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UNIDEX 650
User Manuals: Aerotech UNIDEX 650 Motion Controller
Manuals and User Guides for Aerotech UNIDEX 650 Motion Controller. We have
1
Aerotech UNIDEX 650 Motion Controller manual available for free PDF download: User Manual
Aerotech
UNIDEX 600 Series
User Manual
Aerotech UNIDEX 650 User Manual (354 pages)
PC based ISA bus controller
Brand:
Aerotech
| Category:
Controller
| Size: 1 MB
Table of Contents
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
Servo Loop Modes
44
Table 2-4. Gains for the Different Servo Loop Modes
44
Configuring Closed-Loop (Torque or Velocity)
45
Feedback Devices
45
Motor Types
45
Digital-To-Analog Conversion (Output to the Amplifier)
46
Configuring a Spindle (Open-Loop Velocity Mode)
46
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
Combination Programming
63
Multi-Tasking
63
Table 3-2. Advantages of the Two Programming Interfaces
63
The Library Programming Interface
64
Basic Elements of a Library Interface Program
65
CNC G-Code Programming
66
CNC Tasks and Programs
67
CNC Program Execution
68
Table 3-3. How to Run and Control CNC Programs
68
Motion from a CNC Program
69
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
Configuring an Axis
76
CONFIGRESOLVER - Resolver or Inductosyn Feedback
76
CONFIGENCODER - Encoder Feedback
77
CONFIGHENCODER - Encoder and Hall Effect Sensor Feedback
77
CONFIGHRESOLVER - Resolver and Hall Effect Sensor Feedback
78
Configd2A - Configure a DAC (D/A) Channel for Use by this Axis
78
Configread - Read an Axis Configuration from a File
79
Configwrite - Write an Axis Configuration to a File
79
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
Figure 8-1. Aerreg Screen
166
Figure 9-1. the Setup Screen of Aerplot3D
170
Reading and Displaying a Plot Data File
171
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
Introduction
178
Figure 12-1. the Setup Wizard Start Screen
180
Axis Names
181
Axis Names and Number
181
Figure 12-2. the Axis Name/Number Configuration Screen
181
Figure 12-3. the Axis "Type" Configuration Screen
182
Axis Configuration Wizard
184
Figure 12-8. the Axis Configuration Wizard - Primary Feedback Screen
188
Figure 12-9. the Axis Configuration Wizard - D2A Screen
188
Figure 12-11. the Axis Configuration Wizard - Set Axis Cal. File Screen
198
Figure 12-12. the Axis Configuration Wizard - Save/Finish Screen
199
Figure 12-13. the Scaling and Feedrate Screen
200
Figure 12-14. the Home Cycle Screen
201
Figure 12-18. the FAULTMASK Configuration Screen
205
Figure 12-19. the DISABLEMASK Configuration Screen
206
Figure 12-20. the HALTMASK Configuration Screen
207
Figure 12-21. the AUXMASK Configuration Screen
208
Figure 12-22. the ABORTMASK Configuration Screen
209
Configure the INTMASK
210
Figure 12-23. the INTMASK Configuration Screen
210
Configure the BRAKEMASK
211
Figure 12-24. the BRAKEMASK Configuration Screen
211
Configure the Current Limits
212
Figure 12-25. the Current Limit Configuration Screen
212
Axis Configuration Complete
213
Figure 12-26. the Axis Configuration Complete Screen
213
Accel/Decel and Task Initialization
214
Configure the ESTOP, Feedhold, and MFO
215
Figure 12-28. the ESTOP, Feedhold, and MFO Configuration Screen
215
Configure Synchronous Accel/Decel
216
Figure 12-29. the Synchronous Move Information Screen
216
Setup Wizard - Configuration Complete
217
Configure the ABORTMASK
209
Configure the HALTMASK
207
Configure the AUXMASK
208
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
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