Galil DMC-1700, DMC-1800 user manual

Contents

Main DMC-1700/1800 By Galil Motion Control, Inc. Using This Manual Contents Page Page Page Page Page Chapter 1 Overview 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 DMC-1700/1800 Functional Elements Microcomputer Section Motor Interface Communication General I/O 17X8 System Elements Motor Amplifier (Driver) Encoder Watch Dog Timer Page Chapter 2 Getting Started The DMC-17x0 and DMC-18x0 Motion Controllers Page Elements You Need Installing the DMC-1700/1800 Installation of a complete, operational DMC-1700/1800 system consists of 9 steps. Step 1. Determine Overall Motor Configuration Standard Servo Motor Operation: Sinusoidal Commutation: Step 2. Install Jumpers on the DMC-1700/1800 Master Reset and Upgrade Jumpers Opto Isolation Jumpers (Optional) DMA Jumpers Page Configuring the Address Jumpers on the DMC-1700 Step 3. Install the Communications Software Using DOS: Using Windows 3.x (16 bit versions): Using Windows 95, 98(first edition): Step 4. Install the DMC-1700/1800 in the PC 1X80 DMC-1700 Install: DMC-1800 Install: Step 5. Establishing Communication between the Galil controller and the host PC Using Galil Software for Windows 3.x, 95 and 98 First Edition (DMC-1700 only) Using Galil Software for Windows 98 SE, ME, XP, and 2000 Page Page Page Page Page Page Using Galil Software for Windows NT 4 Page Sending Test Commands to the Terminal: Step 6. Determine the Axes to be Used for Sinusoidal Commutation Notes on Configuring Sinusoidal Commutation: Example: Sinusoidal Commutation Configuration using a DMC-1770 BAXZ Step 7. Make Connections to Amplifier and Encoder. 1X80 Page Step 8a. Connect Standard Servo Motors Check the Polarity of the Feedback Loop Step A. Set the Error Limit as a Safety Precaution Inverting the Loop Polarity DMC-1700/1800 Chapter 2 Getting Started 29 J7 J6 J51 DC Servo Motor + - Y W Z Page Step 8b. Connect Sinusoidal Commutation Motors Page Page Step 9. Tune the Servo System Design Examples Example 1 - System Set-up 1X80 Example 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 Example 6 - Absolute Position Objective: Command motion by specifying the absolute position. After both motions are complete, the X and Y axes can be command back to zero: Example 7 - Velocity Control Objective: Drive the X and Y motors at specified speeds. Example 9 - Interrogation The values of the parameters may be interrogated. Some examples Example 10 - Operation in the Buffer Mode Example 11 - Using the On-Board Editor The instruction Example 12 - Motion Programs with Loops Objective: To show how control variables may be utilized. 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 Example 15 - Linear Interpolation Example 16 - Circular Interpolation Page Page Chapter 3 Connecting Hardware Overview 1X80 17X8 Using Optoisolated Inputs Home Switch Input Abort Input Uncommitted Digital Inputs 1X80 Wiring the Optoisolated Inputs Using an Isolated Power Supply Bypassing the Opto-Isolation: Analog Inputs Amplifier Interface TTL Inputs 1X80 TTL Outputs 1X80 Page Chapter 4 - Software Tools and Communications Page Galil SmartTERM Page DMC Program Editor Window DMC Data Record Display Page Communication Settings for ISA and PCI Page Page Page Windows Servo Design Kit (WSDK) Creating Custom Software Interfaces ActiveX Toolkit DMCWin Programmers Toolkit Galil Communications API with Visual Basic End Sub DOS, Linux, and QNX tools Controller Event Interrupts and User Interrupts User Interrupts (UI command) Servicing Interrupts Hardware Level Communications for ISA and PCI Communications with the DMC-1700 Page Communications with the DMC-1800 Page Page DMA / Secondary FIFO / DPRAM Memory Map Page Page Note: UB = Unsigned Byte, UW = Unsigned Word, SW = Signed Word, SL = Signed Long Word Explanation of Status Information and Axis Switch Information General Status Information (1 Byte) Axis Switch Information (1 Byte) Axis Status Information (1 Word) Coordinated Motion Status Information for S or T Plane (2 Byte) Page Page Chapter 5 Command Basics Introduction Command Syntax - ASCII 1X80 Coordinated Motion with more than 1 axis Command Syntax - Binary Binary Command Format Header Format: Datafields Format Example Binary command table Controller Response to DATA Interrogating the Controller Interrogation Commands Summary of Interrogation Commands Interrogating Current Commanded Values. Operands Command Summary Chapter 6 Programming Motion 1X80 Page Independent Axis Positioning Command Summary - Independent Axis Operand Summary - Independent Axis Example - Absolute Position Movement Example - Multiple Move Sequence Required Motion Profiles: Independent Jogging Command Summary - Jogging Operand Summary - Independent Axis Example - Jog in X only Example - Joystick Jogging Position Tracking Page Example - Motion 2: Example Motion 4 Trip Points Command Summary Position Tracking Mode Linear Interpolation Mode Specifying Linear Segments Additional Commands An Example of Linear Interpolation Motion: Specifying Vector Speed for Each Segment Changing Feedrate: Command Summary - Linear Interpolation Operand Summary - Linear Interpolation Example - Linear Move VZ VW=+ V S Example - Multiple Moves Vector Mode: Linear and Circular Interpolation Motion Specifying the Coordinate Plane Specifying Vector Segments Additional commands Specifying Vector Speed for Each Segment: Changing Feedrate: Compensating for Differences in Encoder Resolution: Trippoints: Tangent Motion: Example: Command Summary - Coordinated Motion Sequence Operand Summary - Coordinated Motion Sequence C (-4000,3000) R = 1500 B (-4000,0) D (0,3000) Electronic Gearing Ramped Gearing Example Electronic Gearing Over a Specified Interval Command Summary - Electronic Gearing Example - Simple Master Slave Example - Electronic Gearing Example - Gantry Mode Example - Synchronize two conveyor belts with trapezoidal velocity correction. Electronic Cam Page Master X4000 2250 2000 6000 3000 1500 0 Command Summary - Electronic CAM Operand Summary - Electronic CAM Example - Electronic CAM The following example illustrates a cam program with a master axis, Z, and two slaves, X and Y. Contour Mode Specifying Contour Segments Additional Commands Command Summary - Contour Mode () = sin( ) Contour Mode Example Teach (Record and Play-Back) Record and Playback Example: Page Stepper Motor Operation Specifying Stepper Motor Operation Using an Encoder with Stepper Motors Command Summary - Stepper Motor Operation Operand Summary - Stepper Motor Operation Stepper Position Maintenance Mode (SPM) YC YBYATP TDQS = Error Limit Correction Example: SPM Mode Setup Example: Error Correction Example: Friction Correction Dual Loop (Auxiliary Encoder) Using the CE Command DE 0,500,-30,300 sets their initial values. Backlash Compensation Continuous Dual Loop - Example Sampled Dual Loop - Example Motion Smoothing Using the IT and VT Commands: Example - Smoothing Using the KS Command (Step Motor Smoothing): Homing Stage 1: Stage 2: Stage 3: Example: Homing Figure 6.8 Homing Sequence for Normally Closed Switch and CN,-1 Example: Find Edge Command Summary - Homing Operation Operand Summary - Homing Operation High Speed Position Capture (The Latch Function) Fast Update Rate Mode Page Chapter 7 Application Programming Overview Using the DMC-1700/1800 Editor to Enter Programs Edit Mode Commands Program Format Using Labels in Programs Valid labels Special Labels Commenting Programs Using the command, NO or Apostrophe () Executing Programs - Multitasking Debugging Programs Trace Commands Error Code Command Stop Code Command RAM Memory Interrogation Commands Program Flow Commands Event Triggers & Trippoints DMC-1700 and DMC-1800 Event Triggers Event Trigger Examples: Event Trigger - Multiple Move Sequence Event Trigger - Set Output after Distance Event Trigger - Repetitive Position Trigger Event 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 Conditional Jumps Command Format - JP and JS Logical operators: Conditional Statements Multiple Conditional Statements JP #TEST, (V1<V2) & (V3<V4) Using If, Else, and Endif Commands Using the IF and ENDIF Commands Using the ELSE Command Nesting IF Conditional Statements Command Format - IF, ELSE and ENDIF Example using IF, ELSE and ENDIF: Subroutines Stack Manipulation Auto-Start Routine Automatic Subroutines for Monitoring Conditions Example - Limit Switch: Example - Position Error Example - Input Interrupt Example - Motion Complete Timeout Example - Command Error Example - Command Error w/Multitasking Mathematical and Functional Expressions Mathematical Operators Bit-Wise Operators Functions Variables Programmable Variables POSX Assigning Values to Variables: Assigning Variable Values to Controller Parameters Operands Examples of Internal Variables: Special Operands (Keywords) Examples of Keywords: Arrays Defining Arrays Assignment of Array Entries Using a Variable to Address Array Elements Uploading and Downloading Arrays to On Board Memory Automatic Data Capture into Arrays Command Summary - Automatic Data Capture Data Types for Recording: Operand Summary - Automatic Data Capture Example - Recording into An Array Input of Data (Numeric and String) Input of Data An Example for Inputting Numeric Data Cut-to-Length Example Inputting String Variables Output of Data (Numeric and String) Sending Messages Formatting Messages MG STR {S3} Using the MG Command to Configure Terminals Summary of Message Functions: Displaying Variables and Arrays Interrogation Commands Using the PF Command to Format Response from Interrogation Commands Removing Leading Zeros from Response to Interrogation Commands Example - Using the LZ command Local Formatting of Response of Interrogation Commands Formatting Variables and Array Elements Local Formatting of Variables Converting to User Units Example: Hardware I/O Digital Outputs Example - Turn on output after move Digital Inputs 1X80 Example: Example - Start Motion on Switch Input Interrupt Function Analog Inputs Example - Position Follower (Point-to-Point) Example - Position Follower (Continuous Move) Example Applications Wire Cutter 4000/2 = 637 count/inch X-Y Table Controller Page Y X Speed Control by Joystick Page Position Control by Joystick Backlash Compensation by Sampled Dual-Loop Page Page Chapter 8 Hardware & Software Protection Introduction Hardware Protection Output Protection Lines Input Protection Lines Software Protection Programmable Position Limits Off-On-Error Automatic Error Routine Limit Switch Routine NOTE: An applications program must be executing for #LIMSWI to function. Chapter 9 Troubleshooting Overview Installation Communication Stability Operation Page Chapter 10 Theory of Operation COMPUTER CONTROLLER DRIVER LEVEL Operation of Closed-Loop Systems System Modeling CONTROLLER Motor-Amplifier [] R L T ( Velocity Loop VEWP VOLTAGE SOURCE VWP VIWP CURRENT SOURCE VELOCITY LOOP DAC Digital Filter ZOH System Analysis Page 1 4 50 200 2000 W (rad/s) 0.1 System Design and Compensation The Analytical Method Page Page Page Appendices Electrical Specifications Servo Control Stepper Control Input/Output Performance Specifications Connectors for DMC-1700/1800 Main Board Page Pin-Out Description for DMC-1700/1800 Page Page Setting Addresses for the DMC-1700 Standard Addresses Page Page Plug and Play Addresses Accessories and Options PC/AT Interrupts and Their Vectors (These occur on the first 8259) ICM-1900 Interconnect Module Features Page Page ICM-1900 Drawing AMP-19X0 Mating Power Amplifiers Mounting: Keyholes -- Gain: 1 amp/V ICM-2900 Interconnect Module Page Page Opto-Isolated Outputs ICM-1900 / ICM-2900 (-Opto option) Standard Opto-isolation and High Current Opto-isolation: 64 Extended I/O of the DMC-17x8/1700/1800 Controller Configuring the I/O of the DMC-17x8 (and DMC-1750 to DMC- 1780 & DMC-1810 to 1880, with DB-14064) Saving the State of the Outputs in Non-Volatile Memory Accessing extended I/O OP 7,,,,7 Configuring the 64 Extended I/O of the DMC-1750 to 1780 and 1850 to 1880 using the DB-14064 Connector Description: J6 50-PIN IDC Page J8 50-PIN IDC IOM-1964 Opto-Isolation Module for Extended I/O Controllers Description: 0 1 32 5 764 Overview Configuring Hardware Banks Digital Inputs High Power Digital Outputs Standard Digital Outputs Electrical Specifications Digital Inputs High Power Digital Outputs Standard Digital Outputs Relevant DMC Commands Screw Terminal Listing Rev A+B boards (orange) and Rev C boards (black) have the pinouts listed below Page Coordinated Motion - Mathematical Analysis Y CD B A X DMC-1700/DMC-1000 Comparison List of Other Publications Training Seminars Contacting Us WARRANTY Index