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Galil DMC-2X00 user manual Home Sensor Home Switch

Models: DMC-2X00

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HOME SENSOR

HOME SWITCH	_HMA=1	_HMX=0
HOME SWITCH

		POSITION
		VELOCITY
	(1)	MOTION BEGINS
	(1)	TOWARD HOME
		TOWARD HOME
		DIRECTION

POSITION

VELOCITY

MOTION REVERSE

(2)TOWARD HOME

DIRECTION

POSITION

VELOCITY

(3)MOTION TOWARD

INDEX

DIRECTION

POSITION

INDEX PULSES

POSITION

Figure 6.10 - Motion intervals in the Home sequence

DMC-2X00

Chapter 6 Programming Motion y 73

Image 128

Galil DMC-2X00 user manual Home Sensor Home Switch

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 Specifications Electrical SpecificationsMechanical Specifications DMC- 2000 Family Part Number DefinitionEnvironmental Specifications Equipment MaintenanceStandard Servo Motor with +/- 10 Volt Command Signal Overview of Motor TypesStepper Motor with Step and Direction Signals Amplifiers in Current ModeAmplifiers in Velocity Mode Overview of AmplifiersDMC-2x00 Functional Elements Microcomputer SectionMotor Interface CommunicationGeneral I/O System ElementsMotor 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 Standard Servo Motor Operation Installing the DMC-2x00Determine Overall Motor Configuration Install Jumpers on the DMC-2x00 Master Reset and Upgrade JumpersSinusoidal Commutation Stepper Motor OperationConfigure 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-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 SystemDesign Examples System Set-upInstructionInterpretation Instruction InterpretationProfiled Move Multiple AxesIndependent Moves Position InterrogationAbsolute Position Velocity ControlOperation in the Buffer Mode Using the On-Board EditorOperation Under Torque Limit InterrogationLine # Instruction Interpretation Motion Programs with LoopsMotion Programs with Trippoints Control Variables Linear InterpolationXQ #B AMACircular Interpolation LM ABCBGS VM ABThis page Left Blank Intentionally Overview Using Optoisolated InputsLimit Switch Input Home Switch Input Abort InputWiring the Opto-Isolated Inputs Reset InputUncommitted Digital Inputs Opto-Isolation Common PointUsing an Isolated Power Supply Optoisolated InputsBypassing the Opto-Isolation Analog InputsAmplifier Interface TTL Inputs Auxiliary Encoder InputsOutput Compare TTL OutputsGeneral Use Outputs Interfacing to Grayhill or OPTO-22 G4PB24 Error OutputExtended I/O of the DMC-2x00 Controller Introduction RS232 PortsRS232 Main Port P1 Dataterm RS232 Auxiliary Port P2 DatasetRS-232 Configuration RS422 Main Port P1RS422 Auxiliary Port P2 Baud Rate SelectionDaisy-Chaining DMC-2000 only AddressCommunication Protocols Ethernet Configuration DMC-2100/2200 onlyCommand Interpretation Addressing LEDDMC-2X00 Communicating with Multiple Devices Using Third Party Software MulticastingData Record Data Record MapDMC-2X00 Header Information Byte 0, 1 of Header BITAxis Switch Information 1 Byte Bytes 2, 3 of HeaderGeneral Status Information 1 Byte 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 Abcd BG AbcdefghBG D BG SCommand Syntax Binary Header FormatBinary Command Table Datafields FormatExample LE, VEController Response to Data Interrogation Commands Summary of Interrogation CommandsInterrogating Current Commanded Values Interrogating the ControllerCommand Summary =TPAThis page Left Blank Intentionally Example Application Mode of Motion Commands Independent Axis Positioning VS,VA,VDGA, GD GP, GRCommand Summary Independent Axis Operand Summary Independent AxisMultiple Move Sequence ExamplesAbsolute Position Movement Position Tracking 2000015000 10000 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 MotionIndependent Jogging Command Summary Position Tracking ModeCommand Summary Jogging Jog in X only Joystick JoggingAS a #JOYSpecifying Linear Segments Linear Interpolation ModeSpecifying the Coordinate Plane Additional Commands Specifying Vector Speed for Each SegmentChanging Feed Rate #ALTLinear Interpolation Motion Command Summary Linear InterpolationOperand Summary Linear Interpolation Linear Move LM CDPosition D Vector Mode Linear and Circular Interpolation Motion Multiple MovesSpecifying Vector Segments Compensating for Differences in Encoder Resolution Command Summary Coordinated Motion SequenceTrippoints Tangent MotionOperand Operand Summary Coordinated Motion SequenceTangent Axis Coordinated Motion BG ABCAM ABC SB0Electronic Gearing Ramped GearingVelocity cts/sec vs. Time msec Ramped Gearing Command Summary Electronic Gearing Electronic Gearing Over a Specified IntervalMO Z GA Z, ZElectronic Gearing Gantry ModeSimple Master/Slave 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 SegmentsDT0CD0 336 288 240 192 Time msCMA Command Summary Contour Mode Command Description CM AbcdefghGeneral Velocity Profiles Generating an ArrayContour Mode #POINTSTeach Record and Play-Back Record and Playback ExampleSinusoidal Motion Example Virtual AxisEcam master example Monitoring Generated Pulses vs. Commanded Pulses Stepper Motor OperationSpecifying Stepper Motor Operation Stepper Motor SmoothingMotion Complete Trip point Using an Encoder with Stepper MotorsCommand Summary Stepper Motor Operation Stepper Position Maintenance Mode SPM Operand Summary Stepper Motor OperationError Limit Example SPM Mode SetupCorrection SHXExample Error Correction #MOTIONExample Friction Correction Dual Loop Auxiliary Encoder Additional Commands for the Auxiliary Encoder Backlash CompensationContinuous Dual Loop = Main Encoder Second EncoderMotion Smoothing Sampled Dual Loop#DUALOOP DE0Using the IT and VT Commands Using the KS Command Step Motor Smoothing Trapezoidal velocity and smooth velocity profilesHoming 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=1Using the DOS Editor to Enter Programs DMC-2000 only Application ProgrammingEdit Mode Commands ED #BEGINUsing Labels in Programs Program FormatSpecial Labels #STARTNo Command Commenting ProgramsREM Half Circle Motion VP 0,3000 REM TOP Line REM CommandExecuting Programs Multitasking Trace Commands DMC-2100/2200 only Debugging ProgramsRAM Memory Interrogation Commands Error Code CommandStop Code Command Program Flow Commands Event Triggers & TrippointsAS a B C D E F G H Command FunctionDMC-2x00 Event Triggers Example- Multiple Move Sequence Example- Set Output after DistanceExample- Repetitive Position Trigger Example Start Motion on InputExample Set Output when At Speed Example Change Speed along Vector PathConditional Jumps Example- Define Output Waveform Using ATExample Multiple Move with Wait Command Format JP and JS Logical operatorsConditional Statements Multiple Conditional StatementsExamples If, Else, and EndifJP#A #BEGINUsing the if and Endif Commands Using the Else CommandCommand Format IF, Else and Endif Nesting if Conditional StatementsAuto-Start Routine SubroutinesStack Manipulation Example Limit Switch Automatic Subroutines for Monitoring ConditionsExample Input Interrupt Example Position ErrorExample Motion Complete Timeout Example Command Error PAA=0 Example Command Error w/MultitaskingExample Communication Interrupt Example Ethernet Communication Error Mathematical and Functional Expressions Mathematical OperatorsBit-Wise Operators Operator FunctionResponse from command MG len6 S4 Variables FunctionsAssigning Variable Values to Controller Parameters Programmable VariablesAssigning Values to Variables Example Using Variables for Joystick OperandsDisplaying the value of variables at the terminal Special Operands KeywordsArrays Defining ArraysAssignment of Array Entries TimeAutomatic Data Capture into Arrays Using a Variable to Address Array ElementsUploading and Downloading Arrays to On Board Memory Command Summary Automatic Data Capture Data Types for RecordingOperand Summary Automatic Data Capture Example Recording into an ArrayInput of Data Numeric and String Deallocating Array SpaceInput of Data Example- Inputting Numeric DataOperator Data Entry Mode Keyword FunctionUsing Communication Interrupt Output of Data Numeric and String Inputting String VariablesFormatting Messages Sending MessagesSpecifying the Port for Messages Using the MG Command to Configure Terminals Summary of Message FunctionsDisplaying Variables and Arrays Example Printing a Variable and an Array element0000000009 LZ0Local Formatting of Response of Interrogation Commands Formatting Variables and Array ElementsLocal Formatting of Variables LZ1Hardware I/O Converting to User UnitsDigital Outputs AlphExample- Set Bit and Clear Bit Example- Output BitExample- Output Port Example Turn on output after moveExample Using Inputs to control program flow Example Start Motion on SwitchInput Interrupt Function AI 1BGAAnalog Inputs Example Position Follower Point-to-PointTP AB ST ABConfiguring the I/O of the DMC-2x00 Example Position Follower Continuous MovePA VP #CONTAccessing Extended I/O Saving the State of the Outputs in Non-Volatile MemoryBit I/O Block Binary Decimal Value for Representation Argument Blocks Bits DescriptionInterfacing to Grayhill or OPTO-22 G4PB24 Wire CutterExample Applications Table Controller JP #ABGS AMS AMCBGC AMC 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 LinesOff-On-Error Automatic Error RoutineProgrammable Position Limits #AJP #AENLimit Switch Routine Troubleshooting InstallationOperation CommunicationStability Theory of Operation Level Operation of Closed-Loop Systems Velocity and Position ProfilesSystem Modeling Functional Elements of a Motion Control SystemCurrent Drive Motor-AmplifierVoltage 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 Electrical Specifications Servo ControlStepper Control Input / OutputPerformance Specifications PowerMinimum Servo Loop Update Time 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 Pin Signal RS-232-Main PortRS-232-Auxiliary Port USB USB OutStandard RS-232 Specifications Pin Serial Connector Male, D-typeCable Connections for DMC-2x00 EthernetDMC-2x00 Serial Cable Specifications Pin Male computer Pin female controllerPin Female terminal Pin Male Controller Pin Female Computer Pin Female ControllerPin Male terminal Pin male controller Inputs Pin-Out Description for DMC-2x00Outputs Appendices DMC-2X00 Function If jumpered Jumper Description for DMC-2x00Jumper Label Dimensions for DMC-2x00 Accessories and Options DMCWIN16 DMCWIN32 SETUP16 SETUP32 KITBlock 4 PIN Label Description ICM-2900 Interconnect ModuleDescription Error PwmxMocmdy SignyReset IN8Xlatch Ylatch+MAZ MAZ+MBZ MBZICM-2900 Drawing ICMICM-2908 Interconnect Module ICM-2908 Drawing ICM-2908PCB Layout of the ICM-2900 Features ISO OUT Power Error Reset CMP MocmdwICM-1900 Interconnect Module Terminal LabelDMC-2X00 100 101 102 103 104 105 106 107 MBW +INW AMP-19x0 Mating Power AmplifiersICM-1900 Drawing Standard Opto-Isolation and High Current Opto-isolation SpecificationsOpto-Isolated Outputs for ICM-2900 / ICM-1900 / AMP Configuring the Amplifier Enable for ICM-2900 / ICM Changing the Amplifier Enable Voltage LevelLaen Option 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-14High Power Digital Outputs Relevant DMC CommandsStandard Digital Outputs Screw Terminal ListingDMC-2X00 PWROUT32 PWROUT31PWROUT30 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-20Specifications Panel Mount Keypad Maps Hand-HeldSingle Key Output Shift Key OutputKeypad Map Panel Mount 6 columns x 5 rows Escape CommandsCursor Movement Commands Configuration Default Configuration Default Function KeysInput/Output of Data DMC-2x00 Commands Function KeysOrdering Information Pin Modular ConnectorPin D Adaptor Male For P2 Coordinated Motion Mathematical Analysis Vs = Vx 2 + VyLk = Xk 2 + Yk Velocity Example- Communicating with OPTO-22 SNAP-B3000 #CFGDOUT MODULE=2CFGVALUE=$180 NUMOFIO=4Appendices DMC-2X00 DMC-2x00/DMC-1500 Comparison DMC-2x00 DMC-1500List of Other Publications Training SeminarsWarranty Contacting UsIndex LimswiPID Poserr