Velocity vs.Time Motion | Galil DMC-2X00 specification

Figure 4 Position vs. Time (msec) Motion 4

Figure 5 Velocity vs.Time Motion 4

32 • Chapter 6 Programming Motion

DMC-2X00

Image 87

Galil DMC-2X00 user manual Velocity vs.Time Motion

Contents

By Galil Motion Control, Inc DMC-2x00 Using 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 Specifications Overview of Motor Types Environmental SpecificationsEquipment Maintenance Standard Servo Motor with +/- 10 Volt Command Signal Overview of Amplifiers Stepper Motor with Step and Direction SignalsAmplifiers in Current Mode Amplifiers in Velocity Mode Communication DMC-2x00 Functional ElementsMicrocomputer Section Motor Interface Amplifier Driver General I/OSystem Elements Motor Encoder Watch Dog Timer This page Left Blank Intentionally Getting Started Outline of the DMC-2000 Daughter Board DMC-2000 Daughter Board 3B Outline of the DMC-2200 Daughter Board DMC-2200 Daughter Board CABLE-USB-2M CABLE-USB-3M Elements You Need Recommended 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 Commutation Configure 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-2100 Connect AC Power to the Controller Install the Communications Software Communicating through the Main Serial Communications Port Establish Communications with Galil Software Communicating through the Ethernet Communicating through the Universal Serial Bus USB Determine the Axes to be Used for Sinusoidal Commutation Sending Test Commands to the Terminal Make Connections to Amplifier and Encoder DMC-2X00 Connect Standard Servo Motors BGA CR Inverting the Loop Polarity ICM-2900 Connect Sinusoidal Commutation Motors Example Sinusoidal Commutation Configuration using a DMC Getting Started DMC-2X00 SHA Tune the Servo System Connect Step Motors Instruction Interpretation Design ExamplesSystem Set-up InstructionInterpretation Position Interrogation Profiled MoveMultiple Axes Independent Moves Velocity Control Absolute Position Interrogation Operation in the Buffer ModeUsing the On-Board Editor Operation Under Torque Limit Motion Programs with Loops Motion Programs with TrippointsLine # Instruction Interpretation AMA Control VariablesLinear Interpolation XQ #B VM AB Circular InterpolationLM ABC BGS This page Left Blank Intentionally Using Optoisolated Inputs Limit Switch InputOverview Abort Input Home Switch Input Opto-Isolation Common Point Wiring the Opto-Isolated InputsReset Input Uncommitted Digital Inputs Optoisolated Inputs Using an Isolated Power Supply Analog Inputs Amplifier InterfaceBypassing the Opto-Isolation Auxiliary Encoder Inputs TTL Inputs TTL 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 Dataterm Baud Rate Selection RS-232 ConfigurationRS422 Main Port P1 RS422 Auxiliary Port P2 Address Daisy-Chaining DMC-2000 only Ethernet Configuration DMC-2100/2200 only Command InterpretationCommunication Protocols LED Addressing DMC-2X00 Communicating with Multiple Devices Multicasting Using Third Party Software Data Record Map Data Record DMC-2X00 BIT Header Information Byte 0, 1 of Header Axis Status Information 2 Byte Axis Switch Information 1 ByteBytes 2, 3 of Header General Status Information 1 Byte QZ Command Controller Response to Commands Galil Software Tools and Libraries Unsolicited Messages Generated by Controller Important All DMC-2x00 commands are sent in upper case Command Syntax Ascii BG S BG AbcdBG Abcdefgh BG D Header Format Command Syntax Binary LE, VE Binary Command TableDatafields Format Example Controller Response to Data Interrogating the Controller Interrogation CommandsSummary of Interrogation Commands Interrogating Current Commanded Values =TPA Command Summary This page Left Blank Intentionally Example Application Mode of Motion Commands GP, GR Independent Axis PositioningVS,VA,VD GA, GD Operand Summary Independent Axis Command Summary Independent Axis Examples Absolute Position MovementMultiple Move Sequence 5000 Time ms 100 Position Tracking20000 15000 10000 Example Motion Command Description PT1 Motion Example Position vs. Time msec Motion Velocity vs.Time Motion Velocity cts/sec vs. Time msec with IT Motion Trip Points Command Summary Position Tracking Mode Command Summary JoggingIndependent Jogging #JOY Jog in X onlyJoystick Jogging AS a Linear Interpolation Mode Specifying the Coordinate PlaneSpecifying Linear Segments #ALT Additional CommandsSpecifying Vector Speed for Each Segment Changing Feed Rate Command Summary Linear Interpolation Operand Summary Linear InterpolationLinear Interpolation Motion LM CD Linear Move Position D Multiple Moves Vector Mode Linear and Circular Interpolation Motion Specifying Vector Segments Tangent Motion Compensating for Differences in Encoder ResolutionCommand Summary Coordinated Motion Sequence Trippoints Operand Summary Coordinated Motion Sequence Tangent AxisOperand SB0 Coordinated MotionBG ABC AM ABC Ramped Gearing Electronic Gearing Velocity cts/sec vs. Time msec Ramped Gearing GA Z, Z Command Summary Electronic GearingElectronic Gearing Over a Specified Interval MO Z Gantry Mode Simple Master/SlaveElectronic Gearing GA,A Electronic Cam DMC-2X00 3000 2250 1500 2000 4000 6000 Master a Command Description Command Summary Electronic CAM Electronic CAM Operand Summary Electronic CAM Specifying Contour Segments Contour Mode 336 288 240 192 Time ms CMADT0CD0 Generating an Array Command Summary Contour ModeCommand Description CM Abcdefgh General Velocity Profiles #POINTS Contour Mode Record and Playback Example Teach Record and Play-Back Virtual Axis Ecam master exampleSinusoidal Motion Example Stepper Motor Smoothing Monitoring Generated Pulses vs. Commanded PulsesStepper Motor Operation Specifying Stepper Motor Operation Using an Encoder with Stepper Motors Command Summary Stepper Motor OperationMotion Complete Trip point Operand Summary Stepper Motor Operation Stepper Position Maintenance Mode SPM SHX Error LimitExample SPM Mode Setup Correction #MOTION Example Error Correction Example Friction Correction Dual Loop Auxiliary Encoder = Main Encoder Second Encoder Additional Commands for the Auxiliary EncoderBacklash Compensation Continuous Dual Loop DE0 Motion SmoothingSampled Dual Loop #DUALOOP Using the IT and VT Commands Trapezoidal velocity and smooth velocity profiles Using the KS Command Step Motor Smoothing Homing Home Sensor Home Switch Input Function Command Summary Homing OperationHigh Speed Position Capture The Latch Function Operand Summary Homing Operation JP #WAIT,ALB=1 #LATCHAL B #WAIT Application Programming Using the DOS Editor to Enter Programs DMC-2000 only ED #BEGIN Edit Mode Commands #START Using Labels in ProgramsProgram Format Special Labels Commenting Programs No Command REM Command Executing Programs MultitaskingREM Half Circle Motion VP 0,3000 REM TOP Line Debugging Programs Trace Commands DMC-2100/2200 only Error Code Command Stop Code CommandRAM Memory Interrogation Commands Event Triggers & Trippoints Program Flow Commands Command 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 Trigger Example Change Speed along Vector Path Example Set Output when At Speed Example- 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#A Nesting if Conditional Statements Using the if and Endif CommandsUsing the Else Command Command Format IF, Else and Endif Subroutines Stack ManipulationAuto-Start Routine Automatic Subroutines for Monitoring Conditions Example Limit Switch Example 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 Operators Response from command MG len6 S4 Functions Variables Programmable 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 terminal Time ArraysDefining Arrays Assignment of Array Entries Using 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 Capture Example- Inputting Numeric Data Input of Data Numeric and StringDeallocating Array Space Input of Data Keyword Function Operator Data Entry Mode Using Communication Interrupt Inputting String Variables Output of Data Numeric and String Sending 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 Arrays LZ0 0000000009 LZ1 Local Formatting of Response of Interrogation CommandsFormatting Variables and Array Elements Local Formatting of Variables Alph Hardware I/OConverting to User Units Digital Outputs Example Turn on output after move Example- Set Bit and Clear BitExample- Output Bit Example- Output Port AI 1BGA Example Using Inputs to control program flowExample Start Motion on Switch Input Interrupt Function ST AB Analog InputsExample Position Follower Point-to-Point TP AB #CONT Configuring the I/O of the DMC-2x00Example Position Follower Continuous Move PA VP Argument Blocks Bits Description Accessing Extended I/OSaving the State of the Outputs in Non-Volatile Memory Bit I/O Block Binary Decimal Value for Representation Wire Cutter Example ApplicationsInterfacing to Grayhill or OPTO-22 G4PB24 JP #A Table Controller AMC BGC AMCBGS AMS Speed Control by Joystick Backlash Compensation by Sampled Dual-Loop Position Control by Joystick BGA JP #B This page Left Blank Intentionally Output Protection Lines Hardware Protection Input Protection Lines Software Protection #AJP #AEN Off-On-ErrorAutomatic Error Routine Programmable Position Limits Limit Switch Routine Installation Troubleshooting Communication StabilityOperation Theory of Operation Level Velocity and Position Profiles Operation of Closed-Loop Systems Functional Elements of a Motion Control System System Modeling Motor-Amplifier Voltage DriveCurrent Drive Elements of velocity loops Velocity Loop Voltage Source Digital Filter DAC ZOH System Analysis Magnitude 200 2000 Rad/s Analytical Method System Design and Compensation Theory of Operation DMC-2X00 Equivalent Filter Form Input / Output Electrical SpecificationsServo Control Stepper Control Normal Performance SpecificationsPower Minimum Servo Loop Update Time Fast Update Rate Mode DMC-2x00 Axes A-D High Density Connector Connectors for DMC-2x00 Main Board DMC-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 Port Ethernet Standard RS-232 SpecificationsPin Serial Connector Male, D-type Cable Connections for DMC-2x00 Pin Male computer Pin female controller DMC-2x00 Serial Cable Specifications Pin 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 Options ICM-2900 Interconnect Module DescriptionBlock 4 PIN Label Description Signy ErrorPwmx Mocmdy Ylatch ResetIN8 Xlatch MBZ +MAZMAZ +MBZ ICM ICM-2900 Drawing ICM-2908 Interconnect Module ICM-2908 ICM-2908 Drawing PCB Layout of the ICM-2900 Terminal Label FeaturesISO OUT Power Error Reset CMP Mocmdw ICM-1900 Interconnect Module DMC-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 Option Overview IOM-1964 Opto-Isolation Module for Extended I/O Figure A-7 Configuring Hardware Banks Input Circuit Figure A-10 High Power Digital Outputs Figure A-12 Standard Digital Outputs Figure A-14 Digital Inputs Screw Terminal Listing High Power Digital OutputsRelevant DMC Commands Standard Digital Outputs DMC-2X00 PWROUT29 PWROUT32PWROUT31 PWROUT30 CB-50-100 Adapter Board Connectors Appendices DMC-2X00 JC6 50 PIN IDC J9 100 PIN High Density Connector JC8 JC6 CB-50-100 Drawing Figure A-16 CB-50-80 Adapter Board JC8 JC6 CB-50-80 Outline CB-50-80 Drawing CB-50-80 Layout Figure A-19 TERM-1500 Operator Terminal Figure A-20 Specifications Hand-Held Shift Key Output Specifications Panel MountKeypad Maps Hand-Held Single Key Output Escape 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 Commands Pin Modular Connector Pin D Adaptor Male For P2Ordering Information Vs = Vx 2 + Vy Coordinated Motion Mathematical Analysis Lk = Xk 2 + Yk Velocity Example- Communicating with OPTO-22 SNAP-B3000 NUMOFIO=4 #CFGDOUTMODULE=2 CFGVALUE=$180 Appendices DMC-2X00 DMC-2x00 DMC-1500 DMC-2x00/DMC-1500 Comparison Training 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