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Galil DMC-13X8 user manual Bgz Amz, Bgs Ams

Models: DMC-13X8

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Further assume that the Z must move 2" at a linear speed of 2" per second. The required motion is performed by the following instructions:

INSTRUCTION FUNCTION

#A	Label
VM XY	Circular interpolation for XY
VP 160000,160000	Positions
VE	End Vector Motion
VS 200000	Vector Speed
VA 1544000	Vector Acceleration
BGS	Start Motion
AMS	When motion is complete
PR,,-80000	Move Z down
SP,,80000	Z speed
BGZ	Start Z motion
AMZ	Wait for completion of Z motion
CR 80000,270,-360	Circle
VE
VS 40000	Feedrate
BGS	Start circular move
AMS	Wait for completion
PR,,80000	Move Z up
BGZ	Start Z move
AMZ	Wait for Z completion
PR -21600	Move X
SP 20000	Speed X
BGX	Start X
AMX	Wait for X completion
PR,,-80000	Lower Z
BGZ
AMZ
CR 80000,270,-360	Z second circle move
VE
VS 40000
BGS
AMS
PR,,80000	Raise Z
BGZ
AMZ
VP -37600,-16000	Return XY to start
VE
VS 200000
BGS
AMS
EN

Chapter 7 Application Programming • 144

USER MANUAL

Image 144

Galil DMC-13X8 user manual Bgz Amz, Bgs Ams

Contents

DMC-13X8 Using This Manual Contents Connecting Hardware Programming Motion Hardware & Software Protection 149 DAC ZOHIndex 207 Introduction Overview of Motor TypesOverview Standard Servo Motor with +/- 10 Volt Command Signal Stepper Motor with Step and Direction SignalsDMC-13X8 Functional Elements Brushless Servo Motor with Sinusoidal CommutationMicrocomputer Section Motor InterfaceCommunication General I/OSystem Elements MotorAmplifier Driver Watch Dog Timer EncoderThis page Left Blank Intentionally DMC-13X8 Motion Controller Getting StartedElements You Need JP9Installing the DMC-13X8 Determine Overall Motor ConfigurationStandard Servo Motor Operation Sinusoidal CommutationInstall Jumpers on the DMC-13X8 Install the DMC-13X8 in the VME Host Establish Communication with the Galil controllerDetermine the Axes to be Used for Sinusoidal Commutation Optional Motor Off JumpersMake Connections to Amplifier and Encoder BaxzGetting Started Connect Standard Servo Motors Check the Polarity of the Feedback LoopInverting the Loop Polarity BGX CRTTX CR DC Power Supply DC Brush Connect Sinusoidal Commutation Motors If Hall Sensors are Available If Hall Sensors are Not AvailableSHX BGXAMX BCXConnect Step Motors Tune the Servo SystemDesign Examples Example 1 System Set-upTE X CR InstructionInterpretationExample 2 Profiled Move Example 3 Multiple AxesExample 4 Independent Moves Example 5 Position InterrogationExample 6 Absolute Position Example 7 Velocity ControlExample 10 Operation in the Buffer Mode Example 11 Using the On-Board EditorExample 8 Operation Under Torque Limit Example 9 InterrogationExample 12 Motion Programs with Loops Example 13 Motion Programs with TrippointsExample 14 Control Variables Example 15 Linear InterpolationExample 16 Circular Interpolation VM XY Motion Path for ExampleUsing Optoisolated Inputs Limit Switch InputConnecting Hardware OverviewHome Switch Input Abort InputWiring the Optoisolated Inputs Group Controllers with 1- 4 Axes Common SignalUncommitted Digital Inputs Using an Isolated Power Supply Optoisolated InputsAnalog Inputs Amplifier InterfaceBypassing the Opto-Isolation TTL Inputs ICM-1900/2900TTL Outputs This page Left Blank Intentionally Communication with Controller Communication RegistersAM5 AM4 AM3 AM2 AM1 AM0 Register Description Address Read/WriteSimplified Communication Procedure Advanced Communication TechniquesPolling Mode Read Procedure Communication with Controller Secondary Fifo channelPolling Fifo Overview of Secondary Fifo Procedure DMA / Secondary Fifo Memory MapOperation Register address Value Addr TypeError code Axis Switch Information 1 Byte General Status Information 1 ByteAxis Status Information 2 Byte BITSetting up Interrupts Configuring InterruptsInterrupts Bit Number m Condition Bit number n InputServicing Interrupts Example InterruptsBGY Hex Data ConditionController Response to Data UI1Command Syntax Ascii Command BasicsCoordinated Motion with more than 1 axis BG XyzwBG S BG TWCommand Syntax Binary Binary Command FormatHeader Format Datafields FormatBinary command table CommandExample LE, VEInterrogation Commands Interrogating the ControllerSummary of Interrogation Commands Interrogating Current Commanded ValuesOperands =TPXCommand Summary This page Left Blank Intentionally Example Application Mode of Motion Commands Programming MotionIndependent Axis Positioning Command Summary Independent Axis Operand Summary Independent AxisExample Absolute Position Movement Example Multiple Move SequenceVelocity COUNTS/SEC Axis velocity profileCommand Summary Jogging Independent JoggingExample Jog in X only Linear Interpolation Mode Specifying Linear SegmentsExample Joystick Jogging Additional Commands An Example of Linear Interpolation MotionSpecifying Vector Speed for Each Segment #LMOVECommand Summary Linear Interpolation Changing Feedrate#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 Command Summary Coordinated Motion Sequence Operand Summary Coordinated Motion SequenceElectronic Gearing Required PathCommand Summary Electronic Gearing Command DescriptionExample Simple Master Slave 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 Summary Electronic CAM Example Electronic CAMOperand Description Contour Mode Specifying Contour SegmentsCMX DT0CD0Command Summary Contour Mode Operand Summary Contour ModeGeneral Velocity Profiles Generating an Array An ExampleContour Mode Example Instruction Interpretation#POINTS POSC=V4Teach Record and Play-Back Record and Playback ExampleVirtual Axis AC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RPBGN Monitoring Generated Pulses vs Commanded Pulses Stepper Motor OperationSpecifying Stepper Motor Operation Stepper Motor SmoothingUsing an Encoder with Stepper Motors Motion Complete TrippointStepper Position Maintenance Mode SPM Command Summary Stepper Motor OperationOperand Summary Stepper Motor Operation Error Limit Example SPM Mode SetupCorrection Example Error Correction Half-Stepping Drive, X axis#MOTION Example Friction Correction #LOOPUsing the CE Command Additional Commands for the Auxiliary EncoderDual Loop Auxiliary Encoder = Main Encoder Second EncoderBacklash Compensation Continuous Dual Loop ExampleSampled Dual Loop Example #DUALOOPUsing the IT and VT Commands Motion SmoothingExample Smoothing Using the KS Command Step Motor Smoothing Trapezoidal velocity and smooth velocity profilesHoming Motion intervals in the Home sequence Command Summary Homing Operation High Speed Position Capture The Latch FunctionOperand Summary Homing Operation FE Xyzw FI Xyzw HM Xyzw SC Xyzw TS XyzwFast Update Rate Mode AL YThis page Left Blank Intentionally Using the DMC-13X8 Editor to Enter Programs ED #BEGINApplication Programming Edit Mode Commands Program FormatReturn Using Labels in Programs Special Labels#BEGIN #SQUARE #BEGIN1Using the command, no Executing Programs MultitaskingCommenting Programs No Bottom LineTrace Commands Debugging ProgramsError Code Command Stop Code CommandRAM Memory Interrogation Commands OperandsProgram Flow Commands Event Triggers & TrippointsDMC-13X8 and DMC-13X8 Event Triggers FunctionEvent Trigger Examples Event Trigger Multiple Move SequenceEvent 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 Command Format JP and JS Logical operatorsConditional Statements Multiple Conditional StatementsUsing If, Else, and Endif Commands Using the JP CommandExample Using JP command Using the if and Endif CommandsUsing the Else Command Command Format IF, Else and EndifExample using IF, Else and Endif Nesting if Conditional StatementsSubroutines Stack ManipulationAuto-Start Routine Example Limit Switch Example Position ErrorAutomatic Subroutines for Monitoring Conditions Subroutine DescriptionExample Motion Complete Timeout Example Input InterruptExample Command Error Example Command Error w/MultitaskingOperand Function Mathematical and Functional Expressions Mathematical OperatorsBit-Wise Operators Operator FunctionFunctions ENTER,LENS6FLEN=@FRACLEN LEN1=FLEN&$00FFVariables Programmable VariablesPosx POS1 Speedz ReallongnameExample Using Variables for Joystick Assigning Values to VariablesAssigning Variable Values to Controller Parameters Displaying the value of variables at the terminalOperands Special Operands KeywordsExamples of Internal Variables Examples of KeywordsUsing a Variable to Address Array Elements ArraysDefining Arrays Assignment of Array EntriesCommand Summary Automatic Data Capture Automatic Data Capture into ArraysUploading and Downloading Arrays to On Board Memory Data Types for Recording Operand Summary Automatic Data CaptureExample Recording into An Array Data Type DescriptionInput of Data Numeric and String Deallocating Array SpaceInput of Data An Example for Inputting Numeric DataOutput of Data Numeric and String Sending MessagesInputting String Variables Formatting MessagesUsing the MG Command to Configure Terminals Displaying Variables and ArraysSummary of Message Functions BL ? LE ? DE ? PA ? DP ? PR ? EM ? Local Formatting of Response of Interrogation Commands Formatting Variables and Array ElementsLocal Formatting of Variables LZ0Hardware I/O Converting to User UnitsDigital Outputs Digital Inputs Instruction FunctionExample 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 Motor Velocity and the Associated Input/Output signals Table ControllerBGZ AMZBGZ AMZ BGS AMSSpeed Control by Joystick Position Control by Joystick Backlash Compensation by Sampled Dual-LoopJG VEL JP #B DP0LINPOS=0 LIN POS = DEXER=1000-LINPOS-TEX PR ERThis page Left Blank Intentionally Hardware Protection Output Protection LinesHardware & Software Protection Signal or Function State if Error Occurs Software ProtectionInput Protection Lines Programmable Position LimitsOff-On-Error Automatic Error RoutineLimit Switch Routine #AJP #AENV2=LRX JP#END#LF StxamxInstallation Symptom Diagnosis CauseTroubleshooting 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 Equivalent Filter Form KP, KD, KI, PLPID, T Electrical Specifications Servo ControlStepper Control Input/OutputPerformance Specifications PowerConnectors 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 Pin-Out Description for DMC-13X8 PWM/STEP OUTAccessories and Options ICM-1900 Interconnect Module Terminal # Label DescriptionError Reset+ABY ABYRlsx FlsxXlatch YlatchINY +MAZMAZ +MBZAMP-19X0 Mating Power Amplifiers ICM-1900 DrawingICM-2900 Interconnect Module OUT PWROUT GND ANA GND ANALOG5ANALOG6 ANALOG7ANALOG1 ANALOG2ANALOG3 ANALOG4Opto-Isolated Outputs ICM-1900 / ICM-2900 -Opto option Extended I/O of the DMC-13X8 ControllerStandard Opto-isolation and High Current Opto-isolation Configuring the I/O of the DMC-13X8 Accessing extended I/OSaving the State of the Outputs in Non-Volatile Memory BIT I/O Block Binary Representation Decimal Value for BlockConnector Description PIN Signal BlockBIT @INn 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 PullupElectrical Specifications High Power Digital OutputsDigital 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 DMC-13X8/DMC-1300 Comparison List of Other PublicationsBenefit DMC-13X8Training Seminars WHO should AttendContacting Us Galil Motion ControlWarranty 206 Limswi PoserrIndex Address ... 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