Voltage Source

1/Ke

(STm+1)(STe+1)

CURRENT SOURCE

VELOCITY LOOP

V	1	W	1
	1		1
	Kg(ST1+1)		S

Figure 10.6 - Mathematical model of the motor and amplifier in three operational modes

Encoder

The encoder generates N pulses per revolution. It outputs two signals, Channel A and B, which are in quadrature. Due to the quadrature relationship between the encoder channels, the position resolution is increased to 4N quadrature counts/rev.

The model of the encoder can be represented by a gain of

Kf = 4N/2π

[count/rad]

For example, a 1000 lines/rev encoder is modeled as

Kf = 638

DMC-1700/1800

Chapter 10 Theory of Operation • 191

Page 199

Image 199

Galil DMC-1700, DMC-1800 user manual Voltage Source

DMC-1800, DMC-1700 specifications

The Galil DMC-1700 and DMC-1800 are advanced motion controllers widely recognized for their high performance and versatility in the automation and robotics industries. These controllers are designed to meet the demands of complex motion control applications, providing users with enhanced features and innovative technologies that optimize motion precision and efficiency.

One of the main features of the Galil DMC-1700 is its ability to handle up to 8 axes of motion control. This capability makes it suitable for a range of applications, from simple point-to-point movements to intricate trajectories in multi-axis systems. In contrast, the DMC-1800 extends this functionality, supporting up to 64 axes, making it ideal for large-scale automation environments.

Both models leverage Galil's powerful programming interface, which simplifies the development of motion control applications. The DMC-1700 and DMC-1800 controllers utilize a high-level programming language that supports advanced motion commands, including linear interpolation, circular interpolation, and complex motion profiles. This feature allows users to implement sophisticated motion sequences seamlessly.

In terms of connectivity, the Galil DMC series offers multiple communication options, including Ethernet, RS-232, and CAN bus, ensuring compatibility with various hardware and enabling easy integration into existing systems. The controllers also come equipped with digital and analog I/O ports, providing flexibility for sensor feedback and actuator control.

The advanced technology incorporated into both the DMC-1700 and DMC-1800 includes on-board PID control, which ensures precise motion control through closed-loop feedback. This results in improved stability and accuracy, particularly in high-speed applications. Additionally, the controllers offer extensive diagnostics and monitoring capabilities, allowing for real-time performance analysis and troubleshooting.

Another notable characteristic of these motion controllers is their compact design, which offers space-saving advantages while maintaining high processing power. Their robust construction and ability to operate in challenging environments make them suitable for a wide range of industrial applications, from CNC machining to assembly lines.

In conclusion, the Galil DMC-1700 and DMC-1800 motion controllers stand out due to their high-performance capabilities, advanced programming features, and flexibility in connectivity. With their ability to handle complex motion control tasks efficiently, these controllers are invaluable tools for engineers and manufacturers looking to enhance their automation processes. By integrating Galil's innovative motion control technology, industries can achieve greater precision, speed, and reliability in their operational workflows.

Contents

DMC-1700/1800 1X80 17X8 Using This Manual Contents Ii Contents Connecting Hardware Programming Motion Application Programming 135 Iv Contents Troubleshooting 181 Vi Contents DMC-1700/1800 Overview Introduction DMC-1700/1800 Functional Elements Standard Servo Motor with +/- 10 Volt Command SignalStepper Motor with Step and Direction Signals Overview of Motor Types General I/O Microcomputer SectionMotor Interface Communication Encoder System ElementsMotor Amplifier Driver Watch Dog Timer This page Left Blank Intentionally DMC-1700/1800 Getting Started DMC-17x0 and DMC-18x0 Motion Controllers JP1 JP3 RAM JP8 Elements You NeedJP5 JP6 Sinusoidal Commutation Installing the DMC-1700/1800Determine Overall Motor Configuration Standard Servo Motor Operation Install Jumpers on the DMC-1700/1800 Optional Motor Off Jumpers Optional IRQ Interrupt Jumpers Install the Communications Software Using Galil Software for DOS DMC-1700 only Install the DMC-1700/1800 in the PCDMC-1700 Install DMC-1800 Install Using Galil Software for Windows 98 SE, ME, XP, On the first dialog, select Add/Troubleshoot DMC-1700/1800 Getting Started Getting Started Automatically Assigned resources in Win 98 SE Device Manager in Win 98 SE Edit Input/Output Range in Win 98 SE Using Galil Software for Windows NT DMC-1700/1800 Getting Started Determine the Axes to be Used for Sinusoidal Commutation Sending Test Commands to the Terminal Make Connections to Amplifier and Encoder Getting Started Check the Polarity of the Feedback Loop Connect Standard Servo Motors BGX CR Inverting the Loop Polarity DC Power Supply Getting Started Baxz Connect Sinusoidal Commutation Motors If Hall Sensors are Not Available If Hall Sensors are Available AMX Connect Step Motors TE X CR Tune the Servo System Instruction Interpretation Design ExamplesExample 1 System Set-up Example 2 Profiled Move Example 4 Independent Moves Example 3 Multiple AxesExample 5 Position Interrogation Example 7 Velocity Control Example 6 Absolute PositionExample 8 Operation Under Torque Limit Line # Instruction Interpretation Example 10 Operation in the Buffer ModeExample 11 Using the On-Board Editor Example 9 Interrogation BGY Example 12 Motion Programs with LoopsExample 13 Motion Programs with Trippoints Example 14 Control Variables Example 16 Circular Interpolation Example 15 Linear Interpolation 4000 This page Left Blank Intentionally Overview Using Optoisolated InputsLimit Switch Input DMC-1700/1800 Connecting Hardware Abort Input Home Switch Input Uncommitted Digital Inputs Wiring the Optoisolated Inputs Optoisolated Inputs Using an Isolated Power Supply Amplifier Interface Analog InputsBypassing the Opto-Isolation TTL Outputs TTL Inputs DMC-1700/1800 Connecting Hardware This page Left Blank Intentionally DMC-1700/1800 Software Tools and Communications Software Tools and Communications DMC-1800 FIFO, DPRAM, IRQ DMC-1700 FIFO, DMA, IRQ Galil SmartTERM Galil SmartTERM Recent enough to support the QU command DMC Program Editor Window Data Record Display for a DMC-1840 Setting Communications Parameters and Methods Communication Settings for ISA and PCIGalil Registry Editor General Communications Parameters Dialog Data Record Refresh Rate Stall Thread and Delay Thread MethodsInterrupt Communications Method Data Record Cache Depth DMC-1700 Data Record Parameters Wsdk Main Screen Windows Servo Design Kit Wsdk Galil Communications API with C/C++ Creating Custom Software Interfaces Declare Functions Sending Commands in VB End Sub Linux Enabling Event Interrupts EI commandDOS, Linux, and QNX tools Controller Event Interrupts and User Interrupts Bit number Input Bit Number Condition Communications with the DMC-1700 Hardware Level Communications for ISA and PCIStatus Byte hex Condition Register Address Read/Write Description Simplified Communications ProcedureCommunication with DMC-1700 Control Register N+1 Reading the Data Record using the Polling Fifo Interrupt Service for the DMC-1700 Secondary Fifo Registers Polling Fifo Mode Read ProcedureDetermining the Base Address Communication with DMC-1800 Simplified Communication ProcedurePCI Device Identification Read, Write, and Control Registers Enabling and Reading IRQ’s Fifo Control Register at N+4Half Full Flag Reading the Data Record from the Secondary Fifo Write Reset Register at N+8Dual Port RAM Dpram access for reading the Data Record DMA / Secondary Fifo / Dpram Memory Map General output block 6 outputs DMC-1700/1800 Software Tools and Communications BIT Axis Switch Information 1 ByteGeneral Status Information 1 Byte Axis Status Information 1 Word DMC-1700/1800 Software Tools and Communications This page Left Blank Intentionally DMC-1700/1800 Command Basics Command Syntax Ascii Coordinated Motion with more than 1 axis Command Syntax Binary A7 02 00 05 03 E8 FE 0C Binary Command FormatHeader Format Datafields Format Example Binary command table Interrogating the Controller Interrogation CommandsSummary of Interrogation Commands Controller Response to Data Command Summary Interrogating Current Commanded ValuesOperands DMC-1700/1800 Programming Motion VS,VA,VD Independent Axis Positioning Command Summary Independent AxisOperand Summary Independent Axis Example Multiple Move Sequence Example Absolute Position Movement Axis velocity profile Command Summary JoggingCommand Independent Jogging Example Jog in X only Position TrackingExample Joystick Jogging Command Description PT1 Position vs Time msec Motion Example Motion Velocity vs Time msec Motion Velocity vs.Time Motion Trip Points Specifying Linear Segments Linear Interpolation ModeCommand Summary Position Tracking Mode Command Description An Example of Linear Interpolation Motion Additional CommandsSpecifying Vector Speed for Each Segment LM? Command Summary Linear InterpolationOperand Summary Linear Interpolation Changing Feedrate LM ZW Example Linear Move #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 SequenceExample Required Path Electronic Gearing Ramped Gearing MO Z Example Electronic Gearing Over a Specified IntervalGA Z, Z Example Electronic Gearing Command Summary Electronic GearingExample Gantry Mode Example Simple Master Slave GA, CX Electronic CamGA,X EP 2000,0 EM 6000,1500ET0=,0 EQ x,y,z,w EG x,y,z,w Command Description Command Summary Electronic CAM Example Electronic CAM Operand Summary Electronic CAM Specifying Contour Segments Contour Mode DT0CD0 CMX Generating an Array An Example Command Summary Contour ModeCommand CM Xyzw CM Abcdefgh General Velocity Profiles DIFC=POSD-POSC Contour Mode Example#POINTS POSC=V4 Record and Playback Example Teach Record and Play-Back DT2 Virtual AxisEcam Master Example Sinusoidal Motion Example Stepper Motor Smoothing Monitoring Generated Pulses vs Commanded PulsesStepper Motor Operation Specifying Stepper Motor Operation Motion Complete Trippoint Using an Encoder with Stepper MotorsCommand Summary Stepper Motor Operation Operand Summary Stepper Motor Operation User Configurable Commands user can query & change Stepper Position Maintenance Mode SPMError Limit Internal Controller Commands user can query Half-Stepping Drive, X axis Example SPM Mode SetupCorrection Full-Stepping Drive, X axis #POSERR Example Error Correction#MOTION #LOOPJP#LOOP Example Friction Correction DE 0,500,-30,300 Using the CE CommandAdditional Commands for the Auxiliary Encoder Dual Loop Auxiliary Encoder V1= DEX Backlash CompensationContinuous Dual Loop Example Sampled Dual Loop Example JP#END,@ABSV22 Using the IT and VT CommandsMotion Smoothing Example Smoothing Trapezoidal velocity and smooth velocity profiles Using the KS Command Step Motor Smoothing Stage Homing #HOME Example HomingMG AT Home Switch Example Find Edge Command Summary Homing OperationHigh Speed Position Capture The Latch Function Operand Summary Homing Operation AL Y Fast Update Rate Mode Programming Motion ED #BEGIN Using the DMC-1700/1800 Editor to Enter ProgramsDMC-1700/1800 Application Programming Using Labels in Programs Edit Mode CommandsProgram Format Special Labels Using the command, no or Apostrophe ‘Commenting Programs XQ #A, n Executing Programs MultitaskingHX n RAM Memory Interrogation Commands Trace CommandsError Code Command Stop Code Command Operands Program Flow CommandsDebugging Example Event Triggers & Trippoints AS X Y Z W S DMC-1700 and DMC-1800 Event TriggersFunction Event Trigger Repetitive Position Trigger Event Trigger ExamplesEvent Trigger Multiple Move Sequence Event Trigger Set Output after Distance Event 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 Multiple Conditional Statements Command Format JP and JSLogical operators Conditional Statements Using the if and Endif Commands Using If, Else, and Endif CommandsUsing the JP Command Example Using JP command Nesting if Conditional Statements Using the Else CommandCommand Format IF, Else and Endif Example using IF, Else and Endif Automatic Subroutines for Monitoring Conditions SubroutinesStack Manipulation Auto-Start Routine Example Position Error Example Limit Switch Example Input Interrupt Example Motion Complete Timeout Example Command Error w/Multitasking Example Command Error Mathematical Operators Mathematical and Functional ExpressionsBit-Wise Operators LEN1=FLEN&$00FF FunctionsENTER,LENS6 FLEN=@FRACLEN PR Posx VariablesProgrammable Variables Assigning Values to Variables Displaying the value of variables at the terminal Example Using Variables for JoystickOperands Assigning Variable Values to Controller Parameters Examples of Internal Variables ArraysSpecial Operands Keywords Defining Arrays Assignment of Array Entries Using a Variable to Address Array ElementsUploading and Downloading Arrays to On Board Memory Automatic Data Capture into Arrays Command Summary Automatic Data CaptureData Types for Recording Deallocating Array Space Input of Data Numeric and StringInput of Data Inputting String Variables Output of Data Numeric and StringSending Messages Cut-to-Length Example Formatting Messages Using the MG Command to Configure TerminalsFinal Value is Summary of Message Functions Displaying Variables and ArraysMG 07 LZ1 Local Formatting of Response of Interrogation CommandsPF m.n LZ0 VF m.n Formatting Variables and Array ElementsConverting to User Units Local Formatting of Variables Digital Outputs Hardware I/O AI 1BGX Example Start Motion on SwitchDigital Inputs Input Interrupt Function Examples Input Interrupt Analog InputsExample Position Follower Point-to-Point VER=VAR-TPX Wire CutterExample Applications Example Position Follower Continuous Move Inch = 40,000 counts Table ControllerJP #A BGZ AMZ CR 80000,270,-360BGZ AMZ Speed Control by Joystick Speed = 20000 x VIN DP0 Position Control by JoystickBacklash Compensation by Sampled Dual-Loop JG VEL JP #B Instruction This page Left Blank Intentionally DMC-1700/1800 Hardware & Software Protection Hardware ProtectionOutput Protection Lines Input Protection Lines # Poserr Signal or Function State if Error OccursSoftware Protection Programmable Position Limits #AJP #AEN Off-On-ErrorAutomatic Error Routine Limit Switch Routine #LR MG Reverse Limit JP#END#LF Stxamx DMC-1700/1800 Troubleshooting Installation Stability Communication Operation This page Left Blank Intentionally DMC-1700/1800 Theory of Operation Theory of Operation Level Velocity and Position Profiles Operation of Closed-Loop Systems Functional Elements of a Motion Control System System Modeling = 2 Ω Motor-AmplifierVoltage Drive Current Drive T1 = J/Ka Kt Kg Velocity Loop Voltage Source Digital Filter DAC Motor System AnalysisAmp Digital Filter EncoderDz = 1030 z-0.95/Z PM = 180 + α = System Design and CompensationAnalytical Method = 76 180 6 = Kd = 10/32768 = KP = = 4 ∗ KP Equivalent Filter Form DMC-1700/1800 Input/Output Electrical SpecificationsServo Control Stepper Control Power Performance Specifications J1 DMC-1740/1840 A-D Axes Main J5-DMC-1740/1840 A-D Axes Connectors for DMC-1700/1800 Main Board Axes Main PIN IDC Auxiliary Encoder J8 DMC-1780/1880 J6 DMC-1780/1880 J7 DMC-1780/1880 Outputs Pin-Out Description for DMC-1700/1800 PWM/STEP OUT Inputs Standard Addresses Setting Addresses for the DMC-1700HEX JPR A8 JPR A7 JPR A6 JPR A5 JPR A4 JPR A3 JPR A2 2DC 2AC2BC 2CC 3BC 3AC3CC Communications Jumpers Plug and Play Addresses Accessories and Options ICM-1900 Interconnect Module PC/AT Interrupts and Their Vectors Terminal Label Description GND +VCC MocmdxSignx Pwmx AN5 AN2AN3 AN4 ICM-1900 Drawing AMP-19X0 Mating Power AmplifiersFeatures Specifications OUT PWR ICM-2900 Interconnect ModuleOUT GND ANALOG7 ANA GNDANALOG5 ANALOG6 MBX Extended I/O of the DMC-17x8/1700/1800 Controller Opto-Isolated Outputs ICM-1900 / ICM-2900 -Opto optionStandard Opto-isolation and High Current Opto-isolation OP m,a,b,c,d Accessing extended I/OSaving the State of the Outputs in Non-Volatile Memory CO n OP 7,,,,7 Connector DescriptionMG @IN17 GND J8 50-PIN IDC Description IOM-1964 Opto-Isolation Module for Extended I/O Controllers Buffer chips Overview Figure A.4 CB-50-80 and CB-50-100 Bracket Layout Configuring Hardware Banks Figure A.5 IOM-1964 Chip Configuration Layout Sinking Sourcing Input Circuit Figure A.9 High Current Output Circuit High Power Digital Outputs Standard Digital Outputs Output Command ResultInternal Pullup Standard Digital Outputs Electrical SpecificationsHigh Power Digital Outputs Digital Inputs Relevant DMC Commands DMC-1700/1800 Appendices Coordinated Motion Mathematical Analysis 360 Velocity DMC-1700/DMC-1000 Comparison List of Other Publications Motion Control Made Easy Training Seminars Contacting Us Warranty DMC-1700/1800 Index Index Flags ICM-1100 25, 47, 48 Independent Motion Quit Stop