Aerotech UNIDEX 511 - Page 6

U511 User’s Manual Table of Contents
Version 1.1 Aerotech, Inc. v
4.5.11. “Joystick low speed” (machine steps/sec) .......................... 4-27
4.5.12. “Joystick absolute scale” (machine steps).......................... 4-28
4.5.13. “Enable orthogonality table” (y/n) ..................................... 4-29
4.5.14. “Enable 2-D error mapping” (y/n)...................................... 4-29
4.5.15. “Modulo rollover” (machine steps) for axes 1-4................ 4-29
4.5.16. “Filter time constant” (ms) ................................................. 4-31
4.5.17. “AUX output active high” (y/n) ......................................... 4-31
4.5.18. Reverse Joystick Direction................................................. 4-31
4.5.19. “Jog low speed” ( machine steps / ms ).............................. 4-31
4.5.20. “Jog high speed” ( machine steps / ms )............................. 4-31
4.5.21. “Jog distance” ( machine steps )......................................... 4-31
4.6. Page 6: Servo Loop .......................................................................... 4-32
4.6.1. “Kpos” (position loop gain, 0-8,388,607).......................... 4-32
4.6.2. “Ki” (velocity loop integrator, 0-8,388,607)...................... 4-32
4.6.3. “Kp” (velocity loop proportional gain, 0-8,388,607)......... 4-32
4.6.4. “Vff” (velocity feed forward, 0-8,388,607)........................ 4-33
4.6.5. “Aff” (acceleration feed forward, 0-8,388,607) ................. 4-33
4.6.6. “Loop update rate (* 0.25 ms)”.......................................... 4-34
4.6.7. “Enable Notch Filter?” (y/n) .............................................. 4-34
4.6.8. “Notch filter N0, N1, N2, D1, and D2”.............................. 4-35
4.6.8.1. The Notch Filter............................................ 4-35
4.6.8.2. Notch Filter Example.................................... 4-36
4.6.8.3. The Second Order, Low Pass Filter .............. 4-38
4.6.9. “Servo loop type”............................................................... 4-39
4.7. Page 7: Homing and Limits.............................................................. 4-41
4.7.1. The Home Cycle................................................................. 4-41
4.7.2. “Home direction CCW” (y/n)............................................. 4-42
4.7.3. “Home switch normally open” (y/n)................................... 4-43
4.7.4. “Home feedrate” (machine steps/ms) ................................. 4-44
4.7.5. “Home offset” (machine steps)........................................... 4-44
4.7.6. “Limit switch normally open” (y/n).................................... 4-45
4.7.7. “Limit to mechanical stop” (machine steps)....................... 4-45
4.7.8. “CCW software limit” (machine steps) .............................. 4-46
4.7.9. “CW software limit” (machine steps)................................. 4-46
4.7.10. “Use home limit during home” (y/n).................................. 4-47
4.7.11. “Safe zone limits” (machine steps)..................................... 4-47
4.7.12. “Limit debounce distance” (machine steps) ....................... 4-48
4.8. Page 8: Motors and Feedback........................................................... 4-49
4.8.1. Introduction to Motor and Feedback Configurations ......... 4-50
4.8.2. “Position channel”.............................................................. 4-56
4.8.3. “Velocity channel”............................................................. 4-57
4.8.4. “Position setup code”......................................................... 4-58
4.8.5. “Velocity setup code”......................................................... 4-59
4.8.6. “Amplifier type” (0-DC Brush, 1-AC Brushless, 2-Step, 3-
Recirc)................................................................................ 4-60
4.8.7. “Commutation cycles/rev” (AC brushless motors only)..... 4-61
4.8.8. “Feedback steps/rev” (AC brushless motors only)............. 4-62
4.8.9. “Commutation phase offset” (0-359 degrees) .................... 4-62
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