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Chapter 6 Programming Motion • 106

USER MANUAL

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Galil DMC-13X8 user manual This page Left Blank Intentionally

Contents

DMC-13X8 Using This Manual Contents Connecting Hardware Programming Motion Hardware & Software Protection 149 DAC ZOH Index 207 Overview of Motor Types IntroductionOverview DMC-13X8 Functional Elements Standard Servo Motor with +/- 10 Volt Command SignalStepper Motor with Step and Direction Signals Brushless Servo Motor with Sinusoidal Commutation Communication Microcomputer SectionMotor Interface General I/O Motor System ElementsAmplifier Driver Watch Dog Timer Encoder This page Left Blank Intentionally DMC-13X8 Motion Controller Getting Started Elements You Need JP9 Standard Servo Motor Operation Installing the DMC-13X8Determine Overall Motor Configuration Sinusoidal Commutation Install Jumpers on the DMC-13X8 Determine the Axes to be Used for Sinusoidal Commutation Install the DMC-13X8 in the VME HostEstablish Communication with the Galil controller Optional Motor Off Jumpers Make Connections to Amplifier and Encoder Baxz Getting Started Connect Standard Servo Motors Check the Polarity of the Feedback Loop BGX CR Inverting the Loop PolarityTTX CR DC Power Supply DC Brush Connect Sinusoidal Commutation Motors If Hall Sensors are Available If Hall Sensors are Not Available AMX SHXBGX BCX Connect Step Motors Tune the Servo System TE X CR Design ExamplesExample 1 System Set-up InstructionInterpretation Example 4 Independent Moves Example 2 Profiled MoveExample 3 Multiple Axes Example 5 Position Interrogation Example 6 Absolute Position Example 7 Velocity Control Example 8 Operation Under Torque Limit Example 10 Operation in the Buffer ModeExample 11 Using the On-Board Editor Example 9 Interrogation Example 12 Motion Programs with Loops Example 13 Motion Programs with Trippoints Example 15 Linear Interpolation Example 14 Control VariablesExample 16 Circular Interpolation VM XY Motion Path for Example Connecting Hardware Using Optoisolated InputsLimit Switch Input Overview Home Switch Input Abort Input Group Controllers with 1- 4 Axes Common Signal Wiring the Optoisolated InputsUncommitted Digital Inputs Using an Isolated Power Supply Optoisolated Inputs Amplifier Interface Analog InputsBypassing the Opto-Isolation TTL Inputs ICM-1900/2900 TTL Outputs This page Left Blank Intentionally AM5 AM4 AM3 AM2 AM1 AM0 Communication with ControllerCommunication Registers Register Description Address Read/Write Simplified Communication Procedure Advanced Communication Techniques Communication with Controller Secondary Fifo channel Polling Mode Read ProcedurePolling Fifo Operation Register address Value Overview of Secondary Fifo ProcedureDMA / Secondary Fifo Memory Map Addr Type Error code Axis Status Information 2 Byte Axis Switch Information 1 ByteGeneral Status Information 1 Byte BIT Configuring Interrupts Setting up InterruptsInterrupts Bit Number m Condition Bit number n Input BGY Servicing InterruptsExample Interrupts Hex Data Condition Controller Response to Data UI1 Command Syntax Ascii Command Basics BG S Coordinated Motion with more than 1 axisBG Xyzw BG TW Header Format Command Syntax BinaryBinary Command Format Datafields Format Example Binary command tableCommand LE, VE Interrogation Commands Interrogating the Controller Operands Summary of Interrogation CommandsInterrogating Current Commanded Values =TPX Command Summary This page Left Blank Intentionally Example Application Mode of Motion Commands Programming Motion Independent Axis Positioning Example Absolute Position Movement Command Summary Independent AxisOperand Summary Independent Axis Example Multiple Move Sequence Velocity COUNTS/SEC Axis velocity profile Independent Jogging Command Summary JoggingExample Jog in X only Specifying Linear Segments Linear Interpolation ModeExample Joystick Jogging Specifying Vector Speed for Each Segment Additional CommandsAn Example of Linear Interpolation Motion #LMOVE #ALT Command Summary Linear InterpolationChanging Feedrate 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 Command Summary Coordinated Motion Sequence Operand Summary Coordinated Motion Sequence Electronic Gearing Required Path Example Simple Master Slave Command Summary Electronic GearingCommand Description Example Electronic Gearing Example Gantry Mode Electronic Cam EAp where p = X,Y,Z,W Is the selected master axis Programming Motion 3000 2250 1500 2000 4000 6000 Master Command Summary Electronic CAM Instruction Interpretation Example Electronic CAM Operand Summary Electronic CAMOperand Description Contour Mode Specifying Contour Segments CMX DT0CD0 General Velocity Profiles Command Summary Contour ModeOperand Summary Contour Mode Generating an Array An Example #POINTS Contour Mode ExampleInstruction Interpretation POSC=V4 Teach Record and Play-Back Record and Playback Example AC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RP Virtual AxisBGN Specifying Stepper Motor Operation Monitoring Generated Pulses vs Commanded PulsesStepper Motor Operation Stepper Motor Smoothing Using an Encoder with Stepper Motors Motion Complete Trippoint Command Summary Stepper Motor Operation Stepper Position Maintenance Mode SPMOperand Summary Stepper Motor Operation Example SPM Mode Setup Error LimitCorrection Example Error Correction Half-Stepping Drive, X axis #MOTION Example Friction Correction #LOOP Dual Loop Auxiliary Encoder Using the CE CommandAdditional Commands for the Auxiliary Encoder = Main Encoder Second Encoder Sampled Dual Loop Example Backlash CompensationContinuous Dual Loop Example #DUALOOP Motion Smoothing Using the IT and VT CommandsExample Smoothing Using the KS Command Step Motor Smoothing Trapezoidal velocity and smooth velocity profiles Homing Motion intervals in the Home sequence Operand Summary Homing Operation Command Summary Homing OperationHigh Speed Position Capture The Latch Function FE Xyzw FI Xyzw HM Xyzw SC Xyzw TS Xyzw Fast Update Rate Mode AL Y This page Left Blank Intentionally ED #BEGIN Using the DMC-13X8 Editor to Enter ProgramsApplication Programming Program Format Edit Mode CommandsReturn #BEGIN #SQUARE Using Labels in ProgramsSpecial Labels #BEGIN1 Commenting Programs Using the command, noExecuting Programs Multitasking No Bottom Line Trace Commands Debugging Programs RAM Memory Interrogation Commands Error Code CommandStop Code Command Operands Program Flow Commands Event Triggers & Trippoints DMC-13X8 and DMC-13X8 Event Triggers Function Event Trigger Set Output after Distance Event Trigger ExamplesEvent Trigger Multiple Move Sequence 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 Conditional Statements Command Format JP and JSLogical operators Multiple Conditional Statements Example Using JP command Using If, Else, and Endif CommandsUsing the JP Command Using the if and Endif Commands Example using IF, Else and Endif Using the Else CommandCommand Format IF, Else and Endif Nesting if Conditional Statements Stack Manipulation SubroutinesAuto-Start Routine Automatic Subroutines for Monitoring Conditions Example Limit SwitchExample Position Error Subroutine Description Example Motion Complete Timeout Example Input Interrupt Example Command Error w/Multitasking Example Command ErrorOperand Function Bit-Wise Operators Mathematical and Functional ExpressionsMathematical Operators Operator Function FLEN=@FRACLEN FunctionsENTER,LENS6 LEN1=FLEN&$00FF Posx POS1 Speedz VariablesProgrammable Variables Reallongname Assigning Variable Values to Controller Parameters Example Using Variables for JoystickAssigning Values to Variables Displaying the value of variables at the terminal Examples of Internal Variables OperandsSpecial Operands Keywords Examples of Keywords Defining Arrays Using a Variable to Address Array ElementsArrays Assignment of Array Entries Automatic Data Capture into Arrays Command Summary Automatic Data CaptureUploading and Downloading Arrays to On Board Memory Example Recording into An Array Data Types for RecordingOperand Summary Automatic Data Capture Data Type Description Input of Data Input of Data Numeric and StringDeallocating Array Space An Example for Inputting Numeric Data Inputting String Variables Output of Data Numeric and StringSending Messages Formatting Messages Displaying Variables and Arrays Using the MG Command to Configure TerminalsSummary of Message Functions BL ? LE ? DE ? PA ? DP ? PR ? EM ? Local Formatting of Variables Local Formatting of Response of Interrogation CommandsFormatting Variables and Array Elements LZ0 Converting to User Units Hardware I/ODigital Outputs Digital Inputs Instruction Function 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 Motor Velocity and the Associated Input/Output signals Table Controller BGZ AMZ BGZAMZ BGS AMS Speed Control by Joystick JG VEL JP #B Position Control by JoystickBacklash Compensation by Sampled Dual-Loop DP0 ER=1000-LINPOS-TEX LINPOS=0LIN POS = DEX PR ER This page Left Blank Intentionally Output Protection Lines Hardware ProtectionHardware & Software Protection Input Protection Lines Signal or Function State if Error OccursSoftware Protection Programmable Position Limits Limit Switch Routine Off-On-ErrorAutomatic Error Routine #AJP #AEN #LF V2=LRXJP#END Stxamx Troubleshooting InstallationSymptom Diagnosis Cause Remedy Communication Stability Operation This page Left Blank Intentionally Theory of Operation Theory of Operation Level Operation of Closed-Loop Systems Velocity and Position Profiles System Modeling Motor-Amplifier Voltage Drive Current Drive Velocity Loop Voltage Source DAC Digital Filter System Analysis ZOH Ms = P/I = Kt/Js2 = 500/s2 rad/A Amp Ka = 4 Amp/V System Design and Compensation Analytical Method Kd = 10/32768 = Encoder Kf = 4N/2π = Theory of Operation KP, KD, KI, PL Equivalent Filter FormPID, T Stepper Control Electrical SpecificationsServo Control Input/Output Performance Specifications Power 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 Pin-Out Description for DMC-13X8 PWM/STEP OUT Accessories and Options ICM-1900 Interconnect Module Terminal # Label Description +ABY ErrorReset ABY Xlatch RlsxFlsx Ylatch MAZ INY+MAZ +MBZ AMP-19X0 Mating Power Amplifiers ICM-1900 Drawing OUT PWR ICM-2900 Interconnect ModuleOUT GND ANALOG6 ANA GNDANALOG5 ANALOG7 ANALOG3 ANALOG1ANALOG2 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 Saving the State of the Outputs in Non-Volatile Memory Configuring the I/O of the DMC-13X8Accessing extended I/O BIT I/O Block Binary Representation Decimal Value for Block BIT @INn Connector DescriptionPIN Signal Block BIT # GND @OUTn IOM-1964 Opto-Isolation Module for Extended I/O Controllers Description Configuring Hardware Banks Overview For example, here is the layout of bank Input Circuit Sinking Sourcing High Power Digital Outputs Standard Digital Outputs Internal Pullup Digital Inputs Electrical SpecificationsHigh Power Digital Outputs 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 Benefit DMC-13X8/DMC-1300 ComparisonList of Other Publications DMC-13X8 Training Seminars WHO should Attend Contacting Us Galil Motion Control Warranty 206 Poserr LimswiIndex Address ... 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