DMC-1700/1800
By Galil Motion Control, Inc
USER MANUAL
Manual Rev. 1.2m
Using This Manual
1X80
Contents
Contents
Chapter 1 Overview
Chapter 2 Getting Started
Chapter 3 Connecting Hardware
Chapter 5 Command Basics
Chapter 4 - Software Tools and Communications
Chapter 6 Programming Motion
Chapter 7 Application Programming
Chapter 9 Troubleshooting
Chapter 8 Hardware & Software Protection
Chapter 10 Theory of Operation
Appendices
Index
Chapter 1 Overview
Introduction
Stepper Motor with Step and Direction Signals
Overview of Motor Types
DMC-1700/1800Functional Elements
Brushless Servo Motor with Sinusoidal Commutation
Microcomputer Section
Motor Interface
Communication
General I/O
System Elements
Motor
Amplifier Driver
Encoder
Watch Dog Timer
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6 • Chapter 1 Overview
Chapter 2 Getting Started
J5 4 JP5 JP4 JP9
JP3 J1 JP8
J6J8
8 • Chapter 2 Getting Started
Elements You Need
Installing the DMC-1700/1800
Step 1. Determine Overall Motor Configuration
Standard Servo Motor Operation
Sinusoidal Commutation
Step 2. Install Jumpers on the DMC-1700/1800
Master Reset and Upgrade Jumpers
Stepper Motor Operation
Opto Isolation Jumpers
DRQ 0 DACK
DRQ 1 DACK
Optional IRQ Interrupt Jumpers
Optional Motor Off Jumpers
Step 3. Install the Communications Software
Configuring the Address Jumpers on the DMC-1700
Using Win98SE, ME, NT4.0, 2000, and XP
Using DOS
Step 4. Install the DMC-1700/1800in the PC
DMC-1700Install
DMC-1800Install
Using Galil Software for DOS DMC-1700only
only
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
20 Chapter 2 Getting Started
Device Manager in Win 98 SE
Changing the Resources in Win 98 SE
Edit Input/Output Range in Win 98 SE
Using Galil Software for Windows NT
22 Chapter 2 Getting Started
Once 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
Sending Test Commands to the Terminal
Notes on Configuring Sinusoidal Commutation
BAXZ
Step 7. Make Connections to Amplifier and Encoder
1X80
Step D. Verify proper encoder operation
Step 8a. Connect Standard Servo Motors
Check the Polarity of the Feedback Loop
Inverting the Loop Polarity
DC Power Supply
DC Servo Motor
DMC-1700/1800
Chapter 2 Getting Started •
30 • Chapter 2 Getting Started
Step 8b. Connect Sinusoidal Commutation Motors
If Hall Sensors are Available
If Hall Sensors are Not Available
If Hall Sensors are Not Available
Step 8C. Connect Step Motors
If Hall Sensors are Available
Step 9. Tune the Servo System
Design Examples
Example 1 - System Set-up
Example 2 - Profiled Move
TE X CR
Example 3 - Multiple Axes
Example 4 - Independent Moves
Example 5 - Position Interrogation
after a few seconds, command
Example 6 - Absolute Position
Example 7 - Velocity Control
Example 8 - Operation Under Torque Limit
Example 11 - Using the On-BoardEditor
Example 9 - Interrogation
Example 10 - Operation in the Buffer Mode
The instruction
To start the program, command
Example 12 - Motion Programs with Loops
Example 13 - Motion Programs with Trippoints
Example 14 - Control Variables
Example 15 - Linear Interpolation
Example 16 - Circular Interpolation
Instruction
Interpretation
0,4000
4000,4000
R=2000
4000,0
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42 • Chapter 2 Getting Started
Chapter 3 Connecting Hardware
Using Optoisolated Inputs
Limit Switch Input
Overview
Home Switch Input
44 • Chapter 3 Connecting Hardware
Abort Input
Wiring the Optoisolated Inputs
Uncommitted Digital Inputs
1X80
17X8
Using an Isolated Power Supply
Analog Inputs
Amplifier Interface
Bypassing the Opto-Isolation
TTL Inputs
TTL Outputs
DMC-1700/1800
ICM-1900/2900
1X80
50 • Chapter 3 Connecting Hardware
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Chapter 4 - Software Tools and Communications
DMC-1700/1800
Chapter 4 - Software Tools and Communications •
Figure 4.1 - Software Communications Hierarchy
Galil SmartTERM
Figure 4.2 - Galil SmartTERM
Download Array
DMC Program Editor Window
DMC Data Record Display
Figure 4.3 - Data Record Display for a DMC-1840
Communication Settings for ISA and PCI
Setting Communications Parameters and Methods
Galil Registry Editor
Figure 4.4 - Galil Registry Editor
Advanced 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
Stall Thread and Delay Thread Methods
Interrupt Communications Method
Data Record Cache Depth
Data Record Refresh Rate
Figure 4.7 - DMC-1700Data Record Parameters
Figure 4.8 - DMC-1800Data Record Parameters
Windows Servo Design Kit WSDK
Figure 4.9- WSDK Main Screen
Creating Custom Software Interfaces
ActiveX Toolkit
DMCWin Programmers Toolkit
Galil Communications API with C/C++
Galil Communications API with Visual Basic
End Sub
Enabling Event Interrupts EI command
DOS, Linux, and QNX tools
Controller Event Interrupts and User Interrupts
Linux
User Interrupts UI command
Servicing Interrupts
Hardware Level Communications for ISA and PCI
Communications with the DMC-1700
Simplified Communications Procedure
Communication with DMC-1700
Control Register N+1
Interrupt Service for the DMC-1700
Reading the Data Record using the Polling FIFO
Polling FIFO Mode Read Procedure
Communications with the DMC-1800
Secondary FIFO Registers
Operation
Simplified Communication Procedure
PCI Device Identification
DEVICE ID
VENDOR ID
FIFO Control Register at N+4
Half Full Flag
Reading the Data Record from the Secondary FIFO
Enabling and Reading IRQ’s
Reset Register at N+8
DMA / Secondary FIFO / DPRAM Memory Map
general output block 6 outputs
128-131
DMC-1700/1800
Chapter 4 - Software Tools and Communications •
Axis Switch Information 1 Byte
General Status Information 1 Byte
Axis Status Information 1 Word
Page
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Chapter 5 Command Basics
Command Syntax - ASCII
Introduction
Command Syntax - Binary
Coordinated Motion with more than 1 axis
1X80
Binary Command Format
Header Format
Datafields Format
A7 02 00 05 03 E8 FE 0C
Binary command table
Example
Interrogation Commands
Summary of Interrogation Commands
Controller Response to DATA
Interrogating the Controller
Interrogating Current Commanded Values
Command Summary
Operands
V=_TPX
Chapter 6 Programming Motion
1X80
DMC-1700/1800
Chapter 6 Programming Motion •
86 • Chapter 6 Programming Motion
Command Summary - Independent Axis
Independent Axis Positioning
Operand Summary - Independent Axis
Example - Absolute Position Movement
Example - Multiple Move Sequence
Required Motion Profiles
88 • Chapter 6 Programming Motion
Command Summary - Jogging
VELOCITY
COUNTS/SEC
20000
Position Tracking
Operand Summary - Independent Axis
Example - Jog in X only
Example - Joystick Jogging
COMMAND
Example - Motion
92 Chapter 6 Programming Motion
Example Motion
Figure 3 Velocity vs Time msec Motion
Figure 4 Position vs. Time msec Motion
Trip Points
94 • Chapter 6 Programming Motion
Command Summary - Position Tracking Mode
Linear Interpolation Mode
Specifying Linear Segments
Additional Commands
An Example of Linear Interpolation Motion
Specifying Vector Speed for Each Segment
Command Summary - Linear Interpolation
Operand Summary - Linear Interpolation
Changing Feedrate
DMC-1700/1800
Example - Linear Move
VS = VZ 2 + VW
Example - Multiple Moves
Figure 6.2 - Linear Interpolation
DMC-1700/1800
Chapter 6 Programming Motion •
Specifying the Coordinate Plane
Specifying Vector Segments
100 • Chapter 6 Programming Motion
Additional commands
Specifying Vector Speed for Each Segment
Changing Feedrate
Trippoints
Tangent Motion
Example
102 Chapter 6 Programming Motion
Command Summary - Coordinated Motion Sequence
Operand Summary - Coordinated Motion Sequence
Example
Electronic Gearing
C -4000,3000D 0,3000 R =
B -4000,0
A 0,0
Ramped Gearing
MO Z
Turn Z off, for external master
GA Z, Z
Specify Z as the master axis for both X and Y
Command Summary - Electronic Gearing
Example - Simple Master Slave
Example - Electronic Gearing
Example - Gantry Mode
Electronic Cam
EM x,y,z,w
EM 6000,1500
EP m,n
EP 2000,0
3000 2250 1500
2000
4000
6000
Command Summary - Electronic CAM
command
INSTRUCTION
INTERPRETATION
command
Operand Summary - Electronic CAM
Example - Electronic CAM
description
Contour Mode
Specifying Contour Segments
Additional Commands
POSITION
COUNTS
TIME ms
Command Summary - Contour Mode
ω= ΑΒ 1 − cos2π Β Χ= ATB − 2Aπ sin2π B
General Velocity Profiles
Generating an Array - An Example
Contour Mode Example
Teach Record and Play-Back
Record and Playback Example
DMC-1700/1800
Chapter 6 Programming Motion •
Virtual Axis
ECAM Master Example
Sinusoidal Motion Example
Monitoring Generated Pulses vs Commanded Pulses
Stepper Motor Operation
Specifying Stepper Motor Operation
Stepper Motor Smoothing
Using an Encoder with Stepper Motors
Command Summary - Stepper Motor Operation
Operand Summary - Stepper Motor Operation
Motion Complete Trippoint
Stepper Position Maintenance Mode SPM
Error Limit
Internal Controller Commands user can query
QS = TD − TP ⋅ YA ⋅ YB YC
Example: SPM Mode Setup
Correction
Full-SteppingDrive, X axis
Half-SteppingDrive, X axis
Example Error Correction
DMC-1700/1800
Chapter 6 Programming Motion •
Example: Friction Correction
124 • Chapter 6 Programming Motion
Using the CE Command
CE Additional Commands for the Auxiliary Encoder
Dual Loop Auxiliary Encoder
DE 0,500,-30,300
Backlash Compensation
Continuous Dual Loop - Example
Sampled Dual Loop - Example
V1= _DEX
Using the IT and VT Commands
Motion Smoothing
Example - Smoothing
Using the KS Command Step Motor Smoothing
ACCELERATION VELOCITY ACCELERATION VELOCITY
Homing
Stage
Stage
Stage
Example: Homing
Instruction
Interpretation
130 • Chapter 6 Programming Motion
SWITCH
Command Summary - Homing Operation
High Speed Position Capture The Latch Function
Operand Summary - Homing Operation
Example Find Edge
Fast Update Rate Mode
Pole PL Analog Feedback AF
DMA channel
Dual Velocity DV Peak Torque Limit TK
Notch Filter NB, NF, NZ Second field of EI
Chapter 7 Application Programming
Using the DMC-1700/1800Editor to Enter Programs
Overview
Edit Mode Commands
Using Labels in Programs
Program Format
Valid labels
Using the command, NO or Apostrophe ‘
Special Labels
Commenting Programs
Executing Programs - Multitasking
XQ #A, n
HX n
Trace Commands
Error Code Command
Stop Code Command
RAM Memory Interrogation Commands
Program Flow Commands
Operands
Debugging Example
Event Triggers & Trippoints
Command
DMC-1700and DMC-1800Event Triggers
Function
142 • Chapter 7 Application Programming
Event Trigger Examples
Event Trigger - Multiple Move Sequence
Event Trigger - Set Output after Distance
Event Trigger - Repetitive Position Trigger
Event Trigger - Set output when At speed
Event Trigger - Start Motion on Input
Event Trigger - Change Speed along Vector Path
144 • Chapter 7 Application Programming
Define Output Waveform Using AT
Conditional Jumps
Event Trigger - Multiple Move with Wait
Command Format - JP and JS
Logical operators
Conditional Statements
Multiple Conditional Statements
Using If, Else, and Endif Commands
Using the JP Command
Example Using JP command
Using the IF and ENDIF Commands
Using the ELSE Command
Command Format - IF, ELSE and ENDIF
Example using IF, ELSE and ENDIF
Nesting IF Conditional Statements
Subroutines
Stack Manipulation
Auto-StartRoutine
Automatic Subroutines for Monitoring Conditions
Example - Limit Switch
Example - Position Error
Notes regarding the #LIMSWI Routine
Example - Motion Complete Timeout
Example - Input Interrupt
DMC-1700/1800
Chapter 7 Application Programming •
Example - Command Error
Example - Command Error w/Multitasking
Mathematical and Functional Expressions
Mathematical Operators
Bit-WiseOperators
Functions
154 • Chapter 7 Application Programming
Variables
Programmable Variables
POSX
Assigning Values to Variables
Example - Using Variables for Joystick
Operands
Displaying the value of variables at the terminal
Arrays
Special Operands Keywords
Defining Arrays
Examples of Internal Variables
Using a Variable to Address Array Elements
Assignment of Array Entries
Command Summary - Automatic Data Capture
Automatic Data Capture into Arrays
Data Types for Recording
Deallocating Array Space
Input of Data
Operand Summary - Automatic Data Capture
Example - Recording into An Array
Output of Data Numeric and String
Sending Messages
Cut-to-LengthExample
Inputting String Variables
Using the MG Command to Configure Terminals
Formatting Messages
MG STR S3
The Final Value is
Interrogation Commands
Displaying Variables and Arrays
Summary of Message Functions
MG ^07 ^255
Example - Using the LZ command
PF m.n
Formatting Variables and Array Elements
Converting to User Units
Local Formatting of Variables
VF m.n
Hardware I/O
Digital Outputs
Example - Start Motion on Switch
Digital Inputs
Input Interrupt Function
Example - Turn on output after move
Analog Inputs
Examples - Input Interrupt
Example - Position Follower Point-to-Point
Wire Cutter
Example - Position Follower Continuous Move
4000/2π = 637 count/inch
INSTRUCTION
X-YTable Controller
1 inch = 40,000 counts
CR 80000,270,-360
Speed Control by Joystick
Speed = 20000 x VIN
DMC-1700/1800
Chapter 7 Application Programming •
Position Control by Joystick
Backlash Compensation by Sampled Dual-Loop
INSTRUCTION
FUNCTION
Example motion program
INSTRUCTION
FUNCTION
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176 • Chapter 7 Application Programming
Chapter 8 Hardware & Software Protection
Introduction
Hardware Protection
Output Protection Lines
Software Protection
Programmable Position Limits
Off-On-Error
Automatic Error Routine
Limit Switch Routine
180 • Chapter 8 Hardware & Software Protection
Chapter 9 Troubleshooting
Installation
Overview
SYMPTOM
SYMPTOM
182 • Chapter 9 Troubleshooting
DIAGNOSIS
SYMPTOM
Chapter 9 Troubleshooting •
DIAGNOSIS
CAUSE
184 • Chapter 9 Troubleshooting
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Chapter 10 Theory of Operation
COMPUTER
CONTROLLER
DRIVER
LEVEL
Operation of Closed-LoopSystems
Figure 10.3 - Velocity and Position Profiles
System Modeling
CONTROLLER
Motor-Amplifier
Voltage Drive
PV = KV Kt SSTm + 1STe +
= RJ
Velocity Loop
T1 = J/Ka Kt Kg
VOLTAGE SOURCE
CURRENT SOURCE
VELOCITY LOOP
Digital Filter
KZ − A
1 − B
Z − B
System Analysis
Encoder
Digital Filter
Dz = 1030 z-0.95/Z
System Design and Compensation
The Analytical Method
α= 76 - 180 - 6 =
PM = 180 + α =
Motor
Kd = 10/32768 =
Gs = P + sD
G = 82.4 + 0.2744s
P = 4 ∗ KP
4 ∗ KD = D/T
Equivalent Filter Form
DMC-1700/1800
Appendices
Electrical Specifications
Servo Control
Stepper Control
Performance Specifications
Power
J1 DMC-1740/1840 A-DAXES MAIN
J5-DMC-1740/1840 A-DAXES
100-PINHIGH DENSITY
AUXILIARY ENCODERS; 26-PINIDC
J8 DMC-1780/1880
J6 DMC-1780/1880
J7 DMC-1780/1880
E-HAXES MAIN
Pin-OutDescription for DMC-1700/1800
Outputs
PWM/STEP OUT Sign/Direction Error
Inputs
Setting Addresses for the DMC-1700
Standard Addresses
Address
JPR A8
JPR A7
JPR A6
Address
JPR A8
JPR A7
JPR A6
Plug and Play Addresses
Communications Jumpers
Accessories and Options
210 • Appendices
PC/AT Interrupts and Their Vectors
ICM-1900Interconnect Module
These occur on the first
Features
MOCMDX
DMC-1700/1800
Appendices •
214 • Appendices
AMP-19X0Mating Power Amplifiers
Figure A.1 – ICM-1900Dimensions
Features
Specifications
ICM-2900Interconnect Module
Mounting: Keyholes --¼” ∅ Gain: 1 amp/V
Block 4 PIN
Label
RLSZ
DMC-1700/1800
Appendices •
218 • Appendices
Figure A.2 – Opto Output Circuit
FROM CONTROLLER
ICM-1900 / ICM-2900 CONNECTIONS
Accessing extended I/O
CO n
OP m,a,b,c,d
Connector Description
OP 7,,,,7
J6 50-PINIDC
MG @IN17
222 • Appendices
Signal
J8 50-PINIDC
Block
Bit @INn
Description
Overview
Figure A.3 – IOM-1964Layout
Configuring Hardware Banks
Figure A.4 – CB-50-80and CB-50-100Bracket Layout
Figure A.5 – IOM-1964Chip Configuration Layout
Digital Inputs
Figure A.7 – Input Sinking and Sourcing Diagram
Figure A.8 – Output Sinking and Sourcing Diagram
Figure A.6 – Opto Input Circuit
Input Circuit
High Power Digital Outputs
Figure A.9 - High Current Output Circuit
Figure A.10 – Typical Load Connection
Output Command
Figure A.11 – Output Circuit Diagram
Standard Digital Outputs
Result
Electrical Specifications
High Power Digital Outputs
Output Command
Digital Inputs
Relevant DMC Commands
Screw Terminal Listing
REV A+B
REV C
I/O64
DMC-1700/1800
Appendices •
Coordinated Motion - Mathematical Analysis
Vs = Vx 2 + Vy
234 • Appendices
Page
Velocity
time s
Lk = Xk 2 + Yk
100000
DMC-1700/DMC-1000Comparison
Vy = Vs
Vx =
time
List of Other Publications
Training Seminars
MOTION CONTROL MADE EASY
ADVANCED MOTION CONTROL
PRODUCT WORKSHOP
WARRANTY
Contacting Us
Internet address: support@galilmc.com
COPYRIGHT
Index
Compensation
Gear Ratio 104–7 Gearing 85–86, 104–8
Quit
Stop