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Galil DMC-13X8 user manual Motion intervals in the Home sequence

Models: DMC-13X8

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Page 103

Image 103

HOME SWITCH

VELOCITY

MOTION BEGINS

TOWARD HOME

DIRECTION

VELOCITY

MOTION REVERSE

TOWARD HOME

DIRECTION

VELOCITY

MOTION TOWARD

INDEX

DIRECTION

INDEX PULSES

End

_HMX=1

_HMX=0

POSITION

Figure 6.8 - Motion intervals in the Home sequence

USER MANUAL

Chapter 6 Programming Motion • 103

Page 103

Image 103

Galil DMC-13X8 user manual Motion intervals in the Home sequence

Contents

DMC-13X8 Using This Manual Contents Connecting Hardware Programming Motion Hardware & Software Protection 149 ZOH DACIndex 207 Overview of Motor Types IntroductionOverview Brushless Servo Motor with Sinusoidal Commutation Standard Servo Motor with +/- 10 Volt Command SignalStepper Motor with Step and Direction Signals DMC-13X8 Functional ElementsGeneral I/O Microcomputer SectionMotor Interface CommunicationMotor System ElementsAmplifier Driver Encoder Watch Dog TimerThis page Left Blank Intentionally Getting Started DMC-13X8 Motion ControllerJP9 Elements You NeedSinusoidal Commutation Installing the DMC-13X8Determine Overall Motor Configuration Standard Servo Motor OperationInstall Jumpers on the DMC-13X8 Optional Motor Off Jumpers Install the DMC-13X8 in the VME HostEstablish Communication with the Galil controller Determine the Axes to be Used for Sinusoidal CommutationBaxz Make Connections to Amplifier and EncoderGetting Started Check the Polarity of the Feedback Loop Connect Standard Servo MotorsBGX 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 AvailableBCX SHXBGX AMXTune the Servo System Connect Step MotorsInstructionInterpretation Design ExamplesExample 1 System Set-up TE X CRExample 5 Position Interrogation Example 2 Profiled MoveExample 3 Multiple Axes Example 4 Independent MovesExample 7 Velocity Control Example 6 Absolute PositionExample 9 Interrogation Example 10 Operation in the Buffer ModeExample 11 Using the On-Board Editor Example 8 Operation Under Torque LimitExample 13 Motion Programs with Trippoints Example 12 Motion Programs with LoopsExample 15 Linear Interpolation Example 14 Control VariablesExample 16 Circular Interpolation Motion Path for Example VM XYOverview Using Optoisolated InputsLimit Switch Input Connecting HardwareAbort Input Home Switch InputGroup Controllers with 1- 4 Axes Common Signal Wiring the Optoisolated InputsUncommitted Digital Inputs Optoisolated Inputs Using an Isolated Power SupplyAmplifier Interface Analog InputsBypassing the Opto-Isolation ICM-1900/2900 TTL InputsTTL Outputs This page Left Blank Intentionally Register Description Address Read/Write Communication with ControllerCommunication Registers AM5 AM4 AM3 AM2 AM1 AM0Advanced Communication Techniques Simplified Communication ProcedureCommunication with Controller Secondary Fifo channel Polling Mode Read ProcedurePolling Fifo Addr Type Overview of Secondary Fifo ProcedureDMA / Secondary Fifo Memory Map Operation Register address ValueError code BIT Axis Switch Information 1 ByteGeneral Status Information 1 Byte Axis Status Information 2 ByteConfiguring Interrupts Setting up InterruptsInterrupts Bit number n Input Bit Number m ConditionHex Data Condition Servicing InterruptsExample Interrupts BGYUI1 Controller Response to DataCommand Basics Command Syntax AsciiBG TW Coordinated Motion with more than 1 axisBG Xyzw BG SDatafields Format Command Syntax BinaryBinary Command Format Header FormatLE, VE Binary command tableCommand ExampleInterrogating the Controller Interrogation Commands=TPX Summary of Interrogation CommandsInterrogating Current Commanded Values OperandsCommand Summary This page Left Blank Intentionally Programming Motion Example Application Mode of Motion CommandsIndependent Axis Positioning Example Multiple Move Sequence Command Summary Independent AxisOperand Summary Independent Axis Example Absolute Position MovementAxis velocity profile Velocity COUNTS/SECIndependent Jogging Command Summary JoggingExample Jog in X only Specifying Linear Segments Linear Interpolation ModeExample Joystick Jogging #LMOVE Additional CommandsAn Example of Linear Interpolation Motion Specifying Vector Speed for Each SegmentLM? Command Summary Linear InterpolationChanging Feedrate #ALTExample 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 SequenceRequired Path Electronic GearingExample Electronic Gearing Command Summary Electronic GearingCommand Description Example Simple Master SlaveElectronic Cam Example Gantry ModeEAp 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 CAMExample Electronic CAM Operand Summary Electronic CAMOperand Description Specifying Contour Segments Contour ModeDT0CD0 CMXGenerating an Array An Example Command Summary Contour ModeOperand Summary Contour Mode General Velocity ProfilesPOSC=V4 Contour Mode ExampleInstruction Interpretation #POINTSRecord and Playback Example Teach Record and Play-BackAC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RP Virtual AxisBGN Stepper Motor Smoothing Monitoring Generated Pulses vs Commanded PulsesStepper Motor Operation Specifying Stepper Motor OperationMotion Complete Trippoint Using an Encoder with Stepper MotorsCommand 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= Main Encoder Second Encoder Using the CE CommandAdditional Commands for the Auxiliary Encoder Dual Loop Auxiliary Encoder#DUALOOP Backlash CompensationContinuous Dual Loop Example Sampled Dual Loop ExampleMotion Smoothing Using the IT and VT CommandsExample Smoothing Trapezoidal velocity and smooth velocity profiles Using the KS Command Step Motor SmoothingHoming Motion intervals in the Home sequence FE Xyzw FI Xyzw HM Xyzw SC Xyzw TS Xyzw Command Summary Homing OperationHigh Speed Position Capture The Latch Function Operand Summary Homing OperationAL Y Fast Update Rate ModeThis page Left Blank Intentionally ED #BEGIN Using the DMC-13X8 Editor to Enter ProgramsApplication Programming Program Format Edit Mode CommandsReturn #BEGIN1 Using Labels in ProgramsSpecial Labels #BEGIN #SQUARENo Bottom Line Using the command, noExecuting Programs Multitasking Commenting ProgramsDebugging Programs Trace CommandsOperands Error Code CommandStop Code Command RAM Memory Interrogation CommandsEvent Triggers & Trippoints Program Flow CommandsFunction DMC-13X8 and DMC-13X8 Event TriggersEvent Trigger Repetitive Position Trigger Event Trigger ExamplesEvent Trigger Multiple Move Sequence Event Trigger Set Output after DistanceEvent 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 Multiple Conditional Statements Command Format JP and JSLogical operators Conditional StatementsUsing the if and Endif Commands Using If, Else, and Endif CommandsUsing the JP Command Example Using JP commandNesting if Conditional Statements Using the Else CommandCommand Format IF, Else and Endif Example using IF, Else and EndifStack Manipulation SubroutinesAuto-Start Routine Subroutine Description Example Limit SwitchExample Position Error Automatic Subroutines for Monitoring ConditionsExample Input Interrupt Example Motion Complete TimeoutExample Command Error w/Multitasking Example Command ErrorOperand Function Operator Function Mathematical and Functional ExpressionsMathematical Operators Bit-Wise OperatorsLEN1=FLEN&$00FF FunctionsENTER,LENS6 FLEN=@FRACLENReallongname VariablesProgrammable Variables Posx POS1 SpeedzDisplaying the value of variables at the terminal Example Using Variables for JoystickAssigning Values to Variables Assigning Variable Values to Controller ParametersExamples of Keywords OperandsSpecial Operands Keywords Examples of Internal VariablesAssignment of Array Entries Using a Variable to Address Array ElementsArrays Defining ArraysAutomatic Data Capture into Arrays Command Summary Automatic Data CaptureUploading and Downloading Arrays to On Board Memory Data Type Description Data Types for RecordingOperand Summary Automatic Data Capture Example Recording into An ArrayAn Example for Inputting Numeric Data Input of Data Numeric and StringDeallocating Array Space Input of DataFormatting Messages Output of Data Numeric and StringSending Messages Inputting String VariablesDisplaying Variables and Arrays Using the MG Command to Configure TerminalsSummary of Message Functions BL ? LE ? DE ? PA ? DP ? PR ? EM ? LZ0 Local Formatting of Response of Interrogation CommandsFormatting Variables and Array Elements Local Formatting of VariablesConverting to User Units Hardware I/ODigital Outputs Instruction Function Digital InputsInput 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 signalsBGS AMS BGZAMZ BGZ AMZSpeed Control by Joystick DP0 Position Control by JoystickBacklash Compensation by Sampled Dual-Loop JG VEL JP #BPR ER LINPOS=0LIN POS = DEX ER=1000-LINPOS-TEXThis page Left Blank Intentionally Output Protection Lines Hardware ProtectionHardware & Software Protection Programmable Position Limits Signal or Function State if Error OccursSoftware Protection Input Protection Lines#AJP #AEN Off-On-ErrorAutomatic Error Routine Limit Switch RoutineStxamx V2=LRXJP#END #LFRemedy InstallationSymptom Diagnosis Cause TroubleshootingCommunication Operation StabilityThis page Left Blank Intentionally Theory of Operation Theory of OperationLevel Velocity and Position Profiles Operation of Closed-Loop SystemsSystem Modeling Voltage Drive Motor-AmplifierVelocity Loop Current DriveVoltage Source Digital Filter DACZOH System AnalysisMs = P/I = Kt/Js2 = 500/s2 rad/A Amp Ka = 4 Amp/V Analytical Method System Design and CompensationKd = 10/32768 = Encoder Kf = 4N/2π = Theory of Operation KP, KD, KI, PL Equivalent Filter FormPID, T Input/Output Electrical SpecificationsServo Control Stepper ControlPower Performance SpecificationsJ1 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-13X8Accessories and Options Terminal # Label Description ICM-1900 Interconnect ModuleABY ErrorReset +ABYYlatch RlsxFlsx Xlatch+MBZ INY+MAZ MAZICM-1900 Drawing AMP-19X0 Mating Power AmplifiersOUT PWR ICM-2900 Interconnect ModuleOUT GND ANALOG7 ANA GNDANALOG5 ANALOG6ANALOG4 ANALOG1ANALOG2 ANALOG3Extended I/O of the DMC-13X8 Controller Opto-Isolated Outputs ICM-1900 / ICM-2900 -Opto optionStandard Opto-isolation and High Current Opto-isolation BIT I/O Block Binary Representation Decimal Value for Block Configuring the I/O of the DMC-13X8Accessing extended I/O Saving the State of the Outputs in Non-Volatile MemoryBIT # Connector DescriptionPIN Signal Block BIT @INnGND @OUTn Description IOM-1964 Opto-Isolation Module for Extended I/O ControllersOverview Configuring Hardware BanksFor example, here is the layout of bank Sinking Sourcing Input CircuitHigh Power Digital Outputs Internal Pullup Standard Digital OutputsStandard Digital Outputs Electrical SpecificationsHigh Power Digital Outputs Digital InputsScrew Terminal Listing Relevant DMC CommandsTerminal Label Description Appendices Coordinated Motion Mathematical Analysis Vs = Vx 2 + Vy Velocity Tt = VSD + Ta = 0.407s DMC-13X8 DMC-13X8/DMC-1300 ComparisonList of Other Publications BenefitWHO should Attend Training SeminarsGalil Motion Control Contacting UsWarranty 206 Poserr LimswiIndex Address ... 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