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Chapter 2. Troubleshooting

3 1

Downloading Errors

 (downloading the operating system)

N O T E

These are the potential error messages you could receive while trying to download the AT6n50 operating
system using a terminal in Motion Architect, or using the AT6250.EXE or AT6450.EXE programs
installed from the ÒAT6n50 Operating System and DOS SupportÓ diskette found in the product ship kit.

Error

Description

Reason/Corrective Action

1

Operating System File Not Found

The operating system specified, or the default operating system (if unspecified) could not be found

by the operating system downloader. Put the 

AT6n50.OPS

 file in the Windows\System directory.

2

Invalid Operating System File

The operating system specified, or the default operating system (if unspecified) is not a valid

operating system or is corrupted.  Re-install the operating system from the original ÒOperating
System and DOS SupportÓ disk provided in your ship kit.

3

Unexpected EOF

An EOF (end-of-file) character was received during the download.  Re-install the operating

system from the original ÒOperating System and DOS SupportÓ disk provided in your ship kit.

4

Invalid Port Address

The port address specified while downloading is invalid. Use another address setting
(768 

£

 port 

£

 1024 in increments of 8). See page 4 for address options.

5

Unknown Option

An unknown option was specified on the 

AT6n50.EXE

 command line.

6

Base Port Address Greater than
1024

The base port address is too high.  Specify an address between 768 and 1024 decimal (use the

/PORT=

  parameter if using the AT6n50.EXE, or use the Settings menu if using Motion Architect).

7

Base Port Address Less than 255

The base port address is too low.  Specify an address between 768 and 1024 decimal (use the

/PORT=

  parameter if using the AT6n50.EXE, or use the Settings menu if using Motion Architect).

8

Base Port Address Not a Multiple
of 8

The base port address is not a multiple of 8.  Specify a valid address (use the 

/PORT=

parameter if using the AT6n50.EXE, or use the Settings menu if using Motion Architect).

9

Modified Download Requested

A partial download was requested on the command line.

10

Card Controller Error

The card controller did not respond as expected. Verify that you are downloading to the correct
address. Make sure there are no other peripheral cards (network adapters, bus mouse, etc.) at
the same address.  Try changing the card address.

11

Card Not found

The card did not respond as expected. Verify that you are downloading to the correct address.

Make sure there are no other peripheral cards (network adapters, bus mouse, etc.) at the same
address.  Try changing the card address).

12

Reading Card Rev

The card appeared to be working as expected until the revision was requested.  Verify that you are

downloading to the correct address. Make sure there are no other peripheral cards (network
adapters, bus mouse, etc.) at the same address.  Try changing the card address (see page 4).

13

Waiting for Data Ready

The card did not respond when expected. Verify that you are downloading to the correct address.

Make sure there are no other peripheral cards (network adapters, bus mouse, etc.) at the same
address.  Try changing the card address.

14

Purging Data Out Buffer

The card output buffer could not be emptied. Verify that you are downloading to the correct
address. Make sure there are no other peripheral cards (network adapters, bus mouse, etc.) at
the same address.  Try changing the card address.

15

Waiting for Data Input Buffer
Empty

The card did not respond to the data sent to it. Verify that you are downloading to the correct
address. Make sure there are no other peripheral cards (network adapters, bus mouse, etc.) at
the same address.  Try changing the card address.

16

Time-out Waiting for Processor
Startup

The card did not respond as expected. The green LED on the back of the PC-card should be on for
this error to occur. Verify that you are downloading to the correct address. Make sure there are no
other peripheral cards (network adapters, bus mouse, etc.) at the same address.  Try changing
the card address. Use a fresh copy of the operating system from the disk that was shipped with
the card. If the green LED on the back of the card flashes briefly during download of the operating
system, the card may need repair.

17

CRC Error

The CRC value calculated during download is not the same as stored with the operating system.
Either the file is corrupted on disk, or was corrupted during download. Try a fresh copy of the
operating system. If your computer has a Turbo switch, switch it to low speed because some
computers violate ISA bus timing specifications at high speed.

18

Operating System Rev not
Compatible with Loader Rev

The operating system being downloaded is not compatible with the downloader (Motion Architect
or AT6n50.EXE).  Install the latest downloader from the disks in your AT6n50 ship kit.

19

Incompatible Card ROM rev

The card ROMS and the operating system downloader (Motion Architect or AT6n50.EXE) are

incompatible.  If you are using a new downloader, obtain a new set of ROMS from the factory.

20

Card Read Error (bad compare)

The downloader is unable to communicate reliably with the card.  Try switching to 8-bit mode on

the card, switching out of Turbo mode on your PC, or a different address.

21

Card Read Error (outbuf)

The downloader is unable to empty the output buffer.  There may be an address conflict with

another board.  Try a different address.

22

Card ROMS - Command Line
Parameter Passing Not Supported

The card ROMS are an old revision that do not support command line arguments.  Obtain a ROM
update from the factory.

23

Card ROMS - Unsupported
Option Requested

The card ROMS do not support the option specified on the command line.  Obtain a ROM update
from the factory.

24

NULL Error

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Содержание Compumotor 6000 Series

Страница 1: ...erutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In st...

Страница 2: ...D Z Z B B A A 5V SHLD COM SHTNC SHTNO DFT AGND ANI CMD CMD DRIVE 3 TRIGS TRG A GND TRG B GND TRG C GND TRG D GND SHLD OUT A GND OUT B GND OUT C GND OUT D GND SHLD OUTS ENCODER 3 SHLD GND Z Z B B A A 5...

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Страница 4: ...enable input ENBL and joystick inputs pins 15 19 on the JOYSTICK connector are HCMOS compatible switching levels low 1 00V high 3 25V Previously they were documented as TTL compatible low 0 4V high 2...

Страница 5: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 6: ...es 36 Proportional Feedback Control SGP 36 Integral Feedback Control SGI 37 Velocity Feedback Control SGV 37 Velocity Feedforward Control SGVF 38 Acceleration Feedforward Control SGAF 38 Gain Sets 38...

Страница 7: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 8: ...s table Installing the AT6n50 PC card Mounting the AT6n50 AUX board Connecting all electrical components includes specifications Testing the installation Tuning the AT6n50 refer to Servo Tuner User Gu...

Страница 9: ...under all potential conditions Failure to do so can result in damage to equipment and or serious injury to personnel Always remove power to the computer before Installing or removing the AT6n50 PC ca...

Страница 10: ...ransitions 625 ns Analog joystick connector Voltage range 0 2 5VDC 8 bit A D converter Input voltage must not exceed 5V 24 General Purpose Programmable HCMOS compatible with internal 6 8 KW pull ups t...

Страница 11: ...Prototype Card 800 815 320 32F Hard Disk XT 888 895 378 37F Parallel Printer 896 911 380 38F SDLC 928 943 3A0 3AF SDLC 944 955 3B0 3BB Monochrome Card 956 959 3BC 3BF Parallel Printer 960 975 3C0 3CF...

Страница 12: ...ot near the front of the computer Ease both ends of the card simultaneously down into the computer until the card s edge connector reaches the computer s mating connector see drawing below Adjust the...

Страница 13: ...ome in contact with the AT6n50 or its cables Temperature Operate the AT6n50 AUX board in ambient temperatures between 32 F 0 C and 122 F 50 C Provide a minimum of 6 inches 152 4 mm of unrestricted air...

Страница 14: ...I card only OPT AT6N50 A Removable Screw Terminal Connector Computer Chassis See page 5 for instructions on installing the ANI card in your computer ANI Connections Power LED Analog Input 1 Analog Inp...

Страница 15: ...ANA is NOT affected by the ENBL switch AUX Connector Motor Drivers WARNING REMOVE AC POWER FIRST before connecting or disconnecting the drives CONNECTIONS INTERNAL SCHEMATICS Drive Motor Internal Sch...

Страница 16: ...5A 3W Shutdown active DRIVE this output is disconnected from COM see schematic above Shutdown inactive DRIVE1111 this output is internally connected to COM see schematic above DFT IN Drive fault input...

Страница 17: ...43 Z pin 44 VIN pin 49 AGND pin 50 AT6n50 A A SHTNO 5V B B Z Z CMD AGND NOTE Dynaserv A connected to AT6n50 s A Dynaserv A connected to AT6n50 s A AT6n50 GND connected to AT6n50 COM Linearserv Drive...

Страница 18: ...D CMD DRIVE 1 ENCODER 1 SHLD GND Z Z B B A A 5V SV Drive AT6n50 X13 X8 1 500 1 16 8 15 9 X10 1 16 External 24V Power Supply Short these two terminals Connect SV A called A to AT6n50 A Connect SV A cal...

Страница 19: ...ontroller waits for the home switch to close indicating that the load has reached the home reference position The active level default is active low can be changed with the HOMLVL command You can also...

Страница 20: ...Shield Internally connected to chassis ground earth Isolated logic ground Z Channel quadrature signal input Z Channel quadrature signal input B Channel quadrature signal input B Channel quadrature sig...

Страница 21: ...Description 1 IN Analog Channel 1 Analog input for joystick control of axis Voltage range is 0 2 5VDC 8 bit A D converter CAUTION Input voltage must not exceed 5VDC 2 IN Analog Channel 2 same descript...

Страница 22: ...ble to sink at least 1mA of current AT6n50 6 8 KW 47 5 KW 74HCTxx 5VDC GND Connection to a Sourcing Output Device TRG A GND TRG B GND TRG C GND TRG D GND SHLD 1 Electronic Device Out 5 24 Volts Output...

Страница 23: ...is active low but can be changed to active high with the INLVL command Outputs Pin Function Pin Function Internal Schematic Specifications 1 2 49 50 P R O G R A M M A B L E O U T P U T S 49 5 VDC 23...

Страница 24: ...PROGRAMMING TIP Connecting to a sinking output Set the input s active level to low with the INLVL command active low Connecting to a sourcing output Set the input s active level to high with the INLV...

Страница 25: ...pen collector Sourcing Input Sinking Input Connection to an Inductive Load active low Output Connection OUT P 5V GND AT6n50 7406 4 7 KW 5VDC ISO GND External Supply up to 24VDC open collector Use an e...

Страница 26: ...le Output 1 Programmable Output 2 Programmable Output 3 1 2 3 4 5 6 7 8 5 GND I5 I4 I3 I2 I1 O5 O4 O3 O2 O1 TM8 Thumbwheel Module Connection to your own Thumbwheel Module Sign Bit Thumbwheel 1 Thumbwh...

Страница 27: ...connectors AUX 5V GND 5V OUT P IN P GND ANA ENBL GND External 5VDC Power Supply 5VDC Ground 1 AC Input AUX Boards 1 Remove the cover on the EIA plug 2 Build your power cable as shown DO NOT USE A 120V...

Страница 28: ...or message if it cannot find the card or if the download operation is not successful refer the Downloading Error table on page 31 RED Receiving power from AT bus OFF No power ANI Option Card Only Gree...

Страница 29: ...or 6 Download the operating system by clicking on the Transfers pull down menu and selecting Send Operating System After the operating system is downloaded the terminal window will display a startup m...

Страница 30: ...ay of the voltage level at the ANI inputs from the connector on the ANI option card Press the return key to move the display to the next line and save the current value 2 Change the voltage output fro...

Страница 31: ...portional gain in the PIV F servo algorithm SGI Sets the integral gain in the PIV F servo algorithm SGV Sets the velocity gain in the PIV F servo algorithm SGAF Sets the acceleration feedforward gain...

Страница 32: ...ns etc Program editor Create blocks or lines of 6000 controller code or copy portions of code from previous files You can save program editor files for later use in BASIC C etc or in the terminal emul...

Страница 33: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 34: ...cing electrical noise Diagnostic LEDs Test options Technical support Solutions to common problems Corrective actions in response to operating system download errors Product return procedure Artisan Te...

Страница 35: ...ives are shut down possible causes are Shutdown was commanded with the DRIVE command Drive fault input DFT is active Enable input ENBL is not grounded Maximum allowable position error set with the SMP...

Страница 36: ...x ERES2000 SMxxxxE xxxx ERES4000 OEM Series motors servo OEM2300E05A MO ERES2000 OEM2303E05A MO ERES2000 OEM3400E05A MO ERES2000 OEM3401E10A MO ERES2000 OEM2300E05A MO ERES4000 OEM2303E10A MO ERES4000...

Страница 37: ...d mis wired connections Runaway if encoder counts positive when turned clockwise 1 Direction connections reversed 2 Improper tuning 1 Switch CMD with the CMD connection to drive 2 Retune the AT6n50 an...

Страница 38: ...network adapters bus mouse etc at the same address Try changing the card address see page 4 13 Waiting for Data Ready The card did not respond when expected Verify that you are downloading to the cor...

Страница 39: ...e Did any other items fail at the same time What was happening when the unit failed e g installing the unit cycling power starting other equipment etc How was the product configured in detail Which if...

Страница 40: ...ilable To effectively tune the AT6n50 and any velocity drives you may be using use the interactive tuning features in the Servo Tuner It greatly improves your efficiency and gives you powerful graphic...

Страница 41: ...position error changes such that the control algorithm would calculate a control signal less than the limit This phenomenon of reaching the output limit is called controller output saturation When sat...

Страница 42: ...what this user guide describes in the following sections Position Response Types The following table lists describes and illustrates the six basic types of position responses The primary difference a...

Страница 43: ...e AT6n50 employs a PIV F servo control algorithm The control techniques available in this system are P Proportional Feedback control with SGP command I Integral Feedback control with SGI command V Vel...

Страница 44: ...After windup occurs it will take a while before the integrator output returns to a level within the limit of the controller s output Such a delay causes excessive position overshoot and oscillation Th...

Страница 45: ...irected by the Servo Gain Acceleration Feedforward SGAF setting which is in turn multiplied by the acceleration of the commanded position to produce the control signal Consequently because the control...

Страница 46: ...se to zero If an offset exists ignore it for now it will be taken care of later in step 8 Step 3 If your system has mechanical stops manually move the load to a position mid way between them Step 4 En...

Страница 47: ...ning Setup Procedure you must tune one axis at a time Step 1 Tune the drive to output the desired velocity at a given voltage from the AT6n50 a If your system has mechanical stops manually move the lo...

Страница 48: ...easing the SSFR value provides a smoother profile but makes the servo system less stable and slower to respond SELECTING THE SSFR VALUE Refer to the SSFR command description in the 6000 Series Softwar...

Страница 49: ...he Integral Feedback Gain SGI to reduce steady state error Steady state position error is described earlier in the Performance Measurements section on page 35 a Determine the steady state position err...

Страница 50: ...oduct of SGP SGV if SGV zero set SGVF equal to SGP b Check the position error at constant velocity by issuing the TPER command c Increase SGVF to reduce the position error repeat steps a and b as nece...

Страница 51: ...amp out the oscillation SGP 15 Step 3 With SGV equal to 2 the response turns out fairly well damped see plot At this point the SGP should be raised again until oscillation or excessive overshoot appea...

Страница 52: ...all axes subsequent scaling gains servo offset PSET and SMPER commands are specific to encoder feedback ERES4000 Set encoder resolution to 4 000 counts rev all axes SCLA4000 Set scaling for programmi...

Страница 53: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 54: ...ations guide i turn off before installing cards 5 conduit 2 21 configuration DIP switches address interrupts transfer mode 4 connections ANA analog output 8 analog channel inputs 14 ANI analog input 7...

Страница 55: ...ANA 8 drive 8 general purpose programmable connections and specs 16 problems 30 testing 23 OUT A through OUT D 16 testing 23 over damped servo response 35 overshoot 35 37 P Q panel layout 6 spacing m...

Страница 56: ...e 41 T technical assistance see inside of front cover and HELP command temperature range 3 terminal emulation set up 22 test system installation 22 test panel Motion Architect 28 thumbwheel connection...

Страница 57: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 58: ...nalog input 14 bit ADC ENBL DFT CW CCW HOM or Joystick digital inputs pins 15 19 6 8 K 74HCxx 47 5 K 5VDC Specs HCMOS compatible voltage range 0 24VDC Trigger Inputs pg 15 TRG n inputs 6 8 K 74HCTxx 4...

Страница 59: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...

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