DMC-13X8
Using This Manual
Contents
Connecting Hardware
Programming Motion
Hardware & Software Protection 149
DAC
ZOH
Index 207
Introduction
Overview of Motor Types
Overview
Standard Servo Motor with +/- 10 Volt Command Signal
Stepper Motor with Step and Direction Signals
DMC-13X8 Functional Elements
Brushless Servo Motor with Sinusoidal Commutation
Microcomputer Section
Motor Interface
Communication
General I/O
System Elements
Motor
Amplifier Driver
Watch Dog Timer
Encoder
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DMC-13X8 Motion Controller
Getting Started
Elements You Need
JP9
Installing the DMC-13X8
Determine Overall Motor Configuration
Standard Servo Motor Operation
Sinusoidal Commutation
Install Jumpers on the DMC-13X8
Install the DMC-13X8 in the VME Host
Establish Communication with the Galil controller
Determine 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
Inverting the Loop Polarity
BGX CR
TTX CR
DC Power Supply
DC Brush
Connect Sinusoidal Commutation Motors
If Hall Sensors are Available
If Hall Sensors are Not Available
SHX
BGX
AMX
BCX
Connect Step Motors
Tune the Servo System
Design Examples
Example 1 System Set-up
TE X CR
InstructionInterpretation
Example 2 Profiled Move
Example 3 Multiple Axes
Example 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 Editor
Example 8 Operation Under Torque Limit
Example 9 Interrogation
Example 12 Motion Programs with Loops
Example 13 Motion Programs with Trippoints
Example 14 Control Variables
Example 15 Linear Interpolation
Example 16 Circular Interpolation
VM XY
Motion Path for Example
Using Optoisolated Inputs
Limit Switch Input
Connecting Hardware
Overview
Home Switch Input
Abort Input
Wiring the Optoisolated Inputs
Group Controllers with 1- 4 Axes Common Signal
Uncommitted Digital Inputs
Using an Isolated Power Supply
Optoisolated Inputs
Analog Inputs
Amplifier Interface
Bypassing the Opto-Isolation
TTL Inputs
ICM-1900/2900
TTL Outputs
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Communication with Controller
Communication Registers
AM5 AM4 AM3 AM2 AM1 AM0
Register Description Address Read/Write
Simplified Communication Procedure
Advanced Communication Techniques
Polling Mode Read Procedure
Communication with Controller Secondary Fifo channel
Polling Fifo
Overview of Secondary Fifo Procedure
DMA / Secondary Fifo Memory Map
Operation Register address Value
Addr Type
Error code
Axis Switch Information 1 Byte
General Status Information 1 Byte
Axis Status Information 2 Byte
BIT
Setting up Interrupts
Configuring Interrupts
Interrupts
Bit Number m Condition
Bit number n Input
Servicing Interrupts
Example Interrupts
BGY
Hex Data Condition
Controller Response to Data
UI1
Command Syntax Ascii
Command Basics
Coordinated Motion with more than 1 axis
BG Xyzw
BG S
BG TW
Command Syntax Binary
Binary Command Format
Header Format
Datafields Format
Binary command table
Command
Example
LE, VE
Interrogation Commands
Interrogating the Controller
Summary of Interrogation Commands
Interrogating Current Commanded Values
Operands
=TPX
Command Summary
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Example Application Mode of Motion Commands
Programming Motion
Independent Axis Positioning
Command Summary Independent Axis
Operand Summary Independent Axis
Example Absolute Position Movement
Example Multiple Move Sequence
Velocity COUNTS/SEC
Axis velocity profile
Command Summary Jogging
Independent Jogging
Example Jog in X only
Linear Interpolation Mode
Specifying Linear Segments
Example Joystick Jogging
Additional Commands
An Example of Linear Interpolation Motion
Specifying Vector Speed for Each Segment
#LMOVE
Command Summary Linear Interpolation
Changing Feedrate
#ALT
LM?
Operand Summary Linear Interpolation
Example Linear Move
LM ZW
Example Multiple Moves
#LOAD
COUNT=0
Vector Mode Linear and Circular Interpolation Motion
Specifying the Coordinate Plane
Specifying Vector Segments
Additional commands
Compensating for Differences in Encoder Resolution
Trippoints
Tangent Motion
Command Summary Coordinated Motion Sequence
Operand Summary Coordinated Motion Sequence
Electronic Gearing
Required Path
Command Summary Electronic Gearing
Command Description
Example 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
Operand Summary Electronic CAM
Example Electronic CAM
Operand Description
Contour Mode
Specifying Contour Segments
CMX
DT0CD0
Command Summary Contour Mode
Operand Summary Contour Mode
General Velocity Profiles
Generating an Array An Example
Contour Mode Example
Instruction Interpretation
#POINTS
POSC=V4
Teach Record and Play-Back
Record and Playback Example
Virtual Axis
AC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RP
BGN
Monitoring Generated Pulses vs Commanded Pulses
Stepper Motor Operation
Specifying Stepper Motor Operation
Stepper Motor Smoothing
Using an Encoder with Stepper Motors
Motion Complete Trippoint
Stepper Position Maintenance Mode SPM
Command Summary Stepper Motor Operation
Operand Summary Stepper Motor Operation
Error Limit
Example SPM Mode Setup
Correction
Example Error Correction
Half-Stepping Drive, X axis
#MOTION
Example Friction Correction
#LOOP
Using the CE Command
Additional Commands for the Auxiliary Encoder
Dual Loop Auxiliary Encoder
= Main Encoder Second Encoder
Backlash Compensation
Continuous Dual Loop Example
Sampled Dual Loop Example
#DUALOOP
Using the IT and VT Commands
Motion Smoothing
Example 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 Function
Operand Summary Homing Operation
FE Xyzw FI Xyzw HM Xyzw SC Xyzw TS Xyzw
Fast Update Rate Mode
AL Y
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Using the DMC-13X8 Editor to Enter Programs
ED #BEGIN
Application Programming
Edit Mode Commands
Program Format
Return
Using Labels in Programs
Special Labels
#BEGIN #SQUARE
#BEGIN1
Using the command, no
Executing Programs Multitasking
Commenting Programs
No Bottom Line
Trace Commands
Debugging Programs
Error Code Command
Stop Code Command
RAM 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 Sequence
Event Trigger Set Output after Distance
Event Trigger Repetitive Position Trigger
Event Trigger Set output when At speed
Event Trigger Start Motion on Input
Event Trigger Change Speed along Vector Path
Define Output Waveform Using AT
Conditional Jumps
Event Trigger Multiple Move with Wait
Command Format JP and JS
Logical operators
Conditional Statements
Multiple Conditional Statements
Using If, Else, and Endif Commands
Using the JP Command
Example Using JP command
Using the if and Endif Commands
Using the Else Command
Command Format IF, Else and Endif
Example using IF, Else and Endif
Nesting if Conditional Statements
Subroutines
Stack Manipulation
Auto-Start Routine
Example Limit Switch
Example Position Error
Automatic Subroutines for Monitoring Conditions
Subroutine Description
Example Motion Complete Timeout
Example Input Interrupt
Example Command Error
Example Command Error w/Multitasking
Operand Function
Mathematical and Functional Expressions
Mathematical Operators
Bit-Wise Operators
Operator Function
Functions
ENTER,LENS6
FLEN=@FRACLEN
LEN1=FLEN&$00FF
Variables
Programmable Variables
Posx POS1 Speedz
Reallongname
Example Using Variables for Joystick
Assigning Values to Variables
Assigning Variable Values to Controller Parameters
Displaying the value of variables at the terminal
Operands
Special Operands Keywords
Examples of Internal Variables
Examples of Keywords
Using a Variable to Address Array Elements
Arrays
Defining Arrays
Assignment of Array Entries
Command Summary Automatic Data Capture
Automatic Data Capture into Arrays
Uploading and Downloading Arrays to On Board Memory
Data Types for Recording
Operand Summary Automatic Data Capture
Example Recording into An Array
Data Type Description
Input of Data Numeric and String
Deallocating Array Space
Input of Data
An Example for Inputting Numeric Data
Output of Data Numeric and String
Sending Messages
Inputting String Variables
Formatting Messages
Using the MG Command to Configure Terminals
Displaying Variables and Arrays
Summary of Message Functions
BL ? LE ? DE ? PA ? DP ? PR ? EM ?
Local Formatting of Response of Interrogation Commands
Formatting Variables and Array Elements
Local Formatting of Variables
LZ0
Hardware I/O
Converting to User Units
Digital Outputs
Digital Inputs
Instruction Function
Example Start Motion on Switch
Input Interrupt Function
Examples Input Interrupt
Analog Inputs
Example Position Follower Point-to-Point
Example Position Follower Continuous Move
Wire Cutter
Example Applications
JP #A
Motor Velocity and the Associated Input/Output signals
Table Controller
BGZ
AMZ
BGZ AMZ
BGS AMS
Speed Control by Joystick
Position Control by Joystick
Backlash Compensation by Sampled Dual-Loop
JG VEL JP #B
DP0
LINPOS=0
LIN POS = DEX
ER=1000-LINPOS-TEX
PR ER
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Hardware Protection
Output Protection Lines
Hardware & Software Protection
Signal or Function State if Error Occurs
Software Protection
Input Protection Lines
Programmable Position Limits
Off-On-Error
Automatic Error Routine
Limit Switch Routine
#AJP #AEN
V2=LRX
JP#END
#LF
Stxamx
Installation
Symptom Diagnosis Cause
Troubleshooting
Remedy
Communication
Stability
Operation
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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
Equivalent Filter Form
KP, KD, KI, PL
PID, T
Electrical Specifications
Servo Control
Stepper Control
Input/Output
Performance Specifications
Power
Connectors for DMC-13X8 Main Board
J1 DMC-13X8 A-D Axes Main J5-DMC-13X8 A-D Axes
PIN 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
Flsx
Xlatch
Ylatch
INY
+MAZ
MAZ
+MBZ
AMP-19X0 Mating Power Amplifiers
ICM-1900 Drawing
ICM-2900 Interconnect Module
OUT PWR
OUT GND
ANA GND
ANALOG5
ANALOG6
ANALOG7
ANALOG1
ANALOG2
ANALOG3
ANALOG4
Opto-Isolated Outputs ICM-1900 / ICM-2900 -Opto option
Extended I/O of the DMC-13X8 Controller
Standard Opto-isolation and High Current Opto-isolation
Configuring the I/O of the DMC-13X8
Accessing extended I/O
Saving the State of the Outputs in Non-Volatile Memory
BIT I/O Block Binary Representation Decimal Value for Block
Connector Description
PIN Signal Block
BIT @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 Outputs
Digital Inputs
Standard Digital Outputs
Relevant DMC Commands
Screw Terminal Listing
Terminal 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 Publications
Benefit
DMC-13X8
Training Seminars
WHO should Attend
Contacting Us
Galil Motion Control
Warranty
206
Limswi
Poserr
Index
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