BA Intellidrive User’s Manual
Table of Contents
Version 1.4
Aerotech, Inc.
v
3.5.14. Index Command ................................................................. 3-28
3.5.15. IT Command ...................................................................... 3-29
3.5.16. Label – Define a Label ....................................................... 3-29
3.5.17. Load Position Register ....................................................... 3-29
3.5.18. Loop Start and Loop End ................................................... 3-30
3.5.19. Motor Commutate .............................................................. 3-30
3.5.20. Change opto-isolated outputs ............................................. 3-30
3.5.21. Print Message ..................................................................... 3-30
3.5.22. Position Mode – Absolute or Incremental.......................... 3-31
3.5.23. Program Stop...................................................................... 3-31
3.5.24. Ramp Time......................................................................... 3-31
3.5.25. Register Functions.............................................................. 3-32
3.5.26. Run the teach program ....................................................... 3-32
3.5.27. Return from subroutine ...................................................... 3-32
3.5.28. WM/WA – Wait Move....................................................... 3-32
3.6.
Teach Mode...................................................................................... 3-33
3.6.1.
Using the Teach Program................................................... 3-33
3.6.1.1.
+/- Increment/Decrement Current Position ......... 3-34
3.6.1.2.
F2/F3 Next/Previous Index ................................. 3-34
3.6.1.3.
1,2,3 Learn the Current
Position/Feedrate/Bit Pattern ............................... 3-34
3.6.1.4.
I-Change the Index............................................... 3-35
3.6.1.5.
Z-Zero the Teach Program................................... 3-35
3.6.1.6.
S-Save the Teach Program................................... 3-35
3.7.
Sample Programs.............................................................................. 3-36
CHAPTER 4:
PARAMETERS ................................................................................ 4-1
4.1.
Introduction ........................................................................................ 4-1
4.2.
Servo Loop Parameters....................................................................... 4-4
4.2.1.
PRM:0 Proportional Velocity Gain KP............................... 4-5
4.2.2.
PRM:1 Integral Velocity Gain KI ....................................... 4-5
4.2.3.
PRM:2 Proportional Position Gain KPOS .......................... 4-5
4.2.4.
PRM:3 Incremental Change for KP ..................................... 4-6
4.2.5.
PRM:4 Incremental Change for KI ...................................... 4-6
4.2.6.
PRM:5 Incremental Change for KPOS ................................ 4-7
4.2.7.
PRM:6 Servo “In Position” Tolerance ................................ 4-7
4.2.8.
PRM:7 Servo Peak Current Limit ....................................... 4-8
4.2.9.
PRM:8 Servo RMS Limit.................................................... 4-8
4.2.10. PRM:9 Servo RMS Current Timeout .................................. 4-9
4.2.11. PRM:10 Servo Velocity Trap.............................................. 4-9
4.2.12. PRM:11 Integral Clamp .................................................... 4-10
4.2.13. PRM:12 Position Error Trap ............................................. 4-10
4.2.14. PRM:13 Servo Update Rate .............................................. 4-11
4.2.15. PRM:14 Encoder Resolution............................................. 4-11
4.2.16. PRM:15 Electrical Cycles/Mechanical Revolution ........... 4-12
4.2.17. PRM:16 Hall Effects Available......................................... 4-13
4.2.18. PRM:17 Initialization Current........................................... 4-13
4.2.19. PRM:18 Velocity Feedforward VFF ................................. 4-14
4.2.20. PRM:20 Operating Mode .................................................. 4-14
4.2.21. PRM:22 Position Save ...................................................... 4-15
4.2.22. PRM:23 Reload Saved Position on Power-Up .................. 4-15
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