Aerotech UNIDEX 600 Series, User Manual

Page: 65 / 354

Programming U600 User’s Guide
3-4
Aerotech, Inc.
Version 1.4
3.2.1. Basic Elements of a Library Interface Program
All library controlled application programs written for the UNIDEX 600 Series
controllers must have a minimum subset of functionality in common. These functions
include:
1) Opening a channel of communication to the UNIDEX 600 Controller and
downloading the firmware.
2) Configuring the axes for the types of feedback transducers and motors
present.
3) Setting all applicable axis parameters.
4) Running motion commands.
5) Fault Handling.
Opening a path of communication to the card and downloading the axis firmware is
achieved by executing two commands:
•
AerSysOpen(…)
•
AerSysDownLoad(…)
After executing these commands, the UNIDEX controller is ready to accept all other
function calls. The AerSysDownLoad statement only has to execute once to bring the
controller out of the reset state. AerSysReset() can be used to return the processor to the
reset state.
Specific function calls have been provided for the configuration of the most commonly
used feedback devices such as encoders and resolvers for commutated and
non-commutated motors. Also, functions have been defined to permit dual feedback
transducers (one for position feedback and one for velocity feedback) on a per axis basis.
All these functions are prefixed by “AerConfig”.
Function calls exist for setting and retrieving Axis, Task, Gobal and Machine parameters.
The programmer can choose to implement their own parameter management mechanism
(i.e. writing and reading parameter values from files), hard code parameters in the
application program or use the Aerotech provided parameter file management
mechanisms. All these functions are prefixed by “AerParam”.
Motion commands consist mainly of synchronous/asynchronous linear motion in either
absolute or incremental coordinates, G-code commands and cam table/electronic gearing.
Combinations of these types of motion may be active across multiple axes at the same
time. Please see Chapter 1 for details on available motion. All these functions are prefixed
by “AerMove” or “AerCamTable”.
Fault handling from the library interface is accomplished via setting the appropriate axis
parameters, which is done through the “AerParam” functions. Please see Chapter 1,
under Faults, for a generic description of U600 fault handling.