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THE UNIDEX® 31/U600 USER`S

1. Figure 5 22 Axis Configuration Setup Editor Notice in Figure 5 22 that each of the group boxes found on this screen contains a set of radio buttons used to select the type of hardware in the system There is also a number of entry fields to describe the characteristics of that hardware The entry fields displayed within the group box vary based upon the currently selected type of hardware 5 7 1 Axis Selection Each of the parameters available on this screen is only applicable to one axis Therefore the user must have some method of specifying the axis to which the displayed parameters are applicable This method requires that the user access the Select Axis group box This box contains an indication of the currently selected axis both by name and number as well as a scroll bar to permit axis selection The user can sequentially move through the axes using the arrows at the ends of the scroll bar Mouse users may move directly to a given axis number by dragging the scroll bar until the display shows the desired axis name number 5 7 2 Primary Feedback This group box allows the user to select the type of position feedback device being used with the selected axis The types of feedback devices supported as the primary feedback Version 1 0 Aerotech Inc 5 39 Setup Menu Options U31 U600 User s Manual device include null resolver encoder HP VME laser interferometer and slave encoder encoder hall and res
2. Figure 6 17 PLC Analog Input Output 6 30 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options Upon invocation of MAINMENU the system associates the PLC analog inputs to T O channels Therefore if it is necessary to modify this file while executing MAINMENU the user must re initialize the system to enable these changes The user may delimit any of the fields in the line described above using any number of spaces tabs commas or periods To change the state of a particular output mouse users may simply click the check box located just to the left of the output name MAINMENU responds by toggling the state of the specified output as well as updating the display to reflect the current state Active states appear in green on the display with a check mark in the associated check box Inactive states appear on the screen with the normal background color and do not have a check in the check box MAINMENU users without a mouse may use the TAB key to position the cursor on the desired output Then using the space bar he may toggle the current state of the output Currently this application displays sixteen channels of inputs and sixteen channels of outputs However future revisions will support the use of additional channels 6 10 Virtual I O Utility PLC Window menu The PLC window shown in figure 6 18 may be used to display the state of the virtual I O within
3. esses 7 9 Figure 7 11 Units Available in Units MENU siese sees see see se ee ee ee ee Ge Ge Re Ge Re ee 7 9 Figure 7 12 Feedrate Control Sections of the CNC Run Screen 7 12 Figure 7 13 Find Dialog BOX esse see see see ee ee ee ee Ge eene emen 7 13 Figure 7 14 Find Notification Dialog Box serene 7 14 Figure 7 15 Jog amp Return Dialog Box 7 15 Figure 7 16 Jog amp Offset Tool Path Dialog Box eee 7 16 Figure 7 17 Sample Edit Local Variables Display Dialog Box 7 17 Figure 7 18 Sample Display Local Variables Dialog Box ses 7 18 Figure 7 19 Sample Display Global Variables Dialog Box 7 18 Figure 7 20 Sample Edit Global Variables Dialog Box esses 7 19 Figure 8 1 Manual Menu buenas ie Ras ate iii a chs ie els 8 1 Figure 8 2 Axes Jog Home Teach Dialog Box sese 8 2 Figure 8 3 Edit Jog Increments Dialog Box esee 8 3 Figure 8 4 Teach Mode Dialog BOX se se es Ge Ge nennen 8 4 Figure 8 5 Teach Mode Axis Select Menu seen 8 5 Figure 8 6 Teach Mode G Codes menu essere 8 6 Figure 8 7 Teach Mode Data Select Menu serene 8 7 Figure 8 8 Save Teach File Dialog Box eee 8 8 Figure 8 9 CNC Manual Mode dialog Dox e
4. 0 00 inch 7T T T Axis O1 0 00 inch Figure 6 26 Plot XY File Menu 6 40 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options 6 13 2 Trigger Looking below at Figure 6 27 the options found under the Trigger Menu permit the user to begin and end data acquisition i Ploy XY Status Idle File Axis Y Plot Clear Screen Acquire Data Stop Data Acquisition 0 00 inch 0 00 inch Axis_01 Figure 6 27 Plot XY Trigger Menu With data acquisition enabled the acquired data appears graphically on the screen see Figure 6 28 The title bar of the window indicates triggered acquisition Version 1 0 Aerotech Inc 6 41 Diagnostic Menu Options U31 U600Users Manual Ploy XY Status XYPlot Triggered File Trigger Axis Y Pivot Clear Screen 0 00 inch Axis O1 Figure 6 28 Plot XY Data Acquisition in Progress Dialog Box Selecting the Stop Data Acquisition option from within the Trigger menu see Figure 6 29 places the Plot XY utility back into its idle mode Therefore any changes in position do not affect the data displayed on the screen A change in the status of the axis appears in the title bar indicating that the utility is idle Status Idle Trigger Axis X Y Plot Clear Screen 10 00 inch 0 00 inch Axis_01 Figure 6 29 Plot XY Data Acquisition Complete Dialog Box 6 42 Aerotech Inc Ver
5. Copy Offset MSET 20 Rotate Disable Figure 5 32 Sample Motor Set MSET Screen Be sure that the motor is decoupled from the machine before using the Motor Set screen options This will eliminate the effects of friction and or gravity during the alignment setup process WARNING 5 8 Options Selecting this item from within the Setup menu causes the System Options Editor to appear on the screen Through this screen the user can specify any optional hardware that is present in the system and the initial values for any applicable parameters As can be seen from Figure 5 33 there are three options currently available the Watchdog Timer Analog Probe and Miscellaneous options Version 1 0 Aerotech Inc 5 49 Setup Menu Options U31 U600 User s Manual System Options Analog Probe Watchdog Timer J Enable Overtravel Limit Monitor Limit on 3 d X 3 2 X ei 22 Y Miscellaneous Analog Input 12 1G ware 2 Pos Loop Gain Tbl tenable 0 2 Enable 2 Save Load Globals 22 Chan 4 khz 24 Chan 2 khz 2 1kHz Servo Loop z 28 Chan 1 khz Figure 5 33 System Options Dialog Box 5 8 1 Watchdog Timer The enable button in the group box enables or disables the watchdog timer To enable the timer click on the radio button A black dot will appear in the button when it is enabled No dot implies that the watchdog timer is disabled 5 8 2 Analog Probe In the event that the user a
6. 7 4 7 3 2 5 Cutter Compensation Mode 7 4 7 3 2 6 Touch Probe Cycle Active sess 7 4 7 3 2 7 Fixture Offset Active eee se see ee Se Re ee ee 7 5 7 3 2 8 Accel Decel Mode see 7 5 7 3 2 9 Units Of Measure see ette emnt 7 5 7 3 2 10 Absolute Incremental Positions 7 5 7 3 2 11 Feedrate Mode siis orinter estoi 7 5 7 3 2 12 Programming Mode sese 7 5 Position Display rete rettet a rhet 7 6 7 4 1 Moving the Dialog Box see 7 6 7 4 2 Sizing the Dialog Box sese 7 6 TAZ 2 Pre86ts os a tes ea le ee GE 7 7 74 22 Machine OR ete 7 7 EE OE rer ttes 7 1 7 4 2 4 Position To GO ette 7 7 TADS MelocIty eei ende 7 7 1 4 2 6 Spare ia EE EE ER RR ER Rs 7 7 IE DT Ponts seite EE EL 7 8 TAB OAR OE ER OE EE EE ON 7 9 Program Controls see se ee ee ee ee Ge Ge Ge Se Re ee RA ee 7 10 7 5 1 Execution Mode Selection sese 7 10 7 5 2 Program Execution eiie eere ente 7 10 7 5 3 Suspending Axes Motion sese 7 10 Aerotech Inc Version 1 0 U31 U600 User s Manual Table of Contents 7 5 4 Block Delete Operation see 7 1 7 5 5 Optional Stop Operation sss 7 1 7 5 6 Terminating Program Execution sees 7 1 7 5 7 Fe edrate Control eee 7 12
7. 4 Aerotech Stripchart Axis 1 Status Idle File Plot Trigger Collect Display Axis EI Speed Distance Setup Step Motion Control Step Length 100000 Steps Sec Speed 500000 Continuous Motion Control Dir 1 Cw 1 ccw 1 Steps Sec Speed 500000 gt Figure 5 55 Speed Distance Setup Dialog Box Through this window the user can setup the step length and the step speed for the step motion control and also the continuous motion direction and speed for the continuous motion control The units of measure for this screen are the feedback devices resolution for the axis selected Selecting the Tune option causes a window showing the selected axis servo gain settings to appear on the screen see Figure 5 56 3 Aerotech Stripchart Axis 1 Status Idle File Plot Trigger Collect Display Axis Axis Tuning Parameter Values Edit Parameters Enable Axis 3 KP Disable Axis 3 PGAIN ACCEL 3 DECEL Figure 5 56 Axis Tuning Dialog Box Version 1 0 Aerotech Inc 5 71 Setup Menu Options U31 U600 User s Manual Included in this window are the axis enable control boxes It is possible to alter the servo gains in this screen while observing the effect on the motion profile on the main screen The user can change the gains by using the edit box or the increment boxes The motion commands shown in Figure 5 53 are explained in Table 5 4 Motion Commands and Descriptions Single Step
8. Tool Diameter Active Low Min 1 000 Min 5 000 0 00100 EE B Accel Decel Control Variable Allocation Accel Time Decel Time Global 9001 9 001 160 Accel Rate Decel Rate 100000 000 100000 000 ue Here Fault Log File Name Tool File Name Fault Log File Name Ethernet Host Address Ethernet Queue Size 128 127 1 1 18 Tue 9 27 94 6 42 05 am Figure 5 7 CNC Initialization Screen 5 6 1 1 Description of a CNC Process From the perspective of the UNIDEX 31 U600 a CNC process is a group of axes controlled through a program written in a subset of the ANSI RS 274 programming language This language permits synchronized motion of multiple axes with minimal intervention from the user The U31 U600 Programming Manual includes a brief description of the CNC CE programming language 5 6 1 2 CNC Selection The UNIDEX 31 U600 includes the ability to operate multiple CNC processes at the same time For example the CNC Select Group box allows the user to specify the CNC process to which these parameters apply 5 6 1 3 Axis Selection Once again a CNC process refers to a group of axes commanded by the RS 274 parts program The Axis Select menu shown in Figure 5 8 permits the user to specify which axes are used with each CNC process Each CNC process must have a mutually exclusive set of axes associated with it A parts program may not command an axis that is associa
9. 5 5 7 Positive Direction This parameter specifies which direction an axis is to move when commanded to move in the positive direction Specifying a value of zero causes positive move commands to occur in the clockwise direction while a value of one causes positive move commands to occur in the counter clockwise direction The default for this parameter is for positive moves to travel in the clockwise direction 5 5 8 Linear or Rotary This parameter defines the type of stage that an axis is to use The user may program linear axes in either inches or millimeters but must program rotary axes in degrees The following table describes the significance of each valid value for this parameter 0 Linear Stage 1 Bi directional Rotary Stage 2 Undefined 3 Uni directional Rotary Stage The default value of this parameter associates a linear stage with the axis 5 5 9 Drive Control Mask This parameter is no longer used by MAINMENU It is included to maintain functional compatibility with older versions of MAINMENU 5 5 10 Home Offset This parameter sets the number of machine steps at the end of the homing sequence once the system locates the resolver null or encoder marker The units for this parameter are in machine steps The default value is zero 0 Specifying a positive value causes a clockwise offset while a negative value signifies a counter clockwise offset 5 5 11 Axis Name This parameter specifies a
10. G00 Rapid Traverse G01 Linear Programming G02 Clockwise Circular Programming G03 Counter Clockwise Circular Programming G30 Cubic Spline Programming 7 3 2 2 2nd Axes Plane Move Type There are five available options when using this mode These include G10 Rapid Traverse G11 Linear Programming G12 Clockwise Circular Programming G13 Counter Clockwise Circular Programming G30 Cubic Spline Programming 7 3 2 3 Axes Plane Designation First Set There are three available options when using this mode These include G17 Ist Axes Plane X Y G18 Ist Axes Plane X Z G19 Ist Axes Plane Y Z 7 3 2 4 Axes Plane Designation Second Set There are three available options when using this mode These include G27 Ist Axes Plane V W G28 Ist Axes Plane W A G29 Ist Axes Plane A V 7 3 2 5 Cutter Compensation Mode There are three available options when using this mode These include G40 Cutter Compensation Disabled G41 Cutter Compensation Enabled to Left G42 Cutter Compensation Enabled to Right 7 3 2 6 Touch Probe Cycle Active This is the G51 mode and does not contain any options 7 4 Aerotech Inc Version 1 0 U31 U600 User s Manual Run CNC Parts Program 7 3 2 7 Fixture Offset Active There are three available options when using this mode These include G53 Fixture Offset Disabled G54 Fixture Offset 1 Enabled G55 Fixture Offset 2 Enabled 7 3 2 8 Accel Decel Mode There are two availa
11. This parameter determines the position gain of the position loop for the selected axis Refer to the UNIDEX 31 U600 Hardware Manual for a description of how this parameter functions in the servo loop The valid range of this parameter is 0 to 1 000 The default value is 10 Version 1 0 Aerotech Inc 5 5 Setup Menu Options U31 U600 User s Manual 5 3 8 VFF This parameter enables or disables the Velocity Feed Forward function Once enabled this function minimizes the position following error A value of 1 enables this function while a value of 0 disables it 5 3 9 DRIVE This parameter enables and disables the motor s torque associated with an axis A zero disables the drive while a one enables it 5 3 10 AUX This parameter controls the auxiliary output of a selected axis A one asserts the output while a zero de asserts it Typically this output may be used to activate a motor brake The user may configure the FAULTMASK and AUXMASK parameters to cause this output to change state on an axis fault Therefore each time a fault condition occurs the system would apply a brake to the motor 5 3 11 AFFGAIN This parameter sets the Acceleration Feed Forward Gain used in the acceleration loop of the selected axis to minimize velocity error However too large of a value may cause noise in the servo loop The range for this parameter is 1 000 000 to 1 000 000 The default value is 0 5 3 12 BLOCKMOTION This paramet
12. To explain how the Axis Correction Table Editor functions the user must have a general understanding of the UNIDEX 31 U600Axis Correction feature and the requirements of an axis correction table The Axis Correction function compensates for errors in the mechanics of the system e g non perpendicular stages or imperfections in the ball screw The general idea is that the user selects various points along the path of an axis and determines the error at each point Then the axis processor adjusts the commanded position of the axis to compensate for this error The axis being compensated does not have to match the axis whose position is being monitored The only restriction on the axis correction table is that the programmed positions must be ascending and non repeating The Axis Correction Table Editor does not enforce this restriction Loading an invalid table into the axis processor card results in a programming error Version 1 0 Aerotech Inc 5 55 Setup Menu Options U31 U600 User s Manual CE The axis processor linearly interpolates the error value between the specified points The user must specify both the programmed position and the correction factor in machine steps To do this use the Programmed Position and Correction entry fields The system assumes that points outside the range specified in the table must have the same correction as the first last point in the table 5 12 22 Building An Axis Correction T
13. eee 6 22 Figure 6 8 Programming Error Status Screen No Errors Present 6 23 Figure 6 9 Programming Error Status Screen Errors Present se 6 24 Figure 6 10 Drive Enable Control Group Box esee 6 25 Figure 6 11 Drive Enable Control Group Box with E Stop Active 6 26 Figure 6 12 Emergency Stop Control Dialog Box seen 6 26 Figure 6 13 Failure to Clear Emergency Stop Dialog Box sess 6 27 Figure 6 14 Emergency Stop Cleared Dialog Box serene 6 27 Figure 6 15 Xycom Digital Input Output Status Dialog Box ee 6 28 Figure 6 16 Analog Input Status Dialog Box eee 6 29 Figure 6 17 PLC Analog Input Output sees 6 30 Figure 6 18 PLC Window eere Re ER Og Re Reg ripeto tratte 6 32 Figure 6 19 Fault Display Screen issie se ee se Se Ge GR SR Gee ee Ge ee ee ee ee ee ee 6 33 Figure 6 20 Plot Data MAINMENU Dialog BOX esse se see se ee ees eed Gee ee ee ee 6 34 Figure 6 21 Plot Menus seis he ee eis eee he ele as Ree 6 35 Figure 6 22 Trigger Meni esene generen empiece 6 36 Figure 6 23 Cursor Measurement Tool Dialog Box eese 6 37 Figure 6 24 PlotData Axis Selection Dialog BOX esee 6 38 xiv Aerotech Inc Version 1 0 U31 U600 User s Manual List of Figures Figure 6 25 Plot
14. eene 5 62 Figure 3 44 Pie Menus t Be ette reete boe aero a nd 5 62 Figure 5 45 File Selection Dialog BOX se se se Ge Ge RA Re ee ee ee ee ee 5 63 Figure 5 46 Plot Menu Ee Ee eee ree a Eer sege bee sed Wees 5 64 Figure 5 47 TrggerMenl EE EE EE Ee 5 64 Figure 5 48 Set Trap Mode Dialog Box iese see see se ee ee Ge Se Ge GR RA RA Gee ee ee 5 65 Figure 5 49 Set Data Acquisition Mode Dialog BOX esse see see ees 5 66 Figure 5 50 Collect Menu iese see see ee se ee aa EE RA GR Re Gee Ge ee ee ee 5 67 Figure 5 51 Display Menu seo eee hp epe eet 5 68 Figure 5 52 Cursor Measurement Tool Dialog Box eee 5 69 Figure 5 53 Axis Menu iei eerte ite deter e Pete eie Ere dete este Eee 5 70 Figure 5 54 Axis Selection MENU iese ee ee ee Ge Se Se Re GR RA GR Re ee Ge ee nene 5 70 Figure 5 55 Speed Distance Setup Dialog Box sse 5 71 Figure 5 56 Axis Tuning Dialog Box sess 5 71 Figure 6 1 Diagnostic Menu ione 6 1 Figure 6 2 Axis Status And Fault Display Dialog Box eese 6 2 Figure 6 3 Fault Status Display Dialog Box iese ee se se se ee GR Re Ge ee Se ee ee 6 8 Figure 6 4 Servo Status Display Dialog BOX se se se esee 6 12 Figure 6 5 Motion Status Display Dialog Box seen 6 16 Figure 6 6 Axis Firmware Status Dialog Box see 6 21 Figure 6 7 System Failure Information Dialog Box
15. 8 3 2 Manual Command Entry As mentioned this screen allows the operator to directly command the CNC The CNC immediately executes the individual commands To command the CNC the user must place the cursor within the Command entry field and type in a valid CNC command block After entering the data the CYCLE START F3 button or the associated F3 function key causes the command to execute The operator is then free to begin entering the next command for execution If the user wishes to execute the command more than once he must wait until the first execution process is complete Then the user must again activate the CYCLE START F3 button The system ignores all cycle starts encountered during the execution of a command block Version 1 0 Aerotech Inc 8 9 Manual Operation U31 U600 User s Manual In the event that the user enters an invalid command in the Command entry field the Program Translation Error dialog box appears on the display as notification of the error see Figure 8 10 The dialog box in Figure 8 10 also contains information that specifies the type of error encountered Program Translation Error CNC 1 Program 1 Line 0 A File C MAINMENU ANDY PGM REF QX Y Error Invalid HOME syntax Pass 1 Figure 8 10 Program Translation Error Dialog Box 8 3 3 Suspending Motion Command Execution The FEEDHOLD F6 button or the associated F6 function key performs a function similar to that performed on
16. Colorado Springs Colorado 80919 U S A For Softerm Modular telephone 1 800 225 8590 or outside the U S A telephone Figure 12 2 OS 2 SOFTTERM Utility 12 3 Ethernet File Transfer The Ethernet File Transfer option has not been implemented at this time The Ethernet File Transfer Dialog Box shown in Figure 12 3 appears on the display to notify the user of this fact Ethernet File Transfer Ethernet File Transfer Mode does not function in this implementation Figure 12 3 Ethernet File Transfer Dialog Box 12 2 Aerotech Inc Version 1 0 Warranty and Field Service U31 U600 User s Manual APPENDIX A WARRANTY AND FIELD SERVICE In This Section ecstl asemProductstc eee trees US TOUS A 1 oy Retutniproeedyre eee eee A 1 e Returned Product Warranty Determination A 1 e Returned Product Non warranty Determination A 2 RU E E A 2 e On site Warranty Repair sees ees see see see Re ee A 2 e On site Non warranty Repair eee A 2 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
17. e PLCn GLOBAL m e PLC n Oxxxx e PLC n 1xxxx e PLCn4xxxx where n is the PLC number in the range 1 thru 7 mis a GLOBAL IO point in the range 1 thru 32 and xxxx is a valid PLC register number 8 12 Aerotech Inc Version 1 0 U31 U600 User s Manual Manual Operation Virtual IO Point The feedback may be a virtual IO point in onE of the following forms e BOn e BIn e ROmBx e RImBx where n is the binary IO number in the range 0 to 511 m is the register number in the range 0 to 127 and x is the bit number in the range 1 to 16 The LZ level designation is an optional parameter that specifies the on state of the IO feedback Where is in the range of 0 to 1 If the level is not specified the on state is assumed to be high The off feedback2 parameter is an optional designation that takes the same form as the on feedbackl If it is present it specifies the off state of the key while the on feedbackl1 specifies the on state of the key The manual or auto keywords are optional and specify what mode the key will be allowed to operate If the keyword is omitted the key may operate anytime If the keyword is present it signifies the end of the line Anything after the keyword on the line is ignored Figure 8 12 is an example of an OCCx INI file and concurs with what is displayed on the Manual I O Screen in Figure 8 11 1 2 Coolant Supply 1000 1001 AUTO 1 14 Laser Shutter 1010 1011
18. 9 4 Pendant Initialization Dialog box 5 37 Pendant Initialization Dialog Box 5 37 Pendant Jog Field 6 19 Pendant Port Menu 9 4 Pendant Port Pull Down Menu 5 37 Per Axis Controls 8 2 PGAIN Parameter 5 5 PGM Files 7 1 10 2 phase speed Parameter 5 16 Plane Axis Pull Down Menu 5 36 Plane Designation Initial 5 32 Plane Initialization Screen 5 36 Plane Move Type 7 4 Plane Moves 7 4 Planned Stop Command 7 11 PLC Analog Input Output Control 6 30 PLC IO Point 8 12 PLC registers 6 31 PLC Window Menu 6 31 Plot Data Acquisition Application 5 61 Plot Data Diagnostic Utility 5 58 Plot Data Utility 6 34 Plot Main Menu Dialog Box 5 61 5 62 Plot Menu 6 35 Plot Option 5 63 Plot Pull Down Menu 5 64 6 35 Plot XY Axes Pull Down Menu 6 43 Plot XY Coordinate Limits Dialog Box 6 45 Plot XY Data Acquisition Complete Dialog Box 6 42 Plot XY Data Acquisition in Progress Dialog Box 6 42 Plot XY File Pull Down Menu 6 40 Plot XY Status Dialog Box 6 39 Plot XY Trigger Pull Down Menu 6 41 PLOT XY UTILITY 6 39 6 42 Version 1 0 U31 U600 User s Manual Index PlotData Application 6 34 PlotData Main Menu Dialog Box 6 34 PLOTDATA Utility 5 60 Polarity of Touch Probes 5 33 Polling 2 1 6 2 POS Parameter 5 5 POSERRLIMIT Parameter 5 7 Position Display 7 6 Position Error 5 63 Position Error Limit 6 8 Position Error Limit Fault 5 7 Position Error Tracking 5
19. AUTO Figure 8 12 Manual I O OCCx INI File Version 1 0 Aerotech Inc 8 13 Manual Operation U31 U600 User s Manual 8 5 Ethernet Ethernet is a factory installed option that provides DNC Direct Numerical Control capability for the U31 Figure 8 13 shows that this option is available from the CNC Manual Mode screen MDI type command strings non looping non jumping commands may be sent to the U31 via an Ethernet link CR LF Carriage Return Line Feeds are used to terminate all command strings Configuration of the Ethernet parameters are accomplished through the CNC General Parameters screen Refer to section 5 6 1 CNC General Parameters Menu Selection and Figure 5 7 CNC Initialization Screen CNC 1 Manual Mode Feedrate Variables Ethernet Feedrate G Codes Programmed Actual G01 G17 G20 G40 G64 G68 G71 G90 G94 G97 G99 G110 Soft E Word 0 00 0 00 RPM 4 al gt 100 Mult 1 000 Spindle RPM Programmed Actual S Word 0 00 6 00npu p Status Manual Menu Initialized I4 100 Mult 1 000 Command Entry Status CYCLE START F3 FEEDHOLD F6 Figure 8 13 Ethernet Option 8 14 Aerotech Inc Version 1 0 U31 U600 User s Manual Teach Pendant CHAPTER 9 TEACH PENDANT In This Section e Introduction EE 9 1 se Accessories TOSS 9 2 e Operation and Setup sse 9 3 9 1 Introduction The U31 U600 teac
20. Acquire Data Continuously 5 63 Acquire Data Continuously Option 6 36 Acquiring Data Continuously 5 63 Acquisition Mode Selection 5 60 Activating a Position Display 5 1 Activating a Spindle Axis 5 26 Active VOL Display 5 51 Actual Commanded Position 6 44 Actual Lines Parameter 5 42 5 43 Actual Position of Servo 5 63 Actual Velocity Servo 5 63 Actual vs Effective Feedback Conversion 5 43 ADD Push Button 4 4 Add F4 Push Button 5 57 Adding Password Privileges 4 3 Adding Passwords 4 4 AFF Enable Field 6 14 AFFGAIN Parameter 5 6 Alive Field 6 14 Allocating Memory 5 33 Analog Input Status Dialog Box 6 28 6 29 Analog Inputs Voltage Display 6 28 Analog Probe Inputs 5 52 Analog Probe Option 5 49 5 50 ANALOG INI File 6 30 ANALOG _INI File Format 6 30 Version 1 0 Aerotech Inc i Index U31 U600 User s Manual ANSI RS 274 Programming Language 5 24 API Probe 5 52 API Probe Dialog Box 5 52 API Probe Failure Dialog Box 5 50 API Probe Failure Screen 5 50 API Probe Time Pull Down Menu 5 52 Application Example Periodic Disturbance 5 69 Application Program 5 5 5 6 Applications Multi axis Machine Tools 5 41 Applications Printers 5 41 Apply Push Button 10 11 Arrow Key for Scrolling 5 19 Arrow Keys 5 39 6 25 7 6 10 3 Arrow Keys Used for Scrolling 5 3 Arrows Scrolling with 5 3 ASCII String Used to Specify Axis Name 5 22 ASCII T
21. Axis 1 Status Idle File Plot Trigger Collect Display Axis Figure 5 43 Plot MAINMENU Dialog Box Aerotech Stripchart Axis 1 Status Idle Plot Trigger Collect Display Axis Load Product Information Figure 5 44 File Menu Choosing the Load or Save option from within the File menu causes a File Selection dialog box to appear on the screen see Figure 5 45 To enter the file name to load or save position the cursor in the Enter Filename entry field and manually enter the file name Press the Enter key to execute this function 5 62 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options Aerotech Stripchart Axis 1 Status Idle eia File Plot Trigger Collect Display Axis File Selection Figure 5 45 File Selection Dialog Box 5 14 1 2 Plot This menu toggles on or off which channels of servo information to display To determine the types of choices that exist refer to Figure 5 46 These channels include Actual Velocity Commanded Velocity Velocity Error Actual Position Commanded Position Position Error Torque and a Spare channel Selecting one of these channels causes the requested information to appear on the display The information for channels not selected remains in memory and therefore the user can select it anytime data collection takes place Each time the user saves a file the system saves all other additio
22. C U31 PROGRAMS BIT_MAP PGM Feedrate Search Interrupt Debug Variables Reset Feedrate G Codes Programmed Actual G01 G63 G40 F Word 0 00 0 00 mmpm G71 G91 G94 G97 G99 G110 G67 E Word 0 00 0 00 RPM XJ 100 Mult 1 000 Unidex 31 PSO BitMap Example Program Spindle RPM EE Programmed Actual DVAR bmp 15 Define an array to hold the bitmap S Word 0 00 0 00 RPM DVAR dst ndst nrow Define the distance between fire points and the nu mu Seal length of row variables 4 mI 3 100 Mult 1 000 DVAR feed Define variable for the feedrate Axis Processor Status Stop Program Status Compile Done Sucessfully 16 SINGLE F2 z CYCLE START F3 xis Positions Display Font Units Axis 02 Joop mmj BLK DEL OFF F7 OPT ST OFF F8 Figure 7 12 Feedrate Control Sections of the CNC Run Screen Both boxes contain the same controls and operate in the same manner However they operate on different axes The Spindle RPM Group Box varies the speed of the Spindle Axis the axis selected in the CNC Parameter Screen For additional information about the Spindle Axis see Chapter 5 The feedrate control affects all other axes linear or rotary associated with the CNC Each of these boxes contain three information fields and a horizontal scroll bar The scroll bar changes the MFO percentage currently being applied to the programmed feedrate
23. Display Time Vary Time win ro L Distance Based Control Inches MilliMeters Degrees Table Allocation Size 0 00010000 0 00100000 0 00100000 Master Axis 3 Axis 01 3 Axis 05 Axis 09 3 Axis 13 Number Of Samples Axis 02 3 Axis 06 3 Axis 10 B Axis 14 Axis 03 Axis 07 Axis 11 Axis 15 Sampling Mode Axis 04 Axis 08 Axis 12 Axis 16 Time Based 3 Distance Based Axes To Acquire Mi Axis 01 Axis 05 WI Axis 09 jAxis 13 File Control Vj Axis 02 Vj Axis 06 jAxis 10 jAxis 14 W Axis 03 y Axis 07 j1A xis 11 jAxis 15 Axis 04 Vj Axis 08 A xis 12 j A xis 15 Figure 5 42 Data Acquisition Parameter Editor Dialog Box The UNIDEX 31 U600supports two modes of data acquisition The first mode is time based That is the system acquires its data over a specified time interval with sampling to occur at a specified rate The second mode of operation is distance based That is the system acquires data each time a given axis moves a specified distance Figure 5 42 illustrates the Data Acquisition Parameter Editor dialog box 5 13 1 Time Based Controls As mentioned above this mode of data acquisition causes the sampling to occur at a specified frequency for a specified period of time The Time Based Controls group box provides entry fields that allow the user to specify these parameters The time base for each of these fields is milliseconds Through the Sampling Time entry field t
24. Inc 5 53 Setup Menu Options U31 U600 User s Manual 5 12 1 Selecting The Axis Correction Table MAINMENU provides a dialog box to aid the user in selecting which axis correction table they would like to edit Figure 5 40 depicts this dialog box File name TBL Directory is C U31 CORRECT Selected File is Display Comments Files Directories Help F1 Figure 5 40 File Open Dialog Box The various fields on this screen interact heavily with each other For example the data files found in the Files list box are the result of a scan of the directory displayed in the Directory is information field filtered by any file specification found in the File name entry field To select a data file from the Files list box place the cursor in this list box and scroll through the various options available The currently selected filename appears on the display in reverse video as well as in the File name entry field The user may invoke the Axis Correction Editor on the currently selected data file by using the Ok Push button The files currently displayed in the Files list box are not the only files that the user can select The user may explicitly specify the name of the data file through the File name entry field This is necessary if the user wishes to create a new correction table The system accepts any valid OS 2 file specification This includes the use of both absolute and relative path specifi
25. The Cancel button may also restore all auto save parameters to their initial value that is the value prior to making the Auto Save selection from within the File menu 10 8 Aerotech Inc Version 1 0 U31 U600 User s Manual Parts Program Editor 10 6 Exiting the Editor Selecting the Exit option from within the File menu causes the parts program Editor to terminate and thus return the program control back to the main screen of MAINMENU Failure to save a modified parts program results in the appearance of a File Not Saved dialog box see Figure 10 10 x Warning File Changed JUNK has changed Do you want to save it Save as Discard Cancel F1 Help Figure 10 10 File Not Saved Dialog Box In reviewing Figure 10 10 note that the user has several options available to them Selecting the Save button or the Save As button activates the same function as if the corresponding selection came from the File menu Details on these options appear earlier in this chapter The Discard button exits the parts program Editor without updating the file associated with that program The system looses all changes made during this edit Activating the Cancel button aborts the exit function and returns control to the edit window Version 1 0 Aerotech Inc 10 9 Parts Program Editor U31 U600 User s Manual 10 7 Editor Options The Options menu configures several features of the editor Looking below at
26. directly on the movement of the Master Axis 5 13 3 Selection of Acquisition Mode The Sampling Mode group box contains radio buttons used to select the mode of data acquisition once enabled by a particular application The default sampling mode is time based 5 13 4 Selection of Axes to Acquire The data acquisition capabilities of the UNIDEX 31 U600permit acquisition of various parameters on a per axis basis The user may also enable acquisition on multiple axes simultaneously The Axes to Acquire group box provides check boxes so that the user may designate which axes from which to acquire data A check mark in the check box indicates that the axes is enabled for data acquisition 5 13 5 File Control Through the Data Acquisition Parameter Editor the user can configure many utilities However each of these utilities read the NU3INDATA INI file for initial parameter values 5 60 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options MAINMENU allows the user to access this file by way of the File Control group box on this screen The user may wish to write the current settings to that file To do this use the SAVE F2 push button or the associated F2 function key To restore the previously saved values it is necessary to use the LOAD F3 push button or the related F3 function key Note that an application requiring data acquisition can use any all of these parameters However there is no requirement
27. the limit is currently asserted Related Parameter s IOLEVEL Refer to section 5 3 42 6 2 2 5 Home Input This field specifies the current state of the home limit switch input to the axis processor for the associated axis When ON the limit is currently asserted Related Parameter s IOLEVEL Refer to section 5 3 42 Version 1 0 Aerotech Inc 6 3 Diagnostic Menu Options U31 U600Users Manual 6 2 2 6 Drive Fault Input This field specifies the current state of the drive fault input to the axis processor When ON a fault condition is present on the drive associated with the axis Related Parameter s IOLEVEL Refer to section 5 3 42 6 2 2 7 At Home This field specifies if the current position of the associated axis corresponds with the position upon completion of a home cycle This does not imply however that a home cycle has just been completed When ON the current position is equal to the home position Related Parameter s NONE 6 2 2 8 Done This field indicates when motion commands have completed execution When this field displays OFF it signifies that trajectory generation is in progress on the associated axis ON appears on the display after transferring the last velocity command to the servo loop Related Parameter s NONE 6 2 2 9 In Position This field specifies if the difference between the commanded position and the actual position of the associated axis is less than the amount specifi
28. the save feature automatically updates that file without prompting the user to enter a new name Version 1 0 Aerotech Inc 10 7 Parts Program Editor U31 U600 User s Manual 10 5 Auto Save Feature This feature provides the ability to have the system automatically save the changes made to the file Selecting this option from within the File menu causes an Auto Save Configuration dialog box to appear Refer to Figure 10 9 Autosave Number of changes between saves Z Autosave on ET Figure 10 9 Auto Save Configuration Dialog Box The number of changes made to a file determines how often the system activates the Auto Save option The Number of changes between saves entry field specifies how frequently the system is to activate the Auto Save option There are two ways to edit the value displayed in this field The first method uses the vertical scroll buttons on the right side of the field and increments or decrements the current value by one The second method allows the user to clearly state the value by 1 placing the cursor inside the field and 2 manually entering the new value The Autosave on check box permits the user to enable the automatic save feature Placing a check mark within this box enables this feature The Set button completes the automatic save configuration The configuration for this feature depends on the parameter values established through the Auto Save Configuration dialog box
29. 0 Aerotech Inc 5 41 Setup Menu Options U31 U600 User s Manual The encoder channel entry field specifies the channel over which the system receives the feedback Valid channel numbers are 1 16 and typically correspond with axis 1 through axis 16 The default value is zero 0 and is invalid The lines entry field indicates the number of encoder pulses a system is to receive for one revolution of the motor The valid range of this parameter includes all non zero positive numbers The default value zero is therefore invalid To determine the appropriate setting for a particular motor encoder refer to the documentation supplied by the motor manufacturer 5 7 2 4 HP VME Laser A laser interferometer is a feedback device that uses the wavelength of light in a laser beam as a basis for position measurement It provides the highest inherent accuracy and resolution available for ultra high precision positioning Selecting the HP VME Laser option as the primary feedback source signifies that there is a VME based Hewlett Pakard laser interferometer interface card present in the system To properly use this interface card the user must define its characteristics To determine which parameters to select refer to Figure 5 25 Axis Configuration Setup Primary Feedback 2 Null Feedback J Resolver 2 Encoder HP VME Laser J Slave Encoder 3 Encoder Hall 2 Resolver Hall k Actual Lines 9 VRE Adar 2427307 Effective Lin
30. 14 CHAPTER 7 73 7 2 7 3 7 4 7 5 U31 U600 User s Manual 6 121 Files AE RE EA mos e ep 6 34 6 12 2 Plot AL ether cene ee icio 6 35 6 12 3 TrIggeri onsec en TD RE OER 6 36 6 124 Collecta eere 6 36 6 12 5 Display eco EE RE 6 36 6 12 67 AXIS idR Ro pete o EE ER 6 37 Plot X Y Utility oat ette TC eee iter 6 39 6 13 1 Configuration File sse 6 40 ER EE EE EE EE EE 6 41 6 13 3 AXIS Lee Ree tton deri e eps 6 43 6 13 45 XY Plot iste RE rete OE 6 44 6 13 4 1 Actual Commanded Position 6 44 6 13 4 2 Coordinate Limits esses 6 44 6 13 4 3 Units of Measure 6 45 6 13 4 4 Correct Aspect Ratio sesssssee 6 46 6 13 5 Clear Screen i sesion 6 46 Hexadecimal Calculator eese 6 46 RUN cnc parts Program esse sees se ee ee ee Ge Se SR Ge Ge Gee ee ee 7 1 Selecting the Parts Program esse ese se see ee ee GR Ge ee Ge ee ee ee ee 7 1 CNC Parts Program Decoding iese se se se see ee Ge ee ee ee ee ee 7 2 CNG Run Mod ese ee ave ostende e IO UR RERO 7 2 7 3 1 Parts Program Display sse 7 3 1 32 Gr Code Display eee E 7 4 7 3 2 1 1st Axes Plane Move Type iese se se se se ee 7 4 7 3 2 2 2nd Axes Plane Move Type iese se ee esee 7 4 7 3 2 3 Axes Plane Designation First Set 7 4 7 3 2 4 Axes Plane Designation Second Set
31. 16 Display 5 3 base speed Parameter 5 16 Binary Files 5 34 Binary Format 2 2 Binary Format File 5 20 Binary Format Files 5 4 5 35 Bit Mask 5 12 5 13 5 14 Bit Mask Control Box 5 4 Bit Mask Control Method of Parameter Modification 5 3 BIT 6 32 BLK_DEL_OFF F7 Push Button 7 11 BLK_DEL_ON F7 Push Button 7 11 Block Delete Operation 7 11 Block Motion Field 6 7 Blocking Motion Commands 5 6 BLOCKMOTION Parameter 5 6 Imperfections Aerotech Inc U31 U600 User s Manual Bounding 6 19 Brake Motor 5 6 Build F7 Push button 5 56 Buttons 3 4 C Calculator Hexadecimal 6 46 Calendar Display 11 1 CAM Mode 6 6 CAM Points and Interpolation 5 14 CAM Table 5 14 5 15 5 66 6 5 CAM Table Enable 6 6 CAM Table Enable Option 6 17 CAM Table Execution Modes 5 15 CAM Table Execution using Absolute Slave Position Entries 5 15 CAM Table Execution using Relative Slave Position Entries 5 15 CAM Table Position Types 5 14 CAM Table First Entry 5 14 CAM Table Master Position 5 14 CAM Table Offset to Master Position 5 15 CAM Table Repeat Execution 5 15 CAM Table Slave Position 5 14 CAM Tables 5 15 5 46 CAMOFFSET Parameter 5 15 Cancel Push Button 7 14 10 5 10 7 10 8 10 11 CANCEL Push Button 5 51 CCW Circular Programming 7 4 CCW EOT Fault 6 9 CCW Input 6 3 CCW Input Option 6 13 CCW Limit Switch 5 13 CCW Software EOT Fault 6 9 CCWEOT Parame
32. 2 26 for information on this status bit 6 2 5 14 Aux Mode Refer to Section 6 1 2 27 for information on this status bit 6 2 5 15 Block Motion Refer to Section 6 1 2 28 for information on this status bit 6 2 5 16 Hold Queue This information field is synonymous with the corresponding field in the Axis Status Group Please refer to Section 6 1 2 29 for further information 6 2 5 17 Disable Queued This field indicates the current state of queued motion command execution When ON appears on the display the system ignores all queued motion commands Otherwise the system places the commands into the queue and executes them as soon as possible Related Parameter s NONE Version 1 0 Aerotech Inc 6 17 Diagnostic Menu Options U31 U600Users Manual 6 2 5 18 Halt Queued This field also provides information about the current state of the motion queue ON appears on the display when the system halts execution of the motion queue Upon halting the motion queue the axis gracefully decelerates to zero velocity in the amount of time specified by the deceleration parameter This has no effect on the position error tracking The motion queue is flushed when the halt queue field is ON The halt process is caused by an active fault which is enabled in the HALTMASK parameter Related Parameter s HALTMASK 6 2 5 19 Abort Queued This field is similar to the Halt Queued indicator above However this indicates to the user that the sys
33. 2 5 24 De cel Mode ette ene ees 6 19 6 2 5 25 Bounded seen 6 19 6 2 5 26 Setup Pending ses ese EE BEES eee 6 19 6 223 27 Checker Flag iin oen Rem 6 19 6 2 5 28 Quick Home ese esse ee ee ee ee Re ee RA GR ee ee 6 19 6 2 5 29 Interrupt Pending eese 6 19 6 2 5 30 Pendant Jog seno e eben heremo 6 19 6 2 5 31 Marker Armed esse see see see se ee ee ee ee ee 6 19 6 2 5 32 Jog Enable ER EE OE EE EN 6 20 6 2 6 Fault Mask ene eere 6 20 6 2 7 Disable Mask eene 6 20 6 2 8 Halt MASk oett deter ERR 6 20 6 2 9 Interrupt Mask esee 6 20 6 2 10 Auxiliary Mask sese 6 20 62 11 Clearing Faults sisie nene Deed 6 20 6 3 Axis Processor Firmware Status Display sess 6 21 6 4 Axis Processor Programming Error Status Display 6 22 6 5 Drive Enable Control eese 6 25 6 6 Emergency Stop Control 6 25 6 7 Digital Input Output Status esee 6 27 6 8 Matrix Option Analog Input Status se see ss see ee ee se ee ee 6 28 6 9 PLC Analog Input Output Control ee ee ee ee 6 30 6 10 Virtual I O Utility PLC Window menu eene 6 31 6 11 The FAULTMSG INI File eet iret erre tees 6 32 6 12 PlotData Utility tette tet RES vee 6 34 Version 1 0 Aerotech Inc ix Table of Contents 6
34. 5 6 13 Halt Mask Option 6 20 Halt Queued Field 6 18 Halt with Feedhold Check Box 5 60 HALTMASK Parameter 5 4 5 13 6 18 Hardware Characteristics Defining 5 39 Hardware Home 7 7 Hardware Home Position 5 8 5 9 Hardware Status 6 3 Help F1 Button 5 20 Hex Calculator Option 6 46 Hex Dec Toggle Pushbutton 5 3 Hexadecimal Calculator 6 46 Hexadecimal Calculator Dialog Box 6 46 Hexadecimal Display 5 3 Hexadecimal Mode Keys A F 6 47 High accuracy Positioning 5 42 Highlighting Selecting a Parameter 5 3 Hold Active Field 6 7 Hold Queue Field 6 7 Holding Areas Temporary 5 5 Home 6 4 8 1 Home Hardware Position 5 8 5 9 Home Axes 8 1 Home Axes Screen 5 21 Home Command 5 21 Home Cycle 6 4 6 15 Aerotech Inc U31 U600 User s Manual Home Feedrate 5 12 Home Input 6 3 Home Key 10 3 Home Limit 5 22 Home Limit and Marker Pulse Minimum Distance Between 5 12 Home Limit Seek Speed 5 21 Home Limit Switch 5 13 5 21 6 19 8 2 Home Limits Switch 5 12 Home Marker Pulse 5 12 Home Offset Clockwise 5 22 Home Offset Counter clockwise 5 22 Home Position 5 12 5 16 8 2 Home Position Travel Direction 5 22 Home Switch Tolerance Fault 6 10 HOME_SWITCH_TOLERANCE Fault 5 12 Homed Field 6 15 HOMESWITCHTOL Parameter 5 12 Homing 6 6 6 17 Homing Cycle 5 45 Homing Direction Field 6 6 Homing Fault 5 22 6 10 Homing Process Completion of
35. 5 5 SSNs dm E 5 5 3 3 6 SEA OE uen hes ema mee EE 5 5 5 995 POAN rera er nt rasan re SE TUS 5 5 3 9 9 MEE N NR EE OR EG EE TREE ed 5 6 33 0 DRIVE ete e eie ee ee hand 5 6 5 310 AUX EER SR ER DE EA ro IRR 5 6 5 3 11 AFFGAIN ee ee ee ee ee ee ee ee ee ee ee ee ee Re ee ee Re ee ee RR ee Ge ee 5 6 33 12 BLOCKMOTION se eers sede ees See iier eee e 5 6 5 3 13 REVERSALMODE ees ese ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee 5 6 3 3 14 IMAJX EE EES SERE GER SE E IG EG Ee aa 5 6 5 8 15 TAVGLIMIT etri Ge sees Ee Ore ee nd De sk Ge eripe 5 7 3 3 16 TAVGTIME inn e Cen lec 5 7 5 3 17 POSERRLIMIT iet eee coetu ee etie 5 7 5 3 18 INPOSLIMIT eee eR 5 7 5 3 19 ECWEOW 5n RE SO BES ttes tiet 5 8 3 320 COWBOY er see teer ere ee e E 5 8 33 21 MELTRAP nce vet Ge Ee eo bee ee bee Ee eei deeds seve 5 8 3 3 22 VELECMDTRAP aee mE ee GEE ED Re E 5 8 5 3 23 FBWINDOW lt r n ee ee ee ee Re ee ee ee ee ee ee RR ee ee ee 5 8 3 3 24 SAFEZONECYW EER ESE see eee See Se ee ee EH EG Gee 5 8 3325 SAFEZONBEEW sce estadio Rene Ge ee Eb 5 9 5 3 26 SAFEZONEMODE eeuse esse se sees ee es ee ee se se ee ee ee ee ee ee ke ee ee 5 9 5 3 27 SIMU A ON sees ese ese ee ee ee ee ee ER O ESATEN 5 9 RE ACCEL EL OS deaths N N OIE ROL EN 5 10 33 29 DECEL Time iet oe Ee be e ee re eers 5 10 5 3 30 ACCELMODE eer rre Ge VER Ee Eg Ge ee ee ER See 5 10 33 51 DECEM ODE 5i Ee E Vee RETA 5 10 5 3 32 FEE
36. 7 10 7 11 8 9 F3 Jog Push Button 8 2 F3 Jog Push Button 8 2 F3 Key 5 34 5 58 F3 Soft Reset Push Button 6 21 6 22 F4 9 8 F4 Function Key 4 4 5 57 6 22 7 15 F4 Push Button 7 15 F4 Hard Reset Push Button 6 22 F5 Function Key 4 4 5 57 7 15 8 10 F5 Push Button 7 15 F6 Function Key 4 4 5 57 7 10 8 10 F6 Save Position Push Button 8 7 F7 Function Key 4 4 5 56 7 11 F7 Save File Push Button 8 7 F8 Function Key 4 4 7 11 8 3 F8 FHold Push Button 8 3 F9 Function Key 4 4 8 4 F9 Abort Push Button 8 4 Failure to Clear Emergency Stop Dialog Box 6 26 6 27 Fault Bit Mask 5 12 Fault Condition 5 6 5 28 Fault Mask Option 6 20 FAULT Parameter 5 12 Fault Status 6 2 6 8 Fault Status Display Dialog Box 6 8 Fault Status Screen 6 4 Fault Type Check Box 5 4 Fault Types Enabling Disabling Actions for Specific 5 4 Fault Types List of 5 4 Fault Utility 6 2 FAULT LEVEL 6 33 Faulted Field 6 4 Faulted Option 6 13 FAULTMASK Parameter 5 4 5 6 5 12 5 14 6 8 FAULTMSG NI file 6 32 Faults 5 7 5 8 5 12 5 13 5 14 5 22 5 28 5 29 6 2 6 3 6 9 Faults that Turn Off Axis Aux Outputs 5 13 Faults Used to Disable Axis 5 12 Version 1 0 U31 U600 User s Manual Index Faults Actions Taken upon Detection of 5 4 Faults Clearing 6 20 Faults Homing 5 22 FB Failure Input Field 6 14 FBWINDOW Parameter 5 8 Feed Rate Override 5 11 Feedback C
37. 8 2 Joystick 9 2 Joystick En Dis 9 7 K key 8 11 Keypad 9 3 KI Parameter 5 5 KP Parameter 5 5 L Labels Defining 5 33 Laser 5 42 Laser Bit 6 14 Version 1 0 Aerotech Inc xi Laser Interferometer 5 40 5 42 Laser Source Control Register LSCR 5 43 Laser Configuration 5 43 LED Indicators 9 3 Left Arrow Key 10 3 Limit Switch 6 20 Limit Switch Using Same for Home and End of Travel Limits 5 22 Limits Specifying for Spindle Feedrate 5 27 Linear Acceleration Deceleration 5 32 Linear Interpolation in Axis Correction Tables 5 55 LINEAR Parameter 5 27 Linear Programming 7 4 Linear Ramping 5 10 5 32 List Box 5 19 List Files Box 5 54 Load Configuration Option 6 40 Load File Option 5 62 Load F3 5 19 Load F3 Function 5 34 Load F3 Key 5 4 5 58 Load F3 Option 5 35 Load F3 Push Button 4 6 Loading Saved Files 5 61 Log Off Option 4 1 Log Off Process Aborting 4 3 Log On Dialog Box 4 1 4 2 Logical Functions 6 46 Logon Successful Dialog Box 4 2 Lowercase Characters Finding 7 13 LSCR 5 43 M M01 Command 7 11 Machine Counts 5 21 Machine Data 8 6 Machine Motor Position 7 7 Machine Parameter Editor 5 18 5 19 5 27 MACHINE PARAMETER EDITOR Option 5 18 Machine Parameter Editor Screen 5 18 Machine Parameter Help Screen 5 20 Machine Parameter Modification 5 1 Machine Parameters 2 2 5 19 MACHINE INI File 2 2 5 18 5 19 A
38. Axis 01 0 0000 Axis 02 0 0000 cu 02 20 0000 D 02 10 0000 Copy s 02 30 0000 Paste Clear Find Select all Figure 10 3 Edit Menu The Cut and Copy options located in the Edit menu perform similar operations on the currently selected area of text All currently highlighted text gets copied into a paste buffer The user can later insert this buffer into another program using the Paste option from the Edit menu The following text discusses details of this operation The difference between these two options is that the Cut option removes the selected text from the parts program while the Copy option does not Another function that uses the selected area of text is the Clear option also located in this menu The Clear option deletes the highlighted area of text from the parts program without copying it into the paste buffer Another way to perform a clear function is through the Delete and the Backspace keys With an area of text currently selected insert a character into a file delete the highlighted text and watch the system replace the deleted text with the new character The cursor repositions itself adjacent to the new character 10 3 4 Undo Typing The Undo typing option located within the Edit menu reverses the last action performed by the user The only exception to this is cursor movement operations Therefore with this option the user may remove newly inserted text or restore text just de
39. CWEOT and CCWEOT parameters as well as the safe zones defined by the SAFEZONECW SAFEZONECCW and SAFEZONEMODE parameters In many systems the current absolute position of an axis is unknown until after the axis reaches its home position Therefore the user should not activate a software limit or a safe zone until the system successfully completes the homing process 5 16 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options However the mechanics of some systems do not permit execution of a normal homing sequence Therefore the user must use an alternate method to determine the absolute position In this case it may be logical to permit software limits and safe zones to be active at all times Setting this parameter to a one 1 causes these features to become active after successfully homing the axis The default value is zero 0 and causes these features to always be active Version 1 0 Aerotech Inc 5 17 Setup Menu Options U31 U600 User s Manual 5 4 Machine Parameter Editor By selecting the Machine Parameter option found within the Setup menu the system invokes the Machine Parameter Editor see Figure 5 5 This utility permits the user to specify the various aspects of the machine to which the UNIDEX 31 U600 interfaces The displayed values relate to the settings upon invoking the MAINMENU This does not necessarily correspond with the current value of a parameter However changing t
40. Decoding After selecting a valid CNC parts program the system decodes each line within the program and translates it into a format accepted by the axis processor If a program contains erroneous statements the Program Translation Error Dialog Box appears to notify the user of the translation error The Program Translation Error Dialog Box contains information that specifies the line number on which the system encountered the error as well as the type of error that occurred see Figure 7 3 The user may not execute this program Program Translation Error CNC 1 Program 1 Line 1 File C U3 1 PROGRAMS ANDY PGM G1 G8 G9 X100 Y 100 2100 F300 Error Axis not assigned to this CNC Pass 1 Figure 7 3 Program Translation Error Dialog Box 7 3 CNC Run Mode After downloading the entire parts program to the axis processor MAINMENU enters the CNC Run Mode Dialog Box see Figure 7 4 This screen displays information such as the current position of each axis and the G Codes currently active It also displays the parts program being executed and provides controls that allow the user to manipulate the characteristics of its execution 7 2 Aerotech Inc Version 1 0 U31 U600 User s Manual Run CNC Parts Program x Aerotech CNC Version 12 16 93 s m Password Setup Diagnostic Run Manual Edit View Comm 4 CNC 1 Run Mode Program C U31 PROGRAMS ANDY1 PGM Feedrate Search Interrupt Debug Variables Reset Feedrate
41. Encoder Hall Feedback Configuration Parameters 5 44 Figure 5 27 Resolver Hall Feedback Configuration Parameters 5 45 Figure 5 28 D A Configuration Parameters essere 5 47 Figure 5 29 Enabling Axes Configuration Dialog BOX ees sees sees se ee ee ee se ee 5 48 Figure 5 30 Axes Configuration Error Dialog BOX esse sees see sese 5 48 Version 1 0 Aerotech Inc xiii List of Figures U31 U600 User s Manual Figure 5 31 Save Axes Configuration to disk Dialog Box sess 5 48 Figure 5 32 Sample Motor Set MSET Screen 5 49 Figure 5 33 System Options Dialog Box esee 5 50 Figure 5 34 API Probe Failure Dialog Box seen 5 50 Figure 5 35 HP Laser Compensation Dialog Box esee 5 51 Figure 5 36 API Probe Dialog Box misinis mne aan eee 5 52 Figure 5 37 API Probe Time Menu sese nee 5 52 Figure 5 38 Open Tool File Screen iese esse ee se se Se Se GR GR Re Gee Ge ee ee ee 5 53 Figure 5 39 Invalid Directory during File Open Dialog Box 5 53 Figure 5 40 File Open Dialog Box esee 5 54 Figure 5 41 Axis Correction Table Editor Dialog Box eese 5 55 Figure 5 42 Data Acquisition Parameter Editor Dialog Box 5 59 Figure 5 43 Plot MAINMENU Dialog Box
42. Function 5 34 Save F2 Key 5 4 Save F2 Option 5 35 Save F2 Push Button 4 6 5 58 Saving 10 8 Saving New Parameter Values to a File 5 4 Saving Newly Entered Parameter Values 5 4 Saving Teach Positions to a File 8 7 Saving the Parts Program 10 6 Scale Entry Field 5 58 Scale Factor 5 15 Scale Factors 5 42 Scaling 5 58 6 44 Scaling Axis 5 58 Scaling Velocity Feedback and Position Feedback Resolution 5 15 Screen Format Toggling 5 68 Scroll Bar 5 3 5 4 5 19 5 39 5 60 Scroll Bar Arrow Keys 5 39 Scroll Bar Arrows 5 19 Scroll Bar Use with Mouse 5 19 Version 1 0 U31 U600 User s Manual Index Scrolling 5 19 5 54 5 67 7 13 Scrolling for Axis Selection 5 3 Scrolling through the Parameter List 5 3 Search String Max Size 10 5 Search Replace Function 10 2 Searching Feature 10 4 second Axis Processor Slave Encoder 5 43 Secondary Feedback 5 44 Secondary Feedback Device 5 45 Secondary Feedback Group Box 5 44 Select Axis Group Box 5 19 5 39 Select Axis List Box 5 3 Select Axis Option 5 69 6 37 Select Display Group Box 6 2 Selected Plane Axes Group Box 5 36 Selecting a Parameter 5 3 Selecting Parameters 5 4 Selecting Status Type 6 2 Selection of Axes to Acquire 5 60 Semaphores 2 1 Servo 6 39 Servo Actual Position 5 63 Servo Commanded Position 5 63 Servo Feedback Resolution 5 43 Servo Gain Settings 5 71 Servo Information Displayi
43. J Index U31 U600 User s Manual View Pull Down Menu 11 1 Virtual Axes 7 16 X Virtual Axis 5 40 5 47 Virtual Feedback 5 46 X Plane Pull Down Menu 5 35 Virtual VO System 2 2 X Y Plane Movements Compensating Virtual I O Utility 6 31 ior 5 35 Virtual IO Point 8 13 XY Plot Option 6 44 Virtual Master Axis 5 46 XY Plot Pull Down Menu 6 44 6 45 VME Address 0 42 Xycom Digital VO Option 6 27 VME Bus Interrupt 6 10 Xycom Digital Input Output Status VME Memory Map 5 42 Dialog Box 6 28 VOL Edit Box 5 51 Y W Y Plane Pull Down Menu 5 35 Warnings 1 3 Watchdog Timer 5 50 Z Watchdog Timer Option 5 49 5 50 Wild Card Designations 5 54 Wild Card Specifications in Directory Zero Following Error 5 46 7 16 Fields 5 54 Zero Line 5 68 Window Title Bar 6 41 Word Wrap Option 10 11 Wrap Check Box 10 6 VV V XX Aerotech Inc Version 1 0 READER S COMMENTS AEROTECH UNIDEX 31 U600 User s Manual P N EDU 153 March 1996 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
44. MFO Manual Feed Override 5 26 MFO Control 5 60 Minimum Feedrate Default 5 26 Minimum Value List Box 5 3 Miscellaneous Options 5 49 Modicon PLC Test Utility 6 31 Modifying Parameters 5 3 Modifying Password Access Privileges 4 3 Motion Commands Terminating 8 10 Motion Status 6 2 Motion Status Display Dialog Box 6 16 Motion Status Group 6 16 MOTION SYS Device Driver 2 7 Motor Brake Activation of 5 6 Motor Revolution 5 42 Motor Shaft Angle 5 41 Motor Speed 7 7 Motor Torque Enabling and Disabling 5 6 Motor Torque Maintaining 6 39 Motor Torque Steady 5 9 Motor Velocity 5 16 Motor Resolver Alignment 5 41 Motors 6 15 Mouse 5 19 7 6 10 3 using buttons to select objects 3 4 Mouse Operation 5 3 Move Direction Field 6 5 Move Direction Option 6 16 Moving Field 6 5 Moving Option 6 16 Moving the Dialog Box 7 6 Msetting 6 15 N No Error Display 6 22 Noise Insensitivity of Resolvers 5 40 Normal Feedrate Mode 7 5 Normal Homing Sequence 5 21 Null Feedback 5 46 Null Feedback Devices 5 40 Nulls 5 40 Number of Sample Entry Field 5 60 O OCCx INI File 8 11 off_mcode 8 12 Offsets to Master Axis Position 5 15 OK Push Button 4 1 4 3 6 24 10 7 on mcode 8 12 Open File Error Dialog Box 7 2 Open File Option 10 2 Operation Teach Pendant 9 6 OPT ST OFF F8 Push Button 7 11 OPT ST ON F8 Push Button 7 11 Optional Features Enabling 5 1 O
45. Menu option is used for recording position information This information can be saved to a file edited and used as a normal parts program This allows the user to manually jog the axes to the desired locations and store the moves The stored moves can then be loaded and run automatically x Aerotech CNC Version 11 24 93 Password Setup Diagnostic Run Manual Edit View Comm Axis Select G Codes Data Select F6 Save Pos F7 Save File i_ x CNC 1 Axis Positions Display Font Units Machine Target Pos To Go Veloc it Axis 01 DOEL 20 0000 mm Axis 02 pool 0 0000 mm Fri 12 17 93 10 30 05 am Figure 8 4 Teach Mode Dialog Box 8 4 Aerotech Inc Version 1 0 U31 U600 User s Manual Manual Operation 8 2 4 1 Stored Axes Only certain axis positions are stored These axes are selected under the Axis Selection Menu option A check mark appears by the axes whose positions will be stored refer to Figure 8 5 x Aerotech CNC Version 11 24 93 Password Setup Diagnostic Run Manual Edit View Comm FRITS G Codes Data Select 8 Axis 89 v2 Axis 02 18 Axis 18 3 Axis 83 iP Axis idi Axis Bd 12 Axis 12 3 Axis 84 13 Axis 13 3 e Axis 88 Axis i4 Axis 87 Adis 18 dese Axis 88 Axis 18 Axis DE Axis 18 4 F7 Save File x CHC 1 Axis Positions Display Font Units Machine Taraet Pos To Go Veloc it Axis 01 poel 200000 mn Axis 02 OO 0 0000 mm Fri 12 17 93 10 30 28 am Figure 8 5
46. Menu Options 5 4 1 Machine Parameter List Box Referring again to Figure 5 5 note that all applicable machine parameters appear in a list box at the center of the screen Each line of the list box contains the parameter value as well as the parameter name Some parameters include additional information denoted by text enclosed in parenthesis The user may scroll through these parameters using the scroll bar to the right of the window as well as with the arrow page up and page down keys The highlighted parameter is the currently selected parameter 5 4 2 Current Setting Box The value of the currently selected parameter appears in two places to the left of the parameter name in the list box and in the Current Setting group box found on the upper left side of the screen Each time the user changes the currently selected parameter the value in this box also changes 5 4 3 Axis Selection Each parameter on this screen applies to only one axis Therefore the user must have some method of specifying the axis to which each parameter should apply The user can do this from within the Select Axis group box This box contains an indication of the currently selected axis both by number and by name as well as a scroll bar to permit axis selection The user can sequentially move through the axes using the arrows at the ends of the scroll bar Mouse users may move directly to a given axis number by dragging the scroll bar until the di
47. Modes 5 59 5 60 Data Acquisition Parameter Editor 5 58 5 61 6 34 Data Acquisition Parameter Editor Dialog Box 5 59 Data Acquisition Modification 5 1 Data Acquisition Plot Application 5 61 Data Acquisition Sample Period 5 63 Parameter Aerotech Inc U31 U600 User s Manual Data Acquisition Graphical Format 5 61 Data Acquisition Representation 5 60 Data Acquisition Resolution of Displayed Data 5 67 Data Acquisition Stop 6 42 Data Acquisition Strip Chart Recording 5 61 Data File Selecting 5 54 Data Select Menu 8 6 Data Stored 8 6 DATA INI File 5 60 Deactivating Tools 5 52 Deadband Stationary 5 37 Debug Information 6 23 Debug Mode 7 16 DEBUG 960 EXE File 6 15 Debugging 5 9 7 7 7 16 Decel Enable Field 6 18 Decel Mode Field 6 19 DECEL Parameter 5 10 5 13 5 14 Decel Phase Field 6 5 Decel Phase Option 6 17 DECELERATE Parameter 5 11 Deceleration 8 3 DECELMODE Parameter 5 10 Decimal Display 5 3 Decoding Parts Programs 7 2 Decrement Box 5 72 Default Password 4 1 DEL Key 6 46 Delete Operation 7 11 DELETE Push Button 4 5 Delete F5 Push Button 5 57 Deleting Passwords 4 3 Delimiting Fields 6 31 Diagnostic Pull Down Menu 6 1 6 25 6 27 6 28 6 39 6 46 Diagnostic Utilities 6 15 Diagnostics Menu Options 0 1 Dialog Box Changing the Size of 7 8 Dialog Box Moving 7 6 Dialog Box Sizing 7 6 Digital Input Output Sta
48. Position Error Limit This error occurs when the difference between the instantaneous commanded position and the actual position is greater than the amount specified by the position error limit Related Parameter s POSERRLIMIT Refer to section 5 3 17 6 8 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options 6 2 3 2 RMS Current Limit This fault occurs when the average instantaneous current exceeds the amount specified by the RMS current limit parameter Related Parameter s IAVGLIMIT Refer to section 5 3 15 6 2 3 3 CW EOT This is the clockwise end of travel fault that occurs when the system encounters the clockwise limit switch Related Parameter s IOLEVEL Refer to section 5 3 42 6 2 3 4 CCW EOT This is the counter clockwise end of travel fault that occurs when the system encounters a counter clockwise limit switch Related Parameter s IOLEVEL Refer to section 5 3 42 6 2 3 5 CW Software EOT A clockwise software end of travel fault occurs when the user commands an axis to move beyond the position specified in the clockwise end of travel parameter Related Parameter s CWEOT Refer to section 5 3 19 6 2 3 6 CCW Software EOT A counter clockwise software end of travel fault occurs when the user commands the axis to move beyond the position specified in the counter clockwise end of travel parameter Related Parameter s CCWEOT Refer to section 5 3 20 6 2 3 7 Drive A fa
49. Selecting one of these channels causes the requested information to appear on the display The data from channels not selected remains in memory and therefore the user can select it for viewing anytime data collection has taken place Each time the user saves a file the system saves all information not just the selected channels x Aerotech CNC Version 11 24 93 a imi Password Setup Diagnostic Run Manual Edit View Comm F1 Help Ej PlotData ET Trigger Collect Display Axis v Actual Velocity Commanded Velocity Velocity Error Actual Position Commanded Position Position Error Torque Raw Position Master Pos Acceleration Time Analog 1 Analog 2 Analog 3 Analog 4 Analog 5 Analog 6 Analog 7 Analog 8 Thu 12 16 93 1 37 45 pm Figure 6 21 Plot Menu Version 1 0 Aerotech Inc 6 35 Diagnostic Menu Options U31 U600Users Manual 6 12 3 Trigger There are five choices offered through this menu For a list of these choices refer to Figure 6 22 This menu behaves similar to the trigger control on an oscilloscope The Acquire 1 Set of Data option performs the same function as the single sweep control on a scope Using this control allows only one acquisition of data The Acquire Data Continuously option collects data on a continuous basis and is the equivalent of putting an oscilloscope in the auto or freerun modes The Stop Data Acquisition feature halts the data collec
50. Storing Position 8 7 8 2 4 5 Saving Teach Positions To a File 8 7 8 2 4 6 Editing Teach Positions iese esse esse ese ee se se ee ee 8 8 8 3 CNC Manual Entry Mode sese 8 8 8 3 1 Similarities with CNC Run Mode sse 8 9 8 3 2 Manual Command Entry eee 8 9 8 3 3 Suspending Motion Command Execution 8 10 8 3 4 Terminating Motion Commands sees 8 10 8 4 Manual VO ss es reed m Rae Oe eie hes 8 11 84 OCCX INL EG Ren ee ee eS nd 8 11 8 5 Ethernet eet seen eee tiep 8 14 CHAPTER 9 Teach Pendant ese see see eke ee ee Ge ee Ge ek Re nennen 9 1 9 1 Introd ction AE EE tere EE N 9 1 9 2 ASCCESSOLICS RE EE ER EE ee RE Ge Ge GE ee eg ee EE Ee 9 2 9 2 1 Display Window eee eene 9 2 9 2 2 E Stop Button Saige ae Ae ees 9 2 9 2 3 F edhold Button o nose etienne eerte 9 2 924 Joystick NE ete p etes 9 2 ENE RE TE EE EE e 9 2 9 2 6 BED Indicators iere 9 3 Version 1 0 Aerotech Inc xi Table of Contents U31 U600 User s Manual 9 3 CHAPTER 10 10 1 10 2 10 3 10 4 10 5 10 6 10 7 CHAPTER 11 11 1 11 2 11 3 CHAPTER 12 12 1 12 2 12 3 APPENDIX A APPENDIX B INDEX 92 7 OER EE ER eet 9 3 Operation and Set p sect uie faeere pens 9 3 9 3 Setup odo qe tdi ies OE IG 9 4
51. Synchronization 5 46 Axis Test Option 5 1 Axis Test Utility 5 61 Axis Tuning 5 1 7 5 Axis Tuning Dialog Box 5 71 Axis Abort Mode 5 14 Axis Causing to Halt 5 13 Axis CCW Move Direction 5 22 Axis Clockwise Boundary of the Safe Zone 5 8 Axis Counter clockwise Boundary of the Safe Zone 5 9 Axis Current 5 34 Axis Current Absolute Position of 5 16 Axis CW Move Direction 5 22 Axis Enabling and Disabling Motor Torque of 5 6 Axis Establishing an Auxiliary Output for 5 6 Axis Faults that Disable 5 12 Axis Feed Rate Override 5 11 Version 1 0 Aerotech Inc iii Axis Integral Gain of 5 5 Axis Keeping Stationary 5 6 Axis Lowest Feedrate for 5 21 Axis Master 5 14 Axis Motion Abort Faults 5 14 Axis Proportional Gain of 5 5 Axis Selection and Scrolling 5 19 Axis Selection of 5 36 Axis Specifying 5 19 Axis Spindle 7 15 Axis Virtual 5 40 5 47 Axis Virtual Master 5 46 AXIS INI File 2 2 5 2 5 4 B B Axis 5 23 B Axis Initialization Dialog Box 5 34 B Axis Initialization Screen 5 35 B Axis Parameters 5 23 B Axis Select Menu 5 35 B Axis Select Pull Down Menu 5 34 5 35 Background Colors List Box 10 11 Backlash Compensating for 5 6 Backlash Definition 5 6 Bad Cutter Compensation Mask Fault 5 28 Bad Cutter Compensation Radius Fault 5 29 Ball Screw Compensating for 5 58 Ball Screw Changing Direction 5 6 Base 10 Display 5 3 Base
52. Teach Mode Axis Select Menu 8 2 42 Stored G Codes The G Codes Menu option allows the user to select the G Codes to use for storing the position data refer to Figure 8 6 These G Codes do not affect the actual motion being performed in the teach mode They determine how the move is taught or recorded For example selecting G90 absolute positioning causes the teach mode to store all moves as absolute whether or not the actual command was absolute Version 1 0 Aerotech Inc 8 5 Manual Operation U31 U600 User s Manual x Aerotech CNC Version 11 24 93 Password Setup Diagnostic Run Manual Edit View Comm Axis Select RANG Data Select v Linear Interpolation Cubic Spline Interpolation G70 English Units v G71 Metric Units G90 Absolute Positioning v G91 Incremental Distances F6 Save Pos v Soft Axis Names Hard Coded Axis Names CNC 1 Axis Positions isplay Font Units Machine Target Pos To Go eloc it Axis 01 yg 200000 mad Axis 02 9 0000 mmj Fri 12 17 93 10 31 00 am F7 Save File w Figure 8 6 Teach Mode G Codes menu 8 2 4 3 Stored Data The Data Select Menu option allows the user to select which type of position data to store refer to Figure 8 7 The user may select either Machine Preset or Target Data Refer to Chapter 7 for information concerning these data types 8 6 Aerotech Inc Version 1 0 U31 U600 User s Manual Manual Operation x Aerotech CNC Version 11 24 93 Pass
53. The scroll buttons increment or decrement the current percentage by one percent Mouse users may also click on an area of the scroll box to the right of the scroll bar to increment the percentage by ten percent Conversely clicking on an area of the scroll box to the left of the scroll bar causes the percentage to decrement by ten percent 7 12 Aerotech Inc Version 1 0 U31 U600 User s Manual Run CNC Parts Program Dragging the scroll bar with the mouse also permits the user to obtain the desired percentage The information fields found within these boxes display the feedrate commanded by the parts program the current MFO percentage and the feedrate after scaling by the MFO Each of these fields has a label to easily identify it Programmed Multi and Actual respectively 7 6 Status Window This window displays information concerning the execution of the parts program Refer to this window to observe the present state of the CNC or to determine whether a command has executed 7 1 Begin Program Execution from an Arbitrary Point By default program execution begins with the first line of the selected parts program However MAINMENU also supports beginning execution from any valid program block The user may select the point at which they want execution to begin in one of two ways If the starting point required for an application appears within the parts program window the user may manually place the cursor a
54. This bit is set at configuration time and remains set until resetting the axis processor or re configuring the axis Related Parameter s NONE 6 2 4 23 AC mode This field indicates the type of motor for which the axis has been configured ON signifies that it has been configured for an AC brush motor OFF indicates that it has been configured for a DC brush motor Related Parameter s NONE 6 14 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options 6 2 4 24 Msetting This field indicates that the axis processor is computing the commutation offset for use with the associated axis Several Aerotech diagnostic utilities such as debug960 exe permit entry into this mode Related Parameter s Commutation Offset Section 5 4 2 2 4 6 2 4 25 Homed This field specifies that the associated axis has completed a home cycle This field is cleared when the home sequence is initiated and set when it is completed This does not imply however that a home cycle has just been completed When ON the axis has been homed since power up or has been reset Related Parameter s NONE 6 2 4 26 Encoder Feedback This bit specifies that the type of feedback device associated with the axis is an encoder This bit is set at configuration time and remains set until resetting the axis processor or re configuring the axis Related Parameter s NONE 6 2 4 27 Error Mapping Enable This notifies the user that at least on
55. This screen not only permits the user to view the active faults and masks that affect the U31 s response to those faults but also provides the ability to clear the active faults Activating the CLEAR F12 Push Button or the F12 Function Key initiates an attempt to clear all faults currently present in the system Cleared fault conditions will be updated on the screen Related Parameter s FAULT Refer to section 5 3 36 Related Function s DMRSetFault 6 20 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options 6 3 Axis Processor Firmware Status Display This screen allows the user to determine the general state of the axis processor card It also provides controls that permit the user to reset the axis card and reinitialize the system Refer to Figure 6 6 x Aerotech CNC Version 11 24 93 a n Password Setup Diagnostic Run Manual Edit View Comm Axis Firmware Status Axis Firmware Running F2 Relnitialize Syste F3 Soft Rese F4 Hard Reset Tue 12 14 93 3 45 53 pm Figure 6 6 Axis Firmware Status Dialog Box If an abnormal condition exists within the axis processor the Axis Firmware Running message seen in the illustration above changes into a message that describes the nature of the abnormality detected Push button controls located within this dialog box permit the user to correct many of the problems that may be encountered The F2 Reinitialize System Push Button causes MAIN
56. XY Status Dialog Box eese 6 39 Figure 6 26 Plot XY Fle Menu dedere eet eicit cte be ces 6 40 Figure 6 27 Plot XY Trigger Menu seen 6 41 Figure 6 28 Plot XY Data Acquisition in Progress Dialog Box 6 42 Figure 6 29 Plot XY Data Acquisition Complete Dialog Box 6 42 Figure 6 30 Plot XY Axes MenU oce Doe cente nee n DER tiger 6 43 Figure 6 31 X Y Plot Meni isi esse see see see ee ge ee ee ee Ge Ge Ge nennen een rennen enne 6 44 Figure 6 32 Plot XY Coordinate Limits Dialog Box eee 6 45 Figure 6 33 Hexadecimal Calculator Dialog Box esee 6 46 Figure 7 1 File Open Dialog BOX se se se ee Gee ee ee ee ee E ee Se nennen 7 1 Figure 7 2 File Selection Error Dialog Box sese 7 2 Figure 7 3 Program Translation Error Dialog Box eee 7 2 Figure 7 4 CNC Run Mode Dialog Box sisirin e enne 7 3 Figure 7 5 Initial Axis Position Display Dialog Box sees 7 6 Figure 7 6 Axis Position Display MENU ese se ee ee se Se Ge GR RA Re ee ee ee ee 7 6 Figure 7 7 Displaying Multiple Positioning Items Dialog Box 7 7 Figure 7 8 Axis Position Display Font Menu eee 7 8 Figure 7 9 Axis Position Display Font 12 Dialog BOX esse see se ee se ee 7 8 Figure 7 10 Axis Position Display Font 40 Dialog Box
57. amount of time provided that the customer issues a valid purchase order to Aerotech covering all transportation and subsistence costs and the prevailing labor cost including travel time necessary to complete the repair Aerotech Inc Phone 412 963 7470 101 Zeta Drive Fax 412 963 7459 Pittsburgh PA 15238 2897 USA V VV A 2 Aerotech Inc Version 1 0 U31 U600 User s Manual Appendix B APPENDIX B Optional Options In This Section e Optional Options on the System Options Screen The following section provides information concerning two options now available on the System Options screen the automatic object file and infinite download option checkboxes 3 p 5s B 1 Automatic object file Option The automatic object file option writes object files to the hard disk drive during the compile process This slows down the compile process the first time but speeds up future compiles If no changes are made to the file or any included file since the last object file formation the compiler reads the object file instead of performing a compile However if the program changes the file is automatically recompiled Use of the object files results in approximately 3 2 longer compile time when forming the object file the first time but uses only 1 3 the compile time on successive compiles The object file is actually a combination of two file types OGM and SGM with the same file name
58. box that indicates the channel over which the system receives the touch probe input The user may scroll through the channels and may select the one that corresponds to the configuration being used The option none specifies that no touch probe is currently in use Also in this group box are radio buttons that specify the polarity of the probe being used Version 1 0 Aerotech Inc 5 33 Setup Menu Options U31 U600 User s Manual 5 6 1 17 File Control Changes made from within the CNC Initialization screen affect the parameters currently in use To allow future invocations of MAINMENU to reflect the new parameter values save the parameters to a file The File menu provides functions that permit the user to save the new values to a file as well as restore the old values from this file The options that permit these function are Save F2 and Load F3 As expected the user may also access these functions using the F2 and F3 function keys These functions affect the CNC INI file stored in a binary format and should not be modified by the user 5 6 2 B Axis Parameters In the context of the UNIDEX 31 U600 CNC Processor the term B Axis refers to a rotary axis that maintains a normal relationship to a particular axes plane In a typical usage there is a one sided cutting tool attached to this axis The part being cut is within this axis plane As the part moves the tool rotates to keep the cutting edge perpendicular to the
59. designation and only appears when the infinite download mode is active The queue size should be increased so that this number never nears zero A sugested starting point for a 1 5 meg board is 200 lines For an 8 meg board start with 1000 lines There are a number of restrictions and important considerations in the infinite download mode they are listed below in decreasing order of importance 1 Any statement that can potentially jump to a line other than the line immediately after it is disallowed Statements such as JUMP WHILE REPEAT IF and ONERROR are all disallowed CLS statements are also disallowed In some cases the INCLUDE statement can be used as an alternative to the CLS statement 2 Normally the user can specify a line to begin execution at other then the first line of the program by clicking on the line in the display before hitting cycle start This is not allowed in infinite download mode the program will always start at the beginning regardless of line clicked on by the user 3 In the infinite download mode the user might notice a line of semicolons error in the Microsoft fwrite routine in OS 2 C600 This line is interpreted as a comment and has no effect on program execution and is only required for program display B 2 Aerotech Inc Version 1 0 U31 U600 User s Manual Appendix B 4 A problem that is related to item 3 the text for the lines falling on the 64K character boundari
60. edited A vertical scroll bar allows the user to scroll through the various fault types However the horizontal scroll bar permits the user to move through the various parameters 5 2 8 The File Control Box Any changes made while in the Axis Parameter Editor affect the parameters currently in use The user must save the newly entered parameters so that future invocations of MAINMENU reflect the new values The File Control Box provides push buttons that permit the user to save the new values to a file and restore the old values from a file These buttons are labeled Save F2 and Load F3 The user may also access these functions using the associated F2 and F3 function keys These parameters are saved in the AXIS INI file This file is in a binary format and by no means should the user modify it 5 4 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options 5 3 Axis Parameters The following sections contain detailed information on each of the UNIDEX 31 U600 parameters 5 3 1 POS This parameter specifies the observed position for a selected axis This parameter is a signed 32 bit integer having a range of 2 1 approximately 2 1 billion Upon initialization the system sets the current observed position equal to the POS parameter value 5 3 2 ECHO This parameter allows the user to set a dummy parameter It has no effect on the operation of the controller but may be used to test communicat
61. entry contains two position types a master position and a slave position As the master axis approaches the positions found within the CAM table the slave axis moves to the corresponding slave position Interpolation occurs between the CAM points The first CAM table entry for the master position must be a zero Two rules apply to all master positions following the first entry they must always increase and they must never repeat This parameter relates to the current observed position of the master axis Its primary purpose is to determine the current location within a CAM table once activated This parameter cannot be changed when a CAM table is active The units for this parameter are machine steps and are in the range 2 1 to 2 1 approximately 2 1 billion to 2 1 billion The default value is for zero 0 machine steps The user may set the master position of an axis without affecting the POS parameter of the master axis 5 14 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options 5 3 46 MASTERLEN To understand how this parameter works the reader must be familiar with the operation of synchronized motion through the use of CAM tables on the UNIDEX 31 U600 For a brief discussion of this feature refer to the discussion of the MASTERPOS parameter Section 5 3 45 Setting this parameter to a specific value causes the master position to rollover to zero when the absolute position specified is reac
62. eren tree rede 6 11 6 2 4 Servo Status Group ssec iem terere 6 12 6 2 4 1 Drive Enable esse es sees eed oe ee Ge eed SR ee 6 12 6 2 4 2 Aux Output Enable see 6 12 6 243 CW IMPULS SEER a Ede ee Dee ee 6 12 6 2 4 4 COW Input RE EE tdt 6 13 6 2 4 5 Home Input oe ES De Ee Ee RE seg ee 6 13 6 2 4 6 Drive Fault Input sse 6 13 6 24 T At HOMES EE RSE eee a 6 13 6 248 DONG EE OE OE EE 6 13 6 2 4 9 IN POSI OMe en see horret eoe 6 13 6 2 4 10 Faulted 2 rgo og ek SE ob ee Ke ee EE 6 13 6 2 4 1 1 Probe Input sees see se ee se Se ee ee Ge ee ee 6 13 6 2 4 12 Marker Input ese se se eses ee 6 13 6 2 4 13 Hall Input 1 2 3 and MA ese see see ee 6 13 6 2 4 14 Integral clamped sese 6 13 6 2 4 15 Integral clamped sss 6 13 6 2 4 16 VFF enable sees epe emen iege 6 14 6 2 4 17 AFF enable eese 6 14 6 24 I8 aliV6 2 gp e Ge Ee GE SE RU UE 6 14 6 2 4 19 VFF or zero PGAIN eee 6 14 6 2 4 20 FB Failure input esee 6 14 6 2 4 21 Master FB failure esee 6 14 6 2 4 22 HP VME Laser eee 6 14 6 2 4 23 AC moderns ie eie Ge ee Ge 6 14 6 2 4 24 Misetting sis eis centre petite 6 15 6 2423 Homed 5 ect adiit dee 6 15 6 2 4 26 Encoder Feedback sess 6 15 viii Aerotech Inc Version 1 0 U31 U
63. for one year from date of shipment At times the buyer may desire to expedite a repair Regardless of warranty or out of warranty status the buyer must issue a valid purchase order to cover the added rush service cost Rush service is subject to Aerotech s approval If an Aerotech product cannot be made functional by telephone assistance or by sending and having the customer install replacement parts and cannot be returned to the Aerotech service center for repair and if Aerotech determines the problem could be warranty related then the following policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech covering all transportation and subsistence costs For warranty field repairs the customer will not be charged for the cost of labor and material If service is rendered at times other than normal work periods then special service rates 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
64. have no significance Related Parameter s NONE Version 1 0 Aerotech Inc 6 5 Diagnostic Menu Options U31 U600Users Manual 6 2 2 18 Homing This field determines if the associated axis is currently executing a homing sequence ON signifies a home cycle is in progress Related Parameter s NONE 6 2 2 19 Feedrate Override This field signifies if Manual Feedrate Override MFO controls are active for this axis ON signifies that these controls are enabled for this axis Related Parameter s NONE 6 2 2 20 Profile Mode This field shows if the associated axis is currently executing moves based on the data found in the profile queue for this axis ON signifies that profile queue data is being executed Related Parameter s NONE 6 2 2 21 Sync Mode This field indicates that the associated axis 1s being controlled by another master axis This synchronization may be done by the CAM mode or ratio mode ON signifies synchronization is enabled Related Parameter s NONE 6 2 2 22 CAM Table Enable This field shows if the associated axis is synchronized with another axis by means of a CAM table This bit is of no significance if the axis is not being controlled by another axis see the Sync Mode Bit above ON shows that a CAM table has been activated with this axis acting as the Slave Axis Related Parameter s NONE 6 2 2 23 Homing Direction This field indicates the direction the associated axis is currently tra
65. implies an invalid channel number The Lines Cycle entry field indicates the number of feedback counts per electrical commutation cycle EM Axis Configuration Setup Primary Feedback Help Q Null Feedback Use primary feedback for the position transducer If dual Resolver feedback is used use the secondary feedback selection Encoder for the velocity transducer O HP VME Laser 9 Slave Encoder Drive Interface e Null D A 3D A Secondary Feedback Master Feedback e None e Null Feedback J Encoder 2J Resolver J Slave Encoder j Encoder 2J Resolver Virtual Select Axis hmi x WEST Figure 5 26 Encoder Hall Feedback Configuration Parameters The Commutation Offset entry field is used to align the commutation vector of the resolver Hall device with the rotor of an AC brushless motor This field is given in counts per degree where 1024 counts represents 360 degrees For example a commutation vector of 180 electrical degrees would use a Commutation Offset of 512 The Hall Channel field specifies the encoder channel number where the Hall effect lines are read from 5 7 3 Secondary Feedback In a dual loop configuration the secondary feedback device supplies the servo with velocity feedback The Secondary Feedback group box specifies the type of feedback and the parameters necessary for that device As with the Primary Feedback group box th
66. in which the user can perform CAM table execution In the first mode the system assumes that the current slave position is the starting point of the CAM table Also the system assumes that all slave position entries are relative to that starting point The second mode of CAM table execution does not make that assumption Instead it interprets the slave positions found within the CAM table as absolute positions With synchronization enabled the system determines the current location within the CAM table based on the current master position The slave axis then moves to the position that corresponds to the current master position This parameter defines the speed at which the slave axis is to move The units for this parameter are machine steps per second The default value is 1000 This parameter has a range from 2 1 to 2 1 approximately 2 1 billion to 42 1 billion 5 3 49 VEL SHIFT Most often this parameter applies to dual loop configurations where the velocity feedback resolution differs significantly from the position feedback resolution The effect of this parameter is to scale the velocity feedback to the same resolution as the position feedback The scale factor used is 2 where n is the current value of the vel shift Version 1 0 Aerotech Inc 5 15 Setup Menu Options U31 U600 User s Manual parameter Therefore specifying a positive value causes the velocity feedback to shift left increasing its resolution by
67. into this field must correspond to the channel that the drive is attached to Valid channel numbers are 1 through 16 and typically correspond to axis 1 through 16 The default value is zero 0 and is invalid x Aerotech CNC Version 11 24 93 s im Password Setup Diagnostic Run Manual Edit View Comm Axis Configuration Setup Primary Feedback Help O Null Feedback Use primary feedback for the position transducer If dual 3 Resolver feedback is used use the secondary feedback selection Encoder for the velocity transducer OHP YME Laser Slave Encoder Secondary Feedback Master Feedback e Hone Null Feedback O Resolver 3 Resolver Encoder Chan n J Encoder Encoder 3 Slave Encoder Virtual Drive Interface 3 Null D A D A D A Channet 1 E ENE Axis 01 me Figure 5 28 D A Configuration Parameters Version 1 0 Aerotech Inc 5 47 Setup Menu Options U31 U600 User s Manual 5 7 6 Enabling Axis Configuration Unlike the screens discussed thus far the data entered into this screen does not immediately take effect Upon exiting the screen a message to the user appears along with the dialog box shown in Figure 5 29 Axes Configuration Q Configure axes with new selection Figure 5 29 Enabling Axes Configuration Dialog Box To enable the new configuration select Yes In doing so the new configuration is downloaded to the axis processor In the event that some or all of
68. is possible to move the cursors to a specific point within the display by clicking and dragging with the mouse Also in this window are sample points indicating the location of each cursor the time difference between the two cursors and the frequency one cycle between the two cursors Center A and Center B boxes allow the user to place either cursor at the center of the displayed screen A very good use for this utility is the study of a periodic disturbance 5 14 1 6 Axis Selecting this menu option provides the user with many options see Figure 5 53 Selecting the Select Axis option permits the user to select or change an available axis see Figure 5 54 Choosing the Set Speed Distance option from within the Axis menu brings about the dialog box shown in Figure 5 55 Version 1 0 Aerotech Inc 5 60 Setup Menu Options U31 U600 User s Manual Aerotech Stripchart Axis 1 Status Idle File Plot Trigger Collect Display Single Step Auto Step Halt Motion Start Continuous Motion Tune Set Speed Distance Select Axis Figure 5 53 Axis Menu 3 Aerotech Stripchart Axis 1 Status Idle File Plot Trigger Collect Display Axis Axis Selection jAxis 5 jAxis 9 jAxis 13 jAxis6 J xis 10 j Axis 14 jAxis 7 J xis 11 j Axis 15 jAxis 8 jAxis 12 j Axis 16 Figure 5 54 Axis Selection Menu 5 70 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options
69. is not within the limits of this parameter Figure 5 3 Invalid Entry of Parameter Value Dialog Box 5 2 6 Parameter Modification The Trim Control Box Another method for modifying the value of a parameter is through the Trim Control Box This box contains controls that permit the user to specify an amount by which he can increment and or decrement the current value To modify the amount field position the cursor in the Amount Box and explicitly specify the new value This value takes effect when the user presses the Enter key Using the Up F4 push button or the associated F4 Function Key the user may add this amount to the current parameter value Conversely that amount will be subtracted from the current parameter value each time the user presses the Down F5 push button or the associated F5 Function Key 5 2 7 Parameter Modification The Bit Mask Control Box The user may also modify several parameters from within the Bit Mask Control Box Certain parameters such as FAULTMASK DISABLEMASK INTMASK AUXMASK and HALTMASK define the actions taken upon the detection of various types of faults Refer to the parameter descriptions for additional information on these parameters This box provides a list of the fault types and a check box to enable or disable a particular action for each specific fault type Placing a check mark in the check box enables the action The action that is being controlled depends on the parameter being
70. module is used to set the band width and maximum tracking rate of the converter In addition to entering a resolution for resolver applications the number of poles for brushless type motors 0 for DC brushless 4 6 or 8 typically must also be entered so that the motor is properly commutated An optional commutation offset may be entered to electrically align the resolver to the motor without requiring any mechanical alignment Finally a digital to analog D A converter channel number must be assigned to the axis The valid channel numbers range from 1 16 Each VME D A card contains four axis channels therefore up to four cards Axes 1 4 are on the leftmost card axes 5 8 will follow but are labeled 1 4 etc 4RD Resolver to Digital Board 4DA Axis Drive Board Green Tag Blue Tag Figure 2 5 The R D Interface and D A Interface Boards WARNING Resolver Feedback Version 1 0 Aerotech Inc 2 5 Getting Started U31U600 User s Manual CS CS 2 3 4 Machine Parameters If you purchased a complete system from Aerotech then the machine parameters have already been configured for you at the factory System specifications including maximum speeds machine and program resolutions are found in the documentation package that is included with your system Scaling information for each axis is entered in the machine parameter selection found in the setup menu Scaling is accomplished by setting the appropriate English
71. option is selected i e a check mark appears next to the option then the clock calendar field is displayed If the Clock Calendar option is not selected i e a check mark does not appear next to the option then the clock calendar field is not displayed Refer to Figure 3 1 on page 3 1 3 2 6 Error Log Display Field The error log display field is located in the lower left corner of the main display screen This field contains a log of the most recent error messages that have occurred The display of this information field can be toggled using the Error Log option of the View menu If the Error Log option is selected i e a check mark appears next to the option then the error log field is displayed If the Error Log option is not selected i e a check mark does not appear next to the option then the error log field is not displayed Refer to Figure 3 1 on page 3 1 3 3 Using a Mouse The MAINMENU software interface of the U31 uses a standard 2 button mouse in conjunction with a keyboard for selecting options displaying information and maneuvering around the main software screen in a Windows like fashion The mouse is used to move an icon called the cursor around the main screen The cursor appears as a small arrow on the main screen see Figure 3 1 on page 3 1 To move the cursor up down left or right you must move the mouse forward backwards left or right respectively Items on the main U31 screen are s
72. part being cut For a listing of which parameters apply to each axis refer to the B Axis Initialization dialog box Figure 5 14 File B Axis Select X Plane Y Plane Max Speed for Maintaining Normalcy 100 000 J CNC 3 73 CNC HA Figure 5 14 B Axis Initialization Dialog Box 5 6 2 1 CNC Selection The UNIDEX 31 U600 supports the operation of multiple CNC processes concurrently The CNC Select group box will allow the user to specify the CNC process to which these parameters apply 5 6 2 2 B Axis Selection The B Axis Select menu see Figure 5 15 specifies which axis to use for holding the cutting tool Through this menu the user can select which axis they want for the B Axis but it must be one of the axes associated with the selected CNC processor which will be displayed in normal text If an axis is currently selected it will have a check mark next to 1t 5 34 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options X Plane Y Plane 8 Axis 88 Axis 82 Axis Axis BI AIS Axis 2 Axis i2 C 3 Awie i 3 Axis 4 Axis i4 Axis 8 Axis 15 AXES 3 Axis 18 Figure 5 15 B Axis Select Menu 5 6 2 3 Axis Plane Designation As mentioned the purpose of the B axis is to maintain a normal relationship to some axes plane The X Plane and Y Plane menus indicate which axes are to be used with the B axis Like the B Axis Select menu these menu
73. position in machine steps from the home position The value of this parameter must not exceed the default value of 2 314 approximately 2 1 billion 5 3 20 CCWEOT This parameter determines the counter clockwise end of travel limit The Axis Processor Card will not move to a position that exceeds this value Instead a CW_FAULT occurs each time the user attempts to command a position beyond this value The user must enter the CCW end of travel position in machine steps from the home position The value of this parameter must not exceed the default value of 2 31 4 approximately 2 1 billion 5 3 21 VELTRAP This parameter specifies the maximum instantaneous speed at which an axis may move A velocity trap occurs if the observed velocity exceeds the amount specified by this parameter The units for this parameter are machine steps per second and can range from 0 to 65 536 000 The user may enter a zero to disable the velocity trap detection 5 3 22 VELCMDTRAP This parameter determines the maximum commanded velocity at which an axis may move A command trap occurs if the commanded velocity exceeds the amount specified in this parameter The units for this parameter are in machine steps per second and can range between 0 and 65 536 000 The user may enter a zero to disable the commanded velocity trap detection 5 3 23 FBWINDOW While processing motion commands the axis processor integrates both the velocity command and the velocity fee
74. protected modes of operation 4 2 Logging On and Logging Off the System A Password Log On dialog box appears as soon as the initialization process is complete This is illustrated in Figure 4 1 At this point the user must type his password into the Password Entry Field just below the Enter Password prompt When finished the user may press the lt Enter gt key or click on the OK button The system then compares the password entered with a list of valid passwords If the password is valid the prompt message changes to Log On Successful and displays a list of accessible modes see Figure 4 2 If the password specified is not valid the prompt message then changes to Password Not Recognized as shown in Figure 4 3 The user must then enter a valid password to continue Once the user completes using the controller they may log off using the Log Off option of the Password Menu refer to Figure 4 5 Selecting this option displays the Log Off Current Password dialog box shown in Figure 4 4 Version 1 0 Aerotech Inc 4 1 The Password Menu U31 U600 User s Manual Log on Successful Lo BEEN reel Access Privilege To Access Privilege To Password Setup Diagnostic Run Program Manual Edit Teach Communications File Figure 4 1 Log On Dialog Box Figure 4 2 Log On Successful Dialog Box Password Not Recognized Lo BENE vee Access Privilege To Figur
75. regarding the current state of the associated axis This information pertains to the hardware status Drive Fault present Limit Switch active etc as well as the current operational mode Homing Sync Mode Enabled etc The following sections provide a brief description of the meaning associated with each field 6 2 2 1 Drive Enable This field indicates if the servo control loop has been enabled for the specified axis When ON the servo loop is active Related Parameter s DRIVE Refer to section 5 3 9 IOLEVEL Refer to section 5 3 42 the SETPARM command For example SETPARM X Y DRIVE 1 can be used to enable both the X and Y axes Likewise SETPARM Z DRIVE 0 can be used to disable the Z axis The UNIDEX 31 s axes may be enabled disabled under program control by using Se 6 2 2 2 Aux Output Enable This field specifies the current state of the auxiliary output associated with an axis When ON the output is currently asserted Related Parameter s AUX Refer to section 5 3 10 IOLEVEL Refer to section 5 3 42 6 2 2 3 CW Input This field specifies the current state of the clockwise end of travel limit input to the axis processor for the associated axis When ON the limit is currently asserted Related Parameter s IOLEVEL Refer to section 5 3 42 6 2 2 4 CCW Input This field specifies the current state of the counter clockwise end of travel limit input to the axis processor for the associated axis When ON
76. search for a new string Find Hotification The text in the Find field cannot be found Figure 7 14 Find Notification Dialog Box Upon locating the desired text string the Cancel button deactivates the Find function The cursor remains at the location of the text found The user can only change the current program location before program execution begins After pressing the CYCLE START F3 button the system ignores all changes in the cursor position 7 8 Feedhold Jogging During normal operation of the CNC the options found under the Jog Menu appear on the display in a half tone attribute The half tone signifies that presently the user can not access these options However by placing the axes into a feedhold state the user may jog the axes to a new location Program execution may continue from the new axis position or return to the position at which the system encountered the feedhold 7 8 1 Jog amp Return The most common use for the Jog amp Return option of the Interrupt Menu is to move the axes to a position in which the system can inspect the cutting tool Selecting this option deactivates the CYCLE START F3 and FEEDHOLD F6 Push Buttons as well as activate the Jog amp Return Dialog Box see Figure 7 15 7 14 Aerotech Inc Version 1 0 U31 U600 User s Manual Run CNC Parts Program Jog amp Return Axis Select Increment 2 Axis_02 Y Figure 7 15 Jog amp Return Dialog Box The cont
77. service center Products must be returned prepaid to an Aerotech service center no C O D or Collect Freight accepted The status of any product returned later than 30 days after the issuance of a return authorization number will be subject to review After Aerotech s examination warranty or out of warranty status will be determined If upon Aerotech s examination a warranted defect exists then the product s will be repaired at no charge and shipped prepaid back to the buyer If the buyer desires an air freight return the product s will be shipped collect Warranty repairs do not extend the original warranty period Laser Products Return Procedure Returned Product Warranty Determination Version 1 0 Aerotech Inc A 1 U31 U600 User s Manual Warranty and Field Service 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
78. the configuration data entered is invalid an Axes Configuration Error dialog box appears as notification see Figure 5 30 Axes Configuration Error downloading configuration data Possible invalid configuration data Figure 5 30 Axes Configuration Error Dialog Box As long as no errors occur during configuration the user may save the new configuration to a disk file using the Save Axes Configuration to Disk dialog box see Figure 5 31 Axes Configuration o Save Axes Configuration to disk Figure 5 31 Save Axes Configuration to disk Dialog Box Choosing the Yes option updates the NU31UNICONFIG INI file so that it reflects the changes made to the configuration from within the editor 5 7 7 Motor Set The Motor Set option of the Setup menu displays the Motor Set screen From this screen Figure 5 32 you can align a resolver and a motor This alignment process involves the 5 48 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options commutation offset the difference between the electrical orientation of the motor and the mechanical orientation of the resolver A sample Motor Set screen is illustrated in the figure below Motor Set Utility Axis Select use lt gt to select Position x NN 51159362 in Motor Status Disabled Commutation Offset 9 Observed Resolver Angle 1299447 MSET Angle 9 MSET Current Level 1 MSET MSET 20 Rotate Enable
79. the drive module 5 3 16 IAVGTIME This parameter defines the time period over which the system will average the instantaneous current The IAVGLIMIT parameter is dependent on the setting of this parameter to detect an over current condition The unit of measure for this parameter is milliseconds and can range from 10 to 4 000 msec The default is 10 msec 5 3 17 POSERRLIMIT This parameter determines the maximum position error that can occur on an axis before it generates a position error limit fault The unit of measure for this parameter is machine steps and can range between 0 and 10 000 000 The default value is 65 535 counts 5 3 18 INPOSLIMIT This parameter allows the user to define the in position band If the axis has completed its move and the observed position error is within the range plus or minus determined by the in position limit set by this parameter then the axis in position status bit becomes active To set this parameter the user must enter the value in machine steps This value can range between 0 and 65 636 The default value is 65 counts Version 1 0 Aerotech Inc 5 7 Setup Menu Options U31 U600 User s Manual 5 3 19 CWEOT This parameter determines the clockwise end of travel limit The Axis Processor Card will not move to a position that exceeds this value Instead a CW_FAULT occurs each time the user attempts to command a position beyond this value The user must enter the CW end of travel
80. the feedrate that is used during debug mode For additional information on debug refer to the SIMULATION axis parameter in Section 5 1 1 27 5 7 10 Variables Menu The variables menu allows you to view and edit global local and user defined variables There are five menu selections in this menu Edit Local Variables Display Display Local Variables Display Static Variables Display Global Variables Edit Global Variables Each of these menu items is discussed in the following sections 7 10 1 The Edit Local Variables Display Option The Edit Local Variables Display option displays a dialog box with the user defined variables From this display you can highlight a variable and then select or deselect it for display in the Display Local Variables display Once a variable is highlighted it can be selected for the Display Local Variables display F2 key or deselcted for the Display Local Variables display F3 key When you are finished press the ESC key As an alternative to using keyboard keys these functions can be performed using the mouse and the software buttons on the screen A sample dialog box is illustrated in Figure 7 17 Local Variable Display Editing for Progran F2 Display Variable F3 Remove Variable Figure 7 17 Sample Edit Local Variables Display Dialog Box ESC Done Version 1 0 Aerotech Inc 7 17 Run CNC Parts Program U31 U600 User s Manual 7 10 2 The Display Local Variables O
81. the system or the state of the 4xxxx registers within the Modbus PLC Refer to the PLC Manual for more information on the Modbus PLC registers This screen has seven keys and one entry box for specifying and controlling the display format The displayed format can be changed at any time by selecting the F6 Decimal or the F7 Hex buttons A single virtual I O point may be displayed on the screen by entering an I or an O to specify a virtual input or output followed by the desired virtual I O point number into the entry box Then by clicking on any display location with the mouse select F2 Get Reference button This will read the current value of the specified virtual I O point and display it s value in the current format in the specified location on the screen Likewise a single virtual I O point and it s value may be cleared from the screen using F4 Clear Reference button A block of contiguous virtual I O points may b e cleared or displayed in the same way using the F3 Get Column and F5 Clear Column buttons The only difference is that an entire column will be filled with the values of virtual I O points begining with the value specified The value of the PLC registers may also be displayed by entering the 4xxxx register number into the entry box and selecting the F8 Select PLC button This will activate a pop up window prompting the user for a PLC number Where the user may use the Get F2 or F3 or Clear F4 or F5 value buttons to display the r
82. they may be put by the buyer where or not such use or purpose has been disclosed to Aerotech in specifications or drawings previously or subsequently provided or whether or not Aerotech s products are specifically designed and or manufactured for buyer s use or purpose Aerotech s liability or any claim for loss or damage arising out of the sale resale or use of any of its products shall in no event exceed the selling price of the unit Aerotech Inc warrants its laser products to the original purchaser for a minimum period of one year from date of shipment This warranty covers defects in workmanship and material and is voided for all laser power supplies plasma tubes and laser systems subject to electrical or physical abuse tampering such as opening the housing or removal of the serial tag or improper operation as determined by Aerotech This warranty is also voided for failure to comply with Aerotech s return procedures Claims for shipment damage 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
83. this group box permit the user to move the axis a fixed distance in either direction The drop down list box specifies the distance that the axis is to move each time the user presses the jog key The choices available depend upon the position units being used 8 2 Aerotech Inc Version 1 0 U31 U600 User s Manual Manual Operation The Jog push buttons jog the axis in the negative and positive direction respectively Each time the user presses one of these keys the axis position changes by the amount specified in the drop down list box Multiple key presses are necessary when moving the axis multiple increments The Edit menu allows the user to edit the available jog values displayed in the drop down list box Figure 8 3 displays the Edit Jog Increments dialog box The F2 Add button adds the value located in the edit box to the right into the list There may be a maximum of seven values Adding another value will overwrite one of the previous values The F3 Delete button deletes the highlighted increment from the list Pressing the ESC Done button returns to the Axes Jog Home Teach dialog box F3 Delete ESC Done Figure 8 3 Edit Jog Increments Dialog Box 8 2 2 Common Controls The Axes Jog Home Teach dialog box also contains controls that pertain to all axes These controls permit the user to select the position units being used as well as temporarily suspend the axis motion The English and Metric radio butt
84. this section may be ignored CHAPTER 5 THE SETUP MENU This chapter discusses the setup menu and provides a complete list of all related menu options that are provided through the Setup menu option of the MAINMENU software application program Sample screens are illustrated for all options of this menu CHAPTER 6 THE DIAGNOSTICS MENU This chapter discusses the diagnostics menu and provides a complete list of all related menu options that are provided through the Diagnostics option of the MAINMENU software application program Sample screens are illustrated for all options of this menu CHAPTER 7 THE RUN SCREEN This chapter discusses the run screen and provides a complete list of all related menu options that available through the run screen Sample screens are illustrated for all menu options Version 1 0 Aerotech Inc xix Preface U 31 U600 User s Manual d CHAPTER 8 THE MANUAL OPERATION MENU This chapter discusses the manual operation menu and provides a complete list of all related menu options that are provided through the Manual option of the MAINMENU software application program Sample screens are illustrated for all options of this menu CHAPTER 9 TEACH PENDANT This chapter discusses the use setup and operation of the teach pendant A brief description of the accessories and their functions is also given CHAPTER 10 THE PARTS PROGRAM EDITOR This chapter discusses the parts program editor an
85. to disable the simulation mode Version 1 0 Aerotech Inc 5 9 Setup Menu Options U31 U600 User s Manual CE 5 328 ACCEL Time This parameter controls the time needed to accelerate to a new velocity while the ACCELMODE parameter specifies time based ramping The units for this parameter are in milliseconds and can range between 0 and 100 000 The default value is for 0 msec Acceleration refers to any increase in velocity The user may also specify acceleration mode parameters from within a parts program Refer to the G60 and G67 commands 5 3 29 DECEL Time This parameter controls the time that it takes to decelerate the current velocity to a lesser velocity while the DECELMODE parameter specifies time based ramping The units for this parameter are milliseconds and can range between 0 and 100 000 The default value is for 0 msec Deceleration refers to any change in velocity which ends at zero The user may also specify deceleration mode parameters from within a parts program Refer to the G61 and G67 commands 5 3 30 ACCELMODE This parameter permits the user to select the type of ramping during the execution of motion commands This ramping may be time based using the ACCEL parameter or rate based using the ACCELRATE parameter Also the user can configure the ramping to be either linear or sinusoidal 1 cosine The following chart indicates how to set this parameter The default for this parameter is zero
86. to do so 5 14 Axis Test Utility This is the last option available through the Setup menu This function performs real time data acquisition based on certain parameters selected in the Data Acquisition Parameter Editor discussed earlier A very good use of this utility is for axis tuning 5 14 1 Plot Plot is a data acquisition application used to measure adjust and record the servo performance of each axis of motion The axis processor card passes servo information to the AT front end through the VME backplane and the plot utility processes the information The system presents this information in a graphical form that resembles both an oscilloscope and a strip chart recorder In addition to showing servo performance in real time the plot utility can save the data collection for later recall Once the plot utility executes the first screen a Plot MAINMENU dialog box appears on the display This dialog box indicates that the selected axis is Axis 1 and that the status is idle in the title bar see Figure 5 43 The following sections cover all the available choices from within the Plot MAINMENU Screen 5 14 1 1 File Under this menu the user may load previously saved files save the current data collection to a specific file and inquire about the version of the plot program currently running as shown in Figure 5 44 Version 1 0 Aerotech Inc 5 61 Setup Menu Options U31 U600 User s Manual Aerotech Stripchart
87. top of the teach pendant is a 4 line LCD display used to show axis positions operational mode status and key function menu information The first line of the display window shows the active CNC number followed by one of the three possible active modes The second line of the display shows the the first axis name followed by its axis absolute position The third line displays the same information for the second axis assigned to the pendant The last line of the display is the menu line that is activated by the keys directly below it 9 2 2 E stop Button The E stop button located on the top of the teach pendant is an emergency pushbutton that shuts down all axis motion when activated by the operator 9 2 3 Feedhold Button Located in the left lower corner of the teach pendant is the feedhold button This button temporarily halts the axis motion by decelerating all axes to zero velocity in the amount of time specified by the CNC Decel Time parameter see chapter 5 for more information Upon releasing the feedhold button the CNC continues the suspended move While the axes are in the feedhold state the options found within the JOG Menu are valid Activation of feedhold may affect the operation of some data acquisition utilities 9 2 4 Joystick Located in the right lower corner of the teach pendant is the joystick The joystick permits the operator to manually move the axis that the joystick is assigned to where the velocity of the a
88. using the GO command The units for this parameter are in units per minute The default value is 48 768 000 mm min 1 920 000 in min 5 5 3 Home Feedrate This parameter sets the speed that the selected axis should use to seek the home limit when responding to a HOME command The user may also program this parameter in units per minute The default value is 48 768 000 mm min 1 920 000 in min 5 5 4 Jog Feedrate This parameter defines the speed that the selected axis is to move while operating from the Manual Jog amp Home Axes screen as well as the hardware jog modes available from several other Aerotech applications The user may program this feedrate in units per minute The default value is 48 768 000 mm min 1 920 000 in min 5 5 5 Lowest Feedrate This parameter defines the lowest feedrate for the axis The user must program this feedrate in units per minute The default value is 1 0 mm min 04 in min Presently this parameter is not accessible by the user 5 5 6 Home Style During a normal homing sequence the axis first moves in the specified direction until it encounters the Home Limit Switch or the End of Travel Limit Switch Upon encountering the Home Limit Switch the axis continues to travel in the same direction until it encounters the next resolver null or encoder marker The axis position is then set to the value found in the Home Offset parameter If the axis encounters the end of travel limit it reverses dire
89. 00 U31 PROGRAMS This subdirectory is where you store CNC programs that you create U3 UTILITY This subdirectory contains Aerotech utility programs such as MAINMENU PLOT STATUS and DEBUG960 2 3 9 Environment Variables The software directory and file structure discussed in the previous section is a typical configuration for the UNIDEX 31 U600 However you may choose to modify this directory structure by altering the appropriate OS 2 environment variables found in the CONFIG SYS file These environment variables tell the operating system where to look for such things as executable programs DLL s and help files Table 2 2 lists environment variables that you may alter in order to customize the operation of your UNIDEX 31 U600 system These variables are located in the CONFIG SYS file Table 2 2 U31 Environment Variables Used in Customizing Your System Environment Default Variable Setting in Description Variable the CONFIG SYS File PATH SET PATH C U31 C U3 I UTILITY The PATH variable must include the directory paths in which all utility programs and MAINMENU reside LIBPATH SET LIBPATH C U3 I DLL The LIBPATH variable must include the directory path that contains the dynamic link libraries DLLs supplied with the utility programs HELP SET HELP C U3 1 HELP The HELP variable must include the directory path that contains all U31 help files HELPFILES SET HELPFILES C U31 HELP HLP The HELPF
90. 01 command The green OPT ST ON F8 button displays the current state of the optional stop operation as well as activate and deactivate it To enable this feature the user must press the OPT ST OFF FS button or press the associated F8 function key Then the push button name changes to OPT ST ON F8 to notify the user that the optional stop operation is active To deactivate this feature the user must again press the OPT ST ON F8 button or the associated F8 function key The system then disables optional stop and returns the push button to its initial state 7 5 6 Terminating Program Execution The red TERMINATE F5 button terminates program execution immediately This causes all axes currently in motion to decelerate to zero velocity based on the time specified in the decel time parameter see Chapter 5 for more information Once terminated the user may not restart the program unless they exit this screen and enter it again Version 1 0 Aerotech Inc 7 11 Run CNC Parts Program U31 U600 User s Manual 7 5 7 Feedrate Control The group boxes labeled Feedrate and Spindle RPM permit the user to vary the speed at which the axes are commanded to move from within a parts program Refer to Figure 7 12 These controls limit this variance from 0 percent to 200 percent of the feedrate specified by the parts program The feedrate control is often referred to as the manual feedrate override control or MFO EJ CNC Run Mode Program
91. 13 Position Error Maximum 5 7 Position Feedback Resolution 5 15 Position Following Error Minimizing 5 6 Position Gain 5 5 Position Measurement 5 42 Position Measurement Incremental 5 45 Position Storing 8 7 Position to Go Value 7 7 Position Actual Commanded 6 44 Position based Axis Synchronization 5 46 Positioning Accuracy 5 6 Positioning Absolute 5 40 Positioning Highest Accuracy 5 42 Positive Loop Only Field 6 15 Positive Move Command 5 22 Precautions 1 3 Preset Data 8 6 Primary Feedback Group Box 5 40 Privileges 4 1 4 3 Probe Failure Dialog Box 5 50 Probe Failure Screen 5 50 Probe Input 6 13 Probe Input Fault 6 10 Probe Input Field 6 4 Probe Input Option 6 13 Processor Mode 7 15 Profile Mode 6 6 Profile Mode Option 6 17 Program Controls 7 10 Program Execution 7 10 Program Execution Beginning from an Arbitrary Point 7 13 Program Execution Halting 7 10 Program Execution Terminating 7 11 Program Translation Error Dialog Box 7 2 Program Translation Errors 8 10 Program Translator Error 5 26 5 27 Program Units 5 21 Programmed Position Entry Field 5 55 Programming Error Status Screen Error Present 6 24 Programming Error Status Screen No Errors Present 6 23 Programming Errors Multiple 6 24 Programming Fault 6 9 Programming Language ANSI RS 274 5 24 Programming Modes 7 5 Proportional Gain KP Parameter 5 5 Proportion
92. 2 Conversely negative values cause the feedback to shift right effectively decreasing the velocity feedback resolution by 2 The default value for this parameter is for zero 0 shift to occur in velocity feedback 5 3 50 BASE SPEED This parameter as well as the following two parameters allows the speed torque characteristics of an AC brushless motor to be customized Normally these parameters are only used with motors having a large back EMF constant This is done by adjusting each slope of a dual slope curve which determines the torque angle at various motor speeds The base speed determines the speed at which the motor will reach a 20 phase advance The phase speed parameter determines the speed at which the maximum phase advance will be reached which is specified by the maximum phase parameter Refer to Figure 5 4 Phase Advance Max Phase 209 Motor Base Phase speed Speed Speed Figure 5 4 The Defined Slope of a Velocity Curve at a Specified Angle As the motor velocity reaches the base speed the phase advance reaches 20 The phase_speed parameter specifies the motor velocity at which the phase advance reaches max_phase degrees 5 3 51 MAX_PHASE Refer to the base_speed parameter for a description of this parameter 5 3 52 PHASE SPEED Refer to the base speed parameter for a description of this parameter 5 3 53 SOFTLIMITMODE This parameter sets the active mode for the software limits defined by the
93. 2 2 21 Sync Mode oe entere 6 6 6 2 2 22 CAM Table Enable eee 6 6 6 2 2 23 Homing Direction 0 eee cess ee Se Se ee ee 6 6 6 2 2 24 Continuous Move ee ee see ee ee ee ee ee ee 6 6 6 2 2 25 Queued Command sess 6 7 Version 1 0 Aerotech Inc vii Table of Contents U31 U600 User s Manual 6 2 2 26 Hold Active tette epe 6 7 6 2 2 27 AUR Mode ierit tre perenne 6 7 6 2 2 28 Block Motion sese 6 7 6 2 2 29 Hold Queue eere 6 7 6 2 3 Fault Status cie entrer rre Ee 6 8 6 2 3 1 Position Error Limit eeeeeeeeeeeee 6 8 6 2 3 2 RMS Current Limit esee 6 9 6 2 38 CW BOT Lene eni eae 6 9 EE Ma6 NO EE KA EE rts 6 9 6 2 3 5 CW Software EO Tisis senesini pner sesen 6 9 6 2 3 6 CCW Software EOT eee 6 9 6 2 3 1 DAVE EE RE MR BABERE en 6 9 6 2 3 9 Feedback ese tree erre eri 6 9 6 2539 Programming cz ed see Oe genio 6 9 6 2 3 10 Master Feedback sees 6 10 62 311 Homimng interese estes 6 10 6 2 3 12 User iio EE EE EE 6 10 6 2 3 13 Velocity Trap se see es tiet een 6 10 6 2 3 14 Velocity Command Trap sess 6 10 6 2 3 15 Home Switch Tolerance eese 6 10 62 3 16 Probe Input tonc eite 6 10 62 3 LIINC seis ue URDU Ie ee 6 10 6 2 3 18 External Feedback sees 6 11 6 2 3 19 Safe Zone eret
94. 3 j Channel 4 Channel 5 j Channel 6 J Channel 7 j Channel 8 T Channel 9 Channel 10 Z Channel 11 Channel 12 C Channel 13 Channel 14 j Channel 15 Digital Input O Channel 0 C Channel 1 O Channel 2 Channel 3 O Channel 4 C Channel 5 C Channel 6 Channel 7 C Channel 8 O Channel 9 Channel 10 C Channel 11 Channel 12 O Channel 13 C Channel 14 C Channel 15 US31 U600User s Manual Figure 6 15 Xycom Digital Input Output Status Dialog Box 6 8 Matrix Option Analog Input Status This option found within the Diagnostic Menu causes the Analog Input Status Dialog Box to appear on the display see Figure 6 16 This box displays the voltage present on each of the matrix analog input channels Currently this application displays eight channels of information However future revisions will support the use of additional channels CS 6 28 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options Analog Input Status Analog Inputs Channel 0 Channel 1 Channel 2 Channel 3 Channel 4 Channel 5 Channel 6 Channel 7 Figure 6 16 Analog Input Status Dialog Box Version 1 0 Aerotech Inc 6 29 Diagnostic Menu Options U31 U600Users Manual 6 9 PLC Analog Input Output Control This option screen from the Diagnostic Menu shown below in figure 6 17 displays the current voltage level present on each of the inputs and outp
95. 4 Setup Diagnostic Run Manual Axis Parameters Machine Parameters Edit View CNC Parameters CNC General Parameters Configure B Axis Parameters Motor Set Plane Selection HP Compensation Pendant Parameters Options Probe Set Data k API Probe Tool File Menu Axis Correction Tables Data Capture Axis Test Figure 9 2 CNC Parameters Menu Options Version 1 0 Aerotech Inc 9 3 Teach Pendant U31 U600 User s Manual CS IMPORTANT 9 4 9 3 1 Setup To setup the teach pendant for operation with the U31 U600 the user must first connect one end of the cable to the teach pendant The other end of the cable connects to the RS 232 communication port on the U31 U600 with the use of a RS 232 RS 422 converter Refer to The U31 U600 Hardware Manual Second the user must configure the teach pendant from the Setup Menu A submenu appears to the right of the Setup Menu From this submenu the operator must toggle down and select Pendant Parameters as shown in Figure 9 2 The Pendant Initialization dialog box appears Refer to Figure 9 3 From this screen the operator must associate a pendant to a particular CNC To select a CNC process click on the radio button beside the desired CNC process Pendant Deadband 5 CNC 2 7j CNC 3 73 CNC 4 Figure 9 3 Pendant Initialization Dialog Box The operator must select
96. 5 16 Homing Sequence 5 22 6 10 6 19 Homing Sequence Accuracy 5 12 Homing Sequence Altering to Accommodate Shared Limit Switch 5 22 Homing Sequence Normal 5 22 Homing Sequence Number of Final Machine Steps 5 22 Homing Sequence Reverse to Marker 5 22 Homing Sequences 5 22 Horizontal Scroll Bar 5 4 HP Compensation 5 50 HP Laser Compensation Dialog Box 5 51 HP VME Laser Bit 6 14 HP VME Laser Interferometer Configuration Parameters 5 42 HP VME Laser Interferometer Feedback Devices 5 40 I I O TYPE 6 32 IAVGLIMIT Parameter 5 7 IAVGTIME Parameter 5 7 Version 1 0 U31 U600 User s Manual Index ICRC 5 52 Idle Status 5 61 Ignoring Motion Commands 5 6 Image Files 2 1 IMAX Parameter 5 6 5 7 IMG Files 2 1 In Position Band 5 7 In Position Field 6 4 In Position Option 6 13 In Position Status Bit 5 7 Increment Box 5 72 Increment Group Box 7 15 Incremental Depth per Pass 5 30 Incremental Mode 5 33 Incremental Position Measurement 5 45 Incremental Programming 7 5 Initial Axis Position Display Dialog Box 7 6 Initialization 6 21 6 30 7 19 Initialization Errors 2 2 Initialization Files 2 2 2 7 Initialization Files Invalid Values in 2 2 Initialization of the System 5 5 INPOSLIMIT Parameter 5 7 Inputs 5 13 6 3 6 4 6 12 6 13 8 1 Inputs from the Analog Probe 5 52 Inputs Analog 6 28 6 34 Inputs Digital 6 27 Inputs Fau
97. 6 eS Vanables Menu cb EE E 7 17 e cResetODUODms REIR 7 19 7 1 Selecting the Parts Program The first step in running a CNC parts program is to select the program for execution The MAINMENU program provides a File Open Dialog Box to aid the user in this task Figure 7 1 depicts this dialog box File name Directory is C U31 PROGRAMS Selected File is 3 Display Comments Files Directories 24 PGM KADCDW1 PGM KADNUM1 PGM KADNUM2 PGM KADNUM3 PGM LARGE2 PGM Figure 7 1 File Open Dialog Box By default MAINMENU expects all CNC parts programs to use the PGM extension and reside in the U31 PROGRAMS directory of the drive on which OS 2 boots However the user is permitted to select parts programs files which have any extension and reside in any directory Version 1 0 Aerotech Inc 7 1 Run CNC Parts Program U31 U600 User s Manual The File Open Dialog Box used to select the parts program for execution is identical to the one used when selecting an axis correction table For more details on the operation of this dialog box refer to Selecting the axis correction table in Chapter 5 In the event that the user does not select a valid CNC parts program file an Open File Error Dialog Box appears to notify the user of the error see Figure 7 2 Open File Error Unable to open file C U3 1 PROGRAMS DFDS Figure 7 2 File Selection Error Dialog Box 72 CNC Parts Program
98. 6 3 Plane A Selection serrer eene 5 36 5 6 4 Pendant Parameters iss ee see ee ee Re ee ee nene 5 37 5 6 5 Probe Set Data ect Eed See ve Ee 5 38 Axis Configuration Setup ee ee ee se ee ee ee Ge Se Ge RR RA ed ee 5 39 Sg ll AXIS Sel HOME or eee e GE EE GE ee DE See 5 39 5 7 2 Primary Feedback siese se see se ee ee ee Ge ee ee ee Se ee 5 39 5 7 2 1 Null Feedback and Dummy Lines 5 40 5 7 2 2 Resolver Feedback sees 5 40 5 7 2 3 Encoder Feedback is 5 41 57 24 HP VME laser ette eerte inen 5 42 5 7 2 5 Slave Encoder s o see 5 43 5 7 2 6 Encoder Hall et erre 5 43 9 21 Resolvet Hall iet Re ere 5 43 5 7 3 Secondary Feedback sse 5 44 5 7 3 1 The None OPHON ees ee see see see se ee ee ee ee ee 5 45 D 7 32 RESOIVER cents a RR Ge Re N ORE ie 5 45 sk N ie SEER EE 5 45 5 7 4 Master Feedback eeessesseeeeeeeeeeeneen nennen 5 46 5 7 4 1 Null Feedback nicsen genien 5 46 STAD Resolver retro ERREUR 5 46 2414 3 Encoder iie tet dies 5 46 SAA Vartual iis ER ica o RU Saath Giles 5 46 5 L5 Drive Interface n tee 5 47 5 7 6 Enabling Axis Configuration seen 5 48 Sw MOOD SeE s eee eee eee 5 48 nni 5 49 5 8 1 Watchdog Timer 5 50 5 82 Analog Probe socer bentes 5 50 383 Miscellaneous is eee n E Heer e eo ANE ge 5 50 HP Compensation es
99. 6 4 Pendant Parameters This is the last option under CNC parameters Figure 5 19 shows the Pendant Initialization dialog box This screen is used for associating a pendant to a particular CNC To select a CNC process click on the radio button beside the desired CNC process File Pendant Port CNC 2 7j CNC 3 3 CHC 4 Figure 5 19 Pendant Initialization Dialog Box The Pendant Port menu as shown in Figure 5 20 allows the user to select which communication port to associate with the pendant There are four available RS 232 ports on the Axis Processor Select None if no pendant is being used The Pendant Deadband entry field allows the user to specify the stationary deadband range This percentage creates a deadband region around the pendant center point This is useful in eliminating unwanted motion caused by slight movements in the pendant x Aerotech CNC Version 11 24 93 Password Setup Diagnostic Run Manual Edit View Comm _F1 Help Pendant Initialization Eile CNC Pendant Deadband 5 Wed 12 15 93 9 45 31 am Figure 5 20 Pendant Port Menu Version 1 0 Aerotech Inc 5 37 Setup Menu Options U31 U600 User s Manual 5 6 5 Probe Set Data The Probe Set Data option of the Setup CNC Parameters menu causes the Probe Offset Data Initialization window to be displayed This window is illustrated in Figure 5 21 This screen is used for touch
100. 600 User s Manual Table of Contents 6 2 4 27 Error Mapping Enable sess 6 15 6 2 4 28 Position Loop Only esee 6 15 6 2 5 Motion Status Group sess 6 16 6 2 5 1 Move Direction 6 16 6 2 5 2 Moving ete PI GE BERGER Re NEGE GE Oe see SR SERE 6 16 6 2 5 3 ACCel Phase iid eee nU RITE 6 16 6 254 Decel Phases ete GEED ieee tren 6 17 6 2 5 5 Homing 5 nee ea ie Ese Ba 6 17 6 2 5 6 Feedrate Override sss 6 17 6 2 5t7 Profile MoOd ser etr ete t 6 17 6 2 5 8 Sync Mode eise ss ESE EES GE Ee SERS Ee eo ER Ese eo 6 17 6 2 5 9 CAM Table Enable eee 6 17 6 2 5 10 Homing Direction esee 6 17 6 2 5 11 Continuous MOVE ese ee se se ee Se Se ee se ee 6 17 6 2 5 12 Queued Command sss 6 17 6 2 5 13 Hold Active sesse se se e ee ee see ee 6 17 AE AUX VG SE EE EE oe eo ians 6 17 6 2 5 15 Block MOHON iss ennt teret ees 6 17 6 2 5 16 Hold Queue esses 6 17 6 2 5 17 Disable Queued sse 6 17 6 2 5 18 Halt Queued sess 6 18 6 2 5 19 Abort Oueued ee ee ee RR GR ee GR ee ee 6 18 6 2 5 20 Accel Enable se se Se ee Ge ee Gee ee 6 18 6 2 5 21 Decel Enable ees sees see osse ee ee ss sed oe eed Re oi ee 6 18 6 2 5 22 Accel SIEN eese ie ee Ee ER ee ee gee 6 18 6 25 23 A ccel Mode e eerte nie 6 18 6
101. 7 6 Status WindOW eec ete nere etie eae 7 13 deals Begin Program Execution from an Arbitrary Point 7 13 7 8 Feedhold Jogging ees esse se ee se Se non se GRA Re ee ee ee ee ee 7 14 Ted Jog amp Ret ier hee GE ee Rer ged 7 14 7 8 2 Jog amp Offset Tool Path s is sesser ee ee ee ee 7 16 7 9 Debug and Debug Feedrate ese se se sse 7 16 TAO Warnables EE RE teer rete erre rte EE 7 17 7 10 1 The Edit Local Variables Display Option 7 17 7 10 2 The Display Local Variables Option 7 18 7 10 3 The Display Static Variables Option 7 18 7 10 4 The Display Global Variables Option 7 18 7 10 5 The Edit Global Variables Option ss 7 19 FAT Gie EE OE EE EO EE oa 7 19 CHAPTER 8 MANUAL OPERATION ee eee 8 1 8 1 Introduction certe aee gin eS 8 1 8 2 Jog amp Home Axes iste eet n ppp tere DER dede 8 1 2 1 Per Axis Controls e o uoo aec GR SE pU 8 2 8 2 1 1 Axis Homing eee 8 2 8 2 1 2 JOgging uon A te Tbe ea ee 8 2 82 2 Common Controls iss ER Se FEES ESE eee treten 8 3 8 2 3 ENC Axis POSITI iere o d t mee dn 8 4 82 4 Teach Mode iet GEE EE OE GR EER ge eg Pe AD 8 4 8241 Stored Axes eene eet 8 5 82 4 2 Stored G Codes esee ees 8 5 8 2 4 3 Stored Data s n oae RE fes 8 6 8 2 4 4
102. 88800 Global 6 XD Global 7 B BBBBRR Global 8 8 888808 Global 9 8 AAAAAA ESC Done Figure 7 19 Sample Display Global Variables Dialog Box 7 18 Aerotech Inc Version 1 0 U31 U600 User s Manual Run CNC Parts Program 7 10 5 The Edit Global Variables Option The Edit Global Variables option is used to display all of the global variables by alias name and display text name and their current values In addition this menu allows you to edit values The names of the global variables displayed in this screen come from the GLBALIAS INI file Selecting a variable and pressing the enter key displays a dialog box used to change the value of the variable Press the enter key or use the mouse to go back to the previous screen Press ESC when you are done to go back to the Run Screen Refer to Figure 7 20 Global Display STRT ETE Y STRT B ARAARA Comment ESC Done ENTER Edit Figure 7 20 Sample Edit Global Variables Dialog Box 7 11 Reset Option To reset the parts program select the Reset Menu option The parts program will be reinitialized to the starting location This reset process is necessary after the termination of a program Version 1 0 Aerotech Inc 7 19 Run CNC Parts Program 7 20 Aerotech Inc U31 U600 User s Manual Version 1 0 U31 U600 User s Manual Manual Operation CHAPTER 8 MANUAL OPERATION In Th
103. 9 3 2 Operation eere Vene 9 6 Parts Program Editor sese 10 1 Inttod ction iiec eA Pete tete ie eee epe EE 10 1 Selecting the Parts Program seen 10 2 Editing the Program ee tese ese ses epe 10 2 10 3 1 Cursor Placement esee 10 3 10 32 TEXtsS ClCH ON ve xe Eme eU 10 3 10 3 3 Operations on Selected Area 10 3 10 3 4 Undo Typing netten etes 10 4 10 3 5 Searching for a Text String 10 4 Saving the Modified Parts Program sese 10 6 Auto Save Feature OE N n8 10 8 Exiting the Editor toe ete td 10 9 Editor Options devs ette e it e eb epe 10 10 View Menu Options seen 11 1 Introduction OE N EE teet 11 1 The Clock Calendar Option esee 11 2 The Error Log Option nennen eene 11 2 Communications eee pei dee epe be edes 12 1 itecto Gee 12 1 RS 232 File Transfer recette rr EER Ee OE 12 2 Ethernet File Transfers eicere erret eta 12 2 Warranty and Field Service sese A 1 Optional Options sese B 1 VvV V xii Aerotech Inc Version 1 0 U31 U600 User s Manual List of Figures LIST OF FIGURES Figure 1 1 The UNIDEX 31 U600 Hardware Chassis esee 1 1 Figure 1 2 The Software Structure for the U31 U600 Machine Controller 1 3 Figure 2 1 System Failure Dialog BOX ee se s
104. AC motor that is being commanded by this axis To determine the correct value for this parameter refer to the documentation from the motor manufacturer The commutation offset value aligns the resolver with the rotor of an AC brushless motor It specifies the difference in the angle of the motor shaft and the resolver 5 7 2 3 Encoder Feedback An encoder is a digital position measurement transducer that measures incremental position by counting the number of edges found on the feedback signal The most common use for an encoder is in applications that use small to large printers and multi axis machine tools As with the other feedback types selecting the Encoder option changes the entry fields available within the group box Figure 5 24 illustrates the entry fields relevant to encoder feedback Axis Configuration Setup Primary Feedback Help Null Feedback Use primary feedback for the position transducer If dual Resolver feedback is used use the secondary feedback selection e Encoder for the velocity transducer 3 HP YME Laser Q Slave Encoder Secondary Feedback Master Feedback j Encoder Hall e None e Null Feedback 2 Resolver Hall Encoder j Resolver 2 Slave Encoder gt Encoder Encoder Chan 0 _ Resolver J Virtual Lines 0 Drive Interface ie Null D A JD A Select Axis 1 sa Figure 5 24 Encoder Feedback Configuration Parameters Version 1
105. Auto Step Halt Motion Start Continuous Motion Motion Command Description This command executes a single step using the lengths and speed values set in the Continuous Motion Control menu A step begins when the data collection sample point is at zero To insure this set the Trigger Control to Acquire 1 Set of Data This command executes a positive and negative motion profile using the length and speed values established in the Continuous Motion Control menu The direction of motion alternates between positive and negative with each sample period The speeds and lengths should be verified to make sure the motion profile time does not exceed the sampling time and the axis has no mechanical restrictions This command stops any motion profile immediately This command starts motion in the direction and the speed set in the Continuous Motion Control menu 5 72 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options CHAPTER 6 THE DIAGNOSTIC MENU In This Section E ETAKO CATO uU TEE 6 1 e Axis Status ATRIIS UE E 6 2 e Axis Processor Firmware Status Display 6 21 e Axis Processor Programming Error Status Display 6 22 srvyesEnable Controleeme memet 6 25 eN Emerrency stop ontrol m TEE 6 25 e Digital Input Output Status eese 6 27 e Matrix Option Analog Input Status eese 6 28 e PLC Analog Input O
106. Axis Position Display Dialog Box 7 9 Units Group Box 5 23 Units of Measure 6 45 Units Of Measure 7 5 Update Rate 5 52 Updating Current Parameter Values 5 3 Uppercase Characters Finding 7 13 Use Velocity Marker 5 45 User Faults 6 10 Utilities 5 18 5 23 5 39 5 60 5 61 6 15 6 34 6 39 6 42 7 7 12 2 V Valid Modes Group Box 4 4 4 6 Valid Parameter List Box 4 4 4 6 Valid Parameters List Box 4 5 Value Evaluation 5 3 Variable Allocation Group Box 5 33 Variables Changing the Number of 5 33 Variables Defining 5 33 Vary Time with MFO Check Box 5 60 Vector Feedrate Group Box 5 26 vel shift Parameter 5 15 VELCMDTRAP Parameter 5 8 Velocity 7 7 Velocity Command Integration 5 8 Velocity Command Trap 5 65 6 10 Velocity Command Feedback Integration Max Difference 5 8 Velocity Curve Slope 5 16 Velocity Error Free System 5 9 Velocity Error Servo 5 63 Velocity Feed Forward Enable Field 6 14 Velocity Feed Forward Function 5 6 Velocity Feedback 5 40 5 44 Velocity Feedback Integration 5 8 Velocity Feedback Resolution 5 15 Velocity Marker Use 5 45 Velocity Ramping Selection of 5 10 Velocity Trap 5 8 5 65 6 10 Velocity Changing 5 10 Velocity Commanded Maximum 5 8 VELTRAP Parameter 5 8 Vertical Scroll Bar 5 4 VFF Enable 6 14 VFF or Zero PGAIN Bit 6 14 VFF Parameter 5 6 View Menu Options 11 1 Version 1 0 Aerotech Inc xix
107. B axis holds a tool that must always be perpendicular to the part being cut Aerotech CNC Version 12 16 93 Password Setup Diagnostic Run Manual Edit View Comm 3L Setup Axis Parameters Machine Parameters CNC Parameters CNC General Parameters Configure B Axis Parameters HP Compensation Plane Selection k Options Pendant Parameters API Probe Probe Set Data Tool File Menu Axis Correction Tables Data Capture Axis Test Figure 5 6 CNC Parameters Menu Options 5 6 1 CNC General Parameters Menu Selection After selecting the CNC General Parameters option the CNC initialization screen appears This is illustrated in Figure 5 7 This utility permits the user to specify various aspects of the CNC processes currently in use Version 1 0 Aerotech Inc 5 23 Setup Menu Options U31 U600 User s Manual It is a good practice to make a backup copy of the default CNC configuration Le CNC INI before altering any setting s x Aerotech CNC Version 12 16 93 s fie Password Setup Diagnostic Run Manual Edit View Comm 3L Setup Fi Help Ed CNC Initialization File Axis Select Spindle Cutter Cutter2 Thread X Thread Y G Codes CNC Touch Probe Threading Axes Constant Surface CNC st mr E Max Speed Spindle Speed X 100 000 Max 300 000 k Y 100 000 Min 5 000 D CNC 2 OCNC 3 D CNC 4 Vector Feedrate Spindle Feedrate Active High Max 300 000
108. C Version 11 24 93 Password Setup Diagnostic Run Manual Edit View Comm Ej Aerotech Stripchart Axis 1 Status Done File Plot Trigger Collect Display Axis 28323 Eer EWE N iis 32767 25000 Position 2 19968 s n 28060 Pe aN NODE DUE 32767 100000 Position 1 94968 x Cursor 3 700 3 800 3 900 Time lt Center 4 Cursor A 3 882 s QUIT Cursor B 4 247 s Center B B Delta 0 365 s Freq 2 740 Hz Figure 6 23 Cursor Measurement Tool Dialog Box Selecting the Select Axis option under the Axis Menu permits the user to select or change the available axes see Figure 6 24 Unlike the Plot utility the PlotData option allows multiple axes to be displayed at any given time Version 1 0 Aerotech Inc 6 37 Diagnostic Menu Options U31 U600Users Manual 4 PlotData File Plot Trigger Collect Display Axis Axis Selection MiAxis 1 jAxis5 J xis9 J Axis 13 MiAxis 2 jAxis 6 J xis 10 J Axis 14 jAxis3 J xis 7 JjAxis 11 j Axis 15 jAxis4 jAxis 8 JAxis 12 Jj Axis 16 Figure 6 24 PlotData Axis Selection Dialog Box 6 38 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options 6 13 Plot XY Utility Selecting the Plot XY option from the Diagnostic Menu invokes a utility that allows the user to plot the position of any two axes while executing a Parts Program in the simulation mode While op
109. D RR RON 5 61 2 14 T 1 Files iiie RISE EE AO 5 61 DA 2 Plot cee false esas ais Selatan 5 63 AE EG AR IE EE phe tere 5 63 JIET ColleCt s edt eei eee 5 67 5 1 1 5 Display ER OR NE HA EE N 5 67 SJAL GAS c iie ae uan oed 5 69 CHAPTER 6 The Diagnostic menu seen 6 1 6 1 Inttoductiott aeter ott te ee reete Poit e ite dn 6 1 6 2 Axis Status amp Fault Utility sees 6 2 62 1 Selecting Status Type iis SE ERGER ssec eene tete 6 2 6 22 AXIS Status Group is eee err EN err edes 6 3 6 2 21 TIVE Enable tete Rete ve 6 3 6 2 2 2 Aux Output Enable esee 6 3 6 2 23 CW Input os ice cerebri eg 6 3 0224 CCW Input eR UR RE ert 6 3 6 2 2 5 Home Input eene 6 3 6 2 2 6 Drive Fault Input see 6 4 6 2 2 7 At Home essaie cbe tete 6 4 0 22 09 DONE i ER dete nee cete rede HE 6 4 6 2 2 0 In POositIOn eee ERE eerte acetone est 6 4 6 2 2 10 Faulted enenatis 6 4 6 2 2 11 Probe Input eene eme 6 4 6 2 2 12 Marker Input nee Det eet pes 6 4 6 2 2 13 Hall Input 1 2 3 and 4 oo eee 6 5 6 2 2 14 Move Direction 6 5 6 2 2 US MOVING sissies EES Ee SR PEER hein pneter 6 5 6 2 2 AO Accel TERA OE OE eter 6 5 6 2 2 17 Decel Phase ii EES Uere qn 6 5 6 2 2 18 Homing eene de Hee ettet 6 6 6 2 2 19 Feedrate Override sss 6 6 6 2 2 20 Profile Mode eerie Rr e eer RR 6 6 6
110. DRATEMODE ees esse ees ee ee ee ee ee ee ee ee ee ee ee ee ee ee 5 11 33 33 ACCBDRATE 5 eei cete ete chi Ee tete esse ee ee Qd e 5 11 5 3 24 DECEERXTE eR eee ire 5 11 5 3 35 HOMESWITCHTOL ener eren nennen ee ee n E 5 12 3 23 36 BAULDT esee ideo e i reda 5 12 33 37 FAUETMAS K aere ttr RE rere RI I P ee ee bee 5 12 5 3 38 DISABLEMASK esse sees ses se se ee ee ee ee ee ee ede ee ee ee Re Re ee 5 12 5 3 39 INTMASK esse esse ee ee ee ee ee ee ee RR ee ee ee ee Re ee ee ee ee 5 12 3 340 AUXM ASK se ete eene E ER ERU RI Se dee 5 13 5 341 HALIMASK ice eie ee ance 5 13 5 342 IOLEEVBEE iu a RPG IRIS 5 13 5 3 43 AUXOFBSET cccccssscsssccececsesscccccscecsenscesecssceseenseenes 5 14 3 344 ABORTMASK iese ese ees Eg es e eec eed 5 14 3345 MASTER P OG erre rb ex ox ee Gee Ee 5 14 iv Aerotech Inc Version 1 0 U31 U600 User s Manual Table of Contents 5 3 46 MASTERLEN ee ie ese kel Gees ee Dee se Se anene sika Eas ita 5 15 2313 47 CAMOEESET esse sees eae sep ede Spa ipi dav ect aec 5 15 53 48 SS YNCSPEED 3 2 ie eee ee ee be boegoe be 5 15 2 349 VEL SHIFT eee rei 5 15 5 3 50 BASE SPEED sei Res eere 5 16 33 21 MAX PHASE se EE Ges sender RUPEE 5 16 5 3 52 PHASE SPEED enne ete Goa ese dee 5 16 5 3 53 SOPTLIMITMODE sees ee sees se ee ee em nnne 5 16 5 4 Machine Parameter Editor essere 5 18 5 4 1 Machine Pa
111. Dialog Box 8 2 1 Per Axis Controls As already mentioned this screen contains a separate group box for each axis in the system With the exception of the axis name displayed within the border these boxes are identical Each dialog box contains an information field that displays the incremental jeg move value as well as several controls that permit the user to jog the axis in either direction and home the axis 8 2 1 1 Axis Homing The F2 Home button sends the axis to its home reference position When homing the axis begins moving in the direction specified in the home direction parameter see Chapter 5 for more information Detection of the home limit switch causes motion to stop on the first encountered resolver null or encoder marker pulse Then the position register is zeroed However if the axis encounters an end of travel limit switch it reverses direction and continues to seek the home limit switch Once the axis locates the home limit switch it continuous to move in the current direction until the switch becomes inactive Then it reverses direction and approaches the limit from the specified direction Motion stops as soon as the axis encounters the resolver or null position for the encoder s marker pulse and thus resets the position to zero Detecting a second end of travel limit before finding the home limit causes a homing fault to occur 8 2 1 2 Jogging The F3 Jog button and the F5 Jog button controls found within
112. Down Move to the Program End 10 3 2 Text Selection Another commonly used feature involves the selection of text Many of the editing controls treat the selected text as a single entity To select an area of text mouse users need to position the mouse pointer at the start of the text area press and hold the mouse button and move to the end of the area they wish to select Upon releasing the mouse button the highlighted area of text remains selected To extend the currently selected area mouse users need to position the mouse pointer at the end of the extended area press and hold the SHIFT key and press the mouse button This causes the highlighted area to extend to its new position Keyboard users may also select text areas To do this hold down the SHIFT key while positioning the cursor as described above The highlighted area follows the cursor movements After releasing the SHIFT key the text area remains highlighted until the cursor gets moved The user may select the entire parts program with the Select All option located within the Edit menu 10 3 3 Operations on Selected Area The parts program Editor contains several controls that operate on the currently selected area of text Most of these appear within the Edit menu Refer to Figure 10 3 for an illustration of this menu Version 1 0 Aerotech Inc 10 3 Parts Program Editor U31 U600 User s Manual Editor C MAINMENU ANDY PGM Options d ido fing JAMES
113. Each of these functions is discussed in the sections that follow Version 1 0 Aerotech Inc 4 3 The Password Menu U31 U600 User s Manual Password Editor Password TEST Valid Modes Password Delete Setup MASTERPW Diagnostic Change Run Program Manual Editor F11 Communications jF12 Teach Figure 4 6 Password Editor Dialog Box 4 4 Adding Passwords To add a password to the system the user must manually enter the new password into the Password entry field see Figure 4 6 As mentioned this password may be up to 8 alphanumeric characters in length and is case sensitive Once the user enters the new password he must specify the mode for which that password applies The user may do this by using the check boxes found in the Valid Modes group box An enabled mode contains a check mark in the check box associated with that mode LE Many of the check boxes in the Password Editor screen are directly accessible through the F4 F12 function keys Once the user defines the access privileges for the new password he may add it to the system using the ADD button The system then displays the new password at the top of the Valid Parameter List box just below the Parameter entry field By adding a password with no characters or spaces i e a blank password the logon procedure can be reduced to hitting the ENTER key when prompted for a password This feature can be used as a
114. Error Correction 5 1 Error Correction Geometric 5 53 Error Log 11 1 Error Log Group Box 11 3 Error Log Option 11 2 Error Mapping Enable Bit 6 15 Error Tracking Position 5 13 Error Types 6 23 Error Invalid Entry of Parameter Value 5 3 ERROR TEXT 6 33 Errors 2 2 4 1 5 7 5 8 5 12 5 25 5 26 5 27 5 48 5 50 6 8 6 21 6 22 7 2 8 10 10 7 Errors Display 6 22 Errors Multiple Programming 6 24 ESC Done Push Button 8 3 ESTOP 6 25 E stop button 9 2 Ethernet 8 14 12 1 Ethernet File Transfer 12 2 Ethernet File Transfer Dialog Box 12 2 Exceptions 6 23 Execution Mode 7 10 Exit Option 10 9 Exiting the Program Editor 10 9 Explicitly Changing Parameter Values 5 3 External Feedback Fault 6 11 F F1 9 8 F1 Function Key 5 20 F10 Function Key 4 4 F11 Function Key 4 4 F12 Function Key 4 4 6 20 F2 9 8 F2 Accept Push Button 8 7 F2 Add Push Button 8 3 F2 Cancel Push Button 7 15 7 16 F2 Clear ESTOP Push Button 6 26 F2 Done Push Button 6 45 F2 Function Key 4 6 5 4 5 19 5 35 5 58 6 21 6 22 6 26 6 45 7 10 F2 Home Push Button 8 2 F2 Key 5 34 F2 Reinitialize System Push Button 6 21 Aerotech Inc U31 U600 User s Manual F2 Reinitialize System Push Button 6 22 F3 Abandon Push Button 8 7 F3 Abort Offset Push Button 7 16 F3 Cycle Starts Push Button 8 9 F3 Delete Push Button 8 3 F3 Function Key 4 6 5 4 5 19 5 35 6 21 6 22
115. FIGM INI Machine Parameters MACHINE INI and MACHINE2 INI Axis Correction Tables CNC Parameters CNC INI Virtual I O System If the system detects an invalid value in any one of the initialization files a dialog box containing an error message is displayed to notify the user of the type of error that occurred Once the system successfully initializes the axis processor it activates the pull down menus located in the title bar You may then select the desired option from these menus 2 2 Aerotech Inc Version 1 0 U31 U600 User s Manual Getting Started The MAINMENU application also contains an optional password protected mode of operation For details on this mode of operation please refer to the Chapter 4 The Password menu 2 3 Initial Setup In most cases the initial setup of your system will be minimal The bulk of the setup process is completed at the factory before your system is shipped Setup information is provided in this section for reference If you have purchased a complete system from Aerotech you may want to refer to the system specification sheet that is shipped with your system This sheet contains important information about your system including maximum speeds programming and machine resolutions 2 3 1 Supplying Power to the System Power is supplied to the UNIDEX 31 U600 using a power cord that is supplied with the controller The power cord connects to a 15 pin AMP connector located at the t
116. Figure 10 11 the first of these options permits the user to specify the color scheme used within the editor Fi Help D1 0 0000 Axis 02 0 0000 Word wrap Axis 01 20 c000 Axis 01 30 0000 Axis 02 30 0000 Figure 10 11 Options Menu Selecting the Set editor colors option from the Options menu causes the Set Editor dialog box to appear on the display See Figure 10 12 In Figure 10 12 notice that there is a list box to permit the user to specify both the background and foreground colors The user may view a sample of the selections through the Color Sample group box The text within this box shows an example of both normal text and selected text 10 10 Aerotech Inc Version 1 0 U31 U600 User s Manual Parts Program Editor Color Sample This is an example of text This is an example of selected text Figure 10 12 Set Editor Colors Dialog Box Both the Background Colors list box and the Foreground Colors list box function identically The user may scroll through the available choices The system updates the Color Sample group box each time the user highlights a new choice The Set button and the Apply button cause the new color choices to take effect on the edit window The difference between these two features is in the fact that the Set button closes the Set Editor Colors dialog box whereas the Apply button just permits the user to view the new colors The Cancel button closes th
117. G INI File 5 48 U31 WPROGRAMS Directory 7 1 10 2 t Increment Box 5 72 ALT F7 Key 7 6 Enter Key 4 1 5 3 5 19 5 25 5 29 5 33 5 58 5 62 Enter Push Button 7 13 Find Push Button 7 13 TAB Key 6 25 6 31 Key 6 46 2 button Mouse 3 4 A Abort Data Acquisition Feature 6 36 Abort Motion 5 14 Abort Queued Field 6 18 ABORTMASK Parameter 5 14 Absolute Mode 5 33 Absolute Mode Starting 5 33 Absolute Path Names 5 54 Absolute Path Specification 10 6 Absolute Position Current 5 16 Absolute Position Determination of 5 17 Absolute Positioning 8 5 Absolute Programming 7 5 Absolute Relative Positions 5 33 AC Mode Field 6 14 Accel Enable Field 6 18 Accel Mode Field 6 18 ACCEL Parameter 5 10 Accel Phase Field 6 5 Accel Phase Option 6 16 Accel Sign Field 6 18 Accel Decel Control Box 5 25 Accel Decel Mode 5 32 7 5 Accel Decel Type G63 and G64 5 32 ACCELERATE Parameter 5 11 Acceleration 8 3 Acceleration and Deceleration 5 32 Acceleration Feed Forward Field 6 14 Acceleration Feed Forward Gain Parameter 5 6 Acceleration Loop 5 6 Acceleration Deceleration Rates 5 32 Acceleration Deceleration Constant Rate 5 25 Acceleration Deceleration Rate based 5 25 Acceleration Deceleration Time based 5 25 ACCELMODE Parameter 5 10 ACCELRATE Parameter 5 10 Accuracy 5 6 5 12 Acquire Set of Data 5 63 Acquire Set of Data Option 6 36
118. ILES variable must include the full path include filename extension for all U31 help files CE If your system uses multiple directories for similar information files e g help files are located on C U31 HELP and D HELP then you can add multiple entries to your environment variables by separating the entries with a semicolon for example SET HELP C U31 HELP D HELP VV V 2 8 Aerotech Inc Version 1 0 U31 U600 User s Manual The Main Screen CHAPTER 3 THE MAIN SCREEN In This Section oi Introduction uS 3 1 e Components of the Main Screen 3 1 e Using a Mouse us e Alternate Keyboard Commands 3 5 3 1 Introduction The key user interface of the MAINMENU software program is the main screen From this main screen you can access the control setup and diagnostic functions necessary to operate the UNIDEX 31 U600 The main screen is displayed after you double click on the MAINMENU icon on the OS 2 desktop 3 2 Components of the Main Screen The main screen of the UNIDEX 31 U600 MAINMENU EXE software is illustrated in Figure 3 1 In this illustration the key components of the main screen are identified These key components are explained in the sections that follow m x Aerotech CNC Version 11 24 93 a i Password Setup Diagnostic Run Manual Edit View Comm p F1 Help Menu Item Control Menu Menu Items Menu Bar HALLE Maximize in
119. MENU to re configure the axis processor as specified in the initialization files The current user is then logged off if passwords are active and the application re enters its initial state see Chapter 3 The F3 Soft Reset Push Button functions similar to the F2 Reinitialize System control However the Soft Reset function first requests that the axis processor execute its power up initialization sequence Upon completion of this the system re loads the firmware and the axis processor is configured as specified in the initialization files Once again the Version 1 0 Aerotech Inc 6 21 Diagnostic Menu Options U31 U600Users Manual system logs off the current user if passwords are active and MAINMENU re enters its initial state see Chapter 3 In the event that the axis processor does not respond to the soft reset the system has lost communication between the axis processor and the CPU board The System Failure Information Dialog Box appears to notify the user of the error see Figure 6 7 System Failure Axis Communications Failure 80960 Axis Processor Board Not Responding Figure 6 7 System Failure Information Dialog Box After loosing communications between the axis processor and the front end it is necessary to reset the axis processor There are two ways to do this First the user may physically press the reset button located on the front of the axis processor card and re initialize the system with e
120. Menu Options CHAPTER 11 VIEW MENU OPTIONS In This Section eXeInttoductionee ET 11 1 e The Clock Calendar Option 11 2 e The Error Log Option 11 2 11 1 Introduction The options found under the View menu permit the user to modify the appearance of the MAINMENU Looking at the options from within the View menu notice that the operator may choose to display a Clock Calendar and or an Error Log see Figure 11 1 Aerotech CNC Version 11 24 93 Password Setup Diagnostic Run Manual Edit M Ti Comm v Clock Calender v Error Log Fri 12 17 93 11 01 21 am Figure 11 1 View Menu Version 1 0 Aerotech Inc 11 1 View Menu Options U31 U600 User s Manual 11 2 The Clock Calendar Option The Clock Calendar option displays the current date and time within a group box located on the lower right hand portion of the screen The date and time displayed here corresponds to the operating system settings Figure 11 2 depicts the location of this group box Aerotech CNC Yersion 11 24 93 Password Setup Diagnostic Run Manual Edit View Comm Fri 12 17 93 11 02 07 am Figure 11 2 Clock Calendar Group Box 11 3 The Error Log Option The Error Log option also causes a group box to appear on the display in the lower left portion of the screen A text description of all errors encountered by the CNC appears on the display within this group box Refer to Figur
121. Metric radio button for the desired units and entering the distance moved per motor revolution This can be entered directly from the pitch lead of your drive screw unless there is a gear box being used In the case of a gear box configuration you must calculate the actual distance moved from the gear ratio Note that this number along with either the Lines Rev parameter for encoder axes or 65 536 lines rev for resolver axes is used to calculate the ratio between machine steps encoder or resolver counts and user steps in or mm 2 3 5 Assigning Axes to the CNC System and Modal G Code Setup If you purchased a complete system from Aerotech then the axis assignments and G code setup have already been configured for you at the factory System specifications including maximum speeds machine and program resolutions are found in the documentation package that is included with your system The assignment of an axis to a CNC is controlled from the setup menu of the CNC software Within the setup menu is a selection for CNC parameters This selection contains a subsection for CNC general parameters and displays the CNC initialization screen Choose the Axis Select selection from the menu and click on each axis that is to be associated with this corresponding CNC Repeat the process once for each CNC using the CNC radio buttons to select Modal G codes may have their default values set from within the G codes menu selection These include absolu
122. Notification Dialog Box 7 14 Find Push Button 10 5 Find Case Sensitive 7 13 Finding Upper vs Lower Cases 7 13 Fixture Offset Active 7 5 Following Error 5 40 5 46 Following Error Minimizing 5 6 Following Error Zero 7 16 Font Size Changing 7 8 Fonts 7 8 Foreground Colors List Box 10 11 Foreground Module Synchronization 6 19 Freerun Mode 6 36 Full Tone Attribute 5 30 Full Tone Attributes 5 35 G G Code Display 7 4 G Codes 5 28 5 32 5 33 5 36 7 2 G Codes Menu 8 5 G Codes Pull Down Menu 5 29 5 31 G Codes Stored 8 5 GO Command 5 21 G17 Parameter 5 31 5 32 5 36 G18 Parameter 5 31 5 36 G19 Parameter 5 31 5 36 G2 Parameter 5 36 G3 Parameter 5 36 G51 Parameter 7 4 G53 Parameter 7 5 G54 Parameter 7 5 G55 Parameter 7 5 G63 Parameter 5 32 7 5 G64 Parameter 5 32 7 5 G67 Parameter 5 32 G68 Parameter 5 32 G70 Command 7 15 G70 Parameter 5 29 7 5 G71 Command 7 15 G71 Parameter 5 29 7 5 Version 1 0 Aerotech Inc ix G90 Parameter 5 33 7 5 8 5 G91 Parameter 5 33 7 5 G93 Parameter 7 5 G94 Parameter 7 5 G98 Parameter 7 5 Gain Settings 5 71 General Purpose Timer 5 5 Geometric Error Correction 5 53 Global Controls 8 1 Graphical User Interface GUI 2 1 Group Boxes 5 39 GUI 2 1 H H D Key 6 46 Half Tone Attribute 5 30 Half Tone Attributes 5 35 Half Tone Display 6 25 Half tone Attribute 5 24 Hall Inputs 6
123. O OE RE EED 4 1 4 2 Logging On and Logging Off the System sess 4 1 4 3 The Password Editor stern etm ne ie tore get 4 3 4 4 Adding Passwords esses eee nennen enne nenne 4 4 4 5 Deleting Passwords essent eene 4 5 4 6 Modifying Access Privileges esse sees se ee ee ee Ge Ge Se Ge GR Re ee 4 6 4 7 Pile GOMO MAR EE RE ON EE N 4 6 CHAPTER 5 The SETUP menu eerte renes 5 1 5 1 Inttoduction cro rtr RF Ae TRE ERES 5 1 2 2 Axis Parameter Editor eet ger P bte ite de 5 2 5 2 1 Axis Parameter List Box iese esse ee ee ee ee GR Re ee GR Re ee ee 5 3 5 2 2 The Current Setting Min and Max Boxes 5 3 52 3 Base Selection ER EE EE EE Der 5 3 Version 1 0 Aerotech Inc iii Table of Contents U31 U600 User s Manual 5 2 4 Axis Selection cccccccessscccececeesessececeeececsesssaeeeeeeeesenseaeees 5 3 5 2 5 Parameter Modification Direct Entry ssssse 5 3 5 2 6 Parameter Modification The Trim Control Box 5 4 5 2 7 Parameter Modification The Bit Mask Control Box 5 4 5 2 8 The File Control BOX iese se se ee ee ee ee Re Re ee RR Ee ee 5 4 5 3 Ax1S Parameters secre EE N Ree e adt NeS 5 5 33d POSU OE eec dr cote pute cot s tecu de whee 5 5 3 32 ECHO caos aea t de ires 5 5 33 GEKOOK MEES OE De ee IN eue 5 5 Sad AVGVELTIME 6 rid eet e tt rect
124. Options CHAPTER 5 THE SETUP MENU In This Section OP nttoduetiop evo TRES 5 1 ol Axispatametei Editor meter eee 5 2 ex Axis parameters eee EE ETE 5 5 e Machine Parameter Editor suse 5 18 el MachineiParameters ste eee eee 5 21 e ENG Parametets ee 5 23 e Axis Configuration Setup iese se see se se Re see 5 39 SPO DLS ene tue Rp tenete eR 5 49 of HOP ompensatons ee S 5 50 ES EA RM RUD 5 52 ei oolFileMenus EERS EE M 5 52 e Axis Correction Table Configuration 5 53 or Datat Captures EE EC 5 58 oA RIS eS CUY a eoo SU 5 61 5 1 Introduction By accessing the Setup menu the user can configure various types of parameters As can be seen in Figure 5 1 the available options allow the user to modify axis machine CNC system configuration and data acquisition parameters The user may also perform additional functions such as enable optional features configure the position display and describe and enable error correction The Axis Test option invokes a utility designed to simplify axis tuning erotech CHC Yersion 11 24 93 Password Diagnostic Run Manual Edit View Comm Axis Parameters Machine Parameters CHC Parameters gt Configure HP Compensation Options API Probe Axis Correction Tables Data Capture Axis Test Figure 5 1 Setup Menu Version 1 0 Aerotech Inc 5 1 Setup Menu
125. Options U31 U600 User s Manual 5 2 Axis Parameter Editor The Axis Parameters option invokes the Axis Parameter Editor see Figure 5 2 to allow the user to view or modify the values for the axis parameters The values displayed correspond to the settings upon invocation of MAINMENU This does not necessarily correspond with the current value of a parameter However changes made to the displayed value of a parameter also changes the current value of that parameter Aerotech strongly recommends that the user make a backup copy of the Default GET Parameter Settings AXIS INI file before altering any parameter values x Aerotech CNC Version 11 24 93 Password Setup Diagnostic Run Manual Edit View Comm Axis Parameter Editor Current Setting Minimum Yalue Maximum Value Hex Dec Toggle 0 2147483647 2147483547 Decimal F6 EE NM NENNEN Select Axis ECHO A au AVGVELT I ME 25 KI 1 2 3 4 5 KP 6 7 8 Bit Mask Control E w 0 Position error limit Vj 1 RMS current limit Fault Mask vj 2 CW Hardware EOT H CCW Hardware EOT CW Software EOT PGAIN YFF DRIVE 9 AUX 10 AFFGAIN 11 BLOCKMOTION 12 REVERSALMODE 13 IMAX 14 IAVGLIMIT 15 IAVGTIME Amount 16 POSERRLIMIT eed OOOOOONOOOSEOSD Figure 5 2 Axis Parameter Editor Screen 5 2 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options 5 2 1 Axis Parameter List Box A list box to the left of the screen shown in Figure 5 2 di
126. Programmed Mult Actual 300 00 1 000 300 00 H o gt 100 Spindle RPM Programmed Mult Actual 0 00 1 000 0 00 J M 100 Status pa Status Compile Done Sucessfully CNC 1 Axis Positions isplay Font Units Mach ine Target Velocity impp oi Figure 7 4 CNC Run Mode Dialog Box 7 3 1 Parts Program Display Looking at Figure 7 4 note that the parts program being executed appears in a large list box in the upper right portion of the screen Each program block represents an element within that list A line within a program that is ready for execution always appears on the display in reverse video The highlighted part of the program changes after execution of the block The user may alter program execution using the program flow controls described in 5 Section 7 5 Version 1 0 Aerotech Inc 7 3 Run CNC Parts Program U31 U600 User s Manual 7 3 2 G Code Display As mentioned earlier the U31 U600 CNC has several distinct modes of operation These modes remain active until explicitly commanding the CNC to enter another mode The G Codes Group Box indicates the current operating mode of the CNC while executing the parts program This dialog box is updated each time the parts program changes any of these modes The following sections discuss these modes and the choices available to each one 7 3 2 1 1st Axes Plane Move Type There are eight available options when using this mode These include
127. Screen sese 5 24 Figure 5 8 AXIS Select Menu see ESE eg SEE Kees GR eDim p PERPE sede Geek see 5 25 Figure 5 9 Invalid Parameter Value Dialog Box eee 5 26 Figure 5 10 Spindle Axis Assignment Menu esee 5 27 Figure 5 11 Axis Designation using the Cutter MENU eee sene 5 29 Figure 5 12 Thread Assignment MENU se see se ee ee ee Ge ee nennen nene 5 30 Fipuie 2 13 G Godes Menu eiecti P EHE Ee Ee 5 31 Figure 5 14 B Axis Initialization Dialog Box eee 5 34 Figure 5 15 B Axis Select Menu se se ee SA Ge Ge Gee Ge ee nennen nennen nenne 5 35 Figure 5 16 Max Speed for Maintaining Normalcy Group Box 5 35 Figure 5 17 Plane Initialization Dialog Box eee 5 36 Figure 5 18 Plane Axis Menu eee rete e EIE nere Ee 5 36 Figure 5 19 Pendant Initialization Dialog Box eese 5 37 Figure 5 20 Pendant Port MENU ies sees see see se ee ee ee ee Ge een eerte 5 37 Figure 5 21 The Probe Offset Data Initialization Screen sese 5 38 Figure 5 22 Axis Configuration Setup Editor sse 5 39 Figure 5 23 Resolver Feedback Configuration Parameters sss 5 40 Figure 5 24 Encoder Feedback Configuration Parameters sss 5 41 Figure 5 25 HP VME Laser Interferometer Configuration Parameters 5 42 Figure 5 26
128. Screen option is inactive or not selected To toggle these buttons simply move the cursor over the desired circle or box and click the left mouse button Text windows usually appear as white rectangles These windows allow the operator to enter text directly from the keyboard To select a text window so that you can enter keyboard text you move the cursor to the text window and click the left mouse button In text boxes that already contain text the text cursor will appear where the mouse was clicked If there is no text in the text window the text cursor will appear at the beginning of the field by default The text cursor I shows the current insertion point for text In some cases when the MAINMENU software is expecting a text response the text window box will already have a text cursor in place 3 4 Alternate Keyboard Commands Although the MAINMENU software is designed to be used with a mouse you are able to perform certain functions by using keystroke sequences from the keyboard Some alternate keyboard commands use function keys e g F1 F2 F3 etc while others use mnemonic sequences e g Alt S for Save Alt T for Teach etc Most alternate keyboard sequences are either listed to the right of a menu selection e g the alternate keyboard command combination Alt F5 appears after the Restore option of the control menu or are denoted by a menu name that has an underlined letter e g Setup In the latter
129. Search Replace etc Most of the controls for these features appear within the options displayed in the menu bar at the top of the window However some features such as the selection of text do not have explicit controls associated with them These features function according to the specifications found within the OS 2 Common User Access Guide to User Interface Design Two commonly used features implemented in this way are cursor placement and text selection 10 2 Aerotech Inc Version 1 0 U31 U600 User s Manual Parts Program Editor 10 3 1 Cursor Placement The user can accomplish cursor placement within the parts program Editor in one of two ways through keyboard control or through mouse control Mouse users may simply place the mouse pointer to the desired location and press the mouse button once Horizontal and vertical scroll bars permit the user to edit undisplayed portions of the program Controlling the cursor from the keyboard is a bit more difficult than using the mouse The UNIDEX 31 U600 supports all normal editing keys That is all arrows the page up page down home and end keys all function as one would expect The UNIDEX 31 U600 offers additional functions for many of these keys used in conjunction with the CONTROL key The following list describes these features Control Response Right Arrow Move One Word to the Right Left Arrow Move One Word to the Left Home Page Up Move to the Program Start End Page
130. THE UNIDEX 31 U600 USER S MANUAL P N EDU153 V1 0a AN AEROTECH AEROTECH Inc 101 Zeta Drive e Pittsburgh PA 15238 2897 e USA Phone 412 963 7470 e Fax 412 963 7459 Product Service 412 967 6440 412 967 6870 Fax WWW aerotechinc com If you should have any questions about the UNIDEX 600 board or comments regarding the documentation please refer to Aerotech online at http www aerotechinc com For your convenience a product registration form is available at our web site Our web site is continually updated with new product information free downloadable software and special pricing on selected products UNIDEX 31 and UNIDEX 600 are products of Aerotech Inc Operating System 2 OS 2 is a registered trademark of International Business Machines Inc HP VME Laser Interferometer is a product of Hewlertt Packard Company The UNIDEX 31 U600 User s Manual Revision History Rev 1 0 May 24 1995 Rev 1 0a March 26 1996 U31 U600 User s Manual Table of Contents TABLE OF CONTENTS CHAPTER 1 Introduction sesse sesse ese see see eke ee eke se ek Ge ek Gee ee Gee be RA Ge ee Gee ee 1 1 1 1 System OV rVIeW eoa dene EE ro egentes 1 1 1 2 Options and Accessories sesseseeeseeeeeneen ene 1 2 1 3 Documentation Reference esse se ee ee Re AA Re ee Re ee ee 1 2 1 4 Safety Procedures and Warnings seen 1 3 CHAPTER 2 Getting Started sess 2 1 2 1 O
131. The OGM file contains the actual program binary text sent directly to the 80960 the motion processor The SGM file contains the program text the variable definitions and other items needed by the 486 frontend processor in order to track program execution properly If the user attempts to compile one of the file types OGM and SGM directly then the compiler assumes that the file is an object file and tries to read it that way This creates a new restriction that program files cannot be OGM or SGM file types This is true regardless of whether the automatic object file or infinite download options are on or off Forming an object file requires approximately 25 times as much disk space as the size of the uncompiled file The compiler will inform the user whether it is reading a source or object file by observing the text in the title bar on the Runbox the smaller box within the run window that shows the program lines If the title is the same as source file the same as the one on the larger run window then a source file is being compiled If the run box lists a title of a file type SGM or OGM then its reading in an object file Version 1 0 Aerotech Inc B 1 Appendix B U31 U600 User s Manual CE The compiler will always process the SGM file first then the OGM file The title bar will change the name printed as the compiler moves from one part of the compile to the next B 2 Infinite downloa
132. Therefore for more information on the settings of these parameters please refer to the discussion of resolvers as primary feedback devices 5 7 3 3 Encoder As mentioned an encoder is a digital position measurement transducer that measures incremental position by counting the number of edges found on the feedback signal The parameters applicable to using an encoder as a primary feedback device are identical to those needed to use the device for secondary feedback Therefore the user should refer to discussion of encoders as primary feedback devices for more information The Use Velocity Marker field permits the user to specify which encoder marker to use during homing A blank check box indicates use of a marker pulse from the primary Version 1 0 Aerotech Inc Setup Menu Options U31 U600 User s Manual position transducer Conversely setting this check box causes the system to use the secondary velocity transducer marker pulse 5 7 4 Master Feedback Select the Master Feedback group box when the axis being configured is to synchronize its motion with another axis the Master Axis The most common use for this feature is with the CAM tables Refer to the earlier description of the MASTERPOS parameter for a brief description of CAM table operation Like the Primary and Secondary Feedback group boxes the radio buttons select the feedback types and the entry fields depend on the type of device selected 5 7 4 1 Null Fe
133. able Template There are several ways in which to build an axis correction table The easiest of which is to use the BUILD F7 push button to build a template and then fill in the amount of correction necessary at each point To accomplish this the user must specify the starting and ending positions as well as the increment between the points within the table This requires using the Start Position End Position and Increment entry fields To specify any of these values place the cursor into the corresponding entry field and explicitly type in the new value Pressing the BUILD F7 push button or the associated F7 function key causes the editor to 1 generate points that begin at the start position 2 add increment counts per point and 3 end at a point greater than or equal to the end position The system updates the Points information field to reflect the number of points generated 5 12 2 Modifying the Axis Correction Table Template To specify the amount of correction needed the user must select each point and explicitly enter the number of machine steps of error expected to occur The amount of error expected corresponds with the actual position minus the commanded position Later this error is added into the feedback for that axis during motion Table 5 1 shows the differences between commanded and actual positions based on the sample correction data in Table 5 2 Table 5 1 Sample Commanded Position Versus Actual Position
134. al 6 2 4 3 CW Input Refer to Section 6 1 2 3 for information on this signal 6 12 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options 6 2 4 4 CCW Input Refer to Section 6 1 2 4 for information on this signal 6 2 4 5 Home Input Refer to Section 6 1 2 5 for information on this signal 6 2 4 6 Drive Fault Input Refer to Section 6 1 2 6 for information on this signal 6 2 4 7 At Home Refer to Section 6 1 2 7 for information on this signal 6 2 4 8 Done Refer to Section 6 1 2 8 for information on this signal 6 2 4 9 In Position Refer to Section 6 1 2 9 for information on this signal 6 2 4 10 Faulted Refer to Section 6 1 2 10 for information on this signal 6 2 4 11 Probe Input Refer to Section 6 1 2 11 for information on this signal 6 2 4 12 Marker Input Refer to Section 6 1 2 12 for information on this signal 6 2 4 13 Hall Input 1 2 3 and 4 These information fields are synonymous with the corresponding field in the Axis Status Group Please refer to Section 6 1 2 13 for further information 6 2 4 14 Integral clamped This field states that the system put a clamp on the integral error of the system at the maximum negative value Related Parameter s NONE Related Command s NONE 6 2 4 15 Integral clamped This field indicates that the system limited the integral error of the axis at the maximum positive value Related Parameter s NONE Version 1 0 Aerote
135. al Gain of the Velocity Loop 5 5 Pull Down Menu 3 4 Pull Down Menus 3 4 Pull Down Menus Initial Display 2 2 Q Queued Command Field 6 7 Quick Home Field 6 19 Quit Control 4 3 QUIT Push Button 6 47 R R D Channel Entry Field 5 41 5 44 Radio Button 5 37 5 50 Radio Buttons 5 19 5 23 5 39 5 40 5 45 5 46 5 60 6 2 Ramping 5 11 Ramping Linear 5 10 5 32 Ramping Rate based 5 10 Ramping Selection of 5 10 Ramping Sinusoidal 5 10 5 32 Ramping Time based 5 10 Rapid Point to point Moves 5 21 Rapid Traverse Move 7 4 Rate based Acceleration Deceleration 5 25 Rate based Acceleration Deceleration Units 5 26 Rate based Linear Ramping 5 10 5 11 Rate Based Ramping 5 10 Rate based Sinusoidal Ramping 5 10 5 11 Ratio Mode 6 6 Version 1 0 Aerotech Inc XV Real Time Performance Display 5 61 Reinitializing the System 6 21 Relative Path Names 5 54 Relative Path Specifications 10 6 Resetting the Parts Program 7 17 Resolution System Maximum 5 59 Resolution of Displayed Data 5 67 Resolution of Samples 5 67 Resolution of the Servo Feedback 5 43 Resolver 8 2 Resolver Feedback 5 40 Resolver Feedback Configuration Parameters 5 40 Resolver Feedback Devices 5 40 Resolver Null 5 22 Resolver Nulls 5 21 5 22 6 10 Resolver Definition 5 40 Resolver Motor Alignment 5 41 Resolvers 5 45 5 46 Restore from File 5 19 Restore Values from F
136. am Controls This screen see Figure 7 4 permits the user to control the execution of the parts program The following sections discuss each of these features in detail 7 5 1 Execution Mode Selection The U31 CNC can execute a parts program in one of two ways single step mode or auto mode The blue SINGLE F2 button displays the current execution mode and toggles between the two available execution modes Upon invocation the mode of operation for the CNC Processor is the single step mode To change the execution mode the user must press the blue SINGLE F2 button or press the F2 function key In response to this action the CNC changes into the auto mode of execution and the blue SINGLE F2 button changes into an AUTO F2 button Since this push button acts as a toggle between the single step mode and the auto mode of execution pressing it again places the CNC Processor back into the single step mode Doing this while executing the parts program causes execution to halt upon completion of the current program block 7 5 2 Program Execution The CYCLE START F3 button initiates execution of the parts program Pressing this push button or the associated F3 function key causes the CNC Processor to execute one block of the parts program Upon completion of this block the system determines the current execution mode If the enabled mode is the auto step mode the system proceeds by executing the next program block This process repeats unti
137. ameter specifies rate based ramping The units for this parameter are machine counts per second squared This parameter has a valid range of 1 to 10 000 000 The default value is 1 000 000 1 count msec2 The user may also specify acceleration parameters from within a parts program Refer to the G65 and G67 G68 commands 5 3 34 DECELRATE This parameter sets the rate of deceleration while the DECELMODE parameter specifies rate based ramping The units for this parameter are machine counts per second squared This parameter can range from 1 to 10 000 000 The default value is 1 000 000 1 count msec2 The user may also specify deceleration parameters from within a parts program Refer to the G66 and G67 G68 commands Version 1 0 Aerotech Inc Setup Menu Options U31 U600 User s Manual 5 3 35 HOMESWITCHTOL To ensure the accuracy of a homing sequence there must be a minimum distance between the Home Limit Switch and the Home Marker Pulse Otherwise the axis processor may miss the first marker pulse and use the second marker as the home position before the Home Offset The required distance depends on two factors feedback resolution and home feedrate This parameter specifies the minimum distance in machine steps that must exist between the home limit and the marker pulse Failure to maintain this distance causes a HOME SWITCH TOLERANCE fault to occur This parameter has a valid range of 0 to 16 384 machine steps The d
138. antly increase and never repeat This parameter refers to an offset applied to the master position of the auxiliary output table associated with an axis The point at which the table begins and ends is advanced or retarded The user must be aware of the table s setup before setting the value of this parameter The units for this parameter are machine steps within the range of and can be any one of the signed 32 bit numbers The default value is for zero 0 machine steps in the range of 2 1 to 2 1 approximately 2 1 billion to 42 1 billion 5 3 44 ABORTMASK This parameter controls the faults that cause an axis to abort motion If the system is to abort motion it disregards the DECEL parameter setting and stops the axis immediately This also sets the current position error to zero The value specified is a bit mask where each bit corresponds to a specific fault see Section 6 2 3 Setting a bit to a one causes the axis to abort motion when that particular fault occurs assuming the corresponding bit in the FAULTMASK parameter is set 5 3 45 MASTERPOS To understand how this parameter works the reader must be familiar with the operation of synchronized motion through the use of CAM tables on the UNIDEX 31 U600 While operating in this mode axis motion relates directly to motion on the master axis the axis designated by the user The basis of this relationship is dependent on the currently active CAM table Each CAM table
139. applicable e PLC is 1 7 e RI 4xxxx Axxxx is a valid PLC register number e RO4xxxx Axxxx is a valid PLC register number e BI no parameter e BO no parameter e GLOBAL is 1 32 BIT is a valid bit number 1 16 with the least significant bit being bit 1 FAULT LEVEL is the error state either logic 0 or 1 6 32 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options ERROR TEXT is the error message to be displayed in the window FILENAME is an optional filename that will provide more information if the error message in the error window is clicked on with the mouse The specified file is an ascii text file containing information on the error message Each I O error must have a separate help file EXAMPLES IO TYPE 2 BIT FAULT_LEVEL ERROR_TEXT FILENAME PLC 2 1 0 plc2 error on bit 1 c u3 1 ini plc hip RI 40100 3 1 reg 40100 in bit 3 error c3 1 vegister hlp RO40110 5 0 reg 40110 out bit 5 error BI 7 0 binary in bit 7 error c u3 1 program binary hlp BO 9 1 binary output 9 failed GLOBAL 3 11 1 global 3 bit 11 error PLC Fault Display Screen Fault Messages 5 I F2 Up F3 Down F4 Clear List F5 Hide Figure 6 19 Fault Display Screen Version 1 0 Aerotech Inc 6 33 Diagnostic Menu Options U31 U600Users Manual 6 12 Plot Data Utility This function performs real time data acquisition based on ce
140. arts Program Editor Operations on Selected Text 10 3 Parts Program Editor Searching 10 4 Parts Program Editor Selecting and Extending Characters 10 3 Parts Program Editor Text Selection 10 3 Parts Program Editor Undo Typing 10 4 Parts Program Run Mode 7 2 Parts Program Absolute Mode 5 33 Parts Program Editing 10 2 Parts Program Execution 7 13 Parts Program Execution Mode 7 10 Parts Program Incremental Mode 5 33 Parts Program Resetting 7 19 Parts Program RS 274 5 24 Parts Program Saving 10 6 Parts Program Selecting 7 1 10 2 Parts Program Specifying Safe Zone Parameters from 5 9 Parts Programs Modes of Operation 5 33 Parts Programs Debugging 5 9 7 16 Passes Number of 5 30 Password Access Privileges Modifying 4 3 Password Editor Dialog Box 4 4 Password Editor Error Message Screen 4 5 Password Entry Field 4 1 Password Feature 4 1 Password File Hidden Updating 4 6 Password List Box 4 5 Password Lockout Avoiding 4 5 Password Menu Log Off Option 4 1 Aerotech Inc U31 U600 User s Manual Password Menu Options 4 1 Password Mode 4 1 Password Not Recognized Error 4 1 Password Privileges 4 6 Password Protection 2 3 Password Default 4 1 Password Deleted 4 6 Password Invalid 4 1 Passwords Adding 4 4 Passwords Syntax 4 1 Path Specifications 10 6 Pendant deadband 9 4 Pendant Deadband Entry Field 5 37 Pendant Initialization
141. as described in section 7 8 1 of this manual F4 permits the user to toggle between one of two menu lines Initially F4 will have the designation NEXT displayed on the menu line In the RUN mode pressing F4 will cause the regular menu line to change from F1 MACHine F2 IN or MM and F4 NEXT to F1 JOG or OFFSET F2 JOG or RETurn and F4 NEXT allowing the user to toggle back to the regular menu line The AX REQUEST AX RELEASE F3 will display NONE on the menu line F5 and F6 keys have no function at this time 9 8 Aerotech Inc Version 1 0 U31 U600 User s Manual Parts Program Editor CHAPTER 10 PARTS PROGRAM EDITOR In This Section ed Introduction e 10 1 e Selecting the Parts Program 10 2 e Editing the Program 10 2 e Saving the Modified Parts Program 10 6 o FAU Save Reatu EE 10 8 ems xitinedhcssditone incre 10 9 S DEdJtOCOPHONS E S 10 9 10 1 Introduction The options found under the Edit menu permit the user to create and modify parts programs Selecting this option invokes the parts program Editor Figure 10 1 illustrates the initial state of this editor Editor Untitled ile Edit Options Figure 10 1 Parts Program Editor Dialog Box After invoking the editor MAINMENU assumes that the user is attempting to create a new parts program In this case the user is free to begin editing The user
142. ask F8 3 Fault Status F3 g Fault Mask F6 Interrupt Mask F9 Clear F12 Servo Status F4 3Disable Mask F7 Auxilliary Mask F11 Fault Control Axis 1 Axis 02 Aus 03 Axis 04 r e ae D b x e aea i r x e e eo H Figure 6 5 Motion Status Display Dialog Box 6 2 5 1 Move Direction Refer to Section 6 1 2 14 for information on this status bit 6 2 5 2 Moving Refer to Section 6 1 2 15 for information on this status bit 6 2 5 3 Accel Phase Refer to Section 6 1 2 16 for information on this status bit Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options 6 2 5 4 Decel Phase Refer to Section 6 1 2 17 for information on this status bit 6 2 5 5 Homing Refer to Section 6 1 2 18 for information on this status bit 6 2 5 6 Feedrate Override Refer to Section 6 1 2 19 for information on this status bit 6 2 5 7 Profile Mode Refer to Section 6 1 2 20 for information on this status bit 6 2 5 8 Sync Mode Refer to Section 6 1 2 21 for information on this status bit 6 2 5 9 CAM Table Enable Refer to Section 6 1 2 22 for information on this status bit 6 2 5 10 Homing Direction Refer to Section 6 1 2 23 for information on this status bit 6 2 5 11 Continuous Move Refer to Section 6 1 2 24 for information on this status bit 6 2 5 12 Queued Command Refer to Section 6 1 2 25 for information on this status bit 6 2 5 13 Hold Active Refer to Section 6 1
143. be suspended at will The Halt with Feedhold check box specifies if data acquisition is to be suspended with program execution or if it is to be uninterrupted For suspended acquisition the check box must contain a check mark The Manual Feedrate Override MFO control found on several of the CNC screens varies the speed at which axis motion occurs when commanded by the CNC Processor When specifying this speed note that it is a percentage of the programmed speed from 0 to 200 percent Placing a check mark in the Vary Time with MFO check box causes the MFO to scale the data acquisition frequency by the feedrate override percentage 5 13 2 Distance Based Controls The distance based mode of data acquisition causes the sampling to occur each time the specified axis travels a given distance This distance accumulates regardless of the direction in which the movement occurs The user can specify this distance through the various entry fields in three ways inches millimeters or degrees In this mode the data acquisition depends on the feedback from a single axis This axis is the Master Axis for data acquisition To select a Master Axis use the radio buttons found in the Master Axis group box The Number of Samples entry field indicates how many acquisitions should occur before displaying the data The default for this parameter is 1000 and may not exceed the table allocation size The period of time over which the acquisition occurs depends
144. below is to change the size of the font used to display the information The Axis Position Display Font Options menu provides the user with a variety of font sizes to choose from see Figure 7 8 CNC 1 Axis Positions isplay Bung Units Pos To Go Velocity 0 00 mm 0 00 mm pm 000 MM PM O rpm Figure 7 8 Axis Position Display Font Menu The applicable size depends upon the number of fields being displayed as well as the distance from which the user needs to view the display Y CNC 1 Axis Positions isplay Font Units Machine Prasat Pos To Go Velocity 0 00 mmp 0 00 mmp rp Axis 01 0r Axis 02r Axis Som Figure 7 9 Axis Position Display Font 12 Dialog Box 7 8 Aerotech Inc Version 1 0 U31 U600 User s Manual Run CNC Parts Program CNC 1 Axis Positions Display Font Units Een m 4h in ein in Figure 7 10 Axis Position Display Font 40 Dialog Box 7 4 3 Units As can be seen from Figure 7 11 the Units Available in Axis Position Display Menu permit the user to configure the display in one of two modes English inches or metric millimeters This setting applies to all linear axes being displayed Rotary axes always appear on the display in degrees CNC 1 Axis Positions Display Font Units Figure 7 11 Units Available in Units Menu Version 1 0 Aerotech Inc 7 9 Run CNC Parts Program U31 U600 User s Manual 7 5 Progr
145. ble options when using this mode These include G63 Sinusoidal 1 cosine Ramping Enabled G64 Linear Ramping Enabled 7 3 2 9 Units Of Measure There are two available options when using this mode These include G70 English Programming inches G71 Metric Programming millimeters 7 3 2 10 Absolute Incremental Positions There are two available options when using this mode These include G90 Absolute Programming G91 Incremental Programming 7 3 2 11 Feedrate Mode There are two available options when using this mode These include G93 Inverse Feedrate Mode G94 Normal Feedrate Mode 7 3 2 12 Programming Mode There are two available options when using this mode These include G98 Axes Moves Dominated by Rotary Feedrate if simultaneous linear rotary moves G99 Axes Moves Dominated by Linear Feedrate if simultaneous linear rotary moves Version 1 0 Aerotech Inc 7 5 Run CNC Parts Program U31 U600 User s Manual 7 4 Position Display For each axis associated with the CNC the CNC Run Mode Dialog Box see Figure 7 4 contains a group box to convey position information to the user Appearing within the border of the group box is an axis name This name corresponds with the axis position displayed on the screen This position display box is also used in the Manual Mode Screens see Section 8 The following is a description of how to manipulate the position display boxes see Figure 7 5 Figur
146. case the underline letter is used in conjunction with the ALT key usually to open the desired menu For selections within a menu the underlined letter represents the shortcut key to press in order to perform the associated function provided the menu itself is currently opened or pulled down For some common alternate keyboard commands refer back to Table 3 1 and Table 3 2 File Name sample xyz Version 1 0 Aerotech Inc 3 5 The Main Screen 3 6 Aerotech Inc U31 U600 User s Manual Version 1 0 U31 U600 User s Manual The Password Menu CHAPTER 4 THE PASSWORD MENU In This Section exe Introductions e RES 4 1 Logging On and Logging Off the System 4 1 el ThePasswordEdito e 4 3 ei AddingPasswords EE o E TUE 4 4 ellDeletnsipasswordsi N 4 5 e Modifying Access Privileges sees 4 6 el File Controle cect EE eer ree eas 4 6 41 Introduction The UNIDEX 31 U600 has a password feature that permits the user to password protect each mode of operation The user can access particular modes upon logging on based upon the password specified and may not change these privileges A user granted access to the password mode may modify the privileges associated with a given password Each password may be up to 8 alpha numeric characters in length and is case sensitive Initially the default password is MASTERPW which grants access to all
147. cations Wild card designations permit the user to alter the options available from within the Files list box Specifying a directory path with a wild card file changes the current directory to the specified directory and updates the Files list box with all the filenames that meet the file specification Another way of changing the current drive directory is with the Directories list box The options displayed in this list box correspond with all the disk drives found on the system and all subdirectories of the current directory The option permits the user to move up one level in the directory tree Selecting one of these options causes the selected directory to become the current directory and updates the Files list box with all the filenames that meet the file specification found in the File name entry field 5 54 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options 5 12 2 Axis Correction Table Editor After selecting the axis correction data the system invokes the Axis Correction Table Editor To identify with this screen refer to Figure 5 41 Axis Correction Table Editor File Name C U31 CORRECT CORRECT1 TBL Master Slave Scale Points Active Ce e be E Programmed Position Correction Edit 3000 4 Add F4 Delete F5 Build F7 Load F3 Start Position End Position Increment 0 3000 1000 Figure 5 41 Axis Correction Table Editor Dialog Box 5 12 2 1 Usage of Axis Correction
148. ce specified by this parameter begins at the hardware home position The units are in machine steps and can be any one of the signed 32 bit integers The default for this parameter is zero The user may also specify safe zone parameters from within a parts program with the G36 command 5 3 26 SAFEZONEMODE The value set by this parameter determines how the system interprets the SAFEZONECW and SAFEZONECCW parameter Setting this parameter to zero disables the safe zone while a one defines an area in which the axis may enter and a two defines an area in which the axis may not exit A safe zone fault occurs each time the associated axis moves into an area that violates an active safe zone The user may also specify safe zone parameters from within a parts program with the 5 G36 command 5 3 27 SIMULATION To facilitate easy debugging of parts programs this parameter allows the user to place an axis into a simulation mode While in this mode the motor s torque remains steady but no motion occurs While executing a parts program on a simulated axis the axis processor performs all calculations normally but the torque command never reaches the motor Instead the torque serves as the feedback for this axis effectively creating a system free from velocity error All other features such as data acquisition continue to function normally Setting this parameter to zero disables the simulation mode while a one enables it The default is
149. cel Decel Control Variable Allocation v G91 Incremental Distances Accel Time Decel Time EE G111 Inverse Circular Accel Rate Decel Rate CNC Name EUU E J eurn EE CNC 3 3 CNC 4 Figure 5 13 G Codes Menu As can be seen from Figure 5 13 the items found within this menu have several divided groups The user can select any one of these groups to configure a new operating mode for the CNC processor A check mark found next to the mode determines which mode to activate upon initializing the CNC processor 5 6 1 10 Axes Plane Designation G17 G18 G19 All contouring commands supported by the RS 274 programming language apply to a pair of axes referred to as an axes plane If these axes intersect and are perpendicular to each other the user may use them to define a plane that contains all points accessible by Version 1 0 Aerotech Inc 5 31 Setup Menu Options U31 U600 User s Manual these two axes The user may easily identify each point by an ordered pair of coordinates x y The standard RS 274 language permits circular contouring on several axes planes It also permits the program to select which axes to use when defining each plane For example G17 states that the first axes plane has both Axis 1 and Axis 2 while the second axes plane consists of Axis 3 and Axis 4 and so on The G18 command designates Axis 3 and Axis 1 to define the first axis plane and Axis 2 and Axis 4
150. ch Inc 6 13 Diagnostic Menu Options U31 U600Users Manual 6 2 4 16 VFF enable This field indicates that velocity feed forward is enabled for the axis The system uses velocity feed forward during velocity contouring to minimize velocity error ON signifies that VFF is enabled Related Parameter s VFF 6 2 4 17 AFF enable This field indicates that acceleration feed forward is enabled for the axis An AFGAIN of zero disables this field ON signifies that AFFGAIN is non zero Related Parameter s AFFGAIN 6 2 4 18 alive This field determines if the user has enabled and configured the associated axis This bit remains ON as long as these two conditions are met Related Parameter s NONE 6 2 4 19 VFF or zero PGAIN This bit indicates whether the servo loop is operating in the velocity feed forward mode or if the position loop was disabled by setting the PGAIN to zero Related Parameter s PGAIN Section 5 1 7 6 6 2 4 20 FB Failure input This field corresponds with the current state of the feedback failure input on the R D channel associated with the axis Related Parameter s NONE 6 2 4 21 Master FB failure This field corresponds with the current state of the feedback failure input on the R D channel associated with the axis configured as a master for this axis Related Parameter s NONE 6 2 4 22 HP VME Laser This bit specifies that the type of feedback device associated with the axis is an HP VME Laser
151. ct a spindle axis for a given CNC process first activate that axis using the Spindle Axis Assignment menu MAINMENU displays all axes not associated with the CNC process in a half tone gray color A check mark next to a particular axis indicates a currently configured spindle axis Refer to Figure 5 10 5 26 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options EGGS Cutter Cutter Thread 4 Thread Y G Codes 98 Axis 89 2 Axis 02 18 Axis 18 3 Axis 83 1i Axis ti Axis 84 12 xkis 12 Po Axis 88 13 Asie 13 Axis 88 Axis i4 Axis OF 18 Axis 18 Axis 88 Axis 18 Figure 5 10 Spindle Axis Assignment Menu To allow the Spindle Axis to function properly the user must set the linear or rotary parameter found in the Machine Parameter Editor to rotary 5 Refer to the G codes sections 3 7 through 3 7 4 of the UNIDEX Programming Manual e g G40 G43 etc for information about setting the radius diameter of the tool part for constant surface speed operations The Constant Surface Spindle Speed group box and the Spindle Feedrate group box allow the user to specify limits on the feedrate commanded by the CNC parts program for a designated Spindle Axis A program translation error occurs if the parts program attempts to command a feedrate outside of the permitted range The specified value is always in degrees per second and must be a positive number greater than zero By defaul
152. ction and continues to look for the home limit Once it reaches the home limit it reacts as described above A homing fault occurs if the axis finds the end of travel limit before it finds the home limit Version 1 0 Aerotech Inc 5 21 Setup Menu Options U31 U600 User s Manual However in some systems it is advantageous to use the same limit switch for both the home limit and the end of travel limit In this case the user must slightly alter the homing sequence described above Upon finding the home limit the axis must reverse direction and begin to look for the resolver null or encoder marker All other actions are identical to those described above During a homing sequence the axis simultaneously encounters two limits an end of travel limit and a home limit In this case the system ignores the end of travel limit This parameter serves a dual purpose It specifies which of the two homing sequences described below applies to an axis as well as the direction in which to begin searching for the home limit To specify a normal homing sequence described first the user must set this parameter to a one 1 A value of two 2 associates the Reverse to Marker described second sequence with an axis The sign of the parameter determines the direction in which an axis travels to find the home position Positive values cause the axis to seek home in the clockwise direction while negative values occur in a counter clockwise direction
153. currently selected point Finally the system updates the Points information field and shifts the remaining points down one position in the list To add a point beyond the last point in a table Aerotech suggests the following procedure 1 Select the last point in the list 2 Use the ADD button to insert a copy of the last point 3 Move down one element in the table 4 Follow the CHANGE procedure to modify the position and correction parameters 5 12 2 5 Deleting points from the Axis Correction Table Since the user does not have to evenly distribute the programmed positions throughout the table he may delete unneeded points from the table to optimize memory usage To do this move the cursor into the list box and select the point to delete Then press the DELETE F5 push button or the associated F5 function key to delete the point 5 12 2 6 Specifying the Affected Axes The Master and Slave entry fields allow the user to select the axes to use in the correction The Master entry field contains the number of the axis that corresponds to the positions placed into the correction table The Slave entry field contains the number Version 1 0 Aerotech Inc 5 57 Setup Menu Options U31 U600 User s Manual of the axis on which the correction is to occur These fields do not necessarily need to specify the same axis For example if using axis correction to compensate for non perpendicular stages each time the horizontal
154. d Option When the user checks this box the size of the program is virtually unlimited This feature has been tested with 70 000 line programs and it is believed that it can compile much larger programs The only known theoretical limit is 2 2 billion lines The lines are downloaded into a circular queue until that queue is filled up The remaining lines are held in the compiler until room is made for them As the program finishes executing a line it discards that line making room for another one The compiler constantly watches the queue downloading another line once space becomes available In order for this mode to be successful the compiler must be able to download lines as fast or faster than they are executed The size of the circular buffer is critical to maintain this The user specifies the size of the circular buffer from the CNC Parameters screen under the Setup menu item The buffer size appears at the bottom right of this screen If the buffer is too large the 960 will not be able to allocate that many lines or it may not be able to perform other activities requiring memory If it is too small the CNC will run out of lines before MAINMENU can download them and the program will trigger a CNC fault number 99 queue buffer is empty If this happens increase the queue size Available on the Mode Status screen is a display that shows the number of lines left before the queue runs empty It is directly beneath the HARD or SOFT
155. d in a Version 1 0 Aerotech Inc 5 19 Setup Menu Options U31 U600 User s Manual binary format however by no means should the user modify this file other than through MAINMENU 5 4 7 Machine Parameter Help Menu The Help F1 button is for future use to display the Machine Parameter Help screen Presently this screen is not available 5 20 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options 5 5 Machine Parameters The following sections contain detailed information on each of the machine parameters 5 5 1 Millimeters Inches Degrees Per Motor Revolution The CNC uses this parameter along with the lines parameter for encoders to convert program units in mm deg into machine counts Note that if a resolver is used the resolver axis lines default is 65 536 The number of program units in mm deg per motor revolution depends on the mechanical configuration of your system e g ballscrew pitch linear rotary encoder resolver and gear ratios For example consider a system with a rotary encoder mounted directly to the motor that is coupled to a 4 mm pitch ballscrew This example system would have this parameter set to 4 1 e 4 mm per motor revolution The system automatically converts the specified number into the units it requires 5 5 5 2 Rapid Traverse Feedrate This parameter defines the speed at which rapid traverse point to point moves occur The CNC designates this type of move
156. d personnel only Setup O 6 The Setup option is used to configure modify axis machine CNC system and data acquisition parameters in addition to others Diagnostic Oi The Diagnostic option provides status and control diagnostic options that are helpful during the setup customization and operation of the system Run O The Run option is used to select and initiate a CNC parts program that you would like to execute Manual O The Manual option allows you to manually interact with the CNC by permitting such functions as jogging homing RS 274 command entry and general purpose input output control Edit Owe The Edit option activates a text editor through which you can create and or modify parts programs View OP The View option allows you to select whether or not you want to display the clock calendar information and or the error log display information Comm np The Comm option gives you the ability to perform RS 232 and Ethernet file transfer communications Version 1 0 Aerotech Inc 3 3 The Main Screen U31 U600 User s Manual Control Metric English 3 2 5 Clock Calendar Field The clock calendar field is located in the lower right corner of the main display screen This field contains the current day of the week date and time based on system settings The display of this information field can be toggled using the Clock Calendar option of the View menu If the Clock Calendar
157. d provides a complete list of all related menu options for the editor Sample screens are illustrated for all menu options CHAPTER 11 THE VIEW MENU This chapter discusses the view menu and provides a complete list of all related menu options that are provided through the View option of the MAINMENU software application program Sample screens are illustrated for all options of this menu CHAPTER 12 THE COMMUNICATIONS MENU This chapter discusses the communications menu and provides a complete list of all related menu options that are provided through the Communications option of the MAINMENU software application program Sample screens are illustrated for all options of this menu APPENDIX A WARRANTY and FIELD SERVICE Appendix A contains the warranty and field service policy for Aerotech products APPENDIX B OPTIONAL OPTIONS Contains information on two optional options available on the System Option screen Throughout this manual the following conventions are used x The terms UNIDEX 31 U600 and U31 U600 are used interchangeably throughout this manual 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 e DANGER WARNING Keys such as Shift Ctrl Alt and Enter are enclosed in brackets e g Shift Ctrl Alt and lt Enter gt to distinguish them from i
158. dback This parameter permits the user to specify the maximum amount by which these two velocities may differ A FEEDBACK fault occurs if the difference exceeds the amount specified in this parameter The units for this parameter are in machine steps and can range from 0 to 1 000 000 A value of zero disables the FEEDBACK fault monitoring 5 3 24 SAFEZONECW This parameter allows the user to specify the clockwise boundary of the safe zone associated with an axis The user may use a safe zone to designate a boundary in which the axis can travel or one in which the axis can not travel To enable or disable these zones the user must properly set the SAFEZONEMODE parameter When setting this parameter it is necessary to know that its distance starts at the hardware home position The units for this parameter are machine steps with a valid range from 2 1 to 2 1 approximately 2 1 billion to 2 1 billion 5 8 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options The user may also specify safe zone parameters from within a parts program with the G36 command 5 3 25 SAFEZONECCW This parameter allows the user to specify the counter clockwise boundary for the safe zone of an axis Safe zones are useful for designating an area in which the axis can travel or one in which the axis can not travel To enable or disable the specified boundary the user must adjust the setting of the SAFEZONEMODE parameter The distan
159. default password so that no password would be need to be entered for normal operation 4 4 Aerotech Inc Version 1 0 U31 U600 User s Manual The Password Menu 4 5 Deleting Passwords To delete a password from the system the user must first select it from the Valid Parameter List box The system displays the newly selected password in the Password entry field as well as highlight it in the Password List box Once the user selects the password he wants to delete the DELETE button removes it from the valid password list The password editor then removes this password from the Password List box and the system no longer permits access to protected modes based upon this password To avoid password lockout the system requires that at least one password have access to the password editor at all times In the event that the user attempts to delete the last password with this privilege the system displays an error message see Figure 4 7 x Aerotech CNC Version 11 24 93 Password Setup Diagnostic Run Manual Edit View Comm Password Editor K ERROR At Least 1 Password Must Have Password Access Edit Password MASTERPW Vj FA Password Vj F5 Setup yj F6 Diagnostic Valid Modes W F Run Program F8 Manual MIF9 Editor F11 Communications F12 Teach File Figure 4 7 Password Editor Error Message Screen ea Version 1 0 Aerotech Inc 4 5 The Password Menu U31 U600 User
160. des of 5 31 CNC Processor Initialization 5 31 CNC Processor Operating Modes 5 31 CNC Processor Restrictions 5 26 CNC Run Mode 7 2 8 9 CNC Run Mode Dialog Box 7 3 7 6 8 10 CNC Run Mode Screen 7 14 CNC Select Group Box 5 24 CNC INI File 2 2 5 23 5 34 5 35 Collect Option 6 36 Collect Pull Down Menu 5 67 Collection Interval 5 60 Collection Time Entry Field 5 59 Color Sample Group Box 10 10 10 11 Colors Setting 10 11 Comm Pull Down Dialog Box 12 1 Comm Pull Down Menu 12 1 Command Entry Manual 8 9 Command Packets 6 23 Command Trap 5 8 Commanded Actual Position 6 44 Commanded Position of Servo 5 63 Commanded Velocity Maximum 5 8 Commanded Velocity Servo 5 63 Comments 7 11 Common Controls 8 3 COMMUNICATIONS 12 1 Communications Initialization 2 1 Commutation Offset 6 15 Compensation for Backlash 5 6 Computerized Numerical Controls CNC 1 2 Concurrent CNC Processes 5 34 CONFIG INI File 2 2 5 48 CONFIG SYS File 2 8 CONFIGM INI 2 2 Configuration Errors 5 48 Configuration File 6 40 Configuration of the Axis 5 48 Configuration Saving to Disk File 5 48 Configure Option 5 39 Constant Surface Spindle Speed Group Box 5 27 Continuous Motion Control Menu 5 72 Continuous Motion Direction 5 71 Continuous Move Field 6 6 Converting Program Units to Machine Counts 5 21 Coordinate Limits Option 6 44 Coordinated Motion of Axes 5 25 Coord
161. dow Restore Button Window Title Bar Button R Cursor Main Display Window Clock Calendar Error Log Field Display Field E Wed 12 15 93 11 57 39 am Figure 3 1 Key Components of the MAINMENU Startup Screen Version 1 0 Aerotech Inc 3 1 The Main Screen U31 U600 User s Manual 3 2 1 The Title Bar The title bar is located at the top of the main display screen It shows the name of the software that is being used for example Aerotech CNC Version as shown in Figure 3 1 and the release date of the software 11 24 93 as shown in Figure 3 1 The version number in your display may differ than the version number shown in Figure 3 1 3 2 2 The Control Menu The control menu is a pull down menu that contains window control functions To display the selections available in the control menu you must click the left mouse button after selecting the control menu icon This icon appears as a small arrow in the upper left corner of the main screen The control menu s pull down menu contains the following options Restore Move Size Minimize Maximize Hide Close and Window List These functions are explained briefly in Table 3 1 This table also contains a list of the alternate keyboard commands associated with each menu option Table 3 1 Control Menu Options Control Menu Keyboard Description Function Option Commands Restore 4 10 Restore is used to re
162. e 5 44 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options radio buttons select the feedback types and the entry fields displayed depend on the type of device selected 5 7 3 1 The None Option Select the None option when an axis has one feedback device associated with it Since there is no secondary feedback device it is unnecessary to select additional parameters Axis Configuration Setup Primary Feedback Help _ Null Feedback Use primary feedback for the position transducer If dual 3 Resolver feedback is used use the secondary feedback selection J Encoder for the velocity transducer JHP VME Laser Slave Encoder Secondary Feedback Master Feedback gt Encoder Hall e None e Null Feedback ey Resolver Ha j Encoder 2 Resolver 2 Slave Encoder J Encoder R D Channel _ Resolver 2 Virtual Resolution Lines Cycle 0 Comm Offset Hall Channel Drive Interface e Null D A DIA Select Axis Axis 1 x Figure 5 27 Resolver Hall Feedback Configuration Parameters 5 7 3 2 Resolver As mentioned above a resolver is a two phase rotary electromagnetic transducer used to provide absolute positioning information over one electrical cycle typically one motor revolution The parameters applicable to using a resolver as a secondary feedback device are identical to those specified when using it as the primary feedback device
163. e 11 3 on the following page 11 2 Aerotech Inc Version 1 0 U31 U600 User s Manual View Menu Options Aerotech CNC Version 11 24 93 Password Setup Diagnostic Run Manual Edit View Comm Figure 11 3 Error Log Group Box Version 1 0 Aerotech Inc View Menu Options 11 4 Aerotech Inc U31 U600 User s Manual Version 1 0 U31 U600 User s Manual Communications CHAPTER 12 COMMUNICATIONS In This Section e Introductions eee ES 12 1 e RS 232 File Transfer 12 2 e Ethernet File Transfer 12 2 12 1 Introduction The COMM menu provides the ability for the user to transfer files to remote systems In looking at Figure 12 1 note that this transfer may occur via an RS 232 port or via Ethernet Aerotech CNC Version 11 24 93 Password Setup Diagnostic Run Manual Edit View Mem RS 232 File Transfer Ethernet File Transfer Fri 12 17 93 11 03 42 am Figure 12 1 COMM Dialog Box Version 1 0 Aerotech Inc 12 1 Communications U31 U600 User s Manual 12 2 RS 232 File Transfer Selecting the RS 232 File Transfer option from within the Communications menu invokes the OS 2 utility SOFTTERM see Figure 12 2 below Please refer to the documentation on this utility provided by IBM for further details Softerm Custom Version 1 00 Copyright 1991 by Softronics Inc All rights reserved Softronics Inc 5085 List Driv
164. e 4 3 Password Not Recognized Dialog Box 4 2 Aerotech Inc Version 1 0 U31 U600 User s Manual The Password Menu Log Off Current Password ARE YOU SURE Figure 4 4 Log Off Current Password Dialog Box Selecting the Ok button clears all user privileges in which case the user may not access the protected modes unless he logs on again using a valid password In the event that the user inadvertently enters this screen the Quit control aborts the log off process That is by selecting Quit the current user remains logged on and doesnt lose any of their current privileges 4 Aerotech CNC Version 6 23 94 Password Setup Diagnostic Run Manual Edit View Log On mo ST Log Off Edit Passwords Figure 4 5 Selections of the Optional Password Menu 4 3 The Password Editor The password editor permits the user to modify the list of valid passwords and the privileges associated with each The password editor is activated by selecting the Edit Passwords option from the Password menu Refer to Figure 4 5 After selecting the Edit Passwords option from the Password menu the MAINMENU software program displays the Password Editor screen This is illustrated in Figure 4 6 As can be seen from Figure 4 6 the screen has several different groups of controls These controls permit the user to select add and delete passwords as well as modify the access privileges associated with them
165. e 7 5 Initial Axis Position Display Dialog Box 7 4 1 Moving the Dialog Box The attributes associated with this dialog box permit the user to move it anywhere on the screen Mouse users can do this by dragging the box by its title bar to the new location Keyboard users may use the lt Alt F7 gt key to enable moving the box and the arrow keys to place the box in the desired location 7 4 2 Sizing the Dialog Box Although the dialog box is not directly sizable by the user options available on the menu bar will affect the size and shape of this box The user may change the size of this box by changing the size of the font This will resize the dialog box accordingly Through the Axis Position Display menu in Figure 7 6 the user can display several types of information that pertains to each axis Machine Target Position To Go Velocity Spare Figure 7 6 Axis Position Display Menu 7 6 Aerotech Inc Version 1 0 U31 U600 User s Manual Run CNC Parts Program For every new option added to the display the system adds a new column of information Refer to Figure 7 7 Figure 7 7 Displaying Multiple Positioning Items Dialog Box The following sections describe the different types of information that is available to the user 7 4 2 1 Presets This value represents the position of the motor as an absolute distance from the current software home G92 The system continuously updates thi
166. e Axes 5 24 Synchronized Motion CAM Tables 5 14 SYNCSPEED Parameter 5 15 System Configuration Parameter Modification 5 1 System Failure Dialog Box 2 1 System Failure Information Dialog Box 6 22 System Initialization 5 5 System Interrupt Faults that Cause a 5 12 System Options 5 49 System Options Dialog Box 5 50 System Options Editor 5 49 System Reset Soft 6 21 Aerotech Inc U31 U600 User s Manual T TAB Key 6 25 6 31 Target Data 8 6 Target Position 7 7 TBL Files 5 53 Teach 9 6 Teach Dialog Box 8 1 Teach Menu 8 8 Teach Menu Option 8 4 Teach Mode 8 4 Teach Mode Axis Select Pull Down Menu 8 5 Teach Mode Data Collection Pull Down Menu 8 7 Teach Mode Dialog Box 8 4 Teach Mode G Codes Pull Down Menu 8 6 Teach Pendant 6 19 9 1 Teach Pendant Accessories 9 2 Teach Pendant connector 9 2 Teach Positions Editing 8 8 Teach Positions Saving to a File 8 7 Template for Axis Correction Table Building 5 56 Temporary Holding Areas 5 5 Terminate F5 Push Button 8 10 TERMINATE F5 Push Button 7 11 Terminating Motion Commands 8 10 Terminating Program Execution 7 11 Testing Communications with the Axis Processor 5 5 Text Cursor 3 5 Text Window text cursor 3 5 Text Windows 3 5 text_linel 8 11 Thread Cutting Definition 5 31 Thread X Pull Down Menu 5 30 Thread Y Pull Down Menu 5 30 Threading Axes Max Speed Group Box 5 30 Time Pull Dow
167. e IMAX value first determine the maximum 5 6 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options input command voltage that your amplifier requires to produce the maximum desired motor current Use this information in the formula below to get the appropriate value for IMAX Drive Module Max Input Voltage 10 IMAX 82767 The default value of this parameter is 32 767 This default value produces a 10 volt command signal which would command the maximum current from the drive module 5 3 15 IAVGLIMIT This parameter detects an over current condition based on the setting of the IAVGTIME parameter The value specified in the IAVGTIME parameter determines the time period over which the instantaneous currents are averaged An RMS current limit fault occurs if the RMS average exceeds the limit set by this parameter As with the IMAX parameter the range of this parameter is from 0 to 32 767 where 10 volts is represented by the number 32 767 To calculate the appropriate IAVGLIMIT value first determine the maximum input command voltage that your amplifier requires to produce the desired average current Use this information in the formula below to get the appropriate value for IAVGLIMIT Drive Module Input Voltage that IAVGLIMIT Produces the Desired Average Current re 10 The default value of this parameter is 32 767 This default value produces a 10 volt command signal which would command the maximum current from
168. e Set Editor Colors dialog box The editor colors remain on the display the same way they appeared at the time the user selected the Set Editor Colors option That is after selecting and applying a new color scheme using the Set button causes the new colors to remain in effect Failure to apply a newly selected color scheme using the Apply button causes the editor colors to remain as they were before the user selected the Set Editor Colors option from within the Options menu The other configurable feature of the editor pertains to the displaying of program lines that are too long to fit within the edit window The Word wrap option from the Options menu configures this feature Placing a check mark next to this option enables the feature Selecting to disable word wrap results in an edit window that displays as much of the program block that can fit into the window Resizing the window permits the user to display more text If the user chooses to view edit the undisplayed portions of the program block he may do so by using the cursor placement techniques described in the previous section Enabling the Word wrap option causes the program blocks that exceed the window size to appear on the display as multiple lines Whenever possible the system divides the lines on a word boundary V VV Version 1 0 Aerotech Inc 10 11 Parts Program Editor U31 U600 User s Manual 10 12 Aerotech Inc Version 1 0 U31 U600 User s Manual View
169. e axis correction table is active on the associated axis This bit is set ON upon activation of the correction table and remains ON as long as the table is active For more information on axis correction tables please refer to the discussion of the Axis Correction Table Editor see Section 5 4 Related Parameter s NONE 6 2 4 28 Position Loop Only This field indicates that the Position Loop has been disabled by setting the PGAIN axis parameter to zero This bit used in conjunction with the VFF or zero PGAIN bit determines if the system has the VelocityFeedForward parameter enabled Related Parameters PGAIN Section 5 1 7 6 VFF Section 5 1 7 7 Version 1 0 Aerotech Inc 6 15 Diagnostic Menu Options U31 U600Users Manual 6 2 5 Motion Status Group Once again many of the fields available on the Motion Status Display Dialog Box are also duplicated on other screens However the upper 16 fields contain unique information regarding the current state of the operational mode of the trajectory generator refer to Figure 6 5 00 move direction 01 moving 02 accel phase 03 decel phase 04 homing 05 feedrate override O6 profile mode D sync mode 08 cam table enable 09 homing direction x Aerotech CNC Version 11 24 93 Password Setup Diagnostic Run Manual Edit View Comm F1 Help em x Axis Status amp Fault Display Select Display Axis Status F2 5 Halt M
170. e cece ee ee Re Ge ee Ge ee ee ee 8 9 Figure 8 10 Program Translation Error Dialog Box eee 8 10 Figure 8 11 Manual VO Screen ese se se se ee Re ani eee ee Se Ge nennen 8 11 Figure 8 12 Manual VO OCCx INI File eene 8 13 Figure 8 13 Ethernet OPHON ee ee ee Se Ge GR ee Ge ee ee ee ee ee nenne 8 14 Figure 9 1 Teach Pen dant ss EER tee E tite ee se Ee ee N 9 1 Figure 9 2 CNC Parameters Menu Options seen 9 3 Figure 9 3 Pendant Initialization Dialog Box eee 9 4 Figure 9 4 Pendant Port Menu EE 9 6 Figure 10 1 Parts Program Editor Dialog Box see 10 1 Version 1 0 Aerotech Inc XV List of Figures U31 U600 User s Manual Figure 10 2 Figure 10 3 Figure 10 4 Figure 10 5 Figure 10 6 Figure 10 7 Figure 10 8 Figure 10 9 Figure 10 10 Figure 10 11 Figure 10 12 Figure 11 1 Figure 11 2 Figure 11 3 Figure 12 1 Figure 12 2 Figure 12 3 File Open Dialog Box eese ose tbe ES Ee see see aged 10 2 Edit Mehrere etude teo de eee ee e eoe 10 4 Find Dialog Box tte pe Ee uter Rs 10 5 String Not Found Dialog Box eese 10 5 File Menu epe een 10 6 Save As Dialog BOX i ete e optet ge pe EE Seg eie 10 7 Invalid Directory Dialog Box 10 7 Auto Save Configuration Dialog Box sese 10 8 File Not Saved Dialog Box essere 10 9 Options Menus oe eie er pecie ento
171. e ee ee GR GR Gee ee Ge ee ee ee 2 1 Figure 2 2 Downloading Axis Firmware Dialog BOX sesse esse ee ee ee eese 2 2 Figure 2 3 Downloading Axis Firmware Failure Dialog Box 2 2 Figure 2 4 The Encoder Interface and D A Interface Boards 2 4 Figure 2 5 The R D Interface and D A Interface Boards sess 2 5 Figure 3 1 Key Components of the MAINMENU Startup Screen 3 1 Figure 4 1 Log On Dialog BOX 5 ho ttt eiie eee eee 4 2 Figure 4 2 Log On Successful Dialog Box 4 2 Figure 4 3 Password Not Recognized Dialog Box sese 4 2 Figure 4 4 Log Off Current Password Dialog Box sese 4 3 Figure 4 5 Selections of the Optional Password Menu see 4 3 Figure 4 6 Password Editor Dialog BOX ese ese se se se ee ed ee Gee ee Ge ee ee ee 4 4 Figure 4 7 Password Editor Error Message Screen sss 4 5 Figure 5 1 Setup MENU ME N ou ti bp ere tdt 5 1 Figure 5 2 Axis Parameter Editor Screen 5 2 Figure 5 3 Invalid Entry of Parameter Value Dialog BOX sesse esse esse ese ee se ee 5 4 Figure 5 4 The Defined Slope of a Velocity Curve at a Specified Angle 5 16 Figure 5 5 Machine Parameter Editor Screen ese se see ee ee Gee Gee ee ee 5 18 Figure 5 6 CNC Parameters Menu Options sse 5 23 Figure 5 7 CNC Initialization
172. e filled by the operator to display the designated function of the key selected under that key see F2 in Figure 8 11 text line2 parameter is an optional text string that appears under the first text string Version 1 0 Aerotech Inc 8 11 Manual Operation U31 U600 User s Manual There must be at least one on mcode parameter defining key operation If there is only one M code associated with the key then that M code is executed every time the key is pressed The off_mcode parameter is an optional M code which defines a second operation of a key If this M code is defined there must be at least one feedback to define the on and off state of the key The on_mcode and off mcode are specified as numbers only without the M designation The on feedbackl parameter designation may be a SPINDLE PLC I O point or Virtual IO point with an optional level specified SPINDLE The feedback is defined by SPINDLE type where type can be one of the following e CW meaning the spindle is moving CW for this feedback to be in the on state e CCW meaning the spindle is moving CCW for this feedback to be in the on state e ACTIVE meaning the spindle is executing a M3 or M4 for this feedback to be in the on state e POS meaning the spindle is not executing a M3 or M4 for this feedback to be in the on state PLC IO Point The feedback may be a Modicon IO point in one of the following forms
173. e the type of fault that occurred This parameter is a bit mask where each bit corresponds to a specific fault see Section 6 2 3 Setting a bit to a one causes the system to generate an interrupt when that fault occurs assuming the corresponding bit in the FAULTMASK parameter is set 5 12 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options The user may also edit this parameter using the Bit Mask Control Window 5 5 3 40 AUXMASK Through this parameter a user may designate which faults should turn off the auxiliary output associated with an axis This parameter is a bit mask where each bit corresponds to a specific fault see Section 6 2 3 Setting a bit to a one turns on the auxiliary output when a particular fault occurs assuming the corresponding bit in the FAULTMASK parameter is set The user may also edit this parameter using the Bit Mask Control Window e 5 3 41 HALTMASK This parameter controls the faults that cause the axis to halt If the system must halt motion the axis will gracefully decelerate to zero velocity based on the time specified in the DECEL parameter This parameter has no effect on the position error tracking The value specified for this parameter is a bit mask where each bit corresponds to a specific fault see Section 6 2 3 Setting a bit to a one halts the axis when a particular fault occurs assuming the corresponding bit in the FAULTMASK parameter is set The user may a
174. ear verifying the change and instructing the user to re home the axis The Cancel push button exits the screen without making any changes HP Laser Compensation Temperature F Pressure in Hg Humidity VOL 3 833889932 Active VOL 0 99999092 English Enter VOL J Metric Use T P amp H Figure 5 35 HP Laser Compensation Dialog Box Version 1 0 Aerotech Inc 5 5 Setup Menu Options U31 U600 User s Manual 5 10 APIProbe Choosing this option from the Setup menu allows the user to maintain the analog probe inputs as shown in Figure 5 36 channels 1 and 2 are available with three X Y Z axis each The display values can be set to either counts volts or units using the Display menu The Time menu shown in Figure 5 37 allows the user to select the display update rate A value of 50 100 250 500 or 1000 milliseconds may be selected Figure 5 36 API Probe Dialog Box Figure 5 37 API Probe Time Menu 5 11 Tool File Menu The tool handing feature of the UNIDEX 31 U600CNC is based on a file referred to as the tool file TF This file contains information on all the currently available tools in a machining station Currently a maximum of 18 tools may be present in any machining station However future releases will support the use of up to 30 tools per station This tool information is used when Intersectional Cutter Radius Compensation is in effect The tool file contains
175. ech CNC Version 06 16 94 e iu Setup Diagnostic Run Manual Edit View F1 Help Axis Configuration Setup Primary Feedback Help J Null Feedback Use primary feedback for the position transducer If dual e Resolver feedback is used use the secondary feedback selection Encoder for the velocity transducer 3HP VME Laser J Slave Encoder Encoder Hall e None Null Feedback Resolver Hall J Encoder J Resolver _ Slave Encoder j Encoder R D Channel o J Resolver gt Virtual Secondary Feedback Master Feedback Resolution Poles e Comm Offset 0 Drive Interface Null D A DIA r Select Axis Axis1 X Wed 9 28 94 5 59 52 am Figure 5 23 Resolver Feedback Configuration Parameters 5 40 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options The R D Channel entry field specifies the channel over which the system will receive the feedback Valid channel numbers are 1 16 and typically correspond to axis 1 through 16 The default value is zero 0 and implies an invalid channel number The resolution entry field specifies the number of bits of resolution associated with the type of resolver being used Valid settings for this parameter include 10 12 14 and 16 The default value is zero 0 and is invalid The value placed into the poles entry field corresponds to the number of poles found on the
176. ed by the In Position Limit parameter This field will display ON to signify that this difference is less than the specified amount Related Parameter s INPOSLIMIT Refer to section 5 3 18 6 2 2 10 Faulted This field alerts the user if a fault condition exists on the associated axis If so look to the Fault Status Screen to verify the present type of fault ON signifies that a fault is present Related Parameter s FAULT Refer to section 5 3 38 6 2 2 11 Probe Input This field shows the current state of the axis processor input dedicated for the touch probe ON signifies that the input is asserted Related Parameter s NONE 6 2 2 12 Marker Input This field indicates when the marker pulse from the encoder associated with the axis is active ON signifies the marker pulse is present Related Parameter s NONE 6 4 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options 6 2 2 13 Hall Input 1 2 3 and 4 These fields show the current state of each of the hall effect inputs associated with an axis ON signifies that the input is currently asserted Related Parameter s NONE 6 2 2 14 Move Direction This field indicates the direction in which the axis is currently moving ON corresponds with the clockwise direction and OFF signifies counter clockwise The state of this bit is undetermined unless the axis is in motion Related Parameter s NONE 6 2 2 15 Moving This field a
177. edback Select this option in cases where there is no master associated with an axis There is no need for additional parameters since there is no feedback device 5 7 4 2 Resolver As mentioned above a resolver is a two phase rotary electromagnetic transducer that provides absolute positioning information over one electrical cycle typically one motor revolution The parameters applicable to using a resolver as a master feedback device are identical to those specified when the system uses the device as the primary feedback device Therefore for more information on the settings of these parameters please refer to the discussion of resolvers as primary feedback devices 5 7 4 3 Encoder Again an encoder is a digital position measurement transducer that measures incremental position by counting the number of edges found on the feedback signal The parameters applicable to using an encoder as a master feedback device are identical to those needed to use the device for secondary feedback Therefore refer to the discussion of encoders as primary feedback devices for more information 5 7 4 4 Virtual Selecting a virtual feedback device for use as a master feedback device implies that there is no physical master feedback device associated with the axis However the user should synchronize motion on this axis to a virtual axis That is an axis that has its calculations performed normally by the velocity command for that axis The system als
178. eeeee 9 6 VvV V Aerotech Inc List of Tables xvii List of Tables U31 U600 User s Manual xviii Aerotech Inc Version 1 0 U 31 U600 User s Manual Preface PREFACE This section gives you an overview of topics covered in each of the sections of this manual as well as conventions used in this manual The UNIDEX 31 UNIDEX 600 User s Manual contains information on the following topics CHAPTER 1 INTRODUCTION This chapter contains an introduction to the U31 U600 Motion Controller as well as documentation references and a list of options and accessories This chapter also contains precautionary notes about installing and using the U31 U600 system CHAPTER 2 GETTING STARTED This chapter contains a brief overview of information intended to familiarize you with how the U31 U600 system may be used This chapter also contains information about the initialization process initial setup and system verification CHAPTER 3 THE MAIN SCREEN This chapter discusses the opening screen of the MAINMENU software application program Screen components conventions and an overview of menu options are discussed CHAPTER4 THE PASSWORD MENU This chapter discusses the optional password menu and provides a complete list of all related menu options that are provided through the MAINMENU software application program Sample screens are illustrated for all options of this menu If the U31 U600 is ordered without the password option then
179. efault value is zero 0 5 3 36 FAULT This parameter allows the user to view axis faults and clear those that no longer exist The parameter is a bit mask where each bit corresponds to a specific fault see Section 6 2 3 When writing to this parameter the axis processor card attempts to clear all faults corresponding to the bits set in this mask Bits set to zero have no effect on the system 5 3 37 FAULTMASK This parameter determines which faults the system should detect The parameter is a bit mask where each bit corresponds to a specific fault see Section 6 2 3 Setting a bit to a one enables monitoring of that particular fault type Conversely clearing a bit causes the system to ignore the fault E The user may also edit this parameter using the Bit Mask Control Window 5 3 38 DISABLEMASK This parameter determines which faults should cause an axis to be disabled The disable mask is a bit mask where each bit corresponds to a specific fault see Section 6 2 3 Setting a bit to a one disables the axis on that type of fault assuming the corresponding bit in the FAULTMASK parameter is set ME The user may also edit this parameter using the Bit Mask Control Window 5 3 39 INTMASK This parameter allows the user to determine which faults will cause a system interrupt Upon detection of an interrupt MAINMENU automatically activates the axis fault and status screen see Section 6 2 This allows the user to determin
180. egister values Version 1 0 Aerotech Inc 6 31 Diagnostic Menu Options Modicon Modbus Plus I 0 PLC Number 1 In 0000 ON In 0001 OFF In 0002 OFF In 0003 OFF In 0004 OFF In 0005 OFF In 0006 OFF In 0007 OFF In 0008 OFF In 0009 OFF In 0010 OFF In 0011 OFF In 0012 OFF eoooooooeo Out 0000 ON Out 0001 ON Out 0002 ON Out 0003 OFI Out 0004 OFI Out 0005 OFI 40010 0 U31 U600User s Manual 40010 40011 40012 40013 40014 40015 Out 0006 OF SRN 40016 Out 0007 OFI Out 0008 OFI Out 0009 OFI Out 0010 OFI Out 0011 OFI Out 0012 OFI 40017 40018 40019 40020 40021 40022 eoeooocooocooooooo F2 Get Reference F4 Clear Reference FB Decimal F8 Select PLC F3 Get Column F5 Clear Column F7 Hex Figure 6 18 PLC Window 6 11 The FAULTMSG INI File The FAULTMSQG INI file allows text to be associated with an error condition for any of the virtual I O points This text will be displayed in the fault window when the designated I O error occurs refer to figure 6 19 Using the mouse and clicking on the message in the error window will open a help window displaying more information about the error The general format of the FAULTMSG INI is as follows SYNTAX VO TYPE BIT FAULT LEVEL ERROR TEXT FILENAME Where VO TYPE specifies the type VO TYPE may be of I O and register number if
181. elected by moving the cursor so that it touches that is it is in front of any portion of the option that you want to select When the cursor is in place the item can be selected by clicking the left mouse button The results of the selection process vary based on the item that is actually selected on the screen UNIDEX 31 U600 screens contain four basic types of fields e pull down menus e check boxes e buttons e text windows When a pull down menu icon is selected a window appears below the icon This window lists options that can be chosen by the operator To choose an option from a pull down window simply move the mouse so that the cursor slides down the list until the desired option is highlighted and then click the left mouse button The MAINMENU software performs the selected option Buttons usually appear as outlined rectangles with an action label The action shown on a large rectangular button can be initiated by moving the cursor over the large rectangle and clicking the left mouse button These types of buttons are typically used to proceed accept or cancel some process Check boxes usually appear as small circles or boxes that are filled or unfilled next to some defining text If the circle is filled or the box is checked Xl then the option is selected or active If the circle is not filled o or the box is not checked O the 3 4 Aerotech Inc Version 1 0 U31 U600 User s Manual The Main
182. enu LED indicator is inoperative Each time this button is toggled it will jog the axis a preset increment that was _selected from the JOG menu LED indicator is inoperative When toggled this button allows the two axes assigned to the teach pendant to be toggled by the menu keys the keys on the top row of the keypad F1 will toggle axis 1 and F2 will toggle axis 2 These will update the pertinent line on _the display indicating the current axis assigned to the joystick In the initial start up state of the teach pendant when it is plugged into the U31 U600 F1 will toggle through MACHine Preset Target Pos To Go position to go and Vel This operation is the same as described in section 7 4 2 using the Axis Postion Display menu In the Jog mode F1 will have the designation of NEXT displayed on the menu line refer to the operation of AXI or AX2 SEL INC In the RUN mode F1 will toggle from JOG to OFFSET This operation is the same as described in section 7 8 2 of this manual In the initial start up state of the teach pendant when it is plugged into the U31 U600 F2 will toggle between IN inches and MM millimeters One of these will be displayed on the menu line This operation is the same as described in section 7 4 3 which permits the user to configure the display in one of two modes In the RUN mode F2 will toggle between JOG and RETurn _ This operation is the same
183. er can use any of the change options he must fill in the Change to entry field of the Find dialog box To accomplish this place the cursor within the field and type the new value This field accommodates up to 255 characters Invoking any of the change operations causes the specified string from the Find entry field to be replaced by the located text in the Change to entry field Although all the change options perform the same basic function there are slight differences in each option The Change button only performs text replacement The user may then terminate the search process with the Cancel button or look for the next occurrence of the string with the Find button Pressing the Change then Find button first performs the text replacement and then searches for the next occurrence of the string This is identical to using the Change button followed by using the Find button The Change All button automates the change and then finds the function It Version 1 0 Aerotech Inc 10 5 Parts Program Editor U31 U600 User s Manual automatically searches for all the occurrences of the Find string and replaces it with the Change to string This would be identical to repeatedly pressing the Change then Find button until the search is complete all searched text has been found The two check boxes labeled Case Sensitive and Wrap control the search process If a check mark appears on the display in the Case Sensitive box t
184. er causes the axis to ignore motion commands The only exception is when the axis is currently under the control of a sync table While the system blocks motion the axis accepts commands to stop A value of zero causes the system to process motion commands while a one causes the system to ignore them There are many reasons why the user may desire to use this feature For example if an axis must remain stationary throughout a process an application program may temporarily block axis motion to prevent another concurrently executing application from initiating motion on that axis 5 3 13 REVERSALMODE To provide greater positioning accuracy this parameter allows the user to specify the number of machine steps required to compensate for any backlash present in the system Backlash occurs when the ball screw changes direction and moves a fixed distance before the stage begins to move in the new direction This parameter specifies the length of this distance in machine steps The valid range for this parameter is O to 1 000 The default is for zero backlash compensation 0 machine steps 5 3 14 IMAX This parameter sets the peak commanded output current This is done by limiting the maximum output voltage of the current command signal which is in turn translated into a proportional motor current by the drive module The range of this parameter is from O to 32 767 where 10 volts is represented by the number 32 767 To calculate the appropriat
185. erating in this mode the axis processor executes the Parts Program for data acquisition purposes only That is all calculations are normal but instead of sending the position command to the servo the axis processor uses it as feedback for the axis However the system maintains torque on the motor Since this utility can run concurrently with other screens it is very useful for debugging of Parts Programs It permits the user to execute the Parts Program and to look at a graphical representation of the part they want to produce Therefore the user need not worry about safety issues that relate to incorrect programming See Figure 6 25 below x Aerotech CHC Version 11 24 93 n jm Password Setup Diagnostic Run Manual Edit View Comm F1 Help Ej Ploy XY Status Idle File Trigger Axis X Y Plot Clear Screen 10 00 inch 0 00 inch Axis_01 Thu 12 16 93 10 42 05 am Figure 6 25 Plot XY Status Dialog Box Version 1 0 Aerotech Inc 6 39 Diagnostic Menu Options U31 U600Users Manual 6 13 1 Configuration File The configuration of the Plot XY utility can be saved by selecting the Save Configuration option under the File Menu refer to Figure 6 26 The configuration data includes the selected axes coordinate limits and display units To load the saved configuration select the Load Configuration option Ploy XY Status Idle Trigger Axis X Y Plot Clear Screen Save Configuration Load Configuration
186. erator permits the user to select certain program blocks that may be skipped during a program run During program editing the user may insert a at the beginning of programming blocks to designate them as optional blocks If the block delete function is active during program execution the system treats the optional blocks as comments When block delete is inactive the system ignores the block delete operator and executes the program block as normal The green BLK DEL OFF F7 button displays the current state of the block delete operation as well as activate and deactivate this function Pressing the BLK DEL OFF F7 button or the associated F7 function key allows the system to treat optional program blocks as comments Then the push button name changes to BLK DEL ON FT so as to notify the user that the block delete option is active To deactivate this function the user must again press the BLK_DEL_ON F7 button or the associated F7 function key This then disables the block delete option and returns the push button label to its initial state 7 5 5 Optional Stop Operation UNIDEX 31 s CNC programming language supports the use of an optional planned stop command MO1 see the UNIDEX 31 Programming Manual With the optional stop activated the program execution stops To restart program execution use the CYCLE START F3 button or the associated F3 function key Failure to activate the optional stop causes the system to ignore the M
187. erotech Inc U31 U600 User s Manual Main Menu 1 2 2 1 2 3 5 2 5 4 5 5 5 12 5 18 5 19 5 24 5 26 5 34 5 35 5 50 5 53 5 54 6 1 6 8 6 21 6 22 6 25 6 26 6 27 6 31 6 44 7 1 7 13 8 3 10 1 10 9 Manual Command Entry 8 9 Manual Feed Override MFO 5 26 Manual Feed Override Control 5 60 Manual Feedrate Override 7 12 Manual VO 8 11 Manual Jog Screen 5 21 Manual Mode Screens 7 6 Manual Operation 8 1 9 1 Manual Pull Down Menu 8 1 8 8 Marker Armed 6 19 Marker Input 6 13 Marker Input Field 6 4 Marker Pulse 5 45 Mask Option 6 43 Masks 6 2 Master Axes Specifying in Correction Table 5 57 Master Axis 5 14 5 46 5 60 Master Entry Field 5 57 Master FB Failure Field 6 14 Master Feedback 5 46 Master Feedback Fault 6 10 Master Position 5 14 Master position Rollover 5 15 Master Position Nonzero 5 15 Master Positions Offsets 5 15 MASTERLEN Parameter 5 15 MASTERPOS Parameter 5 14 5 15 5 46 Matrix Analog Input Status 6 28 Max Speed for Maintaining Normalcy Group Box 5 35 max_phase Parameter 5 16 Maximum Feedrate Default 5 26 Maximum Value List Box 5 3 Maximum Velocity Trap Parameter 6 10 Measurement Units 6 45 Memory Allocating 5 33 Menu Bar 7 6 menu line 9 2 Menu Line 9 6 Menu Options 11 1 Metric Mode 7 5 8 3 Metric Units 5 19 5 23 6 45 7 9 7 15 Version 1 0 U31 U600 User s Manual Index MFO 7 12
188. es 2400000 LSCR Register 0000 Drive Interface e Null D A DA Help Use primary feedback for the position transducer If dual feedback is used use the secondary feedback selection for the velocity transducer Secondary Feedback e None 2 Encoder _ Slave Encoder J Resolver Master Feedback e Null Feedback J Resolver J Encoder 2 Virtual Select Axis Axis 1 x Figure 5 25 HP VME Laser Interferometer Configuration Parameters To access the interface card the user must know the exact location of the VME address within the VME memory map The user must configure this VME address on the interface card itself To properly set this parameter consult the documentation included with the interface card The value placed in the Actual Lines parameter field corresponds with the number of feedback counts received from the interferometer for one revolution of the motor when the system is operating in a vacuum This is typically a very large precise number i e 1 234 672 The system uses this number to calculate a scale factor for the conversion of Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options actual feedback to effective feedback The default value for this parameter is 808 865 counts rev The value in the Effective Lines field counts per motor revolution corresponds to the feedback resolution used by the servo Typically
189. es that were jogged have their positions restored before all axes resume motion When jogging axes multiple increments the user may depress and hold in the 5 associated function key This causes the auto repeat feature of OS 2 to simulate multiple key presses until the user releases the key Version 1 0 Aerotech Inc 7 15 Run CNC Parts Program U31 U600 User s Manual 7 8 2 Jog amp Offset Tool Path Changing the cutting tools is a common use of the Jog amp Offset Tool Path option of the Jog Menu The user may move the axes away from the part and the tool being changed Then the user may position the tool appropriately and continue with program execution Figure 7 16 shows that the controls within the Jog amp Offset Tool Path Dialog Box are similar to those found in the Jog amp Return Dialog Box With the exception of the F2 Cancel button these controls function identically to those described above in Section 7 8 1 Increment Figure 7 16 Jog amp Offset Tool Path Dialog Box As mentioned the functionality of the F2 Cancel button found within this dialog box differs from the one found in the Jog amp Return Dialog Box However the user may perform the new function using the F3 Abort Offset control The F2 Cancel button found within this dialog box returns to the CNC Run Mode Dialog Box However after releasing the feedhold condition the jogged axes do not return to their position prior to activat
190. es will not show properly on the program display Instead a blank line will be displayed for these lines For example if the average line has 10 characters this will happen every 6 400 lines This has no effect on program execution of these lines and only effects the display of the program 5 The compiler will take significantly longer in this mode if object files are not being used or if it is the first time compiling In these cases the compiler will appear to repeat itself listing passes 1 and 2 several times this is normal 6 Ifthe user resets a file red button in the middle of the program display box in infinite download mode the compiler must recompile the program before resetting The reason for this is many of the lines being executed have been discarded to make room for new lines and must be reloaded 7 A bug still remains in the CNC where the user cannot recompile a program that has completed execution without exiting and re entering the Run screen 8 The infinite download mode requires writing object files even if automatic use of object files is turned off The size of this object file can be ten to twenty times the size of the source code file 9 The editor within MAINMENU cannot edit files larger than 32 000 characters Therefore if there is a compile error in a file larger than 32 000 bytes the user cannot fix that error by clicking on the error message 10 While the program executes the CNC will con
191. ess to occur when the Position or Torque entry field is less than or equal to the value entered in the Parameter 1 entry field A value of 1 in this field permits the trigger to begin when the position or torque is greater than the value entered in the Parameter 1 entry field 5 66 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options The remaining choice in the Set Data Acquisition Mode is the Sampling Rate This value determines the sampling rate in msec for the data acquisition The default value which is the fastest sampling rate is 1 millisecond This setting along with the value chosen in the Collect menu determines the total sample time and the resolution of the sample 5 14 1 4 Collect Through this menu the user can set the number of samples they want to acquire The number selected can be any one of the choices in Figure 5 50 The number of chosen samples multiplied by the selected Sampling Rate determines the total time that a given acquisition takes Aerotech Stripchart Axis 1 Status Idle File Plot Trigger Display Axis 100 Samples 250 Samples 500 Samples v 1000 Samples 2500 Samples 5000 Samples Figure 5 50 Collect Menu 5 14 1 5 Display This menu allows the user to choose the resolution for the displayed data It behaves similarly to adjusting the time base on a digital storage scope with a captured waveform The user can choose a display time base that
192. eters 5 5 E ECHO Parameter 5 5 Version 1 0 Edit Jog Increments Dialog Box 8 3 Edit Pull Down Menu 8 3 10 4 Editing 10 4 Editing a Parts Program 10 2 Editing Passwords 4 3 Editing Teach Positions 8 8 Editor Parts Program 10 1 Effective Lines Field 5 43 Emergency Stop 6 25 Emergency Stop Cleared Dialog Box 6 27 Emergency Stop Control 6 25 Emergency Stop Control Dialog Box 6 25 6 26 Emergency Stop Monitor Resetting 6 26 Enable All Push Button 6 25 Enabling Axes Configuration Dialog Box 5 48 Enabling Axis Configuration 5 48 Enabling Optional Features 5 1 Encoder 6 4 Encoder Feedback Bit 6 15 Encoder Feedback Configuration Parameters 5 41 Encoder Feedback Devices 5 40 Encoder Marker 5 21 5 22 5 45 Encoder Marker Pulse 6 19 8 2 Encoder Pulses 5 42 Encoder Definition 5 41 Encoders 5 45 5 46 Encoders Slave 5 43 End Key 10 3 End of Travel EOT Limit 6 10 End of Travel Fault 6 9 End of Travel Limit Switch 5 21 8 2 End of Travel Limit when Ignored 5 22 English Mode 7 5 8 3 English Units 5 19 5 23 6 45 7 9 7 15 English Metric Radio Buttons 5 23 Enter Filename Entry Field 5 62 Enter Password Prompt 4 1 Entering New Parameter Values 5 3 Environmental Compensation Factor 5 43 5 50 EOT Limit Switch 8 2 Error 5 53 5 56 5 63 Error Actual vs Positions 5 56 Commanded Aerotech Inc Error Code Number 6 23
193. ext File 6 30 Aspect Ratio 6 46 At Home Field 6 4 At Home Option 6 13 Auto Save Configuration Dialog Box 10 8 Auto Save Feature 10 8 Auto F2 Button 7 10 Aux Mode 6 17 Aux Mode Field 6 7 Aux Output Enable 5 13 6 3 Aux Output Enable Option 6 12 AUX Parameter 5 6 Auxiliary Mask Option 6 20 Auxiliary Output 5 14 AUXMASK Parameter 5 4 5 6 5 13 AUXOFFSET Parameter 5 14 AVGVEL Parameter Read Only 5 5 AVGVELTIME Parameter 5 5 7 7 Ax Pair Select 9 8 Ax Enable Disable 9 7 Ax1 Jog 9 7 Ax1 Jog 9 7 Ax Select Inc 9 7 Ax2 Enable Disable 9 8 Ax2 Jog 9 8 Ax2 Jog 9 8 Ax2 Select Inc 9 7 Axes Configuration Error Dialog Box 5 48 Axes Motion Suspending 7 10 Axes Plane 5 31 Axes Plane Designation 5 31 7 4 Axes Planes Circular Contouring on 5 32 Axes to Acquire Group Box 5 60 Axes Circular 7 9 Axes Circular Units 5 22 Axes Clear AIl 6 24 Axes Coordinated Motion 5 25 Axes Disabled 6 25 Axes Enabled 6 25 Axes Green Display 6 25 Axes Jog Home Teach Dialog Box 8 2 Axes Linear 7 9 Axes Linear Units 5 22 Axes Red Display 6 25 Axes Scaling 6 44 Axes Specifying 5 57 Axes Stored 8 5 Axes Virtual 7 16 Axis 5 69 Axis Acceleration and Deceleration 5 25 Axis Average Velocity 5 5 Axis Calibration 5 53 Axis Configuration 2 2 Axis Configuration Setup Editor 5 39 Axis Configuration Setup Screen 5 39 Axis Config
194. field must be non zero This will activate axis calibration the next time the system gets initialized Note that an axis can have more than one active axis correction table associated with it Upon pressing the Enter key the action takes place 5 12 3 File Control The system does not save the modifications made while in the Axis Correction Table Editor to the data file unless the user requests that it be done To do this the user must explicitly request it with the SAVE F2 push button or the associated F2 function key The system saves the file in a binary format and should not be modified by the user Also within the File group box there is a LOAD F3 key that restores the correction table being edited to its last saved state 5 13 Data Capture Another available setup option is the Data Acquisition Parameter Editor To enter this screen select the Data Capture option under the Setup menu see Figure 5 42 This feature permits the user to configure the default mode of operation for applications that use the data recording capabilities of the UNIDEX 31 An example of this type of application is the Plot Data Diagnostic utility below However some applications may choose to change or ignore this configuration 5 58 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options Password Setup Diagnostic Run Manual Edit View Comm Time Based Control A 1 Halt With Feedhold Sampling Time Collection Time
195. for a time based linear ramp 0 Linear Ramping Time Based 1 Sinusoidal Ramping Time Based 2 Linear Ramping Rate Based 3 Sinusoidal Ramping Rate Based The user may also specify acceleration mode parameters from within a parts program Refer to the G63 G64 and G67 G68 commands 5 3 31 DECELMODE This parameter permits the user to select the type of ramping used during the deceleration of motion commands This ramping may be time based using the DECEL parameter or rate based using the DECELRATE parameter Also the user may configure the 5 10 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options ramping to be either linear or sinusoidal 1 cosine The following chart serves as an aid in setting this parameter The default for this parameter is for a time based linear ramp 0 Linear Ramping Time Based 1 Sinusoidal Ramping Time Based 2 Linear Ramping Rate Based 3 Sinusoidal Ramping Rate Based The user may also specify deceleration mode parameters from within a parts program Refer to the G63 G64 and G67 G68 commands 5 3 32 FEEDRATEMODE This parameter determines if the axis is subject to feedrate override control Setting this parameter to zero disables the feedrate override control while a value of one makes the axis subject to feedrate override The default value is zero 0 5 3 33 ACCELRATE This parameter sets the rate of acceleration while the ACCELMODE par
196. 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
197. ginning coordinate and the value in the rightmost topmost portion of the axis is the ending coordinate The lt F2 Done gt Push Button or the F2 Function Key signifies that entry is complete The new scale factors become active upon starting the next data acquisition This option is not available for triggered utilities MAINMENU indicates this by 5 displaying the option with a half tone attribute 6 13 4 3 Units of Measure The last two options available on the X Y Plot Menu permit the user to select the units of measure to use when interpreting the position information received from the axis processor Selecting English causes the unit of measure to be inches Conversely selecting metric causes the display to be in millimeters Version 1 0 Aerotech Inc 6 45 Diagnostic Menu Options U31 U600Users Manual 6 13 4 4 Correct Aspect Ratio This menu option under the X Y Plot Menu corrects the window size to display the axes ina 1 to 1 ratio The X Y Plot window is always decreased in size to achieve the correct aspect ratio A check mark appears on the menu when the correct aspect ratio is enabled When enabled the X Y Plot window can not be resized manually To manually change the window size the correct aspect ratio must first be disabled 6 13 5 Clear Screen This menu option does not have a menu associated with it It simply removes all old graphs from the window currently being displayed 6 14 Hexadecimal Calculato
198. h pendant provides the user with 4 axis jog teach capability through a two axis joystick for a single CNC Active in the jog manual and run modes the teach pendant allows the operator to manually input axis commands and positions to the U31 U600 from remote locations other than the main keyboard The unit is comprised of e a4 line LCD display window a lighted tactile 20 key keypad 16 LED indicator lights a joystick a feedhold button an E stop pushbutton and a 18 pin connector Also provided is a 200 foot cable that allows communication between the U31 U600 and the teach pendant through the RS 422 communication port As described the teach pendant is RS 422 the U31 U600 has only RS 232 ports If a complete U31 U600 system is purchased from Aerotech an integral RS 232 RS 422 converter will be supplied Figure 9 1 is an illustration of the teach pendant FEEDHOLD Figure 9 1 Teach Pendant Version 1 0 Aerotech Inc 9 Display Window 20 Key Keypad and LED Feedhol Button Teach Pendant U31 U600 User s Manual E stop Button N d d FEEDHOLD O Connector Joystick 9 2 Accessories The following sections give a brief description of each accessory on the teach pendant The picture in the margin see left illustrates where these accessories are on the pendant 9 2 1 Display Window The display window located at the
199. hannel for Encoders 5 42 Feedback Channel Numbers 5 41 5 44 Feedback Counts from the Interferometer 5 42 Feedback Device Specification 6 14 Feedback Device Secondary 5 45 Feedback Device Single 5 45 Feedback Devices Supported 5 39 Feedback Fault 6 9 FEEDBACK Fault 5 8 Feedback Field 5 41 5 44 Feedback Resolution 5 12 Feedback Signal 5 43 Feedback Signal Edges 5 41 5 45 Feedback Values Negative 5 16 Feedback Values Positive 5 16 Feedback Master 5 46 Feedback Null 5 46 Feedback Secondary 5 44 Feedhold button 9 2 Feedhold Control 5 60 Feedhold F6 Push Button 8 10 FEEDHOLD F6 Push Button 7 14 7 15 Feedhold Jogging 7 14 Feedhold State of an Axis 7 14 FEEDHOLD F6 Push Button 7 10 Feedrate Control Group Box 7 12 Feedrate Mode 7 5 Feedrate Override 6 6 6 17 FEEDRATEMODE Parameter 5 11 Field Delimiters 6 31 File Control 5 58 5 60 File Control Box 5 4 File Control Group Box 4 6 File Menu 6 34 File Name Entry Field 5 54 File Names Specifying 5 54 File Not Saved Dialog Box 10 9 File Open Dialog Box 5 54 7 1 7 2 10 2 10 6 File Pull Down Menu 5 34 5 35 5 62 6 40 10 2 10 6 File Selection Dialog Box 5 62 5 63 File Selection Error Dialog Box 7 2 File Transfer RS 232 12 2 FILENAME 6 33 Filename Entry Field 5 62 Files List Box 5 54 Find Dialog Box 7 13 10 5 Find Entry Field 7 13 Find Entry Field Max Length of 7 13 Find
200. hat is the user may directly specify drive and path specifications Valid path specifications can be either absolute or relative 10 6 Aerotech Inc Version 1 0 U31 U600 User s Manual Parts Program Editor Save as Directory is Directory is C U31 PROGRAMS Directories Figure 10 7 Save As Dialog Box In the event that the user does not wish to explicitly specify the drive and path designations he may use the Directories list box to change the default The Directory is information field displays the current defaults The options displayed in this list box correspond with all the disk drives found on the system as well as with all sub directories of the current directory The option permits the user to move up one level in the directory tree Selecting one of these options causes the selected drive directory to become the current drive directory Pressing the OK button signifies entry of a valid filename and causes the parts program Editor to attempt to write the file to a disk In the event that the user explicitly specifies an invalid drive or directory an Invalid Directory dialog box appears on the display to notify the user of the error Refer to Figure 10 8 Save As Dialog Notification A Directory does not exist Figure 10 8 Invalid Directory Dialog Box The Cancel button aborts saving the file and returns control back to the edit window After assigning a filename to a program
201. he LED indicator is inoperative Ax2 Jog Run if When toggled the current jog increment which is selected Sel Inc JOGOFFSET and from the JOG menu is displayed on line 3 of the pendant JOGRET are display The LED indicator above the button is inoperative active The menu line line 4 will show F1 NEXT F2 PREV F3 NONE and F4 DONE These menu selections work the same as using the mouse in the Edit Jog Increments Dialog Box refer to section 8 2 1 2 and figure 8 3 F1 NEXT will toggle down to the next jog increment F2 PREV will toggle up to the previous jog increment F4 DONE will return to the regular menu line Toggle it again and the current jog increment disappears Version 1 0 Aerotech Inc Teach Pendant Teach Pendant U31 U600 User s Manual Table 9 1 Keypad Operation and Function Con t CE Key Ax2 En Dis Ax2 Jog Ax2 Jog Ax Pair Select F1 F2 F4 Mode Active Manual Jog Run Manual Jog Manual Jog Manual Jog Jog Manual Run Jog Run Jog Run Function Operation When toggled axis 2 is enabled and the information pertinent to this axis is displayed on line 3 of the display window The LED indicator above the button is lit Toggle the button again and axis 2 will be disabled and the information on _line 3 disappears The LED indicator will extinguish Each time this button is toggled it will jog the axis a preset increment that was _selected from the JOG m
202. he firmware is currently executing If so the application continues with the next stage of initialization Otherwise the system displays a Downloading Axis Firmware dialog box see Figure 2 2 while the image file U31 DMR IMG gets transferred to this card Version 1 0 Aerotech Inc 2 1 Getting Started U31U600 User s Manual Axis Firmware Status Downloading Axis Firmware F2 Relnitialize Syste F3 St Rese F4 Hard Reset Figure 2 2 Downloading Axis Firmware Dialog Box In the event that the download fails the system displays a Downloading Axis Firmware Failure dialog box to notify the user of the error see Figure 2 3 Axis Firmware Status Axis Card In Unknown State Press Axis Card Reset Button Wait At Least 5 Seconds Then Reinitialize System F2 Relnitialize Syste Fa Sot Reel F4 Hard Reset Figure 2 3 Downloading Axis Firmware Failure Dialog Box Once the system confirms a successfully initialized axis processor card the application program begins to configure the axis processor as specified in the initialization files These initialization files are in binary format and can be modified only by the MAINMENU application program The initialization process involves the use of several initialization IND files These files are stored in the U31 INI subdirectory The system processes the initialization files in the following order e Axis Parameters AXIS INI Axis Configuration CONFIG INI and CON
203. he motion The final choice under the Trigger menu is the Set Data Acquisition Mode The mode is illustrated in Figure 5 49 Version 1 0 Aerotech Inc 5 65 Setup Menu Options U31 U600 User s Manual al Aerotech Stripchart Axis 1 Status Idle File Plot Trigger Collect Display Axis Trigger Control Mode Sampling Rate ms Parameter 1 Parameter 2 Figure 5 49 Set Data Acquisition Mode Dialog Box This screen defines the start of the acquisition The available modes are shown in Table 5 3 Table 5 3 Available Data Collection Modes Mode Number Description 0 Starts the data acquisition at the same point as the motion profile began in plot 1 Determines that the master position information is used to control the trigger 2 Uses the beginning of the CAM table to control the trigger 3 Uses the torque command information to control the trigger 4 Used for an external software trigger source such as an application program The following information describes the parameters associated with each mode There are two parameters associated with the trigger modes listed above parameter 1 and parameter 2 Parameter 1 is used with Mode 1 or Mode 3 to set the value of either the position or the torque This acts as the trigger threshold Upon selecting Mode 1 or Mode 3 parameter 2 determines when to trigger the data acquisition A value of zero allows the trigger proc
204. he parts program However the user may not dynamically increase the allocated memory A Variable Allocation group box found in the CNC Initialization screen permits the user to select how many variables to allocate for the CNC processor The user must select this number prior to executing the parts program The term global refers to variables which can be used by any program in any CNC The Global entry field sets the limit on the number of global variables Global variables are referred to by global lt n gt where n is an integer between zero and the allocated number minus one For example if 100 global variables are allocated they would be referred to as globalO through global99 The user must allocate memory for each variable prior to executing the parts program Therefore the user must specify the maximum number of variables that a parts program may use Local refers to the variables which apply to any program within one CNC The user can change the number of local variables permitted by entering the new value into the Local entry field and pressing Enter Local variables can not be used across multiple CNCs 5 6 1 16 Touch Probe The CNC language of the UNIDEX 31 U600 also supports a touch probe The CNC Processor must know that a touch probe exists and what the configuration for that probe is The Touch Probe group box allows the user to configure the system for the touch probe This group box contains a drop down list
205. he user can specify the number of milliseconds between acquisitions The default is one providing the maximum resolution of the system The user may increase this to permit acquisition over an extended period of time but with a decreased resolution The Collection Time entry field permits the user to specify the time interval over which the acquisition is to occur The default value for this parameter is 1 second 1000 msec The user may increase this parameter to permit acquisition over an extended period of Version 1 0 Aerotech Inc 5 59 Setup Menu Options U31 U600 User s Manual time However it must not exceed the product of the table allocation size and the sampling time parameters Some applications use the Display Time parameter to scale the resolution of the data being displayed It has no effect on the acquisition itself An example of this is the PLOTDATA utility This utility provides a graphical representation of the data acquired over the collection interval Setting the value of this parameter less than the collection time causes this utility to zoom in on a smaller portion of the data The user can then use the horizontal scroll bar to view the undisplayed acquisition data The Time Based Control group box also contains check box controls that permit the user to configure the data acquisition response to several controls found on the Run CNC Parts Program Screen The Feedhold control permits Parts Program execution to
206. hed The most common effective specified rollover point is the end point of the CAM table in use This point causes the table execution to repeat in a circular manner but is not required The only restriction of the parameter s value is that it must be a positive integer Therefore the valid range for this parameter is 0 through 2 147 483 647 231 1 The default value is for zero 0 5 3 47 CAMOFFSET To understand how this parameter functions the reader must be familiar with the operation of the synchronized motion through the CAM tables on the UNIDEX 31 U600 For a brief discussion of this feature refer to the MASTERPOS parameter Section 5 3 45 This parameter offsets all master positions in the active CAM table based on a fixed amount That is the value of this parameter is added to each master position in the CAM table Most often the user selects this parameter to permit execution of the slave profile without forcing the master position to zero starting point of table The units for this parameter are machine steps and can range from 2 1 to 2 1 approximately 2 1 billion to 42 1 billion The default is for zero 0 machine steps 5 3 48 SYNCSPEED To understand how this parameter works the reader must be familiar with the operation of the synchronized motion through the CAM tables on the UNIDEX 31 U600 For a brief discussion of this feature refer to the discussion of the MASTERPOS parameter There are two modes
207. hen the upper and lower case letters are distinct Otherwise the system ignores the case of the letters The Wrap check box specifies where the search is to terminate If this box does not contain a check mark the Find button causes the editor to search for the specified string from the current cursor location to the end of the file Enabling the wrap function causes the search to continue from the beginning of the program after it encounters the end of the file Note that this type of search is not limited to only one iteration of the file 10 4 Saving the Modified Parts Program The File menu performs all disk related activities as well as exiting the parts program Editor Figure 10 6 shows the options available from within this menu Editor C XMAIHMEHU ANDY PGM Edit Options SOFTNAMES Axis 01 0 0000 Axis 02 0 0000 Open 00 Axis 02 20 0000 C saos 00 Axis 02 10 0000 00 Axis 02 30 0000 Save Save as Autosave Exit Figure 10 6 File Menu The Save and Save As options found within the File menu save the changes made to the parts program For new programs that do not have a filename associated with it selecting either of these options results in the Save As dialog box shown in Figure 10 7 The operation of this dialog box is very similar to the operation of the File Open dialog box The File name entry field specifies what name to save the parts program as The user may enter all valid OS 2 filenames T
208. his value also changes the current value of that parameter It is good practice to always keep a copy of the default parameter settings GET MACHINE INTD before altering any of the parameter values x Aerotech CHC Version 11 24 93 Password Setup Diagnostic Run Manual Edit View Comm Machine Parameter Menu Axis 01 Axis 01 MEN English Metric 1 00 Current Setting Select Axis i i 1 00 Millimeters Per Motor Revolution 100 00 Rapid Feedrate Millimeters Per Minute 100 00 Home Feedrate Millimeters Per Minute 1000 00 Jog Feedrate Millimeters Per Minute 0 00 Lowest Feedrate Millimeters Per Minute Home Style cw ccw 1 Normal 2 Reverse to Marker Positive Direction O cw 1 ccw Linear or Rotary 0 linear 1 rotary 3 rotary Drive Control Mask 0x001 Configure 0x010 Enable 0x100 Disable Home Offset Axis_01 Axis Name Tue 12 14 93 2 41 36 pm Figure 5 5 Machine Parameter Editor Screen As can be seen in Figure 5 5 many of the fields of this screen are very similar to those found on the Axis Parameter Editor screen In general the functions of the Machine Parameter Editor are very much like those of the Axis Parameter Editor except this editor operates on different parameters MAINMENU uses the parameters modified from within this editor while other Aerotech utility programs do not use them at all 5 18 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup
209. ile 5 34 Restoring Old Parameter Values from a File 5 4 REVERSALMODE Parameter 5 6 Reverse Video Display 5 54 Right Arrow Key 10 3 RMS Current Limit 6 9 RMS Current Limit Fault 5 7 Rollover Point in CAM Table 5 15 Rotary Axis 5 23 5 34 Rotary Feedrate 7 5 Rotary Stage 5 26 Rounding Values 5 26 RS 232 File Transfer 12 2 RS 232 Port 12 1 RS 232 Ports 5 37 RS 232 RS 422 Converter 9 4 RS 274 Programming Language 5 24 5 31 RS 422 communication port 9 1 RS 474 Command Entry 8 1 Run CNC Parts Program Screen 5 60 Run Mode 7 2 8 9 S S Keyword 5 26 Safe Zone 5 16 Safe Zone Fault 5 9 6 11 Safe Zone Clockwise Boundary 5 8 Aerotech Inc U31 U600 User s Manual Safe Zone Counter clockwise Boundary 5 9 Safe Zone Enabling and Disabling 5 9 Safe Zones 5 16 5 17 Safety Procedures 1 3 SAFEZONECCW Parameter 5 9 SAFEZONECW Parameter 5 8 5 9 5 16 SAFEZONEMODE Parameter 5 8 5 9 5 16 Sample Number to Collect 6 36 Sample Resolution 5 67 Sample Time 5 67 Sampling Mode Group Box 5 60 Sampling Rate 5 67 Sampling Time Entry Field 5 59 Save As Dialog Box 10 7 Save As Push Button 10 9 Save Axes Configuration to Disk Dialog Box 5 48 Save File Option 5 62 Save Push Button 10 9 Save Teach File Dialog Box 8 7 8 8 Save the Current Data Collection to a Specific File 5 61 Save to File 5 19 Save Values to File 5 34 Save F2 5 19 Save F2
210. in 5 4 Axis Parameter Modification 5 1 5 2 Axis Parameter Numbers 5 3 Axis Parameters 2 2 5 3 5 19 Axis Parameters Option 5 2 Axis Path Point error 5 53 Axis Position 5 5 Axis Position Display Dialog Box Pull Down Menu 7 9 Axis Position Display Font 12 Dialog Box 7 8 Axis Position Display Font 40 Dialog Box 7 9 Axis Position Display Font Options Dialog Box 7 8 Axis Position Display Options Dialog Box 7 6 Axis Position Group Box 8 4 Axis Position Current 7 2 Axis Processor 5 3 5 8 5 9 5 12 5 19 5 37 5 48 Axis Processor Card 2 1 2 2 5 5 5 8 5 12 5 55 Axis Processor Firmware Image 2 7 AXIS PROCESSOR FIRMWARE STATUS DISPLAY 6 21 Axis Processor I O Lines Active States 5 13 Axis Processor Programming Error Status Display 6 22 Axis Processor Synchronization 2 1 Axis Processor Testing Communications with 5 5 Axis Pull Down Menu 5 70 6 37 6 43 Axis Safe Zone Enabling and Disabling 5 9 Axis Scaling 5 58 Axis Select Group Box 7 15 Axis Select Pull Down Menu 5 24 5 25 Axis Selection 5 19 Axis Selection Menu Option 8 5 Axis Selection Pull Down Menu 5 70 Axis Selection Using a Mouse 5 3 Axis Servo Gain Settings 5 71 Axis Simulation Mode 5 9 Axis Stages Specifying 5 22 Axis State 6 3 Axis Status 6 2 Axis Status and Fault Display Dialog Box 6 2 Axis Status and Fault Utility 6 2 Axis Status Group 6 3 Axis Status Screen 5 12 6 12 Axis
211. inates Ordered Pair 5 31 Correct Aspect Ratio 6 46 Correction Entry Field 5 55 Correction Table Template Modifying 5 56 Correction Table Creating a New 5 54 Counter clockwise Boundary of the Safe Zone 5 9 Counterclockwise home Direction 5 22 Counter clockwise Limit Input 6 3 Cubic Spine Programming 7 4 Current Directory 5 54 Current Parameter Value 5 3 Version 1 0 Aerotech Inc V Current Setting Box 5 3 Current Setting Group Box 5 19 Current Setting List Box 5 3 Current Values Changes to 5 18 Cursor appearance 3 4 movement 3 4 Cursor Measurement Tool Dialog Box 5 68 5 69 6 36 6 37 Cursor Option 5 68 6 36 Cut Paste Function 10 2 Cutter 1 Pull Down Menu 5 28 5 29 Cutter 2 Pull Down Menu 5 28 Cutter Compensation Mode 7 4 Cutter Radius Compensation 5 28 Cutter Radius Compensation Enabling and Disabling 5 28 Cutter Tool Diameter Unit of Measure 5 29 Cutting Application 5 34 Cutting Tool Inspection 7 14 Cutting Tool Radius 5 28 Cutting Tools 5 28 CW Circular Programming 7 4 CW EOT Fault 6 9 CW Input 6 3 CW Input Option 6 12 CW Limit Switch 5 13 CW Software EOT Fault 6 9 CW FAULT 5 8 CWEOT Parameter 5 8 5 16 Cycle Start F3 Push Button 7 10 7 11 7 15 CYCLE START F3 Push Button 7 14 Cycle Starts 7 10 D D A Channel Entry Field 5 47 D A Configuration Parameters 5 47 Data Acquisition 5 58 6 34 6 39 6 45 Data Acquisition
212. ine count of the encoder including the times 4 multiplication done by the UNIDEX 31 U600 on the feedback pulses For the drive interface a digital to analog D A converter channel number is required The valid channel numbers range from 1 16 Each VME D A card refer to Figure 2 4 contains four axis channels labeled 1 4 Note that channel labeling is local to each D A card Axes 1 4 are on the leftmost card axes 5 8 will follow but are labeled 1 4 etc 2 4 Aerotech Inc Version 1 0 U31 U600 User s Manual Getting Started Encoder and D A cards both use 25 pin D style connectors Be sure to connect cables to the appropriate cards otherwise damage could result Encoder cards have an orange tag on the top of the VME card ejector while D A cards have a blue tag Refer to the UNIDEX 31 U600 Hardware Manual EDU121 for connection information A resolver axis requires a resolver to digital R D converter feedback channel The valid channel numbers range from 1 16 Each VME R D board illustrated in Figure 2 5 contains four axis channels Axes 1 4 are on the leftmost card axes 5 8 follow but are labeled 1 4 etc The desired resolution must be set to 10 12 14 or 16 These numbers are powers of 2 e g 2 2 2 and 2 5 which correspond to the number of steps per motor revolution respectively e g 1924 4096 16384 and 65536 Changing this resolution also requires changing a personality module on the R D board This
213. ing the Jog amp Offset Path Dialog Box The new axis location is the point at which the program execution continues The position display for those axes reflect the offset of jogged axes That is after completion of the current program block the parts program commanded position display and the actual axis position display will differ by the amount of this offset 7 9 Debug and Debug Feedrate To facilitate easy debugging of parts programs the user may place a set of axes into Debug mode While in this mode the CNC Processor treats these axes as virtual axes That is Trajectory Generation occurs normally but velocity commands are not sent to the motor Instead the system uses these commands as feedback for those axes In effect a zero following error system is simulated Although no CNC motion occurs on an axis operating in the Debug Mode the system continues to maintain torque on the motor All other features function normally Therefore it is possible to use all data acquisition utilities to predict axis response to the parts program being executed 7 16 Aerotech Inc Version 1 0 U31 U600 User s Manual Run CNC Parts Program Selecting Debug Mode Active from the Debug menu will activate this mode placing a check mark beside it in the menu Activation also cause the word Debug to begin flashing in the axis processor status area of the run screen In addition the Debug menu allows a debug feedrate to be specified This is
214. ion esee 5 24 5 6 1 3 Axis Selection erit tentent 5 24 5 6 1 4 Accel Decel Control sees 5 25 5 6 1 5 Vector Feedrate Limits esses 5 26 5 6 1 6 Spindle Axes Designation and Feedrate ini eme EE WE 5 26 5 6 1 7 Intersectional Cutter Radius Compensation di OE EE EE EEE S 5 28 5 6 1 8 Threading Axes Designation and Feedrate Limits eene 5 30 5 6 1 9 Initial G code Selection sssss 5 31 5 6 1 10 Axes Plane Designation G17 G18 G19 5 31 5 6 1 11 Accel Decel Type G63 G64 5 32 5 6 1 12 Accel Decel Mode G67 G68 5 32 5 6 1 13 English Metric Units G70 G71 5 32 5 6 1 14 Absolute Relative Positions ee see ee 5 33 Version 1 0 Aerotech Inc V Table of Contents U31 U600 User s Manual 5 7 5 8 5 9 5 10 5 11 5 12 5 6 1 15 Global and Local Variable Allocation 5 33 D O1 16 Touch Probeer ee Ee ted tee heroes 5 33 5 6 L17 Fle Control iii ies GESE ee eee 5 34 5 6 2 B Axis Par meterSi nenene aa e ener nnne 5 34 5 62 1 CNC Selection ceteri 5 34 9 6 2 2 B Ais Selection ise oer eee 5 34 5 6 2 3 Axis Plane Designation esee 5 35 5 6 2 4 Limiting B Axis Velocity eese 5 35 5 6 2 5 Eile Control o nes tenete ere 5 35 5
215. ions with the axis processor or as a temporary holding area 5 3 3 CLOCK This parameter allows the user to set the starting count of a user clock using millisecond resolution The clock starts counting from the specified time This is available for application programs that require a general purpose timer Use of this parameter has no effect on the operation of MAINMENU 5 3 4 AVGVELTIME The Axis Processor Card of the UNIDEX 31 U600 maintains a read only parameter called AVGVEL that reports the average velocity for a given axis This average has no effect on the operation of the controller but is maintained for the benefit of the application program This parameter specifies the time period over which the velocity is averaged The units for this parameter are given in milliseconds and must range from 10 to 1 000 milliseconds in 10 msec increments 5 3 5 KI This parameter sets the integral gain of the velocity loop for the selected axis Refer to the UNIDEX 31 U600 Hardware Manual for a description of how this parameter functions in the servo loop The valid range of this parameter is 0 to 10 000 The default value is 2 000 5 3 6 KP This parameter sets the proportional gain of the velocity loop for the selected axis Refer to the UNIDEX 31 U600 Hardware Manual for a description of how this parameter functions in the servo loop The valid range of this parameter is 0 to 100 000 The default value is 10 000 5 3 7 PGAIN
216. is Section ef Introduchone e eS 8 1 Jog amp Home Axes eene 8 1 e CNC Manual Entry Mode 8 8 exNIanuals Or e eee eee ee 8 11 oP Ethernet ct ee ee 8 14 8 1 Introduction The options found within the Manual menu permit the user to manually interact with the CNC This menu permits functions such as jogging homing RS 274 command entry and controlling general purpose inputs and outputs Figure 8 1 shows the available options v Aerotech CNC Version 06 16 94 Setup Diagnostic Run Manual Edit View Jog Home Teach MDI Mode Manual IO R Figure 8 1 Manual Menu 8 2 Jog amp Home Axes The Axes Jog Home Teach dialog box permits the user to manually move the axes to a new location and or request that an axis return to its home position In Figure 8 2 each of the axes has an identical group of controls associated with it The lower portion of the screen contains a position display for the associated axes Several global controls also appear within this screen Version 1 0 Aerotech Inc 8 1 Manual Operation U31 U600 User s Manual A CNC Jog Home Teach Teach Axis 01 sis veg Control ru ESE E Stop Q English JExt Hold e Metric F8 FHold F9 Abort k Continuous Machine Target Pos To Go Veloc it Axis_01 pool 0 0000 mm Axis O2 1 0 0000 mmj Figure 8 2 Axes Jog Home Teach
217. is much smaller than the acquisition time allowing for a more detailed image of the sampled data The user can control the position within the sampled data by using the horizontal scroll box located at the bottom of the screen Figure 5 51 indicates the options available from within the Display menu Version 1 0 Aerotech Inc 5 67 Setup Menu Options U31 U600 User s Manual Aerotech Stripchart Axis 1 Status Idle File Plot Trigger Collect EERS Axis 100 Samples 250 Samples 500 Samples v 1000 Samples 2500 Samples 5000 Samples Common Axis Zero line Cursor Figure 5 51 Display Menu Also located under the Display menu is an option that allows the user to place a Zero Line on the display with the displayed data Additionally the user can toggle the screen format between a common axis and separate axis Selecting the Cursor option from the Display menu causes a Cursor Measurement Tool dialog box to appear in the lower right hand corner of the screen see Figure 5 52 5 68 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options Password Setup Diagnostic Run Manual Edit View Comm File Plot Trigger Time Cursor A 0 091 s Cursor B 0 172 s Delta 0 081 s Position Freq 12 346 Hz Pos cmd Pos err Torque 0 QUIT mE Figure 5 52 Cursor Measurement Tool Dialog Box This tool measures the values of the sampled parameters at both cursor points It
218. ither the F2 Reinitialize System or the F3 Soft Reset controls Future revisions of MAINMENU are to support another way of resetting the axis processor card The F4 Hard Reset Push Button causes the system to assert RESET on the VME bus Therefore the system resets all of its VME based cards After clearing the reset the system performs the actions described while processing the soft reset request 6 4 Axis Processor Programming Error Status Display Another diagnostic option available It is the 80960 Axis Processor Board Programming Error Status Display This utility permits the user to request status information pertaining to command execution from the axis processor It also provides controls that permit the user to clear the errors The list box located in the upper portion of the screen displays the errors currently active in the system This list box contains one entry for each axis The user may view all axes by using the vertical scroll bar on the right side of the list box Each axis specific entry contains at a minimum the axis number the axis name and a text string to notify the user of active programming errors If none are active the following phrase appears for that axis No Error 6 22 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options x Aerotech CNC Version 11 24 93 aim Password Setup Diagnostic Run Manual Edit View Comm 80960 Axis Processor Board Programming Errors A
219. l the system encounters the programs end While operating in the single step mode the system only executes one program block in response to this push button The system ignores all cycle starts encountered during the execution of that program block It is not always necessary to begin program execution with the first line of the parts program See Section 7 6 for further information 7 5 3 Suspending Axes Motion The FEEDHOLD F6 button or the associated F6 function key temporarily halts the axes motion This is accomplished by decelerating all axes to zero velocity in the amount of time specified by the CNC Decel Time parameter see Chapter 5 for more information Then the FEEDHOLD F6 button begins to flash Upon releasing the feedhold the CNC continues the suspended move The processor recalculates all the move parameters as though it received a move command The new move uses the accel and decel times specified by the appropriate CNC parameters see Chapter 5 for more information 7 10 Aerotech Inc Version 1 0 U31 U600 User s Manual Run CNC Parts Program While the axes are in a feedhold state the options found within the JOG Menu are valid Refer to Section 7 7 for more details Activation of feedhold may affect the operation of some data acquisition utilities Refer to Chapter 5 for more details 7 5 4 Block Delete Operation The UNIDEX 31 CNC programming language includes a Block Delete Operator This op
220. lerts the user when the associated axis is currently in motion ON signifies the axis is in motion OFF appears on the display when the axis trajectory generation is complete upon completion the bit is set Related Parameter s NONE 6 2 2 16 Accel Phase This field indicates if the axis is currently within the acceleration portion of the motion command being executed The acceleration phase is the period of time when the trajectory generator is changing the velocity from the current velocity to the commanded velocity Therefore if the current velocity is 10 counts msec and the commanded velocity is 5 counts msec the value of the accel phase flag is on while the axis slows to the new velocity 5 counts msec This flag is off during the constant velocity portion of the move as well as during the deceleration portion of the move This bit has no significance if the corresponding axis is currently being controlled via a CAM table Related Parameter s NONE 6 2 2 17 Decel Phase This field determines if the axis is currently within the deceleration portion of the motion command being executed The UNIDEX 31 s definition for this phase is the time period in which the axis is slowing from the commanded velocity to a complete stop ON appears on the screen while the axis is decelerating OFF appears if the axis trajectory generation is complete when the Done Bit is set Controlling the corresponding axis through a CAM table causes this bit to
221. leted The undo function can only undo one operation 10 3 5 Searching for a Text String Selecting the Find option from within the Edit menu causes a Find dialog box shown in Figure 10 4 to appear on the display 10 4 Aerotech Inc Version 1 0 U31 U600 User s Manual Parts Program Editor Wrap Change then Find m e Figure 10 4 Find Dialog Box The Find dialog box in the above figure provides several controls that permit the user to control the search process Initially the user places the cursor within the Find entry field This field specifies the text string that the user wishes to locate within the parts program The user may enter up to 255 characters within this field Activating the function associated with the Find button then causes the editor to locate that string within the parts program In the event that the system does not find the text string the dialog box in Figure 10 5 appears on the display as notification Find Notification The text in the Find field cannot be Figure 10 5 String Not Found Dialog Box In a successful find function the located string appears highlighted on the screen providing the user with several options The first option uses the Cancel button to conclude the search process The second option permits the user to press the Find button to search for the next occurrence of the string As an option the user may use one of the change options Before the us
222. lso edit this parameter using the Bit Mask Control Window 5 5 3 42 IOLEVEL This parameter permits the user to specify the active state for several of the I O lines of the axis processor I O lines The user may configure any of the following lines 0 Drive Enable Output 1 Aux Output Enable Output 2 CW Limit Switch Input 3 CCW Limit Switch Input 4 Home Limit Switch Input 5 Drive Fault Input The value specified is a bit mask where only the six least significant bits are valid These bits correspond with the list above as well as the six least significant bits of the STATUS parameter see Section 6 2 2 1 through Section 6 2 2 6 Setting a bit to a one implies that the input output is active high and a zero means it is active low The default for this parameter is 63 03FH and corresponds to all active high signals Version 1 0 Aerotech Inc 5 13 Setup Menu Options U31 U600 User s Manual CE 5 3 43 AUXOFFSET To understand how this parameter functions the reader must be familiar with the operation of the synchronized auxiliary output tables on the UNIDEX 31 U600 In brief each synchronized auxiliary output table entry specifies a master position and a corresponding state for the auxiliary output When the observed master position becomes greater than or equal to that specified in the table entry the output is set to the appropriate state The only requirement is that the master positions const
223. lts 6 10 Inputs Hall 6 5 6 13 Inputs Probe 6 13 Inputs Touch Probe 5 33 Inspection of the Cutting Tool 7 14 Instantaneous Current Averaging 5 7 Instantaneous Speed Maximum 5 8 Integral Clamped Field 6 13 Integral Clamped Field 6 13 Integral Gain KI Parameter 5 5 Integral Gain of the Velocity Loop 5 5 Interferometer 5 42 Interferometer Feedback Counts 5 42 Interferometer Laser 5 40 Interpolation and CAM Points 5 14 Interrupt Mask Option 6 20 Interrupt Pending Field 6 19 Interrupt Pull Down Menu 7 14 Interrupt System 5 12 Intersectional Cutter Radius Comp 5 52 INTMASK Parameter 5 4 5 12 Invalid Commands from the CPU Card 6 9 Invalid Directory Dialog Box 10 7 Invalid Directory during File Open Dialog Box 5 53 Invalid Directory During File Open Dialog Box 5 53 Invalid Directory Error 5 53 Invalid Entry of Parameter Value Dialog Box 5 3 5 4 Invalid Parameter Value Dialog Box 5 25 Inverse Feedrate Mode 7 5 IOLEVEL Parameter 5 13 J Jog 8 1 Jog amp Offset Tool Path 7 16 Jog amp Offset Tool Path Dialog Box 7 16 Jog amp Return Dialog Box 7 14 7 15 7 16 Jog amp Return Function 7 15 Jog amp Return Option 7 14 Jog Axes 8 1 Jog Enable Field 6 20 Jog Move Incremental 8 2 Jog Moves 5 21 Jog Moves Eliminating Unwanted 5 37 Jog Pull Down Menu 7 14 7 16 JOG Pull Down Menu 7 11 Jog Push Buttons 8 3 Jogging 8 1
224. ly being used ON signifies that the system is to use sinusoidal deceleration and OFF signifies linear deceleration Related Parameter s DECELMODE Refer to section 5 3 31 6 2 5 25 Bounded This field indicates whether the axis is bounded by the end of travel limits Spindle axes for example are un bounded since they may travel an infinite amount without encountering a limit ON specifies that there is a limit on the distance that the axis can travel Related Parameter s NONE 6 2 5 26 Setup Pending The axis processor uses this field to indicate a pending setup The field is cleared after setup is complete ON appears while setup is pending Under normal operating conditions the user may ignore the state of this field Related Parameter s NONE 6 2 5 27 Checker Flag The axis processor uses these fields for synchronization between the 4 kHz interrupt and the various foreground processing modules Under normal operating conditions the user may ignore the state of this field Related Parameter s NONE 6 2 5 28 Quick Home This field provides an indication that the axis is seeking the home limit switch due to the DMRMoveQuickHome function ON appears on the display upon execution of this command Related Parameter s NONE 6 2 5 29 Interrupt Pending This field is used for internal processing by the axis processor and therefore the user may ignore it It signifies the occurrence of an interrupt that requires servici
225. mits the user to limit the feedrate attained on the cutting axes in a thread cutting application 5 30 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options Thread cutting applications refer to an automated motion cycle designed to place threads into an outer edge of a part Refer to the UNIDEX 31 U600 Programming Manual for additional information concerning thread cutting 5 6 1 9 Initial G code Selection As noted in Appendix A most of the RS 274 programming language supported by the UNIDEX 31 U600 consists of modal G codes Each time the system encounters a modal G code within a parts program the CNC processor changes its mode of operation The CNC remains in that mode until commanded to enter a different mode by a subsequent G code The G Codes menu illustrated in Figure 5 13 allows the user to define the initial operating modes of the CNC processor The selected modes apply to all executed parts programs Therefore it is not necessary to clearly state the initial mode of operation for each program unless it differs from what is defined here Mu Initialization ile Axis Select Spindle Cutterl Cutter Thread X Thread Y ERSTES Plane Invalid CNC i Plane Invalid CNC 1 Plane Invalid O CHC H2 1 Cosine Accel Decel Linear Accel Decel Acc Dec Time 3 Active High Max 300 000 Acc Dec Rate Tool Diameter Active Low English Units 0 00100 i Peel Matic es _ Absolute Positioning Ac
226. mmon feedback devices including secondary velocity and master feedback are discussed later in this document ea ea Encoder Feedback Version 1 0 Aerotech Inc 2 3 Getting Started U31U600 User s Manual CE WARNING D A Converter Selecting the NULL FEEDBACK option gives you the opportunity to perform a dry run of the program In this case no motion occurs Also the axis command is used as feedback for that channel An axis with optical encoder feedback requires a channel number from which it will receive encoder feedback pulses The valid channel numbers range from 1 16 Each VME encoder card see Figure 2 4 contains four axis channels labeled 1 4 Note that the labeling is local to each encoder card On systems with more than four axes of encoder feedback axes 1 4 are on the leftmost card axes 5 8 on the next card will follow but are labeled 1 4 etc Encoder and D A cards both use 25 pin D style connectors Be sure to connect cables to the appropriate cards otherwise damage could result Encoder cards have an orange tag on the top of the VME card ejector while D A cards have a blue tag Refer to the UNIDEX 31 U600 Hardware Manual EDU121 for connection information 4EN Encoder Board 4DA Axis Drive Board Orange Tag Blue Tag Figure 2 4 The Encoder Interface and D A Interface Boards The number of lines pulses per revolution on the encoder is required for system scaling This is the actual l
227. must specify a filename at the time they choose to save the program The following sections explain how to perform these functions Version 1 0 Aerotech Inc 10 1 Parts Program Editor U31 U600 User s Manual 10 2 Selecting the Parts Program MAINMENU provides a dialog box to aid in the selection of the parts program file that they wish to edit Using the Open option from within the File menu permits the user to activate the File Open dialog box An illustration of this box appears in Figure 10 2 below File name x PGM Directory is C U31 PROGRAMS Selected File is Files Directories 24 PGM A KADCDW1 PGM B KADNUM1 PGM C KADNUM2 PGM 2A KADNUM3 PGH LARGE2 PGM Help F1 Figure 10 2 File Open Dialog Box By default MAINMENU expects all parts programs to use the PGM extension and reside in the U31 PROGRAMS directory of the drive on which OS 2 boots However the user can select parts program files with any other extension regardless of the directory they reside in The File Open dialog box shown in Figure 10 2 selects the parts program for execution and is identical to the one used when selecting an axis correction table For more details on the operation of this dialog box refer to Selecting the Axis Correction Table in Chapter 5 10 3 Editing the Program The parts program Editor provides all functions normally associated with a text editor i e Cut Paste
228. n Figure 5 17 shows the Plane Initialization screen This screen allows the user to select the axes to associate with the X Y and Z planes These planes define which axes are to be used in circular moves Refer to the UNIDEX 31 U600 Programming Manual chapter 3 for additional information concerning the G codes associated with circular moves e g G2 G3 G17 G18 and G19 Select the desired CNC process by clicking on the corresponding radio button Only one CNC process can be selected at a time To select an axis use the corresponding Plane Axis menu see Figure 5 18 A check mark appears by the currently selected axis This axis is also displayed in the Selected Plane Axes group box beside the appropriate plane Invalid axes are shown in half tone These axes can not be selected for any plane Plane 2 axis selection is made via the G27 G28 G29 commands Plane Initialization File Plane X Axis Plane Y Axis Plane Z Axis CHC Selected Plane Axes f i Plane X Axis Not Selected gt CNC H2 Plane Y Axis Hot Selected J CHC 3 Plane Z Axis Hot Selected CNC H4 Figure 5 17 Plane Initialization Dialog Box BEGUN So Ais 09 Axis 02 Axis 18 B 3 Axis 83 Axis 11 helected Axis 84 2 Axis 122 Axis as 13 Ads 13 pelected 3 c Axis 88 4 Axis 14 jelected fo Axis OF j j Axis 88 Figure 5 18 Plane Axis Menu 5 36 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options 5
229. n ASCII string used to refer to an axis This string may be up to 8 alphabetic characters in length 5 22 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options 5 5 12 Display Format This parameter controls the number of decimal places displayed to the right of the decimal point on the position display For additional information refer to the Position Display found in Section 7 4 The user must specify a separate display format for both English and Metric units 5 The displayed mode corresponds to the setting of the English Metric radio button found in the Units group box 5 5 13 CCW Software End of Travel in Inches Millimeters Degrees This parameter sets a software end of travel limit for the counter clockwise direction in either inches millimeters or degrees for English Metric and rotary modes respectively 5 5 14 CW Software End of Travel in Inches Millimeters Degrees This parameter sets a software end of travel limit for the clockwise direction in either inches millimeters or degrees for English Metric and rotary modes respectively 5 6 CNC Parameters If the user selects the CNC Parameters option from the Setup menu a submenu appears to the right of the Setup menu refer to Figure 5 6 This submenu contains a list of CNC general parameters and B axis parameters that a user may choose from The B axis is a rotary axis that is used to maintain normalcy to another axis plane Typically the
230. n Menu 5 52 Time based Acceleration Deceleration 5 25 Time based Axis Synchronization 5 46 Time based Control Group Box 5 60 Time based Controls 5 59 Time based Controls Group Box 5 59 Applications Version 1 0 U31 U600 User s Manual Index Time based Data Acquisition 5 59 Time based Linear Ramping 5 10 5 11 Time based Ramping 5 10 Time based Sinusoidal Ramping 5 10 5 11 Timer General Purpose 5 5 Timer Watchdog 5 50 Title Bar 5 61 6 41 6 42 Toggling Screen Format 5 68 Tool Deactivation 5 52 Tool Diameter Group Box 5 29 Tool File 5 52 Tool Records 5 52 Torque 5 63 Torque Command 5 9 Torque Trap 5 65 Torque Trap Entry Field 5 65 Torque used as Feedback 5 9 Torque Enabling and Disabling 5 6 Torque Steady 5 9 Touch Probe Cycle Active 7 4 Touch Probe Group Box 5 33 Touch Probe Polarity 5 33 Trajectory 6 5 Trajectory Generation 5 32 7 16 Transducer 5 41 5 43 5 45 Transducer Resolver 5 40 Translation Errors 8 10 Translator Error 5 27 Translator Errors 5 26 Traps 5 8 5 65 Traps Setting 5 65 Trigger Command 5 63 Trigger Menu 6 36 Trigger Modes Parameters 5 66 Trigger Pull Down Menu 5 64 5 65 6 36 6 41 Trim Control Method of Parameter Modification 5 3 Tune Option 5 71 Turret Lathes Thread Cutting Moves on 5 30 U Undo Typing Feature 10 4 UNIDEX 31 Axis Processor Card 5 5 Units 7 9 Units Available in
231. nal information linked to that file 5 14 1 3 Trigger There are five choices offered through this menu For a list of these choices refer to Figure 5 47 This menu behaves similar to the trigger control on an oscilloscope The Acquire 1 Set of Data option performs the same function as the single sweep control on a scope Using this control allows only one data acquisition to be performed The Acquire Data Continuously option acquires data on a continuous basis and is the equivalent of putting an oscilloscope in the auto or freerun modes The Stop Data Acquisition feature halts the data acquisition at the end of the current sample period The Set Trap Mode dialog box shown in Figure 5 48 allows the user to set servo performance traps The trap mode works in conjunction with the trigger control After setting the trap all triggering or data collection stops unless another motion command exists or the user selects either Acquire 1 set of Data or Acquire Data Continuously When using a trap to capture an event generated by an application outside of plot the user must set the trigger to Acquire Data Continuously Version 1 0 Aerotech Inc 5 63 Setup Menu Options U31 U600 User s Manual ME EE EE gt File Plot Trigger Collect Display Axis v Actual Velocity Commanded Velocity k Velocity Error Actual Position Commanded Position Position Error Torque Spare Figure 5 46 Pl
232. ndividual keystrokes Hexadecimal numbers are listed using a preceding 0x for example 0x300 Ox12F OXO1EA etc to distinguish them from decimal numbers The terms lt Enter gt and lt Return gt are used interchangeably throughout this document when referring to the keyboard This manual uses the symbol V V V to indicate the end of a chapter Function keys are denoted as F1 F2 etc V VV XX Aerotech Inc Version 1 0 U31 U600 User s Manual Introduction CHAPTER 1 INTRODUCTION In This Section of Ssstemi yerviewa OO e Options and Accessories eseeeeees e e Documentation References Safety Procedures and Warnings 1 3 1 1 System Overview The UNIDEX 31 U600 is a 16 axis machine controller that is designed to provide high performance control for special machine applications where standard computerized numerical control CNC and robotic controls are inadequate The U31 U600 hardware consists of four VME plug in modules a 486 based main computer with 8 MB of RAM an 80960 RISC based axis servo processor a mass storage module including a 40 MB hard drive and a 3 5 floppy drive and a 250 watt power supply a drive output module and a position feedback module that are all supplied in a rugged chassis The U31 U600 software package consists of the OS 2 operating system plus an extensive library of over 350 motion control communications and I O function
233. nerating a VME bus interrupt from within an application program Related Parameter s NONE 6 2 3 13 Velocity Trap This fault occurs when the actual velocity exceeds the value specified in the maximum velocity trap parameter Related Parameter s VELTRAP Refer to section 5 3 21 6 2 3 14 Velocity Command Trap This fault occurs when the instantaneous commanded velocity exceeds the value specified in the maximum commanded velocity parameter Related Parameter s VELCMDTRAP Refer to section 5 3 22 6 2 3 15 Home Switch Tolerance This fault occurs during a homing sequence when the time between detection of the home limit and the marker pulse is less than the value specified in the HOMESWITCHTOL parameter Related Parameter s HOMESWITCHTOL Refer to section 5 3 35 6 2 3 16 Probe Input This fault occurs each time the probe trigger latches the position This is useful for notifying the application program that the position information is available Related Parameter s NONE 6 2 3 17 CNC This fault indicates occurrence of an error in the CNC process to which this axis is assigned This fault indicator is inclusive of all faults that the CNC Processor might generate Related Parameter s All CNC related parameters 6 10 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options 6 2 3 18 External Feedback This fault occurs if the difference between the integration of the velocity command and
234. ng Related Parameter s NONE 6 2 5 30 Pendant Jog This field specifies the operational mode of the UNIDEX 31 U600Teach Pendant ON appears on the display when the axis processor is responsive to the joystick inputs on the Teach Pendant Related Parameter s NONE 6 2 5 31 Marker Armed During a homing sequence this field shows when the axis processor is actively searching for an encoder marker pulse This field turns ON when the system encounters the Version 1 0 Aerotech Inc 6 19 Diagnostic Menu Options U31 U600Users Manual appropriate limit switch reverses direction and begins searching for the marker pulse and gets cleared upon detection of the encoder marker pulse Related Parameter s NONE 6 2 5 32 Jog Enable This field signifies that the axis processor is currently in one of the various jog modes Related Parameter s NONE 6 2 6 Fault Mask Refer to Section 5 3 37 for information on these control bits 6 2 7 Disable Mask Refer to Section 5 3 38 for information on these control bits 6 2 8 Halt Mask Refer to Section 5 3 41 for information on these control bits 6 2 9 Interrupt Mask Refer to Section 5 3 39 for information on these control bits 6 2 10 Auxiliary Mask These fields permit the user to graphically view the current settings of the control bits which control the U31 s response to faults For additional information refer to Section 5 3 40 6 2 11 Clearing Faults
235. ng 5 63 Servo Loop Motion Commands 6 4 Servo Performance 5 61 Servo Performance Traps 5 63 Servo Status 6 2 Servo Status Display Dialog Box 6 12 Servo Status Group 6 12 Servo Velocity Error 5 63 Servo Actual Lines 5 43 Servo Compensation Factor Parameters 5 43 Servo Effective Lines 5 43 Servo Operational State 6 12 Set Data Acquisition Mode Dialog Box 5 66 Set Data Acquisition Mode Option 6 36 Set Editor Colors Dialog Box 10 11 Set Push Button 10 8 10 11 Set Speed Distance Option 5 69 Set Trap Mode Dialog Box 5 63 5 65 Set up Menu 9 3 Set up Teach Pendant 9 4 Channels Setup Menu 5 18 5 23 Setup Menu Configuration Option 5 39 Setup Pending Field 6 19 Setup Pull Down Menu 5 49 5 50 5 52 5 53 5 58 5 61 SHIFT Key 10 3 Simulated Axis 5 9 Simulation Mode 5 9 SIMULATION Parameter 5 9 Single Step Mode 7 10 Single F2 Push Button 7 10 Sinusoidal Acceleration Deceleration 5 32 Sinusoidal Ramping 5 10 5 32 Sizing the Dialog Box 7 6 Slave Axes Specifying in Correction Table 5 57 Slave Encoder 5 43 Slave Encoder Feedback Devices 5 40 Slave Entry Field 5 57 Slave Position CAM Table Entries Absolute 5 15 Slave Position CAM Table Entries Relative 5 15 Slave Profile Execution 5 15 Slope of a Velocity Curve 5 16 Soft Reset 6 21 SOFTLIMITMODE Parameter 5 16 SOFTTERM Utility 12 2 Software Home 5 33 7 7 Software Limit 5 16 Sof
236. nual Introduction OS 2 Operating System MAINMENU CC Application Program Libraries Device Drivers Figure 1 2 The Software Structure for the U31 U600 Machine Controller 1 4 Safety Procedures and Warnings The following statements apply wherever the Warning or Danger symbol appears within this manual Failure to observe these precautions could result in serious injury to those performing the procedures and or damage to the equipment To minimize the possibility of electrical shock and bodily injury make certain that 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 gt gt gt gt Version 1 0 Aerotech Inc 1 3 Introduction U31 U600 User s Manual 1 4 Aerotech Inc Version 1 0 U31 U600 User s Manual Getting Started CHAPTER 2 GETTING STARTED In This Section e Operation Overview eese 2 1 e nitialization Process eee 2 1 ef Initial
237. o uses this axis as the velocity feedback This effectively forms a zero following error system The most common use for this feature is to provide synchronization based upon time rather than position of another physical axis By commanding the axis to move a fixed distance at a fixed speed the user may derive a ratio of counts per unit of time The active CAM tables may then specify master positions in increments that directly correspond to units of time The Master Axis entry field specifies the axis number for use as the virtual master for this slave Acceptable values range from 1 16 and must correspond to an unused axis 5 46 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options 5 7 5 Drive Interface This group box contains controls that permit the user to configure the Digital to Analog D A interface to the drive As with the other group boxes found on this screen the entry fields depend upon the type of interface selected The radio buttons in the upper portion of the box select the interface type Select the Null D A interface type only when using the axis as a virtual axis It signifies that there is no drive associated with the axis It is unnecessary to set additional parameters since there is no drive present Select the D A type of interface when the axis has a drive associated with it With this type selected a D A Channel Entry Field appears on the display see Figure 5 28 The value entered
238. ogram with tools of different diameters just by changing the tool diameter information found on this screen Implementing the Cutter Radius Compensation for the UNIDEX 31 U600 allows the user to associate a tool with two axes Using the G codes from within a parts program the user can also enable or disable the compensation for the tool radius This screen provides controls that permit the user to select the axes associated with each tool as well as the tool s diameter The Cutter and Cutter2 menus specify which axes comprise the plane of motion that cutter compensation is applied to see Figure 5 11 Through these menus the operator may designate any axis for use with the ICRC control of the CNC processor except those previously assigned which appear in half tone gray If the user designates only one axis under ICRC control a CNC fault condition occurs upon activation of the CNC Processor The fault type appears as a bad cutter compensation mask 5 28 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options x Aerotech CNC Version 11 24 93 Password Setup Diagnostic Run Manual Edit View Comm CNC Initialization ile Axis Select Spindle Meniiza48 Cutter Thread 4 Thread Y G Codes 1 Axis_01 9 Axis 88 CNC 2 xis BP 18 Axis i8 Instant Surface CNC 1 3 Axis 83 1i Axis ii pindle Speed Axis S4 2 Axis 12 B CNC H2 c 3 Axis_13 3 CNC 13 3 Axis 88 xis i4 3 CNC H4 7 Axis 87 Axis 18
239. olver hall The system defaults to using a null feedback device 5 7 2 1 Null Feedback and Dummy Lines Selecting a null feedback device for a given axis implies that there will be no feedback device associated with that axis The system treats the axis as a virtual axis That is the system performs all calculations normally but uses the velocity command as the velocity feedback canceling all motion One of the advantages of using this feature is that the user may use it to debug programs before hardware availability In Figure 5 22 with Null Feedback selected as the type of primary feedback device to use the Dummy Lines entry field appears within the Primary Feedback group box The value placed in the Dummy Lines entry field specifies the resolution of the virtual feedback device and must be non zero Commonly used values include 500 and 1000 The default value is zero 0 5 7 2 2 Resolver Feedback A resolver is a two phase rotary electromagnetic transducer used to provide absolute positioning information over one electrical cycle typically one motor revolution This device is rugged and relatively noise insensitive and can transmit position data over fairly long distances As with the selection of the Null feedback type selecting the Resolver option changes the appearance of the group box located just below the radio buttons To identify the entry fields that relate to the resolver feedback see Figure 5 23 below Aerot
240. on command used in the Servo Loop Actual position is the position feedback received from the transducer associated with the axis For axes configured to use a null feedback type the actual and command positions are equivalent This option applies to both axes display i e both will either be commanded position or both are actual position 6 13 42 Coordinate Limits Selecting this option from the X Y Plot Menu permits the user to specify the scale of the horizontal and vertical axes in the graph drawn Upon selecting this option MAINMENU responds by displaying a Plot XY Coordinate Limits Dialog Box see 6 44 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options Ploy XY Status Idle ojo File Trigger Axis X Y Plot Clear Screen 10 00 inch Coordinate Define Units Inches X Beginning Coordinate 0 000 X Ending Coordinate 10 000 P ed Y Beginning Coordinate 0 000 Axis 02 Y Ending Coordinate 10 000 0 00 inch 0 00inch j i T 10 00 inct Axis 01 Figure 6 32 Plot XY Coordinate Limits Dialog Box The dialog box in Figure 6 32 indicates the currently active units that are in effect inches millimeters as well as an entry field that displays the leftmost and rightmost points on each axis The X axis in this dialog box refers to the horizontal axis while the Y axis is the vertical axis The value displayed on the leftmost lowest portion of the axis is the be
241. one record for each tool currently available Each tool record contains seventeen different fields Four of these are reserved for future expansion The information found in these fields will be read by the axis processor each time the cutting tool is changed using the T keyword Specifying tool T0000 deactivates all tools from the system The Tool File menu is used to select a tool file for the currently available machine tools This menu is illustrated in Figure 5 38 5 52 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options File name Directory is CAU31YTOOL Selected File is Display Comments Files Directories Help F1 Figure 5 38 Open Tool File Screen 5 12 Axis Correction Table Configuration This is another option available through the Setup menu This feature permits the user to specify various points along an axis path and the amount of error present at each point Typical uses of this feature include axis calibration and geometric error correction When building these tables the MAINMENU application expects the data files TBL to appear within the U31 CORRECT directory of the drive in which OS 2 boots If this directory does not exist an Invalid Directory during File Open dialog box appears on the display see Figure 5 39 Open Dialog Notification A Invalid Directory Figure 5 39 Invalid Directory during File Open Dialog Box Version 1 0 Aerotech
242. ons located in the upper portion of the screen designate the position units Selecting one of these options causes MAINMENU to update the position displays so that they correspond with the desired units The system resets all jog increments to their default values Another control that affects all axes is the F8 FHold button or the associated F8 function key Upon pressing this key the CNC decelerates all axes to zero velocity in the amount of time specified by the CNC decel time parameter see Chapter 5 This then results in a flashing F8 FHold button Upon releasing the feedhold the Axis Processor resumes execution of the motion in progress Acceleration and deceleration occurs in the amount of time specified in the accel time and decel time CNC parameters see Chapter 5 for more information Version 1 0 Aerotech Inc 8 3 Manual Operation U31 U600 User s Manual Le Activating a feedhold may affect the operation of some data acquisition utilities The last control that affects all axes is the F9 Abort button or the associated F9 function key Upon pressing this key the CNC aborts all axes moves 8 2 3 CNC Axis Position As mentioned the lower portion of the screen contains the Axis Position group box Refer to Position Display in Section 7 4 8 2 4 Teach Mode The Teach Mode dialog box shown in Figure 8 4 is displayed by selecting the Teach Menu option in the Axes Jog Home Teach dialog box The Teach
243. op left of the equipment rack For additional information refer to the UNIDEX 31 U600 Hardware Manual part number EDU121 2 3 2 Getting Started After unpacking and inspecting your UNIDEX 31 U600 system connect the keyboard mouse and monitor to it UNIDEX 31 U600 will boot the OS 2 operating system and display the OS 2 desktop Open the UNIDEX 31 U600 folder by double clicking on it if it s not already open and double click on the MAINMENU icon This will start Aerotech s CNC application MAINMENU EXE The 80960 axis card will be initialized and configured according to the system parameters 2 3 3 Configuring Axes To configure axes select the Configure option of the Setup menu If you purchased a complete system from Aerotech then the system axes have already been configured for you at the factory System specifications including maximum speeds machine and program resolutions are found in the documentation package that is included with your system Each axis must be configured for the type of motor and feedback device that is present The axis to be configured may be selected by the scroll bar at the bottom of the screen Next select the radio button for the type of primary feedback that is present for the axis and then fill in appropriate parameter values for that feedback type The two most common feedback devices are encoders and resolvers Configuration of these feedback devices is discussed below Configurations of less co
244. or the second axis assigned to the teach pendant The fourth ENDIS 106 id sane line of the display window is the menu line whose selections may be activated by the keys m m e directly below it the top row of the keypad This menu line will show F1 MACHine T x F m F2 IN or MM and F4 NEXT For operation of the keys and their function Refer to as c cl Table 9 1 The picture in the margin see right illustrates where these keys are on the keypad Table 9 1 Keypad Operation and Function Key Mode Active Function Operation Start Stop Run Toggling the button once allows the operator to start a parts program The LED indicator above the button will illuminate Toggle the button again and the parts program is terminated and the LED indicator extinguishes Teach Jog The teach button is active when the teach sub menu is open When toggled axis position information is recorded and saved to a file that can be used as a normal parts program The LED indicator is inoperable when this button is toggled Toggle the button again and the operation is stopped This operation is the same as pressing F6 on the U31 U600 s main keyboard 9 6 Aerotech Inc Version 1 0 U31 U600 User s Manual Table 9 1 Keypad Operation and Function Con t Key Mode Active Function Operation Joystick Manual Tog When this is toggled the joystick on the pendant is enabled En Dis and Run and the operator can manually move the axis a
245. ot Menu File Plot Acquire Data Continuously Stop Data Acquisition Set Trap Mode Set Data Acquisition Mode Figure 5 47 Trigger Menu 5 64 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options 4 Aerotech Stripchart Axis 1 Status Idle 3 0 File Plot Trigger Collect Display Axis Trigger trap control O Vel cmd trap J Torque trap 20000 Figure 5 48 Set Trap Mode Dialog Box There are three choices to choose from when in the trap menu These choices include Velocity trap Velocity command trap and Torque trap To set a trap it is first necessary to put a value in the box for the trap chosen and then check that trap As an example a value of 10000 in the Torque trap entry field sets this trap if the system exceeds that value while taking a data acquisition The value put in the Torque trap entry field does not carry a sign and causes a trap to be set regardless of the sign of the actual velocity velocity command or torque command If the plot utility generates the motion profile the system halts the motion but the axis enable line remains on The data acquisition stops upon detection of a set trap and a message indicates the sample point at which the system exceeded the trap value If the generation of a motion profile occurred outside the plot utility the data acquisition stops indicating the sample point at which the trap was set but does not halt t
246. peration Overview arope t on ee RA or a ee Ge ee ee ee Ge Se Re ee nenne 2 1 2 2 Initialization Proces tse se tt ett re E ARAS 2 1 2 3 Initial Setup pr N NR o E i eer He 2 3 2 3 1 Supplying Power to the System sese 2 3 2 3 2 Getting Started oe ee ee ee Ge Se eae or iE ee ee 2 3 2 3 3 Configuring Axes eene eee teet 2 3 2 3 4 Machine Parameters ese es se ee e AR Re ener 2 6 2 3 5 Assigning Axes to the CNC System and Modal G Code Setup eese Ipae 2 6 2 3 6 Axis Plane Selection sirinin 2 7 2 3 7 Axis Testing and Tuning sese 2 7 2 3 8 Directory and File Structure sse 2 7 2 3 9 Environment Variables esee 2 8 CHAPTER 3 The Main Screen ee se ese se ese eke ee ed Ge ee Ge ee GR ee nennen enne 3 1 3 1 Inttoductiott EE AR NE M NE 3 1 3 2 Components of the Main SCreen iese ee ee se Se ee Se RA Gee ee ee 3 1 32 1 Th Title B t z ER ESE accu Den RE RE EE GEE RE 3 2 3 2225 Th Gonttel Men er EE Ee terere ee e 3 2 3 2 3 The Minimize and Maximize Window Buttons 3 3 324 The Menu Bar eren RH VR ee DE e ee 3 3 32 5 Clock Calendar Field iste e 3 4 3 2 6 Error Log Display Field see 3 4 3 3 Using Mouse ea EA ER ER 3 4 3 4 Alternate Keyboard Commands esee 3 5 CHAPTER 4 The password menu eerte 4 1 4 1 Introduction os ne R
247. pretend 10 10 Set Editor Colors Dialog BOX esse ee ee se se Gee Ge Re ee ee 10 11 View Menu oni EE EE EE tpe RR 11 1 Clock Calendar Group BOX eR ER epe 11 2 Error Log Group BOX iese ee ee se rennen 11 3 COMM Dialog Box tee pneter EE EE 12 1 OS 2 SOETTERM Utility e rre enr ette eene 12 2 Ethernet File Transfer Dialog Box eee 12 2 VvV V xvi Aerotech Inc Version 1 0 U31 U600 User s Manual LIST OF TABLES Table 1 1 Table 2 1 Table 2 2 Table 3 1 Table 3 2 Table 5 1 Table 5 2 Table 5 3 Table 5 4 Table 6 1 Table 6 2 Table 9 1 Version 1 0 Hardware Options Accessories for the UNIDEX 31 U600 Machine Controller essent 1 2 Subdirectories of the U31 Software se se se ee Ge ee Ge Ge ee 2 8 U31 Environment Variables Used in Customizing Your System 2 8 Control Menu Options rennen enne Re ee Re ee 3 2 Menu Bar Options aie eto DUREE eed 3 3 Sample Commanded Position Versus Actual Positions 5 56 Sample Correction Table Data TOP see see se ee ee ee ee ee ee 5 57 Available Data Collection Modes see 5 66 Motion Commands and Descriptions eee 5 72 Mathematical Operations on the Hexadecimal Calculator 6 47 Logical Operations on the Hexadecimal Calculator 6 47 Keypad Operation and Function esesee
248. probe configuration The CNC field contains radio buttons that select the CNC program that uses the touch probe U axis and W axis offset values are displayed in separate fields as is the probe tip radius U Axis Offset CNC 11 0 000 CNC 2 OD CNC 3 W Axis Offset enc 4 0 000 Probe Tip Radius 0 000 Figure 5 21 The Probe Offset Data Initialization Screen 5 38 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options 5 7 Axis Configuration Setup After selecting the Configure option from within the Setup menu the Axis Configuration Setup screen appears See Figure 5 22 This utility permits the user to specify the hardware configuration of all axes in the system x Aerotech CNC Version 06 16 94 o fer Setup Diagnostic Run Manual Edit View Fi Help Axis Configuration Setup Primary Feedback Help Null Feedback Use primary feedback for the position transducer If dual 2 Resolver feedback is used use the secondary feedback selection J Encoder for the velocity transducer JHP VME Laser 3 Es Slave Encoder Secondary Feedback J Master Feedback J Encoder Hall 9 None Null Feedback J Resolver Hall Q Encoder Q Resolver 9 Slave Encoder O Encoder Dummy igo Q Resolver 2 Virtual Lines Drive Interface e Null D A DIA Select Axis Axis 1 X
249. ption The Display Local Variables option displays a dialog box containing the values of the variables selected in the Edit Local Variables Display option Press the ESC key or use the mouse when you are finished viewing these values See Figure 7 18 x Local Variables Local 0 000000 Local 000000 Local 0 000000 Local 000000 Local 0 000000 Local 000000 Local 0 000000 ESC Done Figure 7 18 Sample Display Local Variables Dialog Box 7 10 3 The Display Static Variables Option The Display Static Variables option displays all of the local variables and their current values As before press the ESC key or use the mouse when you are finished viewing these variables values The display is the same as in Figure 7 18 7 10 4 The Display Global Variables Option The Display Global Variables option is used to display all of the global variables and their current values As before press the ESC key or use the mouse when you are finished viewing these variables values This dialog box also has a single submenu the Display submenu that contains two options display global variables by alias and display global variables by variable number You select your preference of one of these two display methods using the choices in the Display submenu Refer to Figure 7 19 Global Variables Display n STRT B AARAA x A n 2 z z z ez z Global 5 8 8
250. ptions 5 49 Options Pull Down Menu 10 10 OS 2 SOFTTERM Utility 12 2 OS2 2 8 OS2 Auto repeat Function 7 15 OS2 Version 2 0 1 2 Output State Changing on an Axis Fault 5 6 Output Auxiliary 5 14 Outputs 5 13 8 1 Outputs Changing State of 6 31 Outputs Digital 6 27 Over Current Operation Detection of 5 7 Overrides 6 6 Overriding Feed Rate 5 11 P Page Down Key 10 3 Page Down Key for Scrolling 5 19 Page Down Key Scrolling with 5 3 Page Up Key 10 3 Page Up Key for Scrolling 5 19 Page Up Key Scrolling with 5 3 page 8 11 Parameter list Box 5 3 Parameter List Box 5 3 5 19 Parameter Modification Methods 5 3 Parameter Modification Direct Entry Method 5 19 Parameter Name 5 19 Parameter Names 5 3 Parameter Value 5 19 Parameter Value out of Range 5 3 Parameter Values 5 3 Parameter Values within Range 5 3 Parameter Values Altering 5 18 Parameters Additional Information 5 19 Version 1 0 Aerotech Inc xiii Parameters Current Values of 5 19 Parameters Scrolling 5 19 Parameters Selecting 5 3 Parts Program 5 28 5 31 5 33 6 39 7 10 8 4 10 1 Parts Program Decoding 7 2 Parts Program Display 7 3 Parts Program Editor 8 8 10 1 Parts Program Editor Dialog Box 10 1 Parts Program Editor Copy Option 10 4 Parts Program Editor Cursor Placement 10 3 Parts Program Editor Cut Option 10 4 Parts Program Editor Exiting 10 9 P
251. r The last option available on the Diagnostic Menu is the Hex Calculator option This utility is for convenience only This calculator permits the user to do rudimentary arithmetic and logical functions in either a base 10 decimal or base 16 hexadecimal format see Figure 6 33 Hex Calculator Figure 6 33 Hexadecimal Calculator Dialog Box The calculator that appears in the dialog box shown in Figure 6 33 resembles a normal calculator with each key color coded according to its functionality The current value entry as well as the result of the operations appears on the display in a large blue rectangular field located in the upper left portion of the dialog box The keys that directly affect that field also appear on the display in blue These keys include H D Hexadecimal Decimal Base DEL Undo the last key entered Display result of last operation Use the yellow keys below the display field when entering the values to be operated upon These include the digits 0 9 the letters A F and a decimal point The digits 0 9 are valid in any mode of operation Letters A F are only valid when operating in the 6 46 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options Hexadecimal Mode The decimal point is only valid while operating in the decimal Mode The green keys permit the user to specify mathematical operations Selecting one of the following buttons permit the user to perfo
252. r Firing Board Option PSO Teach Pendant TEA 1 3 Documentation References Technical documentation for the UNIDEX 31 U600 system is divided into three basic manuals The U31 U600 Hardware Manual EDU121 the U31 U600 Programming Manual EDU152 and the U31 U600 User s Manual this manual EDU138 Refer to the appropriate manuals for questions concerning hardware programming or general operation In addition to the three basic manuals the U31 U600 System Utilities Manual EDU145 is also available to describe software utility programs PLOT STATUS and DEBUG960 This document describes the MAINMENU application software package that is provided with the UNIDEX 31 U600 integrated motion controller The various features of the MAINMENU software are described in this manual in addition to descriptions of how to accomplish various tasks This document assumes that you have some familiarity with the following concepts e Operating System 2 Version 2 0 or newer OS 2 e Computerized Numerical Controls CNC e UNIDEX 31 U600 integrated motion controller U31 U600 The MAINMENU software is actually a subset of the complete software structure of the U31 U600 package The complete software structure of the U31 U600 machine controller is illustrated in Figure 1 2 The MAINMENU application program is described in detail in subsequent chapters of this manual 1 2 Aerotech Inc Version 1 0 U31 U600 User s Ma
253. r ReadPendantAnalog where is the axis processor port number 0 3 i e 1 4 Disassemble the teach pendant by removing the screws from the rear of the box The A1 A4 values indicated by the ReadPendantAnalog command signify the state of the joysticks If there is only one joystick A1 and A2 represent the values of the Y and X pots on the joystick If there are two joysticks the right most joy axis will be indicated as A3 and A4 joy2 Y and joy2 X respectively Adjust the mechanical center position of each joystick axis to within 65 counts of zero by turning the two blue potentiometers on the side of each joystick Reassemble the teach pendant Reset the deadband back to 596 and reinitialize the system Version 1 0 Aerotech Inc 9 5 Teach Pendant U31 U600 User s Manual CNC 4 Figure 9 4 Pendant Port Menu 9 3 2 Operation 2 a Once the teach pendant is connected and configured to the U31 U600 it is now another STOP Teach iS command device for the operator to use from remote locations The CNC number selected o e e by the operator and one of the three possible modes jog manual and run is displayed on M xxi isi ax the first line of the display window The first axis assigned to the teach pendant is si ge displayed on the second line followed by its axis absolute position The same information 2 he is displayed on the third line f
254. r example SETPARM X Y DRIVE 1 can be used to enable both the X and Y axes Likewise SETPARM Z DRIVE 0 can be used to disable the Z axis 2 3 8 Directory and File Structure In a typical configuration all files relevant to the operation of the UNIDEX 31 U600 get placed on the disk in the directory U31 or its subdirectories The U31 directory contains the axis processor firmware image DMR IMG the device driver used to communicate with the axis processor MOTION SYS and the MAINMENU EXE program The U31 directory also contains several subdirectories These subdirectories along with their contents are listed in Table 2 1 the U31 directory In some cases the MAINMENU program may create When you run the MAINMENU program certain files are created and placed into 5 additional subdirectories for other application specific files Version 1 0 Aerotech Inc 2 7 Getting Started U31U600 User s Manual Table 2 1 Subdirectories of the U31 Software Subdirectory Description Contents U31 CORRECT This is an optional subdirectory that is included only if axis correction calibration information is supplied by Aerotech U31 DLL This subdirectory contains the dynamic link libraries DLLs used by the utility programs in NU3INUTILITY U31 HELP This subdirectory contains application help files U31 INI This subdirectory contains initialization files used by the UNIDEX 31 U6
255. ra i Axis Axis TB Tool Diameter 3x 10000 000 0 00100 Accel Decel Control Variable Allocation Accel Time Decel Time Global Accel Rate Decel Rate 100000 000 100000 000 Tue 12 14 93 2 57 29 pm Figure 5 11 Axis Designation using the Cutter1 Menu The Tool Diameter group box contains an entry field that permits the user to specify the diameter of the cutting tool for use on the axes being controlled by ICRC A system that has no cutter compensation ignores the value of this parameter To change this value the user must place the cursor within this entry field and edit the value Upon pressing the Enter key the new value takes effect The unit of measure applicable to this diameter corresponds to the selection of G70 G71 from within the G Codes menu see the UNIDEX 31 U600 Programming Manual Setting the tool diameter to zero causes a CNC fault condition to occur upon activation of the CNC Processor The fault type appears as a bad cutter compensation radius Tool diameters may also be specified from within the parts program Refer to the programming manual for more information Version 1 0 Aerotech Inc 5 29 Setup Menu Options U31 U600 User s Manual 5 6 1 8 Threading Axes Designation and Feedrate Limits The CNC processor of the UNIDEX 31 U600 can perform thread cutting on a CNC turret lathe The UNIDEX 31 U600 can cut constant lead tapered or non tapered threads Through the parts program the u
256. rameter List BOX esse ee see ese ee ee ee ee GR Re ee 5 19 5 4 2 Current Setting BOX isisisi erisir eins 5 19 5 4 4 Units Group Box eene 5 19 5 4 5 Parameter ModificatHONn sees sesse ee se ee ee GR ee GR Re ee 5 19 25 4 6 File Control aiite re Ote ete ts 5 19 5 4 7 Machine Parameter Help Menu i e esse esse ese se see see ee 5 20 S N Machine Parameters eterne tette i a 5 21 5 5 1 Millimeters Inches Degrees Per Motor Revolution 5 21 5 5 2 Rapid Traverse Feedrate sss 5 21 32 3 Home Beedrate 5e ete eben paie 5 21 5 5 4 Jog Feedrate 3s uei 5 21 3 3 3 Lowest Heed rate sss cech 5 21 D196 Home Style eise eR vete die RR ets 5 21 5 5 7 Positive Direction cee eesceeeeeesseceeeeeeneeceeeeecnaeceeeeesnaeeeeee 5 22 5 5 8 Linear or Rotary iese see se ee ee a ee ee ee ee ee ee 5 22 5 0 9 Drive Control Masker EE ESE EE RS Res het es 5 22 229 10 Home Offsets eee OE EA ed eius 5 22 Slt Axis Names ED ee ey nee eee erede 5 22 5 5 12 Display Format eee eese 5 23 5 5 13 CCW Software End of Travel in Inches Millimeters Degrees eee 5 23 5 5 14 CW Software End of Travel in Inches Millimeters Degrees eee 5 23 5 6 CNC Parameters AR OE e EE OE OT 5 23 5 6 1 CNC General Parameters Menu Selection 5 23 5 6 1 1 Description of a CNC Process sssss 5 24 5 6 1 2 CNC Select
257. rm the arithmetic operation associated with it Refer to Table 6 1 Table 6 1 Mathematical Operations on the Hexadecimal Calculator Key Function E Addition Subtraction e Multiplication Division Modulus Remainder NEG Negation However the user may only perform logical functions while operating in the Hexadecimal Mode These functions are listed in Table 6 2 Table 6 2 Logical Operations on the Hexadecimal Calculator Key Function amp AND OR A Exclusive OR lt Shift Left gt Shift Right The red QUIT Push Button located in the upper right corner of the Hexadecimal Calculator Dialog Box permits the user to exit the screen Upon exiting the screen control returns to the previous MAINMENU screen Version 1 0 Aerotech Inc 6 47 Diagnostic Menu Options 6 48 Aerotech Inc US31 U600User s Manual Version 1 0 U31 U600 User s Manual Run CNC Parts Program CHAPTER 7 RUN CNC PARTS PROGRAM In This Section e Selecting the Parts Program seen 7 1 e CNC Parts Program Decoding eese 7 2 ENG Run Mode eee E ETE 7 2 exsPpositioniDisplays oe eee e UN eee ese AS NE 7 6 oy Prooram ontrols e UTEM 7 10 SESS UP e 7 13 e Begin Program Execution from an Arbitrary Point 7 13 AE EER oa ER NE 7 14 e Debug and Debug Feedrate RR ee 7 1
258. rogramming Error Status Screen Errors Present The Clear Error Group Box contains controls that permit the user to clear the programming errors from the memory of the axis processor To clear an error on specific axes it is necessary to activate the check boxes associated with those axes Use the OK Push Button to clear the programming error on the selected axes Activating the Clear All Axes check box and pressing the OK Push Button clears all active programming errors from the system If multiple programming errors occur on a specific axis this screen indicates to the user the one that occurred most recently The system does not remember previous errors 6 24 Aerotech Inc Version 1 0 U31 U600User s Manual Diagnostic Menu Options 6 5 Drive Enable Control Selecting the Drive Enable Control option from the Diagnostic Menu causes the Drive Enable Control Group Box to appear on the display This group box contains fields that indicate the state of the Drive Enable signal for each axis as well as check boxes to change their state Refer to Figure 6 10 Figure 6 10 Drive Enable Control Group Box Enabled axes appear on the screen in green and have a check mark in the check box associated with that axis Disabled axes appear on the display in red but its associated check box is empty The Enable All and Disable All push buttons force all axes to a specific state Users operating MAINMENU withou
259. rols found within this dialog box permit the user to move any axis a fixed distance in either direction The Axis Select Group Box specifies which axis is to move The drop down list box permits the operator to select any axis associated with the CNC with the exception of the optional Spindle Axis The Increment Group Box specifies the distance that the axis is to move each time the user presses the Jog button The drop down menu permits the selection of various distances The choices available depend upon the current operational mode If the current CNC mode is G70 English units the available jog increments are 0 1 0 01 0 001 0 0001 and 0 00005 inches The jog increments for G71 metric units options include 1 0 and 0 1 millimeters The F4 button or the F4 function key moves the selected axis in the negative direction Each time the user presses the key the axis position changes by the amount specified in the Increment Group Box It is necessary to do multiple key presses when moving the axis multiple increments The F5 button and the F5 function key perform an identical function except that the axis moves in the positive direction The F2 Cancel button exits the Jog amp Return Dialog Box Pressing this button causes the CYCLE START F3 and FEEDHOLD F6 Push Buttons to re activate After releasing the feedhold condition all jogged axes return to their position prior to activating the Jog amp Return function The ax
260. rtain parameters selected in the Data Acquisition Parameter Editor discussed earlier This utility is useful for acquiring data from several axes at once Analog input data can also be collected and displayed as well PlotData is a data acquisition application which is very similar to the plot utility discussed earlier see Section 5 14 1 The PlotData MAINMENU Dialog Box is shown in Figure 6 20 i PlotData File Plot Trigger Collect Display Axis Figure 6 20 Plot Data MAINMENU Dialog Box The following sections cover all the available choices from within the PlotData MAINMENU Dialog Box 6 12 1 File Under this menu the user may load previously saved files save the current data to a specific file and inquire about the version of PlotData currently running These options are identical to the corresponding plot options see Section 5 14 1 1 Data files saved from Plot and PlotData are not interchangeable Data saved from PlotData can only be loaded by PlotData 6 34 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options 6 12 2 Plot This menu toggles on or off between displays of channels of servo information To determine the available choices that exist refer to Figure 6 21 These channels include all the available choices under the Plot option except Spare Also available are Raw Position Master Pos Acceleration and analog channels one 1 through eight 8
261. s Commanded Position Actual Position 0 0 1000 1005 2000 2007 3000 2996 5 56 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options Table 5 2 Sample Correction Table Data for Commanded Position Correction Data 0 0 1000 5 2000 7 3000 4 As mentioned the axis processor linearly interpolates the correction during intermediate positioning The user may select points in the template by placing the cursor within the list box and scrolling to the desired point The current point appears on the display in reverse video as well as in the Programmed Position and Correction entry fields After selecting the point for modification move the cursor into the Correction entry field and type in the new value Use the CHANGE F6 push button or the associated F6 function key to enter the changes 5 12 2 4 Adding points to the Axis Correction Table Template Within the axis correction table it is not necessary to evenly distribute the programmed position points over the entire range of axis travel The ADD F4 push button or the associated F4 function key inserts arbitrary points into the template To insert a point into the template the user should enter the appropriate values in two places the Programmed Position entry field and the Correction entry field Then they must activate the ADD function The system then inserts the new point into the table before the
262. s Manual 4 6 Modifying Access Privileges To modify the access privileges associated with a password the user must first select the password from the Valid Parameter List box Remember the currently selected password is the one displayed in the Password entry field as well as highlighted in the Password List box Once the user selects a password the Valid Modes group box changes so that it reflects the access privileges associated with the new password The user may modify these privileges using the check boxes associated with each mode An enabled mode contains a check mark in the associated check box Many of these check boxes are directly accessible via the F4 F12 function keys Once the user specifies the new access privileges he can enable them using the CHANGE button Therefore all users who log on with that password may access the privileges specified 4 7 File Control To activate the changes made from within the password editor for the current and future MAINMENU sessions it is necessary to update the hidden password file To update the hidden password file use the SAVE F2 button of the File Control group box or the F2 function key The LOAD F3 button or the associated F3 function key serves to restore the password list to the state in which the user last saved it This is useful should the user accidentally delete a password 4 6 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu
263. s display valid selections as full tone attributes while the invalid selections contain only half tone attributes A check mark indicates which of the axes are current 5 6 2 4 Limiting B Axis Velocity The Max Speed for Maintaining Normalcy group box see Figure 5 16 specifies the maximum speed that the B Axis may move to compensate for X Y plane movements The user must enter this value in degrees per second and must be a positive number greater than zero The default for this parameter is 100 degrees per second X Plane Y Plane Max Speed for Maintaining Normalcy j CNC H 100 000 O CHC 3 3 CHC 4 Figure 5 16 Max Speed for Maintaining Normalcy Group Box 5 6 2 5 File Control Changes made through the B Axis Initialization screen affect all parameters currently being used The user must save these parameters to a file for future invocations of MAINMENU to reflect the newly entered values The File menu provides a way for the user to save the new values to a file and restore the old values from this file These options are Save F2 and Load F3 As expected the user may also access these functions using the F2 and F3 function keys These functions affect the CNC INI file stored in a binary format and should not be modified by the user Version 1 0 Aerotech Inc 5 35 Setup Menu Options U31 U600 User s Manual 5 6 3 Plane 1 Selection The next option under the CNC parameters is the plane selectio
264. s providing flexibility and customized application specific programming The U31 U600 system provides outstanding performance in a wide variety of demanding applications that require capabilities such as e Synchronous coordination of many axes High speed complex shape generation Simultaneous control and data acquisition Control of multiple processes or multiple machines Integration of third party hardware software into a control process The U31 U600 hardware chassis is illustrated below in Figure 1 1 Figure 1 1 The UNIDEX 31 U600 Hardware Chassis Version 1 0 Aerotech Inc 1 1 Introduction U31 U600 User s Manual 1 2 Options and Accessories The UNIDEX 31 U600 system has several standard and optional accessories to complement its operation A list of the most common options and accessories is shown in Table 1 1 For descriptions and details of these hardware options and accessories please refer to the UNIDEX 31 U600 Hardware Manual part number EDU121 Table 1 1 Hardware Options Accessories for the UNIDEX 31 U600 Machine Controller Option Accessory Description Part Number Four channel Encoder Interface Module 4EN Four channel Resolver Interface Module 4RD Four channel Axis Drive Interface Module 4DA Analog I O Interface Card 8AD Digital I O Interface Card 3210 Modicon I O Interface Module MOD A MOD V Resolver Encoder and Drive Wiring Modules RDW EDW DAW Lase
265. s suspended execution Related Parameter s NONE Version 1 0 Aerotech Inc 6 7 Diagnostic Menu Options U31 U600Users Manual 6 2 3 Fault Status This display monitors the faults present on the axis processor These faults remain active until explicitly cleared by the user MAINMENU displays ON in any field that has an active fault associated with it A particular fault must first be enabled by setting its corresponding bit in the FAULTMASK parameter so that the axis processor will not ignore the fault Refer to Figure 6 3 Password Setup Diagnostic Run Manual Edit View Comm F1 Help x Axis Status amp Fault Display Select Display Fault Control Axis Status F2 O Motion Status F5 O Halt Mask F8 Fault Status F3 Q Fault Mask F6 Interrupt Mask F9 Servo Status F4 Disable Mask F7 Auxilliary Mask F11 E Ej Axis 03 Axis 04 C 2 2 2 00 Position error limit OFF OFF OFF OFF OFF OFF OFF OFF 01 AMS current limit FF GEE FF FF A GEE GEE 02 CW Hardware EOT FF OFF OFF OFF OFF GEE SF GEE 03 CCw Hardware EOT GEE GEE GEE GEE EF GEE GEE GEE 04 CW Software EDT OFF o OFF GEE GEE GEE GEE GEE 05 CCw Software EOT PF FF FF FF OFF GEE GEE 06 Drive EH E NEN EEN NEN HE HE EEN 07 Feedback FF FF FF oF oF oe oF 08 Programming OFF OFF OFF OFF OFF OFF OFF OFF 09 Master Feedback OFF OFF OFF OFF OFF OFF OFF OFF I c gt MET Figure 6 3 Fault Status Display Dialog Box 6 2 3 1
266. s used to reduce the size of the window to an icon The maximize button appears as a large square in the upper right corner of the MAINMENU screen This button is used to enlarge the current window to its maximum size on the screen The minimize and maximize window buttons have the same effect as using the Minimize and Maximize options of the control menu When the main screen is in its maximized state the maximize button changes to the restore button The restore button looks like the maximize button but it adds two vertical lines surrounding the small square i e This button has the same effect as the Restore option of the control menu that is changing the size of the display window to its previous size 3 2 4 The Menu Bar The menu bar is a horizontal area that stretches across the main screen and contains keywords used to access pull down menus The keywords used in the menu bar are listed and described in Table 3 2 The alternate keyboard commands used to open each pull down menu are also included Refer to the chapters that follow for detailed information about the options available in each pull down menu Table 3 2 Menu Bar Options Menu Bar Keyboard Description Function Option Command Password O Re Password is an optional menu item that must be configured for your system at the factory Passwords can be used for security by giving system access privileges authorize
267. s value as long as it receives feedback from the transducer 7 4 2 2 Machine This value represents the motor position as an absolute distance from the hardware home The system continuously updates this value so long as it receives feedback from the transducer 7 4 2 3 Target The value displayed in this field shows the commanded position at the completion of the motion command currently being executed The system updates this value upon starting each axis movement When the machine position equals the target position the move is complete 7 4 2 4 Position To Go This value shows the remaining distance of the currently executing motion command It is equivalent to the target position minus the preset position Each time the value of these two fields changes this value also changes 7 4 2 5 Velocity This value corresponds with the current motor speed The system computes this value by differentiating the position over a period of time The period of time used depends on the setting of the AVGVELTIME parameter see Chapter 5 for more information 7 4 2 6 Spare This value is used by Aerotech debugging utilities to represent the various features being debugged During normal operation the user need not concern themselves with this value since it has no significance to them Version 1 0 Aerotech Inc 7 1 Run CNC Parts Program U31 U600 User s Manual 7 4 2 7 Fonts Another way of changing the size of the dialog box
268. se ee se see Ge ee ee Ge ee Ge nene nenne 5 50 API Probe EE EER RE ER GE ee ER been 5 52 ToolLEile Menu eate ir ate EE REPRE EREA 5 52 Axis Correction Table Configuration see 5 53 5 12 1 Selecting The Axis Correction Table 5 54 5 12 2 Axis Correction Table Editor sees 5 55 5 12 2 1 Usage of Axis Correction esee 5 55 5 12 22 Building An Axis Correction Table Template oc eet ens 5 56 5 12 2 3 Modifying the Axis Correction Table Template ie senes eie ge Ge ob ee ase 5 56 5 12 2 4 Adding points to the Axis Correction Table Templ te ee meer 5 57 vi Aerotech Inc Version 1 0 U31 U600 User s Manual Table of Contents 5 12 2 5 Deleting points from the Axis Correction AE AE EE ce 5 57 5 12 2 6 Specifying the Affected AXeS eee 5 57 D225 Scaling sea eere een 5 58 5 12 2 8 Activation of Axis Correction ssss 5 58 25 12 3 Bile Control eoe EE de iU tele rd 5 58 5 13 Data Capture oce re ee teet edes etas 5 58 5 13 1 Time Based Controls sese 5 59 5 13 2 Distance Based Controls sse 5 60 5 13 3 Selection of Acquisition Mode esses 5 60 5 13 4 Selection of Axes to ACAUITE ee ee ee Se ee Ge ee 5 60 5 13 5 Eile Control nee Ee ge nate 5 60 31144 Axis Test Utility io cete eed 5 61 DAV Vi ied e ERU R
269. secUp e eU S 2 3 2 1 Operation Overview The MAINMENU application provides a graphical user interface GUI to the UNIDEX 31 U600 integrated motion controller It provides a user friendly method of performing functions such as specifying the characteristics of the machine performing diagnostics manually jogging axes and editing running parts programs The interaction mechanisms used by the UNIDEX 31 U600 conform with the Common User Access Guide to User Interface Design provided by IBM with version 2 1 of OS 2 This manual notes any deviation from this specification on an individual basis 2 2 Initialization Process Once an operator invokes MAINMENU the UNIDEX 31 U600 performs a series of initialization processes that permit communication and synchronization with the axis processor These initializations include items such as opening the device driver used to communicate with the axis processor setting up various semaphores or status flags within that device driver and starting threads to monitor these semaphores The details of these operations are beyond the scope of this document However if the initialization is unsuccessful the UNIDEX 31 U600 displays a System Failure dialog box as shown in Figure 2 1 System Failure A Semaphore or Thread Failed Figure 2 1 System Failure Dialog Box Once the system establishes communication with the axis processor card MAINMENU polls the card and determines if t
270. ser may specify the number of passes the incremental depth per pass thread lead and taper The Thread X and Thread Y menus specify which axes apply to the cutting tool where the Thread X axis runs parallel to the thread being cut this cuts the lead of the thread and Thread Y is perpendicular to the thread being cut used for taper threads Through these menus the user may select what axes to use with the CNC processor for threading control All axes appearing with a full tone attribute are valid while those displayed in half tone attributes are invalid Refer to Figure 5 12 CNC Initialization File Axis Select Spindle Cutter Cutter2 Thread Y G Codes 1 Axis 01 9 Axis 88 2 Axis 02 18 Axis 18 3 Axis 83 11 Axis t1 4 Axis B4 12 Axis 12 CNC e CNC 1 CNC 2 Touch Probe none z 8 Axis 88 13 Axis 13 3 CNC 3 8 Axis 08 i4 Axis i4 f Axis 87 18 Axis 18 CHC 4 18 Axis 18 3 Active High 8 i E 8 Axis Tool Diameter 0 00100 Accel Decel Control Accel Time Active Low Variable Allocation Global Local Decel Time Accel Rate 100000 000 Decel Rate 100000 000 Figure 5 12 Thread Assignment Menu cS The user must designate two axes as threading axes one as Thread X and one as Thread Y The Threading Axes Max Speed group box per
271. sion 1 0 U31 U600Users Manual Diagnostic Menu Options 6 13 3 Axis The Axis Menu permits the user to select which two axes to plot within the window Select the desired axes under the appropriate Mask option see Figure 6 30 A check mark appears next to the currently displayed axes Ploy XY Status Idle File Trigger IEEE X Y Plot Clear Screen 10 00 inch X Mask gt V Axis_01 Axis_09 Axis_02 Axis_10 Axis 03 Axis 11 Axis 04 Axis 12 Axis 05 Axis 13 Axis_0O6 Axis_14 Axis_0O7 Axis_15 Axis_08 Axis_16 0 00 inch Axis 01 Figure 6 30 Plot XY Axes Menu Version 1 0 Aerotech Inc 6 43 Diagnostic Menu Options U31 U600Users Manual 6 13 4 X Y Plot The options found under the X Y Plot Menu specify what type of information to display as well as the format for displaying the information Notice from Figure 6 31 below that the grouping of each option depends on the function i Ploy XY Status Idle File Trigger Axis Clear Screen 10 00 inch wv Plot Actual Position Plot Commanded Position Coordinate Limits v English Units Metric Units Correct Aspect Ratio 0 00 inch 0 00 inch Axis 01 Figure 6 31 X Y Plot Menu 6 13 4 1 Actual Commanded Position The first group of options available on this sub menu permit the user to choose the type of position to plot These choices include commanded position and actual position Commanded position is the positi
272. splay shows the desired axis name number 5 4 4 Units Group Box The radio buttons in the Units group box found in the upper right hand portion of the screen permit the user to specify parameters in one of two systems of measure English or Metric All parameters with the exception of display format convert automatically between the two units of measure 5 4 5 Parameter Modification The user may modify all parameters displayed within the Parameter List Box Unlike axis parameters the only way a user can modify the value of a machine parameter is through direct entry To change a parameter value the user must select the parameter within the Parameter List Box place the cursor into the Current Setting group box and enter the new value Upon pressing the Enter key the new value is sent to the axis processor and updates the Parameter List Box 5 4 6 File Control Changing parameter values within the Machine Parameter Editor will affect those currently in use However the user must save these parameters in order for the system to restore them upon future invocations of MAINMENU The lower portion of the screen contains push buttons that permit the user to save the new values to a file and restore the old values from a file To identify these push buttons look for the labels Save F2 and Load F3 Another way to access these functions is through the F2 and F3 function keys These functions affect the MACHINE INI file store
273. splays the applicable axis parameters To the left of the parameter name found in this list box is the parameter number and to the right is the current value of that parameter The user may scroll through these parameters using the scroll bar to the right of the window as well as with the page up page down and arrow keys To select a parameter the user must highlight it 5 2 2 The Current Setting Min and Max Boxes In addition to the parameter value that appears to the right of the parameter name this value also appears in the Current Setting List Box just above the Parameter List Box Appearing to the right of this list box is a Minimum Value List Box and a Maximum Value List Box These boxes provide the user with minimum and maximum values for each parameter Each time the user changes the value of a currently selected parameter the system updates the value contained in this box 5 2 3 Base Selection The user may display the values on this screen in two ways a decimal base 10 or a hexadecimal base 16 view A Hex Dec Toggle push button exists so that the user may choose the format in which they wish to display their data The Hex Dec push button also notifies the user of what format is currently in use A convenient equivalent to the Hex Dec push button is the F6 Function Key Ex 5 2 4 Axis Selection Each parameter that appears on this screen is only applicable to one axis Therefore the user must have a method to indicate
274. ssigned to it when The LED indicator above the button is lit Toggle the JOGOFFSET button again and the joystick is disabled and the indicator and JOGRET extinguishes are active Axl Jog Run if When toggled the current jog increment which is selected Sel Inc JOGOFFSET and from the JOG menu is displayed on line 2 of the pendant JOGRET are display The LED indicator above the button is inoperative active The menu line line 4 will show F1 NEXT F2 PREV F3 NONE and F4 DONE These menu selections work the same as using the mouse in the Edit Jog Increments Dialog Box refer to section 8 2 1 2 and figure 8 3 F1 NEXT will toggle down to the next jog increment F2 PREV will toggle up to the previous jog increment F4 DONE will return to the regular menu line Toggle it again and the current jog increment disappears Axl Manual Jog When toggled axis 1 is enabled and the information En Dis Rn pertinent to this axis is displayed on line 2 of the display window The LED indicator above the button will illuminate Toggle the button again and axis 1 will be disabled and the information on line 2 disappears The LED indicator will extinguish Axl Manual Jog Each time this button is toggled it will jog the axis a preset Jog increment that was selected from the JOG menu The LED indicator is inoperative Axl Manual Jog Each time this button is toggled it will jog the axis a preset Jog increment that was selected from the JOG menu T
275. stage gets moved the user must adjust the vertical stage to maintain a perpendicularity between the two In this case the master is the axis number of the horizontal stage and the slave corresponds to the axis number of the vertical stage However when using axis correction to compensate for imperfections in a ball screw it is necessary to have the same master and slave axes designations This is due to the fact that the error occurs only when the stage encounters the imperfection To specify a new value for either of these fields place the cursor into the desired entry field and manually enter the new value Press the Enter key to enter the value 5 12 2 7 Scaling The Scale entry field allows the user to select which axis if any to use as the scaling axis Specifying a zero disables the scaling function If a scale axis is selected the correction factor will be equal to the result of the axis correction table lookup multiplied by the scale axis position For example using the axis correction table from Section 5 8 2 3 if the master position is 1000 the slave correction is 5 If the scale axis position is 10 then the actual correction factor for the slave axis is 50 To specify a new value for this field place the cursor in the field and manually enter the new value Press the Enter key to store the value 5 12 2 8 Activation of Axis Correction To activate an axis correction table the value set in the Active entry
276. store the maximized window or an icon to its original size after you have changed it Move O 0 Move is used to reposition the software window to a different location on the screen using the arrow keys rather than using the mouse Size Size is used to change the size of the display window Minimize Minimize is used to change the software window to an icon on the screen Maximize Maximize is used to change the size of the software window to its maximum size Hide Hide is used to place the display window in the background on the screen i e hiding it from view Close Close is used to exit the MAINMENU software Window List Window is used to open the list of currently active tasks on the computer and switch to a different task A second set of alternate keyboard commands may also be used This second set is used by opening the control menu by pressing O and spacebar simultaneously followed by pressing the underlined letter of the menu item that you want to select If a menu item is shown in a lighter font e g Maximize as opposed to Maximize then that menu option is not available 3 2 Aerotech Inc Version 1 0 U31 U600 User s Manual The Main Screen 3 2 3 The Minimize and Maximize Window Buttons The minimize and maximize L1 window buttons are used to change the size of the MAINMENU display window The minimize button appears as a small square in the upper right corner of the MAINMENU screen This button i
277. t both have a minimum of 5 0 and a maximum of 300 0 The only restriction enforced by the CNC editor is that the maximum must be greater than the minimum For more information on the operation and programming language of the Spindle Axis refer to chapter 3 section 3 12 of the UNIDEX 31 U600 Programming Manual Version 1 0 Aerotech Inc 5 27 Setup Menu Options U31 U600 User s Manual CE CS The user may command a valid spindle feedrate that exceeds the parameter limits due to the spindle feedrate override 5 6 1 7 Intersectional Cutter Radius Compensation ICRC In cutting a work piece the user must sometimes consider the radius of the cutting tool For example when an end mill cuts the sides of a work piece the center of the end mill follows the programmed path The outside edge of the end mill cuts around the actual work piece offset from the programmed path by the radius of the tool Cutter Radius Compensation is an option that allows the operator to program the center of the cutter in such applications so that the outside edge of the end mill cuts along the programmed path Without this option the operator would have to offset the actual piece dimensions based on the radius of the tool If it becomes necessary to program angles other than 90 it is no longer just a radius offset Since this option handles all axis offsets it decreases the programming effort The ICRC option also allows the user to run the same pr
278. t a mouse may use the TAB key to alternate between the check boxes and the push buttons The arrow keys permit movement within each group the drives MAINMENU enforces this rule by displaying all axes selections in If the emergency stop circuitry detects an active ESTOP the system may not enable 5 halftone see Figure 6 11 below 6 6 Emergency Stop Control Selecting the Emergency Stop Control option from the Diagnostic Menu causes MAINMENU to determine the current state of the emergency stop monitor from the axis processor It then displays an Emergency Stop Control Dialog Box to notify the user of this state see Figure 6 11 Version 1 0 Aerotech Inc 6 25 Diagnostic Menu Options U31 U600Users Manual Drive Enable Control Axis 0898 gt Het Used Axis 882 gt z Axis 8 Het Used Axis gt Het Used Axis 11 Het Used Axis gt Het Used EP Axis i2 Net Used Axis gt Het Used 3 Axis 13 Het Used 3 Axis gt Het Used Axis id gt Hot Used Axis Het Used C18 Axis 15 Mat Used Axis gt Het Used RE Axis 15 Net Used Figure 6 11 Drive Enable Control Group Box with E Stop Active x Emergency Stop Control The system is in an Emergency Stop Condition GE Figure 6 12 Emergency Stop Control Dialog Box GET The F2 Clear E Stop Push Button is red when the E Stop is active otherwise it is green The F2 Clear E Stop Push Button or the F2 Function Key clears
279. t key is the F1 help key which is not implemented at this time The F20 key allows the user to advance to the next page while the F19 key allows the user to go back to previous pages There are four I O pages per CNC allowing up to 68 I O devices to be manually controlled by the operator This screen allows the user to program on screen function keys used for controlling the I O devices present in the system This is done through the use of the OCC INI file This file allows an M code to be executed when an on screen button is pressed Optionally two different M codes may be executed dependant upon the state of the device as indicated by a specified feedback M code Each manual I O button may be limited to a particular mode manual or auto of operation Figure 8 11 Manual I O Screen 8 4 1 OCCx INI File There must be an OCCx INI description file for each CNC that needs a manual I O page screen All parameters within the syntax must be separated by commas as shown below SYNTAX page key text linel text line2 on_mcode off_mcode on feedbackl off feedback2 man auto The page parameter must be a range of 0 through 3 representing pages 1 through 4 The key parameter must be a range of 1 through 17 which selects keys 2 through 18 the help key is F1 and is not implemented F19 and F20 are used to toggle between pages The text linel parameter is a text string that must b
280. t that point The user may use the vertical scroll bar associated with that window to view any undisplayed portion of the program Execution begins from the location pointed to by the cursor The Search menu allows the user to scan the parts program for the next occurrence of a given text string Selecting the Find option from this menu causes a Find Dialog Box see Figure 7 13 to appear on the display Figure 7 13 Find Dialog Box The Find entry field specifies the text string to search for The user may specify any valid text string up to 255 characters in length Pressing Enter or the Find button causes MAINMENU to search the active parts program for the first occurrence of the specified string Upon locating the string the cursor appears on that program block To search for other occurrences of the string repeatedly press the Enter or the Find button This dialog box also contains controls that permit the user to specify some characteristics of the search The Case sensitive check box specifies that upper and lower case characters are distinct therefore do not treat them as equivalents By default this case is ignored Version 1 0 Aerotech Inc 7 13 Run CNC Parts Program U31 U600 User s Manual In the event that the system never locates the specified string the Find Notification Dialog Box appears on the display see Figure 7 14 After acknowledging this notification the user may specify to
281. te incremental selection English Metric mode selection and others Optional configurations such as thread cutting and spindle axes are discussed later in this manual refer to Chapter 5 Setup Menu Options Ramp times or ramp rates used for contouring operations and min max feedrates should be set to match the performance capabilities of your system 2 6 Aerotech Inc Version 1 0 U31 U600 User s Manual Getting Started In order for changes in the machine menu screen or CNC screen to take effect the system must be re initialized Please refer to the Diagnostic Axis Firmware Status menu documentation section in this manual 2 3 6 Axis Plane Selection If you purchased a complete system from Aerotech then axis plane selection has already been configured for you at the factory System specifications including maximum speeds machine and program resolutions are found in the documentation package that is included with your system An axis may be assigned to a particular plane X Y or Z from within the Plane Initialization selection of the Setup menu s CNC Parameters option For additional information refer to Chapter 5 Setup Menu Options 2 3 7 Axis Testing and Tuning Your axis configuration may be tested and tuned using options in the axis test section of the Setup menu Refer to Chapter 5 for more information The UNIDEX 31 U600 s axes may be enabled disabled under program control by using the SETPARM command Fo
282. ted with another CNC process The MAINMENU program enforces this restriction by displaying the axes in a half tone attribute already associated with a CNC process The user may not select such axes 5 24 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options 9 Axis_09 Axis 02 Axis 10 Axis 03 Axis 11 Axis_04 Axis_12 C Axis 13 Axis_06 Axis_14 Axis 07 Axis 15 Axis 08 Axis 15 Figure 5 8 Axis Select Menu 5 6 1 4 Accel Decel Control There are two ways to define the characteristics of axis acceleration and deceleration for the CNC Processor of the UNIDEX 31 U600 In the first method the user specifies a period of time in which the axes should change velocity This method permits coordinated motion in which all axes reach their respective commanded velocities and complete motion at the same time The acceleration and deceleration rate may vary significantly between axes The Accel Rate method sustains a constant rate of acceleration and deceleration across the axes commanded to move Since all axes may not be seeking the same velocity the motion does not occur in a coordinated fashion That is all axes do not complete the specified move at the same time The CNC Processor waits until all axes complete their commanded move before it proceeds with the next program line To support both modes of operation the Accel Decel Control Group box contains a set of entry fields for each mode of opera
283. tem aborted execution of the motion queue The motion queue is not flushed when this field is ON The abort process is caused by an active fault which is enabled in the ABORTMASK parameter Related Parameter s ABORTMASK 6 2 5 20 Accel Enable This field provides an indication of the amount of time spent during the acceleration phase of trajectory generation ON indicates that the system is to use a non zero time period Related Parameter s NONE 6 2 5 21 Decel Enable This field provides an indication of the amount of time spent within the deceleration phase of trajectory generation ON indicates that the system is to use a non zero time period Related Parameter s NONE 6 2 5 22 Accel Sign This field indicates the direction of the velocity change between subsequent move commands ON signifies that the axis must increase in speed and OFF signifies that the axis speed must decrease The system does not consider the sign of the velocity This field is only valid if the accel phase bit is ON Related Parameter s NONE 6 2 5 23 Accel Mode This field specifies the type of acceleration currently being used ON signifies that system is to use sinusoidal acceleration and OFF signifies linear acceleration Related Parameter s ACCELMODE Refer to section 5 3 30 6 18 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options 6 2 5 24 Decel Mode This field specifies the type of deceleration current
284. ter 5 8 5 16 Center A Box 5 69 Center B Box 5 69 Change All Push Button 10 5 Change Push Button 10 5 CHANGE Push Button 4 6 Change Then Find Push Button 10 5 Change F6 Push Button 5 57 Changes Made in the Axis Parameter Editor 5 4 Changing Current Drive Directory 5 54 Changing Output State on an Axis Fault 5 6 Check Boxes 3 4 Version 1 0 U31 U600 User s Manual Index Checker Flag Field 6 19 Circular Contouring 5 32 Circular Moves 5 36 CIRCULAR Parameter 5 27 Clear All Axes Check Box 6 24 Clear Error Group Box 6 24 Clear Screen Option 6 46 Clear F12 Push Button 6 20 Clearing Faults 6 20 Clock Calendar Option 11 2 Clock Display 11 1 CLOCK Parameter 5 5 Clock Calendar Group Box 11 2 Clockwise Boundary of the Safe Zone 5 8 Clockwise End of Travel Limit 5 8 Clockwise Home Direction 5 22 Clockwise Limit Input 6 3 CNC Fault 6 10 CNC Fault Condition 5 28 5 29 CNC General Parameters 5 23 CNC General Parameters option 5 23 CNC Initialization Screen 5 23 5 24 5 33 5 34 CNC Manual Entry Mode 8 8 CNC Manual Mode Dialog Box 8 8 8 9 CNC Number 9 2 CNC Parameter Editor 5 26 CNC Parameter Modification 5 1 CNC Parameter Screen 7 12 CNC Parameters 2 2 CNC Parts Program 5 26 5 27 7 1 CNC Parts Program Decoding 7 2 CNC process 9 4 CNC Processes Multiple 5 24 5 34 CNC Processor 5 25 5 26 5 31 CNC Processor Initial Operating Mo
285. th the amount of velocity change that is desired each second and must be greater than or equal to one 1 0 The default value is 100 000 units per second squared 5 6 1 5 Vector Feedrate Limits The Vector Feedrate Group box specifies the minimum and maximum feedrate that a CNC processor can command A program translation error occurs if the user specifies a feedrate outside of the specified range The value specified is always in user units in mm deg per second and must be a positive number greater than zero By default the minimum feedrate is 5 0 and the maximum is 300 0 The only restriction enforced by the CNC is that the maximum must be greater than the minimum The parameters used by the CNC parts program specify what values to use After m m applying the manual feedrate override MFO the actual motor velocity may violate these constraints 5 6 1 6 Spindle Axes Designation and Feedrate Limits This is a rotary axis The user may command this axis to move at a feedrate different from the other axes associated with the CNC process In many applications the user mounts the part being cut onto the spindle and the spindle rotates The cutting tool then comes in contact with the spinning part and shaves the excess material from the outer edge Each CNC process may have only one spindle axis The unit of measure associated with this axis is always in degrees The S keyword indicates the feedrate associated with this axis To sele
286. the CNC Run Mode dialog box In fact the only significant difference is that the operator can not jog with the presence of an active feedhold In review this function immediately decelerates all moving axes to zero velocity based on the amount of time specified in the CNC deceleration time parameter see Chapter 5 While feedhold is active the label associated with the FEEDHOLD F6 button flashes Upon releasing the feedhold the CNC continues the suspended move The system recalculates all move parameters as though it received a move command The new move uses the accel decel times specified by the appropriate CNC parameters See Chapter 5 for more information Vo Activating a feedhold may affect the operation of some data acquisition utilities 8 3 4 Terminating Motion Commands The TERMINATE F5 button or the associated F5 function key also performs a function similar to that on the CNC Run Mode dialog box After pressing this key the CNC decelerates all moving axes to zero velocity based on the amount of time specified in the decel time CNC parameter see Chapter 5 for more information Once terminated it is no longer able to resume the last command block 8 10 Aerotech Inc Version 1 0 U31 U600 User s Manual Manual Operation 8 4 Manual I O The manual I O page screen see Figure 8 11 is selected from the Manual Menu There is a manual I O page associated with each CNC There are 20 keys on each I O page The firs
287. the correct communication port from the Pendant Port menu shown in Figure 9 4 when connecting the teach pendant to the Axis Processor Select None if no pendant is being used The Pendant Deadband entry field allows the user to specifiy the stationary deadband range This percentage creates a deadband region around the joystick center point This is useful in eliminating unwanted motion caused by slight movements in the joystick Every time the teach pendant is disconnected from the U31 U600 the deadband returns to zero 0 The operator must leave the current active screen and then return to reset the deadband The following is a factory set procedure and is not required to be performed by the user unless troubleshooting a problem with the teach pendant Temporarily set the deadband to 096 in the Pendant Deadband entry field enter a 096 deadband Set the desired port number from the Pendant Port menu Select File Save then Load Reinitialize the system through the Diagnostics pull down menu Select Axis Firmware Status then from that screen press F2 Select the Manual pull down menu Aerotech Inc Version 1 0 U31 U600 User s Manual Teach Pendant Then select Jog Home Teach to display the Teach screen This will initialize the teach pendant to the new deadband value just entered Open an OS 2 window and start Debug960 exe or Zsid960 exe If it starts without an AXIS 01 gt prompt press X then enter Ente
288. the emergency stop condition Pressing this button sets the appropriate outputs that reset the emergency stop monitor However if the emergency stop circuitry remains active MAINMENU notifies the user that it is not possible to release E Stop with the Failure to Clear Emergency Stop Dialog Box depicted in Figure 6 13 below 6 26 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options Emergency Stop Control The Emergency Stop Condition was not released Figure 6 13 Failure to Clear Emergency Stop Dialog Box If the user was able to clear the emergency stop condition the dialog box shown in Figure 6 14 appears on the display Emergency Stop Control The Emergency Stop Condition has been cleared E Figure 6 14 Emergency Stop Cleared Dialog Box 6 7 Digital Input Output Status Selecting the Xycom Digital I O option from within the Diagnostic Menu causes MAINMENU to display the Xycom Digital Input Output Status Dialog Box see Figure 6 15 As can be seen this dialog box shows the user the state of each digital input and digital output channel A check mark appears in the check box associated with a given I O channel if that I O channel is active This dialog box is only valid when a single Xycom I O board is used Otherwise the 5 PLC Diagnostic window should be used Version 1 0 Aerotech Inc 6 27 Diagnostic Menu Options Channel 1 T Channel 2 Channel
289. the user may specify distances in two ways inches or millimeters The units for all axes associated with a given CNC process must be consistent The fourth group of G codes found in this menu permit the user to specify the default unit of measure associated with each CNC process G70 specifies programming in inches while G71 specifies millimeters By default the initial unit of measure is inches 5 32 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options 5 6 1 14 Absolute Relative Positions The last group of G codes from within this menu defines how the CNC process interprets positions encountered within a parts program The RS 274 programming standard supports two modes of operation absolute and incremental programming While operating in the absolute mode the system interprets all positions as the distance from a fixed point the fixed point being the software home However the incremental mode interprets these positions as relative to the current axis position To start the CNC processor in the absolute mode the user should select the G90 option from this group Choosing G91 causes the system to interpret all positions as incremental distances which is the default 5 6 1 15 Global and Local Variable Allocation In addition to the RS 274 commands Aerotech provides commands that define variables labels and subroutines The user must allocate the memory for the variables prior to using them within t
290. this value is a rounded down version of the Actual Lines parameter above and the Environmental Compensation Factor below It may not exceed that product The laser source control register LSCR is used to configure the HP VME Laser Information concerning this register can be found with the HP VME Laser documentation In summary the servo uses the Actual Lines Effective Lines and Compensation Factor parameters in the following way Effective Position Compensation Actual Line 5 7 2 5 Slave Encoder As mentioned an encoder is a digital position measurement transducer that measures incremental position by counting the number of edges produced by the feedback signal The slave encoder refers to the encoder feedback which is monitored on a second axis processor The parameters applicable to using a slave encoder are identical to those required for the primary encoder Therefore the user should refer to the previous discussion of encoders for more information 5 7 2 6 Encoder Hall The Encoder Hall feedback option is used for encoders that use Hall effect sensor for their commutation Where the Encoder setting is used strictly for DC motors Encoder Hall is for encoder based brushless motors The Encoder Hall configuration screen is illustrated in Figure 5 26 Encoder Channel entry field specifies the channel over which the system receives the feedback Valid channel numbers are 1 through 16 and typically correspond with axes 1
291. through 16 The default value is zero 0 and is invalid The Lines entry field indicates the number of encoder pulses the system receives for one revolution of the motor The valid range of this parameter includes all positive non zero numbers The default value is zero 0 and is invalid To determine the appropriate setting for a particular motor encoder refer to the documentation supplied by the manufacturer The Lines Cycle entry field indicates the number of feedback counts per electrical commutation cycle The Commutation Offset entry field is used to align the commutation vector of the encoder Hall device with the rotor of an AC brushless motor This field is given in counts per degree where 1024 counts represents 360 degrees For example a commutation vector of 180 electrical degrees would use a Commutation Offset of 512 5 7 2 7 Resolver Hall The Resolver Hall feedback option is used for resolvers with motors that use Hall effect sensors for their commutation This option is typically used in application that have Version 1 0 Aerotech Inc 5 43 Setup Menu Options U31 U600 User s Manual linear motors with Inductosyn feedback The resolver Hall feedback configuration screen is illustrated in Figure 5 27 The R D Channel entry field specifies the channel over which the system will receive the feedback Valid channel numbers are 1 16 and typically correspond to axis 1 through axis 16 The default value is zero 0 and
292. tinue to show the current line number and display the current line in the program display box However the user will not be able to see the entire program at once in the listbox The listbox will only show the current block of 32 000 lines that the program is currently executing For example if the user proceeds to the bottom of a 70 000 line program using the scrollbar on the side of the program display the user will not be able to see lines past 32 000 These lines become accessible only after the program has actually begun executing line 31 900 where the user will not be able to view the lines less than 32 000 11 Normally after finishing a compile the program display will highlight the first executable line in the program skipping any DVAR or other declaration statements However in the infinite download mode the display will always show the first line This has no effect on line execution and only effects the display After the first executable line is executed the display behaves normally V VV Version 1 0 Aerotech Inc B 3 Appendix B U31 U600 User s Manual B 4 Aerotech Inc Version 1 0 U31 U600 User s Manual Index Symbols Decrement Box 5 72 Option 5 54 Characters Additional Parameter Information 5 19 TBL Files 5 53 PGM Files 10 2 Operator 7 11 U31 Subdirectory 2 7 VU31NCORRECT Directory 5 53 VU31NDATA INI File 5 60 U3 1 DMR IMG File 2 1 U3 I INI CONFI
293. tion These entry fields appear in a tabular format such that the left column is for acceleration and the right column is for deceleration The upper row operates on time based parameters and the lower row operates on rate based parameters Each of the fields found within the Accel Decel Control Group box operate in much the same way The user may place the cursor in the appropriate entry field and edit the value displayed there Pressing Enter causes the application to range check the new value If the newly entered value is within range the system immediately updates the old value In the event that the user enters an invalid value an Invalid Parameter Value dialog box notifies the user of the error and discards the new value see Figure 5 9 Version 1 0 Aerotech Inc 5 25 Setup Menu Options U31 U600 User s Manual CHC Parameter Error A Minumum Yalue is 0 001 Figure 5 9 Invalid Parameter Value Dialog Box The value entered for any time based parameter must be in seconds The resolution of each parameter is 1 millisecond 0 001 sec The CNC Parameter Editor always rounds the specified value to the nearest millisecond The value entered must be a positive number greater than zero The default is for one second ramping to occur during both the acceleration and the deceleration The unit of measure for the rate based parameters is user units in mm deg per second squared That is the value entered must correspond wi
294. tion at the end of the current sample period The Abort Data Acquisition feature aborts the data acquisition immediately PlotData File Plot AFR Collect Display Axis Acquire 1 Set of Data Acquire Data Continuously Stop Data Acquisition Abort Data Acquisition Set Data Acquisition Mode Figure 6 22 Trigger Menu The final choice under the Trigger Menu is the Set Data Acquisition Mode This option is identical to same the Plot utility option Refer to Section 5 13 of this manual for information concerning the data acquisition modes 6 12 4 Collect Through this menu the user can set the number of samples desired This menu is identical to the Plot Utility Collect Menu see Section 5 14 1 4 of this manual 6 12 5 Display This menu allows the user to choose the resolution for the displayed data This menu is identical to the Plot Utility Display Menu see Section 5 14 1 5 of this manual Selecting the Cursor option from the Display Menu causes a Cursor Measurement Tool Dialog Box to appear in the lower right corner of the screen see Figure 6 23 Unlike the plot utility cursor this dialog box only displays the time information associated with cursors A and B This is due to the large number of channels and axes which can be plotted at any given time 6 36 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options 6 12 6 Axis EI XY Aerotech CN
295. to define the second G19 implies that Axis 2 and Axis 3 define the first plane while Axis 1 and Axis 4 define the second By selecting a G code from the first group within this menu the user may designate the default axis plane This axes plane represents the initial plane designation for use with a given CNC process By default the G17 command selects the initial plane designation 5 6 1 11 Accel Decel Type G63 G64 To maintain synchronization all axes associated with a given CNC must use the same type of acceleration and deceleration The types supported by the UNIDEX 31 U600 are sinusoidal 1 cosine and linear The user may select the desired mode from within the second group of fields within this menu Choosing G63 enables sinusoidal type ramping while G64 enables a linear type ramp The default is to have sinusoidal ramping occur 5 6 1 12 Accel Decel Mode G67 G68 Through time based or rate based parameters the user may define the acceleration deceleration rate for use with the CNC Processor of the UNIDEX 31 U600 The current G67 G68 state specifies which set of parameters to use for trajectory generation within the moves With G67 as the active mode the UNIDEX 31 U600 uses time based parameters to compute the trajectory while G68 uses the rate based parameters The default is to have the system use time based parameters 5 6 1 13 English Metric Units G70 G71 Another feature of the UNIDEX 31 U600 CNC language is that
296. tor discussed in Chapter 9 This editor provides many more editing features than does the Teach Menu It is suggested that the Teach menu be used only for saving the position information and the Parts Program Editor for making any necessary modification 8 3 CNC Manual Entry Mode Selecting the CNC Manual Entry option from within the Manual menu invokes the CNC Manual Mode dialog box This screen allows the user to manually command the CNC Ascan be from Figure 8 9 this screen is very similar to the CNC Run Mode dialog box see the illustration in Chapter 7 8 8 Aerotech Inc Version 1 0 U31 U600 User s Manual Manual Operation x Aerotech CNC Version 11 24 93 aim Password Setup Diagnostic Run Manual Edit View Comm v CHC 1 Manual Mode Feedrate Feedrate Programmed Mult Actual G20 G40 G63 G67 0 00 1 000 0 00 G71 G91 G94 G97 G99 G110 Soft _ gt 100 Command Entry Spindle RPM Programmed Mult Actual 0 00 1 000 0 00 Status 4 2 100 Manual Menu Initialized N FEEDHOLD F6 ETE Fri 12 17 93 10 42 08 am Figure 8 9 CNC Manual Mode dialog box 8 3 1 Similarities with CNC Run Mode Many of the controls found on this screen function identically to those found on the CNC Run Mode Screen These features include the following G Code Display group box Feedrate Controls and Status Window Refer to these sections in Chapter 7 for more information on the operation of these controls
297. ttempts to configure the analog probe and encounters an error in doing so or the system cannot locate the analog probe an API Probe Failure Screen Figure 5 34 appears as notification As mentioned upon acknowledgment of the failure the system terminates MAINMENU API Probe Failure Attempt to configure API Probe Failed API Option removed from Options Menu Check hardware and re configure Program will terminate Figure 5 34 API Probe Failure Dialog Box 5 8 3 Miscellaneous Future revisions may support other optional devices as well as permit the user to enable or disable various software modes 5 9 HP Compensation Choosing this option from the Setup menu allows the user to set the Environmental Compensation Factor This factor scales the actual feedback to compensate for environmental factors Refer to Figure 5 35 for a display of the screen 5 50 Aerotech Inc Version 1 0 U31 U600 User s Manual Setup Menu Options To use the industry standard equations select the Use T P H radio button see Figure 5 35 The temperature pressure and humidity must be entered into the appropriate edit boxes The Active VOL displays the current factor The calculated factor is shown in the VOL edit box The value entered must be less than or equal to 1 0 The default value 1 0 does not compensate for environmental factors To modify the current VOL in use press the Accept push button A dialog box will app
298. tus 6 27 Digital to Analog Interface 5 47 Direct Entry Method of Parameter Modification 5 3 5 19 Direct Numerical Control 8 14 Directories List Box 5 54 10 7 Directory Is Information Field 5 54 Graphical Version 1 0 U31 U600 User s Manual Directory Path 5 54 Directory Structure Modification of 2 8 Directory Tree 5 54 Directory Changing 5 54 Disable All Push Button 6 25 Disable Mask Option 6 20 Disable Queued Field 6 17 DISABLEMASK Parameter 5 4 5 12 Discard Push Button 10 9 Disk Drives System 5 54 Display Menu 6 36 Display Menu Option 5 67 Display Pull Down Menu 5 52 5 67 5 68 6 36 Display Time Parameter 5 60 Display Update Rate 5 52 Display Window 9 2 Displaying Multiple Positioning Items Dialog Box 7 7 Distance based Data Acquisition 5 59 5 60 Distance based Data Acquisition Units 5 60 DMR Set User Fault Command 6 10 DMR IMG File 2 7 Done Field 6 4 Done Option 6 13 Download Axis Firmware Failure Dialog Box 2 2 Downloading Axis Firmware Dialog Box 2 1 Drive Enable 5 13 6 3 Drive Enable Control Group Box 6 25 Drive Enable Control Group Box with E Stop Active 6 26 Drive Enable Control Option 6 25 Drive Enable Option 6 12 Drive Fault 5 13 6 9 Drive Fault Input 6 4 DRIVE Parameter 5 6 6 25 Drive Changing 5 54 Dual Loop Configuration 5 44 Dual Loop Configurations 5 15 Dummy Lines Sample Values 5 40 Dummy Param
299. tware Limits 5 17 Software Limits Activation Mode 5 16 Spare 7 7 Spare Channel of Servo 5 63 Spare Utility 7 7 Speed Distance Setup Dialog Box 5 71 Spindle Axes 6 19 Spindle Axis 5 27 7 15 Spindle Axis Assignment Pull Down Menu 5 26 5 27 Spindle Axis Activating 5 26 Spindle Axis Currently Configured 5 26 Spindle Axis Unit of Measure 5 26 Spindle Feedrate Group Box 5 27 Spindle Feedrate Limits Maximum Default 5 27 Spindle Feedrate Limits Minimum Default 5 27 Spindle RPM Group Box 7 12 Version 1 0 Aerotech Inc xvii Spindle type 8 12 Stages and Axis Correction 5 58 Stages Bidirectional Circular 5 22 Stages Linear 5 22 Stages Specifying 5 22 Stages Types of 5 22 Stages Unidirectional Circular 5 22 Start Stop 9 6 Status Group Servo 6 12 STATUS Parameter 5 13 Status Type Selecting 6 2 Status Window 7 13 Step Motion Control 5 71 Stop Data Acquisition Feature 5 63 6 36 Stop Data Acquisition Option 6 42 Stop Operation Optional 7 11 Stored Axes 8 5 Stored Data 8 6 Storing Position 8 7 String Not Found Dialog Box 10 5 Subroutines Defining 5 33 Suspending Axes Moves 7 10 Suspending Motion Command Execution 8 10 Sync Mode 6 6 Sync Mode Bit 6 6 Sync Mode Option 6 17 Sync Table Control 5 6 Synchronization of all Axes 5 32 Synchronized Auxiliary Output Tables 5 14 Synchronized Motion 5 15 Synchronized Motion of Multipl
300. ult of this type occurs when the drive fault input for the axis is asserted see Section 6 1 2 5 However after clearing the drive fault input this bit continues to reflect the fact that the fault occurred Related Parameter s IOLEVEL Refer to section 5 3 42 6 2 3 8 Feedback This fault signifies that the feedback failure input from the R D channel associated with the axis was asserted This typically occurs when the feedback device is not functioning properly Related Parameter s NONE 6 2 3 9 Programming This fault occurs when the axis processor receives an invalid command from the CPU card Any programming error causes this fault to occur Related Parameter s NONE Version 1 0 Aerotech Inc 6 9 Diagnostic Menu Options U31 U600Users Manual 6 2 3 10 Master Feedback This fault signifies that the feedback failure input from the R D channel associated with the axis configured as a master was asserted This typically occurs when the feedback device on the Master Axis is not functioning properly Related Parameter s NONE 6 2 3 11 Homing This field provides an indication that the system encountered a fault while homing This typically occurs when the system encounters an end of travel limit switch before the first resolver null Related Parameter s NONE 6 2 3 12 User This fault signifies that an application has requested a fault be generated with the DMRSetUserFault function It provides a method of ge
301. uration Enabling 5 48 Axis Controls Common 8 3 Axis Correction Table 5 58 10 2 Axis Correction Table Configuration 5 53 Axis Correction Table Editor 5 55 5 58 6 15 Axis Correction Table Editor Dialog Box 5 55 Axis Correction Table Template Adding Points to 5 57 Axis Correction Table Template Modifying 5 56 Axis Correction Table Building 5 56 Axis Correction Table Building a Template 5 56 Axis Correction Table Deleting Points 5 57 Axis Correction Table Restrictions 5 55 Axis Correction Table Selecting 5 54 Axis Correction Tables 2 2 5 54 ii Aerotech Inc Version 1 0 U31 U600 User s Manual Index Axis Correction Activation of 5 58 Axis Correction Using 5 55 Axis Deceleration 7 10 Axis Deceleration to 0 Halt 5 13 Axis Directions 5 22 Axis Enable Control Boxes 5 72 Axis Fault Screen 5 12 Axis Fault Changing Output State 5 6 Axis Faults Clearing 5 12 Axis Faults Viewing 5 12 Axis Feedback 5 60 Axis Feedhold State 7 14 Axis Firmware Status Dialog Box 6 21 Axis Homing 8 2 Axis in Motion 6 5 Axis Jog Speed Maximum 5 21 Axis Motion Speed 5 60 Axis Motion Temporarily Suspending 8 3 Axis Name 5 3 5 19 Axis Name Restrictions 5 22 Axis Number 5 3 5 19 Axis Outputs 5 13 Axis Outputs Faults that Turn Off 5 13 Axis Parameter Current Value 5 3 Axis Parameter Editor Screen 5 2 5 18 Axis Parameter Editor Changes Made
302. utput Control eese 6 30 e Virtual Met Ed EE ee Te EN 6 31 ecoPlotiDatar Utility eter EPI 6 34 eU POCAS U MIY ee oe ee UE EET Ted 6 39 e S EHexadecimaliGalculatone c cr eee ee 6 46 6 1 Introduction The user can access all diagnostics provided by MAINMENU via the Diagnostic menu Figure 6 1 shows the options available from this menu ka Aerotech CNC Version 12 16 93 Password Setup Run Manual Edit View Comm Axis Status amp Fault Axis Firmware Status Axis Programming Error Status Drive Enable Control Emergency Stop Control Aycom Digital 1 0 Matrix Analog Inputs PLC Analog IO PLC Fault Display PLC Window Plot Data Plot XY Data Collection Hex Calculator Figure 6 1 Diagnostic Menu Version 1 0 Aerotech Inc 6 1 Diagnostic Menu Options U31 U600Users Manual 6 2 Axis Status amp Fault Utility This diagnostic utility monitors the status of the axis processor The user need only select the type of status to be monitored and this utility polls the axis processor for that status and displays it several times per second All of the status available from within this screen are reflective of some condition i e drive enabled at home faulted etc This utility simply indicates to the user if a condition exists on each axis As can be seen from Figure 6 2 each specific type of status appears within a group located verticall
303. uts specified in the ANALOG INI initialization file This screen contains two group boxes one for inputs and one for outputs Each of these group boxes contains a list box and two push buttons The list box contains the name of each I O point as well as its current value The push buttons permit the user to scroll through the undisplayed items in the list box The ANALOG INI initialization file is an ASCII text file that the user can edit The format for this file appears below Name Type Source lt Scalar gt where Name az text displayed on the screen when referring to this input or output Type may be any of the following RI Register Input RO Register Output BI Binary Input BO Binary Output PLCx 4xxxx Register of Modicon PLC Source is for all Type s except PLCx This field specifies the channel associated with the input or output For Type PLCx this field specifies the particular 4xxxx register associated with this I O point lt Scalar gt This field converts the voltage present on the I O point into real world units The value entered should be the number to be displayed when the maximum voltage is present on the I O point Note that this value has no effect on the operation of the I O points only on the values displayed within the PLC Analog I O Dialog Box E 170 Display Screen Inputs Outputs POWER IN 0 0000 B POWER OUT 0 0000 FOCUS FDBK 0 0000 FOCUS CMD h 0 0000
304. veling It is only valid while the axis is executing its homing sequence Homing Bit ON corresponds to CW direction and OFF signifies CCW motion Related Parameter s NONE 6 2 2 24 Continuous Move ON appears on the screen in this field when the axis is currently executing a continuous motion command OFF appears in the display at all other times Related Parameter s NONE 6 6 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options 6 2 2 25 Queued Command This field indicates if the associated axis is currently executing moves based on the data found in the motion queue for this axis ON signifies that motion queue data is being executed Related Parameter s NONE 6 2 2 26 Hold Active This field indicates if the associated axis is currently being withheld from movement ON signifies the axis is being withheld Related Parameter s NONE 6 2 2 27 Aux Mode This field indicates if there is currently an active synchronized auxiliary output table associated with the axis ON appears on the display when an auxiliary output table is active Related Parameter s NONE 6 2 2 28 Block Motion This field indicates whether all commands initiating motion are blocked from execution on an axis ON signifies that the system is to ignore all motion commands Related Parameter s NONE 6 2 2 29 Hold Queue This field shows if execution of queued motion commands has been temporarily suspended ON signifie
305. velocity feedback is greater than the FBWINDOW parameter Related Parameter s FBWINDOW 6 2 3 19 Safe Zone This fault occurs when the SAFEZONEMODE is active and the axis has violated a defined safe zone Related Parameter s SAFEZONECW SAFEZONECCW SAFEZONEMODE Version 1 0 Aerotech Inc 6 11 Diagnostic Menu Options U31 U600Users Manual 6 2 4 Servo Status Group Most of the information found on the Servo Status Display Dialog Box see Figure 6 4 is identical to the information found on the Axis Status Screen However the upper 16 fields of this display convey information that relates to the current operational state of the servo x Aerotech CNC Version 11 24 93 Password Setup Diagnostic Run Manual Edit View Comm Axis Status amp Fault Display Select Display Fault Control 3 Axis Status F2 Motion Status F5 O Halt Mask F8 3 Fault Status F3 g Fault Mask F6 3 Interrupt Mask F9 Clear F12 Servo Status F4 Disable Mask F7 Auxilliary Mask F11 e b x e e we b sx e e sd b E e ce co 2 00 drive enable 01 aux output enable 02 CW input 03 CCW input 04 home input 5 drive fault input DE at home 0 done D8 in position 09 faulted r x a ce RB Figure 6 4 Servo Status Display Dialog Box 6 2 4 1 Drive Enable Refer to Section 6 1 2 1 for information on this signal 6 2 4 2 Aux Output Enable Refer to Section 6 1 2 2 for information on this sign
306. what axis applies to each of the displayed parameters To select the axis the user must use the Select Axis List Box This box indicates the currently selected axis by both name and number as well as a scroll bar to permit axis selection The user can sequentially scroll through the axes using the arrows at the ends of the scroll bar Mouse users may move directly to a given axis number by dragging the scroll bar until the desired axis name number appears on the display 5 2 5 Parameter Modification Direct Entry The user may modify all parameters displayed within the Parameter List Box There are several ways in which the user may modify the current settings Direct Entry Trim Control and Bit Mask Control The direct entry method of parameter modification allows the user to explicitly change the value of a highlighted parameter To do this the user must first select the desired parameter within the Parameter List Box Following this selection the user must move to the Current Setting Box and enter the new value Upon pressing the Enter key the UNIDEX 31 U600 evaluates this new value If this value is within range it is sent to the axis processor and updates the Parameter List Box Version 1 0 Aerotech Inc 5 3 Setup Menu Options U31 U600 User s Manual Otherwise the screen displays an Invalid Entry of Parameter Value dialog box to notify the user of the error This dialog box is illustrated in Figure 5 3 Error This value
307. word Setup Diagnostic Run Manual Edit View Comm Axis Select G Codes Data Select Preset Target F6 Save Pos FZ Save File E E7 Save Fite x CNC 1 Axis Positions Display Font Units Machine Taraet Pos To Go Veloc it Axis 01 poel 200000 mn Axis 02 OO 0 0000 mm Fri 12 17 93 10 31 19 am Figure 8 7 Teach Mode Data Select Menu 8 2 4 4 Storing Position To record the current position press the F6 Save Pos button This position is then recorded The format and type of position stored is based upon the selected G Codes and the data type 8 2 4 5 Saving Teach Positions To a File To save the information displayed in the Teach Mode Data Collection menu to a file press the F7 Save File button A Save Teach File dialog box is illustrated in Figure 8 8 Enter the file name and press the F2 Accept button To abort the save press the F3 Abandon button Version 1 0 Aerotech Inc 8 7 Manual Operation U31 U600 User s Manual CHC 1 Save Teach File F2 Accept F3 Abandon Figure 8 8 Save Teach File Dialog Box 8 2 4 6 Editing Teach Positions The information shown in the Save Teach File dialog box can be edited in two ways The user can edit the information in the Teach Menu itself by placing the cursor in the display box The normal edit keys can be used to change the information It can then be saved as stated previously The second option is to save the file first and then use the Parts Program Edi
308. xis 02 Axis 0 No Error Axis 03 Axis 03 No Error Clear Error j1A xis 01 fc j1A xis 09 jAxis 13 O Clear All Axes j Axis 02 jA xis 06 jAxis 10 jA xis 14 A xis 03 Axis 07 jA xis 11 jAxis 15 1A xis 04 1Axis 08 j1A xis 12 j1Axis 16 Tue 12 14 93 3 47 44 pm Figure 6 8 Programming Error Status Screen No Errors Present However with a programming error present the next line will display debug information to help the user determine the cause of the error This debug information includes the error code number and a copy of the command packet that caused the error The error code number typically corresponds with the text description of the error type The erroneous command packet appears on the display in hexadecimal format with the least significant byte of each word first Version 1 0 Aerotech Inc 6 23 Diagnostic Menu Options U31 U600Users Manual x Aerotech CNC Version 11 24 93 s o Password Setup Diagnostic Run Manual Edit View Comm F1 Help 80960 Axis Processor Board Programming Errors Axis 01 Axis_01 Parameter value too low Error Code 5 Length 6 Bytes Hex Data 14 00 F6 FF FF FF Axis 02 Axis_02 No Error Axis 03 Axis_03 No Error Clear Error jAxis 01 A xis 02 j1A xis 03 jAxis 04 CS jA xis 05 jAxis 09 jA xis 13 jA xis 06 jAxis 10 jJAxis 14 j1A xis 07 jA xis 11 j1Axis 15 jAxis 08 jAxis 12 jA xis 16 Tue 12 14 93 3 51 23 pm Figure 6 9 P
309. xis is proportional to the deflection and direction of the joystick 9 2 5 Connector The 18 pin connector located on the bottom of the teach pendant provides the capability to connect the teach pendant to the U31 U600 via a cable Allowing the user to communicate with the U31 U600 using the teach pendant from remote locations up to 200 feet away 9 2 Aerotech Inc Version 1 0 U31 U600 User s Manual Teach Pendant 9 2 6 LED Indicators There are 16 LED indicators located on the keypad one above each key except for the top row of keys Each indicator works in conjunction with the key directly below it When a key is toggled on the indicator above it illuminates when toggled off the indicator extinguishes where applicable Refer to Table 9 1 for information on which LED s illuminate when a button is toggled 9 2 7 Keypad The 20 key keypad located in the middle of the teach pendant is utilized by the operator for manual inputs to the U31 U600 The operator can activate the joystick start and stop a parts program save axis position information engage one or both axes and manually move the axes up or down incrementally 9 3 Operation and Setup The operator must configure the teach pendant from within the Setup Menu Refer to Figure 9 2 Once configured and connected to the U31 U600 it becomes another command input device keyboard that operates in parallel with the main keyboard Aerotech CNC Version 06 16 9
310. y on the left side of the screen and the axes names appear horizontally across the upper portion of the screen The user may view undisplayed axis and status conditions using the scroll bars at the bottom and right side of the display x Aerotech CNC Version 11 24 93 a Password Setup Diagnostic Run Manual Edit View Comm Axis Status amp Fault Display Select Display Axis Status F2 Motion Status F5 Halt Mask F8 g Fault Status F3 g Fault Mask F6 Interrupt Mask F9 O Servo Status FA O Disable Mask F7 Auxilliary Mask F11 00 drive enable 01 aux output enable 02 Cw input 03 CCW input 04 home input 05 drive fault input DE at home 0 done D8 in position 09 faulted r x ce E r x e zi r x c co Figure 6 2 Axis Status And Fault Display Dialog Box 6 2 1 Selecting Status Type Through the radio buttons located within the Select Display Group Box the user may change the group of status conditions currently being monitored These groups include Axis Status Fault Status Servo Status and Motion Status The user may also view the current value of the masks which define the action taken by the axis processor upon 6 2 Aerotech Inc Version 1 0 U31 U600Users Manual Diagnostic Menu Options detection of the various faults However the user can not modify these masks from within this screen 6 2 2 Axis Status Group The Axis Status Display Group conveys information

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THE UNIDEX® 31/U600 USER`S