Aerotech UNIDEX 600 Series, User Manual

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U600 User’s Guide List of Figures
Version 1.4
Aerotech, Inc.
xix
LIST OF FIGURES
Figure 1-1. Installation Process............................................................................. 1-2
Figure 1-2. System Architecture............................................................................ 1-3
Figure 2-1. Flowchart Overviewing the Installation/Configuration Process ......... 2-2
Figure 4-1. AerDebug Screen................................................................................ 4-2
Figure 4-2. Help Screen (AerDebug) .................................................................... 4-5
Figure 5-1. AerTune Main Window...................................................................... 5-2
Figure 5-2. Plot Comment ..................................................................................... 5-2
Figure 5-3. Step Move Parameters ........................................................................ 5-5
Figure 5-4. FFT Analysis ...................................................................................... 5-6
Figure 5-5. Torque Ripple Plot of an AC Brushless Motor................................... 5-9
Figure 5-6. Closed-Loop Torque Mode .............................................................. 5-10
Figure 5-7. AutoTune Screen .............................................................................. 5-12
Figure 5-8. Servo Loop Diagram (Torque Mode) ............................................... 5-17
Figure 5-9. Servo Loop (Open-Loop Velocity Mode) ........................................ 5-17
Figure 5-10. Servo Loop (Velocity Mode, Closed Loop) ..................................... 5-18
Figure 5-11. Flowchart of Overall Tuning Process ............................................... 5-21
Figure 5-12. Unacceptable Velocity Error ............................................................ 5-24
Figure 5-13. Acceptable Velocity Error (While Adjusting Kp) ............................ 5-24
Figure 5-14. Unacceptable Position Error (While Adjusting Ki) .......................... 5-25
Figure 5-15. Acceptable Position Error (While Adjusting Ki).............................. 5-25
Figure 5-16. Plot Showing an Appropriate Value for PGain................................. 5-26
Figure 5-17. Plot Showing Overall Effects when PGain is High........................... 5-26
Figure 5-18. Plot Showing Velocity Feedforward Enabled (Vff=1) ..................... 5-27
Figure 5-19. Plot Showing Optimal AffGain Adjustment ..................................... 5-28
Figure 5-20. Plot Showing Final Performance of ATS3220140P X axis
table, with a BM130 motor and an AS32030 amplifier .................... 5-28
Figure 5-21. Flowchart of Overall Tachometer Tuning Process ........................... 5-32
Figure 5-22. Cross-Section of the DS16020/16030 Amplifier .............................. 5-34
Figure 5-23. Amplifier Potentiometer Layout ....................................................... 5-34
Figure 5-24. Oscilloscope Showing Current Feedback for One Move.................. 5-37
Figure 6-1. AerPlot Screen.................................................................................... 6-1
Figure 6-2. Plot Selection Window ....................................................................... 6-2
Figure 6-3. FFT Analysis Window........................................................................ 6-4
Figure 7-1. AerStat Screen .................................................................................... 7-1
Figure 8-1. AerReg Screen.................................................................................... 8-1
Figure 8-2. AerReg Registry Editor Screen........................................................... 8-2
Figure 9-1. The Setup Screen of AerPlot3D ......................................................... 9-1
Figure 9-2. The Setup Screen of AerPlot3D ......................................................... 9-2
Figure 9-3. The Axis Min/Max Travel Screen of AerPlot3D................................ 9-3
Figure 10-1. AerPlotIO Screen ............................................................................. 10-1
Figure 10-2. AerPlotIO Screen ............................................................................. 10-3
Figure 11-1. The Filter Screen .............................................................................. 11-1
Figure 12-1. The Setup Wizard Start Screen......................................................... 12-1
Figure 12-2. The Axis Name/Number Configuration Screen ................................ 12-2
Figure 12-3. The Axis “Type” Configuration Screen............................................ 12-3
Figure 12-4. The Axis Configuration “Correct or Reconfigure” Screen ............... 12-4