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Galil DMC-1800 Pole PL Analog Feedback AF, DMA channel, Dual Velocity DV Peak Torque Limit TK

Models: DMC-1800 DMC-1700

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Pole (PL)

Analog Feedback (AF)

Stepper Motor Operation (MT 2,-2,2.5,-2.5) Trippoints in thread 2-8

DMA channel

Tell Velocity Interrogation Command (TV) Aux Encoders (TD)

Dual Velocity (DV)

Peak Torque Limit (TK)

Notch Filter (NB, NF, NZ )

Second field of EI

134 • Chapter 6 Programming Motion

DMC-1700/1800

Image 142

Galil DMC-1800 Pole PL Analog Feedback AF, DMA channel, Dual Velocity DV Peak Torque Limit TK, 134 • Programming Motion

Contents

USER MANUAL DMC-1700/1800By Galil Motion Control, Inc Manual Rev. 1.2mUsing This Manual 1X80Chapter 1 Overview ContentsContents Chapter 2 Getting StartedChapter 5 Command Basics Chapter 3 Connecting HardwareChapter 4 - Software Tools and Communications Chapter 6 Programming Motion Chapter 7 Application Programming Chapter 10 Theory of Operation Chapter 9 TroubleshootingChapter 8 Hardware & Software Protection AppendicesIndex Chapter 1 Overview IntroductionDMC-1700/1800Functional Elements Stepper Motor with Step and Direction SignalsOverview of Motor Types Brushless Servo Motor with Sinusoidal CommutationCommunication Microcomputer SectionMotor Interface General I/OAmplifier Driver System ElementsMotor EncoderWatch Dog Timer THIS PAGE LEFT BLANK INTENTIONALLY 6 • Chapter 1 OverviewJP3 J1 JP8 Chapter 2 Getting StartedJ5 4 JP5 JP4 JP9 J6J88 • Chapter 2 Getting Started Elements You Need Standard Servo Motor Operation Installing the DMC-1700/1800Step 1. Determine Overall Motor Configuration Sinusoidal CommutationStepper Motor Operation Step 2. Install Jumpers on the DMC-1700/1800Master Reset and Upgrade Jumpers Opto Isolation JumpersOptional IRQ Interrupt Jumpers DRQ 0 DACKDRQ 1 DACK Optional Motor Off JumpersUsing Win98SE, ME, NT4.0, 2000, and XP Step 3. Install the Communications SoftwareConfiguring the Address Jumpers on the DMC-1700 Using DOSDMC-1800Install Step 4. Install the DMC-1700/1800in the PCDMC-1700Install Using Galil Software for DOS DMC-1700onlyonly 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 Device Manager in Win 98 SE 20 Chapter 2 Getting StartedChanging the Resources in Win 98 SE Edit Input/Output Range in Win 98 SE Using Galil Software for Windows NT 22 Chapter 2 Getting StartedOnce 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 Notes on Configuring Sinusoidal Commutation Sending Test Commands to the TerminalBAXZ Step 7. Make Connections to Amplifier and Encoder 1X80Step D. Verify proper encoder operation Step 8a. Connect Standard Servo Motors Check the Polarity of the Feedback LoopInverting the Loop Polarity DMC-1700/1800 DC Power SupplyDC Servo Motor Chapter 2 Getting Started •30 • 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 Step 8C. Connect Step Motors If Hall Sensors are AvailableStep 9. Tune the Servo System Example 2 - Profiled Move Design ExamplesExample 1 - System Set-up TE X CRExample 4 - Independent Moves Example 3 - Multiple AxesExample 5 - Position Interrogation Example 7 - Velocity Control after a few seconds, commandExample 6 - Absolute Position Example 8 - Operation Under Torque LimitExample 10 - Operation in the Buffer Mode Example 11 - Using the On-BoardEditorExample 9 - Interrogation The instructionExample 13 - Motion Programs with Trippoints To start the program, commandExample 12 - Motion Programs with Loops Example 14 - Control VariablesInstruction Example 15 - Linear InterpolationExample 16 - Circular Interpolation InterpretationR=2000 0,40004000,4000 4000,0THIS PAGE LEFT BLANK INTENTIONALLY 42 • Chapter 2 Getting StartedLimit Switch Input Chapter 3 Connecting HardwareUsing Optoisolated Inputs Overview44 • Chapter 3 Connecting Hardware Home Switch InputAbort Input 1X80 Wiring the Optoisolated InputsUncommitted Digital Inputs 17X8Using an Isolated Power Supply Amplifier Interface Analog InputsBypassing the Opto-Isolation DMC-1700/1800 TTL InputsTTL Outputs ICM-1900/29001X80 50 • Chapter 3 Connecting Hardware THIS PAGE LEFT BLANK INTENTIONALLYDMC-1700/1800 Chapter 4 - Software Tools and CommunicationsChapter 4 - Software Tools and Communications • Figure 4.1 - Software Communications Hierarchy Galil SmartTERM Figure 4.2 - Galil SmartTERMDownload Array DMC Program Editor Window DMC Data Record DisplayFigure 4.3 - Data Record Display for a DMC-1840 Galil Registry Editor Communication Settings for ISA and PCISetting Communications Parameters and Methods Figure 4.4 - 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 Cache Depth Stall Thread and Delay Thread MethodsInterrupt Communications Method Data Record Refresh RateFigure 4.7 - DMC-1700Data Record Parameters Figure 4.8 - DMC-1800Data Record ParametersWindows Servo Design Kit WSDK Figure 4.9- WSDK Main ScreenDMCWin Programmers Toolkit Creating Custom Software InterfacesActiveX Toolkit Galil Communications API with C/C++Galil Communications API with Visual Basic End Sub Controller Event Interrupts and User Interrupts Enabling Event Interrupts EI commandDOS, Linux, and QNX tools LinuxUser Interrupts UI command Servicing InterruptsHardware Level Communications for ISA and PCI Communications with the DMC-1700Communication with DMC-1700 Simplified Communications ProcedureControl Register N+1 Interrupt Service for the DMC-1700 Reading the Data Record using the Polling FIFOSecondary FIFO Registers Polling FIFO Mode Read ProcedureCommunications with the DMC-1800 OperationDEVICE ID Simplified Communication ProcedurePCI Device Identification VENDOR IDReading the Data Record from the Secondary FIFO FIFO Control Register at N+4Half Full Flag Enabling and Reading IRQ’sReset Register at N+8 DMA / Secondary FIFO / DPRAM Memory Mapgeneral output block 6 outputs DMC-1700/1800 128-131Chapter 4 - Software Tools and Communications • General Status Information 1 Byte Axis Switch Information 1 ByteAxis Status Information 1 Word Page THIS PAGE LEFT BLANK INTENTIONALLY Command Syntax - ASCII Chapter 5 Command BasicsIntroduction Coordinated Motion with more than 1 axis Command Syntax - Binary1X80 Datafields Format Binary Command FormatHeader Format A7 02 00 05 03 E8 FE 0CBinary command table ExampleController Response to DATA Interrogation CommandsSummary of Interrogation Commands Interrogating the ControllerOperands Interrogating Current Commanded ValuesCommand Summary V=_TPXDMC-1700/1800 Chapter 6 Programming Motion1X80 Chapter 6 Programming Motion •86 • Chapter 6 Programming Motion Independent Axis Positioning Command Summary - Independent AxisOperand Summary - Independent Axis Required Motion Profiles Example - Absolute Position MovementExample - Multiple Move Sequence 88 • Chapter 6 Programming MotionCOUNTS/SEC Command Summary - JoggingVELOCITY 20000Example - Jog in X only Position TrackingOperand Summary - Independent Axis Example - Joystick JoggingCOMMAND Example - Motion 92 Chapter 6 Programming MotionFigure 3 Velocity vs Time msec Motion Example MotionFigure 4 Position vs. Time msec Motion Trip Points 94 • Chapter 6 Programming MotionLinear Interpolation Mode Command Summary - Position Tracking ModeSpecifying Linear Segments An Example of Linear Interpolation Motion Additional CommandsSpecifying Vector Speed for Each Segment Changing Feedrate Command Summary - Linear InterpolationOperand Summary - Linear Interpolation DMC-1700/1800Example - Linear Move VS = VZ 2 + VWDMC-1700/1800 Example - Multiple MovesFigure 6.2 - Linear Interpolation Chapter 6 Programming Motion •Specifying Vector Segments Specifying the Coordinate Plane100 • Chapter 6 Programming Motion Specifying Vector Speed for Each Segment Additional commandsChanging Feedrate Example TrippointsTangent Motion 102 Chapter 6 Programming MotionOperand Summary - Coordinated Motion Sequence Command Summary - Coordinated Motion SequenceExample B -4000,0 Electronic GearingC -4000,3000D 0,3000 R = A 0,0Ramped Gearing GA Z, Z MO ZTurn Z off, for external master Specify Z as the master axis for both X and YExample - Electronic Gearing Command Summary - Electronic GearingExample - Simple Master Slave Example - Gantry ModeElectronic Cam EP m,n EM x,y,z,wEM 6000,1500 EP 2000,04000 3000 2250 15002000 6000INSTRUCTION Command Summary - Electronic CAMcommand INTERPRETATIONExample - Electronic CAM commandOperand Summary - Electronic CAM descriptionContour Mode Specifying Contour SegmentsCOUNTS Additional CommandsPOSITION TIME msGeneral Velocity Profiles Command Summary - Contour Modeω= ΑΒ 1 − cos2π Β Χ= ATB − 2Aπ sin2π B Generating an Array - An ExampleContour Mode Example DMC-1700/1800 Teach Record and Play-BackRecord and Playback Example Chapter 6 Programming Motion •ECAM Master Example Virtual AxisSinusoidal Motion Example Specifying Stepper Motor Operation Monitoring Generated Pulses vs Commanded PulsesStepper Motor Operation Stepper Motor SmoothingOperand Summary - Stepper Motor Operation Using an Encoder with Stepper MotorsCommand Summary - Stepper Motor Operation Motion Complete TrippointInternal Controller Commands user can query Stepper Position Maintenance Mode SPMError Limit QS = TD − TP ⋅ YA ⋅ YB YCFull-SteppingDrive, X axis Example: SPM Mode SetupCorrection Half-SteppingDrive, X axisDMC-1700/1800 Example Error CorrectionChapter 6 Programming Motion • Example: Friction Correction 124 • Chapter 6 Programming MotionDual Loop Auxiliary Encoder Using the CE CommandCE Additional Commands for the Auxiliary Encoder DE 0,500,-30,300Sampled Dual Loop - Example Backlash CompensationContinuous Dual Loop - Example V1= _DEXMotion Smoothing Using the IT and VT CommandsExample - Smoothing Using the KS Command Step Motor Smoothing ACCELERATION VELOCITY ACCELERATION VELOCITYStage HomingStage StageInterpretation Example: HomingInstruction 130 • Chapter 6 Programming MotionSWITCH Operand Summary - Homing Operation Command Summary - Homing OperationHigh Speed Position Capture The Latch Function Example Find EdgeFast Update Rate Mode Dual Velocity DV Peak Torque Limit TK Pole PL Analog Feedback AFDMA channel Notch Filter NB, NF, NZ Second field of EIUsing the DMC-1700/1800Editor to Enter Programs Chapter 7 Application ProgrammingOverview Program Format Edit Mode CommandsUsing Labels in Programs Valid labelsSpecial Labels Using the command, NO or Apostrophe ‘Commenting Programs XQ #A, n Executing Programs - MultitaskingHX n Stop Code Command Trace CommandsError Code Command RAM Memory Interrogation CommandsOperands Program Flow CommandsDebugging Example Event Triggers & Trippoints Function CommandDMC-1700and DMC-1800Event Triggers 142 • Chapter 7 Application ProgrammingEvent Trigger - Set Output after Distance Event Trigger ExamplesEvent Trigger - Multiple Move Sequence Event Trigger - Repetitive Position TriggerEvent Trigger - Change Speed along Vector Path Event Trigger - Set output when At speedEvent Trigger - Start Motion on Input 144 • Chapter 7 Application ProgrammingConditional Jumps Define Output Waveform Using ATEvent Trigger - Multiple Move with Wait Conditional Statements Command Format - JP and JSLogical operators Multiple Conditional StatementsExample Using JP command Using If, Else, and Endif CommandsUsing the JP Command Using the IF and ENDIF CommandsExample using IF, ELSE and ENDIF Using the ELSE CommandCommand Format - IF, ELSE and ENDIF Nesting IF Conditional StatementsAuto-StartRoutine SubroutinesStack Manipulation Automatic Subroutines for Monitoring ConditionsExample - Position Error Example - Limit SwitchNotes regarding the #LIMSWI Routine DMC-1700/1800 Example - Motion Complete TimeoutExample - Input Interrupt Chapter 7 Application Programming •Example - Command Error Example - Command Error w/MultitaskingMathematical Operators Mathematical and Functional ExpressionsBit-WiseOperators Functions 154 • Chapter 7 Application ProgrammingPOSX VariablesProgrammable Variables Assigning Values to VariablesOperands Example - Using Variables for JoystickDisplaying the value of variables at the terminal Defining Arrays ArraysSpecial Operands Keywords Examples of Internal VariablesUsing a Variable to Address Array Elements Assignment of Array EntriesAutomatic Data Capture into Arrays Command Summary - Automatic Data CaptureData Types for Recording Operand Summary - Automatic Data Capture Deallocating Array SpaceInput of Data Example - Recording into An ArrayCut-to-LengthExample Output of Data Numeric and StringSending Messages Inputting String VariablesMG STR S3 Using the MG Command to Configure TerminalsFormatting Messages The Final Value isSummary of Message Functions Interrogation CommandsDisplaying Variables and Arrays MG ^07 ^255Example - Using the LZ command PF m.nLocal Formatting of Variables Formatting Variables and Array ElementsConverting to User Units VF m.nHardware I/O Digital OutputsInput Interrupt Function Example - Start Motion on SwitchDigital Inputs Example - Turn on output after moveExamples - Input Interrupt Analog InputsExample - Position Follower Point-to-Point 4000/2π = 637 count/inch Wire CutterExample - Position Follower Continuous Move INSTRUCTIONX-YTable Controller 1 inch = 40,000 countsCR 80000,270,-360 Speed Control by Joystick DMC-1700/1800 Speed = 20000 x VINChapter 7 Application Programming • INSTRUCTION Position Control by JoystickBacklash Compensation by Sampled Dual-Loop FUNCTIONINSTRUCTION Example motion programFUNCTION THIS PAGE LEFT BLANK INTENTIONALLY 176 • Chapter 7 Application ProgrammingHardware Protection Chapter 8 Hardware & Software ProtectionIntroduction Output Protection LinesSoftware Protection Programmable Position LimitsAutomatic Error Routine Off-On-ErrorLimit Switch Routine 180 • Chapter 8 Hardware & Software Protection Installation Chapter 9 TroubleshootingOverview 182 • Chapter 9 Troubleshooting SYMPTOMSYMPTOM DIAGNOSISDIAGNOSIS SYMPTOMChapter 9 Troubleshooting • CAUSE184 • Chapter 9 Troubleshooting THIS PAGE LEFT BLANK INTENTIONALLYCONTROLLER Chapter 10 Theory of OperationCOMPUTER DRIVERLEVEL Operation of Closed-LoopSystems Figure 10.3 - Velocity and Position ProfilesSystem Modeling CONTROLLERPV = KV Kt SSTm + 1STe + Motor-AmplifierVoltage Drive = RJVelocity Loop T1 = J/Ka Kt KgCURRENT SOURCE VOLTAGE SOURCEVELOCITY LOOP 1 − B Digital FilterKZ − A Z − BSystem Analysis Digital Filter EncoderDz = 1030 z-0.95/Z α= 76 - 180 - 6 = System Design and CompensationThe Analytical Method PM = 180 + α =Motor Kd = 10/32768 =P = 4 ∗ KP Gs = P + sDG = 82.4 + 0.2744s 4 ∗ KD = D/TEquivalent Filter Form DMC-1700/1800Servo Control AppendicesElectrical Specifications Stepper ControlPerformance Specifications Power100-PINHIGH DENSITY J1 DMC-1740/1840 A-DAXES MAINJ5-DMC-1740/1840 A-DAXES AUXILIARY ENCODERS; 26-PINIDCJ7 DMC-1780/1880 J8 DMC-1780/1880J6 DMC-1780/1880 E-HAXES MAINPin-OutDescription for DMC-1700/1800 OutputsPWM/STEP OUT Sign/Direction Error Inputs Setting Addresses for the DMC-1700 Standard AddressesJPR A7 AddressJPR A8 JPR A6JPR A7 AddressJPR A8 JPR A6Plug and Play Addresses Communications JumpersAccessories and Options 210 • AppendicesICM-1900Interconnect Module PC/AT Interrupts and Their VectorsThese occur on the first Features DMC-1700/1800 MOCMDXAppendices • 214 • Appendices Features AMP-19X0Mating Power AmplifiersFigure A.1 – ICM-1900Dimensions SpecificationsBlock 4 PIN ICM-2900Interconnect ModuleMounting: Keyholes --¼” ∅ Gain: 1 amp/V LabelDMC-1700/1800 RLSZAppendices • 218 • Appendices FROM CONTROLLER Figure A.2 – Opto Output CircuitICM-1900 / ICM-2900 CONNECTIONS CO n Accessing extended I/OOP m,a,b,c,d J6 50-PINIDC Connector DescriptionOP 7,,,,7 MG @IN17222 • Appendices Block SignalJ8 50-PINIDC Bit @INnDescription Overview Figure A.3 – IOM-1964LayoutConfiguring Hardware Banks Figure A.4 – CB-50-80and CB-50-100Bracket LayoutFigure A.5 – IOM-1964Chip Configuration Layout Digital InputsFigure A.6 – Opto Input Circuit Figure A.7 – Input Sinking and Sourcing DiagramFigure A.8 – Output Sinking and Sourcing Diagram Input CircuitFigure A.9 - High Current Output Circuit High Power Digital OutputsFigure A.10 – Typical Load Connection Standard Digital Outputs Output CommandFigure A.11 – Output Circuit Diagram ResultOutput Command Electrical SpecificationsHigh Power Digital Outputs Digital InputsREV A+B Relevant DMC CommandsScrew Terminal Listing REV CDMC-1700/1800 I/O64Appendices • Vs = Vx 2 + Vy Coordinated Motion - Mathematical Analysis234 • Appendices Page Lk = Xk 2 + Yk Velocitytime s 100000Vx = DMC-1700/DMC-1000ComparisonVy = Vs timeList of Other Publications ADVANCED MOTION CONTROL Training SeminarsMOTION CONTROL MADE EASY PRODUCT WORKSHOPInternet address: support@galilmc.com WARRANTYContacting Us COPYRIGHTIndex Compensation Gear Ratio 104–7 Gearing 85–86, 104–8 Quit Stop