DMC-2x00
By Galil Motion Control, Inc
Using This Manual
Contents
Connecting Hardware
Communication
Iv Contents DMC-2X00
Application Programming
Troubleshooting 130
Contents y
Index 210
Overview
Mechanical Specifications
Specifications
Electrical Specifications
DMC- 2000 Family Part Number Definition
Standard Servo Motor with +/- 10 Volt Command Signal
Environmental Specifications
Equipment Maintenance
Overview of Motor Types
Amplifiers in Velocity Mode
Stepper Motor with Step and Direction Signals
Amplifiers in Current Mode
Overview of Amplifiers
Motor Interface
DMC-2x00 Functional Elements
Microcomputer Section
Communication
Motor
General I/O
System Elements
Amplifier Driver
Watch Dog Timer
Encoder
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Getting Started
DMC-2000 Daughter Board
Outline of the DMC-2000 Daughter Board
DMC-2200 Daughter Board
3B Outline of the DMC-2200 Daughter Board
Elements You Need
CABLE-USB-2M CABLE-USB-3M
Recommended System Elements of DMC-2100/DMC-2200
Installing the DMC-2x00
Determine Overall Motor Configuration
Standard Servo Motor Operation
Sinusoidal Commutation
Install Jumpers on the DMC-2x00
Master Reset and Upgrade Jumpers
Stepper Motor Operation
Configure DIP switches on the DMC-2000
Configure DIP switches on the DMC-2100
Switch 4, 5 and 6 Main Serial Port Baud Rate
Switch 10 USB
Configure DIP switches on the DMC-2200
Install the Communications Software
Connect AC Power to the Controller
Establish Communications with Galil Software
Communicating through the Main Serial Communications Port
Communicating through the Universal Serial Bus USB
Communicating through the Ethernet
Sending Test Commands to the Terminal
Determine the Axes to be Used for Sinusoidal Commutation
Make Connections to Amplifier and Encoder
DMC-2X00
Connect Standard Servo Motors
Inverting the Loop Polarity
BGA CR
ICM-2900
Example Sinusoidal Commutation Configuration using a DMC
Connect Sinusoidal Commutation Motors
Getting Started DMC-2X00
SHA
Connect Step Motors
Tune the Servo System
InstructionInterpretation
Design Examples
System Set-up
Instruction Interpretation
Independent Moves
Profiled Move
Multiple Axes
Position Interrogation
Absolute Position
Velocity Control
Operation Under Torque Limit
Operation in the Buffer Mode
Using the On-Board Editor
Interrogation
Motion Programs with Loops
Motion Programs with Trippoints
Line # Instruction Interpretation
XQ #B
Control Variables
Linear Interpolation
AMA
BGS
Circular Interpolation
LM ABC
VM AB
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Using Optoisolated Inputs
Limit Switch Input
Overview
Home Switch Input
Abort Input
Uncommitted Digital Inputs
Wiring the Opto-Isolated Inputs
Reset Input
Opto-Isolation Common Point
Using an Isolated Power Supply
Optoisolated Inputs
Analog Inputs
Amplifier Interface
Bypassing the Opto-Isolation
TTL Inputs
Auxiliary Encoder Inputs
TTL Outputs
General Use Outputs
Output Compare
Error Output
Extended I/O of the DMC-2x00 Controller
Interfacing to Grayhill or OPTO-22 G4PB24
RS232 Main Port P1 Dataterm
Introduction
RS232 Ports
RS232 Auxiliary Port P2 Dataset
RS422 Auxiliary Port P2
RS-232 Configuration
RS422 Main Port P1
Baud Rate Selection
Daisy-Chaining DMC-2000 only
Address
Ethernet Configuration DMC-2100/2200 only
Command Interpretation
Communication Protocols
Addressing
LED
DMC-2X00
Communicating with Multiple Devices
Using Third Party Software
Multicasting
Data Record
Data Record Map
DMC-2X00
Header Information Byte 0, 1 of Header
BIT
General Status Information 1 Byte
Axis Switch Information 1 Byte
Bytes 2, 3 of Header
Axis Status Information 2 Byte
Controller Response to Commands
QZ Command
Unsolicited Messages Generated by Controller
Galil Software Tools and Libraries
Command Syntax Ascii
Important All DMC-2x00 commands are sent in upper case
BG D
BG Abcd
BG Abcdefgh
BG S
Command Syntax Binary
Header Format
Example
Binary Command Table
Datafields Format
LE, VE
Controller Response to Data
Interrogating Current Commanded Values
Interrogation Commands
Summary of Interrogation Commands
Interrogating the Controller
Command Summary
=TPA
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Example Application Mode of Motion Commands
GA, GD
Independent Axis Positioning
VS,VA,VD
GP, GR
Command Summary Independent Axis
Operand Summary Independent Axis
Examples
Absolute Position Movement
Multiple Move Sequence
15000 10000
Position Tracking
20000
5000 Time ms 100
Command Description PT1
Example Motion
Example
Motion
Position vs. Time msec Motion
Velocity vs.Time Motion
Trip Points
Velocity cts/sec vs. Time msec with IT Motion
Command Summary Position Tracking Mode
Command Summary Jogging
Independent Jogging
AS a
Jog in X only
Joystick Jogging
#JOY
Linear Interpolation Mode
Specifying the Coordinate Plane
Specifying Linear Segments
Changing Feed Rate
Additional Commands
Specifying Vector Speed for Each Segment
#ALT
Command Summary Linear Interpolation
Operand Summary Linear Interpolation
Linear Interpolation Motion
Linear Move
LM CD
Position D
Vector Mode Linear and Circular Interpolation Motion
Multiple Moves
Specifying Vector Segments
Trippoints
Compensating for Differences in Encoder Resolution
Command Summary Coordinated Motion Sequence
Tangent Motion
Operand Summary Coordinated Motion Sequence
Tangent Axis
Operand
AM ABC
Coordinated Motion
BG ABC
SB0
Electronic Gearing
Ramped Gearing
Velocity cts/sec vs. Time msec Ramped Gearing
MO Z
Command Summary Electronic Gearing
Electronic Gearing Over a Specified Interval
GA Z, Z
Gantry Mode
Simple Master/Slave
Electronic Gearing
Electronic Cam
GA,A
DMC-2X00
3000 2250 1500 2000 4000 6000 Master a
Command Summary Electronic CAM
Command Description
Operand Summary Electronic CAM
Electronic CAM
Contour Mode
Specifying Contour Segments
336 288 240 192 Time ms
CMA
DT0CD0
General Velocity Profiles
Command Summary Contour Mode
Command Description CM Abcdefgh
Generating an Array
Contour Mode
#POINTS
Teach Record and Play-Back
Record and Playback Example
Virtual Axis
Ecam master example
Sinusoidal Motion Example
Specifying Stepper Motor Operation
Monitoring Generated Pulses vs. Commanded Pulses
Stepper Motor Operation
Stepper Motor Smoothing
Using an Encoder with Stepper Motors
Command Summary Stepper Motor Operation
Motion Complete Trip point
Stepper Position Maintenance Mode SPM
Operand Summary Stepper Motor Operation
Correction
Error Limit
Example SPM Mode Setup
SHX
Example Error Correction
#MOTION
Example Friction Correction
Dual Loop Auxiliary Encoder
Continuous Dual Loop
Additional Commands for the Auxiliary Encoder
Backlash Compensation
= Main Encoder Second Encoder
#DUALOOP
Motion Smoothing
Sampled Dual Loop
DE0
Using the IT and VT Commands
Using the KS Command Step Motor Smoothing
Trapezoidal velocity and smooth velocity profiles
Homing
Home Sensor Home Switch
Operand Summary Homing Operation
Command Summary Homing Operation
High Speed Position Capture The Latch Function
Input Function
#WAIT
#LATCH
AL B
JP #WAIT,ALB=1
Using the DOS Editor to Enter Programs DMC-2000 only
Application Programming
Edit Mode Commands
ED #BEGIN
Special Labels
Using Labels in Programs
Program Format
#START
No Command
Commenting Programs
REM Command
Executing Programs Multitasking
REM Half Circle Motion VP 0,3000 REM TOP Line
Trace Commands DMC-2100/2200 only
Debugging Programs
Error Code Command
Stop Code Command
RAM Memory Interrogation Commands
Program Flow Commands
Event Triggers & Trippoints
Command Function
DMC-2x00 Event Triggers
AS a B C D E F G H
Example- Repetitive Position Trigger
Example- Multiple Move Sequence
Example- Set Output after Distance
Example Start Motion on Input
Example Set Output when At Speed
Example Change Speed along Vector Path
Example- Define Output Waveform Using AT
Example Multiple Move with Wait
Conditional Jumps
Conditional Statements
Command Format JP and JS
Logical operators
Multiple Conditional Statements
JP#A
Examples
If, Else, and Endif
#BEGIN
Command Format IF, Else and Endif
Using the if and Endif Commands
Using the Else Command
Nesting if Conditional Statements
Subroutines
Stack Manipulation
Auto-Start Routine
Example Limit Switch
Automatic Subroutines for Monitoring Conditions
Example Position Error
Example Motion Complete Timeout
Example Input Interrupt
Example Command Error
Example Command Error w/Multitasking
Example Communication Interrupt
PAA=0
Example Ethernet Communication Error
Bit-Wise Operators
Mathematical and Functional Expressions
Mathematical Operators
Operator Function
Response from command MG len6 S4
Variables
Functions
Programmable Variables
Assigning Values to Variables
Assigning Variable Values to Controller Parameters
Displaying the value of variables at the terminal
Example Using Variables for Joystick
Operands
Special Operands Keywords
Assignment of Array Entries
Arrays
Defining Arrays
Time
Using a Variable to Address Array Elements
Uploading and Downloading Arrays to On Board Memory
Automatic Data Capture into Arrays
Operand Summary Automatic Data Capture
Command Summary Automatic Data Capture
Data Types for Recording
Example Recording into an Array
Input of Data
Input of Data Numeric and String
Deallocating Array Space
Example- Inputting Numeric Data
Operator Data Entry Mode
Keyword Function
Using Communication Interrupt
Output of Data Numeric and String
Inputting String Variables
Sending Messages
Specifying the Port for Messages
Formatting Messages
Displaying Variables and Arrays
Using the MG Command to Configure Terminals
Summary of Message Functions
Example Printing a Variable and an Array element
0000000009
LZ0
Local Formatting of Variables
Local Formatting of Response of Interrogation Commands
Formatting Variables and Array Elements
LZ1
Digital Outputs
Hardware I/O
Converting to User Units
Alph
Example- Output Port
Example- Set Bit and Clear Bit
Example- Output Bit
Example Turn on output after move
Input Interrupt Function
Example Using Inputs to control program flow
Example Start Motion on Switch
AI 1BGA
TP AB
Analog Inputs
Example Position Follower Point-to-Point
ST AB
PA VP
Configuring the I/O of the DMC-2x00
Example Position Follower Continuous Move
#CONT
Bit I/O Block Binary Decimal Value for Representation
Accessing Extended I/O
Saving the State of the Outputs in Non-Volatile Memory
Argument Blocks Bits Description
Wire Cutter
Example Applications
Interfacing to Grayhill or OPTO-22 G4PB24
Table Controller
JP #A
AMC
BGC AMC
BGS AMS
Speed Control by Joystick
Position Control by Joystick
Backlash Compensation by Sampled Dual-Loop
BGA JP #B
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Hardware Protection
Output Protection Lines
Software Protection
Input Protection Lines
Programmable Position Limits
Off-On-Error
Automatic Error Routine
#AJP #AEN
Limit Switch Routine
Troubleshooting
Installation
Communication
Stability
Operation
Theory of Operation
Level
Operation of Closed-Loop Systems
Velocity and Position Profiles
System Modeling
Functional Elements of a Motion Control System
Motor-Amplifier
Voltage Drive
Current Drive
Velocity Loop
Elements of velocity loops
Voltage Source
DAC
Digital Filter
ZOH
System Analysis
Magnitude 200 2000 Rad/s
System Design and Compensation
Analytical Method
Theory of Operation DMC-2X00
Equivalent Filter Form
Stepper Control
Electrical Specifications
Servo Control
Input / Output
Minimum Servo Loop Update Time
Performance Specifications
Power
Normal
Fast Update Rate Mode
Connectors for DMC-2x00 Main Board
DMC-2x00 Axes A-D High Density Connector
DMC-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 Signal
RS-232-Main Port
USB USB Out
Cable Connections for DMC-2x00
Standard RS-232 Specifications
Pin Serial Connector Male, D-type
Ethernet
DMC-2x00 Serial Cable Specifications
Pin Male computer Pin female controller
Pin Female Computer Pin Female Controller
Pin Male terminal Pin male controller
Pin Female terminal Pin Male Controller
Pin-Out Description for DMC-2x00
Outputs
Inputs
Appendices DMC-2X00
Jumper Description for DMC-2x00
Jumper Label
Function If jumpered
Dimensions for DMC-2x00
Accessories and Options
DMCWIN16 DMCWIN32 SETUP16 SETUP32 KIT
ICM-2900 Interconnect Module
Description
Block 4 PIN Label Description
Mocmdy
Error
Pwmx
Signy
Xlatch
Reset
IN8
Ylatch
+MBZ
+MAZ
MAZ
MBZ
ICM-2900 Drawing
ICM
ICM-2908 Interconnect Module
ICM-2908 Drawing
ICM-2908
PCB Layout of the ICM-2900
ICM-1900 Interconnect Module
Features
ISO OUT Power Error Reset CMP Mocmdw
Terminal Label
DMC-2X00
100 101 102 103 104 105 106 107
AMP-19x0 Mating Power Amplifiers
ICM-1900 Drawing
MBW +INW
Specifications
Opto-Isolated Outputs for ICM-2900 / ICM-1900 / AMP
Standard Opto-Isolation and High Current Opto-isolation
Laen Option
Configuring the Amplifier Enable for ICM-2900 / ICM
Changing the Amplifier Enable Voltage Level
DMC-2000 ICM-1900 / ICM-2900
IOM-1964 Opto-Isolation Module for Extended I/O
Overview
Configuring Hardware Banks
Figure A-7
Input Circuit
High Power Digital Outputs
Figure A-10
Standard Digital Outputs
Figure A-12
Digital Inputs
Figure A-14
Standard Digital Outputs
High Power Digital Outputs
Relevant DMC Commands
Screw Terminal Listing
DMC-2X00
PWROUT30
PWROUT32
PWROUT31
PWROUT29
Connectors
CB-50-100 Adapter Board
Appendices DMC-2X00
JC6 50 PIN IDC J9 100 PIN High Density Connector
CB-50-100 Drawing
JC8 JC6
CB-50-80 Adapter Board
Figure A-16
JC8
JC6
CB-50-80 Drawing
CB-50-80 Outline
CB-50-80 Layout
TERM-1500 Operator Terminal
Figure A-19
Specifications Hand-Held
Figure A-20
Single Key Output
Specifications Panel Mount
Keypad Maps Hand-Held
Shift Key Output
Escape Commands
Cursor Movement Commands
Keypad Map Panel Mount 6 columns x 5 rows
Configuration
Input/Output of Data DMC-2x00 Commands
Default Configuration
Default Function Keys
Function Keys
Pin Modular Connector
Pin D Adaptor Male For P2
Ordering Information
Coordinated Motion Mathematical Analysis
Vs = Vx 2 + Vy
Lk = Xk 2 + Yk
Velocity
Example- Communicating with OPTO-22 SNAP-B3000
CFGVALUE=$180
#CFGDOUT
MODULE=2
NUMOFIO=4
Appendices DMC-2X00
DMC-2x00/DMC-1500 Comparison
DMC-2x00 DMC-1500
List of Other Publications
Training Seminars
Warranty
Contacting Us
Index
Limswi
PID
Poserr