Instruction/ maintenance manual of the product DMC-2X00 Galil
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USER MANUAL DMC-2x00 Manual Rev. 2.0 By Galil Motion Control, Inc. Galil Motion Control, Inc. 270 Technology Way Rocklin, California 95765 Phone: (916) 626-0101 Fax: (916) 626-0102 E-mail Address: support@galilmc.
Using This Manual This user m anual provi des informati on for proper operation o f the DMC-2x0 0 controll er. A separate supplement al manual, the C ommand Refere nce, contains a description of the comm ands available f or use with this controller.
DMC-2x00 Contents y i Contents Using This Manual .............................................................................................................. ...... ii Contents i Chapter 1 Overview 1 Introduc tion ...................................
ii • Contents DMC-2X00 Step 3b. Configure DIP sw itches on th e DMC-2100................................................. 17 Step 3c. Configure DIP sw itches on th e DM C-2200 ................................................. 17 Step 4. Install the Co mmunications Software.
DMC-2x00 Contents y iii Chapter 4 Communication 2 Introduc tion ................................................................................................................... ............ 2 RS232 Ports ............................................
iv • Co ntents DMC-2X00 Specifying the Coor dinate Pla ne ............................................................................... 36 Specifying Lin ear Segm ents ...............................................................................
DMC-2x00 Contents y v Chapter 7 Application Programming 76 Overview ................................................................................................................................. 76 Using the DOS Editor to Enter Program s (DMC-2000 only) .
vi • Contents DMC-2X00 Extended I/O of the DMC-2x00 Co ntroller ........................................................................... 117 Configuring the I/O of the DM C-2x00 ....................................................................
DMC-2x00 Contents y vii DMC-2x00 Axes A-D High Density Connector...................................................... 149 DMC-2x00 Axes E-H High Density Connector ...................................................... 150 DMC-2x00 Auxiliary Encoder 36 Pin High Density Connector .
viii • Contents DMC-2X00 Keypad Maps - H and-Held ...................................................................................... 196 Keypad Map - Panel M oun t – 6 columns x 5 rows ................................................. 197 Configur ation.
DMC-2X00 Chapter 1 O ver view y 1 Chapter 1 Overview Introduction The DMC-2x00 Series are Galil’s highest performan ce stand-alone controller. The controller series offers many enhanced features including high speed communication s, non-volatile program memory, faster encode r speeds, and i mproved cablin g for EMI reduc tion.
2 • Chapter 1 Overview DMC-2X00 Specifications DMC- 2000 Family Part Number Definition D M C - 2 0 0 0 | | Communication Options ------| | 0: USB | 2: Ethernet | | Number of Axis ---------------| 1:.
DMC-2X00 Chapter 1 O ver view y 3 Environmental Specifications Description Unit Specification ---------- - ---- ---------- --- Storage Temperature C -25 to +70 Operating Temperat ure C 0 to +70 Operating Altitud e feet 10,000 Equipment Maintenance The DMC-2000 doe s not require mai ntenance.
4 • Chapter 1 Overview DMC-2X00 upon reset. This allows the motor to function immediatel y upon power up. The Hall effe ct sensors also provide a method for setting the precise comm ut ation phase. Chapter 2 describes the proper connection a nd procedure for using si nusoidal com mutation of brushless motors.
DMC-2X00 Chapter 1 O ver view y 5 DMC-2x00 Functional Elements The DMC-2x 00 circuitry ca n be divide d into the following fu nctional gr oups as shown i n Figure 1.
6 • Chapter 1 Overview DMC-2X00 General I/O The DMC-2x00 provides interface circuitry for 8 bi-directional, optois olated inputs, 8 T TL outputs and 8 analog inputs with 12-Bit ADC (16-Bit optional). The DMC-2x00 also has an additional 64 I/O and unused auxiliary encoder inputs ma y also be used as additional in puts (2 inputs / each axis).
DMC-2X00 Chapter 1 O ver view y 7 Encoder An encoder translates motion into electrical pulses which a re fed back into the controller. T he DMC- 2x00 accepts feedback from either a rotary or linear e ncoder. Typical encoders provide two channels in quadrature, known as CH A and CHB.
8 • Chapter 1 Overview DMC-2X00 THIS PAGE LEFT BLANK INTE NTIONALLY.
DMC-2X00 Chapter 2 Getting Started y 9 Chapter 2 Getting Started The DMC-2x00 Main Board GL-1800 Moto rol a 68331 GL-1800 DMC-2000 REV A GALIL MOTION CONTROL SRAM EEPROM 1 AUX ENCODERS AXES A-D (X -W).
10 • Chapter 2 Getting Started DMC-2X00 The DMC-2000 Daughter Board J4 CMB-200 1 REV C USB DAUGHTER CARD GALIL MOTION CONT ROL U9 J6 MRST XON XO F HSHK 9600 19.
DMC-2X00 Chapter 2 Getting Started y 11 The DMC-2200 Daughter Board D1 D2 J2 JP3 U14 JP4 JP5 U15 U16 U6 U4 U1 J8 A1 B1 C1 J7 10 BASE-F RECEIVER 10 BASE-2 10 BASE-F TRANS MI TTER 100 BAS E-T AUX SERIAL.
12 • Chapter 2 Getting Started DMC-2X00 Elements You Need GALIL ICM-2900 ICM-2908 ICM-2900 0 1 3 2 7 6 4 5 IOM-1964- 80 Power Ca ble ( Include d with the co n tro ller) ICM-2900 Prov ides Conne ctio.
DMC-2X00 Chapter 2 Getting Started y 13 ICM-2900 ICM-2908 ICM-2900 0 1 3 2 7 6 4 5 IOM-1964-80 GALIL Power Cable (Included with the control ler) ICM-2900 Provides Connection to Signals for Axes E-H IC.
14 • Chapter 2 Getting Started DMC-2X00 5. Motor Amplifiers. 6. Power Supply for Am plifiers. 7. Brush or Brushless Serv o motors wit h Optical Enc oders or st epper motors . 8. PC (Personal Computer - RS2 32 or USB for DMC-2000 or Eth ernet for DMC-2100) 9a.
DMC-2X00 Chapter 2 Getting Started y 15 Sinusoidal Commutation: Sinusoidal commutat ion is configure d through a single so ftware comm and, BA. Thi s config uration causes the controller t o reconfigure th e number of a vailable control axes. Each sinusoidally commutated motor requires two DACs.
16 • Chapter 2 Getting Started DMC-2X00 Stepper Motor Jumpers For each axis that will used fo r stepper motor opera tion, the corresponding step per mode (SM) jumper must be conne cted. The stepper m ode jumpers, la beled JP5 and JP7 are located di rectly beside the GL-1800 IC 's on the m ain board (see the diagram of the DMC-2x00).
DMC-2X00 Chapter 2 Getting Started y 17 Switch 4, 5 and 6 - Main Serial Port Baud Rate The following table describes the b aud rate settings: 9600 19.2 3800 BAUD RATE ON ON OFF 1200 ON OFF OFF 9600 OFF ON OFF 19200 OFF OFF ON 38400 OFF ON ON 115200 Switch 10 - USB When on, the controller will use the USB port as a default port for messages.
18 • Chapter 2 Getting Started DMC-2X00 Switch 4,5 and 6 - Main Serial Port Baud Rate The following table describes the b aud rate settings: 9600 19.
DMC-2X00 Chapter 2 Getting Started y 19 Step 6. Establish Communications with Galil Software Communicating through the Main Serial Communications Port Connect the DMC-2x00 MAIN serial port to your computer via the Galil CABLE-9PIN-D (RS-232 Cable).
20 • Chapter 2 Getting Started DMC-2X00 Using Non-Galil Communication Software The DMC-2x00 main serial port is conf igured as DATASE T. Your com puter or te rminal must be configured a s a DATATERM for full duplex, no parity, 8 da ta bits, one start bit an d one stop bi t.
DMC-2X00 Chapter 2 Getting Started y 21 address you entered to the contro ller with the specifi ed serial num ber. Clic k on YES to assign it, NO to move to next cont roller, or CANCEL to not save th e changes. If there are no controllers on the network that do not have a n IP address assi gned, the prog ram will state this.
22 • Chapter 2 Getting Started DMC-2X00 Step 8. Make Connections to Amplifier and Encoder. Once you have established c ommunicat ions between the software and t he DMC-2x00, y ou are ready to connect the rest of the m otion cont rol system .
DMC-2X00 Chapter 2 Getting Started y 23 For stepper m otor operati on, an enco der is opti onal. For servo motor operation, if you have a pr eferred definition of the forward and reverse directions, m ake sure that the encode r wiring is consistent with that de finition.
24 • Chapter 2 Getting Started DMC-2X00 Step 9a. Connect Standard Servo Motors The following discussion applies to conn ecting the DMC-2x00 controller to stand ard servo motor amplifiers: The motor and the amplifier may be configured in the torque or the velocity mode.
DMC-2X00 Chapter 2 Getting Started y 25 Step D. Connect the Motor Once the para meters have been set, connect the analog motor command signal (ACMD) to the amplifier input.
26 • Chapter 2 Getting Started DMC-2X00 DC Ser vo Mo t or - + Encode r ICM-2900 MOCMDZ SI GN Z PWMZ GND MOCMDX SI GN X PWMX OUT P W R ERROR CMP OUT GND OUT5 OUT6 OUT7 OUT8 MOCMDW SI GNW PW MW GND MO.
DMC-2X00 Chapter 2 Getting Started y 27 Step 9b. Connect Sinusoidal Commutation Motors When using sinusoidal com mutation, the par ameters for t he comm utation must be determ ined and saved in the controller’s non-vo latile memory. The setup for sinusoidal co mmutation is different w hen using Hall Sensors .
28 • Chapter 2 Getting Started DMC-2X00 The user must specify the value for V a nd T. For example, the comm and: BSA = 2,700 will test the A axis with a voltage of 2 volts, applying it for 700 millisecond for each phase. In response, this test indicates whether the DAC wiring is correct and will indicate an approximate value of BM.
DMC-2X00 Chapter 2 Getting Started y 29 WARNING: This command must move the motor to find the zero commutation phase. This movement is instantaneous and will cause the system to jerk. Larger applied voltages will cause more severe motor jerk. The applied v oltage will ty pically be sufficient for proper operation of the BZ command.
30 • Chapter 2 Getting Started DMC-2X00 Step 9c. Connect Step Motors In Stepper Mot or operation, t he pulse output signal ha s a 50% duty cycle. Step motors operate open loop and do not require encoder feedb ack. When a stepper is used, the auxiliary en coder for the corresponding axis is unavailable for an external connection .
DMC-2X00 Chapter 2 Getting Started y 31 For more damping, y ou can increase KD (maximum is 4095) . Increase gr adually and sto p after the motor vibrat es.
32 • Chapter 2 Getting Started DMC-2X00 Profiled Move Rotate the A axis a distance of 10,000 counts at a slew s peed of 20,000 counts/sec and a n acceleration and deceleration rates of 100,000 counts/s 2.
DMC-2X00 Chapter 2 Getting Started y 33 The position error, wh ich is the d ifference betw een the command ed position and the actual position can be interrogated with the in struction TE.
34 • Chapter 2 Getting Started DMC-2X00 Operation Under Torque Limit The magnitude of the motor command may be limited independently b y the instruction TL.
DMC-2X00 Chapter 2 Getting Started y 35 Line # Instruction Interpretation 000 #A Define label 001 PR 700 Distance 002 SP 2000 Speed 003 BGA Start A motion 004 EN End program To exit the edito r mode, input <cntrl>Q. The program may be execu ted with the command.
36 • Chapter 2 Getting Started DMC-2X00 AP ,50000 Wait until position B=50000 SP ,10000 Change speed of B EN End program To start the program, comm and: XQ #B Execute Program #B Control Variables Objective: To show ho w control variables may be utilized.
DMC-2X00 Chapter 2 Getting Started y 37 Instruction Interpretation LM ABC Specify linear interpolation axes LI 7000,3000,6000 Relative distan ces for linear interpolation LE Linear End VS 6000 Vector .
38 • Chapter 2 Getting Started DMC-2X00 THIS PAGE LEFT BLANK INTENTIONALLY.
DMC-2X00 Chapter 3 Connecting Hardw are y 39 Chapter 3 Connecting Hardware Overview The DMC-2x00 provid es opto-isolated d igital inputs for forwa rd limit , reverse limit, home , and abort signals.
40 • Chapter 3 Connecting Hardware DMC-2X00 Home Switch Input Homing in puts are desig ned to pro v ide mechanical reference points fo r a motion control application. A transition in the state of a Home input alert s the controller that a particul ar reference point has been reached by a movi ng part in the mo tion control system.
DMC-2X00 Chapter 3 Connecting Hardw are y 41 longer under servo control. If the Off-On-Erro r func tion is disabled, th e motor will decelerate to a stop as fast as mechanically possible and the mo tor will remain in a servo state. All motion programs that are curren tly running are terminated when a transition in the Abort input is detected.
42 • Chapter 3 Connecting Hardware DMC-2X00 INCO M IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 ABOR T LSCOM FLSA RLS A HOMEA FLSB RLSB HOMEB Additional Limit Switches(Dependent on Number of Axes) (ALATCH) (B LATCH) (CL ATCH) (DLATCH) Figure 3-1. The Optoisolated Inputs.
DMC-2X00 Chapter 3 Connecting Hardw are y 43 LSCOM FLSA External Resistor N eeded fo r Voltages > +24V LSCOM FLSA External Resistor N eeded fo r Voltages > +24V Configur ation to s ource current at LSCOM ter m inal and sink switch Configur ation to sink current at LSCOM ter minal and source switch 2.
44 • Chapter 3 Connecting Hardware DMC-2X00 command (Enable Off-On-Error) is given and the po sition error exceeds the error limit. As shown in Figure 3-4, AMPEN can be used to disabl e the amplifie r for these condi tions. The standar d configuration of the AMPE N signal is TTL active high.
DMC-2X00 Chapter 3 Connecti n g Hardware y 45 Each input from the auxiliary encode r is a differe ntial line receiver and can accept voltage levels between +/- 12 volts. The inputs have been config ured to ac cept TTL level signals. To connect TTL signals, sim ply connect the signal t o the + input and leave t he - input discon nected.
46 • Chapter 3 Connecting Hardware DMC-2X00 Error Output The controller provides a TTL sign al, ERROR, to indicate a controller error condition. When an error condition occurs, the ERROR signal will go low and the controller LED will go on. An error occu rs because of one of th e following conditions: 1.
2 • Chapter 4 Communicatio n DMC-2X00 Chapter 4 Communication Introduction The DMC-2x00 ha s two RS232 por ts, and either o ne USB input por t and 2 US B output ports, or Ethernet ports. The main RS-232 port is the data set and can be configur ed through the switch es on the front panel.
DMC-2X00 Chapter 4 Communi cati on y 3 *RS422 - Main Port {P1} 1 CTS - output 6 CTS+ output 2 Transmit Data - outpu t 7 Transmit+ output 3 Receive Data - input 8 Receive+ input 4 RTS - input 9 RTS+ in.
4 • Chapter 4 Communicatio n DMC-2X00 (Configure C ommunication) at port 2. The com mand is in the format of: CC m,n,r,p where m sets the baud rate, n sets for either hand shake or non- handshake mode, r sets fo r general port or the auxiliary port, and p turn s echo on or off.
DMC-2X00 Chapter 4 Communi cati on y 5 Example- Daisy Chain Objective: Control a 7-axis motion system using two controllers, a DMC-2040 4 axis con troller and a DMC-2030 3 axis con troller.
6 • Chapter 4 Communicatio n DMC-2X00 Although UDP/IP is more efficient and simple, Ga lil recommends using the TCP/IP protocol. TCP/IP insures that if a packet is lost or destroyed while in transit, it will be resent. Ethernet comm unication trans fers inform ation in ‘packets ’.
DMC-2X00 Chapter 4 Communi cati on y 7 The second method for setting an IP address is to send the IA co mmand through the DMC-2100 /2200 main RS-23 2 port. The IP address y ou want to assi gn may be entered as a 4 byte num ber delimit ed by commas (ind ustry standa rd uses peri ods) or a si gned 32 bit number (E x.
8 • Chapter 4 Communicatio n DMC-2X00 Communicating with Multiple Devices The DMC-2100/2200 is capab le of supporting multip le masters and slaves. The masters may be multiple PC's that send commands to the contro ller. The slaves are ty pically periphe ral I/O devices that receive commands from the c ontroller.
DMC-2X00 Chapter 4 Communi cati on y 9 MBh = -1,len,a rray[] where len i s the number of bytes array[] is the array with the data The second level incorporates the Modbus st ructure. This is necessa ry for sending confi guration and special comm ands to an I/O device.
10 • Chapter 4 Communica ti o n DMC-2X00 Data Record The DMC-2x0 0 can provide a block of stat us informati on with the use of a single com mand, QR. Thi s command, along with the QZ comm and can be very useful for accessing complete controller status.
DMC-2X00 Chapter 4 Communi cati on y 11 SL distance traveled in coordinated move for T plane T block UW a axis status A block UB a axis switch e s A block UB a axis stop code A block SL a axis referen.
12 • Chapter 4 Communica ti o n DMC-2X00 SL e axis motor position E block SL e axis position error E block SL e axis auxiliary position E block SL e axis velocity E block SW e axis torque E block SW.
DMC-2X00 Chapter 4 Communi cati on y 13 in Data Record in Data Record in Data Record BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 H Block Present in Data Record G Block Present in Data Record F Blo.
14 • Chapter 4 Communica ti o n DMC-2X00 Switch Coordinated Motion Status Information for S or T plane (2 Byte) BIT 15 BIT 14 BIT 13 BIT 12 BIT 11 BIT 10 BIT 9 BIT 8 Move in Progress N/A N/A N/A N/ .
DMC-2X00 Chapter 4 Communi cati on y 15 For instructions that return data, such as Tell Position (TP), the DMC-2x00 will return the data followed by a carriage return, line fee d and : . It is good practice to check for : after each c ommand is sent to prevent errors.
16 • Chapter 5 Command Basic s DMC-2X00 Chapter 5 Command Basics Introduction The DMC-2x00 pr ovides over 100 com mands fo r specifying m otion and machine parameters. Commands are includ ed to initiate action, interrogate status and configure the digital filter.
DMC-2X00 Chapter 5 Command Basi cs y 17 To view the current val u es for each command, type the c ommand followed by a ? for each a xis requested. PR 1000 Specif y A only as 1000 PR ,2000 Specify B on.
18 • Chapter 5 Command Basic s DMC-2X00 Command Syntax - Binary Some comm ands have an e quivalent bi nary value. Bi nary comm unication mode can be execut ed much faster than ASCII c ommands. Bina ry format can only be used when commands are sent from the PC and cannot be embedde d in an appl ication pro gram.
DMC-2X00 Chapter 5 Command Basi cs y 19 Bit 1 = B axis or 2 nd data field Bit 0 = A axis or 1 st data field Datafields Format Datafields must be consistent with the fo rmat byte and the axes byte.
20 • Chapter 5 Command Basic s DMC-2X00 AC 90 reserved bb CN e6 DC 91 reserved bc LZ e7 SP 92 CM bd OP e8 IT 93 CD be OB e9 FA 94 DT bf SB ea FV 95 ET c0 CB eb GR 96 EM c1 II ec DP 97 EP c2 EI ed DE.
DMC-2X00 Chapter 5 Command Basi cs y 21 Interrogating the Controller Interrogation Commands The DMC-2x0 0 has a set of com mands that directly interrogate the controller. When th e comman d is entered, the requested data is returne d in decim al format on the next li ne followed by a carriage return and line feed.
22 • Chapter 5 Command Basic s DMC-2X00 All of the com mand operands be gin with the underscore character (_). F or example, the value o f the current position on the A axis can be assigned to the v.
DMC-2X00 Chapter 5 Command Basi cs y 23 THIS PAGE LEFT BLANK INTENTIONALLY.
24 • Chapter 6 Programmin g Motion DMC-2X00 Chapter 6 Programming Motion Overview The DMC-2x 00 provides sev eral modes of motion, incl uding indepe ndent positioning an d jogging, coordinated motion, electronic cam motion, and elect ronic gearing. Each one of these modes is discussed in t he following sections.
DMC-2X00 Chapter 6 Programmin g Motion y 25 2-D motion path consisting of ar c segments and linear segments, such as engravin g or quilting. Coordinated Motion VM VP CR VS,VR VA,VD VE Third axis must remai n tangent to 2-D motion path, such as knife cutting.
26 • Chapter 6 Programmin g Motion DMC-2X00 acceleration ramp (AC), and deceleration ramp (DC) , for e ach axis. On begin (BG), the DMC-2x00 profiler generates the co rresponding trapezoidal or tr iangular velocity profile and po sition trajectory.
DMC-2X00 Chapter 6 Programmin g Motion y 27 _PAx Returns current destination if ‘x’ axis is moving, otherwise returns the current commanded position if in a move.
28 • Chapter 6 Programmin g Motion DMC-2X00 VELOCIT Y (COUNTS/SEC) 20000 10000 5000 15000 20 40 60 80 TIME (ms ) 100 A ax is velocity profile B ax is velocity profile C ax is velocity profile 0 Figure 6.
DMC-2X00 Chapter 6 Programmin g Motion y 29 The position t racking m ode shouldn’t be confused wit h the contour m ode. The conto ur mode allows the user to generate custom profiles by updating the reference position at a specific time rate.
30 • Chapter 6 Programmin g Motion DMC-2X00 Figure 1 Positio n vs Time (msec) Motion 1 Example Motion 2: The previous step showed the plot if the m otion continued all the way to 50 00, howeve r par.
DMC-2X00 Chapter 6 Programmin g Motion y 31 Figure 2: Position vs. Time (m sec) Motion 2 Figure 3 Veloc ity vs Time (msec) Motion 2 Example Motion 4 In this motion, the host program comman ds the controller to begin motion toward s position 5000, changes the target to -2000, and then chang es it again to 8000.
32 • Chapter 6 Programmin g Motion DMC-2X00 Figure 4 Position vs. Time (msec) Motion 4 Figure 5 Velocity vs.Time Motion 4.
DMC-2X00 Chapter 6 Programmin g Motion y 33 Figure 6 Velo city cts/sec vs. Time ( msec) with IT Motion 4 Note the cont roller treats the point w here the velocity passes through ze ro as the end of one m ove, and the beginning of another move. IT is allowed, however it will introduce some time delay.
34 • Chapter 6 Programmin g Motion DMC-2X00 Command Summary – Po sition Tracking Mode COMMAND DESCRIPTION AC n,n,n,n,n,n,n,n Acceleration settings for the specified axes AP n,n,n,n,n,n,n,n Trip po.
DMC-2X00 Chapter 6 Programmin g Motion y 35 _DCx Return deceleration rate for the axis specif ied by ‘x’ _SPx Returns the jog s peed for the axis specified by ‘x’ _TVx Returns the actual v elocity of the axis specified by ‘x’ (averaged over .
36 • Chapter 6 Programmin g Motion DMC-2X00 Linear Interpolation Mode The DMC-2x0 0 provides a li near interpolati on mode for 2 or more axes . In linear inte rpolation m ode, motion between the axes is coordinated to mainta in the prescribed vector speed, acceleration, and deceleration along the specified path.
DMC-2X00 Chapter 6 Programmin g Motion y 37 Additional Commands The commands VS n, VA n, a nd VD n are used to specify the vector speed, acceleration and deceleration. The DMC-2x00 comput es the vector spee d based on the axes specified in t he LM mode.
38 • Chapter 6 Programmin g Motion DMC-2X00 Command Summary - Linear Interpolation COMMAND DESCRIPTION LM abcdefgh Specify axes for linear interpolati on LM? Returns number of available spaces fo r linear segments in DMC-2x00 sequence buffer. Zero means buffer fu ll.
DMC-2X00 Chapter 6 Programmin g Motion y 39 DP 0,0 Define position of A and B axes to be 0 LMAB Define linear mode be tween A and B axes. LI 5000,0 Specify first linear segment LI 0,5000 Specify secon.
40 • Chapter 6 Programmin g Motion DMC-2X00 POSITION C 0 0 40000 FEEDRATE 0 0.1 0.5 0 .6 4000 36000 30000 27000 3000 VELOCIT Y C-AXIS VELOCIT Y D-AXIS POSITION D TIME (s ec ) TIME (s ec ) TIME (s ec ) Figure 6.
DMC-2X00 Chapter 6 Programmin g Motion y 41 Multiple Moves This exampl e makes a coordi nated linear m ove in the AB plane. T he Arrays VA and VB are used to store 750 incremental distan ces whic h are filled by the program #LOAD.
42 • Chapter 6 Programmin g Motion DMC-2X00 To specify vector commands the coordinate plane must first be identified. This is don e by issuing the command CAS to iden tify the S plane or CAT to iden tify the T plane. All vector command s will be applied to the active coord inate system until changed with the CA command.
DMC-2X00 Chapter 6 Programmin g Motion y 43 The first command, <n, is eq uivalent to commanding VSn at the start of the given segment and will cause an acceleration toward the ne w commanded spee ds, subjects to the other c onstraints. The second fu nction, > m, requi res the vector speed to rea ch the value m at the end of the segm ent.
44 • Chapter 6 Programmin g Motion DMC-2X00 VA n Specify vecto r acceleration alon g the sequence. VD n Specify vecto r deceleration alon g the sequence. VR n S pecify vector s peed ratio BGS Begin motion sequence. CS Clear sequence. AV n Trip point for Af ter Relative Vector distan ce, n.
DMC-2X00 Chapter 6 Programmin g Motion y 45 PA 3000,0,_TN Move A and B to starting positio n, move C to initial tangent position BG ABC Start the move to get into positio n AM ABC When the move is com.
46 • Chapter 6 Programmin g Motion DMC-2X00 C (-4000,3000) R = 1500 B (-4000,0) D (0,3000) A (0,0) Figure 6.3 - The Required Path Electronic Gearing This mode allows up to 8 axes to be electronically geared to som e master ax es. The masters m ay rotate in both directions and th e geared axes will follow at the specified gear ratio.
DMC-2X00 Chapter 6 Programmin g Motion y 47 and command maxim um current to th e motor. This can be a large shock t o the system. For many applications it is acceptable to slowly ram p the enga gem ent of gearing over a greate r time frame. Galil allows the user to specify an interval of the master axis over which the gearing will be eng aged.
48 • Chapter 6 Programmin g Motion DMC-2X00 The slave axis for each figure is shown in the bottom portion of the figure; the master axis is shown in the top portion. The sho ck to the slave axis will be significantly less in figure 2 than in figure1 .
DMC-2X00 Chapter 6 Programmin g Motion y 49 GR a,b,c,d,e,f,g, h Sets gear ratio for slave ax es. 0 disables electronic gearing for specified axis. GM a,b,c, d,e,f, g,h X = 1 sets gant ry mode, 0 disables gantry mode MR x,y,z,w Trippoint for reverse motion past sp ecified value.
50 • Chapter 6 Programmin g Motion DMC-2X00 You may also perform profiled position correctio ns in the electronic gearing mode . Suppose, for example, that you need to a dvance the slave 10 counts. Simply command IP ,10 Specify an incremental pos ition movement of 10 on B axis.
DMC-2X00 Chapter 6 Programmin g Motion y 51 The cycle of the master is li mited to 8,388,607 whereas the sl ave change per cycle is limited to 2,147,483,64 7. If the change is a negative number, the absolu te value is specified. For the given example, the cycle of the master is 6000 counts and the change in the slave is 1500.
52 • Chapter 6 Programmin g Motion DMC-2X00 Master A 4000 2250 2000 6000 3000 1500 0 Figure 6.4: Electronic Cam Example This disengages the slave ax is at a specified master position. If the parameter is outside the master cycle, the stopping is instantaneous.
DMC-2X00 Chapter 6 Programmin g Motion y 53 Instruction Interpretation #SETUP Label EAA Select A as maste r EM 2000,1000 Cam cycles EP 20,0 Master position increments n = 0 Index #LOOP Loop to construct table from equa tion p = n ∗ 3.6 Note 3 .6 = 0.
54 • Chapter 6 Programmin g Motion DMC-2X00 Operand Summary - Electronic CAM command description _EB Contains State of ECAM _EC Contains current ECAM index _EGa Contains ECAM status for each axis _E.
DMC-2X00 Chapter 6 Programmin g Motion y 55 Figure 6.5 – Position Profiles of XY Z Contour Mode The DMC-2x 00 also provi des a contouring m ode. This mode allows any ar bitrary posit ion curve to be prescribed for 1 to 8 axes. This is ideal for following co mputer generated paths su ch as parabolic, spherical or user-defined profiles.
56 • Chapter 6 Programmin g Motion DMC-2X00 Increment 1 DA=48 Time=4 DT=2 Increment 2 DA=240 Time=8 DT=3 Increment 3 DA=48 Time=16 DT=4 When the cont roller receives the comm and to generate a t rajectory along these points, it interpolates linearly between the po ints.
DMC-2X00 Chapter 6 Programmin g Motion y 57 Command Summary - Contour Mode COMMAND DESCRIPTION CM ABCDEFGH Specifies which axes for contouring m ode. Any non-contouring axes may be operated in other modes. CD a,b, c,d, e,f,g,h Specifies position increment over time interv al.
58 • Chapter 6 Programmin g Motion DMC-2X00 Figure 6.7 - Velocity Profile with Sinusoidal Acceleration The DMC-2x0 0 can com pute trigonom etric functions.
DMC-2X00 Chapter 6 Programmin g Motion y 59 JP #c,c<15 EN End first program #RUN Program to run motor CMA Contour Mode DT3 4 millisecond intervals c=0 #E CD dif[c] Contour Distance is in dif WC Wai.
60 • Chapter 6 Programmin g Motion DMC-2X00 SHA Servo Here WT1000 Wait 1 sec (1000 msec) CMA Specify contour mode on A axis DT2 Set contour data rate to be 2 2 m sec i=0 Set array index to 0 #LOOP3 .
DMC-2X00 Chapter 6 Programmin g Motion y 61 Instruction Interpretation VMAN Select Axes VA 68000000 Maximum Acceleration VD 68000000 Maximum Deceleration VS 125664 VS for 20 Hz CR 1000, -90, 3600 Ten .
62 • Chapter 6 Programmin g Motion DMC-2X00 First, the controller generates a motion profile in accordance with the motion commands. Second, the pr ofiler generat es pulses as pres cribed by the m otion profile. The pulses that are generated by the motion profiler can be monitored by the comman d, RP (Reference Position).
DMC-2X00 Chapter 6 Programmin g Motion y 63 MT Motor Type (2,-2,2.5 or -2.5 for stepper motors) RP Report Commanded Position TD Report number of step pulses generated by controller TP Tell Position of.
64 • Chapter 6 Programmin g Motion DMC-2X00 When a Galil controller is configur ed for step motor operation, the step pulse output by the controller is internally fed back to the auxiliary encoder re gister. For SPM the feedback encoder on the stepper will connect to the main encoder port.
DMC-2X00 Chapter 6 Programmin g Motion y 65 Half-Stepping Drive , X axis: #SETUP OE1; Set the profiler to stop axis upon error KS16; Set step smoothing MT-2; Motor type set to stepper YA2; Step resolu.
66 • Chapter 6 Programmin g Motion DMC-2X00 SP512; Set the speed PR1000; Prepare mode of motion BGX; Begin motion #LOOP;JP#LOOP; Keep thread zero alive for #POSERR to run in REM When erro r occurs, the ax is will st op due to OE1. In REM #POSERR, query the status YS and the error QS, correct , REM and return to the main code.
DMC-2X00 Chapter 6 Programmin g Motion y 67 SP16384; Set the speed PR10000; Prepare mode of motion BGX; Begin motion MCX JS#CORRECT; Move to correction #MOTION2 SP16384; Set the speed PR-10000; Prepar.
68 • Chapter 6 Programmin g Motion DMC-2X00 Using the CE Command m= Main Encoder n= Second Encoder 0 Normal quadrature 0 Normal quadrature 1 Pulse & direction 4 Pulse & dire ction 2 Reverse .
DMC-2X00 Chapter 6 Programmin g Motion y 69 method splits the filter functi on between the two enco ders. It a pplies the KP (proportional) and KI (integral) terms to the position error, based on the lo ad encoder, and app lies the KD (derivative) term to the motor encoder.
70 • Chapter 6 Programmin g Motion DMC-2X00 Trapezoidal velocity profiles have acceleration rate s which change ab ruptly from zero to maxim um value.
DMC-2X00 Chapter 6 Programmin g Motion y 71 TIME VELOCI TY TIME ACCELERATION TIME ACCELERA TI ON W I TH SMOO THING TIME VEL OCITY W ITH SMOO THING Figure 6.
72 • Chapter 6 Programmin g Motion DMC-2X00 Homing The Find Edge (FE) and Home (HM) i nstructions m ay be used to home the motor to a mechanical reference. Thi s reference is connected to t he Home input li ne. The HM command initializes the motor to the encoder index pu lse in addition to the Home input.
DMC-2X00 Chapter 6 Programmin g Motion y 73 MOTI ON TOW ARD INDEX DIRECTION POSITION HOME SWITCH _ HMA=1 _ HMX=0 POSITION MOTION REVERSE TOWARD HOME DIRECTION MOTION BEGINS TOWARD HOME DIRECTION VELOCIT Y VELOCIT Y VELOCIT Y POSITION POSITION INDEX PULSES POSITION HOME SENSOR (1) (2) (3) Figure 6.
74 • Chapter 6 Programmin g Motion DMC-2X00 Command Summary - Homing Operation command Description FE ABCD Find Edge Routine. This routine monitors the Home Input FI ABCD Find Index Routine - This r.
DMC-2X00 Chapter 6 Programmin g Motion y 75 Example Instruction Interpretation #LATCH Latch program JG,5000 Jog B BG B Begin motion on B axis AL B Arm Latch for B axis #WAIT #Wait label for loop JP #W.
76 • Chapter 7 A pplication Programming DMC-2X00 Chapter 7 Application Programming Overview The DMC-2x00 p rovides a pow erful progr amming la nguage that allows users to cust omize the controller for their particular application. Programs can be downloaded into the DMC-2x00 memory freeing the ho st comput er for other t asks.
DMC-2X00 Chapter 7 Applicati on Programming y 77 :ED Puts Editor at end of last program :ED 5 Puts Editor at lin e 5 :ED #BEGIN Puts Editor at label #BEGIN Line numbers appear as 000, 001,002 and so o n. Program com mands are ente red followin g the line numbers.
78 • Chapter 7 A pplication Programming DMC-2X00 Program Format A DMC program consists o f DMC-2x00 instruction s co mbined to solve a machin e control application. Action instructions, such as st arting and stoppi ng m otion, are combined with Program Flow instructions to form the complete program.
DMC-2X00 Chapter 7 Applicati on Programming y 79 beginning the program with the label #AUTO. The program must be saved into non-volatile memory using the c ommand, BP.
80 • Chapter 7 A pplication Programming DMC-2X00 REM Command If you are using Galil software to communicate with the DMC-2x00 controller, you may also include REM statem ents. ‘REM’ statement s begin wit h the word ‘ REM’ and m ay be followe d by any comments which are on the same line.
DMC-2X00 Chapter 7 Applicati on Programming y 81 Instruction Interpretation #TASK1 Task1 label AT0 Initialize reference time CB1 Clear Output 1 #LOOP1 Loop1 label AT 10 Wait 10 msec from reference tim.
82 • Chapter 7 A pplication Programming DMC-2X00 Error Code Command When there is a progr am error, the DMC-2x00 halts the program execution at th e point where the error occurs. To display the last line number of program execution, is sue the com mand, MG _E D.
DMC-2X00 Chapter 7 Applicati on Programming y 83 Instruction Interpretation :ED Edit Mode 000 #A Program Label 001 PR1000 Position Relative 1000 002 BGA Begin 003 PR5000 Position Relative 5000 004 EN End <cntrl> Q Quit Edit Mode :XQ #A Execute #A ?003 PR5000 Error on Line 3 :TC1 Tell Error Code ?7 Command not valid while running.
84 • Chapter 7 A pplication Programming DMC-2X00 DMC-2x00 Event Triggers Command Function AM A B C D E FG H or S Halts program execution until motion is complete on the specified axes or motion sequence(s). AM with no parameter te sts for motion complete on all a xes.
DMC-2X00 Chapter 7 Applicati on Programming y 85 Example- Multiple Move Sequence The AM trip point is used to separate the two PR moves. If AM is not used, the controller returns a ? for the second PR comm and because a new PR cannot be given until motion is com plete.
86 • Chapter 7 A pplication Programming DMC-2X00 NOTE: The AI command actually halts execution of the program until the inpu t occurs. If you do not want to halt the program sequences, you can use th e Input Interrupt function (II) or use a conditional jump on an i nput, such as JP #GO,@ IN[1] =1.
DMC-2X00 Chapter 7 Applicati on Programming y 87 Example - Multiple Move with Wait This example makes multiple relative distance moves b y waiting for each to be complete before executing new m oves.
88 • Chapter 7 A pplication Programming DMC-2X00 Command Format - JP and JS FORMAT: DESCRIPTION JS destination, logical cond ition Jump to subroutine if logi cal condition is sat isfied JP destinati.
DMC-2X00 Chapter 7 Applicati on Programming y 89 In this example, this statement will cause the program to jump to the label #TEST if V1 is less than V2 and V3 is less than V4.
90 • Chapter 7 A pplication Programming DMC-2X00 Using the IF and ENDIF Commands An IF conditional statement is formed by the combination of an IF and ENDIF command.
DMC-2X00 Chapter 7 Applicati on Programming y 91 ELSE ELSE command for 2 nd IF statem ent MG "ONLY INPUT 1 IS ACTI VE Messa ge executed if 2 nd IF is false ENDIF End of 2 nd conditional statement.
92 • Chapter 7 A pplication Programming DMC-2X00 beginning the program with the label #AUTO. The program must be saved into non-volatile memory using the c ommand, BP. Automatic Subroutines fo r Monitoring Conditions Often it is desirable to monitor certain condition s continuously without tying up the host or DMC-2x00 program seque nces.
DMC-2X00 Chapter 7 Applicati on Programming y 93 Now, when a forward limit switch occurs on th e A axis, the #LIMSWI subroutine will be executed Notes regarding the #LIMSWI Routine: 1) The RE command is used to return from the #LIMSWI sub routine. 2) The #LIMSWI subroutine will be re-executed if the limit switch remains active.
94 • Chapter 7 A pplication Programming DMC-2X00 TW 1000 Set the time out to 1000 ms PA 10000 Position Absolute comm and BGA Begin motion MCA Motion Complete trip point EN End main program #MCTIME M.
DMC-2X00 Chapter 7 Applicati on Programming y 95 Where the “,1” at the end of t he command line indicat es a restart; therefore, the existing program stack will not be remov ed when the above format execu tes. The following example shows an error correction routine which uses th e operands.
96 • Chapter 7 A pplication Programming DMC-2X00 EN End main program #COMINT Interrupt Routin e JP #STOP,P2CH="0" Check for S (stop motion) JP #PAUSE,P2CH="1" Check for P (pause .
DMC-2X00 Chapter 7 Applicati on Programming y 97 Mathematical and Functional Expressions Mathematical Operators For manipul ation of data , the DMC-2x 00 provides t he use of the following m athematic.
98 • Chapter 7 A pplication Programming DMC-2X00 flen=$10000* flen Shift flen by 32 bits (IE - conver t fraction, flen, to integer) len1=( flen &$00FF) Mask top byte of flen and set this value t.
DMC-2X00 Chapter 7 Applicati on Programming y 99 Functions FUNCTION DESCRIPTION @SIN[n] Sine of n (n in degrees, with range of -32768 to 32767 and 16-bit fractional resolution) @COS[n] Cosine of n (n .
100 • Chapter 7 A pplication Programming DMC-2X00 Programmable Variables The DMC-2x00 allows the user to create up to 254 variables. Eac h variable i s defines by a nam e which can be up to eight characters. The name m u st start with an alphab etic character; however, numbers are pe rmitted in the rest of the nam e.
DMC-2X00 Chapter 7 Applicati on Programming y 101 Displaying the value of va riables at the terminal Variables may be sent to the screen using th e format , variable=.
102 • Chapter 7 A pplication Programming DMC-2X00 _LRn Returns status of Reverse Limit s w itch input of axis ‘n’ (equals 0 or 1) UL *Returns the number of available var iables TIME Free-Running Real Time Clock (off by 2 .4% - Resets with power-on).
DMC-2X00 Chapter 7 Applicati on Programming y 103 con[2]=@COS[POS]*2 Assigns the 2 nd element of the arr ay the cosine of POS * 2. timer[1]=TIME Assigns the 1 st element of the array TIME Using a Variable to Address Array Elements An array element number can also be a variable.
104 • Chapter 7 A pplication Programming DMC-2X00 Command Summary - Automatic Data Capture command description RA n[], m[],o[ ],p[] Selects up to four arr ays for data capture.
DMC-2X00 Chapter 7 Applicati on Programming y 105 PR 10000,20000 Specif y move distance RC1 S tart recording now, at ra te of 2 msec BG AB Begin motion #A;JP #A,_RC=1 Loop until done MG "DONE&quo.
106 • Chapter 7 A pplication Programming DMC-2X00 The load is coupled with a 2 pitch lead screw. A 2000 count/rev encoder is on the motor, resulting in a resolution of 4000 counts/in ch.
DMC-2X00 Chapter 7 Applicati on Programming y 107 These keywords m ay be used in an applications program to decode data and they ma y also be used in conditional statements w ith l ogical operators.
108 • Chapter 7 A pplication Programming DMC-2X00 #COMINT Interrupt routine JP #A,P2CH="A" Check for A JP #B,P2CH="B" Check for B JP #C,P2CH="S" Check for S ZS1;CI2;JP#.
DMC-2X00 Chapter 7 Applicati on Programming y 109 Sending Messages Messages may be sent to the bus using the messa ge comm a nd, MG. This command sends specified text and num erical or string data fr om variables or arrays to the screen.
110 • Chapter 7 A pplication Programming DMC-2X00 EN When #A is executed, the above ex ample will appear on the screen as: The speed is 50000 counts/sec Using the MG Command to Configure Terminals The MG command can be used to configure a terminal.
DMC-2X00 Chapter 7 Applicati on Programming y 111 Using the PF Command to Format Response from Interrogation Commands The comm and, PF, can change f ormat of the val ues returned by theses inte rrogat.
112 • Chapter 7 A pplication Programming DMC-2X00 LZ1 Enables the LZ function TP Tell Position Interrogation Command -9, 5 Response (Without Leading Zeros) Local Formatting of Response of Interrogation Commands The response of interrogation commands may be formatted locally.
DMC-2X00 Chapter 7 Applicati on Programming y 113 Instruction Interpretation v1=10 Assign v1 v1= Return v1 :0000000010.0000 Default Format v1={F4.2} Specify local format :0010.
114 • Chapter 7 A pplication Programming DMC-2X00 Example- Set Bit and Clear Bit Instruction Interpretation SB6 Sets bit 6 of output port CB4 Clears bit 4 of output port Example- Output Bit The Output B it (OB) inst ruction is usef ul for sett ing or cleari ng outputs depending o n the value o f a variable, array, input or expr ession.
DMC-2X00 Chapter 7 Applicati on Programming y 115 Example - Using Inputs to control program flow Instruction Interpretation JP #A,@IN[1]=0 Jump to A if input 1 is low JP #B,@IN[2]=1 Jump to B if input.
116 • Chapter 7 A pplication Programming DMC-2X00 after the execution of the #ININT subroutin e, the Zero Stack (ZS) command i s used followed by unconditional jump state ments. Important: Use the RI comm and (no t EN) to return from the #ININT su broutine.
DMC-2X00 Chapter 7 Applicati on Programming y 117 PA VP Command position BGA Start motion AMA After completion JP #LOOP Repeat EN End Example - Position Follower (Continuous Move) Method: Read the analog input, compute the commanded pos ition and the position error.
118 • Chapter 7 A pplication Programming DMC-2X00 8-Bit I/O Block Block Binary Representation Decimal Value for Block 17-24 2 2 0 1 25-32 3 2 1 1 2 33-40 4 2 2 4 41-48 5 2 3 8 49-56 6 2 4 16 57-64 7 2 5 32 65-72 8 2 6 64 73-80 9 2 7 128 The simplest method for determini ng n: Step 1.
DMC-2X00 Chapter 7 Applicati on Programming y 119 For exam ple, if block 8 is configured as an outp ut, the follo wing comm and may be issue d: OP 7,,,,7 This command will set bits 1,2,3 (block 0) and b its 65 ,66,67 (block 8) to 1. Bits 4 through 8 and bits 68 through 80 will be set to 0.
120 • Chapter 7 A pplication Programming DMC-2X00 Instruction Inter p retation #A Label AI1 Wait for input 1 PR 6370 Distance SP 3185 Speed BGA Start Motion AMA After motion is comp lete SB1 Set out.
DMC-2X00 Chapter 7 Applicati on Programming y 121 1 inch = 40,000 counts and the speeds of 1 in/sec = 40,000 count/sec 5 in/sec = 200, 000 count/sec an acceleration rate of 0.
122 • Chapter 7 A pplication Programming DMC-2X00 PR,,80000 Raise C BGC AMC VP -37600,-16000 Return AB to start VE VS 200000 BGS AMS EN R=2 B C A 0 4 9.3 4 B A Figure 7.2 - Motor Velocity and the Associated Input/Output signals Speed Control by Joystick The speed of a motor is controlled by a joystick.
DMC-2X00 Chapter 7 Applicati on Programming y 123 Speed = 20000 x vin The corresponding velocity for the motor is assigned to the VEL v ariable. Instruction #A JG0 BGA #B vin=@AN[1] vel=vin*20000 JG vel JP #B EN Position Control by Joystick This system requires the posi tion of the motor to be proporti onal to the joyst ick angle.
124 • Chapter 7 A pplication Programming DMC-2X00 The basic dile mma is where t o mount the se nsor. If you us e a rotary sens or, you get a 4 micron backlash error. On the other hand, if you use a linear encoder, the b acklash in the feedback loop will cause oscillations d ue to instability.
DMC-2X00 Chapter 7 Applicati on Programming y 125 THIS PAGE LEFT BLANK INTENTIONALLY.
126 • Chapter 8 Hardware & Software Protection DMC-2X00 Chapter 8 Hardware & Software Protection Introduction The DMC-2x00 prov ides several hardw are and softw a re features to check for error conditions and to inhibit the m otor on error. These features help protect t he various system component s from dam age.
DMC-2X00 Chapter 8 Hardware & Softw are Protection y 127 3. There is a failure on the controller and the processor is resetting itself. 4. There is a failure with the output IC which drives the error signal. Input Protection Lines General Abort - A low input stops commanded motion instantly without a controlled deceleration.
128 • Chapter 8 Hardware & Software Protection DMC-2X00 Programmable Position Limits The DMC-2x00 provid es programmable forward and reverse position limits. These are set by the BL and FL software commands. Once a position limit is specified, the DMC-2x00 will not accept position commands beyond the limit.
DMC-2X00 Chapter 8 Hardware & Softw are Protection y 129 SHA Servo motor here to clear error RE Return to main p rogram NOTE : An applications program must be executing for the #POSERR routine to function . Limit Switch Routine The DMC-2x00 provides forward and reverse limit switches which inhibit motion in th e respective direction.
130 • Chapter 9 Troublesh ooting DMC-2X00 Chapter 9 Troubleshooting Overview The following discussion may help you get your system to work. Potential problem s have been divided i nto groups as follows: 1. Installation 2. Comm unication 3. Stability and Compensation 4.
DMC-2X00 Chapter 9 Troubleshootin g y 131 Communication SYMPTOM CAUSE REMEDY Using terminal emulator, cannot communicate with con troller. Selected comm . port incorrect Try another com port Same as above Selected b aud rate incorrect Check to be sure that baud rate same as dip switch settings on controller, chang e as necessar y.
132 • Chapter 10 Theory of Operation DMC-2X00 Chapter 10 Theory of Operation Overview The followin g discussion c overs the ope ration of m otion control systems. A t ypical moti on control system consists of the elements shown in Fig 10.1. COMPUTER CONTROLLER DRIVER MOTOR ENCODER Figure 10.
DMC-2X00 Chapter 10 Theory of Operati on y 133 The highest level of control is the motion program. This can be stored in the host co mputer or in the controller. This program describes the tasks in terms of the motors that need to be controlled, the distances and the spee d.
134 • Chapter 10 Theory of Operation DMC-2X00 Y POSITION X POSITION Y VELOCITY X VELOCITY TIME Figure 10.3 - Velocity and Position Profiles Operation of Closed-Loop Systems To understand the operatio n of a servo system, we may compare it to a familiar closed-loop operation, adjusting the water temperature in the shower.
DMC-2X00 Chapter 10 Theory of Operati on y 135 The results may be worse i f we turn the faucet too fast. The overreacti on results in temperature oscillations. When the response of the system oscillates, we say that the system is unstable. Clearly, unstable resp onses are bad when we want a constant level .
136 • Chapter 10 Theory of Operation DMC-2X00 Motor-Amplifier The motor amplifier may be configured in three modes: 1. Voltage Drive 2. Current Dri ve 3. Velocity Loop The operation and modeling in the three mode s is as follows: Voltage Drive The amplifier is a voltage source with a gain of Kv [V/V].
DMC-2X00 Chapter 10 Theory of Operati on y 137 where Kt a nd J are as defi ned previo usly. For exam ple, a current amplifier with K a = 2 A/V with the motor described by the previous example will have the transfer function: P/V = 10 00/s 2 [ rad/V] If the motor is a DC brushless motor, it is driven by an amplifier that performs the commutation.
138 • Chapter 10 Theory of Operation DMC-2X00 K v 1/K e (ST m +1)(ST e +1) 1 S V EW P VOLTAGE SOURCE K a K t JS 1 S V IW P CURRENT SOURCE 1 S V WP VELOCITY LOOP 1 K g (ST 1 +1) Figure 10.6 - Mathemati cal model of the mo tor a nd amplifier in three operational modes Encoder The encoder generates N p ulses per revol ution.
DMC-2X00 Chapter 10 Theory of Operati on y 139 DAC The DAC or D -to-A conve rter converts a 16-bit num ber to an analog volt age. The in put range of t he numbers is 65536 and the outpu t voltage range is +/-10V or 20V. Therefore, the effective g ain of the DAC is K= 20/65536 = 0 .
140 • Chapter 10 Theory of Operation DMC-2X00 For example, if the filter pa rameters of the DMC-2x00 are KP = 4 KD = 36 KI = 2 PL = 0.75 T = 0.001 s the digital filter coefficients are K = 160 A = 0.9 C = 1 a = 250 rad/s and the equivalent continuou s filter, G(s), is G(s) = [16 + 0.
DMC-2X00 Chapter 10 Theory of Operati on y 141 System Analysis To analyze the system, we start with a block diag ram model of the system elements. The analysis procedure is illustrated in terms of th e following example. Consider a position con trol system with the DMC-2x00 controller and the following parameters: K t = 0.
142 • Chapter 10 Theory of Operation DMC-2X00 Σ 50+0.980s 318 V ENCODER 500 S 2 FILTER 2000 S+2000 0.0003 4 ZOH DAC AMP MOTOR Figure 10.7 - Mathematical mod el of the control system The open loop transfer function, A(s), is the produ ct of all the elements in the loop.
DMC-2X00 Chapter 10 Theory of Operati on y 143 Finally, the phase margin, PM, equals PM = 180 ° + α = 70 ° As long as PM is positive, the system is stable . However, for a well damped system, PM should be between 30 de grees and 45 degrees. The phase margi n of 70 degrees given above i ndicated overdam ped response.
144 • Chapter 10 Theory of Operation DMC-2X00 The next step is to com bine all the system elements, with the exception of G(s), into one function, L(s).
DMC-2X00 Chapter 10 Theory of Operati on y 145 The function G is equivalent to a digital filter of the form: D(z) = 4KP + 4K D(1-z -1 ) where P = 4 ∗ KP D = 4 ∗ KD ∗ T and 4 ∗ KD = D/T Assuming a sampling period of T=1ms, the param eters of the digital filter are: KP = 20.
146 • Appendices DMC-2X00 Appendices Electrical Specifications Servo Control ACMD Amplifier Command: +/-10 volt analog signal. Resolu tion 16-bit DAC or 0.0003 volts. 3 m A maximum A+,A-,B+,B-,I DX+,IDX- En coder and Auxiliary TTL compatible, but can acce pt up to +/-12 volts.
DMC-2X00 Appendices y 147 IN[83], IN[8 4] (DMC-2x20 throug h DMC-2x80 only) Auxiliary Encoder Inputs for B (Y) axis. Li ne Receiver Inputs - accepts differential or single ended voltages with voltage ra nge of +/- 12 volts. IN[85], IN[8 6] (DMC-2x30 throug h DMC-2x80 only) Auxiliary Encoder Inputs for C (Z) axis.
148 • Appendices DMC-2X00 Velocity Accuracy: Long Term Ph ase-locked, better than .005% Short Te rm System dependent Position Range: +/-21474836 47 counts per mov e Velocity Range: Up to 12,000,000 coun ts/sec servo; 3,000,000 p ulses/sec-stepper Velocity Resolution: 2 counts/sec Motor Command Resolutio n: 16 bit or 0.
DMC-2X00 Appendices y 149 Connectors for DMC-2x00 Main Board DMC-2x00 Axes A-D High Density Connector 1 Analog Ground 51 nc 2 gnd 52 gnd 3 5v 53 5v 4 error output 54 limit commo n 5 reset 55 home W 6 .
150 • Appendices DMC-2X00 46 B-W 96 analog in 6 47 I+W 97 analog in 7 48 I-W 98 analog in 8 49 +12V 9 9 -12v 50 +12V 100 -12v DMC-2x00 Axes E-H High Density Connector 1 nc 51 nc 2 gnd 52 gn d 3 5v 5.
DMC-2X00 Appendices y 151 43 A+H 93 nc 44 A-H 94 nc 45 B+H 95 nc 46 B-H 96 nc 47 I+H 97 nc 48 I-H 98 nc 49 +12V 99 -12v 50 +12V 100 - 12v DMC-2x00 Auxiliary Encoder 36 Pin High Density Connector 1 5v .
152 • Appendices DMC-2X00 19 I/O 7 63 6 20 GND -- -- GND 21 I/O 7 62 5 22 GND -- -- GND 23 I/O 7 61 4 24 GND -- -- GND 25 I/O 7 60 3 26 GND -- -- GND 27 I/O 7 59 2 28 GND -- -- GND 29 I/O 7 58 1 30 .
DMC-2X00 Appendices y 153 71 I/O 3 25 0 72 I/O 2 24 7 73 I/O 2 23 6 74 I/O 2 22 5 75 I/O 2 21 4 76 I/O 2 20 3 77 I/O 2 19 2 78 I/O 2 18 1 79 I/O 2 17 0 80 +5V -- -- +5V RS-232-Main Port Standard con n.
154 • Appendices DMC-2X00 Ethernet 100 BASE-T/1 0 BASE-T - Kycon GS -NS-88-3.5 Pin Signal 1 TXP 2 TXN 3 RXP 4 NC 5 NC 6 RXN 7 NC 8 NC 10 BASE-2- AMP 227161-7 10 BASE-F- H P HFBR-1414 (TX, T r ansmit.
DMC-2X00 Appendices y 155 7 Signal Ground 8 Carrier Detect 9 +Transmit Current Loop Return 10 NC 11 -Transmit Current Loop Data 12 NC 13 NC 14 NC 15 NC 16 NC 17 NC 18 +Receive Current Loop Data 19 NC .
156 • Appendices DMC-2X00 7 (Signal Ground) 5 Controller Ground 9 Cable to Connect Computer 9 pin to Main Serial Port Cable (9 pin) 9 Pin (FEMALE - Computer) 9 Pin (FEMALE - Controller) 1 (Carrier D.
DMC-2X00 Appendices y 157 Pin-Out Description for DMC-2x00 Outputs Analog Motor Command +/- 10 volt range signal for driving amplifier. In servo mode, motor command output is updated at the controller sample rate. In the motor of f mode, thi s output is held at the OF command level.
158 • Appendices DMC-2X00 Encoder Inde x, I+ Once-Per-Rev olution encode r pulse. Used in Homing seque nce or Find Index co mmand to defi ne home on an encode r index. Encoder, A -, B-, I- Differentia l inputs from encoder. May be input al ong with CHA, CHB for noi se immuni ty of encode r signals.
DMC-2X00 Appendices y 159 Jumper Description for DMC-2x00 Jumper Label Function (If jumpered) JP5 MB SMX For each axis , the SM jumper s elects the S M SMY magnitude mode for servo motors or selects SMZ stepper motors. If you are using stepper SMW motors, SM mu st always be jumpered.
160 • Appendices DMC-2X00 Dimensions for DMC-2x00.
DMC-2X00 Appendices y 161 Accessories and Options DMC-20x0 1- 8 axis m otion controllers wh ere x specifies the num ber of axes -16 16-Bit ADC Option for anal og inputs CABLE-100-1M 100-pin h igh dens.
162 • Appendices DMC-2X00 ICM-2900 Interconnect Module Mechanical Specifications Description Unit Specification ---------- - ---- ------ ------- Weight lb 2.
DMC-2X00 Appendices y 163 3 PWMX O X axis pulse output fo r input to stepper motor am p 3 GND O Signal Ground 4 MOCMDY O Y axis motor command to amp input (w / respect to ground) 4 SIGNY O Y axis sign.
164 • Appendices DMC-2X00 13 IN8 I Input 8 14 XLATCH I Input 1 (Used for X axis latch input) 14 YLATCH I Input 2 (Used for Y axis latch input) 14 ZLATCH I Input 3 (Used for Z axis latch inp ut) 14 W.
DMC-2X00 Appendices y 165 24 +MAZ I Z Main encoder A+ 24 -MAZ I Z Main encoder A- 24 +MBZ I Z Main encoder B+ 24 -MBZ I Z Main encoder B- 25 +5V O + 5 volts 25 +INW I W Main encoder Index + 25 -INW I .
166 • Appendices DMC-2X00 ICM-2900 Drawing: IC M - 2.40" 12.25" Fr ont Si de Ba ck 2.75" 2.40" 100 pin high density connector A MP #2-178 23 8-9 Hol es f or m ounting to D M C - .
DMC-2X00 Appendices y 167 ICM-2908 Interconnect Module The ICM-2908 interconnect modul e provides easy connections between the auxiliary encode r connections of the DMC-2x00 series controller and other system el em ents.
168 • Appendices DMC-2X00 ICM-2908 Drawing: ICM-2908 2.40" 12.25" Fro nt S ide Ba ck 2.75" 2 .40" Hole s f or mounting to DMC- 2000 (2 holes) Sold erle ss connections - inse rt s.
DMC-2X00 Appendices y 169 PCB Layout of the ICM-2900: U1 RP3 U2 RP2 RP4 U1 MA X 3 32 U6 RP1 7407 7407 A MPLIFIER ENABLE BUFFER ANAL O G SWIT C H 5V 12V * FOR 5 VO LT AMPLIFIER ENABLE - PLACE PIN 1 OF .
170 • Appendices DMC-2X00 ICM-1900 Interconnect Module The ICM-1900 interconnect modul e provides easy connections betwee n the DMC-2x00 series controllers and other system ele ments, such as am p lifiers, encoders, and external switches.
DMC-2X00 Appendices y 171 24 SIGNW O W axis sign output for input to stepper motor amp 25 PWMW O W axis pulse output fo r input to stepper motor am p 26 MOCMDZ O Z axis motor co mmand to amp input (w .
172 • Appendices DMC-2X00 66 OUT1 O Output 1 67 OUT2 O Output 2 68 OUT3 O Output 3 69 OUT4 O Output 4 70 OUT5 O Output 5 71 OUT6 O Output 6 72 OUT7 O Output 7 73 OUT8 O Output 8 74 GND Signal Ground.
DMC-2X00 Appendices y 173 108 -MBW I W Main encoder B- 109 +INW I W Main encoder Index + 110 -INW I W Main encoder Index - 111 +12V +12 volts 112 -12V -12 volts ICM-1900 Drawing: 11.620" 12.560" 13.500" 0.220" 0.440" 2.000" 6.
174 • Appendices DMC-2X00 • Screw-type terminals for easy connec tion to motors, encoders, and switches • Steel mount ing plate wit h ¼” keyholes Specifications Minimum moto r inductance : 1 .
DMC-2X00 Appendices y 175 active high l ogic and care sh ould be taken . Using acti ve low logi c should avoi d any problems associated with the out puts floating hi gh. Configuring the Amplifier Enable for ICM-2900 / ICM- 1900 The ICM-1900 and ICM-2900 modules can be configured to provide a n active low signal to enable external am plifiers.
176 • Appendices DMC-2X00 IOM-1964 Opto-Isolation Module for Extended I/O Description: • Provides 64 optically isolated inputs and outputs, each rated for 2mA at up to 28 VDC • Configura ble as .
DMC-2X00 Appendices y 177 of extende d I/O on t he controll er. Each ba nk is individual ly configure d as an input or out put bank by inserting the a ppropriate int egrated circ uits and resist or packs. T he hardware confi guration of the IOM-1964 must match the softw are configuration of th e controller card.
178 • Appendices DMC-2X00 I/O point. The numbers above the Ban k 0 label indicate the number of the I/O point corresp onding to the LED above it. Digital Inputs Configuri ng a bank for i nputs requi res that the Ux3 and Ux 4 sockets be p opulated wit h NEC2505 optical isolation in tegrated circuits.
DMC-2X00 Appendices y 179 Sinking Sourcing +5V PNP output GND I/OC n I/OC n I/O n I/O n Current NPN output Current Figure A-10 Whether conne cted in a sin king or sourci ng circuit, onl y two connecti ons are needed i n each case. When the NPN output is 5 volts, then no current flow s and the input reads 1.
180 • Appendices DMC-2X00 PWROUT n OUTC n Current L o a d External Isolated Power Supply I/OC n V ISO GND ISO V pwr Figure A-12 The power outputs must b e connected in a driving con figuration as shown on the previous p age.
DMC-2X00 Appendices y 181 The resistor pa ck RPx3 limit s the amount of cur rent available to sou rce, as well as affecti n g the low level voltage at the I/O output. T he maxim um sink current is 2mA rega rdless of RPx 3 or I/OC vol tage, determined by the NEC250 5 optical isol ator IC.
182 • Appendices DMC-2X00 High Power Digital Outputs • Maximum external power supply voltag e: 28 VDC • Minimum external power supply voltage: 4 VDC • Maxim um source current, per out put: 500.
DMC-2X00 Appendices y 183 REV A+B TERMINAL # REV C TERMINAL # LABEL DESCRIPTION BANK 10 10 I/O75 I/O bit 75 7 11 9 I/O74 I/O bit 74 7 12 12 I/O73 I/O bit 73 7 13 11 OUTC73-80 Out common for I/O 73-80 .
184 • Appendices DMC-2X00 REV A+B TERMINAL # REV C TERMINAL # LABEL DESCRIPTION BANK 53 51 OUTC41-48 Out common for I/O 41-48 3 54 54 I/OC41-48 I/O common for I/O 41-48 3 55 53 I/O40 I/O bit 40 2 56.
DMC-2X00 Appendices y 185 REV A+B TERMINAL # REV C TERMINAL # LABEL DESCRIPTION BANK 96 96 I/OC17-24 I/O common for I/O 17-24 0 97 95 PWROUT24 Power output 24 0 98 98 PWROUT23 Power output 23 0 99 97 .
186 • Appendices DMC-2X00 21 21 22 22 23 23 24 24 25 25 26 26 27 27 28 28 29 29 30 30 31 31 32 32 33 33 34 34 35 35 36 36 37 37 38 38 39 39 40 40 41 41 42 42 43 43 44 44 45 45 46 46 47 47 48 48 49 4.
DMC-2X00 Appendices y 187 JC6 50 PIN IDC J9 100 PIN HIGH DENSITY CONNECTOR 1 51 2 52 3 53 4 54 5 55 6 56 7 57 8 58 9 59 10 60 11 61 12 62 13 63 14 64 15 65 16 66 17 67 18 68 19 69 20 70 21 71 22 72 23.
188 • Appendices DMC-2X00 45 95 46 96 47 97 48 98 49 99 50 100 CB-50-100 Drawing: CB 50-100 REV A GALIL MO T I ON CONTROL MAD E IN USA J9 - 100 pi n connector AMP part # 2-178238 -9 JC6, J C8 - 50 p.
DMC-2X00 Appendices y 189 CB 50-100 REV A GALIL M OTION CONTRO L MAD E IN U SA JC6, J C8 - 50 pin shrouded headers w/ cen ter ke y JC8 - pins 1-50 of J9 JC6 - pins 51-100 of J9 J9 JC6 JC8 1/8"D, 4 places J9 - 100 pin c onnector AMP part # 2- 178238-9 (Pin 1) JC6 ( IDC 5 0 Pin) Pin1 (2.
190 • Appendices DMC-2X00 Connectors: JC8 and JC6: 50 Pin Mal e IDC J9: 80 Pin H igh Density Connector, A MP PART #3-178238-0 JC8 J9 JC8 J9 1 1 38 GND 2 2 39 35 3 3 40 GND 4 4 41 36 5 5 42 GND 6 6 4.
DMC-2X00 Appendices y 191 JC6 J9 ( Continued ) 1 41 2 42 3 43 4 44 5 45 6 46 7 47 8 48 9 49 10 50 11 51 12 52 13 53 14 54 15 55 16 56 17 57 18 GND 19 59 20 GND 21 61 22 GND 23 63 24 GND 25 65 26 GND 2.
192 • Appendices DMC-2X00 CB-50-80 Drawing: CB 50-80 REV A 1 GAL IL M OTIO N CON T ROL M ADE IN US A J9 - 80 pin conne ctor 3M pa r t # N10280-52E2V C AMP pa rt # 3-178238-0 JC6, JC8 - 50 pin shr ou.
DMC-2X00 Appendices y 193 CB 50-80 REV A GAL IL MOTION CONT ROL MADE IN USA JC 6, J C8 - 50 pin shr oude d hea de r s w/ ce nte r ke y J9 JC6 JC8 1/8" D, 4 places JC 6 (ID C 50 Pin) Pin1 () JC 8 .
194 • Appendices DMC-2X00 TERM-1500 Operator Terminal Two types of terminals are offered from Galil; the hand-held unit and the panel mount unit. Both have the same programming ch aracteristics.
DMC-2X00 Appendices y 195 The panel m ount terminal is shown below: Figure A-20 Features For easy data entry to DMC-2x00 motion controller 4 line x 20 c h aracter Liqui d Crystal Display F.
196 • Appendices DMC-2X00 Specifications - Panel Mount Keypad 30-Key; 5 row s x 6 colum ns ; 5x7 font Display 4 row x 20 character LCD Power 5 volts, 3 0mA Keypad Maps - Hand-Held 30 Keys: 5 keys ac.
DMC-2X00 Appendices y 197 # is <Cntrl>[ 5,1] Keypad Map - Panel Mount – 6 columns x 5 rows Single Key Output 5 F1 1 2 3 4 F2 4 5 6 3 F3 7 8 9 2 F4 - 0 .
198 • Appendices DMC-2X00 Erasing Display ESC E Clear Display and Home ESC I Clear Disp lay ESC J Cursor to End of Di splay ESC K Cursor to En d of Line ESC M Line Containing C ursor Sounds ESC T Sh.
DMC-2X00 Appendices y 199 Default Configuration: Baud Rate 9600 Data bits 7 Parity Ignore PE Display enabled Repeat Fast Echo Disabled Handshake Disabled Self Test Disabled Key Click - Disabled <Ct.
200 • Appendices DMC-2X00 #B; JP#B;E N End Program #COMINT Interr upt Routi ne JS #XMOVE, P2CH=F1 Jump to X move if F1 JS #YMOVE, P2CH=F2 Jump to Y move if F2 EN1,1 End, Re-ena ble comm interrupt &a.
DMC-2X00 Appendices y 201 Coordinated Motion - Mathematical Analysis The terms of c o ordinated motion are best explained i n terms of the vector m otion. The vect or velocity, Vs, which is also known as the feed rate, is the vector sum of the velocities along the X and Y axes, Vx and Vy.
202 • Appendices DMC-2X00 10000 20000 20000 10000 Y CD B A X Figure A-21 - X-Y Motion Path The first line describes the straight line v ector segment between points A and B. The next segment is a circular arc, which starts at an angle of 180 ° and traverses -90 ° .
DMC-2X00 Appendices y 203 For example, the velocity profile co rresponding to the path of Fig. A-21 may be specified in ter ms of the vector speed a nd acceleration. VS 1 00000 VA 2000000 The resulting vector v elocity is shown in Fig. A-22. 0.05 0.357 10000 Velocity time (s) 0.
204 • Appendices DMC-2X00 A B D (a) (b) (c) time C Figure A-23 - Vector and Axes Velocities Example- Communicating with OPTO-22 SNAP-B3000- ENET Controller i s connected to OPTO-22 via handle F.
DMC-2X00 Appendices y 205 EN End #CFGDOUT Label MODULE=2 Set var iable CFGVALUE=$180 Set variable NUMOFIO=4 Set variable JP #CFGJOIN Jump to subroutine #CFGAOUT Label MODULE=3 Set var iable CFGVALUE=$.
206 • Appendices DMC-2X00 SB 6006 set bit of output at han dle 6, m odule 2, bit 3 or to one OB 6006,1 AO 608,3. 6 set analog out put at handl e 6, modul e 53, bit 1 to 3.
DMC-2X00 Appendices y 207 DMC-2x00/DMC-1500 Comparison BENEFIT DMC-2x00 DMC-1500 Access to parameters – real time data processing & recording Data Record - Bl ock Data Transfer No DMA channel Ea.
208 • Appendices DMC-2X00 List of Other Publications "Step by Step Design of M otion Cont rol System s" by Dr. Jacob Tal "Motion Control App lications" by Dr.
DMC-2X00 Appendices y 209 Contacting Us Galil Motion Control 270 Technology W ay Rocklin, CA 95765 Phone: 916-62 6-0101 Fax: 916- 626-0102 E-Mail Addres s: support@gal ilmc.
210 • Index DMC-2X0 0 Index Abort ..... 1, 40, 41, 81, 87, 12 7, 171, 172, 173, 191, 202, 203 Off-On-Error................................. 40, 171, 172, 173 Stop Motion .................................................... 81, 87 Absolute Position..
2 • Index DMC-2X00 Independent Axis .................................................. 72 Input Interrup t ............................................. 138, 161 Inputting Numeric Data ...................................... 150 Jog 80 Latch ........
DMC-2X00 Index y 3 Output Com pare.................................................... 45 Step and Direction .............................................. 3, 4 Position Error POSERR ..............................124, 136, 137, 172, 173 Position Limit .
An important point after buying a device Galil DMC-2X00 (or even before the purchase) is to read its user manual. We should do this for several simple reasons:
If you have not bought Galil DMC-2X00 yet, this is a good time to familiarize yourself with the basic data on the product. First of all view first pages of the manual, you can find above. You should find there the most important technical data Galil DMC-2X00 - thus you can check whether the hardware meets your expectations. When delving into next pages of the user manual, Galil DMC-2X00 you will learn all the available features of the product, as well as information on its operation. The information that you get Galil DMC-2X00 will certainly help you make a decision on the purchase.
If you already are a holder of Galil DMC-2X00, but have not read the manual yet, you should do it for the reasons described above. You will learn then if you properly used the available features, and whether you have not made any mistakes, which can shorten the lifetime Galil DMC-2X00.
However, one of the most important roles played by the user manual is to help in solving problems with Galil DMC-2X00. Almost always you will find there Troubleshooting, which are the most frequently occurring failures and malfunctions of the device Galil DMC-2X00 along with tips on how to solve them. Even if you fail to solve the problem, the manual will show you a further procedure – contact to the customer service center or the nearest service center
