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Galil DMC-13X8 user manual Fast Update Rate Mode, Al Y

Models: DMC-13X8

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BG Y	Begin motion on Y axis
AL Y	Arm Latch for Y axis
#Wait	#Wait label for loop
JP #Wait,_ALY=1	Jump to #Wait label if latch has not occured
Result=_RLY	Set value of variable ‘Result’ equal to the report position of y axis
Result=	Print result
EN	End

Fast Update Rate Mode

The DMC-13X8 can operate with much faster servo update rates. This mode is known as 'fast mode' and allows the controller to operate with the following update rates:

DMC-1318	125 usec
DMC-1328	125 usec
DMC-1338	250 usec
DMC-1348	250 usec

In order to run the DMC-13X8 motion controller in fast mode, the fast firmware must be uploaded. In order to set the desired update rates, use the command TM.

When the controller is operating with the fast firmware, the following functions are disabled:

Gearing mode

Ecam mode

Pole (PL)

Analog Feedback (AF)

Stepper Motor Operation (MT 2,-2,2.5,-2.5)

Trippoints in thread 2-8

Secondary Polling FIFO

Tell Velocity Interrogation Command (TV)

USER MANUAL

Chapter 6 Programming Motion • 105

Image 105

Galil DMC-13X8 user manual Fast Update Rate Mode, Al Y

Contents

DMC-13X8 Using This Manual Contents Connecting Hardware Programming Motion Hardware & Software Protection 149 ZOH DACIndex 207 Introduction Overview of Motor TypesOverview Stepper Motor with Step and Direction Signals Standard Servo Motor with +/- 10 Volt Command SignalDMC-13X8 Functional Elements Brushless Servo Motor with Sinusoidal CommutationMotor Interface Microcomputer SectionCommunication General I/OSystem Elements MotorAmplifier Driver Encoder Watch Dog TimerThis page Left Blank Intentionally Getting Started DMC-13X8 Motion ControllerJP9 Elements You NeedDetermine Overall Motor Configuration Installing the DMC-13X8Standard Servo Motor Operation Sinusoidal CommutationInstall 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 JumpersBaxz Make Connections to Amplifier and EncoderGetting Started Check the Polarity of the Feedback Loop Connect Standard Servo MotorsInverting the Loop Polarity BGX CRTTX CR DC Power Supply DC Brush Connect Sinusoidal Commutation Motors If Hall Sensors are Not Available If Hall Sensors are AvailableBGX SHXAMX BCXTune the Servo System Connect Step MotorsExample 1 System Set-up Design ExamplesTE X CR InstructionInterpretationExample 3 Multiple Axes Example 2 Profiled MoveExample 4 Independent Moves Example 5 Position InterrogationExample 7 Velocity Control Example 6 Absolute PositionExample 11 Using the On-Board Editor Example 10 Operation in the Buffer ModeExample 8 Operation Under Torque Limit Example 9 InterrogationExample 13 Motion Programs with Trippoints Example 12 Motion Programs with LoopsExample 14 Control Variables Example 15 Linear InterpolationExample 16 Circular Interpolation Motion Path for Example VM XYLimit Switch Input Using Optoisolated InputsConnecting Hardware OverviewAbort Input Home Switch InputWiring the Optoisolated Inputs Group Controllers with 1- 4 Axes Common SignalUncommitted Digital Inputs Optoisolated Inputs Using an Isolated Power SupplyAnalog Inputs Amplifier InterfaceBypassing the Opto-Isolation ICM-1900/2900 TTL InputsTTL Outputs This page Left Blank Intentionally Communication Registers Communication with ControllerAM5 AM4 AM3 AM2 AM1 AM0 Register Description Address Read/WriteAdvanced Communication Techniques Simplified Communication ProcedurePolling Mode Read Procedure Communication with Controller Secondary Fifo channelPolling Fifo DMA / Secondary Fifo Memory Map Overview of Secondary Fifo ProcedureOperation Register address Value Addr TypeError code General Status Information 1 Byte Axis Switch Information 1 ByteAxis Status Information 2 Byte BITSetting up Interrupts Configuring InterruptsInterrupts Bit number n Input Bit Number m ConditionExample Interrupts Servicing InterruptsBGY Hex Data ConditionUI1 Controller Response to DataCommand Basics Command Syntax AsciiBG Xyzw Coordinated Motion with more than 1 axisBG S BG TWBinary Command Format Command Syntax BinaryHeader Format Datafields FormatCommand Binary command tableExample LE, VEInterrogating the Controller Interrogation CommandsInterrogating Current Commanded Values Summary of Interrogation CommandsOperands =TPXCommand Summary This page Left Blank Intentionally Programming Motion Example Application Mode of Motion CommandsIndependent Axis Positioning Operand Summary Independent Axis Command Summary Independent AxisExample Absolute Position Movement Example Multiple Move SequenceAxis velocity profile Velocity COUNTS/SECCommand Summary Jogging Independent JoggingExample Jog in X only Linear Interpolation Mode Specifying Linear SegmentsExample Joystick Jogging An Example of Linear Interpolation Motion Additional CommandsSpecifying Vector Speed for Each Segment #LMOVEChanging Feedrate Command Summary Linear Interpolation#ALT LM?Operand Summary Linear Interpolation Example Linear MoveLM ZW Example Multiple Moves #LOADCOUNT=0 Vector Mode Linear and Circular Interpolation Motion Specifying the Coordinate PlaneSpecifying Vector Segments Additional commands Compensating for Differences in Encoder Resolution TrippointsTangent Motion Operand Summary Coordinated Motion Sequence Command Summary Coordinated Motion SequenceRequired Path Electronic GearingCommand Description Command Summary Electronic GearingExample Simple Master Slave Example Electronic GearingElectronic 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 CAMOperand Summary Electronic CAM Example Electronic CAMOperand Description Specifying Contour Segments Contour ModeDT0CD0 CMXOperand Summary Contour Mode Command Summary Contour ModeGeneral Velocity Profiles Generating an Array An ExampleInstruction Interpretation Contour Mode Example#POINTS POSC=V4Record and Playback Example Teach Record and Play-BackVirtual Axis AC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RPBGN Stepper Motor Operation Monitoring Generated Pulses vs Commanded PulsesSpecifying Stepper Motor Operation Stepper Motor SmoothingMotion Complete Trippoint Using an Encoder with Stepper MotorsStepper Position Maintenance Mode SPM Command Summary Stepper Motor OperationOperand Summary Stepper Motor Operation Error Limit Example SPM Mode SetupCorrection Half-Stepping Drive, X axis Example Error Correction#MOTION #LOOP Example Friction CorrectionAdditional Commands for the Auxiliary Encoder Using the CE CommandDual Loop Auxiliary Encoder = Main Encoder Second EncoderContinuous Dual Loop Example Backlash CompensationSampled Dual Loop Example #DUALOOPUsing the IT and VT Commands Motion SmoothingExample Smoothing Trapezoidal velocity and smooth velocity profiles Using the KS Command Step Motor SmoothingHoming 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 XyzwAL Y Fast Update Rate ModeThis page Left Blank Intentionally Using the DMC-13X8 Editor to Enter Programs ED #BEGINApplication Programming Edit Mode Commands Program FormatReturn Special Labels Using Labels in Programs#BEGIN #SQUARE #BEGIN1Executing Programs Multitasking Using the command, noCommenting Programs No Bottom LineDebugging Programs Trace CommandsStop Code Command Error Code CommandRAM Memory Interrogation Commands OperandsEvent Triggers & Trippoints Program Flow CommandsFunction DMC-13X8 and DMC-13X8 Event TriggersEvent Trigger Multiple Move Sequence Event Trigger ExamplesEvent Trigger Set Output after Distance Event Trigger Repetitive Position TriggerEvent Trigger Set output when At speed Event Trigger Start Motion on InputEvent Trigger Change Speed along Vector Path Define Output Waveform Using AT Conditional JumpsEvent Trigger Multiple Move with Wait Logical operators Command Format JP and JSConditional Statements Multiple Conditional StatementsUsing the JP Command Using If, Else, and Endif CommandsExample Using JP command Using the if and Endif CommandsCommand Format IF, Else and Endif Using the Else CommandExample using IF, Else and Endif Nesting if Conditional StatementsSubroutines Stack ManipulationAuto-Start Routine Example Position Error Example Limit SwitchAutomatic Subroutines for Monitoring Conditions Subroutine DescriptionExample Input Interrupt Example Motion Complete TimeoutExample Command Error Example Command Error w/MultitaskingOperand Function Mathematical Operators Mathematical and Functional ExpressionsBit-Wise Operators Operator FunctionENTER,LENS6 FunctionsFLEN=@FRACLEN LEN1=FLEN&$00FFProgrammable Variables VariablesPosx POS1 Speedz ReallongnameAssigning Values to Variables Example Using Variables for JoystickAssigning Variable Values to Controller Parameters Displaying the value of variables at the terminalSpecial Operands Keywords OperandsExamples of Internal Variables Examples of KeywordsArrays Using a Variable to Address Array ElementsDefining Arrays Assignment of Array EntriesCommand Summary Automatic Data Capture Automatic Data Capture into ArraysUploading and Downloading Arrays to On Board Memory Operand Summary Automatic Data Capture Data Types for RecordingExample Recording into An Array Data Type DescriptionDeallocating Array Space Input of Data Numeric and StringInput of Data An Example for Inputting Numeric DataSending Messages Output of Data Numeric and StringInputting String Variables Formatting MessagesUsing the MG Command to Configure Terminals Displaying Variables and ArraysSummary 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 LZ0Hardware I/O Converting to User UnitsDigital Outputs Instruction Function Digital InputsExample Start Motion on Switch Input Interrupt FunctionExamples Input Interrupt Analog Inputs Example Position Follower Point-to-PointExample Position Follower Continuous Move Wire Cutter Example ApplicationsJP #A Table Controller Motor Velocity and the Associated Input/Output signalsAMZ BGZBGZ AMZ BGS AMSSpeed Control by Joystick Backlash Compensation by Sampled Dual-Loop Position Control by JoystickJG VEL JP #B DP0LIN POS = DEX LINPOS=0ER=1000-LINPOS-TEX PR ERThis page Left Blank Intentionally Hardware Protection Output Protection LinesHardware & Software Protection Software Protection Signal or Function State if Error OccursInput Protection Lines Programmable Position LimitsAutomatic Error Routine Off-On-ErrorLimit Switch Routine #AJP #AENJP#END V2=LRX#LF StxamxSymptom Diagnosis Cause InstallationTroubleshooting RemedyCommunication 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 Equivalent Filter Form KP, KD, KI, PLPID, T Servo Control Electrical SpecificationsStepper Control Input/OutputPower Performance SpecificationsConnectors for DMC-13X8 Main Board J1 DMC-13X8 A-D Axes Main J5-DMC-13X8 A-D AxesPIN High Density Auxiliary Encoders 26-PIN IDC PWM/STEP OUT Pin-Out Description for DMC-13X8Accessories and Options Terminal # Label Description ICM-1900 Interconnect ModuleReset Error+ABY ABYFlsx RlsxXlatch Ylatch+MAZ INYMAZ +MBZICM-1900 Drawing AMP-19X0 Mating Power AmplifiersICM-2900 Interconnect Module OUT PWROUT GND ANALOG5 ANA GNDANALOG6 ANALOG7ANALOG2 ANALOG1ANALOG3 ANALOG4Opto-Isolated Outputs ICM-1900 / ICM-2900 -Opto option Extended I/O of the DMC-13X8 ControllerStandard 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 BlockPIN Signal Block Connector DescriptionBIT @INn BIT #GND @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 OutputsHigh Power Digital Outputs Electrical SpecificationsDigital Inputs Standard Digital OutputsRelevant DMC Commands Screw Terminal ListingTerminal 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-13X8WHO should Attend Training SeminarsGalil Motion Control Contacting UsWarranty 206 Limswi PoserrIndex Address ... 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