Aerotech UNIDEX U100i User manual

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THE UNIDEX100/U100iMOTION
CONTROLLER
OPERATION & TECHNICAL MANUAL
P/N: EDU128 (V1.6)
AEROTECH, Inc. •101 Zeta Drive •Pittsburgh, PA. 15238-2897 •USA
Phone [phone] •Fax [phone]
Product Service: [phone]; [phone] (Fax)
www.aerotechinc.com
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If you should have any questions about the UNIDEX 100/UNIDEX 100i controllers 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 100 PC-based motion controller and UNIDEX 100i are products of Aerotech, Inc., LabVIEW
software package is a product of Natioinal Instruments.
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.
MS-DOS, QuickBASIC and Windows are products of Microsoft Corporation.
Windows NT and Windows 95 are products of Microsoft.
The UNIDEX 100/U100i Motion Controller
Operations and Technical Manual Revision History:
Rev 1.0 July 1, 1993
Rev 1.1 December 10, 1993
Rev 1.2 June 14, 1994
Rev 1.3 November 13, 1995
Rev 1.4 September 20, 1996
Rev 1.5 August 31, 1998
Rev 1.6 July 24, 2000
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UNIDEX 100/U100i and Software Table of Contents
Version 1.6 Aerotech, Inc. iii
TABLE OF CONTENTS
CHAPTER 1: INTRODUCTION............................................................................ 1-1
1.1. Overview of the UNIDEX 100/U100i System ...................................1-1
1.2. Ordering Information.......................................................................... 1-2
1.3. Options and Accessories..................................................................... 1-5
CHAPTER 2: GETTING STARTED...................................................................... 2-1
2.1. Introduction........................................................................................ 2-1
2.2. Unpacking the UNIDEX 100/U100i System...................................... 2-1
2.3. Minimum Hardware Requirements and Recommended System
Configurations.................................................................................... 2-2
2.4. Inspection of the UNIDEX 100/U100i............................................... 2-3
2.5. Inspection of Interface Control Cards................................................. 2-3
2.6. Physical Setup of the Motion Controller ............................................ 2-5
2.6.1 Standard Installation............................................................. 2-8
2.7. Simple Program Applications........................................................... 2-11
2.7.1. Sample Program Number One............................................ 2-12
2.7.2. Sample Program Number 2................................................ 2-15
2.7.3. Multitasking Programs ....................................................... 2-17
CHAPTER 3: HARDWARE CONFIGURATION & DESCRIPTION................ 3-1
3.1. Introduction........................................................................................ 3-1
3.2. UNIDEX 100/U100i Motion Controllers........................................... 3-2
3.2.1. COM Port (U100/U100i)..................................................... 3-3
3.2.2. Motor and Power Connections (U100 only)......................... 3-3
3.2.3. LED Status Indicators (U100 only)...................................... 3-3
3.2.3.1. Shunt Active LED.................................................. 3-4
3.2.3.2. Drive Fault LED .................................................... 3-4
3.2.3.3. Marker LED........................................................... 3-4
3.2.3.4. Reset LED.............................................................. 3-4
3.2.3.5. Control Fault LED ................................................. 3-4
3.2.3.6. Remote LED .......................................................... 3-5
3.2.3.7. In Position LED..................................................... 3-5
3.2.3.8. Overload LED........................................................ 3-5
3.2.3.9. Limits (+ and -) LEDs............................................ 3-5
3.2.4. I/O Port (U100/U100i)......................................................... 3-6
3.2.5. Encoder/Limits/Hall Effect Port (U100/U100i)................... 3-6
3.2.6. Auxiliary Encoder Port (U100/U100i)................................. 3-6
3.2.7. Option Ports ......................................................................... 3-7
3.2.8. Amplifier Feedback (U100i only)........................................ 3-7
3.3. UNIDEX 100/U100i Control Board Jumper Configurations ............. 3-8
3.3.1. Current/Velocity Command Jumper (JP8) ........................... 3-9
3.3.2. Current Output Jumpers (JP13, JP18 & JP19)................... 3-10
3.3.3. Motor Type Configuration Jumpers (JP16 & JP17)........... 3-11
3.3.4. Firmware Boot Jumper (JP34) ...........................................3-11
3.4. U100 Power Configurations - U100 Controller............................... 3-12
3.4.1. U100 Transformer.............................................................. 3-12
3.4.2. U100 Fuses......................................................................... 3-13
3.5. Installing Other Aerotech Components.............................................3-14
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Table of Contents UNIDEX 100/U100i and Software
iv Aerotech, Inc. Version 1.6
3.5.1. The Hand Held Terminal (HT)...........................................3-14
3.5.2. Joystick...............................................................................3-16
3.5.3. Thumbwheel.......................................................................3-17
3.5.3.1. Thumbwheel Sign ................................................3-19
3.5.3.2. Thumbwheel Execute Button...............................3-19
3.5.4. Display Option ...................................................................3-20
3.5.5. Resolver-to-Digital Converter............................................3-22
3.5.6. The INT Option..................................................................3-24
3.5.6.1. INT Jumper Settings ............................................3-27
3.5.7. IE-488 Option.....................................................................3-29
3.6. After Factory Installation of Option Boards.....................................3-33
CHAPTER 4: SOFTWARE INSTALLATION AND INTERFACE....................4-1
4.1. Introduction ........................................................................................4-1
4.2. Installing the Software Package..........................................................4-1
4.2.1. The Installation Disk............................................................4-1
4.2.2. Standard Installation.............................................................4-3
4.3. Overview of the Main Menu Window................................................4-5
4.3.1. The File Edit Menu ..............................................................4-6
4.3.2. Run Selection Menu.............................................................4-9
4.3.2.1. Auto Mode...........................................................4-10
4.3.2.2. Block Mode..........................................................4-10
4.3.3. MDI Selection Menu..........................................................4-10
4.3.4. Status Selection Menu........................................................4-11
4.3.4.1. Motion Status Window ........................................4-12
4.3.4.2. General Status Window........................................4-12
4.3.4.3. Memory Status and Version Windows.................4-13
4.3.5. Control Selection Menu......................................................4-13
4.3.6. MISC Selection Menu........................................................4-15
4.3.6.1. Erase Files Menu..................................................4-15
4.3.6.2. Copy Files Menu..................................................4-16
4.3.6.3. Setup Data Types Menu.......................................4-17
4.3.6.4. Archive Files Menu..............................................4-24
4.4. Controller Setup Process U100/U100i..............................................4-26
4.5. Using the Hand held Terminal (HT).................................................4-27
CHAPTER 5: PROGRAMMING COMMANDS..................................................5-1
5.1. Introduction ........................................................................................5-1
5.2. Multitasking Operating System...........................................................5-3
5.2.1. Multitasking Time Slots .......................................................5-3
5.2.2. Multiple Programs................................................................5-7
5.3. Interrupts.............................................................................................5-8
5.4. Exception Processing..........................................................................5-9
5.4.1. Invert Mask ........................................................................5-10
5.4.2. Reset Status Register..........................................................5-11
5.4.3. Latch Mask.........................................................................5-11
5.4.4. Error Status Register ..........................................................5-11
5.4.5. Disable Mask......................................................................5-12
5.4.6. SRQ Mask..........................................................................5-12
5.4.7. Auxiliary Mask...................................................................5-12
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UNIDEX 100/U100i and Software Table of Contents
Version 1.6 Aerotech, Inc. v
5.4.8. Freeze Mask....................................................................... 5-12
5.4.9. Task 1 Mask....................................................................... 5-12
5.4.10. Task 2 Mask....................................................................... 5-12
5.4.11. Positive Direction Mask..................................................... 5-13
5.4.12. Negative Direction Mask.................................................... 5-13
5.4.13. Status Active Register ........................................................ 5-13
5.5. Service Request................................................................................ 5-14
5.6. U100/U100i Supported File Types................................................... 5-17
5.6.1. Program Files (PGM)......................................................... 5-17
5.6.2. Macro Files ........................................................................ 5-19
5.6.3. List files (LST)................................................................... 5-21
5.6.4. Definition Files (DEF) ....................................................... 5-22
5.6.5. CAM Files.......................................................................... 5-23
5.7. Programming Commands ................................................................. 5-24
5.7.1. A Command (Accel/Decel Ramp Rate in User
units/sec2) .......................................................................... 5-27
5.7.2. ABS Absolute Value.......................................................... 5-28
5.7.3. ABSL Absolute Positioning Mode..................................... 5-29
5.7.4. ADC Analog to Digital Conversion ................................... 5-30
5.7.5. + Add ................................................................................. 5-31
5.7.6. AND (Logical And) ........................................................... 5-32
5.7.7. ARCHIVE (ARCH ()) Command ...................................... 5-32
5.7.8. Begin Command................................................................. 5-33
5.7.9. CAM Command................................................................. 5-33
5.7.10. CBI: Command .................................................................. 5-36
5.7.11. CIB Command.................................................................... 5-37
5.7.12. CLN Command .................................................................. 5-38
5.7.13. CLS Command................................................................... 5-39
5.7.14. COS Command (Cosine)................................................... 5-40
5.7.15. CUR Command.................................................................. 5-41
5.7.16. D Command (Distance in User Units to
move/position).................................................................... 5-42
5.7.17. DAC Command (Digital to Analog Conversion) ............... 5-45
5.7.18. DD Command (Direct Drive)............................................ 5-46
5.7.19. DEC Command (Decrement) ............................................. 5-47
5.7.20. DEF File............................................................................. 5-48
5.7.21. DI Command (Disable Interrupt) ....................................... 5-50
5.7.22. / Divide Command ............................................................. 5-51
5.7.23. DW Command (Dwell Time)............................................. 5-52
5.7.24. EI Command (Enable Interrupt)........................................ 5-52
5.7.25. ELSE Command................................................................. 5-53
5.7.26. ELSEIF Command............................................................. 5-54
5.7.27. END Command.................................................................. 5-55
5.7.28. ENDIF Command .............................................................. 5-56
5.7.29. ENDMAC Command......................................................... 5-57
5.7.30. ENDSUB Command .......................................................... 5-58
5.7.31. ENDWHL Command......................................................... 5-59
5.7.32. = Assign a value to............................................................ 5-60
5.7.33. EXIT Command................................................................. 5-60
5.7.34. GC Command (Get Character)........................................... 5-62
5.7.35. GEAR Command ............................................................... 5-62
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Table of Contents UNIDEX 100/U100i and Software
vi Aerotech, Inc. Version 1.6
5.7.36. GM Command (Get Message)............................................5-63
5.7.37. GO Command (Begin Move)............................................5-64
5.7.38. GOSUB Command.............................................................5-65
5.7.39. GOTO Command ...............................................................5-66
5.7.40. HM Command (Hardware Home)......................................5-67
5.7.41. IF Command.......................................................................5-69
5.7.42. INC Command (Increment)...............................................5-70
5.7.43. INCR Command (Incremental Position Mode)..................5-71
5.7.44. LB Command (Label)........................................................5-72
5.7.45. LOCK Command (Lock Task Execution)..........................5-73
5.7.46. MAC Command .................................................................5-74
5.7.46.1.MAC Definition...................................................5-75
5.7.47. MDX Command Modulo Index .........................................5-76
5.7.48. * Multiply..........................................................................5-77
5.7.49. OR Command (Logical OR)..............................................5-78
5.7.50. PC Command (Print Character)..........................................5-78
5.7.51. PM Command (Print Message) .........................................5-79
5.7.51.1.PM Command (Print Formatted Messages) ........5-80
5.7.52. PVI Command....................................................................5-81
5.7.53. RI Command (Reset Interrupt Latch)................................5-82
5.7.54. RUN Command (Run Pre-compiled PGM Program).........5-83
5.7.54.1.RUN Command - Extended format......................5-83
5.7.55. SIN Command (Sine) ........................................................5-84
5.7.56. SRQ Command (Service Request) ....................................5-85
5.7.57. SQRT Command (Square root)..........................................5-86
5.7.58. SUB Command...................................................................5-87
5.7.59. - Subtract...........................................................................5-88
5.7.60. SYNC Command................................................................5-89
5.7.61. T Command (Ramp Time) ................................................5-90
5.7.62. TAN Tangent.....................................................................5-91
5.7.63. TITLE Command...............................................................5-92
5.7.64. TUNE Command (Autotune the system)............................5-93
5.7.65. V Command (Velocity)......................................................5-94
5.7.66. WHL Command .................................................................5-95
5.7.67. XOR Exclusive OR ........................................................... 5-96
CHAPTER 6: PARAMETERS................................................................................6-1
6.1. Introduction ........................................................................................6-1
6.2. Communication Parameters................................................................6-2
6.2.1. RS-232-C General Control Register PRM:001 ....................6-4
6.2.2. RS-232-C Clock Control Register PRM:002 .......................6-5
6.2.3. RS-232-C Loop Control Character PRM:003 ......................6-6
6.2.4. RS-232-C Loop Address PRM:004......................................6-6
6.2.5. RS-232-C Daisy Chain Enable/Disable PRM:005 ...............6-6
6.2.5.1. Daisy Chain Operation...........................................6-7
6.2.6. RS-232-C Loop Group Trigger PRM:006..........................6-10
6.2.7. IEEE-488-Address Mode Register PRM:007.....................6-10
6.2.8. IEEE-488 Address Register "0" PRM:008.........................6-10
6.2.9. IEEE-488 Address Register "1" PRM:009.........................6-11
6.2.10. IEEE-488 Auxiliary Register "A" PRM:010......................6-11
6.2.11. IEEE-488 Auxiliary Register "B" PRM:011......................6-11
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UNIDEX 100/U100i and Software Table of Contents
Version 1.6 Aerotech, Inc. vii
6.2.12. IEEE-488 Command Register PRM:012........................... 6-12
6.2.13. IEEE-488 Auxiliary Register "E" PRM:013...................... 6-12
6.2.14. IEEE-488 Parallel Poll Register PRM:014 ........................ 6-13
6.2.15. IEEE-488 Timer Control Register PRM:015..................... 6-13
6.2.16. IEEE-488 End of Sequence Register PRM:016................. 6-13
6.2.17. Communications Mode PRM:019...................................... 6-14
6.2.18. RS-232-C Group Trigger Enable/Disable PRM:020.......... 6-14
6.2.19. Cursor Control for "CUR( )" Command PRM:021............ 6-15
6.2.20. Communications SRQ On/Off PRM:022 ........................... 6-15
6.2.21. Send SRQ At End of Task 1 PRM:023.............................. 6-16
6.2.22. Send SRQ At End of Task 2 PRM:024.............................. 6-16
6.2.23. LST1 File Generation On/Off PRM:025............................ 6-17
6.2.24. Auto DEF100/MAC100 Lookup in MDI Mode
PRM:026............................................................................ 6-17
6.2.25. End Of File Character Code PRM:027............................... 6-17
6.2.26. Service Request Character Code PRM:028........................ 6-17
6.2.27. Service Acknowledge Character Code PRM:029............... 6-18
6.2.28. Task 1 Boot Program PRM:030......................................... 6-18
6.2.29. Task 2 Boot Program PRM:031......................................... 6-18
6.2.30. RS-232-C Xon Sent From Host PRM:032......................... 6-18
6.2.31. RS-232-C Xoff Sent From Host PRM:033......................... 6-18
6.2.32. Software Reset (HT Mode) PRM:034................................ 6-19
6.2.33. Software Reset (Host Mode) PRM:035.............................. 6-19
6.2.34. Motion Status Total Digits, Line 1 PRM:036 ....................6-19
6.2.35. Motion Status Decimal Digits, Line 1 PRM:037................ 6-20
6.2.36. Motion Status Total Digits, Line 2 PRM:038 ....................6-20
6.2.37. Motion Status Decimal Digits, Line 2 PRM:039................ 6-20
6.2.38. Motion Status Scan Type, Line 2 PRM:040....................... 6-21
6.2.39. Motion Status Scan Type, Line 1 PRM:041....................... 6-21
6.3. Trajectory Generation....................................................................... 6-22
6.3.1. General Trajectory Generation........................................... 6-22
6.3.2. Scaled Trajectory Modifier ................................................ 6-23
6.3.3. Direct Drive Trajectory Generation ................................... 6-23
6.3.4. CAM Trajectory Generation .............................................. 6-23
6.3.5. First Order Filter ................................................................ 6-23
6.3.6. GEAR Function.................................................................. 6-23
6.3.7. PID Control Algorithm....................................................... 6-23
6.3.8. Motor.................................................................................. 6-23
6.4. Motion Parameters............................................................................ 6-24
6.4.1. User Units Scale Factor PRM:100..................................... 6-26
6.4.2. Command Segment Filter Coefficient PRM:101................ 6-26
6.4.3. Command Segment Filter On/Off PRM:102...................... 6-26
6.4.4. Command Linear Interpolation PRM:103.......................... 6-26
6.4.5. Default Ramp Time PRM:104 ........................................... 6-27
6.4.6. Default Distance PRM:105 ................................................ 6-27
6.4.7. Default Acceleration/Deceleration PRM:106..................... 6-27
6.4.8. Default Velocity PRM:107................................................. 6-27
6.4.9. "S" Curve Generation PRM:108 ........................................ 6-27
6.4.10. In Position “Wait” PRM:109.............................................. 6-28
6.4.11. Lower "Modulo" Index Limit PRM:110............................ 6-28
6.4.12. Upper "Modulo" Index Limit PRM:111 ............................ 6-28
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Table of Contents UNIDEX 100/U100i and Software
viii Aerotech, Inc. Version 1.6
6.4.13. DD Command Scale Factor PRM:112 ...............................6-28
6.4.14. Home Switch Fast Reference PRM:115.............................6-29
6.4.15. Home Switch Direction PRM:116......................................6-29
6.4.16. Home Switch Selection PRM:117......................................6-29
6.4.17. Home Marker Selection PRM:118.....................................6-30
6.4.18. Home Velocity After Power Up PRM:119.........................6-30
6.4.19. Home Limit Offset PRM:120.............................................6-30
6.4.20. Home Ending Offset PRM:121 ..........................................6-31
6.4.21. Home Marker Velocity PRM:122 ......................................6-31
6.4.22. Task 1 Exception Processing PRM:124.............................6-31
6.4.23. Task 2 Exception Processing PRM:125.............................6-31
6.4.24. +/- Limit Reset Distance PRM:128 ....................................6-32
6.4.25. + Software Limit PRM:129................................................6-32
6.4.26. - Software Limit PRM:130.................................................6-32
6.4.27. Software Limit Reference PRM:131 ..................................6-32
6.4.28. External Interrupt Latch Source PRM:132.........................6-33
6.4.29. External Interrupt Mode PRM:133.....................................6-34
6.4.30. External Interrupt Type PRM:134......................................6-35
6.4.31. External Interrupt Source PRM:135...................................6-35
6.4.32. R/D Resolution Mode PRM:137........................................6-36
6.4.33. Velocity Feedback Type PRM:138 ....................................6-36
6.4.34. Position Feedback Type PRM:139.....................................6-37
6.4.35. Analog-to-Digital Scale Factor PRM:140 ..........................6-37
6.4.36. Analog-to-Digital Deadband PRM:141..............................6-37
6.4.37. Digital-to-Analog Scale Factor PRM:142..........................6-37
6.4.38. Scaled Trajectory Task 1 Variable Type PRM:144 ...........6-38
6.4.39. Scaled Trajectory Task 1 Gain Factor PRM:145 ...............6-39
6.4.40. Scaled Trajectory Task 1 Index (PV/BV/LV/FV)
PRM:146............................................................................6-39
6.4.41. Scaled Trajectory Task 1 Ramp Time PRM:147................6-39
6.4.42. Scaled Trajectory Task 2 Variable Type PRM:148 ...........6-40
6.4.43. Scaled Trajectory Task 2 Gain Factor PRM:149 ...............6-40
6.4.44. Scaled Trajectory Task 2 Index (PV/BV/LV/FV)
PRM:150............................................................................6-40
6.4.45. Scaled Trajectory Task 2 Ramp Time PRM:151................6-40
6.4.46. Spline Interpolation Mode PRM:152 ................................ 6-41
6.4.47. Spline Point Number PRM:153..........................................6-41
6.4.48. Spline Scaling Mode PRM:154..........................................6-42
6.4.49. Spline Reference Mode PRM:155......................................6-42
6.4.50. Spline Reference Time PRM:156......................................6-43
6.4.51. Spline Reference Scale PRM:157 .....................................6-43
6.4.52. Spline Reference -Limit PRM:158.....................................6-43
6.4.53. Spline Reference Starting Point PRM:159.........................6-43
6.4.54. Spline Reference (+Limit) PRM:160 .................................6-44
6.4.55. Spline Modulo Mode PRM:161.........................................6-44
6.4.56. Spline Output Mode PRM:162..........................................6-45
6.4.57. Spline Output PV Index PRM:163.....................................6-45
6.5. Drive Parameters ..............................................................................6-46
6.5.1. Stepper Power Stage Mode PRM:200................................6-47
6.5.2. Stepper Running Current PRM:201 ...................................6-47
6.5.3. Stepper Holding Current PRM:202....................................6-47
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UNIDEX 100/U100i and Software Table of Contents
Version 1.6 Aerotech, Inc. ix
6.5.4. Stepper Resolution PRM:203............................................. 6-48
6.5.5. Stepper Verification Enable/Disable PRM:204.................. 6-48
6.5.6. Stepper Slip Tolerance PRM:205....................................... 6-48
6.5.7. Stepper Correction Velocity PRM:206 .............................. 6-48
6.5.8. Stepper Damping Enable/Disable PRM:207...................... 6-49
6.5.9. Stepper “Extended” Slip Tolerance PRM:208................... 6-49
6.5.10. Stepper “Extended” Correction Velocity PRM:209........... 6-49
6.5.11. Servo Current Limit Trap Time PRM:213......................... 6-50
6.5.12. Servo "Velocity Error" Integration Control PRM:214....... 6-50
6.5.13. Servo "In Position" Tolerance PRM:215 ........................... 6-50
6.5.14. Servo Peak Current Limit PRM:216 .................................. 6-51
6.5.15. Servo Current Limit Trap Level PRM:217......................... 6-51
6.5.16. Kp Servo Loop Gain PRM:218.......................................... 6-51
6.5.17. Ki Servo Loop Gain PRM:219........................................... 6-51
6.5.18. Kpos Servo Loop Gain PRM:220 ...................................... 6-51
6.5.19. Kf Servo Loop Gain PRM:221........................................... 6-51
6.5.20. Servo Feedforward On/Off PRM:222 ................................ 6-51
6.5.21. Servo Position Error Trap PRM:223.................................. 6-52
6.5.22. Servo Velocity Trap PRM:224........................................... 6-52
6.5.23. Servo Acceleration/Deceleration Trap PRM:225............... 6-52
6.5.24. Tune Minimum Frequency PRM:227................................. 6-53
6.5.25. Tune Time PRM:228..........................................................6-53
6.5.26. Tune Damping Factor PRM:229........................................ 6-53
6.5.27. Tune Corner Frequency PRM:230 ..................................... 6-53
6.5.28. Gear Mode PRM:231......................................................... 6-54
6.5.29. Gear Source PRM:232 ...................................................... 6-54
6.5.30. Gear Scale Factor PRM:233............................................... 6-55
6.5.31. Axis Calibration Mode PRM:234....................................... 6-55
6.5.32. Axis Calibration Table Size PRM:235............................... 6-55
6.5.33. Axis Calibration Increment Size PRM:236........................ 6-56
6.5.34. Axis Calibration Backlash PRM:237 ................................. 6-56
6.5.35. Brushless Commutation Type PRM:239............................ 6-57
6.5.36. Brushless Commutation Step/Cycle PRM:240................... 6-57
6.5.37. Brushless Commutation Table Step Shift PRM:241 .......... 6-58
6.6. System Parameters............................................................................ 6-59
6.6.1. Port Variable (PV) Wait States PRM:300.......................... 6-60
6.6.2. Task 1 Background Time PRM:301................................... 6-60
6.6.3. Task 2 Background Time PRM:302................................... 6-60
6.6.4. Scaled Trajectory External Port Fetch On/Off
PRM:303............................................................................ 6-61
6.6.5. Servo Loop Update Time PRM:304................................... 6-61
6.6.6. Commutation Loop Update Time PRM:305...................... 6-62
6.6.7. Stepper Loop Update Time PRM:306................................ 6-62
6.6.8. Encoder 1 Update Time PRM:307..................................... 6-63
6.6.9. Encoder 2 Update Time PRM:308..................................... 6-64
6.6.10. ENC Update Time PRM:309 ............................................. 6-65
6.6.11. Resolver-to-Digital Update Time PRM:310....................... 6-66
6.6.12. Fault Mask Update Time PRM:311 ................................... 6-66
6.6.13. Control Loop Checks PRM:312......................................... 6-67
6.6.14. Combine Task 1 and Task 2 Time Slots PRM:313............ 6-67
6.6.15. Library Ending Offset PRM:314........................................ 6-67
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Table of Contents UNIDEX 100/U100i and Software
xAerotech, Inc. Version 1.6
6.6.16. Library Program Call Mode PRM:315...............................6-67
6.6.17. Library Memory Limit PRM:316.......................................6-68
6.6.18. Error Status Invert Mask PRM:317....................................6-68
6.6.19. Error Status Latch Mask PRM:318 ....................................6-71
6.6.20. Error Status Disable Mask PRM:319 .................................6-72
6.6.21. Error Status Service Request Mask PRM:321....................6-73
6.6.22. Error Status Auxiliary Mask PRM:322 ..............................6-74
6.6.23. Error Status Freeze Mask PRM:323...................................6-75
6.6.24. Error Status Task 1 Mask PRM:324...................................6-76
6.6.25. Error Status Task 2 Mask PRM:325...................................6-77
6.6.26. Error Status "+" Direction Mask PRM:326........................6-78
6.6.27. Error Status "-" Direction Mask PRM:327.........................6-79
6.6.28. Command Buffer Partition PRM:330.................................6-80
6.6.29. Extension Buffer Partition PRM:331 .................................6-80
6.6.30. String Buffer Partition PRM:332........................................6-80
6.6.31. Reset Delay on Motion PRM:334 ......................................6-80
CHAPTER 7: REGISTERS AND VARIABLES....................................................7-1
7.1. Introduction ........................................................................................7-1
7.2. Communication Registers...................................................................7-2
7.2.1. Bit Input (Read, integer) REG:001.................................7-4
7.2.2. Bit Output (Read/Write, integer) REG:002.......................7-4
7.2.3. Port B Status (Read Only, integer) REG:003.......................7-5
7.2.4. Port C Status (Read Only, integer) REG:004......................7-6
7.2.5. Timer Control/Status (Read/Write, Integer) REG:005.........7-7
7.2.6. Timer Count (Read/Write, Integer) REG:006......................7-8
7.2.7. External Input (Read Only, Integer) REG:007.....................7-8
7.2.8. RS-232-C Queue In Pointer (Read Only, integer)
REG:010...............................................................................7-8
7.2.9. RS-232 Queue Out Pointer (Read Only, integer)
REG:011...............................................................................7-9
7.2.10. RS-232-C Status (Read Only, integer) REG:012 .................7-9
7.2.11. Archive Boot Status (Read Only, Integer) REG:013............7-9
7.2.12. Compiler Error Line Number (Read Only, integer)
REG:014.............................................................................7-10
7.2.13. Compiler Error (Read Only, integer) REG:015..................7-10
7.2.14. Task 1 Run Time Error (Read Only, integer)
REG:016.............................................................................7-10
7.2.15. Task 2 Run Time Error (Read Only, integer)
REG:017.............................................................................7-10
7.2.16. System Library Access Error (Read Only, integer)
REG:018.............................................................................7-10
7.2.17. Encoder Counters...............................................................7-10
7.2.17.1.Output Status Registers (Read Only, Integer)
REG:020 / REG:030 ............................................ 7-12
7.2.17.2.Output Latch Registers (Read Only, Integer)
REG:021 / REG:031 ............................................ 7-13
7.2.17.3.Preset Registers (Write Only, Integer) REG:022
/ REG:032 ............................................................ 7-13
7.2.17.4.Master Control Regs (Write Only, Int.)
REG:023 / REG:033 ............................................ 7-14
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UNIDEX 100/U100i and Software Table of Contents
Version 1.6 Aerotech, Inc. xi
7.2.17.5.Input Control Regs (Write Only, Int.) REG:024
/ REG:034............................................................ 7-15
7.2.17.6.Output Control Regs (Write Only, Int) REG:025
/ REG:035............................................................ 7-16
7.2.17.7.Quadrature Regs (Write Only, Int) REG:026 /
REG:036.............................................................. 7-17
7.2.18. R/D Counter Register (Read Only, integer) REG:038 .......7-17
7.2.19. IEEE-488 Cmd Pass Thru (Read Only, integer)
REG:040 ............................................................................ 7-17
7.2.20. IEEE-488 Status Register 1 (Read Only, integer)
REG:041 ............................................................................ 7-18
7.2.21. IEEE-488 Status Register 2 (Read Only, integer)
REG:042 ............................................................................ 7-18
7.2.22. IEEE-488 Serial Poll Status (Read Only, integer)
REG:043 ............................................................................ 7-18
7.2.23. IEEE-488 Address Status (Read Only, integer)
REG:044 ............................................................................ 7-19
7.2.24. IEEE-488 Data In (Read Only, integer) REG:045 ............. 7-19
7.2.25. IEEE-488 Data Out (Write Only, integer) REG:046.......... 7-19
7.3. Motion Registers .............................................................................. 7-20
7.3.1. Encoder 1 Position (Read/Write, long) REG:102.............. 7-20
7.3.2. Encoder 2 Position (Read/Write, long) REG:103.............. 7-20
7.3.3. R/D Position (Read/Write, long) REG:104........................ 7-20
7.3.4. ENC Position (Read/Write, long) REG:105....................... 7-21
7.3.5. Encoder 1 Velocity (Read Only, integer) REG:108........... 7-21
7.3.6. Encoder 2 Velocity (Read Only, integer) REG:109........... 7-21
7.3.7. R/D Velocity (Read Only, integer) REG:110..................... 7-21
7.3.8. ENC Velocity (Read Only, integer) REG:111 ...................7-21
7.3.9. External Interrupt Position Latch (Read Only, long)
REG:113 ............................................................................ 7-21
7.4. Drive Registers................................................................................. 7-22
7.4.1. Position Reset (Read/Write, long) REG:200...................... 7-23
7.4.2. Position Reset Trigger (Write Only, integer)
REG:201 ............................................................................ 7-23
7.4.3. Position Command (Read/Write, long) REG:202 .............. 7-23
7.4.4. Position Feedback (Read/Write, long) REG:203 ...............7-23
7.4.5. Current Command (Read/Write, long) REG:204............... 7-23
7.4.6. Instantaneous Velocity Feedback (Read Only, long)
REG:205 ............................................................................ 7-23
7.4.7. Averaged Velocity Command (Read Only, long)
REG:206 ............................................................................ 7-23
7.4.8. Kernel Timeslice Mask (Read/Write, Integer)
REG:207 ............................................................................ 7-23
7.4.9. Position Error (Read Only, long) REG:208 ....................... 7-24
7.4.10. Averaged Velocity Feedback (Read Only, long)
REG:209 ............................................................................ 7-24
7.4.11. Accel/Decel Feedback (Read Only, long) REG:210.......... 7-24
7.4.12. Axis Calibrated Position Cmd (Read Only, long)
REG:211 ............................................................................ 7-24
7.4.13. Axis Calibrated Position Feedback (Read Only, long)
REG:212 ............................................................................ 7-24
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Table of Contents UNIDEX 100/U100i and Software
xii Aerotech, Inc. Version 1.6
7.4.14. Axis Calibration Compensation (Read Only, long)
REG:213.............................................................................7-24
7.5. System Registers...............................................................................7-25
7.5.1. Motion Status (Read Only, integer) REG:301....................7-25
7.5.2. Error Status (Read Only, integer) REG:302.......................7-26
7.5.3. Axis Status (Read Only, integer) REG:303........................7-27
7.5.4. System Status (Read Only, integer) REG:304....................7-28
7.5.5. Error Status "Active Mask" (Read Only, integer)
REG:307.............................................................................7-30
7.5.6. Error Status "Reset Mask"(Write Only, integer)
REG:308.............................................................................7-30
7.5.7. Error Status "Overlay"(Write Only, integer) REG:309......7-30
7.6. Variables...........................................................................................7-31
7.6.1. Indexing the Variables........................................................7-31
7.6.2. Numerical Data Types........................................................7-32
7.6.3. Integers (24 bit or 48 bit)....................................................7-32
7.6.4. Floating Point.....................................................................7-32
CHAPTER 8: SAMPLE PROGRAMS...................................................................8-1
8.1. Introduction ........................................................................................8-1
8.2. Trapezoidal Move...............................................................................8-2
8.3. Trapezoidal Move with Output-on-the-Fly.........................................8-2
8.4. Thumbwheel Input for Distance .........................................................8-3
8.5. Display Readout .................................................................................8-4
8.6. Operator Input from HT .....................................................................8-5
8.7. Multitasking........................................................................................8-6
8.8. Data Logging On-the-Fly....................................................................8-8
8.9. Master/Slave Move.............................................................................8-9
8.10. Proportional Joystick........................................................................8-10
8.11. Synchronized Trajectory Table Execution........................................8-11
8.12. Using External Interrupt to Change a Motion Trajectory.................8-12
8.13. Initializing Counter Chip/Data Transfer from Preset Register..........8-14
8.14. Transferring Data from the Counter to Output Latch........................8-15
8.15. Using Comparator Outputs of the Encoder Counter Chip ................8-16
8.16. Borrow and Carry Control Outputs of the Counter Chip..................8-18
8.17. IEEE-488 Program Examples...........................................................8-20
8.17.1. HP85 Immediate Mode Command.....................................8-20
8.17.2. HP85 Write and Read BV Variable ...................................8-20
8.17.3. HP85 Retrieve Program from UNIDEX 100......................8-21
8.17.4. QB Immediate Mode Command.........................................8-22
8.17.5. QB Write and Read BV Variable.......................................8-23
8.17.6. Retrieve Program from UNIDEX 100................................8-24
CHAPTER 9: TECHNICAL DETAILS..................................................................9-1
9.1. U100 Control Board and Power Board...............................................9-1
9.2. Motor Output Power (U100 Only)......................................................9-4
9.2.1. DC Brush Motor Wiring.......................................................9-4
9.2.2. Stepping Motor Wiring ........................................................9-5
9.2.3. AC Brushless Motor Wiring.................................................9-7
9.3. Limits and Primary Encoder Port (U100/U100i)................................9-8
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UNIDEX 100/U100i and Software Table of Contents
Version 1.6 Aerotech, Inc. xiii
9.3.1. Encoder Interface................................................................. 9-9
9.3.2. Limits Interface .................................................................. 9-10
9.3.3. Hall Effect Interface........................................................... 9-12
9.4. Communications Port (U100/U100i)................................................ 9-14
9.5. I/O Port............................................................................................. 9-16
9.5.1. Digital Inputs Specifications .............................................. 9-17
9.5.2. Digital Outputs Specifications............................................ 9-19
9.5.3. Analog Input and Output.................................................... 9-20
9.6. Amplifier Connector (U100i)........................................................... 9-20
CHAPTER 10: TROUBLESHOOTING................................................................. 10-1
10.1. Installation, Startup and Communication Problems.......................... 10-2
10.2. Motor and Related Problems............................................................ 10-3
10.3. Fault Conditions and Other Related Problems.................................. 10-5
CHAPTER 11: PID LOOP TUNING...................................................................... 11-1
11.1. Introduction...................................................................................... 11-1
11.2. PID Gain Parameters........................................................................ 11-2
11.3. Tuning the PID Loop........................................................................ 11-3
11.4. Parameters and the Effect of Servo Loop Performance.................... 11-7
CHAPTER 12: HOST MODE OPERATION ........................................................ 12-1
12.1. Introduction...................................................................................... 12-1
12.2. Service Request................................................................................ 12-2
12.3. Host Mode Command Set................................................................. 12-4
12.3.1. Running a "PGM:xx" File.................................................. 12-5
12.3.2. Sending an Immediate Command....................................... 12-5
12.3.3. Making a Copy of a File..................................................... 12-6
12.3.4. Erasing a File...................................................................... 12-7
12.3.5. Generating a File Directory................................................ 12-7
12.3.6. Transfer a File from the Host to the Controller.................. 12-8
12.3.7. Transfer a File from the Controller to the Host.................. 12-8
12.3.8. Modify the Value of a Parameter ....................................... 12-9
12.3.9. Retrieve the Value of a Parameter.................................... 12-10
12.3.10. Modify the Value of a "Write Only" Register.................. 12-11
12.3.11. Retrieve the Value of a "Read Only" Register ................. 12-12
12.3.12. Modify the Value of a "Read/Write" Register.................. 12-12
12.3.13. Retrieve the Value of a "Read/Write" Register................ 12-13
12.3.14. Modify the Value of a Variable........................................ 12-15
12.3.15. Retrieve the Value of a Variable...................................... 12-15
12.3.16. Modify the Value of a String Storage Buffer ................... 12-16
12.3.17. Retrieve the Value of a String Storage Buffer.................. 12-16
12.3.18. Move Out of a Limit......................................................... 12-17
12.3.19. Task Control Functions.................................................... 12-17
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Table of Contents UNIDEX 100/U100i and Software
xiv Aerotech, Inc. Version 1.6
APPENDIX A: GLOSSARY OF TERMS................................................................ A-1
APPENDIX B: WARRANTY AND FIELD SERVICE POLICY.......................... B-1
APPENDIX C: SPLINE GENERATION..................................................................C-1
APPENDIX D: PROCESSING ERROR CODES................................................... D-1
D.1. Pre-Compiler Errors .......................................................................... D-2
D.2. In-Process Compiler Errors ............................................................... D-2
D.3. Post-Compiler Errors......................................................................... D-3
D.4. Host Errors ........................................................................................ D-4
D.5. Run Time Errors................................................................................ D-6
INDEX
∇∇∇
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Unidex 100/U100i and Software List of Figures
Version 1.6 Aerotech, Inc. xv
LIST OF FIGURES
Figure 1-1. The UNIDEX 100 System Diagram................................................... 1-1
Figure 1-2. UNIDEX 100i System Diagram......................................................... 1-2
Figure 2-1. Typical Interface Board...................................................................... 2-4
Figure 2-2. UNIDEX 100 System Configuration with Aerotech’s Rotary
Stage................................................................................................... 2-5
Figure 2-3. UNIDEX 100 with Aerotech’s Brushless Motor................................. 2-6
Figure 2-4. UNIDEX 100i System Configuration................................................. 2-6
Figure 2-5. UNIDEX 100i & BA Amplifier with Aerotech’s Brushless Motor..... 2-7
Figure 2-6. UNIDEX 100/U100I & BA Amplifier with Aerotech’s BLM
Linear Motor....................................................................................... 2-7
Figure 2-7. RS-232-C Connection Diagram.......................................................... 2-8
Figure 2-8. Software Display Window.................................................................. 2-9
Figure 2-9. Main Menu Window (power applied to U100/U100i) ..................... 2-10
Figure 2-10. Main Menu Window......................................................................... 2-11
Figure 2-11. Main Menu Window......................................................................... 2-12
Figure 2-12. File Edit Window ............................................................................. 2-12
Figure 2-13. Edit File Type Window.................................................................... 2-12
Figure 2-14. Enter File Number Window..............................................................2-13
Figure 2-15. Edit File Window ............................................................................. 2-13
Figure 2-16. Finished Editing File Window.......................................................... 2-14
Figure 2-17. Select Task Window......................................................................... 2-14
Figure 2-18. Select Running Mode Window......................................................... 2-14
Figure 2-19. Enter File Number Window..............................................................2-15
Figure 2-20. Status Selection Window.................................................................. 2-16
Figure 2-21. Motion Status Window..................................................................... 2-16
Figure 2-22. Control Selection Window ............................................................... 2-16
Figure 2-23. Task Window ................................................................................... 2-17
Figure 2-24. Multitasking (Displayed on Screen while the Motor is Rotating)..... 2-18
Figure 3-1. UNIDEX 100 Controller .................................................................... 3-2
Figure 3-2. UNIDEX 100i Controller................................................................... 3-3
Figure 3-3. Example System Using Velocity and Position Feedback ................... 3-7
Figure 3-4. UNIDEX 100/U100i Control Board................................................... 3-8
Figure 3-5. UNIDEX 100 Power Board.............................................................. 3-13
Figure 3-6. Hand Held Terminal (HT)................................................................ 3-14
Figure 3-7. HT Configuration (U100)................................................................. 3-14
Figure 3-8. HT Configuration (U100i)................................................................ 3-15
Figure 3-9. Optional UNIDEX 100/U100i Joystick............................................3-16
Figure 3-10. Optional Thumbwheel...................................................................... 3-17
Figure 3-11. Thumbwheel Interface...................................................................... 3-18
Figure 3-12. Optional LED Display...................................................................... 3-20
Figure 3-13. Display Configuration ...................................................................... 3-20
Figure 3-14. Programmable Locations on LED Display....................................... 3-21
Figure 3-15. R/D Interface Board Connector Pinouts........................................... 3-23
Figure 3-16. Sample Uses of the PB# Boards....................................................... 3-25
Figure 3-17. INT Board Jumper and Switch SW1 Locations................................ 3-29
Figure 3-18. IEEE-488 Interface Card.................................................................. 3-30
Figure 3-19. Typical Installation of Optional Interface Card................................ 3-33
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List of Figures UNIDEX 100/U100i and Software
xvi Aerotech, Inc. Version 1.6
Figure 4-1. RS-232-C Connection Diagram..........................................................4-3
Figure 4-2. Software Display Window..................................................................4-4
Figure 4-3. Main Menu Window (power applied to U100/U100i)........................4-5
Figure 4-4. Main Menu Window...........................................................................4-5
Figure 4-5. File Edit Window................................................................................4-6
Figure 4-6. Edit File Type Window ......................................................................4-6
Figure 4-7. Enter File Number Window................................................................4-7
Figure 4-8. Edit File Window................................................................................4-7
Figure 4-9. File Directory Window.......................................................................4-8
Figure 4-10. Select Task Window...........................................................................4-9
Figure 4-11. Select Running Mode window............................................................4-9
Figure 4-12. Select Task Window (MDI Mode) ...................................................4-10
Figure 4-13. Enter Command Window (MDI Mode)............................................4-10
Figure 4-14. Executing Command Window..........................................................4-11
Figure 4-15. Status Selection Window..................................................................4-11
Figure 4-16. Motion Status Window.....................................................................4-12
Figure 4-17. General Status Window....................................................................4-12
Figure 4-18. Memory Available Window .............................................................4-13
Figure 4-19. Software Version Window................................................................4-13
Figure 4-20. Control Select Window.....................................................................4-13
Figure 4-21. Limit Reset Window.........................................................................4-14
Figure 4-22. Task window.....................................................................................4-14
Figure 4-23. MISC Selection Window..................................................................4-15
Figure 4-24. Erase File(s) Window.......................................................................4-15
Figure 4-25. File Type to Erase Selection Window ..............................................4-16
Figure 4-26. Erase All Files Selection Window....................................................4-16
Figure 4-27. Copy File Type Selection Window...................................................4-16
Figure 4-28. Setup Selection Window...................................................................4-17
Figure 4-29. Parameter Type Setup Window........................................................4-17
Figure 4-30. Change Parameter Window (1 of 2) .................................................4-18
Figure 4-31. Change Parameter Window (2 of 2) .................................................4-18
Figure 4-32. Change Parameter Setting Window..................................................4-18
Figure 4-33. Read/Write Selection Window.........................................................4-19
Figure 4-34. Write Only Register Change Window..............................................4-19
Figure 4-35. Read Only Register Change Window...............................................4-19
Figure 4-36. Load Register Window.....................................................................4-20
Figure 4-37. Variable Type Selection Window.....................................................4-20
Figure 4-38. Enter Variable Window....................................................................4-20
Figure 4-39. Modify/Scan Select Window............................................................4-21
Figure 4-40. Scan Variable Window.....................................................................4-21
Figure 4-41. Enter String Window........................................................................4-21
Figure 4-42. Modify String Window.....................................................................4-22
Figure 4-43. Enter New String Window................................................................4-22
Figure 4-44. Transfer Select Window...................................................................4-23
Figure 4-45. Transfer File to U100 Window.........................................................4-23
Figure 4-46. Transfer File to PC Window.............................................................4-23
Figure 4-47. Read and Write from Archive Selection...........................................4-24
Figure 4-48. Machine and Library Selection Menu...............................................4-24
Figure 4-49. Enter Parameter (Machine and Library Image) ................................4-25
Figure 4-50. HT to U100/U100i Configuration ....................................................4-27
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Unidex 100/U100i and Software List of Figures
Version 1.6 Aerotech, Inc. xvii
Figure 4-51. HT Menu .......................................................................................... 4-27
Figure 5-1. Exception Processing Flow Chart..................................................... 5-10
Figure 5-2. Example of Maximum Lines in PGM Files...................................... 5-17
Figure 5-3. Velocity Profiling in 3 Segments...................................................... 5-43
Figure 6-1. 4-Axis Daisy Chain Configuration .....................................................6-8
Figure 6-2. 4-Axis Daisy Chain Configuration (U100i)........................................ 6-9
Figure 6-3. Trajectory Generation Overview...................................................... 6-22
Figure 6-4. U100/U100i PID Loop..................................................................... 6-52
Figure 6-5. Decimal to Binary to Hexadecimal Conversion Chart...................... 6-70
Figure 7-1. Connector P2 Bit to Input/Output for Registers ................................. 7-4
Figure 7-2. Encoder Counter Circuits (Primary and Auxiliary) .......................... 7-11
Figure 7-3. Block Diagram of Internal Counter Functions.................................. 7-12
Figure 9-1. Control Board..................................................................................... 9-2
Figure 9-2. Power Board (U100 Controller Only)................................................ 9-3
Figure 9-3. DC Brush Motor System .................................................................... 9-4
Figure 9-4. DC Brush Motor Wiring..................................................................... 9-5
Figure 9-5. Stepping Motor System...................................................................... 9-6
Figure 9-6. Stepping Motor Wiring.......................................................................9-6
Figure 9-7. AC Brushless Motor System...............................................................9-7
Figure 9-8. AC Brushless Motor Wiring............................................................... 9-8
Figure 9-9. U100/U100i Servo Loop.................................................................... 9-8
Figure 9-10. Limits/Primary Encoder Port (P3)...................................................... 9-9
Figure 9-11. Auxiliary Encoder Port (P4)............................................................... 9-9
Figure 9-12. CW Motor Rotation (Viewed from Mounting Flange End).............. 9-10
Figure 9-13. Limit Switch Input Circuit................................................................ 9-11
Figure 9-14. Motor Rotation................................................................................. 9-11
Figure 9-15. Hall Effect Input Circuit................................................................... 9-12
Figure 9-16. Hall Effect and Motor Phasing......................................................... 9-13
Figure 9-17. Motor Phase Voltage Observation Scheme ...................................... 9-14
Figure 9-18. Encoder Phase Voltage Observation Scheme................................... 9-14
Figure 9-19. Com Port (P1)................................................................................... 9-15
Figure 9-20. Standard RS-232-C Interface............................................................ 9-15
Figure 9-21. Optional RS-422-A Interface............................................................ 9-15
Figure 9-22. I/O Port (P2)..................................................................................... 9-16
Figure 9-23. Electrical Characteristics of Opto-Isolated Input.............................. 9-18
Figure 9-24. Electrical Characteristics of Opto-Isolated Input (w/External
Power Supply) .................................................................................. 9-19
Figure 9-25. Electrical Characteristics of Opto-Isolated Output........................... 9-19
Figure 9-26. Amplifier Connector Pinouts............................................................ 9-20
Figure 11-1. U100/U100i PID Loop..................................................................... 11-1
Figure 11-2. Velocity Feedback Signals ............................................................... 11-6
Figure C-1. Diagram of a Typical Spline Profile...................................................C-2
Figure C-2. Trajectory Generation Overview........................................................C-4
∇∇∇
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List of Figures UNIDEX 100/U100i and Software
xviii Aerotech, Inc. Version 1.6
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UNIDEX 100/U100i and Software List of Tables
Version 1.6 Aerotech, Inc. xix
LIST OF TABLES
Table 1-1. Available Motion Controllers in the UNIDEX 100 Series................. 1-2
Table 1-2. Available Stepping Motor Drivers for UNIDEX 100 Series.............. 1-3
Table 1-3. Available DC Servo Motor Drivers for UNIDEX 100 Series ............ 1-3
Table 1-4. Available Brushless Servo Motor Drives for UNIDEX 100
Series.................................................................................................. 1-4
Table 1-5. Options and Accessories Available for the UNIDEX 100
Series.................................................................................................. 1-5
Table 2-1. Minimum Hardware Requirements and Recommendations................ 2-3
Table 3-1. Current/Velocity Command Jumper Setting....................................... 3-9
Table 3-2. Current Output Jumper Settings ....................................................... 3-10
Table 3-3. Motor Type Jumper Selections......................................................... 3-11
Table 3-4. Firmware Boot Jumper Selections (JP34) ........................................ 3-11
Table 3-5. Thumbwheel Bus Addresses............................................................. 3-18
Table 3-6. Display Bus Addresses..................................................................... 3-21
Table 3-7. R/D Connector Pinout Descriptions ................................................. 3-23
Table 3-8. R/D Standard Parameter Settings ..................................................... 3-23
Table 3-9. INT Bus Address Selections............................................................. 3-26
Table 3-10. INT Board Jumper Selections .......................................................... 3-28
Table 3-11. IEEE-488 Connector P2 Pin Descriptions........................................ 3-30
Table 3-12. IE-488 Standard Parameter Settings................................................. 3-31
Table 4-1. Summary of Files on the Software Installation Diskette..................... 4-2
Table 4-2. Minimum Hardware Requirements and Recommendations................ 4-3
Table 4-3. Keyboard Function Keys and their Function...................................... 4-8
Table 5-1. Programming Conventions Used in This Manual............................... 5-2
Table 5-2. Kernel Interrupt Time Slot Description.............................................. 5-4
Table 5-3. Bit Definitions for REG:302............................................................. 5-11
Table 5-4. Bit Definitions for REG:307............................................................. 5-13
Table 5-5. Task 0 Service Request Status Codes............................................... 5-14
Table 5-6. Task 1 Service Request Status Codes............................................... 5-15
Table 5-7. Task 2 Service Request Status Codes............................................... 5-15
Table 5-8. Kernel Service Request Status Codes............................................... 5-16
Table 5-9. PGM File Template.......................................................................... 5-18
Table 5-10. UNIDEX 100/U100i Programming Commands............................... 5-24
Table 6-1. Communication Parameters................................................................ 6-3
Table 6-2. RS-232-C Bit Data ............................................................................. 6-4
Table 6-3. Parameter Settings for Clock Control Register (PRM:002)................ 6-5
Table 6-4. Settings for Daisy Chain Enable/Disable (PRM:005)......................... 6-6
Table 6-5. Settings for Communications Mode (PRM:019).............................. 6-14
Table 6-6. Settings for Group Trigger Enable/Disable (PRM:020)................... 6-14
Table 6-7. Settings for Cursor Control (PRM:021) ...........................................6-15
Table 6-8. Settings for Communications SRQ On/Off (PRM:022).................... 6-15
Table 6-9. Settings for Send SRQ At End of Task 1 (PRM:023) ...................... 6-16
Table 6-10. Settings for Send SRQ At End of Task 2 (PRM:024) ...................... 6-16
Table 6-11. Settings for LST1 File Generation On/Off (PRM:025).................... 6-17
Table 6-12. Settings for Motion Status Scan Type (PRM:040) ........................... 6-21
Table 6-13. Settings for Motion Status Scan Type (PRM:041) ........................... 6-21
Table 6-14. Motion Parameters Summary ........................................................... 6-24
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