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