Galil Motion Control DMC-14 5 Series, Manual

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Example - Multiple Move Sequence

Required Motion Profiles:

X-Axis 2000

counts

Position

15000

count/sec Speed

500000 counts/sec2

Acceleration

Y-Axis 100

counts

Position

5000

count/sec Speed

500000 counts/sec2

Acceleration

This example will specify a relative position movement on X and Y axes. The movement on each axis
will be separated by 40 msec. Fig. 6.1 shows the velocity profiles for the X and Y axes.

Instruction

Interpretation

#A Begin

Program

PR 2000,100

Specify relative position movement of 2000 and 100 counts for the X and Y axes.

SP 15000,5000

Specify speed of 15000 and 5000 counts / sec

AC 500000,500000

Specify acceleration of 500000 counts / sec

2

for all axes

DC 500000,500000

Specify deceleration of 500000 counts / sec

2

for all axes

BG X

Begin motion on the X axis

WT 40

Wait 40 msec

BG Y

Begin motion on the Y axis

EN End

Program

VELOCITY
(COUNTS/SEC)

20000

10000

5000

15000

20

40

60

80

TIME (ms)

100

X axis velocity profile

Y axis velocity profile

0

Figure 6.1 - Velocity Profiles of XY

Notes on fig 6.1: The X axis has a ‘trapezoidal’ velocity profile, while the Y axis has a ‘triangular’
velocity profile. The X axis accelerates to the specified speed, moves at this constant speed, and then
decelerates such that the final position agrees with the commanded position, PR. The Y axis
accelerates, but before the specified speed is achieved, must begin deceleration such that the axis will
stop at the commanded position. Both axes have the same acceleration and deceleration rate, hence,
the slope of the rising and falling edges of both velocity profiles are the same.

58

i

Chapter 6 Programming Motion

DMC-14x5/6

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Summary of Contents for DMC-14 5 Series

Page 1: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

Page 2: ...c Galil Motion Control Inc 270 Technology Way Rocklin California 95765 Phone 916 626 0101 Fax 916 626 0102 Internet Address support galilmc com URL www galilmc com Rev 8 2011 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 3: ...rvo motors To make finding the appropriate instructions faster and easier icons will be next to any information that applies exclusively to one type of system Otherwise assume that the instructions apply to all types of systems The icon legend is shown below Attention Pertains to servo motor use Attention Pertains to stepper motor use WARNING Machinery in motion can be dangerous It is the responsi...

Page 4: ...4 Installing the Communications Software 12 Step 5 Establishing Communication between the DMC 14XX and the host PC 12 Step 6 Set up axis for sinusoidal commutation DMC 1415 only 18 Step 7 Make connections to amplifier and encoder 18 Step 8a Connect Standard Servo Motor 20 Step 8b Connect brushless motor for sinusoidal commutation DMC 1415 only 23 Step 8c Connect Step Motors 26 Step 8d Connect brus...

Page 5: ...oftware 43 Data Record 44 Data Record Map 44 Explanation of Status Information and Axis Switch Information 45 Notes Regarding Velocity and Torque Information 46 QZ Command 47 Controller Response to Commands 47 Unsolicited Messages Generated by Controller 47 Galil Software Tools and Libraries 48 Chapter 5 Command Basics 49 Introduction 49 Command Syntax ASCII 49 Coordinated Motion with more than 1 ...

Page 6: ...77 Stepper Motor Operation 80 Specifying Stepper Motor Operation 81 Using an Encoder with Stepper Motors 82 Command Summary Stepper Motor Operation 82 Operand Summary Stepper Motor Operation 82 Aux Encoder Dual Loop DMC 1415 and DMC 1416 only 83 Backlash Compensation 83 Motion Smoothing 85 Using the IT and VT Commands 85 Using the KS Command Step Motor Smoothing 86 Homing 87 High Speed Position Ca...

Page 7: ...ts 122 Converting to User Units 123 Programmable Hardware I O 123 Digital Outputs 123 Digital Inputs 124 Input Interrupt Function 125 Example Applications 126 Wire Cutter 126 X Y Table Controller 127 Chapter 8 Hardware Software Protection 131 Introduction 131 Hardware Protection 131 Output Protection Lines 131 Input Protection Lines 132 Software Protection 132 Programmable Position Limits 132 Off ...

Page 8: ...t Module 157 Opto Isolation Option for ICM 1460 rev F and above 159 64 Extended I O of the DMC 1415 1416 1425 Controller 160 Configuring the I O of the DMC 1415 1416 1425 with DB 14064 160 Connector Description 162 IOM 1964 Opto Isolation Module for Extended I O Controllers 164 Description 164 Overview 165 Configuring Hardware Banks 166 Digital Inputs 166 High Power Digital Outputs 168 Standard Di...

Page 9: ...THIS PAGE LEFT BLANK INTENTIONALLY vi i Contents DMC 14x5 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 10: ...tronic gearing and contouring Several motion parameters can be specified including acceleration and deceleration rates and slew speed The DMC 14XX also provides motion smoothing to eliminate jerk For synchronization with outside events the DMC 14XX provides uncommitted I O The DMC 1415 and DMC 1416 provide 7 digital inputs 3 digital outputs and 2 analog inputs The DMC 1425 provides up to 3 digital...

Page 11: ...hould be configured for a standard servo motor described above Sinusoidal commutation in the controller can be used with linear and rotary BLMs However the motor velocity should be limited such that a magnetic cycle lasts at least 6 milliseconds For faster motors please contact the factory The controller provides a one time automatic set up procedure The parameters determined by this procedure can...

Page 12: ...1 Series Microcomputer with 1 Meg RAM and 2 Meg Flash EEPROM The RAM provides memory for variables array elements and application programs The flash EEPROM provides non volatile storage of variables programs and arrays It also contains the DMC 14XX firmware Motor Interface Galil s GL 1800 custom sub micron gate array performs quadrature decoding of each encoder at up to 12 MHz For standard servo o...

Page 13: ... can be brush type or brushless rotary or linear For step motors the controller is capable of controlling full step half step or microstep drives An encoder is not required when step motors are used Amplifier Driver For each axis the power amplifier converts a 10 Volt signal from the controller into current to drive the motor For stepper motors the amplifier converts step and direction signals int...

Page 14: ... factory The standard voltage level is TTL zero to five volts however voltage levels up to 12 Volts are acceptable If using differential signals 12 Volts can be input directly to the DMC 14XX Single ended 12 Volt signals require a bias voltage input to the complementary inputs The DMC 14XX can accept analog feedback instead of an encoder for any axis For more information see description of analog ...

Page 15: ...THIS PAGE LEFT BLANK INTENTIONALLY 6 i Chapter 1 Overview DMC 14x5 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 16: ...ller Figure 2 1 Outline of the DMC 1415 DMC 1425 1 2 3 4 5 6 J5 J1 J4 J3 7 JP1 JP2 J2 Figure 2 2 Outline of the DMC 1416 DMC 14x5 6 Chapter 2 Getting Started i 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 17: ... stepper drive 4 Power Supply for Amplifier 5 5V 12V supply for DMC 1415 or DMC 1425 card level 6 20V to 60V DC supply for DMC 1416 7 Communication CD from Galil 8 WSDK Servo Design Software not necessary but strongly recommended 9 Interface Module ICM 1460 with screw type terminals or integrated Interface Module Amplifier AMP 1460 Note An interconnect module is not necessary but strongly recommen...

Page 18: ...lil The following configuration information is necessary to determine the proper motor configuration Standard Servo Motor Operation The DMC 141X has been setup by the factory for standard servo motor operation providing an analog command signal of 10 volt The position of the jumpers at JP3 determines the type of output the controllers will provide analog motor command or PWM output The installatio...

Page 19: ...al to re load the system firmware Stepper Motor Jumpers Hardware Rev A D If the DMC 14XX will be driving a stepper motor special stepper mode jumpers must be connected Location JP2 on the DMC 14XX contains the jumper SMX If stepper motors are being used this jumper must be installed In addition to the SMX jumper the controller output must be configured for stepper output by the placement of jumper...

Page 20: ... DC power and the Serial Cable to the DMC 14XX 1 Insert 37 pin cable to J3 2 If using serial communications use the 9 pin RS232 ribbon cable to connect the SERIAL port of the DMC 14XX to your computer or terminal communications port The DMC 14XX serial port is configured as DATASET Your computer or terminal must be configured as a DATATERM for full duplex no parity 8 bits data one start bit and on...

Page 21: ...Second Edition SE NT 4 ME 2000 or XP The Galil Software CD ROM will open an HTML page automatically as soon a Instead Explore the CD and go to the July2000 CD folder To install the basic communications software click on DMCTERM and then run the application DMCTERM The other basic terminal software is called DMCWIN32 and is located under July2000 CD DMCWIN The Windows Servo Design Kit WSDK32 which ...

Page 22: ...for your controller Select OK and close the registry window You will now be able to communicate with the DMC 14XX Once the entry has been selected click on the OK button If the software has successfully established communications with the controller the registry entry will be displayed at the top of the screen If you are not properly communicating with the controller the program will pause for 3 1...

Page 23: ... will be selected by default Select Next and the controller will be entered into the registry Connect to the controller by selecting the Terminal utility and choosing the controller from the registry list Note Be sure to configure the Comm Speed jumpers for the same Comm Speed in the Galil Registry No jumpers on the DMC 14XX indicates a Comm Speed of 19200 bits per second 14 i Chapter 2 Getting St...

Page 24: ...type Enter the IP address obtained from your system administrator Select the button corresponding to the UDP or TCP protocol in which you wish to communicate with the controller If the IP address has not been already assigned to the controller click on ASSIGN IP ADDRESS Note When communicating via the Ethernet both the DMC 1425 and DMC 1416 will be registered as DMC 1415 controllers ASSIGN IP ADDR...

Page 25: ...e if information is lost during communication it will be resent using this protocol UDP is a more efficient protocol but does not resend lost information Enter the IP address obtained from your system administrator Select the button corresponding to the UDP or TCP protocol in which you wish to communicate with the controller In the Ethernet Parameters window there are additional options under the ...

Page 26: ... the two methods above are unsuccessful in assigning an IP address to a controller the third option is connecting to the controller serially and using the IA command to assign the IP address See the controller command reference for information on the IA command Although the IP address can be assigned serially the user must still register the controller as an Ethernet controller in order to communi...

Page 27: ...system The motion control system generally consists of an ICM 1460 Interface Module a servo amplifier and a motor to transform the current from the servo amplifier into torque for motion Galil also offers the AMP 1460 Interface Module which is an ICM 1460 equipped with a servo amplifier for a DC motor A signal breakout board of some type is strongly recommended If you are using a breakout board fr...

Page 28: ...if you have a preferred definition of the forward and reverse directions make sure that the encoder wiring is consistent with that definition The DMC 14XX accepts single ended or differential encoder feedback with or without an index pulse If you are not using the AMP 1460 or the ICM 1460 you will need to consult the appendix for the encoder pin outs for connection to the motion controller The AMP...

Page 29: ...ier may be configured in the torque or the velocity mode In the torque mode the amplifier gain should be such that a 10 Volt signal generates the maximum required current In the velocity mode a command signal of 10 Volts should run the motor at the maximum required speed Step by step directions on servo system setup are also included on the WSDK Windows Servo Design Kit software offered by Galil S...

Page 30: ...have been set connect the analog motor command signal ACMD to the amplifier input Issue the servo here command to turn the motors on To test the polarity of the feedback command a move with the instruction SH CR Servo Here to turn motors on PR 1000 CR Position relative 1000 counts BG CR Begin motion When the polarity of the feedback is wrong the motor will attempt to run away The controller should...

Page 31: ...correct polarity you can move on to the compensation phase servo system tuning to adjust the PID filter parameters KP KD and KI It is necessary to accurately tune your servo system to ensure fidelity of position and minimize motion oscillation as described in the next section AMP 1460 Motor 1 Motor 2 Power Supply VAMP AMPGND Motor Description Connection Channel A MA Channel B MB Channel A MA Chann...

Page 32: ...al commutation the parameters for the commutation must be determined and saved in the controllers non volatile memory The servo can then be tuned as described in Step 9 Step A Disable the motor amplifier Use the command MO to disable the motor amplifiers Step B Connect the motor amplifier to the controller The sinusoidal commutation amplifier requires 2 signals usually denoted as Phase A Phase B T...

Page 33: ...s software the timeout must be set to a minimum of 10 seconds time out 10000 when executing the BS command This allows the software to retrieve all messages returned from the controller If Hall Sensors are Available Since the Hall sensors are connected randomly it is very likely that they are wired in the incorrect order The brushless setup command indicates the correct wiring of the Hall sensors ...

Page 34: ...l force If the torque is not sufficient the commutation zero may not be accurate If Hall Sensors are Available The estimated value of the commutation phase is good to within 30 This estimate can be used to drive the motor but a more accurate estimate is needed for efficient motor operation There are 3 possible methods for commutation phase initialization Method 1 Use the BZ command as described ab...

Page 35: ...14XX6 you must follow this procedure Step A Install SMX and SD jumpers In order for the DMC 141X to operate in stepper mode the corresponding stepper motor jumper installed For a discussion of SM jumpers see section Step 2 Install jumpers on the DMC 141X Step B Connect step and direction signals from controller to motor amplifier Connect the step and direction signals from the controller to respec...

Page 36: ...ervo Motor for the section Check the Polarity of the Feedback Loop Note Before the PR moves are issued in the tests but after the error limits have been set the SH command needs to be sent to turn on the servo motor Step 9 Tune the Servo System The system compensation provides fast and accurate response by adjusting the filter parameters The following presentation suggests a simple and easy way fo...

Page 37: ...r servo system theory see Chapter 10 Theory of Operation Design Examples Here are a few examples for tuning and using your controller Example 1 System Set up This example assigns the system filter parameters error limits and enables the automatic error shut off Instruction Interpretation KP 10 Set proportional gain KD 100 Set damping KI 1 Set integral EO 1 Set error off ER 1000 Set error limit Exa...

Page 38: ... speed This causes velocity changes including direction reversal The motion can be stopped with the instruction ST Stop Example 6 Operation Under Torque Limit The magnitude of the motor command may be limited independently by the instruction TL The following program illustrates that effect Instruction Interpretation TL 0 2 Set output limit to 0 2 volts JG 10000 Set speed BG Start motion The motor ...

Page 39: ...ponse to the first ED command the Galil Windows software will open a simple editor window From this window the user can type in the following program A Define label PR 700 Distance SP 2000 Speed BG Start motion EN End program This program can be downloaded to the controller by selecting the File menu option download Once this is done close the editor Now the program may be executed with the comman...

Page 40: ...rogram command XQ B Execute Program B Example 12 Control Variables Objective To show how control variables may be utilized Instruction Interpretation A DP0 Label Define current position as zero PR 4000 Initial position SP 2000 Set speed BG Move AM Wait until move is complete WT 500 Wait 500 ms B V1 _TP Determine distance to zero PR V1 2 Command move 1 2 the distance BG Start motion AM After motion...

Page 41: ...instructions on one line Instruction Interpretation A Set initial values KI0 DP0 V1 8 V2 0 Initializing variables to be used by program B Program label B OF V1 Set offset value WT 200 Wait 200 msec 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 ...

Page 42: ...hich the user can include in any motion control program and is useful for executing specific instructions upon activation of a limit switch After a limit switch has been activated further motion in the direction of the limit switch will not be possible until the logic state of the switch returns back to an inactive state This usually involves physically opening the tripped switch Any attempt at fu...

Page 43: ...t but instead is dependent upon a transition in the level of the index pulse signal The Standard Homing routine is initiated by the sequence of commands HMX return BGX return where X could be any axis on the controller X or Y Standard Homing is a combination of Find Edge and Find Index homing Initiating the standard homing routine will cause the motor to slew until a transition is detected in the ...

Page 44: ... drive The DMC 14XX also provides an amplifier enable signal AEN This signal is activated under the following conditions the watchdog timer activates the motor off command MO is given or the OE1command Enable Off On Error is given and the position error exceeds the error limit As shown in Figure 3 1 AEN can be used to disable the amplifier for these conditions The standard configuration of the AEN...

Page 45: ...solated signal and is used to locally reset the DMC 14XX without resetting the PC Analog Inputs The DMC 14XX has 2 analog inputs configured for the range between 10V and 10V The inputs are decoded by a 12 bit ADC giving a voltage resolution of approximately 005V The impedance of these inputs is 10Kohms The analog inputs are specified as AN n where n is the number 1 or 2 TTL Outputs The DMC 14XX pr...

Page 46: ...y lit for approximately 1 8 seconds After this initial power up condition the LED will illuminate for the following reasons 1 At least one axis has a position error greater than the error limit The error limit is set by using the command ER 2 The reset line on the controller is held low or is being affected by noise 3 There is a failure on the controller and the processor is resetting itself 4 The...

Page 47: ...THIS PAGE LEFT BLANK INTENTIONALLY 38 i Chapter 3 Connecting Hardware DMC 14x5 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 48: ...clock 5 Ground RS 232 Configuration Configure your PC for 8 bit data one start bit one stop bit full duplex and no parity The baud rate for the RS232 communication can be selected by selecting the proper jumper configuration on the DMC 14XX according to the table below Baud Rate Selection JUMPER SETTINGS BAUD RATE 96 12 OFF OFF 19200 ON OFF 9600 OFF ON 1200 Handshaking Modes The RS232 port is conf...

Page 49: ...ardware address This is a unique and permanent 6 byte number No other device will have the same Ethernet address The DMC 14XX Ethernet address is set by the factory and the last two bytes of the address are the serial number of the controller The second level of addressing is the IP address This is a 32 bit or 4 byte number The IP address is constrained by each local network and must be assigned l...

Page 50: ...32 port The IP address you want to assign may be entered as a 4 byte number delimited by commas industry standard uses periods or a signed 32 bit number Ex IA 124 51 29 31 or IA 2083724575 Type in BN to save the IP address to the controller s non volatile memory DMC 14x5 6 Chapter 4 Communication i 41 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 51: ...Ethernet or RS232 by entering RS The only reset that will not cause the controller to disconnect is a software reset via the Ethernet When the Galil controller acts as the master the IH command is used to assign handles and connect to its slaves The IP address may be entered as a 4 byte number separated with commas industry standard uses periods or as a signed 32 bit number A port number may also ...

Page 52: ...downloaded program the response will route to whichever port is specified as the default by the CF command To designate a specific destination for the information add Eh to the end of the command Ex MG EC Hello will send the message Hello to handle 3 TP EF will send the z axis position to handle 6 Multicasting A multicast may only be used in UDP IP and is similar to a broadcast where everyone on t...

Page 53: ...r UB 4rth byte of header Header UW sample number I block UB general input 0 I block UB general input 1 I block UB general input 2 I block UB general input 3 I block UB general input 4 I block UB general input 5 I block UB general input 6 I block UB general input 7 I block UB general input 8 I block UB general input 9 I block UB general output 0 I block UB general output 1 I block UB general output...

Page 54: ...block SL b axis velocity B block SW b axis torque B block SW b axis analog B block NOTE UB Unsigned Byte UW Unsigned Word SW Signed Word SL Signed Long Word Explanation of Status Information and Axis Switch Information Header Information Byte 0 1 of Header BIT 15 BIT 14 BIT 13 BIT 12 BIT 11 BIT 10 BIT 9 BIT 8 1 N A N A N A N A I Block Present in Data Record T Block Present in Data Record S Block P...

Page 55: ...ewing Motion is stopping due to ST or Limit Switch Motion is making final decel Latch is armed Off On Error armed Motor Off 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 A N A N A N A BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 N A N A Motion is slewing Motion is stopping due to ST or Limit Swi...

Page 56: ...ck for after each command is sent to prevent errors An echo function is provided to enable associating the DMC 2x00 response with the data sent The echo is enabled by sending the command EO 1 to the controller Unsolicited Messages Generated by Controller When the controller is executing a program it may generate responses which will be sent via the main RS 232 port or Ethernet port This response c...

Page 57: ...ill be disconnected In this case characters will continue to build up in the controller until the FIFO is full For more information see the CW command in the Command Reference Galil Software Tools and Libraries API Application Programming Interface software is available from Galil The API software is written in C and is included in the Galil CD ROM They can be used for development under Windows en...

Page 58: ... Command Reference Command Syntax ASCII DMC 14XX instructions are represented by two ASCII upper case characters followed by applicable arguments A space may be inserted between the instruction and arguments A semicolon or enter is used to terminate the instruction for processing by the DMC 14XX command interpreter Note If you are using a Galil terminal program commands will not be processed until...

Page 59: ...TXY stops motion on both the X and Y axes Commas are not required in this case since the particular axis is specified by the appropriate letter X or Y If no parameters follow the instruction action will take place on all axes Here are some examples of syntax for requesting action BG X Begin X only BG Y Begin Y only BG XY Begin all axes BG Begin all axes Coordinated Motion with more than 1 axis Whe...

Page 60: ... designates motion to stop on a vector motion The third byte for the equivalent binary command would be 01 Byte 4 specifies the axis or data field as follows Bit 1 B axis or 2nd data field Bit 0 A axis or 1st data field Datafields Format Datafields must be consistent with the format byte and the axes byte For example the command PR 1000 500 would be A7 02 00 03 03 E8 FE 0C where A7 is the command ...

Page 61: ...B E9 FA 94 DT BF SB EA FV 95 ET C0 CB EB GR 96 EM C1 II EC DP 97 EP C2 reserved ED DE 98 EG C3 AL EE OF 99 EB C4 reserved EF GM 9A EQ C5 reserved F0 reserved 9B EC C6 reserved F1 reserved 9C reserved C7 reserved F2 reserved 9D AM C8 reserved F3 reserved 9E MC C9 reserved F4 reserved 9F TW CA reserved F5 BG A0 MF CB reserved F6 ST A1 MR CC reserved F7 AB A2 AD CD reserved F8 HM A3 AP CE reserved F9...

Page 62: ...l codes can be found in the Command Reference under TC Interrogating the Controller Interrogation Commands The DMC 14XX has a set of commands that directly interrogate the controller When the command is entered the requested data is returned in decimal format on the next line followed by a carriage return and line feed The format of the returned data can be changed using the Position Format PF Var...

Page 63: ...ide of valid DMC expressions For example to display the value of an operand the user could use the command MG operand where operand is a valid DMC operand All of the command operands begin with the underscore character _ For example the value of the current position on the X axis can be assigned to the variable V with the command V _TPX The Command Reference denotes all commands which have an equi...

Page 64: ...rming multiple axis moves Example Application Mode of Motion Commands Absolute or relative positioning where each axis is independent and follows prescribed velocity profile Independent Axis Positioning PA PR SP AC DC Velocity control where no final endpoint is prescribed Motion stops on Stop command Independent Jogging JG AC DC ST Motion Path described as incremental position points versus time C...

Page 65: ...ar interpolation positioning Vector Smoothing VT Smooth motion while operating with stepper motors Stepper Motor Smoothing KS Gantry two axes are coupled by gantry Gantry Mode GR GM Independent Axis Positioning In this mode motion between the specified axes is independent and each axis follows its own profile The user specifies the desired absolute position PA or relative position PR slew speed SP...

Page 66: ...d combination Command Summary Independent Axis Command Description PR x y Specifies relative distance PA x y Specifies absolute position SP x y Specifies slew speed AC x y Specifies acceleration rate DC x y Specifies deceleration rate BG XY Starts motion ST XY Stops motion before end of move IP x y Changes position target IT x y Time constant for independent motion smoothing AM XY Trippoint for pr...

Page 67: ...gin motion on the X axis WT 40 Wait 40 msec BG Y Begin motion on the Y axis EN End Program VELOCITY COUNTS SEC 20000 10000 5000 15000 20 40 60 80 TIME ms 100 X axis velocity profile Y axis velocity profile 0 Figure 6 1 Velocity Profiles of XY Notes on fig 6 1 The X axis has a trapezoidal velocity profile while the Y axis has a triangular velocity profile The X axis accelerates to the specified spe...

Page 68: ... method of control results in precise speed regulation with phase lock accuracy Command Summary Jogging Command Description AC x y Specifies acceleration rate BG XY Begins motion DC x y Specifies deceleration rate IP x y Increments position instantly IT x y Time constant for independent motion smoothing JG x y Specifies jog speed and direction ST XY Stops motion Parameters can be set with individu...

Page 69: ...nd AB1 aborts the motion only The Linear End LE command must be used to specify the end of a linear move sequence This command tells the controller to decelerate to a stop following the last LI command If an LE command is not given an Abort AB1 must be used to abort the motion sequence It is the responsibility of the user to keep enough LI segments in the DMC 14XX sequence buffer to ensure continu...

Page 70: ... n m The first command n is equivalent to commanding VSn at the start of the given segment and will cause an acceleration toward the new commanded speed subject to the other constraints The second function m requires the vector speed to reach the value m at the end of the segment Note that the function m may start the deceleration within the given segment or during previous segments as needed to m...

Page 71: ...S or AMT Trippoint for After Sequence complete on S or T coordinate system AV n Trippoint for After Relative Vector distance n VT Motion smoothing constant for vector moves Operand Summary Linear Interpolation Operand Description _AV Return distance traveled _CS Segment counter returns number of the segment in the sequence being processed starting at zero _LE Returns length of vector resets after ...

Page 72: ...es LE Specify end move VS 100000 Specify vector speed VA 1000000 Specify vector acceleration VD 1000000 Specify vector deceleration BGS Begin sequence Note that the above program specifies the vector speed VS and not the actual axis speeds VX and VY the axis speeds are determined by the DMC 14XX from VS VX VY 2 2 The resulting profile is shown in Figure 6 2 DMC 14x5 6 Chapter 6 Programming Motion ...

Page 73: ... 30000 27000 3000 VELOCITY X AXIS VELOCITY Y AXIS POSITION Y TIME sec TIME sec TIME sec Figure 6 2 Linear Interpolation 64 i Chapter 6 Programming Motion DMC 14x5 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 74: ...C 14XX allows a long 2 D path consisting of linear and arc segments to be prescribed Motion along the path is continuous at the chosen vector speed even at transitions between linear and circular segments The DMC 14XX performs all the complex computations of linear and circular interpolation freeing the host PC from this time intensive task The coordinated motion mode is similar to the linear inte...

Page 75: ...hat can be sent to the buffer 255 returned means the buffer is empty and 255 segments can be sent A zero means the buffer is full and no additional segments can be sent As long as the buffer is not full additional segments can be sent at the PCI bus speed The operand _CS can be used to determine the value of the segment counter Additional commands The commands VS n VA n and VD n are used for speci...

Page 76: ... sequence VA n Specify vector acceleration along the sequence VD n Specify vector deceleration along the sequence VR n Specify vector speed ratio BGS Begin motion sequence on S coordinate system CS Clear sequence AV n Trippoint for After Relative Vector distance n AMS Holds execution of next command until Motion Sequence is complete ES m n Ellipse scale factor VT Smoothing constant for coordinated...

Page 77: ... points A and B The value of _AV is 2000 The value of _CS is 0 _VPX and _VPY contain the absolute coordinate of the point A Suppose that the interrogation is repeated at a point halfway between the points C and D The value of _AV is 4000 1500π 2000 10 712 The value of _CS is 2 _VPX _VPY contain the coordinates of the point C C 4000 3000 R 1500 B 4000 0 D 0 3000 A 0 0 Figure 6 3 The Required Path E...

Page 78: ...to the gearing For example when a geared motor follows a master at a ratio of 1 1 it may be advanced an additional distance with PR JG VP or LI commands Command Summary Electronic Gearing Command Description GA n Specifies master axes for gearing where N X Y or A B for main encoder as master N CX CY or CA CB for commanded position GR x y Sets gear ratio for slave axes 0 disables electronic gearing...

Page 79: ...ten the correction is quite large Such requirements are common when synchronizing cutting knives or conveyor belts Example Synchronize two conveyor belts with trapezoidal velocity correction Instruction Interpretation GA X Define X as the master axis for Y GR 2 Set gear ratio 2 1 for Y PR 300 Specify correction distance SP 5000 Specify correction speed AC 100000 Specify correction acceleration DC ...

Page 80: ...ge per cycle is limited to 2 147 483 647 If the change is a negative number the absolute value is specified For the given example the cycle of the master is 6000 counts and the change in the slave is 1500 Therefore we use the instruction EM 6000 1500 DMC 1425 EM 1500 6000 DMC 1415 1416 Step 3 Specify the master interval and starting point Next we need to construct the ECAM table The table is speci...

Page 81: ... mode Step 6 Engage the slave motion To engage the slave motion use the instruction EG x y where x y are the master positions at which the corresponding slaves must be engaged If the value of any parameter is outside the range of one cycle the cam engages immediately When the cam is engaged the slave position is redefined modulo one cycle Step 7 Disengage the slave motion To disengage the cam use ...

Page 82: ... the master is 2000 Over that cycle Y varies by 1000 This leads to the instruction EM 2000 1000 Suppose we want to define a table with 100 segments This implies increments of 20 counts each If the master points are to start at zero the required instruction is EP 20 0 The following routine computes the table points As the phase equals 0 18X and X varies in increments of 20 the phase varies by incre...

Page 83: ...oved AI1 Wait for start signal EG 1000 Engage slave AI 1 Wait for stop signal EQ 1000 Disengage slave EN End The following example illustrates a cam program with a master axis X and a single slave Y Instruction Interpretation A V1 0 Label Initialize variable PA 0 0 BGXY AMXY Go to position 0 0 on X and Y axes EA X Z axis as the Master for ECAM EM 4000 0 Change for X is 4000 zero for Y EP400 0 ECAM...

Page 84: ... not being used in the contouring mode may be operated in other modes A contour is described by position increments which are described with the command CD x y over a time interval DT n The parameter n specifies the time interval The time interval is defined as 2 n ms where n is a number between 1 and 8 The controller performs linear interpolation between the specified increments where one point i...

Page 85: ...T 3 Figure 6 5 The Required Trajectory Additional Commands The command WC is used as a trippoint When Complete or Wait for Contour Data This allows the DMC 14XX to use the next increment only when it is finished with the previous one Zero parameters for DT followed by zero parameters for CD exit the contour mode If no new data record is found and the controller is still in the contour mode the con...

Page 86: ... collection of points The design includes two parts Generating an array with data points and running the program Generating an Array An Example Consider the velocity and position profiles shown in Fig 6 6 The objective is to rotate a motor a distance of 6000 counts in 120 ms The velocity profile is sinusoidal to reduce the jerk and the system vibration If we describe the position displacement in t...

Page 87: ... A complete program to generate the contour movement in this example is given below To generate an array we compute the position value at intervals of 8 ms This is stored at the array POS Then the difference between the positions is computed and is stored in the array DIF Finally the motors are run in the contour mode 78 i Chapter 6 Programming Motion DMC 14x5 6 Artisan Technology Group Quality In...

Page 88: ...ray POS T T 8 C C 1 JP A C 16 B Program to find position differences C 0 C D C 1 DIF C POS D POS C Compute the difference and store C C 1 JP C C 15 EN End first program RUN Program to run motor CMX Contour Mode DT3 4 millisecond intervals C 0 E CD DIF C Contour Distance is in DIF WC Wait for completion C C 1 JP E C 15 DT0 CD0 Stop Contour EN End the program DMC 14x5 6 Chapter 6 Programming Motion ...

Page 89: ... X motor off RC2 Begin recording 4 msec interval A JP A _RC 1 Continue until done recording COMPUTE Compute DX DM DX 500 Dimension Array for DX C 0 Initialize counter L Label D C 1 DELTA XPOS D XPOS C Compute the difference DX C DELTA Store difference in array C C 1 Increment index JP L C 500 Repeat until done PLAYBCK Begin Playback CMX Specify contour mode DT2 Specify time increment I 0 Initializ...

Page 90: ...step pulses before making additional moves This is most particularly important if you are moving back and forth For example when operating with servo motors the trippoint AM After Motion is used to determine when the motion profiler is complete and is prepared to execute a new motion command However when operating in stepper mode the controller may still be generating step pulses when the motion p...

Page 91: ...ion level Command Summary Stepper Motor Operation Command Description DE Define Encoder Position When using an encoder DP Define Reference Position and Step Count Register IT Motion Profile Smoothing Independent Time Constant KS Stepper Motor Smoothing 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 Positi...

Page 92: ...rs For example DEO sets the initial value The positions of the auxiliary encoders may be interrogated with DE For example DE returns the value of the auxiliary encoder The auxiliary encoder position may be assigned to variables with the instructions V1 _DE The current position of the auxiliary encoder may also be interrogated with the TD command Backlash Compensation The dual loop methods can be u...

Page 93: ... consider a linear slide that is run by a rotary motor via a lead screw Since the lead screw has a backlash it is necessary to use a linear encoder to monitor the position of the slide For stability reasons it is best to use a rotary encoder on the motor Connect the rotary encoder to the main encoders input and connect the linear encoder to the auxiliary encoder input Let the required motion dista...

Page 94: ...d by the following commands IT x y Independent time constant VT n Vector time constant The command IT is used for smoothing independent moves of the type JG PR PA and the command VT is used to smooth vector moves of the type VM and LM The smoothing parameters x y and n are numbers between 0 and 1 and determine the degree of filtering The maximum value of 1 implies no filtering resulting in trapezo...

Page 95: ...represents the amount of smoothing The command IT is used for smoothing independent moves of the type JG PR PA and the command VT is used to smooth vector moves of the type VM and LM The smoothing parameters x y and n are numbers between 0 5 and 8 and determine the degree of filtering The minimum value of 0 5 implies no filtering resulting in trapezoidal velocity profiles Larger values of the smoo...

Page 96: ...ing encoder counts If _HMX reads 0 initially the motor will go in the forward direction first CN is the command used to define the polarity of the home input With CN 1 the default value a normally open switch will make _HMX read 1 initially and a normally closed switch will make _HMX read zero Furthermore with CN 1 a normally open switch will make _HMX read 0 initially and a normally closed switch...

Page 97: ...d Forward Example Homing Instruction Interpretation HOME Label CN 1 Configure the polarity of the home input AC 1000000 Acceleration Rate DC 1000000 Deceleration Rate SP 5000 Speed for Home Search HM Home BG Begin Motion AM After Complete MG AT HOME Send Message EN End Figure 6 8 shows the velocity profile from the homing sequence of the example program above For this profile the switch is normall...

Page 98: ...ON POSITION POSITION POSITION VELOCITY VELOCITY VELOCITY Figure 6 8 Homing Sequence for Normally Closed Switch and CN 1 Example Find Edge EDGE Label AC 2000000 Acceleration rate DC 2000000 Deceleration rate SP 8000 Speed DMC 14x5 6 Chapter 6 Programming Motion i 89 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 99: ...llows 1 Give the AL command to arm the latch 2 Test to see if the latch has occurred Input 1 goes low by using the _AL command Example V1 _AL returns the state of the latch into V1 V1 is 1 if the latch has not occurred 3 After the latch has occurred read the captured position with the report latch RL command or _RL Note The latch must be re armed after each latching event Example High Speed Latch ...

Page 100: ... create and edit programs in the controller s memory The internal editor is opened by the command ED Note that the command ED will not open the internal editor if issued from Galil s Window based software in this case a Windows based editor will be automatically opened The Windows based editor provides much more functionality and ease of use therefore the internal editor is most useful when using ...

Page 101: ...r label following the start listing operand specifies the location at which listing is to stop Example Instruction Interpretation LS List entire program LS 5 Begin listing at line 5 LS 5 9 List lines 5 thru 9 LS A 9 List line label A thru line 9 LS A A 5 List line label A and additional 5 lines Program Format A DMC 14XX program consists of DMC 14XX instructions combined to solve a machine control ...

Page 102: ...s which are used to define input interrupt subroutines limit switch subroutines error handling subroutines and command error subroutines The following table lists the automatic subroutines supported by the controller Sample programs for these subroutines can be found in the section Automatic Subroutines for Monitoring Conditions AUTO Starts program on power up or reset AUTOERR Starts program on po...

Page 103: ...the NO commands will require process time by the controller Note 2 On the DMC 1415 1416 1425 controllers an apostrophe may be used instead of the NO command to document a program Using REM Statements with the Galil Terminal Software If you are using Galil software to communicate with the DMC 14XX controller you may also include REM remark statements REM statements begin with the word REM and may b...

Page 104: ...tion errors or command errors the subroutines are executed as thread 0 To begin execution of the various programs use the following instruction XQ A n Where n indicates the thread number To halt the execution of any thread use the instruction HX n where n is the thread number Note that both the XQ and HX commands can be performed by an executing program The example below produces a waveform on Out...

Page 105: ...ror occurs To display the last line number of program execution issue the command MG _ED The user can obtain information about the type of error condition that occurred by using the command TC1 This command reports back a number and a text message which describes the error condition The command TC0 or TC will return the error code without the text message For more information about the command TC ...

Page 106: ... the number of available arrays 14 max _DM contains the number of available array elements 2000 max _AB contains the state of the Abort Input _LFx contains the state of the forward limit switch for the x axis _LRx contains the state of the reverse limit switch for the x axis Debugging Example The following program has an error It attempts to specify a relative movement while the X axis is already ...

Page 107: ...nt triggers that cause the program sequencer to halt until the specified event occurs Normally a program is automatically executed sequentially one line at a time When an event trigger instruction is decoded however the actual program sequence is halted The program sequence does not continue until the event trigger is tripped For example the motion complete trigger can be used to separate two move...

Page 108: ...s may be specified If position is already past the point then MR will trip immediately Will function on geared axis or aux inputs MC X or Y Halt program execution until after the motion profile has been completed and the encoder has entered or passed the specified position TW x y sets timeout to declare an error if not in position If timeout occurs then the trippoint will clear and the stop code w...

Page 109: ...tiplied by the sample period Instruction Interpretation SETBIT Label SP 10000 Speed is 10000 PA 20000 Specify Absolute position BGX Begin motion AD 1000 Wait until 1000 counts SB1 Set output bit 1 EN End program Event Trigger Repetitive Position Trigger To set the output bit every 10000 counts during a move the AR trippoint is used as shown in the next example Instruction Interpretation TRIP Label...

Page 110: ...ram Label JG 50000 Specify jog speed AC 10000 Acceleration rate BGX Begin motion ASX Wait for at slew speed 50000 SB1 Set output 1 EN End program Event Trigger Change Speed along Vector Path The following program changes the feedrate or vector speed at the specified distance along the vector The vector distance is measured from the start of the move or from the last AV command Instruction Interpre...

Page 111: ...t 1 AT 40 Wait 40 msec from reference and reset reference SB1 Set Output 1 JP LOOP Loop EN Conditional Jumps The DMC 14XX provides Conditional Jump JP and Conditional Jump to Subroutine JS instructions for branching to a new program location based on a specified condition The conditional jump determines if a condition is satisfied and then branches to a new location or subroutine Unlike event trig...

Page 112: ...e _TPX 0 _TVX 500 I O V1 AN 2 IN 1 0 Multiple Conditional Statements The DMC 14XX will accept multiple conditions in a single jump statement The conditional statements are combined in pairs using the operands and The operand between any two conditions requires that both statements must be true for the combined statement to be true The operand between any two conditions requires that only one state...

Page 113: ...ero ten times Wait 100 msec between moves Instruction Interpretation BEGIN Begin Program COUNT 10 Initialize loop counter LOOP Begin loop PA 1000 Position absolute 1000 BGX Begin move AMX Wait for motion complete WT 100 Wait 100 msec PA 0 Position absolute 0 BGX Begin move AMX Wait for motion complete WT 100 Wait 100 msec COUNT COUNT 1 Decrement loop counter JP LOOP COUNT 0 Test for 10 times thru ...

Page 114: ...e commands proceeding IF command up to ELSE command if conditional statement s is true otherwise continue executing at ENDIF command or optional ELSE command ELSE Optional command Allows for commands to be executed when argument of IF command evaluates not true Can only be used with IF command ENDIF Command to end IF conditional statement Program must have an ENDIF command for every IF command Exa...

Page 115: ...X Begin Y EN End subroutine Stack Manipulation It is possible to manipulate the subroutine stack by using the ZS command Every time a JS instruction interrupt or automatic routine such as POSERR or LIMSWI is executed the subroutine stack is incremented by 1 Normally the stack is restored with an EN instruction Occasionally it is desirable not to return back to the program line where the subroutine...

Page 116: ...t occurs the program will be executed automatically NOTE An application program must be running for automatic monitoring to function Example Limit Switch This program prints a message upon the occurrence of a limit switch Note for the LIMSWI routine to function the DMC 14XX must be executing an applications program from memory This can be a very simple program that does nothing but loop on a state...

Page 117: ... on 1 JG 30000 60000 Jog BGXY Begin Motion LOOP JP LOOP EN Loop ININT Input Interrupt STXY AM Stop Motion TEST JP TEST IN 1 0 Test for Input 1 still low JG 30000 6000 Restore Velocities BGXY Begin motion RI0 Return from interrupt routine to Main Program and do not re enable trippoints Example Motion Complete Timeout Instruction Interpretation BEGIN Begin main program TW 1000 Set the time out to 10...

Page 118: ...re is an alternate method for handling command errors from different threads Using the XQ command along with the special operands described below allows the controller to either skip or retry invalid commands Operand Function _ED1 Returns the number of the thread that generated an error _ED2 Retry failed command operand contains the location of the failed command _ED3 Skip failed command operand c...

Page 119: ...g the serial port the user can re establish communication if needed Instruction Interpretation LOOP Simple program loop JP LOOP EN TCPERR Ethernet communication error auto routine MG P1 _IA4 Send message to serial port indicating which handle did not receive proper acknowledgement RE Return to main program Note The TCPERR routine only detects the loss of TCP IP Ethernet handles not UDP Mathematica...

Page 120: ...haracter is represented as one byte 8 bits therefore the input variable can hold up to six characters The first character of the string will be placed in the top byte of the variable and the last character will be placed in the lowest significant byte of the fraction The characters can be individually separated by using bit wise operations as illustrated in the following example Instruction Interp...

Page 121: ...lute value of n FRAC n Fraction portion of n INT n Integer portion of n RND n Round of n Rounds up if the fractional part of n is 5 or greater SQR n Square root of n Accuracy is 004 IN n Return digital input at general input n where n starts at 1 OUT n Return digital output at general output n where n starts at 1 Note that these functions are multi valued An application program may be used to find...

Page 122: ...nge for numeric variable values is 4 bytes of integer 231 followed by two bytes of fraction 2 147 483 647 9999 Numeric values can be assigned to programmable variables using the equal sign Any valid DMC 14XX function can be used to assign a value to a variable For example V1 ABS V2 or V2 IN 1 Arithmetic operations are also permitted To assign a string value the string must be in quotations String ...

Page 123: ...Special Operands Keywords The DMC 14XX provides a few additional operands which give access to internal variables that are not accessible by standard DMC 14XX commands Operand Function _BGn Returns a 1 if motion on axis n is complete otherwise returns 0 _BN Returns serial of the board _DA Returns the number of arrays available _DL Returns the number of available labels for programming _DM Returns ...

Page 124: ... keywords Array elements are addressed starting at count 0 For example the first element in the POSX array defined with the DM command DM POSX 7 would be specified as POSX 0 Values are assigned to array entries using the equal sign Assignments are made one element at a time by specifying the element number with the associated array name NOTE Arrays must be defined using the command DM before assig...

Page 125: ...stem performance Up to four types of data can be captured and stored in four arrays The capture rate or time interval may be specified Recording can be done as a one time event or as a circular continuous recording Command Summary Automatic Data Capture Command Description RA n m o p Selects up to four arrays for data capture The arrays must be defined with the DM command RD type1 type2 type3 type...

Page 126: ...r every 2 msec Instruction Interpretation RECORD Begin program DM XPOS 300 YPOS 300 Define X Y position arrays DM XERR 300 YERR 300 Define X Y error arrays RA XPOS XERR YPOS YERR Select arrays for capture RD _TPX _TEX _TPY _TEY Select data types PR 10000 20000 Specify move distance RC1 Start recording now at rate of 2 msec BG XY Begin motion A JP A RC 1 Loop until done MG DONE Print message EN End...

Page 127: ...o Length Example In this example a length of material is to be advanced a specified distance When the motion is complete a cutting head is activated to cut the material The length is variable and the operator is prompted to input it in inches Motion starts with a start button which is connected to input 1 The load is coupled with a 2 pitch lead screw A 2000 count rev encoder is on the motor result...

Page 128: ... can be used in the message command For example MG The input is IN 1 MG The proportional Gain of X is _KPX Formatting Messages String variables can be formatted using the specifier Sn where n is the number of characters 1 thru 6 For example MG STR S3 This statement returns 3 characters of the string variable named STR Numeric data may be formatted using the Fn m expression following the completed ...

Page 129: ...ys may be sent to the screen using the format variable or array x For example V1 returns the value of V1 Example Printing a Variable and an Array element Instruction Interpretation DISPLAY Label DM POSX 7 Define Array POSX with 7 entries PR 1000 Position Command BGX Begin AMX After Motion V1 _TPX Assign Variable V1 POSX 1 _TPX Assign the first entry V1 Print V1 Interrogation Commands The DMC 14XX ...

Page 130: ...al places specified by PF is less than the actual value a nine appears in all the decimal places Examples Instruction Interpretation DP21 Define position TPX Tell position 0000000021 Default format PF4 Change format to 4 places TPX Tell position 0021 New format PF 4 Change to hexadecimal format TPX Tell Position 0015 Hexadecimal value PF2 Format 2 places TPX Tell Position 99 Returns 99 if position...

Page 131: ...he decimal point 0 thru 10 and n is the number of digits to the right of the decimal point 0 thru 4 A negative sign for m specifies hexadecimal format The default format for VF is VF 10 4 Hex values are returned preceded by a and in 2 s complement V1 10 Assign V1 V1 Return V1 0000000010 0000 Default format VF2 2 Change format V1 Return V1 10 00 New format VF 2 2 Specify hex format V1 Return V1 0A ...

Page 132: ...evolution Example Instruction Interpretation RUN Label IN ENTER OF REVOLUTIONS N1 Prompt for revs PR N1 2000 Convert to counts IN ENTER SPEED IN RPM S1 Prompt for RPMs SP S1 2000 60 Convert to counts sec IN ENTER ACCEL IN RAD SEC2 A1 Prompt for ACCEL AC A1 2000 2 3 14 Convert to counts sec 2 BG Begin motion EN End program Programmable Hardware I O Digital Outputs The DMC 14XX has an 3 bit uncommit...

Page 133: ...1 Clear Output 1 EN End Digital Inputs The DMC 1415 and DMC 1416 has seven digital inputs for controlling motion by local switches while the DMC 1425 has 3 digital inputs The IN n function returns the logic level of the specified input 1 through 8 For example a Jump on Condition instruction can be used to execute a sequence if a high condition is noted on an input 3 To halt program execution the A...

Page 134: ...he Return from Interrupt RI command is used to return from this subroutine to the place in the program where the interrupt had occurred If it is desired to return to somewhere else in the program after the execution of the ININT subroutine the Zero Stack ZS command is used followed by unconditional jump statements IMPORTANT Use the RI instruction not EN to return from the ININT subroutine Examples...

Page 135: ...c The input signal may be applied to I1 for example and the output signal is chosen as output 1 The motor velocity profile and the related input and output signals are shown in Fig 7 1 The program starts at a state that we define as A Here the controller waits for the input pulse on I1 As soon as the pulse is given the controller starts the forward motion Upon completion of the forward move the co...

Page 136: ...utput bit to engage the cutting tool along the circle Once the circular motion is completed the output bit is cleared which raises the tool and the motion continues to point C etc Assume that both of the axes are driven by lead screws with 10 turns per inch pitch Also assume encoder resolution of 1000 lines per revolution This results in the relationship 1 inch 40 000 counts and the speeds of 1 in...

Page 137: ... AMS Wait for completion CB1 Clear output bit to raise cutting tool WT1000 Wait 1000msec for tool to raise PR 21600 Move X SP 20000 Speed X BGX Start X AMX Wait for X completion SB1 Set output bit to lower cutting tool WT1000 Wait 1000msec for tool to be in cutting position CR 80000 270 360 Second circle move VE VS 40000 BGS AMS CB1 Clear output bit to raise cutting tool WT1000 Wait 1000msec for t...

Page 138: ... 3 4 Y X Figure 7 2 Motor Velocity and the Associated Input Output signals DMC 14x5 6 Chapter 7 Application Programming i 129 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 139: ...THIS PAGE LEFT BLANK INTENTIONALLY 130 i Chapter 7 Application Programming DMC 14x5 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 140: ... abort command is given Each axis amplifier has a separate enable line This signal also goes low when the watch dog timer is activated Note The standard configuration of the AEN signal is TTL active low Both the polarity and the amplitude can be changed if you are using the ICM 1460 interface board To make these changes see section entitled Amplifier Interface Note There is only one amplifier enab...

Page 141: ... error limit refers to a difference in the actual and commanded position of the motor This limit can be set for any number between 1 and 32767 using the ER n command The default value for ER is 16384 Example ER 200 300 Set X axis error limit for 200 Y axis error limit to 300 ER 1 Set Y axis error limit to 1 count The units of the error limit are quadrature counts The error is the difference betwee...

Page 142: ...ble off on error for X and Y OE 0 1 Enable off on error for Y axis and disable off on error for X axis Automatic Error Routine The POSERR label causes the statements following to be automatically executed if the error on any axis exceeds the error limit specified by ER The error routine should be closed with the RE command RE will cause the main program to be resumed where left off NOTE The Error ...

Page 143: ...Instruction Interpretation A JP A EN Dummy Program LIMSWI Limit Switch Utility V1 _LFX Check state of forward limit V2 _LRX Check state of reverse limit JP LF V1 0 Jump to LF if forward limit low JP LR V2 0 Jump to LR if reverse limit low JP END Jump to end LF LF MG FORWARD LIMIT Send message STX AMX Stop motion PR 1000 BGX AMX Move in reverse JP END End LR LR MG REVERSE LIMIT Send message STX AMX...

Page 144: ... amplifier with no additional inputs Amplifier offset too large Adjust amplifier offset Same as above but offset adjustment does not stop the motor Damaged amplifier Replace amplifier Controller does not read changes in encoder position Wrong encoder connections Check encoder wiring Same as above Bad encoder Check the encoder signals Replace encoder if necessary Same as above Bad controller Connec...

Page 145: ...ncoder channel A B if single ended channel A A and B B if differential Motor oscillates Too high gain or too little damping Decrease KI and KP Increase KD Operation Symptom Cause Remedy Controller rejects command Responded with a Anything Interrogate the cause with TC or TC1 Motor does not start or complete a move Noise on limit switches stops the motor Noise on the abort line aborts the motion To...

Page 146: ...is is done by closing the position loop using a sensor The operation at the basic level of closing the loop involves the subjects of modeling analysis and design These subjects will be covered in the following discussions The motion profiling is the generation of the desired position function This function R t describes where the motor should be at every sampling period Note that the profiling and...

Page 147: ...le PR 6000 4000 SP 20000 20000 AC 200000 00000 BG X AD 2000 BG Y EN This program corresponds to the velocity profiles shown in Fig 10 3 Note that the profiled positions show where the motors must be at any instant of time Finally it remains up to the servo system to verify that the motor follows the profiled position by closing the servo loop The following section explains the operation of the ser...

Page 148: ...tor position to be at 90 degrees The motor position is measured by a position sensor often an encoder and the position feedback is sent to the controller Like the brain the controller determines the position error which is the difference between the commanded position of 90 degrees and the position feedback The controller then outputs a signal that is proportional to the position error This signal...

Page 149: ...nd to the proportional integral and derivative term respectively The damping element of the filter acts as a predictor thereby reducing the delay associated with the motor response The integrator function represented by the parameter KI improves the system accuracy With the KI parameter the motor does not stop until it reaches the desired position exactly regardless of the level of friction or opp...

Page 150: ...nductance H When the motor parameters are given in English units it is necessary to convert the quantities to MKS units For example consider a motor with the parameters Kt 14 16 oz in A 0 1 Nm A R 2 Ω J 0 0283 oz in s2 2 10 4 kg m2 L 0 004H Then the corresponding time constants are Tm 0 04 sec and Te 0 002 sec Assuming that the amplifier gain is Kv 4 the resulting transfer function is P V 40 s 0 0...

Page 151: ...m may include a velocity loop where the motor velocity is sensed by a tachometer and is fed back to the amplifier Such a system is illustrated in Fig 10 5 Note that the transfer function between the input voltage V and the velocity ω is ω V Ka Kt Js 1 Ka Kt Kg Js 1 Kg sT1 1 where the velocity time constant T1 equals T1 J Ka Kt Kg This leads to the transfer function P V 1 Kg s sT1 1 Σ Ka Kt Js Kg V...

Page 152: ...outputs two signals Channel A and B which are in quadrature Due to the quadrature relationship between the encoder channels the position resolution is increased to 4N quadrature counts rev The model of the encoder can be represented by a gain of Kf 4N 2π count rad For example a 1000 lines rev encoder is modeled as Kf 638 DMC 14x5 6 Chapter 10 Theory of Operation i 143 Artisan Technology Group Qual...

Page 153: ...th a transfer function G s G s P sD I s P 4KP D 4T KD I KI 2T For example if the filter parameters of the DMC 14XX are KP 4 KD 36 KI 2 T 0 001 s the digital filter coefficients are K 160 A 0 9 C 1 and the equivalent continuous filter G s is G s 16 0 144s 1000 s ZOH The ZOH or zero order hold represents the effect of the sampling process where the motor command is updated once per sampling period T...

Page 154: ...0 No integrator N 500 Counts rev Encoder line density T 1 ms Sample period The transfer function of the system elements are Motor M s P I Kt Js2 500 s2 rad A Amp Ka 4 Amp V DAC Kd 0 0003 V count Encoder Kf 4N 2π 318 count rad ZOH 2000 s 2000 Digital Filter KP 12 5 KD 245 T 0 001 Therefore D z 1030 z 0 95 Z Accordingly the coefficients of the continuous filter are P 50 D 0 98 The filter equation ma...

Page 155: ...t of A j ωc as shown in Fig 10 8 1 4 0 1 50 200 2000 W rad s Magnitude Figure 10 8 Bode plot of the open loop transfer function For the given example the crossover frequency was computed numerically resulting in 200 rad s Next we determine the phase of A s at the crossover frequency A j200 390 000 j200 51 j200 2 j200 2000 α Arg A j200 tan 1 200 51 180 tan 1 200 2000 α 76 180 6 110 Finally the phas...

Page 156: ...e Consider a system with the following parameters Kt Nm A Torque constant J 2 10 4 kg m2 System moment of inertia R 2 Ω Motor resistance Ka 2 Amp Volt Current amplifier gain N 1000 Counts rev Encoder line density The DAC of the DMC 14XX outputs 10V for a 14 bit command of 8192 counts The design objective is to select the filter parameters in order to close a position loop with a crossover frequenc...

Page 157: ... L j500 160 and a phase arg G j500 arg A j500 arg L j500 135 194 59 In other words we need to select a filter function G s of the form G s P sD so that at the frequency ωc 500 the function would have a magnitude of 160 and a phase lead of 59 degrees These requirements may be expressed as G j500 P j500D 160 and arg G j500 tan 1 500D P 59 The solution of these equations leads to P 160cos 59 82 4 500...

Page 158: ...e procedure is simplified by the following table which summarizes the relationship between the various filters Equivalent Filter Form DMC 14XX Digital D z K z A z Cz z 1 Digital D z 4 KP 4 KD 1 z 1 KI 2 1 z 1 KP KD KI K KP KD 4 A KD KP KD C KI 2 Continuous G s P Ds I s PID T P 4 KP D 4 T KD I KI 2T DMC 14x5 6 Chapter 10 Theory of Operation i 149 Artisan Technology Group Quality Instrumentation Gua...

Page 159: ...THIS PAGE LEFT BLANK INTENTIONALLY 150 i Chapter 10 Theory of Operation DMC 14x5 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 160: ...y or differential A A B B Maximum A B edge rate 12MHz Minimum IDX pulse width 80 nsec Stepper Control Pulse TTL 0 5 Volts level at 50 duty cycle 3MHz maximum step output frequency Direction TTL 0 5 Volts Input Output Uncommitted Inputs Limits Home Abort Inputs TTL Can accept up to 12V signal OUT 1 thru OUT 3 Outputs TTL Power Requirements 5V 400 mA 12V 40 mA 12V 40mA DMC 14x5 6 Appendices i 151 Ar...

Page 161: ... Variable Range 2 billion Variable Resolution 1 10 4 Array Size 2000 elements 14 arrays Program Size 500 lines x 80 characters Fast Update Rate Mode The DMC 14x5 6 can operate with much faster servo update rates This mode is known as fast mode and allows the controller to operate with the following update rates 1 2 axis 125 usec In order to run the motion controller in fast mode the fast firmware ...

Page 162: ... 10 5V 29 Reverse Limit 1 11 Ground 30 Home 1 12 12V 31 12V 13 Ground 32 Main A 14 Main A 33 Main B 15 Main B 34 Main Index 16 Main Index 35 Auxiliary A 17 Auxiliary A 36 Auxiliary B 18 Auxiliary B 37 Abort 1 19 ACMD Phase B also Sign when JP3 jumpered 1 These inputs are TTL active low and will be activated when set to 0V J3 DMC 1425 General I O 37 PIN D type Female 1 Reset 1 20 Error Y step 4 2 A...

Page 163: ...ward Limit Y The states of these inputs are mapped to inputs 7 6 5 and 4 respectively Standard input interrogation commands can be used to read these inputs TI MG IN n as well as the TS and MG_LFY or MG_LRY switch commands 3 Pin 8 has the option to be used as Y Encoder instead of Input 3 4 When configured for stepper mode J3 DMC 1416 General I O 37 PIN D type Female 1 Reset 2 20 Error 2 Amp Enable...

Page 164: ...1416 Encoders 15 Pin D type 1 A 9 VCC 2 GROUND 10 NC 3 A 11 A 4 B 12 B 5 I 13 I 6 HALL 1 14 HALL 2 7 HALL 3 15 GROUND 8 NC J5 DMC 1416 Power 5 Pin MOLEX Brushless Config Standard Servo 1 MOTOR A Motor 2 MOTOR B Motor 3 MOTOR C Ground 4 GROUND 5 V INPUT J1 RS232 Main port DB 9 Pin Male 1 RTS 6 RTS 2 Transmit data output 7 CTS 3 Receive Data input 8 RTS 4 CTS 9 No connect 5 Ground DMC 14x5 6 Appendi...

Page 165: ...e position error on any axis exceeds the value specified by the error limit command ER Output 1 Output 3 These 3 TTL outputs are uncommitted and may be designated by the user to toggle relays and trigger external events The output lines are toggled by Set Bit SB and Clear Bit CB instructions The OP instruction is used to define the state of all the bits of the Output port INPUTS Main Encoder A B P...

Page 166: ...µsec on occurrence of latch signal AL command arms latch Input 1 is latch for X axis Input 2 is latch for Y axis if using DMC 1425 Analog input 12 bit resolution ICM 1460 Interconnect Module The ICM 1460 Rev C Interconnect Module provides easy connections between the DMC 14XX series controllers and other system elements such as amplifiers encoders and external switches The ICM 1460 accepts the 37 ...

Page 167: ... 30 MB I X Axis Main Encoder B 5 31 31 MB I X Axis Main Encoder B 5 32 32 IDX I X Axis Main Encoder Index 5 33 33 IDX I X Axis Main Encoder Index 5 34 34 AA I X Axis Auxiliary Encoder A Y Axis Main Encoder A for DMC 1425 35 35 AA I X Axis Auxiliary Encoder A Y Axis Main Encoder A for DMC 1425 36 36 AB I X Axis Auxiliary Encoder B Y Axis Main Encoder B for DMC 1425 37 37 AB I X Axis Auxiliary Encod...

Page 168: ...t output commons is also available this will require the use of both pin 1 and pin 2 on the screw connection When selecting this option both 12V and 12V becomes inaccessible IN x To controller TO CONTROLLER RP3 RP1 4 7K OHMS ICM 1460 CONNECTIONS IN x OPTO COMMON RP2 RP4 2 2K VCC Figure A 1 Opto isolated Inputs The signal IN x is one of the isolated digital outputs where x stands for the digital in...

Page 169: ...to Grayhill and OPTO 22 I O mounting racks These I O points can be configured as inputs or outputs in 8 bit increments through software The I O points are accessed through two 50 pin IDC connectors each with 32 I O points Configuring the I O of the DMC 1415 1416 1425 with DB 14064 The 64 extended I O points of the DMC 1415 1416 1425 series controller with the DB 14064 daughter board module can be ...

Page 170: ... 4 n4 8 n5 16 n6 32 n7 64 n8 128 n9 where nx represents the block Saving the State of the Outputs in Non Volatile Memory The configuration of the extended I O and the state of the outputs can be stored in the EEPROM with the BN command If no value has been set the default of CO 0 is used all blocks are inputs Accessing extended I O When configured as an output each I O point may be defined with th...

Page 171: ...the state of the least significant bit of block 2 assuming block 2 is configured as an input Connector Description The DB 14064 has two 50 Pin IDC header connectors The connectors are compatible with I O mounting racks such as Grayhill 70GRCM32 HL and OPTO 22 G4PB24 Note for interfacing to OPTO 22 G4PB24 When using the OPTO 22 G4PB24 I O mounting rack the user will only have access to 48 of the 64...

Page 172: ...N n OUT n Bit No 1 I O 8 72 7 3 I O 8 71 6 5 I O 8 70 5 7 I O 8 69 4 9 I O 8 68 3 11 I O 8 67 2 13 I O 8 66 1 15 I O 8 65 0 17 I O 7 64 7 19 I O 7 63 6 21 I O 7 62 5 23 I O 7 61 4 25 I O 7 60 3 27 I O 7 59 2 29 I O 7 58 1 31 I O 7 57 0 33 I O 6 56 7 35 I O 6 55 6 37 I O 6 54 5 39 I O 6 53 4 41 I O 6 52 3 43 I O 6 51 2 45 I O 6 50 1 47 I O 6 49 0 49 5V 2 I O 9 80 7 4 I O 9 79 6 6 I O 9 78 5 DMC 14x...

Page 173: ...isolated inputs and outputs each rated for 2mA at up to 28 VDC Configurable as inputs or outputs in groups of eight bits Provides 16 high power outputs capable of up to 500mA each Connects to controller via 80 pin shielded cable All I O points conveniently labeled Each of the 64 I O points has status LED Dimensions 6 8 x 11 4 Works with extended I O controllers 164 i Appendices DMC 14x5 6 Artisan ...

Page 174: ...ividually configured as an input or output bank by inserting the appropriate integrated circuits and resistor packs The hardware configuration of the IOM 1964 must match the software configuration of the controller card All DMC 1415 1416 1425 controllers have general purpose I O connections On the DMC 1415 and DMC 1416 there are 7 TTL inputs and 3 TTL outputs On the DMC 1425 there are 3 TTL inputs...

Page 175: ...ut optical isolator IC sockets labeled in bank 0 as U01 and U02 in bank 1 as U11 and U12 and so on Each bank is configured as inputs or outputs by inserting optical isolator IC s and resistor packs in the appropriate sockets A group of eight LED s indicates the status of each I O point The numbers above the Bank 0 label indicate the number of the I O point corresponding to the LED above it Digital...

Page 176: ... IN n returns 0 Note that the external 5V in the circuits above is for example only The inputs are optically isolated and can accept a range of input voltages from 4 to 28 VDC Active outputs are connected to the optically isolated inputs in a similar fashion with respect to current An NPN output is connected in a sinking configuration and a PNP output is connected in the sourcing configuration Sin...

Page 177: ...cks RPx2 and RPx3 are inserted and the input resistor pack RPx4 is removed Each bank of eight outputs shares one I OC connection which is connected to a DC power supply between 4 and 28 VDC A 10k ohm resistor pack should be used for RPx3 Here is a circuit diagram 1 4 NEC2505 1 8 RPx3 To Controller 5V Controller I O I On I OCn VCC IN GND OUT IR6210 OUTCn PWROUTn 1 8 RPx2 Figure A 8 IOM 1964 High Po...

Page 178: ...t of current available to source as well as affecting the low level voltage at the I O output The maximum sink current is 2mA regardless of RPx3 or I OC voltage determined by the NEC2505 optical isolator IC The maximum source current is determined by dividing the external power supply voltage by the resistor value of RPx3 The high level voltage at the I O output is equal to the external supply vol...

Page 179: ...ifications I O points configurable as inputs or outputs in groups of 8 Digital Inputs Maximum voltage 28 VDC Minimum input voltage 4 VDC Maximum input current 3 mA High Power Digital Outputs Maximum external power supply voltage 28 VDC Minimum external power supply voltage 4 VDC Maximum source current per output 500mA Maximum sink current sinking circuit inoperative Standard Digital Outputs Maximu...

Page 180: ... of an output as 0 or 1 also able to use logical conditions TI n Returns the state of 8 digital inputs as binary converted to decimal n is the bank number 2 _TI n Operand internal variable that holds the same value as that returned by TI n IN n Function that returns state of individual input bit n is number of the input from 1 to 80 J5 80 pin Connector Pin out Pin Signal Block Bit IN n OUT n Bit N...

Page 181: ...4 39 6 44 I O 5 42 1 45 I O 4 38 5 46 I O 5 43 2 47 I O 4 37 4 48 I O 5 44 3 49 I O 4 36 3 50 I O 5 45 4 51 I O 4 35 2 52 I O 5 46 5 53 I O 4 34 1 54 I O 5 47 6 55 I O 4 33 0 56 I O 5 48 7 57 I O 3 32 7 58 GND GND 59 I O 3 31 6 60 GND GND 61 I O 3 30 5 62 GND GND 63 I O 3 29 4 64 GND GND 65 I O 3 28 3 66 GND GND 67 I O 3 27 2 68 GND GND 172 i Appendices DMC 14x5 6 Artisan Technology Group Quality ...

Page 182: ...7 7 5 I O78 I O bit 78 7 8 8 I O77 I O bit 77 7 9 7 I O76 I O bit 76 7 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 7 14 14 I OC73 80 I O common for I O 73 80 7 15 13 I O72 I O bit 72 6 16 16 I O71 I O bit 71 6 17 15 I O70 I O bit 70 6 18 18 I O69 I O bit 69 6 19 17 I O68 I O bit 68 6 20 20 I O67 I O bit 67 6 21 19 I O66 I O bit...

Page 183: ...8 3 46 46 I O47 I O bit 47 3 47 45 I O46 I O bit 46 3 48 48 I O45 I O bit 45 3 49 47 I O44 I O bit 44 3 50 50 I O43 I O bit 43 3 51 49 I O42 I O bit 42 3 52 52 I O41 I O bit 41 3 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 56 I O39 I O bit 39 2 57 55 I O38 I O bit 38 2 58 58 I O37 I O bit 37 2 59 57 I O36 I O bit 36 2 60 60 I O3...

Page 184: ... O bit 22 0 88 88 I O21 I O bit 21 0 89 87 I O20 I O bit 20 0 90 90 I O19 I O bit 19 0 91 89 I O18 I O bit 18 0 92 92 I O17 I O bit 17 0 93 91 OUTC17 24 Out common for I O 17 24 0 94 94 I OC17 24 I O common for I O 17 24 0 95 93 OUTC17 24 Out common for I O 17 24 0 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 PWROUT22 Power outp...

Page 185: ...AMP 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 43 37 7 7 44 GND 8 8 45 38 9 9 46 GND 10 10 47 39 11 11 48 GND 12 12 49 5V 13 13 50 GND 14 14 15 15 16 16 17 17 18 GND 19 19 20 GND 21 21 22 GND 23 23 24 GND 25 25 26 GND 27 27 28 GND 29 29 30 GND 31 31 32 GND 33 32 34 GND 35 33 36 GND 37 34 176 i Appendices DMC 14x5 6 Artisan Technology Group Quality Instru...

Page 186: ...9 20 GND 21 61 22 GND 23 63 24 GND 25 65 26 GND 27 67 28 GND 29 69 30 GND 31 71 32 GND 33 72 34 GND 35 73 36 GND 37 74 38 GND 39 75 40 GND 41 76 42 GND 43 77 44 GND 45 78 46 GND 47 79 48 GND 49 5V 50 GND DMC 14x5 6 Appendices i 177 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 187: ... shrouded headers w center key JC8 pins 1 50 of J9 JC6 pins 51 100 of J9 JC6 JC8 1 8 D 4 places 1 1 4 9 16 1 2 1 8 4 1 2 1 8 1 8 15 16 Mounting bracket for attaching inside PC J9 CB 50 80 Outline Figure A 12 CB 50 80 Outline 178 i Appendices DMC 14x5 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 188: ... Y axes Vx and Vy Vs Vx Vy 2 2 The vector distance is the integral of Vs or the total distance traveled along the path To illustrate this further suppose that a string was placed along the path in the X Y plane The length of that string represents the distance traveled by the vector motion The vector velocity is specified independently of the path to allow continuous motion The path is specified a...

Page 189: ... 90 VP 20000 20000 10000 20000 20000 10000 Y C D B A X Figure A 14 X Y Motion Path The first line describes the straight line vector segment between points A and B The next segment is a circular arc which starts at an angle of 180 and traverses 90 Finally the third line describes the linear segment between points C and D Note that the total length of the motion consists of the segments A B Linear ...

Page 190: ...A 15 0 05 0 357 10000 Velocity time s 0 407 Ta Ta Ts Figure A 15 Vector Velocity Profile The acceleration time Ta is given by T VS VA s a 100000 2000000 0 05 The slew time Ts is given by T D VS T s s a 35708 100000 0 05 0 307 The total motion time Tt is given by T D VS T s t a 0 407 The velocities along the X and Y axes are such that the direction of motion follows the specified path yet the vecto...

Page 191: ...axis Therefore Vy Vs and Vx 0 Between the points B and C the velocities vary gradually and finally between the points C and D the motion is in the X direction A B D a b c time C Vector Velocity X Velocity Y Velocity Figure A 16 Vector and Axes Velocities 182 i Appendices DMC 14x5 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 192: ...ADE EASY WHO SHOULD ATTEND Those who need a basic introduction or refresher on how to successfully implement servo motion control systems TIME 4 hours 8 30 am 12 30 pm ADVANCED MOTION CONTROL WHO SHOULD ATTEND Those who consider themselves a servo specialist and require an in depth knowledge of motion control systems to ensure outstanding controller performance Also prior completion of Motion Cont...

Page 193: ... Rocklin California 95765 Phone 916 626 0101 Fax 916 626 0102 Internet address support galilmc com URL www galilmc com FTP galilmc com 184 i Appendices DMC 14x5 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 194: ...d insurance prepaid We will reship at our expense only to destinations in the United States Any defect in materials or workmanship determined by Galil Motion Control to be attributable to customer alteration modification negligence or misuse is not covered by this warranty EXCEPT AS SET FORTH ABOVE GALIL MOTION CONTROL WILL MAKE NO WARRANTIES EITHER EXPRESSED OR IMPLIED WITH RESPECT TO SUCH PRODUC...

Page 195: ...WSDK 152 Serial Ports 12 Arithmetic Functions 91 103 111 113 123 Compensation Array 3 56 65 77 80 91 96 103 111 114 22 123 152 Backlash 56 Conditional jump 91 98 101 4 125 Automatic Subroutine 106 107 Configuring CMDERR 107 109 Encoders 84 LIMSWI 33 106 7 132 34 Contour Mode 55 56 75 80 MCTIME 99 107 108 Control Filter POSERR 106 8 132 33 Damping 27 136 140 Auxiliary Encoder 80 85 Gain 119 Dual En...

Page 196: ... Proportional 27 140 Gear Ratio 69 Ecam 71 72 74 Gearing 55 56 68 70 152 Electronic Cam 55 56 70 73 Echo 46 47 Edit Mode 97 107 H Editor 30 91 92 Halt 61 95 99 101 2 124 EEPROM 3 Abort 33 34 60 66 131 133 151 Electronic Cam 55 56 70 73 Off On Error 19 34 35 131 133 Electronic Gearing 55 56 68 70 Stop Motion 60 66 108 134 Ellipse Scale 67 Hardware 33 123 131 Enable Address 115 17 184 Amplifer Enabl...

Page 197: ...leration 101 2 118 123 181 Interrogation 27 53 54 62 68 119 120 153 Begin Motion 93 96 100 101 107 8 117 19 123 125 Interrupt 93 101 106 8 125 157 Invert 136 Circular 65 67 116 127 Home Inputs 87 J Slew Speed 157 Multitasking 95 Jog 59 69 75 100 101 107 9 133 Halt 61 95 99 101 2 124 Jumpers 39 O K OE Keyword 103 111 113 114 15 Off On Error 131 133 TIME 114 15 Off On Error 19 34 35 46 131 133 Offse...

Page 198: ... 106 107 PWM 4 155 56 155 56 155 56 155 56 Synchronization 5 70 Syntax 49 50 Q Quadrature 5 123 126 132 143 156 T Quit Abort 33 34 60 66 131 133 151 Tangent 56 Stop Motion 60 66 108 134 Teach 80 Data Capture 116 17 Latch 53 R Play Back 56 117 Record 56 76 80 115 117 Record 56 76 80 115 117 Latch 53 Tell Code 53 Teach 80 Tell Error 53 Register 114 Position Error 107 8 114 116 17 Reset 33 36 47 102 ...

Page 199: ...Scale 67 WSDK 152 Feedrate 62 66 67 101 127 28 Tangent 56 Vector Speed 60 66 67 101 128 U Upload 152 W User Unit 123 Wire Cutter 126 WSDK 152 V Variable 32 Z Internal 103 113 114 Vector Acceleration 62 63 67 128 Zero Stack 109 125 Vector Deceleration 62 63 67 190 i Index DMC 14x5 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 200: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

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