Aerotech UNIDEX 600 Series, Руководство пользователя

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Getting Started U600 User’s Guide
2-22
Aerotech, Inc.
Version 1.4
limit and accuracy is not an issue, until searching for the reference pulse. The value
entered is an integer representing the desired percent of the home feedrate during the
marker search, (i.e.; a value of 25 would scale the home velocity to 25% during the
reference pulse search).
When an axis is not homed, software limits are inactive, that is they are ignored even if
the fault masks are set to detect them. If the axis is configured with Axis calibration, Axis
calibration is active regardless of whether an axis is homed or not.
2.14. Programmed Moves
The UNIDEX 600 Series controller provides two methods of programming: CNC and
library interface, refer to Chapter 3 on Programming for details. The behavior of
programmed moves is described under the documentation for that interface. For CNC
moves refer to Appendix A in the UNIDEX 600 Series CNC Programming Manual, P/N
EDU158 for motion details. For the library interface refer to the UNIDEX 600 Series
Library Reference, P/N EDU156 under the AerMove functions chapter.
Programmed movement can be easily tested/debugged by setting the axis parameter
SIMULATION to 1 for the axes to be moved. This allows programs to run without
generating movement of the axis. Positions and velocities are reported just as if the axes
were moving. Enabling the axis still produces 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 that
provides up to 512 digital inputs, 512 digital outputs, 128 16-bit register inputs and 128
16-bit register outputs. These I/O resources are referred to as Virtual, since they exist as
blocks of memory in the UNIDEX controller. From the C/VB library programming level,
these memory mapped I/O points can be accessed via the AerVirt series of commands
(see the U600 Series Library Reference, Win NT/95 Manual, P/N EDU156). CNC
programs have access to the Virtual I/O through $BI, $BO CNC commands or through
user defined M and G-codes (see the UNIDEX 600 Series CNC Programming, Win NT/95
Manual, P/N EDU158).
It is possible to write Virtual inputs and read Virtual outputs. This capability
provides for communication and synchronization of multiple tasks executing on the
controller.
2.15.1. Associating Virtual I/O with Physical I/O
By default on the UNIDEX 600 controller the 16 digital inputs and 16 digital outputs
located on the card are mapped into Virtual inputs 0 through 15 and Virtual outputs 0
through 15. Therefore, reading Virtual inputs 0 to 15 will return the state of the digital
inputs on the card. Likewise, setting Virtual outputs 0 to 15 will modify the digital
outputs on the UNIDEX 600 card.
Each encoder expansion card present in the system adds an additional 40 digital inputs
and 40 digital outputs. These I/O points map into the next 40 Virtual I/O points (Virtual