Aerotech UNIDEX U100i Manuals

Aerotech UNIDEX U100i Manuals

Manuals and User Guides for Aerotech UNIDEX U100i. We have 1 Aerotech UNIDEX U100i manual available for free PDF download: Operation & Technical Manual

Aerotech UNIDEX U100i Operation & Technical Manual

Aerotech UNIDEX U100i Operation & Technical Manual (442 pages)

MOTION CONTROLLER

Brand: Aerotech | Category: Controller | Size: 5 MB

Table of Contents

Table of Contents
4
Chapter 1: Introduction

30
Chapter 2: Getting Started

36
Chapter 3: Hardware Configuration & Description

55
Chapter 4: Software Installation and Interface

88
- Introduction
  88
- Installing the Software Package
  88
- Overview of the Main Menu Window
  92
  - Figure 4-4. Main Menu Window
    92
  - Figure 4-5. File Edit Window
    93
  - Figure 4-6. Edit File Type Window
    93
  - The File Edit Menu
    93
  - Figure 4-7. Enter File Number Window
    94
  - Figure 4-8. Edit File Window
    94
  - Figure 4-9. File Directory Window
    95
  - Table 4-3. Keyboard Function Keys and Their Function
    95
  - Run Selection Menu
    96
    
    Figure 4-10. Select Task Window
    96
    
    Auto Mode
    97
    
    Block Mode
    97
  - Figure 4-12. Select Task Window (MDI Mode)
    97
  - Figure 4-13. Enter Command Window (MDI Mode)
    97
  - MDI Selection Menu
    97
  - Status Selection Menu
    98
    
    Figure 4-15. Status Selection Window
    98
    
    Figure 4-16. Motion Status Window
    99
    
    Figure 4-17. General Status Window
    99
    
    General Status Window
    99
    
    Motion Status Window
    99
    
    Memory Status and Version Windows
    100
  - Control Selection Menu
    100
  - Figure 4-20. Control Select Window
    100
  - Figure 4-21. Limit Reset Window
    101
  - Figure 4-22. Task Window
    101
  - MISC Selection Menu
    102
    
    Erase Files Menu
    102
    
    Figure 4-23. MISC Selection Window
    102
    
    Figure 4-24. Erase File(S) Window
    102
    
    Copy Files Menu
    103
    
    Figure 4-28. Setup Selection Window
    104
    
    Setup Data Types Menu
    104
    
    Figure 4-33. Read/Write Selection Window
    106
    
    Figure 4-34. Write Only Register Change Window
    106
    
    Figure 4-35. Read Only Register Change Window
    106
    
    Figure 4-36. Load Register Window
    107
    
    Figure 4-37. Variable Type Selection Window
    107
    
    Figure 4-38. Enter Variable Window
    107
    
    Figure 4-39. Modify/Scan Select Window
    108
    
    Figure 4-40. Scan Variable Window
    108
    
    Figure 4-41. Enter String Window
    108
    
    Figure 4-42. Modify String Window
    109
    
    Figure 4-43. Enter New String Window
    109
    
    Figure 4-44. Transfer Select Window
    110
    
    Archive Files Menu
    111
    
    Figure 4-49. Enter Parameter (Machine and Library Image)
    112
- Controller Setup Process U100/U100I
  113
- Using the Hand Held Terminal (HT)
  114
- Figure 4-51. HT Menu
  114
Chapter 5: Programming Commands

117
- Multitasking Operating System
  118
  - Multitasking Time Slots
    118
  - Table 5-2. Kernel Interrupt Time Slot Description
    119
  - Multiple Programs
    122
- Interrupts
  123
- Exception Processing
  124
  - Invert Mask
    125
  - Figure 5-1. Exception Processing Flow Chart
    125
  - Reset Status Register
    126
  - Latch Mask
    126
  - Error Status Register
    126
  - Table 5-3. Bit Definitions for REG:302
    126
  - Disable Mask
    127
  - SRQ Mask
    127
  - Auxiliary Mask
    127
  - Freeze Mask
    127
  - Task 1 Mask
    127
  - Task 2 Mask
    127
  - Positive Direction Mask
    128
  - Negative Direction Mask
    128
  - Status Active Register
    128
  - Table 5-4. Bit Definitions for REG:307
    128
- Service Request
  129
- Table 5-5. Task 0 Service Request Status Codes
  129
- Table 5-6. Task 1 Service Request Status Codes
  130
- Table 5-7. Task 2 Service Request Status Codes
  130
- Table 5-8. Kernel Service Request Status Codes
  131
- U100/U100I Supported File Types
  132
  - Program Files
    132
  - Table 5-9. PGM File Template
    133
  - Programming Commands
    133
  - Macro Files
    134
  - List Files (LST)
    136
  - Definition Files (DEF)
    137
  - CAM Files
    138
- Programming Commands
  138
  - Table 5-10. UNIDEX 100/U100I Programming Commands
    139
  - A Command (Accel/Decel Ramp Rate in User Units/Sec 2)
    142
  - ABS Absolute Value
    143
  - ABSL Absolute Positioning Mode
    144
  - ADC Analog to Digital Conversion
    145
  - Add
    146
  - AND (Logical And)
    147
  - ARCHIVE (ARCH ()) Command
    147
  - Begin Command
    148
  - CAM Command
    148
  - CBI: Command
    151
  - CIB Command
    152
  - CLN Command
    153
  - CLS Command
    154
  - COS Command (Cosine)
    155
  - CUR Command
    156
  - D Command (Distance in User Units to Move/Position)
    157
  - DAC Command (Digital to Analog Conversion)
    160
  - DD Command (Direct Drive)
    161
  - DEC Command (Decrement)
    162
  - DEF File
    163
  - DI Command (Disable Interrupt)
    165
  - Divide Command
    166
  - DW Command (Dwell Time)
    167
  - EI Command (Enable Interrupt)
    167
  - ELSE Command
    168
  - ELSEIF Command
    169
  - END Command
    170
  - ENDIF Command
    171
  - ENDMAC Command
    172
  - ENDSUB Command
    173
  - ENDWHL Command
    174
  - Assign a Value to
    175
  - EXIT Command
    175
  - GC Command (Get Character)
    177
  - GEAR Command
    177
  - GM Command (Get Message)
    178
  - GO Command (Begin Move)
    179
  - GOSUB Command
    180
  - GOTO Command
    181
  - HM Command (Hardware Home)
    182
  - IF Command
    184
  - INC Command (Increment)
    185
  - INCR Command (Incremental Position Mode)
    186
  - LB Command (Label)
    187
  - LOCK Command (Lock Task Execution)
    188
  - MAC Command
    189
    
    1.MAC Definition
    190
  - MDX Command Modulo Index
    191
  - Multiply
    192
  - OR Command (Logical OR)
    193
  - PC Command (Print Character)
    193
  - PM Command (Print Message)
    194
    
    1.PM Command (Print Formatted Messages)
    195
  - PVI Command
    196
  - RI Command (Reset Interrupt Latch)
    197
  - RUN Command (Run Pre-Compiled PGM Program)
    198
    
    1.RUN Command - Extended Format
    198
  - SIN Command (Sine)
    199
  - SRQ Command (Service Request)
    200
  - SQRT Command (Square Root)
    201
  - SUB Command
    202
  - Subtract
    203
  - SYNC Command
    204
  - T Command (Ramp Time)
    205
  - TAN Tangent
    206
  - TITLE Command
    207
  - TUNE Command (Autotune the System)
    208
  - Command (Velocity)
    209
  - WHL Command
    210
  - XOR Exclusive or
    211
Chapter 6: Parameters

212
Chapter 7: Registers and Variables

292
Chapter 8: Sample Programs

324
- Introduction
  324
- Trapezoidal Move
  325
- Trapezoidal Move with Output-On-The-Fly
  325
- Thumbwheel Input for Distance
  326
- Display Readout
  327
- Operator Input from HT
  328
- Multitasking
  329
- Data Logging On-The-Fly
  331
- Master/Slave Move
  332
- Proportional Joystick
  333
- Synchronized Trajectory Table Execution
  334
- Using External Interrupt to Change a Motion Trajectory
  335
- Initializing Counter Chip/Data Transfer from Preset Register
  337
- Transferring Data from the Counter to Output Latch
  338
- Using Comparator Outputs of the Encoder Counter Chip
  339
- Borrow and Carry Control Outputs of the Counter Chip
  341
- IEEE-488 Program Examples
  343
  - HP85 Immediate Mode Command
    343
  - HP85 Write and Read BV Variable
    343
  - HP85 Retrieve Program from UNIDEX 100
    344
  - QB Immediate Mode Command
    345
  - QB Write and Read BV Variable
    346
  - Retrieve Program from UNIDEX 100
    347
Chapter 9: Technical Details

348
- U100 Control Board and Power Board
  348
- Figure 9-1. Control Board
  349
- Figure 9-2. Power Board (U100 Controller Only)
  350
- Motor Output Power (U100 Only)
  351
  - DC Brush Motor Wiring
    351
  - Stepping Motor Wiring
    352
  - Figure 9-4. DC Brush Motor Wiring
    352
  - AC Brushless Motor Wiring
    354
- Limits and Primary Encoder Port (U100/U100I)
  355
- Communications Port (U100/U100I)
  361
- Figure 9-19. Com Port (P1)
  362
- Figure 9-20. Standard RS-232-C Interface
  362
- Figure 9-21. Optional RS-422-A Interface
  362
- I/O Port
  363
- Amplifier Connector (U100I)
  367
Chapter 10: Troubleshooting

368
Chapter 11: Pid Loop Tuning

374
- Introduction
  374
- Figure 11-1. U100/U100I PID Loop
  374
- PID Gain Parameters
  375
- Table 11-1. PID Loop Individual Element Descriptions
  375
- Tuning the PID Loop
  376
- Figure 11-2. Velocity Feedback Signals
  379
- Parameters and the Effect of Servo Loop Performance
  380
Chapter 12: Host Mode Operation

382
Appendix D

419
- In-Process Compiler Errors
  419
- Pre-Compiler Errors
  419
- Table D-1. Pre-Compiler Error Codes
  419
- Post-Compiler Errors
  420
- Host Errors
  421
- Run Time Errors
  423

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