Galil Motion Control DMC-18 2 Series, User Manual

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iv ● DMC-18x2
Automatic Subroutines for Monitoring Conditions.................................................................................................124
M
ATHEMATICAL AND
F
UNCTIONAL
E
XPRESSIONS
.......................................................................................................127
Mathematical Operators ..........................................................................................................................................127
Bit-Wise Operators .................................................................................................................................................128
Functions.................................................................................................................................................................129
V
ARIABLES
...................................................................................................................................................................130
Programmable Variables.........................................................................................................................................130
O
PERANDS
....................................................................................................................................................................131
Special Operands (Keywords).................................................................................................................................131
A
RRAYS
........................................................................................................................................................................132
Defining Arrays.......................................................................................................................................................132
Assignment of Array Entries...................................................................................................................................132
Automatic Data Capture into Arrays.......................................................................................................................133
Deallocating Array Space .......................................................................................................................................135
I
NPUT OF
D
ATA
(N
UMERIC AND
S
TRING
)......................................................................................................................135
Input of Data ...........................................................................................................................................................135
O
UTPUT OF
D
ATA
(N
UMERIC AND
S
TRING
) ..................................................................................................................136
Sending Messages ...................................................................................................................................................136
Displaying Variables and Arrays ............................................................................................................................137
Interrogation Commands.........................................................................................................................................137
Formatting Variables and Array Elements..............................................................................................................139
Fast Firmware Mode ...............................................................................................................................................140
Converting to User Units ........................................................................................................................................140
P
ROGRAMMABLE
H
ARDWARE
I/O ................................................................................................................................141
Digital Outputs........................................................................................................................................................141
Digital Inputs ..........................................................................................................................................................142
Input Interrupt Function ..........................................................................................................................................143
E
XAMPLE
A
PPLICATIONS
..............................................................................................................................................143
Wire Cutter..............................................................................................................................................................143
X-Y Table Controller ..............................................................................................................................................144
CHAPTER 8 HARDWARE & SOFTWARE PROTECTION...................................................................................149
I
NTRODUCTION
.............................................................................................................................................................149
H
ARDWARE
P
ROTECTION
.............................................................................................................................................149
Output Protection Lines ..........................................................................................................................................149
Input Protection Lines .............................................................................................................................................150
S
OFTWARE
P
ROTECTION
...............................................................................................................................................150
Programmable Position Limits................................................................................................................................150
Off-On-Error ...........................................................................................................................................................151
Automatic Error Routine.........................................................................................................................................151
Limit Switch Routine ..............................................................................................................................................152
CHAPTER 9 TROUBLESHOOTING..........................................................................................................................153
O
VERVIEW
....................................................................................................................................................................153
I
NSTALLATION
..............................................................................................................................................................153
C
OMMUNICATION
.........................................................................................................................................................153
S
TABILITY
....................................................................................................................................................................154
O
PERATION
...................................................................................................................................................................154
CHAPTER 10 THEORY OF OPERATION................................................................................................................155
O
VERVIEW
....................................................................................................................................................................155
O
PERATION OF
C
LOSED
-L
OOP
S
YSTEMS
......................................................................................................................157
S
YSTEM
M
ODELING
......................................................................................................................................................158
Motor-Amplifier......................................................................................................................................................159
S
YSTEM
A
NALYSIS
.......................................................................................................................................................163
S
YSTEM
D
ESIGN AND
C
OMPENSATION
.........................................................................................................................165
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