Velocity cts/sec vs. Time msec Ramped Gearing | Galil DMC-2X00

and command maximum current to the motor. This can be a large shock to the system. For many applications it is acceptable to slowly ramp the engagement of gearing over a greater time frame. Galil allows the user to specify an interval of the master axis over which the gearing will be engaged. For example, the same master X axis in this case travels at 1,000,000 counts/sec, and the gear ratio is 1:1, but the gearing is slowly engaged over 30,000 cts of the master axis, greatly diminishing the initial shock to the slave axis. Figure 1 below shows the velocity vs. time profile for instantaneous gearing. Figure 2 shows the velocity vs. time profile for the gradual gearing engagement.

Figure 1 Velocity cts/sec vs. Time (msec) Instantaneous Gearing Engagement

Figure 2 Velocity (cts/sec) vs. Time (msec) Ramped Gearing

DMC-2X00

Chapter 6 Programming Motion y 47

Image 102

Galil DMC-2X00 user manual Velocity cts/sec vs. Time msec Ramped Gearing

Contents

DMC-2x00 By Galil Motion Control, Inc Using 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 Definition Standard Servo Motor with +/- 10 Volt Command Signal Environmental SpecificationsEquipment Maintenance Overview of Motor Types Amplifiers in Velocity Mode Stepper Motor with Step and Direction SignalsAmplifiers in Current Mode Overview of Amplifiers Motor Interface DMC-2x00 Functional ElementsMicrocomputer Section Communication Motor General I/OSystem Elements Amplifier Driver Watch Dog Timer Encoder This page Left Blank Intentionally Getting Started DMC-2000 Daughter Board Outline of the DMC-2000 Daughter Board DMC-2200 Daughter Board 3B Outline of the DMC-2200 Daughter Board Elements You Need CABLE-USB-2M CABLE-USB-3M Recommended System Elements of DMC-2100/DMC-2200 Installing the DMC-2x00 Determine Overall Motor ConfigurationStandard Servo Motor Operation Sinusoidal Commutation Install Jumpers on the DMC-2x00Master Reset and Upgrade Jumpers Stepper Motor Operation Configure 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-2200 Install the Communications Software Connect AC Power to the Controller Establish Communications with Galil Software Communicating through the Main Serial Communications Port Communicating through the Universal Serial Bus USB Communicating through the Ethernet Sending Test Commands to the Terminal Determine the Axes to be Used for Sinusoidal Commutation Make Connections to Amplifier and Encoder DMC-2X00 Connect Standard Servo Motors Inverting the Loop Polarity BGA CR ICM-2900 Example Sinusoidal Commutation Configuration using a DMC Connect Sinusoidal Commutation Motors Getting Started DMC-2X00 SHA Connect Step Motors Tune the Servo System InstructionInterpretation Design ExamplesSystem Set-up Instruction Interpretation Independent Moves Profiled MoveMultiple Axes Position Interrogation Absolute Position Velocity Control Operation Under Torque Limit Operation in the Buffer ModeUsing the On-Board Editor Interrogation Motion Programs with Loops Motion Programs with TrippointsLine # Instruction Interpretation XQ #B Control VariablesLinear Interpolation AMA BGS Circular InterpolationLM ABC VM AB This page Left Blank Intentionally Using Optoisolated Inputs Limit Switch InputOverview Home Switch Input Abort Input Uncommitted Digital Inputs Wiring the Opto-Isolated InputsReset Input Opto-Isolation Common Point Using an Isolated Power Supply Optoisolated Inputs Analog Inputs Amplifier InterfaceBypassing the Opto-Isolation TTL Inputs Auxiliary Encoder Inputs TTL Outputs General Use OutputsOutput Compare Error Output Extended I/O of the DMC-2x00 ControllerInterfacing to Grayhill or OPTO-22 G4PB24 RS232 Main Port P1 Dataterm IntroductionRS232 Ports RS232 Auxiliary Port P2 Dataset RS422 Auxiliary Port P2 RS-232 ConfigurationRS422 Main Port P1 Baud Rate Selection Daisy-Chaining DMC-2000 only Address Ethernet Configuration DMC-2100/2200 only Command InterpretationCommunication Protocols Addressing LED DMC-2X00 Communicating with Multiple Devices Using Third Party Software Multicasting Data Record Data Record Map DMC-2X00 Header Information Byte 0, 1 of Header BIT General Status Information 1 Byte Axis Switch Information 1 ByteBytes 2, 3 of Header Axis Status Information 2 Byte Controller Response to Commands QZ Command Unsolicited Messages Generated by Controller Galil Software Tools and Libraries Command Syntax Ascii Important All DMC-2x00 commands are sent in upper case BG D BG AbcdBG Abcdefgh BG S Command Syntax Binary Header Format Example Binary Command TableDatafields Format LE, VE Controller Response to Data Interrogating Current Commanded Values Interrogation CommandsSummary of Interrogation Commands Interrogating the Controller Command Summary =TPA This page Left Blank Intentionally Example Application Mode of Motion Commands GA, GD Independent Axis PositioningVS,VA,VD GP, GR Command Summary Independent Axis Operand Summary Independent Axis Examples Absolute Position MovementMultiple Move Sequence 15000 10000 Position Tracking20000 5000 Time ms 100 Command Description PT1 Example Motion Example Motion Position vs. Time msec Motion Velocity vs.Time Motion Trip Points Velocity cts/sec vs. Time msec with IT Motion Command Summary Position Tracking Mode Command Summary JoggingIndependent Jogging AS a Jog in X onlyJoystick Jogging #JOY Linear Interpolation Mode Specifying the Coordinate PlaneSpecifying Linear Segments Changing Feed Rate Additional CommandsSpecifying Vector Speed for Each Segment #ALT Command Summary Linear Interpolation Operand Summary Linear InterpolationLinear Interpolation Motion Linear Move LM CD Position D Vector Mode Linear and Circular Interpolation Motion Multiple Moves Specifying Vector Segments Trippoints Compensating for Differences in Encoder ResolutionCommand Summary Coordinated Motion Sequence Tangent Motion Operand Summary Coordinated Motion Sequence Tangent AxisOperand AM ABC Coordinated MotionBG ABC SB0 Electronic Gearing Ramped Gearing Velocity cts/sec vs. Time msec Ramped Gearing MO Z Command Summary Electronic GearingElectronic Gearing Over a Specified Interval GA Z, Z Gantry Mode Simple Master/SlaveElectronic Gearing Electronic Cam GA,A DMC-2X00 3000 2250 1500 2000 4000 6000 Master a Command Summary Electronic CAM Command Description Operand Summary Electronic CAM Electronic CAM Contour Mode Specifying Contour Segments 336 288 240 192 Time ms CMADT0CD0 General Velocity Profiles Command Summary Contour ModeCommand Description CM Abcdefgh Generating an Array Contour Mode #POINTS Teach Record and Play-Back Record and Playback Example Virtual Axis Ecam master exampleSinusoidal Motion Example Specifying Stepper Motor Operation Monitoring Generated Pulses vs. Commanded PulsesStepper Motor Operation Stepper Motor Smoothing Using an Encoder with Stepper Motors Command Summary Stepper Motor OperationMotion Complete Trip point Stepper Position Maintenance Mode SPM Operand Summary Stepper Motor Operation Correction Error LimitExample SPM Mode Setup SHX Example Error Correction #MOTION Example 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 DE0 Using the IT and VT Commands Using the KS Command Step Motor Smoothing Trapezoidal velocity and smooth velocity profiles Homing 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=1 Using the DOS Editor to Enter Programs DMC-2000 only Application Programming Edit Mode Commands ED #BEGIN Special Labels Using Labels in ProgramsProgram Format #START No Command Commenting Programs REM Command Executing Programs MultitaskingREM Half Circle Motion VP 0,3000 REM TOP Line Trace Commands DMC-2100/2200 only Debugging Programs Error Code Command Stop Code CommandRAM Memory Interrogation Commands Program Flow Commands Event Triggers & Trippoints Command Function DMC-2x00 Event TriggersAS a B C D E F G H Example- Repetitive Position Trigger Example- Multiple Move SequenceExample- Set Output after Distance Example Start Motion on Input Example Set Output when At Speed Example Change Speed along Vector Path Example- Define Output Waveform Using AT Example Multiple Move with WaitConditional Jumps Conditional Statements Command Format JP and JSLogical operators Multiple Conditional Statements JP#A ExamplesIf, Else, and Endif #BEGIN Command Format IF, Else and Endif Using the if and Endif CommandsUsing the Else Command Nesting if Conditional Statements Subroutines Stack ManipulationAuto-Start Routine Example Limit Switch Automatic Subroutines for Monitoring Conditions Example Position Error Example Motion Complete TimeoutExample Input Interrupt Example Command Error Example Command Error w/Multitasking Example Communication InterruptPAA=0 Example Ethernet Communication Error Bit-Wise Operators Mathematical and Functional ExpressionsMathematical Operators Operator Function Response from command MG len6 S4 Variables Functions Programmable Variables Assigning Values to VariablesAssigning Variable Values to Controller Parameters Displaying the value of variables at the terminal Example Using Variables for JoystickOperands Special Operands Keywords Assignment of Array Entries ArraysDefining Arrays Time Using a Variable to Address Array Elements Uploading and Downloading Arrays to On Board MemoryAutomatic Data Capture into Arrays Operand Summary Automatic Data Capture Command Summary Automatic Data CaptureData Types for Recording Example Recording into an Array Input of Data Input of Data Numeric and StringDeallocating Array Space Example- Inputting Numeric Data Operator Data Entry Mode Keyword Function Using Communication Interrupt Output of Data Numeric and String Inputting String Variables Sending Messages Specifying the Port for MessagesFormatting Messages Displaying Variables and Arrays Using the MG Command to Configure TerminalsSummary of Message Functions Example Printing a Variable and an Array element 0000000009 LZ0 Local Formatting of Variables Local Formatting of Response of Interrogation CommandsFormatting Variables and Array Elements LZ1 Digital Outputs Hardware I/OConverting to User Units Alph Example- Output Port Example- Set Bit and Clear BitExample- Output Bit Example Turn on output after move Input Interrupt Function Example Using Inputs to control program flowExample Start Motion on Switch AI 1BGA TP AB Analog InputsExample Position Follower Point-to-Point ST AB PA VP Configuring the I/O of the DMC-2x00Example Position Follower Continuous Move #CONT Bit I/O Block Binary Decimal Value for Representation Accessing Extended I/OSaving the State of the Outputs in Non-Volatile Memory Argument Blocks Bits Description Wire Cutter Example ApplicationsInterfacing to Grayhill or OPTO-22 G4PB24 Table Controller JP #A AMC BGC AMCBGS AMS Speed Control by Joystick Position Control by Joystick Backlash Compensation by Sampled Dual-Loop BGA JP #B This page Left Blank Intentionally Hardware Protection Output Protection Lines Software Protection Input Protection Lines Programmable Position Limits Off-On-ErrorAutomatic Error Routine #AJP #AEN Limit Switch Routine Troubleshooting Installation Communication StabilityOperation Theory of Operation Level Operation of Closed-Loop Systems Velocity and Position Profiles System Modeling Functional Elements of a Motion Control System Motor-Amplifier Voltage DriveCurrent Drive Velocity Loop Elements of velocity loops Voltage Source DAC Digital Filter ZOH System Analysis Magnitude 200 2000 Rad/s System Design and Compensation Analytical Method Theory of Operation DMC-2X00 Equivalent Filter Form Stepper Control Electrical SpecificationsServo Control Input / Output Minimum Servo Loop Update Time Performance SpecificationsPower Normal Fast Update Rate Mode Connectors for DMC-2x00 Main Board DMC-2x00 Axes A-D High Density Connector DMC-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 Out Cable Connections for DMC-2x00 Standard RS-232 SpecificationsPin Serial Connector Male, D-type Ethernet DMC-2x00 Serial Cable Specifications Pin Male computer Pin female controller Pin Female Computer Pin Female Controller Pin Male terminal Pin male controllerPin Female terminal Pin Male Controller Pin-Out Description for DMC-2x00 OutputsInputs Appendices DMC-2X00 Jumper Description for DMC-2x00 Jumper LabelFunction If jumpered Dimensions for DMC-2x00 Accessories and Options DMCWIN16 DMCWIN32 SETUP16 SETUP32 KIT ICM-2900 Interconnect Module DescriptionBlock 4 PIN Label Description Mocmdy ErrorPwmx Signy Xlatch ResetIN8 Ylatch +MBZ +MAZMAZ MBZ ICM-2900 Drawing ICM ICM-2908 Interconnect Module ICM-2908 Drawing ICM-2908 PCB Layout of the ICM-2900 ICM-1900 Interconnect Module FeaturesISO OUT Power Error Reset CMP Mocmdw Terminal Label DMC-2X00 100 101 102 103 104 105 106 107 AMP-19x0 Mating Power Amplifiers ICM-1900 DrawingMBW +INW Specifications Opto-Isolated Outputs for ICM-2900 / ICM-1900 / AMPStandard 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-2900 IOM-1964 Opto-Isolation Module for Extended I/O Overview Configuring Hardware Banks Figure A-7 Input Circuit High Power Digital Outputs Figure A-10 Standard Digital Outputs Figure A-12 Digital Inputs Figure A-14 Standard Digital Outputs High Power Digital OutputsRelevant DMC Commands Screw Terminal Listing DMC-2X00 PWROUT30 PWROUT32PWROUT31 PWROUT29 Connectors CB-50-100 Adapter Board Appendices DMC-2X00 JC6 50 PIN IDC J9 100 PIN High Density Connector CB-50-100 Drawing JC8 JC6 CB-50-80 Adapter Board Figure A-16 JC8 JC6 CB-50-80 Drawing CB-50-80 Outline CB-50-80 Layout TERM-1500 Operator Terminal Figure A-19 Specifications Hand-Held Figure A-20 Single Key Output Specifications Panel MountKeypad Maps Hand-Held Shift Key Output Escape Commands Cursor Movement CommandsKeypad Map Panel Mount 6 columns x 5 rows Configuration Input/Output of Data DMC-2x00 Commands Default ConfigurationDefault Function Keys Function Keys Pin Modular Connector Pin D Adaptor Male For P2Ordering Information Coordinated Motion Mathematical Analysis Vs = Vx 2 + Vy Lk = Xk 2 + Yk Velocity Example- Communicating with OPTO-22 SNAP-B3000 CFGVALUE=$180 #CFGDOUTMODULE=2 NUMOFIO=4 Appendices DMC-2X00 DMC-2x00/DMC-1500 Comparison DMC-2x00 DMC-1500 List of Other Publications Training Seminars Warranty Contacting Us Index Limswi PID Poserr