter 6: Aerplot

Chapter 7: Aerstat

Chapter 8: Aerreg

Chapter 9 : Aerplot3D

Chapter 10: Aerplotio

Chapter 11: Filter

Chapter 12: Setup Wiz

Chapter 13: Prmsetup

Appendix A: Glossary of Terms

Appendix B: Troubleshooting

Appendix C: Parameters

Aerotech UNIDEX 600 Series Training Manual (114 pages)

Table of Contents

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