BA Intellidrive User’s Manual
List of Figures
Version 1.4
Aerotech, Inc.
ix
LIST OF FIGURES
Figure 1-1.
BA-Intellidrive Amplifiers ................................................................. 1-1
Figure 1-2.
BAI Indexer/Positioner Mode ............................................................ 1-2
Figure 1-3.
Illustration of Local and Remote Mode .............................................. 1-3
Figure 1-4.
Teach Mode (using DOS-based COM_BAI)...................................... 1-4
Figure 1-5.
Teach Mode (using BAI MMI) .......................................................... 1-5
Figure 1-6.
Teach Mode (using a Hand Held Terminal) ....................................... 1-5
Figure 1-7.
Operating Mode (Clock and Direction) .............................................. 1-6
Figure 1-8.
BA-Intellidrive Hardware – 10/20/30 A Models ................................ 1-7
Figure 1-9.
BA-Intellidrive Hardware – 50/75/100 Models................................. 1-7
Figure 1-10.
Motor and AC Power Connections – 10/20/30 Models..................... 1-8
Figure 1-11.
Motor and AC Power Connections – 50/75/100 Models................... 1-9
Figure 1-12.
Fuse and Inrush Limiting – 10/20/30 Models.................................. 1-10
Figure 1-13.
AC Input Fusing – 50/75/100 Models .............................................. 1-11
Figure 1-14.
20 – 80V Option ............................................................................... 1-12
Figure 1-15.
RS232 Daisy Chain .......................................................................... 1-14
Figure 2-1.
Physical Setup of the BAI and Aerotech Motors (Application 1)....... 2-3
Figure 2-2.
Remote Mode Configuration .............................................................. 2-4
Figure 2-3.
Local Mode Configuration ................................................................. 2-4
Figure 2-4.
RS-232 Connection ............................................................................ 2-5
Figure 2-5.
BAI Display Window ......................................................................... 2-6
Figure 2-6.
BAI Resetting Window....................................................................... 2-6
Figure 2-7.
Enter Immediate Command Screen .................................................... 2-7
Figure 2-8.
DOS Editor Screen ............................................................................. 2-7
Figure 2-9.
File Operations Screen ....................................................................... 2-8
Figure 2-10.
File and Parameters Transfer Screen .................................................. 2-8
Figure 2-11.
File Upload Screen ............................................................................. 2-9
Figure 2-12.
Other Menu Options Screen ............................................................... 2-9
Figure 2-13.
Auto Run/Block Run Option Screen................................................. 2-10
Figure 2-14.
Enter File Screen .............................................................................. 2-10
Figure 2-15.
Main Screen...................................................................................... 2-11
Figure 2-16.
Programs Window ............................................................................ 2-12
Figure 2-17.
Parameters Screen ............................................................................ 2-12
Figure 2-18.
MMI Main Screen ............................................................................ 2-13
Figure 2-19.
MMI Text Editor Window................................................................ 2-14
Figure 2-20.
File Transfer Window (MMI)........................................................... 2-14
Figure 2-21.
Main Screen (Run Mode) ................................................................. 2-15
Figure 2-22.
Display Code (Main Screen) ............................................................ 2-16
Figure 2-23.
Parameters Screen (BAI MMI)......................................................... 2-17
Figure 2-24.
Motor Profiles Selection (Parameter Screen) ................................... 2-18
Figure 2-25.
Axis Scope Window (BAI MMI) ..................................................... 2-19
Figure 2-26.
Axis Scope Toolbars ........................................................................ 2-20
Figure 2-27.
Cursors Toolbar (Axis Scope Screen) .............................................. 2-21
Figure 2-28.
Flowchart of Overall Tuning Process ............................................... 2-22
Figure 2-29.
Maximize Button on the Axis Scope Window.................................. 2-23
Figure 2-30.
Unacceptable Velocity Error ............................................................ 2-25
Figure 2-31.
Acceptable Velocity Error (When Adjusting Kp) ............................ 2-25
Figure 2-32.
Unacceptable Position Error (When Adjusting Ki) .......................... 2-26
Figure 2-33.
Plot Showing an Appropriate Value for Kpos .................................. 2-27
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