Operand Summary Linear Interpolation, Lm Zw | Galil DMC-13X8

Operand Summary - Linear Interpolation

OPERAND

_AV

_CS

_LE

_LM

_VPm

DESCRIPTION

Return distance travelled

Segment counter - returns number of the segment in the sequence, starting at zero. Returns length of vector (resets after 2147483647)

Returns number of available spaces for linear segments in DMC-13X8 sequence buffer. Zero means buffer full. 512 means buffer empty.

Return the absolute coordinate of the last data point along the trajectory. (m=X,Y,Z or W or A,B,C,D,E,F,G or H)

To illustrate the ability to interrogate the motion status, consider the first motion segment of our example, #LMOVE, where the X axis moves toward the point X=5000. Suppose that when X=3000, the controller is interrogated using the command ‘MG _AV’. The returned value will be 3000. The value of _CS, _VPX and _VPY will be zero.

Now suppose that the interrogation is repeated at the second segment when Y=2000. The value of _AV at this point is 7000, _CS equals 1, _VPX=5000 and _VPY=0.

Example - Linear Move

Make a coordinated linear move in the ZW plane. Move to coordinates 40000,30000 counts at a vector speed of 100000 counts/sec and vector acceleration of 1000000 counts/sec2.

LM ZW	Specify axes for linear interpolation
LI,,40000,30000	Specify ZW distances
LE	Specify end move
VS 100000	Specify vector speed
VA 1000000	Specify vector acceleration
VD 1000000	Specify vector deceleration
BGS	Begin sequence

Note that the above program specifies the vector speed, VS, and not the actual axis speeds VZ and VW. The axis speeds are determined by the controller from:

VS = VZ 2 + VW 2

The resulting profile is shown in Figure 6.2.

USER MANUAL

Chapter 6 Programming Motion • 71

Image 71

Galil DMC-13X8 user manual Operand Summary Linear Interpolation, Example Linear Move, Lm Zw

Contents

DMC-13X8 Using This Manual Contents Connecting Hardware Programming Motion Hardware & Software Protection 149 ZOH DAC Index 207 Overview IntroductionOverview of Motor Types Brushless Servo Motor with Sinusoidal Commutation Standard Servo Motor with +/- 10 Volt Command SignalStepper Motor with Step and Direction Signals DMC-13X8 Functional Elements General I/O Microcomputer SectionMotor Interface Communication Amplifier Driver System ElementsMotor Encoder Watch Dog Timer This page Left Blank Intentionally Getting Started DMC-13X8 Motion Controller JP9 Elements You Need Sinusoidal Commutation Installing the DMC-13X8Determine Overall Motor Configuration Standard Servo Motor Operation Install Jumpers on the DMC-13X8 Optional Motor Off Jumpers Install the DMC-13X8 in the VME HostEstablish Communication with the Galil controller Determine the Axes to be Used for Sinusoidal Commutation Baxz Make Connections to Amplifier and Encoder Getting Started Check the Polarity of the Feedback Loop Connect Standard Servo Motors TTX 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 Available BCX SHXBGX AMX Tune the Servo System Connect Step Motors InstructionInterpretation Design ExamplesExample 1 System Set-up TE X CR Example 5 Position Interrogation Example 2 Profiled MoveExample 3 Multiple Axes Example 4 Independent Moves Example 7 Velocity Control Example 6 Absolute Position Example 9 Interrogation Example 10 Operation in the Buffer ModeExample 11 Using the On-Board Editor Example 8 Operation Under Torque Limit Example 13 Motion Programs with Trippoints Example 12 Motion Programs with Loops Example 16 Circular Interpolation Example 14 Control VariablesExample 15 Linear Interpolation Motion Path for Example VM XY Overview Using Optoisolated InputsLimit Switch Input Connecting Hardware Abort Input Home Switch Input Uncommitted Digital Inputs Wiring the Optoisolated InputsGroup Controllers with 1- 4 Axes Common Signal Optoisolated Inputs Using an Isolated Power Supply Bypassing the Opto-Isolation Analog InputsAmplifier Interface ICM-1900/2900 TTL Inputs TTL Outputs This page Left Blank Intentionally Register Description Address Read/Write Communication with ControllerCommunication Registers AM5 AM4 AM3 AM2 AM1 AM0 Advanced Communication Techniques Simplified Communication Procedure Polling Fifo Polling Mode Read ProcedureCommunication with Controller Secondary Fifo channel Addr Type Overview of Secondary Fifo ProcedureDMA / Secondary Fifo Memory Map Operation Register address Value Error code BIT Axis Switch Information 1 ByteGeneral Status Information 1 Byte Axis Status Information 2 Byte Interrupts Setting up InterruptsConfiguring Interrupts Bit number n Input Bit Number m Condition Hex Data Condition Servicing InterruptsExample Interrupts BGY UI1 Controller Response to Data Command Basics Command Syntax Ascii BG TW Coordinated Motion with more than 1 axisBG Xyzw BG S Datafields Format Command Syntax BinaryBinary Command Format Header Format LE, VE Binary command tableCommand Example Interrogating the Controller Interrogation Commands =TPX Summary of Interrogation CommandsInterrogating Current Commanded Values Operands Command Summary This page Left Blank Intentionally Programming Motion Example Application Mode of Motion Commands Independent Axis Positioning Example Multiple Move Sequence Command Summary Independent AxisOperand Summary Independent Axis Example Absolute Position Movement Axis velocity profile Velocity COUNTS/SEC Example Jog in X only Command Summary JoggingIndependent Jogging Example Joystick Jogging Linear Interpolation ModeSpecifying Linear Segments #LMOVE Additional CommandsAn Example of Linear Interpolation Motion Specifying Vector Speed for Each Segment LM? Command Summary Linear InterpolationChanging Feedrate #ALT 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 Sequence Required Path Electronic Gearing Example Electronic Gearing Command Summary Electronic GearingCommand Description Example Simple Master Slave 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 Description Operand Summary Electronic CAMExample Electronic CAM Specifying Contour Segments Contour Mode DT0CD0 CMX Generating an Array An Example Command Summary Contour ModeOperand Summary Contour Mode General Velocity Profiles POSC=V4 Contour Mode ExampleInstruction Interpretation #POINTS Record and Playback Example Teach Record and Play-Back BGN Virtual AxisAC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RP Stepper Motor Smoothing Monitoring Generated Pulses vs Commanded PulsesStepper Motor Operation Specifying Stepper Motor Operation Motion Complete Trippoint Using an Encoder with Stepper Motors Operand 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 Correction = Main Encoder Second Encoder Using the CE CommandAdditional Commands for the Auxiliary Encoder Dual Loop Auxiliary Encoder #DUALOOP Backlash CompensationContinuous Dual Loop Example Sampled Dual Loop Example Example Smoothing Using the IT and VT CommandsMotion Smoothing Trapezoidal velocity and smooth velocity profiles Using the KS Command Step Motor Smoothing Homing Motion intervals in the Home sequence FE Xyzw FI Xyzw HM Xyzw SC Xyzw TS Xyzw Command Summary Homing OperationHigh Speed Position Capture The Latch Function Operand Summary Homing Operation AL Y Fast Update Rate Mode This page Left Blank Intentionally Application Programming Using the DMC-13X8 Editor to Enter ProgramsED #BEGIN Return Edit Mode CommandsProgram Format #BEGIN1 Using Labels in ProgramsSpecial Labels #BEGIN #SQUARE No Bottom Line Using the command, noExecuting Programs Multitasking Commenting Programs Debugging Programs Trace Commands Operands Error Code CommandStop Code Command RAM Memory Interrogation Commands Event Triggers & Trippoints Program Flow Commands Function DMC-13X8 and DMC-13X8 Event Triggers Event Trigger Repetitive Position Trigger Event Trigger ExamplesEvent Trigger Multiple Move Sequence Event Trigger Set Output after Distance Event 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 Multiple Conditional Statements Command Format JP and JSLogical operators Conditional Statements Using the if and Endif Commands Using If, Else, and Endif CommandsUsing the JP Command Example Using JP command Nesting if Conditional Statements Using the Else CommandCommand Format IF, Else and Endif Example using IF, Else and Endif Auto-Start Routine SubroutinesStack Manipulation Subroutine Description Example Limit SwitchExample Position Error Automatic Subroutines for Monitoring Conditions Example Input Interrupt Example Motion Complete Timeout Operand Function Example Command ErrorExample Command Error w/Multitasking Operator Function Mathematical and Functional ExpressionsMathematical Operators Bit-Wise Operators LEN1=FLEN&$00FF FunctionsENTER,LENS6 FLEN=@FRACLEN Reallongname VariablesProgrammable Variables Posx POS1 Speedz Displaying the value of variables at the terminal Example Using Variables for JoystickAssigning Values to Variables Assigning Variable Values to Controller Parameters Examples of Keywords OperandsSpecial Operands Keywords Examples of Internal Variables Assignment of Array Entries Using a Variable to Address Array ElementsArrays Defining Arrays Uploading and Downloading Arrays to On Board Memory Command Summary Automatic Data CaptureAutomatic Data Capture into Arrays Data Type Description Data Types for RecordingOperand Summary Automatic Data Capture Example Recording into An Array An Example for Inputting Numeric Data Input of Data Numeric and StringDeallocating Array Space Input of Data Formatting Messages Output of Data Numeric and StringSending Messages Inputting String Variables Summary of Message Functions Using the MG Command to Configure TerminalsDisplaying Variables and Arrays BL ? LE ? DE ? PA ? DP ? PR ? EM ? LZ0 Local Formatting of Response of Interrogation CommandsFormatting Variables and Array Elements Local Formatting of Variables Digital Outputs Hardware I/OConverting to User Units Instruction Function Digital Inputs Examples 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 signals BGS AMS BGZAMZ BGZ AMZ Speed Control by Joystick DP0 Position Control by JoystickBacklash Compensation by Sampled Dual-Loop JG VEL JP #B PR ER LINPOS=0LIN POS = DEX ER=1000-LINPOS-TEX This page Left Blank Intentionally Hardware & Software Protection Hardware ProtectionOutput Protection Lines Programmable Position Limits Signal or Function State if Error OccursSoftware Protection Input Protection Lines #AJP #AEN Off-On-ErrorAutomatic Error Routine Limit Switch Routine Stxamx V2=LRXJP#END #LF Remedy InstallationSymptom Diagnosis Cause Troubleshooting 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 PID, T Equivalent Filter FormKP, KD, KI, PL Input/Output Electrical SpecificationsServo Control Stepper Control Power Performance Specifications PIN 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-13X8 Accessories and Options Terminal # Label Description ICM-1900 Interconnect Module ABY ErrorReset +ABY Ylatch RlsxFlsx Xlatch +MBZ INY+MAZ MAZ ICM-1900 Drawing AMP-19X0 Mating Power Amplifiers OUT GND ICM-2900 Interconnect ModuleOUT PWR ANALOG7 ANA GNDANALOG5 ANALOG6 ANALOG4 ANALOG1ANALOG2 ANALOG3 Standard Opto-isolation and High Current Opto-isolation Opto-Isolated Outputs ICM-1900 / ICM-2900 -Opto optionExtended I/O of the DMC-13X8 Controller BIT I/O Block Binary Representation Decimal Value for Block Configuring the I/O of the DMC-13X8Accessing extended I/O Saving the State of the Outputs in Non-Volatile Memory BIT # Connector DescriptionPIN Signal Block BIT @INn 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 Standard Digital Outputs Electrical SpecificationsHigh Power Digital Outputs Digital Inputs Terminal 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-13X8/DMC-1300 ComparisonList of Other Publications Benefit WHO should Attend Training Seminars Galil Motion Control Contacting Us Warranty 206 Index LimswiPoserr Address ... Error! Not a valid bookmark in entry on Interrupt...Error! Not a valid bookmark in entry on Stop