Motor-Amplifier, Voltage Drive | Galil DMC-13X8 instruction

			CONTROLLER
R	Σ	X	DIGITAL	Y	DAC	V
	Σ		FILTER	ZOH	DAC	AMP
			FILTER
		C

ENCODER

Figure 10.4 - Functional Elements of a Motion Control System

Motor-Amplifier

The motor amplifier may be configured in three modes:

1.Voltage Drive

2.Current Drive

3.Velocity Loop

The operation and modeling in the three modes is as follows:

Voltage Drive

E

MOTOR

P

The amplifier is a voltage source with a gain of Kv [V/V]. The transfer function relating the input voltage, V, to the motor position, P, is

PV = KV [Kt S(STm + 1)(STe + 1)]

where

T	= RJ	K 2	[s]
m		t
and
Te	= L R		[s]

and the motor parameters and units are

Kt

R

J

L

Torque constant [Nm/A]

Armature Resistance Ω

Combined inertia of motor and load [kg.m2] Armature Inductance [H]

When the motor parameters are given in English units, it is necessary to convert the quantities to MKS units. For example, consider a motor with the parameters:

Kt = 14.16 oz - in/A = 0.1 Nm/A R = 2 Ω

J= 0.0283 oz-in-s2= 2.10-4kg . m2 L = 0.004H

USER MANUAL

Chapter 10 Theory of Operation • 161

Image 161

Galil DMC-13X8 user manual Motor-Amplifier, Voltage Drive

Contents

DMC-13X8 Using This Manual Contents Connecting Hardware Programming Motion Hardware & Software Protection 149 ZOH DAC Index 207 Overview IntroductionOverview of Motor Types Stepper Motor with Step and Direction Signals Standard Servo Motor with +/- 10 Volt Command SignalDMC-13X8 Functional Elements Brushless Servo Motor with Sinusoidal Commutation Motor Interface Microcomputer SectionCommunication General I/O Amplifier Driver System ElementsMotor Encoder Watch Dog Timer This page Left Blank Intentionally Getting Started DMC-13X8 Motion Controller JP9 Elements You Need Determine Overall Motor Configuration Installing the DMC-13X8Standard Servo Motor Operation Sinusoidal Commutation Install 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 Jumpers Baxz Make Connections to Amplifier and Encoder Getting Started Check the Polarity of the Feedback Loop Connect Standard Servo Motors TTX CR Inverting the Loop PolarityBGX CR DC Power Supply DC Brush Connect Sinusoidal Commutation Motors If Hall Sensors are Not Available If Hall Sensors are Available BGX SHXAMX BCX Tune the Servo System Connect Step Motors Example 1 System Set-up Design ExamplesTE X CR InstructionInterpretation Example 3 Multiple Axes Example 2 Profiled MoveExample 4 Independent Moves Example 5 Position Interrogation Example 7 Velocity Control Example 6 Absolute Position Example 11 Using the On-Board Editor Example 10 Operation in the Buffer ModeExample 8 Operation Under Torque Limit Example 9 Interrogation Example 13 Motion Programs with Trippoints Example 12 Motion Programs with Loops Example 16 Circular Interpolation Example 14 Control VariablesExample 15 Linear Interpolation Motion Path for Example VM XY Limit Switch Input Using Optoisolated InputsConnecting Hardware Overview Abort Input Home Switch Input Uncommitted Digital Inputs Wiring the Optoisolated InputsGroup Controllers with 1- 4 Axes Common Signal Optoisolated Inputs Using an Isolated Power Supply Bypassing the Opto-Isolation Analog InputsAmplifier Interface ICM-1900/2900 TTL Inputs TTL Outputs This page Left Blank Intentionally Communication Registers Communication with ControllerAM5 AM4 AM3 AM2 AM1 AM0 Register Description Address Read/Write Advanced Communication Techniques Simplified Communication Procedure Polling Fifo Polling Mode Read ProcedureCommunication with Controller Secondary Fifo channel DMA / Secondary Fifo Memory Map Overview of Secondary Fifo ProcedureOperation Register address Value Addr Type Error code General Status Information 1 Byte Axis Switch Information 1 ByteAxis Status Information 2 Byte BIT Interrupts Setting up InterruptsConfiguring Interrupts Bit number n Input Bit Number m Condition Example Interrupts Servicing InterruptsBGY Hex Data Condition UI1 Controller Response to Data Command Basics Command Syntax Ascii BG Xyzw Coordinated Motion with more than 1 axisBG S BG TW Binary Command Format Command Syntax BinaryHeader Format Datafields Format Command Binary command tableExample LE, VE Interrogating the Controller Interrogation Commands Interrogating Current Commanded Values Summary of Interrogation CommandsOperands =TPX Command Summary This page Left Blank Intentionally Programming Motion Example Application Mode of Motion Commands Independent Axis Positioning Operand Summary Independent Axis Command Summary Independent AxisExample Absolute Position Movement Example Multiple Move Sequence Axis velocity profile Velocity COUNTS/SEC Example Jog in X only Command Summary JoggingIndependent Jogging Example Joystick Jogging Linear Interpolation ModeSpecifying Linear Segments An Example of Linear Interpolation Motion Additional CommandsSpecifying Vector Speed for Each Segment #LMOVE Changing Feedrate Command Summary Linear Interpolation#ALT 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 Operand Summary Coordinated Motion Sequence Command Summary Coordinated Motion Sequence Required Path Electronic Gearing Command Description Command Summary Electronic GearingExample Simple Master Slave Example Electronic Gearing Electronic Cam Example Gantry Mode EAp 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 CAM Operand Description Operand Summary Electronic CAMExample Electronic CAM Specifying Contour Segments Contour Mode DT0CD0 CMX Operand Summary Contour Mode Command Summary Contour ModeGeneral Velocity Profiles Generating an Array An Example Instruction Interpretation Contour Mode Example#POINTS POSC=V4 Record and Playback Example Teach Record and Play-Back BGN Virtual AxisAC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RP Stepper Motor Operation Monitoring Generated Pulses vs Commanded PulsesSpecifying Stepper Motor Operation Stepper Motor Smoothing Motion Complete Trippoint Using an Encoder with Stepper Motors Operand Summary Stepper Motor Operation Stepper Position Maintenance Mode SPMCommand Summary Stepper Motor Operation Correction Error LimitExample SPM Mode Setup Half-Stepping Drive, X axis Example Error Correction #MOTION #LOOP Example Friction Correction Additional Commands for the Auxiliary Encoder Using the CE CommandDual Loop Auxiliary Encoder = Main Encoder Second Encoder Continuous Dual Loop Example Backlash CompensationSampled Dual Loop Example #DUALOOP Example Smoothing Using the IT and VT CommandsMotion Smoothing Trapezoidal velocity and smooth velocity profiles Using the KS Command Step Motor Smoothing Homing 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 Xyzw AL Y Fast Update Rate Mode This page Left Blank Intentionally Application Programming Using the DMC-13X8 Editor to Enter ProgramsED #BEGIN Return Edit Mode CommandsProgram Format Special Labels Using Labels in Programs#BEGIN #SQUARE #BEGIN1 Executing Programs Multitasking Using the command, noCommenting Programs No Bottom Line Debugging Programs Trace Commands Stop Code Command Error Code CommandRAM Memory Interrogation Commands Operands Event Triggers & Trippoints Program Flow Commands Function DMC-13X8 and DMC-13X8 Event Triggers Event Trigger Multiple Move Sequence Event Trigger ExamplesEvent Trigger Set Output after Distance Event Trigger Repetitive Position Trigger Event 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 Logical operators Command Format JP and JSConditional Statements Multiple Conditional Statements Using the JP Command Using If, Else, and Endif CommandsExample Using JP command Using the if and Endif Commands Command Format IF, Else and Endif Using the Else CommandExample using IF, Else and Endif Nesting if Conditional Statements Auto-Start Routine SubroutinesStack Manipulation Example Position Error Example Limit SwitchAutomatic Subroutines for Monitoring Conditions Subroutine Description Example Input Interrupt Example Motion Complete Timeout Operand Function Example Command ErrorExample Command Error w/Multitasking Mathematical Operators Mathematical and Functional ExpressionsBit-Wise Operators Operator Function ENTER,LENS6 FunctionsFLEN=@FRACLEN LEN1=FLEN&$00FF Programmable Variables VariablesPosx POS1 Speedz Reallongname Assigning Values to Variables Example Using Variables for JoystickAssigning Variable Values to Controller Parameters Displaying the value of variables at the terminal Special Operands Keywords OperandsExamples of Internal Variables Examples of Keywords Arrays Using a Variable to Address Array ElementsDefining Arrays Assignment of Array Entries Uploading and Downloading Arrays to On Board Memory Command Summary Automatic Data CaptureAutomatic Data Capture into Arrays Operand Summary Automatic Data Capture Data Types for RecordingExample Recording into An Array Data Type Description Deallocating Array Space Input of Data Numeric and StringInput of Data An Example for Inputting Numeric Data Sending Messages Output of Data Numeric and StringInputting String Variables Formatting Messages Summary of Message Functions Using the MG Command to Configure TerminalsDisplaying Variables and Arrays BL ? LE ? DE ? PA ? DP ? PR ? EM ? Formatting Variables and Array Elements Local Formatting of Response of Interrogation CommandsLocal Formatting of Variables LZ0 Digital Outputs Hardware I/OConverting to User Units Instruction Function Digital Inputs Examples 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 Table Controller Motor Velocity and the Associated Input/Output signals AMZ BGZBGZ AMZ BGS AMS Speed Control by Joystick Backlash Compensation by Sampled Dual-Loop Position Control by JoystickJG VEL JP #B DP0 LIN POS = DEX LINPOS=0ER=1000-LINPOS-TEX PR ER This page Left Blank Intentionally Hardware & Software Protection Hardware ProtectionOutput Protection Lines Software Protection Signal or Function State if Error OccursInput Protection Lines Programmable Position Limits Automatic Error Routine Off-On-ErrorLimit Switch Routine #AJP #AEN JP#END V2=LRX#LF Stxamx Symptom Diagnosis Cause InstallationTroubleshooting Remedy Communication Operation Stability This page Left Blank Intentionally Theory of Operation Theory of Operation Level Velocity and Position Profiles Operation of Closed-Loop Systems System Modeling Voltage Drive Motor-Amplifier Velocity Loop Current Drive Voltage Source Digital Filter DAC ZOH System Analysis Ms = P/I = Kt/Js2 = 500/s2 rad/A Amp Ka = 4 Amp/V Analytical Method System Design and Compensation Kd = 10/32768 = Encoder Kf = 4N/2π = Theory of Operation PID, T Equivalent Filter FormKP, KD, KI, PL Servo Control Electrical SpecificationsStepper Control Input/Output Power Performance Specifications PIN 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 PWM/STEP OUT Pin-Out Description for DMC-13X8 Accessories and Options Terminal # Label Description ICM-1900 Interconnect Module Reset Error+ABY ABY Flsx RlsxXlatch Ylatch +MAZ INYMAZ +MBZ ICM-1900 Drawing AMP-19X0 Mating Power Amplifiers OUT GND ICM-2900 Interconnect ModuleOUT PWR ANALOG5 ANA GNDANALOG6 ANALOG7 ANALOG2 ANALOG1ANALOG3 ANALOG4 Standard Opto-isolation and High Current Opto-isolation Opto-Isolated Outputs ICM-1900 / ICM-2900 -Opto optionExtended I/O of the DMC-13X8 Controller 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 Block PIN Signal Block Connector DescriptionBIT @INn BIT # GND @OUTn Description IOM-1964 Opto-Isolation Module for Extended I/O Controllers Overview Configuring Hardware Banks For example, here is the layout of bank Sinking Sourcing Input Circuit High Power Digital Outputs Internal Pullup Standard Digital Outputs High Power Digital Outputs Electrical SpecificationsDigital Inputs Standard Digital Outputs Terminal Label Description Relevant DMC CommandsScrew Terminal Listing 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-13X8 WHO should Attend Training Seminars Galil Motion Control Contacting Us Warranty 206 Index LimswiPoserr Address ... 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