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Galil DMC-2X00 user manual Position D

Models: DMC-2X00

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Figure 6.2 - Linear Interpolation

40 • Chapter 6 Programming Motion

DMC-2X00

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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 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 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 LimitLine # Instruction Interpretation Motion Programs with LoopsMotion Programs with Trippoints AMA Control VariablesLinear Interpolation XQ #BVM AB Circular InterpolationLM ABC BGSThis page Left Blank Intentionally Overview Using Optoisolated InputsLimit Switch Input Abort Input Home Switch InputOpto-Isolation Common Point Wiring the Opto-Isolated InputsReset Input Uncommitted Digital InputsOptoisolated Inputs Using an Isolated Power SupplyBypassing the Opto-Isolation Analog InputsAmplifier Interface Auxiliary Encoder Inputs TTL InputsOutput 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 DatatermBaud Rate Selection RS-232 ConfigurationRS422 Main Port P1 RS422 Auxiliary Port P2Address Daisy-Chaining DMC-2000 onlyCommunication Protocols Ethernet Configuration DMC-2100/2200 onlyCommand Interpretation 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 AxisMultiple Move Sequence ExamplesAbsolute Position Movement 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 PointsIndependent Jogging Command Summary Position Tracking ModeCommand Summary Jogging #JOY Jog in X onlyJoystick Jogging AS aSpecifying Linear Segments Linear Interpolation ModeSpecifying the Coordinate Plane #ALT Additional CommandsSpecifying Vector Speed for Each Segment Changing Feed RateLinear Interpolation Motion Command Summary Linear InterpolationOperand Summary Linear Interpolation 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 Operand Summary Coordinated Motion SequenceTangent Axis 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 ZElectronic Gearing Gantry ModeSimple Master/Slave 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 ModeDT0CD0 336 288 240 192 Time msCMA Generating an Array Command Summary Contour ModeCommand Description CM Abcdefgh General Velocity Profiles#POINTS Contour ModeRecord and Playback Example Teach Record and Play-BackSinusoidal Motion Example Virtual AxisEcam master example Stepper Motor Smoothing Monitoring Generated Pulses vs. Commanded PulsesStepper Motor Operation Specifying Stepper Motor OperationMotion Complete Trip point Using an Encoder with Stepper MotorsCommand Summary Stepper Motor Operation 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 Half Circle Motion VP 0,3000 REM TOP Line REM CommandExecuting Programs Multitasking Debugging Programs Trace Commands DMC-2100/2200 onlyRAM Memory Interrogation Commands Error Code CommandStop Code Command Event Triggers & Trippoints Program Flow CommandsAS 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 TriggerExample Change Speed along Vector Path Example Set Output when At SpeedConditional 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#ANesting if Conditional Statements Using the if and Endif CommandsUsing the Else Command Command Format IF, Else and EndifAuto-Start Routine SubroutinesStack Manipulation Automatic Subroutines for Monitoring Conditions Example Limit SwitchExample 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 OperatorsResponse from command MG len6 S4 Functions VariablesAssigning 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 terminalTime ArraysDefining Arrays Assignment of Array EntriesAutomatic 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 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 StringFormatting 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 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 RepresentationInterfacing to Grayhill or OPTO-22 G4PB24 Wire CutterExample Applications JP #A Table ControllerBGS AMS AMCBGC AMC 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 TroubleshootingOperation CommunicationStability Theory of Operation Level Velocity and Position Profiles Operation of Closed-Loop SystemsFunctional Elements of a Motion Control System System ModelingCurrent Drive Motor-AmplifierVoltage 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 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 OptionsBlock 4 PIN Label Description ICM-2900 Interconnect ModuleDescription 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 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 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 OutputKeypad 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 CommandsOrdering Information Pin Modular ConnectorPin D Adaptor Male For P2 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