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THE UNIDEX® 511 MOTION

1. Figure 10 9 Interface Board Showing Locations of User Configurable Jumpers 10 20 Aerotech Inc Version 1 1 U511 User s Manual Technical Details 10 4 Encoder Specifications The U511 encoder inputs are differential RS 422 type inputs They are normally terminated by 180 ohm resistors If single ended encoders are desired the terminator must be removed and a 4 7 KOhm 1 4 W resistor should be placed from the unused input to ground Encoder fault detection should be defeated in the parameter section if this is done Encoder terminating resistor locations and values are shown in Table 10 16 The electrical characteristics of a single ended encoder interface are shown in Figure 10 10 Table 10 16 Encoder Terminating Resistor Locations and Values Signal Name AXIS 1 AXIS 2 AXIS 3 AXIS 4 Standard Optional RN pin RN pin RN pin RN pin RN6 1 RN6 5 RN4 1 RN4 5 180 Ohms RN6 2 RN6 6 RN4 2 RN6 3 RN6 7 RN4 3 180 Ohms RN6 4 RN6 8 RN4 4 E oome RN5 1 RN5 3 RN5 5 1 uF Capacitor RN5 2 RN5 4 RN5 6 RN5 8 Use a 180 ohm termination resistor for standard differential encoders When using Aerotech stepper motors with the home marker wheel option you must replace the termination resistor with a 01 uF capacitor Encoder input specifications Data format RS 422 5 V differential Maximum tracking rate 16 MHz data rate 4 MHz sine cosine frequency Versi
2. Table 4 48 Sample Commutation Factors for AC Brushless Motors Commutation Factor of Poles Cycles per Revolution 1 2 pole 1 cycle rev 2 4 pole 2 cycles rev 3 6 pole 3 cycles rev 4 default 8 pole 4 cycles rev Setting this value to 0 for an AC brushless servo motor with encoder feedback will result in six step commutation 5 This parameter has a range from 0 to 65 536 with a default value of 4 Sample commutation factors are shown above in Table 4 48 Improper configuration will cause a trap when a move is commanded z This parameter should be set to 1 for linear motors z Version 1 1 Aerotech Inc 4 61 Parameters U511 User s Manual IMPORTANT x45 x46 S 4 8 8 Feedback steps rev AC brushless motors only The value of this parameter in conjunction with the value of axis parameter x43 Commutation cycles rev is used to generate the proper sinusoidal phase currents This parameter applies to all servo motors and stepper motors with encoder verification It does not apply to DC brush motors This parameter has a range from 0 to 248 The system default value is 4000 for a 1000 line encoder Improper configuration will cause a trap when a move is commanded Also the value of this parameter should be evenly divisible by 50 poles per revolution for stepping motors 4 8 9 Commutation phase offset 0 359 degrees Some AC brushless motors may require a phasing r
3. 1 32 767 program steps ms 16 program steps ms 4 11 12 X Y Z and U axes index feedrates program steps ms These parameters set the default axis feedrates in program steps ms of axes 1 2 3 and 4 for each active contour plane 1 4 when performing point to point indexed moves A command line feed rate if specified will override the settings of these parameters See the INDEX command for more details These parameters can have values from 0 004 to 32 767 program steps ms The system default is 16 0 program steps ms Refer to Table 4 73 for plane assignments and settings Table 4 73 Point to point Feedrate Parameter Assignments and Settings Plane Axes Ranges in Defaults in 1 2 3 4 prog steps ms 1 023 024 025 026 0 004 to 32 767 16 0 prog steps ms 041 042 043 044 0 004 to 32 767 16 0 prog steps ms 059 060 061 062 0 004 to 32 767 16 0 prog steps ms 077 078 079 080 0 004 to 32 767 16 0 prog steps ms prog steps ms Bl w r oO N N O A e Ol J 077 080 Version 1 1 Aerotech Inc 4 97 Parameters U511 User s Manual N Bast A Ol oO oO 28 i O 46 O N 64 4 11 13 Clamp feedrate program steps ms This parameter specifies the maximum feedrate allowed on the corresponding plane for all contour type m
4. Figure 3 19 System Configuration Page General Parameters Axis Configuration Page 5 Axis 1 100 Metric conversion factor 1 00000000 Metric conversion factor 1 00000000 Maximum accel decel 1 00000000 Positive move is CW yes machine steps program steps Back Next Axis Default Exit F1 E2 F3 F4 F5 Figure 3 20 Axis Configuration Page Axis Parameters There are from four to five functions on the general and axis pages The following describes typical functions F1 F5 on these pages F1 Back Back selects the previous setup page F2 Next Next selects the following setup page F3 Axis Axis selects the axis 1 4 This information is displayed at the top of the page along with the parameter number F4 Default Starting with software version 5 02 the Default key will return a system specific default value Otherwise a general default value will be returned see Appendix E Backup Utility F5 Exit Exits this operation and returns to the Save Changes screen This screen gives the user the opportunity to save the parameter changes to the current file save the changes as another file name or quit and return to the Main menu without recording the changes 3 18 Aerotech Inc Version 1 1 U511 User s Manual The User Interface 3 5 1 Setup Menu The Fault Masks Page The Fault Masks page Page 9 is used to setup the fault mask parameters The Fault Masks page is shown in Figure 3 21 This
5. 11 8 Fuse Replacement Part Numbers 00 00 cece eeeeseeeseeeeceseceseenneenaes 11 8 Preventative Maintenance ce eeecseeseeeeeeeeeeesceeensecesecaecsaeeaee 11 9 XX Aerotech Inc Version 1 1 U511 User s Manual List of Tables Table C 1 HallState Table neninn e a E C 3 Table D 1 ISBX 1048 Pinout eee cece a a a a a A n D 2 Table D 2 ISBX 1048 Control Words eee eeceeecesecesecesecssecseeceeeneeeneeees D 5 Table F 1 System Commands Supported by the US11 oo eeeeeeeee F 1 Table F 2 Motion Flow Commands Supported by the US11 oe F 2 Table G 1 Jumper Settings for Converter Demodulator Adjust Mode G 2 Table G 2 Jumper Settings for Over temperature Thermistor Input 0 G 3 Table G 3 RDP Board Extension Bus Address Settings 0 ceeeeeeeeseeereeeee G 3 Table G 4 Inductosyn or Resolver Jumper Settings eee eee ese ceeeeeeeeeeees G 3 Table G 5 Oscillator Frequency Configuration for RCNS eee eeeeeeeeeeee G 4 Table G 6 Oscillator Frequency Configuration for Capacitors eee G 4 Table G 7 Bit Resolution Configuration RCN1 Through RCN4 on RDP BO ard sneren oar Sabi Shp ctees eas a rE E E G 5 Table G 8 Setting Position channel x38 for the RDP Board eee G 7 Table G 9 Setting Primary feedback setup code x40 for the RDP Board G 7 Table G 10 RDP Board Pinout 20 0 ee eee eseeeeeceecneeeeecaeecseeeeecaeeeaeeeneeseeeneeees G 8 Table G 11 RDP B
6. active inactive 3 24 Aerotech Inc Version 1 1 U511 User s Manual The User Interface 3 6 6 Diagnostics Menu Servo Faults Page The Servo Faults page refer to Figure 3 28 displays servo fault and trap information The axis must be enabled to show a fault Table 3 6 shows components of the Servo Faults page Page 6 Servo Faults Feedback fault Amplifier fault Position trap Velocity trap Integral trap RMS torque Back Next ET E2 E3 F4 F5 Figure 3 28 Servo Faults Page Table 3 6 Servo Fault Diagnostics Field Status Description Feedback fault Indicates whether there is a feedback fault active fault no fault Amplifier fault Indicates whether an amplifier is in a fault active fault no fault Position trap Indicates whether the position error exceeds value in parameter x19 position error gt x19 no position trap Velocity trap Indicates whether the velocity error exceeds value in parameter x18 velocity error gt x18 no velocity trap Integral trap Indicates whether integral error exceeds the parameter x20 value integral error gt x20 no integral error trap RMS torque Indicates whether RMS torque drive current command exceeds the parameter x48 value 1 RMS torque gt x48 no
7. z 4 es O q wi ve gt H Incremental Mode Version 1 1 Aerotech Inc 5 11 Programming Commands U511 User s Manual Table 5 10 UNIDEX 511 Programming Commands Continued Command Abbreviation RS 274 Code QUEUE AGAIN QUEUE CANCEL QUEUE INPUT C RA PREFERENCE oo O eron ooe S ROTATE Gar Roio ror ROUNDING Onom ro omon SCF Geale Faot se o SEGMENT fo s sever Oo oo O sw o ae ae oo SOFTWARE HOME SOFTWARE LIMIT SOFTWARE POSITION E T a sar ooo S S SUBROUTINE f swo swe oo To oo SS TARGET TRACKING TE Tracking Enable TE TD Tracking Disable TD TP Target Position TP FRECTORY o omo SSS miea oo dS FUMEO Manual Feed Overa um VAR Read Write Varia van wwo o a S waneenowmne waenow O Table Notes a No English language command Use the command abbreviation or G code to implement 5 12 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 1 ABORT The AB command aborts motion of the axes and clears the queue buffer All enabled axes will ramp to a stop using the Max accel decel parameter x16 The software position registers will then be updated with the new position The abort command is similar to pressing the front panel abort key SYNTAX AB There are no arguments needed with AB command 5 5 2 ACCELERATION The AC command is used to specify the acceleration deceleration rate for each axis Th
8. 10 1 3 2 Opto 22 Connection Information Table 10 5 and Figure 10 3 show Opto 22 style connections Version 1 1 Aerotech Inc 10 5 Technical Details U511 User s Manual Table 10 5 UNIDEX 511 Opto 22 Connection Information Interface Cable O PB8 PB16A PB16C and PB24 Board Opto Control Module Connection Field Connection Interface Connection edge Position Description barrier strip P5 connector on Opto board Sw supply output output 43 43 2 Out 2 output 5 and 6 PB8 41 41 3 Out 3 output 7 and 8 39 39 4 Out 4 output 9 and 10 37 37 5 output 11 and 12 35 35 6 output 13 and 14 33 33 31 31 29 29 19 and 20 PB 27 27 10 In2 input 21 and 22 16A 25 25 11 In3 input 23 and 24 and 23 23 12 In 4 input 25 and 26 16C 21 21 13 In5 input 27 and 28 19 19 14 In6 input 29 and 30 17 17 15 In7 input 31 and 32 L 15 15 16 In8 input 33 and 34 13 13 17 In 9 input 35 and 36 11 11 18 PB24 9 9 19 In 11 input 39 and 40 10 6 Aerotech Inc Version 1 1 U511 User s Manual Technical Details Table 10 5 UNIDEX 511 Opto 22 Connection Information continued Opto Control Module Connection Type of Field Connection Interface Connection edge Position Description Module barrier strip P5 connector on Opto board 7 7 20 In 12 input 41 and 42 5 5 21 In 13 input 43 and 44 3 3 22 I
9. R Not supported on U511 no hardware S PD Enable joystick i ol Trigger to start program execution Note Table F 2 All commands are followed by lt CR gt lt LF gt except the E command Motion Flow Commands Supported by the U511 Command ive w an Q gt gt ies CLRSCR CS nn CT nn I DI XYUV DW nora b Description Absolute mode Set ramp time ms Beeper off Beeper on Clear display message area enhanced command Corner rounding on Conditional gosub Conditional goto Output BCD Output decimal Disable axes enhanced command Dwell n 1 msec or a b seconds Aerotech Inc Version 1 1 U511 User s Manual Appendix F Table F 2 Motion Flow Commands Supported by the U511 continued Command Description EN XYUV Enable axes enhanced command GS nn Goto subroutine nn GT nn Goto label nn H XYUV Home axes IN Incremental mode IT Wait for input state true LB nn Define label LXaYbUcVd Set position registers to abcd ME DI Display message to front panel enhanced command NC Corner rounding off OR Output on run OS Output on stop OT 227 Set output bits PS Program stop RC 722 Conditional repeat RE Repeat loop end RP Repeat program RS n Repeat loop st
10. eee ee ceecesecesecssecnseceecaeecaeeeseseeeeeeeeneees 10 11 Opto isolated Outputs eee ee eee ceseceeceeeceecaeeeseeeeeeeeeeeeeeeeenseees 10 12 The UINT Opto isolated Input eee eee cseeereeeeeeeeeeenees 10 14 Electrical Characteristics of the UNIDEX 511 Emergency Stop Interkaces 2 s cisess co co 2s EE soe ETA rE Ei tet ieee 10 14 Control Board Showing Locations of User Configurable JU PO LS 5 2 5 sss EE RTT 10 18 Interface Board Showing Locations of User Configurable JUMP SIS ons Seco see cb sae code hese EE ak ha eee TEE geben ewxs AE 10 20 Electrical Characteristics of a Single Ended Encoder Interface 10 22 Page 7 U511 Diagnostics WindOW ee eceeceeeceseeesecesecnseceeeeaeeeee C 3 An iSBX I048 Card Connected to Two I O Cards eee D 1 The iS BX 1O48 Cand cssccsecchecesesesecigect oteseessavesiehissesbistasscostesvesscedseais D 2 iSBX I048 Pinouts on the PB24 W O Card oo eee eeeeeeeeeeeeeees D 4 RDP PG Board h a errean a er RE S ee aes ttceecees G 2 RDP Board Connection to UNIDEX 511 Board oe G 6 Mating DB37 Conn etors cesicss ties ciceechs e an a SAS ees G 8 Suggested Cabling from RDP Board to Resolver or Inductosyn G 9 Rectified Signals with the Most Ideal Signal eee G 11 VVV xvi Aerotech Inc Version 1 1 U511 User s Manual List of Tables LIST OF TABLES Table 1 1 Basic Motion Controllers isisisi heei ceseceecseecseeeseeeeeeeeeeeseeeeneenseenaes 1 3 Table 1 2 Availabl
11. 0 5 4 Table 5 5 Relative Position Registers cece cece cseeeeeeeeeeeeeeeeeeeeeeeeeseeeseenaees 5 5 Table 5 6 Absolute Position Registers 0 0 eee ceseesecssecesecseeceecaeeeeeseneeeeeeeees 5 6 Table 5 7 Real Time Feedback Position Registers 0 0 00 cece eeeeeeeeeeeeeeeeeerees 5 6 Table 5 8 Real Time Commanded Position Registers 00 0 0 eee eeeeeeeeeeeeeees 5 7 Table 5 9 A D Channel Registers reris pe e e e a 5 8 Table 5 10 UNIDEX 511 Programming Commands 0 eee eeeese esse eee eeee tees 5 9 Table 5 11 Optional Arguments s rse eene i cuted ence eane ii 5 16 Table 5 12 Comparison Operators seessseeseseeeseseeetssterrerertterrsrertesrerresesresresreet 5 49 Table 5 13 The Port to 8 X 3 I O Connector Relationship 00 0 0 eee eee 5 53 Table 5 14 Motor Phase Labels and Hall States eee cee eneeereeeeeeeeees 5 63 Table 6 1 Enable RS 232 Remote Mode Sequence e ec eeeeeeeseesecsseceeeeeeees 6 3 Table 6 2 Auto Run a Program Communication Sequence e cece eee eeeeee 6 3 Table 6 3 Block Run a Program Communication Sequence eee eee eee 6 4 Table 6 4 Program Abort Communication Sequence eee eeeeeseeeeeseeeseeeees 6 4 Table 6 5 Service Request On Sequence 0 eee eee cee eseeereeeeeeeeceeeeeseeneeeseenaes 6 5 Table 6 6 Service Request Off Sequence ee csc cseeeseeeeeeeeeeeeeeeeeeeseesaes 6 6 Table 6 7 Set Service Request Character Sequence e ee ee eeseese
12. 5 2 4 Operators and Evaluation Hierarchy Constants functions and variables may be combined using the mathematical operators listed in Table 5 4 Table 5 4 Mathematical Operators and Their Evaluation Hierarchy Operator Function Priority Grouping Highest O C k amp Respectively Multiplication Division L Exponentiation Bitwise OR Bitwise AND l1 amp amp Respectively Addition Subtraction Logic L OR Logic AND lt gt o lt Respectively Equate or Assignment Less Lowest gt than Greater than Not equal to Less than or equal to Greater than or equal to 5 4 Aerotech Inc Version 1 1 U511 User s Manual Below are some examples of using operators VO SQR V11 ABS COS V23 SIN RAD V23 12 V32 V1l V1 1 5 V2 V3 V44 VV 10 3 V0 0xf amp 0x2 V0 2 the bitwise AND of hex F and 2 V0 211 V0 3 the bitwise OR of 2 and 1 5 3 System Registers The interpreter uses predefined registers to designate axis positions The various registers are discussed in the section that follows 5 3 1 Relative Position Registers Relative position registers represent the commanded axis position with respect to the software home position These registers can be set to any value using the SOFTWARE HOME or G92 command This allows the user to define an offset for programming convenience The SOFTWARE POSITION command should be used to update the registers after an unsynchronized move such as SLEW
13. Ki Figure 8 17 Plot Showing an Appropriate Value for Kpos EJ U511 Axis Scope Ver 5 00 oix Fie Remote Plot Trigger Collect Display Axis Units Tools Axis 1 gt _ Em Ki 80000 Kp 600000 vf 256 aff O Save Collecting Command LINEAR X 10 Status OK 0 Vel Cmd 1 34 26 Vel Er 1 25 84 Pos Err 1 Figure 8 18 Plot Showing Overall Effects When Kpos is High 7 Adjust Acceleration Feedforward Loop using Aff The Acceleration Feedforward gain Aff attempts to remove position error during the acceleration and deceleration of a move Version 1 1 Aerotech Inc 8 23 Tuning Servo Loops U511 User s Manual Adjusting Aff is optional The user s application may not need it Turn the Position Error Integral Error and Velocity Error traps on by returning to the U511 Parameters Editor window and selecting the Parameter tab called Faults Turn the Position Error the Integral Error and the Velocity Error back on by checking the boxes This will reactivate these traps Save and exit the Parameter Editor window Reinitialize the UNIDEX 511 8 6 Tuning Tips Some tips for tuning AC brushless motors and low resolution encoders are given below AC brushless motors usually have cyclic position error Most Aerotech AC brushless rotary motor systems will have a disturbance of 4 cycles per motor revolution 8 pole
14. cccccccssecessscecseseeeeeeeeeeees 5 42 FREERUN eae orate Qe e E Sen 5 43 GAIN fea eee hee a at ets 5 44 GEAR era eetet rge ee taaa a eee gen eF 5 45 ESA KO este es 5 46 HALT n e a REE REEE E atest 5 47 THOME e a r Reha taketh ee Re 5 48 DP OaE a A tuba Sitawsbedaceesen Ge Savauecetetinn A eee eS 5 48 INDEX sik ante Sia Min BA eas 5 50 INn Read Inputs 0 0 eeeecssecsececseeceeeeeceaeeeeeeeceaeeseneeee 5 51 INTERRUPT sects Asis ieicccit eevee ee kt a eee 5 52 IO Set Read 8 X 3 I O eeeeccceccscceesssseceessececsseeeeesneeeeseees 5 52 TOSET Setup 8 X 3 W O eeeceeeeesseceeececeeeeeeeeecseeeeneees 5 53 JOG eceches ee Sh eae ee vee He eae eee 5 54 Label Marker C oer telnet dots ain ae tice 5 54 EINEAR e saunas caret gt eer eee 5 55 LOOP iss keeenese REGAN SAAN ERIN eae 5 56 LV DT a Sake Ah Beenie es 5 57 MO MUZEL0 EA E te keeled 5 58 MAP iesn a aE aa ra E hostess e eE EEE alates 5 58 MCOMM Motor Commutation cccccccessseeeeereeeeeee 5 59 MESSAGE nre neeite E E EE E etei 5 60 MR Memory Read 0 ceeecesssceenceceseceeececeeeeeaeeceseeeeneeees 5 61 MSET Motor Setup eisern in E ASS 5 62 MW Memory Write cceceecceesceceseceeeeceereeeneecesreeeneeees 5 64 NEXT E E EEE E E E E EEEE 5 65 OEn Extended Output eee eeseecsseeeneeceeeeeeneeceseeeeneeees 5 65 OWT BUT DEAE EEE N E EEEE EEEE 5 66 PARALEEBD e aS 5 67 PRM PARAMETER READ c ccccsssseceetteceesteeeeeenees 5 67 PAUSE actin acca thi
15. y y Setting up Velocity Loop on the Amplifier Adjust the Velocity Feed Forward Vff y y Rough Adjust the Position Loop Kpos Turn back on Position Integral and Velocity Error FINISHED Flowchart of Overall Tach Tuning Process 8 28 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops The following is a step by step procedure for tuning motors with tachometers Please read each step thoroughly before performing the task 1 Turn off the Position Error Integral Error and Velocity Error traps In the IMPORTANT UNIDEX 511 Parameter Editor deselect the Position Error Integral Error and Velocity Error in the Faults parameter tab Refer to Figure 8 20 u511_prm lolx File Remote Utilities 4 Axis Config 6 Homing Limits Z Motor Feedback D System Config 1 Serial Port 1 2 Serial Port 2 3 GPIB IEEE 488 8 Faults 10 Planes Mapping Position Error X Feedback Trap x R X Feedrate Error Inte Velocity Error x Hardware Limit Emergency Stop IX Hardware Limit xX Axis 1 Any Fault IX Software Limit xX Axis 2 Any Fault X Software Limit X Axis 3 Any Fault X Amplifier Fault X Axis 4 Any Fault Number fi 55 Value FFFFFFFFI1IFA Figure 8 20 Faults Tab of the Parameter Editor 2 Set the RMS current trap parameter to 100 While still in the Parameter Editor window select the par
16. 3 7 3 8 INTRODUCTION oniy soehe isis tel eink ost a 1 1 Overview of the UNIDEX 511 System eee eeeeeeeceseceeenees 1 1 Ordering Information sssini orris ssi eiri 1 3 Options and AccessorleS raim nn a A E E 1 4 Safety Procedures and Warnings cccccsscesceecsseceeeeeenseeeeeeeenaeeeeee 1 5 GETTING STARTED ceunant a a aNs 2 1 Introduction nenir eriten nieee ae e a E aE E aes 2 1 Unpacking the UNIDEX 511 Unit eee eeeeeeceneeeeeaes 2 1 UNIDEX 511 Setup Flowchatt cece cece eeeeeeeeeeeeeseenseenaees 2 2 Installing Cables and Wiring 0 cee eee eeeeseeeseeeecesecesecenecaecseeeneeeaes 2 3 Software Configuration Considerations ce eeeeeeeeeeeeeeeeeseensees 2 4 Special Startup Considerations 00 eee eeeeeceeeceesceseceseeeseenseenaes 2 4 2 6 1 Feedback Verification 00 eee eeeeesceseceseeesecsseenaeeaee 2 4 20 2 imit Verificato M se a gs eden giiea E A NRE 2 5 2 6 3 Preliminary Servo Loop Setup sssesesseeessesereereersrrerrsererrsee 2 6 Enabling and Moving an AXiS ceessecesceeececsseceeeeeceaeeeeneeceaeeeeneeees 2 7 Internal System Wiring ce ceseesseesennsesncesseosnsesersseesaeeseesene sees 2 7 THE USER INTERFACE 0 0000 ecceesecseeeecneeeecnseeeenaeeaeeeeenees 3 1 Tint duicti Om 0 EE tseessistb ences sasesbcetseesocdesteabcndecascpbaseessqodasssestesbsses 3 1 Control Panel sise se eeen erare devs dheoseuade ES 3 1 Power p Sereen coe bei enne eE E EE ee EE EEE
17. 4 1 4 2 4 3 4 4 4 5 iv PARAMETERS cc cccssecsescesnsesssscesnessesceensessssceeeesssseeensessanes 4 1 Introd ction ssns ee EE ERT EEE o IERE KRE 4 1 Page 1 System Configuration sseesseeeeseerseessrsreerrsreerrsrereesesrreresreee 4 7 4 2 1 Auto enable axes nnn a a 4 7 4 2 2 Auto TUN program 00 eee eeeeceeeceeneeceseeeeeeceseeeeaeceeeeeeaeeeeees 4 7 4 2 3 Axis calibration file ccccceceessceceesteceesseeeeeesseeeesenees 4 7 o ROA Parameter tile cic krsiacsdice she neil ie 4 7 4 2 3 Firmware fle eeren aene ani n aee 4 7 420 7 M cod file cei nasi hk ii e Saas 4 7 4 2 7 Global subroutine file ee ceesceceeseececeeneeessneeeeeenaes 4 8 4 2 8 PSO PC firmware file cccccceceesceceessececeeeeeessteeeeeseaes 4 8 4 2 9 PSO PC DPRAM address hex address Oxnnnn 4 8 4 2 10 PSO PC I O address hex address Oxnnmn cceeeeee 4 9 4 2 11 Safe zone output bit 0 1 8 oo eee eeeereeeeeeeeeeeees 4 9 4 2 12 Option board setup code oo eee eee cee cseecneeereeeeeeeeeees 4 9 4 2 13 User interrupt setup code oo eee ee ceecesecesecsseeseeeneeenes 4 10 4 2 14 A D channel n joystick deadband Parameters 4 10 4 2 15 A D channel n center Position Parameters 006 4 11 4 2 16 Enable speaker iriiria iaria 4 11 AQ AT PaSSword c2sc8 E E
18. OPTO ISOLATED INPUTS IINSUP SS SSS SS SS a eer PS 2501 CONNECTOR TO U511 CONTROL BOARD gt gt gt gt Figure 10 4 Opto isolated Inputs Outputs The U511 also contains 4 opto isolated outputs These are open collector outputs without pull up resistors capable of sinking 10 mA When an output is programmed as logic 0 the IOUTx pin goes to a high impedance state This is also the reset state When an output is programmed as a logic 1 the output is pulled to IOUTCOM state typically GND The user should connect the external power supply s return V to the IOUTCOM for proper operation Table 10 8 shows the opto isolated pin locations Figure 10 5 shows a diagram of the opto isolated outputs Output transistor specifications collector emitter voltage 1V 10mA 5 V 30 mA max collector emitter voltage 30 V power dissipation per output 100 mW Version 1 1 Aerotech Inc 10 11 Technical Details U511 User s Manual Table 10 8 Opto isolated Output Pin Locations IOUTO Isolated output 0 19 IOUT1 Isolated output 1 20 IOUT2 Isolated output 2 21 IOUT3 Isolated output 3 22 IOUTCOM Common point of emitters 23 OPTO ISOLATED OUTPUTS a ae ce aces gees eae en eee AUX I O ICONNECTOR Figure 10 5 Opto Isolated Outputs 10 1 4 AUX I O Connector The AUX I O connector contains miscellaneous I O signals for the U511 These include the hardware interrupt UINT eme
19. Table 4 55 Settings for Parameter x19 Param Axis Range Default in machine steps in machine steps ne M oy 0 to 8 388 607 4000 29 2 0 to 8 388 607 4000 319 3 0 to 8 388 607 4000 419 4 0 to 8 388 607 4000 This value may need to be significantly higher when tuning the servo loop for the first time gt x lt Ee Version 1 1 Aerotech Inc 4 73 Parameters U511 User s Manual 4 10 4 Maximum integral error 0 8 388 607 x20 Parameter x20 sets the maximum amount of integral error allowable before an error condition is generated If the integral error exceeds the value set in x20 then the message Integral Error is displayed in the Program mode screen of the software In addition the integral error state can be viewed from the Diagnostics screens in the software See Chapter 3 The User Interface for more information This parameter value can range from 0 to 8 388 607 The default value is 655 360 Refer to Table 4 56 Table 4 56 Settings for Parameter x20 Param Axis Range Default 120 1 0 to 8 388 607 655 360 220 2 0 to 8 388 607 655 360 320 3 0 to 8 388 607 655 360 420 4 0 to 8 388 607 655 360 CE This type of error generally indicates and amplifier or motor failure 4 74 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 10 5 RMS current trap 0 100 The RMS current trap parameter speci
20. lt gt Operator 5 4 5 49 Operator 5 4 5 49 gt Operator 5 4 5 49 gt Operator 5 49 NUMBERS 16 IN 8 OUT I O bus 10 4 8 X 3 I O bus 9 20 10 9 A A D channel registers 5 8 ABORT Command 5 10 5 13 Abort Key 3 2 Absolute Motion 9 5 Absolute Position Registers 5 6 AC Brushless Motor 4 53 C 1 setup C 1 AC Power Options for the Amplifier Chassis 1 3 ACCELERATION Command 5 10 5 13 Acceleration feedforward gain Aff 8 26 Accessories handwheel 1 4 JBV 1 4 Opto 22 interface board 1 4 PSO PC 1 4 RDP PC 1 4 vertical axis position brake 1 4 Active Limits 3 20 3 24 ADO Register 5 8 AD1 Register 5 8 AD Register 5 8 AD3 Register 5 8 Addition Function 5 4 Aff Acceleration feedforward gain 8 9 8 27 Aff Acceleration feedforward loop 8 23 AGAIN Command 5 10 5 18 9 7 Amplifier Chassis AC power options 1 3 DC bus voltage options 1 3 package styles 1 3 Amplifier Fault 5 40 ASINE Function 5 4 Assignment Function 5 4 AT Autotune Command 5 10 5 19 ATN Function 5 3 Autotune option 8 9 Autotune Toolbar 8 11 Autotune Troubleshooting 3 30 8 15 Autotuning 3 28 8 10 8 12 Aux I O Connector 10 12 AUX OUTPUT 5 40 Axes accel decel rates 5 13 disabling 5 36 enabling 5 39 ramping 5 74 Axis 4 89 angular position measuring 4 29 correction data in calibration files 4 24 Enabling 2 7 sample distance in calibration files 4 24 specifying number in calibration files 4
21. no the home cycle will ignore the home limit input Instead it will reference the limit switch that is in the home direction In this case the limit switch will not generate a fault condition The default for this parameter is no Refer to Table 4 36 Table 4 36 Settings for Parameter x74 Param Axis Values 174 Yes Uses home limit input No Ignores home limit input default 274 2 Yes Uses home limit input No Ignores home limit input default 374 Yes Uses home limit input No Ignores home limit input default 474 4 Yes Uses home limit input No Ignores home limit input default 4 7 11 Safe zone limits machine steps A safe zone is a region defined by a range of specified positions on 1 2 3 or 4 axes For x75 each axis one range within its travel may be defined for this function with the Safe zone limit and limit parameters This range is in machine steps and is referenced to the hardware home position Refer to Table 4 37 x76 Each axis with a specified range must be enabled homed and within the specified limits to be considered within the safe zone The output bit specified by general parameter number 098 will be driven to its active state low impedance to ground when all axes are in their safe zone ranges Setting parameters x75 and x76 to zero the default value defeats the safe zone function for that axis Also s
22. 4 11 5 Axis 1 2 3 4 plane 1 4 as X Y Z U The UNIDEX 511 is capable of multitasking at such high speeds that it appears as though tasks are being performed simultaneously The execution of these tasks as well as how the tasks relate to each other is programmable by the operator Four memory areas 04 are available to receive motion commands These memory areas are referred to as contour planes oO oO 005 These parameters also are used to map one or more axes to a contour plane and assign the axes a programming name i e X Y Z or U Assigning an axis to plane zero blocks that axis from any motion lo O The syntax of parameters 003 006 can have one of two possible formats 0 which means that all motion is blocked on the associated axis 003 0 blocks all motion on axis 1 004 0 blocks all motion on axis 2 etc or a b where a the plane number 1 2 3 or 4 to which the respective axis is mapped b the axis designator X Y Z or U e g 003 4 X maps axis 1 to plane 4 as X The defaults settings for these parameters are 1 X 1 Y 1 Z and 1 U i e axes 1 2 3 and 4 are all mapped to plane 1 as X Y Z and U respectively This is summarized in Table 4 65 4 88 Aerotech Inc Version 1 1 U511 User s Manual Parameters Table 4 65 Settings for Parameters 003 004 005 and 006 Param Axis Value Description Examples 003 1 0 Blocks motion on axis
23. AR Auto Run command Host U511 Program name Name of program to be run Host U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 and program will begin If hold mode is enabled then trigger will be needed U511 Host SRQ character Service request character at Note SRQ will only be See SRQ section completion of program if service sent if SRQ mode request mode is active is active Perform service request procedure Example ARtest1 prg lt EOS character gt Version 1 1 Aerotech Inc 6 3 Remote Mode Operations U511 User s Manual Table 6 3 Block Run a Program Communication Sequence Direction of Transfer Command Description Host U511 BR Block Run command Host U511 Program name Name of program to be run Host U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 Host U511 Trigger command Trigger command is required to Sce Trigger command initiate each program step This TR command must be repeated until program completes U511 Host SRQ character Service request character at Note SRQ will only be See SRQ section completion of each step if service sent if SRQ mode request mode is active is active erform service request procedure Perf i q proced Example BRtest1 prg lt EOS character gt 6 4 3 PA Program Abort This command causes a currently executing prog
24. BR CAL Load Calibration File CAL CCW_CIRCLE CC G3 CLRSCR Clear Screen CLRSCR CI Command Interrupt CI CM Contouring Mode CM COMREC Strings in Por COMREC _ COMVAR String to Variabley COMVAR _ CS Command Scope CS CW_CIRCLE CW G2 CUTTER COMPENSATION G40 G41 COMMANDS G42 G43 G44 CVI Convert to Integer CVI CYCLE CY DAC D A Output DA DISABLE DI DS Display Servo DS DWELL DW G4 DY Dynamic Gain DY ENABLE EN ERROR ER EXIT EX M2 FAULT ACKNOWLEDGE FA FL Filter Time Constant FL 5 10 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands Table 5 10 UNIDEX 511 Programming Commands Continued Command Abbreviation RS 274 Code FREERUN GAIN GEAR GOTO 3 Ww Q Q gt cio 3 T E 4 TIQ gt O HOME T T O 5 ga INDEX INn Read Inputs INTERRUPT IO Set Read 8 X 3 I O IOSET Setup 8 X 3 I O Port JO label marker LINEAR LOOP LVDT MO M Zero MAP MCOMM Motor Commutation MESSAGE MR Memory Read MSET Motor Setup MW Memory Write NEXT OEn Extended Output OUTPUT PARALLEL PRM Parameter Read PAUSE PLANE PROGRAM English Mode Metric Mode Absolute Mode Z Q S O IOSET Q O Q lt S Q m lt 5
25. CHAPTER 9 9 1 9 2 9 3 9 4 9 14 CHAPTER 10 10 1 10 2 10 3 10 4 10 5 10 6 10 7 10 8 10 9 8 7 4 1 Kpos Position Gain eee eeeeeeeees 8 26 8 7 4 2 Ki In Position Integrator eeeeeeeeeee 8 26 8 7 4 3 Vff Velocity Feedforward Gain 8 27 8 7 4 4 Kp Proportional Gain cece eeeeeeesseeeeeeee 8 27 8 7 4 5 Aff Acceleration Feedforward Gain 8 27 Tuning Tachometer Loops cesccessceceseceeececeeceeneeceseceeeeecnaeeeeneess 8 28 PROGRAMMING EXAMPLES 9 1 Introductio se none eati iea fevesbdstactenceseveusovscetipsostvevndstenss 9 1 Incremental Relative Motion with Velocity Profiling 9 2 Absolute Motion with Velocity Profiling 0 eee ee eeeeeeeeeeees 9 5 CNC Demonstration Using Velocity Profiling Linear and Circular Interpolation MANN cass EEEE E E tess oetu nie tetera eebscenseeebertoas 9 7 Corner Rounding osen ssi bees aided kes dad E ihien sitesi eid 9 8 GEAR Demonstration of a Master Axis with Two Slave Axes 9 10 Interlocking Contour Planes 0 e eee cee eee cess cree eeeeeeeeeeeeeeeeeeeeeeees 9 11 SPINNE cs erete eeaeee y ae ESE EENES ENS EES ESES 9 12 Programming Using Inputs s essseeeseeeeesserereerrseerrsrerrsrerrresrsrreresreee 9 13 Part Rotations pe penenie a E E E E ES 9 14 Overriding Scale Factor sr insciis ioir 9 16 Softkey Use ans en aea a cas E A E RS 9 19 8 X 3 WO Bus Program eee eoir e
26. Parameters 4 2 Page 1 System Configuration Page parameters primarily allow the user to indicate which files will be run after reset Configuration parameters for the optional PSO PC board are also included as are parameters for setting the joystick deadband and center position These and other parameters are explained in detail in this section 4 2 1 Auto enable axes Parameter 600 selects the axes that are automatically enabled on power up Axes X Y Z and or U can be selected To deselect an axis simply delete the entry leaving the field blank No axes enabled is the default setting 4 2 2 Auto run program Parameter 601 selects a program to be loaded and executed in auto mode after power up The default setting is a blank meaning no program is to be executed To deselect a file simply delete it leaving the field blank 4 2 3 Axis calibration file Parameter 602 is the Axis calibration file loaded to the DSP during reset The default setting is blank meaning no calibration file is to be used To deselect a file simply delete it leaving the field blank 4 2 4 Parameter file Parameter 603 specifies the file containing parameters 0 99 and axis parameters 100 199 200 299 300 399 and 400 499 The default file is U511 PRM If the UNIDEX 511 is factory configured by Aerotech this field will contain a file name of the form 123456 PRM The six digit number is the Aerotech reference numbe
27. U511 Host ACK NAK character Acknowledge character 0x06 Example HD1 lt EOS character gt The Cancel Hold Mode command HDO is used to turn off hold mode When hold mode is off default commands and programs will not require a Trigger command to start them unless otherwise noted example program block run Table 6 10 shows the communication sequence for the disable hold mode command Table 6 10 Disable Hold Mode Sequence Direction of Transfer Command Description Host gt U511 HDO Disable Hold Mode code EOS character End of string character LF Host gt U511 U511 Host ACK NAK character Acknowledge character 0x06 Example HDO lt EOS character gt The communication sequence for the Trigger command is shown in Table 6 11 The TR command is used to control the start of commands and programs for the following conditions 1 Execute a command string issued with the T command when in hold mode 2 Start execution of a program loaded in AUTO mode AR when in hold mode 3 Single step a program loaded in the BLOCK mode BR 4 Repeat the last Immediate command sent to the controller Version 1 1 Aerotech Inc 6 7 Remote Mode Operations U511 User s Manual Table 6 11 Trigger Command Sequence Direction of Transfer m Command Description Host U511 Host U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 E
28. Windows Interface and Utilities U511 User s Manual Remote Utilities 7 3 UNIDEX 511 Parameter Editor On startup of the Parameter Editor the U511 will send the current parameter file to the Edit Parameter screen The parameters are organized in the same manner as the parameters displayed by the U511 when entering the Setup menu from the U511 front panel Each tab on the software corresponds to a page on the U511 software Refer to Figure 7 1 A description of each parameter is listed in Chapter 4 Parameters To change a value of a parameter select the parameter on the tab then change the value in the text box and hit ENTER To save the changes after all changes have been made select Save and Upload to U511 from the File menu option This selection will bring up a file dialog box Type or select the file name the parameters will be saved as Note that the parameter file currently Open being used by the U511 is listed on Tab 0 System Config If renaming the file on the Download from U511 U511 make sure that parameter 603 Parameter file is set to this new parameter file name To make the parameter changes take effect cycle the power or press the RESET Save to PC i button on the front panel of the U511 To save a backup file of the parameters select Save and Upload to U511 Save to PC and enter a name for the parameter file Print The other menu items under File are Open
29. min argument is the minimum motor movement in units that will be allowed This number can be interpreted as absolute or incremental depending on the setting of bit 3 of the flags argument Absolute values are with respect to the hardware home position ie the position displayed in the diagnostic window Incremental values are with respect to the position of the motor when the command was given Bit 2 of the flags argument when set enables this feature The units of the max and min argument are the current programming unit ie mm Inches or program steps The flags argument allows the user to change certain characteristics of the auto focus loop The bits in the following table can be OR ed together Reserved bits should be programmed as zero See Table 5 11 for a list of optional arguments Table 5 11 Optional Arguments Bit Value Description Hex 0 0 Command is queued will be affected by wait mode 0x000000 Considered done when the error is within the dead band bit 8 11 of status word 5 will be set until finished 1 command will not be queued not affected by wait mode 0x000001 bit 8 11 of status word 5 will be not be affected by command is finished command will continue to track when null position is found function will automatically turn off after null position is found 0x000002 motor travel is not limited enable motor travel limits max min arguments 0x000004 max min a
30. parameter is the maximum speed that the motor will move when the analog input is not at the desired position The motor may not actually move at this speed if the gain of the loop is low The units of the speed parameter are the same as the feedrate units of F XF YF ZF UF The units can be English metric units minute units second program steps minute or program steps second SYNTAX AFCO axis channel pos gain speed deadband max min flags Arguments indicates optional parameters where units axis XYZU channel A D converter channel 1 4 or 0 off pos target A D position set point volts gain sets responsiveness of loop Like KPOS speed maximum correction speed of motor same as feedrate F dead band dead band A D counts max maximum motor movement in positive direction units min minimum motor movement in negative direction units flags see text AFCO Version 1 1 Aerotech Inc 5 15 Programming Commands U511 User s Manual Optional arguments default to 0 All optional parameters default to 0 The dead band argument allows the user to specify a region about the target A D position for which there will be no motor movement A zero value here indicates no dead band The max argument is the maximum motor movement in units that will be allowed This number can be interpreted as absolute or incremental depending on the setting of bit 3 of the flags argument The
31. s Manual Preface MANUAL CONVENTIONS Throughout this manual the following conventions are used Use of n within a program block signifies that any axis X Y Z or U or drive 1 2 3 or 4 may be inserted When mixed with small letters capitalized letters within a command indicate the minimum entry for that command e g DIsable Most commands are given in capital letters The terms UNIDEX 511 and U511 are used interchangeably throughout this manual Italic font is used to illustrate syntax and arguments for programming commands 6699 Double quotation marks are used to indicate U511 parameter names Underlined letters refer to an lt ALT gt letter keystroke Hexadecimal numbers are listed using a preceding Ox for example 0x300 0x12F Ox0O1EA etc to distinguish them from decimal numbers An x preceding a parameter number represents the axis number 1 2 3 or 4 for the corresponding axis X Y Z or U respectively Therefore parameter x38 the Position channel for example actually corresponds to four distinct parameters 138 for the Position channel of axis X 238 for the Position channel of axis Y 338 for the Position channel of axis Z and 438 for the Position channel of axis U The terms ENTER and lt Return gt are used interchangeably throughout this document when referring to the keyboard Within the index a bold locator page number e
32. 056 and 074 only specify the measurement system N oO oO fo Ol This parameter can have one of two possible values yes or no and is programmed on a per plane basis Settings for parameters 020 038 056 and 074 are listed and described in Table 4 69 O J A Table 4 69 Settings for Parameters 020 038 056 and 074 Value Function Yes Metric system is used for the associated contour plane default No Metric system is not used i e English System is used for the associated contour plane Be sure to set parameters 029 047 065 and 083 Metric digits or parameters 030 048 066 and 084 English digits as appropriate for each of the active contour planes Refer to Table 4 70 for a reference of these associations IMPORTANT Table 4 70 Parameter Associations between Planes Measurement Units and the Number of Decimal Digits Plane English Metric Units Number of Decimal Digits 1 English parameter 020 no Use parameter 030 Metric parameter 020 yes Use parameter 029 2 English parameter 038 no Use parameter 048 Metric parameter 038 yes Use parameter 047 3 English parameter 056 no Use parameter 066 Metric parameter 056 yes Use parameter 065 4 English parameter 074 no Use parameter 084 Metric parameter 074 yes Use parameter 083 For information on determining an appropriate conversion factor refer to parameter x00 the Metric
33. 25 5 Volts 13 10B3 1 0 B 3 26 50 Common 10 1 3 4 On board Opto isolated I O The lower 4 in 4 out of the 16 IN 8 OUT connector are duplicated on the AUX I O connector and are opto isolated The opto isolator used is a NEC PS2501 type or equivalent The 4 in 4 out on the 16 IN 8 OUT connector are not opto isolated Inputs The U511 has four resistors to limit current through the input diodes of the opto isolators The default value is for a 5 V power supply The user must connect a 5 V supply to the IINSUP pin The input is pulled low when connection is completed to the power supply through the input IINx The U511 will read a logic 0 when this occurs When the connection is removed the U511 will read a logic 1 Table 10 7 lists the locations of the current limiting resistors and AUX I O pin numbers for the opto isolated inputs Figure 10 4 shows the opto isolated inputs Input diode specifications Isolation voltage 5000 V rms Diode forward current 10 mA Diode forward voltage 1 1 Vat10 mA 10 10 Aerotech Inc Version 1 1 U511 User s Manual Technical Details Table 10 7 Control Board Current Limiting Resistor Locations for Opto isolated Inputs Name RN pin Standard 5 Description AUX T O pin Volts RN7 1 2__ 390 Ohms RN7 3 4 390 Ohms Isolatedinputl d6 RN7 5 6___ 390 Ohms RN7 7 8___ 390 Ohms Isolatedinput3 8 i O ma n a Anode of opto isolator diode 5 V 9
34. 5 2 Fltack Key 3 2 FREERUN Command 5 11 5 43 Freq 8 11 Frequency 3 28 Function Keys 3 2 G G Codes 9 3 9 4 9 7 G0 Command 9 4 9 7 9 11 9 13 G1 Command 5 24 9 4 9 7 G2 Command 5 22 5 24 5 25 9 4 9 7 9 11 G23 Command 4 99 5 76 G24 Command 5 76 G3 Command 5 25 9 7 G4 Command 9 4 G70 Command 9 4 G8 Command 9 4 9 7 G9 Command 9 4 9 7 G91 Command 9 4 G92 Command 9 13 Gain adjustment G 10 GAIN Command 5 11 5 44 Gains option 8 9 GEAR Command 5 11 5 45 9 10 Glbsub prg 9 21 Global fault mask 3 29 8 12 Global Subroutine 3 2 9 21 poweron 9 21 abort 9 21 pauseon 9 21 pauseoff 9 21 faultack 9 21 Glossary of Terms A 1 GOTO Command 5 11 5 46 9 9 GPIB IEEE 488 Interface 6 1 GPIB Timing 6 26 Greater than Function 5 4 Grouping Function 5 4 H Hall signals C 3 Hall States and Motor Phase Labels 5 63 HALT Command 5 11 5 47 9 11 Handshake mode 6 2 Handwheel Option 1 4 Hardware display of diagnostic information 2 4 display of servo diagnostics 2 4 Version 1 1 Aerotech Inc iii Hardware Limits 5 40 Hardware Status 3 20 Hardware status diagnostics 7 7 Helix Motions 5 24 Hexadecimal Numeric Constants 5 2 HOME Command 5 11 5 48 9 3 9 6 Home Cycle 4 41 axis positions following 4 86 Home Cycle 4 41 Homing and Limits Page 4 41 Homing Problems 11 7 HW500 Handwheel Option 1 4 I IEEE 488 GPIB Bus Connector 10 16 IF Command 5 11 5
35. 5 20 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 9 BRAKE The BR command manually engages or disengages the UNIDEX 511 brake output The additional circuitry for the brake is a factory wired option on the UNIDEX 511 This command can be used to manually turn the brake on for an axis just before disabling it This may be useful in vertical axis applications when axis movement cannot be tolerated The U511 does not immediately release the brake on a linked axis when enabled There are approximately 100 milliseconds before the brake is released SYNTAX BRAKE state BR state state The state argument can be set to one of two options ON prhe nn ea ath aeons Engages the brake OFE iae elites A Disengages the brake EXAMPLE BRAKE ON Optional brake is now engaged BR ON Same result using the abbreviated syntax BRAKE OFF Optional brake is now disengaged BR OFF Same result using the abbreviated syntax Related commands ENABLE AXIS DISABLE AXIS Fault Mask Parameters Enable brake Mask Parameter The brake output must be linked to only one axis with parameter x61 Enable brake The brake output is deactivated unclamped when the axis is enabled and activated clamped when the axis is disabled This command only works when the axis is enabled IMPORTANT Version 1 1 Aerotech Inc 5 21 Programming Commands U511 User s Manual GAL 5 5 10 CAL Load Calibration File The CAL c
36. 7 1 Diagnostic screen 7 5 editing and saving parameters 7 2 File transfer utility 7 9 Aerotech Inc U511 User s Manual installing 7 1 Parameter editor 7 2 Remote menu selection 7 1 Writing Messages to a File 5 60 Writing Messages to a Serial Port 5 60 X X Command 9 12 XCP Register 5 7 XFP Register 5 6 Y YCP Register 5 7 YFP Register 5 6 Z ZCP Register 5 7 ZFP Register 5 6 Version 1 1 READER S COMMENTS AEROTECH The UNIDEX511 Motion Controller User s Manual June 2000 Please answer the questions below and add any suggestions for improving this document Is the information Adequate to the subject Well organized Clearly presented Well illustrated Would you like to see more illustrations Would you like to see more text How do you use this document in your job Does it meet your needs What improvements if any would you like to see Please be specific or cite examples Your name Your title Company name Address Remove this page from the document and fax or mail your comments to the technical writing department of Aerotech AEROTECH INC Technical Writing Department 101 Zeta Drive Pittsburgh PA 15238 2897 U S A Fax number 412 963 7009
37. 80 80 VDC 160 160 VDC Table 1 2 lists the Aerotech motor drivers that can be used with the UNIDEX 511 Version 1 1 Aerotech Inc 1 3 MS J Introduction U511 User s Manual Table 1 2 Available Motor Drivers compatible with UNIDEX 511 Motor Driver Description AM8007C Microstepping Microstepping motor driver 7 A cont 7 A peak 20 kHz PWM 40 80 V bus DS16020C DC Brush DC Brush 10 A cont 20 A peak 20 kHz PWM 40 160 V bus DS16030C DC Brush DC Brush 15 A cont 30 A peak 20 kHz PWM 40 160 V bus AS32020C Fn AC brushless servo motor driver 10 A cont 20 A peak 20 kHz PWM 40 160 V bus AS3005LC Fn AC brushless servo motor driver 3 A cont 5 A peak linear DC 30 V bus 1 3 Options and Accessories A variety of options and accessories may be purchased with the UNIDEX 511 to enhance its standard operation Table 1 3 lists the Aerotech options and accessories that can be used with the UNIDEX 511 Series motion controllers Brief descriptions of each option follow Table 1 3 Options and Accessories Available for the UNIDEX 511 Accessories Description HW500 3 6 inch handwheel assembly and cable 25 pin male D JBV Joystick with digitizing capability JI Industrial joystick with digitizing capability PSO PC Programmable position synchronized laser firing control card used to provide output signals based on the positions of up to three axes
38. B and C must be calculated 44 A KT a 0 5 0 00025 0 011 B T a 0 00025 2 0 022 C T 440 0 00025 0 0121 Using the values for A B and C and the formulas discussed earlier the notch filter coefficients NO N1 N2 D1 and D2 can be calculated and entered in parameters x30 x31 x32 x33 and x34 respectively _1 A C _ 10231 Bi 2 0 989363 14 B C 10341 a cts ape Le OV 14 B C 1 0341 yet eh aeo 14 B C_ 1 0341 pomp ea a ee TL 14 B C 1 0341 tt Lg 967024 D 14 B C_ 1 034 Notch filter calculations are done in radians not degrees z Version 1 1 Aerotech Inc 4 37 Parameters U511 User s Manual 4 6 8 3 The Second Order Low Pass Filter The UNIDEX 511 may also implement a second order low pass filter The coefficients for a low pass filter are defined below AN H s Q 707 s rr o E 2tan7 afoTs 1 4 sin E pe ii A 1 sin E E where fo roll off frequency d damping factor a value of 1 414 is recommended Ts servo loop sample time in sec normally 0 25x10 sec or 0 25 ms see parameter x62 for more information No 1 D D 4 N 1 D D 2 N 1 Di D2 4 D 1 F cos E D F 4 38 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 6 9 Servo loop type The UNIDEX 511 PID loop configuration can be changed The configuration is determined by the status of the
39. C Cancels slew type motion same as pressing the C button on the joystick EXAMPLES SLEW No arguments Slews all axes as defined below X and Y axes are assigned to plane 1 which is enabled Z and U axes assigned to plane 2 that also is enabled X joystick plane 1 horizontal joystick movement Y joystick plane 1 vertical joystick movement Z joystick plane 2 horizontal joystick movement U joystick plane 2 vertical joystick movement SLEW X Y Z0 Slew the selected axes of the enabled contour plane The sequence of the axes X Y Z U or 0 for blank determines the joystick s directional relationship X joystick plane 1 horizontal joystick movement Y joystick plane 1 vertical joystick movement Z joystick plane 2 horizontal joystick movement U joystick plane 2 axis not affected SLEW 1234 Slew the selected drives not axes The selected drives do snot need to be within the enabled contour plane The sequence of the drives 1 2 3 4 or blank determines the sjoystick s directional relationship SLEW X Y Enable axis joystick WAIT ON Wait for previous command to finish SOFTWARE POSITION X Y Update absolute and relative position registers with adjusted machine position then resume normal operation Make certain a drive assigned to joystick slew motion has no other motion assigned Ss to it Related commands WAIT SOFTWARE POSITION X Y ZU 5 82 Aerotech Inc Version 1 1 U51
40. CHAPTER 11 TROUBLESHOOTING In This Section Stepper Motors and Related Problems 11 2 Servo Related Problems seeserereeerserecerereesere 11 4 Problems Involving Fault Conditions 11 5 Homing Related Problems seceseeeseeees 11 7 RS 232 Communications Related Problems 11 7 TEEE 488 GPIB Related Problems 11 8 Fuse Replaceme ntara ees a eee ee 11 8 Preventative Maintenance eseceereeseeeeeee 11 9 Gleamin freee eisai cceveenscte en eevee ct esse osiaes sete 11 9 Battery eee eee eee ener or re has ie nee er 11 9 If you have technical support questions please have the following information available before calling 1 The current version of the software The version is displayed after power up or reset The GV remote command also returns the version number 2 Your customer order number 3 If possible be located at the system and have it ready in case additional checks diagnoses or support is needed Warnings and Cautions No User Serviceable Parts Mains power cord is the disconnect device when servicing Hazardous voltages may be present at the Mains inlet and motor connectors Voltages up to 24 Volts may be present at I O and Brake connectors WARNING WARNING DANGER gt DANGER Version 1 1 Aerotech Inc 11 1 Troubleshooting U511 User s Manual Motors must be mechanically secured befo
41. EJ U511 Axis Scope Ver 5 00 Iof x File Remote Plot Trigger Collect Display Axis Units Tools Figure 8 2 Axis Scope Window There are nine menu options available to the user on the Axis Scope window The options are shown in Table 8 1 Table 8 1 Menu Items on the Axis Scope Window Command Description File Save load plot PLT files save ASCII files exit Remote Sets PC s COM port parameters Plot Specifies plot options and which functions to plot Trigger Data collection method motion and control options Collect Defines the number of points to be collected Display Defines the number of points to be displayed Axis Specifies the axis 1 2 3 or 4 to be displayed Units Specifies distance and time units for the display Tools Enables disables the cursor status control and gains tools menu bars with handy features The underscored letters in the Table are short cut keys Typing one of these keys with the Axis Tuning pull down menu activated will activate the command Version 1 1 Aerotech Inc 8 3 Tuning Servo Loops U511 User s Manual EJ US11 Axis Scop DES Remote Plot Save Save As Save ASCII Load Print Edit Comment Remote Fl I Port b Baudrate Databits b Stop bits Parity Connect Each of these menu options is discussed briefly below 8 2 1 The File Menu The File menu contains options that allow the operator to perform file operat
42. G9 Disables Velocity Profiling EXAMPLES G8 G1 X100 F100 Enables velocity profiling G2 X0 Y20 C0 10 F200 Blends linear motion to produce this circular motion at specified feedrate G9 G1 X 100 F100 Blends linear motion disables velocity profiling at the end of this move VELOCITY ON Does same thing as above G1 X100 F100 G2 X0 Y20 C0 10 F200 VELOCITY OFF G1 X 100 F100 The last contour move in velocity profiling must include a VELOCITY OFF G9 command Related commands INDEX LINEAR CW_CIRCLE CCW_CIRCLE 5 92 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 83 1 Correct Usage and Limitations of the Velocity Profiling Algorithm The following two plots show the results of running a program first without velocity profiling then with profiling in CMO mode The three moves of this program are G1 X10 F960 G1 X5 and G1 X10 16 Velocity 1 0 0 250 500 750 1000 1250 1500 1750 2000 225f Tl T2 T3 Figure 5 11 Plot of Velocity Without Velocity Profiling 18 Velocity 1 Ta Tb 0 0 250 500 750 1000 1250 1500 1750 2000 225 Figure 5 12 Plot of Velocity With Velocity Profiling The second plot shows how the three moves are blended into one smooth motion This velocity is generated by overlapping the two motion commands by beginning the next move when the current move begins to decelerate The velocity during this transition between moves time Ta to Tb is achieved by adding the
43. In this case the syntax structure means that the axis to be moved X Y Z or U must be followed by a distance a b c or d followed by the feedrate of the move for each axis XFe XFf etc The fourth line is where the user builds the command to be inserted into the program using the functions at the bottom of the screen To insert a modified command into the Program Editor the user must press ENTER after the command has been built When this is done the program returns to the Program Editor screen with the new command displayed in it Version 1 1 Aerotech Inc 3 9 The User Interface U511 User s Manual Editing TEST1 PRG Line 2 Index INDEX Xa Yb Zc Ud XFe YFf ZFg UFh INDEX AXIS FEED Continue ASCII BACK F1 E2 F3 F4 F5 Figure 3 10 Specialized Command Edit Screen The functions at the bottom of the specialized command screens differ depending on the command selected The AXIS F1 and FEED F2 functions are specific to the INDEX command These functions open screens where the user can select and insert axis and feedrate characters into the command The following general commands are found on most specialized command edit screens F3 Continue Returns the user to the Edit Command screen and appends the next command to the present command F4 ASCII Opens the ASCII utility so users can enter characters without using a keyboard F5 Back Returns the user to the Program Editor screen with
44. MDI Menu Joystick Submenu The joystick function screen is shown in Figure 3 33 This screen allows the operator to move the axes to a desired point using the joystick Axis position information will be automatically updated on the screen It will only activate if a joystick is connected to the U511 Any pair of enabled axes will be selectable with the joystick B button Pressing the joystick C button or the Quit F5 key terminates this screen Inc Mfo 100 Slew h x 0 0 000 mm Enabled 0 000 mm Disabled 0 000 mm Disabled 0 000 mm Disabled F1 F2 F3 F4 ES Figure 3 33 JStick Screen 3 8 2 MDI Menu Jog Submenu The jog screen refer to Figure 3 34 allows the user to move an axis under manual control Pressing the left or right arrow key does this Axis motion will stop when the key is released The jog axis is shown in reverse video and is selected by pressing the up and down arrow keys Axis motion can be continuous freerun or of a fixed distance index Refer to the Setup section for jog speed and distance parameters This screen can also be used to enable disable or Home an axis The currently selected axis is shown in reverse video Jog Freerun High Speed 3 725 mm Enabled 33 608 Enabled 4 900 Enabled 4 275 Enabled Arrows UP DN Select Axis LF RT Jog High Index Disable Home Quit F1 F2 F3 F4 F5 Figure 3 34 Jog Screen 3 32 Aerotech Inc Version
45. MFO pot offset for 0 MFO If the pot is enabled i e parameter 002 gt 0 the U511 reads the current pot position as a value from 0 to 255 counts through an 8 bit A D converter The value of parameter 002 shifts the 0 MFO mark thereby creating a user definable low end deadband over which the MFO is 0 The new MFO percentage is then defined as a function of the MFO offset from parameter 002 a value from 1 255 and the actual A D converter value 0 255 read by the U511 Setting parameter 002 gt 0 effectively creates a low end pot deadband and automatically rescales the remainder of the pot range over the remaining number of converter counts This is accomplished using the following equation MFO 1 Converter Value Value of Parameter 002 255 100 For example setting parameter 002 55 will create a 55 count deadband at the low end of the pot range The A D converter data from 0 to 55 counts will be treated as a 0 MFO Any data greater than 55 can be calculated by substituting the current A D converter value 56 255 in the above equation and solving for MFO See Figure 4 13 The typical value for this parameter when connecting to a pot is 10 100 MF Parameter 002 1 A h N Parameter 002 55 lt 100 MFO 128 cnts D 182 cnts 0 0 199 199 Figure 4 13 MFO Potentiometer With and Without Offsets N Version 1 1 Aerotech Inc 4 87 Parameters U511 User s Manual
46. Nominal Width 17 0 in 432 mm Height 9 4 in 239 mm with tiltable feet Depth 15 0 in 381 mm Weight 21 to 37 lbs depending on options Note Tiltable Feet height are approximately 0 6 in 10 7 2 UNIDEX 511 Rack mount Specifications The U511 Rack mount package is a standard U511 Chassis with rack mounting brackets mounted on each side of chassis The U511 air ventilation is through the chassis bottom back and sides which must not be blocked Sufficient room must also be provided in the rear of the U511 for making connections 6 in minimum This distance will be dependent on the connectors and cables being used The U511 overall dimensions Nominal Width 19 0 in 483 mm Height 8 8 in 224 mm Depth 15 0 in 381 mm with rack mounting brackets Weight 21 to 37 lbs depending on options Note Each rack mounting bracket is approx 1 0 in 25 mm wide 10 24 Aerotech Inc Version 1 1 U511 User s Manual 10 8 UNIDEX 511 Electrical Specifications Aerotech configures each U511 to fit your particular power requirements The Possible input voltages are 115 VAC 230 VAC 100 VAC and 208 VAC The system also has the capability of 50 or 60 hertz operation Refer to Table 10 19 Technical Details Table 10 19 Electrical Specifications VAC IN of Axis Max AC Line Bus Voltage Max Watts Out Input 2 5A 30 200 115 VAC 2 5A 40 80 350 2
47. OUTPUT 0 1 3 0 Individual output bits e g 0 and 3 affected All others sremain unchanged OUTPUT VO Output condition is specified using a variable Related commands OEn INP IN INn IO 5 66 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 58 PARALLEL The PARallel command should be used when in a Velocity Profiling G8 sequence with Contour Mode 1 If the angle between contour moves G1 G2 G3 is greater than the angle specified with this command the U511 will temporarily switch to G9 mode i e decelerate to a stop SYNTAX PARallel angle angle max angle between contour moves before switching to G9 mode specified in degrees EXAMPLE PAR 1 set stop condition to 1 between vectors Related Commands Velocity Contour Mode 5 5 59 PRM PARAMETER READ This command is used to read the value of a parameter from the current parameter file This command will only work for numeric parameters and yes no parameters If a parameter value yes the variable will 1 for no the variable 0 SYNTAX v PRM xxx a variable number XXX parameter number EXAMPLE v0O PRM 100 reads parameter 100 value into vO Version 1 1 Aerotech Inc 5 67 Programming Commands U511 User s Manual PA 5 5 60 PAUSE The PAUSE ON command is used to map an input bit to the pause function While a program is running the interface scans the input bit If t
48. Return to home position EXIT End of program skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk End of Program CORNER PRG KKK KK KK KKK KK KKK KK KKK KK KKK KKK KKK KKK KK KK KKK KKK KR KKK KKK KKK KKK RRR KKK KK KKK KKK KERR KKK RRR x The non ramp time may be included as part of the ROUNDING command or may be set through general parameters 028 046 064 and 082 the Corner rounding time parameters Programming a non ramp time through the ROUNDING command overrides but does not change the settings of general parameters 028 046 064 and 082 The non ramp time value that you specify either in the program or through the appropriate general parameters is proportional to the amount of corner rounding that will take place For example a small rounding time will yield parts with very slightly rounded corners A large rounding time will yield parts with a more pronounced amount of rounding Since other factors such as acceleration deceleration times feedrate etc determine the extent of rounding it may be necessary to experiment several times before the desired amount of rounding is achieved Version 1 1 Aerotech Inc 9 9 Programming Examples U511 User s Manual 9 6 GEAR Demonstration of a Master Axis with Two Slave Axes This demonstration shows how the GEAR command is used In this example two slave axes are controlled from a single master axis Gear ratios for the slave
49. SYNTAX VAR OPEN filename Opens file for storing and retrieving variables VAR READ 4 Read a variable from the open file VAR READ ALL Reads all 256 variables VAR WRITE Writes current value of the variable to the open file VAR WRITE ALL Writes the values of all 256 variables to file VAR CLOSE Closes open variable file filename Name of file for storing or retrieving variables Name of variable where 0 to 255 EXAMPLE VAR OPEN var txt Opens file c u5 1 1 var txt VAR WRITE 23 45 Writes values of v23 and v45 to var txt VAR READ 45 Reads value of v45 from var txt sand sets v45 to this value on the card VAR CLOSE Closes var txt Version 1 1 Aerotech Inc 5 91 Programming Commands U511 User s Manual VE IMPORTANT 5 5 83 VELOCITY The VELOCITY command is used when performing contour type motion to blend consecutive motions into one continuous path Itis a modal command and as such will remain in effect until turned OFF The UNIDEX 511 has two methods of blending moves together contour modes Contour mode 0 CMO blends the deceleration of one move with the acceleration of the next move This mode is best for long moves if total move time is greater than twice the ramp time Contour mode 1 CM1 ramps on the first G8 move and the last It should be used for short moves if the move time is less than twice the ramp time SYNTAX VELOCITY onloff G8 G9 on G8 Enables Velocity Profiling off
50. Servo Loop Update Rate parameter 8 17 8 30 Servo Loops displaying real time data 5 37 tracking when axis is disabled 5 36 Servo Loops Page 4 32 Servo Motors setting a fixed vector 5 62 Servo parameters 8 18 8 30 Servo Problems 11 4 Setup Menu 3 17 SIN Function 5 3 Single button 8 19 8 33 Single plane configuration 4 84 Sinusoidal commutation 4 53 SKEY Command 5 12 5 80 9 19 SLEW Command 5 12 5 81 SOFTWARE Command 5 12 5 83 Software Configurations 2 4 Software Limits 5 40 Software status diagnostics 7 6 Software Version 3 3 SOFWARE POSITION Command 5 43 SPLINE Command 5 12 5 84 Splining 9 12 SQR Function 5 4 Square Root Function 5 4 SRQ 6 5 START Command 5 12 5 85 9 11 Status option 8 9 Stepping Motors 4 52 SUBROUTINE Command 5 12 5 75 5 86 Subtraction Function 5 4 Supported Programming Functions 5 3 System Configuration Page 4 7 System Error Mask 5 40 System Scaling 4 16 System Status 3 20 3 22 T Tachometer based velocity loop 8 25 Target Tracking Commands 5 12 5 87 Technical Support Questions 11 1 Terminal 3 20 Terminal Screen 3 26 6 2 Test Points TP1 TP25 10 22 timing issues when multitasking 4 83 Tools submenu Axis Scope window 8 7 Tracking Display 2 4 TRAJECTORY Command 5 12 5 88 Transfer between parameters option 7 3 Traps 2 4 Traps Page 4 71 TRIGGER Command 5 89 Trigger submenu Axis Scope window 8 5 Troubleshooting using parameter 001
51. The first nine options in the Plot menu allow the operator to specify one or more functions to be plotted over time The nine options are Velocity Feedback Velocity Command Velocity Error Position Feedback Position Command Position Error Torque Analog Input and Integrator One or more of these functions can be selected as the vertical axis or axes of the plots in the display window Normally for tuning the operator will look at Velocity Command Velocity Error and the Position Error options The Torque Analog Input and Integrator options cannot be displayed simultaneously The desired signal must be selected checked before sampling the data The Zero Line option the Refresh option and the Overlap option allow the operator to customize the look of the plot display The Zero Line option aligns the plot to the vertical zero line The Refresh option clears the display and replots the data The Two Axis XY Plot option shows the Position Feedback or Position Command of two axes one with respect to the other Two axes must be selected and only the Position Feedback or Position Command can be displayed 8 2 4 The Trigger Menu The Trigger menu of the Axis Scope window contains options that allow the operator to specify a data collection method Collect One Set of Data or Collect Data Continuously motion options Single Step Motion Auto Step Motion Forward Motion Reverse Motion and control options Stop Abort and Sample R
52. The UNIDEX 511 can be completely controlled remotely from a PC The U511 has three communications ports COM1 COM2 and an optional General Purpose Interface Bus GPIB interface Remote commands can be sent from both serial ports and the GPIB port at the same time Remote commands are sent in ASCII format to the U511 followed by an end of string EOS character Some commands cause the U511 to return data This data is in ASCII format terminated by the EOS character set by the port parameter parameters 612 621 and 627 6 1 1 GPIB IEEE 488 Interface The GPIB is the IEEE 488 standard parallel interface used for attaching sensors and programmable instruments to a computer The U511 s GPIB interface is activated when the GPIB system controller addresses the U511 to become a talker or listener Only the EOS character is required to terminate commands to the U511 The Interface Clear IFC and Device Clear DCL GPIB functions reset the U511 s interface These commands can be used to recover if a communications time out occurs The GPIB interface does not use the software handshake ACK NAK characters except during file transfers 5 In U11 emulation mode the DCL function causes a hardware reset z 6 1 2 RS 232 COM1 and COM2 Interface There are two RS 232 interfaces COM1 or COM2 The U511 can be controlled through either RS 232 interface It can be connected to a PC with a one to one 9 pin D to 9 pin D cable These interfaces do not
53. The page number is displayed at the top left of the page The page title is displayed at the top of the page Scroll through parameters on a page by pressing the up and down arrows The Back F1 and Next F2 keys move through the parameter pages F3 is a special purpose key that selects the next axis or plane depending on the parameter It is also used to toggle through a list of predefined choices in some cases To change a parameter value there are several options The line above the function keys usually lists instructions for changing a parameter value In most cases were the parameter has a numerical value simply scroll the cursor to the value to be changed and enter the appropriate value through the keypad Pressing the left right arrow keys changes yes no parameter values Any 0 1 fault mask bits are also toggled in this way The Default F4 key sets the parameter to the factory default value Starting with software version 5 02 the default key will return a system specific 5 default value Otherwise a general default value will be returned see Appendix E Backup Utility Additional information concerning the setup parameters can be found in Chapter 4 Parameters Version 1 1 Aerotech Inc 3 17 The User Interface U511 User s Manual System Configuration Page 1 Gen 600 Auto enable axes XYZU Auto run program Axis calibration file Parameter file u511 prm Back Next Default Exit F1 F2 F3 F4 F5
54. U511 nomenclature Table 6 33 shows the communications sequence for the Delete File command Table 6 33 Delete File Sequence Direction of Transfer Command Description Host gt U511 DL Delete File command Host gt U511 File name Name of file to delete Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 Example DFtest1 prg lt EOS character gt 6 4 20 HE cmd Help Menu The HE command returns all of the U511 commands or the syntax of the specified command The brackets signify that the command name is optional If a command is typed in its syntax is returned If the command is left off a list of all of the commands is returned The sequence of communications for the HE command is shown in Table 6 34 Table 6 34 Help Menu Command Sequence Direction of Transfer i Command Description Host U511 Help Menu command Host U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 Example HE lt EOS character gt HE LI lt EOS character gt 6 24 Aerotech Inc Version 1 1 U511 User s Manual Remote Mode Operations 6 4 21 GV Software Version The GV remote command returns the current software version as an ASCII string This is the same version number that is displayed on the U511 s Startup screen The version consists of a major version and a minor version separated by a decimal point
55. described in Chapter 2 have been completed IMPORTANT Version 1 1 Aerotech Inc 5 39 Programming Commands U511 User s Manual 5 5 27 ERROR The ERROR command is used to change the current fault mask This overrides but does not change the fault mask parameter defined in the parameter file SYNTAX ERROR axis_number reaction_mask fault_stimulus_bit axis_number 0 1 2 or 3 reaction_mask 0 6 where 0 Global fault mask 4 Halt queue 1 Disable 5 Abort motion 2 Interrupt 6 Enable brake 3 AUX output fault_stimulus_bit 0 19 where 0 Position Error 1 RMS Current Error 2 Integral Error 3 Hardware Limit 4 Hardware Limit 5 Software Limit 6 Software Limit 7 Amplifier Fault 8 Feedback Device Error 9 11 Reserved Cannot be changed 12 Feedrate greater than Max Error 13 Velocity Error 14 Emergency Stop 15 Reserved Cannot be changed 16 Drive 1 Fault 17 Drive 2 Fault 18 Drive 3 Fault 19 Drive 4 Fault 5 Bits 9 10 11 and 15 are reserved and cannot be changed EXAMPLE ER 0 0 07 1FF Set drive 1 error mask as hex data 071FF 5 40 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands An axis should not be enabled until the initial system checks described in Chapter 2 have been completed 5 5 28 EXIT The EXIT command is used to terminate program flow If this command is not used
56. dynamically in real time It is useful for system setup and debug purposes The Diagnostics window is accessed from the DIAG key on the main screen The UNIDEX 511 software also contains a tracking display window that shows position data in real time The position is displayed in programmable units that the operator may define e g mm in etc The axis positions can be viewed from the MDI mode or the program screens Make certain that all system traps and faults are enabled prior to initiating any axis movement For more information refer to the faults traps and mask parameters in Chapter 4 Parameters 2 6 1 Feedback Verification Before enabling any axis is it important to verify the feedback from the motors This is done using the axis position display The tracking display should be stable while the axis is stationary that is the values in the axis position display windows should not change although slight movement with high resolution systems is normal Aerotech Inc Version 1 1 U511 User s Manual Getting Started Feedback phasing may be verified by manually turning the motor Clockwise counter clockwise rotation should produce an increasing decreasing display If not feedback phasing is incorrect The Diagnostics window will always display CW rotation as increasing feedback Motor direction for rotary motors clockwise or counter clockwise is always referenced by looking into the shaft end of the
57. for proper orientation and configuration A motor is said to be rotating in the positive direction if the shaft is turning in the clockwise CW direction while looking into the motor from the shaft end In this case the feedback device should be counting in the positive direction Refer to Figure 4 7 The encoder direction may be changed by reversing the SIN and SIN encoder signals Similarly the direction of a resolver may be changed by reversing the SIN and SIN feedback signals Use this to correct a feedback phasing problem Each axis may be connected to two feedback devices one for position the primary feedback device and the other for velocity the secondary feedback device Each of the feedback devices also has setup parameters that specify the transducer type location resolution and mode of operation The secondary feedback channel and setup code parameters need to be configured only for dual loop applications For all other applications these parameters should be set to zero Multiple axes must not be configured for feedback from the same channel otherwise improper operation will result 4 50 Aerotech Inc Version 1 1 U511 User s Manual Parameters Optional Encoder Cutaway View of Marker Wheel on Motor Shaft Plate Sample Stage Electrical Housing Can Kit Motor Shaft See Front Views Limit Switch Wiring Connects to Electrical Housing Limits Connector Integ
58. n 0 for U511 card 16 inputs 1 4EN option board read back OU1 bits 2 4EN option board 24 inputs 3 4EN option board 16 in 8 out 4 4EN option board 12 in 8 out bit 0 23 for bit number to read EXAMPLES VO INO sRead UNIDEX 511 input bits VO IN2 0 1 Read bits 0 and 1 of 4EN option board P8 connector Related commands OU OUn INP OEn Version 1 1 Aerotech Inc 5 51 Programming Commands U511 User s Manual INT 10 5 5 40 INTERRUPT The INT command is used to Interrupt program execution In addition to U511 inputs this programming command also can be used to program the iSBX IO48 board SYNTAX INT board nLevel nInputBit nOnOff Label board Board 1 nLevel Level of interrupt where 0 turn off 1 jump to label abort all motion 2 jump to label don t abort motion 3 jump to label turn off interrupt no abort 4 jump to label turn off interrupt abort motion ninputBit Input bit number 0 to 15 16 IN 8 OUT I O bus input bit Valid iSBX I048 Input Bit 000 to 127 Input bit number 16 to 39 8 X 3 I O bus input bit nOnOff 0 int when nInputBit low 1 int when ninputBit high Label Label to jump to on interrupt EXAMPLES INT J 0 0 turnoff Interrupt on board 1 input 0 Jump to turnoff when input bit 0 goes from high to low Abort all motion INT 2 4 8 1 exit Interrupt on board 1 input 8 Jump to exit when input bit 38 goes from low to high INT 0 10 tu
59. the U511 Several entries are defined and are hard coded by the U511 These are poweron Used to execute a sequence of commands when the U511 is first powered up These can include unit setup enabling of axes homing of axes etc The following entry points can only execute non synchronized commands such as MW and OE abort This subroutine is executed when the ABORT front panel key is pushed pauseon This subroutine is executed when the pause key is pushed and the U511 enters the PAUSED state pauseoff executed when the pause key is pushed and the U511 exits the PAUSED state faultack executed when the FLTACK fault acknowledge front panel key is pushed The U511 is factory shipped with a global subroutine file called glbsub prg It has several example commands in it which are commented Global subroutines can be executed from the MDI command window or from remote mode From the MDI window enter SUB xxxx to execute the subroutine From remote mode send ISUB xxxx xxxx refers to the label entry point in the subroutine file skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk ca EXAMPLE GOLBAL SUBROUTINE FILE SHOWING HARD skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk CODED ENTRY POINTS kkkkkkkkkkkkkkkkkkkkkkkkkkkkk skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk 3 Executed on power up POWERON EN XY ZU WA ON DW
60. the scale value for each of the two axes must be identical however the signs may differ SYNTAX SCF XxScaleFactor YyScaleFactor ZzScaleFactor UuScaleFactor Version 1 1 Aerotech Inc 5 77 Programming Commands U511 User s Manual xScaleFactor yScaleFactor Overriding scale factor for the X axis Y axis etc EXAMPLES SCF X2 Y 5 Sets scaling of X to twice programmed distance and Y to shalf of programmed distance SCF X1 Y1 Turns off scaling for X and Y axes SCF Z 1 U1 Produces mirror image 5 78 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 70 SEGMENT The UNIDEX 511 divides each motion into segments then cubic splines those segments into 1 4 millisecond velocity commands to the servo loop The larger the segment size the fewer number of steps are required for internal calculation The segment_time established for the designated contour plane is used for INDEX and or CONTOUR motion calculation The default segment_time is 10 ms The value established through this command is used to optimize an application that requires consecutive short distance motion from block to block SYNTAX SEGMENT segment_time SE segment_time segment_time Time in milliseconds 1 to 20 ms range This command overrides but does not change the value of general parameters 018 036 054 or 072 Segment time 5 EXAMPLES SE 10 Sets segment_time to 10 ms SE V10 Sets segment_time to the value
61. when in autotune S mode 8 4 2 Specifying Desired Performance The second step is to specify how well you want the system to perform This is done in terms of bandwidth and damping The damping is usually set to 7 You should start with a low value of bandwidth 10Hz and work up until the system becomes unstable Then return to the next lower gain values 8 4 3 Bandwidth and Damping Bandwidth is the responsiveness of the system expressed in terms of frequency Higher bandwidth systems are more desirable than lower bandwidth systems They have less position error can track better with lower times contour better have smaller settling times etc Systems with high bandwidth have high gains Damping is how oscillatory the system is This is evident in how stable the system is when it comes into position at the end of a move Air bearing systems should use a damping of 7 mechanical bearing systems should use 3 8 10 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops 8 4 4 Autotuning Procedure The following information and procedure can be used during the auotuning process The Autotuning Toolbar In order to perform autotuning the Axis Scope window must display the autotune toolbar From the Tools menu of the Axis Scope window select the Gains option and the Auto Tune option The gains and autotune toolbars will be displayed on the screen Refer to Figure 8 5 The autotune toolbar allows the user to ente
62. x39 x40 or x41 5 5 48 M0 M Zero The MO M zero command is used to initiate a pause in the program flow Program execution continues when the cycle button is pushed SYNTAX MO There are no arguments needed with the MO command EXAMPLE MO Wait until cycle button is pushed 5 5 49 MAP The MAP command 1 assigns one or more drives 1 2 3 or 4 to any of four contour planes and 2 assigns an axis name X Y Z or U to each drive SYNTAX MAP drive plane axis MA drive plane axis drive Defines the drive number to be assigned plane Defines the plane number that the drive is to be assigned axis Assigns an axis name to the defined drive and plane The MAP command must define all four drive combinations even if the system does not contain four drives The U511 does not recognize a partially defined command Each time the map is redefined the U511 will wait to complete all previous commands EXAMPLES MAP 1 1 X 2 1 Y 3 1 Z 4 1 U All drives assigned to plane 1 drive 1 as X drive 2 sas Y drive 3 as Z drive 4 as U 5 58 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands MAP 1 1 X 2 2 Y 3 3 Z2 4 4 U Drive 1 assigned to plane 1 as X drive 2 assigned to splane 2 as Y drive 3 assigned to plane 3 as Z drive 4 assigned to plane 4 as U MAP 1 1 X 2 2 X 3 3 X 4 4 X Drive assigned to plane as X drive 2 assigned to splane 2 as X drive 3 assigned to plane 3 as X d
63. 0 100 stepper drives only 4 62 4 8 11 Stepper low current 0 100 stepper drives only 4 63 4 8 12 Microstepping resolution machine steps stepper drives ONLY DASE E te ees Aoi EEE hh Sere See 4 63 4 8 13 Stepper correction y n stepper drives only eee 4 63 4 8 14 Stepper correction speed microsteps MS eee eeeeee 4 64 4 8 15 Base speed machine steps ms AC brushless only 4 64 4 8 16 Base speed advance 0 359 degrees AC brushless only 4 65 4 8 17 Phase speed machine steps ms AC brushless only 4 65 4 8 18 Phase speed advance 0 359 degrees AC brushless only 4 65 4 8 19 DAC offset parameters MV eceeecceseeeeseceereeeeeceteeeeneeeeee 4 65 48 20 Encoder factor neonan n e a e 4 66 4 9 Page 93 Fault Masks erriei serae Bak hestsvesoestacvass detavs aorist TEREE Spip EosT E S 4 67 4 9 1 Introduction to Fault MaskS cesceescecsseceeececeeceeeeeceeeeeneeees 4 67 4 9 2 Global fault mask niesienie e a n 4 69 4 93 Disable na e AT E A 4 69 4 94 Tnt rrupt sisien aeaa a E yE ee EiS Et 4 69 49 3 AUX OUP ee o a E a E E S 4 69 4 96 H lt guele hena eon e hea nee eae 4 70 4 9 T ADOLE motion s0 0 ctvsesegecdevseecenaeavy cou e a 4 70 4 9 8 Enable brake iccsssccssssscssessssseseet avess jedacnsscbeseesbcotaceaces oaase i 4 70 AAO lt Page LO Traps e
64. 10 FA PR IN RETURN Executed when ABORT key is pressed ABORT OE0 0 RETURN Executed when PAUSE state activated PAUSEON OE0 0 RETURN Version 1 1 Aerotech Inc 9 21 Programming Examples U511 User s Manual Executed when PAUSE state deactivated PAUSEOFF OE0 255 RETURN executed when abort FLTACK is pressed FAULTACK OE0 0 RETURN Version 1 1 9 22 Aerotech Inc U511 User s Manual Technical Details CHAPTER 10 TECHNICAL DETAILS In This Section e UNIDEX 511 Rear Panel Connectors eeeeeeeeees 10 1 Control Board Jumpers vooon aoni O 10 17 Interface Board Jumpers noaeo eo O E EE 10 19 E EON EO N oa a E E es 10 21 UNIDEX 511 Control Board Test Points TP1 TP25 10 22 PSO Encoder Bus Connector P6 c0 cccceseees 10 23 e UNIDEX 511 Mechanical Specifications 10 24 e UNIDEX 511 Electrical Specifications 0 0 00 10 25 e UNIDEX 511 Environmental Specifications 10 26 Never disconnect any of the U511 cables when power is applied Doing so may damage the system or its components 10 1 UNIDEX 511 Rear Panel Connectors There are 15 connectors on the rear panel of the U511 Chassis The following sections describe the pinouts for each connector Figure 10 2 shows the location of the various connectors Most connectors have a red LED next to them These LEDs when lit indicate tha
65. 103 Corner Rounding 028 046 064 082 9 9 Corner rounding time 4 98 CW software limit 4 46 DAC offset x79 and x80 4 65 Data bits 4 13 Default Configuration 4 14 Default to Metric 4 95 Disable 4 69 Drive fault active low 4 80 Enable 2 D error mapping 4 29 Enable axis calibration 4 21 Enable brake 4 70 Enable MFO in freerun 4 21 Enable notch filter 4 34 Enable orthogonality table 4 29 Enable pause in freerun 4 20 Enable speaker 4 11 Encoder factor 4 66 End of string character 4 13 English conversion factor x01 4 16 English digits 4 102 EOS character 4 15 Fast output 4 13 Feedback steps rev 4 62 Filter time constant 4 31 Firmware file 4 7 Global fault mask 4 69 Global M code file 4 7 Global subroutine file 4 8 GPIB address 4 15 Halt queue 4 70 Home feedrate 4 44 Home Offset x06 4 44 Home switch normally open 4 43 Home limit debounce distance 4 48 In position dead band 4 25 Interrupt 4 69 Jog distance 4 31 Jog high speed 4 31 Jog low speed 4 31 Joystick absolute scale 4 28 Joystick center position 4 11 Version 1 1 U511 User s Manual Index Joystick deadband 4 10 Keep position after reset 4 86 Ki velocity loop integrator 4 32 Kp velocity loop proportional gain 4 32 Kpos position loop gain 4 32 Limit Switch Normally Open Y N x09 4 45 Linear accel decel 4 96 Loop update rate 4 34 Max Accel Dece
66. 11 5 58 9 7 M2 Command 9 4 Machine position Data 2 4 Machine Step 4 16 Machine Steps per Unit 4 16 Manufacturing mode 7 9 Map Axis 4 88 MAP Command 5 11 5 58 9 11 Master and Slave Axes 4 90 9 10 Mathematical Operators 5 4 Maximum Program Size 9 1 MCOMM Motor Commutation Command 5 11 5 59 C 1 C 2 MDI Menu 3 31 Commands Submenu 3 33 Jog Submenu 3 32 Joystick Submenu 3 32 Mechanical Specifications 10 24 MESSAGE Command 5 11 5 60 9 3 9 6 9 10 Metric Measurement System 4 16 Motion non synchronized using INDEX command 5 50 motor and encoder rotation 4 51 Version 1 1 U511 User s Manual Index Motor and Feedback Configuration Page 4 49 Motor Buzzes 11 4 Motor Connectors 10 16 Motor Drive Types 4 60 Motor Drivers AM16015C 1 4 DC brush 1 4 DS16020C 1 4 DS16030C 1 4 microstepping 1 4 Motor Drivers List of 1 3 Motor Has No Torque 11 4 Motor Phase Labels and Hall States 5 63 Motor Rotation 4 42 MR Command 5 11 5 61 MSET Motor Setup Command 5 11 5 62 C 1 C 2 Multiplane configuration 4 84 Multiplication Function 5 4 multitasking timing issues 4 83 MW Command 5 11 5 64 N NEXT Command 5 11 5 65 No Feedback Open Loops A 6 Non Ramp Time 9 9 Not equal to Function 5 4 Notch filter 4 35 Notch filter example 4 36 Number field 7 4 Number of contour planes 4 84 O OEn Command 5 11 5 65 On board Opto isolated I O 10
67. 13 Parameter Editing eee neisse 6 18 6 4 14 RE Hardware Reset ccccccccesssscccsessececseeceeessneeeesseeenees 6 19 6 4 15 File Transfers meena E E E E 6 20 6 4 16 PD Print Directory ocrni aen a N 6 22 6 4 17 PPfile Print Program File to Port 6 23 6 4 18 RVn Read Variable ccccccecsescecsesseceessececessseeeesseeenees 6 23 6 4 19 DFfilename Delete File ccc cccsscecseteeeeeseeeeeseeees 6 24 6 4 20 HE cmd Help Menu ee ceeeecsseceeeeceteceeneecseeeenees 6 24 6 4 21 GV Software Version ccccccecsescecsessececseeceeeesseeeesseeenees 6 25 UNIDEX 511 Remote Timing ee eee ceeeecsseceeeeeceeeceeeeecsaeeeenees 6 26 C Program Examples inesse ere sese siees 6 27 Version 1 1 Aerotech Inc 1X Table of Contents U511 User s Manual CHAPTER 7 7 1 7 2 7 3 7A 7 5 7 6 CHAPTER 8 8 1 8 2 8 3 8 4 8 5 8 7 WINDOWS INTERFACE AND UTILITIES 7 1 IntrodUch On sissies ete tile ite eine ien 7 1 COM Port Settings Common to all Software Utilities 7 1 UNIDEX 511 Parameter Editor eee cece ceeeceecesecnsecneeeneeeee 7 2 7 3 1 Edit Parameters The Number Value and Axis Fields 7 4 UNIDEX 511 Axis Scope Utility eseseeesseesseeeesesreeresrsreeresreerrsrrerseese 7 5 UNIDEX 511 Diagnostics Screen seeessseesssreerserrreeresrrerrsererreeeees 7 5 UNIDEX 511 File Transfer Utility eee ceseeeeeeneceseenaees 7 9 7 6 1 Manufacturing Mod
68. 24 Axis Calibration 4 21 Axis Connectors 10 1 Axis Correction File 4 21 Axis Movement during a reset 4 86 Axis position diagnostics 7 7 Axis Position Display 2 4 clearing 4 86 inaccuracies after a reset 4 86 number of decimal digits 4 101 Version 1 1 Aerotech Inc i using rotary degree units 4 29 Axis Scope window 8 3 8 16 8 28 Axis submenu Axis Scope window 8 7 B B drive E 1 Backing up Files E 1 Balance potentiometer 8 34 Bandwidth 3 29 8 11 Baud rate 8 4 BEEP Command 5 10 5 20 Bitwise AND Function 5 4 Bitwise OR Function 5 4 BOARD Command 5 10 5 20 BRAKE Command 5 10 5 21 Braking 5 21 BRK BPS Vertical Axis Brake Option 1 4 C CAL Command 5 10 5 22 CAL File 4 21 sample 4 24 Calibration File 4 21 sample 4 22 4 24 CCW_CIRCLE Command 5 10 9 3 9 6 9 8 CI Command Interrupt Command 5 10 5 26 Circular Interpolation 9 7 CLOCKWISE Circular Rotation Command 5 22 Closed loop operation 4 53 CLRSCR Command 5 10 5 26 CM Contouring Mode Command 5 10 5 27 5 96 CNC Example Program 9 7 9 13 Collect submenu Axis Scope window 8 6 COM Port Settings 7 1 Comment Statements 9 1 Comments limiting the number of 9 1 Comments in Programs 5 54 Commutation 5 59 C 1 Commutation Factors 4 51 4 61 Commutation Factors for 4 6 and 8 Poles 4 53 Comparison Operators 5 49 COMREC Command 5 10 5 28 COMVAR Command 5 10 5 29 Concept of
69. 3 10 Figure 3 12 MEASC UH e orae ar a e ERE Ea n 3 11 Figure 3 13 File Operations Scree ssie ereire iie ris esias 3 12 Figure 3 14 Program Editor Screen Digitize Menu eee eeeereeeeeeeeees 3 13 Figure 3 15 Joysticks Showing the C Button eee eeeeeeeeeeeeecnseenseenaes 3 14 Figure 3 16 Linear Digitizing Sereen ennie e n a 3 15 Figure 3 17 Circular Digitizing Screen ssseseseeessereessrsreerrsreerrsrrersserreesrsrreresee 3 15 Figure 3 18 Spline Command Screen eeeescesecsecesecesecssecsseceecseeeseeeneeeeeees 3 16 Figure 3 19 System Configuration Page General Parameters 0 eee 3 18 Figure 3 20 Axis Configuration Page Axis Parameters cece eeseeseeeseeeees 3 18 Figure 3 21 Fault Masks Pages rerai cciecvises ere en eE E Eo E R ES 3 19 Figure 3 22 Expanded Fault Masks Page eneeseeeesseessseeerserrereresreerrsreerrsrerrseene 3 19 Figure 3 23 The Hardware Status Page eseeeseeeesseeeseseesrsrrresrerreerrsreeresreerseee 3 20 Figure 3 24 Primary VO Page enren aan Seine sou E A R Seesbuga tease 3 21 Figure 3 25 System Status Page oo sei ceio iseenese seor nne eeneioe 3 22 Figure 3 26 Th Position Page enr ea ae a eee 3 23 Figure 3 27 Active Limit Page c sscesce sfessds thea soos ea atsan epes eeo a EEEE rE SEa Tss Eais 3 24 Figure 3 28 Servo Faults Pape orea e anoe aamen en reae EE a ET EERE 3 25 Figure 3 29 Secondary VO Pagers iccces chick rreson es roe e E Ee eian Ss 3 26
70. 3 2 KE Integral Gain asics ccseciis os sctsseveaviseschyessceevbessepsastsobevseestt 8 9 3 3 Kpos Position Gain p nnie doen 8 9 8 3 4 VfP Velocity Feedforward Gain essseeeseeeeseereereereeereeee 8 9 8 3 5 Aff Acceleration Feedforward Gain eeeeseeeeeeeeeeeeeeeeee 8 9 AULOTUMINB AEE EEEE 8 10 8 4 1 Setting up an Excitation sssesseeessseeesssereeerrsreeresreerrereees 8 10 8 4 2 Specifying Desired Performance ssesseseeesererereererreereeee 8 10 8 4 3 Bandwidth and Damping 0 0 ee eeeeeeeeeeteeeeennees 8 10 8 4 4 Autotuning Procedure eee eee cee ceeecneeereeeeeeeeeeeeeeeees 8 11 8 4 5 Dual Loop Systems cece cece a ese seess 8 14 8 4 6 Guidelines and Limitations eee eeee eee eseeeneeeeee 8 14 8 4 7 Troubleshooting Autotuning eee eeceeeeeteeeeeeneees 8 15 Tuning Procedure for Servo LOOPS ees eee sseeseeeeeeeseeeseesseeeneeens 8 16 Tuning TIPS erheen e ai at ves cbengdesegay SeS TES ETOS 8 24 Tuning With Tachometer Feedback eseeeeseseseeessseeeresrreresrrreeresee 8 25 8 7 1 In Position Integrator eee cesecee cess cneeeeeeeeeeeeeeeees 8 25 8 7 2 Velocity Feed Forward 0 cece esceseceseceeecneeeneeeeeeeeeeeees 8 25 8 7 3 Servo Parameter Setup for Tachometer Feedback 8 26 8 7 4 The Axis Scope Toolbars 000 0 ceeeeeeeeeeeeeeeeeeeneeensees 8 26 Aerotech Inc Version 1 1 U511 User s Manual Table of Contents 8 8
71. 34 Vel Cmd 1 0 6 Vel Er 1 2 0 50 100 150 200 250 300 350 400 450 500 4 b Figure 8 14 Acceptable Velocity Error When Adjusting Kp The user can stop adjusting Kp and start adjusting Ki Use a starting value of 100 for Ki The main objective in adjusting Ki is to reduce velocity error and position error Refer to Figure 8 15 As Ki is increased the error is reduced However a very large Ki will introduce a high frequency oscillation Refer to Figure 8 16 J U511 Axis Scope Ver 5 00 ojx Fie Remote Plot Trigger Collect Display Axis Units Tools Axis 1 x Kpos 0 kil 80000 Kp 600000 vet 256 Aff Collecting 500 Command LINEAR X10 F2000 Status OK 34 Vel Cmd 1 0 2 NCNM MULL ALIA MAU Vel Enr 1 ODIDIN DW OVA AIUUUAULUUU OOOO OO OCOL OOWD AORTO Oa O a O a a a a a a 2 7 Pos Enf 1 0 50 100 150 200 250 300 4 Figure 8 15 Proper Adjustment of KIT Version 1 1 Aerotech Inc 8 21 Tuning Servo Loops U511 User s Manual EJ U511 Axis Scope Yer 5 00 olx File Remote Plot Trigger Collect Display Axis Units Tools Axis 1 gt Ki 400000 Kp 600000 vit 256 aff 0 Save Collecting Command LINEAR X10 F2000 Status OK 34 Vel Cmd 1 0 3 Vel Enf 1 3 2 Pos Er 1 Figure 8 16 Oscillation in Position Error When Ki is too High The user can stop adjustin
72. 4 S1 After using the GEAR command the position registers need updated with the SOFTWARE POSITION command See the section on System Registers Version 1 1 Aerotech Inc 5 45 Programming Commands U511 User s Manual 5 5 34 GOTO The GOTO command is used to direct program flow to a previously defined label or another program Variable labels are accepted for branching using the v t syntax The RETURN command is not used in conjunction with the GOTO command Refer to Figure 5 5 SYNTAX GOTO label GO label GOTO program GO program GO vi GO LINE slabel Specifies a label name within a program program flow will go to the specified label and then continue from there program Specifies a program name program flow will go to another program The called program must be identified using the format Filename ext When the called program is finished control is returned to the original program A RETURN command is not used in conjunction with the GOTO statement Hitt A US11 variable 0 through 255 HH Sets program to line number EXAMPLES GO Secl Program flow goes to label SEC1 and begins execution These lines are skipped SEC1 Program execution continues here GOTO Prog1 prg Program flow goes to the Progl prg file and begins processing When finished program control returns here and continues v25 700 GO v25 Program execution will jump to label 700 700 ME DI program ju
73. 4 is not a gantry master none default y b Axis 4 is a gantry master having y 1 _ y l axis b as the slave axis where y 2 y 2 b 1 2 or 3 y 3 y 3 4 90 Aerotech Inc Version 1 1 U511 User s Manual Parameters Once the master is enabled the slave is automatically enabled z Gantry axes are linked together at all times except for home cycles The home cycles are done independently except during the marker search Each axis does an independent search for its marker for encoders or null for resolvers When one axis finds its marker it will wait for the other to complete its marker search The home cycle is not complete until both the master and the slave axes finish their move The home cycle parameters for the gantry axes should be set the same Gantry alignment can be adjusted by changing the limit to marker and Home offset parameters If individual adjustment is not desired the master axis limits and marker signals should be connected to the slave s channel It is desirable to have identical stages oriented in the same direction The limit switches and markers should also be aligned as close as possible 5 For resolver gantry systems each axis determines the distance it must move to go to the resolver s absolute zero position The setting of parameter x06 Home offset is added to this distance The move is then executed at the feedrate specified by parameter x04 Home feed
74. 4 mm The number of decimal places is usually selected so that programming steps and machine steps are of similar size ndec 3 Conversion factor 1 000 Machine Steps mm 1 0 103 machine steps programming unit 1000 programming steps programming units 1000 1 Programming Step 1 mm In English mode one programming unit 1 inch One motor revolution is 1000 4 English Scale Factor 4 000 machine steps Since 1 inch 25 4 mm and one motor revolution 4 mm there are 6 35 motor revolutions per inch or 6 35 4 000 25 400 machine steps programming unit Four decimal places should be selected so that the programming resolution is not sacrificed Conversion factor 25 400 Machine Steps inch 2 54 104 This conversion factor is entered as 2 54 Machine Steps Programming Unit 25 400 programming steps programming unit 1 000 The conversion factor parameters each default to the value 1 0 Set the scale factor to 1 0 Default and the number of decimal places to 0 if you want to program in machine steps 4 18 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 5 2 Max accel decel machine steps ms ms Parameter x16 is the Maximum accel decel parameter The value of this parameter specifies the acceleration deceleration rate of axis motion for all freerun FReerun home HOme and point to point GO INDEX acceleration profiles The same value is used for both acceleration and dece
75. 40 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 7 Page 7 Homing and Limits The homing and limits parameters are used to configure the UNIDEX 511 s home cycle and the accompanying limit switches The home cycle is the process in which an axis is commanded to a known reference position e g a zero position The parameters in homing and limits group have a unique setting for each of the four axes i e parameter x02 is actually four parameters 102 202 302 and 402 each of which corresponds to axes 1 4 respectively The homing and limits parameters are explained in detail in the following sections A brief description of the home cycle precedes the parameter descriptions 4 7 1 The Home Cycle The home cycle is used to move a specified axis to a hardware referenced position The home cycle is illustrated in Figure 4 5 The cycle is comprised of the following moves 1 The axis will move from its current position at the rate set by the Home feedrate parameter x04 in the direction set by the Home direction CCW y n parameter x02 until the home limit input is activated The polarity of the home limit switch is set by the Home switch normally open parameter x03 During a home cycle the end of travel limit in the home direction will be ignored while the home limit input is active However the axis can also use the end of travel limit as a home limit by setting axis parameter
76. 48 9 9 Incremental Motion 9 2 INDEX Command 5 11 5 50 9 3 9 6 Inductosyn definition G 1 pole spacing typical G 1 positioning resolutions G 1 Inductosyn Feedback 1 4 G 1 Initial servo parameters tach tuning 8 30 INn Command 5 11 5 51 In Position Integrator Ki 8 25 Input potentiometer 8 36 Inputs 9 13 Installing cables 2 3 Integral Error 5 40 Integral Error Trap 8 17 8 29 11 4 Integral gain Ki 8 26 Interface Board Jumpers 10 19 Interpolation 5 79 circular 9 7 INTERRUPT Command 5 11 INT 5 52 D 7 Inverse sine trajectory Parameters 021 039 057 and 075 4 96 IO Command 5 11 5 52 IOSET Command 5 11 5 53 iSBX 1048 Configuring addresses D 5 Jumpers D 5 Pinouts D 2 Ports D 2 Programming D 6 iSBX I048 Board D 1 J JBV Joystick Option 1 4 JOG Command 5 54 Aerotech Inc U511 User s Manual Joystick 5 81 Joystick and Digitizer 1 4 Joystick Connector 10 15 K Ki Integral gain 8 9 8 21 8 26 Kp Proportional gain 8 9 8 19 8 20 8 27 Kpos Position gain 8 9 8 22 8 26 8 33 L Label Markers 5 11 5 54 9 9 Laser Firing Control Card 1 4 Less than Function 5 4 Limit Conditions CCW software 4 46 CW software limit 4 46 Limit Verification 2 5 LINEAR Command 5 11 5 55 9 3 9 6 Load system software 7 9 Loading DOS or BIOS 7 10 Logic AND Function 5 4 Logic OR Function 5 4 LOOP Command 5 11 5 56 5 65 LVDT Command 5 11 5 57 M MO Command 5
77. 5 5 5 AGAIN The AG command is used to send the program flow to the first line of the program SYNTAX AGAIN AG M47 EXAMPLE OUTPUT 2 1 G1 X10 Y10 F100 OUTPUT 2 0 AGAIN Related commands QUEUE LOOP NEXT Set output bit 1 Linear move of X and Y at the designated feed rate Clear output bit 2 Rerun program 5 18 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 6 AT Autotune The AT command is usually called automatically by the U511 software as an excitation signal for the autotuning function This command however can be also be invoked like any other command to generate a sinusoidal excitation to a specified axis This can be used for simple frequency response calculations Note that this command also specifies the data collection parameters for the automatic autotuning function The U511 software contains the algorithms that analyze this data and fits gains to the servo system When the command is invoked alone these data collection parameters are ignored This command WILL NOT directly calculate servo loop gains SYNTAX AT axis startfreq amplitude cycles numfreq samptime numsamp startfreq Frequency of oscillation 1 100 amplitude Peak peak position displacement in units cycles Number of cycles to generate numfreq Number of multiples of startfreq to generate the frequency is doubled and the position displacement is halved samptime Sampl
78. 5 Y 5C 5 0 310th move CW arc circle G9 11th move Shut off velocity profiling at G2 X1 Y 1 CO 1 end of this move CW arc G3 X0 Y 2 CO 1 12th move CCW semicircle G8 13th move Restore velocity profiling G2 X 1 Y 1 C 1 0 then do CW arc circle G1 X 2 YO 14th move Horizontal linear move MESSAGE DISPLAY WAITING 5 SECONDS Let operator know G4 5000 were pausing again HOME X Y 15th move Return to home position M2 End of program KKK KKK KK KK KKK KK KKK KK KKK KKK KKK KK KK RK KKK KKK KKK KK RK KKK KKK KKK KKK KKK KKK KERR KK KKK RRR End of Program VELOCTYG PRG skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk 5 9 4 Aerotech Inc Version 1 1 U511 User s Manual Programming Examples 9 3 Absolute Motion with Velocity Profiling In this application the UNIDEX 511 is used to outline that is etch or cut the shape of a part using two axes X and Y The part is outlined using a program consisting of some setup statements and 15 individual movements The outline shape and the individual movements are illustrated in Figure 9 2 In addition absolute coordinates X Y are given for the beginning and end points of each movement as well as the home position 0 0 The center points for circular motions are shown as X s with their absolute center point coordinates given as well Centers of circles are always incremental This application is the same as the previou
79. 500 90 92 94 96 91 93 95 97 647 648 501 608 617 609 618 610 619 611 620 612 621 613 622 614 623 615 624 616 625 626 627 628 629 630 x00 x01 Description Global subroutine file PSO PC firmware file PSO PC DPRAM address hex address Oxnnnn PSO PC I O address hex address Oxnnn Safe zone output bit 0 1 8 Option board setup code User interrupt setup code A D channel n joystick deadband A D channel n center Enable speaker y n Password Abort on input high 0 1 16 Pages 2 and 3 Serial Port n Setup Baud rate bits per second Data bits bits Stop bits bits Parity N O E End of string character Fast output y n Command ACK character Command NAK character Default configuration Page 4 GPIB IEEE 488 Setup GPIB address 0 30 EOS character Parallel Pol Response bit O NONE or 1 8 Time out seconds Default configuration Page 5 Axis Configuration Default Value GLBSUB PRG None 0xD800 ol olol o o lo None 10 30 Metric conversion factor mach steps program step 1 0 English conversion factor mach steps program step 1 0 Found on Page 4 8 a oo oo 4 9 4 9 4 9 4 10 4 10 4 11 4 11 4 12 4 12 4 13 4 13 4 13 4 13 4 13 4 13 4 13 4 14 4 14 4 14 4 15 4 1
80. 6 2 Receive and Transmit Lines During Transfer at 9600 Baud 6 6 C Program Example The following example was written in C language and demonstrates the command sequence for an Immediate command This program will send a character string to the U511 and read back the ACK character If the ACK character is wrong or a character is not received within the time out period a status error code will be set In order to simplify and minimize the length of this example only portions relating directly to the U511 operation will be shown Version 1 1 Aerotech Inc 6 27 Remote Mode Operations U511 User s Manual Immediate Command C Program Example F Following routine performs an Immediate Command operation F Routine calls the U511_sendcmd command pointer function int cmd_stat F error status variable char char_buf IX1000 F cmd string cmd_stat U511_sendcmd char_buf send Immediate cmd string if cmd_stat 0 F Check for no error if cmd_stat 1 F Check for not ACK char printf Received Code other than ACK character n if cmd_stat 2 F Check for time out error printf Command transmitted and ACK character received n printf ACK character Time out error n printf Press any key to continue chrb getch I Wait for key F Function to send command string U511_sendcmd command pointer F This routine will send a command
81. 60 Degree Phase Difference 45 Degree Phase Difference 30 Degree Phase Difference 10 Degree Phase Difference 0 Degree Phase Difference Ideal Most Rectified Signal Figure G 5 Rectified Signals with the Most Ideal Signal Version 1 1 Aerotech Inc G 11 Appendix G U511 User s Manual G 8 Verifying Resolver or Inductosyn Operation To verify that the resolver or Inductosyn works after properly adjusting the gain perform the following ee ateirentviee 1 From the UNIDEX 511 Diagnostics Display Page 4 with the axis disabled turn the motor shaft clockwise The Position Display should count positively Turning the motor shaft counterclockwise should make the Position Display count negatively Otherwise the SIN and SIN lines must be swapped CW Rotation Motor Shaft cw Rotation Positive Direction Negative Direction VV VY G 12 Aerotech Inc Version 1 1 U511 User s Manual Index SYMBOLS Operator 5 4 INn Input Command 5 8 9 13 INP Input Command 5 8 UAP Register 5 6 URP Register 5 5 XAP Register 5 6 XRP Register 5 5 YAP Register 5 6 YRP Register 5 5 ZAP Register 5 6 ZRP Register 5 5 amp Operator 5 4 amp amp Operator 5 4 Operators 5 4 Operator 5 4 Operator 5 4 Character 9 1 Operator 5 4 Operator 5 4 Operator 5 4 Operator 5 4 lt Operator 5 4 5 49 lt Operator 5 49
82. Aerotech Inc vii Index U511 User s Manual Position Loop 8 22 Position Registers range 4 29 size 4 29 Precautions 1 5 Primary Feedback Setup Codes and Meanings 4 58 Primary I O 3 20 3 21 Program Digitizing 3 12 Edit 3 7 File Operations 3 12 Run 3 5 terminating flow 5 41 PROGRAM Command 5 11 5 70 9 3 9 7 Program Screen 3 5 Program Size Limiting 9 1 Program Unit 4 16 Programming delay time 5 38 evaluation Hierarchy 5 4 functions 5 3 operators 5 4 planes 4 83 repeating a program 5 18 timing issues 4 83 using comments 9 1 Proportional gain Kp 8 26 Proportional gain parameter Kp 8 25 PSO Encoder Bus Connector P6 10 23 PSO PC Card 1 4 4 8 4 9 10 23 Q QUEUE Command 5 12 5 72 QUEUE INPUT Command D 7 R Rack Mount Style Amplifier Chassis Package 1 3 RAMP Command 5 12 5 74 RDP Resolution and Setup Codes 4 55 RDP PC option G 12 Real time commanded position registers 5 7 Real time feedback position registers 5 6 REFERENCE Command 5 75 Relative Motion 9 2 Relative Position Registers 5 5 Remote Commands Enable RS 232 6 2 ARprog Auto run a program 6 3 BRprog Block run a program 6 3 C program example 6 27 DFfilename Delete file 6 24 DLfilename Download 6 21 FMn Format of Return Data 6 10 GV Software version 6 25 HD0O Cancel hold mode 6 7 HD1 Enable hold mode 6 7 HE cmd Help menu 6 24 I Execute Immediate Command 6 9 PA Program ab
83. Appendix A APPENDIX A GLOSSARY OF TERMS In This Section e Terms Used In This Manual e Definitions This appendix contains definitions of terms that are used throughout this manual absolute positioning Absolute positioning is positioning that is done with respect to an initial starting position typically referred to as the home position and typically uses a standard coordinate system using X Y coordinates is an example of absolute positioning In contrast incremental or relative positioning is done using a series of relative moves These moves are relative to the previous location rather than a single reference point for example relative changes in position AX AY are examples of incremental positioning acceleration feed forward Acceleration feed forward is a control strategy represented as a dimensionless gain value that is sometimes used during the motor tuning process in which acceleration commands are sent directly to the amplifier accuracy Accuracy is the difference between an expected value and an actual value expressed as a percentage ACK acknowledgment The communications code sent from a receiving station to a transmitting station to acknowledge the error free receipt of transmitted data or the state of readiness to receive more data amplifier An amplifier is a hardware device having an output that is a function of the input signal axis An axis is a direction along which movement
84. Axis Scope toolbars shown in Figure 8 4 on page 8 8 when tuning with tachometer feedback However the gains on the Gains toolbar have slightly different meanings with tachometer feedback The gain definitions are as shown below 8 7 4 1 Kpos Position Gain The Position Gain is the only gain in the Position Loop in the UNIDEX 511 s Servo Loop This gain reduces the amount of position error and decreases the settling time It is the first gain to adjust 8 7 4 2 Ki In Position Integrator This is the In Position Integrator Setting Ki to a non zero value causes the UNIDEX 511 to attempt to remove steady state position errors This function also helps reduce the effects of tachometer loop drift Ki is the second gain to adjust If the value for Ki is too large it will induce oscillation into the position error and increase the settling time 8 26 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops 8 7 4 3 Vff Velocity Feedforward Gain The Velocity Feedforward Gain is the only gain in the Velocity Feedforward Loop in the UNIDEX 511 s Servo Loop This gain reduces the amount of position error for systems with a tachometer It is the third gain to adjust 8 7 4 4 Kp Proportional Gain Kp is the proportional gain used in systems with tachometers It is always set to zero 0 8 7 4 5 Aff Acceleration Feedforward Gain The Acceleration Feedforward Ga
85. B and C as outputs for sBank 0 Control word 144 01 255 set outputs of port B high 02 85 turn on even outputs of port C v0 000 sread bit 0 of port A me di bit 0 v0 v0 Oorl1 v0 001 sread bit 1 of port A me di bit 1 v0 v0 O or 2 v0 002 me di bit 2 v0 v0 Oor4 v0 003 me di bit 3 v0 v0 Oor8 v0 004 me di bit 4 v0 v0 005 me di bit 5 v0 v0 006 D 6 Aerotech Inc Version 1 1 U511 User s Manual Appendix D me di bit 6 v0 v0 007 read bit 7 of port A me di bit 7 v0 v0 0or 128 Other UNIDEX 511 programming commands use the iSBX I048 These include the INT PLC CYCLE PAUSE and QUEUE INPUT commands See Chapter 5 Programming Commands for more information on these commands that can use iSBX I048 I O Version 1 1 Aerotech Inc D 7 Appendix D U511 User s Manual D 8 Aerotech Inc Version 1 1 U511 User s Manual Appendix E APPENDIX E BACKUP UTILITY In This Section eS Introduction re ee E 1 o gt Memory Bankswrenn E E terres E 1 em Backing upshileseemer concer terete E 1 E 1 Introduction The UNIDEX 511 backup utility is a DOS utility used to store and retrieve parameter files configuration files and user programs This utility is used before system release to store a copy of the U511 parameter file and configuration file The user may also use this utility to backup programs or modified files E 2 Memory Banks
86. Button In the digitizing screens that follow the Mode F1 key is used to select the digitizing mode The screens differ depending on the mode All screens however show the same information at the top of the screen First the program name is displayed followed by an abbreviation that shows whether the U511 is in incremental or absolute mode Next the mode of joystick slew operation is displayed The joystick can be in linear circular or spline mode and it can be in low speed 1 high speed h or position p mode The B button on the joystick selects the latter mode The axes that are under joystick control are also displayed at the top of the screen These are shown in axis pairs because the joystick can at most control two axes of motion at once The A button toggles between axis pairs When digitizing mode is entered all enabled axes are available for joystick control Linear Digitizing The Linear Digitizing screen is shown in Figure 3 16 The linear digitizing mode uses the joystick to generate linear move commands in a program This mode is selected by pressing the Mode F1 key until Linear is displayed at the top of the screen Use the joystick to slew the axes to the desired point and then press the C button on the joystick to incorporate the move Only axis positions that have changed will be entered into the program Any number of moves may be incorporated before quitting the screen To see the commands p
87. Commutation Factors for AC Brushless Motors 4 61 Settings for Parameter X64 eee eeceeeceseceseceseceecaeeeeeeaeeeeeeeeees 4 63 Settings for Parameters x79 and X80 o cece sees ceeeesenseeeeeee teens 4 65 Settings for Parameter X82 siere esisin speet siiper eegee 4 66 Fault Mask Bit Descriptions esessesssseseseeesesreeresrerrssrrreerrsreersseeeesee 4 68 Settings for Parameter X17 eeeeceseceseceseceseceecaeeeaeeeneeeeeeeeees 4 71 Settings for Parameter X18 ee eeceeeceseceecnsecseceesseeeneeeeeeeeees 4 72 Settings for Parameter X19 iiinn viriones 4 73 Settings for Parameter X20 elec eseeeeeeeeeeeeeeeeeecesecnseceaeenaeenaes 4 74 Settings for Parameter X48 oo eee eeceseceseceecnseceecseeeseeeneeeeeeeeees 4 76 Settings for Parameter X49 eee ceeeeeeeeeeeeeeeseesecesecesecsaecaeenaes 4 77 Settings for Parameter X53 eee heisa emeen ipee i h En 4 78 Settings for Parameter X54 esseeseseeesseeeesssesreerrsreeresrerrnserresresreer 4 79 Settings for Parameter X70 cece ceeeseeeeeeeeeeseeeecesecesecesecsaecaeenaes 4 80 Settings for Parameter 000 000 0000 eee eeeeeeeeeceeseeereeeeceseeeseesseeseenaes 4 85 Settings for Parameter O01 ee eee eeceseceecesecneecseecaeeeeeeeeeeeeees 4 86 Settings for Parameter 002 000 eee eeeeeeeeeeeeeeeseesecesecesecnaecsaeenaes 4 87 Settings for Parameters 003 004 005 and 006 eee eeeeeeteeeeeee 4 89 Settings for Parameters 007 008 009 and 010 0 ee
88. Commutation phase offset degrees 5 The UNIDEX 511 will reference to the resolver null during a home cycle Improper phasing of AC brushless servo motors may cause the system to fault when the axis is enabled or when motion is attempted A fixed relationship exists between the feedback device and the generated phase currents DC Motor Another common type of motor is a DC brush motor Prior to using a DC brush motor parameter x42 Amplifier type must be configured to 0 DC Brush The UNIDEX 511 supplies the DC brush motor one current torque command voltage The DC brush motor can use any feedback channel Parameter x39 Velocity channel and parameter x41 Velocity setup code need only to be set for dual loop type applications Parameter x38 Position channel must be set for an encoder 1 4 Encoder channels 5 8 are used with the 4EN option board for velocity feedback For encoder operation parameter x40 Position setup code is ignored The Tz UNIDEX 511 will reference to the marker during the home cycle 4 54 Aerotech Inc Version 1 1 U511 User s Manual Parameters For resolver operation parameter x38 Position channel must be set for a resolver channel 9 16 Parameter x40 Position setup code must specify the proper resolution of the RDP The UNIDEX 511 RDP must be installed The UNIDEX 511 RDP board must be factory configured for the proper system resolutio
89. DIYZ Motors for axes Y and Z are disabled V10 5 256 8 bit A D measuring from 0 to 5 VDC Calc voltage resolution of 1 bit ENABLE X Y AD Engage the reading of the A D registers enable X Y axes as well V0 AD0 V 10 Read the value at A D channel 0 convert to volts V1 AD1 V10 Read the value at A D channel 1 convert to volts V2 AD2 V 10 Read the value at A D channel 2 convert to volts V3 AD3 V 10 Read the value at A D channel 3 convert to volts DISABLE AD Disengage the reading of the A D channels Related commands ENABLE 5 36 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 23 DS Display Servo Loop Data Digital to analog conversion D A channels are normally used for axis servo loop current commands D A channels 5 8 are normally used by the servo processor as the second current command phase when using AC brushless or stepper motors The DS command provides real time servo loop display through unused D A channels using for example a scope connected to the appropriate pins on the AUX I O connector This command has no English language equivalent Use DS to implement it SYNTAX DS axis variable scale D A_chan axis Axis number where 0 no display 1 4 Axes 1 4 variable Data to be displayed where PC Position Command mach steps VA Actual Velocity mach steps 0 25 ms PA Actual Positions mach steps VE Velocity Error mach steps 0 25 ms PE Position Err
90. DWELL Command 5 10 5 38 9 3 9 6 9 13 E Electrical Characteristics of a Single Ended Encoder Interface 10 22 Electrical Characteristics of the UNIDEX 511 Opto 22 Connections 10 8 Electrical Specifications 10 25 Emergency Stop 5 40 ENABLE Command 5 10 5 39 9 7 Enabling an axis 2 7 Enabling Axes functional verification prior to 2 4 Encoder Gantry 4 91 Encoder Specifications 10 21 ENDWHILE statement 5 101 English Measurement System 4 16 4 32 4 67 4 95 Environmental Specifications 10 26 Equate Function 5 4 ERROR Command 5 10 5 40 Error Mask System 5 40 Errors 11 4 ESTOP Emergency Stop Input 10 14 Evaluation Hierarchy 5 4 EXIT Command 5 10 5 41 9 3 9 7 Exponential Numeric Constants 5 2 Exponentiation Function 5 4 F Factory Configuration for UNIDEX 511 RDP 4 54 FAULT ACKNOWLEDGE Command 5 42 Fault Conditions 11 5 Fault Mask Bit Descriptions 4 68 Fault Mask Parameters 4 69 Fault Masks 3 19 Faults 2 4 Faults Masks Page 4 67 Feedback phasing and verification 2 5 Feedback Channels Types and Hardware for Secondary Feedback Channel 4 57 Feedback Device Error 5 40 Feedback Types and Hardware for Primary Feedback Channels 4 56 Feedback Verification 2 4 Field Service Information B 1 Field Service Policy B 1 File submenu Axis Scope window 8 4 Fillets 9 8 FL Filter Time Constant Command 5 10 5 42 5 98 Floating Point Numeric Constants
91. EEEE Er e 3 3 Program Meiuse E E REES RT O aE SeS 3 5 3 4 1 Program Menu the Run Submenu ssssssesseeeesereereersrrersree 3 5 3 4 2 Program Menu the Edit Submenu eee eeeeee 3 7 3 4 3 The ASCII Utility eee cece eei tieou 3 11 3 4 4 Program Menu the File Submenu eee eee 3 12 3 4 5 Program Menu The Digitize Submenu ee 3 12 Setup Menu Parameters 0 0 ee ceeceseceseceecesecesecaeecaeeeaeseneeeeeees 3 17 3 5 1 Setup Menu The Fault Masks Page eeeeeeeeeee 3 19 Diagnostics Ment ssrin ieena aR e ta arean 3 20 3 6 1 Diagnostics Menu Hardware Status Page eee 3 20 3 6 2 Diagnostics Menu Primary I O Page n 3 21 3 6 3 Diagnostics Menu System Status Page eee 3 22 3 6 4 Diagnostics Menu Position Page 3 23 3 6 5 Diagnostics Menu Active Limits Page eee 3 24 3 6 6 Diagnostics Menu Servo Faults Page eee 3 25 3 6 7 Diagnostics Menu Secondary I O Page eee 3 26 3 6 8 Diagnostics Menu Terminal Page 0 eee eeeeeeeee 3 26 Tune Mend sissen oieri raaa r E E E EEE E E EES 3 28 3 7 1 Troubleshooting Autotuning eeesseeeeseeessereereereereerrrreresee 3 30 MDI Meninin neeaae oie Ants ote es GG o tes 3 31 3 8 1 MDI Menu Joystick Submenu eee cere eeeeee 3 32 3 8 2 MDI Menu Jog Submenu eee eee ceecneecneeeeeeee 3 32 3 8 3 MDI Menu Commands Submenu eee errr 3 33 Version 1 1 Aerotech Inc iii Table of Contents U511 User s Manual CHAPTER 4
92. EOE OREO SE SRO SIEGE EE Ene EE ROEDER OHS SEO OMEUE OO GEO OO Dist So RDI OT aa anne Bas ate START start axis call block 21 ortho correction of axis 2 based on sposition of axis 1 1000 sample distance in machine steps 3 gt 256 123579 121416 141085210 absolute machine step corr data END send axis call block Figure 4 2 Sample Calibration File with Orthogonality Data 4 24 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 5 8 In position deadband machine steps The In position deadband parameter x35 specifies a window given in machine steps into which the axis position error must fall in order for the in position status bit to be set The UNIDEX 511 continually compares the axis position error the difference between the commanded position of an axis and its feedback position with the in position If the position error is less than or equal to the value specified in parameter x35 then the in position status bit of the Diagnostics screen is set a dead band value appears The in position status bit will not be set if axis motion is commanded The in position dead band parameter value is given in machine steps and can range from 0 to 65 536 The default value is 10 machine steps Refer to Table 4 16 The UNIDEX 511 continues to drive the position error to zero even after it is within the established dead band R Ee Table 4 16
93. FT feedrate_time G3 end end2 Ccl c2 Ffeedrate FT feedrate_time G3 end end2 Ic Jc2 Ffeedrate FT feedrate_time endl Defines the first axis X Y U or Z that is involved in motion and the first end point or present point end2 Defines the second axis X Y Z or U involved in motion and the second end point or present point cl c2 Defines the center point of each arc The maximum end center point is 231 machine steps The center point is always specified incrementally from the starting point of the circle regardless of the programmed mode 5 feedrate Upon initializing the U511 the default units for feedrate are in units min The units are defined by the English and Metric conversion factors The units for feedrate can be changed by the PROGRAM command The maximum feedrate that can be used for a contour type move is 215 machine steps msec If a feedrate subcommand is missing the UNIDEX 511 will use a previously programmed feedrate or the feedrate established by general parameter numbers 022 5 040 058 and 076 feedrate_time Defines the time in seconds that is allocated to complete the contour move The UNIDEX 511 calculates the contour feedrate based on the contour path The feedrate time is valid for the current block only The contour feedrate is clamped at the feedrate established by general parameters 027 045 063 081 Clamp feedrate The corner rounding noncorner rounding a
94. Kpos value represents the position loop gain segment of the servo loop This gain setting produces an output directly proportional to the position error thus producing a constant counteracting force to the error Parameter x25 can have a value ranging from 0 to 8 388 607 and defaults to 50 a A Kpos value that is too large may cause oscillation 4 6 2 Ki velocity loop integrator 0 8 388 607 x26 The Ki value represents the integral gain portion of the servo loop The integral gain value produces an output which is a summation of the velocity errors producing an increasing counteracting force for a constant or increasing position error This parameter can range from 0 to 8 388 607 The system default setting is 5 000 A Ki value that is too large may cause oscillation 4 6 3 Kp velocity loop proportional gain 0 8 388 607 X27 Parameter x27 Kp value represents the proportional gain of the velocity loop which is the inner loop portion of the dual control loop This setting serves to dampen system response by producing a dampening force as long as the system is progressing toward error reduction This parameter can have a range from 0 to 8 388 607 The system default setting for this parameter is 100 000 5 A Kp value that is too large may cause oscillation 4 32 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 6 4 Vff velocity feed forward
95. Mapping 4 Axis Config Op 6 Homing Limits 7 Motor Feedback Ki 0 8388607 Kp 0 8388607 Vif 0 8388607 Aff 0 8388607 Servo loop update rate 1 100 25ms Notch filter y n no Notch Filter NO 0 00000000 Notch filter N1 0 00000000 Number 125 Value 45 Figure 8 11 Servo Loop Tab of the Parameter Editor 3 Set servo parameters to initial values While still in the U511 Parameter Editor window refer to Figure 8 11 enter in the initial values for the servo gains Table 8 5 has the initial values for these servo gains Table 8 5 Initial Servo Parameter Values C kos e nE aw o oe lt w 23 0o Save the parameters to the U511 by selecting Save and Upload to U511 from the File menu The U511 will need to be reset for the parameters to take effect 4 Prepare the Axis Scope window for tuning by performing the following functions a Press the MAXIMIZE button on the Axis Scope window shown in Figure 8 12 so the Axis Scope window fills the entire screen 8 18 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops Display Axis Units Tools Maximize Button Figure 8 12 MAXIMIZE Button on the Axis Scope Window b In the Collect menu select 2500 points c Inthe Display menu select 2500 points d Inthe Axis menu select axis number X axis or the axis that will be tuned e In the Plot menu select Velocity Command Velocity Error and Posi
96. Menu o ee cree ete eee ee 3 5 Setup Menu Parameters eessceeneeeseeeeees 3 17 e Diagnostics Menu 2 0 0 0 eeeeceeesceseceeceseeeeenee 3 20 eM Sars ete we ene Were 3 28 e INU IW ems Seer E A 3 31 3 1 Introduction The user interface consists of a front control panel and a software program that produces a series of text screens in the viewing area To operate the controller the user uses the keypad of the front control panel to manipulate information on the text screens This section discusses the control panel and the text screens 3 2 Control Panel The standard control panel consists of a power switch a 28 item sealed membrane keypad and an eight by 40 character liquid crystal display LCD Refer to Figure 3 1 The LCD displays a series of screens holding information that can be viewed selected or altered by operating certain keys on the keypad The keypad allows users to access all the utilities of the U511 DISPLAY VIEWING AREA BEIEILIE Se Ste ats L AAN CURSOR JOG ABORT 3 O gt J KEYBOARD Figure 3 1 Control Panel Version 1 1 Aerotech Inc 3 1 The User Interface U511 User s Manual A description of the keys and their functions follows Function Keys F1 F5 Located directly beneath the LCD these keys allow the user to activate corresponding functions that appear above them in the viewing area Such choices include functions that allow
97. Motor Shield Motor Shield 9 Phase A 10 14 10 16 Aerotech Inc Version 1 1 U511 User s Manual Technical Details Always disconnect the main power connection before opening the U511 WARNING 10 2 Control Board Jumpers There are several jumpers located on the U511 Control Board that can be changed by the user These are listed in the table below Also refer to Figure 10 8 The jumpers marked reserved are factory configured and should not be changed by the user Table 10 14 Control Board Jumper JP Description JP1 JP15 Setting Description Reserved 1 2 COM2 RS 232 12 volt format 2 3 COM2 RS 422 5 V differential 1 2 COM2 RS 232 12 volt format 2 3 COM2 RS 422 5 V differential 1 2 COM2 RS 232 12 volt format 2 3 COM2 RS 422 5 V differential Removed COM2 RS 232 12 volt format Installed COM2 RS 422 5 V differential Removed COM2 RS 232 12 volt format Installed COM2 RS 422 5 V differential Reserved 5 6 installed Normal boot mode 5 6 removed Boot to MFG mode 3 4 installed Display front panel enabled 3 4 removed Display front panel disabled 1 2 installed No operation 1 2 removed Reset COM1 COM2 parameters to default Reserved Default Setting Version 1 1 Aerotech Inc 10 17 Technical Details U511 User s Manual To minimize the possibility of electrical shock and bodily injury make certain that the mains power supply
98. OK right Encoder 4 5v ok gt amp a Connectors left Joystick Interface center Communications Port 1 8 J E AE A N E a a E E EAA l Word Headquarters right Communications Pot 2 rs voystick 9 Q com1 Q come T I l Pittsburgh PA 15238 USA lt Opto I O User Interrupt Brake Emergency Stop E A l USA 412 963 7470 Sales FAX 412 963 7459 And Analog IO gt L 19 Jo 1 ql L USA Senice FAX 412 963 7009 TE And Anao O O AUX 1 0 O i L a 1 Ld ane Deutsehand 0911 52031 FAX 0811 5215235 M fi Utg i HH I l IEEE 488 GPIB Intertace gt O IEEE 488 GPIB O i 1 i O MOTOR CONNECTORS 2 19 i i l l 16 mg OUT 5VOK gt amp il il il l AXIS 4 AXIS 3 AXIS 2 AXIS 1 16 IN 8 OUT Digital I O to o s st o th i l a a 6 a a OPTO 22 PB8 PB16 PB24 gt 16IN 8OUT it i 8x 31 0 Bus 5VOK S tI i l 25 a 1 ih 1 i e 8 x 3 I O Bus to OPTO QO e so 8X310 BUS Pr QO H os l 22 PB8 PB16 PB24 gt iH 1 l O H i E l f i at uh i Ni A A m Eji L p H Hi O l i a Heh a a O j Figure 10 2 Rear View Showing Various Connectors 10 2 Aerotech Inc Version 1 1 U511 User s Manual Technical Details Table 10 1 Encoder Connector Pinouts for Axis 1 Through 4 J2 J5 22 Home Limit Input 10 Hall Effect Sensor A Input 23 11 Hall
99. P Time Block 1 gt Block 2 gt Figure 4 19 Velocity Diagram of Non corner Rounding G24 Non ramp time is defined as the time between the path stop and the start of the next block Non ramp time parameter values can range from 1 to 32 000 milliseconds and have defaults settings of 150 ms Refer to Table 4 75 Table 4 75 Settings for Parameters 028 046 064 and 082 Param Plane Range Default Value 028 1 1 32000 ms 150 ms 046 2 1 32000 ms 150 ms 064 3 1 32000 ms 150 ms 082 4 1 32000 ms 150 ms When performing a contour motion this command effects the behavior of deceleration Programming a non ramp time using the ROUNDING time command overrides but does not change the settings of parameters 028 046 064 or 082 Make certain the non ramp time is less than or equal to the ramp time Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 11 15 Metric digits 1 8 This parameter sets the number of zeros that are added after the decimal place in Metric mode displays It is used in conjunction with parameter x00 the Metric conversion factor to determine system scaling i e the number of machine steps in relation to program steps Parameters 029 047 065 and 083 correspond to contour planes 1 through 4 respectively This parameter must be configured for each of the active contour planes O N co A N O Ol Thes
100. Plot Trigger Collect Display Axis Units Tools Collecting 500 Command LINEAR X5 F2000 Status OK Axis fi 7 Kpos 15000 Kil 0 Kp 0 vee 64000 Att 0 fs 32 Vel Cmd 1 0 4 Pos Er 1 5 Figure 8 32 Position Error Reduced to Within 10 Counts of Error Using Vff Version 1 1 Aerotech Inc 8 39 Tuning Servo Loops U511 User s Manual Shown in Figure 8 33 is plot of what happens when Vff is set too high and the position error reverses direction Notice that the Vff was not increased much and that the position error increased EJ U511 Axis Scope Ver 5 00 ioj x File Remote Plot Trigger Collect Display Axis Units Tools Collecting 500 Command LINEAR X5 F2000 Status OK Axis 1 gt Kpos 15000 Ki 0 K o vwe 70000 afl 0 32 Vel Cmd 1 Pos Enf 1 Figure 8 33 Plot of Position Error When Vff is too High 12 Turn the Position Error Integral Error and Velocity Error traps on by returning to the U511 Parameters Editor window and selecting the Parameter tab called Faults Turn the Position Error the Integral Error and the Velocity Error back on by checking the boxes This will reactivate these traps Save and exit the Parameter Editor window Reinitialize the UNIDEX 511 8 40 Aerotech Inc Version 1 1 U511 User s Manual Programming Examples CHAPTER 9 PROGRAMMING EXAMPLES In This Section Oo SITE OGUICHLOM e
101. Remove JP5 Install JP6 default Remove JP6 Install JP7 default Remove JP7 Install JP8 default Remove JP8 z 3 4 3 Set switch SW1 for the correct extension bus address Refer to Table G 3 Table G 3 RDP Board Extension Bus Address Settings Extension Bus Address Switch Settings RDP board 1 use if one board Swi installed default FRA gin 1 RDP board 2 SWI Pania na RDP board 1 is accessed by feedback channels 9 through 12 and RDP board 2 if accessed by feedback channels 13 through 16 If only one board is installed use the default switch setting 4 Select whether the device to be used is a resolver or an Inductosyn by configuring jumpers JP9 through JP12 Refer to Table G 4 Table G 4 Inductosyn or Resolver Jumper Settings Axis Resolver Inductosyn 1 Set JP9 to 1 2 default Set JP9 to 2 3 2 Set JP10 to 1 2 default Set JP10 to 2 3 3 Set JP11 to 1 2 default Set JP11 to 2 3 4 Set JP12 to 1 2 default Set JP12 to 2 3 5 Configure resistor network RCN5 see Figure G 1 for the oscillator frequency that will be used Refer to Table G 5 Version 1 1 Aerotech Inc G 3 Appendix G U511 User s Manual Table G 5 Oscillator Frequency Configuration for RCN5 RCN5 Description Pins 1 14 Pins 2 13 Pins 3 12 Pins 4 11 P
102. SCF command Units are Millimeters Metric skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk PROGRAM METRIC INCREMENTAL UNITS UNITS MIN ENABLE X Y HOME X Y Home X Y GO X70 Y10 XF1500 YF1000 Move to center G92 Set all positions to 0 HHHHHHH Make a boat at 1 3 the size H HHHHHH H SCF X1 3 Y1 3 Scale Factor Override to 1 3 for X amp Y SUBROUTINE BOAT HHHHHHH Make a boat at 64 5 of original size H HHHHHHH SCF X0 645 Y0 645 Scale Factor Override to 0 64 for X amp Y SUBROUTINE BOAT HHHHHHH Make a boat at original size HHHHH SCF X1 Y1 Scale Factor Override to 1 for X amp Y SUBROUTINE BOAT HHHHHHH Make a boat at 132 5 of original size HHHHHHHH SCF X1 325 Y1 325 Scale Factor Override to 1 3 for X amp Y SUBROUTINE BOAT HHHHHHH Traverse to new position HHHHHHHHH SCF X1 Y1 Turn Scale Factor Override OFF VO 1 1 325 40 G1 Y VO G92 HHHHHHH Make a boat at 215 3 of original size HHHHHHHH HHHHHHHH Boat is a MIRROR Image folded across Y Axis SCF X 2 153 Y2 153 Scale Factor Override to 2 153 for X amp Y Mirror Image SUBROUTINE BOAT SCF X1 Y1 Turn Scale Factor Override OFF for x amp y axes DISABLE X Y EXIT 9 16 Aerotech Inc Version 1 1 U511 User s Manual Programming Examples AHHH Boat Subroutine HHHHEHHHTTH BOAT G90 Absolute mode G1 X25 F500 Boat de
103. See Also 3 0 Appendix B Motor or Amp Documents 2 6 4 8 Appendix B Motor or Amp Documents 2 6 4 8 Appendix B Motor or Amp Documents 2 6 4 8 Appendix B Motor or Amp Documents Motor or Amp Documents Appendix B Always disconnect main power connection before opening the U511 chassis Version 1 1 U511 User s Manual Troubleshooting 11 3 Problems Involving Fault Conditions Some common problems 11 3 relating to fault conditions are listed and diagnosed in Table Table 11 3 Troubleshooting for Problems Involving Fault Conditions Problem A position or integral trap error occurs when the axis is enabled A position or integral trap error occurs when motion is commanded An emergency stop condition occurs A clockwise CW or counter clockwise CCW limit condition always exists An axis is in a CW or CCW limit condition Possible Causes Solutions See Also The feedback device is not connected 2 6 4 8 The wrong feedback channel has been specified Verify the Motor or Amp feedback Documents The wrong feedback setup code has been specified Verify the Appendix B feedback Feedback device is phased wrong Make sure feedback counts positive when motor is turned clockwise CW The feedback device is not connected 2 6 4 8 The wrong feedback channel has been specified Verify
104. Table 6 23 Bit Definitions for Register 0 oo eee ee eecesecesecesecnseceeceeeneeenes 6 17 Table 6 24 Write Parameter Sequence eee cee eseeeeeeeeeeeeeeeseeeeeseenseenaees 6 18 Table 6 25 Read Parameter Sequence 0 eee eeeesceseceecseeceecaeecaeeeeeeeseeeeeeeeens 6 18 Table 6 26 Save Parameters Sequence cc eeceecceseceseceecesecsecaeecaeeeneeeeeeeeeees 6 19 Table 6 27 Hardware Reset Sequence snesereserereerseerererssestsrersrererserersrerereersesee 6 19 Table 6 28 Upload File Sequence eee cece esnin irre riesene is 6 21 Table 6 29 Sequence of Commands when Downloading Files 0 ee 6 22 Version 1 1 Aerotech Inc XiX List of Tables U500 User s Manual Table 6 30 Table 6 31 Table 6 32 Table 6 33 Table 6 34 Table 6 35 Table 7 1 Table 7 2 Table 7 3 Table 8 1 Table 8 2 Table 8 3 Table 8 4 Table 8 5 Table 8 6 Table 8 7 Table 10 1 Table 10 2 Table 10 3 Table 10 4 Table 10 5 Table 10 6 Table 10 7 Table 10 8 Table 10 9 Table 10 10 Table 10 11 Table 10 12 Table 10 13 Table 10 14 Table 10 15 Table 10 16 Table 10 17 Table 10 18 Table 10 19 Table 11 1 Table 11 2 Table 11 3 Table 11 4 Table 11 5 Table 11 6 Table 11 7 Table 11 8 Print Directory Sequence eee eee eienen eene iiaeie 6 22 Print Program File Sequence cece eeeeceeeceeeceseceeceseessecsaeenee 6 23 Read Variable Sequence 000 ee eee cee cseeeneeeeeeee
105. The sequence of communications for the GV command is shown in Table 6 35 Table 6 35 Software Version Command Sequence Direction of Transfer Command Description Host gt U511 GV Software Version command EOS character End of string character LF Host gt U511 U511 Host ACK NAK character Acknowledge character 0x06 Example GV lt EOS character gt U511 returns 5 00 lt EOS character gt Version 1 1 Aerotech Inc 6 25 Remote Mode Operations U511 User s Manual 6 5 UNIDEX 511 Remote Timing The oscilloscope output plot shown in Figure 6 1 shows the timing of the U511 for a GPIB command The command PX8 lt CR gt lt LF gt was sent to read the real time position of the X axis encoder The top waveform is the interrupt on the U511 generated by the GPIB chip The second waveform is the ATN attention signal The third waveform is the NRFD not ready for data signal Four interrupts are visible on the first wave form The first interrupt occurs 200 us after the command is sent and tells the U511 to be a listener The second interrupt occurring 1 5 ms after the command is sent is the PX command being received The third interrupt occurs at 2 8 ms This interrupt is the Read command The final interrupt occurring around 4 ms is when the position data is returned by the U511 The cycle time for this sequence averages around 3 5 ms and ranges between 2 8 and 4 5 ms This cycle time is when the U511 is
106. The RDP PC option is a resolver to digital board that receives resolver or Inductosyn feedback A resolver is a two phase AC excited rotary variable transformer that outputs sinusoidally related signals These signals when processed by the RDP PC board yield very accurate shaft position information Single speed resolvers provide absolute position information over one shaft revolution Inductosyns are essentially multipole resolvers and are available in both rotary and linear varieties Rotary and linear Inductosyns typically have pole spacings of 0 5 degrees and 2 mm respectively providing positioning resolutions as fine as 0 05 arc seconds and 30 5 nanometers when combined with the RDP PC converter Standard R D converter accuracy is 8 arc min electrical cycle The RDP PC board is software selectable to 10 12 14 or 16 bit resolution G 2 RDP Board Hardware Setup The RDP board connects between the UNIDEX 511 and a feedback device such as an Inductosyn or resolver Before the RDP board can be installed into the UNIDEX 511 it must be properly configured The following steps will configure the board for installation into the UNIDEX 511 Refer to Figure G 1 for jumper resistor network RCN and test point locations Always disconnect main power connection before opening the U511 chassis Version 1 1 Aerotech Inc WARNING Appendix G p xipueddy Appendix G U511 User s Manual Typical RCN Network Example Jumper
107. The time constant of the filter is given in milliseconds The primary use of the filter is to smooth a trajectory that consists of non tangential moves in G8 velocity profiling mode The filter should also be used in the alternate contouring mode CM1 if feedhold or MFO is desired A low filter value 10 ms is sufficient in these cases A filter time constant of 0 turns the filter completely off A parameter setting of 1 dissipates the filter contents with no filter affect If you are not planning to use the filter the time parameter should be set to 0 This command has no English language equivalent Use FL to implement it SYNTAX FL X Y Z U Defines the filter time constant in ms EXAMPLE FL X10 310 ms filter Related commands CM 5 42 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 31 FREERUN The FREERUN command is used to produce background motion of designated axes Freerun motion is completely unsynchronized to contoured motion SYNTAX FREERUN axis feedrate distance FR axis feedrate distance axis Defines the axes X Y Z or U under Freerun control feedrate Defines direction and velocity of the axes under freerun If the feedrate equals zero freerun will stop Upon initializing the US11 the default units for feedrate are in units min The units are defined by the English and Metric conversion factors The units for feedrate can be changed by the PROGRAM comma
108. Velocity profiling is a programming feature that when enabled ensures that the path velocity for the entire shape remains constant Without velocity profiling acceleration and deceleration would occur between the paths of individual movements producing a very segmented motion Velocity profiling is not recommended for motions that make extreme direction changes for example 90 turns Such changes will often cause faults to occur For this reason velocity profiling can be temporarily enabled or disabled throughout a program This is illustrated in the example that follows In Figure 9 1 notice that velocity profiling is disabled prior to starting move number 12 and then reenabled at the end of this movement This movement begins and ends with sharp 90 angles which could cause faults if velocity profiling is used therefore velocity profiling is disabled during this portion of the part outline Because velocity profiling is off during motion 12 the path decelerates as motion 11 is completed and then accelerates at the beginning of motion 13 No Velocity Profiling Between These 2 Points Figure 9 1 Sample Path for Incremental Relative Motion Demonstration Using Velocity Profiling 9 2 Aerotech Inc Version 1 1 U511 User s Manual Programming Examples The program used to trace the path in Figure 9 1 VELOCTY1 PRG is listed below Comments have been added for clarity Th
109. a general overview of just some of the capabilities of the UNIDEX 511 system These samples provide some basic fundamentals on which more advanced and virtually unlimited applications may be realized The program examples shown in this Chapter use comments descriptive text that follows a semicolon character to explain the program statements While thorough and relevant commenting in a program is very useful and is encouraged it may be necessary to limit the amount of comments in your program if the program size including comments commands etc becomes larger than 64K Another way to reduce program size is to use the abbreviated forms of commands usually the first two letters in the command name or G codes whenever possible Version 1 1 Aerotech Inc 9 1 Programming Examples U511 User s Manual 9 2 Incremental Relative Motion with Velocity Profiling In this application the UNIDEX 511 is used to outline that is etch or cut the shape of a part using two axes X and Y The part is outlined using a program consisting of some setup statements and 15 individual movements The outline shape and the individual movements are illustrated in Figure 9 1 In addition incremental relative coordinates AX AY are given for the beginning and end points of each movement as well as the home position 0 0 The center points for circular motions are shown as X s with their relative center point coordinates given as well
110. and Download from U511 Open is used to open a parameter file that exists on the PC The Download selection opens and sends a Exit i parameter file that exists on the U511 Tabs Same as Pages in Setup Menu u511_prm Eile Remote Utilities a Traps 10 Planes Mapping 4 Axis Config Z Motor Feedback Auto enable axes Auto run program Axis calibration file Parameter file u511_prm Firmware file a u511_jwp H code file Global subroutine file glbsub prg PSO firmware file PSO mailbox dual_port ram base address 0x0D800 i Plane Axis Number 600 C4 C1 z ie ie Value C3 C4 Parameter Number Change Parameter Value Here Figure 7 1 The Edit Parameter Screen 7 2 Aerotech Inc Version 1 1 U511 User s Manual Windows Interface and Utilities The Utilities submenu of the Parameter Editor contains options to transfer parameter values between axes and or planes The Utilities submenu of the Parameter Editor is illustrated in Figure 7 2 File Remote EMi Transfer Parameters Between gt BEF TS 4 Axis Config 5 Servo Loop Planes Figure 7 2 The Cascaded Transfer Menu The Transfer Parameters Between gt menu provides two types of transfer options transfer between axes and transfer between planes The cascaded Transfer Parameters Between gt option submenu is displayed in Figure 7 2 When the Axes option is selected an axis transfer popup window is displayed see Figure 7 3 This wind
111. b 12345 prm this will backup the parameter file 12345 prm backup r 12345 prm this will restore the parameter file 12345 prm to the B drive To modify the system default parameter values use the restore option to place a custom prm file into memory bank number 1 and or to place a custom cfg file into bank number 2 The values from these custom files will then be used for system defaults and will be used to replace missing parameter files from the B drive Other files such as user programs may be stored in banks 3 through 10 The backup memory is allocated in the flash memory sector containing DOS Reloading DOS on the UNIDEX 511 will overwrite all files in backup memory It may be necessary to restore all important files to the B drive before reloading DOS Aerotech Inc Version 1 1 U511 User s Manual Appendix F APPENDIX F UNIDEX 11 EMULATION SOFTWARE In This Section e Introduction eee e e a F 1 e Supported Commands 0 0 0 0 cee eeeeceeereeeeeeeees F 1 Differences Between the U511 and the U11 F 4 F 1 Introduction The UNIDEX 511 can emulate the UNIDEX 11 s remote interface and motion commands However the user interface front panel keys and rear panels are not the same This special emulation software is identified by U11 EMULATION displayed on the power up screen It is intended for replacement of the UNIDEX 11 only and is not recommended for new designs F 2 Suppor
112. bank A B and C Each port can be configured as outputs or inputs Each I O bit is pulled to 5 V through a 10K Ohm resistor The ports are buffered through 74ACT652 type buffers and can source sink 24 mA per bit A programmed logic 1 level results in an output voltage of 0 GND A programmed logic level of 0 results in an output voltage of 5 V Table 10 6 shows the pinouts for the 8 X 3 I O Bus connector The mating connector is a 3M 3564 1001 Aerotech ECK00353 Specifications are shown below Specifications Input voltage range 0 to 5 V Input current 5 mA Output voltage logic 1 35 V 24 mA Output voltage logic 0 4 V 24 mA This interface bus is designed for direct connection to an Opto 22 style interface board Version 1 1 Aerotech Inc 10 9 Technical Details U511 User s Manual Table 10 6 8 X 3 I O Bus Connector Pinouts J12 Pin Description Pin Description 1 10C7 0 C 7 14 10B2 I O B 2 2 10C6 ao C 6 15 10B1 W O B 1 3 10C5 1 0 C 5 16 10B0 V O B 0 4 10C4 00 C 4 17 10A7 UO A 7 5 10C3 1 0 C 3 18 1046 0 A 6 6 10C2 00 C 2 19 10A5 0 A 5 7 10C1 W O C 1 20 10A4 O A 4 8 10C0 ao C 0 21 10A3 0 A 3 9 10B7 1 0 B 7 22 1OA2 1 0 A 2 10 10B6 1 0 B 6 23 10A1 O A 1 11 10B5 1 0 B 5 1040 1 0 A 0 12 10B4 1 0 B 4
113. be some overshoot at the end of the move A value of 7 will ensure that there is minimal overshoot A typical value of Damping is 5 An RS 232 cable must be connected between the host PC and the U511 5 Version 1 1 Aerotech Inc 8 11 Tuning Servo Loops U511 User s Manual Autotuning Procedure The following procedure may be used to autotune the system 1 Defeat position and velocity error traps by modifying the Global fault mask parameter using the front panel Setup menu or the U511 Parameter Editor RS 232 windows utility software see axis parameter x55 2 Run the U511 Axis Scope utility software Select Gains and Auto Tune from the Tools pull down menu 3 Set starting gains If you do not have working gains set Kpos 1 Ki 1000 Kp 10000 and Vff 256 4 Set excitation distance and frequency in the Dist and Freq text boxes Dist is in current units mm or in Typical Dist 25 mm or 1 in see text Typical Freq 1 Hz 5 Set desired Bandwidth BW and Damping A Bandwidth of 10 Hz and Damping of 5 are good starting points 6 Run autotune by pressing the TUNE button Answer YES to save gains to the servo loop 7 Increase bandwidth by 5 Hz increments until system becomes loud or unstable Return to next lower bandwidth and retune 8 Save gains to parameter file by pressing the SAVE button 9 Re enable position and velocity error traps see axis paramet
114. been specified 4 3 4 8 4 10 occurred The incorrect feedback setup code has been specified Appendix B The encoder is not connected Run diagnostics and check tracking display Single ended encoders are connected Set the fault mask to ignore encoder faults A sinusoidal encoder is connected The UNIDEX 511 accepts square wave encoders only One or more encoder connections are broken The encoder is faulty The resolver is not connected A resolver to digital tracking loop error has occurred One or more resolver connections are broken Incorrect setup code for the resolver has been used The resolver reference has not been adjusted properly A feedrate trap has The commanded feedrate may have exceeded the Top occurred feedrate parameter x17 Always disconnect main power connection before opening the U511 chassis WARNING 11 6 Aerotech Inc Version 1 1 U511 User s Manual Troubleshooting 11 4 Homing Related Problems Some common problems relating to the homing process are listed and diagnosed in Table 11 4 Table 11 4 Troubleshooting for Homing Related Problems Problem Possible Causes Solutions See Also The axis takes a The Home feedrate parameter x04 is set too low long time to home The Max accel decel parameter x16 is set too low The axis runs into The homing direction parameter is wrong a limit during the home cycle Software limits The home cycl
115. between the U511 and a host PC using an RS 232 connection This utility can be used to upload the UNIDEX 511 system software in the case of software upgrades To run the software select U511 File Transfer Utility from the UNIDEX 511 menu item under Programs from the Start menu 7 6 1 Manufacturing Mode Manufacturing mode loads system software loads DOS loads BIOS or erases B drive To place the U511 in Manufacturing mode turn power off and remove the top cover from the unit On the control board on the bottom of the U511 there is a JP12 jumper connecting pins 5 and 6 Remove this jumper to place the U511 in Manufacturing mode When power is reapplied to the unit the LCD display will show 0123456789abcdefghijkImnopqrstuvwxyzABC DEFGHIJKLMNOPQRSTUVWXY Zabc To minimize the possibility of electrical shock and bodily injury make certain that the mains power supply is disconnected before opening the chassis To put the U511 back into normal operating mode replace the JP12 jumper connecting pins 5 to 6 Once power is turned back on the U511 should be back in the normal mode of operation 7 6 2 Loading System Software To load system software first the U511 must be put in Manufacturing mode see Section 7 6 1 A one to one RS 232 cable should be connected between the host PC and COM2 of the UNIDEX 511 Note that updating the system software will work properly only when COM2 of the U511 is used From the File Transf
116. conversion factor or parameter x01 the English conversion a factor Version 1 1 Aerotech Inc 4 95 Parameters U511 User s Manual 4 11 10 Linear accel decel y n The UNIDEX 511 supports two types of acceleration deceleration ramping trajectories linear and inverse sine Each contour plane must be delineated as either linear or inverse sine for this ramping The strict form of linear ramping may be replaced by the smoother sine ramping option to reduce jerky motion during axis acceleration deceleration Refer to Figure 4 16 N rt oO OO ito O A 075 Velocity Ag el ae Velocity Accel pel Decel 4 Decel Linear Acceleration __ Inverse Sine oa a Acceleration Linear Deceleration Inverse Sine pe Deceleration gt Time gt Time Figure 4 16 Graphs of Linear and Inverse Sine Ramping Trajectories Each of these parameters can have either a yes or no value where yes indicates that linear acceleration deceleration is defined for the associated plane and no the default value indicates that inverse sine acceleration deceleration is defined for the associated plane These values are summarized in Table 4 71 Table 4 71 Settings for Parameters 021 039 057 and 075 Param Plane Descriptions 021 1 Yes Accel decel is linear for plane 1 No Accel decel is inverse sine type for axis 1 default 039
117. counts MESSAGE DISPLAY V1 of X counts MESSAGE DISPLAY MESSAGE DISPLAY Requesting Z to Y ratio Z counts to Y counts MESSAGE DISPLAY V2 of counts MESSAGE DISPLAY V3 of Y counts MESSAGE DISPLAY MESSAGE DISPLAY The X to Z ratio is 0FV0 to 0FV1 MESSAGE DISPLAY The Z to Y ratio is 0FV2 to 0FV3 MESSAGE DISPLAY GEAR 1 3 V1 V0 Link slave axis 1 X with master 3 Z using the specified gear ratios GEAR 2 3 V3 V2 Link slave axis 2 Y with master 3 Z using the specified gear ratios ENABLE X Y Enable slave axes X and Y DISABLE Z Disable master axis Z so it can be turned manually MESSAGE DISPLAY Z axis is disabled so you can move it by hand MESSAGE DISPLAY MESSAGE DISPLAY Type GEAR 1 0 0 to disable X axis MESSAGE DISPLAY Type GEAR 2 0 0 to disable Y axis MESSAGE DISPLAY 9 10 Aerotech Inc Version 1 1 U511 User s Manual Programming Examples KKK KKK KKK KK KKK KK KKK KK KK KKK KK KKK KKK KKK KKK KKK KKK KK KK RRR KKK RRR KK KKK KKK KKK KEKE RAK RRR 3 End of Program GEAR PRG skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk 9 7 Interlocking Contour Planes skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk 7 This program is an interlocking contour plane example The program will make a move in plane 1 at the end of that move it will trigger plane 2
118. deceleration time of linear and circular motion is set using 01 9 parameters 019 037 055 and 073 refer to Figure 4 15 These parameters also specify the time it takes to change velocities in velocity profiling mode Ramp time applies to 037 linear or sinusoidal accel decel profiles Posa These parameters can range from 1 to 32 000 milliseconds The system default for these 055 parameters is 150 ms Settings for these parameters are listed in Table 4 68 073 Table 4 68 Settings for Parameters 019 037 055 and 073 Parameter Plane Range Default 019 1 1 32 000 ms 150 ms 037 2 1 32 000 ms 150 ms 055 3 1 32 000 ms 150 ms 073 4 1 32 000 ms 150 ms Velocity a a acceleration d deceleration gt Time Contour Ramping Times Figure 4 15 Contour Ramping Acceleration Deceleration Time om Systems with high mass or inertia will require longer ramping times Com Contour Ramping Time does not apply to Index Home and Freerun moves 4 94 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 11 9 Default to metric yes no Parameters 20 38 56 and 74 specify the default use of the Metric or English measurement system when programming the conversion factor for contour planes 1 4 respectively The conversion factor is used to determine system scaling The actual values for the conversion factors are programmed in parameters x00 Metric and x01 English Parameters 020 038
119. defined as non ramp time and may also be programmed through this command option Programming a non ramp time overrides but does not change the setting of General Parameters 028 046 064 or 082 Corner rounding time SYNTAX ROUNDING onloff ROUNDING time G23 G24 on G23 activates corner rounding for the specified plane off G24 deactivates corner rounding for the specified plane time Designates the non ramp time in milliseconds Make certain the non ramp time is less than or equal to the ramp time z EXAMPLES ROUNDING 100 Sets non ramp time to 100 msec ROUNDING ON Or G23 Activates rounding option ROUNDING OFF Or G24 Deactivates rounding option Related commands LINEAR CW_CIRCLE CCW_CIRCLE RAMP 5 5 69 SCF Overriding Scale Factor The SCF command can enlarge or reduce a part by scaling motions moves without a rewrite of the user s program The programmed distance is essentially multiplied by the overriding scale factor The scale factor affects GO G1 G2 and G3 commands The commanded positions for all motion commands will be enlarged or reduced by the scale factor Setting scaling to 1 will effectively disable the scaling command This command will work in both absolute and incremental moves The relative and absolute position registers will contain positions as though scaling is turned off Only the feedback register will be changed to reflect the true position of the motor When using the G2 or G3 commands
120. designated as a master or a slave but not both i e parameter 007 cannot designate axis 2 09 as a slave and parameter 008 designate axis 2 as a master The syntax of parameters 007 010 can have one of two possible formats n which means the associated axis is not a gantry master or y b which means the associated axis is a gantry master having axis b one of the remaining 3 axes as the slave axis e g 007 y 2 sets axis 1 as the gantry master with slave axis 2 The b can also be preceded by a negative sign This will invert the direction of motion of the slave with respect to the master The defaults setting for these parameters is n i e axes 1 2 3 and 4 are not gantry masters Other settings for these parameters are summarized in Table 4 66 Table 4 66 Settings for Parameters 007 008 009 and 010 Param Axis Value Description Examples 007 1 none Axis is not a gantry master none default y b Axis is a gantry master having y 2 _ y 2 axis b as the slave axis where y 3 y 3 b 2 3 or 4 y 4 y 4 008 2 none Axis 2 is not a gantry master none default y b Axis 2 is a gantry master having y 1 y 1 axis b as the slave axis where y 3 y 3 b 1 3 or 4 y 4 y 4 009 3 none Axis 3 is not a gantry master none default y b Axis 3 is a gantry master having y 1 _ y 1 axis b as the slave axis where y 2 y 2 b 1 2 or 4 y 4 y 4 010 4 none Axis
121. entered on multiple lines START start axis call block 1 axis number 1 2 3 or 4 1000 sample distance in machine steps 123579121416141085210 absolute machine step correction data END send axis call block START snext axis to be calibrated 2 axis number 1 2 3 or 4 1000 sample distance in machine steps 11124251088766211 absolute machine step correction data END send axis call block gt 256 7 Figure 4 1 Sample ASCII Calibration File Aerotech Inc Version 1 1 U511 User s Manual Parameters Table 4 15 Sample Calibration Table Displayed Distance Actual Distance Correction Data 1000 1001 1 2000 2002 2 3000 3003 3 4000 4005 5 5000 5007 7 6000 6009 9 7000 7012 12 8000 8014 14 9000 9016 16 10000 10014 14 11000 11010 10 12000 12008 8 13000 13005 5 14000 14002 2 15000 15001 1 16000 16000 0 The calibration CAL file can also contain axis orthogonality correction data This is similar to axis calibration Refer to Figure 4 2 For orthogonality correction axis correction will not begin until the position dependent axis completes a home cycle and axis parameter x71 of the position dependent axis Enable orthogonality table parameter x71 is set to yes IMPORTANT It is conceivable that a single calibration CAL file might contain eight sections four axis calibration sections and four ort
122. fooga Ki j 8000 Kp j Axis WE Kpos froooa Ki j 8000 Kp 18 0 289 0 Forward Motion Reverse Motion Vel Cmd 1 Vel Cmd 1 Pos Er 1 Pos Er 1 Notice that we have no overlap and the settling time is short 14 239 T T T T T 700 800 900 1000 700 800 900 1000 __1 oo Figure 8 30 Plot of the Position Error With Appropriate Ki Value 8 38 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops 11 Adjust the Velocity feedforward value to reduce the position error if desired When doing this attempt to get the position error within 10 to 20 machine steps of error The objective is to obtain smoothness in the Position Error and to get within 10 to 20 counts of error Figure 8 31 illustrates that Vff has reduced the amount of position error However Vff still needs to be increased so the position error can be reduced some more This is shown in Figure 8 32 where the position error has been reduced to within 10 counts of error It is OK to allow some following error in the system 4 U511 Axis Scope Ver 5 00 oO x File Remote Plot Trigger Collect Display Axis Units Tools Collecting 500 Command LINEAR X5 F2000 Status OK Axis 1 gt Kpos 15000 kif 0 Kp o vef So000 afl 0 32 Vel Cmd 1 0 118 Pos Er 1 Figure 8 31 Position Error After Increasing Vff EJ U511 Axis Scope Ver 5 00 x File Remote
123. functions are available Joystick A Button Toggles pairs of axes drives between h v and h2 v2 as specified Joystick B Button Selects between high velocity low velocity and absolute positioning mode Refer to axis parameters x50 Joystick high speed x51 Joystick low speed and x52 Joystick absolute scale Joystick C Button Cancels previous joystick command Same as the SLEW C command If more than one contour plane is enabled when the SLEW command is issued the UNIDEX 511 processes them one at a time Refer to PLANE for information concerning contour planes When SLEW mode is canceled the absolute and relative position registers will not reflect the axis positions They can be updated with the Software Position command Refer to the SOFTWARE command description for additional information Following use of the joystick to slew the axes to the desired position the slew mode may be terminated by depressing the joystick s C button Refer to Figure 5 10 The UNIDEX 511 will resume processing with the next command in the queue buffer Button C Button C Button A Button B Button A Button B Figure 5 10 Optional UNIDEX 511 Joystick JI Model Left JBV Model Right SL Version 1 1 Aerotech Inc 5 81 Programming Commands U511 User s Manual SYNTAX SLEW hl v1 h2 v2 SLEW C hl vl h2 v2 Defines 2 horizontal and vertical axis plane pairs X Y Z and U for the joystick
124. g Components 1 1 indicates that the reference is part of an illustration An italic locator page number e g OP500 Cable Pinouts 5 7 indicates that the reference is part of a table Text references are shown in a standard serif font e g Software Setup 3 1 Graphic icons or keywords may appear in the outer margins to provide visual references of key features components operations or notes Danger and or Warning symbols see right appear in the outer margins next to important precautions Failure to observe these precautions could result in serious injury and or damage to the equipment DANGER WARNING Version 1 1 Aerotech Inc XXV Preface U511 User s Manual The following statements apply wherever a Warning or Danger symbol appears within this manual Failure to observe these precautions could result in serious injury to those performing the procedures and or damage to the equipment If the equipment is used in a manner not specified by the manufacturer the protection of the equipment may be impaired WARNING To minimize the possibility of electrical shock and bodily injury make certain that the mains power supply is disconnected before opening the chassis p WARNING To minimize the possibility of electrical shock and bodily injury make certain that all of the electrical power switches are in the off position prior to making any electrical connections WARNING To minimize the pos
125. how often the servo control loop is to be updated by the UNIDEX 511 This parameter specifies a multiplier 1 32 000 that corresponds to update rates of 0 25 ms 1 0 25 ms and 8 sec 32 000 0 25 ms 8000 ms 8 sec Refer to Table 4 25 Table 4 25 Settings for Parameter x62 Param Axis Range of Values Defaults Update Rates Shown in Parentheses 162 1 1 to 32000 corresponding to 0 25 ms to 8 sec 1 0 25 ms 262 2 1 to 32000 corresponding to 0 25 ms to 8 sec 1 0 25 ms 362 3 1 to 32000 corresponding to 0 25 ms to 8 sec 1 0 25 ms 462 4 1 to 32000 corresponding to 0 25 ms to 8 sec 1 0 25 ms 4 6 7 Enable Notch Filter y n x2 4 The Enable Notch Filter parameter x24 specifies whether or not notch or low pass filtering is enabled for each axis of the system This parameter can have one of two possible settings yes or no Setting parameter x24 to yes enables notch or low pass filtering Setting parameter x24 to no the default setting disables notch low pass filtering Refer to Table 4 26 Table 4 26 Settings for Parameter x24 Param Axis Value Meaning x24 1 2 Yes Notch low pass filtering is active 3 4 No Filtering is disabled default 4 34 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 6 8 Notch filter NO N1 N2 D1 and D2 Parameters x30 through
126. in each direction Use the axis tuning scope to observe the velocity d Set axis parameter x43 back to its original value It should be 1 for linear motors and 2 3 or 4 for rotary motors Also make sure that axis parameter x44 Feedback is set properly For linear motors enter the number of steps per electrical cycle UNIDEX 511 will now commutate in sinusoidal mode The above commutation checks can be repeated if desired The motor torque output should feel smoother in sinusoidal mode than in six step mode If the motor is commutating properly in six step mode but not sinusoidal mode check axis parameter x44 Also verify encoder operation The encoder should count in the positive direction when a positive torque is commanded 11 Re enable axis position and integral faults in the fault mask and tune servo loop See related Aerotech Engineering Specification ES12731 n for signal definitions color coding and motor revision information C 4 Aerotech Inc Version 1 1 U511 User s Manual Appendix D APPENDIX D iSBX I048 BOARDS In This Section Introduction eeaeee eee eee D 1 e iSBX IO48 Jumper Settings 0 eee D 5 e Configuring the iSBX I048 oo eee D 5 e Programming the iSBX I048 0 ee D 6 D 1 Introduction The iSBX I048 board allows the user to connect user configurable I O to the UNIDEX 511 via its iSBX port The iSBX I048 can drive up to two I O boards such as two PB24A Opto 22 board
127. is also used in the wait_DATAQ function to check for a received character com_read This function will read and return one character from the serial port VV V Version 1 1 Aerotech Inc 6 29 Remote Mode Operations U511 User s Manual Aerotech Inc Version 1 1 U511 User s Manual CHAPTER 7 WINDOWS INTERFACE AND UTILITIES In This Section OMA NtKOGUCHIONeeerryee E T eer teee oe ee eet 7 1 e COM Port Settings Common to all Software Utilities 7 1 UNIDEX 511 Parameter Editor a0 eee J2 SUNIDEXGSIIPAxISTS copedUtilityeeemenee eee eee 7 5 e UNIDEX 511 Diagnostics Screen oe ee eeeeseeeseeeeeseeeaes 7 5 e UNIDEX 511 File Transfer Utility eee eee ereeeee 7 9 7 1 Introduction The Windows compatible interface software was created for Windows NT 4 0 and Windows 95 To install the software insert disk 1 of the installation and run setup exe During installation the operator can select either U511 standard software or U11 emulation software If the user is using the UNIDEX 511 controller to replace a UNIDEX 11 controller select U11 emulation Otherwise for normal operation select U511 standard software Four different utilities are installed These include e a parameter editor e an axis scope window e a diagnostics program e a file transfer utility A UNIDEX 511 folder is created in the Program folder of the Start menu This folder contains icons for each of the fo
128. is better to define multiple contour planes This parameter can have the value 1 2 or 4 This corresponds to either 1 the default 2 or 4 contour planes Settings for parameter 000 are shown in Table 4 62 Table 4 62 Settings for Parameter 000 Value Number of Program Buffers Size of Each Program Buffer 1 1 default 8 Kbytes 2 2 4 Kbytes 4 4 2 Kbytes It is suggested that the number of contour planes set by this parameter be as small as possible for the application Doing this will provide the maximum buffer size and the fastest processing time Following configuration of this parameter the system must be reinitialized so that the new number of planes is recognized H IMPORTANT Version 1 1 Aerotech Inc 4 85 Parameters U511 User s Manual pare IMPORTANT 4 11 3 Keep position after reset y n This parameter configures the UNIDEX 511 to either clear that is set to 0 all absolute relative and machine positions following a reset no or to retain the current axis values yes Axis positions are often programmed to a known location following a home cycle A home cycle is often commanded as a normal startup function in which case the setting of this parameter is immaterial It is suggested however that this parameter be set to yes as it may aid in recovering information and diagnosing problems This parameter can have one of two possible setting
129. is used to remove position error during the acceleration and deceleration of a move Version 1 1 Aerotech Inc 8 9 Tuning Servo Loops U511 User s Manual 8 4 Autotuning Autotuning is used to automatically calculate gains The UNIDEX 511 does this by moving the motor in a progressively faster back and forth motion and recording the current required for the move This data is used along with the user specified BW Bandwidth and Damping to calculate servo loop gains 8 4 1 Setting up an Excitation First in order to determine the characteristics of the stage the U511 must excite the system It does this with a sinusoidal motion The user must input the amplitude and frequency of this motion This is done in the autotune screen The amplitude is entered in mm or in The frequency of excitation is entered in the Freq Hz box this is similar to running a signal generator into the controller In order for the software to successfully identify system parameters the torque and velocity signals must be of reasonable amplitude This means the torque signal should be greater than 1V PK when viewed in the tuning window If the software responds with an error message it may be because the amplitude or frequency is set too low Typical amplitude is 25 50mm 1 2in and a frequency of 1Hz Once the software responds with gain values you can move on to the next step The U511 only displays velocity feedback and torque for one axis
130. motor Aerotech linear motors have a pitch of 2 4 in and will generate a cyclic error with a period of 2 4 in These errors are due to gain or offset differences in the amplifier phases A low resolution encoder 1000 lines rev and a high servo loop sampling rate 4 kHz may cause high frequency noise or squealing sounds These systems will usually perform quieter by changing the Loop update rate 25 ms axis parameter x62 from zero to four The Kp gain should be decreased by a factor of four and Kpos increased by a factor of four when doing this The Ki should remain unchanged The position loop bandwidth can be calculated from the Kpos and servo loop update frequency The calculation is as follows Koos gt Fservo Ean Se ae BT se ase where Fservo servo loop update frequency Hz typically 1000 or 4000 8 24 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops 8 7 Tuning With Tachometer Feedback The UNIDEX 511 servo is easily configured for compatibility with external tachometers providing negative velocity feedback To adapt to an external tachometer based Velocity Loop the inherent digital Velocity Loop operation within the controller needs to be disabled This is done by setting the digital servo loop proportional gain Kp to zero The servo system s Velocity Loop then needs compensated by the tachometer amplifier combination When configured this way
131. motor For linear motors the positive direction is defined as movement away from the motor forcer s integral 5 wiring Make certain that the UNIDEX 511 is appropriately configured for the type of motor being driven IMPORTANT 2 6 2 Limit Verification Limit verification is extremely important in the startup of the UNIDEX 511 system Improperly configured limits can cause damage to system components and can pose safety hazards to operators and others Limit verification requires the operator to disable each axis manually engage each limit and then check the state of that limit input using the Diagnostics window The Diagnostics window will display the state of limit inputs as either an H for high or an L for low Depending on their polarity the limits should change from high to low or from low to high when activated Normally closed limit switches go from low to high when activated Normally open limit switches go from high to low when activated If no change is observed the limit system is faulty Refer to Chapter 4 of this manual for more information about limit parameters To prevent the possibility of personal injury or possible damage to the equipment do not enable the axes until the limits are working properly WARNING Version 1 1 Aerotech Inc 2 5 Getting Started U511 User s Manual 2 6 3 Preliminary Servo Loop Setup In the most general sense control loops are systems that create
132. must be configured for the same resolution Version 1 1 Aerotech Inc E 4 59 Parameters U511 User s Manual 4 8 6 Amplifier type 0 DC Brush 1 AC Brushless 2 Step 3 Recirc x 42 This parameter is used to configure the UNIDEX 511 for the type of motor being used aes The amplifier is commanded to the recirculation mode mode 3 when in position and when in low current mode When configured for the recirculation mode of operation x42 3 the ripple current is reduced to almost zero thereby causing the motor to run cooler This parameter has a range from 0 3 with the drive types listed in Table 4 47 Table 4 47 Settings for Parameter x42 Drive Type Code Drive Type 0 DC brush default 1 AC brushless including linear drives 2 Stepper amplifier no recirculation 3 Stepper amplifier recirculation mode Improper configuration of this parameter will cause the motor to trap when it is enabled or when motion is commanded IMPORTANT 4 60 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 8 7 Commutation cycles rev AC brushless motors only Parameter x43 is used to configure the UNIDEX 511 for the number of electrical cycles per motor revolution of the feedback device The value of this parameter in conjunction with the value of axis parameter x44 Feedback steps rev x 4 is used to generate the proper sinusoidal phase currents Refer to Table 4 48 N
133. number 1 X axis or the axis that will be tuned e Inthe Plot menu select Velocity Command and Position Error 8 32 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops f In the Trigger menu set the Forward Motion and Reverse Motion to a typical move For metric mode a move such as LINEAR X10 F2000 for Forward Motion and LINEAR X 10 F2000 for Reverse Motion is appropriate For English mode moves such as LINEAR X1 F180 and LINEAR X 1 F180 for Forward Motion and Reverse Motion respectively are appropriate Also set the Sample Rate to 1 g Inthe Tools menu select Status Control and Gains When the SINGLE button is pressed axis number 1 will first move as specified by the Forward Motion When the SINGLE button is pressed again axis number will move as specified by the Reverse Motion 7 Adjust the Kpos position gain in order to get the position error to end at or near the same time the Velocity Command ends Entering a value in the Kpos box on the Axis Scope window makes the adjustment to Kpos Refer to Figure 8 4 If Kpos is set too high the position error will visibly oscillate and the motor will vibrate The user is not striving to reduce the position error though that will happen However the axis needs to be rough tuned because the following step will be to fine tune the potentiometers on the amplifier Since all Servo Gains are set to zero the user must
134. occurs axis calibration Axis calibration is the process by which the current position of an axis is adjusted to match the actual position as determined by a laser for example of the axis backlash Backlash is a movement that occurs between two or more interacting mechanical parts as a result of looseness ballscrew A ballscrew is a precision motion component of mechanical stages and consists of a precisely threaded shaft or channel and a housing that rides along the shaft as the shaft is rotated The housing of a ballscrew contains ball bearings that ride in the channel of the shaft as the shaft rotates A small tube on the housing recycles the bearings as the shaft rotates The conversion factor parameter calculation is different for ballscrew systems compared to other systems Compare with leadscrew batch file A batch file is a file that contains a series of commands e g the AUTOEXEC BAT file is a batch file Version 1 1 Aerotech Inc A 1 y xIpu ddy Appendix A U511 User s Manual bit The term bit is an acronym for Binary digIT and represents a single binary number i e a 1 or a 0 In digital computers a bit s two states can represent an off state and an on state a high voltage and a low voltage the numbers 0 and 1 etc brushless motor Aerotech brushless motors are three phase rare earth permanent magnet servo motors which generate a sinusoidal back EMF voltage and are usuall
135. or concealed must be filed with the carrier by the buyer Aerotech must be notified within 30 days of shipment of incorrect materials No product may be returned whether in warranty or out of warranty without first obtaining approval from Aerotech No credit will be given nor repairs made for products returned without such approval Any returned product s must be accompanied by a return authorization number The return authorization number may be obtained by calling an Aerotech service center Products must be returned prepaid to an Aerotech service center no C O D or Collect Freight accepted The status of any product returned later than 30 days after the issuance of a return authorization number will be subject to review After Aerotech s examination warranty or out of warranty status will be determined If upon Aerotech s examination a warranted defect exists then the product s will be repaired at no charge and shipped prepaid back to the buyer If the buyer desires an air freight return the product s will be shipped collect Warranty repairs do not extend the original warranty period g xipuoddy Laser Products Return Procedure Returned Product Warranty Determination Version 1 1 Aerotech Inc B 1 Appendix B U511 User s Manual Returned Product Non warranty Determination Rush Service On site Warranty Repair On site Non warranty Repair Company Address After Aerotech s examination
136. out 3 4EN option board P9 16 in 8 out 4 4EN option board P10 12 in 8 out val Value of output bit Bit number to set highlow 0 sets bit low 1 sets bit high Version 1 1 Aerotech Inc 5 65 Programming Commands U511 User s Manual EXAMPLES OE0 0X55 Send real time output to U511 OE1 0 1 1 1 2 1 Send real time output to 4EN option board P7 connector Related commands INn IN OU 5 5 57 OUTPUT The OUTPUT or OU command is used to set or clear individual output bits or write an 8 bit value to the bus The output value may be specified as either a decimal or hexadecimal number The actual output polarity is the opposite of the programmed polarity Programming an output bit as a 1 causes the output to be pulled low Programming an output bit as a 0 causes the output to be in the high impedance state The power on default state of all outputs is 0 high impedance Refer to the digital I O bus specifications in Chapter 10 Technical Details for additional information The status of the outputs may be ascertained from the Primary I O screen under the Diagnostics menu See Chapter 3 User Interface SYNTAX OUTPUT Out_value OUTPUT bitnumber value Out_value Output value from 0 255 decimal 0 OxFF for hex bitnumber Specifies the bit number that is affected value Specifies the bit polarity EXAMPLES OUTPUT 127 Output value specified in decimal OUTPUT 0x55 Output value specified in hexadecimal
137. page differs from the other Setup pages as it is the only page that requires another page to change parameter values The user need not enter the hexadecimal numbers in any fault mask As shown in the figures the page instructs the user to press ENTER to expand the mask The expanded Fault Masks page breaks down the selected fault mask into its individual bits so the user can edit them one at a time An example of an expanded Fault Masks page is shown in Figure 3 22 Fault Masks Page 9 Axis 1 161 AUX output FFFFFFF00100 Halt queue FFFFFFF00000 Abort motion FFFFFFFF717F Enable brake FFFFFFF00000 Press ENTER to expand mask Back Next Axis Default Exit Bal F2 E3 F4 F5 Figure 3 21 Fault Masks Page The functions at the bottom of the page are the same as for any axis parameter Global fault masks Page 9 Axis 1 155 Position error 0 RMS current error 0 Integral error 0 CW Hardware 1 F1 F2 F3 F4 F5 Figure 3 22 Expanded Fault Masks Page The complete fault mask spans several pages Use the up and down arrow keys to scroll through the list of faults The Back key F5 returns the user to the original Fault Masks page To toggle between a 0 and a 1 press the left and right arrow keys Version 1 1 Aerotech Inc 3 19 The User Interface U511 User s Manual 3 6 Diagnostics Menu Upon hitting the F3 key in the Main menu the Diagnostics menu appears Like the param
138. positions to 0 G90 Absolute mode G1 X25 F750 Boat deck default feedrate 1500mm min G1 X20 Y 7 5 Boat end G3 X17 5 Y 7 5 C 1 25 0 Wave G2 X15 Y 7 5 C 1 25 0 Wave G3 X12 5 Y 7 5 C 1 25 0 Wave G2 X10 Y 7 5 C 1 25 0 Wave G3 X7 5 Y 7 5 C 1 25 0 Wave G1 X0 YO Boat front G2 X12 5 Y22 5 C26 5 0 Sail G3 X12 5 YO C25 11 25 Sail G3 X0 YO C 6 25 17 5 Sail G91 Incremental mode G1 X12 5 GOTO mast location G1 Y25 Mast G1 X5 Y 1 25 Flag G1 X 5 Y 1 25 Flag G90 Absolute mode G2 X25 YO C 14 22 5 Sail G3 X12 5 YO C 6 25 17 5 Sail G3 X12 5 Y22 5 C 25 11 25 Sail 9 14 Aerotech Inc Version 1 1 U511 User s Manual Programming Examples G1 X0 YO Return to 0 0 G91 Incremental mode G1 X 50 F750 Move back to center G92 Set all positions to 0 gt HHHHHHHHHHH Done Boat A V0 V0 30 NEXT EXIT End of program End of BOAT2 PRG 80 60 40 Figure 9 5 Output from Parts Rotation Example Program Version 1 1 Aerotech Inc 9 15 Programming Examples U511 User s Manual 9 11 Overriding Scale Factor This program is an example of the proper use of the SCALE FACTOR or SCF command Refer to Figure 9 6 for a representation of program output skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Title BOAT_SCF PRG Description This program demonstrates use of the overriding scale factor
139. programming steps 5 7 Conditional Statement IF 5 48 Configuration Aerotech Inc U511 User s Manual servo loop setup 2 6 Contour Planes stopping all motion 5 47 using English or Metric units 4 95 Contour Planes Interlocking 9 11 Control Board Jumpers 10 17 Control option 8 9 Conversion Factor 4 16 machine steps 4 16 machine steps per unit 4 16 program steps 4 16 program units 4 16 Conversion Factor Parameters examples using 4 17 Copy and Pasting 3 8 Corner Rounding 4 99 5 76 9 8 9 9 COS Function 5 4 CS Command Scope Command 5 10 5 30 Cubic Spline Interpolation 5 79 Current limit potentiometer 8 35 Cursor option 8 8 Cursor Jog Keys 3 2 Customer Order Number 11 1 Cutter Compensation Commands 5 10 5 31 CVI Command 5 10 5 34 CW_CIRCLE Command 5 10 9 6 9 8 CYCLE Command 5 10 5 34 D 7 D DAC Command 5 10 5 35 Damping 3 29 8 11 DC Brush Motor 4 54 DC Bus Voltages for the Amplifier Chassis 1 3 Definitions of Terms A 1 Desktop Style Amplifier Chassis Package 1 3 Diagnostics window 2 4 3 20 Digital I O Ports 10 4 DISABLE Command 5 10 5 36 Disabling Axes 5 36 Display submenu Axis Scope window 8 6 Displaying Messages 5 60 Dist 8 11 Distance 3 28 Division Function 5 4 Downloading a file from U511 7 11 Drive Faults 5 40 DS Display Servo Command 5 10 5 37 Dual Loop Operation 4 51 Version 1 1 U511 User s Manual Index
140. screen has five selectable functions that are described below F1 Auto Single F2 Cycle F3 Stop F4 Display F5 Quit The Auto Single key determines if the program is to run automatically Auto or by executing one block at a time Single Cycle is used to start and step through programs Stop is used to stop a running program All axis motion will terminate and the program will be unloaded from memory Display allows the user to monitor the running program Executing program lines can be displayed on the screen by pushing this key This slows down block processing time of the U511 and is only recommended for program debugging Quit will exit the Run Program screen and will prompt the user if a program is running A program is allowed to run in the background after pressing this key 3 4 2 Program Menu the Edit Submenu Pressing the F2 key in the Program screen brings up the Edit submenu The Edit submenu is a series of screens First the Edit File screen which is used to select the file to be edited appears Refer to Figure 3 7 To select a file use the up and down arrow keys or the PgDown PgUp function to move the cursor The selected file is shown in reverse video The selected file name or untitled in the case of a new file appears in the first line Press ENTER to begin editing Edit File TEST1 PRG TEST1 PRG 11 10 10 97 09 46PM TEST5 PRG 31 08 21 97 09 50PM TEST2 PRG 13 10 10 97 09 45PM Fl F2 F3 F
141. set the Kpos to a starting value otherwise the stage won t move Normal starting values are 10 100 1000 etc 5 Once the stage is moving the user should see a graph similar to the one in Figure 8 24 This graph illustrates that Kpos is too low The stage moves slowly in the positive direction and then in the negative direction EJ U511 Axis Scope Ver 5 00 OF x File Remote Plot Trigger Collect Display Axis Units Tools Collecting 500 Command LINEAR X10 F200 Status OK Axis 1 aa Kpos 700 ki 0 Kp 0 vee 0 Att 0 Save 34 Vel Cmd 1 0 7068 Pos Enf 1 Figure 8 24 Axis Scope Window Showing Kpos Too Low Version 1 1 Aerotech Inc 8 33 Tuning Servo Loops U511 User s Manual If the motor doesn t move then Kpos is too low Increase the value of Kpos and ES try again by pressing the SINGLE button The stage may want to drift away on its own when it is enabled Increasing Kpos will stop this If the user is adjusting the gains that Aerotech has provided for the system use the S existing Kpos as the starting point When Kpos is increased the position error is beginning to end at or near the end of the commanded move as illustrated in Figure 8 25 The axis is roughly tuned so continue with the following step EJ U511 Axis Scope Yer 5 00 of x File Remote Plot Trigger Collect Display Axis Units Tools Collecting 500 Comma
142. system These parameters are explained in detail in this section Parameters with and x in front of them actually represent 4 different parameters where x can equal 1 2 3 or 4 for axes 1 2 3 or 4 respectively 4 5 1 Metric x00 and English x01 conversion factors x00 A conversion factor is a number that determines system scaling i e the number of machine steps in relation to program steps These parameters give the operator the flexibility to define arbitrary program units inches tenths of inches millimeters x01 centimeters etc on a per axis basis for either Metric or English measuring systems The following terms are used in the explanation of the system conversion scale factor Program Unit User units such as inches millimeters degrees etc These are the units that are used within the application program Machine Step Smallest feedback device step This is the smallest possible increment of movement as measured by the feedback device Machine Steps Unit The number of machine steps per programming unit Program Steps The smallest programmable increment of motion Program steps programming units 10 dec where ndec is the number of decimal digits set by the Metric digits and English digits parameters parameter numbers 29 47 65 83 and 30 48 66 84 respectively If the number of decimal digits is specified as 3 then the programming step size is 001 there are 1000 progra
143. system default is zero 0 4 8 19 DAC offset parameters mV Parameters x79 and x80 provide a DC offset to the generated primary and secondary current command They may be used in tachometer applications to null out the digital analog D A converters The values for these parameters are specified in mV and can range from 10 000 to 10 000 mV The default value is zero Refer to Table 4 50 for a definition of these parameters Table 4 50 Settings for Parameters x79 and x80 Param Definition Range Default my Value x79 Primary current command offset 10 000 to 10 000 0 mV x80 Secondary current command offset 10 000 to 10 000 0 mV D x lt D e e0 Version 1 1 Aerotech Inc 4 65 Parameters U511 User s Manual 4 8 20 Encoder factor x82 Parameter x82 can be used to change the position feedback resolution This number multiplies encoder counts from the position loop encoder This should be used only in dual loop applications in which the position loop resolution is less than the velocity loop resolution Setting the parameter to 1 can reverse the polarity of the encoder The default value of 0 will not change the resolution Settings for parameter x82 are given in Table 4 51 Table 4 51 Settings for Parameter x82 Range Default Value 8388607 8388607 0 Parameter x82 4 66 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 9 Page 9 Fault Masks Th
144. the response to an inquiry of transmission status Version 1 1 Aerotech Inc A 5 Appendix A U511 User s Manual notch filter A notch filter is a software filter that is used to remove a section of frequencies in order to stabilize a system with a known mechanical resonance open loop system An open loop system is a drive system that does not employ feedback sensors to monitor position or velocity Most stepper motor applications are open loop that is they have no feedback The commanded position is the assumed motor position Contrast with closed loop system operator 1 An operator is one who uses the UNIDEX 511 system operator 2 An operator is a programming element that is used to link terms in an expression Programming operators include the standard arithmetic operators e g and comparison operators e g lt and gt and Boolean operators e g AND OR and NOT and others orthogonality Orthogonality is a state of two axes in which one is perpendicular to the other The UNIDEX 511 provides orthogonality correction capabilities that allow an axis to be corrected using absolute machine step correction data based on a position dependent axis Orthogonality correction if used is incorporated into the axis calibration CAL file plane A plane is an axis or group of axes that can be coordinated for example a particular action of one plane can trigger an action on another plane or inde
145. the 4 A D Channels They are eight bit and can read a voltage between 0 and 5 VDC The values in the A D registers range from 0 to 255 which represent analog voltage levels To convert these values to voltages divide the registers by 51 2 They are engaged using the ENABLE AD command and disengaged using the DISABLE AD command Refer to Table 5 9 Table 5 9 A D Channel Registers Register Signal Name Description 5 4 System Inputs INP and IN0 INF System input commands may be used to return a 16 bit word having a value that corresponds to the state of all inputs or specified inputs The command syntax for system inputs is INP Returns a 16 bit word each bit corresponding to the state 0 or 1 of an input INn Returns an individual bit value 0 or 1 that corresponds to the state of a particular input The UNIDEX 511 normally has 16 input lines The state of the inputs may be read using the INP command The value returned by INP will be between 0 all inputs low and 65 535 all inputs high The value of INP is the decimal equivalent of the 16 bit binary number denoted by the state of the 16 inputs Unused inputs are pulled high so they contribute to the values of the INP value Individual bits can be tested with the bitwise AND operator amp For example IF SINP amp 0x3 THEN 5 8 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands When an input is high that input line contribute
146. the AUX I O connector and are opto isolated on this connector only The lower four inputs and outputs are program compatible with the U11 and are accessed with the OT IT etc commands See the Technical Details chapter for more information The U511 does not require an to terminate commands except for the E commands The EOS character which is typically lt LF gt is the only terminator necessary for remote communication The lt CR gt character is ignored if present The UNIDEX 511 has the ability to program in user defined units These units are specified by two parameters an axis scale factor and number of decimal places For compatibility with the U11 the axis scale factor should be set to 1 0 and the number of decimal places should be set to 0 The U511 will then program in machine steps Aerotech Inc Version 1 1 U511 User s Manual APPENDIX G THE RDP PC RESOLVER TO DIGITAL BOARD In This Section e INtTOMUCTION ete nee ee een ae nea eee G 1 RDP Board Hardware Setup 0 0 0 0 eee eeeeeeereeeeeeeees G 1 e Installing the RDP Board into the UNIDEX 511 G 6 UNIDEX 511 Software setup e eee eeeeeeeeeeees G 7 e Connecting the Device to the RDP Board 0000 G 8 Adjusting the Gain on the RDP Board G 10 Nulling the Phase Offset Rotary Inductosyns Only G 11 Verifying Resolver or Inductosyn Operation G 12 G 1 Introduction
147. the HOME position UAP U axis commanded position referenced from the HOME position 5 3 3 Real Time Feedback Position Registers Real time feedback position registers represent the axis position from the feedback device encoder resolver etc with respect to the software home position This is the feedback position input to the servo loop The difference between the Real Time Feedback Position and Real Time Commanded Position is position error The value returned from the register is in program steps See the PROGRAM command for more information on program steps Refer to Table 5 7 Table 5 7 Real Time Feedback Position Registers Registers Meaning XFP X axis real time feedback position referenced from the SOFTWARE HOME YFP Y axis real time feedback position referenced from the SOFTWARE HOME ZFP Z axis real time feedback position referenced from the SOFTWARE HOME UFP U axis real time feedback position referenced from the SOFTWARE HOME 5 6 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 3 4 Real Time Command Position Registers Real time commanded position registers represent the axis position that is commanded by the UNIDEX 511 with respect to the software home position This is the real time position command input to the servo loop The difference between the Real Time Feedback Position and Real Time Commanded Position is position error The value returned from the registe
148. the Motor or Amp feedback Documents The wrong feedback setup code has been specified Verify the feedback Appendix B The emergency stop input is in the active state Set the fault mask parameter if an emergency stop is not desired Limits are not connected to the UNIDEX 511 diagnostics Run 2 5 2 6 4 7 The active polarity parameters of the limits are set wrong The commanded motion extended past the limit Acknowledge the fault to move out of the limit range The system has been powered up in the limit condition Acknowledge the fault to move out of the limit range The active limit polarity setup parameter is set wrong Software limits are improperly set Always disconnect main power connection before opening the U511 chassis WARNING Version 1 1 Aerotech Inc Troubleshooting U511 User s Manual Table 11 3 Troubleshooting for Problems Involving Fault Conditions Cont Problem Possible Causes Solutions See Also An over current trap If the motor makes unusual noises or oscillates the 2 5 2 6 4 10 8 0 RMS over current gain parameters may need to be adjusted fault error has occurred Appendix B The RMS current trap parameter is set too low Motor or Amp The RMS current sample time is set too short Documents The mechanical system is damaged or jammed The motor amplifier may be undersized for the load A feedback trap has The incorrect feedback channel has
149. the RMS current drawn by a motor over a period of time will tend to heat up the motor Therefore the operator should choose a parameter value that will cause a fault before the motor overheats and fails This parameter value can range from to 16 383 ms The default value is 10 000 ms or 10 seconds Refer to Table 4 58 Table 4 58 Settings for Parameter x49 Param Axis Range Default 149 1 1 to 16 383 ms 10 000 ms 249 2 1 to 16 383 ms 10 000 ms 349 3 1 to 16 383 ms 10 000 ms 449 4 1 to 16 383 ms 10 000 ms This parameter is used in conjunction with parameter x48 to determine RMS current level faults S E Version 1 1 Aerotech Inc 4 77 Parameters U511 User s Manual 4 10 7 Clamp current output 0 100 Parameter x53 is the Clamp current output parameter The maximum output voltage of the control loop may be clamped in order to limit the amplifier current and motor torque This parameter is expressed as a percentage of the maximum output voltage The actual motor current depends on amplifier scaling This parameter should be set such that the maximum peak current of the motor is not exceeded A fault condition is not generated if the UNIDEX 511 tries to exceed the maximum current output level however position errors or integral error faults may occur This parameter value can range from 0 to 100 The default value for this parameter is 100 Refer to Table 4
150. the U511 in Manufacturing mode connect the RS 232 cable from COM2 of the U511 to the host PC and select the PC s COM port from the software From the File menu item select either Load DOS or Load BIOS This will bring up a file dialog box Select the DOS file DOS ABS or select the BIOS file BIOS ABS 7 6 4 Erasing B Drive This procedure requires that a PC keyboard be connected to the U511 Set up Manufacturing mode by following the procedure for loading system software Section 7 6 2 This selection will erase the B drive which contains the parameters and all user program files Following this procedure the B drive will need to be reformatted From the a gt prompt on the U511 type format b This procedure should only be performed in the event of a catastrophic failure of the B drive 7 6 5 Uploading a File to UNIDEX 511 To upload a file the U511 must be in normal operating mode with the U511 software running Connect a one to one RS 232 cable between the U511 and the host PC The COM port settings must be selected for both the U511 and the host PC To change the U511 COM port settings from the main screen of the U511 software select the Setup menu F2 to enter the parameter screen The COM port settings are on Pages 2 and 3 Enter the desired settings The Windows software will run up to and including the 57 6 k baud setting Select the COM port settings of the host PC from the File Transfer Utility s
151. the analog outputs of the UNIDEX 511 which normally deliver current commands to amplifiers will now deliver velocity commands to amplifiers accepting tachometer feedback In this configuration the servo system has the following characteristics e The amplifier is configured to accept tachometer based negative velocity feedback e The amplifier controls the Velocity Loop of the servo system Tuning for the Velocity Loop is accomplished in the pre amp section of the amplifier e The proportional gain parameter Kp in the UNIDEX 511 controller s servo loop parameter set has been set to zero 0 for that axis disabling its digital Velocity Loop functionality e The controller is now commanding velocity to the amplifier instead of commanding torque to the amplifier 8 7 1 In Position Integrator Setting Ki 40 can enable an in position integrator After Ki is set to a nonzero value the UNIDEX 511 will attempt to remove steady state position errors This function also helps to reduce the effects of tachometer loop drift In position integration is accomplished at a rate that is directly proportional to the integral gain value that is set in Ki If a value for Ki is too large it will induce oscillation into the position error and increase the settling time 5 8 7 2 Velocity Feed Forward The following error position error that occurs while the axis is moving may be reduced significantly by setting th
152. the number of bits used to indicate the end of a character The choices are or 2 bits The default is 1 bit 4 3 4 Parity N O E Parity is an error detection scheme that uses and extra checking bit called the parity bit to allow the receiver to determine whether there has been an error in the received data The value of the bit is set so that the sum of the data bits and the parity bit is always either even for even parity or odd for odd parity Parameters 611 and 620 are the RS 232 parity setting The choices are N for none O for odd and E for even The default is N 4 3 5 End of string character Parameters 612 and 621 specify a value that should be used to terminate remote commands to the U511 This character will terminate strings returned by the U511 The character may range from 0 to 255 The default has a decimal value of 10 and a hexadecimal value of OxOA line feed LF character 4 3 6 Fast output y n The UNIDEX 511 will output characters as fast as possible if parameter 613 or 622 is set to yes If set to no a slight delay will be inserted between characters transmitted The default value is yes 608 617 609 618 610 619 611 620 613 622 Version 1 1 Aerotech Inc Parameters U511 User s Manual 4 3 7 Command ACK character 614 623 The U511 will return the character specified in parameter 614 623 after it has 7 successfully received and decoded a remote co
153. the work piece G41 Turns on cutter radius compensation LEFT A tool radius and the axes to be compensated must first be specified G42 Turns on cutter radius compensation RIGHT A tool radius and the axes to be compensated must first be specified default G43 Runits Set cutter radius G44 axis axis Defines axes for compensation X Y Z or U units Cutter radius Units are the same as current programming mode English units metric units or steps axis Defines axes for compensation X Y Z or U EXAMPLE The following example program demonstrates the cutter compensation commands See Figure 5 3 5 HEHE CUTCOMP1 PRG HHHH c demonstrates cutter compensation while doing a square 5 32 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands ENABLE X Y Enable axes HOME X Y Home axes PROGRAM UNITS UNITS MIN Set to units default G91 Set Incremental mode G70 Set English mode Ramp 100 HHH 1st do square with no cutter comp H G1 X1 Y1 F10 Move on to part G1 Y1 Side G1 X1 Side G1 Y 1 Side G1 X 1 Side G1 X 1 Y 1 Move off G4 500 Dwell 1 2 sec HHH 2nd do square with cutter comp G43 R 25 Set tool radius to 25 G44 X Y Define cutter comp axes G41 Cutter comp left G1 X1 Y1 F10 Move on to part G8 G1 Y1 Side GI X1 Side G1 Y 1 Side G9 G1 X 1 Side G40 Cutter comp off G1 X 1 Y 1 Move off PNT TE 1inch squares LY V
154. to start Plane 1 will then make a CW circle and be halted Plane 2 will make a move and trigger plane 1 to begin again Note Set parameter 000 equal to 2 to allow for 2 contour planes KKK kk k k k k k k k k k k k k k kk k kk KK k k k kkk k k kkk kk kkk KKK kkk kkk kkk KKK KKK KKK kkk KK KK kkk kkk kk kkk kkk kkk RRR MAP 1 1 X 2 1 Y 3 2 X 4 2 Z PLANE 2 ENABLE X Drive 3 in plane 2 X Drive 4 in plane 2 Z HALT Stop motion of plane 2 GO X50 F100 Move 2 plane 2 motion put into buffer PLANE 1 ENABLE X Y GO X50 Y50 F100 Move 1 plane 1 motion WAIT ON Wait until move 1 is done to begin 3 axis move 2 START 2 Start plane 2 after motion in plane 1 G2 X0 YO C0 20 F500 Move 2 CW circle in plane 1 WAIT ON Wait until move 2 is finished to begin move 3 START 2 HALT Stop motion in plane 1 GO X50 Y50 F100 Move 4 plane 1 motion put into buffer PLANE 2 GO X 25 Move 3 plane 2 motion WAIT ON Wait until move 3 is finished sto begin 3 axis move 4 START 1 Start motion of plane 1 GO X 25 Move 4 plane 2 motion EXIT Version 1 1 Aerotech Inc 9 11 Programming Examples U511 User s Manual 9 8 Splining This program is an example of splining Refer to Figure 9 4 for the output of the program skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk This is an example of splining The part will be cut at a constant velocity kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk
155. trajectory type is linear TRAJECTORY SINE Accel decel ramp trajectory type is inverse sine Related commands RAMP 5 88 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 80 TRIGGER This command starts planes 1 2 3 or 4 or any combination of planes that are currently halted This is a real time now queued command SYNTAX TRIGGER plane plane plane Plane 1 4 EXAMPLE This example loads commands into planes 1 and 2 of the U511 s queue then triggers them simultaneously PLANE 1 HALT G1 X1 F1000 G1 X 2 Y 2 nee More commands for plane 1 PLANE 2 HALT G1 Z1 F1000 G1 Z 3 G1 Z 1 U 2 ror More commands for plane 2 TRIGGER 1 2 Start planes 1 and 2 Related Commands WAIT HALT Version 1 1 Aerotech Inc 5 89 Programming Commands U511 User s Manual 5 5 81 UMFO Manual Feed Override The UMFO command option is used to override the MFO potentiometer setting UMFO OFFION feed_rate OFF Enables the MFO potentiometer ON 0 199 Disables the MFO potentiometer and specifies a feedrate from 0 199 of the programmed feedrate EXAMPLES UMFO ON 100 Disables the MFO potentiometer and sets feedrate at 100 of programmed value UMFO OF Enables the MFO potentiometer 5 90 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 82 VAR Read Write Variables The VAR command is used to read and write user variables to files VAR
156. used A list of motor types Stepper AC Brushless and DC Servo their related parameters and default values are shown in Table 4 39 Table 4 39 Motor Feedback Parameters Param Description Step AC DC Default Brushless Servo Value s x38 Position channel v Te 1 2 3 4 x39 Velocity channel N A v v o x40 Position setup code v v v 3 x41 Velocity setup code N A v v 3 x42 Amplifier type v v v 0 x43 Commutation cycles rev N A MA N A 4 x44 Feedback steps rev v v v 4000 x45 Commutation phase offset degrees N A v N A 0 x46 Stepper high current 0 100 v N A N A 70 x47 Stepper low current 0 100 v N A N A 35 x63 Microstepping resolution machine v N A N A 4000 steps x64 Stepper correction y n v N A N A Yes x65 Stepper correction speed v N A N A 1 0 x66 Base speed machine steps ms N A v N A 0 x67 Base speed advance 0 359 degrees N A v N A 0 x68 Phase speed machine steps ms N A v N A 0 x69 Phase speed advance 0 359 degrees N A v N A 0 x79 Primary DAC offset mV v v v lo x80 Secondary DAC offset mV v v v lo x82 Encoder factor N A v v 0 Version 1 1 Aerotech Inc 4 49 Parameters U511 User s Manual 4 8 1 I
157. velocity of the deceleration of the current move time T1 to T2 to the acceleration of the next move time T2 to T3 With ramp times staying constant and distances long enough so that the motion will ramp up to the desired velocity velocity profiling will produce the desired results The following mathematical analysis shows how to determine the shortest move that will still allow for proper velocity profiling The time of this shortest move is twice the ramp time and doing the calculations assuming linear acceleration the acceleration equals the feedrate divided by the ramp time Version 1 1 Aerotech Inc 5 93 Programming Commands U511 User s Manual GSi ia The distance is the sum of the distances traveled during acceleration and deceleration l 2 1 2 Xi beat ra Substituting in for acceleration yields the simple formula X Verte For the above example where v 960 mm min 16 mm s and with ramp time set at 160 ms the shortest programmable move for proper velocity profiling is 2 56 mm Changing the second move in the above example from G1 X5 to G1 X1 demonstrates the problem that can occur See the following plots The first plot shows the motion without profiling the second plot shows what happens when the moves are blended together 17 Velocity 1 0 250 500 750 1000 1250 1500 1750 200 Figure 5 13 Short Middle Move With No Velocity Profiling 17 Velocity 1 0 250 500 750 1000 1250 1500 1750 200 F
158. will disable the associated axis A 0 in a bit position indicates that the corresponding fault condition is ignored For example if bit O position error bit of parameter 356 is set to 1 then a position error fault on axis 3 will cause that axis to be disabled The default bit pattern for the Disable axis fault mask is FFFF FFFO EF87 4 9 4 Interrupt Parameter x57 defines a 48 bit pattern mask corresponding to the faults listed in Table 4 52 on page 4 68 that specifies which fault conditions if any are used to generate a hardware interrupt when any of the selected fault conditions are true A 1 in a bit position indicates that the corresponding fault condition will generate a hardware interrupt if the fault occurs A O in a bit position indicates that the corresponding fault condition is not used to generate a hardware interrupt For example if bit 14 emergency stop bit of parameter 257 is set to 1 then an emergency stop error fault on axis 2 will cause the UNIDEX 511 to generate a hardware bus interrupt If multiple bits are set to 1 in parameter x57 then a hardware bus interrupt is generated if any of the faults associated with those bits occur The default bit pattern for the Interrupt fault mask is FFFF FFFO 0000 all assigned bits are set to 0 4 9 5 AUX output A fault see Table 4 52 on page 4 68 is considered to be an AUX output fault if the corresponding bit in this AUX o
159. will need to be manually adjusted when the U511 configuration is returned to dual loop mode 8 4 6 Guidelines and Limitations e It is usually necessary to defeat the velocity error and position error traps before tuning e If you do not have ballpark gains for a system start out with low values Kpos 10 Ki 1000 Kp 10 000 e Most systems should be able to achieve a bandwidth of at least 30Hz e Care must be taken not to exceed the maximum tracking rate of the feedback device especially resolvers inductosyns Large gimbals with inductosyns cannot use autotuning e Autotuning will work with vertical axis configurations e For systems with large mass or high inertia it may be necessary to reduce the excitation frequency to 25 5Hz For small systems it may be necessary to increase the frequency to 2Hz e Autotuning can be run on unconnected motors and linear motors 8 14 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops e When changing the servo loop update rate from 4KHz to 1KHz Kp should be reduced by a factor of 4 Ki should stay the same and Kpos should increase by a factor of 4 e When changing resolution from 1000 lines to 2000 lines Ki and Kp should be reduced by a factor of 2 Kpos stays the same 8 4 7 Troubleshooting Autotuning Some tips for troubleshooting autotuning are given in Table 8 4 Table 8 4 Troubleshooting the Autotune Process Problem System responds with Coul
160. x34 represent filter coefficients NO N1 N2 D1 and D2 of a second order difference equation Filter coefficients NO N1 N2 D1 and D2 can be used to implement a notch filter or a second order low pass filter These are described in the following sections x lt oO oO x lt wo These parameters have a range from 2 0 to 2 0 The system default setting is O for no notch filtering x lt oO N x lt oO oO 4 6 8 1 The Notch Filter The UNIDEX 511 implements a second order discrete time filter The filter has a sample time specified by axis parameter no x62 The general format of this equation is shown below x lt OO A Not Niz N 1 D 2 gt Dz The filter coefficients NO N1 N2 D1 and D2 parameters x30 x31 x32 x33 and x34 are derived through calculations that are based on the continuous time transfer function equation shown below A z Ow K 0 H s A s s 0 Q Two functions define a notch filter the center frequency p and the quality factor Q The resonant center frequency must be measured from the system The quality factor is a characterization of the width of the notch For example a large Q value e g 5 results in a narrow stop band while a small Q value e g 0 1 results in a wide stop band The backwards difference transformation z l s zTs is used to convert the continuous time equations into discrete time Version 1 1 Aer
161. 0 8 388 607 The Vff value parameter x28 represents velocity feed forward The velocity feed forward bypasses the position portion of the control loop Velocity commands are sent directly to the velocity loop resulting in a reduction of position errors Resolution differences between position and velocity feedback transducers may be compensated for by the proper configuration of this parameter The actual scaling of the feed forward command is Vff 256 where Vff is the value of axis parameter x28 This parameter s value can range from 0 to 8 388 607 The system default setting for x28 is 256 This gives an actual scale factor of 1 i e 256 256 1 If no secondary feedback channel is specified this parameter should be set to 256 4 6 5 Aff acceleration feed forward 0 8 388 607 The Aff value represents acceleration feed forward The acceleration feed forward value attempts to eliminate servo loop errors during acceleration and deceleration It accomplishes this by sending a portion of the commanded acceleration deceleration to the motor directly Parameter x29 has a range from 0 to 8 388 607 The default setting is 0 This parameter helps to eliminate errors during acceleration deceleration only N Version 1 1 Aerotech Inc 4 33 Parameters U511 User s Manual 4 6 6 Loop update rate 0 25 ms x62 Parameter x62 is the servo loop update rate parameter This parameter specifies
162. 0 is FFFF FFFF 9E78 The ABORT cycle does not preserve the contour of the motion 4 9 8 Enable brake Parameter x61 specifies a fault mask pattern corresponding to the faults in Table 4 52 on page 4 68 that causes the brake output to be activated immediately if any of the selected conditions are true i e if any of the selected faults occur For more information about the brake output refer to the Chapter 10 Technical Details The default setting for this parameter is FFFF FFFO 0000 Only one axis should specify a non zero mask for the brake The brake will be automatically disengaged when the axis is enabled and engaged when the axis is disabled The brake fault mask is usually configured to turn the brake on when a disable error occurs 4 70 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 10 Page 10 Traps Trap parameters are a part of the UNIDEX 511 s error checking and safety system They are used to define the limits for fault conditions These parameters are explained in the sections that follow For additional information refer to Section 4 9 Faults page 4 10 1 Top feedrate machine steps ms Parameter x17 sets the highest speed in machine steps ms for which the axis is mechanically configured If a feedrate is requested that is higher than the value specified in x17 then the message Feedrate Error is displayed in the Program mode screen of the software In add
163. 00 mm Enabled 0 000 mm Enabled 0 000 mm Enabled 0 000 mm Disabled Move to spline point Mode E1 F2 F3 F4 ES Figure 3 18 Spline Command Screen The functions F1 F5 at the bottom of the screen are described below F1 Mode Mode selects type of digitizing command F5 Quit Quit returns the program to the Program Editor 3 16 Aerotech Inc Version 1 1 U511 User s Manual The User Interface 3 5 Setup Menu Parameters Upon hitting the F2 key in the Power up screen the Setup menu appears The Setup screens are used to check and change the U511 parameters Setup consists of 11 screens or pages with groups of related parameters on each The pages are as follows Page Page Title Number 1 System Configuration 2 Serial Port 1 Setup 3 Serial Port 2 Setup 4 GPIB IEEE 488 Setup 5 Axis Configuration 6 Servo Loop 7 Homing and Limits 8 Motor and Feedback 9 Fault Masks 10 Traps 11 Planes and Mapping Parameters are classified as axis parameters if they are used for all four axes All other parameters are considered general parameters Axis parameters are numbered 100 to 199 200 to 299 300 to 399 and 400 to 499 for axes one through four respectively General parameters are numbered 0 to 99 and 500 and up Parameter type and number are displayed in the upper right corner of all Setup screens A general parameter page is shown in Figure 3 19 and an axis parameter page is shown in Figure 3 20
164. 07 5000 432 x27 Kp 0 8 388 607 100000 4 32 x28 Vff 0 8 388 607 256 4 33 x29 Aff 0 8 388 607 0 4 33 x62 Loop update rate 25 ms 1 100 1 4 34 x24 Enable Notch filter y n No 4 34 x30 Notch filter NO 0 00000000 4 35 x31 Notch filter N1 0 00000000 4 35 x32 Notch filter N2 0 00000000 435 x33 Notch filter D1 0 00000000 4 35 x34 Notch filter D2 0 00000000 435 x78 Servo loop type 0 4 35 Version 1 1 Aerotech Inc Parameters U511 User s Manual Table 4 1 U511 Parameters Grouped by Page continued Number Page Page 7 Homing and Limits 4 41 Page 8 Motor and Feedback 4 49 x42 Amplifier type 0 DC Brush 1 AC Brushless 2 0 4 60 Step 3 recirc x43 Commutation cycles rev 4 4 61 x44 Feedback steps rev 4000 4 62 x45 Commutation phase offset 0 359 degrees 0 4 62 x46 Stepper high current 0 100 70 0000 462 x47 Stepper low current 0 100 35 0000 4 63 x63 Microstepping resolution machine steps 4000 4 63 x64 Stepper correction y n Yes 4 63 x65 Stepper correction speed microstep ms 1 00000000 4 64 x66 Base speed machine steps ms 0 4 64 x67 Base speed advance 0 359 degrees 0 4 65 4 4 Aerotech Inc Version 1 1 U511 Use
165. 1 12 Feedrate error Top feedrate x17 exceeded 13 Velocity error e 4 Emergency stop Emergency stop input active p 5 Reserved 16 Axis 1 any fault Linkage to other axis 17 Axis 2 any fault Linkage to other axis 18 Axis 3 any fault Linkage to other axis 19 Axis 4 any fault Linkage to other axis 20 23 Reserved 24 27 Reserved 28 31 Reserved 32 35 Reserved 36 39 Reserved 40 43 Reserved 44 47 Reserved Max velocity error x18 exceeded 4 68 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 9 2 Global fault mask Parameter x55 is the Global fault mask parameter This parameter defines a global 48 bit pattern mask that either enables 1 or disables 0 detection of fault conditions associated with the corresponding bits for all tasks The appropriate fault bit see Table 4 52 on page 4 68 must be set to a 1 for the associated faults to be detected and reported The default bit pattern for this parameter is FFFF FFFF 319F 4 9 3 Disable Parameter x56 defines a 48 bit pattern mask corresponding to the faults listed in Table 4 52 on page 4 68 that specifies which fault conditions if any are used to disabled the associated axis A 1 in a bit position indicates that the corresponding fault condition
166. 1 communications port error break frame parity or overrun error This bit indicates that a communications error has occurred and the communications port is unreliable at the selected baud rate Try decreasing the baud rate A shielded cable should always be used Cleared after read 1 program is currently running bit 2 1 program execution error Immediate command error I Set when 1 program runtime error 2 Immediate command syntax error I This bit is cleared when a new program is loaded or a new Immediate I command is sent to the controller Use the PE command to get an ASCII error message bit 3 1 illegal remote command An illegal remote command was sent to the U511 or a syntax error occurred with that command The Serial Pol command Q in RS 232 mode or the Serial Pol function in GPIB mode clears this bit Use the PE command to get an ASCII error message bit 4 1 axis fault An axis fault occurred 1 e position error RMS current error limit etc This bit is cleared by the Fault Acknowledge command IFA Use the PE command to get an ASCII error message 1 service request pending 6 12 Aerotech Inc Version 1 1 U511 User s Manual Remote Mode Operations Table 6 18 shows the communication sequence for the Serial Pol command Table 6 18 Serial Pol Sequence Direction of Transfer Command Description Host gt U511 Q Serial Pol command Host gt US511 EOS char
167. 1 0 a b Map axis to plane a as b where 1 X default a 1 2 3 or 4 and 2 U b X Y Z or U 3 Z 004 2 0 Blocks motion on axis 2 0 a b Map axis 2 to plane a as b where 1 Y default a 1 2 3 or 4 and 1 Z b X Y Z or U 2 X 005 3 0 Blocks motion on axis 3 0 a b Map axis 3 to plane a as b where 1 Z default a 1 2 3 or 4 and 4 X b X Y Z or U 3 Y 006 4 0 Blocks motion on axis 4 0 a b Map axis 4 to plane a as b where 1 U default a 1 2 3 or 4 and 4 Y b X Y Z or U 1 Z Axis one is always assigned to amplifier drive channel one axis two to amplifier drive channel two etc 5 An axis must not be assigned to more than one contour plane If the UNIDEX 511 system is inadvertently configured this way a feedback error is generated 5 For additional information on the use of planes refer to Section 4 11 1 Overview of Planes on page 4 81 as well as the PLane command in Chapter 5 Programming Version 1 1 Aerotech Inc 4 89 Parameters U511 User s Manual 4 11 6 Axis 1 2 3 4 gantry yes none slave 1 2 3 4 When performing contour type moves it may be desirable to pair axes in a master slave relationship In such configurations motions commanded to the master axis are automatically sent to the slave axis A 08 These parameters must be configured relative to each other In addition an axis may be
168. 1 1 U511 User s Manual The User Interface There are five functions at the bottom of the screen These are described below F1 High Low This function selects high or low speed F2 Index Freerun This function selects index or freerun mode F3 Enable Disable This function will enable or disable the axis F4 Home This function will Home the selected axis F5 Quit Quit exits the Jog screen 3 8 3 MDI Menu Commands Submenu This screen is for menu assisted command entry Essentially it is the same screen as the Command Edit screen under the Program Edit submenu Refer to Section 3 4 2 Program Menu the Edit Submenu to receive instructions on using the Commands screen Version 1 1 Aerotech Inc 3 33 The User Interface U511 User s Manual Aerotech Inc Version 1 1 U511 User s Manual Parameters CHAPTER 4 PARAMETERS In This Section OS NrOCUCHLONE eee eyes ee ee ee eee 4 1 e Page 1 System Configuration cece eee eeeeeee 4 7 e Pages 2 and 3 Serial Port n Setup 00 4 13 e Page 4 GPIB TEEE 488 Setup eee 4 15 e Page 5 Axis Configuration 0 cece eee eeeeeee 4 16 Oo RavciOsS Ch OueOOp pene eee eee 4 32 e Page 7 Homing and Limits 0 0 0 4 41 e Page 8 Motors and Feedback eee 4 49 om Rape O Fa MaE E E A 4 67 oP Pace lO Miraps eee rete E 4 71 e Page 11 Planes and Mapping cesses 4 81 4 1 Introduction This chapt
169. 1 User s Manual Programming Commands 5 5 73 SOFTWARE The SOFTWARE command is used to set software home limit and position locations So SYNTAX SOFTWARE HOME axis_position G92 axis_position SOFTWARE LIMIT axis_CCWdistance C Wdistance SOFTWARE POSITION axis The functions available with this command are as follows SOFTWARE HOME axis_position or G92 axis_position The command with no axis designation sets the position register of all active axes to zero The command with an axis designation sets the position registers of the designated axis to the specified value SOFTWARE LIMIT axis_CCWdistance C Wdistance Sets the counterclockwise CCW and clockwise CW travel limit distance in program units such as inches mm etc for the specified axis as referenced from the gt hardware home position Must HOME axes before CON as GW Gist software limits take effect CCW Home CW SOFTWARE POSITION axis Establishes a software position for each of the specified axes that is referenced from the current hardware position This position is useful after a freerun or when using either a joystick or handwheel option so that the new software position is updated to match the current hardware position EXAMPLES G92 Sets position register of all of the axes in the current plane sto 0 G92 X0 Sets the position register of the X axis to 0 All other axes sare unaffected SOFTWARE HOME X1 2 Y3 4 Z5 6 U7 8 Sets the position registe
170. 10 Open Loops A 6 Operators and Evaluation Hierarchy 5 4 Opto 22 Connection 10 6 Opto 22 Interface Board 1 4 Oscillator frequency G 4 OUTPUT Command 5 11 5 66 Outputs brake control 5 21 Overriding Scale Factor 5 77 9 16 Overview of planes 4 81 Overview of the UNIDEX 511 System 1 1 P Panel Mount Style Amplifier Chassis Package 1 3 Parallel control loop 4 39 Parameter Home Direction CCW 4 42 Parameter 000 4 84 Parameter 001 4 86 Parameter 002 4 87 Parameter 098 4 9 Parameter 099 4 9 Parameter 500 4 10 Parameter 501 4 12 Parameter 600 4 7 Parameter 601 4 7 Parameter 602 4 7 Parameter 603 4 7 Parameter 604 4 7 Parameter 605 4 7 Parameter 606 4 8 Parameter 607 4 8 Parameter 626 4 15 Parameter 627 4 15 Parameter 628 4 15 Parameter 629 4 15 Parameter 647 4 11 Parameter 648 4 12 Parameter x02 4 42 Parameter x03 4 43 Parameter x05 4 44 Parameter x06 4 44 Parameter x09 4 45 Parameter x10 4 45 Parameter x11 4 19 Parameter x12 4 20 Parameter x13 4 20 Parameter x14 4 21 Parameter x15 4 21 Parameter x16 4 19 Parameter x17 4 71 Parameter x18 4 72 Parameter x19 4 73 Parameter x20 4 74 Parameter x22 4 46 Parameter x24 4 34 Parameter x25 4 32 Parameter x26 4 32 Parameter x27 4 32 Parameter x28 4 33 Parameter x29 4 33 Parameter x35 4 25 Parameter x37 4 26 Parameter x38 4 56 Version 1 1 Aerotech Inc v Parameter x39 4 57 Parameter x40 4 58 Paramete
171. 10a 160 1000 4 10a 30 40 80 160 400 2000 2 5A 30 200 230 VAC 2 5A 40 80 160 350 4 5A 30 40 80 160 400 700 2 5A 30 200 100 VAC 2 5A 40 80 160 350 4 110A 30 40 80 160 400 700 2 5A 30 200 208 VAC 2 5A 40 80 160 350 4 5A 30 40 80 160 400 700 Maximum Watts Out is dependent on drive and bus voltage combination Some configurations will result in a lower maximum power e Protective grounding is through the main power connection e The supply connection is the main power cord the main power disconnect e Protective grounding connection is indicated by the symbol L Before connecting the U511 to its power source compare the input power source to the required input power indicated by the system part number E Version 1 1 Aerotech Inc 10 25 Technical Details U511 User s Manual 10 9 UNIDEX 511 Environmental Specifications e Temperature Ambient e Operating 0 35 C 32 95 F e Storage 20 70 C 4 158 F e Humidity Maximum operating humidity is 80 for temperatures up to 31 C non condensing decreasing linearly to 50 relative humidity at 40 C e Altitude Up to 2000m e Pollution Pollution degree 2 normally only non conductive pollution e Use Indoor use only VVV 10 26 Aerotech Inc Version 1 1 U511 User s Manual Troubleshooting
172. 2 Yes Accel decel is linear for plane 2 No Accel decel is inverse sine type for axis 2 default 057 3 Yes Accel decel is linear for plane 3 No Accel decel is inverse sine type for axis 3 default 075 4 Yes Accel decel is linear for plane 4 No Accel decel is inverse sine type for axis 4 default As a recommendation the operator should set this parameter to no inverse sine o ramping for systems having high inertia and or mass 4 96 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 11 11 Contour feedrate program steps ms Parameters 022 040 058 and 076 specify a default feedrate in program steps ms to be used by axes in each contour plane if a feedrate is not explicitly stated in the program for that plane Typically most programs that request contour type motion specify a feedrate A feedrate that is explicitly stated in a program for a particular plane will override the value of parameter 022 040 058 or 076 as appropriate A default feedrate must be set for each active contour plane These parameters can have values from 1 to 32 767 program steps ms The system default is 16 program steps ms Refer to Table 4 72 Table 4 72 Settings for Parameters 022 040 058 and 076 Param Plane Range Default 022 1 040 2 058 3 076 4 1 32 767 program steps ms 16 program steps ms 1 32 767 program steps ms 16 program steps ms 1 32 767 program steps ms 16 program steps ms
173. 23 D 2 Aerotech Inc Version 1 1 U511 User s Manual Appendix D Table D 1 iSBX I0O48 Pinouts continued Port Address Slot on PB24A Pinout on J1 amp J2 x14 11 25 B x15 10 27 x16 9 29 x17 8 31 x20 7 33 cl x21 6 35 x22 5 37 x23 4 39 x24 3 41 Ch x25 2 43 x26 1 45 x27 0 47 1 x 0 for bank 0 J2 on iSBX IO48 or x 1 for bank 1 J1 on iSBX 1048 All even pins on J1 and J2 are common Also pin 49 on both J1 and J2 is jumper selectable J3 and J5 to provide 5 volts 5 Version 1 1 Aerotech Inc D 3 Appendix D U511 User s Manual x27 26 PORT Ch x25 slots 0 3 x24 x23 x22 PORT Cl x21 slots 4 7 x20 x17 x16 x15 x14 To Application PORT B x13 slots 8 15 x12 x11 x10 x07 x06 x05 x04 PORTA x03 slots 16 23 x02 x01 x00 From SBX 1048 Figure D 3 iSBX I048 Pinouts on the PB24 I O Card D 4 Aerotech Inc Version 1 1 U511 User s Manual Appendix D D 2 iSBX IO48 Jumper Settings There are two jumpers on the iSBX IO48 called JP3 and JP5 These jumpers select whether the
174. 4 80 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 11 Page 11 Planes and Mapping The Planes and Mapping page contains parameters that are used to configure contour planes and gantry master slave motion These parameters are explained in detail in this section An overview of planes is presented in the next section followed by descriptions of the planes and mapping parameters 4 11 1 Overview of Planes The UNIDEX 511 system can control up to four axes of motion as well as miscellaneous inputs and outputs Typically these inputs outputs and or axes are controlled from a program that is written for the particular application A UNIDEX 511 program consists of a series of instructions that are executed sequentially to perform the desired functions The programming control process starts when a program is written using a set of UNIDEX 511 programming commands When the operator starts the program the first chunk is loaded from RAM on the U511 into a program buffer 8 Kbytes on the U511 for execution Execution of the program starts with the first command in the buffer After the first command is finished executing e g commanding an axis checking an input etc the command is removed from the buffer This process continues until the entire program has been queued into the program buffer and has finished executing This programming scheme is ideal for controlling a single multi axis system through a series of discre
175. 4 86 Troubleshooting Remote Communications 6 2 Tune Menu 3 28 Tuning procedures for Servo Loops 8 16 Tuning procedures for Tachometer Loops 8 28 Tuning with tachometer feedback 8 25 U 11 emulation software 7 1 511 Rear Panel Connectors 10 1 CP Register 5 7 FP Register 5 6 INT User Interrupt Input 10 14 MFO Command 5 12 5 90 NIDEX 11 command set 7 9 F 1 JNIDEX 511 conroller options 1 4 enhancing operation with accessories 1 4 Joystick 5 81 programming commands 5 10 rear panel connections 2 3 Units submenu Axis Scope window 8 7 Unpacking the UNIDEX 511 2 1 Unused Inputs 5 8 Uploading a file to U511 7 10 Utilities submenu Edit parameters 7 3 4 4 4 qosgoogoqqgqacaq y Value field 7 4 VAR Command 5 12 5 91 Variables 5 60 9 10 D 6 VELOCITY Command 5 12 5 92 8 3 8 22 9 3 9 6 Velocity Error 5 40 8 3 8 19 8 20 Velocity Error Trap 8 17 8 29 Velocity feedforward gain Vff 8 25 8 26 Version 1 1 Aerotech Inc ix Velocity loop adjustment 8 19 Velocity Profiled Motion 9 2 Velocity Profiling 9 2 9 5 9 7 Version number 6 25 Version Number Software 11 1 Vertical Axis Position Brake 1 4 Vff Velocity feedforward gain 8 9 8 27 W WAIT Command 5 12 5 100 9 3 9 6 9 11 Warnings 1 5 Warranty Information B 1 Warranty Policy B 1 WHILE ENDWHILE Command 5 12 5 101 Windows interface software Axis Scope utility 7 5 COM port settings
176. 4 Cutter Compe Figure 5 3 Cutter Compensation Example Version 1 1 Aerotech Inc 5 33 Programming Commands U511 User s Manual CVI CY 5 5 19 CVI Convert to Integer The CVI command is used to convert a given value to an integer SYNTAX v CVI expression v Any user variable v0 v255 expression Any mathematical expression EXAMPLE vl0 CVI 3 97 sResult v10 3 vIS CVI v15 3 24 Result v15 int value of v15 3 24 5 5 20 CYCLE The CYCLE ON command is used to map an input bit to the cycle start function While a program is running the interface scans the input bit If the input bit value equals the bitstate specified in the command the cycle start function is called This command is identical to the cycle function button in the program screen Refer to the example in Figure 5 4 CYCLE OFF stops the scanning of the input bit This command also can be used with the iSBX I048 board SYNTAX CYCLE ON inputbit bitstate CYCLE OFF CY ON inputbit bitstate CY OFF inputbit Input bit number 0 to 15 16 IN 8 OUT I O bus input bit Valid iSBX I048 input bit 000 to 127 Input bit number 16 to 39 8 X 3 I O bus input bit bitstate Bit value to send cycle start either 1 or 0 EXAMPLE CYCLE ON 4 1 Checks input bit 4 for a logical 1 If the value is present scalls cycle start 5 34 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands UNIDEX 511 External Cycle Start
177. 4 F5 Figure 3 7 Edit File Screen Edit File Submenu There are five selectable functions on the Edit File screen F1 PgDown PgUp This function moves one screen down or up through the list of displayed files Toggle between PgDown and PgUp by reversing the direction with the cursor keys F2 prg This function toggles between displaying all files or just program files prg The function key label shows the extension that will be selected when F2 is pressed F3 Last This function recalls the last selected file or program F4 New New generates a new program F5 Quit The Quit function exits or quits this operation Version 1 1 Aerotech Inc 3 7 The User Interface U511 User s Manual The Program Editor screen refer to Figure 3 8 is displayed after a program has been selected and loaded A program may be edited using an external keyboard If there is no keyboard menu assisted editing can be entered by pushing the Commands key F4 If F4 is pushed when the cursor is on a line that contains a command the syntax for that command will appear in a special screen The command can then be modified using the submenus specific to that command If F4 is pushed on a blank program line the Edit Command screen appears where the user can choose the desired command from the displayed list When editing the program in menu assisted mode the up and down arrow keys may be used to scroll through the program Edit
178. 5 4 15 4 15 4 15 4 15 4 16 4 16 4 16 4 2 Aerotech Inc Version 1 1 U511 User s Manual Parameters Table 4 1 U511 Parameters Grouped by Page continued Number Page x16 Max accel decel machine steps ms ms 1 00000000 4 19 x11 Positive move is CW y n Yes 4 19 x12 Positive jog same as move y n Yes 4 20 x13 Enable pause in freerun y n Yes 4 20 x14 Enable MFO in freerun y n Yes 4 21 x15 Enable axis calibration y n No 4 21 x35 In position deadband machine steps 10 4 25 x37 Backlash correction amount machine steps 0 4 26 x50 Joystick high speed machine steps sec 40960 4 27 x51 Joystick low speed machine steps sec 2560 4 27 x52 Joystick absolute scale machine steps 10 4 28 x71 Enable orthogonality table y n No 4 29 x72 Enable 2 D error mapping y n No 4 29 11 12 13 14 Modulo rollover machine steps 0 429 x83 Filter time constant ms 0 4 31 x84 AUX output active high y n Yes 4 31 x85 Reverse Joystick Directions No 4 31 631 632 633 634 Jog low speed machine steps ms 10 4 31 635 636 637 648 Jog high speed machine steps ms 25 4 31 639 640 641 642 Jog distance machine steps 4000 4 31 Page 6 Servo Loop 4 32 x25 Kpos 0 8 388 607 50 4 32 x26 Ki 0 8 388 6
179. 511 is preparing to write to flash memory Host sends file data to U511 U511 will return an ASCII string with the 16 bit checksum The checksum is calculated by accumulating each byte of the file data to a 16 bit signed integer short data type UNIDEX 511 will return either a checksum of 0 or 1 if a file write error has occurred It may take several seconds for the U511 to write to flash memory before it responds with the checksum 6 20 Aerotech Inc Version 1 1 U511 User s Manual Remote Mode Operations A summary of the sequence of commands for uploading a file is shown in Table 6 28 Table 6 28 SNA File Sequence Direction Direction of Transfer Transfer Command Description Host gt U511 UL Upload File command Host gt U511 File name Name of file to send Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 Host gt U511 Number of bytes Number of bytes in file Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 Host gt U511 File string File character string U511 Host Checksum Checksum value U511 Host EOS character End of string character LF Example ULTEST1 PRG lt EOS character gt DLfilename Download File This command sends a file from the U511 to the host PC The sequence of events in this process is described below 1 Host sends Download File comm
180. 56 and 74 SYNTAX PROGRAM eng_or_met abs_or_incr unit_or_step unit min_or_unit sec_or_step min_or_step sec PR eng_or_met abs_or_incr unit_or_step unit min_or_unit sec_or_step min_or_step sec eng_or_met EN English ME Metric Motion distance units are specified in English units e g inches feet yards etc Motion distance units are specified in metric units millimeters centimeters meters etc parameters 020 038 056 or 074 Default to metric y n 5 The above subcommands override but do not change the setting of general The following arguments may be specified in any order If one of each of the groups is not specified the one in bold print will be in effect abs_or_incr unit_or_step ABsolute INcremental UNit STep Motion distance is referenced to the software home position Motion distance is an offset referenced from the current position Motion distance is in user units e g inches millimeters etc Motion distance is in program steps unit min_or_unit sec_ or_step min_ or_step sec 5 70 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands UNit MInute Motion feedrate is in inch or mm per minute UNit SEcond Motion feedrate is in inch or mm per second STep MInute Motion feedrate is in program steps per minute STep SEcond Motion feedrate is in program steps per second EXAMPLE PROGRAM ME Incremental Unit Un
181. 59 Table 4 59 Settings for Parameter x53 Param Axis Range Default 153 1 0 to 100 100 253 2 0 to 100 100 353 3 0 to 100 100 453 4 0 to 100 100 This parameter provides a safety feature to prevent the peak currents from damaging the amplifiers and or motors Proper configuration of this parameter can help to avoid equipment damage 4 78 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 10 8 AUX fault output bit 0 1 8 Parameter x54 is used to specify an output bit 1 8 that is activated set low if a programmable AUX output fault condition see x58 is met Deactivate this feature by entering 0 Refer to Hardware Details chapter for technical details about the eight TTL outputs of the UNIDEX 511 including output lines pin numbers and electrical characteristics Parameter x54 can have a value that ranges from 0 to 8 These values are explained in Table 4 60 Table 4 60 Settings for Parameter x54 Param Axis Values and Descriptions x54 1 2 3 4 O disabled 1 output bit O is activated on associated AUX output faults default for axis 1 2 output bit 1 is activated on associated AUX output faults 3 output bit 2 is activated on associated AUX output faults 4 output bit 3 is activated on associated AUX output faults 5 output bit 4 is activated on associated AUX output faults 6 output bit 5 is activated on associate
182. 5V OK gt gt l 5 7 z left Encoder Input 3 right Encoder Input 4 gt O i AXIS 3 ts oO O Ns AXIS 4s is l AEROTECH left Encoder 3 5VOK right Encoder 4 5v ok gt Wond Headquarters et Joystick Interiace enten Communications Pott sa S EES A ON EATS Pittsburghi RA 15298 USA Opto I O User Interrupt Brake Emergency Stop em l O PA UA Senes FAX 812 960 7009 S And Analog VO O o axo ao T _Loauseiane 0811 52051 Fax 091 s2123 l oO IEEE 488 GPIB Interface gt gt a IEEE 488 GPIB O l l 16 In 8 OUT 5V OK gt gt tO AXIS 4 AXIS qv AXIS 2 AXIS 10 z 7 ofmemourogmice gt lo gt renour o O a a D Sai l 8x3 1 0 Bus5VOK gt l 25 J12 t JIi sxs 108w 0 p70 O exsioesus OIIO L 22 PB8 PB16 PB24 Ik 9 e g O h I Uke An l Figure 2 2 Rear Panel Connectors of the U511 e The round 14 pin plastic connectors are for connecting to the motors e The 25 pin D type connectors are for connecting to the encoder and limits Aerotech positioning systems have two cables one for the motor and one for the encoder The encoder cable and motor cable must be connected to corresponding channels Note 1 Protective earthing is through mains power connection 2 Supply connection is mains power cord mains power disconnect 3 Protective earthing connection is indicated by the symbol l Cables must not be connected or disconnected fr
183. 65 Parameter x65 specifies a correction speed in microsteps per millisecond for each axis that is configured as an open loop stepper The range for this parameter value is from 1 to 8 388 607 The system default is 1 microstep ms 4 8 15 Base speed machine steps ms AC brushless only x66 At top speeds the motor s back EMF Kb limits the amount of current that can be driven into the motor This occurs when the generated back EMF is near the bus voltage of the amplifier Phase advance is used to increase the usable speed of an AC brushless motor It does this by a technique called field weaking The effective torque angle of the motor is advanced from 90 degrees at high speeds thus reducing the motors back EMF This allows more current to be driven into the motor for a given bus voltage The phase advance characteristics curve is specified by four parameters The first two parameters x66 and x67 specify the slope of the first section the base speed Parameters x68 and x69 specify the slope of the second section the phase speed The example in Figure 4 8 illustrates the phase advance slope for an application where a phase advance of 10 at 1200 rpm and 30 at 3000 rpm is needed Phase advance degrees Phase speed _ advance 30 degrees Base speed_ _ advance 10 degrees Speed machine steps ms Base speed Phase speed 1200 rpm 3000 rpm Figur
184. 7 3 Home switch normally open y n Parameter x03 must be configured to correspond to the polarity of the home limit switch in its inactive state Typically Aerotech stages are configured with normally open home limit switches As the stage moves toward the home limit a projection on the underside of the stage table comes in contact with the home limit switch assembly In a normally open configuration x03 yes the stage table projection moves into the limit switch thereby closing the contacts and causing a home limit fault Conversely in a normally closed configuration x03 no the stage table projection moves into the limit switch thereby opening the contacts and causing a home limit fault The settings for parameters 103 203 303 and 403 are summarized in Table 4 30 Table 4 30 Settings for Parameter x03 Param Axis Values Description 103 1 Yes Y Home limit switch is normally open default No N Home limit switch is normally closed 203 2 Yes Y Home limit switch is normally open default No N Home limit switch is normally closed 303 3 Yes Y Home limit switch is normally open default No N Home limit switch is normally closed 403 4 Yes Y Home limit switch is normally open default No N Home limit switch is normally closed The limit inputs are pulled to logic high on the UNIDEX 511 control board z Version 1 1 Aerotech Inc 4 43
185. 72 Table 4 73 Table 4 74 Table 4 75 Table 4 76 Settings for Parameter X03 cceceesesseescsseeseeceeesecseeescseeeeseseseee 4 43 Settings for Parameter XO Seni innn E 4 44 Settings for Parameter X06 esssesseeeesseeeesssrsreerrsreeresrerrsserresresrrer 4 44 Settings for Parameter X09 cess escesecssesecseeeseseeeesesessseseenees 4 45 Settings for Parameter X22 ivsscc sessssedievensovevssssessngeeseneossssensestesenseseseees 4 46 Settings for ParaMeter X23 vei ccssvssnceseveraeessesss sveveesvecverstastesvevvecsesseestees 4 46 Settings for Parameter X74 ees ceeeeeeeeeeeeeeeseesecesecesecnaecsaeenaes 4 47 Safe Zone Limit Parameters eee eeeceeeceeeceeeceseceseceseenaeenaes 4 47 Settings for Parameter XT Tenei si ereer r i E i REEN EES 4 48 Motor Feedback Parameters seseseeesseeseseeessseeersresresrrsreeresreersseeees 4 49 Commutation Factors for 4 6 and 8 Poles ccccsessscececeeeesenteee 4 53 Factory Configuration for UNIDEX 511 RDP eee 4 54 RDP Resolution and Setup Codes 0000 cece eeeeeeeeeeeeeeeceseeeseeeaes 4 55 Settings fOr ParaMeter X38 vic svisecssececadtevcvensesccetarevigsipsuysecsecosecssneness 4 56 Settings for Parameter X39 ee ee eeeeceseceseceseceeeceeecaeeeneeeeeeeeees 4 57 Settings for Parameter X40 eee ceeecsseeesesecssesecseseseseeseseeeseees 4 58 Settings for Parameter X41 oo eee eeeeeeeeeeeeeeeesecesecnseceaeenaeenaes 4 59 Settings for Parameter X42 sseni nen es aea N 4 60 Sample
186. 8 Position channel is set for an encoder i e x38 1 to 4 and parameter x44 Feedback steps rev is non zero If x38 is set for an encoder but parameter x44 0 then the UNIDEX 511 assumes that a marker wheel is attached In this case the marker wheel is referenced during the home cycle encoder counts The U511 uses parameter x44 Feedback steps rev to determine the number of micro steps per revolution This value must be evenly divisible by 50 poles per revolution The UNIDEX 511 automatically multiplies the SIN COS signals by four 5 For encoder verification applications the UNIDEX 511 scales the micro steps to When using stepper motors the motor torque must be high enough to prevent motor stall or drop out This can be detected by attaching an encoder to the stepping motor and entering a value into parameter x19 Max position error This value specifies the maximum allowable encoder count error between the commanded motor position and the actual position If the difference between these two positions exceeds the value set in parameter x19 the axis generates a fault condition 4 52 Aerotech Inc Version 1 1 U511 User s Manual Parameters The UNIDEX 511 provides a feature called dynamic current scaling in applications using stepper motors The UNIDEX 511 changes the stepper motor current level based on the commanded velocity If the commanded velocity is zero for a duration of 500 ms the current l
187. A value of 0 the default indicates that the encoder marker or resolver null is located at the home position Refer to Table 4 32 Table 4 32 Settings for Parameter x06 Param Axis Range Default in Machine Steps 106 1 8 388 607 to 8 388 607 0 no home offset 206 2 8 388 607 to 8 388 607 0 no home offset 306 3 8 388 607 to 8 388 607 0 no home offset 406 4 8 388 607 to 8 388 607 0 no home offset ES The polarity of the Home offset is not affected by axis parameter x11 Positive move is CW y n 4 44 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 7 6 Limit switch normally open y n This parameter must be configured to correspond to the polarity of the axis limit switch in its inactive state This parameter can have one of two possible values yes for a normally open limit switch default and no for a normally closed limit switch Refer to Table 4 33 Table 4 33 Settings for Parameter x09 Param Axis Values 109 1 Yes Normally open limit switch default No Normally closed limit switch 209 2 Yes Normally open limit switch default No Normally closed limit switch 309 3 Yes Normally open limit switch default No Normally closed limit switch 409 4 Yes Normally open limit switch default No Normally closed limit switch It is recommended that the limit switch be manua
188. AJ FIWET 3ALPAY u0 LSOd Sn4e s sw S S 0 1 Aaeuwldd SN e S APMPALH s 1 sou e Lq yd Buiddew 3 saueld sdea j syseyW LNe4 yoeqpas4 Z 4070W s Lu 3 Bu LwoH doo oAuas BLjUuo SLXY 3331 9149 Z WOd LPL4aS T Od elias Blyuog wazshs dnyas aunt SoLysoube Lq nuay ULeW aul lds ALL MID BLL MI BAPSON ARBULT ACS uanq y apow BL bd BAL aZ14 1610 eNd 44510 xequcs puig dn umog6d au 1110 Ally uL Lpa ind IIISV UOLZEUL SEq aounos Kdo FEND do 4 1 0 suoLzeuadg a 14 alt wesboud GARSON BARS uunyay Ltd anes 41nd xequxs pug azseq Adoy dp umogid aul Lad l ut ipa eNd Ae dsiq dois l Lur o ny Wedodd UNY dnyas weiboud Keys 10n U511 Menus Activated by the Funct Figure 3 3 Aerotech Inc Version 1 1 3 4 U511 User s Manual The User Interface 3 4 Program Menu Upon hitting the F1 key in the Power up screen the Program screen appears Refer to Figure 3 4 The Program screen allows the user to select program related operations such as running programs editing copying files deleting files and digitizing programs This screen also reveals U511 status information The first line shows whether the U511 is in incremental or absolute mode the manual feed override MFO percentage and the feedrate The next four lines display axis position and status
189. CW_CIRCLE X5 Y4 C0 1 CCW_CIRCLE X5 Y2 C0 1 VELOCITY ON CW_CIRCLE X4 Y1 C 1 0 LINEAR X2 Y1 DWELL 5000 HOME X Y EXIT Let operator know we re pausing 32nd move CW arc circle 33rd move Vertical linear move 4th move CW arc circle 5th move Horizontal linear move 6th move CW arc circle 7th move Vertical linear move 8th move CCW semicircle 9th move Vertical linear move 10th move CW arc circle ttt move Shut off velocity profiling at end of this move CW arc 12th move CCW semicircle 13th move Restore velocity profiling then do CW arc circle 44th move Horizontal linear move Let operator know we re pausing again 15th move Return to home position End of program skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk End of Program VELOCTY2 PRG skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Aerotech Inc Version 1 1 U511 User s Manual Programming Examples 9 4 CNC Demonstration Using Velocity Profiling Linear and Circular Interpolation skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk This program is a CNC demonstration It uses velocity profiling along with linear and circular interpolation The part is first cut using velocity profiling then without velocity profiling skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk
190. Check COM 1 receive buffer V0 COMVAR 1 Store result in variable ME DI Received fV0 Display value received ENDIF GOTO LOOP Continue Related commands COMVAR 5 28 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 16 COMVAR String to Variable This is one of two commands for retrieving variable input from the COM port COMVAR converts a string in the COM port buffer to a variable There is no English language equivalent to this command SYNTAX Vn COMVAR port n Variable number port Number of port to convert from EXAMPLE LOOP IF COMREC 1 gt 0 THEN Check COM 1 receive buffer V0 COMVAR 1 Store result in variable ME DI Received fV0 Display value received ENDIF GOTO LOOP Continue Related commands COMREC CONIVAR Version 1 1 Aerotech Inc 5 29 Programming Commands U511 User s Manual cS 5 5 17 CS Command Scope The CS command is used for data acquisition on the U511 and is used internally by the scope and autotune functions Up to 7500 points of actual position or feedback position can be acquired for all four axes The sample time base is programmable in increments of 1 ms Function Command Lower 16 bits Set sample rate 0x40000 Sample Rate 1 65 535 Number of samples to take 0xB0000 1 7500 Start Sampling Data 0xC0000 0 feedback pos 1 command pos read current sample no 0xD0000 X Collected data is written to internal mem
191. Details Appendix C Setting Up an AC Brushless Motor with the UNIDEX 511 The host PC must be connected to the UNIDEX 511 through an RS 232 port ye ay Version 1 1 Aerotech Inc 8 1 Tuning Servo Loops U511 User s Manual Position Command ACCELERATION FEEDFORWARD Kp 10 8 388 608 VELOCITY LOOP VELOCITY FEEDFORWARD vif Position Error Velocity Error Actual Velocity of Axis Actual Position Kit 10 Fs 1 of Axis 8 388 608 S Integral Error POSITION LOOP Notch Filter Velocity Feedback from Primary or Secondary Feedback Device Position Feedback from Primary Feedback Device Torque Command gt To Amplifier Figure 8 1 UNIDEX 511 Servo Loop 8 2 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops 8 2 Axis Scope Tuning Window The Axis Scope window is a tool that aids the user in improving the performance of the control system servo loop When tuning an axis Axis Scope is used to move the axis in a forward direction and then in a reverse direction As the axis moves servo data such as position error velocity error velocity command etc is collected The Axis Scope window allows the user to analyze these signals and adjust the servo gains appropriately thus improving an axis to its realistic optimal performance Refer to Figure 8 2 for an illustration of the Axis Scope window
192. E 488 GPIB Bus connector The mating connector is a male IEEE 488 connector This is a standard connection to the IEEE 488 GPIB bus Table 10 12 IEEE 488 GPIB Interface Connector Pinouts J8 Description Pin Description DIO1 Data Line 1 13 DIO5 Data Line 5 DIO2 Data Line 2 14 DIO6 Data Line 6 DIO3 Data Line 3 15 DIO7 Data Line 7 DIO4 Data Line 4 16 DIO8 Data Line 8 EOI End or Identify 17 REN Remote Enable DAV Data Valid 18 Common NREFD Not Ready for Data 19 Common NDAC Not Data Accepted 20 Common IFC Interface Clear 21 Common SRQ Service Request 22 Common ATN Attention 23 Common Shield 24 Common 10 1 7 Axis 1 4 Motor Connectors The standard motor interface connector is a 14 pin AMP circular plastic connector The mating connector is an AMP 206044 1 Aerotech ECK00131 The back shell is an AMP 206070 1 Aerotech ECK00134 The pins for the connector are AMP 66098 7 Aerotech EIK00194 The following table lists the motor connector pin assignments for stepper DC Brush and AC motor applications Table 10 13 Motor Connector Pinouts J20 J23 Pin Stepper motor DCbrushmotor AC motor 1 Motor Frame Motor Frame Motor Frame 2 Phase A 3 Phase B Phase A 4 Phase B Motor Phase B 5 Motor Phase C 6 Motor Phase B 7 Phase A Motor Phase C 8 Motor Shield
193. E Gidea E 4 12 4 2 18 Abort on input high 0 1 167 eee eeeecceeeeeneeeesteeeenees 4 12 Pages 2 and 3 Serial Port n Setup oo cece eee eeceeecesecesecnseenaes 4 13 4 3 1 Baud rate bits per second 0 1 eeeseceeeeeceseceeeeecsteeeeneees 4 13 43 2 Data Bits 7 8 cscs renean nany 4 13 A383 SStOp DIS C12 0c eaen aise Ui a a N A aa 4 13 4 3 4 Parity NO Eyes ccassscecssstcnepvntcessnetens RE a 4 13 4 3 5 End of string character ee eeeceeeceeecesecesecnseeseenee 4 13 4 3 6 Fast output Y B eevee E S 4 13 4 3 7 Command ACK character cccccccceessceesesteeeesseeeeeeeee 4 14 4 3 8 Command NAK character cccccccccsssceeeeneeeeesseeeenenes 4 14 4 3 9 Default configuration 0 eee eeeeeeceseceecneeceeeneeens 4 14 Page 4 GPIB IEEE 488 Setup ceeeceesceceeecceecceceneeceteeecnaeeeenees 4 15 4 4 1 GPIB address 0 30 cecceecsssececesneceeeseeeeeesssneeeeneaeees 4 15 4 4 2 EOS character soeren iseni ee errr ek ik 4 15 4 4 3 Parallel Pol Response bit O NONE or 1 8 eee 4 15 4 4 4 Time out SeCONS ccscccceesseceesseeecsesececeeeeeeesseeeenenes 4 15 4 4 5 Default configuration 0 eee cece csecneeeneeceeeneeees 4 15 Page 5 Axis Configuration cece ceeecsecseeeseeeeeeeeeeeeeeescnseeeseenaes 4 16 4 5 1 Metric x00 and English x01 conversion factors 4 16 4 5 2 Max accel decel mach
194. Effect Sensor C Input 24 Counter clockwise Limit Input 12 Clockwise Limit Input 25 Brake Output opt 13 Brake Output opt Pin Description Pin Description Shield Chassis Frame 14 Cosine Input Auxiliary Shutdown Input 15 Cosine N Input Remove JPx4 to Enable 5 Volts 16 Limit Switch Power 5 V or optional voltage using JPx6 Common 17 Sine Input Hall Effect Sensor B Input 18 Sine N Input Eea Marker N Input 19 Tachometer Input opt Marker Input 20 Common EA Tachometer Input opt 21 Common E 10 Eaa Kea Ea 10 1 2 Serial Port Connections The UNIDEX 511 has two serial ports labeled COM1 and COM2 on the interface board Either or both ports can be used for remote communications Refer to Table 10 2 and Table 10 3 See the Setup page of the Parameters chapter for related parameters The mating connector is a Cinch DE 9P Aerotech ECK00137 Table 10 2 COM1 Interface Connector Pinouts Pin Description Notes RS 232 data output TXD Swap pins 2 and 3 by moving jumpers JP1 JP2 to the 2 3 position RS 232 data input RXD Connect together by installing JP3 on NOTE U511 does not implement the interface board default hardware handshake signals CTS RTS E C Version 1 1 Aerotech Inc 10 3 Technical Details U511 User s Manual S 10 4 Table 10 3 COM2 Interface Connector Pin Connections Pin Description Notes 2 RS 232 data outpu
195. Figure 3 30 Terminal Pa Zeini Nines ae eae aR EAE E aes 3 27 Figure 3 31 Tune SCLEON ss eroro eere raora E E EEE EErEE EE ES 3 28 Figure 3 32 MIDES Che Cts cnsccotisectetyocotien n A a a lateness 3 31 Figure 3 33 JStick Scr ets 4 aise reo hulk aad Misti Gh ieee Sees 3 32 Figure 3 34 JOS SCLC eerie sad is est seteeeh es dele Sela det ee 3 32 Figure 4 1 Sample ASCII Calibration File eee eeeeeeeeceeeeeseeeseeeseenaees 4 22 Figure 4 2 Sample Calibration File with Orthogonality Data 4 24 Figure 4 3 Modulo Rollover in Rotary Stage Application eee eee 4 30 Figure 4 4 Parallel Control Loop Block Diagram ee eee eeeeeeeeeeeeees 4 40 Figure 4 5 Home CYCIE ses sds E a e RE Gite hiva Gs bosses en Seis vents 4 41 Version 1 1 Aerotech Inc xiii List of Figures U511 User s Manual Figure 4 6 Figure 4 7 Figure 4 8 Figure 4 9 Figure 4 10 Figure 4 11 Figure 4 12 Figure 4 13 Figure 4 14 Figure 4 15 Figure 4 16 Figure 4 17 Figure 4 18 Figure 4 19 Figure 5 1 Figure 5 2 Figure 5 3 Figure 5 4 Figure 5 5 Figure 5 6 Figure 5 7 Figure 5 8 Figure 5 9 Figure 5 10 Figure 5 11 Figure 5 12 Figure 5 13 Figure 5 14 Figure 5 15 Figure 5 16 Figure 5 17 Figure 5 18 Figure 5 19 Figure 5 20 Figure 5 21 Figure 6 1 Figure 6 2 Figure 7 1 Figure 7 2 Figure 7 3 Figure 7 4 Typical Stage Showing CW and CCW Motor Rotation 0 4 42 Motor and Encoder Rot
196. Figure 4 3 Modulo Rollover in Rotary Stage Application 4 30 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 5 16 Filter time constant ms Parameter x83 is used in conjunction with the alternate contouring mode A non zero value activates an exponential filter on the specified axis The time constant of the filter is given in milliseconds The primary use of the filter is to smooth a trajectory that consists of non tangential moves in G8 velocity profiling mode The filter should also be used in the new contouring mode if feedhold or MFO is desired A low filter value 10 ms is sufficient in these cases A Filter time constant of 0 turns the filter completely off A parameter setting of 1 dissipates the filter contents with no filter affect If you do not plan to use the filter the parameter should be set to 0 See related parameters 031 049 067 and 085 Contouring mode for more information Settings for parameter x83 are given in Table 4 23 oo Table 4 23 Settings for parameter x83 Parameter Range Default Value x83 0 8388607 0 4 5 17 AUX output active high y n Parameter x84 sets the active state of the auxiliary output bit If this parameter is set to yes the auxiliary output bit will be set high if a fault condition is set to activate the auxiliary output bit The settings for this parameter are shown in Table 4 24 gt lt jia Table 4 24 Settings for Par
197. ILE ENDWHILE 00 ccccccccsecceceeececessneeeceeneeeesseeees 5 101 REMOTE MODE OPERATIONS 0 00 cccccccecceeseeeeeereeeeeeeeeees 6 1 Introductions ssc leet hockii etna aiin itl caine tt 6 1 6 1 1 GPIB IEEE 488 Interface oe cccccesscesseseeeeesseeeeeeeee 6 1 6 1 2 RS 232 COM1 and COM2 Interface oo ee eeeeeeeeeeeees 6 1 Troubleshooting Remote Communications eeeeceeeeseeeeeereeeeee 6 2 Command Handshake Mode RS 232 Only 0 eesseeeeeeeseeceeeeeeneeeeee 6 2 Remote Commands cccccccccccesssececeessececseceeeecseececseaeeecseseeeessnsaeenees 6 2 6 4 1 Enable RS 232 Remote Communications 06 6 2 6 4 2 Program Execution eee cseeeeeeeeeeeeeeeseeseceeesseesaeenaes 6 3 6 4 3 PA Program ADOTT s c ic sciccsisscesessesegethvesbes eisin n i 6 4 6 4 4 Service Request Mode SRQ ssssssesesessesessreesrsesrsesssesesers 6 5 6 4 5 Hold Trigger Cancel eseeesseeseseeseseresrsreerssererssrrrrsresrenses 6 7 6 4 6 PE Print Error Message String eeeseeeeseeseeeersrerrreerrerre 6 8 6 4 7 I Execute Immediate Command sssesoseeeeeeeesseseesssseesseeee 6 9 6 4 8 FMn Format of Returned Data ceescceesseeeeeetteeees 6 10 6 4 9 PXn PYn PZn PUn Axis Positions ccccceesseseeeeees 6 11 6 4 10 Q Serial Pol command sneoeeeneeeeeesseeessseeeseeereseeeesssssssseee 6 12 6 4 11 PSr Print Stai Si e a aa a E EOR R 6 13 6 4 12 RRn WRn val Read Write Register eee 6 16 6 4
198. Interface and Utilities U511 User s Manual 7 12 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops CHAPTER 8 TUNING SERVO LOOPS In This Section o EINOCUCHON ees eee ee ee eee 8 1 e Axis Scope Tuning Window ceeeeeeeeeeeeees 8 3 eM CeAXISSS COPeMLOO batsmen see ne ee 8 8 o Autotuning oe e e roses tose 8 10 e Tuning Procedure for Servo Loops 006 8 16 oD MuningMupSrer eect eee ere ee eee ees 8 24 e Tuning With Tachometer Feedback 0 8 25 e Tuning Tachometer LOopS c eee ese eeeereeee 8 28 8 1 Introduction This chapter explains the procedures for tuning U511 servo loops with and without tachometer feedback using the U511 Axis Scope Utility This utility can be used to display the effects of the servo loop gain settings Included in this chapter are step by step procedures for tuning motors connected to the U511 to yield optimal performance Optimal performance is usually characterized by a minimized position error The U511 uses a dual control loop having an inner velocity loop and an outer position loop The loop is updated according to the Loop update rate 25 ms parameter Refer to Figure 8 1 for an illustration of the servo loop Before tuning can be performed the motor and encoder must be properly connected and setup For additional information see the following sections Chapter 4 Parameters Chapter 10 Technical
199. L is present and specified in parameter number 602 e The axis has been homed A sample of the ASCII file format for the calibration file is shown in Figure 4 1 Axis calibration is enabled by axis parameter x15 Refer to Table 4 14 Sample calibration data are listed in Table 4 15 x14 1 2 3 4 Yes MFO potentiometer is enabled when the associated gt lt k x lt Version 1 1 Aerotech Inc 4 21 Parameters U511 User s Manual Table 4 14 Settings for Parameter x15 Param Axis Description 115 1 Yes Axis calibration is enabled for axis 1 No Axis calibration is not enabled for axis 1 default 215 2 Yes Axis calibration is enabled for axis 2 No Axis calibration is not enabled for axis 2 default 315 3 Yes Axis calibration is enabled for axis 3 No Axis calibration is not enabled for axis 3 default 415 4 Yes Axis calibration is enabled for axis 4 No Axis calibration is not enabled for axis 4 default 4 22 snack Comments 7 27 2 2 2 2 2 k ak k ak 3K k ak 2 k ak he 2 ak K he aK he ak he K 3k KK 2 Kk K Kk K K k The START and END statements surround the calibration information First non comment line is axis number 1 4 Second non comment line is the sample distance in machine steps that the axis must travel before the next sequential correction datum is added to the current position to correct it Correction data is space separated and may be
200. MS 000 eeeeseceeesecnereeeseseeeaeceseneeneeees A 1 WARRANTY AND FIELD SERVICE B 1 SETTING UP AN AC BRUSHLESS MOTOR WITH THE UNIDEX S19 3 3 sitive einai adhe detente C 1 IMtPOdUCHON sits rik E a utente C 1 Setup Procediite 3 224 caus ahh esa awa Sika C 1 ISBX 1048 BOARDS 55 433 ieee oni ebeea eens D 1 IntCOdUcCHONs 2 55 5 beSad Bassin eis hia eG Bohan leas D 1 iSBX I048 Jumper Settings eeessseseseeesseeesssrsrrerrsreerrsrerrsserrresesrres D 5 Configuring the iSBX 1048 esesessseeessereerssesersrrsresssreerssesrresesrrer D 5 Programming the iSBX 1048 eseseeeeeseeesesreesrsrrersserrenresrreresrerrssen D 6 BACKUP UT Y r e a r reo a TETEE E EA ETN iR E 1 Introductio 0 eseesscten de eee iee eeose ie aee p Riysvotheosseotedteeeesees E 1 Memory Ban KS apie iae Ea EEE E E EE ETE E E E 1 Backing up Files necir E EE EE EE RE EE E E 1 UNIDEX 11 EMULATION SOFTWARE F 1 Introducti oiie a E duane hohe i eens F 1 Supported Comm ndS s sesirih Teresie isre iesire eser sts F 1 Differences Between the U511 and the U11 F 4 THE RDP PC RESOLVER TO DIGITAL BOARD G 1 IntrO duc tons sien 2 paces ieiae eases tuieseneste RE E E tienen G 1 RDP Board Hardware Setup cece ceeceseceseceeecseeereeeeeeeeeeeeeeeeerens G 1 Installing the RDP Board into the UNIDEX 511 G 6 UNIDEX 511 Software Setup eee ceecesecesecesecssecneeeeeeneeees G 7 Connecting the Device to the RDP Board o 0 eee eee eee eeeeees G 8 Adjusti
201. Manual Load Program TEST1 PRG TEST1 PRG 11 10 10 97 09 46PM TEST5 PRG 31 08 21 97 09 50PM TEST2 PRG 13 10 10 97 09 45PM Fl F2 F3 F4 F5 Figure 3 5 Load Program Screen There are three selectable functions under the Load Program screen These are described below F1 PgDown PgUp This function moves one screen down or up through the list of displayed files Toggle between PgDown and PgUp by reversing the direction with the cursor keys F2 prg This function toggles between displaying all files or just program files prg The function key label shows the extension that will be selected when F2 is pressed F5 Quit The Quit function exits or quits this operation and returns to the Program screen After a program has been selected and loaded when ENTER is pressed the Running Program screen is displayed Refer to Figure 3 6 This screen is used to start control and monitor programs The program and line being executed are listed in the first line of the screen Axis position and status information appears in the center of the screen The axis position information is automatically updated as the program runs Running Program TEST1 PRG Line 1 0 000 mm Enabled 0 000 mm Enabled 0 000 Enabled 0 000 Enabled Auto Cycle Stop Displ F1 F2 E3 F4 F5 Figure 3 6 Running Program Screen 3 6 Aerotech Inc Version 1 1 U511 User s Manual The User Interface This
202. N off The brake is a U511 option requiring additional hardware and is enabled in the fault mask Pause Indicates pause status Y pause N no pause Pressing the PAUSE button on the front panel toggles the pause state Joystick ABC Indicates current functionality of the joystick buttons A B and C do not physically correspond to the joystick buttons The C on the screen is the interlock signal that must be low L for the joystick to operate A and B correspond to the joystick A and B buttons Pressing joystick A or B buttons causes the display to go from H to L The joystick C button activates both A and B buttons status bits Status Word Indicates the internal read status 5 value 3 6 4 Diagnostics Menu Position Page The Position page refer to Figure 3 26 displays In Position status Marker status and the individual Axis Positions Table 3 4 shows components of the Position page Page 4 Position In Position Marker Axis 1 Position Axis 2 Position Axis 3 Position Axis 4 Position Back Next F1 F2 F3 F4 F5 Figure 3 26 The Position Page Version 1 1 Aerotech Inc 3 23 The User Interface U511 User s Manual Table 3 4 Position Diagnostics Field Status Description In Position Indicates whether or not the axis is in its commanded position in position not in position Mar
203. PLANE 1 Select plane 2 Y axis is still moving G1 X10000 Linear move X axis in plane 1 10000 machine steps G1 U500 Linear move U axis in plane 1 500 machine steps Figure 4 12 Sample Programming Segment Showing the Use of Planes Using the parameter settings shown above the UNIDEX 511 assigns two internal buffers for plane commands The 8 Kbyte program buffer is therefore divided into two equal buffers of 4 Kbytes each Next the operator loads the program into hardware memory When the operator starts the program the software begins sending the program one line at a time to the appropriate program buffer in the DSP s memory using a special software command The software continues to send commands to the appropriate buffers until either a target buffer is filled or until the program finishes Version 1 1 Aerotech Inc 4 83 Parameters U511 User s Manual On the UNIDEX 511 side the multitasking program is checking each of the buffers in a round robin fashion and executing the next appropriate instruction in each When an instruction in a buffer is completed the instruction is removed from the buffer remaining instructions are shifted up and a slot in the buffer is freed for additional programming statements from the software Notice that axis Y in Figure 4 12 is given a linear move G1 command of 50000 units in plane 2 This is followed by a linear X axis move of 10000 units in plane 1 By using planes and
204. Parameters U511 User s Manual 4 7 4 Home feedrate machine steps ms 1x04 Parameter x04 specifies the home feedrate for each axis The axis will move toward the x0 aa ae home limit at the feedrate set by parameter x04 given in machine steps per ms until that home limit input becomes active Next the travel direction is reversed the encoder marker is found and then the home position is achieved Refer to the home cycle discussion at the beginning of this section This parameter can range in value from 0 004 to 32 767 machine steps per ms The default value for this parameter is 25 machine steps per ms Refer to Table 4 31 Table 4 31 Settings for Parameter x05 Param Axis Range Default 105 1 0 004 to 32 767 machine steps ms 25 machine steps ms 205 2 0 004 to 32 767 machine steps ms 25 machine steps ms 305 3 0 004 to 32 767 machine steps ms 25 machine steps ms 405 4 0 004 to 32 767 machine steps ms 25 machine steps ms 4 7 5 Home offset machine steps x06 If the desired home position is not at the marker location parameter x06 may be used to set the offset value The distance from the encoder marker or resolver null to the desired home position must be measured converted into machine steps and entered into parameter x06 After the axis has moved the offset distance the position counters will reset to zero Parameter x06 can have values that range from 8 388 607 to 8 388 607
205. RDP PC n Four channel resolver to digital converter card to receive inductosyn or resolver feedback BRKBPS x Fail safe brake control logic PB8 Opto 22 interface board that provides 8 inputs or 8 outputs PB16 Opto 22 interface board that provides 8 inputs and 8 outputs PB24 Opto 22 interface board that provides 16 inputs and 8 outputs 1 4 Aerotech Inc Version 1 1 U511 User s Manual Introduction 1 4 Safety Procedures and Warnings The following statements apply wherever the Warning or Danger symbol appears within this manual Failure to observe these precautions could result in serious injury to those performing the procedures and or damage to the equipment To minimize the possibility of electrical shock and bodily injury make certain that the mains power supply is disconnected before opening the chassis To minimize the possibility of electrical shock and bodily injury make certain that all of the electrical power switches are in the off position prior to making any electrical connections To minimize the possibility of electrical shock and bodily injury when any electrical circuit is in use ensure that no person comes in contact with the circuitry When this controller is installed within a system mechanical motion will occur Care must be exercised that all personnel remain clear of any moving parts To minimize the possibility of bodily injury make certain that all electrical power switches are in the off positio
206. RMS torque fault Version 1 1 Aerotech Inc 3 25 The User Interface U511 User s Manual 3 6 7 Diagnostics Menu Secondary I O Page The Secondary I O page refer to Figure 3 29 displays the status of the 8 X 3 I O bus and the Hall inputs Components of the Secondary I O page are shown Table 3 7 MSB LSB Page 7 Secondary I O I O bank A 00000000 I O bank B 00000000 1 0 bank C 00000000 Axis No Hall Inputs CAB 101 101 101 101 Back Next Quit F1 F2 E3 F4 F5 Figure 3 29 Secondary I O Page Table 3 7 Secondary I O Diagnostics Field Status Description T O banks A C Shows the current input status of the 8 X 3 I O bus if programmed as inputs When configured as outputs shows the programmed output value See the IOSET and IO commands in Chapter 5 Programming Commands Hall Inputs CAB Applicable only with AC brushless motors Indicates the state of the Hall sensors See Motor Setup MSET command in Chapter 5 Programming Commands 3 6 8 Diagnostics Menu Terminal Page The Terminal page refer to Figure 3 30 monitors serial and GPIB communications between the U511 and a host system This page may also be used to send characters To select the port to transmit to press the up or down arrows The selected port will have an underline cursor _ Other ports will have a solid block cursor Type from the keyboard or input from the front panel These characters will be transmitte
207. RN command is encountered SU PROGI PRG Program flow will go to file PROGI PRG and begin processing the command blocks until a RETURN is sencountered v25 700 SU v25 Program execution will jump to label 700 700 ME DI program jumped to here RETURN Related commands RETURN The command blocks making up the subroutine must be located after the main program s EXIT command IMPORTANT 5 86 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 77 SYNC The SYNC command causes queue execution to pause until all corner rounding velocity profile moves have completed 5 5 78 Target Tracking Commands TE TD TP Target tracking is a real time form of motion profile generation Real time target positions are sent to the DSP from the user program The axes then attempt to move to the desired position at the velocity specified At any time a new target position can be sent to the DSP The filter parameter is used to implement a first order exponential digital filter This smoothes starts stops and transitions in velocity and direction The functions are as follows SYNTAX TE axis Tracking Enable enable target tracking on single axis 1 2 3 or 4 Functions will not enable if axis is in fault condition Repeating the command can enable multiple axes TD axis Tracking Disable disable target tracking mode on single axis 1 4 and return to normal TP axis pos vel filter Target Position set tr
208. RS 232 remote mode command 6 2 Aerotech Inc Version 1 1 U511 User s Manual Remote Mode Operations Table 6 1 Enable RS 232 Remote Mode Sequence Direction of Transfer Command Description Host gt U511 Ht Enable RS 232 remote mode Example This command only applies to RS 232 operation z 6 4 2 Program Execution ARprog Auto Run a Program BRprog Block Run a Program These commands load the program prog into memory The program name can be any valid U511 program in DOS 8 3 format In AUTO run mode the program will begin execution immediately A service request SRQ will be sent immediately if there is a syntax error in the program See section 6 4 4 Service Request Mode A SRQ can be sent if a run time error occurs otherwise the SRQ will be sent when the program completes If in HOLD mode the U511 will not begin execution of the program until the TR command is received Table 6 2 shows the communication sequence for the auto run program command In BLOCK run mode the program will not begin execution immediately SRQ will be sent immediately if there is a syntax error The program can be executed block by block by sending TR commands The U511 will generate SRQ s if enabled after each block Table 6 3 shows the communication sequence for the block run program command Table 6 2 Auto Run a Program Communication Sequence Direction of Transfer Command Description Host U511
209. Read Register command Host gt US511 Register n Register n to be read Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 U511 Host Register value Register value string U511 Host EOS character End of string character LF Example RRO lt EOS character gt 6 16 Aerotech Inc Version 1 1 U511 User s Manual Remote Mode Operations Table 6 22 Write Rae Sequence Direction Direction of Transfer Transfer Command Description Host gt U511 WR Write Register command Host gt U511 Register n Register n to be read Host gt U511 Separate register n from value Host gt US511 Register value Value to be loaded into register Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 Example WRO 0 lt EOS character gt Table 6 23 Bit Definitions for Register 0 Bit Meaning Hex Value 0 In command HOLD mode 0x001 1 InSRQ mode 0x002 2 Binary status mode 0x004 3 Add block numbers when printing program 0x008 4 Status in HEX ASCII mode if not binary 0x10 5 Send SRQ on powerup 0x020 6 Remote mode automatically enabled on power up 0x040 7 Send CR LF as EOS 0x080 8 COM port never used for remote will ignore sequence 0x100 9 DO NOT send command ACK NAK handshake char
210. SOFTWARE HOME G92 5 5 37 IF The IF command is used to signal a conditional GOTO First two values are compared If the result of the comparison is true then the program flow will go to a designated label or program Otherwise the next sequential command is decoded The available comparison operators are shown in Table 5 12 below SYNTAX IF valloperatorval2 destination IF expression THEN ELSE ENDIF IF expression THEN ENDIF vall First value of comparison The value may be in the form of an integer or variable val2 Second value of comparison The value may be in the form of an integer or variable operator Comparison operator Refer to Table 5 12 5 48 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands destination Table 5 12 Comparison Operators Label to go to when condition is true or subroutine to go to when condition is true Destination can either be a label or a 66 99 subroutine A label is specified by a symbol A subroutine is specified by SU followed by the label of the subroutine When the subroutine is finished the U511 executes the next command after the IF statement Operator EXAMPLE LOOP IF IN1 2 LOOP Label Function equal to less than greater than not equal to greater than or equal to less than or equal to Waits for input bit 1 to go low before continuing IF IN4 0 SU CUTHOLE If input 4 is low then execute sub
211. Settings for Parameter x35 Param Axis Range Default Values 135 1 0 65 536 machine steps 10 machine steps 235 2 0 65 536 machine steps 10 machine steps 335 3 0 65 536 machine steps 10 machine steps 435 4 0 65 536 machine steps 10 machine steps Version 1 1 Aerotech Inc 4 25 Parameters U511 User s Manual 4 5 9 Backlash correction amount machine steps X37 The Backlash correction amount parameter x37 specifies the number of machine steps required to compensate for any backlash present in the mechanical system after a direction change Positioning accuracy is increased when this value is added to the new direction This parameter value can range from 0 to 65 536 machine steps The default setting for this parameter is 0 no backlash compensation for the specified axis See Table 4 17 Table 4 17 Settings for Parameter x37 Param Axis Range Default Values 137 1 0 65 536 machine steps 0 no backlash compensation 237 2 0 65 536 machine steps 0 no backlash compensation 337 3 0 65 536 machine steps 0 no backlash compensation 437 4 0 65 536 machine steps 0 no backlash compensation Large amounts of mechanical backlash will limit the usable band width of the servo system This function will not satisfactorily compensate for a poor mechanical system IMPORTANT 4 26 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 5 10 Joystick high speed machi
212. Switch U511 Input i A A Hitting the Switch Initiates Cycle Start Figure 5 4 CYCLE START Function 5 5 21 DAC D A Output Digital to analog conversion D A channels are normally used for axis servo loop current commands D A channels 5 8 are normally used by the servo processor as the second current command phase when using AC brushless or stepper motors Unused D A channels may be used as analog outputs and have ranges of 10 VDC to 10 VDC SYNTAX DAC number volts DA number volts number Output number 1 2 3 4 5 6 7 or 8 volts Voltage output 10 to 10 volts The DAC command should not be issued to a channel that is being used for servo or stepping motor operation The following channel signal relationship exists IMPORTANT DA Channel Signal Test Point 1 ICMD1B TP10 5 ICMD1A TP14 2 ICMD2B TP11 6 ICMD2A TP15 3 ICMD3B TP12 7 ICMD3A TP16 4 ICMD4B TP13 8 ICMD4A TP17 EXAMPLE DA 1 2 5 Sets D A 1 to 2 5 volts Version 1 1 Aerotech Inc 5 35 Programming Commands U511 User s Manual 5 5 22 DISABLE The DISABLE command is used to disable one or more axes When axes are disabled the servo loop continues to track the position but the current command output remains at zero so motion is stopped The command is also used to disengage the reading of the A D registers SYNTAX DISABLE axis DI axis DI AD axis Defines the axes X Y Z or U to be disabled EXAMPLE DISABLE Y Z or
213. THE UNIDEX 511 MOTION CONTROLLER USER S MANUAL P N EDU162 V1 1 A AEROTECH Ww AEROTECH Inc 101 Zeta Drive Pittsburgh PA 15238 2897 e USA Phone 412 963 7470 Fax 412 963 7459 Product Service 412 967 6440 412 967 6870 Fax www aerotechinc com If you should have any questions about the UNIDEX 511 Motion Controller or comments regarding the documentation please refer to Aerotech online at http www aerotechinc com For your convenience a product registration form is available at our web site Our web site is continually updated with new product information free downloadable software and special pricing on selected products The UNIDEX 511 Motion Controller is a product of Aerotech Inc Borland C is a product of Borland International Inc IBM PC AT bus is a registered trademark of International Business Machines Inc Inductosyn is a registered trademark of Ruhle Companies Inc iSBX is a registered trademark of Intel Corporation MS DOS and Windows are products of Microsoft Corporation Opto 22 is a product and trademark of Opto 22 The UNIDEX 511 Motion Controller User s Manual Revision History Preliminary October 2 1997 Rev 1 0 May 7 1998 Rev 1 0a July 27 1998 Rev 1 1 June 26 2000 U511 User s Manual Table of Contents TABLE OF CONTENTS CHAPTER 1 1 1 1 2 1 3 1 4 CHAPTER 2 2 1 2 2 2 3 2 4 2 5 2 6 Qs 2 8 CHAPTER 3 3 5 3 6
214. TLED PRG Inc Cir XY Slew 1 X 0 0 000 mm Enabled 0 000 mm Enabled 0 000 mm Enabled 0 000 mm Disabled Move to first circle point Mode Haxis Vaxis Quit EI F2 F3 F4 F5 Figure 3 17 Circular Digitizing Screen Version 1 1 Aerotech Inc 3 15 The User Interface U511 User s Manual There are four selectable functions in the menu at the bottom of the page These functions F1 F5 are described below F1 Mode Mode selects type of digitizing command F3 Haxis Haxis selects the circle horizontal axis displayed at the top of the screen F4 Vaxis Vaxis selects the circle vertical axis displayed at the top of the screen F5 Quit Quit inserts the circular move and returns the user to the Program Editor Spline Digitizing The Spline Digitizing screen is shown in Figure 3 18 Pushing the Mode key F1 until Spline appears at the top of the screen enters the spline mode This mode is very similar to linear digitizing except that the commands generated do not contain the LI instruction Use the joystick to slew the axes to the desired points and press the joystick C button Any number of points may be entered The user must place a SPLINE ON command at the beginning of a block of points and a SPLINE OFF command at the end of the block These commands can be added in the previous Program Editor screen using the keyboard or the Commands function UNTITLED PRG Inc Spline Slew 1 X 0 0 0
215. The n is the position type If n is omitted U511 will feedback case 8 the encoder position Refer to Table 6 15 Table 6 16 shows the communication sequence for the print axis position command Table 6 15 Values of n and Feedback Type for the Axis Positions Commands Feedback Type Relative command position Absolute command position Encoder position Servo command position Table 6 16 Print Axis Position Sequence Direction of Transfer Command Description Host gt U511 P Print command character Host gt U511 Axis code Axis character X Y Z or U Host gt U511 Feedback code Feedback code character 0 4 8 or 12 Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 U511 Host Position string Position character string U511 Host EOS character End of string character LF Example PX8 lt EOS character gt In binary mode this command will return 4 bytes LSB first MSB Version 1 1 Aerotech Inc 6 11 Remote Mode Operations U511 User s Manual 6 4 10 Q Serial Pol command This is the Serial Pol status byte initiated by a Q command in RS 232 mode or a Serial Pol GPIB function UNIDEX 511 is requesting service if bit number 6 is set Reading the Serial Pol byte clears this bit Bit assignments are as shown in Table 6 17 Table 6 17 Status Byte Bit Assignments Function Bit bit 0
216. There are 10 backup memory banks allowing each bank to store one file from the B drive The maximum size of a file that can be placed in one backup memory bank is 2000 bytes The first two backup memory banks are reserved for the default parameter file and the default configuration file respectively These are the backup files used to obtain default parameter values and to restore copies of these files when they are not located on the B drive The files used in these memory banks are specific to the system and are placed in the appropriate backup memory banks before delivery E 3 Backing up Files To back up files use the syntax shown below SYNTAX BACKUP option filename option This argument is a single character and is used to specify the desired action b ackup Copy a file from the B drive to backup memory restore Copy a file from backup memory to a file on the B drive v iew View the backup memory status Each bank is shown to be free or gives the file name and the file size in bytes No filename is to be specified J xIpusddy Version 1 1 Aerotech Inc Appendix E U511 User s Manual filename This is the filename to be stored in backup memory option b or restored from backup memory option r The filename should be in standard DOS format using a maximum of 8 characters for the file name and a three character file extension i e filename nam EXAMPLE backup
217. acking position for single axis axis Axis number 1 2 3 or 4 pos machine steps Target position for the specified axis This position is with respect to the hardware home position and is in machine steps vel machine steps sec Maximum speed at which the axis will move to get to the target position filter 0 1 The exponential ramping filter A value of 1 will produce no ramping effect Values close to 0 will produce long ramp times Typical values are 01 to 001 EXAMPLE This example program enables target tracking for the X axis and moves to target position The program assumes the X axis is mapped to drive 1 ENABLE X HOME X WAIT ON Wait for home to finish TE 1 Enable target tracking drive 1 TP 1 1000 1000 01 Set target position axis will move here Add real time desired position commands here TD 1 Disable target tracking for drive 1 SYNG TE TD TP Version 1 1 Aerotech Inc 5 87 Programming Commands U511 User s Manual TR 5 5 79 TRAJECTORY The TRAJECTORY command is used when doing contour type motion to specify whether the acceleration and deceleration ramp type will be linear or inverse sine SYNTAX TRAJECTORY type TR type type Where LINEAR Identifies the acceleration deceleration ramp as linear type for the current plane and SINE Identifies the acceleration deceleration ramp as inverse sine type for the current plane EXAMPLE TRAJECTORY LINEAR Accel decel ramp
218. acter 0x200 10 31 Reserved In binary mode the RR commands returns 4 bytes LSB first Version 1 1 Aerotech Inc 6 17 Remote Mode Operations U511 User s Manual 6 4 13 Parameter Editing WPn val Set Parameter n as val RPn Return Parameter n SP Saves Parameter Data to Disk The WP command changes parameter n to a specified value val The first time this command is given the parameter file is opened and read to memory from the flash disk This memory copy is edited using the RP and WP commands Parameter values range from 0 to 699 see Parameters chapter Table 6 24 shows the communication sequence for the write parameter command Table 6 24 Write Parameter Sequence Direction of Transfer Command Description Host gt U511 WP Write Parameter command Host gt U511 Parameter n Parameter n to be read Host gt U511 j Separate parameter n from value Host U511 Parameter value Value to be loaded into parameter Host U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 Example WP0 0 lt EOS character gt The RP command returns the ASCII value of the parameter specified Table 6 25 shows the communication sequence for the Read Parameter command Table 6 25 Read Parameter Sequence Direction of Transfer Command Description Host gt U511 RP Read Parameter command Host gt U511 Parameter n Parame
219. acter End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 U511 Host Serial Pol status Serial Pol status string U511 Host EOS character End of string character LF Example Q lt EOS character gt In binary mode this command will return 1 byte z 6 4 11 PSn Print Status The PSn command returns a 32 bit number The n is the status word requested The value and corresponding status of n is shown in Table 6 19 Table 6 19 Values of n and Corresponding Status for the PSn Command n Status 0 16 IN 8 OUT inputs 1 Axis 1 status 2 Axis 2 status 3 Axis 3 status 4 Axis 4 status 5 Axis enable in position comm queue not empty halted 6 Current MFO 7 Joystick status 8 Current board number 9 Commands in queue for plane 1 10 Commands in queue for plane 2 11 Commands in queue for plane 3 12 Commands in queue for plane 4 Version 1 1 Aerotech Inc 6 13 Remote Mode Operations U511 User s Manual Returned values for this function follow n 0 returns 16 input line condition n 1 4 returns fault trap limit information for axes 1 4 respectively with the following bit assignments bit 0 1 position error 0 no fault bit 1 1 RMS current error 0 no fault bit 2 1 integral error 0 no fault bit 3 1 hardware limit 0 no fault bit 4 1 hardw
220. address hex address 0xnnnn The UNIDEX 511 has several optional accessories that can be used to augment the operation of the system One such option is the PSO PC card If the PSO option is used with the UNIDEX 511 system then parameters 015 and 016 must be configured to permit proper communications between the PSO PC board and the U511 System parameter 015 specifies in hexadecimal the base address of the dual ported RAM System parameter 016 specifies the I O port address By default the PSO PC is configured to use DPRAM base address 0x0D800 and I O address 310 For more information about the PSO PC card refer to the PSO PC Operation and Technical Manual P N EDO105 The dual PSO PC hardware decodes 4K 4096 byte blocks of system memory The dual ported RAM size is 2K 2048 bytes Therefore the dual ported RAM appears twice within the 4 K byte memory block The default jumper settings of the PSO PC board map the dual ported RAM to memory locations D800 0000 and D800 0800 The first 2 K byte block should be used for programming consistency This parameter must agree with the hardware address setting specified by jumpers JP16 JP23 of the PSO PC board Refer to the PSO PC manual EDO105 for more information Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 2 10 PSO PC I O address hex address Oxnnn If the PSO option is used with the U511 system then parameters 015 and 016 must be configured to permi
221. air of fixed magnets mounted in the motor s shell and a rotor which has a series of windings called the armature When current passes through the armature windings it produces a magnetic field that interacts with the fixed magnets to produce a force In order to maximize this force the fields should be separated by 90 degrees In a DC brush motor this is done by the brushes and commutator The brushes carry the current to the commutator and as the motor rotates a new set of armature windings are energized This keeps the armature magnetic field perpendicular to the magnets AC brushless motor construction is the reverse of a DC brush motor the permanent magnets are on the rotor and the windings are mounted to the motor housing Because the windings are stationary there is no need for brushes However the current in the windings must change so that the generated magnetic field is perpendicular to the field produced by the rotor magnets A feedback device is used to keep track of the rotor position C 2 Setup Procedure The UNIDEX 500 generates two phases of current commands separated by 120 degrees The servo loop output is multiplied by these phases and sent to the amplifier A third phase may be generated by adding the first two and inverting its polarity Aerotech amplifiers do this automatically on the amplifier The phases are as follows Phase A sin ang Phase B sin ang 120 Phase C Phase A Phase B The UNIDEX 511 ha
222. ame Name of file to send Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 U511 Host Number of bytes Number of bytes in file U511 Host EOS character End of string character LF Host U511 ACK NAK character Acknowledge character 0x06 U511 Host File string File character string U511 Host Checksum Checksum value U511 Host EOS character End of string character LF Example DLTEST1 PRG lt EOS character gt iii 6 4 16 PD Print Directory This command prints a list of all files currently on the U511 s flash disk Table 6 30 shows the communication sequence for the print directory command Table 6 30 Print Directory Sequence Direction of Transfer Command Description Host gt U511 PD Print Directory command Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 U511 Host Directory string Directory character string U511 Host EOS character End of string character LF iil Example PD lt EOS character gt 6 22 Aerotech Inc Version 1 1 U511 User s Manual Remote Mode Operations 6 4 17 PPfile Print Program File to Port This command returns an ASCII output of the specified file The file name is output first Line numbers are also added at the beginning of each line This command is useful when using a terminal emulator to check a
223. ameter tab called Traps Set the parameter RMS current trap to 100 Version 1 1 Aerotech Inc 8 29 Tuning Servo Loops U511 User s Manual 3 The Loop update rate 25 ms parameter from the Servo Loop tab shown in Figure 8 21 must be set appropriately in order to get optimal performance from the system The default update rate is 0 25 ms 4 kHz and the user would put a 1 as that parameter s value Another common choice is 1 ms 1 kHz and the user would put a 4 as that parameter s value Some low resolution systems 500 line encoders etc high inertia systems or low velocity systems perform better at lower update rates such as 1 kHz If the user doesn t know what to use for this parameter then an update rate of 4 kHz should be used However an update rate of 1 kHz can be used If the update rate is changed the tuning process must be repeated u511_prm ofl x File Remote Utilities D System Config 1 Serial Port 1 2 Serial Port 2 3 GPIB IEEE 488 amp Fauts 10 Planes Mapping 4 Axis Config 5 J 6 Homing Limits 7 Motor Feedback Servo loop update rate 1 100 25ms Notch filter y n no Notch Filter NO 0 00000000 Notch filter N1 0 00000000 Number 125 Value 45 Figure 8 21 Servo Loop Tab of the Parameter Editor 4 Set servo parameters to initial value While still in the Parameter Editor window refer to Figure 8 21 enter in the initial values for the servo gains Ta
224. ameter x84 Parameter Value Description x84 Yes default AUX Output bit active high No AUX Output bit active low 4 5 18 Reverse Joystick Direction Parameter x85 is used to affect the joystick direction with respect to motor direction Setting this parameter to yes will cause a positive joystick direction to command the x85 motor in the negative machine direction The default setting of this parameter is no 4 5 19 Jog low speed machine steps ms Parameters 631 632 633 and 634 are for axes 1 4 respectively They specify the low 631 63 4 speed jog feedrate when the U511 is in the jog freerun mode The default value is 10 4 5 20 Jog high speed machine steps ms Parameters 635 636 637 and 638 are for axes 1 4 respectively They specify the high 635 638 speed jog feedrate when the U511 is in the jog freerun mode The default value is 25 4 5 21 Jog distance machine steps Parameters 639 640 641 and 642 are for axes 1 4 respectively They specify the 639 6 42 distance the axis will move when in jog index mode The default is 4000 machine steps Version 1 1 Aerotech Inc 4 31 Parameters U511 User s Manual 4 6 Page 6 Servo Loop The servo loops parameters are used to configure and tune the servo control loops of the UNIDEX 511 system These parameters are explained in detail in this section 4 6 1 Kpos position loop gain 0 8 388 607 x25 The
225. and and file name followed by lt EOS gt to U511 The filename is the file to transfer 2 The U511 will then send the ACK character to acknowledge a valid file name A NAK character will be sent by the U511 to notify the host that the file transfer can not take place 3 The U511 responds with the number of bytes that it is going to transmit This is an ASCII string terminated by the EOS character 4 The host should then send the ACK character when it is ready to accept data If the host does not want to download this data it should send the NAK character If the file does not exist the U511 will return a file size of 0 bytes The host should send a NAK to abort transmission The ACK NAK characters are formatted as ASCII characters if the GPIB interface is used The ACK and NAK characters are programmable See Chapter 4 Parameters 5 The U511 will transmit the file data to the host Ee Version 1 1 Aerotech Inc 6 21 Remote Mode Operations U511 User s Manual 6 U511 will transmit the checksum as an ASCII string terminated by the EOS character The checksum is calculated by accumulating each byte of the file data to a 16 bit signed integer short data type A summary of the sequence of commands for downloading a file is shown in Table 6 29 Table 6 29 Sequence of Commands when Downloading Files Direction of Transfer Command Description Host gt U511 DL Download File command Host gt U511 File n
226. and support peripherals through which the software runs spherical interpolation Spherical interpolation refers to the UNIDEX 511 s ability to coordinate multiple axes to produce accurate spherical motion using minimal reference information e g the center point and a radius of the sphere task A UNIDEX 511 task is one of four sets of instructions that are executed sequentially at such a high speed that each task has the impression that it alone has full access to all of the microprocessor s time time based motion A time based motion is a motion that arrives at a specified location in a desired amount of time After the target position of a move is programmed the controller chooses any speed to achieve that position on time traps See faults tuning Tuning is the process of optimizing the operation of a servo system variables Variables are programming terms that are used as temporary storage locations for calculations Direct variables VO through V255 are general purpose double precision storage locations Indirect variables VVO through VV255 are used to indirectly address other variables For example if V35 999 and V1 35 then you can indirectly address the contents of V35 using the statement VO VV1 In this case the contents of V1 35 is used as an index to V35 The value of V35 999 is placed in VO Aerotech Inc Version 1 1 U511 User s Manual Appendix A velocity error Velocity error is the differ
227. ank A 00000000 I O bank B 00000000 I O bank C 00000000 Axis No Hall Inputs CAB 101 101 101 101 Quit F1 Fe Fa pa Fs Figure C 1 Page 7 U511 Diagnostics Window Table C 1 Hall State Table MSET angle degrees HC msb HA HB lsb Version 1 1 Aerotech Inc C 3 Appendix C U511 User s Manual S 9 Set commutation offset Record the Hall states using the MSET command every 10 degrees Compare with the desired Hall states Calculate the needed shift in degrees to make the recorded Hall states align with the desired Hall states Enter this number in degrees for axis parameter x45 Commutation phase offset Re check Hall signals 10 Verify motor commutation a Set axis parameter x43 Commutation cycles to 0 This will force the controller to commutate from the Hall signals only six step mode b Linear motor Send the MCOMM command and verify the motor output force Since the motor will move open loop make sure the positioning stage is secured before sending the command The motor force output should be smooth and in the same direction over the length of travel Motor force can be measured with a spring scale Test the other direction by specifying a negative voltage in the MCOMM command c Rotary motor If the motor is disconnected from the load the open loop speed of the motor can be checked using the MCOMM command A properly phased motor will go the same speed
228. are limit 0 no fault bit 5 1 software limit 0 no fault bit 6 1 software limit 0 no fault bit 7 1 driver fault 0 no fault bit 8 1 feedback device error 0 no fault bits 9 11 unused bit 12 1 feedrate gt max setting error 0 no fault bit 13 1 velocity error 0 no fault bit 14 1 emergency stop 0 no fault bits 15 30 unused n 5 returns axis active in position plane information with the following bit assignments bit O 1 axis 1 enabled 0 disabled bit 1 1 axis 2 enabled 0 disabled bit 2 1 axis 3 enabled 0 disabled bit 3 1 axis 4 enabled 0 disabled bit 4 1 axis 1 not in position 0 in position bit 5 1 axis 2 not in position 0 in position bit 6 1 axis 3 not in position 0 in position bit 7 1 axis 4 not in position 0 in position bit 8 1 plane 1 comm busy 0 comm OK bit 9 1 plane 2 comm busy 0 comm OK bit 10 1 plane 3 comm busy 0 comm OK bit 11 1 plane 4 comm busy 0 comm OK bit 12 1 queue 1 buffer is not empty 0 empty bit 13 1 queue 2 buffer is not empty 0 empty bit 14 1 queue 3 buffer is not empty 0 empty bit 15 1 queue 4 buffer is not empty 0 empty bit 16 l plane 1 halted 0 plane 1 running bit 17 1 plane 2 halted 0 plane 2 running bit 18 1 plane 3 halted 0 plane 3 running bit 19 1 plane 4 halted 0 plane 4 running bit 20 unused bit 21 1 feedhold active bit 22 1 DSP interrupt g
229. art n times R XYUV Restart freerun with previous feedrate SR Subroutine return WA Wait mode enhanced command ON OFF ALL X Fa De Index move at feedrate F a b c d distance D Y Fb Df e f g h One or more axes at a time U Fe Dg V Fd Dh X Fa R Freerun axis at feedrate a steps sec in direction Notes 1 refers to the four input output bits LSB to MSB The inputs may be specified as 1 5V 0 OV or X don t care See Chapter 10 Technical Details for more information 2 Feedrates are in steps second Distances are in steps Version 1 1 Aerotech Inc F 3 Appendix F U511 User s Manual F 3 Differences Between the U511 and the U11 Some differences in the operation of the U511 and the U11 are indicated below 1 2 3 4 5 6 7 Corner rounding is not implemented on the U511 in U11 compatible mode The DD and DB commands output data to the 8 X 3 I O connector lower 12 bits The U511 does not use internal CLK DIR signals Therefore the auxiliary control inputs are not available On the UNIDEX 11 J25 is the DIO HSB option The HSB option is not implemented on the U511 The DIO input mode which allows the user to strobe program numbers or connect to the Thumb Wheel option is not implemented The U511 has 16 inputs and 8 output that are available on the 16 IN 8 OUT connector The lower four inputs and outputs are available on
230. at by the C conversion function atol or equivalent 1 hex ASCII format Leading zeros will be appended to the string displayed in hexadecimal format This mode is useful for debugging 2 binary format Binary output data is always a fixed number of bytes There is no EOS character in RS 232 mode In GPIB mode the EOI signal is used to end the transmission The least significant byte LSB is always sent first in binary mode The PS and PX commands return 4 bytes in binary mode The Q command returns one byte Binary mode overrides the ASCII modes Example Status word 0x01234567 printed in HEXASCIT 01234567 lt EOS gt DECIMAL 19088743 lt EOS gt BINARY 67 45 23 01 Table 6 14 shows the communication sequence for the Format of Returned Data command Table 6 14 Format of Return Data Command Sequence Direction of Transfer Command Description Host U511 FM Format command Host U511 Format code Format code character 0 1 or 2 Host U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 Example FMO lt EOS character gt See the RR WR and FM commands for more information 6 10 Aerotech Inc Version 1 1 U511 User s Manual Remote Mode Operations 6 4 9 PXn PYn PZn PUn Axis Positions These commands return axis positions of the specified axis All positions are scaled to user units
231. ate The Trigger menu options are listed in Table 8 3 When selected the Forward Motion and Reverse Motion options display popups that allow the user to define the motion command to be used for forward and reverse axis motions respectively When the Sample Rate option is selected the software displays the Scope Sample Timebase popup window From this popup the operator enters the frequency at which samples are to be taken This value is given in milliseconds ms and defaults to a value of 1 ms Tngger Collect Display A Velocity Feedback Velocity Command Velocity Error Position Feedback Pasition Command Position Error Torque Analog Input Integrator w ero Line Refresh Shift F12 Overlap Two Asis 7 Flot Collect Display Axis Units Collect One Set of Data Shift F1 Collect Data Continuously Shift F2 Single Step Motion Shift F3 Auto Step Motion Shift F4 Forward Motion Shift F5 Reverse Motion Shift F6 Stop Shift F Abort Shift FS Sample Rate Shift F9 Version 1 1 Aerotech Inc 8 5 Tuning Servo Loops U511 User s Manual Table 8 3 Trigger Menu Options in Axis Scope Command Description Collect One Set of Data Collects one set of data as specified in Collect submenu plots the results and stops No motion is commanded Collect Data Continuously Collects one set of data as specified in Collect submenu plots the results and start
232. ation 0 0 0 ceeeeccesecesecesecesecssecseeeeeeneeenes 4 51 Phase Advance Slope essseseseenersrerersererseerersersrerersreressenersrerernenses 4 64 Sample RMS Current Maximus eee cece eeeeeeeeeeeeeseensees 4 75 Programming Control Using a Single Plane 00 0 0 eee eee eeeeeeeee 4 81 Programming Control Using Four Planes eee ee eeeeeeeeeteeeeee 4 82 Sample Programming Segment Showing the Use of Planes 4 83 MFO Potentiometer With and Without Offsets 0 0 00 eeeeee 4 87 Using Home offset Parameter to Keep Gantry Aligned After OTN Gs eies pote wes a E eneciaautbay meee S 4 92 Contour Ramping Acceleration Deceleration Time 0 4 94 Graphs of Linear and Inverse Sine Ramping Trajectories 4 96 Sample Motion Path Shown with and without Corner ROUNGING 33 oea e a o aaea Ep EERS 4 99 Velocity Diagram of Corner Rounding G23 ssseseeeseeeeeeeeeeeeee 4 99 Velocity Diagram of Non corner Rounding G24 ee 4 100 Startup MOVES erini E N E E S 5 31 Ending MOVE Sia ieir ni bain e E E ETE E E TD 5 32 Cutter Compensation Example sseessseessseeesesreeesrsrrerrsreerrseeerrseeeesee 5 33 CYCLE START FUNCtION sicie oisesseriir essee issrsess isson estier seste e inesi 5 35 Sample Uses of the GOTO Command ssseesseeeesserseeeersreeresreersereees 5 47 EV DY SensOmis i ss sc26 iti ogi ree eea n EES hahiolecd EEEE E EE Eik 5 57 PAUSE Bunction 2 2 03 acgieksen a E AT mente gina aee 5 68 Illu
233. axes and the master axis are entered as variables in machine counts The machine count values for each axis can have a maximum value of 8 388 608 and can be either positive or negative If the machine counts for a master slave axis pair have different signs for example the master has a positive number of machine counts and the slave has a negative number of machine counts then that master slave pair will move in opposite directions that is a CW move of the master axis will produce a CCW move of the slave axis Next the master axis is disabled allowing it to be turned manually As the master axis is moved the slave axes respond based on the master s movement and the respective master to slave gear ratios The master axis can be enabled and moved automatically through program control if desired The gear program GEAR PRG follows skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Title GEAR PRG Description This program demonstrates the use of the GEAR programming statement to create a single master axis that is followed by two slaves axes at user f definable rates gear ratios PROGRAM ME IN Use Metric and incremental modes MESSAGE DISPLAY The X amp Y axes will be slaves to the Z axis MESSAGE DISPLAY You must supply the ratio of Z counts to the other axes MESSAGE DISPLAY MESSAGE DISPLAY Requesting Z to X ratio Z counts to X counts MESSAGE DISPLAY V0 of Z
234. ble 8 7 has the initial values for these servo gains Table 8 7 Initial Servo Parameter Values Tach Tuning po aie a 0 0 0 0 Always 0 Save the values set in the Parameter Editor window and then exit this window Reinitialize the UNIDEX 511 by pressing the RESET button 8 30 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops 5 Set up the Velocity Loop on the amplifier information for setting the amplifier to Velocity Command and explain how to If the user has a non Aerotech amplifier the manufacturer should provide optimize the Velocity Loop zy If the user has a DS16020 DS16030 Aerotech amplifier the Velocity Loop is adjusted the following way a Select a fuse to protect the motor for the continuous current rating of the motor and insert it in the appropriate fuse holder of the amplifier Refer to Figure 8 22 for location of the fuse holder eee0eelPi IP5 RCN TP1 Current Feedback Torque 3A volt TP2 Current Command 3A volt TP3 Tach TP4 Common TP5 Velocity Command g Fuse Figure 8 22 Cross section of the DS16020 16030 Amplifier b Make ballpark adjustments to the potentiometers on the Aerotech DS16020 16030 amplifier as shown in Figure 8 23 Version 1 1 Aerotech Inc 8 31 Tuning Servo Loops U511 User s Manual rc m iw INITIAL SETTINGS Turn it Full CW X Servo Gain Based upon Peak Current rating of motor Curr
235. bled axes will ramp to a stop and Abort Active will be displayed in the MDI window This will occur when the input bit is in the logic 1 5 V or high impedance state A parameter setting of 0 the default defeats the Abort input Parameter settings are given in Table 4 7 Table 4 7 Settings for Parameter 501 Parameter Range Default Value 501 0 1 16 0 4 12 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 3 Pages 2 and 3 Serial Port n Setup Parameters on pages 2 and 3 of the U511 are identical Each set of parameters is related to one of the two RS 232 serial data ports In this section the parameters for configuring these serial ports for data transmission are discussed Each discussion covers the parameter for data port 1 and the corresponding parameter for data port 2 4 3 1 Baud rate bits per second Parameters 608 and 617 specify the data transmission rate of serial ports 1 and 2 respectively in bits per second Allowable baud rates are 1200 2400 4800 9600 19 200 38 400 57 600 and 115 200 bits per second The default value is 9600 4 3 2 Data bits 7 8 Parameters 609 and 618 specify the number of data bits used to represent one character of data The options are 7 or 8 bits The default is 8 bits 4 3 3 Stop bits 1 2 In asynchronous transmission stop bit s are the last bits used to indicate the end of a character Parameters 610 and 619 represent
236. bling from RDP Board to Resolver or Inductosyn Hazardous voltages are present inside open chassis when main power is connected DANGER Version 1 1 Aerotech Inc G 9 Appendix G U511 User s Manual G 6 Adjusting the Gain on the RDP Board Once a resolver or Inductosyn is connected to the RDP board the user must verify that a sinusoidal signal is being sent from the feedback device and adjust the amplitude if necessary The signals can be monitored from the test points listed in Table G 11 Table G 11 RDP Board Test Points Test Points Sine Cosine Signal TP17 COS TP18 COS TP19 COS TP20 COS TP21 SIN TP22 SIN TP23 SIN TP24 SIN TP4 Ground To verify that a sinusoid signal is being received from the axis with a resolver or Inductosyn perform the following steps 1 Connect an oscilloscope O scope to the COS signal of the axis being tested and connect the ground of the O scope to TP4 Move the resolver or Inductosyn a COS signal sinusoid should be observed on the O scope Connect the O scope to the SIN signal of the axis being tested Move the resolver or Inductosyn again verifying that a SIN signal sinusoid is seen on the O scope Verify that the amplitude of the sinusoidal signal of the axis being tested is within specifications Connect an O scope to either the SIN or COS signal and connect the ground lead to TP4 Move the resolver or Inductosyn and observe the amplitude increase and decr
237. c Version 1 1 U511 User s Manual Parameters No Corner Rounding G24 Command Corner Rounding G23 Command block 1 block 1 a d a d AER SARA GRY CARI Tee o T ja 2 block 2_ block 2 a acceleration a acceleration d deceleration d de eler tion H d d g o s block 3 a block 3 a Figure 4 17 Sample Motion Path Shown with and without Corner Rounding The non ramp time specifies a time in milliseconds from to 32 000 during which the deceleration of one motion overlaps the acceleration of the next motion This overlap causes one motion control block to begin its acceleration ramp before the preceding motion block finishes its deceleration The result is a rounded corner the size of which is determined by the acceleration deceleration times and the setting of the corner rounding non ramp time parameter A sample non ramp time overlap for corner rounding is illustrated in Figure 4 18 Non ramp Time Velocity p a acceleration a lt gt d deceleration P Time Block 1 ge Bins y Figure 4 18 Velocity Diagram of Corner Rounding G23 When corner rounding is not used e g G24 or ROUNDING OFF programming command each contour path decelerates to its target position before the next block of motion begins Refer to Figure 4 19 Version 1 1 Aerotech Inc 4 99 Parameters U511 User s Manual Velocity leration PN a acceleratio d deceleration
238. ceeee 7 4 XIV Aerotech Inc Version 1 1 U511 User s Manual List of Figures Figure 7 5 The Diagnostics Window 0 00 ceeeeeeecceseeeseeeecesseeeensecesecsaecseesaeaee 7 5 Figure 8 1 UNIDEX 511 Servo Loop ee ee cesecsecneeceecseeeneeeeeeseeeseeeeensees 8 2 Figure 8 2 AXiS Scope WindOW 20 0 ee eecescesecesecsseceecaeecaeeeseeeaeeseeeeeeeeeeseenseenaes 8 3 Figure 8 3 Cursors Toolbar of the Axis Scope Window eect eeseeee eee eneeeee 8 8 Figure 8 4 Gains Status and Control Toolbars c cccccccessssscecececeenenssceeeeeees 8 8 Figure 8 5 The Gain and Auto Tune Toolbars 2000 eee eeeeeceeeeeeeeeseeeeennees 8 11 Figure 8 6 Autotune Plot Where Dist Has Been Set Too Low 8 13 Figure 8 7 Autotune Plot Where Dist Has Been Set Too High ee 8 13 Figure 8 8 Autotune Plot Showing Proper Calibration 0 00 00 cece eeeeeseeeseeeeee 8 14 Figure 8 9 Flowchart of Overall Tuning Process cece eee ceseeseeeseeeeeeeeeeeees 8 16 Figure 8 10 The Faults Tab of the Parameter Editor eee eee eeseceeeees 8 17 Figure 8 11 Servo Loop Tab of the Parameter Editor eee eee eeeeeeeeeeeee 8 18 Figure 8 12 MAXIMIZE Button on the Axis Scope Window ou eee eens 8 19 Figure 8 13 Unacceptable Velocity Error eee eeceseceseceseceeecseeeeeeseeeeeeenees 8 20 Figure 8 14 Acceptable Velocity Error When Adjusting Kp 0 eee 8 21 Figure 8 15 Proper Adjustment of KY oo eee eecesecesecesecneeceee
239. ch Inc Version 1 1 U511 User s Manual Appendix A program step A program step is the smallest programmable increment of motion that can be commanded A program step equals the programming units 10 ndec where ndec is the number of decimal digits set by parameters 029 030 047 and 048 for Metric mode and parameters 065 066 083 and 084 for English mode program unit A program unit is a user defined measurement unit such as inches millimeters degrees etc Program units are used within the application program and provide the operator with flexibility and ease of use For example it is more meaningful for an operator to command a 100 mm move than it is to command a 752 machine step move proportional gain Proportional gain is a dimensionless motor tuning parameter that produces an output that is related to the Velocity Error in the servo loop qms QMS is an abbreviation for quarter millisecond a unit of time that is used when determining values such as velocity error for example that is measured in machine units per quarter millisecond i e machine units qms One qms is equivalent to 0 25 milliseconds quadrature Quadrature is the state of two signals that are displaced 90 degrees with respect to each other In most rotary incremental optical encoders light from an LED for example is measured after it is passed through slits in a grating disk which is attached to the axis being measured Typical
240. ck default feedrate 500mm min G1 X20 Y 7 5 Boat end G3 X17 5 Y 7 5 C 1 25 0 Wave G2 X15 Y 7 5 C 1 25 0 Wave G3 X12 5 Y 7 5 C 1 25 0 Wave G2 X10 Y 7 5 C 1 25 0 Wave G3 X7 5 Y 7 5 C 1 25 0 Wave G1 X0 YO Boat front G2 X12 5 Y22 5 C26 5 0 Sail G3 X12 5 YO C25 11 25 Sail G3 X0 YO C 6 25 17 5 Sail G91 Incremental mode G1 X12 5 GOTO mast location G1 Y25 Mast G1 X5 Y 1 25 Flag G1 X 5 Y 1 25 Flag G90 Absolute mode G2 X25 YO C 14 22 5 Sail G3 X12 5 YO C 6 25 17 5 Sail G3 X12 5 Y22 5 C 25 11 25 Sail G1 X0 YO Return to 0 0 G1 Y40 Get ready for next boat G92 RETURN skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk End of program BOAT_SCF PRG 4 skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk J Version 1 1 Aerotech Inc 9 17 Programming Examples U511 User s Manual 20 Mirror 215 100 110 Image 3 NMa 33 3333 120 60 50 40 30 20 0 10 20 30 40 Figure 9 6 Output from Overriding Scale Factor Example Program Aerotech Inc Version 1 1 U511 User s Manual Programming Examples 9 12 Softkey Use This program demonstrates the use of the SKEY command and soft key programming skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk J Simple program to demonstrate U511 softkey use skkkkkkkkkkkk
241. ck should always be verified before enabling the axis 4 56 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 8 3 Velocity channel This parameter is used to configure the secondary feedback channel of UNIDEX 511 The parameter value is a code that corresponds to a particular feedback device for each axis 1 4 This parameter has a range from 0 24 Feedback channels their respective feedback types and additional hardware requirements are summarized in Table 4 44 R Table 4 44 Settings for Parameter x39 Feedback Feedback Additional Hardware Required Channel Type 0 Open Loop None for stepper motors only 1 4 Encoder None UNIDEX 511 main board only defaults for axes 1 4 5 8 Encoder 4EN Option Board 9 12 Resolver Requires RDP PC board 1 13 16 Resolver Requires RDP PC board 2 17 18 Laser Requires RMX PC board 1 x 512 A 1024 resolution 19 20 Laser Requires RMX PC board 2 x 512 A 1024 resolution 21 22 Laser Requires RMX PC board 1 x 4 A 32 resolution 23 24 Laser Requires RMX PC board 2 x 4 A 32 resolution If this parameter is configured incorrectly sporadic operation may occur Version 1 1 Aerotech Inc 4 57 Parameters U511 User s Manual 4 8 4 Position setup code x 40 Parameter x40 specifies a code that corresponds to the bit resolution mode whenever a resolver is being used as
242. cneeeneeeeeeeeeees 8 21 Figure 8 16 Oscillation in Position Error When Ki is too High 8 22 Figure 8 17 Plot Showing an Appropriate Value for Kpos e ee eee 8 23 Figure 8 18 Plot Showing Overall Effects When Kpos is High 8 23 Figure 8 19 Flowchart of Overall Tach Tuning Process 0 cece eeeeeeeeeeeeees 8 28 Figure 8 20 Faults Tab of the Parameter Editor eee eeceeceseceseceseenseeeees 8 29 Figure 8 21 Servo Loop Tab of the Parameter Editor eee eee eeeeeeeeeeees 8 30 Figure 8 22 Cross section of the DS16020 16030 Amplifier eee 8 31 Figure 8 23 Amplifier Potentiometer Layout ee ee eeseceseceeecseeeneeeeeeeeeeeeees 8 32 Figure 8 24 Axis Scope Window Showing Kpos Too LowW eee eeeeeees 8 33 Figure 8 25 Plot Showing a Roughly Tuned Axis When Adjusting TIRPOS 22 oc alii He a oe Seo beet Ae Ay ee ba 8 34 Figure 8 26 Plot Showing the Removal of DC Offsets in the Position Error 8 35 Figure 8 27 O scope Showing Current Feedback for One Move e eee 8 36 Figure 8 28 Plot Illustrating Smoothness in the Position Error eee 8 37 Figure 8 29 Plot Showing Effects on Position Error When Ki is too High e err a e E E T EE E Eea E ENRE 8 38 Figure 8 30 Plot of the Position Error With Appropriate Ki Value 8 38 Figure 8 31 Position Error After Increasing VP oo eee cee cee ceeeneeereeeeeeeeees 8 39 Figure 8 32 Position Error Reduced to W
243. contained in variable 10 Version 1 1 Aerotech Inc 5 79 Programming Commands U511 User s Manual 5 5 71 SKEY Soft Keys SK The SKey command is used to reprogram the function keys located on the front panel SYNTAX SKey SEt fKey type label text Key Function key to reassign 1 5 type 1 Goto label no abort 2 Subroutine label no abort 3 Parts program no abort 4 Goto label abort motion 5 Subroutine label abort motion 6 Parts program abort motion label Label to jump to when function key hit text Text to place on function key lt 8 characters SKey GEt Waits for a valid function key to be pressed SKey ENable fKeyA fKeyB fKeyC Enables a function key KeyA Function key to enable 1 5 KeyB Optional function keys to enable SKey DIsable fKeyA fKeyB fKeyC Disables a function key Arguments same as SKey ENable SKey UNdef fKeyA fKeyB fKeyC Returns the function key to the original function as set in the MMI software Arguments same as SKey ENable EXAMPLES SKey SEt 3 cut Cut Part Set key F3 to jump to cut when hit button text Cut Part SKey UN 3 Undefined F3 returns F3 back to original function 5 80 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 72 SLEW The SLEW command is used in conjunction with the joystick option to provide immediate axis control While in the joystick slew mode the following
244. cseeeeeeneeeees 6 6 Table 6 8 Service Request Response Sequence cece eeeeeeeeeeeeeeereeseeeeeesees 6 6 Table 6 9 Enable Hold Mode Sequence ou cece ceeeeseereeeeeeeeceeeeeseeeseeeseenaes 6 7 Table 6 10 Disable Hold Mode Sequence eee eeeseeeeeeeeeeceeeeeseeeseeeseesseenaes 6 7 Table 6 11 Trigger Command Sequence 0 ee ceeeeeecseecseeereeeeeeeeeeereeesenseeeseenaes 6 8 Table 6 12 Print Error Message Sequence e cece eseeeeeeeceeeceeseeseceeenseeseenaes 6 8 Table 6 13 Immediate Command Sequence eee eee eeeeeceeeceeeceecesecnsecsaeeaee 6 9 Table 6 14 Format of Return Data Command Sequence ee ee eeeeeeeeeees 6 10 Table 6 15 Values of n and Feedback Type for the Axis Positions Commands ina ne i ia Hees E E E E E E 6 11 Table 6 16 Print Axis Position Sequence seeeesseeseeeeesseeeesserressrsreeresreerreeeres 6 11 Table 6 17 Status Byte Bit Assignments sseesseeeeseseseresrsrrerrsresesrrrreserreeersrees 6 12 Table 6 18 Serial Pol Sequence s 3 csec ccesbessssstes csvset con Eotn EEE EER EEr oSI ORERE SS 6 13 Table 6 19 Values of n and Corresponding Status for the PSn Command 6 13 Table 6 20 Print Status Sequence sinnini es ereen seios enne EE Ee es Eeo 6 16 Table 6 21 Read Register Sequence sssesessseeeseeeeeeserressrsreerssrerrsrerrresesrrereseeee 6 16 Table 6 22 Write Register Sequence 0 0 eee ceeceseceseceseceseceecneecaeeeaeeeeseeeeeeeees 6 17
245. d AUX output faults 7 output bit 6 is activated on associated AUX output faults 8 output bit 7 is activated on associated AUX output faults A reset of the UNIDEX 511 sets all output bits high deactivated oO Version 1 1 Aerotech Inc 4 79 Parameters U511 User s Manual 4 10 9 Amplifier fault active low y n x70 Parameter x70 specifies the polarity of the drive amplifier fault signal input to the UNIDEX 511 This parameter must be configured to correspond to the input signal in its inactive state In a normally open active low configuration x70 yes a 5 volt signal represents a normal non fault condition and a O volt signal indicates a drive fault condition Conversely in a normally closed active high configuration x70 no a O volt signal represents a normal non fault condition and a 5 volt signal indicates a drive fault condition The settings for parameter x70 are shown in Table 4 61 Table 4 61 Settings for Parameter x70 Param Axis Values Description 170 1 Yes Y Drive fault signal is active low default No N Drive fault signal is active high 270 2 Yes Y Drive fault signal is active low default No N Drive fault signal is active high 370 3 Yes Y Drive fault signal is active low default No N Drive fault signal is active high 470 4 Yes Y Drive fault signal is active low default No N Drive fault signal is active high
246. d not calculate gains Motor makes a loud noise and shuts off immediately Motor does not move at all Possible Causes Solutions An axis fault has occurred Ki and Kp must be set gt 0 Vff must be set to 256 Current is too high lower Distance or Frequency Tracking rate of feedback device has been exceeded Top feedrate trap occurs Lower Distance or Frequency or defeat trap if allowed Gains are set too high decrease Ki and Kp Motor commutation parameters are incorrect AC brushless motors only Encoder signals are missing verify in Diagnostics Encoder is damaged verify in Diagnostics Motor is not enabled Motor is disconnected Amplifier has faulted Shut system off for 30 seconds and retry Version 1 1 Aerotech Inc 8 15 Tuning Servo Loops U511 User s Manual 8 5 Tuning Procedure for Servo Loops The following procedure can be used as a guide when tuning the UNIDEX 511 servo loop This procedure does not apply to motors with tachometers Figure 8 9 shows the overall tuning process with the Axis Scope window The tuning process discussed in this section was performed using the X axis axis 1 of an X Y stage The user s system may behave differently and have different values for servo gains However the overall process is the same and the same process can be repeated for the other axes in the system When adjusting each of the servo gains the u
247. d to the host system An beside the port indicates that remote communications are active on that port The active components of the Terminal page are shown in Table 3 8 3 26 Aerotech Inc Version 1 1 U511 User s Manual The User Interface Page 8 Terminal Com 1 Tran _ Rec Com 2 Tran Rec GPIB Tran Rec Back Next FI F2 E3 F4 F5 Figure 3 30 Terminal Page Table 3 8 Active Components of the Terminal Page Field Status Description Tran Sends and displays characters transmitted to the host system from the selected port Pressing ENTER will send the EOS end of string character Rec Displays characters received from any all ports Nonprintable characters will be displayed in hexadecimal format and in brackets Version 1 1 Aerotech Inc 3 27 The User Interface U511 User s Manual 3 7 Tune Menu Upon pressing the F4 key in the Power up screen the Tune screen appears refer to Figure 3 31 The Tune screen is used for axis tuning This screen can be used to manually enter Kpos Ki Kp Vff and Aff gains Use the up and down arrows to select the field to be modified Move the cursor to the desired field and enter the numerical value Press ENTER to activate the gain in the servo loop Press Save F4 to save the new gain values to the parameter file 100 10000 Distance mm 80 0000 600000 Bandwidth Hz 35 256 Frequency Hz 1 Damping 7 Ax
248. displaying the Startup screen Different screens depending on the updates required will slow the transfer cycle For example if the U511 is displaying a Diagnostics screen the cycle time increases to an average of 6 5 ms The host PC for this test was a 486 running at 66 MHz using a National Instruments AT GPIB board in an ISA slot EJ Waveform 3 3 98 4 10 41 PM mfe Channel 1 6 2800 4 2800 Interrupt 2 2800 0 2800 1 7200 ATN attention Signal 3 7200 5 7200 NRFD not ready for data Signal 7 7200 9 7200 H E wi 1 00 ms 1 ms Div Figure 6 1 Plot Showing Signals Generated by a GPIB Command 6 26 Aerotech Inc Version 1 1 U511 User s Manual Remote Mode Operations The same sequence of commands was also run on the U511 using the RS 232 interface at 9600 baud The PX8 command was sent and the resulting position was read back serially This sequence took 13 0 ms to complete the delay between receiving the command and outputting the position data was 0 75 ms This sequence at 57 600 baud required an average of 2 0 ms to complete Figure 6 2 shows the receive and transmit lines during the transfer at 9600 baud The top waveform is the receive line ES Waveform 3 4 98 11 55 48 AM OF x Channel 1 28 250 18 250 8 250 US11 Receive 1 750 11 750V 21 750 U511 Transmit 31 750 41 750 51 750 E E 0 12 ms 2 ms Div a Figure
249. e 10 Adjust the In Position Integrator K to remove any drift DC offset in the position error that might not have been removed with the Balance pot Increasing Ki may help the position error to end closer to the end of the Velocity Command If Ki is too high the settling time will increase as the position error begins to 5 oscillate after the end of the Velocity Command Figure 8 29 is a plot that displays a case where Ki is too high and Figure 8 30 shows a plot of the position error with the appropriate Ki value Version 1 1 Aerotech Inc 8 37 Tuning Servo Loops U511 User s Manual Collecting 2500 Command LINEAR X1 F120 Collecting 2500 Command LINEAR X 1 F120 mo step st mor E step Singe Lst Axis 1_ Kpos 70000 Ki 150000 Kp Axis 1 Kpos 70000 Ki 150000 Kp 5 0 93 3 Forward Motion Reverse Motion Yel Cmd 1 Vel Cmd 1 Pos Enf 1 Pos Enf 1 Notice that if Ki is too high that the Position Error crosses over the other Position Error curve This increases the settling time which means it takes longer for the stage to get into position 7 115 800 900 1000 1100 12 1000 1100 1200 1300 14 Figure 8 29 Plot Showing Effects on Position Error When Ki is too High Collecting 2500 Command LINEAR X1 F120 Collecting 2500 Command LINEAR X 1 F120 w ESen St O Ese E Axis 1 E Kpos
250. e Vff to a non zero value When the velocity feed forward function is enabled i e Vff 40 an added voltage is sent to the tachometer loop This signal is proportional to the Velocity Command and the value of Vff Vff is adjusted to minimize position error of the servo system Version 1 1 Aerotech Inc 8 25 Tuning Servo Loops U511 User s Manual S 8 7 3 Servo Parameter Setup for Tachometer Feedback When configuring a servo loop containing external negative velocity feedback from a tachometer the servo gain values shown in Table 8 6 are adjusted Table 8 6 Servo Gain Values Parameter Name Value Comments Position Gain Kpos Adjust per Should be maximized for servo stability and application acceptable position error following error levels Integral Gain Ki Optional In position integrator that helps reduce steady state position errors and the effects of tachometer loop drift Proportional Kp Always The digital Velocity Loop must be disabled so it Gain Zero does not conflict with an external tachometer providing velocity feedback Velocity Feed Vff Optional Minimizes following error position error of Forward the servo system Acceleration Aff Always Use of this parameter also conflicts within Feed Forward Zero external tachometer providing velocity feedback 8 7 4 The Axis Scope Toolbars The user will employ the same
251. e eee cesecsseceeecseecneeeseeeeeeeeeeeenes 7 9 7 6 2 Loading System Software eee cesceseceecseecneeeeeeeeeeeeees 7 9 7 6 3 Loading DOS or BIOS 0 ce e ee eceeceeeeeeeeeeeeeeeeeeneensees 7 10 TOA Erasin amp B Drive seoir eane ne tot teeta uigeeeh 7 10 7 6 5 Uploading a File to UNIDEX 511 eee eeeeeee 7 10 7 6 6 Downloading a file from UNIDEX 511 ee eeeeeeeee 7 11 TUNING SERVO LOOPS 00 0 0 ceeeeecneeeeceeeeeceaeceeeseeneeenenes 8 1 TntrOd uct Oni cess 2ecsa heed a he ee eae ake ee ee 8 1 Axis Scope Tuning Window eceeceecescesecesecesecseceeecaeeeaeeeeeeeeeens 8 3 S221 The File M enh sccesessectensesdcdecndedesitecedecsvesevtzeinecddcsdndeaetiencedecd3 8 4 8 2 2 The Remote Menu ccccccccsssseccceceesesseceeececeesesseseeeeeeeenes 8 4 8 2 3 The Plot Menyra naen rer E ea eesvesseeeceeceeseseved 8 5 8 2 4 The Trigger Menus anseio riser a Ea r e 8 5 8 2 5 The Collect MEnu sentan n hee seesanton hiiaceeess 8 6 8 2 6 The Display Menu eee eeceeecesecesecesecesecaecseeeneeees 8 6 8 2 57 The Axis Ment unean Secesseeselecies tevegueceleai eh E ANE 8 7 8 2 8 The Units Menu ccceccccccccccsessscecececeensnsececeeeceesenseaeeeeeens 8 7 8 2 9 The Tools MEN ics scsecsceccosscdseeseecds cceveveseedavedsceaveedsenaneecevesvbet 8 7 The Axis Scope Toolbars 0 0 eceeceecessceseceseceseceseceecaeeeaeeeaeeeeeees 8 8 8 3 1 Kp Proportional Gain eee eeeeeeeeeeeeeeeeeeeseeeseenaes 8 9 8
252. e A service request will be sent if enabled The PE command can be given to retrieve an error message Bit 5 of the status byte indicates that the command is executing When the command is finished a service request will be sent if enabled If the U511 is in HOLD mode execution is delayed until the Trigger command is sent Example TEN X Y IHO X Y IG1 X10 Y10 IABORT IFAULTACK Etc Table 6 13 shows the communication sequence for the Execute Immediate command Table 6 13 Immediate Command Sequence Direction of Transfer Command Description Host gt US511 I I command character Host gt US511 Immediate command Immediate command string Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 and command will begin If hold mode is enabled then trigger will be needed U511 Host SRQ character Service request character at Note SRQ will only be See SRQ section completion of command if sent if SRQ mode service request mode is active is active Perform service request procedure Example IX100 lt EOS character gt Version 1 1 Aerotech Inc 6 9 Remote Mode Operations U511 User s Manual 6 4 8 FMn Format of Returned Data This command specifies the format of returned data where n 0 decimal ASCII format The UNIDEX 511 prints data as a decimal number followed by the lt EOS gt character Data should be converted to binary form
253. e 4 8 Phase Advance Slope Parameter x66 is the Base speed specified by the user in machine steps ms The range is a value from 0 to 8 388 608 The system default is zero 0 The phase advance does not work with DC or stepping motors Also the function LS will not increase torque at low speeds The UNIDEX 511 clamps the maximum allowed phase advance at 40 4 64 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 8 16 Base speed advance 0 359 degrees AC brushless only Parameter x67 is the phase advance in degrees at the specified base speed Working in conjunction with parameter x66 this parameter is the number of degrees that the torque angle is increased beyond 90 at the speed set in parameter x66 The range for this parameter value is from 0 to 359 degrees The system default is zero 0 4 8 17 Phase speed machine steps ms AC brushless only Parameter x68 is the phase speed specified by the user in machine steps ms The range for parameter x68 is a value from 0 to 8 388 608 The system default is zero 0 4 8 18 Phase speed advance 0 359 degrees AC brushless only Parameter x69 is the phase advance in degrees at the specified phase speed Working in conjunction with parameter x68 this parameter is the number of degrees that the torque angle is increased beyond 90 at the speed set in parameter x68 The range for this parameter value is from 0 to 359 degrees The
254. e Motion to represent a move at 1 2 of the maximum speed Press the AUTO button and allow the stage to repetitively move in the forward and reverse motion While the stage is moving adjust the Input pot so that when the motor is moving at 1 2 speed the Velocity Command on TP5 is 4 volts Press the STOP button when completed Finish adjusting the Position Loop Kpos where the main concern is to strive for smoothness in the position error and to have the position error end at or near the same time the Velocity Command ends After repeating the process of starting and stopping the axis and adjusting Kpos the graph should look like Figure 8 28 8 36 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops EJ U511 Axis Scope Ver 5 00 oix Fie Remote Plot Trigger Collect Display Axis Units Tools Collecting 500 Command LINEAR X5 F2000 Status OK Axis 1 gt Kpos 15000 Kif O K o vef oamp o 32 k 528 Position Error ends at near Vel Cmd 1 the same time the Velocity Pos Enf 1 Command does 0 3 0 50 100 150 200 250 300 350 400 450 500 Figure 8 28 Plot Illustrating Smoothness in the Position Error Referring to Figure 8 28 the position error ends at or near the end of the Velocity Command The point where the user stops adjusting the Kpos depends upon how much settling time is allowed in the system If Kpos is too high the motor will oscillat
255. e Motor Drivers compatible with UNIDEX 511 0 1 4 Table 1 3 Options and Accessories Available for the UNIDEX 511 00 1 4 Table 2 1 Servo Loop Tuning Parameters 0 0 0 0 ce eeeeseecseeeeeeeeeeeeeeeseeeseeeneeee 2 6 Table 3 1 Hardware Status Diagnostics 0 0 ee eeeeseceseceseceeeceeeeeeeeeeeeeenees 3 21 Table 3 2 Primary I O Status Diagnostics eee eeceeceseceseceecnseceeecneeeeeenes 3 22 Table 3 3 System Status Diagnostics 0 eee cee ceeecneeeeeeeeeeeeeeeeeeeeeseeneensees 3 23 Table 3 4 Position Diagnostics ioiei cece esen reu ieee ipede peoien pei ueg a 3 24 Table 3 5 Active Limit Diagnostics s seseeesesesrsseereseeersrrereserresrrseeresreerseeeees 3 24 Table 3 6 Servo Fault Diagnostics esseesseeeseeesesreeresrersserrreresrrerrsreeresreersseee 3 25 Table 3 7 Secondary I O Diagnostics esssseeseeeeeseeeseeesrsrreresrerresrrrreresrrereseeee 3 26 Table 3 8 Active Components of the Terminal Page oo eee eeeeeeeeeees 3 27 Table 3 9 Troubleshooting the Autotune Process eee eeeeeeeeeceseeeseeneees 3 30 Table 4 1 U511 Parameters Grouped by Page ee eee eeeesceseceseecseeeneeeeeens 4 1 Table 4 2 Settings for Parameter 099 oo eee eee csecseeeeeeeeeeeeeeeeeereeeenseenaees 4 9 Table 4 3 Settings for Parameter 500 00 ee ee ee ceseceseceseceeeceecaeeeseeeeeeeeeeeeees 4 10 Table 4 4 Joystick Deadband Parameters 00 eects eeeeseeeeeeeeeeeeeeseeeeensees 4 10 Table 4 5 Joystick Center Position Param
256. e Servo Gains to Select Which Gains to Adjust Parameter File EJ 1511 Axis Scope Ver 5 00 Remote Plot Trigger Collect Display Axis Units Tools z Kpos e i 3500 Kp 85000 vet 256 Aff 0 Collecting Comma MDI HOME X Step Single GAIN Toolbar STATUS Toolbar CONTROL Toolbar Acknowledge a Fault Condition Axis Status Shows if Axis has a Fault Condition Such as a Hardware Limit Immediate Mode Command Box Single Step Through Forward and Reverse Motion Auto Step Through Forward and Reverse Motion Abort a Motion Stop the Auto Step Motion Command Being Executed Figure 8 4 Gains Status and Control Toolbars 8 8 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops The Gains option is used to display hide the Gains toolbar This toolbar contains an axis selection button as well as loop tuning gains fields for easy parameter access The Status option is used to display hide the Status toolbar This toolbar contains fields that display the current status of the data collection process and axis fault information The Control option is used to display hide the Control toolbar This toolbar contains features such as an MDI command box program step buttons and control buttons The Auto Tune option is used to display hide the autotune toolbar Autotuning is a procedure that automatically identifies motor parameters and determines the motor gains The autotune toolba
257. e fault parameters are part of the UNIDEX 511 s error checking and safety system They are used to define the level at which error conditions are recognized and the resultant actions that will occur These parameters are explained in detail in this section 4 9 1 Introduction to Fault Masks Fault masks are used to define how an axis responds to a given error condition Each axis can respond to an error condition by performing one or more of the following tasks Disable Disables axis amplifier and servo loop Interrupt Generates an internal hardware interrupt AUX output Sets clears an output bit Halt queue Immediately stops trajectory generation Abort motion Decelerates axis to a stop Enable brake Activates the U511 s brake circuitry Global fault mask Enables Disables detection of error conditions for all tasks Each task has an associated mask number displayed in hexadecimal format Each bit of this mask corresponds to a possible error condition Refer to Table 4 52 If the mask bit is set to 1 and the error condition occurs the task will execute If the mask bit is set to 0 the task will not execute The Global fault mask determines which error conditions will be detected Setting a bit to 0 disables detection of the error condition for all tasks The UNIDEX 511 allows bitwise manipulation of these masks It is not necessary to enter these numbers in hexadecimal forma
258. e first screen Other commands follow alphabetically A command can be selected by using the PgUp PgDown and arrow keys to locate the cursor on the desired command then pressing ENTER After pressing ENTER a specialized command screen which will help the user with the program command syntax will be displayed Use of the Edit Command screen is only necessary when a keyboard is unavailable E Index ENABLE DISABLE HOME SLEW FREERUN DWELL INDEX LINEAR cc CW Fa OUT TO IOSET Loop NEXT IF GOTO label j comment Press ENTER for syntax PgUp PgDown Quit FI F2 E3 F4 E5 Figure 3 9 Edit Command Screen This screen has three selectable functions that are described below F1 PgUp This function is used to page up through the commands F2 PgDown This function is used to page down through the commands F5 Quit The Quit function is used to exit or quit this operation The specialized command screens that appear after pressing ENTER on the Edit Command screen or by pressing Commands F4 while the cursor is on a command in the Program Editor screen differ depending on the command that was selected An example of one of these specialized command screens is shown in Figure 3 10 This screen is for the INDEX command The first line of the screen shows the file name and the line of the program that the command is being added to The next line shows the name of the command The third line shows the syntax for the command
259. e is clamped at the rate set by general parameter 027 045 063 or 081 Clamp feedrate SYNTAX LINEAR axis distance Ffeedrate lFTfeedrate_time G1 axis distance FfeedratelF Tfeedrate_time axis Defines one or more axes X Y Z U for motion distance Defines the distance of the move feedrate Defines a new contour feedrate Upon initializing the UNIDEX 511 the default units for feedrate are in units min The units are defined by the English and Metric conversion factors The units for feedrate can be changed by the PROGRAM command feedrate_time Defines the time in seconds that is allocated to complete the contour move The UNIDEX 511 calculates the contour feedrate based on the contour path The feedrate_time value is valid for the current block only If the target distance is insufficient for ramping the UNIDEX 511 automatically calculates and implements the shortest path to the target for each axis The corner rounding or velocity profiling motion options may be used in conjunction with this command The maximum feedrate that can be used for a contour type move is 2 If a feedrate subcommand is missing the UNIDEX 511 will use a previously programmed feedrate or the feedrate established by general parameter 022 040 058 076 Contour feedrate LI Ee Ee Version 1 1 Aerotech Inc 5 55 Programming Commands U511 User s Manual EXAMPLE LINEAR X10 Y20 F100 Contour mo
260. e may be configured Entering a 0 after the drive number cancels this command volts Output voltage 0 to 10 volts A value of 0 stops motion and disables the axis phase Electrical phase 0 to 360 degrees Specifies a 0 to 360 degree electrical offset for the torque vector To avoid damage to the motor and related equipment the motor must be disconnected from the load Also make sure parameters x53 Clamp current output x48 RMS current trap and x49 RMS current sample time are properly set When using this command with a configured system servo loop traps will occur To eliminate this temporarily set the following axis parameters to zero x19 Max position error x20 Max integral error Do not proceed unless you are sure of maximum motor current and amplifier scaling Make certain the Max position error and the Max integral error parameters are returned to their original values following phasing of the AC brushless motor For resolver feedback the resolver position should be 0000 when the Commutation phase offset parameter is set to 0 EXAMPLES MS 1 2 5 Sets drive 1 to 2 5 volts to line up the resolver MS 1 0 Cancels previous command disables drive 5 62 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands To verify phasing a small user program may also be written which steps through all states The motor should rotate in the clockwi
261. e may not have completed yet 4 7 are not working 11 5 RS 232 Communications Related Problems Some things to check when commands through the RS 232 serial ports do not work are listed and diagnosed in Table 11 5 The home switch is not connected Table 11 5 Troubleshooting for RS 232 Related Problems Problem Possible Causes Solutions See Also Remote Check Diagnostics terminal screen page 8 Run terminal emulation 3 0 4 3 6 0 commands do not software on PC to check communications work Check serial port configuration under Setup pages 2 and 3 Check cabling U511 requires a one to one connection to a PC Always disconnect main power connection before opening the U511 chassis WARNING Version 1 1 Aerotech Inc 11 7 Troubleshooting U511 User s Manual 11 6 IEEE 488 GPIB Related Problems Some things to check when commands through the IEEE 488 GPIB do not work are listed and diagnosed in Table 11 6 Table 11 6 Troubleshooting for IEEE 488 GPIB Related Problems Problem Possible Causes Solutions See Also Remote commands Check Diagnostics terminal screen page 8 3 0 4 4 do not work 6 0 Check address and EOS parameters under Setup page 4 Always disconnect main power connection before opening the U511 chassis WARNING 11 7 Fuse Replacement The following table lists the manufacturer and Aerotech s part number for t
262. e parameters can have values that range from 1 8 decimal places Examples are shown in Table 4 76 oO oO Table 4 76 Settings for Parameters 029 047 065 and 083 Value Example Function 1 123 1 Allots 1 decimal place after the decimal point 2 123 12 Allots 2 decimal places after the decimal point 3 123 123 Allots 3 decimal places after the decimal point default 4 123 1234 Allots 4 decimal places after the decimal point 5 123 12345 Allots 5 decimal places after the decimal point 6 123 123456 Allots 6 decimal places after the decimal point 7 123 1234567 Allots 7 decimal places after the decimal point 8 123 12345678 Allots 8 decimal places after the decimal point For information on determining an appropriate Metric conversion factor refer to parameter x00 the Metric conversion factor 5 Version 1 1 Aerotech Inc 4 101 Parameters U511 User s Manual 4 11 16 English digits 1 8 This parameter sets the number of zeros that are added after the decimal place in English mode displays It is used in conjunction with parameter x01 the English conversion factor to determine system scaling i e the number of machine steps in relation to 48 program steps Parameters 030 048 066 and 084 correspond to contour planes 1 through 4 respectively This parameter must be configured for each of the active contour 66 planes These parameters can have values that range
263. e program has been rewritten as VELOCTYG PRG using G codes where possible KKK KKK KKK KK KKK KK KKK KKK KKK KK KKK KKK KKK KKK KKK KR KKK KKK KKK KKK KKK KK KKK KKK RAK KK KERR KKK RRR Title Description VELOCTY1 PRG This program traces a part in incremental mode and shows velocity profiling skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk PROGRAM EN IN HOME X Y WAIT OFF ROUNDING OFF VELOCITY ON INDEX X2 Y1 MESSAGE DISPLAY WAITING 5 SECONDS DWELL 5000 CW_CIRCLE X 1 Y1 C0 1 F100 LINEAR X0 Y2 CW_CIRCLE X1 Y1 C1 0 LINEAR X 5 YO CW_CIRCLE X 5 Y 0 5 C0 5 LINEAR XO Y 1 5 CCW_CIRCLE X 5 YO C0 25 0 LINEAR X0 Y1 5 CW_CIRCLE X 5 Y 5 C 5 0 VELOCITY OFF CW_CIRCLE X1 Y 1 CO 1 CCW_CIRCLE X0 Y 2 C0 1 VELOCITY ON CW_CIRCLE X 1 Y 1 C 1 0 LINEAR X 2 YO DWELL 5000 HOME X Y EXIT Use English and incremental modes Send axes home Disable the WAIT command Disable corner rounding feature Turn on velocity profiling 31st move Move from home Let operator know were pausing 2nd move CW arc circle 3rd move Vertical linear move 4th move CW arc circle 5th move Horizontal linear move 6th move CW arc circle 7th move Vertical linear move 8th move CCW semicircle 9th move Vertical linear move 10th move CW arc circle iiith move Shut off velocity profiling at end of this move CW arc 42th move CCW s
264. e time in ms numsamp Number of samples to collect reserved for U511 software use only parameter not required EXAMPLE AT 1 1 2 100 10 This command generates 10 cycles of a sinusoidal velocity command to axis 1 with a maximum displacement of 100 mm and a frequency of 1 2 Hz Version 1 1 Aerotech Inc 5 19 Programming Commands U511 User s Manual 5 5 7 BEEP This command will turn on the UNIDEX 511 beeper a designated number of times It can be used to signify the end of a program or important points in a program The default is one beep SYNTAX BEEP count BE count count The number of times to turn on the beeper Count 0 will turn off the beeper Leaving the count blank will cause the beeper to beep once EXAMPLE BE 5 The beeper will sound five times at the designate point sin the program 5 5 8 BOARD The U511 can come equipped with an optional U500 board The BO command is used to select which board is to receive the forthcoming commands Board 1 is the U511 and board 2 is the optional U500 The board selection remains in effect until the next board command is issued Only one board may be selected at a time SYNTAX BOARD number BO number number Designates the UNIDEX 511 board number 1 or 2 to receive the commands EXAMPLE BOARD 1 30r BO 1 Selects board number 1 to receive commands The UNIDEX 511 cannot generate a precise contour type move between separate boards IMPORTANT
265. ease Notice that when the COS signal s amplitude is at maximum the SIN signal s amplitude is at minimum and vice versa Stop moving the resolver or Inductosyn when the amplitude of the sinusoid is at its maximum The maximum should be 2 V RMS which is 2 8284 V peak or 5 6568 V peak to peak If it is not 2 volts RMS then adjust the R2 potentiometer until it is Aerotech Inc Version 1 1 U511 User s Manual Appendix G G 7 Nulling the Phase Offset Rotary Inductosyns Only To null the phase offset of rotary Inductosyns perform the following Disable the axis being tested 2 Set the appropriate converter demodulator adjust mode jumper JP1 through JP4 for the axis being tested to the enabled configuration 3 Connect an O scope to pin 1 of the appropriate RCN where RCN1 Axis 1 RCN2 Axis 2 etc For example if checking Axis 1 then connect the O scope to pin 1 of RCN1 Connect the ground lead to TP4 4 Adjust the phase offset pot R1 until the ideal rectified signal is present Refer to Figure G 5 Get as close as possible e A different capacitor may be needed for pins 5 and 10 of RCN5 e The R1 pot adjusts the phase offsets for all 4 axes only applies if they are rotary Inductosyns so if more than one rotary Inductosyn is being used they have to be of the same type 5 Return the previously set jumper JP1 through JP4 to the disabled configuration 90 Degree Phase Difference
266. ecimal system are 0 9 the numerals for the hexadecimal number system which requires 16 unique numerals are 0 9 then A F where A16 010 B16 1110 C16 1210 D16 1310 E16 1410 and F16 1510 For simplicity in this manual hexadecimal numbers are written with a preceding 0x rather than using the subscript 16 For example the hexadecimal number 12A5 is written 0x12A5 Numbers without the preceding 0x are assumed to be decimal unless otherwise indicated home cycle The home cycle is series of motions that are used to move the specified axes to a hardware referenced position The Home feedrate parameter sets the feedrate associated with the home cycle home marker option The home marker option is a type of encoder that can be used with stepper motors This option provides an inexpensive way of establishing a very accurate home reference usually within 0 1 microns in most Aerotech equipment The home marker is protected in a rugged housing that also provides terminal connections for the encoder the motor and the limit switch in position integrator An in position integrator is a motor tuning adjustment that can be used to help remove steady state position errors as well as reduce the effects of tachometer loop drift In position integration is accomplished at a rate that is directly proportional to the velocity loop integrator Ki incremental positioning Incremental or relative positioning is done using a series of relative mov
267. ee general parameter number 098 for more information Table 4 37 Safe Zone Limit Parameters Param Definition Default Value x75 Safe zone limit machine steps 0 x76 Safe zone limit machine steps 0 Version 1 1 Aerotech Inc 4 47 Parameters U511 User s Manual 4 7 12 Limit debounce distance machine steps 77 This parameter specifies the distance that the axis takes to decelerate when moving out of the home or limit switch during a home cycle The value is a distance in machine steps A zero value defeats the function The range and default values for this parameter are shown in Table 4 38 Table 4 38 Settings for Parameter x77 Param Axis Range Default Value 177 1 0 8388607 mach steps 750 mach steps 277 2 0 8388607 mach steps 750 mach steps 377 3 0 8388607 mach steps 750 mach steps 477 4 0 8388607 mach steps 750 mach steps 4 48 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 8 Page 8 Motors and Feedback The UNIDEX 511 utilizes several parameter settings for configuration based on the motor and drive type being used This section provides an introduction to motor and feedback configuration The motor and feedback configuration parameters are explained in detail in the sections that follow The parameters that are used to configure motor and feedback functions of the U511 depend on the type of motor that is being
268. eeeeceecnseceaecaeenaes 6 23 Delete File Sequence rnrn eee eece cece A EA R 6 24 Help Menu Command Sequence cece eeeeeeeeeeeeeeeseeseeeseeeaes 6 24 Software Version Command Sequence cece eeeceeeseeereeeeeeeeees 6 25 Software Status Diagnostics eee ese cese cee cneecneeeeeeeeeeeeeeeeeeeeeeseens 7 6 Axis Position Diagnostics scceseceesecesreeenceceeeeeeneecescereneecsaeeeeneeees 7 7 Hardware Status Diagnostics eee cee ereeeseeeeeeeeeeeeeeeeeeeeeneensees 7 7 Menu Items on the Axis Scope Window eeceecesecsecseeereeeeeeeeeees 8 3 File Menu Options in Axis Scope eeeesceecseeceeeeeeeeeeeeeeereeseensees 8 4 Trigger Menu Options in Axis SCOpe oe eceecceeceseceeeceseeeseenseenaes 8 6 Troubleshooting the Autotune Process cee eeeeseeeecesecesecsneeneee 8 15 Initial Servo Parameter Values 20 0 0 cece eceecceeceescesecesecsseenseesaeenee 8 18 Servo Gain Valles icrit r eE E SEEE ESES Er 8 26 Initial Servo Parameter Values Tach Tuning eee 8 30 Encoder Connector Pinouts for Axis 1 Through 4 J2 J5 00 10 3 COMI Interface Connector Pinouts 0 eee cee eeeeeeeeeeeeeeeeeensees 10 3 COM2 Interface Connector Pin Connections 00 0 0 ee ee ee eeeeeeeee 10 4 16 IN 8 OUT Connector eee ee eecesecee cess creeeseeeeeeeeeeeeeeereneensees 10 5 UNIDEX 511 Opto 22 Connection Information 00 00 ee 10 6 8 X 3 I O Bus Connector Pinouts J12 0 0 eeeececeeesseeeeeeeeeeeees 10 10 Control Board Current Limitin
269. eeeeeeeee 10 24 10 7 1 UNIDEX 511 Desktop Specifications ee 10 24 10 7 2 UNIDEX 511 Rack mount Specifications 10 24 UNIDEX 511 Electrical Specifications 0 eee ee ceeeeteeeeeeees 10 25 UNIDEX 511 Environmental Specifications 0 eee eee 10 26 Version 1 1 Aerotech Inc Xi Table of Contents CHAPTER 11 11 1 11 2 11 3 11 4 11 5 11 6 11 7 11 8 11 9 11 10 APPENDIX A APPENDIX B APPENDIX C C l C 2 APPENDIX D D 1 D 2 D 3 D 4 APPENDIX E E 1 E 2 E 3 APPENDIX F F 1 F2 F 3 APPENDIX G G 1 G 2 INDEX U511 User s Manual TROUBLESHOOTING 0 eee eeeceeesecneeeecneeeeeeaeceeesecneeeenaeeees 11 1 Stepper Motors and Related Problems ee ceeeeeeeseeeeeeseeeneeeees 11 2 Servo Related Problems eee eecesecesecesecseeceeeeeeeeeeeneeeseeeseensees 11 4 Problems Involving Fault Conditions 0 eee ceeeeeeeeeeeeeeeeerees 11 5 Homing Related Problems ceecceeeseceenceceeeceeececeaeeeeeeecsaeeeeetees 11 7 RS 232 Communications Related Problems 0 0 0 0 eeeeeeeeeeeeeee 11 7 TEEE 488 GPIB Related Problems eee ee eeeeeceeeceseceseeeeeene 11 8 Fuse Replacement 2 s c scpsecgseunsaeceset cee aia E EE A tress 11 8 Preventative Maintenance eee eecesecesecesecnsecneecseesseeeeeeeeeeseenes 11 9 Cl Gann Bs Ss sesh sedi h devas T E Se ochdow ts S 11 9 Batiery lt os E E eb Baa i ole BARE BAR ANE s 11 9 GLOSSARY OF TER
270. eeeeeeteeeeees 4 90 Settings for Parameters 018 036 054 and 072 eeeeeeeeteeeteeeeeee 4 93 Settings for Parameters 019 037 055 and 073 ce eeeeceeeeeeesteeeeees 4 94 Settings for Parameters 020 038 056 and 074 0 eeeceeeeeesseeeeees 4 95 Parameter Associations between Planes Measurement Units and the Number of Decimal Digits 00 0 eee eee eeceeeeeeeeeeeeeeeeeeeeeeees 4 95 Settings for Parameters 021 039 057 and O75 eeeeeceeeeeesteeeeees 4 96 Settings for Parameters 022 040 058 and 076 ceeeceeeeeeeteeeeeee 4 97 Point to point Feedrate Parameter Assignments and Settings 4 97 Settings for Parameters 027 045 063 and 081 eee eeeeeeeeeeeeeee 4 98 Settings for Parameters 028 046 064 and 082 00 eee eeeeeeeteeeee 4 100 Settings for Parameters 029 047 065 and 083 eeeeeeeeeeeneeeees 4 101 xviii Aerotech Inc Version 1 1 U511 User s Manual List of Tables Table 4 77 Settings for Parameters 030 048 066 and 084 sessesseeseseeeeseeese 4 102 Table 4 78 Settings for Parameters 31 49 67 and 85 00 ee ceeeeesseceeeeeeneeeeeees 4 103 Table 5 1 Programming Conventions Used in This Manual 00 ee 5 1 Table 5 2 Single Character Arguments for Programming 0 ee eeeeeeeeeeees 5 2 Table 5 3 Supported Function sss ce secses Asceses cayeuces sce sinp yae e pS EES E rsrs Esen 5 3 Table 5 4 Mathematical Operators and their Evaluation Hierachy
271. eeeeeseeeee 5 4 System REZIS EFS re cdstdetecs case OESE saves E lobes EEEREN 5 5 5 3 1 Relative Position Registers s eeeeeeseesereerserererreerrsrerrseen 5 5 5 3 2 Absolute Position Registers sseeseeeesseeseresrsrrerrsreerrsreerese 5 6 5 3 3 Real Time Feedback Position Registers 0 00 0 eee eee 5 6 5 3 4 Real Time Command Position Registers eee eee 5 7 5 3 5 Understanding the Concept of Program Steps 5 7 3 3 6 A D Channel Registers s sscssesesvesscotesesesesvensscosssssessesossee 5 8 System Inputs INP and INO INBF cccceceeseccsceseeeeneeeeeeeeeeeeeeneens 5 8 Programming Commands 0 eee eeceeeceseceseceseceecaeecaeeeneeeaeeeeeees 5 10 53A ABORD ann a cena estan ees ieee 5 13 5 5 2 ACCELERATION rrrainis 5 13 5 3 3 AC PL ACCEL PLANE i enni a A 5 14 5 5 4 AFCO Auto Foc s rosee erretira eare eeann Esei aese 5 15 5 35 93 AGAN Seat a i BOR eee is GA tes 5 18 5 6 AT Autotune 2 a ev atiieeceshsc ae et oie hi 5 19 DT BEEP eene eea a Sa EE Aa E SENE 5 20 53 8 BOARD arere is ain ab este eid ain EEEE F 5 20 539 BRAKE na iin acunet E TE 5 21 5 5 10 CAL Load Calibration File ssseeesseeeeeeeseeersreerssreerseen 5 22 5 5 11 CLOCKWISE and COUNTERCLOCKWISE CIRCULAR INTERPOLATION recer s e oa 5 22 5 5 12 CLRSCR Clear Screen veccssiripie iei i 5 26 5 5 13 CI Command Interrupt eeeeeeseceeneeceseceeeeeceneeeeneees 5 26 5 5 14 CM Contouring Mode 00 0 eee ceesees
272. elationship that is different than the one provided by the UNIDEX 511 The default phasing may be adjusted by the configuration of this parameter This parameter has a range from 0 359 The system default is 0 for no phase offset Refer to the previous section for additional phasing information All Aerotech amplifiers require a 0 offset except for the AS3005 which requires a 300 offset 4 8 10 Stepper high current 0 100 stepper drives only The UNIDEX 511 utilizes dynamic current scaling based on the motor s commanded velocity If an axis is setup as a stepper and a motion is commanded the UNIDEX 511 will output the percentage set by this parameter of the maximum output voltage 10 volts For example a value of 100 corresponds to 10 volts This value is the peak of the sinusoidal current command during motion This parameter has a range from 0 to 100 The system default is 70 Actual motor current depends on the amplifier s scaling 4 62 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 8 11 Stepper low current 0 100 stepper drives only The UNIDEX 511 utilizes dynamic current scaling based on the motor s commanded velocity If the commanded velocity is zero for 500 ms the current level will go to the value set by this parameter reducing motor heating This parameter sets the percentage of the maximum output voltage that the UNIDEX 511 can generate 10 v
273. ement of a servo drive to provide manual control of axis motion joystick A joystick is manual input control device that digitizes a path using two axes A joystick offers direct motion control for easy machine setup and testing jumpers Jumpers are hardware ties that you manually position onto different posts to configure the hardware platform Jumpers on the UNIDEX 511 board are used to configure the COM2 format the front panel display the operating mode and other features leadscrew A leadscrew is a motion component of stages and consists of a threaded shaft and a housing that rides along the shaft as the shaft is rotated The housing of a leadscrew contains a similar thread that rides along the shaft thread as the shaft rotates Leadscrews are more economical but less accurate than ballscrews LED LED is an acronym for light emitting diode An LED is a semiconductor diode that converts electrical energy into visible electromagnetic radiation The UNIDEX 511 board has several LEDs visible from the back of the unit that are used for diagnostic purposes linear interpolation Linear interpolation is a mathematical process used by the U511 in which a straight line path is based on two sets of coordinates X1 Y1 and X2 Y2 on the line Unlike cubic spline interpolation which uses two additional coordinates to determine the slope of the smoothed curve linear interpolation only uses two sets of coordinates and generates a strai
274. emicircle 13th move Restore velocity profiling then do CW arc circle 44th move Horizontal linear move Let operator know we re pausing again 15th move Return to home position End of program skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk End of Program VELOCTY1 PRG skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Version 1 1 Aerotech Inc 9 3 Programming Examples U511 User s Manual KKK KKK KKK KK KKK KKK KKK KKK KKK KK KKK KKK KKK KKK KK KKK KKK KKK RRR KKK KERR KKK KKK KKK RRR RAKE KERR 4 Title VELOCTYG PRG Description This program traces a part in incremental mode and shows velocity profiling using G codes H skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk G70 Use English mode G91 Use incremental mode HOME X Y Send axes home G8 Turn on velocity profiling GO X2 Y1 31st move Move from home MESSAGE DISPLAY WAITING 5 SECONDS Let operator know G4 5000 we re pausing G2 X 1 Y1 C0 1 F100 32nd move CW arc circle G1 X0 Y2 3rd move Vertical linear move G2 X1 Y1 C1 0 4th move CW arc circle G1 X 5 YO 5th move Horizontal linear move G2 X 5 Y 0 5 CO 5 6th move CW arc circle G1 X0 Y 1 5 7th move Vertical linear move G3 X 5 YO C0 25 0 8th move CCW semicircle G1 X0 Y1 5 9th move Vertical linear move G2 X
275. enable or disable this potentiometer s effect when the associated axis is in freerun This parameter value can be set to either yes or no Descriptions are given in Table 4 13 Table 4 13 Settings for Parameter x14 Param Axis Description axis is in freerun default No MFO potentiometer is disabled when the associated axis is in freerun 4 5 7 Enable axis calibration y n Axis calibration is an option available to the UNIDEX 511 user A maximum of 2 047 points of correction data is available These points are loaded to the DSP during initialization from a calibration CAL file Subsequent axis positioning is then adjusted based on the CAL file data The table format is the number of absolute machine steps needed to correct the current position Feedback polarity is always increasing for CW rotation and decreasing for CCW rotation Correction numbers should be entered accordingly regardless of home direction and programmed polarity Correction can be positive or negative Axis calibration is repeating A move outside the calibration window will be mapped back into the table If this operation is undesirable the end of the calibration file should be padded with the last error In the case of circular calibration the calibration table should equal one revolution Axis calibration will be active when e The Enable axis calibration parameter x15 is set to yes e The ASCII calibration file CA
276. ence between the commanded velocity and the velocity derived from the feedback position i e the difference between the desired velocity and the actual velocity Velocity error is measured in machine steps per quarter millisecond machine steps qms A velocity error fault occurs if at any time the velocity error of the system exceeds a programmable velocity error specified by parameter x18 velocity feed forward Velocity feed forward is a control strategy represented as a dimensionless gain value that is sometimes used during the motor tuning process in which current velocity disturbances are converted into corrective actions now in order to minimize the future effects of the disturbances velocity profiled motion Velocity profiled motion is a move of a programmed distance and speed from the current position Velocity profiled motions are executed only after the previous motion has reached its deceleration point word A word is a number of bytes that are processed as a single unit by a computer In the U511 a word consists of two bytes or 16 bits VV V Version 1 1 Aerotech Inc Appendix A U511 User s Manual A 10 Aerotech Inc Version 1 1 U511 User s Manual Appendix B APPENDIX B WARRANTY AND FIELD SERVICE In This Section e Laser Product Warranty e Return Products Procedure e Returned Product Warranty Determination e Returned Product Non warranty Determination e Rush Service e On site Warranty Re
277. enerated bit 23 1 command in DSP buffer 6 14 Aerotech Inc Version 1 1 U511 User s Manual Remote Mode Operations An empty queue means that there are no unprocessed commands If a plane s queue buffer is marked not empty it is processing commands 5 n 6 returns the current manual feedrate override MFO n 7 returns the joystick status with the following bit assignments bit 0 1 00 high velocity mode 01 low velocity mode 1x absolute positioning mode bit 2 3 00 plane 1 active 01 plane 2 active 1x block delete active digitizing mode bit 4 1 joystick interlock open error 0 joystick interlock closed normal bit 5 7 000 no current horizontal axis defined 001 axis active 010 axis 2 active O11 axis 3 active 100 axis 4 active bit 8 10 current vertical axis 0 4 000 no current vertical axis defined 001 axis 1 is the active vertical axis 010 axis 2 is the active vertical axis 011 axis 3 is the active vertical axis 100 axis 4 is the active vertical axis bit 11 1 received joystick cancel command bit 12 13 unused bit 14 0 joystick is deactivated 1 joystick is now active n 8 returns the currently active board number 1 6 9 12 returns the number of actions remaining in queue for planes 1 4 This data is meaningless when used with the PLC or QUEUE commands Version 1 1 Aerotech Inc 6 15 Remote Mode Operations U511 User s Manual Table 6 20 shows the communica
278. ent Limit DS16020 20A max DS16030 30A max Balance Turn it Midway r a Tachometer Turn it Full CW E Turn it Full CCW then back it off in Input the CW direction 1 4 of a turn 8 Figure 8 23 Amplifier Potentiometer Layout rating of the motor If the user has a motor with a 10 A peak current rating and a DS16020 which has a maximum current output of 20 A set the Current Limit potentiometer to midway for a representation of 10 A Then back it off 1 8 turn in the CW direction Full CW allows the minimum amount of current through and full CCW allows the maximum 5 The initial setting of the Current Limit potentiometer is based upon the peak current c Adjust the Servo Gain potentiometer on the amplifier by first enabling the axis and then turning the potentiometer counterclockwise CCW until the motor oscillates i e the stage vibrates The motor will produce a screeching sound when it oscillates Back the gain off by turning it clockwise CW until the oscillation stops Make another 1 8 turn CW from that position so it s not on the borderline of having the motor oscillate 6 Prepare the Axis Scope window for tuning by performing the following functions a Press the MAXIMIZE button on the Axis Scope window so the Axis Scope window fills the entire screen b In the Collect menu select 2500 points c Inthe Display menu select 2500 points d Inthe Axis menu select axis
279. ently 94 not used because the joystick is connected to channel numbers 3 and 4 A D channel number 1 is normally the MFO input A D channel 2 is normally the user analog input oO Table 4 4 Joystick Deadband Parameters Parameter A D Channel Default Value 090 A D Channel No 1 0 092 A D Channel No 2 0 094 A D Channel No 3 joystick vertical axis 0 096 A D Channel No 4 joystick horizontal axis 0 The A D converter is 8 bits scaled so that 0 V gives an output of 0 and 5 V gives cS an output of 255 An A D output of 128 corresponds to an input of 2 5 V 4 10 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 2 15 A D channel n center Position Parameters These parameters specify the center position of the A D inputs used for joystick mode This allows the joystick pot to be digitally centered or calibrated The parameter value is the number of A D counts assigned to the center position The default value is zero which is internally interpreted as 128 A D counts 2 5 V for backward compatibility O Co pare oO oO The parameter definitions are listed in Table 4 5 Parameters 091 and 093 are currently not used because the joystick is connected to channel numbers 3 and 4 A D channel no 1 is normally the MFO input A D channel 2 is normally the user analog input oO ite Ol I Table 4 5 Joystick Center Position Parameters Param
280. ents the vector by 10 degrees each time through the loop It is written for the X axis To change to a different axis change line 1 and VO The motor should not be connected to the load during this test Linear Motor Phasing ENABLE X enable axis to check X Y Z or U V0 1 axis number 1 2 3 or 4 Vi 5 peak amplifier output voltage V2 0 Starting angle 0 degrees V3 1000 time in milliseconds between vectors step speed WAIT ON wait for previous commands to finish ABORT abort internal queue buffer LOOP 36 loop for one electrical cycle MSET VO V1 V2 send vector DWELL V3 delay between vectors V2 V2 10 angle of next vector NEXT QUEUE AGAIN run program continuously C 2 Aerotech Inc Version 1 1 U511 User s Manual Appendix C The feedback device s position display should also be increasing See page 4 of the Diagnostics window in the interface program 8 Check the Hall signals The Hall signals can be viewed on Page 7 of the U511 Diagnostics window See Figure C 1 As the motor is moved in the positive direction the Hall signals should cycle through the proper states Swap Hall signals until the proper sequence is obtained See Table C 1 Aerotech linear and rotary AC brushless motors require Hall effect feedback except for rotary AC brushless motors with resolvers Resolvers provide absolute position information for one revolution of the motor MSB LSB Page 7 Secondary I O I O b
281. er 55 Autotuning cannot be run on stepper motors motors with tachometer feedback or on Ee dual loop systems Three autotuning plots are shown in the following Figures Figure 8 6 shows results of an autotune where Dist was set too low The torque output is generally less than a volt and the commanded velocity plot is not sinusoidal This stage should be retuned with the Dist increased 8 12 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops EJ U511 Axis Scope Yer 5 00 File Remote Plot Trigger Collect Display Axis Units Tools Collecting 1210 Command AT 1 1 0 5 2 3 5 1210 Status OK Axis 1 x Dist 5 Freq Hz l 1 BW Hz l 33 Damping 0 5 2 elocity 1 2 3218651 Torque 1 345707 605 1210 1815 2420 3025 3630 4235 4840 5445 Figure 8 6 Autotune Plot Where Dist Has Been Set Too Low Figure 8 7 shows an autotune plot where the distance is too large The plot shows that the torque output becomes clipped at 10V This stage should be re tuned with the Dist decreased so that the torque output is no longer clipped EJ U511 Axis Scope Yer 5 00 File Remote Plot Trigger Collect Display Axis Units Tools Collecting 1210 Command AT 3 1 210 2 3 5 1210 Status OK Axis 3 gt Dist 210 Freq Hz 1 BW Hz 33 Damping 0 5 E mpi sd Step Single Auto Stop Abort 668 8 Velocity 3 670 4 10 Torq
282. er Utility software select the correct COM port settings from the Remote menu item The only setting necessary to select is the COM port of the PC The other settings are ignored by the software as loading the system software will always be done at 57 6 k baud with 8 data bits 1 stop bit and no parity Once the COM port is selected select Load System Software from the File menu item This will bring up a file dialog box There are two different options of U511 system software These are the files U511 ABS and U11 ABS The file U511 ABS is the standard U511 software The U11 ABS is the U511 software using the UNIDEX 11 command set to allow for backward compatibility to previous users of the UNIDEX 11 controller After selecting the appropriate file the transfer will begin and will take at least 2 minutes to complete Once the status bar reaches 100 and the display Version 1 1 Aerotech Inc 7 9 Windows Interface and Utilities U511 User s Manual WARNING shows Transfer Complete the software has been loaded properly Turn power off and replace the JP12 jumper connecting pins 5 to 6 to put the U511 back into the normal operation mode 7 6 3 Loading DOS or BIOS Reloading DOS or BIOS to the U511 should only be necessary in the case of a crash or error in the operating system This procedure is similar to loading system software see Section 7 6 2 Follow the same procedure for loading system software set
283. er describes all of the parameters of the UNIDEX 511 system Parameters are assembled into 11 groups based on their appearance on pages in the Setup menu F2 Each page of the menu represents a group of related parameters The sections in this chapter are arranged according to these groups under a subtitle that has the name of the page to which the parameters belong Within these sections parameters are presented in the order in which they appear in the software Additional sections are included to explain topics that are closely related to the parameters Table 4 1 shows a listing of the parameters and their default values grouped by page For easy reference the parameter number is displayed in the margin beside the parameter explanation An example is illustrated in the margin to the right O Table 4 1 U511 Parameters Grouped by Page Parameter Description Default Value Found on Number Page Page 1 System Configuration 4 7 600 Auto enable axes No axis enabled 4 7 601 Auto run program None 4 7 602 Axis calibration file None 4 7 603 Parameter file US11 PRM 4 7 604 Firmware file AAU511 JWP 4 7 605 M code file None 4 7 Version 1 1 Aerotech Inc 4 1 Parameters U511 User s Manual Table 4 1 U511 Parameters Grouped by Page continued Parameter Number 606 607 15 16 98 99
284. er x04 When the LVDT reaches a specified point the axis will ramp down and begin searching for the null position The axis stops on the null position of the LVDT sensor completing the cycle SYNTAX LVDT axisnumber channelnumber direction speed1 speed2 axis number Specifies the axis number 1 2 3 or 4 for the LVDT reference channel number Specifies the RDP channel number to be referenced by this command The default for unused RDP channels is 16 bit mode The LVDT command must specify an RDP channel 9 16 No other axis should reference this channel through axis parameters x38 x39 x40 or x41 direction Direction of search CW or CCW speed Speed axis moves in machine steps ms until the ramp down point speed2 Speed axis moves in machine steps ms until the null is found LVDT Sensor Ih P Position Minimum Maximum Position Position Ramp Down Point LV Search Direction gt Axis Motion CW or CCW a oe d LVDT Minimum Position LVDT Null Position LVDT Maximum Position Figure 5 6 LVDT Sensor Version 1 1 Aerotech Inc 5 57 Programming Commands U511 User s Manual IMPORTANT S EXAMPLE LVDT 1 9 CW Axis 1 uses R D channel 9 for feedback Direction of motion is CW The U511 RDP board is required to provide the feedback channel Also no other axes should reference the argument channel through axis parameters x38
285. ered based on the velocity feedback transducer Version 1 1 Aerotech Inc 4 51 Parameters U511 User s Manual English and Metric conversion factors are calculated with respect to the position S feedback resolution As mentioned earlier the three most common types of motors are stepper motors AC brushless motors and DC brush servo motors For stepper motor applications parameter x42 drive type must be configured to either 2 or 3 Most stepper motor applications are open loop applications that is they have no feedback As such the commanded position is the assumed motor position Stepping Motors The UNIDEX 511 can drive up to four stepping motors To drive the motors two current command phases are output separated by 90 electrical degrees For typical open loop operation the UNIDEX 511 generates 2048 micro machine steps per pole of the motor This equates to 102 400 machine steps per revolution 2048 x 50 102 400 The maximum commutation frequency for stepper motors is 2 500 Hz yielding 3000 rpm maximum In open loop applications the stepper motor uses the home limit switch as a reference point during home cycles A marker wheel or encoder may be used to provide a more repeatable home cycle reference If parameter x38 Position channel is configured for an encoder i e x38 1 to 4 S then the UNIDEX 511 will stop on the marker pulse during home cycles The UNIDEX 511 checks for encoder feedback if parameter x3
286. erotech Inc 11 3 Troubleshooting U511 User s Manual 11 2 Servo Related Problems Some common problems that relate to the use of servo motors are listed and diagnosed in Table 11 2 Table 11 2 Troubleshooting for Servo Related Problems Problem The motor has no torque The motor buzzes or makes an unusual noise The motor runs away when it is enabled A position or integral trap error occurs when the motor is enabled A position or integral trap error occurs when motion is commanded The amplifier does not enable WARNING Possible Causes Solutions The appropriate axis is not enabled The motor wiring is faulty The amplifier fuse is blown The amplifier is faulty The PID loop gains are not adjusted properly The feedback device is not connected The wrong feedback channel has been specified Verify feedback The wrong feedback setup code has been specified Verify feedback The feedback device is not connected The wrong feedback channel has been specified Verify feedback The motor has no torque See above The feedback device is not connected The wrong feedback channel has been specified Verify feedback The wrong feedback setup code has been specified Verify feedback The motor has no torque See above An amplifier fault has occurred This could be due to an improperly wired or shorted motor The amplifier is faulty Aerotech Inc
287. ers within the UNIDEX 511 system Appropriate parameter configuration optimizes the UNIDEX 511 for an application Chapter 4 includes discussions of all software parameters motor and feedback configurations and other topics related to the operation and configuration of the UNIDEX 511 system CHAPTER 5 PROGRAMMING COMMANDS Chapter 5 supplies information required to understand the UNIDEX 511 programming environment Included is an in depth discussion of individual programming commands CHAPTER 6 REMOTE MODE OPERATION Information about controlling the U511 remotely through one of the RS 232 ports or the IEEE 488 parallel port is found in Chapter 6 CHAPTER7 WINDOWS INTERFACE AND UTILITIES This chapter contains information about the Windows Utilities These utilities include a parameter editor an axis scope screen a diagnostic screen and a file transfer utility The utilities run on any PC and operate remotely from the U511 using the RS 232 standard CHAPTER 8 TUNING SERVO LOOPS Chapter 8 provides information about servo loops and proper tuning techniques Version 1 1 Aerotech Inc xxiii Preface U511 User s Manual CHAPTER 9 PROGRAMMING EXAMPLES This chapter contains sample applications highlighting UNIDEX 511 features parameter settings and sample programs CHAPTER 10 HARDWARE DETAILS Chapter 10 supplies a variety of technical specifications for the UNIDEX 511 These specifications include test points ju
288. es These moves are relative to the previous location rather than a single reference point for example relative changes in position AX AY are examples of incremental positioning In contrast absolute positioning is positioning that is done with respect to an initial starting position typically referred to as the home position and typically uses a standard coordinate system using X Y coordinates is an example of absolute positioning Inductosyn An Inductosyn is a rugged very accurate multipole electromagnetic transducer with an operating principle similar to that of a resolver integral error Integral error is the summation of position errors over time An integral error fault is generated if the integral error for an axis exceeds a programmable maximum integral error value parameter x20 Integral error is reset every time the axis is reset integral gain Integral gain is a dimensionless motor tuning parameter that serves to help remove steady state position errors as well as reduce the effects of tachometer loop drift iSBX expansion port The iSBX expansion port is a standard Intel interface that uses either an 8 or 16 bit data bus and is used primarily for communications oriented additions to the system The iSBX expansion port has a communications data rate of approximately 1 MB sec 1 048 576 bytes per second A 4 Aerotech Inc Version 1 1 U511 User s Manual Appendix A jog move A jog move is a momentary mov
289. es available labeled VO through V255 These variables are global and may be used between multiple programs run by the U511 5 These variables are initialized to zero after system initialization Numeric constants may be specified in floating point exponential or hexadecimal formats Variables are automatically formatted in either floating point exponential or hexadecimal formats For example V12 34 395 Floating point number V200 Ox3F sHexadecimal integer format V106 1 257e 7 Exponential format 5 2 2 Indirect Variables VV0 through VV255 Variables may be addressed indirectly That is the actual variable number is itself a variable This is a very powerful feature permitting treatment of variables as though they were a single dimensional array The format for an indirect variable is VVn where 0 lt n lt 255 5 2 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands For example assume that V12 56 then VV12 actually refers to V56 V56 may equal some other unrelated value For example V35 10 237 Assigns 10 237 to variable V35 VO 35 Assigns 35 to variable VO Vi VVO Assigns value of V35 to V1 In this case the value of the variable number specified by VO e g V35 which equals 10 237 is assigned to variable V1 5 2 3 Functions Table 5 3 summarizes the functions that are executed by the U511 as well as a description of each function and examples Table 5 3 Supported Functio
290. es multiple axes of contour motion being done independent of each other the user may group those axes into different contour planes Axes within a contour plane continue to be capable of synchronous and block by block motion Axes assigned to different contour planes move independently There are 1 2 or 4 contour planes available for use established by general parameter 000 Number of contour planes Each contour plane can have zero to four axes assigned to it The same axis cannot be assigned to more than one plane If a contour plane does not have any axes assigned to it the UNIDEX 511 internally blocks the plane so that no commands can be sent to it SYNTAX PLANE number PL number number Selects one plane at a time selection remains in effect until the next plane command is issued EXAMPLES PL 1 G1 X100 sMove in plane 1 linear move of the X axis PL 2 G1 Y100 sMove in plane 2 linear move of the Y axis Because the X sand Y axes are in different planes Y will begin motion at sthe same time as the X axis Related commands MAP WAIT START and HALT PL Version 1 1 Aerotech Inc 5 69 Programming Commands U511 User s Manual 5 5 62 PROGRAM The PROGRAM or PR statement establishes the current programming environment The default programming environment is incremental units and units minute The default programming system English Metric may be specified per plane by using general parameters 20 38
291. es sess e eek eres hee ce eee TR Se eS So eee eee ee es 9 1 e Incremental Relative Motion with Velocity Profiling 10 0 0 eee eeceseceseeeeeeeeeee 9 2 e Absolute Motion with Velocity Profiling eee E E O EE 9 5 e CNC Demonstration Using Velocity Profiling Linear and Circular Interpolation 9 7 ComenRoundim perc ee ccseccess e soe E E a E e E A eee 9 8 e GEAR Demonstration of a Master Axis with Two Slave AXxeS 0 cecceeseeeeseeeees 9 10 om Interlockines ontour Planes ee sess eee E E eee EN 9 11 OES PAM Oe Reece eee eee sare oes See gee Sere oye RT SEES EE ESE OE TSS ee ee 9 12 os Programming sin palin puts ee E A E E E EE AE E 9 13 Pal eNA OAD OTA E Aa A E A A E A TEE T AE E 9 14 o gt FOverridine Scales ac tote a E ee eee eae ON A E 9 16 Softkey Use coe eacee ccc scereos cece cee stee eee seas te Teen eet eee DETR SE oS 9 19 3 XS VO BUS Pro pram o e e e eevee ee cree ences sees uence E ERE RE 9 20 e Power on Subroutine Global Subroutine File eee ee ceeeeseceeceseeneeceeeseeeneeees 9 21 9 1 Introduction This chapter is intended to provide an overview of several UNIDEX 511 applications It is assumed that you have unpacked and checked the U511 system configured the hardware and software installed the necessary components and are otherwise ready to begin using the UNIDEX 511 system in a real application The application examples and associated programs in this section are intended to give the reader only
292. esponse operation The U511 will generate a SRQ under the following conditions 1 Program is finished executing in AUTO mode 2 Block has finished executing in BLOCK mode 3 Immediate command has finished execution 4 Runtime error in the program 5 Syntax error in the program This will occur immediately after the AR or BR command since the program is syntax checked before execution 6 An axis error such as a limit or position error occurs 7 An illegal remote command is sent The normal response to a service request is to Serial Pol the U511 Q or GPIB Serial Pol function The user can then determine the source of the error from the status byte 8 When the U511 has finished saving parameters to flash memory using the SP command Table 6 5 Service Request On Sequence Direction of Transfer Command Description Host gt US511 SRI Service Request On code Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 Example SRI lt EOS character gt Version 1 1 Aerotech Inc 6 5 Remote Mode Operations U511 User s Manual Table 6 6 Service Request Off Sequence Direction of Transfer Command Description Host gt U511 SRO Service Request Disable code Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 Example SRO lt EOS character gt Table 6 7 S
293. ess of 5 V The outputs are open collector type 74LS642 drivers capable of sinking 24 mA each A programmed logic level of 0 results in a high impedance output A programmed level of 1 results in a low impedance to ground The reset default state of this bus is all outputs to high impedance This interface bus is designed for direct connection to an Opto 22 style interface board Aerotech Inc Version 1 1 U511 User s Manual Technical Details Table 10 4 shows the pinouts for the 16 IN 8 OUT connector The mating connector is a 3M 3564 1001 Aerotech ECK00353 16 IN 8 OUT Specifications Signal format TTL Input voltage range 0 to 5 V Input current 5 mA Output voltage logic 1 35 V 24 mA Output voltage logic 0 High impedance Table 10 4 16 IN 8 OUT Connector Pin Description Pin Description 1 IN15 Input 15 14 IN2 Input 2 2 IN14 Input 14 15 IN1 Input 1 3 IN13 Input 13 16 INO Input 0 4 IN12 Input 12 17 OUT7 Output 7 5 IN11 Input 11 18 OUT6 Output 6 6 IN10 Input 10 19 OUTS Output 5 7 IN9 Input 9 20 OUT4 Output 4 8 IN8 Input 8 21 OUT3 Output 3 9 IN7 Input 7 22 OUT2 Output 2 10 IN6 Input 6 23 OUT1 Output 1 11 INS input 5 24 OUTO Output 0 12 IN4 Anput 4 25 5 Volts 13 IN3 Input 3 26 50 Common
294. et Service Request Character Sequence Direction of Transfer Command Description Host gt U511 SR Service Request code Host gt U511 SRQ character Service request character Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 Example SR lt EOS character gt Table 6 8 Service Request Response Sequence Direction of Transfer Command Description U511 Host SRQ character Initiate service request U511 Host EOS character End of string character LF Host gt U511 Q Query character Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 U511 Host Serial Pol reply Serial Pol reply code characters U511 Host EOS character End of string character LF Example Q lt EOS character gt 6 6 Aerotech Inc Version 1 1 U511 User s Manual Remote Mode Operations 6 4 5 Hold Trigger Cancel HD1 Enable Hold Mode HD0 Cancel Hold Mode TR Trigger The Enable Hold Mode command HD1 is used to activate hold mode When hold mode is active commands and programs will require a Trigger command to initiate the operation Table 6 9 shows the communication sequence for the enable hold mode command Table 6 9 Enable Hold Mode Sequence Direction of Transfer Command Description Host gt U511 HD1 Enable Hold Mode code Host gt U511 EOS character End of string character LF
295. eter A D Channel Default Value 091 A D Channel No 1 0 093 A D Channel No 2 0 095 A D Channel No 3 joystick vertical axis 0 097 A D Channel No 4 joystick horizontal axis 0 The A D converter is 8 bits scaled so that 0 V gives an output of 0 and 5 V gives an output of 255 An A D output of 128 corresponds to an input of 2 5 V 5 4 2 16 Enable speaker Parameter 647 turns the audible feedback system on or off With the parameter set to yes the U511 will make an audible beep every time a key on the front panel or keyboard is pressed With this parameter set to no no beeps will be heard However even with the speaker disabled the U511 will beep once upon power up The default condition is 6e no fe rs Version 1 1 Aerotech Inc 4 11 Parameters U511 User s Manual 4 2 17 Password If a password is entered in parameter number 648 the UNIDEX 511 will prompt the user for a password when turned on An incorrect password will prohibit the user from modifying system parameters and programs A blank entry in parameter 648 will defeat the password function The settings for the password parameter are shown in Table 4 6 Table 4 6 Settings for Parameter 648 Parameter Range Default Value 648 0 20 characters Blank 4 2 18 Abort on input high 0 1 16 501 Parameter 501 allows the user to define an input bit on the 16 IN 8 OUT I O connector as a global abort input All ena
296. eters eee eeeeeeesceseceseceseeneeenee 4 11 Table 4 6 Settings for Parameter 648 o0 ee ee ee ceeeceseceecesecneecaeecaeeeaeeeeeeeeeees 4 12 Table 4 7 Settings for Parameter 501 oo eee ee ceeecesecesecnee cee ceeeeeeeeeeeneeeeenes 4 12 Table 4 8 Relationship Between Number of Decimal Digits Parameters and the Number of Programming Steps per Programming Unit 4 17 Table 4 9 Settings for Parameter X16 oo eee ee cesecseecseeceeeeeeeeeeeeeeeeeeeeeeseens 4 19 Table 4 10 Settings for Parameter X11 oo eee eee cesecesecsee cee ceeeeeeeeeeeeeeeeeeees 4 19 Table 4 11 Settings for Parameter X12 oo eee ee ceeceseceseceseceeeceeecaeeeaeeeeeeeeeees 4 20 Table 4 12 Settings for Parameter X13 oo eee ceeeceseceecnseceecaeecneeeseseneeeeeees 4 20 Table 4 13 Settings for Parameter X14 oo eee eeceeeceecsse s 4 21 Table 4 14 Settings for Parameter X15 oo ee ee cesecesecssecneeceecaeeeneeeeeeeeeeeeeees 4 22 Table 4 15 Sample Calibration Table eee ee cecesecesecsseceseceecaeeeneeeeeeeneees 4 23 Table 4 16 Settings for Parameter X35 oo eee eeceeeeceseceeceseceeecaeecaeeeseeeneeeeeees 4 25 Table 4 17 Settings for Parameter X37 soirs vermei epee ioei aE AEE EREE 4 26 Table 4 18 Settings for Parameter X50 sesseseesseeseseesrsreersseerrererresresrerrssrerrees 4 27 Table 4 19 Settings for Parameter X51 oo eee ee cee ceeecesecnse cee caeecaeesaeeeaeeeeeees 4 27 Table 4 20 Settings for Parameter X52 oo eee eeceeecesece
297. eters the diagnostic items are arranged into groups or pages The Diagnostics pages provide information concerning the hardware and system status of the U511 These pages are as follows Page Page Title Number 1 Hardware Status 2 Primary I O 3 System Status 4 Position 5 Active Limits 6 Servo Faults 7 Secondary I O 8 Terminal The user changes nothing on these pages They are for information only The page number is at the top left of the page and the title is at the top center On most pages the top right of the page lists the axis numbers 1 2 3 and 4 for the column of status information below Diagnostics menu pages all have the same function keys at the bottom of the page Toggle through the pages by hitting the Back F1 or Next F2 function keys The Quit key returns the user to the Main menu screen The pages in the Diagnostics menu are described below 3 6 1 Diagnostics Menu Hardware Status Page The Hardware Status page displays status information concerning limits amplifier faults and encoder faults The Hardware Status page is shown in Figure 3 23 Table 3 1 describes the components of the Hardware Status page Page 1 Hardware Status CW hardware limit CCW hardware limit Home hardware limit Amplifier fault Encoder sine fault Encoder cosine fault Back Next F1 F2 F3 F4 F5 Figure 3 23 The Hardware Status Page 3 20 Aerotech Inc Version 1 1 U511 User s Manual The U
298. evel goes to a programmable low value axis parameter x46 the Stepper low current parameter Once a move is commanded the current level immediately goes to the high value axis parameter x47 the Stepper high current parameter AC Brushless Motor with Encoder Another common type of motor is an AC brushless motor For AC brushless motor applications parameter x42 Amplifier type must be set to 1 AC brushless The UNIDEX 511 can drive up to four AC brushless servo motors Two DAC current command channels are output separated by 120 electrical degrees and updated at a rate of 4 kHz For closed loop operation using an encoder for feedback parameter x38 Position channel must be set for an encoder x38 1 to 4 Hall effect signals are assumed to be present and are used for six step and sinusoidal commutation To configure the UNIDEX 511 with an AC brushless servo motor for commutation exclusively from the six step Hall sensors set parameter x43 Commutation Ss cycles rev to zero An invalid Hall state 000 or 111 generates a feedback fault If the commutation factor is non zero the UNIDEX 511 will switch to sinusoidal commutation on the first Hall state transition encountered after the axis is enabled The number of encoder counts per revolution parameter x44 is used to generate the proper sinusoidal commutation signals AC Brushless Motor with Resolver The UNIDEX 511 uses
299. feedrate_time Related commands LINEAR RAMP ROUNDING VELOCITY TRAJECTORY PROGRAM G70 G71 G90 G91 Version 1 1 Aerotech Inc 5 25 Programming Commands U511 User s Manual 5 5 12 CLRSCR Clear Screen The CLRSCR command clears the message display line There is no English language CLRSCR equivalent for this command Use CLRSCR to implement it SYNTAX CLRSCR There are no arguments needed with the CLRSCR command 5 5 13 CI Command Interrupt The CI command is used to generate a hardware bus interrupt after the command finishes There is no English language equivalent for this command Use CI to implement it SYNTAX CI ONIOFF master_in slave_out ONIOFF Enables disables this feature master_in Specifies the input number 0 16 of the hardware bus interrupt line that is to be set low after the command finishes 0 disable the command 1 16 inputs 0 15 slave_out Specifies the output bit 0 8 that is set low along with the hardware interrupt 0 disable the command 1 8 output bits 0 7 This command should only be used in custom software applications that require the use of hardware bus interrupts IMPORTANT 5 26 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 14 CM Contouring Mode The Contouring Mode command CM is used to set normal contouring mode CM 0 or enhanced contouring mode CM1 Normal contouring mode blends moves together by combining t
300. fies a percentage 0 to 100 of the maximum output voltage 10 volts nominal commanded by the UNIDEX 511 that corresponds to the desired RMS current limit An RMS Current Level Exceeded fault condition occurs if the RMS current exceeds the RMS limit for the specified RMS current sample time x49 Likewise a fault occurs if twice the RMS current limit is exceeded for half of the RMS current sample time x49 and so on for any fractional portion of the RMS current sample time An RMS fault may occur before the RMS current sample time expires if the accumulated RMS current level for the present sample period exceeds the product of the RMS level and the sample time Refer to Figure 4 9 RMS Current Four Times the RMS Current Limit for 1 4 of the RMS Sample Time RMS limit x4 i Two Times the RMS Current Limit i for 1 2 of the RMS Sample Time RMS limit PE E x2 The RMS Current Limit or Less for the Entire RMS Sample Time RMS limit f 1 4 gt Time lt 1 2 gt Full RMS Current Sample Time x49 gt Figure 4 9 Sample RMS Current Maximums When an RMS current trap occurs the message RMS current level exceeded is displayed in the Program mode screen of the software In addition the RMS current limit error can be viewed from the Diagnostics screens in the software See Chapter 3 The User Interface for more information This para
301. file s content The U511 utility program uses the DL and UL commands Table 6 31 shows the communication sequence for the Print Program File command Table 6 31 Print Program File Sequence Direction of Transfer Command Description Host gt US511 PP Print Program command Host gt U511 File name Name of file to print Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 U511 Host File string File character string U511 Host EOS character End of string character LF Example PPTEST1 PRG lt EOS character gt 6 4 18 RVn Read Variable This command returns the value of variable n in ACSII format Table 6 32 shows the communication sequence for the read variable command Table 6 32 Read Variable Sequence Direction of Transfer Command Description Host gt U511 RV Read Variable command Host gt U511 Variable n Variable n to be read ASCII Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 U511 Host Variable value Variable value string ASCII U511 Host EOS character End of string character LF Example RVO lt EOS character gt ill Version 1 1 Aerotech Inc 6 23 Remote Mode Operations U511 User s Manual 6 4 19 DFfilename Delete File This command deletes a file from the U511 s memory The file name can be any valid
302. file examples assumed CMO mode In the following examples CM1 is assumed Also shown are the program codes for the motion generating the profiles 5 96 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands Consider the following program ENABLE X Y WAIT ON SC CM 1 SET CONTOUR MODE 1 G8 VELOCITY PROFILING ON G1 X10 Y1 F10000 X9 Y2 X8 Y3 X7 Y4 X6 Y5 X5 Y6 X4 Y7 X3 Y8 X2 Y9 G9 X1 Y10 Velocity Command plots for each axis of this program are shown in Figure 5 19 The plots in Figure 5 19 show how the U511 generates the velocity profile for nontangential vectors Note that there is no ramping of individual axis velocities between vectors File Plot Trigger Collect Display Axis Units Tools Vel Cmd 1 Vel Cmd 2 Figure 5 19 Velocity Profile for Nontangential Vectors Version 1 1 Aerotech Inc 5 97 Programming Commands U511 User s Manual Consider the same program but with a digital filter added through the FL command A plot for this situation is shown in Figure 5 20 Axis Scope File Plot Trigger Collect Display Axis Units Tools Vel Cmd 1 Vel Cmd 2 Figure 5 20 Velocity Profile With Digital Filter This plot shows the same move profile as the preceding plot except that a digital filter has been added with a time constant of 100 ms see the FL command for more details This filter smoothes the edges between nontangential vectors Although the smoothing occurs i
303. first 3 bits of parameter x78 See Table 4 27 Entering an appropriate decimal value for Parameter x78 can change the configuration See Table 4 28 A parallel control loop block diagram is illustrated in Figure 4 4 The dual loop diagram is found elsewhere in this manual Table 4 27 Bits of Parameter x78 and PID Loop Configuration Bit No Bit Status PID Loop Configuration Position velocity loop Parallel loop Kpos always on Kpos on when velocity command Vff scaling is 256 Vff scaling is 65536 Reserved bas Parallel loop does not support dual loop mode z Table 4 28 Decimal Settings for Parameter x78 Servo loop type Servo Loop Type Integrator Position Loop Control VEP Parameter scaling None Position velocity Kpos on only when velocity command 0 x256 Parallel Kpos on only when velocity command 0 Z 5 oO Position velocity Kpos on only when velocity command 0 x65536 Parallel Kpos on only when velocity command 0 Positiontvetocity _ O 1 Pa O 2 Posttiontvelocity o 3 pma O 4 Positionsvetocity oo 5 Pm 6 Positionsvetocity Oo 7 Pa O Version 1 1 Aerotech Inc Parameters U511 User s Manual s Vff Pos Fbk Figure 4 4 Kp Ki con eet Ki Kpos Ki s Kd Kp To Amplifier Indicates U511 Names Parallel Control Loop Block Diagram 4
304. following list of additional items may be included with the UNIDEX 511 system depending on the options and accessories that have been specified e Motor connector cables e JBV or JI joystick and cable e Handwheel assembly and cable e T O cables or Opto 22 boards e RS 232 cable Version 1 1 Aerotech Inc Getting Started U511 User s Manual 2 3 UNIDEX 511 Setup Flowchart Figure 2 1 illustrates a flowchart providing an overview of the installation process from connecting the cables to jogging an axis Connect Cables and Wiring Verify Feedback Verify Limits Configure Servo Loop Move Axes Figure 2 1 Flowchart Overviewing the Installation Configuration Process 2 2 Aerotech Inc Version 1 1 U511 User s Manual 2 4 Installing Cables and Wiring Getting Started System installation varies with the number and types of components that have been purchased from Aerotech Inc to complement the UNIDEX 511 PC bus controller The following descriptions may not be applicable to all systems Figure 2 2 is an illustration of the rear panel connectors f mary ie Q O l rin o o tn Q left Encoder Input 1 right Encoder Input 2 y Jili ii r E o O a AXIS1 ua OJO a axs2 u O ae l Serial Tag left Encoder 1 5V OK right Encoder 2
305. from 1 8 decimal places Examples are 084 shown in Table 4 77 oO oO Table 4 77 Settings for Parameters 030 048 066 and 084 Value Example Function 1 123 1 Allots 1 decimal place after the decimal point 2 123 12 Allots 2 decimal places after the decimal point 3 123 123 Allots 3 decimal places after the decimal point 4 123 1234 Allots 4 decimal places after the decimal point default 5 123 12345 Allots 5 decimal places after the decimal point 6 123 123456 Allots 6 decimal places after the decimal point 7 123 1234567 Allots 7 decimal places after the decimal point 8 123 12345678 Allots 8 decimal places after the decimal point For information on determining an appropriate English conversion factor refer to S parameter x01 the English conversion factor 4 102 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 11 17 Contouring mode These parameters select the contouring mode The default is 0 which uses the normal contouring mode CMO and 1 selects the alternate contour mode CM1 This parameter is used to turn on enhanced G8 mode CMO mode blends moves together by combining deceleration of one move with the acceleration of the next move CM1 mode does not It requires that the last move be preceded by a G9 velocity profiling off if in G8 mode See the related parameter x83 Filter time constant for more information The settings for parame
306. g Ki and start adjusting Kpos 6 Adjust the Position Loop using Kpos Use a starting value of 1 10 for Kpos As the user increases Kpos it will be observed that the position error is reduced The main objective is to adjust Kpos until the position error is within user s tolerance or starts to oscillate whatever comes first As previously mentioned if Kpos is too high the user will encounter a low frequency oscillation stage vibrates strongly This will cause the UNIDEX 511 to generate a RMS current trap which essentially means that too much current is being sent to the motor the RMS current trap acts the same way as a fuse Shown in Figure 8 17 is a plot of a good Kpos From this graph it can be seen that there is little settling time In other words the position error ends near the same time the Velocity Command ends so the move is in position at the end of the commanded move For comparison Figure 8 18 illustrates a plot where Kpos is too high 8 22 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops J U511 Axis Scope Ver 5 00 ojx File Remote Plot ran Collect Display Axis Units Tools Axis 1 gt _ 0 Kil 80000 Kp 600000 vef 256 aff 0 Save Collecting Command LINEAR X10 F2000 Status OK 34 Vel Cmd 1 0 1 UE DO T V AT IN l N W i OUT U N T Ii Yel Er 1 TT Ol Wy Ill 2 5 Pos Enf 1
307. g Resistor Locations for Opto Isolated INPuUts o s sc0 Lovsescve etihd cceaSieve heeds cetnsecetde ees s ine ee e 10 11 Opto isolated Output Pin Locations ssseeesseessseeesreeersersrresesereses 10 12 AUX I O Connector Pinouts J10 cccceesececeessececseseeeessseeeenenes 10 13 External Voltages and Resistances for the Emergency Stop Input 10 15 Joystick Interface Connector Pinouts J6 eeeceeeeeeseceeeeeeeeeeeee 10 15 ITEEE 488 GPIB Interface Connector Pinouts J8 cccsseees 10 16 Motor Connector Pinouts J20 J23 cceccccessseeceessececeessseceeseeaees 10 16 Control Board Jumper JP Description JP1 JP15 oe 10 17 Interface Board jumper JP description JP1 JP46 10 19 Encoder Terminating Resistor Locations and Values 10 21 Control Board Test Points 0 cece cece ceecseecseeeeeeeeeeeeeeeeeeeeeeees 10 22 U511 Control Board PSO Encoder Bus Connector Pinouts P6 10 23 Electrical Specifications eee ee eesecesecesecseeceeeeeeeeeeeeeeereeseensees 10 25 Troubleshooting for Stepper Motors and Related Problems 11 2 Troubleshooting for Servo Related Problems cesses 11 4 Troubleshooting for Problems Involving Fault Conditions 11 5 Troubleshooting for Homing Related Problems eeeeeeeseeees 11 7 Troubleshooting for RS 232 Related Problems 0 eee 11 7 Troubleshooting for IEEE 488 GPIB Related Problems
308. ght not smoothed path linear motor driver A linear motor driver is a non switching type of DC servo amplifier that drives the motor with direct current Linear amplifiers do not generate electrical noise or switching losses in the motor They do however have a higher rate of power dissipation than a pulse width modulated PWM amplifier LSB Least significant bit M codes see RS 274 commands machine step A machine step is the smallest feedback device step that can be taken This is the smallest possible increment of movement as measured by the feedback device microstepping Microstepping is a technique for driving stepping motors more smoothly and with higher resolution than full step control Current is divided in a sine cosine fashion between motor phases to provide intermediate positions between full step positions multitasking Multitasking is software technique that gives several functions or tasks the appearance of individually having sole access to the resources of the system for example the microprocessor In its simplest form a multitasking system assigns a small time slice to each task in a round robin fashion Only one task at a time has access to the multitasking system s resources When each successive task has had the opportunity to use the system resources for a brief period the cycle repeats MSB Most significant bit NAK negative acknowledgment a negative response to the reception for data or
309. h 062 and 077 through 080 4 97 Parameters 027 045 063 and 081 4 98 Parameters 028 046 064 and 082 4 98 Parameters 029 047 065 and 083 4 101 Parameters 030 048 066 and 084 4 102 Parameters 090 092 094 and 096 4 10 Parameters 091 093 095 and 097 4 11 Parameters 20 38 56 and 74 4 95 Parameters 31 49 67 and 85 4 103 Parameters 608 and 617 4 13 Parameters 609 and 618 4 13 Parameters 610 and 619 4 13 Parameters 611 and 620 4 13 Parameters 612 and 621 4 13 Parameters 613 and 622 4 13 Parameters 614 and 623 4 14 Parameters 615 and 624 4 14 Parameters 616 and 625 4 14 Parameters 631 632 633 and 634 4 31 Parameters 635 636 637 and 638 4 31 Parameters 639 640 641 and 642 4 31 Parameters window 8 17 8 29 Parameters x00 and x01 4 16 Parameters x30 through x34 4 35 Parameters x75 and x76 4 47 Parameters x79 and x80 4 65 Parameters 011 012 013 and 014 4 29 Part Rotation Command 5 75 9 14 PAUSE Command 5 11 5 68 D 7 Pause Key 3 2 PB16 Opto 22 Interface Board 1 4 PB24 Opto 22 Interface Board 1 4 PB8 Opto 22 Interface Board 1 4 PC Reset clearing machine positions after 4 86 Phase offset G 2 PLANE Command 5 11 5 69 9 11 planes timing issues when programming 4 83 Planes and Mapping Page 4 81 PLC Command D 7 Plot menu Axis Scope window 8 5 Position 3 20 3 23 Position Error 5 40 8 3 11 4 Position Error Trap 8 17 8 29 Position Gain Kpos 8 26 Version 1 1
310. he deceleration of one move with the acceleration of the next move The enhanced mode does not and requires that the last move be preceded by a G9 command velocity profiling off if in G8 mode For profiles with velocity profiling off G9 mode CMO and CM1 function identically The Filter Time Constant command FL can be used with enhanced contouring mode to produce corner rounding effects or to smooth transitions between non tangential moves The default contouring mode can also be set by general parameters 31 49 67 and 85 The CM command is modal and will remain in effect until reset CM 1 mode is recommended for profiles that consist of many short moves or moves with non tangential vectors The maximum allowed MFO value in CM1 is 100 There is no English language equivalent to this command Use CM to implement it SYNTAX CM 0 for normal contouring mode 1 for enhanced contouring mode EXAMPLE CM 1 Set new contouring mode Related commands FL CM Version 1 1 Aerotech Inc 5 27 Programming Commands U511 User s Manual COMREC 5 5 15 COMREC Strings In Port This is one of two commands for retrieving variable input from the COM port COMREC returns the number of strings in the COM port buffer There is no English language equivalent to this command SYNTAX COMREC port Vn COMREC port n Variable number port The number of the port to check EXAMPLE LOOP IF COMREC 1 gt 0 THEN
311. he input bit value equals the bitstate specified in the command the pause function is called This command is identical to the PAUSE button on the UNIDEX 511 front panel See Figure 5 7 for an example PAUSE OFF stops the scanning of the input bit This command also can be used with the iSBX IO48 board SYNTAX PAUSE ON inputbit bitstate PAUSE OFF PA ON inputbit bitstate PA OFF inputbit Input bit number 0 to 15 16 IN 8 OUT I O bus input bit Valid iSBX I048 input bit 000 to 127 Input bit number 16 to 39 8 X 3 I O bus input bit bitstate Bit value to send pause either or 0 EXAMPLE PAUSE ON 3 1 Checks input bit 3 for a logical 1 If the value is present scalls pause function UNIDEX 511 External Pause Switch U511 Input A A WV Hitting the switch once will pause operation Hitting the switch again will resume operation Figure 5 7 PAUSE Function 5 68 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 61 PLANE The PLANE command is used to select the contour plane to receive a command The UNIDEX 511 is able to execute one to four axes of motion control Normally the user programs axes with Synchronous motion Multiple axes doing contour motion all starting and stopping at the same time or Block by block execution Each command block must completely finish motion before the next command block is executed If however the application requir
312. he move but not when at a standstill Version 1 1 Aerotech Inc 8 19 Tuning Servo Loops U511 User s Manual If the motor doesn t move Kp is too low Increase the value of Kp and try again S by pressing the SINGLE button If you are adjusting the gains that Aerotech has setup for your system use the S existing Kp as your starting point Once the motor is moving back and forth the user should see a graph similar to Figure 8 13 From this graph it is seen that there are 20 to 30 steps of velocity error Kp must be increased to reduce the amount of velocity error After repeating this process a few times the velocity error will look similar to Figure 8 14 From this graph the user can observe that the average velocity error during the move is about 6 units Moreover the motor does not oscillate when it is stopped EJ U511 Axis Scope Yer 5 00 Pe x File Remote Plot Trigger Collect Display Axis Units Tools Axis 1 gt Kpos fol kif 0 Kp 50000 vl 256 afl 0 Save Collecting 500 Command LINEAR X10 F2000 Status OK 34 Vel Cmd 1 0 28 Vel Enr 1 Figure 8 13 Unacceptable Velocity Error 8 20 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops EJ U511 Axis Scope Ver 5 00 File Remote Plot Trigger Collect Display Axis Units Tools Axis 1 x Kpos 0 kil 0 Kp 600000 vet 256 Att 0 Collecting 500 Command LINEAR X10 F2000 Status OK
313. her the Bandwidth the better the stage performance will be This means minimizing velocity error position error and settling time Higher Bandwidth numbers will result in higher servo loop gains A typical value of Bandwidth is 35 Hz The Damping parameter determines how the motor comes into position A low Damping value 3 may allow the axis to come into position more quickly but take longer to completely settle There may also be some overshoot at the end of the move A value of 7 will ensure that there is minimal overshoot A typical value of Damping is 5 Procedure for Autotuning 1 Defeat Position and Velocity Error traps This is done by modifying the Global fault mask on Page 9 of the Setup Menu see axis parameter x55 Set starting gains If the user does not have working gains set Kpos 1 Ki 1000 Kp 10 000 and Vff 256 Set excitation Distance and Frequency Distance is in current units mm or in Typical Distance 25 mm or in see text Typical Frequency 1 Hz Set desired bandwidth and damping A Bandwidth of 10 Hz and Damping of 5 are good starting points Run autotune by pressing the Auto key F2 Increase bandwidth by 5 Hz increments until system becomes loud or unstable Return to next lower bandwidth and retune Save gains to parameter file by pressing F4 Re enable Position and Velocity Error traps see axis parameter x55 Autotuning cannot be run on stepper motors motors wi
314. hogonality correction sections Axis calibration and orthogonality correction may be enable disabled independently using parameters x15 and x71 as appropriate The corrected axis position in machine steps can be observed in the Diagnostics window ay Ee Version 1 1 Aerotech Inc 4 23 Parameters U511 User s Manual sk Comments FKK K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K Standard calibration correction data Only one axis is shown EOE EEE SE EE OEE SE REO SESE EEEE Eo Ene E EE EE aaea aa pHs sas START start axis call block 1 axis number 1 2 3 4 1000 sample distance in machine steps 123579121416141085210 abs mach step correction data END end axis call block EEEE EE KE E E KE E KE K E E K K E K K KE K K K K K K K K K K K KK K K K K K K K K K K K K KK K K KK K K K K K K K K K K K K K L Axis orthogonality correction data can also be entered in the CAL table The format is the same as above except for the axis number component The axis number can be a two digit number AB where A represents the axis number to be corrected and B represents the position dependent axis number Correction does not begin until the B axis is homed The A axis does not need to be homed A maximum of 256 points are allowed for orthogonality correction The sample distance must be greater than 256 encoder counts An example follows EOE SEE SESE
315. hrough P1 on the back of the RDP PC board The pinouts for the connector are listed in Table G 10 Figure G 3 shows the mating DB37 connector while Figure G 4 shows the suggested cabling between the RDP board and a resolver or Inductosyn Table G 10 RDP Board Pinouts Pin Axis Signal Pin Axis Signal 1 4 Shield 20 4 COS 2 4 COS 21 4 SIN 3 4 SIN 22 Ground 4 4 Ground 23 4 Over temp thermistor input 5 4 REF 24 Ground 6 3 REF 25 3 Over temp thermistor input 7 3 Shield 26 3 Ground 8 3 COS 27 3 COS 9 3 SIN 28 3 SIN 10 2 Over temp thermistor input 29 Ground 11 2 REF 30 2 Ground 12 2 Shield 31 Ground 13 2 COS 32 2 COS 14 2 SIN 33 2 SIN 15 1 Over temp thermistor input 34 Ground 16 1 REF 35 1 Ground 17 1 Shield 36 1 COS 18 1 COS 37 1 SIN 19 1 SIN 1 19 o Gey o 20 37 Figure G 3 Mating DB37 Connector G 8 Aerotech Inc Version 1 1 U511 User s Manual Appendix G P1 of RDP Board l Interf Wire for Each Axis nductosyn Intatace SIN SIN COS COS REF GROUND SHIELD P1 of RDP Board Wire for Each Axis SIN SIN COS COS REF GROUND SHIELD Figure G 4 SIN SIN SHIELD COS COS SHIELD REF GROUND e SHIELD Resolver Interface SIN SIN SHIELD COS COS SHIELD REF GROUND e SHIELD Suggested Ca
316. iSBX I048 provides 5 volts on pin 49 The JP3 jumper sets pin 49 on bank 0 J2 and jumper JP5 sets pin 49 on bank 1 J1 When the jumper is inserted it provides 5 volts to pin 49 When the jumper is removed pin 49 is not connected D 3 Configuring the iSBX I1048 The iSBX 1048 is configured as input or output by setting a control port with a control word The hexadecimal number 03 is the address for the control port on bank 0 and 13 is the address for the control port on bank 1 By setting the control port to specific control word e g 03 144 the iSBX I048 configures the ports as inputs or outputs The 16 possible control words are shown in Table D 2 Table D 2 iSBX I048 Control Words Control Word Inputs Outputs decimal 128 i ay 129 130 FB 131 pT 136 m 137 138 fe TB 139 TB 144 A 145 146 147 152 153 154 155 B Ch Cl Ch Ch Cl CI Ch B Ta CI Ch Ch CI Ch Cl B a h B 0 o T a a Cl CI Ch B Ta CI Ch Ch Cl Ch Cl gt gt gt gt gt gt gt gt A ai a ai i a m e i Version 1 1 Aerotech Inc D 5 Appendix D U511 User s Manual After writing the control word inputs can be read to UNIDEX 511 variables and outputs can be set On reset of the U511 the ports are set to input state and the bits are set to high impedance state Once a control word is written and a port is set as an output the bits are pulled low T
317. ieo ioe onis oe ees 9 20 Power on Subroutine Global Subroutine File oo eee 9 21 TECHNICAL DETAILS ee ecececesecneeeecneeeeeaeeeenecaeeseene 10 1 UNIDEX 511 Rear Panel Connectors 00 0 0 ee eeceeeeeeeeseeeneeneees 10 1 10 1 1 Axis Connectors Encoder Input eeeeeeeeeeneeeeeeeeeeees 10 1 10 1 2 Serial Port Connections eee cece cesecneecneeeeeeeeeeeeees 10 3 10 1 3 Interfacing to the U511 Digital T O oe 10 4 10 1 3 1 16 IN 8 OUT W O Bus eee eee eres 10 4 10 1 3 2 Opto 22 Connection Information 10 5 10 1 3 3 82X23 VO BUS irena Sheets 10 9 10 1 3 4 On board Opto isolated I O eee 10 10 10 1 4 AUX VO Connector oo eeeeeeeeeceeseesecesecssecsseenaes 10 12 10 1 4 1 UINT User Interrupt Input 10 14 10 1 4 2 E Stop Emergency Stop Input 10 14 10 1 5 Joystick Connector eee cee ceeeeeeeeeeeeeeeeeeerenseeeseenaes 10 15 10 1 6 TEEE 488 GPIB Bus Connector eee eeeeeeeereeeee 10 16 10 1 7 Axis 1 4 Motor Connectors 0 eee eeeeeeeeeeeceeeeeseeeeees 10 16 Control Board Jumpers cis susie Nestects cuoeetone lisesi ashe heen ts 10 17 Interface Board Jumpers cece cece eeeceeeceseeesecesecssecssesneeeaeeees 10 19 Encoder Specifications 2 0 0 0 cee eeeeceeeceesceseceecesecssecaeceeeseeeneeees 10 21 UNIDEX 511 Control Board Test Points TP1 TP25 10 22 PSO Encoder Bus Connector P6 cccccsseccessseeeeesssteeeenenaes 10 23 UNIDEX 511 Mechanical Specifications 0 00 0 eee
318. ifies a servo loop parameter name followed by an associated value Valid options for param_name amp val are KPOSval KIval KPval VFFva AFFval Used to enter new values for the servo loop gain values x25 x26 x27 x28 and x29 One or more of these parameters may be used in succession NOval N1val IN2val D1va D2val Defines new notch filter coefficient values x30 x31 x32 x33 x34 NOTCH Ol1 Used to enable 1 or disable 0 the notch filter function x24 NOTCH can be abbreviated NO DEADBANDval Used to enter a new value in machine steps to be used as a positional deadband x35 DEADBAND can be abbreviated DE CLAMPval Used to enter a new percentage at which the integrator output will be clamped x36 CLAMP can be abbreviated CL EXAMPLES GAIN X KPOS1500 KI500 KP600000 VFF256 AFFO Sets all servo loop gains GAIN Y N110 N220 D15 D26 Sets notch filter coefficients for the Y axis GAIN Y NOTCH1 Turns the notch filter ON for the Y axis GAIN Z DEADBAND10 Sets the Deadband for 10 machine steps GAIN U CLAMP100 Sets the integrator clamp to 100 GAIN X KPOS1000 Sets Kpos servo loop gain for the X axis to 1000 GAIN Y VFFO Sets Velocity feedforward of Y axis to zero 5 44 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 33 GEAR The GEAR command moves an axis the slave based on the feedback of another axis command is given until
319. igure 5 14 Short Middle Move With Velocity Profiling 5 94 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands Because the second move is not able to ramp up to full speed the profiled velocity is not smooth Lowering the ramp time or using contour mode 1 CM1 can reduce the dip in the velocity profile This 1 mm move would take about 60 ms to ramp up to the desired velocity The next plot shows the same motion with the ramping time set to 50 ms 16 yF Velocity 1 0 250 500 750 1000 1250 1500 1750 Figure 5 15 Same Motion With Ramping Time Reduced With two axes in motion the same effects are present The next example is velocity profiling a circle using linear moves The circle has a 5 mm radius and is divided into 500 linear moves The ramp time is again the parameter to change in order to get the appropriate response The following two plots show the velocity of the axes the first plot has a 150 ms ramp time the second plot has a 5 ms ramp time Notice that the profiles are similar but the shorter ramp time allows the axes to achieve higher speeds 3 Yelocity 1 3 3 Velocity 2 3 0 1250 2500 3750 5000 6250 7500 8750 10000 11 Figure 5 16 Circular Profiling With Long Ramp Time 11 Yelocity 1 11 11 Velocity 2 11 0 500 1000 1500 2000 2500 3000 3500 4000 Figure 5 17 Circular Profiling With Short Ramp Time There are advantages to generating the profile by adding the veloci
320. in a program program flow will continue to the end of the program file SYNTAX EXIT EX M2 EXAMPLE SRO RAE HERA EIGER AOR EOE HEIR EE EA Main Program TRE KAER EKE AE EAE 6 A AE EKAR Body of main program Additional commands SUB SUB1 Go to subroutine SUB1 then return SUB SUB2 Go to subroutine SUB2 then return Additional commands Additional commands EXIT End of Main Program Don t fall through to subroutines SUB1 Subroutine SUB 1 Additional commands RETURN Return to main program SUB2 Subroutine SUB2 Additional commands RETURN Return to main program IMPORTANT EX Version 1 1 Aerotech Inc 5 41 Programming Commands U511 User s Manual FA FL 5 5 29 FAULT ACKNOWLEDGE The FAULT ACKNOWLEDGE command performs the same function as pushing the FLTACK front panel key This will clear any axis faults such as position error RMS current error and similar errors If an axis is in a limit the FA command will cause the UNIDEX 511 to move out of the limit This command is designed for remote mode use in immediate mode e g IFA see Chapter 6 Remote Mode Operations SYNTAX FA There are no arguments with the FA command EXAMPLE FA Related commands ABORT 5 5 30 FL Filter Time Constant The Filter Time Constant FL command is used in conjunction with the alternate contouring mode CM1 This command activates an exponential filter on the specified axis
321. in is the only gain in the Acceleration Feedforward Loop in the UNIDEX 511 s Servo Loop For systems with tachometers it is always zero 0 Version 1 1 Aerotech Inc 8 27 Tuning Servo Loops U511 User s Manual 8 8 Tuning Tachometer Loops The following procedure is a guide for tuning motors with tachometers Figure 8 19 shows the overall tuning process with the Axis Scope window The tuning process discussed here was performed using the X axis axis 1 of an X Y stage The user s system may behave differently and have different values for servo gains However the overall process is the same and the process can be repeated for the other axes When adjusting the servo gains the user will essentially be following the procedure below 1 Figure 8 19 Press the SINGLE button on the Control toolbar to step through a forward or reverse motion Observe the signal plots on the Axis Scope window Make a decision on whether to increase or decrease the value of the servo gain and if the observed signal is acceptable move on to the next servo gain Repeat START Turn off Position Integral and Velocity Error Set RMS Current Trap to 100 Fine Tune Amplifier Settings y y Set Servo Loop Update Rate Finish adjusting the Position Loop Kpos y y Set Servo Parameters to Initial Values Adjust the In Position Integer Ki
322. in italic indicate information that you must supply to validate the command option Items between double brackets are optional BRAKE onloff Braces and a vertical bar indicate a choice among two or more items You must choose one of the items unless double square brackets surround the braces MAP plane drive axis Three dots following an item indicate that more items having the same form may be included A column of dots indicates that part of an example program has been omitted ENTER Small capital letters signify names of keyboard keys Several command arguments are entered using a single character These argument designators are listed in Table 5 2 Version 1 1 Aerotech Inc 5 1 Programming Commands U511 User s Manual Table 5 2 Single Character Arguments for Programming Argument Meaning XYZU Each of the four axes names C Designates the center point for circular motions F Contour feedrate y User s variable VO through V255 5 2 Mathematical Function Commands The following section describes the variables operators and functions available through the U511 programming 5 2 1 Direct Variables V0 through V255 The UNIDEX 511 permits the use of direct variables throughout a program and within functions The format for these variables is Vn where 0 lt n lt 255 There are 256 general purpose double precision direct variabl
323. ine steps ms MS eeeeeeeeees 4 19 4 5 3 Positive move is CW Y N eeeesceeeseeeeneeceseeeeeeeenees 4 19 4 5 4 Positive jog same as move Y N eeseeeeeeeeseeeeeee 4 20 4 5 5 Enable pause in freerun y n 0 cece ceeeeseeeseeneeeneeeeee 4 20 4 5 6 Enable MFO in freerun y N ceeeeeeeeceeeeeeneceereeeneeees 4 21 4 5 7 Enable axis calibration y n 0 00 eescesceeesseceeeeecsseeeenees 4 21 4 5 8 In position deadband machine steps eee eee 4 25 4 5 9 Backlash correction amount machine steps 4 26 4 5 10 Joystick high speed machine steps sec eee 4 27 Aerotech Inc Version 1 1 U511 User s Manual Table of Contents 4 5 11 Joystick low speed machine steps sec ce eee 4 27 4 5 12 Joystick absolute scale machine steps 0 0 0 cece 4 28 4 5 13 Enable orthogonality table y n oe eee eee eeeereeeeee 4 29 4 5 14 Enable 2 D error mapping Y N cee eeeeeeeteeeeeeeeees 4 29 4 5 15 Modulo rollover machine steps for axes 1 40 4 29 4 5 16 Filter time constant MS cccessceceesseceseeeeeeeesseeeeeenaes 4 31 4 5 17 AUX output active high y n esseessssesserseresrsrrereereerrereees 4 31 4 5 18 Reverse Joystick Direction ssseesseeeeseersereersreeresreersereees 4 31 4 5 19 Jog low speed machine steps MS seesseeessecseeee
324. information Program Inc Mfo 100 F960 0 min 0 000 mm Enabled 0 000 mm Enabled 0 000 mm Enabled 0 000 mm Enabled Run Edit File Digit Quit F1 F2 E3 F4 F5 Figure 3 4 Program Screen There are five functions or commands on this screen four of which lead to other screens The following is a description of the selectable functions under the Program screen F1 F5 F1 Run The Run function loads and runs programs F2 Edit The Edit function edits files and programs F3 File The File function copies or deletes U511 files F4 Digit The Digit function digitizes a program using a joystick F5 Quit The Quit function exits or quits the Program screen and returns to the Main menu The functions leading to other screens are discussed below 3 4 1 Program Menu the Run Submenu Choosing F1 under the Program screen leads to the Running Program screen First however the Load Program screen is displayed The Load Program screen is used to select the program to be loaded and run Refer to Figure 3 5 To select a program use the cursor keys to move the cursor to the desired program The selected program will be shown in reverse video and also listed in the first line of the screen Press the ENTER key to load the selected program If the U511 is currently running a program this screen will not be displayed the Running Program screen is displayed instead Version 1 1 Aerotech Inc The User Interface U511 User s
325. ing TEST1 PRG HOME XY DelLine PgDown Digit Commands Quit F2 F3 F4 F5 Figure 3 8 Program Editor Screen There are five selectable commands on the Program Editor screen one of which leads to other screens Below is a description of the functions F1 F5 on the Program Editor screen F1 DelLine F2 PgDown PgUp F3 Copy Paste F4 Commands F5 Quit The DelLine function deletes the selected line of a file This function moves one screen down or up through the command lines Toggle between PgDown and PgUp by reversing the direction with the cursor keys This function is used to copy one line of a file To paste press the INS key F3 becomes Paste and position the cursor to where the line is to be inserted and press F3 This function summons the Edit Command screen where users can build a command without using the keyboard It also helps the user with program command syntax The Quit function is used to exit or quit this operation It summons the Save As screen so the program can be saved 3 8 Aerotech Inc Version 1 1 U511 User s Manual The User Interface The following screen Figure 3 9 is an example of an Edit Command screen Pressing the Commands key F4 while the cursor is on a blank line accesses the Edit Command screen The Edit Command screen is used to enter commands without using a keyboard and to help with program command syntax The most commonly used commands are displayed in th
326. ins 5 10 Pins 6 9 Pins 7 8 Standard 10 kHz 1 96 KQ 1 96 KQ 6 2 KQ 3 9 KQ 1500 pF OPEN OPEN default 1 1 7 5 kHz 1 1 KQ 1 1 KQ 6 2 kQ 3 9 KQ 1500 pF OPEN OPEN 1 1 5 kHz 560 Q 560 Q 6 2 KQ 3 9 KQ 1500 pF OPEN OPEN Linear Inductosyn 1 96 KQ 1 96kQ 6 2 KQ 3 9 KQ OPEN OPEN OPEN 10 kHz 1 1 6 Capacitors 4 through 11 must be configured for the oscillator frequency that will be used Refer to Table G 6 Table G 6 Oscillator Frequency Configuration for Capacitors Axis Capacitor 10 kHz 7 5 kHz 5 kHz Axis 1 C10 C11 Install a 270 pF Install a 390 pF Install a 560 pF capacitor default capacitor capacitor Axis 2 C8 C9 Install a 270 pF Install a 390 pF Install a 560 pF capacitor default capacitor capacitor Axis 3 C6 C7 Install a 270 pF Install a 390 pF Install a 560 pF capacitor default capacitor capacitor Axis 4 C4 C5 Install a 270 pF Install a 390 pF Install a 560 pF capacitor default capacitor capacitor G 4 Aerotech Inc Version 1 1 U511 User s Manual Appendix G 7 The bit resolution that will be used is determined by the configuration of resistor networks RCN1 through RCN4 Refer to Table G 7 Table G 7 Bit Resolution Configuration RCN1 Through RCN4 on RDP Board RCN1 Through RCN4 where RCN1 Axis 1 Description U511 Pins Pins Pins Pins Pins Pins Pins Setup 1 14 2 13 3 12 4 11 5 10 6 9 7 8 Code 16 14 Bit Dynamic 5 8 2kQ 1500pF 8200pF 91 0
327. ion 1 1 U511 User s Manual The User Interface Pressing the joystick C button generates program lines Refer to Figure 3 15 Move commands are generated in absolute or incremental mode depending on the current state of the U511 see the Programming command in the Chapter 5 Editing TEST1 PRG HOME XY DelLine PgDown Digit Commands Quit F1 F2 F3 F4 F5 Figure 3 14 Program Editor Screen Digitize Menu Following is a description of the selectable functions F1 F5 F1 DelLine The DelLine function deletes the selected line of a file F2 PgDown PgUp This function moves one screen down or up through the command lines Toggle between PgDown and PgUp by reversing the direction with the cursor keys F3 Digit This function summons the Digitizing screen where users can select the digitize mode and insert commands with the joystick F4 Commands This function summons the Edit Command screen where users can build a command without using the keyboard It also helps the user with program command syntax The Edit Command screen in the Digitize submenu is the same routine as in the Edit submenu F5 Quit The Quit function is used to exit or quit this operation Version 1 1 Aerotech Inc 3 13 The User Interface U511 User s Manual Button C Button C Button A Button A tes i Button B t l EN lt s Da b D k JI Joystick Button B JBV xx Joystick Figure 3 15 Joysticks Showing the C
328. ions and the ability to enter individual commands This screen also shows U511 status information The first line relates whether the U511 is in incremental or absolute mode It also shows MFO percentage and the feedrate The next four lines display axis position and status information Commands may be typed in using an external keyboard or menu assisted commands may be entered using the Commands F4 function The up and down arrows scroll through a list of previously entered commands Incremental or Manual Feed Absolute Mode Override Percentage Feedrate MDI Incj Mfo 100 F600 0 min X 0 000 mm Enabled Y 0 000 mm Enabled Z 0 000 mm Enabled U 0 000 mm Enabled JStick Jog Commands Quit F1 F2 F3 F4 F5 Figure 3 32 MDI Screen There are four functions at the bottom of the screen three of which lead to other screens They are described below F1 JStick Opens the Joystick screen where axes can be positioned using the joystick F2 Jog Opens the Jog screen where axes can be positioned using the left and right arrow keys F4 Commands This function summons the Command screen where users can build a command without using the keyboard It also helps the user with program command syntax This is the same routine as in the Program Edit submenu F5 Quit Quit exits the MDI screen and returns to the Main menu Version 1 1 Aerotech Inc 3 31 The User Interface U511 User s Manual 3 8 1
329. ions with plot data The Save and Save As menu items save the current data sample to the PC s hard drive The file format is binary This file can be loaded in at a later time with the Load menu item The Save ASCII selection is used to generate a text listing of the currently displayed data This can be useful when importing the data into other software packages The Print item will send the graphical plot image to the printer The Edit Comment item allows the user to add text to a plot The File menu options are listed in Table 8 2 Table 8 2 File Menu Options in Axis Scope Command Description Save Saves plot results to current binary plot PLT file Save As Saves plot results to a new binary plot PLT file Save ASCII Saves plot results as an ASCII text TXT file Load Loads from disk into memory a previously saved binary plot PLT file and displays it on the Axis Scope window Print Sends screen plots to the printer Exit Closes the Axis Scope window 8 2 2 The Remote Menu The Remote pull down menu allows the user to setup the serial communications parameters These setting must agree with the settings loaded into the UNIDEX 511 from the front panel A baud rate of 57 600 is recommended when using the Axis Scope utility Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops 8 2 3 The Plot Menu The Plot menu allows the operator to specify plot options and which signals to plot
330. ircular array Part rotation begins when the ROT command is given with a non zero rotation angle All moves are rotated with respect to the point when rotation was turned on Rotation continues until the ROT command is given with a zero rotation angle REF RE ROT Version 1 1 Aerotech Inc 5 75 Programming Commands U511 User s Manual SYNTAX ROT axis1 axis2 angle axis First axis to rotate axis2 Second axis to rotate angle Angle in degrees EXAMPLES ROT X Y 45 Start part rotation rotate XY plane by 45 degrees ROT X Y 0 Turn off part rotation 5 5 68 ROUNDING When performing a contour motion this command affects the behavior of deceleration Under normal conditions when this command option is OFF G24 default state each contour path decelerates to its target position before the next block of motion begins Refer to Figure 5 8 m Block 1 gt Block 2 Figure 5 8 Illustration of No Corner Rounding G24 When this command option is ON G23 the next block of motion will begin before the previous path is complete creating a rounded corner at the end of the path Refer to Figure 5 9 Block 1 Block 2 _ aet Non Ramp Time Figure 5 9 Illustration of Corner Rounding G23 5 76 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands The time between the path stop and the start of the next block is
331. is command overrides but does not change the setting of parameter x16 Max accel decel machine steps ms ms The rate established by this command remains in effect until updated by a subsequent AC entry or a system reset SYNTAX ACCELERATION axis_rate AC axis_rate axis_rate The axis_rate argument defines an axis X Y Z or U as well as an associated acceleration deceleration rate for that axis given in machine steps msec The INDEX and FREERUN commands use this command s data for ramp up and ramp down functions 5 The acceleration rate that can be used with the AC command is a maximum of 215 machine steps msec The use of the decimal point is optional e g AC Z25 is the same as AC Z25 EXAMPLES AC X1 The acceleration rate for axis X is 1 steps msec AC 225 The acceleration rate for axis Z is 25 steps msec Related commands INDEX FREERUN Version 1 1 Aerotech Inc 5 13 Programming Commands U511 User s Manual AG PL 5 5 3 AC PL ACCEL PLANE The ACCEL PLANE command will limit the acceleration during linear and circular moves by lowering the feedrate and adjusting the ramp time One block look ahead is used to slow down before a circle or final move in a Velocity Profiling G8 sequence Look ahead is done only in the MMI or with the command in a custom program Note This command works for contour mode 1 CM 1 only Note Setting the acceleration value to 0 will turn
332. is Auto Restore Save F1 F2 F3 F4 F5 Figure 3 31 Tune Screen There are five functions on this screen which are described below F1 Axis Axis selects the axis displayed on the screen 1 4 F2 Auto Performs autotuning See below F3 Restore Restore sets the tuning values back to stored values F4 Save Save stores tuning values gains to the parameter file F5 Quit Quit is used to exit the tuning screen This screen can also be used to automatically calculate gains The process is called autotuning The UNIDEX 511 does this by moving the motor in a progressively faster back and forth motion and recording the current required for the move This data is used along with the user specified Bandwidth and Damping parameters to calculate servo loop gains Setting Distance and Frequency The first step in autotuning is to set the Distance and Frequency parameters The Distance parameter determines how much the motor moves and Frequency determines the speed of movement during autotuning Typical values are 25 100 mm for Distance and 1 Hz for Frequency If a RMS error occurs during autotuning the Distance or Frequency may be set too high If the Distance is too low the U511 responds with Could not calculate gains 3 28 Aerotech Inc Version 1 1 U511 User s Manual The User Interface Setting Bandwidth and Damping The Bandwidth and Damping parameters specify the desired response of the motor The hig
333. is disconnected before opening the chassis aiii JP12 mE m m i gE l LERLIN A Figure 10 8 Control Board Showing Locations of User Configurable Jumpers 10 18 Aerotech Inc Version 1 1 U511 User s Manual Technical Details 10 3 Interface Board Jumpers Table 10 15 describes the U511 Interface Board JP jumpers The user can change jumpers 1 6 Refer to Figure 10 9 The other jumpers are factory configured and should not be changed by the user Table 10 15 Interface Board jumper JP description JP1 JP46 JP Setting Description 1 1 2 COM 1 J7 2 data out for direct connection to PC Le ameman ON 2 1 2 COM 1 J7 3 data in for direct connection to PC IN COM 1 RTS J7 7 connected to CTS J7 8 5 1 2 COM 2 J8 2 data out for direct connection to PC IN COM 2 RTS J8 7 connected to CTS J8 8 7 46 Reserved factory configured pel e seetnin Default Setting 4 1 2 COM 2 J8 3 data in for direct connection to PC 2 3 COM 2 J8 3 data out Version 1 1 Aerotech Inc 10 19 Technical Details U511 User s Manual To minimize the possibility of electrical shock and bodily injury make certain that the mains power supply is disconnected before opening the chassis aa
334. it Minute The program motion is in the metric mode each move distance is an offset from the current position the value is sin millimeters and feedrate is in millimeters per minute Related commands PLANE A programming step is the simplest programming increment Programming units and steps are related by the parameters 029 030 047 048 065 066 083 and 084 e Version 1 1 Aerotech Inc 5 71 Programming Commands U511 User s Manual 5 5 63 QUEUE The UNIDEX 511 reserves an 8 000 word internal memory space for storage of command sets referred to as the queue buffer Each time a new command set is received it is stored in the queue buffer until ready for processing When the command has been processed the buffer space it occupied is freed for reuse If one plane has been specified for use by general parameter 000 Number of contour planes all of the 8 000 word space is available for storage If two planes have been specified for use by general parameter 000 each plane may use 4 000 words of storage If four planes have been specified for use by general parameter 000 each plane may use 2 000 words of storage When the queue buffer is full any new command that is input will not be stored in the queue buffer until a free space is available SYNTAX QUEUE AGAIN QUEUE CANCEL QUEUE INPUT num val QU IN nn value QU IN nnb value nnb value QUEUE AGAIN Directs program flow back to the top of the
335. ited Aerotech Inc Version 1 1 U511 User s Manual Windows Interface and Utilities 7 4 UNIDEX 511 Axis Scope Utility The Axis Scope window is a data display and axis tuning feature The window contains a menu bar with loop tuning and display options Information about the Axis Scope window and servo loop tuning is discussed in the Chapter 8 Tuning Servo Loops 7 5 UNIDEX 511 Diagnostics Screen The Diagnostics screen displays a dynamic window of software and hardware status fields for each of the four axes X Y Z and U The Diagnostics window displays axis positions analog to digital A D input values manual feed override hardware software faults limits traps etc The Diagnostics window is illustrated in Figure 7 5 U511 Diagnostics Ver 5 00 iof x File Remote SOFTWARE STATUS 1234 HARDWARE STATUS 1234 In position Marker Top Feedrate Cw Limit CCW Limit Home Limit Soft Limit Soft Limit Feedback Fault Amp Fault Position Trap Velocity Trap Integral Trap RMS torque Amplifier Enable Axis 1 Pos Axis 2 Pos Axis 3 Pos Axis 4 Pos Cw Limit CCW Limit Home Limit Amp Fault Encoder Fault sine Encoder Fault cosine NNNHN Inputs 0000000000000000 Outputs 00000000 10 Bank 00000000 10 Bank B 00000000 10 Bank C 00000000 MFO 00 Emergency Stop Brake Status Feedhold Status Cable Interlock Joystick ABC Hall CAB U000 Z000 YOOO Z000 A D Input 1 00 A D Input 2 A D Inpu
336. ithin 10 Counts of Error Using UM a So AEREE E EEE 8 39 Figure 8 33 Plot of Position Error When VfP is too High eee eee 8 40 Figure 9 1 Sample Path for Incremental Relative Motion Demonstration Using Velocity Profiling eee ceeceeeceecnsecneecseecneseneseaeeeeeeeeeees 9 2 Figure 9 2 Sample Path for Absolute Motion Example Using Velocity Profiling srine ee ne dies eee oh ML BA ech I Eae E EE 9 5 Figure 9 3 Sample Path of Square With and Without the Rounding Feature cic cei takai titania cneish nin on tasteless 9 8 Figure 9 4 Output from Splining Example ee cece ceeeceseceseceseenseenaes 9 12 Figure 9 5 Output from Parts Rotation Example Program eee eee 9 15 Figure 9 6 Output from Overriding Scale Factor Example Program 9 18 Version 1 1 Aerotech Inc XV List of Figures U511 User s Manual Figure 10 1 Figure 10 2 Figure 10 3 Figure 10 4 Figure 10 5 Figure 10 6 Figure 10 7 Figure 10 8 Figure 10 9 Figure 10 10 Figure C 1 Figure D 1 Figure D 2 Figure D 3 Figure G 1 Figure G 2 Figure G 3 Figure G 4 Figure G 5 Typical Input for CW Limit CCW Limit Home Limit and Hall Effect Inputs HA HB HC ssseseseseseeessreesesesrsesesesrseresrresrrssees 10 1 Rear View Showing Various COnnectors eseeeseseersererrsereresereee 10 2 Electrical Characteristics of the UNIDEX 511 Opto 22 Connettore eaa e esea e e Eaa SEE Ea ete 10 8 Opto isolated Inputs
337. ities 4 Axis Contig E Homing Limits D System Config 1 Serial Port 1 2 Serial Port 2 8 Faults 10 Planes Mapping Position Error x Feedback Trap Ix RMS Current Error x Feedrate Error integ M Velocity Error 1X Hardware Limit Emergency Stop X Hardware Limit xX Axis 1 Any Fault IX Software Limit X Axis 2 Any Fault IX Software Limit x Axis 3 Any Fault x Amplifier Fault xX Axis 4 Any Fault Number fi 55 Value FFFFFFFFI1IFA Figure 8 10 The Faults Tab of the Parameter Editor 2 The Loop update rate 25 ms parameter from the Servo Loop tab shown in Figure 8 11 must be set appropriately in order to get optimal performance from the system The default update rate is 0 25 ms 4 kHz and the user would put a 1 as that parameter s value Another common choice is 1 ms 1 kHz and the user would put a 4 as that parameter s value Some low resolution systems 500 line encoders etc high inertia systems or low velocity systems perform better at a lower update rate such as 1 kHz If the user doesn t know what to use for this parameter then an update rate of 4 kHz should be used However an update rate of 1 kHz can be used If the update rate is changed the tuning process must be repeated Version 1 1 Aerotech Inc 8 17 Tuning Servo Loops U511 User s Manual u511_prm of x File Remote Utilities D System Config 1 Serial Port 1 2 Serial Port 2 3 GPIB IEEE 488 Baus 10 Planes
338. ition the feedrate error status can be viewed from the Diagnostics screens in the software See Chapter 3 The User Interface for more information This parameter value can range from 0 004 to 131 071 machine steps ms The default value is 440 machine steps ms Refer to Table 4 53 Table 4 53 Settings for Parameter x17 Param Axis Range Default in machine steps ms in machine steps ms 117 1 0 004 to 131 071 440 217 2 0 004 to 131 071 440 317 3 0 004 to 131 071 440 417 4 0 004 to 131 071 440 This parameter is provided as a system safety feature The system will trap if a feedrate is inadvertently requested that is higher than this setting x17 Version 1 1 Aerotech Inc 4 71 Parameters U511 User s Manual 4 10 2 Maximum velocity error 0 8 388 607 1 This parameter sets the maximum amount of velocity error the difference between the x18 sae actual velocity and the programmed velocity that is acceptable in the application For most applications it is advisable to set the maximum velocity error to the same value as the commanded velocity The units of this parameter are machine steps per servo cycle If the velocity of an axis exceeds the value set in x18 then the message Velocity Error is displayed in the Program mode screen of the software In addition the velocity error state can be viewed from the Diagnostics screens in the software See Chapter 3 The User Interface for m
339. ition command T in seconds is specified where a constant time but variable feedrate is needed between target positions F is specified as a constant feedrate but variable time is needed between target positions T and F arguments are contradictory in function and are not used in the same target position command Using both time and feedrate in a single target position command will cause a programming fault When splining motions are enabled the controller will not process any other types of motion commands such as INDEX CONTOURED or FREERUN commands SYNTAX SPLINE OMOFF SP ONOFF ON Enables the splining function Subsequent motions will curve fit OFF Disables the splining function EXAMPLE The following example illustrates a three point spline Incremental mode is assumed SPLINE ON Spline is turned ON X3 32 Y4 321 T0 123 Incremental motion in 123 ms X0 332 YO 555 Incremental motion in 123 ms 5 84 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands X1 099 Y0 987 OU0x55 Incremental motion in 123 ms At the end of the motion the output command of 0x55 is executed turning ON output bits 0 2 4 and 6 SPLINE OFF Splining is turned OFF Related commands INDEX CW_CIRCLE CCW_CIRCLE FREERUN G90 G91 G70 G71 PROGRAM 5 5 75 START The START command is used to activate planes that are currently under the HALT command SYNTAX START plane START wait plane plane Identifies the pla
340. itten mode AND if ANDING data OR if ORING data otherwise overwrite data EXAMPLES MW Y 0x1a 6 Writes a 6 to memory location Oxla in Y memory space this is the location of the 8 outputs MW Y Oxla 1 OR Set bit 0 of the outputs and does not affect the other bits This command is for special applications and is not intended for general use Related commands MR 5 64 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 55 NEXT The NEXT command is used to specify the endpoint of the group of program blocks comprising the loop SYNTAX NEXT EXAMPLE LOOP 10 X10 DWELL 100 X 10 NEXT Signals the end of the Repeat Loop Related commands LOOP 5 5 56 OEn Extended Output This command sets output bits on either the U511 card or the 4EN encoder card The OEn command is executed immediately by the U511 This differs from the OU command that is loaded into the U511 s queue buffer and executed synchronously with other programmed commands It is useful for real time control of the output bus The n in the OEn command must be filled with a number from 0 to 4 in order for the command to work General parameter number 099 bit number 0 should be set to 1 when using the 4EN option board s I O 5 SYNTAX OEn val Where n is a number from 0 to 4 OEn bit highlow bit highlow n 0 U511 card same as OU command except not queued 1 4EN option board P7 24
341. ive jog same as move y n x1 2 Each axis of the UNIDEX 511 may be configured such that either a positive or negative jog command results in motion in the same or opposite direction as the Positive move is CW x11 parameter This parameter can be set to either yes or no Descriptions are given in Table 4 11 Table 4 11 Settings for Parameter x12 Param x12 Axis 1 2 3 4 Yes Description A positive jog results in motion that is in the same direction as specified by the Positive move is CW parameter A positive jog results in motion that is in the opposite direction as specified by the Positive move is CW parameter 4 5 5 Enable pause in freerun y n x13 This parameter is used to enable or disable the pause function when the associated axis is in freerun This parameter can be set to either yes or no Descriptions are given in Table 4 12 Table 4 12 Settings for Parameter x13 Param x13 Axis 1 2 3 4 No Yes Pause function is enabled during freerun of the Description associated axis default Pause function is disabled during freerun of the associated axis 4 20 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 5 6 Enable MFO in freerun y n The UNIDEX 511 may be equipped with an external Manual Feedrate Override MFO potentiometer This parameter is used to
342. kQ 64 9kQ 21 5kQ OPEN Resolution 1K BW default 1 1 16 Bit Resolution 4 8 2 KQ 390pF 1800pF 360kQ 62 KQ OPEN OPEN 16 Bit Resolution 4 8 2 KQ 680pF 3300pF 270kQ 62 KQ OPEN OPEN 16 Bit Resolution 4 8 2kQ 1500pF 8200pF 180kQ 62 KQ OPEN OPEN 12 Bit Resolution 2 130 kQ 390pF 1800pF 360kQ 62 KQ OPEN OPEN 12 Bit Resolution 2 130kQ 680pF 3300pF 270kQ 62 KQ OPEN OPEN 750 BW Version 1 1 Aerotech Inc G 5 Appendix G U511 User s Manual G 3 Installing the RDP Board into the UNIDEX 511 To connect the RDP board to the UNIDEX 511 board connect the 50 pin ribbon cable from P3 of the RDP board to P3 of the UNIDEX 511 board Refer to Figure G 2 Make sure pin 1 of the ribbon cable mates with pin 1 of the P3 connectors U511 Control Board Optional RDP PC Board Pin 1 P3 P3 RDP PC Connecting Ribbon Cable UNIDEX 511 Top View Figure G 2 RDP Board Connection to UNIDEX 511 Board Always disconnect main power connection before opening the U511 chassis WARNING G 6 Aerotech Inc Version 1 1 U511 User s Manual Appendix G G 4 UNIDEX 511 Software Setup The U511 software needs to be configured for the RDP board Parameters from the Motor and Feedback page Page 8 in the Setup menu need to be updated to reflect the hardware settings of the RDP board as shown in the following tables 1 Set the Position channel pa
343. ker Indicates when the encoder marker has been found found not found Axis 1 4 Position Shows current axis position in machine steps The positions shown in brackets are useful for resolver setup For resolvers they represent the resolver to digital converter 16 bit value 3 6 5 Diagnostics Menu Active Limits Page The Active Limits page refer to Figure 3 27 displays limit status information This page differs from the Hardware Status page because the polarity is programmable and the axis must be enabled to have an active limit Components of the Active Limits page are shown in Table 3 5 Page 5 Active Limits CW hardware limit CCW hardware limit Home hardware limit CW software limit CCW software limit Back Next El F2 F3 F4 F5 Figure 3 27 Active Limit Page Table 3 5 Active Limit Diagnostics Field Status Description CW hardware limit Indicates whether the CW hardware travel limit is active active inactive CCW hardware limit Indicates whether the CCW hardware travel limit is active active inactive Home hardware limit Indicates whether the Home limit is active active inactive CW software limit Indicates if the software CW travel limit is active active inactive CCW software limit Indicates if the software CCW travel limit is active
344. kkkkkkkkkkkkkkkkkkk WAIT ALL Wait for each command to finish before processing next ENABLE X Y Enable the axes HOME X Y Send x and y home GO X5 Y3 XF500 YF500 Move x and y to starting point G92 Set software home reset axes to 0 start MESSAGE DISPLAY Press start button to begin wait IF INO 1 wait Loops until bit 0 0 G2 X 2 Y 2 C0 2 F100 If bit 0 0 complete motion GO X2 GO Y2 MESSAGE DISPLAY Motion is finished DWELL 3000 Wait 3 seconds GOTO start Loop back wait until bit 0 0 to run again Version 1 1 Aerotech Inc 9 13 Programming Examples U511 User s Manual 9 10 Part Rotation This program demonstrates the proper use of the ROTATE or ROT command Refer to Figure 9 5 for the output of the program skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Title BOAT2 PRG Description Demonstrates parts rotation by drawing a boat every 30 degrees Program in Millimeters ei skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk PROGRAM ABSOLUTE METRIC UNITS UNITS MIN ROT X Y 0 ROTATION CMD 0 for rotation off ENABLE X Y HOME X Y Home X Y GO X70 Y70 XF1500 YF1000 Move to center G92 Set all positions to 0 V0O 0 LOOP 12 gt RR Boat HHHHHHHHHHHHHHH ROT X Y VO ROTATION CMD 0 for rotation off G91 Incremental mode G1 X50 F750 Move away from center G92 Set all
345. kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk kkk KKK KKK KKK REE KK kkk kkkkk PROGRAM ENGLISH INCREMENTAL Program in English incremental mode ENABLE X Y Enable the axes GO X5 Shape is created using G8 G1 X10 Y10 F100 velocity profiling G2 X0 Y 10 10 J 5 F200 Clockwise semicircle G1 X 10 Y10 F100 Linear move G9 G3 X0 Y 10 CO 5 F300 Velocity profiling turned off at the end of this move DW 3000 Dwell wait for 3 seconds G1 X10 Y10 F100 Create same shape again without velocity profiling G2 X0 Y 10 10 J 5 F200 G1 X 10 Y10 F100 G3 X0 Y 10 CO 5 F300 MO Wait until cycle key is hit AGAIN Repeat program EXIT Version 1 1 Aerotech Inc 9 7 Programming Examples U511 User s Manual S 9 5 Corner Rounding In this application the UNIDEX 511 is used to outline a square using two axes X and Y The part is outlined using a program consisting of some setup statements and 4 linear absolute movements The outline shape and the individual movements are illustrated in Figure 9 3 In addition absolute coordinates X Y are given for the beginning and end points of each linear movement Rather than incorporating circular motions at the corners of the square the corner rounding function is enabled This feature provides an easy way to smooth sharp edges or to create fillets without having to incorporate circular motions into the program For rounded edges that require precise circular contouring it is recommended that the prog
346. kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk e PROGRAM ENGLISH INCREMENTAL ENABLE X Y OUTPUT 0X00 Sets all outputs low high z impedance SPLINE ON Turn on spline X1 Y3 L F100 L denotes a linear motion no splining for Motion to this position X0 06 YO 1 Position 2 X0 14 YO 2 Position 3 X0 2 Y0 07 Position 4 X0 2 Y0 03 Position 5 X5 Y 0 2 L Linear move to this position X0 1 Y 0 02 Position 7 X0 08 Y 0 08 Position 8 X0 02 Y 0 1 Position 9 Y 3 2 L Linear move to this position X 0 02 Y 0 1 Position 11 X 0 08 Y 0 08 Position 12 X 0 1 Y 0 02 Position 13 X 6 2 L Linear move to this position X 0 1 Y0 01 Position 15 X 0 13 Y0 04 Position 16 X 0 1 Y0 05 Position 17 X 0 09 Y0 2 Position 18 X0 02 YO 1 Position 19 SPLINE OFF Turn off spline EXIT ae 67 2 8 1 ao 19 Start 1 17 sit 161514 Figure 9 4 Output from Splining Example 9 12 Aerotech Inc Version 1 1 U511 User s Manual Programming Examples 9 9 Programming Using Inputs skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk This program is a CNC example Motion depends on input bit 0 The program stays in a wait loop until input bit O is a 0 When the input goes low motion is completed and the program loops back and checks the input bit again The start button is assumed to pull input bit O low when the button is pressed skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk
347. kkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk EN X SKEY SET 1 1 X1 X1 SKEY SET 2 1 X2 X2 SKEY SET 3 1 X3 X3 SKEY SET 4 1 X4 X4 SKEY SET 5 1 QUIT QUIT START SKEY GET WAIT FOR F1 F5 HIT X1 G1 X1 SKEY DISABLE 1 GOTO START X2 G1 X2 SKEY DISABLE 2 GOTO START X3 G1 X3 SKEY DISABLE 3 GOTO START X4 G1 X4 SKEY DISABLE 4 GOTO START QUIT EXIT PROGRAM SKEY UNDEF 1 SKEY UNDEF 2 SKEY UNDEF 3 SKEY UNDEF 4 SKEY UNDEF 5 M2 EXIT Version 1 1 Aerotech Inc 9 19 Programming Examples U511 User s Manual 9 13 8X3 T O Bus Program This is a test program for the U511 8 X 3 I O bus sekkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Test program for U511 8 X 3 I O bus sekkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk LEJ ABORT IOSET 0 1 1 0 2 0 SET 8OUT 16IN WAIT ALL V2 100 SET DWELL TIME START Vi 1 LOOP 8 100 V1 SET OUTPUT DATA Vi V1 2 DWELL V2 SUB DISPLAYINPUTS NEXT GOTO START DISPLAYINPUTS V10 101 V11 102 ME DI 0 FV10 0 FV11 RETURN 9 20 Aerotech Inc Version 1 1 U511 User s Manual Programming Examples 9 14 Power on Subroutine Global Subroutine File A global subroutine file can be used to implement functions common to multiple programs The file name usually called glbsub prg is specifed in the setupscreen of
348. l 4 19 Max integral error 4 74 Max position error x19 4 73 Max velocity error x18 4 72 Metric conversion factor x00 4 16 Metric digits 4 101 MFO pot offset 4 87 Microstepping resolution 4 63 Modulo Rollover 011 014 4 29 Notch filter NO N1 N2 D1 and D2 4 35 Option board setup code 4 9 Parallel Pol response bit 4 15 Parameter file 4 7 Parity 4 13 Password 4 12 Phase speed 4 65 Phase speed advance 4 65 Position channel 4 56 Position setup code 4 58 Positive move is clockwise 4 19 Positive jog same as move 4 20 PSO PC firmware file 4 8 Ramping time 4 94 Reverse Joystick Direction 4 31 RMS current sample time 4 77 RMS current trap 4 75 Safe zone limits 4 47 Safe zone output bit 4 9 Segment time 4 93 Servo loop type 4 39 Stepper correction 4 63 Stepper high current 4 62 Stepper low current 4 63 Stop bits 4 13 Switch to mechanical stop 4 45 Time out 4 15 Top feedrate 4 71 Use home limit during home 4 47 User interrupt setup code 4 10 Velocity channel 4 57 Velocity setup code 4 59 Vff velocity feed forward 4 33 X Y Z and U axes index feedrates 4 97 Parameters 003 through 006 4 88 Parameters 007 through 010 4 90 Parameters 018 036 054 and 072 4 93 Parameters 019 037 055 and 073 4 94 Parameters 021 039 057 and 075 4 96 Parameters 022 040 058 and 076 4 97 Parameters 023 through 026 041 through 044 059 throug
349. l already be set from the factory 2 6 Aerotech Inc Version 1 1 U511 User s Manual Getting Started 2 7 Enabling and Moving an Axis After performing the initial configurations it is important to verify everything functions properly Enable and jog the axis from the Jog screen under the MDI screen It is recommended to initiate movement of the axis in Freerun low speed mode Also check the home cycle by pressing the home button 2 8 Internal System Wiring The U511 wiring varies depending on the AC input voltage number of axes DC bus voltage and drive modules A system wiring drawing is provided with the documentation package for the U511 The system drawing contains information concerning fuse values and some jumper settings Additional information about the U511 is located on the system serial label and AC power tag located on the rear of the U511 The serial label contains the customer order number required when calling customer service system drawing number and system part number The AC power tag includes AC power requirements line voltage and current requirements Version 1 1 Aerotech Inc 2 7 Getting Started 2 8 Aerotech Inc U511 User s Manual Version 1 1 U511 User s Manual The User Interface CHAPTER 3 THE USER INTERFACE In This Section e Introduction avcsecse eee eee eee 3 1 e GontrolBanclie eer ee eee 3 1 e BOWer UprS CleeD en eae ree ane 3 3 e Program
350. le the use of orthogonality data in a calibration CAL file When this parameter is enabled set to yes the corresponding axis is enabled for orthogonality correction The orthogonality entries in the specified calibration CAL file are used for this correction Refer to Table 4 21 Table 4 21 Settings for Parameter x71 Param Axis Description 171 1 Yes Axis orthogonality correction is enabled for axis 1 271 2 same as axis 1 371 3 same as axis 1 471 4 same as axis 1 For additional information refer to Section 4 5 7 Enable axis calibration on page 4 21 4 5 14 Enable 2 D error mapping y n Parameter x72 is used to enable and disable 2 dimensional error mapping of a pair of axes When this parameter is enabled set to yes the UNIDEX 511 uses the contents of a MAP file usually provided by Aerotech to perform 2 dimensional calibration of selected axes For additional information contact the technical support department at Aerotech 4 5 15 Modulo rollover machine steps for axes 1 4 The modulo rollover parameters 011 012 013 and 014 are used in rotary type applications to define the number of machine steps associated with each cycle Applications such as a rotary tables for example may require that you set a rollover point or a modulo distance This allows the axis position to be read in units such as degrees The sizes of the UNIDEX 511 s absolute relative a
351. leration gt x lt This parameter value can range from 0 004 to 255 machine steps ms The default value is 1 00000000 machine steps ms Refer to Table 4 9 Table 4 9 Settings for Parameter x16 Param Axis Range Default in machine steps ms in machine steps ms fier l sw 0 004 to 255 1 00000000 Oe i a 0 004 to 255 1 00000000 316 3 0 004 to 255 1 00000000 416 4 0 004 to 255 1 00000000 The value of parameter x16 should be reduced if abrupt motion or servo traps occur during acceleration or deceleration during the home cycle HOme freerun 5 FReerun or GO INdex programming commands This parameter does not apply to linear and circular contour motion Contour motion uses the Contour Ramp Time parameter 5 4 5 3 Positive move is CW y n Each axis of the UNIDEX 511 may be configured so that either a positive or negative x11 command results in clockwise motor rotation The direction of motor rotation is specified relative to looking into the shaft end of the motor This parameter can be set to either yes or no Descriptions are given in Table 4 10 Table 4 10 Settings for Parameter x11 Param Axis Description x11 1 2 3 4 Yes A positive command results in CW motor rotation default No A positive command results in CCW motor rotation Version 1 1 Aerotech Inc 4 19 Parameters U511 User s Manual 4 5 4 Posit
352. lly checked before connecting the motor to the system 4 7 7 Limit to mechanical stop machine steps This parameter specifies the stopping distance in machine steps when an axis hits a limit switch When this value is specified a deceleration rate is calculated so that deceleration occurs within the specified distance regardless of the current speed This prevents the stage from hitting a mechanical stop If axis parameter x16 Max accel decel specifies a greater deceleration rate then the value of parameter x16 rather than the calculated rate is used The default value for parameter x10 is 2000 machine steps Setting this parameter to zero forces the deceleration rate to take on the value specified in axis parameter x16 x lt Version 1 1 Aerotech Inc 4 45 Parameters U511 User s Manual 4 7 8 CCW software limit machine steps x22 This parameter is used to establish a software limit in machine steps when the motor is rotating in the CCW direction This limit is referenced from the hardware home position and is not active until the axis is sent home This parameter value can range from 2 47 to 2 47 machine steps The default and minimum value is 2 47 which equals 140 737 488 355 328 steps See Table 4 34 Table 4 34 Settings for Parameter x22 Param Axis Range in machine steps Default 122 1 2 to G2 2 machine steps 222 2 2
353. lues may also be entered The message may be text or the value of user or system variables SYNTAX MESSAGE destl dest2 dest3 dest4 var_input message ME destl dest2 dest3 dest4 var_input message MIE CO dest A message may be sent to one or more of the following destinations using the syntax shown below MESSAGE CO port Send a message to serial port MIE DI MESSAGE DISPLAY A message is sent to the CRT display MESSAGE FILE path name ext wla A message is sent to the file path name ext where w write to a new file any existing file is overwritten a append to the end of an existing file WIE Fl Use the w argument to create and write the first line of a new file Then use the a argument to append messages to the new file var_input VO0 255 data input VV0 255 data input array Formats for displaying variable values are Real number with 6 digits after the decimal point he Displays number in exponential format i e 1 257e 7 nt Real number with n digits after the decimal point Ps Patch string in hex format ox Hex format PM Display the symbol message Comprised of text or variable Must be enclosed in double quotes or single quotes port 1 to 3 for COM1 COM2 or GPIB EXAMPLES ME FILE TEST TXT w This is a test Creates a new file and writes This is a test to the file ME DI V0 V0 V0 ENTER NEW VALUE Displays current value of VO in a dialog window and prom
354. ly two tracks on the disk have their gratings displaced 90 degrees with respect to each other that is the tracks are said to be in quadrature registers In the U511 registers are used by the software to designate axis positions Relative position registers SXRP YRP ZRP and URP represent the commanded axis positions in machine steps with respect to the software home position Absolute position registers XAP YAP ZAP and UAP represent the commanded axis positions in machine steps with respect to the hardware home position reset see initialization resolver A resolver is a two phase rotary electromagnetic transducer in which inductive coupling between the rotor and stator windings and trigonometric principles are employed to provide absolute position information over one electrical cycle which is one revolution for single step resolvers resolver to digital card RDP PC The RDP PC card is an optional ISA bus based R D card that is used to receive resolver or Inductosyn feedback Resolution is selectable among 10 bit 12 bit 14 bit or 16 bit RMS current trap RMS current trap is an error that occurs if the current being commanded to a motor exceeds a programmable limit see parameters x48 and x49 RMS current trap is analogous to a software fuse Essentially this fault functions the same as a physical fuse but is done through software One obvious advantage is that a software fuse does not ha
355. may also take longer to respond with an ACK NAK This is because programs are preprocessed and syntax checked before execution The P command can be sent after a time out to clear the communications port See parameters numbered 614 615 623 and 624 The handshake mode can be turned off by setting bit number 9 of register 0 This is the same as the Default configuration parameter for COM1 and COM2 parameter numbers 616 and number 625 See the RRn and WRn remote commands for more details The GPIB interface does not use the software handshake ACK NAK characters except during file transfers In this case they are encoded as ASCII characters 6 4 Remote Commands The following section describes commands needed to communicate with the UNIDEX 511 In the commands that follow the syntax is given to the left of the whereas the name or description of the command is given to the right Most parameters like the EOS ACK NAK etc are programmable In the tables that follow the default values of these parameters are given in parentheses 6 4 1 Enable RS 232 Remote Communications This command configures the serial port for remote mode It will then accept and respond to remote commands The command does not require an end of string terminator This command should also be used to resynchronize the serial communications buffer in the event of a time out Table 6 1 shows the communications sequence for the enable
356. me 1 32 000 ms sessssesssessessrsrserrssrsreerrsersreeresrees 4 94 4 11 9 Default to metric yes no s ssssesssesssesessessressrrssereseseessessee 4 95 4 11 10 Linear accel decel Y N seeno nien a 4 96 4 11 11 Contour feedrate program steps ms sseeseeeseeeerserreeeeseee 4 97 4 11 12 X Y Z and U axes index feedrates program steps ms 4 97 4 11 13 Clamp feedrate program steps MS sssesesseessseeessseeerserseees 4 98 4 11 14 Corner rounding time 1 32 000 ms s sssssesssssssssrsssssessressse 4 98 4 11 15 Metric digits 1 8 eseesseeseseesseeessseeesssrerrssesreeresreerssreerssene 4 101 4 11 16 English digits 1 8 oo eee eecesecesecesecesecssecaecseesneeenes 4 102 vi Aerotech Inc Version 1 1 U511 User s Manual Table of Contents CHAPTER 5 5 1 5 2 5 3 5 4 4 11 17 Contouring mode eee eeceeecesecesecesecnseceeeneeees 4 103 PROGRAMMING COMMANDS 1 00 eiceeecceeeeeeeeeeseeeeeneeneeeeen 5 1 Inte OCUGti OM iey E EE aT E EENE E EE 5 1 Mathematical Function Commands ssesseseeeseeesesreessseeerssrerresesrreresre 5 2 5 2 1 Direct Variables VO through V255 ces ceeeeeseeceeeeeneeees 5 2 5 2 2 Indirect Variables VVO through VV255 eeseesseeeeeeees 5 2 5 2 3 FUMCHONS seieren ooien rrea osti sortea Ten e EREE eek EIEE PRSETER 5 3 5 2 4 Operators and Evaluation Hierarchy sseeeseeeeeseee
357. med so quickly that the planes appear to be executing simultaneously Refer to Figure 4 11 8 K Buffer Total 2 K Buffer DSP RAM Control Program Plane 1 2K Buffer i N Commands are loaded Plane 2 sequentially into their y appropriate buffers p A gt J as defined by the 4 PLANE commands 2 K Buffer R X Plane 4 4 Program command Additional commands are to be executed added to the bottom of the multitasking appropriate queues as the buffers are emptied from the top Figure 4 11 Programming Control Using Four Planes Below are important issues to remember when using planes e The programming buffer is 8 Kbytes in size e The U511 system can be configured to use 1 2 or 4 planes e The 8 Kbyte program buffer is divided equally among the planes being used i e there will be one 8 Kbyte buffer two 4 Kbyte buffers or four 2 Kbyte buffers e One or more axes can be mapped to 1 e associated with a single plane e An axis cannot be mapped to more than one plane e Axis commands for a particular axis can be included within a particular plane only if the axis has been mapped to that plane 4 82 Aerotech Inc Version 1 1 U511 User s Manual Parameters e A plane can be used for non axis control such as monitoring inputs and or set
358. ment time 1 20 ms During trajectory generation the UNIDEX 511 divides the motion into segments These parameters represent the motion time for each segment in milliseconds ms The default setting of 10 ms is sufficient for most applications If the application requires many short moves with short ramp times you may wish to reduce the value of this setting The minimum value is one millisecond These parameter values can range from 1 to 20 ms for each of the planes under command The system default is 10 ms Refer to Table 4 67 Table 4 67 Settings for Parameters 018 036 054 and 072 Param Plane Range Examples 018 1 1 20 ms 1 Provides the slowest calculation time and yields the maximum number of indexing segments 10 Provides a moderate calculation time and yields a moderate number of indexing segments default 20 Provides the fastest calculation time and yields the minimum number of indexing segments 036 2 1 20ms see examples shown above 054 3 1 20ms see examples shown above 072 4 1 20ms see examples shown above This parameter will not increase servo velocities in any way It may be used to improve the processing efficiency of the calculation effort during trajectory generation pare 00 oO oO QI A J N Version 1 1 Aerotech Inc 4 93 Parameters U511 User s Manual 4 11 8 Ramp time 1 32 000 ms The acceleration and
359. meter value can range from 0 to 100 The default value is 30 Refer to Table 4 57 N Version 1 1 Aerotech Inc 4 75 Parameters U511 User s Manual Table 4 57 Settings for Parameter x48 Param Axis Range Default as oao 0 to 100 30 0000 as 2 0 to 100 30 0000 348 3 0 to 100 30 0000 44g 4 0 to 100 30 0000 If the value of parameter x48 is set to 100 an RMS current trap will never be ce generated for the associated axis This parameter is used in conjunction with parameter x49 to determine RMS 0S current level faults 4 76 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 10 6 RMS current sample time 1 16 383 ms Parameter x49 sets the RMS current sample time This time represents the span over which the RMS current must remain below the RMS current limit calculated using parameter x48 otherwise an RMS Current Level Exceeded fault will occur A fault may occur before the sample time expires This occurs if the accumulated RMS current level for the present sample period exceeds the corresponding RMS level for the fractional portion of the sample time e g twice the level for half the time three times the level for one third the time etc Refer to Figure 4 9 The RMS current sample time parameter may be referred to as the thermal time constant This name reflects the function of the parameter because
360. mmand The host computer should wait for this character or NAK to be returned from the U511 If a time out occurs the communications port should be cleared send The parameter can range from 0 to 255 The default has a decimal value of 6 and a hexadecimal value of 0x06 4 3 8 Command NAK character The U511 will return the character specified by parameter 615 624 if it receives an unknown remote command or if a syntax error exists with an immediate command The host computer should wait for this character or ACK to be returned from the U511 If a time out occurs the communications port should be cleared send The value of this parameter may range from 0 to 255 The default value has a decimal value of 21 and a hexadecimal value of 0x15 4 3 9 Default configuration 61 6 62 5 The number of parameter 616 625 specifies the operation of the remote interface after a 2 power up condition See Chapter 6 Remote Mode Operations for more information This parameter can range from 0 to 8 388 607 and the default value is 0 Any communication parameter can be entered in hexadecimal format as in 0x123 or S decimal format as in 163 4 14 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 4 Page 4 GPIB IEEE 488 Setup Parameters in this section address the setup of the GPIB IEEE 488 port 4 4 1 GPIB address 0 30 U511 controllers can be linked through the GPIB bus Each controller would the
361. mming steps per programming unit The UNIDEX 511 uses one of two system conversion factors to convert programming units into machine steps The default conversion factor used for each axis is specified as either English or Metric by the Metric system yes no parameter 020 038 056 and 074 The scaling mode set by these parameters may be overridden by use of the G70 English or G71 Metric commands Conversion Factor Formula The UNIDEX 511 uses an internal formula to derive conversion factors This formula is shown below Machine Steps l Conversion Factor Programming Unit P Program Steps Programming Unit ee Steps P ing Unit Conversion Factor e ni 4 16 Aerotech Inc Version 1 1 U511 User s Manual Parameters Conversion factors i e parameters x00 and x01 are represented using a standard floating point number e g 1 0 in the software package To calculate the conversion factor the user will need 1 The number of machine steps per programming unit This is the number of encoder counts in inch 1 mm or 1 degree etc 2 The number of program steps per program unit This value is related to the number of decimal digits ndec parameter Refer to Table 4 8 Table 4 8 Relationship Between Number of Decimal Digits Parameters and the Number of Programming Steps per Programming Unit Smallest Programming Number of Decimal Digits Program Steps per Unit ndec Pa
362. modifies the endpoint of a move based on the next move Therefore a move will not begin executing until the next move has been commanded Commands that occur between contours are stored until the next contoured motion is sent No more than 5 commands should be placed between contours Contoured moves are modified either by making the move shorter or by adding a circle with the same radius as the cutter between the moves The first move is assumed to be a move on to the part This move is the first move after a G41 or G42 command and can be linear or circular The end point of this move is adjusted so that it is normal to the second move s starting point offset by the tool radius Refer to Figure 5 1 Figure 5 1 Startup Moves The last move is assumed to be a move off of the part This contour occurs after the G40 command The end point of the move preceding the G40 command last move on work piece is adjusted to be normal to the move s programmed endpoint Refer to Figure 5 2 Version 1 1 Aerotech Inc 5 31 Programming Commands U511 User s Manual Figure 5 2 Ending Moves In the case of a circular move on to the work piece the programmed end angle is preserved For a move off of the part the circle s start angle is preserved c Abort and reset clears cutter compensation Any buffered commands are lost SYNTAX G40 Turns off cutter radius compensation The contour following this command moves off of
363. mped to here 5 46 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands Program ABC Program ABC gt Program PROG1 Program ABC HOME XY GOTO Prog1 prg GOTO label A AC X1 label GOTO LINE 2 End of Program ABC End of Program ABC End of Program Prog1 End of Program ABC Figure 5 5 Sample Uses of the GOTO Command Related commands SUBROUTINE LOOP IF 5 5 35 HALT The HALT command is used to stop all activity on the current contour plane When a HALT command is initiated the UNIDEX 511 retains all commands in an internal queue buffer These commands are not processed until the other plane removes the halt The HALT command affects the current plane only The UNIDEX 511 ensures that all planes do not process the HALT command simultaneously SYNTAX HALT HA EXAMPLE HALT Stops processing all commands in the current contour splane Related commands WAIT MAP START Version 1 1 Aerotech Inc 5 47 Programming Commands U511 User s Manual HO IF 5 5 36 HOME The HOME command is used to move specified axes to the hardware home position The home sequence is described in Chapter 4 of this manual SYNTAX HOME axis HO axis axis Defines the axis X Y Z or U to send to the home position EXAMPLES HOME X 30r HO X X axis sent home HOME X Y ZU or HOXYZU All axes sent home Related commands
364. mper configurations encoder signal specifications pinouts outputs bus specifications and others CHAPTER 11 TROUBLESHOOTING This chapter provides a reference tool if problems with the UNIDEX 511 arise APPENDIX A GLOSSARY OF TERMS Appendix A contains a list of definitions of terms used in this manual APPENDIX B WARRANTY AND FIELD SERVICE Appendix B contains the warranty and field service policy for Aerotech products APPENDIX C SETTING UP AN AC BRUSHLESS MOTOR WITH THE UNIDEX 511 Appendix C contains a procedure for setting up AC brushless motors with the U511 APPENDIX D iSBX 1048 BOARDS This Appendix explains how to set up and program optional iSBX 1I048 boards APPENDIX E U511 BACKUP UTILITY Appendix E contains information on the DOS utility for backing up or restoring parameter files configuration files and user program files APPENDIX F UNIDEX 11 EMULATION SOFTWARE Appendix F contains information about the optional software that allows the UNIDEX 511 to emulate the UNIDEX 11 APPENDIX G THE RDP PC RESOLVER TO DIGITAL BOARD Information explaining how to set up and install optional RDP PC resolver to digital boards is given in Appendix G INDEX The index contains a page number reference of topics discussed in this manual Locator page references in the index contain the chapter number or appendix letter followed by the page number and the reference XX V Aerotech Inc Version 1 1 U511 User
365. mportant features on this page are the two lines of ASCII characters and the functions at the bottom of the page The data entry point is automatically placed to the right of Save File As The cursor is situated on the first line of the ASCII characters To insert an ASCII character use the function keys at the bottom of the screen or the arrow keys on the front panel to move the cursor to the desired character then press ENTER The selected character will appear at the entry point This can be repeated until the command or filename is built Save File As TEST1 PRG IM ESSE 0123456789 lt gt ABCDEFGHIJKLMNOPQRSTUVWXYZ _ TabLeft TabRight HOME END QUIT F1 F2 E3 F4 F5 Figure 3 12 The ASCII Utility Version 1 1 Aerotech Inc 3 11 The User Interface U511 User s Manual The five function keys on the ASCII utility are described below F1 TabLeft Moves the cursor to the left five characters in the ASCII list F2 TabRight Moves the cursor to the right five characters in the ASCII list F3 Home Moves the cursor to the beginning of the ASCII character list F4 End Moves the cursor to the end of the ASCII character list F5 Quit or Back Registers the changes and returns to the original screen with the command or file name inserted 3 4 4 Program Menu the File Submenu Upon choosing the F3 key in the Program screen the user enters the file operations mode The File Operations scree
366. multitasking the UNIDEX 511 is able to carry out the request in plane 1 before the request in plane 2 is finished i e before the Y axis completes its 50000 unit linear move For more information about programming using planes refer to Chapter 5 Programming Commands 4 11 2 Number of contour planes 1 2 or 4 This function defines the number of contour planes through which the UNIDEX 511 will multitask Each contour plane is assigned its own memory area that holds program commands that are exclusively targeted for that plane The program buffer of the UNIDEX 511 is fixed at 8 Kbytes regardless of the number of contour planes selected One two or four planes may be used for maximum flexibility and efficiency If one plane is specified the size of the program buffer is fixed at 8 Kbytes If two planes are selected the size of each program buffer is fixed at 4 Kbytes Finally if four planes are selected the size of each program buffer is fixed at 2 Kbytes In a single plane configuration parameter 000 1 the UNIDEX 511 will wait for one command to finish before beginning to execute the next command For example if an axis is commanded to move 300 mm the UNIDEX 511 will wait until that position is reached before the next command is interpreted and executed In this configuration the entire 8 Kbyte program buffer is available to the control program If the control program is larger than 8 Kbytes portions are queued into the b
367. n Configuration information is shown in the following table Table 4 42 RDP Resolution and Setup Codes RDP Resolution bits Counts per Revolution Setup Code 10 1 024 1 12 4 096 2 14 16 384 3 16 65 536 4 16 14 Dynamic 65 536 5 See axis parameters x38 through x41 for more information z Version 1 1 Aerotech Inc 4 55 Parameters U511 User s Manual 4 8 2 Position channel x38 This parameter is used to configure the channel of the primary feedback device being CE used The parameter value is a code that corresponds to a particular feedback device for each axis 1 4 This parameter has a range from 0 24 Feedback channels their respective feedback types and additional hardware requirements are summarized in Table 4 43 Table 4 43 Settings for Parameter x38 Feedback Feedback Additional Hardware Required Channel Type 0 Open Loop None for stepper motors only 1 4 Encoder None UNIDEX 511 main board only defaults for axes 1 4 5 8 Reserved Reserved 9 12 Resolver Requires RDP PC board 1 13 16 Resolver Requires RDP PC board 2 17 18 Laser Requires RMX PC board 1 x 512 A 1024 resolution 19 20 Laser Requires RMX PC board 2 x 512 A 1024 resolution 21 22 Laser Requires RMX PC board 1 x 4 A 32 resolution 23 24 Laser Requires RMX PC board 2 x 4 A 32 resolution 5 Feedba
368. n Figure 3 13 is used to copy and delete files Move the cursor to the desired file it will appear in reverse video then select Copy F4 to make a copy of a file or Del F3 to erase the file The F2 function toggles between displaying all files or just program files prg The function key label shows the extension that will be selected when F2 is pressed File Operations TEST1 PRG 11 10 10 97 09 46PM TEST5 PRG 31 08 21 97 09 50PM TEST2 PRG 13 10 10 97 09 45PM El F2 E3 F4 F5 Figure 3 13 File Operations Screen 3 4 5 Program Menu The Digitize Submenu The Digitize function allows the user to edit a file and use the joystick to generate positioning commands in the program This function may be used to generate linear circular clockwise or counterclockwise or spline move commands When Digitize is selected from the Program submenu an Edit File screen similar to the one in the Edit submenu is displayed Refer back to Figure 3 7 The user is required to input the file to be digitized Once the file is selected or new file is chosen the Program Editor screen for the Digitize submenu will be displayed See Figure 3 14 This screen functions identically to the Program Editor screen of the Edit submenu except that the Copy Paste function is replaced with a Digit function This function enables the joystick and allows the user to select the type of command generated 3 12 Aerotech Inc Vers
369. n 14 input 45 and 46 PB24 1 1 23 In 15 input 47 and 48 li Note All even pins 2 50 are signal common Typical Modules IDC5 IDC5B IAC5 IAC5A ODC5 ODC5A OACS and OAC5A WARNING Type of module input or output cannot be interchanged To do so may damage the UNIDEX 511 WARNING Version 1 1 Aerotech Inc 10 7 Technical Details U511 User s Manual To UNIDEX 500 P5 Connector 123 45 67 89 10111213 1415 16 Barrier Strip 0 1 2 3 4 5 6 7 Module No A81 1 Install Zero Ohm OPTO 22 Jumper from Pad T of Pin 49 to Pad PB8 of IN 49 OL O 50 Module positions 0 to 7 are 50 enn Outputs OPC Cable Length A R 123 45 67 89 10111213 1415 1617 18 192021 22 23 24 25 26 27 28 29 30 31 32 Barrier Strip oji efs lels 6 7 8 9 ofn 12 13 14 15 Module No Install Zero Ohm Jumper From Pad of Pin 49 to Pad A82 1 Of IN OPTO 22 a FOLO PB16 Module positions 0 to 7 are Outputs Module positions 8 to 15 are Inputs rh 123 45 6 7 8 9 10111213 141516 1718 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 4142 43 44 45 46 47 48 Barrier Strip o 1 2 3 4 5 6 7 8 o rofi 12 13 14 15 16 17 18 19 20 21 22 23 Module No In
370. n be given an address of its own Parameter 626 is the communications address of the U511 GPIB port The value may range from 0 to 30 The default value is 2 4 4 2 EOS character The character represented by parameter 627 should terminate all strings received by the U511 All strings returned by the U511 are terminated by this character and EOI The default has a decimal value of 10 and a hexadecimal value of OxOA line feed LF character 4 4 3 Parallel Pol Response bit 0 NONE or 1 8 Parameter 628 determines how the U511 responds to a parallel poll If a service request is pending the specified bit either 1 through 8 will be read as logic 1 If this parameter is set to 0 the U511 does not respond to the parallel poll The default value is 0 4 4 4 Time out seconds Parameter 629 is the time out setting for the bus The default setting is 0 4 4 5 Default configuration The number of parameter 630 specifies the operation of the remote interface after a power up condition See Chapter 6 Remote Mode Operations for more information This parameter can range from 0 to 8 388 607 and the default value is 0 Any communication parameter can be entered in hexadecimal format as in 0x123 or in decimal format as in 163 Version 1 1 Aerotech Inc Parameters U511 User s Manual 4 5 Page 5 Axis Configuration The Axis Configuration page contains miscellaneous parameters used to configure the UNIDEX 511
371. n fault Position Trap Indicates that the position error exceeds the maximum allowable position error current position is gt value in x19 7 6 Aerotech Inc Version 1 1 U511 User s Manual Windows Interface and Utilities Table 7 1 Software Status Diagnostics continued Field Description Velocity Trap Indicates that the velocity error exceeds the maximum allowable velocity error current velocity is gt value in x18 Integral Trap Indicates that the integral error exceeds the maximum allowable integral error current integral error gt value in x20 RMS Torque Current Trap Indicates that the present output current exceeds the current defined by parameter x48 RMS current trap Amplifier Enable Indicates the current status of the axis axis is enabled axis is disabled Table 7 2 Axis Position Diagnostics Field Description Axis 1 Pos Current position of axis 1 in machine steps Axis 2 Pos Current position of axis 2 in machine steps Axis 3 Pos Current position of axis 3 in machine steps Axis 4 Pos Current position of axis 4 in machine steps The axis position fields contain an additional value that is enclosed in brackets This value is a hexadecimal number that shows the absolute position of the feedback device In the case of encoders the number displayed in brackets is not very useful and should be ignored However for resolvers this n
372. n prior to making any mechanical adjustments SS SS Version 1 1 Aerotech Inc 1 5 Introduction U511 User s Manual 1 6 Aerotech Inc Version 1 1 U511 User s Manual Getting Started CHAPTER 2 GETTING STARTED In This Section ear Nimo UGH ONE ee tetes A 2 1 e Unpacking the UNIDEX 511 Unit eee 2 1 e UNIDEX 511 Setup Flowchatt eee 2 2 e Installing Cables and Wiring eee cece eeteeneee 2 3 e Software Configuration Considerations 008 2 4 e Special Startup Considerations sceeseceeseeeeneeee 2 4 e Enabling and Moving an AXiS ccceseeseseeeneee 2 7 e Internal System Winne ne ee e e eens 2 7 2 1 Introduction This chapter steps the operator through unpacking the U511 connecting cables and verifying basic functionality 2 2 Unpacking the UNIDEX 511 Unit Before unpacking any components visually inspect the containers of the U511 system for any evidence of shipping damage If any such damage exists notify the shipping carrier immediately Remove the packing list from the UNIDEX 511 container Make certain that the items listed on the packing slip are contained within the package The following items should be found in every UNIDEX 511 system e The UNIDEX 511 Motion Controller User s Manual e Windows compatible 32 bit U511 utility software e UNIDEX 511 packing slip listing products shipped with the order The
373. nd LINEAR X10 F2000 Status OK Axis fi 7 Kpos 10000 Ki 0 Kp 0 vee 0 Atf 0 34 Yel Cmd 1 0 1191 Pos Er 1 Figure 8 25 Plot Showing a Roughly Tuned Axis When Adjusting Kpos 8 This step requires fine tuning the amplifier settings First adjust the Balance pot on the amplifier in order to remove any DC offset in the position error Press the AUTO button to repetitively move the stage in the forward motion and reverse motion While the stage is moving adjust the Balance pot and remove any DC offset in the position error Press the STOP button when the task is done This is shown in Figure 8 26 8 34 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops Second the user will fine tune the Current Limit pot on the Aerotech DS16020 16030 amplifiers after commanding the motor to move short fast moves and observing the current feedback from TP1 on the amplifier with an oscilloscope O scope In order to do this perform the following steps a Connect the O scope leads to TP1 current feedback and TP4 common on the amplifier b Select the Trigger menu on the Axis Scope window and set up the Forward Motion and Reverse Motion to represent a short fast move c Press the AUTO button and allow the stage to repetitively move in the forward and reverse motion d While the stage is moving adjust the Current Limit pot to clamp the current to either 4 times the contin
374. nd distance Defines the distance of the freerun If the distance is not included the axis will run until commanded to stop The FREERUN command must be used with one axis at a time Following freerun of an axis it is advisable that the SOFTWARE POSITION command be executed to update the position registers with the current position of the 5 axes See the section on System Registers Trajectory for freerun motion is linear only Ramping is based on maximum acceleration The corner rounding and velocity profiling options are not available to axes under freerun control EXAMPLES FR X100 The X axis will run continuously in the positive direction sat a feedrate of 100 FR Y 100 2000 Enables the Y axis for freerun in the negative direction with a feedrate of 100 Freerun will stop at 2000 FR X0 Stops X axis freerun Related commands INDEX LINEAR CW_CIRCLE CCW_CIRCLE ACCELERATION SOFTWARE POSITION PROGRAM G70 G71 G91 G92 Version 1 1 Aerotech Inc 5 43 Programming Commands U511 User s Manual GA 5 5 32 GAIN The GAIN command is used to set servo loop related values These values override but do not change the corresponding axis parameter values Refer to Chapter 4 of this manual for a detailed explanation of all of the gain values SYNTAX GAIN axis param_name amp val GA axis param_name amp val axis Defines the axis X Y Z or U that receives the gain value change param_name amp val Spec
375. nd machine position registers are 47 bits plus one sign bit This gives the position registers a range of 0 to 247 1 Parameters 011 012 013 and 014 correspond to axes through 4 respectively For example the position of a rotating machine part repeats every 360 The actual servo position is of less importance than the machine s angular position To provide the angular position the position registers could be configured to rollover every 360 see Figure 4 3 To do that the following calculations must be made 1 Determine the number of position counts that are in 360 of motion for the selected axis 2 Set the appropriate rollover parameter to this value No Axis orthogonality correction is not enabled for axis 1 default gt x lt J m N par l pure N O o a a A Q Version 1 1 Aerotech Inc 4 2 O Parameters U511 User s Manual The range for these parameters is from a minimum of O counter rollover feature is disabled to a maximum value of 247 1 Counter rollover is applied to individual axes using parameters 011 014 corresponding to axes 1 4 respectively Counter rollover parameter settings are listed in Table 4 22 Table 4 22 Settings for Parameters 011 012 013 and 014 Value Function 0 Modulo rollover is disabled for the associated axis default 1 to el 1 Modulo rollover specified in machine steps 360 degrees 0 degrees
376. nd velocity profile programming options may be used in conjunction with these circular moves See the ROUNDING G23 and G24 and VELOCITY G8 and G9 command descriptions in this chapter Version 1 1 Aerotech Inc 5 23 Programming Commands U511 User s Manual Circles and Arcs EXAMPLES The following commands can be used to create a CW arc ending at point 10 20 with a center point of 5 10 incrementally away from the starting point The previously set feedrate is assumed by its absence CW_CIRCLE X10 Y20 C5 10 or CW X10 Y20 C5 10 or G2 X10 Y20 C5 10 Each of the following commands can be used to create one full CCW circle with a radius of 1 CCW_CIRCLE X0 YO C1 1 F100 sor He T R CCW X0 YOTI J1 F100 or G3 X0 YO TI J1 F100 The following command can be used to create one full CW circle with a radius of V2 and a center point of 1 1 assuming incremental mode CW X0 YO C1 1 F100 Y Axis Any one of the following commands can be used to create CW circular motion with end points and center points defined in variables The previously set feedrate applies CW_CIRCLE X V1 Y V2 C V3 V4_ or Sirin CW X V1 Y V2 C V3 V4 or Posion Seo X Axis G2 X V1 Y V2 I V3 J V4 Helix Motions Circular plus Linear Helix motion incorporates linear motion and circular motion The syntax for clockwise and counterclockwise helix motion is similar to regular circular motion with the addition of the LINEAR term and its associated argume
377. ne steps sec The Joystick high speed x50 parameter defines the speed of the associated axis when a joystick SLEW command is issued Because resolution ratios vary between axes the operator must ensure that the speed distance ratio for each affected axis is compatible prior to requesting a joystick move The range of and default values for this parameter are given in Table 4 18 Table 4 18 Settings for Parameter x50 Param Axis Range Default Values 150 1 40 960 machine steps sec 250 2 40 960 machine steps sec 350 3 40 960 machine steps sec 450 4 40 960 machine steps sec 4 5 11 Joystick low speed machine steps sec The Joystick low speed x51 parameter defines the speed of the associated axis when a joystick SLEW command is issued Because resolution ratios vary between axes the operator must ensure that the speed distance ratio for each affected axis is compatible prior to requesting a joystick move The range of and default values for this parameter are given in Table 4 19 Table 4 19 Settings for Parameter x51 Param Axis Range Default Values 151 1 0 8 388 607 machine steps sec 2 560 machine steps sec 251 2 0 8 388 607 machine steps sec 2 560 machine steps sec 351 3 0 8 388 607 machine steps sec 2 560 machine steps sec 451 4 0 8 388 607 machine steps sec 2 560 machine steps sec O1 x lt ol _ Version 1 1 Aerotech Inc 4 27 Paramete
378. nector Bit 7 0 24 17 EXAMPLE IOSET 0 1 1 0 2 0 Set 8 out and 16 in Version 1 1 Aerotech Inc 5 53 Programming Commands U511 User s Manual JO Oe 5 5 43 JOG The JOG command calls the Jog screen from a program When this occurs the program execution pauses and the Jog screen appears so the operator can jog the axes The user presses the Quit button in the Jog screen to return to the program SYNTAX JOG JO There are no arguments needed with the JOG command EXAMPLE ENABLE XY HOME XY JOG Related commands FREERUN 5 5 44 Label Marker A label is an ASCII string that may be used to define an entry point within a program The label command must occupy it s own program block SYNTAX slabel label Specifies an ASCII string up to 8 characters in length EXAMPLE SECT1 sInserts the label SECT 1 into the program Label names sare arbitrary Label markers may be used as an entry point for a GOTO or SUBROUTINE command Related commands GOTO SUBROUTINE IF 5 54 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 45 LINEAR The LINEAR motion command initiates contour motion in which each axes adjusts its own feedrate to maintain a contour path All specified axes start and stop at the same time The UNIDEX 511 uses this contour plane s ramp time to produce either a linear or inverse sine type ramp to get all axes to steady speed The contour feedrat
379. nes 1 2 3 and 4 that require a start wait Wait until designated planes go into the halt state then starts all of them The START command can be used only to activate planes other than its own v EXAMPLE START 1 2 Activates planes 1 and 2 if they are on HALT START WAIT 1 2 Wait until planes 1 and 2 go into halt state then start both of them If either or both planes 1 and 2 are not yet in the sHALT state WAIT will continue indefinitely Related commands WAIT HALT MAP Version 1 1 Aerotech Inc 5 85 Programming Commands U511 User s Manual 5 5 76 SUBROUTINE The SUBROUTINE or SU command is used to direct program flow to a previously defined label or another program Variable labels are accepted for branching using the 3 Yovit syntax The designated program will be processed and then program flow will return to the program block that follows the SUBROUTINE command The RETURN command must be included at the end of the subroutine SYNTAX SUBROUTINE label Jump to label SUBROUTINE program Jump to program SU vit Jump to label specified by variable clabel Program flow will go to the specified label program Program flow will go to another program The called program must be identified by using the filename ext format Hitt Is a U511 variable 0 through 255 EXAMPLE SU SUB1 Program flow will go to the location of the label SUB1 sand begin processing the command blocks until a RETU
380. ng the Gain on the RDP Board eee ceeeeseceseeeeeeeee G 10 Nulling the Phase Offset Rotary Inductosyns Only G 11 Verifying Resolver or Inductosyn Operation cee eeeeeee G 12 VVV Aerotech Inc Version 1 1 U511 User s Manual List of Figures LIST OF FIGURES Figure 1 1 UNIDEX STM iissc cc EE E AEE E 1 1 Figure 1 2 The UNIDEX 511 System Diagram ee eeeeeeeeceteeeeenseenees 1 2 Figure 2 1 Flowchart Overviewing the Installation Configuration Process 2 2 Figure 2 2 Rear Panel Connectors of the US 11 eee ee ceeceeecesecnseenseeeeeaee 2 3 Figure 3 1 Control Panel vs csitei saith even hotties Ani oE EEEE E 3 1 Figure 3 2 Powet U p Screens ci0 cnt hove celia Ge Re 3 3 Figure 3 3 U511 Menus Activated by the Function Keys 0 eee ee eee eeee ener 3 4 Figure 3 4 PrO STAM SCLEEN heinioes senes ereen eeen e EESE OORSEE EINE Soe pE NEn 3 5 Figure 3 5 Load Program Screenin esaer neuere eie a E 3 6 Figure 3 6 Running Program Screen essesessesessesesseerrsreeresrerreserresrerresresrerrsreees 3 6 Figure 3 7 Edit File Screen Edit File Submenu eseseeseeessereesssrersesrsrerererrrees 3 7 Figure 3 8 Propram Editor Sereen a a a A SE S 3 8 Figure 3 9 Edit Command Screen sseeseseseseeeseseeerssreresreerssrerrsserrenesteeesrerrssenees 3 9 Figure 3 10 Specialized Command Edit Screen ee eeeeeeeeeeceeeeeeensees 3 10 Figure 3 11 Save File As Sereen siio eooni arrr aa AEren Eee RESER ETSE
381. ning of an optional iSBX encoder card The encoder position can be read from the U511 s memory at L 1BC3 bits 2 23 Reserved Table 4 2 Settings for Parameter 099 Parameter Range Default Value 099 0 8388607 0 Version 1 1 Aerotech Inc 4 9 Parameters U511 User s Manual 4 2 13 User interrupt setup code 500 Parameter 500 sets the usage of the user interrupt input The usage is determined by the asia status of the first two bits of parameter 500 The configuration can be changed by entering an appropriate decimal value for the parameter This input is active low Settings for parameter 500 are given in Table 4 3 bit 0 Set to 1 to abort all axis motion on user interrupt bit 1 If set to 0 the UINT_N input will disable itself after the first occurrence If this bit is set to 1 the UINT_N input will remain active bit 2 23 Reserved Table 4 3 Settings for Parameter 500 Parameter Range Default Value 500 0 8388607 0 4 2 14 A D channel n joystick deadband Parameters These parameters define the deadbands associated with the center position of the joystick There is no resulting motion when the joystick is within this band The parameter value is the number of A D counts in the deadband The default value is zero which is internally 92 interpreted as 16 A D counts for backward compatibility co oO The parameter definitions are listed in Table 4 4 Parameters 090 and 092 are curr
382. ns Function Description Examples DEG radians Converts radians into degrees V0O DEG 0 25 RAD degrees Converts degrees into radians V2 RAD 35 TAN angle Calculates the tangent of angle where V17 TAN 0 785 angle is given in radians ATN arg Calculates the arctangent inverse V68 ATN 1 tangent of argument where arg is dimensionless and the result is in 3V68 0 7853981 radians V32 DEG ATN 1 V32 45 degrees SIN angle Calculates the sine of the term angle V56 SIN 5 where angle is in radians and the result is In dimensionless 3V56 0 958924 V71 SIN RAD 30 V71 0 5 Version 1 1 Aerotech Inc 5 3 Programming Commands U511 User s Manual Table 5 3 Supported Functions Continued Function Description Examples ASIN arg Calculates the arcsine inverse sine of the V90 ASIN 0 958924 argument where arg is dimensionless and the result is in radians V90 5 radians COS angle Calculates the cosine of the term angle V22 COS 4 where angle is in radians and the result is 7 dimensionless 3V22 0 653643 V71 COS RAD 30 3V71 0 8660254 of the argument where arg is _ dimensionless and the result is in radians 7V38 1 0471975 SQR pos_num Calculates the square root of pos_num V34 SQR 36 V34 6 ABS number Returns the absolute value of number V84 ABS 12 876 V84 12 876 ACOS arg Calculates the arccosine inverse cosine V38 ACOS 0 5
383. ntroduction to Motor and Feedback Configurations Parameters in the Motor Feedback page are used to configure the motors that control the system s axes There are three types of motors that are typically used for control Some of the parameters in this page apply to all motor configurations while some are valid only for certain types of motors The three most common types of motors are stepper motors AC brushless motors including linear motors and DC brush servo motors Motors may or may not be used in conjunction with a feedback device In open loop configurations a feedback device is not used Such configurations make the assumption that the axis will attain its commanded position without any feedback or verification This is only used in stepper motor applications Conversely a closed loop system uses a feedback device to verify the position of the axis Such configurations compare the desired axis position with the actual position from the feedback device Two common feedback devices are encoders and resolvers An encoder is a rotary device that transmits a pulsed signal based on the number of revolutions of the device A resolver is a two phase rotary electromagnetic transducer in which inductive coupling between the rotor and stator windings and trigonometric principles are used to provide absolute position information over one electrical cycle In rotary motors and feedback devices it is important to determine the rotation direction
384. nts Variations of the command syntax for helix motions are shown below SYNTAX CW_CIRCLE endl end2 Cc1l c2 Ffeedrate FTfeedrate_time LINEAR d3 Ffeedrate FTfeedrate_time CW end end2 Cc1l c2 Ffeedrate FTfeedrate_time LINEAR d3 Ffeedrate FTfeedrate_time CW end end2 Ccl c2 Ffeedrate FTfeedrate_time LI d3 Ffeedrate FTfeedrate_time G2 end end2 Cc1l c2 Ffeedrate FTfeedrate_time G1 d3 Ffeedrate FTfeedrate_time 5 24 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands EXAMPLES In the following example axes Z and U do clockwise circular motion A new contour feedrate of 100 is specified Axes X and Y do linear motion CW_CIRCLE Z20 U20 C10 10 F100 LINEAR X10 Y20 CW Z20 U20 C10 10 F100 LI X10 Y20 CW Z20 U20 C10 10 F100 G1 X10 Y20 This example shows a helical path beginning with linear move of the X axis CCW circular move of the Y and Z axes to endpoint of 5 5 Entire move to take 10 5 seconds G3 Y10 Z10 C5 5 FT10 5 G1 X10 Dual Circular Motions spherical motion Dual circular motion commands use the combined syntax of two circular motion commands Variations are shown below SYNTAX CW_CIRCLE end end2 Ccl1 c2 Ffeedrate FT feedrate_time CW_CIRCLE end end2 Ccl1 c2 Ffeedrate FT feedrate_time CW endlend2 Ccl c2 Ffeedrate FT feedrate_time CW endlend2 Ccl c2 Ffeedrate FT feedrate_time G2 endlend2 Ccl c2 Ffeedrate FT feedrate_time G2endlend2 Ccl c2 Ffeedrate FT
385. o avoid undesired output states after writing a control word immediately follow it by setting the output ports properly D 4 Programming the iSBX I0O48 Once the iSBX IO48 is configured the status of the inputs can be read and the states of the outputs can be set Ports can be set as a whole or individually Each port has a unique address as shown below Port A x0 Port B x1 Port Cl Ch x2 where x is 0 for Bank 0 and 1 for Bank 1 To address an individual bit the bit is specified after the port address For example to address bit 4 of port B on bank 0 use a 014 address The status of an input is either the bit value i e 1 for bit 0 2 for bit 1 4 for bit 2 etc for high impedance or 0 for low impedance Inputs are read by assigning them to the UNIDEX 511 s variables For example if bit 4 of port B on bank 0 is configured as input its status can be read by the statement V4 014 The contents of variable V4 can then be examined to see if it is the bit value or 0 The status of an output can be set to either a 1 for high impedance or 0 for low impedance Outputs are set by assigning value to them For example if bit 4 of port B on bank 0 is configured as an output its state can be set to a high impedance by the statement 014 1 This output can be set to a low impedance by the statement 014 0 The following sample program sets outputs and reads inputs of the iSBX I048 card 03 144 sconfigure for port A as input
386. o one interface to the PSO PC card When the PSO PC is used the P6 connector is connected to the PSO PC P6 connector This links the encoder signals from the U511 Control board to the PSO PC card The signals are sent in single ended format to the PSO PC card The pinouts for this connector are listed in Table 10 18 For more information about the PSO PC option refer to the PSO PC Operation and Technical Manual P N EDO105 Table 10 18 U511 Control Board PSO Encoder Bus Connector Pinouts P6 Pin Description Pin Axis 1 Sine 2 GND 4 Axis 2 Sine 6 GND 8 9 Axis 3 Sine 10 GND 12 Axis 4 Sine 14 INTBUS 16 ris 2 2 i 2 Description Axis Cosine GND Axis 2 Cosine GND Axis 3 Cosine GND Axis 4 Cosine GND GND GND GND GND Version 1 1 Aerotech Inc 10 23 Technical Details U511 User s Manual 10 7 UNIDEX 511 Mechanical Specifications The U511 is available in a Desktop or a Rack mount package The following sections will describe each of these packages 10 7 1 UNIDEX 511 Desktop Specifications The U511 Desktop package is a standard U511 Chassis with tiltable feet mounted on bottom of chassis The U511 air ventilation is through the chassis bottom back and sides which must not be blocked Sufficient room must also be provided in the rear of the U511 for making connections 6 min This distance will be dependent on the connectors and cables being used The U511 overall dimensions
387. o the left of the associated option in the Tools menu EA 120 Machine Steps mm mm 1000 Inches Inches 1000 Seconds Seconds 1000 Cursors Status Contral Gains Auto Tune Version 1 1 Aerotech Inc 8 7 Tuning Servo Loops U511 User s Manual 8 3 The Axis Scope Toolbars This section discusses the Axis Scope toolbars and the servo gains used to tune the axes The Cursors option is used to display hide the Cursors toolbar This toolbar contains features that assist the operator in determining time differences between points on the plot as well as frequency information The Cursors toolbar is illustrated in Figure 8 3 Time Plot values for right mouse button Axis Scope File Plot Trigger Collect Display Axis Units Tools di 74 ms F Hz Diff N ai Time value Time difference when left between the two Difference between mouse button positions onthe the two points on the is pushed plot plot Plot value when left mouse button m is pushed Move mouse over the position on plot screen Click the left or right mouse button and a vertical line appears marking this position T T T T T T T T 150 200 250 300 350 400 450 500 Figure 8 3 Cursors Toolbar of the Axis Scope Window The Gains Status and Control toolbars are illustrated in Figure 8 4 These toolbars are frequently used together in the tuning process Adjust the Servo Gains Here Save th
388. oard Test Points i cs scscsscessetssesetsscseet ob etscdsseesseeebesesossenscetess G 10 VV V Version 1 1 Aerotech Inc xxi List of Tables U500 User s Manual xxii Aerotech Inc Version 1 1 U511 User s Manual Preface PREFACE The Preface provides an overview of topics covered in each chapter and conventions used in this manual This manual contains information on the following topics CHAPTER1 INTRODUCTION Chapter 1 contains an overview of the UNIDEX 511 motion control system as well as a sample system diagram This chapter also contains precautionary notes about installing and using the UNIDEX 511 motion control system CHAPTER 2 GETTING STARTED This chapter contains information about the components comprising the UNIDEX 511 system unpacking and inspecting the equipment and contains a quick to the point installation and setup of the U511 control system This includes connecting cables and wiring verifying feedback and limits and jogging an axis CHAPTER 3 USER S INTERFACE Information regarding the front panel controls of the U511 and the liquid crystal display LCD screens appearing on the front panel is found in Chapter 3 Also provided is a complete list of menu items displayed through the UNIDEX 511 front panel interface Sample screens are illustrated for all functions CHAPTER 4 PARAMETERS This chapter provides information that helps the operator to understand and configure the paramet
389. of the UNIDEX 511 Emergency Stop Interface Once the emergency stop input is connected the software must be set to look for an emergency stop condition This is set by system parameter x55 Global fault mask For any axis select the Emergency Stop bit for this parameter This will force an emergency stop if the external circuitry is opened 10 14 Aerotech Inc Version 1 1 U511 User s Manual Technical Details Table 10 10 External Voltages and Resistances for the Emergency Stop Input External Voltage External Resistance in Ohms 5 VDC 0 Ohm 12 VDC 290 Ohms 1 4 watt 24 VDC 1 KOhms 1 2 watt 10 1 5 Joystick Connector The following table shows the pin connections for the Joystick connector The mating connector is a Cinch DA 15P Aerotech ECK00100 This connector is designed to connect directly to an Aerotech joystick PN JBV or JI Table 10 11 Joystick Interface Connector Pinouts J6 Pin Description Pin Description 1 5 Volts 9 Nc 2 Joystick Button A Input 10 N C 3 Pot 1 Input JSWI AIN 11 N C 4 GND 12 NIC 5 N C 13 Interlock 6 Pot 2 Input JSW2 AIN2 14 NIC y Joystick Button B Input 15 N C _ Version 1 1 Aerotech Inc 10 15 Technical Details U511 User s Manual 10 1 6 IEEE 488 GPIB Bus Connector The following table shows the pin connections for the IEE
390. oftware s Remote menu item Once the COM port settings are correct select Upload File from the File menu item A file dialog box will be displayed Select the file from the host PC to be uploaded After this file is selected another dialog box will be displayed showing the files stored on the U511 enter the file name to save the file as on the U511 The status bar will show the progress of the file transfer when the status bar shows 100 and the display shows Transfer complete the file has been uploaded properly 7 10 Aerotech Inc Version 1 1 U511 User s Manual Windows Interface and Utilities 7 6 6 Downloading a file from UNIDEX 511 To download a file follow the instructions on uploading a file see section 7 6 4 put the U511 in normal operating mode connect an RS 232 cable and choose the COM port settings for both the U511 and the host PC Select Download file from the File menu item of the File Transfer Utility software A file dialog box showing the files stored on the U511 will be displayed choose the file to download Another dialog box will be displayed select the location and file name to store the file as on the host PC The file transfer will then begin The status bar will show the progress of the file transfer when the status bar shows 100 and the display shows Transfer complete the file has been downloaded properly Version 1 1 Aerotech Inc 7 11 Windows
391. old purpose In normal mode they move the cursor up and down left and right through the information on the viewing area so users can access the appropriate item on the screen When in jog mode the cursor keys are used to move the axes In addition to the keypad there is a QWERTY compatible keyboard port on the front panel so an optional keyboard can be used to type commands in directly 3 2 Aerotech Inc Version 1 1 U511 User s Manual The User Interface 3 3 Power up Screen When the U511 is first powered up the screen provides information on the U511 software version and amount of free memory It also reveals whether remote mode is enabled In addition this screen lists a Main menu of five major U511 functions any of which can be activated by pressing one of the function keys F1 F5 below the screen The Power up screen is shown in Figure 3 2 Unidex 511 Software Version 1 01 Free Memory 48226 bytes Program Setup Diag Tune Fl F2 F3 F4 ES Figure 3 2 Power Up Screen The following is a description of the five selectable functions F1 F5 on the Power up screen F1 Program The Program function allows the user to run programs edit files copy and delete files and digitize programs F2 Setup The Setup function provides the user the ability to check change and save parameters F3 Diag The Diagnostics function allows the user to check status fault conditions and communication ope
392. olts This value is taken from the peak of the sinusoidal current command while in position This parameter has a range from 0 to 100 The system default is 35 Actual motor current depends on the amplifier s scaling 4 8 12 Microstepping resolution machine steps stepper drives only Parameter x63 sets the microstepping resolution of an open loop stepper This value is specified in microsteps per revolution This parameter has a range from 200 to 102 400 microsteps per revolution The system default is 4000 microsteps per revolution 4 8 13 Stepper correction y n stepper drives only Parameter x64 specifies whether or not encoder verification is enabled for each axis that is configured as an open loop stepper This parameter can have the values listed in Table 4 49 Table 4 49 Settings for Parameter x64 Param Axis Settings 164 1 Yes Encoder verification enabled for axis 1 default No No encoder verification for axis 1 264 2 Yes Encoder verification enabled for axis 2 default No No encoder verification for axis 2 364 3 Yes Encoder verification enabled for axis 3 default No No encoder verification for axis 3 464 4 Yes Encoder verification enabled for axis 4 default No No encoder verification for axis 4 N 2 3 Version 1 1 Aerotech Inc 4 63 Parameters U511 User s Manual 4 8 14 Stepper correction speed microsteps ms x
393. om the U511 while power is applied Doing so may cause damage to the system or its components Before connecting the U511 to its power source compare the desired input power to the required input power indicated by the AC power tag rear of the U511 Version 1 1 Aerotech Inc Getting Started U511 User s Manual IMPORTANT 2 5 Software Configuration Considerations The UNIDEX 511 can be configured for a variety of motor and feedback devices Modification of this configuration can be accomplished from the Setup menu screen The configuration information is saved internally as a parameter file PRM If a complete system was purchased from Aerotech including positioning stages and cables the UNIDEX 511 already contains a functional parameter file named XXXXXX PRM where xxxxxx refers to the sales order number and serial number For a detailed discussion of the parameters listed in this section and others refer to the individual parameter listings found in Chapter 4 Parameters 2 6 Special Startup Considerations It is recommended that several functions be verified prior to enabling an axis for motion To facilitate this verification process a Diagnostics window is provided in the U511 software package This Diagnostics screen displays hardware limits I O etc and servo related information traps machine position etc
394. ommand downloads axis calibration data from a file This can be used to dynamically down load calibration files during a user program The calibration data does not become active until the axis completes a home cycle SYNTAX CAL filename filename The file containing the axis calibration data EXAMPLE CAL B SCANI CAL Related commands none 5 5 11 CLOCKWISE and COUNTERCLOCKWISE CIRCULAR INTERPOLATION The clockwise CW or counterclockwise CCW circle commands initiate circular contour type motion i e circles or arcs The axis pair assigned to the circular motion automatically adjusts its path and feed rate to maintain a circular contour path The UNIDEX 511 uses the contour plane s ramp time to ramp both of the axes up to steady speed and then down to the target distance the ramp can be linear or inverse_sine type If the contour path is insufficient for ramping the UNIDEX 511 automatically converts it into linear motion SYNTAX For clockwise rotation CW_CIRCLE end end2 Ccl c2 Ffeedrate FT feedrate_time CW end end2 Ccl c2 Ffeedrate FT feedrate_time G2 end end2 Cc1 c2 Ffeedrate FT feedrate_time CW_CIRCLE end end2 Ic Jc2 G2 end end2 Ic Jc2 feedratelF Tfeedrate_time 5 22 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands For counterclockwise rotation CCW_CIRCLE endl end2 Ccl c2 Ffeedrate FT feedrate_time CC end end2 Cc1 c2 Ffeedrate
395. on 1 1 Aerotech Inc 3 21 The User Interface U511 User s Manual Table 3 2 Primary I O Status Diagnostics Field Status Description Inputs Shows inputs on the 16 IN 8 OUT bus 0 GND level 1 5 V level Outputs Shows outputs on the 16 IN 8 OUT bus A 0 1 on the output corresponds to the programmed output level A D inputs 1 4 Shows the direct analog digital converter voltage 0 5 V for the corresponding input 3 6 3 Diagnostics Menu System Status Page The System Status page Page 3 displays the manual feed override MFO value Emergency Stop status Brake status Pause status Joystick status and the Status Word The System Status page is shown in Figure 3 25 Table 3 3 describes the components of the System Status page Page 3 System Status MFO Emergency Stop Brake Pause Joystick ABC Status Word 00000F Back Next Quit F1 E2 F3 F4 F9 Figure 3 25 System Status Page 3 22 Aerotech Inc Version 1 1 U511 User s Manual The User Interface Table 3 3 System Status Diagnostics Field Status Description MFO Shows the current manual feed override percentage from 0 to 199 Also displayed in the MDI window if not equal to 100 Emergency Stop Indicates current E Stop status Y on N off if E Stop bit in any fault mask is enabled and E Stop input is true Also shown in the MDI window Brake Indicates brake status Y on
396. on 1 1 Aerotech Inc 10 21 Technical Details U511 User s Manual Encoder Connector UNIDEX 511 Board 5 VDC R d emove Single Ended Termination Input Resistor 1 per axis 10KQ 10KQ 4 r r P High RN1 Active High Signal 1g RN2 1802 26LS32 7 _ 4 Low RN3 O 4 7KQ Pull Down Resistor Figure 10 10 Electrical Characteristics of a Single Ended Encoder Interface 10 5 UNIDEX 511 Control Board Test Points TP1 TP25 Table 10 17 describes the U511 Control Board test points TP These are generally not needed by the user and are included here for reference Table 10 17 Control Board Test Points TP Description TP Description 4 GND 18 MRK1 Marker 1 6 E Stop 19 MRK2 Marker 2 10 ICMD1B DAC1 20 MRK3 Marker 3 11 ICMD2B DAC2 21 MRK4 Marker 4 12 ICMD3B DAC3 22 BRAKE N 13 ICMD4B DAC4 26 UINT N 14 ICMDIA DACS 30 AINO Analog input 0 15 ICMD2A DAC6 31 AINI Analog Input 1 16 ICMD3A DAC7 32 JSW2 Analog Input 2 Joystick Wiper 2 g Inp y p 17 ICMD4A DAC8 33 JSW1 Analog Input 3 Joystick Wiper 1 10 22 Aerotech Inc Version 1 1 U511 User s Manual Technical Details 10 6 PSO Encoder Bus Connector P6 The Control Board PSO Encoder Bus connector P6 is a 26 pin header connector This connector provides a one t
397. or mach steps TQ Torque Output 10 V scale does not apply here VC Velocity Command mach steps scale Voltage per bit 0 to 10 volts bit D A_chan D A channel number 1 8 The DS command should not be issued to a channel that is being used for servo or stepping motor operation The following channel signal relationship exists IMPORTANT A Channel Signal Test Point 1 ICMD1B TP10 5 ICMD1A TP14 2 ICMD2B TP11 6 ICMD2A TP15 3 ICMD3B TP12 T ICMD3A TP16 4 ICMD4B TP13 8 ICMD4A TP17 EXAMPLE DS 1 TQ 10 5 Displays torque output information of axis 1 s servo loop sto D A 5 ICMD14A within the range of 0 10 volts Version 1 1 Aerotech Inc 5 37 Programming Commands U511 User s Manual DW DY 5 5 24 DWELL The DWELL command establishes a time delay in milliseconds of a programmed duration The DWELL command must occupy it s own block within a program SYNTAX DWELL time DW time G4 time time Duration of dwell in msec The dwell time may be set at zero to 223 msec EXAMPLE DWELL 100 Program execution delayed for 100 msec G4 V10 Program execution delayed for the time stored in variable 310 Related commands GAIN WAIT 5 5 25 DY Dynamic Gain The DY command is used to control the position loop gain Kpos When the axis has a non zero velocity command Kpos will be set to the gain specified in the argument When there is no commanded velocity and the timeout specified in milli
398. or FREERUN is completed Pressing the Abort key or executing the ABORT command will also update these registers The return value is in program steps See the PROGRAM command for more information on program steps Refer to Table 5 5 Table 5 5 Relative Position Registers Register Meaning XRP X axis relative position in program steps YRP Y axis relative position in program steps ZRP Z axis relative position in program steps URP U axis relative position in program steps Version 1 1 Aerotech Inc Programming Commands 5 5 SAALSIDJA WALSAS Programming Commands U511 User s Manual 5 3 2 Absolute Position Registers Absolute position registers represent the commanded axis position with respect to the hardware home position These registers are cleared only after successfully executing a HOME command The SOFTWARE POSITION command should be used to update the registers after an unsynchronized move such as SLEW or FREERUN is completed Pressing the Abort key or executing the ABORT command will also update these registers The return value is in program steps See the PROGRAM command for more information on program steps Refer to Table 5 6 Table 5 6 Absolute Position Registers Register Meaning XAP X axis commanded position referenced from the HOME position YAP Y axis commanded position referenced from the HOME position ZAP Z axis commanded position referenced from
399. ore information This parameter value can range from 0 to 8 388 607 machine steps quarter millisecond qms The default value is 1 000 machine steps qms Refer to Table 4 54 Table 4 54 Settings for Parameter x18 Param Axis Range Default in machine steps qms in machine steps qms ei e oil 0 to 8 388 607 1000 a l 0 to 8 388 607 1000 318 3 0 to 8 388 607 1000 418 4 0 to 8 388 607 1000 4 72 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 10 3 Maximum position error 0 8 388 607 Parameter x19 sets the maximum amount of position error the difference between the actual position and the programmed position allowed before a fault is generated If the position error of an axis exceeds the value set in x19 then the message Position Error is displayed in the Program mode screen of the software In addition the position error state can be viewed from the Diagnostics screens in the software See Chapter 3 The User Interface for more information This feature can be used to detect abnormal runtime conditions such as mechanical degradation of the system motor failure amplifier failure etc The U511 s graphical tuning software should be used to evaluate the position error dynamically under typical operations This parameter value can range from 0 to 8 388 607 machine steps The default value is 4000 machine steps Refer to Table 4 55
400. ort 6 4 PD Print directory 6 22 PE Return Error Message String 6 8 PPfile Print program 6 23 PSn Print status 6 13 PXn PYn PZn PUn 6 11 Q Serial poll command 6 12 RE Hardware reset 6 19 RPn Return parameter n 6 18 RRn WRn val Read Write register 6 16 RVn Read variable 6 23 6 29 SP Save param data to disk 6 18 SRO Turn OFF 6 5 SR1 Turn ON 6 5 SRc Set service request char to c 6 5 TR Trigger 6 7 ULfilename Upload 6 20 WPn val Set param n as val 6 18 Remote Mode 3 3 Reset Key 3 2 Resolver Feedback 1 4 G 1 Resolver Gantry 4 91 Resolvers 4 54 definition G 1 feedback channels G 3 Resolver to digital Converter Card 1 4 4 51 G 1 accuracy G 1 RETURN Command 5 12 5 75 RMS Current Error 5 40 Rotary Applications 4 29 modulo distance 4 29 rollover point 4 29 ROTATE Command 5 12 5 75 9 14 ROUNDING Command 5 12 5 76 9 3 9 6 RS 232 connection 7 1 RS 232 Interface 6 1 RS 232 Timing 6 27 S Safety Procedures 1 5 SCF Command 5 12 5 77 9 16 Secondary Feedback Setup Code 4 59 Secondary I O 3 20 3 26 viii Aerotech Inc Version 1 1 U511 User s Manual Index SEGMENT Command 5 12 5 79 Select axis field 7 4 Select axis radio buttons 7 4 Serial Port Connections 10 3 Serial Port Setup 4 13 service request mode See SRQ Servo Faults 3 20 3 25 Servo gain potentiometer 8 32 Servo Loop Gains 5 44 Servo Loop Setup 2 6 Servo Loop tab 8 17 8 30
401. ory locations L 4000 B52F Axis 1 4 positions are written sequentially to memory for each sampling interval The first sample point would be organized in memory as follows L 4000 Axis 1 Position Ist L 4001 Axis 2 Position Sample L 4002 Axis 3 Position L 4003 Axis 4 Position L 4004 Axis Position 2nd Sample This data can be read from the internal memory using the MR command This command has no English language equivalent Use CS to implement it SYNTAX Vn CS n Variable number HHHH Defines the cmd argument to the aer_scope_command It returns the return code of the aer_scope_command into the specified variable EXAMPLES V0O CS 0x40000 1 Sets time base to 1 ms VO CS 0xb0000 7500 Sets long number of samples VO CS 0xc0000 Collect data there V0 CS 0xd0000 Return number of points collected returns zero when all spoints collected if vO gt 0 here Related commands none 5 30 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 18 Cutter Compensation Commands Cutter compensation offsets programmed moves to compensate for the size of the cutting G 4 0 G a a tool The UNIDEX 511 implements cutter compensation with the following G code commands G40 cutter comp off G41 cutter comp on LEFT G42 cutter comp on RIGHT G43 define cutter radius G44 define compensated axes Cutter compensation operates only on contoured motions G1 G2 and G3 It
402. otech Inc 4 35 Parameters U511 User s Manual To determine appropriate notch filter coefficient values it is convenient to make the following definitions A KT isi C T Q Q where center frequency in radians sec W 27f K desired gain at center frequency T servo loop sample time in sec normally 0 25x10 sec or 0 25 ms see parameter x62 for more information Q quality factor characterizes the width of the notch With these definitions in place the simplified calculation of notch filter coefficients is listed below I A tC p 22 8 14 B C i 1 B C 2 A 1 Bee D _ 14 B C 14 B C N 1 A 14 B C 4 6 8 2 Notch Filter Example A system resonance has been identified at 70 Hz Calculate the notch filter coefficient to provide 6 dB of attenuation at this frequency with a Q value of 5 First convert the center frequency in hertz fo to radians sec p Q 27 70 440 radians sec Next calculate the gain constant K at the center notch frequency dB 6 K 10 10 0 5 The servo sample time from axis parameter x62 is 0 25x1073 sec 4 kHz update rate We assume that this parameter is set to 0 or 1 which gives a 0 25 ms update time Although not required the width of the notch can be calculated using the following equation Bw 2 2 14 iz Q 5 4 36 Aerotech Inc Version 1 1 U511 User s Manual Parameters Next the intermediate values A
403. otion linear or circular in that plane The value specified in this parameter is given in program steps ms and can range from 0 004 to 32 767 program steps ms The system default is 256 0 program steps ms for each of the contour planes A maximum feedrate must be specified for each of the active contour planes Settings for this parameter are listed in Table 4 74 Table 4 74 Settings for Parameters 027 045 063 and 081 Param Plane Range 027 1 0 0004 to 32 767 program steps ms default 256 0 045 2 0 0004 to 32 767 program steps ms default 256 0 063 3 0 0004 to 32 767 program steps ms default 256 0 081 4 0 0004 to 32 767 program steps ms default 256 0 If a contour feedrate programmed or derived after MFO adjustment is larger than the setting of this parameter then the UNIDEX 511 will automatically clamp it to the appropriate Clamp feedrate value 4 11 14 Corner rounding time 1 32 000 ms When corner rounding is being used with contour type motion i e after a ROUNDING ON or G23 activate corner rounding programming command has been issued it may be desirable to blend step velocities to provide for smooth motor operation see Figure 4 17 During deceleration when there is time remaining for motion as established by this parameter the next block of motion will begin A corner rounding non ramp time must be specified for each of the active contour planes 4 98 Aerotech In
404. out defining a fixed number of decimal places Two common forms of floating point number format are fixed style format e g 12 345 0 000001 2 etc and scientific notation e g 12 3E4 1 2E 3 etc The UNIDEX 511 uses fixed style format for floating point numbers G codes see RS 274 commands Hall effect switch A Hall effect switch is a solid state switch that is activated by a magnetic field Some AC brushless motors use Hall effect switches handwheel A handwheel is an encoder based manual control input device that can be used to simplify machine setup or testing helical interpolation Helical interpolation refers to the UNIDEX 511 s ability to coordinate three axes to produce accurate helix motion e g an upward circular spiral using minimal reference information e g the center point and a radius of the circle portion of the spiral and a feedrate Version 1 1 Aerotech Inc Appendix A U511 User s Manual hexadecimal number format Hexadecimal number format is a method of representing large numbers using base 16 rather than the standard base 10 In base 16 or hexadecimal number format often abbreviated hex the number positions represent powers of 16 rather than powers of 10 in decimal The decimal number positions 1 s 10 s 100 s 1 000 s 10 000 s etc are replaced with hexadecimal number positions 1 s 16 s 256 s 4096 s etc Also while the individual numerals for the d
405. out inserting the modified command into the program Leave the Program Editor by pressing the Quit key Upon leaving the Program Editor the Save File As screen Figure 3 11 is displayed This screen allows the user to change or assign a file name return to the edit session save and exit or just exit Save File As TEST1 PRG Return Save NoSave F1 F2 E3 F4 F5 Figure 3 11 Save File As Screen 3 10 Aerotech Inc Version 1 1 U511 User s Manual The User Interface This screen has four selectable functions one of which leads to other screens These functions are described below F1 ASCII Opens the ASCII utility so users can enter or change the name of the file F3 Return Return will return the user to the program being edited F4 Save Save will store the file being edited and exit edit mode F5 NoSave NoSave will exit edit mode without saving the file 3 4 3 The ASCII Utility This screen enables users to build commands or file names including non numerical characters using only the keys on the front panel If the user has a keyboard the commands or file names can be typed in directly Use of the ASCII utility is only necessary when a keyboard is unavailable The ASCII utility appears in many forms An example screen is shown in Figure 3 12 This screen is for editing a file name and would appear after the user pressed ASCII F1 in the Save File As screen The i
406. output signals based on 1 input signals and 2 a series of servo gains that define the output over a variety of input criteria These gains must be individually tailored to every unique application The process of manipulating these servo gains to provide the most desirable response is called servo tuning In UNIDEX 511 systems servo loops are tuned using the servo gain parameters In the UNIDEX 511 system there are five tuning parameters associated with each axis Each set of servo tuning parameters must be properly configured before the associated axis can be enabled The five servo loop tuning parameters are listed in Table 2 1 Table 2 1 Servo Loop Tuning Parameters Abbr Description Function Kpos Position Loop Gain Ki Velocity Loop Integrator Kp Velocity Loop Proportional Gain Vif Velocity Feed Forward Aff Acceleration Feed Forward cS Servo loop tuning should be done with the motors fully loaded Inertia momentum gravity friction and other forces effect the response of the system Preliminary servo loop setup consists of enabling the axis and tuning the servo loop for the desired performance Information on UNIDEX 511 parameters can be found in Chapter 4 Parameters Information on servo loop tuning can be obtained from Chapter 8 Servo Loop Tuning If Aerotech stages are ordered with your UNIDEX 511 controller the servo loop eS gain parameters wil
407. ow allows the operator to specify source and target axes for selected parameter values The Transfer from radio buttons select the desired source axis 1 4 Only one of these radio buttons may be selected at a time The Transfer to check boxes specify the destination of the axis parameter values Multiple axes may be selected in the Transfer to check boxes if desired The operator can choose to transfer all or a subset of axis parameters This is accomplished through the Parameters to Transfer check boxes refer to Figure 7 3 When a check box is selected the associated parameters are transferred Transfer From Transfer To F 2 Axis E 3 Axis L Parameters to transfer X Homing Limits xX Servo Loop X Traps X Other X Motor Feedback X Faults Figure 7 3 Transfer Parameter Values Between Axes Popup Clicking on the OK button performs the transfer of axis parameter values as defined by the transfer settings The transfer popup is closed after the selected transfer is completed The CANCEL button can be used to close the transfer popup without performing any transfer functions Version 1 1 Aerotech Inc 7 3 Windows Interface and Utilities U511 User s Manual Parameter values can also be transferred between planes When the Planes option is selected a plane transfer popup window is displayed refer to Figure 7 4 This window allows the operator to specify source and target planes for selec
408. ows the communications sequence for the Hardware Reset command Table 6 27 Hardware Reset Sequence Direction of Transfer i Command Description Host U511 Host U511 Example RE lt EOS character gt Hardware Reset command EOS character End of string character LF Version 1 1 Aerotech Inc 6 19 Remote Mode Operations U511 User s Manual 6 4 15 File Transfers ULfilename Upload File This command sends a file from the host PC to the U511 The sequence of events in this process is described below and also in Table 6 28 1 Host sends Upload File command and file name followed by lt EOS gt to U511 The filename is the file to transfer U511 responds with one character If ready to accept data the U511 will send the ACK character If there is a problem U511 will send the NAK character and file transfer will be aborted The ACK and NAK characters are programmable See Parameters chapter Host sends number of bytes to upload to the U511 This is an ASCII string terminated by lt EOS gt The U511 responds with one character If ready to accept data the U511 will send the ACK character If there is a problem U511 will send the NAK character and file transfer will be aborted The U511 will return an ASCII formatted ACK or NAK character if running from the GPIB interface The ACK and NAK characters are programmable See Parameters chapter This step may take several seconds because the U
409. pair e On site Non warranty Repair Aerotech Inc warrants its products to be free from defects caused by faulty materials or poor workmanship for a minimum period of one year from date of shipment from Aerotech Aerotech s liability is limited to replacing repairing or issuing credit at its option for any products which are returned by the original purchaser during the warranty period Aerotech makes no warranty that its products are fit for the use or purpose to which they may be put by the buyer whether or not such use or purpose has been disclosed to Aerotech in specifications or drawings previously or subsequently provided or whether or not Aerotech s products are specifically designed and or manufactured for buyer s use or purpose Aerotech s liability or any claim for loss or damage arising out of the sale resale or use of any of its products shall in no event exceed the selling price of the unit Aerotech Inc warrants its laser products to the original purchaser for a minimum period of one year from date of shipment This warranty covers defects in workmanship and material and is voided for all laser power supplies plasma tubes and laser systems subject to electrical or physical abuse tampering such as opening the housing or removal of the serial tag or improper operation as determined by Aerotech This warranty is also voided for failure to comply with Aerotech s return procedures Claims for shipment damage evident
410. pendent for example one plane can be milling a part while another plane is etching circles Planes can also be virtual planes which are not linked to any particular axis but act as queues or buffers point to point motion Point to point motion simply involves specifying a target position After the target position is commanded the controller strives to attain that position with no time or path constraints position error Position error is the difference between the commanded position of an axis and the feedback position i e the difference between the desired position and the actual position A position error fault occurs if the current position error exceeds a programmable maximum position error parameter x19 Position error is measured in machine steps position synchronized output card PSO PC The position synchronized output card is an optional PC bus based card that can be used in conjunction with the U511 to provide programmable laser firing control program A program is a set of instructions that are carried out in some predefined logical order A UNIDEX 511 program is a sequential list of UNIDEX 511 programming commands see Chapter 5 which tell the U511 control board how to perform specific motions for a particular application UNIDEX 511 programs may be created edited on line from within the Program menu or off line using any standard ASCII text editor U511 program files use PRG as their extension Aerote
411. ply If during the on site repair it is determined the problem is not warranty related then the terms and conditions stated in the following On Site Non Warranty Repair section apply If any Aerotech product cannot be made functional by telephone assistance or purchased replacement parts and cannot be returned to the Aerotech service center for repair then the following field service policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech covering all transportation and subsistence costs and the prevailing labor cost including travel time necessary to complete the repair Aerotech Inc Phone 412 963 7470 101 Zeta Drive Fax 412 963 7459 Pittsburgh PA 15238 2897 TWX 710 795 3125 USA VV V B 2 Aerotech Inc Version 1 1 U511 User s Manual Appendix C APPENDIX C SETTING UP AN AC BRUSHLESS MOTOR WITH THE UNIDEX 511 In This Section OS INNAN MYARTIS e Setup Procedure C 1 Introduction AC brushless motor commutation differs from that of a DC brush motor The servo loop output for a DC brush motor is a signal between 10 and 10 volts This signal is connected to an amplifier that converts the voltage into motor current The current produces torque in the motor The servo loop output is sometimes called a current command even though it is a voltage The DC brush motor has a p
412. processor will continuously update the positions and velocities of the slave axes based on the commanded motion of the master axis The master can be a physical axis in the system or a virtual axis used for synchronization purposes only encoder An encoder is a rotary device that transmits a pulsed signal based on the number of revolutions of the device faults A fault is an error condition that occurs when a component of the UNIDEX 511 system operates outside certain parameters Fault masks are used to allow the U511 system to detect and act on any fault condition of the system Examples of major fault conditions include position faults velocity faults integral faults RMS over current faults amplifier faults and feedback faults feedrate error A feedrate error is a type of fault that is generated by the UNIDEX 511 if the current speed of an axis exceeds a programmable maximum speed called the Top Feedrate parameter x17 Feedrate errors are necessary because certain stages or motors have a maximum operating speed above which components may be damaged fillet A fillet is a concave junction where two surfaces meet When machining a part using the U511 a fillet can be created using corner rounding rather than specifying dimensions for circular motions This gives a smooth curved junction rather than a sharp 90 angle for example floating point number format Floating point number format is a method of representing numbers with
413. pts for a new value 5 60 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands ME DI CO 1 Starting Loop Send message terminated with end of string character to COM1 port ME DI FI ERR LOG A Program Error Status V0 Display and append to file called ERR LOG the value of program variable VO the program error status 5 5 52 MR Memory Read The MR command reads the value of a DSP memory location This command is for special applications and is not intended for general use SYNTAX MR mtype addr mtype X Y or L for X Y or L memory space addr Address to read within memory space EXAMPLE VO MR X 0xb This reads the data at address Oxb from X memory space sand places the value in vO this is the location of the 16 sinputs This command is for special applications and is not intended for general use Related commands MW Version 1 1 Aerotech Inc 5 61 Programming Commands U511 User s Manual IMPORTANT 5 5 53 MSET Motor Setup The motor setup MSET command is used to set a fixed vector when setting up an AC brushless motor This function outputs a fixed vector current command The rotor will lock into the commanded position This function can be used to setup motor phasing by checking the Hall effect states at each point SYNTAX MSET axis volts phase MS axis volts phase axis Defines the axis channel number 1 X 2 Y 3 Z and 4 U Only one drive at a tim
414. queue buffer and repeats the entire command set QUEUE CANCEL Cancels the AGAIN case decodes the next command QUEUE INPUT num val Causes the system to wait for a specific signal on an input line before processing the next command num Designates the input number 0 F val Specifies the input value 0 1 QU IN nn value Accesses I O on iSBX expansion card and evaluates value of entire port nn Address of iSBX I048 value Value of bit pattern to wait until 5 72 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands QUIN nnb value nnb value Accesses I O on iSBX expansion card and evaluates individual bits of iSBX port nn Address of iSBX IO48 Must be the same for all arguments within command b Bit number to check value Value of bit number 0 or 1 The Abort function is used to clear the queue buffer EXAMPLES IMPORTANT X100 F1000 DW 1000 X 100 DW 1000 QU AG Proceed to the top of the queue buffer then repeat the sentire process QU IN 0 1 1 1 Waits until input bits O and 1 are 1 before control scontinues with the next command in the queue Related commands ABORT HALT PLANE Version 1 1 Aerotech Inc 5 73 Programming Commands U511 User s Manual RA IMPORTANT 5 5 64 RAMP The RAMP time command is the time that it takes each axis to change from the current velocity to the new velocity RAMP time is used only for contour motion This command establi
415. r and the autotune process are discussed later in this chapter 8 3 1 Kp Proportional Gain This is the Proportional Gain It is part of the Velocity Loop in the UNIDEX 511 s Servo Loop This gain reduces the amount of velocity error Also this gain has a dampening effect in the servo loop This is the first gain to adjust 8 3 2 Ki Integral Gain This is the Integral Gain It is part of the Velocity Loop in the UNIDEX 511 s Servo Loop This gain reduces the amount of velocity error Moreover this gain helps remove steady state position errors at the end of a move This is the second gain to adjust 8 3 3 Kpos Position Gain This is the Position Gain It is the only gain in the Position Loop in the UNIDEX 511 s Servo Loop This gain reduces the amount of position error and decreases the settling time This is the third gain to adjust 8 3 4 Vff Velocity Feedforward Gain This is the Velocity Feedforward Gain It is the only gain in the velocity feedforward loop in the UNIDEX 511 s servo loop For motors without a secondary feedback device it is always 256 Otherwise the user must calculate a value for Vff To calculate Vff use the following formula Vif ee loop oy Position loop resolution p 28 8 3 5 Aff Acceleration Feedforward Gain This is the Acceleration Feedforward Gain It is the only gain in the acceleration feedforward loop in the UNIDEX 511 s servo loop This gain
416. r for the system 4 2 5 Firmware file Parameter 604 is the file loaded to the DSP during reset The default file is A U511 JWP 4 2 6 M code file Parameter 605 is a file containing M code definitions that can be accessed from any program The default setting is a blank meaning no program is available To deselect a file simply delete it leaving the field blank o oO gt Ki Version 1 1 Aerotech Inc Parameters U511 User s Manual 4 2 7 Global subroutine file Parameter 606 is a file containing global subroutines that can be called from any program The default setting is GLBSUB PRG To deselect a file simply delete it leaving the field blank The GLBSUB PRG file contains skeleton subroutines that are automatically executed when the PAUSE ABORT or FLTACK keys are pressed or when the system is first powered up 4 2 8 PSO PC firmware file The UNIDEX 511 has several optional accessories that can be used to augment the operation of the system One such option is the PSO PC card Parameter 607 is the file that is loaded to the PSO card after reset If a PSO PC card is installed this field should be set to A PCPSO FRM The default setting is blank meaning no program is available To deselect a file simply delete it leaving the field blank For more information about the PSO PC card refer to the PSO PC Operation and Technical Manual P N EDO105 4 2 9 PSO PC DPRAM
417. r is in program steps See the PROGRAM command for more information on program steps Refer to Table 5 8 for the real time commanded position registers Table 5 8 Real Time Commanded Position Registers Registers Meaning XCP_ X axis real time commanded position referenced from the SOFTWARE HOME YCP Y axis real time commanded position referenced from the SOFTWARE HOME ZCP Z axis real time commanded position referenced from the SOFTWARE HOME UCP U axis real time commanded position referenced from the SOFTWARE HOME 5 3 5 Understanding the Concept of Program Steps The measuring unit called Program Steps is based upon the number of decimal digits that is displayed in the program mode screen For example if the number of decimal digits displayed is 4 then the smallest move displayed in the position display is 0 0001 The number 0 0001 is considered 1 Program Step since it is the smallest unit that can be programmed Knowing this a 1 0 in the position display is equivalent to 10000 Program Steps Also if the user displays 3 decimal digits the smallest step is 0 001 and is equivalent to 1 Program Step The following formula below applies Value from Position Register 1 Number of Decimal Digits Program Units Version 1 1 Aerotech Inc 5 7 Programming Commands U511 User s Manual 5 3 6 A D Channel Registers The A D Channel registers are used to read the values of
418. r s Manual Parameters Table 4 1 U511 Parameters Grouped by Page continued Number Page Page 9 Fault Masks 4 67 x55 FFFFFFFF319F 4 69 Page 10 Traps 4 71 Page 11 Planes and Mapping 4 81 Version 1 1 Aerotech Inc 4 5 Parameters U511 User s Manual Table 4 1 U511 Parameters Grouped by Page continued Parameter Description Default Value Number Page 6 Axis 4 plane 1 4 as XYZU 1 U 7 Axis gantry y n slave 2 3 4 None 8 Axis 2 gantry y n slave 1 3 4 None 9 Axis 3 gantry y n slave 1 2 4 None 10 Axis 4 gantry y n slave 1 2 3 None 18 36 54 72 Segment time 1 20 ms 10 4 93 19 37 55 73 Ramp time ms 150 20 38 56 74 Default to metric y n Yes 4 95 21 39 57 75 Linear accel decel y n No 22 40 58 76 Contour feedrate program steps ms 16 00000000 23 41 59 77 X axis index feedrate program steps ms 16 00000000 24 42 60 78 Y axis index feedrate program steps ms 16 00000000 25 43 61 79 Z axis index feedrate program steps ms 16 00000000 26 44 62 80 U axis index feedrate program steps ms 16 00000000 27 45 63 81 Clamp feedrate program steps ms 256 00000000 28 46 64 82 Corner rounding time 1 32000 ms 150 4 98 29 47 65 83 Metric digits 1 8 3 30 48 66 84 English digits 1 8 31 49 67 85 Contouring mode 4 6 Aerotech Inc Version 1 1 U511 User s Manual
419. r the parameters Distance Dist Frequency Freq Bandwidth BW and Damping into the autotuning program GAIN Toolbar Axis 1 T Kpos 1 0 Kil 10000 Kp 100000 vet 256 6 att Save Axis 1 Dist 50 Freq Hz 1 BW Hz 33 eE 5 Tr E a AUTOTUNE Toolbar Enter or Select Damping Enter Bandwidth Enter Distance of Travel units Enter Frequency Figure 8 5 The Gain and Auto Tune Toolbars Setting Distance and Frequency The first step is to set the Dist Distance and Freq Frequency parameters The Distance parameter determines how much the motor moves and Frequency determines the speed of movement during autotuning Typical values are 25 100 mm for distance and 1 Hz for frequency If an RMS error occurs during autotuning the distance or frequency may be set to high If the distance is too low the U511 responds with Could not identify 7 system parameters Setting Bandwidth and Damping The Bandwidth and Damping parameters specify the desired response of the motor The higher the Bandwidth the better the stage performance will be This means minimizing velocity error position error and settling time Higher bandwidth numbers will result in higher servo loop gains A typical value of Bandwidth is 35 Hz The Damping parameter determines how the motor comes into position A low Damping value 3 may allow the axis to come into position more quickly but take longer to completely settle There may also
420. r x41 4 59 Parameter x42 4 60 Parameter x43 4 61 Parameter x44 4 62 Parameter x45 4 62 Parameter x46 4 62 Parameter x47 4 63 Parameter x48 4 75 Parameter x49 4 77 Parameter x52 4 28 Parameter x53 4 78 Parameter x54 4 79 Parameter x55 4 69 Parameter x56 4 69 Parameter x57 4 69 Parameter x59 4 70 Parameter x60 4 70 Parameter x61 4 70 Parameter x62 4 34 Parameter x63 4 63 Parameter x64 4 63 Parameter x66 4 64 Parameter x67 4 65 Parameter x68 4 65 Parameter x69 4 65 Parameter x70 4 80 Parameter x71 4 29 Parameter x72 4 29 Parameter x74 4 47 Parameter x77 4 48 Parameter x78 4 39 Parameter x82 4 66 Parameter x83 4 31 Parameter x84 4 31 Parameter x85 4 31 Parameters Abort motion 4 70 Abort on input high 4 12 Aff acceleration feed forward 4 33 Amplifier type 4 60 Auto enable axes 4 7 Auto run program 4 7 AUX fault output bit 4 79 AUX output 4 69 Auxiliary output active high 4 31 Axis calibration file 4 7 Axis n gantry yes none slave 1 2 3 4 4 90 Axis n plane 0 1 2 3 4 as X Y Z U 4 88 Backlash correction amount 4 26 Base speed 4 64 Aerotech Inc U511 User s Manual Base speed advance 4 65 Baud rate 4 13 CCW software limit 4 46 Clamp current output 4 78 Clamp feedrate 4 98 Command ACK character 4 14 Command NAK character 4 14 Commutation cycles rev 4 61 Commutation phase offset 4 62 Contour feedrate 4 97 Contouring mode 4
421. ral Motor Motor Connector and Limits Wiring Motor Mounting Motor Mounting Plate Front View Plate Front View CW Rotation Molor shaft CCW Rotation Positive Direction Negative Direction Figure 4 7 Motor and Encoder Rotation Encoder feedback channels are RS 422 differential quadrature signals Channels 1 4 are located on the UNIDEX 511 main board The U511 automatically multiplies the fundamental encoder line count by four Conversion to user units is done using axis parameters x00 Metric conversion factor and x01 English conversion factor A US11 resolver to digital converter board U511 RDP must be installed and configured for applications requiring resolver feedback The U511 can accept two RDP boards The first contains feedback channels 9 12 while the second contains feedback channels 13 16 Normally one feedback device is used per axis however in some applications a dual loop setup may provide greater control In this case one transducer provides the position feedback and a separate transducer provides velocity feedback The user must specify the channel of both transducers in the setup parameters The channel inherently specifies the feedback device type The setup code specifies the resolution and mode of operation of the feedback device Commutation information in the case of AC brushless servo motors comes from the velocity feedback transducer The Feedback steps rev parameter x44 should be ent
422. ram is shipped with each UNIDEX 511 system It communicates with the U511 through one of the RS 232 ports and allows the user to perform software updates run diagnostics edit parameters transfer files and graphically tune and observe motion performance The U511 also contains a flash memory based read write hard drive All parameters and user programs are stored here A typical system is illustrated in Overview of the UNIDEX 511 System Figure 1 2 Figure 1 1 UNIDEX 511 Version 1 1 Aerotech Inc 1 1 Introduction U511 User s Manual UNIDEX 511 Controller Ms Rotary and Linear Positioning Stages Figure 1 2 The UNIDEX 511 System Diagram 1 2 Aerotech Inc Version 1 1 U511 User s Manual Introduction 1 2 Ordering Information Table 1 1 lists U511 series options that are available from Aerotech Inc For complete ordering information refer to the Aerotech Motion Control Catalog Table 1 1 Basic Motion Controllers U511x y v1 0 One to two axis UNIDEX 511 with integral power supply and interconnection panel for all signals U511x y vl v2 Three to four axis UNIDEX 511 with integral power supply and interconnection panel for all signals Specify package style x as follows S Desktop R Rack mount Specify AC power y as follows A 115 VAC B 230 VAC C 100 VAC D 208 VAC Specify DC bus voltage v1 and v2 as follows 30 30 VDC 40 40 VDC
423. ram to abort All axes will stop and the program will unload Table 6 4 shows the communication sequence for the Program Abort command Table 6 4 Program Abort Communication Sequence Direction of Transfer Command Description Host U511 PA Program Abort command Host U511 EOS character End of string character LF Program or command will terminate U511 Host ACK NAK character Acknowledge character 0x06 Example PA lt EOS character gt 6 4 Aerotech Inc Version 1 1 U511 User s Manual Remote Mode Operations 6 4 4 Service Request Mode SRQ SR1 Turn ON SRO Turn OFF SRe Set Service Request Character to c UNIDEX 511 can be put into service request mode SRQ SRQ mode sends a character to the host when an event has occurred The host should then pol the U511 to determine its status In GPIB mode SRQ is an intrinsic function The controller should Serial Pol the U511 to clear SRQ In RS 232 mode the SRQ is generated with a programmable character These commands turn service request mode on or off They are also used to set the SRQ character for RS 232 mode to c Table 6 5 shows the communication sequence for the Service Request On command The communication sequence for the Service Request Off command is shown in Table 6 6 Table 6 7 shows the communication sequence for the Set Service Request Character command Table 6 8 shows the communication sequence for a service request r
424. rameter x38 as shown in Table G 8 Table G 8 Setting Position channel x38 for the RDP Board Axis Position channel for Position channel for RDP Board 1 RDP Board 2 1 9 default 13 2 10 default 14 3 11 default 15 4 12 default 16 If using an RDP board to incorporate a secondary feedback device the same settings would apply but the parameter called Velocity channel x39 would be changed Otherwise the Velocity channel parameter should be zero 2 Set the Position setup code parameter x40 for the hardware resolution as configured by RCN 1 through RCN 4 Refer to Table G 9 Table G 9 Setting Primary feedback setup code x40 for the RDP Board Resolution Counts Revolution Primary feedback setup code 16 14 bit dynamic resolution 65 536 5 16 bit 65 536 4 14 bit 16 384 3 12 bit 4096 2 10 bit 1024 1 Not used 0 If using an RDP board to incorporate a secondary feedback device the same settings would apply but the parameter called Velocity setup code x41 would be changed Otherwise the Velocity setup code parameter should be zero 3 Save the parameter changes and reinitialize the UNIDEX 511 to make them take effect Version 1 1 Aerotech Inc G 7 Appendix G U511 User s Manual G 5 Connecting the Device to the RDP Board Resolvers or Inductosyns connect to the RDP PC t
425. rameter Programming Unit 0 1 1 10 0 01 2 100 0 001 3 1 000 0 0001 4 10 000 0 00001 5 100 000 0 000001 6 1 000 000 0 0000001 7 10 000 000 0 00000001 8 100 000 000 The Number of Decimal Place Digits parameter needs to be entered separately in the axis plane This should be done for both English and Metric scale factors 5 A rotary axis has a 5000 line encoder with a times 10 external multiplier box Calculate the conversion factor so that the programmed unit is in degrees with a resolution of 0 001 degrees Example 1 The total machine step count is 5000 x 10 x 4 200 000 counts per revolution every 360 degrees The number of machine steps per programming unit is 200000 360 555 55555555 The value 10 10 1000 The calculated conversion factor is 555 55555555 1000 0 55555555 Enter 0 55555555 in the value box Consider the example of a system that has a 4 mm pitch ball screw i e 4 mm rev and a Example 2 1 000 x 4 line encoder From this information the English and Metric conversions are accomplished as follows Version 1 1 Aerotech Inc 4 17 Parameters U511 User s Manual In Metric mode we know that the programming unit is 1 millimeter 1 mm If 1 Metric Scale Factor revolution of the ball screw motor produces 4 000 machine steps and 4 mm of motion then the number of machine steps per programming unit is Machine Steps 4 000 Machine Steps 1000 Machine Steps mm Prog Unit
426. rammer use the circle commands CW and CCW rather than the corner rounding feature An illustration of the square outline using corner rounding is shown in Figure 9 3 The associated program listing follows E HE Square with Corner Rounding Square w out Corner Rounding 1 4 1 1 0 0 Figure 9 3 Sample Path of Square With and Without the Rounding Feature 9 8 Aerotech Inc Version 1 1 U511 User s Manual Programming Examples skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk Title CORNER PRG Description This program demonstrates the effects of using the corner rounding feature skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk PROGRAM EN AB Use English and absolute modes HOME X Y Send axes home WAIT OFF Disable the WAIT command INDEX X1 Y1 Move into position then prompt the operator for a rounding time msec MESSAGE DISPLAY V0 Enter Rounding Time msec IF VO lt gt 0 DOROUND Do rounding for any non zero time ROUNDING OFF Else shut off rounding GOTO CONT Continue merge DOROUND Perform the rounding ROUNDING ON First turn rounding ON ROUNDING VO Set the rounding time CONT Do the square LINEAR X4 Y1 1st move LINEAR X4 Y4 2nd move LINEAR X1 Y4 3rd move LINEAR X1 Y1 4th move ROUNDING OFF Done Turn off the rounding feature DWELL 2000 Pause HOME X Y
427. rate The home cycle is not complete until both the master and slave axes finish their move For example consider a gantry system in which the slave axis marker is d machine steps from the master axis marker In the case of a resolver the marker position is replaced by the zero or null position The alignment of the axes can be adjusted by changing the master s Home offset parameter value to reflect the distance d The slave axis should have an offset setting of 0 Refer to Figure 4 14 Version 1 1 Aerotech Inc 4 91 Parameters U511 User s Manual Motor Clockwise Direction Motor Counterlockwise Direction Encoder or Resolver Master marker location or resolver null linearized Master Home Offset x06 d Master axis Home switch a Not Shown to Scale Slave Axis Slave Axis J Mf oe Qo Slave Home Offset x06 0 Slave marker location or resolver null linearized gt Encoder or Resolver Slave axis Home switch Figure 4 14 Using Home offset Parameter to Keep Gantry Aligned After Homing The following servo related parameters should be set to the same values for both axes involved in the gantry x02 Home direction is CCW y n x04 Home feedrate machine steps ms x16 Max accel decel machine steps ms ms IMPORTANT 4 92 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 11 7 Seg
428. rations F4 Tune The Tune function allows the user to tune check or change tuning parameters and save tuning parameters F5 MDI The MDI function allows the user to operate the joystick enter individual program commands and perform jog operations Activating one of these functions opens other screens with additional function choices on them These function submenus either carry out some related operation or lead in turn to more screens This series of menus and submenus is illustrated in Figure 3 3 Each submenu is related somehow to the function that activated it For example the File function under the Program menu leads to a screen called File Operations where users can copy or delete files The menus under Setup and Diagnostics shown in Figure 3 3 are not selectable functions but pages of information that can be accessed with the Next function In the sections that follow screens are discussed in a top down fashion with the first Main menu function discussed under a major section heading and all the submenus beneath it discussed in subsections under the major heading In each section the screen is described first and then the actions of the corresponding functions are listed Version 1 1 Aerotech Inc 3 3 U511 User s Manual The User Interface enD WoH qeu3 92S Lq un4 44 X pUI mo7 UBLH Bor 24ND Bor xeqUxs pug HOLASC IAW nd eu Lua L 0 1 Aepuosas S Ne4 O
429. re applying power DANGER Motor Temperatures may exceed 50 C DANGER Danger risk of electric shock DANGER 11 1 Stepper Motors and Related Problems Some common problems that relate to the use of stepper motors are listed and diagnosed in Table 11 1 Table 11 1 Troubleshooting for Stepper Motors and Related Problems Problem Possible Causes Solutions See Also The stepper motor The Stepper high current parameter x46 is set overheats too high The Stepper low current parameter x47 is set too high The stepper motor The Ramp time parameter is set too low drops out The Max accel decel parameter is set too low Load on motor is too great The motor rotates in The motor phasing is incorrect the wrong direction The motor has no The appropriate axis is not enabled 3 0 torque se The motor wiring is faulty Motor or Amp The amplifier fuse is blown Documents The amplifier LED is Check for a blown amplifier fuse on but the motor will not move even though it did previously 11 2 Aerotech Inc Version 1 1 U511 User s Manual Troubleshooting Always disconnect main power connection before opening the U511 chassis WARNING The system drawing and amplifier documentation contains information regarding the fuses 10 12 and 15 amp fuses are not user replaceable An open fuse usually indicates that the unit should be returned for service Version 1 1 A
430. required If internal damage is suspected those parts must then be inspected and repaired as necessary Inspect cooling vents Remove any accumulated material from vents Check for fluids and electrically conductive material exposure Fluids and electrically conductive material must be removed and not allowed to enter the U511 chassis Note Disconnect main power to avoid shock hazard Visually inspect all cables and connections Tighten or resecure any loose connections Replace worn or frayed cables Replace broken connectors 11 9 Cleaning The U511 should be wiped clean with a clean dry or slightly damp with water soft cloth Fluids and sprays are not recommended because internal contamination may result in electrical shorts and or corrosion The electrical power must be disconnected from the U511 while cleaning Do not allow cleaning substance on to any of the connectors Avoid cleaning the U511 labels on the rear panel to prevent erasing label information Always disconnect main power connection before cleaning the U511 chassis 11 10 Battery The U511 contains a lithium battery used to supply power to program RAM The battery is located on the U511 control board labeled B1 Battery Type BCX723B50 Manufacturer Electrochem Aerotech Part ECZ00126 Version 1 1 Aerotech Inc Troubleshooting U511 User s Manual 11 10 Aerotech Inc Version 1 1 U511 User s Manual
431. ress Quit F5 which returns the user to the Program Editor screen with the commands inserted 3 14 Aerotech Inc Version 1 1 U511 User s Manual The User Interface UNTITLED PRG Inc Linear Slew 1 X Y X 0 000 mm Enabled y 0 000 mm Enabled Z 0 000 mm Enabled U 0 000 mm Disabled Move to linear point Mode F1 F2 E3 F4 F5 Figure 3 16 Linear Digitizing Screen The following is a description of the selectable functions F1 F5 F1 Mode Mode selects type of digitizing command F5 Quit Quit inserts the linear moves and returns the user to the Program Editor Circular Digitizing Second Digitized Point The Circular Digitizing screen is shown in Figure 3 17 Circular digitizing uses the joystick to generate clockwise CW or counterclockwise CCW move commands in a program This mode is selected by pressing the Mode F1 key until Cir is displayed at the top of the screen The circle is calculated based on three points on the arc see margin The starting point is the current position Move the axes to the first point press the joystick C button and then repeat for the second point The U511 automatically calculates the circle direction After the first point on the circle is entered the user may reenter it by pressing the F2 key This will overwrite the previously recorded position while preserving the starting point First Digitized Point Current Starting Point UNTI
432. rgency stop input E Stop 4 in 4 out opto isolated T O and associated power supply connections D A outputs shared by amplifiers and analog inputs Table 10 9 shows the pinouts for the AUX I O connector The mating connector is a Cinch DC 37P Aerotech ECK00119 DAC channels are used as current commands to the internal amplifiers Unused DAC channels are available for general purpose use AC brushless and Stepper motors require two DAC channels DC motors require only 1 10 12 Aerotech Inc Version 1 1 U511 User s Manual Technical Details Table 10 9 AUX I O Connector Pinouts J10 Pin Description Pin Description 1 UINT User Interrupt 20 IOUT 1 Output 1 28 DAC3 10 V 1 mA Supply for IINO 3 10 Brake Output See Brake 29 2 UINT User Interrupt 21 IOUT2 Output 2 3 E Stop Emergency Stop 22 IOUT3 Output 3 4 E Stop Emergency Stop 23 IOUTCOM Opto Isolator COM for IOUTI 3 5 TINO Input 0 24 AINO Analog Input 0 6 TIN1 input 1 25 AINI Analog Input 1 7 TIN2 input 2 26 DACI 10 V 1 mA 8 IIN3 Input 3 27 DAC2 10 V 1 mA 9 TINSUP Opto Isolator V Option for Requirements 11 Brake Output See Brake Option 30 Reserved for Requirements 12 AIN2 Analog Input 2 also 31 ADC12 1 A D Input 1 optional connected to Joystick 2 Poten
433. rguments are with respect to home absolute N oj oj gt max min arguments are incremental 0x000008 D2 reserved program as 0 23 polarity of loop is not reversed 1 reverse polarity of loop 0x800000 Motion command such as G0 G1 etc cannot be issued to the U511 when in the focus mode The focus mode will be exited by sending an AFCO command with the channel set to 0 The software position should be updated using the SOFTWARE POSITION command when the auto focus mode is stopped The abort function will also terminate the focus mode and automatically update the software position registers The range of this input is 10V to 10V that gives a digital value of 2048 to 2047 respectively for the 12 bit A D converter 5 16 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands EXAMPLE 1 AFCO X 1 0 100 1000 1 10 10 0x80000P Description track on analog input 1 zero position with a gain of 100 Maximum correction speed is 1000 mm min There is one A D count of dead band The encoder will move 10 mm assuming metric mode relative to the point where to command was given The polarity of the tracking loop is reversed The U511 will not wait for command execution to complete Auto focus will shut off when the axis is within 1 count of the 0 position EXAMPLE 2 AFCO Y 1 5 100 1000 1 tracking to 5V analog input level DWELL 10 wait for system
434. rive 4 assigned to plane 4 as X Related commands WAIT HALT START 5 5 50 MCOMM Motor Commutation The MCOMM motor commutation command is used to setup AC brushless or brush motors for commutation with the UNIDEX 511 This command automatically disables position velocity and integral traps and outputs a current torque vector that is 90 degrees advanced from the rotor vector The command can also be used to output a constant torque The motor should spin freely and smoothly in the direction specified Refer to Chapter 3 of this manual for additional motor configuration information SYNTAX MCOMM drive volts MC drive volts drive Drive number 1 4 volts 10 to 10 volts of commutation where lt 0 CCW rotation 0 Cancels the function gt 0 CW rotation EXAMPLES MC 1 2 5 Set drive 1 to 2 5 volts for commutation MC 1 0 Cancel previous command disable axis ENABLE Z Enable third axis Z MC 3 1 One volt peak output to axis 3 MC 3 0 Stop rotation and disable axis Related commands MSET parameters x38 x44 To avoid damage to the motor and related equipment the motor must be disconnected from the load Refer to Chapter 4 Parameters for more information about motor commutation and setup IMPORTANT Version 1 1 Aerotech Inc 5 59 Programming Commands U511 User s Manual 5 5 51 MESSAGE The MESSAGE command is used to send a message to the display serial port or a file Variable va
435. rn off int for board 1 input 10 5 5 41 IO Set Read 8 X 3 I O This command is used to set or clear bits on the 8 X 3 I O connector It is also used to read an input byte 8 bits The status of the I O banks can be ascertained with the Secondary I O screen under the Diagnostics menu Refer to Chapter 3 User Interface SYNTAX 1Oport value 1Oport bit 0 1 port Bank of 8 X 3 I O connector 0 2 value Specifies the 8 bit output data 0 255 or OxFF bit Specifies the bit number that is affected EXAMPLE 100 0 1 1 1 2 0 Set bits 0 and 1 to 1 bit 2 to 0 of port 0 VO IO1 Read 8 bit inputs 5 52 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 42 IOSET Setup 8 X 3 I O The IOSET command configures the 8 X 3 I O bus as inputs or outputs This bus is configurable in groups of 8 bits as inputs or outputs All ports are set as input after a IOSET hardware reset Output data can be written to this port using the IO command before the direction is configured See Chapter 10 Technical Details for more information The status of the I O banks can be ascertained with the Secondary I O screen under the Diagnostics menu Refer to Chapter 3 User Interface SYNTAX IOSET port dir port dir port dir port Port 0 through 2 dir 0 for input 1 for output The port to connector relationship is shown in Table 5 13 Table 5 13 The Port to 8 X 3 I O Connector Relationship Port Bit Number 8 X 3 I O Con
436. rne ee ee oee e EE eo REES E E EEEE E 4 71 4 10 1 Top feedrate machine steps ms esssseessesseresrsreeersreessseees 4 71 4 10 2 Maximum velocity error 0 8 388 607 ceeeeseeeseeeeeeeeees 4 72 4 10 3 Maximum position error 0 8 388 607 cescceeeeeeeeeeeeeneees 4 73 4 10 4 Maximum integral error 0 8 388 607 seeceeeeeeeeeeeeneeees 4 74 4 10 5 RMS current trap O 100 eee eee ceeeeeeeeeeeeseeeseenseeaee 4 75 4 10 6 RMS current sample time 1 16 383 MS eeeeesseeeeeeeees 4 77 4 10 7 Clamp current output 0 100 oo ee ee cece cseeeeeeeeeeeseeenaee 4 78 4 10 8 AUX fault output bit 0 1 8 ee ceeecreeereeeeeeeeee 4 79 4 10 9 Amplifier fault active low Y N eee ee eeeeeeeeeeeeeeeeseensees 4 80 4 11 Page 11 Planes and Mapping eee cee cesecsecseeceeeeeeeeeeeeeeeeeeeeeeeeens 4 81 4 11 1 Overview of Planes iiir E E E a e 4 81 4 11 2 Number of contour planes 1 2 OF 4 seesesesesssersesrseesserseeees 4 84 4 11 3 Keep position after reset y n ssseessseeseerrererrsrresrsreereereereee 4 86 4 11 4 MFO pot offset 0 255 seeeseeseeessserseresrsreerrssrsreerrseerrreresrees 4 87 4 11 5 Axis 1 2 3 4 plane 1 4 as X Y Z Uo eee 4 88 4 11 6 Axis 1 2 3 4 gantry yes none slave 1 2 3 4 eee 4 90 4 11 7 Segment time 1 20 ms s ssssesssessessssssesssessseersressersseesseeeees 4 93 4 11 8 Ramp ti
437. routine called Related commands SUBROUTINE GOTO LABEL MARKER CUTHOLE Version 1 1 Aerotech Inc 5 49 Programming Commands U511 User s Manual 5 5 38 INDEX The INDEX command specifies point to point non synchronized motion of any or all axes The motion of each axis is based on its individual maximum acceleration rate An inverse sine ramp achieves the axis feedrate where a steady speed is maintained until the inverse sine is applied again to ramp down to the axis target distance SYNTAX INDEX axis distance axis feedrate G0 axis distance axis feedrate axis Defines the axis involved in the motion X Y Z or U distance Defines the length of the movement feedrate Defines the INDEX feedrate for the specified axis XF YF ZF or UF Upon initializing the U511 the default units for feedrate are in units min The units are defined by the English and Metric conversion factors The units for feedrate can be changed by the PROGRAM command If the target distance is insufficient for ramping the UNIDEX 511 automatically S calculates and implements the shortest path to the target All axes specified with this command start motion at the same time but stop relative to their individual axis target distance and feedrate When the target distance is reached for the specified axes the UNIDEX 511 executes the next command block Since each axis motion is done independently the corner rounding or
438. rs U511 User s Manual 4 5 12 Joystick absolute scale machine steps x52 The absolute mode scale parameter is a scaling value from 0 to 255 that is multiplied by the 8 bit analog to digital converter output value It creates a window of axis movement that is used for fine positioning when the system is in joystick absolute mode This parameter value can range from O to 255 which corresponds to axis movement windows from 100 machine steps up to 25 500 machine steps The default setting for this parameter is 10 which corresponds to a movement window of approximately 1 000 machine steps to 1 000 machine steps Refer to Table 4 20 Table 4 20 Settings for Parameter x52 Axis Param Axis Movement Default Range Window Range 1 0 255 0 25 500 machine steps 10 1 000 machine steps 2 0 255 0 25 500 machine steps 10 1 000 machine steps 3 0 255 0 25 500 machine steps 10 1 000 machine steps 4 0 255 0 25 500 machine steps 10 1 000 machine steps used internally by the UNIDEX 511 As a result the usable portion of the A D output is approximately 200 counts This provides a 100 count approximate axis movement window prior to multiplication by parameter x52 The output from the 8 bit A D converter is from 0 255 Some of these counts are 4 28 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 5 13 Enable orthogonality table y n Parameter x71 is used to enable and disab
439. rs to the specified values SOFTWARE LIMIT X 10 5 Sets the X axis counterclockwise limit at 10 program sunits from the hardware home Sets the X axis clockwise limit at 5 program units from sthe hardware home Version 1 1 Aerotech Inc 5 83 Programming Commands U511 User s Manual S Sp SOFTWARE POSITION X Y Z Updates the X Y and Z axes software position from the current hardware position Before using the SOFTWARE HOME command the SOFTWARE POSITION command must be used first 5 5 74 SPLINE The UNIDEX 511 s SPLINE function refers to the controller s ability to perform cubic spline fitting of multiple successive target positions The result is a smoother path with minimal positional disturbances and jerking between points The command is well suited for non Cartesian geometric motion The cubic splining function is in terms of position versus time for up to four axes at once The target positions are specified in command lines that follow the SPLINE ON command These target position specifications look very much like INDEX commands The UNIDEX 511 looks ahead two positions to assure path smoothing so at minimum two target position specifications are needed to begin proper splining motion The target positions contain the axis designators intended to spline X Y Z and or U and their position values attached to each axis designator The path time T or the feedrate F is the last argument of the target pos
440. rseeees 4 31 4 5 20 Jog high speed machine steps MS eee eects 4 31 4 5 21 Jog distance machine steps eee eeceeeeseceteceeeeeee 4 31 4 6 Page 6 Servo Loop 0 35 ivi ieee eis be eed ends 4 32 4 6 1 Kpos position loop gain 0 8 388 607 0 0 eee eee 4 32 4 6 2 KI velocity loop integrator 0 8 388 607 0 eee 4 32 4 6 3 Kp velocity loop proportional gain 0 8 388 607 4 32 4 6 4 Vff velocity feed forward 0 8 388 607 cc eee 4 33 4 6 5 Aff acceleration feed forward 0 8 388 607 066 4 33 4 6 6 Loop update rate 0 25 Ms oe eeeeeeeeeeeeeseesseeeaee 4 34 4 6 7 Enable Notch Filter y n cesceeecceesceceseeeeneeeeeeeeeneeees 4 34 4 6 8 Notch filter NO N1 N2 D1 and D2 4 35 4 6 8 1 The Notch Filter c cscc ss sscessssseescscsesesseessoetes 4 35 4 6 8 2 Notch Filter Example cies eeeeeee 4 36 4 6 8 3 The Second Order Low Pass Filter 4 38 4 6 9 Servo loop type nens e eria R 4 39 4 7 Page 7 Homing and Limits 000 0 ee eeececeeeceseeeceseceeeeeceaeceeneecsaeeenees 4 41 ATA Fhe Home Cycle an a teen E 4 41 4 7 2 Home direction CCW y D sessesssesessesseessressrseseserssesesee 4 42 4 7 3 Home switch normally open yY n ssseseeseseeeseeereresseree 4 43 4 7 4 Home feedrate machine steps ms eeseceeeeeeeteeeeee 4 44 4 7 5 Home offset machine s
441. s NoOaawona SE E HEH 13 HEH 12 ai s AA 5 Test Points MU sw1 RCN4 RCN3 m e ee JP4 JP3 a Ri RCN5 R2 R55 a JP12 E gt To fp aid JP9 0 f LEALL JP2 JP1 w go P1 c4 C5 Axis 4 Axis 3 Axis 2 c6 C7 C8 C9 C10 C11 Axis 1 Figure G 1 RDP PC Board 1 Configure jumpers JP1 through JP4 for the appropriate converter demodulator adjust mode Refer to Table G 1 for the correct settings Table G 1 Jumper Settings for Converter Demodulator Adjust Mode Axis Enable Disable 1 Install JP1 Remove JP1 default 2 Install JP2 Remove JP2 default 3 Install JP3 Remove JP3 default 4 Install JP4 Remove JP4 default ES These jumpers should only be enabled when adjusting the phase offset pot R1 for a rotary Inductosyn G 2 Aerotech Inc Version 1 1 U511 User s Manual Appendix G 2 Enable or disable the over temperature thermistor by setting jumpers JP5 through JP8 Refer to Table G 2 Table G 2 Jumper Settings for Over temperature Thermistor Input Axis Disable Enable 1 Install JP5 default
442. s as shown in Figure D 1 Because each I O board can have up to 24 I O bits apiece the iSBX IO048 board can drive a total of 48 I O bits Also each I O board is termed a bank of 24 I O bits thus the iSBX I048 board has two banks They are labeled Bank 0 and Bank 1 as shown in Figure D 2 24 Configurable I O Wiring 1 O Board l 24 Configurable I O Wiring I O Board U511 Control Board es a Figure D 1 An iSBX I1048 Card Connected to Two I O Cards Always disconnect main power connection before opening the U511 chassis WARNING aq xipusddy Version 1 1 Aerotech Inc D 1 Appendix D U511 User s Manual E T E e Bank 1 J1 U511 Control Board JP3 c SBX 1048 7 JP5 Bank 0 J2 e e m Ee o Figure D 2 The iSBX IO48 Card Each bank is divided into four ports termed A B Cl and Ch Port A and port B are 8 bits in size Port Cl and port Ch are 4 bits in size The pinout for each bank showing their corresponding ports is shown in Table D 1 The pinouts on the I O board are shown in Figure D 3 Table D 1 iSBX I048 Pinouts Port Address Slot on PB24A Pinout on J1 amp J2 x00 23 1 o 22 3 o 21 5 A o 20 7 soa 19 9 05 18 11 o 17 13 so 16 15 s0 15 17 u 14 19 B sxi2 13 21 sx13 12
443. s application except that absolute motion is used instead of relative motion In Figure 9 2 notice that velocity profiling is disabled prior to starting move number 12 and then re enabled at the end of this movement This movement begins and ends with sharp 90 angles which could cause faults if velocity profiling is used therefore velocity profiling is disabled during this portion of the part outline Because velocity profiling is off during motion 12 the path decelerates as motion 11 is completed and then accelerates at the beginning of motion 13 No Velocity Profiling Between These 2 Points R 1 0 4 1 Figure 9 2 Sample Path for Absolute Motion Example Using Velocity Profiling Version 1 1 Aerotech Inc 9 5 Programming Examples U511 User s Manual skkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkkk 4 Title VELOCTY2 PRG Description This program traces a part in absolute mode and A shows velocity profiling HOME X Y Send axes home WAIT OFF Disable the WAIT command ROUNDING OFF Disable corner rounding feature VELOCITY ON Turn on velocity profiling INDEX X2 Y1 1st move Move from home MESSAGE DISPLAY WAITING 5 SECONDS DWELL 5000 CW_CIRCLE X1 Y2 C0 1 F50 LINEAR X1 Y4 CW_CIRCLE X2 Y5 C1 0 LINEAR X2 5 Y5 CW_CIRCLE X3 Y4 5 C0 0 5 LINEAR X3 Y3 CCW_CIRCLE X3 5 Y3 C0 5 0 LINEAR X3 5 Y4 5 CW_CIRCLE X4 Y5 C0 5 0 VELOCITY OFF
444. s over again No motion is commanded Single Step Motion Performs commanded motion one step at a time alternately sends the forward motion and the reverse motion and collects data during each cycle Auto Step Motion Performs motion continuously automatically same as single step only continuous Prompts operator to specify a desired forward step motion command e g G1 X1 F1000 Reverse Motion Prompts operator to specify a desired reverse step motion command e g G1 X 1 F1000 Stop Stops axis motion after the current data set has been collected and then updates the plot Abort Stops axis motion immediately aborts motion and then updates the plot Sample Rate Prompts the operator to specify how often a sample is read given in Forward Motion milliseconds ms Wea Display 100 points 250 points 500 points wv 1000 points 2500 points Axis Un 100 points 250 points w 500 points 1000 points 2500 paints 8 2 5 The Collect Menu The Collect menu of the Axis Scope window specifies the number of data points to be collected in a single set Once these points are collected they are displayed on the Axis Scope window according to the settings of other menu items The Collect menu contains five data set sizes 100 250 500 1000 and 2500 Normally the operator starts out with this set at 2500 points 8 2 6 The Display Menu The Display menu of the A
445. s that are listed in Table 4 63 Table 4 63 Settings for Parameter 001 Value Function Yes Maintains position information following a reset No Clears position information following a reset default This parameter defaults to no This means that the position counter will clear the position information following a reset If the axis moves during the reset more than 16 384 counts for an encoder or 1 2 revolution for a resolver the UNIDEX 511 s position tracking registers and the axis position display of the Program mode software window will not be accurate after the reset Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 11 4 MFO pot offset 0 255 This parameter is used to enable or disable an optional manual feed override MFO potentiometer pot The MFO pot if used is attached to the auxiliary I O connector on the rear of the chassis of the UNIDEX 511 The MFO pot offset parameter has a range from 0 to 255 A value of 0 should be used if the MFO option is not used A 0 value can also be used to disable an existing MFO pot If an MFO pot is enabled that is parameter 002 gt 0 then the value set by this parameter represents an offset that becomes the new 0 MFO position Refer to Table 4 64 Table 4 64 Settings for Parameter 002 Value Description 0 Used when the MFO potentiometer option is not being used or to disable an existing MFO pot default 1 255 Specifies the
446. s the following amount to the INP value x 2 where n the input number 0 to 15 Individual bits can be read by the INn command The term n is the hexadecimal number 0 through F which represents the respective input number 0 through 15 The value of the input may be determined with the following logic If INn 2 then that input is high If INn 0 then that input is low IN5 gives the binary state of input number 5 INF gives the binary state of input number 15 Multiple inputs may be checked using an additive process For example VO IN5 IN8 INA or VO INP amp 0x520 The status of the inputs may be ascertained from the Primary I O screen under the Diagnostics menu Refer to Chapter 3 The User Interface Version 1 1 Aerotech Inc 5 9 Programming Commands U511 User s Manual 5 5 Programming Commands The UNIDEX 511 supports many programming commands These commands are listed in Table 5 10 and explained in detail in the sections that follow Table 5 10 also lists command abbreviations and supported RS 274 G and M codes Table 5 10 UNIDEX 511 Programming Commands Command Abbreviation RS 274 Code ABORT AB ACCELERATION AC AC PL ACcel PLane AC PL AFCO AUTO FOCUS AFCO AGAIN AG M47 AT Autotune AT BEEP BE BOARD BO BRAKE
447. s two test functions for setting up AC brushless motors MSET and MCOMM The MSET function sends a two phase vector at a specified angle and voltage The MCOMM function sends a commutated torque command at a specified voltage level The syntax of these commands is as follows Version 1 1 Aerotech Inc C 1 o xipuseddy Appendix C U511 User s Manual MSET axis voltage angle where axis axis number 1 4 voltage amplitude of vector output 0 10 V angle angle of output vector 0 359 MCOMM axis voltage where axis axis number 1 4 voltage peak magnitude of torque output To use these commands in setting up an AC brushless motor the following procedure is recommended 1 Disconnect motor from load 2 Connect motor leads A B and C to amplifier A B and C respectively p Set axis parameter x42 Amplifier type 0 DC brush 1 AC brushless 2 step 3 recirc to 1 for AC brushless servo Set servo loop gains Kpos Ki and Kp to 0 Defeat Position Error and Integral Error faults Enable the axis mm Forcer Se Sale SOW Oe oe Check motor direction by sending a series of MSET commands with increasing angles See the example program below As the angle increases the motor should move in the positive or CW direction If it does not reverse two of the motor leads see margin for linear motor directions Magnet Track Example Program This program increm
448. se direction If the motor steps in the opposite direction the motor phasing is incorrect Refer to Table 5 14 EN U Fourth U axis loop_label Loop back here MS 4 5 0 31 2 volt output phase 0 DW 500 51 2 second pause MS 4 5 60 Phase 60 DW 500 MS 4 5 120 Phase 120 DW 500 MS 4 5 180 Phase 180 DW 500 MS 4 5 240 Phase 240 DW 500 MS 4 5 300 Phase 300 DW 500 GOTO loop_label Continue Table 5 14 Motor Phase Labels and Hall States Desired Hall State Phase Labels on the Motor C A B Commanded Vector MSB LSB 330 30 degrees 1 0 0 30 90 degrees ro 1 90 150 degrees o o o 150 210 degrees o o 210 270 degrees o 1 0 270 330 degrees 1 fo o Related commands MC Motor Commutation Version 1 1 Aerotech Inc 5 63 Programming Commands U511 User s Manual S 5 5 54 MW Memory Write The MW command writes a data value to a DSP memory location The mode argument indicates whether to overwrite the existing memory data AND the new data with the previous data or OR the new data with the previous data This command is not queued in the U511 memory It is executed immediately by the host processor and the U511 This command is for special applications and is not intended for general use SYNTAX MW mtype addr data mode mtype X or Y for X or Y memory space addr Address to write within memory space data Data to be wr
449. seceeeeceseceeeeeceaeeeeneees 5 27 5 5 15 COMREC Strings In Port 0 eee eeeeeeeeeeeeeeeereeeeees 5 28 5 5 16 COMVAR String to Variable 0 eee eeeeeeeeeeeees 5 29 5 5 17 CS Command Scope ceeeecescesscecsseceeeeceseeeeneecseeeeeneees 5 30 5 5 18 Cutter Compensation Commands cece ee eeeeeeeeeeeeees 5 31 5 5 19 CVI Convert to Integer oe eeececsseeeneecsseeeeneeceeeeeneees 5 34 5 35 20 CY CEB es As a a oe tes eu ie A ie te 5 34 5 5 21 DAC D A Output sirinin iiser tac arssinat praises eni 5 35 X22 DIABLE oeo rerep a e E NEE 5 36 5 5 23 DS Display Servo Loop Data ssseesseeseseeseeeereersereersereees 5 37 5 0 24 DWEL e a ae ole Rie ea 5 38 5 5 25 DY Dynamic Gain seisseen a a a 5 38 5 320 ENABLE aeeoa e E A 5 39 5 32 ERROR sites sees Ae Sh Nea eae 5 40 Version 1 1 Aerotech Inc vii Table of Contents U511 User s Manual 5 5 28 5 5 29 5 5 30 5 5 31 5 5 32 5 5 33 5 5 34 5 5 35 5 5 36 3 3 31 5 5 38 5 5 39 5 5 40 5 5 41 5 5 42 5 5 43 5 5 44 5 5 45 5 5 46 5 5 47 5 5 48 5 5 49 5 5 50 5 5 51 5 35 32 5 5 53 5 5 54 55 59 5 5 56 3 35 97 5 5 58 5 5 59 5 5 60 5 5 61 5 5 62 5 5 63 5 5 64 5 5 65 5 5 66 5 5 67 5 5 68 5 5 69 5 5 70 5 5 71 5 5 72 5 5 73 5 5 74 5 5 75 BAX 4 csteskit od nein ieee a ee wee ot tad 5 41 FAULT ACKNOWLEDGE ooo cccccceceeseceesteceeeseeenees 5 42 FL Filter Time Constant 0
450. secnne cee caeecaeeeneeeeeeeeeees 4 28 Table 4 21 Settings for Parameter X71 0 esscsssesseeeseeseeenercoeeconseonsonseensensons 4 29 Table 4 22 Settings for Parameters 011 012 013 and 014 eeeeeeeeees 4 30 Table 4 23 Settings for parameter X83 oo eee eeceseceseceseceseceecaeecaeeeaeeeaeeeeeees 4 31 Table 4 24 Settings for Parameter X84 oo eee eee eeceeeceecnseceeeceeecaeeeseeeeeeeeeees 4 31 Table 4 25 Settings for Parameter X62 eee ee ceecesecesecnseceecaeecaeeeaeeeaeeeeeees 4 34 Table 4 26 Settings for Parameter X24 oo ee ee cece cssecsseceeeceecaeeeseeeeeeeeeeeeenes 4 34 Table 4 27 Bits of Parameter x78 and PID Loop Configuration 4 39 Table 4 28 Decimal Settings for Parameter X78 ee ee eeeeeseceeecseeeneeeeeeeeeeeeees 4 39 Table 4 29 Settings for Parameter x02 sssini nesi n 4 42 Version 1 1 Aerotech Inc xvii List of Tables U500 User s Manual Table 4 30 Table 4 31 Table 4 32 Table 4 33 Table 4 34 Table 4 35 Table 4 36 Table 4 37 Table 4 38 Table 4 39 Table 4 40 Table 4 41 Table 4 42 Table 4 43 Table 4 44 Table 4 45 Table 4 46 Table 4 47 Table 4 48 Table 4 49 Table 4 50 Table 4 51 Table 4 52 Table 4 53 Table 4 54 Table 4 55 Table 4 56 Table 4 57 Table 4 58 Table 4 59 Table 4 60 Table 4 61 Table 4 62 Table 4 63 Table 4 64 Table 4 65 Table 4 66 Table 4 67 Table 4 68 Table 4 69 Table 4 70 Table 4 71 Table 4
451. seconds has been exceeded Kpos will return to its previous value SYNTAX DY axis time Kpos axis X Y Z U time the amount of time after the velocity command is 0 that Kpos is set to the value of axis parameter 25 Kpos the position loop gain EXAMPLE DY X 20 1 set Kpos for the X axis to 20 when moving return to previous value after 1 msec Related Commands GAIN 5 38 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 26 ENABLE The ENABLE command is used to enable one or more axes It is also needed to enable scanning of the A D channel registers SYNTAX ENABLE axis AD Enable axes and optionally enable A D registers EN axis Enable axes EN AD Engage the reading of the A D registers and put the values in the A D registers axis Defines the axes X Y Z or U to be enabled EXAMPLE ENABLE X Y Z Or EN X Y Z sMotors for axes X Y and Z are enabled V10 5 256 38 bit A D measuring from 0 to 5 VDC Calc voltage resolution of 1 bit ENABLE X Y AD Engage the reading of the A D registers Enable X Y axes as well V0 AD0 V 10 Read the value at A D channel 0 convert to volts V1 AD1 V10 Read the value at A D channel 1 convert to volts V2 AD2 V 10 Read the value at A D channel 2 convert to volts V3 AD3 V 10 Read the value at A D channel 3 convert to volts DISABLE AD Disengage the reading of the A D channels An axis should not be enabled until the initial system checks
452. ser Interface Table 3 1 Hardware Status Diagnostics Field Status Description CW hardware limit Indicates the current hardware input level of the CW limit input H 5 V level L GND level CCW hardware limit Indicates the current hardware input level of the CCW limit input H 5 V level L GND level Home hardware limit Indicates the current hardware input level of the Home input H 5 V level L GND level Amplifier fault Shows whether an amplifier is in a fault condition H 5 V level L GND level Encoder sine fault Records whether there is an invalid differential sine signal on the encoder Y fault N no fault A broken wire loss of encoder power or low signal amplitude can cause this Encoder cosine fault Records whether there is an invalid differential cosine signal on the encoder Y fault N no fault A broken wire loss of encoder power or low signal amplitude can cause this 3 6 2 Diagnostics Menu Primary I O Page The Primary I O page refer to Figure 3 24 displays status information concerning digital T O and the A D inputs Table 3 2 describes the components of the Primary I O page Page 2 Primary I O Inputs 1111111111111111 Outputs 00000000 A D A D A D A D Back input 1 0 00 input 2 0 00 input 3 0 00 input 4 0 00 Next Quit Fl F2 E3 F4 F5 Figure 3 24 Primary I O Page Versi
453. ser will essentially be following the procedure below 1 Press the SINGLE button on the Control toolbar to step through a forward or reverse motion 2 Observe the signal plots on the Axis Scope window 3 Make a decision on whether to increase or decrease the value of the servo gain and if the observed signal is acceptable to move on to the next servo 4 Repeat gain 1 Turn off Position Error Integral Error and Velocity Error y 2 Set Servo Loop Update Rate y 3 Set Servo Gains to Initial Values AA AA 4a 4 __ Adjust Kp Gain Adjust Velocity Loop Vv 4b 4 Adjust Ki Gain 5 Adjust Position Loop Adjust Kpos Gain 6 Adjust Acceleration Feedforward Aff Optional v vA Turn on Position Error Integral Error and Velocity Error FINISHED Figure 8 9 Flowchart of Overall Tuning Process 8 16 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops The following is a step by step procedure for tuning motors without tachometers Please read each step thoroughly before performing the task 1 Turn off the Position Error Integral Error and Velocity Error traps In IMPORTANT the UNIDEX 511 Parameter Editor deselect the Position Error Integral Error and Velocity Error in the Faults parameter tab Refer to Figure 8 10 u511_prm lel Es File Remote Util
454. shes the ramp time for the current contour plane only This command overrides but does not change general parameters 019 037 055 and 073 Ramp time SYNTAX RAMP time RA time time Time in milliseconds ranging from to 32 000 ms EXAMPLES RAMP 300 Sets ramp time to 300 msec RAMP V10 Sets ramp time to value of variable 10 Related commands TRAJECTORY LINEAR CW_CIRCLE CCW_CIRCLE G2 G3 To ensure smooth motion make certain that steady velocity ramp time lt Max accel decel rate 5 74 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 65 REFERENCE This command moves the specified axes from the current postion to the marker position It is similar to a home cycle except a limit home switch is not used Once the marker or resolver null is found the home offset move is executed and the hardware software positions are cleared SYNTAX REF axis axis X YZU EXAMPLE REF XYZU Related Commands HOME SOFTWARE HOME G92 5 5 66 RETURN The RETURN command is used to signal the end of a subroutine and to direct the program flow back to the program block that follows the block calling the subroutine SYNTAX RETURN RE EXAMPLE SUB1 RETURN Program flow will return to the caller Related commands SUBROUTINE 5 5 67 ROTATE Part Rotation Part rotation reproduces a parts program at a specified angle The command can be used to create a c
455. sibility of electrical shock and bodily injury when any electrical circuit is in use ensure that no person comes in contact with the circuitry i DANGER When this controller is installed within a system mechanical motion may occur Care must be exercised that all personnel remain clear of any moving parts gt DANGER To minimize the possibility of bodily injury disconnect mains power supply Make certain that all electrical power switches are in the off position prior to making any mechanical adjustments _ DANGER Protection ground connection symbol Ly ae WARNING This manual uses the symbol V V V to indicate the end of a chapter VV VY xxvi Aerotech Inc Version 1 1 U511 User s Manual Introduction CHAPTER 1 INTRODUCTION In This Section Overview of the UNIDEX 511 System cecceseeeeees 1 1 Ordering LO OTTTT ATO cc e ne aee a E E 1 3 OJAI E AEE A 1 4 Safety Procedures and Warnings cssccsseesseeseeeeeesees 1 5 1 1 The UNIDEX 511 or U511 system is a stand alone multiaxis motion controller refer to Figure 1 1 The U511 controller contains up to four integral amplifiers and all the circuitry necessary to interface with up to four positioning stages The UNIDEX 511 contains 48 digital I O lines two serial ports an IEEE 488 parallel port joystick interface and the ability to support ISA expansion boards A Windows compatible utility prog
456. stall 1 AMP PICO Fuse A83 1 Z Ja Do NOT Install 1 AMP PICO Fuse OPTO 22 Ly PB24 as BH eym Module positions 0 to 7 are Outputs Module positions 8 to 19 are Inputs oly Module positions 20 to 23 are not used 4 Notes 50 Pin Ribbon Cable terminated at Opto 22 Board with 50 Pin Card Edge Connector 3M P N 3415 0001 Aerotech P N ECK 310 Ribbon Cable terminated at UNIDEX 500 with a 50 Pin Header 3M P N 3425 6050 Aerotech P N ECK 332 Figure 10 3 Electrical Characteristics of the UNIDEX 511 Opto 22 Connections 10 8 Aerotech Inc Version 1 1 U511 User s Manual Technical Details FOR REFERENCE ONLY COMMUTATING DIODE PLUG IN MODULE PLUG IN MODULE PLUG IN MODULE i BCOUTEUT AC OUTPUT AC DC INPUT lt 2 LOAD OH oan O ZV A OR A VAC amp VAC OR VDC 1 Sa ga y y RI LOAD OH roan 4 e QO H ZERO AMPLIFIER VOLTAGE CIRCUIT VCC Re one Re O VCC L yy Sa WA ae OUTPUT R N nhen ay 7 IOUT IOUT a J J EQUIVALENT CIRCUIT eomm EQUIVALENT CIRCUIT ONLY ONLY EQUIVALENT CIRCUIT ee ONLY NEGATIVE TRUE LOGIC i NEGATIVE TRUE LOGIC _ MUST BE USED ON INDUCTIVE LOADS Figure 10 3 Electrical Characteristics of the UNIDEX 511 Opto 22 Connections continued 10 1 3 3 8 X 3 T O Bus The 8 X 3 I O bus consists of three banks of 8 bit ports
457. stration of No Corner Rounding G24 ou eeeeeeceeneeeseeeeeeeeees 5 76 Illustration of Corner Rounding G23 0 0 eeeceeesceceseeeeneeceereeeeeees 5 76 Optional UNIDEX 511 Joystick JI Model Left JBV Model Rai Shits js Sis Geeks hee a Che Ae ts a eA es Rae ee 5 81 Plot of Velocity Without Velocity Profiling eee 5 93 Plot of Velocity With Velocity Profiling 0 0 eee eeeeeeeeeees 5 93 Short Middle Move With No Velocity Profiling eee 5 94 Short Middle Move With Velocity Profiling eee 5 94 Same Motion With Ramping Time Reduced 00 0 5 95 Circular Profiling With Long Ramp Time eee ee eee eeeeeeeee 5 95 Circular Profiling With Short Ramp Time eee eeeereeeeee 5 95 Two Axis Linear Move With Velocity Profiling 0 0 0 5 96 Velocity Profile for Nontangential Vectors eee eeeceeeeeeeeeees 5 97 Velocity Profile With Digital Filter 0 cece ceseceeenseenees 5 98 Velocity Profile Without a G9 Command at the End of the DEQUENCEsiese ih hein ae i ve aa se sed eet 5 99 Plot Showing Signals Generated by a GPIB Command 6 26 Receive and Transmit Lines During Transfer at 9600 Baud 6 27 The Edit Parameter Screens s i0 s cciscessessscsssdesacestebessesatovssesseesseesecvases 7 2 The Cascaded Transfer Menu cccccccessessceccceceesssssceeeeeceesenseaeees 7 3 Transfer Parameter Values Between Axes Popup e eeeeeeeeees 7 3 Transfer Parameter Values Between Planes Popup ccesse
458. string to the U511 and check I I for an acknowledge ACK character Function will return status value I U511_sendcmd cmdptr char cmdptr int j F Misc use variable int stat 0 F Status Code initialized char inchr F Read Charcter for j 0 cmdptr j 0 j F check for end of cmd string com_write comdptr j F Send character to U511 6 28 Aerotech Inc Version 1 1 U511 User s Manual com_write 0x0A stat 0 wait_DATA 2 if com_ready Remote Mode Operations F Send EOS char to U511 F Clear status code no error F Wait for ACK or 2 sec Time Out I Check for serial port character inchr com_read F Read character if inchr 6 F check for ACK character stat 1 F Not ACK char set status code else F No character stat 3 F Time out error set status code return stat F return status value NOTE The following functions contained in this program are not standard C functions com_write wait_DATAQ com_ready This function outputs a character to the serial port This function is a wait loop that is set in seconds and is terminated if the serial port receives a character This function is used to prevent program lockups through time outs This function is checks if a character has been received by the serial port If a character is present the function will return a true condition This function
459. t the encoder fault status Y yes N no for SIN and COS signals for each of the four encoders input status output status etc The hardware status portion also contains analog to digital input values for inputs 1 4 The components of the Diagnostics screen are described in Table 7 1 Table 7 2 and Table 7 3 Table 7 1 Software Status Diagnostics Field Description In position Indicates whether or not the axis has reached its commanded position in position Marker Indicates when the encoder marker has been found found Top Feedrate Indicates if the current feedrate exceeds the Top feedrate parameter x17 feedrate exceeded x17 CW Limit Indicates if the CW hardware travel limit has been exceeded CW limit switch was made and axis is enabled CCW Limit Indicates if the CCW hardware travel limit has been exceeded CCW limit switch was made and axis is enabled Home Limit Indicates if the Home limit switch has been made limit Soft CW Limit Indicates if the software CW software limit x23 has been exceeded x23 has been exceeded Soft CCW Limit Indicates if the software CCW software limit x22 has been exceeded x22 has been exceeded Feedback Trap Indicates that the feedback signal from the feedback device has been lost signal has been lost Amplifier Trap Indicates that the amplifier is in a fault condition amplifier i
460. t 5 V is present on the connector 10 1 1 Axis Connectors Encoder Input These connectors are used to connect encoders limits and Hall effects to the U511 The connectors are labeled Encoder Input on the chassis and AXISI AXIS2 AXIS3 and AXIS4 on the interface board They are designed to interface directly to standard Aerotech cables The mating connector is a Cinch DB 25P Aerotech ECK00101 Table 10 1 shows the pinouts for the encoder input connectors Specifications for the encoder can be found in Section 10 4 Encoder Specifications A typical input for the limit and Hall effect inputs is shown in Figure 10 1 Figure 10 1 Typical Input for CW Limit CCW Limit Home Limit and Hall Effect Inputs HA HB HC WARNING Version 1 1 Aerotech Inc 10 1 Technical Details U511 User s Manual am me m 7 C i O i iH l Axis Encoder Input Connectors i ya Q H fi AN i a left Encoder Input 1 right Encoder Input 2 gt t l 13 J2 1 J3 1 l a o Co AXIS1 5 pa AXIS2 4 O ao Serial Tag left Encoder 1 5VOK right Encoder 2 5V OK gt gt Y p iE 13 J4 T 13 J T P left Encoder Input3 right Encoder Input 4 gt gt O os AXIS3 u OC JO os AXIS4 u 0 Serial Port E AEROTECH 7 left Encoder 3 5V
461. t On the Fault Masks page simply move the cursor to the parameter you want to modify and hit RETURN The screen will be replaced by an expanded representation of the fault mask that will let the user enter a or a O for the indicated error condition The UNIDEX 511 also contains a global emergency stop E Stop task which is linked to an external opto isolated input Setting the emergency stop bit in any fault mask on any axis to 1 enables this input When E Stop input occurs all axes will disable and the emergency stop message will be displayed Driving the opto isolation on and pressing the FLTACK key clears the condition Version 1 1 Aerotech Inc 4 67 Parameters U511 User s Manual Table 4 52 Fault Mask Bit Descriptions Bit Description of Condition Description Position error Max position error x19 exceeded RMS current level exceeded RMS current trap x48 and RMS current sample time x49 exceeded 9 11 Reserved 2 Integral error Max integral error x20 exceeded 3 CW hardware limit CW limit input in active state 4 CCW hardware limit CCW limit input in active state 5 CW software limit CW software limit x23 position exceeded 6 CCW software limit CCW software limit x22 position exceeded 7 Amplifier fault Amplifier fault signal in active state 8 Feedback fault Encoder line broken or resolver tracking error
462. t TXD Swap pins 2 and 3 by moving jumpers JP4 JP5 to the 2 3 position 3 RS 232 data input RXD 7 8 Connect together by installing JP6 on NOTE U511 does not implement the interface board default hardware handshake signals CTS RTS s onp The U511 is factory configured for 1 to 1 connection to a PC on both serial ports 10 1 3 Interfacing to the U511 Digital I O The UNIDEX 511 has two digital I O ports The first port consists of 16 inputs and 8 outputs and is labeled 16 IN 8 OUT on the interface board The second port consist of three 8 bit banks Each bank is configurable as inputs or outputs This port is labeled 8 X 3 I O BUS on the interface board Both ports are designed for direct connection to Opto 22 style interface boards PB8 PB16 PB24 and are not opto isolated All outputs default to the high impedance state on reset A programmed logic level of 0 results in a high impedance output A programmed logic level of 1 results in a low impedance output to GND The lower 4 inputs and 4 outputs from the 16 IN 8 OUT connector appear on the AUX T O connector and are opto isolated 10 1 3 1 16 IN 8 OUT I O Bus This bus consists of 16 inputs and 8 outputs The inputs are pulled to 5 V on the U511 control board through 10K Ohm resistors An unconnected input is read as a logic 1 An input pulled to ground is read as a logic 0 These inputs should not be connected to voltages in exc
463. t 3 A D Input 4 The Diagnostics Window Other than the Remote item which has already been discussed the Diagnostics window has a menu bar that contains a single menu the File menu The File menu contains the Exit option that is used to close the Diagnostics window Hitting ENTER also closes the Diagnostics window The Software Status portion of the Diagnostics screen contains 15 sets of status flags for each of the four axes Normal conditions are displayed as a dash and fault trap limit conditions are displayed as an asterisk Each set of status flags contains four individual indicators each corresponding to an axis from left to right for example In position indicates that axes 1 3 and 4 have not reached their respective commanded positions and axis 2 has reached its commanded position Version 1 1 Aerotech Inc Windows Interface and Utilities U511 User s Manual The axis position portion of the Diagnostics screen contains the current positions in machine steps for each axis This display will contain the corrections made by axis calibration orthogonality correction and backlash compensation The corresponding value of the encoder counter or resolver to digital converter is shown in square brackets to the left The Hardware status portion of the Diagnostics screen displays the status of hardware related attributes such as the current CW and CCW limit status for each axis L low limit H high limi
464. t proper communications Parameter number 016 specifies in hexadecimal the host base address for use with the U511 motion controller Set this parameter to 0 to disable the board and to 310 to enable it For more information about the PSO PC card refer to the PSO PC Operation and Technical Manual P N EDO105 marg D JP2 JP7 on the PSO PC board For additional information refer to the PSO PC This parameter must agree with the hardware address setting specified by jumpers manual EDO105 zy 4 2 11 Safe zone output bit 0 1 8 Parameter 098 specifies which UNIDEX 511 output to turn on low when all axes are in 098 their specified Safe Zones See parameters x75 and x76 under Homing and Limits for an explanation of Safe Zone This parameter can have a value of zero or 1 through 8 A parameter value of zero which is the default value defeats the safe zone function 4 2 12 Option board setup code Parameter 099 indicates which option board is being used The option board is determined by the status of the first two bits of parameter 099 The configuration can be changed by entering an appropriate decimal value for Parameter 099 The settings for parameter 099 are given in Table 4 2 2 bit 0 Setting bit 0 causes the U511 to enable access to the 4EN Option board Inputs are read using the IN2 and IN3 commands Outputs are written using the OU1 OU3 and OU4 commands bit 1 Setting bit 1 enables scan
465. t results in some skewing or distortion of the part The next program has the G9 command commented out to show what will happen if the last move in a sequence of G8 moves is not a G9 move ENABLE X Y WAIT ON SC CM 1 Set contour mode 1 G8 Velocity profiling on G1 X50 F10000 Last move 3 G9 X10 Commented out to show effects of CM1 velocity profiling A plot of the velocity command is shown in Figure 5 21 5 98 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands File Plot Trigger Collect Display Axis Units Tools Vel Cmd 1 Figure 5 21 Velocity Profile Without a G9 Command at the End of the Sequence The plot shows that the Velocity Command will immediately ramp to a stop This will almost always cause an axis fault of some sort and is not considered proper use of velocity profiling mode This type of transition can be smoothed by the use of the Filter command see FL but the best way is to terminate a sequence of G8 moves with a G9 move 5 Version 1 1 Aerotech Inc 5 99 Programming Commands U511 User s Manual WA 5 5 84 WAIT The WAIT command is used to instruct the UNIDEX 511 to wait until all previous commands in the current contour plane s queue buffer are completed before executing the next line of the program SYNTAX WA WAIT ON Enables the WAIT command All previous commands are processed before taking next command OFF Disables the WAIT command ALL Au
466. te steps Refer to Figure 4 10 ___ Program command to be executed 8K Buffer Plane 1 DSP RAM Control Program L Holds approximately 400 to 800 commands First 8 Kbytes of Control Program Commands added to the bottom of the queue are independent of commands being removed from the top of the queue NOTE The WAIT command instructs the U511 not to send another command until the previous command is completed and removed Figure 4 10 Programming Control Using a Single Plane Version 1 1 Aerotech Inc 4 81 Parameters U511 User s Manual The versatility of the UNIDEX 511 system provides a second more powerful programming scheme that allows multiple programs two or four to perform independent control functions e g commanding an axis checking an input etc asynchronously and simultaneously This programming scheme multitasks between a user defined number of sections 1 2 or 4 of the original 8 Kbyte program buffer Each of these sections is called a plane A plane is a program buffer of fixed size that contains programming statements One two or four planes may be defined each containing programming statements unique to that plane The UNIDEX 511 executes the first and then subsequent lines in each plane in a round robin fashion called multitasking The multitasking is perfor
467. te tides 5 68 PIEANE es sceeseetenecK icaseuarnin E ees 5 69 PROG RA 2 n243 Sea hie aoe A ek 5 70 QUEUE 0 ii0 04e techn ene Be EE 5 72 PREAMP Ys rect het RSs the Ace ae a at Rt ed 5 74 REFERENCE oss ccddcscessancecestcectne eree EEEIEE EREE REENER 5 75 RETURN E E E E A E 5 75 ROTATE Part Rotation cccccccesseceesseceeseneeeessseeeesenes 5 75 ROUNDING r E T E die 5 76 SCF Overriding Scale Factor sseesseeeeeeeeeseseeesereseresee 5 77 SEGMENT xs 2 tc eee pacNa tan BARee AR ins 5 79 SKEY Soft KY v3 00 n a a 5 80 SLEW RE E E E A A 5 81 SOFT MARE r ara e enep o ie n an iS 5 83 o ea E DNI SA A 22 A E 5 84 START er a Settee dite ERE E E a ERE E 5 85 viii Aerotech Inc Version 1 1 U511 User s Manual Table of Contents CHAPTER 6 6 1 6 2 6 4 6 5 6 6 3 0 167 SUBROUTINE iein ara a E e E E A 5 86 INT SYNU r a a three iat 5 87 5 5 78 Target Tracking Commands TE TD TP 5 87 5 93 19 TRAJECTORY cig chien E A aia 5 88 5 80 gt TRIGGER 3s Acide iain nine hati E nk 5 89 5 5 81 UMFO Manual Feed Override ccceceesseeeeseeeeeeeees 5 90 5 5 82 WAR Read Write Variables ccccccessccecsesteeesseeeeseees 5 91 5 5 83 VELOCITY aer e ek EE TREE eY 5 92 5 5 83 1 Correct Usage and Limitations of the Velocity Profiling Algorithm eeseeeseeeeeeeereerereere 5 93 5 5 83 2 CM1 Contouring Mode eee 5 96 5 5 84 WAM icssh cid Aint elite ai hae 5 100 5 5 85 WH
468. ted Commands Table F 1 and Table F 2 list U11 commands that the U511 supports Please refer to the U11 Motion Controller Programming Manual PN EDU103 for more information System commands in Table F 1 are RS 232 GPIB IEEE 488 remote interface commands Table F 2 shows motion and program flow commands Table F 1 System Commands Supported by the U511 Command Notes Ann Auto Run program 01 99 Bnn Block Run program 01 99 C Hardware reset D Cancel S or R Enn Begin downloading program nn E nn Delete program nn E 00 Erase all programs 01 99 F Insert block numbers when printing program G Cancel block number printing H Put controller in hold mode I string Send Immediate command Jc Set service request mode or define service request character c optional K Service request mode off L Not implemented on U511 4 xIpucddy Version 1 1 Aerotech Inc F 1 Appendix F U511 User s Manual Table F 1 Command System Commands Supported by the U511 continued Notes M Transmit status in binary format default N Transmit status in Hex ASCII mode O Cancel hold mode default PX PY PU PV Return axis position Print directory listing Pnn Print program nn POO Print all programs PS Print status bytes Q Return serial poll byte RS 232 only
469. ted parameter values Transfer From Transfer To O1 1 O2 2 Plane 03 Plane r3 Plane 1 Parameters 18 35 Plane 2 Parameters 36 53 Plane 3 Parameters 54 71 Plane 4 Parameters 72 89 Figure 7 4 Transfer Parameter Values Between Planes Popup 7 3 1 Edit Parameters The Number Value and Axis Fields The Number Value Select Axis and Select Plane fields of the Edit Parameters screen are used to locate parameter names based on parameter numbers select axes and planes and view or change parameter values The Number field displays the number of the parameter that is currently highlighted in the parameter tab When a new parameter is selected from a parameter tab its parameter number is displayed in this field This field can also be used to display the parameter name when only a parameter number is known This is accomplished by typing the parameter number in the Number field and pressing ENTER If a valid parameter number is entered the associated tab will become the focus and the corresponding parameter name will be highlighted The Value field contains the value of the selected parameter To change the value of a selected parameter type in the desired value and press ENTER The default value of the parameter can be produced by entering d in value field box and hitting ENTER The Select Axis and Plane radio buttons are used to specify the desired axis and plane to be viewed or ed
470. tepS ceeceessceseeeeseeceeeeeeneeeeeee 4 44 4 7 6 Limit switch normally open y N eee eeeeeeeeteeeees 4 45 4 7 7 Limit to mechanical stop machine steps eee 4 45 4 7 8 CCW software limit machine steps eseeeeeeeereeeeee 4 46 4 7 9 CW software limit machine StepS eceeeeeeeereeereeeeee 4 46 4 7 10 Use home limit during home Y N eee eee 4 47 4 7 11 Safe zone limits machine StepS cesceeeeceeeceeeeeeees 4 47 4 7 12 Limit debounce distance machine steps ceeeeeeeee 4 48 4 8 Page 8 Motors and Feedback ee ee ceecesecesecseecneeceeeseeeeeeeeeeeeees 4 49 4 8 1 Introduction to Motor and Feedback Configurations 4 50 4 8 2 Position channel eee eee ceecseecreeeeeeeeeeeeeeeeenseeesees 4 56 4 8 3 Velocity channel nseri iaeio 4 57 4 8 4 Position setup COde i senesinin siosio een i oase 4 58 4 8 5 Velocity setup code esseeesseeeeseeesseesrsrrerrsrrrrsrerrrseesrres 4 59 4 8 6 Amplifier type 0 DC Brush 1 AC Brushless 2 Step 3 IRECIEC EEE EEE A E T 4 60 4 8 7 Commutation cycles rev AC brushless motors only 4 61 4 8 8 Feedback steps rev AC brushless motors only 4 62 4 8 9 Commutation phase offset 0 359 degrees 0 0 4 62 Version 1 1 Aerotech Inc v Table of Contents U511 User s Manual 4 8 10 Stepper high current
471. ter n to be read Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 U511 Host Parameter value Parameter value string U511 Host EOS character End of string character LF Example RPO lt EOS character gt 6 18 Aerotech Inc Version 1 1 U511 User s Manual Remote Mode Operations The SP command saves the file back to the flash disk The save process can take several seconds During this time serial communications are blocked It is recommended that service request mode be enabled and used with this command to detect the completion of this action The UNIDEX 511 will send a service request when finished Table 6 26 shows the communications sequence for the Save Parameters command Table 6 26 Save Parameters Sequence Direction of Transfer Command Description Host gt U511 SP Save Parameter command Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 U511 Host SRQ character Service request character at Note SRQ will only be See SRQ section completion of save if SERVICE sent if SRO mode request mode is active is active Perform service request procedure Example SP lt EOS character gt 6 4 14 RE Hardware Reset The U511 does a hardware reset when the RE command is issued This is the same as cycling the power or pressing the reset button Table 6 27 sh
472. ters 031 049 067 and 085 are given in Table 4 78 oO oo O A ez N O 00 Ol Table 4 78 Settings for Parameters 31 49 67 and 85 Parameter Plane Range Default Value Version 1 1 Aerotech Inc 4 103 Parameters U511 User s Manual 4 104 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands CHAPTER 5 PROGRAMMING COMMANDS In This Section Ot EIMMOGUCHIOM Rees se tteers e ote ere meee oe oe ee eee 5 1 e Mathematical Function Commands ce 5 2 0 POYSLCIMRESISLELS 24a re aera eee ee ens 5 5 e System Inputs INP and INO INE sossen 5 8 e Programming Commands eceeeeeeeeseeeeeeee 5 10 5 1 Introduction The UNIDEX 511 decodes most programming commands by the first two characters although the user may include more as desired for clarification Other commands require a specific subset of letters or the entire command to be specified The commands are not case sensitive Throughout this chapter the commands appear in uppercase letters for easy recognition Certain RS 274 codes may also be used to input certain commands These are discussed later in this chapter This chapter uses the typographical conventions listed in Table 5 1 Table 5 1 Programming Conventions Used in This Manual Example Description INDEX Uppercase bold letters are used to indicate terms used at the operating system command level distance Words
473. tes the states of the 8 T O lines of bank B T O Bank C Indicates the states of the 8 T O lines of bank C MFO Indicates the current manual feedrate override percentage from 0 to 199 Emergency Stop Indicates the current emergency stop status On or Off Brake Status Indicates the current brake status On or Off Feedhold Status Indicates the current feedhold status On or Off On means that a pause condition has occurred Joystick ABC LLH Indicates the current input status of joystick buttons A B and C The format is ABC where A is status of A button L press H no press and B is status of B button L press H no press If C is pressed both position A and B go low e g Hall BCA of Hall sensors See Motor Setup MSET command Applicable only with AC brushless motors Indicates the state A D Input 1 input 1 Indicates the direct analog digital converter voltage 0 5 V for A D Input 2 input 2 Indicates the direct analog digital converter voltage 0 5 V for A D Input 3 input 3 Indicates the direct analog digital converter voltage 0 5 V for A D Input 4 input 4 Indicates the direct analog digital converter voltage 0 5 V for 7 8 Aerotech Inc Version 1 1 U511 User s Manual Windows Interface and Utilities 7 6 UNIDEX 511 File Transfer Utility The UNIDEX 511 File Transfer Utility is a software utility that transfers files
474. th tachometer feedback or dual loop systems See the autotuning portion of the Chapter 8 for additional information on autotuning E E Version 1 1 Aerotech Inc 3 29 The User Interface U511 User s Manual 3 7 1 Troubleshooting Autotuning Some tips for troubleshooting autotuning are given in Table 3 9 Table 3 9 Troubleshooting the Autotune Process Problem System responds with Could not calculate gains Motor makes a loud noise and shuts off immediately Motor does not move at all Possible Causes Solutions An axis fault has occurred Ki and Kp must be set gt 0 Vff must be set to 256 Current is too high lower Distance or Frequency Tracking rate of feedback device has been exceeded lower Distance or Frequency Top feedrate trap occurs Lower Distance or Frequency or defeat trap if allowed Gains are set too high decrease Ki and Kp Motor commutation parameters are incorrect AC motors only Encoder signals are missing verify in Diagnostics Encoder is damaged verify on Diagnostics Motor is not enabled Motor is disconnected Amplifier has faulted Shut system off for 30 seconds and retry 3 30 Aerotech Inc Version 1 1 U511 User s Manual The User Interface 3 8 MDI Menu Upon hitting the F5 key in the Power up screen the Machine Direct Input MDI screen appears refer to Figure 3 32 The MDI screen provides joystick control jog operat
475. the U511 s ability to perform motion while maintaining a constant velocity during the motion For an application example consider an irregularly shaped pattern that requires a series of perforations made using a series of on off laser pulses for example Constant velocity motion ensures that the length of each perforation is the same cubic spline interpolation Cubic spline interpolation is a mathematical process used by the U511 in which a smooth curve path is based on two sets of coordinates X1 Y 1 and X2 Y2 on the curve Unlike linear interpolation however a previous coordinate X0 Y0 and following coordinate X3 Y3 are used to determine the curve s slope entering the path and exiting the path derivative gain Derivative gain is a dimensionless motor tuning parameter that serves to dampen the system response by producing a dampening force as long as the system is progressing toward error reduction double word A word is a number of bytes that are processed as a single unit by a computer In the U511 a word consists of two bytes or 16 bits A double word is twice that amount i e four bytes or 32 bits Aerotech Inc Version 1 1 U511 User s Manual Appendix A electronic gearing Electronic gearing is the process of moving one or more slave axes in coordination with a master axis without continuously sending commands from the host program By establishing a series of relationships between axes the servo
476. the buyer shall be notified of the repair cost At such time the buyer must issue a valid purchase order to cover the cost of the repair and freight or authorize the product s to be shipped back as is at the buyer s expense Failure to obtain a purchase order number or approval within 30 days of notification will result in the product s being returned as is at the buyer s expense Repair work is warranted for 90 days from date of shipment Replacement components are warranted for one year from date of shipment At times the buyer may desire to expedite a repair Regardless of warranty or out of warranty status the buyer must issue a valid purchase order to cover the added rush service cost Rush service is subject to Aerotech s approval If an Aerotech product cannot be made functional by telephone assistance or by sending and having the customer install replacement parts and cannot be returned to the Aerotech service center for repair and if Aerotech determines the problem could be warranty related then the following policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech covering all transportation and subsistence costs For warranty field repairs the customer will not be charged for the cost of labor and material If service is rendered at times other than normal work periods then special service rates ap
477. the gearing is released The master axis can be a handwheel or GE the master The slave axis follows the motion of the master axis from the time the other feedback device The master axis is not required to be a closed loop servo SYNTAX GEAR slave_number master_number slave_ratio master_ratio GE slave_number master_number slave_ratio master_ratio slave_number Defines the slave axis 1 2 3 or 4 master_number 0 disengage gear 1 2 3 4 axis S1 use iSBX encoder board slave_ratio and master_ratio Positive or negative integer value Maximum value is 8 388 608 These optional parameters specify the scaling to be used If they are not used a one to one linkage is generated The ratio of these two arguments slave_ratio master_ratio represents the scaling of slave counts to master counts A negative number may be specified to provide a reverse direction of motion to the slave axis EXAMPLES GE 2 1 Link axis 2 to the motion of axis with a 1 1 ratio GE 2 1 3 10 sLink axis 2 to axis 1 The axes will move with the following ratio 3 slave steps 10 master steps 3 The slave will smove 3 machine steps for every 10 machine steps of the master GE 1 S1 1 4 Link axis 1 to the iSBX encoder input with handwheel sscaling 1 4 GE 2 0 Disengages the gear Related commands SOFTWARE POSITION To engage and disengage a handwheel the GEAR command must be used because the handwheel uses a feedback channel 1 2 3
478. the primary feedback device This parameter has a range from 0 5 The meanings for these setup codes are listed in Table 4 45 Table 4 45 Settings for Parameter x40 Feedback Action RDP Resolution bits Counts per Setup Code Revolution 0 None N A NA 1 Resolver 10 bit mode 10 bits 1 024 2 Resolver 12 bit mode 12 bits 4 096 3 Resolver 14 bit mode 14 bits default 16 384 4 Resolver 16 bit mode 16 bits 65 536 5 Resolver dynamic 16 14 bits dynamic 65 536 resolution mode 16 384 5 The UNIDEX 511 s RDP hardware must be configured for the same resolution 4 58 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 8 5 Velocity setup code Parameter x41 specifies a code that corresponds to the bit resolution mode whenever a Ix 41 resolver is being used as the secondary feedback device This parameter has a range from 0 5 The meanings for these setup codes are listed in Table 4 46 Table 4 46 Settings for Parameter x41 Feedback Action RDP Resolution bits Counts per Setup Code Revolution 0 None N A N A 1 Resolver 10 bit mode 10 bits 1 024 2 Resolver 12 bit mode 12 bits 4 096 3 Resolver 14 bit mode 14 bits default 16 384 4 Resolver 16 bit mode 16 bits 65 536 5 Resolver dynamic 16 14 bits dynamic 65 536 resolution mode 16 384 The UNIDEX 511 s RDP hardware
479. the resolver to determine the initial rotor position and all subsequent commutation Parameters x43 Commutation cycle rev and parameter x44 Feedback steps rev x 4 parameters must be configured appropriately The commutation factor is the number of electrical cycles per motor revolution Commutation factors for 4 6 and 8 poles are shown in Table 4 40 Table 4 40 Commutation Factors for 4 6 and 8 Poles Number of Poles Commutation Factor 4 pole 2 cycles 6 pole 3 cycles 8 pole 4 cycles Version 1 1 Aerotech Inc 4 53 Parameters U511 User s Manual Parameter x38 Position channel must be set for a resolver channel 9 16 Parameter x40 Position setup code must specify the proper resolution of the RDP The UNIDEX 511 RDP board must be factory configured for the proper system resolution Use Table 4 41 to ensure proper configuration Table 4 41 Factory Configuration for UNIDEX 511 RDP RDP Resolution bits Counts per Revolution Setup Code 10 1 024 1 12 4 096 2 14 16 384 3 16 65 536 4 16 14 Dynamic 65 536 5 The UNIDEX 511 uses the resolver to determine the initial rotor position and all subsequent commutation Parameters x43 Commutation cycle rev and x44 Feedback steps rev x 4 must be configured appropriately The phase currents may be offset from the reference position by setting parameter x45
480. the user to quit the screen go to the next screen go back a screen and a host of other commands that are specific to the screen display The screens and the corresponding commands are discussed later in this chapter These keys are also programmable See the SKEY command in Chapter 5 RESET Key This key performs a hardware reset function equivalent to turning the power switch off and on PAUSE Key This key toggles the pause feedhold state The current state of the function can be determined from the MDI window or the Diagnostics screen Global subroutine calls Pauseon Pauseoff are executed ABORT Key This key causes all axes to ramp to a stop under servo control Global subroutine Abort is executed FLTACK Key This key causes the same action as the abort key but in addition it clears any fault conditions Any axis in a limit will be moved out Global subroutine Faultack is executed Number Pad Including a key and a decimal key the numerical keypad allows users to enter positive and negative integers and decimal numbers into designated locations in the viewing area INS and DEL keys Insert and delete keys are used during text editing When insert is active the cursor will appear as a full block The DEL key will remove the character pointed to by the cursor The INS key also changes the Copy function to the Paste function Cursor Jog Keys arrows The cursor jog keys have a two f
481. this function off SYNTAX ACcel PLane a a maximum acceleration in units sec sec or steps sec sec depending on the current programming mode EXAMPLE PR UN assume units are millimeters AC PL 1000 set acceleration at 1000 millimeters sec sec for current plane Related Commands G25 G26 G27 Rounding 5 14 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 4 AFCO Auto Focus The AFCO command enables a secondary position loop in the U511 much like the primary position loop using Kpos Unlike the primary position loop that uses the encoder for feedback this loop uses the analog input for feedback The analog input is converted to a digital signal by the 12 bit A D converter The U511 commands the motor to move so that the analog input is at the user specified voltage The analog input number is specified by the channel argument This should be between 1 and 4 A zero value tells the U511 to stop the tracking mode and return to normal operation The pos argument is the desired position set point of the analog input in units of volts The gain argument is a number which multiplies the A D error to give a correction speed This gain number is like the Kpos argument in the normal servo loop If the scaling of the analog input and encoder is 1 1 the gain value can be the same as the Kpos This is assuming that the analog transducer is properly mounted The speed
482. ting outputs e Special programming commands are used to route individual program statements to their appropriate planes buffers e When a plane buffer is filled with commands no additional commands to that plane can be queued until a slot in the queue is freed i e the oldest command is completed and removed from the buffer If this occurs and the next sequential command to be loaded into the program buffer is directed to that plane then the other planes must wait A sample UNIDEX 511 program segment is listed in Figure 4 12 Although programming has not yet been explained the program segment shown below is relatively simplistic and offers an example of the use of planes Comments are preceded by semicolons and are listed to the right of programming commands for clarity This program segment illustrates the use of planes in programming This program segment assumes the following parameter settings have been established 000 2 Number of contour planes is set to 2 003 1 X Axis param 003 is mapped to plane 1 as X 004 2 Y Axis 2 param 004 is mapped to plane 2 as Y 3 005 2 Z Axis 3 param 005 is mapped to plane 2 as Z 006 1 U Axis 4 param 006 is mapped to plane 1 as U PLANE 1 Select plane 1 ENX U Enable axes X and U of plane 1 for motion PLANE 2 Select plane 2 EN Y Z Enable axes Y and Z of plane 2 for motion G1 Y50000 Linear move Y axis in plane 2 50000 machine steps
483. tiometer connected to Joystick 1 Potentiometer 14 DACS5 10 V 1 mA 15 DAC6 10 V 1 mA 16 DAC7 10 V 1 mA 17 DAC8 10 V 1 mA 36 DSPTX Serial Output Reserved 18 Common 37 DSPRX Serial Input Reserved 19 IOUTO Output 0 33 ADC 12 3 A D Input 3 optional 34 ADC 12 4 A D Input 4 optional 35 Reserved DAC4 10 V 1 mA 13 AIN3 Analog Input 3 also 32 ADC12 2 A D Input 2 optional Version 1 1 Aerotech Inc 10 13 Technical Details U511 User s Manual 10 1 4 1 UINT User Interrupt Input The UINT is an opto isolated input used for real time position latching of the encoder inputs and other special functions A diagram of this input is shown in Figure 10 6 AUX I O V2 HCPL 2630 CONNECTOR UINT gt TO UNIDEX 511 CIRCUITRY 240 UINT Figure 10 6 The UINT Opto Isolated Input 10 1 4 2 E Stop Emergency Stop Input The UNIDEX 500 has an optically isolated emergency stop input refer to Figure 10 7 The user must provide an external power supply to drive the on board opto isolator External voltages and resistances are enumerated in Table 10 10 Switch closed for normal operation Stop Operate Emergency Stop Switch AUX I O Normally Closed CONNECTOR V2 HCPL 2630 TO UNIDEX 511 External Voltage CIRCUITRY External Resistance Figure 10 7 Electrical Characteristics
484. tion Error f In the Trigger menu set the Forward Motion and Reverse Motion to a typical move For metric mode a move such as LINEAR X10 F2000 for Forward Motion and LINEAR X 10 F2000 for Reverse Motion is appropriate For English mode moves such as LINEAR X1 F180 and LINEAR X 1 F180 for Forward Motion and Reverse Motion respectively are appropriate Also set the Sample Rate to 1 g Inthe Tools menu select Status Control and Gains When the SINGLE button is pressed axis number 1 will first move as specified by Forward Motion When the SINGLE button is pressed again axis number 1 will move as specified by Reverse Motion 5 Adjust the Velocity Loop using Kp and Ki The Kpos and Ki have been set to zero 0 to eliminate the Position Loop and half of the Velocity Loop Thus the only gain that is having an effect is Kp which is the other half of the Velocity Loop Velocity Loop cannot be overlooked as it is interrelated to positioning The better a Even though the user may only be concerned with how well the stage positions the stage tracks velocity the closer it will be to its correct position zy The objective in adjusting Kp is to reduce the velocity error to 5 10 steps In between pressing the SINGLE button the operator should observe no screeching and howling from the motor Noise means Kp is set too high causing it to oscillate It may screech a little during t
485. tion refer to Figure 4 5 on page 4 41 This parameter must be configured to reflect the motor direction that causes the axis to move toward the home limit switch Motor direction clockwise CW or counter clockwise CCW is specified looking into the shaft end of the motor Refer to Figure 4 6 Negative CCW Move Positive CW Move CW Move Home Limit Switch Near Motor Side of Stage CCW Move Figure 4 6 Typical Stage Showing CW and CCW Motor Rotation This parameter can be set to one of two possible values that are explained in Table 4 29 Table 4 29 Settings for Parameter x02 Param Axis Values Description Indicates Default Setting 102 1 Yes Y CCW motor rotation moves axis to home position No N CW motor rotation moves axis to home position 202 2 Yes Y CCW motor rotation moves axis to home position No N CW motor rotation moves axis to home position 302 3 Yes Y CCW motor rotation moves axis to home position No N CW motor rotation moves axis to home position 402 4 Yes Y CCW motor rotation moves axis to home position No N CW motor rotation moves axis to home position 4 42 Aerotech Inc Version 1 1 U511 User s Manual Parameters Although most stages are typically configured as shown in Figure 4 6 i e CW motor rotation is a positive move stages using fold back motors and or gearheads Se may have positive and negative moves reversed 4
486. tion sequence for the print status command Table 6 20 Print Status Sequence Direction of Transfer Command Description Host U511 PS Print Status command Host U511 Word code Status word code 0 12 Host U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 U511 Host Status string Status word character string U511 Host EOS character End of string character LF i Example PSO lt EOS character gt 6 4 12 RRn WRn val Read Write Register UNIDEX 511 registers contain remote configuration and status information Each register is a 32 bit number which can be read using the RR command and written to using the WR command Table 6 21 shows the communication sequence for the Read Register command The communication sequence for the Write Register command is shown in Table 6 22 The value to be written to the register val is an ASCII string in either decimal or hexadecimal format The n is the register to write to Only register 0 is defined for use others are reserved for future use REGISTER 0 Communications Status The Default configuration parameter under the setup screens for COM1 COM2 and GPIB set the default value for this register See parameter numbers 616 625 and 630 The bit definitions for register 0 are shown in Table 6 23 Table 6 21 Read Register Sequence Direction of Transfer Command Description Host gt US511 RR
487. to G2 2 f machine steps 322 3 2 to 2 7 2 machine steps 422 4 2 to G2 2 machine steps The Fault Mask default setting enables the software limits Refer to Section 4 10 OS Traps for more information 4 7 9 CW software limit machine steps x23 This parameter is used to establish a software limit in machine steps when the motor is rotating in the CW direction This limit is referenced from the hardware home position and is not active until the axis has completed a home cycle This parameter value ranges form 2 47 to 2 47 machine steps The default and maximum value is 2 47 which equals 140 737 488 355 328 steps See Table 4 35 Table 4 35 Settings for Parameter x23 Param Axis Range in machine steps Default 123 1 2 te 2 machine steps 223 2 2 to 2 2 machine steps 323 3 2 to 2 2 machine steps 423 4 2 to 42 2 machine steps dza The Fault Mask default setting enables the software limits Refer to Section 4 10 Traps for more information 4 46 Aerotech Inc Version 1 1 U511 User s Manual Parameters 4 7 10 Use home limit during home y n The UNIDEX 511 has three limit inputs CW CCW and HOME If parameter x74 x74 is set to yes the home cycle will move in the specified direction until the home limit is activated If set to
488. to settle AFCO Y 0 turn focus off WAIT ON wait for above commands to finish SOFTWARE POSITION Y update encoder positions Programming Notes An unused channel on the U511 can be setup to display the analog input value This is done by setting the axis parameter 38 to 45 48 for analog channel 1 4 respectively This is useful for initial setup of the analog sensor and for polarity verification If the polarity of the sensor is incorrect the motor will run in wrong direction This may result in damage to the system On initial setup of the tracking loop it is recommended that the max correction speed be set low and the max min encoder movement parameters be utilized General parameter 99 should have bit 2 set i e set it to 4 to signal that the U511 should read the 12 bit A D converter This software feature requires V5 11 or higher The joystick and MFO analog inputs are not available when using the 12 bit A D converter The ABORT function button will stop the auto focus mode The axis cannot be homed when in auto focus mode The A D target position can be changed by sending a new AFCO command with a different target voltage This can be done even if a AFCO command is currently active It is highly recommended that a dead band of at least one A D count is used for applications where the user is monitoring the completion of the cycle Version 1 1 Aerotech Inc 5 17 Programming Commands U511 User s Manual AG
489. tomatically inserts a WAIT ON command at the end of each command block EXAMPLES WA ON Waits until completion of all previous commands WA OF Disables the WAIT command WA AL Waits at the completion of every command block Related commands MAP HALT START 5 100 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 85 WHILE ENDWHILE The WHILE command evaluates the expression and if true executes to the ENDWHILE WF ENDY statement The ENDWHILE statement returns to the WHILE statement and the loop is executed until the expression becomes false SYNTAX WHILE expression WH expression ENDWHILE ENDW expression Any valid U511 expression EXAMPLE VO 0 Assign zero to variable WHILE VO0 lt 10 Do while variable less than 10 G1 X10 F1000 sMove axis V0 V0 1 Increment variable by 1 ENDWHILE Return to WHILE as long as VO less than 10 Otherwise squit Related commands LOOP NEXT IF GOTO Version 1 1 Aerotech Inc 5 101 Programming Commands U511 User s Manual 5 102 Aerotech Inc Version 1 1 U511 User s Manual Remote Mode Operations CHAPTER 6 REMOTE MODE OPERATIONS In This Section EERO Ao e eae ee AS 6 1 Troubleshooting Remote Communications 6 2 e Command Handshake Mode RS 232 Only 6 2 Remote Commands oeoo e 000E EO 6 2 UNIDEX 511 Remote Timing eee 6 26 e C Programi Example e a tere 6 27 6 1 Introduction
490. ty of the deceleration of the current move to the acceleration of the next move In some controllers velocity Version 1 1 Aerotech Inc 5 95 Programming Commands U511 User s Manual profiling only works with smooth curves The UNIDEX 511 allows for profiling of corners within the move Consider the following three moves in G8 mode G1 X10 G1 X5 Y5 G1 X10 The following plot shows the plot of the two axis velocities The motion is completed with the surface speed staying constant 17 Velocity 1 0 12 Velocity 2 0 0 250 500 750 1000 1250 1500 1750 2000 Figure 5 18 Two Axis Linear Move With Velocity Profiling The constant surface speed is 16 mm sec The speed of each individual axis during the X5 Y5 move is determined by breaking the surface speed into its component vector speeds The equation relating the three velocities together is determine by the Pythagorean Theorem 2 2 2 Vi Vs Vy In this example because the moves are the same distance vx Vy 11 3 mm sec 5 5 83 2 CM1 Contouring Mode The contouring mode can be changed by executing the CM command The normal mode CMO blends moves together by combining deceleration of one move with the acceleration of the next move The alternate mode CM1 does not It requires that the last move be preceded by a G9 velocity profiling off command if in G8 mode The default contouring mode can also be set by general parameters 31 49 67 and 85 The previous pro
491. ue 3 0 605 1210 1815 2420 3025 3630 4235 4840 5445 6050 gt Figure 8 7 Autotune Plot Where Dist Has Been Set Too High Figure 8 8 shows a proper autotuning procedure Both the torque and velocity commands are sinusoidal and the torque output peak is greater than one volt A resulting plot similar to this should identify the parameters of the motor stage and produce gains that will allow the stage to be run adequately Version 1 1 Aerotech Inc 8 13 Tuning Servo Loops U511 User s Manual EJ U511 Axis Scope Yer 5 00 File Remote Plot Trigger Collect Display Axis Units Tools Collecting 810 Command AT 3 1 5 125 2 3 5 810 Status OK Axis 3 x Dist 125 Freq Hz 1 5 BW Hz 33 Damping 0 5 x 3 MDI 7 Step Single Auto Stop Abort Fitack 605 2 Velocity 3 605 4 2 195239 Torque 3 2 131462 Ls 0 405 810 1215 1620 2025 2430 2835 3240 3645 4050 Figure 8 8 Autotune Plot Showing Proper Calibration 8 4 5 Dual Loop Systems Autotuning may be performed on dual loop systems by temporarily configuring the U511 to run in single loop mode i e from the velocity feedback transducer only This is accomplished by setting the primary feedback channel parameter axis parameter x38 to the velocity feedback device s channel and setting the secondary feedback channel axis parameter x39 to 0 Autotuning will yield the correct values for Ki and Kp The Kpos term
492. uffer as preceding commands are executed and removed from buffer In a multiple plane configuration parameter 000 2 or 4 commands are queued to particular program buffers i e planes The first program statement in each of these buffers is executed in a multitasking environment so that the tasks appear to run concurrently In these configurations the 8 Kbyte program buffer is divided equally among the planes As commands are read from the control program they are sent to the appropriate buffers If a program buffer i e a plane becomes filled and additional program commands for that plane are forthcoming the plane is marked as busy until a command is completed and removed from the queue Aerotech Inc Version 1 1 U511 User s Manual Parameters For additional information about planes refer to the previous section Overview of Planes For additional information on mapping axes to planes refer to parameters 003 004 005 and 006 Analyzing the application and the best programming style for that application is vital to optimizing the number of programming planes required For non multitasking applications one contour plane is suitable This is the typical operating mode for most controllers and is the default setting for this parameter In addition all axes are assigned to contour plane one by default However many applications require independent asynchronous motions with real time responses In these cases it
493. umber represents the absolute position of the resolver from the R D hardware The absolute position can range from 0x00 to OxFFFF Table 7 3 Hardware Status Diagnostics Field Description CW Limit Indicates the current hardware input level of the CW limit input H high signal L low signal CCW Limit Indicates the current hardware input level of the CCW limit input H high signal L low signal Home Limit Indicates the current hardware input level of the Home input H high signal L low signal Version 1 1 Aerotech Inc 7 7 Windows Interface and Utilities U511 User s Manual Encoder Fault Sine SIN signals are in the same state Table 7 3 Hardware Status Diagnostics continued Field Description Amplifier Fault Indicates that an amplifier is in a fault condition H high fault signal L low fault signal Indicates that the encoder read head detected that the SIN and Encoder Fault Cosine COS signals are in the same state Indicates that the encoder read head detected that the COS and Inputs BIN from 0000 0000 0000 0000 to 1111 1111 1111 1111 Indicates the states of the 16 digital inputs in binary format Outputs BIN Indicates the states of the 8 digital outputs in binary format from 0000 0000 to 1111 1111 T O Bank A Indicates the states of the 8 I O lines of bank A T O Bank B Indica
494. uous current rating of the motor or the peak current rating of the motor whichever is less The current feedback on TP1 is 3 amps per volt so a 2 volt signal on the O scope would represent 6 amps Press the STOP button when complete Figure 8 27 illustrates what the user will see after one move EJ U511 Axis Scope Ver 5 00 OF x File Remote Plot Trigger Collect Display Axis Units Tools Collecting 500 Command LINEAR X2 F2000 Status OK Axis fi Kpos 10000 ki 0 Kp 0 vee 0 Att 0 21 7 634 Vel Cmd 1 Pos ently Adjust Balance Pot on amp to bring Position Error down to zero line i e remove DC offset Figure 8 26 Plot Showing the Removal of DC Offsets in the Position Error Version 1 1 Aerotech Inc 8 35 Tuning Servo Loops U511 User s Manual Te E ET NAS E Without Clamping by Current Limit ial __ Pot the current would be here Adjusting the Current Limit Pot allows a yon to clamp the current to a specific value Figure 8 27 O scope Showing Current Feedback for One Move Third if necessary the user may have to fine tune the Input pot if unable to achieve maximum speed for the motor To fine tune the Input pot perform the following procedure a e Connect the O scope to TP5 Velocity Command and TP4 common on the amplifier Select the Trigger menu on the Axis Scope window and set up Forward Motion and Revers
495. ur utility packages To start a utility left click on the corresponding icon Each of these programs will communicate to the UNIDEX 511 using an RS 232 connection The RS 232 cable should be a one to one cable connecting a serial port of the PC to one of the COM ports on the U511 A standard RS 232 cable should be supplied with the system Only one of the utility programs can be running at a time 7 2 COM Port Settings Common to all Software Utilities Each utility has a Remote menu selection The options below this selection set up the communication parameters port number baud rate data bits stop bits and parity The port number is the COM port of the PC communicating to the U511 The baud rate data bits stop bits and parity must be set the same for both the utility software running on the PC and for the U511 Pressing the Setup F2 key on the front panel of the U511 changes the U511 COM port parameters The COM port settings for the U511 are on Pages 2 and 3 of the Setup screen The default settings on the U511 and the Windows software are 9600 baud 8 data bits 1 stop bit and no parity The Connect menu option is used to establish connection to the U511 if any of the settings are changed or if the COM port was closed for any reason Version 1 1 Aerotech Inc File Batic Windows Interface and Utilities Utilities Port gt Baudrate gt Data bits gt b gt Stop bits Parity Connect 7 1
496. use hardware handshake signals Version 1 1 Aerotech Inc 6 1 Remote Mode Operations U511 User s Manual 6 2 Troubleshooting Remote Communications The U511 Diagnostics screen contains a simple terminal emulator to display received and transmitted characters Characters between 0x0 and Oxlf are displayed in brackets Characters typed from the front panel or keyboard are transmitted to the selected remote port This screen should be used to verify the connection with the host controller If you are not able to transmit and receive characters in this screen the following remote commands will not work 6 3 Command Handshake Mode RS 232 Only Acknowledge handshake mode is enabled by default If a valid command is sent to the U511 it will return the Command ACK character immediately The NAK character will be returned immediately if the U511 receives an illegal remote command If the U511 does not respond with an ACK or NAK character within a maximum of 1 sec an incorrect or incompatible communication parameter Baud rate Parity etc may have been selected Make sure that the host computer is capable of running at the desired baud rate and that a shielded cable is used The SP Save Parameter File command may take longer to respond with the ACK character because it involves writing to flash memory Time out checking by the host computer should not be used with this command The AR and BR commands
497. utput fault mask is set to 1 If any of the selected faults occurs then the UNIDEX 511 will set an output low This output number is selected in parameter x54 Output for AUX output The default setting for this parameter is FFFF FFFO 0000 no faults are selected therefore AUX output faults are effectively disabled OI 3 6 x lt oO N x lt O 2 Version 1 1 Aerotech Inc Parameters U511 User s Manual o 4 9 6 Halt queue This parameter specifies a fault mask pattern corresponding to the faults in Table 4 52 on page 4 68 that causes the UNIDEX 511 to stop reading information from the internal queue that is stop program execution if any of the selected conditions are true i e if any of the selected faults occur The default setting for this parameter is FFFF FFFO 8E00 When this condition goes into effect the commanded velocity will be immediately forced to zero No ramping will occur and the contouring of the motion will be stopped 4 9 7 Abort motion Parameter x60 specifies a fault mask pattern corresponding to the faults in Table 4 52 on page 4 68 that causes the corresponding axis of the UNIDEX 511 to ramp to a stop and wait for an acknowledgment if any of the selected conditions are true i e if any of the selected faults occur All active axes will decelerate linearly using their individual acceleration deceleration rates The default setting for parameter x6
498. ve of X and Y axes at contour feedrate G1 X10 Y 20 Z 30 U40 Contour move of all four axes at a previously set feedrate LINEAR X V10 F V11 Contour move of X axis with the distance and feedrate contained in variables 10 and 11 Related commands INDEX CW_CIRCLE CCW_CIRCLE FREERUN RAMP ACCELERATION ROUNDING VELOCITY TRAJECTORY PROGRAM G70 G71 G90 G91 5 5 46 LOOP LO The LOOP command signals the beginning of a group of program statements to be repeated and specifies the number of repeats SYNTAX LOOP number LO number number Specifies the number of times to repeat the statements in the command block The command block consists of the program statements contained between the LOOP and NEXT commands EXAMPLE LOOP 5 Signifies the start of the command block X10 Command block X 10 J NEXT End of command block Repeat 5 times Related commands NEXT 5 56 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands 5 5 47 LVDT The LVDT command links an axis number 1 4 with an R D channel number 9 16 of an RDP PC board for very accurate positioning When the LVDT command is executed the specified axis moves in the specified direction CW or CCW until the RDP PC board determines that the LVDT sensor is at its null position i e a point that is halfway between the minimum and maximum position The axis moves in the search direction at the rate set by the Home feedrate axis paramet
499. ve to be replaced like a physical fuse Version 1 1 Aerotech Inc Appendix A U511 User s Manual RS 274 The term RS 274 refers to a set of standardized motion control programming commands These commands consist of the letter G or M followed by a one or two digit number e g M47 G3 M2 G70 etc A subset of the RS 274 command set is available for certain UNIDEX 511 program commands for programmers who may be more familiar with the G M codes rather than the corresponding UNIDEX 511 programming commands Not all U511 programming commands have an RS 274 G code or M code counterpart Refer to Chapter 5 Programming for more information servo control system A servo control system servo loop is a motion control system which continuously compares desired position velocity to actual position velocity and produces an error correction command Servo systems use sensors to feedback actual position velocity shaft runout Shaft runout is an expression of the total indicated reading of wobble or nonconcentricity as measured at the end of a motor shaft when the shaft is rotated one complete revolution soft keys Soft keys are software buttons that are analogous to function keys on a standard PC keyboard In the U511 software five soft keys are located across the bottom of the display software The term software refers to a computer program Contrast software with hardware the physical machinery components
500. velocity profiling motion options are not available for use with this command The maximum distance that can be specified by the INDEX command is 2 machine steps The maximum feedrate that can be specified by the INDEX command is 2 a previously programmed feedrate or the feedrate established by general parameters If an indexing feedrate subcommand is missing for an axis the UNIDEX 511 will use E 023 026 041 044 059 062 and 077 080 X Y Z and U axis index feedrate EXAMPLES INDEX X10 XF100 Y20 Index move axis X 10 using the specified feed rate for axis X Index move axis Y 20 using the default or previous sindex feed rate G0 X10 Y 20 Z 30 U40 Index move X 10 Y 20 Z 30 and U 40 using the spreviously set feed rate used by each of these axes 5 50 Aerotech Inc Version 1 1 U511 User s Manual Programming Commands Related commands LINEAR CW_CIRCLE CCW_CIRCLE FREERUN ACCELERATION PROGRAM G70 G71 G90 G9 1 5 5 39 INn Read Inputs This command reads the inputs of the U511 card or the 4EN encoder card INO is similar TN f to INP command however the INO command reads the inputs directly The n in the INn command must be filled by a number from 0 to 4 in order for it to be distinguished from the INdex command General parameter number 99 bit number 0 should be set to 1 when using the 4EN option board s I O 5 SYNTAX INn Where n is a number from 0 to 4 INn bit bit
501. x74 to no 2 The axis reverses direction and moves out of the limit a distance specified by axis parameter x77 Limit debounce distance The axis will move at the home feed rate until the marker is found then it decelerates to a stop It will then move the distance specified by the Home offset parameter x06 minus the distance from the marker If the Home offset is set to 0 the axis will move in the reverse direction back to the marker The axis will end up at a position that is the Home offset number of machine steps away from the marker When the move is complete the UNIDEX 511 will reset its position counters to zero Home Limit Switch Home Feedrate x04 Direction x02 ye lt 4 lt 4 Na Home Home Home Current Feedrate Feedrate Feedrate Position x04 x04 x04 Max Accel Max Decel Max Decel Max Decel x16 x16 x16 x16 Max Accel x16 e Home Limit i Marker i Home Switch i i i i i Limit t Debounce gt a Home Offset x06 Distance Figure 4 5 Home Cycle Home Cycle Version 1 1 Aerotech Inc 4 41 Parameters U511 User s Manual S If the feedback device type is a resolver the axis will move to the null position of the marker 4 7 2 Home direction CCW y n x02 Each axis of the UNIDEX 511 needs to be configured for the direction that the axis motor will turn when going to the home posi
502. xample TR lt EOS character gt Trigger command code The DET or TR command can be used in GPIB mode S Example HD1 lt EOS gt IXF1000D1000 lt EOS gt TR lt EOS gt 6 4 6 PE Print Error Message String This command returns the last error message in the system Table 6 12 shows the communication sequence for the Print Error Message command These error messages occur 1 When a syntax error occurs with an immediate command or program 2 When a runtime error such as an axis limit occurs while executing a program The error message is cleared when a successful command is sent The U511 will return a space followed by lt EOS gt i e lt EOS gt Example Error Axis in limit Table 6 12 Print Error Message Sequence Direction of Transfer Command Description Host gt U511 PE Print Error Message command Host gt U511 EOS character End of string character LF U511 Host ACK NAK character Acknowledge character 0x06 U511 Host Error message string Error message character string U511 Host EOS character End of string character LF Example PE lt EOS character gt 6 8 Aerotech Inc Version 1 1 U511 User s Manual Remote Mode Operations 6 4 7 I Execute Immediate Command The T command executes valid U511 program commands Any program command can be sent in the form Icmdstring A syntax error or execution error will be indicated by bit 2 of the status byt
503. xis Scope window is similar to the Collect submenu Display specifies the number of data points that are displayed or plotted Like the Collect menu the Display menu contains five data set sizes 100 250 500 1000 and 2500 points Only one data set can be selected at a given time 8 6 Aerotech Inc Version 1 1 U511 User s Manual Tuning Servo Loops 8 2 7 The Axis Menu The Axis menu of the Axis Scope window specifies which axis to display The functions shown in the Plot menu refer to the current axes as selected by this menu This menu supports axes 1 2 3 and 4 Multiple axes may be selected When selected the axis name has a check mark to its left 8 2 8 The Units Menu The Units menu of the Axis Scope window specifies the distance and time measurement units for the plot display The data can be displayed in any one of the following units Machine Steps millimeters mm based on Metric conversion factor microns mm 1000 Inches based on English conversion factor and thousandths of inches Inches 1000 Time units can be displayed in either Seconds or milliseconds Seconds 1000 8 2 9 The Tools Menu The Tools menu enables or disables the display of five toolbars on the Axis Scope window The options of this menu are Cursors Status Control Gains and Auto Tune Selecting an option from this menu toggles the display of the associated toolbar When a toolbar is being displayed a check mark appears t
504. y referred to as AC brushless motors Another type usually referred to as the DC brushless motors generate a trapezoidal back EMF and produce more torque ripple byte A byte is a common unit of information storage made up of eight binary digits bits A byte can be used to represent a single ASCII character e g A 01000001 binary or binary numbers from 00000000 to 11111111 from 0 to 255 decimal depending on how it is used circular interpolation Circular interpolation refers to the UNIDEX 511 s ability to coordinate two axes to produce accurate circular motion using minimal reference information e g the center point and a radius closed loop system A closed loop system is a drive system that uses sensors for direct feedback of position and or velocity Contrast with open loop system commutation Commutation refers to the process by which every other cycle of an alternating current is reversed so that a single unidirectional current is supplied In the case of motors commutation refers to the switching of current to motor windings which causes the motor to rotate In a DC servo motor this is done mechanically using brushes and a commutator A brushless motor is electronically commutated using a position feedback device such as an encoder that is mounted to the rotor Stepping motors are electronically commutated without feedback in an open loop fashion constant velocity motion Constant velocity motion refers to
505. ypical replacement fuses Additional fuse information can be found on the System Drawing supplied with the unit Table 11 7 Fuse Replacement Part Numbers Fuse Manufacturer PN Aerotech PN 15 amp 3 AG Bus PN BK MDA 15 PN EIF116 12 amp 3 AG Bus PN BK MDA 12 PN EIF173 10 amp 3 AG Bus PN BK MDA 10 PN EIF117 4 amp 3 AG Bus PN BK MDA 4 PN EIF104 2 amp 5x20 mm fuse Littlefuse 235002 PN EIF195 1 amp 5x20 mm fuse Littlefuse 218001 PN EIF189 Note e Fuses are located on the U511 interface board and in an internal mounted fuse block e Information concerning fuse values and fuses on power amps can be obtained from the system drawing and amplifier documentation e Always disconnect the mains power disconnect before opening the U511 chassis e 10 12 and 15 amp fuses are not user replaceable An open fuse usually indicates that the unit should be returned for service 11 8 Aerotech Inc Version 1 1 U511 User s Manual Troubleshooting 11 8 Preventative Maintenance The U511 and external wiring should be inspected monthly Inspections may be required at more frequent intervals depending on the environment and use of the system The table below lists the recommended checks that should be made during these inspections Table 11 8 Preventative Maintenance Check Action to Take Visually inspect chassis for loose or damaged parts and hardware Note Internal inspection not required Parts should be repaired as

THE UNIDEX® 511 MOTION

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THE UNIDEX&reg; 511 MOTION

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THE UNIDEX® 511 MOTION