+Aby, +Aaz, +Abz, +Aaw, +Abw, Gnd, +Vcc, Outcom | Galil DMC-13X8

7	+ABY	I	Y Auxiliary encoder B+
8	-ABY	I	Y Auxiliary encoder B-
9	+AAZ	I	Z Auxiliary encoder A+
10	-AAZ	I	Z Auxiliary encoder A-
11	+ABZ	I	Z Auxiliary encoder B+
12	-ABZ	I	Z Auxiliary encoder B-
13	+AAW	I	W Auxiliary encoder A+
14	-AAW	I	W Auxiliary encoder A-
15	+ABW	I	W Auxiliary encoder B+
16	-ABW	I	W Auxiliary encoder B-
17	GND		Signal Ground
18	+VCC		+ 5 Volts
19	OUTCOM	O	Output Common (for use with the opto-isolated output option)
20	ERROR	O	Error signal
21	RESET	I	Reset
22	CMP	O	Circular Compare output
23	MOCMDW	O	W axis motor command to amp input (w / respect to ground)
24	SIGNW	O	W axis sign output for input to stepper motor amp
25	PWMW	O	W axis pulse output for input to stepper motor amp
26	MOCMDZ	O	Z axis motor command to amp input (w / respect to ground)
27	SIGNZ	O	Z axis sign output for input to stepper motor amp
28	PWMZ	O	Z axis pulse output for input to stepper motor amp
29	MOCMDY	O	Y axis motor command to amp input (w / respect to ground)
30	SIGNY	O	Y axis sign output for input to stepper motor amp
31	PWMY	O	Y axis pulse output for input to stepper motor amp
32	MOCMDX	O	X axis motor command to amp input (w / respect to ground)
33	SIGNX	O	X axis sign output for input to stepper motor amp
34	PWMX	O	X axis pulse output for input to stepper motor amp
35	ISO*	O	Isolated gnd used with opto-isolation *
36	+VCC	O	+ 5 Volts
37	AMPENW	O	W axis amplifier enable
38	AMPENZ	O	Z axis amplifier enable
39	AMPENY	O	Y axis amplifier enable
40	AMPENX	O	X axis amplifier enable
41	LSCOM	I	Limit Switch Common
42	HOMEW	I	W axis home input
43	RLSW	I	W axis reverse limit switch input
44	FLSW	I	W axis forward limit switch input
45	HOMEZ	I	Z axis home input
46	RLSZ	I	Z axis reverse limit switch input
47	FLSZ	I	Z axis forward limit switch input
48	HOMEY	I	Y axis home input
49	RLSY	I	Y axis reverse limit switch input
50	FLSY	I	Y axis forward limit switch input
51	HOMEX	I	X axis home input

USER MANUAL

Appendices • 177

Image 177

Galil DMC-13X8 +Aby, +Aaz, +Abz, +Aaw, +Abw, Gnd, +Vcc, Outcom, Error, Reset, Cmp, Mocmdw, Signw, Pwmw, Mocmdz, Signz, Iso

Contents

DMC-13X8 Using This Manual Contents Connecting Hardware Programming Motion Hardware & Software Protection 149 ZOH DAC Index 207 Introduction Overview of Motor TypesOverview 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 System Elements MotorAmplifier Driver 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 Inverting the Loop Polarity BGX CRTTX 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 14 Control Variables Example 15 Linear InterpolationExample 16 Circular Interpolation Motion Path for Example VM XY Limit Switch Input Using Optoisolated InputsConnecting Hardware Overview Abort Input Home Switch Input Wiring the Optoisolated Inputs Group Controllers with 1- 4 Axes Common SignalUncommitted Digital Inputs Optoisolated Inputs Using an Isolated Power Supply Analog Inputs Amplifier InterfaceBypassing the Opto-Isolation 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 Mode Read Procedure Communication with Controller Secondary Fifo channelPolling Fifo 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 Setting up Interrupts Configuring InterruptsInterrupts 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 Command Summary Jogging Independent JoggingExample Jog in X only Linear Interpolation Mode Specifying Linear SegmentsExample Joystick Jogging An Example of Linear Interpolation Motion Additional CommandsSpecifying Vector Speed for Each Segment #LMOVE Changing Feedrate Command Summary Linear Interpolation#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 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 Summary Electronic CAM Example Electronic CAMOperand Description 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 Virtual Axis AC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RPBGN Stepper Motor Operation Monitoring Generated Pulses vs Commanded PulsesSpecifying Stepper Motor Operation Stepper Motor Smoothing Motion Complete Trippoint Using an Encoder with Stepper Motors Stepper Position Maintenance Mode SPM Command Summary Stepper Motor OperationOperand Summary Stepper Motor Operation Error Limit Example SPM Mode SetupCorrection 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 Using the IT and VT Commands Motion SmoothingExample 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 Using the DMC-13X8 Editor to Enter Programs ED #BEGINApplication Programming Edit Mode Commands Program FormatReturn 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 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 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 Subroutines Stack ManipulationAuto-Start Routine Example Position Error Example Limit SwitchAutomatic Subroutines for Monitoring Conditions Subroutine Description Example Input Interrupt Example Motion Complete Timeout Example Command Error Example Command Error w/MultitaskingOperand Function 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 Command Summary Automatic Data Capture Automatic Data Capture into ArraysUploading and Downloading Arrays to On Board Memory 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 Using the MG Command to Configure Terminals Displaying Variables and ArraysSummary of Message Functions BL ? LE ? DE ? PA ? DP ? PR ? EM ? Formatting Variables and Array Elements Local Formatting of Response of Interrogation CommandsLocal Formatting of Variables LZ0 Hardware I/O Converting to User UnitsDigital Outputs Instruction Function Digital Inputs Example 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 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 Protection Output Protection LinesHardware & Software Protection 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 Equivalent Filter Form KP, KD, KI, PLPID, T Servo Control Electrical SpecificationsStepper Control Input/Output Power Performance Specifications Connectors 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 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 ICM-2900 Interconnect Module OUT PWROUT GND ANALOG5 ANA GNDANALOG6 ANALOG7 ANALOG2 ANALOG1ANALOG3 ANALOG4 Opto-Isolated Outputs ICM-1900 / ICM-2900 -Opto option Extended I/O of the DMC-13X8 ControllerStandard Opto-isolation and High Current Opto-isolation 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 Relevant DMC Commands Screw Terminal ListingTerminal Label Description 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 Limswi PoserrIndex Address ... 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