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Galil DMC-3425 user manual This Page Left Blank Intentionally, 150 • Application Programming

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150 • Chapter 7 Application Programming

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Galil DMC-3425 user manual This Page Left Blank Intentionally, 150 • Application Programming

Contents

Manual Rev. 1.1b USER MANUALBy Galil Motion Control, Inc DMC-3425Page Chapter 1 Overview ContentsContents Chapter 2 Getting StartedChapter 4 Communication Chapter 3 Connecting HardwareChapter 5 Command Basics Chapter 6 Programming Motion Chapter 7 Application Programming Chapter 10 Theory of Operation Chapter 9 TroubleshootingChapter 8 Hardware & Software Protection Appendices IndexChapter 1 Overview IntroductionBrushless Servo Motor with Sinusoidal Commutation Stepper Motor with Step and Direction SignalsOverview of Motor Types 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 WindowsDMC-3425 ADDRESS16 • Chapter 2 Getting Started 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 Available If Hall Sensors are Not AvailableIf Hall Sensors are Not 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 11- Motion Programs with Trippoints Example 9 - Motion ProgramsExample 10 - Motion Programs with Loops 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 DMC-3425 THIS PAGE LEFT BLANK INTENTIONALLY42 • Chapter 3 Connecting Hardware 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-7007SupportDefinition Modbus SupportFunction Code Other Communication Options Handle SwitchingHandle Restore on Communication Failure User Defined Ethernet VariablesWaiting on Handle Responses Data RecordData Record Map Chapter 4 Communication• general output bank 2 DB-14064DMC-3425 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 ByteAxis Status Information 2 Byte QZ CommandNotes Regarding Velocity and Torque Information Using Third Party Software DMC-3425 THIS PAGE LEFT BLANK INTENTIONALLY58 • Chapter 4 Communication Introduction Chapter 5 Command BasicsCommand Syntax - ASCII Command Syntax - Binary Coordinated Motion with more than 1 axisHeader Format Binary Command FormatByte ByteExample Binary command tableDatafields Format Controller Response to DATA Interrogating Current Commanded Values Interrogation CommandsSummary of Interrogation Commands Interrogating the ControllerCommand Summary DMC-3425 66 • Chapter 5 Command BasicsTHIS PAGE LEFT BLANK INTENTIONALLY 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 AxisJoystick Jogging Linear Interpolation Mode Local ModeSpecifying Linear Segments Additional Commands Specifying Vector Speed for Each SegmentChanging Feedrate Command Summary - Linear InterpolationOperand Summary - Linear Interpolation Linear Interpolation Motion ExampleExample - Linear Move VS = VA 2 + VBInstruction Example - Multiple MovesFigure 6.2 - Linear Interpolation InterpretationDMC-3425 Specifying Vector Segments78 • Chapter 6 Programming Motion Changing Feedrate Additional commandsSpecifying Vector Speed for Each Segment Trippoints Command Summary - Coordinated Motion SequenceOperand Summary - Coordinated Motion Sequence 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 CompensationExample Continuous Dual LoopSampled Dual Loop Example Using the IT and VT CommandsMotion Smoothing SMOOTHING TIME VELOCITY WITH SMOOTHING TIME HomingACCELERATION TIME VELOCITY TIME ACCELERATION WITH DMC-3425 Example102 Chapter 6 Programming Motion Chapter 6 Programming Motion• HOME SWITCHDMC-3425 Operand Summary - Homing Operation Command Summary - Homing OperationHigh Speed Position Capture Latch DMC-3425 Example#Latch Chapter 6 Programming Motion•DMC-3425 THIS PAGE LEFT BLANK INTENTIONALLY106 • Chapter 6 Programming Motion Overview Chapter 7 Application ProgrammingGlobal vs. Local Programming Edit Mode Commands Entering ProgramsValid labels Using Labels in ProgramsProgram Format Invalid labelsCommenting Programs NO Command and the Apostrophe ‘Special Labels 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 - Start Motion on Input Example- Set Output after DistanceExample- Repetitive Position Trigger Example - Multiple Move with Wait Example - Set Output when At SpeedExample - Change Speed along Vector Path 118 • Chapter 7 Application ProgrammingConditional Jumps Example- Define Output Waveform Using ATCommand Format - JP and JS Conditional Statements Example using variables named V1, V2, V3 andLogical operators Multiple Conditional StatementsExamples Using the IF and ENDIF CommandsIf, Else, and Endif Nesting IF Conditional Statements Using the ELSE CommandCommand Format - IF, ELSE and ENDIF 122 • Chapter 7 Application ProgrammingStack Manipulation Auto-Startand Auto Error RoutineSubroutines Automatic Subroutines for Monitoring Conditions Example - Limit SwitchExample - Position Error Example - Input Interrupt Example - Motion Complete TimeoutExample - Command Error FUNCTION Example - Command Error w/MultitaskingOPERAND InstructionMathematical Operators Example – Ethernet Communication ErrorMathematical and Functional Expressions DMC-3425 Bit-WiseOperators128 • Chapter 7 Application Programming Variables FunctionsDisplaying the value of variables at the terminal Programmable VariablesAssigning Values to Variables Special Operands Example - Using Variables for JoystickOperands 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 MessagesExample Using the MG Command to Configure TerminalsFormatting Messages Interrogation Commands Displaying Variables and ArraysSummary of Message Functions 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 InterruptExample - Position Follower Continuous Move Configuring the I/O of the DMC-3425Extended I/O of the DMC-3425Controller Block Accessing Extended I/O8-BitI/O Binary RepresentationInterfacing to Grayhill or OPTO-22G4PB24 Wire CutterExample Applications DMC-3425 A-B X-YTable Controller146 Chapter 7 Application Programming 1 inch = 40,000 counts and the speeds of Speed Control by Joystick Position Control by Joystick DMC-3425 THIS PAGE LEFT BLANK INTENTIONALLY150 • Chapter 7 Application Programming 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 ExampleOverview Chapter 9 TroubleshootingInstallation 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 VELOCITY LOOP VOLTAGE SOURCECURRENT SOURCE 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 MaleSpecifications ICM-1460Interconnect ModuleFeatures 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 DMC-3425 Overview184 • Appendices Configuring Hardware Banks Digital InputsSourcing Input CircuitSinking SinkingFigure A-7 High Power Digital OutputsFigure A-6 Result Standard Digital OutputsOutput Command Standard Digital Outputs Electrical SpecificationsHigh Power Digital Outputs Digital InputsRelevant DMC Commands Screw Terminal ListingAppendices• I/O65DMC-3425 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,