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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 6.21 shows the velocity profile from the homing sequence of the example program above.  For this profile, 
the switch is normally closed and CN,-1.

Figure 6.21: 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

FE

Find edge command

BG

Begin motion

AM

After complete

MG “FOUND HOME”

Send message

DP 0

Define position as 0

EN

End

Chapter 6 Programming Motion ▫ 115

DMC-40x0 User Manual

_HMX=1

_HMX=0

HOME

SWITCH

MOTION

BEGINS IN

FORWARD

DIRECTION

MOTION

CHANGES

DIRECTION

MOTION IN
FORWARD

DIRECTION

TOWARD

INDEX

INDEX PULSES

POSITION

POSITION

POSITION

POSITION

POSITION

VELOCITY

VELOCITY

VELOCITY

Summary of Contents for DMC-4040

Page 1: ...USER MANUAL DMC 40x0 Manual Rev 1 0w Galil Motion Control Inc 270 Technology Way Rocklin California 916 626 0101 support galil com galil com 01 2017...

Page 2: ...tor use Attention Pertains to stepper motor use 4080 Attention Pertains to controllers with more than 4 axes Please note that many examples are written for the DMC 4040 four axes controller or the DMC...

Page 3: ...xternal Amplifier Interface 43 Chapter 4 Software Tools and Communication 50 Introduction 50 Controller Response to Commands 50 Unsolicited Messages Generated by Controller 51 Serial Communication Por...

Page 4: ...0 Chapter 8 Hardware Software Protection 162 Introduction 162 Hardware Protection 162 Software Protection 163 Chapter 9 Troubleshooting 167 Overview 167 Chapter 10 Theory of Operation 170 Overview 170...

Page 5: ...ng and Protection 245 A7 SDM 440x0 D4040 D4020 247 Description 247 Electrical Specifications 248 Operation 249 A8 SDM 44140 D4140 251 Description 251 Electrical Specifications 252 Operation 253 Error...

Page 6: ...applications involving jogging point to point positioning vector positioning electronic gearing multiple move sequences contouring and a PVT Mode The controller eliminates jerk by programmable accele...

Page 7: ...r type for axis 5 8 as shown in Figure 1 2 Each module has it s own set of part numbers and configuration options that make the full part number of a DMC 40x0 unit The DMC has the part number format D...

Page 8: ...n outs of the DMC 40x0 Use Table 1 2 and Table 1 3 below to determine your CMB and ICM part numbers then refer to the appropriate documentation for your pin outs before connecting any hardware DMC DMC...

Page 9: ...utputs STEP Differential STEP DIR outputs Table 1 3 Interconnect module ICM IXXX Y options AMP SDM DXXXX Y Options Option Type Options Brief Description Documentation XXXX 3020 3040 500 W trapazoidal...

Page 10: ...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 with a standard update rate of 1 millis...

Page 11: ...at the maximum required speed Stepper Motor Amplifiers For step motors the amplifiers should accept step and direction signals Galil Internal Amplifiers and Drivers With the DMC 40x0 Galil offers a v...

Page 12: ...r operation the controller generates a step and direction signal Communication The communication interface with the DMC 40x0 consists of high speed RS 232 and Ethernet The Ethernet is 10 100Bt and the...

Page 13: ...Other motors and devices such as Ultrasonic Ceramic motors and voice coils can be controlled with the DMC 40x0 Amplifier Driver For each axis the power amplifier converts a 10 volt signal from the co...

Page 14: ...els up to 12 Volts are acceptable If using differential signals 12 Volts can be input directly to the DMC 40x0 Single ended 12 Volt signals require a bias voltage input to the complementary inputs The...

Page 15: ...modules are installed For layouts of systems with ICM 42200 s I200 installed please contact Galil Overall dimensions and footprint are identical the only differences are in connector type and locatio...

Page 16: ...DMC 4080 Figure 2 2 Outline of the of the DMC 40x0 5 8 axes model Chapter 2 Getting Started 11 DMC 40x0 User Manual...

Page 17: ...information regarding connector type and part numbers see Power Connector Part Numbers pg 192 The power specifications for the controller are provided in Power Requirements pg 183 and the power speci...

Page 18: ...Dimensions DMC 4040 Figure 2 5 Dimensions in inches of DMC 40x0 where x 1 2 3 or 4 axis Chapter 2 Getting Started 13 DMC 40x0 User Manual...

Page 19: ...DMC 4080 Figure 2 6 Dimensions in inches of DMC 40x0 where x 5 6 7 or 8 axis Chapter 2 Getting Started 14 DMC 40x0 User Manual...

Page 20: ...d controller 4 Brush or Brushless Servo motors with Optical Encoders or stepper motors a Cables for connecting to the DMC 40x0 s integrated ICM s 5 PC Personal Computer RS232 or Ethernet for DMC 40x0...

Page 21: ...all not be liable or responsible for any incidental or consequential damages All wiring procedures and suggestions mentioned in the following sections should be done with the controller in a powered o...

Page 22: ...troller and the host device The most recent copy of Galil s development software can be found here http www galilmc com support software downloads php Step 4 Power the Controller WARNING Dangerous vol...

Page 23: ...wer connector s to from controller NOTE Any emergency stop or disconnect switches should be installed on the AC input to the DC power supply Relays and or other switches should not be installed on the...

Page 24: ...0 I200 with the BiSS option Encoder Sin Cos 1 Vpk pk AF ICM 42100 I200 Encoder None2 Other Contact Galil at 1 800 377 6329 Table 2 6 Configuration commands ICM Part numbers required for a given feedba...

Page 25: ...wiring and settings and retest starting at Step 1 9 Perform Step 5 8 again instead moving a physical distance in the opposite direction If the physical distance correctly translates to the expected am...

Page 26: ...naway Motors A runaway motor is a condition for which the motor is rotating uncontrollably near it s maximum speed in a single direction This is often caused by one of two conditions 1 The amplifier e...

Page 27: ...e settings are accidentally over ridden causing a runaway See the Command Reference for more details Step D Other Safety Features This section only provides a brief list of safety features that the DM...

Page 28: ...optional for brushless motors A6 AMP 43740 D3740 pg 241 Sinusoidal Halls optional for brushless motors A7 SDM 440x0 D4040 D4020 pg 247 N A stepper No A8 SDM 44140 D4140 pg 251 N A stepper No Table 2 9...

Page 29: ...sensor algorithms sinusoidal commutation no Halls required The following sections provide a brief description and guide on how to perform either commutation method including wiring and configuration...

Page 30: ...leads whichever method is being used Remember chose one or the other not both Keep track of what cable combinations have been tested labeling the phases maybe useful in the example table in Table 2 11...

Page 31: ...Step 6 Connecting Encoder Feedback pg 19 10 Issue MO A and set OFA 0 Set small and appropriate values of KP A and KD A and verify the motor holds position once a SH A is issued The motor is now under...

Page 32: ...not discussed here See the Command Reference for details Method PRO CON BZ Can be used with vertical or unbalanced loads Less sensitive to noise than BX Does not require halls Quick first time set up...

Page 33: ...and B and re perform steps 1 4 b If the initialization fails and TC 1 returns error code 112 BZ timeout try increasing the hold times with the BZ o p command o defaults to 200 msec while p defaults to...

Page 34: ...wly JG 1000 BG A If the motor rotates 360 degrees without cogging running away or stalling skip to step 7 a If the motor stalls cogs or runs away issue an MO and try initialization using BZ If the mot...

Page 35: ...r axes are needed to commutate a single external sinusoidal amplifier See the BA command for what two motor command lines to use in this case After the two 10 V motor command lines are wired the user...

Page 36: ...r command line 10V analog output The motor and the amplifier may be configured in torque or velocity mode In the torque mode the amplifier gain should be such that a 10V signal generates the maximum r...

Page 37: ...mmands to move the motor see Chapter 6 Programming Motion pg 71 for details Step 10 Tune the Servo System Adjusting the tuning parameters is required when using servo motors A given set of default PID...

Page 38: ...detail When a forward or reverse limit switch is activated the current application program that is running in thread zero will be interrupted and the controller will automatically jump to the LIMSWI s...

Page 39: ...initiated by the sequence of commands HM A BG A 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 transiti...

Page 40: ...d during a controller reset Uncommitted Digital Inputs The DMC 40x0 has 8 optoisolated inputs These inputs can be read individually using the function IN x where x specifies the input number 1 thru 8...

Page 41: ...hows the input banks for 5 8 axis controllers Common Signal Common Signal Location Powers Inputs Labeled INCOM Bank 0 I O A D D Sub Connector DI 8 1 ABRT RST ELO LSCOM Bank 0 I O A D D Sub Connector F...

Page 42: ...rical specifications Using the controller reference power completely bypasses optoisolation and is not recommended for most applications Banks of inputs can be used as either active high or low Connec...

Page 43: ...Chapter 3 Connecting Hardware 38 DMC 40x0 User Manual Figure 3 3 Limit Switch Inputs for Axes A D Figure 3 4 Limit Switch Inputs for Axes E H Figure 3 5 ELO Abort and Reset Inputs...

Page 44: ...rcing option referred to as high power sourcing HSRC is capable of sourcing up to 500mA per output and up to 3A per bank The voltage range for the outputs is 12 24 VDC These outputs are capable of dri...

Page 45: ...e Appendix for more information Electrical Specifications Maximum Voltage 12 VDC Minimum Voltage 12 VDC Maximum Frequency Quadrature 15 MHz inputs are internally pulled up to 5V through a 4 7 k resist...

Page 46: ...rs on the I O E H D sub connector Output compare is controlled by the position of any of the main encoder inputs on the controller The output can be programmed to produce either a brief active low pul...

Page 47: ...o a differential mode where analog inputs 2 4 6 and 8 can be set to the negative differential inputs for analog inputs 1 3 5 and 7 respectively See the AQ command in the command reference for more inf...

Page 48: ...10V and is output on the motor command line MCMn where n is A H This signal along with GND provides the input to the motor amplifiers The amplifiers must be sized to drive the motors and load For bes...

Page 49: ...Enable HAEN Low Amp Enable LAEN 5V logic 12V logic external voltage supplies up to 24V sinking or sourcing Tables 3 19 and 3 20 found below illustrate the settings for jumpers resistor packs and the...

Page 50: ...P2 square pin next to RP2 label is 5V 5V HAEN GND AECOM1 5V AECOM2 Dot on R pack opposite RP2 label 5V LAEN GND AECOM1 5V AECOM2 Dot on R pack next to RP2 label 12V HAEN GND AECOM1 12V AECOM2 Dot on R...

Page 51: ...h axis is individually configurable through jumper settings The user can choose between High Amp Enable HAEN Low Amp Enable LAEN 5V logic 12V logic external voltage supplies up to 24V sinking or sourc...

Page 52: ...Chapter 3 Connecting Hardware 47 DMC 40x0 User Manual...

Page 53: ...Chapter 3 Connecting Hardware 48 DMC 40x0 User Manual...

Page 54: ...Chapter 3 Connecting Hardware 49 DMC 40x0 User Manual...

Page 55: ...n to the software tools and communication techniques used by Galil At the application level GalilTools is the basic programs that the majority of users will need to communicate with the controller to...

Page 56: ...nd CW which can affect the format of unsolicited messages This command is used by Galil Software to differentiate response from the command line and unsolicited messages The command CW1 causes the con...

Page 57: ...If you are connecting the RS 232 auxiliary port to a terminal or any device which is a DATASET it is necessary to use a connector adapter which changes a dataset to a dataterm This cable is also know...

Page 58: ...ore sending the next packet Addressing There are three levels of addresses that define Ethernet devices The first is the MAC or hardware address This is a unique and permanent 6 byte number No other d...

Page 59: ...An Ethernet handle is a communication resource within a device The DMC 40x0 can have a maximum of 8 Ethernet handles open at any time When using TCP IP each master or slave uses an individual Ethernet...

Page 60: ...st computer through any application that can send TCP IP or UDP IP packets A good example of this is Telnet a utility that comes with most Windows systems Modbus An additional protocol layer is availa...

Page 61: ...ed with the following I O Number HandleNum 1000 Module 1 4 BitNum 1 Where HandleNum is the handle number from 1 A to 8 H Module is the position of the module in the rack from 1 to 16 BitNum is the I O...

Page 62: ...MBB 4 40006 4 myanalog Results Array elements 0 and 1 will make up the 32 bit floating point value for analog input 3 on the PLC and array elements 2 and 3 will combine for the value of analog input 4...

Page 63: ...rved 06 UB general input block 0 inputs 1 8 40 41 SW Reserved 07 UB general input block 1 inputs 9 16 42 UB Ethernet Handle A Status 08 UB general input block 2 inputs 17 24 43 UB Ethernet Handle B St...

Page 64: ...t of coordinated move for T plane 25 UB general output block 9 outputs 73 80 74 75 UW Coordinated move status for T plane see bit field map below 26 27 SW Reserved 76 79 SL distance traveled in coordi...

Page 65: ...tus 292 UB F Hall Input Status 149 UB Reserved 293 UB Reserved 150 153 SL B User defined variable ZB 294 297 SL F User defined variable ZF 154 155 UW C axis status see bit field map below 298 299 UW G...

Page 66: ...efined variable ZD 366 369 SL H User defined variable ZH 1 Will be either a Signed Word or Unsigned Word depending upon AQ setting See AQ in the Command Reference for more information Chapter 4 Softwa...

Page 67: ...ng Thread 2 Running Thread 1 Running Thread 0 Running Coordinated Motion Status 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...

Page 68: ...Axis A D Over Voltage Axis A D Over Current Axis A D Notes Regarding Velocity and Torque Information The velocity information that is returned in the data record is 64 times larger than the value ret...

Page 69: ...and No Scope Watch or Viewer support Contact Galil for other OS options The GalilSuitecontains the following tools Tool Description Launcher Launcher Tool with the ability to create custom profiles to...

Page 70: ...erface which extends compatibility to Windows programming languages e g VB C etc A Galil object usually referred to in sample code as g represents a single connection to a Galil controller For Etherne...

Page 71: ...compatibility on Windows a COM Component Object Model class built on top of the C library is also provided with Windows releases This COM wrapper can be used in any language and IDE supporting COM Vis...

Page 72: ...set and syntax A summary of commands as well as a complete listing of all DMC 40x0 instructions is included in the Command Reference Command Syntax ASCII DMC 40x0 instructions are represented by two A...

Page 73: ...appropriate letter A B C or D If no parameters follow the instruction action will take place on all axes Here are some examples of syntax for requesting action BG A Begin A only BG B Begin B only BG A...

Page 74: ...ion Format PF Variable Format VF and Leading Zeros LZ command See Chapter 7 Application Programming and the Command Reference Summary of Interrogation Commands RP Report Command Position RL Report Lat...

Page 75: ...operands begin with the underscore character _ For example the value of the current position on the A axis can be assigned to the variable V with the command V _TPA The Command Reference denotes all c...

Page 76: ...control where no final endpoint is prescribed Motion stops on Stop command Independent Jogging JG AC DC ST Absolute positioning mode where absolute position targets may be sent to the controller whil...

Page 77: ...n command may be specified The Begin BG command can be issued for all axes either simultaneously or independently XYZ or W axis specifiers are required to select the axes for motion When no axes are s...

Page 78: ...red Motion Profiles X Axis 500 counts Position 20000 count sec Speed 500000 counts sec2 Acceleration Y Axis 1000 counts Position 10000 count sec Speed 500000 counts sec2 Acceleration Z Axis 100 counts...

Page 79: ...ntroller will make a accelerated or decelerated change to the new speed An instant change to the motor position can be made with the use of the IP command Upon receiving this command the controller co...

Page 80: ...this mode is trapezoidal There is not a set limit governing the rate at which the end point may be changed however at the standard TM rate the controller updates the position information at the rate o...

Page 81: ...required in this mode the SP AC and DC commands determine the shape of the trapezoidal velocity profile that the controller will use Example Motion 1 The host program determines that the first target...

Page 82: ...n to position 2000 EN Example Motion 3 In this motion the host program commands the controller to begin motion towards position 5000 changes the target to 2000 and then changes it again to 8000 Figure...

Page 83: ...at holds up program execution until an absolute position has been reached DC n n n n n n n n Deceleration settings for the specified axes MF n n n n n n n n Trippoint to hold up program execution unti...

Page 84: ...y 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...

Page 85: ...gment Note that the function m may start the deceleration within the given segment or during previous segments as needed to meet the final speed requirement under the given values of VA and VD Note ho...

Page 86: ...ents in DMC 40x0 sequence buffer Zero means buffer full 511 means buffer empty _VPm Return the absolute coordinate of the last data point along the trajectory m X Y Z or W or A B C D E F G or H To ill...

Page 87: ...unter LOOP2 JP LOOP2 _LM 0 If sequence buffer full wait JS C COUNT 500 Begin motion on 500th segment LI VX COUNT VY COUNT Specify linear segment COUNT COUNT 1 Increment array counter JP LOOP2 COUNT 75...

Page 88: ...nated motion sequences The command VP x y specifies the coordinates of the end points of the vector movement with respect to the starting point Non sequential axis do not require comma delimitation Th...

Page 89: ...ure for feed rate override VR does not ratio the accelerations For example VR 0 5 results in the specification VS 2000 to be divided by two Compensating for Differences in Encoder Resolution By defaul...

Page 90: ...for the planar motion where m and n represent the planar axes and p is the tangent axis VP m n Return coordinate of last point where m X Y Z or W CR r n m Specifies arc segment where r is the radius...

Page 91: ...points C and D The value of _AV is 4000 1500 2000 10 712 The value of _CS is 2 _VPX _VPY contain the coordinates of the point C Figure 6 7 The Required Path Vector Mode Mathematical Analysis The term...

Page 92: ...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 10000 units B C Circular R 2 360 15708 C D Linear 10000 Total 357...

Page 93: ...the X and Y axes for the path shown in Figure A 8 are given in Figure A 10 Figure A 10 shows the vector velocity It also indicates the position point along the path starting at A and ending at D Betw...

Page 94: ...mple if the X and Y motor form a circular motion the Z axis may move in proportion to the vector move Similarly if X Y and Z perform a linear interpolation move W can be geared to the vector move Elec...

Page 95: ...ng example will demonstrate how the command is used Example Electronic Gearing Over a Specified Interval Objective Run two geared motors at speeds of 1 132 and 045 times the speed of an external maste...

Page 96: ...sables electronic gearing for specified axis GM a b c d e f g h X 1 sets gantry mode 0 disables gantry mode MR x y z w Trippoint for reverse motion past specified value Only one field may be used MF x...

Page 97: ...tion BGY Start correction Electronic Cam The electronic cam is a motion control mode which enables the periodic synchronization of several axes of motion Up to 7 axes can be slaved to one master axis...

Page 98: ...counts and n is the starting point For the given example we can specify the table by specifying the position at the master points of 0 2000 4000 and 6000 We can specify that by EP 2000 0 Step 4 Speci...

Page 99: ...plies 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...

Page 100: ...ges ECAM EM x y z w Specifies the change in position for each axis of the CAM cycle EP m n Defines CAM table entry size and offset EQ m n Disengages ECAM at specified position ET n Defines the ECAM ta...

Page 101: ...AM table ET 10 0 0 Starting point for next cycle EB 1 Enable ECAM mode JGZ 4000 Set Z to jog at 4000 EG 0 0 Engage both X and Y when Master 0 BGZ Begin jog on Z axis LOOP JP LOOP V1 0 Loop until the v...

Page 102: ...segments Exiting PVT Mode To exit PVT mode the user must send the segment command PVn 0 0 0 This will exit the mode once the segment is reached in the buffer To avoid an abrupt stop the user should sl...

Page 103: ...r wants to start from zero velocity accelerate to a maximum velocity of 1000 counts second in 1 second and then back down to 0 counts second within an additional second The velocity profile would be d...

Page 104: ...rdinated Move Many applications require moving two or more axes in a coordinated move yet still require smooth motion at the same time These applications are ideal candidates for PVT mode In this exam...

Page 105: ...y The BT command could have been issued at the end of all the PVT points in this example The resultant X vs Y position graph is shown in Figure 6 17 with the specified PVT points enlarged Contour Mode...

Page 106: ...nts include the position 12 at 1 msec position 24 at 2 msec etc The programmed commands to specify the above example are A CMX Specifies X axis for contour mode CD 48 2 Specifies first position increm...

Page 107: ...or as a 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...

Page 108: ...POS C Compute the difference and store C C 1 JP C C 15 RUN Program to run motor CMX Contour Mode DT3 8 millisecond intervals C 0 E CD DIF C Contour Distance is in DIF C C 1 JP E C 15 CD 0 0 End contou...

Page 109: ...ed as the M and N axes These axes have no encoder and no DAC However they can be commanded by the commands AC DC JG SP PR PA BG IT GA VM VP CR ST DP RP The main use of the virtual axes is to serve as...

Page 110: ...when operating in full step or half step operation KS will cause the step pulses to be delayed in accordance with the time constant specified When operating with stepper motors you will always have so...

Page 111: ...ler Stepper Smoothing Filter Adds a Delay Output Buffer Step Count Register TD Reference Position RP Output To Stepper Driver Motion Complete Trippoint When used in stepper mode the MC command will ho...

Page 112: ...step drives SPM mode is configured executed and managed with seven commands This mode also utilizes the POSERR automatic subroutine allowing for automatic user defined handling of an error event Inte...

Page 113: ...step motor and 4000 count rev encoder Note the necessary difference is with the YA command Full Stepping Drive X axis SETUP OE1 Set the profiler to stop axis upon error KS16 Set step smoothing MT 2 Mo...

Page 114: ...tion SP 512 Set the speed PR 1000 Prepare mode of motion BG A Begin motion EN End of program subroutine REM When error occurs the axis will stop due to OE1 In REM POSERR query the status YS and the er...

Page 115: ...e JP END ABS _QSX 10 End correction if error is within defined tolerance YRX _QSX Correction move MCX WT100 Stabilize JP LOOP Keep correcting until error is within tolerance END End CORRECT subroutine...

Page 116: ...oop 2 Sampled dual loop To illustrate the problem consider a situation in which the coupling between the motor and the load has a backlash To compensate for the backlash position encoders are mounted...

Page 117: ...of the linear encoder and performs position corrections This is done by the following program INSTRUCTION INTERPRETATION DUALOOP Label CE 0 Configure encoder DE0 Set initial value PR 40000 Main move...

Page 118: ...thing BG X Begin Figure 6 20 Trapezoidal velocity and smooth velocity profiles Using the KS Command Step Motor Smoothing When operating with step motors motion smoothing can be accomplished with the c...

Page 119: ...ut 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...

Page 120: ...tch is normally closed and CN 1 Figure 6 21 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 FE...

Page 121: ...Table 6 21 or on the index pulse for that axis The position can be captured for either the main or auxiliary encoder within 25 microseconds of an high to low transition Input 1 A axis latch Input 9 E...

Page 122: ...l aspects of creating applications programs The program memory size is 80 characters x 4000 lines Program Format A DMC 40x0 program consists of DMC instructions combined to solve a machine control app...

Page 123: ...ere is an EEPROM error out of reset CMDERR Label for incorrect command subroutine COMINT Label for Communications Interrupt See CC Command ININT Label for Input Interrupt subroutine See II Command LIM...

Page 124: ...t interrupts are implemented for limit switches position errors or command errors the subroutines are executed as thread 0 To begin execution of the various programs use the following instruction XQ A...

Page 125: ...ot delay program execution Error Code Command When there is a program error the DMC 40x0 halts the program execution at the point where the error occurs To display the last line number of program exec...

Page 126: ...e 3 TC1 Tell Error Code 7 Command not valid while running Command not valid while running Change the BGX line to BGX AMX and re download the program XQ A Execute A Program Flow Commands The DMC 40x0 p...

Page 127: ...gram execution until after the motion profile has been completed and the encoder has entered or passed the specified position TW x y z w sets timeout to declare an error if not in position If timeout...

Page 128: ...s motion Note The AI command actually halts execution of the program until the input occurs If you do not want to halt the program sequences you can use the Input Interrupt function II or use a condit...

Page 129: ...or AT n The second field of both AT and WT can be used to have the program execution be held up for n number of samples rather than milliseconds For example WT 400 or WT 400 0 will hold up program ex...

Page 130: ...TION less than greater than equal to less than or equal to greater than or equal to not equal Conditional Statements The conditional statement is satisfied if it evaluates to any value other than zero...

Page 131: ...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 cou...

Page 132: ...OOP Endless loop EN End of main program ININT Input Interrupt Subroutine IF IN 1 0 IF conditional statement based on input 1 IF IN 2 0 2nd IF conditional statement executed if 1st IF conditional true...

Page 133: ...MC 40x0 has a special label for automatic program execution A program which has been saved into the controller s non volatile memory can be automatically executed upon power up or reset by beginning t...

Page 134: ...RED Print Message RE Return to main program Download Program XQ LOOP Execute Dummy Program JG 5000 Jog BGX Begin Motion Now when a forward limit switch occurs on the X axis the LIMSWI subroutine will...

Page 135: ...N End program The above program prompts the operator to enter a jog speed If the operator enters a number out of range greater than 8 million the CMDERR routine will be executed prompting the operator...

Page 136: ...speed of A axis motion LOOP Label for Loop PAA 10000 Move to absolute position 10000 BGA Begin Motion on A axis AMA Wait for motion to be complete PAA 0 Move to absolute position 0 BGA Begin Motion o...

Page 137: ...TA0 mask _TA2 _TA3 JP AMPERR er0 REM Notify user amperr has cleared LU0 MG AMPERR L1 RESOLVED L2 WT3000 LU1 RE JS Subroutine Stack Variables a b c d e f g h There are 8 variables that may be passed on...

Page 138: ...am from program2 dmc 36 0000 36 0000 Example Working with Arrays Array DM speeds 8 DM other 256 JS zeroAry speeds 0 zero out all buckets in speeds JS zeroAry other 0 zero out all buckers in other EN z...

Page 139: ...Info NO axis a List info for axes h a b a 41 1000000 convert to Galil String MG b S1 Axis N MG F8 0 Position _TP h Error _TE h Torque _TT h F1 4 IF a 7 recursion exit condition EN 1 ENDIF JS AxsInfo a...

Page 140: ...rence loop NO this comment takes time to process this comment takes time to process i i 1 this comment takes time to process JP loop i 1000 MG TIME t display number of samples from initial time refere...

Page 141: ...ould be to run this code in a separate thread ex XQ plcscan 2 REM this code will set output 3 high if REM inputs 1 and 2 are high and input 3 is low REM else output 3 will be low REM if input 4 is low...

Page 142: ...rs first since they carry no error and then adding the decimal back in by dividing by a factor of 10 will allow the user to avoid any errors caused by the limitations of precision of the controller Co...

Page 143: ...G len3 S4 M Response from command MG len2 S4 E Response from command MG len1 S4 Functions FUNCTION DESCRIPTION SIN n Sine of n n in degrees with range of 32768 to 32767 and 16 bit fractional resolutio...

Page 144: ...e names are Valid Variable Names posx pos1 speedZ Invalid Variable Names RealLongName Cannot have more than 8 characters 123 Cannot begin variable name with a number speed Z Cannot have spaces in the...

Page 145: ...ost DMC commands have an equivalent operand which are designated by adding an underscore _ prior to the DMC 40x0 command The command reference indicates which commands have an associated operand Statu...

Page 146: ...ay element has a numeric range of 4 bytes of integer 231 followed by two bytes of fraction 2 147 483 647 9999 Arrays can be used to capture real time data such as position torque and analog input valu...

Page 147: ...The above example can also be executed with the automatic data capture feature described below Uploading and Downloading Arrays to On Board Memory The GalilTools software is recommended for downloadi...

Page 148: ...Analog input n X Y Z W E F G H for AN inputs 1 8 _DEX 2nd encoder position dual encoder _NOX Status bits _OP Output _RLX Latched position _RPX Commanded position _SCX Stop code _TEX Position error _TI...

Page 149: ...through the auxiliary RS 232 port In this mode the DMC 40x0 provides a buffer for receiving characters This mode may only be used when executing an applications program The Operator Data Entry Mode ma...

Page 150: ...subroutine a program must be running in thread 0 at all times for it to be enabled Example A DMC 40x0 is used to jog the A and B axis This program automatically begins upon power up and allows the use...

Page 151: ...ric and String Numerical and string data can be output from the controller using several methods The message command MG can output string and numerical data Also the controller can be commanded to ret...

Page 152: ...0 BGA ASA MG The Speed is _TVA F5 0 N MG counts sec EN When A is executed the above example will appear on the screen as The Speed is 50000 counts sec Using the MG Command to Configure Terminals The M...

Page 153: ...umeric values may be formatted in decimal or hexadecimal with a specified number of digits to the right and left of the decimal point using the PF command Position Format is specified by PF m n where...

Page 154: ...Response from Interrogation Command Formatting Variables and Array Elements The Variable Format VF command is used to format variables and array elements The VF command is specified by VF m n where m...

Page 155: ...to counts by multiplying it by the number of counts revolution Instruction Interpretation RUN Label MG ENTER OF REVOLUTIONS n1 1 Prompt for revs rev JP rev n1 1 Wait until user enters new value for n1...

Page 156: ...t port to zero OP 255 Sets all bits of output port to one 20 21 22 23 24 25 26 27 The output port is useful for setting relays or controlling external switches and events during a motion sequence Exam...

Page 157: ...this input for 2 TTL signals the first signal will be connected to AA and the second to AB AA and AB will be left unconnected To access this input use the function IN 81 and IN 82 NOTE The auxiliary...

Page 158: ...ese inputs in volts may be read using the AN n function where n is the analog input 1 through 8 The resolution of the Analog to Digital conversion is 12 bits 16 bit ADC is available as an option Analo...

Page 159: ...64 AT0 set initial time reference loop REM calculate filtered output and then way 2 samples from last REM time reference last AT 2 1 or AT0 an1 k1 AN 1 k2 an1 AT 2 1 JP loop Extended I O of the DMC 40...

Page 160: ...P may also be used to set output bits specified as blocks of data The OP command accepts 3 parameters The first parameter sets the values of the main output port of the controller Outputs 1 8 block 0...

Page 161: ...r example equals 3185 count sec 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 sh...

Page 162: ...sec 5 in sec 200 000 count sec an acceleration rate of 0 1g equals 0 1g 38 6 in s2 1 544 000 count s2 Note that the circular path has a radius of 2 or 80000 counts and the motion starts at the angle o...

Page 163: ...ut voltage Assume that a full voltage of 10 Volts must produce a motor speed of 3000 rpm with an encoder resolution of 1000 lines or 4000 count rev This speed equals 3000 rpm 50 rev sec 200000 count s...

Page 164: ...ity An alternative approach is the dual loop where we use two sensors rotary and linear The rotary sensor assures stability because the position loop is closed before the backlash whereas the linear s...

Page 165: ...DMC 40x0 may also be created and edited locally using the DMC 40x0 The DMC 40x0 provides a line Editor for entering and modifying programs The Edit mode is entered with the ED instruction Note The ED...

Page 166: ...tly being edited For example if the editor is at line number 2 and cntrl D is applied line 2 will be deleted The previous line number 3 is now renumbered as line number 2 cntrl Q The cntrl Q quits the...

Page 167: ...tion Lines Amp Enable This signal goes low when the motor off command is given when the position error exceeds the value specified by the Error Limit ER command or when off on error condition is enabl...

Page 168: ...r is moving in the forward direction the controller will automatically jump to the limit switch subroutine LIMSWI if such a routine has been written by the user The CN command can be used to change th...

Page 169: ...etting Example The A axis is setup with the following settings for encoder failure detection OA 1 OT 500 OV 3 OE 1 ER 1000 The A axis is commanded to move 300 counts but the B channel on the encoder h...

Page 170: ...POSERR label causes the statements following to be automatically executed if error on any axis exceeds the error limit specified by ER a encoder failure is detected or the abort input is triggered The...

Page 171: ...to LF if forward JP LR V2 0 Jump to LR if reverse 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 mes...

Page 172: ...e a different Amplifier Enable setting on the Interconnect Module Refer to Chapter 3 or contact Galil Unable to read main or auxiliary encoder input The encoder does not work when swapped with another...

Page 173: ...ot receiving enough voltage to power up Under Current If the power supply does not have enough current the red LED will cycle on and off along with the green power LED Position Error If any axis that...

Page 174: ...d the jumper location labeled MR or MRST on the controller and put a jumper across the two pins Power up with the jumper installed The Self Test will take slightly longer up to 5seconds After the erro...

Page 175: ...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...

Page 176: ...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 oper...

Page 177: ...m oscillates we say that the system is unstable Clearly unstable responses are bad when we want a constant level What causes the oscillations The basic cause for the instability is a combination of de...

Page 178: ...modeling in the three modes is as follows Voltage Drive The amplifier is a voltage source with a gain of Kv V V The transfer function relating the input voltage V to the motor position P is P V K K S...

Page 179: ...d V If the motor is a DC brushless motor it is driven by an amplifier that performs the commutation The combined transfer function of motor amplifier combination is the same as that of a similar brush...

Page 180: ...4N 2 count rad For example a 1000 lines rev encoder is modeled as Kf 638 DAC The DAC or D to A converter converts a 16 bit number to an analog voltage The input range of the numbers is 65536 and the...

Page 181: ...ivalent continuous filter G s is G s 16 0 144s 2000 s 250 s 250 The notch filter has two complex zeros z and and two complex poles p and The effect of the notch filter is to cancel the resonance affec...

Page 182: ...ing example Consider a position control system with the DMC 40x0 controller and the following parameters Kt 0 1 Nm A Torque constant J 2 10 4 kg m2 System moment of inertia R 2 Motor resistance Ka 4 A...

Page 183: ...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 Arg A j200 tan 1 200 51 1...

Page 184: ...Encoder line density The DAC of the DMC 40x0 outputs 10V for a 16 bit command of 32768 counts The design objective is to select the filter parameters in order to close a position loop with a crossove...

Page 185: ...equency c 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 e...

Page 186: ...he relationship between the various filters Equivalent Filter Form DMC 40x0 Digital D z K z A z Cz z 1 1 B Z B KP KD KI PL K KP KD A KD KP KD C KI B PL Digital D z KP KD 1 z 1 KI 2 1 z 1 1 PL Z PL Con...

Page 187: ...idth 45 nsec Stepper Control STPn Step TTL 0 5 volts level at 50 duty cycle 6 000 000 pulses sec maximum frequency DIRn Direction TTL 0 5 volts Input Output Opto isolated Inputs DI 16 1 Limit switches...

Page 188: ...ns can be used as uncommitted inputs and are assigned to the following bits Axis A DI81 DI82 Axis B DI83 DI84 Axis C DI85 DI86 Axis D DI87 DI88 Axis E DI89 DI90 Axis F DI91 DI92 Axis G DI93 DI94 Axis...

Page 189: ...0 005 Short Term System dependent Position Range 2147483647 counts per move Velocity Range Up to 22 000 000 counts sec servo 6 000 000 pulses sec stepper Velocity Resolution 2 counts sec Motor Comman...

Page 190: ...C012 I000 12V Power Controller with 12VDC The 12V option allows the controller to be powered with a regulated 12V supply The tolerance of the 12V input must be within 5 If ordered with an internal amp...

Page 191: ...ltage reading from DMC 40x0 Part number ordering example DMC 4010 4 20mA C012 I000 ISCNTL Isolate Controller Power The ISCNTL option isolates the power input for the controller from the power input of...

Page 192: ...I O section in Chapter 3 Part number ordering example DMC 4010 C012 5V I000 RS 422 Serial Port Serial Communication The default serial configuration for the DMC 40x0 is to have RS 232 communication on...

Page 193: ...board DIFF Differential analog motor command outputs The DIFF option configures the ICM interconnect module with differential analog motor command outputs Single ended motor command outputs are standa...

Page 194: ...JC1 and JD1 is common to LSCOM0 on J5 LSCOMn on JE1 JF1 JG1 and JH1 is common to LSCOM1 on J8 Note This option is not valid with the ICM 42100 I100 Consult Galil if the Sinusoidal encoder and SSI enco...

Page 195: ...rdering example DMC 4080 C012 I000 I000 D3040 D3040 ISAMP SR90 SR 49000 Shunt Regulator Option The SR 49000 is a shunt regulator for the DMC 40x0 controller and internal amplifiers This option is high...

Page 196: ...ed when the amplifier is enabled and disabled See the SSR Option in the AMP 43140 section of the Appendix for more information This option is only valid with the AMP 43140 Part number ordering example...

Page 197: ...tion on the connectors go to 366Hhttp www molex com On Board Connector Common Mating Connectors Crimp Part Number Type MOLEX 39 31 0060 MOLEX 39 01 2065 MOLEX 44476 3112 6 Position MOLEX 39 31 0040 MO...

Page 198: ...r R to limit the amount of current for an input These external resistors can be placed in series between the inputs and their power supply Vs To determine if an additional resistor R is required follo...

Page 199: ...tables below contain the handshake lines Standard RS 232 Specifications 25 pin Serial Connector Male D type This table describes the pinout for standard serial ports found on most computers Pin Functi...

Page 200: ...n Serial Port Cable 9 pin 9 Pin FEMALE Computer 9 Pin FEMALE Controller 2 RXD 2 TXD 3 TXD 3 RXD 5 GND 5 GND 7 RTS 7 CTS 8 CTS 8 RTS Cable to Connect Computer 25 pin to Auxiliary Serial Port Cable 9 pi...

Page 201: ...enable circuit see the ICM 42000 and ICM 42100 Amplifier Enable Circuit section in Chapter 3 For DMC 4080 refer to DMC 4080 Steps 1 and 2 section below NOTE From the default configuration the configur...

Page 202: ...5V High Amp Enable Sinking Configuration Default pg 198 5V Low Amp Enable Sinking Configuration pg 198 5V High Amp Enable Sourcing Configuration pg 199 5V Low Amp Enable Sourcing Configuration pg 199...

Page 203: ...Enable Sourcing Configuration pg 203 5V High Amp Enable Sinking Configuration Default 5V Low Amp Enable Sinking Configuration Appendices 198 DMC 40x0 User Manual Default Configuration Shipped with co...

Page 204: ...figuration Appendices 199 DMC 40x0 User Manual From Default Configuration 1 Move U4 up one pin location on socket 2 Reverse RP2 3 Change JP1 to GND 4 Change JP2 to 5V From Default Configuration 1 Move...

Page 205: ...iguration Does not require the removal of Metal 12V Low Amp Enable Sinking Configuration Appendices 200 DMC 40x0 User Manual From Default Configuration 1 Change JP1 to 12V From Default Configuration 1...

Page 206: ...figuration Appendices 201 DMC 40x0 User Manual From Default Configuration 1 Move U4 up one pin location on socket 2 Reverse RP2 3 Change JP1 to GND 4 Change JP2 to 12V From Default Configuration 1 Mov...

Page 207: ...V RP6 820 For 13V to 24V RP6 4 7 k From Default Configuration 1 Change JP1 to AEC1 2 Change JP2 to AEC2 3 If AEC1 is 13V to 24V Replace RP6 with 4 7K Resistor Pack AEC1 V AEC2 V For 5V to 12V RP6 820...

Page 208: ...2V RP6 820 For 13V to 24V RP6 4 7 k From Default Configuration 1 Move U4 up one pin location on socket 2 Change JP1 to AEC1 3 Change JP2 to AEC2 4 If AEC2 is 13V to 24V Replace RP6 with 4 7K Resistor...

Page 209: ...4 Replace ICM Step 5 Replace Cover Notes 1 Cover Installation A Install Jack Screws 20 Places B Install 6 32x3 16 Button Head Cover Screws 4 Places DMC 4080 Steps 4 and 5 Step 4 Replace ICM s Appendic...

Page 210: ...Step 5 Replace Cover Notes 1 Cover Installation A Install Jack Screws 34 Places B Install 6 32x3 16 Button Head Cover Screws 4 Places Appendices 205 DMC 40x0 User Manual...

Page 211: ...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 Inp...

Page 212: ...otor to decelerate to a stop The polarity of the Home Switch may be set with the CN command Input 1 Input 8 isolated Input 9 Input 16 isolated Uncommitted inputs May be defined by the user to trigger...

Page 213: ...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...

Page 214: ...tacting Us Galil Motion Control 270 Technology Way Rocklin CA 95765 Phone 916 626 0101 Fax 916 626 0102 E Mail Address support galilmc com Web 370Hhttp www galilmc com Appendices 209 DMC 40x0 User Man...

Page 215: ...aid We will reship at our expense only to destinations in the United States and for products within warranty Call Galil to receive a Return Materials Authorization RMA number prior to returning produc...

Page 216: ...tains four linear drives for operating small brush type servo motors The AMP 43140 requires a 12 30 DC Volt input Output power is 20 W per amplifier or 60 W total The gain of each transconductance lin...

Page 217: ...tion It also breaks out the Extended I O into a convenient D sub connector for interface to external devices A10 CMB 41022 C022 Communications Board The CMB 41012 provides Dual Ethernet ports and seri...

Page 218: ...voltage over current short circuit and over temperature Two AMP 43040s can be used in 5 thru 8 axis controllers A shunt regulator option is available A two axis version the AMP 43020 is also available...

Page 219: ...the AMP 430x0 D3040 D3020 is Inverter Mode The minimum inductance calculations above are based on Inverter mode If you have a motor with lower inductance Chopper mode can be applied for the PWM output...

Page 220: ...Amplifier Gain and Current Loop Bandwidth AG command AG setting Gain Value m 0 0 4 A V m 1 0 7 A V m 2 1 0 A V Table A1 1 Amplifier Gain Settings for AMP 430x0 D3040 D3020 The gain is set with the AG...

Page 221: ...recommended to use chopper mode when using motors with 200 500 H inductance Using External Amplifiers Use connectors on top of controller to access necessary signals to run external amplifiers In orde...

Page 222: ...ave any Hall errors Hall errors can be caused by a faulty Hall effect sensor or a noisy environment The state of the Hall inputs can also be monitored through the QH command Hall errors will cause the...

Page 223: ...when the temperature drops below 100 C Rev C and newer amplifiers If the average heat sink temperature rises above 80 C then the amplifier will be disabled The over temperature condition will trigger...

Page 224: ...output where the gain of the amplifier is 10mA V Order as D3140 100mA Note Do not hot swap the motor power or supply voltage power input connections If the amp is enabled when the motor connector is c...

Page 225: ...t per axis 1 0 Amps 100mA option Amplifier gain 0 1 A V 10mA V option Power output per channel 20 W Total max power output 60 W Mating Connectors On Board Connector Terminal Pins POWER 4 pin Molex Min...

Page 226: ...the plus and minus V and V rise to nominal voltage at different rates during power up and any difference between voltage levels will be seen as an offset in the amplifier This offset may cause a slig...

Page 227: ...nd over temperature Two AMP 43240s can be used in 5 thru 8 axis controllers A shunt regulator option is available If higher voltages are required please contact Galil Note Do not hot swap the motor po...

Page 228: ...ation angle 120 60 option available The default PWM output operation on the AMP 43240 D3240 is Chopper Mode Contact a Galil Applications Engineer to review minimum inductance requirements if a lower i...

Page 229: ...the Hall inputs These inputs can subsequently be used as general use inputs queried with the QH command Setting Amplifier Gain and Current Loop Bandwidth AG command AG setting Gain Value m 0 0 5 A V m...

Page 230: ...full torque limit make sure the AG setting for the axes using external amplifiers are set to 0 or 1 Set the BR command to 1 for any axis that will be setup to run external amplifiers this will disabl...

Page 231: ...Under Voltage Protection If the supply to the amplifier drops below 18 VDC the amplifier will be disabled The amplifier will return to normal operation once the supply is raised above the 18V threshol...

Page 232: ...ifier will be disabled The over temperature condition will trigger the AMPERR routine if included in the program on the controller The amplifier will not be re enabled until the temperature drops belo...

Page 233: ...sed for 5 thru 8 axis controllers A shunt regulator option is available A two axis version the AMP 43520 is also available If higher voltages are required please contact Galil Note Do not hot swap the...

Page 234: ...put operation on the AMP 435x0 D3540 D3520 is Inverter Mode The minimum inductance calculations above are based on Inverter mode If you have a motor with lower inductance Chopper mode can be applied f...

Page 235: ...maximum commutation speed in counts per second cts s Speed cts s m 10 6 TM n Where m is the number of counts per magnetic cycle cts magnetic cycle n is the desired number of TM samples per magnetic c...

Page 236: ...amplifier gain Amps Volt and the AU command will set the current loop gain for the AMP 43540 The current loop gain will need to be set based upon the bus voltage and inductance of the motor and is cri...

Page 237: ...ticular motor has a continuous current rating of 2 0 A and peak current rating of 5 0 A With an AG setting of 1 the amplifier gain of the AMP 43540 is 0 8A V TL setting 2 0A 0 8A V 2 5V TL n 2 5 TK se...

Page 238: ...n 0 2 or 3 The command will return an eight bit number representing specific conditions TA0 will return errors with regard to under voltage over voltage over current and over temperature TA2 will mon...

Page 239: ...resence of the AMPERR routine NOTE If this fault occurs it is indicative of a problem at the system level An over current fault is usually due to a short across the motor leads or a short from a motor...

Page 240: ...however there is an option for 16 bit DAC s to increase the current resolution for systems with high feedback gain Note Do not hot swap the motor power or supply voltage power input connections If the...

Page 241: ...max power output 80 W assuming proper thermal mounting and heat dissipation The amplifier has built in thermal protection which will cause the amplifier to be disabled until the temperature of the tr...

Page 242: ...y the amplifier when powered regardless of load The minimum power that the amplifier will consume is roughly min A P drop across op amp power stages drop across sense resistor op amp supply N i i PA 5...

Page 243: ...follows m 4000 cts rev 2 magnetic cycles 2000 cts magnetic cycle If TM 250 is set and 8 servo samples per magnetic cycle is desired the maximum speed in counts per second would be Speed 2000 cts magne...

Page 244: ...controller to the amplifier The continuous current will set what the maximum average current is over a one second interval Figure A5 3 is indicative of the operation of the continuous and peak operati...

Page 245: ...y a WT 2 and an SH must be issued or the controller must be reset It is recommended that OE1 be used for all axes when the ELO is used in an application See the Optoisolated Input Electrical Informati...

Page 246: ...er temperature Two AMP 43740s can be used for 5 thru 8 axis controllers A shunt regulator option is available If higher voltages are required please contact Galil Note Do not hot swap the motor power...

Page 247: ...ain setting Brushless Motor Commutation angle 120 Mating Connectors On Board Connector Mating Connector Terminal Pins POWER 6 pin Molex Mega Fit MOLEX 172065 0006 6 pin Molex MegaFit MOLEX 171692 0106...

Page 248: ...250 is set and 8 servo samples per magnetic cycle is desired the maximum speed in counts per second would be Speed 2000 cts magneticcycle 10 s s 6 250 s sample 8 samples magneticccycle 1 000 000 cts s...

Page 249: ...AMP 43740 The axis must be in a motor off MO state prior to execution of the AG command With an amplifier gain of 2 3 2A V the maximum motor command output is limited to 5V TL of 5 AU command Proper c...

Page 250: ...ally in a Motor Off MO state TA3 will change state and the AMPERR routine will run when the ELO input is triggered To recover from an ELO an MO followed by a WT 2 and an SH must be issued or the contr...

Page 251: ...xceeds 60 A the amplifier will be disabled The amplifier will not be re enabled until there is no longer an over current draw and then either SH command has been sent or the controller is reset Since...

Page 252: ...e Note Do not hot swap the motor power or supply voltage power input connections If the amp is enabled when the motor connector is connected or disconnected damage to the amplifier can occur Galil rec...

Page 253: ...6 MHz Motor Type Bipolar 2 Phase Mating Connectors On Board Connector Terminal Pins POWER 6 pin Molex Mini Fit Jr MOLEX 39 31 0060 MOLEX 44476 3112 A B C D 4 pin Motor Power Connectors 4 pin Molex Min...

Page 254: ...stant and multiple configurations LC command set to 0 Full Current Mode causes motor to use 100 of peak current AG while at a resting state profiler is not commanding motion This is the default settin...

Page 255: ...axes when the ELO is used in an application See the Optoisolated Input Electrical Information section in Chapter 3 Connecting Hardware for information on connecting the ELO input Using External Ampli...

Page 256: ...urrent settings 0 5 A 1 A 2 A and 3 A Plus a selectable lowcurrent mode reduces the current by 75 when the motor is not in motion No external heatsink is required Note Do not hot swap the motor power...

Page 257: ...5 mH Mating Connectors On Board Connector Terminal Pins POWER 6 pin Molex Mini Fit Jr MOLEX 39 31 0060 MOLEX 44476 3112 A B C D 4 pin Motor Power Connectors 4 pin Molex Mini Fit Jr MOLEX 39 31 0040 M...

Page 258: ...a resting state This is the recommended configuration to minimize heat generation and power consumption LC command set to an integer between 2 and 32767 specifying the number of samples to wait betwe...

Page 259: ...ing function only and does not generate an error condition See the TA command for detailed information on bit status during error conditions Over Current Protection The stepper driver has circuitry to...

Page 260: ...ctions for the Ethernet and Serial communication as well as the D Sub connector for the Extended I O The CMB 41012 also contains the 8x2 character LCD See Extended I O pg 42 for Electrical Specificati...

Page 261: ...N C No Connect 9 IO38 I O bit 38 24 IO37 I O bit 37 39 GND Digital Ground 10 N C No Connect 25 N C No Connect 40 IO39 I O bit 39 11 IO41 I O bit 41 26 IO40 I O bit 40 41 IO42 I O bit 42 12 IO44 I O b...

Page 262: ...t Amplifier Enable lines will be in a Motor Off state A SH will be required to re enable the motors Baud Rate Jumper 38 4K Baud Rate setting see 367Htable below Baud Rate Jumper 19 2K Baud Rate settin...

Page 263: ...sed to enable and disable the LCD update The contrast can also be set with LB command For more information see the LU LB and MG commands in the DMC 40x0 Command Reference The following table describes...

Page 264: ...ovides the connections for both Ethernet and Serial communication as well as the 44 pin HD D Sub connector for the Extended I O An 8x2 character LCD screen is used to display the status of each axis o...

Page 265: ...onnect 9 IO38 I O bit 38 24 IO37 I O bit 37 39 GND Digital Ground 10 N C No Connect 25 N C No Connect 40 IO39 I O bit 39 11 IO41 I O bit 41 26 IO40 I O bit 40 41 IO42 I O bit 42 12 IO44 I O bit 44 27...

Page 266: ...s that indicate the status of the port s Ethernet connection Green Link LED LNK The green LED indicates there is a valid Ethernet connection This LED will show that the physical Ethernet layer the cab...

Page 267: ...d Baud Rate Jumper Settings 19 2 38 4 BAUD RATE ON ON 9600 ON OFF 19200 OFF ON 38400 OFF OFF 115200 RS 232 Configuration Jumpers Location Label Function If jumpered JP3 ARXD RS 422 Option Only See RS...

Page 268: ...in independent mode E Position Error exceeded TE ER S Stopped from ST command L Decelerating or stopped by Limit switch A Stopped by Abort V Running in Vector or Lienar Interpolation Mode C Running i...

Page 269: ...command signals Eight 500 mA highside drive outputs are available total current not to exceed 3 A The ICM 42000 is user configurable for a broad range of amplifier enable options including High amp en...

Page 270: ...Digital Output 8 44 CMP Output Compare A D 15 5V 5V 30 5V 5V ICM 42000 I O E H 44 pin HD D Sub Connector Female 4080 For DMC 4050 thru DMC 4080 controllers only Pin Label Description Pin Label Descri...

Page 271: ...e STEP Differential step and direction outputs pg 188 ICM 42000 External Driver E H 44 pin HD D Sub Connector Male 4080 For DMC 4050 thru DMC 4080 controllers only Pin Label Description Pin Label Desc...

Page 272: ...alog Input 3 4 AI5 Analog Input 5 5 AI7 Analog Input 7 6 AGND Analog Ground 7 12V 12V 8 5V 5V 9 AGND Analog Ground 10 AI2 Analog Input 2 11 AI4 Analog Input 4 12 AI6 Analog Input 6 13 AI8 Analog Input...

Page 273: ...ls 1 NOTE Rev B Rev 1 and newer boards accept quadrature signals but they must be differential Rev A Rev 0 ICM 42100 boards only accept Sin Cos feedback and does not accept quadrature at all See the I...

Page 274: ...No Connect 41 DO1 Digital Output 1 12 DO3 Digital Output 3 27 DO2 Digital Output 2 42 DO4 Digital Output 4 13 DO6 Digital Output 6 28 DO5 Digital Output 5 43 DO7 Digital Output 7 14 ORET Output GND B...

Page 275: ...e STEP Differential step and direction outputs pg 188 ICM 42100 External Driver E H 44 pin HD D Sub Connector Male 4080 For DMC 4050 thru DMC 4080 controllers only Pin Label Description Pin Label Desc...

Page 276: ...r Input A Main Encoder Input 9 AA A Aux Encoder Input 1 HALA A Channel Hall Sensor 11 AA A Aux Encoder Input 12 AB B Aux Encoder Input 13 HALB B Channel Hall Sensor 14 HALC C Channel Hall Sensor 15 5V...

Page 277: ...cates one quadrature count Thus for a complete cycle of the square wave there are a total of four encoder counts Figure A11 1 Quadrature Encoder Signals A sinusoidal encoder is similar to a quadrature...

Page 278: ...istance is counts in DMC code and all feedback types including sin cos feedback is translated into equivalent counts Below is a brief example of how a user would calculate sin cos periods into counts...

Page 279: ...that RL reports is the position of the sinusoidal encoder at the last quadrature transition As an example the latch takes place at point A and was approached from the left The position that RL will re...

Page 280: ...oder limit home and motor command signals Other connectors include a 44 pin HD D sub for digital I O and a 15 pin LD D sub for analog I O The ICM 42200 is configurable on each individual axis for high...

Page 281: ...tal Output 8 44 CMP Output Compare A D 15 5V 5V 30 5V 5V ICM 42200 DMC 40x0 I O E H 44 pin HD D Sub Connector Female 4080 For DMC 4050 thru DMC 4080 controllers only Pin Label Description Pin Label De...

Page 282: ...3 Dir_N 2 25 MB B Main Encoder Input 13 STP PWM Step 26 MA A Main Encoder Input 1 Negative differential motor command outputs when DIFF option is ordered see DIFF Differential analog motor command ou...

Page 283: ...lection 2 Sink Source Selection 3 Sink Source Selection 4 HAEN LAEN Selection 5 5V 12V External Power Selection 6 5V 12V External Power Selection See ICM 42200 Amplifier Enable Circuit in Chapter 3 fo...

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