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Galil DMC-13X8 user manual Example Friction Correction, #Loop

Models: DMC-13X8

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Example: Friction Correction

The following example illustrates how the SPM mode can be useful in correcting for X axis friction after each move when conducting a reciprocating motion. The drive is a 1/64th microstepping drive with a 1.8o step motor and 4000 count/rev encoder.

#SETUP;	'SET THE PROFILER TO CONTINUE UPON ERROR
KS16;	'SET STEP SMOOTHING
MT-2,-2,-2,-2;	'MOTOR TYPE SET TO STEPPER
YA64;	'STEP RESOLUTION OF THE MICROSTEPPING DRIVE
YB200;	'MOTOR RESOLUTION (FULL STEPS PER REVOLUTION)
YC4000;	'ENCODER RESOLUTION (COUNTS PER REVOLUTION)
SHX;	'ENABLE AXIS
WT50;	'ALLOW SLIGHT SETTLE TIME
YS1;	'ENABLE SPM MODE
#MOTION;	'PERFORM MOTION
SP16384;	'SET THE SPEED
PR10000;	'PREPARE MODE OF MOTION
BGX;	'BEGIN MOTION
MCX
JS#CORRECT;	'MOVE TO CORRECTION
#MOTION2
SP16384;	'SET THE SPEED
PR-10000;	'PREPARE MODE OF MOTION
BGX;	'BEGIN MOTION
MCX
JS#CORRECT;	'MOVE TO CORRECTION
JP#MOTION
#CORRECT;	'CORRECTION CODE
spx=_SPX
#LOOP;	'SAVE SPEED VALUE
SP2048;	'SET A NEW SLOW CORRECTION SPEED
WT100;	'STABILIZE

JP#END,@ABS[_QSX]<10;'END CORRECTION IF ERROR IS WITHIN DEFINED

	'TOLERANCE
YRX=_QSX;	'CORRECTION MOVE

USER MANUAL	Chapter 6 Programming Motion • 97

Image 97

Galil DMC-13X8 user manual Example Friction Correction, #Loop

Contents

DMC-13X8 Using This Manual Contents Connecting Hardware Programming Motion Hardware & Software Protection 149 ZOH DACIndex 207 Overview of Motor Types IntroductionOverview Stepper Motor with Step and Direction Signals Standard Servo Motor with +/- 10 Volt Command SignalDMC-13X8 Functional Elements Brushless Servo Motor with Sinusoidal CommutationMotor Interface Microcomputer SectionCommunication General I/OMotor System ElementsAmplifier Driver Encoder Watch Dog TimerThis page Left Blank Intentionally Getting Started DMC-13X8 Motion ControllerJP9 Elements You NeedDetermine Overall Motor Configuration Installing the DMC-13X8Standard Servo Motor Operation Sinusoidal CommutationInstall Jumpers on the DMC-13X8 Establish Communication with the Galil controller Install the DMC-13X8 in the VME HostDetermine the Axes to be Used for Sinusoidal Commutation Optional Motor Off JumpersBaxz Make Connections to Amplifier and EncoderGetting Started Check the Polarity of the Feedback Loop Connect Standard Servo MotorsBGX CR Inverting the Loop PolarityTTX CR DC Power Supply DC Brush Connect Sinusoidal Commutation Motors If Hall Sensors are Not Available If Hall Sensors are AvailableBGX SHXAMX BCXTune the Servo System Connect Step MotorsExample 1 System Set-up Design ExamplesTE X CR InstructionInterpretationExample 3 Multiple Axes Example 2 Profiled MoveExample 4 Independent Moves Example 5 Position InterrogationExample 7 Velocity Control Example 6 Absolute PositionExample 11 Using the On-Board Editor Example 10 Operation in the Buffer ModeExample 8 Operation Under Torque Limit Example 9 InterrogationExample 13 Motion Programs with Trippoints Example 12 Motion Programs with LoopsExample 15 Linear Interpolation Example 14 Control VariablesExample 16 Circular Interpolation Motion Path for Example VM XYLimit Switch Input Using Optoisolated InputsConnecting Hardware OverviewAbort Input Home Switch InputGroup Controllers with 1- 4 Axes Common Signal Wiring the Optoisolated InputsUncommitted Digital Inputs Optoisolated Inputs Using an Isolated Power SupplyAmplifier Interface Analog InputsBypassing the Opto-Isolation ICM-1900/2900 TTL InputsTTL Outputs This page Left Blank Intentionally Communication Registers Communication with ControllerAM5 AM4 AM3 AM2 AM1 AM0 Register Description Address Read/WriteAdvanced Communication Techniques Simplified Communication ProcedureCommunication with Controller Secondary Fifo channel Polling Mode Read ProcedurePolling Fifo DMA / Secondary Fifo Memory Map Overview of Secondary Fifo ProcedureOperation Register address Value Addr TypeError code General Status Information 1 Byte Axis Switch Information 1 ByteAxis Status Information 2 Byte BITConfiguring Interrupts Setting up InterruptsInterrupts Bit number n Input Bit Number m ConditionExample Interrupts Servicing InterruptsBGY Hex Data ConditionUI1 Controller Response to DataCommand Basics Command Syntax AsciiBG Xyzw Coordinated Motion with more than 1 axisBG S BG TWBinary Command Format Command Syntax BinaryHeader Format Datafields FormatCommand Binary command tableExample LE, VEInterrogating the Controller Interrogation CommandsInterrogating Current Commanded Values Summary of Interrogation CommandsOperands =TPXCommand Summary This page Left Blank Intentionally Programming Motion Example Application Mode of Motion CommandsIndependent Axis Positioning Operand Summary Independent Axis Command Summary Independent AxisExample Absolute Position Movement Example Multiple Move SequenceAxis velocity profile Velocity COUNTS/SECIndependent Jogging Command Summary JoggingExample Jog in X only Specifying Linear Segments Linear Interpolation ModeExample Joystick Jogging An Example of Linear Interpolation Motion Additional CommandsSpecifying Vector Speed for Each Segment #LMOVEChanging Feedrate Command Summary Linear Interpolation#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 Operand Summary Coordinated Motion Sequence Command Summary Coordinated Motion SequenceRequired Path Electronic GearingCommand Description Command Summary Electronic GearingExample Simple Master Slave Example Electronic GearingElectronic Cam Example Gantry ModeEAp 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 CAMExample Electronic CAM Operand Summary Electronic CAMOperand Description Specifying Contour Segments Contour ModeDT0CD0 CMXOperand Summary Contour Mode Command Summary Contour ModeGeneral Velocity Profiles Generating an Array An ExampleInstruction Interpretation Contour Mode Example#POINTS POSC=V4Record and Playback Example Teach Record and Play-BackAC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RP Virtual AxisBGN Stepper Motor Operation Monitoring Generated Pulses vs Commanded PulsesSpecifying Stepper Motor Operation Stepper Motor SmoothingMotion Complete Trippoint Using an Encoder with Stepper MotorsCommand Summary Stepper Motor Operation Stepper Position Maintenance Mode SPMOperand Summary Stepper Motor Operation Example SPM Mode Setup Error LimitCorrection Half-Stepping Drive, X axis Example Error Correction#MOTION #LOOP Example Friction CorrectionAdditional Commands for the Auxiliary Encoder Using the CE CommandDual Loop Auxiliary Encoder = Main Encoder Second EncoderContinuous Dual Loop Example Backlash CompensationSampled Dual Loop Example #DUALOOPMotion Smoothing Using the IT and VT CommandsExample Smoothing Trapezoidal velocity and smooth velocity profiles Using the KS Command Step Motor SmoothingHoming Motion intervals in the Home sequence High Speed Position Capture The Latch Function Command Summary Homing OperationOperand Summary Homing Operation FE Xyzw FI Xyzw HM Xyzw SC Xyzw TS XyzwAL Y Fast Update Rate ModeThis page Left Blank Intentionally ED #BEGIN Using the DMC-13X8 Editor to Enter ProgramsApplication Programming Program Format Edit Mode CommandsReturn Special Labels Using Labels in Programs#BEGIN #SQUARE #BEGIN1Executing Programs Multitasking Using the command, noCommenting Programs No Bottom LineDebugging Programs Trace CommandsStop Code Command Error Code CommandRAM Memory Interrogation Commands OperandsEvent Triggers & Trippoints Program Flow CommandsFunction DMC-13X8 and DMC-13X8 Event TriggersEvent Trigger Multiple Move Sequence Event Trigger ExamplesEvent 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 Logical operators Command Format JP and JSConditional Statements Multiple Conditional StatementsUsing the JP Command Using If, Else, and Endif CommandsExample Using JP command Using the if and Endif CommandsCommand Format IF, Else and Endif Using the Else CommandExample using IF, Else and Endif Nesting if Conditional StatementsStack Manipulation SubroutinesAuto-Start Routine Example Position Error Example Limit SwitchAutomatic Subroutines for Monitoring Conditions Subroutine DescriptionExample Input Interrupt Example Motion Complete TimeoutExample Command Error w/Multitasking Example Command ErrorOperand Function Mathematical Operators Mathematical and Functional ExpressionsBit-Wise Operators Operator FunctionENTER,LENS6 FunctionsFLEN=@FRACLEN LEN1=FLEN&$00FFProgrammable Variables VariablesPosx POS1 Speedz ReallongnameAssigning Values to Variables Example Using Variables for JoystickAssigning Variable Values to Controller Parameters Displaying the value of variables at the terminalSpecial Operands Keywords OperandsExamples of Internal Variables Examples of KeywordsArrays Using a Variable to Address Array ElementsDefining Arrays Assignment of Array EntriesAutomatic Data Capture into Arrays Command Summary Automatic Data CaptureUploading and Downloading Arrays to On Board Memory Operand Summary Automatic Data Capture Data Types for RecordingExample Recording into An Array Data Type DescriptionDeallocating Array Space Input of Data Numeric and StringInput of Data An Example for Inputting Numeric DataSending Messages Output of Data Numeric and StringInputting String Variables Formatting MessagesDisplaying Variables and Arrays Using the MG Command to Configure TerminalsSummary of Message Functions BL ? LE ? DE ? PA ? DP ? PR ? EM ? Formatting Variables and Array Elements Local Formatting of Response of Interrogation CommandsLocal Formatting of Variables LZ0Converting to User Units Hardware I/ODigital Outputs Instruction Function Digital InputsInput 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 Table Controller Motor Velocity and the Associated Input/Output signalsAMZ BGZBGZ AMZ BGS AMSSpeed Control by Joystick Backlash Compensation by Sampled Dual-Loop Position Control by JoystickJG VEL JP #B DP0LIN POS = DEX LINPOS=0ER=1000-LINPOS-TEX PR ERThis page Left Blank Intentionally Output Protection Lines Hardware ProtectionHardware & Software Protection Software Protection Signal or Function State if Error OccursInput Protection Lines Programmable Position LimitsAutomatic Error Routine Off-On-ErrorLimit Switch Routine #AJP #AENJP#END V2=LRX#LF StxamxSymptom Diagnosis Cause InstallationTroubleshooting RemedyCommunication Operation StabilityThis page Left Blank Intentionally Theory of Operation Theory of OperationLevel Velocity and Position Profiles Operation of Closed-Loop SystemsSystem Modeling Voltage Drive Motor-AmplifierVelocity Loop Current DriveVoltage Source Digital Filter DACZOH System AnalysisMs = P/I = Kt/Js2 = 500/s2 rad/A Amp Ka = 4 Amp/V Analytical Method System Design and CompensationKd = 10/32768 = Encoder Kf = 4N/2π = Theory of Operation KP, KD, KI, PL Equivalent Filter FormPID, T Servo Control Electrical SpecificationsStepper Control Input/OutputPower Performance SpecificationsJ1 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 PWM/STEP OUT Pin-Out Description for DMC-13X8Accessories and Options Terminal # Label Description ICM-1900 Interconnect ModuleReset Error+ABY ABYFlsx RlsxXlatch Ylatch+MAZ INYMAZ +MBZICM-1900 Drawing AMP-19X0 Mating Power AmplifiersOUT PWR ICM-2900 Interconnect ModuleOUT GND ANALOG5 ANA GNDANALOG6 ANALOG7ANALOG2 ANALOG1ANALOG3 ANALOG4Extended I/O of the DMC-13X8 Controller Opto-Isolated Outputs ICM-1900 / ICM-2900 -Opto optionStandard Opto-isolation and High Current Opto-isolation Accessing extended I/O Configuring the I/O of the DMC-13X8Saving the State of the Outputs in Non-Volatile Memory BIT I/O Block Binary Representation Decimal Value for BlockPIN Signal Block Connector DescriptionBIT @INn BIT #GND @OUTn Description IOM-1964 Opto-Isolation Module for Extended I/O ControllersOverview Configuring Hardware BanksFor example, here is the layout of bank Sinking Sourcing Input CircuitHigh Power Digital Outputs Internal Pullup Standard Digital OutputsHigh Power Digital Outputs Electrical SpecificationsDigital 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 List of Other Publications DMC-13X8/DMC-1300 ComparisonBenefit DMC-13X8WHO should Attend Training SeminarsGalil Motion Control Contacting UsWarranty 206 Poserr LimswiIndex Address ... 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