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

Models: DMC-13X8

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			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 DACIndex 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 CommutationMotor Interface Microcomputer SectionCommunication General I/OAmplifier Driver System ElementsMotor Encoder Watch Dog TimerThis page Left Blank Intentionally Getting Started DMC-13X8 Motion ControllerJP9 Elements You NeedDetermine Overall Motor Configuration Installing the DMC-13X8Standard Servo Motor Operation Sinusoidal CommutationInstall 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 JumpersBaxz Make Connections to Amplifier and EncoderGetting Started Check the Polarity of the Feedback Loop Connect Standard Servo MotorsTTX 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 AvailableBGX SHXAMX BCXTune the Servo System Connect Step MotorsExample 1 System Set-up Design ExamplesTE X CR InstructionInterpretationExample 3 Multiple Axes Example 2 Profiled MoveExample 4 Independent Moves Example 5 Position InterrogationExample 7 Velocity Control Example 6 Absolute PositionExample 11 Using the On-Board Editor Example 10 Operation in the Buffer ModeExample 8 Operation Under Torque Limit Example 9 InterrogationExample 13 Motion Programs with Trippoints Example 12 Motion Programs with LoopsExample 16 Circular Interpolation Example 14 Control VariablesExample 15 Linear Interpolation Motion Path for Example VM XYLimit Switch Input Using Optoisolated InputsConnecting Hardware OverviewAbort Input Home Switch InputUncommitted Digital Inputs Wiring the Optoisolated InputsGroup Controllers with 1- 4 Axes Common Signal Optoisolated Inputs Using an Isolated Power SupplyBypassing the Opto-Isolation Analog InputsAmplifier Interface ICM-1900/2900 TTL InputsTTL Outputs This page Left Blank Intentionally Communication Registers Communication with ControllerAM5 AM4 AM3 AM2 AM1 AM0 Register Description Address Read/WriteAdvanced Communication Techniques Simplified Communication ProcedurePolling Fifo Polling Mode Read ProcedureCommunication with Controller Secondary Fifo channel DMA / Secondary Fifo Memory Map Overview of Secondary Fifo ProcedureOperation Register address Value Addr TypeError code General Status Information 1 Byte Axis Switch Information 1 ByteAxis Status Information 2 Byte BITInterrupts Setting up InterruptsConfiguring Interrupts Bit number n Input Bit Number m ConditionExample Interrupts Servicing InterruptsBGY Hex Data ConditionUI1 Controller Response to DataCommand Basics Command Syntax AsciiBG Xyzw Coordinated Motion with more than 1 axisBG S BG TWBinary Command Format Command Syntax BinaryHeader Format Datafields FormatCommand Binary command tableExample LE, VEInterrogating the Controller Interrogation CommandsInterrogating Current Commanded Values Summary of Interrogation CommandsOperands =TPXCommand Summary This page Left Blank Intentionally Programming Motion Example Application Mode of Motion CommandsIndependent Axis Positioning Operand Summary Independent Axis Command Summary Independent AxisExample Absolute Position Movement Example Multiple Move SequenceAxis velocity profile Velocity COUNTS/SECExample 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 #LMOVEChanging 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 SequenceRequired Path Electronic GearingCommand Description Command Summary Electronic GearingExample Simple Master Slave Example Electronic GearingElectronic Cam Example Gantry ModeEAp 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 CAMOperand Description Operand Summary Electronic CAMExample Electronic CAM Specifying Contour Segments Contour ModeDT0CD0 CMXOperand Summary Contour Mode Command Summary Contour ModeGeneral Velocity Profiles Generating an Array An ExampleInstruction Interpretation Contour Mode Example#POINTS POSC=V4Record and Playback Example Teach Record and Play-BackBGN 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 SmoothingMotion Complete Trippoint Using an Encoder with Stepper MotorsOperand 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 CorrectionAdditional Commands for the Auxiliary Encoder Using the CE CommandDual Loop Auxiliary Encoder = Main Encoder Second EncoderContinuous Dual Loop Example Backlash CompensationSampled Dual Loop Example #DUALOOPExample Smoothing Using the IT and VT CommandsMotion Smoothing Trapezoidal velocity and smooth velocity profiles Using the KS Command Step Motor SmoothingHoming 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 XyzwAL Y Fast Update Rate ModeThis 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 #BEGIN1Executing Programs Multitasking Using the command, noCommenting Programs No Bottom LineDebugging Programs Trace CommandsStop Code Command Error Code CommandRAM Memory Interrogation Commands OperandsEvent Triggers & Trippoints Program Flow CommandsFunction DMC-13X8 and DMC-13X8 Event TriggersEvent Trigger Multiple Move Sequence Event Trigger ExamplesEvent Trigger Set Output after Distance 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 Logical operators Command Format JP and JSConditional Statements Multiple Conditional StatementsUsing the JP Command Using If, Else, and Endif CommandsExample Using JP command Using the if and Endif CommandsCommand Format IF, Else and Endif Using the Else CommandExample using IF, Else and Endif Nesting if Conditional StatementsAuto-Start Routine SubroutinesStack Manipulation Example Position Error Example Limit SwitchAutomatic Subroutines for Monitoring Conditions Subroutine DescriptionExample Input Interrupt Example Motion Complete TimeoutOperand Function Example Command ErrorExample Command Error w/Multitasking Mathematical Operators Mathematical and Functional ExpressionsBit-Wise Operators Operator FunctionENTER,LENS6 FunctionsFLEN=@FRACLEN LEN1=FLEN&$00FFProgrammable Variables VariablesPosx POS1 Speedz ReallongnameAssigning Values to Variables Example Using Variables for JoystickAssigning Variable Values to Controller Parameters Displaying the value of variables at the terminalSpecial Operands Keywords OperandsExamples of Internal Variables Examples of KeywordsArrays Using a Variable to Address Array ElementsDefining Arrays Assignment of Array EntriesUploading 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 DescriptionDeallocating Array Space Input of Data Numeric and StringInput of Data An Example for Inputting Numeric DataSending Messages Output of Data Numeric and StringInputting String Variables Formatting MessagesSummary 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 LZ0Digital Outputs Hardware I/OConverting to User Units Instruction Function Digital InputsExamples 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 signalsAMZ BGZBGZ AMZ BGS AMSSpeed Control by Joystick Backlash Compensation by Sampled Dual-Loop Position Control by JoystickJG VEL JP #B DP0LIN POS = DEX LINPOS=0ER=1000-LINPOS-TEX PR ERThis page Left Blank Intentionally Hardware & Software Protection Hardware ProtectionOutput Protection Lines Software Protection Signal or Function State if Error OccursInput Protection Lines Programmable Position LimitsAutomatic Error Routine Off-On-ErrorLimit Switch Routine #AJP #AENJP#END V2=LRX#LF StxamxSymptom Diagnosis Cause InstallationTroubleshooting RemedyCommunication Operation StabilityThis page Left Blank Intentionally Theory of Operation Theory of OperationLevel Velocity and Position Profiles Operation of Closed-Loop SystemsSystem Modeling Voltage Drive Motor-AmplifierVelocity Loop Current DriveVoltage Source Digital Filter DACZOH System AnalysisMs = P/I = Kt/Js2 = 500/s2 rad/A Amp Ka = 4 Amp/V Analytical Method System Design and CompensationKd = 10/32768 = Encoder Kf = 4N/2π = Theory of Operation PID, T Equivalent Filter FormKP, KD, KI, PL Servo Control Electrical SpecificationsStepper Control Input/OutputPower Performance SpecificationsPIN 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-13X8Accessories and Options Terminal # Label Description ICM-1900 Interconnect ModuleReset Error+ABY ABYFlsx RlsxXlatch Ylatch+MAZ INYMAZ +MBZICM-1900 Drawing AMP-19X0 Mating Power AmplifiersOUT GND ICM-2900 Interconnect ModuleOUT PWR ANALOG5 ANA GNDANALOG6 ANALOG7ANALOG2 ANALOG1ANALOG3 ANALOG4Standard 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 BlockPIN Signal Block Connector DescriptionBIT @INn BIT #GND @OUTn Description IOM-1964 Opto-Isolation Module for Extended I/O ControllersOverview Configuring Hardware BanksFor example, here is the layout of bank Sinking Sourcing Input CircuitHigh Power Digital Outputs Internal Pullup Standard Digital OutputsHigh Power Digital Outputs Electrical SpecificationsDigital Inputs 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 List of Other Publications DMC-13X8/DMC-1300 ComparisonBenefit DMC-13X8WHO should Attend Training SeminarsGalil Motion Control Contacting UsWarranty 206 Index LimswiPoserr Address ... 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