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Chapter 7 Application Programming • 148

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 Standard Servo Motor with +/- 10 Volt Command Signal Stepper Motor with Step and Direction SignalsDMC-13X8 Functional Elements Brushless Servo Motor with Sinusoidal Commutation Microcomputer Section Motor InterfaceCommunication 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 Installing the DMC-13X8 Determine Overall Motor ConfigurationStandard Servo Motor Operation Sinusoidal Commutation Install 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 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 SHX BGXAMX BCX Connect Step Motors Tune the Servo System Design Examples Example 1 System Set-upTE X CR InstructionInterpretation Example 2 Profiled Move Example 3 Multiple AxesExample 4 Independent Moves Example 5 Position Interrogation Example 6 Absolute Position Example 7 Velocity Control Example 10 Operation in the Buffer Mode Example 11 Using the On-Board EditorExample 8 Operation Under Torque Limit 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 Using Optoisolated Inputs Limit Switch InputConnecting Hardware 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 Communication with Controller Communication RegistersAM5 AM4 AM3 AM2 AM1 AM0 Register Description Address Read/Write Simplified Communication Procedure Advanced Communication Techniques Communication with Controller Secondary Fifo channel Polling Mode Read ProcedurePolling Fifo Overview of Secondary Fifo Procedure DMA / Secondary Fifo Memory MapOperation Register address Value Addr Type Error code Axis Switch Information 1 Byte General Status Information 1 ByteAxis Status Information 2 Byte BIT Configuring Interrupts Setting up InterruptsInterrupts Bit Number m Condition Bit number n Input Servicing Interrupts Example InterruptsBGY Hex Data Condition Controller Response to Data UI1 Command Syntax Ascii Command Basics Coordinated Motion with more than 1 axis BG XyzwBG S BG TW Command Syntax Binary Binary Command FormatHeader Format Datafields Format Binary command table CommandExample LE, VE Interrogation Commands Interrogating the Controller Summary of Interrogation Commands Interrogating Current Commanded ValuesOperands =TPX Command Summary This page Left Blank Intentionally Example Application Mode of Motion Commands Programming Motion Independent Axis Positioning Command Summary Independent Axis Operand Summary Independent AxisExample Absolute Position Movement 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 Additional Commands An Example of Linear Interpolation MotionSpecifying Vector Speed for Each Segment #LMOVE Command Summary Linear Interpolation Changing Feedrate#ALT 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 Command Summary Electronic Gearing Command DescriptionExample Simple Master Slave 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 Command Summary Contour Mode Operand Summary Contour ModeGeneral Velocity Profiles Generating an Array An Example Contour Mode Example Instruction Interpretation#POINTS 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 Monitoring Generated Pulses vs Commanded Pulses Stepper Motor OperationSpecifying Stepper 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 Using the CE Command Additional Commands for the Auxiliary EncoderDual Loop Auxiliary Encoder = Main Encoder Second Encoder Backlash Compensation Continuous Dual Loop ExampleSampled 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 Command Summary Homing Operation High Speed Position Capture The Latch FunctionOperand Summary Homing Operation 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 Using Labels in Programs Special Labels#BEGIN #SQUARE #BEGIN1 Using the command, no Executing Programs MultitaskingCommenting Programs No Bottom Line Trace Commands Debugging Programs Error Code Command Stop Code CommandRAM Memory Interrogation Commands Operands Program Flow Commands Event Triggers & Trippoints DMC-13X8 and DMC-13X8 Event Triggers Function Event Trigger Examples Event Trigger Multiple Move SequenceEvent Trigger Set Output after Distance 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 Command Format JP and JS Logical operatorsConditional Statements Multiple Conditional Statements Using If, Else, and Endif Commands Using the JP CommandExample Using JP command Using the if and Endif Commands Using the Else Command Command Format IF, Else and EndifExample using IF, Else and Endif Nesting if Conditional Statements Stack Manipulation SubroutinesAuto-Start Routine Example Limit Switch Example Position ErrorAutomatic Subroutines for Monitoring Conditions Subroutine Description Example Motion Complete Timeout Example Input Interrupt Example Command Error w/Multitasking Example Command ErrorOperand Function Mathematical and Functional Expressions Mathematical OperatorsBit-Wise Operators Operator Function Functions ENTER,LENS6FLEN=@FRACLEN LEN1=FLEN&$00FF Variables Programmable VariablesPosx POS1 Speedz Reallongname Example Using Variables for Joystick Assigning Values to VariablesAssigning Variable Values to Controller Parameters Displaying the value of variables at the terminal Operands Special Operands KeywordsExamples of Internal Variables Examples of Keywords Using a Variable to Address Array Elements ArraysDefining Arrays Assignment of Array Entries Automatic Data Capture into Arrays Command Summary Automatic Data CaptureUploading and Downloading Arrays to On Board Memory Data Types for Recording Operand Summary Automatic Data CaptureExample Recording into An Array Data Type Description Input of Data Numeric and String Deallocating Array SpaceInput of Data An Example for Inputting Numeric Data Output of Data Numeric and String Sending MessagesInputting String Variables 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 Response of Interrogation Commands Formatting Variables and Array ElementsLocal Formatting of Variables 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 AMZBGZ AMZ BGS AMS Speed Control by Joystick Position Control by Joystick Backlash Compensation by Sampled Dual-LoopJG VEL JP #B DP0 LINPOS=0 LIN POS = DEXER=1000-LINPOS-TEX PR ER This page Left Blank Intentionally Output Protection Lines Hardware ProtectionHardware & Software Protection Signal or Function State if Error Occurs Software ProtectionInput Protection Lines Programmable Position Limits Off-On-Error Automatic Error RoutineLimit Switch Routine #AJP #AEN V2=LRX JP#END#LF Stxamx Installation Symptom Diagnosis CauseTroubleshooting 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 Electrical Specifications Servo ControlStepper 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 Error Reset+ABY ABY Rlsx FlsxXlatch Ylatch INY +MAZMAZ +MBZ AMP-19X0 Mating Power Amplifiers ICM-1900 Drawing OUT PWR ICM-2900 Interconnect ModuleOUT GND ANA GND ANALOG5ANALOG6 ANALOG7 ANALOG1 ANALOG2ANALOG3 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 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 Block Connector Description PIN Signal BlockBIT @INn 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 Electrical Specifications High Power Digital OutputsDigital Inputs 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 DMC-13X8/DMC-1300 Comparison List of Other PublicationsBenefit DMC-13X8 Training Seminars WHO should Attend Contacting Us Galil Motion Control Warranty 206 Poserr LimswiIndex Address ... 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