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Aerotech UNIDEX 11, Hardware Manual

The Aerotech UNIDEX 11 hardware manual is a comprehensive guide for operating and understanding this advanced motion control system. You can download the manual for free from manualshive.com to optimize the performance of your Aerotech UNIDEX 11 and unlock its full potential. Access the manual now for detailed instructions.

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Summary of Contents for UNIDEX 11

Page 1: ...ss underutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos...

Page 2: ...TROLLER HARDWARE MANUAL PN EDU106 INC 101Zeta Drive Pittsburgh PA 15238 AEROTECH 412 963 7470 TWX 710 795 3125 FAX 412 963 7459 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURC...

Page 3: ...CopyrightQ 1988 byAerotech Inc December 1988 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 4: ...tionsordered Of the four manuals two supplybasic data regarding programmingand hardware support infor mation These manuals are respectively a Unidex11 Motion ControllerProgrammingManual a UniderI1 Mot...

Page 5: ...k Mount Configuration Model UllR 0 Unidex 114 Axis Heavy Duty 19 Rack Mount Configuration Model U11H Unidex 112 Axis Desktop Configuration ModelUllM An overview of the Unidex 11Family of Controllersis...

Page 6: ...EL 31 SECTION2 10 HIGHSPEEDBINARYINTERFACE 31 SECTION2 11 SERIALOUTPUT SEO INTERFACE 32 SECTION2 12 UNIDEX 11POWER CONNECTIONS 37 CHAPTER 3 INTERNALSTRUCTUREOF UNIDEX 11 43 CHAPTER 4 STEPPINGIDCSERVO...

Page 7: ...UllH a Unidex 112 Axis DesktopConfiguration Model UllM An overviewof the Unidex 11controllers aswell as aphotograph of each is included in Part I chapter 1of the Unidex 11 Motion Con trollerProgrammi...

Page 8: ...ernalcharacteristicsof the Unidex11 Familyof Controllers This informationin dudesdescriptionsof the rear panelexternalconnec tions includingelectrical specificationsfor inputloutputcontrd and powercon...

Page 9: ...hasbeensup pliedwith standardAerotech motorsand cables Forapplicationswhere motorand cablesare not sup plied byAerotech the informationprovidedinthis chapter is intendedto serveas a referencefor adjus...

Page 10: ...dingon thetype of chassisused Seesection2 12 and figure 2 7for moreinformation Limit marker and inthe case of DC servo control encoder interface connectorsfor the X Y U and V drivesare connectedhere S...

Page 11: ...nnections are broughtout onthis connector See section2 5and figure2 4of this chapterfor moreInformation This connector providesfor the DigitalI10Portand Two DigitThumbwheel InterfaceOption see Part IV...

Page 12: ...entilation Fan Input Power BW flgure 2 11 O n certain chassi the positions of XJ1 YJl UJ1 and VJ1 may differ from those shown here Figure 2 1 Rear Panel Outlineof Unidex 11 4 Axis Desktop 19 Rack Chas...

Page 13: ...Y SEO up seo see figure 2 11 O n certain chassis positions of XJ1 YJ1 UJ1 and VJ1 may differ from what is shown here Figure 2 2 Rear Panel Outline of the UnMex 11Four Axis HeaycDuly 19 Rack Chassis M...

Page 14: ...ONNECI IONS Motor Connections kternal Control Connections Figure 2 3 Rear Panel Outlineof the Unidex I1 2 Axis Desktop Chassis Model UIIM Artisan Technology Group Quality Instrumentation Guaranteed 88...

Page 15: ...ctorfor 50 pin female Champ con nectorJ6 Matingconnectorfor 24 pin female Champ1 con nectorJ15 Mddedcabletype male Beldon No 49670 Sdder pottype male TRW CINCH No DBM 25P Ribbonconnectortype male TRW...

Page 16: ...for the UllS UllR andU1lH chassis TheUllM chassisconnectionsare describedin the next subsec tion B Connectors513 514 J19 and520provide for the terminationof the basic controlinterface signalsbetweenth...

Page 17: ...14 J19 J20 13 12 11 10 9 L i i 5 i i i i Male Receptacle 52 9 10 11 12 13 i 3 i i i i h e Female Receptacle J 6 1 25 Female Receptacle 13 Figure 2 4 Outlineof Unidex 11Ektemal Control Connectors 12 Ap...

Page 18: ...or separate marker indexpulsefor step pingmotor control See chapter4 for additionalinformation 5VDC 200mA max SignalCommon Optional 5VDC For Aerotech useonly Shield ConnectorRetain ingScrewsarealso co...

Page 19: ...ion Seechapter4 DSL8020drivemodule specificationsfor informa tion on encoder interfaceselection Electricalspecificationsforboth sineand squarewave encodertypes are shownbelow S uare W a v e Encoder CO...

Page 20: ...ectedfor XI X2 or X4interpolationof the encoder signals The maximum data rate of the Unidex 1 1systemisWkHz When a sinewave encoderis used in the X4 mode the maximumsystemdata rate is 160lcHz When a s...

Page 21: ...olis not applicableto the U llM chassis Motor travel limitsand homing signalsfor each axis are terminated at these receptacles Form C FormA Nomaliy Open or Form B NmaIIy Closed 13 CW Limit in NoConnec...

Page 22: ...ATIONS COMMONTO SECTIONSA AND B Form C connectionsfor the CW CCW and Home Limit inputs are optional FormA and formB connectionsare standard and are con nected at pins 12 24and 22 respectively seeA and...

Page 23: ...n below Input T High Speed Signal C M O S Schmitt Common Trigger Buffer A l l limit inputs areprotected against accidentalovervoltage of k30 volts A l l logicinputs such as dry contact opencollector T...

Page 24: ...sis are associatedwith connectors510 Jll 517 andJ18 forthe X Y U andV axisrespectively For DCservooperation usingthe DSL 8020 drive module the pin definitionsforJ10 Jll J17 and518 are asfollows DSL802...

Page 25: ...ection2 2 A Aerotech usesthese inputsfor linear encoder interfacingapplicationsleaving limit connectionsonJ13 J14 J19 J20 fully accessableto user See section2 3DforAuUX liary ControlElectrical Spec at...

Page 26: ...ota tion Logic0 CCW motor rota tion Connectionsnotap plicableto Dl401 D3001 DM1501 DM4001 DM4005 DM6006 DMV8008or DMV16008 use Signalcommon Shield See section2 3DforA licrry ControlElectrical Specific...

Page 27: ...ternaldirection Logic 1 C W motor rota tion Logic0 CCW motor rota tion Slew in Factorysetfor speed of 120RPM signal isactive low Step Normallyclosed in FormC input Step Normallyopen in FormC input Sie...

Page 28: ...TROL ELECTRICALSPECIFICATIONS The circuit configurationbelow illustrates a l linputs described in section2 3 A B and C Hith Speed Signal C M O S Butter Common A l linputs are protected againstaccident...

Page 29: ...input 11 I2 U I4 and output 01 02 03 04 interfaceconnections describedinPart 11 section2 21of the UnidexI1 Motion Controlkr ProgrammingManual This receptacle alsoprovidesterminationfor the feedhold i...

Page 30: ...ended Electrical specifications for output 0 1through 04i slistedbelow ElectricalSpecificationsfor Output 0 1through 0 4 is listed below Minimumoutput highvoltage 2 4 volts Iload 2mA 4 0 volts Iload l...

Page 31: ...56 directlyto the PB8 PB16Aor C or PB24 UO Board A l l necessaryvoltagesand connectionsare supplied in the cable The user need only make the appropriatefield connectionsto the opticallyisolated side o...

Page 32: ...giclow on output of Unidex 11activatesoutput modules When input modules are energized Unidex 1 1will read it as logiclow CW limit and CCW limit characteristics modulepositions 10 11 13 14 18 19 21 and...

Page 33: ...Part II describesindetail the characteristicsof thejoystick Thejoystick is made by CH Products and is modified by Aerotech to Unidex 1 1specifications An integral 15pin Dconnectorand cableis supplied...

Page 34: ...CCW Limit Input 23 and 24 Y Axis Zero Output 25 and 26 Y Axis CW Limit Input 27 and 28 Y Axis CCW Limit Input 29 and 30 Reset Output 31 and 32 local Remote Output 33 and 34 U Axis Zero Output 35 and 3...

Page 35: ...oned sectionof the U n i k11Motion Con trollerProgrammingManual for furtherinformationon thejoystick op tion SECTION 2 7 RS 232 INTERFACECONNECTOR Connector52provides for the terminationof the RS 232...

Page 36: ...e executedby Unidex 11 The input mode canbe used directlyor canbe interfaced to the AerotechTDT Thumbwheel option SeePart I Vof the U dexI1 Motion Controller OptionsManual for more informationconcerni...

Page 37: ...rvomotor drivesarebeingused seetable 2 4 Note that each table indicatesthe standardoutput functions aswell as ap plicablejumper informationneeded to change to certainoptionalout put functions Figure 2...

Page 38: ...direction Eachpulserepre sents one commandedmachinestep 6 CCW Clock Sameas CW clock except that it is produced byop positedirection motor rotation NOTE All cablesinterfacingto theSEOoutputsshouldbelim...

Page 39: ...3mA rink High level supply current l O m A Low level supply current 1SmA Opto Isolated Common In or Hi spaad C M O S Common Out Signal ou1put I Opto IsolaUon SII D 8 Y o r V or HI Speed CYOS OPT E F S...

Page 40: ...t N A N A N A 1 2 3 4 5 6 7 8 9 7 8 9 N A N A N A 19 20 21 22 23 24 25 26 27 25 26 27 N A N A N A 19 20 21 22 23 24 25 26 27 N A N A 25 26 27 N A N A 31 32 33 34 35 38 37 38 39 37 38 39 N A N A N A 10...

Page 41: ...X U ccn cu X U ldarker or A X U Reset Y V SVDC In Y V Corn Y V cw CLK Y V CCW CLK Y V Marker or A Y V Reset NOTES N A N A N A 1 2 3 4 5 6 7 8 9 7 8 9 N A N A 10 11 12 13 14 15 16 17 18 N A 22 23 24 25...

Page 42: ...s are used dependingon the Unidex 11chassisstyle i e UllS UllR U11M or U11H An outline of these receptaclesis shownin figure 2 7 Motor terminationsto the receptaclesshownin figure2 7 are of three type...

Page 43: ...2 9 2 10 and 2 11 N o Connection 7These points are connected to Internal chassis earth ground Pinr 9 through 14 not used on plastic style connector Pinr A and B not used on metal style connector 10 P...

Page 44: ...yle connector Pins A and B not used on metal style connector 10 Pin Metal Style I 14 Pin Plastic Style Standard for U l l H OR Standard for U l l M Chassis optional for UllS and U l l R UllM UllS and...

Page 45: ...hese points are connected to internal chassis earth ground Pins 9 through 14 not used on plastic style connector Pins A and B not used on metal style connector 10 Pin Metal Style A 1 1 4 Pin Plastic S...

Page 46: ...1REAR PANELCONNECTIONS Neutral Line Earth Ground Figore 2 11 Outline of Input Power Receptacle at theRear of Unidex 11 Chassis Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE...

Page 47: ...cover removed Finally a simplifiedwiring diagram of the UllM chassisis shownin figure3 3with its outline shownin figure3 6 top cover removed The internal organizationisvery similarfor the UllS UllR an...

Page 48: ...y and this is applicableonlyto the lowpower steppingdrive modules of the D and DM Series NOTE Oneaxis of DM6006 canbeprovidedintheUllM chassisuponrequest The DCbus power supplyfor the U1IS U llR and U...

Page 49: ...sthe neces saryACvoltage to be rectified to DC seefigures3 1and 3 2 The individualsecondarywindingsAO A14 A28 BO B14 B28 etc each supplyup to 28VACcentertapvoltages A14 B14 etc are the centertap conne...

Page 50: ...peration 230VAC Operation Tranrformer TI Bun Power Board For more information on power control k drive modules see chapter 4 AC Power termination for DC Bus Power applies to DSL8020 DMV8008 DMV16008 o...

Page 51: ...chapter 4 Power AC Power Termination for DC Bus Power applies to DSLB020 DMVB008 or DMV16008 only Transformer T2 Bus Power Unidex I1 Control Board DC Bun Power up to four aeparnte buses Figure 3 2 Sim...

Page 52: ...05 Drive Module A C Input Power Rear Panel Chuab Power O n Ground c t Breaker Front Panel AC Input Power Configuration 8 115VAC Operation 230VAC Operation Figure 3 3 Simplified WiringDiagram of the Ul...

Page 53: ...rPower Supply Board Slot u X Axis I Y Axis P3 P 5 P4 U s V Axis FRONT VIEW See figure 3 1 for more information Figure 3 4 Outlineof the U11sand UllR ChassiswithFront Panel Removed Artisan Technology...

Page 54: ...UREOF UNIDEX 11 I Fan d Fan I TOP VIEW See figure 3 2 for more information Figure 3 5 Outlineof U llH Chass s with Top CoverRemoved Artisan Technology Group Quality Instrumentation Guaranteed 888 88 S...

Page 55: ...bottom cover of chassis to expose screws D1401 D3001 DM1501 DM4001 or DM4005 Drive Modules X Axis on top Y Axis on bottom r Modules slide out through front Figure 3 6 Outline of U11M Chassiswith Top C...

Page 56: ...tainedthroughout the manual involves CW and CCW rotation All CCW and CW rotationalreferences are assumed lookinginto the motor mountingflange SECTION 4 1 D3001 D1401STEPPING DRIVES A CIRCUIT DESCRIPTI...

Page 57: ...snot required when using the D3001LD1401drivemodule An outlineof the D3001fD1401drivemodule is shownin figure4 1 The D3001 D1401canbe used in anyUnidex 11chassis UllS UllR U11H and U11M B HOME REFEREN...

Page 58: ...age externalto the Unidex 11 reference chapter 5 and figure 5 3 If it is not possible to use the homelimit1 input at 513 514 519 or 520 seesection2 2 A B such aswhen Opto22 coupledlimitsare being used...

Page 59: ...ndicates marker is present Differential Marker hpuh 510K see section 2 2 A 8 PotentiometerP1 see figure 4 1 in the circuitdiagramabove al lows the threshold of the marker inputsignalto be adjusted The...

Page 60: ...y closed activehigh Iimit switchesis required jumpers 1through 6 and 13 through 15on the D3001 D1401 board must be reconfigured Thejumper definitionsfollow Standard CCW Limit NormallyOpen Jumper 1 2 R...

Page 61: ...ay be chosen Thejumper definitionfollows Standard ExternalClock Direction Mode Jumper 9 11 10 12 Remove9 10 11 12 Optional Slew Step DirectionMode Jumper 9 10 11 12 Remove9 11 10 12 Seef i 4 1for jump...

Page 62: ...0 0 1 or D 1 4 0 1 A representationof a personality module is shownbelow 16 Pin D l 7 Wafer snap on cover removed RCNl 1 16 Not Used RCNl 2 15 Not Used RCNl 3 14 Not Used RCNl 4 13 Not Used RCNl 5 12...

Page 63: ...Nl 7 10canbe determinedfor a given slew clockfrequencyasfollows Slew C l o c k Frequency Hz 1 Z RCN17 lo 2 2 10 Where RCN17 10 is in ohms J RCNl 8 9 HOMECLOCKOSCILLATORADJUSTMENTS The adjustmentfor th...

Page 64: ...currentparametersfor that unit If not using Aerotech motors a custompersonality module canbe orderedusing the part numbering formatshownbelow Given the rated currentand resis tance for a particular mo...

Page 65: ...dulesfor the D3001 D1401are Drive Resolution Motor Phase Toque Recommended StepdRev Current 02 In PersonalityModule Amps RCN1 ContactAerotechfor CustomizedPersonalityModules Artisan Technology Group Q...

Page 66: ...cam Y Insert Blue Jumper if 1 M R is not used 54 1 to 2 Plugs into slots for X Y U V Axes see figures 3 4 3 5 and 3 6 LFor 115VAC add JP2 JP3 For 230VAC add JP1 JP4 Figure 4 1 Assembly Outline of 0300...

Page 67: ...to 50 000stepslrevin200stepintervals In otherwords there are 250 choicesof steppingresolutions Anotherfeatureunique to the DM4005 4001 and 1501is the total ly integral power supply circuit Steppingmot...

Page 68: ...se is present At this time mo tion ceases The speed at which the home cycle occursis factory set at 120RPM for the DM400514001and 60RPMfor the DM1501 If a different speed is required seesection4 Wfor...

Page 69: ...e 16 19 1 19 Optional FromCCW Umit Input Jumper 1619 Remove 17 19 1 19 Optional FromCW Umit Input Jumper 18 19 Remove 16 19 17 19 Seefigute4 2for jumper locations When the home commandis issued the st...

Page 70: ...ection 2 2 A k 8 PotentiometerP1 see figure 4 2 in the circuit above allowsthe threshold of the marker input signalto be adjusted The threshold level is increased by turningP1CW To activatethe marker...

Page 71: ...d activehigh limit switchesis required jumpers 1through 6 and 13through 15on the DM4005 4001 1501board must be reconfigured Thejumper definitionsfollow Standard CCW Limit NormallyOpen Jumper 1 2 Remov...

Page 72: ...ectionmode Jumper 9 11 10 12 Remove9 10 ll 12 Optional Slew step direction mode Jumper 910 11 12 Remove911 10 12 Seefigure 4 2for jumper locations G SELECTING STEPPING MOTOR RESOLUTION The DM4005 4001...

Page 73: ...l l l l l l l l i l l l Pin 1 12 IC Number For IC MI n n n n n Pin 1 10 IC Number NOTE Thisnumber definesthe resolution i n steps pole For example POLE RESOLUTIONS STEPS POLE 1000 50000 Steps Rev For...

Page 74: ...d and slew speed if applicable vary accordingto resolution H PERSONALITY MODULE RCNI The personalitymodule is a 16 pinDIPwafer consistingof 5resis tors and 2 capacitors This module contains all of the...

Page 75: ...ngjumper 7to 8in serted thisjumper should alwaysbe inserted the value of RCNl 7 10 canbe determinedfor a givenslewclockfrequencyasfollows Slew Clock Frequency Hz 1 Z RCN1 7 10 470x10 I2 Where RCN17 10...

Page 76: ...M 4 0 0 5 The highcurrent level running current involvesthe selection of RCNl3 14 and RCNl2 15 determinedabove The value canbe cal culated asfollows Running Current Level amps Where RCN12 is and RCN1...

Page 77: ...es definesthe resolution of the internaloscillators and motor phase currentparametersfor that module If the user is not using Aerotech motors a custompersonalitymodule canbe orderedusing the part numb...

Page 78: ...oque RecommendedPersonality Translator Current 02 in Module RCN1 amps DM4001 50SM 1 38 RCNl 1 O xxxx DM4005 lOlSM 4 6 90 RCN15 0 xxxx DM1501 Phytron 1 13 RCN1 1 O xxxx ZSS 33 200 1 2 ContactAerotechfo...

Page 79: ...dicators DANCER High Voltages and Back of Unit when F gure 42 Outlineof DM4005 4001 1501SteppingDrive Module Plugs into slots for X Y U V Axes see figures 3 4 3 5 and 3 6 Exist on Power is Front Appli...

Page 80: ...50 000stepslrev in200stepintervals In otherwords there are 250choices of stepping resolutions Another feature unique to the DM6006 is its totally integralpower supplycircuit alsopatent pending Steppin...

Page 81: ...xists the motor will stopimmediately I f a marker pulse optiondoesexist see section4 3C the motorwill con tinue to rotateuntilthe marker pulse is present At this time mo tion ceases The speed atwhich...

Page 82: ...MlT SOURCE Standard From Home Limit Input Jumper 17 19 Remove 1619 1 19 Optional From CCW Limit Input Jumper 1619 Remove 17 19 18 19 Optional From CW Limit Input Jumper 16 19 Remove 1619 17 19 Seefigu...

Page 83: ...than the voltage signal at W plus the threshold settingat PI In otherwords M M P l threshold For aITTLmarker connection the signalcommon of the ITTLcir cuitshould be tied to signal commonwith the mar...

Page 84: ...Jumper 4 5 Remove 5 6 Standard Home Limit Normally Open Jumper 13 14 Remove 14 15 Optional Home Limit NormallyClosed Jumper 14 15 emove 13 14 Seefigure 4 3for jumper locafions E I DIRECTION DEFINITION...

Page 85: ...gmotor at 250 different steppingresolutions As was described in subsectionA of this section CircuitDescription a steppingresolutionrange canbe selectedbetween200stepdrevand 50 000 stepslrevinclusive i...

Page 86: ...80 4000 Steps Rev motors 16 c 800 Steps Rev As was mentioned in the introduction to this section the steplrev numberslisted aboveapplyto aSO pole 1 8degreeper fullstep step ping motor When determining...

Page 87: ...t RCNZ 8 9 Resistor 1 4 watt h RCN2 1 16 Resistor 1 4 watt RCN2 2 15 Resistor 1 4 watt RCN2 3 14 Resistor 1 4 watt RCNZ 4 13 l pi Capacitor The parameter settingsof RCN2are asfollows I RCN27 10 SLEW C...

Page 88: ...into alimit involvesRCN2 8 9 Thisvalue canbe determined asfol lows 1 Home Hz 1 fj 0C 1x1 6 RCN2a P Where RCN2 8 9 is in ohms K RCN2 3 14 2 15 LOIHI CURRENT LVLADJUSTMENT The low current level standbyc...

Page 89: ...the user must definethe type of step ping motor beingused with its rated phase current aswell as the D M 6 0 0 6resolution inwhich it is to operate A list of personalitymodulesused with standardAerot...

Page 90: ...stepsper pole forwhich the slew andhome oscillator aswell asthe currentlevels of the personality module are tailored to operate Recommended standardRCN2modulesfor the DM6006 are Aerotech Aerotech Phas...

Page 91: ...M I T Plugs into slots for X Y U V Axes see figures 3 4 3 5 and 3 6 ANCER High Voltages Exist on Front and Back of Unit When Power is Applied Figure4 3 Outllne of the DM6006SteppingDriveModule Artisa...

Page 92: ...n otherwords there are 250choicesof steppingresolutions Unlike the D3001 D1401 DM1501 DM4001 DM4005 and DM6006 steppingmotor drivemodule describedin the previoussec tions the DMV Seriessteppingdrivemo...

Page 93: ...t this time mo tion ceases The speed at which the home cycle occursis factoryset at 120RPM If a differentspeedis required seesection44Hfor appropriateper sonalitymodule changes For most rotary motions...

Page 94: ...r JP2 1to 2 RemoveJP2 3 to 4 JP2 5 to 6 Optional FromCW Limit Input Jumper JP2 5 to 6 RemoveJP2 1to 2 JP2 3to 4 Seefigure 4 4for jumper loc trbns When the home commandisissued the standarddirectionofm...

Page 95: ...gnal at M must rise slightlyhigher than the volt age signalat M plus the threshold settingat P2 In otherwords M M P2 threshold For alTLmarker connection the signalcommonof the lTLcir cuit shouldbe tie...

Page 96: ...Optional CCW Limit NormallyClosed Jumper JP3 2 to 3 RemoveJP3 1 to 2 Standard CW Limit NormallyOpen Jumper JP4 1to 2 RemoveJP4 2 to 3 Optional CW Limit NormallyClosed Jumper JP4 2to 3 RemoveJP4 1to 2...

Page 97: ...lutions As was described in sub sectionA CircuitDescription a steppingresolutionrange canbe selectedbetween 200 stepdrevand 50 000stepdrev inclusive in incre ments of 200steps i e 200 400 600 49600 49...

Page 98: ...s Rev motors 16 800 Steps Rev As was mentionedin the introduction to this manual the steplrev numberslisted aboveapplyto a SO pole 1 8degreeper fullstepstep ping motor When determiningstephevfor other...

Page 99: ...MV Series A representationof a personalitymodule is shownbelow see alsofigure 4 4 lre xtey Wafer snap on cover RCNl 1 16 Resistor 1 4 watt RCNl 2 15 Resistor 1 4 watt RCNI 3 14 Resistor 1 4 watt RCNl...

Page 100: ...dbycurrent is set by RCNl2 15 T h i svalue of currentcanbe calculated asfollows Standby Current Level amps 8 lo4 RCNl 2 15 w h e r e RCNlz 1s is in ohms Thehigh currentlevel runningcurrent involvesthe...

Page 101: ...MV Seriesresolutioninwhich it is to operate A list of personalitymodulesused with standardAerotech stepping motors is listedbelow The label on the personalitymodule defines the resolution of the inter...

Page 102: ...current levels of the personalitymodule are tailored to operate RecommendedstandardRCNl modulesfor the DMV Series modules Aerotech Aerotech Phase Toque RecommendedPersonality Translator Motor Current...

Page 103: ...I T DANGER High Voltages Front and Back of Unit Power is Applied Plug into slots for X Y u v Axes see figure 3 4 3 5 and 3 6 Exist on when Figure 4 4 Outlineof the DMV8008 and DMV16008 SteppingDrive M...

Page 104: ...dback error Emer gencyshutdownis automaticunder these conditions Unlike the D and DM Series steppingmotor drive modules describedin the previous sections the DSL8020DC servodrive modules require a DCb...

Page 105: ...ed to accept an optionaltachometer For lockingnthe in position step zero step of the feedbacken coder a third circuit isprovided to hold the DC motor firmlywithin a 112stepof zerostep Thisfunctionis t...

Page 106: ...4 6 amplifier dne wave encoder 1 I Testpolnts Tjpical see figwe 4 6 Current Feedback Command Cw Pulsw cm Position f nnh l Prom Control Board Module Yuker Index Signal t r Figure 4 5 Block Diagram of...

Page 107: ...esproper motor tach and encoderphasingwith respect to CW motor rotationwhenviewed from the motor mounting flange When apositivevoltage is applied to the positive motor lead and a negativevoltage to th...

Page 108: ...times the value of the motor fuse whichever is less CAUTION On smaller motors due to the thermaltime constant the current limit setting is set at a much lower ratio Check motor data sheets for actual...

Page 109: ...icallyforthe home cycle For linear motionstages the homelimit switch could be anindependentswitch aswell However in most cases the C W or CWlimit switches perform doubleduty and act as the homelimit s...

Page 110: ...eJP3 1to 2 JP3 3to 4 Seefigure 4 6for jumper locations When the home commandis issued the standard directionof motor rotationis CCW If CW rotationis required jumper JP1 onthe DSL8020board m u s t be r...

Page 111: ...is in creased by turningP2CCW To activatethe marker logic the voltage signalat Mnmust rise slightlyhigher than thevoltagesignalat IM plus the threshold settingat P2 I notherwords M M P2 threshold For...

Page 112: ...veJP5 2 to 3 Standard CW Limit Normally Open Jumper JP2 2 to 3 RemoveJP2 1to 2 Optional CW Limit NormallyClosed Jumper JP2 1to 2 RemoveJP2 2to 3 Standard Home Limit NormallyOpen Jumper JP4 2to 3 Remov...

Page 113: ...iedsinewave encoders the changingof resistorvalues on the encoderinterfacemodule see figure4 6 For squarewave encoderoperation onlyjumpers on the main board must be selected NOTE Changingresolutionwil...

Page 114: ...the analoglockgain MARKER ADJUST This potadjuststhethreshold of the marker index input pulsefromthe incrementalencoder see marker input circuit section4 5G AC GAlNADJUST This potadjuststheAC gainof th...

Page 115: ...lectronicallyderivedfromthe encoder or from an op tionaltachometer seefigure 4 5 Velocityfeedback hastwo purposes Rrst to provide damping to the positioncontrolloopto eliminatepositionlooposcilla tion...

Page 116: ...of the motorand encoderparameters at the time ofpurchase to insurecompatibilityandproperfactory set up If the motor encoderand translationstageareuser supplied the followingadjustmentprocedure is rec...

Page 117: ...at will runUnidex11back andforthwith a 1 second dwell in betweenmoves Setthefeedratefor 112of the maximumsystem speed Setthe acceVdecelrateto 100mS linear profiling S e tthemotionformat to comer round...

Page 118: ...ngtime runthe programfrom step5 at maximum systemspeedandturn P7 commandgain more CW to achievethe resultsat TP7 velocity command as shown indiagram4 1 Ifyoudo not haveenough rangewiththe P7adjustment...

Page 119: ...ximately25 overshoot at TP2 uponcompletionof the movewith littleor noringing as shown indiagram4 2 After ad justing PI it mayalso be necessaryto readjust P5 onceagain Overshoot CCW Move Velocity Comma...

Page 120: ...P MOVE CCH 2v 2V Overahaat 2v 2V Time Time C 1 STEP MOVE CW D 1 STEP MOVE CCW ZV 2V Overshoot I TP2 1 2V Ooerahoot 2s Time Time E 1 STEP MOVE CW Time F 1 STEP MOVE CCW f I 1 4V Overshoot m 2 I 1 4V Ti...

Page 121: ...Be certainthat the CW and CCW limit LEDs energize in their proper sequenceand that Unidex 1 1respondsby stoppingmotion before the motor reaches itsmechanical end stop normally a minimum distance of o...

Page 122: ...e 690C1333 Square W a r e Module 690C1334 TP4 Signal Common TP7 Velocity Command TP6 Velocity Feedback TestpoinLs tnical Motor Load Rue Plugs into slots for X Y U V axes see figures 3 4 3 5 and 3 6 Fi...

Page 123: ...power supply board to clampexcessiveregenerative energiespresentwhen motors with high inertia loadsare decelerating The shunt regulatorcanonly accommodateone DCbus power supply seefigure3 1 and 3 2 R...

Page 124: ...it is necessary to changethese settings the shunt regulator threshold canbe readjustedby monitoringTP2with respect toTP3 The voltage onTP2will switchbetween the givenbus voltage and zero when the shu...

Page 125: ...t and back of unit when power is applied Shunt Overload 3 Amp Slow Blow Shunt Resistor Plugs into Slot P5 see figures 3 4 and 3 5 Figure 4 7 Outline of the PowerSupply Board Module Artisan Technology...

Page 126: ...tingRAM RandomAccess Memory is located on the base board and is labeled M3 Figure 4 9 showsthe outlineof the top ExtensionBoard only This board containsthe interface hardwarefor the RS 232 or IEEE 488...

Page 127: ...ected at the Unidex 11rear panel If a system is set up for IEEE 488communications an RS 232 device must not be connectedat the Unidex 1 1rear panel Damageto the Unidex 11and to the communicating devic...

Page 128: ...r extension y e M 3 BOtt 0111 S I operating o a r d I RAH I Display Back L J P2 I t J r 1 1 J1 To Board I J7 Bottom Board r J2 I I I Bottom Interconnecting header I Board between extension board I and...

Page 129: ...LES For IEEE 488 install M21 M22 M23 M27 M 2 8 For RS 232 install M12 M15 M 1 6 Figure 4 9 Outline of the Unidex 11 ControlBoard ExtensionBoard Artisan Technology Group Quality Instrumentation Guarant...

Page 130: ...or the steppingmotors used with the Unidex 11controllers Detailed mechanical data such as shaft lengthsand shaft keying are not shown in these figures This data is suppliedin separate documents Figure...

Page 131: ...Wirer dtch t 8 n n i 1 1 l baud sea figure 5 3 for terminal outline MSOl 1075LT 1135LT Motors I B I A 1 Entry Hole for L i m i i S l l t c h wire8 s witch termhd 5 Y for termjnml outline Figure 51 Mec...

Page 132: ...1410LT Motors Entry Hole for Limit Switch Wires Remove screw9 to access limit switch terminal board See figure 5 3 for terminal outline Figure 5 1 Continued Artisan Technology Group Quality Instrument...

Page 133: ...LT Motors MSOF 1075LT 1135LT Motors t I t p Ed Entry Hal for Umlt Mtch W L m Figure 51 Continued Remore to acca h i t rrltch boud See f l m 5 3 for tarmId o u t l l n Artisan Technology Group Quality...

Page 134: ...sere to acoau limit d t c h termind b w d See Qun 5 3 for terminal ouLUnr To encoder limit coaaector I Cable Remora m r s to aocer lirnlt mltch krmlrd b o d See figure 5 3 for termhd outllna Figure 51...

Page 135: ...CHAPTER5 STEPPINGAND DCSERVOMOTORS htrJ Point lor limit switch Kina J Figure 51 Continued Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 136: ...ram to access l i m i t switch terminal board See figure 5 3 for terminal outline Limit Switch Wires I Remove screws to access limit switch terminal board See fi ure5 3 for terminal outline Figure 52...

Page 137: ...HAPTER5 STEPPINGAND DCSERVOMOTORS C2E HM 50SM l O l S M Motors C3E HM 300SN 310SY Motors Figure 5 2 Continued Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg co...

Page 138: ...O l S M M o t o r s B3 HM B3 HMK 300SM 3 1 0 S M M o t o r s flgure 5L3 for terminal outline Remow m c m to acceas limit switch terminal boud See figme 5 3 for terminrl outline Manual Adjustment Knob...

Page 139: ...T C3 HM C3 HMK 300SM 310SM Motors I ca ayr c s I K o n To encoder LImlt connector T o motor connector Figure 52 Continued Ibmare to eccel mait d t c h termlrl8 I b w d see ripre 5 3 for termlnd outli...

Page 140: ...ndard configuretion unlese otherniae specified Reference chapter 2 sectton 2 2 A k B for interface details 1 1 A Form B normally cloaed switch opena rhen in limit Optional configuration Reference chap...

Page 141: ...irflow Model Allow 0 for cable bends and airflow 9 50 Model UllR for cable I bsndr and airflow s 6 40 Model Figure 5 4 DimensionalData for the Unidex 11Family of Controllers Artisan Technology Group Q...

Page 142: ...CHAPTER 5 STEPPING AND DC SERVOMOTORS Allow 6 for cable bends and airflow Model UllM Figure 54 Continued Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 143: ...making the return must callahead for a ReturnAuthorizm on Number 2 The equipmentbeing returned must be encasedin a proper cushioning material and enclosed in a cardboard box Call for a ReturnAuthoriza...

Page 144: ...PA 15146 Phone 412 3734160 FAX 412 3734163 WV western PA western NY easternOH AEROTECH SOUTHWEST 6001VillageGlen Drive 3101 Dallas TX 75206 Phone 214 987 4556 FAX 214 9874706 TX OK LA AR CO UT MT WY I...

Page 145: ...io Canada N2L4E2 Phone 519 885 2551 FAX 519 885 4712 HlSCO MALAYSIA SDN BHD 1 LorongSS1316A SubangJaya Indust Estate 47500 PetalingJaya Selanger Malaysia Phone 603 733 4236 FAX 603 733 6281 T U 36226...

Page 146: ...73 Definitionof I direction 68 Homeclock oscillator 72 Homereference 65 Limitswitch polarity 68 Markerbuffercircuit 67 Personalitymodule 71 Slew clockoscillator 72 Stepping motor resolution 69 DM4001...

Page 147: ...rface 31 I IEEE 488connector 30 InpWoutputinterfaceconnector 24 Introduction 1 J Joystickinterfaceconnector 28 L Limitswitch 11 M Manualdescription 2 Marker 11 0 Opto interfaceconnector 26 P Powerconn...

Page 148: ...harge and Jhippsdprrpaid back to the buya If thebuya desiresanairfreightreturn theproduct s willbeshippedcollect Warrantyrepairsdo mt extendthe originalwarrantyp a i d ReturnedProductNOkWatrantyDetenn...

Page 149: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...

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