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Galil DMC-3425 user manual Address, 16 • Getting Started

Models: DMC-3425

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ADDRESS.

After Next is pressed, the next screen will allow the IP address to be selected and assigned.

Enter the IP address obtained from your system administrator into the box IP Address. Select the button corresponding to the protocol in which you wish to communicate with the controller, UDP or TCP. If the IP address has not been already assigned to the controller, click on ASSIGN IP

ADDRESS.

16 • Chapter 2 Getting Started

DMC-3425

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Galil DMC-3425 user manual Address, 16 • Getting Started

Contents

USER MANUAL By Galil Motion Control, IncManual Rev. 1.1b DMC-3425Page Contents ContentsChapter 1 Overview 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 DMC-3425Functional Elements Microcomputer SectionMotor Interface CommunicationGeneral I/O System ElementsMotor Amplifier DriverWatch Dog Timer Encoder6 • Chapter 1 Overview DMC-3425Chapter 2 Getting Started The DMC-3425Motion ControllerFigure 2.1 – Outline of the DMC-3425 DMC-3425Installing the DMC-3425Controller Elements You NeedStep 1. Determine Overall Motor Configuration Step 2. Configuring Jumpers on the DMC-3425Master Reset and Upgrade Jumper Standard Servo Motor OperationSetting the Baud Rate on the DMC-3425 Selecting MO as default on the DMC-3425Stepper Motor Jumpers SD MCAxis Configuration Jumpers A1 A2 A4 A8Step 4. Installing the Communications Software Using Galil Software for DOSUsing DOS Using Windows 3.x 16 bit versionsUsing Galil Software for Windows 14 • Chapter 2 Getting Started DMC-3425Using Non-GalilCommunication Software Sending Test Commands to the TerminalCommunicating through the Ethernet 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 Power Supply Motor22 • Chapter 2 Getting Started 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 Automatic Configuration Example Manual Configuration of Distributed ControlInstruction InterpretationManual Configuration Example Design Examples Example 1 - System Set-upExample 2 - Profiled Move Example 3 - Position InterrogationExample 5 - Velocity Control Jogging Example 6 - Operation Under Torque LimitExample 7 - Interrogation 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-3425Chapter 3 Connecting Hardware Using InputsLimit Switch Input OverviewHome Switch Input Abort Input38 • Chapter 3 Connecting Hardware DMC-3425Amplifier Interface Uncommitted Digital InputsTTL Inputs Analog InputsDMC-3425 AMPENTTL Outputs THIS PAGE LEFT BLANK INTENTIONALLY 42 • Chapter 3 Connecting HardwareDMC-3425 RS-232Configuration Chapter 4 CommunicationRS232 Port RS232 - Port 1 DATATERMEthernet Configuration Communication ProtocolsAddressing Handshaking ModesEthernet Handles Global vs. Local OperationLOCAL OPERATION GLOBAL OPERATION46 • Chapter 4 Communication DMC-3425Accessing the I/O of the Slaves Operation of Distributed ControlHandling Communication Errors MulticastingDigital Outputs Digital InputsUnsolicited Message Handling IOC-7007SupportModbus Support Function CodeDefinition Handle Switching Handle Restore on Communication FailureOther Communication Options 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-3425Axis Switch Information 1 Byte Header Information - Byte 0, 1 of HeaderBytes 2, 3 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 axisBinary Command Format ByteHeader Format ByteBinary command table Datafields FormatExample Controller Response to DATA Interrogation Commands Summary of Interrogation CommandsInterrogating Current Commanded Values Interrogating the ControllerCommand Summary 66 • Chapter 5 Command Basics THIS PAGE LEFT BLANK INTENTIONALLYDMC-3425 Chapter 6 Programming Motion OverviewGlobal vs. Local Operation DMC-3425Commands Mode of MotionBasic description GlobalIndependent Axis Positioning Command Summary - Independent Axis Operand Summary - Independent AxisExamples Absolute Position MovementVELOCITY COUNTS/SEC20000 15000Command Summary - Jogging Independent JoggingJog in A and C axes 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 Example Example - Linear MoveLinear Interpolation Motion VS = VA 2 + VBExample - Multiple Moves Figure 6.2 - Linear InterpolationInstruction 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 C -4000,3000D 0,3000 R = B -4000,0A 0,0 ExampleCommand Summary - Electronic Gearing Electronic Gearing Local ModeExample - Electronic Gearing 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 3000 2250 1500 20004000 6000This is done with the program 88 • Chapter 6 Programming Motion DMC-3425Contour Mode Local Mode Specifying Contour SegmentsInstruction DescriptionPOSITION COUNTSCommand Summary - Contour Mode Operand Summary - Contour ModeGeneral Velocity Profiles Generating an Array - An ExampleContour Mode Example Teach Record and Play-Back Record and Playback ExampleDMC-3425 Chapter 6 Programming Motion•Virtual Axis Local Mode CommandsMode of Motion Virtual Axis usageStepper Motor Operation Ecam Master ExampleSinusoidal Motion Example Specifying Stepper Motor OperationMonitoring Generated Pulses vs. Commanded Pulses Stepper Motor Smoothing96 • Chapter 6 Programming Motion DMC-3425Using an Encoder with Stepper Motors Command Summary - Stepper Motor OperationMotion Complete Trippoint Operand Summary - Stepper Motor OperationUsing the CE Command Additional Commands for the Auxiliary EncoderDual Loop 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 Example #LatchDMC-3425 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 ProgramsUsing Labels in Programs Program FormatValid labels Invalid labelsNO Command and the Apostrophe ‘ Special LabelsCommenting Programs REM Command Executing Programs - MultitaskingDebugging Programs Trace Command Error Code CommandStop Code Command RAM Memory Interrogation CommandsBreakpoints and single stepping EEPROM Memory Interrogation OperandsError Condition OperandsProgram Flow Commands Event Triggers & TrippointsDMC-3425Event Triggers Example- Multiple Move Sequence116 • Chapter 7 Application Programming DMC-3425Example- Set Output after Distance Example- Repetitive Position TriggerExample - Start Motion on Input Example - Set Output when At Speed Example - Change Speed along Vector PathExample - Multiple Move with Wait 118 • Chapter 7 Application ProgrammingExample- Define Output Waveform Using AT Command Format - JP and JSConditional Jumps Example using variables named V1, V2, V3 and Logical operatorsConditional Statements Multiple Conditional StatementsUsing the IF and ENDIF Commands If, Else, and EndifExamples Using the ELSE Command Command Format - IF, ELSE and ENDIFNesting IF Conditional Statements 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 Example - Command Error w/Multitasking OPERANDFUNCTION 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 Arrays Defining ArraysAssignment of Array Entries ExamplesUsing a Variable to Address Array Elements Automatic Data Capture into ArraysCommand Summary - Automatic Data Capture Data Types for RecordingOperand Summary - Automatic Data Capture Example - Recording into An ArrayOutputting Numbers and Strings Deallocating Array SpaceSending Messages 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 VariablesHardware I/O Converting to User UnitsDigital Outputs Example- Set Bit and Clear BitExample - Using Inputs to control program flow Example - Start Motion on SwitchDigital Inputs Example- Output PortInput Interrupt Function Analog InputsExample - Position Follower Point-to-Point Example - Input InterruptConfiguring the I/O of the DMC-3425 Extended I/O of the DMC-3425ControllerExample - Position Follower Continuous Move Accessing Extended I/O 8-BitI/OBlock 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 Chapter 8 Hardware & Software Protection Hardware ProtectionOutput Protection Lines IntroductionSoftware Protection Input Protection LinesProgrammable Position Limits ExampleOff-On-Error Automatic Error RoutineExample ExamplesLimit Switch Routine Limit Switch ExampleChapter 9 Troubleshooting InstallationOverview Communication StabilityOperation 156 • Chapter 9 TroubleshootingChapter 10 Theory of Operation OverviewCOMPUTER CONTROLLERLEVEL Operation of Closed-LoopSystems Figure 10.3 - Velocity and Position ProfilesSystem Modeling CONTROLLERMotor-Amplifier Voltage DrivePV = KV Kt SSTm + 1STe + = RJVelocity Loop VOLTAGE SOURCE CURRENT SOURCEVELOCITY LOOP Digital Filter KZ − A1 − B 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 Electrical Specifications Performance SpecificationsPower Requirements 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-isolatedinputsOpto-isolatedoutputs ICM-1460TO CONTROLLER CONNECTIONSConfiguring the I/O of the DMC-3425with DB-14064 64 Extended I/O of the DMC-3425ControllerAccessing extended I/O Connector Description SignalJ6 50-PINIDC BlockJ8 50-PINIDC BlockBit @INn Bit NoDescription Overview 184 • AppendicesDMC-3425 Configuring Hardware Banks Digital InputsInput Circuit SinkingSourcing SinkingHigh Power Digital Outputs Figure A-6Figure A-7 Standard Digital Outputs Output CommandResult Electrical Specifications High Power Digital OutputsStandard Digital Outputs Digital InputsRelevant DMC Commands Screw Terminal ListingI/O65 DMC-3425Appendices• 192 • Appendices DMC-3425Coordinated Motion - Mathematical Analysis 10002000 2000Velocity time sLk = Xk 2 + Yk Lk = Rk ΔΘk 2π100000 = 0.05s2000000 Ts = VSD − Ta = 10000035708 - 0.05 = 0.307sList of Other Publications Training SeminarsMOTION CONTROL MADE EASY ADVANCED MOTION CONTROLContacting Us Galil Motion ControlDMC-3425 AppendicesWARRANTY Index Differential Encoder, 19, 21, Jumper, SDK, 27,