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Galil DMC-3425 user manual This Page Left Blank Intentionally, 106 • Programming Motion

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106 • Chapter 6 Programming Motion

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Galil DMC-3425 user manual This Page Left Blank Intentionally, 106 • Programming Motion

Contents

Manual Rev. 1.1b USER MANUALBy Galil Motion Control, Inc DMC-3425Page Chapter 1 Overview ContentsContents Chapter 2 Getting StartedChapter 3 Connecting Hardware Chapter 5 Command BasicsChapter 4 Communication Chapter 6 Programming Motion Chapter 7 Application Programming Chapter 9 Troubleshooting Chapter 8 Hardware & Software ProtectionChapter 10 Theory of Operation Appendices IndexChapter 1 Overview IntroductionStepper Motor with Step and Direction Signals Overview of Motor TypesBrushless Servo Motor with Sinusoidal Commutation The DMC-3415can control BLMs equipped with Hall sensors as well as without Hall sensors. If hall sensors are available, once the controller has been setup, the controller will estimate the commutation phase upon reset. This allows the motor to function immediately upon power up. The Hall effect sensors also provide a method for setting the precise commutation phase. Chapter 2 describes the proper connection and procedure for using sinusoidal commutation of brushless motors Motor Interface DMC-3425Functional ElementsMicrocomputer Section CommunicationMotor General I/OSystem Elements Amplifier Driver6 • Chapter 1 Overview Watch Dog TimerEncoder DMC-3425Figure 2.1 – Outline of the DMC-3425 Chapter 2 Getting StartedThe DMC-3425Motion Controller DMC-3425Installing the DMC-3425Controller Elements You NeedMaster Reset and Upgrade Jumper Step 1. Determine Overall Motor ConfigurationStep 2. Configuring Jumpers on the DMC-3425 Standard Servo Motor OperationStepper Motor Jumpers Setting the Baud Rate on the DMC-3425Selecting MO as default on the DMC-3425 SD MCAxis Configuration Jumpers A1 A2 A4 A8Using DOS Step 4. Installing the Communications SoftwareUsing Galil Software for DOS Using Windows 3.x 16 bit versionsUsing Galil Software for Windows 14 • Chapter 2 Getting Started DMC-3425Communicating through the Ethernet Using Non-GalilCommunication SoftwareSending Test Commands to the Terminal Using Galil Software for WindowsADDRESS 16 • Chapter 2 Getting StartedDMC-3425 Step 7. Make connections to amplifier and encoder Sending Test Commands to the TerminalStep C. Connect the encoders Step 8a. Connect Standard Servo Motor Check the Polarity of the Feedback Loop Inverting the Loop Polarity 22 • Chapter 2 Getting Started Power SupplyMotor DMC-3425Step A. Disable the motor amplifier If Hall Sensors are Available If Hall Sensors are Not Available If Hall Sensors are Not AvailableIf Hall Sensors are Available Step 8c. Connect Step Motors Step 9. Tune the Servo System Step 10. Configure the Distributed Control System Configuring Operation for Distributed ControlManual Slave IP configuration with HC command Instruction Automatic Configuration ExampleManual Configuration of Distributed Control InterpretationManual Configuration Example Example 2 - Profiled Move Design ExamplesExample 1 - System Set-up Example 3 - Position InterrogationExample 7 - Interrogation Example 5 - Velocity Control JoggingExample 6 - Operation Under Torque Limit Example 8 - Operation in the Buffer ModeExample 9 - Motion Programs Example 10 - Motion Programs with LoopsExample 11- Motion Programs with Trippoints Example 12 - Control Variables Example 13 - Control Variables and Offset36 • Chapter 2 Getting Started DMC-3425Limit Switch Input Chapter 3 Connecting HardwareUsing Inputs Overview38 • Chapter 3 Connecting Hardware Home Switch InputAbort Input DMC-3425Amplifier Interface Uncommitted Digital InputsDMC-3425 TTL InputsAnalog Inputs AMPENTTL Outputs THIS PAGE LEFT BLANK INTENTIONALLY 42 • Chapter 3 Connecting HardwareDMC-3425 RS232 Port RS-232ConfigurationChapter 4 Communication RS232 - Port 1 DATATERMAddressing Ethernet ConfigurationCommunication Protocols Handshaking ModesEthernet Handles Global vs. Local Operation46 • Chapter 4 Communication LOCAL OPERATIONGLOBAL OPERATION DMC-3425Accessing the I/O of the Slaves Operation of Distributed ControlDigital Outputs Handling Communication ErrorsMulticasting Digital InputsUnsolicited Message Handling IOC-7007SupportModbus Support Function CodeDefinition Other Communication Options Handle SwitchingHandle Restore on Communication Failure User Defined Ethernet VariablesData Record Data Record MapWaiting on Handle Responses general output bank 2 DB-14064 DMC-3425Chapter 4 Communication• 54 Chapter 4 Communication DMC-3425Bytes 2, 3 of Header Axis Switch Information 1 ByteHeader Information - Byte 0, 1 of Header General Status Information 1 ByteQZ Command Notes Regarding Velocity and Torque InformationAxis Status Information 2 Byte Using Third Party Software THIS PAGE LEFT BLANK INTENTIONALLY 58 • Chapter 4 CommunicationDMC-3425 Chapter 5 Command Basics Command Syntax - ASCIIIntroduction Command Syntax - Binary Coordinated Motion with more than 1 axisHeader Format Binary Command FormatByte ByteBinary command table Datafields FormatExample Controller Response to DATA Interrogating Current Commanded Values Interrogation CommandsSummary of Interrogation Commands Interrogating the ControllerCommand Summary 66 • Chapter 5 Command Basics THIS PAGE LEFT BLANK INTENTIONALLYDMC-3425 Global vs. Local Operation Chapter 6 Programming MotionOverview DMC-3425Basic description CommandsMode of Motion GlobalIndependent Axis Positioning Examples Command Summary - Independent AxisOperand Summary - Independent Axis Absolute Position Movement20000 VELOCITYCOUNTS/SEC 15000Jog in A and C axes Command Summary - JoggingIndependent Jogging Operand Summary - Independent AxisLinear Interpolation Mode Local Mode Specifying Linear SegmentsJoystick Jogging Additional Commands Specifying Vector Speed for Each SegmentCommand Summary - Linear Interpolation Operand Summary - Linear InterpolationChanging Feedrate Linear Interpolation Motion ExampleExample - Linear Move VS = VA 2 + VBInstruction Example - Multiple MovesFigure 6.2 - Linear Interpolation InterpretationSpecifying Vector Segments 78 • Chapter 6 Programming MotionDMC-3425 Additional commands Specifying Vector Speed for Each SegmentChanging Feedrate Command Summary - Coordinated Motion Sequence Operand Summary - Coordinated Motion SequenceTrippoints A 0,0 C -4000,3000D 0,3000 R =B -4000,0 ExampleExample - Electronic Gearing Command Summary - Electronic GearingElectronic Gearing Local Mode Example - Gantry ModeElectronic Cam Local Mode EAp where p = A,B p is the selected master axisEM a,b ET0=,0 ET1=,3000 ET2=,2250 ET3=,1500 4000 3000 2250 15002000 6000This is done with the program 88 • Chapter 6 Programming Motion DMC-3425Contour Mode Local Mode Specifying Contour SegmentsPOSITION InstructionDescription COUNTSGeneral Velocity Profiles Command Summary - Contour ModeOperand Summary - Contour Mode Generating an Array - An ExampleContour Mode Example DMC-3425 Teach Record and Play-BackRecord and Playback Example Chapter 6 Programming Motion•Mode of Motion Virtual Axis Local ModeCommands Virtual Axis usageSinusoidal Motion Example Stepper Motor OperationEcam Master Example Specifying Stepper Motor Operation96 • Chapter 6 Programming Motion Monitoring Generated Pulses vs. Commanded PulsesStepper Motor Smoothing DMC-3425Motion Complete Trippoint Using an Encoder with Stepper MotorsCommand Summary - Stepper Motor Operation Operand Summary - Stepper Motor OperationDual Loop Auxiliary Encoder Using the CE CommandAdditional Commands for the Auxiliary Encoder Backlash CompensationContinuous Dual Loop Sampled Dual LoopExample Using the IT and VT Commands Motion SmoothingExample Homing ACCELERATION TIME VELOCITY TIME ACCELERATION WITHSMOOTHING TIME VELOCITY WITH SMOOTHING TIME Example 102 Chapter 6 Programming MotionDMC-3425 HOME SWITCH DMC-3425Chapter 6 Programming Motion• Command Summary - Homing Operation High Speed Position Capture LatchOperand Summary - Homing Operation DMC-3425 Example#Latch Chapter 6 Programming Motion•THIS PAGE LEFT BLANK INTENTIONALLY 106 • Chapter 6 Programming MotionDMC-3425 Chapter 7 Application Programming Global vs. Local ProgrammingOverview Edit Mode Commands Entering ProgramsValid labels Using Labels in ProgramsProgram Format Invalid labelsNO Command and the Apostrophe ‘ Special LabelsCommenting Programs REM Command Executing Programs - MultitaskingDebugging Programs Stop Code Command Trace CommandError Code Command RAM Memory Interrogation CommandsError Condition Breakpoints and single steppingEEPROM Memory Interrogation Operands OperandsProgram Flow Commands Event Triggers & Trippoints116 • Chapter 7 Application Programming DMC-3425Event TriggersExample- Multiple Move Sequence DMC-3425Example- Set Output after Distance Example- Repetitive Position TriggerExample - Start Motion on Input Example - Multiple Move with Wait Example - Set Output when At SpeedExample - Change Speed along Vector Path 118 • Chapter 7 Application ProgrammingExample- Define Output Waveform Using AT Command Format - JP and JSConditional Jumps Conditional Statements Example using variables named V1, V2, V3 andLogical operators Multiple Conditional StatementsUsing the IF and ENDIF Commands If, Else, and EndifExamples Nesting IF Conditional Statements Using the ELSE CommandCommand Format - IF, ELSE and ENDIF 122 • Chapter 7 Application ProgrammingAuto-Startand Auto Error Routine SubroutinesStack Manipulation Example - Limit Switch Example - Position ErrorAutomatic Subroutines for Monitoring Conditions Example - Motion Complete Timeout Example - Command ErrorExample - Input Interrupt FUNCTION Example - Command Error w/MultitaskingOPERAND InstructionExample – Ethernet Communication Error Mathematical and Functional ExpressionsMathematical Operators Bit-WiseOperators 128 • Chapter 7 Application ProgrammingDMC-3425 Variables FunctionsProgrammable Variables Assigning Values to VariablesDisplaying the value of variables at the terminal Example - Using Variables for Joystick OperandsSpecial Operands Assignment of Array Entries ArraysDefining Arrays ExamplesUsing a Variable to Address Array Elements Automatic Data Capture into ArraysOperand Summary - Automatic Data Capture Command Summary - Automatic Data CaptureData Types for Recording Example - Recording into An ArraySending Messages Outputting Numbers and StringsDeallocating Array Space Specifying the Port for MessagesUsing the MG Command to Configure Terminals Formatting MessagesExample Displaying Variables and Arrays Summary of Message FunctionsInterrogation Commands Example Formatting Variables and Array Elements Local Formatting of VariablesDigital Outputs Hardware I/OConverting to User Units Example- Set Bit and Clear BitDigital Inputs Example - Using Inputs to control program flowExample - Start Motion on Switch Example- Output PortExample - Position Follower Point-to-Point Input Interrupt FunctionAnalog Inputs Example - Input InterruptConfiguring the I/O of the DMC-3425 Extended I/O of the DMC-3425ControllerExample - Position Follower Continuous Move Block Accessing Extended I/O8-BitI/O Binary RepresentationWire Cutter Example ApplicationsInterfacing to Grayhill or OPTO-22G4PB24 A-B X-YTable Controller 146 Chapter 7 Application ProgrammingDMC-3425 1 inch = 40,000 counts and the speeds of Speed Control by Joystick Position Control by Joystick THIS PAGE LEFT BLANK INTENTIONALLY 150 • Chapter 7 Application ProgrammingDMC-3425 Output Protection Lines Chapter 8 Hardware & Software ProtectionHardware Protection IntroductionProgrammable Position Limits Software ProtectionInput Protection Lines ExampleExample Off-On-ErrorAutomatic Error Routine ExamplesLimit Switch Routine Limit Switch ExampleChapter 9 Troubleshooting InstallationOverview Operation CommunicationStability 156 • Chapter 9 TroubleshootingCOMPUTER Chapter 10 Theory of OperationOverview CONTROLLERLEVEL Operation of Closed-LoopSystems Figure 10.3 - Velocity and Position ProfilesSystem Modeling CONTROLLERPV = KV Kt SSTm + 1STe + Motor-AmplifierVoltage Drive = RJVelocity Loop VOLTAGE SOURCE CURRENT SOURCEVELOCITY LOOP 1 − B Digital FilterKZ − A Z − BSystem Analysis Page System Design and Compensation The Analytical MethodMs = P/I = Kt/Js2 = 1000/s2 Amp However, since As = Ls Gs Equivalent Filter Form Power Requirements Electrical SpecificationsPerformance Specifications AppendicesConnectors for DMC-3425 J3 DMC-3425General I/O; 37- PIN D-typeJ5 POWER; 6 PIN MOLEX J3 DMC-3425-StepperGeneral I/O; 37- PIN D-typePin-OutDescription J1 RS232 Main port: DB-9Pin MaleICM-1460Interconnect Module FeaturesSpecifications 176 • Appendices DMC-3425Opto-IsolationOption for ICM-1460 Opto-isolatedinputsTO CONTROLLER Opto-isolatedoutputsICM-1460 CONNECTIONSConfiguring the I/O of the DMC-3425with DB-14064 64 Extended I/O of the DMC-3425ControllerAccessing extended I/O J6 50-PINIDC Connector DescriptionSignal BlockBit @INn J8 50-PINIDCBlock Bit NoDescription Overview 184 • AppendicesDMC-3425 Configuring Hardware Banks Digital InputsSourcing Input CircuitSinking SinkingHigh Power Digital Outputs Figure A-6Figure A-7 Standard Digital Outputs Output CommandResult Standard Digital Outputs Electrical SpecificationsHigh Power Digital Outputs Digital InputsRelevant DMC Commands Screw Terminal ListingI/O65 DMC-3425Appendices• 192 • Appendices DMC-34252000 Coordinated Motion - Mathematical Analysis1000 2000Lk = Xk 2 + Yk Velocitytime s Lk = Rk ΔΘk 2π2000000 100000= 0.05s Ts = VSD − Ta = 10000035708 - 0.05 = 0.307sMOTION CONTROL MADE EASY List of Other PublicationsTraining Seminars ADVANCED MOTION CONTROLDMC-3425 Contacting UsGalil Motion Control AppendicesWARRANTY Index Differential Encoder, 19, 21, Jumper, SDK, 27,