Galil DMC-13X8 manuals

210 pages863.17 Kb

DMC-13X8
- 2Using This Manual
- 3Contents
- 9Chapter 1 Overview
  - Introduction
  - Overview of Motor Types
    - Standard Servo Motor with +/- 10 Volt Command Signal
    - Brushless Servo Motor with Sinusoidal Commutation
    - Stepper Motor with Step and Direction Signals
  - 10DMC-13X8 Functional Elements
    - 11Microcomputer Section
    - Motor Interface
    - Communication
    - General I/O
    - 12System Elements
    - Motor
    - Amplifier (Driver)
    - 13Encoder
    - Watch Dog Timer
- 15Chapter 2 Getting Started
  - The DMC-13X8 Motion Controller
  - 16Elements You Need
  - 17Installing the DMC-13X8
    - Step 1. Determine Overall Motor Configuration
      - Standard Servo Motor Operation:
      - Sinusoidal Commutation:
      - Stepper Motor Operation:
    - 18Step 2. Install Jumpers on the DMC-13X8
      - Address Jumpers
      - Master Reset and Upgrade Jumpers
      - Opto Isolation Jumpers
      - Hardware IRQ (Interrupt) Jumpers
      - (Optional) Motor Off Jumpers
    - 19Step 3. Install the DMC-13X8 in the VME Host
    - Step 4. Establish Communication with the Galil controller
    - Step 5. Determine the Axes to be Used for Sinusoidal Commutation
      - Notes on Configuring Sinusoidal Commutation:
      - Example: Sinusoidal Commutation Configuration using a DMC-1348
    - 20Step 6. Make Connections to Amplifier and Encoder.
    - 22Step 7a. Connect Standard Servo Motors
      - Check the Polarity of the Feedback Loop
      - 23Inverting the Loop Polarity
        Chapter 2 Getting Started 24 USER MANUAL
        J7 J6 J51
        DC Servo Motor
      - + -
        DC Power Supply
    - 24Y
    - W
    - Z
      - USER MANUAL Chapter 2 Getting Started 25
        J7 J6
      - 25-
        J51
        DC Power Supply
      - +
      - + -
        DC Brush Servo Motor
      - 26Step 7b. Connect Sinusoidal Commutation Motors
        Example: Sinusoidal Commutation Configuration using a DMC-1348
        27 If Hall Sensors are Available:
        If Hall Sensors are Not Available:
        28 If Hall Sensors are Available:
      - 29Step 8. Tune the Servo System
  - 30Design Examples
    - Example 1 - System Set-up
    - 31Example 2 - Profiled Move
    - Example 3 - Multiple Axes
      - Objective: Move the four axes independently.
    - Example 4 - Independent Moves
      - The motion parameters may be specified independently as illustrated below.
    - Example 5 - Position Interrogation
      - The position of the four axes may be interrogated with the instruction, TP.
    - 32Example 6 - Absolute Position
    - Example 7 - Velocity Control
    - 33Example 8 - Operation Under Torque Limit
    - Example 9 - Interrogation
    - Example 10 - Operation in the Buffer Mode
    - Example 11 - Using the On-Board Editor
      - To exit the editor mode, input <cntrl>Q. The program may be executed with the command.
    - 34Example 12 - Motion Programs with Loops
      - Motion programs may include conditional jumps as shown below.
      - After the above program is entered, quit the Editor Mode, <cntrl>Q. To start the motion, command:
    - Example 13 - Motion Programs with Trippoints
      - The motion programs may include trippoints as shown below.
      - To start the program, command:
    - 35Example 14 - Control Variables
    - Example 15 - Linear Interpolation
    - Example 16 - Circular Interpolation
- 37Chapter 3 Connecting Hardware
  - Overview
  - Using Optoisolated Inputs
    - Limit Switch Input
    - 38Home Switch Input
    - Abort Input
    - Uncommitted Digital Inputs
  - 39Wiring the Optoisolated Inputs
    - 40Using an Isolated Power Supply
    - Bypassing the Opto-Isolation:
  - 41Analog Inputs
  - Amplifier Interface
  - 42TTL Inputs
  - 43TTL Outputs
- 45Chapter 4 Communication
  - Introduction
  - Communication with Controller
    - Communication Registers
    - 46Simplified Communication Procedure
      - Read Procedure
      - Write Procedure
    - Advanced Communication Techniques
      - Changing Almost Full Flags
      - Clearing FIFO Buffer
  - 47Communication with Controller - Secondary FIFO channel
    - Polling FIFO
      - Polling Mode Read Procedure
      - Overview of Secondary FIFO Procedure:
    - 48DMA / Secondary FIFO Memory Map
    - 50Explanation of Status Information and Axis Switch Information
      - General Status Information (1 Byte)
      - Axis Switch Information (1 Byte)
      - Axis Status Information (2 Byte)
      - Coordinated Motion Status Information for S or T plane (2 Byte)
    - Notes Regarding Velocity and Torque Information
  - 51Interrupts
    - Setting up Interrupts
    - Configuring Interrupts
    - 53Servicing Interrupts
    - Example - Interrupts
  - 54Controller Response to DATA
- 55Chapter 5 Command Basics
  - Introduction
  - Command Syntax - ASCII
    - 56Coordinated Motion with more than 1 axis
  - 57Command Syntax Binary
    - Binary Command Format
      - Header Format:
      - Datafields Format
      - Example
    - 58Binary command table
  - 59Controller Response to DATA
  - Interrogating the Controller
    - Interrogation Commands
    - 60Summary of Interrogation Commands
    - Interrogating Current Commanded Values.
    - Operands
- 63Chapter 6 Programming Motion
  - 64Independent Axis Positioning
    - 65Command Summary - Independent Axis
    - Operand Summary - Independent Axis
      - Example - Absolute Position Movement
      - Example - Multiple Move Sequence
  - 67Independent Jogging
    - Command Summary - Jogging
    - Operand Summary - Independent Axis
      - Example - Jog in X only
      - Example - Joystick Jogging
  - 68Linear Interpolation Mode
    - Specifying Linear Segments
      - 69Additional Commands
      - An Example of Linear Interpolation Motion:
      - Specifying Vector Speed for Each Segment
      - Changing Feedrate:
    - 70Command Summary - Linear Interpolation
    - 71Operand Summary - Linear Interpolation
    - Example - Linear Move
      - V
      - S
      - VZ VW=+
    - 72Example - Multiple Moves
  - 73Vector Mode: Linear and Circular Interpolation Motion
    - Specifying the Coordinate Plane
    - Specifying Vector Segments
    - 74Additional commands
      - Specifying Vector Speed for Each Segment:
      - 75Changing Feedrate:
      - Compensating for Differences in Encoder Resolution:
      - Trippoints:
      - Tangent Motion:
      - Example:
    - 76Command Summary - Coordinated Motion Sequence
    - Operand Summary - Coordinated Motion Sequence
  - 77Electronic Gearing
    - 78Command Summary - Electronic Gearing
      - Example - Simple Master Slave
      - Example - Electronic Gearing
      - Example - Gantry Mode
      - Example - Synchronize two conveyor belts with trapezoidal velocity correction.
  - 79Electronic Cam
    - 83Command Summary - Electronic CAM
    - 84Operand Summary - Electronic CAM
    - Example - Electronic CAM
      - The following example illustrates a cam program with a master axis, Z, and two slaves, X and Y.
  - 85Contour Mode
    - Specifying Contour Segments
    - Additional Commands
    - 87()
      - Command Summary - Contour Mode
        =
      - Operand Summary - Contour Mode
        General Velocity Profiles
        Generating an Array - An Example
        sin( )
        88Contour Mode Example
        89Teach (Record and Play-Back)
        
        Record and Playback Example:
        90Virtual Axis
  - 91Stepper Motor Operation
    - Specifying Stepper Motor Operation
      - Stepper Motor Smoothing
      - Monitoring Generated Pulses vs Commanded Pulses
      - Motion Complete Trippoint
    - 92Using an Encoder with Stepper Motors
    - Command Summary - Stepper Motor Operation
    - Operand Summary - Stepper Motor Operation
  - 93Stepper Position Maintenance Mode (SPM)
    - YC
    - YBYATP TDQS
    - =
    - 94Error Limit
    - Correction
      - Example: SPM Mode Setup
      - 95
      - Example: Error Correction
      - 97 Example: Friction Correction
  - 98Dual Loop (Auxiliary Encoder)
    - Using the CE Command
    - Additional Commands for the Auxiliary Encoder
    - 99Backlash Compensation
      - Continuous Dual Loop - Example
      - Sampled Dual Loop - Example
  - 100Motion Smoothing
    - Using the IT and VT Commands:
      - Example - Smoothing
    - 101Using the KS Command (Step Motor Smoothing):
  - 102Homing
    - 103USER MANUAL Chapter 6 Programming Motion 103
    - EN End
    - Figure 6.8 - Motion intervals in the Home sequence
    - Command Summary - Homing Operation
    - Operand Summary - Homing Operation
  - 104High Speed Position Capture (The Latch Function)
  - 105Fast Update Rate Mode
- 107Chapter 7 Application Programming
  - Overview
  - Using the DMC-13X8 Editor to Enter Programs
    - Edit Mode Commands
  - 108Program Format
    - 109Using Labels in Programs
    - Special Labels
    - Commenting Programs
      - Using the command, NO
  - 110Executing Programs - Multitasking
  - 111Debugging Programs
    - Trace Commands
    - 112Error Code Command
    - Stop Code Command
    - RAM Memory Interrogation Commands
    - Operands
    - Debugging Example:
  - 113Program Flow Commands
    - Event Triggers & Trippoints
      - 114DMC-13X8 and DMC-13X8 Event Triggers
    - 115Event Trigger Examples:
      - Event Trigger - Multiple Move Sequence
      - Event Trigger - Set Output after Distance
      - Event Trigger - Repetitive Position Trigger
      - 116Event Trigger - Start Motion on Input
      - Event Trigger - Set output when At speed
      - Event Trigger - Change Speed along Vector Path
      - Event Trigger - Multiple Move with Wait
      - Define Output Waveform Using AT
    - 117Conditional Jumps
      - 118Command Format - JP and JS
      - Logical operators:
      - Conditional Statements
      - Multiple Conditional Statements
      - Using the JP Command:
      - Example Using JP command:
    - 119Using If, Else, and Endif Commands
      - Using the IF and ENDIF Commands
      - 120Using the ELSE Command
      - Nesting IF Conditional Statements
      - Command Format - IF, ELSE and ENDIF
      - Example using IF, ELSE and ENDIF:
    - 121Subroutines
      - Example:
    - Stack Manipulation
    - Auto-Start Routine
    - 122Automatic Subroutines for Monitoring Conditions
      - Example - Limit Switch:
      - Example - Position Error
      - 123Example - Input Interrupt
      - Example - Motion Complete Timeout
      - 124Example - Command Error
      - Example - Command Error w/Multitasking
  - 125Mathematical and Functional Expressions
    - Mathematical Operators
    - Bit-Wise Operators
    - 126 Functions
  - 127Variables
    - Programmable Variables
      - 128Assigning Values to Variables:
      - Assigning Variable Values to Controller Parameters
      - Displaying the value of variables at the terminal
      - Example - Using Variables for Joystick
  - 129Operands
    - Examples of Internal Variables:
    - Special Operands (Keywords)
      - Examples of Keywords:
  - 130Arrays
    - Defining Arrays
    - Assignment of Array Entries
      - Using a Variable to Address Array Elements
      - Uploading and Downloading Arrays to On Board Memory
    - 131Automatic Data Capture into Arrays
      - Command Summary - Automatic Data Capture
      - 132Data Types for Recording:
        Note: X may be replaced by Y,Z or W for capturing data on other axes.
      - Operand Summary - Automatic Data Capture
      - Example - Recording into An Array
        During a position move, store the X and Y positions and position error every 2 msec.
    - Deallocating Array Space
  - 133Input of Data (Numeric and String)
    - Input of Data
      - An Example for Inputting Numeric Data
      - Cut-to-Length Example
      - Inputting String Variables
  - 134Output of Data (Numeric and String)
    - Sending Messages
      - Formatting Messages
      - Using the MG Command to Configure Terminals
      - Summary of Message Functions:
    - 135Displaying Variables and Arrays
    - 136Interrogation Commands
      - Using the PF Command to Format Response from Interrogation Commands
      - Removing Leading Zeros from Response to Interrogation Commands
      - Local Formatting of Response of Interrogation Commands
    - 137Formatting Variables and Array Elements
      - Local Formatting of Variables
    - Converting to User Units
  - 138Hardware I/O
    - Digital Outputs
    - 139Digital Inputs
      - Example - Start Motion on Switch
    - 140Input Interrupt Function
      - Examples - Input Interrupt
    - 141Analog Inputs
      - Example - Position Follower (Point-to-Point)
      - Example - Position Follower (Continuous Move)
  - 142Example Applications
    - Wire Cutter
    - 143X-Y Table Controller
      - 144
      - Y
      - X
    - 145Speed Control by Joystick
    - 146Position Control by Joystick
    - Backlash Compensation by Sampled Dual-Loop
- 149Chapter 8 Hardware & Software Protection
  - Introduction
  - Hardware Protection
    - Output Protection Lines
    - Input Protection Lines
  - 150Software Protection
    - Programmable Position Limits
    - 151Off-On-Error
    - Automatic Error Routine
    - Limit Switch Routine
- 153Chapter 9 Troubleshooting
  - Overview
  - Installation
  - 154Communication
  - 155Stability
  - Operation
- 157Chapter 10 Theory of Operation
  - COMPUTER CONTROLLER DRIVER
    - 158LEVEL
  - 159Operation of Closed-Loop Systems
  - 160System Modeling
  - 161[]
    - (
      - R
      - L
      - T
      - CONTROLLER
    - (
      - Motor-Amplifier
        Voltage Drive
    - )
      - PV K KSST ST
      - =++11
      - =
        162Current Drive
        Velocity Loop
      - VEWP
    - 163VOLTAGE SOURCE
      - VWP
      - VIWP
    - CURRENT SOURCE
    - VELOCITY LOOP
      - Encoder
      - 164DAC
      - Digital Filter
      - ZOH
      - 165System Analysis
        166
      - 167System Design and Compensation
        The Analytical Method
        170Equivalent Filter Form
- 171Appendices
  - Electrical Specifications
    - Servo Control
    - Stepper Control
    - Input/Output
    - Power
  - 172Performance Specifications
  - 173Connectors for DMC-13X8 Main Board
    - Notes: X,Y,Z,W are interchangeable designations for A,B,C,D axes.
  - 174Pin-Out Description for DMC-13X8
  - 175Accessories and Options
  - 176ICM-1900 Interconnect Module
  - 180ICM-1900 Drawing
  - AMP-19X0 Mating Power Amplifiers
  - 181ICM-2900 Interconnect Module
  - 184Opto-Isolated Outputs ICM-1900 / ICM-2900 (-Opto option)
    - Standard Opto-isolation and High Current Opto-isolation:
  - 64 Extended I/O of the DMC-13X8 Controller
    - 185Configuring the I/O of the DMC-13X8
      - Saving the State of the Outputs in Non-Volatile Memory
      - Accessing extended I/O
    - 186Connector Description:
      - 188J8 50-PIN IDC
  - 189IOM-1964 Opto-Isolation Module for Extended I/O Controllers
    - Description:
- 1900 1 32 5 764
  - Overview
  - Configuring Hardware Banks
  - 191Digital Inputs
  - 193High Power Digital Outputs
  - 194Standard Digital Outputs
  - 195 Electrical Specifications
    - Digital Inputs
    - High Power Digital Outputs
    - Standard Digital Outputs
      - Maximum sink current: 2mA
  - 196Relevant DMC Commands
  - Screw Terminal Listing
    - * Silkscreen on Rev A board is incorrect for these terminals.
  - 198Coordinated Motion - Mathematical Analysis
    - 199Y
      - CD
      - B
      - A
    - X
      - X
        2 360
        Ts
        VA s
        S
        kY k
        =
    - 200
      - Velocity
      - time (s)
        100000 2000000 005.
        V S
        35708 100000 0 05 0 307..
        201VS Tsta=+=0 407.
  - 202DMC-13X8/DMC-1300 Comparison
  - List of Other Publications
  - 203Training Seminars
  - 204Contacting Us
  - 205WARRANTY
  - 207Index