Example Error Correction, #Motion | Galil DMC-2X00 manual

Half-Stepping Drive, X axis:

#SETUP
OE1;	Set the profiler to stop axis upon error
KS16;	Set step smoothing
MT-2;	Motor type set to stepper
YA2;	Step resolution of the half-step drive
YB200;	Motor resolution (full steps per revolution)
YC4000;	Encoder resolution (counts per revolution)
SHX;	Enable axis
WT50;	Allow slight settle time
YS1;	Enable SPM mode

1/64th Step Microstepping Drive, X axis:

#SETUP
OE1;	Set the profiler to stop axis upon error
KS16;	Set step smoothing
MT-2;	Motor type set to stepper
YA64;	Step resolution of the microstepping drive
YB200;	Motor resolution (full steps per revolution)
YC4000;	Encoder resolution (counts per revolution)
SHX;	Enable axis
WT50;	Allow slight settle time
YS1;	Enable SPM mode

Example: Error Correction

The following code demonstrates what is necessary to set up SPM mode for the X axis, detect error, stop the motor, correct the error, and return to the main code. The drive is a full step drive, with a 1.8o step motor and 4000 count/rev encoder.

#SETUP
OE1;	Set the profiler to stop axis upon error
KS16;	Set step smoothing
MT-2,-2,-2,-2;	Motor type set to stepper
YA2;	Step resolution of the drive
YB200;	Motor resolution (full steps per revolution)
YC4000;	Encoder resolution (counts per revolution)
SHX;	Enable axis
WT100;	Allow slight settle time

#MOTION

Perform motion

DMC-2X00

Chapter 6 Programming Motion y 65

Image 120

Galil DMC-2X00 user manual Example Error Correction, #Motion

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 Specifications Electrical SpecificationsMechanical Specifications DMC- 2000 Family Part Number Definition Environmental Specifications Equipment MaintenanceStandard Servo Motor with +/- 10 Volt Command Signal Overview of Motor Types Stepper Motor with Step and Direction Signals Amplifiers in Current ModeAmplifiers in Velocity Mode Overview of Amplifiers DMC-2x00 Functional Elements Microcomputer SectionMotor Interface Communication General I/O System ElementsMotor 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 Install Jumpers on the DMC-2x00 Master Reset and Upgrade JumpersSinusoidal Commutation Stepper Motor Operation Configure DIP switches on the DMC-2000 Switch 4, 5 and 6 Main Serial Port Baud Rate Switch 10 USBConfigure DIP switches on the DMC-2100 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 Design Examples System Set-upInstructionInterpretation Instruction Interpretation Profiled Move Multiple AxesIndependent Moves Position Interrogation Absolute Position Velocity Control Operation in the Buffer Mode Using the On-Board EditorOperation Under Torque Limit Interrogation Motion Programs with Loops Motion Programs with TrippointsLine # Instruction Interpretation Control Variables Linear InterpolationXQ #B AMA Circular Interpolation LM ABCBGS VM AB This page Left Blank Intentionally Using Optoisolated Inputs Limit Switch InputOverview Home Switch Input Abort Input Wiring the Opto-Isolated Inputs Reset InputUncommitted Digital Inputs 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 Introduction RS232 PortsRS232 Main Port P1 Dataterm RS232 Auxiliary Port P2 Dataset RS-232 Configuration RS422 Main Port P1RS422 Auxiliary Port P2 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 Axis Switch Information 1 Byte Bytes 2, 3 of HeaderGeneral Status Information 1 Byte 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 Abcd BG AbcdefghBG D BG S Command Syntax Binary Header Format Binary Command Table Datafields FormatExample LE, VE Controller Response to Data Interrogation Commands Summary of Interrogation CommandsInterrogating Current Commanded Values Interrogating the Controller Command Summary =TPA This page Left Blank Intentionally Example Application Mode of Motion Commands Independent Axis Positioning VS,VA,VDGA, GD GP, GR Command Summary Independent Axis Operand Summary Independent Axis Examples Absolute Position MovementMultiple Move Sequence Position Tracking 2000015000 10000 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 Jog in X only Joystick JoggingAS a #JOY Linear Interpolation Mode Specifying the Coordinate PlaneSpecifying Linear Segments Additional Commands Specifying Vector Speed for Each SegmentChanging Feed Rate #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 Compensating for Differences in Encoder Resolution Command Summary Coordinated Motion SequenceTrippoints Tangent Motion Operand Summary Coordinated Motion Sequence Tangent AxisOperand Coordinated Motion BG ABCAM ABC SB0 Electronic Gearing Ramped Gearing Velocity cts/sec vs. Time msec Ramped Gearing Command Summary Electronic Gearing Electronic Gearing Over a Specified IntervalMO Z 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 Command Summary Contour Mode Command Description CM AbcdefghGeneral Velocity Profiles Generating an Array Contour Mode #POINTS Teach Record and Play-Back Record and Playback Example Virtual Axis Ecam master exampleSinusoidal Motion Example Monitoring Generated Pulses vs. Commanded Pulses Stepper Motor OperationSpecifying Stepper 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 Error Limit Example SPM Mode SetupCorrection SHX Example Error Correction #MOTION Example Friction Correction Dual Loop Auxiliary Encoder Additional Commands for the Auxiliary Encoder Backlash CompensationContinuous Dual Loop = Main Encoder Second Encoder Motion Smoothing Sampled Dual Loop#DUALOOP 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 Command Summary Homing Operation High Speed Position Capture The Latch FunctionOperand Summary Homing Operation Input Function #LATCH AL B#WAIT JP #WAIT,ALB=1 Using the DOS Editor to Enter Programs DMC-2000 only Application Programming Edit Mode Commands ED #BEGIN Using Labels in Programs Program FormatSpecial Labels #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- Multiple Move Sequence Example- Set Output after DistanceExample- Repetitive Position Trigger 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 Command Format JP and JS Logical operatorsConditional Statements Multiple Conditional Statements Examples If, Else, and EndifJP#A #BEGIN Using the if and Endif Commands Using the Else CommandCommand Format IF, Else and Endif 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 Mathematical and Functional Expressions Mathematical OperatorsBit-Wise Operators Operator Function Response from command MG len6 S4 Variables Functions Programmable Variables Assigning Values to VariablesAssigning Variable Values to Controller Parameters Example Using Variables for Joystick OperandsDisplaying the value of variables at the terminal Special Operands Keywords Arrays Defining ArraysAssignment of Array Entries Time Using a Variable to Address Array Elements Uploading and Downloading Arrays to On Board MemoryAutomatic Data Capture into Arrays Command Summary Automatic Data Capture Data Types for RecordingOperand Summary Automatic Data Capture Example Recording into an Array Input of Data Numeric and String Deallocating Array SpaceInput of Data 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 Using the MG Command to Configure Terminals Summary of Message FunctionsDisplaying Variables and Arrays Example Printing a Variable and an Array element 0000000009 LZ0 Local Formatting of Response of Interrogation Commands Formatting Variables and Array ElementsLocal Formatting of Variables LZ1 Hardware I/O Converting to User UnitsDigital Outputs Alph Example- Set Bit and Clear Bit Example- Output BitExample- Output Port Example Turn on output after move Example Using Inputs to control program flow Example Start Motion on SwitchInput Interrupt Function AI 1BGA Analog Inputs Example Position Follower Point-to-PointTP AB ST AB Configuring the I/O of the DMC-2x00 Example Position Follower Continuous MovePA VP #CONT Accessing Extended I/O Saving the State of the Outputs in Non-Volatile MemoryBit I/O Block Binary Decimal Value for Representation 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 Off-On-Error Automatic Error RoutineProgrammable Position Limits #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 Electrical Specifications Servo ControlStepper Control Input / Output Performance Specifications PowerMinimum Servo Loop Update Time 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 Pin Signal RS-232-Main PortRS-232-Auxiliary Port USB USB Out Standard RS-232 Specifications Pin Serial Connector Male, D-typeCable Connections for DMC-2x00 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 Error PwmxMocmdy Signy Reset IN8Xlatch Ylatch +MAZ MAZ+MBZ MBZ ICM-2900 Drawing ICM ICM-2908 Interconnect Module ICM-2908 Drawing ICM-2908 PCB Layout of the ICM-2900 Features ISO OUT Power Error Reset CMP MocmdwICM-1900 Interconnect Module 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 Configuring the Amplifier Enable for ICM-2900 / ICM Changing the Amplifier Enable Voltage LevelLaen Option 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 High Power Digital Outputs Relevant DMC CommandsStandard Digital Outputs Screw Terminal Listing DMC-2X00 PWROUT32 PWROUT31PWROUT30 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 Specifications Panel Mount Keypad Maps Hand-HeldSingle Key Output Shift Key Output Escape Commands Cursor Movement CommandsKeypad Map Panel Mount 6 columns x 5 rows Configuration Default Configuration Default Function KeysInput/Output of Data DMC-2x00 Commands 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 #CFGDOUT MODULE=2CFGVALUE=$180 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