Manuals / Galil / Computer Equipment / Projector

Galil DMC-2X00 user manual Index 210

Models: DMC-2X00

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Keypad Maps - Hand-Held	196
Keypad Map - Panel Mount – 6 columns x 5 rows	197
Configuration	198
Function Keys	199
Input/Output of Data – DMC-2x00 Commands	199
Ordering Information	200
Coordinated Motion - Mathematical Analysis	201
Example- Communicating with OPTO-22 SNAP-B3000-ENET	204
DMC-2x00/DMC-1500 Comparison	207
List of Other Publications	208
Training Seminars	208
Contacting Us	209
WARRANTY	209
Index	210

viii • Contents

DMC-2X00

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Galil DMC-2X00 user manual Index 210

Contents

DMC-2x00 By Galil Motion Control, IncUsing This Manual Contents Connecting Hardware Communication Iv Contents DMC-2X00 Application Programming Troubleshooting 130 Contents y Index 210 Overview Mechanical Specifications SpecificationsElectrical Specifications DMC- 2000 Family Part Number DefinitionStandard Servo Motor with +/- 10 Volt Command Signal Environmental SpecificationsEquipment Maintenance Overview of Motor TypesAmplifiers in Velocity Mode Stepper Motor with Step and Direction SignalsAmplifiers in Current Mode Overview of AmplifiersMotor Interface DMC-2x00 Functional ElementsMicrocomputer Section CommunicationMotor General I/OSystem Elements Amplifier DriverWatch Dog Timer EncoderThis page Left Blank Intentionally Getting Started DMC-2000 Daughter Board Outline of the DMC-2000 Daughter BoardDMC-2200 Daughter Board 3B Outline of the DMC-2200 Daughter BoardElements You Need CABLE-USB-2M CABLE-USB-3MRecommended System Elements of DMC-2100/DMC-2200 Determine Overall Motor Configuration Installing the DMC-2x00Standard Servo Motor Operation Sinusoidal Commutation Install Jumpers on the DMC-2x00Master Reset and Upgrade Jumpers Stepper Motor OperationConfigure DIP switches on the DMC-2000 Configure DIP switches on the DMC-2100 Switch 4, 5 and 6 Main Serial Port Baud RateSwitch 10 USB Configure DIP switches on the DMC-2200Install the Communications Software Connect AC Power to the ControllerEstablish Communications with Galil Software Communicating through the Main Serial Communications PortCommunicating through the Universal Serial Bus USB Communicating through the EthernetSending Test Commands to the Terminal Determine the Axes to be Used for Sinusoidal CommutationMake Connections to Amplifier and Encoder DMC-2X00 Connect Standard Servo Motors Inverting the Loop Polarity BGA CRICM-2900 Example Sinusoidal Commutation Configuration using a DMC Connect Sinusoidal Commutation MotorsGetting Started DMC-2X00 SHA Connect Step Motors Tune the Servo SystemInstructionInterpretation Design ExamplesSystem Set-up Instruction InterpretationIndependent Moves Profiled MoveMultiple Axes Position InterrogationAbsolute Position Velocity ControlOperation Under Torque Limit Operation in the Buffer ModeUsing the On-Board Editor InterrogationMotion Programs with Trippoints Motion Programs with LoopsLine # Instruction Interpretation XQ #B Control VariablesLinear Interpolation AMABGS Circular InterpolationLM ABC VM ABThis page Left Blank Intentionally Limit Switch Input Using Optoisolated InputsOverview Home Switch Input Abort InputUncommitted Digital Inputs Wiring the Opto-Isolated InputsReset Input Opto-Isolation Common PointUsing an Isolated Power Supply Optoisolated InputsAmplifier Interface Analog InputsBypassing the Opto-Isolation TTL Inputs Auxiliary Encoder InputsGeneral Use Outputs TTL OutputsOutput Compare Extended I/O of the DMC-2x00 Controller Error OutputInterfacing to Grayhill or OPTO-22 G4PB24 RS232 Main Port P1 Dataterm IntroductionRS232 Ports RS232 Auxiliary Port P2 DatasetRS422 Auxiliary Port P2 RS-232 ConfigurationRS422 Main Port P1 Baud Rate SelectionDaisy-Chaining DMC-2000 only AddressCommand Interpretation Ethernet Configuration DMC-2100/2200 onlyCommunication Protocols Addressing LEDDMC-2X00 Communicating with Multiple Devices Using Third Party Software MulticastingData Record Data Record MapDMC-2X00 Header Information Byte 0, 1 of Header BITGeneral Status Information 1 Byte Axis Switch Information 1 ByteBytes 2, 3 of Header Axis Status Information 2 ByteController Response to Commands QZ CommandUnsolicited Messages Generated by Controller Galil Software Tools and LibrariesCommand Syntax Ascii Important All DMC-2x00 commands are sent in upper caseBG D BG AbcdBG Abcdefgh BG SCommand Syntax Binary Header FormatExample Binary Command TableDatafields Format LE, VEController Response to Data Interrogating Current Commanded Values Interrogation CommandsSummary of Interrogation Commands Interrogating the ControllerCommand Summary =TPAThis page Left Blank Intentionally Example Application Mode of Motion Commands GA, GD Independent Axis PositioningVS,VA,VD GP, GRCommand Summary Independent Axis Operand Summary Independent AxisAbsolute Position Movement ExamplesMultiple Move Sequence 15000 10000 Position Tracking20000 5000 Time ms 100Command Description PT1 Example MotionExample MotionPosition vs. Time msec Motion Velocity vs.Time Motion Trip Points Velocity cts/sec vs. Time msec with IT MotionCommand Summary Jogging Command Summary Position Tracking ModeIndependent Jogging AS a Jog in X onlyJoystick Jogging #JOYSpecifying the Coordinate Plane Linear Interpolation ModeSpecifying Linear Segments Changing Feed Rate Additional CommandsSpecifying Vector Speed for Each Segment #ALTOperand Summary Linear Interpolation Command Summary Linear InterpolationLinear Interpolation Motion Linear Move LM CDPosition D Vector Mode Linear and Circular Interpolation Motion Multiple MovesSpecifying Vector Segments Trippoints Compensating for Differences in Encoder ResolutionCommand Summary Coordinated Motion Sequence Tangent MotionTangent Axis Operand Summary Coordinated Motion SequenceOperand AM ABC Coordinated MotionBG ABC SB0Electronic Gearing Ramped GearingVelocity cts/sec vs. Time msec Ramped Gearing MO Z Command Summary Electronic GearingElectronic Gearing Over a Specified Interval GA Z, ZSimple Master/Slave Gantry ModeElectronic Gearing Electronic Cam GA,ADMC-2X00 3000 2250 1500 2000 4000 6000 Master a Command Summary Electronic CAM Command DescriptionOperand Summary Electronic CAM Electronic CAMContour Mode Specifying Contour SegmentsCMA 336 288 240 192 Time msDT0CD0 General Velocity Profiles Command Summary Contour ModeCommand Description CM Abcdefgh Generating an ArrayContour Mode #POINTSTeach Record and Play-Back Record and Playback ExampleEcam master example Virtual AxisSinusoidal Motion Example Specifying Stepper Motor Operation Monitoring Generated Pulses vs. Commanded PulsesStepper Motor Operation Stepper Motor SmoothingCommand Summary Stepper Motor Operation Using an Encoder with Stepper MotorsMotion Complete Trip point Stepper Position Maintenance Mode SPM Operand Summary Stepper Motor OperationCorrection Error LimitExample SPM Mode Setup SHXExample Error Correction #MOTIONExample Friction Correction Dual Loop Auxiliary Encoder Continuous Dual Loop Additional Commands for the Auxiliary EncoderBacklash Compensation = Main Encoder Second Encoder#DUALOOP Motion SmoothingSampled Dual Loop DE0Using the IT and VT Commands Using the KS Command Step Motor Smoothing Trapezoidal velocity and smooth velocity profilesHoming Home Sensor Home Switch Operand Summary Homing Operation Command Summary Homing OperationHigh Speed Position Capture The Latch Function Input Function#WAIT #LATCHAL B JP #WAIT,ALB=1Using the DOS Editor to Enter Programs DMC-2000 only Application ProgrammingEdit Mode Commands ED #BEGINSpecial Labels Using Labels in ProgramsProgram Format #STARTNo Command Commenting ProgramsExecuting Programs Multitasking REM CommandREM Half Circle Motion VP 0,3000 REM TOP Line Trace Commands DMC-2100/2200 only Debugging ProgramsStop Code Command Error Code CommandRAM Memory Interrogation Commands Program Flow Commands Event Triggers & TrippointsDMC-2x00 Event Triggers Command FunctionAS a B C D E F G H Example- Repetitive Position Trigger Example- Multiple Move SequenceExample- Set Output after Distance Example Start Motion on InputExample Set Output when At Speed Example Change Speed along Vector PathExample Multiple Move with Wait Example- Define Output Waveform Using ATConditional Jumps Conditional Statements Command Format JP and JSLogical operators Multiple Conditional StatementsJP#A ExamplesIf, Else, and Endif #BEGINCommand Format IF, Else and Endif Using the if and Endif CommandsUsing the Else Command Nesting if Conditional StatementsStack Manipulation SubroutinesAuto-Start Routine Example Limit Switch Automatic Subroutines for Monitoring ConditionsExample Motion Complete Timeout Example Position ErrorExample Input Interrupt Example Command Error Example Communication Interrupt Example Command Error w/MultitaskingPAA=0 Example Ethernet Communication Error Bit-Wise Operators Mathematical and Functional ExpressionsMathematical Operators Operator FunctionResponse from command MG len6 S4 Variables FunctionsAssigning Values to Variables Programmable VariablesAssigning Variable Values to Controller Parameters Displaying the value of variables at the terminal Example Using Variables for JoystickOperands Special Operands KeywordsAssignment of Array Entries ArraysDefining Arrays TimeUploading and Downloading Arrays to On Board Memory Using a Variable to Address Array ElementsAutomatic Data Capture into Arrays Operand Summary Automatic Data Capture Command Summary Automatic Data CaptureData Types for Recording Example Recording into an ArrayInput of Data Input of Data Numeric and StringDeallocating Array Space Example- Inputting Numeric DataOperator Data Entry Mode Keyword FunctionUsing Communication Interrupt Output of Data Numeric and String Inputting String VariablesSpecifying the Port for Messages Sending MessagesFormatting Messages Displaying Variables and Arrays Using the MG Command to Configure TerminalsSummary of Message Functions Example Printing a Variable and an Array element0000000009 LZ0Local Formatting of Variables Local Formatting of Response of Interrogation CommandsFormatting Variables and Array Elements LZ1Digital Outputs Hardware I/OConverting to User Units AlphExample- Output Port Example- Set Bit and Clear BitExample- Output Bit Example Turn on output after moveInput Interrupt Function Example Using Inputs to control program flowExample Start Motion on Switch AI 1BGATP AB Analog InputsExample Position Follower Point-to-Point ST ABPA VP Configuring the I/O of the DMC-2x00Example Position Follower Continuous Move #CONTBit I/O Block Binary Decimal Value for Representation Accessing Extended I/OSaving the State of the Outputs in Non-Volatile Memory Argument Blocks Bits DescriptionExample Applications Wire CutterInterfacing to Grayhill or OPTO-22 G4PB24 Table Controller JP #ABGC AMC AMCBGS AMS Speed Control by Joystick Position Control by Joystick Backlash Compensation by Sampled Dual-LoopBGA JP #B This page Left Blank Intentionally Hardware Protection Output Protection LinesSoftware Protection Input Protection LinesProgrammable Position Limits Off-On-ErrorAutomatic Error Routine #AJP #AENLimit Switch Routine Troubleshooting InstallationStability CommunicationOperation Theory of Operation Level Operation of Closed-Loop Systems Velocity and Position ProfilesSystem Modeling Functional Elements of a Motion Control SystemVoltage Drive Motor-AmplifierCurrent Drive Velocity Loop Elements of velocity loopsVoltage Source DAC Digital FilterZOH System Analysis Magnitude 200 2000 Rad/s System Design and Compensation Analytical MethodTheory of Operation DMC-2X00 Equivalent Filter Form Stepper Control Electrical SpecificationsServo Control Input / OutputMinimum Servo Loop Update Time Performance SpecificationsPower NormalFast Update Rate Mode Connectors for DMC-2x00 Main Board DMC-2x00 Axes A-D High Density ConnectorDMC-2x00 Axes E-H High Density Connector DMC-2x00 Auxiliary Encoder 36 Pin High Density Connector DMC-2x00 Extended I/O 80 Pin High Density Connector+5V RS-232-Auxiliary Port Pin SignalRS-232-Main Port USB USB OutCable Connections for DMC-2x00 Standard RS-232 SpecificationsPin Serial Connector Male, D-type EthernetDMC-2x00 Serial Cable Specifications Pin Male computer Pin female controllerPin Male terminal Pin male controller Pin Female Computer Pin Female ControllerPin Female terminal Pin Male Controller Outputs Pin-Out Description for DMC-2x00Inputs Appendices DMC-2X00 Jumper Label Jumper Description for DMC-2x00Function If jumpered Dimensions for DMC-2x00 Accessories and Options DMCWIN16 DMCWIN32 SETUP16 SETUP32 KITDescription ICM-2900 Interconnect ModuleBlock 4 PIN Label Description Mocmdy ErrorPwmx SignyXlatch ResetIN8 Ylatch+MBZ +MAZMAZ MBZICM-2900 Drawing ICMICM-2908 Interconnect Module ICM-2908 Drawing ICM-2908PCB Layout of the ICM-2900 ICM-1900 Interconnect Module FeaturesISO OUT Power Error Reset CMP Mocmdw Terminal LabelDMC-2X00 100 101 102 103 104 105 106 107 ICM-1900 Drawing AMP-19x0 Mating Power AmplifiersMBW +INW Opto-Isolated Outputs for ICM-2900 / ICM-1900 / AMP SpecificationsStandard Opto-Isolation and High Current Opto-isolation Laen Option Configuring the Amplifier Enable for ICM-2900 / ICMChanging the Amplifier Enable Voltage Level DMC-2000 ICM-1900 / ICM-2900IOM-1964 Opto-Isolation Module for Extended I/O OverviewConfiguring Hardware Banks Figure A-7Input Circuit High Power Digital Outputs Figure A-10Standard Digital Outputs Figure A-12Digital Inputs Figure A-14Standard Digital Outputs High Power Digital OutputsRelevant DMC Commands Screw Terminal ListingDMC-2X00 PWROUT30 PWROUT32PWROUT31 PWROUT29Connectors CB-50-100 Adapter BoardAppendices DMC-2X00 JC6 50 PIN IDC J9 100 PIN High Density Connector CB-50-100 Drawing JC8 JC6CB-50-80 Adapter Board Figure A-16JC8 JC6 CB-50-80 Drawing CB-50-80 OutlineCB-50-80 Layout TERM-1500 Operator Terminal Figure A-19Specifications Hand-Held Figure A-20Single Key Output Specifications Panel MountKeypad Maps Hand-Held Shift Key OutputCursor Movement Commands Escape CommandsKeypad Map Panel Mount 6 columns x 5 rows Configuration Input/Output of Data DMC-2x00 Commands Default ConfigurationDefault Function Keys Function KeysPin D Adaptor Male For P2 Pin Modular ConnectorOrdering Information Coordinated Motion Mathematical Analysis Vs = Vx 2 + VyLk = Xk 2 + Yk Velocity Example- Communicating with OPTO-22 SNAP-B3000 CFGVALUE=$180 #CFGDOUTMODULE=2 NUMOFIO=4Appendices DMC-2X00 DMC-2x00/DMC-1500 Comparison DMC-2x00 DMC-1500List of Other Publications Training SeminarsWarranty Contacting UsIndex LimswiPID Poserr