Aerotech UNIDEX 500 User manual

SUBJECT:
Unidex 500 Motion Controller and
Windows Software Operation & Technical
Manual
PREPARED BY: Aerotech, Inc.
101 Zeta Drive
Pittsburg, PA
15238-2897
USA
Used with permission
from Aerotech, Inc.
DOCUMENT No: SPIRE-UOL-DOC-001519
ISSUE: Date: February 3, 2003
APPROVED BY: Date:

THE UNIDEX500 MOTION
CONTROLLER AND WINDOWS SOFTWARE
OPERATION & TECHNICAL MANUAL
P/N: EDU150 (V1.3a)
AEROTECH, Inc. •101 Zeta Drive •Pittsburgh, PA. 15238-2897 •USA
Phone [phone] •Fax[phone]
Product Service: [phone]; [phone] (Fax)
www.aerotechinc.com

If you should have any questions about the UNIDEX 500 or comments regarding the documentation, please refer to
Aerotech online at:
http://www.aerotechinc.com.
For your convenience, a product registration form is available at our web site.
Our web site is continually updated with new product information, free downloadable software and special pricing on
selected products.
The UNIDEX 500 PC-based motion controller, Toolkit, and MMI software packages are products of Aerotech, Inc.
Borland C is a product of Borland International, Inc.
IBM PC/AT bus is a registered trademark of International Business Machines, Inc.
Inductosyn is a registered trademark of Farrand Industries, Inc.
iSBX is a registered trademark of Intel Corporation.
MS-DOS, QuickBASIC and Windows are products of Microsoft Corporation.
The UNIDEX 500 Motion Controller and Windows Software
Operations and Technical Manual Revision History:
Rev 1.0 April 18, 1995
Rev 1.1June26,1995
Rev 1.2 June 14, 1996
Rev 1.3July 5,2000
Rev 1.3a November 17, 2000

UNIDEX 500 and Software Table of Contents
Version 1.3 Aerotech, Inc. iii
TABLE OF CONTENTS
CHAPTER 1: INTRODUCTION............................................................................ 1-1
1.1. Overview of the UNIDEX 500 System...............................................1-1
1.2. The UNIDEX 500 Family of Controllers........................................... 1-1
1.2.1. The UNIDEX 500 Base Model (U500) ...............................1-2
1.2.2. The UNIDEX 500 Plus Model (U500PLUS)....................... 1-3
1.2.3. The UNIDEX 500 Ultra Model (U500ULTRA).................. 1-3
1.3. Ordering Information.......................................................................... 1-3
1.4. Options and Accessories..................................................................... 1-5
1.5. Safety Procedures and Warnings........................................................ 1-6
CHAPTER 2: GETTING STARTED...................................................................... 2-1
2.1. Introduction........................................................................................ 2-1
2.2. Unpacking the UNIDEX 500 System................................................. 2-1
2.3. Inspection of the UNIDEX 500 Control Board.................................. 2-2
CHAPTER 3: SOFTWARE INSTALLATION AND FUNDAMENTALS.......... 3-1
3.1. Introduction........................................................................................ 3-1
3.2. Minimum Hardware Requirements and Recommended System
Configurations.................................................................................... 3-1
3.3. Standard Installation Using Windows NT 4.0 or 95........................... 3-2
3.4. Installing the UNIDEX 500 PC Board ...............................................3-3
3.5. Software Startup................................................................................. 3-4
3.5.1. U500 ISA Base Address Jumpers (JP4, JP5, JP6, JP7,
JP8, and JP9)........................................................................ 3-4
3.5.2. Configuring the Software to Match the Hardware................ 3-5
3.5.3. Configuration of the Software for the ISA Board................. 3-6
3.5.4. Configuring the Software for the PCI Board........................ 3-6
3.5.5. Initializing the U500 Board.................................................. 3-7
3.6. Software Configuration Considerations.............................................. 3-9
3.6.1. Configuring Key Parameters................................................ 3-9
3.7. Special Startup Considerations......................................................... 3-11
3.7.1. Feedback Verification........................................................ 3-15
3.7.2. Limit Verification............................................................... 3-15
3.7.3. Preliminary Servo Loop Setup ...........................................3-15
CHAPTER 4: THE SOFTWARE INTERFACE.................................................... 4-1
4.1. Introduction........................................................................................ 4-1
4.2. The File Menu.................................................................................... 4-2
4.2.1. The Project... Option of the File Menu................................. 4-3
4.2.2. The Parameters... Option of the File Menu.......................... 4-3
4.2.3. The Firmware... Option of the File Menu............................. 4-3
4.2.4. The Load Program... Option of the File Menu.....................4-3
4.2.5. The Reset Option of the File Menu...................................... 4-4
4.2.6. The Exit Option of the File Menu ........................................ 4-4
4.3. The Edit Menu.................................................................................... 4-4
4.3.1. The Project... Option of the Edit Menu................................ 4-4
4.3.2. The Parameters... Option of the Edit Menu.......................... 4-5
4.3.2.1. Edit Parameters: The File Submenu....................... 4-6

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iv Aerotech, Inc. Version 1.3
4.3.2.2. Edit Parameters: The Number, Value, and
Axis Fields ............................................................. 4-6
4.3.3. System Options.....................................................................4-7
4.3.4. The Program Option of the Edit Menu...............................4-14
4.4. The Tools Menu ...............................................................................4-15
4.4.1. The Diagnostics Option of the Tools Menu .......................4-15
4.4.2. The Demo Option of the Tools Menu ................................4-19
4.4.3. The Axis Tuning... Option of the Tools Menu...................4-20
4.4.3.1. Axis Scope: The File Submenu............................4-20
4.4.3.2. Axis Scope: The Plot Submenu............................4-21
4.4.3.3. Axis Scope: The Trigger Submenu......................4-22
4.4.3.4. Axis Scope: The Collect Submenu.......................4-23
4.4.3.5. Axis Scope: The Display Submenu......................4-24
4.4.3.6. Axis Scope: The Axis Submenu...........................4-24
4.4.3.7. Axis Scope: The Units Submenu..........................4-25
4.4.3.8. Axis Scope: The Tools Submenu.........................4-25
4.4.4. The Joystick Digitizing Option of the Tools Menu............4-31
4.4.5. The “Diagnostics 2” Option of the Tools Menu.................4-33
4.4.6. The Variable Watch Option of the Tools Menu.................4-34
4.5. The Windows Menu .........................................................................4-35
4.5.1. The Functions Option of the Windows Menu.....................4-35
4.5.1.1. The F2 Abort Button............................................4-36
4.5.1.2. The F3 Pause/Resume Button..............................4-36
4.5.1.3. The F4 Load Button and the Program
Display Window...................................................4-36
4.5.1.4. The F5 Jog Button................................................4-38
4.5.1.5. Password Protection.............................................4-39
4.5.1.6. The F7 Diag Button..............................................4-42
4.5.1.7. The F8 Fault Ack Button......................................4-42
4.5.1.8. The F9 Reset Button ............................................4-42
4.5.2. The Status Option of the Windows Menu ..........................4-43
4.5.3. The Jog Option of the Windows Menu...............................4-45
4.5.4. The Gain Adjust Option of the Windows Menu.................4-45
4.5.5. The MDI Option of the Windows Menu ............................4-45
4.5.6. The MFO Option of the Windows Menu ...........................4-46
4.5.7. The Axis Display Option of the Windows Menu ...............4-46
4.6. The Functions Menu.........................................................................4-48
4.7. The Help Menu.................................................................................4-49
CHAPTER 5: PARAMETERS................................................................................5-1
5.1. Introduction ........................................................................................5-1
5.2. The Edit Parameters Window.............................................................5-1
5.2.1. The Menu Bar of the Edit Parameters Window....................5-2
5.2.2. The Parameter Tabs..............................................................5-2
5.2.3. The Scrollable Parameter Display Window .........................5-2
5.2.4. The Parameter Number Field ...............................................5-2
5.2.5. The Parameter Value Field...................................................5-3
5.2.6. Axis Number Radio Buttons.................................................5-4
5.3. The Position Tracking Tab.................................................................5-5
5.3.1. Keep Axis Position after Reset (Y/N) ..................................5-6
5.3.2. Axis nRollover Machine Steps for Axes 1-4.......................5-7

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Version 1.3 Aerotech, Inc. v
5.3.3. PSO Mailbox Dual_port RAM Base Address...................... 5-8
5.3.4. PSO-HOST and PC Interface Address (U500 ISA -
16 bit MMI software only)................................................... 5-9
5.3.5. Plane nMetric System (Y/N) ............................................. 5-10
5.3.6. Metric Mode Number of Decimal Digits (1-8)................... 5-11
5.3.7. English Mode Number of Decimal Digits (1-8)................. 5-12
5.4. The Advanced Motion Tab............................................................... 5-13
5.4.1. Overview of Planes ............................................................ 5-14
5.4.2. Number of Contour Planes (1, 2, 4) ................................... 5-17
5.4.3. Axis nMap to Plane {1-4} as {X, Y, Z, U}....................... 5-19
5.4.4. Axis nGantry {Y/None}, Slave {1, 2, 3, 4} ...................... 5-20
5.4.5. Plane nIndexing Segment Time (1-20 ms)........................ 5-23
5.4.6. Linear Type Ac/De (Y/N).................................................. 5-24
5.4.7. Clamp Feedrate (Program Steps/ms).................................. 5-25
5.4.8. Corner Rounding Non-Ramp Time (1-32,000 ms)............. 5-26
5.4.9. Contouring Mode ............................................................... 5-28
5.4.10. A/D Channel nJoystick Deadband..................................... 5-29
5.4.11. A/D Channel nJoystick Center Position ............................ 5-30
5.4.12. Safe Zone Output Bit (0-8)................................................. 5-30
5.4.13. Option Board Setup Code.................................................. 5-31
5.4.14. User Interrupt Setup Code.................................................. 5-32
5.4.15. Abort On Input High (0, 1-16) ........................................... 5-32
5.5. The Basic Motion Tab...................................................................... 5-33
5.5.1. MFO, 0 No MFO-pot, 1-255 Pot Offset............................. 5-34
5.5.2. Plane nContour Ramping Time (ms)................................. 5-35
5.5.3. Contour Feedrate (Program Steps/ms) for Plane n............. 5-36
5.5.4. X, Y, Z, and U Axes’ Point-to-point Feedrates
(Program Steps/ms) for Plane n.......................................... 5-36
5.6. The Homing and Limits Tab............................................................. 5-37
5.6.1. The Home Cycle................................................................. 5-38
5.6.2. Home Direction is CCW (Y/N).......................................... 5-40
5.6.3. Home Switch Normally Open (Y/N).................................. 5-41
5.6.4. Power-on Home Feedrate (Machine Steps/ms).................. 5-42
5.6.5. Normal Home Feedrate (Machine Steps/ms) ..................... 5-43
5.6.6. Home Offset (Machine Steps)............................................ 5-43
5.6.7. Home Switch to Marker (Machine Steps) – U500 ISA
Only.................................................................................... 5-44
5.6.8. Home/Limit Switch Debounce (ms)................................... 5-45
5.6.9. Limit Switch Normally Open (Y/N)................................... 5-45
5.6.10. Switch to Mechanical Stop (Machine Steps)...................... 5-46
5.6.11. CCW Software Limit (Machine Steps)............................... 5-46
5.6.12. CW Software Limit (Machine Steps)................................. 5-46
5.6.13. Enable Vel/Accel Feedforward During Home (Y/N)......... 5-47
5.6.14. Use Home Limit During Home Cycle (Y/N)...................... 5-48
5.6.15. Safe Zone Limits (Machine Steps)..................................... 5-48
5.6.16. Home/Limit Switch Debounce (Steps)............................... 5-49
5.6.17. Home Marker Search Speed (Machine Steps/ms) –
U500 ISA Only .................................................................. 5-49
5.7. The Traps Tab .................................................................................. 5-50
5.7.1. Max Ac/De (Machine Steps/ms/ms)................................... 5-51
5.7.2. Top Feedrate (Machine Steps/ms)...................................... 5-52
5.7.3. Max Velocity Error (0-8,388,607) ..................................... 5-53

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vi Aerotech, Inc. Version 1.3
5.7.4. Max Position Error (0-8,388,607)......................................5-54
5.7.5. Max Integral Error (0-8,833,607).......................................5-55
5.7.6. RMS Current Trap (0-100%) .............................................5-56
5.7.7. RMS Current Sample Time (1-16,383 ms).........................5-58
5.7.8. Clamp Current Output (0-100%)........................................5-59
5.7.9. Output Bit for AUX OUTPUT...........................................5-60
5.7.10. Drive Fault Signal Active Low...........................................5-61
5.7.11. AUX OUTPUT Active High..............................................5-61
5.8. The Motor and Feedback Configuration Tab....................................5-62
5.8.1. Introduction to Motors and Feedback Configurations........5-63
5.8.2. Motor Feedback and Configuration Parameters.................5-71
5.8.3. Primary/Position Feedback Channel...................................5-72
5.8.3.1. Encoder Gantry Mode..........................................5-73
5.8.4. Secondary/Velocity Feedback Channel..............................5-75
5.8.5. Primary Feedback Setup Code ...........................................5-76
5.8.6. Secondary Feedback Setup Code .......................................5-76
5.8.7. Drive (Motor) Type (0-DC Brush, 1-AC Brushless,
2/3-Stepper)........................................................................ 5-77
5.8.8. AC Brushless Motor Commutation Factor
(Cycles/Rev).......................................................................5-78
5.8.9. Encoder Feedback (Steps/Rev/(*4))...................................5-79
5.8.10. AC Brushless Motor Phase Offset (Degrees).....................5-79
5.8.11. Stepper High Current (0-100%) .........................................5-80
5.8.12. Stepper Low Current (0-100%)..........................................5-80
5.8.13. Stepper Microstepping Resolution (Steps/Rev)..................5-80
5.8.14. Stepper Encoder Verification (Y/N)...................................5-81
5.8.15. Stepper Encoder Speed (Microsteps/ms)............................5-81
5.8.16. AC Brushless Motor Phase Advance Base Speed
(Steps/ms)...........................................................................5-82
5.8.17. AC Brushless Motor Base Speed Advance (Degrees)........5-83
5.8.18. AC Brushless Motor Phase Speed (steps/ms).....................5-83
5.8.19. AC Brushless Motor Phase Speed Advance (Degrees) ......5-83
5.8.20. Current Command Offset Parameters (mV) .......................5-83
5.8.21. Encoder Multiplication.......................................................5-83
5.9. The Servo Loops Tab .......................................................................5-84
5.9.1. Notch Filter (Y/N)..............................................................5-85
5.9.2. Kpos (0-8,388,607)(Position Loop Gain)...........................5-85
5.9.3. Ki (0-8,388,607)(Velocity Loop Integrator) ......................5-85
5.9.4. Kp (0-8,388,607)(Velocity Loop Proportional Gain).........5-86
5.9.5. Vff (0-8,388,607)(Velocity Feed Forward)........................5-86
5.9.6. Aff (0-8,388,607)(Acceleration Feed Forward) .................5-86
5.9.7. Notch Filter Coefficient N0, N1, N2, D1, and D2..............5-87
5.9.7.1. The Notch Filter...................................................5-87
5.9.7.2. Notch Filter Example...........................................5-89
5.9.7.3. The Second Order Low Pass Filter ......................5-91
5.9.8. Servo Loop Update Rate (1-100) x 0.25 ms.......................5-92
5.9.9. Servo Loop Type................................................................5-92
5.9.10. Filter Time Constant...........................................................5-93
5.10. The Other Tab ..................................................................................5-94
5.10.1. Metric (x00) and English (x01) Conversion Factors..........5-95
5.10.2. Positive (+) Move is Clockwise (Y/N)...............................5-98
5.10.3. Positive (+) Jog is Same Direction as + Move (Y/N).........5-99

UNIDEX 500 and Software Table of Contents
Version 1.3 Aerotech, Inc. vii
5.10.4. Pause Enable in Freerun (Y/N) ..........................................5-99
5.10.5. MFO Enable in Freerun (Y/N)......................................... 5-100
5.10.6. Calibration Enable (Y/N) ................................................. 5-100
5.10.7. In Position Deadband (Machine Steps)............................ 5-101
5.10.8. Backlash (Machine Steps)................................................ 5-102
5.10.9. Joystick: High Speed (Machine Steps/sec)....................... 5-103
5.10.10. Joystick: Low Speed (Machine Steps/sec) ....................... 5-103
5.10.11. Absolute Mode Scale (Machine Steps) ............................ 5-104
5.10.12. Orthogonality Correction Table Enabled (Y/N)............... 5-104
5.10.13. 2-D Error Mapping Enabled (Y/N).................................. 5-105
5.10.14. Reverse Joystick Direction............................................... 5-105
5.11. The Faults Tab................................................................................ 5-106
5.11.1. Introduction to Fault Masks ............................................. 5-106
5.11.2. Error Mask Fault.............................................................. 5-108
5.11.3. Disable Axis..................................................................... 5-108
5.11.4. Interrupt PC...................................................................... 5-108
5.11.5. AUX OUTPUT ................................................................ 5-109
5.11.6. Halt Queue ....................................................................... 5-109
5.11.7. Abort Motion.................................................................... 5-109
5.11.8. Enable Brake.................................................................... 5-110
5.12. The General Tab............................................................................. 5-111
5.13. The Axis Tab.................................................................................. 5-112
CHAPTER 6: TUNING SERVO LOOPS............................................................... 6-1
6.1. Introduction........................................................................................ 6-1
6.2. The Axis Scope Toolbars................................................................... 6-2
6.2.1. Kp Proportional Gain........................................................... 6-3
6.2.2. Ki Integral Gain....................................................................6-3
6.2.3. Kpos Position Gain .............................................................. 6-3
6.2.4. Vff Velocity Feedforward Gain............................................ 6-3
6.2.5. Aff Acceleration Feedforward Gain..................................... 6-3
6.3. Autotuning.......................................................................................... 6-4
6.3.1. Setting up an Excitation ....................................................... 6-4
6.3.2. Specifying Desired Performance.......................................... 6-4
6.3.3. Bandwidth and Damping...................................................... 6-4
6.3.4. Procedure ............................................................................. 6-5
6.3.5. Dual Loop Systems .............................................................. 6-8
6.3.6. Guidelines and Limitations................................................... 6-8
6.4. Manual Tuning Procedure for Servo Loops ....................................... 6-9
6.5. Tuning Tips ...................................................................................... 6-19
6.6. Tachometer Feedback Basics ........................................................... 6-20
6.6.1. In-Position Integrator ......................................................... 6-20
6.6.2. Velocity Feed Forward....................................................... 6-20
6.6.3. Servo Parameter Setup for Tachometer Feedback ............. 6-20
6.6.4. The Axis Scope Toolbars................................................... 6-21
6.6.4.1. Kpos Position Gain.............................................. 6-21
6.6.4.2. Ki In-Position Integrator...................................... 6-21
6.6.4.3. Vff Velocity Feedforward Gain ........................... 6-21
6.6.4.4. Kp Proportional Gain........................................... 6-21
6.6.4.5. Aff Acceleration Feedforward Gain..................... 6-21
6.7. Tuning Tachometer Loops................................................................ 6-22

Table of Contents UNIDEX 500 and Software
viii Aerotech, Inc. Version 1.3
CHAPTER 7: PROGRAMMING COMMANDS ..................................................7-1
7.1. Introduction ........................................................................................7-1
7.2. Program Execution Levels..................................................................7-2
7.2.1. Board Level Execution.........................................................7-2
7.2.2. C Library Interface...............................................................7-2
7.2.3. C Library ASCII Interface....................................................7-2
7.3. Mathematical Function Commands ....................................................7-3
7.3.1. Direct Variables (V0 through V255)....................................7-3
7.3.2. Indirect Variables (VV0 through VV255)............................7-3
7.3.3. Functions..............................................................................7-3
7.3.4. Operators and Evaluation Hierarchy ....................................7-5
7.4. System Registers.................................................................................7-6
7.4.1. Relative Position Registers...................................................7-6
7.4.2. Absolute Position Registers..................................................7-6
7.4.3. Real Time Feedback Position Registers...............................7-7
7.4.4. Real Time Commanded Position Registers..........................7-7
7.4.5. Understanding the Concept of Program Steps......................7-8
7.4.6. A/D Channel Registers.........................................................7-8
7.5. System Inputs $INP and $IN0-$INF.................................................7-10
7.6. iSBX I/O Interface (optional on U500 ISA only).............................7-11
7.7. 4EN Expansion Board I/O Interface (optional on U500 ISA
only)..................................................................................................7-14
7.8.1. ABORT..............................................................................7-22
7.8.2. ACCELERATION .............................................................7-22
7.8.3. AC PL (ACcel PLane)........................................................7-23
7.8.4. AFCO (Auto Focus)...........................................................7-23
7.8.5. AGAIN...............................................................................7-27
7.8.6. Analog Vector Tracking Mode...........................................7-28
7.8.7. AT (Autotune)....................................................................7-30
7.8.8. BOARD..............................................................................7-31
7.8.9. BRAKE..............................................................................7-32
7.8.10. CAL (Load Calibration File)..............................................7-33
7.8.11. CALLDLL..........................................................................7-34
7.8.12. CLOCKWISE and COUNTERCLOCKWISE
CIRCULAR INTERPOLATION .......................................7-37
7.8.13. CLRSCR (Clear Screen).....................................................7-42
7.8.14. CM (Contouring Mode)......................................................7-42
7.8.15. COM FREE........................................................................7-43
7.8.16. COM GET..........................................................................7-43
7.8.17. COM INIT..........................................................................7-45
7.8.18. COM RECEIVE.................................................................7-45
7.8.19. COM SEND ....................................................................... 7-46
7.8.20. COM SET _RECEIVE_.....................................................7-47
7.8.21. COM SET _STATUS_.......................................................7-48
7.8.22. COM SET _TERMINATE_...............................................7-49
7.8.23. COM SET _TIMEOUT_....................................................7-50
7.8.24. CS (Command Scope)........................................................7-51
7.8.25. Cutter Compensation Commands.......................................7-52
7.8.26. CVI (Convert to Integer)....................................................7-55
7.8.27. CYCLE...............................................................................7-56
7.8.28. DAC (D/A Output).............................................................7-57

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7.8.29. DISABLE........................................................................... 7-58
7.8.30. DS (Display Servo Loop Data) .......................................... 7-59
7.8.31. DWELL.............................................................................. 7-60
7.8.32. DY (Dynamic Gain)........................................................... 7-60
7.8.33. EC ...................................................................................... 7-61
7.8.34. ENABLE............................................................................ 7-63
7.8.35. ERROR .............................................................................. 7-64
7.8.36. EXIT .................................................................................. 7-65
7.8.37. FAULT ACKNOWLEDGE............................................... 7-66
7.8.38. FL (Filter Time Constant) .................................................. 7-66
7.8.39. FREEDLL.......................................................................... 7-67
7.8.40. FREERUN ......................................................................... 7-68
7.8.41. GAIN.................................................................................. 7-69
7.8.42. GEAR................................................................................. 7-70
7.8.43. GOTO ................................................................................ 7-71
7.8.44. HALT................................................................................. 7-73
7.8.45. HOME................................................................................ 7-74
7.8.46. IF........................................................................................ 7-75
7.8.47. IMMEDIATE..................................................................... 7-77
7.8.48. INDEX............................................................................... 7-78
7.8.49. INn (Read Inputs)............................................................... 7-79
7.8.50. INTERRUPT...................................................................... 7-80
7.8.51. IO COMMAND................................................................. 7-81
7.8.52. IOSET COMMAND.......................................................... 7-81
7.8.53. JOG .................................................................................... 7-82
7.8.54. Label Marker (:)................................................................. 7-82
7.8.55. LINEAR............................................................................. 7-83
7.8.56. LOADDLL......................................................................... 7-84
7.8.57. LOOP................................................................................. 7-85
7.8.58. LVDT................................................................................. 7-86
7.8.59. M0 (“M Zero”)................................................................... 7-87
7.8.60. MCOMM (Motor Commutation)....................................... 7-88
7.8.61. MESSAGE......................................................................... 7-89
7.8.62. MR (Memory Read)........................................................... 7-90
7.8.63. MSET (Motor Setup) ......................................................... 7-91
7.8.64. MW (Memory Write)......................................................... 7-94
7.8.65. NEXT................................................................................. 7-95
7.8.66. OEn (Extended Output)...................................................... 7-96
7.8.67. OUTPUT............................................................................ 7-97
7.8.68. PARALLEL ....................................................................... 7-98
7.8.69. PRM (PARAMETER READ)........................................... 7-99
7.8.70. PAUSE............................................................................. 7-100
7.8.71. PLANE............................................................................. 7-101
7.8.72. PLC .................................................................................. 7-102
7.8.73. POSITION COMMAND (IN POSITION) ..................... 7-105
7.8.74. PROGRAM...................................................................... 7-106
7.8.75. QUEUE............................................................................ 7-108
7.8.76. RAMP .............................................................................. 7-110
7.8.77. REFERENCE................................................................... 7-111
7.8.78. RETURN.......................................................................... 7-111
7.8.79. ROTATE (Part Rotation)................................................. 7-112
7.8.80. ROUNDING .................................................................... 7-113

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7.8.81. SCOPE .............................................................................7-116
7.8.82. SCF (Overriding Scale Factor).........................................7-117
7.8.83. SKEY (Soft Keys)............................................................7-118
7.8.84. SLAVE.............................................................................7-119
7.8.85. SLEW...............................................................................7-124
7.8.86. SOFTWARE ....................................................................7-126
7.8.87. SPLINE............................................................................7-128
7.8.88. START.............................................................................7-129
7.8.89. SUBROUTINE ................................................................7-130
7.8.90. SYNC...............................................................................7-130
7.8.91. Target Tracking Commands (TE, TD, TP) ......................7-131
7.8.92. TRAJECTORY ................................................................7-132
7.8.93. TRIGGER ........................................................................7-133
7.8.94. UMFO (Manual Feed Override).......................................7-133
7.8.95. VAR (Read/Write Variables)...........................................7-134
7.8.96. VELOCITY......................................................................7-135
7.8.96.1.Correct Usage and Limitations of the
Velocity Profiling Algorithm in Contour
Mode 0 (CM0)...................................................7-136
7.8.96.2.CM1 Contouring Mode......................................7-140
7.8.97. WAIT ...............................................................................7-144
7.8.98. WHILE/ENDWHILE.......................................................7-145
CHAPTER 8: U500 PCI PULSE OUTPUT............................................................8-1
8.1. Hardware Configuration.....................................................................8-1
8.2. Pulse Output Programming.................................................................8-2
8.2.1. Single PSO Mode.................................................................8-2
8.2.1.1. Array Download.....................................................8-5
8.2.1.2. Window Comparators ............................................8-7
8.2.2. Dual Axis PSO Mode.........................................................8-10
8.3. U500PCI/PSO-PC Functionality ......................................................8-14
CHAPTER 9: SAMPLE PROGRAMS...................................................................9-1
9.1. Introduction ........................................................................................9-1
9.2. Incremental (Relative) Motion with Velocity Profiling......................9-2
9.3. Absolute Motion with Velocity Profiling ...........................................9-5
9.4. CNC Demonstration Using Velocity Profiling, Linear, and
Circular Interpolation .........................................................................9-7
9.5. Corner Rounding ................................................................................9-8
9.6. GEAR Demonstration of a Master Axis with Two Slave Axes ........9-10
9.7. Interlocking Contour Planes .............................................................9-11
9.8. Splining.............................................................................................9-12
9.9. Programming Using Inputs...............................................................9-13
9.10. Part Rotation.....................................................................................9-14
9.11. Overriding Scale Factor....................................................................9-16
9.12.COM Functions................................................................................9-19
CHAPTER 10: PROGRAMMING TOOLS...........................................................10-1
10.1. Introduction ......................................................................................10-1
10.2. Summary of the UNIDEX 500 Quick Library Functions
(32bit)...............................................................................................10-2
10.2.1. Overview............................................................................10-2

UNIDEX 500 and Software Table of Contents
Version 1.3 Aerotech, Inc. xi
10.2.2. Device Driver Information................................................. 10-2
10.2.3. Registry Information .......................................................... 10-3
10.2.4. Quick Library Functions..................................................... 10-4
10.2.5. Arguments and Return Values for the
aerq_read_status Function................................................ 10-18
10.2.6. Programming Example..................................................... 10-21
10.3. Summary of the UNIDEX 500 WAPI Functions (32 bit)............... 10-31
10.3.1. Overview.......................................................................... 10-31
10.3.2. Device Driver Information............................................... 10-31
10.3.3. Registry Information ....................................................... 10-32
10.3.4. WAPI Library Functions.................................................. 10-33
10.3.5. Arguments and Return Values for the
WAPIAerReadStatus Function......................................... 10-40
10.3.6. Example file for U500 "WAPI" library
"WIN50032.DLL” ........................................................... 10-43
CHAPTER 11: UTILITY PROGRAMS................................................................. 11-1
11.1. Introduction...................................................................................... 11-1
11.2. The AERVER.EXE Utility (32 bit software only)...........................11-1
11.3. The DSPDMP32.EXE Program (32 bit software only)................... 11-2
CHAPTER 12: TECHNICAL DETAILS................................................................ 12-1
12.1. Technical Details Common between U500 PCI and ISA Cards....... 12-1
12.1.1. Encoder Signal Specifications............................................ 12-1
12.1.1.1.Differential Encoders........................................... 12-1
12.1.1.2.Single Ended Encoders........................................ 12-1
12.1.1.3.Software Setup for Single-ended Encoders.......... 12-2
12.1.1.4.Aerotech Stepper Motors with the Home
Marker Option...................................................... 12-3
12.1.2. Encoder Signal Pinouts...................................................... 12-6
12.1.3. Limit and Amplifier Fault Inputs........................................ 12-7
12.1.4. Current Command Output.................................................. 12-8
12.1.5. Digital Input Bus Specifications......................................... 12-9
12.1.6. Output Bus Specifications................................................ 12-11
12.1.7. The Brake Output............................................................. 12-12
12.1.8. Opto 22 I/O Bus............................................................... 12-13
12.1.9. Main Connector Pinout of the UNIDEX 500................... 12-17
12.1.10. Opto 22 I/O Hall Inputs (P5) Pinouts............................... 12-20
12.2. UNIDEX 500 ISA Technical Details ............................................. 12-21
12.2.1. Test Points........................................................................ 12-21
12.2.2. Jumper Configurations..................................................... 12-23
12.2.2.1.Marker Pulse Qualification Jumpers (JP28 –
JP35).................................................................. 12-24
12.2.2.2.Amplifier Enable Jumpers (JP36 – JP39) .......... 12-25
12.2.2.3.PC Bus Interrupt Jumpers (JP10 – JP15)........... 12-27
12.2.2.4.Dual-Ported RAM Base Address Select
Jumpers JP16 – JP24)........................................ 12-29
12.2.2.5.Base Address Jumpers (JP4 – JP9).................... 12-31
12.2.3. Emergency Stop Input...................................................... 12-33
12.2.4. iSBX Connector Pinout (P4)............................................ 12-34
12.2.5. DSP Bus Pin Description (P3) .........................................12-35
12.2.6. Encoder Interface between U500 and PC-PSO (P6)........ 12-36

Table of Contents UNIDEX 500 and Software
xii Aerotech, Inc. Version 1.3
12.2.7. Motorola DSP56002 OnCE Port (P8)..............................12-36
12.3. UNIDEX 500 PCI Technical Details..............................................12-37
12.3.1. Emergency Stop Input......................................................12-37
12.3.2. U500 PCI Analog Inputs..................................................12-37
12.3.3. CLK/DIR Stepper Mode ..................................................12-38
12.3.4. Additional D/A Outputs ...................................................12-40
12.3.5. U500 PCI D/A Analog Outputs........................................12-40
12.3.6. U500 PCI Test Points.......................................................12-46
12.3.7. U500 Specifications .........................................................12-47
12.3.8. U500 PCI Jumpers ...........................................................12-47
12.3.9. Connector Pinouts ............................................................12-49
12.3.9.1.P1 – Main Connector .........................................12-49
12.3.9.2.P3 – Expansion Connector.................................12-50
12.3.9.3.P4 – 8X3 IO Conncetor......................................12-51
12.3.9.4.P5 - 16IN 8 OUT ( OPTIONAL HALL
INPUTS )...........................................................12-52
12.3.9.5.U500 PCI – P6 – Internal
Encoder/Miscellaneous Interface.......................12-53
12.3.9.6.P8 – ½ Secondary Axis Interface.......................12-54
12.3.9.7.P9 – ½ Secondary Axis Interface.......................12-55
CHAPTER 13: TROUBLESHOOTING.................................................................13-1
13.1. Installation, Board Startup, and Communication Problems..............13-2
13.2. Stepper Motors and Related Problems..............................................13-3
13.3. Servo Related Problems....................................................................13-4
13.4. Problems Involving Fault Conditions...............................................13-5
13.5. Homing Related Problems................................................................13-7
13.6. General UNIDEX 500 Questions .....................................................13-8
APPENDIX A: GLOSSARY OF TERMS................................................................ A-1
APPENDIX B: WARRANTY AND FIELD SERVICE.......................................... B-1
APPENDIX C: PARAMETER SUMMARY............................................................C-1
APPENDIX D: REV_ BOARD TECHNICAL DETAILS...................................... D-1
D.1. Introduction ....................................................................................... D-1
D.2. Test Points......................................................................................... D-1
D.3. Jumper Configurations....................................................................... D-3
D.4. Encoder Signal Specifications........................................................... D-6
D.4.1. Differential Encoders .......................................................... D-6
D.4.2. Single Ended Encoders........................................................ D-6
D.4.3. Software Setup for Single-ended Encoders......................... D-7
D.4.4. Aerotech Stepper Motors with the Home Marker
Option.................................................................................. D-7
D.5. Encoder Signal Pinouts.................................................................... D-10
D.6. Amplifier Enable Outputs................................................................ D-11
D.7. Main Connector Pinout of the UNIDEX 500 .................................. D-12
APPENDIX E: SETTING UP AN AC BRUSHLESS MOTOR WITH THE
UNIDEX 500 .....................................................................................E-1
E.1. Introduction ........................................................................................E-1
E.2. Setup Procedure..................................................................................E-1

UNIDEX 500 and Software Table of Contents
Version 1.3 Aerotech, Inc. xiii
APPENDIX F: UNIDEX 500 APPLICATIONS......................................................F-1
F.1. Using the Encoder Position Capture Input - "UINT_N" ....................F-1
F.2. Additional UINT features on the U500 PCI card...............................F-2
APPENDIX G: U500 CALIBRATION OPTION.................................................... G-1
G.1. Introduction....................................................................................... G-1
G.2. Axis Calibration................................................................................. G-2
G.3. Orthogonality Correction................................................................... G-5
G.4. 2D Error Mapping............................................................................. G-8
∇∇∇

Table of Contents UNIDEX 500 and Software
xiv Aerotech, Inc. Version 1.3

UNIDEX 500 and Software List of Figures
Version 1.3 Aerotech, Inc. xv
LIST OF FIGURES
Figure 1-1. The UNIDEX 500 System Diagram....................................................... 1-1
Figure 1-2. The UNIDEX 500 Family of Controllers............................................... 1-2
Figure 3-1. Software Menu Available after Completed Installation......................... 3-3
Figure 3-2. U500 Registry Editor ............................................................................. 3-5
Figure 3-3. Board 1 (U500 Registry Editor)............................................................. 3-6
Figure 3-4. The Edit Project File Popup................................................................... 3-7
Figure 3-5. The Axis Position Window.................................................................... 3-8
Figure 3-6. Parameter Window............................................................................... 3-11
Figure 3-7. The Diagnostics Popup Window.......................................................... 3-12
Figure 3-8. The Diagnostics 2 Popup Window....................................................... 3-13
Figure 3-9. The Axis Position Display (Choose Windows ÍAxis Display
ÍShow).............................................................................................. 3-14
Figure 3-10. Flowchart Summary of the Installation/Configuration Process............ 3-14
Figure 4-1. U500 Software Menu Structure.............................................................. 4-1
Figure 4-2. The Edit Project File Popup................................................................... 4-5
Figure 4-3. The Edit Parameters Screen................................................................... 4-6
Figure 4-4. The Defaults Tab of the MMI System Options Screen .......................... 4-7
Figure 4-5. Abort Options Tab of the MMI System Options Screen...................... 4-11
Figure 4-6. LZR Setup Tab of the MMI System Options Screen ........................... 4-12
Figure 4-7. FPGA Setup Tab of the MMI System Options Screen......................... 4-13
Figure 4-8. The Diagnostics Window..................................................................... 4-15
Figure 4-9. Forward Motion... Popup Window.......................................................4-22
Figure 4-10. Reverse Motion... Popup Window....................................................... 4-23
Figure 4-11. Sample Rate Popup Window................................................................ 4-23
Figure 4-12. Collect Submenu of the Axis Scope Screen......................................... 4-24
Figure 4-13. Display Submenu of the Axis Scope Screen ........................................ 4-24
Figure 4-14. Axis Submenu of the Axis Scope Screen............................................. 4-25
Figure 4-15. Units Submenu of the Axis Scope Screen............................................ 4-25
Figure 4-16. Tools Submenu of the Axis Scope Screen ........................................... 4-26
Figure 4-17. Cursors Tool Bar of the Axis Scope Screen......................................... 4-26
Figure 4-18. Status Tool Bar of the Axis Scope Screen ........................................... 4-27
Figure 4-19. Control Tool Bar of the Axis Scope Screen......................................... 4-27
Figure 4-20. Gains Toolbar of the Axis Scope Screen..............................................4-28
Figure 4-21. Frequency Response Toolbar of the Axis Scope Screen...................... 4-28
Figure 4-22. FFT Toolbar of the Axis Scope Screen................................................ 4-29
Figure 4-23. U500 Joysticks..................................................................................... 4-31
Figure 4-24. Joystick Digitizing Window................................................................. 4-32
Figure 4-25. The Diagnostics 2 Window.................................................................. 4-33
Figure 4-26. The Variable Watch Window...............................................................4-34
Figure 4-27. Software Screen with All Windows Visible......................................... 4-36
Figure 4-28. Program Control Window after F4 Load of UNTITLED.PRG............ 4-37
Figure 4-29. The F5 Jog Window............................................................................. 4-39
Figure 4-30. System Password Prompt Window ...................................................... 4-40
Figure 4-31. System Password Window................................................................... 4-40
Figure 4-32. The Software Status Bar....................................................................... 4-43
Figure 4-33. Status Cell Numbering......................................................................... 4-44

List of Figures UNIDEX 500 and Software
xvi Aerotech, Inc. Version 1.3
Figure 4-34. The Gain Adjust Popup........................................................................4-45
Figure 4-35. The MDI (Manual Data Interface) Window.........................................4-45
Figure 4-36. The MFO Adjust Popup.......................................................................4-46
Figure 4-37. The Axis Display Menu with Options..................................................4-47
Figure 4-38. The Axis Display Window Showing Six Options ................................4-47
Figure 4-39. The Functions Menu.............................................................................4-48
Figure 4-40. The Help Menu ....................................................................................4-49
Figure 4-41. The About Popup Window...................................................................4-50
Figure 5-1. The Edit Parameters Window.................................................................5-3
Figure 5-2. The Axis Positions Window With Position Information Cleared...........5-6
Figure 5-3. Axis nRollover in Rotary Stage Application.........................................5-7
Figure 5-4. Programming Control Using a Single Plane.........................................5-14
Figure 5-5. Programming Control Using Four Planes.............................................5-15
Figure 5-6. Sample Programming Segment Showing the Use of Planes.................5-16
Figure 5-7. Using Home Offset Parameter to Keep Gantry Aligned After
Homing.................................................................................................5-22
Figure 5-8. Graphs of Linear and Sine Ramping Trajectories ................................5-24
Figure 5-9. Sample Motion Path Shown with and without Corner Rounding.........5-26
Figure 5-10. Sample of Non-Ramp Time Overlap for Corner Rounding..................5-26
Figure 5-11. Velocity Diagram of Non-Corner Rounding (G24)..............................5-27
Figure 5-12. MFO Potentiometer with and without Offsets......................................5-34
Figure 5-13. Contour Ramping (Acceleration/Deceleration) Time...........................5-35
Figure 5-14. Home Cycle..........................................................................................5-39
Figure 5-15. Typical Stage Showing CW and CCW Motor Rotation.......................5-40
Figure 5-16. Sample RMS Current Maximums ........................................................5-56
Figure 5-17. Motor and Encoder Rotation................................................................5-64
Figure 5-18. Phase Advance Slope...........................................................................5-82
Figure 5-19. U500 Filter Utility................................................................................5-87
Figure 6-1. UNIDEX 500 Servo Loop......................................................................6-2
Figure 6-2. Axis Scope Toolbars..............................................................................6-2
Figure 6-3. The “Gains” and “Auto Tune” Toolbars. ...............................................6-5
Figure 6-4. Autotune Plot where “Steps” Has Been Set Too Low............................6-6
Figure 6-5. Autotune Plot where “Steps” Has Been Set Too High...........................6-7
Figure 6-6. Autotune Plot Showing Proper Calibration............................................6-7
Figure 6-7. Flowchart of Overall Tuning Process...................................................6-10
Figure 6-8. The Edit Parameters Window...............................................................6-11
Figure 6-9. Servo Loop Tab of the Edit Parameters Window.................................6-12
Figure 6-10. Maximize Button on the Axis Scope Window.....................................6-12
Figure 6-11. Unacceptable Velocity Error................................................................6-14
Figure 6-12. Acceptable Velocity Error (When Adjusting Kp)................................6-14
Figure 6-13. Unacceptable Position Error (When Adjusting Ki)..............................6-15
Figure 6-14. Plot Showing an Appropriate Value for Kpos......................................6-16
Figure 6-15. Plot Showing Overall Effects When Kpos is High...............................6-17
Figure 6-16. Plot Showing Aff Adjustment ..............................................................6-18
Figure 6-17. Tuning Plot of an AC Brushless Motor................................................6-19
Figure 6-18. Flowchart of Overall Tach Tuning Process..........................................6-23
Figure 6-19. The Edit Parameters Window...............................................................6-24
Figure 6-20. Servo Loop Tab of the Edit Parameters Window.................................6-25
Figure 6-21. Cross-Section of the DS16020/16030 Amplifier..................................6-26
Figure 6-22. Amplifier Potentiometer Layout...........................................................6-26

UNIDEX 500 and Software List of Figures
Version 1.3 Aerotech, Inc. xvii
Figure 6-23. Axis Scope Window............................................................................. 6-28
Figure 6-24. Plot Showing a Roughly Tuned Axis (When Adjusting Kpos) ............ 6-29
Figure 6-25. Plot Showing the Removal of DC Offsets in the Position Error........... 6-30
Figure 6-26. O-scope Showing Current Feedback for One Move............................. 6-30
Figure 6-27. Plot Illustrating Smoothness in the Position Error ............................... 6-31
Figure 6-28. Plot Showing Effects on Position Error (When Ki is too High)........... 6-32
Figure 6-29. Plot of the Position Error With Appropriate Ki Value......................... 6-33
Figure 6-30. Position Error After Increasing Vff ..................................................... 6-34
Figure 6-31. Position Error Reduced to Within 10 Counts of Error Using Vff........ 6-34
Figure 6-32. Plot of Position Error When Vff is too High........................................ 6-35
Figure 7-1. Circle Center Adjustment..................................................................... 7-40
Figure 7-2. Startup Moves...................................................................................... 7-53
Figure 7-3. Ending Moves ...................................................................................... 7-53
Figure 7-4. Cutter Compensation Example............................................................. 7-55
Figure 7-5. CYCLE START Function.................................................................... 7-56
Figure 7-6. Sample Uses of the GOTO Command ................................................. 7-72
Figure 7-7. Sine-Type Ramp................................................................................... 7-84
Figure 7-8. LVDT Sensor....................................................................................... 7-87
Figure 7-9. PAUSE Function................................................................................ 7-100
Figure 7-10. Illustration of No Corner Rounding (G24)......................................... 7-113
Figure 7-11. Illustration of Corner Rounding (G23)............................................... 7-113
Figure 7-12. Optional UNIDEX 500 Joysticks (JBV Model Left, JI Model
Right) ................................................................................................. 7-124
Figure 7-13. Plot of Velocity Without Velocity Profiling ...................................... 7-136
Figure 7-14. Plot of Velocity With Velocity Profiling............................................ 7-136
Figure 7-15. Short Middle Move With No Velocity Profiling................................ 7-137
Figure 7-16. Short Middle Move With Velocity Profiling...................................... 7-137
Figure 7-17. Plot Of Velocity With Velocity Profiling In Contour Mode 1........... 7-138
Figure 7-18. Same Motion With Ramping Time Reduced ..................................... 7-138
Figure 7-19. Circular Profiling With Long Ramp Time .........................................7-139
Figure 7-20. Circular Profiling With Short Ramp Time......................................... 7-139
Figure 7-21. Two Axis Linear Move With Velocity Profiling................................ 7-140
Figure 7-22. Velocity Profile for Non-tangential Vectors ...................................... 7-141
Figure 7-23. Velocity Profile With Digital Filter....................................................7-142
Figure 7-24. Velocity Profile Without a G9 Command at the End of the
Sequence............................................................................................ 7-143
Figure 8-1. Pulse Output Circuit Diagram................................................................ 8-2
Figure 8-2. Single PSO Mode Block Diagram ....................................................... 8-12
Figure 8-3. Dual PSO Mode Block Diagram.......................................................... 8-13
Figure 9-1. Sample Path for Incremental (Relative) Motion Demonstration
Using Velocity Profiling ........................................................................ 9-2
Figure 9-2. Sample Path for Absolute Motion Example Using Velocity
Profiling ................................................................................................. 9-5
Figure 9-3. Sample Path of Square with and without the Rounding Feature ............9-8
Figure 9-4. Output from Splining Example ............................................................ 9-13
Figure 9-5. Output from Parts Rotation Example Program..................................... 9-15
Figure 9-6. Output from Overriding Scale Factor Example Program..................... 9-18

List of Figures UNIDEX 500 and Software
xviii Aerotech, Inc. Version 1.3
Figure 12-1. Electrical Characteristics of a Single Ended Encoder Interface ...........12-2
Figure 12-2. Electrical Characteristics of an Aerotech Stepper Motor Home
Marker Option......................................................................................12-3
Figure 12-3. Electrical Characteristics of the UNIDEX 500 Limit Interface............12-8
Figure 12-4. Electrical Characteristics of the UNIDEX 500 Current Command
Output...................................................................................................12-8
Figure 12-5. Electrical Characteristics of the UNIDEX 500 Input Bus
Interface .............................................................................................12-10
Figure 12-6. Example Optocoupled Output Bus Interface......................................12-12
Figure 12-7. Electrical Characteristics of the UNIDEX 500 Brake Signal
Output.................................................................................................12-13
Figure 12-8. Electrical Characteristics of the UNIDEX 500 Opto 22
Connections........................................................................................12-16
Figure 12-9. Electrical Characteristics of the UNIDEX 500 Opto 22
Connections (page 2)..........................................................................12-17
Figure 12-10. UNIDEX 500 PC Board Jumper Locations .......................................12-23
Figure 12-11. Typical Connection of the U500 to an Opto-Isolator.........................12-27
Figure 12-12. Electrical Characteristics of the UNIDEX 500 Emergency Stop
Interface .............................................................................................12-33
Figure 12-13. U500 PCI Emergency Stop Input.......................................................12-37
Figure 12-14. CLK/DIR Schematic ..........................................................................12-39
Figure 12-15. U500 PCI CLK/DIR Stepper Section.................................................12-39
Figure 12-16. U500 PCI D/A Output Diagram.........................................................12-41
Figure 12-17. U500 PCI Connection to BB500 (Isolated)........................................12-42
Figure 12-18. U500 PCI Connection to BB500 (Non-Isolated) ...............................12-43
Figure 12-19. U500 PCI Connection to BB501 (Isolated)........................................12-44
Figure 12-20. U500 PCI Connection to BB501 (Non-Isolated) ...............................12-45
Figure 12-21. U500 PCI Board.................................................................................12-56
Figure D-1. UNIDEX 500 PC Board Jumper Locations .........................................D-5
Figure D-2. Electrical Characteristics of a Single Ended Encoder Interface............ D-6
Figure D-3. Electrical Characteristics of an Aerotech Stepper Motor Home
Marker Option....................................................................................... D-8
Figure D-4. Electrical Characteristics of the UNIDEX 500 Amplifier Enable
Output.................................................................................................. D-11
Figure E-1 U500 Diagnostic Window......................................................................E-3
Figure F-1. U500PCI UINT-N Circuit......................................................................F-3
Figure G-1. Sample ASCII Calibration File ............................................................. G-3
Figure G-2. Sample Single-Row Orthogonality Correction File............................... G-6
Figure G-3. Sample Multi-Row Orthogonality Correction File................................ G-6
Figure G-4. Multi-Row Orthogonality Correction Grid............................................ G-7
Figure G-5. Calibration File with Correction Point Data.......................................... G-8
Figure G-6. 2D Correction Grid ............................................................................. G-10
Figure G-7. 2D Correction Interpolation................................................................ G-11
∇∇∇

UNIDEX 500 and Software List of Tables
Version 1.3 Aerotech, Inc. xix
LIST OF TABLES
Table 1-1. Available PC Bus-based Motion Controllers in the UNIDEX 500
Series...................................................................................................... 1-3
Table 1-2. Available Motor Drivers compatible with UNIDEX 500 and
DR500 Amplifier Chassis ...................................................................... 1-4
Table 1-3. Available DR500 Amplifier Chassis Options.........................................1-4
Table 1-4. Options and Accessories Available for the UNIDEX 500..................... 1-5
Table 3-1. Minimum Hardware Requirements and Recommendations................... 3-1
Table 3-2. Base Address Jumper Settings ............................................................... 3-5
Table 3-3. Key UNIDEX 500 Configuration Parameters...................................... 3-10
Table 3-4. Servo Loop Tuning Parameters............................................................ 3-16
Table 4-1. File Menu Commands............................................................................ 4-2
Table 4-2. Edit Menu Commands............................................................................ 4-4
Table 4-3. Components of the “Edit Project File” Popup........................................ 4-5
Table 4-4. Pre-Defined Global Subroutine Labels.................................................. 4-8
Table 4-5. Tools Menu Commands ....................................................................... 4-15
Table 4-6. Software Status Diagnostics................................................................. 4-16
Table 4-7. Axis Position Diagnostics.................................................................... 4-17
Table 4-8. Hardware Status Diagnostics................................................................4-18
Table 4-9. Menu Items on the Axis Scope Screen................................................. 4-20
Table 4-10. File Submenu Options in Axis Scope................................................... 4-20
Table 4-11. Plot Submenu Options in Axis Scope ..................................................4-21
Table 4-12. Trigger Submenu Options in Axis Scope............................................. 4-22
Table 4-13. File Submenu Options of the FFT screen............................................. 4-29
Table 4-14. Plot Submenu Options of the Axis Scope Screen................................. 4-29
Table 4-15. Windows Menu Commands................................................................. 4-35
Table 4-16. Password Protected Access Level Options........................................... 4-41
Table 4-17. Cell Descriptions of the Status Bar...................................................... 4-44
Table 4-18. Axis Display Options........................................................................... 4-47
Table 5-1. Position Tracking Parameters (Tab 0).................................................... 5-5
Table 5-2. Settings for Parameter 001..................................................................... 5-6
Table 5-3. Settings for Parameters 011, 012, 013, and 014..................................... 5-7
Table 5-4. Commonly Used Settings for the DPRAM Base Address...................... 5-8
Table 5-5. Commonly Used Settings for the Host Base Address Parameter
016 ......................................................................................................... 5-9
Table 5-6. Settings for Parameters 020, 038, 056, and 074................................... 5-10
Table 5-7. Parameter Associations between Planes, Measurement Units, and
the Number of Decimal Digits ............................................................. 5-10
Table 5-8. Settings for Parameters 029, 047, 065, and 083................................... 5-11
Table 5-9. Settings for Parameters 030, 048, 066, and 084................................... 5-12
Table 5-10. Advanced Motion Parameters (Tab 1)................................................. 5-13
Table 5-11. Settings for Parameter 000................................................................... 5-17
Table 5-12. Settings for Parameters 003, 004, 005, and 006................................... 5-19
Table 5-13. Settings for Parameters 007, 008, 009, and 010................................... 5-20
Table 5-14. Settings for Parameters 018, 036, 054, and 072................................... 5-23
Table 5-15. Settings for Parameters 021, 039, 057, and 075................................... 5-24
Table 5-16. Settings for Parameters 027, 045, 063, and 081................................... 5-25