Galil Motion Control DMC-42 0 Series, User Manual

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Stepper Motor Operation............................................................................................................. 94
Stepper Position Maintenance Mode (SPM).................................................................................96
Dual Loop (Auxiliary Encoder)....................................................................................................... 99
Motion Smoothing ....................................................................................................................... 101
Homing......................................................................................................................................... 103
High Speed Position Capture (The Latch Function) .......................................................................105
Chapter 7 Application Programming 106
Overview....................................................................................................................................... 106
Program Format............................................................................................................................ 106
Executing Programs - Multitasking................................................................................................108
Debugging Programs..................................................................................................................... 109
Program Flow Commands............................................................................................................. 110
Mathematical and Functional Expressions....................................................................................125
Variables....................................................................................................................................... 128
Operands...................................................................................................................................... 129
Arrays............................................................................................................................................ 130
Input of Data (Numeric and String)............................................................................................... 133
Output of Data (Numeric and String)............................................................................................ 135
Hardware I/O................................................................................................................................ 139
Extended I/O of the DMC-42x0 Controller ...................................................................................143
Example Applications.................................................................................................................... 145
Using the DMC Editor to Enter Programs......................................................................................149
Chapter 8 Hardware & Software Protection 151
Introduction.................................................................................................................................. 151
Hardware Protection..................................................................................................................... 151
Software Protection...................................................................................................................... 152
Chapter 9 Troubleshooting 156
Overview....................................................................................................................................... 156
Chapter 10 Theory of Operation 159
Overview....................................................................................................................................... 159
Operation of Closed-Loop Systems...............................................................................................161
System Modeling.......................................................................................................................... 162
System Analysis............................................................................................................................. 166
System Design and Compensation................................................................................................ 168
Appendices 171
Electrical Specifications................................................................................................................. 171
Performance Specifications........................................................................................................... 173
Ordering Options.......................................................................................................................... 174
Accessories................................................................................................................................... 178
Input Current Limitations.............................................................................................................. 179
Serial Cable Connections............................................................................................................... 180
Opto-Isolated Outputs for ICM-2900/ICM-1900/AMP-19520/40..................................................182
Configuring the Amplifier Enable Circuit.......................................................................................183
Signal Descriptions........................................................................................................................ 184
Connectors for DMC-42x0 Main Board.........................................................................................185
A1. ICM-2900 Interconnect Module..............................................................................................192
A2. ICM-2908 Interconnect Module..............................................................................................197
A3. ICM-1900 Interconnect Module..............................................................................................198
A4. AMP-19520/40 ...................................................................................................................... 202
A5. CB-50-100 Adapter Board....................................................................................................... 203
A6. CB-50-80 Adapter Board......................................................................................................... 208
List of Other Publications.............................................................................................................. 212
Training Seminars.......................................................................................................................... 212
Contacting Us................................................................................................................................ 213
WARRANTY................................................................................................................................... 214
Integrated Components 215
Overview....................................................................................................................................... 215
DMC-42x0 Contents ▫ iii