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THE UNIDEX® 600 SERIES

1. U600 User s Guide Parameters Table C 10 Task Parameters Continued Name Parameter Access Minimum Maximum Default NormalcyAxis 52 RW 0 15 7 NormalcyX 50 RW 0 15 0 NormalcyY 51 RW 0 15 1 Number 0 R 0 0 3 0 1 0 NumTaskAxisPts 7 RW 0 1 000 10 NumTaskDoubles 5 RW 0 1 000 10 NumTaskStrings 6 RW 0 1 000 10 RIAction1 78 RW 1 127 1 RIActionAxis 90 RW 0 15 0 RIActionParm1 91 RW 2 147 483 648 2 147 483 648 0 RIActionParm2 92 RW 2 147 483 648 2 147 483 648 0 RIActionOpCode 89 RW 0 17 0 ROAction1 79 RW 1 127 1 ROReq1 77 RW 1 127 1 ROReq1Mask 128 RW 0 65 535 1 RotaryFeedRate 36 RW 0 0 1 0e 037 0 RotaryFeedRateActual 67 RU 0 0 1 0e 037 0 RotateAngleDeg 21 RWU 0 0 360 0 0 0 RotateX 19 RW 0 15 0 RotateY 20 RW 0 15 1 RthetaEnabled 27 RWU 0 2 0 RthetaR 24 RW 0 15 2 RThetaRadius 140 RWU 0 0 1 000 0 0 0 RthetaRadiusInch 26 RW 0 0 1 000 0 0 0 RthetaT 25 RW 0 15 3 RthetaX 22 RW 0 15 0 RthetaY 23 RW 0 15 1 S1_Index 11 RW 0 15 0 S1_RPM 12 Rw 0 0 1 0e 006 300 0 S1_S
2. ccccceeeees 4 19 4 6 8 CONFIGENCODER encoder_ch lines_per_revolution bounded ceeeeeseeeeseeeeeeees 4 20 4 6 9 _CONFIGHENCODER encoder_ch lines_per_rev hall_lines com_offset comm_ch bounded 4 21 4 6 10 CONFIGHRESOLVER resolver_ch resolution hall_lines com_offset comm_ch bounded 4 22 4 6 11 CONFIGREAD filespec oes eeeceeeeeeseeceseeeeeecenrereneeeeee 4 23 4 6 12 CONFIGRESOLVER resolver_ch resolution poles com_offset bounded ee ceeeeesseceereeetseceeneees 4 23 4 6 13 CONFIGWRITE filespec eee eeeeeesceceseeeeseeceeeeeeneeeeees 4 24 4 6 14 DB address cccccessssseceessececesseceessseecsesseeecssaeeesssnaeess 4 24 4 60 19 D CAX vce nce Oka Ree ee 4 24 4 6 16 DIR veccrceisecieiica tenes iid aience tienes eR EEEE nites 4 24 46 17 DOWNLOAD heer EE E E 4 24 46 18 DRVINFO aae r eE EEEE r EE EEr Ee ESES EERE 4 25 4 6 19 DUMPTABLE table number 0 ccccesseeeesseeeceeeeeees 4 25 4 6 20 DUMPERROR table number ccccsseceeseseeeeneees 4 25 E PA E DA AEE A E EN Mie eile ed 4 25 022 DLE address rper ee ee ien ae a 4 25 4 6 23 ENABLEPENDANT channel mode 1 eeeeeeees 4 25 4 6 24 EXELINE command string sssessseeseseeesereesrsesreresereeee 4 26 4 6 25 EXEPRG filespec enrere r 4 26 AG 26 SEXUD EEE E ays S 4 26 4 6 27 GETPROGec8 eens en MAR ea eS 4 26 4 6 28 INFO e
3. Figure 12 4 The Axis Configuration Correct or Reconfigure Screen 12 4 Aerotech Inc Version 1 4 U600 User s Guide Setup Wizard 12 4 1 Axis Configuration Wizard The Axis Configuration Wizard will guide you through the process of configuring the axis UNIDEX 600 Series Controllers support any motor accepting a velocity or torque command and providing feedback from a supported feedback device such as an encoder resolver or inductosyn Axis Configuration Wizard Welcome Ed Welcome to the Aerotech Axis Configuration Wizard This wizard will help you configure an axis to use your mechanics Finish Cancel Help Figure 12 5 The Axis Configuration Wizard Welcome Screen Next will advance you to the next Wizard configuration screen Cancel will exit the Wizard without saving any changes to the Axis configuration Version 1 4 Aerotech Inc 12 5 Setup Wizard U600 User s Guide 12 4 2 Axis amp Parameter Names and Task Number Configuration The second Wizard screen Figure 12 6 allows axis names to be assigned the task axis to be assigned and the axis to be bound to task through 4 Most users will bind all axes to task 1 Also parameter names may be associated with each axis that is not bound to a task If you reassign an axis name you must exit the MMI600 and restart it for the change ES to take effect Axis Configuration Wizard Setup Name x What is
4. ee eeeeeeseeeeee 12 18 12 4 6 8 Configuring Dual Loop AXxeS eee eee eee 12 18 12 4 7 Configuring Axis Calibration Data eerie 12 19 12 4 8 Saving an Axis Configuration eee ceseesseceeeereeenee 12 20 12 5 Scaling and Feedrates 0 eee ees cseeeeeeeeeeeeeeeeeseeesecesecsaeesaesaee 12 21 12 6 Home Cycle Configuration cece cee ceeecesecseecseeereeeseeeeeeeeeeeeeees 12 22 12 7 Asynchronous and GO Accel Decel Parameters 0 0 0 0 eeeeeeeeeeee 12 24 Version 1 4 Aerotech Inc ix Table of Contents U600 User s Guide 12 8 Position Limits and Velocity Trap eee eeceesseeeessceseeeseceseenaes 12 24 12 9 Configure the Drive Interface States eee ee ceeeeseceeeeseeeneeeeees 12 25 12 10 Configure the FAULTMASK 000 cse cree cneeeeeeeeeeeeeenees 12 26 12 11 Configure the DISABLEMASK eee cece ceeecneeeeeeeeeeeeees 12 27 12 12 Configure the HALTMASK oe cee csse cree cneeeeeeeeeeeeeeeeees 12 28 12 13 Configure the AUXMASK arion issenensis 12 29 12 14 Configure the ABORTMASK 0 0 cesecsecneeceeeeeeeeeeeeeees 12 30 12 15 Configure the INTMASK 000 ceeecesecnseceseceecaeeeaeeeeeeeeeees 12 31 12 16 Configure the BRAKEMASK 0 00 ceecseecneeeeeeeeeeeeeeeees 12 32 12 17 Configure the Current Limits ieee cee ceeecreeeeeeeeeeeeeeeeeeeeees 12 33 12 18 Axis Configuration Complete 0 0 0 eee eee csecseecneeeeeeeeeeeeeeees 12 34 12 19 Accel Decel and Task Initialization eee ee eeeeeeeceseceeeeneeenee 12 35 12
5. XXiv Aerotech Inc Version 1 4 U600 User s Guide Preface Throughout this manual the following conventions are used The terms UNIDEX 600 and U600 are used interchangeably throughout this manual is The text lt ENTER gt is used to indicate that the Enter Return key on the keyboard is to be pressed Hexadecimal numbers are listed using a preceding 0x for example 0x300 0x12F 0x01EA etc to distinguish them from decimal numbers 7 Graphic icons or keywords may appear in the outer margins to provide visual references of key features components operations or notes This manual uses the symbol V V V to indicate the end of a chapter Although every effort has been made to ensure consistency subtle differences may exist between the illustrations in this manual and the component and or software screens that they represent Version 1 4 Aerotech Inc XXV Preface U600 User s Guide xxvi Aerotech Inc Version 1 4 U600 User s Guide Introduction and Overview CHAPTER 1 INTRODUCTION AND OVERVIEW In This Section o INtroGuGtlOn eres E 1 1 oS installationiereccesrce eee eee eee ee 1 1 Om Pro Stamm E errs ere tee eee 1 2 Architecture OVerview cccccccecessesstceceeeees 1 3 OMNI OU ONG ea E 1 6 OT BAUlts Sverre re eee eine 1 8 e Option Ordering Information 1 10 1 1 Introduction The UNIDEX 600 Series controller is a PC based ISA bus controller The basic software package
6. Velocity REIDAR Command F PGAIN 2nd Order Digital gt 65536 U600 620 only Filter To Amplifier Actual Position of Axis POSITION LOOP DACOFFSET Position Feedback from Primary Feedback Device Figure 5 10 Servo Loop Velocity Mode Closed Loop 5 5 1 Kp Proportional Gain This is the Proportional Gain It is part of the Velocity Loop in the UNIDEX 600 s Servo Loop This parameter reduces the amount of velocity error Also this gain has a dampening or stabilizing effect in the servo loop This is the first servo loop parameter to adjust 5 5 2 Ki Integral Gain This is the Integral Gain It is part of the Velocity Loop in the UNIDEX 600 s Servo Loop This parameter reduces the amount of velocity error Moreover it removes steady state position errors at the end of a move This is the second servo loop parameter to adjust 5 5 3 PGain Position Gain This is the Position Gain It is the only parameter in the Position Loop of the UNIDEX 600 s Servo Loop This parameter reduces the amount of position error and decreases the settling time This is the third servo loop parameter to adjust 5 5 4 Vff Velocity Feedforward Gain This is the Velocity Feedforward Gain It is the only parameter in UNIDEX 600 s velocity feedforward loop This parameter is either 1 enabling velocity feedforward or 0 to disable it This parameter is used to minimize position errors propo
7. Interrupt2TimeSec 7 RW 0 0 60 0 0 0 MeasurementMode 17 RWU 0 0 NumCannedFunctions 14 RW 0 100 10 NumDecimalsCompare 16 RW 0 14 0 NumGlobalAxisPts 4 RW 0 1 000 10 NumGlobalDoubles 2 RW 0 1 000 10 NumGlobalStrings 3 RW 0 1 000 10 ThrowTaskWarningsAsFaults 11 RW 1 1 0 UserMode 10 RW 1 7 1 Version 1 R lt NA gt lt NA gt 5 11 Task Machine and Global parameters apply only to CNC directed motion C 5 1 AvgPollTimeSec This Global parameter indicates the average amount of time in seconds it takes for the controller to complete one polling cycle Each polling cycle the controller can respond to one library command per axis Each task is updated every cycle where no more than one CNC command can be executed per cycle However some CNC commands like a G1 can take multiple cycles to execute Therefore this time represents the average minimum amount of time required for the controller to respond to a library call This is a read only parameter and is updated continuously by the controller All actions not executed off of Version 1 4 Aerotech Inc C 113 Parameters U600 User s Guide the internal interrupt are executed within a polling cycle sometimes called the forever loop A summary of its operation is shown below The most important functions of the polling loop are to run CNC programs and respond to library functions DO FOREV
8. amp Aerotech Registry Unidex 600 Add New Gard Update Card Default Test Card Device ID Unidex 600 x Card Card 1 7 Close SS _ _ _ ESE Figure 8 1 AerReg Screen 8 2 1 Finding and or Creating a Card 1 Entry A Card 1 entry is required by Aerotech s software If a sign is displayed next to the UNIDEX 600 entry click on the sign to display the Card 1 entry If there is no sign displayed or Card 1 entry highlight UNIDEX 600 and select the Add New Card button otherwise highlight Card 1 and select the Update Card button Version 1 4 Aerotech Inc 8 1 AerReg U600 User s Guide 8 2 2 Modifying the Card 1 Entry After finding creating the Card 1 entry above and proceeding to the next screen you must enter the I O Base address as defined by the jumpers on the controller card You must also enter the IRQ number defined by the jumpers on the controller card See the U600 Hardware manual EDU154 for more information All other fields should default to the proper values with the exception of the Optional PSO Support field Selecting the Browse button for an entry expecting a firmware image file type IMG displays a file selection box allowing the user to select a file from the default directory location or locate a file in another path If you have a PSO PC card you must enter t
9. 5 13 Version 1 4 Aerotech Inc vii Table of Contents U600 User s Guide oD 5 6 5 7 5 8 CHAPTER 6 6 9 CHAPTER 7 7 1 72 CHAPTER 8 8 1 8 2 5 4 2 6 Points to Collect in AutoTune ee 5 14 5 4 3 Tuning Parameters eseteire enpe sarisi yeeie SSeS east 5 14 5 4 3 1 Velocity Bandwidth 00 eee ee eeeeeeeeeeeees 5 14 3 43 2 Damping snn sing is ieee ainea nes 5 14 94 3 3 Use VEE ero eea i E E 5 15 5 4 3 4 Calculate AFFGAIN 0000 inen 5 15 Manual Servo Loop Tuning eee ceeee ese cseeereeeeeeesecesecseeeneeeneees 5 16 5 5 1 Kp Proportional Gain oo eee ee ceeeceseceecnseenneenaes 5 18 55 2 Ki Integral Gain nics sscesscescescessccsetszecbestschsbestssasovstasesscetieds 5 18 5 5 3 PGain Position Galf irekien rip ei 5 18 5 5 4 Vff Velocity Feedforward Gain eee ceeeeseeeeeeeee 5 18 5 5 5 AffGain Acceleration Feedforward Gain eee 5 19 5 5 6 Alpha AffGain Filter eee eeeeeeeeceseenseceseenseenaes 5 19 5 5 7 WGain Constant Velocity Gait eee ee eeeeeseceseeneeenes 5 19 Tuning Procedure for Torque Current Mode Servo Loops 5 20 Tuning With Tachometer Feedback eee eeeeeeeeeeeeeceseeeeeeaes 5 30 5 7 1 Vff Velocity Feed Forward 00 0 eeeeeeeesceseeeseeees 5 30 5 7 2 WGain Constant Velocity Gait eee eeeeeseceseeeeeeeee 5 30 5 7 3 Servo Parameter Setup for Tachometer Feedback 5 30 5 7 4 The Servo Loop Paramete
10. Home Type 2 Hometomaker H Home Direction 1 Clockwise Home Feed Rate s000000 inmin Home Offset o ooo000 in Help Axis Complete Cancel lt Back Next gt Finish Figure 12 14 The Home Cycle Screen 12 22 Aerotech Inc Version 1 4 U600 User s Guide Setup Wizard If the HomeOffsetInch machine parameter is set to a non zero value with axis calibration active the axis may not stop on the marker at the completion of the home 5 cycle If it desired to do so for a positioning test you must temporarily disable axis calibration within the axis configuration wizard If a virtual axis is homed it will immediately set the position to the home position rather than simulating any motion e Homing will cancel all fixture offsets and presets Z When using the CNC MMI600 the HomeOffset task parameter is used However for Library invoked homing the HOMEOFFSET axis parameter is used If using TS both CNC and Library interfaces simultaneously the user must use both of these parameters If an axis is in the Simulation Dry Run or Machine Lock modes when it is homed the home command will never complete because the axis does not move in these 5 modes Homing will disable normalcy cutter offset and cutter radius compensation modes 5 Version 1 4 Aerotech Inc 12 23 Setup Wizard U600 User s Guide 12 7 Asynchronous and GO Accel Decel Parameters Select the desired
11. The OUTOFF command will terminate echoing of the output to the data screen to the specified file with the OUTON command An optional Z parameter may be specified to suspend echoing output to the file After pausing the output to the file it may be reactivated by using the OUTON command without specifying an output file EXAMPLE OUTOFF disable output echoing OUTOFF Z pause output echoing 4 6 56 OUTPAUSE The OUTPAUSE command temporarily suspends echoing output to the file After pausing the output to the file it may be reactivated by using the OUTPAUSE command to toggle echoing back to the output file EXAMPLE OUTPAUSE toggle state of echoing to output file Version 1 4 Aerotech Inc 4 35 AerDebug U600 User s Guide 4 6 57 PARMGET type parameter_name The PARMGET command returns the value of the specified parameter of the specified type The types of parameters are Global Task Machine and Axis which are specified as G T M and A respectively If a parameter name is not specified all parameters and their values will be displayed EXAMPLE PARMG A POS display value of current axis position PARMG G display values of all Global parameters For a complete list and description of parameters refer to Appendix C Parameters 4 6 58 PARMMON type parameter_name The PARMMON command monitors the value of a parameter updating the display approximately every 100 msec 10 times second The types of
12. position at 2 000 steps per second 4 6 34 MALTHOME direction speed The MALTHOME command references the axis to an absolute reference point The direction parameter is either 1 or 1 to specify a clockwise or counter clockwise homing direction The speed parameter is in machine steps per second The axis must be enabled before commanding it to move This command should not be used if the axis is executing a command from within a CNC program The axis will accelerate and decelerate in the mode rate time defined by the Accel Decel AccelMode DecelMode AccelRate and DecelRate axis parameters The axis will proceed in the specified direction until encountering the home limit Then it will reverse direction waiting for the home limit to become false at that point it begins looking for the reference pulse encoder marker pulse or resolve null When it finds the reference pulse it stops at that position and sets the axis position register equal to the HOMEOFFSET axis parameter The user may set the HOMEOFFSET axis parameter in user units by first defining the axis type using the Type axis parameter and entering the home offset into the HomeOffsetInch or HomeOffsetDeg for rotary axes machine parameter This will overwrite the HOMEOFFSET axis parameter setting it to the correct value for the desired offset in machine steps EXAMPLE PARMSET A DRIVE 1 enable the drive MALTHOME 1 2000 home direction is counter clockwise move a
13. 060 20 2 197 counts for the UNIDEX 600 650 C 2 27 DECEL This parameter controls the time that it takes to decelerate the current velocity to a lesser velocity during GO point to point moves and asynchronous moves while the DECELMODE parameter specifies time based ramping Deceleration refers to any decrease in velocity The user may also specify deceleration mode parameters from within a parts program This parameter is NOT used for CNC contoured motion G1 G2 G3 refer to DecelTimeSec task parameter for ramping contoured moves C 2 28 DECELMODE This parameter allows the user to select the type of ramping used during the deceleration of the axis during GO point to point moves and asynchronous moves This ramping may be time based using the DECEL parameter or rate based using the DECELRATE parameter Also the user may configure the ramping to be either linear or sinusoidal 1 cosine Figure C 4 serves as an aid in setting this parameter The default for this parameter is for a time based linear ramp This parameter is not used for CNC contoured motion G1 G2 G3 refer to DecelTimeSec task parameter for ramping contoured moves 0 Linear Ramping Time Based 1 1 Cosine Ramping Time Based 2 Linear Ramping Rate Based 3 1 Cosine Ramping Rate Based The user may also specify deceleration mode parameters from within a parts program C 16 Aerotech Inc Version 1 4 U600 User s Guide Par
14. 0x8000 Probe Fault Occurs each time the probe trigger causes the position to latch This is useful for notifying the application program that position information is available 0x10000 Taskfault Taskfault occurred while executing a CNC command running a task please see the Taskfault Task parameter 0x20000 External Feedback Fault Difference between the integration of the velocity command and velocity feedback is greater than the FBWINDOW axis parameter 0x40000 Safe Zone SAFEZONE axis parameters are active and the axis has violated the defined safe zone 0x80000 Constant Velocity Phase Interrupt Axis interrupt was generated when move reached constant non zero velocity see INTMASK Axis parameter 20 0x100000 Decel Phase Interrupt Axis interrupt was generated when move reached the decel phase 21 0x200000 Move Done Interrupt Axis interrupt was generated when move was done 22 0x400000 POSTOGO interrupt Axis interrupt was generated when POSTOGO passed under the POSTOGOIRQ value see the POSTOGOIRQ Axis parameter 23 0x800000 ESTOP Emergency stop has occurred see Section 2 8 24 0x1000000 WatchDog Fail Safe timer 25 0x2000000 Position Tolerance Axis did not move the distance specified by POSTOLERANCE within the POSTOLTIME period at the start of the move 26 31
15. 1 Version 1 4 Aerotech Inc C 77 Parameters U600 User s Guide the FeedHold task parameter is ignored This task parameter is sampled at the rate indicated by the AvgPollTimeSec global parameter C 4 47 GlobalEstopDisabled This task parameter will disable the Global opto isolated E stop input from halting the program running on this task if it is set true 1 C 4 48 HaltTaskOnAxisFault If this task parameter is set to 1 then the task will generate a Physical Axis Fault when any axis fault occurs on an axis bound to that task This allows the user to cause a CNC program to halt when an axis fault occurs If the parameter is set to zero axis faults will not generate task faults which would stop the CNC program on that task C 4 49 IgnoreAxesMask This task parameter is used for a form of debugging which allows you to run a CNC program without moving certain axes Its value indicates a set of axes that will be ignored during motion That is the controller will behave as though the indicated axes were not in the move command This parameter applies to all motion including synchronous asynchronous and camming It should be differentiated from the SIMULATION axis parameter in that the move command will not take the time necessary to move the axis see example below specifically the difference between behavior of X and Z axes Example G91 G70 F10 10 inches minute IgnoreAxesMask 1 X axis is ignore
16. Axis number CMDERR Display the last command error Axis number CMDLAST Retrieve the last command from the command line buffer None None None Filespec OUTOFF Disables output from being written to a file OUTPAUSE Suppresses unsupresses output dumping to file toggle None PLAY Executes the commands from within the specified file Elespoe PLYREWIND Bewind e PLAY ew tesa o the PLAY file to the start at RGINFO Display operating system registry information QUIT Exits the AerDebug application None es RESET the Axis Processor card Changes the default task if no parameter shows the default task Task number TEST Commands Description Parameters Specifer to memory operations to operate on memory without interaction with the Axis Processor firmware RB through ML 1 shown below ITI Tests the PC interrupt Reports no error or error message if any None DB Display 128 bytes beginning at the specified address Address DW Display 64 words beginning at the specified address Address DL Display 32 longwords beginning at the specified address Address MB Monitor byte at specified address Address MW Monitor word at specified address Address ML Monitor longword at specified address Address RB Read a byte from the specified address Address RW Read a word from the specified address Address
17. Setup 1 jo OK Cancel Figure 9 1 The Setup Screen of AerPlot3D Version 1 4 Aerotech Inc 9 1 AerPlot3D U600 User s Guide The read write data file menu selection allows the plot to be saved to a data file that may be reloaded at a later time 9 1 1 1 Writing a Plot Data File To write data to a file 1 Select the read write data file menu selection 2 Enter a filename or select the Browse button to overwrite an existing file 3 Select the Write button 4 Select the Start button from the menu on the main window 5 When data collection is complete select Stop Write 6 Select the X box in the upper right of the Data File window to close it 9 1 1 2 Reading and Displaying a Plot Data File To read data from a file 1 Select the read write data file menu selection 2 Enter a filename or select the file via the Browse button 3 Select the Read button 4 Select the X box in the upper right of the Data File window to close it The Default Setup menu selection will restore the AerPlot3D default configuration The Exit menu selection will exit AerPlot3D 9 1 2 Plot Type Menu The Plot Type menu allows you to select either 2D plotting or 3D plotting This also defines the number of axes that may be selected for display via the Axis Select selection of the Setup menu 9 1 3 Setup Menu The Setup menu has 4 selections The Axis Select menu will display the axis select window shown in Figure 9 2 The nu
18. Vel Err dn 129 258 387 516 645 T14 903 1032 1161 1290 Time 1 msec Figure 5 20 Plot Showing Final Performance of ATS3220140P X axis table with a BM130 motor and an AS32030 amplifier The final performance of the X axis of the ATS3220140P open frame table is shown in Figure 5 20 The distance of the move in the plot is 110 000 machine steps 110mm The velocity of the move in the plot is 120 000 machine steps per second 120mm or 4 7 inches per second In summary the points that should be noted include the actual 5 28 Aerotech Inc Version 1 4 U600 User s Guide AerTune velocity and position of the axis following the commanded velocity and position within several machine counts during the constant velocity portion of the move In addition it should also be noted that during acceleration and deceleration of the axis no ringing or position overshoot following the end of the move Finally note the time it takes for the axis to settle to the desired positional accuracy when the velocity command reaches zero at the end of the move Should smoothness of motion be a performance criterion it may be desirable to have a more constant velocity and position error indicating less fluctuation in the velocity of the axis providing for smoother motion of the axis The servo loop gain parameters used are Kp 3000 Distance 110 000 Ki 250 Speed 120 000 PGain 3 AcelMode 0 AffGain 60 DecelMode 0 Alpha 0 AccelR
19. l 30 ___ Mirroring Mode Active 0h40000000 C 4 142 1 Motion FeedHold Active FeedHold has been seen by a synchronous motion statement motion is either stopped or decelerating C 4 142 2 Motion Continuous Bit This bit only has meaning while the controller is executing G0 G1 G2 or G3 motion commands If this bit is OFF then the controller will decelerate to zero speed at the end of the current move and wait until the current motion is done before declaring the CNC line completed If the bit is ON then the controller will not decelerate or will decelerate to a non zero speed at the end of the current move Additionally the controller will not wait until motion is done before continuing to the next CNC command When there is no contoured motion executing MOTIONSTATUS PROFILING bit is on the bit is set to the previous state C 4 143 TaskFault Task faults are indicated by this task parameter when an error in the execution of a CNC program occurs For example dividing by zero or trying to set a non existent parameter from a CNC program causes a task fault Task Faults stop the CNC program executing on the task and also stop motion running on the task see below for details There are many conditions that can cause task faults for application programmers any error prefixed by AER960RET_ in the file U600 Include AerCode H can potentially be returned as a task fault The user can also trigger a task fa
20. 0 0c ees eeeeeeeeeceeeeeseeesecssecnseenaes C 51 Quick Home to Limit Switch Ilustration 0 cccccceesscceesseeeesenees C 52 Coordinate System 1 Clockwise or G2 motion eeeeeeeeeeeeeeeeee C 68 Orientation of G2 in various planes in Coordinate System 1 C 68 Coordinate System 2 Orientation Clockwise or G2 Motion C 70 Orientation of G2 in various planes in Coordinate System 2 C 70 Cutter Compensation Radius 0 cece eeeecseeeceeeceseceseeesecsseesaeeaee C 71 Cutter Compensation Illustration 0 0 eee ee eee cesecee cess cseeeeeeseeees C 72 Normally sedssiss facstetnistes aetistte is o EEE E rE er et C 88 Patt Rotat oDe a n Rust oboe Gedhs custo seo ae ope ue endo EEAS C 96 UpdateTimeSec Diagram cece cee eseeeeeeeeeeeeeeeeeeeeneensees C 111 VV VY XX Aerotech Inc Version 1 4 U600 User s Guide List of Tables LIST OF TABLES Table 1 1 Other Actions Performed Every Millisecond eee eeeeeeeeee 1 4 Table 1 2 Available Motion Type s sess cc ccececscecseeseeeseesscesecesecssecaecaecseeeneeeaes 1 6 Table 1 3 Differences between Task and Axis Faults cece eeseese cee ereeeee 1 8 Table 1 4 Available Software Options cece ese cseeereeeeeeeeeeeeeeeeeeseenseensees 1 10 Table 2 1 Minimum Requirements and Recommendations ceeeceeeeeeeeeees 2 2 Table 2 2 Free Disk Space Requirements 0 0 0 0 cc eeeeseeecesecesecesecesecnseceeeneeees 2 3 Table 2
21. 1 R Theta Polar Transformation Active Oh2 2 R Theta Cylindrical Transformation Active Oh4 3 Offset Preset Active Oh8 4 Offset Fixture Active Oh10 5 Offset Manual Active 0h20 6 GO Motion active 0h40 7 G1 G2 G3 G12 G13 Contoured Motion active 0h80 8 Unused 0h100 9 Motion Continuous 0h200 10 MFO Change 0h400 11 MotionFeedHold Active 0h800 12 Positive Cutter Compensation Offset Active 0h1000 13 Cutter Offset Compensation ICRC Left Active 0h2000 14 Cutter Offset Compensation ICRC Right Active 0h4000 15 Negative Cutter Compensation Offset Active Oh8000 16 Left Normalcy Mode Active 0h10000 17 Right Normalcy Mode Active 0h20000 18 Normalcy Mode Alignment Active 0h40000 19 Program FeedRate in Minutes Unit 0h80000 20 Program FeedRate in Units Revolution 0h100000 x Limit FeedRate Active 0h200000 22 _ Limit MFO Active 0h400000 B Coord1Plane1 0h800000 __ 24 _ Coord1Plane2 01000000 Version 1 4 Aerotech Inc C 107 Parameters U600 User s Guide Table C 18 Status3 Bit Descriptions Continued Status3 Task Parameter Bit Description Hexadecimal Value 25 Coord Plane3 0h2000000 26 _Coord2Plane1 0h4000000 27 Coord2Plane2 0h8000000 28 Coord2Plane3 0h10000000 29 Motion No Acceleration 0h20000000
22. 2 147 483 648 2 147 483 647_ 8 192 B1 127 RW 2 147 483 648 2 147 483 647_ 0 B2 128 RW 2 147 483 648 2 147 483 647_ 0 BASE_SPEED _ 110 RW 0 10 000 000 0 BRAKEMASK 124 RW 0 4 294 967 295 0 CAMADVANCE 117 RW 100 000 000 100 000 000 0 CAMOFFSET 84 RW 2 147 483 648 2 147 483 647_ 0 CAMPOINT 79 RU 0 4 294 967 295 0 CAMPOSITION 78 RU 0 4 294 967 295 0 CCWEOT 39 RW 2 147 483 048 2 147 483 647 2 147 483 647 CLOCK 4 RWU 0 4 294 967 295 0 CWEOT 38 RW 2 147 483 048 2 147 483 647 2 147 483 647 DACOFFSET __ 125 RW 32 767 32 767 0 DECEL 49 RW 0 100 000 0 DECELMODE _ 51 RW 0 3 0 DECELRATE _ 54 RW 1 2 147 483 647 100 000 DISABLEMASK 66 RW 0 4 294 967 295 12 483 DRIVE 20 RW 0 1 0 ECHO 3 RW 0 4 294 967 295 0 EXTR2DSCL __ 109 RW 1 65 536 1 FAULT 64 RWU 0 4 294 967 295 0 Version 1 4 Aerotech Inc C 3 Parameters U600 User s Guide Table C 1 Axis Parameters continued Name Parameter Access Minimum Maximum Default FAULTMASK 65 RW 0 4 294 967 295 69 839 FBWINDOW 43 RW 0 1 000 000 0 FEEDRATEMODE 52 RW 0 1 0 GANTRYMODE 140 RW 0 32 0 GANT
23. Any circular motion performed in coordinate system 1 must be in the active plane The active plane determines the default axes for incomplete targets of circular moves refer to the figure below This parameter is 1 based where 1 represents plane 1 comprised of the axes defined by the CoordlI and Coord1J task parameters as shown in Figure C 12 Refer to Figure C 13 also Chord Radius ay Version 1 4 Aerotech Inc C 67 Parameters U600 User s Guide Coord1J Plane 1 Plane 2 Coordi Coord1J Coord1K Coord Q Coord1K Coord1 Plane 3 Coord1J Coord1K Figure C 12 Coordinate System 1 Clockwise or G2 motion C 4 15 1 Clockwise Circular Axes Plane By default this command will produce circular motion in the X and Y axis plane as shown in Figure C 13 However this command can produce motion in any one of three planes where each plane is defined by two of the three axes of the coordinate system The three axes of coordinate system 1 and 2 are defined by the G16 and G26 commands respectively The 2 axes plane that is used within coordinate system and 2 is selected by the G17 G18 G19 and G27 G28 G29 commands respectively G17 G18 G19 l K gt gt l K J Figure C 13 Orientation of G2 in various planes in Coordinate System 1 C 4 16 CoordiI This task parameter specifies which task axis is the Coord1I axis for coordinate system 1 This axis must be a linear type The task X axis do
24. C 3 15 HomeFeedRateRPM This machine parameter specifies the feedrate in RPM to be used by the CNC home and homeasync commands This feedrate is only used for rotary axes C 48 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 3 16 HomeOffsetDeg This machine parameter specifies the axis position after a home cycle is complete It does not produce motion from the home position at the completion of the home cycle The HOMEOFFESET axis parameter is overwritten by this value converted by the appropriate user units to counts conversion factor This offset is only used for rotary axes If this parameter is set to a non zero value with axis calibration active the axis may 5 not stop on the marker at the completion of the home cycle If it desired to do so for a positioning test you must temporarily disable axis calibration within the axis configuration wizard C 3 17 HomeOffsetInch This machine parameter specifies the axis position after a home cycle completes It does not produce motion from the home position at the completion of the home cycle The HOMEOFFESET axis parameter is overwritten by this value converted by the appropriate user units to counts conversion factor This parameter is only used for linear axes If this parameter is set to a non zero value with axis calibration active the axis may 5 not stop on the marker at the completion of the home cycle If it desired to do so for a positioning test you
25. Configuring Axis X Axis Information Li Spindle Data a Spindle Data Enable C Rotary Axis F Spindle Data Ena Default RPM soo Spindle Index 1 7 Analog MSO Input Channel n one v m Precision Digits Displayed After Decimal Point 4 Help Axis Complete Cancel lt Back Next gt Finish Figure 12 3 The Axis Type Configuration Screen If it is a Spindle Axis What is the default RPM Task S _RPM that the spindle is to run at Which of the four spindles Task S1_Index assigned to this task is it Is there a MSO MFO Task MSO or MFO control How many digits are displayed to the right of the decimal point dependent on the mode that you have selected in English mode Machine NumDecimalsEnglish Metric mode Machine NumDecimals Metric Version 1 4 Aerotech Inc 12 3 Setup Wizard U600 User s Guide 12 4 Axis Configuration If the axis configuration shown is correct select the Next button otherwise select the Reconfigure Axis button see Section 12 4 1 Selecting Reconfigure Axis will open the Axis Configuration Wizard Setup Wizard Configuring Axis X x axis configuration FBType Encoder FBType Encoder Channel 1 op er 3 q FBType Encoder Lines 4000 Axis Configuration Correct Faison Encode Boimiedei C Reconfigure Axis lOType D24 AxisCalMasterl 1 Help Axis Complete Cancel E 4 Finish
26. DB 80c display byte of data at 80c 4 6 15 DCAX The DCAX command displays the status position velocity and type of axis for the currently selected axis via the AX command The status displayed is the fault servo and motion status for the axis The type of axis indicates a linear or rotary axis as follows 0 Linear axis 1 Rotary axis with modulo position rollover 2 Rotary axis without modulo position rollover EXAMPLE DCAX display status on current axis 4 6 16 DIR The DIR command displays a directory of the programs on the UNIDEX 600 Series controller and the state of the program compiled downloaded associated EXAMPLE DIR 4 6 17 DOWNLOAD The DOWNLOAD command loads the axis firmware into the UNIDEX 600 Series controller card and initialize it to it s power up state If the firmware has been previously downloaded the RESET command must be used to reset the axis processor card before another download takes place EXAMPLE DOWNLOAD load axis processor firmware 4 24 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 6 18 DRVINFO This command displays information on the configuration of the device driver EXAMPLE DRVINFO display device driver configuration 4 6 19 DUMPTABLE table number The DUMPTABLE command dumps CAM tables See AerCamTablexxx function in the UNIDEX 600 Library Reference Manual P N EDU156 EXAMPLE DUMPTABLE 0 dump CAM table 4 6 20 DUMPERROR tab
27. If during cutter compensation the angle between two moves on an outside corner will be less than the angle specified by this parameter then instead of generating a link move between points A and C around the angle 9 the controller will instead execute an offset move and follow that path For example travel through point A to point B then through point C as illustrated in the picture Large values of CutterToleranceDeg can be dangerous The offset method is desirable when the angle between move and move 2 is small as discussed above However the offset method is less desirable the larger the angle between the moves because it will also cause the tool to leave the part temporarily at point b the tool will not contact the part This departure increases dramatically with move angle and in fact if the angle between move and move 2 is 180 degrees the offset method WARNING yields an infinite departure and the controller reverts to the link method regardless of the value of the value of CutterToleranceDeg CutterY Actual Path Programmed Path CutterX Figure C 17 Cutter Compensation Illustration C 72 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 25 Link Move A link move is generated by the CutterX and CutterY axes during Cutter Compensation such that a round tool will produce a square corner The link move is from point A to point C as illustrated in Figure C 17 The tool is always in
28. Linear Figure C 1 ACCELMODE Ramp Setting C 6 Aerotech Inc Version 1 4 U600 User s Guide Parameters C25 ACCELRATE This parameter sets the rate of acceleration for GO point to point moves and asynchronous moves while the ACCELMODE parameter specifies rate based ramping The units are machine counts per second This parameter is used only when the ACCELMODE parameter is set to 2 and 3 This parameter is not used for CNC contoured motion G1 G2 G3 refer to 5 AccelTimeSec task parameter for ramping contoured moves C 2 6 AFFGAIN This axis parameter sets the Acceleration Feed Forward Gain within the servo loop AFFGAIN may be used to compensate for inertia loads on torque mode axes The value of the AFFGAIN should be proportional to the inertia i e the larger the inertia of the system the larger the AFFGAIN The ALPHA axis parameter will filter smooth out the rapid current command changes produced by the AFFGAIN axis parameter Refer to the UNIDEX 600 Hardware manual under Servo loop for a description of how AFFGAIN is used in the servo loop or Tuning Servo Loops under the AerTune chapter of the User s Guide You can use the AutoTune feature within the AerTune exe utility on the Tools menu to automatically determine servo loop gains for a torque mode axis 5 C 2 7 ALPHA The ALPHA axis parameter filters the commanded acceleration which is scaled by the AFFGAIN axis parameter This
29. RL Read a longword from the specified address Address WB Write the byte at the specified address Address Data WW Write the word at the specified address Address Data WL Write the longword at the specified address Address Data Version 1 4 Aerotech Inc 4 15 AerDebug U600 User s Guide Table 4 2 AerDebug Commands Cont d Axis Commands Description Parameters CONFIGD2A Configure a DAC channel for this axis channel CONFIGENCODER Configure an encoder feedback channel for this axis sone lines CONFIGHENCODER Configure an encoder feedback channel with hall effect sensors for See command this axis description CONFIGRESOLVER Configure a resolver feedback channel for this axis nee command description CONFIGHRESOLVER Configure a resolver feedback channel with hall effect sensors for See command this axis description CONFIGREAD Configure an axis from an INI file filespec CONFIGWRITE Write the axis configuration to an INI file filespec DCAX Axis data center data None DRVINFO Display axis configuration information None GETPROG Display programming error and clear error condition None INFO Axis configuration information None Task Commands Description Parameters DIR Directory of downloaded programs None DUMPTABLE Dumps CAM tables Table number DUMPERROR Du
30. This axis parameter sets the peak commanded output current when the axis is operating in the current torque mode This is done by limiting the maximum output voltage of the current command signal that is in turn translated into a proportional motor current by the drive module 10 volts is represented by 32 767 To set this parameter determine the maximum input command voltage that the amplifier requires to produce the maximum desired motor current The default value of this parameter is 32 767 producing a 10 volt current command signal that would command the maximum current from the drive module For brushless motors this parameter is set to the peak value of the desired sinusoidal output current This parameter could also be used to limit the maximum commanded velocity in the velocity command mode but is not normally used for this purpose due to the VELTRAP and VELCMDTRAP axis parameters See the IAVGLIMIT axis parameter for an example on calculating the instantaneous torque produced by the motor C 2 53 1 Computing Torque Closed Loop Torque Mode The torque applied to the motor in torque mode may be easily calculated for brush or brushless motors if you know a few parameter values and the K motor torque constant The UNIDEX 600 650 Controllers have a 16 bit Digital to Analog converter used to convert a signed 16 bit number 32 767 through 32 767 to an analog voltage in the range of 10 volts through 10 volts This voltag
31. 0x310 Image Name C U600 BIN PSO IMG The IOBase address and IRQ values are determined by hardware jumpers on the 5 UNIDEX 600 620 controller card VVV Version 1 4 Aerotech Inc 8 3 AerReg U600 User s Guide 8 4 Aerotech Inc Version 1 4 U600 User s Guide AerPlot3D CHAPTER 9 AERPLOT3D In This Section ENOO EAEOI eaea a E enter eee ee sree 9 1 O Wiaan e Ao Deia Esodo 9 2 e Reading and Displaying a Plot Data File 9 2 e Auto Scaling the Display in AerPlot3D 9 4 9 1 Introduction The AerPlot3D utility allows the user to continuously plot the motion tool path in either a 2D or 3D format This utility may not collect data while AerPlot AerTune or AerPlotIO are collecting data The following items may be plotted Velocity Command Velocity Feedback Velocity Error Position Feedback Position Command Position Error Torque Acceleration In 2D plotting two items may be selected for each axis In 3D plotting only item per axis may be plotted The data plots may be saved and later reloaded into AerPlot3D 9 1 1 File Menu The select setup menu selection allows you to select one of the five previously defined configurations defined via the Save Setup menu selection as shown in Figure 9 1 The Save Setup menu selection allows up to five configurations to be defined for AerPlot3D each with a comment describing their configuration Edit Current Comment
32. 32 767 0 PHASEBOFFSET 144 RW 32 767 32767 0 POS 2 RWU 2 147 483 648 2 147 483 647 0 POSCMD 7 RWU 2 147 483 648 2 147 483 647 0 POSERR 8 RU 2 147 483 648 2 147 483 647 0 POSERRLIMIT 36 RW 0 10 000 000 65 536 POSTARGET 10 RU 2 147 483 648 2 147 483 647 0 POSTOGO 9 RU 2 147 483 648 2 147 483 647 0 POSTOGOIRQ 131 RW 0 2 147 483 648 0 C 4 Aerotech Inc Version 1 4 U600 User s Guide Parameters Table C 1 Axis Parameters continued Name Parameter Access Minimum Maximum Default POSTOLERANCE 138 RW 0 2 147 483 647_ 0 POSTOLTIME 139 RW 0 8 388 607 0 PROFILETIME 86 RW 1 1 000 250 PROFQDEPTH 87 RU 0 4 294 967 295 0 PROFQSIZE 88 RU 0 4 294 967 295 32 RAWPOS 6 RU _ 2 147 483 648 2 147 483 647 0 RESOLVER 5 RU 0 10 000 000 0 REVERSALMODE _ 29 RW 0 1 000 0 REVERSALVALUE_ 30 RU 0 1 000 0 SAFEZONECCW 45 RW _ _ 2 147 483 648 2 147 483 647 0 SAFEZONECW 44 RW 2 147 483 648 2 147 483 647 0 SAFEZONEMODE _ 46 RW 0 2 0 SCALEPGAIN 133 Rw 0 2 0 SERVOSTATUS 98 RU 0 4 294 967 295 64 896 SIMULATION 47 RW 0 2 0 SOFTLIMITMODE 115 Rw 0 1 0 STATUS 1 RU 0 _4 294 967 295 64 896 SYNCSPEED 85
33. C 4 30 C 4 31 C 4 32 C 4 33 C 4 34 C 4 35 C 4 36 C 4 37 C 4 38 C 4 39 C 4 40 C 4 41 C 4 42 C 4 43 C 4 44 BlendMaxAccelRotaryDPS2 Task Paraimetens oseese rn aaia C 64 C 4 8 4 Calculating the value for the BlendMaxAccelLinearIPS2 and BlendMaxAccelRotaryDPS2 Task Parameters cennin nnen eea mshi C 64 BlendMaxAccelRotaryDPS2 cece cseeeeeseecreeeneeeeeene C 65 C 4 9 1 Force Rotary Axes Deceleration to Zero G9 if Maximum Acceleration is exceeded rrea caved see A rie iR En i avis C 65 C 4 9 2 Limit Rotary Acceleration without Full Deceleration siec tesserae vied ene C 65 BlendMaxAccelCircleIPS2 ee eeseceesceeeeeeneeceeeeeeseeeenees C 65 C 4 10 1 Calculating the value of the BlendMaxAccelCircleIPS2 Task Parameter C 66 CannedFunnctionID c ccc cceccssscecececeessneceeececesseaeeeeeeeneas C 66 ChordicalSlowdowWnMssec ccccessscceceesesececececeessaeeeeeeeees C 66 ChordicalToleranceInch cccecseccccceesesssecececeessnseeeeeeenes C 67 CommandVelocity Variance ee eeesecseereeseeceeeeeeneeeee C 67 Coord Pladenn E E AT REE IERS C 67 C 4 15 1 Clockwise Circular Axes Plane 006 C 68 GOO i E EE E E E E E C 68 Coord l Praise a a r oe e AROS e C 69 0 0 16 BB Cer ne r a T E E E C 69 Coord2 Planes E ccc seit essed A E E eosin C 69 C 4 19 1 Clockwise Circular Axes Plane 00 C 70 COOK PA KA E E AE EEE E E O ATE EO C 70 010 S
34. Disabling the Drives 2 15 Display Recommended 2 2 DL command 4 25 DOWNLOAD command 4 24 DRIVE C 18 Drive Fault 2 13 C 19 DRVINFO command 4 25 DUMPERROR 4 25 DUMPTABLE 4 25 DW command 4 25 E ECHO C 18 Echoing 4 35 Editing registry entries 8 1 Electrical Poles Setting 4 7 ENABLEPENDANT 4 25 Enabling Faults 4 11 Enabling Interrupts 4 11 encchan argument 4 8 4 9 encchanne argument 4 8 Encoder Channel Hall Effect Setting 4 8 4 9 Encoder Channel Position Feedback Setting 4 8 4 9 Encoder Counts Motor Rev Setting 4 8 4 9 Encoder feedback 4 20 4 21 Encoder Feedback 4 6 Encoder Feedback Hall Sensors 4 6 Encoders 3 4 End 4 4 End of travel C 14 Enter 4 4 Error 1 6 Error Message String 4 12 Errors 4 38 C 24 Esc 4 4 EStopEnabled C 117 Exceeding Parameter Limits 4 12 Execute a single CNC program line 4 26 Execution options Command line 4 1 Execution unit 1 4 EXELINE command 4 26 EXEPRG command 4 26 EXIT command 4 26 Expansion board 4 20 External Feedback Fault 2 14 C 20 F Fault Acknowledgements 4 11 Fault conditions 2 14 Fault Handling FAULT TYPE 2 13 2 14 C 19 C 20 BIT LOCATION 2 13 2 14 C 19 C 20 ii Aerotech Inc Version 1 4 Version 1 4 U600 User s Guide Index Fault masks 1 8 Fault Masks C 45 C 113 Faults 1 5 1 8 C 24 FBWINDOW C 21 Feedback 4 26 Feedback device 2 8 Feedback Device 4 6 Feedback devices 3 4 Feedback Fault 2
35. InterruptMotionReturnType 70 RW 0 4 0 JogPairl Axis MinusIn 107 RW 1 511 1 JogPairl Axis1PlusIn 106 RW 1 511 1 JogPairl Axis2MinusIn 110 RW 1 511 1 JogPairl Axis2PlusIn 109 RW 1 511 1 JogPairlEnableIn 103 RW 1 511 0 JogPairl Axis 105 RW 0 65 535 0 JogPairl Axis2 108 RW 0 65 535 0 JogPairlMode 104 RW 0 3 0 JogPair2Axis1MinusIn 115 RW 1 511 1 JogPair2Axis1PlusIn 114 RW 1 511 1 JogPair2Axis2MinusIn 118 RW 1 511 1 JogPair2Axis2PlusIn 117 RW 1 511 1 JogPair2EnableIn 111 RW 1 511 0 JogPair2Axis1 116 RW 0 65 535 0 JogPair2Axis2 113 RW 0 65 535 0 JogPair2Mode 112 RW 0 3 0 JoyStickPort 80 RW 0 3 0 LinearFeedRate 35 RW 0 0 1 0e 037 0 LinearFeedRateActual 66 RU 0 0 1 0e 037 0 LineNumberUser 122 RU 0 2 147 483 648 0 LineNumber960 123 RU 0 2 147 483 648 0 MaxCallStack 3 RW 0 100 10 MaxLookAheadMoves 121 RW 1 1 000 000 10 MaxModeStack 4 RW 0 100 10 MaxMonitorData 54 RW 0 1 000 10 MaxOnGosubData 55 RW 0 1 000 10 MaxRadiusAdjust 143 RW 0 360 05 MaxRadiusError 58 RW 0 100 5 MFO 37 RWU 0 0 2 0 1 0 Mode1 62 RW 0 1 39 MSO 38 RWU 0 0 2 0 1 0 NormalcyToleranceDeg 129 RW 0 20 0 C 58 Aerotech Inc Version 1 4
36. Once all axes are configured you will begin configuring the Task and Global parameters Setup Wizard Configuring Axis X Axis Configuration Has Been Completed Finish Help Axis Complete Cancel lt Back Figure 12 26 The Axis Configuration Complete Screen 12 34 Aerotech Inc Version 1 4 U600 User s Guide Setup Wizard 12 19 Accel Decel and Task Initialization Select G63 Sinusoidal or G64 Linear as the default Acceleration Deceleration mode Select either G67 Time or G68 Rate as the default Acceleration Deceleration type Select either the G90 Absolute or G91 Incremental as the default programming mode Select G17 G18 or G19 as the default circular contouring plane Select an axis for the Coordinate System 1 I Axis Select an axis for the Coordinate System 1 J Axis Select an axis for the Coordinate System K Axis Setup Wizard Configuring Task 1 Accel Decel Mode Accel Decel r Programming Mode f C G67 Time Based C G90 Absolute C G64 Linear G68 Rate Based G91 Incremental m Coordinate Axes Plane 1 Selection Coordinate Axis 1 x 7 G17 1J Coordinates G18 KJ Coordinates Coordinate Axis 1 J lv x C G19 JK Coordinates Coordinate Axis 1 K iz a Help Axis Complete Cancel lt Back Next gt Finish Figure 12 27 The Accel Decel and Task Initialization Screen Version 1
37. PRGTYPE filespec 000 cee eeeceenceceseceeeeeceaeeeeeeeceaeeeeeeees 4 39 4 6 71 PRGUNLOAD filespec cee eesceereeenseceereeeneeceereeeneeees 4 39 46 72 PPSODOWNLOAD r Sis ee HA eis 4 39 AO 73 5 QUID AO E E EEEE E EEEE 4 39 4 6 74 RB address ccccecscccescesseecsseceeseecesseeeeeceeeeeseeceeeeeeaeens 4 40 4 673 RDO ae E E nga E E E R a 4 40 R STEE e E rd S A EEEE EAE A E E EE SAEPE E 4 40 4 6 77 RGINFO device_id card_num eecceeeesseeeeeeees 4 40 46A RL address nena aE A ed ase 4 40 420 79 RW ad dress lt ccsiccssascvsseccvedsutecesraeesnreverteegentve a 4 40 4 6 80 SPENDANTTEXT channel line text 4 41 4 6 81 TK task_number ssesseseeeeeeeseeeessereesseresssereseeeessseeesseresee 4 41 4 6 82 TSKASSOC filespec eee eesceereeeseceeeeeeneeceeeeeenseeenees 4 41 vi Aerotech Inc Version 1 4 U600 User s Guide Table of Contents 4 6 83 TSKDEASSOG 3 0 ocsescsescesiicscesssoshsvsess ebscesses cceessdesbpascstevees 4 41 4 6 84 TSIKINEO rann eee eea ae ee esee e eee ESSES esas 4 41 4 6 85 TSKPRG mode execution_type or line_number 4 42 4 60 86 TSKRESET ka a a r eE ese EE SY 4 42 4 6 87 VAGET type number esssesssesssesseessserssressrrssressrseseseee 4 42 4 10 88 VEGE Tire a E E R A S EES 4 42 4 6 89 VDGET type number esssesssesesssessessressressessseseseserssee 4 43 4 6 90 VDMON type number ss sssssesssesesssessessresseess
38. Table C 10 Task Parameters Name Parameter Access Minimum Maximum Default AccelRate 141 RWU 0 0 100 000 0 30 0 AccelRateDPS2 33 Rw 0 0 360 000 0 60 0 AccelRateIPS2 31 Rw 0 0 100 000 0 30 0 AccelTimeSec 29 RW 0 0 100 0 0 1 AnalogMFOInput 56 RW 1 7 1 AnalogMSOInput 63 RW 1 T 1 BlendMaxAccelLinearIPS2 97 RW 0 1 0e 037 0 BlendMaxAccelRotaryDPS2 98 RW 0 1 0e 037 0 BlendMaxAccelCircleIPS2 99 RW 0 1 0e 037 0 CannedFunctionID 124 RW 0 100 0 ChordicalSlowdownMsec 130 RW 20 20 0 ChordicalToleranceInch 127 RW 0 1 0e 037 0 CommandVelocityVariance 131 RW 0 1 0e 037 A Coord1I 39 Rw 0 15 0 Coord1J 40 Rw 0 15 1 Coord1K 41 Rw 0 15 2 Coord1Plane 42 RW 1 3 1 Coord2I 43 Rw 0 15 3 Coord2J 44 Rw 0 15 4 Coord2K 45 Rw 0 15 5 Coord2Plane 46 RW 1 3 1 CutterActive 139 RWU 0 1 0e 037 0 CutterLength 134 RWU 0 1 0e 037 0 CutterOffsetX 136 RWU 0 1 0e 037 0 CutterOffsetY 137 RWU 0 1 0e 037 0 CutterRadius 138 RWU 0 100 0 5 CutterRadiusInch 49 RW 0 100 0 5 CutterToleranceDe
39. The primary feedback device is used for position and velocity feedback unless there is a secondary feedback device When there is a secondary feedback device the primary feedback device is always used for position feedback only Encoder Configuration Section 12 4 6 1 on page 12 11 EncoderHall Configuration Section 12 4 6 2 on page 12 11 EncoderHall Pole Pairs Section 12 4 6 3 on page 12 13 Resolver Configuration or Inductosyn Section 12 4 6 4 on page 12 15 ResolverHall Configuration or Inductosyn Section 12 4 6 5 on page 12 16 Stepper Motor Configuration Section 12 4 6 6 on page 12 17 Null Virtual Configuration Section 12 4 6 7 on page 12 18 12 8 Aerotech Inc Version 1 4 U600 User s Guide Setup Wizard Axis Configuration Wizard Configure Feedback Encoder Hall Channel Betta Number of lines 4000 Hall Channel Channel 1 Number of lines cycle fi 000 Commutation Offset jo Bounded by Software Limits True e Finish Cancel Help Figure 12 8 The Axis Configuration Wizard Primary Feedback Screen Selecting Next will advance you to the next Wizard configuration screen Back will take you to the previous Wizard screen Cancel will exit the Wizard without saving any changes to the axis configuration Finish will save the axis configuration and exit the Wizard 12 4 5 Configuring a DAC Channel The D A D2
40. This Global parameter indicates the version number of the UNIDEX 600 software This number is a monotonically increasing number indicating the index of the software build This number also shows up as the last digit in the version string see the title bar on UNIDEX 600 MMI This number does not necessarily indicate compatibility i e BuildNumber 20 files may or may not be compatible with BuildNumber 19 files Compatibility is represented by the version numbers which are the first numbers in the version string C 114 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 5 3 CallBackTimeoutSec This Global parameter specifies the amount of time in seconds that the controller will wait before generating a task fault if there is no response to a callback from the Frontend C 5 4 CompatibilityMode This global parameter allows the programmer to change the behavior of the UNIDEX 600 back to the original or legacy behavior when such is required This parameter is provided to allow users to run CNC programs written for older versions of the UNIDEX 600 MMI The parameter is a bit mapped value where each bit toggles the behavior from the current or default behavior to a previous behavior that was defined in older versions Bit 0 is the least significant bit The version number in the chart indicates the first version of the software that had this change in behavior Table C 20 Compatibility Chart Bit Hexad
41. U600 User s Guide 4 6 85 TSKPRG mode execution_type or line_number The TSKPRG command allows program execution to be controlled The program may be Executed Aborted Reset Stopped or have the Line number to execute set These modes are set by specifying the mode parameter as E A R S or L respectively The second parameter is only specified for the Execute and Line number modes The Execute mode may optionally specify an execution mode as normal O default step into 1 or step over 2 The Line number mode may specify the line number to set by the second parameter EXAMPLE TSKPRG E execute program in normal mode TSKPRGE 1 execute program in step into mode TSKPRG A abort current program TSKPRG R reset current program TSKPRG S stop the current program TSKPRG L 5 set current program line number to 5 4 6 86 TSKRESET This command resets the current task This includes deassociating any program clearing task faults clearing program call stack and Rtheta Preset and fixture offsets are removed 4 6 87 VAGET type number The VAGET command displays the specified Global or Task axis point variable The type of axis point variable is specified as G or T for Global or Task variables By default there are 10 of each axis point variables in the range of O through 9 determined by the NumTaskAxisPts and the NumGlobalAxisPts parameters If the variable number is omitted all ten of the specified type of axis po
42. and channels 13 16 are on the RDP PC card configured as Board 4 12 12 Aerotech Inc Version 1 4 U600 User s Guide Setup Wizard Number of Lines Electrical Cycle The number of lines cycle field specifies the number of lines the encoder after x4 multiplication by the controller that are equal to one electrical cycle of the motor This value must be an integer although no cumulative commutation error will occur The maximum number of lines cycle permitted is 2 147 483 647 The motor may also be commutated by Six Step commutation For motors with an odd number of electrical cycles configure the motor as EncoderHall instead The number of lines specified is relative to the encoder channel number specified by the Commutation Channel typically the velocity feedback device Rotary Motors This is set equal to the number of encoder counts per revolution of the motor after x4 multiplication divided by the number of electrical cycles per revolution of the motor number of poles pairs Linear Motors This is set equal to the number of encoder counts after x4 multiplication per electrical cycle of the forcer motor Commutation Offset The commutation offset indicates the number of electrical degrees to align the absolute rotor reference provided by the commutation channel to the rotor of the motor The offset is entered as counts ratioed to 1024 and may be positive or negative A 360 offset is equal to 1024 A 1
43. calls Two special classes of library functions AerCompilrxxx and AerTaskxxx can be used to control the CNC engine execution unit The axis processor returns data to the PC through return variables in the library calls or through PC interrupts 1 4 2 1 The PC Interrupt The Axis processor generates PC interrupts in two cases Faults axis or task and Callbacks The U600MMI or any other Aerotech utility software running on the PC does not use fault interrupts they are for the convenience of the application programmer if they desire to use them see the AerEventxxx functions Callback interrupts are used in a number of CNC statements their purpose is to have the axis processor instruct the PC it needs to do something to support the execution of a CNC program For example FILEWRITE and DISPLAY CNC statements require the use of the PC even though the axis processor executes these statements Another CNC statement of interest that uses callback interrupts is the CALLDLL statement that allows the programmer to run C or C functions that they write in DLLs from a CNC program Chapter 2 discusses the causes and effects of Task and Axis faults and the UNIDEX 600 Series CNC Programming Win NT 95 Manual P N EDU158 under the Extended Commands covers in more detail callback interrupts The axis processor will not wait for any response to an interrupt it simply continues on If no one picks up the interrupt it has no effect The U600MMI will
44. evident 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 Laser Products Return Procedure Returned Product Warranty Determination Version 1 4 Aerotech Inc Warranty and Field Service U600 User s Guide Returned Product Non warranty Determination Rush Service On site Warranty Repair On site Non warranty Repair Company Address After Aerotech s examination
45. oie Sills hn ete he ads Se eee as 3 1 3 1 1 Combination Programming 00 0 eee cece ceseceecnseeeeeeee 3 2 3 1 2 Multis Fas kingen reese silecsbestioneen eons 3 2 3 2 The Library Programming Interface 00 00 eee ec ceeeeeeneeeeeeeeeeeeeees 3 3 3 2 1 Basic Elements of a Library Interface Program 3 4 3 3 CNC G code Programming cece eceecesscesecesecesecesecssecseeeneeeneeees 3 5 3 3 1 CNC Tasks and Programs 0 0 0 0 cece eeeeeeeeeeeeeeeeeeeseeeseenees 3 6 3 3 2 CNC Program Execution eee eeeecesecesecesecnsecseeeseeenes 3 7 3 3 3 Motion from a CNC Program eee eeeeeseeeceeeeeseceeeaes 3 8 CHAPTER 4 AERDEBUG visti sda iaeit eae endian ptteiees ten ellelgi eke 4 1 4 1 Introduchons 4 s ciestina eset aug ashe Ab elaine TE ESEE Si 4 1 4 2 The S CLES D ses cs seesee sabes enchoenesectedestuth ound wu ties E A R 4 2 4 3 The Prompt sacie senate She boat Sashes eters iss 4 3 4 3 1 Entering Commands 000 0 eee cee eseeeeeeeeeeeeeeeeeeeeeeeensees 4 3 4 3 2 Special Keys e ssccicsitevsssesssesestsssesbeosssssesscseveasetsascosteseasstedavesss 4 4 APS 35 Helpon e aare davveveeptovenassucpsbeetietves eeecthsvecsepssvevsaty 4 5 4 4 Axis and Faultmask Configurations esesseesseeeesseeeresrseeeresreerrsrerreeese 4 6 4 4 1 Configuring an AXIS eesssesseeeesssreseesressrrrreresreeresreeresrereree 4 7 4 4 1 1 CONFIGRESOLVER Resolver or Inductosyn Feedback innsir ie e N RAR 4 7 iv Aerotech Inc V
46. 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
47. 0 4 1 JogDistanceDeg 30 RW 0 1 000 000 5 JogDistanceInch 29 RW 0 1 000 000 1 JogVelocityRPM 32 RW 0 1 000 000 0 JogVelocityIPM 31 RW 0 1 000 000 0 MaxFeedRateIPM 3 RW 0 0 1 000 000 500 0 MaxFeedRateRPM lt 4 RW 0 0 1 000 000 300 0 NumDecimalsEnglish 13 RW 1 0 14 0 4 0 NumDecimalsMetric 14 RW 1 0 14 0 3 0 PositionCmdUnits 18 RU lt NA gt lt NA gt lt NA gt PositionUnits 17 RU lt NA gt lt NA gt lt NA gt PresetCmdUnits 19 RU lt NA gt lt NA gt lt NA gt RapidFeedRateIPM __ 5 RW 0 0 1 000 000 120 0 RapidFeedRateRPM __ 6 RW 0 0 1 000 000 60 0 ReverseSlewDir 34 RW 1 1 0 ScaleFactor 25 RW 1 000 000 1 000 000 1 Type 0 RW 0 3 0 UnusedAxis 33 RW 0 1 0 Version 1 4 Aerotech Inc C 45 Parameters U600 User s Guide C 3 1 Modifying a Machine Parameter within a CNC Program Any machine parameter may be modified within a CNC program or MDI command line by specifying the machine parameter name followed by a decimal point and the axis name The case of these machine parameters is significant as defined in the machine parameter table The axis name is that assigned when the axis is configured and bound to the task within the axis configuration wizard If the default axis name is used the task axis names would apply Example MaxFeedRateIPM X 30 Write to machine parameters MaxFeedRateRPM Y GLOB3 GLOBO MaxFeedRateI
48. 13 C 19 Feedback Resolution C 24 Feedback types 2 8 Feedback Types encoder 4 6 encoder hall sensors 4 6 resolver 4 6 FeedHoldEdgelInput C 77 FeedHoldInput C 78 FEEDRATEMODE C 21 Field Service Information D 1 Field Service Policy D 1 File pull down menu AerPlot 6 2 Filter Utility 11 1 Firmware 4 24 Flowchart Overall tuning process 5 21 Free disk space 2 2 G G1 C 6 G2 C 6 G3 C 6 G67 C 6 G code Programming 3 5 GET FAULT Command 4 11 GETPROG command 4 19 4 21 4 22 4 23 4 26 GlobalEstopDisabled C 78 Graphics Display Recommended 2 2 H Hall effect feedback 4 22 Hall Effect Setting 4 8 4 9 HALTMASK 2 15 Help 4 5 Help screen 4 2 Home 4 4 Home Fault 2 13 C 19 Home Feedrate C 24 Home Limit and Marker Pulse Minimum Distance Between C 24 Home Limits Switch C 24 Home Marker Pulse C 24 Home Position C 24 Home Tolerance Fault 2 13 C 19 HOME_SWITCH_TOLERANCE Fault C 24 HomeDirection C 48 HOMEOFFSET C 23 HomeOffsetInch C 49 HOMESWITCHPOS C 23 HOMEVELMULT C 24 Homing 4 31 Homing Sequence Accuracy C 24 I IAVG C 24 IAVGLIMIT C 25 IAVGTIME C 25 ICMD C 25 ICMDPOLARITY C 25 IMAX C 26 Incremental moves 4 31 Incremental optical encoder feedback 2 8 INFO command 4 26 INPOSLIMIT C 27 Input potentiometer 5 37 Insert 4 4 Installation of the UTIL600 software package 2 5 Installation process 2 1 Integral Error Trap 5 22 5 33 Integ
49. 14 bit number 0 16384 with 360 degrees being equal to 16384 The bounded parameter is used to activate software end of travel limits by entering a 1 for this parameter 0 to disable them UNIDEX 600 Series controllers have 4 channels provided by each resolver R D card Their channel numbers are determined by the R D board number Resolver board number one will be channels 1 through 4 board two will be channels 5 through 8 etc Attempting to configure an axis for a resolver channel that is not present will cause a programming error This error will be indicated by the GETPROG command after the bad configuration attempt EXAMPLE CONFIGRESOLVER 3 12 4 8192 1 scurrent axis will be assigned sresolver channel 3 to receive sposition velocity feedback from feedback will be 12 bit 4096 scounts per motor revolution it is sdriving a 4 pole motor the sresolver is 180 electrical degrees 8192 out of phase with the smotor software limits are enabled Version 1 4 Aerotech Inc 4 23 AerDebug U600 User s Guide 4 6 13 CONFIGWRITE filespec The CONFIGWRITE command writes the currently selected axis configuration to the specified INI file The CONFIGREAD command may be used to restore the axis configuration from the file EXAMPLE CONFIGWRITE AxisCfg ini write currently selected axis configuration to AxisCfg ini file 4 6 14 DB address The DB command displays the value of a byte at the specified address EXAMPLE
50. 15 2 6 2 5 ABORTMASK o eee eeeeeeeeeceeeeeeeeeneenseeaees 2 16 2 6 2 6 INTMASK ssesescecsce sbcssszs sees si ea praso ara Eases 2 16 2 0 2 T BRAKEMAS K a e e onran ape a E esr 2 16 2 0 2 8 Example minners id e sa e a o SS 2 16 2 7 Task Pauls i004 Seatac cetineih elias i ih aes 2 18 2 8 Emergency Stop ESTOP siniseen ieseoieses reesen eirioes 2 18 29 AKIS TESINE n a e a te dee A S N ES 2 19 2951 Axis Limits seen sein ch e ela ee ET O 2 19 29 2 Axis Feedback isisc coin Seite le Ss Resi 2 19 2 9 3 Akis Loop Closutte ss sccssscsscisssesscesstsstasesegasenusesscetontioesoetcase 2 19 ZNO ACCCLERALONS a yec sseni eresas eene dns pees EE pinblusesssyeesep 2 20 20 AXIS TUNING sisene ade E EEE EE E e e EEEE EEEE EEE EE REES 2 20 212 JOSPING hee a E a E E i EE E RERIN 2 20 213 HOMIMG oarenien r r E E EEE ETA EE 2 21 2 14 Programmed MOves cescccesrceeseeceseeeeeeceseeesaceceeeeeaeecsereeeneeenaes 2 22 2 155 Digital VOe toen enre eee hak ieee he Bh Sieh ee 2 22 2 15 1 Associating Virtual I O with Physical O ee 2 22 2 16 Other Maniials i rissies esineen orenera sous Era TESIR p a aa I E ERSE 2 24 2 16 1 Hardware Manuals UNIDEX 600 ceccceessseeeeneeees 2 24 2 16 2 Programming Manuals sseeseesseseeeseeeseseessrerresesreeresreeres 2 24 2 16 3 MMI Interface occ n a EE RRES 2 24 CHAPTER 3 PROGRAMMING eeeeseeieressesrsreriersssesrsrerrersrsesrerrerereersrseee 3 1 3 1 Introductony ci2scc
51. 2 3 Chapter 5 Figure 1 1 Installation Process 13 Programming The U600 Series Controllers offer two independent programming interfaces Library Called and RS 274 G code The correct interface or combination of interfaces the programmer should use depends on the target application therefore the programmer must understand the fundamentals of both in order to make the correct decision Refer to Chapter 3 Programming for more details 1 2 Aerotech Inc Version 1 4 U600 User s Guide Introduction and Overview 1 4 Architecture Overview A UNIDEX 600 Series controller installed in a PC acts as a dual processor system The PC s CPU is one processor and the UNIDEX 600 card referred to as the axis processor is another independent processor Although the axis processor is one processor through the use of polling and interrupts it acts as three separate execution units called the library servicer the CNC engine and the motion controller refer to Figure 1 2 e I Library G Code Calling Compiler Application I I I PC Interrupt I CNC Programs Library CNC Engine Services alles Lyse Motion Controller 4 millisecond interrupt Drives l Motors Figure 1 2 System Architecture Version 1 4 Aerotech Inc 1 3 Introduction and Overview U600 User s Guide 1 4 1 Axis Processor The motion controller has highest priority
52. 20 Configure the ESTOP Feedhold and MFO cee ceesteeeeeeeeeeee 12 36 12 21 Configure Synchronous Accel Decel 0 0 0 0 eee eeeeeeeeeeeeeeeeeeeeees 12 37 12 22 Setup Wizard Configuration Complete ee eeeeeeeeees 12 38 CHAPTER 13 PRMSETUP 555305 0 cite eh ein onis nae wha oni en 13 1 T3 1 Inttodtictiont 3 otidnc tii ee aree aiteini atin Misia edie 13 1 APPENDIX A GLOSSARY OF TERMS ccc ccecescsseceeesecneeeecneeeeceaeeneeneens A 1 A l Introductionivess ce sepciocibece este aioe ieee dea ele aber A 1 APPENDIX B TROUBLESHOOTING 000 ccc cccceccsesecsseceeeseceeeecneeeecsaseneeaeens B 1 APPENDIX C PARAMETERS heria ienne panei r E a E NaRa C 1 C 1 Desceiptiohs io pana a E A R RE RE ENS C 1 Calle Name EE E E EA E C 2 C 1 2 Type of Parame tef msisite piieis ee iess C 2 CAE BL ACCESS E E eitie isin cues C 2 C 1 4 Minimum Maximum cccccccccsesscccccecsesssseceeeceeeessseeeeees C 2 G15 Defaults a r ts Bea aA E E A as C 2 C22 AXIS Parameters nreno enri a eweens nuh sevottande nt eet steerer estes C 3 C 2 1 Modifying an Axis Parameter within a CNC Program C 5 C 22 ABORTMASK 4ui c ki Rani E C 5 C 2 3 ACCEL aisss awe va TET C 6 C24 ACCEEMODE oi csts soca ea aeae ae a eiae C 6 2 5 ACCELERATE iieri inen e ak itis EEEE EE E EERE ees C 7 C20 ABFGAING2 sconce a T A E ein aes C 7 C27 ALPHA ss eion ete behead ese aa C 7 C228 cALT STATUS re Haceieeneet at ioateusee ten
53. 4 3 Commands CONFIG 4 7 CONFIGENCODER 4 8 CONFIGHALL 4 8 4 9 PROG 4 12 Aerotech Inc i Index U600 User s Guide commchan argument 4 8 4 9 Communication PC and axis processor 1 5 Commutation Offset Setting 4 7 4 8 4 9 Compile a CNC program 4 37 Computing torque C 24 CONFIG Command 4 6 4 7 ConfigD2A 4 9 CONFIGD2A command 4 19 CONFIGENCODER command 4 20 CONFIGENCODER Command 4 6 4 8 CONFIGHALL Command 4 6 4 8 4 9 CONFIGHENCODER command 4 21 CONFIGHRESOLVER command 4 22 ConfigRead Read an Axis Configuration From a File 4 10 CONFIGREAD command 4 23 CONFIGRESOLVER command 4 23 Configuring an Axis 4 6 4 7 Configuring the axis 4 23 ConfigWrite Write an Axis Configuration to a File 4 10 CONFIGWRITE command 4 24 ControllingTask C 47 Coord1 Plane C 67 Coord1Z C 69 Coord2Plane C 69 Coord2Y C 71 Coord2Z C 71 Current axis 4 18 Current limit potentiometer 5 36 CutterRadiusInch C 71 CW Hard Limit Fault 2 13 C 19 CW Soft Limit Fault 2 13 C 19 CWEOT C 15 D D A channel 4 6 4 9 DACOFFSET C 16 DATA screen 4 2 DB command 4 24 DCAX command 4 24 DECEL C 16 DECEL Parameter 2 15 Decelerate Axis to Stop 2 15 DECELMODE C 16 DECELRATE C 17 DecelRateIPS2 C 74 Default C 2 Default axis 4 3 Delete 4 4 Digital I O 2 22 Digital to Analog Converter 2 8 Digital to Analog Converter 4 19 DIR command 4 24 DISABLEMASK 2 15 Disabling Faults 4 11
54. 4 39 iv Aerotech Inc Version 1 4 U600 User s Guide Index Q QUIT command 4 39 R R D Conversion Channel Setting 4 7 R D Conversion Resolution 4 7 R2Dchannel argument 4 7 Ramping C 6 C 16 RapidFeedRateRPM C 55 RB command 4 40 RDO command 4 40 Reducing noise 5 19 Register types 4 28 Registers 4 27 Registry database 8 1 RESET command 4 40 Resolution 1 7 resolution argument 4 7 Resolver feedback 4 22 4 23 Resolver Feedback 4 6 Resolver inductosyn feedback 2 8 Resolvers 3 4 RGINFO command 4 40 RL command 4 40 RMS Current Limit Fault 2 13 C 19 RotateAngleDeg C 96 Rotate Y C 97 RThetaRadiusInch C 98 RThetaT C 98 RThetaxX C 98 RThetaY C 98 Running CNC Programs 4 12 RW command 4 40 S1_Index C 98 S1_RPM C 98 S2_Index C 99 S3_Index C 100 S3_RPM C 101 S4_Index C 101 Send an Interrupt 2 16 Servo gain potentiometer 5 35 Servo loop 1 4 1 6 Servo loop gain settings 5 16 Servo loop gains 2 20 Servo Loop Tuning 5 11 5 16 SET FAULT Command 4 11 Setting Auxiliary Output 2 15 Setup Wizard 0 1 SOFTLIMITMODE C 40 Software installation process 2 5 Software Limits Disabled 4 7 Software Limits Enabled 4 7 Software options 1 10 Special characters 4 4 Special keys 4 4 Specifying Incorrect Arguments 4 12 Speed C 12 SPENDANTTEXT 4 41 Start motion Continuous 4 30 STARTUP EXE 2 5 State of drive signals 7 1 STATUS screen 4 2 S
55. 4 Aerotech Inc 12 35 Setup Wizard U600 User s Guide 12 20 Configure the ESTOP Feedhold and MFO Would you like the Global Emergency Stop Task ESTOP input active Would you like an external Feedhold Task Feedhold input Would you like an external Manual Feedrate Override Task MFO Setup Wizard Configuring Task 1 m Global E Stop I Global E Stop Enabled r Feed Hold Data No Feed Hold Enabled Edge Sensitive Feed Hold Enabled Binary Input Channel None C Level Sensitive Feed Hold Enabled Binary Input Channel None Analog MFO Input Channel None x Help Axis Complete Cancel lt Back Finish Figure 12 28 The ESTOP FeedHold and MFO Configuration Screen 12 36 Aerotech Inc Version 1 4 U600 User s Guide Setup Wizard 12 21 Configure Synchronous Accel Decel Enter the Acceleration Rate Task AccelRateIPS2 for synchronous motion when Linear Axes are dominant G99 Enter the Acceleration Rate Task AccelRateDPS2 for synchronous motion when Rotary Axes are dominant G98 Enter the Acceleration Time Task AccelTimeSec for synchronous motion Enter the Deceleration Rate Task DecelRateIPS2 for synchronous motion when Linear Axes are dominant Enter the Deceleration Rate Task DecelRateDPS2 for synchronous motion when Rotary Axes are dominant Enter the Deceleration Time Task DecelTimeSec for synchronous motion r Synchronous Move Infor
56. 4b Adjust Ki Gain Adjust Acceleration Feedforward AffGain Optional v 8 Turn on Position Error amp Integral Error FINISHED Figure 5 11 Flowchart of Overall Tuning Process Version 1 4 Aerotech Inc 5 21 E f AerTune U600 User s Guide The following is a step by step procedure for tuning motors without tachometers Please read each step thoroughly before performing the task IMPORTANT 1 Turn off the Position Error and Velocity Error bits in the FAULTMASK axis parameter by starting the AerDebug utility Download the axis firmware if this has not been done Select the axis that needs tuned with the AX command Record the current value of the FAULTMASK axis parameter by using the ParmGet command as follows ParmGet A FaultMask A value will be displayed after entering the preceding command Record this value to restore it after tuning the axis To disable these faults set the FAULTMASK axis parameter to 8398 as follows ParmSet A FaultMask 8398 2 Set the servo loop parameters to the initial values according to Table 5 1 Table 5 1 Initial Torque Mode Servo Loop Parameter Values PGain Ki Kp Vif VGain AffGain DACOFFSET Alpha 65536 PGAIN may need to be greater than 0 for short quick move profiles 3 Prepare the AerTune utility for tuning by performing the following functions a Press the maximize button on the title bar s
57. 650 expect positive velocity clockwise motor rotation feedback for a negative polarity torque command Also the resolution of an axis can be confirmed using this method To do this move the axis a known amount one revolution one inch etc and take note of the change in the monitored position To enable an axis it is necessary to use the PARMSET A DRIVE 1 command If the DRIVE parameter is set to zero 0 then the axis is disabled In order to enable an axis the DRIVE parameter must be set to a one 1 If the state is reversed use the JOLEVEL axis parameter to invert the state Before enabling the drive properly set the FAULTMASK DISABLEMASK HALTMASK ABORTMASK BRAKEMASK INTMASK and AUXMASK parameters Limiting the current command to the motor s continuous current rating is recommended when operating an axis for the first time This can be done by setting the IMAX parameter The default for the IMAX parameter is set to the maximum allowable current command Setting IMAX to a value less than the default limits the current command to the drive After an axis has been configured and the operation of the feedback is confirmed the axis servo loop gains can then be tuned for proper servo operation using the AerTunet Utility provided with the system Refer to Chapter 5 AerTune 4 6 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 4 1 Configuring an Axis On initial power up or reset of the axis processor al
58. AX command Record the current value of the FAULTMASK axis parameter by using the ParmGet command as follows ParmGet A FaultMask A value will be displayed after entering the preceding command Record this value to restore it after tuning the axis To disable these faults set the FAULTMASK axis parameter to 8398 as follows ParmSet A FaultMask 8398 2 Set the JAVGLIMIT parameter to 32 767 100 while in the velocity mode scales the maximum commanded velocity to 10 volts 32 767 Some low resolution systems 600 line encoders etc or high inertia systems or low velocity systems perform better at a lower update rate such as kHz If the user eo 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 The servo loop update rate can be changed to 1 kilohertz by setting the Enable1kHzServo global parameter to 1 3 Set servo loop parameters to the initial values shown in Table 5 3 Table 5 3 Initial Servo Parameter Values Tachometer Tuning VGain PGain Ki Kp Vff DACOffset Alpha AffGain 0 0 Always 0 Always0 0 Always 0 Always 0 4 Adjust the Velocity Loop on the amplifier If the user has a non Aerotech amplifier the manufacturer should provide information for configuring the amplifier to accept a Velocity Command and explain FS how to optimize the Velocity Loop
59. AXISINDEX_xxxx constant X or Y or Axis An AXISINDEX_xxxx constant Mask or Status A bitwise mask Axis parameters are a special case the units are not in the name Axis parameter units must be inferred from the meaning of the parameter times Milliseconds distances Machine counts velocities or speeds Machine counts per millisecond accelerations Machine counts per millisecond Version 1 4 Aerotech Inc C 1 Parameters U600 User s Guide L Exceptions to the above will be noted in the description text of that parameter C 1 1 Name The parameter name Axis parameters are always shown in all UPPERCASE letters Global Task and Machine parameters are shown in mixed case for greater legibility C 1 2 Type of Parameter What the parameter applies to Axis and Machine parameters apply only to the specified axis Task parameters apply to the specified task Global parameters apply to the axis processor in general C 1 3 Access A series of letters indicating access R is read W is write U means the axis processor may will update write this value If the code contains a W and U then both the user and the controller may write to it For example the axis parameter CLOCK has access RWU In these cases what the user writes may be overwritten C 1 4 Minimum Maximum The parameter can be any value between and including these two values Many parameters have as a limit n a This indicat
60. Acceleration Mode Axis ACCELMODE Enter the desired Acceleration Rate Axis ACCELRATE Enter the desired Acceleration Time Axis ACCEL Select the desired Deceleration Mode Axis DECELMODE Enter the Deceleration Rate Axis DECELRATE Enter the desired Deceleration Time Axis DECEL Setup Wizard Configuring Axis X m Asynchronous Move information Oye Ooh m Acceleration Acceleration Mode fo 1 cosine Ramping Time Based Acceleration Rate 600000 counts sec sec Acceleration Time 250 msec r Deceleration Deceleration Mode 0 1 cosine Ramping Time Based Deceleration Rate e00000 counts sec sec Deceleration Time 250 msec Help Axis Complete Cancel lt Back Next gt Finish Figure 12 15 The Asynchronous Move Screen 12 8 Position Limits and Velocity Trap Enter the desired Position Error Limit in user units Axis POSERRLIMIT Enter the In Position Error Limit in user units Axis INPOSLIMIT Enter the Velocity Trap in user units Setup Wizard Configuring Axis X r Position Limits Position Error Limit 0 250000 in F000 counts Min 0 Max 625 000000 In Position Error Limit 0 000625 in fi 0 counts Min 0 Max 4 096000 m Velocity Trap Velocity Trap 34 375000 in sec 550000 counts Min 0 Max 4096 000000 Help Axis Complete Cancel lt Back Next gt Finish Figure
61. Actual Command Velocity At At Time Figure C 7 Velocity Time Constant Effect on Velocity Change The observed value of At for contoured moves G1 G2 G3 G12 G13 may actually be larger than the VELTIMECONST value provided You must experiment under benign conditions to insure an appropriate setting for this axis parameter The acceleration of contoured motion may be limited by the following task parameters BlendMaxAccelLinearIPS2 Maximum acceleration for linear axes BlendMaxAccelRotaryDPS2 Maximum acceleration for rotary axes BlendMaxAccelCircleIPS2 Limiting acceleration during circle arc s G2 G3 Version 1 4 Aerotech Inc C 43 Parameters U600 User s Guide C 2 101 VFF This axis parameter enables or disables the Velocity Feed Forward portion of the servo loop Once enabled this function minimizes the position following error A one enables this function while a zero disables it C 2 102 VGAIN This axis parameter scales the velocity command within the servo loop VGAIN is used only In tachometer based velocity command systems VGAIN is multiplied by the velocity command and added to the velocity command output to the servo amplifier This parameter is used to reduce position error during the constant velocity portion of the move much like VFF would be used in a torque loop by feed forward Note that you can use the AutoTune feature within the AerTune exe utility on the Tools menu to auto
62. C 49 C 3 17 HomeOffsetInehi rrt ae eheee hanedan C 49 3518 Home Ly pees eroinin eee nores ie tisth oes ik C 49 C 3 18 1 TYPE 0 Home to Limit AND Reference PU SG asec tite te accent sa tests eansrer etek aa C 50 C 3 18 2 TYPE 1 Home into Limit amp Reverse to Reference Pulse Aerotech Std 0 C 50 C 3 18 3 TYPE 2 Home to Marker cceeeee C 51 C 3 18 4 TYPE 3 Quick Home to Limit Switch C 52 C 3 18 5 Type 4 Home Position at Current Position C 52 C 3 19 JogDistanceDeg eee cee cee cseeereeeeeeeeeeeeeeeeeeseeneensees C 52 C 3 20 JogDistancelnch ole ce cese iiaei rens C 52 3 21 Jog VelocityIPM ccscs ccecssssssecssesscsesseseceeteese es ctensstestoeseenedets C 52 C 3 22 Jog Velocity REM ire ee a a a e ENS C 52 3323 Max FeedRatelP Miss ssc ocssaech ascti eieetoc Bebe E a C 53 C 3 24 MaxFeedRateRPM uu ccccccecssccececsessssececececsessntsseeeeeees C 53 C 3 25 NumDecimalsEnglish cece eeeeeeeeeeeeeeeeeseensees C 53 C 3 26 NumDecimalsMetric cccccssscsccceceesessscecceececsensaeeeeees C 53 C 3 27 PositionCMmaAUNIts eno eies onre C 54 C 3 28 Position Units iinne a EE E R i C 54 C 3 29 PresetCma UNits cccccccccccssssssscccececsessnscecececeesessaeeeeees C 54 C 3 30 RapidFeedRateIPM ee eeeecsscceeceeceeeceeeeecseeeeneecsaeeenees C 54 C 3 31 RapidFeedRateRPM ce eeeeeesceenceceteceeneeceseceeeeecsaeeeenees C 54 3 32 ReverseSlew
63. DONE 0h00000080 motion done INPOS 0h00000100 axis is within the in position limit FAULTED 0h00000200 axis 1s faulted PROBE _INPUT 0h00000400 probe input active MARKER 0hO00000800 Marker HALL INPUT B 0h00001000 Hall effect input B 1 HALL INPUT A 0h00002000 Hall effect input A 2 HALL INPUT C 0h00004000 Hall effect input C 3 HALL 4 Unused 0h00008000 Hall effect input 4 not used MOVE_DIR 0h00010000 move direction MOVING 0h00020000 G0 Home or Async Motion Active ACCEL 0h00040000 axis in acceleration phase DECEL 0h00080000 axis in deceleration phase HOMING 0h00100000 axis homing FEED_OVER 0h00200000 feedrate override PROFILE 0h00400000 G1 G2 G3 command executing SYNC 0h00800000 axis in sync mode CAM_TABLE 0h0 1000000 cam table enabled HOME_DIR 0h02000000 home direction CONT_MOVE 0h04000000 continuous move QUEUE 0h08000000 motion queue active HOLD 0h10000000 hold active AUX_MODE 0h20000000 aux mode BLOCK_MOTION 0h40000000 block motion HOLD_QUEUE 0h80000000 hold queue Version 1 4 Aerotech Inc C 41 Parameters U600 User s Guide C 2 96 SYNCSPEED To understand this axis parameter the user must be familiar with the operation of the synchronized motion through the CAM tables on the UNIDEX 600 Series motion controller For a brief discussion of this feature refer to the discussion of the MASTERPOS axis parameter There are two modes that the user can perform CAM table execution In the first mode the system assumes that the cur
64. Drive Shutdown output to drive 0x1 1 AUX Mode Output output to drive 0x2 2 CW limit Switch input from drive 0x4 3 CCW limit Switch input from drive 0x8 4 Home limit Switch input from drive 0x10 5 Drive Fault input from drive 0x20 The value specified is a bit mask where only the specified bits are valid Setting a bit to one implies the input or output is active high Refer to Section 2 5 Drive Signals in the Users Guide for more information The easiest way to configure these signals via the IOLEVEL axis parameter is to view the state of the signals via the AerStat exe utility Knowing the state of the signal and viewing the state via AerStat will allow you to toggle the appropriate bits in the IOLEVEL axis parameter to correct the state Be sure to set the CW CCW Limit and Drive Fault bits in the FAULTMASK axis parameter to enable the detection of these faults then set the bits in the appropriate mask parameters DISABLEMASK HALTMASK AUXMASK ABORTMASK INTMASK and BRAKEMASK for the actions to occur on these faults C 2 57 IVEL The ITVEL parameter returns the instantaneous commanded velocity in counts per second C 2 58 KI This axis parameter sets the integral gain of the velocity loop for the selected axis Refer to the UNIDEX 600 Hardware Manual for a description of how this parameter functions in the servo loop Note that you may use the AutoTune feature within the AerTune exe utility on the Tools menu
65. Emergency Stop ESTOP s ssscssssseessseessseeesssseees 2 18 OS AKIS CSUN Oe nen treet eer ereee Pate eer eee 2 19 oF Accelerations 28 28 ae sete ee ee 2 20 Axis Tuning oe a acces reece cere shee oe eee EES 2 20 omnes as Mee ee ee eee nee 2 21 OAA S A a O A eee E E 2 20 DENO E R A eee eee Manet eee 2 22 eT Ohe Manual S a e R E 2 24 2 1 Introduction Figure 2 1 is a flowchart providing an overview of the installation process from installing the software through preliminary servo loop tuning If a complete system was purchased from Aerotech with rotary and or linear positioning tables the configuration of the system was done at the factory If drives and motors were only purchased the axes will be configured for the respective type of motor but the axes will most likely require tuning depending upon the load placed on the motor Also an Engineering Specification ES is provided along with the documentation package indicating the resolutions and maximum speeds of the axes Version 1 4 Aerotech Inc 2 1 Getting Started U600 User s Guide Configure base address and other jumpers Refer to the U600 Hardware Manual P N EDU154 Install the U600 Board Refer to the U600 Hardware Manual P N EDU154 z Connect the wiring Refer to the U600 Hardware Manual P N EDU154 Limit and Feedback Testing Refer to Section 2 9 Install the U600
66. Feedforward Loop in the UNIDEX 600 s Servo Loop This gain reduces the amount of position error for systems with a tachometer It is set to one after preliminary tuning is done 5 7 4 3 Kp Proportional Gain Kp is the proportional gain used in systems with tachometers It must be set to zero 0 5 7 4 4 Ki Integral Gain Ki is the integral gain used in systems with tachometers It must be set to zero 0 5 7 4 5 AffGain Acceleration Feedforward Gain The Acceleration Feedforward Gain is the only gain in the Acceleration Feedforward Loop in the UNIDEX 600 s Servo Loop For systems with tachometers it must be set to zero 0 5 7 4 6 VGain Constant Velocity Gain The VGain servo loop parameter is used to reduce the amount of position error during constant velocity mode Version 1 4 Aerotech Inc 5 31 AerTune U600 User s Guide 5 8 Tuning Tachometer Loops The following procedure is a guide for tuning motors with tachometers Figure 5 21 shows the overall tuning process The following procedure can be used as a guide when tuning the UNIDEX 600 Servo Loop The tuning process discussed in this section was performed using the X lower Axis of an Aerotech ATS3220140P X Y open frame table with a 1035DC brush motor and an DS16020 amplifier at 4OVDC The user s system may behave differently and have different values for servo loop gains However the overall process is the same and the same process can be
67. Guide Setup Wizard Poles The poles field of the resolver screen within the Axis Configuration Wizard specifies the number of total poles NOT pole pairs the motor contains A non commutated or DC brush motor has zero poles Commutation Offset The commutation offset indicates the number of electrical degrees to align the absolute rotor reference provided by the commutation channel to the rotor of the motor The offset is entered as counts ratioed to 1024 and may be positive or negative A 360 offset is equal to 1024 A 10 offset may be calculated as 10 360 1024 28 Bounded by Software Limits The Bounded by Software Limits field within the Axis Configuration Wizard is used to specify if software limits are to be activated for the axis true or false may be selected The software limits are defined by the CWEOT and CCWEOT axis parameters 12 4 6 6 Stepper Motor Configuration Stepper axes may be open loop or closed loop Closed loop axes must have their servo loop gains adjusted For closed loop axes Ki and Kp must be set to zero and the PGAIN and VGAIN axis parameters will control the servo loop Increasing or decreasing the number of encoder lines will scale the PGAIN axis parameters Channel Number The channel entry field is used to specify the channel number channel number containing the CW CCW and Home Limits as well as the number the encoder feedback will be read from if it is a closed loop axis Enco
68. If the user has an Aerotech DS16020 DS16030 servo amplifier the Velocity Loop is adjusted through the following steps 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 5 22 for the location of the fuse holder Version 1 4 Aerotech Inc 5 33 AerTune U600 User s Guide LED o o oTPi TP5 TP1 Current Feedback Torque 3A volt TP2 Current Command 3A volt TP3 Tach TP4 Common TP5 Velocity Command Figure 5 22 Cross Section of the DS16020 16030 Amplifier b Make rough adjustments to the potentiometers on the Aerotech DS16020 16030 servo amplifier as shown in Figure 5 23 then run the axis at its maximum speed This maximum speed will be provided to the user by Aerotech if the user purchased a complete system from Aerotech Otherwise the user will have to calculate the maximum speed While running the axis at maximum speed adjust the input potentiometer on the amplifier so that the torque plot in AerTune torque actually indicates velocity when in the velocity command mode indicates approximately 26 200 8 volts INITIAL SETTINGS Servo Gain Turn it Full CW Based upon Peak Curren rating of motor Current Limit DS16020 20A max DS16030 30A max Balance Turn it Midway Q Q 2 Tachometer Turn it Full CW Turn it Full CCW then back it off in Input the CW direction 1 4 of a tur
69. Marker Home Limit Figure C 8 Home to Limit Illustration C 3 18 2 TYPE 1 Home into Limit amp Reverse to Reference Pulse Aerotech Std The axis will begin moving in the direction specified by the HomeDirection task parameter Once the home limit switch is found it reverses direction The home position is found at the first reference pulse that occurs after the home limit switch is false following the direction reversal However the axis will pass over the reference pulse after the direction reversal reverse direction again now heading in the original C 50 Aerotech Inc Version 1 4 U600 User s Guide Parameters HomeDirection specified direction before heading back towards and stopping at the reference pulse The HomeDirection axis parameter specifies the initial home direction Typically the home limit switch is the same as one of the EOT limits and the HomeDirection parameter is set accordingly However this is not necessary as long as the FAULTMASK axis parameter is set so that direction reversals occur when hitting the EOT limit If the home switch is not on the proper EOT then the axis may hit an EOT before it hits the home switch The speed of the home cycle is determined by the HomeFeedRateIPM or HomeFeedRateRPM for rotary axes task parameters However after the Home limit is encountered the HOMEVELMULT axis parameter can be used to slow down the marker pulse reference pulse search speed Mar
70. NT Manual P N EDU1568 Version 1 4 Aerotech Inc 2 9 Getting Started U600 User s Guide 2 4 Motor Units Resolution and Direction Configuration defines the number of counts or machine steps per motor revolution However after configuration the user must set two machine parameters that instruct the software how to convert from motor counts into user units inches degrees or millimeters and vice versa In the U600MMI these can be set through the Machine Parameters page In AerDebug they can be set via the PARMSET M lt name gt command where lt name gt is the name of the parameter as described below 2 4 1 Linear vs Rotary type An axis may be a type that produces linear or rotary motion A linear axis is defined by setting the Type task parameter to zero Linear axes use inches or millimeters as units and are appropriate for stages There are two types of rotary axes both use degrees as their distance units The first Type 1 is a rotary axis with modulo position It is the appropriate type for stand alone motors An axis with modulo position displays 0 through 359 degrees and rolls over its position display back to 0 when it reaches 360 degrees This will repeat for each revolution in either direction Also when programming in absolute units specifying a particular target in degrees a modulo position rotary axis always chooses the direction to move clockwise or counter clockwise in order to move the shortest
71. Normally the execution of tasks is performed as follows FOR EACH TASK 4 Generate an interrupt back to PC as required Check ESTOP MFO MSO and feedhold react as required Monitor spindle and asynchronous motion if any Test ONGOSUBS and ON s execute the indicated action as required Test for RIAction or ROAction commands Execute canned functions if commanded to Execute external jogging if commanded to Execute immediate command if any requested Execute the next CNC statement if that CNC is running a program or if a statement was still running like a G1 or G4 then check to see if its finished or not END FOR The ExecuteNumLines parameter can be used to change the above behavior as follows Note that the default value for ExecuteNumLines is one If ExecuteNumLines 0 for a task then that task is inactive none of the chores listed above including program execution and ESTOP monitoring are executed for that task Setting ExecuteNumLines to 0 for a given task disables that task significantly increasing the execution speed of the other tasks However when ExecuteNumLines is zero none of the steps listed in the for loop above are executed for that task If ExecuteNumLines gt 0 for a task then that task will execute all the steps in the For Loop above and try to execute that many lines in the CNC program before giving control to the next task However if an error occurs at any time duri
72. PHASEAOFFSET This axis parameter is used with the PHASEBOFFSET axis parameter to null any offset in the DAC s commands output to the drive for phase A and Phase B of a brushless motor Brush motors utilize the DACOFFSET axis parameter The value is entered as a signed number representing the number of D A counts required to bring the DAC output command to zero volts This value is added to all motor command values before being output to the DAC For example if an axis has a 60 mV 060 volt offset 392 would be entered for this parameter This is calculated by dividing the offset by the voltage value of each step of the DAC UNIDEX 600 has a 16 bit DAC 32767 counts generating a 10 volt C 32 Aerotech Inc Version 1 4 U600 User s Guide Parameters output from the DAC The voltage per bit is equal to the maximum voltage divided by the maximum counts 20 65 536 0003 060 20 2 197 counts for the UNIDEX 600 C 2 71 PHASEBOFFSET This axis parameter is used with the PHASEAOFFSET axis parameter to null any offset in the DAC s commands output to the drive for phase B and Phase A of a brushless motor Brush motors utilize the DACOFFSET axis parameter The value is entered as a signed number representing the number of D A counts required to bring the DAC output command to zero volts This value is added to all motor command values before being output to the DAC For example if an axis has
73. Program Active Oh2 2 Program Executing Oh4 3 Immediate Code Executing Oh8 4 Return Motion Executing 0h10 5 Program Aborted 0h20 l 6 Single Step Into U600 MMI Single Step Mode 0h40 7 Single Step Over through a subroutine etc 0h80 8 Interrupt Fault Pending 0h100 9 _Interrupt Callback Pending 0h200 10 _ Emergency Stop Active 0h400 11 Feed Hold Active 0h800 l 12 Callback Hold Active 0h1000 l 13 Callback Responding 0h2000 14 Program Cleanup 0h4000 15 Program Code Cleanup 0h8000 16 OnGosub Command Pending 0h10000 17 _ Feed Hold Input Latch 0h20000 l 18 Probe Cycle Active 0h40000 19 _ Retrace Mode Active 0h80000 20 Insert Link Move 0h100000 l 21 Interrupt Active 0h200000 22 Slew Active 0h400000 l 23 Corner Rounding 0h800000 24 ROReq Active 0h1000000 25 Canned Function Pending 0h2000000 26 Canned Function Active 0h4000000 27 _ Canned Function Executing 0h8000000 28 Program Reset 0h10000000 Version 1 4 Aerotech Inc C 105 Parameters U600 User s Guide C 4 140 1 CNC Program Active A Program is active anytime after the first cycle start has occurred and the program has not yet ended But a CNC program is executing only when it is actually running a CNC program line For example a program that is stopped on a M
74. Rw 1 2 147 483 647 1 000 SYSTEMCLOCK __ 58 R 0 2 147 483 647 0 VELCMDTRAP 41 RWU 0 65 536 000 2 116 667 VELPOSITION 42 R 0 _4 294 967 295 0 VELTIMECONST_ 120 RW 0 1 000 0 VFF 19 RW 0 1 0 VGAIN 118 RW 0 8 388 607 0 C 2 1 Modifying an Axis Parameter within a CNC Program Any axis parameter may be modified within a CNC program or MDI command line by specifying the axis parameter name followed by a decimal point and the axis name The case of these axis parameters is significant all are upper case letters as defined in Table C 1 Axis Parameters The axis name is that assigned when the axis is configured and bound to the task within the axis configuration wizard If the default axis name is used the task axis names would apply C 2 2 ABORTMASK This axis parameter is a mask that determines which fault conditions will cause an axis to abort motion This parameter is a bit mask where each bit corresponds to a specific fault If the system aborts motion it disregards the DECEL axis parameter value and stops the axis abruptly This also sets the current position error to zero If an axis is triggered by a fault condition to abort and halt simultaneously the abort takes priority Each bit set in this parameter should also be set in the FAULTMASK axis parameter to enable detection of that fault condition The DISABLEMASK takes priority over the HALTMASK an
75. Setup Wizard 12 13 Configure the AUXMASK This axis parameter allows the user to designate which fault conditions will enable the auxiliary mode output associated with the axis This parameter is a bit mask where each bit corresponds to a specific fault Each bit set in this parameter should also be set in the FAULTMASK axis parameter to enable detection of that fault condition Setup Wizard Configuring Axis X Aux Mask Tl Position Error Limit F User Fault F POSTOGG Interrupt T RMS Current Limit I Velocity Trap I ESTOP T CW Hard Limit I Velocity Command Trap T CCW Hard Limit F Home Tolerance Fault F Cw Soft Limit F Probe Fault E J Task Fault r F Extemal Feedback Fault E Sate Zone E F Gonstant Vel Phase Inetrupt in F Decel Phase Interrupt ja F Move Done Interrupt Finish Help Axis Complete Cancel Figure 12 21 The AUXMASK Configuration Screen Version 1 4 Aerotech Inc 12 29 Setup Wizard U600 User s Guide 12 14 Configure the ABORTMASK This axis parameter is a mask that determines which fault conditions will cause an axis to abort motion This parameter is a bit mask where each bit corresponds to a specific fault If the system aborts motion it disregards the DECEL axis parameter value and stops the axis abruptly This also sets the current position error to zero If an axis is triggered by a fault condition to abort and halt simultaneously the abort takes priority E
76. Software Refer to Section 2 2 Set FaultMasks Refer to Section 2 6 Configure Axes Refer to Section 2 3 Axis Tuning Refer to Chapter 5 Flowchart Overviewing the Installation Configuration Process 2 1 1 Minimum Requirements Minimum Requirements and Recommendations Minimum requirements and recommended system configurations for the software installation are shown in Table 2 1 The free disk space requirements for specific software is shown in Table 2 2 Minimum Requirements Windows 95 Windows NT PC Speed 90 MHz 90 MHz RAM per MS specs 16 Megabytes 24 Megabytes Graphics Display 800x600 800x600 OS version 4 0 4 0 2 2 Aerotech Inc Version 1 4 U600 User s Guide Getting Started Table 2 2 Free Disk Space Requirements Software Part Number Free Space Utilities required UTIL600 NT 10 Megabytes CNC MMI Application MMI600 NT 5 Megabytes Software Development Kit SDK600 NT 5 Megabytes CNC MMI Source Code MMISRC600 NT 1 Megabyte The CNC MMI and the Software Development Kit share most of the files between the two applications requiring approximately 5 megabytes of free disk space to install one or both applications 2 1 2 Fundamentals This section addresses some of the basic concepts and terms used in UNIDEX 600 setup and programming 2 1 2 1 Parameters Nearly all of the operational details of the UNIDEX 600 and
77. The programmer can determine if one or more actions take place when these conditions occur such as halting or aborting axis motion disabling drives setting digital outputs and generating interrupts back to the PC The user can customize both the conditions to observe and the actions to take independently for each axis simply by setting axis parameters no programming code is necessary The relevant axis parameters are FAULT FAULTMASK HALTMASK ABORTMASK DISABLEMASK AUXMASK and INTMASK Refer to Chapter 2 Getting Started under Fault Masks for a detailed description and examples 1 8 Aerotech Inc Version 1 4 U600 User s Guide Introduction and Overview 1 6 2 Task Faults Task faults occur when a CNC program performs an illegal action such as a division by zero Task faults stop the program running on the CNC task The CNC programmer can override this keep the program running with the ONGOSUB CNC command If the program was running a G1 or other synchronous motion command at the time then that motion stops However asynchronous motion is not normally halted by a Task Fault To do this the user must use the TaskFault bit of the FAULTMASK Axis parameter The user can customize other actions to occur on a task fault by using the Axis masks FAULTMASK HALTMASK etc The bits of these parameters see Chapter 2 under Faults normally represent different axis faults however one bit called taskfault is used when encountering a
78. The user can also trigger a task fault manually by setting the TaskFault task parameter to non zero although only certain numbers the AER960RET_ constants will yield a recognizable description Refer to the TASKFAULT Task parameter in Appendix C for more details 2 8 Emergency Stop ESTOP The UNIDEX 600 has a dedicated optically isolated emergency stop ESTOP sense input Refer to the UNIDEX 600 Hardware Manual P N EDU154 under Technical Details for hardware details If this input goes active the axis processor generates an ESTOP Task fault on all four CNC tasks However the EStopEnabled global parameter must be set to 1 to enable the sensing of the opto isolated emergency stop input Also an emergency stop binary input may be defined for each task Define the task ESTOP by setting the EStopInput task parameter to the value of the binary input driven by the external ESTOP circuit set it to minus 1 if there is to be no task ESTOP If this input goes active the axis processor generates an ESTOP Task fault on the given task only Another parameter effecting ESTOP is the GlobalEstopEnabled Task parameter If this parameter is non zero then the global ESTOP is ignored for that task only This allows the user to use the global ESTOP on some tasks but the task ESTOP on others By default this parameter is zero By default the EstopEnabled Global parameter is zero so it must be set in order to tS enable a global ESTOP Note also tha
79. This axis is Physical Axis 1 The Primary Feedback device EncoderHall The Output Command device D24 This Secondary Feedback device Encoder Axis Calibration is not active lt Back Next gt Finish Cancel Help Figure 12 12 The Axis Configuration Wizard Save Finish Screen Selecting Back will take you the previous Wizard screen Next will advance you to the next Wizard Configuration screen Cancel will exit the Wizard without saving any changes to the configuration and Finish will save the axis configuration and exit the Wizard 12 20 Aerotech Inc Version 1 4 U600 User s Guide Setup Wizard 12 5 Scaling and Feedrates Enter the machine counts per user unit after the controller does x4 multiplication for the axis Linear Axes Machine CentsPerInch Rotary Axes Machine CentsPerDeg Spindle Axes Machine CentsPerDeg Enter the maximum feedrate that may be commanded for the axis Linear Axes Machine MaxFeedrateIPM Rotary Axes Machine MaxF eedrateRPM Spindle Axes Machine MaxFeedrateRPM Enter the GO rapid feedrate that may be commanded for the axis Linear Axes Machine RapidF eedrateIPM Rotary Axes Machine RapidF eedrateRPM Spindle Axes Machine RapidFeedrateRPM Setup Wizard Configuring Axis X Axis Scaling Counts per Inch fa 6000 000000 value for positive motion in CW Direction value for positive motion in CCW Direction Verify A
80. This torque ripple has been observed to be approximately 10 machine steps peak to peak with an unloaded BM Series motor While tuning an axis driving a brushless motor torque ripple can be identified as the cause of the disturbance by comparing one electrical cycle of the brushless motor One electrical cycle of the brushless motor can be calculated in machine steps by dividing the number of machine counts per revolution of the motor by the number of electrical cycles of the motor A standard BM Series motor has a 1 000 line encoder mounted on the motor that the controller does times 4 multiplication on producing 4 000 machine steps per revolution of the motor Therefore one electrical cycle of the motor is equal to 4000 pole count machine steps per electrical cycle See the online help file for the pole count of BM BMS motors and the length on the electrical cycle of BLM linear motors xis Pos Err LPs 2B 187 ben Lit Dire by ria 1 ihe 1nd an Tiree 8 megt Figure 5 5 Torque Ripple Plot of an AC Brushless Motor See Section 5 3 5 regarding minimizing torque ripple 5 Version 1 4 Aerotech Inc 5 9 AerTune U600 User s Guide 5 3 7 Computing Torque Closed Loop Torque Mode The torque applied to the motor in torque mode may be easily calculated for brush or brushless motors if you know a few parameter values and the K motor torque constant The UNIDEX 600 650 Controllers have a 16 bit Digital to Ana
81. Unused 2 6 2 Fault Masks The UNIDEX 600 Series controller has several bit mask axis parameters that define the controller s reaction to fault conditions These parameters are FAULTMASK AUXMASK ABORTMASK BRAKEMASK DISABLEMASK HALTMASK and INTMASK The actions associated with these parameters are detailed in the following sections Keep in mind that the word fault mask refers to all of the parameters above while FAULTMASK applies only to the first in the list above Each of the fault masks relates to a particular action to take The value of a fault mask is a bit mask representing a set of conditions for the given action to take The given action takes place if one or more of the conditions is true For example the action for DISABLEMASK is disabling the axis Refer to Section 2 6 2 8 for an example of how to use fault masks Table 2 6 Fault Mask Actions Axis Parameter Action FAULTMASK Determines which faults will be detected or ignored DISABLEMASK Disable drive HALTMASK Halt motion AUXMASK Set clear AUX axis parameter ABORTMASK Abort motion INTMASK Send interrupt to PC application BRAKEMASK Activate Motor brakes Aerotech Inc Version 1 4 U600 User s Guide Getting Started Setting a mask bit on a fault mask parameter causes the action associated with that mask parameter to automatically transpire when the condition associated with that bit occurs All o
82. Warranty Repair 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 where 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
83. a normal perpendicular orientation to the contoured motion projected onto the normalcy plane This parameter is 0 based i e the 2nd axis Y is represented as 1 C 4 88 Number This task parameter specifies the current task number from 0 through 3 This value can be used by a CNC program to determine on which task it is running This is a read only parameter C 4 89 NumTaskAxisPts This task parameter specifies the total number of task axis point variables to allocate for the task Each task axis point uses 132 bytes of controller memory C 4 90 NumTaskDoubles This task parameter specifies the total number of task double variables to allocate for the task Each task double allocated uses up 12 bytes of controller memory C 4 91 NumTaskStrings This task parameter specifies the total number of task string32 variables to allocate for the task Each task string32 allocated uses up 34 bytes of controller memory C 4 92 ROReqI1 The ROReq task parameter is a pointer to a 16 bit virtual register output that is used by the UNIDEX 600 MMI to request a desired action from the controller to be handled by the user Request words are broken into individual bits each bit represents a request for an action The controller will request the appropriate action It is the user s responsibility to respond to this request and to clear the bit from this register once acted upon The following table shows the actions that may be requested v
84. actions Stopping the CNC program running on the task generating an axis fault and generating an interrupt back to the PC Keep in mind that unlike axis faults the user cannot set different actions based on the type of task fault Each of these is discussed separately below C 4 143 1 Task Warning Task warnings indicate questionable situations that have occurred on the controller These are situations in which the CNC program can continue without ambiguity but nevertheless are probably undesirable An example is the CNC Motion Queue Starvation condition Unlike task faults task warnings have no effect on program execution nor can they generate interrupts or cause axis faults They are just messages produced for the user Task warning messages appear in the same places as the Task Fault messages in the lower right hand corner of UNIDEX 600 MMI or they may be read via the TSKI command under the AerDebug exe utility However in the UNIDEX 600 MMI task warnings will be highlighted in yellow You can deduce which CNC line is causing a Task Warning by temporarily setting the ThrowWarningsAsTaskFaults global parameter to one This will stop the CNC program on the offending line when the warning message occurs C 4 143 2 Stopping the CNC program in Response to a TaskFault Any Task Fault always stops the CNC program running on the task If the task is currently running a program that is executing a contoured motion G0 G1 G2 G12 or G13
85. amplifier is expected to be proportional to motor torque In closed loop velocity mode the servo loop will close the position loop but will not close the velocity loop In other words the servo loop will not regulate velocity In this mode the velocity feedback is generated by an external analog tachometer that is input to the drive and the velocity loop is closed in the drive itself The voltage output to the amplifier will be proportional to velocity command Refer to Chapter 5 AerTune under the Tuning with Tachometer Feedback section for more details on this mode In open loop velocity mode the servo loop does not close the position nor the velocity loop There is no velocity feedback loop the velocity is commanded but not regulated This mode is normally used only for spindles or other axes not requiring precise velocity control 2 3 2 Configuring Closed Loop Torque or Velocity Configuring an axis for torque mode or closed loop velocity mode involves three steps First the type of motor should be determined brush or brushless Second the user must specify a feedback device type with a defined channel number for feedback to be received Third designate a Digital to Analog Converter DAC output channel number to provide a command to the amplifier driving the motor 2 3 2 1 Motor Types The supported types of motors include brush DC and brushless AC motors as well as any motor type whose driver accepts a torque or velocit
86. axis parameter to enable the detection of this fault then set the bit in the appropriate mask parameter DISABLEMASK HALTMASK AUXMASK ABORTMASK INTMASK and BRAKEMASK for the action to occur on this fault The bounded by software limits flag must be set TRUE within the axis configuration wizard for that axis in order for soft limits to be active Software limits will be ignored until after the axis has been homed if the SOFTLIMITMODE parameter is set to one Software limits may not be activated for virtual axes 5 Version 1 4 Aerotech Inc C 15 Parameters U600 User s Guide S C 2 26 DACOFFSET The DACOFFSET axis parameter is used to null any offset in the command to the drive typically used only for axes in the velocity mode tachometer based systems Brushless motors utilize the PHASEAOFFSET and PHASEBOFFSET axis parameters The value is entered as a signed number representing the number of D A counts required to bring the DAC output command to zero volts This value is added to all motor command values before being output to the DAC For example if an axis has a 60 mV 060 volt offset 392 would be entered on a UNIDEX 600 650 for this parameter This is calculated by dividing the offset by the voltage value of each step of the DAC UNIDEX 600 650 has a 16 bit DAC 32767 counts The voltage per bit is equal to the maximum voltage divided by the maximum counts 20 65 536 0003 for a UNIDEX 600 650
87. be increased if the HOMEVELMULT axis parameter is used For all home types other than type 4 the axis will perform the homing motion even if it is currently on the home position If the axis encounters an EOT limit while homing and the FAULTMASK axis parameter is set so the EOT limits do not generate faults this is the default then it will not generate faults but reverse direction and continue the homing cycle However if other faultmask bits are set such as ABORTMASK that stop motion on an EOT then the motion stops instead of reversing The five types of homing cycles are HomeType 0 To Home Limit AND Reference Pulse HomeType 1 To Home Limit amp then Reverse to Reference pulse Aerotech Std HomeType 2 To Marker HomeType 3 To Home Limit Switch HomeType 4 Home Position at current Position C 3 18 1 TYPE 0 Home to Limit AND Reference Pulse The home position is found at the home limit switch when the reference pulse is true There must be an absolute position where both occur simultaneously The HomeDirection is the direction to begin traveling towards the home limit If the axis encounters the home switch while traveling in the opposite direction specified by the HomeDirection this happens if the axis hits an EOT before the home switch and reverses direction then it will pass up the home switch and reverse direction in order to strike the home switch from the proper direction Home Direction
88. become active The units of this parameter are machine steps In the G361 mode the following types of motion commands will wait until the velocity command is zero AND until the axis is within the in position band before proceeding onto the next command G0 G1 G2 G3 with a G9 on the CNC program line G1 G2 G3 when G109 mode is active G1 G2 G3 when CNC Block Look Ahead enforces a G9 at the end of a move ENDM Furthermore the PSOx commands will wait until the in position band is true before starting that command C 2 55 INTMASK This axis parameter allows the user to determine which fault conditions will cause an interrupt to be generated back to the host This parameter is a bit mask where each bit corresponds to a specific fault An interrupt is generated if the bits for INTMASK and FAULTMASK are set to one for a given bit position when that fault occurs Therefore each bit set in this parameter should also be set in the FAULTMASK axis parameter to enable detection of that fault condition Interrupts will only be generated for new axis faults that is the controller will only generate an interrupt once for each occurrence of a particular axis fault C 2 56 IOLEVEL This axis parameter allows the user to specify the active state for the axis and drive interface signals The user may configure the active state of the following signals Version 1 4 Aerotech Inc C 27 Parameters U600 User s Guide 0
89. bit types Virtual inputs may be set with this command however setting a virtual input that is mapped to a physical hardware bit will be overwritten by the state of the physical hardware bit within 1 msec on the occurrence of the next I O scan update Binary types refer to bits having two possible states a logic 1 or 0 Registers are 16 bits having a valid data range of 0 through 65535 These 4 types are represented as the following BI Binary inputs BO Binary outputs RI Register inputs RO Register outputs The valid range of the virtual I O point is dependent on the type Register types have a valid range of O through 127 Binary bit types have a valid range of O through 511 Each type does not share this range among inputs and outputs so there are 128 register inputs 128 register outputs 512 binary inputs and 512 binary outputs EXAMPLES IOSET BI 73 1 set the state of binary input 73 to 1 IOSET BO 0 0 set the state of binary output to 0 IOSET RI511 65535 _ set the state of register input 511 to 65535 IOSET RO 0 12345 set the state of register output 0 to 12345 4 6 32 MABORT The MABORT function aborts the motion on the current selected axis However this does not apply to motion of the axis within a CNC program It applies only to the motion started by the move or motion commands beginning with an M such as MABSOLUTE MHOME etc The axis will stop abruptly by having its commanded position set to the cu
90. brushless motor 4 8 ACCEL C 6 Acceleration C 7 Acceleration feedforward gain Aff 5 31 ACCELMODE C 6 ACCELRATE C 7 AccelTimeSec C 61 Access C 2 Accuracy C 24 AerDebug 2 7 AERDEBUG 4 1 AerPlot utility 6 1 AerPlot3D utility 9 1 AerPlotIO Utility 10 1 AerReg utility 8 1 AerStat Utility 7 1 AerStat utility program 2 11 Aff 5 31 Aff Acceleration feedforward gain 5 19 ALPHA C 7 Alpha parameter Reducing noise 5 19 Alphabetic keystrokes 4 3 ALT_STATUS C 7 Architecture 1 3 Asynchronous motion 1 6 AUX C 8 AUXOFFSET C 9 AVGVELTIME C 10 AX command 4 18 Axis Configuration 4 6 Axis Configuration Commands 4 6 Axis Deceleration 2 15 Axis feedback 2 19 Axis firmware Loading 4 24 Axis limits 2 19 Axis parameters 3 4 Axis Processor 1 4 C 24 Axis Scope window 5 32 Axis status 7 1 Axis Testing 2 19 Axis tuning 5 1 BO parameter C 10 B1 parameter C 10 B2 parameter C 10 Balance potentiometer 5 36 BASE_SPEED C 12 bound argument 4 7 4 8 BRAKEMASK C 12 BuildNumber C 114 C C 3 3 Callback interrupts 1 5 Callbacks 1 5 CallBackTimeoutSec C 115 Cam table 1 7 CAMADVANCE C 13 CAMPOINT C 14 CAMPOSITION C 14 CCW Hard Limit Fault 2 13 C 19 CCW Soft Limit Fault 2 13 C 19 CCWEOT C 14 Claiming Interrupts 4 11 CLOCK C 15 CMDERR command 4 19 CMDLAST command 4 19 CNC engine 1 5 CNC Fault 2 14 C 20 CNC program execution 4 12 com_offset parameter 4 23 Command line
91. by using the PARMSET A FAULT command For example if a position error and CW limit fault are active the PARMGET A FAULT command would display FAULT 5 000000 indicating bit O and bit 2 were set To acknowledge and clear both of these faults at the axis prompt the user would enter PARMSET A FAULT 5 to clear bits 0 and 2 After a fault is cleared there is no longer a record that it occurred The only way to remove fault conditions is to acknowledge them FS The user may also monitor a fault using the PARMMON A FAULT command Version 1 4 Aerotech Inc 4 11 AerDebug U600 User s Guide 4 5 Programming Errors Programming errors result when parameters are set outside their minimum or maximum allowable limits They also occur when incorrect arguments are specified in configuration commands To display programming errors type GETPROG at the axis command prompt then press the lt Enter gt key If an error is present AerDebug responds with diagnostic information that pertains to the type of error and the data received by the axis card See the U600 Series Library Reference Manual P N EDUI56 under the introduction for more details on programming errors Assume a programming error has been generated from setting a proportional gain KP parameter beyond its maximum limit Typing GETPROG at the axis prompt and pressing lt Enter gt will reveal the following message 5 Parameter value too high 11 OFF FF FF FF
92. card and the Win95 registry value do not agree see section 2 2 3 to set up and test the PC interrupts 2 6 2 7 BRAKEMASK The BRAKEMASK allows the user to define faults that cause the brake output to be activated refer to the UNIDEX 600 Hardware Manual P N EDU154 The bits that are set true must also be set true in the FAULTMASK parameter The UNIDEX 600 650 have a single brake output for all axes with a brake Also if any bit in the BRAKEMASK is set and the axis is disabled the brake is activated This occurs regardless of the setting of FAULTMASK for that axis Only faults corresponding to the bits set in the FAULTMASK will be recognized Setting this same bit in the other axis parameter bit masks causes the fault to be acted upon by the defined function of the bit mask parameter 2 6 2 8 Example If it is desired to have an axis abort a move on a position error limit bit 0 or a Clockwise CW or Counterclockwise CCW hardware end of travel limit bits 2 and 3 and generate an interrupt to the application program for an RMS current limit bit 1 or a drive fault bit 6 the FAULTMASK axis parameter would have all these bits set as shown in Table 2 7 Aerotech Inc Version 1 4 U600 User s Guide Table 2 7 Bits Set for the FAULTMASK Parameter Bit Decimal Hex Description Bit 0 1 0x1 Position error exceeded POSERRLIMIT parameter Bit 1 2 0x2 RMS current limit exceeded JAVGLIMIT parameter Bit 2 4 0x4
93. command line oriented program that can be used for examining or controlling the UNIDEX 600 Series axis processor card Additional information includes description of the AerDebug screen CHAPTER 5 AERTUNE This chapter supplies instructions on tuning an axis and using the AerTune program a utility for visually observing and fine tuning the performance of the motion generated by a UNIDEX 600 Series Controller CHAPTER 6 AERPLOT This chapter provides information on the AerPlot program that allows the user to display a mix of up to 16 axes and or analog user input information from the UNIDEX 600 series controller card in a visual format with a user definable time base reference CHAPTER7 AERSTAT This chapter contains information about the AerStat utility a debugging tool that displays the status of all 16 axes of the controller CHAPTER 8 AERREG This chapter contains information about AerReg Aerotech s operating system registry editor program that allows registry information to be created or edited by the user Version 1 4 Aerotech Inc xxiii Preface U600 User s Guide CHAPTER 9 AERPLOT3D This chapter contains information about AerPlot3D This utility program allows for continuous plotting of three axes of motion during a CNC program CHAPTER 10 AERPLOTIO This chapter contains information about AerPlotIO This untility program plots I O and Registers vs Time CHAPTER 11 FILTER This chapter contains inf
94. contact with the part C 4 26 Offset Move An offset move eliminates the link move during Cutter Compensation preventing a small radius from being attempted at high cutting speeds The offset move is from point A to point B to point C as illustrated in Figure C 17 While at point B the tool is not in contact with the part C 4 27 Link Method The link method generates a small arc around a square corner during Cutter Compensation such that a circular tool will actually cut a square corner as illustrated in Figure C 17 This method maintains contact between the tool and the part C 4 28 Offset Method The offset method generates an offset move during Cutter Compensation causing the tool to move off the part but eliminating the small radius created by the Link method as illustrated in Figure C 17 This method does not maintain contact between the tool and the part C 4 29 CutterX This task parameter specifies which task axis is used for the X axis of the cutter compensation plane This axis must be a linear type The CutterX and CutterY parameters are used to determine the cutter compensation plane When enabled the contoured motion will be compensated by the CutterRadiusInch parameter to account for the cutting tool s radius This parameter may not be changed while cutter compensation is active C 4 30 CutterY This task parameter specifies which task axis is used for the Y axis of the cutter compensation plane This axi
95. distance to its angular destination When there is no short distance e g a move of 180 degrees it always causes clockwise CW rotation to the destination This behavior does not apply when programming in relative mode specifying a distance relative to the current position in which case the arithmetic sign of the target determines the direction similar to a linear type motors A modulo rotary axis is defined by setting the Type parameter to 1 A non modulo rotary axis uses degrees as its distance units but does not turnover like the modulo rotary axis nor will it pick the shortest distance to its angular destination in absolute mode It is appropriate for motors operating in helical coordinate systems A non modulo rotary axis is defined by setting the Type parameter to 2 2 4 2 Motor Resolution An axis must also have its scaling defined so the motor counts or machine steps can be converted to user program units millimeters inches or degrees This is done by the CntsPerDeg and CntsPerInch machine parameters Use the respective parameter based on the type of axis defined by the Type machine parameter see 2 4 1 These parameters indicate the number of machine counts per inch or degree For linear type motors users must enter the counts per inch even if doing all the programming in millimeters using G71 For axes using brushless linear motors the value entered into the CutsPerInch parameter is the number of counts equal to
96. errors 9 0x200 Master Feedback Fault Feedback failure input from the feedback channel associated with the axis configured as a master This usually occurs when the feedback device on the master axis is defective or the cabling is bad 0x400 Home Fault System encountered a homing fault This typically occurs for either of two reasons while executing a home cycle the home limit switch input was not detected or when the system encounters an end of travel limit switch before the first resolver null or marker pulse User Fault Application has requested a fault be generated with the AerProgSetUserFault function It provides a way for a programmer to generate an axis fault from within a C C or VB application program 0x 1000 Velocity Trap Actual velocity exceeded the value specified in the VELTRAP axis parameter 0x2000 Velocity Command Trap Instantaneous commanded velocity exceeded the value specified in the VELCMDTRAP axis parameter 11 0x800 0x4000 Home Tolerance Fault Distance traveled from when the system detected the marker pulse or the Resolver null until the system encountered the home limit switch is less than the value specified in the HOMESWITCHTOL parameter This occurs during a homing sequence Version 1 4 Aerotech Inc 2 13 Getting Started U600 User s Guide Table 2 5 Axis Faults cont d Bit Hex Value Fault Name Description
97. hall commutation JOG_DIR 0h00000800 positive jog direction EXT_RES 0h00001000 external resolver feedback REV_ERROR_ON 0h00002000 reversal error enabled LAST_REV_POS _0h00004000 last reversal in positive direction LAST_REV_NEG 0h00008000 last reversal in negative direction SAFE_ENABLE 0h00010000 safe zone enabled SAFE_OUTSIDE 0h00020000 safe zone is outside region SIMULATION 0h00040000 feedrate override HOME_VELOCITY Oh00080000 home off the velocity transducer ACCEL_RATE 0h00100000 acceleration rate DECEL_RATE 0h00200000 deceleration rate PHASE_MODE 0h00400000 phase advance mode active HOME_COMPLETE 0h00800000_ home cycle complete LIMIT_OVERRIDE 0h01000000 always check soft limits if reset SLAVE_ENCODER 0h02000000 slave encoder QUE_CAM 0h04000000 cam table queued HOME_NOLIM 0h08000000 home without home limit SPEED_OUTPUT 0h10000000 velocity command mode STEPR 0h20000000 stepper motor Invert Polarity 0h40000000 ICMD Polarity 1 Encoder Master Feedback Oh80000000 axis slaved to master C29 AUX Mode Output This axis parameter reflects the state of the auxiliary output also referred to as the mode output of a selected axis An auxiliary value of one indicates that the auxiliary output is enabled This output may be used to activate a motor brake for a vertically mounted axis The
98. has been fully assembled to other axes configured and tooling parts loaded The acceleration is increased until the axis produces a 10 volt torque command during acceleration This indicates that the amplifier has saturated full on indicating that the axis is accelerating as fast as possible with the current load In the example below we will determine the maximum acceleration in machine counts second second since this can easily be converted to user units second second for the AccelRateIPS2 AccelRateDPS2 for rotary axes task parameter You could also determine the maximum acceleration in time to a given velocity However this is dependent on the programmed speed Other system considerations like motors ball screws bearings encoders stiffness structural resonance move profiles and duty cycle may require a lesser value for optimum and reliable performance Exceeding the maximum acceleration specifications of system components will cause damage WARNING 1 From the Plot menu select Velocity Command Velocity Feedback and Torque to be displayed 2 Set the ACCELMODE and DECELMODE axis parameters for linear or sinusoidal rate based acceleration Rate based sinusoidal acceleration is recommended 3 Select Update Step Move Parameters from the Trigger menu 4 Enter a speed and distance in machine counts to produce a trapezoidal velocity profile that will not encounter an end of t
99. have more optimal gains calculated by the algorithm if the damping factor is much higher 3 4 or greater assuming the motor drive can produce the required torque Most likely you will need to sacrifice damping and reduce the damping factor to 0 4 Typically the value of useful damping factors will be between 0 5 and 1 0 As the damping factor is reduced towards 0 the system step response will be quicker at the expense of larger overshoot and longer settling times As the damping factor is increased 5 14 Aerotech Inc Version 1 4 U600 User s Guide AerTune towards 1 the step response will slow down but the overshoot and settling time will be smaller A default damping factor of 0 707 is typically an optimal choice that gives a system a response that blends a small amount overshoot with fast response and quick settling time 5 4 3 3 Use VFF If this box is checked AutoTune will set VFF to 1 5 4 3 4 Calculate AFFGAIN If this box is checked AutoTune will calculate an AFFGAIN Version 1 4 Aerotech Inc 5 15 AerTune U600 User s Guide 5 5 Manual Servo Loop Tuning This section and following subsections explain the procedures for tuning a UNIDEX 600 Series controller servo loop with and without tachometer feedback using the AerTune exe utility The UNIDEX 600 firmware utility software package UTIL600 NT contains a graphical tool that can be used to display the effects of the servo loop gain settings Included in
100. i a cosiaul nnns C 17 C232 gt ECHO cen aae a E e a E O et C 18 C233 EXTRZDSC Ln a A A A C 18 G22 34 za D CA E E EET C 18 C2235 FAULTMAS K prre rrn see Meslecseneet C 20 2 36 FB WINDOW sonoriensis eii ee e ioi e C 21 C 2 37 FEEDRATEMODE preerie aanst C 21 2 38 GANTRY MODE s ro esiaren stots C 21 C 2 38 1 Configuring GANTRYMODE 0 C 21 C 2 39 GANTRY OFFSET ses fcscos eee ses te meoies ae e C 21 C 2 40 GEARMASTER Qu e eroe a esse ER E C 22 C2A4Al GEARSLAVE a oe sh aerae EE EE ES E ES Eana C 22 C2242 GEARMOD E re nerea e e an devon sorsentenieecbenset C 22 C243 HALTMASK o eieren eer Ee a oE R EEEE eSEE Se C 23 C 2 44 HOMEOFFSET enie eaae a Raa a S C 23 C 2 45 HOMESWITCGHPOS socrii ee csetsseteeststepsheessncetsasten sions C 23 C 2 46 HOMESWITCHTOL nni i C 24 C 2 47 HOMEVELMULT ieee enii eseni C 24 C248 TAVO ze te estes Reais eR es Selo A C 24 C249 AVO LM E oes sess a ra sssasbets stash Vi Ena E EI ES S EEES ti C 24 C2250 TA VOTIME ntitre tei seerne rsp su Na seee EEEo E NE C 25 C251 TOMD nice ath cient hii ait hl ie eel ets C 25 C 2 52 ICMDPOLARIT Ye estan n trast est a eRT ENSE C 25 C2553 IMAX e a esee rE EEEE TEE eases C 26 C 2 53 1 Computing Torque Closed Loop Torque Mode csc2kiton ivi ante isnt o eios C 26 C254 INPOSLIMIT ccc4 aot li ee hee SEL C 27 C253 INT MASK r ae raaa Eeee ti sh IESER cs a ETOT ERSS sess C 27 E2256 LO B DAYA m DAE tose chess losecosnvesaginesuydl ecb ORE C 27 C297 AVE e
101. intended for the user It is for debugging purposes only since it displays the command error as an opcode and sub opcode with the byte count of the data transfer between the PC and UNIDEX 600 Series controller card Example CMDERR 3 show last command error for axis 3 4 6 6 CMDLAST axis_number The CMDLAST command displays the last command for the specified axis number The range of valid axes is through 16 This information is not intended for the user It is for debugging purposes only since it displays the command error as an opcode and sub opcode with the byte count of the data transfer between the PC and UNIDEX 600 Series controller card EXAMPLE CMDLAST 4 show last command for axis 4 4 6 7 CONFIGD2A D2A_channel_number The CONFIGD2A command allows the user to assign an analog output from a Digital to Analog Converter DAC to an axis to be used as the command output of that axis The valid range of DAC channels is determined by the number of DAC channels present in the user s system A UNIDEX 600 650 controller has 4 channels onboard with 4 additional channels provided by each additional encoder expansion card Their channel numbers are determined by the expansion board number Expansion board number one will be channels 5 through 8 board two will be channels 9 through 12 etc Attempting to configure an axis for a DAC channel that is not present will cause a programming error This error will be indicated by th
102. is still present the axis fault will immediately reoccur so that it will appear as though the fault did not clear Aerotech Inc Version 1 4 U600 User s Guide Parameters A better way to view faults is by using the U600 Bin AerStat exe utility program This will display all active faults for all axes in a convenient graphical format The FAULT axis parameter is used to view and clear axis faults The FAULTMASK and related axis parameters are used to determine the machine behavior for fault conditions Table C 3 Axis Faults Bit Hex Value Fault Name Description 0 0x1 Position Error Limit Difference between instantaneous commanded position and actual position exceeds the amount specified in the POSERRLIMIT parameter RMS Current Limit Average current exceeds the amount specified in the JAVGLIMIT parameter averaged over JAVGTIME parameter 0x4 CW Hard Limit The system encountered the CW clockwise limit switch see IOLEVEL parameter W 0x8 CCW Hard Limit The system encountered a CCW counter clockwise limit switch see IOLEVEL parameter 0x10 CW Soft Limit The user commanded an axis to move beyond the position specified in the CWEOT clockwise end of travel axis parameter 0x20 CCW Soft Limit The user commanded the axis to move beyond the position specified in the CCWEOT counter clockwise end of travel axis parameter Drive Faul
103. l 0 Spindle 1 Active Ohl l 1 Spindle 2 Active Oh2 2 Spindle 3 Active Oh4 3 Spindle 4 Active Oh8 4 MSO Change 0h10 5 Spindle FeedHold Active 0h20 6 Asynchronous FeedHold Active 0h40 7 Cutter Enabling 0h80 8 Cutter Disabling 0h100 9 Cutter Offsets Enabling 0h200 10 Cutter Offsets Disabling 0h400 l C 106 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 141 1 Spindle FeedHold Active FeedHold has been seen by spindle motion spindle is either stopped or decelerating C 4 141 2 Asynchronous FeedHold Active FeedHold has been seen by asynchronous motion motion is either stopped or decelerating C 4 142 Status3 ICRC normalcy mode R Theta transformations fixture offsets etc Also be aware that some motion conditions may also be reported in the STATUS Statusl Status2 MOTIONSTATUS and SERVOSTATUS parameters There are pre defined definitions of the bits in this task parameter within AerStat Pgm These definitions take the form of TASKSTATUS3_xxx where xxx is the name as listed below For example If Status3 2 BAND TASKSTATUS3_ProgramExecuting could be used to test for a program executing on task 2 Table C 18 Status3 Bit Descriptions Status3 Task Parameter Bit Description Hexadecimal Value 0 Axes Rotation Active Ohl
104. line number However when downloading a normal program the first user line number is always assumed to be 1 Version 1 4 Aerotech Inc 4 13 AerDebug U600 User s Guide When the user downloads to a queue the user must provide the starting user line T number in the PRGLOAD EXAMPLE ORIGINAL PRGTYPE LISTING G1 F4 this will generate two statements a G1 and a TASKPARM 35 4 this line has no code on it glob 0 0 COMPILED PRGDUMP LISTING 0 1 TASKPARM 35 4 000000 1 1 Gl 2 2 DBL GLOBO 0 000000 Programs can also be downloaded as circular queues Queues are intended for situations where not all lines are available at once Lines can be compiled and downloaded then at a later time more lines can be compiled and appended to the program An important feature of queues is they are circular so if the downloading is properly coordinated with the execution then queues can execute programs of infinite length After each line is executed it is discarded this makes a line available to download another line If lines are executed faster than they are downloaded the queue becomes empty The user must declare the size of a circular queue When the axis processor has reached the end of the queue then it starts executing the queue at the beginning After each line is executed that line becomes available for loading of another line Therefore execution will not end until an explicit M02 is seen The axis processor in
105. longer than the time required by the UNIDEX 600 Series controller to begin the command This disallows commands such as G1 moves The EXELINE command executes single CNC lines in immediate mode EXAMPLE EXELINE G70 Set English programming mode active Executing a CNC program on the UNIDEX 600 Series controller requires four steps The program must first be compiled converted to a binary file that can be downloaded to the axis processor card for execution Following the compile process the binary equivalent of the users CNC program must be downloaded transferred to the axis processor card for 4 12 Aerotech Inc Version 1 4 U600 User s Guide AerDebug execution This process loads the program into memory on the axis processor The axis processor has the capability to run up to four simultaneous CNC programs so the program must be associated with one of four tasks after it has been loaded into memory For information on CNC commands and their syntax reference the UNIDEX 600 Series Programming WIN 95 NT Manual P N EDU158 EXAMPLES PRGCMPL U600 TEST PGM 10 Compile test pgm with option 10 see PRGCMPL for list of options PRGLOAD U600 TEST PGM Load the program into axis processor TSKASSOC U600 TEST PGM __ Associate the program with this task PRGRUN U600 TEST PGM Run the program A simpler command exists for performing all four steps at once However it does not allow for specifying different o
106. making library function calls that invoke motion controller functions through a device driver running on the PC In G code motion the programs execute in the axis processor The user writes the programs in an extended RS 274 standard syntax compiles them on the PC and downloads them to the axis processor via the device driver In contrast to the library controlled programs they execute on the axis processor independently of the PC Version 1 4 Aerotech Inc 3 1 Programming U600 User s Guide 3 1 1 Combination Programming The user should understand that although the two interfaces are distinct and exclusive from each other commands in one syntax are not understandable to the other the majority of the functionally of the U600 axis processor is available from either interface see Table 3 2 for a summary of the motions available from either interface In addition a programmer can construct an application that utilizes both interfaces simultaneously since each interface is serviced by a separate and independent execution unit on the axis processor card refer to Chapter 1 Introduction and Overview under System Architecture For example a common combination is to run the motion in the CNC interface but write a library calling interface that runs a GUI interface to control and monitor program execution this is what the U600 MMI actually does Table 3 2 Advantages of the Two Programming Interfaces PC Cont
107. may be zero causing the axes defined by SlewPair1 to be selected after SlewPair7 This parameter is set to a value representing the summation of the two task axes numeric values assigned when the axis is configured within the axis configuration wizard See Section C 4 138 for an example C 4 138 SlewPair Example For example to assign axes Y and Z to the SlewPair or JogPair Mask task parameters you would set it to a value of 6 To see how this is done click on each of the task axis numbers below to find its numeric value from the chart and add them together to find the value to set the parameter to Task Axis 2 Y 2 Task Axis 3 Z 4 Task Parameter 6 Y Z axis pair For the SlewPair task parameters this would specify that the horizontal axis of the joystick would command task axis 1 Y to move and the vertical axis of the joystick would command task axis 2 Z to move For the JogPair Mask task parameters this would define axis 1 as Y and axis 2 as Z The lowest numbered task axis will be axis 1 or for the joystick commanded by the horizontal axis of the joystick This order may be inverted by negating the sign of the value entered For example Task Parameter 6 Z Y axis pair would specify that the horizontal axis of the joystick would command task axis 2 Z to move and the vertical axis of the joystick would command task axis 1 Y to move This would also assign the Z axis as axis 1 and the Y axis as Axis
108. minimizes disturbances in the servo loop caused by sudden acceleration changes that might be generated such as a handwheel input with a large scaling factor The scaling of this parameter is inverse meaning that 65 536 produces no filtering of the AFFGAIN axis parameter and a value of 1 would produce the maximum filtering This filtering only takes place if the AFFGAIN parameter is non zero C 2 8 ALT_STATUS This is a bitwise value that provides additional status for the axis To test for a particular condition simply bitwise and BAND operator the SERVOSTATUS with the desired bit value For example If ALT_STATUS X BAND 0h00040000 could be used to test for the X axis being used in simulation mode Version 1 4 Aerotech Inc C 7 Parameters U600 User s Guide Table C 2 ALT_STATUS Bit Definitions Name Hex Value Description LAST_MVE 0h00000001 final move into home ALT_HME 0h00000002 alternate home PWR_HME 0h00000004 home start in limit FND_HME 0h00000008 home limit detected TRQ_SET 0h00000010 valid torque parameters TRQ_EN 0h00000020_ torque enable HALL_COMM 0h00000040 hall effect commutation HALL_EDGE 0h00000080 first edge received DUAL_LOOP 0h00000100 dual loop feedback VME_JOG 0h00000200_ vme jog mode LST_DIR 0h00000400 cew motion in
109. more important It operates the motion controller execution unit see System Architecture in chapter 1 for details which runs the servo loop The axis processor interrupt is private to the axis processor card and the user does not need to make any settings or adjustments for it to work The user should test the axis processor interrupt from AerDebug by typing the command PARMMON A CLOCK The user should see a continuously increasing number counting in milliseconds If the value does not change then the axis processor interrupt is deactivated or otherwise not operating This could be due to a bad image file or a bad jumper setting of JP2 or JP3 on the UNIDEX 600 PC based motion controller card Aerotech Inc Version 1 4 U600 User s Guide Getting Started 2 3 Axis Configuration If a complete system was purchased from Aerotech with rotary and or linear positioning tables the configuration of the system is done at the factory Also an Engineering Specification ES is provided along with the documentation package indicating the resolutions and maximum speeds of the axes The easiest way to configure axes is with the U600MMI in the axis configuration page with the Wizard The user can also configure axes with the AerDebug utility with the CONFIG commands refer to Chapter 4 AerDebug under Axis and FaultMask Configurations Axes can be configured manually within AerDebug using the CONFIG series of commands Axes may b
110. must manually duplicate the gains into the slave axis parameters A second AerTune window may be opened and left open to change the gains for the slave axis The AutoTune feature of the U600 AerTune utility program provides the user with an automated servo loop tuning capability for torque current mode axes This allows most users to quickly get their systems tuned and running quickly The AutoTuning algorithm bases its calculations on user supplied tuning specifications and identified system parameters that are calculated during the AutoTuning cycle When the AutoTuning cycle is complete servo loop gains are returned that satisfy the given user requirements An axis may be manually tuned by the procedure provided in Section 5 5 The basic AutoTune cycle consists of defining the tuning parameters starting the AutoTune cycle and accepting the calculated gains Begin AutoTuning with a 10 Hz bandwidth and increase until the axis becomes unstable After the axis becomes unstable decrease the bandwidth by about 10 a The AutoTune algorithm will be unable to calculate acceptable values for the servo loop gains if an instability exists this may require manually tuning the axis or under a severely unstable conditions identifying and eliminating the instability In general the default values are a good starting point for most typical systems especially those using AC Brushless motors One exception is that the Amplitude o parameter shoul
111. must temporarily disable axis calibration within the axis configuration wizard C 3 18 HomeType The HomeType machine parameter defines the homing cycle as one of the five possible homing cycles The home position is the absolute zero reference position found by the home cycle At the completion of all home cycles the position register will be loaded with the value of the HomeOffsetInch or HomeOffsetDeg machine parameter No motion will occur for a non zero home offset value The software limits are not monitored during homing even if they are set in the 5 FAULTMASK axis parameter However immediately after homing they will begin to be monitored All types of the home cycle begin movement in the direction specified by the HomeDirection machine parameter The HomeFeedRateIPM or HomeFeedRateRPM machine parameters allow the feedrate to be defined for the home cycle Typically the home feedrate is a low velocity that produces an accurate repeatable home reference point A low speed is not detrimental to machine throughput since it is only done occasionally or when the machine is first powered up While homing the axis follows the accel decel axis parameters see ACCELMODE axis parameter However the accel and Version 1 4 Aerotech Inc C 49 Parameters U600 User s Guide decel axis parameters will not be used in the direction reversal from the home limit if that occurs it is instantaneous The home cycle feedrate may
112. nett ter cere C 113 G3 Axis parameters apply to asynchronous motion and G0 commands Task Machine and Global parameters only apply to CNC directed motion G1 G2 5 C 1 Description This section contains the parameter reference table and the parameter descriptions The reference table contains a one line summary of each parameter the description contains more detailed descriptions of each parameter The following tables provide the names of every UNIDEX 600 Series controller parameter and its maximum minimum and default values These tables are generated by the PrmManul example program that queries the axis processor directly Therefore the tables below are correct for the firmware that was executing at the time of the creation of this manual See the AerParm library functions in the U600 Library Reference Manual P N EDU156 and the PrmManul program for examples explaining how to retrieve the current valid parameters for the firmware The table does not give the units of the parameters the units are implicit in the name For Machine Task and Global parameters the units are clearly implied by the suffix of the name For example HomeOffsetDeg is in units of degrees Some other abbreviations used in these suffixes are Sec Seconds IPS Inches Per Second DPS Degrees Per Second IPS2 Inches Per Second DPS2 Inches Per Second RPM Revolutions per minute Index An
113. o E N E A S 1 2 Architecture OvVerVieWies ie ei aa A ee eaa SE E RE 1 3 LAI AXIS ProCESSO iei E E ER E EEE K 1 4 1 4 1 1 The Motion Controller Execution Unit 1 4 1 4 1 2 Libfary Servicen erneer oe aein ireo 1 5 1 4 13 CNG EDENE os niooo nee iiu r e s a Ay 1 5 LAD ThePO n aa n a T e E S ee 1 5 1 4 2 1 The PC Interrupt s sccsscssssenes sirsie 1 5 MOOD eerren a e A A O E TE 1 6 1 5 1 The Servo Loopere n hiisi eesis ieee o oeat 1 6 1 5 2 Generating Motion essseesseesesssrsreesrseeeresrerrsrerrenresreerssreerese 1 6 1 5 3 Monitoring Motion sss sicccs esscsscessecegseascetesastes tereti seisoi respet 1 7 1 5 4 MUl AXIS MOU ON ienien ninoi 1 7 1 5 5 Motion Resolution cee eescecssceeneeceseeeeeeceeeeeeneecseeeeenaeees 1 7 Paullts 33 ecctee Steet ieee AEA E 1 8 16 1 Axis Faults renari E E tena teens 1 8 K6 2 lt TaskcPaul tics sccndiscecthecessethi n E gion T 1 9 Option Ordering Information eee eeeceeececseeceeeeeceeceeeeecsaeeeenees 1 10 GETTING STARTED ee ea e ane iE ieat enee Enis 2 1 Introducti ofisin EE E E AE EE EEEE I 2 1 2 1 1 Minimum Requirements eeeesceceseceenceceseeeeneeceereeeeeees 2 2 2127 Fund mental Serna irae E R E 2 3 22l ParameteiS neh anaes ai oa as 2 3 2 12 2 Bit Masks i iite n i eae 2 4 21 23 Faltes a arera e aserte er aeo EEr i aant 2 4 Software Installation o Sossi innen n an n poi 2 5 2 2 1 UTIL600 NT Installation eee eee eeeeceeeeeseeenee 2 5 2 2 2 MMI Software Installat
114. of the maximum speed c Press the Auto button and allow the axis to cycle d While the axis 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 e Press the Halt button when completed 8 Finish by adjusting the Position Loop PGain where the main concern is to strive for a smooth variation in the position error and to have the position error reach zero at or near the same time the Velocity Command ends After repeating the process of starting and stopping the axis and adjusting PGain the axis velocity should track the commanded velocity fairly well and the position error should be at zero at the end of the commanded move Increasing the PGain will lower the axis settling time If the PGain parameter is too high the motor will oscillate a Version 1 4 Aerotech Inc 5 37 AerTune U600 User s Guide 9 Enable the Velocity feedforward parameter to reduce the position error if desired It is OK to allow some following error in the system However if using multiple axes for simultaneous contoured moves it is desirable that each axis will have the same following error 10 Increase the VGain servo loop parameter to minimize the position error during the constant veloicty portion of the move Typically VGain will be set less than 500 11 Turn the Position Error and Integral Error Traps on by returning to the AerDebug utility and using the ParmSet command as
115. one electrical cycle of the motor 2 4 3 Motor Direction Regardless of the motor type the user must specify which rotational direction of the motor corresponds to a positive units value This is done with the arithmetic sign of the CntsPerDeg or CntsPerInch task parameters A positive sign indicates that a positive units value degrees inches millimeters as measured from zero units is reached by a clockwise rotation of the motor A negative sign indicates that a negative units value degrees inches millimeters as measured from zero units is reached by a counter clockwise rotation of the motor 2 10 Aerotech Inc Version 1 4 U600 User s Guide Getting Started 2 5 Drive Signals The binary interface signals that come from to the drive can all be set active high or active low For example the user may signify that a zero voltage or ground on the drive enable line instructs the drive to enable or he may specify that a zero voltage instructs the drive to disable The setting the user chooses must match the drive hardware connected to the controller To specify active low or active high use the JOLEVEL axis parameter which is a bit mask covering the following conditions 1 Drive Enable output to drive Ox 2 AUX Mode Output output to drive 0x2 3 CW limit Switch input from drive 0x4 4 CCW limit Switch input from drive 0x8 5 Home limit Switch input from drive 0x10 6 Drive Fault input from drive 0x20 Setti
116. overwritten Consider using the MaxFeedRateIPM or MaxFeedRateRPM parameters as an alternative method to limit axis speeds C 2 99 VELPOSITION This axis parameter is the axis position as calculated by integrating the velocity from the secondary feedback device The primary feedback device will be used for this calculation if no secondary feedback device is present C 42 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 2 100 VELTIMECONST This axis parameter is used by the velocity filter to smooth out the velocity command The units are milliseconds and approximately specify the minimum time to reach the commanded velocity In other words this insures that no acceleration can take place in less than VELTIMECONST milliseconds A zero value disables filtering The filtering is achieved by modifying the velocity command This parameter is manipulated by the G23 G24 commands to implement corner rounding on the UNIDEX 600 Series controller and may be set by the user but not while G23 is active Setting this parameter to non zero activates filtering Increasing the value causes more filtering and more corner rounding This parameter affects all types of motion including cam motion except homing If this filter is used in conjunction with the GANTRYMODE it must be applied to the master and slave axes Where At is the VELTIMECONST value Velocity milliseconds and Command ween ne ne gt Programmed Command
117. parameter 20 0x 100000 Decel Phase Interrupt Axis interrupt was generated when move reached the decel phase 21 0x200000 Move Done Interrupt Axis interrupt was generated when move was done 22 0x400000 POSTOGO interrupt Axis interrupt was generated when POSTOGO passed under the POSTOGOIRQ value see the POSTOGOIRQ Axis parameter 23 0x800000 ESTOP Emergency stop has occurred see Section 2 8 24 0x1000000 WatchDog Fail Safe timer 25 0x2000000 Position Tolerance Axis did not move the distance specified by POSTOLERANCE within the POSTOLTIME period at the start of the move 26 31 Unused C 2 35 FAULTMASK This axis parameter determines which faults the system will detect The parameter is a bit mask where each bit corresponds to a specific fault Setting a bit to a one enables monitoring of the fault assigned to that bit Conversely clearing a bit causes the system to ignore that fault if it occurs If a fault is detected its bit value is anded into the FAULT axis parameter value Each bit set in this parameter should have a bit set in at least one of the other mask parameters DISABLEMASK HALTMASK AUXMASK ABORTMASK INTMASK and BRAKEMASK to define the action to occur for that fault If you set a bit in the FAULTMASK but fail to set any corresponding bits in one of the other masks listed above then the FAULT parameter will be set but no axis action will occur These actions wil
118. position of an axis is unknown until after the axis reaches its home position Therefore the user should not activate a software limit or a safe zone until the system successfully completes the homing process However the mechanics of some systems do not permit execution of a normal homing sequence Therefore the user must use an alternate method to determine the absolute position In this case it may be logical to permit software limits and safe zones to be active at all times Setting this parameter to a one 1 causes software limits and safe zones to become active only after successfully homing the axis The default value is zero 0 which causes software limits and safe zones to be active before and after homing the axis Software limits and safe zones are never active during a homing cycle C 40 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 2 95 STATUS This is a bitwise axis parameter providing the current status of this axis For example If STATUS X BAND 0h00000004 could be used to test for the X axis CW end of travel limit bit being TRUE Table C 8 STATUS_xxxx Constants Name Hex Value Description DRIVE 0h00000001 drive active AUX 0h00000002 auxiliary mode output active CW_LIMIT 0h00000004 CW hardware limit active CCW_LIMIT 0h00000008 CCW hardware limit active HOME 0h00000010 home switch active DRIVE_FLT 0h00000020 drive fault input active ATHOME 0h00000040 axis at home position
119. profile block within the profile mode See the Library Reference Manual EDU156 for more information C 2 82 PROFQDEPTH The profile queue depth parameter indicates the number of motion profile commands in the queue that are waiting to be executed by the axis C 2 83 PROFQSIZE The profile queue size parameter indicates the maximum number of motion profile commands permitted in the motion profile queue C 2 84 RAWPOS Same as the POS axis parameter except this parameter indicates the change in axis position made by Axis Calibration or 2D Axis Calibration C 2 85 RESOLVER The resolver axis parameter indicates the absolute position of the axis as reported by the resolver if present not the position of the master axis resolver C 2 86 REVERSALMODE To provide greater positioning accuracy this axis parameter allows you to specify the number of machine steps counts required to compensate for any backlash present in the system Backlash is the play or slop in the mechanics and occurs when a drive screw changes direction and turns a fixed amount before the load begins to actually move in the Version 1 4 Aerotech Inc C 35 Parameters U600 User s Guide new direction This parameter specifies the distance in machine steps before the actual stage movement Setting this parameter to zero counts disables backlash compensation Backlash compensation has no effect on virtual axes and axes that have not been hom
120. programs since you won t need to restore the actual axis configuration after debugging When an axis is configured virtual the IOLEVEL axis parameter will be automatically set to 63 to avoid axis faults from being generated If a virtual axis is homed it will immediately set the current position to the value of the HomeOffsetInch or HomeOffsetDeg task parameter rather than simulating any motion Axis calibration hardware and software limits have no effect on virtual axes 12 4 6 8 Configuring Dual Loop Axes The Hall effect limits encoder fault and drive fault inputs are always read from the same channel The axis status words are derived from a direct read of this data as part of the background task The servo loop reads the hall inputs directly because they need to have minimal latency for motor commutation This implies that the servo loop can and does in this instance look at a different source for the hall inputs than does the axis status word The use must be aware of this when configuring axes Dual loop encoder axes MUST be configured as follows 12 18 Aerotech Inc Version 1 4 U600 User s Guide Setup Wizard 1 The Hall effect inputs D A limits and the secondary feedback channel must be assigned to the same channel number which must be channels 1 8 and the option to use velocity limits must be selected For example if the velocity encoder uses channel 2 then the D A should also use channel 2 You must
121. r ini 4 34 4 649 MRELEAS E mrret eae e ra E N E RE Enas enS 4 34 4 6 50 MB ddrEess onein i ane era eeen eras 4 34 46l MEM e cadens E E E ETEA 4 34 46 32 ML address nerna ea E E 4 35 4 6 53 MW address ccccccccccsssececsesceceessececsenececseseeeessneeeesenaees 4 35 4 6 54 OUTON filespec cee eecceseceesseceeeeecseeceeneeenaeceeeeecsaeeenees 4 35 4 6 55 OUTOFF Z ee e didi inane 4 35 46 56 OUTPAUSE ccc bend el Red E 4 35 4 6 57 PARMGET type parameter_name ec eeeeeeeeceeeeees 4 36 4 6 58 PARMMON type parameter_name ceeeeeeeeeeeeees 4 36 4 6 59 PARMSET type parameter_name value 0 4 36 4 6 60 PLAY filespec S P ceesseeccecsseceeneecsseceeeeecseeeeeeers 4 36 4 6 61 PLYREWIND ie eerren rA A a e 4 37 4 6 62 PRG1 command String seesseeeseersesrseseseseserrserssressressees 4 37 4 6 63 PRGCMPL filespec Option sseesseessesssesssesssesesrresressee 4 37 4 6 64 PRGDUMP filespec sssnsseeseeeeeeesesesssesrsersseessressreseeseees 4 38 4 6 65 PRGERRS filespec erer ceeeeesseceeeeeesseceeeeeceseceteeeenaeeeeeees 4 38 4 6 66 PRGINFO filespec eceeeeeseeceseeesseceeneecnaeceeneeenaeeenees 4 38 4 6 67 PRGLOAD filespec num_lines userline_offset 4 38 4 6 68 PRGRUN filespec line_number 0 00 ee eeeeeeeeeeeeeeee 4 39 4 6 69 PRGSTATS filespec oo ee ceeeeesseceeeeeneecesreeeneeeeereeeneeees 4 39 4 6 70
122. removing this oscillation C 116 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 5 6 Enable2Dcalibration This global parameter enables the 2D axis calibration file specified on the setup page of the UNIDEX 600 MMI Setting this parameter to 1 enables 2D Compensation 0 disables 2D Compensation C57 EStopEnabled This Global parameter specifies whether or not the opto isolated hardware E Stop input should be used A 1 indicates the E Stop input will be used A 0 will cause the software to ignore the hardware E Stop input Refer to the UNIDEX 600 Series Hardware Manual P N EDU154 for more details This input is active low Be sure to set the ESTOP bit in the FAULTMASK axis parameter to enable the detection of this fault then set the bit in the appropriate mask parameter DISABLEMASK HALTMASK AUXMASK ABORTMASK INTMASK and BRAKEMASK for the action to occur on this fault C 5 8 Interrupt2TimeSec This Global parameter specifies the interrupt frequency of the user definable interrupt The valid range is from 0 60 seconds C 5 9 Measurement Mode Setting this global parameter to 1 or 2 activates the measurement mode In this mode no motion occurs but the controller gathers statistical data on the motion After you execute statements in measurement mode you can execute the PRGM command in the AerDebug utility to examine a detailed analysis of the motion including the path length maximum speed and total
123. simultaneously cleared by setting FAULT to a value of 1 1 Oxffff Pushing the Fault Acknowledge button on the U600MMI is equivalent to setting the FAULT axis parameter to 1 The user cannot acknowledge a fault with the AerStat utility 2 6 1 1 Axis Faults and Programming The Programming and Task axis faults listed in Table 2 5 bits 8 and 16 exist to trap faults generated by faulty programming from the two interfaces library and CNC respectively A programming Axis fault occurs when a faulty library call involving the given axis executed A Taskfault Axis fault occurs when a faulty CNC command executes and the Taskfault bit is on in the FAULTMASK for that axis Refer to Chapter 3 Programming for more details Often these programming interfaces provide additional protection For example velocity and velocity command faults are generated when exceeding the axis parameters VELTRAP and VELCMDTRAP However when programming from the CNC interface additional protection is available in the RapidFeedRateIPM and RapidFeedRateRPM task parameters If these are violated the system generates a Task fault see section 2 7 The C C programmer also has the User Axis Fault available see chart where they can force an axis fault Aerotech Inc Version 1 4 U600 User s Guide Getting Started Table 2 5 Bit Hex Value Axis Faults Fault Name Description 0 0x1 Position Error Limit Difference between instanta
124. specify the Number of Lines Electrical Cycle relative to the secondary feedback device even though the value is entered on the screen for the primary feedback device 2 The primary feedback can be connected to any available encoder channel and this connection contains only the encoder and marker information In this configuration all of the I O is coming back on the same physical channel for both the drive and encoder interface and as a result the status word will display the hall effect feedback correctly and you will not have spurious drive fault errors 12 4 7 Configuring Axis Calibration Data This screen within the Axis Configuration Wizard allows ASCII axis calibration files to be specified for the axis 2D calibration files are specified on the main setup page of the MMI600 Axis calibration files contain a look up table of absolute positions and correction values at those absolute positions Multiple calibration files up to 8 may be simultaneously active per axis Axis Configuration Wizard Axis Calibration Ed Set Axis Calibration Files Add Update Delete Tl Disable Axis Calibration Finish Cancel Help Figure 12 11 The Axis Configuration Wizard Set Axis Cal File Screen Selecting the Add button will allow an axis calibration file to be specified for the axis This will cause a dialog box to be displayed allowing a file to be specified The path and file name may be manually entere
125. task C 4 79 MaxRadiusAdjust This task parameter specifies the maximum number of degrees deviation of an arc G2 G3 from 360 degrees for which the center point will not be adjusted Normally when an arc is specified with imprecision in the center point and target values usually due to truncation of the target values by a post processor program a new center point for the arc will be calculated See MaxRadiusError However if this imprecision is present in an arc whose angular travel is near 360 degrees i e the starting and ending points are nearly identical A small imprecision can be leveraged into a large difference in the circle center In these cases we want to suppress the circle center readjustment algorithm The user should never have to change this parameter s value as the only time it is relevant is when the post processor program erroneously produces a 360 degree circle but with unequal starting and ending point values C 4 80 MaxRadiusError This task parameter specifies the maximum error that may exist between the specified radius at the starting point and ending points of a G2 G3 G12 G13 command before a fault will occur The units are in percent with the default being 5 Circular Radius Errors provides more information on this subject All errors less than the value of this parameter will have a new center point calculated reducing their error to zero Errors greater than this parameter wi
126. task The value is a ratio varying from 0 to infinity where represents normal or unaffected motion The MSO changes on the MMI600 screens are more restricted This override affects only spindle type motion This does not affect any other type of motion This value can not be changed if the MSOLock task mode is active Also if the AnalogMSOInput task parameter is not 1 the specified analog input determines the MSO value and this parameter becomes read only and will indicate its value Additionally this parameter reflects only the requested spindle feedrate override if the MaxFeedRateRPM machine parameter have limited the actual feedrate This will not be reflected in the MSO value This task parameter is sampled at the rate indicated by the AvgPollTimeSec global parameter C 4 84 NormalcyToleranceDeg This task parameter defines the absolute value of the minimum angular difference between two moves less than which no G9 deceleration will be forced in between the two moves In addition if the angular difference is less that this amount then the normalcy move will be accomplished in the first UpdateTimeSec period of the second move Therefore to avoid jerking of the normalcy axis this value should be kept low However if it is too low the controller will enforce slowdowns to zero velocity in order to accomplish a normalcy alignment move in between moves which are almost identically at the same angle Moves that are at nearly bu
127. te etic E 2 Ne Vath ie C 44 C2102 VGAIN eset cntedeccsaleote coeuced dood des cetadecotblecsssiinteddlest dotedtewesdolessces C 44 C 3 Machine Parameters ccccccccccccssssssscecececeessssececececeesentsaeeeeeeeeseses C 45 C 3 1 Modifying a Machine Parameter within a CNC PLO STAM soera araeir ee E E R T C 46 C32 SAVE CIUDIIS ee cern entree cis E E einai C 46 C33 AXISS tate ci sess ec es ek ee en A re es C 46 C34 CnisPerDesi an aiteie r Ae le eS Rete C 46 C3 5 EntsP ern h is cise EEE E EA EEE C 47 C356 Controlling TaS Kiersin eerie E snee C 47 C3k Prue OH set cei sciccctec ck wes sceatches E r aa e C 48 xii Aerotech Inc Version 1 4 U600 User s Guide Table of Contents C 3 8 FixtureOffset2 cc A ccccsesscccceesesseeccecsessnssceececsesseeeeeens C 48 C3395 Fixttire Of SETI dsc iedeeceiccsdescsevocs cosvessdecces cesveduversesssstededeeecsters C 48 C 3 10 FixtureOffset ccccccssssccsccecsesscsscsscessencesscescesscesecescsees C 48 C311 FixtureOstsets e ieisesesveceeaceesdenseaces NRE C 48 C3212 FixtureOtset e r a wa eae eae C 48 C 3 13 HomeDirection c ccccccssccccccccesssssceeecesessscececesesssseeeeecenes C 48 C 3 14 HomeFeedRateIPM ccccccccccssscccccecessceeeeecesssseeeeeeeees C 48 C 3 15 HomeFeedRateRPM cccccccccsscccececeessceeececeesensseeeeeees C 48 3 16 HomeOffsetDe gs siccssccscccisetscessceesoetssvhck paseetiseeissnesoeiteeees
128. that do not require fast moves the bandwidth may need to be reduced for optimum performance The Position Loop Bandwidth is automatically determined based on the desired Velocity Bandwidth setting and will be chosen to be approximately 20 of the velocity loop bandwidth It has been found that this Position Loop Bandwidth will give very good performance in almost all cases If needed the user can manually raise or lower the PGAIN after AutoTuning has been completed to adjust the Position Loop bandwidth Look at bandwidth from the response time point of view A good approximation for the rise time 10 to 90 of the move of a system given a certain Position Loop bandwidth Wpos 1S trise SEC 1 8 Wyos This presumes that the axis parameters such as ACCEL DECEL etc are properly set so as not to unnecessarily slow down the speed of motion 5 4 3 2 Damping The Damping factor parameter determines the damping of the system This damping factor is sometimes referred to as Zeta x in control literature A damping factor of 0 will result in a system with no damping large overshoot and very oscillatory behavior A damping factor of 1 will result in smooth system response with very little if any overshoot Damping factors gt 1 can also be used and will result in an over damped system which will have no overshoot but will also have a slower response Axes with larger inertia such as an X axis with a Y and a vertically mounted Z axis will
129. the position register equal to the homeoffset parameter The velocity is specified in machine steps per second The axis accelerates and decelerates at the currently selected modes linear sinusoidal and rates times The specified drive must be enabled and the axis must not be in the sync mode or a programming error occurs The direction is specified by entering 1 1 respectively for the direction parameter EXAMPLE MNOLIMITHOME 0 2000 home CCW at 2 000 steps per second 4 6 42 MOSCILLATE distance speed This command continuously cycles the specified distance at the specified velocity The sign of the distance parameter determines the initial direction of the cycle The drive must be enabled The MABORT command stops this command The distance and velocity are in machine steps The axis accelerates and decelerates at the currently selected modes linear sinusoidal and rates times EXAMPLE MOSCILLATE 25400 12700 cycle 25 400 steps at 12 700 steps per second 4 32 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 6 43 MQABSOLUTE position velocity This command is a queued version of the MABSOLUTE function There is a 16 level queue for each axis If a move is in progress the queued move will not begin to execute until the current move is completed If the queue is empty the move will begin immediately The currently selected axis moves to the specified absolute position at the specified velocity The
130. the state of most modal G codes from the MMI600 within the G Code Display The CNC programmer may also toggle these bits using the Model task parameter For example Model Model Il 0x3 would be equivalent to G70 G90 However when setting the modes directly you should be sure to logically or the new bits so as to not reset all the other modes The user should consult the G code listed in the right column of the table below for more information on the modal G code C 86 Aerotech Inc Version 1 4 U600 User s Guide Parameters Table C 11 Mode Bit Descriptions Mode 1 Task Parameter Bit Description Hex Value G Code On Off 9 10 11 12 13 14 Retrace 15 16 17 18 19 20 21 22 23 24 25 26 27 Dusi Se a E o 28 31 Unused DINIDI NI R WlMml Re o Each of these bits indicate a modal state is active when its respective bit is true If the bit is false it implies that the opposing modal state is active such as Bit 0 False implies Metric Programming Mode is active Bit 1 False implies Incremental programming mode is active Bit 2 False implies Sinusoidal 1 Cosine acceleration is active Bit 3 False implies Time based acceleration is active Bit 4 False implies Linear Axes Feedrates are dominant etc Version 1 4 Aerotech Inc C 87 Parameters U600 User s Guide C 4 83 MSO This task parameter sets the Manual Spindle feedrate Override for Spindle 1 on this
131. then that motion will halt decelerate to a stop However any asynchronous motion initiated by that program including spindle motion will not normally be halted when a task fault occurs There is one exception to this 1 Spindle motion halts decelerates to a stop if the G101 Spindle Shutdown mode is enabled C 4 143 3 Generating an Axis Fault in Response to a TaskFault A task fault may also generate a special axis fault known as Task Fault under certain circumstances This is done to allow the programmer to stop halt or abort axis motion due to a task fault The behavior is as follows 1 An ESTOP task fault generated by either a global or task ESTOP will generate an ESTOP axis fault Version 1 4 Aerotech Inc C 109 Parameters U600 User s Guide 2 All other Task faults except Physical Axis Fault generate the TaskFault Axis fault The exception in item 2 is necessary to prevent infinite loop faulting Since the physical axis fault task fault is created from an axis fault it would not make sense to generate another axis fault in response to it For example suppose axes 2 and 3 are bound to task 1 and task 1 generates a task fault Also suppose that axis 2 has its FAULTMASK axis parameter set to 0 but axis 3 has its FAULTMASK axis parameter set to 0x10000 the Task Fault bit is set Then the axis fault task fault is generated for axis 3 but not for axis 2 Furthermore s
132. to 10 000 counts and the current position of the master axis is 12 000 counts this parameter will read 2 000 counts This parameter should always be examined on the slave axis and the units are in counts C 2 23 CCWEOT This axis parameter determines the software counterclockwise end of travel limit The controller will not move to a position that exceeds this value Instead a CCW_FAULT occurs each time the user attempts to command a position beyond this value The user must enter the CCW end of travel position in machine steps from the home position in the range not exceeding 2 1 Billion 2 E31 The CCWEOT should always be more negative than the CWEOT parameter Be sure to set the CCW Software Limit bit in the FAULTMASK axis parameter to enable the detection of this fault then set the bit in the appropriate mask parameter DISABLEMASK HALTMASK AUXMASK ABORTMASK INTMASK and BRAKEMASK for the action to occur on this fault The bounded by software limits flag must be set TRUE within the axis configuration wizard for that axis in order for soft limits to be active Software limits will be ignored until after the axis has been homed if the SOFTLIMITMODE parameter is set to one Software limits may not be activated for virtual axes Aerotech Inc Version 1 4 U600 User s Guide Parameters C 2 24 CLOCK This axis parameter is a counter that may be used as a clock with one millisecond resolution It is constantly incre
133. to automatically determine servo loop gains for a torque mode axis For axis with a tachometer velocity command mode set this parameter to 0 C 2 59 KP This axis parameter sets the proportional gain of the velocity loop for the selected axis Refer to the UNIDEX 600 Hardware Manual for a description of how this parameter functions in the servo loop Note that you may use the AutoTune feature within the AerTune exe utility on the Tools menu to automatically determine servo loop gains for a torque mode axis For axis with a tachometer velocity command mode set this parameter to 0 C 28 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 2 60 MASTERLEN This axis parameter is used only in the context of Camming master slave motion It is used to modulo the MASTERPOS axis parameter to avoid overruns of the 32 bit MASTERPOS value It is set in counts for the slave axis It is used only when the master is a rotary axis and the master axis will be cycled through multiple revolutions while synchronized When cycling a rotary axis through multiple revolutions the controller modulo s the position to zero when it reaches 360 degrees The MASTERLEN axis parameter serves the same purpose for the MASTERPOS axis parameter The MASTERLEN axis parameter must be set to the number of counts per 360 degrees to avoid overruns of the 32 bit counter For example if axis A is a rotary master axis with 1000 counts deg mastering th
134. type specified will be displayed EXAMPLES IOGET BI 3 read binary input 3 IOGET BO 127 read state of binary output 127 IOGET RI 511 read register input 511 IOGET RO 0 read state of register output 0 4 6 30 IOMON type point_number The JOMON command monitors the state of a virtual I O point updating the display approximately every 100 msec 10 times second Inputs and outputs may be monitored of register and binary bit types Binary types refer to bits having two possible states a logic 1 or 0 Registers are 16 bits having a valid data range of 0 through 65535 These 4 types are represented as follows BI Binary inputs BO Binary outputs RI Register inputs RO Register outputs The valid range of the virtual I O point is dependent on the type Register types have a valid range of 0 through 127 Binary bit types have a valid range of 0 through 511 Each type does not share this range among inputs and outputs so there are 128 register inputs 128 register outputs 512 binary inputs and 512 binary outputs EXAMPLES IOMON BI 3 monitor binary input 3 IOMON BO 127 monitor the state of binary output 127 IOMON RI 511 monitor register input 511 IOMON RO 0 monitor the state of register output 0 Version 1 4 Aerotech Inc 4 27 AerDebug U600 User s Guide 4 6 31 IOSET type point_number value The JOSET command writes to a virtual I O point Inputs and outputs may be of register and binary
135. velocity during a contoured move may differ from the programmed vectorial velocity The RotaryFeedRateActual task parameter indicates the actual vectorial velocity Version 1 4 Aerotech Inc C 95 Parameters U600 User s Guide The CNC E word is equivalent to the RotaryFeedRate parameter and the value of this parameter can be observed from the MMI 600 in the E window of the active G code section of the Run or manual screens If you change the RotaryFeedRate during a contoured move this change will not take S effect until the next contoured move Use the MFO to change the speed during a contoured move C 4 101 RotaryFeedRateActual This task parameter indicates the actual vectorial feedrate of rotary axes in RPM This is the same as the commanded vectorial feedrate task parameter RotaryFeedRateActual unless the speeds of the axes involved are limited by the MaxFeedRateRPM machine parameter or the MFO MSO is less than 100 Note that this parameter only denotes the vectorial speed during contoured G1 G2 G3 etc moves and is equal to zero during all other types of motion This parameter is updated every 10 millisecond s C 4 102 RotateAngleDeg This task parameter specifies the amount of rotation in degrees to perform in the parts rotation plane specified by the RotateX and RotateY task parameters A value of zero disables the parts rotation Any non zero value adds to the degree of rotation The rotation i
136. velocity is specified in machine steps per second The axis accelerates and decelerates at the currently selected modes linear sinusoidal and rates times The specified drive must be enabled and the axis must not be in the sync mode or a programming error occurs EXAMPLE MQABSOLUTE 1000 10000 move to 1 000 at 10 000 steps per second MQABSOLUTE 2000 10000 move to 2 000 at 10 000 steps per second MQABSOLUTE 3000 10000 move to 3 000 at 10 000 steps per second 4 6 44 MQFLUSH This command clears the 16 level deep axis queue for the currently selected axis All commands that were in the queue will not be executed EXAMPLE MQFLUSH clear the queue for the current axis 4 6 45 MQHOLD This command places the queue for the currently selected axis into the hold state upon completion of the current motion command The current command will be completed and the queue can be restarted by using the MQRELEASE command EXAMPLE MQHOLD halt the execution queue for this axis 4 6 46 MQINCREMENTAL distance speed This command is a queued version of the MQABSOLUTE command There is a 16 level queue for each axis If a move is in progress the queued move will not begin to execute until the current move is complete If the queue is empty the move will begin immediately The currently selected axis moves the specified incremental distance at the specified speed The velocity is specified in machine steps per second The axis accelerates and
137. want to base axes motion on another axes motion clearly the master axes needs to be a real axes or all slave motion must be pre computed against time with a virtual axis being the master commanded at a constant velocity synchronizing all slave axes However if all you want to do is provide a velocity or distance profile to a single axis then your master should be configured as virtual It is recommended where possible that you select your axes such that the master axis has a smaller axis index then the slave For example X as the master and Y as the slave axis is preferred than vise versa This is because when the master axis has a higher axis index than the slave and the master axis is not moving at a constant speed a slight mis tracking will exist The MASTERPOS read by the slave is not equal to the position of the master This following error is equal to the acceleration of the master in cnts msec squared and is usually only a few counts Finally if the master is a rotary Type axis you must consider setting the MASTERLEN axis parameter to avoid 32 bit overruns of the MASTERPOS C 2 62 MASTERRES The master resolver axis parameter is the current resolver position 0 65535 for the axes master axis if the axis has been configured to track a HANDWHEEL or as a slave to a master with resolver feedback It is 0 otherwise C 2 63 MAX PHASE Refer to the BASE_SPEED axis parameter for a description of this parameter
138. 0 TaskWarning 2 RWU 0 4 1B 0 UpdateNumEntries 144 RW 1 30 30 UpdateTimeSec 28 RW 0 0 0 05 00 UserFeedRateMode 53 RW 0 5 0 C 4 1 Modifying the Task Parameters of another Task Another tasks task parameters may be referenced within another task by appending a decimal point and then the desired task number to the end of the task parameter The case of these task parameters is significant as defined in the task parameter table A task parameter on the current task may be modified directly without the decimal point and task number as shown in the examples below i e RIAction RIO_CYCLESTART For example a single CNC program could start a CNC program running on tasks 1 2 and 3 from within task 4 as shown below RIAction1 1 RIO_CYCLESTART Source the cycle start action on task 1 RIAction1 2 RIO_CYCLESTART Source the cycle start action on task 2 RIAction1 3 RIO_CYCLESTART Source the cycle start action on task 3 The status of those programs could then be read via that tasks Status word GLOB1 Status1 1 read status word 1 from task 1 GLOB2 Status1 2 read status word 1 from task 2 GLOB3 Status1 3 read status word 1 from task 3 A full example is illustrated in TNO003 within the online help file C 4 2 AccelRate This task parameter will indicate or may be used to specify the current Acceleration rate of the task in the current user units This parameter is inconsequential i
139. 0 offset may be calculated as 10 360 1024 28 Bounded by Software Limits The Bounded by Software Limits field within the Axis Configuration Wizard is used to specify if software limits are to be activated for the axis true or false may be selected The software limits are defined by the CWEOT and CCWEOT axis parameters 12 4 6 3 EncoderHall Pole Pairs Configuration Channel Number The channel number specifies the channel number that the encoder feedback device will be read from for this axis as well as the specific I O CW CCW Home Limits encoder fault drive fault Auxiliary Mode output and the drive enable Encoder Channel Assignments Channels 1 through 4 are on the UNIDEX 600 card channels 5 through 8 are on the 4EN PC card configured as Board 1 channels 9 through 12 are on the 4EN PC card configured as Board 2 channels 13 through 16 are on the 4EN PC card configured as Board 3 Version 1 4 Aerotech Inc 12 13 Setup Wizard U600 User s Guide Number of Lines The number of lines for the encoder must be specified This may also be used to rescale the PGAIN axis parameter Rotary Encoder For rotary encoders enter the number of lines per revolution of the encoder after the times 4 multiplication is done by the controller i e for a 1000 line encoder enter 4000 Linear Encoder For brush motors with linear encoders enter the number of counts seen by the controller per revolution of the mo
140. 0020 feedrate override PROFILING NOTE 0h00000040 axis in profiling mode G1 G2 G3 or other contoured motion SYNC 0h00000080 axis in sync mode camming motion CAM_TABLE 0h00000100 cam table enabled HOME_DIR 0h00000200 home direction CONT_MOVE 0h00000400 continuous move HOME or STRM QUEUE 0h00000800 motion queue active HOLD 0h00001000 hold active AUX_MODE 0h00002000 aux mode BLOCK 0h00004000 block motion HOLD_QUEUE 0h00008000 hold queue JOG 0h00010000 Jog mode active DISABLE 0h00010000 disable command HALT 0h00020000 halt command ABORT 0h00040000 abort command ACCEL_ON 0h00080000 Acceleration command DECEL_ON 0h00100000 Deceleration enabled ACCEL_SIGN 0h00200000 Acceleration sign used for direction change CONST_ACCEL 0h00400000 linear 1 cosine acceleration flag CONST_DECEL 0h00800000 linear 1 cosine deceleration flag BOUNDED 0Oh0O 1000000 bounded 1 e use software limits SETUP_PEND 0h02000000 setup command pending CHCKR_FLAG 0h04000000 set along with setup_pend amp cleared when checker runs QUICK_HOME 0h08000000 quick home active IRQ_PENDING 0h10000000 interrupt pending PENDANT_JOG 0h20000000 pendant jog mode active MRKR_ARMED 0h40000000 marker armed Jog Mode Enabled 0h80000000 Jog mode is enabled Version 1 4 Aerotech Inc C 31 Parameters U600 User s Guide C 2 65 1 Profiling Bit in the MOTIONSTATUS Axis Parameter The profiling bit in the MOTIONSTATUS axis parameter indicates that the axis is in the profiling mode G1 G
141. 1000 counts Then suppose camming is disabled and the master axis is moved back to 0 counts During this latter move MASTERPOS is not updated so it still reads 1000 counts even though the actual position of the master axis is 0 counts As explained above MASTERPOS is not set on syncing up so MASTERPOS now has a 1000 count offset If this is done repeatedly it can eventually lead to overruns of the 32 bit MASTERPOS value which leads to violent jerks of the slave axis Furthermore it can lead to erroneous motion when syncing in mode 2 Therefore the following line is always recommended prior to synchronization MASTERPOS X POS Y where X is the slave Y is the master Or if you are tracking Position command on the master Version 1 4 Aerotech Inc C 29 Parameters U600 User s Guide MASTERPOS X POSCMD Y where X is the slave Y is the master This should only be set while the master axis and slave axes are not synchronized or you may jerk the slave axis In a related point if the master is a rotational axis you should also set the MASTERLEN axis parameter to the number of counts per rotation to avoid MASTERPOS overruns C 2 61 1 Master Axis Selection At least two axes are involved in any master slave motion the axis whose motion is dependent upon the other is the slave axis and a user specified master axis is used to command the slave The master axis may be an existing axis a handwheel or a virtual axis If you
142. 12 16 Position Limits and Velocity Trap Screen 12 24 Aerotech Inc Version 1 4 U600 User s Guide Setup Wizard 12 9 Configure the Drive Interface States Specify the active state for the axis and drive interface signals The user may configure the active state of the following signals 0 Drive Shutdown output to drive Ox 1 AUX Mode Output output to drive 0x2 2 CW limit Switch input from drive 0x4 3 CCW limit Switch input from drive 0x8 4 Home limit Switch input from drive 0x10 5 Drive Fault input from drive 0x20 The value specified is a bit mask where only the specified bits are valid Setting a bit to one implies the input or output is active high Refer to Section 2 5 Drive Signals in the Users Guide for more information The easiest way to configure these signals via the IOLEVEL axis parameter is to view the state of the signals via the AerStat exe utility Knowing the state of the signal and viewing the state via AerStat will allow you to toggle the appropriate bits in the IOLEVEL axis parameter to correct the state Setup Wizard Configuring Axis X This screen is for axis verification and testing The actual state of the components should match the status shown in the Status Display IOLEYEL If the checkbox is checked the Active Inactive interface siqnal is active High A Drive Enable E If the checkbox is not checked the interface signal is active Low Aus Mode Output a IV Drive
143. 12 20 Figure 12 21 Figure 12 22 Figure 12 23 Figure 12 24 Figure 12 25 Figure 12 26 Figure 12 27 Figure 12 28 Figure 12 29 Figure 12 30 Figure C 1 Figure C 2 Figure C 3 Figure C 4 Figure C 5 Figure C 6 Figure C 7 Figure C 8 Figure C 9 Figure C 10 Figure C 11 Figure C 12 Figure C 13 Figure C 14 Figure C 15 Figure C 16 Figure C 17 Figure C 18 Figure C 19 Figure C 20 The Axis Configuration Wizard Welcome Screen cece 12 5 The Axis Configuration Wizard Setup Name Screen 12 6 The Axis Configuration Wizard Choose a Configuration OCHGSD coe Sect Sey asi meen tn li ape E E eet 12 7 The Axis Configuration Wizard Primary Feedback Screen 12 9 The Axis Configuration Wizard D2A Screen eee eeeeeeeeee 12 9 The Axis Configuration Wizard Secondary Feedback Screen 12 10 The Axis Configuration Wizard Set Axis Cal File Screen 12 19 The Axis Configuration Wizard Save Finish Screen 12 20 The Scaling and Feedrate Screen eee eee csecseecreeeeeeeeeeeees 12 21 The Home Cycle Screen cescsseesceesercneeconecoevensvonssnsenessens 12 22 The Asynchronous Move Screen eeeceeeescesecssecssecneeeneeeeeeeeeees 12 24 Position Limits and Velocity Trap Screen ee eeeeeeeeees 12 24 The Drive Interface Configuration Screen via the IOLEVEL 12 25 The FAULTMASK Configuration Screen eee eee eree 12 26 The
144. 2 C 4 139 Task Modes The modal state of the 4 tasks on the controller is indicated by the task parameters Status CNC program state FeedHold and Emergency Stop Status2 Spindle 1 4 and MSO states Status3 Modal G code states Additional information is provided in the axis parameters ALT_STATUS Misc Information STATUS Axis instantaneous state MOTIONSTATUS More axis states SERVOSTATUS Axis I O states Drive Aux Limits Hall inputs Marker etc C 104 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 140 Statusi This task parameter indicates various program states of the task when the respective bit is true Also be aware that some motion conditions may also be reported in the STATUS Status2 Status3 MOTIONSTATUS and SERVOSTATUS parameters There are pre defined definitions of the bits in this task parameter within AerStat Pgm These definitions take the form of TASKSTATUS1_xxx where xxx is the name as listed below For example If Status1 2 BAND TASKSTATUS1_ProgramExecuting could be used to test for a program executing on task 2 The first 7 bits in the chart below are the most important they indicate the status of a CNC program on the task Table C 16 Status1 Bit Descriptions Status1 Task Parameter Bit Description Hexadecimal Value 0 Program Associated Ohl 1
145. 2 G3 or other contoured motion This bit will be TRUE even during a manual feedhold or when the MFO 0 however it will be false during a feedhold due to Jog Interrupt ONGOSUB or a canned function C 2 65 2 Moving Bit in the MOTIONSTATUS Axis Parameter The moving bit in the MOTIONSTATUS axis parameter indicates that the axis is in the profiling mode G0 HOME or other contoured motion This bit will be TRUE even during a manual feedhold or when the MFO 0 however it will be false during a feedhold due to Jog Interrupt ONGOSUB or a canned function C 2 66 MOVEQDEPTH The move queue depth parameter indicates how many commands are waiting to be executed from that axis motion command queue C 2 67 MOVEQSIZE The move queue size parameter indicates the maximum number of motion commands that are permitted in the queue C 2 68 PGAIN This axis parameter determines the gain of the position loop for the selected axis Refer to the UNIDEX 600 Hardware Manual for a description of how this parameter functions in the servo loop Note that you may use the AutoTune feature within the AerTune exe utility on the Tools menu to automatically determine servo loop gains for a torque mode axis If the PGAIN axis parameter can not be increased greater than 1 without producing an instability in the axis its units may be rescaled C 2 69 PHASE SPEED Refer to the BASE_SPEED axis parameter for a description of this parameter C 2 70
146. 3 Hexadecimal values of Bit Numbers 000 0 eee eeceeeesecesecesecnseeeeeaee 2 4 Table 2 4 Gains for the Different Servo Loop Modes 0 ec eeceeseeseeeseeereeeeeees 2 7 Table 2 5 AXIS Falis eves cag ccse eses ase povseucesiovenedsuvrsnessecsdpesiedgshesttstupsayeerebes 2 13 Table 2 6 Fault Mask Actions 00 0 0 ce ceeseeceeeeceescesecesecssecsseceecseeeseseaeeeeeeneees 2 14 Table 2 7 Bits Set for the FAULTMASK Parameter 0 0 ec eeeceeeeeeeseeeeees 2 17 Table 2 8 Summing Bits for INTMASK ceccecceceesceesceeecesecnsecesecnseeseeeneeens 2 17 Table 2 9 Summing Bits for ABORT MASK 0 cece cescese cee cneeceeeeneeeeeeeeeees 2 17 Table 2 10 Relationship between U600 Encoder I O and Virtual I O Mapping cevnicteca tee eh ter ask a es ee ee Se A EE 2 23 Table 3 1 The Two Programming Interfaces Available eee eeeeee 3 1 Table 3 2 Advantages of the Two Programming Interfaces eee eee 3 2 Table 3 3 How to Run and Control CNC Programs eee eceeeeeeeeeeeseeneeenees 3 7 Table 4 1 AerDebug Special Character Keys ec ceceeseescesscesecesecesecnseeneeeneeens 4 4 Table 4 2 AerDebug Commands 0 0 0 ee eecesecesecesecnseceecneeeeeeeneeeeeeeeeeeeeeseens 4 15 Table 4 3 Basic Command to Library Function Cross Reference 4 48 Table 4 4 Axis Command to Library Function Cross Reference 4 48 Table 4 5 Task Command to Library Function Cross Reference 0 0 4 49 Table 5 1 Initial To
147. 4 108 RThetaRadiusInch This task parameter specifies the radius for cylindrical R Theta transformations The appropriate angular position is calculated from the cylindrical radius and the X axis position C 4 109 RThetaT This task parameter specifies which task axis is used for the T Theta axis of the R Theta transformation This axis must be a rotary type The RThetaX and RThetaY parameters are used to determine the perpendicular base X Y plane The RThetaR and RThetaT parameters are used to determine the polar R Theta coordinate system The RThetaT and RThetaY parameters are used to determine the cylindrical R Theta coordinate system C 4 110 RThetaX This task parameter specifies which task axis is used for the X base axis of the R Theta transformation This axis must be a linear type The RThetaX and RThetaY parameters are used to determine the perpendicular base X Y plane The RThetaR and RThetaT parameters are used to determine the polar R Theta coordinate system The RThetaT and RThetaY parameters are used to determine the cylindrical R Theta coordinate system C 4 111 RThetaY This task parameter specifies which task axis is used for the Y base axis of the R Theta transformation This axis must be a linear type The RThetaX and RThetaY parameters are used to determine the perpendicular base X Y plane The RThetaR and RThetaT parameters are used to determine the polar R Theta coordinate system The RThetaT and RThetaY paramete
148. 40 1 1 1 1 1 1 1 1 1 1 Element 50 1 1 1 1 1 1 1 1 1 1 Element 60 1 1 1 1 1 1 1 1 1 1 Element 70 1 1 1 1 1 1 1 1 1 1 Element 80 1 1 1 1 1 1 1 1 1 1 Element 90 1 1 1 1 1 1 1 1 1 1 C 38 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 2 92 SERVOSTATUS This is a bitwise axis parameter providing the current status of the motion on this axis Also be aware that some motion conditions may also be reported in the STATUS Status1 Status2 Status3 and MOTIONSTATUS parameters There are pre defined definitions of the bits in this axis parameter within AerStat Pgm These definitions take the form of SERVOSTATUS_xxx where xxx is the name as listed below For example If SERVOSTATUS X BAND SERVOSTATUS_DriveEnabled or If SERVOSTATUS X BAND 0h00000001 could be used to test for the X axis Drive being enabled Table C 7 SERVOSTATUS bit definitions Name Hex Value Description DRIVE 0h00000001 Drive is enabled AUX 0h00000002 Auxiliary Mode output on CW_LIMIT 0h00000004 CW hardware limit active CCW_LIMIT 0h00000008 CCW hardware limit active HOME 0h00000010 Homing cycle active DRIVE_FLT 0h00000020 Drive fault input active ATHOME 0h00000040 Axis at home position DONE 0h00000080 Motion Done INPOS 0h00000100 Axis is in
149. 456 VDSET T 9 56 7 set Task double variable 9 to 56 7 VDSET P 3 19 63 set Program double variable 3 to 19 63 VDSET S 1 32 45 set call Stack double variable 1 to 32 45 4 6 92 VSGET type number The VSGET command displays the specified string variable There are three types Global Task and Program string variables represented by G T and P respectively all holding 128 character strings There are ten Global twenty Task string variables each numbered 0 through the maximum size 1 determined by the NumGlobalStrings and NumTaskStrings parameters The number of program string variables is determined by the number defined within the current CNC program associated with the current task If no variable number is specified all variables of that type will be displayed EXAMPLE VSGET G 9 display Global string variable 9 VSGET T 19 display Task string variable 19 VSGET P 0 display Program string variable 0 4 6 93 VSMON type number The VSMON command monitors the value of a string variable updating the display approximately every 100 msec 10 times second There are three types Global Task and Program string variables represented by G T and P respectively all holding 128 character strings By default there are ten Global twenty Task string variables each numbered 0 through the maximum size 1 determined by the NumGlobalStrings and NumTaskStrings parameters The number of Program string variables is determin
150. 600 or encoder expansion card Two of the channels are used per axis to provide commutation for brushless motors The DAC channels have 16 bits of resolution on the UNIDEX 600 650 Series The DACs provide a maximum output of 10 volts 2 3 3 Configuring a Spindle Open Loop Velocity Mode A special condition exists when configuring an open loop axis that requires a velocity command as opposed to a torque command such as a spindle axis Configuring the axis for a D A channel but utilizing NULL feedback for the feedback device does this In addition the lines per revolution of the feedback device should be set to 100 000 lines per revolution The Type machine parameter see section 2 4 1 should be set to 1 or 2 defining the axis as a rotary axis If the spindle requires a unipolar velocity command 0 to 10 not 10 to 10 the JCMDPOLARITY axis parameter should be set to 1 The CntsPerDeg machine parameter see 2 4 2 should be set 277 777778 100 000 lines per rev 360 degrees The servo loop gains axis parameters should be set as follows KI 0 PGAIN 0 KP 1 If required the DACOFFSET axis parameter may be used to null any offset from the D A The IMAX axis parameter defaults to 32 767 producing a 10 volt peak velocity command output This value may be changed as required for the drive for example a value of 16 384 will produce a 5 volt peak For velocity command systems IAVGLIMIT should be set to zero Now that all the paramet
151. 76 POSTARGET reei he Rete ieee C 34 C2711 POSTOGO Hick okie Meet a tae eh eds C 34 C2578 POSTOGOIRO esre raeed eee eter e egie duced C 34 C219 POSTOLERANCE tec icici hte A C 35 C 2 80 POSTOL TIME n cian dee a R aunnies C 35 C281 PROFT ETME 3 5 aoar eee hot nce ates C 35 C282 PROPODEP TH araen ee A E C 35 C283 PRONOST E 252 6t2 0 a e is RAD BAAR ites C 35 C284 RA WROS rnr e a a n a nt C 35 C2385 RESOLVER ccsi25 Sie ssshs ct vie ee ih Seas Bestel C 35 C 2 86 REVERSALMODE eeseeseeessseersssessseeresseeessseessosessseeeeese C 35 C 2 87 REVERSALVALUE eet oeiee e e C 36 C 2 88 SAFEZONECCW 0 3 e ccccecscsccceseccccceeesdeecseetead eriet eiere C 37 2 39 SAFEZONECW oren ro nonin anit eel nea C 37 C 2 90 SAFEZONEMODE 0 cccccceesscceessececeesseeecseseeeessseeeeneaaee C 37 C291 SCALEPGAIN 4 68 s ce8ec8 he oh SA coin hides eee C 37 C 2 92 SERVOSTATUS ae E dei thes C 39 C293 SIMULATION ain ds eiitie Btn tit Oa E dt eet C 40 C 2 94 SOFTLIMITMODE 0 cceccccccceceessceceensececseseeeessseeeenenaes C 40 C295 STATUS seo la i ie hd ee eS C 41 C 2 96 SYNGSPEED ccs cance RE ET EEE Re e C 42 C297 SYSTEMCLOCK amp sc sco i Santen awe Re C 42 C 2 98 VELCMDTRAP ccscccsssecesscssscecessceeccecsseeseaeecseeesseecees C 42 C299 NELPOSITION ic beeen ti he aA BAA As C 42 C 2 100 VELTIMECONST cecccccecssssecssssececssceeeeesnececsesseeeesenaees C 43 COTO VERB er asic et be ala ir
152. 9 C 1KHz2 4KHz Calculate Coeff Freq Response Filter Parameters Stop Freq Hz 250 write to File Remove Filter F1 Help Figure 11 1 The Filter Screen Version 1 4 Aerotech Inc 11 1 Filter U600 User s Guide 11 2 Aerotech Inc Version 1 4 U600 User s Guide Setup Wizard CHAPTER 12 SETUP WIZ In This Section o IniroductiOniearec note ee eee eee 12 1 e Axis Names and NuUmDer eee e 12 2 O Choate AVIS TDS e e 12 3 e TAXIS Configuration a eee eee 12 4 O SEEN EO KEE EES seee er nee ee 12 21 e Home Cycle Configuration seeseseeeeeeerrereeeeee 12 22 e Asynchronous and GO Accel Decel Parameters 12 24 e Position Limits and Velocity Trap 12 24 e Configure the Drive Interface States 12 25 e Configure the FAULTMASK eee 12 26 e Configure the DISABLEMASK 0 eee 12 27 e Configure the AUXMASK 0 ecceceecesteereeeees 12 29 e Configure the ABORTMASK oseere 12 30 e Configure the INTMASK cece eeeereeees 12 31 e Configure the BRAKEMASK eee 12 32 e Configure the Current Limits eee 12 33 e Axis Configuration Complete eee 12 34 e Accel Decel and Task Initialization 0 12 35 e Configure the ESTOP Feedhold and MFO 12 36 e Configure Synchronous Accel Decel 0 12 37 e Setup Wizard Configuration Complete 12 38 12 1
153. 9 WRITESERIAL 4 46 Virtual I O mapping 2 22 WW command 4 46 Virtual I O point 4 27 Virtual inputs 4 28 Z Visual Basic 3 3 VME bus 1 1 ZMONITOR command 4 47 VSGET command 4 44 ZONGOSUB command 4 47 vi Aerotech Inc Version 1 4 READER S COMMENTS AEROTECH gt U600 User s Guide P N EDU 157 December 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 412 967 6870 AEROTECH
154. A DAC or Digital to Analog Converter channel number must be specified for all axes except virtual to provide the command velocity or torque to the driver module Axis Configuration Wizard Configure IO D2A4 Channel z Finish Cancel Help Figure 12 9 The Axis Configuration Wizard D2A Screen Version 1 4 Aerotech Inc 12 9 Setup Wizard U600 User s Guide The DAC channel number defines the channel for the axis specific I O CW CCW Home Limits encoder fault drive fault Auxiliary Mode output and the drive enable for axes with resolver or resolverhall feedback Axes with encoder or encoderhall feedback have their I O associated with the encoder channel number specified Selecting Next will advance you to the next Wizard configuration screen Back will take you to the previous Wizard screen Cancel will exit the Wizard without saving any changes to the axis configuration Finish will save the axis configuration and exit the Wizard 12 4 6 Configuring the Secondary Feedback Device The Axis Wizard Configuration screen allows the secondary feedback device to be configured This screen will vary depending on the secondary feedback device selected so it is not shown here pressing the Help button on the bottom of the screen will clarify the required entries The secondary feedback device is always used for velocity feedback When there is no secondary feedback device the
155. AccelRotaryDPS2 Task Parameters There are certain conditions where a G9 will be enforced regardless of the value of this parameter There are some instances where this parameter will not work properly due to limitations in the look ahead process If G301 mode is active the controller will look ahead multiple moves and slowdown many moves before the change in velocity However the maximum number of moves ahead of the CNC block the controller is able to slow down as determined by the MaxLookAheadMoves task parameter Also there are also some other instances where this parameter will do nothing due to limitations in the look ahead process Note that a G9 decelerate to zero velocity will be enforced regardless of the value of this parameter if you execute a G92 command are in G109 mode or have a G9 on the line If a G8 is on the CNC program line this parameter will have no effect C 4 8 4 Calculating the value for the BlendMaxAccelLinearIPS2 and BlendMaxAccelRotaryDPS2 Task Parameters These parameters should be set to the maximum value that does not cause excessive excitation to the mechanics adversely affecting part quality The exact value required for your system must ultimately be determined by trial and error dependant upon your mechanics support structure part geometry required accuracy etc They may be set to the lesser value of the two axes ACCELRATE axis parameters as a very rough starting point The ACCELRATE axis p
156. ActionOpCode task parameter C 4 97 RIActionOpCode The RIActionOpCode task parameter is used to command motion on a task from a program running on the same or most likely another task by setting this parameter and the RIActionAxis RIActionParm1l and RIActionParm2 task parameters to one of the following values RIACTION_OPCODE_NONE Spindle OpCodes RIACTION_OPCODE_SPINDLE_CW RIACTION_OPCODE_SPINDLE_CCW RIACTION_OPCODE_SPINDLE_OFF RIACTION_OPCODE_SPINDLE_REORIENT RIActionAxis Not Used RJActionParm This is set to the Spindle Index 0 3 RIActionParm2 Not Used Async Motion OpCodes 5 MoveTo RIACTION_OPCODE_ASYNCTYPE_MOVETO RIActionAxis Axis to Move RJActionParm Target to move to RIActionParm2 Velocity to move at 6 Async Home RIACTION_OPCODE_ASYNCTYPE_HOME RIActionAxis Axis to Home RIActionParml Not Used RIActionParm2 Not Used 7 Async Index RIACTION_OPCODE_ASYNCTYPE_INDEX RIActionAxis Axis to Move RIActionParm1l Distance to move to RJActionParm2 Velocity to move at 8 Freerun RIACTION_OPCODE_ASYNCTYPE_START RIActionAxis Axis to Move RIActionParm1 Direction to move 1 1 RIActionParm2 Velocity to move at 9 InFeed RIACTION_OPCODE_ASYNCTYPE_INFEED RIActionAxis Axis to Move RIActionParm1 Distance to move RIActionParm2 Velocity to move at 10 Queue Index RIACTION_OPCODE_ASYNCTYPE_QINDEX RIActionAxis Axis to Move RIActionParml Distance to move to RJActionParm2
157. Ball screw driven axes should use a damping factor or 3 Most axes should be able to achieve about 30 Hz bandwidth Begin at 10 Hz bandwidth AutoTune and then accept the calculated gains increase the bandwidth working up until each axis becomes unstable then reduce the bandwidth to the previous stable value 5 12 Aerotech Inc Version 1 4 U600 User s Guide AerTune 5 4 2 Excitation Parameters In order to identify the necessary system parameters that the AutoTune algorithm needs calculate the servo loop gains a multiple frequency sinusoidal test input is used to excite the system The following set up parameters are available 5 4 2 1 Amplitude of Excitation in AutoTune The Amplitude parameter sets the Peak Peak envelope of the sinusoidal input The system will move about its starting position by 0 5 Amplitude The Amplitude can be displayed and entered either in raw machine counts or user units inches mm or degrees depending on the axes selected The units can be changed by clicking on the counts or user units button Systems with high resolution feedback devices will almost always require the amplitude to be raised so that the system will move an adequate amount and utilize a measurable amount of torque In general the AutoTune calculations will be more accurate the larger the amplitude is chosen within the constraints of the system will prevent System Excitation Parameters from being chosen that will violate
158. C 2 64 MAXCAMACCEL This axis parameter is used only in the context of File Driven Camming only when SYNC mode 3 is used This parameter is most useful when synching on the fly switching cam tables without deSYNCing in between If this axis parameter is non zero it will limit the acceleration of the slave axis to its value which is in user units sec sec To deactivate this feature set the parameter value to 0 C 30 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 2 65 MOTIONSTATUS This is a bitwise axis parameter providing the current status of the motion on this axis Also be aware that some motion conditions may also be reported in the STATUS Status1 Status2 Status3 and SERVOSTATUS parameters There are pre defined definitions of the bits in this axis parameter within AerStat Pgm These definitions take the form of MOTIONSTATUS_xxx where xxx is the bit name as listed below For example the following could be used to test for the X axis Moving bit being TRUE If MOTIONSTATUS X BAND MOTIONSTATUS_Moving Or If MOTIONSTATUS X BAND 0h00000002 Table C 4 MOTIONSTATUS Bit Definitions Name Hex Value Description MOVE_DIR 0h00000001 move direction MOVING 0h00000002 G0 Home or Async Motion Active ACCEL 0h00000004 axis in accel Phase of GO Home or Async Motion DECEL 0h00000008 axis in deceleration phase of G0 Home or Async Motion HOMING 0h00000010 axis in home cycle FEED_OVER 0h0000
159. CW hardware end of travel limit encountered Bit 3 8 0x8 CCW hardware end of travel limit encountered Bit 6 64 0x40 Drive fault has occurred 7 C FAULTMASK 79 Ox4F Likewise the indicated bits would be set in the ABORTMASK and INTMASK parameters Summing the value of the desired bits together and setting the parameter to that value as shown in Table 2 8 and Table 2 9 does this Table 2 8 Summing Bits for INTMASK Bit Decimal Description Bit 1 0x2 RMS current limit exceeded JA VGLIMIT parameter Bit 6 Drive fault has occurred INTMASK 66 Table 2 9 Summing Bits for ABORT MASK Bit Decimal Description Bit 0 0x1 Position error exceeded POSERRLIMIT parameter Bit 2 0x4 CW hardware end of travel limit encountered Bit 3 Ox8 CCW hardware end of travel limit encountered ABORTMASK Version 1 4 Aerotech Inc Getting Started Getting Started U600 User s Guide 2 7 Task Faults In addition to Axis faults there are Task Faults A task runs a CNC program Refer to Chapter 3 Programming under CNC Tasks and Programs for details Task faults indicate an error in the execution of a CNC program For example dividing by zero or trying to set a non existent parameter from a CNC program causes a task fault There are many conditions that can cause task faults for application programmers any error prefixed by AER960RET_ in AERCODE H can potentially be returned as a task fault
160. DISABLEMASK Configuration Screen eee ee eeeeeeeeeees 12 27 The HALTMASK Configuration Screen eee eeeeeeeseeeeees 12 28 The AUXMASK Configuration Screen ee eeeeeeeseeeseeeeees 12 29 The ABORTMASK Configuration Screen oo eee eeeeeeeeeeees 12 30 The INTMASK Configuration Screen eeeeeeeeseeeseeneees 12 31 The BRAKEMASK Configuration Screen oo eee eeeeeeeeeeeeees 12 32 The Current Limit Configuration Screen oo eee eeeeeeeteeeees 12 33 The Axis Configuration Complete Screen eee eeeeeeeeeees 12 34 The Accel Decel and Task Initialization Screen eee 12 35 The ESTOP FeedHold and MFO Configuration Screen 12 36 The Synchronous Move Information Screen eee eeeeeeees 12 37 The Finish Screen of the Setup Wizard 0 00 eeeeeeeeeeeees 12 38 ACCELMODE Ramp Setting eee eee cece cree eeeeeeeeeeeeerenseensees C 6 Phase Advance Torque Angle vs Speed Relationship C 12 Camming IWUStration kines eiei o sveteteuien yecuebect senor E C 13 DECELMODE Ramp Setting eee ee eeeceseceecneecneeceeeeneeeeeeeeeees C 17 Closed Loop Torque Mode 0 0 0 cece see cseeneeeeeeeeeeeeeeeeeeeeenseensees C 27 REVERSALMODE Accuracy Position cece cece eeeeeeeeeeeeeeeees C 36 Velocity Time Constant Effect on Velocity Change C 43 Home to Limit Illustration eee eeceeeceeeeeseeeecesecsaeeaeenee C 50 Home into Limit Illustration 0 ee ee eeeecesecesecssecseecseeeeeeneeees C 51 Home to Marker Illustration 0
161. DIts vez sccsvececcsessceccdesvee E E EE C 54 3 33 ScalePactoris 40 4 citi send eines tase Re eee C 55 C 3 33 1 Scaling Limitations 0 eee ee ceeeeseeereetees C 55 OESS T EY Pe OEE eal soe cwions vac A eeeseh gente Ged C 55 C3 35 Unused AXIS oeo as E EAEE OT EERE C 56 C 4 Task Parameters gt che nein na E E E AE TEAT C 57 C 4 1 Modifying the Task Parameters of another Task C 60 CAD ACCEIR Ate nae a a eitusc og Hevea As eas C 60 C43 AccelRateDPS2 nnn a a n a e E C 61 C 4 4 AccelRateIPs2 cesccccccccessesscsnccececeenscsecsccsceensnseeseeeecs C 61 CAS Accell meS CC seeds cSendesevessicesegtvededdcodn ce adivadedecosseestssensesctostee C 61 C 4 6 AnalogMFO Input eee cee csee cree ceeceeeseeeeeeeeeeeeees C 62 C 4 7 AnalogMSO Input eee cee cee ceeecneeceeeseeeeeeeeeeeeees C 62 C 4 8 BlendMaxAccelLinearIPS2 0 ccccecssscccccecsessnnceeeeeees C 62 C 4 8 1 Force Deceleration to Zero G9 if Maximum Acceleration is Exceeded C 63 C 4 8 2 Limit Acceleration without Full Deceleration cccccsccccccecessssneceeeeeeeensneees C 63 C 4 8 3 Blending Limitations of BlendMaxAccelLinearIPS2 and Version 1 4 Aerotech Inc xiii Table of Contents U600 User s Guide C 4 9 C 4 10 C 4 11 C 4 12 C 4 13 C 4 14 C 4 15 C 4 16 C 4 17 C 4 18 C 4 19 C 4 20 C 4 21 C 4 22 C 4 23 C 4 24 C 4 25 C 4 26 C 4 27 C 4 28 C 4 29
162. Data Points selection allows dots to be displayed for each sample point The Units menu allows the units for linear rotary and the analog inputs to be selected The linear axes may be displayed as machine steps counts mm mm 1000 or inches inches 1000 Rotary axes may be displayed as machine steps counts or degrees The analog inputs may be displayed as machine steps counts or volts The Time Scale selection allows the time of X axis of the plot to be displayed as seconds seconds 1000 milliseconds or by sample number The Zoom menu allows the Zoom feature to be activated disabled so that the cursor functions may be used and to Un Zoom These features are available via the Zoom button also To Un Zoom using the Zoom button click the right mouse button on the Zoom button Version 1 4 Aerotech Inc 6 3 AerPlot U600 User s Guide 6 8 Tools Menu The Tools menu allows the Status Control and Cursor toolbars to be displayed across the top of the plot below the menu The FFT analysis selection allows the spectral frequency distribution of a selected item from the Data to Analyze menu to be graphically displayed This will allow you to determine if there is a resonant frequency present in the servo loop and or mechanics of the system See the AerTune chapter for more information The Hard Reset menu selection allows the controller to be reset to its power up state This selection should not be used The F
163. ER Get new I O values Check watchdog Check Pendent FOR EACH AXIS 16 Look for and perform a library call command END FOR FOR EACH TASK 4 Throw interrupt back to PC if needed Test ESTOP MFO MSO feedhold bits and react to them if necessary Monitor spindle and async motion if any Test ONGOSUBS and ON monitors do the indicated action if needed Execute immediate command if any requested Execute the next CNC statement if that CNC is running a program or if statement was still running like a G1 or G4 then see if its finished END FOR ENDDO The AvgPollTimeSec parameter simply represents the time it takes to execute one pass of the DO FOREVER loop shown above The DO FOREVER loop runs continually but is secondary in priority to actions executed off of the Internal Interrupt mainly servo loop closure Therefore when servo loop operation is taking up a lot of time the Polling Cycle will take correspondingly longer to complete and the AvgPollTimeSec parameter will be higher Use this parameter to monitor how much the servo loop motion is utilizing available time You can view this parameter from the AerDebug exe utility after loading the firmware and closing the UNIDEX 600 MMI AerStat exe and any other UNIDEX 600 applications to get an idea of the baseline or fastest that the polling loop is able to execute A value of 005 seconds or greater is indicative of an over loaded controller C 5 2 BuildNumber
164. ETa C 89 GC 4 89 ONumT ask AxisPts isco cesseietisostety e a C 89 C 4 90 NumTaskDoubles eee cece cee cee cree ceeeseeeneeeeeeeeeeeeees C 89 C 4 91 NumTaskStrings 00 eee ee eee esecesecesecneeceeeeeeeeeeeeeeeneeeeeees C 89 C492 RORGG deceived ssc sessti cassis EE E EEE C 89 4 93 REACHON A essor roenn e ep SeSe eE o e C 90 CAQ4 RIACHODAXIS soosis ieo sser oE E eea Enese C 91 Version 1 4 Aerotech Inc XV Table of Contents U600 User s Guide C 4 95 RIActionParim seisis Sovesscesssesseetecestdpsbpesssbeseesseobapnsted C 92 C 4 96 RIActionParm2 sesei eseeton oor C 92 C 4 97 RIActionOpCode eee eeecesecesecssecesecsseceeseseaeeeeeeneees C 92 C498 ROACHOD anren e R a EAE aN E pie seeders eects C 94 C499 RORGqIMASK siiri isinisisi C 95 C4 100 Rotary PeedRates iiss nise a E seen SRS S C 95 C 4 101 RotaryFeedRateActual oo ee eeceseceecseecreecneeeneeeeeeeeees C 96 C 4 102 RotateAngleDeg oo ee eceeceeecesecesecesecesecaecaecaeeeneeenes C 96 GCA TOS HROME XR oisss shinies othe Shr ea a EEA E RSE C 97 C4104 Rotate Y aean a e a a lebih C 97 C 4 105 RThetaEnabled 0 eee eeeceseeecseceeeeceeeeeceaeeeceaeeaeeseenees C 97 C4106 RThetaR 3 02 5 css aedinetil nein ces iinet C 97 CA 107 RF HetaRadis ssc 2se2cisiesssecsecbestt sien cheese a a C 98 C 4 108 RThetaRadiusInch eee eee eeeeeeeeesceseceecesecssecseesaes C 98 CATON R Theta Ts cesic e SAAR as C 98 CA DIOL RThetaxX 3342 33355 oie eines Seis e
165. EXEL BIND Y PARMSET A DRIVE 1 EXEL INDEX Y 4000 500 Starts the motion These commands can be used to monitor the progress of the move TSKI This should show No Errors in the fault line PARMMON A POS Shows the position moving counts PARMMON M POSUNITS Shows the position moving mm inch 2 20 Aerotech Inc Version 1 4 U600 User s Guide Getting Started See Chapter 4 AerDebug for details on the AX EXEL and PARMSET parameters See the UNIDEX 600 Series CNC Programming manual EDUI58 for details on the MAP BIND and INDEX commands 2 13 Homing There are a number of types of homing and a number of adjustable parameters affecting the performance of homing There are two axis faults that can occur during homing a home fault or a home switch tolerance fault A homing fault typically occurs for either of two reasons while executing a home cycle the home limit switch input was detected or when the system encounters an end of travel limit switch before the first resolver null or marker pulse HomeType Machine Parameter Type of home cycle HomeDirection Machine Parameter Direction to begin homing HomeOffsetDeg Machine Parameter Home offset for rotary axes HomeOffsetInch Machine Parameter Home offset for linear axes HomeFeedRateRPM Machine Parameter Speed to home at rotary axes HomeFeedRateIPM Machine Parameter Speed to home at linear axes HOMEVELMULT Axis Parameter Ratio of home switch to
166. E_ON Enable retrace mode on the specified task 3 Retrace Off RIO_CYCLERETRACE_OFF Disable retrace mode on the specified task 4 Cycle Stop RIO_CYCLESTOP Stop at end of current executing block 5 Cycle Reset RIO_CYCLERESET Reset the current program must be active resets program to line 0 6 Cycle Abort RIO_CYCLEABORT Abort current program All motion is aborted and program is made active 7 Async Motion RIO_ASYNC_MOVE Execute RIActionOpCode 8 Joystick Enable RIO_SLEWSTART Enable the Joystick 9 Joystick Disable RIO_SLEWSTOP Disable the Joystick 10 Unused 11 Unused 12 Auto Mode On RIO_AUTOMODE_ON Place into auto mode 13 Auto Mode Off RIO_AUTOMODE_OFF Place into single step mode 14 Unused 15 Unused C 94 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 99 ROReqiMask This task parameter is a companion to the ROReq1 task parameter The default value is OhFFFF 65535 displayed as 1 in AerDebug The ROReq1 task parameter requires that the user respond to all possible requests This parameter allows you to define only those requests which you wish to respond to It is recommended that Cycle Start always be included in the ROReq1 Mask this will prevent a user task from executing if this supervisory task is not running A For example to respond only to Cycle Start and Cycle Stop requests ROReq1Mask 1 RIO_CYCLESTART BOR RIO_CYCLESTEP The controller will respond to all other request
167. Enable CW Limit Switch MV Aux Mode Output EPRE I CW Limit Switch CEW imat Sac a T CCW Limit Switch Home Limit Switch E S ES Update I Home Limit Switch IOLEVEL i I Drive Fault Drive Fault E Help Axis Complete Cancel Finish Figure 12 17 The Drive Interface Configuration Screen via the IOLEVEL Be sure to set the CW CCW and Drive Fault bits in the FAULTMASK axis parameter to enable the detection of these faults then set the bits in the appropriate mask parameters DISABLEMASK HALTMASK AUXMASK ABORTMASK INTMASK and BRAKEMASK for actions to occur on these faults Version 1 4 Aerotech Inc 12 25 Setup Wizard U600 User s Guide 12 10 Configure the FAULTMASK This axis parameter determines which faults the system will detect The parameter is a bit mask where each bit corresponds to a specific fault Setting a bit to a one enables monitoring of the fault assigned to that bit Conversely clearing a bit causes the system to ignore that fault if it occurs If a fault is detected it s bit value is anded into the FAULT axis parameter value Each bit set in this parameter should have a bit set in at least one of the other mask parameters DISABLEMASK HALTMASK AUXMASK ABORTMASK INTMASK and BRAKEMASK to define the action to occur for that fault If you set a bit in the FAULTMASK but fail to set any corresponding bits in one of the other masks listed above then the FAULT paramet
168. GAIN multiplier would be 10 If POSERR equals 17 the PGAIN multiplier would be 2 If POSERR is18 or greater the PGAIN multiplier is1 Table C 5 Mode 1 ELEMENT 0 1 2 3 4 5 6 7 8 9 Element 0 10 10 9 9 8 8 7 7 6 6 Element 10 5 5 4 4 3 3 2 2 1 1 Element 20 1 1 1 1 1 1 1 1 1 1 Element 30 1 1 1 1 1 1 1 1 1 1 Element 40 1 1 1 1 1 1 1 1 1 1 Element 50 1 1 1 1 1 1 1 1 1 1 Element 60 1 1 1 1 1 1 1 1 1 1 Element 70 1 1 1 1 1 1 1 1 1 1 Element 80 1 1 1 1 1 1 1 1 1 1 Element 90 1 1 1 1 1 1 1 1 1 1 Mode 2 is based upon the velocity command When IVEL lt 100 machine counts the PGAIN axis parameter will be multiplied by the corresponding value in the table producing higher gain while crossing through zero velocity To enable the PGAIN scaling set SCALEPGAIN to 2 to disable it set it to 0 The scaling is based upon the table below The scaling is based upon the formula shown with the PosGainTable IVEL term providing an index into the table shown PGAIN PGAIN PosGainTable VEL Examples If VEL equals 1 the PGAIN multiplier would be 10 If VEL equals 17 the PGAIN multiplier would be 2 If IVEL is 18 or greater the PGAIN multiplier would be 1 Table C 6 Mode 2 ELEMENT 0 1 2 3 4 5 6 7 8 9 Element 0 1 1 10 10 9 8 zi 7 6 6 Element 10 5 5 4 4 3 3 2 2 1 1 Element 20 1 1 1 1 1 1 1 1 1 1 Element 30 1 1 1 1 1 1 1 1 1 1 Element
169. Introduction The SetupWiz exe program will prompt you to configure the common Global Task Machine and Axis parameters required for typical applications It will also configure the axes by use of the axis configuration wizard which is integral to the MMI600 It will save all of the parameters to the default Ini files as defined by the MMI600 Setup Page See Figure 12 1 Setup Wizard aie ar m This Wizard will configure the minimum number of parameters that are required to be set for each axis You may need to set more parameters for your specific application Help Axis Complete Cancel lt Back Next gt Finish Figure 12 1 The Setup Wizard Start Screen Version 1 4 Aerotech Inc 12 1 Setup Wizard U600 User s Guide se S To access a description of the required information for each page of the setup wizard press the Help button on each page 12 2 Axis Names and Number Enter the number of axes present in your system and press the lt ENTER gt key or tab out of the field This will tell the Wizard how many axes it must prompt you to configure Select the desired units English inches or Metric millimeters that you would like to use when entering values into the Wizard Enter the desired axis name see Section 12 2 1 for each axis Selecting Next will advance you to the next Wizard configuration screen Back will take you to the previous Wizard screen Cancel
170. NLOAD Load firmware into PSO card None SPENDANTTEXT _ Set text line on teach pendant Ch Line Text TSKASSOC Associates a CNC program with the current task Filespec TSKDEASSOC Deassociates a CNC program from the current task None TSKINFO Displays information on the current task None TSKPRG Control program execution A E R S L _mode param TSKRESET Resets the current task None VAGET Display axis point variable G T _number VCGET Display variables for task subroutine call stack None VDGET Display the value of a variable G T P S type VDMON Monitor a variable double G T P S type VDSET Set a variable double G T P S type value VSGET Display a string variable G T P type VSMON Monitor a string variable G T P type VSSET Set a string variable G T P type text WAIT Wait on status condition WRITESERIAL Writes to serial port None ZMONITOR Display monitor data None ZONGOSUB Display ongosub data None Version 1 4 Aerotech Inc 4 17 AerDebug U600 User s Guide 4 6 1 or command The command displays a list of valid AerDebug commands For more help on an individual command type the command followed by a EXAMPLES 7 display all help CMDERR display help on CMDERR 4 6 2 memory_command The specifier is used before the memory comma
171. NTTEXT command sets the text line in the teach pendant See AerPendantSetTextxxx function in the UNIDEX 600 Library Reference Manual P N EDUI156 EXAMPLE SPENDANTTEXT Set text line 4 6 81 TK task_number The TK command is used to display or change the current task that the AerDebug commands will act upon Entering the 7K command without a task number will display the current task number that the command will act upon Specifying a task number following the TK command will instruct AerDebug to direct all further commands to the specified task The range of valid tasks are through 4 EXAMPLE TK displays current task mode TK2 sets current task to 2 4 6 82 TSKASSOC filespec The TSKASSOC command associates the specified CNC program with the current task EXAMPLE TSKASSOC U600 TEST PGM __ associate test pgm with the current task 4 6 83 TSKDEASSOC The TSKDEASSOC command deassociates the specified CNC program from the current task EXAMPLE TSKDEASSOC deassociate currently associated program from current task 4 6 84 TSKINFO The TSKINFO command displays the task information for the current task This information includes status information indicating if a program has been associated with the task modes of the task english metric absolute incremental etc faults current CNC line number and priority level EXAMPLE TSKINFO display current task info Version 1 4 Aerotech Inc 4 41 AerDebug
172. O command or is in step mode waiting for the Cycle Start key to advance to the next line is active but is not executing C 4 140 2 CNC Program Executing CNC program is executing only when it is actually running a CNC program line For example a program that is stopped on a MO command or is in step mode waiting for the Cycle Start key to advance to the next line is active but is not executing C 4 140 3 CNC Program Aborted A program is aborted if the user pressed the Abort key from the UNIDEX 600 MMI or if a fault stopped the CNC program execution The aborted bit will then stay on until the executing bit comes on again The aborted bit will not come on after a CNC program terminates normally C 4 141 Status2 This task parameter indicates various program states of the task when the respective bit is true Also be aware that some motion conditions may also be reported in the STATUS Status1 Status3 MOTIONSTATUS and SERVOSTATUS parameters There are pre defined definitions of the bits in this task parameter within AerStat Pgm These definitions take the form of TASKSTATUS2_xxx where xxx is the name as listed below For example If Status2 2 BAND TASKSTATUS2_ProgramExecuting could be used to test for a program executing on task 2 Table C 17 Status2 Bit Descriptions Status2 Task Parameter Bit Description Hexadecimal Value
173. ONEMODE This axis parameter determines how the system interprets the SAFEZONECW and SAFEZONECCW parameters Setting this parameter to zero disables the safe zone while a one defines an area in which the axis may not exit and a two defines an area in which the axis may not enter A safe zone fault occurs each time the associated axis moves into or out of an area that violates an active safe zone Be sure to set the Safe Zone bit in the FAULTMASK axis parameter to enable the detection of this fault then set the bit in the appropriate mask parameter DISABLEMASK HALTMASK AUXMASK ABORTMASK INTMASK and BRAKEMASK for the action to occur on this fault C 2 91 SCALEPGAIN This axis parameter will scale up increase the PGAIN servo loop axis parameter There are 2 modes one based upon position error and the other based upon commanded velocity Mode 1 is based upon position error When the POSERR lt 100 machine counts the PGAIN axis parameter will be multiplied by the corresponding value in the table producing a stiffer steady state at rest servo loop To enable the PGAIN scaling set Version 1 4 Aerotech Inc C 37 Parameters U600 User s Guide SCALEPGAIN to 1 to disable it set it to 0 The scaling is based upon the table below The scaling is based upon the formula shown with the PosGainTable POSERR term providing an index into the table shown PGAIN PGAIN PosGainTable POSERR Examples If POSERR equals 1 the P
174. OSTOGOIRQ interrupt is only activated after an axis has been homed Be sure to set the PosToGo Interrupt bit in the INTMASK for the interrupt to occur on this fault This bit has no purpose within all other faultmasks Additionally this fault is generated only by non contoured non cam motion such as that produced by the GO and HOME and Asynchronous motion commands C 34 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 2 79 POSTOLERANCE The POSTOLERANCE axis parameter is used to trigger the Position Tolerance FAULT If the axis moves less than twice the POSTOLERANCE value within POSTOLTIME milliseconds the fault will occur This is useful in situations where an axis is commanded to move a distance less than the POSERRLIMIT and there is a long IAVGTIME specified This prevents the axis from running away before the IAVGLIMIT fault occurs The move length limitation prevents spurious faults from occurring on moves that are shorter then the POSTOLERANCE value or axes which are moving at slow velocities This fault can not occur on virtual axes C 2 80 POSTOLTIME The POSTOLTIME axis parameter specifies the time in milliseconds before the POSTOLERANCE axis parameter generates an axis fault C 2 81 PROFILETIME The PROFILETIME axis parameter is used only in the profile mode of trajectory generation available only to those users programming the machine via the library functions It will define the execution time of each
175. Only the error message string provides useful information The other information is used for internal diagnostic purposes only Typing GETPROG will also clear and acknowledge any programming errors present If multiple programming errors have occurred only the last error will be displayed by the GETPROG command To allow all errors to be reported it is up to the user to include a statement in the program that e g setting the bit masks allows the user to stop motion do a status inquiry and view each error as it occurs 4 5 1 Running CNC Programs AerDebug allows the user to compile download and run CNC programs or single CNC lines After AerDebug begins executing a CNC program it returns the user to the prompt AerDebug does not wait for the program to complete before returning to the prompt and allowing the user to enter new commands see the WAIT command in AerDebug to force AerDebug to wait for program completion Therefore the user can initiate programs on other tasks from AerDebug while the current task is busy running a program However each task can only execute one program at a time The user can specify an immediate command to be executed while any or all other tasks are running a program However the commands that may be executed in the immediate mode are limited to those commands that are asynchronous Asynchronous commands are commands that would finish execution immediately meaning they would have a defined cycle time no
176. PM X Read from machine parameters GLOB1 MaxFeedRateIPM Y C 3 2 AvgVelUnits This is a read only machine parameter that indicates the average velocity of the axis averaged over the time period specified by the AVGVELTIME axis parameter It is a signed value meaning that a negative value indicates a negative velocity The units of this parameter are user units minute inches minute for linear axes in the G71 mode millimeters minute for linear axes in the G71 mode and always degrees minute for rotary axes C 3 3 AxisState This is a read only machine parameter indicating the current state of the axis It may be either free 0 captured 1 or bound 2 See the BIND extended command for details C 3 4 CntsPerDeg This machine parameter is used by the CNC interface to convert degrees into machine steps it is specified in counts per degree The sign of this parameter determines motor direction a positive value indicates that a positive command will cause motion in the CW motor direction A negative value indicates a positive command will cause motion in the CCW motor direction A negative value indicates a positive command will cause motion in the CCW motor direction which will cause the end of travel limits to appear to be inverted A negative scale factor will cause a more positive display position to encounter the CCW limit and a more negative position will encounter the CW limit position This conversion factor is only used for r
177. RYOFFSET 141 RW 2 147 483 648 2 147 483 647 0 GEARMASTER 142 RW 2 147 483 648 2 147 483 647 0 GEARMODE 136 RW 0 1 0 GEARSLAVE 134 RW 2 147 483 648 2 147 483 647 0 HALTMASK 69 RW 0 4 294 967 295 60 HOMEOFFSET 122 RWU 0 4 294 967 295 0 HOMESWITCHPOS 56 RU 2 147 483 648 2 147 483 647 0 HOMESWITCHTOL 57 RW 0 16384 0 HOMEVELMULT 116 RW 1 100 100 IAVG 31 RU 2 147 483 648 2 147 483 647 0 IAVGLIMIT 33 RW 0 32 767 32 767 IAVGTIME 34 RW 10 8 000 1 000 ICMD 35 RU 2 147 483 648 2 147 483 647 0 ICMDPOLARITY 123 RW 4 294 967 295 1 0 IMAX 32 RW 0 32 167 32 767 INPOSLIMIT 37 RW 0 65 536 65 INTMASK 67 RW 0 4 294 967 295 0 IOLEVEL 70 RW 0 63 63 IVEL 11 RU 2 147 483 648 2 147 483 647 0 KI 16 RW 0 5 000 000 2 000 KP 17 RW 0 10 000 000 10 000 MASTERLEN 82 RW 0 2 147 483 647 0 MASTERPOS 80 RWU 2 147 483 648 2 147 483 647 0 MASTERRES 81 RU 0 4 294 967 295 0 MAXCAMACCEL 121 RW 0 65 536 0 MAX_PHASE 111 RW 0 360 0 MOTIONSTATUS 97 RU 0 4 294 967 295 0 MOVEQDEPTH 89 RU 0 4 294 967 295 0 MOVEQSIZE 90 RU 0 4 294 967 295 16 PGAIN 18 RW 0 100 000 10 PHASE_SPEED 112 RW 1 10 000 000 1 PHASEAOFFSET 143 RW 32 7167
178. SK This axis parameter defines the fault conditions that cause the axis to halt The value specified for this parameter is a bit mask where each bit corresponds to a specific fault The axis will halt if the bits for FAULTMASK and HALTMASK are set to one for any given bit position In halting motion the axis will decelerate to zero velocity based on the time rate specified in its deceleration axis parameters Setting a bit to a one halts the axis when that particular fault occurs assuming the corresponding bit in the FAULTMASK parameter is set This parameter has no effect on the position error tracking If an axis is triggered by a fault condition to abort and halt simultaneously the abort takes priority Each bit set in this parameter should also be set in the FAULTMASK axis parameter to enable detection of that fault condition The DISABLEMASK takes priority over the HALTMASK and ABORTMASK i e if the DISABLEMASK is set to occur the HALTMASK or ABORTMASK will have no effect because the DISABLEMASK would disable the axis before it could halt or abort C 2 44 HOMEOFFSET This axis parameter is the home offset in machine steps counts In other words it is the value that will be loaded into the machine position registers at the completion of the home cycle It will not cause movement from the marker pulse or resolver null position The home position will be set to this value To be at zero following the home cycle will then require an abso
179. System Architecture on the axis processor The most important advantage of the library interface is the power inherent in the C C programming or Visual Basic languages These languages are more sophisticated than the RS 274 CNC language so the user can more easily write complex or large programs Furthermore Visual Basic Visual C and other compilers allow the user to call GUI functionality providing the programmer the ability to define an interface in the same language as they write the motion commands Another important advantage of library calling over the CNC interface is its ability to configure motors The user cannot configure motors from a CNC program CNC programmers must do this through a library calling application either the U600 MMI or AerDebug or a custom constructed application A similar advantage is downloading and running CNC programs this can be done through library calls but the CNC programmer must use either the U600 MMI or AerDebug or a custom library application to do this An important feature of library controlled motion is the product executing on the PC is a binary executable file which the end user cannot modify The only way to modify the program is by altering the C C or visual basic source code and generating a new executable via the C C or Visual Basic compiler linkers Normally these facilities are not present on the floor machine Therefore the machinist cannot alter the program This can be
180. THE UNIDEX 600 SERIES USER S GUIDE P N EDU157 V1 4 A AEROTECH 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 600 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 UNIDEX 600 and UNIDEX 650 are products of Aerotech Inc Windows Windows 95 and Windows NT are registered trademarks of Microsoft Windows Windows NT and Visual Basic are products of Microsoft Corporation Visual Basic is a registered trademark of Microsoft The Aerdebug User s Manual Revision History Rev 1 0 October 14 1996 The UNIDEX 600 User s Guide previously the AerDebug User s Manual Revision History Rev 1 1 May 5 1997 Rev 1 2 September 1997 Rev 1 3 July 10 2000 Rev 1 4 December 5 2000 U600 User s Guide TABLE OF CONTENTS CHAPTER 1 1 5 1 6 1 7 CHAPTER 2 2 1 2 2 2 3 2 4 2 5 2 6 Version 1 4 INTRODUCTION AND OVERVIEW eere 1 1 Introduction minesine a Sed E a E A E 1 1 TnstallatiOn ianen ai E TT E beeen 1 1 PLOSTAMIMING inene
181. Table 1 1 Other Actions Performed Every Millisecond Action For more information see EDU 156 under AerAxisCal functions EDU 156 under AerStrip functions EDU 157 under Fault Masks Digital Probe monitoring EDU 158 under PROBE command EDU 157 under CLOCK axis parameter EDU 157 under AnalogMFOInput task parameter 1 4 Aerotech Inc Version 1 4 U600 User s Guide Introduction and Overview 1 4 1 2 Library Servicer This execution unit exists to service library function calls functions in the form of Aerxxx from C C or Visual Basic It only executes in the time remaining after the motion controller completes its activities The library calling interface is described in more detail in Chapter 3 1 4 1 3 CNC Engine This execution unit runs CNC programs It executes only in the time remaining after the motion controller completes its activities A CNC motion command like a G1 sets up the motion controller execution unit with the parameters it needs to run the motion The motion command then waits will not execute the next CNC command until the motion controller indicates the motion ended The CNC engine consists of four tasks that can run four CNC programs independently Chapter 3 describes the CNC interface in more detail 1 4 2 The PC The PC communicates to the axis processor via Aerxxx library function calls where xxx is some name Data can be passed both to and from the axis processor via these
182. Task Parameters Parameters that affect a given task A 2 Aerotech Inc Version 1 4 U600 User s Guide Glossary of Terms Task Variables A variable that is local in scope to a given task These can be accessed or shared by all programs that are or become active on the given task Upload Implies communications to the axis processor card Data is always uploaded to the U600 Write Save Implies file access A file is always written or saved Version 1 4 Aerotech Inc A 3 Glossary of Terms U600 User s Guide Aerotech Inc Version 1 4 U600 User s Guide Troubleshooting APPENDIX B TROUBLESHOOTING In This Section e Introduction This appendix contains a troubleshooting guide to the axis level Table B 1 Fault Message bold Description Troubleshooting to the Axis Level Possible Problem s Possible Solution s PosErrLimit Axis Position error 1 Mechanical problem or excess 1 Verify mechanics and load has exceeded PosErrLimit axis friction load 2 Verify system limitations parameter 2 Velocity acceleration commanded 3 Replace axis load fuse exceeds system limitations 4 Increase PosErrLimit axis 3 Axis load fuse blown parameter 4 PosErrLimit axis parameter set too low TAvgLimit RMS current 1 Axis duty cycle too high 1 Add dwell time exceeded JAvgLimit axis parameter 2 Mechanical problem or excess 2 Verify mechanics and load friction load CW H
183. The brake will be disengaged when all axes with their BRAKEMASK set are enabled Also any of these axes with the BRAKEMASK set will cause the brake output to be activated if the axis faults If multiple axes are controlled by this brake output it will require coordination between their DISABLEMASK parameters such that if one of the axes were to generate a fault and be disabled all other axes controlled by the brake output would also be disabled since the brake would then be activated by the first axis generating the fault Setup Wizard Configuring Axis X Brake Mask IV Position Error Limit F User Fault F POSTOGG Interrupt IV RMS Current Limit M Velocity Trap Mi T CW Hard Limit I Velocity Command Trap T CCW Hard Limit F Home Tolerance Fault jail oft Limit F Probe Fault E Soft Limit V Task Fault I Drive Fault J Extemal Feedback Fault MV Feedback Fault Safe Zone T Programming Fault Constant Vel Phase Inetrupt F Master Feedback Fault F Decel Phase Interrupt F Home Fault F Move Done Interrupt Help Axis Complete Cancel lt Back Next gt Finish Figure 12 24 The BRAKEMASK Configuration Screen 12 32 Aerotech Inc Version 1 4 U600 User s Guide Setup Wizard 12 17 Configure the Current Limits Enter the peak current that your amplifier is capable of producing see Aerotech Servo Amplifier information in the online help file Enter the peak current rating of your motor see Aerotech mot
184. The motion command that was interrupted will not be completed upon return from the interrupt Program execution will continue on the CNC line after the CNC line that was interrupted RETURNTYPE_START This return type will return the axes to the absolute positions that they were at at the start of the interrupted line Program execution will continue on the CNC line that was interrupted restarting the interrupted CNC command line from the start of the line RETURNTYPE_INTERRUPT used by the Jog and Return Mode This return type will return the axes to the absolute positions that they were at when the interrupt occurred The interrupted move will be completed upon return from the interrupt and program execution will continue on the CNC line after the interrupted line RETURNTYPE_END This return type will return the axes to the absolute positions that they would have been at at the end of the interrupted line had it not been interrupted Program execution will continue on the CNC line after the interrupted line RETURNTYPE_OFFSET used by the Jog and Offset Mode This return type will not return the axes to the absolute positions that they were at at the time when the interrupt occurred The interrupted move will be completed upon return from the interrupt and program execution will continue on the CNC line after the interrupted line C 4 52 External Jog Key Example All of the following applies to the JogPair2Axisl JogPa
185. This implies either feedhold software or hardware will enable feedhold and not release it until both software and hardware inputs are false See FeedHold Operation for more details This task parameter is sampled at the rate indicated by the AvgPollTimeSec global parameter The FeedHoldEdgeInput has precedence over the FeedHoldInput and FeedHold task parameters so if the FeedHoldEdgeInput is not set to 1 the FeedHoldInput and FeedHold task parameters will be ignored C 4 45 FeedHoldEdgeInput This task parameter specifies which binary input is used as a feedhold input for this task This input is treated as a positive edge sensitive signal i e a push button A value of 1 disables the feedhold edge sensitive check Each task may have a separate feedhold edge sensitive input This task parameter is sampled at the rate indicated by the AvgPollTimeSec global parameter The FeedHoldEdgeInput has precedence over the FeedHoldInput and FeedHold task parameters so if the FeedHoldEdgeInput is not set to 1 the FeedHoldInput and FeedHold task parameters will be ignored C 4 46 FeedHoldInput This task parameter specifies which binary input is used as a feedhold input for this task This input is treated as a level sensitive signal A value of 1 disables the feed hold check Each task may have a separate feed hold input The FeedHold Input takes precedence over the FeedHold task parameter In other words if he FeedHoldInput is not set to
186. VA PESEE EE EEEE SEE EEES C 71 alo nS BA KEE E AAE E A A ta ae C 71 CutterRadiusInch nc cece ccccecessccecececeessnececececesssaeceeeceneas C 71 CutterToleranceDeg ooo eee eee cee ceseeeeceseceseeeeenseeeeeeeeees C 72 Link MOV e i E E ee es C 73 Offset KN EEEE EEN ET E EE E A C 73 Tank Method tris ereed eneee taer aene aaee eE C 73 Offset Methods ieseces E e E E hace C 73 CutterX acini A E a eisai C 73 GCUTLEEN EREEREER Ae ee eee ee C 73 CUTLERY ceissceid nba E eosin E EESE C 73 DecelOnProgramAbortMask ou eee ee ceeceeeeeeeeeceeeeereees C 74 DeCelR ate sive ccceece cciesicdsvennie A e cick bebe eae eee GB C 74 DecelRate DRS 2 5 tcc csi cree E wish anes C 74 DecelRatelPs E EE EEE E E EEEE C 74 DeGelT ime See che 5 voc eascaiesececDexscesesennceceosvsdsecncedesssus deen seteess C 75 DryRunLinearFeedRateIPM cece ese cseeseecneeeseeees C 75 DryRunRotaryFeedRateRPM eee eee esesecseecseeneeenes C 75 Err Ode Ee E EE E E EE ENEE Otc C 75 EStoplnpultics sc a0 2 chien aA Ras ea Aid C 75 ExecuteNumLines 0 ccccccccecessssssececeesensscecceceessnseceeeeenes C 75 ExecuteNumMonitofrs c ccccccccsessscceceesesssceececsesseececeeeenes C 77 ExecuteNumSpindles ps soise sessies epesi hetat ns C 77 Feed Old E ENEE E EA SA C 77 XIV Aerotech Inc Version 1 4 U600 User s Guide Table of Contents C 4 45 FeedHoldEdgeInput issii eee ee cece cee csee cree ceeeseeeeeeeeeees C 77 CAAG FeedHoldlmput se ise eestiees
187. Velocity to move at Aerotech Inc Version 1 4 U600 User s Guide Parameters 11 Queue MoveTo RIActionAxis RIActionParml RIActionParm2 12 14 Unused 15 Oscillate RIActionAxis RIActionParml RIActionParm2 16 Halt Motion RIActionAxis RIActionParml RIActionParm2 17 HandWheel RIActionAxis RIActionParml RIActionParm2 RIACTION_OPCODE_ASYNCTYPE_QMOVETO Axis to Move Target to move to Velocity to move at RIACTION_OPCODE_ASYNCTYPE_OSCILLATE Axis to Move Distance to move to Velocity to move at RIACTION_OPCODE_ASYNCTYPE_HALT Axis to Stop Not Used Not Used RIACTION_OPCODE_HANDWHEEL Axis to handwheel Channel Distance Some example subroutines these can be run from any task and will cause motion on Task 1 M02 DFS SpindleCW RIActionOpCode 1 RJActionParm1 1 RI RIAction1 1 ENDDFS DFS SpindleCCW RIActionOpCode 1 RJActionParm1 1 RI RIAction1 1 ENDDFS DFS SpindleOff RIActionOpCode 1 RIActionParm1 1 RI RIAction1 1 ENDDFS DFS IndexXAxis RIActionOpCode 1 RIACTION_OPCODE_SPINDLE_CW 0 Spindle 1 RIO_ASYNC_MOVE RIACTION_OPCODE_SPINDLE_CCW 0 Spindle 1 RIO_ASYNC_MOVE RIACTION_OPCODE_SPINDLE_OFF 0 Spindle 1 RIO_ASYNC_MOVE RIACTION_OPCODE_ASYNCTYPE_INDEX RIActionAxis 1 0 Axis Number RIActionParm 1 10 Distance RJActionParm2 1 10 Velocity RI RIAction1 1 RIO_ASYNC_MOVE ENDDFS V
188. a 60 mV 060 volt offset 392 would be entered for this parameter This is calculated by dividing the offset by the voltage value of each step of the DAC UNIDEX 600 has a 16 bit DAC 32767 counts generating a 10 volt output from the DAC The voltage per bit is equal to the maximum voltage divided by the maximum counts 20 65 536 0003 060 20 2 197 counts for the UNIDEX 600 C 2 72 POS This axis parameter specifies the observed as viewed from the primary feedback device position of the axis in machine counts This parameter is a signed 32 bit integer having a range of 2 E31 1 approximately 2 1 billion Upon initialization the system sets the current observed position POSCMD equal to the POS parameter value At the completion of a homing cycle this parameter is set to the value of the HOMEOFFSET axis parameter Normally you would read this parameter however you may also set this parameter to a value which will not result in any axis motion because the position command will be set to the same value Setting this parameter will clear the homed condition of the axis if it was previously homed The PositionUnits machine parameter provides the actual axis position in user units C 2 73 POSCMD The position command axis parameter is the current value of the position command in units of machine counts In other words this is the position the axis is being commanded to move to The actual positi
189. a WIN32 application that runs on the host PC However it is not a Windows program it was built as a console application The AerDebug user simply types in command strings and the output if any is delivered to the terminal Also AerDebug offers a simple help facility no context oriented help for its commands AerDebug covers a broad range of the axis processor capabilities including direct memory access and monitoring CNC program handling and parameter viewing access AerDebug is the major debugging tool used by Aerotech to develop new axis processor functions and has become a robust and user friendly program AerDebug can safely run concurrently with any other application that communicates with the axis processor card and is useful for monitoring the effects of that application on the axis processor For example the user can continuously monitor axis positions while motion is directed by the test application Also AerDebug allows the user to read its input from text files This permits the user to construct files containing multiple commands and execute them as if they were one command Refer to the PLAY and PLYREWIND commands in Section 4 3 for more information AerDebug allows the user to echo output to a text file including prompts user entered text and delivered output The user can also specify a silent or block terminal mode where the outputs are only delivered to the file not to the terminal The follo
190. ach bit set in this parameter should also be set in the FAULTMASK axis parameter to enable detection of that fault condition The DISABLEMASK takes priority over the HALTMASK and ABORTMASK i e if the DISABLEMASK is set to occur the HALTMASK or ABORTMASK will have no effect because the DISABLEMASK would disable the axis before it could halt or abort Setup Wizard Configuring Axis X Abort Mask T Position Error Limit T User Fault M POSTOGG Interrupt T RMS Current Limit I Velocity Trap M ESTOP V CW Hard Limit T Velocity Command Trap IV CCW Hard Limit F Home Tolerance Fault F Cw So Probe Fault in Soft Limit L Task Fault I Drive Fault J Extemal Feedback Fault I Feedback Fault _ Safe Zone J Programming Fault F Constant Vel Phase Inetrupt D Master Feedback Fault F Decel Phase Interrupt F Home Fault F Move Done Interrupt Help Axis Complete Cancel Figure 12 22 The ABORTMASK Configuration Screen Finish Aerotech Inc Version 1 4 U600 User s Guide Setup Wizard 12 15 Configure the INTMASK This axis parameter allows the user to determine which fault conditions will cause an interrupt to be generated back to the host This parameter is a bit mask where each bit corresponds to a specific fault An interrupt is generated if the bits for INTMASK and FAULTMASK are set to one for a given bit position when that fault occurs Therefore each bit set in this parameter should
191. ai C 7 C 2 9 AUX Mode Output oo eee ceee cree creeeeeeeeeeeeeeeeeees C 8 210 AUXDELAY 2 5 3 he Geis Bele eee he C 9 C 2 11 AUXMAS Kees ies tes cscccsecssvessct sass ssistssasectsvseshgetasesoedsstesbcotaresetoss C 9 C212 AUXOPESET Ss sevecssdscsslecsertisesseeoped vertagsiecseblestecsdgsdaverseaseeaess C 9 C2 13 AUX VE ECM D e raa e EErEE E E RRs C 9 C24 AVGVER e a ines iin ted eis C 10 C 2 15 AVGVELTIME csccsseccsuss te ciesseeutasces rar EE C 10 C216 BO BIU B2IA TAD ee e ae E soyocyeces E C 10 C 2 16 1 A Typical Low Pass Filter eee C 11 C217 BASE 2S PEED ese toe tite epi sae ee ete eee es C 12 C 2 18 BRAKEMASK siheso aitse oaea iai C 12 Aerotech Inc Version 1 4 U600 User s Guide Table of Contents C 2 19 CAMADVANGE is cseciectisssiisteesstistestsbsbessesscthstsestpesetesess C 13 C220 CAMOPESET espaectcosddvecssevesshesute supe EENEN E ETES C 13 C221 CAMPOINT Aitae e e E alitissmine cenit C 14 2 22 CAMPOSITION arre eea eT ag estes ERT ENS C 14 C2223 CCWEO Paire aa E E ateseestes tots C 14 C224 CLOCK rnin se e E EE E E eek N C 15 C 2 252 CWEOT ied a8 oi seth bate ant oie Gh Baie awe C 15 2 26 DACOFESET vs aussie ai Ae a ee C 16 E227 DECEDN E E a kien cnin dials C 16 C228 DECEEMODE is ccstivesagisedeyel ech used sean rareori ti C 16 C229 DECELRATE o miihitin eit E E Sae C 17 C 2 30 DISABLEMASK crt as g e p E AT St C 17 C231 DRIVE a E E T a C 17 C 2 31 1 Enabling Drives
192. alcyY C 89 Number C 89 NumDecimalsEnglish C 53 NumDecimalsMetric C 53 NumGlobalAxisPts C 118 NumGlobalDoubles C 118 NumGlobalStrings C 118 NumTaskAxisPts C 89 NumTaskDoubles C 89 NumTaskStrings C 89 O offset argument 4 7 4 8 4 9 OUTOFF command 4 35 OUTON command 4 35 OUTPAUSE command 4 35 PageUp 4 4 Parameter Limits 4 12 Parameters C 1 PARMGET command 4 36 PARMMON command 4 36 PARMSET command 4 36 PC interrupt 1 5 PGAIN C 32 PHASE_SPEED C 32 PLAY command 4 36 PLYREWIND command 4 37 poles argument 4 7 POS C 33 POSCMD C 33 POSERR C 33 POSERRLIMIT C 34 Position command 1 4 Position error 5 30 Position Error 5 24 5 25 Position Error Fault 2 13 C 19 Position Error Trap 5 22 5 33 Position Gain Kpos 5 31 Position loop 5 16 Position Loop 5 25 Position parameter 4 29 PositionCmdUnits C 54 POSTARGET C 34 POSTOGO C 34 PresetCmdUnits C 54 PRG1 command 4 37 PRGCMPL command 4 37 PRGDUMP command 4 38 PRGERRS command 4 38 PRGINFO command 4 38 PRGLOAD command 4 38 PRGRUN command 4 39 PRGSTATS command 4 39 PRGTYPE command 4 39 PRGUNLOAD command 4 39 PrmSetup Utility 13 1 Probe Fault 2 14 C 20 PROFQDEPTH C 35 PROFQSIZE C 35 PROG Command 4 12 Programming 1 2 Programming Commands 4 15 Programming Errors Acknowledge 4 12 Clear 4 12 Programming Fault 2 13 C 19 Prompt 4 3 Proportional gain Kp 5 31 Proportional gain parameter Kp 5 30 PSODOWNLOAD
193. also be set in the FAULTMASK axis parameter to enable detection of that fault condition Interrupts will only be generated for new axis faults that is the controller will only generate an interrupt once for each occurrence of a particular axis fault Setup Wizard Configuring Axis X Interrupt Mask I Position Error Limit a M POSTOGG Interrupt T RMS Current Limit iV fr M ESTOP T CW Hard Limit I Velocity Command Trap T CCW Hard Limit F Home Tolerance Fault Cw Soft Limit F Probe Fault F CCW Soft Limit I Task Fault I Drive Fault J Extemal Feedback Fault J Feedback Fault Safe Zone J Programming Fault J Constant Vel Phase Inetrupt F Master Feedback Fault F Decel Phase Interrupt Home Fault F Move Done Interrupt Help Axis Complete Cancel lt Back Next gt Finish Figure 12 23 The INTMASK Configuration Screen Version 1 4 Aerotech Inc 12 31 Setup Wizard U600 User s Guide 12 16 Configure the BRAKEMASK The BRAKEMASK axis parameter is a bitmask used to determine the conditions by which the brake output should be activated typically for vertically mounted axes This parameter is a bit mask where each bit corresponds to a specific fault However a non zero BRAKEMASK parameter will cause the brake to be enabled whenever the drive is disabled On the UNIDEX 600 650 which has only 1 brake output any disabled axis with a non zero BRAKEMASK parameter will engage the brake
194. am in millimeters If this parameter is set to zero there is no maximum feedrate for this axis This parameter does not limit the speed of any camming motion If you change this parameter while a move is in progress it will not take effect until the move is complete The MaxFeedRateIPM parameter will scale down the feedrate when an axis speed limit is exceeded However in some cases the user may desire to generate a fault when the speed is violated rather than scale down the feedrate To do this set this parameter to zero and set the VELCMDTRAP axis parameter A drawback of the MaxFeedRateIPM machine parameter is the limiting will take place even if the axis never reaches the commanded speed never accelerates to full speed So for short moves or paths this parameter can limit the feedrate excessively In these cases when a speed limit is still required use the VELCMDTRAP axis parameter instead This parameter and the MaxFeedRateIPM parameter can be limited to a lower value than expected due to the fact that the velocity value stored internally in machine counts is only 16 bits Therefore an upper limit to this parameter is 65 536 000 60 CntsPerInch C 3 24 MaxFeedRateRPM This machine parameter specifies the maximum speed allowed for this axis if it is defined as a rotary Type axis This parameter is in user units of revolutions per minute See MaxFeedRateIPM for linear axes and more details as it relates to this parame
195. ameters Velocity Command scenes Sinusoidal Time Linear Figure C 4 DECELMODE Ramp Setting C 2 29 DECELRATE This axis parameter sets the rate of deceleration during GO point to point moves and asynchronous moves while the DECELMODE parameter specifies rate based ramping You may also specify deceleration parameters from within a parts program The units are in machine counts per second This parameter is not used for CNC contoured motion G1 G2 G3 refer to DecelTimeSec task parameter for ramping contoured moves C 2 30 DISABLEMASK This axis parameter determines which faults will cause an axis to be disabled This parameter is a bit mask where each bit corresponds to a specific fault The DISABLEMASK takes priority over the HALTMASK and ABORTMASK i e if the DISABLEMASK is set to occur the HALTMASK or ABORTMASK will have no effect because the DISABLEMASK would disable the axis before it could halt or abort Each bit set in this parameter should also be set in the FAULTMASK axis parameter to enable detection of that fault condition C 2 31 DRIVE This axis parameter enables and disables the motor s torque associated with an axis A zero disables the drive while a one enables it This parameter may be used to enable and disable a drive from within a CNC program as shown in the example below C 2 31 1 Enabling Drives Each of the drives may be enabled disabled by clicking on the axis na
196. an advantage or disadvantage depending on the specific target application The major disadvantage of library controlled programs is that the host processor execution speed could affect application execution The user must take care in multitasking PC operating systems to ensure that their high priority motion control tasks are not starved for execution time by lower priority tasks or other applications running on the PC The user should note that the library call invokes the CNC compiler and can pass lines to compile as opposed to getting them from a file Therefore the library calling user can easily access all CNC functionality that is not directly accessible through library functions i e contoured G2 motion by invoking the CNC compiler library functions Furthermore the library programmer can even construct their own CNC compiler that assembles CNC packets and sends them to the axis processor to execute thereby completely duplicating the CNC interface However the programmer should be warned this is not a simple thing to do due to the inherent complexity of compiling Version 1 4 Aerotech Inc 3 3 Programming U600 User s Guide 3 2 1 Basic Elements of a Library Interface Program All library controlled application programs written for the UNIDEX 600 Series controllers must have a minimum subset of functionality in common These functions include 1 Opening a channel of communication to the UNIDEX 600 Controller and dow
197. and exit the Wizard Version 1 4 Aerotech Inc 12 7 Setup Wizard U600 User s Guide 12 4 3 1 Predefined Axis Types The predefined axis types templates defined in the U600 Ini AxisCfg Wiz file for use by the Axis Configuration Wizard are 12 4 4 Virtual Null Axis for test purposes BM Series Brushless Rotary Motor with EncoderHall Feedback BM Series Brushless Rotary Motor with EncoderHall Feedback and another Encoder as Secondary Feedback BM Series Brushless Rotary Motor with EncoderHall Feedback and a Resolver as Secondary Feedback BM Series Brushless Rotary Motor with Resolver Feedback BLM x Series Brushless Linear Motor with EncoderHall Feedback BLMx Series Brushless Linear Motor with InductosynHall Feedback DC Brush Rotary Motor with Encoder Feedback DC Brush Rotary Motor with Resolver Feedback DC Brush Rotary Motor with Encoder Feedback and another Encoder as Secondary Feedback DC Brush Rotary Motor with Encoder Feedback and a Resolver as Secondary Feedback Spindle Axis Velocity Command Open Loop with no feedback Stepper Motors Open Loop Stepper Motors Closed Loop Configuring the Primary Feedback Device The third Axis Wizard Configuration screen allows the primary feedback device to be configured This screen will vary depending on the primary feedback device selected so it is not shown here Pressing the Help button on the bottom of the screen will clarify the required entries
198. and is run off of an internal interrupt tied to a clock The CNC engine and library servicer run at equal priority to each other running in whatever time remains after the motion controller completes In pseudo code the execution is DO forever for i 1 to 16 axes Run ilibrary servicer for axis i end for for i 1 to 4 tasks Run a CNC command line for task i end for end do The Global parameter AVGPOLLTIMESEC will read out the average time it is taking to run one iteration of the forever loop shown above averaged over the last 100 loop iterations As the motion controller becomes increasingly loaded down running the servo loop the value of AVGPOLLTIMESEC increases 1 4 1 1 The Motion Controller Execution Unit The motion controller s execution unit s main function is to execute the servo loop that reads the feedback signals and generates the velocity and position commands for the drives It is triggered by an interrupt that normally fires once every 1 4 milliseconds refer to Chapter 5 AerTune for more details on the servo loop However this can be readjusted to every millisecond with the Enable KhtzServo global parameter The motion controller execution unit also executes other high priority functions requiring tight loops in addition to the servo loop refer to Table 1 1 These actions are always performed every millisecond every fourth interrupt None of these actions are performed unless they are specifically activated
199. any given bit position In halting motion the axis will decelerate to zero velocity based on the time rate specified in its deceleration axis parameters Setting a bit to a one halts the axis when that particular fault occurs assuming the corresponding bit in the FAULTMASK parameter is set This parameter has no effect on the position error tracking If an axis is triggered by a fault condition to abort and halt simultaneously the abort takes priority Each bit set in this parameter should also be set in the FAULTMASK axis parameter to enable detection of that fault condition The DISABLEMASK takes priority over the HALTMASK and ABORTMASK i e if the DISABLEMASK is set to occur the HALTMASK or ABORTMASK will have no effect because the DISABLEMASK would disable the axis before it could halt or abort Setup Wizard Configuring Axis X Halt Mask T Position Error Limit F User Fault J POSTOGG Interrupt T AMS Current Limit I Velocity Trap M ESTOP M Cw Hard Limit IV i MV CCW Hard Limit ja J Gw Soft Limit E oe Soft Limit IV Task Fault T Drive Fault F Extemal Feedback Fault I Feedback Fault F Sate Zone M Programming Fault J Constant Vel Phase Inetrupt J Master Feedback Fault F Decel Phase Interrupt J Home Fault J Move Done Interrupt Help Axis Complete Cancel lt Back Next gt Finish Figure 12 20 The HALTMASK Configuration Screen 12 28 Aerotech Inc Version 1 4 U600 User s Guide
200. apply 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 USA V VV D 2 Aerotech Inc Version 1 4 Version 1 4 U600 User s Guide Index AvgPollTimeSec C 113 Symbol AVGVEL C 10 Make the previous command the command line erases current command line 4 4 4 4 commmand Memory 4 18 ITI 4 18 INI file 4 24 4 4 command 4 18 Make the next command the command line erases current command line 4 4 4 4 Move cursor one character to right in command line 4 4 AerSysDownLoad 3 4 AerSysOpen 3 4 A Al parameter C 10 A2 parameter C 10 Abort motion 4 28 Abort Motion Abruptly 2 16 ABORTMASK 2 16 Absolute reference point 4 29 AC
201. arameter must be converted from machine counts second second to inches second second as follows BlendMaxAccelLinearIPS2 lt ACCELRATE CntsPerInch BlendMaxAccelRotaryDPS2 lt ACCELRATE CntsPerDeg C 64 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 9 BlendMaxAccelRotaryDPS2 Setting this task parameter non zero allows the controller to automatically detect high accelerations caused by large changes in velocities between non tangential contoured moves G108 mode on rotary Type axes and scale down each of the axes component velocities to minimize acceleration See the BlendMaxAccelLinearIPS2 task parameter for linear axes The units of this parameter are acceleration in inches per second squared For best results blending motion with this parameter it is recommended that rate based G68 linear acceleration and deceleration G64 be used This parameter may be used via the methods described below C 4 9 1 Force Rotary Axes Deceleration to Zero G9 if Maximum Acceleration is exceeded If the BlendMaxAccelRotaryDPS2 task parameter is set to a positive value it causes the controller to execute a G9 command deceleration at the end of the CNC block for each CNC block between contoured moves that involve a change in a component velocity having a change in velocity greater than this parameter s value This parameter is in RPM If any rotary axis is subject to a change in its component velocity exceed
202. ard is used to specify if software limits are to be activated for the axis true or false may be selected The software limits are defined by the CWEOT and CCWEOT axis parameters If a drive enable signal is required for the stepper axis specify a D2A DAC for the Command Output so that a DAC output may be specified The drive enable associated with this DAC channel may then be used as the drive enable for the stepper axis 12 4 6 7 Null Virtual Configuration A Null or Virtual secondary feedback device requires no parameters to be entered This is the default configuration An axis may be configured as Virtual or NULL by setting the Primary Command Output and Secondary feedback devices to Null In virtual axes the servo loop is bypassed and the Position and Velocity feedback are instead set equal to the Position and Velocity Commands respectively The tracking displays for a virtual axis will display position and velocity as though it were a real axis except that the Position Error and Velocity Error will always be zero This will facilitate debugging of a CNC motion program when no drives are physically present However even if drives and feedback devices are present you may configure the axis as virtual In this case no torque will be commanded to the drive and no feedback will be read from the feedback device But when drives and feedback are properly connected normally the SIMULATION parameter is a more convenient way to debug
203. ardware EOT Limit CW_ 1 Possible user programming error 1 Correct program hardware end of travel limit 2 User unit scaling problem 2 CntsPerInch parameter encountered CW Software EOT Axis 1 CWEOT axis parameter is incorrectly set 1 Correct CWEOT axis parameter attempted to move beyond limit of CWEOT axis parameter or the user s program is in error or user program Drive fault Drive fault has 1 Drive module generated an over current 1 Cycle power to drive module or occurred fault or has failed replace it Feedback fault Feedback device 1 Feedback cable loose disconnected 1 Verify cable fault 2 Feedback device failed 2 Test replace device 3 Feedback device without power 3 Verify supply levels 4 Drive power out 4 Apply power Programming fault An error has 1 An error has occurred during a program 1 Correct the user program occurred in a user CNC program for example a syntax error or attempting i e a syntax error or an invalid to set a parameter to an invalid value or condition an axis that was commanded to move while disabled Master Feedback fault 1 Feedback cable loose disconnected Verify cable Feedback device fault on axis 2 Feedback device failed Test replace device configured as master 3 Feedback device without power Verify supply levels Homing fault Error during a 1 The type of homing cycle specified could 1 An invalid homing cycle was ho
204. as Board 2 channels 13 through 16 are on the 4EN PC card configured as Board 3 Resolution The resolution field specifies the machine steps per electrical cycle of the resolver or inductosyn This is entered as 10 12 14 or 16 bits which represent 1024 4096 16 384 and 65 536 machine counts per electrical cycle of the feedback device respectively Version 1 4 Aerotech Inc 12 15 Setup Wizard U600 User s Guide Poles The poles field of the resolver screen within the Axis Configuration Wizard specifies the number of total poles NOT pole pairs the motor contains A non commutated or DC brush motor has zero poles Commutation Offset The commutation offset indicates the number of electrical degrees to align the absolute rotor reference provided by the commutation channel to the rotor of the motor The offset is entered as counts ratioed to 1024 and may be positive or negative A 360 offset is equal to 1024 A 10 offset may be calculated as 10 360 1024 28 Bounded by Software Limits The Bounded by Software Limits field within the Axis Configuration Wizard is used to specify if software limits are to be activated for the axis true or false may be selected The software limits are defined by the CWEOT and CCWEOT axis parameters 12 4 6 5 ResolverHall Configuration Channel Number The channel number specifies the channel number that the encoder feedback device will be read from for this axis a
205. ate 1 000 000 Vff 1 DecelRate 1 000 000 VGain 0 Accel 80 Decel 80 8 Turn the Position Error and Integral Error Traps on by returning to the AerDebug utility Turn the Position Error and the Velocity Trap back on by using the ParmSet command as follows ParmSet A FaultMask HHH represents the number returned by the ParmGet command in step 2 of this tuning procedure 5 This will re enable these fault conditions Version 1 4 Aerotech Inc 5 29 AerTune U600 User s Guide 5 7 Tuning With Tachometer Feedback The UNIDEX 600 Series controller configures easily for controlling motors with external tachometers providing velocity feedback To configure the controller for an external tachometer based Velocity Loop the inherent digital Velocity Loop operation within the controller must be disabled This is done by setting the digital servo loop proportional gain Kp and the integral gain Ki to zero The servo system s Velocity Loop must be adjusted by the potentiometers on the amplifier for the particular motor tachometer amplifier load combination When configured this way the analog outputs of the UNIDEX 600 that normally provide current commands to amplifiers 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 velocity feedback e The amp
206. ations cece cece cseecseeeseeeeeeeeeeeseeeeeeseenseensees C 97 Table C 16 Status Bit Descriptions eee cee csc cree eeeeeeeeeeeeeeeseeneenseenaes C 105 Version 1 4 Aerotech Inc xxi List of Tables U600 User s Guide xxii Table C 17 Table C 18 Table C 19 Table C 20 Table C 21 Status2 Bit Descriptions Status3 Bit Descriptions Global Parameters Compatibility Chart U600 UserMode Meanings Aerotech Inc Version 1 4 U600 User s Guide Preface PREFACE This section gives you an overview of topics covered in each of the sections of this manual as well as conventions used in this manual This manual contains information on the following topics CHAPTER 1 INTRODUCTION This chapter contains an introduction to the hardware and software architecture of the UNIDEX 600 Series motion controllers CHAPTER 2 GETTING STARTED This chapter contains information about the minimum software requirements for proper operation It also contains information on the system setup and installation of the UTIL600 software CHAPTER 3 PROGRAMMING This chapter provides an overview of the two available programming interfaces and the trade offs between using one or the other to program the U600 Series Controller The correct interface or combination of interfaces the programmer should use depends on the target application CHAPTER 4 AERDEBUG This chapter contains information about the AerDebug
207. ault Acknowledge selection will attempt to acknowledge and clear any faults that are present The Fault Acknowledge button on the status tool bar will attempt to clear the faults also Frequency Analysis x Print Axis Data to analyze Display Graph Options Tools Analyze Frequency Spectrum of VelErr Axis X N as De co fe gt Frequency Hz Figure 6 3 FFT Analysis Window 6 4 Aerotech Inc Version 1 4 U600 User s Guide AerPlot 6 8 1 The FFT Analysis Window Menu Description Print Menu You may Export or Print the plot Data to Analyze You may select the item to analyze Velocity Feedback Velocity Command Velocity Error Position Feedback Position Command Position Error Torque Display Menu You may select the number of points to display on the plot 64 128 256 512 1024 2048 4096 8192 Tools Menu Disable Bias Correction Low Pass Filter Data Remove DC Bias from Position Data Remove DC Bias from Torque Data 6 9 Help Menu The Aerotech U600 Help menu selection will display the information in the online help file for AerPlot The About UNIDEX 600 AerPlot will display version information for AerPlot Version 1 4 Aerotech Inc 6 5 AerPlot U600 User s Guide 6 6 Aerotech Inc Version 1 4 U600 User s Guide AerStat CHAPTER 7 AERSTAT In This Section e Introduction OM OVERVICWHre ee ree ee 7 1 Introduction The AerStat utility is a debugging tool that displ
208. axis is used for the fourth spindle axis This axis must be a rotary type The numbers are zero based i e S4_Index 0 indicates the first axis This parameter may not be changed while the spindle is in motion C 4 127 S4 MSO This task parameter sets the Manual Spindle feedrate Override for Spindle 4 on this task The value is a ratio varying from 0 to infinity where 1 represents normal or unaffected motion The MSO changes on the MMI600 screens are more restricted This override affects only spindle type motion This does not affect any other type of motion This value can not be changed if the MSOLock task mode is active Also if the S4_AnalogMSOInput task parameter is not 1 the specified analog input determines the Version 1 4 Aerotech Inc C 101 Parameters U600 User s Guide MSO value and this parameter becomes read only and will indicate its value Likewise the MFO slider bar on the Run and Manual MDI screens of the MMI600 can only be used when this parameter is set to 1 other values will enable external control causing the slider bar to display the set value You must have the ExecuteNumSpindles task parameter set properly to utilize more S than one spindle C 4 128 S4_RPM This task parameter defines the feedrate of spindle number four By default the units are revolutions per minute The G codes listed below will change the units of this parameter C 4 129 S4_SpindleRadius The S4_SpindleRadius task pa
209. ays the status of all 16 axes of the controller This is accomplished by displaying the various axes status fault masks faults Task Status and Task Mode parameters This is very useful for initial machine setup and testing since it displays the state of drive signals including axes hardware limits drive enables drive faults hall effect signals and probe input Pressing the F1 key will display information about all of the parameters displayed by AerStat Disable Mask AbortMask AuxMask BrakeMask Task Status Task Status2 Task Status3 TaskModel Axis Status Servo Status Motion Status Alt Status Fault Fault Mask Interrupt Mask Halt Mask Hex Value Name Axis 1 2 3 4 5 6 7 8 9 LOR LU eats ela isa elo Ox00000001 drive enable s Ss ee as See eee GS Sk ee ee 0x00000002 aux output enable a Ox00000004 CW input ON ON ON ON ON ON ON a pe 2 Ox00000008 CCW input ON ON ON ON ON ON ON 0x00000010 home input ON ON ON ON ON ON ON Ee 6x00000020 drive Fault input ON ON ON ON ON ON ON we a Ox00000040 at home as k a Ox00000080 done ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON 0x00000100 in position ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON oxo0000200 faulted meee te eee 0x00000400 probe input meee ete te we ox00000800 marker input ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON 0x00001000 ha
210. bal scope Meaning they are equally accessible to all programs For example one task may run a program that begins by looping forever waiting for a particular output to be set Another program might run motion and only set the output bit after that motion is done In this way the two programs are coordinated so that the first program cannot proceed until the second program completes its motion The user need not worry about semaphores to arbitrate simultaneous access to globally scoped objects the CNC engine ensures that no task can read or write a global scoped value while another task is writing or reading it Each task has a set of task variables that are not available to the other tasks Task variable 1 for example is a different variable for each of the four tasks Task variables are shared among all programs running on that task That is task variable is the same variable for any program running on task 1 but refers to a different variable for any program running on task 2 Program variables have the lowest scope existing only in the particular program running on a particular task Even programs called by that program cannot access these variables 3 6 Aerotech Inc Version 1 4 U600 User s Guide Programming Please see the UNIDEX 600 Series CNC Programming Manual Win NT 95 P N EDU1568 under Chapter 3 for more details on variable usage and scope 3 3 2 CNC Program Execution Although CNC programs run on the ax
211. be terminated by pressing the ESC key The optional third parameter P will disable the use of the ESC key to abort the play file execution EXAMPLE PLAY setup ply S execute the commands in the file setup ply in the single step mode 4 36 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 6 61 PLYREWIND The PLYREWIND command rewinds or restarts the play file to the beginning The next command executed would be the first command within the play file This allows a play file to be executed continuously in a loop until the ESC key is pressed Example of a play file PARMSET A AUX 1 set auxiliary mode output to 1 PARMSET A DRIVE 1 enable drive PARMSET A AUX 0 set auxiliary mode output to 0 PARMSET A DRIVE 0 disable drive PLYREWIND repeat till ESC key pressed 4 6 62 PRG1 command string The PRG command compiles a single CNC program line The CNC program line must be within quotes EXAMPLE PRG1 BIND X bind the X axis 4 6 63 PRGCMPL filespec option The PRGCMPL command compiles a CNC program This function does not download the compiled file to the axis processor The compiled program is held in RAM and can be downloaded to the axis processor via the PRGLOAD command The filespec specifies the CNC program and path if its not in the current directory to compile The option flag is a bitmask of the following options Pre process the file only 1 Do not read write obje
212. bort Each bit set in this parameter should also be set in the FAULTMASK axis parameter to enable detection of that fault condition Setup Wizard Configuring Axis X Disable Mask IV Position Error Limit F User Fault I POSTOGO Interrupt V RMS Current Limit MV Velocity Trap I7 ESTOP T CW Hard Limit BE m njij sjiaf F Probe Fault M Task Fault i External Feedback Fault ia Sate Zone r Programing Fault F Constant Vel Phase Inetrupt J Master Feedback Fault J Decel Phase Interrupt J Home Fault J Move Done Interrupt Help Axis Complete Cancel lt Back Next gt Finish Figure 12 19 The DISABLEMASK Configuration Screen In the screen above and all subsequent screens in the same format a grayed checkbox such as that for the CW Soft Limit indicates that the fault condition can not be checked here because it is not checked set active on the FAULTMASK page Section 12 10 If a box is grayed and checked it will also be inactive on this screen It will be ignored unless its corresponding checkbox is also set on the FAULTMASK page Version 1 4 Aerotech Inc 12 27 Setup Wizard U600 User s Guide 12 12 Configure the HALTMASK This axis parameter defines the fault conditions that cause the axis to halt The value specified for this parameter is a bit mask where each bit corresponds to a specific fault The axis will halt if the bits for FAULTMASK and HALTMASK are set to one for
213. ch Inc A 1 Glossary of Terms U600 User s Guide Free Releasing of ownership of a task axis by a task A task frees a task axis Global Parameters Parameters that affect the over system Global Variables A variable that can be accessed or shared by any task or program Machine Parameters Parameters that affect the specified physical axis Map A way to relate task axes to physical axes Map a task axis to a physical axis Physical Axis Implies direct correlation to hardware Physical Axis 1 is channel 1 Point to Point Motion Implies CNC Motion Commands GO Program Programs are loaded independently of any task The program contains code variable and label information A program can be associated with any number of tasks Program code and label information are common to all tasks Program variables are specific to the process Program Handle An identifier that is assigned to a program that the axis processor uses to identify that program Program Variables A variable that is local in scope to a given program These are local to the currently active program Read Open Implies file access A file is always read or opened Task Process An independently running process containing its own set of parameters variables and call stack Task Axis Used by a task and mapped to a physical axis Designated by following letters X YZUVWABxyzuvwab Task Index Zero based index used to identify a task
214. channel or omitting a channel number and the default channel will be assigned for that axis based upon the axis number The following syntax applies CONFIGD2A channel where channel Channel specifies the D A channel to be assigned to this axis Version 1 4 Aerotech Inc 4 9 AerDebug U600 User s Guide 4 4 1 6 ConfigRead Read an Axis Configuration From a File Axes may be configured quickly once a configuration file has been created preferably by the ConfigWrite command the file format is documented in the UNIDEX 600 Series Library Manual The ConfigRead command will read the configuration of the current axis from the file as indicated by the AerDebug prompt and configure the axis The file will be read from the current directory unless a path is provided in the filespec A file extension must be specified an INI file extension is not assumed CONFIGREAD filespec where filespec Filespec specifies the name of the configuration file to read the axis configuration from 4 4 1 7 ConfigWrite Write an Axis Configuration to a File After initially configuring the axes manually the configuration may be saved to a configuration file for recalling that configuration at a later time The ConfigWrite command will save the configuration of the current axis as indicated by the AerDebug prompt for later use by the ConfigRead command to restore that configuration after power up or resetting the UNIDEX 600 Series contr
215. chnical Details The AutoTuning algorithm available from the Tools menu may be used to S automatically tune the servo loop If your axis is configured as a gantry the resultant servo loop gains must be manually copied to the slaves axis parameters 5 16 Aerotech Inc Version 1 4 U600 User s Guide AerTune s AffGain ACCELERATION 3 FEEDFORWARD VELOCITY il FEEDFORWARD A Vif 0 1 Kp Position i Torque Seti a Enor K A Command Sarman gt PGAIN 2nd Order Digital are VELOCITY LOOP 600 620 onts Filter To Amplifier Actual Actual Position Velocity 1 of Axis of Axis T Ki z Integral Error Position resolution Velocity Feedback from Primary or Secondary Feedback Device Velocity resolution POSITION LOOP Position Feedback from Primary Feedback Device Figure 5 8 Servo Loop Diagram Torque Mode Kp Velocity eanan F Command omman 2nd Order Digital U600 620 only gt Filter To Amplifier DACOFFSET Figure 5 9 Servo Loop Open Loop Velocity Mode Version 1 4 Aerotech Inc 5 17 AerTune U600 User s Guide Position Command S VELOCITY VORIN FEEDFORWARD T VER 0 1 Position Velocity Error
216. ciated ProgramActive ProgramExecuting ImmediateCodeExecuting SingleStepInto SingleStepOver InterruptFaultPending InterruptCallBackPending ProgramCleanup EStopInputActive FeedHoldInputActive SpindleFeedHoldActive MotionFeedHoldActive MotionContinuous EXAMPLES WAIT ProgramAssociated wait till a program has been associated with this task WAIT ProgramExecuting wait till the program is done executing Version 1 4 Aerotech Inc 4 45 AerDebug U600 User s Guide 4 6 96 WB address value The WB command writes the value specified byte to the specified address EXAMPLE WB 80c 55 write 55 to 80c 4 6 97 WRITESERIAL channel text The WRITESERIAL command writes same text to a serial port See the AerSerialWritexxx function in the UNIDEX 600 Library Reference Manual P N EDUI156 EXAMPLE WRITESERIAL 0 test write to serial port 4 6 98 WW address value The WW command writes the value specified word to the specified address EXAMPLE WW 80c 55AA write AA55 to 80c 4 6 99 WL address value The WL command writes the value specified long word to the specified address EXAMPLE WL 80c 123455AA write 1234AA55 to 80c 4 46 Aerotech Inc Version 1 4 U600 User s Guide 4 6 100 ZMONITOR The ZMONITOR command displays all the monitor conditions defined within the current CNC program associated with the current task The maximum number of conditions permitted is determined by t
217. cing and grouping of terms in expressions EXAMPLE PRGDUMP U600 TEST PGM _ display object code dump of test pgm 4 6 65 PRGERRS filespec The PRGERRS command displays any compile errors warnings found when compiling the CNC program EXAMPLE PRGERRS U600 TEST PGM any error s 4 6 66 PRGINFO filespec The PRGINFO command returns information on a program that has been downloaded to the axis processor card It will display the number of program lines double variables labels and the program status EXAMPLE PRGINFO U600 TEST PGM tell me about my program 4 6 67 PRGLOAD filespec num_lines userline_offset The PRGLOAD command downloads a compiled program to the axis processor If no num_lines are provided then the program is download normally However if the number of lines parameter is provided then the compiled program is downloaded as a circular queue If num_lines parameter is non zero the axis processor allocates a new queue of num_lines size and downloads the program as the first lines in the queue However if num_lines parameter is zero the axis processor appends the program onto an existing program queue In either case the program lines will be placed down with user line numbers starting at the userline_offset parameter For an example of how PRGLOAD works with queues see the section on queues under the Running CNC Programs Chapter EXAMPLE PRGLOAD U600 TEST PGM download test pgm to axis proce
218. close to the home that the reference pulse is been exceeded during a home limit greater than the HomeSwitchTol cycle axis parameter 2 Increase the HomeSwitchTol axis parameter Probe The touch probe input has 1 Activation of the probe input was due 1 Modify the program or clear the been activated to a programming error or an obstruction obstruction 2 Adjust servo loop gains or __ adjust mechanics Task fault A task fault occurred 1 A task fault occurred and may any of 1 Correct the fault causing the _ the active faults in the faultmask _ task fault External feedback The actual 1 Mechanical problem or excess 1 Verify mechanics and load axis velocity varied from the friction load 2 Verify system limitations commanded velocity by an amount 2 Velocity acceleration commanded 3 Replace axis load fuse greater than the FB Window axis exceeds system limitations 4 Increase FBWindow axis parameter 3 Axis load fuse blown parameter 4 FBWindow axis parameter set too low SafeZone fault The axis violated 1 The user CNC program violated the 1 Correct the CNC program or B 2 Aerotech Inc Version 1 4 U600 User s Guide Parameters APPENDIX C PARAMETERS In This Section Descriptors ce eevee race eE R ensues C 1 OE FAXIS RaramMete rseccncct ater R C 3 om Viachinesarametensmmenecetetercmertee terete C 45 omas ki Rara meters t aE EEE E E eect TE C 57 em Globalikarametensmrem
219. comm_ch Encoder channel used to provide Hall effect and encoder commutation data The default is the current axis bounded Enable bounded 1 disable bounded 0 software limits The default is zero 0 4 8 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 4 1 4 CONFIGHRESOLVER Resolver and Hall effect sensor feedback To configure an AC brushless motor using Hall effect and resolver feedback for commutation the following syntax applies CONFIGHRESOLVER reschannel resolution hall_lines com_offset comm_ch bounded where reschannel Resolver channel for position velocity feedback The default is the current axis resolution 10 12 14 or 16 bits which equals 1024 4096 16384 or 65535 counts per motor revolution hall_lines Encoder counts per electrical cycle If set to zero 0 commutation defaults to six step The default is 1 500 com_offset Commutation offset for CONFIGHALL is specified in degrees 360 lt offset lt 360 The units are equal to 0 through 16 384 for 0 to 360 comm_ch Hall channel used to provide Hall effect and commutation data The default is the current axis bounded Enable bounded 1 disable bounded 0 software limits The default is zero 0 4 4 1 5 ConfigD2A Configure a DAC D A Channel for Use by This Axis Each axis must have a D A channel assigned to it for the command torque velocity to be delivered to the servo amplifier This is done by specifying a D A
220. command motion on This parameter may be zero causing the axes defined by SlewPair to be the only axes pair This parameter is set to a value representing the summation of the two task axes numeric values assigned when the axis is configured within the axis configuration wizard See Section C 4 138 for an example C 102 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 132 SlewPair3 The SlewPair3 task parameter defines the 2 task axes that comprise the third axes pair that the joystick will command motion on This parameter may be zero causing the axes defined by SlewPair to be selected after SlewPair2 This parameter is set to a value representing the summation of the two task axes numeric values assigned when the axis is configured within the axis configuration wizard See Section C 4 138 for an example C 4 133 SlewPair4 The SlewPair4 task parameter defines the 2 task axes that comprise the fourth axes pair that the joystick will command motion on This parameter may be zero causing the axes defined by SlewPair to be selected after SlewPair3 This parameter is set to a value representing the summation of the two task axes numeric values assigned when the axis is configured within the axis configuration wizard See Section C 4 138 for an example C 4 134 SlewPair5 The SlewPair5 task parameter defines the 2 task axes that comprise the fifth axes pair that the joystick will command motion on This
221. conditions occur There are many conditions that can cause faults and through the use of Axis and Task parameters the programmer can impose a wide variety of actions to occur from faults so faults is not a simple subject What follows is a short summary Chapter 2 under Axis Faults and Task Faults provides more detail There are two types of faults task and axis refer to Table 1 3 Table 1 3 Differences between Task and Axis Faults Axis Fault Task Fault Example Axis Error e g No feedback CNC line error e g from drive GLOB1 7 0 Subsequent Action Controlled by bits except task Controlled by taskfault bit in fault bit in FAULTMASK FAULTMASK HALTMASK HALTMASK etc etc Viewing in U600MMI Flashes in red over position Bottom Right of Run Manual display on Run Manual Screen Screen Viewing in AerDebug PARMGET A FAULT PARMGET T TASKFAULT Resetting in U600MMI Hit Fault acknowledge button Hit Fault acknowledge button Resetting in AerDebug PARMSET A FAULT 1 PARMSET T TASKFAULT 0 Generates an Interrupt to Depends on INTMASK setting Yes PC Scanned Every millisecond Every time CNC program executes a line see Section 1 4 1 1 6 1 Axis Faults The UNIDEX 600 Series controllers monitor a large range of axis conditions such as feedback error or too large position error on a once per millisecond basis When the axis processor finds that the condition is true a fault occurs
222. ct files from to disk 2 Read the object file from the disk 4 Create a listing file 8 Preprocessing produces only a listing that can be viewed with a PRGTYPE command no object code will be generated The option flag being a bitmask implies that multiple options may be specified by adding the decimal values of the desired option flags together to produce the value of the option parameter that will produce these options For example if it were desired to create a listing file and not to write the object file to the disk the option parameter would be set 10 8 2 10 EXAMPLE PRGCPMPL U600 TEST PGM 10 compile test pgm with options described in text above Version 1 4 Aerotech Inc 4 37 AerDebug U600 User s Guide 4 6 64 PRGDUMP filespec The PRGDUMP command displays the source code of a CNC program as it currently exists on the axis processor card Contrast this with the PRGTYPE command that shows the CNC program as it exists on the PC processor PRGTYPE shows the original source code while PRGDUMP shows a textual decompiling of the current object code on the axis processor The user needs only to compile to obtain a PRGTYPE listing but must compile and download to obtain a PRGDUMP listing If a successful download was done just after the last compile of a program then source code on the axis processor should look virtually identical to the original source code on the PC although there may be minor differences in spa
223. ctivate software end of travel limits by entering a 1 for this parameter 0 to disable them A UNIDEX 600 650 controller has 4 channels onboard with 4 additional channels provided by each additional encoder expansion card Their channel numbers are determined by the expansion board number Expansion board number 1 will be channels 5 through 8 board 2 will be channels 9 through 12 etc Attempting to configure an axis for an encoder channel that is not present will cause a programming error This error will be indicated by the GETPROG command after the bad configuration attempt EXAMPLE CONFIGENCODER2 4000 1000 8192 2 0 current axis will be assigned encoder channel 2 to receive sposition velocity feedback from feedback will be 4000 counts per smotor revolution there sare 1000 encoder lines sper electrical cycle the sresolver is 180 electrical degrees 8192 out of sphase with the motor hall seffect channel 2 is used software limits are disabled Version 1 4 Aerotech Inc 4 21 AerDebug U600 User s Guide 4 6 10 CONFIGHRESOLVER resolver_ch resolution hall_lines com_offset comm_ch bounded The CONFIGHRESOLVER command allows the user to assign a resolver feedback and Hall effect feedback channel to an axis to be used as the position and or velocity feedback for that axis The valid range of resolver feedback channels is determined by the number of resolver feedback cards present in the user s syst
224. current that the amplifier can produce c Press the Auto button and allow the axis to cycle If the user cycles the axis too long at short fast speeds the fuse will blow so be prepared to make the adjustment fairly quickly The user may desire to use the Step buttons so there is a delay between moves preventing the fuse from blowing quickly d While the axis is moving adjust the Current Limit pot to limit the current to either 4 times the continuous 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 Oscilloscope would represent 6 amps Press the Halt button when complete Figure 5 24 illustrates what is seen after one move 5 36 Aerotech Inc Version 1 4 U600 User s Guide AerTune Without Clamping by Current Limit Pot the current would be here Adjusting the Current Limit Pot allows you to clamp the current to a specific value Figure 5 24 Oscilloscope 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 Connect the Oscilloscope to TP5 velocity command and TP4 common on the amplifier b Set the Distance and Speed entry fields to represent a typical move at 1 2
225. cute on the implied current or specified task The Canned Function must first be defined via the SETCANNEDFUNCTION CNC command It may also be executed via the EXECANNEDFUNCTION CNC command C 4 12 ChordicalSlowdownMsec This task parameter affects the speed and accuracy of contoured CNC program blocks This is accomplished by varying the Update Time of the CNC Profiler or the velocity of a CNC Program block A CNC program block will always move at the lesser of the two velocities defined below C 66 Aerotech Inc Version 1 4 U600 User s Guide Parameters The absolute value of this parameter in milliseconds determines the minimum time that a CNC program block may execute in Attempting to exceed this limit will cause the velocity of the CNC block to be scaled down The sign if negative will force the velocity of G2 G3 G12 G13 commands to slow down only enough such that the CNC Profiler is able to calculate 3 points during the arc This guarantees that the arc will not be a linear segment created from 2 points starting and ending point C 4 13 ChordicalToleranceInch This task parameter will disable warning messages for arc s G2 G3 G12 G13 that execute in less than the time specified by UpdateTimeSec creating a splined arc with only 2 points whose chord distance is less than the value of this parameter The chord distance is defined as the maximum distance from the center of a line drawn from the starting
226. d SIMULATION Z 1 Z axis is in simulation G1 X10 This command is ignored takes no time to execute G1 X10 Y10 X ignored in this command Y moves command takes 1 minute G1 Z10 Z axis is not moved but this command takes 1 minute to execute G1 Z10 Y10 Z axis not moved Y moves command takes 1 414 minutes C 4 50 InterruptMotion Setting this task parameter to 1 will cause the CNC to feedhold all axes bound to the task After feedhold has completed you may move the axes via any valid Immediate Mode commands The interrupt mode may be exited by resetting the InterruptMotion task parameter back to zero The way that the interrupt mode exits depends on the setting of the InterruptMotionReturnType task parameter If the InterruptMotionReturnType task parameter defines that interrupted motion is to be resumed then feedhold is released C 78 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 51 InterruptMotionReturnType This task parameter defines the way the axes return after their motion was interrupted via the InterruptMotion task parameter After axes motion has been interrupted you may move the axes via any valid Immediate Mode commands The default return type is 0 Typically return type 2 or 4 would be used to maintain programmed position 0 RETURNTYPE_NULL This return type will not return the axes to the absolute positions that they were at at the time when the interrupt occurred
227. d or you may select the Browse button to find the desired file The Master Axis specifies the axis whose absolute positions are used as the index into the look up table to produce the correction values for this axis The master axis is normally the current axis and will be the default master axis number Another axis may be used as the master axis such as for orthogonality correction Version 1 4 Aerotech Inc 12 19 Setup Wizard U600 User s Guide Selecting OK will add the calibration file to the axis configuration Selecting Cancel will return you to the main axis calibration screen Selecting Update allows the highlighted axis calibration file entry to be modified The master axis may be changed or a new file may be specified Selecting Delete will remove the highlighted axis calibration file entry The Disable Axis Calibration flag may be used to disable the use of all axis calibration files specified on this screen Figure 12 11 12 4 8 Saving an Axis Configuration The final Axis Configuration screen will display a summary of the configuration of the axis If Finish is selected the axis will then be configured on the controller and the configuration will be written to the file defined on the main Setup page of the MMI600 C u600 Ini AxisCfg ini by default Axis Configuration Wizard Finished Ed Thank you for using the Axis Configuration Wizard ou have configured
228. d ABORTMASK i e if the DISABLEMASK is set to occur the Version 1 4 Aerotech Inc C 5 Parameters U600 User s Guide HALTMASK or ABORTMASK will have no effect because the DISABLEMASK would disable the axis before it could halt or abort C 2 3 ACCEL The time in milliseconds for the axis to ramp up to a new velocity This axis parameter is used only if the ACCELMODE axis parameter is set to 0 or 1 Sinusoidal Linear for time based ramping of GO point to point moves and asynchronous moves This parameter is not used for CNC contoured motion G1 G2 G3 refer to L AccelTimeSec task parameter for ramping contoured moves C 2 4 ACCELMODE This axis parameter allows the user to select the type of ramping used during the execution of GO point to point moves and asynchronous moves This ramping may be time based using the ACCEL parameter or rate based using the ACCELRATE parameter Also the user can configure the ramping to be either linear or sinusoidal 1 cosine Figure C 1 indicates how to set this parameter The default for this parameter is zero for a time based 1 Cosine ramp This parameter is not used for CNC contoured motion G1 G2 G3 refer to ee AccelTimeSec task parameter for ramping contoured moves 0 1 Cosine Ramping Time Based 1 Linear Ramping Time Based 2 1 Cosine Ramping Rate Based 3 Linear Ramping Rate Based A Velocity Command ere ee Sinusoidal Time
229. d RThetaY parameters are used to determine the cylindrical R Theta coordinate system The following table shows the possible R Theta transformations and the enabling values Table C 15 R Theta Transformations Base Coordinate Transformed Coordinate Value Type System System fo None disabled na nl KY R Theta KY Theta Y The polar R Theta transformation takes the X Y positions and transforms them into a radius and angular rotation from the origin where the transformation was enabled The cylindrical transformation takes the X position and transforms it into an angular rotation based upon the starting X position where the transformation was enabled and the RThetaRadiusInch parameter For the cylindrical transformation the Y axis position is unchanged C 4 106 RThetaR This task parameter specifies which task axis is used for the R Radius axis of the R Theta transformation This axis must be a linear type The RThetaX and RThetaY parameters are used to determine the perpendicular base X Y plane The RThetaR and RThetaT parameters are used to determine the polar R Theta coordinate system The RThetaT and RThetaY parameters are used to determine the cylindrical R Theta coordinate system Version 1 4 Aerotech Inc C 97 Parameters U600 User s Guide C 4 107 RThetaRadius This task parameter will indicate or may be used to specify the radius used by the R Theta transformation in the current user units C
230. d a trace Double click on the trace label i e Trace 1 This will display a screen that will allow you to select which binary input binary output register input or register output to display When trace has been added the name will be changed from Trace X to the name of the binary input output or register input output that was chosen to be displayed for that trace When register inputs or register outputs are displayed the actual value of the register input output is not displayed If a register input output does not change value a 1 is displayed If a register input output changes a 0 will be displayed for one millisecond to represent the fact that the register input output changed The value of the register input output at any given point in time can be determined using the cursors File Menu Allows the user to Save Export Load or Print the Plot File Allows the user to collect one set of data collect data Trigger Menu continuously halt continuous data collection update the conditional triggering and update the sample rate Collect Menu Allows the user to specify how many points to collect Graph Options 3 Allows the user to use graph lines mark data points change the time scale or zoom the graph Allows the user to control whether the status and the cursors Tools i window can be seen Help Allows the user to activate the U600 help file To set up conditional triggering In order to enable conditional triggering th
231. d be set to produce at least a half revolution of the motor or a half inch of linear travel to achieve acceptable results from the AutoTuning algorithm or more accurately a torque signal greater than 1 volt Air Bearing systems should use a 7 damping factor Ball Screw systems should use a 3 damping factor 5 Most systems should be able to achieve about 30 Hz bandwidth 5 Systems with a larger mass or high inertia may need to reduce the excitation frequency to 25 5 Hz Smaller systems may need to increase this to 2 Hz a Version 1 4 Aerotech Inc 5 11 AerTune U600 User s Guide Auto Tune Axis X Mei x Tuning Parameters Velocity Bandwidth Hz HO Damping 0 lt x lt 5 0 0 707 Use Vif V Calculate AffGain T r System Excitation Units in Counts Points to Collect 7500 Amplitude Starting Freq Hz 11 5 EA 1000 Status eaa m Results n Tune Done Help Figure 5 7 AutoTune Screen 5 4 1 Setting up AutoTune Parameters Here are some general considerations for successful AutoTuning The excitation parameters must generate approximately a 1 volt torque command Axes with a large mass or high inertia require a lower excitation frequency of approximately 0 25 0 5 Hz Axes with a small mass or low inertia require a higher excitation frequency of approximately 2 0 Hz Air bearing axes should use a damping factor of 7
232. d printed The Plot Comment selection allows a comment to be displayed for the plot below the axis name This comment is not saved to the dat file when the plot is saved but will be visible when the plot is printed Plot Comment Ea Enter Plot comment below K axis Smm min 50mm on T550075 Figure 5 2 Plot Comment 5 2 Aerotech Inc Version 1 4 U600 User s Guide AerTune 5 2 3 The Plot Menu The data that may be displayed from the AerTune s plot menu includes indicates default selections Velocity Feedback Velocity Command Velocity Error Position Feedback Position Command Position Error Torque Acceleration 5 2 4 The Collect Menu The Collect menu allows the number of samples to be defined also determining the time period over which the data acquisition takes place The choices are 100 250 500 1000 5000 8000 5 2 5 The Graph Options Menu The Graph Options menu has four selections The Grid Lines selection allows a grid to be displayed on the X Y or both axes The Mark Data points selection allows dots to be displayed for each sample point The Units menu allows the units for linear rotary and analog inputs to be selected The linear axes may be displayed as machine steps counts mm mm 1000 or inches inches 1000 Rotary axes may be displayed as machine steps counts or degrees The analog inputs may be displayed as machine steps counts or volts The Time Scale
233. d systems Parameter Name Value Comments Position Gain PGain Adjust per Should be maximized for servo stability and application acceptable position error following error levels Integral Gain Ki Always 0 Unused Proportional Gain Kp Always 0 Unused system AffGain Always 0 Unused Alpha Always 0 Unused Acceleration Feedforward Acceleration Feedforward Gain Filter Velocity Feedforward Vif Optional Minimizes following error position error of the servo Constant Velocity Gain VGain Adjust per Should be maximized for acceptable position error application following error levels during constant velocity Offset to Null Digital to DACOffset Adjust per Should be set non zero to null any offset in the Analog converter offset application velocity output command that will introduce a velocity offset into the system 5 7 4 The Servo Loop Parameters for Tachometer Based Systems The servo loop parameters have slightly different meanings with tachometer feedback The following sections describe the parameter definitions 5 7 4 1 PGain Position Gain The Position Gain is the only gain in the Position Loop in the UNIDEX 600 s Servo Loop This gain reduces the amount of position error and decreases the settling time It is the first servo loop parameter to adjust 5 7 4 2 Vff Velocity Feedforward Gain The Velocity Feedforward Gain is the only gain in the Velocity
234. d the Spindle Radius are assumed to be the same C 4 115 S2_AnalogMSOInput This task parameter specifies which analog input channel is used for the analog MSO for the second spindle as defined by S2_Index Otherwise it is exactly the same as the AnalogMSOtInput task parameter You must have the ExecuteNumSpindles task parameter set properly to utilize more than one spindle 5 C 4 116 S2_Index This task parameter specifies which task axis is used for the second spindle axis This axis must be a rotary type The numbers are zero based i e S2_Index 0 indicates the first axis This parameter may not be changed while the spindle is in motion C 4 117 S2_MSO This task parameter sets the Manual Spindle feedrate Override for Spindle 2 on this task The value is a ratio varying from 0 to infinity where 1 represents normal or unaffected motion The MSO changes on the MMI600 screens are more restricted This override affects only spindle type motion This does not affect any other type of motion This value can not be changed if the MSOLock task mode is active Also if the S 2_AnalogMSOInput task parameter is not 1 the specified analog input determines the MSO value and this parameter becomes read only and will indicate its value Likewise the MFO slider bar on the Run and Manual MDI screens of the MMI600 can only be used when this parameter is set to 1 other values will enable external control causing the slider bar to display
235. decelerates at the currently selected modes linear sinusoidal and rates times The specified drive must be enabled and the axis must not be in the sync mode or a programming error occurs EXAMPLE MQINCREMENTAL 50000 10000 move 50 000 steps at 10 000 steps per second Version 1 4 Aerotech Inc 4 33 AerDebug U600 User s Guide 4 6 47 MQUICKHOME direction speed This command starts the currently selected axis homing in the specified direction at the specified velocity The quick home function does not complete a normal home cycle but moves in the specified home direction and stops at the home limit The velocity is specified in machine steps per second The axis accelerates and decelerates at the currently selected modes _ linear sinusoidal and rates times The specified drive must be enabled and the axis must not be in the sync mode or a programming error occurs The direction is specified as 1 1 to move CW CCW EXAMPLE MQUICKHOME 1 2000 quickhome CCW at 2 000 steps per second 4 6 48 MQRELEASE This command restarts the specified axis queue that had been halted from executing motion commands contained within its 16 level deep queue by the MQHOLD command EXAMPLE MQRELEASE restart the axis command queue 4 6 49 MRELEASE This command resumes the motion that was in progress on the currently selected axis before calling the MHOLD command This is done by accelerating the axis to the programmed vel
236. der Channel Assignments Channels through 4 are on the UNIDEX 600 card channels 5 8 are on the 4EN PC card configured as Board 1 channels 9 12 are on the 4EN PC card configured as Board 2 channels 13 16 are on the 4EN PC card configured as Board 3 Number of Lines The lines field is set to zero for open loop stepper axes or the encoder liner per revolution The number of lines for the encoder must be specified This may also be used to re scale the PGAIN axis parameter Rotary Encoder For rotary encoders enter the number of lines per revolution of the encoder after the x4 multiplication is done by the controller i e for a 1000 line encoder enter 4000 Linear Encoder For motors with linear encoders enter the number of counts seen by the controller per revolution of the motor after the x4 multiplication is done by the controller i e a ball screw with a pitch of linch having a linear encoder with 1 270 000 counts per inch after x4 multiplication would have 127 000 entered for the number of lines 1 270 000 1 127 000 Version 1 4 Aerotech Inc 12 17 Setup Wizard U600 User s Guide Stepper Channel This field specifies the clock and direction channel number for the axis The 4 channels on the U600 board are channels through 4 Then encoder expansion cards 4EN PC do not support stepper axes Bounded by Software Limits The Bounded by Software Limits field within the Axis Configuration Wiz
237. der the AerMove functions chapter Programmed movement can be easily tested debugged by setting the axis parameter SIMULATION to 1 for the axes to be moved This allows programs to run without generating movement of the axis Positions and velocities are reported just as if the axes were moving Enabling the axis still produces motor torque but there will be no motion generated In this mode drives and motors do not need connected 2 15 Digital O The UNIDEX 600 Series of controllers utilizes a Virtual I O mapping technique that provides up to 512 digital inputs 512 digital outputs 128 16 bit register inputs and 128 16 bit register outputs These I O resources are referred to as Virtual since they exist as blocks of memory in the UNIDEX controller From the C VB library programming level these memory mapped I O points can be accessed via the AerVirt series of commands see the U600 Series Library Reference Win NT 95 Manual P N EDU156 CNC programs have access to the Virtual I O through BI BO CNC commands or through user defined M and G codes see the UNIDEX 600 Series CNC Programming Win NT 95 Manual P N EDU158 It is possible to write Virtual inputs and read Virtual outputs This capability provides for communication and synchronization of multiple tasks executing on the controller 2 15 1 Associating Virtual I O with Physical I O By default on the UNIDEX 600 controller the 16 digital inputs and 16 digital outputs located on
238. dicates if the queue is full or empty in the status However queues have certain disadvantages any statement with a jump cannot be downloaded into a queue because the jump may refer to a line that is not currently in the queue This includes all if while and repeat statements as well as M47 and M30 codes Here is an example of how a queue can be used a series of lines are compiled and downloaded PRG1 global0 1 PRGL 3 0 Queue has 3 lines download this as userline 1 in the queue PRG1 global0 2 PRGL 0 1 Download this as userline 2 in the queue PRG1 global0 3 PRGL 02 Download this as userline 3 in the queue TSKA 2 Associate PRGD Dump out all the source 3 lines above TSKPRG E 1 Execute stepover first line of the queue program This will free a queue line to load another line PRG1 global0 4 PRGL 02 Download this as userline 4 in the queue 4 14 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 6 Programming Commands The AerDebug commands are listed alphabetically in Table 4 2 in four groups along with the parameters and a short description of the command More help is available on line by using the refer to Sections 4 3 3 and 4 6 1 AerDebug exe ignores case Table 4 2 AerDebug Commands Basic Commands Description Parameters Display help List of commands None i Changes the default axis if no parameter shows the default axis
239. ds This bit will default to one True on new software installations On updates of older systems this bit will be remain zero to maintain compatibility Version 1 4 Aerotech Inc C 115 Parameters U600 User s Guide C 5 4 4 Non Modal G2 G3 Commands The example CNC program below illustrates the modal non modal nature of the G2 G3 commands G91 G1 G2 I1 Generate circular motion X1 Current versions generate the error No Offsets in G2 G3 CompatibiltyMode CompatibiltyMode BOR 0x1 set old style active G2 I1 Generate circular motion XI Old style executes this CNC block as a G1 command C 5 4 5 Old Style Contouring The old style contouring mode refers to small changes made in the manner in which G1 G2 and G3 contours are generated Both styles are virtually identical The old style is maintained only for compatibility with internal Aerotech testing The user should never use the old style Old style is 1 Slice lookahead during decel phase changed from 3 to 2 2 Slice lookahead in constant phase suppressed for arcs C 5 5 Enablel KHzServo This Global parameter defines the servo loop update rate for all axes as either 1 kHz or 4 kHz Setting this parameter to 1 activates the 1 kHz mode 1 millisecond while a 0 activates the 4 kHz mode 4 millisecond This setting reduces the AvgPollTimeSec This setting also has no effect on activities run off the interrupt unrelated to the servo loop This m
240. e 8 Joystick Enable RIO_SLEWSTART Enable the Joystick 9 Joystick Disable RIO_SLEWSTOP Disable the Joystick 10 Unused 11 Unused 12 Auto Mode On RIO_AUTOMODE_ON Place into auto mode 13 Auto Mode Off RIO_AUTOMODE_OFF Place into single step mode 14 Unused 15 Unused For example to enable and disable the joystick you would define RIAction1 to point to an unused virtual input register RIAction1 1 127 Assign unused virtual register input You would then activate the joystick by setting the SLEW start bit RI RIAction1 1 RIO_SLEWSTART enable joystick You would disable the joystick by setting the SLEW stop bit RI RIAction1 1 RIO_SLEWSTOP disable joystick C 4 94 RIActionAxis The RIActionAxis task parameter is used as a parameter for the RIActionOpCode task parameter to specify the axis used for the action This parameter is 0 based implying that the first axis X would be specified as zero Version 1 4 Aerotech Inc C 91 Parameters U600 User s Guide 0 No action 1 Turn Spindle CW M3 M23 M33 M43 2 Turn Spindle CCW M4 M24 M34 M44 3 Turn Spindle Off M5 M25 M35 M45 4 Spindle Reorient M19 M219 M319 M419 C 4 95 RIActionParm1 The RIActionParm task parameter is used as the first parameter for the RIActionOpCode task parameter C 4 96 RIActionParm2 The RIJActionParm2 task parameter is used as the second parameter for the RI
241. e ControllingTask value reverts back to 0 Version 1 4 Aerotech Inc C 47 Parameters U600 User s Guide C 3 7 FixtureOffset The FixtureOffset machine parameter indicates the current fixture offset 1 as defined by the G54 CNC G code C 3 8 FixtureOffset2 The FixtureOffset2 machine parameter indicates the current fixture offset 2 as defined by the G55 CNC G code C 3 9 FixtureOffset3 The FixtureOffset3 machine parameter indicates the current fixture offset 3 as defined by the G56 CNC G code C 3 10 FixtureOffset4 The FixtureOffset4 machine parameter indicates the current fixture offset 4 as defined by the G57 CNC G code C 3 11 FixtureOffset5 The FixtureOffset5 machine parameter indicates the current fixture offset 5 as defined by the G58 CNC G code C 3 12 FixtureOffset6 The FixtureOffset6 machine parameter indicates the current fixture offset 6 as defined by the G59 CNC G code C 3 13 HomeDirection This machine parameter specifies the feedrate in inches per minute to be used by the CNC home and homeasync commands This feedrate is only used for linear axes The direction defined by this parameter is independent of the sign of the CntsPerInch L CntsPerDeg for rotary axes scaling machine parameter C 3 14 HomeFeedRateIPM This machine parameter specifies the feedrate in inches per minute to be used by the CNC home and homeasync commands This feedrate is only used for linear axes
242. e G67 will be active causing the deceleration to be time based and DecelTimeSec will be used The linear AccelRateIPS2 DecelRateIPS2 are used for linear dominant moves while the rotary AccelRateDPS2 DecelRateDPS2 rates are used for rotary dominant moves Refer to the G98 command for information on rotary linear axes dominance When accelerating decelerating in rate based mode the controller will not perform the acceleration deceleration in a time period that is shorter than the UpdateTimeSec task parameter value Therefore for high rates of acceleration deceleration and or acceleration decelerations between very similar speeds the rate can be less than that specified C 4 35 DecelRateIPS2 This task parameter specifies the deceleration rate in degrees per sec per second used by the controller for contoured motion deceleration G1 G2 G3 G12 and G13 when the CNC G68 command is active Otherwise the acceleration will be time based and DecelTimeSec will be used The linear AccelRateIPS2 DecelRateIPS2 are used for linear dominant moves while the rotary AccelRateDPS2 DecelRateDPS2 rates are used for rotary dominant moves Refer to the G98 command for information on rotary linear axes dominance When accelerating decelerating in rate based mode the controller will not perform the acceleration deceleration in a time period that is shorter than the UpdateTimeSec task parameter value Therefore for high rates of acceleration deceleration a
243. e CW limit position This conversion factor is only used for linear axes axes whose Type machine parameter is equal to 0 For brushless linear motors the value entered here is the number of counts per electrical cycle of the motor Normally this parameter is automatically set by the Parameter Configuration Wizard during the motor configuration process This parameter should not be set on the fly during program execution is dangerous and not recommended as it will rescale the system and may cause unusual motion Use the ScaleFactor parameter if you want to deliberately rescale the system coordinates during program execution The error Parameter too high can occur when setting this parameter from a CNC program The message may not refer to this parameter but can also refer to the e MaxFeedRateIPM machine parameter which is reset when this parameter is set C 3 6 ControllingTask This read only machine parameter indicates which task if any controls the axis The values 0 through 3 indicate the four tasks respectively and a value of 1 indicates that the axis is not controlled by any task An axis is controlled by a task if it is bound or captured by it For example when the controller is reset the ControllingTask value for axis 1 is 1 After task 1 binds axis 1 to X then the ControllingTask value for axis 1 is 0 If task 3 later captures axis 1 then the ControllingTask value is 2 After task 3 releases axis 1 th
244. e GETPROG command after the bad configuration attempt EXAMPLE CONFIGD2A 4 current axis will be assigned D A channel 4 to drive its motor Version 1 4 Aerotech Inc 4 19 AerDebug U600 User s Guide 4 6 8 CONFIGENCODER encoder_ch lines_per_revolution bounded The CONFIGENCODER command allows the user to assign an encoder feedback channel to an axis to be used as the position and or velocity feedback for that axis The valid range of encoder feedback channels is determined by the number of encoder feedback channels present in the user system The lines per revolution parameter indicates the number of lines per revolution of the encoder times 4 The UNIDEX 600 Series controller electronically multiplies the effective line count of the encoder by 4 so the lines per revolution entered should always be four times the physical line count of the encoder The bounded parameter is used to activate software end of travel limits by entering a 1 for this parameter 0 to disable them A UNIDEX 600 650 controller has 4 channels onboard with 4 additional channels provided by each additional encoder expansion card Their channel numbers are determined by the expansion board number Expansion board number one will be channels 5 through 8 board two will be channels 9 through 12 etc Attempting to configure an axis for an encoder channel that is not present will cause a programming error This error will be indicated by the GETPROG co
245. e X axis then set MASTERLEN X 360000 This value must be zero or an integer multiple of the range of master positions spanned by the cam table Otherwise when it modulo s the position it will incorrectly index into the cam table and violently jerk the slave axes WARNING C 2 61 MASTERPOS This axis parameter is only used for Camming master slave motion This axis parameter is set for the slave axis It is the position of the master axis in counts as seen by the slave It is the actual value the slave axis uses in conjunction with the cam table to find its slave position Usually it is equal to position of the master and can be ignored However there are two situations where they may vary 1 If the master axis has a higher task axis index than the slave see Section C 2 61 1 below 2 Prior to Synchronization of the axis see description below If a slave axis is in a non zero SYNC mode then the MASTERPOS value of the slave axis is read only because it is being continuously updated by the controller which is integrating the master axis velocity However if a slave axis is in sync mode 0 then the MASTERPOS value of the slave is read write and does not track the master position Therefore when a slave is synced up changes in position of the master axis are tracked accurately but the initial master position value is undetermined For example suppose after power up a camming action occurs which brings the master to
246. e commanded vectorial feedrate task parameter RotaryFeedRateActual unless the speeds of the axes involved are limited by the MaxFeedRateIPM and MaxFeedRateRPM machine parameters or the MFO is set to less than 1 in these cases it is less Note that the units of this parameter will be changed by the UserFeedRateMode task parameter Also this parameter only denotes the vectorial speed during contoured G1 G2 G3 etc moves and is zero during all other types of motion This parameter is updated every 10 millisecond s C 4 72 LineNumberUser This task parameter indicates the current CNC program line number C 4 73 LineNumber960 This task parameter indicates the current CNC program line number on the controller This most likely will be different than the LineNumberUser task parameter due to the fact that one user CNC program line occupies multiple lines on the controller This parameter is for internal use only C 4 74 MaxCallStack This task parameter specifies the maximum number of call stack elements available for this task Every subroutine or program call pushes one element onto the call stack Every return pops one element off the call stack Each call stack has its own set of call stack parameters This parameter should only be set from the Setup page of the UNIDEX 600 MMI or from a C library function call never from within a CNC program WARNING C 4 75 MaxLookAheadMoves This task parameter defines the number of CNC
247. e conditional triggering enabled check box must be checked 16 binary inputs 16 binary outputs a register input or a register output may be used for conditional triggering 10 2 Aerotech Inc Version 1 4 U600 User s Guide AerPlotlO Conditional Triggering Ioj x I Conditional Triggering Enabled Binary Input Word 1 16 b x C Binary Output Binary Output Word 1 16 Register Input Register Input Word 1 16 Register Output Register Output Word 1 1 I0 Mask Hexadecimal 0 rT Bri f Bt5 TF Bro TF Bit13 o M pt2 Fo Bte J sitio F Bit14 Decimal 0 C Bt3 C Biz TF pitti F pitts r Bi4 D Bte FF Bt12 FT Bit16 10 Value Hexadecimal 0 O Biti P BtS ff Bro J Bit13 met 0 C Bt2 M Bt6 ff Bio fF Biti4 Pe r Bt3 To Bt T Bt11 T Bitis BASE Bits fF ELZA Biti OK Cancel Figure 10 2 AerPlotIO Screen The IO Mask and IO Value fields need to be entered The IO Mask field determines which bits in the trigger word are the state of the conditional trigger If one of the check boxes is not checked this represents a don t care condition For example if Binary Input Word 1 is selected and the IO Mask is equal to 3 the program would only look at the first two bits of Binary Word 1 and the other fourteen bits would be don t cares If a register input output is being used and the collection should trigger when the register reaches a certain value t
248. e configured with the CONFIGREAD command that reads an axis configuration from a file previously created with the CONFIGWRITE command The user can store axis configuration commands in a file that can be replayed with the PLAY command For more information on configuring axes with AerDebug refer to Chapter 4 AerDebug The CNC MMI application P N MMI600 NT can configure the axes as well by selecting the axis configuration page For more information on configuring axes with the MMI application refer to the MMI600 online help file To configure an axis from the library programming interface refer to the axis configuration functions AxisConfigxxxx in the U600 Library Reference Manua l P N EDUI56 The axes cannot be configured from the CNC programming interface 2 3 1 Servo Loop Modes There are four types of servo loop configurations virtual torque mode velocity mode closed loop and velocity mode open loop Setting the motor type to zero chooses virtual mode The other modes are selected by entering the correct motor type and entering the correct gains gains are axis parameters as shown in Table 2 4 Keep in mind that the correct values for gains labeled non zero or any below must be determined by axis tuning see section 2 11 By default the axes are setup as virtual axes axes without motors attached In virtual axes the actual position and velocity are set equal to the commanded position and velocity and the servo loop
249. e disabled when any of the conditions occur whose bit is set true in the DISABLEMASK The disable mask bits are ANDed with the fault mask bits If any of the resultant bits test true match the FAULT axis parameter value the UNIDEX 600 Series controller disables the drive The bit descriptions are the same as those listed in Table 2 5 2 6 2 3 HALTMASK The HALTMASK causes the axis to decelerate to a stop in the rate time indicated by the DECEL DECELRATE and DECELMODE axis parameters The halt mask bits are ANDed with the fault mask bits If any of the resultant bits test true match the FAULT axis parameter value the UNIDEX 600 Series controller decelerates the drive to a stop The bit descriptions are listed in Table 2 5 2 6 2 4 AUXMASK Setting the bits in AUXMASK causes the auxiliary mode output to be set when the specified fault occurs This output may be used to engage a brake on a vertical The auxiliary mask bits are ANDed with the fault status bits If any of the resultant bits test true match the FAULT axis parameter value the UNIDEX 600 Series controller sets the auxiliary output The auxiliary mask bit descriptions are the same as those defined in Table 2 5 The auxiliary mode output clears when the fault is cleared A delay timer is available in the Axis parameter AUXDELAY Version 1 4 Aerotech Inc 2 15 Getting Started U600 User s Guide WARNING 2 6 2 5 ABORTMASK Setting the bits in the ABORTMASK cause
250. e is applied to the command input of the servo amplifier knowing the G transconductance value of the servo amplifier allows the current Amps output to be calculated Aerotech s amplifiers typically model dependant have a peak output of 20 or 30 amps Simply meaning a 10 volts in to the amplifier will be equal to x amps where x is the peak output current of the servo amplifier This current produces a torque generated by the motor equal to the current multiplied by the K of the motor For example if the peak output command or instantaneous output command from DAC was 16 385 5 volts the amplifier produced 30 amps for an input of 10 volts and the motor had a kK of 16 oz in ounce inches per amp then 5 volt command 10 volt max amps input command 30 amps max I output 16 oz in K 240 or 5 10 30 16 240 C 26 Aerotech Inc Version 1 4 U600 User s Guide Parameters 32 767 10 P 4X i Puron 16 Bit Ge DAC I gt Servo Amplifier 10 X 32 767 UNIDEX 600 eee Torque Figure C 5 Closed Loop Torque Mode C 2 54 INPOSLIMIT This axis parameter allows the user to define the in position band If the axis has completed its move and the observed position error is within the range determined by the in position plus or minus set by this parameter the axis in position bit within the STATUS axis parameter
251. e jumpers then they are set at the factory default positions Refer to the UNIDEX 600 Hardware Manual P N EDU154 under Getting Started for location of the jumpers and their default positions Use the AerReg program to set the registry values for the three items chosen 2 2 4 Software Installation Testing Run AerDebug to check the I O address value It will deliver an appropriate error message on startup if the I O addresses do not match If it comes up with no error message shows the lt TK1 AX1 gt prompt then the I O address and the AT window are correct If the AT window is bad choose another address using AerReg or disable RAM shadowing in the CMOS setup If the I O address is bad choose another address using AerReg Remember to reboot or restart the device driver when in Win NT after making a change in AerReg AerDebug also detects and delivers an error message for some incorrect PC interrupt values but not all To test the PC interrupt properly run AerDebug and if it does not indicate that the PC interrupt is bad type TI It will display No Error or give an appropriate message describing a problem with the PC interrupt The axis processor interrupt is distinct from the PC interrupt The PC interrupt is used only in selected situations by the axis processor to alert the front end It is only used in conjunction with Callback extended statements and the INTMASK axis parameter The axis processor interrupt is much
252. e number of counts remaining for the current move For example if the current position of the axis is zero and an Absolute move commanded a position of 10 000 the POSition TO GO would indicate 10 000 Also if the current position was 1 000 POS parameter 1 000 the POSTOGO parameter would indicate 9 000 This indicates the commanded distance left to go in the current move without regard to the current position error of the axis Also this is always a non positive absolute value This parameter will be zero during contoured motion G1 G2 G3 etc or Cam table motion since it is not used during contoured motion only GO and Asynchronous motion C 2 78 POSTOGOIRQ The user can configure the UNIDEX 600 Series controller to generate an interrupt based on the position to go left in a move The POSTOGOIRQ axis parameter specifies the distance from the end of the commanded move where the interrupt will be generated This interrupt is based on the commanded position to go and does not take into account the position error of the axis To enable this function set the POSTOGOIRQ axis parameter with the desired value and set the POSTOGO bit VB C programmers see AERDEF H for bit definitions in the INTMASK axis parameter The interrupt is identical to those generated for axis faults Therefore the fault handling code should verify whether an axis fault condition is present or whether a POSTOGOIRQ interrupt has occurred and react appropriately The P
253. e servo loop gains must be adjusted based upon the load and required performance of the axis For detailed information on tuning a servo loop refer to Chapter 5 AerTune The following axis parameters are used for adjusting the response of a torque current mode servo loop KI KP PGAIN VFF AFFGAIN ALPHA and the VGAIN parameter for large frictional loads The following axis parameters are used for adjusting the response of a velocity mode servo loop see section 2 3 3 PGAIN VGAIN AFFGAIN and ALPHA Both the KI and KP should be set to zero for velocity mode servo loops In addition the DACOF FSET parameter may be used for nulling offsets from the DAC that may be present in velocity loop systems Axis tuning is thoroughly described in Chapter 5 AerTune which is designed for tuning and monitoring an axis performance 2 12 Jogging The user can use the U600MMI in the manual page to jog the axes Set the axes to move the distances and velocities enable the drive and push an arrow button In AerDebug the user can easily test axis motion with the INDEX or MOVETO CNC commands See the example below where we jog axis 2 4000 mm from the current position at a speed of 500 mm second Do not enter the text after the below these are just comments AX 2 EXEL G71 Sets unit used in INDEX to mm Do a G70 instead to set them to inches EXEL MAP Y2 Y now means physical axis channel 2
254. eTimeSec value Profile path oe Time Figure C 20 UpdateTimeSec Diagram C 4 145 1 Effects of Decreasing the UpdateTimeSec Task Parameter Decreasing the UpdateTimeSec task parameter will result in more points being calculated within a given time period However this is usually not relevant since the splining algorithm will approximate the programmed path very well with few points A linear move G1 requires only two points for a perfect fit and an arc G2 G3 requires only three points All moves will always have at least two points start and end of move more points has no effect on G1 moves However for short fast G2 G3 moves you can end up with only two calculated profile points on an arc In this case if the error is unacceptable see the ChordicalToleranceInch parameter then you can lower this parameter to prevent two point arcs Keep in mind also that an UpdateTimeSec value that is too low will cause Motion Queue Starvation during contoured moves But if you do need a low UpdateTimeSec to prevent two point arcs you can raise the UpdateNumEntries parameter to help prevent starvation Since the profile points are generated once every polling cycle by the CNC profiler a minimum UpdateTimeSec parameter can be established as the AvgPollTimeSec value that is observed during the contoured motion C 4 145 2 Effects of Increasing the UpdateTimeSec Task Parameter More typical is the need to increase the UpdateTimeSec task pa
255. ean enno prr i e 6 2 Figure 6 3 FFT Analysis WindoW eeseseseseeeseseeersrerrsserresresreesrseerrssrsresrerreeresee 6 4 Figure 7 1 AerStat SCLOON en ee een ee eee 7 1 Figure 8 1 CERES SCLEGN noe S eit E S 8 1 Figure 8 2 AerReg Registry Editor Screen s eeessessseeeseereereresreerrsreerrseeersserees 8 2 Figure 9 1 The Setup Screen of AerPlot3D essssesseeeeseerseeeresreesrserereersrrererreeresee 9 1 Figure 9 2 The Setup Screen of AerPlot3D nsieseesesitscereroeesrerersrisrsssreroresisscsses 9 2 Figure 9 3 The Axis Min Max Travel Screen of AerPlot3D 0 eee eee eeeeee 9 3 Figure 10 1 AetPlotlO Screen ccte cei eeg heightened 10 1 Figure 10 2 ACTPIOUO Screen escsie cies sscesscoeseisges caesssuseesbsees ri SE rE E E E E ass 10 3 Figure 11 1 Phe Filter Screen piman a e Shawty 11 1 Figure 12 1 The Setup Wizard Start Screen eee eeceeeceeeceeecesecesecnseenaes 12 1 Figure 12 2 The Axis Name Number Configuration Screen eee eens 12 2 Figure 12 3 The Axis Type Configuration Screen eeeeeeceseeeseceseceseeeees 12 3 Figure 12 4 The Axis Configuration Correct or Reconfigure Screen 12 4 Version 1 4 Aerotech Inc xix List of Figures U600 User s Guide Figure 12 5 Figure 12 6 Figure 12 7 Figure 12 8 Figure 12 9 Figure 12 10 Figure 12 11 Figure 12 12 Figure 12 13 Figure 12 14 Figure 12 15 Figure 12 16 Figure 12 17 Figure 12 18 Figure 12 19 Figure
256. ebug U600 Card1 OF x PRGCMPL Compiles a PROGram lt Filename STRINGI gt lt Optioni STRINGI gt lt Option2 Figure 4 2 Help Screen AerDebug Version 1 4 Aerotech Inc 4 5 AerDebug U600 User s Guide 4 4 Axis and Faultmask Configurations Before an axis can be enabled and commanded to move the axis must be configured for a D A channel to the type of feedback device present and its parameters set defining the axis servo loop gains faults etc Configuring a D A channel for an axis is done with the CONFIGD2A command Configuring feedback on an axis is accomplished with one of the following commands e CONFIGRESOLVER for resolver type feedback e CONFIGENCODER for encoder feedback e CONFIGHRESOLVER for resolver feedback with Hall effect sensors e CONFIGHENCODER for encoder feedback with Hall effect sensors An axis can not be configured if the drive is enabled For information on the DRIVE parameter refer to the UNIDEX 600 Series Library Reference Manual P N EDU156 or the U600 MMI online help file The parameter monitor command PARMMON in AerDebug is very useful for configuring and debuging the axes hardware in a system For axes that are already configured the user can use the parameter monitor command to observe axis position PARMMON A POS This will verify that the feedback for that axis is present and phased properly by manually moving the axis and observing the position changes The UNIDEX 600
257. ecimal Value Data Changed Version Old Behavior that is Activated 0 0x1 1 15 99 5 90 G2 G3 are not modal 1 0x2 5 6 99 6 98 Old Style Contouring 2 0x4 8 1 99 6 103 Handling of within tolerance radius errors by a linear jerk to start point using the radius specified from the endpoint 3 0x8 8 1 99 6 103 Non averaging end of move non integer time portions into proceeding move slices 4 0x10 9 1 99 6 106 Convert G43 G47 G65 G66 to User Units 5 0x20 Reserved 6 0x40 12 21 99 6 112 Old style Link Moves for Normalcy Motion C 5 4 1 Move Calculation Averaging Setting this bit to 1 True defines non averaging end of move non integer time portions into proceeding move slices Otherwise the fractional move distance is averaged over the entire move C 5 4 2 Radius Error Bit 2 Handling of within tolerance radius errors by a linear jerk to start point using the radius specified from the endpoint Setting this bit to one restores this mode otherwise a new center point is calculated for errors less than the MaxRadiusError task parameter C 5 4 3 Convert G43 G47 G65 G66 to User Units Software versions prior to 6 106 assumed that that the distance units for the parameters to the G43 G47 G65 G66 commands were in inches Setting this bit to 0 defines this state Otherwise if the bit is 1 the parameters are assumed to be in the state defined by the G70 G71 modal comman
258. ected plane see Coord2Plane parameter determine which task axes can be used for circular motion This parameter is 0 based where 0 represents the first axis typically named X The G26 command may be used to assign this parameter more easily within a CNC program however it will not be saved to the task parameter Ini file requiring it to be set within all CNC programs C 70 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 21 Coord2J This task parameter specifies which task axis is the Coord2J axis for coordinate system 2 This axis must be a linear type The task Y axis does not have to be the Coord2J axis Coordinate system axes Coord2I Coord2J and Coord2K are used only as axes identifiers of a three dimensional system Any task axis can be assigned to any of the three coordinate system axes This mapping in conjunction with the selected plane see Coord2Plane parameter determine which task axes can be used for circular motion This parameter is 0 based where 0 represents the first axis typically named X The G26 command may be used to assign this parameter more easily within a CNC program however it will not be saved to the task parameter Ini file requiring it to be set within all CNC programs C 4 22 Coord2K This task parameter specifies which task axis is the Coord2K axis for coordinate system 2 This axis must be a linear type The task Z axis does not have to be the Coord2K axis Coordinate syste
259. ed Once the axis is homed the compensation value will be applied when the axis first moves in the direction opposite of the last move in the home cycle When compensation is added the compensation will be added to the position command in the first millisecond of the move that is the commanded speed of the motion during compensation will be equal to the reversal value number of counts per millisecond with an instantaneous commanded acceleration and deceleration This should not be a problem since reversal values are normally small i e only a few WARNING counts The compensation will not show up in the position command raw position or position error values It is simply added on to the position value The REVERSALVALUE axis parameter shows the current amount of compensation added to the position value Position Command Bv REVERSALMODE i gt Time eines backlash comp on Assumes time based accel decel see ACCELTIME axis parameter backlash comp off Figure C 6 REVERSALMODE Accuracy Position C 2 87 REVERSALVALUE This axis parameter is the current correction value in machine counts for the reversal mode backlash compensation output in the current direction This parameter is read only C 36 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 2 88 SAFEZONECCW This axis parameter allows the user to specify the counter clockwise boundary for the safe zone of an axis in machine
260. ed This may also be used to rescale the PGAIN axis parameter Rotary Encoder For rotary encoders enter the number of lines per revolution of the encoder after the times 4 multiplication is done by the controller i e for a 1000 line encoder enter 4000 Linear Encoder For brush motors with linear encoders enter the number of counts seen by the controller per revolution of the motor after the times 4 multiplication is done by the controller i e a ball screw with a pitch of linch having a linear encoder with 1 270 000 counts per inch after x4 multiplication would have 127 000 entered for the number of lines 1 270 000 1 127 000 For brushless motors with linear encoders enter the number of lines per user unit inch or millimeter after the x4 multiplication is done by the controller i e 1000 lines per inch would be entered as 4000 Bounded by Software Limits The Bounded by Software Limits field within the Axis Configuration Wizard is used to specify if software limits are to be activated for the axis true or false may be selected The software limits are defined by the CWEOT and CCWEOT axis parameters 12 4 6 2 EncoderHall Configuration Channel Number The channel number specifies the channel number that the encoder feedback device will be read from for this axis as well as the specific I O CW CCW Home Limits encoder fault drive fault Auxiliary Mode output and the drive enable Encoder Channel Ass
261. ed by the number defined within the current CNC program associated with the current task EXAMPLE VSMON G9 monitor Global string variable 9 VSMON T 19 monitor Task string variable 19 VSMON P 0 monitor Program string variable 0 4 44 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 6 94 VSSET type number string The VSSET command sets the specified string variable to the text string specified There are three types Global Task and Program string variables represented by G T and P respectively all holding 128 character strings By default there are ten Global twenty Task string variables each numbered 0 through the maximum size 1 determined by the NumGlobalStrings and NumTaskStrings parameters The number of Program string variables is determined by the number defined within the current CNC program associated with the current task EXAMPLE VSGET G9 display Global string variable 9 VSGET T 19 display Task string variable 19 VSGET P 0 display Program string variable 0 The string must be within quotation marks if there are spaces within the string 5 4 6 95 WAIT condition The WAIT command waits on any of the following conditions by specifying the string shown below for the desired condition Also the user may wait for the condition to become false by specifying a or a before the string The case of the string condition parameter is insignificant ProgramAsso
262. ee ee a C 98 GATITAR Theta Yass sssossi i EE EE R C 98 CA TTD SI ndeke eae e i a pees ty C 98 CAIB SE RPM e a e E sie anual EAEE C 98 C 4 114 S1_SpindleRadius s seeeeeeeeeeseessseeessererrssrsrrsrrsreeresrrerssene C 99 C 4 115 S2_AnalogMSOlnput esseeeeeseesseeeesseeerererreerrsreeresreerssene C 99 CATT S2 INGER ea eena e E tides AEN ES C 99 C4117 S2 MSO pani noie rien e eE N E C 99 C4118 S2 RPM eaen chine DER ete C 100 C 4 119 S2_SpimdleR adius es eeeeeesee esse consesnsesnecsseeseesneesense C 100 C 4 120 S3_AnalogMSO Input eee cee eeeeecesecesecseeeeeeeeeeneees C 100 CAIS ANGER a a cE sateen betes eo C 100 C 4 122 83 lt _MSO wreck sac ea ie eeu meee AE aed C 100 CAI 2383 RPM ster eese rE raa Ea tena meets C 101 C4 124 S3_SpindleR adius i cscceceseen iis vtiivtneanh eiaetetineoess C 101 C 4 125 S4_ AnalogMSOInput 0 eee eeeecceseceecneeeseeeeeeeeees C 101 C4 126 S4 Index 232 00 aA n eis ee ee C 101 C4127 S42 MSO E etek E ET C 101 CAT 28 eS4 RPM orione eee sucess dhcetantlestetdevbetedesten anand C 102 C 4 129 S4_ SpindleRadius 0 eee ee ceee cee ceeeeeeeeeeeeneceseesaeeenes C 102 4 130 SlewPair lsc i e aA ime gine oe C 102 CATS I ASl wPait2 ivi so acai EEE E E C 102 CAN132 Slew airs scsse Raitt Wesel Geseen tee Rain EN eats acta C 103 C4133 SlewRair4 rohini AR NG RA i oleae C 103 C4 134 SlewPaird ic3023 Saket ee a ea ee C 103 C4135 SlEWP air serri eie reeeo ene tsia sees iechsktstacasoest
263. een iR 11 1 TEI Introduction ireren re eE EEK E dant eb ap acne AEE 11 1 CHAPTER 12 SETUP WA sore a rE a aE A A A SE 12 1 12 1 Introduction nme aeree alg E EA E eee N 12 1 12 2 Axis Names and Number ssssssesiissrsesossosseriosreioisssssicsteresosnesset ieres 12 2 122 1 AKS NIMES snee iesene espese eiea Ee aeea R esei 12 2 12 3 Configuring Axis Type eee eecesecesecesecesecsecaeecaeeeaeseneeeeeeenees 12 3 12 4 Axis Configuration 0 0 ee reeet ersak V S ep nE IERE EREE 12 4 12 4 1 Axis Configuration Wizard seseeeseseeseeeseereeresreerererreesesee 12 5 12 4 2 Axis amp Parameter Names and Task Number Comf Suration siis orts ieor avec ee oneei oreina EoiN 12 6 12 4 3 Configuring Axis Type eeseseesesesesereresreeresrrrrrserreererreeresee 12 7 12 4 3 1 Predefined Axis Types eee eeceseceseceseeseeeeee 12 8 12 4 4 Configuring the Primary Feedback Device 0 12 8 12 4 5 Configuring a DAC Channel eee eee cee cee cee eee eneeeee 12 9 12 4 6 Configuring the Secondary Feedback Device 12 10 12 4 6 1 Encoder Configuration eee ee eeeeeeeeeeeees 12 11 12 4 6 2 EncoderHall Configuration 0 0 0 eee 12 11 12 4 6 3 EncoderHall Pole Pairs Configuration 12 13 12 4 6 4 Resolver Configuration or Inductosyn 12 15 12 4 6 5 ResolverHall Configuration 0 0 0 eee 12 16 12 4 6 6 Stepper Motor Configuration cece 12 17 12 4 6 7 Null Virtual Configuration
264. elapsed time of the motion assuming it was not in measurement mode Note that in measurement mode the program will execute at very high speed since no dwells or motion is executed as defined below GO G1 G2 G3 G4 G12 G13 M3 M4 M5 not executed just collects statistics on the move Binary output BO and register output SRO commands are not executed WAIT statements are always declared true Asynchronous motion jogging is ignored and not measured You may set the MeasurementMode parameter to O at any time to disable the measurement mode C 5 10 NumCannedFunctions This Global Parameter defines the maximum number of canned functions allowed Ten is the default Version 1 4 Aerotech Inc C 117 Parameters U600 User s Guide C 5 11 NumDecimalsCompare This global parameter is used by the floating point operators to determine the number of fractional decimal places to use in the operation C 5 12 NumGlobalAxisPts This Global parameter specifies the total number of global axis point variables available Each global axis point allocated uses 132 bytes of controller memory C 5 13 NumGlobalDoubles This Global parameter specifies the total number of global double variables available Each global double allocated uses 12 bytes of controller memory C 5 14 NumGlobalStrings This Global parameter specifies the total number of global string variables available Each global string allocated use
265. em The resolution parameter specifies the desired counts per revolution of the motor that has been configured for the R D card This is entered as 10 12 14 or 16 These numbers represent binary powers of two ie 2 2 2 4 or 2 which produce 1024 4096 16384 or 65536 counts per motor revolution The hall_lines parameter specifies the number of encoder lines per electrical cycle of the motor The com_offset parameter allows the resolver to be aligned to the motor phasing by specifying an offset to produce the required mechanical alignment This offset is specified by a 14 bit number 0 16384 with 360 degrees being equal to 16384 The comm_ch parameter specifies the Hall effect feedback channel The bounded parameter is used to activate software end of travel limits by entering a 1 for this parameter 0 to disable them UNIDEX 600 Series controllers have 4 channels provided by each resolver R D card Their channel numbers are determined by the R D board number Resolver board number one will be channels 1 through 4 board two will be channels 5 through 8 etc Attempting to configure an axis for a resolver channel that is not present will cause a programming error This error will be indicated by the GETPROG command after the bad configuration attempt EXAMPLE CONFIGHRESOLVER 3 12 1000 8192 3 1 current axis will be assigned resolver channel 3 to receive sposition velocity feedback from feedback will be 12 bit 4096 cou
266. en this is automatically done when the axis processor firmware is downloaded Normally this does not need to be done manually EXAMPLE PSODOWNLOAD Load firmware 4 6 73 QUIT The QUIT command terminates the AerDebug exe application as does the EXIT command Version 1 4 Aerotech Inc 4 39 AerDebug U600 User s Guide 4 6 74 RB address The RB command reads the value of a byte at the specified address EXAMPLE RB 80c read a byte of data at 80c 4 6 75 RDO This command executes the RESET command and the DOWNLOAD command sequentially EXAMPLE RDO 4 6 76 RESET The RESET command resets the axis processor card to its power up default state After a reset no communication with the axis processor is possible until a DOWNLOAD command is executed EXAMPLE RESET reset the axis processor card 4 6 77 RGINFO device_id card_num The RGINFO command displays the UNIDEX 600 Series controller information contained within the operating systems registry EXAMPLE RGINFO display registry information 4 6 78 RL address The RL command reads the value of a long word at the specified address EXAMPLE RL 80c read a long word of data at 80c 4 6 79 RW address The RW command reads the value of a word at the specified address EXAMPLE RW 80c read a word of data at 80c 4 40 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 6 80 SPENDANTTEXT channel line text The SPENDA
267. en to remove useless information by grabbing the vertical bar to the right of the axes number with the left mouse button and sliding it to the right of the screen The information on the screen is updated at a rate of 250 milliseconds 4 times per second Refer to Appendix C Parameters for a full description of parameters 7 2 Aerotech Inc Version 1 4 U600 User s Guide AerReg CHAPTER 8 AERREG In This Section IntrodUuGt OMe arse seer tree cree sree ener ever rernee 8 1 eFEdiiMA Rees e 8 1 e Finding and or Creating a Card 1 Entry 8 1 e Modifying the Card 1 Entry eee eeeeeeeee 8 2 8 1 Introduction AerReg is Aerotech s operating system registry editor program that allows registry information to be created or edited by the user without knowing the required structure of the registry database When the UTIL600 software is installed it will start the AerReg utility so that you may enter the registry settings However until the PC is rebooted the device driver 5 will not be loaded That means that you can not click the Test Card button until after the first time the PC is rebooted following the installation of the UTIL600 software 8 2 Editing Registry Entries To edit an existing UNIDEX 600 Series controller registry entry click on the sign to the left of the UNIDEX 600 entry see Figure 8 1 This will numerically display the cards present in your PC that in almost all cases is one
268. entially a software fuse Shown in Figure 5 16 is a plot of an axis with PGain adjusted optimally From the plot it shows that settling time is minimal In other words their is no damped oscillation at the end of the commanded move so the axis is in position at the end of the commanded move For comparison Figure 5 17 illustrates a plot where PGain is too high Axis z aah Pos Err We Cenc voocity E wal Err o r i a x i i r i i 7 i Ww ik 157 6 mi Ta e002 ena 164 tao Tiree 8 meot Figure 5 16 Plot Showing an Appropriate Value for PGain Axis m ENNEA EM Pe AE NENEA ATEAN TT I Pos Err a er See ee pocity E Wal Cmd E i p KHTI tHe yee Sele aan nit ee ree epg TH wal Ear 5 iz 7E 157 s15 Hi Tra 02 ena 104 1790 Titra 8 menh Figure 5 17 Plot Showing Overall Effects when PGain is High 5 26 Aerotech Inc Version 1 4 U600 User s Guide AerTune Welocity Pos Err Wed ad wal Er Set Vff 1 to enable velocity feedforward The position error has been minimized during the constant velocity portion of the move refer to Figure 5 18 Axis sa DEE Ar ee ee e i a a le t im 1 im oi t yr ap Bae TH hha WR par dapma Per ALTE a Felis E i rpy A Pn E a ek a EN Yp py Epa Fs Feit 187 G w3 ria 74 WIZ Tih an Tite 8 mise Figure 5 18 Plot Showing Velocity Feedforward Enabled Vff 1 Minimize position erro
269. er should enable the drive to see if it can hold position The user can enable the drive by clicking on the axis name in the Manual screen of the U600MMI In AerDebug deliver the command SET DRIVE 1 If possible turn the motor manually and let go and the servo loop should return it to its original position The user should feel some shaft stiffness It is possible that moving the motor or even enabling the drive causes instability If so the axis needs tuning See section 2 11 Motor Mounting Plate Front View Motor Mounting Plate Front View CW Rotation Motor Shaft CCW Rotation Positive Direction Negative Direction Version 1 4 Aerotech Inc Getting Started U600 User s Guide 2 10 Accelerations All moves except synchronous CNC moves G1 G2 G3 and Cam Table motion use a set of axis parameters to determine acceleration and deceleration behavior This includes homing and jogging motion The user must make sure these axis parameters are set properly before moving an axis ACCELMODE ACCEL and ACCELRATE Acceleration takes place at the given rate ACCELRATE or within the given time ACCEL based on the value of ACCELMODE ACCELMODE also determines the profile as seen in velocity time space of the acceleration A similar set of axis parameters DECELMODE DECEL and DECELRATE exist for setting the deceleration behavior of an axis These also must be set properly 2 11 Axis Tuning Th
270. er will be set but no axis action will occur These actions will occur immediately after detection of the fault usually within a millisecond You can also trigger program related actions to take place when an axis fault occurs with the TaskFault task parameter CNC programs may be stopped when by axis faults via the HaltTaskOnAxisFault task parameter Setup Wizard Configuring Axis X m Fault Mask IV Position Error Limit T User Fault T POSTOGO Interrupt IV AMS Current Limit IV Velocity Trap V ESTOP V CW Hard Limit IV Velocity Command Trap IV CCW Hard Limit T Home Tolerance Fault T Cw Soft Limit I CCW Soft Limit Vit IV Drive Fault I Extemal Feedback Fault IV Feedback Fault I Safe Zone IV Programming Fault I Constant Vel Phase Inetrupt I Master Feedback Fault J Decel Phase Interrupt I Home Fault I Move Done Interrupt Help Axis Complete Cancel lt Back Next gt Finish Figure 12 18 The FAULTMASK Configuration Screen 12 26 Aerotech Inc Version 1 4 U600 User s Guide Setup Wizard 12 11 Configure the DISABLEMASK This axis parameter determines which faults will cause an axis to be disabled This parameter is a bit mask where each bit corresponds to a specific fault The DISABLEMASK takes priority over the HALTMASK and ABORTMASK ie if the DISABLEMASK is set to occur the HALTMASK or ABORTMASK will have no effect because the DISABLEMASK would disable the axis before it could halt or a
271. erDebug will reject the return not execute anything and print an error message in the status bar For example if the user types AX 44 and hits return Aerdebug will ignore the return key because 44 is not a valid axis Version 1 4 Aerotech Inc 4 3 AerDebug U600 User s Guide 4 3 2 Special Keys The following keys are alphabetic and are merely echoed on the command line a to z A to Z 0 to 9 _ and All other keys are considered special keys All special keys are explained in Table 4 1 any other keys are ignored and not echoed to the command line For example the key has no special meaning therefore it will be ignored However the character can be used to turn off recognition of some special characters For example the user could type without the invoking help this is necessary in specifying string variable values or strings to be compiled S Special characters listed in Table 4 1 that have corresponding character representations will also be echoed on the command line Also the keypad equivalents of keys will not work arrows home etc on keypad do nothing Table 4 1 AerDebug Special Character Keys KEY Enter Esc MEANING Execute the command line After execution move down a line and open new prompt line Discontinue the multiple screen output or discontinue monitoring returns to prompt Move cursor one character to left in co
272. erPlot3D will display version information for AerPlot3D 9 2 Auto Scaling the Display in AerPlot3D To automatically scale the display window in AerPlot3D assuming that your CNC program is in G90 mode Select Start form the menu bar to trigger AerPlot3D Run your CNC program Select Stop form the menu bar Click the Update X and Update Y and Update Z where applicable buttons Select Start again to trigger AerPlot3D e Run your CNC program a second time VV VY 9 4 Aerotech Inc Version 1 4 U600 User s Guide AerPlotlO CHAPTER 10 AERPLOTIO In This Section Smeal MiroductiOneese tenet meee ere te ere 10 1 10 1 Introduction The AerPlotIO utility will display the state of the virtual binary inputs outputs and registers versus time Designed to be a logic analyzer it can collect four 32 bit words of data Each 32 bit word can represent 32 binary inputs outputs or 2 register inputs outputs The number of binary traces that may be selected will be limited if all of the bits selected do not fall within four 32 bit blocks AerPItIO olx File Trigger Collect Graph Options Tools Help Status Collect 1000 Points Zoom Bl4 B02 RIG R011 Trace 5 Trace 6 Trace 7 Trace 8 Trace 9 Trace 10 Trace 11 Trace 12 Trace 13 Trace 14 Trace 15 Trace 16 500 600 700 Figure 10 1 AerPlotIO Screen Version 1 4 Aerotech Inc 10 1 AerPlotlO U600 User s Guide To ad
273. erate at the currently selected mode linear sinusoidal and rate time The specified drive must be enabled and the axis must not be in the sync mode or a programming error will occur EXAMPLE PARMSET A DRIVE 1 enable the drive MINCREMENTAL 10000 2000 move to 10 000 machine steps at 2 000 steps per second Version 1 4 Aerotech Inc 4 31 AerDebug U600 User s Guide 4 6 40 MINFEEDSLAVE distance speed This command starts the currently selected axis moving the specified distance at the specified velocity A move currently executing will have its move increment summed with the distance specified in this function The velocity is specified in machine steps per second The axis will accelerate and decelerate in the currently selected modes linear sinusoidal and rates times The specified drive must be enabled and the axis must be in the sync mode or a programming error occurs This function should be used only on axes that are in sync or cam table mode The motion generated by this command will be added to the motion output by the cam table EXAMPLE MINFEEDSLAVE 50000 10000 smove the current axis 50 000 at 10 000 steps per second 4 6 41 MNOLIMITHOME direction speed This command homes the specified axis in the direction and velocity specified The home procedure is defined as follows the axis begins moving in the specified home direction and stops on the next encoder marker pulse or resolver null and sets
274. eration of the UNIDEX 600 Pay special attention to the position error and RMS current faults in order to prevent runaway conditions Version 1 4 Aerotech Inc 2 11 Getting Started U600 User s Guide 2 6 1 FAULT The FAULT axis parameter when non zero indicates an axis fault condition The value is a bit mask indicating one or more faults that occurred on that axis see Table 2 5 These conditions are all on a per axis basis meaning they can occur independently for each axis Most fault conditions have threshold values that are set via other axis parameters refer to Table 2 5 The U600MMI will report an axis fault by blinking the appropriate message in the position display The user can also view the value of the FAULT parameter along its bit breakdown in AerStat which bits indicate which faults AerDebug also reports the fault value with a PARMGET A FAULT command but it will not provide a bit breakdown The value of the FAULT parameter remains set until the fault is acknowledged by the user or the application program Writing its bit value back to the axis fault parameter clears a fault For example if the FAULT parameter indicated the CW CCW and Position Error Limit faults occurred the FAULT parameter would indicate a value of 13 Setting the FAULT axis parameter to 13 would clear all those faults Setting it to 12 would clear the CW and CCW faults but not the position error limit fault Alternately all faults may be
275. eres 5 3 5 2 6 The Trigger Menu eesseessereeseersersrrsreeresreerrserrrssrrrreresreeres 5 3 52 7 The Axis Menuic lt 42 2 ccciainceanicn ie didn a 5 4 52 8 The Pools Menus s 2 6 es raara aa a e r aa 5 4 5 3 Usine Aer Dunne esso eree ierse iese E E ge 5 4 5 3 1 Step Move Parameters eseessessesesesseerrsreerrreeresserreeresreeees 5 5 5 3 2 FET Apal ysi S a E E A 5 6 5 3 2 1 The FFT Analysis Window Menu Description 5 6 5 3 3 Determining the Maximum Acceleration of an Axis 5 7 5 3 4 Identifying an Instability within the Servo Loop 0 5 8 5 3 5 Minimizing Position Error due to Torque Ripple or Amplifier Offsets lt nrerin reisseri ser sensi s e eais inii 5 8 5 3 6 AC Brushless Motor Tuning Tip eee eeeeeeeeeeeees 5 9 5 3 7 Computing Torque Closed Loop Torque Mode 5 10 5 4 Servo Loop Auto Tuning eee ceeeceeeceeeceeeeeecesecsaecssecseeeneeenes 5 11 5 4 1 Setting up AutoTune Parameters eee ee eeeeeee cerns 5 12 5 4 2 Excitation Parameters ceeceesscesceecsseceeeeecnseceseeecnneeeenes 5 13 5 4 2 1 Amplitude of Excitation in AutoTune 0000 5 13 5 4 2 2 Excitation Amplitude will exceed Velocity Trap Timm bcs sch scbs be sist dav sh ebase ses sees veetseesdes Pay EE 5 13 5 4 2 3 Units Inches Degrees or Counts eee 5 13 5 4 2 4 Starting Frequency for Excitation in AutoTune 5 13 5 4 2 5 Ending Frequency for Excitation in AutoTune
276. ers have been configured for the axis it must be properly scaled to the desired maximum velocity First enable the spindle axis and command it to rotate at its maximum velocity After it accelerates to its maximum velocity increase the value of the KP axis parameter until the velocity command output from the D A is at 10 volts The D A command may be monitored with a voltmeter oscilloscope or by using the AerDebug utility program to monitor the Torque the JCMD axis parameter command for the spindle axis AerDebug will display 32 767 when the velocity command is at 10 volts If the KP axis parameter cannot be adjusted so that the velocity command is at 10 volts for the maximum velocity the user may increase decrease the lines per revolution of the NULL feedback device to achieve the desired scaling After completing this save all the parameters in an INI file since the spindle is properly configured If the user desires to control the spindle in a CNC program with the standard M codes the user needs to setup two additional task parameters The S _Index Spindle 1 task parameter should be set to the desired task axis index and the S _RPM can be set to specify a default feedrate for the S Word The UNIDEX 600 supports up to four spindles per task to use more than one spindle configure the axes as above and specify the proper task axis indexes For more information see the description for the M codes in the UNIDEX 600 Series CNC Programming WIN95
277. ersion 1 4 U600 User s Guide Table of Contents 4 4 1 2 CONFIGENCODER Encoder Feedback 4 8 4 4 1 3 CONFIGHENCODER Encoder and Hall Effect Sensor Feedback cccccceesseceesseeeeeeeeeees 4 8 4 4 1 4 CONFIGHRESOLVER Resolver and Hall effect sensor feedback ccccceeesseceesteceeeeteeeees 4 9 4 4 1 5 ConfigD2A Configure a DAC D A Channel for Use by This AXIS 0 0 eee eee eeeeeeeeeeeneees 4 9 4 4 1 6 ConfigRead Read an Axis Configuration From a Pile te 4 eet hts ee ee AS 4 10 4 4 1 7 ConfigWrite Write an Axis Configuration to a Pale oe elec hese Set aes Ree 4 10 4 4 2 Faults Errors and Faultmasks 0c cssssssssessssseseseseees 4 11 4 4 2 1 Acknowledging and Clearing Faults 0 00 00 4 11 4 5 Pro rammin t FITTS menero n a E A E E R R N S 4 12 4 5 1 Running CNC Programs esseeeesseseesrsreeresrerresrerresrsrenresre 4 12 4 6 Programming Commands sssseseseeeseeeseseeresterrsserresrerreereseeereseerrses 4 15 4 6 1 2 or COMMANA E a aa aa aa EEEa i 4 18 4 6 2 memory_command esssseeesesesesesesesseerseesseessresseeseesees 4 18 C AS EE MPD E E EEE E E E ee he 4 18 4 6 4 AX axiS_NUMDbET cccccceeseececsesececseececesseeecseaeeeeneeaees 4 18 4 6 5 CMDERR axis_number ccccccecsseceesececeesseeeesseeeees 4 19 4 6 6 CMDLAST axis_numbetr cccccccessccesssceceesseeeeseneees 4 19 4 6 7 CONFIGD2A D2A_channel_number
278. ersion 1 4 Aerotech Inc C 93 Parameters U600 User s Guide DFS HandXAxisOn RIActionOpCode l RIACTION_OPCODE_HANDWHEEL RIActionAxis 1 0 Axis Number RIActionParml l1 4 Channel RIActionParm2 1 025 Distance RI RIActionl 1 RIO_ASYNC_MOVE ENDDFS DFS HandXAxisOff RIActionOpCode 1 RIACTION_OPCODE_HANDWHEEL RIActionAxis 1 0 Axis Number RIActionParml l1 0 Channel RIActionParm2 1 0 Distance RI RIActionl 1 RIO_ASYNC_MOVE ENDDFS C 4 98 ROAction1 The ROAction1 task parameter is a pointer to a 16 bit virtual register output word that will indicate that the action specified by the RIAction1 task parameter has occurred Action words are broken into individual bits each bit representing a different action The UNIDEX 600 Series Controller will respond to each action specified in the RIAction1 register and then clear the appropriate bit from the RIAction1 register then sets the bit in the output action word ROAction1 in this case indicating that the action has occurred The following table shows the actions that may be indicated via this parameter Setting this parameter to 1 disables this action Table C 14 ROAction1 Bit Descriptions Bit Text Description Program Define Description 0 Cycle Start RIO_CYCLESTART Execute currently associated program 1 Cycle Step RIO_CYCLESTEP Execute a single block of currently associated program 2 Retrace On RIO_CYCLERETRAC
279. es ccna ceil in oasis r a r 4 26 4 6 29 IOGET type point_number eeeceeeeesseceeeeeeneeeeeees 4 27 4 6 30 IOMON type point_number ce eeeeeeseeceeeeeneeeeees 4 27 4 6 31 IOSET type point_number value eee eeeeeeseeeeeeee 4 28 Version 1 4 Aerotech Inc v Table of Contents U600 User s Guide 4 6 32 MABORT ccccccsssssssscesssecesscesssesssscesssesssscesseessssceseeeen 4 28 4 6 33 MABSOLUTE position speed eee eeseceereeeneeeeeneees 4 29 4 6 34 MALTHOME direction speed ceeeeeesceeneeeeteeeeeeees 4 29 4 6 35 MPFREERUN direction speed ceeeeesseceereeeeteceereees 4 30 4 60 36 MEAIST oo teint cdastii en Bein Reins 4 30 4 6 37 MHOLD o ccsccecsd noite tees e E R EENS 4 30 4 6 38 MHOME direction speed eee eeeceenceceeeceeeeeceneeeeeeees 4 31 4 6 39 MINCREMENTAL distance speed 0 0 eeeeeeeseceeeeees 4 31 4 6 40 MINFEEDSLAVE distance speed ceeeeeeseeeneees 4 32 4 6 41 MNOLIMITHOME direction speed 0 0 0 ceeeeeeeeceeeees 4 32 4 6 42 MOSCILLATE distance speed ceeeeeeeeceeneeeeteeeeneees 4 32 4 6 43 MQABSOLUTE position velocity eeeceeeeesseeeeeeee 4 33 4 06 44 MOF USH e ra arer iain 4 33 4 645 MQHOLD ere tane ene a camden aE 4 33 4 6 46 MQINCREMENTAL distance speed ceeeeeeseeeeeeees 4 33 4 6 47 MQUICKHOME direction speed 0 eee eeeeeeeeeceeeeees 4 34 46 48 MMORELEASE a Ea a E
280. es not have to be the Coord1I axis Coordinate system axes Coord1I Coord1J and Coord1K are used only as axes identifiers of a three dimensional system Any task axis can be assigned to any of the three coordinate system axes This mapping in conjunction with the selected plane see Coord1Plane parameter determine which task axes can be used for circular motion This parameter is 0 based where 0 represents the first axis typically named X The G16 command may be used to assign this parameter more easily within a CNC OS program however it will not be saved to the task parameter Ini file requiring it to be set within all CNC programs C 68 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 17 CoordlJ This task parameter specifies which task axis is the Coord1J axis for coordinate system 1 This axis must be a linear type The task Y axis does not have to be the Coord1J axis Coordinate system axes Coord 1I Coord1J and Coord1K are used only as axes identifiers of a three dimensional system Any task axis can be assigned to any of the three coordinate system axes This mapping in conjunction with the selected plane see Coord1Plane parameter determine which task axes can be used for circular motion This parameter is 0 based where 0 represents the first axis typically named X The G16 command may be used to assign this parameter more easily within a CNC program however it will not be saved to the task parameter Ini fi
281. es the parameter has the full range of an integer 32 bit value 2 147 483 648 to 2 147 483 648 C 1 5 Default This is the value of the parameter immediately after the controller is reset C 2 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 2 Axis Parameters Axis parameters are on a per axis basis meaning that each axis has its own independent set of parameters All axis parameters are specified in capital letters and integer values Machine parameters are specified on a per axis basis as well but are decimal or floating point values Table C 1 Axis Parameters Name Parameter Access Minimum Maximum Default Al 129 RW 2 147 483 648 2 147 483 647 0 A2 130 RW 2 147 483 648 2 147 483 647__ 0 ABORTMASK 72 RW 0 4 294 967 295 0 ACCEL 48 RW 0 100 000 0 ACCELMODE _ 50 RW 0 3 0 ACCELRATE _ 53 RW 1 2 147 483 647 100 000 AFFGAIN 24 RW 0 1 000 000 0 ALPHA 119 RW 0 65 536 65 536 ALT_STATUS 113 RU 0 4 294 967 295 0 AUX 21 RW 0 1 0 AUXDELAY 132 RW 0 4 294 967 295 0 AUXMASK 68 RW 0 4 294 967 295 0 AUXOFFSET 71 RW 0 4 294 967 295 0 AUXVELCMD 137 RW 0 48 0 AVGVEL 12 RU 2 147 483 048 2 147 483 647 0 AVGVELTIME 13 RW 10 1 000 1 000 BO 126 RW
282. et manually in conjunction with the gearing mode by setting the GEARMODE axis parameter to one It may also be set when the tracking mode is active to change the gear ratio on the fly C 2 41 GEARSLAVE This axis parameter is used along with the GEARMASTER axis parameter for gearing The ratio of which defines the movement between the master and slave axes This parameter is set for the slave axis not the master This parameter is automatically set by the TRACK command the tracking mode or it may be set manually in conjunction with the gearing mode by setting the GEARMODE parameter to one It may also be set when the tracking mode is active to change the gear ratio on the fly C 2 42 GEARMODE The GEARMODE axis parameter will enable and disable electronic gearing Electronic gearing is a form of camming motion where a slave axis moves at a ratio of a master axis movement Setting this parameter to 1 on the slave axis will immediately enable electronic gearing Setting it to zero on the slave axis will disable electronic gearing Gearing motion requires that you have previously defined a master and a slave axis using the CFGMASTER command See Figure C 3 for additional information Once gearing is enabled the slave axis will always travel at the gear ratio of the master axis speed even as the master axis speed changes The gear ratio is as follows Slave speed counts sec Master speed counts sec GEARSLAVE GEARMASTER W
283. eter If it reaches an end of travel limit it reverses direction If it reaches a home limit switch it will go past it reverse direction and come atit from the specified direction If another end of travel limit is encountered a homing fault occurs The velocity is specified in machine steps per second The direction is specified as 1 or 1 for counterclockwise or clockwise motion The axis will accelerate and decelerate at the currently selected modes linear sinusoidal and rates times The HOMEOFFSET axis parameter may be set in user units by first defining the axis type using the Type axis parameter and entering the home offset into the HomeOffsetInch or HomeOffsetDeg for rotary axes machine parameter This will overwrite the HOMEOFFSET axis parameter setting it to the correct value for the desired offset in machine steps EXAMPLE PARMSET A DRIVE 1 enable the drive MHOME 1 2000 home direction is counter clockwise move at 2 000 steps per second 4 6 39 MINCREMENTAL distance speed This command starts the currently active axis moving the specified incremental distance at the specified speed This command will abort any move in progress and begin the new move from the current position A move currently executing will immediately take on the new velocity The direction is specified as 1 or 1 for counterclockwise or clockwise motion The speed is specified in machine counts per second The axis will accelerate and decel
284. everseSlewDir This machine parameter will reverse the direction of travel commanded by the joystick To invert the direction set this parameter to 1 C 54 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 3 33 ScaleFactor This machine parameter is used by the G151 code to scale axes You may set the scale factors independently for each axis via this parameter If you set this parameter to zero it sets the scale factor to one and resets the scale center to zero C 3 33 1 Scaling Limitations You cannot generate an ellipse from an arc by setting the ScaleFactor machine parameter to different values on different axes The controller will always try to draw a circular arc and therefore programs that draw legal arcs may generate circular radius errors when different scale factors are used on different axes Negative scale factor values may be used for the ScaleFactor machine parameter or G151 which will in effect cause mirroring however G2 G3 command polarity will not be reversed causing the wrong rotational direction to be generated A negative scale factor should not be used in this case A positive scale factor should be used with the G83 Mirroring command C 3 34 Type This machine parameter specifies whether the axis is a linear or rotary axis There are three types of axis types 0 Linear axis 1 Rotary axis with modulo position rollover at 360 degrees 2 Rotary axis without modulo positio
285. exactly the same as the AnalogMSOtInput task parameter You must have the ExecuteNumSpindles task parameter set properly to utilize more Cs than one spindle C 4 121 S3_Index This task parameter specifies which task axis is used for the third spindle axis This axis must be a rotary type The numbers are zero based i e S3_Index 0 indicates the first axis This parameter may not be changed while the spindle is in motion C 4 122 S3_MSO This task parameter sets the Manual Spindle feedrate Override for Spindle 3 on this task The value is a ratio varying from 0 to infinity where represents normal or unaffected motion The MSO changes on the MMI600 screens are more restricted This override affects only spindle type motion This does not affect any other type of motion This value can not be changed if the MSOLock task mode is active Also if the S3_AnalogMSOInput task parameter is not 1 the specified analog input determines the MSO value and this parameter becomes read only and will indicate its value Likewise the MFO slider bar on the Run and Manual MDI screens of the MMI600 can only be used when this parameter is set to 1 other values will enable external control causing the slider bar to display the set value C 100 Aerotech Inc Version 1 4 U600 User s Guide Parameters You must have the ExecuteNumSpindles task parameter set properly to utilize more than one spindle 5 C 4 123 S3_RPM This task parame
286. f rotary axes are dominant In this case refer to the AccelRateDPS2 task parameter C 60 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 3 AccelRateDPS2 This task parameter specifies the acceleration rate in degrees per second squared used by the CNC for contoured motion acceleration G1 G2 G3 G12 and G13 when the G68 mode is active Otherwise the acceleration will be time based and AccelTimeSec parameter will be used The linear AccelRateIPS2 DecelRateIPS2 are used for linear dominant moves while the rotary AccelRateDPS2 DecelRateDPS2 rates are used for rotary dominant moves Refer to the G98 G99 commands for information on rotary linear axes dominance When accelerating decelerating in rate based mode the controller will not perform as the acceleration deceleration in a time period that is shorter than the UpdateTimeSec task parameter value Therefore for high rates of acceleration deceleration and or acceleration decelerations between very similar speeds the rate can be less than that specified C 4 4 AccelRateIPS2 This task parameter specifies the acceleration rate in inches per second squared used by the CNC for contoured motion acceleration G1 G2 G3 G12 G13 in linear dominant moves when the G68 command is active Otherwise G67 will be active causing the acceleration to be time based and the AccelTimeSec task parameter will be used The linear AccelRateIPS2 DecelRateIPS2 are used for linear domi
287. f these parameters have the same bit mask definitions since they all apply to the same set of fault conditions Table 2 5 lists their definitions other masks to be acted upon There is one exception the BRAKEMASK will be A bit in the FAULTMASK must be set to true in order for the corresponding bit in the 5 activated when the drive is disabled regardless of the setting of the FAULTMASK 2 6 2 1 FAULTMASK Setting a bit in the FAULTMASK causes an axis fault to transpire when the condition associated with that bit occurs see Table 2 5 When an axis fault occurs by default all CNC programs stop see the STOPAXISMASK Task parameter to change this If synchronous motion was executing in the task when the task stops the motion is ramped down using the ramp parameters used during a normal deceleration However if the program running in the task executed asynchronous motion then that motion is not stopped when the program is stopped to force asynchronous motion If the programmer requires different actions other than a ramp down in the currently running motion they must set one of the other masks HALTMASK DISABLEMASK in addition to the fault mask The other masks with the exception of BRAKEMASK in some circumstances will not operate for a particular fault condition unless the FAULTMASK is set for that fault condition Table 2 5 explains each fault mask in detail 2 6 2 2 DISABLEMASK Setting the DISABLEMASK bits causes the drive to b
288. fault value is zero 0 If the FEEDRATEMODE is not zero then the feedrate override control is expected over the analog input channel 1 on UNIDEX 600 650 systems This feedrate override control effects only motion generated from the AerMotnxxx library function calls and not CNC generated motion 5 C 2 38 GANTRYMODE This axis parameter is set for the master axis and represents the number of the slave axis The gantry mode utilizes the AuxVelCmd axis parameter for commanding motion on the slave axis so it should not be used while the gantry mode is active 0 Gantry Mode is off default 1 16 Gantry Mode 1 17 32 Gantry Mode 2 C 2 38 1 Configuring GANTRYMODE Align the Gantry so that it can be run Set GANTRYMODE to mode 2 Home the master axis The slave will follow Set GANTRYOFFSET correctly to remove skew and to set the distance away from the marker 5 Set GANTRYMODE to mode 1 PONS C 2 39 GANTRYOFFSET This axis parameter is set for the master axis and represents the distance the slave axis should be away from the marker in machine steps Version 1 4 Aerotech Inc C 21 Parameters U600 User s Guide C 2 40 GEARMASTER This axis parameter along with the GEARSLAVE axis parameter is used for gearing It defines the ratio of movement between the master and slave axes This parameter is set for the salve axis not the master This parameter is automatically set by the TRACK command tracking mode or it may be s
289. figWritePacket DCAX Axis data center data AerDCGetAxisDirect GETPROG Display programming error AerProgGet INFO Axis configuration information AerConfigGet 4 48 Aerotech Inc Version 1 4 U600 User s Guide AerDebug Table 4 5 Task Command to Library Function Cross Reference Task Commands Description Library Function Directory of downloaded programs AerProgramGetHandle Dumps CAM tables AerCamTable D DUMPTABLE D UMPERROR Dumps error calibration table AerAxisCal ENABLEPENDANT Enables the pendant AerPendantSetMode EXELINE Execute a single CNC program line AerCompilerDestroy AerCompilerCreate AerCompilerCompileLine AerCompilerRunImmediate _AerCompilerDestroy EXEPRG Compiles loads associates and executes a program AerCompilerDestroy AerCompilerCreate AerCompilerCompileProg AerCompilerDownload AerTaskProgramAssociate AerTaskProgramExecute AerVirtGetBinaryInput AerVirtGetBinaryOuput AerVirtGetRegisterInput AerVirtGetRegisterOutput IOMON Monitor the value of a virtual I O point BI BO RI RO AerVirtGetBinaryInput AerVirtGetBinaryOuput AerVirtGetRegisterInput AerVirtGetRegisterOutput IOSET Set the value of a virtual I O point BI BO RI RO AerVirtSetBinaryInput AerVirtSetBinaryOuput AerVirtSetRegisterInput AerVirtSetRegisterOutput PARMGET IOGET Display the value of a virtual I O point BI BO RI RO Disp
290. follows ParmSet A FaultMask HHH represents the number returned by the ParmGet command in step 2 of this tuning procedure This will re enable these fault conditions 5 38 Aerotech Inc Version 1 4 U600 User s Guide AerPlot CHAPTER 6 AERPLOT In This Section OSI NirOdUGHONM entree sere ee ee eee eee eer 6 1 Bile NSM Ure R 6 2 PIO Men eer a a a re eee 6 2 nie ser Menu e seer eens oer eee tee reece 6 3 ECNE HME mae recesses reece ree e eee eee 6 3 OE AXISIMGI UI erret erence EEA 6 3 OMe Graph Opuonsy Vici seers A 6 3 SETOS MET E E teeter ee eer 6 4 Co i a Cello MEn a e r e E E EE 6 5 6 1 Introduction The AerPlot program allows the user to display up to six plots simultaneously a mix of axes and or analog user input information form the U600 Series controller card This information is displayed in a visual format with a user definable time base reference This is useful for debugging axes performance as well as monitoring the users analog inputs connected to the U600 Series controller Figure 6 1 illustrates the AerPlot Screen AerPlot provides the capability to load save and print captured data Data points may be captured at a user defined specified rate as the time between points in milliseconds The number of points collected and the acquisition type single or continuous of the data may also be captured AerPlot will also display which is collected under CNC program control via
291. fore a part loader can approach the axis or a collision occurs Cam Table or master slave motion allows the programmer to direct that a particular axes position be dependent on another axes position or velocity The programmer downloads a set of values into the axis processor 960 that dictate the required position or velocity of a slave axis given another axes the master s position When in between the dictated master positions the controller interpolates linearly or by cubic spline to obtain the correct slave value for that master axis position This type of movement is the most flexible allowing the programmer to completely dictate any position or speed profile to the motion The programmer can also achieve multi axis synchronized movement by slaving multiple axes to the same master Finally this type of motion can be used to dictate motion based on analog input signals See the AerCamTablexxx library functions for more details on camming motion 1 5 3 Monitoring Motion The user can monitor all sorts of axis processor status including what stage the movement is in Please see the Status Status2 Status3 and Mode Task parameters in Appendix C for details on availability The CNC interface allows the programmer to specify code to be executed when certain conditions occur Also see Chapter 2 section on Faults for more monitoring capabilities 1 5 4 Multi Axis Motion In any of the three motion types the user can direct that
292. g Table 2 10 Relationship between U600 Encoder I O and Virtual I O Mapping INPUTS on the Respective Board UNIDEX 600 IN 0 15 Expansion Board 1 IN0 15 16through31 P9 pins 31 1 odd pins Expansion Board 1 _IN16 39 32through55 P8 pins 47 1 odd pins Expansion Board 2 IN 0 15 56 through 71 P9 pins 31 1 odd pins Expansion Board 2 IN16 39 Expansion Board 3 IN0 15 96 through 111 P9 pins 31 1 odd pins Expansion Board 3 _IN16 39 112 through 135 P8 pins 47 1 odd pins OUTPUTS UNIDEX 600 OUT 0 7 UNIDEX 600 OUT 8 15 Expansion Board 1 OUT 0 7 16 through 23 P9 pins 47 33 odd pins Expansion Board 1 OUT 8 15 24through31 P10 pins 47 33 odd pins Expansion Board 1 OUT16 39 32 through 55 ___ P7 pins 47 1 odd pins Expansion Board 2 OUT 0 7 56 through 63 P9 pins 47 33 odd pins Expansion Board 2 OUT 8 15 64 through 71 P10 pins 47 33 odd pins Expansion Board 2 OUT 16 39 72 through 95 P7 pins 47 1 odd pins Expansion Board 3 OUT 0 7 96 through 103 P9 pins 47 33 odd pins Expansion Board 3 OUT 8 15 104 through 111 P10 pins 47 33 odd pins _Expansion Board 3 OUT 16 39 112 through 135 P7 pins 47 1 odd pins Version 1 4 Aerotech Inc 2 23 Getting Started U600 User s Guide 2 16 Other Manuals The UNIDEX 600 Series of controllers has several other manuals documenting vari
293. g 132 RW 0 1 0e 037 5 CutterWear 135 RWU 0 1 0e 037 0 CutterX 47 Rw 0 15 0 CutterY 48 Rw 0 15 1 CutterZ 133 Rw 0 15 1 DecelOnProgramAbortMask 125 RW 0 65 535 1 DecelRate 142 RWU 0 100 000 30 0 DecelRateDPS2 34 Rw 0 0 360 000 0 60 0 DecelRateIPS2 32 Rw 0 0 100 000 0 30 0 DecelTimeSec 30 RW 0 0 100 0 0 1 DryRunLinearFeedRateIPM _ 119 RW 0 0 1 0e 037 0 DryRunRotaryFeedRateRPM _ 120 RW 0 0 1 0e 037 0 ErrCode 64 RW 2 147 483 648 2 147 483 648 0 Version 1 4 Aerotech Inc C 57 Parameters U600 User s Guide Table C 10 Task Parameters Continued Name Parameter Access Minimum Maximum Default EstopInput 8 RW 1 511 1 ExecuteNumLines 102 RW 2 147 483 648 2 147 483 648 1 ExecuteNumMonitors 147 RW 2 147 483 648 2 147 483 648 1 ExecuteNumSpindles 148 RW 2 147 483 648 2 147 483 648 1 FeedHold 57 RW 0 1 0 FeedHoldEdgeInput 10 RW 1 511 1 FeedHoldInput 9 RW 1 511 1 GlobalEStopDisable 65 RW 0 1 0 HaltTaskOnAxisFault 68 RW 0 1 1 IgnoreAxesMask 126 RW 0 65 535 0 InterruptMotion 69 RW 0 1 0
294. g the feedrate to a lower value during the arc This capability of clamping feedrates due to large accelerations caused during a circular interpolated contoured move is also known as Feedrate Attenuation by Arc Radius It should be contrasted with a related capability BlendMaxAccelLinearIPS2 which clamps the feedrate due to accelerations caused by discontinuities between contoured moves see Corners for more information For best results blending motion with this parameter it is recommended that rate based G68 linear acceleration and deceleration G64 be used Version 1 4 Aerotech Inc C 65 Parameters U600 User s Guide The lower feedrate value enforced by this task parameter will be such that the largest axis acceleration deceleration that will occur during the arc circle will be equal to the limit provided by this parameter plus the value of the AccelRateIPS2 task parameter maximum acceleration during a 360 degree circle is F F R where F is the feedrate and R is the circle radius The units of the parameter value are inches second squared The controller computes the arc acceleration for an axis as the maximum is acceleration that the axis would be subjected to during an entire circle at the given arc radius at the given feedrate For arcs traveling through short angles the actual acceleration an axis is subjected to may be smaller than that the controller calculates causing the controller to slow down more
295. g and or Creating a Card 1 Entry ee 8 1 8 2 2 Modifying the Card 1 Entry oo ee ee eeeeeeseceeeneeenee 8 2 viii Aerotech Inc Version 1 4 U600 User s Guide Table of Contents CHAPTER 9 AE RPLOUT3D annan tied heed ace re ai coptterones 9 1 9 1 Introduction sess sscet eee tansiens a EE ideo eee gies ds 9 1 9 11 File Menthe ics ecsscertie sien cietsscceeeessessavtsaz cash cuse sive E 9 1 9 1 1 1 Writing a Plot Data File cece crete 9 2 9 1 1 2 Reading and Displaying a Plot Data File 9 2 DEZ Plot Type Menthi 0 5 cid nite a a ae 9 2 9 1 3 Setup Meni s cssSssccorc rea ar aaroo sanaa aaa E Eo E ERSE aeaa 9 2 OVA Colors MENU r i anena apare bias S Eaa r aS 9 3 9 1 5 Grd Li s MENU 8 5 5 5 sce keekecscsestenecbepides cs eveeshebhedeneesertetee 9 3 911 6 Units M nilss 3 2acc nesisncauicuehin conn tei a 9 3 QT Start Menuisier seccssesse seces Secs oere raes rE rE E Ea EE snes sees 9 3 9 T 8 Stp Mei ani adnan ents 9 4 91 9 Resume Men s iecisesieeenseien sei emitia e io ee 9 4 9 1 10 Suspend Men ranis a A 9 4 9 1 1T Help Menu mst reeniro sesers errotore sasami e asen o EEEo aa 9 4 9 2 Auto Scaling the Display in AerPlot3D sseseeeeseeeeeeeeesereresreerrereerse 9 4 CHAPTER 10 AERPLOTIO eeeeeeeeeseseererreresrsesrrrerrsreesrsrerrererssesrsrerreresses 10 1 10 1 Introduction weesen taei AAG outage aie da 10 1 CHAPTER IN FILTER a vette inoodisiash estan eee ec be
296. g effect C 2 16 1 A Typical Low Pass Filter These filter values are most often used with brushless motors providing a 250 Hertz low pass filter Al 11908 A2 4699 BO 245 Bl 491 B2 245 Version 1 4 Aerotech Inc C 11 Parameters U600 User s Guide C 2 17 BASE SPEED This parameter as well as the MAX PHASE and PHASE_SPEED parameters allow the speed torque characteristics of an AC brushless motor to be customized Normally these parameters are only used with motors having a large back EMF K constant Additional speed may be generated from a given motor by adjusting each slope of a dual slope curve that determines the torque angle at various motor speeds The BASE_SPEED determines the speed the motor will reach at a 20 phase advance The PHASE_SPEED parameter determines the speed the maximum torque angle will be reached that is specified by the MAX_PHASE parameter L This function sacrifices torque output for speed A Phase Advance Max Phase esses ai pain E EEO E 20 Base Speed Phase Speed Motor Speed Figure C 2 Phase Advance Torque Angle vs Speed Relationship As the motor velocity reaches the base speed the phase advance reaches 20 electrical degrees The PHASE_SPEED parameter specifies the motor velocity at which the phase advance reaches the MAX PHASE degrees offset The units are machine steps per second C 2 18 BRAKEMASK The BRAKEMASK parameter is a bitmask used to dete
297. g this parameter to 1 the CNC marks the axis Not In Use Internally the CNC keeps track of axes that it is using and makes the assumption that axes that are moving have been started by CNC However calls made by C Library functions AerMove functions do not rely on the CNC in any way and in some circumstances conflicts can occur The following situation demonstrates the problem 1 From a CNC program or MDI Line execute the following command G1 X1 Y1 The CNC removes X and Y from NotInUseMask and places in ProfileMask 2 From AerDebug on Axis 1 Or a C Program that calls AerMoveFreerun start the axis moving MFREE 1 100000 3 From a CNC program or MDI Line execute the following command G1 Y2 gt gt This line causes a task fault This line will cause a TaskFault The CNC thinks it still owns the X axis and it is moving because of something that it did To correct the problem 1 Modify the procedure in step 1 above to the following a G1 X1 Y1 The CNC removes X and Y from NotInUseMask and places in ProfileMask b UnusedAxis X 1 Tell the CNC were no longer using the X Axis Now perform steps 2 and 3 C 56 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 Task Parameters Task parameters are only used by the CNC interface Unless CNC motion is used these parameters may be ignored These values are used to specify task specific information Each task has its own independent set of task parameters
298. generated by the motor equal to the current multiplied by the Kr of the motor For example if the peak output command or instantaneous output command from the DAC was 16 384 5 volts the amplifier produced 30 amperes for an input of 10 volts and the motor had a Ky of 16 oz in Ounce inches per ampere then 5 volt command 10 volt max amps input command 30 Amperes max I Output 16 oz in Kr 240 or 5 10 30 16 240 Therefore the applied torque is 240 oz in To calculate this value for an Aerotech brushless motor from the motor data use the continuous stall current max A peak specified for the motor or use the continuous stall current A RMS specified after converting it to Peak by multiplying it by 1 414 To calculate this value for an Aerotech DC brush motor from the motor data use the RMS current specified for the motor or divide the continuous toque Tc by the motor torque constant Kt i e Tcont Kt RMS value Be sure to set the RMS Current Limit bit in the FAULTMASK axis parameter to enable the detection of this fault then set the bit in the appropriate mask parameter DISABLEMASK HALTMASK AUXMASK ABORTMASK INTMASK and BRAKEMASK for the action to occur on this fault C 2 50 IAVGTIME This axis parameter defines the time period over which the system will average the instantaneous commanded current However this parameter is only used to next lowest 10 milliseconds interval For exam
299. he Analysis menu selection will graphically display the spectral frequency distribution of the item selected from the Data to Analyze menu This will allow you to determine if there is a resonant frequency present in the servo loop and or mechanics of the system A peak such as that shown in Figure 5 4 at approximately 400 Hz is indicative of a resonance In this case a 375 Hz low pass filter might be used If there is a resonant frequency see Identifying an Instability within the Servo Loop Section 5 3 4 Frequency Analysis Print Datato analyze Display GraphOptions Tools Analyze Frequency Spectrum of Vel Err Axis X 25000 0 a oo requency Hz Figure 5 4 FFT Analysis 5 3 2 1 The FFT Analysis Window Menu Description Print Menu You may Export or Print the plot Data to Analyze You may select the item to analyze Velocity Feedback Velocity Command Velocity Error Position Feedback Position Command Position Error or Torque Display Menu You may select the number of points to display on the plot 64 128 256 512 1024 2048 4096 8192 Tools Menu Disable Bias Correction Low Pass Filter Data Remove DC Bias from Position Data Remove DC Bias from Torque Data 5 6 Aerotech Inc Version 1 4 U600 User s Guide AerTune 5 3 3 Determining the Maximum Acceleration of an Axis The maximum acceleration of an axis may be calculated or determined empirically via the AerTune utility after your axis
300. he IO Mask should be 1 In the case of binary inputs outputs the IO Value specifies the state of the bits that trigger the data acquisition For example if Binary Word 1 is selected and the IO Value is equal to 1 bit 1 must be a one and all other bits that are in the IO Mask must be zero to trigger data collection For register inputs outputs the IO Value is the value of the register that will trigger data collection Version 1 4 Aerotech Inc 10 3 AerPlotlO U600 User s Guide 10 4 Aerotech Inc Version 1 4 U600 User s Guide Filter CHAPTER 11 FILTER In This Section Coe MiroductiOnreee eer eee ee ere te errs 11 1 11 1 Introduction The Filter utility will calculate the coefficients of the controller s second order digital filter in the format required for the Al A2 BO B1 B2 axis parameters for more information see Axis Parameters in Appendix C The sample frequency should be set to your servo loop update rate 4000 default or 1000 Hz Do not try to use a filter for any frequency range greater than half of the servo loop update rate You must disable the axis before entering the filter constants Se The Remove Filter button will reset the digital filter to no filtering You must click the Download and Write to File buttons also amp Filter Type Filter Type U600 Coefficients Low Pass BO 246 B1 491 f Notch B2 247 Al 11908 m Servo Loop Update Rate A2 469
301. he MaxMonitorData task parameter EXAMPLE ZMONITOR display all the current monitor conditions defined 4 6 101 ZONGOSUB The ZONGOSUB command displays all the ongosub conditions defined within the current CNC program associated with the current task The maximum number of conditions permitted is determined by the MaxOnGosubData task parameter EXAMPLE ZONGOSUB display all the current ongosub conditions defined Version 1 4 Aerotech Inc AerDebug 4 47 AerDebug U600 User s Guide 4 7 Command to Library Cross Reference This section contains the command to library function cross references refer Table 4 3 Table 4 4 and Table 4 5 for all cross references Table 4 3 Basic Command to Library Function Cross Reference Basic Commands Description Library Function Display help List of commands Not Applicable ITI Test the PC interrupt Not Applicable AX Changes the default axis if no parameter shows the default axis Not Applicable CMDERR Display the last command error AerDrvGetLastCmdErr CMDLAST Retrieve the last command from the command line buffer AerDrvGetLastCmd DOWNLOAD Load firmware into axis card AerSysDownLoad DRVINFO Displays information on the device driver AerDrvGetDebugInfo EXIT Quits the AerDebug application Not Applicable MEM _Selec
302. he base address of the PSO PC card as defined by the jumpers on the card See the PSO PC manual EDO105 for more information The PSO image file name will default to the correct value To edit the database entry for that card highlight an entry and click the update button A dialog box will appear allowing all of the entries to be modified After updating creating a new entry click OK to return to the main screen Click OK again to close the program after double checking the data entered into the registry w Configure an existing device in registry OK Device ID Unidex 600 Card c ard 1 Boot Image ima E UBOO BinNPCSBOBT IMG roWse Image Name img EAUBOONBAPCSEDIMG Browse Symbolic Name po Browse AT Window foxocoooo0o x I0 Base 0 220 7 IRQ 5 7 U600 Rev E Support AT Window2 l None v m Optional PSO Support I0 Base None Image Name img JeAUB00 Bin PSO IMG Browse Figure 8 2 AerReg Registry Editor Screen 8 2 Aerotech Inc Version 1 4 U600 User s Guide AerReg The default registry entry s with their corresponding default values for The UNIDEX 600 620 controllers are Image C U600 BIN PC960 IMG Boot Image C U600 BIN PC960BT IMG Device Driver C U600 BIN U600 VXD WIN 95 U600 WIN NT IO Base 0x220 ATWindow O0xDC000000 IRQ 0x5 PSO the default values for the PSO PC if present are IO Base
303. he user is currently entering text on Alphabetic keystrokes a to z 0 to 9 result in the corresponding character being echoed on the command line and the cursor moving one character to the right Non alphabetic keystrokes i e Esc are considered special characters and may or may not be echoed Also the characters _ V and are considered alphabetic and may be used in filenames The case of alphabetic characters are ignored lowercase characters are echoed back as upper case After the command is fully entered the user can hit the enter return key to execute the command As the user types the status line will display all AerDebug commands that match the current text For example if TSK has been typed on the command line the status line will display TSKASSOC TSKDEASSOC TSKINFO which are all valid AerDebug commands starting with TSK If the text on the line matches only one valid command then a single line description of the command appears to the right of the command For example if TSKA is on the command line then TSKASSOC Associates program with current task appears on the task line Once the text on the command line matches a single valid command the user does not need to type the rest of the command For example TSKA or TSKASS or TSKASSOC are all equivalent In most cases if the user provides an invalid parameter and hits return A
304. here the GEARSLAVE and GEARMASTER axis parameter values in the formula above are those of the slave axis In gearing the actual values of these two parameters are not relevant only their ratio is The programmer should be aware that the speeds above are in machine counts sec not user units If the CntsPerInch CntsPerDeg parameters vary for the two axes then the speed ratio will be different when viewed in user units the formula below assumes both axes are linear Type axes Slave speed user units sec Master speed user units sec GEARSLAVE CntsPerInch of Master GEARMASTER CntsPerInch of Slave The user must be warned that when gearing is enabled the slave axis will immediately try to follow the master speed So the master axis should not be moving at the time electronic gearing is enabled or the slave axis will instantaneously try to move at the specified speed see above formula thereby jerking the slave axis If you must establish gearing while the master axis is moving see the TRACK command which allows you to establish gearing while simultaneously blending in an WARNING acceleration for the slave axis See the CFGMASTER command for an example program C 22 Aerotech Inc Version 1 4 U600 User s Guide Parameters If you repeatedly enable and disable the GEARMODE you may have to set the MASTERPOS axis parameter to prevent 32 bit over runs and resultant jerking motion of the slave axis WARNING C 2 43 HALTMA
305. hronous linear motion in either absolute or incremental coordinates G code commands and cam table electronic gearing Combinations of these types of motion may be active across multiple axes at the same time Please see Chapter 1 for details on available motion All these functions are prefixed by AerMove or AerCamTable Fault handling from the library interface is accomplished via setting the appropriate axis parameters which is done through the AerParam functions Please see Chapter 1 under Faults for a generic description of U600 fault handling Aerotech Inc Version 1 4 U600 User s Guide Programming 3 3 CNC G code Programming G code motion consists of RS 274 compatible programs executed on the UNIDEX 600 Series controller The user compiles downloads and starts these programs using library interface calls but the actual program execution is performed independent of the PC processor Therefore program execution speed is totally independent of what programs are running on the PC the speed of the ISA bus and the speed of the PC Another major advantage to CNC programming is it uses the RS 274 standard a industry standard programming language accepted and understood in many manufacturing environments Furthermore many third party applications exist that can translate CAD data into RS 274 G code programs A serious drawback of the CNC interface is it lacks the language sophistication of PC languages l
306. ia this parameter Setting this parameter to 1 disables this mode See the RoReq1 Mask task parameter for specifying only those requests which you wish to respond to Version 1 4 Aerotech Inc C 89 Parameters U600 User s Guide Table C 12 ROReq1 Bit Descriptions Bit Text Description Program Define Description 9 Cycle Start RIO_CYCLESTART Execute currently associated program 1 Cycle Step RIO_CYCLESTEP Execute a single block of currently associated program 2 Retrace On RIO_CYCLERETRACE_ON Enable retrace mode on the specified task 3 Retrace Off RIO_CYCLERETRACE_OFF Disable retrace mode on the specified task 4 Cycle Stop RIO_CYCLESTOP Stop at end of current executing block 5 Cycle Reset RIO_CYCLERESET Reset the current program must be active resets program to line 0 6 Cycle Abort RIO_CYCLEABORT Abort current program All motion is aborted and program is made active 7 mayne Monon RIO_ASYNC_MOVE Execute RIActionOpCode 8 Joystick Enable RIO_SLEWSTART Enable the Joystick 9 Joystick Disable RIO_SLEWSTOP Disable the Joystick 10 Unused 11 Unused 12 Auto Mode On RIO_AUTOMODE_ON Place into auto mode 13 Auto Mode Off RIO_AUTOMODE_OFF Place into single step mode 14 Unused 15 Unused C 4 93 RIAction1 The RIAction1 task parameter is a pointer to a 16 bit virtual register input word that may be used by the user to trigger an action to occur on a task Ac
307. if it is a linear Type axis when the jog distance or jog distance hold modes are selected C 3 21 JogVelocityIPM This machine parameter specifies the speed for this axis on the Jog Page if it is a linear Type axis when the High speed range is selected If this parameter is 0 the value of the RapidFeedRateIPM machine parameter will be used C 3 22 JogVelocityRPM This machine parameter specifies the speed for this axis on the Jog Page if it is a rotary Type axis when the High speed range is selected If this parameter is 0 the value of the RapidFeedRateRPM machine parameter will be used C 52 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 3 23 MaxFeedRateIPM This machine parameter specifies the maximum speed allowed for this axis if it is defined as a linear Type axis If the absolute value of the directed speed of the axis exceeds this value during contoured GO asynchronous or spindle motion feedrate limiting will occur such that the controller will decrease the speed so that the axis will move at its maximum speed defined by this parameter Contoured moves involving multiple axes will have their vector speed decreased until no axes in the move violates its maximum feedrate If a contoured move has its speed decreased for this reason the UNIDEX 600 MMI will change the color of the actual feedrate displayed to yellow This value must be set in inches per minute even if the programmer intends to progr
308. iff or resistant to external forces The user may cautiously attempt to turn the shaft manually and it will become increasingly harder to turn even though it will not return to its original position because the position loop gain PGain is Zero No screeching or squealing should be heard from the motor when it is stationary Noise indicates that Kp is set too high causing oscillation It may screech a little during the move but not while at a rest If the motor doesn t move Kp is too low Increase the value of Kp and try again by pressing the Step or Step buttons If the user is fine tuning the servo loop gains that Aerotech provided for the system use the existing Kp as your starting point Once the motor has begun cycling a plot will display similar to Figure 5 12 From the graph it can be seen that there are 75 to 85 machine counts of velocity error Kp should be increased to reduce the amount of velocity error After repeating this process a few times the velocity error will look similar to Figure 5 13 From this graph the user can observe that the average velocity error during the move is about 20 machine counts Likewise the axis does not oscillate when it is stationary Ec Version 1 4 Aerotech Inc 5 23 A AerTune U600 User s Guide xis 4a B ATA eee ed at E A de ie id F a 3 w j t m Ba 1 mj 1 i 5 r qa hr m E a a m T3 i a tal 3 i im He 157 515 ft e
309. ignments Channels 1 through 4 are on the UNIDEX 600 card channels 5 through 8 are on the 4EN PC card configured as Board 1 channels 9 through 12 are on the 4EN PC card configured as Board 2 channels 13 through 16 are on the 4EN PC card configured as Board 3 Version 1 4 Aerotech Inc 12 11 Setup Wizard U600 User s Guide Number of Lines The number of lines for the encoder must be specified This may also be used to rescale the PGAIN axis parameter Rotary Encoder For rotary encoders enter the number of lines per revolution of the encoder after the times 4 multiplication is done by the controller i e for a 1000 line encoder enter 4000 Linear Encoder For brush motors with linear encoders enter the number of counts seen by the controller per revolution of the motor after the times 4 multiplication is done by the controller i e a ball screw with a pitch of linch having a linear encoder with 1 270 000 counts per inch after x4 multiplication would have 127 000 entered for the number of lines 1 270 000 1 127 000 For brushless motors with linear encoders enter the number of lines per user unit inch or millimeter after the x4 multiplication is done by the controller i e 1000 lines per inch would be entered as 4000 Commutation Channel Hall Channel EncoderHall The commutation channel number specifies the channel number used to commutate the motor The Hall effect sensors determine the abso
310. ike Visual C and Visual Basic Most notably the only GUI interface capability available in the CNC language is the DISPLAY command as opposed to the full range of GUI capabilities in Visual C or Visual Basic For this reason CNC language users usually use the U600 MMI to control their programs from a visual environment or they write their own library interface GUI application that controls the CNC Although the CNC language is not as rich as C or C it should be mentioned here that the AEROTECH U600 CNC language goes far beyond the RS 274 language in providing language structures normally only found in languages such as C Refer to the UNIDEX 600 CNC Programming Manual Win NT 95 P N EDU 158 for more details e Block structures if endif while endwhile etc e Subroutines with parameters returns and full stack capabilities e Full access to all parameters and I O digital and analog e Full define capabilities allowing for user defined G codes or M codes In addition the AEROTECH CNC language offers a wide range of motion capabilities beyond the RS 274 standard e Coordinate system rotation and mirroring G83 G84 e Asynchronous Motion STRM e Up to sixteen spindles S word e Simultaneous rotational and linear movement G98 G99 e Cutter Compensation G40 e Normalcy Motion G20 e PSO support PSOC e Data Collection DATACOLLECT e HandWheel Support HAND e Analog and Digital Probe Support PROBE e Disk f
311. ile O FILEOPEN e Continuous I O monitoring ON ONGOSUB Unlike the library interface modifications to the sequence and types of motion executed can be made at any time by the user by modifying the G code program and re downloading the file to the UNIDEX 600 controller using the U600 MMI program Also the end user can stop and restart applications at will with the U600 MMI application This may or may not be an advantage depending on the particular application Version 1 4 Aerotech Inc 3 5 Programming U600 User s Guide One disadvantage of the CNC interface is that the axis processor unlike the PC processor does not have virtual memory so there is a strict limit to the size of a CNC program that can be run However there is a circular program buffer available for programs exceeding the size of the available memory in the controller This buffer allows execution of programs of infinite size by having the PC download new lines as the old ones execute However there are important restrictions on a program executed in such a fashion it must not contain any GOTOs or jumps it must run strictly sequentially through the lines in the program Another disadvantage is neither axis configuration nor CNC program control functions are available from the CNC language However Aerotech has created an application program that serves as the Man Machine Interface MMI600 NT used to configure axes and control monitor CNC program execut
312. includes three items a RS 274 G code compiler library routines and utility programs The RS 274 compiler and library routines program the controller and are described in Chapter 3 The utilities set up troubleshoot and operate the controller and are described in Chapter 4 through Chapter 8 Chapter 2 is devoted to the information needed to install setup and test the controller Refer to Section 1 7 for details on additional software including U600 MMI a Windows NT GUI interface that can be purchased to ease operation of the U600 Series controller If the U600 MMI was not purchased then the utilities described in Chapter 4 through Chapter 8 must be used to set up the controller 1 2 Installation Figure 1 1 flowcharts an overview of the entire installation process Chapter 2 contains detailed information on the installation process Version 1 4 Aerotech Inc 1 1 Introduction and Overview U600 User s Guide Configure base address and other jumpers Refer to the U600 Hardware Manual P N EDU154 Install the U600 Board Refer to the U600 Hardware Manual P N EDU154 Connect the wiring Limit and Refer to the U600 Feedback Testing Hardware Manual P N Refer to EDU154 Section 2 9 Install the U600 Set FaultMasks Software Refer to Refer to Section 2 2 Section 2 6 Configure Axes Axis Tuning Refer to Refer to Section
313. ine parameters The motion begins when the input becomes True and will stop if it becomes False before the move completes Distance 2 The axes move at the velocity and distance specified by the jog machine parameters The motion begins when the input becomes True and does not stop unless mode 3 Halt is activated Halt 3 The axes decelerate to a stop C 4 61 JogPair2Axis1MinusIn This task parameter defines the virtual input number that when True active high will cause Axis of Jog Pair 2 as defined by JogPair2Axis1 to jog minus in the current jog mode as defined by the JogPair2Mode task parameter Version 1 4 Aerotech Inc C 81 Parameters U600 User s Guide C 4 62 JogPair2Axis1PlusIn This task parameter defines the virtual input number that when True active high will cause Axis 2 of Jog Pair 2 as defined by JogPair2Axis2 to jog minus in the current jog mode as defined by the JogPair2Mode task parameter C 4 63 JogPair2Axis2MinusIn This task parameter defines the virtual input number that when True active high will cause Axis 2 of Jog Pair 2 as defined by JogPair2Axis2 to jog minus in the current jog mode as defined by the JogPair2Mode task parameter C 4 64 JogPair2Axis2PlusIn This task parameter defines the virtual input number that when True active high will cause Axis 2 of Jog Pair 2 as defined by JogPair2Axis2 to jog plus in the current jog mode as defined by the JogPair2Mode
314. inear axes in contoured motion is the square root of the sum of the squares of all the speeds of the linear type axes involved in the contoured motion This parameter value is not signed its value must always be positive Note that the LinearFeedrate task parameter value has no effect on the contoured motion of rotary axes see the RotaryFeedRate task parameter nor does it effect motion on linear axes that are being controlled by the rotary axes motion component see G98 G99 The LinearFeedrate task parameter value is a programmed value and will retain its value whether there is currently any contoured motion However due to feedrate limiting and MFO the actual vectorial velocity during a contoured move may differ from the programmed vectorial velocity The LinearFeedRateActual task parameter indicates the actual vectorial velocity If you change the LinearFeedRate during a contoured move this change will not take effect until the next contoured move Use the MFO to change speed during a contoured move The CNC F word is equivalent to the LinearFeedRate parameter and the value of this parameter can be observed from the MMI600 in the F window of the active G code section of the Run or manual screens Version 1 4 Aerotech Inc C 83 Parameters U600 User s Guide C 4 71 LinearFeedRateActual This task parameter indicates the actual vectorial feedrate of linear axes in user units per second This is the same as th
315. ing Desk Color Graphic back color Graphic fore color Plotting color Shadow color Text color The Default Colors menu selection allows changes in any of the above to be reset back to their default values 9 1 5 Grid Lines Menu The Grid Lines menu allows a grid to be displayed on the X Y or both axes 9 1 6 Units Menu The Units menu allows the units for the X Y and Z if 3D mode is active to be selected Each may be displayed as machine steps counts or user units 9 1 7 Start Menu The Start menu will begin plotting the selected lines Version 1 4 Aerotech Inc 9 3 AerPlot3D U600 User s Guide 9 1 8 Stop Menu The Stop menu will discontinue plotting the selected item If the Show Min and Max Plotted Values item is selected on the Setup menu the Min and Max Value Plotted window will be displayed similar to Figure 9 3 allowing you to optionally click the Update X Y or Z buttons to rescale the displayed range of the plot Click the Close button when done 9 1 9 Resume Menu The Resume menu will continue plotting the selected data items if the Suspend menu has been selected 9 1 10 Suspend Menu The Suspend menu will suspend plotting of the selected data items The Resume menu will continue plotting 9 1 11 Help Menu The Help menu has 2 selections The Aerotech UNIDEX 600 Help menu selection will display the information in the online help file for AerPlot3D The About U600 A
316. ing this value between two blended moves the controller abandons blending and behaves as if a G9 command was present on the CNC line For example if this parameter is set to 3 RPM any CNC program block followed by another with a velocity of gt 6 or lt 0 RPM implying a direction change will be forced to decelerate to zero velocity before executing and accelerating up to the new velocity in the following CNC block C 4 9 2 Limit Rotary Acceleration without Full Deceleration If the BlendMaxAccelRotaryDPS2 task parameter is set to a negative value then the parameter s absolute value is used as an acceleration limit However when this parameter value is negative instead of forcing the move to decelerate all the way to a stop forcing a G9 it instead forces the move to decelerate to a speed at which the velocity change acceleration is not violated For example if this parameter is set to 3 RPM and a CNC program block follows with a direction reversal the current CNC block will be limited to 1 5 and the following will be limited to 1 5 1 5 in the opposite direction C 4 10 BlendMaxAccelCircleIPS2 This task parameter is used when traveling around an arc with a short radius and or a high feedrate either of the two axes in the arc may be subject to excessively high accelerations caused by large changes in velocity If this parameter is non zero the controller will limit these accelerations by slowing down or clampin
317. int variables will be displayed EXAMPLE VAGET G 1 display Global axis point variable 1 VAGET T display all Task axis point variables 4 6 88 VCGET The VCGET command displays the variables for the task subroutine call stack EXAMPLE VCGET display the variable for the subroutine call stack 4 42 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 6 89 VDGET type number The VDGET command displays the value of the specified double variable There are four types Global Task Program and call Stack variables represented by G T P and S respectively all of which will hold floating point numbers in the range of 1 7E 308 to 1 7E 308 By the default value of the NumGlobalDoubles and the NumTaskDoubles parameters there are ten of each Global and Task variables each numbered 0 through 9 There are four Program variables numbered 0 through 3 There are twenty six call Stack parameter variables numbered O through 25 If no variable number is specified all variables of that type will be displayed EXAMPLE VDGET G 0 display Global double variable 0 VDGET T 9 display Task double variable 9 VDGET P display all Program double variables VDGET S 1 display call Stack double variable 1 4 6 90 VDMON type number The VDMON command monitors the value of a double variable updating the display approximately every 100 msec 10 times second The type of double variables are Global Task Program and ca
318. ion eee eeseceeeeeeseeceeeeeenseeeeneees 2 5 2 2 3 WinNT Win95 Registration 0 eee ee eeeeeeeeeeeceseeeeeeeees 2 5 2 2 4 Software Installation Testing eee eee ceseceeeceeeeneeenes 2 6 Axis Configuration oo cece cee csecseecneeeeeeeeeeeeeeeseeseenseceseesaeenaesnaeaee 2 7 2 3 1 Servo Loop Modes eee eee cee eseeeeceseceeceeecaeeeeeeeeeneeens 2 7 2 3 2 Configuring Closed Loop Torque or Velocity 2 8 2 3 2 1 Motor Type Siere riene e 2 8 2 3 2 2 Feedback Device eneen eiea 2 8 2 3 2 3 Digital to Analog Conversion Output to the Amplifier iiser eee rre i o 2 9 2 3 3 Configuring a Spindle Open Loop Velocity Mode 2 9 Motor Units Resolution and Direction c ccccesseeessreeeeerteees 2 10 2 4 1 Linear vs Rotary type oo cee eee cee ceeecneeereeeeeeeeeeeeeeeees 2 10 2 4 2 Motor Resolution seoce ea a aai 2 10 2 4 3 Motor Directions iee enner n iii 2 10 Drive Signals soretes ek haces come rores roures rs aoe e i Ko risivere E Sae 2 11 Axis Faults feee genna e E E E E E TE 2 11 Aerotech Inc Table of Contents iii Table of Contents U600 User s Guide 2ZiO Vs FAULT i ecisetl tates E EE ehh aase ts 2 12 2 6 1 1 Axis Faults and Programming cece 2 12 2 0 2 Fault Masks arenor dine iecs oh ceiotos eter wiiieltea ch tiles 2 14 2 6 2 1 FAULTMASK viigi g s 2 15 2 6 2 2 DISABLEMASK scitis eiiis 2 15 2 0 2 3 HALTMAS K rrente n s 2 15 2 024 AUXMASK orrs ahi Stet ieee 2
319. ion This functionality is available from the line interface AerDebug utility 3 3 1 CNC Tasks and Programs The CNC engine running on the axis processor runs four execution threads concurrently each of which can be running a CNC program independently In addition each task can execute a single immediate command while running its CNC program however the command set available for immediate commands is limited to those that do not reference other program locations or use program variables The concurrent execution is accomplished by polling through the tasks sequentially once for each poll cycle Many CNC commands take significant fixed time periods to execute like a G4 or DWELL in these cases the task gives up its execution time to the next task until the allotted time passed Therefore time consuming statements in one task do not slow down processing of the other tasks Tasks can run any program regardless of what programs are being run by other tasks Two tasks can even run the same program at the same time Programs can freely call other programs by using the FARCALL CNC command and there is no limit to the nesting of such calls Also allowed is recursion where programs can call themselves or any program that called it The axis processor can contain up to 100 programs at one time The programmer can use global variables or I O to coordinate execution between the tasks Global variables and I O as well as all parameters have glo
320. ion on the axis parameters refer to Appendix C Parameters The ACCELMODE DECELMODE parameters define the acceleration and deceleration as Linear 1 Cosine and Time Rate based as follows 0 1 Cosine Time Based 1 Linear Ramping Time Based 2 1 Cosine Ramping Rate Based Recommended 3 Linear Ramping Rate Based The ACCEL DECEL entry fields specify the Acceleration Deceleration time in milliseconds when Time based ramping is active The units are milliseconds i e a one second ramp would be specified as 1000 milliseconds The ACCELRATE DECELRATE entry fields specify the Acceleration Deceleration rate in machine counts per second when Rate based ramping is active The Gain parameter fields all Axis parameters allow the user to adjust the response of the servo loop The PGain parameter varies the position loop gain of the servo loop and minimizes position errors during acceleration and deceleration while at rest The Kp 5 4 Aerotech Inc Version 1 4 U600 User s Guide AerTune parameter varies the damping effect of the servo loop The Ki parameter varies the integral gain of the servo loop for increasing stiffness while in position and improves settling time The VGain parameter minimizes the position error during constant velocity in analog tachometer based systems and torque mode systems with large frictional loads The Vff parameter enables velocity feedforward for the axis minimizing pos
321. ir2Axis2 JogPair2Mode etc task parameters also which allow two other axes to be jogged simultaneously Define the first axis via the JogPairl Axis task parameter Define the second axis via the JogPair1 Axis2 task parameter Define the Jog Mode via the JogPair1 Mode task parameter Define the virtual inputs for the Plus and Minus Inputs for Axis1 Define the Plus and Minus Inputs for Axis 2 Enable the jog keys via the JogPair1 EnablelIn task parameter Version 1 4 Aerotech Inc C 79 Parameters U600 User s Guide 5 All of these parameters may be changed on the fly Changing the axes or jog mode on the jog page will overwrite these task parameters S Likewise changing these parameters will change their complementary values on the jog page C 4 53 JogPairlAxis1MinusIn This task parameter defines the virtual input number that when True active high will cause Axis of Jog Pair 1 as defined by JogPairlAxis1 to jog minus in the current jog mode as defined by the JogPair Mode task parameter C 4 54 JogPairlAxis1PlusIn This task parameter defines the virtual input number that when True active high will cause Axis 1 of Jog Pair 1 as defined by JogPairl Axis1 to jog plus in the current jog mode as defined by the JogPair Mode task parameter C 4 55 JogPairlAxis2MinusIn This task parameter defines the virtual input number that when True active high will cause Axis 2 of Jog Pair 1 as defined by JogPai
322. is not run Virtual axes are often useful for debugging programs without motors but in order to run motors the user must configure the axes for torque or velocity mode depending upon the configuration of the servo amplifier and feedback device Table 2 4 Gains for the Different Servo Loop Modes KP KI PGAIN VFF AFF Virtual Any Any Any Any Any Torque Mode normal Non 0 Non 0 Non 0 Any Any Open Loop Velocity tachometer 0 0 Non 0 Any 0 Open Loop Velocity spindle 1 0 0 0 0 In torque and velocity modes the controller will output to each amplifier an analog voltage of 10 volts typically bipolar i e 10 to 10 volts that varies over time The difference is in how the output should be interpreted in torque mode the output is proportional to motor torque in velocity mode the output is proportional to motor Version 1 4 Aerotech Inc 2 7 Getting Started U600 User s Guide velocity For details on the servo loop s actions in the different non virtual configuration modes refer to the UNIDEX 600 Hardware Manual P N EDU154 under Servo Loop Torque mode is the normal configuration when not running virtual axis In this mode the servo loop continuously monitors position and velocity error error is commanded minus actual and adjusts the output to the amplifier based on these errors This is called closing the loop for position and velocity In torque mode the output to the
323. is processor the programmer must load invoke and run CNC programs from the PC The CNC programmer can invoke and control CNC program execution through the U600 MMI AerDebug or a custom library calling application In either case there are a number of steps that must be performed see Table 3 3 In general they must be performed in the order listed Note that the U600 MMI hides most of the details see the U600 MMI online help file for simplified instructions on how to control programs from the U600 MMI Table 3 3 How to Run and Control CNC Programs Action AerDebug PRGC PRGL TSKA TSKPRG TSKPRG EXEP Stop Program TSKPRG TSKPRG U600 MMI Run Screen compile button Run Screen compile button lt NA gt Run Screen Run Screen Cycle Start button Run Screen Cycle Stop button Run Screen Reset button Library Interface Functions AerCompilerxxx AerCompilerDownLoad AerTaskProgramAssociate AerTaskSetLineUser AerTaskProgramExecute AerTaskProgramStop AerTaskProgramReset Version 1 4 Aerotech Inc Programming U600 User s Guide 3 3 3 Motion from a CNC Program The user must first configure the axes in order to execute motion Refer to Chapter 2 for this procedure To invoke motion from the CNC each task must reserve axes for it s own use from the 16 axes available The default names X Y Z U A B C D x y z u a b c d are defined for each task and are called task axe
324. ition error during constant velocity The AffGain parameter provides acceleration feedforward for the axis which minimizes position error during acceleration and deceleration 5 3 1 Step Move Parameters The distance field is the number of machine counts that the axis will move when the Step or Step or auto cycle buttons are pressed Speed is the velocity in machine counts second that the axis will move at We recommend using sinusoidal rate based accel and decel modes The mode rate time for GO Asynchronous motion generated by AerTune is determined by each axes ACCELMODE DECELMODE axis parameters which also select linear sinusoidal profiles The appropriate axis parameter shown below will then determine the acceleration deceleration of the axes Acceleration Axis Parameters Deceleration Axis Parameters ACCELMODE DECELMODE ACCEL time DECEL time ACCELRATE DECELRATE Motion Parameters for Axis 1 x Step Move Parameters Distance cents 10000 Speed cnts sec 10000 ACCELMODE 1 Cosine Time Based 7 DECELMODE 1 Cosine Time Based x 1 Cosine Time Based ACCEL Linear Time Based DECEL 250 DECELRATE 600000 1 Cosine Rate Based Auto Single Step Initial Direction Positive Negative ACCELRATE Linear Rate Based Press F1 for help Figure 5 3 Step Move Parameters Version 1 4 Aerotech Inc 5 5 AerTune U600 User s Guide 5 3 2 FFT Analysis Clicking t
325. ition to the shift value applied by the CAMOFFSET axis parameter and is Shift value Master velocity cnts msec CAMADVANCE 8192 This parameter is without units and its value may be negative It is set for the slave axis This parameter should always be set before SYNCing the axis in a non zero mode This parameter value is added to the master position before doing the cam table lookup It is used to shift or offset the relationship between the master and slave positions as defined in a cam table Figure C 3 Camming Illustration This allows you to shift the curve left or right without writing a new cam table C 2 20 CAMOFFSET This axis parameter is used only for electronic gearing Camming from a File and HANDWHEEL camming The value of this axis parameter is added to the master position before doing the cam table lookup It is used to shift or offset the relationship between the master and slave positions as defined in a cam table see Figure C 3 Camming Illustration This allows you to shift the curve left or right without writing a new cam table This parameter is in counts and may be negative It is set for the slave axis in respect to the units of the master axis see Figure C 3 below This parameter must be set before SYNCing the axis to a non zero mode For example suppose the master axis is X and the slave axis is Y Furthermore suppose that the X axis has 10 000 counts inch and the cam table specifies tha
326. ker Home Limit Direction Figure C 9 Home into Limit Illustration C 3 18 3 TYPE 2 Home to Marker The home position is the reference pulse It rotates in the specified home direction and stops on the first marker or resolver null Direction Marker Figure C 10 Home to Marker Illustration Version 1 4 Aerotech Inc C 51 Parameters U600 User s Guide C 3 18 4 TYPE 3 Quick Home to Limit Switch The home position is the home limit switch If the axis encounters the home limit switch while traveling in the opposite direction specified by the HomeDirection this happens if the axis hits an EOT before the home switch and reverses direction then it passes up the home switch and reverses direction in order to strike the home switch from the proper direction Home Direction Home Switch Figure C 11 Quick Home to Limit Switch Illustration C 3 18 5 Type 4 Home Position at Current Position The home position will be set to the current position No homing motion is generated axis calibration and backlash compensation will be activated if defined for the axis This home type may not be used with axis calibration C 3 19 JogDistanceDeg This machine parameter specifies the distance for this axis on the Jog Page if it is a rotary Type axis when the jog distance or jog distance hold modes are selected C 3 20 JogDistanceInch This machine parameter specifies the distance for this axis on the Jog Page
327. l allow a more reasonable range for the setting of the axis servo parameters KP KI and PGAIN C 2 34 FAULT This axis parameter indicates axis faults that have occurred on an axis since the last time the axis faults were cleared by reading this parameter You can also clear axis faults by writing to this parameter When an axis fault occurs the UNIDEX 600 MMI will flash an error message in the position tracking display of the Run or Manual pages This parameter is a bit mask where each bit corresponds to a specific axis fault that may occur A zero value indicates that no axis faults have occurred and since the parameter is bit mapped non zero values for this parameter reflect the occurrence of multiple axis faults When a fault occurs the appropriate bit refer to Table C 3 for Axis Fault Bit Definitions is anded into the FAULT parameter value and will remain set until cleared The user may clear faults by writing to the FAULT axis parameter When writing to the FAULT parameter the UNIDEX 600 attempts to clears all faults whose bits are set in the value written to the parameter Fault bits set to zero are not cleared For example If the FAULT parameter value is 10 the user could write 10 to the FAULT parameter to clear all active faults set FAULT back to zero If the user wrote 8 to the FAULT parameter it would then read 2 The user should keep in mind that if the condition causing the axis fault
328. l axis parameters and configuration data is cleared and reset to their internal defaults To configure the axes the user must specify axis configuration parameters such as axis type feedback channel and D A channel Also fault masks and other axis parameters are important for configuring the axes Configuring the axis feedback type is accomplished by issuing one of the commands explained in the sections that follow All the arguments presented for the following commands are optional The default values for the arguments are loaded by typing the command name then pressing the lt ENTER gt key 4 4 1 1 CONFIGRESOLVER Resolver or Inductosyn Feedback To configure a DC brush or an AC brushless motor using Resolver Inductosyn feedback the following syntax applies CONFIGRESOLVER reschannel resolution poles offset bounded where reschannel Resolver channel for position velocity feedback The default is the current axis resolution Resolver to digital conversion resolution 10 12 14 or 16 bits The default is 14 bits poles Number of electrical poles for a brushless motor 32 max set to zero for DC axis The default is zero 0 offset Commutation offset for brushless motors 1 024 counts per 360 offset The default is zero 0 bounded Enable bounded 1 disable bounded 0 software limits The default is zero 0 R2Dchannel Resolver to digital R D conversion channel 1 to 16 depending on number of installed R D card
329. l be occur immediately after detection of the fault usually within a millisecond You can also trigger program related actions to take place when an axis fault occurs with the TaskFault task parameter CNC programs may be stopped when by axis faults via the HaltTaskOnAxisFault task parameter C 20 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 2 36 FBWINDOW When running an axis in dual secondary feedback present loop mode the servo loop integrates the velocity feedback from the secondary feedback device to calculate the VELPOSITION position at the motor The FBWINDOW parameter allows the user to specify the maximum amount by which the motor position and the load position POS axis parameter as derived from the primary feedback device may differ An EXTERNAL FEEDBACK fault occurs if the absolute value of that difference exceeds the amount specified by this parameter A value of zero disables this monitoring For an axis fault to be generated by this condition the External Feedback Fault bit must be set within the FAULTMASK axis parameter also The units of this parameter are counts C 2 37 FEEDRATEMODE This axis parameter determines if the axis is subject to feedrate override control while executing motion from the AerMotn library function calls not CNC motion Setting this parameter to zero disables the feedrate override control while a value other than zero makes the axis subject to feedrate override The de
330. lay the value of a parameter G T M A AerParmGlobalGetValue AerParmTaskGet Value AerParmMachineGet Value AerParmAxisGetValue PARMMON Monitor the value of a parameter G T M A AerParmGlobalGetValue AerParmTaskGet Value AerParmMachineGetValue AerParmAxisGetValue PARMSET Set the value of a parameter G T M A AerParmGlobalSetValue AerParmTaskSetValue AerParmMachineSetValue AerParmAxisSetValue PRG1 Compile a single CNC program line AerCompilerCreate AerCompilerCompileLine PRGCMPL Compile a CNC program AerCompilerCreate AerCompilerCompileProg PRGDUMP Dump program machine code lines AerProgramGetInfo AerProgramGetLabel AerProgramGetLine PRGERRS Shows program compile errors AerCompilerErrsGetNumOf AerCompilerErrGetData AerCompilerErrGetText AerProgramGetInfo PRGINFO Displays program information PRGLOAD Loads a CNC program into the Axis Processor _AerCompilerDownload PRGRUN Runs a CNC program AerTaskProgramSetLineUser _AerTaskProgramExecute Version 1 4 Aerotech Inc 4 49 AerDebug U600 User s Guide Table 4 5 Task Command to Library Function Cross Reference cont d Task Commands Description Library Function PRGSTATS Shows program compile status AerCompilerGetStatus PRGTYPE Shows program test lines AerCom
331. le requiring it to be 5 set within all CNC programs C 4 18 Coord1K This task parameter specifies which task axis is the Coord1K axis for coordinate system 1 This axis must be a linear type The task Z axis does not have to be the Coord1K axis Coordinate system axes Coord1I Coord1J and Coord1K are used only as axes identifiers of a three dimensional system Any task axis can be assigned to any of the three coordinate system axes This mapping in conjunction with the selected plane see Coord1Plane parameter determine which task axes can be used for circular motion This parameter is 0 based where 0 represents the first axis typically named X The G16 command may be used to assign this parameter more easily within a CNC program however it will not be saved to the task parameter Ini file requiring it to be 5 set within all CNC programs C 4 19 Coord2Plane This task parameter specifies which plane is active in coordinate system 2 Coordinate system 2 is used for the circular G codes G12 and G13 Plane 1 consists of the axis specified by Coord2I and Coord2J task parameters Plane 2 is defined by Coord2J and Coord2K task parameters Plane 3 is defined by Coord2K and Coord2I task parameters Any circular motion performed in coordinate system 2 must be in the active plane The active plane determines the default axes for incomplete targets of circular moves refer to the figure below This parameter is 1 based where 1 represents pla
332. le number The DUMPERROR command dumps an error calibration table This command has one parameter that is the table number which is zero based indexed See the AerAxisCalxxx functions in the UNIDEX 600 Library Reference Manual P N EDU156 EXAMPLE DUMPERRORO dump error table 4 6 21 DW address The DW command displays the value of a word at the specified address EXAMPLE DW 80c display word of data at 80c 4 6 22 DL address The DL command displays the value of a long word at the specified address EXAMPLE DL 80c display a Long word of data at 80c 4 6 23 ENABLEPENDANT channel mode 1 The ENABLEPENDANT command enables the pendant with a given channel number See AerPendantSetModexxx function in the UNIDEX 600 Library Reference Manual P N EDUI156 EXAMPLE ENABLEPENDANT enable teach pendant Version 1 4 Aerotech Inc 4 25 AerDebug U600 User s Guide 4 6 24 EXELINE command string The EXELINE command compiles and executes a single CNC program line The command string to be executed must be placed within quotes Example EXELINE BIND X 4 6 25 EXEPRG filespec The EXEPRG command compiles loads associates and executes a CNC program This is the equivalent to the following command sequence PRGCMPL PRGUNLOAD PRGLOAD TSKD TSKA AND TSKP E If the program successfully completes execution the message No Error will be displayed EXAMPLE EXEPRG C U600 PGM TEST PGM run te
333. lifier regulates the Velocity Loop of the servo system Velocity Loop regulation is accomplished by the Pre amp section of the amplifier e The proportional Kp and integral Ki gain parameters in the UNIDEX 600 controller s servo loop have been set to zero 0 disabling its digital Velocity loop functionality e The controller is now commanding velocity to the amplifier instead of commanding torque 5 7 1 Vff Velocity Feed Forward The Following Error position error that occurs while the axis is moving may be reduced significantly by setting the velocity feed forward gain to one When the velocity feed forward function is enabled i e Vff 1 an added voltage is summed with the velocity command to the amplifier This signal is proportional to the Velocity Command 5 7 2 VGain Constant Velocity Gain The Following Error position error that occurs while the axis is moving at a constant velocity may be reduced by setting the VGain parameter to a non zero value This causes the velocity command to be increased proportionally by the commanded velocity which is scaled by the VGain servo loop parameter 5 7 3 Servo Parameter Setup for Tachometer Feedback When configuring a servo loop containing external velocity feedback from a tachometer the servo gain values shown in Table 5 2 are used 5 30 Aerotech Inc Version 1 4 U600 User s Guide AerTune Table 5 2 Servo Loop Axis Parameters for Tachometer base
334. ll Stack which are specified as G T P and S respectively all of which will hold floating point numbers in the range of 1 7E 308 to 1 7E 308 There are ten of each Global and Task variables each numbered 0 through 9 determined by the default settings of the NumGlobalDoubles and the NumTaskDoubles parameters There are four of the Program variables each numbered 0 through 3 There are twenty six of the call Stack double variables numbered 0 through 25 EXAMPLE VDMON G9 monitor Global double variable 9 VDMON T 0 monitor Task double variable 0 VDMON P 3 monitor Program double variable 3 VDMON S 25 monitor call Stack parameter double variable 25 Version 1 4 Aerotech Inc 4 43 AerDebug U600 User s Guide 4 6 91 VDSET type number value The VDSET command sets the value of the specified double variable There are four types Global Task Program and call Stack variables represented by G T P and S respectively all of which will hold floating point numbers in the range of 1 7E 308 to 1 7E 308 There are ten of each Global and Task variables each numbered 0 through 9 determined by the NumGlobalDoubles and the NumTaskDoubles parameters There are four Program variables numbered 0 through 3 There are twenty six call Stack parameter variables numbered 0 through 25 If no variable number is specified all variables of that type will be displayed EXAMPLE VDSET G 0 123 456 set Global double variable 0 to 123
335. ll generate a fault You may also set this parameter to 1 which deactivates the Circular Radius Error Test which requires the computation of a square root and in the cases of high speed machining this will speed up profile generation and avoid CNC Profile Queue Starvation Errors The Circular Radius Error test is only performed when specifying arcs G2 G3 with the IJK method It is recommended that the Circular Radius Error test be left active until the program is completely debugged Turning it off allows the user to write invalid non circular G2 G3 commands without any warning being issued to the user Version 1 4 Aerotech Inc C 85 Parameters U600 User s Guide C 4 81 MFO This task parameter sets the Manual Feedrate Override ratio for this task This ratio can vary from 0 to infinity where 1 is 100 of the programmed feedrate and 0 is zero feedrate The MSO changes on the MMI600 screens are more restricted This ratio is multiplied by the programmed feedrate for all rapid G0 contoured G1 G2 G3 G12 G13 and asynchronous motion INDEX MOVETO etc except async home in order to obtain the true feedrate of the move GO type moves will not exceed 100 of the feedrate as determined by the RapidFeedRateIPM RapidFeedRateRPM for rotary axes This parameter will not affect camming motion SYNC command This parameter will not effect contoured moves G1 G2 G3 G12 and G13 if the move is in the Decel pha
336. ll input B ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON 0x00002000 hall input A ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON 0x00004000 hall input C ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON Oxoo008000 scale pgain vel me 0x00010000 move direction Se ee oe ee Se ee ee pee ee 0x00020000 moving 0x00040000 accel phase de O a a e w a e A e a a e a a 0x00080000 decel phase e ae a Oe e O a a a e a a o o a 0x00100000 homing m ee Ox00200000 feedrateoverride ee 0x00400000 profile mode a es 0x00800000 sync mode wn 0x01000000 cam table enable eee St ee ee ee 4 et ee ee ee ee 0x02000000 homing direction a a e o a a 0x04000000 continuous move gt bo ace ae Ox08000000 queued command me 0x10000000 hold active pa ee ee e a O e l a 0x20000000 aux mode tc a Oe ee Ox40000000 shaper active eo ee ee ee ee eee eC eee 0x80000000 hold queue Bo ge Ate e a a GBO osy a o e i a e o Figure 7 1 AerStat Screen Version 1 4 Aerotech Inc 7 1 AerStat U600 User s Guide 7 2 Overview AerStat has no controls only folder tabs allowing the user to select the parameter to be displayed A false signal or state is indicated by a and a true state is indicated by a ON indicator The unused axes may be slid off the scre
337. locity and distance specified by the jog machine parameters The motion begins when the input becomes True and does not stop unless mode 3 Halt is activated Halt 3 The axes decelerate to a stop C 82 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 69 JoyStickPort The JoyStickPort task parameter specifies the joystick port to be used when the joystick is activated via the CNC Slew command or the RIAction task parameter The default value is 0 for the joystick port on the UNIDEX 600 card to be used Optionally the joystick port may be used on the 4EN PC cards configured as boards 1 through 3 by setting the parameter to through 3 respectively C 4 70 LinearFeedRate This task parameter is the programmed vectorial speed of linear axes in contoured motion G1 G2 G3 G12 and G13 It is normally specified in user units per minute User units are inches in G70 mode and millimeters in G71 mode See the F word documentation for more details on the use of this parameter However note that the units of this parameter will be changed by the UserFeedRateMode task parameter the G93 G94 G95 mode as shown below UserFeedRateMode G93 G94 G95 mode Units of the F word 0 DEFAULT G94 user units minute 1 G93 minutes user unit 2 G95 user units spindle1 revolution 3 G295 user units spindle2 revolution 4 G395 user units spindle3 revolution 5 G495 user units spindle4 revolution The vectorial speed of l
338. log converter used to convert a signed 16 bit number 32 767 through 32 767 to an analog voltage in the range of 10 volts through 10 volts This voltage is applied to the command input of the servo amplifier knowing the G transconductance value of the servo amplifier allows the current Amps output to be calculated Aerotech s amplifiers typically model dependant have a peak output of 20 or 30 amps Simply meaning a 10 volts in to the amplifier will be equal to x amps where x is the peak output current of the servo amplifier This current produces a torque generated by the motor equal to the current multiplied by the K of the motor For example if the peak output command or instantaneous output command from DAC was 16 385 5 volts the amplifier produced 30 amps for an input of 10 volts and the motor had a K of 16 oz in ounce inches per amp then 5 volt command 10 volt max amps input command 30 amps max I output 16 oz in K 240 or 5 10 30 16 240 32 767 10 P 4X Bt t four i e Number DAG i Gm 10 Servo Amplifier Xx 32 767 UNIDEX 600 EE eee Torque Figure 5 6 Closed Loop Torque Mode 5 10 Aerotech Inc Version 1 4 U600 User s Guide AerTune 5 4 Servo Loop Auto Tuning Slaved axes may be AutoTuned but the calculated gains will be entered into the master axis only You
339. lossary of Terms APPENDIX A GLOSSARY OF TERMS In This Section OSIM ILOGUCLIONE eea EEEa ace eee eet ene A 1 A 1 Introduction This appendix contains definition of terms used throughout this manual Active A task is active once a program on its call stack has begun execution A program is active if it is the top program on a task call stack A task or program must be associated before becoming active Associated A task is associated if it has at least one program on its call stack A program is associated if it is on at least one of the task call stacks Asynchronous Motion Non coordinated motion that is independent of CNC execution Axis Index Zero based index used to identify an axis Axis Parameters Parameters that affect the specified physical axis Bind Declaring permanent ownership of a task axis by a task A task binds a task axis Callback A means of communications between the axis processor and frontend Implies the involvement of an interrupt Capture Declaring ownership of a task axis by a task A task captures a task axis Contour Motion Implies CNC Motion commands G1 G2 G3 Download Send Implies communications to the axis processor card Data is always downloaded or sent to the U600 Executing A task is executing if processing the actions of a single program block A program is executing if it is active and a block is being processed by a task Version 1 4 Aerote
340. lue of 5 degrees as the master position to search the table To understand how this parameter functions the reader must be familiar with the operation of the synchronized auxiliary output tables on the UNIDEX 600 Series motion controller In brief each synchronized auxiliary output table entry specifies a master position and a corresponding state for the auxiliary output When the observed master position becomes greater than or equal to that specified in the table entry the output gets set to the appropriate state The only requirement is that the master positions must constantly increase and never repeat This parameter refers to an offset applied to the master position of the auxiliary output table associated with an axis The point at which the table begins and ends is advanced or retarded The user must be aware of the table s setup before setting the value of this parameter C 2 13 AUXVELCMD The AUXVELCMD specifies the source of an external velocity command which is added to the current axis velocity command The AUXVELCMD while active does not change the position command or target of the specified axis Only the actual position of the motor will change in response to AUXVELCMD When AUXVELCMD is disabled set to zero the position command and target are updated to reflect any change in position which may have occurred while AUXVELCMD was active The valid range is 0 to 48 where 0 No auxiliary velocity command is added to the curren
341. lute move to zero However for Library invoked homing the HOMEOFFSET axis parameter is used If using both CNC and Library interfaces simultaneously the user must use the HomeOffset task parameters When using the CNC UNIDEX 600 MMI the HomeOffset task parameter is used 5 However it is overwritten by the HomeOffsetInch or HomeOffsetDeg for rotary axis machine parameters after conversion to machine steps This parameter is the value that will be loaded into the machine position registers at the completion of the home cycle so this parameter should not be set by the user as it will be overwritten C 2 45 HOMESWITCHPOS This axis parameter indicates the resolver value when the home limit switch is encountered This parameter is valid only for axis using resolver based feedback 5 Version 1 4 Aerotech Inc C 23 Parameters U600 User s Guide C 2 46 HOMESWITCHTOL To ensure the accuracy of a resolver based homing sequence there must be a minimum distance between the Home Limit Switch and the resolver null position Otherwise the controller might miss the first resolver null and use the second as the home position before the Home Offset The required distance depends on two factors feedback resolution and home feedrate This parameter specifies the minimum distance in machine steps that must exist between the home limit and the resolver null Failure to maintain this distance causes a HOME_SWITCH_TOLERANCE fault to
342. lute rotor position and then the encoder commutates the motor The channel number specified indicates the Hall effect channel and the encoder channel which will be used to commutate the motor after switching out of the six step commutation mode EncoderHall Channel Assignments Channels through 4 are on the U600 card channels 5 8 are on the 4EN PC card configured as Board 1 channels 9 12 are on the 4EN PC card configured as Board 2 channels 13 16 are on the 4EN PC card configured as Board 3 Brushless Motors w o Hall Effect Feedback Signals Brushless motors may be commutated by the controller even if Hall effect feedback signals are not present To do so configure the axis as though Hall effect signals are present then Use the MSET command to align the absolute rotor position vector Dwell 1 second ENABLE the axis This may be done automatically through a Canned Function ResolverHall A commutation channel number must be specified for the Hall effect sensors to be read This provides the absolute rotor position for initializing and commutating the motor After rotor initialization it will then commutate the motor by the primary feedback device unless a secondary feedback device is present Resolver Channel Assignments Channels 1 4 are on the resolver card RDP PC configured as Board 1 Channels 5 8 are on the RDP PC card configured as Board 2 Channels 9 12 are on the RDP PC card configured as Board 3
343. lute value is used as an acceleration limit for linear axes However instead of forcing the move to decelerate all the way to a stop forcing a G9 it instead forces the move to decelerate only to a speed at which the acceleration limit is not exceeded EXAMPLE G70 G91 G1 inches relative mode linear moves C F600 600 inches minute G108 tell controller to not stop between moves Y10 Move from point A to point B X10 Move from point B to point C Version 1 4 Aerotech Inc C 63 Parameters U600 User s Guide From point A to point B the X axis moves at 600 inches min or 10 inches sec and the Y axis moves at 0 inches sec But from point B to point C X travels at 0 inches sec and Y at 10 inches sec So at point B both the X and Y axes are subjected to a instantaneous change of velocity of 10 inches sec The velocity change cannot of course be instantaneous and the controller will make that change of velocity for each axis in one millisecond so the X axis will generate an acceleration of 10 000 inches sec squared and the Y axis will generate a deceleration of 10 000 inches sec squared However if the BlendMaxAccelLinearIPS2 parameter is set to 1 000 inches sec squared then the controller will force deceleration to a velocity of 60 inches minute at point B therefore generating only a 1 000 inches second squared acceleration deceleration C 4 8 3 Blending Limitations of BlendMaxAccelLinearIPS2 and BlendMax
344. m axes Coord2I Coord2J and Coord2K are used only as axes identifiers of a three dimensional system Any task axis can be assigned to any of the three coordinate system axes This mapping in conjunction with the selected plane see Coord2Plane parameter determine which task axes can be used for circular motion This parameter is 0 based where 0 represents the first axis typically named X The G26 command may be used to assign this parameter more easily within a CNC program however it will not be saved to the task parameter Ini file requiring it to be set within all CNC programs C 4 23 CutterRadiusInch This task parameter specifies the cutter compensation radius in inches When enabled the contoured motion path is compensated by this amount to account for the cutting tool s radius The CutterX and CutterY parameters specify the compensated plane of motion CutterY Compensated A Path Contoured Path gt CutterX Cutter Com pensation Figure C 16 Cutter Compensation Radius Version 1 4 Aerotech Inc C 71 Parameters U600 User s Guide C 4 24 CutterToleranceDeg This task parameter may be used to avoid short circular arc segments known as link moves when operating in cutter compensation around outside comers between nearly parallel moves These short link moves may cause Motion Queue Starvation or the error message Link Arc Degenerates to Line usually due to the Imprecision of Target Values
345. matically determine servo loop gains for a torque mode axis C 44 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 3 Machine Parameters Machine parameters are only used by the CNC interface Unless CNC motion is used these parameters can be ignored These values are used to specify additional information required by the controller to calculate axis motion Each axis has its own set of machine parameters Table C 9 Machine Parameters Name Parameter Access Minimum Maximum Default AvgVelUnits 20 RU lt NA gt lt NA gt lt NA gt AxisState 15 RU 0 2 0 CntsPerDeg 2 RW lt NA gt lt NA gt 25 400 0 CntsPerInch 1 RW lt NA gt lt NA gt 25 4000 0 ControllingTask 16 RU 1 3 1 FixtureOffset 21 RW lt NA gt lt NA gt lt NA gt FixtureOffset2 24 RW lt NA gt lt NA gt lt NA gt FixtureOffset3 25 RW lt NA gt lt NA gt lt NA gt FixtureOffset4 26 RW lt NA gt lt NA gt lt NA gt FixtureOffset5 27 RW lt NA gt lt NA gt lt NA gt FixtureOffset6 28 RW lt NA gt lt NA gt lt NA gt HomeDirection 8 RW 1 1 1 HomeFeedRateIPM __ 9 RW 0 0 1 000 000 120 0 HomeFeedRateRPM 10 RW 0 0 1 000 000 60 0 HomeOffsetDeg 12 RW lt NA gt lt NA gt 0 0 HomeOffsetInch 11 RW lt NA gt lt NA gt 0 0 HomeType 7 RW
346. mation Acceleration Rate Linear Dominant fao 000000 in sec sec Rotary Dominant Jeo 000000 deg sec sec Acceleration Time 0 100000 sec r Deceleration Rate Linear Dominant 20 000000 in sec sec Rotary Dominant Jeo 000000 deg sec sec Deceleration Time Jo 00000 sec Help Axis Complete Cancel lt Back Next gt Finish Figure 12 29 The Synchronous Move Information Screen Version 1 4 Aerotech Inc 12 37 Setup Wizard U600 User s Guide 12 22 Setup Wizard Configuration Complete Select Cancel To Exit Program Without Saving Data Select Finish To Write Data to the Ini Files Download Data to the Unidex 600 Card Help Axis Complete Cancel lt Back Next gt Finish Figure 12 30 The Finish Screen of the Setup Wizard 12 38 Aerotech Inc Version 1 4 U600 User s Guide PrmSetup CHAPTER 13 PRMSETUP In This Section PelMILOGUCHI ONE cette terse rete ct ee a eee erence erent A 13 1 13 1 Introduction The PrmSetup utility is provided when a complete system motors drives tables etc is purchased from Aerotech as a system a single customer order It will install the pre configured Ini files onto your PC It may be distributed on the CD ROM containing the UNIDEX 600 software or on its own Version 1 4 Aerotech Inc 13 1 13 2 Aerotech Inc Version 1 4 U600 User s Guide G
347. mber of axes that may be selected is determined by the Plot Type menu selection Each axis may have its position feedback position command position error velocity feedback velocity command velocity error torque or acceleration selected for display Axis Select Eg X Axis cx 7 x Plot Type Position Command x Y Axis Axis Y Plot Type Position Command OK Cancel Figure 9 2 The Setup Screen of AerPlot3D 9 2 Aerotech Inc Version 1 4 U600 User s Guide AerPlot3D The Axis Min and Max menu selection allows the Min and Max range of the X and Y axes of the plot screen to be defined See Auto Scaling Section 9 2 for more information The Update and Sample Rates menu selections allow the rate at which the items selected for plotting will be sampled and the rate at which the display will be updated by AerPlot3D The Show Min and Max Plotted Values menu selection determines whether the Min and Max Value Plotted Window will be displayed similar to Figure 9 3 allowing you to optionally click the Update X Y and Z buttons to rescale the displayed range of the plot Axis Min Max Travel x x Axis Min Travel linch x Asis Max Travel 2 000 finch Y Axis Min Travel 0 000 finch Y Asis Max Travel 4572000 000 finch OK Cancel Figure 9 3 The Axis Min Max Travel Screen of AerPlot3D 9 1 4 Colors Menu The Colors menu allows you to define the displayed color for the follow
348. me at the left side of the position display within the MDI JOG or Run pages or via the ENABLE command The state of the axes drive enable signals is indicated by bit 0 of their STATUS axis parameter Redefining the ENABLE command as a Canned Function allows a subroutine to be called whenever the drive is enabled This is useful for initializing brushless motors without hall effect feedback sensors present via the MSET command Version 1 4 Aerotech Inc Parameters U600 User s Guide EXAMPLE ENABLE X Y ENABLE the X and Y drives If your DRIVE wont enable it could be due to one of several problems 1 A fault is present Drive Fault etc 2 You have assigned its DAC D2A channel to two or more axes within the Axis Configuration Wizard C 2 32 ECHO This is a dummy parameter It has no effect on the operation of the controller but may be used by the user for storage of data It is essentially equivalent to an axis variable C 2 33 EXTR2DSCL The EXTR2DSCL axis parameter is used to extend the range of the servo loop parameters for dual loop systems using a resolver for velocity feedback For example if the range of the PGAIN parameter is inadequate i e 1 is too little and 2 is too much increase the EXTR2DSCL parameter to an arbitrary value such as 128 Then increase the encoder lines per revolution parameter within the axis configuration proportionally by 128 i e enter a value 128 times greater This wil
349. mented by the controller for each axis It is reset to 0 when the controller s firmware is loaded and can also be reset by the user to any value Therefore it can be used as a clock for relative timing purposes This parameter can be monitored in the AerDebug utility via the ParmMonitor command to verify controller operation If an error is returned by the command then the controller is not running its firmware probably due to a jumper or AerReg operating system registry configuration problem If the parameter is displayed but is not incrementing verify that Jumper JP3 is set to position 1 2 not 2 3 on the UNIDEX 600 controller card EXAMPLES GLOBALO CLOCK X Program start time N001 Run your program here N1000 GLOBALO CLOCK X GLOBALO 1000 global0 now holds elapsed time in seconds between line N001 and N1000 MSGLAMP1 BLUE GLOBALO This line will display global0 value on the MMI panel C 2 25 CWEOT This axis parameter determines the software clockwise end of travel limit The controller will not move to a position that exceeds this value Instead a CW_FAULT occurs each time the user attempts to command a position beyond this value The user must enter the CW end of travel position in machine steps from the home position in the range not exceeding 2 1 Billion 2 E31 1 The CWEOT should always be more positive than the CCWEOT parameter Be sure to set the CW Software Limit bit in the FAULTMASK
350. ming cycle not complete attempted the limits are bad open reversed or there is a hardware problem possibly the reference pulse User fault User error has 1 The frontend application caused this Contact the developer to correct occured fault to be generated it should have handled it the frontend application Version 1 4 Aerotech Inc B 1 Troubleshooting U600 User s Guide Table B 1 Fault Message bold Description Velocity Trap Actual motor Troubleshooting to the Axis Level Possible Problem s Axis servo loop not tuned well enough Possible Solution s 1 Adjust servo loop gains a SafeZone defined by the SafeZone axis parameter safezone defined by the SafeZoneMode SafeZoneCW and the SafeZoneCCW axis parameters modify the SafeZoneMode SafeZoneCW and SafeZoneCCW axis parameters velocity has exceeded VelTrap axis 2 Axis load fuse blown 2 Replace axis load fuse parameter 3 The axis load or friction has increased 3 Increase VelTrap axis parameter Velocity Command Trap 1 The maximum axis commanded 1 Correct program or verify axis Commanded motor velocity has velocity has been exceeded VelCmdTrap axis parameter attempted to exceed VelCmdTrap value axis parameter Home Switch Tolerance The 1 The reference pulse marker or 1 Adjust the feedback device so HomeSwitchTol axis parameter has resolver null is too
351. mmand after the bad configuration attempt EXAMPLE CONFIGENCODER2 40000 current axis will be assigned sencoder channel 2 to receive sposition velocity feedback from feedback will be 4000 counts per smotor revolution software limits sare disabled 4 20 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 6 9 CONFIGHENCODER encoder_ch lines_per_rev hall_lines com_offset comm_ch bounded The CONFIGHENCODER command allows the user to assign an encoder feedback channel to an axis to be used as the position and or velocity feedback for that axis The valid range of encoder feedback channels is determined by the number of encoder feedback channels present in the user s system The lines per revolution parameter indicates the number of lines per revolution of the encoder times 4 The UNIDEX 600 Series controller electronically multiplies the effective line count of the encoder by 4 so the lines per revolution entered should always be four times the physical line count of the encoder The hall_lines parameter specifies the number of encoder lines per electrical cycle of the motor The com_offset parameter allows the resolver to be aligned to the motor phasing by specifying an offset to produce the required mechanical alignment This offset is specified by a 14 bit number 0 16384 with 360 degrees being equal to 16384 The comm_ch parameter specifies the Hall effect feedback channel The bounded parameter is used to a
352. mmand line J Home End Insert Delete PageUp Move cursor one character to right in command line Make the previous command the command line erases current command line Make the next command the command line erases current command line Move cursor to beginning of command line Move cursor to end of command line Toggles insert overstrike mode Deletes character at cursor moves cursor one character to left Make the previous PLAY command the current command erases current command line Retrieve help for the current command line All ASCII characters between are NOT interpreted as a special character As first character in line prefixes a direct memory access command See Command Summary 4 4 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 3 3 Help Typing at the command prompt will produce a list of the available Aerdebug commands Most directly correspond to Aerotech library functions described within the UNIDEX 600 Series Library Reference Manual Section 4 7 in this chapter provides a cross reference between the commands and the library functions To receive more help on a command the user may type that command followed by a question mark ie CMDERR will display a help screen for the CMDERR command Refer to Figure 4 2 for an example EXAMPLES Display help descriptions for all commands PRGCMPL Display help for PRGCMPL command AerD
353. mps error calibration table Table number ENABLEPENDANT Enables the pendant with a given channel number Channel number EXELINE Compile amp Execute a single CNC program line CNC program line EXEPRG Compiles loads associates and executes a program Filespec IOGET Display the value of a virtual I O point BI BO RI RO type point IOMON Monitor the value of a virtual I O point BI BO RI RO type point IOSET Set the value of a virtual I O point BI BO RI RO data MABORT Aborts motion on the current selected axis None MABSOLUTE Moves the axis to the absolute position Position Speed MALTHOME Used reference the axis to an absolute reference point Direction Speed MFREERUN Starts the currently selected axis moving in the specified direction Direction Speed MHALT Decelerates motion on the currently selected axis to zero None MHOLD Feedholds the motion in progress on the currently active axis None MHOME Homes the currently active axis in the specified direction Direction Speed MINCREMENTAL Moves the currently axis in a specified incremental distance Distance Speed MINFEEDSLAVE oe n currently active axis moving the in the specified Distance Speed MNOLIMITHOME Homes the specific axis in the direction and velocity specified Direction Speed MOSCILLATE Continuously cycles the specified distance at a specific velocity Distance Speed MQABSOLUTE Queued version of the MABSOLUTE function Position Velocity MQFLUSH Clears the 16 level deep a
354. multiple axes be moved simultaneously However there are two types of simultaneous motion contoured and non contoured In both types the involved axes begin movement at the same time In contoured movement the speed of the axes is coordinated so that all the axes complete their movement at the same time Contoured movement follows specific controlled paths through the space defined by the axis through which it moves In non contoured moves each axis follows its own dictated speeds independently and may finish their movement at different times All synchronous and asynchronous motion is non contoured except certain motion available from the CNC G1 G2 G3 The term contoured does not apply to cam directed motion since the tables determine the intra axis synchronization 1 5 5 Motion Resolution The servo loop normally runs 4 cycles per millisecond translating velocity and distance commands into motor torques Normally the axis processor generates new velocity and position commands every millisecond which rely upon the user specified profile However in synchronized CNC motion G1 G2 the points lying on the user specified profile are generated every 10 milliseconds and the controller uses cubic splines to generate millisecond values lying between the user specified points Version 1 4 Aerotech Inc 1 7 Introduction and Overview U600 User s Guide 1 6 Faults Faults are generated by the UNIDEX 600 when errant or unusual
355. n Z Figure 5 23 Amplifier Potentiometer Layout 5 34 Aerotech Inc Version 1 4 U600 User s Guide AerTune 5 The initial setting of the Current Limit potentiometer is based upon the peak current rating of the motor If the user has a motor with a 10A peak current rating and a DS16020 which has a maximum current output of 20A set the Current Limit potentiometer to midway for a representation of 10A Then back it off 1 8 turn in the CW direction Full CW sets the minimum current and full CCW the maximum Adjust the Servo Gain AC gain potentiometer on the amplifier by first enabling the axis and then turning the potentiometer CCW until the motor oscillates i e the axis vibrates The motor will produce a screeching sound when it oscillates Back the gain off by turning it 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 Prepare the AerTune utility for tuning by performing the following steps a b c Press the maximize button on the AerTune Window so that its window fills the entire screen Use the Select pull down menu to select the axis to be tuned Use the Show pull down menu to select Velocity Command and Position Error Set the Distance and Speed entry fields for a typical move profile Define the desired AccelMode and DecelModes and enter the appropriate Accel Decel Rate Times into the dialog boxes When
356. n rollover Distances and velocities that are not expressed in machine counts will be expressed as this parameter dictates Distances for linear Type axis are in inches mm G70 G71 and distances for rotary Type axis are in degrees Velocities for linear Type axes are in inches or mm per minute see G70 G71 velocities for rotary Type axis are in RPM Many parameters have parallel parameters dependent on the axis Type For example a rotary Type axis uses the HomeFeedRateRPM parameter while a linear type axis uses the HomeFeedRateIPM parameter Furthermore rotary type axes may have their reported position modulo to 360 degrees Rotary type axes may also modulo absolute target positions to 360 degrees Absolute target positions include MOVETO targets and G0 G1 G2 G3 targets when you are in G90 mode For example G90 A500 where A is a rotary axis moves to 140 degrees Use non modulo rotary type 2 to prevent modulo position rollover The error Parameter too high can occur when setting this parameter from a CNC program The message may not refer to this parameter but can also refer to the 5 MaxFeedrateIPM and MaxFeedRateRPM machine parameters which are reset when this parameter is set Version 1 4 Aerotech Inc C 55 Parameters U600 User s Guide C 3 35 Unused Axis This machine parameter is used in very limited circumstances to provide a method for people to mix C programming calls with CNC programs By settin
357. n the increased performance in others C 76 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 42 ExecuteNumMonitors This task parameter controls the execution priority of the monitor commands relative to task program execution Normally the task will test all ON monitors for a given task once each task cycle If this is set non zero then it will test only that number of monitors each task poll cycle For example if this is set to 3 and there are 8 monitors then the first task cycle will test monitors 1 2 and 3 the second task cycle will test monitors 4 5 and 6 the third task cycle will test monitors 7 and 8 The fourth task cycle will test monitors 1 2 and 3 and so on The time to complete one task cycle may be determined by the AvgPollTimeSec global parameter C 4 43 ExecuteNumSpindles This task parameter defines the number of spindles available to each task You must increase this from 1 in order to use one of the three additional spindles For example this must be set to 2 3 or 4 to use Spindle 2 Keep this value as low as possible in order to improve task polling and profiling efficiency C 4 44 FeedHold This task parameter provides software feedhold control of a task A value of 1 activates feedhold and a value of zero disables feedhold or releases it This parameter s feedhold action is logically OR ed with the state of the hardware feedhold input if it is defined
358. nant moves while the rotary AccelRateDPS2 DecelRateDPS2 rates are used for rotary dominant moves Refer to the G98 G99 command for information on rotary linear axes dominance The units will always be in Inches per second squared regardless of the current G70 G71 metric english mode When accelerating decelerating in rate based mode the controller will not perform the acceleration deceleration in a time period that is shorter than the UpdateTimeSec task parameter value Therefore for high rates of acceleration deceleration and or 5 acceleration decelerations between very similar speeds the rate can be less than that specified C 4 5 AccelTimeSec This task parameter specifies the acceleration time in seconds used by the controller for contoured motion acceleration G1 G2 G3 G12 and G13 The G67 mode must be set Otherwise G68 will be active and the acceleration will be rate based and one of the acceleration rate task parameters will be used Version 1 4 Aerotech Inc C 61 Parameters U600 User s Guide C 4 6 AnalogMFOInput This task parameter specifies which analog input channel is used to update the MFO task parameter A value of 1 disables the analog MFO input However when this parameter is set to a valid analog input that will be used to automatically update the MFO parameter When under control of the AnalogMFOInput the MFO parameter cannot exceed a value of 2 The analog input is averaged over 100 milli
359. nc 2 3 Getting Started U600 User s Guide Global parameters are a collection of miscellaneous parameters relating to the controller as a whole such as servo update rate 2 1 2 2 Bit Masks Many parameters are bitmasks most notably the fault masks A bitmask is a conglomerate of binary zero or one values Each binary digit represents one value which is accessed by or set by using the appropriate mask for that bit The term bit 0 the first bit always applies to the least significant bit in other words the bit whose mask is 1 It is assumed that the reader is familiar with how to use hexadecimal masks and bitwise ORs ANDs and NOTs to read and set bitmask values Table 2 3 Hexadecimal values of Bit Numbers Bit Number Mask hexadecimal value 0 0x1 1 0x2 2 0x4 Table 2 3 indicates the hexadecimal values are preceded by a 0x This is the convention used throughout this and all other UNIDEX 600 Series manuals However the syntax for specifying hexadecimal numbers within the UNIDEX 600 Series programming language is Oh i e OhF 15 decimal 2 1 2 3 Faults Faults are the mechanism that the UNIDEX 600 uses to detect errant conditions It is crucial that the fault values and masks be setup properly before moving axes in order to avoid damaging or destroying hardware Fault masks are essential for safe and accurate operation of the UNIDEX 600 controller Refer to Section 2 6 for detail
360. nce of the motion generated by a UNIDEX 600 Series controller The utility allows multiple windows to be displayed providing a separate window for each axis Each window allows a single step or continuous cycle command to be generated for an axis to simulate a typical move profile for the users desired application This will allow the response of the axis to be graphically displayed and adjusted accordingly All U600 Series controllers use the same PIDF servo loop with velocity and acceleration feedforward Version 1 4 Aerotech Inc 5 1 AerTune U600 User s Guide 5 2 The Main Window of the AerTune Program The menu selections for the main window will be described in the following sections Lk ne c auc Lumplatl dat a fallin ome HH re Fa ie om 1 1a 150 200 ij 30 oo io TE 00 Jia Time sec Figure 5 1 AerTune Main Window 5 2 1 The Help Menu The Help menu displays the online help for AerTune 5 2 2 The File Menu The AerTune utility allows the user to observe and fine tune the performance of the axes This is accomplished by allowing the user to command motion and or capture data from the axis The AerPlot utility may be used to plat multiple axes simultaneously See the DATASTART command for triggering data collection from a CNC program This utility may not collect data while AerPlot AerTune AerPlot3D or AerPlotIO are collecting data The File menu allows plots to be saved loaded an
361. nd or acceleration decelerations between very similar speeds the rate can be less than that specified C 74 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 36 DecelTimeSec This task parameter specifies the deceleration rate in seconds used by the controller for contoured motion deceleration The G67 mode must be set otherwise G68 will be active and the deceleration will be rate based and the DecelRate parameters will be used C 4 37 DryRunLinearFeedRateIPM This task parameter is used as the feedrate for linear Type axes in the Dry Run mode G116 The units are in IPM This parameter has no effect on GO commands or asynchronous motion commands C 4 38 DryRunRotaryFeedRateRPM This task parameter is used as the feedrate for rotary Type axes in the Dry Run mode G116 The units are in RPM This parameter has no effect on GO commands or asynchronous motion commands C 4 39 ErrCode This task parameter is set by the indicated commands such as FILEOPEN DATASTART etc to return an error code to the CNC program for unsuccessful commands It must be tested immediately following a command which indicates it sets this task parameter Otherwise another command may subsequently be executed and successfully completed by setting this variable to a non error value masking the first error The meaning of the value of this parameter can be determined by setting the TaskFault task parameter equal to the value of the Er
362. nds such as DB DW DL MB MW ML RB RW RL WB WW and WL specifying that the memory operation should not be performed via the firmware resident on the UNIDEX 600 Series controller Instead the operation will be performed by configuring the U600 memory interface hardware directly and performed solely under the control of the PC software This permits lower level testing and debugging of the controller not normally performed by the user EXAMPLES IDB 80c display byte of memory at 80c IMW 10000 monitor word of memory at 10000 WL 20000 abce4231 write long word of memory at 20000 to abce4231 4 6 3 TI Tests the PC interrupt Reports no error or error message if any EXAMPLE ITI 4 6 4 AX axis_number The AX command is used to display or change the current axis that the AerDebug commands act upon Entering the AX command without an axis number will display the current axis number that the command will act upon Specifying an axis number following the AX command will instruct AerDebug to direct all further commands to the specified axis The range of valid axes is 1 through 16 EXAMPLES AX displays current axis mode AX 2 sets current axis mode to axis 2 4 18 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 6 5 CMDERR axis_number The CMDERR command displays the last command error that occurred for the specified axis number The range of valid axes is through 16 This information is not
363. ne 1 comprised of the axes defined by the Coord2I and Coord2J task parameters Figure C 14 Refer to Figure C 15 also Version 1 4 Aerotech Inc C 69 Parameters U600 User s Guide Coord2J Plane 1 Plane 2 Coordal Coord2uJ Coord2K Coord2l CD Coord2l Plane 3 Coord2J Coord2K Figure C 14 Coordinate System 2 Orientation Clockwise or G2 Motion Coord2K C 4 19 1 Clockwise Circular Axes Plane By default this command will produce circular motion in the X and Y axis plane as shown in Figure C 15 However this command can produce motion in any one of three planes where each plane is defined by two of the three axes of the coordinate system The three axes of coordinate system 1 and 2 are defined by the G16 and G26 commands respectively The 2 axes plane that is used within coordinate system and 2 is selected by the G17 G18 G19 and G27 G28 G29 commands respectively G17 G18 G19 K J Y Ti gt gt l K J Figure C 15 Orientation of G2 in various planes in Coordinate System 2 C 4 20 Coord2I This task parameter specifies which task axis is the Coord2I axis for coordinate system 2 This axis must be a linear type The task X axis does not have to be the Coord2I axis Coordinate system axes Coord2I Coord2J and Coord2K are used only as axes identifiers of a three dimensional system Any task axis can be assigned to any of the three coordinate system axes This mapping in conjunction with the sel
364. neous commanded position and actual position exceeds the amount specified in the POSERRLIMIT parameter RMS Current Limit Average current exceeds the amount specified in the JAVGLIMIT parameter averaged over JAVGTIME parameter 0x4 CW Hard Limit The system encountered the CW clockwise limit switch see IOLEVEL parameter io 0x8 CCW Hard Limit The system encountered a CCW counter clockwise limit switch see IOLEVEL parameter 0x10 CW Soft Limit The user commanded an axis to move beyond the position specified in the CWEOT clockwise end of travel axis parameter 0x20 CCW Soft Limit The user commanded the axis to move beyond the position specified in the CCWEOT counter clockwise end of travel axis parameter Drive Fault Drive fault input see JOLEVEL parameter However after clearing the drive fault input this bit continues to reflect the fact that the fault occurred 0x80 Feedback Fault Feedback failure input from the feedback associated with the axis This typically occurs when the feedback device is not functioning properly or the feedback cable is disconnected 0x100 6 0x40 Programming Fault Axis processor received an invalid command from the PC host These only occur when processing programming commands from programs running on the PC U600MMI AerDebug Refer to the UNIDEX 600 Series Library Reference P N EDU156 under Programming
365. nes what time period to average the instantaneous current ICMD An RMS current limit fault occurs if the RMS average exceeds the limit set by this parameter As with the IMAX parameter the range of this parameter is 0 to 32 767 where 10 volts is represented by the value 32 767 To set this parameter determine the command voltage that the amplifier requires to produce the desired maximum RMS motor current IAVGLIMIT MaxV 10 32767 where MaxV is the voltage into the amplifier producing the peak of the desired maximum RMS current level For example the torque applied to the motor in torque mode may be easily calculated for brush or brushless motors knowing a few parameter values and the Kr motor torque constant The UNIDEX 600 650 Controllers have a 16 bit Digital to Analog converter used to convert a signed 16 bit number 32 767 through 32 767 to an analog voltage in C 24 Aerotech Inc Version 1 4 U600 User s Guide Parameters the range of 10 volts through 10 volts This voltage is applied to the command input of the servo amplifier knowing the G transconductance value of the servo amplifier allows the current Amperes output to be calculated Aerotech s amplifiers typically model dependant have a peak output current of 20 or 30 amperes Simply meaning a 10 volts in to the amplifier will be equal to x amperes where x is the peak output current of the servo amplifier This current produces a torque
366. ng CNC program execution or the statement can not be completed immediately a G1 G2 G3 G4 M3 etc or any other statement requiring a certain amount of time then that task will stop trying to execute lines and release execution to the next task Setting ExecuteNumLines gt 0 for a given task increases the execution speed of that task relative to the other tasks if it is executing CNC statements that can be completed immediately If ExecuteNumLines lt 0 for a task then it will behave as described for ExecuteNumLines gt 0 with the number of lines to execute being the absolute value of the parameter value except that it will not stop executing for a statement that can not be completed immediately a G1 G2 G3 G4 M3 etc These settings are more drastic than their corresponding positive values and will increase the execution speed of the current task However negative values are drastic and high negative values will starve everything else including library calling applications like the MMI600 High negative values will cause the MMI600 to freeze up The user should be warned that changing this parameter especially to negative values can adversely effect the performance of any critical controller function such as I O or ESTOP monitoring as well as the update rate of the positions in the UNIDEX 600 MMI The user must understand the tradeoffs involved and be willing to accept reduced performance is some areas in order to obtai
367. ng a bit to one 1 means it is active high setting it to zero 0 means it is active low The easiest way to set the JOLEVEL axis parameter is to observe the state of these signals as reported by the Aerotech controller this is easily done using the AerStat utility program and then viewing the Axis Status tab and insure that these reported signals agree with the hardware If a signal does not agree then invert its bit in the JOLEVEL axis parameter this will invert the active state of that signal For example if the drive unit indicates via the LED that it is not enabled but AerStat indicates that the drive is enabled then flip the first bit in the JOLEVEL axis parameter i e add 1 if JOLEVEL is a multiple of 2 else subtract one 2 6 Axis Faults Certain conditions such as excessive position error or EOT limits being hit are continuously checked periodically on all axes in a tight or fast loop ten millisecond cycle time If any of these conditions occur then an axis fault exists on that axis Multiple axis faults can exist concurrently on the same axis Using the six fault masks the user defines what is to be done if anything when axis faults occur Usually these actions are conditions such as disabling or halting the drives or applying a brake It is crucial that the fault masks are setup properly before moving axes in order to avoid damaging or destroying hardware Fault masks are essential to the safe and 5 accurate op
368. nloading the firmware 2 Configuring the axes for the types of feedback transducers and motors present 3 Setting all applicable axis parameters 4 Running motion commands 5 Fault Handling Opening a path of communication to the card and downloading the axis firmware is achieved by executing two commands e AerSysOpen e AerSysDownLoad After executing these commands the UNIDEX controller is ready to accept all other function calls The AerSysDownLoad statement only has to execute once to bring the controller out of the reset state AerSysReset can be used to return the processor to the reset state Specific function calls have been provided for the configuration of the most commonly used feedback devices such as encoders and resolvers for commutated and non commutated motors Also functions have been defined to permit dual feedback transducers one for position feedback and one for velocity feedback on a per axis basis All these functions are prefixed by AerConfig Function calls exist for setting and retrieving Axis Task Gobal and Machine parameters The programmer can choose to implement their own parameter management mechanism i e writing and reading parameter values from files hard code parameters in the application program or use the Aerotech provided parameter file management mechanisms All these functions are prefixed by AerParam Motion commands consist mainly of synchronous async
369. nts per motor srevolution there are 1000 encoder lines per selectrical cycle the sresolver is 180 electrical degrees 8192 out of sphase with the motor shall effect channel 3 is sused software limits are senabled 4 22 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 6 11 CONFIGREAD filespec The CONFIGREAD command configures an axis from the specified INI file The INI file is written with the CONFIGWRITE command after manually configuring the axis the first time EXAMPLE AX 1 Set axis to configure CONFIGREAD AxisCfg ini configure axis from AxisCfg ini file 4 6 12 CONFIGRESOLVER resolver_ch resolution poles com_offset bounded The CONFIGRESOLVER command allows the user to assign a resolver feedback channel to an axis to be used as the position and or velocity feedback for that axis The valid range of resolver feedback channels is determined by the number of resolver feedback cards present in the user s system The resolution parameter specifies the desired counts per revolution of the motor that the user s R D card has been configured for This is entered as 10 12 14 or 16 These numbers represent binary powers of two ie 21 p 2 or ay which produce 1024 4096 16384 or 65536 counts per motor revolution The com_offset parameter allows the resolver to be aligned to the motor phasing by specifying an offset to produce the required mechanical alignment This offset is specified by a
370. ny task fault For example if the taskfault bit is set for ABORTMASK of axis 1 then a task fault causes axis 1 to abort its motion Unlike axis faults the user cannot impose different actions based on different types of task faults E Version 1 4 Aerotech Inc 1 9 Introduction and Overview U600 User s Guide 1 7 Option Ordering Information Software options available in addition to the base package are shown in Table 1 4 Table 1 4 Available Software Options Part Number Description MMI600 NT CNC MMI for Windows NT 95 SDK600 NT Software Development Kit for Windows NT 95 MMISRC600 NT Source Code for Aerotech s MMI600 NT CNC Application CIMLITE Computer Integrated Manufacturing Software CIMCAD Computer Integrated Design amp Manufacturing Software Custom Turnkey Applications per Customer Requirements S Refer to the U600 hardware manual EDU 154 for information on hardware options VVV 1 10 Aerotech Inc Version 1 4 U600 User s Guide Getting Started CHAPTER 2 GETTING STARTED In This Section OM SINTOGUCH OM ere e teen eee ee ete rte eter eee 2 1 Minimum Requirement cooo OEO CEDi 2 2 e Software Installation cecccesssseceesteceessteeeeerees 2 5 eT AXIS Configuration oe a eee cere eee 2 7 e Motor Units Resolution and Direction 2 10 eR DrnvesSi1Omal Speers eee oe eee 2 11 St AKIS Fa ee neon ee cera nae oem 2 11 On Sk AaS A eae aes eee 2 18
371. o that the window fills the entire screen b Use the Select pull down menu to select the axis to be tuned c Use the Show pull down menu and select Velocity Command Velocity Error and Position Error d Set the Distance and Speed entry fields for a typical move profile define the desired ACCELMODE and DECELMODE and enter the appropriate Accel Decel Rate Times into the dialog boxes When the user selects the Step or Step button the axis moves the specified distance and direction determined by the Step buttons positive or negative 4 Adjust the Velocity Loop using Kp The PGain and Ki have been set to zero 0 to eliminate the Position Loop Thus the only servo loop gain having any effect is Kp 5 22 Aerotech Inc Version 1 4 U600 User s Guide AerTune Even though the user may only be concerned with how well the axis positions the Velocity Loop cannot be overlooked as it is the basis for positioning because Distance Velocity Time The better an axis tracks velocity the closer it will be to its commanded position The objective while adjusting Kp is to minimize the velocity error Typically the error may be reduced to roughly 5 20 machine counts The velocity error will not be eliminated completely Ki will help to accomplish this Also most users desire the axis to have a high degree of stiffness As Kp is increased observe that the motor shaft or drive screw becoming increasingly st
372. occur OS This parameter is valid only for axis using resolver based feedback Be sure to set the Home Switch Tolerance bit in the FAULTMASK axis parameter to enable the detection of this fault then set the bit in the appropriate mask parameter DISABLEMASK HALTMASK AUXMASK ABORTMASK INTMASK and BRAKEMASK for the action to occur on this fault C 2 47 HOMEVELMULT This axis parameter is used to scale the velocity during the home cycle after the home limit has been found while the marker or resolver null search is in progress This allows a high speed search for the home limit and a slower speed search for the marker providing a quick and accurate home cycle For example a value of 1 represents 1 of the commanded home velocity HomeFeedRateIPM or HomeFeedRateRPM task parameters during the marker search portion of the home cycle The default value of 100 represents 100 of the commanded home velocity during the marker search portion of the home cycle C 2 48 IAVG The IAVG axis parameter is the actual current of the axis averaged over a time determined by the IAVGTIME parameter Units are in D A DAC counts where 32 767 represents 10 volts out of the D A which translates into peak current by the amplifier This parameter is a read only parameter C 2 49 IAVGLIMIT This axis parameter detects an over current condition based upon the setting of the IAVGTIME parameter The value specified in the IAVGTIME parameter determi
373. ocity in the current mode linear sinusoidal rate time The current mode is determined by the accelmode axis parameter The current acceleration rate and time is determined by the accelrate and accel axis parameters respectively This command has no effect on an axis that is not in the feedhold mode EXAMPLE MRELEASE 4 6 50 MB address The MB command monitors the value of a byte at the specified address EXAMPLE MB 80c monitor a byte of data at 80c 4 6 51 MEM The MEM command selects the memory command prompt mode that is used for executing memory commands EXAMPLE MEM switch to memory mode 4 34 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 6 52 ML address The ML command monitors the value of a long word at the specified address EXAMPLE ML 80c monitor a Long word of data at 80c 4 6 53 MW address The MW command monitors the value of a word at the specified address EXAMPLE MW 80c monitor a Word of data at 80c 4 6 54 OUTON filespec The OUTON command echoes all output sent to the data screen to the specified file This includes the prompt commands typed bad commands and the terminating OUTOFF command When executing the OUTON command the prompt will change from AX1 gt to AX1 filename gt indicating the filename within brackets between the current prompt AX or MEM and the gt EXAMPLE OUTON myfile dat echo output to myfile dat 4 6 55 OUTOFF Z
374. ode may also be toggled by the G130 G131 G codes Normally a 4KHz servo loop update rate is desirable to give the fastest possible rate of position error correction resulting in the highest degree of accuracy to the commanded motion This is almost a necessity for systems with one or more axes having a system resolution of 1 micron or less However if the controller is over loaded and having difficulty in completing tasks other than closing the servo loop then a 1KHz servo loop interrupt should be considered This will be obvious if CNC Profile Queue Starvation error message is displayed or motion is discontinuous The trade off is that a 1Khz loop will result in a lower rate of servo loop update The AvgPollTimeSec task parameter is an excellent indicator of how much time is left for operations other than the servo loop Conditions that may indicate difficulty in completing tasks other than closing the servo loop indicating the need for a 1KHz interrupt include 1 Motion Queue Starvation 2 Motion is discontinuous 3 Locking up or slow response of the UNIDEX 600 MMI during motion Another use for the 1KHz setting is to reduce noise in low resolution encoder systems When the servo loop is updated at 4 kHz and the feedback is of low resolution greater than 1 micron step size the resulting corrections may contain a audible high frequency oscillation Selecting the 1 kHz update rate slows done the rate of correction thus
375. oller The file will be written to the current directory unless a path is provided in the filespec The file will have the file extension specified by the filespec A new or existing file may be specified The same file may contain configurations for multiple axes CONFIGWRITE filespec where filespec Filespec specifies the name of the configuration file to write to 4 10 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 4 2 Faults Errors and Faultmasks Each axis uses a series of masks to enable or disable faults and to invoke protective measures e g drive disabling or halting axis motion These masks are FAULTMASK HALTMASK DISABLEMASK INTMASK AUXMASK ABORTMASK and BRAKEMASK The occurrence of axis faults and programming errors are not immediately reported to the user through AerDebug 5 Notification does not occur because AerDebug would have to set the INTMASK to enable interrupts and claim that hardware interrupt under Windows NT 95 Enabling and claiming the interrupt may conflict with a user s application causing undesirable and unpredictable results For a full description of faultmasks refer to Chapter 2 Getting Started Section 2 6 2 4 4 2 1 Acknowledging and Clearing Faults AerDebug does not inform the user when the fault occurs The user must query the system with the TskInfo command or the PARMGET A FAULT command which returns any active faults Faults are acknowledged or cleared
376. on but no motion occurs This axis parameter is used to implement Simulation mode parameter value 1 While this parameter s value is non zero the motor s torque remains steady holding the axis in position but no axis motion occurs While executing a CNC program on a simulated axis the controller performs all calculations normally but the torque command never reaches the motor Instead the torque serves as the feedback for this axis effectively creating a system free from velocity error While moving an axis in simulation mode the velocity and position commands behave normally but the position remains constant and the velocity is zero All other features such as data acquisition continue to function normally Setting this parameter to zero disables the simulation mode while a one enables it The default is to disable the simulation mode You should not modify the simulation axis parameter while the axis is in motion Setting this parameter to two activates machine lock which updates the machines internal positions for the new current position Alternatively an axis may be configured as a virtual axis for debugging purposes In this mode SIMULATION has no effect C 2 94 SOFTLIMITMODE This axis parameter sets the active mode for the software limits defined by the CWEOT and CCWEOT parameters as well as the safe zones defined by the SAFEZONECW SAFEZONECCW and SAFEZONEMODE parameters In many systems the current absolute
377. on POS may differ at any given time based on the mechanics of the system The PositionCmdUnits machine parameter provides the command position in user units C 2 74 POSERR The position error is the instantaneous difference in counts between the commanded position POSCMD and the actual position POS POSERR POSCMD POS this axis parameter is continuously updated on each servo loop cycle Version 1 4 Aerotech Inc C 33 Parameters U600 User s Guide C 2 75 POSERRLIMIT This axis parameter determines the maximum absolute position error that can occur on an axis before it generates a position error limit axis fault The units of this axis parameter are machine counts Be sure to set the Position Error Limit bit in the FAULTMASK axis parameter to enable the detection of this fault then set the bit in the appropriate mask parameter DISABLEMASK HALTMASK AUXMASK ABORTMASK INTMASK and BRAKEMASK for the action to occur on this fault C 2 76 POSTARGET The position target axis parameter is the position targeted by the servo loop for a particular move This parameter is updated only when a move begins If the move is a free run type move with no target similar to the STRM CNC command this parameter is not updated also this parameter will be zero during contoured motion G1 G2 G3 etc or Cam table motion since it is not used during contoured motion C 2 77 POSTOGO The position to go axis parameter indicates th
378. oolbars to be displayed across the top of the plot below the menu Sec_Num_FFT Analysis The FFT Analysis menu selection see Section 5 3 2 The Hard Reset menu selection allows the controller to be reset to its power up state This selection should not be used The Fault Acknowledge selection will attempt to acknowledge and clear any faults that are present The Fault Ack button on the status tool bar will also attempt to clear the faults The Auto Tune menu selection see Section 5 4 5 3 Using AerTune Within AerTune there are various controls for exercising the axis These include Step and Step buttons for moving the axis the incremental distance specified by the Step Move parameters There is also an Auto button for initiating an auto cycle of the axis which will cycle the axis back and forth by the amount in the distance entry field The initial direction is determined by the button selected either plus or minus The axis may be stopped during a move by selecting the Halt button A button is also provided for enabling disabling the axis The Clear button will clear any faults and their associated messages that may occur while exercising the axis The Step Move parameters allow the user to define a move profile typical to the desired application The Distance and Speed are specified in machine steps and machine steps per second All other Move parameters are the respective axis parameters for the axis For additional informat
379. oop Open Loop Velocity Mode sesesseseseeeseeeeseereeeeeseee 5 17 Figure 5 10 Servo Loop Velocity Mode Closed Loop eeeeeeseeeseeeeeerees 5 18 Figure 5 11 Flowchart of Overall Tuning Process cece eeseeeeeeeeeereeereeeeeeeeees 5 21 Figure 5 12 Unacceptable Velocity Error 0 0 cece eeeeeceeceeseesecesecesecsseenaeenaes 5 24 Figure 5 13 Acceptable Velocity Error While Adjusting Kp 0 0 eee 5 24 Figure 5 14 Unacceptable Position Error While Adjusting Ki 5 25 Figure 5 15 Acceptable Position Error While Adjusting Ki eee 5 25 Figure 5 16 Plot Showing an Appropriate Value for PGain ee eee 5 26 Figure 5 17 Plot Showing Overall Effects when PGain is High ee 5 26 Figure 5 18 Plot Showing Velocity Feedforward Enabled Vff 1 5 27 Figure 5 19 Plot Showing Optimal AffGain Adjustment 0 0 eee eee 5 28 Figure 5 20 Plot Showing Final Performance of ATS3220140P X axis table with a BM130 motor and an AS32030 amplifier 5 28 Figure 5 21 Flowchart of Overall Tachometer Tuning Process eee 5 32 Figure 5 22 Cross Section of the DS16020 16030 Amplifier eee 5 34 Figure 5 23 Amplifier Potentiometer Layout eee eeeeeeesceseceseceseceseenseesaes 5 34 Figure 5 24 Oscilloscope Showing Current Feedback for One Move 5 37 Figure 6 1 ACrPlot Screenics sscesszesoesisgck erari sa TEs EESE Eo ETES ENE S ATE REESE ists 6 1 Figure 6 2 Plot Selection Wind Wisi nerne e
380. or While Adjusting Ki Depending on the application the user does not need to be too concerned with vibration in the axis However when the position error crosses through zero it indicates the velocity loop gain is too high especially if maintaining position is important to the user This zero crossing or position overshoot causes the settling time to increase and the PGain within the position loop to be increased to keep the motor on its desired trajectory The two servo loop gains are in effect working against each other instead of complimenting each other Shown in Figure 5 15 is a graph with Ki adjusted more optimally Observing the position error it is smoother and the position error does not cross through zero indicating positional overshoot Likewise the velocity error has been reduced Version 1 4 Aerotech Inc 5 25 AerTune U600 User s Guide 5 Adjust the servo loops position gain by varying the PGain Use an initial value of 1 4 for PGain As PGain is increased observe that the position error is reduced The objective is to adjust PGain until the position error is within an acceptable range for the user or an oscillation occurs As previously mentioned if PGain is too high the user will encounter a high frequency oscillation axis vibrates strongly This causes the UNIDEX 600 to generate an TAvgLimit fault which indicates that the continuous current rating of the motor has been exceeded the JAvgLimit fault is ess
381. or information in the online help file Enter the continuous current rating of your motor see Aerotech Motor Information in the online help file Enter the desired period in milliseconds that the continuous RMS current should be calculated over Optionally you may override the calculated values shown in the gray fields at the bottom of the screen This is done by selecting the Override Calculated Limits checkbox This will un gray the I Max and I Avg Limit fields allowing you to enter values overriding those that were calculated for these fields Setup Wizard Configuring Axis X m Calculate Current Limits Amplifier Peak Current Rating Amps Amplifier Continuous Current Rating fisoo Amps Motor Peak Current Rating 5 00 Amps Motor Continuous RMS Current Rating facooo Amps Time Period Used in RMS Calculation pooo ooo mSec m Current Limits I Override Calculated Limits IMax l vgLimit Help Axis Complete Cancel lt Back Next gt Finish Figure 12 25 The Current Limit Configuration Screen Version 1 4 Aerotech Inc 12 33 Setup Wizard U600 User s Guide 12 18 Axis Configuration Complete When all of the axes have been configured continue with the next step to configure the other task and global parameters Clicking Next will automatically bring you back to the beginning of the next axis configuration if there are more axes to be configured
382. or rotary axes inches for linear axes when the task is in G70 mode millimeters for linear axes when the task is in G71 mode The POS axis parameter indicates actual position in machine counts and may also be used to set the position directly Note this parameter may be selected for display on the position tracking display of the UNIDEX 600 MMI by selecting machine from the column display selection key of the position display configuration page C 3 29 PresetCmdUnits This machine parameter indicates the preset position register in user units This value is updated continuously by the servo loop This position is shown relative to any offset value G92 C 3 30 RapidFeedRateIPM This machine parameter specifies the feedrate to be used by the controller for rapid or point to point G0 motion the maximum feedrate that may be commanded by the optional joystick as well as the maximum velocity for jogging the axes within the jog page of the UNIDEX 600 MMI This feedrate is only used for linear axes as defined by the Type machine parameter C 3 31 RapidFeedRateRPM This machine parameter specifies the feedrate to be used by the controller for rapid or point to point G0 motion the maximum feedrate that may be commanded by the optional joystick as well as the maximum velocity for jogging the axes within the jog page of the UNIDEX 600 MMI This feedrate is only used for rotary axes as defined by the Type machine parameter C 3 32 R
383. ormation about the Filter utility This program calculates values for the second order of digital filter CHAPTER 12 SETUP WIZ This chapter contains information about the Setup Wiz utility This program allows you to configure your controller with English text prompts for required parameters CHAPTER 13 PRMSETUP This chapter contains information about the PrmSetup utility This program will install the pre configured Ini files onto your PC APPENDIX A GLOSSARY OF TERMS Appendix A contains a list of definitions of terms used in this manual APPENDIX B TROUBLESHOOTING Appendix B contains information on troubleshooting the most common problems when using the UNIDEX 600 Series motion controllers APPENDIX C PARAMETERS Appendix C contains all the available parameters used by the UNIDEX 600 Series controllers APPENDIX D WARRANTY AND FIELD SERVICE Appendix D contains the warranty and field service policy for Aerotech products 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 of the reference CUSTOMER SURVEY FORM A customer survey form is included at the end of this manual for the reader s comments and suggestions about this manual Reader s are encouraged to critique the manual and offer their feedback by completing the form and either mailing or faxing it to Aerotech
384. otary axes axes whose Type machine parameter is greater than 0 For brushless linear motors the value entered here is the number of counts per electrical cycle of the motor Normally this parameter is automatically set by the Parameter Configuration Wizard during the motor configuration process This parameter should not be changed during program execution doing so may cause unusual motion Use the ScaleFactor task machine parameter to rescale the system coordinates during program execution C 46 Aerotech Inc Version 1 4 U600 User s Guide Parameters The error Parameter too high can occur when setting this parameter from a CNC program The message may not refer to this parameter but can also refer to the 5 MaxFeedRateRPM machine parameter which is reset when this parameter is set C 3 5 CntsPerInch This machine parameter is used by the CNC interface to convert user units into machine steps it is specified in counts per inch even if programming in millimeters G71 The sign of this parameter determines motor direction a positive value indicates that a positive command will cause motion in the CW motor direction A negative value indicates a positive command will cause motion in the CCW motor direction which will cause the end of travel limits to appear to be inverted A negative scale factor will cause a more positive display position to encounter the CCW limit and a more negative position will encounter th
385. ould be entered as 4000 Assume there were 123 33333 counts per electrical cycle on a linear motor Set the lines revolution to 370 and Pole Pairs to 3 370 123 33333 3 Number of Pole Pairs The number of Pole Pairs is the number of permanent magnetic poles expressed as pole pairs that an Aerotech motor has Commutation Offset The commutation offset indicates the number of electrical degrees to align the absolute rotor reference provided by the commutation channel to the rotor of the motor The offset is entered as counts ratioed to 1024 and may be positive or negative A 360 offset is equal to 1024 A 10 offset may be calculated as 10 360 1024 28 Bounded by Software Limits The Bounded by Software Limits field within the Axis Configuration Wizard is used to specify if software limits are to be activated for the axis true or false may be selected The software limits are defined by the CWEOT and CCWEOT axis parameters 12 4 6 4 Resolver Configuration or Inductosyn Channel Number The channel number specifies the channel number that the encoder feedback device will be read from for this axis as well as the specific I O CW CCW Home Limits encoder fault drive fault Auxiliary Mode output and the drive enable Encoder Channel Assignments Channels 1 through 4 are on the UNIDEX 600 card channels 5 through 8 are on the 4EN PC card configured as Board 1 channels 9 through 12 are on the 4EN PC card configured
386. ous aspects of the controllers use hardware or programming some of which are included as part of optional hardware or software 2 16 1 Hardware Manuals UNIDEX 600 For a description of the controller s hardware reference the hardware manual for the specific controller either the UNIDEX 600 Hardware Manual P N EDU154 Other related Aerotech hardware manuals are the DR500 Hardware Manual P N EDA120 the BA Series Amplifier Manual P N EDA121 and the PSO PC Laser Firing Manual P N EDO105 2 16 2 Programming Manuals For information on writing motion programs in the UNIDEX 600 Series CNC G code programming language reference the UNIDEX 600 Series CNC Programming Manual P N EDU158 or preferably the online help file for the most up to date information For Visual Basic and C programmers reference the UNIDEX 600 Series Library Reference Manual P N EDU156 or for OLE Custom Control programming reference the Software Development Kit online help file provided 2 16 3 MMI Interface Reference the online help file provided 2 24 Aerotech Inc Version 1 4 U600 User s Guide Programming CHAPTER 3 PROGRAMMING In This Section Oy eIMOGUCHIONE Fasc a tee tecees secre E E AR 3 1 e The Library Programming Interface ee 3 3 e CNC G code Programming eee o 3 5 3 1 Introduction This chapter provides an overview of the two available programming interfaces and the trade offs bet
387. parameter may be zero causing the axes defined by SlewPair to be selected after SlewPair4 This parameter is set to a value representing the summation of the two task axes numeric values assigned when the axis is configured within the axis configuration wizard See Section C 4 138 for an example C 4 135 SlewPair6 The SlewPair6 task parameter defines the 2 task axes that comprise the sixth axes pair that the joystick will command motion on This parameter may be zero causing the axes defined by SlewPair to be selected after SlewPairS This parameter is set to a value representing the summation of the two task axes numeric values assigned when the axis is configured within the axis configuration wizard See Section C 4 138 for an example C 4 136 SlewPair7 The SlewPair7 task parameter defines the 2 task axes that comprise the seventh axes pair that the joystick will command motion on This parameter may be zero causing the axes defined by SlewPair to be selected after SlewPair6 This parameter is set to a value representing the summation of the two task axes numeric values assigned when the axis is configured within the axis configuration wizard See Section C 4 138 for an example Version 1 4 Aerotech Inc C 103 Parameters U600 User s Guide C 4 137 SlewPair8 The SlewPair8 task parameter defines the 2 task axes that comprise the last eight axis pairs that the joystick will command motion on This parameter
388. parameters are Global Task Machine and Axis which are specified as G T M and A respectively The parameter names of each type are shown in Table 4 2 under the PARMGET command For a comprehensive description of each parameter refer to the UNIDEX 600 Series Library Reference Manual P N EDU156 or the U600 MMI online help file EXAMPLE PARMMON A POS monitor the position of the current axis 4 6 59 PARMSET type parameter_name value The PARMSET command sets the value of the specified parameter of the specified type The types of parameters are Global Task Machine and Axis which are specified as G T M and A respectively The parameter names of each type are shown in Table 4 2 under the PARMGET command For a comprehensive description of each parameter refer to the UNIDEX 600 Series Library Reference Manual P N EDU156 or the U600 MMI online help file EXAMPLE PARMSET A KP 10 set current axis Kp gain to 10 4 6 60 PLAY filespec S P The PLAY command executes the AerDebug commands contained within a text file Blank lines within the file will be ignored More PLAY commands may be contained within the specified text file nesting is permitted The optional second parameter S allows the play file to be executed in the single step mode In the single step mode each command within the play file will be executed following any key press except the ESC key Also in the single step mode the play file execution may
389. pdateTimeSec This task parameter specifies the time between calculated profile points generated by the CNC profiler This parameter is set by the G62 command This parameter applies only to contoured motion G1 G2 G3 G12 and G13 Every contoured move is broken into profile points separated by fixed time intervals see diagram below The axis position and velocity commands are then determined by splining between these profile points The profile points are generated once every polling cycle by the CNC Therefore the UpdateTimeSec parameter should not be less than the AvgPollTimeSec value The more complicated the motion number of axes transformations cutter compensation and normalcy etc the more time that is required to calculate the profile points By monitoring the AvgPollTimeSec parameter the minimum amount of time required between points can be determined This parameter should only be set by those having a full understanding of the details of the UNIDEX 600 Controller and its operation The resolution of the profile time is 0 001 and its value must be greater than zero This parameter has no effect on camming motion C 110 Aerotech Inc Version 1 4 U600 User s Guide Parameters This data is then placed into the Motion Queue which will feed the commands to the servo loop The motion queue interpolates data between the points by using a splining algorithm see Figure C 20 Velocity or Position Where At is the Updat
390. per second squared If any linear axis is subject to acceleration exceeding this value between two blended moves the controller abandons blending and behaves as if a G9 command was present on the CNC line EXAMPLE G70 G91 G1 inches relative pgm mode linear moves C F600 600 inches minute G108 tell controller to not stop between moves Y10 Move from point A to point B X10 Move from point B to point C From point A to point B the X axis moves at 600 inches min or 10 inches sec and the Y axis moves at 0 inches sec But from point B to point C X travels at 0 inches sec and Y at 10 inches sec So at point B both the X and Y axes are subjected to an instantaneous change of velocity of 10 inches sec The velocity change cannot of course be instantaneous and the controller will make that change of velocity for each axis in one millisecond so the X axis will generate an acceleration of 10 000 inches sec squared and the Y axis will generate a deceleration of 10 000 inches sec squared However if the BlendMaxAccelLinearIPS2 task parameter is set to a positive non zero value less than 10 000 inches sec squared then the controller will force deceleration to zero velocity at point B therefore avoiding the 10 000 inches second squared acceleration deceleration C 4 8 2 Limit Acceleration without Full Deceleration If the BlendMaxAccelLinearIPS2 task parameter is set to a negative value then the parameter s abso
391. pilerGetLineText PRGUNLOAD Frees a CNC program AerProgramFree PSODOWNLOAD Loads the PSO firmware SPENDANTTEXT Sets the text line in the teach pendant AerPendantSetText TSKASSOC Associates a CNC program with the current task AerTaskProgramAssociate TSKDEASSOC Deassociates a CNC program from the current task AerTaskProgramDeAssociate TSKINFO Show information on current task AerDCGetTaskDirect AerTaskProgramExecute AerTaskProgramAbort TSKPRG Control program execution A E R S L AerTaskProgramReset AerTaskProgramStop AerTaskProgramSetLineUser TSKRESET Resets the current task AerTaskReset AerVarGlobalGetDouble VDGET Display the value of a variable double word G T P S E a AerVarStackGetDouble AerVarGlobalGetDouble f AerVarTaskGetDouble VDMON Monitor a variable double word G T P S AerVarProgramGetDouble AerVarStackGetDouble AerVarGlobalSetDouble VDSET Set a variable double word G T P S a i AerVarStackSetDouble AerVarGlobalGetString VSGET Display a string variable G T P AerVarTaskGetString AerVarProgramGetString AerVarGlobalGetString VSMON Monitor a string variable G T P AerVarTaskGetString AerVarProgramGetString AerVarGlobalSetString VSSET Set a string variable G T P AerVarTaskSetString AerVarProgramSetString WAIT Wait on status AerDCGetTaskDirect WRITESERIAL Writes same text to a serial port AerSerialWrite ZMONITOR Dis
392. pindleRadius 93 RWU 99 999 999 99 999 999 0 S2_AnalogMSOInput 71 RW 1 7 1 S2_Index 13 RW 0 15 1 S2_MSO 74 RWU 0 2 0 0 S2_RPM 14 RW 0 0 1 0e 006 300 0 S2_SpindleRadius 94 RWU 99 999 999 99 999 999 0 S3_AnalogMSOInput 72 RW 1 7 1 S3_Index 15 RW 0 15 2 S3_MSO 75 RWU 0 2 0 0 S3_RPM 16 RW 0 0 1 0e 006 300 0 S3_SpindleRadius 95 RWU 99 999 999 99 999 999 0 S4_AnalogMSOInput 73 RW 1 7 1 S4_Index 17 RW 0 15 3 S54 MSO 76 RWU 0 2 0 0 S4_RPM 18 RW 0 0 1 0e 006 300 0 S4_SpindleRadius 96 RWU_ 99 999 999 99 999 999 0 SlewPair1 81 RW 1 49 152 0xc000 3 Version 1 4 Aerotech Inc C 59 E f Parameters U600 User s Guide Table C 10 Task Parameters Continued Name Parameter Access Minimum Maximum Default SlewPair2 82 RW 0 49 152 0xc000 12 SlewPair3 83 RW 0 49 152 Oxc000 0 SlewPair4 84 RW 0 49 152 Oxc000 0 SlewPair5 85 RW 0 49 152 Oxc000 0 SlewPair6 86 RW 0 49 152 Oxc000 0 SlewPair7 87 RW 0 49 152 Oxc000 0 SlewPair8 88 RW 0 49 152 Oxc000 0 Status1 59 R 0 1 0 Status2 60 R 0 1 16 Status3 61 R 0 1 75 498 560 TaskFault 1 RWU 2 147 483 648 2 147 483 648
393. play monitor data AerTaskMonitorGetData ZONGOSUB Display ongosub data AerTaskOnGosubGetData VVV 4 50 Aerotech Inc Version 1 4 U600 User s Guide AerTune CHAPTER 5 AERTUNE In This Section ip SIM OGUCHLON Es a ree seen sc edecees tess a E oe see ease eat ee E E A 5 1 e The Main Window of the AerTune Program cece eee eeeeeeeeeceeseeteeesees 5 2 OS SW SIN OPA CEIMINC rer re ters E eee eet aetna en eases 5 4 o Step Move Parameters nor e a cco e oecrece faces eo see eee eee eee eee 5 5 SREE PANAI eee are eat S awn ane ea meen rnin 5 6 e Determining the Maximum Acceleration of an AXIS 00 0 0 eeeeeeeeeeeeeeeeee 5 7 e Identifying an Instability within the Servo Loop 2 0 0 0 eeeeeeeeeeeeeeeeeeee 5 8 e Minimizing Position Error due to Torque Ripple or Amplifier Offsets 5 8 Sar A GC BrushlesssMotomeliumin Seilu olona agaat E seer a cesta tans sere eee nea 5 9 e Computing Torque Closed Loop Torque Mode ce ceeeeeeeeeeeeeeees 5 10 STE SCLVONEOOPYAULO MUNIN Sere eee een A E en en CUO A en a 5 11 e Manual Seryo Loop Tuning re a res cer ces eater eee eee 5 16 e Tuning Procedure for Torque Current Mode Servo Loops 0 5 20 e Tuning With Tachometer Feedback 0 cece ceecesecesecseecreeeneeeeeeeeeeeeeeenees 5 30 eR MUNIN SM AChOMEe CHILOOPS re ere ee eee eee ee 5 32 5 1 Introduction The AerTune program is a utility for visually observing and fine tuning the performa
394. ple a value of 12 or 19 is equivalent to a value of 10 The IAVGLIMIT parameter is dependent on the setting of this parameter to detect an over current condition C 2 51 ICMD The ICMD axis parameter returns the instantaneous current command where 32767 represents 10 volts This voltage is the command applied to the drive module C 2 52 ICMDPOLARITY The ICMDPOLARITY axis parameter is used for two purposes The first is to vary the polarity of the current command output by the servo loop which inverts the current command polarity that is output from the DAC to the drive On a UNIDEX 600 650 a positive current command should generate negative axis motion This parameter is normally set to 0 for no inversion it may be set to 1 to correct for reversed servo loop phasing not to reverse the direction of the motor on a properly phased servo loop Also if Version 1 4 Aerotech Inc C 25 Parameters U600 User s Guide using a dual feedback loop the velocity and position loop must be in phase with each other Otherwise toggling this parameter would correct one feedback element and improperly phase the other Additionally a unipolar command may be output by the servo loop for a unidirectional spindle motor if required by setting this parameter to 1 The status of this command is indicated by the invert polarity bit of the ALT_STATUS axis parameter A value of 1 indicates that the ICMDPOLARITY value is 1 C 2 53 IMAX
395. point to the ending point of the arc to the circumference of the arc In the illustration below the programmed arc will not be generated but the linear move segment will be generated from the start point to the end point When a line is generated instead of an arc acceleration limiting will not occur for the angle of the line it will compensate only for the programmed arc If the line generated is non tangential to the previous move over shoot will occur An error not just a warning may be generated on this condition by setting the ThrowWarningsAsTaskFaults task parameter to one C 4 14 Command Velocity Variance This task parameter will in certain situations during deceleration within a series of short contoured moves due to the limitations of integer times in milliseconds the CNC Profiler will produce smoother contours if it could produce non linear behavior of velocity vs time during one particular time slice Increasing the value of this parameter will reduce the frequency of extra long or extra short slices which may improve the smoothness of high speed machining profiles C 4 15 Coord1Plane This task parameter specifies which plane is active in coordinate system 1 Coordinate system 1 is used for the circular G codes G2 and G3 Plane 1 consists of the axis specified by Coord1I and Coord1J task parameters Plane 2 is defined by Coord1J and Coord1K task parameters Plane 3 is defined by Coord1K and Coord 1I task parameters
396. position FAULTED 0h00000200 Axis fault present See FAULT PROBE_INPUT 0h00000400 Probe input active MARKER 0h00000800 Marker HALL INPUT B 0h00001000 Hall effect input B 1 HALL INPUT A 0h00002000 Hall effect input A 2 HALL INPUT C 0h00004000 Hall effect input C 3 HALL 4 Unused 0h00008000 Hall effect input 4 not used INEG_LIMIT 0h00010000 KI clamped negative IPOS_LIMIT 0h00020000 KI clamped positive VFF 0h00040000 VFF Enabled BRAKE ACTIVE 0h00080000 Brake Output Active ALIVE 0h00100000 Axis has no D A VVF_OATC 0h00200000 VFF or position loop zero FEEDBACK_IN 0h00400000 Feedback fault present MFEEDBACK_IN 0h00800000 Master Feedback fault active HP_VME_LASER 0h01000000 HP VME Laser SCALEPGAIN 0h02000000 SCALEPGAIN active AC 0h04000000 AC motor selected MSET 0h08000000 Axis in MSET mode HOMED 0h10000000 Axis has been homed since reset _ ENCODER 0h20000000 Axis has encoder feedback ERROR_MAP 0h40000000 Error mapping enabled PLOOP_ONLY 0h80000000 Position loop only Version 1 4 Aerotech Inc C 39 Parameters U600 User s Guide C 2 93 SIMULATION To facilitate easy debugging of parts programs this axis parameter allows the user to place an axis into a simulation mode While in this mode the motor s torque remains steady holding the axis in positi
397. ppropriate axis parameters see ACCELMODE axis parameter The home cycle feedrate may be increased if the HOMEVELMULT axis parameter is used This parameter allows the home feedrate to be scaled down by the percent specified in the HOMEVELMULT axis parameter during the reference pulse search This allows a faster move into the home limit where the axis may be a greater distance from the home Version 1 4 Aerotech Inc 2 21 Getting Started U600 User s Guide limit and accuracy is not an issue until searching for the reference pulse The value entered is an integer representing the desired percent of the home feedrate during the marker search i e a value of 25 would scale the home velocity to 25 during the reference pulse search When an axis is not homed software limits are inactive that is they are ignored even if the fault masks are set to detect them If the axis is configured with Axis calibration Axis calibration is active regardless of whether an axis is homed or not 2 14 Programmed Moves The UNIDEX 600 Series controller provides two methods of programming CNC and library interface refer to Chapter 3 on Programming for details The behavior of programmed moves is described under the documentation for that interface For CNC moves refer to Appendix A in the UNIDEX 600 Series CNC Programming Manual P N EDU1568 for motion details For the library interface refer to the UNIDEX 600 Series Library Reference P N EDU156 un
398. primary feedback device is always used for position feedback If you have no secondary feedback device this screen will not be displayed you will be on the Axis Calibration Configuration screen Axis Configuration Wizard Configure Secondary Feedback Encoder xi Channel z Number of lines fao00 10 Options None Use Primary 7 Finish Cancel Help Figure 12 10 The Axis Configuration Wizard Secondary Feedback Screen Selecting Next will advance you to the next Wizard configuration screen Back will take you to the previous Wizard screen Cancel will exit the Wizard without saving any changes to the axis configuration Finish will save the axis configuration and exit the Wizard 12 10 Aerotech Inc Version 1 4 U600 User s Guide Setup Wizard 12 4 6 1 Encoder Configuration Channel Number The channel number specifies the channel number that the encoder feedback device will be read from for this axis as well as the specific I O CW CCW Home Limits encoder fault drive fault Auxiliary Mode output and the drive enable Encoder Channel Assignments Channels 1 through 4 are on the UNIDEX 600 card channels 5 through 8 are on the 4EN PC card configured as Board 1 channels 9 through 12 are on the 4EN PC card configured as Board 2 channels 13 through 16 are on the 4EN PC card configured as Board 3 Number of Lines The number of lines for the encoder must be specifi
399. program blocks which the CNC Block Look Ahead process will use to plan the acceleration deceleration motion profile for contoured motion The maximum value of this parameter is limited by the value at which motion queue starvation occurs It specifically serves two different purposes depending on whether Multi Block LookAhead G301 mode is active If Multi block Look Ahead mode is disabled the controller only looks one CNC program contoured motion statement ahead in the program However it will look through a number of non contoured motion statements in order to find that motion statement This parameter is the maximum number of non contoured motion statements it will look ahead in order to find the next contoured motion statement If the specified number of non contoured motion statements is reached before finding a contoured motion statement the controller declares that there is no next motion statement C 84 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 76 MaxModeStack This task parameter specifies the maximum number of mode stack elements available for this task Task modes can be pushed and popped off this stack for storing and restoring modes C 4 77 MaxMonitorData This task parameter specifies the maximum number of ON statements available for programs on this task C 4 78 MaxOnGosubData This task parameter specifies the maximum number of OnGosub statements available for programs on this
400. ptions on the program compile and load The program runs on the current task EXAMPLE EXEPRG U600 TEST PGM The user can execute a single CNC line as a CNC program This is useful since many CNC commands are illegal in immediate mode The process is similar to that of running a CNC program read from a file EXAMPLES PRG1 G70 Compile load as program PRGLOAD Load compiled program TSKASSOC Associate program with this task PRGRUN Run the line There are two types of line numbers in use user line numbers and axis processor line numbers Axis processor line numbers are only used by the axis processor They are shown as the first number in each line in the listing given by PRGDUMP Axis processor line numbers start at O and increase one for each line downloaded User line numbers are the line numbers assigned by the CNC compiler These can be seen as the number in brackets on each line in the PRGDUMP program listing These start at one and generally are incremented one for each line in the source However some single source lines compile into multiple axis processor lines For example a G1 F will compile into two axis processor lines In these cases the multiple axis processor lines will be given the same user line number The axis processor uses user line numbers within the context of a step see the TSKPRG command A step command will execute all lines with the same user
401. put 6 T Analog Input 1 T Analog Input 4 I Analog Input 7 T Analog Input 2 T Analog Input 5 OK Cancel Figure 6 2 Plot Selection Window 6 2 Aerotech Inc Version 1 4 U600 User s Guide AerPlot 6 4 Trigger Menu The Trigger menu allows the sample rate to be defined The sample rate determines the number of milliseconds between each sample This also determines the period of time that AerPlot will collect data based upon the number of points defined on the collect menu The Collect One Set of Data menu selection will collect the specified number of points and update the display The Collect Data Continuous menu selection will collect the specified number of points update the screen then repeat the cycle until halted by the user The Collect Halt Data Continuous menu selection will terminate the Continuous Data Collection mode 6 5 Collect Menu The Collect menu allows the number of samples to be defined which also determines the time period over which the data acquisition takes place The choices are 100 250 500 1000 2500 5000 8000 User defined up to 32 000 samples 6 6 Axis Menu The Axis menu allows up to 6 plots to be selected for display It will display the Plot Selection Window just like the Plot Menu see Figure 6 2 6 7 Graph Options Menu The Graph Options menu has four selections The Grid lines selection allows a grid to be displayed on the X Y or both axes The Mark
402. r if the user enters then the requested help data is printed to the screen This help data will remain on the screen until the next set of help data is requested The type of help data returned depends on the text preceding the on the command line The STATUS screen consists of a single line at the bottom of the screen Its purpose is to indicate important conditions to the user and to echo partial command matches e AerDebug Unidex 600 Cardi STOP monitoring Figure 4 1 AerDebug Screen 4 2 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 3 The Prompt Some commands apply only to an axis or task for example the command PARMGET A retrieves axis parameters The user does not specify the task or axis for these instead the default axis or task is used Either the default task or the default axis is shown in the prompt preceding the command line Use the TK and AX commands to change the default task or axis If the user does not specify a task or axis as an argument to these commands they simply switch the prompt to the default axis or task View the following series of commands for an example Prompt and command are Defaults after command executed are axis 1 task 1 AX1 gt TK 4 axis 1 task 4 TK4 gt AX 16 axis 16 task 4 AX16 gt TK axis 16 task 4 TK4 gt AX axis 16 task 4 AX16 gt 4 3 1 Entering Commands The command line is the line the cursor is on or the line t
403. r Torque Current Mode Servo Loops Figure 5 11 shows the overall tuning process with the AerTune utility The tuning process discussed in this section was performed using the X lower Axis of an Aerotech ATS3220140P X Y open frame table with a BM130 AC brushless motor and an AS32030 amplifier at 160VDC The table had no mounted load except for that of the Y axis that is physically part of the table The user s system may behave differently and have different values for servo loop gains However the overall process is the same and the same process can be repeated for other axes The user will essentially follow the procedure below and use it as a guide when tuning the UNIDEX 600 Servo Loop This procedure does not apply to motors with tachometers 1 Exercise the axis through a move profile typical to your application 2 Observe the servo loop performance with the AerTune utility 3 Make a decision on whether to increase or decrease the value of the servo loop gain parameter or proceed to the next servo loop parameter 4 Repeat 5 20 Aerotech Inc Version 1 4 U600 User s Guide AerTune START 1 Turn off Position Error amp Integral Error 2 Set Servo Loop Update Rate 3 Set Servo Gains to Initial Values t 4 Adjust Velocity Loop 4a Adjust Kp Gain i 5 Adjust Position Loop Adjust PGain
404. r during acceleration and deceleration by increasing the AffGain servo loop parameter A normal value for AffGain is typically less than 200 The AffGain servo loop parameter reduces the large position error visible during acceleration and deceleration Increasing the AffGain will increase the noise produced by the axis due to the attempt of the servo loop to compensate for velocity changes This noise may be reduced by varying the Alpha parameter The Alpha parameter filters the effect of the AffGain parameter minimizing the noise created by the velocity changes The Alpha parameter is inversely scaled Setting the parameter to 65 536 produces no filtering and maximum filtering is produced by setting the parameter to 1 Figure 5 19 shows the optimal AffGain setting for out motor drive table combination The Alpha servo loop parameter was not modified from its default setting of 65 536 providing no filtering of the AffGain servo loop parameter Adjusting the AffGain servo loop parameter is optional The user s application may not require it Version 1 4 Aerotech Inc 5 27 AerTune U600 User s Guide Axis it p u u 7 ia r nat tel Pi P a P hae m a aT y _ F Po th mo E 7 oa f i Sai k HE 2 g a 0 ipa Sate in AEN EA his itta ei EM a k i E 758 167 515 ms Th 03 mz e an Tiree 8 asc Figure 5 19 Plot Showing Optimal AffGain Adjustment Axis 1 Pos Err Co Velocity Vel Cmd on Ss
405. r on the Run and Manual MDI screens of the MMI can only be used when this parameter is set to 1 other values will enable external control causing the slider bar to display the set value This task parameter is sampled at the rate indicated by the AvgPollTimeSec global parameter C 4 8 BlendMaxAccelLinearIPS2 Setting this task parameter non zero allows the controller to automatically detect high accelerations caused by large changes in velocities between non tangential corners contoured moves G108 mode on linear Type axes and scale down each of the axes component velocities to minimize acceleration See the BlendMaxAccelRotaryDPS2 task parameter for rotary axes The units of this parameter are acceleration in inches per second squared For best results blending motion with this parameter it is recommended that rate based G68 linear acceleration and deceleration G64 be used This parameter may be used via the methods described below C 62 Aerotech Inc Version 1 4 E i U600 User s Guide Parameters C 4 8 1 Force Deceleration to Zero G9 if Maximum Acceleration is Exceeded If the BlendMaxAccelLinearIPS2 task parameter is set to a positive value it causes the controller to execute a G9 command deceleration at the end of the CNC block for each CNC block between contoured moves that involve a change in a component velocity generating an acceleration greater than this parameter s value This parameter is in inches
406. rCode If this is done during CNC program execution this will however halt the CNC program C 4 40 EStopInput This task parameter specifies which binary input is used as an E Stop input for this task A value of 1 disables the task E Stop check The global E Stop will still be tested even if this parameter is disabled Each task may have a separate E Stop input This is a level sensitive input that is sampled at the rate indicated by the AvgPollTimeSec global parameter This input is active high Be sure to set the ESTOP bit in the FAULTMASK axis parameter to enable the detection of this fault then set the bit in the appropriate mask parameter DISABLEMASK HALTMASK AUXMASK ABORTMASK INTMASK and BRAKEMASK for the action to occur on this fault C 4 41 ExecuteNumLines This task parameter controls the relative program execution priority of the tasks and the priority of task program execution relative to the other chores a task performs Normally it is used to speed up execution of a particular high priority task or to avoid profile queue starvation during a series of short contoured moves The controller has four tasks available for running programs However each task can also perform a number of functions in addition to program execution such as ESTOP and Version 1 4 Aerotech Inc C 75 Parameters U600 User s Guide MFO monitoring watch monitoring see ON and ONGOSUB CNC commands and immediate command execution
407. ral gain Ki 5 31 Interrupt 1 5 INTMASK 2 16 4 11 C 27 Introduction 1 1 IOGET command 4 27 IOLevel axis parameter 2 11 IOMON command 4 27 IOSET command 4 28 IRQ level 2 5 ISA bus 1 1 IVEL C 28 K KI C 28 Ki Integral gain 5 18 5 24 5 25 Kp Proportional gain 5 18 5 23 5 31 Kpos Position gain 5 18 5 26 5 31 5 35 L Last command 4 19 Last command error 4 19 Library Servicer 1 5 Linear axis 2 10 lines argument 4 8 4 9 LZR laser interferometer system 2 8 M MABORT command 4 28 MABSOLUTE command 4 29 MALTHOME command 4 29 Aerotech Inc iii Index U600 User s Guide Master Feedback Fault 2 13 C 19 MASTERRES C 30 P MAX_PHASE C 30 MaxCallStack C 84 MB command 4 34 MEM command 4 34 MFREERUN command 4 30 MHALT command 4 30 MHOLD command 4 30 MHOME command 4 31 MINCREMENTAL command 4 31 MINFEEDSLAVE command 4 32 Minimum requirements 2 2 Minimum Maximum C 2 ML command 4 35 MNOLIMITHOME command 4 32 Model C 86 MOSCILLATE command 4 32 Motion commands 3 4 Move cursor one character to left in command line 4 4 Move to absolute postion 4 29 MOVEQSIZE C 32 MQABSOLUTE command 4 33 MQFLUSH command 4 33 MQHOLD command 4 33 MQINCREMENTAL command 4 33 MQRELEASE command 4 34 MQUICKHOME command 4 34 MRELEASE command 4 34 Multi axis motion 1 7 MW command 4 35 N Name C 2 Non alphabetic keystrokes 4 3 NormalcyAxis C 88 Norm
408. rameter this may be necessary to prevent Motion Queue Starvation However if the starvation occurs as a result of contouring through moves whose duration is shorter than the UpdateTimeSec task parameter then this will not help eliminate Motion Queue Starvation For example if UpdateTimeSec is 10 milliseconds but a particular move lasts only 6 milliseconds then for that move the two points generated will be 6 milliseconds apart not 10 milliseconds A minor side effect of increasing the value for the UpdateTimeSec is a potential time delay of Response Time see below between the generation of motion and its execution This delay is seen when aborting or changing the speed of a contoured move i e using the MFO Jog Interrupt or feedhold Once a target position is passed to the motion queue that motion will occur as calculated regardless of changes to the MFO Version 1 4 Aerotech Inc C 111 Parameters U600 User s Guide feedhold or aborting the move The requested action will not take place until the next calculation Therefore the controller will in general not respond to the MFO feedhold interrupt or abort a move any faster than Response Time UpdateNumEntries UpdateTimeSec This comment applies also to the end of the program i e when the program is ended the motion may continue for up to Response Time seconds after the actual end is seen C 4 146 UserFeedRateMode This task parameter determine
409. rameter specifies the spindle radius which is used along with the S4_RPM the S Word task parameter to compute the actual spindle RPM S4_SpindleRadius operates for task 4 use the other parameters for tasks 1 2 and 3 e g S3_SpindleRadius for task 3 This parameter can equivalently be set with the F parameter of the G97 command If the Spindle Radius is zero then the units of the S word are assumed to be RPM However if the spindle radius is positive then the S word S4_RPM for task 4 is assumed to be in distance units and the actual spindle RPM is computed as RPM v 217R Where RPM is the result spindle rotation speed v is the surface speed the S word value and R is the spindle radius provided in the F parameter of the G97 command Note that the units of the S word and the Spindle Radius are assumed to be the same C 4 130 SlewPair1 The SlewPairl task parameter defines the 2 task axes that comprise the first axes pair that the joystick will command motion on This parameter may not be zero there must be at least one axis pair defined SlewPair2 through SlewPair8 may be undefined zero This parameter is set to a value representing the summation of the two task axes numeric values assigned when the axis is configured within the axis configuration wizard See Section C 4 138 for an example C 4 131 SlewPair2 The SlewPair2 task parameter defines the 2 task axes that comprise the second pair that the joystick will
410. ravel limit A trapezoidal velocity profile implies a profile at which the axis reaches constant velocity 5 Press the Auto Cycle button 6 Increase or decrease the ACCELRATE field on the Update Step Move Parameters window until the axis produces a 10 volt torque command during acceleration 7 The value in the ACCELRATE field is the maximum rate at which the axis can accelerate with the current load Version 1 4 Aerotech Inc 5 7 AerTune U600 User s Guide 5 3 4 Identifying an Instability within the Servo Loop Using the AerTune utility 1 Activate the Cursor toolbar from the Tools menu 2 Select 100 points from the Display menu 3 Exercise move the axis in question You may now utilize the FFT Analysis Section 5 3 2 selection on the Tools menu of AerTune or follow steps 4 and 5 4 Ifa repeating sinusoidal waveform is now visible on the torque or velocity plots click left mouse button on the peaks of two sequential sinusoids 5 The frequency of the disturbance will be displayed within the F frequency box on the cursor toolbar Using the Aerotech Filter utility Section 11 1 6 Select the Low Pass radio button and enter a Stop Freq approximately 20 Hz below the frequency determined from step 5 For example if step 5 identified a disturbance frequency of 170 Hz for the Stop Freq 7 Click the Calculate Coeff Button 8 The required value
411. re displayed on the screen When installation is complete UNIDEX 600 and UNIDEX 600 MMI entries are placed under the Programs menu which appears after pushing the Start button This indicates that the installation was successful and that the program is ready to be started When using the Windows NT operating system the PC must be rebooted to load the device driver Windows NT does not support dynamic loading k 2 2 2 MMI Software Installation If the MMI600 interface was purchased then install this now in much the same way as the UTIL 600 was installed 2 2 3 WinNT Win95 Registration The next step is to register the controller board setup parameters This is only a new installation procedure of the UNIDEX 600 software not when installing updates to existing UNIDEX 600 software This will require three pieces of information e An available 15 byte block of I O addresses within the PC s I O address space e An available IRQ interrupt and e 16 kilobyte regions of unused high memory to map the memory window into the UNIDEX 600 controller s address space an AT window This might require changing the PC s CMOS settings to be sure that the selected memory window address range is not shadowed or cached by the PC Version 1 4 Aerotech Inc 2 5 Getting Started U600 User s Guide The I O address and the PC interrupt chosen must match the selection on the board via the jumpers If the user did not change th
412. reference pulse search speeds FAULTMASK Axis parameter Used to define behavior when EOT hit or home fault occurs HOMESWITCHTOL Axis Parameter Minimum separation of home position from home switch resolvers only The HomeType machine parameter defines the behavior of the home cycle See the HomeType machine parameter description for a definition of the home types Once the axis has completed the home cycle if a home offset has been defined by the HomeOffsetDeg or HomeOffsetInch parameters the value of the home offset will be loaded into the axis position registers and the home position will now be equal to the home offset value The offset is loaded into the position position command raw position and preset register values Once an axis is successfully homed this fact is reflected in the home bit of the STATUS axis parameter and also in the at home bit of the SERVOSTATUS axis parameter the user can use the AerStat utility to view these Once homed an axis stays homed until it is reconfigured Disabling an axis does not remove the homed status The HomeFeedRateIPM and HomeFeedRateRPM allow the feedrate to be specified during the home cycle Typically the home feedrate is a low velocity that produces an accurate home reference point A low speed is not detrimental to machine throughput since it is done occasionally or when the machine is first powered up During homing the axis obeys the accel decel parameters as specified by the a
413. rent axis and allow you to modify the configuration as required All channel assignments D A encoder resolver etc will default to the number of the physical axis not the channel assigned to the axis selected from the template The current axis configuration is displayed below the template list box Selecting a template will update the axis configuration The axis must be configured for a supported feedback type present on the axis This involves assigning a primary feedback device which always provides the position feedback The Command Output may be either Null or D2A D A converter Optionally an axis may have a secondary feedback device Axis Configuration Wizard Choose a configuration Select the desired motor configuration lt Virtual gt lt gt Brshls Rot EncoderHall Brshls Rot EnedrHall Enedr Brshls Rot Pri EnedrHall Sec A Brshls Rot Resolver x Primary Feedback Encoder a Command Output D24 hed Secondary Feedback Null lt Back Finish Cancel Help Figure 12 7 The Axis Configuration Wizard Choose a Configuration Screen The axis may be configured as a Null of Virtual axis for debugging purposes Selecting Next will advance you to the next Wizard configuration screen Back will take you to the previous Wizard screen Cancel will exit the Wizard without saving any changes to the axis configuration Finish will save the axis configuration
414. rent slave position is the starting point of the CAM table Also the system assumes that all slave position entries are relative to that starting point The second mode of CAM table execution does not make that assumption Instead it interprets the slave positions found within the CAM table as absolute positions With synchronization enabled the system determines the current location within the CAM table based on the current master position The slave axis then moves to the position that corresponds to the current master position This parameter defines the speed at which the slave axis is to move C 2 97 SYSTEMCLOCK This axis parameter is the same as the CLOCK axis parameter but is read only C 2 98 VELCMDTRAP This axis parameter determines the maximum commanded velocity that the axis may move in counts per second A command trap occurs if the commanded velocity exceeds the amount specified in this parameter The user may enter a zero to disable the commanded velocity trap detection Be sure to set the Velocity Command Trap bit in the FAULTMASK axis parameter to enable the detection of this fault then set the bit in the appropriate mask parameter DISABLEMASK HALTMASK AUXMASK ABORTMASK INTMASK and BRAKEMASK for the action to occur on this fault This parameter applies to all types of motion L When using the MaxFeedRateIPM or MaxFeedRateRPM for rotary axis machine parameters this parameter cannot be used Its value will be
415. repeated for other axes When adjusting each of the servo loop gains the user will essentially be following the procedure below 1 Exercise the axis through a move profile typical to your application 2 Observe the servo loop performance with the AerTune utility 3 Make a decision on whether to increase or decrease the value of the servo loop gain parameter or proceed to the next servo loop parameter 4 Repeat START 1 7 Turn off Position amp Integral Error Fine Tune Amplifier Settings 2 8 Set IAvgLimit Axis Parameter to 100 Finish Adjusting the Position Loop i5 PGain Set Servo Loop Update Rate 9 Adjust the Velocity Feed Forward y I 10 Set Servo Parameters to Initial Values Adjust the VGAIN 5 Setting up Velocity Loop on the 11 Amplifier Turn back on Position amp Integral Error 6 Rough Adjust the Position Loop PGain FINISHED Figure 5 21 Flowchart of Overall Tachometer Tuning Process The following is a step by step procedure for tuning motors with tachometers 5 32 Aerotech Inc Version 1 4 U600 User s Guide AerTune Please read each step thoroughly before performing the task 5 1 Turn off the Position Error and Velocity Error bits in the FaultMask axis parameter Start the AerDebug utility Download the axis firmware if this has not been done Select the axis that you wish to tune with the
416. respond appropriately to interrupts either displaying the fault or executing the callback but AerDebug does not respond to interrupts In order to respond to interrupts from the user s own application the user must call the AerEventxxx library function Version 1 4 Aerotech Inc 1 5 Introduction and Overview U600 User s Guide 1 5 Motion This section summarizes the basic features of motion generated by the U600 controller 1 5 1 The Servo Loop Translated into velocity and position commands are the programmer s commands The controller obtains a new velocity and position command every millisecond These commands are input to the servo loop which generates the motor torque signals sent out to the amplifiers The servo loop is responsible for reading the commands and the feedback the actual position and speeds and adjusting the motor torques in order to reduce the position and velocity errors The definition of error is commanded minus the actual The servo loop normally operates off of a 1 4 millisecond interrupt However the user can slow this interrupt down to 1 millisecond with the EnablelKhtzServo global parameter This action may be necessary if there is too much processing off the interrupt potentially starving the forever loop see Section 1 4 1 The settings of various axis parameters adjust or tune the servo loop activity Section 5 3 of Chapter 5 AerTune summarizes the relevant axis parameters and their u
417. riess C 111 C 4 145 2 Effects of Increasing the UpdateTimeSec Task Parameter serienr ien C 111 C 4 146 UserFeedRateMode eee eeeecssceencecsseceeeeecseceeneeenaeeesees C 112 C 5 Global Parameters cirsio n R EE E E tes C 113 ESTs AvgPollTimeSee sinesine s C 113 C52 BuildNumber eei EA E E EA C 114 C 5 3 CallBackTimeoutSec eee ee eeeeeeeceseceseensecnneeaeeaee C 115 C 5 4 CompatibilityMode oe ee ceeeceseceecesecnseeneeeneeees C 115 C 5 4 1 Move Calculation Averaging 0 0 ee C 115 C 5 4 2 Radius Error Bit 2 0 0 0 eceeeeesseceeneeeeseeeeeee C 115 C 5 4 3 Convert G43 G47 G65 G66 to User Units C 115 C 5 4 4 Non Modal G2 G3 Commands C 116 C 5 4 5 Old Style Contouring 00 0 eee C 116 C352 Enable l KHZSEIVO rnnr e e R A C 116 C 5 6 Enable2Dcalibration eeseeeseseeeeseessersseesrsssrsersseesseese C 117 C 5Tse EStopEnableds iss a eek Aan A ees C 117 C 5 8 Intermpt2 TimeSec ssscc5cseesscissessetessassisdsseseatsseessceveseioes C 117 C 5 9 Measurement Mod ren e ei Ra C 117 C 5 10 NumCannedFunctions s esseeseeeseeeeseessressrrsserseeseeeseeesee C 117 C 5 11 NumDecimalsCompare ssesesseesseeeessereeresrsrrerrsreereseresee C 118 C 5 12 NumGlobalAxisPts ceeceececsseceeeecseceeeeecsaecesneeesaeeeees C 118 C 5 13 N MmGlobalDoubl S inenen nt aA C 118 C 5 14 NumGlobalStrings e eeeeeseeeeeseeesssreeseesrrsresrrerrsreeresrrersee C 118 C 5 15 ThrowTaskWarningsAsFaul
418. rl Axis2 to jog minus in the current jog mode as defined by the JogPair Mode task parameter C 4 56 JogPairlAxis2PlusIn This task parameter defines the virtual input number that when True active high will cause Axis 2 of Jog Pair 1 as defined by JogPairl Axis2 to jog plus in the current jog mode as defined by the JogPair1 Mode task parameter C 4 57 JogPairlEnableIn This task parameter defines the virtual input number that when True active high will cause Jog Pair 1 as defined by JogPairlAxis to move in the current jog mode as defined by the JogPair1 Mode task parameter SecNum_JogPair1 AxisExample C 4 58 JogPairlAxis1 This task parameter defines the first axis that will be commanded to move by the virtual input specified by the JogPairlEnableIn task parameter The value is specified as a bitmask Bit 0 represents the first axis default name X bit 2 the second axis default name Y etc See Section C 4 59 1 for more information on setting this parameter C 4 59 JogPairlAxis2 This task parameter defines the second axis that will be commanded to move by the virtual input specified by the JogPair1EnableIn task parameter The value is specified as a bitmask Bit 0 represents the first axis default name X bit 2 the second axis default name Y etc See Section C 4 59 1 for more information on setting this parameter C 80 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 59 1 JogPair1Axis E
419. rmine the conditions the brake output should be activated typically for vertically mounted axes This parameter is a bit mask where each bit corresponds to a specific fault However a non zero BRAKEMASK parameter will cause the brake to be enabled whenever the drive is disabled On the UNIDEX 600 650 which has only 1 brake output any disabled axis with a non zero BRAKEMASK parameter will engage the brake The brake will be disengaged when all axes with their BRAKEMASK set are enabled Also any of these axes with the BRAKEMASK set will cause the brake output to be activated if the axis faults If multiple axes are controlled by this brake output it will require coordination between their DISABLEMASK parameters such that if one of the axes were to generate a fault and be disabled that all other axes controlled by the brake output would also be disabled since the brake would then be activated by the first axis generating the fault C 12 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 2 19 CAMADVANCE This axis parameter is used only for electronic gearing File Driven Camming and HANDWHEEL camming It serves the same function as the CAMOFFSET axis parameter except that instead of shifting the master position by a constant value it shifts it proportional to the velocity of the master axis Its intended use is to compensate for following error on the slave axis The value shifted by the CAMADVANCE axis parameter is in add
420. rne ee Sie onion a E E EE EREE ee C 28 C238 Kisses coat hte s eB eR Bo ea a C 28 C239 KP itive chev r te patted neta E EE C 28 C2260 MAS TERLEN nen a a ens C 29 C 2 61 MASTERPOS 2 25 5 ci 855 Gahan eee GAG eee C 29 C 2 61 1 Master Axis Selection eee eee eee eeeeeee C 30 262 MASTERRES 2 0 055secds sss ssiscigesoetdsceshisdesesces tsspabeebhsasest sees C 30 2263 MAX PHASE rore epte ee eE EES EEEE C 30 2 64 MAXCAMACTEL i ccicscocscetescscesctesae ee ctendeusevectensnstbeuecsanves C 30 Version 1 4 Aerotech Inc xi Table of Contents U600 User s Guide C 2 65 MOTIONS ATUS e aE aE EE E ereat aTi C 31 C 2 65 1 Profiling Bit in the MOTIONSTATUS Axis Parameter cccccesccccceceesesssceeeceeeenees C 32 C 2 65 2 Moving Bit in the MOTIONSTATUS Axis Parameter cts a E steven sete ae C 32 C 2 66 MOVEQDEPTH 0 cccccccecsssecesssececsseeeeessneeeeeeseeeensnaees C 32 C207 MOV POSE 6 26 Ba Gein ak ertean a eB ESE a aaa C 32 C 2 68 PGAIN asec ate nnci och cies Sabicea ee Baa bes eh ale bene oes C 32 ORAS A PHASE SPEED 7 3 3004 cis oon oa acini te C 32 C2770 PHASEAOFFPSET Toa oeoa ireen aie i EER C 32 C 2 71 PHASEBOFFSET cccccccccssscssscecssecesscecseeeeeeessseseeeeees C 33 OPAT PAND POS wiki ttle Ne A ee ESEESE C 33 C2132 POSCMD 28 icise cers ction E E nee te C 33 C274 POSERR e E E E E cctews on tai ES C 33 C213 POSERREIMIT v4 2 55200 esses ie essed note eb A te Ne E C 34 2
421. rolled Advantages Axis Processor Controlled Advantages Using Library Calls Using G codes Can use C C or Visual Basic Program speed independent of PC languages processor speed Can use sophisticated WINNT Industry standard RS 274 G code multitasking capability capability Full user interface control Easy modification of program source by end users Allows access to CNC G code compiler Compatibility with output of CAD calls packages 3 1 2 Multi Tasking Both interfaces allow multi tasking execution of multiple programs on a asynchronous basis In the Library interface the user has all the rich multitasking inherent in the PC at their disposal The CNC interface has four CNC tasks that can execute up to four programs simultaneously However in both interfaces the user must understand that a single processor is utilized underneath the multi tasking and that multi tasking is only achieved at the cost of slowing down the execution of the individual tasks 3 2 Aerotech Inc Version 1 4 U600 User s Guide Programming 3 2 The Library Programming Interface Library or Host Controlled Motion programs are Windows 95 NT application programs written in C C or Visual Basic executing on the x86 PC These application programs induce axis motion by executing U600 library functions that in turn run functions executing on the Library Servicer execution unit refer to Chapter 1 Introduction and Overview under
422. rque Mode Servo Loop Parameter Values 0 eee 5 22 Table 5 2 Servo Loop Axis Parameters for Tachometer based systems 5 31 Table 5 3 Initial Servo Parameter Values Tachometer Tuning 5 33 Table B 1 Troubleshooting to the Axis Level cesceeceesseceeeeecneeceeeeecnaeeeeneees B 1 Table C 1 Akis Parameters sic sds seeen ne E eIn a E C 3 Table C 2 ALT_STATUS Bit Definitions ceeeeeeeeeeeeeeeeeeeenteensees C 8 Table C 3 Axis Faults vce noe cl kininase aiid cilh asa ene C 19 Table C 4 MOTIONSTATUS Bit Definitions 0 0 0 0 eee cee eeee ese cneeeneeenee C 31 Table C 5 Mod Terrens nenn ioe teat E A R setewenewer ex C 38 Table C 6 Mode 2 heiu omis eae Neha ota Ati dards a eee SAN eee C 38 Table C 7 SERVOSTATUS bit definitions 0 0 eee ceeeeeeeeeeeeeeeeeeeensees C 39 Table C 8 STATUS _XxxxX Constants cccccccccccccccccscsecccccecececesesessesesesesessseenees C 41 Table C 9 Machine Parameters isss sd peusescensotenespetesbessarsepeeseepeheottestnseyeerabes C 45 Table C 10 Task Parameters naien tene e eare castes aut E n C 57 Table C 11 Model Bit Descriptions eee eee cesecse esse ceecneecaeeeeeeeeeeeeeeeeees C 87 Table C 12 ROReq1 Bit Descriptions 00 0 ceeeeeceee cree cneeeeeeeneeeeeeeeeeeees C 90 Table C 13 RIAction1 Bit Descriptions 0 0 0 eee cece eeeeeeeeeeeeeeeeeeeeeeeneensees C 91 Table C 14 ROAction1 Bit Descriptions eee cee ceeeeeeeeeeeeeeeeeeeerenseeesees C 94 Table C 15 R Theta Transform
423. rrent position creating instantaneous deceleration causing position over shoot beyond the current position The axis will then settle back to that position at where it was commanded to stop The axis accelerates and decelerates in the mode rate time defined by the Accel Decel AccelMode DecelMode AccelRate and DecelRate axis parameters EXAMPLE MABORT stop motion on the current axis 4 28 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 6 33 MABSOLUTE position speed The MABSOLUTE command moves the axis to the absolute position specified by the position parameter at the speed specified by the speed parameter The absolute position is relative to the home position see MALTHOME MHOMEQUICK etc or the position the axis was at when powering up the system The machine absolute position registers are set to zero at power up then they are reset to zero at the completion of a homing cycle The position parameter is in machine steps it may be specified as positive or negative and is in machine steps per second The axis must be enabled before commanding it to move This command should not be used if the axis is executing a command from within a CNC program The axis will accelerate and decelerate in the mode rate time defined by the Accel Decel AccelMode DecelMode AccelRate and DecelRate axis parameters EXAMPLE PARMSET A DRIVE 1 enable the drive MABSOLUTE 10000 2000 move to absolute 10 000 machine steps
424. rs are used to determine the cylindrical R Theta coordinate system C 4 112 S1_ Index This task parameter specifies which task axis is used for the first spindle axis This axis must be a rotary type The numbers are zero based i e S1_Index 0 indicates the first axis This parameter may not be changed while the spindle is in motion C 4 113 S1_RPM This task parameter defines the feedrate of spindle number one By default the units are revolutions per minute The G codes listed below will change the units of this parameter C 98 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 114 S1_SpindleRadius The S1_SpindleRadius task parameter specifies the spindle radius which is used along with the S1_RPM the S Word task parameter to compute the actual spindle RPM S1_SpindleRadius operates for task 1 use the other parameters for tasks 2 3 and 4 e g S2_SpindleRadius for task 2 This parameter can equivalently be set with the F parameter of the G97 command If the Spindle Radius is zero then the units of the S word are assumed to be RPM However if the spindle radius is positive then the S word S1_RPM for task 1 is assumed to be in distance units and the actual spindle RPM is computed as RPM v 2x Where RPM is the result spindle rotation speed v is the surface speed the S word value and R is the spindle radius provided in the F parameter of the G97 command Note that the units of the S word an
425. rs for Tachometer Based Systems 1s csse3szeiseevensseasstcesviet ys E ra rE ses EEE EE a ER es 5 31 5 7 4 1 PGain Position Gain oo eee eeceeeceneeeeeees 5 31 5 7 4 2 Vff Velocity Feedforward Gain ee 5 31 5 7 4 3 Kp Proportional Gain eeseeeseeeseeeseeeresreereesee 5 31 5 7 4 4 Ki Integral Gain oo iiris eeeeeeceseeneenneeneee 5 31 5 7 4 5 AffGain Acceleration Feedforward Gain 5 31 5 7 4 6 VGain Constant Velocity Gain ee 5 31 Tuning Tachometer Loops ec eeeeseeceseeceeeeeeseesecesecesecsseesaeenaes 5 32 AERPLO TE tic cab e r a n bash ati been ieee 6 1 Introductoni cies cies Seis ha eines hs GO teh 6 1 Bile Meneses cesses EEE E EE tasseost aves asdaveess 6 2 Plot MENU peisses esee iss sec oubeeteug es ees rE Er EEEa SKS at vies 6 2 Trigger Mentse ero n eee E E E EEEE E EEE E RE ope 6 3 Collect Ments naenin a E T AR eg iene 6 3 AXIS MEDU oier r a aene reer EE E chee E E EREE ETS 6 3 Graph Options Menu nenei e a E E E ER 6 3 Tools Menusa chicos erian a o EE a A cole eee 6 4 6 8 1 The FFT Analysis Window Menu Description 0 00 6 5 Help Menus E E EET ees 6 5 AERSTA T e e o aea ee ini naa ein 7 1 Introduction ians E E ER T E E A ER 7 1 OVERVIEW eiei oiee ionien A oe A GN eee 7 2 AERREG 05 ci36 se oa atia ent A nied 8 1 InttOduchOns 5055s shi dwte eines E EE EE E as Ribs eeeg 8 1 Editing Registry Entries ee ee eecesecssecssecnsecseecseecseeeeeeeeeeeeeeeeees 8 1 8 2 1 Findin
426. rtional to velocity 5 18 Aerotech Inc Version 1 4 U600 User s Guide AerTune 5 5 5 AffGain Acceleration Feedforward Gain This is the Acceleration Feedforward Gain It is the only parameter in the acceleration feedforward loop in the UNIDEX 600 s servo loop This parameter is used to remove position error during the acceleration and deceleration phase of a move Normally this parameter has a magnitude of less than 200 The user may not have to set this servo loop parameter greater than zero 5 5 6 Alpha AffGain Filter The Alpha parameter is used within the acceleration feedforward portion of the servo loop It is responsible for filtering the effect of the AffGain parameter reducing the noise introduced into the servo loop by the rapid velocity changes the AffGain produces The Alpha parameter has inverse scaling 65 536 produces minimum filtering and 1 maximum filtering 5 5 7 VGain Constant Velocity Gain This parameter is used primarily for tachometer based velocity loop systems to reduce the position error following error during constant velocity It can also be used in torque mode systems with large frictional loads The VGain parameter is multiplied by the commanded velocity to produce a voltage proportional to velocity that is added to the DAC output value to the servo amplifier that minimizes the following error Version 1 4 Aerotech Inc 5 19 AerTune U600 User s Guide 5 6 Tuning Procedure fo
427. s Before executing motion the user must bind the task axis to a physical channel number and then claim control of that task axis The typical CNC application always consists of the following MAP X1 Y2 Z3 U4 Assign a physical axis channel to a task axis BIND X Y ZU Declare ownership of a task axis to a task Implies the task owns the physical channel in which the axis is mapped Do motion here such as a G1 X100 Y1000 FREE X Y ZU Release ownership of a task axis Once a physical channel is bound by the BIND command on one task it cannot be bound with a BIND command in another task The axis must first be freed with the FREE command before it can be bound by another task However two different tasks can freely use the same task letters as long as each task binds that letter to a different channel number 3 8 Aerotech Inc Version 1 4 U600 User s Guide AerDebug CHAPTER 4 AERDEBUG In This Section Introduction eon eee eter ee eee es 4 1 OPED CISCICCI re earn eee eee eee ee A eee 4 2 OS AED CIPTOM Phere oree rte ees ae ents eee eee ene 4 3 O Enters Commands sooo A 4 3 e Axis and Faultmask Configurations e 4 6 eR Lo crammin pee KOES ao eoa eee 4 12 e Programming Commands 1 0 0 0 eee eeeeeseeeeeeees 4 15 4 1 Introduction AerDebug is a command line oriented program that can be used for examining or controlling the UNIDEX 600 Series axis processor card AerDebug is
428. s for position feedback The default is the current axis If specifying the number of bits for the resolution it is also necessary to specify a value for the number of poles Omission of any or all of the above arguments will cause default values to be used Version 1 4 Aerotech Inc 4 7 AerDebug U600 User s Guide 4 4 1 2 CONFIGENCODER Encoder Feedback To configure an axis with encoder feedback the following syntax applies CONFIGENCODER encchannel lines bounded where encchannel Encoder channel for servo position feedback The default is the current axis lines Encoder counts per motor rev The default is 4000 bounded Enable bounded 1 disable bounded 0 software limits The default is zero 0 4 4 1 3 CONFIGHENCODER Encoder and Hall Effect Sensor Feedback To configure an AC brushless motor using Hall effect and encoder feedback for commutation the following syntax applies CONFIGHENCODER encchanne lines_per_rev hall_lines com_offset comm_ch bounded where encchannel Encoder channel for servo position feedback The default is the current axis lines_per_rev Encoder counts per motor revolution The default is 4 000 hall_lines Encoder counts per electrical cycle If set to zero 0 commutation defaults to six step The default is 1000 com_offset Commutation offset for CONFIGHALL is specified in degrees 360 lt offset lt 360 The units are equal to 0 through 16 384 for 0 to 360
429. s 34 bytes of controller memory This Global parameter specifies the number of tasks that will be serviced by the controller The default is 4 Set this task parameter to one to detect a Motion Queue Starvation Condition If its non zero and motion queue starvation occurs a descriptive task fault will be generated and motion will stop C 5 15 ThrowTaskWarningsAsFaults If this global parameter is positive the controller will handle task warnings as task faults If it is zero the default task warnings behave as described by the TaskWarning task parameter If it is negative task warnings will be ignored C 5 16 UserMode This Global parameter specifies the active page of the UNIDEX 600 MMI if it is running If the Manual MDI or Jog Page is entered via the Run Page the Run Page will still be indicated as active Table C 21 U600 UserMode Meanings Value Meaning 2 Manual or Jog Page is active 1 Run Page is active 0 None of the above C 5 17 Version This parameter specifies the current version of major minor the software running on the axis processor This is a read only parameter VV V C 118 Aerotech Inc Version 1 4 U600 User s Guide Warranty and Field Service APPENDIX D 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
430. s and the user will be responsible for handling the CycleStart and CycleStop functions C 4 100 RotaryFeedRate This task parameter is the programmed vectorial speed of rotary axes in contoured motion G1 G2 G3 G12 and G13 It is normally specified in units of RPM See the E word documentation for more details on the use of this parameter However note that the units of this parameter will vary by the value of the UserFeedRateMode task parameter the G93 G94 G95 mode as shown below UserFeedRateMode G93 G94 G95 mode Units of the F word 0 DEFAULT G94 revolutions minute 1 G93 minutes revolutions 2 G95 revolutions spindle1 revolution 3 G29 Srevolutions spindle2 revolution 4 G395 revolutions spindle3 revolution 5 G495 revolutions spindle4 revolution The Vectorial velocity of rotary axes in contoured motion is the square root of the sum of the squares of all the speeds of rotary type axes involved in the contoured motion This parameter value is not signed its value must always be positive Note that the RotaryFeedrate task parameter value has no effect on contoured motion of linear axes see the LinearFeedRate parameter nor does it effect motion on rotary axes that are being controlled by the linear axes motion component The RotaryFeedrate task parameter value is a programmed value and will retain its value whether there is currently any contoured motion However due to feedrate limiting and the MFO the actual vectorial
431. s must be a linear type The CutterX and CutterY parameters are used to determine the cutter compensation plane When enabled the contoured motion will be compensated by the CutterRadiusInch parameter to account for the cutting tool s radius This parameter may not be changed while cutter compensation is active C 4 31 CutterY This task parameter specifies which task axis is used for the Z or tool length axis used by the cutter offset compensation This parameter may not be changed while cutter offset compensation is active Version 1 4 Aerotech Inc C 73 Parameters U600 User s Guide C 4 32 DecelOnProgramAbortMask This task parameter is an axis mask Any axes specified in the mask will follow the DECEL and DECELMODE axis parameters when the Abort key is selected within the UNIDEX 600 MMI If an axes is not specified within this parameter to decelerate on aborting a CNC program it will abruptly stop without deceleration C 4 33 DecelRate This task parameter will indicate or may be used to specify the current Deceleration rate of the task in the current user units This parameter is inconsequential if rotary axes are dominant In this case refer to the DecelRateDPS2 task parameter C 4 34 DecelRateDPS2 This task parameter specifies the deceleration rate in degrees per sec per second used by the controller for contoured motion deceleration G1 G2 G3 G12 and G13 when the CNC G68 command is active Otherwis
432. s of the Al A2 BO B1 and B2 axis parameters will be displayed Enter these values into the axis parameters for the axis in question You should now be able to successfully Auto Tune the axis 5 3 5 Minimizing Position Error due to Torque Ripple or Amplifier Offsets If the position error is a cyclic sinusoid repeating every electrical cycle of the motor it is most likely due to offsets in the amplifier current loop or possibly poor Hall effect alignment One electrical cycle of the motor can be determined from Aerotech s motor specifications Assuming that you do not have an inductive current probe follow this procedure Cycle the axis through multiple electrical cycles while monitoring the position error in AerTune 1 Adjust the PHASEAOFFSET axis parameter for the axis in increments of 50 till you minimize the position error as best you can Now do the same for the PHASEBOFFSET axis parameter for the same axis Repeat steps and 2 with a 25 increment of the parameters Repeat steps and 2 with a 10 increment of the parameters i a Repeat steps and 2 with a 5 increment of the parameters 5 8 Aerotech Inc Version 1 4 U600 User s Guide AerTune 5 3 6 AC Brushless Motor Tuning Tip Shown in Figure 5 5 is a tuning plot of an AC brushless motor Note the ripple effect during the move This is normal since AC brushless motors usually have a larger amount of torque ripple than DC brush motors
433. s on faults Aerotech Inc Version 1 4 U600 User s Guide Getting Started 2 2 Software Installation 2 2 1 UTIL600 NT Installation Before the installation of the UTIL600 NT software package the operator must ensure that the necessary hardware platform as described earlier and the Windows operating environment are in place With these issues addressed actual installation can begin The software installation process uses standard Windows installation techniques and is very easy to do With even modest familiarity of the Windows environment the entire process should take less than 5 minutes The steps are outlined below 1 Plug in the system PC and monitor into appropriate power outlets then turn on the PC 2 Insert UTIL600 NT software diskette number 1 into the floppy drive of the system PC e g A 3 Windows will start the UTIL600 NT startup program From Windows95 or Windows NT 4 0 select the Start button then click the Run icon type in A setup exe in the Open box and Click OK 4 A new pop up window will be displayed Enter the name of the target sub directory of the installation By default the SETUP EXE program will install the UTIL600 NT software under the C U600 sub directory If a different sub directory is desired change the target directory from this pop up window If a new sub directory does not exist the installation program will automatically create it 5 Follow any subsequent instructions that a
434. s performed around the last position at which this parameter was set Setting this parameter to 30 and then later to 20 will cause a combined 50 rotation Positions relative to the last point of rotation are rotated the specified number of degrees To disable the parts rotation set this parameter to 99 999 A Rotated Path RotateY Fj Programmed Path Point of Rotation F RotateX Parts Rotation gt Figure C 19 Part Rotation C 96 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 103 RotateX This task parameter specifies which task axis is used for the X axis of the parts rotation plane This axis must be a linear type The RotateX and RotateY parameters are used to determine the parts rotation plane When enabled the contoured and rapid motion on this plane will be rotated C 4 104 RotateY This task parameter specifies which task axis is used for the Y axis of the parts rotation plane This axis must be a linear type The RotateX and RotateY parameters are used to determine the parts rotation plane When enabled the contoured and rapid motion on this plane will be rotated C 4 105 RThetaEnabled This task parameter enables or disables the R Theta transformation The RThetaX and RThetaY parameters are used to determine the perpendicular base X Y plane The RThetaR and RThetaT parameters are used to determine the polar R Theta coordinate system The RThetaT an
435. s the axis to come to an abrupt uncontrolled stop without any programmed decel The abort mask bits are ANDed with the fault status bits If any of the resultant bits test true match the FAULT axis parameter value the UNIDEX 600 Series controller instantaneously zeros the command output to the drive When setting these bits be especially careful because an abrupt stop may cause physical harm to the user and or damage the equipment 2 6 2 6 INTMASK Setting a bit in the INTMASK defines which fault conditions cause a hardware PC interrupt to be generated Typically this interrupt is handled by an application that runs on the PC under Windows NT If there is no application programming being done on the PC or are otherwise not interested in intercepting these interrupts they can be ignored as they have no effect on the motion generated or any other operation of the system The user must use the AerEventxxx library functions refer to the UNIDEX 600 Series Library Reference Win NT 95 Manual P N EDU156 to intercept these interrupts The interrupt mask bits are ANDed with the fault status bits If any of the resultant bits test true match the UNIDEX 600 Series controller will generate an axis interrupt The phase bits bits 19 through 22 are an exception the FAULTMASK does not need to be set for these to be active that is they need only be set in the IVTMASK The interrupt will not occur properly if the jumper setting on the
436. s the interpretation of the specified linear and rotary feedrates the F keyword or LinearFeedRate and the E keyword or RotaryFeedRate as shown below It is equivalent to using the G93 G94 G95 codes UserFeedRateMode G93 G94 G95 mode Units of the F word 0 G94 user units minute 1 G93 minutes user unit 2 G95 user units spindle1 revolution 3 G29 Suser units spindle2 revolution 4 G395 user units spindle3 revolution 5 G495 user units spindle4 revolution Note that the value of this parameter will change the units of the LinearFeedRate task parameter the F keyword and the units of the RotaryFeedRate task parameter the E keyword C 112 Aerotech Inc Version 1 4 U600 User s Guide C 5 Global Parameters Global parameters are only used by the CNC interface Unless CNC motion is used these parameters can be ignored These values are used to specify information relevant to all axes and all tasks The case of the global parameters is significant as defined in the table below Table C 19 Global Parameters Name Parameter Parameters Maximum Default AvgPollTimeSec 0 RU lt NA gt lt NA gt 0 000429688 BuildNumber 9 R lt NA gt lt NA gt 23 0 CallBackTimeoutSec 6 RW 0 0 60 0 1 0 CompatibilityMode 15 RW 0 1 0 Enable1KhzServo 8 RW 0 1 0 Enable2DCalibration 13 RW Ol 1 0 EStopEnabled 5 RW 0 1 0
437. s well as the specific I O CW CCW Home Limits encoder fault drive fault Auxiliary Mode output and the drive enable Encoder Channel Assignments Channels 1 through 4 are on the UNIDEX 600 card channels 5 through 8 are on the 4EN PC card configured as Board 1 channels 9 through 12 are on the 4EN PC card configured as Board 2 channels 13 through 16 are on the 4EN PC card configured as Board 3 Resolution The resolution field specifies the machine steps per electrical cycle of the resolver or inductosyn This is entered as 10 12 14 or 16 bits which represent 1024 4096 16 384 and 65 536 machine counts per electrical cycle of the feedback device respectively Number of Lines Cycle The number of lines cycle field specifies the number of resolver counts that are equal to one electrical cycle of the motor This parameter is always entered as though the feedback device is in 16 bit 65 536 mode The electrical cycle of the motor is ratioed to one cycle of the feedback device as though the feedback device is 65 536 counts per electrical cycle of the feedback device Rotary Encoder This is set equal to the number of resolver counts per revolution of the motor divided by the number of electrical cycles per revolution of the motor number of poles pairs Linear Encoder This is set equal to the number of resolver counts per electrical cycle of the forcer motor 12 16 Aerotech Inc Version 1 4 U600 User s
438. se 1 5 2 Generating Motion In general there are three types of motion available for a single axis synchronous asynchronous and master slave sometimes called camming Please see the appropriate programming manual EDU156 for the library interface and EDU158 for the CNC interface for complete details on how to invoke these types of motion the rest of this section summarizes this information Table 1 2 Available Motion Types Motion Type Library Interface Access CNC Interface Access NONE AVAILABLE GO G1 etc CNC commands AerMovexxx functions STRM etc CNC commands AerCamTablexxx function NONE AVAILABLE When executing synchronous motion the controller does not move to the next step in the program until the motion finishes and the axes are in the commanded position In asynchronous motion the motion is initiated but the controller immediately moves to the next step in the program The controller does not wait for the motion to complete Asynchronous motion offers more versatility allowing the user to perform other tasks during a time consuming move However asynchronous moves are potentially more dangerous since the programmer is responsible for making sure that the first move 1 6 Aerotech Inc Version 1 4 U600 User s Guide Introduction and Overview finishes before a following command occurs which requires the first move to be complete For example a slow carriage move might need to be completed be
439. se is currently decelerating to zero speed at the end of the move This parameter is sampled at the rate indicated by the AvgPollTimeSec global parameter This parameter does not affect homing moves or a spindle velocity The MSO affects the spindle This parameter cannot be changed if the MFOLock task mode bit is active Also if the AnalogMFOInput task parameter is not 1 then the controller over writes this parameter with the value obtained from the specified analog input Additionally this parameter reflects only the requested feedrate override the MaxFeedRateIPM or MaxFeedRateRPM machine parameters may limit the maximum feedrate This will not be reflected in the MFO value Normally the operation of a MFO change during a contoured move will be delayed by a time interval of UpdateNumEntries UpdateTimeSec seconds By default this will be 300 milliseconds The acceleration deceleration during MFO changes is the same as the acceleration deceleration followed at the beginning and end of the current move which is determined by the motion type as defined in the Accel Decel Overview C 4 82 Model This task parameter is a bitmask Each bit represents a current state of the task In general these states are modes that are toggled by G codes For example the current G70 G71 or English Metric programming mode state is indicated by Bit 0 However a few modes such as Auto Single Step are not accessible via G codes eS You may view
440. seconds and scaled from 10 volts to 10 volts to match a 0 to 2 ratio MFO range Also the MFO value will be rounded to the nearest 05 or 5 when under control of the AnalogMFOInput In other words the MFO will increment from 0 1 15 etc up to 2 0 The MFO value will not be changed if the MFOLock task mode is active The MFO slider bar on the Run and Manual MDI screens of the MMI 600 can only be used when this parameter is set to 1 other values will enable external control causing the slider bar to display the set value This task parameter is sampled at the rate indicated by the AvgPollTimeSec global parameter C 4 7 AnalogMSOInput This task parameter specifies which analog input channel is used for the analog MSO for the first spindle as defined by S1_Index A value of 1 disables the analog MSO input However when this parameter is set to a valid analog input that will be used to automatically update the MSO parameter When under control of the AnalogMSOInput the MSO parameter cannot exceed a value of 2 The analog input is averaged over 100 milliseconds and scaled from 10 volts to 10 volts to match a 0 to 2 ratio for the MSO range Also the MSO value will be rounded to the nearest 05 or 5 when under control of the AnalogMSOInput The MSO value will not be changed if the MSOLock task mode is active The MSO ratio used is not the instantaneous analog reading but an average over the last 100 milliseconds The MSO slider ba
441. selection allows the time or X axis of the plot to be displayed as seconds seconds 1000 milliseconds or by sample number The Zoom menu allows the Zoom feature to be activated disabled so that the cursor functions may be used and to Un Zoom These features are available via the Zoom button also To Un Zoom using the Zoom button click the right mouse button on the Zoom button 5 2 6 The Trigger Menu The Trigger menu allows the sample rate to be defined The sample rate determines the number of milliseconds between each sample This also determines the period of time that AerPlot will collect data for based upon the number of points defined on the collect menu The Collect On Set of Data menu selection will collect the specified number of points and update the display The Collect Data Continuous menu selection will collect the specified number of points update the screen then repeat the cycle until halted by the user The Collect Halt Data Continuous menu selection will terminate the Continuous Data Collection mode Version 1 4 Aerotech Inc 5 3 AerTune U600 User s Guide 5 2 7 The Axis Menu The Axis menu allows one of the axes to be selected for display The axes are listed by number in the same order they are listed on the position display or axes configuration page To display multiple axes simultaneously use the AerPlot utility 5 2 8 The Tools Menu The Tools menu allows the Status Control and Cursor t
442. soctecaeubco tats one osa C 82 C 4 67 JogPair2 Axis 2 2 coset like ee poe hee ee tee C 82 4 68 JogPam2Mode sisirin etsisi rsrsr Gases C 82 C469 sJOVSUCK BOL esis nenna ea aore C 83 CA 70 LimnearFeedRate nisione iese iE rare C 83 C 4 71 LinearFeedRateActual oo ieee eeeeeeeeeeeeeeeeeeesenseensees C 84 C 4 72 LimeNumber User iisi rks aes C 84 CATI TimeNumber 960i 5 cc scctieac dined atin nts C 84 C 4 74 MaxCall Stack cece cesecsecseecseeeseeeeeeeeeeeeesesesseesseseseesaees C 84 C 4 75 MaxLookAheadMoves ceceseesecssecssecseecreeeseeeeeeeeeeeeeees C 84 GC 4 76 MaxModesStack ici cissecccccsevescesssasvetesnusbdodeensce sspestcesensveteseas C 85 CATT MaxMonitor atats ccs tevesicescetiessesdscnelecesge suceesceseteetuonteseesseieet C 85 C 4 78 MaxOnGosubData cece cece esse cece creeceeeeeeeeeeeeeeeeeeseees C 85 C 4 79 MaxRadiusAdjust eee cee cesecssecssecseecneeeeeeeeeeeseeeeeeeees C 85 C 4 80 MaxRadiusError eee ee eeceeecesecesecesecnseceecaeeeseeeneeeeeees C 85 C48 MEO n a e R EA E AA Suloeteauneeeiees C 86 C482 Mode lers inas oone oee ear his earan C 86 C48 MSO Alek He ae te E AT C 88 C 4 84 NormalcyToleranceDeg 00 eee eee eeeeeeeeeeeeeeeenseeneees C 88 CABS Normale y AXIS rne eere eane a e Ea E EEEE ERa est C 88 C486 Normale yX icc eck i eere iore a E E EEE EE SE C 89 CA 87 Nommaley Y erein nail dele shh eed SY C 89 C 4 88 NUMBeD hess c26stesietess soe kee sesteieadie seessebabisne ES
443. ssesedebbne bets C 103 C4136 Slew Pair cise scusscecscysss loch theedivesadevsenssssieenauy teen eeeteencederesse C 103 CAT37 SlewPalt geniert eerie e ae etnies C 104 C 4 138 SlewPair Example ssseesseeeeseeereeesrsrreresreerrsrerreresreesrsreee C 104 C4139 Task Modes iicn re er rE E E AE E ea C 104 CAAO Status lioin a a a a N C 105 C 4 140 1 CNC Program Active seese C 106 C 4 140 2 CNC Program Executing C 106 C 4 140 3 CNC Program Aborted sses C 106 CANAI Status 2 pia e aeaaee eaan aes aaea ea n C 106 C 4 141 1 Spindle FeedHold Active ee C 107 xvi Aerotech Inc Version 1 4 U600 User s Guide Table of Contents C 4 141 2 Asynchronous FeedHold Active C 107 C4142 StAtUs 2 eee eena roenan snee e eoe TESE E E ESEE C 107 C 4 142 1 Motion FeedHold Active ee eeeeeeeneeees C 108 C 4 142 2 Motion Continuous Bit ee eeeeeeeeeeee C 108 C4143 TaskPaullts eii iieri r Tri as C 108 C 4 143 1 TaskWarnihg ssiraren eenn C 109 C 4 143 2 Stopping the CNC program in Response to a TaskFaulti norui iaa e C 109 C 4 143 3 Generating an Axis Fault in Response to a Task Paull ae rererere a C 109 C 4 143 4 Generating a PC Interrupt in Response to a TaskFa lt niinen i C 110 C 4 144 UpdateNumEntries sesseseeeseeeseseeesssreerssesresresreerrsreeresesees C 110 C 4 145 Upd te Timesee rinn a EE C 110 C 4 145 1 Effects of Decreasing the UpdateTimeSec Task Parameter cenencisieciiieniiee
444. ssor 4 38 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 6 68 PRGRUN filespec line_number The PRGRUN command executes a CNC program that has been downloaded to the axis processor by the PRGLOAD command The line number parameter may be optionally specified to begin execution of the program on a line other than line number one EXAMPLE PRGRUN U600 TEST PGM 5 run test pgm beginning on line 5 4 6 69 PRGSTATS filespec The PRGSTATS command returns the compiler status of the specified CNC program This status includes errors warnings and compile time EXAMPLE PRGSTATS U600 TEST PGM has program been compiled 4 6 70 PRGTYPE filespec The PRGTYPE command displays the CNC program lines from the specified program of the program that has been successfully compiled This is not the downloaded object program on the axis processor see PRGDUMP it is the source lines from the user s program EXAMPLE PRGTYPE U600 TEST PGM display CNC program lines 4 6 71 PRGUNLOAD filespec The PRGUNLOAD command removes the specified CNC program from the axis processor s memory freeing the space for other programs EXAMPLE PRGUNLOAD U600 TEST PGM unload program form memory 4 6 72 PPODOWNLOAD The PSODOWNLOAD command loads the PSO firmware into the PSO card The name of the PSO image will be specified in the AerReg program If the base address of the PSO card specified in AerReg is non zero th
445. sssrseresesesee 4 43 4 6 91 VDSET type number value eee eeeeeeeseeceeeeeeneeeees 4 44 4 6 92 VSGET type number esssesssesesessssessresseessesssesessserssee 4 44 4 6 93 VSMON type number sssssesssesesesessssressressressrsereresssee 4 44 4 6 94 VSSET type number string 0 0 eeeeeeseeceseeeeneeeeee 4 45 4 6 95 WAIT condition eee eseeeeeeeeeeeeeeeeeerenseensees 4 45 4 6 96 WB address value ccccecssececssescecessseeeeeseneeeeesseeeeeeees 4 46 4 6 97 WRITESERIAL channel text eee ee cess ceeeceeeeee 4 46 4 6 98 WW address value cccccssecesssssceceessececcsseeeessseeeeesees 4 46 4 6 99 WL address Value cceccccessscecsssecesseeeeceesseeeesseeeeees 4 46 46 103 ZMONIT OR ssis eseese contests di fevsdgentins tend a 4 47 4 6 106 ZONGOSUB e e eren e asen EE en ovens EEEE E eE 4 47 4 7 Command to Library Cross Reference esesseeeeeeeeeeseseerseessreseee 4 48 CHAPTER S5 AERTUNE 2 35 sesseecscneecustesnceiont ai E 5 1 5 1 Tntrod ction sne ean r e E e nb teeeboeneyye 5 1 5 2 The Main Window of the AerTune Program essseessereereerrererrseeees 5 2 3 2 The Help Menu he rnr e a r aea TR 5 2 O E A E File eT A E E E E Maceaduniatns 5 2 5 2 3 The Plot Ment cessen eie 5 3 5 2 4 The Collect Menu ceccceccsccecssssececseeeeceesnececseeeeeeseaeeeess 5 3 5 2 5 The Graph Options Menu eseesesesrsseesssreeresrserserrresrerre
446. st pgm 4 6 26 EXIT The EXIT command terminates the AerDebug exe application as does the QUIT command EXAMPLE EXIT Quit AerDebug 4 6 27 GETPROG The GETPROG command displays the last programming error for the current axis if any Also any error present will be cleared EXAMPLE GETPROG display last error if any 4 6 28 INFO The INFO command displays the DAC channel number assigned to the current axis and the encoder feedback channel and type of feedback resolver encoder etc configured for the axis EXAMPLE INFO 4 26 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 6 29 IOGET type point_number The JOGET command displays the value of a virtual I O point Inputs and outputs may be displayed of register and binary bit types Binary types refer to bits having two possible states a logic 1 or 0 Registers are 16 bits having a valid data range of O through 65535 These 4 types are represented as follows BI Binary inputs BO Binary outputs RI Register inputs RO Register outputs The valid range of the virtual I O point is dependent on the type Register types have a valid range of 0 through 127 Binary bit types have a valid range of 0 through 511 Each type does not share this range among inputs and outputs so there are 128 register inputs 128 register outputs 512 binary inputs and 512 binary outputs If a virtual I O point number is not specified all I O points of the
447. steps Safe zones are useful for designating an area in which the axis can travel or one in which the axis can not travel To enable or disable these zones The user must set the SAFEZONEMODE axis parameter Safe zones may be enabled disabled during homing by the SOFTLIMITMODE axis parameter The distance specified by this parameter begins at the hardware home position Be sure to set the Safe Zone bit in the FAULTMASK axis parameter to enable the detection of this fault then set the bit in the appropriate mask parameter DISABLEMASK HALTMASK AUXMASK ABORTMASK INTMASK and BRAKEMASK for the action to occur on this fault C 2 89 SAFEZONECW This axis parameter allows the user to specify the clockwise boundary of the safe zone associated with an axis in machine steps The user may use a safe zone to designate a boundary in which the axis can travel or one in which the axis can not travel To enable or disable these zones The user must properly set the SAFEZONEMODE axis parameter Safe zones may be enabled disabled during homing by the SOFTLIMITMODE axis parameter When setting this parameter it is necessary to know that its distance starts at the hardware home position Be sure to set the Safe Zone bit in the FAULTMASK axis parameter to enable the detection of this fault then set the bit in the appropriate mask parameter DISABLEMASK HALTMASK AUXMASK ABORTMASK INTMASK and BRAKEMASK for the action to occur on this fault C 2 90 SAFEZ
448. sting PGain as the starting point As PGain increases the position error will begin to be at zero or near the end of the commanded move The axis is now roughly tuned so continue with the following step 7 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 cycle the axis While the axis is moving adjust the Balance pot and remove any DC offset in the position error Press the Halt button when the task is done Ideally the position error will be symmetrical in the positive and the negative directions However it is most important that the position error is at zero when the move is complete Second the user will fine tune the Current Limit pot on the Aerotech DS16020 16030 amplifier after commanding the motor to move short fast moves and observing the current feedback from TP1 on the amplifier with an oscilloscope In order to do this perform the following steps a Connect the Oscilloscope leads to TP1 current feedback and TP4 common on the amplifier b Set the Distance and Speed entry fields to represent a typical short fast move The idea here is to command the motor to move faster than it is capable so that the amplifier will saturate This implies that the amplifier is full on that is commanding maximum current This allows the user to adjust the current limit potentiometer that limits the maximum
449. t Drive fault input see JOLEVEL parameter However after clearing the drive fault input this bit continues to reflect the fact that the fault occurred 0x80 Feedback Fault Feedback failure input from the feedback associated with the axis This typically occurs when the feedback device is not functioning properly or the feedback cable is disconnected 0x100 6 0x40 Programming Fault Axis processor received an invalid command from the PC host These only occur when processing programming commands from programs running on the PC U600MMI AerDebug Refer to the UNIDEX 600 Series Library Reference P N EDU156 under Programming errors 9 0x200 Master Feedback Fault Feedback failure input from the feedback channel associated with the axis configured as a master This usually occurs when the feedback device on the master axis is defective or the cabling is bad 0x400 Home Fault System encountered a homing fault This typically occurs for either of two reasons while executing a home cycle the home limit switch input was not detected or when the system encounters an end of travel limit switch before the first resolver null or marker pulse 11 0x800 User Fault Application has requested a fault be generated with the AerProgSetUserFault function It provides a way for a programmer to generate an axis fault from within a C C or VB application program Velocity Trap Actual veloci
450. t not exactly tangential are commonly output by CNC program post processors C 4 85 NormalcyAxis This task parameter specifies which task axis is used for the normalcy axis This axis must be defined as a modulo position rotary type Type 1 axis When enabled the normalcy axis will maintain a normal perpendicular orientation to the contoured motion path The axes used to determine the normalcy plane are specified by the NormalcyX and NormalcyY parameters This parameter is 0 based i e the 1st axis X is represented as 0 NormaloyY NormalAxis s Pd Orienation Contoured Path gt NormalcyX Normalcy Plane Figure C 18 Normalcy C 88 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 4 86 NormalcyX This task parameter specifies which task axis is used for the X axis of the normalcy plane This axis must be a linear type The NormalcyX and NormalcyY parameters are used to determine the normalcy plane When enabled the normalcy axis will maintain a normal perpendicular orientation to the contoured motion projected onto the normalcy plane This parameter is 0 based i e the Ist axis X is represented as 0 C 4 87 NormalcyY This task parameter specifies which task axis is used for the Y axis of the normalcy plane This axis must be a linear type The NormalcyX and NormalcyY parameters are used to determine the normalcy plane When enabled the normalcy axis will maintain
451. t 2 000 steps per second Version 1 4 Aerotech Inc 4 29 AerDebug U600 User s Guide 4 6 35 MFREERUN direction speed The MFREERUN command starts the currently selected axis moving in the specified direction at the specified speed The direction is specified as l1 or 1 for counterclockwise or clockwise motion The speed parameter is in machine steps per second The axis must be enabled before commanding it to move This command should not be used if the axis is executing a command from within a CNC program The axis will accelerate and decelerate in the mode rate time defined by the Accel Decel AccelMode DecelMode AccelRate and DecelRate axis parameters This command is typically used to begin continuous motion on an axis without end of travel limits such as a spindle EXAMPLE PARMSET A DRIVE 1 enable the drive MFREERUN 1 50000 freerun clockwise at 50 000 steps per second 4 6 36 MHALT The MHALT function decelerates the motion on the current selected axis to zero However this does not apply to motion of the axis within a CNC program It applies only to the motion started by the move or motion commands beginning with an M such as MABSOLUTE MHOME etc The axis will decelerate in the mode rate time defined by the Decel DecelMode and DecelRate axis parameters EXAMPLE MHALT decelerate motion on the current axis to a stop 4 6 37 MHOLD The MHOLD command feedholds the motion in progress on
452. t at a master position of 3 inches the slave must be at position s If instead you want a master position of 1 inch to correspond to slave position s then set the CAMOFFSET value to 10 000 counts inch 3 1 inches 5 000 counts CAMOFFSET Y 5000 Slave Position I Without the CAMOFFSET value CAMOFFSET Master Position negative value Figure C 3 Camming Illustration Version 1 4 Aerotech Inc C 13 Parameters U600 User s Guide C 2 21 CAMPOINT This axis parameter is only used for File Driven Camming and HANDWHEEL camming It is a read only parameter that indicates the point in the cam table producing the slaved axis position The CAMPOINT axis parameter represents the index of the point in the Cam table that is immediately larger than the current CAMPOSITION value This parameter should always be examined on the slave axis and the units are in points in the cam table It is zero based 1st point in the table is CAMPOINT 0 C 2 22 CAMPOSITION This axis parameter is for File Driven Camming and HANDWHEEL camming It is a read only parameter that indicates the master axis position used to index into the cam table to produce he slaved axis position The CAMPOSITION parameter value is the master position value that is currently being used to perform the cam table lookup This value is after any modulo position is done on the master position For example if the table extends from 1 000 counts
453. t axis velocity command 1 16 Axis 1 to 16 s velocity command is added to the current axis velocity command 17 32 Axis 1 to 16 s actual velocity is added to the current axis velocity command Where 17 is axis 1 18 is axis 2 32 is axis 16 33 48 Axis 1 to 16 s torque command is added to the current axis velocity command Where 33 is axis 1 34 is axis 2 48 is axis 16 Version 1 4 Aerotech Inc C 9 Parameters U600 User s Guide S The gantry mode utilizes the AuxVelCmd axis parameter for commanding motion on the slave axis so it should not be used while the gantry mode is active This parameter does not change the velocity command it integrates the auxiliary velocity command into the position command The AUXVELCMD can be useful for example when tracing an X Y pattern on a part that is moving on a conveyor belt when the X Y stages are not moving with the conveyor belt C 2 14 AVGVEL The controller maintains a read only parameter called AVGVEL that reports the average velocity for a given axis This average has no effect on the operation of the controller but is maintained for the benefit of the application program The AVGVELTIME parameter specifies the time period to average the velocity over The units for this parameter are counts per millisecond C 2 15 AVGVELTIME The AVGVELTIME axis parameter specifies the time period over which to average the velocity when calculating the value of the AVGVEL a
454. t ns ESE C 77 C 4 47 GlobalEstopDisabled cee eee ese eeeeeeeeeeeeeeeeereeeees C 78 C 4 48 HaltTaskOnAxisFault eee ceeeeeeeeeeeeceeeeeeeenseensees C 78 C 4 49 IpnoreAxesMask siisii aseri sa C 78 C 4 50 InterruptMotion iseen a Se a e A C 78 C 4 51 InterruptMotionReturnType eesseseeesseesesreesrsreeresrerreresrees C 79 C 4 52 External Jog Key Example sesesseeeeseeeeeeeseeerrsreeresreersere C 79 C 4 53 JogPairl AxislMinusIn esseeeseeeeeseseseeerssreesrsreeresesrresesreee C 80 C 4 54 JogPairlAxis PlUSIN esso eee cee ceee cree ereeeeeeeeeeeeeeeeees C 80 C 4 55 JogPairlAxis2MinusIn eee cee ceeecseeeneeeeeeeeeeeeeeeees C 80 C 4 56 JogPairlAxis2PlusIn 0 eee cece cece creeereeeeeeeeeeeeeeenees C 80 C 4 57 JogPairl Enableln wis cccsc ssscscesiscscesecteseest eg cheesenceteeseesetens C 80 C438 JoSPar LAX S lirin n a ess C 80 CAS9 JogPawrl Ax182 ioris eviii oestrone Gane eo ines C 80 C 4 59 1 JogPairl Axis Example C 81 C 4 60 JogPatr Mode s i 3 c sccccccusedesessoetsstusstotesssottcsssstsetasssostesvesses C 81 C 4 61 JogPair2Axis MinusIn nn eee ceeeceeeereeeeeeeeeeeeeeneees C 81 C 4 62 JogPair2Axis PlUSIN 0 eee cee creeeeeeeeeeeeeeeeeeereeeeees C 82 C 4 63 JogPair2Axis2MinusIn eee ese ceeecseeeneeeeeeeeeeeeeeeees C 82 C 4 64 JogPair2Axis2PlUSIN oe eee eee cee cneecneeceeeeeeeeeeeeeeeeees C 82 4 65 JogPar2Enableln inne a e eae e EA C 82 C 4 66 JogPair2A x18 is eesis cok cencuskavte
455. t the EstopInput is minus one by default so it must be set in order to have a task ESTOP When an ESTOP occurs either through the optically isolated input or a binary input the system generates an ESTOP Task fault What happens due to a Task fault is discussed in detail under the documentation for the TaskFault Task parameter In summary an ESTOP task fault stops the CNC program and by default generates axis faults on all the axes it is bound to disabling those axes However the behavior of the system after an ESTOP can be customized please see the TaskFault task parameter documentation for details The user cannot run programs on any task while the ESTOP task fault is on However the user can run most immediate mode commands excepting those that initiate motion or enable drives 2 18 Aerotech Inc Version 1 4 U600 User s Guide Getting Started 2 9 Axis Testing The axes should be tested before their initial use which includes verifying proper phasing of the feedback encoder and or resolver as well as any required end of travel limits 2 9 1 Axis Limits After configuring the axes the limits are easily verified by running the AerStat utility and selecting the axis status tab to view the limits which are displayed as CW input CCW input and Home input Sequentially activate the limits on each axis noting the appropriate limit indicates it is ON when the limit input is active Be sure that
456. tart Frequency Additionally there will be an intermediate frequency generated 2 times the Starting Frequency Version 1 4 Aerotech Inc 5 13 AerTune U600 User s Guide 5 4 2 6 Points to Collect in AutoTune The Points to Collect parameter determines how many data points that the AutoTune program collects The Gain calculations will be more accurate with more data points collected The number of points indirectly adjusts the length of time that the sinusoidal input is entered into the system 7500 points result in a system excitation of 7 5 seconds in length the data is sampled at 1 msec The default number of points will work well in almost all cases and there is a point of diminishing returns if too many points are collected Two exceptions are where the Starting Frequency is very low or where AutoTune Convergence errors have been previously displayed In these cases more points may assist the AutoTuning algorithm to come to a correct set of servo loop gains 5 4 3 Tuning Parameters The following fields are available on the AutoTune screen 5 4 3 1 Velocity Bandwidth The Velocity Bandwidth parameter is used to set the desired closed loop bandwidth of the Velocity Loop The default value is a good starting point in most cases For systems that require very fast movement or are very lightly damped the bandwidth setting will most likely need to be increased On very large systems i e a large gantry system or systems
457. task parameter C 4 65 JogPair2EnableIn This task parameter defines the virtual input number that when True active high will cause Jog Pair 2 as defined by JogPair2Axis1 to move in the current jog mode as defined by the JogPair2Mode task parameter C 4 66 JogPair2Axis1 This task parameter defines the first axis that will be commanded to move by the virtual input specified by the JogPair2EnableIn task parameter The value is specified as a bitmask Bit 0 represents the first axis default name X bit 2 the second axis default name Y etc See Section C 4 59 1 for more information on setting this parameter C 4 67 JogPair2Axis2 This task parameter defines the second axis that will be commanded to move by the virtual input specified by the JogPair2EnableIn task parameter The value is specified as a bitmask Bit 0 represents the first axis default name X bit 2 the second axis default name Y etc See Section C 4 59 1 for more information on setting this parameter C 4 68 JogPair2Mode This task parameter defines the jog mode of the axes specified by the JogPair2Axis1 task parameter as one of the following FreeRun 0 The axes continue moving until the jog input is False Distance and Hold 1 The axes move at the velocity and distance specified by the jog machine parameters The motion begins when the input becomes True and will stop if it becomes False before the move completes Distance 2 The axes move at the ve
458. tatus3 C 107 String variables 4 44 Synchronous motion 1 6 System setup 2 5 T Tachometer based systems 5 19 Tachometer based velocity loop 5 30 Target directory 2 5 Task faults 2 18 Task information 4 41 TK command 4 41 Torque computing C 24 Motor C 17 Torque mode servo loop 2 20 Trigger mode 6 5 Troubleshooting B 1 TSKASSOC command 4 41 TSKDEASSOC command 4 41 TSKINFO command 4 41 TSKPRG command 4 42 Tuning procedures for Servo Loops 5 20 5 32 Tuning procedures for Tachometer Loops 5 32 Tuning with tachometer feedback 5 30 Type C 2 C 55 Type of parameters 4 36 Types of motors 2 8 U User Fault 2 13 C 19 UserMode C 118 y VAGET command 4 42 VCGET command 4 42 VDGET command 4 43 VDMON command 4 43 VDSET command 4 44 Velocity 4 32 Velocity command 1 4 Vgain parameter 5 30 Velocity Command Trap Fault 2 13 C 19 Version 1 4 Aerotech Inc v Index U600 User s Guide Velocity Error 5 23 VSMON command 4 44 Velocity feedback 4 21 VSSET command 4 45 Velocity feedforward gain Vff 5 30 5 31 Velocity loop 5 16 Ww Velocity loop adjustment 5 22 Velocity Trap Fault 2 13 C 19 WAIT command 4 45 VELPOSITION C 42 Warranty Information D 1 VELTIMECONST C 43 Warranty Policy D 1 Version C 118 WB command 4 46 Vff 5 31 WIN32 4 1 VFF C 44 Windows 95 2 5 Vff Velocity feedforward gain 5 18 Windows NT 2 5 VGAIN C 44 WL command 4 46 VGain parameter 5 1
459. ter This parameter and the MaxFeedRateRPM parameter can be limited to a lower value than expected due to the fact that the velocity value stored internally in machine counts is only 16 bits Therefore an upper limit to this parameter is 65 536 000 CntsPerDeg 6 C 3 25 NumDecimalsEnglish This parameter allows the user to define the position display when the G70 English mode is active This is the total number of digits displayed after the decimal point C 3 26 NumDecimalsMetric This parameter allows the user to define the position display when the G71 Metric mode is active This is the total number of digits displayed after the decimal point Version 1 4 Aerotech Inc C 53 Parameters U600 User s Guide C 3 27 PositionCmdUnits This machine parameter indicates the current commanded position in user units The value is continuously updated by the servo loop This position is unaffected by an offset value G92 The units of this parameter are the user units of the controlling task degrees for rotary axes inches for linear axes when the task is in G70 mode millimeters for linear axes when the task is in G71 mode C 3 28 PositionUnits This read only machine parameter indicates the current actual position in user units The value is continuously updated by the servo loop This position is unaffected by an offset value G92 The units of this parameter are the user units of the controlling task degrees f
460. ter defines the feedrate of spindle number three By default the units are revolutions per minute The G codes listed below will change the units of this parameter C 4 124 S3_SpindleRadius The S3_SpindleRadius task parameter specifies the spindle radius which is used along with the S3_RPM the S Word task parameter to compute the actual spindle RPM S3_SpindleRadius operates for task 3 use the other parameters for tasks 1 2 and 4 e g S2_SpindleRadius for task 2 This parameter can equivalently be set with the F parameter of the G97 command If the Spindle Radius is zero then the units of the S word are assumed to be RPM However if the spindle radius is positive then the S word S3_RPM for task 3 is assumed to be in distance units and the actual spindle RPM is computed as RPM v 2x Where RPM is the result spindle rotation speed v is the surface speed the S word value and R is the spindle radius provided in the F parameter of the G97 command Note that the units of the S word and the Spindle Radius are assumed to be the same C 4 125 S4 AnalogMSOInput This task parameter specifies which analog input channel is used for the analog MSO for the fourth spindle as defined by S4_Index Otherwise it is exactly the same as the AnalogMSOtInput task parameter You must have the ExecuteNumSpindles task parameter set properly to utilize more than one spindle 5 C 4 126 S4 Index This task parameter specifies which task
461. than necessary Note that the maximum acceleration of an axis during an arc occurs when the arc is tangent to that axis For example the maximum acceleration of the X axis F F R during an arc occurs when the tangent to the arc is parallel to the X axis If G301 mode is active the controller will look ahead multiple moves and slowdown many moves before the change in velocity However the maximum number of moves ahead of the CNC block the controller is able to slow down as determined by the MaxLookAheadMoves task parameter Also there are also some other instances where this parameter will do nothing due to limitations in the look ahead process C 4 10 1 Calculating the value of the BlendMaxAccelCircleIPS2 Task Parameter This parameter should be set to the maximum value that does not cause excessive excitation to the mechanics adversely affecting part quality The exact value required for your system must ultimately be determined by trial and error dependant upon your mechanics support structure part geometry required accuracy etc The BlendMaxAccelCircleIPS2 task parameter may be set to the lesser value of the two axes ACCELRATE axis parameters as a very rough starting point The ACCELRATE must be converted from machine counts second second to inches second second as follows BlendMaxAccelCircleIPS2 lt ACCELRATE CntsPerInch C 4 11 CannedFunctionID This task parameter causes the specified Canned Function to exe
462. the Velocity Trap value If the Velocity Trap VELTRAP axis parameter is set to a non zero value AutoTune 5 5 4 2 2 Excitation Amplitude will exceed Velocity Trap Limit The Amplitude of Excitation in AutoTune has been entered as a value that would cause the VELTRAP axis parameter to be exceeded The value will be re adjusted to prevent this from occurring 5 4 2 3 Units Inches Degrees or Counts The units of the Amplitude of Excitation in AutoTune may be entered in machine counts or user units inches or degrees depending on the axis type Click the desired radio button 5 4 2 4 Starting Frequency for Excitation in AutoTune The Starting Frequency parameter sets the starting frequency of the sinusoid test input The units are in Hertz The default value is usually a good starting point In general the higher the frequency of the input the more accurate the AutoTune calculations will be However higher frequencies can cause high system velocities and high amplifier currents If the frequency is too high over current errors velocity traps or position errors may result In general the starting frequency can be raised to 2 0 Hz 2 5 Hz or somewhat higher depending on the system Systems that have high inertia small amplifiers or small motors may require the frequency to be reduced to 1 Hz or lower 5 4 2 5 Ending Frequency for Excitation in AutoTune The Ending Frequency for excitation in AutoTune will always be 4 times the S
463. the Name of the axis Numbers not allowed ss What is the Task Axis Index for this axis axis 1 7 What Task should this axis be bound to What Task owns this axis Task 1 This axis should be referred to as the following callstack parameter x r Finish Cancel Help Figure 12 6 The Axis Configuration Wizard Setup Name Screen Selecting Next will advance you to the next Wizard configuration screen Back will take you to the previous Wizard screen Cancel will exit the Wizard without saving any changes to the axis configuration Finish will save the axis configuration and exit the Wizard 12 6 Aerotech Inc Version 1 4 U600 User s Guide Setup Wizard 12 4 3 Configuring Axis Type The upper list box shows the predefined axis configuration templates available to configure the axis that you have selected By default the current axis is selected You may select a previously configured axis or one of the pre configured axis types from the list box to use as a template to configure the current axis Also you may leave the current axis selected and create a new axis configuration by making a selection from the 3 lower drop down boxes Primary Secondary Feedback Command Output see Figure 12 7 There are predefined axis types for configuring your axes quickly from a template Selecting a template from the list box will use that axis configuration for the cur
464. the card are mapped into Virtual inputs 0 through 15 and Virtual outputs 0 through 15 Therefore reading Virtual inputs O to 15 will return the state of the digital inputs on the card Likewise setting Virtual outputs O to 15 will modify the digital outputs on the UNIDEX 600 card Each encoder expansion card present in the system adds an additional 40 digital inputs and 40 digital outputs These I O points map into the next 40 Virtual I O points Virtual 2 22 Aerotech Inc Version 1 4 U600 User s Guide Getting Started I O 16 55 Table 2 9 illustrates the relationship between UNIDEX 600 Encoder card I O and Virtual I O mapping The mapping of the encoder card I O to Virtual I O only occurs if an axis encoder feedback channel has been configured for that card By configuring an encoder 5 feedback channel on the encoder expansion card the UNIDEX 600 controller is made aware of the presence of that card Any Virtual I O not occupied by the UNIDEX 600 card or Encoder expansion cards can be mapped to third party I O sources This can be accomplished by running an application or thread at the host CPU level that accesses I O through either the AT Bus a network PLC interface or a user defined database and copies these I O states into the Virtual I O using the AerVirt functions In this manner sophisticated communication structures can be created between the UNIDEX 600 and PLCs without using physical I O points and all the associated wirin
465. the currently active axis by decelerating the axis to a stop in the current mode linear sinusoidal rate time The current mode is determined by the decelmode axis parameter The current deceleration rate or time is determined by the decelrate and decel axis parameters respectively To restart the move that was in progress the MRELEASE command should be used to accelerate the axis back up tothe programmed velocity based upon the axis acceleration parameters This function causes any motion commands issued to the specified axis before the function is called to be placed into a queue that is one level deep After the releasing the feedhold the last commanded move executes and ignores any others It applies only to the motion started by the move or motion commands beginning with an M such as MABSOLUTE MHOME etc EXAMPLE MHOLD feedhold the currently selected axis MRELEASE accelerate back up to speed of previous motion 4 30 Aerotech Inc Version 1 4 U600 User s Guide AerDebug 4 6 38 MHOME direction speed This command starts the currently active axis homing in the specified direction at the specified velocity The home procedure is defined as follows The axis begins moving in the specified home direction When the axis crosses the home limit it continues moving into the home limit until encountering the first encoder marker pulse or resolver null and set the position register equal to the HOMEOFFSET axis param
466. the data erin la lD Pin Pit Trigger Collect Ade Graph Opies Toan Heip Cele MH Pies Aki H Task a ea a Zoon a htm oom Imin ame din FI He onan AX e a Ag ra tl l a Ll se L a E ee ai ne ween EE S mm Se of z 44 5 E ee a a a a ia a a ie a fans EXHI a 2m am Tre kima Figure 6 1 AerPlot Screen Version 1 4 Aerotech Inc 6 1 AerPlot U600 User s Guide 6 2 File Menu The File pull down menu allows acquired data acquisitions to be saved loaded and printed as well as the settings for the current configuration to be saved The File menu also allows a comment to be displayed on the plot This comment is visible on the printed plot 6 3 Plot Menu The Plot menu allows up to 6 plots to be selected for display Each item selected in the Plot area of the Plot Selection Window see Figure 6 2 will be displayed for each axis checked in the Axis area of the Window Additionally any analog inputs checked in the System Data area will also be displayed Select Plot Information Es m Axis Data m Axis Plot MV Axis I Axis a VV Velocity I Axis Y I Axis b M Velocity Cmd D AxisZ J Axis c IV Velocity Error T Axis U T Axis d IV Position T Anis A T Axis I Position Cmd I Axis B T Axis I Position Error T Axis C T Axis I Master Position T Axis D T Axis I Raw Position MV Torque I Acceleration System Data T Analog Input 0 T Analog Input 3 T Analog In
467. the limits are connected so when the motor rotates CW it encounters the CW limit not the CCW limit If the limit reads opposite polarity AerStat indicates off when its on and vice versa the JOLEVEL axis parameter value is wrong see Section 2 5 The U600 software will only see a limit if the axis moves into a limit This allows the motor to move off the limit after the limit fault is cleared without triggering another limit fault The U600 will not report the limit if the switch is triggered when the motor is not moving 2 9 2 Axis Feedback Position feedback is easily verified by monitoring the axes positions with the AerDebug utility Sequentially select each axis with the AX command then use the PARMMON command to monitor the POS parameter for encoders or the RESOLVER parameter for resolvers AX 2 Select the axis PARMMON A POS Monitor the encoder channel this axis has been configured for OR PARMMON A Resolver Monitor the resolver channel this axis has been configured for Rotate the motor shaft CW as viewed looking into the motor shaft The position displayed should show a positive increase and stop counting when motor rotation stops The position may dither back and forth slightly particularly on high resolution systems even when the motor is at rest If an axis is configured for dual feedback be sure to verify each feedback device 2 9 3 Axis Loop Closure Once establishing the proper feedback the us
468. the set value You must have the ExecuteNumSpindles task parameter set properly to utilize more than one spindle Version 1 4 Aerotech Inc C 99 Parameters U600 User s Guide C 4 118 S2_RPM This task parameter defines the feedrate of spindle number two By default the units are revolutions per minute The G codes listed below will change the units of this parameter C 4 119 S2_SpindleRadius The S2_SpindleRadius task parameter specifies the spindle radius which is used along with the S2_RPM the S Word task parameter to compute the actual spindle RPM S3_SpindleRadius operates for task 3 use the other parameters for tasks 1 2 and 4 e g S1_SpindleRadius for task 1 This parameter can equivalently be set with the F parameter of the G97 command If the Spindle Radius is zero then the units of the S word are assumed to be RPM However if the spindle radius is positive then the S word S2_RPM for task 2 is assumed to be in distance units and the actual spindle RPM is computed as RPM v 217R Where RPM is the result spindle rotation speed v is the surface speed the S word value and R is the spindle radius provided in the F parameter of the G97 command Note that the units of the S word and the Spindle Radius are assumed to be the same C 4 120 S3_AnalogMSOInput This task parameter specifies which analog input channel is used for the analog MSO for the third spindle as defined by S3_Index Otherwise it is
469. the status information available to the user are controlled and presented by parameters This manual uses italics to present the parameter names Appendix C contains the descriptions of all parameters There are four types of parameters Axis Machine Task and Global Some parameters are read only like raw position and are for monitoring status The user can set view parameters through the U600MMI or through AerDebug using the PARMSET and PARMGET commands In AerDebug the user can also use the PARMMON command to continuously read a parameter s value See examples below don t type in text after these are only comments AX 2 Tells AerDebug to look at axis 2 it shows the current axis in the prompt PARMSET A DRIVE 1 Enables drive of axis A means axis parameter PARMGET M TYPE Looks at type of current axis M means machine parameter PARMMON A POS Continuously monitors the position of the current axis Axis and Machine parameters apply to an individual axis Axis parameters are always integers and if distances or times apply axis parameters are in counts and milliseconds Machine parameters also apply to a particular axis but they are floating point or decimal values Machine parameter distances and times are in user units and seconds Task parameters are only relevant to the CNC G code interface and define information used by that interface such as the speed of GO moves Version 1 4 Aerotech I
470. the user selects the Step or Step button the axis moves the specified distance and direction determined by the Step buttons positive or negative 6 Adjust the PGain servo loop parameter such that the position error is at zero at or near the same time the Velocity Command is at zero The adjustment to PGain is made by entering a value in the PGain box If PGain is set too high the position error will oscillate and the motor will vibrate The user is not striving to reduce the position error although 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 set the PGain to an initial value otherwise the axis won t move A typical initial starting value is 5 Once the axis begins moving Pgain should be increased until the acual velocity tracks the commanded velocity with minimal position overshoot If the motor doesn t move then PGain is too low Increase the value of PGain and try again by pressing the Step or Step button The axis may tend to drift away on its own when it is enabled Adjusting the DACOffset axis parameter will null the offset causing the drift Ec E E Version 1 4 Aerotech Inc 5 35 AerTune U600 User s Guide S If the user is fine tuning the servo loop gains that Aerotech has setup for the system use the exi
471. these sections are step by step procedures for tuning motors controlled by the UNIDEX 600 to yield optimal performance Optimal performance can be defined two ways First it may be defined as the smallest amount of allowable position error according to user defined tolerances while still having smooth motion Alternatively it may be defined as the smallest amount of position error that is allowable by user defined tolerances while having minimal settling time without concern for smoothness of motion To produce smooth motion the Velocity Loop takes precedence and an attempt will be made to have a tight Velocity Loop and a tight Position Loop To have very little settling time the Position Loop takes precedence and an attempt will be made to have a tight Position Loop The UNIDEX 600 uses a dual control loop having an inner velocity loop and an outer position loop The servo loops update time is defined by the Enable KHzServo global parameter which allows either a 1 kilohertz or 4 kilohertz servo loop update rate Refer to Figure 5 8 Torque Mode Figure 5 9 Open Loop Velocity Mode and Figure 5 10 Closed Loop Velocity Mode for block diagrams of the servo loop Before tuning an axis the motor and feedback device must be properly configured ES For additional information refer to the following documentation Chapter 2 Getting Started Section 2 2 1 Axis Configuration Appendix C Parameters U600 Hardware Manual P N EDU154 Chapter 4 Te
472. tilities other than Filter exe to calculate the coefficients but there are some considerations Digital filter design software utilities usually generate floating point numbers for the values of these filter coefficients However the axis parameters must be specified as integers The conversion from floating point to integer is accomplished by scaling all the filter coefficients by 8 192 and rounding truncating the result For example assume a digital filter design utility yields the following coefficients BO 0 9760 B1 1 8797 B2 0 9760 A0 1 A1 1 8797 A2 1 8797 Multiplying by 8 192 and truncating yields produces the following BO 7 996 B1 15 398 B2 7 996 AO 8 192 Al 15 398 A2 7 800 Performing the conversion from floating point values to integer values can affect the DC gain of the filter due to truncation or rounding of the fractional results To verify the DC gain of the filter perform the following operation with both floating point values and their scaled integer equivalents BO B1 B2 A1 A2 A3 DC_GAIN The user must be familiar with digital signal theory in order to use these parameters properly otherwise the Aerotech filter utility program must be used 5 If the DC Gain of the floating point and integer representations are not equal then adjust the B0 B1 B2 A2 A3 coefficients This can usually be accomplished by increasing or decreasing B0 B2 and or B1 by 1 count to compensate for the roundin
473. tion words are broken into individual bits each bit representing a different action The UNIDEX 600 Series Controller will respond to each action specified in the Action Word and then clear the appropriate bit from the action register The following table shows the actions that may be triggered via this parameter This parameter is actually a pointer to an unused virtual input register that will be used to signal the desired actions shown in the chart below The result of these actions are indicated in the virtual output register pointed to by the ROAction1 task parameter Setting this parameter to 1 disables this action C 90 Aerotech Inc Version 1 4 U600 User s Guide Parameters Table C 13 RIAction1 Bit Descriptions Bit Text Description Program Define Description Cycle Start RIO_CYCLESTART Execute currently associated program 1 Cycle Step RIO_CYCLESTEP Execute a single block of currently associated program 2 Retrace On RIO_CYCLERETRACE_ ON Enable retrace mode on the specified task 3 Retrace Off RIO_CYCLERETRACE_OFF Disable retrace mode on the specified task 4 Cycle Stop RIO_CYCLESTOP Stop at end of current executing block 5 Cycle Reset RIO_CYCLERESET Reset the current program must be active resets program to line 0 6 Cycle Abort RIO_CYCLEABORT Abort current program All motion is aborted and program is made active 7 Aeroc Moun RIO_ASYNC_MOVE Execute RIActionOpCod
474. tor after the times 4 multiplication is done by the controller i e a ball screw with a pitch of linch having a linear encoder with 1 270 000 counts per inch after x4 multiplication would have 127 000 entered for the number of lines 1 270 000 1 127 000 For brushless motors with linear encoders enter the number of lines per user unit inch or millimeter after the x4 multiplication is done by the controller i e 1000 lines per inch would be entered as 4000 Commutation Channel Hall Channel EncoderHall The commutation channel number specifies the channel number used to commutate the motor The Hall effect sensors determine the absolute rotor position and then the encoder commutates the motor The channel number specified indicates the Hall effect channel and the encoder channel which will be used to commutate the motor after switching out of the six step commutation mode EncoderHall Channel Assignments Channels through 4 are on the U600 card channels 5 8 are on the 4EN PC card configured as Board 1 channels 9 12 are on the 4EN PC card configured as Board 2 channels 13 16 are on the 4EN PC card configured as Board 3 Brushless Motors w o Hall Effect Feedback Signals Brushless motors may be commutated by the controller even if Hall effect feedback signals are not present To do so configure the axis as though Hall effect signals are present then Use the MSET command to align the absolute rotor position
475. ts 00 00 e ee eeeeseceeceeeereeenes C 118 Clos SerMOd sess sscesses cassie eatin a A TEREI C 118 ClO Fox WSLS ON ey os Faroe de irene n e n ia n s C 118 APPENDIX D WARRANTY AND FIELD SERVICE POLICY 0 D 1 INDEX VVV Version 1 4 Aerotech Inc xvii Table of Contents U600 User s Guide xviii Aerotech Inc Version 1 4 U600 User s Guide List of Figures LIST OF FIGURES Figure 1 1 Installation Process isis seed fish a cos cate estates conetssnee T E AEE 1 2 Figure 1 2 SYSTEM ALCHILE CHINE ses fa ceeds e snasao e Iae E Keeri NDEN ESES 1 3 Figure 2 1 Flowchart Overviewing the Installation Configuration Process 2 2 Figure 4 1 AerDebug SCreenies isc wiesie a ESEE E TEE E E orrie 4 2 Figure 4 2 Help Screen AerDebug jiin n a Se A A 4 5 Figure 5 1 AerTune Main WindoW eessssessseeessereesssesrrssrsreeresrerrsserresserrenresreeees 5 2 Figure 5 2 Plot Comments siren n rere eS E eee ee 5 2 Figure 5 3 Step Move Par meteTS soirs sirro ae e ensirek oa EREE ass 5 5 Figure 5 4 FET Anal y SIS sergen nees esen esio i enpe aT aE er e EEE EE EE n ES 5 6 Figure 5 5 Torque Ripple Plot of an AC Brushless Motor eseeeseeeeeeeeeeeeeeeeee 5 9 Figure 5 6 Closed Loop Torque Mode 00 eee eee ecceecesseceseceeecneeeseeeseensneenaes 5 10 Figure 5 7 AutoTune Scree onnee a irr Eare EErEE EA EE r aS 5 12 Figure 5 8 Servo Loop Diagram Torque Mode seseeeesersereesereereerrrrereeee 5 17 Figure 5 9 Servo L
476. ts MEMORY command prompt mode Not Applicable OUTON Sets output to be written to the specified to file Not Applicable OUTOFF Disables output from being written to a file Not Applicable OUTPAUSE Suppresses unsupresses output dumping to file toggle Not Applicable PLAY Executes the commands from within the specified file Not Applicable PLYREWIND Rewinds the PLAY file to the start Not Applicable QUIT Exits the AerDebug application Not Applicable RESET RESET the Axis Processor card AerSysReset RGINFO Displays information on the Operating System registry AerRegGetDevicelnfo TK Changes the default task if no parameter shows the default task Not Applicable Table 4 4 Axis Command to Library Function Cross Reference Axis Commands Description Library Function CONFIGD2A Configure a DAC channel for this axis AerConfig CONFIGENCODER Configure an encoder feedback channel for this axis AerConfigEncoder CONFIGHENCODER Configure an encoder feedback channel with hall effect AerConfigEncoderHall sensors for this axis CONFIGRESOLVER Configure a resolver feedback channel for this axis AerConfigResolver CONFIGHRESOLVER Configure a resolver feedback channel with hall effect AerConfigResolverHall sensors for this axis CONFIGREAD Configure an axis from an INI file Ae onl e ReadPacket AerConfig i AerConfigGet CONFIGWRITE Write the axis configuration to an INI file AerCon
477. ty exceeded the value specified in the VELTRAP axis parameter 0x2000 Velocity Command Trap Instantaneous commanded velocity exceeded the value specified in the VELCMDTRAP axis parameter 12 0x1000 0x4000 Home Tolerance Fault Distance traveled from when the system detected the marker pulse or the Resolver null until the system encountered the home limit switch is less than the value specified in the HOMESWITCHTOL parameter This occurs during a homing sequence Version 1 4 Aerotech Inc C 19 Parameters U600 User s Guide Table C 3 Axis Faults continued Bit Hex Value Fault Name Description 15 0x8000 Probe Fault Occurs each time the probe trigger causes the position to latch This is useful for notifying the application program that position information is available 16 0x 10000 TaskFault TaskFault occurred while executing a CNC command running a task please see the TaskFault Task parameter 17 0x20000 External Feedback Fault Difference between the integration of the velocity command and velocity feedback is greater than the FBWINDOW axis parameter 18 0x40000 Safe Zone SAFEZONE axis parameters are active and the axis has violated the defined safe zone 19 0x80000 Constant Velocity Phase Axis interrupt was generated when move reached constant non zero Interrupt velocity see INTMASK Axis
478. ult manually by setting the TaskFault task parameter non zero although only certain values mentioned above in the AER960RET _ series constants will yield a recognizable description A special task fault physical axis fault is generated when any axis contained in the HaltTaskOnAxisFault Task parameter encounters an axis fault This allows the user to stop CNC programs in response to axis faults By default all axis faults stop all CNC programs When a task fault occurs the U600 MMI reports an explanation of the task fault in the lower right hand corner of the Run or Manual page The user can view the task fault description from AerDebug by typing TK x where x is the task number and then C 108 Aerotech Inc Version 1 4 U600 User s Guide Parameters TSKI A description of the current task fault if any appears in the fault line of the display lines shown Task faults stay active until cleared by setting the TaskFault task parameter to zero or pressing the fault acknowledge button from the UNIDEX 600 MMI manual or run page Clearing a task fault does not clear any axis faults that may be generated as a result of the task fault see below If the user sets this parameter to zero it clears the task fault but not any related axis faults that were generated as a result However the fault acknowledge button on the UNIDEX 600 MMI clears both task and axis faults Task faults have three possible
479. uppose that axis 3 has its DISABLEMASK axis parameter set to 0x10000 then axis 3 will be disabled when a task fault occurs The above example should illustrate that the occurrence of an axis fault on an axis does not by itself define any axis action What happens to an axis due to an axis fault is defined by the axis mask parameters FAULTMASK DISABLEMASK etc of that axis Therefore what happens due to an axis fault generated by a task fault ESTOP or TaskFault as described above depends on the ESTOP and TaskFault bits bits 8 and 16 respectively of the axis mask parameters FAULTMASK DISABLEMASK etc By default ESTOP and TaskFault axis faults halt all axes that are bound to the task C 4 143 4 Generating a PC Interrupt in Response to a TaskFault A task fault generates an interrupt to the PC if and only if the task is not already faulted and the task fault bit is set in the INTMASK axis parameter The application programmer can use the AerEventxxx functions to act upon the interrupt and then query the TaskFault axis parameter to determine the nature of the fault C 4 144 UpdateNumEntries This task parameter controls the number of points in the profile queue generated by the CNC profiler This parameter applies only to contoured motion G1 G2 G3 G12 and G13 Increasing or decreasing this parameter s value has the same effect as increasing or decreasing the UpdateTimeSec parameter value C 4 145 U
480. user may configure the FAULTMASK and AUXMASK parameters to cause this output to enable on an axis fault Therefore each time a fault condition occurs the system would apply a brake to the motor The enabled state of the AUX output can be specified as either a high or low voltage state Refer to the IOLEVEL axis parameter for an explanation of the process By default the AUX is active low meaning when the AUX is enabled there is a zero voltage sinking current on the auxiliary line C 8 Aerotech Inc Version 1 4 U600 User s Guide Parameters C 2 10 AUXDELAY This parameter suspends fault checking for all faults in the AUXMASK parameter after a fault acknowledge for the specified period of time This parameter is specified in units of 10 milliseconds i e 1 10ms 5 50ms etc C 2 11 AUXMASK This parameter allows the user to designate which fault conditions will enable the auxiliary mode output associated with the axis This parameter is a bit mask where each bit corresponds to a specific fault Each bit set in this parameter should also be set in the FAULTMASK axis parameter to enable detection of that fault condition C 2 12 AUXOFFSET This parameter is added to the master position before doing the auxiliary table lookup For example if the table covers master positions from 0 to 360 degrees and the actual master position is 2 degrees and the CAMOFFSET parameter is 3 degrees then the CNC will use the va
481. vector Dwell 1 second ENABLE the axis This may be done automatically through a Canned Function ResolverHall A commutation channel number must be specified for the Hall effect sensors to be read This provides the absolute rotor position for initializing and commutating the motor After rotor initialization it will then commutate the motor by the primary feedback device unless a secondary feedback device is present Resolver Channel Assignments Channels 1 4 are on the resolver card RDP PC configured as Board 1 Channels 5 8 are on the RDP PC card configured as Board 2 Channels 9 12 are on the RDP PC card configured as Board 3 and channels 13 16 are on the RDP PC card configured as Board 4 12 14 Aerotech Inc Version 1 4 U600 User s Guide Setup Wizard Lines Revolution Lines Electrical Cycle The number of lines for the encoder must be specified as an integer This field is NOT used for re scaling the PGAIN axis parameter use the Number of Lines field for that purpose Rotary Encoders For rotary encoders enter the number of lines per revolution of the encoder after x4 multiplication For example for a 1000 line encoder enter 4000 Linear Encoders For brushless motors with linear encoders enter the number of lines equeal to the specified number of electrical cycles number of Pole Pairs after x4 multiplication is done by the controller For example 1000 lines per Number of Pole Pairs w
482. ween using one or the other to program the U600 Series controller The correct interface or combination of interfaces the programmer should use depends on the target application Therefore the programmer must understand the fundamentals of both in order to make the correct decision The UNIDEX 600 Series motion controllers can command or monitor motion through two fundamentally different methods see summary in Table 3 1 Table 3 1 The Two Programming Interfaces Available Programming Interface Language Syntax Processor Run On Manual Library C C or Visual Basic PC CPU x86 U600 Series Library Reference Manual P N EDU156 CNC RS 274 CNC Axis Processor U600 CNC Programming Manual P N EDUI58 The majority of the functionality of the U600 controller is accessible under either interface In both interfaces the user generates motion by writing programs that contain steps or lines that execute sequentially In both cases the lines execute as a background process to the actual motion controller refer to Chapter 1 Introduction and Overview under system architecture There are two major differences between the two interfaces the format of the programming language and the processor that executes the program steps In PC host controlled motion the programs execute on the PC processor The programmer writes the program in C C or Visual Basic then compiles and executes it from the PC The programmer controls the motion by
483. will exit the Wizard without saving any changes to the axis configuration Setup Wizard m xes Number of Axes English Units C Metric Units Axes Names Axis No 1 Name x Axis No 2 Name ys Axis No 3 Name Zz Axis No 4 Name Eo Help Axis Complete Cancel lt Back Next gt Finish Figure 12 2 The Axis Name Number Configuration Screen 12 2 1 Axis Names This allows the default axis names X Y Z U A B C D x y z u a b c d to be changed by the user to an axis name of their choice with a few exceptions All reserved key words and key letters may not be used as axis names Key letters are those used for F G and M codes etc Key words are those used for commands such as BIND FOR IF etc Since there is an axis named X and x the case of axis name is significant Axis names are limited to 32 characters maximum If you reassign an axis name you must exit the MMI600 and restart it for the change to take effect 12 2 Aerotech Inc Version 1 4 U600 User s Guide Setup Wizard 12 3 Configuring Axis Type Select the type of motion Machine Type produced by the axis a Linear Rotary or Spindle axis Italicized information enclosed in brackets italicized indicates the type and name of a parameter that can be located in Appendix C i e Machine Type Type is a Machine parameter more information can be found on Type in Appendix C Setup Wizard
484. wing are the allowable command line execution options that must be given after the aerdebug command Any number of options can be on the command line Command Line Options is a number filespec is a valid path and filename D UNIDEX Device Identification where is 600 C Card where is 1 4 Ifilespec Playback file on startup in continuous mode Jfilespec Playback file on startup in step mode Ofilespec Start up with OUTPUTON command active echo mode Pfilespec Start up with OUTPUTON command active block terminal mode EXAMPLE AerDebug JSetup ply run PLAY file commands in setup ply file in step mode Version 1 4 Aerotech Inc 4 1 AerDebug U600 User s Guide Data Screen Help Screen Status Screen 4 2 The Screen The AerDebug screen is divided into three parts DATA HELP and STATUS Refer to Figure 4 1 The DATA screen has a black background and contains the prompt line as well as the last twenty or so data lines printed The user enters commands on the prompt line and views data returned by the command The command on the lowest prompt line is the current command Text on the DATA screen typed by the user appears in green while text typed by AerDebug in response to commands is in red When the data on the DATA screen exceeds the height of the screen the screen scrolls up and the topmost lines are discarded The HELP screen has a BLUE background and is normally blank Howeve
485. xample For example to assign axes Y and Z to the SlewPairl or JogPair Mask task parameters you would set it to a value of 6 To see how this is done click on each of the task axis numbers below to find its numeric value from the chart and add them together to find the value to set the parameter to Task Axis 2 Y Task Axis 3 Z 4 Task Parameter 6 Y Z axis pair For the SlewPair task parameters this would specify that the horizontal axis of the joystick would command task axis 1 Y to move and the vertical axis of the joystick would command task axis 2 Z to move For the JogPair Mask task parameters this would define axis 1 as Y and axis 2 as Z The lowest numbered task axis will be axis 1 or for the joystick commanded by the horizontal axis of the joystick This order may be inverted by negating the sign of the value entered For example Task Parameter 6 Z Y axis pair would specify that the horizontal axis of the joystick would command task axis 2 Z to move and the vertical axis of the joystick would command task axis 1 Y to move This would also assign the Z axis as axis 1 and the Y axis as Axis 2 C 4 60 JogPairiMode This task parameter defines the jog mode of the axes specified by the JogPairl Axis task parameter as one of the following FreeRun 0 The axes continue moving until the jog input is False Distance and Hold 1 The axes move at the velocity and distance specified by the jog mach
486. xis Scaling Axis Position 0 0000 in r Feed Rate Maximum Feed Rate 23 800000 inmin Rapid Feed Rate 23 622047 in min Help _Axis Complete Cancel lt Back Next gt Finish Figure 12 13 The Scaling and Feedrate Screen Version 1 4 Aerotech Inc 12 21 Setup Wizard U600 User s Guide 12 6 Home Cycle Configuration An axis must have an absolute reference 0 0 point when the system is powered up An axes reference position is located by homing the axis via the Home command Jog Page or the Home Tab of the Run Page As each axis reaches its reference position its position registers are set equal to the value in that axes HomeOffsetInch HomeOffsetDeg for rotary axes machine parameter Operators may be required to home axes and or a homing sequence may be defined via the Home Setup on the MMI Options Page of the Setup page of the MMI600 The following parameters must be defined for the Home Cylce 1 2 3 Select the Type of Home Cycle Machine HomeType Select the Home Direction Machine HomeDirection Enter the Home Feed Rate for Linear Axes Machine HomeF eedrateIPM Rotary Axes Machine HomeFeedrateRPM Spindle Axes Machine HomeFeedrateRPM Enter a Home Offset for optional Linear Axes Machine HomeOffsetInch Rotary Axes Machine HomeOffsetDeg Spindle Axes Machine Home OffsetDeg Setup Wizard Configuring Axis X Home Cycle Information
487. xis parameter and the AvgVelUnits machine parameter It is in units of milliseconds However this parameter is only used to the next lowest multiple of 10 milliseconds For example a value of 12 or 19 is equivalent to a value of 10 See the AVGVEL axis parameter for more details C 2 16 B0 B1 B2 A1 A2 These axis parameters may be used to eliminate instabilities within the servo loop due to electrical or mechanical oscillations These instabilities must first be identified These axis parameters implement a generic second order digital filter to the torque command in the following form Y Z X Z BO B1 Z B2 Z 8192 AO A1 Z A2 Z 8192 Where Z is the delay operator AO is always 1 and the sampling frequency is the current servo loop update rate typically 4 kHz Since AO is always assumed to be 1 there is no corresponding axis parameter These parameters are only used in torque loop configured axes Setting BO B 1 4 096 will provide the minimal amount of filtering You must disable the axis before entering the filter constants If this filter is used in conjunction with the GANTRYMODE it must be applied to the master and slave axes C 10 Aerotech Inc Version 1 4 U600 User s Guide Parameters Aerotech provides a utility Filter exe to compute coefficients B0 B1 B2 A2 A3 for the torque command filter based upon a desired roll off frequency You may use digital filter design software u
488. xis queue for the current axis None MQHOLD Places the queue for the selected axis into the hold state None MQINCREMENTAL Queued version of the MQABSOLUTE command Distance Speed MQUICKHOME Starts the currently selected axis homing in the specified direction Direction Speed 4 16 Aerotech Inc Version 1 4 U600 User s Guide AerDebug Table 4 2 AerDebug Commands Cont d Task Commands Description Parameters MQRELEASE Restarts the specified axis queue that was halted None MRELEASE Resumes the motion that was in progress on the selected axis None PARMGET Display the value of a parameter G T M A _type parameter PARMMON Monitor the value of a parameter G T M A _type parameter PARMSET Set the value of a parameter G T M A type parameter PRG1 Compile a single CNC program line CNC program line PRGCMPL Compile a CNC program Filespec PRGDUMP Display internal program code lines _Filespec PRGERRS Shows program compile errors Filespec PRGINFO Displays program information Filespec PRGLOAD Loads a CNC program into the Axis Processor _Filespec PRGRUN Runs a CNC program _Filespec PRGSTATS Shows program compile status Filespec PRGTYPE Shows program test lines Filespec PRGUNLOAD Frees a CNC program Filespec PSODOW
489. y command The command will be a 10 volt command maximum representing torque or velocity For brushless motors requiring commutation two sinusoidal torque commands will be provided 120 degrees phase displaced optionally a third phase may be provided by the BB500 breakout module to produce a third commutation signal displaced from the first by 240 degrees 2 3 2 2 Feedback Devices There are several supported feedback types One feedback type is an incremental optical encoder feedback Up to four channels of encoder feedback can be connected to the base UNIDEX 600 card Additional encoder channels are available with the purchase of the encoder expansion card s P N 4EN PC Another feedback type is a resolver inductosyn feedback via an optional four channel resolver board with two standard channels P N RDP PC 2 A third feedback type is a laser feedback via the LZR laser feedback system All encoder feedback signals received by the controller are electronically multiplied four times producing four times the pulses per revolution specified by the encoder manufacturer It is this number four times the physical number of pulses per revolution of the encoder that should be entered into the axes parameters for the pulses per revolution of the encoder 2 8 Aerotech Inc Version 1 4 U600 User s Guide Getting Started 2 3 2 3 Digital to Analog Conversion Output to the Amplifier Eight 16 bit DAC s are available per each UNIDEX
490. y rea 304 HZ 1I 1 Taree 8 meath Figure 5 12 Unacceptable Velocity Error xis a z g m a boa at echoes nich ing aa ca ln i i f p i j i E cy a gt pon 1 a a h lu i i z m ars Taa p AE g Mri tha Mamet ma Taai a aa T F 2 197 sIn 4s TTA 03 a7 Vat 1350 Tama 1 mi Figure 5 13 Acceptable Velocity Error While Adjusting Kp Begin adjusting Ki with an initial value of 25 The main objective while increasing Ki is to reduce velocity error and position error As Ki is increased the error is reduced However the position error should not cross the zero line indicating position overshoot otherwise it will increase the settling time of the axis At this point Ki has reached its optimal value Also a very large Ki will introduce a low frequency oscillation in the position error From the perspective of the load this is an unwanted vibration that may be unacceptable to the user refer to Figure 5 14 5 24 Aerotech Inc Version 1 4 U600 User s Guide AerTune Axis tom 4 W So of F t i v L I 1 r i Eci a a a E wy lu z ni A i i A a iz a np haar ina oe _ 1a za 157 i0 pa TIA 03 laaz Vee Fac Thao ii ma Figure 5 14 Unacceptable Position Error While Adjusting Ki Axis D a E W 5 25 i 7 a ee j j n n j j j L j j Fa ie a 1 poo TE f a 0 Pee eee oe eo Ap i 3 10 7 F zra 107 oTi 44 TIA 03 1AF Hel a Tie 1 reac Figure 5 15 Acceptable Position Err

THE UNIDEX® 600 SERIES

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THE UNIDEX® 600 SERIES