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Galil DMC-2X00 user manual Contents

Models: DMC-2X00

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Contents

Using This Manual	ii
Contents	i
Chapter 1 Overview	1
Introduction	1
Specifications	2
DMC- 2000 Family Part Number Definition	2
Electrical Specifications	2
Mechanical Specifications	2
Environmental Specifications	3
Equipment Maintenance	3
Overview of Motor Types	3
Standard Servo Motor with +/- 10 Volt Command Signal	3
Brushless Servo Motor with Sinusoidal Commutation	3
Stepper Motor with Step and Direction Signals	4
Overview of Amplifiers	4
Amplifiers in Current Mode	4
Amplifiers in Velocity Mode	4
Stepper Motor Amplifiers	4
DMC-2x00 Functional Elements	5
Microcomputer Section	5
Motor Interface	5
Communication	5
General I/O	6
System Elements	6
Motor	6
Amplifier (Driver)	6
Encoder	7
Watch Dog Timer	7
Chapter 2 Getting Started	9
The DMC-2x00 Main Board	9
The DMC-2000 Daughter Board	10
The DMC-2200 Daughter Board	11
Elements You Need	12
Installing the DMC-2x00	14
Step 1. Determine Overall Motor Configuration	14
Step 2. Install Jumpers on the DMC-2x00	15
Step 3a. Configure DIP switches on the DMC-2000	16

DMC-2x00

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Galil DMC-2X00 user manual Contents

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 DMC- 2000 Family Part Number Definition SpecificationsElectrical Specifications Mechanical SpecificationsOverview of Motor Types Environmental SpecificationsEquipment Maintenance Standard Servo Motor with +/- 10 Volt Command SignalOverview of Amplifiers Stepper Motor with Step and Direction SignalsAmplifiers in Current Mode Amplifiers in Velocity ModeCommunication DMC-2x00 Functional ElementsMicrocomputer Section Motor InterfaceAmplifier Driver General I/OSystem Elements MotorEncoder 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 Stepper Motor Operation Install Jumpers on the DMC-2x00Master Reset and Upgrade Jumpers Sinusoidal CommutationConfigure DIP switches on the DMC-2000 Configure DIP switches on the DMC-2200 Switch 4, 5 and 6 Main Serial Port Baud RateSwitch 10 USB Configure DIP switches on the DMC-2100Connect 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 MotorsInstruction Interpretation Design ExamplesSystem Set-up InstructionInterpretationPosition Interrogation Profiled MoveMultiple Axes Independent MovesVelocity Control Absolute PositionInterrogation Operation in the Buffer ModeUsing the On-Board Editor Operation Under Torque LimitMotion Programs with Loops Motion Programs with TrippointsLine # Instruction Interpretation AMA Control VariablesLinear Interpolation XQ #BVM AB Circular InterpolationLM ABC BGSThis page Left Blank Intentionally Using Optoisolated Inputs Limit Switch InputOverview Abort Input Home Switch InputOpto-Isolation Common Point Wiring the Opto-Isolated InputsReset Input Uncommitted Digital InputsOptoisolated 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 Auxiliary Port P2 Dataset IntroductionRS232 Ports RS232 Main Port P1 DatatermBaud Rate Selection RS-232 ConfigurationRS422 Main Port P1 RS422 Auxiliary Port P2Address 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 HeaderAxis Status Information 2 Byte Axis Switch Information 1 ByteBytes 2, 3 of Header General Status Information 1 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 S BG AbcdBG Abcdefgh BG DHeader Format Command Syntax BinaryLE, VE Binary Command TableDatafields Format ExampleController Response to Data Interrogating the Controller Interrogation CommandsSummary of Interrogation Commands Interrogating Current Commanded Values=TPA Command SummaryThis page Left Blank Intentionally Example Application Mode of Motion Commands GP, GR Independent Axis PositioningVS,VA,VD GA, GDOperand Summary Independent Axis Command Summary Independent AxisExamples Absolute Position MovementMultiple Move Sequence 5000 Time ms 100 Position Tracking20000 15000 10000Example 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 #JOY Jog in X onlyJoystick Jogging AS aLinear Interpolation Mode Specifying the Coordinate PlaneSpecifying Linear Segments #ALT Additional CommandsSpecifying Vector Speed for Each Segment Changing Feed RateCommand 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 Tangent Motion Compensating for Differences in Encoder ResolutionCommand Summary Coordinated Motion Sequence TrippointsOperand Summary Coordinated Motion Sequence Tangent AxisOperand SB0 Coordinated MotionBG ABC AM ABCRamped Gearing Electronic GearingVelocity cts/sec vs. Time msec Ramped Gearing GA Z, Z Command Summary Electronic GearingElectronic Gearing Over a Specified Interval MO 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 Generating an Array Command Summary Contour ModeCommand Description CM Abcdefgh General Velocity Profiles#POINTS Contour ModeRecord and Playback Example Teach Record and Play-BackVirtual Axis Ecam master exampleSinusoidal Motion Example Stepper Motor Smoothing Monitoring Generated Pulses vs. Commanded PulsesStepper Motor Operation Specifying Stepper Motor OperationUsing an Encoder with Stepper Motors Command Summary Stepper Motor OperationMotion Complete Trip point Operand Summary Stepper Motor Operation Stepper Position Maintenance Mode SPMSHX Error LimitExample SPM Mode Setup Correction#MOTION Example Error CorrectionExample Friction Correction Dual Loop Auxiliary Encoder = Main Encoder Second Encoder Additional Commands for the Auxiliary EncoderBacklash Compensation Continuous Dual LoopDE0 Motion SmoothingSampled Dual Loop #DUALOOPUsing the IT and VT Commands Trapezoidal velocity and smooth velocity profiles Using the KS Command Step Motor SmoothingHoming Home Sensor Home Switch Input Function Command Summary Homing OperationHigh Speed Position Capture The Latch Function Operand Summary Homing OperationJP #WAIT,ALB=1 #LATCHAL B #WAITApplication Programming Using the DOS Editor to Enter Programs DMC-2000 onlyED #BEGIN Edit Mode Commands#START Using Labels in ProgramsProgram Format Special LabelsCommenting 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 Start Motion on Input Example- Multiple Move SequenceExample- Set Output after Distance Example- Repetitive Position TriggerExample Change Speed along Vector Path Example Set Output when At SpeedExample- Define Output Waveform Using AT Example Multiple Move with WaitConditional Jumps Multiple Conditional Statements Command Format JP and JSLogical operators Conditional Statements#BEGIN ExamplesIf, Else, and Endif JP#ANesting if Conditional Statements Using the if and Endif CommandsUsing the Else Command Command Format IF, Else and EndifSubroutines 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 Operator Function Mathematical and Functional ExpressionsMathematical Operators Bit-Wise OperatorsResponse from command MG len6 S4 Functions VariablesProgrammable Variables Assigning Values to VariablesAssigning Variable Values to Controller Parameters Special Operands Keywords Example Using Variables for JoystickOperands Displaying the value of variables at the terminalTime ArraysDefining Arrays Assignment of Array EntriesUsing a Variable to Address Array Elements Uploading and Downloading Arrays to On Board MemoryAutomatic Data Capture into Arrays Example Recording into an Array Command Summary Automatic Data CaptureData Types for Recording Operand Summary Automatic Data CaptureExample- Inputting Numeric Data Input of Data Numeric and StringDeallocating Array Space Input of DataKeyword Function Operator Data Entry ModeUsing Communication Interrupt Inputting String Variables Output of Data Numeric and StringSending Messages Specifying the Port for MessagesFormatting Messages Example Printing a Variable and an Array element Using the MG Command to Configure TerminalsSummary of Message Functions Displaying Variables and ArraysLZ0 0000000009LZ1 Local Formatting of Response of Interrogation CommandsFormatting Variables and Array Elements Local Formatting of VariablesAlph Hardware I/OConverting to User Units Digital OutputsExample Turn on output after move Example- Set Bit and Clear BitExample- Output Bit Example- Output PortAI 1BGA Example Using Inputs to control program flowExample Start Motion on Switch Input Interrupt FunctionST AB Analog InputsExample Position Follower Point-to-Point TP AB#CONT Configuring the I/O of the DMC-2x00Example Position Follower Continuous Move PA VPArgument Blocks Bits Description Accessing Extended I/OSaving the State of the Outputs in Non-Volatile Memory Bit I/O Block Binary Decimal Value for RepresentationWire 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 Protection#AJP #AEN Off-On-ErrorAutomatic Error Routine Programmable Position LimitsLimit 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 Input / Output Electrical SpecificationsServo Control Stepper ControlNormal Performance SpecificationsPower Minimum Servo Loop Update TimeFast 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 USB USB Out Pin SignalRS-232-Main Port RS-232-Auxiliary PortEthernet Standard RS-232 SpecificationsPin Serial Connector Male, D-type Cable Connections for DMC-2x00Pin 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 Signy ErrorPwmx MocmdyYlatch ResetIN8 XlatchMBZ +MAZMAZ +MBZICM ICM-2900 DrawingICM-2908 Interconnect Module ICM-2908 ICM-2908 DrawingPCB Layout of the ICM-2900 Terminal Label FeaturesISO OUT Power Error Reset CMP Mocmdw ICM-1900 Interconnect ModuleDMC-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 DMC-2000 ICM-1900 / ICM-2900 Configuring the Amplifier Enable for ICM-2900 / ICMChanging the Amplifier Enable Voltage Level Laen OptionOverview 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 InputsScrew Terminal Listing High Power Digital OutputsRelevant DMC Commands Standard Digital OutputsDMC-2X00 PWROUT29 PWROUT32PWROUT31 PWROUT30CB-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-HeldShift Key Output Specifications Panel MountKeypad Maps Hand-Held Single Key OutputEscape Commands Cursor Movement CommandsKeypad Map Panel Mount 6 columns x 5 rows Configuration Function Keys Default ConfigurationDefault Function Keys Input/Output of Data DMC-2x00 CommandsPin 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 NUMOFIO=4 #CFGDOUTMODULE=2 CFGVALUE=$180Appendices DMC-2X00 DMC-2x00 DMC-1500 DMC-2x00/DMC-1500 ComparisonTraining Seminars List of Other PublicationsContacting Us WarrantyLimswi IndexPID Poserr