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Galil DMC-3425 user manual 36 • Getting Started

Models: DMC-3425

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V2=_TP	Set variable V2 to the current position
JP#C,@ABS[V2]<2	Exit if error small
MG V2	Report value of V2
V1=V1-1	Decrease Offset
JP #B	Return to top of program
#C;EN	End

This program starts with a large offset and gradually decreases its value, resulting in decreasing error.

36 • Chapter 2 Getting Started

DMC-3425

Page 44

Image 44

Galil DMC-3425 user manual 36 • Getting Started

Contents

USER MANUAL By Galil Motion Control, IncManual Rev. 1.1b DMC-3425Page Contents ContentsChapter 1 Overview 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 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 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 Power Supply Motor22 • Chapter 2 Getting Started 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 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 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-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 DMC-3425 THIS PAGE LEFT BLANK INTENTIONALLY42 • Chapter 3 Connecting Hardware 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-7007SupportDefinition Modbus SupportFunction Code Handle Switching Handle Restore on Communication FailureOther Communication Options 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-3425Axis Switch Information 1 Byte Header Information - Byte 0, 1 of HeaderBytes 2, 3 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 axisBinary Command Format ByteHeader Format ByteExample Binary command tableDatafields Format Controller Response to DATA Interrogation Commands Summary of Interrogation CommandsInterrogating Current Commanded Values Interrogating the ControllerCommand Summary DMC-3425 66 • Chapter 5 Command BasicsTHIS PAGE LEFT BLANK INTENTIONALLY 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 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 Example Example - Linear MoveLinear Interpolation Motion VS = VA 2 + VBExample - Multiple Moves Figure 6.2 - Linear InterpolationInstruction 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 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 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 Example #LatchDMC-3425 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 ProgramsUsing Labels in Programs Program FormatValid labels Invalid labelsCommenting Programs NO Command and the Apostrophe ‘Special Labels 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 - Start Motion on Input Example- Set Output after DistanceExample- Repetitive Position Trigger Example - Set Output when At Speed Example - Change Speed along Vector PathExample - Multiple Move with Wait 118 • Chapter 7 Application ProgrammingConditional Jumps Example- Define Output Waveform Using ATCommand Format - JP and JS Example using variables named V1, V2, V3 and Logical operatorsConditional Statements Multiple Conditional StatementsExamples Using the IF and ENDIF CommandsIf, Else, and Endif Using the ELSE Command Command Format - IF, ELSE and ENDIFNesting IF Conditional Statements 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 Example - Command Error w/Multitasking OPERANDFUNCTION 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 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 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 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 InterruptExample - Position Follower Continuous Move Configuring the I/O of the DMC-3425Extended I/O of the DMC-3425Controller Accessing Extended I/O 8-BitI/OBlock 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 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 ExampleOverview Chapter 9 TroubleshootingInstallation 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 VELOCITY LOOP VOLTAGE SOURCECURRENT SOURCE 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 MaleSpecifications ICM-1460Interconnect ModuleFeatures 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 DMC-3425 Overview184 • Appendices Configuring Hardware Banks Digital InputsInput Circuit SinkingSourcing SinkingFigure A-7 High Power Digital OutputsFigure A-6 Result Standard Digital OutputsOutput Command Electrical Specifications High Power Digital OutputsStandard Digital Outputs Digital InputsRelevant DMC Commands Screw Terminal ListingAppendices• I/O65DMC-3425 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,