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Aerotech BA-Intellidrive BAI 10 User Manual Download Page 68

BA Intellidrive User’s Manual

Getting Started

Version 1.4

Aerotech, Inc.

  2-29

2.8.

Autotuning

Autotuning is a procedure that automatically identifies motor parameters and determines
the motor gains. The process involves giving a sinusoidal velocity command to an axis.
From the voltage and current used by the motor, motor parameters are identified and the
motor gains are determined from the motor parameters.

To autotune an axis, use the following procedure:

1.

From the Tools menu of the Windows software, select the Axis Tuning... option. The
Axis Scope screen will appear.

2.

From the Tools menu of the Axis Scope screen, select the Gains option and the Auto
Tune option. The Gains and Auto Tune toolbars will be displayed on the screen. See
Figure 2-35.

Figure 2-35.

The “Gains” and “Auto Tune” Toolbars

3.

Make sure the gains are not set too high. Lower the Kpos value if the axis goes into
oscillations or the axis traps during the autotuning procedure.

4.

On the Auto tune panel, there are two text boxes that affect the motion of the axis.
One of these boxes is the frequency or “Freq” box. Autotuning will excite the axis
with a sinusoidal command of three different frequencies. The first frequency is
displayed in the frequency box. The second frequency is twice that of the first
frequency, and the third frequency is twice that of the second frequency. When first
starting, set the first frequency to 1 Hz.

5

The “Dist” text box is the number of machine steps the axis will go for the first
frequency. When first starting, set this value to approximately two revolutions of the
motor shaft.

6

When these values are set, hit the Tune button and the sinusoidal commands will be
given to the axis. Following the completion of the motion, a pop up window showing
the gains determined by the autotuning procedure should be displayed.  Selecting OK
will write the gains to the parameter file.

7.

If an error occurs, examine the torque output. The output should be a sinusoid.  If the
torque appears to be clipped near 10V, lower either the number of steps or the
frequency and retry the procedure. If the torque is low with a peak of less than a volt,
increase the number of steps or the frequency.

The torque should be examined even if gains were determined. Autotuning should
be run again to achieve a better tuned system, if the torque is not generally
 sinusoidal with a peak value greater than one volt.

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Summary of Contents for BA-Intellidrive BAI 10

Page 1: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

Page 2: ...AEROTECH Inc 101 Zeta Drive Pittsburgh PA 15238 2897 USA Phone 412 963 7470 Fax 412 963 7459 Product Service 412 967 6440 412 967 6870 Fax www aerotech com Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 3: ...wnloadable software and special pricing on selected products The BAI amplifier and BAI software are products of Aerotech Inc Windows 95 NT are products of Microsoft Corporation The BA Intellidrive User s Manual Revision History Preliminary December 12 1997 Version 1 0 February 10 1998 Version 1 1 November 12 1998 Version 1 2 March 31 2000 Version 1 3 November 15 2000 Version 1 4 February 14 2001 A...

Page 4: ...RTED 2 1 2 1 Introduction 2 1 2 2 Unpacking the BA Intellidrive 2 2 2 3 Minimum Hardware Requirements and Recommended System Configurations 2 2 2 4 Inspection of the BAI 2 3 2 5 Physical Setup of the Motion Controller 2 3 2 5 1 BAI Cable Connections 2 4 2 5 2 Local Mode 2 4 2 5 3 Standard Installation of the Software 2 5 2 5 3 1 Writing a Short BAI Program 2 7 2 5 3 2 BAI Windows Software Interfac...

Page 5: ...HOLD TRIGGER CANCEL 3 15 3 4 8 Execute Immediate Command 3 16 3 4 9 Print Directory 3 16 3 4 10 Return Error Message String 3 16 3 4 11 Print Program file to Port 3 17 3 4 12 Print Status 3 17 3 4 13 Return Axis Position 3 18 3 4 14 Serial Poll command 3 18 3 4 15 Hardware Reset 3 19 3 4 16 Parameter Editing 3 19 3 4 17 Read Write Register 3 20 3 4 18 Save Program Parameters to Flash Memory 3 20 3...

Page 6: ...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...

Page 7: ... 61 Limit Type 4 25 4 3 3 PRM 62 Home Direction 4 25 4 3 4 PRM 63 Home Type 4 26 4 3 5 PRM 64 Home Velocity 4 26 4 3 6 PRM 65 Home Ending Offset 4 26 4 3 7 PRM 66 Home Marker Velocity 4 27 4 3 8 PRM 67 Negative Software Limit 4 27 4 3 9 PRM 68 Positive Software Limit 4 27 4 3 10 PRM 69 Deceleration Distance 4 28 4 3 11 PRM 70 Limit Reset Distance 4 28 4 3 12 PRM 71 Check Move Against Software Limi...

Page 8: ...G4 Velocity Feedback 5 2 5 1 5 RG5 Position Command 5 2 5 1 6 RG6 Position Error 5 2 5 1 7 RG7 Current Command 5 2 5 1 8 RG8 Firmware Version 5 2 5 1 9 RG9 Velocity Command 5 3 5 1 10 RG12 A D Input 5 3 5 1 11 RG14 RG15 Timers 5 3 CHAPTER 6 MODE OF OPERATION 6 1 6 1 Introduction 6 1 6 2 Modes of Operation 6 1 6 3 Indexing Mode 6 1 6 4 Clock and Direction 6 3 CHAPTER 7 TECHNICAL DETAILS 7 1 7 1 Int...

Page 9: ...ference 7 17 7 7 BAI Amplifier Dimensions 7 19 7 7 1 Mounting Procedures for the BAI 10 20 30 50 7 21 7 7 2 Mounting Procedures for the BAI 75 100 7 23 CHAPTER 8 TROUBLESHOOTING 8 1 8 1 Amplifier Related Problems 8 1 APPENDIX A GLOSSARY OF TERMS A 1 APPENDIX B WARRANTY AND FIELD SERVICE B 1 INDEX Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 10: ... 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 Fi...

Page 11: ... 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 Temperatu...

Page 12: ...10 20 30 50 7 21 Figure 7 20 BAI Top View Preferred Mounting 10 20 30 50 7 22 Figure 7 21 Preferred Mounting of BAI Amplifiers 10 20 30 50 7 23 Figure 7 22 Preferred Mounting 75 100 7 24 Figure 7 23 BAI Side View 75 100 7 25 Figure 7 24 BAI Top View 75 100 7 25 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 13: ...List of Figures BA Intellidrive User s Manual xii Aerotech Inc Version 1 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 14: ... 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 Se...

Page 15: ...e 4 56 Settings for Deceleration Distance PRM 69 4 28 Table 4 57 Settings for Limit Reset Distance PRM 70 4 28 Table 4 58 Settings for Check Move Against Software Limits PRM 71 4 28 Table 4 59 Settings for Marker Type PRM 72 4 29 Table 4 60 Settings for Offset to Marker PRM 73 4 29 Table 4 61 Settings for Program Execution PRM 74 4 29 Table 4 62 Settings for Home Velocity Out PRM 75 4 30 Table 4 6...

Page 16: ... Table 4 86 Settings for Acceleration 4 38 Table 7 1 BAI Board Jumper Selections 7 1 Table 7 2 I O Connector Pinouts P1 7 2 Table 7 3 Pinouts for the Encoder Limits Hall Effects Port P3 7 7 Table 7 4 Electrical Specifications for BAI 10 20 30 7 13 Table 7 5 Electrical Specifications for BAI 50 75 100 7 14 Table 8 1 Amplifier Faults Causes and Solutions 8 1 Artisan Technology Group Quality Instrume...

Page 17: ...List of Tables BA Intellidrive User s Manual xvi Aerotech Inc Version 1 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 18: ...s tested with a brushless servo motor To ensure that the product passes the conducted emissions tests a line filter and common mode choke must be connected to the main inputs The filter is a Schaffner FN 2070 10 06 and the common mode choke is a Renco Electronics RL 1329 1200 Ferrite must be added to each line of the main inputs but not earth ground In order for the product to conform to the radia...

Page 19: ...Regulatory Information BA Intellidrive User s Manual xviii Aerotech Inc Version 1 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 20: ...NICATION AND COMMANDS This chapter covers information regarding the communication modes the COM_BAI menu commands and the programming commands CHAPTER 4 PARAMETERS Chapter 4 describes the various parameters used on the BAI CHAPTER 5 REGISTERS This chapter contains information about the registers on the BAI that allow the user to read various operating parameters CHAPTER 6 MODE OF OPERATION This ch...

Page 21: ...ions are used é The terms BA Intellidrive and BAI are used interchangeably throughout this manual é The text ENTER is used to indicate that the Enter Return key on the keyboard is to be pressed é Hexadecimal numbers are listed using a preceding 0x for example 0x300 0x12F 0x01EA etc to distinguish them from decimal numbers é Graphic icons or keywords may appear in the outer margins to provide visua...

Page 22: ...Warnings 1 17 1 1 Product Overview The BA Intellidrive BAI is a single axis indexer refer to Figure 1 1 The indexer card is coupled with Aerotech s BA Series amplifiers and can control either brush or brushless motors The BAI consists of an amplifier control board and internal power supply Figure 1 1 BA Intellidrive Amplifiers BAI 10 20 30 BAI 50 75 100 Artisan Technology Group Quality Instrumenta...

Page 23: ...o the BAI The menu driven interface allows the user to change parameters run programs teach the unit execute motion commands upload and download programs DOS emulation only display a tracking screen and other functions refer to Figure 1 2 Figure 1 2 BAI Indexer Positioner Mode Remote mode is intended for users who wish to embed Intellidrive commands into their own programs or connect multiple unit...

Page 24: ... program from PC using a menu driven interface PLC Run drive by sending commands in ASCII format Direct serial commands generated by a user program This could come from a PC or PLC or other serial device Example Commands IEN CR IIN5500 F10000 CR IHO LOCAL MODE REMOTE MODE Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 25: ... user specified velocity to the specified position The present position of the motor is displayed in the Position window The moves are sequential meaning they will execute in order 0 1 2 3 98 99 The user cannot jump out of sequential order Since the learned positions are absolute running the teach program forces the unit into absolute position mode The Teach mode can be executed using the COM_BAI ...

Page 26: ... Aerotech Inc 1 5 Figure 1 5 Teach Mode using BAI MMI Figure 1 6 Teach Mode using a Hand Held Terminal Inputs 0 1 2 Enter Teach Mode by pressing T PMC 15 BFC 15 PLC Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 27: ...T terminal emulator COM_BAI exe a program to control the BAI in remote mode daisy chain mode and the source files The purpose of the COM_BAI exe is to execute programs or individual commands and check the BAI s status information through a menu driven interface In order for the COM_BAI exe to function correctly in DOS the ansi sys driver must be added to the config sys file DEVICE c dos ansi sys T...

Page 28: ... Figure 1 8 and Figure 1 9 for locations Figure 1 8 BA Intellidrive Hardware 10 20 30 A Models Figure 1 9 BA Intellidrive Hardware 50 75 100 Models AC Power Motor Connections LED Status Indicator COM Port I O Port P1 Encoder Limits Hall Effects Port P3 AC Power Motor Connections LED Status Indicator Com Port P2 I O Port P1 Encoder Limits Hall Effects Port P3 Artisan Technology Group Quality Instru...

Page 29: ... similar to the type used with personal computers The motor connection is made through the terminal strip located on the front of the BAI This connector contains the motor connections along with the earth ground connection Figure 1 10 Motor and AC Power Connections 10 20 30 Models Motor Connection AC Power Motor Cables BM Motor 110VAC or 220VAC Artisan Technology Group Quality Instrumentation Guar...

Page 30: ...ted on the front to the unit The motor and ground connections are also made through this terminal strip Figure 1 11 Motor and AC Power Connections 50 75 100 Models AC1 AC2 AC3 Ground Motor Connector A Auxiliary Power Input Motor Connector B Motor Connector C Ground Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 31: ...YEL FUSE DUE TO CAPACITIVE NATURE OF AMPLIFIER INPUT CIRCUIT CURRENT INRUSH LIMITING IS RECOMMENDED NEGATIVE TEMPERATURE COEFFICIENT THERMISTORS ARE USED FOR THIS PURPOSE THERMISTOR IS TO BE PLACED IN THE AC HI LINE ONLY ONE THERMISTOR NEEDED FOR ONE AMP ALTERNATELY 2 THERMISTORS CAN BE USED IN AC HI LO FOR MULTIPLE AMPS IN PARALLEL RECOMMENDED MODELS RODAN SURGE GIARD SG100 20A RMS KEYSTONE CL 10...

Page 32: ...requires 2 phase input power while the BAI 75 100 require 3 phase input power Earth ground should be connected to the earth ground connection on the unit Motor connections are made through the A B and C connections on the front of the unit Figure 1 13 AC Input Fusing 50 75 100 Models AC3 A C Input AC1 AC2 BAI SERIES FUSING FUSES Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SO...

Page 33: ...mum of 80VAC input to operate properly Figure 1 14 shows the connection to the separate AC power board The connection is made to the AC input board with a three terminal connector Aerotech Part ECK00213 Figure 1 14 20 80V Option HI LO FRAME HI LO FRAME 1 2 3 LO L G HI H J1 LO HI 4 TB1 5 6 OR 115VAC 14VAC 230VAC TO DEPENDING ON MODEL 56VAC CONTROL A C BUS A C BAI AMPLIFIER G L H 115 240 VAC Artisan...

Page 34: ... Port Pinouts Pins Function 1 Shield 2 Receive RXD 3 Transmit TXD 4 6 7 8 NC 5 Ground GND 9 5 V The 5 Volt connection on COM port is for the hand held terminal and is a non standard connection 1 4 5 RS232 Daisy Chain Configuration When connecting multiple BAIs in a RS232 daisy chain the units must be connected so that the transmit TXD of unit A connects to the receive RXD of unit B and the transmi...

Page 35: ...a 25 pin D style connector that contains all of the general purpose I O functions These include six non dedicated digital I O signals 3 input 3 output two dedicated digital I O signals External Enable Amp Fault All of the digital I O is opto isolated inputs and outputs One of the two dedicated I O signals enables disables the power stage externally and the second indicates the fault status in the ...

Page 36: ...rt has inputs for a 3 channel encoder three limit switches and three Hall effect devices Each of these inputs provides feedback for the microprocessor controlled position and velocity loops The three encoder signals consists of the following sine SIN cosine COS and marker MKR as well as their complimentary signals sine n SIN N cosine n COS N and marker n MKR N Two of the three limit inputs are end...

Page 37: ... 14 COS 3 Encoder 5 15 COS N 4 NC 16 Limit 5 5 Hall Effect B 17 SIN 6 MKR N 18 SIN N 7 MKR 19 NC 8 NC 20 Limit Com 9 NC 21 Encoder Com 10 Hall Effect A 22 Home Limit N 11 Hall Effect C 23 25 NC 12 CW Limit N 24 CCW Limit N The maximum encoder frequency input is 2 5 MHz per signal IMPORTANT Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 38: ...harm to personnel will result if the motor begins to spin Before performing the following steps ensure that the motor is completely disconnected from the amplifier and the associated mechanical system To minimize the risk of electrical shock and bodily injury when any electrical circuit is in use ensure that no person comes in contact with the circuitry To minimize the risk of bodily injury make c...

Page 39: ...Introduction BA Intellidrive User s Manual 1 18 Aerotech Inc Version 1 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 40: ...cking and inspecting the equipment and minimum hardware and software requirements for proper operation In addition this chapter walks the user through physically setting up the BAI connecting the signal cables installing the software using the software for simple motion applications and configuring the BAI for daisy chain operation This chapter is designed for technically oriented individuals fami...

Page 41: ...pped with the order The following list of additional items may be included with the BAI depending on the options and accessories that have been specified Hand held terminal HT BAI MMI software 2 3 Minimum Hardware Requirements and Recommended System Configurations Minimum hardware requirements and recommended system configurations for the BAI are shown in Table 2 1 Table 2 1 Minimum Hardware Requi...

Page 42: ...of the Motion Controller This section explains how to setup the BAI to a PC or Hand held Terminal HT an applicable motor and install the system software In addition some simple applications are provided so the user can become familiar with using the BAI software The electrical signal connections between the BAI and Aerotech s motors are shown in Figure 2 1 Figure 2 1 Physical Setup of the BAI and ...

Page 43: ... e g PC or PLC Figure 2 2 Remote Mode Configuration 2 5 2 Local Mode When the user uses the local mode all menus and commands generation resides in the BAI the most common mode The menu driven interface is done using a Handheld Terminal or a DOS based emulation program on a PC refer to Figure 2 3 This program is the COM_BAI exe and is used to execute programs or individual commands and checks the ...

Page 44: ...mit TX and receive RX signals 2 Insert the BAI software CD 3 Copy all files from the CD in to the hard drive In order for the COM_BAI exe program to function correctly in DOS the ansi sys drive must be added to the config sys file 4 Using an editor add the following command to the config sys file DEVICE c dos ansi sys Data Terminal Equipment DTE Device Use a NULL Modem cable or adapter when connec...

Page 45: ... to the config nt file in the winnt system32 directory DEVICE SystemRoot system32 ansi sys 7 Restart the system PC after making these changes 8 Using DOS or a DOS shell under Windows 95 98 NT run the COM_BAI exe from the PC by typing COM_BAI exe 1 if connected to COM 1 port If connected to COM 2 port type COM_BAI exe 2 The screen in Figure 2 5 is the first screen to appear Figure 2 5 BAI Display W...

Page 46: ...k through the steps of writing a simple program uploading the program file to the BAI and then running the program 1 Exit the COM_BAI and start a pure ASCII text editor such as MS DOS Editor type in the program shown in Figure 2 8 Figure 2 8 DOS Editor Screen 2 Save the program to the same directory containing the COM_BAI exe file The file name must follow the eight character name three character ...

Page 47: ... File Operation screen refer to Figure 2 9 Figure 2 9 File Operations Screen 5 Type U to upload the program file just created The screen in Figure 2 10 appears Figure 2 10 File and Parameters Transfer Screen 6 Type F and the File Upload screen appears refer to Figure 2 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 48: ...r Menu Options screen refer to Figure 2 12 Figure 2 12 Other Menu Options Screen 20 Press 1 to run the program just uploaded to the BAI Pressing 1 advances the user to the following screen in Figure 2 13 This screen permits an auto run or block run of a program Block run steps through the program line by line whereas auto run executes the program without user interaction Artisan Technology Group Q...

Page 49: ...22 Type in TEST1 BAI and hit ENTER The program should run and the motor should have motion 23 Press F1 until the top menu appears 24 Press D to enter the Display screen The user should see the position and velocity displays change This is a simple looping program so the motor moves a distance of 4000 counts stops for 300 milliseconds then repeats another move of 4000 counts Artisan Technology Grou...

Page 50: ...MMI was purchased this may start the MMI installation and not the software interface Since the BAI MMI contains advanced features not available in the standard software package it is the preferred interface The BAI Software Interface program is designed to have all its features right at your fingertips A view of the Software Interface screen can be seen in Figure 2 15 Figure 2 15 Main Screen Editi...

Page 51: ... the click of a button The parameters screen brings up a listing of common parameters as well as allowing the user to change any parameter documented in this manual Figure 2 17 shows the BAI Software Interface Parameters Screen Figure 2 17 Parameters Screen Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 52: ...bsequent instructions that are displayed on the screen When installation is complete a BAI MMI entry is placed under the Programs menu which appears after pushing the Start button This indicates that the installation was successful and that the program is ready to be started To write and run a program using the MMI is very simple 1 To start the BAI MMI software push the Start button then select Pr...

Page 53: ...MI Text Editor Window 3 As with the COM_BAI exe type in the same program code in the text editor Save this one as TEST2 BAI using the Save As function from the File pull down menu on the text editor 4 Open the transfer window Figure 2 20 by selecting File then Transfer from the File pull down menu Figure 2 20 File Transfer Window MMI Artisan Technology Group Quality Instrumentation Guaranteed 888 ...

Page 54: ... of it refer to Figure 2 21 Figure 2 21 Main Screen Run Mode 7 Select the Program List button the program s transferred to the BAI should be displayed in the box to the right of the button Notice that the Program List button changes it now reads Display Code Also notice that the Step Cycle and Stop buttons are half toned 8 Highlight the test2 bai program in the box then select the Display Code but...

Page 55: ... The previous two buttons that were displayed in half tone are now selectable 9 To run the program select the Cycle button Notice that the program cycles through the lines of code in the box as it cycles through the moves Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 56: ...roups of parameters the user can change the value of a specific parameter refer to Figure 2 23 Also there is a Motor Profiles pull down menu that permits the user to select a motor profile and type if using Aerotech s motors or a generic motor profile if using non Aerotech motors refer to Figure 2 24 Figure 2 23 Parameters Screen BAI MMI Artisan Technology Group Quality Instrumentation Guaranteed ...

Page 57: ...ter values to the BAI Download Exit downloads parameter values and exits parameter screen Reset to Defaults resets all parameter settings to default values Exit exits parameter screen It is very important that user download all new parameter settings before exiting the parameter screen If the parameter settings are not downloaded the previous settings are used and all new settings are lost Artisan...

Page 58: ...ns appropriately thus improving an axis to its realistic optimal performance Refer to Figure 2 25 for an illustration of the Axis Scope screen There are seven menu options available to the user on the Axis Scope window the options are File Plot permits the operator to specify plot options and which signals to plot Trigger permits the operator to specify a data collection method motion options and ...

Page 59: ...gure 2 26 Axis Scope Toolbars The Cursors option is used to display hide the Cursors tool bar This tool bar contains features that assist the operator in determining time differences between points on the plot as well as frequency information The Cursors tool bar is illustrated in Figure 2 27 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 60: ...alues for servo gains However the overall process is the same and the same process can be repeated for the other axes in the system When adjusting each of the servo gains the user will essentially be following the procedure below 1 Press the Single button on the Control toolbar to step through a forward or reverse motion 2 Observe the signal plots on the Axis Scope window 3 Make a decision on whet...

Page 61: ...tion Error Integral Error 1 Set Servo Loop Update Rate 2 Set Servo Gains to Initial Values 3 Adjust Velocity Loop 4 Adjust Kp Gain 4a Adjust Ki Gain 4b Adjust Position Loop Adjust Kpos Gain 5 Turn on Position Error Integral Error 6 FINISHED START Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 62: ...ed 3 Set servo parameters to initial value in the Parameters screen refer to Figure 2 23 Table 2 2 has the initial values for these servo gains Table 2 2 Initial Servo Parameter Values Kpos Ki Kp 0 0 100000 4 Prepare the Axis Scope Screen for tuning by performing the following functions a Press the maximize button on the Axis Scope Window shown in Figure 2 29 so the Axis Scope window fills the ent...

Page 63: ...screw becomes increasingly snug The user can turn the shaft manually and it won t move back to its original position but it becomes harder to turn In between pressing the Single button the operator should observe no screeching and howling from the motor Noise means Kp is set too high causing it to oscillate It may screech a little during the move but not when at a standstill If the motor doesn t m...

Page 64: ...etting Started Version 1 4 Aerotech Inc 2 25 Figure 2 30 Unacceptable Velocity Error Figure 2 31 Acceptable Velocity Error When Adjusting Kp Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 65: ...ng Ki crossing its zero line and some oscillation Figure 2 32 Unacceptable Position Error When Adjusting Ki Depending on the application the user may or may not be too concerned with vibration in the axis However the crossover of the position error means the Velocity Loop is too tight especially if maintaining position is important to the user Due to this cross over the settling time increases and...

Page 66: ...a high frequency oscillation stage vibrates strongly This will cause the BAI to have a RMS Current Trap which essentially means that too much current is being sent to the motor the RMS Current Trap acts the same way as a fuse Shown in Figure 2 33 is a plot of a good Kpos From this graph it can be seen that there is little settling time In other words the position error ends near the same time the ...

Page 67: ...Integral Error Traps on by returning to the Parameters window and selecting the Parameter tab called Faults Turn the Position Error and the Integral Error back on by checking the boxes This will reactivate these traps Save and exit the Parameters window Reinitialize the BAI Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 68: ...nd of three different frequencies The first frequency is displayed in the frequency box The second frequency is twice that of the first frequency and the third frequency is twice that of the second frequency When first starting set the first frequency to 1 Hz 5 The Dist text box is the number of machine steps the axis will go for the first frequency When first starting set this value to approximat...

Page 69: ...city loop Three autotuning plots are shown in the following Figures Figure 2 36 shows results of an autotune where Dist was set too low The torque output is generally less than a volt and the commanded velocity plot is not sinusoidal This stage should be retuned with the number of steps increased Figure 2 36 Autotune Plot where Dist Has Been Set Too Low Artisan Technology Group Quality Instrumenta...

Page 70: ...rque output is no longer clipped Figure 2 37 Autotune Plot where Dist Has Been Set Too High Figure 2 38 shows a proper autotuning procedure Both the torque and velocity command are sinusoidal and the torque output peak is greater than one volt A resulting plot similar to this should identify the parameters of the motor stage and produce gains that will allow the stage to be run adequately Artisan ...

Page 71: ...tarted BA Intellidrive User s Manual 2 32 Aerotech Inc Version 1 4 Figure 2 38 Autotune Plot Showing Proper Calibration Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 72: ...ipple effect during the move This is normal since AC brushless motors usually have a larger torque ripple than DC brush motors This ripple effect has been observed to be 10 machine steps peak with an unloaded AC brushless motor Figure 2 39 Tuning Plot of an AC Brushless Motor Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 73: ...Getting Started BA Intellidrive User s Manual 2 34 Aerotech Inc Version 1 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 74: ...es Commands can be sent to the BAI with one of two methods 1 Local mode and 2 Remote mode Local mode relies on menu screens to control the BAI whereas remote mode relies on the user sending commands through the RS 232 port 3 2 1 Local Mode The default mode for the BAI is local All menus and command generation resides in the BAI The menu driven interface is done using a Hand held Terminal HT or a D...

Page 75: ...te mode operation is enabled by setting PRM 95 1 and specifying the address of the unit The default address is A The following sequence can be used to put the unit into remote mode 1 Set PRM 95 1 2 Set PRM 94 address enter the numerical ASCII value 3 Save parameters 4 Issue a reset 5 Send 0x03 CTRL C 6 Send 0x02 CTRL B 7 Send the address defined by PRM 94 Steps 1 and 2 only need to be done once me...

Page 76: ...CTRL B Send the address of the target unit defined in PRM 94 Send a remote command Each time a unit is opened the above commands must be sent These commands close the open unit and open a new unit If these commands are sent incorrectly a reset will be sent to all units If part of this procedure fails and the user cannot regain control of the unit in remote mode sending a CTRL A 0x1 will put all of...

Page 77: ...am space cycles through menu commands 3 3 1 C Change Parameter This command allows the user to change a parameter displayed on the screen refer to Figure 3 2 After pressing C the user is prompted for the parameter they want to change To change the parameter type in the number press return and the parameter is changed and saved to the flash memory Some parameters may not take effect until issuing a...

Page 78: ...creen following the servo loop gain screen The user can see this screen by pressing the F3 key if the current screen shows the servo loop gains This capability allows the user to dynamically change the servo loop gains When using the increment decrement mode the gains are not saved to flash memory until pressing the enter key All parameters have upper and lower bounds These bounds are provided in ...

Page 79: ...atus of the BAI The bit patterns are shown in Table 3 1 The last line shows whether or not the BAI is in a limit or if it is on the marker Pressing F4 while in the tracking display will index the motor by the amount in PRM 31 Table 3 1 Bit Patterns Bit Function bit 0 1 position error within limits set in PRM 6 bit 1 1 running program bit 2 1 program execution error immediate command error bit 3 1 ...

Page 80: ...gure 3 5 advances the user to the following screen in Figure 3 6 for running programs Figure 3 6 Auto Run Block Run Option Screen The options in Figure 3 6 allow the user to auto run a program or block run a program Block run mode steps through a program line by line whereas auto run mode executes the program without user interaction Regardless of the option chosen the user will be prompted to ent...

Page 81: ...The user has the option of reading a parameter writing a parameter or saving the parameter s to flash memory After a parameter value has been changed it is only changed in RAM Also certain parameters require a reset CTRL D to be issued before they take effect 3 3 3 4 Display Error Message When an error occurs during operation an error message will be generated Errors can occur from invalid motion ...

Page 82: ...follow the eight character name three character extension 8 3 DOS format for files The file extension must be BAI The filename itself can consist of characters or numbers No other symbols are allowed For example PROG1 BAI is allowed whereas PRG_1 TST is not allowed The BAI and the COM_BAI exe software accomplish all error checking 3 3 5 F1 Abort Entry Up One Menu Level Pressing F1 aborts the curre...

Page 83: ... FA Fault Acknowledge or reset after pressing F5 3 3 8 I Enter Motion Command This mode allows the user to execute single motion commands from the command line refer to Figure 3 9 Any valid motion command can be entered See Section 2 7 for motion commands Figure 3 9 Enter Immediate Command Screen 3 3 9 S Save Parameters to Flash This command saves all parameters programs and teach programs to flas...

Page 84: ...e pattern is satisfied see Figure 3 11 the motor makes a move at the user specified velocity position The present position of the motor is displayed in the Position window The moves are sequential meaning they will execute in order 0 1 2 3 98 99 The user cannot jump out of sequential order Since the learned positions are absolute running the teach program forces the unit into absolute position mod...

Page 85: ... Teach mode is discussed in more detail in Section 3 5 Figure 3 12 is the Teach mode screen Figure 3 12 Teach Mode screen COM_BAI exe 3 3 11 Space Bar Pressing the space bar cycles through the available commands on the top level menu Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 86: ...5 Table 3 2 System Commands Command Function AB Abort program and or motion AR Autorun a program BR Block run a program DF Delete file DL Download file FM Format Data GM Get Message HD Enable Disable hold mode I Execute immediate command PD Print Directory PE Display error message PP Print program PS Print Status PX Return axis position Q Serial poll RE Reset unit RP Read parameter RR Read Registe...

Page 87: ...m will not begin execution immediately An SRQ will be sent if there is a syntax error The program can be executed block by block by sending TR commands The BAI generates SRQ s after each block 3 4 3 DF Delete File Command Syntax DF filename LF This command deletes the filename from the BAI directory 3 4 4 File Transfers Download File to PC Command Syntax DL Filename LF Send file from BAI to HOST P...

Page 88: ... a PM motion level command command is used in a program and 2 the BAI is a daisy chain mode and the unit is not selected When the BAI is running in daisy chain mode and a particular unit tries to write a string to the serial port the BAI verifies that it is the currently selected unit If it is it will send the string out of the serial port If it is not it will write the string to a buffer where it...

Page 89: ...t if enabled Example IEN IHO IIN 10000 F50000 IFA etc 3 4 9 Print Directory Command Syntax PD LF Prints a list of all files currently in the BAI s flash memory Example To BAI PD LF From BAI TEST1 BAI PROG1 BAI 3 4 10 Return Error Message String Command Syntax PE LF This command returns the last error message in the system Error messages will be generated under the following conditions When a synta...

Page 90: ...tion 3 4 14 These bits allow the user to interrogate the unit to determine the source of an error The bit definitions can be found in Table 3 5 This data can also be found reading REG 2 Table 3 5 Bit Definitions for the PS Print Status Command Bit Number If Bit 1 0 7 Status 8 10 Opto Input Status 11 External enable signal asserted 12 14 Opto output status 15 Fault out active 16 Invalid Hall state ...

Page 91: ...The BAI is requesting service if bit 6 is set Reading the serial poll byte clears this bit The data is returned in ASCII hex Example Q LF Table 3 7 Return Axis Position Type Variables Bit If Bit 1 bit 0 1 position error within limits set in PRM 6 bit 1 1 running program bit 2 1 program execution error immediate command error i bit 3 1 illegal remote command cleared by serial poll Q bit 4 1 axis fa...

Page 92: ...any error 3 4 15 Hardware Reset Command Syntax RE LF 0x4 CTRL D Global Reset The BAI does a hardware reset this is the same as cycling the power 3 4 16 Parameter Editing Command Syntax WPn value LF set parameter n as value RPn LF return parameter n SP LF saves parameter data to disk The WP command changes parameter n to a specified value value The RP returns the ASCII value of the parameter specif...

Page 93: ...om BAI 123456 LF To BAI WR 32 10000 LF 3 4 18 Save Program Parameters to Flash Memory Command Syntax SP LF Must be sent after issuing WP commands to save the parameters to flash memory 3 4 19 Service Request Mode SRQ Command Syntax SRx LF Table 3 8 SRQ Service Request Variables x Service Request Mode 1 Turn on SRQ 0 Turn off SRQ c Set service request character to c This command turns the service r...

Page 94: ...ing character LF to the BAI The filename is the file to transfer The host sends the number of bytes to upload to the BAI This is an ASCII string terminated by LF The BAI responds with one character If it is ready to accept the data the BAI sends the ACK 0x6 character If there is a problem the BAI sends the NAK 0x18 character and file transfer aborts This step may take several seconds since the BAI...

Page 95: ...gram with the semicolon During file transfer to the BAI everything after the is ignored and not stored in the flash memory This was done to conserve memory EXAMPLE HO home axis RA 0 1 0 1 second ramp IN 1000 F2000 move 1000 units 2500 feedrate Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 96: ...onditional goto DI Disable amplifier DW Dwell for x milliseconds EN Enable amplifier FA Fault Acknowledge FR Freerun GA Set loop gains GS Goto subroutine GT Goto label HO Home an axis IN Point to point move IT Wait for input to change LB Program label LE LS Loop ending Loop starting LD Load position register MC Motor commutate OT Change output PM Print message PR AB Absolute mode PR IN Incremental...

Page 97: ...t statement The label must be defined elsewhere in the program The subroutine must be defined after the PS statement and contain an SR Where bitpattern is I2I1I0 Example CS 20 X01 wait here for input1 0 and input0 1 LB 20 beginning of subroutine CS 33 RG33 20000 if RG33 is less than 20000 gosub to label 33 CS 44 RG53 RG45 if RG53 is not equal to RG45 then gosub to label 44 When using compare state...

Page 98: ...s command stops program execution for x milliseconds x is the amount of time to dwell in msec Example DW 150 Dwell for 150ms 3 5 7 Enable Amplifier Command Syntax EN This command enables the power stage on the amplifier When the power stage is enabled the enable LED will turn green If a fault has not been acknowledged with a FA command the amplifier will not enable 3 5 8 Fault Acknowledge Command ...

Page 99: ...0000 start a free run of 20 000 counts sec IT 101 wait for input 101 FR 50000 move to a velocity of 50 000 counts sec The commands between the freeruns can be non motion commands For example the velocity can be changed when the position reaches a certain value FR RG77 start freerun LB 20 CT 20 RG3 100000 wait until position exceeds 100 000 counts FR 20000 change speed When using the freerun for ve...

Page 100: ...and Command Syntax HO The home cycle is used to move the motor to a hardware referenced position Figure 3 13 hows where each parameter affects the home cycle 1 The axis moves towards the home limit switch in the direction specified by PRM 62 at a feedrate provided by PRM 64 2 When the BAI encounters the home limit switch PRM 63 and PRM 61 it decelerates the motor to 0 speed 3 The motor reverses di...

Page 101: ...ration is determined from the ramp time or from PRM 212 The ramp time can be specified with the RA command or the acceleration from the AC command If a ramp time is not specified the default ramp time is used PRM 201 Before motion takes place the trajectory generator determines if the move can be made with the given parameters If the move cannot be made with the given parameters adjustments are ma...

Page 102: ...st feedrate After executing the first command the BAI waits until the input is 01 Since the first digit is a don t care X only two of the three inputs must match to continue program execution 3 5 16 Label Define a Label Command Syntax LB label This command defines labels in programs for branching Branches are required for goto GT gosub GS Conditional goto CT and conditional gosub CS only numbers c...

Page 103: ...er When issued this command disables the PID loop Issuing a value of zero disables the amplifier and resets the servo loop 3 5 20 Change opto isolated outputs Command Syntax OT O2O1O0 Change the opto isolated output to O2O1O0 where O 0 1 X no change made EXAMPLE OT X01 set OUTPUT0 1 OUTPUT1 0 OUTPUT2 Don t Care 3 5 21 Print Message Command Syntax PM String PM RGxx This command can be used to print...

Page 104: ... the mode is incremental this same command will move the motor 100000 user units 3 5 23 Program Stop Command Syntax PS This command signifies the end of the program and must be used before subroutines Ex GS 20 PS LB 20 SR 3 5 24 Ramp Time Command Syntax RA time This command sets the ramp time for trajectory generator The Ramp Time is used during acceleration and deceleration The unit for the ramp ...

Page 105: ...stem registers RG0 RG29 should only appear on the right hand side of the equals sign 3 5 26 Run the teach program Command Syntax RT This command runs the learned teach program see Section 2 7 3 5 27 Return from subroutine Command Syntax SR This command specifies the end of a subroutine and causes program flow to return back to the calling program 3 5 28 WM WA Wait Move Command Syntax WM ARG 1 F AR...

Page 106: ...inal or the DOS program COM_BAI exe Teach mode is entered by pressing T 3 6 1 Using the Teach Program After entering teach mode on the BAI the user will see the following screen in Figure 3 14 A teach program ends when both position and feedrate are zero The user can upload and download teach programs to and from the PC When teaching programs the unit will default to incremental mode however all t...

Page 107: ...eedrate or bit pattern enter a 1 2 or 3 For example pressing 1 will provide the screen in Figure 3 15 Figure 3 15 Teach Screen for Position 0 Showing Current Position and Teach POS VEL and I O Pattern The current position of the motor is copied to the location and the cursor is placed in the line At this point the user has the option of either accepting this position pressing Enter or entering a n...

Page 108: ... user then has the option of accepting this velocity or typing in a new value When changing the bit pattern the user can only enter 1 0 or X don t care 3 6 1 4 I Change the Index Pressing I allows the user to change the current index 3 6 1 5 Z Zero the Teach Program Pressing Z resets the teach program to zero s 3 6 1 6 S Save the Teach Program Pressing S saves the teach program to the flash memory...

Page 109: ...amp time to 1 seconds PR AB put in absolute mode LB 50 IN 100000 F45000 move the motor 100000 user units at a feedrate of 45000 user units second OT X01 Change output 0 to 1 output 1 to 0 IT 011 Wait for the inputs to change to 011 IN 0 move the motor back to position 0 at a feedrate is of 45000 user units second if the feedrate is not included in the command the last entered feedrate is used IN 2...

Page 110: ...S 100 60 CS 101 70 CS 110 80 CS 111 90 based on the user inputs GT 10 PS LB 20 IN 20000 F30000 SR LB 30 IN 20000 F20000 SR LB 40 IN 50000 F60000 SR LB 50 IN 1000 F600 SR LB 60 IN 90000 F60000 SR LB 70 IN 50000 F60000 SR LB 80 IN 0 F60000 SR LB 90 IN 5000 F10000 SR This program will execute the move 10 times and after each pulse output 0 After all 10 moves have completed it returns home and sets ou...

Page 111: ...ove the motor 100000 counts OT XX0 Pulse OUTPUT 0 DW 1000 for 1 second OT XX0 LE End loop OT X1X Change OUTPUT 2 GT 10 Restart loop This program will simply execute a freerun while INPUT 0 is low FR 50000 Start freerunning at 50000 CNTS SECONDS IT XX1 FR 0 Change all of the outputs to zero Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 112: ...Gain KI 4 5 PRM 2 Proportional Position Gain KPOS 4 5 PRM 3 Incremental Change for KP 4 6 PRM 4 Incremental Change for KI 4 6 PRM 5 Incremental Change for KPOS 4 7 PRM 6 Servo In Position Tolerance 4 7 PRM 7 Servo Peak Current Limit 4 8 PRM 8 Servo RMS Limit 4 8 PRM 9 Servo RMS Current Timeout 4 9 PRM 10 Servo Velocity Trap 4 9 PRM 11 Integral Clamp 4 10 PRM 12 Position Error Trap 4 10 PRM 13 Serv...

Page 113: ...4 22 PRM 42 I O Read Time Delay 4 22 PRM 43 Trajectory Type 4 22 PRM 44 Encoder Fault Enable 4 23 PRM 45 Estop Polarity 4 23 PRM 46 Send ACK after move completes 4 24 PRM 47 In Position Output polarity 4 24 PRM 52 RMS Method 4 24 PRM 60 Limit Check 4 25 Parameter Title Page Limit Parameters PRM 61 Limit Type 4 25 PRM 62 Home Direction 4 25 PRM 63 Home Type 4 26 PRM 64 Home Velocity 4 26 PRM 65 Hom...

Page 114: ...laces in Remote Mode 4 32 PRM 96 Autorun Program on Powerup 4 32 PRM 97 Bootup Program Name 4 33 PRM 98 Amplifier Status on Power up 4 33 PRM 99 External Enable Polarity 4 33 PRM 100 Display Type 4 34 PRM 101 General Fault Output 4 34 Miscellaneous Parameter Title Page PRM 200 Position Scale Factor 4 35 PRM 201 Default Ramp Time 4 35 PRM 202 Filter Cutoff 4 35 PRM 204 Autotune Distance 4 36 PRM 20...

Page 115: ...diagram of the BAI s servo loop can been seen in Figure 4 1 Figure 4 1 PID Control Loop 6 326 7 21 200 1 520 75 725 1 5 725 350 326 7 21 200 1 520 2 5 7 21 1387 350 9II Ã V 350 326 7 21 326 350 350 9 2 7 520 1 2 5 3 350 350 350 350 2 3 66 7 5 6 1 9 20087 7 21 350 350 72 03 72 03 V 350 BB Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 116: ...tegral gain adjustment to the velocity error mode of the PID Control loop refer to Table 4 3 Table 4 3 Settings for Integral Velocity Gain PRM 1 PRM 1 Settings Default Value 35000 Maximum Value 2147483647 Minimum Value 0 Type Long 32bit Units 4 2 3 PRM 2 Proportional Position Gain KPOS This parameter provides proportional gain adjustment to the position error mode of the PID Control loop refer to ...

Page 117: ...M 3 Settings Default Value 1000 Maximum Value 100000 Minimum Value 0 Type Long 32bit Units 4 2 5 PRM 4 Incremental Change for KI When changing KI from the menus the user has the option of either entering the gain or modifying the gain by a fixed amount To modify the gain by a fixed amount the user presses the I increment key or the D decrement key The gain immediately changes by the value in PRM 4...

Page 118: ...ed to flash memory Table 4 7 Settings for Incremental Change for KPOS PRM 5 PRM 5 Settings Default Value 10 Maximum Value 100000 Minimum Value 0 Type Long 32bit Units 4 2 7 PRM 6 Servo In Position Tolerance This parameter controls the amount of position error to recognize as the in position indication When the BAI is in position as defined by PRM 6 bit 0 of the status will turn to 1 or bit 0 of RE...

Page 119: ...reset CTRL D before taking effect 4 2 9 PRM 8 Servo RMS Limit This parameter sets the RMS current limit that the PID loop can output before a fault occurs The value is expressed in of the amplifiers RMS current capability For example if the amplifier has an RMS current rating of 10 Amps and PRM 8 is 50 then the controller will generate a fault if the RMS current exceeds 5 Amps for longer than the ...

Page 120: ... Velocity Trap This parameter defines the maximum allowable velocity error before a fault occurs The absolute value of the velocity error is compared against PRM 10 If it exceeds PRM 10 a fault occurs Setting this parameter to zero disables the velocity error check If the velocity error exceeds this value the amplifier will be disabled and it issues a fault Refer Table 4 12 for parameter settings ...

Page 121: ...Long 32bit Units Counts Samples Requires a reset CTRL D before taking effect 4 2 13 PRM 12 Position Error Trap The position error fault like the velocity error fault defines the maximum allowable position error before a fault occurs In the event of a position error fault the amplifier will be disabled and generate a fault Refer to Table 4 14 for parameter settings Table 4 14 Settings for Position ...

Page 122: ...ess motors For rotary motors this value represents the line count of the encoder times 4 for quadrature For example for standard BM motors resolution of the encoder is 1000 1000 lines revolution the user would enter 4000 for this parameter The multiplication by four is done in hardware on the controller For linear motors this number represents the number of counts for one electrical cycle For exam...

Page 123: ...lt Value 4000 Maximum Value 2147483647 Minimum Value 300 Type Long 32bit Units Counts 4 2 16 PRM 15 Electrical Cycles Mechanical Revolution This parameter is the number of electrical cycles of the motor mechanical revolution for brushless motors Also known as the number of pole pairs For linear motors this number should be one For BM series motors up to BM1400 this parameter is 4 For BM2000 and la...

Page 124: ...es this method to initialize the motor on a linear stage ensure that the stage is not near a hardware limit Table 4 19 Settings for Hall Effects Available PRM 16 PRM 16 Settings Default Value 1 Halls available Maximum Value 1 Minimum Value 0 Type Long 32bit Units This method may not work on vertical stages 4 2 18 PRM 17 Initialization Current This parameter defines the peak current sent to the mot...

Page 125: ...ore dynamic range Table 4 21 Settings for VFF Velocity Feedforward PRM 18 PRM 18 Settings Default Value 256 Maximum Value 1000 Minimum Value 0 Type Long 32bit Units PRM 19 Clock Direction Multiplier had been changed to parameter 209 page 4 38 4 2 20 PRM 20 Operating Mode The BAI has four operating modes refer to Table 4 22 Table 4 22 Operating Modes PRM 20 Operating Mode PRM 20 Default value 4 Pos...

Page 126: ...xt move Refer to Table 4 24 for parameter settings Table 4 24 Settings for Position Save PRM 22 PRM 22 Settings Default Value 0 position is not saved Maximum Value 1 Minimum Value 0 Type Long 32bit Units 4 2 22 PRM 23 Reload Saved Position on Power Up When set this parameter reloads the position feedback register with the saved value The saved position can be found in PRM 24 Refer to Table 4 25 fo...

Page 127: ...w Pass Filter A lowpass filter can be inserted after the output of the PID controller by setting this parameter to 1 The cutoff frequency is given in PRM 202 This can be used to smooth out PID noise on the current command Refer to Table 4 27 for parameter settings Requires a reset CTRL D before taking effect Table 4 27 Settings for Low Pass Filter PRM 26 PRM 26 Settings Default Value 0 filter is n...

Page 128: ...also be used to shift the commutation table for different Hall effect schemes Requires a reset CTRL D before taking effect Table 4 28 Settings for Phase Offset PRM 27 PRM 27 Settings Default Value 0 Maximum Value 359 Minimum Value 359 Type Long 32bit Units Degrees 4 2 26 PRM 29 Input Command Offset This parameter allows the user to correct for offsets in the external analog circuitry Refer to Tabl...

Page 129: ...fect Table 4 30 Settings for Default Velocity PRM 30 PRM 30 Settings Default Value 50000 Maximum Value 2147483647 Minimum Value 0 Type Long 32bit Units Counts second 4 2 28 PRM 31 Jog Value This parameter defines the distance the motor will move in teach mode if the or keys are pressed Refer to Table 4 31 for parameter settings Table 4 31 Settings for Jog Value PRM 31 PRM 31 Settings Default Value...

Page 130: ...n its final position As a result the position error may oscillate around the zero point before settling to its final position This parameter allows the addition of settling time for the motor Refer to Table 4 33 for parameter settings This parameter also effects Bit 0 of the status register Table 4 33 Settings for Dead Band Wait Time PRM 33 PRM 33 Settings Default Value 0 Maximum Value 50 000 Mini...

Page 131: ...ings Default Value 1 Maximum Value 1 Minimum Value 0 Type Long 32bit Units Figure 4 2 Thermistor Input Circuit 4 2 32 PRM 36 Position Mode This parameter sets the positioning mode on the BAI after reset or power up The options are incremental PRM 36 0 or absolute PRM 36 1 When set to incremental mode all moves are interpreted as relative moves meaning the command IN 100000 F100000 will move the mo...

Page 132: ...is for phase A brush brushless and PRM 39 brushless only is for phase B This value is added or subtracted before the current commands are sent to the DAC Refer to Table 4 37 for parameter settings Table 4 37 Settings for Current Offset Adjustment PRM 38 PRM 39 PRM 38 PRM 39 Settings Default Value 0 Maximum Value 2048 Minimum Value 2048 Type Long 32bit Units 4 2 35 PRM 40 Registration Input This pa...

Page 133: ...um Value 1 Minimum Value 1 Type Long 32bit Units 4 2 37 PRM 42 I O Read Time Delay Parameter PRM 42 can be used to insert a delay into the BAI when reading the inputs Inputs that do not change at the same time can cause the BAI to incorrectly read the status of the input signals The BAI reads the inputs waits for x PRM 42 milliseconds and rereads the inputs If the state has not changed it continue...

Page 134: ...er or not the BAI will generate a fault if the encoder is faulty or missing This parameter is usually to zero when a single ended encoder is used Refer to Table 4 42 for parameter settings Table 4 42 Settings for Encoder Fault Enable PRM 44 PRM 44 Settings Default Value 1 Maximum Value 1 Encoder fault checking enabled Minimum Value 0 Type Long Units 4 2 40 PRM 45 Estop Polarity This parameter allo...

Page 135: ...ally to zero when a single ended encoder is used Refer to Table 4 45 for parameter settings Table 4 45 Settings for In Position Output Polarity PRM 47 PRM 47 Settings Default Value 0 Maximum Value 1 Minimum Value 0 Type Units 4 2 43 PRM 52 RMS Method This parameter selects the method used for RMS calculation With PRM 52 0 the RMS is calculated by looking at the average value of current based on PR...

Page 136: ...ings Default Value 1 enabled Maximum Value 2 Minimum Value 0 Type Long 32bit Units 4 3 2 PRM 61 Limit Type This parameter defines the polarity of the hardware limits Refer to Table 4 48 for parameter settings Table 4 48 Settings for Limit Type PRM 61 PRM 61 Settings Default 0 Active High 1 Active Low 0 Requires a reset CTRL D before taking effect 4 3 3 PRM 62 Home Direction This is the initial dir...

Page 137: ...e BAI to miss the home switch Refer to Table 4 51 for parameter settings Table 4 51 Settings for Home Velocity PRM 64 PRM 64 Settings Default Value 10000 Maximum Value 2147483647 Minimum Value 0 Type Long 32bit Units Counts sec 4 3 6 PRM 65 Home Ending Offset This parameter is the distance at which the axis moves after the axis has reached the home marker position The Home is then defined at the e...

Page 138: ...alue 0 Type Long 32bit Units Counts sec 4 3 8 PRM 67 Negative Software Limit This parameter sets the negative software limit threshold Refer to Table 4 54 for parameter settings Table 4 54 Settings for Negative Software Limit PRM 67 PRM 67 Settings Default Value 2147483647 Maximum Value 2147483647 Minimum Value 2147483647 Type Long 32bit Units Counts 4 3 9 PRM 68 Positive Software Limit This param...

Page 139: ...in a software or hardware limit Refer to Table 4 57 for parameter settings Table 4 57 Settings for Limit Reset Distance PRM 70 PRM 70 Settings Default Value 4000 Maximum Value 2147483647 Minimum Value 0 Type Long 32bit Units Counts 4 3 12 PRM 71 Check Move Against Software Limits This parameter when set will check the index move against the software limits from the motors present location If the m...

Page 140: ...searching for the home marker Refer to Table 4 60 for parameter settings Table 4 60 Settings for Offset to Marker PRM 73 PRM 73 Settings Default Value 0 Max Value 2147483647 Min Value 2147483647 Units counts 4 3 15 PRM 74 Program Execution This parameter determines how the BAI responds when a software or hardware limit is reached when a programming is running If set to 0 zero all motion and progra...

Page 141: ... The parameter defines the polarity of the marker signal Refer to Table 4 63 for parameter settings Table 4 63 Settings for Marker Polarity PRM 76 PRM 76 Settings Default Value 1 active high Max Value 1 active high Min Value 0 active low Type Units 4 3 18 PRM 77 Output Disable This parameter when set will turn off all outputs if a fault occurs Refer to Table 4 64 for parameter settings Table 4 64 ...

Page 142: ...Refer to Table 4 66 for parameter settings Table 4 66 Settings for Service Request Character PRM 91 PRM 91 Settings Default Value Maximum Value Any printable character Minimum Value 0x20 Type Long 32bit Units 4 4 3 PRM 92 Displayable Digits This parameter is used to control the number of printable digits after the decimal point for floating point numbers This only controls the printing in local mo...

Page 143: ... chain is disabled the BAI operates in local mode Refer to Table 4 69 for parameter settings Table 4 69 Settings for Enable Disable Daisy Chain PRM 95 PRM 95 Settings Default Value 0 daisy chain not enabled Local mode Maximum Value 1 Minimum Value 0 Type Long 32bit Units 4 4 6 PRM 96 Autorun Program on Power Up This parameter determines if the BAI should begin execution of a program after reset Th...

Page 144: ...wer cycle The default is enabled Refer to Table 4 72 for parameter settings Table 4 72 Settings for Amplifier Status on Power Up PRM 98 PRM 98 Settings Default Value 1 Maximum Value 1 Minimum Value 0 Type Long 32bit Units 4 4 9 PRM 99 External Enable Polarity This parameter defines the logic value of the external enable signal for the power stage The external enable is found on P1 5 Refer to Table...

Page 145: ...er any internal fault occurs i e position error fault amp fault etc This is different from the amplifier fault output signal P1 10 that only changes when an amplifier fault occurs Refer to Table 4 75 for parameter settings Table 4 75 Settings for General Fault Output PRM 101 PRM 101 Settings Default Value 0 Maximum Value 1 Minimum Value 0 Units 4 4 12 PRM 102 Fault Output Polarity This parameter i...

Page 146: ...te the motor if the ramp time had not been specified RA command Refer to Table 4 78 for parameter settings Table 4 78 Settings for Default Ramp Time PRM 201 PRM 201 Settings Default Value 1000 Maximum Value 2 000 Minimum Value 25e 3 Type Float Units Seconds 4 5 3 PRM 202 Filter Cutoff This parameter defines the cutoff frequency for the lowpass filter The low pass filter filters the current command...

Page 147: ...e Long Units Counts When the motor is connected to a linear stage the table should be placed at the center of travel and PRM 204 should be set such that the motor does not travel into the limits or hardstop 4 5 5 PRM 205 Autotune Velocity Loop Bandwidth This parameter specifies the velocity loop bandwidth and is used by the autotuning procedure to determine the closed loop poles of the velocity lo...

Page 148: ...ault Value 1 Maximum Value 100 Minimum Value 0 01 Type Float Units 4 5 7 PRM 207 Start Frequency This parameter sets the starting frequency for the autotuning algorithm During the tuning process this frequency is doubled and then quadrupled For example if PRM 207 is set to 1 the motor will be excited with frequencies of 1 0Hz 2 0Hz and 4 0Hz Refer to Table 4 83 for parameter settings Table 4 83 Se...

Page 149: ...s Default Value 1 Maximum Value 1000 Minimum Value 001 Type Float Units 4 5 10 PRM 210 Acceleration This parameter is used to define the acceleration It is scaled by the user defined scale factor in PRM 200 If the acceleration is zero then the ramp time is used to calculate the acceleration Refer to Table 4 86 for parameter settings Table 4 86 Settings for Acceleration PRM 210 Settings Default Val...

Page 150: ...ters RG30 RG69 can be used for storage and manipulation When referring to registers in a program the syntax is RGxx where xx is a number between zero and sixty nine 5 1 1 RG1 Program Bytes Remaining This register indicates the number of bytes remaining for program storage Example RR 1 ENTER PC 4200 LF BAI responds with this 5 1 2 RG2 BAI Status This register returns the 32 bit status register of t...

Page 151: ...on Command This register contains the servo commanded position as a 32 bit decimal number Example RR 5 ENTER PC 50000 LF BAI 5 1 6 RG6 Position Error This register contains the position error Example RR 6 ENTER PC 0 LF BAI 5 1 7 RG7 Current Command This register contains the current command from the PID loop This value will be between I4096 Example RR 7 ENTER PC 153 LF BAI 5 1 8 RG8 Firmware Versi...

Page 152: ... The analog signal is applied on Pins 17 and 18 of P1 The signal input range is 10 V 5 1 11 RG14 RG15 Timers Registers 14 and 15 are 25ms independent timers that can be used to time an event These registers can be zeroed with RG 14 0 or RG 15 0 Example RG14 0 reset timer 1 FR 35000 start motor moving at 35000 units sec LB 10 CT 10 RG14 20000 stay at this speed for 5 seconds FR 0 decel motor to zer...

Page 153: ...Registers BA Intellidrive User s Manual 5 4 Aerotech Inc Version 1 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 154: ...tion mode requires an external controller to output clock pulses and a direction pulse 6 3 Indexing Mode When operating in indexing mode PRM 20 4 the BAI acts as a stand alone motion controller The only peripheral the user needs is a hand held terminal The reference position and feedrate are specified through the motion commands All motion profiles are generated internally by the trajectory genera...

Page 155: ...gure 6 2 Sinusoidal Motion Profile S curve RAMP TIME PRM 201 IN 100000 F50000 50000 FEEDRATE TIME TIME POSITION 100000 IN 100000 F50000 RAMP TIME PRM 201 IN 100000 F50000 50000 FEEDRATE TIME TIME POSITION 100000 IN 100000 F50000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 156: ...med one However the specified position is always reached The PID controller is shown in Chapter 4 6 4 Clock and Direction Clock and direction is selected by changing PRM 20 to 5 and issuing a reset CTRL D In this mode of operation the BAI is controlled by sending clock and direction pulses on P1 8 clock and P1 7 direction During each servo cycle the BAI reads the clock counter and uses this inform...

Page 157: ...Modes of Operation BA Intellidrive User s Manual 6 4 Aerotech Inc Version 1 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 158: ...d Jumper Selections The only user selectable jumper on the BAI control board is JP3 The jumper selects between brush and brushless motors Refer to Figure 7 1 for jumper locations If the user is switching between brushless motors the power board jumpers must be reconfigured on the amplifier The user selectable jumpers on the power board are shown in Table 7 1 Table 7 1 BAI Board Jumper Selections J...

Page 159: ... The pinouts for the 25 pin connector is shown in Table 7 2 Table 7 2 I O Connector Pinouts P1 3LQ XQFWLRQ 3LQ XQFWLRQ 1 Shield 13 Out3 2 Input1 14 Estop 3 Input2 15 25 Ground 4 Input3 16 5V 5 External Enable 17 Analog Input 6 Input Common 18 Analog Input 7 Direction 19 Thermistor 8 Clock 20 Restore Reset 9 Output Common 21 NC 10 Amplifier Fault Out 22 NC 11 Out1 23 NC 12 Out2 24 NC Do not connect...

Page 160: ...als must be a 0V to 5V level Maximum clock speed is 1 MHz Refer to Figure 7 2 for circuit Figure 7 2 Clock Direction Input Circuit 7 3 3 Estop Input Signal The Estop input can be used to abort motion and disable the power stage The signal is sampled by the BAI every 1ms PRM 37 controls the Estop function When PRM 37 0 the Estop input will disable the BAI power stage allowing the motor to coast Wit...

Page 161: ...r is pulled low and its output is high As the temperature increases so does the thermistor resistance Once the resistance of the thermistor increases beyond 1 5K Ohms the input to the inverter will pull high and generate a fault in the controller Figure 7 3 Over Temperature Circuitry 7 3 5 Analog Inputs The BAI can accept a differential 10V analog input on Pins 17 and 18 of P1 The digitzed value i...

Page 162: ...t be set to 2 3 to use this option The external enable signal is also an opto isolated input 7 3 7 Opto Isolated Outputs The BAI also has three general purpose opto isolated outputs The fault output signal should only be used to determine the status of the amplifier It does not indicate the status of the controller i e if a position error fault occurs the fault output signal will not be active See...

Page 163: ...up resistor value for the external circuitry Rext External Power Supply Voltage Voutput_common 4 02 The maximum external power supply voltage is 80 volts EXAMPLE Using a 24Vdc external supply find Rext Rext The fault output signal is also an opto isolated output 24 0 0 0 02 1180 V ohms 4 P1 Any output X 9 V Rext BA INTELLIDRIVE 510 OHM Output Common To Signal Common of External Circuit Opto Couple...

Page 164: ...MKR N Two of the three limit inputs are end of travel sensing Limit and Limit while the third is a reference limit Home Limit The Hall effect switch inputs are recommended for AC brushless motor commutation but not required The pinouts for the connector is shown in Table 7 3 Table 7 3 Pinouts for the Encoder Limits Hall Effects Port P3 Pin Function Pin Function 1 Shield 13 NC 2 Thermistor 14 COS 3...

Page 165: ...aration is 1 10MHz Figure 7 6 CW Motor Rotation Viewed from the Mounting Flange End 7 4 2 Limits Interface Three limit inputs are incorporated into the BAI the first two are end of travel limits and the third is the home limit The end of travel limits are designated as CWlimit and CCWlimit Clockwise CW motor rotation is inhibited by the CWlimit while counterclockwise CCW is inhibited by the CCWlim...

Page 166: ...t the microprocessor uses to commutate the motor This digital representation comprises three 5 volt signals that form a digital six step pattern The controller receives these signals with a circuit that is electrically identical to the limit input circuit Refer to Figure 7 8 for Hall effect input circuitry Figure 7 8 Hall Effect Input Circuit Aerotech brushless rotary motors are shipped from the f...

Page 167: ...age is monitored without power applied to the motor Before performing the following steps remove all connections to the motor except the wye resistor network Remove all mechanical connections to the motor shaft HALL EFFECT A HALL EFFECT B HALL EFFECT C CW MOTOR ROTATION MOTOR PHASE A MOTOR PHASE B MOTOR PHASE C MOTOR PHASE A MOTOR PHASE B MOTOR PHASE C HALL EFFECT A HALL EFFECT B HALL EFFECT C CCW...

Page 168: ...ring a motor phase and the other monitoring a Hall effect signal rotate the motor by hand using the motor shaft The motor will generate a voltage upon rotation 6 Observe the phase relationship of the motor phase to the Hall effect signal It is necessary for the voltage generated by the motor phase A to be in phase with signal used as Hall effect A refer to Figure 7 9 7 Move the probe on the Hall e...

Page 169: ...oltage Observation Scheme Figure 7 12 Encoder Phase Voltage Observation Scheme PSEUDO NEUTRAL 10K 10K 10K TO MOTOR PHASE A TO MOTOR PHASE B TO MOTOR PHASE C 5V Hall Effect A B and C Encoder Connector O Scope Probe Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 170: ... 1360 2720 4080 Power Amplifier Bandwidth kHz 1 PWM Switching Frequency kHz 20 Minimum Load Inductance mH 8 Operating Temperature deg C 0 to 50 Storage Temperature deg C 30 to 85 Weight lb kg 2 5 1 1 Controller Section Microprocessor 16 bit 80C166 Servo Update Rate 1 to 4 kHz Clock Speed 20 MHz Command Set Two character nuemonics Length of Program Up to 5k bytes Operating Modes Indexer Clk Dir Tea...

Page 171: ...nimum Load Inductance mH 8 Operating Temperature deg C 0 to 50 Storage Temperature deg C 30 to 85 Weight lb kg 2 5 1 1 Controller Section Microprocessor 16 bit 80C166 Servo Update Rate 1 to 4 kHz Clock Speed 20 MHz Command Set Two character nuemonics Length of Program Up to 5k bytes Operating Modes Indexer Clk Dir Teach Maximum Clock Input Rate 1MHz Move Types Index Free running Homing Programmabl...

Page 172: ...n the three twisted motor leads and the foil shield of the motor cable This coupling forces high frequency currents to flow through the returning earth ground of the motor cable To minimize this problem and maintain low levels of EMI radiation perform the following 1 Use shielded cable to carry the motor current and tie the shield to earth ground Refer to Figure 7 13 2 Place one toriod ferrite aro...

Page 173: ...ent This configuration is especially important if the BAI amplifier is operating at DC bus voltages of 160 VDC or 320 VDC e g 115 VAC or 230 VAC input power B Earth Ground BAI AMPLIFIER Grounding Screw GND A C Shield Twisted Together Case Ground Motor One toriod ferrite around the three motor leads two for brush motors There should be 10 turns for 16 AWG wire and 7 turns for 14 AWG wire Use a Ferr...

Page 174: ...lines can be minimized using a line filter An example of such a filter and proper connection to the BAI amplifier is shown in Figure 7 15 Figure 7 15 Back Propagation Line Filter Connection AC LO AC HI 10A slow blow BAI10 20A slow blow BAI20 30A slow blow BAI30 Use 60 degree C copper conductors only This configuration is especially important if the BAI amplifier operating at DC bus voltages of 160...

Page 175: ...nitude of this current a 50 60 Hz torque disturbance may be present in the position loop To eliminate this problem an isolation transformer can be used to block the 50 60 Hz from being seen by the motor frame Refer to Figure 7 16 for connection of this transformer Figure 7 16 Isolation Transformer Connection eliminates torque disturbance AC LO AC HI 10A slow blow BAI10 20A slow blow BAI20 30A slow...

Page 176: ...in Figure 7 18 Figure 7 17 BAI Amplifier Dimensions 10 20 30 BA INTELLIDRIVE 132 6 5 22 Typ 127 0 5 00 82 0 3 23 Typ 177 8 7 00 Typ 186 7 7 35 169 4 6 67 73 8 2 91 4 8 19 Typ 4 4 17 Typ 25 4 1 00 Typ 31 8 1 25 Typ 12 7 50 Typ 6 4 25 Typ A B C AC POWER ACTIVE ENABLE A E R O T E C H DRIVE COMPONENTS DIVISION P1 I O P2 COM P3 ENC AEROTECH INC PITTSBURGH PA USA P N S N CE Artisan Technology Group Qual...

Page 177: ...yp 33 3 1 31 92 7 3 65 2 5 10 217 9 8 58 11 7 46 182 9 7 20 17 5 69 231 4 9 11 Typ 241 3 9 50 Dimensions Millimeters Inches 163 5 6 44 9 4 37 85 9 3 38 BAI100 BAI75 181 2 7 13 BAI100 128 6 5 06 BAI75 95 3 3 75 ENABLE ACTIVE DRIVE COMPONENTS DIVISION P1 I O AEROTECH INC PITTSBURGH PA USA P N S N P2 COMM P3 ENC BA INTELLIDRIVE AEROTECH DANGER HIGH VOLTAGE EXT SHUNT 1 2 HI LO G A B AC3 G C G MTR AC2 ...

Page 178: ... x0 25 thick minimum 3 The heat sink should be free of paint or any other thermal barrier 4 The heat sink must be flat to allow good thermal conductivity between the heat sink and the amplifier 5 If possible add a thermal conductivity enhancer i e thermal grease between the heat sink and the amplifier 6 Adding an external fan will remove a considerable amount of heat from the heat sink and allow t...

Page 179: ...ounting 10 20 30 50 It is advisable that the amplifier be mounted lying flat on a metal panel not less than two square feet for better heat dissipation Refer to Figure 7 21 0 50 3 23 0 78 0 35 18 7 00 0 18 4 5 7 35 2 ft 1 ft Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 180: ...ck minimum 3 The heat sink should be free of paint or any other thermal barrier 4 The heat sink must be flat to allow good thermal conductivity between the heat sink and the amplifier 5 If possible add a thermal conductivity enhancer i e thermal grease between the heat sink and the amplifier 6 Adding an external fan already included in the BAI 100 will remove a considerable amount of heat from the...

Page 181: ...s Manual 7 24 Aerotech Inc Version 1 4 Figure 7 22 Preferred Mounting 75 100 BAI75 BAI100 Metal Panel Preferred mounting for better heat dissipation Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 182: ...cal Details Version 1 4 Aerotech Inc 7 25 Figure 7 23 BAI Side View 75 100 Figure 7 24 BAI Top View 75 100 BAI75 BAI100 BAI100 BAI75 ENABLE ACTIVE Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 183: ...Technical Details BA Intellidrive User s Manual 7 26 Aerotech Inc Version 1 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 184: ...n the MMI interface and the BAI because either the MMI software was just installed or the BAI s firmware was upgraded Enter the MMI interface by clicking YES to close the COM port Select communications parameters to match the BAI settings from the menu and press the reset button Then select Connect from the Communications menu 5 The BAI is not in the proper mode Local vs Remote mode To insure the ...

Page 185: ...ion contact Aerotech Receive RMS current error every time trying to move the motor 1 The gains are set too high Try turning down the values Kp Ki and Kpos 2 The drive needs to be tuned Follow the procedure for tuning the drive to receive decent values for Kp Ki and Kpos 3 There are offsets in the D A converters Adjusting parameters 38 and 39 can help null out these offsets however it is a precario...

Page 186: ...represents a single binary number i e a 1 or a 0 In digital computers a bit s two states can represent an off state and an on state a high voltage and a low voltage the numbers 0 and 1 etc brushless motor Aerotech brushless motors are three phase rare earth permanent magnet servo motors which generate a sinusoidal back EMF voltage and are usually referred to as AC brushless motors Another type usu...

Page 187: ...edrate error A feedrate error is a type of fault that is generated by the controller if the current speed of an axis exceeds a programmable maximum speed Feedrate errors are necessary because certain stages or motors have a maximum operating speed above which components may be damaged floating point number format Floating point number format is a method of representing numbers without defining a f...

Page 188: ...r fault is generated if the integral error for an axis exceeds a programmable maximum integral error value Integral error is reset every time the axis is reset integral gain Integral gain is a dimensionless motor tuning parameter that serves to help remove steady state position errors as well as reduce the effects of tachometer loop drift jog move A jog move is a momentary movement of an servo dri...

Page 189: ...nd stator windings and trigonometric principles are employed to provide absolute position information over one electrical cycle which is one revolution for single step resolvers RMS current trap RMS current trap is an error that occurs if the current being commanded to a motor exceeds a programmable limit see parameters x48 and x49 RMS current trap is analogous to a software fuse Essentially this ...

Page 190: ...peed from the current position Velocity profiled motions are executed only after the previous motion has reached its deceleration point word A word is a number of bytes that are processed as a single unit by a computer In the U100 a word consists of two bytes or 16 bits Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 191: ...Appendix A BA Intellidrive User s Manual A 6 Aerotech Inc Version 1 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 192: ...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 ...

Page 193: ... 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...

Page 194: ...mmunication modes 1 2 Conditional command 3 24 Conditional gosub 3 24 Config nt file 1 6 Config sys file 1 6 Connector 1 7 Coprocessor Recommended 2 2 CS Conditional gosub 3 24 Current Offset adjustment PRM 38 and PRM 39 4 21 Cursor option 2 20 D Daisy Chain 3 3 Daisy chain configuration 1 13 Dead Band Wait Time 4 19 Deceleration Distance 4 28 Decrement 3 34 Default Ramp Time 4 35 Default Velocity...

Page 195: ... 9 Hall Effect Interface 7 9 Hall Effects Available 4 13 Hall effects port 1 15 7 7 Hand held Terminal 2 3 Hard Disk Space Recommended 2 2 Hardware function 1 7 Hardware overview 1 7 Hardware reset 3 19 HD Hold mode 3 15 Heatsink information 7 21 HO Home axis 3 27 Hold mode 3 15 Home axis 3 27 Home Direction 4 25 Home Ending Offset 4 26 Home limit 7 9 Home Marker Velocity 4 27 Home Type 4 26 Home ...

Page 196: ...ftware Limit 4 27 Next menu 3 9 Noise Back propagation 7 17 Null modem cable 2 5 O Offset to Marker 4 29 Operating Mode 4 14 Opto isolated outputs 3 30 Opto Isolated Inputs 7 4 Opto Isolated Outputs 7 5 OT 3 30 Overtemperature Circuitry 7 4 P Parameter Editing 3 19 Parameter Summary A 1 Parameters 4 1 Parameters screen 2 17 PC 2 3 PD Print directory 3 16 PE Return error message 3 16 Phase Offset 4...

Page 197: ... 1 1 Program Execution 3 14 4 29 Programming commands 3 13 3 23 Proportional Position Gain 4 5 Proportional Velocity Gain 4 5 PS Print status 3 17 PX Return axis position 3 18 Q Q Serial poll 3 18 R RA Ramp time 3 31 Ramp time 3 31 RE Hardware reset 3 19 Read register 3 20 Read registers 3 8 Read write parameters 3 8 REG 7 5 2 Registers 5 1 Registration Input PRM 40 4 21 Reload Saved Position 4 15...

Page 198: ...quest 3 20 Start Frequency PRM 207 4 37 STARTUP EXE 2 13 T Target directory 2 13 Teach mode 1 4 Teach Mode 3 11 3 33 Teach program 3 33 Technical details 7 1 Thermistor Input Signal 7 4 Thermistor Polarity 4 19 TR Trigger 3 15 Tracking 3 6 Trajectory type PRM 43 4 23 Trapezoidal motion profile 6 3 Trigger commnad 3 15 Troubleshooting 8 1 Tuning procedures for Servo Loops 2 21 Tuning tips 2 33 U Ul...

Page 199: ...Index BA Intellidrive User s Manual vi Aerotech Inc Version 1 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 200: ...___ _____________________________________________________________________ _____________________________________________________________________ _____________________________________________________________________ _____________________________________________________________________ _____________________________________________________________________ Your name ________________ Your title ________...

Page 201: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 202: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

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