Aerotech UNIDEX 600 Series, User Manual

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U600 User’s Guide Table of Contents
Version 1.4
Aerotech, Inc.
iii
TABLE OF CONTENTS
CHAPTER 1: INTRODUCTION AND OVERVIEW ........................................... 1-1
1.1. Introduction ........................................................................................ 1-1
1.2. Installation .......................................................................................... 1-1
1.3. Programming ...................................................................................... 1-2
1.4. Architecture Overview........................................................................ 1-3
1.4.1.
Axis Processor...................................................................... 1-4
1.4.1.1. The Motion Controller Execution Unit .................. 1-4
1.4.1.2. Library Servicer ..................................................... 1-5
1.4.1.3. CNC Engine ........................................................... 1-5
1.4.2. The PC ................................................................................. 1-5
1.4.2.1. The PC Interrupt .................................................... 1-5
1.5. Motion ................................................................................................ 1-6
1.5.1.
The Servo Loop.................................................................... 1-6
1.5.2. Generating Motion ............................................................... 1-6
1.5.3. Monitoring Motion............................................................... 1-7
1.5.4. Multi-Axis Motion ............................................................... 1-7
1.5.5. Motion Resolution................................................................ 1-7
1.6. Faults .................................................................................................. 1-8
1.6.1.
Axis Faults ........................................................................... 1-8
1.6.2. Task Faults ........................................................................... 1-9
1.7. Option Ordering Information............................................................ 1-10
CHAPTER 2: GETTING STARTED...................................................................... 2-1
2.1. Introduction ........................................................................................ 2-1
2.1.1.
Minimum Requirements ....................................................... 2-2
2.1.2. Fundamentals ....................................................................... 2-3
2.1.2.1. Parameters.............................................................. 2-3
2.1.2.2. Bit Masks ............................................................... 2-4
2.1.2.3. Faults...................................................................... 2-4
2.2. Software Installation........................................................................... 2-5
2.2.1.
UTIL600-NT Installation ..................................................... 2-5
2.2.2. MMI Software Installation ................................................... 2-5
2.2.3. WinNT/Win95 Registration ................................................. 2-5
2.2.4. Software Installation Testing................................................ 2-6
2.3. Axis Configuration ............................................................................. 2-7
2.3.1.
Servo Loop Modes ............................................................... 2-7
2.3.2. Configuring Closed-Loop (Torque or Velocity)................... 2-8
2.3.2.1. Motor Types........................................................... 2-8
2.3.2.2. Feedback Devices .................................................. 2-8
2.3.2.3. Digital-to-Analog Conversion (Output to the
Amplifier) .............................................................. 2-9
2.3.3. Configuring a Spindle (Open-Loop Velocity Mode)............ 2-9
2.4. Motor Units (Resolution and Direction).......................................... 2-10
2.4.1.
Linear vs. Rotary type ........................................................ 2-10
2.4.2. Motor Resolution ............................................................... 2-10
2.4.3. Motor Direction.................................................................. 2-10
2.5. Drive Signals .................................................................................... 2-11
2.6. Axis Faults........................................................................................ 2-11