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Galil DMC-2X00 user manual DMC-2x00 Auxiliary Encoder 36 Pin High Density Connector

Models: DMC-2X00

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43A+H

44A-H

45B+H

46B-H

47I+H

48I-H

49+12V

50+12V

93nc

94nc

95nc

96nc

97nc

98nc

99-12v

100-12v

DMC-2x00 Auxiliary Encoder 36 Pin High Density Connector

15v

2gnd

3+aaX

4-aaX

5+abX

6-abX

7+aaY

8-aaY

9+abY

10-abY

11+aaZ

12-aaZ

13+abZ

14-abZ

15+aaW

16-aaW

17+abW

18-abW

195v

20gnd

21+aaE

22-aaE

23+abE

24-abE

25+aaF

26-aaF

27+abF

28-abF

29+aaG

30-aaG

31+abG

32-abG

33+aaH

34-aaH

35+abH

36-abH

DMC-2x00 Extended I/O 80 Pin High Density Connector

Pin		Signal			Block	Bit @IN[n], @OUT[n]	Bit No

	1		I/O	8		72	7
	2		I/O	9		73	0
	3		I/O	8		71	6
	4		I/O	9		74	1
	5		I/O	8		70	5
	6		I/O	9		75	2
	7		I/O	8		69	4
	8		I/O	9		76	3
	9		I/O	8		68	3
	10		I/O	9		77	4
	11		I/O	8		67	2
	12		I/O	9		78	5
	13		I/O	8		66	1
	14		I/O	9		79	6
	15		I/O	8		65	0
	16		I/O	9		80	7
	17		I/O	7		64	7
	18		GND	--		--	GND

DMC-2X00

Appendices y 151

Image 206

Galil DMC-2X00 user manual DMC-2x00 Auxiliary Encoder 36 Pin High Density Connector

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 Standard Servo Motor Operation Installing the DMC-2x00Determine Overall Motor Configuration 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 InterrogationLine # Instruction Interpretation Motion Programs with LoopsMotion Programs with Trippoints XQ #B Control VariablesLinear Interpolation AMABGS Circular InterpolationLM ABC VM ABThis page Left Blank Intentionally Overview Using Optoisolated InputsLimit Switch Input Home Switch Input Abort InputUncommitted Digital Inputs Wiring the Opto-Isolated InputsReset Input 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 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 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 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 AxisMultiple Move Sequence ExamplesAbsolute Position Movement 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 MotionIndependent Jogging Command Summary Position Tracking ModeCommand Summary Jogging AS a Jog in X onlyJoystick Jogging #JOYSpecifying Linear Segments Linear Interpolation ModeSpecifying the Coordinate Plane Changing Feed Rate Additional CommandsSpecifying Vector Speed for Each Segment #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 Trippoints Compensating for Differences in Encoder ResolutionCommand Summary Coordinated Motion Sequence Tangent MotionOperand Operand Summary Coordinated Motion SequenceTangent Axis 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, 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 General Velocity Profiles Command Summary Contour ModeCommand Description CM Abcdefgh Generating an ArrayContour Mode #POINTSTeach Record and Play-Back Record and Playback ExampleSinusoidal Motion Example Virtual AxisEcam master example Specifying Stepper Motor Operation Monitoring Generated Pulses vs. Commanded PulsesStepper 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 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 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- 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 PathConditional Jumps Example- Define Output Waveform Using ATExample Multiple Move with Wait 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 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 Bit-Wise Operators Mathematical and Functional ExpressionsMathematical Operators Operator FunctionResponse from command MG len6 S4 Variables FunctionsAssigning Variable Values to Controller Parameters Programmable VariablesAssigning Values to Variables Displaying the value of variables at the terminal Example Using Variables for JoystickOperands Special Operands KeywordsAssignment of Array Entries ArraysDefining Arrays TimeAutomatic Data Capture into Arrays Using a Variable to Address Array ElementsUploading and Downloading Arrays to On Board Memory 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 VariablesFormatting Messages Sending MessagesSpecifying the Port for 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 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 LinesProgrammable Position Limits Off-On-ErrorAutomatic Error Routine #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 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 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 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 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 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 OutputKeypad Map Panel Mount 6 columns x 5 rows Escape CommandsCursor Movement Commands Configuration Input/Output of Data DMC-2x00 Commands Default ConfigurationDefault Function Keys 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 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