Aerotech UNIDEX 600 Series, User Manual

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U600 User’s Guide AerDebug
Version 1.4
Aerotech, Inc.
4-23
4.6.11. CONFIGREAD (filespec)
The CONFIGREAD command configures an axis from the specified .INI file. The .INI
file is written with the CONFIGWRITE command after manually configuring the axis the
first time.
EXAMPLE:
AX 1 ; Set axis to configure
CONFIGREAD AxisCfg.ini ; configure axis 1 from AxisCfg.ini file
4.6.12. CONFIGRESOLVER (resolver_ch) (resolution) (poles)
(com_offset)(bounded)
The CONFIGRESOLVER command allows the user to assign a resolver feedback channel
to an axis to be used as the position and/or velocity feedback for that axis. The valid
range of resolver feedback channels is determined by the number of resolver feedback
cards present in the user’s system. The resolution parameter specifies the desired counts
per revolution of the motor that the user’s R/D card has been configured for. This is
entered as 10, 12, 14, or 16. These numbers represent binary powers of two (i.e., 2
10
, 2
12
,
2
14
or 2
16
), which produce 1024, 4096, 16384 or 65536 counts per motor revolution. The
com_offset parameter allows the resolver to be aligned to the motor phasing by specifying
an offset to produce the required mechanical alignment. This offset is specified by a 14
bit number (0-16384), with 360 degrees being equal to 16384. The bounded parameter is
used to activate software end-of-travel limits by entering a 1 for this parameter (0 to
disable them).
UNIDEX 600 Series controllers have 4 channels provided by each resolver (R/D) card.
Their channel numbers are determined by the R/D board number. Resolver board number
one will be channels 1 through 4, board two will be channels 5 through 8, etc.
Attempting to configure an axis for a resolver channel that is not present will cause a
programming error. This error will be indicated by the GETPROG command after the bad
configuration attempt.
EXAMPLE:
CONFIGRESOLVER 3 12 4 8192 1 ;current axis will be assigned
;resolver channel 3 to receive
;position/velocity feedback from,
;feedback will be 12 bit (4096
;counts per motor revolution), it is
;driving a 4 pole motor, the
;resolver is 180 electrical degrees
;(8192) out of phase with the
;motor, software limits are enabled