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Galil DMC-13X8 user manual Command Summary Coordinated Motion Sequence

Models: DMC-13X8

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BGS	Do the circular cut
AMS	After the coordinated move is complete
CB0	Disengage knife
MG "ALL DONE"
EN	End program

Command Summary - Coordinated Motion Sequence

COMMAND

VM m,n

VP m,n

CR r,Θ, ±ΔΘ

VS s,t

VA s,t

VD s,t

VR s,t

BGST

CSST

AV s,t

AMST

TN m,n

ES m,n

VT s,t

LM?

CAS or CAT

DESCRIPTION

Specifies the axes for the planar motion where m and n represent the planar axes and p is the tangent axis.

Return coordinate of last point, where m=X,Y,Z or W.

Specifies arc segment where r is the radius, Θ is the starting angle and ΔΘ is the travel angle. Positive direction is CCW.

Specify vector speed or feedrate of sequence. Specify vector acceleration along the sequence. Specify vector deceleration along the sequence. Specify vector speed ratio

Begin motion sequence, S or T Clear sequence, S or T

Trippoint for After Relative Vector distance.

Holds execution of next command until Motion Sequence is complete. Tangent scale and offset.

Ellipse scale factor.

S curve smoothing constant for coordinated moves

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

Specifies which coordinate system is to be active (S or T)

Operand Summary - Coordinated Motion Sequence

OPERAND

_VPM

_AV

_LM

_CS

_VE

DESCRIPTION

The absolute coordinate of the axes at the last intersection along the sequence. Distance traveled.

Number of available spaces for linear and circular segments in DMC-13X8 sequence buffer. Zero means buffer is full. 512 means buffer is empty.

Segment counter - Number of the segment in the sequence, starting at zero. Vector length of coordinated move sequence.

When AV is used as an operand, _AV returns the distance traveled along the sequence.

The operands _VPX and _VPY can be used to return the coordinates of the last point specified along the path.

Chapter 6 Programming Motion • 76

USER MANUAL

Image 76

Galil DMC-13X8 user manual Command Summary Coordinated Motion Sequence, Operand Summary Coordinated Motion Sequence

Contents

DMC-13X8 Using This Manual Contents Connecting Hardware Programming Motion Hardware & Software Protection 149 DAC ZOHIndex 207 Overview of Motor Types IntroductionOverview 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/OMotor System ElementsAmplifier Driver 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 LoopBGX CR Inverting the Loop PolarityTTX 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 15 Linear Interpolation Example 14 Control VariablesExample 16 Circular Interpolation VM XY Motion Path for ExampleUsing Optoisolated Inputs Limit Switch InputConnecting Hardware OverviewHome Switch Input Abort InputGroup Controllers with 1- 4 Axes Common Signal Wiring the Optoisolated InputsUncommitted Digital Inputs Using an Isolated Power Supply Optoisolated InputsAmplifier Interface Analog InputsBypassing the Opto-Isolation 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 TechniquesCommunication with Controller Secondary Fifo channel Polling Mode Read ProcedurePolling Fifo 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 BITConfiguring Interrupts Setting up InterruptsInterrupts 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 profileIndependent Jogging Command Summary JoggingExample Jog in X only Specifying Linear Segments Linear Interpolation ModeExample Joystick Jogging Additional Commands An Example of Linear Interpolation MotionSpecifying Vector Speed for Each Segment #LMOVECommand Summary Linear Interpolation Changing Feedrate#ALT LM?Example Linear Move Operand Summary Linear InterpolationLM ZW #LOAD Example Multiple MovesCOUNT=0 Specifying the Coordinate Plane Vector Mode Linear and Circular Interpolation MotionSpecifying Vector Segments Additional commands Trippoints Compensating for Differences in Encoder ResolutionTangent Motion 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 InterpretationExample Electronic CAM Operand Summary Electronic CAMOperand Description 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 ExampleAC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RP Virtual AxisBGN Monitoring Generated Pulses vs Commanded Pulses Stepper Motor OperationSpecifying Stepper Motor Operation Stepper Motor SmoothingUsing an Encoder with Stepper Motors Motion Complete TrippointCommand Summary Stepper Motor Operation Stepper Position Maintenance Mode SPMOperand Summary Stepper Motor Operation Example SPM Mode Setup Error LimitCorrection 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 #DUALOOPMotion Smoothing Using the IT and VT CommandsExample 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 ED #BEGIN Using the DMC-13X8 Editor to Enter ProgramsApplication Programming Program Format Edit Mode CommandsReturn 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 Start Motion on Input Event Trigger Set output when At speedEvent Trigger Change Speed along Vector Path Conditional Jumps Define Output Waveform Using ATEvent Trigger Multiple Move with Wait 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 StatementsStack Manipulation SubroutinesAuto-Start Routine Example Limit Switch Example Position ErrorAutomatic Subroutines for Monitoring Conditions Subroutine DescriptionExample Motion Complete Timeout Example Input InterruptExample Command Error w/Multitasking Example Command ErrorOperand Function 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 EntriesAutomatic Data Capture into Arrays Command Summary Automatic Data CaptureUploading and Downloading Arrays to On Board Memory 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 MessagesDisplaying Variables and Arrays Using the MG Command to Configure TerminalsSummary of Message Functions BL ? LE ? DE ? PA ? DP ? PR ? EM ? Local Formatting of Response of Interrogation Commands Formatting Variables and Array ElementsLocal Formatting of Variables LZ0Converting to User Units Hardware I/ODigital Outputs Digital Inputs Instruction FunctionInput Interrupt Function Example Start Motion on SwitchExamples Input Interrupt Example Position Follower Point-to-Point Analog InputsExample Position Follower Continuous Move Example Applications Wire CutterJP #A 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 Output Protection Lines Hardware ProtectionHardware & Software Protection 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 KP, KD, KI, PL Equivalent Filter FormPID, T Electrical Specifications Servo ControlStepper Control Input/OutputPerformance Specifications PowerJ1 DMC-13X8 A-D Axes Main J5-DMC-13X8 A-D Axes Connectors for DMC-13X8 Main BoardPIN High Density Auxiliary Encoders 26-PIN IDC 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 PWR ICM-2900 Interconnect ModuleOUT GND ANA GND ANALOG5ANALOG6 ANALOG7ANALOG1 ANALOG2ANALOG3 ANALOG4Extended I/O of the DMC-13X8 Controller Opto-Isolated Outputs ICM-1900 / ICM-2900 -Opto optionStandard Opto-isolation and High Current Opto-isolation 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 OutputsScrew Terminal Listing Relevant DMC CommandsTerminal 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 PublicationsBenefit DMC-13X8Training Seminars WHO should AttendContacting Us Galil Motion ControlWarranty 206 Poserr LimswiIndex Address ... 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