Aerotech UNIDEX 600 Series, User Manual

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U600 User’s Guide Parameters
Version 1.4
Aerotech, Inc.
C-21
C.2.36. FBWINDOW
When running an axis in dual (secondary feedback present) loop mode, the servo loop
integrates the velocity feedback from the secondary feedback device, to calculate the
VELPOSITION (position at the motor). The FBWINDOW parameter allows the user
to specify the maximum amount by which the motor position, and the load position (POS
axis parameter, as derived from the primary feedback device), may differ. An
EXTERNAL FEEDBACK fault occurs if the absolute value of that difference exceeds the
amount specified by this parameter. A value of zero disables this monitoring. For an axis
fault to be generated by this condition, the ‘External Feedback Fault’ bit must be set
within the FAULTMASK axis parameter also. The units of this parameter are counts.
C.2.37. FEEDRATEMODE
This axis parameter determines if the axis is subject to feedrate override control while
executing motion from the AerMotn library function calls, not CNC motion. Setting this
parameter to zero disables the feedrate override control, while a value other than zero
makes the axis subject to feedrate override. The default value is zero (0). If the
FEEDRATEMODE is not zero, then the feedrate override control is expected over the
analog input channel 1 on UNIDEX 600/650 systems.
This feedrate override control effects only motion generated from the AerMotnxxx
library function calls and not CNC generated motion.
C.2.38. GANTRYMODE
This axis parameter is set for the master axis and represents the number of the slave axis.
The gantry mode utilizes the AuxVelCmd axis parameter for commanding motion on the
slave axis, so it should not be used while the gantry mode is active.
0 Gantry Mode is off (default)
1-16 Gantry Mode 1
17-32 Gantry Mode 2
C.2.38.1. Configuring GANTRYMODE
1. Align the Gantry so that it can be run.
2. Set GANTRYMODE to mode 2
3. Home the master axis. The slave will follow.
4. Set GANTRYOFFSET correctly (to remove skew and to set the distance away
from the marker)
5. Set GANTRYMODE to mode 1
C.2.39. GANTRYOFFSET
This axis parameter is set for the master axis and represents the distance the slave axis
should be away from the marker in machine steps.