Position D | Galil DMC-2X00 manual

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POSITION D

3000

0

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40000

POSITION C

FEEDRATE
0	0.1	0.5	0.6	TIME (sec)

VELOCITY

C-AXIS

TIME (sec)

VELOCITY

D-AXIS

TIME (sec)

Figure 6.2 - Linear Interpolation

40 • Chapter 6 Programming Motion

DMC-2X00

Image 95

Galil DMC-2X00 user manual Position D

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 Standard Servo Motor Operation Installing the DMC-2x00Determine Overall Motor Configuration 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 Line # Instruction Interpretation Motion Programs with LoopsMotion Programs with Trippoints AMA Control VariablesLinear Interpolation XQ #B VM AB Circular InterpolationLM ABC BGS This page Left Blank Intentionally Overview Using Optoisolated InputsLimit Switch Input 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 Bypassing the Opto-Isolation Analog InputsAmplifier Interface Auxiliary Encoder Inputs TTL Inputs Output Compare TTL OutputsGeneral Use Outputs Interfacing to Grayhill or OPTO-22 G4PB24 Error OutputExtended I/O of the DMC-2x00 Controller 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 Communication Protocols Ethernet Configuration DMC-2100/2200 onlyCommand Interpretation 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 Multiple Move Sequence ExamplesAbsolute Position Movement 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 Independent Jogging Command Summary Position Tracking ModeCommand Summary Jogging #JOY Jog in X onlyJoystick Jogging AS a Specifying Linear Segments Linear Interpolation ModeSpecifying the Coordinate Plane #ALT Additional CommandsSpecifying Vector Speed for Each Segment Changing Feed Rate Linear Interpolation Motion Command Summary Linear InterpolationOperand Summary Linear Interpolation 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 Operand Summary Coordinated Motion SequenceTangent Axis 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 Electronic Gearing Gantry ModeSimple Master/Slave 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 DT0CD0 336 288 240 192 Time msCMA 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 Sinusoidal Motion Example Virtual AxisEcam master example Stepper Motor Smoothing Monitoring Generated Pulses vs. Commanded PulsesStepper Motor Operation Specifying Stepper Motor Operation Motion Complete Trip point Using an Encoder with Stepper MotorsCommand Summary Stepper Motor Operation 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 Half Circle Motion VP 0,3000 REM TOP Line REM CommandExecuting Programs Multitasking Debugging Programs Trace Commands DMC-2100/2200 only RAM Memory Interrogation Commands Error Code CommandStop Code Command Event Triggers & Trippoints Program Flow Commands AS a B C D E F G H Command FunctionDMC-2x00 Event Triggers 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 Conditional Jumps Example- Define Output Waveform Using ATExample Multiple Move with Wait 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 Auto-Start Routine SubroutinesStack Manipulation Automatic Subroutines for Monitoring Conditions Example Limit Switch Example Input Interrupt Example Position ErrorExample Motion Complete Timeout Example Command Error PAA=0 Example Command Error w/MultitaskingExample Communication Interrupt Example Ethernet Communication Error Operator Function Mathematical and Functional ExpressionsMathematical Operators Bit-Wise Operators Response from command MG len6 S4 Functions Variables Assigning Variable Values to Controller Parameters Programmable VariablesAssigning Values to Variables Special Operands Keywords Example Using Variables for JoystickOperands Displaying the value of variables at the terminal Time ArraysDefining Arrays Assignment of Array Entries Automatic Data Capture into Arrays Using a Variable to Address Array ElementsUploading and Downloading Arrays to On Board Memory 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 Formatting Messages Sending MessagesSpecifying the Port for 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 Interfacing to Grayhill or OPTO-22 G4PB24 Wire CutterExample Applications JP #A Table Controller BGS AMS AMCBGC AMC 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 Operation CommunicationStability Theory of Operation Level Velocity and Position Profiles Operation of Closed-Loop Systems Functional Elements of a Motion Control System System Modeling Current Drive Motor-AmplifierVoltage 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 terminal Pin Male Controller Pin Female Computer Pin Female ControllerPin Male terminal Pin male controller Inputs Pin-Out Description for DMC-2x00Outputs Appendices DMC-2X00 Function If jumpered Jumper Description for DMC-2x00Jumper Label Dimensions for DMC-2x00 DMCWIN16 DMCWIN32 SETUP16 SETUP32 KIT Accessories and Options Block 4 PIN Label Description ICM-2900 Interconnect ModuleDescription 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 MBW +INW AMP-19x0 Mating Power AmplifiersICM-1900 Drawing Standard Opto-Isolation and High Current Opto-isolation SpecificationsOpto-Isolated Outputs for ICM-2900 / ICM-1900 / AMP 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 Keypad Map Panel Mount 6 columns x 5 rows Escape CommandsCursor Movement Commands Configuration Function Keys Default ConfigurationDefault Function Keys Input/Output of Data DMC-2x00 Commands Ordering Information Pin Modular ConnectorPin D Adaptor Male For P2 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 Seminars List of Other Publications Contacting Us Warranty Limswi Index PID Poserr