Home

600 hardware manual

1. Ext Bus SIMM x Sockets K P3 IN RS 232C Serial r Port Jumper B JA A m eet JP2 E Communications Base Address ae Jumpers ae pe oit Pendant sP7 GO 110102 Ps GO peel spe OO lT JP10 OO Sa a Pr Oo qTM 15 00 a wlOO Digital I O PC Bus WOO 1 j Interrupt 100 P Jumpers ele a ie ae Se ei 4 00O do 24 JP3 5 KE a Toe Ra 9100 I SE External Reset SELECT l ies 3 Ber P11 S Jumper Be M CEN See D eee Label Encoder Output Standard PC ISA Bus p P2 38 3430 P1 0 7 ee A byes are E pa o Hall Effect amp Termination Resistors Eein LENE ieo Digital I O 2 Remove for single ended o P1 6 encoders See Section 3 3 4 Figure 4 1 Reset LED DS1 UNI
2. Ext Bus SIMM x Sockets gt P3 IN RS 232C Serial r Port Jumper B A A i Communications Base Address ee Jumpers Re Pendant up7 CS a2 s C9 SIS 9 OO JP101 IOO So o S ere io oli Digital O Interrupt 10100 n es Jumpers 3 a a AA 4 ae PQ A JP3 5 22 poloSdbea OGo See Ra 9 0 ee e External Reset SeEUcy __ s E G A l P11 an 3 Jumper SS ientification Label Encoder Output Standard PC ISA Bus p P2 38 34 30 P1 0 7 Bee A ee arr A ra Hall Effect amp Termination Resistors RN T E EE Digital 1 O 2 Remove for single ended o P1 Lo encoders See Section 3 3 4 Reset LED DS1 Figure 3 1 UNIDEX 600 PC Board Version 1 9 Aerotech Inc 3 3 Hardware Configuration UNIDEX 600 Hardware
3. WARNING l Do not remove the U600 PC board from the antistatic bag until it is ready to be installed When removing a card from a system immediately place the card in an antistatic bag 2 Make certain that anyone who is handling the board or any associated components is wearing a properly grounded static strap 3 When handling the U600 control board hold the card by its edges and the mounting brackets Avoid touching board components and the edge connectors that plug into the expansion slots Do not slide the U600 control board over any surface 5 Avoid plastic Styrofoam or vinyl in the work area Static charge buildup may be removed from an object by touching the object to a properly grounded piece of metal The U600 PC board was tested and inspected before being shipped from Aerotech Inc Vibration during shipment however may have loosened certain board components Immediately prior to installing the board into the system PC visually inspe
4. 1 amp 16 P521 510 Vv 2 5 15 R188 3 iki P523 510 V X 4 3 e P5 22 45V niga gt XD 00 31 A 5 12 P525 510 1 2 3 4 8 13 A yx v 20 15 18 21 23 25 RG P vec P5 20 A Ho ok w vy XD02 7 21 ars al T Na 9 D2 Q2 gt H P524 XD03 5 9 XD04 ES Q3 PT2 XD05 14 24 O4 5 PS2501L 4 XDO6 7 Be oe 16 Z XD07 18 19 D7 mes Q7 74ACT273 PRESET Pa Bue lt 1 8 10 17 18 GND Figure 4 24 Teach Pendant Outputs PEND RD 15 Table 4 21 Teach Pendant Labels and Associated Pin Number outputs Label P5 Pin Number P5 Con Pin Number 21 22 TPBOO TPBO1 23 22 TPBO2 25 24 TPBO3 20 24 Version 1 9 Aerotech Inc 4 35 Technical Details UNIDEX 600 Hardware Manual 4 28 Stepper Drive Interface All clock and direction output signals U600ULTRA xxMB only are 26LS31 line driven outputs from the P7 connector Refer to Figure 4 25 for an example diagram and Table 4 22 for pinouts 5V 4 A 5M13A 5 A z 26LS31 fee 26LS31 44 gt 1613C 26LS31 Figure 4 25 Stepper Clock and Direction Interface Table 4 22 P7 Stepper Drive Interface Clock and Direction Pinouts Label Pin Number Label Pin Number Axis 1 Clock 1 Axis 3 Direct 14 Axis 1 Clock 3 Axis 4 Clock 15 Axis 1 Direct 2 Axis 4 Clock
5. The second purpose is to allow more than four user inputs or outputs as in the case when the PB8 PB16 or PB24 I O board is used Figure 3 8 is an illustration of the DRC I O cable For additional information refer to the Aerotech Motion Control Product Guide Shielded Ribbon Cable 3M PN 3659 50 To UNIDEX 500 P5 Or Connect shield wire to EMIDEX oe rae pin 50 this end only Red line is 1 then cover with heatshrink 2 pls gt AMP PN 3425 6050 ai Qty 2 ___ Approx 3 both ends bee 15 Feet gt Figure 3 8 DRC I O Cable Version 1 9 Aerotech Inc 3 19 Hardware Configuration 3 20 UNIDEX 600 Hardware Manual Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details CHAPTER 4 TECHNICAL DETAILS In This Section Test POs o mer eevee e a e eee eee SoHE eS E 4 1 eR umpen Conti curalonsmeme teeter te eee 4 3 e Encoder Signal Specifications ereseeeseeeerereeessererserseerereeeeeseere 4 6 SPP ENCOdEH SSN AWRINOULS eames E E st cee eee eee 4 9 e Limit and Amplifier Fault Inputs cc0ccsccssssseessseessseeesseeeen 4 10 e Emergency Stop Sense N roroa O 4 13 em Curren Commandl uiputersce ee ee nes 4 15 e Digital Input Bus Specifications eee eee eese esse eneeeeeeee 4 16 Output BUSS peciicattonseeesss ee eer es s
6. Normal Operation P1 Connector UNIDEX 500 U600 Board Stop ke Operate o 3 Pin 99 Emergency Stop Switch AA Normally Closed 2 ee External Voltage A 3 5 EA inasi Board device xternal Resistance 100 pin 6N136 nd cal fe Pin 97 MMA 240 Ohms 1 4 watt E stop Opto isolator Input pin 3 on Misc I O Misc I O DB 25 on DR500 Figure 4 6 Electrical Characteristics of the UNIDEX 600 Emergency Stop Interface Table 4 11 External Voltages and Resistance for the Emergency Stop Input External Voltage External Resistance in Ohms 5 VDC oQ 12 VDC 290 Q 1 4 watt 24 VDC 1KQ 1 2 watt The U600 requires a parameter change before it recognizes the E stop circuit 5 Version 1 9 Aerotech Inc 4 13 Technical Details UNIDEX 600 Hardware Manual 4 9 External Reset Input The UNIDEX 600 can be reset to its power up state externally by pulling connector P10 pin 25 to common through jumper JP15 Refer to Figure 4 7 If P10 of the U600 is connected to J10 of the DR500 the DR500 may be configured for this signal to be present at J11 Pin 13 This signal is available on the BB501 board via TB4 pin 4 This signal is not available on the BB500 Refer to the DR500 Operation and Technical P N EDA120 and the BB501 Interface Board Option Manual P N EDO107 for more information 7407 1K 10K N P10 25 eye P10 25 i 9 JP3 01uF 7407 V Figure 4 7 Exte
7. Connector P1 UNIDEX 600 5V Externally Supplied Voltage 10k ohm 74HC541 5 CWw1 Pin 39 bis 1k ohm 2 T 01 uF A V 4 GND 4N33 Pin 37 Optical Isolator y Figure 4 4 Electrical Characteristics of the UNIDEX 600 Hall Effect Limit and Amplifier Fault Inputs Version 1 9 Aerotech Inc 4 11 Technical Details UNIDEX 600 Hardware Manual 4 7 Serial Ports RS 232C and RS 422 The serial ports 1 and 2 are reserved for future applications i e the UNIDEX 600 Series teach pendant RS 232C and RS 422 are only available on the U600ULTRA xxMB Refer to Figure 4 5 for pinouts These signals are only available directly off the UNIDEX 600 and not the BB500 BB501 or DR500 5V A 14 FS 2 3 T lt j 3 6 lt 1 4 mao 9 8 10 lt z 1 Lo 13 A DS1489 DCD p71 2 pxps_P42 V RIS P43 2 5V Z TxD P44 CTS Pa 5 2 z P4 7 17 20 23 22L 12V DTR E48 FS A P4 8 9 10 P4 9 CP4A0 5V iy FS ha RXDA TXDA H 2 gt 3 Ry 15 4 TP3 TP2 TRXCA N H3 31 mas po 45V RTXCA N H3 SYNCA N Hg 9 DTRIN REGAN HA 0 D 2 3 4 13 15 ELORD RTSA N 30 8 gt ERI 3 8 13 15 CTSA N 3S DCDA N 5v A03 39
8. 0 ee eee 3 5 e Encoder Type Configuration RN3 RN4 RN1 and RN2 3 7 e Installing the UNIDEX 600 PC Board 00 eee ee eeeeceteeneeneeenee 3 11 e Installing Additional Aerotech Component 0 cceeceeeeeeeeees 3 13 3 1 Introduction This chapter explains how to configure and install the UNIDEX 600 PC board as well as optional hardware accessories Configuration of the PC board includes jumper settings and pull up termination resistor settings The installation portion discusses proper installation techniques for the PC board as well as several optional accessories 3 2 Minimum Hardware Requirements and Recommended System Configurations Minimum hardware requirements and recommended system configurations for the UNIDEX 600 are shown in Table 3 1 Table 3 1 Minimum Hardware Requirements and Recommendations Equipment Minimum Recommended Computer IBM Pentium PC 200 MHz or Pentium higher and 100 compatibles 400 MHz or higher Computer Memory 16 MB of memory 32 MB of memory conventional amp extended conventional amp extended Graphics Display 800x600 800x600 Free Hard Disk Space 10 MB 20 MB or more Mouse Any mouse supported by the Any mouse supported computer by the computer Floppy Disk Drives 3 1 2 double sided high 3 1 2 double sided high density density Windows Windows NT 4 0 Windows NT 4 0 Windows 2000 Windows 2000 Version 1 9 Aerotech Inc 3 1 Hardware Conf
9. 270 Ohms 1 4 watt A 1 5 Sv Output 1 Des A Z ils 4N33 Opto Isolator Figure 4 10 Electrical Characteristics of the UNIDEX 600 Output Bus Interface Version 1 9 Aerotech Inc 4 17 Technical Details UNIDEX 600 Hardware Manual 4 13 Amplifier Enable Outputs Each axis has one open collector amplifier enable output refer to Table 4 15 and Figure 4 11 The active polarity of this signal is selectable via the software Refer to Chapter 3 for additional jumper information Each output is an open collector of a PS2501L 4 opto isolator with absolute maximum ratings of 30 volts and 30 mA sink capability Wom Exceeding the amplifier output ratings may cause damage to the U600 control board Table 4 15 Amplifier Enable Output Locations Signal Location Amplifier Enable 1 AEN1 P1 69 Amplifier Enable 2 AEN2 P1 70 Amplifier Enable 3 AEN3 P1 71 Amplifier Enable 4 AEN4 P1 72 UNIDEX 600 30 V maximum 30 mA maximum WI Amplifer Enable 1 Pin 69 Amp Vv a Basso L 4 Opto lsolator Figure 4 11 Electrical Characteristics of the U600 Amplifier Enable Output 4 18 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details 4 14 The Brake Output The UNIDEX 600 is equipped with a fail safe brake signal output using a high voltage open collector driver 7407 Refer to Figure 4 12 When the UNIDEX 600 is in the rese
10. Hardware Configuration UNIDEX 600 Hardware Manual Monitor Note PCs vary by manufacturer For information on opening the PC cabinet and installing PC boards consult the user manual of the PC FT being used Cover Screws PC Cover UNIDEX 600 Motion Control AT bus Board Sample PC with 80486 Microprocessor Figure 3 3 Installation of the UNIDEX 600 Motion Controller Board 3 12 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Hardware Configuration 3 5 Installing Additional Aerotech Components System installation varies with the number and types of components that have been purchased from Aerotech Inc to complement the UNIDEX 600 PC bus controller The following descriptions may not be applicable to all systems 3 5 1 The DR500 Drive Rack and OP500 Cable The DR500 drive chassis is an integral part of the U600 control system It houses up to four Aerotech amplifiers DC servo AC brushless or microstepping provides power for the drive section of the servo system and acts as a breakout for all control and I O signals The DR500 is available in rack mount panel mount and desktop configurations The individual amplifiers a maximum of four are inserted into the front of the DR500 panel The back of the DR500 has all the cable connectors as well as descriptions for each The rear panel connector layout of the DR500 is illustrated in Figure 3 4 For more information refer
11. NEGATIVE TRUE LOGIC Must be used on inductive loads Figure 4 13 Electrical Characteristics of the UNIDEX 600 Opto 22 Connections 4 22 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details 4 16 Main Connector Pinout of the UNIDEX 600 The UNIDEX 600 s main interface connector P1 is accessible from the rear of the PC The connector is a 100 pin AMPLIMITE high density female connector The mating connector is an AMPLIMITE series connector part number 759879 9 This connector accepts two 50 pin ribbon cables and is non shielded Refer to Table 4 17 for the main connector pinouts Version 1 9 Aerotech Inc 4 23 Technical Details UNIDEX 600 Hardware Manual Table 4 17 Main Connector Pinouts for the UNIDEX 600 Pin Function Descr Pin Function Descr 1 Common ILOCKS 2_ Reserved Reserved 3 5 Volts 5 4 5 Volts 5 5 Encoder Common Common 6 Encoder Common Common F Encoder Sine Positive Axis 1 SIN1 8 Encoder Sine Ground Axis 1 SIN1 9 Encoder Cosine Positive Axis 1 COS1 10 Encoder Cosine Ground Axis 1 COS1 11 Marker Pulse Axis 1 MRK1 12 Marker Pulse Axis 1 MRKI 13 Encoder Common Common 14 Encoder Common Common 15 Encoder Sine Positive Axis 2 SIN2 16 Encoder Sine Ground Axis 2 SIN2 17 Encoder Cosine Positive
12. 4 10 Limit Switch Input 4 10 M Main Connector Pinout of the UNIDEX 600 4 23 Main Connector Pinouts for the UNIDEX 600 4 24 Manual feedrate override 4 25 Memory conventional recommended 2 2 3 1 extended 2 2 3 1 ranges for base addresses 2 5 3 4 Microprocessor Recommended 2 2 3 1 Minimum Hardware requirements 2 2 Motor Buzzes 5 3 Motor Has No Torque 5 3 Motor Related Test Points 4 2 Mouse Recommended 2 2 3 1 N No Feedback Open Loops A 3 O OP500 Cable 2 10 3 13 Open Loops A 3 Options Port 3 4 OPTO 22 Boards 3 17 Opto 22 I O Bus 3 4 4 20 Opto 22 I O Hall Inputs P5 Pinouts 4 29 OUT TTL Output Signals 4 17 Output Bus Specifications 4 17 Outputs TTL type 4 17 Overview of the UNIDEX 600 System 1 1 P P1 Current command output signals 4 15 P1 encoder signal pinouts 4 9 P1 Limit and fault inputs 4 10 P1 U600 inputs 4 16 P1 U600 outputs 4 17 P1 Connector 3 4 P10 connector 3 4 P2 Connector 3 4 P3 Pinouts expansion bus 4 27 P3 Connector 3 4 using the PSO PC Card 3 15 P4 Connector 3 4 P9 U600 inputs 4 16 ii Aerotech Inc Version 1 9 Version 1 9 UNIDEX 600 Hardware Manual Index P9 U600 outputs 4 17 P9 Connector 3 4 Parameter Summary A 1 PB 16 Opto 22 Interface Board 4 20 PB 24 Opto 22 Interface Board 4 20 PB 8 Opto 22 Interface Board 4 20 PB Boards 3 18 PC Board 3 4 PC Bus Interrupt Jumper 3 2 3 5 PC BUS Interrupt Ju
13. Configurations ee deed Ghee chcrscnes cits Gest sooo a S R E E ceptors 3 1 3 2 1 Power Consumption 000 0 eeeecesceeecesecssecseeceeeseeeeeeeeeeeees 3 2 3 3 UNIDEX 600 Control Board Jumper Configurations 0 0 0 3 2 3 3 1 Base Address Jumpers JP7 JP8 and JP9 ee eeeeeeseeeees 3 4 3 3 2 PC Bus Interrupt Jumpers JP4A through JP5D 0 3 5 3 3 3 Encoder Type Configuration for Differential or Single Ended Encoders RN3 RN4 RN1 and RN2 3 7 3 3 4 RS 232C Serial Port Jumper JP2 eee ceeceeeseeceeeeeeeeeees 3 9 3 3 5 Processor Configuration Jumper JP10 eens 3 9 3 3 6 External Reset Jumper JP3 0 eee ceeeeeeseceeececneceeneeenaeeeeee 3 9 3 3 6 1 The Single In line Memory Module SIMM SOCKEUS cs ssists cisvesecestbutenn dvescssesteortseesapeesevevauesouseostssdeses 3 10 3 4 Installing the UNIDEX 600 PC Board 0 ee eeceeeeeeeeeeeeeeeeeees 3 11 3 5 Installing Additional Aerotech Components e ee eeeeseeeeeeees 3 13 3 5 1 The DR500 Drive Rack and OP500 Cable 3 13 3 5 2 The UNIDEX 600 BB500 Breakout Module 00 00000 3 14 3 5 3 The PSO PC Position Synchronization Board 0 3 15 3 5 4 The RDP PC Resolver to Digital Board eee 3 16 3 5 5 The BRK BPS Fail safe Brake 3 16 3 5 6 The PB8 PB16 and PB24 I O Boards uu eee 3 16 3 33 72 DREVO Cableiscicax rics sne ace ini eee 3 19 Version 1 9 Aerotech Inc iii Table of Contents UNI
14. ON when power is first applied then go OFF during system initialization and remain ot tevon e t Levon OFF During subsequent system software resets the LED should come ON for approximately 1 second and then turn OFF VO and Amps VO Off uder Amps Off Program Control The LED should remain ON following system power up This should disable any amplifiers and set the output bus to the high impedance state If the LED does not come ON or if it stays ON following software initialization refer to the Troubleshooting section of this manual for help Version 1 9 Aerotech Inc 2 9 Getting Started UNIDEX 600 Hardware Manual 2 8 Installing Additional Aerotech Components System installation varies with the number and types of components that have been purchased from Aerotech Inc to complement the UNIDEX 600 PC bus controller The following descriptions may not be applicable to all systems 2 8 1 The DR500 Drive Rack and OP500 Cable The DR500 drive chassis is an integral part of the U600 control system It houses up to four Aerotech amplifiers DC servo AC brushless or microstepping provides power for the drive section of the servo system and acts as a breakout for all control and I O signals The DR500 is available in rack mount and desktop configurations The individual amplifiers a maximum of four are inserted into the front of the DR500 panel The back of the DR500 has all the cable connectors as
15. gt o V Optical Isolator P1 52 Common Figure 4 9 Electrical Characteristics of the UNIDEX 600 Input Bus Interface Table 4 13 UNIDEX 600 Inputs and Locations Input Location s Input Location Input Location Input Location s o P9 31 P1 59 5 P9 21 10 P9 11 15 pPo 1 1 P9 29 P1 60 6 P9 19 11 P9 9 Common P9 2 50 even 2 p9 27 Pi1 61 7 P9 17 12 P9 7 5volts P9 49 3 P9 25 P1 62 8 P9 15 13 P9 5 4 P9 23 9 P9 13 14 P9 3 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details 4 12 Output Bus Specifications The UNIDEX 600 has 16 TTL level outputs Refer to Figure 4 10 for electrical characteristics of the output bus Outputs 0 3 are accessible through both the main P1 connector and the P9 connector Refer to Section 2 7 3 for interconnection examples The UNIDEX 600 connector is compatible with a PB24 Opto interface board Outputs are activated using M Codes Table 4 14 lists the UNIDEX 600 outputs and their respective locations The 74F534 device can sink up to 24 mA of current JP11 and JP12 configure the signals present at Outputs 2 and 3 refer to Table 4 14 S Table 4 14 UNIDEX 600 Outputs and Locations UNIDEX 600 Latch Buffer Output Location Output Location 7 P10 2 50 even pins Pin3 Pin 63 74F534 5VDC
16. jumper selectable and is outlined in Table 2 5 This table shows the available interrupt request IRQ lines that may be assigned using the PC bus interrupt jumpers The default interrupt configuration has JP4E installed In this configuration the UNIDEX 600 generates interrupt requests to the host computer on IRQS 2 6 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Getting Started Table 2 5 PC Bus Interrupt Jumper Settings Jumper State Jumper Settings Function IN Interrupt IRQ3 COM2 JP4A OUT IRQ3 not selected default IN Interrupt IRQ4 COM1 JP4B OUT IRQ4 not selected default IN Interrupt IRQ5 default JP4C OUT IRQ5 not selected IN Interrupt IRQ9 AT unassigned JP4D gt JP4A OUT 2 IRQ9 not selected default CO JPSA Interrupt IRQ15 AT unassigned IN default JP5A OUT IRQ15 not selected IN Interrupt IRQ3 AT unassigned JP5B OUT IRQ3 not used default Version 1 9 Aerotech Inc 2 7 Getting Started UNIDEX 600 Hardware Manual Table 2 5 PC Bus Interrupt Jumper Settings Cont d Jumper State Function IN Interrupt IRQ11 IRQ11 not used default JP5A Interrupt IRQ10 IRQ10 not used default 2 8 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Getting Started 2 7 Installing the UNIDEX 600 PC Board The UNIDEX 600 control board is a full sized AT card that is i
17. 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 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 is
18. 0 7 Wiring 6 OPC DIOSR DRG DR500 or BB500 or BB501 P Pio 3 usoo ee E Extended Inputs Outputs and Hall Effect Inputs Figure 2 3 Sample Uses of the PB Boards and the DIOSR DRC Cables 2 12 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Getting Started PC DIOSR INPUTS 0 15 OUTPUTS 0 7 TT HE CE PB8 PB16 or PB24 DRCPB or DRCPBG4 to P8 OUTPUTS 8 15 Figure 2 4 DRCPBG4 y DRCPB G4 to P8 P5 BB500 _ P2 gt P4 P1 P3 Sample Uses of the PB Boards and the DRCPB and DRCPBG4 Cables For more information refer to Chapter 4 Technical Details and the Aerotech Motion Control Product Guide Version 1 9 Aerotech Inc 2 13 Getting Started UNIDEX 600 Hardware Manual 2 8 4 DRC I O Cable rere The DRC I O cable serves two purposes when used with the DR500 Drive Chassis The primary use is for applications that use brushless motors with Hall effect sensors In such cases the necessary Hall effect signals are not available through the stand
19. 17 Axis 1 Direct 4 Axis 4 Direct 16 Axis 2 Clock 5 Axis 4 Direct 18 Axis 2 Clock 7 Common 9 Axis 2 Direct 6 Common 10 Axis 2 Direct 8 Common 19 Axis 3 Clock 11 Common 20 Axis 3 Clock 13 Axis 3 Direct 12 You may have purchased Aerotech s optional SR 20DRH 25DS cable instead This cable extends the connector from the P C The cable is terminated with a 25 pin D style connector producing the pinout shown in Figure 4 26 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details Det re a es re eh og ew eg ty el Show Reference Only n For 13 poueupapapapap vgveu0u00000 14 5 1 Axis 1 2 Axis 1 3 Axis 2 4 Axis 2 6 Axis 3 5 Common 7 Axis 3 Clock 8 Axis 4 Clock 9 Axis 4 Clock Clock Clock Clock Clock 10 Common 11 Taip 13 14 Axis 1 Direction 15 Axis 1 Direction 16 Axis 2 Direction 17 Axis 2 Direction 18 Common 23 Common 24 25 Clock 19 Axis 3 Direction 20 Axis 3 Direction 21 Axis 4 Direction 22 Axis 4 Direction Aerotech Inc 101 Zeta Drive Pittsburgh PA 15238 A 412 963 7470 TWX710 795 3125 Fractions TOLERANCES ON Decimals Angles SR 20DRH 25DS 0 to 6 41 32 xx to 01 0 30 Over 6 41 16 Xxx to 005 MXC Cable bese 7 Cable Assembly Part Code Size REV 8B18
20. 23 45 678 9 1011 1213 1415 1617 1819 2021 2223 2425 2627 2829 3031 32 Barrier Strip 0 1 2 3 4 5 6 7 8 9 10 11 12 13114 15 Module No I i A82 i Install 0 Ohm Jumper from raa 1 Pad of Pin 49 to Pad of IN OPTO 22 49 O1L_ 0 PB16 50 Eh Module positions 0 to 7 are Outputs Module positions 8 to 15 are Inputs 1 23 45 67 89 1011 1213 1415 1617 1819 2021 2223 2425 2627 2829 3031 3233 3435 3637 3839 4041 4243 4445 4647 48 Barrier Strip 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 Module No Install1 AMP A83 P T PIP Fuse Do NOT install 1 AMP PICO Fuse OPTO 22 49 PB24 A 50 Module positions 0 to 7 are Outputs Module positions 8 to 19 are Inputs 45V L Module positions 20 to 23 are not used FOR REFERENCE ONLY Commutating Diode Plug In Module Plug In Module Plug In Module AC Output AC DC In put DC Output A CH Loan D Loab O O _ OR vac A VAC OR VDC V Rt Of Loab C Loap Q O O Ki 7 ZERO AMPLIFIER VOLTAGE VCC Re Vcc Re em avcc a O ww Oo Q O O WA SS QUTU A Re IOUT IOUT A k O J Q O J Q LOGIC GND A EQUIVALENT CIRCUIT ONLY d u EQUIVALENT CIRCUIT ONLY ns COMMON ALR GIROUREONIY NEGATIVE TRUE LOGIC
21. 27 OPT1 3 MA4 28 D3 4 Common 29 OPTO 5 MCLK 30 D2 6 MRESET 31 MAII1 7 MA5 32 D1 8 MA2 33 D16 9 MA6 34 DO 10 MAI 35 D17 11 MINTR1 36 D18 12 MAO 37 D19 13 MINTRO 38 D20 14 IOWR 39 D21 15 MA7 40 D22 16 IORD 41 D23 17 MA8 42 D14 18 Common 43 MWAIT 19 MCS1 44 D12 20 D7 45 D15 21 MCSO 46 D10 22 D6 47 D13 23 MA9 48 D8 24 D5 49 D11 25 MA10 50 D9 4 21 Analog Inputs The U600 has four analog inputs Two of these inputs are normally used for the joystick and the other two for optional MFO MSO inputs Each task may be assigned separately and enabled with the AnalogMFOInput and AnalogMSOInput task parameters The analog inputs are 12 bit bipolar inputs 10 to 10 Volts converted to signed 15 bit numbers The A D converter is an AD7874 converter Refer to Figure 4 17 Refer to the DR500 Operation and Technical P N EDA120 the BB501 Interface Board Option Manual P N EDO107 and the BB500 Interface Board Option Manual P N EDO109 for interface information and signal locations Version 1 9 Aerotech Inc 4 27 Technical Details UNIDEX 600 Hardware Manual Common P1 87 4 3300 4 Places P1 69 JOY X pot 47uF 4 Places 90 JOY Y pot 95 Analog Input 0 FF Converter 96 Analog Input 1 HOR RHE Figure 4 17 Electrical Characteristics of Analog Input 4 22 Joystick Interface The user can connect their own joysticks and switches to the UNIDEX 600 refer to Figure 4 18
22. 3 2 Single Ended Encoders Single ended encoders may be used with the UNIDEX 600 by connecting a 4 7K ohm 1 4 watt resistor from the unused differential input to signal common removing the 180 ohm termination resistor and disabling the encoder feedback fault in the FAULTMASK axis parameters as illustrated below in Figure 4 2 In this configuration only a single ended active high or active low signal is provided Table 4 5 through Table 4 8 indicates which resistor networks RNs to remove UNIDEX 600 Board Connector P1 5 VDC Remove standard Single Ended t termination resistor for Input single ended encoders 3 per axis SIN 10KQ 10KO 7 COS MRK 4 gt High igh RN1 4 180 Q 26LS32 gt A Low e e Fisz 4 7K Q a Pull Down Resistor Typical SIN COS MRK inputs Electrical Characteristics of an Encoder Interface Showing Configuration of Optional Single ended Encoder S The removable termination resistors for axes 1 4 are grouped into three in line resistor networks RN3 RN4 RN1 and RN2 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details Resistor networks RN3 RN4 RN1 and RN2 provide termination resistors for axes 1 2 3 and 4 respectively The following tables show the important configuration information for each individual axis Included are the resistor network number main pinouts connector P1 axis signals and resistor network pin numb
23. Ds1488 jh 7 16 17 23 x AIB N M39 R176 15 SCE SEL S8ICEN AM85C30 TBP 16 17 23 D C N RXDB V 4 7K a7 AINTS SJ INT N TRXCB N 30 yV R175 16 93 INTACK N RTXCB N t35 ToN ay M38E IEI SYNGB N H55 s A 4 7K 26LS32 Uico W REQB N 3o 2 23 DTR N REQB N F5g 1 3 5V PCLK RTSB N 20 le A 17 CTSB N 2 JP2 ae NC DCDB N 18 NE 7 28 ING 12V 36 FS NC GND 1 4 V 35 c54 12V 01 x2 A 2 3 V M47B FS GND OUT z 3 6 TX 422 an 16 384 MHZ TBN P4129 P413 9 RX 422 PE SN75158 P4 15 2 RX 422 N P4 16 10 P4 1 11 Ri FT P4 18 2 M38C g P419 9 P4 20 26LS32 Figure 4 5 Serial Ports 1 and 2 Pinouts 4 12 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details 4 8 Emergency Stop Sense Input The UNIDEX 600 has an optically isolated global emergency stop input refer to Figure 4 6 The user must provide an external power supply to drive the on board opto isolator External voltages and resistance are enumerated in Table 4 11 This input is used to sense the activation of an external E stop circuit In addition each task on the U600 may have a separate E stop input only affecting that task Refer to the on line help for more details Refer to the DR500 Operation and Technical P N EDA120 and the BB501 Interface Board Option Manual P N EDO107 for interface information and signal location 5 Opto isolator Anode pin 4 on Misc I O Switch closed for
24. F eel April 1999 Quality Assurance Manager Ron Rekowski it Engineer Verifying Compliance and complies with EMC directive 89 336 EEC General notes concerning the test setup This product was tested at Washington Laboratories LTD in Gaithersburgh MD on December 12 1995 The report number is WLL 2987F The UNIDEX 600 was tested in a CE compliant class B personal computer and controlled two DC motors and one brushless AC motor through a DR500 drive chassis The following modifications ensure compliance with the EMC directive 89 336 EEC e Add ferrites P N TDK ZCAT3035 13304 or equivalent on the DIO and OP500 cable There is a ferrite located on each end of each cable e A 25 pin Sub D filter P N SCI 56 725 001 or equivalent is installed on axis limit connectors of the DR500 that interfaces to each motor e Add 1 ferrite P N TDK ZCAT3035 13304 and two toroids located on the power cord of the DR500 e A Schaffner filter P N FN2080 10 06 is installed on the DR500 AC power input e Bond shields of all cables to the DR500 chassis e Add ferrite to each motor cable at the DR500 P N Steward 28B 029 0A0 or equivalent Failure to follow the described procedures may cause excessive emissions or reduced immunity VV VY Version 1 9 Aerotech Inc ix Regulatory Information UNIDEX 600 Hardware Manual x Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual PREFACE This section gives you an overview of topics c
25. JP5A Interrupt IRQ12 AT unassigned OUT JP5A IRQ12 not used default JP5C IN Interrupt IRQ11 OUT JP5A IRQ11 not used default JP5D IN JP5A Interrupt IRQ10 OUT JP5A IRQ10 not used default 3 6 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Hardware Configuration 3 3 3 Encoder Type Configuration for Differential or Single Ended Encoders RN3 RN4 RN1 and RN2 The UNIDEX 600 is equipped with four resistor networks RN1 RN2 RN3 and RN4 as standard These resistor networks work as termination resistors when using differential encoders This is the default configuration of the U600 board The following tables describe the resistor networks and their connections By default the four encoder interfaces are configured with 180 Q termination resistor networks For single ended encoder configuration see section 4 3 2 Each axis has its own resistor network axes one through four are networks RN3 RN4 RN1 and RN2 respectively If an application does not require termination resistors for all four axes then single 180 Q resistors must be re installed for the remaining axes as appropriate where the resistor network was removed The 180 Q termination resistor s are not provided The locations of the UNIDEX 600 termination resistors are shown in Figure 3 1 on page 3 3 For additional information refer to Chapter 4 Technical Details Table 3 5 Termination Resistor Con
26. Option eee ceeeeeeeeeeeeeeeeeeeenseeeeees 3 15 Figure 3 6 Sample Uses of the OPTO 22 Boards and the DRC Cable 3 17 Figure 3 7 Sample Uses of the PB Boards and the DRCPB and DREPBG4 Cables 5 5 3S veg aie ele a eh ees Hi ea 3 18 Figure 3 8 DRC O Cable aerae ae ae aestas r r aa ESKES EE SEa iin sit eects 3 19 Figure 4 1 UNIDEX 600 PC Board Jumper Locations eeseeeseeeeseesereereereeee 4 4 Figure 4 2 Electrical Characteristics of an Encoder Interface Showing Configuration of Optional Single ended Encoder eee 4 6 Figure 4 3 Reserved Outputs enne cesses sets se fescenseph eE E E EA EEEE SES 4 8 Figure 4 4 Electrical Characteristics of the UNIDEX 600 Hall Effect Limit and Amplifier Fault Inputs ee eeeceeseeceeeenseceeeeceeeeeeeeee 4 11 Figure 4 5 Serial Ports 1 and 2 Pimouts 0 0 eee ee eceeeceeeeeeeeseceeeeeeeeeeeeseeeneees 4 12 Figure 4 6 Electrical Characteristics of the UNIDEX 600 Emergency Stop Interfaces sci 2 i erno r a ai ides EE EE basse sbitee nents 4 13 Figure 4 7 External Reset Circ jt srei na eeri aae iee RE ra RE 4 14 Figure 4 8 Electrical Characteristics of the UNIDEX 600 Current Command Output 1 3 5 65 n a a E A RS 4 15 Figure 4 9 Electrical Characteristics of the UNIDEX 600 Input Bus nterface iiss esos Sek SG Steele Rie a Me em Atha 4 16 Figure 4 10 Electrical Characteristics of the UNIDEX 600 Output Bus NIMC IL ACE ose EE ENE EEES EEE se avsehced peek ce E EEE EEEE 4 17 Figur
27. P11 Reserved Out 2 32 33 OUT15 34 35 OUT14 36 37 OUT13 38 39 OUT12 40 41 OUTI1 42 43 OUT10 44 45 OUT9 46 47 OUTS 48 Version 1 9 Aerotech Inc 4 29 Technical Details UNIDEX 600 Hardware Manual 4 24 UNIDEX 600 Breakout Block BB500 The UNIDEX 600 Breakout Block BB500 provides access to amplifier signals encoder signals limits inputs and outputs when the DR500 drive rack is not used Connector P6 of the BB500 connects to the P1 connector of the UNIDEX 600 card using a 100 pin cable that is supplied with the BB500 In this configuration four inputs and four outputs are available If using brushless motors the user must purchase the DRC cable and connect it between P10 of the UNIDEX 600 and P8 of the BB500 Refer to the BB500 User s Manual EDO109 for more information 4 30 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details 4 25 Servo Loop The UNIDEX 600 Series motion controllers have a dual control loop with an inner velocity loop and an outer position loop The loop is updated every 1 or 1 4 ms Refer to Figure 4 19 for an illustration of the Servo Loop 5 AFFGAIN ACCELERATION FEEDFORWARD VELOCITY VOGAN _ FEEDFORWARD y VFF 0 1 KP ores Position F Torque Position Error iad F A a Command Command
28. Rotation Limit Switch 4 10 D Definitions of Terms A 1 Differential Encoder Resistors 3 4 Differential Encoders 4 6 using pull up termination resistors 3 7 Digital Input Bus Specifications 4 16 Disk Space Recommended 2 2 3 1 Display Recommended 2 2 3 1 DR500 Drive Rack 2 10 3 13 installation 2 10 3 13 rear panel connections 2 10 3 13 DRC Cable 3 17 3 18 3 19 E Electrical Characteristics of a Single Ended Encoder Interface 4 6 Electrical Characteristics of the UNIDEX 600 Amplifier Enable Out 4 18 Electrical Characteristics of the UNIDEX 600 Brake Signal Output 4 19 Electrical Characteristics of the UNIDEX 600 Current Command Out 4 15 Electrical Characteristics of the UNIDEX 600 Input Bus Interface 4 11 Electrical Characteristics of the UNIDEX 600 Opto 22 Connections 4 22 Electrical Characteristics of the UNIDEX 600 Output Bus Interfac 4 17 Electromagnetic Brake for Vertical Axes 3 16 Emergency Stop Inputs 4 13 Encoder times 4 multiplication 4 6 Encoder Resistors 3 4 Encoder Signal Pinouts 4 9 Encoder Signal Specifications 4 6 Encoder Signals and Pinouts P1 4 9 Encoders pull up resistors 3 7 termination Resistors 3 7 using pull up termination resistors 3 7 Errors 5 3 Expansion Slot 2 9 3 11 Extended I O Cable 2 14 3 19 External Reset Jumper 3 9 F Fail Safe Brake 4 19 Fault Conditions 5 4 Field Service Information B 1 Field Service Policy B
29. See JP11 OUT3 67 Mode Axis 3 Aux 3 MODE3 68 Mode Axis 4 Aux 4 MODE4 69 Amplifier Enable 1 AEN1 70 _ Amplifier Enable 2 AEN2 71 Amplifier Enable 3 AEN3 72 Amplifier Enable 4 AEN4 73 Amplifier Fault 1 AFLT1 74 Amplifier Fault 2 AFLT2 75 Amplifier Fault 3 AFLT3 76 Amplifier Fault 4 AFLT4 Ja Limits Common Common 78 Limits Common Common 79 Axis 1 Primary Current Cmd ICMD1B 80 Axis 1 Secondary Current Cmd ICMDIA 81 Axis 2 Primary Current Cmd ICMD2B 82_ Axis 2 Secondary Current Cmd ICMD2A 83 Axis 3 Primary Current Cmd ICMD3B 84 Axis 3 Secondary Current Cmd ICMD3A 85 Axis 4 Primary Current Cmd ICMD4B 86 Axis 4 Secondary Current Cmd ICMD4A 87 Common Common 88 Common Common 89 Joystick Potentiometer Input JSW1 90 Joystick Potentiometer 2 Input JSW2 91 Joystick Button A Input JSA 92 Joystick Button B Input JSB 93 Joystick Interlock JSC 94 Brake Output BRAKE 95 Analog Input 0 AINO 96 Analog Input 1 AIN1 97 E Stop Cathode See P1 99 ESTOP __98 Reserved Reserved 99 E Stop Anode See P1 97 OPTOA 100 Interlock Receive ILOCKR 4 24 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details 4 17 High Speed Position Latch The U600 provides an input for an external trigger to latch the axis positions within 60 nanoseconds This is accomplished by taking the input at connector P10 27 to common It is internally pulled up to the 5 V supply and then filtered with a 1K Q resistor and
30. The joy interlock input in the logic low state indicates the connection of the joystick The zero velocity null point for each joystick connection is approximately 2 5 volts Refer to the DR500 Operation and Technical P N EDA120 the BB501 Interface Board Option Manual P N EDO107 and the BB500 Interface Board Option Manual P N EDO109 for interface information and signal locations 5V Joy X P1 89 gt auina utton Com 1000 Typ 2 plc s 5V Arrows below show axes motion that results Joy Y P1 90 C gt when joystick is used Button A gt Com Y IN914 Button A P1 91 C s Button C X X Button B P1 92 C I gt Joy Interlock P1 93 a i F ry V V B V C Speed Select 4 Buttons N Exit Slew Mode all N O Axis Pair Select Figure 4 18 Joystick Interface 4 28 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details 4 23 Opto 22 Outputs and Hall Sensor Inputs P10 Pinouts Table 4 19 lists the pinouts for the OPTO 22 outputs and hall sensor inputs P10 Table 4 19 Pinouts for Opto 22 Outputs and Hall Sensor Inputs P10 Pin Description Pin Description 7 wattae h ALAA HALL an HAC 9 HALL 3A 10 11 HALL 3B 12 13 HALL 2C 14 15 HALL 2A 16 17 HALL 2B 18 19 HALL IC 20 21 HALL 1A 22 23 HALL 1B 24 25 JP3 User Reset Input 26 27 JP6 Position Latch Input 28 29 JP12 Reserved Out 1 30 31
31. accomplished in the library interface via the AerPSOxxxx functions In the CNC interface the user can use the PSOC PSOD etc CNC commands to program PSO functionality When using the PSO PC option board with the U600 the PSO PC s dual port RAM must be set to D800 0000 5 Stages Figure 3 5 Overview of the PSO PC Option Version 1 9 Aerotech Inc 3 15 Hardware Configuration UNIDEX 600 Hardware Manual Z Axis PB24 PB16 PB8 P9 U600 lt n 3 5 4 The RDP PC Resolver to Digital Board The RDP PC option is a resolver to digital card used for receiving resolver or Inductosyn feedback A resolver is a two phase AC excited rotary variable transformer that outputs sinusoidally related signals These signals when processed by the RDP PC yield very accurate shaft position information Single speed resolvers provide absolute position information over one shaft revolution Inductosyns are essentially multi pole resolvers and are available in both rotary and linear varieties Rotary and linear Inductosyns typically have pole spacings of 0 5 degrees and 2 mm respectively providing positioning resolutions as fine as 0 05 arc seconds and 30 5 nanometers when combined with the RDP PC converter Standard R D converter accuracy is 8 arc min electrical cycle Features of the RDP PC include software selectable 10 12 14 or 16 bi
32. and drive interface expansion card Includes extension bus interconnect cabling 40 IN 40 OUT of digital I O 4 12 bit A D inputs 8 channels of 16 bit D A drive interface 4 channels of encoder position feedback CW CCW and home limit inputs DRS500 External drive chassis for use with the U600 refer to the Aerotech Motion Control Product Guide for available styles types and pricing information RDP PC n Resolver to digital 4 channel converter full length ISA I O card format with 2 active channels OP500 Interconnection cable from the controller to the DR500 chassis BRKBPS x Fail safe brake control logic and power supply specify axis x DIOSR Input output extension cable also required with AC brushless motor operation as Hall effect inputs HWS500 3 6 inch handwheel assembly and cable 25 pin male D SDK600 NT Software Development kit for Windows NT 95 containing OLE custom controls MMI600 NT CNC MMI development kit for Windows NT 95 UTIL600 NT Standard utilities libraries and U600 firmware for Windows NT 95 Version 1 9 Aerotech Inc 1 3 Introduction UNIDEX 600 Hardware Manual 1 3 Safety Procedures and Warnings The following statements apply wherever the Warning or Danger symbol appears within this manual Failure to observe these precautions could result in serious injury to those performing the procedures and or damage to the equipment To minimize the possibility of electrical shock an
33. ee sees cess eeneeeeee 4 21 Table 4 17 Main Connector Pinouts for the UNIDEX 600 ossis 4 24 Table 4 18 Expansion Bus Pin Outs poiense ne i e EE 4 27 Table 4 19 Pinouts for Opto 22 Outputs and Hall Sensor Inputs P10 4 29 Table 4 20 Teach Pendant Labels and Associated Pin Number Inputs 4 35 Table 4 21 Teach Pendant Labels and Associated Pin Number outputs 4 35 Table 4 22 P7 Stepper Drive Interface Clock and Direction Pinouts 4 36 Version 1 9 Aerotech Inc vii List of Tables UNIDEX 600 Hardware Manual Table 5 1 Table 5 2 Table 5 3 Table 5 4 Troubleshooting for Common Installation Startup and Communication Problems ee eeceseeesecsee cree ceeeeeeeeeeeeeeeeeeeeeeeeens 5 2 Troubleshooting for Servo Related Problems cece eeeeeeees 5 3 Troubleshooting for Problems Involving Fault Conditions 5 4 Troubleshooting for Homing Related Problems 0 eee eee 5 6 VvV V viii Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Regulatory Information DECLARATION OF CONFORMITY Manufacturer s Name and Address Aerotech Inc 101 Zeta Drive Pittsburgh PA 15238 2897 Declares that the product Product Name UNIDEX 600 Conforms to the following product specifications EMC EN 55011 1991 Class B Emissions EN 50082 1 1992 Immunity IEC 801 2 1984 TEC 801 3 1984 TEC 801 4 1988 Pittsburgh PA David F Kincel Rov
34. is available for applications that use brushless amplifiers from the Aerotech BA SERIES For information on using Aerotech s BA SERIES line of brushless motors refer to the BA Series Users Manual P N EDA 121 2 8 3 The PB8 PB16 and PB24 I O Boards The PB8 PB16 and PB24 options are interface boards that provide optical isolation of UNIDEX 600 inputs and outputs up to 16 outputs and 16 inputs in the form of terminal blocks An OPTO 22 option board is connected to the P9 connector the Opto 22 I O bus of the UNIDEX 600 card using a 50 pin ribbon cable provided The PB8 provides 8 outputs the PB16 provides 8 inputs and 8 outputs and the PB24 provides 16 inputs and 8 outputs The PB8 PB16 and PB24 options are also available on the DR500 Refer to Figure 2 3 and Figure 2 4 IMPORTANT Version 1 9 Aerotech Inc Getting Started UNIDEX 600 Hardware Manual Outputs 0 7 Wiring HUTT eee PB Outputs 8 15 Wiring Input 8 and Outputs 0 7 wiring 8 CAA Input 16 and Outputs 0 7 Wiring PB16 ARANEAE AAAA annaa n n i DIOSR fetes DIOPB DIOSR DIOPB ed g P9 P10 U600 Lt Extended Inputs Outputs Outputs 8 15 Wiring Outputs 0 7 Wiring DDATDARARTARIAN Pee Input 8 and Outputs 0 7 wiring PB8 1 Input 16 and PBI Outputs
35. of the PC holding the U600 control board The U600 control board is factory configured for address 0x220 0x22F The U600 device driver is also set to this default address If the U600 control board does not initialize properly or exhibits sporadic operation there may be another board in the computer that is set to the same address Use the diagnostic utility or CMOS setup program that comes with the PC to analyze which addresses are used then try another UNIDEX 600 address remember to reset reboot the device driver The default setting for the base address jumpers is address range 0x220 0x22F The address of a UNIDEX 600 board is set from jumpers JP7 JP9 These jumpers are located near the center of the control board Each jumper has two pins For each jumper a plastic cap jumper is connected to create a unique base address The combinations of base address jumper settings are shown in Table 2 4 Each U600 control board must have a distinct address in the same PC E Version 1 9 Aerotech Inc Getting Started UNIDEX 600 Hardware Manual Table 2 4 Base Address Jumper Settings PC TO Bere faa f irs JP7 wy 8 8 8 0x230 23F a is p 0x300 30F A 3 E 0x310 31F a p p 0x330 33F 3 m E 0x340 34F p a p 0x350 35F 3 3 i 0x360 36F g g g 2 6 2 PC Bus Interrupt Jumpers JP4A through JP5D The UNIDEX 600 generates interrupt requests to the host PC The interrupt level is
36. rror J 2 LN VELOCITY LOOP o e 65536 y a Filter To Amplifier Actual Actual Position Velocity 1 of Axis of Axis BE KI a a S Integral Error Position resolution Velocity Feedback from Primary or Secondary Feedback Device Velocity resolution POSITION LOOP Position Feedback from Primary Feedback Device Figure 4 19 UNIDEX 600 Series Servo Loop Torque Mode 4 25 1 Servo Loop Overview The control loop gain settings are programmable and are dependent on the load and the desired response If the system load changes the servo loop must be retuned If the load increases the gains should be increased to retain the same level of performance If the load decreases the gains should also be decreased When tuning the U600 servo loops it is desirable to use the highest gain setting possible without causing oscillation instability This provides the tightest control i e the least amount of error The UNIDEX 600 utility software contains a graphics tool PLOT EXE or AerPlot exe used to display the effects of the servo loop gain settings Refer to the U600 Series User s Guide P N EDU157 OS 2 users reference the System Utilities Manual P N EDU145 for more information on using this graphics tool Version 1 9 Aerotech Inc 4 31 Technical Details UNIDEX 600 Hardware Manual 4 25 2 Servo Loop Phasing The UNIDEX 600 expects positive clockwise CW motor rotation for a negative voltage output from the D A Axes usin
37. to the DR500 Drive Chassis Operations and Technical Manual P N EDA120 Refer to the Aerotech Motion Control Product Guide for available styles part numbers and pricing information 2 16in 8out Digital I O and or Hall Effect Signals Ea E PS 3 XIO cable or equivalent from Controller E m A Serial Tag Q vo susroweRok vo nus Digital I O cable to Opto 22 PB8 PB16 or PB24 Racks fo at AEROTECH Axis1 1 axis 2 4 Ta aoe fle Encoder Input 1 right Encoder Input 2 101 Zeta Drive _ ENCODER 1 POWER OK C ENCODER 2 POWER OK Pittsburgh PA 15238 USA AXIS 3 1 AXIS 4 1 TRSAT left Encoder Input 3 right Encoder Input 4 UK 0734 817274 FAX 0734 815022 Emergency Stop Interrupts Analog I O C ENCODER 3 POWER OK C ENCODER 4 POWER OK EAT Redundant amplifier signals external 12 VDC 500mA msco 1 left Joystick Interface right Brake Control borg Wey Joystick 1 BRAKE 1 L Cond Cable to Controller lo Can al lo Ol AXIS 4 AXIS 3 AXIS 2 AXIS 1 EEEE i amo n 7e Ae Ze NOTE The connectors for motor power are made with Amp 206044 1 206070 1 and pins 66098 7 s3 a Indicates protective grounding connection Figure 3 4 Rear Panel Connectors of the DR500 Amplifier Chassis The OP500 cable is used to connect the UNIDEX 600 PC board to the DR500 drive chassis One end of this cable connects to the UNIDEX 600 PC board
38. 00 drive chassis One end of this cable connects to the UNIDEX 600 PC board and the other end connects to the J1 connector located on the back of the DR500 chassis See Figure 2 2 2 10 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Getting Started 2 8 2 The UNIDEX 600 BB500 Breakout Module The main connector of the UNIDEX 600 is a 100 pin interface that is intended to connect directly to the DR500 If a DR500 is not used in a particular application then the signals from this 100 pin connector explained in detail in Chapter 4 Technical Details need to be accessed individually or broken out and routed to the appropriate amplifiers motors etc The BB500 Breakout Module provides an easy method of accessing the signals of the 100 pin output connector of the UNIDEX 600 PC board The BB500 is connected to the 100 pin connector of the UNIDEX 600 accessible from the rear of the PC using the OP500 cable Connections from a user supplied drive rack may then be made to the terminal blocks on the BB500 Care should be exercised when connecting a drive rack to the UNIDEX 600 breakout module Be sure that signal lines are properly connected For additional information regarding hardware and wiring configurations refer to the BB500 Interface Board Option Manual P N EDO109 Refer to the Aerotech Motion Control Product Guide for available styles part numbers and pricing information Another version of the BB500 the BB501
39. 1 Floppy Disk Drive Recommended 2 2 3 1 G Gain settings Servo loop 4 31 Glossary of Terms A 1 Version 1 9 Aerotech Inc i Index UNIDEX 600 Hardware Manual Graphics Display Recommended 2 2 3 1 H Hall Inputs 4 29 Handling the U600 Card 2 4 Handwheel interface 4 34 Hard Disk Space Recommended 2 2 3 1 Hexadecimal Address Ranges 2 5 3 4 High speed position latch 4 25 Home Limit Switch 4 10 Homing Problems 5 6 ICMD Signals 4 15 IN Input Signals 4 16 Inductosyn Feedback Receiving 3 16 Inductosyns definition 3 16 pole spacing typical 3 16 positioning resolutions 3 16 Initialization LED state during 2 9 3 11 problems during 2 5 3 4 Initialization Failure 5 2 Inputs digital TTL type 4 16 limits 4 10 Inspecting the UNIDEX 600 Control Board 2 4 Installation 2 9 3 11 other Aerotech components 3 13 Installation Problems 5 2 Integral Trap Error 5 3 Interrupt the PC 2 6 3 5 jumper setup for custom applications 2 6 3 5 IRQ1O0 2 8 3 6 4 3 IRQ11 2 8 3 6 4 3 IRQ12 4 3 IRQ15 2 7 3 6 4 3 IRQ3 2 7 3 5 3 6 4 3 IRQ4 2 7 3 5 4 3 IRQS 2 7 3 5 4 3 IRQ9 2 7 3 5 4 3 Joystick 1 3 Joystick interface 4 28 Jumper Configurations 4 3 Jumpers 3 2 3 4 base address 2 5 3 2 3 4 PC bus interrupt 3 2 3 5 4 7 L LED 3 4 3 11 location 2 9 3 11 operation states 2 9 3 11 LED Problems 5 2 Limit and Amplifier Fault Inputs 4 10 Limit Inputs
40. 41A1 DWG SR 20DRH 25DS B 630B1 841 1 A T O D DOB B DDDB z gj 5 617 8 onten m 14 2200002000 A 20LOZO4 ayoeig eqo 5 15 16 17 18 19 20 21 22 23 24125 TB DB25 P Phoenix 25 Pin a 1 AXIS 1 Clock 1 AXIS 1 Direction p AXIS 1 Clock A 15 AXIS 1 Direction 4 AXIS 2 Clock 3 AXIS 2 Direction 5 16 AXIS 2 Clock 6 4 AXIS 2 Direction T 17 8 Common 9 5 Common 18 10 6 AXIS 3 Clock 11 19 AXIS 3 Direction 12 f AXIS 3 Direction 0 20 AXIS 4 Clock 3 A AXIS 4 Direction i 9 AXIS 4 Clock 17 AXIS 4 Direction 18 22 Common 19 10 Common 23 Ti 24 Connector 20 Pin 3M Female ie ECK01023 13 Connector 25 Pin D Female ECK00308 Figure 4 26 80 00M94 jew 4 d Uld SZ 40 D8UU0D gz yno Lz s m snowy Buol 2 4 94 YUM HEIS UMOIG M ISIA Uld OL 6 v00X93 10 9Npuo9 gz asf qe9 uoqq 4 3 4 10 9Npuo09 OZ Z010MOS ayewe We uid oz 4JOJOSUUND Pin 19 Pin 1 joyjoy uens 9 00M03 uy Jeyoosyoer J01 8Y Ues JON OG 5 s ar apeooeuno00n onooonnoonn ia mO DETAIL A Viewed from wire side of connector D Female Connector Z opomam 5885 S646
41. 5V U600 Axis 1 DR500 Hall Positions ov P10 21 P2 10 HA P10 23 P2 5 HB P10 19 P2 11 HC EEE a T e C B A C B ae 20V DR500 Axis 1 BA Amplifier 1J1 3 9 A 1J1 4 6 B Motor Back 1J1 5 7 C EMF ov BA10 80 Icmd B Icmd A o Current Commands U600 Axis 1 BA Amplifier P1 80 P1 9 Icmd A PA 79 P1 22 Icmd B NM __ Se PS Notes 1 All voltage measurements are made with reference to TP4 Signal Common Neutral 2 Clockwise rotation is viewed looking into the front of the motor shaft Figure 4 21 Brushless Motor Phasing Version 1 9 Aerotech Inc 4 33 Technical Details UNIDEX 600 Hardware Manual 4 26 Handwheel Interface This dedicated quadrature encoder input channel may be used for an operator handwheel interface Refer to Figure 4 22 for pinouts 2 R144 180 M38A 3 COS 1 O ps1 gt COS 14 SiN ps3 COS B141 180 M380 gt p5 5 S SIN 155 SIN P5 7 5V A P5 2 a 7 Figure 4 22 Handwheel Interface 4 27 Teach Pendant Interface The inputs from P5 of the U600 board are used to interface to the teach pendant switches and I O Refer to Figure 4 23 for pinouts and Table 4 20 for teach pendant labeling PEND RD 15 5V 45V 45V 4
42. 5V 45V 5V 45V 45V 45V i Boy Bex dex oss EE s225 1 VCC XD 00 31 _ 1 2 3 4 8 13 A el ae ey Cee EL oe P19 OETN 15 18 21 23 25 x amp amp amp amp amp OE2 N 1 18 21 23 8 fio fhi p2 j3 p4 f5 i P eT NET x00 Fo 11 ON K NaM Al s Yi H Bo rA pete INTO 13 SM y2 HE XDA P5 17 5 Am2 BN18D IK AS Y3 MTA X04 pel BNIB 1K 6 m llas N ys 3 pe 18E 1K E ve 2 XD06 PEs ANI EMNE SI ee XDO7 e232 _ c231_ c230 c229_ c228 c227_ c226 c225 Jo 01 ie 01 01 01 01 01 01 d b 5V A 5V 5V 5V 5V 5V Sexiest isss J xc E aj E 19 EN 1 h2 ha ha hs M 2 M6 Fos b ORNA NIK wi IIAN WEZ XD09 4 16 D10 epee RNC WK 13 sas 8 Ye U5 XD11 BN24D Vik 8 F Ya 14 xp12 P516 RN24E MIK ANS ye 3 XD13 8 9 A nv 11 XD154 c291 _ c290 _l c289 cess _lc287 10 01 01 01 01 J Figure 4 23 Teach Pendant Inputs 4 34 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details Table 4 20 Teach Pendant Labels and Associated Pin Number Inputs Label P5 Pin Number Label P5 Pin Number TPBIO 9 TPBI8 8 TPBI1 11 TPBI9 10 TPBI2 13 TPBI1O 12 TPBI3 15 TPBI11 14 TPBI4 17 TPBI12 16 TPBI5 19 5V 2 TPBI6 4 COM 18 TPBI7 6 4 27 1 Teach Pendant Outputs The outputs from P5 of the U600 board are used to interface to the lamp indicators on the teach pendant Refer to Figure 4 24 for pinouts and Table 4 21 for teach pendant labeling R187
43. 9 9 In 1 input 19and20 PB 27 27 10 In 2 input 21 and 22 16A 25 25 11 In3 input 23 and 24 and 23 23 12 In 4 input 25 and 26 16C 21 21 13 In 5 input 27 and 28 19 19 14 In6 input 29 and 30 17 17 15 In7 input 31 and 32 15 15 16 In8 input 33and34 11 13 17 In 9 input 35 and 36 11 11 18 In 10 input 37 and 38 9 9 19 In11 input 39 and 40 PB24 7 7 20 In 12 input 41 and 42 tlh 5 5 21 In 13 input 43 and 44 3 3 22 In 14 input 45 and 46 1 1 23 In 15 input 47 and48__ 4 All even pins 2 50 are WARNING Type of module input or output cannot be signal common interchanged To do so may damage the U600 Typical Modules IDC5 IDC5B IAC5 IAC5A ODC5 ODC5A OACS and OAC5A Version 1 9 Aerotech Inc 4 21 Technical Details UNIDEX 600 Hardware Manual From BB501 J11 DR500 J11 U600 P9 Or U600 P10 50 OPC Cable Length A R 1 23 45 67 8 9 1011 1213 1415 16 Barrier Strip o i 2 3 4 5 6 7 Module No NOTES Pecan A81 G4 Series not shown must be powered externally Juniper roni Paa OPTO 22 50 Pin Ribbon Cable Terminated at Opto 22 Board with of Pin 49 to Pad PB8 50 Pin Card Edge Connector ee eevee 1 of N 3M P N 3415 0001 Aerotech P N ECK310 49 OT O D Ribbon Cable Terminated at BB500 with a 50 Pin Header 50 Module positions 0 to 7 are 3M P N 3425 6050 Aerotech P N ECK 332 mh Outputs 1 I I 1
44. 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 9 Aerotech Inc B 1 Warranty and Field Service UNIDEX 600 Hardware Manual Returned Product Non warranty Determination Rush Service On site Warranty Repair On site Non warranty Repair Company Address After Aerotech s examination 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
45. Axis 2 COS2 18 Encoder Cosine Ground Axis 2 COS2 19 Marker Pulse Axis 2 MRK2 20 Marker Pulse Axis 2 MRK2 21 Encoder Common Common 22 Encoder Common Common 23 Encoder Sine Positive Axis 3 SIN3 24 Encoder Sine Ground Axis 3 SIN3 25 Encoder Cosine Positive Axis 3 COS3 26 Encoder Cosine Ground Axis 3 COS3 27 Marker Pulse Axis 3 MRK3 28 Marker Pulse Axis 3 MRK3 29 Encoder Common Common 30 Encoder Common Common 31 Encoder Sine Positive Axis 4 SIN4 32 Encoder Sine Ground Axis 4 SIN4 33 Encoder Cosine Positive Axis 4 COS4 34 Encoder Cosine Ground Axis 4 COS4 35 Marker Pulse Axis 4 MRK4 36 Marker Pulse Axis 4 MRK4 37 Encoder Common Common 38 Encoder Common Common 39 Clockwise Limit Axis 1 Ccwl 40 Counter clockwise Limit Axis 1 CCW1 41 Clockwise Limit Axis 2 Cw2 42 Counter clockwise Limit Axis 2 CCW2 43 Clockwise Limit Axis 3 Cw3 44 Counter clockwise Limit Axis 3 CCW3 45 Clockwise Limit Axis 4 CW4 46 Counter clockwise Limit Axis 4 CCW4 47 Home Limit Axis 1 HOMEI1 48 Home Limit Axis 2 HOME2 49 Home Limit Axis 3 HOME3 50 Home Limit Axis 4 HOME4 51 Reserved Reserved 52 Limits Common Common 53 12 Volts 12 54 _ 12 Volts 12 55 12 Volts 12 56 12 Volts 12 57 Mode Axis Aux MODE1 58 Mode Axis 2 Aux 2 MODE2 59 Input 0 INO 60 Input 1 INI 61 Input 2 IN2 62_ Input 3 See JP6 IN3 63 Output 0 OUTO 64 Output 1 OUTI 65 Output 2 See JP12 OUT2 66 Output 3
46. B16 and PB24 options are also available on the DR500 The additional 8 outputs Out 8 through 15 are provided through the P10 connector with a PB 8 or a PB24 If the Hall effect inputs are used with brushless motors which are located on the P10 connector of the UNIDEX 600 refer to Section 4 21 for more information on the Hall effect inputs Refer to Figure 3 6 and Figure 3 7 3 16 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Hardware Configuration Outputs 0 7 Wiring Outputs 8 15 Wiring Input 8 and Outputs 0 7 wiring PB8 x jee y i ky PB8 Input 16 and Outputs 0 7 Wiring PRIS l a ES PB24 DIOSR DIOPB P DIOSR DIOPB EF P9 P10 U600 LL Extended Inputs Outputs Outputs 8 15 Wiring Outputs 0 7 Wiring o prnennannemnem nma Input 8 and Outputs 0 7 wiring PB8 N ateh 1 _ Input 16 and i npu an Outputs 0 7 Wiring PB16 Sa OPC e a A RE i i PB24 DIOSR DRC DIOSR DIOPB DR500 or BB500 or BB501 a 2 i P9 P10 U600 Extended Inputs Outputs and Hall Effect Inputs Figure 3 6 Sample Uses of the OPTO 22 Boards and the DRC Cable Version 1 9 Aerotech Inc 3 17 3 18 Hardware C
47. BE Eo amga a DETAIL B Viewed from wire side of connector 20 Pin 3M Connector SR 20DRH 25DS Cable Drawing and Pinouts VV V Version 1 9 Aerotech Inc 4 37 Technical Details 4 38 UNIDEX 600 Hardware Manual Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Troubleshooting CHAPTER 5 TROUBLESHOOTING In This Section e Installation Board Startup and Communication Problems 5 2 O SSIATO INGE KK NA a E E E O 5 3 e Problems Involving Fault Conditions ssessseeeseeeerseeerseeeeeeeees 5 4 e Homing Related Prob ESE E AE e Ee E EE 5 6 If you have technical support questions please have the following information available before calling 1 The current version of the software is indicated on the installation disk or the title bar of the UNIDEX 600 MMI 2 Your customer order number If you have purchased a DR500 from Aerotech this number will be on the rear of the DR500 in the upper left hand corner on a system serial tag 3 We may also need to know the type of PC you are using brand name CPU available memory the current version of the operating system 4 If you are developing your own application we will need to know what compiler and version number you are using e g Borland C v3 1 Microsoft Visual C etc 5 Ifat all possible try to be in front of the system where the problems are occurring Version 1 9 Aerotech Inc 5 1 Troub
48. DEX 600 Hardware Manual CHAPTER 4 TECHNICAL DETAILS 0 ce ccceecneseecnseeeeesecneeeeneseeeeaees 4 1 4 1 Test POINIS i cevee des hearse a na Ue alee cies dee ted 4 1 4 2 Jumper Configurations eee cseeseeeeeeeeeeeeeeeeeeecesecnseenseeeesees 4 3 4 3 Encoder Signal Specifications seeseseseseeesssreesssereresrsrreresreeerreeresese 4 6 4 3 1 Differential Encoders esseseesseeeeeesserereseessseerrsserreeresreeees 4 6 4 3 2 Single Ended Encoders eee eesecseecseeeneeeeeeeeeeeeeeeees 4 6 4 4 Reserved Outputs sei irrien roe sitsers aa siae r aaa TEs nEss ea EEES oS 4 8 45 Encoder Signal Pinouts eee hiper ei 4 9 4 6 Limit and Amplifier Fault Inputs 00 0 0 eee eeeceeeceecneeeneeeneeenes 4 10 4 7 Serial Ports RS 232C and RS 422 sssssssessseeeseesssreesrsrrsreeresreerseresee 4 12 4 8 Emergency Stop Sense Input ssseseessseesssreesssrerrsserresrrsreeresrerseeees 4 13 4 9 External Reset Input csn ennn a r E A 4 14 4 10 Current Command Output s esseeeeseeeseseeesetesesteereserrrssrrreereseeeresreersee 4 15 4 11 Digital Input Bus Specifications seeesesesesseesssreesesrsersersreeresreeresene 4 16 4 12 Output Bus Specifications 0 eee ceeeceeecesecssecsseceesneesaeenee 4 17 4 13 Amplifier Enable Output 00 eee eeeceeceeeceseceseceseesaeseesneeens 4 18 414 The Brake Output c5 ccs clei nected oeer noer ara eeN EEEE oaks 4 19 415 Opto 22 VO Bu P9 wcccsscsottg s
49. DEX 600 Hardware Manual Hardware Configuration 3 3 4 RS 232C Serial Port Jumper JP2 The RS 232C specification UJ600ULTRA only requires the DCD and CTS inputs on serial ports 1 and 2 to be set to true active The signals are jumper selectable and can be either a 12 volt or 12 volt bias depending on the setting of jumper JP6 refer to Table 3 9 Table 3 9 RS 232C Serial Port Jumper Settings RS 232C Voltage Bias SettingJP2 12V bias to CTS and DCD inputs on serial ports 1 and 2 1 Sle 12V bias to CTS and DCD inputs on serial ports 1 and 2 1 lees No bias 1 ooo 3 3 5 Processor Configuration Jumper JP10 The UNIDEX 600 controller may optionally have a clock doubled processor This jumper JP10 is part of the board configuration for the processor This is jumper selectable but should not be changed by the user see Table 3 10 Table 3 10 Processor Configuration Jumper Settings Processor Configuration Setting JP10 U600BASE xxMB default KJ UsooULTRAxxMB o g 3 3 6 External Reset Jumper JP3 The UNIDEX 600 can be reset to its power up state externally by pulling connector P10 pin 25 to common The external reset is jumper selectable through JP3 and is outlined in Table 3 11 Table 3 11 External Reset Jumper Settings External Reset Setting JP3 Enable UNIDEX 600 board reset through P10 25 les _ No external reset through P10 25 default V
50. DEX 600 PC Board Jumper Locations The jumpers listed in Table 4 4 are used to set up the PC base address 4 4 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details Each UNIDEX 600 PC Board must have a unique I O address Se Table 4 4 PC I O Base Address Jumper Settings PC I O Base Address 0x220 22F default 0x230 23F 0x300 30F 0x310 31F 0x330 33F 0x340 34F 0x350 35F 0x360 36F Each of the following sections describes the signals on the UNIDEX 600 board Refer to the appropriate manual the DR500 Operation amp Technical Manual P N 5 EDA120 the BB501 Interface Board Option Manual P N EDO107 or the BB500 Interface Board Option Manual P N EDO109 for interface information and signal locations on these boards Version 1 9 Aerotech Inc 4 5 Technical Details UNIDEX 600 Hardware Manual Active High Signal Figure 4 2 4 3 Encoder Signal Specifications 4 3 1 Differential Encoders The UNIDEX 600 accepts differential RS 422 type square wave encoder signals A times 4 multiplication is always performed on the encoder fundamental line count For example if the encoder line count is 1 000 lines the effective machine resolution is 4 000 machine steps or counts per revolution The marker and quadrature signal inputs are 26LS32 type RS 422 receivers The sine and cosine signals are pulled to 5 volts through 10K ohm resistors see Figure 4 2 4
51. Manual 3 3 1 Base Address Jumpers JP7 JP8 and JP9 Input Output I O base addresses for the UNIDEX 600 are assigned in hexadecimal address ranges The U600 control board occupies 15 consecutive memory locations in the input output I O channel memory of the PC holding the U600 control board The U600 control board is factory configured for address 0x220 0x22F The U600 device driver is also set to this default address If the U600 control board does not initialize properly or exhibits sporadic operation there may be another board in the computer that is set to the same address Use the diagnostic utility or CMOS setup program that comes with the PC to analyze which addresses are used then try another UNIDEX 600 address remember to reset reboot the device driver The default setting for the base address jumpers is address range 0x220 0x22F The address of a UNIDEX 600 board is set from jumpers JP7 JP9 These jumpers are located near the center of the control board Each jumper has two pins For each jumper a plastic cap jumper is connected to create a unique base address The combinations of base address jumper settings are shown in Table 3 3 The locations of the UNIDEX 600 control board jumpers are shown in Figure 3 1 on page 3 3 Each U600 control board must have a distinct address in the same PC Table 3 3 Base Address Jumper Settings PC I O Base Address 0x220 22F defaul
52. Networks values 3 7 Termination Resistors 3 4 Termination Resistors for Encoders 3 7 Test Points 4 1 motor related 4 1 The Brake Output 4 19 U UNIDEX 600 board installation 2 9 3 11 I O channel memory 2 5 3 4 installation 3 11 outputs and locations P1 amp P9 4 17 TTL inputs and locations P1 amp P9 4 16 UNIDEX 600 PC Board 3 4 Unpacking the UNIDEX 600 2 1 y Version Number Software 5 1 Vertical Axis Brake 3 16 W Warnings 1 4 Warranty Information B 1 Warranty Policy B 1 Aerotech Inc iii Index Aerotech Inc UNIDEX 600 Hardware Manual Version 1 9 READER S COMMENTS AEROTECH UNIDEX 600 Hardware Manual P N EDU 154 March 2001 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
53. P32 Secondary Current Cmd Axis 2 ICMD2A P1 82 TP33 Axis 3 Primary Current Cmd Axis3 ICMD3B P1 83 TP35 Secondary Current Cmd Axis 3 ICMD3A P1 84 TP34 Axis 4 Primary Current Cmd Axis4 ICMD4B P1 85 TP36 Secondary Current Cmd Axis 4 ICMD4A P1 86 TP37 Version 1 9 Aerotech Inc 4 15 Technical Details UNIDEX 600 Hardware Manual 4 11 Digital Input Bus Specifications The U600 has 16 inputs The inputs are TTL level signals pulled up to 5 volts with a 10K ohm resistor Open collector drivers or opto isolators are the preferred electrical interface to this bus Refer to Figure 4 9 for electrical characteristics of the input bus See Table 4 13 for U600 inputs and locations Refer to Section 2 7 3 for interconnection examples To avoid damage to the U600 the input level should never exceed 5 volts or go below 0 volts JP6 configures the signal accepted by Input 3 in order for it to drive the high speed position latch or Input 3 Inputs INO IN3 are accessible through both the main P1 connector and the P9 connector Inputs IN4 IN15 are accessible only through the P9 connector U600 s P9 and P10 connector s are compatible with a PB24 Opto interface board Inputs are read using M Codes UNIDEX 600 PC Board 5V User Supplied Voltage 10k 74HC541 P1 59 Buffer ee 1k AZ a 0 01 uF gt
54. THE UNIDEX 600 HARDWARE MANUAL P N EDU154 V1 9 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 aerotech com If you should have any questions about the UNIDEX 600 board or comments regarding the documentation please refer to Aerotech online at http www aerotech com For your convenience a product registration form is available at our web site Our web site is continually updated with new product information free downloadable software and special pricing on selected products The UNIDEX 600 PC based motion controller is a product of Aerotech Inc Inductosyn is a registered trademark of Farrand Industries Inc MS DOS is a product of Microsoft Corporation Windows NT and Windows 95 are products of Microsoft The UNIDEX 600 Motion Controller Hardware Manual Revision History Rev 1 0 December 08 1995 Rev 1 0a April 17 1996 Rev 1 1 Sept 25 1996 Rev 1 2 November 22 1996 Rev 1 3 February 14 1997 Rev 1 4 July 15 1997 Rev 1 5 May 5 1998 Rev 1 6 April 5 1999 Rev 1 7 June 19 2000 Rev 1 8 October 20 2000 Rev 1 9 March 26 2001 Aerotech Inc 2001 UNIDEX 600 Hardware Manual Table of Contents TABLE OF CONTENTS CHAPTER 1 INTRODUCTION 0 0000 cceceeceecseeecsseceeesecseeecsaeeeesaeeaeeaeeneeaes 1 1 1 1 Overview of the UNIDEX 600 00 eee ceeeeeeeeeeeeee
55. W MFO C ass 2S IN4740A 10V 1W MFO AINO Locations 12V 12V 12V U600 P1 95 P1 53 amp 54 P1 55 amp 56 DR500 J13 24 X BB500 P5 18 P7 4 P7 3 BB501 TB1 3 x UNAVAILABLE Figure 4 15 Manual Feedrate Override Circuit 4 19 Mode Aux Output Specifications The U600 contains one for each of the first four axes used to control AS16010 drive modules These may also be used by the user refer to the U600 Series User s Guide P N EDU157 Appendix C Parameters AUX axis parameter if the drives are not in the system They are driven by an open collector buffer 7406 Refer to the DR500 Operation and Technical P N EDA120 the BB501 Interface Board Option Manual P N EDOI107 and the BB500 Interface Board Option Manual P N EDO109 for interface information and signal locations P1 2200 3 1 4 Wy yy 1 1 U600 Vv i y 4N33 ro X Axis Pin 57 Y Axis Pin 58 Z Axis Pin 67 U Axis Pin 68 Figure 4 16 Electrical Characteristics of the Mode Aux Output 4 26 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details 4 20 Expansion Bus Pin Description P3 This bus interfaces with the Aerotech resolver PC PSO laser firing and encoder expansion cards Pinouts for the Expansion Bus are listed in Table 4 18 Table 4 18 Expansion Bus Pin Outs Pin Description Pin Description 1 MA3 26 D4 2 Common
56. a 01 uF capacitor refer to Figure 4 14 This captures the positions of all the axes on that board If using 4EN PC expansion boards the trigger input of these boards has to be driven by the trigger source Also this captures the positions of the axes on that board If P10 of the U600 is connected to J10 of the BB501 this signal will be available at TB4 pin 5 If P10 of the U600 is connected to J10 of the DR500 the DR500 may be configured for this signal to be present at J11 pin 14 This signal is not available on the BB500 Refer to the DR500 Operation and Technical P N EDA120 and the BB501 Interface Board Option Manual P N EDO107 for more information FPGA Figure 4 14 Electrical Characteristics of U600 High Speed Position Latch 4 18 U600 Manual Feedrate Override Manual Spindle Override The U600 provides the user with the ability to manually override the programmed feedrate using an external potentiometer refer to Figure 4 15 While the voltage at the analog input varies from 10V to 10V the MFO MSO varies from 0 to 200 respectively This input simultaneously varies the programmed feedrate and spindle feedrate Each task may be assigned a separate input by the AnalogMFOInput and AnalogMSOInput task parameters respectively The potentiometer should be a minimum of 10k ohms Version 1 9 Aerotech Inc 4 25 Technical Details UNIDEX 600 Hardware Manual 12V 820 IN4740A 10V 1
57. ack sensors to monitor position or velocity Most stepper motor applications are open loop that is they have no feedback The commanded position is the assumed motor position Contrast with closed loop system operator 1 An operator is one who uses the UNIDEX 600 system operator 2 An operator is a programming element that is used to link terms in an expression Programming operators include the standard arithmetic operators e g and comparison operators e g lt and gt and Boolean operators e g AND OR and NOT and others position synchronized output card The position synchronized output card is an optional PC bus based card that can be used in conjunction with the U600 via connection P3 on the U600 card to provide programmable laser firing control resolver A resolver is a two phase rotary electromagnetic transducer in which inductive coupling between the rotor and stator windings and trigonometric principles are employed to provide absolute position information over one electrical cycle which is one revolution for single step resolvers resolver to digital card RDP PC The RDP PC card is an optional PC based R D card that is used to receive resolver or Inductosyn feedback Resolution is selectable among 10 bit 12 bit 14 bit or 16 bit RMS current trap RMS current trap is an error that occurs if the current being commanded to a motor exceeds a programmable limit RMS current trap is analo
58. and desktop packaging encoder An encoder is a rotary device that transmits a pulsed signal based on the number of revolutions of the device Hall effect switch A Hall effect switch is a solid state switch that is activated by a magnetic field Some AC brushless motors use Hall effect switches handwheel A handwheel is an encoder based manual control input device that can be used to simplify machine setup or testing hexadecimal number format Hexadecimal number format is a method of representing large numbers using base 16 rather than the standard base 10 In base 16 or hexadecimal number format often abbreviated hex the number positions represent powers of 16 rather than powers of 10 in decimal The decimal number positions 1 s 10 s 100 s 1 000 s 10 000 s etc are replaced with hexadecimal number positions 1 s 16 s 256 s 4096 s etc Also while the individual numerals for the decimal system are 0 9 the numerals for the hexadecimal number system which requires 16 unique numerals are 0 9 then A F where Aj6 1019 B16 1110 C16 1210 D16 1310 E16 14109 and Fy6 1510 For simplicity in this manual hexadecimal numbers are written with a preceding Ox rather than using the subscript 16 For example the hexadecimal number 12A5 is written 0x12A5 Numbers without the preceding 0x are assumed to be decimal unless otherwise indicated IRQ IRQ interrupt request is a term associated with generatin
59. and the other end connects to the J1 connector located on the back of the DR500 chassis See Figure 3 4 Version 1 9 Aerotech Inc 3 13 Hardware Configuration UNIDEX 600 Hardware Manual IMPORTANT 3 5 2 The UNIDEX 600 BB500 Breakout Module The main connector of the UNIDEX 600 is a 100 pin interface that is intended to connect directly to the DR500 If a DR500 is not used in a particular application then the signals from this 100 pin connector need to be accessed individually or broken out and routed to the appropriate amplifiers motors etc The BB500 Breakout Module provides an easy method of accessing the signals of the 100 pin output connector of the UNIDEX 600 PC board The BB500 is connected to the 100 pin connector of the UNIDEX 600 accessible from the rear of the PC using the OP500 cable Connections from a user supplied drive rack may then be made to the terminal blocks on the BB500 Care should be exercised when connecting a drive rack to the BB500 breakout module Be sure that signal lines are properly connected For additional information regarding hardware and wiring configurations refer to the BB500 Interface Board Option Manual P N EDOI109 Refer to the Aerotech Motion Control Product Guide for available styles part numbers and pricing information Another version of the BB500 the BB501 is available for applications that use brushless amplifiers from the Aerotech BA SERIES The BB501 provides easy
60. ard OP500 cable therefore the DRC cable is connected between the UNIDEX 600 U500 and the DR500 Different versions of the DRC I O cable are available for 1 directly connecting the UNIDEX 600 U500 and a PB8 PB16 or PB24 interface board to allow additional inputs outputs or 2 connecting the U600 U500 to the DR500 to provide Hall effect inputs and extra I O with an additional connection for an optional PB8 PB16 or PB24 T O board Refer to Figure 2 3 and Figure 2 4 gt The second purpose is to allow more than four user inputs or outputs as in the case when the PB8 PB16 or PB24 I O board is used Figure 2 5 is an illustration of the DRC I O cable For additional information refer to the Aerotech Motion Control Product Guide Shielded Ribbon Cable 3M PN 3659 50 To UNIDEX 500 P5 Or Connect shield wire to HNIDEX 600 P10 pin 50 this end only Red line is 1 then cover with heatshrink 2 pls q AMP PN l i 3425 6050 C Qty 2 Approx 3 both ends ke 15 Feet gt Figure 2 5 DRC I O Cable VV VY 2 14 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Hardware Configuration CHAPTER 3 HARDWARE CONFIGURATION In This Section Introduction ona eoe ee es toes eee Soe ous Sued Ce es ees EES 3 1 e Minimum Hardware Requirement cece eeeeeeeeeeeeeeeeeeseeesees 3 1 e Base Address Jumpers JP7 JP8 and JP9 cesscssssssesssesssessseesssessees 3 4 e PC Bus Interrupt Jumpers JP4A through JP5D
61. aree nearer 4 17 e Amplifier Enable Outputs aS 4 18 Sie The Brak Oupule les ce eee cee cong Crees 4 19 62 Optoy2241 O Bul R9 eee sree eee ee ee 4 20 Main Connector Pinout of the UNIDEX 600 ccccssssssssseseees 4 23 em Luchrspecdtkositionieaichree a ee ee 4 25 e U600 Manual Feedrate Override Manual Spindle Override 4 25 e Mode Aux Output Specifications eee eeeeeeeeeeeeeeeees 4 26 Analog Inputs eee cree E cc acne eee eee cee ee cso 4 27 e Expansion Bus Pin Description P3 cee eeeeeeeeeeeeeeeeesees 4 27 e Opto 22 Outputs and Hall Sensor Inputs P10 Pinouts 4 29 e UNIDEX 600 Breakout Block BB500 usses 4 30 4 1 Test Points Test points are located at the top of the UNIDEX 600 control board They are used as an aid in troubleshooting the motion control board and to gain easy access to the UNIDEX 600 signals This chapter arranges test points into functional groups These functional groups are divided as follows User Related Test Points Encoder Test Points Test points for these functional groups are listed and explained in the tables that follow Version 1 9 Aerotech Inc 4 1 Technical Details UNIDEX 600 Hardware Manual Table 4 1 User Test Points Test Point Description TP4 Signal common TP22 High Speed Position Latch input after RC filter TP38 Emergency Stop input after Opto Isolator TP30 Axis 1 primary command TP31 Axis 1 seconda
62. bility Handwheel assembly and cable Version 1 9 Aerotech Inc Getting Started UNIDEX 600 Hardware Manual 2 3 Minimum Hardware Requirements and Recommended System Configurations Minimum hardware requirements and recommended system configurations for the UNIDEX 600 are shown in Table 2 1 Table 2 1 Minimum Hardware Requirements and Recommendations Equipment Minimum Recommended Computer IBM PC Pentium 200 MHz Pentium microprocessor or higher l 400 MHz or higher or 100 compatible Computer Memory 16 MB of memory 32 MB of memory conventional amp extended conventional amp extended Graphics Display 800x600 800x600 Free Hard Disk Space 10 MB 20 MB or more Mouse Any mouse supported Any mouse supported by the computer by the computer Floppy Disk Drives 3 1 2 DSHD 3 1 2 DSHD Windows Windows NT 4 0 Windows NT 4 0 Windows 2000 Windows 2000 2 4 Cooling Requirements Table 2 2 shows that a U600BASE 8MB with the specified heatsink operating in an enclosure at 57 degrees C requires 200 ft min 1 01 m sec of airflow for proper operation and 600 ft min 3 04 m sec of airflow without a heatsink UNIDEX 600 controllers are now equipped with integral heatsink and cooling fans ES that should meet all required cooling requirements except under extreme conditions 2 2 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Getting Started Table 2 2 UNIDEX 600 Airflow Cooling Re
63. ch Inc Version 1 9 UNIDEX 600 Hardware Manual List of Tables LIST OF TABLES Table 1 1 Options and Accessories Available for the UNIDEX 600 0 1 3 Table 2 1 Minimum Hardware Requirements and Recommendation 2 2 Table 2 2 UNIDEX 600 Airflow Cooling Requirements 0 0 0 0 eee eee 2 3 Table 2 3 Board Power Consumption cceecesecssecssecseeeeeeeeeeeeeeeeeeeenseensees 2 3 Table 2 4 Base Address Jumper Settings cece eeeeeseeeseeeecesecesecssecnseeneeenee 2 6 Table 2 5 PC Bus Interrupt Jumper Settings eee ee cesecesecesecseeeseeeeeenes 2 7 Table 3 1 Minimum Hardware Requirements and Recommendations 3 1 Table 3 2 Board Power Consumption eeceecesecsecseecseeeeeeeeeeeeeeeeeeecnseenaees 3 2 Table 3 3 Base Address Jumper Settings 2 00 cies eeceesceseceecenecnneceeeneeenes 3 4 Table 3 4 PC Bus Interrupt Jumper Settings ee ee cee ceeecesecesecnsecaeeaes 3 5 Table 3 5 Termination Resistor Configuration for Axis 1 Encoders 3 7 Table 3 6 Termination Resistor Configuration for Axis 2 Encoders 3 8 Table 3 7 Termination Resistor Configuration for Axis 3 Encoders 3 8 Table 3 8 Termination Resistor Configuration for Axis 4 Encoders 3 8 Table 3 9 RS 232C Serial Port Jumper Settings 0 00 ee ee ee eeee eee cneeeneeeeeeee 3 9 Table 3 10 Processor Configuration Jumper Settings 0 cece eee eee
64. connection for applications using brushless amplifiers versus the terminal blocks on the BB500 For additional information regarding hardware and wiring configurations refer to the BB50 Interface Board Option Manual P N EDO107 For information on using Aerotech s BA SERIES line of brushless amplifiers refer to the BA SERIES User s Manual P N EDA 121 3 14 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Hardware Configuration 3 5 3 The PSO PC Position Synchronization Board The PSO PC option consists of a controller card that is installed into the same computer system as the UNIDEX 600 controller card The PSO PC card is electrically connected to the expansion port P3 of the UNIDEX 600 controller card This card provides versatile on the fly synchronization of a laser s pulse and power output with the motion of axes controlled by the UNIDEX 600 This option is useful in applications requiring a series of precision micron width laser cuts with less concern for system dynamics such as acceleration deceleration and velocity The PSO PC card takes into account the effects of acceleration and deceleration of the stages and adjusts the laser output to ensure highly accurate laser cuts based on an output profile that is downloaded to the PSO PC card through software A sample configuration is illustrated in Figure 3 5 For more hardware information refer to the PSO PC Options Manual P N EDO105 The PSO board programming is
65. cseeeseeeeeeees 3 9 Table 3 11 External Reset Jumper Settings eee ee eeceeecesecesecesecssecneeeneeens 3 9 Table 4 1 User Test Points eiccc tcc E E EE EREET N 4 2 Table 4 2 UNIDEX 600 Encoder Signal Test Points eee eee eeeeeeeeeeees 4 2 Table 4 3 Jumper Configurations ee eeeecesecesecesecssecseeceeecaeseseseaeeeeeeeeees 4 3 Table 4 4 PC I O Base Address Jumper Settings eee eeeesceseceseceseeseeenee 4 5 Table 4 5 Termination Resistor Configuration for Axis 1 Encoder 4 7 Table 4 6 Termination Resistor Configuration for Axis 2 Encoders 4 7 Table 4 7 Termination Resistor Configuration for Axis 3 Encoders 4 7 Table 4 8 Termination Resistor Configuration for Axis 4 Encoders 4 7 Table 4 9 Encoder Signals and Pinouts 20 0 esecseeeeeeeeeeeeeeeeeeeceeenseenaes 4 9 Table 4 10 Limit and Amplifier Fault Inputs cece cee cece creeeeeeeeeeeees 4 10 Table 4 11 External Voltages and Resistance for the Emergency Stop JEn DNE A eA nE td elec oeee E open iiss Ndorees ANG coast E ahora eae 4 13 Table 4 12 Current Command Output Signals and Pin Locations 4 15 Table 4 13 UNIDEX 600 Inputs and Locations 200 eee eeeeeeeeeeeeeecnseeneee 4 16 Table 4 14 UNIDEX 600 Outputs and Locations eee ceeeeeeeeeeeeeeeeees 4 17 Table 4 15 Amplifier Enable Output Locations cece eeeeeeeeeeeeeeeeeeseeeeees 4 18 Table 4 16 U600 Opto 22 Connection Information 0 0 0 ee
66. ct the U600 board Make certain that all socketed ICs are firmly seated in their sockets If a chip has become loose carefully reinstall it into its socket Be sure to observe the proper antistatic precautions mentioned above The U600 board is illustrated in Figure 2 1 P3 P4 P5 pg U600xxx P10 1 1 1 1 Q i OoOoyP2 A m 5 cez 3 8 JP12 P1 1 lost J Test Points 6l m BlJP11 OSe O JPI P7 a Test py Pe 335518 p3 4 a lollo emg Test Points ir i i 210822 26 OOOO 29 ols _ fEl PA Test Points 30 0o ee S SIMM A S552 pod Es Mt eee BEE SIMM B ss Bess _P6 BREBEBER JTAG PORT 15 121110 3 4 1 ET P2 O Figure 2 1 The UNIDEX 600 PC Board 2 4 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Getting Started 2 6 UNIDEX 600 Control Board Jumper Configurations This section summarizes the jumper and termination configurations of the UNIDEX 600 control board The control board jumpers of the UNIDEX 600 board are configured at the factory according to the application specifications If no specifications are available the default jumper settings are used For more details on jumper settings refer to Chapter 3 Hardware Configuration 2 6 1 Base Address Jumpers JP7 JP8 and JP9 Input Output I O base addresses for the UNIDEX 600 are assigned in hexadecimal address ranges The U600 control board occupies 15 consecutive memory locations in the input output I O channel memory
67. d bodily injury make certain that all of the electrical power switches are in the off position prior to making any electrical connections To minimize the possibility of electrical shock and bodily injury when any electrical circuit is in use ensure that no person comes in contact with the circuitry When this controller is installed within a system mechanical motion will occur Care must be exercised that all personnel remain clear of any moving parts To minimize the possibility of bodily injury make certain that all electrical power switches are in the off position prior to making any mechanical adjustments oe oe 1 4 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Getting Started CHAPTER 2 GETTING STARTED In This Section Introduction nesses ee cote eee ee eee ene ee ene eee 2 1 e Unpacking the UNIDEX 600 System eee eee 2 1 e Minimum Hardware Requirement 0 eeeeeeeeeeeeees 2 2 e Recommended System Configurations cesses 2 2 e Inspection of the UNIDEX 600 Control Board 2 4 e UNIDEX 600 Control Board Jumper Configurations 2 5 e Installing the UNIDEX 600 PC Board uu eee 2 9 e Installing Additional Aerotech Components 2 10 2 1 Introduction This chapter steps the operator through unpacking the U600 system requirements for the PC static precautions and board inspection techniques The user should read this section b
68. ddress The power supply has been overloaded and has shut down Install a larger power supply or remove unnecessary expansion cards to correct the problem The software base address does not match the base address jumper settings on the UNIDEX 600 board Another device in the PC is set to the same base address as the U600 board Select a unique base address The power supply has been overloaded and has shut down Install a larger power supply to correct the problem or remove unnecessary expansion cards External wiring problems exist Remove the main interface cable and recheck The UNIDEX 600 board is faulty See Section 2 1 2 4 3 4 4 2 2 4 3 4 4 2 2 4 3 4 4 2 PC Manual 2 4 3 4 4 2 4 11 PC Manual 5 2 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual 5 2 Servo Related Problems Some common problems that relate to the use of servomotors are listed and diagnosed in Troubleshooting Table 5 2 Table 5 2 Troubleshooting for Servo Related Problems Problem Possible Causes Solutions See Section The motor has no torque The motor buzzes or makes an unusual noise The motor runs away when it is enabled A position or integral trap error occurs when the motor is enabled A position or integral trap error occurs when motion is commanded The amplifier does not enable Version 1 9 The axis is not enabled The motor wiring is faulty The amplif
69. e 50 pin ribbon cable header P N 3M 3425 6050 Aerotech P N ECK 332 or equivalent 50 pin cable edge connector P N 3M 3415 0001 Aerotech P N ECK 310 or equivalent Refer to Table 4 16 for connection information Refer to Figure 4 13 for an illustration of the electrical characteristics of the Opto 22 interface and Figure 4 4 for an illustration of the electrical characteristics of the Hall effect inputs Refer to JP11 and JP12 for configuring the signals present at Outputs 2 and 3 See JP6 for configuring the signal accepted by Input 3 4 20 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details The following table lists the UNIDEX 600 Interface to the PB8 PB16 and the PB24 Opto 22 Interface Boards Table 4 16 U600 Opto 22 Connection Information I I Interface Cable Assembly PB8 PB16A PB16C and PB24 Board model OPC Opto Control Connection Module Connection Type of Field Interface edge connector on Position Description Module Connection P9 Opto board barrier strip 49 49 5V int supply 47 47 0 Out 0 output 1 and 2 45 45 1 Out output 3 and 4 43 43 2 Out 2 output 5 and 6 PB8 41 41 3 Out 3 output 7 and 8 39 39 4 Out 4 output 9 and 10 37 37 5 Out 5 output 11 and 12 35 35 6 Out 6 output 13 and 14 33 33 7 Out 7 output 15 and 16 4 31 31 8 In 0 input 17 and 18 29 2
70. e 4 11 Electrical Characteristics of the U600 Amplifier Enable OUtPUb ses eee aot ae steed Us eee ek A S 4 18 Figure 4 12 Electrical Characteristics of the Brake Signal Output 4 19 Figure 4 13 Electrical Characteristics of the UNIDEX 600 Opto 22 COMMECHONS eoe eatea desc Aaa on sick wtih aat oiea kona ats 4 22 Figure 4 14 Electrical Characteristics of U600 High Speed Position Latch 4 25 Figure 4 15 Manual Feedrate Override Circuit eee cece cee cseeeneeeeeeeeeeeees 4 26 Figure 4 16 Electrical Characteristics of the Mode Aux Output 4 26 Figure 4 17 Electrical Characteristics of Analog Input eee eeeeeeeeeees 4 28 Figure 4 18 Joystick Interface sete aegeneni anna oman aaa 4 28 Version 1 9 Aerotech Inc v List of Figures UNIDEX 600 Hardware Manual Figure 4 19 Figure 4 20 Figure 4 21 Figure 4 22 Figure 4 23 Figure 4 24 Figure 4 25 Figure 4 26 UNIDEX 600 Series Servo Loop Torque Mode eee 4 31 CW Motor Rotation Viewed from Mounting Flange End 4 32 Brushless Motor Phasing 0 cece esceseceecesecneeceeeeseeeeeeeeeeeeeeseensees 4 33 Handwheel Interface eee cece cee iriri e sies 4 34 Teach Pendant Inputs ssi sc sseseienss isre eia eies 4 34 Leach Pendant Outputs ty sik Sivas eerhivn Geese e a 4 35 Stepper Clock and Direction Interface eee ee eceeseceseseeneeeees 4 36 SR 20DRH 25DS Cable Drawing and Pinouts eee 4 37 VvV V vi Aerote
71. eeeeeeeneenseenaes 1 1 1 2 Options and ACCeSSOTICS eee cee cseeereeeeeeeeeeeseeseeesecsecsaecnaecnaesaee 1 3 1 3 Safety Procedures and Warnings ee ceecescesecssecseecneeeseeeeeeeeeeeees 1 4 CHAPTER 2 GETTING STARTED ec cecetecreesecneeeeceaeeeeaeeaseneenenees 2 1 2 1 Tmt duction ME scssce sees cass cb RE E E 2 1 2 2 Unpacking the UNIDEX 600 System ou eee eeceeeceseceseenseenees 2 1 2 3 Minimum Hardware Requirements and Recommended System Conf giirations see R aE E EE teen antennae tte 2 2 2 4 Cooling Requirement isrtri iiris E e eiser 2 2 2 4 1 Power Consumption ireren nnii e is 2 3 2 5 Inspection of the UNIDEX 600 Control Board 00 eee 2 4 2 6 UNIDEX 600 Control Board Jumper Configurations 0 0 00 2 5 2 6 1 Base Address Jumpers JP7 JP8 and JP9 eee eeeeeeeeeee 2 5 2 6 2 PC Bus Interrupt Jumpers JP4A through JP5D 0 2 6 2 7 Installing the UNIDEX 600 PC Board eee eeeeeeeeeeeeeeeneees 2 9 2 8 Installing Additional Aerotech Components cece eee eseeereeeeee 2 10 2 8 1 The DR500 Drive Rack and OP500 Cable 2 10 2 8 2 The UNIDEX 600 BB500 Breakout Module 000000 2 11 2 8 3 The PB8 PB16 and PB24 I O Boards eee 2 11 23 4 DRC WO Cable ienis hci r e tose nepeee aE 2 14 CHAPTER 3 HARDWARE CONFIGURATION 00 eeeecseeeeeeeeeeeeeeeees 3 1 3 1 TnitrO duction oroe aeea rae araea ct ERESSE E Ia T naer n 3 1 3 2 Minimum Hardware Requirements and Recommended System
72. efer to U600MMI Online Help File Refer to U600MMI Online Help File Refer to U600MMI Online CCW limit condition Acknowledge the fault and then move the axis out of the Help File limit The system has been powered up in a limit condition Acknowledge the fault and move out of the limit The active limit polarity parameter IO Level is set incorrectly Software limits are improperly set 5 4 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Troubleshooting Table 5 3 Troubleshooting for Problems Involving Fault Conditions Cont Problem Possible Causes Solutions See Section Refer to U600MMI An over current trap If the motor makes unusual noises or oscillates the RMS over current gain parameters may need to be adjusted Online Help File aul error has The RMS current trap parameter is set too low occurred The RMS current trap time is set too short The amplifier gain parameter is set too low The mechanical system is damaged or jammed The motor amplifier may be undersized for the load A feedback trap has The incorrect feedback channel has been specified Refer to U600MMI occurred The incorrect feedback device has been specified The feedback device is not connected Verify feedback is present Single ended encoders are connected Set the fault mask to ignore encoder faults A sinusoidal encoder is connected The UNIDEX 600 accepts square wave encoders only One or more encod
73. efore attempting to install the UNIDEX 600 hardware Hardware installation and hardware configuration are discussed in the chapters that follow 2 2 Unpacking the UNIDEX 600 System Before unpacking any components visually inspect the containers of the U600 system for any evidence of shipping damage If any such damage exists notify the shipping carrier immediately All electronic equipment is wrapped in antistatic material and packaged with desiccant a drying agent used to reduce moisture Make certain that the antistatic material is not damaged during unpacking Remove the packing list from the UNIDEX 600 container Make certain that the items listed on the packing slip are contained within the package The following items should be found in every UNIDEX 600 system e The UNIDEX 600 PC bus based controller e U600 software on CD ROM with manuals in PDF format installed to U600 Manual PDF e UNIDEX 600 packing slip listing products shipped with the order The following list of additional items may be included with the UNIDEX 600 system depending on the options and accessories that have been specified The DR Series drive chassis amplifier chassis with power supply The OP500 interface cable to connect the UNIDEX 600 to the DR500 The BB500 or BB501 breakout module if the DR500 drive chassis is not used Motor connector cables to connect the motors to the DR500 drive chassis JBV joystick and cable with digitizing capa
74. er connections are broken The encoder is faulty A resolver to digital tracking loop error has occurred One or more resolver connections are broken The resolver reference has not been adjusted properly Online Help File A feedrate trap has occurred The commanded feedrate may have exceeded the rapid feedrate parameter machine parameters Refer to U600MMI Online Help File Version 1 9 Aerotech Inc 5 5 Troubleshooting UNIDEX 600 Hardware Manual 5 4 Homing Related Problems Some common problems relating to the homing process are listed and diagnosed in Table 5 4 Table 5 4 Troubleshooting for Homing Related Problems Problem Possible Causes Solutions See Section The axis takes a long time to The home feedrate parameter machine Refer to U600MMI Online home parameters is set too low Help File The maximum acceleration deceleration parameter axis parameters is set too low The axis runs into a limit The homing direction type parameter is Refer to U600MMI Online during the home cycle wrong machine parameters Help File The home switch is not connected Software limits are not The home cycle may not have completed Refer to U600MMI Online working yet Help File 5 6 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Glossary of Terms APPENDIX A GLOSSARY OF TERMS In This Section e Terms Used In This Manual e Definitions This appendix c
75. ers Table 4 5 Termination Resistor Configuration for Axis 1 Encoder me IF lt TET JE ee TE o Table 4 6 Termination Resistor Configuration for Axis 2 Encoders ma 20 MRK2 8 ae 19 MRK2 7 o Aer 16 SIN2 6 ae 15 SIN2 5 o e 18 C082 4 a 17 COS2 3 o Table 4 7 Termination Resistor Configuration for Axis 3 Encoders SN 28 MRK3 6 E 27 MRK3 5 o a 24 SIN3 2 OF 23 SIN3 1 o a 26 COS3 8 25 COS3 7 ot Table 4 8 Termination Resistor Configuration for Axis 4 Encoders a 36 MRK4 2 a 35 MRK4 1 o ae 32 SIN4 6 m 31 SIN4 5 o o 34 COS4 4 E 33 COS4 3 o Use a 180 Q termination resistor for standard differential encoders RN1 180 RN3 180 RN2 180 RN4 180 Version 1 9 Aerotech Inc Technical Details UNIDEX 600 Hardware Manual 4 4 Reserved Outputs These outputs are not used at this time they are reserved for future applications refer to Figure 4 3 These signals are available on the BB501 board via opto isolators at TB4 pins 6 7 and pins 8 9 respectively Refer to the DR500 Operation and Technical P N EDA120 and the BB501 Interface Board Option Manual P N EDO107 for more information 7407 Open Collector Xilinx JP12 em P10 29 Reserved Out 1 es Outpu
76. ersion 1 9 Aerotech Inc 3 9 Hardware Configuration UNIDEX 600 Hardware Manual 3 3 6 1 The Single In line Memory Module SIMM Sockets The Single In line Memory Module SIMM sockets on the U600 board accept industry standard 32 bit wide non parity 72 pin DRAM SIMM modules The user can configure the U600 to have 8 16 or 32 Megabytes of DRAM Refer to Figure 3 2 for installation of the DRAM SIMM module O Figure 3 2 RAM SIMM Module Installation 3 10 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Hardware Configuration 3 4 Installing the UNIDEX 600 PC Board The UNIDEX 600 control board is a full sized AT card that installs into any of the PC s unused 16 bit expansion slots The UNIDEX 600 PC control board may not fit in some smaller models of PC s ma The procedure for installation of the UNIDEX 600 PC board is outlined in the steps that follow 1 Turn OFF the power to the computer system unit and unplug the unit s power cord from the power source The possibility of electrical shock exists Make certain that the computer system s power switch is in the OFF position and the power cord is disconnected before opening the computer s cabinet DANGER 2 Open the computer cabinet See the sample in Figure 3 3 Refer to the PC s User Manual for directions for opening the cabinet 3 Select an unused 16 bit full sized expansion slot on the computer motherboard 4 Locate the brac
77. figuration for Axis 1 Encoders RN ETE Axis Signals RN Pin 180 Q ETE Numbers Resistor RN3 4 ae 3 Oo RN3 2 om 1 o RN3 8 2 7 o Use a 180 Q termination resistor for standard differential encoders Version 1 9 Aerotech Inc 3 7 Hardware Configuration UNIDEX 600 Hardware Manual Table 3 6 Termination Resistor Configuration for Axis 2 Encoders RN Main AxisSignals RNPin 1802 Pinouts Numbers Resistor RN4 20 MRK2 8 ice 19 MRK2 7 oH RN4 16 SIN2 6 a 15 SIN2 5 o RN4 18 COS2 4 oa 17 COS2 3 Oo Use a 180 Q termination resistor for standard differential encoders Table 3 7 Termination Resistor Configuration for Axis 3 Encoders RN Main AxisSignals RNPm 1800 Pinouts Numbers Resistor RNI 28 MRK3 6 27 MRK3 5 oF RNI 24 SIN3 2 ot 23 SIN3 1 oF RN1 26 COS3 8 a 25 COS3 7 o a Use a 180 Q termination resistor for standard differential encoders Table 3 8 Termination Resistor Configuration for Axis 4 Encoders RN Main AxisSignals RNPin 1802 Pinouts Numbers Resistor RN2 36 MRK4 2 35 MRK4 1 Oo RN2 32 SIN4 6 m 31 SIN4 5 o RN2 34 COS4 4 ae 33 COS4 3 G k Use a 180 Q termination resistor for standard differential encoders 3 8 Aerotech Inc Version 1 9 UNI
78. g an interrupt request to the PC A PC has many IRQs e g IRQ3 and IRQ4 are typically configured as COM ports on the PC IRQ7 is typically configured as the LPT port et al Although the U600 does not use such interrupts custom software applications may In these cases the interrupt number used by the custom software program to interrupt the PC must be selected on the UNIDEX 600 board using jumpers JP3A through JP3F as well as configured in the U600 software joystick A joystick is manual input control device that digitizes a path using two axes A joystick offers direct motion control for easy machine setup and testing jumpers Jumpers are hardware ties that you manually position into different sockets to configure the hardware platform Jumpers on the UNIDEX 600 board are used to configure the base address the encoder sampling frequency termination resistors and other features Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Glossary of Terms LED LED is an acronym for light emitting diode An LED is a semiconductor diode that converts electrical energy into visible electromagnetic radiation The UNIDEX 600 board has an LED visible from the back of the PC after installation that is used for diagnostic purposes OP500 The OP500 is an optional cable that is used to connect the UNIDEX 600 controller card to the DR500 chassis open loop system An open loop system is a drive system that does not employ feedb
79. g tachometer feedback with Aerotech s amplifiers the tachometer should be phased to produce a positive voltage for positive CW motor rotation Motor rotation direction can be verified with the aerdebug utility by monitoring the POS or IVEL parameters Refer to Figure 4 20 for additional information Optional Tachometer a oe eS Positive 0 Volts U600 command oe oe Negative cos COS N SIN SIN N MKR MKR N Figure 4 20 CW Motor Rotation Viewed from Mounting Flange End In addition motor phasing must be considered when using brushless motors with Hall effect sensors Figure 4 21 demonstrates the relationship between the Hall effect sensors the back EMF of the motor and the current command output by the U600 The relationship between the current command and the Hall effect feedback may be shifted through the application of a commutation offset 4 32 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details Test Setup Brushless Motor TP1 O BLK A TP2 O RED B TP3 O lt ae OHM TP4 OF TYP Power WHT C Supply s com WHT com 5V o_o RED 5V 10K OHM TYP TP5 O ORN HA TP6 O BLU HB TP7 HC _ Clockwise Rotation 1 2 3 4 5 6
80. gous to a software fuse Essentially this fault functions the same as a physical fuse but is done through software One obvious advantage is that a software fuse does not have to be replaced like a physical fuse servo control system A servo control system servo loop is a motion control system which continuously compares desired position velocity to actual position velocity and produces an error correction command Servo systems use sensors to feedback actual position velocity Version 1 9 Aerotech Inc A 3 Glossary of Terms A 4 UNIDEX 600 Hardware Manual Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Warranty and Field Service APPENDIX B WARRANTY AND FIELD SERVICE In This Section e Laser Product Warranty e Return Products Procedure e Returned Product Warranty Determination e Returned Product Non warranty Determination e Rush Service e On site Warranty 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 whether or not such use or purp
81. ier fuse is blown The amplifier is faulty The PID servo loop gains are not adjusted properly The feedback device is not connected The wrong feedback channel has been specified Verify feedback The wrong feedback device has been specified Verify feedback The feedback device is not connected The wrong feedback channel has been specified Verify feedback The motor has no torque See above The feedback device is not connected The wrong feedback channel has been specified Verify feedback The wrong feedback device has been specified Verify feedback The motor has no torque See above An amplifier fault has occurred This could be due to an improperly wired or shorted motor The amplifier is faulty Aerotech Inc Refer to U600MMI Online Help File Refer to U600MMI Online Help File Refer to U600MMI Online Help File Refer to U600MMI Online Help File Refer to U600MMI Online Help File Refer to U600MMI Online Help File 5 3 Troubleshooting UNIDEX 600 Hardware Manual 5 3 Problems Involving Fault Conditions Some common problems relating to fault conditions are listed and diagnosed in Table 5 3 Table 5 3 Troubleshooting for Problems Involving Fault Conditions Problem A position or integral trap error occurs when the axis is enabled A position or integral trap error occurs when motion is commanded A velocity trap occurs Driver Interlock Open message
82. iete es egies ieee lected 4 20 4 16 Main Connector Pinout of the UNIDEX 600 0 eee 4 23 4 17 High Speed Position Latch ei ee ee eecesecesecssecseecneeeseeeeeeseeeeeenes 4 25 4 18 U600 Manual Feedrate Override Manual Spindle Override 4 25 4 19 Mode Aux Output Specifications eee cee creeereteeeeeeeeeneees 4 26 4 20 Expansion Bus Pin Description P3 cece eeeeeeeeeeeeeeeeeseeeseenees 4 27 421i Analog puts Asser oner a a nr 4 27 4 22 Joystick Interfaces mirren noero er aoe E EEEE EEE SE 4 28 4 23 Opto 22 Outputs and Hall Sensor Inputs P10 Pinouts 000 0000 4 29 4 24 UNIDEX 600 Breakout Block BB500 sseeeseeeeserseeerserrereeeen 4 30 425 SEIVO LOOP irre e eee R E A E N 4 31 4 25 1 Servo Loop OvervieW eseeseseeeseeesesrrereresrrerrssesreseesseeees 4 31 4 25 2 Servo Loop Phasing eseseeessesererssessererererereeeeserereressenees 4 32 4 26 Handwheel Intertace s 0cscccscescesscessetessesbsebicnsstbaseestessassceebeseeseestaeet 4 34 427 Teach Pendant Interlaced 2 cssccse ssceceseosevsdeat pers cased eaten pte eoweaacees 4 34 4 27 1 Teach Pendant Outputs ee eee eesceeecesecesecnseeseenes 4 35 4 28 Stepper Drive Interface eee eeeeeeeeescesecesecesecsecseeeaeeeneeees 4 36 CHAPTER 5 TROUBLESHOOTING 000 ceceecneeeeceseeeeeseceeeseceseeceaees 5 1 5 1 Installation Board Startup and Communication Problems 5 2 5 2 Servo Re
83. iguration UNIDEX 600 Hardware Manual 3 2 3 2 1 Power Consumption This section is a reminder for the user if the user is installing all Aerotech boards into their PC Table 3 2 lists the amount of current drawn by each board depending on the voltage This information allows the user to ensure the power supply within the PC can handle the current consumption Table 3 2 Board Power Consumption Power Consumption Board 12 Volts 12 Volts 5 Volts U600BASE 8MB 02 Amps 02 Amps 3 1 Amps 4EN PC 02 Amps 02 Amps 1 6 Amps PSO PC 3 Amps 15 Amps 3 7 Amps RDP PC 2 axis 1 Amps 15 Amps 4 Amps Reference Oscillator unloaded add appropriate power per driven resolver 3 3 UNIDEX 600 Control Board Jumper Configurations This section outlines the jumper and termination configurations of the U600 control board Descriptions are based on six functional groups of jumpers e Base address jumpers e PC bus interrupt jumper e Encoder type configurations The control board jumpers of the UNIDEX 600 board are configured at the factory according to the application specifications If no specifications are available the default jumper settings are used The locations of the UNIDEX 600 control board jumpers are shown in Figure 3 1 on page 3 3 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Hardware Configuration
84. 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 Version 1 9 Aerotech Inc Preface UNIDEX 600 Hardware Manual Throughout this manual the following conventions are used DANGER WARNING The terms UNIDEX 600 and U600 are used interchangeably throughout this manual 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 Ox for example 0x300 0x12F OxO1EA etc to distinguish them from decimal numbers Graphic icons or keywords may appear in the outer margins to provide visual references of key features components operations or notes Danger and or Warning symbols see left appear in the outer margins next to important precautions Failure to observe these precautions could result in serious injury and or damage to the equipment The following statements apply wherever a Warning or Danger symbol appears within this manual Failure to observe these precautions could result in serious injury to those performing the procedures and or damage to the equ
85. ipment To minimize the possibility of electrical shock and bodily injury make certain that all of the electrical power switches are in the off position prior to making any electrical connections To minimize the possibility of electrical shock and bodily injury when any electrical circuit is in use ensure that no person comes in contact with the circuitry When this controller is installed within a system mechanical motion will occur Care must be exercised that all personnel remain clear of any moving parts To minimize the possibility of bodily injury make certain that all electrical power switches are in the off position prior to making any mechanical adjustments 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 xii Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Introduction CHAPTER 1 INTRODUCTION In This Section e Overview of the UNIDEX 600 0000 eee eeececeseceeneeeteeeeenees 1 1 OR OPUONSandeACCESSOne See ee ees 1 3 e Safety Procedures and Warnings cecesceseeeseeeeeeeee 1 4 1 1 Overview of the UNIDEX 600 The UNIDEX 600 is an ISA bus based 16 bit motion control card that integrates with amplifiers positioning stages and any number of optional accessories to for
86. is displayed An emergency stop condition occurs A clockwise CW or counter clockwise CCW limit condition always exists An axis is in a CW or Possible Causes Solutions The feedback device is not connected The wrong feedback channel has been specified Verify the feedback The wrong feedback device has been specified Verify the feedback The motor has no torque the appropriate axis is not enabled the motor wiring is faulty the amplifier fuse is blown or the amplifier is faulty The feedback device is not connected The wrong feedback channel has been specified Verify the feedback The wrong feedback device has been specified Verify the feedback The motor has no torque the appropriate axis is not enabled the motor wiring is faulty the amplifier fuse is blown or the amplifier is faulty The feedback device is faulty The OP500 cable is not inserted properly e g there is no connection between pins 1 and 100 Check the cables and then acknowledge the fault The emergency stop input is in the active state Disable the emergency stop parameter if an emergency stop input is not desired Limits are not connected to the UNIDEX 600 The active polarity IO Level parameter for the limits is set wrong The commanded motion extended past the limit See Section Refer to U600MMI Online Help File Refer to U600MMI Online Help File Refer to U600MMI Online Help File R
87. ket of the selected expansion slot Remove the screw and pull the bracket out of the expansion slot 5 Observing anti static safeguards line up the UNIDEX 600 PC board with the expansion slot and guide rails Lower the board into the slot Bakpe until each of its edge connectors rests on an expansion slot receptacle Using evenly distributed pressure push the board straight down until it is fully inserted into the expansion slot 6 Secure the board to the chassis by reinstalling the bracket screw that Connector P1 was removed in step 4 7 Close and secure the PC s cover 8 Reconnect the PC s power cord to the power source 9 Move the PC s power switch to the ON position and note the status of the UNIDEX 600 board s LED The LED visible from the rear of the system of the UNIDEX 600 board should come Anion Resotand ON when power is first applied then go OFF during system initialization and remain a OFF During subsequent system software resets the LED should come ON for S on ED OF approximately 5 seconds and then turn OFF i VO and Amps under The LED should remain ON following system power up This should disable any amplifiers and set the output bus to the high impedance state VO Off Amps Off Program Control If the LED does not come ON or if it stays ON following software initialization refer to the Troubleshooting section of this manual for help Version 1 9 Aerotech Inc 3 11
88. lated Problems cece cee cseeeeeeeeeeeeeseesseeseceseesaeeaeenaeeaee 5 3 5 3 Problems Involving Fault Conditions 00 eee eeeeeeeeeeeeeeeeeensees 5 4 5 4 Homing Related Problems 000 0 eee ceecceeceseceseceneceneceecaeeeseeeeeeeeeees 5 6 APPENDIX A GLOSSARY OF TERMS cc eccccesesccesecneeeecneeeeceaeeeeeaeeaeeeeens A 1 APPENDIX B WARRANTY AND FIELD SERVICE B 1 INDEX VV V iv Aerotech Inc Version 1 9 Unidex 600 Hardware Manual List of Figures LIST OF FIGURES Figure 1 1 The UNIDEX 600 System Diagram eee eee eee eeeceeeeeseenseeeaes 1 1 Figure 1 2 UNIDEX 600 Motion Control Card oo eee eeeeeeeeeeeeeeereeseennees 1 2 Figure 2 1 The UNIDEX 600 PC Boat v 03 ccccsecsdesedisetsstessediteaseovtteg sey aa 2 4 Figure 2 2 Rear Panel Connectors of the DR500 Amplifier Chassis 2 10 Figure 2 3 Sample Uses of the PB Boards and the DIOSR DRC Cables 2 12 Figure 2 4 Sample Uses of the PB Boards and the DRCPB and DREPBG4i Cable Sire notis n EEA E E TE R 2 13 Figure 2 5 DREVO Cablen oa ieie oao te tia eine tists eid a 2 14 Figure 3 1 UNIDEX 600 PC Board a r e aa se eas pes erior EEE En KEET ERE 3 3 Figure 3 2 RAM SIMM Module Installation 0 0 ee eeceeeceseceseceseenseenees 3 10 Figure 3 3 Installation of the UNIDEX 600 Motion Controller Board 3 12 Figure 3 4 Rear Panel Connectors of the DR500 Amplifier Chassis 3 13 Figure 3 5 Overview of the PSO PC
89. ler and is accessible by the host through the PC bus The U600 and user software provides full CNC RS 274 RS 447 G code control of four axes per card 16 axes per card with Encoder Expansion cards Figure 1 2 UNIDEX 600 Motion Control Card The U600 offers flexibility meaning the user can write application specific C programs using Aerotech s software library of over 350 functions or via Aerotech s 32 bit custom controls contained in Aerotech s Software Development Kit for Windows NT 95 P N SDK600 NT The U600 provides support for Windows NT and Windows 95 that can even run simultaneously with the user s machine application programs 1 2 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Introduction 1 2 Options and Accessories The UNIDEX 600 supports a variety of options that include ISA bus digital I O cards and Aerotech s option cards Table 1 1 lists some of the Aerotech options and accessories that can be used with the U600 motion controller Refer to the Aerotech Motion Control Product guide for other available options and accessories Table 1 1 Options and Accessories Available for the UNIDEX 600 Options amp Accessories Description cable OP500 cable PB16 PB24 JBV Joystick with digitizing capability PSO PC Programmable PC bus based position synchronized laser firing control card used to provide output signals based on the positions of up to three axes 4EN PC Four axis encoder
90. leshooting UNIDEX 600 Hardware Manual 5 1 Installation Board Startup and Communication Problems Some common problems that relate to installation startup and communications are listed and diagnosed in Table 5 1 Table 5 1 Troubleshooting for Common Installation Startup and Communication Problems Problem Installation program fails the install directory and subdirectories were created but nothing was installed Initialization failure communication failure or Error Downloading Firmware error occurs The board initializes properly but later fails after power up power up and remains on even after attempts to initialize dead when the UNIDEX 600 is installed The LED never lights up The LED lights after The PC power supply goes Possible Causes Solutions Be sure you have at least 4 MB of hard disk space available The UNIDEX 600 board is not installed The UNIDEX 600 board is not seated properly The software address does not match the hardware address Another device in the PC is set to the same base address as the U600 board Select a unique base address The UNIDEX 600 board is not seated properly Another device in the PC is set to the same base address as the U600 board Select a unique base address The UNIDEX 600 board is not seated properly Another device in the PC is set to the same base address as the U600 board Select a unique base a
91. lifier fault input and three Hall effect inputs The inputs are TTL level signals pulled up to 5 volts with a 10K ohm resistor Open collector drivers or opto isolators are the preferred electrical interface to this bus Refer to Figure 4 4 for electrical characteristics of the limit amplifier inputs To avoid damage to the UNIDEX 600 the input level should never exceed 5 volts or go below 0 volts The active polarity of the limit and amplifier fault inputs is software selectable Limit and amplifier fault inputs are summarized in Table 4 10 Counter Clockwise Rotation Limit Switch CCW4 P1 46 Home Limit Switch HOME4 P1 50 Amplifier Fault AFAULT4 Pl 76 Hall Effect 4A Hall 4A P10 3 Hall Effect 4B Hall 4B P10 5 Hall Effect 4C Hall 4C P10 1 Table 4 10 Limit and Amplifier Fault Inputs Axis Function Signal Location 1 cw1 Pi 39 ccw1 P1 40 HOME1 P1 47 AFAULTI P1 73 Hall 1A P10 21 Hall 1B P10 23 Hall 1C P10 19 2 cw2 P1 41 cCcw2 P1 42 HOME2 P1 48 AFAULT2 P1 74 Hall 2A P10 15 Hall 2B P10 17 Hall 2C P10 13 3 CW3 PI 43 CCW3 PI 44 HOME3 Pi 49 AFAULT3 P1 75 Hall 3A P10 9 Hall 3B P10 11 Hall 3C P10 7 4 cw4 PI 45 Counter Clockwise Rotation Limit Switch _ Home Limit Switch _ Amplifier Faut Hall Effect4A i y Hall Effect4B i y Hall Effect4C o Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details
92. m a complete programmable customized control system A typical system is illustrated in Figure 1 1 The U600 is available in four combinations U600BASE 8MB U600BASE 32MB U600ULTRA 8MB and U600ULTRA 32MB The BASE card supports up to 8 million machine counts per second data rate on its encoder channels while the ULTRA doubles this to 16 million machine counts per second The ULTRA card adds to the base features support for 4 stepper axes Clock Direction an RS 232C port and an RS 422 port Optional Digitizing Joystick and Electronic Handwheel Graphical User Interface U600 Control Board DR 500 Drive Chassis i OP500 Interface Cable Rotary and Linear j Software Positioning Stages Q i User supplied PC Figure 1 1 The UNIDEX 600 System Diagram Version 1 9 Aerotech Inc 1 1 Introduction UNIDEX 600 Hardware Manual The UNIDEX 600 provides outstanding performance in a variety of demanding applications that require one or more of the following capabilities e Synchronous coordination of a large number of axes e High speed complex shape generation e Control of multiple processes or multiple machines The U600 control card shown in Figure 1 2 contains 8 megabytes of Dynamic Random Access Memory DRAM and has the ability to contain up to 32 megabytes per card The DRAM is managed by a burst memory control
93. mpers 4 7 PC bus reset 3 9 PC Expansion Slot 2 9 3 11 PC Power Problems 5 2 PC AT Base Addresses 4 5 Pinouts P10 4 10 Pinouts Opto 22 outputs Hall sensor inputs P10 4 29 Pinouts Expansion bus P3 4 27 Pinouts for Opto 22 I O Hall Inputs P10 4 29 Pinouts U600 Main connector P1 4 24 P1 4 9 4 10 4 15 4 16 4 18 P10 4 17 P9 4 16 4 17 Position Error 5 3 Power Board consumption 2 3 3 2 Power Consumption 2 3 3 2 Precautions 1 4 PSO PC Card 3 15 Pull Up Resistors 3 4 R RDP PC Card 3 16 ratiometric tracking conversion 3 16 Resistor Networks RN16 RN19 and RN22 3 7 Resistor Networks RN16 RN22 and RN19 3 7 Resolver definition 3 16 Resolver Feedback Receiving 3 16 Resolver to digital Card 3 16 Resolver to digital Converter Card accuracy 3 16 RS 232C Serial Port Jumper Settings 3 9 S Safety Procedures 1 4 Servo loop 4 31 Servo loop phasing 4 32 VVV Servo Problems 5 3 Servo System supply power 2 10 3 13 SIMM sockets 3 10 Single Ended Encoders 4 6 using pull up termination resistors 3 7 sockets SIMM 3 10 Software base address 2 5 3 4 initialization and LED state 2 9 3 11 Software Limit Inputs P1 4 10 Startup Problems 5 2 Static Charge Buildup Removing 2 4 Stepper drive interface 4 36 T Teach pendant interface inputs 4 34 Teach pendant interface outputs 4 35 Technical Support Questions 5 1 Termination Resistor Configuration 3 7 Termination Resistor
94. nstalled into any of the PC s unused 16 bit expansion slots The UNIDEX 600 PC control board may not fit in some smaller models of PC s 5 The procedure for installation of the UNIDEX 600 PC board is outlined in the steps that follow 1 Turn OFF the power to the computer system unit and unplug the unit s power cord from the power source The possibility of electrical shock exists Make certain that the computer system s power switch is in the OFF position and the power cord is disconnected before 5 opening the computer s cabinet 2 Open the computer cabinet Refer to the PC s User Manual for directions for opening the cabinet 3 Select an unused 16 bit full sized expansion slot on the computer Backo RO l 4 O motherboard a 4 Locate the bracket of the selected expansion slot Remove the screw and pull the bracket out of the expansion slot 5 Observing anti static safeguards line up the UNIDEX 600 PC board with the expansion slot and guide rails Lower the board into the slot until each of its edge connectors rests on an expansion slot receptacle Using evenly distributed pressure push the board straight down until it is fully inserted into the expansion slot 6 Secure the board to the chassis by reinstalling the bracket screw that was removed in step 4 Main 100 pin Connector P1 After Reset and The LED visible from the rear of the system of the UNIDEX 600 board should come ane Software Int
95. onfiguration UNIDEX 600 Hardware Manual INPUTS 0 15 OUTPUTS 0 7 PB8 PB16 or PB24 DRCPB or gt DRCPBG4 to P8 i gt E DRCPB G4 to Poa P5 BB500 L n P2 P4 DRCPB or OUTPUTS 8 15 DROPBG4 Pi P3 Figure 3 7 Sample Uses of the PB Boards and the DRCPB and DRCPBG4 Cables For more information refer to Chapter 4 Technical Details and the Aerotech Motion Control Product Guide Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Hardware Configuration 3 5 7 DRC I O Cable The DRC I O cable serves two purposes when used with the DR500 Drive Chassis The primary use is for applications that use brushless motors with Hall effect sensors In such ee ra cases the necessary Hall effect signals are not available through the standard OP500 cable therefore the DRC cable is connected between the UNIDEX 600 U500 and the DR500 Different versions of the DRC I O cable are available for 1 directly connecting the UNIDEX 600 U500 and a PB8 PB16 or PB24 interface board to allow additional inputs outputs or 2 connecting the U600 U500 to the DR500 to provide Hall effect inputs and extra I O with an additional connection for an optional PB8 PB16 or PB24 I O board Refer to Figure 3 6 For additional information refer to the Aerotech Motion Control Product Guide
96. ontains definitions of terms that are used throughout this manual amplifier An amplifier is a hardware device having an output that is a function of the input signal axis An axis is a direction along which movement occurs base address A base address is a number that represents the memory location in the computer where input output I O information can be stored All devices e g the U600 card network cards tape backup cards etc within a computer must have unique I O base addresses The default I O base address of the U600 card is 0x300 which represents the 16 memory locations 0x300 through 0x30F This base address can be changed using base address jumpers JP4 through JP9 on the U600 card The base address must also be configured in the UNIDEX 600 Startup software BB500 Breakout Module The BB500 Breakout Module is a hardware device that connects directly to the U600 card to provide direct signal access in the form of screw terminals when a DR500 chassis is not used bit The term bit is an acronym for Binary digit and represents a single binary number i e a 1 or a O In digital computers a bit s two states can represent an off state and an on state a high voltage and a low voltage the numbers 0 and 1 etc brushless motor Aerotech brushless motors are three phase rare earth permanent magnet servomotors which generate a sinusoidal back EMF voltage and are usually referred to as AC brushless mo
97. ose has been disclosed to Aerotech in specifications or drawings previously or subsequently provided or whether or not Aerotech s products are specifically designed and or manufactured for buyer s use or purpose Aerotech s liability or any claim for loss or damage arising out of the sale resale or use of any of its products shall in no event exceed the selling price of the unit Aerotech Inc warrants its laser products to the original purchaser for a minimum period of one year from date of shipment This warranty covers defects in workmanship and material and is voided for all laser power supplies plasma tubes and laser systems subject to electrical or physical abuse tampering such as opening the housing or removal of the serial tag or improper operation as determined by Aerotech This warranty is also voided for failure to comply with Aerotech s return procedures Claims for shipment damage evident 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
98. overed 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 OVERVIEW This chapter contains an overview of the UNIDEX 600 motion controller as well as a sample system diagram This chapter also contains precautionary notes about installing and using the U600 motion controller CHAPTER 2 GETTING STARTED This chapter contains information about the components of the UNIDEX 600 system unpacking and inspecting the equipment and minimum hardware and software requirements for proper operation CHAPTER 3 HARDWARE CONFIGURATION This chapter contains information about the hardware of the UNIDEX 600 system This includes a discussion of the hardware components and individual jumper configurations CHAPTER 4 TECHNICAL DETAILS This chapter supplies a variety of technical specifications for the UNIDEX 600 These specifications include test points jumper configurations encoder signal specifications pinouts outputs bus specifications and others CHAPTER 5 TROUBLESHOOTING This chapter provides a reference tool if problems with the UNIDEX 600 arise APPENDIX A GLOSSARY OF TERMS Appendix A contains a list of definitions of terms used in this manual APPENDIX B WARRANTY AND FIELD SERVICE Appendix B contains the warranty and field service policy for Aerotech products INDEX The index contains a page number reference of topics discussed
99. quirements Airflow ft min m sec 0 800 1000 0 4 06 5 07 Max Ambient Temp BASE 38 Le 84 with Heatsink ULTRA 30 69 71 Max Ambient Temp BASE 18 66 6 amp 7 without Heatsink ULTRA 14 55 57 Heatsink is 285 high unidirectional Al alloy 6061 50 mil fin width 150 mil center to center fin spacing 2 4 1 Power Consumption This section is a reminder to the user if the user is installing all Aerotech boards into their PC Table 2 3 lists the amount of current drawn by each board depending on the voltage This information allows the user to ensure the power supply within the PC can handle the current consumption Table 2 3 Board Power Consumption Power Consumption Board 12 Volts 12 Volts 5 Volts U600BASE 8MB 02 Amps 02 Amps 4EN PC 02 Amps 02 Amps PSO PC 3 Amps 75 Amps RDP PC 2 axis 1 Amps 15 Amps Reference Oscillator unloaded add appropriate power per driven resolver Version 1 9 Aerotech Inc 2 3 Getting Started UNIDEX 600 Hardware Manual 2 5 Inspection of the UNIDEX 600 Control Board Before touching the UNIDEX 600 control board be sure to observe the electrostatic discharge precautions that are listed below The U600 board is sensitive to static electricity To greatly reduce the possibility of board damage due to electrostatic discharge adhere to the following precautions
100. rnal Reset Circuit Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details 4 10 Current Command Output The UNIDEX 600 has eight 16 bit current command outputs The output range is 10 volts into a OK ohm load AC servomotors and steppers require two current phases Brush motors or self commutating amplifiers require only one primary Refer to Figure 4 8 and Table 4 12 for electrical characteristics of the current command interface The UNIDEX 600 must always be connected to an amplifier with an opto isolated power stage To avoid damage to the system the UNIDEX 600 must not be connected to an Amplifier with a non isolated power stage A External Amplifier UNIDEX 600 PC Board s Eu Pin 79 Primary Current Command 1B Phase 1 9 09 K 30 Oh e POE ai Pin 81 Secondary Current Command 1A Phase 2 DAC 01u 3 92 K V Pin 69 Axis Enable AEN Enable MC4741 Pin 77 T Ground NOTE Secondary Current Command 1A is only required for Brushless motors Figure 4 8 Electrical Characteristics of the UNIDEX 600 Current Command Output Table 4 12 Current Command Output Signals and Pin Locations Axis Function Signal Location Alternate Location Axis1 Primary Current Cmd Axis1 ICMDIB P1 79 TP30 Secondary Current Cmd Axis 1 ICMDIA P1 80 TP31 Axis2 Primary Current Cmd Axis2 ICMD2B P1 81 T
101. ry command TP32 Axis 2 primary command TP33 Axis 2 secondary command TP35 Axis 3 primary command TP34 Axis 3 secondary command TP36 Axis 4 primary command TP37 Axis 4 secondary command Table 4 2 UNIDEX 600 Encoder Signal Test Points Test Point Description P11 1 P11 2 P11 5 P11 6 P11 9 P11 10 P11 13 P11 14 TP29 TP28 TP27 TP26 Channel 1 sine after RS 422 differential receiver Channel 1 cosine after RS 422 differential receiver Channel 2 sine after RS 422 differential receiver Channel 2 cosine after RS 422 differential receiver Channel 3 sine after RS 422 differential receiver Channel 3 cosine after RS 422 differential receiver Channel 4 sine after RS 422 differential receiver Channel 4 cosine after RS 422 differential receiver Channel 1 marker after RS 422 differential receiver Channel 2 marker after RS 422 differential receiver Channel 3 marker after RS 422 differential receiver Channel 4 marker after RS 422 differential receiver Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details 4 2 Jumper Configurations The following list contains a summary of all of the jumpers on the UNIDEX 600 PC Board Relative Jumper locations and the default settings are illustrated in Figure 4 1 and listed in Table 4 3 An asterisk following a jumper setting indicates the default position Also if a complete motion control system was purchased from Aerotech our system test department will properly config
102. sues a valid purchase order to Aerotech covering all transportation and subsistence costs and the prevailing labor cost including travel time necessary to complete the repair Aerotech Inc Phone 412 963 7470 101 Zeta Drive Fax 412 963 7459 Pittsburgh PA 15238 2897 TWX 710 795 3125 USA V VV B 2 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Index NUMBERS 7404 type Open Collector Driver 4 18 A Airflow Cooling requirements 2 2 Amplifier Chassis 2 10 3 13 Amplifier Enable Output Locations P1 4 18 Amplifier Enable Outputs 4 18 Amplifier Fault 4 10 Amplifier Fault Inputs P1 4 10 Amplifiers 7404 type open collector drivers 4 18 available types 2 10 3 13 state of with respect to LED 2 9 3 11 Analog inputs 4 27 Antistatic Bag 2 4 Antistatic Precautions 2 9 3 11 B Base address 3 2 Base Address Jumpers 2 5 3 4 default 2 5 3 4 BBS500 Breakout Module installation 2 11 3 14 Brake output 4 13 Braking 3 16 Breakout Block BB500 4 30 Breakout Module installation 2 11 3 14 BRK BPS Vertical Axis Brake Option 3 16 Brushless motor phasing 4 33 C Cables OP500 2 10 3 13 CCW Rotation Limit Switch 4 10 Communications Failure 5 2 Communications Problems 5 2 Connectors 3 4 Cooling requirements 2 2 Coprocessor Recommended 2 2 3 1 Current Command Output 4 15 signals P1 4 15 Custom Software PC bus interrupt jumper 2 6 3 5 Customer Order Number 5 1 CW
103. t 0x230 23F 0x300 30F 0x310 31F 0x330 33F 0x340 34F 0x350 35F 0x360 36F Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Hardware Configuration 3 3 2 PC Bus Interrupt Jumpers JP4A through JP5D The UNIDEX 600 generates interrupt requests to the host PC The interrupt level is jumper selectable and is outlined in Table 3 4 This table shows the available interrupt request IRQ lines that may be assigned using the PC bus interrupt jumpers The locations of the UNIDEX 600 control board jumpers are shown in Figure 3 1 on page 3 3 The default interrupt configuration has JP4E installed UNIDEX 600 generates interrupt requests to the host computer on IRQS IRQ4 IRQ15 IRQ12 IRQ11 a In this configuration the IRQ3 IRQ5 g IRQS a8 Table 3 4 PC Bus Interrupt Jumper Settings Jumper State Jumper Settings Function JP4A IN Interrupt IRQ3 COM2 OUT IRQ3 not selected default JP4B IN Interrupt IRQ4 COM1 OUT IRQ4 not selected default JP4C IN JP4A Interrupt IRQ5 default OUT JP4A IRQ5 not selected JP4D IN JP4A Interrupt IRQ9 AT unassigned OUT JP4A IRQ9 not selected default Version 1 9 Aerotech Inc 3 5 Hardware Configuration UNIDEX 600 Hardware Manual Table 3 4 PC Bus Interrupt Jumper Settings Cont d Jumper State Jumper Settings Function JPSA IN Interrupt IRQ15 AT unassigned default OUT JP5A IRQ15 not selected JP5B IN
104. t 2 _ P1 65 P9 43 Output 2 XC5204 3 P10 31 Reserved Out 2 JP11 T Cc Output 3 P1 66 P9 41 Output3 3 Figure 4 3 Reserved Outputs 4 8 Aerotech Inc Version 1 9 UNIDEX 600 Hardware Manual Technical Details 4 5 Encoder Signal Pinouts Table 4 9 identifies the encoder signals and the corresponding P1 connector pin number and termination locations Table 4 9 Encoder Signals and Pinouts Signal Name P1 Pin Number Termination Location Channel 1 Sine Positive RN 3 1 Sine Negative RN 3 2 Marker Positive RN 3 4 Marker Negative RN 3 3 Cosine Positive RN 3 8 Cosine Negative RN 3 7 Channel 2 Sine Positive RN 4 5 Sine Negative RN 4 6 Marker Positive RN 4 8 Marker Negative RN 4 7 Cosine Positive RN 4 3 Cosine Negative RN 4 4 Channel 3 Sine Positive 23 RN 1 1 Sine Negative 24 RN 1 2 Marker Positive 27 RN 1 7 Marker Negative 28 RN 1 8 Cosine Positive 25 RN 1 5 Cosine Negative 26 RN 1 6 Channel 4 Sine Positive RN 2 5 Sine Negative RN 2 6 Marker Positive RN 2 3 Marker Negative RN 2 4 Cosine Positive RN 2 1 Cosine Negative RN 2 2 Version 1 9 Aerotech Inc 4 9 Technical Details UNIDEX 600 Hardware Manual WARNING 4 6 Limit and Amplifier Fault Inputs The UNIDEX 600 contains three limit inputs per axis two over travel and one home In addition each axis has one amp
105. t resolution ratiometric tracking conversion and real time position and velocity information Refer to the RDP PC Option Manual P N EDO112 for hardware and software setup 3 5 5 The BRK BPS Fail safe Brake The BRK BPS option is an integral part of the UNIDEX 600 system that provides a fail safe way to maintain position on a vertical axis when power is removed from the axis This is accomplished using a normally on electromagnetic brake that is coupled to the load To disable the brake a 24 VDC source typical is applied to the brake when the axis is enabled for motion by the UNIDEX 600 This option includes a brake board used to sense the switching on the motor leads of the pulse width modulated PWM amplifiers and a power supply to drive the electromagnetic brake into its inactive mode For more information refer to the Aerotech Motion Control Product Guide and the DRS500 Manual P N EDA120 The physical brake device is available separately as a DR500 option 3 5 6 The PB8 PB16 and PB24 I O Boards The PB8 PB16 and PB24 options are interface boards that provide optical isolation of UNIDEX 600 inputs and outputs up to 16 outputs and 16 inputs in the form of terminal blocks An OPTO 22 option board connects to the P9 connector the Opto 22 I O bus of the UNIDEX 600 card using a 50 pin ribbon cable provided The PB8 provides 8 outputs the PB16 provides 8 inputs and 8 outputs and the PB24 provides 16 inputs and 8 outputs The PB8 P
106. t state this output is in the high impedance state When the brake is activated this signal is pulled low This output signal is referenced to the UNIDEX 600 signal common Refer to the DR500 Operation and Technical P N EDA120 and the BB501 Interface Board Option Manual P N EDO107 for interface information and signal location The maximum rating for the brake output signals are as follows Maximum Voltage 30 volts Maximum Current Sink 40 mA The brake signal is output through pin 94 of the P1 connector UNIDEX 600 Connector P1 Pin 3 270 Ohm 1 4 watt Pin 94 C Brake x 4N33 Opto Isolator Figure 4 12 Electrical Characteristics of the Brake Signal Output Version 1 9 Aerotech Inc 4 19 Technical Details UNIDEX 600 Hardware Manual S 4 15 Opto 22 I O Bu P9 UNIDEX 600 s P9 connector provides a simple interface to the PB24 Opto 22 Interface Board 8 outputs 16 inputs The P10 connector provides an additional 8 outputs as well as the 12 hall effect sensor inputs and the high speed position latch input also compatible with a PB24 Opto 22 Interface Board 8 outputs 12 hall effect inputs and 1 position latch input Refer to Section 2 7 3 for interconnection examples UNIDEX 600 s P9 and P10 connectors are a 50 pin header the PB24 connector is a standard edge card type connector A 1 to 1 ribbon cable can be made to connect the two The mating connectors ar
107. tors Another type usually referred to as the DC brushless motors generate a trapezoidal back EMF and produce more torque ripple byte A byte is a common unit of information storage made up of eight binary digits bits A byte can be used to represent a single ASCII character e g A 10000001 binary or binary numbers from 00000000 to 11111111 from 0 to 255 decimal depending on how it is used closed loop system A closed loop system is a drive system that uses sensors for direct feedback of position and or velocity Contrast with open loop system Version 1 9 Aerotech Inc A 1 Glossary of Terms UNIDEX 600 Hardware Manual commutation Commutation refers to the process by which every other cycle of an alternating current is reversed so that a single unidirectional current is supplied In the case of motors commutation refers to the switching of current to motor windings which causes the motor to rotate In a DC servomotor this is done mechanically using brushes and a commutator A brushless motor is electronically commutated using a position feedback device such as an encoder that is mounted to the rotor Stepping motors are electronically commutated without feedback in an open loop fashion DR500 Chassis Drive Rack The DR500 Chassis or Drive Rack is a housing for the axis amplifiers for microstepping DC brush and brushless drivers and the driver power supply The DR500 is available in rack mount panel mount
108. ure the jumpers for you Table 4 3 Jumper Configurations Jumper Setting Explanation JP 1 OUT Factory test use only OUT No bias on ports 1 and 2 RS 232C DCD CTS signals JP2 1 2 Bias ports 1 and 2 RS 232C DCD CTS signals at 12 Volts 2 3 Bias ports 1 and 2 RS 232C DCD CTS signals at 12 Volts JP3 IN UNIDEX 600 board reset through P10 25 OUT No external reset through P10 25 JP4A IN Interrupt IRQ3 COM 2 OUT Interrupt 3 not used by UNIDEX 600 JP4B IN Interrupt IRQ4 COM 1 OUT Interrupt 4 not used by UNIDEX 600 JPAC IN Interrupt IRQ5 LPT OUT Interrupt 5 not used by UNIDEX 600 JIP4D IN Interrupt IRQ9 AT unassigned OUT Interrupt 9 not used by UNIDEX 600 JPSA IN Interrupt IRQ15 AT unassigned OUT Interrupt 15 not used by UNIDEX 600 IPSB IN Interrupt IRQ12 AT unassigned OUT Interrupt 12 not used by UNIDEX 600 IPSC IN Interrupt IRQ11 OUT Interrupt 11 not used by UNIDEX 600 JPSD IN Interrupt IRQ10 OUT Interrupt 10 not used by UNIDEX 600 JP6 1 2 Position latch input from P 10 27 2 3 Position latch input from Input3 P9 25 or P1 62 JP10 IN U600BASE xxMB default DO NOT CHANGE OUT U600ULTRA xxMB JP11 1 2 Output3 P1 66 or P9 41 is Output3 2 3 Output3 P1 66 or P9 41 is reserved Output2 P10 31 JP12 1 2 Output2 P1 62 or P9 43 is Output2 2 3 Output2 P1 62 or P9 43 is reserved Output P10 29 Version 1 9 Aerotech Inc 4 3 Technical Details UNIDEX 600 Hardware Manual
109. well as descriptions for each The rear panel connector layout of the DR500 is illustrated in Figure 2 2 For more information refer to the DR500 Drive Chassis Operations and Technical Manual part number EDA120 Refer to the Aerotech Motion Control Product Guide for available styles part numbers and pricing information 16in 80ut Digital I O and or Hall Effect Signals XIO cable or equivalent from Controller vo BUS Serial Tag Q o BUS POWER ox Digital I O cable to Opto 22 PB8 PB16 or PB24 Racks AEROTECH left Encoder Input 1 right Encoder Input 2 p C d p q World Headquarters 101 Zeta Drive ENCODER 1 POWER OK ENCODER 2 POWER OK Pittsburgh PA 15238 USA AXIS 3 1 AXIS 4 4 Tk iz estar gues ans OTIS left Encoder Input 3 right Encoder Input 4 _ do D USA Service FAX 412 963 7000 UK 0734 817274 FAX 0734 815022 Emergency Stop Interrupts Analog I O 1 ENCODER 3 POWER OK C ENCODER 4 POWER OK EOorr J Redundant amplifier signals external 12 VDC 500mA mscio 1 AXIS 2 AXIS 1 left Joystick mter right Brake Control FJ JOYSTICK 1 BRAKE 1 L i00 Cond Cable to L 5 o NOTE The connectors for motor power are made with Amp 206044 1 206070 1 and pins 66098 7 CACIAS oft se Indicates protective grounding connection Figure 2 2 Rear Panel Connectors of the DR500 Amplifier Chassis The OP500 cable is used to connect the UNIDEX 600 PC board to the DR5

600 hardware manual

Contents

Download Pdf Manuals

Related Search

Related Contents