BA Intellidrive User’s Manual
List of Tables
Version 1.
4
Aerotech, Inc.
xiii
LIST OF TABLES
Table 1-1.
COM Port Pinouts ................................................................................. 1-13
Table 1-2.
I/O Connector Pinouts (P1) ................................................................... 1-15
Table 1-3.
Pinouts for the Encoder/Limits/Hall Effects Port (P3) .......................... 1-16
Table 2-1.
Minimum Hardware Requirements and Recommendations .................... 2-2
Table 2-2.
Initial Servo Parameter Values.............................................................. 2-23
Table 3-1.
Bit Patterns .............................................................................................. 3-6
Table 3-2.
System Commands ................................................................................ 3-13
Table 3-3.
BAI File Transfers Transmit Sequence ................................................. 3-14
Table 3-4.
Hold/Trigger/Cancel Variables ............................................................. 3-15
Table 3-5.
Bit Definitions for the PS Print Status Command ................................. 3-17
Table 3-6.
Return Axis Position Type Variables .................................................... 3-18
Table 3-7.
Return Axis Position Type Variables .................................................... 3-18
Table 3-8.
SRQ Service Request Variables ............................................................ 3-20
Table 3-9.
BAI File Transfer Receive Sequence .................................................... 3-21
Table 3-10.
Motion Commands ................................................................................ 3-23
Table 4-1.
BAI Parameters ....................................................................................... 4-1
Table 4-2.
Settings for Proportional Velocity Gain PRM:0...................................... 4-5
Table 4-3.
Settings for Integral Velocity Gain PRM:1 ............................................. 4-5
Table 4-4.
Settings for Proportional Position Gain PRM:2 ...................................... 4-5
Table 4-5.
Settings for Incremental Change for KP PRM:3 ..................................... 4-6
Table 4-6.
Settings for Incremental Change for KI PRM:4 ...................................... 4-6
Table 4-7.
Settings for Incremental Change for KPOS PRM:5 ................................ 4-7
Table 4-8.
Settings for Servo “In Position” Tolerance PRM:6................................. 4-7
Table 4-9.
Settings for Servo Peak Current Limit PRM:7 ........................................ 4-8
Table 4-10.
Settings for Servo RMS Limit PRM:8..................................................... 4-8
Table 4-11.
Settings for Servo RMS Current Timeout PRM:9................................... 4-9
Table 4-12.
Settings for Servo Velocity Trap PRM:10 .............................................. 4-9
Table 4-13.
Settings for Integral Clamp PRM:11 ..................................................... 4-10
Table 4-14.
Settings for Position Error PRM:12 ...................................................... 4-10
Table 4-15.
Settings for Servo Update Rate PRM:13............................................... 4-11
Table 4-16.
Values for Parameter PRM:14 .............................................................. 4-12
Table 4-17.
Settings for Encoder Resolution PRM:14 ............................................. 4-12
Table 4-18.
Settings for Electrical Cycles/Mechanical Revolution PRM:15............ 4-12
Table 4-19.
Settings for Hall Effects Available PRM:16 ......................................... 4-13
Table 4-20.
Settings for Initialization Current PRM:17............................................ 4-14
Table 4-21.
Settings for VFF – Velocity Feedforward PRM:18............................... 4-14
Table 4-22.
Operating Modes PRM:20 .................................................................... 4-14
Table 4-23.
Settings for Operating Mode PRM:20................................................... 4-15
Table 4-24.
Settings for Position Save PRM:22 ....................................................... 4-15
Table 4-25.
Settings for PRM:23.............................................................................. 4-15
Table 4-26.
Settings for Saved Position PRM:24 .................................................... 4-16
Table 4-27.
Settings for Low Pass Filter PRM:26 .................................................... 4-16
Table 4-28.
Settings for Phase Offset PRM:27......................................................... 4-17
Table 4-29.
Settings for Input Command Offset PRM:29 ........................................ 4-17
Table 4-30.
Settings for Default Velocity PRM:30 .................................................. 4-18
Table 4-31.
Settings for Jog Value PRM:31............................................................. 4-18
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