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Galil Example - Multiple Moves, 2 - Linear Interpolation, DMC-1700/1800, Programming Motion •

Models: DMC-1800 DMC-1700

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30000

27000

POSITION W

3000

4000

36000

40000

POSITION Z

FEEDRATE
0	0.1	0.5	0.6	TIME (sec)

VELOCITY

Z-AXIS

TIME (sec)

VELOCITY

W-AXIS

TIME (sec)

Figure 6.2 - Linear Interpolation

Example - Multiple Moves

This example makes a coordinated linear move in the XY plane. The Arrays VX and VY are used to store 750 incremental distances which are filled by the program #LOAD.

#LOAD	Load Program
DM VX [750],VY [750]	Define Array
COUNT=0	Initialize Counter

DMC-1700/1800

Chapter 6 Programming Motion • 99

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Galil DMC-1800 user manual Example - Multiple Moves, 2 - Linear Interpolation, DMC-1700/1800, Programming Motion •

Contents

Manual Rev. 1.2m DMC-1700/1800By Galil Motion Control, Inc USER MANUAL1X80 Using This ManualChapter 2 Getting Started ContentsContents Chapter 1 OverviewChapter 4 - Software Tools and Communications Chapter 3 Connecting HardwareChapter 5 Command Basics Chapter 6 Programming Motion Chapter 7 Application Programming Appendices Chapter 9 TroubleshootingChapter 8 Hardware & Software Protection Chapter 10 Theory of OperationIndex Introduction Chapter 1 OverviewBrushless Servo Motor with Sinusoidal Commutation Stepper Motor with Step and Direction SignalsOverview of Motor Types DMC-1700/1800Functional ElementsGeneral I/O Microcomputer SectionMotor Interface CommunicationEncoder System ElementsMotor Amplifier DriverWatch Dog Timer 6 • Chapter 1 Overview THIS PAGE LEFT BLANK INTENTIONALLYJ6J8 Chapter 2 Getting StartedJ5 4 JP5 JP4 JP9 JP3 J1 JP88 • Chapter 2 Getting Started Elements You Need Sinusoidal Commutation Installing the DMC-1700/1800Step 1. Determine Overall Motor Configuration Standard Servo Motor OperationOpto Isolation Jumpers Step 2. Install Jumpers on the DMC-1700/1800Master Reset and Upgrade Jumpers Stepper Motor OperationOptional Motor Off Jumpers DRQ 0 DACKDRQ 1 DACK Optional IRQ Interrupt JumpersUsing DOS Step 3. Install the Communications SoftwareConfiguring the Address Jumpers on the DMC-1700 Using Win98SE, ME, NT4.0, 2000, and XPUsing Galil Software for DOS DMC-1700only Step 4. Install the DMC-1700/1800in the PCDMC-1700Install DMC-1800Installonly 1.On the first dialog, select Add/Troubleshoot 2.Let the Hardware Wizard try to detect a new Plug and Play device 18 • Chapter 2 Getting Started Automatically Assigned resources in Win 98 SE Changing the Resources in Win 98 SE 20 Chapter 2 Getting StartedDevice Manager in Win 98 SE Edit Input/Output Range in Win 98 SE 22 Chapter 2 Getting Started Using Galil Software for Windows NTOnce in the Galil Registry, click New Controller under Non-PnPTools. Select the appropriate controller from the pull down menu and adjust the timeout as seen fit. Click Next to continue BAXZ Sending Test Commands to the TerminalNotes on Configuring Sinusoidal Commutation 1X80 Step 7. Make Connections to Amplifier and EncoderStep D. Verify proper encoder operation Check the Polarity of the Feedback Loop Step 8a. Connect Standard Servo MotorsInverting the Loop Polarity Chapter 2 Getting Started • DC Power SupplyDC Servo Motor DMC-1700/180030 • Chapter 2 Getting Started Step 8b. Connect Sinusoidal Commutation Motors If Hall Sensors are Not Available If Hall Sensors are AvailableIf Hall Sensors are Not Available If Hall Sensors are Available Step 8C. Connect Step MotorsStep 9. Tune the Servo System TE X CR Design ExamplesExample 1 - System Set-up Example 2 - Profiled MoveExample 5 - Position Interrogation Example 3 - Multiple AxesExample 4 - Independent Moves Example 8 - Operation Under Torque Limit after a few seconds, commandExample 6 - Absolute Position Example 7 - Velocity ControlThe instruction Example 11 - Using the On-BoardEditorExample 9 - Interrogation Example 10 - Operation in the Buffer ModeExample 14 - Control Variables To start the program, commandExample 12 - Motion Programs with Loops Example 13 - Motion Programs with TrippointsInterpretation Example 15 - Linear InterpolationExample 16 - Circular Interpolation Instruction4000,0 0,40004000,4000 R=200042 • Chapter 2 Getting Started THIS PAGE LEFT BLANK INTENTIONALLYOverview Chapter 3 Connecting HardwareUsing Optoisolated Inputs Limit Switch InputAbort Input Home Switch Input44 • Chapter 3 Connecting Hardware 17X8 Wiring the Optoisolated InputsUncommitted Digital Inputs 1X80Using an Isolated Power Supply Bypassing the Opto-Isolation Analog InputsAmplifier Interface ICM-1900/2900 TTL InputsTTL Outputs DMC-1700/18001X80 THIS PAGE LEFT BLANK INTENTIONALLY 50 • Chapter 3 Connecting HardwareChapter 4 - Software Tools and Communications • Chapter 4 - Software Tools and CommunicationsDMC-1700/1800 Figure 4.1 - Software Communications Hierarchy Figure 4.2 - Galil SmartTERM Galil SmartTERMDownload Array DMC Data Record Display DMC Program Editor WindowFigure 4.3 - Data Record Display for a DMC-1840 Figure 4.4 - Galil Registry Editor Communication Settings for ISA and PCISetting Communications Parameters and Methods Galil Registry EditorAdvanced communications settings are available under the Communications Method tab to allow different methods of communications to be utilized shown in Fig 4.6. The version 7 and higher drivers and .DLL’s allow for three different methods of communications: Interrupt, Stall, and Delay Data Record Refresh Rate Stall Thread and Delay Thread MethodsInterrupt Communications Method Data Record Cache DepthFigure 4.8 - DMC-1800Data Record Parameters Figure 4.7 - DMC-1700Data Record ParametersFigure 4.9- WSDK Main Screen Windows Servo Design Kit WSDKGalil Communications API with C/C++ Creating Custom Software InterfacesActiveX Toolkit DMCWin Programmers ToolkitGalil Communications API with Visual Basic End Sub Linux Enabling Event Interrupts EI commandDOS, Linux, and QNX tools Controller Event Interrupts and User InterruptsServicing Interrupts User Interrupts UI commandCommunications with the DMC-1700 Hardware Level Communications for ISA and PCIControl Register N+1 Simplified Communications ProcedureCommunication with DMC-1700 Reading the Data Record using the Polling FIFO Interrupt Service for the DMC-1700Operation Polling FIFO Mode Read ProcedureCommunications with the DMC-1800 Secondary FIFO RegistersVENDOR ID Simplified Communication ProcedurePCI Device Identification DEVICE IDEnabling and Reading IRQ’s FIFO Control Register at N+4Half Full Flag Reading the Data Record from the Secondary FIFODMA / Secondary FIFO / DPRAM Memory Map Reset Register at N+8general output block 6 outputs Chapter 4 - Software Tools and Communications • 128-131DMC-1700/1800 Axis Status Information 1 Word Axis Switch Information 1 ByteGeneral Status Information 1 Byte Page THIS PAGE LEFT BLANK INTENTIONALLY Introduction Chapter 5 Command BasicsCommand Syntax - ASCII 1X80 Command Syntax - BinaryCoordinated Motion with more than 1 axis A7 02 00 05 03 E8 FE 0C Binary Command FormatHeader Format Datafields FormatExample Binary command tableInterrogating the Controller Interrogation CommandsSummary of Interrogation Commands Controller Response to DATAV=_TPX Interrogating Current Commanded ValuesCommand Summary OperandsChapter 6 Programming Motion • Chapter 6 Programming Motion1X80 DMC-1700/180086 • Chapter 6 Programming Motion Operand Summary - Independent Axis Command Summary - Independent AxisIndependent Axis Positioning 88 • Chapter 6 Programming Motion Example - Absolute Position MovementExample - Multiple Move Sequence Required Motion Profiles20000 Command Summary - JoggingVELOCITY COUNTS/SECExample - Joystick Jogging Position TrackingOperand Summary - Independent Axis Example - Jog in X onlyCOMMAND 92 Chapter 6 Programming Motion Example - MotionFigure 4 Position vs. Time msec Motion Example MotionFigure 3 Velocity vs Time msec Motion 94 • Chapter 6 Programming Motion Trip PointsSpecifying Linear Segments Command Summary - Position Tracking ModeLinear Interpolation Mode Specifying Vector Speed for Each Segment Additional CommandsAn Example of Linear Interpolation Motion DMC-1700/1800 Command Summary - Linear InterpolationOperand Summary - Linear Interpolation Changing FeedrateVS = VZ 2 + VW Example - Linear MoveChapter 6 Programming Motion • Example - Multiple MovesFigure 6.2 - Linear Interpolation DMC-1700/1800100 • Chapter 6 Programming Motion Specifying the Coordinate PlaneSpecifying Vector Segments Changing Feedrate Additional commandsSpecifying Vector Speed for Each Segment 102 Chapter 6 Programming Motion TrippointsTangent Motion ExampleExample Command Summary - Coordinated Motion SequenceOperand Summary - Coordinated Motion Sequence A 0,0 Electronic GearingC -4000,3000D 0,3000 R = B -4000,0Ramped Gearing Specify Z as the master axis for both X and Y MO ZTurn Z off, for external master GA Z, ZExample - Gantry Mode Command Summary - Electronic GearingExample - Simple Master Slave Example - Electronic GearingElectronic Cam EP 2000,0 EM x,y,z,wEM 6000,1500 EP m,n6000 3000 2250 15002000 4000INTERPRETATION Command Summary - Electronic CAMcommand INSTRUCTIONdescription commandOperand Summary - Electronic CAM Example - Electronic CAMSpecifying Contour Segments Contour ModeTIME ms Additional CommandsPOSITION COUNTSGenerating an Array - An Example Command Summary - Contour Modeω= ΑΒ 1 − cos2π Β Χ= ATB − 2Aπ sin2π B General Velocity ProfilesContour Mode Example Chapter 6 Programming Motion • Teach Record and Play-BackRecord and Playback Example DMC-1700/1800Sinusoidal Motion Example Virtual AxisECAM Master Example Stepper Motor Smoothing Monitoring Generated Pulses vs Commanded PulsesStepper Motor Operation Specifying Stepper Motor OperationMotion Complete Trippoint Using an Encoder with Stepper MotorsCommand Summary - Stepper Motor Operation Operand Summary - Stepper Motor OperationQS = TD − TP ⋅ YA ⋅ YB YC Stepper Position Maintenance Mode SPMError Limit Internal Controller Commands user can queryHalf-SteppingDrive, X axis Example: SPM Mode SetupCorrection Full-SteppingDrive, X axisChapter 6 Programming Motion • Example Error CorrectionDMC-1700/1800 124 • Chapter 6 Programming Motion Example: Friction CorrectionDE 0,500,-30,300 Using the CE CommandCE Additional Commands for the Auxiliary Encoder Dual Loop Auxiliary EncoderV1= _DEX Backlash CompensationContinuous Dual Loop - Example Sampled Dual Loop - ExampleExample - Smoothing Using the IT and VT CommandsMotion Smoothing ACCELERATION VELOCITY ACCELERATION VELOCITY Using the KS Command Step Motor SmoothingStage HomingStage Stage130 • Chapter 6 Programming Motion Example: HomingInstruction InterpretationSWITCH Example Find Edge Command Summary - Homing OperationHigh Speed Position Capture The Latch Function Operand Summary - Homing OperationFast Update Rate Mode Notch Filter NB, NF, NZ Second field of EI Pole PL Analog Feedback AFDMA channel Dual Velocity DV Peak Torque Limit TKOverview Chapter 7 Application ProgrammingUsing the DMC-1700/1800Editor to Enter Programs Valid labels Edit Mode CommandsUsing Labels in Programs Program FormatCommenting Programs Using the command, NO or Apostrophe ‘Special Labels HX n Executing Programs - MultitaskingXQ #A, n RAM Memory Interrogation Commands Trace CommandsError Code Command Stop Code CommandDebugging Example Program Flow CommandsOperands Event Triggers & Trippoints 142 • Chapter 7 Application Programming CommandDMC-1700and DMC-1800Event Triggers FunctionEvent Trigger - Repetitive Position Trigger Event Trigger ExamplesEvent Trigger - Multiple Move Sequence Event Trigger - Set Output after Distance144 • Chapter 7 Application Programming Event Trigger - Set output when At speedEvent Trigger - Start Motion on Input Event Trigger - Change Speed along Vector PathEvent Trigger - Multiple Move with Wait Define Output Waveform Using ATConditional Jumps Multiple Conditional Statements Command Format - JP and JSLogical operators Conditional StatementsUsing the IF and ENDIF Commands Using If, Else, and Endif CommandsUsing the JP Command Example Using JP commandNesting IF Conditional Statements Using the ELSE CommandCommand Format - IF, ELSE and ENDIF Example using IF, ELSE and ENDIFAutomatic Subroutines for Monitoring Conditions SubroutinesStack Manipulation Auto-StartRoutineNotes regarding the #LIMSWI Routine Example - Limit SwitchExample - Position Error Chapter 7 Application Programming • Example - Motion Complete TimeoutExample - Input Interrupt DMC-1700/1800Example - Command Error w/Multitasking Example - Command ErrorBit-WiseOperators Mathematical and Functional ExpressionsMathematical Operators 154 • Chapter 7 Application Programming FunctionsAssigning Values to Variables VariablesProgrammable Variables POSXDisplaying the value of variables at the terminal Example - Using Variables for JoystickOperands Examples of Internal Variables ArraysSpecial Operands Keywords Defining ArraysAssignment of Array Entries Using a Variable to Address Array ElementsData Types for Recording Command Summary - Automatic Data CaptureAutomatic Data Capture into Arrays Example - Recording into An Array Deallocating Array SpaceInput of Data Operand Summary - Automatic Data CaptureInputting String Variables Output of Data Numeric and StringSending Messages Cut-to-LengthExampleThe Final Value is Using the MG Command to Configure TerminalsFormatting Messages MG STR S3MG ^07 ^255 Interrogation CommandsDisplaying Variables and Arrays Summary of Message FunctionsPF m.n Example - Using the LZ commandVF m.n Formatting Variables and Array ElementsConverting to User Units Local Formatting of VariablesDigital Outputs Hardware I/OExample - Turn on output after move Example - Start Motion on SwitchDigital Inputs Input Interrupt FunctionExample - Position Follower Point-to-Point Analog InputsExamples - Input Interrupt INSTRUCTION Wire CutterExample - Position Follower Continuous Move 4000/2π = 637 count/inch1 inch = 40,000 counts X-YTable ControllerCR 80000,270,-360 Speed Control by Joystick Chapter 7 Application Programming • Speed = 20000 x VINDMC-1700/1800 FUNCTION Position Control by JoystickBacklash Compensation by Sampled Dual-Loop INSTRUCTIONFUNCTION Example motion programINSTRUCTION 176 • Chapter 7 Application Programming THIS PAGE LEFT BLANK INTENTIONALLYOutput Protection Lines Chapter 8 Hardware & Software ProtectionIntroduction Hardware ProtectionProgrammable Position Limits Software ProtectionLimit Switch Routine Off-On-ErrorAutomatic Error Routine 180 • Chapter 8 Hardware & Software Protection Overview Chapter 9 TroubleshootingInstallation DIAGNOSIS SYMPTOMSYMPTOM 182 • Chapter 9 TroubleshootingCAUSE SYMPTOMChapter 9 Troubleshooting • DIAGNOSISTHIS PAGE LEFT BLANK INTENTIONALLY 184 • Chapter 9 TroubleshootingDRIVER Chapter 10 Theory of OperationCOMPUTER CONTROLLERLEVEL Figure 10.3 - Velocity and Position Profiles Operation of Closed-LoopSystemsCONTROLLER System Modeling= RJ Motor-AmplifierVoltage Drive PV = KV Kt SSTm + 1STe +T1 = J/Ka Kt Kg Velocity LoopVELOCITY LOOP VOLTAGE SOURCECURRENT SOURCE Z − B Digital FilterKZ − A 1 − BSystem Analysis Dz = 1030 z-0.95/Z EncoderDigital Filter PM = 180 + α = System Design and CompensationThe Analytical Method α= 76 - 180 - 6 =Kd = 10/32768 = Motor4 ∗ KD = D/T Gs = P + sDG = 82.4 + 0.2744s P = 4 ∗ KPDMC-1700/1800 Equivalent Filter FormStepper Control AppendicesElectrical Specifications Servo ControlPower Performance SpecificationsAUXILIARY ENCODERS; 26-PINIDC J1 DMC-1740/1840 A-DAXES MAINJ5-DMC-1740/1840 A-DAXES 100-PINHIGH DENSITYE-HAXES MAIN J8 DMC-1780/1880J6 DMC-1780/1880 J7 DMC-1780/1880Outputs Pin-OutDescription for DMC-1700/1800PWM/STEP OUT Sign/Direction Error Inputs Standard Addresses Setting Addresses for the DMC-1700JPR A6 AddressJPR A8 JPR A7JPR A6 AddressJPR A8 JPR A7Communications Jumpers Plug and Play Addresses210 • Appendices Accessories and OptionsThese occur on the first PC/AT Interrupts and Their VectorsICM-1900Interconnect Module Features Appendices • MOCMDXDMC-1700/1800 214 • Appendices Specifications AMP-19X0Mating Power AmplifiersFigure A.1 – ICM-1900Dimensions FeaturesLabel ICM-2900Interconnect ModuleMounting: Keyholes --¼” ∅ Gain: 1 amp/V Block 4 PINAppendices • RLSZDMC-1700/1800 218 • Appendices ICM-1900 / ICM-2900 CONNECTIONS Figure A.2 – Opto Output CircuitFROM CONTROLLER OP m,a,b,c,d Accessing extended I/OCO n MG @IN17 Connector DescriptionOP 7,,,,7 J6 50-PINIDC222 • Appendices Bit @INn SignalJ8 50-PINIDC BlockDescription Figure A.3 – IOM-1964Layout OverviewFigure A.4 – CB-50-80and CB-50-100Bracket Layout Configuring Hardware BanksDigital Inputs Figure A.5 – IOM-1964Chip Configuration LayoutInput Circuit Figure A.7 – Input Sinking and Sourcing DiagramFigure A.8 – Output Sinking and Sourcing Diagram Figure A.6 – Opto Input CircuitFigure A.10 – Typical Load Connection High Power Digital OutputsFigure A.9 - High Current Output Circuit Result Output CommandFigure A.11 – Output Circuit Diagram Standard Digital OutputsDigital Inputs Electrical SpecificationsHigh Power Digital Outputs Output CommandREV C Relevant DMC CommandsScrew Terminal Listing REV A+BAppendices • I/O64DMC-1700/1800 234 • Appendices Coordinated Motion - Mathematical AnalysisVs = Vx 2 + Vy Page 100000 Velocitytime s Lk = Xk 2 + Yktime DMC-1700/DMC-1000ComparisonVy = Vs Vx =List of Other Publications PRODUCT WORKSHOP Training SeminarsMOTION CONTROL MADE EASY ADVANCED MOTION CONTROLCOPYRIGHT WARRANTYContacting Us Internet address: support@galilmc.comIndex Compensation Gear Ratio 104–7 Gearing 85–86, 104–8 Quit Stop