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Galil DMC-3425 user manual Using Third Party Software

Models: DMC-3425

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Using Third Party Software

Galil supports ARP, BOOT-P, and Ping, which are utilities for establishing Ethernet connections. ARP is an application that determines the Ethernet (hardware) address of a device at a specific IP address. BOOT-P is an application that determines which devices on the network do not have an IP address and assigns the IP address you have chosen to it. Ping is used to check the communication between the device at a specific IP address and the host computer.

The DMC-3425 can communicate with a host computer through any application that can send TCP/IP or UDP/IP packets. A good example of this is Telnet, a utility that comes with most Windows systems. In the absence of the Galil Windows Terminal software, the Telnet terminal may be used for communication with the DMC-3425 Ethernet controller. The Windows Hyperterminal may also be used for communication.

DMC-3425

Chapter 4 Communication• 57

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Galil DMC-3425 user manual Using Third Party Software

Contents

By Galil Motion Control, Inc USER MANUALManual 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 Index AppendicesIntroduction Chapter 1 OverviewBrushless 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 Microcomputer Section DMC-3425Functional ElementsMotor Interface CommunicationSystem Elements General I/OMotor Amplifier DriverEncoder Watch Dog Timer6 • Chapter 1 Overview DMC-3425The DMC-3425Motion Controller Chapter 2 Getting StartedFigure 2.1 – Outline of the DMC-3425 DMC-3425Elements You Need Installing the DMC-3425ControllerStep 2. Configuring Jumpers on the DMC-3425 Step 1. Determine Overall Motor ConfigurationMaster Reset and Upgrade Jumper Standard Servo Motor OperationSelecting MO as default on the DMC-3425 Setting the Baud Rate on the DMC-3425Stepper Motor Jumpers SD MCA1 A2 A4 A8 Axis Configuration JumpersUsing Galil Software for DOS Step 4. Installing the Communications SoftwareUsing DOS Using Windows 3.x 16 bit versionsUsing Galil Software for Windows DMC-3425 14 • Chapter 2 Getting StartedSending Test Commands to the Terminal Using Non-GalilCommunication SoftwareCommunicating through the Ethernet Using Galil Software for WindowsDMC-3425 ADDRESS16 • Chapter 2 Getting Started Sending Test Commands to the Terminal Step 7. Make connections to amplifier and encoderStep C. Connect the encoders Step 8a. Connect Standard Servo Motor Check the Polarity of the Feedback Loop Inverting the Loop Polarity Motor Power Supply22 • 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 Configuring Operation for Distributed Control Step 10. Configure the Distributed Control SystemManual Slave IP configuration with HC command Manual Configuration of Distributed Control Automatic Configuration ExampleInstruction InterpretationManual Configuration Example Example 1 - System Set-up Design ExamplesExample 2 - Profiled Move Example 3 - Position InterrogationExample 6 - Operation Under Torque Limit Example 5 - Velocity Control JoggingExample 7 - Interrogation Example 8 - Operation in the Buffer ModeExample 11- Motion Programs with Trippoints Example 9 - Motion ProgramsExample 10 - Motion Programs with Loops Example 13 - Control Variables and Offset Example 12 - Control VariablesDMC-3425 36 • Chapter 2 Getting StartedUsing Inputs Chapter 3 Connecting HardwareLimit Switch Input OverviewAbort Input Home Switch Input38 • Chapter 3 Connecting Hardware DMC-3425Uncommitted Digital Inputs Amplifier InterfaceAnalog Inputs TTL InputsDMC-3425 AMPENTTL Outputs DMC-3425 THIS PAGE LEFT BLANK INTENTIONALLY42 • Chapter 3 Connecting Hardware Chapter 4 Communication RS-232ConfigurationRS232 Port RS232 - Port 1 DATATERMCommunication Protocols Ethernet ConfigurationAddressing Handshaking ModesGlobal vs. Local Operation Ethernet HandlesGLOBAL OPERATION LOCAL OPERATION46 • Chapter 4 Communication DMC-3425Operation of Distributed Control Accessing the I/O of the SlavesMulticasting Handling Communication ErrorsDigital Outputs Digital InputsIOC-7007Support Unsolicited Message HandlingDefinition Modbus SupportFunction Code Handle Restore on Communication Failure Handle SwitchingOther Communication Options User Defined Ethernet VariablesWaiting on Handle Responses Data RecordData Record Map Chapter 4 Communication• general output bank 2 DB-14064DMC-3425 DMC-3425 54 Chapter 4 CommunicationHeader Information - Byte 0, 1 of Header Axis Switch Information 1 ByteBytes 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 Coordinated Motion with more than 1 axis Command Syntax - BinaryByte Binary Command FormatHeader Format ByteExample Binary command tableDatafields Format Controller Response to DATA Summary of Interrogation Commands Interrogation CommandsInterrogating Current Commanded Values Interrogating the ControllerCommand Summary DMC-3425 66 • Chapter 5 Command BasicsTHIS PAGE LEFT BLANK INTENTIONALLY Overview Chapter 6 Programming MotionGlobal vs. Local Operation DMC-3425Mode of Motion CommandsBasic description GlobalIndependent Axis Positioning Operand Summary - Independent Axis Command Summary - Independent AxisExamples Absolute Position MovementCOUNTS/SEC VELOCITY20000 15000Independent Jogging Command Summary - JoggingJog in A and C axes Operand Summary - Independent AxisJoystick Jogging Linear Interpolation Mode Local ModeSpecifying Linear Segments Specifying Vector Speed for Each Segment Additional CommandsChanging Feedrate Command Summary - Linear InterpolationOperand Summary - Linear Interpolation Example - Linear Move ExampleLinear Interpolation Motion VS = VA 2 + VBFigure 6.2 - Linear Interpolation Example - Multiple MovesInstruction 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 B -4000,0 C -4000,3000D 0,3000 R =A 0,0 ExampleElectronic Gearing Local Mode Command Summary - Electronic GearingExample - Electronic Gearing Example - Gantry ModeEAp where p = A,B p is the selected master axis Electronic Cam Local ModeEM a,b ET0=,0 ET1=,3000 ET2=,2250 ET3=,1500 2000 3000 2250 15004000 6000This is done with the program DMC-3425 88 • Chapter 6 Programming MotionSpecifying Contour Segments Contour Mode Local ModeDescription InstructionPOSITION COUNTSOperand Summary - Contour Mode Command Summary - Contour ModeGeneral Velocity Profiles Generating an Array - An ExampleContour Mode Example Record and Playback Example Teach Record and Play-BackDMC-3425 Chapter 6 Programming Motion•Commands Virtual Axis Local ModeMode of Motion Virtual Axis usageEcam Master Example Stepper Motor OperationSinusoidal Motion Example Specifying Stepper Motor OperationStepper Motor Smoothing Monitoring Generated Pulses vs. Commanded Pulses96 • Chapter 6 Programming Motion DMC-3425Command Summary - Stepper Motor Operation Using an Encoder with Stepper MotorsMotion Complete Trippoint Operand Summary - Stepper Motor OperationAdditional Commands for the Auxiliary Encoder Using the CE CommandDual 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 #Latch ExampleDMC-3425 Chapter 6 Programming Motion•DMC-3425 THIS PAGE LEFT BLANK INTENTIONALLY106 • Chapter 6 Programming Motion Overview Chapter 7 Application ProgrammingGlobal vs. Local Programming Entering Programs Edit Mode CommandsProgram Format Using Labels in ProgramsValid labels Invalid labelsCommenting Programs NO Command and the Apostrophe ‘Special Labels Executing Programs - Multitasking REM CommandDebugging Programs Error Code Command Trace CommandStop Code Command RAM Memory Interrogation CommandsEEPROM Memory Interrogation Operands Breakpoints and single steppingError Condition OperandsEvent Triggers & Trippoints Program Flow CommandsExample- Multiple Move Sequence DMC-3425Event Triggers116 • Chapter 7 Application Programming DMC-3425Example - Start Motion on Input Example- Set Output after DistanceExample- Repetitive Position Trigger Example - Change Speed along Vector Path Example - Set Output when At SpeedExample - Multiple Move with Wait 118 • Chapter 7 Application ProgrammingConditional Jumps Example- Define Output Waveform Using ATCommand Format - JP and JS Logical operators Example using variables named V1, V2, V3 andConditional Statements Multiple Conditional StatementsExamples Using the IF and ENDIF CommandsIf, Else, and Endif Command Format - IF, ELSE and ENDIF Using the ELSE CommandNesting 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 OPERAND Example - Command Error w/MultitaskingFUNCTION InstructionMathematical Operators Example – Ethernet Communication ErrorMathematical and Functional Expressions DMC-3425 Bit-WiseOperators128 • Chapter 7 Application Programming Functions VariablesDisplaying the value of variables at the terminal Programmable VariablesAssigning Values to Variables Special Operands Example - Using Variables for JoystickOperands Defining Arrays ArraysAssignment of Array Entries ExamplesAutomatic Data Capture into Arrays Using a Variable to Address Array ElementsData Types for Recording Command Summary - Automatic Data CaptureOperand Summary - Automatic Data Capture Example - Recording into An ArrayDeallocating Array Space Outputting Numbers and StringsSending Messages Specifying the Port for MessagesExample Using the MG Command to Configure TerminalsFormatting Messages Interrogation Commands Displaying Variables and ArraysSummary of Message Functions Example Local Formatting of Variables Formatting Variables and Array ElementsConverting to User Units Hardware I/ODigital Outputs Example- Set Bit and Clear BitExample - Start Motion on Switch Example - Using Inputs to control program flowDigital Inputs Example- Output PortAnalog Inputs Input Interrupt FunctionExample - 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 8-BitI/O Accessing Extended I/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 Hardware Protection Chapter 8 Hardware & Software ProtectionOutput Protection Lines IntroductionInput Protection Lines Software ProtectionProgrammable Position Limits ExampleAutomatic Error Routine Off-On-ErrorExample ExamplesLimit Switch Example Limit Switch RoutineOverview Chapter 9 TroubleshootingInstallation Stability CommunicationOperation 156 • Chapter 9 TroubleshootingOverview Chapter 10 Theory of OperationCOMPUTER CONTROLLERLEVEL Figure 10.3 - Velocity and Position Profiles Operation of Closed-LoopSystemsCONTROLLER System ModelingVoltage Drive Motor-AmplifierPV = KV Kt SSTm + 1STe + = RJVelocity Loop VELOCITY LOOP VOLTAGE SOURCECURRENT SOURCE KZ − A Digital Filter1 − B Z − BSystem Analysis Page The Analytical Method System Design and CompensationMs = P/I = Kt/Js2 = 1000/s2 Amp However, since As = Ls Gs Equivalent Filter Form Performance Specifications Electrical SpecificationsPower Requirements AppendicesJ3 DMC-3425General I/O; 37- PIN D-type Connectors for DMC-3425J3 DMC-3425-StepperGeneral I/O; 37- PIN D-type J5 POWER; 6 PIN MOLEXJ1 RS232 Main port: DB-9Pin Male Pin-OutDescriptionSpecifications ICM-1460Interconnect ModuleFeatures DMC-3425 176 • AppendicesOpto-isolatedinputs Opto-IsolationOption for ICM-1460ICM-1460 Opto-isolatedoutputsTO CONTROLLER CONNECTIONS64 Extended I/O of the DMC-3425Controller Configuring the I/O of the DMC-3425with DB-14064Accessing extended I/O Signal Connector DescriptionJ6 50-PINIDC BlockBlock J8 50-PINIDCBit @INn Bit NoDescription DMC-3425 Overview184 • Appendices Digital Inputs Configuring Hardware BanksSinking Input CircuitSourcing SinkingFigure A-7 High Power Digital OutputsFigure A-6 Result Standard Digital OutputsOutput Command High Power Digital Outputs Electrical SpecificationsStandard Digital Outputs Digital InputsScrew Terminal Listing Relevant DMC CommandsAppendices• I/O65DMC-3425 DMC-3425 192 • Appendices1000 Coordinated Motion - Mathematical Analysis2000 2000time s VelocityLk = Xk 2 + Yk Lk = Rk ΔΘk 2π= 0.05s 1000002000000 Ts = VSD − Ta = 10000035708 - 0.05 = 0.307sTraining Seminars List of Other PublicationsMOTION CONTROL MADE EASY ADVANCED MOTION CONTROLGalil Motion Control Contacting UsDMC-3425 AppendicesWARRANTY Index Differential Encoder, 19, 21, Jumper, SDK, 27,