Aerotech BA20 SERIES User Manual

BA-INTELLIDRIVEUSER’S MANUALP/N: EDU163 (V1.4)AEROTECH, Inc. • 101 Zeta Drive • Pittsburgh, PA. 15238-2897 • USAPhone (412) 963-7470 • Fax (412) 963-

List of Figures BA Intellidrive User’s Manualx Aerotech, Inc. Version 1.4Figure 2-34. Plot Showing Overall Effects When Kpos is High ...

Communication and Commands BA Intellidrive User’s Manual3-28 Aerotech, Inc. Version 1.4Figure 3-13. Parameters Affecting the Home Cycle3.5.14. Index

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-29EXAMPLE:IN 25000 F10000IN RG55 F RG453.5.15. IT CommandComman

Communication and Commands BA Intellidrive User’s Manual3-30 Aerotech, Inc. Version 1.43.5.18. Loop Start and Loop EndCommand SyntaxLE ;loop endLS ;

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-313.5.22. Position Mode – Absolute or IncrementalCommand Syntax

Communication and Commands BA Intellidrive User’s Manual3-32 Aerotech, Inc. Version 1.43.5.25. Register FunctionsThe BAI supports a number of regist

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-333.6. Teach ModeTeach mode allows the user to specify up to 10

Communication and Commands BA Intellidrive User’s Manual3-34 Aerotech, Inc. Version 1.43.6.1.1. +/- Increment/Decrement Current PositionHitting the

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-35Pressing enter will teach the BAI that position. The same pa

Communication and Commands BA Intellidrive User’s Manual3-36 Aerotech, Inc. Version 1.43.7. Sample ProgramsThe motion commands given above can be pl

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-37This program will move to one of eight positions based on the

BA Intellidrive User’s Manual List of FiguresVersion 1.4 Aerotech, Inc. xiFigure 7-18. BAI Amplifier Dimensions – 50/75/100...

Communication and Commands BA Intellidrive User’s Manual3-38 Aerotech, Inc. Version 1.4LB 10HO ;Go homeOT 000 ;Change all of the outputs to ;zeroLS

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-1CHAPTER 4: PARAMETERSIn This Section:• Introduction ...

Parameters BA Intellidrive User’s Manual4-2 Aerotech, Inc. Version 1.4Table 4-1. BAI Parameters (cont’d)Parameter Title PagePRM:24 Saved Position 4-16

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-3Table 4-1. BAI Parameters (cont’d)Parameter Title PageLimit ParametersPRM:72 Ma

Parameters BA Intellidrive User’s Manual4-4 Aerotech, Inc. Version 1.44.2. Servo Loop ParametersThe servo loop parameters dictate the performance of t

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-54.2.1. PRM:0 Proportional Velocity Gain KPThis parameter provides proportional

Parameters BA Intellidrive User’s Manual4-6 Aerotech, Inc. Version 1.44.2.4. PRM:3 Incremental Change for KPWhen changing KP from the menus, the user

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-74.2.6. PRM:5 Incremental Change for KPOSWhen changing KPOS from the menus, the

Parameters BA Intellidrive User’s Manual4-8 Aerotech, Inc. Version 1.44.2.8. PRM:7 Servo Peak Current LimitThis parameter controls the maximum allowa

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-94.2.10. PRM:9 Servo RMS Current TimeoutThis parameter determines how long the

List of Figures BA Intellidrive User’s Manualxii Aerotech, Inc. Version 1.4

Parameters BA Intellidrive User’s Manual4-10 Aerotech, Inc. Version 1.44.2.12. PRM:11 Integral ClampThis parameter clamps the maximum value of the in

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-114.2.14. PRM:13 Servo Update RateThis parameter determines the servo loop upda

Parameters BA Intellidrive User’s Manual4-12 Aerotech, Inc. Version 1.4Table 4-16. Values for Parameter PRM:14Encoder Resolution (After Quadrature)Mot

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-134.2.17. PRM:16 Hall Effects AvailableIf the motor has Hall effects available

Parameters BA Intellidrive User’s Manual4-14 Aerotech, Inc. Version 1.4Table 4-20. Settings for Initialization Current PRM:17PRM:17 SettingsDefault Va

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-15Requires a reset (CTRL-D) before taking effect.Table 4-23. Settings for Operat

Parameters BA Intellidrive User’s Manual4-16 Aerotech, Inc. Version 1.44.2.23. PRM:24 Saved PositionThis is the saved value of the last commanded pos

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-174.2.25. PRM:27 Phase OffsetThis parameter allows the user to shift the commut

Parameters BA Intellidrive User’s Manual4-18 Aerotech, Inc. Version 1.44.2.27. PRM:30 Default VelocityThis parameter specifies the default velocity w

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-194.2.29. PRM:32 In Position BitThis parameter, when set, will use output 3 (P1.

BA Intellidrive User’s Manual List of TablesVersion 1.4Aerotech, Inc.xiiiLIST OF TABLESTable 1-1. COM Port Pinouts...

Parameters BA Intellidrive User’s Manual4-20 Aerotech, Inc. Version 1.4thermistor resistance increases, (i.e., 10K ohms), the internal pull-up on the

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-214.2.33. PRM:37 Estop ActionThis parameter defines the action the BAI takes whe

Parameters BA Intellidrive User’s Manual4-22 Aerotech, Inc. Version 1.44.2.36. PRM:41 Encoder Scale FactorParameter PRM:41 can be used to change the p

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-234.2.38. PRM:43 Trajectory TypeThis parameter is used to select the type of tra

Parameters BA Intellidrive User’s Manual4-24 Aerotech, Inc. Version 1.44.2.41. PRM:46 Send ACK after move completesWhen set, the BAI will send a 0x6 t

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-254.3. Limit Parameters4.3.1. PRM:60 Limit CheckThis parameter determines wheth

Parameters BA Intellidrive User’s Manual4-26 Aerotech, Inc. Version 1.44.3.4. PRM:63 Home TypeThis parameter selects which switch to search for as th

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-274.3.7. PRM:66 Home Marker VelocityThis parameter selects the rate at which t

Parameters BA Intellidrive User’s Manual4-28 Aerotech, Inc. Version 1.44.3.10. PRM:69 Deceleration DistanceThis parameter defines the maximum distanc

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-294.3.13. PRM:72 Marker TypeThis parameter defines the marker type during a home

List of Tables BA Intellidrive User’s ManualxivAerotech, Inc.Version 1.4Table 4-32. Settings for In Position Bit PRM:32...

Parameters BA Intellidrive User’s Manual4-30 Aerotech, Inc. Version 1.44.3.16. PRM:75 Home Velocity OutDefines the velocity at which the motor leaves

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-314.4. Communications/Startup Parameters4.4.1. PRM:90 Baud RateThis parameter s

Parameters BA Intellidrive User’s Manual4-32 Aerotech, Inc. Version 1.44.4.4. PRM:94 Unit AddressThis parameter defines the address for the unit. Whe

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-334.4.7. PRM:97 Bootup Program NameIf autorun (PRM:96=1) is selected, the BAI w

Parameters BA Intellidrive User’s Manual4-34 Aerotech, Inc. Version 1.44.4.10. PRM:100 Display TypeThis parameter controls the format of the numbers w

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-354.5. Miscellaneous4.5.1. PRM:200 Position Scale FactorThis parameter allows t

Parameters BA Intellidrive User’s Manual4-36 Aerotech, Inc. Version 1.44.5.4. PRM:204 Autotune DistanceThis parameter specifies the distance the motor

BA Intellidrive User’s Manual ParametersVersion 1.4 Aerotech, Inc. 4-374.5.6. PRM:206 Autotune Damping FactorThis parameter sets the damping factor f

Parameters BA Intellidrive User’s Manual4-38 Aerotech, Inc. Version 1.44.5.9. PRM:209 Clock/Direction MultiplierThis parameter replaces PRM:19 and al

BA Intellidrive User’s Manual RegistersVersion 1.4 Aerotech, Inc. 5-1CHAPTER 5: REGISTERSIn This Section:• Introduction...

BA Intellidrive User’s Manual List of TablesVersion 1.4Aerotech, Inc.xvTable 4-83. Settings for Start Frequency PRM:207...

Registers BA Intellidrive User’s Manual5-2 Aerotech, Inc. Version 1.45.1.3. RG3 Position FeedbackThis register contains the position feedback in encod

BA Intellidrive User’s Manual RegistersVersion 1.4 Aerotech, Inc. 5-35.1.9. RG9 Velocity CommandThis register contains the velocity command from the t

Registers BA Intellidrive User’s Manual5-4 Aerotech, Inc. Version 1.4

BA Intellidrive User’s Manual Mode of OperationVersion 1.4 Aerotech, Inc. 6-1CHAPTER 6: MODE OF OPERATIONIn This Section:• Introduction...

Modes of Operation BA Intellidrive User’s Manual6-2 Aerotech, Inc. Version 1.4Figure 6-1. Trapezoidal Motion ProfileFigure 6-2. Sinusoidal Motion Prof

BA Intellidrive User’s Manual Mode of OperationVersion 1.4 Aerotech, Inc. 6-3If a move is programmed where the ramp distance (the distance the motor w

Modes of Operation BA Intellidrive User’s Manual6-4 Aerotech, Inc. Version 1.4

BA Intellidrive User’s Manual Technical DetailsVersion 1.4 Aerotech, Inc. 7-1CHAPTER 7: TECHNICAL DETAILSIn This Section:• Introduction...

Technical Details BA Intellidrive User’s Manual7-2 Aerotech, Inc. Version 1.4Figure 7-1. BAI Jumper Locations7.3. The I/O PortThe I/O port is a 25-

BA Intellidrive User’s Manual Technical DetailsVersion 1.4 Aerotech, Inc. 7-37.3.1. Restore/Reset SignalThis signal can be used to restore the par

List of Tables BA Intellidrive User’s ManualxviAerotech, Inc.Version 1.4

Technical Details BA Intellidrive User’s Manual7-4 Aerotech, Inc. Version 1.47.3.4. Thermistor Input SignalA thermistor can be connected to the BAI

BA Intellidrive User’s Manual Technical DetailsVersion 1.4 Aerotech, Inc. 7-5Figure 7-4. Electrical Characteristics of Opto-Isolated InputAll digit

Technical Details BA Intellidrive User’s Manual7-6 Aerotech, Inc. Version 1.4Figure 7-5. Electrical Characteristics of Opto-Isolated OutputAll digit

BA Intellidrive User’s Manual Technical DetailsVersion 1.4 Aerotech, Inc. 7-77.4. Encoder/Limits/Hall Effects Port P3The 25-pin “D” style connector

Technical Details BA Intellidrive User’s Manual7-8 Aerotech, Inc. Version 1.47.4.1. Encoder InterfaceThe encoder interface requires square wave sign

BA Intellidrive User’s Manual Technical DetailsVersion 1.4 Aerotech, Inc. 7-9The home limit acts as a reference point so that motion may always beg

Technical Details BA Intellidrive User’s Manual7-10 Aerotech, Inc. Version 1.4Figure 7-9. Hall Effect Motor PhasingFigure 7-10. Motor Rotation (From

BA Intellidrive User’s Manual Technical DetailsVersion 1.4 Aerotech, Inc. 7-111. Connect the ends of three resistors to motor terminals A, B, C. R

Technical Details BA Intellidrive User’s Manual7-12 Aerotech, Inc. Version 1.4Figure 7-11. Motor Phase Voltage Observation SchemeFigure 7-12. Encode

BA Intellidrive User’s Manual Technical DetailsVersion 1.4 Aerotech, Inc. 7-137.5. Servo Amplifier SpecificationsThe electrical and controller spec

BA Intellidrive User’s Manual Regulatory InformationVersion 1.4 Aerotech, Inc. xviiDECLARATION OF CONFORMITYManufacturer’s Name and AddressAerotech, I

Technical Details BA Intellidrive User’s Manual7-14 Aerotech, Inc. Version 1.4Table 7-5. Electrical Specifications for BAI 50/75/100Model Units BAI5

BA Intellidrive User’s Manual Technical DetailsVersion 1.4 Aerotech, Inc. 7-157.6. AC Input and Motor WiringTo reduce electrical noise in the BAI S

Technical Details BA Intellidrive User’s Manual7-16 Aerotech, Inc. Version 1.4Figure 7-13. Wiring to Minimize EMI and Capacitive CouplingFigure 7-14

BA Intellidrive User’s Manual Technical DetailsVersion 1.4 Aerotech, Inc. 7-177.6.2. Minimizing 50/60 HZ Line InterferenceOperating the BAI series

Technical Details BA Intellidrive User’s Manual7-18 Aerotech, Inc. Version 1.4Second, another problem that potentially exists with off line connecti

BA Intellidrive User’s Manual Technical DetailsVersion 1.4 Aerotech, Inc. 7-197.7. BAI Amplifier DimensionsThe outline dimensions for the BAI ampli

Technical Details BA Intellidrive User’s Manual7-20 Aerotech, Inc. Version 1.4Figure 7-18. BAI Amplifier Dimensions – 50/75/100R2.3 [.09]168.1 [6.62

BA Intellidrive User’s Manual Technical DetailsVersion 1.4 Aerotech, Inc. 7-217.7.1. Mounting Procedures for the BAI 10/20/30/50To ensure proper he

Technical Details BA Intellidrive User’s Manual7-22 Aerotech, Inc. Version 1.4Figure 7-20. BAI Top View (Preferred Mounting – 10/20/30/50)It is advi

BA Intellidrive User’s Manual Technical DetailsVersion 1.4 Aerotech, Inc. 7-23Figure 7-21. Preferred Mounting of BAI Amplifiers (10/20/30/50)7.7.2.

Regulatory Information BA Intellidrive User’s Manualxviii Aerotech, Inc. Version 1.4

Technical Details BA Intellidrive User’s Manual7-24 Aerotech, Inc. Version 1.4Figure 7-22.Preferred Mounting (75/100) BAI75 BAI100Metal Panel(

BA Intellidrive User’s Manual Technical DetailsVersion 1.4 Aerotech, Inc. 7-25Figure 7-23. BAI Side View (75/100)Figure 7-24. BAI Top View (75/

Technical Details BA Intellidrive User’s Manual7-26 Aerotech, Inc. Version 1.4

BA Intellidrive User’s Manual TroubleshootingVersion 1.4 Aerotech, Inc. 8-1CHAPTER 8: TROUBLESHOOTINGIn This Section:• Amplifier Related Problems .

Troubleshooting BA Intellidrive User’s Manual8-2 Aerotech, Inc. Version 1.4Table 8-1. Amplifier Faults, Causes, and Solutions (Continued)Symptom Possi

BA Intellidrive User’s Manual Appendix AVersion 1.4 Aerotech, Inc. A-1APPENDIX A: GLOSSARY OF TERMSIn This Section:• Terms Used In This Manual• Defin

Appendix ABA Intellidrive User’s ManualA-2 Aerotech, Inc. Version 1.4constant velocity motion - Constant velocity motion refers to the controller’s ab

BA Intellidrive User’s Manual Appendix AVersion 1.4 Aerotech, Inc. A-3home cycle - The home cycle is series of motions that are used to move the spec

Appendix ABA Intellidrive User’s ManualA-4 Aerotech, Inc. Version 1.4position error - Position error is the difference between the commanded position

BA Intellidrive User’s Manual Appendix AVersion 1.4 Aerotech, Inc. A-5velocity profiled motion - Velocity profiled motion is a move of a programmed d

BA Intellidrive User’s Manual PrefaceVersion 1.4 Aerotech, Inc. xixPREFACEThis section gives you an overview of topics covered in each of the sections

Appendix ABA Intellidrive User’s ManualA-6 Aerotech, Inc. Version 1.4

Warranty and Field Service BA Intellidrive User’s ManualVersion 1.4 Aerotech, Inc.B-1APPENDIX B: WARRANTY AND FIELD SERVICEIn This Section:• Laser Pro

BA Intellidrive User’s Manual Warranty and Field ServiceB-2 Aerotech, Inc. Version 1.4After Aerotech’s examination, the buyer shall be notified of the

BA Intellidrive User’s Manual IndexVersion 1.4 Aerotech, Inc. iAABMotion abort, 3-14Abort, 3-9Abort motion, 3-10Absolute, 3-31Amplifier faults, 8-1Amp

IndexBA Intellidrive User’s Manualii Aerotech, Inc. Version 1.4Enabling RS232, 3-2Encoder Interface, 7-8Encoder marker signal, 7-9Encoder port, 1-15,

BA Intellidrive User’s Manual IndexVersion 1.4 Aerotech, Inc. iiiLLabels, 3-29LBLabel, 3-29LELoop end, 3-30Learn current position, 3-34LED indicator,

IndexBA Intellidrive User’s Manualiv Aerotech, Inc. Version 1.4Autotune Velocity Loop Bandwidth, 4-36206Autotune Damping Factor, 4-37207Start Frequenc

BA Intellidrive User’s Manual IndexVersion 1.4 Aerotech, Inc. vSave teach program, 3-35Saved Position, 4-16Send motion, 3-16Serial Poll, 3-18Service R

IndexBA Intellidrive User’s Manualvi Aerotech, Inc. Version 1.4

READER’S COMMENTSBA-Intellidrive User’s ManualP/N EDU163, February, 2001Please answer the questions below and add any suggestions for improving this d

If you should have any questions about the BA-Intellidrive or comments regarding the documentation, please refer toAerotech online at:http://www.aerot

Preface BA Intellidrive User’s Manualxx Aerotech, Inc. Version 1.4INDEXThe index contains a page number reference of topics discussed in this manual.

BA Intellidrive User’s Manual IntroductionVersion 1.4 Aerotech, Inc. 1-1CHAPTER 1: INTRODUCTIONIn This Section:• Product Overview...

Introduction BA Intellidrive User’s Manual1-2 Aerotech, Inc. Version 1.41.2. IndexerThe BAI can act as a single-axis indexer. This means that it is ca

BA Intellidrive User’s Manual IntroductionVersion 1.4 Aerotech, Inc. 1-3Figure 1-3. Illustration of Local and Remote ModeRS232RS232HandTerminalorDOS e

Introduction BA Intellidrive User’s Manual1-4 Aerotech, Inc. Version 1.41.2.1. Teach ModeTeach mode allows the user to teach the BAI up to 100 positio

BA Intellidrive User’s Manual IntroductionVersion 1.4 Aerotech, Inc. 1-5Figure 1-5. Teach Mode (using BAI MMI)Figure 1-6. Teach Mode (using a Hand Hel

Introduction BA Intellidrive User’s Manual1-6 Aerotech, Inc. Version 1.41.2.2. Clock and DirectionThe BAI can also operate in clock and direction mode

BA Intellidrive User’s Manual IntroductionVersion 1.4 Aerotech, Inc. 1-71.4. Hardware Overview and FunctionThe BA-Intellidrive consists of two power c

Introduction BA Intellidrive User’s Manual1-8 Aerotech, Inc. Version 1.41.4.1. Motor and AC Power Connections1.4.1.1. BAI 10/20/30AC power is applied

BA Intellidrive User’s Manual IntroductionVersion 1.4 Aerotech, Inc. 1-91.4.1.2. BAI 50/75/100AC power is applied to the BAI through the terminal stri

BA Intellidrive User’s Manual Table of ContentsVersion 1.4 Aerotech, Inc. iiiTABLE OF CONTENTSCHAPTER 1: INTRODUCTION...

Introduction BA Intellidrive User’s Manual1-10 Aerotech, Inc. Version 1.41.4.2. Fusing and Inrush Limiting1.4.2.1. BAI 10/20/30The BAI 10/20/30 do not

BA Intellidrive User’s Manual IntroductionVersion 1.4 Aerotech, Inc. 1-111.4.2.2. BAI 50/75/100The BAI 50/75/100 contain inrush limiting internally.

Introduction BA Intellidrive User’s Manual1-12 Aerotech, Inc. Version 1.41.4.3. 20 - 80 Volt Option – BAI 10/20/30If a BAI 10/20/30 - 80 amplifier was

BA Intellidrive User’s Manual IntroductionVersion 1.4 Aerotech, Inc. 1-131.4.4. COM PortThe BAI is a Data Terminal Equipment (DTE) device. Consequentl

Introduction BA Intellidrive User’s Manual1-14 Aerotech, Inc. Version 1.4Figure 1-15. RS232 Daisy Chain1.4.6. LED Status IndicatorsThe BAI contains tw

BA Intellidrive User’s Manual IntroductionVersion 1.4 Aerotech, Inc. 1-15Table 1-2. I/O Connector Pinouts (P1)Pin Function Pin Function1 Shield 13 Out

Introduction BA Intellidrive User’s Manual1-16 Aerotech, Inc. Version 1.4Table 1-3. Pinouts for the Encoder/Limits/Hall Effects Port (P3)Pin Function

BA Intellidrive User’s Manual IntroductionVersion 1.4 Aerotech, Inc. 1-171.5. Safety Procedures and WarningsThe following statements apply wherever th

Introduction BA Intellidrive User’s Manual1-18 Aerotech, Inc. Version 1.4

BA Intellidrive User’s Manual Getting StartedVersion 1.4 Aerotech, Inc. 2-1CHAPTER 2: GETTING STARTEDIn This Section:• Introduction ...

Table of Contents BA Intellidrive User’s Manualiv Aerotech, Inc. Version 1.43.3.1. C-Change Parameter...

Getting Started BA Intellidrive User’s Manual2-2 Aerotech, Inc. Version 1.42.2. Unpacking the BA-IntellidriveBefore unpacking any components, visually

BA Intellidrive User’s Manual Getting StartedVersion 1.4 Aerotech, Inc. 2-32.4. Inspection of the BAIAll products undergo a total quality inspection

Getting Started BA Intellidrive User’s Manual2-4 Aerotech, Inc. Version 1.42.5.1. BAI Cable ConnectionsCommands can be sent to the BAI with one of two

BA Intellidrive User’s Manual Getting StartedVersion 1.4 Aerotech, Inc. 2-52.5.3. Standard Installation of the SoftwareTo install the software, the

Getting Started BA Intellidrive User’s Manual2-6 Aerotech, Inc. Version 1.4These programs can also run in a DOS shell under Windows 95/98/NT. Again, i

BA Intellidrive User’s Manual Getting StartedVersion 1.4 Aerotech, Inc. 2-710. To establish some type of motion with the system, type F4 - JOG (or

Getting Started BA Intellidrive User’s Manual2-8 Aerotech, Inc. Version 1.43. Exit the MS-DOS Editor program and restart the COM_BAI.exe.4. Then typ

BA Intellidrive User’s Manual Getting StartedVersion 1.4 Aerotech, Inc. 2-9Figure 2-11. File Upload Screen7. Type in TEST1.BAI and hit return or &l

Getting Started BA Intellidrive User’s Manual2-10 Aerotech, Inc. Version 1.4Figure 2-13. Auto Run/Block Run Option Screen21. Select 1 to perform an a

BA Intellidrive User’s Manual Getting StartedVersion 1.4 Aerotech, Inc. 2-112.5.3.2. BAI Windows Software InterfaceIncluded in the standard software

BA Intellidrive User’s Manual Table of ContentsVersion 1.4 Aerotech, Inc. v3.5.14. Index Command...

Getting Started BA Intellidrive User’s Manual2-12 Aerotech, Inc. Version 1.4Figure 2-16. Programs WindowEditing Parameters on the BAI is as easy as th

BA Intellidrive User’s Manual Getting StartedVersion 1.4 Aerotech, Inc. 2-132.5.3.3. BAI MMI Windows Software InstallationTo install the BAI MMI sof

Getting Started BA Intellidrive User’s Manual2-14 Aerotech, Inc. Version 1.42. To write a program using the MMI, select File and Programs… from the p

BA Intellidrive User’s Manual Getting StartedVersion 1.4 Aerotech, Inc. 2-155. Select (or highlight) the file just created from the PC directory, t

Getting Started BA Intellidrive User’s Manual2-16 Aerotech, Inc. Version 1.4Figure 2-22. Display Code (Main Screen)The previous two buttons that were

BA Intellidrive User’s Manual Getting StartedVersion 1.4 Aerotech, Inc. 2-172.6. Parameters Screen - BAI MMIThe Parameters screen contains four tabs

Getting Started BA Intellidrive User’s Manual2-18 Aerotech, Inc. Version 1.4Figure 2-24. Motor Profiles Selection (Parameter Screen)From the File pull

BA Intellidrive User’s Manual Getting StartedVersion 1.4 Aerotech, Inc. 2-192.7. Axis Scope Tuning WindowThe Axis Scope window is a tool that aids t

Getting Started BA Intellidrive User’s Manual2-20 Aerotech, Inc. Version 1.4The Axis Scope toolbars that are enabled and disabled with the Tools menu

BA Intellidrive User’s Manual Getting StartedVersion 1.4 Aerotech, Inc. 2-21Figure 2-27. Cursors Toolbar (Axis Scope Screen)2.7.1. Tuning Procedure

Table of Contents BA Intellidrive User’s Manualvi Aerotech, Inc. Version 1.44.2.23. PRM:24 Saved Position ...

Getting Started BA Intellidrive User’s Manual2-22 Aerotech, Inc. Version 1.4Figure 2-28. Flowchart of Overall Tuning ProcessTurn off Position Error &a

BA Intellidrive User’s Manual Getting StartedVersion 1.4 Aerotech, Inc. 2-23The following is a step-by-step procedure for tuning motors without tach

Getting Started BA Intellidrive User’s Manual2-24 Aerotech, Inc. Version 1.4When the “Single” button is pressed, the motor will first move as specifie

BA Intellidrive User’s Manual Getting StartedVersion 1.4 Aerotech, Inc. 2-25Figure 2-30. Unacceptable Velocity ErrorFigure 2-31. Acceptable Velocity

Getting Started BA Intellidrive User’s Manual2-26 Aerotech, Inc. Version 1.4The user can stop adjusting “Kp” and start adjusting “Ki”.Use a starting v

BA Intellidrive User’s Manual Getting StartedVersion 1.4 Aerotech, Inc. 2-27The user can stop adjusting “Ki” and start adjusting “Kpos.”6. Adjust th

Getting Started BA Intellidrive User’s Manual2-28 Aerotech, Inc. Version 1.4Figure 2-34. Plot Showing Overall Effects When Kpos is High7. Turn the Pos

BA Intellidrive User’s Manual Getting StartedVersion 1.4 Aerotech, Inc. 2-292.8. AutotuningAutotuning is a procedure that automatically identifies m

Getting Started BA Intellidrive User’s Manual2-30 Aerotech, Inc. Version 1.4The other text boxes on the Auto Tune panel, bandwidth (BW) and damping, a

BA Intellidrive User’s Manual Getting StartedVersion 1.4 Aerotech, Inc. 2-31Figure 2-37 shows an autotune plot where there are too many steps. The p

BA Intellidrive User’s Manual Table of ContentsVersion 1.4 Aerotech, Inc. vii4.4.10. PRM:100 Display Type...

Getting Started BA Intellidrive User’s Manual2-32 Aerotech, Inc. Version 1.4Figure 2-38. Autotune Plot Showing Proper Calibration

BA Intellidrive User’s Manual Getting StartedVersion 1.4 Aerotech, Inc. 2-332.9. Tuning TipsShown in Figure 2-39 is a tuning plot of an AC brushless

Getting Started BA Intellidrive User’s Manual2-34 Aerotech, Inc. Version 1.4

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-1CHAPTER 3: COMMUNICATION AND COMMANDSIn This Section:• Intr

Communication and Commands BA Intellidrive User’s Manual3-2 Aerotech, Inc. Version 1.43.2.2. Remote ModeThe BAI can be completely controlled remotel

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-33.2.2.2. Daisy ChainDaisy chain operation is similar to single

Communication and Commands BA Intellidrive User’s Manual3-4 Aerotech, Inc. Version 1.43.3. Menu CommandsThe BAI uses certain menu commands that allo

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-5Figure 3-2. The Change Parameter ScreenThe servo loop gains (i

Communication and Commands BA Intellidrive User’s Manual3-6 Aerotech, Inc. Version 1.43.3.2. D-Display Tracking InformationAfter pressing the D key,

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-73.3.3. O-Other MenusThese other available options are used to

Table of Contents BA Intellidrive User’s Manualviii Aerotech, Inc. Version 1.47.6. AC Input and Motor Wiring ...

Communication and Commands BA Intellidrive User’s Manual3-8 Aerotech, Inc. Version 1.43.3.3.2. Read RegisterThe read register selection can be used

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-93.3.4. F-File OperationsThis screen allows the user to upload/

Communication and Commands BA Intellidrive User’s Manual3-10 Aerotech, Inc. Version 1.43.3.7. F5 – Aborts Motion and ProgramsPressing F5 while motio

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-113.3.10. T-Teach ModeTeach mode allows the user to teach the B

Communication and Commands BA Intellidrive User’s Manual3-12 Aerotech, Inc. Version 1.4Figure 3-11. Teach Mode (using BAI MMI)Teach mode is discusse

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-133.4. BAI System CommandsThis section covers the system comman

Communication and Commands BA Intellidrive User’s Manual3-14 Aerotech, Inc. Version 1.43.4.1. Program/Motion AbortCommand Syntax: AB <LF>0x15

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-15character. If the file does not exist, the BAI returns a file

Communication and Commands BA Intellidrive User’s Manual3-16 Aerotech, Inc. Version 1.43.4.8. Execute Immediate CommandCommand Syntax: Icmdstring &

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-173.4.11. Print Program “file” to PortCommand Syntax: PP filena

BA Intellidrive User’s Manual List of FiguresVersion 1.4 Aerotech, Inc. ixLIST OF FIGURESFigure 1-1. BA-Intellidrive Amplifiers ...

Communication and Commands BA Intellidrive User’s Manual3-18 Aerotech, Inc. Version 1.43.4.13. Return Axis PositionCommand Syntax: PXn < LF>Al

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-19This bit is cleared when a new program is loaded or a new imm

Communication and Commands BA Intellidrive User’s Manual3-20 Aerotech, Inc. Version 1.4Example:To BAI WP5 1000<LF> (write 1000 to parameter 5)

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-21• An axis error such as a limit or position error occurs• A

Communication and Commands BA Intellidrive User’s Manual3-22 Aerotech, Inc. Version 1.43.4.21. ; CommentComments can be added to the program with th

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-233.5. BAI Motion and Program CommandsThis section covers the p

Communication and Commands BA Intellidrive User’s Manual3-24 Aerotech, Inc. Version 1.43.5.1. Acceleration CommandCommand Syntax: AC accelerationThi

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-25Example:CT 30 101:LB 30 ;CT 30 branches to LB 30 line and ;co

Communication and Commands BA Intellidrive User’s Manual3-26 Aerotech, Inc. Version 1.43.5.9. FreerunCommand Syntax: FR ARG 1FR 0The freerun command

BA Intellidrive User’s Manual Communication and CommandsVersion 1.4 Aerotech, Inc. 3-273.5.11. Gosub CommandCommand Syntax: GS labelThis command cal