Galil DMC-13X8 instruction

USER MANUAL

DMC-13X8

Manual Rev. 1.0e

By Galil Motion Control, Inc.

Galil Motion Control, Inc. 3750 Atherton Road Rocklin, California 95765 Phone: (916) 626-0101 Fax: (916) 626-0102

Internet Address: support@galilmc.com URL: www.galilmc.com

Rev Date: 5-06

Image 1

Galil DMC-13X8 user manual

Contents

DMC-13X8 Using This Manual Contents Connecting Hardware Programming Motion Hardware & Software Protection 149 ZOH DAC Index 207 Overview of Motor Types IntroductionOverview Stepper Motor with Step and Direction Signals Standard Servo Motor with +/- 10 Volt Command SignalDMC-13X8 Functional Elements Brushless Servo Motor with Sinusoidal Commutation Motor Interface Microcomputer SectionCommunication General I/O Motor System ElementsAmplifier Driver Encoder Watch Dog Timer This page Left Blank Intentionally Getting Started DMC-13X8 Motion Controller JP9 Elements You Need Determine Overall Motor Configuration Installing the DMC-13X8Standard Servo Motor Operation Sinusoidal Commutation Install Jumpers on the DMC-13X8 Establish Communication with the Galil controller Install the DMC-13X8 in the VME HostDetermine the Axes to be Used for Sinusoidal Commutation Optional Motor Off Jumpers Baxz Make Connections to Amplifier and Encoder Getting Started Check the Polarity of the Feedback Loop Connect Standard Servo Motors BGX CR Inverting the Loop PolarityTTX CR DC Power Supply DC Brush Connect Sinusoidal Commutation Motors If Hall Sensors are Not Available If Hall Sensors are Available BGX SHXAMX BCX Tune the Servo System Connect Step Motors Example 1 System Set-up Design ExamplesTE X CR InstructionInterpretation Example 3 Multiple Axes Example 2 Profiled MoveExample 4 Independent Moves Example 5 Position Interrogation Example 7 Velocity Control Example 6 Absolute Position Example 11 Using the On-Board Editor Example 10 Operation in the Buffer ModeExample 8 Operation Under Torque Limit Example 9 Interrogation Example 13 Motion Programs with Trippoints Example 12 Motion Programs with Loops Example 15 Linear Interpolation Example 14 Control VariablesExample 16 Circular Interpolation Motion Path for Example VM XY Limit Switch Input Using Optoisolated InputsConnecting Hardware Overview Abort Input Home Switch Input Group Controllers with 1- 4 Axes Common Signal Wiring the Optoisolated InputsUncommitted Digital Inputs Optoisolated Inputs Using an Isolated Power Supply Amplifier Interface Analog InputsBypassing the Opto-Isolation ICM-1900/2900 TTL Inputs TTL Outputs This page Left Blank Intentionally Communication Registers Communication with ControllerAM5 AM4 AM3 AM2 AM1 AM0 Register Description Address Read/Write Advanced Communication Techniques Simplified Communication Procedure Communication with Controller Secondary Fifo channel Polling Mode Read ProcedurePolling Fifo DMA / Secondary Fifo Memory Map Overview of Secondary Fifo ProcedureOperation Register address Value Addr Type Error code General Status Information 1 Byte Axis Switch Information 1 ByteAxis Status Information 2 Byte BIT Configuring Interrupts Setting up InterruptsInterrupts Bit number n Input Bit Number m Condition Example Interrupts Servicing InterruptsBGY Hex Data Condition UI1 Controller Response to Data Command Basics Command Syntax Ascii BG Xyzw Coordinated Motion with more than 1 axisBG S BG TW Binary Command Format Command Syntax BinaryHeader Format Datafields Format Command Binary command tableExample LE, VE Interrogating the Controller Interrogation Commands Interrogating Current Commanded Values Summary of Interrogation CommandsOperands =TPX Command Summary This page Left Blank Intentionally Programming Motion Example Application Mode of Motion Commands Independent Axis Positioning Operand Summary Independent Axis Command Summary Independent AxisExample Absolute Position Movement Example Multiple Move Sequence Axis velocity profile Velocity COUNTS/SEC Independent Jogging Command Summary JoggingExample Jog in X only Specifying Linear Segments Linear Interpolation ModeExample Joystick Jogging An Example of Linear Interpolation Motion Additional CommandsSpecifying Vector Speed for Each Segment #LMOVE Changing Feedrate Command Summary Linear Interpolation#ALT LM? Example Linear Move Operand Summary Linear InterpolationLM ZW #LOAD Example Multiple MovesCOUNT=0 Specifying the Coordinate Plane Vector Mode Linear and Circular Interpolation MotionSpecifying Vector Segments Additional commands Trippoints Compensating for Differences in Encoder ResolutionTangent Motion Operand Summary Coordinated Motion Sequence Command Summary Coordinated Motion Sequence Required Path Electronic Gearing Command Description Command Summary Electronic GearingExample Simple Master Slave Example Electronic Gearing Electronic Cam Example Gantry Mode EAp where p = X,Y,Z,W Is the selected master axis Programming Motion 3000 2250 1500 2000 4000 6000 Master Instruction Interpretation Command Summary Electronic CAM Example Electronic CAM Operand Summary Electronic CAMOperand Description Specifying Contour Segments Contour Mode DT0CD0 CMX Operand Summary Contour Mode Command Summary Contour ModeGeneral Velocity Profiles Generating an Array An Example Instruction Interpretation Contour Mode Example#POINTS POSC=V4 Record and Playback Example Teach Record and Play-Back AC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RP Virtual AxisBGN Stepper Motor Operation Monitoring Generated Pulses vs Commanded PulsesSpecifying Stepper Motor Operation Stepper Motor Smoothing Motion Complete Trippoint Using an Encoder with Stepper Motors Command Summary Stepper Motor Operation Stepper Position Maintenance Mode SPMOperand Summary Stepper Motor Operation Example SPM Mode Setup Error LimitCorrection Half-Stepping Drive, X axis Example Error Correction #MOTION #LOOP Example Friction Correction Additional Commands for the Auxiliary Encoder Using the CE CommandDual Loop Auxiliary Encoder = Main Encoder Second Encoder Continuous Dual Loop Example Backlash CompensationSampled Dual Loop Example #DUALOOP Motion Smoothing Using the IT and VT CommandsExample Smoothing Trapezoidal velocity and smooth velocity profiles Using the KS Command Step Motor Smoothing Homing Motion intervals in the Home sequence High Speed Position Capture The Latch Function Command Summary Homing OperationOperand Summary Homing Operation FE Xyzw FI Xyzw HM Xyzw SC Xyzw TS Xyzw AL Y Fast Update Rate Mode This page Left Blank Intentionally ED #BEGIN Using the DMC-13X8 Editor to Enter ProgramsApplication Programming Program Format Edit Mode CommandsReturn Special Labels Using Labels in Programs#BEGIN #SQUARE #BEGIN1 Executing Programs Multitasking Using the command, noCommenting Programs No Bottom Line Debugging Programs Trace Commands Stop Code Command Error Code CommandRAM Memory Interrogation Commands Operands Event Triggers & Trippoints Program Flow Commands Function DMC-13X8 and DMC-13X8 Event Triggers Event Trigger Multiple Move Sequence Event Trigger ExamplesEvent Trigger Set Output after Distance Event Trigger Repetitive Position Trigger Event Trigger Start Motion on Input Event Trigger Set output when At speedEvent Trigger Change Speed along Vector Path Conditional Jumps Define Output Waveform Using ATEvent Trigger Multiple Move with Wait Logical operators Command Format JP and JSConditional Statements Multiple Conditional Statements Using the JP Command Using If, Else, and Endif CommandsExample Using JP command Using the if and Endif Commands Command Format IF, Else and Endif Using the Else CommandExample using IF, Else and Endif Nesting if Conditional Statements Stack Manipulation SubroutinesAuto-Start Routine Example Position Error Example Limit SwitchAutomatic Subroutines for Monitoring Conditions Subroutine Description Example Input Interrupt Example Motion Complete Timeout Example Command Error w/Multitasking Example Command ErrorOperand Function Mathematical Operators Mathematical and Functional ExpressionsBit-Wise Operators Operator Function ENTER,LENS6 FunctionsFLEN=@FRACLEN LEN1=FLEN&$00FF Programmable Variables VariablesPosx POS1 Speedz Reallongname Assigning Values to Variables Example Using Variables for JoystickAssigning Variable Values to Controller Parameters Displaying the value of variables at the terminal Special Operands Keywords OperandsExamples of Internal Variables Examples of Keywords Arrays Using a Variable to Address Array ElementsDefining Arrays Assignment of Array Entries Automatic Data Capture into Arrays Command Summary Automatic Data CaptureUploading and Downloading Arrays to On Board Memory Operand Summary Automatic Data Capture Data Types for RecordingExample Recording into An Array Data Type Description Deallocating Array Space Input of Data Numeric and StringInput of Data An Example for Inputting Numeric Data Sending Messages Output of Data Numeric and StringInputting String Variables Formatting Messages Displaying Variables and Arrays Using the MG Command to Configure TerminalsSummary of Message Functions BL ? LE ? DE ? PA ? DP ? PR ? EM ? Formatting Variables and Array Elements Local Formatting of Response of Interrogation CommandsLocal Formatting of Variables LZ0 Converting to User Units Hardware I/ODigital Outputs Instruction Function Digital Inputs Input Interrupt Function Example Start Motion on SwitchExamples Input Interrupt Example Position Follower Point-to-Point Analog InputsExample Position Follower Continuous Move Example Applications Wire CutterJP #A Table Controller Motor Velocity and the Associated Input/Output signals AMZ BGZBGZ AMZ BGS AMS Speed Control by Joystick Backlash Compensation by Sampled Dual-Loop Position Control by JoystickJG VEL JP #B DP0 LIN POS = DEX LINPOS=0ER=1000-LINPOS-TEX PR ER This page Left Blank Intentionally Output Protection Lines Hardware ProtectionHardware & Software Protection Software Protection Signal or Function State if Error OccursInput Protection Lines Programmable Position Limits Automatic Error Routine Off-On-ErrorLimit Switch Routine #AJP #AEN JP#END V2=LRX#LF Stxamx Symptom Diagnosis Cause InstallationTroubleshooting Remedy Communication Operation Stability This page Left Blank Intentionally Theory of Operation Theory of Operation Level Velocity and Position Profiles Operation of Closed-Loop Systems System Modeling Voltage Drive Motor-Amplifier Velocity Loop Current Drive Voltage Source Digital Filter DAC ZOH System Analysis Ms = P/I = Kt/Js2 = 500/s2 rad/A Amp Ka = 4 Amp/V Analytical Method System Design and Compensation Kd = 10/32768 = Encoder Kf = 4N/2π = Theory of Operation KP, KD, KI, PL Equivalent Filter FormPID, T Servo Control Electrical SpecificationsStepper Control Input/Output Power Performance Specifications J1 DMC-13X8 A-D Axes Main J5-DMC-13X8 A-D Axes Connectors for DMC-13X8 Main BoardPIN High Density Auxiliary Encoders 26-PIN IDC PWM/STEP OUT Pin-Out Description for DMC-13X8 Accessories and Options Terminal # Label Description ICM-1900 Interconnect Module Reset Error+ABY ABY Flsx RlsxXlatch Ylatch +MAZ INYMAZ +MBZ ICM-1900 Drawing AMP-19X0 Mating Power Amplifiers OUT PWR ICM-2900 Interconnect ModuleOUT GND ANALOG5 ANA GNDANALOG6 ANALOG7 ANALOG2 ANALOG1ANALOG3 ANALOG4 Extended I/O of the DMC-13X8 Controller Opto-Isolated Outputs ICM-1900 / ICM-2900 -Opto optionStandard Opto-isolation and High Current Opto-isolation Accessing extended I/O Configuring the I/O of the DMC-13X8Saving the State of the Outputs in Non-Volatile Memory BIT I/O Block Binary Representation Decimal Value for Block PIN Signal Block Connector DescriptionBIT @INn BIT # GND @OUTn Description IOM-1964 Opto-Isolation Module for Extended I/O Controllers Overview Configuring Hardware Banks For example, here is the layout of bank Sinking Sourcing Input Circuit High Power Digital Outputs Internal Pullup Standard Digital Outputs High Power Digital Outputs Electrical SpecificationsDigital Inputs Standard Digital Outputs Screw Terminal Listing Relevant DMC CommandsTerminal Label Description Appendices Coordinated Motion Mathematical Analysis Vs = Vx 2 + Vy Velocity Tt = VSD + Ta = 0.407s List of Other Publications DMC-13X8/DMC-1300 ComparisonBenefit DMC-13X8 WHO should Attend Training Seminars Galil Motion Control Contacting Us Warranty 206 Poserr LimswiIndex Address ... Error! Not a valid bookmark in entry on Interrupt...Error! Not a valid bookmark in entry on Stop