Aerotech UNIDEX 600 Series, User Manual

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Table of Contents U600 User’s Guide
iv
Aerotech, Inc.
Version 1.4
2.6.1. FAULT ............................................................................... 2-12
2.6.1.1. Axis Faults and Programming .............................. 2-12
2.6.2. Fault Masks ........................................................................ 2-14
2.6.2.1. FAULTMASK ..................................................... 2-15
2.6.2.2. DISABLEMASK ................................................. 2-15
2.6.2.3. HALTMASK ....................................................... 2-15
2.6.2.4. AUXMASK ......................................................... 2-15
2.6.2.5. ABORTMASK..................................................... 2-16
2.6.2.6. INTMASK ........................................................... 2-16
2.6.2.7. BRAKEMASK..................................................... 2-16
2.6.2.8. Example ............................................................... 2-16
2.7. Task Faults........................................................................................ 2-18
2.8. Emergency Stop (ESTOP) ................................................................ 2-18
2.9. Axis Testing...................................................................................... 2-19
2.9.1.
Axis Limits ......................................................................... 2-19
2.9.2. Axis Feedback .................................................................... 2-19
2.9.3. Axis Loop Closure.............................................................. 2-19
2.10. Accelerations .................................................................................... 2-20
2.11. Axis Tuning ...................................................................................... 2-20
2.12. Jogging ............................................................................................. 2-20
2.13. Homing ............................................................................................. 2-21
2.14. Programmed Moves.......................................................................... 2-22
2.15. Digital I/O......................................................................................... 2-22
2.15.1. Associating Virtual I/O with Physical I/O .......................... 2-22
2.16. Other Manuals .................................................................................. 2-24
2.16.1. Hardware Manuals (UNIDEX 600).................................... 2-24
2.16.2. Programming Manuals ....................................................... 2-24
2.16.3. MMI Interface .................................................................... 2-24
CHAPTER 3: PROGRAMMING............................................................................ 3-1
3.1. Introduction ........................................................................................ 3-1
3.1.1.
Combination Programming .................................................. 3-2
3.1.2. Multi-Tasking....................................................................... 3-2
3.2. The Library Programming Interface ................................................... 3-3
3.2.1.
Basic Elements of a Library Interface Program.................... 3-4
3.3. CNC G-code Programming................................................................. 3-5
3.3.1.
CNC Tasks and Programs .................................................... 3-6
3.3.2. CNC Program Execution ...................................................... 3-7
3.3.3. Motion from a CNC Program............................................... 3-8
CHAPTER 4: AERDEBUG...................................................................................... 4-1
4.1. Introduction ........................................................................................ 4-1
4.2. The Screen .......................................................................................... 4-2
4.3. The Prompt ......................................................................................... 4-3
4.3.1.
Entering Commands ............................................................. 4-3
4.3.2. Special Keys ......................................................................... 4-4
4.3.3. Help ...................................................................................... 4-5
4.4. Axis and Faultmask Configurations.................................................... 4-6
4.4.1.
Configuring an Axis ............................................................. 4-7
4.4.1.1. CONFIGRESOLVER - Resolver or Inductosyn
Feedback ................................................................ 4-7