Table of Contents
vii
Section 9 — Advanced Capabilities
␣ ................................................. 9-1
9.1
Motion Control Software Overview ................................................. 9-1
9.1.1 Introduction ............................................................................. 9-1
9.1.2 Control API ............................................................................... 9-1
9.1.2.1 System Initialization .................................................. 9-1
9.1.2.2 Configuration ............................................................. 9-1
9.1.2.3 Axis Control ................................................................ 9-2
9.1.3 Trajectory Control Process ................................................... 9-2
9.2
Data Acquisition Overview ............................................................... 9-2
9.3
PCI Bus Overview ............................................................................... 9-4
Appendix A — Error Messages
␣ ........................................................... A-1
Appendix B — Trouble-Shooting and Maintenance
␣ ................ B-1
B.1
Trouble-Shooting Guide ..................................................................... B-1
B.2
Fuse Replacement .............................................................................. B-3
B.2.1 Replacing Fuses On The UniDrive Rear
Power Line Panel ..................................................................... B-3
B.2.2 Replacing Fuses On The UniDrive Motor
Power Supply Board ............................................................... B-4
B.3
Cleaning ............................................................................................... B-7
Appendix C — Connector Pin Assignments
␣ ................................ C-1
C.1
ESP6000 Controller Card ................................................................... C-1
C.1.1 Main I/O (100-Pin) Connector ............................................... C-2
C.1.2 Motor/Driver Interface (100-to-68 Pin) Cable ..................... C-6
C.1.3 Digital I/O (50-Pin) JP4 Connector ........................................ C-9
C.1.4 Auxiliary I/O (40-Pin) JP5 Connector ................................. C-11
C.1.5 Analog I/O (26-Pin) JP2 Connector ..................................... C-15
C.2
UniDrive6000 Universal Motor Driver ........................................... C-17
C.2.1 Controller Input Connector ................................................. C-17
C.2.2 Motor Driver Card 25-Pin I/O Connector ........................... C-17
C.3
Terminal Block Board ...................................................................... C-21
C.3.1 MD4 15-Pin Connector .......................................................... C-22
C.3.2 Eighteen-Lead Connector ..................................................... C-24
C.3.3 Optional Power Supply Connector ..................................... C-26
C.3.4 Nine-Lead Connector ............................................................ C-27
C.3.5 Jumpers .................................................................................. C-28
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