Aerotech BA-Intellidrive BAI 10 User manual

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BA-INTELLIDRIVE
USER’S MANUAL
P/N: EDU163 (V1.4)
AEROTECH, Inc. •101 Zeta Drive •Pittsburgh, PA. 15238-2897 •USA
Phone [phone] •Fax [phone]
Product Service: [phone]; [phone] (Fax)
www.aerotech.com
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If you should have any questions about the BA-Intellidrive or comments regarding the documentation, please refer to
Aerotech online at:
http://www.aerotech.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 BAI amplifier and BAI software are products of Aerotech, Inc.
Windows 95/NT are products of Microsoft Corporation.
The BA-Intellidrive User’s Manual Revision History:
Preliminary December 12,1997
Version 1.0 February 10, 1998
Version 1.1 November 12, 1998
Version 1.2 March 31, 2000
Version 1.3 November 15, 2000
Version 1.4 February 14, 2001
© Aerotech, Inc., 2001
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BA Intellidrive User’s Manual Table of Contents
Version 1.4 Aerotech, Inc. iii
TABLE OF CONTENTS
CHAPTER 1: INTRODUCTION............................................................................ 1-1
1.1. Product Overview............................................................................... 1-1
1.2. Indexer................................................................................................ 1-2
1.2.1. Teach Mode .........................................................................1-4
1.2.2. Clock and Direction .............................................................1-6
1.3. BAI DOS Software............................................................................. 1-6
1.4. Hardware Overview and Function...................................................... 1-7
1.4.1. Motor and AC Power Connections.......................................1-8
1.4.1.1. BAI 10/20/30.........................................................1-8
1.4.1.2. BAI 50/75/100.......................................................1-9
1.4.2. Fusing and Inrush Limiting ................................................1-10
1.4.2.1. BAI 10/20/30.......................................................1-10
1.4.2.2. BAI 50/75/100.....................................................1-11
1.4.3. 20 - 80 Volt Option – BAI 10/20/30..................................1-12
1.4.4. COM Port...........................................................................1-13
1.4.5. RS232 Daisy Chain Configuration.....................................1-13
1.4.6. LED Status Indicators ........................................................1-14
1.4.7. The I/O Port (P1) ...............................................................1-14
1.4.8. Encoder/Limits/Hall Effects Port (P3) ...............................1-15
1.5. Safety Procedures and Warnings...................................................... 1-17
CHAPTER 2: GETTING STARTED...................................................................... 2-1
2.1. Introduction........................................................................................ 2-1
2.2. Unpacking the BA-Intellidrive ........................................................... 2-2
2.3. Minimum Hardware Requirements and Recommended System
Configurations.................................................................................... 2-2
2.4. Inspection of the BAI ......................................................................... 2-3
2.5. Physical Setup of the Motion Controller ............................................ 2-3
2.5.1. BAI Cable Connections........................................................2-4
2.5.2. Local Mode..........................................................................2-4
2.5.3. Standard Installation of the Software ...................................2-5
2.5.3.1. Writing a Short BAI Program................................2-7
2.5.3.2. BAI Windows Software Interface........................2-11
2.5.3.3. BAI MMI Windows Software Installation...........2-13
2.6. Parameters Screen - BAI MMI......................................................... 2-17
2.7. Axis Scope Tuning Window............................................................. 2-19
2.7.1. Tuning Procedure for Servo Loops....................................2-21
2.8. Autotuning........................................................................................ 2-29
2.9. Tuning Tips ...................................................................................... 2-33
CHAPTER 3: COMMUNICATION AND COMMANDS .................................... 3-1
3.1. Introduction........................................................................................ 3-1
3.2. BAI Communications Modes ............................................................. 3-1
3.2.1. Local Mode..........................................................................3-1
3.2.2. Remote Mode.......................................................................3-2
3.2.2.1. Enabling RS232 Remote Communications............3-2
3.2.2.2. Daisy Chain............................................................3-3
3.3. Menu Commands................................................................................ 3-4
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Table of Contents BA Intellidrive User’s Manual
iv Aerotech, Inc. Version 1.4
3.3.1. C-Change Parameter.............................................................3-4
3.3.2. D-Display Tracking Information..........................................3-6
3.3.3. O-Other Menus.....................................................................3-7
3.3.3.1. Running a Program ................................................3-7
3.3.3.2. Read Register.........................................................3-8
3.3.3.3. Read/Write Parameter............................................3-8
3.3.3.4. Display Error Message...........................................3-8
3.3.4. F-File Operations..................................................................3-9
3.3.5. F1- Abort Entry/Up One Menu Level...................................3-9
3.3.6. F2/F3 - Previous/Next Menu................................................3-9
3.3.7. F5 – Aborts Motion and Programs.....................................3-10
3.3.8. I – Enter Motion Command................................................3-10
3.3.9. S – Save Parameters to Flash..............................................3-10
3.3.10. T-Teach Mode....................................................................3-11
3.3.11. Space Bar ...........................................................................3-12
3.4. BAI System Commands....................................................................3-13
3.4.1. Program/Motion Abort.......................................................3-14
3.4.2. Program Execution.............................................................3-14
3.4.3. DF Delete File....................................................................3-14
3.4.4. File Transfers – Download File to PC................................3-14
3.4.5. Format................................................................................3-15
3.4.6. Get Message Command......................................................3-15
3.4.7. HOLD/TRIGGER/CANCEL..............................................3-15
3.4.8. Execute Immediate Command............................................3-16
3.4.9. Print Directory....................................................................3-16
3.4.10. Return Error Message String..............................................3-16
3.4.11. Print Program “file” to Port................................................3-17
3.4.12. Print Status .........................................................................3-17
3.4.13. Return Axis Position...........................................................3-18
3.4.14. Serial Poll command ..........................................................3-18
3.4.15. Hardware Reset ..................................................................3-19
3.4.16. Parameter Editing...............................................................3-19
3.4.17. Read/Write Register...........................................................3-20
3.4.18. Save Program/Parameters to Flash Memory.......................3-20
3.4.19. Service Request Mode (SRQ) ............................................3-20
3.4.20. File Transfers – Upload File to BAI...................................3-21
3.4.21. ; Comment..........................................................................3-22
3.5. BAI Motion and Program Commands..............................................3-23
3.5.1. Acceleration Command......................................................3-24
3.5.2. Clear Limit .........................................................................3-24
3.5.3. Conditional Gosub..............................................................3-24
3.5.4. Conditional Goto................................................................3-24
3.5.5. Disable Amplifier...............................................................3-25
3.5.6. Dwell Command.................................................................3-25
3.5.7. Enable Amplifier................................................................3-25
3.5.8. Fault Acknowledge.............................................................3-25
3.5.9. Freerun ...............................................................................3-26
3.5.10. Gain Command...................................................................3-26
3.5.11. Gosub Command................................................................3-27
3.5.12. Goto Command ..................................................................3-27
3.5.13. Home Command.................................................................3-27
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BA Intellidrive User’s Manual Table of Contents
Version 1.4 Aerotech, Inc. v
3.5.14. Index Command.................................................................3-28
3.5.15. IT Command ......................................................................3-29
3.5.16. Label – Define a Label.......................................................3-29
3.5.17. Load Position Register.......................................................3-29
3.5.18. Loop Start and Loop End...................................................3-30
3.5.19. Motor Commutate..............................................................3-30
3.5.20. Change opto-isolated outputs.............................................3-30
3.5.21. Print Message.....................................................................3-30
3.5.22. Position Mode – Absolute or Incremental..........................3-31
3.5.23. Program Stop......................................................................3-31
3.5.24. Ramp Time.........................................................................3-31
3.5.25. Register Functions..............................................................3-32
3.5.26. Run the teach program.......................................................3-32
3.5.27. Return from subroutine ......................................................3-32
3.5.28. WM/WA – Wait Move.......................................................3-32
3.6. Teach Mode...................................................................................... 3-33
3.6.1. Using the Teach Program...................................................3-33
3.6.1.1. +/- Increment/Decrement Current Position.........3-34
3.6.1.2. F2/F3 Next/Previous Index.................................3-34
3.6.1.3. 1,2,3 Learn the Current
Position/Feedrate/Bit Pattern ...............................3-34
3.6.1.4. I-Change the Index...............................................3-35
3.6.1.5. Z-Zero the Teach Program...................................3-35
3.6.1.6. S-Save the Teach Program...................................3-35
3.7. Sample Programs.............................................................................. 3-36
CHAPTER 4: PARAMETERS................................................................................ 4-1
4.1. Introduction........................................................................................ 4-1
4.2. Servo Loop Parameters....................................................................... 4-4
4.2.1. PRM:0 Proportional Velocity Gain KP...............................4-5
4.2.2. PRM:1 Integral Velocity Gain KI .......................................4-5
4.2.3. PRM:2 Proportional Position Gain KPOS ..........................4-5
4.2.4. PRM:3 Incremental Change for KP .....................................4-6
4.2.5. PRM:4 Incremental Change for KI ......................................4-6
4.2.6. PRM:5 Incremental Change for KPOS ................................4-7
4.2.7. PRM:6 Servo “In Position” Tolerance................................4-7
4.2.8. PRM:7 Servo Peak Current Limit .......................................4-8
4.2.9. PRM:8 Servo RMS Limit....................................................4-8
4.2.10. PRM:9 Servo RMS Current Timeout..................................4-9
4.2.11. PRM:10 Servo Velocity Trap..............................................4-9
4.2.12. PRM:11 Integral Clamp ....................................................4-10
4.2.13. PRM:12 Position Error Trap.............................................4-10
4.2.14. PRM:13 Servo Update Rate..............................................4-11
4.2.15. PRM:14 Encoder Resolution.............................................4-11
4.2.16. PRM:15 Electrical Cycles/Mechanical Revolution...........4-12
4.2.17. PRM:16 Hall Effects Available.........................................4-13
4.2.18. PRM:17 Initialization Current...........................................4-13
4.2.19. PRM:18 Velocity Feedforward VFF.................................4-14
4.2.20. PRM:20 Operating Mode..................................................4-14
4.2.21. PRM:22 Position Save ......................................................4-15
4.2.22. PRM:23 Reload Saved Position on Power-Up..................4-15
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Table of Contents BA Intellidrive User’s Manual
vi Aerotech, Inc. Version 1.4
4.2.23. PRM:24 Saved Position ....................................................4-16
4.2.24. PRM:26 Low Pass Filter ...................................................4-16
4.2.25. PRM:27 Phase Offset........................................................4-17
4.2.26. PRM:29 Input Command Offset........................................4-17
4.2.27. PRM:30 Default Velocity..................................................4-18
4.2.28. PRM:31 Jog Value............................................................4-18
4.2.29. PRM:32 In Position Bit......................................................4-19
4.2.30. PRM:33 Dead Band Wait Time ........................................4-19
4.2.31. PRM:34 Thermistor Polarity..............................................4-19
4.2.32. PRM:36 Position Mode......................................................4-20
4.2.33. PRM:37 Estop Action ........................................................4-21
4.2.34. PRM:38,39 Current Offset Adjustment..............................4-21
4.2.35. PRM:40 Registration Input.................................................4-21
4.2.36. PRM:41 Encoder Scale Factor...........................................4-22
4.2.37. PRM:42 I/O Read Time Delay...........................................4-22
4.2.38. PRM:43 Trajectory Type ...................................................4-23
4.2.39. PRM:44 Encoder Fault Enable...........................................4-23
4.2.40. PRM:45 Estop Polarity.......................................................4-23
4.2.41. PRM:46 Send ACK after move completes.........................4-24
4.2.42. PRM:47 In Position Output Polarity .................................4-24
4.2.43. PRM:52 RMS Method ......................................................4-24
4.3. Limit Parameters...............................................................................4-25
4.3.1. PRM:60 Limit Check ........................................................4-25
4.3.2. PRM:61 Limit Type ..........................................................4-25
4.3.3. PRM:62 Home Direction...................................................4-25
4.3.4. PRM:63 Home Type .........................................................4-26
4.3.5. PRM:64 Home Velocity....................................................4-26
4.3.6. PRM:65 Home Ending Offset ...........................................4-26
4.3.7. PRM:66 Home Marker Velocity......................................4-27
4.3.8. PRM:67 Negative Software Limit.....................................4-27
4.3.9. PRM:68 Positive Software Limit.......................................4-27
4.3.10. PRM:69 Deceleration Distance.........................................4-28
4.3.11. PRM:70 +/- Limit Reset Distance .....................................4-28
4.3.12. PRM:71 Check Move Against Software Limits ................4-28
4.3.13. PRM:72 Marker Type ........................................................4-29
4.3.14. PRM:73 Offset to Marker...................................................4-29
4.3.15. PRM:74 Program Execution...............................................4-29
4.3.16. PRM:75 Home Velocity Out..............................................4-30
4.3.17. PRM:76 Marker Polarity....................................................4-30
4.3.18. PRM:77 Output Disable.....................................................4-30
4.4. Communications/Startup Parameters................................................4-31
4.4.1. PRM:90 Baud Rate............................................................4-31
4.4.2. PRM:91 Service Request (SRQ) Character.......................4-31
4.4.3. PRM:92 Displayable Digits...............................................4-31
4.4.4. PRM:94 Unit Address.......................................................4-32
4.4.5. PRM:95 Enable/Disable Daisy Chain - Places in
Remote Mode.....................................................................4-32
4.4.6. PRM:96 Autorun Program on Power-Up..........................4-32
4.4.7. PRM:97 Bootup Program Name .......................................4-33
4.4.8. PRM:98 Status on Power-Up ............................................4-33
4.4.9. PRM:99 External Enable Polarity.....................................4-33
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BA Intellidrive User’s Manual Table of Contents
Version 1.4 Aerotech, Inc. vii
4.4.10. PRM:100 Display Type......................................................4-34
4.4.11. PRM:101 General Fault Output .........................................4-34
4.4.12. PRM:102 Fault Output Polarity .........................................4-34
4.5. Miscellaneous................................................................................... 4-35
4.5.1. PRM:200 Position Scale Factor ........................................4-35
4.5.2. PRM:201 Default Ramp Time ..........................................4-35
4.5.3. PRM:202 Filter Cutoff......................................................4-35
4.5.4. PRM:204 Autotune Distance..............................................4-36
4.5.5. PRM:205 Autotune Velocity Loop Bandwidth..................4-36
4.5.6. PRM:206 Autotune Damping Factor..................................4-37
4.5.7. PRM:207 Start Frequency..................................................4-37
4.5.8. PRM:208 Autotune Sampling Time...................................4-37
4.5.9. PRM:209 Clock/Direction Multiplier ...............................4-38
4.5.10. PRM:210 Acceleration......................................................4-38
CHAPTER 5: REGISTERS..................................................................................... 5-1
5.1. Introduction........................................................................................ 5-1
5.1.1. RG1 Program Bytes Remaining...........................................5-1
5.1.2. RG2 BAI Status....................................................................5-1
5.1.3. RG3 Position Feedback........................................................5-2
5.1.4. RG4 Velocity Feedback .......................................................5-2
5.1.5. RG5 Position Command.......................................................5-2
5.1.6. RG6 Position Error...............................................................5-2
5.1.7. RG7 Current Command........................................................5-2
5.1.8. RG8 Firmware Version........................................................5-2
5.1.9. RG9 Velocity Command......................................................5-3
5.1.10. RG12 A/D Input...................................................................5-3
5.1.11. RG14, RG15 Timers ............................................................5-3
CHAPTER 6: MODE OF OPERATION................................................................ 6-1
6.1. Introduction........................................................................................ 6-1
6.2. Modes of Operation............................................................................ 6-1
6.3. Indexing Mode ................................................................................... 6-1
6.4. Clock and Direction............................................................................ 6-3
CHAPTER 7: TECHNICAL DETAILS.................................................................. 7-1
7.1. Introduction........................................................................................ 7-1
7.2. BAI Control Board Jumper Selections............................................... 7-1
7.3. The I/O Port....................................................................................... 7-2
7.3.1. Restore/Reset Signal ...........................................................7-3
7.3.2. Clock/Direction Inputs Signals.............................................7-3
7.3.3. Estop Input Signal................................................................7-3
7.3.4. Thermistor Input Signal........................................................7-4
7.3.5. Analog Inputs.......................................................................7-4
7.3.6. Opto-Isolated Inputs.............................................................7-4
7.3.7. Opto-Isolated Outputs..........................................................7-5
7.4. Encoder/Limits/Hall Effects Port P3 .................................................. 7-7
7.4.1. Encoder Interface.................................................................7-8
7.4.2. Limits Interface....................................................................7-8
7.4.3. Hall Effect Interface.............................................................7-9
7.5. Servo Amplifier Specifications......................................................... 7-13
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Table of Contents BA Intellidrive User’s Manual
viii Aerotech, Inc. Version 1.4
7.6. AC Input and Motor Wiring.............................................................7-15
7.6.1. Minimizing EMI Interference.............................................7-15
7.6.2. Minimizing 50/60 HZ Line Interference ............................7-17
7.7. BAI Amplifier Dimensions...............................................................7-19
7.7.1. Mounting Procedures for the BAI 10/20/30/50..................7-21
7.7.2. Mounting Procedures for the BAI 75/100..........................7-23
CHAPTER 8: TROUBLESHOOTING...................................................................8-1
8.1. Amplifier Related Problems ...............................................................8-1
APPENDIX A: GLOSSARY OF TERMS................................................................ A-1
APPENDIX B: WARRANTY AND FIELD SERVICE.......................................... B-1
INDEX
∇∇∇
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BA Intellidrive User’s Manual List of Figures
Version 1.4 Aerotech, Inc. ix
LIST OF FIGURES
Figure 1-1. BA-Intellidrive Amplifiers ................................................................. 1-1
Figure 1-2. BAI Indexer/Positioner Mode ............................................................ 1-2
Figure 1-3. Illustration of Local and Remote Mode.............................................. 1-3
Figure 1-4. Teach Mode (using DOS-based COM_BAI)...................................... 1-4
Figure 1-5. Teach Mode (using BAI MMI) .......................................................... 1-5
Figure 1-6. Teach Mode (using a Hand Held Terminal)....................................... 1-5
Figure 1-7. Operating Mode (Clock and Direction).............................................. 1-6
Figure 1-8. BA-Intellidrive Hardware – 10/20/30 A Models................................ 1-7
Figure 1-9. BA-Intellidrive Hardware – 50/75/100 Models................................. 1-7
Figure 1-10. Motor and AC Power Connections – 10/20/30 Models..................... 1-8
Figure 1-11. Motor and AC Power Connections – 50/75/100 Models................... 1-9
Figure 1-12. Fuse and Inrush Limiting – 10/20/30 Models.................................. 1-10
Figure 1-13. AC Input Fusing – 50/75/100 Models .............................................. 1-11
Figure 1-14. 20 – 80V Option............................................................................... 1-12
Figure 1-15. RS232 Daisy Chain .......................................................................... 1-14
Figure 2-1. Physical Setup of the BAI and Aerotech Motors (Application 1)....... 2-3
Figure 2-2. Remote Mode Configuration.............................................................. 2-4
Figure 2-3. Local Mode Configuration ................................................................. 2-4
Figure 2-4. RS-232 Connection ............................................................................2-5
Figure 2-5. BAI Display Window......................................................................... 2-6
Figure 2-6. BAI Resetting Window....................................................................... 2-6
Figure 2-7. Enter Immediate Command Screen.................................................... 2-7
Figure 2-8. DOS Editor Screen............................................................................. 2-7
Figure 2-9. File Operations Screen .......................................................................2-8
Figure 2-10. File and Parameters Transfer Screen.................................................. 2-8
Figure 2-11. File Upload Screen............................................................................. 2-9
Figure 2-12. Other Menu Options Screen............................................................... 2-9
Figure 2-13. Auto Run/Block Run Option Screen................................................. 2-10
Figure 2-14. Enter File Screen.............................................................................. 2-10
Figure 2-15. Main Screen...................................................................................... 2-11
Figure 2-16. Programs Window............................................................................ 2-12
Figure 2-17. Parameters Screen ............................................................................ 2-12
Figure 2-18. MMI Main Screen............................................................................ 2-13
Figure 2-19. MMI Text Editor Window................................................................2-14
Figure 2-20. File Transfer Window (MMI)........................................................... 2-14
Figure 2-21. Main Screen (Run Mode)................................................................. 2-15
Figure 2-22. Display Code (Main Screen) ............................................................ 2-16
Figure 2-23. Parameters Screen (BAI MMI)......................................................... 2-17
Figure 2-24. Motor Profiles Selection (Parameter Screen) ................................... 2-18
Figure 2-25. Axis Scope Window (BAI MMI)..................................................... 2-19
Figure 2-26. Axis Scope Toolbars ........................................................................2-20
Figure 2-27. Cursors Toolbar (Axis Scope Screen).............................................. 2-21
Figure 2-28. Flowchart of Overall Tuning Process............................................... 2-22
Figure 2-29. Maximize Button on the Axis Scope Window..................................2-23
Figure 2-30. Unacceptable Velocity Error............................................................ 2-25
Figure 2-31. Acceptable Velocity Error (When Adjusting Kp) ............................ 2-25
Figure 2-32. Unacceptable Position Error (When Adjusting Ki).......................... 2-26
Figure 2-33. Plot Showing an Appropriate Value for Kpos.................................. 2-27
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List of Figures BA Intellidrive User’s Manual
xAerotech, Inc. Version 1.4
Figure 2-34. Plot Showing Overall Effects When Kpos is High...........................2-28
Figure 2-35. The “Gains” and “Auto Tune” Toolbars...........................................2-29
Figure 2-36. Autotune Plot where “Dist” Has Been Set Too Low........................2-30
Figure 2-37. Autotune Plot where “Dist” Has Been Set Too High........................2-31
Figure 2-38. Autotune Plot Showing Proper Calibration ......................................2-32
Figure 2-39. Tuning Plot of an AC Brushless Motor ............................................2-33
Figure 3-1. Tracking Screen..................................................................................3-1
Figure 3-2. The Change Parameter Screen............................................................3-5
Figure 3-3. Example of Changing a Parameter in the Change Parameter
Screen.................................................................................................3-5
Figure 3-4. Display Tracking Screen.....................................................................3-6
Figure 3-5. Other Menu Options...........................................................................3-7
Figure 3-6. Auto Run/ Block Run Option Screen..................................................3-7
Figure 3-7. Read Register Screen..........................................................................3-8
Figure 3-8. File Operation Screen.........................................................................3-9
Figure 3-9. Enter Immediate Command Screen ..................................................3-10
Figure 3-10. Teach Mode (using DOS-based COM_BAI)....................................3-11
Figure 3-11. Teach Mode (using BAI MMI).........................................................3-12
Figure 3-12. Teach Mode screen (COM_BAI.exe)...............................................3-12
Figure 3-13. Parameters Affecting the Home Cycle..............................................3-28
Figure 3-14. Teach Mode Screen..........................................................................3-33
Figure 3-15. Teach Screen for Position “0” (Showing Current Position and
Teach, POS, VEL, and I/O Pattern)..................................................3-34
Figure 3-16. Teach Screen for Position “0” (Showing Current Position and
Teach, POS, VEL, and I/O Pattern)..................................................3-35
Figure 4-1. PID Control Loop...............................................................................4-4
Figure 4-2. Thermistor Input Circuit...................................................................4-20
Figure 6-1. Trapezoidal Motion Profile ................................................................6-2
Figure 6-2. Sinusoidal Motion Profile (S-curve)...................................................6-2
Figure 7-1. BAI Jumper Locations........................................................................7-2
Figure 7-2. Clock/Direction Input Circuit.............................................................7-3
Figure 7-3. Over Temperature Circuitry................................................................7-4
Figure 7-4. Electrical Characteristics of Opto-Isolated Input................................7-5
Figure 7-5. Electrical Characteristics of Opto-Isolated Output.............................7-6
Figure 7-6. CW Motor Rotation (Viewed from the Mounting Flange End)..........7-8
Figure 7-7. Limit Switch Input Circuit..................................................................7-8
Figure 7-8. Hall Effect Input Circuit.....................................................................7-9
Figure 7-9. Hall Effect Motor Phasing................................................................7-10
Figure 7-10. Motor Rotation (From Mounting Flange End)..................................7-10
Figure 7-11. Motor Phase Voltage Observation Scheme ......................................7-12
Figure 7-12. Encoder Phase Voltage Observation Scheme...................................7-12
Figure 7-13. Wiring to Minimize EMI and Capacitive Coupling..........................7-16
Figure 7-14. Wiring to Minimize EMI and Capacitive Coupling (BAI 50) ..........7-16
Figure 7-15. Back-Propagation Line Filter Connection ........................................7-17
Figure 7-16. Isolation Transformer Connection (eliminates torque
disturbance) ......................................................................................7-18
Figure 7-17. BAI Amplifier Dimensions – 10/20/30.............................................7-19
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BA Intellidrive User’s Manual List of Figures
Version 1.4 Aerotech, Inc. xi
Figure 7-18. BAI Amplifier Dimensions – 50/75/100........................................... 7-20
Figure 7-19. BAI Side View (10/20/30/50) .......................................................... 7-21
Figure 7-20. BAI Top View (Preferred Mounting – 10/20/30/50)........................ 7-22
Figure 7-21. Preferred Mounting of BAI Amplifiers (10/20/30/50) ..................... 7-23
Figure 7-22. Preferred Mounting - 75/100............................................................ 7-24
Figure 7-23. BAI Side View (75/100)................................................................. 7-25
Figure 7-24. BAI Top View (75/100)................................................................. 7-25
∇∇∇
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List of Figures BA Intellidrive User’s Manual
xii Aerotech, Inc. Version 1.4
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BA Intellidrive User’s Manual List of Tables
Version 1.4Aerotech, Inc.xiii
LIST OF TABLES
Table 1-1. COM Port Pinouts................................................................................. 1-13
Table 1-2. I/O Connector Pinouts (P1)................................................................... 1-15
Table 1-3. Pinouts for the Encoder/Limits/Hall Effects Port (P3).......................... 1-16
Table 2-1. Minimum Hardware Requirements and Recommendations ....................2-2
Table 2-2. Initial Servo Parameter Values.............................................................. 2-23
Table 3-1. Bit Patterns.............................................................................................. 3-6
Table 3-2. System Commands ................................................................................ 3-13
Table 3-3. BAI File Transfers Transmit Sequence ................................................. 3-14
Table 3-4. Hold/Trigger/Cancel Variables............................................................. 3-15
Table 3-5. Bit Definitions for the PS Print Status Command ................................. 3-17
Table 3-6. Return Axis Position Type Variables.................................................... 3-18
Table 3-7. Return Axis Position Type Variables.................................................... 3-18
Table 3-8. SRQ Service Request Variables............................................................ 3-20
Table 3-9. BAI File Transfer Receive Sequence.................................................... 3-21
Table 3-10. Motion Commands................................................................................ 3-23
Table 4-1. BAI Parameters....................................................................................... 4-1
Table 4-2. Settings for Proportional Velocity Gain PRM:0...................................... 4-5
Table 4-3. Settings for Integral Velocity Gain PRM:1............................................. 4-5
Table 4-4. Settings for Proportional Position Gain PRM:2...................................... 4-5
Table 4-5. Settings for Incremental Change for KP PRM:3 ..................................... 4-6
Table 4-6. Settings for Incremental Change for KI PRM:4...................................... 4-6
Table 4-7. Settings for Incremental Change for KPOS PRM:5 ................................ 4-7
Table 4-8. Settings for Servo “In Position” Tolerance PRM:6................................. 4-7
Table 4-9. Settings for Servo Peak Current Limit PRM:7........................................ 4-8
Table 4-10. Settings for Servo RMS Limit PRM:8..................................................... 4-8
Table 4-11. Settings for Servo RMS Current Timeout PRM:9................................... 4-9
Table 4-12. Settings for Servo Velocity Trap PRM:10 .............................................. 4-9
Table 4-13. Settings for Integral Clamp PRM:11..................................................... 4-10
Table 4-14. Settings for Position Error PRM:12 ...................................................... 4-10
Table 4-15. Settings for Servo Update Rate PRM:13............................................... 4-11
Table 4-16. Values for Parameter PRM:14 ..............................................................4-12
Table 4-17. Settings for Encoder Resolution PRM:14 ............................................. 4-12
Table 4-18. Settings for Electrical Cycles/Mechanical Revolution PRM:15............ 4-12
Table 4-19. Settings for Hall Effects Available PRM:16 .........................................4-13
Table 4-20. Settings for Initialization Current PRM:17............................................ 4-14
Table 4-21. Settings for VFF – Velocity Feedforward PRM:18............................... 4-14
Table 4-22. Operating Modes PRM:20 .................................................................... 4-14
Table 4-23. Settings for Operating Mode PRM:20................................................... 4-15
Table 4-24. Settings for Position Save PRM:22....................................................... 4-15
Table 4-25. Settings for PRM:23.............................................................................. 4-15
Table 4-26. Settings for Saved Position PRM:24.................................................... 4-16
Table 4-27. Settings for Low Pass Filter PRM:26.................................................... 4-16
Table 4-28. Settings for Phase Offset PRM:27......................................................... 4-17
Table 4-29. Settings for Input Command Offset PRM:29 ........................................ 4-17
Table 4-30. Settings for Default Velocity PRM:30 .................................................. 4-18
Table 4-31. Settings for Jog Value PRM:31............................................................. 4-18
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List of Tables BA Intellidrive User’s Manual
xivAerotech, Inc.Version 1.4
Table 4-32. Settings for In Position Bit PRM:32......................................................4-19
Table 4-33. Settings for Dead Band Wait Time PRM:33.........................................4-19
Table 4-34. Settings for Thermistor Polarity PRM:34..............................................4-20
Table 4-35. Settings for Position Mode PRM:36......................................................4-20
Table 4-36. Settings for Estop Action PRM:37........................................................4-21
Table 4-37. Settings for Current Offset Adjustment PRM:38, PRM:39...................4-21
Table 4-38. Settings for Registration Input PRM:40 ................................................4-21
Table 4-39. Settings for Encoder Scale Factor PRM:41...........................................4-22
Table 4-40. Settings for I/O Read Time Delay PRM:42...........................................4-22
Table 4-41. Settings for Trajectory Type PRM:43 ...................................................4-23
Table 4-42. Settings for Encoder Fault Enable PRM:44...........................................4-23
Table 4-43. Settings for Estop Polarity PRM:45 ......................................................4-23
Table 4-44. Settings for Send ACK after move completes PRM:46.........................4-24
Table 4-45. Settings for In Position Output Polarity PRM:47..................................4-24
Table 4-46. Settings for RMS Method PRM:52.......................................................4-24
Table 4-47. Settings for Limit Check PRM:60.........................................................4-25
Table 4-48. Settings for Limit Type PRM:61...........................................................4-25
Table 4-49. Settings for Home Direction PRM:62 ...................................................4-25
Table 4-50. Settings for Home Type PRM:63..........................................................4-26
Table 4-51. Settings for Home Velocity PRM:64.....................................................4-26
Table 4-52. Settings for Home Ending Offset PRM:65............................................4-26
Table 4-53. Settings for Home Marker Velocity PRM:66........................................4-27
Table 4-54. Settings for Negative Software Limit PRM:67......................................4-27
Table 4-55. Settings for Positive Software Limit PRM:68 .......................................4-27
Table 4-56. Settings for Deceleration Distance PRM:69..........................................4-28
Table 4-57. Settings for +/- Limit Reset Distance PRM:70......................................4-28
Table 4-58. Settings for Check Move Against Software Limits PRM:71.................4-28
Table 4-59. Settings for Marker Type PRM:72........................................................4-29
Table 4-60. Settings for Offset to Marker PRM:73 ..................................................4-29
Table 4-61. Settings for Program Execution PRM:74 ..............................................4-29
Table 4-62. Settings for Home Velocity Out PRM:75..............................................4-30
Table 4-63. Settings for Marker Polarity PRM:76....................................................4-30
Table 4-64. Settings for Output Disable PRM:77.....................................................4-30
Table 4-65. Settings for Baud Rate PRM:90 ............................................................4-31
Table 4-66. Settings for Service Request Character PRM:91...................................4-31
Table 4-67. Settings for Displayable Digits PRM:92 ...............................................4-31
Table 4-68. Settings for Unit Address PRM:94........................................................4-32
Table 4-69. Settings for Enable/Disable Daisy Chain PRM:95................................4-32
Table 4-70. Settings for Autorun Program PRM:96.................................................4-32
Table 4-71. Settings for Bootup Program Name PRM:97........................................4-33
Table 4-72. Settings for Amplifier Status on Power-Up PRM:98.............................4-33
Table 4-73. Settings for External Enable Polarity PRM:99......................................4-33
Table 4-74. Settings for Display Type PRM:100......................................................4-34
Table 4-75. Settings for General Fault Output PRM:101 .........................................4-34
Table 4-76. Settings for PRM:102............................................................................4-34
Table 4-77. Settings for Position Scale Factor PRM:200.........................................4-35
Table 4-78. Settings for Default Ramp Time PRM:201 ...........................................4-35
Table 4-79. Settings for Filter Cutoff PRM:202.......................................................4-35
Table 4-80. Settings for Autotune Distance PRM:204 .............................................4-36
Table 4-81. Settings for Autotune Velocity Loop Bandwidth PRM:205..................4-36
Table 4-82. Settings for Autotune Damping Factor PRM:206..................................4-37
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BA Intellidrive User’s Manual List of Tables
Version 1.4Aerotech, Inc.xv
Table 4-83. Settings for Start Frequency PRM:207.................................................. 4-37
Table 4-84. Settings for Autotune Sampling Time PRM:208................................... 4-37
Table 4-85. Settings for Clock/Direction Multiplier PRM:209................................ 4-38
Table 4-86. Settings for Acceleration....................................................................... 4-38
Table 7-1. BAI Board Jumper Selections................................................................. 7-1
Table 7-2. I/O Connector Pinouts (P1)..................................................................... 7-2
Table 7-3. Pinouts for the Encoder/Limits/Hall Effects Port (P3)............................ 7-7
Table 7-4. Electrical Specifications for BAI 10/20/30 ........................................... 7-13
Table 7-5. Electrical Specifications for BAI 50/75/100 ......................................... 7-14
Table 8-1. Amplifier Faults, Causes, and Solutions.................................................. 8-1
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List of Tables BA Intellidrive User’s Manual
xviAerotech, Inc.Version 1.4
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BA Intellidrive User’s Manual Regulatory Information
Version 1.4 Aerotech, Inc. xvii
DECLARATION OF CONFORMITY
Manufacturer’s Name and Address
Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2897
Declares that the product:
Product Name: BA Intellidrive/BA Sinedrive
Conforms to the following product specifications:
EMC: EN 55011: Class B Emissions
EN 50082-1: Immunity
EN61000-4-2
EN61000-4-3
EN61000-4-4
EN61000-4-11
EN50141
LVD: IEC 204-1
and complies with EMC directive 89/336/EEC.
Pittsburgh, PA David F. Kincel_________________________
October 8, 1998 Quality Assurance Manager
Robert Novotnak__________________________
Engineer Verifying Compliance
General notes concerning the test setup.
This product was tested at Compliance Labs, Middlefield, OH on October 8, 1998.
The brushless amplifier was tested with a brushless servo motor. To ensure that the
product passes the conducted emissions tests, a line filter and common mode choke must
be connected to the main inputs. The filter is a Schaffner FN 2070-10-06 and the common
mode choke is a Renco Electronics RL-1329-1200. Ferrite must be added to each line of
the main inputs but not earth ground. In order for the product to conform to the radiated
emission standards, the motor cable must be shielded and the shield must be tied to the
earth ground. Ferrite must also be added (in common mode) to the motor cable but not
around the shield. Finally, a metal 25-pin connector with a metal backshell must be used
when making a connection to the 25-pin receptacle on the amplifier. The shield of the
feedback cable must be tied to the metal backshell. Failure to follow the described
procedures may cause the amplifier/motor to exceed emission limits.
∇∇∇
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Regulatory Information BA Intellidrive User’s Manual
xviii Aerotech, Inc. Version 1.4
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BA Intellidrive User’s Manual Preface
Version 1.4 Aerotech, Inc. xix
PREFACE
This section gives you an overview of topics covered in each of the sections of this
manual as well as conventions used in this manual. This manual contains information on
the following topics:
CHAPTER 1: INTRODUCTION
This chapter contains an introduction to the hardware and software architecture of the
BA-Intellidrive.
CHAPTER 2: GETTING STARTED
Chapter 2 contains information about the components of the BAI, unpacking and
inspecting the equipment, and minimum hardware and software requirements for proper
operation. In addition, Chapter 2 walks the user through physically setting up the BAI,
connecting the signal cables, installing the software, and using the software
(COM_BAI.exe and MMI) for simple motion applications.
CHAPTER 3: COMMUNICATION AND COMMANDS
This chapter covers information regarding the communication modes, the COM_BAI
menu commands, and the programming commands.
CHAPTER 4: PARAMETERS
Chapter 4 describes the various parameters used on the BAI.
CHAPTER 5: REGISTERS
This chapter contains information about the registers on the BAI that allow the user to
read various operating parameters.
CHAPTER 6: MODE OF OPERATION
This chapter contains all information regarding the BAI’s modes of operation.
CHAPTER 7: TECHNICAL DETAILS
Contained in Chapter 7 is detailed technical information regarding the BA-Intellidrive.
CHAPTER 8: TROUBLESHOOTING
Chapter 8 provides a reference tool if problems with the BA-Intellidrive arise.
APPENDIX A: GLOSSARY OF TERMS
Appendix A contains a list of terminology and abbreviations used in this manual.
APPENDIX B: WARRANTY AND FIELD SERVICE
Appendix B contains the warranty and field service policy for Aerotech products.
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