List of Figures
BA Intellidrive User’s Manual
x
Aerotech, Inc.
Version 1.4
Figure 2-34.
Plot Showing Overall Effects When Kpos is High ........................... 2-28
Figure 2-35.
The “Gains” and “Auto Tune” Toolbars........................................... 2-29
Figure 2-36.
Autotune Plot where “Dist” Has Been Set Too Low ........................ 2-30
Figure 2-37.
Autotune Plot where “Dist” Has Been Set Too High........................ 2-31
Figure 2-38.
Autotune Plot Showing Proper Calibration ...................................... 2-32
Figure 2-39.
Tuning Plot of an AC Brushless Motor ............................................ 2-33
Figure 3-1.
Tracking Screen.................................................................................. 3-1
Figure 3-2.
The Change Parameter Screen ............................................................ 3-5
Figure 3-3.
Example of Changing a Parameter in the Change Parameter
Screen ................................................................................................. 3-5
Figure 3-4.
Display Tracking Screen..................................................................... 3-6
Figure 3-5.
Other Menu Options ........................................................................... 3-7
Figure 3-6.
Auto Run/ Block Run Option Screen.................................................. 3-7
Figure 3-7.
Read Register Screen.......................................................................... 3-8
Figure 3-8.
File Operation Screen ......................................................................... 3-9
Figure 3-9.
Enter Immediate Command Screen .................................................. 3-10
Figure 3-10.
Teach Mode (using DOS-based COM_BAI).................................... 3-11
Figure 3-11.
Teach Mode (using BAI MMI)......................................................... 3-12
Figure 3-12.
Teach Mode screen (COM_BAI.exe)............................................... 3-12
Figure 3-13.
Parameters Affecting the Home Cycle.............................................. 3-28
Figure 3-14.
Teach Mode Screen .......................................................................... 3-33
Figure 3-15.
Teach Screen for Position “0” (Showing Current Position and
Teach, POS, VEL, and I/O Pattern).................................................. 3-34
Figure 3-16.
Teach Screen for Position “0” (Showing Current Position and
Teach, POS, VEL, and I/O Pattern).................................................. 3-35
Figure 4-1.
PID Control Loop ............................................................................... 4-4
Figure 4-2.
Thermistor Input Circuit ................................................................... 4-20
Figure 6-1.
Trapezoidal Motion Profile ................................................................ 6-2
Figure 6-2.
Sinusoidal Motion Profile (S-curve)................................................... 6-2
Figure 7-1.
BAI Jumper Locations ........................................................................ 7-2
Figure 7-2.
Clock/Direction Input Circuit ............................................................. 7-3
Figure 7-3.
Over Temperature Circuitry................................................................ 7-4
Figure 7-4.
Electrical Characteristics of Opto-Isolated Input................................ 7-5
Figure 7-5.
Electrical Characteristics of Opto-Isolated Output ............................. 7-6
Figure 7-6.
CW Motor Rotation (Viewed from the Mounting Flange End) .......... 7-8
Figure 7-7.
Limit Switch Input Circuit .................................................................. 7-8
Figure 7-8.
Hall Effect Input Circuit ..................................................................... 7-9
Figure 7-9.
Hall Effect Motor Phasing ................................................................ 7-10
Figure 7-10.
Motor Rotation (From Mounting Flange End).................................. 7-10
Figure 7-11.
Motor Phase Voltage Observation Scheme ...................................... 7-12
Figure 7-12.
Encoder Phase Voltage Observation Scheme ................................... 7-12
Figure 7-13.
Wiring to Minimize EMI and Capacitive Coupling.......................... 7-16
Figure 7-14.
Wiring to Minimize EMI and Capacitive Coupling (BAI 50) .......... 7-16
Figure 7-15.
Back-Propagation Line Filter Connection ........................................ 7-17
Figure 7-16.
Isolation Transformer Connection (eliminates torque
disturbance) ...................................................................................... 7-18
Figure 7-17.
BAI Amplifier Dimensions – 10/20/30............................................. 7-19
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