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Parameters

U600 User’s Guide

C-32

Aerotech, Inc.

Version 1.4

C.2.65.1.

Profiling Bit in the MOTIONSTATUS Axis Parameter

The profiling bit in the MOTIONSTATUS axis parameter indicates that the axis is in the
profiling mode (G1, G2, G3 or other contoured motion). This bit will be TRUE even
during a manual feedhold or when the MFO = 0, however, it will be false during a
feedhold due to Jog/Interrupt, ONGOSUB, or a canned function.

C.2.65.2.

Moving Bit in the MOTIONSTATUS Axis Parameter

The moving bit in the MOTIONSTATUS axis parameter indicates that the axis is in the
profiling mode (G0, HOME or other contoured motion). This bit will be TRUE, even
during a manual feedhold or when the MFO = 0, however, it will be false during a
feedhold due to Jog/Interrupt, ONGOSUB, or a canned function.

C.2.66.

MOVEQDEPTH

The move queue depth parameter indicates how many commands are waiting to be
executed from that axis motion command queue.

C.2.67.

MOVEQSIZE

The move queue size parameter indicates the maximum number of motion commands that
are permitted in the queue.

C.2.68.

PGAIN

This axis parameter determines the gain of the position loop for the selected axis. Refer to
the UNIDEX 600 Hardware Manual for a description of how this parameter functions in
the servo loop. Note, that you may use the AutoTune feature, within the AerTune.exe
utility (on the Tools menu) to automatically determine servo loop gains for a torque mode
axis.

If the PGAIN axis parameter can not be increased greater than 1, without producing an
instability in the axis, its units may be rescaled.

C.2.69.

PHASE_SPEED

Refer to the BASE_SPEED axis parameter for a description of this parameter.

C.2.70.

PHASEAOFFSET

This axis parameter is used with the PHASEBOFFSET axis parameter to null any offset
in the DAC’s (commands) output to the drive for phase A (and Phase B) of a brushless
motor. Brush motors utilize the DACOFFSET axis parameter.

The value is entered as a signed number representing the number of D/A counts (+/-)
required to bring the DAC output command to zero volts. This value is added to all motor
command values before being output to the DAC.

For example, if an axis has a 60 mV (.060 volt) offset, -392 would be entered for this
parameter. This is calculated by dividing the offset by the voltage value of each step of
the DAC. UNIDEX 600 has a 16-bit DAC (+/- 32767 counts), generating a +/- 10-volt

Содержание UNIDEX 600 Series

Страница 1: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

Страница 2: ...NIDEX 600 SERIES USER S GUIDE P N EDU157 V1 4 AEROTECH Inc 101 Zeta Drive Pittsburgh PA 15238 2897 USA Phone 412 963 7470 Fax 412 963 7459 Product Service 412 967 6440 412 967 6870 Fax www aerotechinc...

Страница 3: ...special pricing on selected products UNIDEX 600 and UNIDEX 650 are products of Aerotech Inc Windows Windows 95 and Windows NT are registered trademarks of Microsoft Windows Windows NT and Visual Basic...

Страница 4: ...nformation 1 10 CHAPTER 2 GETTING STARTED 2 1 2 1 Introduction 2 1 2 1 1 Minimum Requirements 2 2 2 1 2 Fundamentals 2 3 2 1 2 1 Parameters 2 3 2 1 2 2 Bit Masks 2 4 2 1 2 3 Faults 2 4 2 2 Software In...

Страница 5: ...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 PROGRAM...

Страница 6: ...6 6 CMDLAST axis_number 4 19 4 6 7 CONFIGD2A D2A_channel_number 4 19 4 6 8 CONFIGENCODER encoder_ch lines_per_revolution bounded 4 20 4 6 9 CONFIGHENCODER encoder_ch lines_per_rev hall_lines com_offse...

Страница 7: ...6 53 MW address 4 35 4 6 54 OUTON filespec 4 35 4 6 55 OUTOFF Z 4 35 4 6 56 OUTPAUSE 4 35 4 6 57 PARMGET type parameter_name 4 36 4 6 58 PARMMON type parameter_name 4 36 4 6 59 PARMSET type parameter_...

Страница 8: ...2 2 The File Menu 5 2 5 2 3 The Plot Menu 5 3 5 2 4 The Collect Menu 5 3 5 2 5 The Graph Options Menu 5 3 5 2 6 The Trigger Menu 5 3 5 2 7 The Axis Menu 5 4 5 2 8 The Tools Menu 5 4 5 3 Using AerTune...

Страница 9: ...ant Velocity Gain 5 30 5 7 3 Servo Parameter Setup for Tachometer Feedback 5 30 5 7 4 The Servo Loop Parameters for Tachometer Based Systems 5 31 5 7 4 1 PGain Position Gain 5 31 5 7 4 2 Vff Velocity...

Страница 10: ...12 3 12 4 Axis Configuration 12 4 12 4 1 Axis Configuration Wizard 12 5 12 4 2 Axis Parameter Names and Task Number Configuration 12 6 12 4 3 Configuring Axis Type 12 7 12 4 3 1 Predefined Axis Types...

Страница 11: ...Decel 12 37 12 22 Setup Wizard Configuration Complete 12 38 CHAPTER 13 PRMSETUP 13 1 13 1 Introduction 13 1 APPENDIX A GLOSSARY OF TERMS A 1 A 1 Introduction A 1 APPENDIX B TROUBLESHOOTING B 1 APPENDI...

Страница 12: ...GANTRYMODE C 21 C 2 38 1 Configuring GANTRYMODE C 21 C 2 39 GANTRYOFFSET C 21 C 2 40 GEARMASTER C 22 C 2 41 GEARSLAVE C 22 C 2 42 GEARMODE C 22 C 2 43 HALTMASK C 23 C 2 44 HOMEOFFSET C 23 C 2 45 HOME...

Страница 13: ...35 C 2 81 PROFILETIME C 35 C 2 82 PROFQDEPTH C 35 C 2 83 PROFQSIZE C 35 C 2 84 RAWPOS C 35 C 2 85 RESOLVER C 35 C 2 86 REVERSALMODE C 35 C 2 87 REVERSALVALUE C 36 C 2 88 SAFEZONECCW C 37 C 2 89 SAFEZ...

Страница 14: ...JogVelocityIPM C 52 C 3 22 JogVelocityRPM C 52 C 3 23 MaxFeedRateIPM C 53 C 3 24 MaxFeedRateRPM C 53 C 3 25 NumDecimalsEnglish C 53 C 3 26 NumDecimalsMetric C 53 C 3 27 PositionCmdUnits C 54 C 3 28 Po...

Страница 15: ...tyVariance C 67 C 4 15 Coord1Plane C 67 C 4 15 1 Clockwise Circular Axes Plane C 68 C 4 16 Coord1I C 68 C 4 17 Coord1J C 69 C 4 18 Coord1K C 69 C 4 19 Coord2Plane C 69 C 4 19 1 Clockwise Circular Axes...

Страница 16: ...Axis1PlusIn C 82 C 4 63 JogPair2Axis2MinusIn C 82 C 4 64 JogPair2Axis2PlusIn C 82 C 4 65 JogPair2EnableIn C 82 C 4 66 JogPair2Axis1 C 82 C 4 67 JogPair2Axis2 C 82 C 4 68 JogPair2Mode C 82 C 4 69 JoySt...

Страница 17: ...C 4 116 S2_Index C 99 C 4 117 S2_MSO C 99 C 4 118 S2_RPM C 100 C 4 119 S2_SpindleRadius C 100 C 4 120 S3_AnalogMSOInput C 100 C 4 121 S3_Index C 100 C 4 122 S3_MSO C 100 C 4 123 S3_RPM C 101 C 4 124 S...

Страница 18: ...teTimeSec Task Parameter C 111 C 4 146 UserFeedRateMode C 112 C 5 Global Parameters C 113 C 5 1 AvgPollTimeSec C 113 C 5 2 BuildNumber C 114 C 5 3 CallBackTimeoutSec C 115 C 5 4 CompatibilityMode C 11...

Страница 19: ...Table of Contents U600 User s Guide xviii Aerotech Inc Version 1 4...

Страница 20: ...in 5 26 Figure 5 17 Plot Showing Overall Effects when PGain is High 5 26 Figure 5 18 Plot Showing Velocity Feedforward Enabled Vff 1 5 27 Figure 5 19 Plot Showing Optimal AffGain Adjustment 5 28 Figur...

Страница 21: ...ure 12 24 The BRAKEMASK Configuration Screen 12 32 Figure 12 25 The Current Limit Configuration Screen 12 33 Figure 12 26 The Axis Configuration Complete Screen 12 34 Figure 12 27 The Accel Decel and...

Страница 22: ...3 7 Table 4 1 AerDebug Special Character Keys 4 4 Table 4 2 AerDebug Commands 4 15 Table 4 3 Basic Command to Library Function Cross Reference 4 48 Table 4 4 Axis Command to Library Function Cross Re...

Страница 23: ...ide xxii Aerotech Inc Version 1 4 Table C 17 Status2 Bit Descriptions C 106 Table C 18 Status3 Bit Descriptions C 107 Table C 19 Global Parameters C 113 Table C 20 Compatibility Chart C 115 Table C 21...

Страница 24: ...application CHAPTER 4 AERDEBUG This chapter contains information about the AerDebug command line oriented program that can be used for examining or controlling the UNIDEX 600 Series axis processor car...

Страница 25: ...ed Ini files onto your PC APPENDIX A GLOSSARY OF TERMS Appendix A contains a list of definitions of terms used in this manual APPENDIX B TROUBLESHOOTING Appendix B contains information on troubleshoot...

Страница 26: ...mbers are listed using a preceding 0x for example 0x300 0x12F 0x01EA etc to distinguish them from decimal numbers Graphic icons or keywords may appear in the outer margins to provide visual references...

Страница 27: ...Preface U600 User s Guide xxvi Aerotech Inc Version 1 4...

Страница 28: ...he controller and are described in Chapter 3 The utilities set up troubleshoot and operate the controller and are described in Chapter 4 through Chapter 8 Chapter 2 is devoted to the information neede...

Страница 29: ...grammer must understand the fundamentals of both in order to make the correct decision Refer to Chapter 3 Programming for more details Configure Axes Refer to Section 2 3 Axis Tuning Refer to Chapter...

Страница 30: ...ther independent processor Although the axis processor is one processor through the use of polling and interrupts it acts as three separate execution units called the library servicer the CNC engine a...

Страница 31: ...nction is to execute the servo loop that reads the feedback signals and generates the velocity and position commands for the drives It is triggered by an interrupt that normally fires once every 1 4 m...

Страница 32: ...he library calls or through PC interrupts 1 4 2 1 The PC Interrupt The Axis processor generates PC interrupts in two cases Faults axis or task and Callbacks The U600MMI or any other Aerotech utility s...

Страница 33: ...5 3 of Chapter 5 AerTune summarizes the relevant axis parameters and their use 1 5 2 Generating Motion In general there are three types of motion available for a single axis synchronous asynchronous...

Страница 34: ...pendix C for details on availability The CNC interface allows the programmer to specify code to be executed when certain conditions occur Also see Chapter 2 section on Faults for more monitoring capab...

Страница 35: ...ARMGET A FAULT PARMGET T TASKFAULT Resetting in U600MMI Hit Fault acknowledge button Hit Fault acknowledge button Resetting in AerDebug PARMSET A FAULT 1 PARMSET T TASKFAULT 0 Generates an Interrupt t...

Страница 36: ...r asynchronous motion is not normally halted by a Task Fault To do this the user must use the TaskFault bit of the FAULTMASK Axis parameter The user can customize other actions to occur on a task faul...

Страница 37: ...ons Part Number Description MMI600 NT CNC MMI for Windows NT 95 SDK600 NT Software Development Kit for Windows NT 95 MMISRC600 NT Source Code for Aerotech s MMI600 NT CNC Application CIMLITE Computer...

Страница 38: ...troduction Figure 2 1 is a flowchart providing an overview of the installation process from installing the software through preliminary servo loop tuning If a complete system was purchased from Aerote...

Страница 39: ...mendations Minimum Requirements Windows 95 Windows NT PC Speed 90 MHz 90 MHz RAM per MS specs 16 Megabytes 24 Megabytes Graphics Display 800x600 800x600 OS version 4 0 4 0 Configure Axes Refer to Sect...

Страница 40: ...is Machine Task and Global Some parameters are read only like raw position and are for monitoring status The user can set view parameters through the U600MMI or through AerDebug using the PARMSET and...

Страница 41: ...xadecimal masks and bitwise ORs ANDs and NOTs to read and set bitmask values Table 2 3 Hexadecimal values of Bit Numbers Bit Number Mask hexadecimal value 0 0x1 1 0x2 2 0x4 Table 2 3 indicates the hex...

Страница 42: ...is desired change the target directory from this pop up window If a new sub directory does not exist the installation program will automatically create it 5 Follow any subsequent instructions that ar...

Страница 43: ...for some incorrect PC interrupt values but not all To test the PC interrupt properly run AerDebug and if it does not indicate that the PC interrupt is bad type TI It will display No Error or give an...

Страница 44: ...he U600 Library Reference Manua l P N EDU156 The axes cannot be configured from the CNC programming interface 2 3 1 Servo Loop Modes There are four types of servo loop configurations virtual torque mo...

Страница 45: ...three steps First the type of motor should be determined brush or brushless Second the user must specify a feedback device type with a defined channel number for feedback to be received Third designat...

Страница 46: ...d for the drive for example a value of 16 384 will produce a 5 volt peak For velocity command systems IAVGLIMIT should be set to zero Now that all the parameters have been configured for the axis it m...

Страница 47: ...ng a distance relative to the current position in which case the arithmetic sign of the target determines the direction similar to a linear type motors A modulo rotary axis is defined by setting the T...

Страница 48: ...then viewing the Axis Status tab and insure that these reported signals agree with the hardware If a signal does not agree then invert its bit in the IOLEVEL axis parameter this will invert the active...

Страница 49: ...r all those faults Setting it to 12 would clear the CW and CCW faults but not the position error limit fault Alternately all faults may be simultaneously cleared by setting FAULT to a value of 1 1 0xf...

Страница 50: ...amming Fault Axis processor received an invalid command from the PC host These only occur when processing programming commands from programs running on the PC U600MMI AerDebug Refer to the UNIDEX 600...

Страница 51: ...x800000 ESTOP Emergency stop has occurred see Section 2 8 24 0x1000000 WatchDog Fail Safe timer 25 0x2000000 Position Tolerance Axis did not move the distance specified by POSTOLERANCE within the POST...

Страница 52: ...t mask The other masks with the exception of BRAKEMASK in some circumstances will not operate for a particular fault condition unless the FAULTMASK is set for that fault condition Table 2 5 explains e...

Страница 53: ...match the UNIDEX 600 Series controller will generate an axis interrupt The phase bits bits 19 through 22 are an exception the FAULTMASK does not need to be set for these to be active that is they need...

Страница 54: ...he indicated bits would be set in the ABORTMASK and INTMASK parameters Summing the value of the desired bits together and setting the parameter to that value as shown in Table 2 8 and Table 2 9 does t...

Страница 55: ...t may be defined for each task Define the task ESTOP by setting the EStopInput task parameter to the value of the binary input driven by the external ESTOP circuit set it to minus 1 if there is to be...

Страница 56: ...ons with the AerDebug utility Sequentially select each axis with the AX command then use the PARMMON command to monitor the POS parameter for encoders or the RESOLVER parameter for resolvers AX 2 Sele...

Страница 57: ...l loads The following axis parameters are used for adjusting the response of a velocity mode servo loop see section 2 3 3 PGAIN VGAIN AFFGAIN and ALPHA Both the KI and KP should be set to zero for vel...

Страница 58: ...the home cycle See the HomeType machine parameter description for a definition of the home types Once the axis has completed the home cycle if a home offset has been defined by the HomeOffsetDeg or H...

Страница 59: ...motor torque but there will be no motion generated In this mode drives and motors do not need connected 2 15 Digital I O The UNIDEX 600 Series of controllers utilizes a Virtual I O mapping technique t...

Страница 60: ...and Virtual I O Mapping INPUTS Board Label Virtual Input Connector and Pin Numbers on the Respective Board UNIDEX 600 IN 0 15 0 through 15 P9 pins 31 1 odd pins Expansion Board 1 IN 0 15 16 through 3...

Страница 61: ...ed Aerotech hardware manuals are the DR500 Hardware Manual P N EDA120 the BA Series Amplifier Manual P N EDA121 and the PSO PC Laser Firing Manual P N EDO105 2 16 2 Programming Manuals For information...

Страница 62: ...al P N EDU158 The majority of the functionality of the U600 controller is accessible under either interface In both interfaces the user generates motion by writing programs that contain steps or lines...

Страница 63: ...xecution this is what the U600 MMI actually does Table 3 2 Advantages of the Two Programming Interfaces PC Controlled Advantages Using Library Calls Axis Processor Controlled Advantages Using G codes...

Страница 64: ...e U600 MMI or AerDebug or a custom library application to do this An important feature of library controlled motion is the product executing on the PC is a binary executable file which the end user ca...

Страница 65: ...vices 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 feedba...

Страница 66: ...controls the CNC Although the CNC language is not as rich as C or C it should be mentioned here that the AEROTECH U600 CNC language goes far beyond the RS 274 language in providing language structure...

Страница 67: ...xecution time to the next task until the allotted time passed Therefore time consuming statements in one task do not slow down processing of the other tasks Tasks can run any program regardless of wha...

Страница 68: ...3 3 In general they must be performed in the order listed Note that the U600 MMI hides most of the details see the U600 MMI online help file for simplified instructions on how to control programs fro...

Страница 69: ...trol of that task axis The typical CNC application always consists of the following MAP X1 Y2 Z3 U4 Assign a physical axis channel to a task axis BIND X Y Z U Declare ownership of a task axis to a tas...

Страница 70: ...axis processor card and is useful for monitoring the effects of that application on the axis processor For example the user can continuously monitor axis positions while motion is directed by the test...

Страница 71: ...ebug in response to commands is in red When the data on the DATA screen exceeds the height of the screen the screen scrolls up and the topmost lines are discarded The HELP screen has a BLUE background...

Страница 72: ...special characters and may or may not be echoed Also the characters _ and are considered alphabetic and may be used in filenames The case of alphabetic characters are ignored lowercase characters are...

Страница 73: ...keys will not work arrows home etc on keypad do nothing Table 4 1 AerDebug Special Character Keys KEY MEANING QWHU HFXWH WKH FRPPDQG OLQH IWHU H HFXWLRQ PRYH GRZQ D OLQH DQG RSHQ QHZ SURPSW OLQH VF LV...

Страница 74: ...es Library Reference Manual Section 4 7 in this chapter provides a cross reference between the commands and the library functions To receive more help on a command the user may type that command follo...

Страница 75: ...ased properly by manually moving the axis and observing the position changes The UNIDEX 600 650 expect positive velocity clockwise motor rotation feedback for a negative polarity torque command Also t...

Страница 76: ...DC brush or an AC brushless motor using Resolver Inductosyn feedback the following syntax applies CONFIGRESOLVER reschannel resolution poles offset bounded where reschannel Resolver channel for positi...

Страница 77: ...d encoder feedback for commutation the following syntax applies CONFIGHENCODER encchanne lines_per_rev hall_lines com_offset comm_ch bounded where encchannel Encoder channel for servo position feedbac...

Страница 78: ...ep The default is 1 500 com_offset Commutation offset for CONFIGHALL is specified in degrees 360 offset 360 The units are equal to 0 through 16 384 for 0 to 360 comm_ch Hall channel used to provide Ha...

Страница 79: ...of the configuration file to read the axis configuration from 4 4 1 7 ConfigWrite Write an Axis Configuration to a File After initially configuring the axes manually the configuration may be saved to...

Страница 80: ...npredictable results For a full description of faultmasks refer to Chapter 2 Getting Started Section 2 6 2 4 4 2 1 Acknowledging and Clearing Faults AerDebug does not inform the user when the fault oc...

Страница 81: ...and view each error as it occurs 4 5 1 Running CNC Programs AerDebug allows the user to compile download and run CNC programs or single CNC lines After AerDebug begins executing a CNC program it retu...

Страница 82: ...s is similar to that of running a CNC program read from a file EXAMPLES PRG1 G70 Compile load as program PRGLOAD Load compiled program TSKASSOC Associate program with this task PRGRUN Run the line The...

Страница 83: ...ser must declare the size of a circular queue When the axis processor has reached the end of the queue then it starts executing the queue at the beginning After each line is executed that line becomes...

Страница 84: ...le Filespec PLYREWIND Rewinds the PLAY file to the start None RDO RGINFO Display operating system registry information device_id card_num QUIT Exits the AerDebug application None RESET RESET the Axis...

Страница 85: ...m Filespec IOGET Display the value of a virtual I O point BI BO RI RO type point IOMON Monitor the value of a virtual I O point BI BO RI RO type point IOSET Set the value of a virtual I O point BI BO...

Страница 86: ...program compile status Filespec PRGTYPE Shows program test lines Filespec PRGUNLOAD Frees a CNC program Filespec PSODOWNLOAD Load firmware into PSO card None SPENDANTTEXT Set text line on teach pendan...

Страница 87: ...of the PC software This permits lower level testing and debugging of the controller not normally performed by the user EXAMPLES DB 80c display byte of memory at 80c MW 10000 monitor word of memory at...

Страница 88: ...byte count of the data transfer between the PC and UNIDEX 600 Series controller card EXAMPLE CMDLAST 4 show last command for axis 4 4 6 7 CONFIGD2A D2A_channel_number The CONFIGD2A command allows the...

Страница 89: ...our times the physical line count of the encoder The bounded parameter is used to activate software end of travel limits by entering a 1 for this parameter 0 to disable them A UNIDEX 600 650 controlle...

Страница 90: ...quired mechanical alignment This offset is specified by a 14 bit number 0 16384 with 360 degrees being equal to 16384 The comm_ch parameter specifies the Hall effect feedback channel The bounded param...

Страница 91: ...n 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 comm_ch parameter specifies the Hall effect feedback...

Страница 92: ...4 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 T...

Страница 93: ...ia the AX command The status displayed is the fault servo and motion status for the axis The type of axis indicates a linear or rotary axis as follows 0 Linear axis 1 Rotary axis with modulo position...

Страница 94: ...ameter that is the table number which is zero based indexed See the AerAxisCalxxx functions in the UNIDEX 600 Library Reference Manual P N EDU156 EXAMPLE DUMPERROR0 dump error table 4 6 21 DW address...

Страница 95: ...If the program successfully completes execution the message No Error will be displayed EXAMPLE EXEPRG C U600 PGM TEST PGM run test pgm 4 6 26 EXIT The EXIT command terminates the AerDebug exe applica...

Страница 96: ...ary input 3 IOGET BO 127 read state of binary output 127 IOGET RI 511 read register input 511 IOGET RO 0 read state of register output 0 4 6 30 IOMON type point_number The IOMON command monitors the s...

Страница 97: ...this range among inputs and outputs so there are 128 register inputs 128 register outputs 512 binary inputs and 512 binary outputs EXAMPLES IOSET BI 73 1 set the state of binary input 73 to 1 IOSET B...

Страница 98: ...an absolute reference point The direction parameter is either 1 or 1 to specify a clockwise or counter clockwise homing direction The speed parameter is in machine steps per second The axis must be e...

Страница 99: ...arted by the move or motion commands beginning with an M such as MABSOLUTE MHOME etc The axis will decelerate in the mode rate time defined by the Decel DecelMode and DecelRate axis parameters EXAMPLE...

Страница 100: ...may be set in user units by first defining the axis type using the Type axis parameter and entering the home offset into the HomeOffsetInch or HomeOffsetDeg for rotary axes machine parameter This will...

Страница 101: ...pecified The home procedure is defined as follows the axis begins moving in the specified home direction and stops on the next encoder marker pulse or resolver null and sets the position register equa...

Страница 102: ...ue for the currently selected axis All commands that were in the queue will not be executed EXAMPLE MQFLUSH clear the queue for the current axis 4 6 45 MQHOLD This command places the queue for the cur...

Страница 103: ...ied axis queue that had been halted from executing motion commands contained within its 16 level deep queue by the MQHOLD command EXAMPLE MQRELEASE restart the axis command queue 4 6 49 MRELEASE This...

Страница 104: ...icating the filename within brackets between the current prompt AX or MEM and the EXAMPLE OUTON myfile dat echo output to myfile dat 4 6 55 OUTOFF Z The OUTOFF command will terminate echoing of the ou...

Страница 105: ...the position of the current axis 4 6 59 PARMSET type parameter_name value The PARMSET command sets the value of the specified parameter of the specified type The types of parameters are Global Task Ma...

Страница 106: ...he compiled file to the axis processor The compiled program is held in RAM and can be downloaded to the axis processor via the PRGLOAD command The filespec specifies the CNC program and path if its no...

Страница 107: ...C program EXAMPLE PRGERRS U600 TEST PGM any error s 4 6 66 PRGINFO filespec The PRGINFO command returns information on a program that has been downloaded to the axis processor card It will display the...

Страница 108: ...the program that has been successfully compiled This is not the downloaded object program on the axis processor see PRGDUMP it is the source lines from the user s program EXAMPLE PRGTYPE U600 TEST PG...

Страница 109: ...communication with the axis processor is possible until a DOWNLOAD command is executed EXAMPLE RESET reset the axis processor card 4 6 77 RGINFO device_id card_num The RGINFO command displays the UNI...

Страница 110: ...to the specified task The range of valid tasks are 1 through 4 EXAMPLE TK displays current task mode TK 2 sets current task to 2 4 6 82 TSKASSOC filespec The TSKASSOC command associates the specified...

Страница 111: ...S stop the current program TSKPRG L 5 set current program line number to 5 4 6 86 TSKRESET This command resets the current task This includes deassociating any program clearing task faults clearing pr...

Страница 112: ...Task double variable 9 VDGET P display all Program double variables VDGET S 1 display call Stack double variable 1 4 6 90 VDMON type number The VDMON command monitors the value of a double variable u...

Страница 113: ...respectively all holding 128 character strings There are ten Global twenty Task string variables each numbered 0 through the maximum size 1 determined by the NumGlobalStrings and NumTaskStrings param...

Страница 114: ...T 19 display Task string variable 19 VSGET P 0 display Program string variable 0 The string must be within quotation marks if there are spaces within the string 4 6 95 WAIT condition The WAIT command...

Страница 115: ...es same text to a serial port See the AerSerialWritexxx function in the UNIDEX 600 Library Reference Manual P N EDU156 EXAMPLE WRITESERIAL 0 test write to serial port 4 6 98 WW address value The WW co...

Страница 116: ...permitted is determined by the MaxMonitorData task parameter EXAMPLE ZMONITOR display all the current monitor conditions defined 4 6 101 ZONGOSUB The ZONGOSUB command displays all the ongosub conditio...

Страница 117: ...ot Applicable PLAY Executes the commands from within the specified file Not Applicable PLYREWIND Rewinds the PLAY file to the start Not Applicable QUIT Exits the AerDebug application Not Applicable RE...

Страница 118: ...VirtGetRegisterInput AerVirtGetRegisterOutput IOSET Set the value of a virtual I O point BI BO RI RO AerVirtSetBinaryInput AerVirtSetBinaryOuput AerVirtSetRegisterInput AerVirtSetRegisterOutput PARMGE...

Страница 119: ...AerTaskProgramSetLineUser TSKRESET Resets the current task AerTaskReset VDGET Display the value of a variable double word G T P S AerVarGlobalGetDouble AerVarTaskGetDouble AerVarProgramGetDouble AerVa...

Страница 120: ...ng Procedure for Torque Current Mode Servo Loops 5 20 Tuning With Tachometer Feedback 5 30 Tuning Tachometer Loops 5 32 5 1 Introduction The AerTune program is a utility for visually observing and fin...

Страница 121: ...ished by allowing the user to command motion and or capture data from the axis The AerPlot utility may be used to plat multiple axes simultaneously See the DATASTART command for triggering data collec...

Страница 122: ...achine steps counts or degrees The analog inputs may be displayed as machine steps counts or volts The Time Scale selection allows the time or X axis of the plot to be displayed as seconds seconds 100...

Страница 123: ...e button selected either plus or minus The axis may be stopped during a move by selecting the Halt button A button is also provided for enabling disabling the axis The Clear button will clear any faul...

Страница 124: ...inimizes position error during acceleration and deceleration 5 3 1 Step Move Parameters The distance field is the number of machine counts that the axis will move when the Step or Step or auto cycle b...

Страница 125: ...se a 375 Hz low pass filter might be used If there is a resonant frequency see Identifying an Instability within the Servo Loop Section 5 3 4 Figure 5 4 FFT Analysis 5 3 2 1 The FFT Analysis Window Me...

Страница 126: ...stem considerations like motors ball screws bearings encoders stiffness structural resonance move profiles and duty cycle may require a lesser value for optimum and reliable performance Exceeding the...

Страница 127: ...The required values of the A1 A2 B0 B1 and B2 axis parameters will be displayed Enter these values into the axis parameters for the axis in question You should now be able to successfully Auto Tune t...

Страница 128: ...ctrical cycle of the brushless motor One electrical cycle of the brushless motor can be calculated in machine steps by dividing the number of machine counts per revolution of the motor by the number o...

Страница 129: ...the current Amps output to be calculated Aerotech s amplifiers typically model dependant have a peak output of 20 or 30 amps Simply meaning a 10 volts in to the amplifier will be equal to x amps wher...

Страница 130: ...tuning parameters starting the AutoTune cycle and accepting the calculated gains Begin AutoTuning with a 10 Hz bandwidth and increase until the axis becomes unstable After the axis becomes unstable de...

Страница 131: ...ower excitation frequency of approximately 0 25 0 5 Hz Axes with a small mass or low inertia require a higher excitation frequency of approximately 2 0 Hz Air bearing axes should use a damping factor...

Страница 132: ...2 Excitation Amplitude will exceed Velocity Trap Limit The Amplitude of Excitation in AutoTune has been entered as a value that would cause the VELTRAP axis parameter to be exceeded The value will be...

Страница 133: ...e chosen to be approximately 20 of the velocity loop bandwidth It has been found that this Position Loop Bandwidth will give very good performance in almost all cases If needed the user can manually r...

Страница 134: ...l be smaller A default damping factor of 0 707 is typically an optimal choice that gives a system a response that blends a small amount overshoot with fast response and quick settling time 5 4 3 3 Use...

Страница 135: ...otion the Velocity Loop takes precedence and an attempt will be made to have a tight Velocity Loop and a tight Position Loop To have very little settling time the Position Loop takes precedence and an...

Страница 136: ...dback from Primary Feedback Device Torque Command To Amplifier ACCELERATION FEEDFORWARD VELOCITY FEEDFORWARD Ki Vff 0 1 AffGain PGAIN VGain 65536 Kp Actual Position of Axis Actual Velocity of Axis 2nd...

Страница 137: ...servo loop parameter to adjust 5 5 3 PGain Position Gain This is the Position Gain It is the only parameter in the Position Loop of the UNIDEX 600 s Servo Loop This parameter reduces the amount of po...

Страница 138: ...orward portion of the servo loop It is responsible for filtering the effect of the AffGain parameter reducing the noise introduced into the servo loop by the rapid velocity changes the AffGain produce...

Страница 139: ...ally part of the table The user s system may behave differently and have different values for servo loop gains However the overall process is the same and the same process can be repeated for other ax...

Страница 140: ...off Position Error Integral Error 1 Set Servo Loop Update Rate 2 Set Servo Gains to Initial Values 3 Adjust Velocity Loop 4 Adjust Kp Gain 4a Adjust Ki Gain 4b Adjust Position Loop Adjust PGain 5 Adju...

Страница 141: ...le 5 1 Table 5 1 Initial Torque Mode Servo Loop Parameter Values PGain Ki Kp Vff VGain AffGain DACOFFSET Alpha 0 0 1000 0 0 0 0 65536 PGAIN may need to be greater than 0 for short quick move profiles...

Страница 142: ...en though it will not return to its original position because the position loop gain PGain is zero No screeching or squealing should be heard from the motor when it is stationary Noise indicates that...

Страница 143: ...rror and position error As Ki is increased the error is reduced However the position error should not cross the zero line indicating position overshoot otherwise it will increase the settling time of...

Страница 144: ...specially if maintaining position is important to the user This zero crossing or position overshoot causes the settling time to increase and the PGain within the position loop to be increased to keep...

Страница 145: ...tes strongly This causes the UNIDEX 600 to generate an IAvgLimit fault which indicates that the continuous current rating of the motor has been exceeded the IAvgLimit fault is essentially a software f...

Страница 146: ...l increase the noise produced by the axis due to the attempt of the servo loop to compensate for velocity changes This noise may be reduced by varying the Alpha parameter The Alpha parameter filters t...

Страница 147: ...le with a BM130 motor and an AS32030 amplifier The final performance of the X axis of the ATS3220140P open frame table is shown in Figure 5 20 The distance of the move in the plot is 110 000 machine s...

Страница 148: ...on be a performance criterion it may be desirable to have a more constant velocity and position error indicating less fluctuation in the velocity of the axis providing for smoother motion of the axis...

Страница 149: ...m Velocity Loop regulation is accomplished by the Pre amp section of the amplifier The proportional Kp and integral Ki gain parameters in the UNIDEX 600 controller s servo loop have been set to zero 0...

Страница 150: ...slightly different meanings with tachometer feedback The following sections describe the parameter definitions 5 7 4 1 PGain Position Gain The Position Gain is the only gain in the Position Loop in th...

Страница 151: ...ins the user will essentially be following the procedure below 1 Exercise the axis through a move profile typical to your application 2 Observe the servo loop performance with the AerTune utility 3 Ma...

Страница 152: ...wer update rate such as 1 kHz If the user doesn t know what to use for this parameter then an update rate of 4 kHz should be used However an update rate of 1 kHz can be used If the update rate is chan...

Страница 153: ...unning the axis at maximum speed adjust the input potentiometer on the amplifier so that the torque plot in AerTune torque actually indicates velocity when in the velocity command mode indicates appro...

Страница 154: ...ance and Speed entry fields for a typical move profile Define the desired AccelMode and DecelModes and enter the appropriate Accel Decel Rate Times into the dialog boxes When the user selects the Step...

Страница 155: ...on the amplifier with an oscilloscope In order to do this perform the following steps a Connect the Oscilloscope leads to TP1 current feedback and TP4 common on the amplifier b Set the Distance and Sp...

Страница 156: ...ving at 1 2 speed the Velocity Command on TP5 is 4 volts e Press the Halt button when completed 8 Finish by adjusting the Position Loop PGain where the main concern is to strive for a smooth variation...

Страница 157: ...s will have the same following error 10 Increase the VGain servo loop parameter to minimize the position error during the constant veloicty portion of the move Typically VGain will be set less than 50...

Страница 158: ...displayed in a visual format with a user definable time base reference This is useful for debugging axes performance as well as monitoring the users analog inputs connected to the U600 Series controll...

Страница 159: ...lso allows a comment to be displayed on the plot This comment is visible on the printed plot 6 3 Plot Menu The Plot menu allows up to 6 plots to be selected for display Each item selected in the Plot...

Страница 160: ...ined up to 32 000 samples 6 6 Axis Menu The Axis menu allows up to 6 plots to be selected for display It will display the Plot Selection Window just like the Plot Menu see Figure 6 2 6 7 Graph Options...

Страница 161: ...ally displayed This will allow you to determine if there is a resonant frequency present in the servo loop and or mechanics of the system See the AerTune chapter for more information The Hard Reset me...

Страница 162: ...ck Position Command Position Error Torque Display Menu You may select the number of points to display on the plot 64 128 256 512 1024 2048 4096 8192 Tools Menu Disable Bias Correction Low Pass Filter...

Страница 163: ...AerPlot U600 User s Guide 6 6 Aerotech Inc Version 1 4...

Страница 164: ...This is accomplished by displaying the various axes status fault masks faults Task Status and Task Mode parameters This is very useful for initial machine setup and testing since it displays the stat...

Страница 165: ...and a true state is indicated by a ON indicator The unused axes may be slid off the screen to remove useless information by grabbing the vertical bar to the right of the axes number with the left mous...

Страница 166: ...be loaded That means that you can not click the Test Card button until after the first time the PC is rebooted following the installation of the UTIL600 software 8 2 Editing Registry Entries To edit a...

Страница 167: ...firmware image file type IMG displays a file selection box allowing the user to select a file from the default directory location or locate a file in another path If you have a PSO PC card you must en...

Страница 168: ...Image C U600 BIN PC960 IMG Boot Image C U600 BIN PC960BT IMG Device Driver C U600 BIN U600 VXD WIN 95 U600 WIN NT IO Base 0x220 ATWindow 0xDC000000 IRQ 0x5 PSO the default values for the PSO PC if pr...

Страница 169: ...AerReg U600 User s Guide 8 4 Aerotech Inc Version 1 4...

Страница 170: ...e plotted Velocity Command Velocity Feedback Velocity Error Position Feedback Position Command Position Error Torque Acceleration In 2D plotting two items may be selected for each axis In 3D plotting...

Страница 171: ...lename or select the file via the Browse button 3 Select the Read button 4 Select the X box in the upper right of the Data File window to close it The Default Setup menu selection will restore the Aer...

Страница 172: ...optionally click the Update X Y and Z buttons to rescale the displayed range of the plot Figure 9 3 The Axis Min Max Travel Screen of AerPlot3D 9 1 4 Colors Menu The Colors menu allows you to define...

Страница 173: ...10 Suspend Menu The Suspend menu will suspend plotting of the selected data items The Resume menu will continue plotting 9 1 11 Help Menu The Help menu has 2 selections The Aerotech UNIDEX 600 Help me...

Страница 174: ...the virtual binary inputs outputs and registers versus time Designed to be a logic analyzer it can collect four 32 bit words of data Each 32 bit word can represent 32 binary inputs outputs or 2 regis...

Страница 175: ...input output changed The value of the register input output at any given point in time can be determined using the cursors File Menu Allows the user to Save Export Load or Print the Plot File Trigger...

Страница 176: ...at the first two bits of Binary Word 1 and the other fourteen bits would be don t cares If a register input output is being used and the collection should trigger when the register reaches a certain v...

Страница 177: ...AerPlotIO U600 User s Guide 10 4 Aerotech Inc Version 1 4...

Страница 178: ...arameters for more information see Axis Parameters in Appendix C The sample frequency should be set to your servo loop update rate 4000 default or 1000 Hz Do not try to use a filter for any frequency...

Страница 179: ...Filter U600 User s Guide 11 2 Aerotech Inc Version 1 4...

Страница 180: ...nfigure the INTMASK 12 31 Configure the BRAKEMASK 12 32 Configure the Current Limits 12 33 Axis Configuration Complete 12 34 Accel Decel and Task Initialization 12 35 Configure the ESTOP Feedhold and...

Страница 181: ...u to the next Wizard configuration screen Back will take you to the previous Wizard screen Cancel will exit the Wizard without saving any changes to the axis configuration Figure 12 2 The Axis Name Nu...

Страница 182: ...Type Type is a Machine parameter more information can be found on Type in Appendix C Figure 12 3 The Axis Type Configuration Screen If it is a Spindle Axis What is the default RPM Task S1_RPM that the...

Страница 183: ...nfiguration If the axis configuration shown is correct select the Next button otherwise select the Reconfigure Axis button see Section 12 4 1 Selecting Reconfigure Axis will open the Axis Configuratio...

Страница 184: ...NIDEX 600 Series Controllers support any motor accepting a velocity or torque command and providing feedback from a supported feedback device such as an encoder resolver or inductosyn Figure 12 5 The...

Страница 185: ...Also parameter names may be associated with each axis that is not bound to a task If you reassign an axis name you must exit the MMI600 and restart it for the change to take effect Figure 12 6 The Axi...

Страница 186: ...iguration as required All channel assignments D A encoder resolver etc will default to the number of the physical axis not the channel assigned to the axis selected from the template The current axis...

Страница 187: ...Resolver as Secondary Feedback Spindle Axis Velocity Command Open Loop with no feedback Stepper Motors Open Loop Stepper Motors Closed Loop 12 4 4 Configuring the Primary Feedback Device The third Axi...

Страница 188: ...e previous Wizard screen Cancel will exit the Wizard without saving any changes to the axis configuration Finish will save the axis configuration and exit the Wizard 12 4 5 Configuring a DAC Channel T...

Страница 189: ...rd Configuration screen allows the secondary feedback device to be configured This screen will vary depending on the secondary feedback device selected so it is not shown here pressing the Help button...

Страница 190: ...times 4 multiplication is done by the controller i e a ball screw with a pitch of 1inch having a linear encoder with 1 270 000 counts per inch after x4 multiplication would have 127 000 entered for th...

Страница 191: ...nel number specified indicates the Hall effect channel and the encoder channel which will be used to commutate the motor after switching out of the six step commutation mode EncoderHall Channel Assign...

Страница 192: ...cal cycle of the forcer motor Commutation Offset The commutation offset indicates the number of electrical degrees to align the absolute rotor reference provided by the commutation channel to the roto...

Страница 193: ...nel number specified indicates the Hall effect channel and the encoder channel which will be used to commutate the motor after switching out of the six step commutation mode EncoderHall Channel Assign...

Страница 194: ...provided by the commutation channel to the rotor of the motor The offset is entered as counts ratioed to 1024 and may be positive or negative A 360 offset is equal to 1024 A 10 offset may be calculate...

Страница 195: ...ult drive fault Auxiliary Mode output and the drive enable Encoder Channel Assignments Channels 1 through 4 are on the UNIDEX 600 card channels 5 through 8 are on the 4EN PC card configured as Board 1...

Страница 196: ...p Increasing or decreasing the number of encoder lines will scale the PGAIN axis parameters Channel Number The channel entry field is used to specify the channel number channel number containing the C...

Страница 197: ...at the Position Error and Velocity Error will always be zero This will facilitate debugging of a CNC motion program when no drives are physically present However even if drives and feedback devices ar...

Страница 198: ...rive fault errors 12 4 7 Configuring Axis Calibration Data This screen within the Axis Configuration Wizard allows ASCII axis calibration files to be specified for the axis 2D calibration files are sp...

Страница 199: ...ration files specified on this screen Figure 12 11 12 4 8 Saving an Axis Configuration The final Axis Configuration screen will display a summary of the configuration of the axis If Finish is selected...

Страница 200: ...ne CentsPerDeg Spindle Axes Machine CentsPerDeg Enter the maximum feedrate that may be commanded for the axis Linear Axes Machine MaxFeedrateIPM Rotary Axes Machine MaxFeedrateRPM Spindle Axes Machine...

Страница 201: ...achine parameter Operators may be required to home axes and or a homing sequence may be defined via the Home Setup on the MMI Options Page of the Setup page of the MMI600 The following parameters must...

Страница 202: ...ly set the position to the home position rather than simulating any motion Homing will cancel all fixture offsets and presets When using the CNC MMI600 the HomeOffset task parameter is used However fo...

Страница 203: ...ACCEL 4 Select the desired Deceleration Mode Axis DECELMODE 5 Enter the Deceleration Rate Axis DECELRATE 6 Enter the desired Deceleration Time Axis DECEL Figure 12 15 The Asynchronous Move Screen 12 8...

Страница 204: ...e implies the input or output is active high Refer to Section 2 5 Drive Signals in the Users Guide for more information The easiest way to configure these signals via the IOLEVEL axis parameter is to...

Страница 205: ...hould have a bit set in at least one of the other mask parameters DISABLEMASK HALTMASK AUXMASK ABORTMASK INTMASK and BRAKEMASK to define the action to occur for that fault If you set a bit in the FAUL...

Страница 206: ...able the axis before it could halt or abort Each bit set in this parameter should also be set in the FAULTMASK axis parameter to enable detection of that fault condition Figure 12 19 The DISABLEMASK C...

Страница 207: ...Setting a bit to a one halts the axis when that particular fault occurs assuming the corresponding bit in the FAULTMASK parameter is set This parameter has no effect on the position error tracking If...

Страница 208: ...te which fault conditions will enable the auxiliary mode output associated with the axis This parameter is a bit mask where each bit corresponds to a specific fault Each bit set in this parameter shou...

Страница 209: ...s abruptly This also sets the current position error to zero If an axis is triggered by a fault condition to abort and halt simultaneously the abort takes priority Each bit set in this parameter shoul...

Страница 210: ...ecific fault An interrupt is generated if the bits for INTMASK and FAULTMASK are set to one for a given bit position when that fault occurs Therefore each bit set in this parameter should also be set...

Страница 211: ...y 1 brake output any disabled axis with a non zero BRAKEMASK parameter will engage the brake The brake will be disengaged when all axes with their BRAKEMASK set are enabled Also any of these axes with...

Страница 212: ...uous current rating of your motor see Aerotech Motor Information in the online help file Enter the desired period in milliseconds that the continuous RMS current should be calculated over Optionally y...

Страница 213: ...e with the next step to configure the other task and global parameters Clicking Next will automatically bring you back to the beginning of the next axis configuration if there are more axes to be conf...

Страница 214: ...G68 Rate as the default Acceleration Deceleration type Select either the G90 Absolute or G91 Incremental as the default programming mode Select G17 G18 or G19 as the default circular contouring plane...

Страница 215: ...ure the ESTOP Feedhold and MFO Would you like the Global Emergency Stop Task ESTOP input active Would you like an external Feedhold Task Feedhold input Would you like an external Manual Feedrate Overr...

Страница 216: ...S2 for synchronous motion when Rotary Axes are dominant G98 Enter the Acceleration Time Task AccelTimeSec for synchronous motion Enter the Deceleration Rate Task DecelRateIPS2 for synchronous motion w...

Страница 217: ...Setup Wizard U600 User s Guide 12 38 Aerotech Inc Version 1 4 12 22 Setup Wizard Configuration Complete Figure 12 30 The Finish Screen of the Setup Wizard...

Страница 218: ...1 13 1 Introduction The PrmSetup utility is provided when a complete system motors drives tables etc is purchased from Aerotech as a system a single customer order It will install the pre configured...

Страница 219: ...PrmSetup U600 User s Guide 13 2 Aerotech Inc Version 1 4...

Страница 220: ...ion Non coordinated motion that is independent of CNC execution Axis Index Zero based index used to identify an axis Axis Parameters Parameters that affect the specified physical axis Bind Declaring p...

Страница 221: ...ram contains code variable and label information A program can be associated with any number of tasks Program code and label information are common to all tasks Program variables are specific to the p...

Страница 222: ...that is local in scope to a given task These can be accessed or shared by all programs that are or become active on the given task Upload Implies communications to the axis processor card Data is alw...

Страница 223: ...Glossary of Terms U600 User s Guide A 4 Aerotech Inc Version 1 4...

Страница 224: ...1 Correct CWEOT axis parameter or user program Drive fault Drive fault has occurred 1 Drive module generated an over current fault or has failed 1 Cycle power to drive module or replace it Feedback fa...

Страница 225: ...er 2 Increase the HomeSwitchTol axis parameter Probe The touch probe input has been activated 1 Activation of the probe input was due to a programming error or an obstruction 1 Modify the program or c...

Страница 226: ...are that was executing at the time of the creation of this manual See the AerParm library functions in the U600 Library Reference Manual P N EDU156 and the PrmManul program for examples explaining how...

Страница 227: ...pply to the axis processor in general C 1 3 Access A series of letters indicating access R is read W is write U means the axis processor may will update write this value If the code contains a W and U...

Страница 228: ...132 RW 0 4 294 967 295 0 AUXMASK 68 RW 0 4 294 967 295 0 AUXOFFSET 71 RW 0 4 294 967 295 0 AUXVELCMD 137 RW 0 48 0 AVGVEL 12 RU 2 147 483 648 2 147 483 647 0 AVGVELTIME 13 RW 10 1 000 1 000 B0 126 RW...

Страница 229: ...7 0 ICMDPOLARITY 123 RW 4 294 967 295 1 0 IMAX 32 RW 0 32 767 32 767 INPOSLIMIT 37 RW 0 65 536 65 INTMASK 67 RW 0 4 294 967 295 0 IOLEVEL 70 RW 0 63 63 IVEL 11 RU 2 147 483 648 2 147 483 647 0 KI 16 R...

Страница 230: ...r within a CNC Program Any axis parameter may be modified within a CNC program or MDI command line by specifying the axis parameter name followed by a decimal point and the axis name The case of these...

Страница 231: ...MODE This axis parameter allows the user to select the type of ramping used during the execution of G0 point to point moves and asynchronous moves This ramping may be time based using the ACCEL parame...

Страница 232: ...anual under Servo loop for a description of how AFFGAIN is used in the servo loop or Tuning Servo Loops under the AerTune chapter of the User s Guide You can use the AutoTune feature within the AerTun...

Страница 233: ...h00200000 deceleration rate PHASE_MODE 0h00400000 phase advance mode active HOME_COMPLETE 0h00800000 home cycle complete LIMIT_OVERRIDE 0h01000000 always check soft limits if reset SLAVE_ENCODER 0h020...

Страница 234: ...ate for the auxiliary output When the observed master position becomes greater than or equal to that specified in the table entry the output gets set to the appropriate state The only requirement is t...

Страница 235: ...velocity when calculating the value of the AVGVEL axis parameter and the AvgVelUnits machine parameter It is in units of milliseconds However this parameter is only used to the next lowest multiple of...

Страница 236: ...plying by 8 192 and truncating yields produces the following B0 7 996 B1 15 398 B2 7 996 A0 8 192 A1 15 398 A2 7 800 Performing the conversion from floating point values to integer values can affect t...

Страница 237: ...hase advance reaches the MAX_PHASE degrees offset The units are machine steps per second C 2 18 BRAKEMASK The BRAKEMASK parameter is a bitmask used to determine the conditions the brake output should...

Страница 238: ...ft the curve left or right without writing a new cam table C 2 20 CAMOFFSET This axis parameter is used only for electronic gearing Camming from a File and HANDWHEEL camming The value of this axis par...

Страница 239: ...0 000 counts and the current position of the master axis is 12 000 counts this parameter will read 2 000 counts This parameter should always be examined on the slave axis and the units are in counts C...

Страница 240: ...lapsed time in seconds between line N001 and N1000 MSGLAMP1 BLUE GLOBAL0 This line will display global0 value on the MMI panel C 2 25 CWEOT This axis parameter determines the software clockwise end of...

Страница 241: ...current velocity to a lesser velocity during G0 point to point moves and asynchronous moves while the DECELMODE parameter specifies time based ramping Deceleration refers to any decrease in velocity T...

Страница 242: ...ffect because the DISABLEMASK would disable the axis before it could halt or abort Each bit set in this parameter should also be set in the FAULTMASK axis parameter to enable detection of that fault c...

Страница 243: ...n axis since the last time the axis faults were cleared by reading this parameter You can also clear axis faults by writing to this parameter When an axis fault occurs the UNIDEX 600 MMI will flash an...

Страница 244: ...the feedback associated with the axis This typically occurs when the feedback device is not functioning properly or the feedback cable is disconnected 8 0x100 Programming Fault Axis processor received...

Страница 245: ...arameter 23 0x800000 ESTOP Emergency stop has occurred see Section 2 8 24 0x1000000 WatchDog Fail Safe timer 25 0x2000000 Position Tolerance Axis did not move the distance specified by POSTOLERANCE wi...

Страница 246: ...Setting this parameter to zero disables the feedrate override control while a value other than zero makes the axis subject to feedrate override The default value is zero 0 If the FEEDRATEMODE is not z...

Страница 247: ...ble electronic gearing Gearing motion requires that you have previously defined a master and a slave axis using the CFGMASTER command See Figure C 3 for additional information Once gearing is enabled...

Страница 248: ...TMASK i e if the DISABLEMASK is set to occur the HALTMASK or ABORTMASK will have no effect because the DISABLEMASK would disable the axis before it could halt or abort C 2 44 HOMEOFFSET This axis para...

Страница 249: ...HomeFeedRateIPM or HomeFeedRateRPM task parameters during the marker search portion of the home cycle The default value of 100 represents 100 of the commanded home velocity during the marker search po...

Страница 250: ...motor from the motor data use the RMS current specified for the motor or divide the continuous toque Tc by the motor torque constant Kt i e Tcont Kt RMS value Be sure to set the RMS Current Limit bit...

Страница 251: ...imit the maximum commanded velocity in the velocity command mode but is not normally used for this purpose due to the VELTRAP and VELCMDTRAP axis parameters See the IAVGLIMIT axis parameter for an exa...

Страница 252: ...he PSOx commands will wait until the in position band is true before starting that command C 2 55 INTMASK This axis parameter allows the user to determine which fault conditions will cause an interrup...

Страница 253: ...then set the bits in the appropriate mask parameters DISABLEMASK HALTMASK AUXMASK ABORTMASK INTMASK and BRAKEMASK for the actions to occur on these faults C 2 57 IVEL The IVEL parameter returns the i...

Страница 254: ...lave position Usually it is equal to position of the master and can be ignored However there are two situations where they may vary 1 If the master axis has a higher task axis index than the slave see...

Страница 255: ...axis has a smaller axis index then the slave For example X as the master and Y as the slave axis is preferred than vise versa This is because when the master axis has a higher axis index than the slav...

Страница 256: ...e override PROFILING NOTE 0h00000040 axis in profiling mode G1 G2 G3 or other contoured motion SYNC 0h00000080 axis in sync mode camming motion CAM_TABLE 0h00000100 cam table enabled HOME_DIR 0h000002...

Страница 257: ...rameter determines the gain of the position loop for the selected axis Refer to the UNIDEX 600 Hardware Manual for a description of how this parameter functions in the servo loop Note that you may use...

Страница 258: ...the primary feedback device position of the axis in machine counts This parameter is a signed 32 bit integer having a range of 2 E31 1 approximately 2 1 billion Upon initialization the system sets th...

Страница 259: ...e 9 000 This indicates the commanded distance left to go in the current move without regard to the current position error of the axis Also this is always a non positive absolute value This parameter w...

Страница 260: ...ramming the machine via the library functions It will define the execution time of each profile block within the profile mode See the Library Reference Manual EDU156 for more information C 2 82 PROFQD...

Страница 261: ...will be equal to the reversal value number of counts per millisecond with an instantaneous commanded acceleration and deceleration This should not be a problem since reversal values are normally small...

Страница 262: ...meter When setting this parameter it is necessary to know that its distance starts at the hardware home position Be sure to set the Safe Zone bit in the FAULTMASK axis parameter to enable the detectio...

Страница 263: ...1 1 1 1 Mode 2 is based upon the velocity command When IVEL 100 machine counts the PGAIN axis parameter will be multiplied by the corresponding value in the table producing higher gain while crossing...

Страница 264: ...0h00000020 Drive fault input active ATHOME 0h00000040 Axis at home position DONE 0h00000080 Motion Done INPOS 0h00000100 Axis is in position FAULTED 0h00000200 Axis fault present See FAULT PROBE_INPUT...

Страница 265: ...ation axis parameter while the axis is in motion Setting this parameter to two activates machine lock which updates the machines internal positions for the new current position Alternatively an axis m...

Страница 266: ...FAULTED 0h00000200 axis is faulted PROBE_INPUT 0h00000400 probe input active MARKER 0h00000800 Marker HALL INPUT B 0h00001000 Hall effect input B 1 HALL INPUT A 0h00002000 Hall effect input A 2 HALL...

Страница 267: ...hich the slave axis is to move C 2 97 SYSTEMCLOCK This axis parameter is the same as the CLOCK axis parameter but is read only C 2 98 VELCMDTRAP This axis parameter determines the maximum commanded ve...

Страница 268: ...causes more filtering and more corner rounding This parameter affects all types of motion including cam motion except homing If this filter is used in conjunction with the GANTRYMODE it must be applie...

Страница 269: ...velocity command within the servo loop VGAIN is used only In tachometer based velocity command systems VGAIN is multiplied by the velocity command and added to the velocity command output to the servo...

Страница 270: ...FixtureOffset4 26 RW NA NA NA FixtureOffset5 27 RW NA NA NA FixtureOffset6 28 RW NA NA NA HomeDirection 8 RW 1 1 1 HomeFeedRateIPM 9 RW 0 0 1 000 000 120 0 HomeFeedRateRPM 10 RW 0 0 1 000 000 60 0 Ho...

Страница 271: ...d only machine parameter indicating the current state of the axis It may be either free 0 captured 1 or bound 2 See the BIND extended command for details C 3 4 CntsPerDeg This machine parameter is use...

Страница 272: ...here is the number of counts per electrical cycle of the motor Normally this parameter is automatically set by the Parameter Configuration Wizard during the motor configuration process This parameter...

Страница 273: ...nt fixture offset 5 as defined by the G58 CNC G code C 3 12 FixtureOffset6 The FixtureOffset6 machine parameter indicates the current fixture offset 6 as defined by the G59 CNC G code C 3 13 HomeDirec...

Страница 274: ...axis may not stop on the marker at the completion of the home cycle If it desired to do so for a positioning test you must temporarily disable axis calibration within the axis configuration wizard C...

Страница 275: ...current Position C 3 18 1 TYPE 0 Home to Limit AND Reference Pulse The home position is found at the home limit switch when the reference pulse is true There must be an absolute position where both oc...

Страница 276: ...EOT limit If the home switch is not on the proper EOT then the axis may hit an EOT before it hits the home switch The speed of the home cycle is determined by the HomeFeedRateIPM or HomeFeedRateRPM f...

Страница 277: ...type may not be used with axis calibration C 3 19 JogDistanceDeg This machine parameter specifies the distance for this axis on the Jog Page if it is a rotary Type axis when the jog distance or jog di...

Страница 278: ...ro and set the VELCMDTRAP axis parameter A drawback of the MaxFeedRateIPM machine parameter is the limiting will take place even if the axis never reaches the commanded speed never accelerates to full...

Страница 279: ...ing display of the UNIDEX 600 MMI by selecting machine from the column display selection key of the position display configuration page C 3 29 PresetCmdUnits This machine parameter indicates the prese...

Страница 280: ...re three types of axis types 0 Linear axis 1 Rotary axis with modulo position rollover at 360 degrees 2 Rotary axis without modulo position rollover Distances and velocities that are not expressed in...

Страница 281: ...ollowing situation demonstrates the problem 1 From a CNC program or MDI Line execute the following command G1 X1 Y1 The CNC removes X and Y from NotInUseMask and places in ProfileMask 2 From AerDebug...

Страница 282: ...lSlowdownMsec 130 RW 20 20 0 ChordicalToleranceInch 127 RW 0 1 0e 037 0 CommandVelocityVariance 131 RW 0 1 0e 037 1 Coord1I 39 RW 0 15 0 Coord1J 40 RW 0 15 1 Coord1K 41 RW 0 15 2 Coord1Plane 42 RW 1 3...

Страница 283: ...09 RW 1 511 1 JogPair1EnableIn 103 RW 1 511 0 JogPair1Axis1 105 RW 0 65 535 0 JogPair1Axis2 108 RW 0 65 535 0 JogPair1Mode 104 RW 0 3 0 JogPair2Axis1MinusIn 115 RW 1 511 1 JogPair2Axis1PlusIn 114 RW 1...

Страница 284: ...otateAngleDeg 21 RWU 0 0 360 0 0 0 RotateX 19 RW 0 15 0 RotateY 20 RW 0 15 1 RthetaEnabled 27 RWU 0 2 0 RthetaR 24 RW 0 15 2 RThetaRadius 140 RWU 0 0 1 000 0 0 0 RthetaRadiusInch 26 RW 0 0 1 000 0 0 0...

Страница 285: ...cant as defined in the task parameter table A task parameter on the current task may be modified directly without the decimal point and task number as shown in the examples below i e RIAction1 RIO_CYC...

Страница 286: ...he CNC for contoured motion acceleration G1 G2 G3 G12 G13 in linear dominant moves when the G68 command is active Otherwise G67 will be active causing the acceleration to be time based and the AccelTi...

Страница 287: ...analog input that will be used to automatically update the MSO parameter When under control of the AnalogMSOInput the MSO parameter cannot exceed a value of 2 The analog input is averaged over 100 mil...

Страница 288: ...oint B both the X and Y axes are subjected to an instantaneous change of velocity of 10 inches sec The velocity change cannot of course be instantaneous and the controller will make that change of vel...

Страница 289: ...k ahead process If G301 mode is active the controller will look ahead multiple moves and slowdown many moves before the change in velocity However the maximum number of moves ahead of the CNC block th...

Страница 290: ...l be forced to decelerate to zero velocity before executing and accelerating up to the new velocity in the following CNC block C 4 9 2 Limit Rotary Acceleration without Full Deceleration If the BlendM...

Страница 291: ...block the controller is able to slow down as determined by the MaxLookAheadMoves task parameter Also there are also some other instances where this parameter will do nothing due to limitations in the...

Страница 292: ...for the programmed arc If the line generated is non tangential to the previous move over shoot will occur An error not just a warning may be generated on this condition by setting the ThrowWarningsAs...

Страница 293: ...4 16 Coord1I This task parameter specifies which task axis is the Coord1I axis for coordinate system 1 This axis must be a linear type The task X axis does not have to be the Coord1I axis Coordinate s...

Страница 294: ...d1J and Coord1K are used only as axes identifiers of a three dimensional system Any task axis can be assigned to any of the three coordinate system axes This mapping in conjunction with the selected p...

Страница 295: ...m 2 C 4 20 Coord2I This task parameter specifies which task axis is the Coord2I axis for coordinate system 2 This axis must be a linear type The task X axis does not have to be the Coord2I axis Coordi...

Страница 296: ...r coordinate system 2 This axis must be a linear type The task Z axis does not have to be the Coord2K axis Coordinate system axes Coord2I Coord2J and Coord2K are used only as axes identifiers of a thr...

Страница 297: ...an offset move and follow that path For example travel through point A to point B then through point C as illustrated in the picture Large values of CutterToleranceDeg can be dangerous The offset met...

Страница 298: ...the small radius created by the Link method as illustrated in Figure C 17 This method does not maintain contact between the tool and the part C 4 29 CutterX This task parameter specifies which task ax...

Страница 299: ...r rotary dominant moves Refer to the G98 command for information on rotary linear axes dominance When accelerating decelerating in rate based mode the controller will not perform the acceleration dece...

Страница 300: ...e meaning of the value of this parameter can be determined by setting the TaskFault task parameter equal to the value of the ErrCode If this is done during CNC program execution this will however halt...

Страница 301: ...above and try to execute that many lines in the CNC program before giving control to the next task However if an error occurs at any time during CNC program execution or the statement can not be compl...

Страница 302: ...the state of the hardware feedhold input if it is defined This implies either feedhold software or hardware will enable feedhold and not release it until both software and hardware inputs are false Se...

Страница 303: ...ove command This parameter applies to all motion including synchronous asynchronous and camming It should be differentiated from the SIMULATION axis parameter in that the move command will not take th...

Страница 304: ...absolute positions that they were at when the interrupt occurred The interrupted move will be completed upon return from the interrupt and program execution will continue on the CNC line after the in...

Страница 305: ...eter C 4 56 JogPair1Axis2PlusIn This task parameter defines the virtual input number that when True active high will cause Axis 2 of Jog Pair 1 as defined by JogPair1Axis2 to jog plus in the current j...

Страница 306: ...Parameter 6 Z Y axis pair would specify that the horizontal axis of the joystick would command task axis 2 Z to move and the vertical axis of the joystick would command task axis 1 Y to move This wou...

Страница 307: ...axis that will be commanded to move by the virtual input specified by the JogPair2EnableIn task parameter The value is specified as a bitmask Bit 0 represents the first axis default name X bit 2 the...

Страница 308: ...G395 user units spindle3 revolution 5 G495 user units spindle4 revolution The vectorial speed of linear axes in contoured motion is the square root of the sum of the squares of all the speeds of the...

Страница 309: ...maximum number of call stack elements available for this task Every subroutine or program call pushes one element onto the call stack Every return pops one element off the call stack Each call stack h...

Страница 310: ...we want to suppress the circle center readjustment algorithm The user should never have to change this parameter s value as the only time it is relevant is when the post processor program erroneously...

Страница 311: ...he specified analog input Additionally this parameter reflects only the requested feedrate override the MaxFeedRateIPM or MaxFeedRateRPM machine parameters may limit the maximum feedrate This will not...

Страница 312: ...eedRate Units Rev 0x20000 Gx95 G94 18 Program SfeedRate Surface Spindle 1 0x40000 G97 G96 19 Program SfeedRate Surface Spindle 2 0x80000 G297 G296 20 Program SfeedRate Surface Spindle 3 0x100000 G397...

Страница 313: ...lue of the minimum angular difference between two moves less than which no G9 deceleration will be forced in between the two moves In addition if the angular difference is less that this amount then t...

Страница 314: ...nning This is a read only parameter C 4 89 NumTaskAxisPts This task parameter specifies the total number of task axis point variables to allocate for the task Each task axis point uses 132 bytes of co...

Страница 315: ...ick 9 Joystick Disable RIO_SLEWSTOP Disable the Joystick 10 Unused 11 Unused 12 Auto Mode On RIO_AUTOMODE_ON Place into auto mode 13 Auto Mode Off RIO_AUTOMODE_OFF Place into single step mode 14 Unuse...

Страница 316: ...IO_ASYNC_MOVE Execute RIActionOpCode 8 Joystick Enable RIO_SLEWSTART Enable the Joystick 9 Joystick Disable RIO_SLEWSTOP Disable the Joystick 10 Unused 11 Unused 12 Auto Mode On RIO_AUTOMODE_ON Place...

Страница 317: ...DE_SPINDLE_OFF 4 Spindle Reorient M19 M219 M319 M419 RIACTION_OPCODE_SPINDLE_REORIENT RIActionAxis Not Used RIActionParm1 This is set to the Spindle Index 0 3 RIActionParm2 Not Used Async Motion OpCod...

Страница 318: ...onAxis Axis to handwheel RIActionParm1 Channel RIActionParm2 Distance Some example subroutines these can be run from any task and will cause motion on Task 1 M02 DFS SpindleCW RIActionOpCode 1 RIACTIO...

Страница 319: ...cating that the action has occurred The following table shows the actions that may be indicated via this parameter Setting this parameter to 1 disables this action Table C 14 ROAction1 Bit Description...

Страница 320: ...t the units of this parameter will vary by the value of the UserFeedRateMode task parameter the G93 G94 G95 mode as shown below UserFeedRateMode G93 G94 G95 mode Units of the F word 0 DEFAULT G94 revo...

Страница 321: ...or the MFO MSO is less than 100 Note that this parameter only denotes the vectorial speed during contoured G1 G2 G3 etc moves and is equal to zero during all other types of motion This parameter is u...

Страница 322: ...cal R Theta coordinate system The following table shows the possible R Theta transformations and the enabling values Table C 15 R Theta Transformations RThetaEnabled Value Transformation Type Base Coo...

Страница 323: ...be a linear type The RThetaX and RThetaY parameters are used to determine the perpendicular base X Y plane The RThetaR and RThetaT parameters are used to determine the polar R Theta coordinate system...

Страница 324: ...the same as the AnalogMSOInput task parameter You must have the ExecuteNumSpindles task parameter set properly to utilize more than one spindle C 4 116 S2_Index This task parameter specifies which ta...

Страница 325: ...sk parameter specifies which analog input channel is used for the analog MSO for the third spindle as defined by S3_Index Otherwise it is exactly the same as the AnalogMSOInput task parameter You must...

Страница 326: ...e and R is the spindle radius provided in the F parameter of the G97 command Note that the units of the S word and the Spindle Radius are assumed to be the same C 4 125 S4_AnalogMSOInput This task par...

Страница 327: ...the spindle radius is positive then the S word S4_RPM for task 4 is assumed to be in distance units and the actual spindle RPM is computed as RPM v 2 R Where RPM is the result spindle rotation speed v...

Страница 328: ...axes pair that the joystick will command motion on This parameter may be zero causing the axes defined by SlewPair1 to be selected after SlewPair4 This parameter is set to a value representing the su...

Страница 329: ...this would specify that the horizontal axis of the joystick would command task axis 1 Y to move and the vertical axis of the joystick would command task axis 2 Z to move For the JogPair Mask task par...

Страница 330: ...1 Task Parameter Bit Description Hexadecimal Value 0 Program Associated 0h1 1 Program Active 0h2 2 Program Executing 0h4 3 Immediate Code Executing 0h8 4 Return Motion Executing 0h10 5 Program Aborted...

Страница 331: ...The aborted bit will then stay on until the executing bit comes on again The aborted bit will not come on after a CNC program terminates normally C 4 141 Status2 This task parameter indicates various...

Страница 332: ...sk 2 Table C 18 Status3 Bit Descriptions Status3 Task Parameter Bit Description Hexadecimal Value 0 Axes Rotation Active 0h1 1 R Theta Polar Transformation Active 0h2 2 R Theta Cylindrical Transformat...

Страница 333: ...s set to the previous state C 4 143 TaskFault Task faults are indicated by this task parameter when an error in the execution of a CNC program occurs For example dividing by zero or trying to set a no...

Страница 334: ...ram execution nor can they generate interrupts or cause axis faults They are just messages produced for the user Task warning messages appear in the same places as the Task Fault messages in the lower...

Страница 335: ...not already faulted and the task fault bit is set in the INTMASK axis parameter The application programmer can use the AerEventxxx functions to act upon the interrupt and then query the TaskFault axis...

Страница 336: ...ow UpdateTimeSec to prevent two point arcs you can raise the UpdateNumEntries parameter to help prevent starvation Since the profile points are generated once every polling cycle by the CNC profiler a...

Страница 337: ...en C 4 146 UserFeedRateMode This task parameter determines the interpretation of the specified linear and rotary feedrates the F keyword or LinearFeedRate and the E keyword or RotaryFeedRate as shown...

Страница 338: ...s 14 RW 0 100 10 NumDecimalsCompare 16 RW 0 14 0 NumGlobalAxisPts 4 RW 0 1 000 10 NumGlobalDoubles 2 RW 0 1 000 10 NumGlobalStrings 3 RW 0 1 000 10 ThrowTaskWarningsAsFaults 11 RW 1 1 0 UserMode 10 RW...

Страница 339: ...condary in priority to actions executed off of the Internal Interrupt mainly servo loop closure Therefore when servo loop operation is taking up a lot of time the Polling Cycle will take corresponding...

Страница 340: ...by a linear jerk to start point using the radius specified from the endpoint 3 0x8 8 1 99 6 103 Non averaging end of move non integer time portions into proceeding move slices 4 0x10 9 1 99 6 106 Conv...

Страница 341: ...o be toggled by the G130 G131 G codes Normally a 4KHz servo loop update rate is desirable to give the fastest possible rate of position error correction resulting in the highest degree of accuracy to...

Страница 342: ...pt frequency of the user definable interrupt The valid range is from 0 60 seconds C 5 9 Measurement Mode Setting this global parameter to 1 or 2 activates the measurement mode In this mode no motion o...

Страница 343: ...f tasks that will be serviced by the controller The default is 4 Set this task parameter to one to detect a Motion Queue Starvation Condition If its non zero and motion queue starvation occurs a descr...

Страница 344: ...ects in workmanship and material and is voided for all laser power supplies plasma tubes and laser systems subject to electrical or physical abuse tampering such as opening the housing or removal of t...

Страница 345: ...policy applies Aerotech will provide an on site field service representative in a reasonable amount of time provided that the customer issues a valid purchase order to Aerotech covering all transporta...

Страница 346: ...a parameter Reducing noise 5 19 Alphabetic keystrokes 4 3 ALT_STATUS C 7 Architecture 1 3 Asynchronous motion 1 6 AUX C 8 AUXOFFSET C 9 AvgPollTimeSec C 113 AVGVEL C 10 AVGVELTIME C 10 AX command 4 18...

Страница 347: ...74 Default C 2 Default axis 4 3 Delete 4 4 Digital I O 2 22 Digital to Analog Converter 2 8 Digital to Analog Converter 4 19 DIR command 4 24 DISABLEMASK 2 15 Disabling Faults 4 11 Disabling the Driv...

Страница 348: ...um Distance Between C 24 Home Limits Switch C 24 Home Marker Pulse C 24 Home Position C 24 Home Tolerance Fault 2 13 C 19 HOME_SWITCH_TOLERANCE Fault C 24 HomeDirection C 48 HOMEOFFSET C 23 HomeOffset...

Страница 349: ...89 NumTaskStrings C 89 O offset argument 4 7 4 8 4 9 OUTOFF command 4 35 OUTON command 4 35 OUTPAUSE command 4 35 P PageUp 4 4 Parameter Limits 4 12 Parameters C 1 PARMGET command 4 36 PARMMON comman...

Страница 350: ...Setup Wizard 0 1 SOFTLIMITMODE C 40 Software installation process 2 5 Software Limits Disabled 4 7 Software Limits Enabled 4 7 Software options 1 10 Special characters 4 4 Special keys 4 4 Specifying...

Страница 351: ...118 Vff 5 31 VFF C 44 Vff Velocity feedforward gain 5 18 VGAIN C 44 VGain parameter 5 19 Virtual I O mapping 2 22 Virtual I O point 4 27 Virtual inputs 4 28 Visual Basic 3 3 VME bus 1 1 VSGET command...

Страница 352: ...__________________________________________ _____________________________________________________________________ _____________________________________________________________________ _________________...

Страница 353: ......

Страница 354: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

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