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Galil user manual Appendices DMC-2X00

Models: DMC-2X00

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SB 6006 set bit of output at handle 6, module 2, bit 3 or to one

OB 6006,1

AO 608,3.6 set analog output at handle 6, module 53, bit 1 to 3.6 volts

MG @AN[6017] display voltage value of analog input at handle6, module 5, bit 2

206 • Appendices

DMC-2X00

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Galil user manual Appendices DMC-2X00

Contents

By Galil Motion Control, Inc DMC-2x00Using This Manual Contents Connecting Hardware Communication Iv Contents DMC-2X00 Application Programming Troubleshooting 130 Contents y Index 210 Overview Electrical Specifications SpecificationsMechanical Specifications DMC- 2000 Family Part Number DefinitionEquipment Maintenance Environmental SpecificationsStandard Servo Motor with +/- 10 Volt Command Signal Overview of Motor TypesAmplifiers in Current Mode Stepper Motor with Step and Direction SignalsAmplifiers in Velocity Mode Overview of AmplifiersMicrocomputer Section DMC-2x00 Functional ElementsMotor Interface CommunicationSystem Elements General I/OMotor Amplifier DriverEncoder Watch Dog TimerThis page Left Blank Intentionally Getting Started Outline of the DMC-2000 Daughter Board DMC-2000 Daughter Board3B Outline of the DMC-2200 Daughter Board DMC-2200 Daughter BoardCABLE-USB-2M CABLE-USB-3M Elements You NeedRecommended System Elements of DMC-2100/DMC-2200 Installing the DMC-2x00 Determine Overall Motor ConfigurationStandard Servo Motor Operation Master Reset and Upgrade Jumpers Install Jumpers on the DMC-2x00Sinusoidal Commutation Stepper Motor OperationConfigure DIP switches on the DMC-2000 Switch 10 USB Switch 4, 5 and 6 Main Serial Port Baud RateConfigure DIP switches on the DMC-2100 Configure DIP switches on the DMC-2200Connect AC Power to the Controller Install the Communications SoftwareCommunicating through the Main Serial Communications Port Establish Communications with Galil SoftwareCommunicating through the Ethernet Communicating through the Universal Serial Bus USBDetermine the Axes to be Used for Sinusoidal Commutation Sending Test Commands to the TerminalMake Connections to Amplifier and Encoder DMC-2X00 Connect Standard Servo Motors BGA CR Inverting the Loop PolarityICM-2900 Connect Sinusoidal Commutation Motors Example Sinusoidal Commutation Configuration using a DMCGetting Started DMC-2X00 SHA Tune the Servo System Connect Step MotorsSystem Set-up Design ExamplesInstructionInterpretation Instruction InterpretationMultiple Axes Profiled MoveIndependent Moves Position InterrogationVelocity Control Absolute PositionUsing the On-Board Editor Operation in the Buffer ModeOperation Under Torque Limit InterrogationMotion Programs with Loops Motion Programs with TrippointsLine # Instruction Interpretation Linear Interpolation Control VariablesXQ #B AMALM ABC Circular InterpolationBGS VM ABThis page Left Blank Intentionally Using Optoisolated Inputs Limit Switch InputOverview Abort Input Home Switch InputReset Input Wiring the Opto-Isolated InputsUncommitted Digital Inputs Opto-Isolation Common PointOptoisolated Inputs Using an Isolated Power SupplyAnalog Inputs Amplifier InterfaceBypassing the Opto-Isolation Auxiliary Encoder Inputs TTL InputsTTL Outputs General Use OutputsOutput Compare Error Output Extended I/O of the DMC-2x00 ControllerInterfacing to Grayhill or OPTO-22 G4PB24 RS232 Ports IntroductionRS232 Main Port P1 Dataterm RS232 Auxiliary Port P2 DatasetRS422 Main Port P1 RS-232 ConfigurationRS422 Auxiliary Port P2 Baud Rate SelectionAddress Daisy-Chaining DMC-2000 onlyEthernet Configuration DMC-2100/2200 only Command InterpretationCommunication Protocols LED AddressingDMC-2X00 Communicating with Multiple Devices Multicasting Using Third Party SoftwareData Record Map Data RecordDMC-2X00 BIT Header Information Byte 0, 1 of HeaderBytes 2, 3 of Header Axis Switch Information 1 ByteGeneral Status Information 1 Byte Axis Status Information 2 ByteQZ Command Controller Response to CommandsGalil Software Tools and Libraries Unsolicited Messages Generated by ControllerImportant All DMC-2x00 commands are sent in upper case Command Syntax AsciiBG Abcdefgh BG AbcdBG D BG SHeader Format Command Syntax BinaryDatafields Format Binary Command TableExample LE, VEController Response to Data Summary of Interrogation Commands Interrogation CommandsInterrogating Current Commanded Values Interrogating the Controller=TPA Command SummaryThis page Left Blank Intentionally Example Application Mode of Motion Commands VS,VA,VD Independent Axis PositioningGA, GD GP, GROperand Summary Independent Axis Command Summary Independent AxisExamples Absolute Position MovementMultiple Move Sequence 20000 Position Tracking15000 10000 5000 Time ms 100Example Motion Command Description PT1Motion ExamplePosition vs. Time msec Motion Velocity vs.Time Motion Velocity cts/sec vs. Time msec with IT Motion Trip PointsCommand Summary Position Tracking Mode Command Summary JoggingIndependent Jogging Joystick Jogging Jog in X onlyAS a #JOYLinear Interpolation Mode Specifying the Coordinate PlaneSpecifying Linear Segments Specifying Vector Speed for Each Segment Additional CommandsChanging Feed Rate #ALTCommand Summary Linear Interpolation Operand Summary Linear InterpolationLinear Interpolation Motion LM CD Linear MovePosition D Multiple Moves Vector Mode Linear and Circular Interpolation MotionSpecifying Vector Segments Command Summary Coordinated Motion Sequence Compensating for Differences in Encoder ResolutionTrippoints Tangent MotionOperand Summary Coordinated Motion Sequence Tangent AxisOperand BG ABC Coordinated MotionAM ABC SB0Ramped Gearing Electronic GearingVelocity cts/sec vs. Time msec Ramped Gearing Electronic Gearing Over a Specified Interval Command Summary Electronic GearingMO Z GA Z, ZGantry Mode Simple Master/SlaveElectronic Gearing GA,A Electronic CamDMC-2X00 3000 2250 1500 2000 4000 6000 Master a Command Description Command Summary Electronic CAMElectronic CAM Operand Summary Electronic CAMSpecifying Contour Segments Contour Mode336 288 240 192 Time ms CMADT0CD0 Command Description CM Abcdefgh Command Summary Contour ModeGeneral Velocity Profiles Generating an Array#POINTS Contour ModeRecord and Playback Example Teach Record and Play-BackVirtual Axis Ecam master exampleSinusoidal Motion Example Stepper Motor Operation Monitoring Generated Pulses vs. Commanded PulsesSpecifying Stepper Motor Operation Stepper Motor SmoothingUsing an Encoder with Stepper Motors Command Summary Stepper Motor OperationMotion Complete Trip point Operand Summary Stepper Motor Operation Stepper Position Maintenance Mode SPMExample SPM Mode Setup Error LimitCorrection SHX#MOTION Example Error CorrectionExample Friction Correction Dual Loop Auxiliary Encoder Backlash Compensation Additional Commands for the Auxiliary EncoderContinuous Dual Loop = Main Encoder Second EncoderSampled Dual Loop Motion Smoothing#DUALOOP DE0Using the IT and VT Commands Trapezoidal velocity and smooth velocity profiles Using the KS Command Step Motor SmoothingHoming Home Sensor Home Switch High Speed Position Capture The Latch Function Command Summary Homing OperationOperand Summary Homing Operation Input FunctionAL B #LATCH#WAIT JP #WAIT,ALB=1Application Programming Using the DOS Editor to Enter Programs DMC-2000 onlyED #BEGIN Edit Mode CommandsProgram Format Using Labels in ProgramsSpecial Labels #STARTCommenting Programs No CommandREM Command Executing Programs MultitaskingREM Half Circle Motion VP 0,3000 REM TOP Line Debugging Programs Trace Commands DMC-2100/2200 onlyError Code Command Stop Code CommandRAM Memory Interrogation Commands Event Triggers & Trippoints Program Flow CommandsCommand Function DMC-2x00 Event TriggersAS a B C D E F G H Example- Set Output after Distance Example- Multiple Move SequenceExample- Repetitive Position Trigger Example Start Motion on InputExample Change Speed along Vector Path Example Set Output when At SpeedExample- Define Output Waveform Using AT Example Multiple Move with WaitConditional Jumps Logical operators Command Format JP and JSConditional Statements Multiple Conditional StatementsIf, Else, and Endif ExamplesJP#A #BEGINUsing the Else Command Using the if and Endif CommandsCommand Format IF, Else and Endif Nesting if Conditional StatementsSubroutines Stack ManipulationAuto-Start Routine Automatic Subroutines for Monitoring Conditions Example Limit SwitchExample 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 Operators Mathematical and Functional ExpressionsBit-Wise Operators Operator FunctionResponse from command MG len6 S4 Functions VariablesProgrammable Variables Assigning Values to VariablesAssigning Variable Values to Controller Parameters Operands Example Using Variables for JoystickDisplaying the value of variables at the terminal Special Operands KeywordsDefining Arrays ArraysAssignment of Array Entries TimeUsing a Variable to Address Array Elements Uploading and Downloading Arrays to On Board MemoryAutomatic Data Capture into Arrays Data Types for Recording Command Summary Automatic Data CaptureOperand Summary Automatic Data Capture Example Recording into an ArrayDeallocating Array Space Input of Data Numeric and StringInput of Data Example- Inputting Numeric DataKeyword Function Operator Data Entry ModeUsing Communication Interrupt Inputting String Variables Output of Data Numeric and StringSending Messages Specifying the Port for MessagesFormatting Messages Summary of Message Functions Using the MG Command to Configure TerminalsDisplaying Variables and Arrays Example Printing a Variable and an Array elementLZ0 0000000009Formatting Variables and Array Elements Local Formatting of Response of Interrogation CommandsLocal Formatting of Variables LZ1Converting to User Units Hardware I/ODigital Outputs AlphExample- Output Bit Example- Set Bit and Clear BitExample- Output Port Example Turn on output after moveExample Start Motion on Switch Example Using Inputs to control program flowInput Interrupt Function AI 1BGAExample Position Follower Point-to-Point Analog InputsTP AB ST ABExample Position Follower Continuous Move Configuring the I/O of the DMC-2x00PA VP #CONTSaving the State of the Outputs in Non-Volatile Memory Accessing Extended I/OBit I/O Block Binary Decimal Value for Representation Argument Blocks Bits DescriptionWire Cutter Example ApplicationsInterfacing to Grayhill or OPTO-22 G4PB24 JP #A Table ControllerAMC BGC AMCBGS AMS Speed Control by Joystick Backlash Compensation by Sampled Dual-Loop Position Control by JoystickBGA JP #B This page Left Blank Intentionally Output Protection Lines Hardware ProtectionInput Protection Lines Software ProtectionAutomatic Error Routine Off-On-ErrorProgrammable Position Limits #AJP #AENLimit Switch Routine Installation TroubleshootingCommunication StabilityOperation Theory of Operation Level Velocity and Position Profiles Operation of Closed-Loop SystemsFunctional Elements of a Motion Control System System ModelingMotor-Amplifier Voltage DriveCurrent Drive Elements of velocity loops Velocity LoopVoltage Source Digital Filter DACZOH System Analysis Magnitude 200 2000 Rad/s Analytical Method System Design and CompensationTheory of Operation DMC-2X00 Equivalent Filter Form Servo Control Electrical SpecificationsStepper Control Input / OutputPower Performance SpecificationsMinimum Servo Loop Update Time NormalFast Update Rate Mode DMC-2x00 Axes A-D High Density Connector Connectors for DMC-2x00 Main BoardDMC-2x00 Axes E-H High Density Connector DMC-2x00 Extended I/O 80 Pin High Density Connector DMC-2x00 Auxiliary Encoder 36 Pin High Density Connector+5V RS-232-Main Port Pin SignalRS-232-Auxiliary Port USB USB OutPin Serial Connector Male, D-type Standard RS-232 SpecificationsCable Connections for DMC-2x00 EthernetPin Male computer Pin female controller DMC-2x00 Serial Cable SpecificationsPin 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 DMCWIN16 DMCWIN32 SETUP16 SETUP32 KIT Accessories and OptionsICM-2900 Interconnect Module DescriptionBlock 4 PIN Label Description Pwmx ErrorMocmdy SignyIN8 ResetXlatch YlatchMAZ +MAZ+MBZ MBZICM ICM-2900 DrawingICM-2908 Interconnect Module ICM-2908 ICM-2908 DrawingPCB Layout of the ICM-2900 ISO OUT Power Error Reset CMP Mocmdw FeaturesICM-1900 Interconnect Module Terminal LabelDMC-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 Changing the Amplifier Enable Voltage Level Configuring the Amplifier Enable for ICM-2900 / ICMLaen Option DMC-2000 ICM-1900 / ICM-2900Overview IOM-1964 Opto-Isolation Module for Extended I/OFigure A-7 Configuring Hardware BanksInput Circuit Figure A-10 High Power Digital OutputsFigure A-12 Standard Digital OutputsFigure A-14 Digital InputsRelevant DMC Commands High Power Digital OutputsStandard Digital Outputs Screw Terminal ListingDMC-2X00 PWROUT31 PWROUT32PWROUT30 PWROUT29CB-50-100 Adapter Board ConnectorsAppendices DMC-2X00 JC6 50 PIN IDC J9 100 PIN High Density Connector JC8 JC6 CB-50-100 DrawingFigure A-16 CB-50-80 Adapter BoardJC8 JC6 CB-50-80 Outline CB-50-80 DrawingCB-50-80 Layout Figure A-19 TERM-1500 Operator TerminalFigure A-20 Specifications Hand-HeldKeypad Maps Hand-Held Specifications Panel MountSingle Key Output Shift Key OutputEscape Commands Cursor Movement CommandsKeypad Map Panel Mount 6 columns x 5 rows Configuration Default Function Keys Default ConfigurationInput/Output of Data DMC-2x00 Commands Function KeysPin Modular Connector Pin D Adaptor Male For P2Ordering Information Vs = Vx 2 + Vy Coordinated Motion Mathematical AnalysisLk = Xk 2 + Yk Velocity Example- Communicating with OPTO-22 SNAP-B3000 MODULE=2 #CFGDOUTCFGVALUE=$180 NUMOFIO=4Appendices DMC-2X00 DMC-2x00 DMC-1500 DMC-2x00/DMC-1500 ComparisonTraining Seminars List of Other PublicationsContacting Us WarrantyLimswi IndexPID Poserr