Velocity COUNTS/SEC, Axis velocity profile | Galil DMC-13X8 instruction

X-Axis	500 counts	Position
	10000 count/sec	Speed
	500000 counts/sec2	Acceleration
Y-Axis	1000 counts	Position
	15000 count/sec	Speed
	500000 counts/sec2	Acceleration
Z-Axis	100 counts	Position
	5000 counts/sec	Speed
	500000 counts/sec	Acceleration

This example will specify a relative position movement on X, Y and Z axes. The movement on each axis will be separated by 20 msec. Fig. 6.1 shows the velocity profiles for the X,Y and Z axis.

#A	Begin Program
PR 2000,500,100	Specify relative position movement of 1000, 500 and 100 counts for X,Y and Z
	axes.
SP 15000,10000,5000	Specify speed of 10000, 15000, and 5000 counts / sec
AC 500000,500000,500000	Specify acceleration of 500000 counts / sec2 for all axes
DC 500000,500000,500000	Specify deceleration of 500000 counts / sec2 for all axes
BG X	Begin motion on the X axis
WT 20	Wait 20 msec
BG Y	Begin motion on the Y axis
WT 20	Wait 20 msec
BG Z	Begin motion on Z axis
EN	End Program

VELOCITY
(COUNTS/SEC)
		X axis velocity profile
20000				Y axis velocity profile
				Y axis velocity profile
15000
10000				Z axis velocity profile
10000
5000					TIME (ms)
					TIME (ms)
0	20	40	60	80	100

Figure 6.1 - Velocity Profiles of XYZ

Notes on fig 6.1: The X and Y axis have a ‘trapezoidal’ velocity profile, while the Z axis has a ‘triangular’ velocity profile. The X and Y axes accelerate to the specified speed, move at this constant

Chapter 6 Programming Motion • 66

USER MANUAL

Image 66

Contents

DMC-13X8 Using This Manual Contents Connecting Hardware Programming Motion Hardware & Software Protection 149 DAC ZOH Index 207 Introduction Overview of Motor TypesOverview DMC-13X8 Functional Elements Standard Servo Motor with +/- 10 Volt Command SignalStepper Motor with Step and Direction Signals Brushless Servo Motor with Sinusoidal Commutation Communication Microcomputer SectionMotor Interface General I/O System Elements MotorAmplifier Driver Watch Dog Timer Encoder This page Left Blank Intentionally DMC-13X8 Motion Controller Getting Started Elements You Need JP9 Standard Servo Motor Operation Installing the DMC-13X8Determine Overall Motor Configuration Sinusoidal Commutation Install Jumpers on the DMC-13X8 Determine the Axes to be Used for Sinusoidal Commutation Install the DMC-13X8 in the VME HostEstablish Communication with the Galil controller 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 CRTTX CR DC Power Supply DC Brush Connect Sinusoidal Commutation Motors If Hall Sensors are Available If Hall Sensors are Not Available AMX SHXBGX BCX Connect Step Motors Tune the Servo System TE X CR Design ExamplesExample 1 System Set-up InstructionInterpretation Example 4 Independent Moves Example 2 Profiled MoveExample 3 Multiple Axes Example 5 Position Interrogation Example 6 Absolute Position Example 7 Velocity Control Example 8 Operation Under Torque Limit Example 10 Operation in the Buffer ModeExample 11 Using the On-Board Editor Example 9 Interrogation Example 12 Motion Programs with Loops Example 13 Motion Programs with Trippoints Example 14 Control Variables Example 15 Linear InterpolationExample 16 Circular Interpolation VM XY Motion Path for Example Connecting Hardware Using Optoisolated InputsLimit Switch Input Overview Home Switch Input Abort Input Wiring the Optoisolated Inputs Group Controllers with 1- 4 Axes Common SignalUncommitted Digital Inputs Using an Isolated Power Supply Optoisolated Inputs Analog Inputs Amplifier InterfaceBypassing the Opto-Isolation TTL Inputs ICM-1900/2900 TTL Outputs This page Left Blank Intentionally AM5 AM4 AM3 AM2 AM1 AM0 Communication with ControllerCommunication Registers Register Description Address Read/Write Simplified Communication Procedure Advanced Communication Techniques Polling Mode Read Procedure Communication with Controller Secondary Fifo channelPolling Fifo Operation Register address Value Overview of Secondary Fifo ProcedureDMA / Secondary Fifo Memory Map Addr Type Error code Axis Status Information 2 Byte Axis Switch Information 1 ByteGeneral Status Information 1 Byte BIT Setting up Interrupts Configuring InterruptsInterrupts Bit Number m Condition Bit number n Input BGY Servicing InterruptsExample Interrupts Hex Data Condition Controller Response to Data UI1 Command Syntax Ascii Command Basics BG S Coordinated Motion with more than 1 axisBG Xyzw BG TW Header Format Command Syntax BinaryBinary Command Format Datafields Format Example Binary command tableCommand LE, VE Interrogation Commands Interrogating the Controller Operands Summary of Interrogation CommandsInterrogating Current Commanded Values =TPX Command Summary This page Left Blank Intentionally Example Application Mode of Motion Commands Programming Motion Independent Axis Positioning Example Absolute Position Movement Command Summary Independent AxisOperand Summary Independent Axis Example Multiple Move Sequence Velocity COUNTS/SEC Axis velocity profile Command Summary Jogging Independent JoggingExample Jog in X only Linear Interpolation Mode Specifying Linear SegmentsExample Joystick Jogging Specifying Vector Speed for Each Segment Additional CommandsAn Example of Linear Interpolation Motion #LMOVE #ALT Command Summary Linear InterpolationChanging Feedrate 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 Command Summary Coordinated Motion Sequence Operand Summary Coordinated Motion Sequence Electronic Gearing Required Path Example Simple Master Slave Command Summary Electronic GearingCommand Description 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 CAMOperand Description Contour Mode Specifying Contour Segments CMX DT0CD0 General Velocity Profiles Command Summary Contour ModeOperand Summary Contour Mode Generating an Array An Example #POINTS Contour Mode ExampleInstruction Interpretation 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, RPBGN Specifying Stepper Motor Operation Monitoring Generated Pulses vs Commanded PulsesStepper Motor Operation Stepper Motor Smoothing Using an Encoder with Stepper Motors Motion Complete Trippoint Stepper Position Maintenance Mode SPM Command Summary Stepper Motor OperationOperand Summary Stepper Motor Operation Error Limit Example SPM Mode SetupCorrection Example Error Correction Half-Stepping Drive, X axis #MOTION Example Friction Correction #LOOP Dual Loop Auxiliary Encoder Using the CE CommandAdditional Commands for the Auxiliary Encoder = Main Encoder Second Encoder Sampled Dual Loop Example Backlash CompensationContinuous Dual Loop Example #DUALOOP Using the IT and VT Commands Motion SmoothingExample Smoothing Using the KS Command Step Motor Smoothing Trapezoidal velocity and smooth velocity profiles Homing Motion intervals in the Home sequence Operand Summary Homing Operation Command Summary Homing OperationHigh Speed Position Capture The Latch Function FE Xyzw FI Xyzw HM Xyzw SC Xyzw TS Xyzw Fast Update Rate Mode AL Y This page Left Blank Intentionally Using the DMC-13X8 Editor to Enter Programs ED #BEGINApplication Programming Edit Mode Commands Program FormatReturn #BEGIN #SQUARE Using Labels in ProgramsSpecial Labels #BEGIN1 Commenting Programs Using the command, noExecuting Programs Multitasking No Bottom Line Trace Commands Debugging Programs RAM Memory Interrogation Commands Error Code CommandStop Code Command Operands Program Flow Commands Event Triggers & Trippoints DMC-13X8 and DMC-13X8 Event Triggers Function Event Trigger Set Output after Distance Event Trigger ExamplesEvent Trigger Multiple Move Sequence 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 Conditional Statements Command Format JP and JSLogical operators Multiple Conditional Statements Example Using JP command Using If, Else, and Endif CommandsUsing the JP Command Using the if and Endif Commands Example using IF, Else and Endif Using the Else CommandCommand Format IF, Else and Endif Nesting if Conditional Statements Subroutines Stack ManipulationAuto-Start Routine Automatic Subroutines for Monitoring Conditions Example Limit SwitchExample Position Error Subroutine Description Example Motion Complete Timeout Example Input Interrupt Example Command Error Example Command Error w/MultitaskingOperand Function Bit-Wise Operators Mathematical and Functional ExpressionsMathematical Operators Operator Function FLEN=@FRACLEN FunctionsENTER,LENS6 LEN1=FLEN&$00FF Posx POS1 Speedz VariablesProgrammable Variables Reallongname Assigning Variable Values to Controller Parameters Example Using Variables for JoystickAssigning Values to Variables Displaying the value of variables at the terminal Examples of Internal Variables OperandsSpecial Operands Keywords Examples of Keywords Defining Arrays Using a Variable to Address Array ElementsArrays Assignment of Array Entries Command Summary Automatic Data Capture Automatic Data Capture into ArraysUploading and Downloading Arrays to On Board Memory Example Recording into An Array Data Types for RecordingOperand Summary Automatic Data Capture Data Type Description Input of Data Input of Data Numeric and StringDeallocating Array Space An Example for Inputting Numeric Data Inputting String Variables Output of Data Numeric and StringSending Messages Formatting Messages Using the MG Command to Configure Terminals Displaying Variables and ArraysSummary of Message Functions BL ? LE ? DE ? PA ? DP ? PR ? EM ? Local Formatting of Variables Local Formatting of Response of Interrogation CommandsFormatting Variables and Array Elements LZ0 Hardware I/O Converting to User UnitsDigital Outputs Digital Inputs Instruction Function 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 Motor Velocity and the Associated Input/Output signals Table Controller BGZ AMZ BGZAMZ BGS AMS Speed Control by Joystick JG VEL JP #B Position Control by JoystickBacklash Compensation by Sampled Dual-Loop DP0 ER=1000-LINPOS-TEX LINPOS=0LIN POS = DEX PR ER This page Left Blank Intentionally Hardware Protection Output Protection LinesHardware & Software Protection Input Protection Lines Signal or Function State if Error OccursSoftware Protection Programmable Position Limits Limit Switch Routine Off-On-ErrorAutomatic Error Routine #AJP #AEN #LF V2=LRXJP#END Stxamx Troubleshooting InstallationSymptom Diagnosis Cause Remedy Communication Stability Operation This page Left Blank Intentionally 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, PLPID, T Stepper Control Electrical SpecificationsServo Control Input/Output Performance Specifications Power 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 Pin-Out Description for DMC-13X8 PWM/STEP OUT Accessories and Options ICM-1900 Interconnect Module Terminal # Label Description +ABY ErrorReset ABY Xlatch RlsxFlsx Ylatch MAZ INY+MAZ +MBZ AMP-19X0 Mating Power Amplifiers ICM-1900 Drawing ICM-2900 Interconnect Module OUT PWROUT GND ANALOG6 ANA GNDANALOG5 ANALOG7 ANALOG3 ANALOG1ANALOG2 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 Saving the State of the Outputs in Non-Volatile Memory Configuring the I/O of the DMC-13X8Accessing extended I/O BIT I/O Block Binary Representation Decimal Value for Block BIT @INn Connector DescriptionPIN Signal Block 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 Digital Inputs Electrical SpecificationsHigh Power Digital Outputs 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 Benefit DMC-13X8/DMC-1300 ComparisonList of Other Publications DMC-13X8 Training Seminars WHO should Attend Contacting Us Galil Motion Control Warranty 206 Limswi PoserrIndex Address ... 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