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Galil DMC-2X00 user manual

Models: DMC-2X00

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Figure 6 Velocity cts/sec vs. Time (msec) with IT Motion 4

Note the controller treats the point where the velocity passes through zero as the end of one move, and the beginning of another move. IT is allowed, however it will introduce some time delay.

Trip Points

Most trip points are valid for use while in the position tracking mode. There are a few exceptions to this; the AM and MC commands may not be used while in this mode. It is recommended that MF, MR, or AP be used, as they involve motion in a specified direction, or the passing of a specific absolute position.

DMC-2X00

Chapter 6 Programming Motion y 33

Image 88

Galil DMC-2X00 user manual

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 Specifications Electrical SpecificationsMechanical Specifications DMC- 2000 Family Part Number DefinitionEnvironmental Specifications Equipment MaintenanceStandard Servo Motor with +/- 10 Volt Command Signal Overview of Motor TypesStepper Motor with Step and Direction Signals Amplifiers in Current ModeAmplifiers in Velocity Mode Overview of AmplifiersDMC-2x00 Functional Elements Microcomputer SectionMotor Interface CommunicationGeneral I/O System ElementsMotor 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 Determine Overall Motor Configuration Installing the DMC-2x00Standard Servo Motor Operation Install Jumpers on the DMC-2x00 Master Reset and Upgrade JumpersSinusoidal Commutation Stepper Motor OperationConfigure DIP switches on the DMC-2000 Switch 4, 5 and 6 Main Serial Port Baud Rate Switch 10 USBConfigure DIP switches on the DMC-2100 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 SystemDesign Examples System Set-upInstructionInterpretation Instruction InterpretationProfiled Move Multiple AxesIndependent Moves Position InterrogationAbsolute Position Velocity ControlOperation in the Buffer Mode Using the On-Board EditorOperation Under Torque Limit InterrogationMotion Programs with Trippoints Motion Programs with LoopsLine # Instruction Interpretation Control Variables Linear InterpolationXQ #B AMACircular Interpolation LM ABCBGS VM ABThis page Left Blank Intentionally Limit Switch Input Using Optoisolated InputsOverview Home Switch Input Abort InputWiring the Opto-Isolated Inputs Reset InputUncommitted Digital Inputs Opto-Isolation Common PointUsing an Isolated Power Supply Optoisolated InputsAmplifier Interface Analog InputsBypassing the Opto-Isolation TTL Inputs Auxiliary Encoder InputsGeneral Use Outputs TTL OutputsOutput Compare Extended I/O of the DMC-2x00 Controller Error OutputInterfacing to Grayhill or OPTO-22 G4PB24 Introduction RS232 PortsRS232 Main Port P1 Dataterm RS232 Auxiliary Port P2 DatasetRS-232 Configuration RS422 Main Port P1RS422 Auxiliary Port P2 Baud Rate SelectionDaisy-Chaining DMC-2000 only AddressCommand Interpretation Ethernet Configuration DMC-2100/2200 onlyCommunication Protocols Addressing LEDDMC-2X00 Communicating with Multiple Devices Using Third Party Software MulticastingData Record Data Record MapDMC-2X00 Header Information Byte 0, 1 of Header BITAxis Switch Information 1 Byte Bytes 2, 3 of HeaderGeneral Status Information 1 Byte 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 Abcd BG AbcdefghBG D BG SCommand Syntax Binary Header FormatBinary Command Table Datafields FormatExample LE, VEController Response to Data Interrogation Commands Summary of Interrogation CommandsInterrogating Current Commanded Values Interrogating the ControllerCommand Summary =TPAThis page Left Blank Intentionally Example Application Mode of Motion Commands Independent Axis Positioning VS,VA,VDGA, GD GP, GRCommand Summary Independent Axis Operand Summary Independent AxisAbsolute Position Movement ExamplesMultiple Move Sequence Position Tracking 2000015000 10000 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 MotionCommand Summary Jogging Command Summary Position Tracking ModeIndependent Jogging Jog in X only Joystick JoggingAS a #JOYSpecifying the Coordinate Plane Linear Interpolation ModeSpecifying Linear Segments Additional Commands Specifying Vector Speed for Each SegmentChanging Feed Rate #ALTOperand Summary Linear Interpolation Command Summary Linear InterpolationLinear Interpolation Motion Linear Move LM CDPosition D Vector Mode Linear and Circular Interpolation Motion Multiple MovesSpecifying Vector Segments Compensating for Differences in Encoder Resolution Command Summary Coordinated Motion SequenceTrippoints Tangent MotionTangent Axis Operand Summary Coordinated Motion SequenceOperand Coordinated Motion BG ABCAM ABC SB0Electronic Gearing Ramped GearingVelocity cts/sec vs. Time msec Ramped Gearing Command Summary Electronic Gearing Electronic Gearing Over a Specified IntervalMO Z GA Z, ZSimple Master/Slave Gantry ModeElectronic Gearing 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 SegmentsCMA 336 288 240 192 Time msDT0CD0 Command Summary Contour Mode Command Description CM AbcdefghGeneral Velocity Profiles Generating an ArrayContour Mode #POINTSTeach Record and Play-Back Record and Playback ExampleEcam master example Virtual AxisSinusoidal Motion Example Monitoring Generated Pulses vs. Commanded Pulses Stepper Motor OperationSpecifying Stepper Motor Operation Stepper Motor SmoothingCommand Summary Stepper Motor Operation Using an Encoder with Stepper MotorsMotion Complete Trip point Stepper Position Maintenance Mode SPM Operand Summary Stepper Motor OperationError Limit Example SPM Mode SetupCorrection SHXExample Error Correction #MOTIONExample Friction Correction Dual Loop Auxiliary Encoder Additional Commands for the Auxiliary Encoder Backlash CompensationContinuous Dual Loop = Main Encoder Second EncoderMotion Smoothing Sampled Dual Loop#DUALOOP DE0Using the IT and VT Commands Using the KS Command Step Motor Smoothing Trapezoidal velocity and smooth velocity profilesHoming Home Sensor Home Switch Command Summary Homing Operation High Speed Position Capture The Latch FunctionOperand Summary Homing Operation Input Function#LATCH AL B#WAIT JP #WAIT,ALB=1Using the DOS Editor to Enter Programs DMC-2000 only Application ProgrammingEdit Mode Commands ED #BEGINUsing Labels in Programs Program FormatSpecial Labels #STARTNo Command Commenting ProgramsExecuting Programs Multitasking REM CommandREM Half Circle Motion VP 0,3000 REM TOP Line Trace Commands DMC-2100/2200 only Debugging ProgramsStop Code Command Error Code CommandRAM Memory Interrogation Commands Program Flow Commands Event Triggers & TrippointsDMC-2x00 Event Triggers Command FunctionAS a B C D E F G H Example- Multiple Move Sequence Example- Set Output after DistanceExample- Repetitive Position Trigger Example Start Motion on InputExample Set Output when At Speed Example Change Speed along Vector PathExample Multiple Move with Wait Example- Define Output Waveform Using ATConditional Jumps Command Format JP and JS Logical operatorsConditional Statements Multiple Conditional StatementsExamples If, Else, and EndifJP#A #BEGINUsing the if and Endif Commands Using the Else CommandCommand Format IF, Else and Endif Nesting if Conditional StatementsStack Manipulation SubroutinesAuto-Start Routine Example Limit Switch Automatic Subroutines for Monitoring ConditionsExample Motion Complete Timeout Example Position ErrorExample Input Interrupt Example Command Error Example Communication Interrupt Example Command Error w/MultitaskingPAA=0 Example Ethernet Communication Error Mathematical and Functional Expressions Mathematical OperatorsBit-Wise Operators Operator FunctionResponse from command MG len6 S4 Variables FunctionsAssigning Values to Variables Programmable VariablesAssigning Variable Values to Controller Parameters Example Using Variables for Joystick OperandsDisplaying the value of variables at the terminal Special Operands KeywordsArrays Defining ArraysAssignment of Array Entries TimeUploading and Downloading Arrays to On Board Memory Using a Variable to Address Array ElementsAutomatic Data Capture into Arrays Command Summary Automatic Data Capture Data Types for RecordingOperand Summary Automatic Data Capture Example Recording into an ArrayInput of Data Numeric and String Deallocating Array SpaceInput of Data Example- Inputting Numeric DataOperator Data Entry Mode Keyword FunctionUsing Communication Interrupt Output of Data Numeric and String Inputting String VariablesSpecifying the Port for Messages Sending MessagesFormatting Messages Using the MG Command to Configure Terminals Summary of Message FunctionsDisplaying Variables and Arrays Example Printing a Variable and an Array element0000000009 LZ0Local Formatting of Response of Interrogation Commands Formatting Variables and Array ElementsLocal Formatting of Variables LZ1Hardware I/O Converting to User UnitsDigital Outputs AlphExample- Set Bit and Clear Bit Example- Output BitExample- Output Port Example Turn on output after moveExample Using Inputs to control program flow Example Start Motion on SwitchInput Interrupt Function AI 1BGAAnalog Inputs Example Position Follower Point-to-PointTP AB ST ABConfiguring the I/O of the DMC-2x00 Example Position Follower Continuous MovePA VP #CONTAccessing Extended I/O Saving the State of the Outputs in Non-Volatile MemoryBit I/O Block Binary Decimal Value for Representation Argument Blocks Bits DescriptionExample Applications Wire CutterInterfacing to Grayhill or OPTO-22 G4PB24 Table Controller JP #ABGC AMC AMCBGS AMS 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 LinesOff-On-Error Automatic Error RoutineProgrammable Position Limits #AJP #AENLimit Switch Routine Troubleshooting InstallationStability CommunicationOperation Theory of Operation Level Operation of Closed-Loop Systems Velocity and Position ProfilesSystem Modeling Functional Elements of a Motion Control SystemVoltage Drive Motor-AmplifierCurrent 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 Electrical Specifications Servo ControlStepper Control Input / OutputPerformance Specifications PowerMinimum Servo Loop Update Time 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 Pin Signal RS-232-Main PortRS-232-Auxiliary Port USB USB OutStandard RS-232 Specifications Pin Serial Connector Male, D-typeCable Connections for DMC-2x00 EthernetDMC-2x00 Serial Cable Specifications Pin Male computer Pin female controllerPin 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 KITDescription ICM-2900 Interconnect ModuleBlock 4 PIN Label Description Error PwmxMocmdy SignyReset IN8Xlatch Ylatch+MAZ MAZ+MBZ MBZICM-2900 Drawing ICMICM-2908 Interconnect Module ICM-2908 Drawing ICM-2908PCB Layout of the ICM-2900 Features ISO OUT Power Error Reset CMP MocmdwICM-1900 Interconnect Module Terminal LabelDMC-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 Configuring the Amplifier Enable for ICM-2900 / ICM Changing the Amplifier Enable Voltage LevelLaen Option 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-14High Power Digital Outputs Relevant DMC CommandsStandard Digital Outputs Screw Terminal ListingDMC-2X00 PWROUT32 PWROUT31PWROUT30 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-20Specifications Panel Mount Keypad Maps Hand-HeldSingle Key Output Shift Key OutputCursor Movement Commands Escape CommandsKeypad Map Panel Mount 6 columns x 5 rows Configuration Default Configuration Default Function KeysInput/Output of Data DMC-2x00 Commands Function KeysPin D Adaptor Male For P2 Pin Modular ConnectorOrdering Information Coordinated Motion Mathematical Analysis Vs = Vx 2 + VyLk = Xk 2 + Yk Velocity Example- Communicating with OPTO-22 SNAP-B3000 #CFGDOUT MODULE=2CFGVALUE=$180 NUMOFIO=4Appendices DMC-2X00 DMC-2x00/DMC-1500 Comparison DMC-2x00 DMC-1500List of Other Publications Training SeminarsWarranty Contacting UsIndex LimswiPID Poserr