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

Models: DMC-13X8

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Chapter 1 Overview • 14

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 ZOHIndex 207 Overview IntroductionOverview of Motor Types DMC-13X8 Functional Elements Standard Servo Motor with +/- 10 Volt Command SignalStepper Motor with Step and Direction Signals Brushless Servo Motor with Sinusoidal CommutationCommunication Microcomputer SectionMotor Interface General I/OAmplifier Driver System ElementsMotor Watch Dog Timer EncoderThis page Left Blank Intentionally DMC-13X8 Motion Controller Getting StartedElements You Need JP9Standard Servo Motor Operation Installing the DMC-13X8Determine Overall Motor Configuration Sinusoidal CommutationInstall 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 JumpersMake Connections to Amplifier and Encoder BaxzGetting Started Connect Standard Servo Motors Check the Polarity of the Feedback LoopTTX CR Inverting the Loop PolarityBGX CR DC Power Supply DC Brush Connect Sinusoidal Commutation Motors If Hall Sensors are Available If Hall Sensors are Not AvailableAMX SHXBGX BCXConnect Step Motors Tune the Servo SystemTE X CR Design ExamplesExample 1 System Set-up InstructionInterpretationExample 4 Independent Moves Example 2 Profiled MoveExample 3 Multiple Axes Example 5 Position InterrogationExample 6 Absolute Position Example 7 Velocity ControlExample 8 Operation Under Torque Limit Example 10 Operation in the Buffer ModeExample 11 Using the On-Board Editor Example 9 InterrogationExample 12 Motion Programs with Loops Example 13 Motion Programs with TrippointsExample 16 Circular Interpolation Example 14 Control VariablesExample 15 Linear Interpolation VM XY Motion Path for ExampleConnecting Hardware Using Optoisolated InputsLimit Switch Input OverviewHome Switch Input Abort InputUncommitted Digital Inputs Wiring the Optoisolated InputsGroup Controllers with 1- 4 Axes Common Signal Using an Isolated Power Supply Optoisolated InputsBypassing the Opto-Isolation Analog InputsAmplifier Interface TTL Inputs ICM-1900/2900TTL Outputs This page Left Blank Intentionally AM5 AM4 AM3 AM2 AM1 AM0 Communication with ControllerCommunication Registers Register Description Address Read/WriteSimplified Communication Procedure Advanced Communication TechniquesPolling Fifo Polling Mode Read ProcedureCommunication with Controller Secondary Fifo channel Operation Register address Value Overview of Secondary Fifo ProcedureDMA / Secondary Fifo Memory Map Addr TypeError code Axis Status Information 2 Byte Axis Switch Information 1 ByteGeneral Status Information 1 Byte BITInterrupts Setting up InterruptsConfiguring Interrupts Bit Number m Condition Bit number n InputBGY Servicing InterruptsExample Interrupts Hex Data ConditionController Response to Data UI1Command Syntax Ascii Command BasicsBG S Coordinated Motion with more than 1 axisBG Xyzw BG TWHeader Format Command Syntax BinaryBinary Command Format Datafields FormatExample Binary command tableCommand LE, VEInterrogation Commands Interrogating the ControllerOperands Summary of Interrogation CommandsInterrogating Current Commanded Values =TPXCommand Summary This page Left Blank Intentionally Example Application Mode of Motion Commands Programming MotionIndependent Axis Positioning Example Absolute Position Movement Command Summary Independent AxisOperand Summary Independent Axis Example Multiple Move SequenceVelocity COUNTS/SEC Axis velocity profileExample Jog in X only Command Summary JoggingIndependent Jogging Example Joystick Jogging Linear Interpolation ModeSpecifying Linear Segments Specifying Vector Speed for Each Segment Additional CommandsAn Example of Linear Interpolation Motion #LMOVE#ALT Command Summary Linear InterpolationChanging Feedrate LM?LM ZW Operand Summary Linear InterpolationExample Linear Move COUNT=0 Example Multiple Moves#LOAD Specifying Vector Segments Vector Mode Linear and Circular Interpolation MotionSpecifying the Coordinate Plane Additional commands Tangent Motion Compensating for Differences in Encoder ResolutionTrippoints Command Summary Coordinated Motion Sequence Operand Summary Coordinated Motion SequenceElectronic Gearing Required PathExample Simple Master Slave Command Summary Electronic GearingCommand Description Example Electronic GearingExample Gantry Mode Electronic CamEAp 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 InterpretationOperand Description Operand Summary Electronic CAMExample Electronic CAM Contour Mode Specifying Contour SegmentsCMX DT0CD0General Velocity Profiles Command Summary Contour ModeOperand Summary Contour Mode Generating an Array An Example#POINTS Contour Mode ExampleInstruction Interpretation POSC=V4Teach Record and Play-Back Record and Playback ExampleBGN Virtual AxisAC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RP Specifying Stepper Motor Operation Monitoring Generated Pulses vs Commanded PulsesStepper Motor Operation Stepper Motor SmoothingUsing an Encoder with Stepper Motors Motion Complete TrippointOperand Summary Stepper Motor Operation Stepper Position Maintenance Mode SPMCommand Summary Stepper Motor Operation Correction Error LimitExample SPM Mode Setup Example Error Correction Half-Stepping Drive, X axis#MOTION Example Friction Correction #LOOPDual Loop Auxiliary Encoder Using the CE CommandAdditional Commands for the Auxiliary Encoder = Main Encoder Second EncoderSampled Dual Loop Example Backlash CompensationContinuous Dual Loop Example #DUALOOPExample Smoothing Using the IT and VT CommandsMotion Smoothing Using the KS Command Step Motor Smoothing Trapezoidal velocity and smooth velocity profilesHoming 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 XyzwFast Update Rate Mode AL YThis page Left Blank Intentionally Application Programming Using the DMC-13X8 Editor to Enter ProgramsED #BEGIN Return Edit Mode CommandsProgram Format #BEGIN #SQUARE Using Labels in ProgramsSpecial Labels #BEGIN1Commenting Programs Using the command, noExecuting Programs Multitasking No Bottom LineTrace Commands Debugging ProgramsRAM Memory Interrogation Commands Error Code CommandStop Code Command OperandsProgram Flow Commands Event Triggers & TrippointsDMC-13X8 and DMC-13X8 Event Triggers FunctionEvent Trigger Set Output after Distance Event Trigger ExamplesEvent Trigger Multiple Move Sequence Event Trigger Repetitive Position TriggerEvent Trigger Change Speed along Vector Path Event Trigger Set output when At speedEvent Trigger Start Motion on Input Event Trigger Multiple Move with Wait Define Output Waveform Using ATConditional Jumps Conditional Statements Command Format JP and JSLogical operators Multiple Conditional StatementsExample Using JP command Using If, Else, and Endif CommandsUsing the JP Command Using the if and Endif CommandsExample using IF, Else and Endif Using the Else CommandCommand Format IF, Else and Endif Nesting if Conditional StatementsAuto-Start Routine SubroutinesStack Manipulation Automatic Subroutines for Monitoring Conditions Example Limit SwitchExample Position Error Subroutine DescriptionExample Motion Complete Timeout Example Input InterruptOperand Function Example Command ErrorExample Command Error w/Multitasking Bit-Wise Operators Mathematical and Functional ExpressionsMathematical Operators Operator FunctionFLEN=@FRACLEN FunctionsENTER,LENS6 LEN1=FLEN&$00FFPosx POS1 Speedz VariablesProgrammable Variables ReallongnameAssigning Variable Values to Controller Parameters Example Using Variables for JoystickAssigning Values to Variables Displaying the value of variables at the terminalExamples of Internal Variables OperandsSpecial Operands Keywords Examples of KeywordsDefining Arrays Using a Variable to Address Array ElementsArrays Assignment of Array EntriesUploading and Downloading Arrays to On Board Memory Command Summary Automatic Data CaptureAutomatic Data Capture into Arrays Example Recording into An Array Data Types for RecordingOperand Summary Automatic Data Capture Data Type DescriptionInput of Data Input of Data Numeric and StringDeallocating Array Space An Example for Inputting Numeric DataInputting String Variables Output of Data Numeric and StringSending Messages Formatting MessagesSummary of Message Functions Using the MG Command to Configure TerminalsDisplaying Variables and Arrays BL ? LE ? DE ? PA ? DP ? PR ? EM ? Local Formatting of Variables Local Formatting of Response of Interrogation CommandsFormatting Variables and Array Elements LZ0Digital Outputs Hardware I/OConverting to User Units Digital Inputs Instruction FunctionExamples Input Interrupt Example Start Motion on SwitchInput Interrupt Function Example Position Follower Continuous Move Analog InputsExample Position Follower Point-to-Point JP #A Wire CutterExample Applications Motor Velocity and the Associated Input/Output signals Table ControllerBGZ AMZ BGZAMZ BGS AMSSpeed Control by Joystick JG VEL JP #B Position Control by JoystickBacklash Compensation by Sampled Dual-Loop DP0ER=1000-LINPOS-TEX LINPOS=0LIN POS = DEX PR ERThis page Left Blank Intentionally Hardware & Software Protection Hardware ProtectionOutput Protection Lines Input Protection Lines Signal or Function State if Error OccursSoftware Protection Programmable Position LimitsLimit Switch Routine Off-On-ErrorAutomatic Error Routine #AJP #AEN#LF V2=LRXJP#END StxamxTroubleshooting InstallationSymptom Diagnosis Cause RemedyCommunication Stability OperationThis page Left Blank Intentionally Theory of Operation Theory of OperationLevel Operation of Closed-Loop Systems Velocity and Position ProfilesSystem Modeling Motor-Amplifier Voltage DriveCurrent Drive Velocity LoopVoltage Source DAC Digital FilterSystem Analysis ZOHMs = P/I = Kt/Js2 = 500/s2 rad/A Amp Ka = 4 Amp/V System Design and Compensation Analytical MethodKd = 10/32768 = Encoder Kf = 4N/2π = Theory of Operation PID, T Equivalent Filter FormKP, KD, KI, PL Stepper Control Electrical SpecificationsServo Control Input/OutputPerformance Specifications PowerPIN High Density Auxiliary Encoders 26-PIN IDC Connectors for DMC-13X8 Main BoardJ1 DMC-13X8 A-D Axes Main J5-DMC-13X8 A-D Axes Pin-Out Description for DMC-13X8 PWM/STEP OUTAccessories and Options ICM-1900 Interconnect Module Terminal # Label Description+ABY ErrorReset ABYXlatch RlsxFlsx YlatchMAZ INY+MAZ +MBZAMP-19X0 Mating Power Amplifiers ICM-1900 DrawingOUT GND ICM-2900 Interconnect ModuleOUT PWR ANALOG6 ANA GNDANALOG5 ANALOG7ANALOG3 ANALOG1ANALOG2 ANALOG4Standard Opto-isolation and High Current Opto-isolation Opto-Isolated Outputs ICM-1900 / ICM-2900 -Opto optionExtended I/O of the DMC-13X8 Controller 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 BlockBIT @INn Connector DescriptionPIN Signal Block BIT #GND @OUTn IOM-1964 Opto-Isolation Module for Extended I/O Controllers DescriptionConfiguring Hardware Banks OverviewFor example, here is the layout of bank Input Circuit Sinking SourcingHigh Power Digital Outputs Standard Digital Outputs Internal PullupDigital Inputs Electrical SpecificationsHigh Power Digital Outputs Standard Digital OutputsTerminal Label Description Relevant DMC CommandsScrew Terminal Listing 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-13X8Training Seminars WHO should AttendContacting Us Galil Motion ControlWarranty 206 Index LimswiPoserr Address ... 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