Initialization .................................................................................................................................24
Position Sensing...........................................................................................................................24
Drive Output ................................................................................................................................24
Closing the Loop..........................................................................................................................24
Integral and Differential Gains.....................................................................................................25
Feed Forward ...............................................................................................................................25
Feed Forward Advance ................................................................................................................26
Control at Rest .............................................................................................................................26
Control Equations ........................................................................................................................26
Getting Started and Tuning the Axis ..........................................................................................................27
Step 1 - Setting Up the Initialization Parameters .........................................................................27
Direction Parameter .......................................................................................................27
Scale Parameter..............................................................................................................27
Position Offset Parameter ..............................................................................................28
Step 2 - Moving the Axis .............................................................................................................28
Step 3 - Jogging the Axis .............................................................................................................29
Step 4 - Tuning the Axis ..............................................................................................................29
VME Controller Programming Precautions ...............................................................................................30
VME Controller Error Handling ..................................................................................................30
Key Items to Remember...............................................................................................................30
Front Panel Indicators ................................................................................................................................31
Hardware Configuration Information.........................................................................................................32
Supported VME Bus Address Modifiers .....................................................................................32
Module Jumpers and Removable Resistors .................................................................................32
Magnetostrictive Transducer Interrogation Pulse Polarity ............................................33
Number of Recirculations ..............................................................................................33
Dual Port Address Selection ..........................................................................................35
Fail Safe Timer Operation .............................................................................................36
Fail Safe Timers Jumpers...............................................................................................36
VME Bus Interrupt Selection ........................................................................................37
Firmware Development .................................................................................................37
Drive Selection.............................................................................................................................38
External Wiring and Site Installation Information .....................................................................................39
Common Problems and Solutions ..............................................................................................................41
Repairs and Returns....................................................................................................................................42
Field Module Repair ....................................................................................................................42
Module Returns............................................................................................................................42
Warranty Repairs ...........................................................................................................42
Returns...........................................................................................................................42
Glossary......................................................................................................................................................43
ASCII Code Chart ......................................................................................................................................44
External Wiring Examples .........................................................................................................................45
