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Galil DMC-13X8 user manual @OUTn

Models: DMC-13X8

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J8 50-PIN IDC

PIN	SIGNAL	BLOCK	BIT @IN[n],	BIT #
			@OUT[n]
1.	I/O	8	72	7
3.	I/O	8	71	6
5	I/O	8	70	5
7.	I/O	8	69	4
9.	I/O	8	68	3
11.	I/O	8	67	2
13.	I/O	8	66	1
15.	I/O	8	65	0
17.	I/O	7	64	7
19.	I/O	7	63	6
21.	I/O	7	62	5
23.	I/O	7	61	4
25.	I/O	7	60	3
27.	I/O	7	59	2
29.	I/O	7	58	1
31.	I/O	7	57	0
33.	I/O	6	56	7
35.	I/O	6	55	6
37.	I/O	6	54	5
39.	I/O	6	53	4
41.	I/O	6	52	3
43.	I/O	6	51	2
45.	I/O	6	50	1
47.	I/O	6	49	0
49.	+5V	-	-	-
2.	I/O	9	73	0
4.	I/O	9	74	1
6.	I/O	9	75	2
8.	I/O	9	76	3
10.	I/O	9	77	4
12.	I/O	9	78	5
14.	I/O	9	79	6
16.	I/O	9	80	7
18.	GND	-	-	-
20.	GND	-	-	-
22.	GND	-	-	-
24.	GND	-	-	-
26.	GND	-	-	-
28.	GND	-	-	-
30.	GND	-	-	-
32.	GND	-	-	-

Appendices • 188				USER MANUAL

Image 188

Galil DMC-13X8 user manual @OUTn

Contents

DMC-13X8 Using This Manual Contents Connecting Hardware Programming Motion Hardware & Software Protection 149 DAC ZOHIndex 207 Overview IntroductionOverview of Motor Types 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/OAmplifier Driver System ElementsMotor 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 LoopTTX CR Inverting the Loop PolarityBGX 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 16 Circular Interpolation Example 14 Control VariablesExample 15 Linear Interpolation VM XY Motion Path for ExampleUsing Optoisolated Inputs Limit Switch InputConnecting Hardware OverviewHome Switch Input Abort InputUncommitted Digital Inputs Wiring the Optoisolated InputsGroup Controllers with 1- 4 Axes Common Signal Using an Isolated Power Supply Optoisolated InputsBypassing the Opto-Isolation Analog InputsAmplifier Interface 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 Fifo Polling Mode Read ProcedureCommunication with Controller Secondary Fifo channel 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 BITInterrupts Setting up InterruptsConfiguring Interrupts 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 profileExample Jog in X only Command Summary JoggingIndependent Jogging Example Joystick Jogging Linear Interpolation ModeSpecifying Linear Segments Additional Commands An Example of Linear Interpolation MotionSpecifying Vector Speed for Each Segment #LMOVECommand Summary Linear Interpolation Changing Feedrate#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 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 Description Operand Summary Electronic CAMExample Electronic CAM 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 ExampleBGN Virtual AxisAC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RP Monitoring Generated Pulses vs Commanded Pulses Stepper Motor OperationSpecifying Stepper Motor Operation Stepper Motor SmoothingUsing an Encoder with Stepper Motors Motion Complete TrippointOperand Summary Stepper Motor Operation Stepper Position Maintenance Mode SPMCommand Summary Stepper Motor Operation Correction Error LimitExample SPM Mode Setup 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 #DUALOOPExample Smoothing Using the IT and VT CommandsMotion 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 Application Programming Using the DMC-13X8 Editor to Enter ProgramsED #BEGIN Return Edit Mode CommandsProgram Format 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 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 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 StatementsAuto-Start Routine SubroutinesStack Manipulation Example Limit Switch Example Position ErrorAutomatic Subroutines for Monitoring Conditions Subroutine DescriptionExample Motion Complete Timeout Example Input InterruptOperand Function Example Command ErrorExample Command Error w/Multitasking 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 EntriesUploading and Downloading Arrays to On Board Memory Command Summary Automatic Data CaptureAutomatic Data Capture into Arrays 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 MessagesSummary of Message Functions Using the MG Command to Configure TerminalsDisplaying Variables and Arrays BL ? LE ? DE ? PA ? DP ? PR ? EM ? Local Formatting of Response of Interrogation Commands Formatting Variables and Array ElementsLocal Formatting of Variables LZ0Digital Outputs Hardware I/OConverting to User Units Digital Inputs Instruction FunctionExamples 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 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 & Software Protection Hardware ProtectionOutput Protection Lines 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 PID, T Equivalent Filter FormKP, KD, KI, PL Electrical Specifications Servo ControlStepper Control Input/OutputPerformance Specifications PowerPIN 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 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 DrawingOUT GND ICM-2900 Interconnect ModuleOUT PWR ANA GND ANALOG5ANALOG6 ANALOG7ANALOG1 ANALOG2ANALOG3 ANALOG4Standard Opto-isolation and High Current Opto-isolation Opto-Isolated Outputs ICM-1900 / ICM-2900 -Opto optionExtended I/O of the DMC-13X8 Controller 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 OutputsTerminal Label Description Relevant DMC CommandsScrew Terminal Listing 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 Index LimswiPoserr Address ... 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