#Latch, Al B, #Wait, JP #WAIT,ALB=1 | Galil DMC-2X00 manual

Example

Instruction	Interpretation
#LATCH	Latch program
JG,5000	Jog B
BG B	Begin motion on B axis
AL B	Arm Latch for B axis
#WAIT	#Wait label for loop
JP #WAIT,_ALB=1	Jump to #Wait label if latch has not occurred
Result=_RLB	Set ‘Result’ equal to the reported position of y axis
Result=	Print result
EN	End

DMC-2X00

Chapter 6 Programming Motion y 75

Image 130

Galil DMC-2X00 user manual #Latch, Al B, #Wait, JP #WAIT,ALB=1

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 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 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 Trippoints Motion Programs with LoopsLine # Instruction Interpretation XQ #B Control VariablesLinear Interpolation AMA BGS Circular InterpolationLM ABC VM AB This page Left Blank Intentionally Limit Switch Input Using Optoisolated InputsOverview 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 Amplifier Interface Analog InputsBypassing the Opto-Isolation TTL Inputs Auxiliary Encoder Inputs General 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 Dataset RS422 Auxiliary Port P2 RS-232 ConfigurationRS422 Main Port P1 Baud Rate Selection Daisy-Chaining DMC-2000 only Address Command Interpretation Ethernet Configuration DMC-2100/2200 onlyCommunication 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 Absolute Position Movement ExamplesMultiple 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 Jogging Command Summary Position Tracking ModeIndependent Jogging AS a Jog in X onlyJoystick Jogging #JOY Specifying the Coordinate Plane Linear Interpolation ModeSpecifying Linear Segments Changing Feed Rate Additional CommandsSpecifying Vector Speed for Each Segment #ALT Operand Summary Linear Interpolation Command 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 Tangent Axis Operand Summary Coordinated Motion SequenceOperand 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 Simple Master/Slave Gantry ModeElectronic 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 CMA 336 288 240 192 Time msDT0CD0 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 Ecam master example Virtual AxisSinusoidal Motion Example Specifying Stepper Motor Operation Monitoring Generated Pulses vs. Commanded PulsesStepper Motor Operation Stepper Motor Smoothing Command Summary Stepper Motor Operation Using an Encoder with Stepper MotorsMotion 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 Executing Programs Multitasking REM CommandREM Half Circle Motion VP 0,3000 REM TOP Line Trace Commands DMC-2100/2200 only Debugging Programs Stop Code Command Error Code CommandRAM Memory Interrogation Commands Program Flow Commands Event Triggers & Trippoints DMC-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 Input Example Set Output when At Speed Example Change Speed along Vector Path Example Multiple Move with Wait Example- Define Output Waveform Using ATConditional 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 Stack Manipulation SubroutinesAuto-Start Routine Example Limit Switch Automatic Subroutines for Monitoring Conditions Example 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 Function Response from command MG len6 S4 Variables Functions Assigning 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 Keywords Assignment of Array Entries ArraysDefining Arrays Time Uploading 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 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 Specifying 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 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 Example Applications Wire CutterInterfacing to Grayhill or OPTO-22 G4PB24 Table Controller JP #A BGC AMC 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 Stability CommunicationOperation Theory of Operation Level Operation of Closed-Loop Systems Velocity and Position Profiles System Modeling Functional Elements of a Motion Control System Voltage Drive Motor-AmplifierCurrent 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 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 KIT Description ICM-2900 Interconnect ModuleBlock 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 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-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 Cursor 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 Keys Pin D Adaptor Male For P2 Pin Modular ConnectorOrdering 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