Galil DMC-2010 User Manual Download Page 128

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MOTION TOWARD

INDEX

DIRECTION

POSITION

HOME SWITCH

_HMA=1

_HMX=0

POSITION

MOTION REVERSE

TOWARD HOME

DIRECTION

MOTION BEGINS

TOWARD HOME

DIRECTION

VELOCITY

POSITION

INDEX PULSES

POSITION

HOME SENSOR

(1)

(2)

(3)

Figure 6.10 - Motion intervals in the Home sequence

118

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Chapter 6 Programming Motion

DMC-2X00

Summary of Contents for DMC-2010

Page 1: ...00 Manual Rev 2 1 By Galil Motion Control Inc Galil Motion Control Inc 270 Technology Way Rocklin California 95765 Phone 916 626 0101 Fax 916 626 0102 E mail Address support galilmc com URL www galilm...

Page 2: ...o controllers with more than 4 axes Please note that many examples are written for the DMC 2x40 four axes controller or the DMC 2x80 eight axes controller Users of the DMC 2x30 3 axis controller DMC 2...

Page 3: ...als 4 Overview of Amplifiers 4 Amplifiers in Current Mode 4 Amplifiers in Velocity Mode 4 Stepper Motor Amplifiers 4 DMC 2x00 Functional Elements 5 Microcomputer Section 5 Motor Interface 5 Communicat...

Page 4: ...position error which is the difference between the commanded position and the actual position can be interrogated with the instruction TE 33 Absolute Position 33 Velocity Control 33 Operation Under To...

Page 5: ...tware Tools and Libraries 60 Chapter 5 Command Basics 61 Introduction 61 Command Syntax ASCII 61 Coordinated Motion with more than 1 axis 62 Command Syntax Binary 63 Binary Command Format 63 Binary Co...

Page 6: ...de 102 General Velocity Profiles 102 Example 102 Virtual Axis 105 Ecam master example 105 Sinusoidal Motion Example 105 Stepper Motor Operation 106 Specifying Stepper Motor Operation 106 Stepper Motor...

Page 7: ...7 Mathematical and Functional Expressions 142 Mathematical Operators 142 Bit Wise Operators 142 Functions 144 Variables 144 Programmable Variables 145 Operands 146 Special Operands Keywords 146 Arrays...

Page 8: ...Protection 172 Programmable Position Limits 173 Off On Error 173 Automatic Error Routine 173 Limit Switch Routine 174 Chapter 9 Troubleshooting 175 Overview 175 Installation 175 Communication 176 Sta...

Page 9: ...out of the ICM 2900 214 ICM 1900 Interconnect Module 215 Features 215 ICM 1900 Drawing 218 AMP 19x0 Mating Power Amplifiers 218 Features 218 Specifications 219 Opto Isolated Outputs for ICM 2900 ICM 1...

Page 10: ...Output of Data DMC 2x00 Commands 244 Ordering Information 245 Coordinated Motion Mathematical Analysis 246 Example Communicating with OPTO 22 SNAP B3000 ENET 249 DMC 2x00 DMC 1500 Comparison 252 List...

Page 11: ...multiple move sequences and contouring The controller eliminates jerk by programmable acceleration and deceleration with profile smoothing For smooth following of complex contours the DMC 2x00 provide...

Page 12: ...s 4 Four Axes 5 Five Axes 6 Six Axes 7 Seven Axes 8 Eight Axes Electrical Specifications Description Unit Specification AC Input Line Voltage VAC 100 240 AC Input Line Frequency Hz 50 60 Power Dissipa...

Page 13: ...r with Sinusoidal Commutation The DMC 2x00 can provide sinusoidal commutation for brushless motors BLM In this configuration the controller generates two sinusoidal signals for connection with amplifi...

Page 14: ...Overview of Amplifiers The amplifiers should be suitable for the motor and may be linear or pulse width modulated An amplifier may have current feedback voltage feedback or velocity feedback Amplifie...

Page 15: ...t Motorola 68331 Series Microcomputer with 4 Meg RAM and 4 Meg Flash EEPROM The RAM provides memory for variables array elements and application programs The flash EEPROM provides non volatile storage...

Page 16: ...elp you with motor sizing Contact Galil at 800 377 6329 if you would like this product The motor may be a step or servo motor and can be brush type or brushless rotary or linear For step motors the co...

Page 17: ...tage 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 2x00 Single ended 12 volt signals requ...

Page 18: ...THIS PAGE LEFT BLANK INTENTIONALLY 8 Chapter 1 Overview DMC 2X00...

Page 19: ...nnector AMP part 2 178238 9 AUX Encoder inputs 36 pin high density connector 9 50 Serial number label 5 80 ADS7806 Stepper motor configuration header Reset Switch Error Power LED s Microprocessor Powe...

Page 20: ...R485 R232 R232 R232 R422 S 8 8 S D1 USB Communications Status LED M C1489 M C1488 U7 U2 U6 U1 J2 100 pin connector attaches to DMC 2000 Main board AUX Serial port DB 9 Female MAIN Serial port DB 9 Ma...

Page 21: ...AIN SERIAL PORT DB 9 MALE CONFIGURATION DIP SWITCHES 80 PIN HIGH DENSITY CONNECTOR FOR EXTENDED I O COMMUNICATIONS STATUS LED 100 PIN CONNECTOR ATTACHES TO DMC 2000 MAIN BOARD CMB 21002 REV A GALIL MO...

Page 22: ...1M 1METER OR CABLE 36 4M 4METER CABLE 100 1M OR CABLE 100 4M Cable 9 PinD Main Serial Port to Computer Auxiliary Serial Port Connection System Dependent Cable ICM 2900 Connection to Signals for Axes A...

Page 23: ...T Cable Figure 2 5 Recommended System Elements of DMC 2100 DMC 2200 For a complete system Galil recommends the following elements 1a DMC 2x10 2x20 2x30 or DMC 2x40 Motion Controller or 1b DMC 2x50 2x...

Page 24: ...o controller Step 6 Establish communications with the Galil Communication Software Step 7 Determine the Axes to be used for sinusoidal commutation Step 8 Make connections to amplifier and encoder Step...

Page 25: ...ussed in Step 6 Stepper Motor Operation To configure the DMC 2x00 for stepper motor operation the controller requires a jumper for each stepper motor and the command MT must be given The installation...

Page 26: ...connected for RS 232 connection The jumpers JP3 and JP4 on the DMC 2001 daughter board allows the DMC 2000 to be configured for RS 422 This can be specified as an option when the unit is purchased or...

Page 27: ...r up Whenever the controller has a master reset all programs and motion control parameters stored in EEPROM will be ERASED During normal operation this switch should be off Switch 2 XON XOFF When on t...

Page 28: ...ould install the Galil software that enables communication between the controller and PC Using Windows 98SE NT ME 2000 or XP The Galil Software CD ROM will automatically begin the installation procedu...

Page 29: ...ller model eg DMC 2000 Pressing the down arrow to the right of this field will reveal a menu of valid controller types You then need to choose serial or Ethernet connection Remember a DMC 2000 connect...

Page 30: ...controller and add it to the Windows Registry as a plug and play device Communicating through the Ethernet Using Galil Software for Windows The controller must be registered in the Windows registry f...

Page 31: ...he command BA reconfigures the controller such that it has one less axis of standard control for each axis of sinusoidal commutation For example if the command BAA is given to a DMC 2x40 controller th...

Page 32: ...and amplifier If you are not sure about the potential of the ground levels connect the two ground signals amplifier ground and earth by a 10 k resistor and measure the voltage across the resistor Onl...

Page 33: ...2 The encoder has failed using an oscilloscope observe the encoder signals Verify that both channels A and B have a peak magnitude between 5 and 12 volts Note that if only one encoder channel fails th...

Page 34: ...sts If the motor runs away and creates a position error of 2000 counts the motor amplifier will be disabled NOTE This function requires the AMPEN signal to be connected from the controller to the ampl...

Page 35: ...ou are using a differential encoder interchange only CHA and CHA The loop polarity and encoder polarity can also be affected through software with the MT and CE commands For more details on the MT com...

Page 36: ...PENZ AMPENY OUT1 OUT2 OUT3 OUT4 LSCOM HOMEW RLSW FLSW HOMEY RLSY FLSY GND XLATCH YLATCH ZLATCH WLATCH INCOM ABORT RESET GND ANALOG1 ANALOG2 ANALOG3 ANALOG4 MAX MAY MAY MBY MBY MAZ MAZ MBZ MBZ MAW MAW...

Page 37: ...t and the 2nd phase of the lowest sinusoidal commutation axis will be the lowest command output It is not necessary to be concerned with cross wiring the 1st and 2nd signals If this wiring is incorrec...

Page 38: ...important to save the brushless motor configuration in non volatile memory After the motor wiring and setup parameters have been properly configured the burn command BN should be given NOTE Without H...

Page 39: ...number of encoder counts between the current position and the position of zero commutation phase This value is stored in the operand _BZn Using this operand the controller can be commanded to move the...

Page 40: ...per installed For a discussion of SM jumpers see section Step 2 Install Jumpers on the DMC 2x00 Step B Connect step and direction signals from controller to motor amplifier From the controller to resp...

Page 41: ...s effect is amplified and it may lead to vibrations If this occurs simply reduce KI Repeat tuning for the B C and D axes For a more detailed description of the operation of the PID filter and or servo...

Page 42: ...DC 80000 40000 30000 50000 Decelerations of A B C D BG AC Start A and C motion BG BD Start B and D motion Independent Moves The motion parameters may be specified independently as illustrated below I...

Page 43: ...absolute positions BG A Start A motion BG B Start B motion After both motions are complete the A and B axes can be command back to zero PA 0 0 Move to 0 0 BG AB Start both motions Velocity Control Ob...

Page 44: ...ction Interpretation KP Return gain of A axis KP Return gain of C axis KP Return gains of all axes Many other parameters such as KI KD FA can also be interrogated The command reference denotes all com...

Page 45: ...bel DP 0 Define current position as zero V1 1000 Set initial value of V1 LOOP Label for loop PA V1 Move A motor V1 counts BG A Start A motion AM A After A motion is complete WT 500 Wait 500 ms TP A Te...

Page 46: ...A motion AMA After A moved WT 500 Wait 500 ms V1 Report the value of V1 JP C V1 0 Exit if position 0 JP B Repeat otherwise C Label C EN End of Program To start the program command XQ A Execute Program...

Page 47: ...position 0 0 which is defined at the beginning of any vector motion sequence See application programming for further information Instruction Interpretation VM AB Select AB axes for circular interpola...

Page 48: ...THIS PAGE LEFT BLANK INTENTIONALLY 38 Chapter 2 Getting Started DMC 2X00...

Page 49: ...ard or reverse limit switch is activated the current application program that is running will be interrupted and the controller will automatically jump to the LIMSWI subroutine if one exists This is a...

Page 50: ...ead is dependent upon a transition in the level of the index pulse signal The Standard Homing routine is initiated by the sequence of commands HMA return BGA return Standard Homing is a combination of...

Page 51: ...Wiring the Opto Isolated Inputs The Opto isolation inputs have a bi directional capability To activate an input at least 1mA of current must flow from the input common through the input see figure 3 1...

Page 52: ...ated Power Supply To take full advantage of opto isolation an isolated power supply should be connected to the input common When using an isolated power supply do not connect the ground of the isolate...

Page 53: ...nect modules provide jumpers and the DMC 2x00 also provides a jumper for making this connection Analog Inputs The DMC 2x00 has eight analog inputs configured for the range between 10V and 10V The inpu...

Page 54: ...change to 12 volts pull the resistor pack and rotate it so that Pin 1 is on the 12 volt side If you remove the resistor pack the output signal is an open collector allowing the user to connect an ext...

Page 55: ...provides eight general use outputs an output compare and an error signal output The general use outputs are TTL and are accessible through the ICM 2900 as OUT1 thru OUT8 These outputs can be turned On...

Page 56: ...ation is accomplished with command CO see Chapter 7 The I O points are accessed through the 80 pin high density connector labeled EXTENDED I O Interfacing to Grayhill or OPTO 22 G4PB24 The DMC 2x00 co...

Page 57: ...xiliary port is given below Note that the auxiliary port is essentially the same as the main port except inputs and outputs are reversed The DMC 2x00 may also be configured by the factory for RS422 Th...

Page 58: ...gured for hardware and software handshaking For Hardware Handshaking set the HSHK switch to ON In this mode the RTS and CTS lines are used The CTS line will go high whenever the DMC 2x00 is not ready...

Page 59: ...The address of each DMC 2000 is configured by setting the three address dipswitches A0 A1 A2 located on the front of the controller When connecting multiple controllers in a daisy chain the cable betw...

Page 60: ...ways The subsequent controllers should have jumpers placed on the jumper JP3 JP4 to connect the pins labeled S and 8 on both jumpers Note that these connections require the jumpers to be placed sidewa...

Page 61: ...ss This is a 32 bit or 4 byte number The IP address is constrained by each local network and must be assigned locally Assigning an IP address to the controller can be done in a number of ways The firs...

Page 62: ...ess to the controller s non volatile memory NOTE Galil strongly recommends that the IP address selected is not one that can be accessed across the Gateway The Gateway is an application that controls c...

Page 63: ...d with commas industry standard uses periods or as a signed 32 bit number A port number may also be specified but if it is not it will default to 1000 The protocol TCP IP or UDP IP to use must also be...

Page 64: ...switch ON designates Ethernet in which case it goes to the last handle to communicate with the controller OFF designates main RS232 To designate a specific destination for the information add Eh to t...

Page 65: ...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...

Page 66: ...ock SW b axis torque B block SW b axis analog B block UW c axis status C block UB c axis switches C block UB c axis stop code C block SL c axis reference position C block SL c axis motor position C bl...

Page 67: ...is motor position G block SL g axis position error G block SL g axis auxiliary position G block SL g axis velocity G block SW g axis torque G block SW g axis analog G block UW h axis status H block UB...

Page 68: ...2 BIT 1 BIT 0 Program Running N A N A N A N A Waiting for input from IN command Trace On Echo On Axis Switch Information 1 Byte BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 Latch Occurred State of...

Page 69: ...1 number of bytes in general block of data record 2 number of bytes in coordinate plane block of data record 3 Number of Bytes in each axis block of data record Controller Response to Commands Most DM...

Page 70: ...e command CW2 For more information see the CW command in the Command Reference When handshaking is used hardware and or software handshaking characters which are generated by the controller are placed...

Page 71: ...s well as a complete listing of all DMC 2x00 instructions is included in the Command Reference chapter Command Syntax ASCII DMC 2x00 instructions are represented by two ASCII upper case characters fol...

Page 72: ...tead of data some commands request action to occur on an axis or group of axes For example ST AB stops motion on both the A and B axes Commas are not required in this case since the particular axis is...

Page 73: ...field as 0 1 2 4 or 6 as follows 00 No datafields i e SH or BG 01 One byte per field 02 One word 2 bytes per field 04 One long word 4 bytes per field 06 Galil real format 4 bytes integer and 2 bytes f...

Page 74: ...The command ST ABCS would be A1 00 01 07 where A1 is the command number for ST 00 specifies 0 data fields 01 specifies stop the coordinated axes S 07 specifies stop X bit 0 Y bit 1 and Z bit 2 20 21...

Page 75: ...2x00 returns a for valid commands and a for invalid commands For example if the command BG is sent in lower case the DMC 2x00 will return a bg return invalid command lower case DMC 2x00 returns a When...

Page 76: ...ll Switches TT Tell Torque TV Tell Velocity For example the following example illustrates how to display the current position of the X axis TP A return Tell position A 0000000000 Controllers Response...

Page 77: ...axis can be assigned to the variable V with the command V _TPA The Command Reference denotes all commands which have an equivalent operand as Used as an Operand Also see description of operands in Cha...

Page 78: ...THIS PAGE LEFT BLANK INTENTIONALLY 68 Chapter 5 Command Basics DMC 2X00...

Page 79: ...lications described below will help guide you to the appropriate mode of motion Example Application Mode of Motion Commands Absolute or relative positioning where each axis is independent and follows...

Page 80: ...Contour Mode CM CD DT WC Teaching or Record and Play Back Contour Mode with Automatic Array Capture CM CD DT WC RA RD RC Backlash Correction Dual Loop DV Following a trajectory based on a master enco...

Page 81: ...reaches its final position An incremental position movement IP may be specified during motion as long as the additional move is in the same direction Here the user specifies the desired position incre...

Page 82: ...tion C Axis 100 counts Position 5000 counts sec Speed 500000 counts sec2 Acceleration This example will specify a relative position movement on A B and C axes The movement on each axis will be separat...

Page 83: ...TM rate the controller updates the position information at the rate of 1msec The controller generates a profiled point every other sample and linearly interpolates one sample between each profiled po...

Page 84: ...e robot is tracking only in the X dimension The controller must be placed in the position tracking mode to allow on the fly absolute position changes This is performed with the PT command To place the...

Page 85: ...was at a position of 4200 cts Note that the robot actually travels to a distance of almost 5000 cts before it turns around This is a function of the deceleration rate set by the DC command When a dire...

Page 86: ...n towards position 5000 changes the target to 2000 and then changes it again to 8000 Figure 4 shows the plot of position vs time Figure 5 plots velocity vs time and Figure 6 demonstrates the use of mo...

Page 87: ...Figure 4 Position vs Time msec Motion 4 Figure 5 Velocity vs Time Motion 4 DMC 2X00 Chapter 6 Programming Motion y 77...

Page 88: ...ed however it will introduce some time delay Trip Points Most trip points are valid for use while in the position tracking mode There are a few exceptions to this the AM and MC commands may not be use...

Page 89: ...to speed and continues to jog at that speed until a new speed or stop ST command is issued If the jog speed is changed during motion the controller will make an accelerated or decelerated change to th...

Page 90: ...leration of 20000 cts sec DC 20000 20000 Specify A C deceleration of 20000 cts sec JG 50000 25000 Specify jog speed and direction for A and C axis BG A Begin A motion AS A Wait until A is at speed BG...

Page 91: ...ibed with respect to the current axis position Up to 511 incremental move segments may be given prior to the Begin Sequence BGS command Once motion has begun additional LI segments may be sent to the...

Page 92: ...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 however that the controller works with one...

Page 93: ...t zero _LE Returns length of vector resets after 2147483647 _LM Returns number of available spaces for linear segments in DMC 2x00 sequence buffer Zero means buffer full 512 means buffer empty _VPm Re...

Page 94: ...Make a coordinated linear move in the CD plane Move to coordinates 40000 30000 counts at a vector speed of 100000 counts sec and vector acceleration of 1000000 counts sec2 Instruction Interpretation L...

Page 95: ...C 0 0 40000 FEEDRATE 0 0 1 0 5 0 6 4000 36000 30000 27000 3000 VELOCITY C AXIS VELOCITY D AXIS POSITION D TIME sec TIME sec TIME sec Figure 6 2 Linear Interpolation DMC 2X00 Chapter 6 Programming Mot...

Page 96: ...path consisting of linear and arc segments to be prescribed Motion along the path is continuous at the prescribed vector speed even at transitions between linear and circular segments The DMC 2x00 per...

Page 97: ...nts may be added The Clear Sequence CS command can be used to remove previous VP and CR commands which were stored in the buffer prior to the start of the motion To stop the motion use the instruction...

Page 98: ...accepts two arguments which represent the number of counts for the two encoders used for vector motion The smaller ratio of the two numbers will be multiplied by the higher resolution encoder For mor...

Page 99: ...length of coordinated move sequence When AV is used as an operand _AV returns the distance traveled along the sequence The operands _VPA and _VPB can be used to return the coordinates of the last poi...

Page 100: ...0000 Specify vector acceleration VD 1000000 Specify vector deceleration VP 4000 0 Segment AB CR 1500 270 180 Segment BC VP 0 3000 Segment CD CR 1500 90 180 Segment DA VE End of sequence BGS Begin Sequ...

Page 101: ...nt motion mode it is possible to define the master as the command position of that axis rather than the actual position The designation of the commanded position master is by the letter C For example...

Page 102: ...xis in this case travels at 1 000 000 counts sec and the gear ratio is 1 1 but the gearing is slowly engaged over 30 000 cts of the master axis greatly diminishing the initial shock to the slave axis...

Page 103: ...0 Specify ramped gearing over 6000 counts of the master axis GR 1 132 045 Specify gear ratios Question What is the effect of the ramped gearing Answer Below in the example titled Electronic Gearing ge...

Page 104: ...and A and B are the geared axes Instruction Interpretation MO C Turn C off for external master GA C C Specify C as the master axis for both A and B GR 1 132 045 Specify gear ratios Now suppose the ge...

Page 105: ...ctronic gearing which allows a table based relationship between the axes It allows synchronizing all the controller axes For example the DMC 2x80 controller may have one master and up to seven slaves...

Page 106: ...y the slave positions Next we specify the slave positions with the instruction ET n a b c d where n indicates the order of the point The value n starts at zero and may go up to 256 The parameters A B...

Page 107: ...program The following program includes the set up The instruction EAA defines A as the master axis The cycle of the master is 2000 Over that cycle B varies by 1000 This leads to the instruction EM 20...

Page 108: ...ust be driven to that point to avoid a jump This is done with the program Instruction Interpretation RUN Label EB1 Enable cam PA 500 starting position SP 5000 B speed BGB Move B motor AM After B moved...

Page 109: ...140 5th point in the ECAM table ET 5 280 140 6th point in the ECAM table ET 6 280 140 7th point in the ECAM table ET 7 240 120 8th point in the ECAM table ET 8 120 60 9th point in the ECAM table ET 9...

Page 110: ...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 a b c d over a time interval DT n The parame...

Page 111: ...econd position increment DT 4 Specifies the third time interval 24 ms CD 48 WC Specifies the third position increment DT0 CD0 Exits contour mode EN POSITION COUNTS 240 96 48 192 TIME ms 0 4 8 12 16 20...

Page 112: ...he velocity profile can be specified as a mathematical function or as a collection of points The design includes two parts Generating an array with data points and running the program Example Generati...

Page 113: ...Then the difference between the positions is computed and is stored in the array dir Finally the motors are run in the contour mode Contour Mode Instruction Interpretation POINTS Program defines A po...

Page 114: ...mples m is number of records to be captured RC or _RC Returns a 1 if recording Record and Playback Example Instruction Interpretation RECORD Begin Program DP0 Define position for A axis to be 0 DA De...

Page 115: ...e illustrated by the following examples Ecam master example Suppose that the motion of the AB axes is constrained along a path that can be described by an electronic cam table Further assume that the...

Page 116: ...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 some amount of stepper motor smoothing KS Since this...

Page 117: ...r example DP 0 defines the reference position of the A axis to be zero Motion Profiler Stepper Smoothing Filter Adds a Delay Output Buffer Step Count Register TD Reference Position RP Output To Steppe...

Page 118: ...commanded step pulses The position information is used to determine if there is any significant difference between the commanded and the actual motor positions If such error is detected it is updated...

Page 119: ...s stopped depending on the setting of the OE command If OE 0 the axis stays in motion if OE 1 the axis is stopped 2 YS is set to 2 which causes the automatic subroutine labeled POSERR to be executed C...

Page 120: ...ull steps per revolution YC4000 Encoder resolution counts per revolution SHX Enable axis WT50 Allow slight settle time YS1 Enable SPM mode Example Error Correction The following code demonstrates what...

Page 121: ...ECTED ERROR NOW _QSX WT100 Wait helps user see the correction RETURN SPX spsave Return the speed to previous setting REO Return from POSERR Example Friction Correction The following example illustrate...

Page 122: ...es configured for stepper motor operation and any axis used in circular compare When used the second encoder is typically mounted on the motor or the load but may be mounted in any position The most c...

Page 123: ...for backlash compensation Backlash Compensation There are two methods for backlash compensation using the auxiliary encoders 1 Continuous dual loop 2 Sampled dual loop To illustrate the problem consid...

Page 124: ...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 A axis and connect the linear encoder to the auxiliary encoder of A A...

Page 125: ...nds IT a b c d 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...

Page 126: ...is specified by the following command KS a b c d where a b c d is an integer from 0 5 to 8 and represents the amount of smoothing The command IT is used for smoothing independent moves of the type JG...

Page 127: ...alization The command sequence HM and BG causes the following sequence of events to occur 1 Upon begin motor accelerates to the slew speed The direction of its motion is determined by the state of the...

Page 128: ...0 POSITION MOTION REVERSE TOWARD HOME DIRECTION MOTION BEGINS TOWARD HOME DIRECTION VELOCITY VELOCITY VELOCITY POSITION POSITION INDEX PULSES POSITION HOME SENSOR 1 2 3 Figure 6 10 Motion intervals i...

Page 129: ...the latch function is enabled for active low operation the position will be captured within 12 microseconds When the latch function is enabled for active high operation the position will be captured...

Page 130: ...G B Begin motion on B axis AL B Arm Latch for B axis WAIT Wait label for loop JP WAIT _ALB 1 Jump to Wait label if latch has not occurred Result _RLB Set Result equal to the reported position of y axi...

Page 131: ...eating applications programs The program memory size is 80 characters x 1000 lines Using the DOS Editor to Enter Programs DMC 2000 only The DMC 2000 has an internal editor which may be used to create...

Page 132: ...at line number 2 and cntrl I is applied a new line will be inserted between lines 1 and 2 This new line will be labeled line 2 The old line number 2 is renumbered as line 3 cntrl D The cntrl D command...

Page 133: ...aracter must be a letter after that numbers are permitted Spaces are not permitted The maximum number of labels which may be defined is 510 for firmware 1 0c and higher Valid labels BEGIN SQUARE X1 BE...

Page 134: ...nclude up to 78 characters on a single line after the NO command and can be used to include comments from the programmer as in the following example Instruction Interpretation PATH Label NO 2 D CIRCUL...

Page 135: ...rams Multitasking The DMC 2x00 can run up to 8 independent programs simultaneously These programs are called threads and are numbered 0 through 7 where 0 is the main thread Multitasking is useful for...

Page 136: ...hich can help to debug a program Trace Commands DMC 2100 2200 only The trace command causes the controller to send each line in a program to the host computer immediately prior to execution Tracing is...

Page 137: ...urn 29 To list the contents of the variable space use the interrogation command LV List Variables To list the contents of array space use the interrogation command LA List Arrays To list the contents...

Page 138: ...mplete waiting for a specified amount of time to elapse or waiting for an input to change logic levels The DMC 2x00 provides several event triggers that cause the program sequencer to halt until the s...

Page 139: ...il after reverse motion reached absolute position Only one axis may be specified If position is already past the point then MR will trip immediately Will function on geared axis or aux inputs MC A or...

Page 140: ...y the sample period Instruction Interpretation SETBIT Label SP 10000 Speed is 10000 PA 20000 Specify Absolute position BGA Begin motion AD 1000 Wait until 1000 counts SB1 Set output bit 1 EN End progr...

Page 141: ...gram Label JG 50000 Specify jog speed AC 10000 Acceleration rate BGA Begin motion ASA Wait for at slew speed 50000 SB1 Set output 1 EN End program Example Change Speed along Vector Path The following...

Page 142: ...label AT0 Initialize time reference SB1 Set Output 1 LOOP Loop AT 10 After 10 msec from reference CB1 Clear Output 1 AT 40 Wait 40 msec from reference and reset reference SB1 Set Output 1 JP LOOP Loop...

Page 143: ...c values functions keywords and arithmetic expressions If no conditional statement is given the jump will always occur Number V1 6 Numeric Expression V1 V7 6 ABS V1 10 Array Element V1 Count 2 Variabl...

Page 144: ...ut 1 is logic level high After the subroutine MOVE2 is executed the program sequencer returns to the main program location where the subroutine was called JP BLUE ABS v2 2 Jump to BLUE if the absolute...

Page 145: ...command evaluates true the controller will execute the commands between the IF and ELSE command Nesting IF Conditional Statements The DMC 2x00 allows for IF conditional statements to be included withi...

Page 146: ...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...

Page 147: ...subroutine will automatically be executed when any axis exceeds its position error limit The commands in the POSERR subroutine could decode which axis is in error and take the appropriate action In a...

Page 148: ...osition Error 004 MG EXCESS POSITION ERROR Print Message 005 MG ERROR v1 Print Error 006 RE Return from Error control Q Quit Edit Mode XQ LOOP Execute Dummy Program JG 100000 Jog at High Speed BGX Beg...

Page 149: ...JP BEGIN Return to main program DONE End program if other error ZS0 Zero stack EN End program The above program prompts the operator to enter a jog speed If the operator enters a number out of range g...

Page 150: ...mmunication Interrupt A DMC 2x10 is used to move the A axis back and forth from 0 to 10000 This motion can be paused resumed and stopped via input from an auxiliary port terminal Instruction Interpret...

Page 151: ...E Routine for resuming motion SPA rate Set speed on A axis to original speed EN1 1 Re enable trip point and communication interrupt For additional information see section on page Example Ethernet Comm...

Page 152: ...nd The operator is a Logical Or These operators allow for bit wise operations on any valid DMC 2x00 numeric operand including variables array elements numeric values functions keywords and arithmetic...

Page 153: ...Display len3 as string message of up to 4 chars MG len2 S4 Display len2 as string message of up to 4 chars MG len1 S4 Display len1 as string message of up to 4 chars EN This program will accept a str...

Page 154: ...ulti valued An application program may be used to find the correct band Functions may be combined with mathematical expressions The order of execution of mathematical expressions is from left to right...

Page 155: ...ameters and strings The range 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...

Page 156: ...atus commands such as Tell Position return actual values whereas action commands such as KP or SP return the values in the DMC 2x00 registers The axis designation is required following the command Ins...

Page 157: ...cord and playback application Defining Arrays An array is defined with the command DM The user must specify a name and the number of entries to be held in the array An array name can contain up to eig...

Page 158: ...so be executed with the automatic data capture feature described below Uploading and Downloading Arrays to On Board Memory Arrays may be uploaded and downloaded using the QU and QD commands QU array s...

Page 159: ...e next array element n 0 stops recording RC Returns a 0 or 1 where 0 denotes not recording 1 specifies recording in progress Data Types for Recording data type description _DEA 2nd encoder position du...

Page 160: ...a message in quotations When the controller executes an IN command the controller will wait for the input of data The input data is assigned to the specified variable or array element Example Inputtin...

Page 161: ...provides for un buffered data entry through the auxiliary RS 232 port In this mode the DMC 2x00 provides a buffer for receiving characters This mode may only be used when executing an applications pro...

Page 162: ...e can decode the characters At the end of the routine the EN command is used EN 1 will re enable the interrupt and return to the line of the program where the interrupt was called EN will just return...

Page 163: ...e IN Enter A B or C V S specifies a string variable to be input The DMC 2x00 stores all variables as 6 bytes of information When a variable is specified as a number the value of the variable is repres...

Page 164: ...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...

Page 165: ...urn line feed Sn Sends the first n characters of a string variable where n is 1 thru 6 Displaying Variables and Arrays Variables and arrays may be sent to the screen using the format variable or array...

Page 166: ...s signed 2 s complement where negative numbers have a negative sign The default format is PF 10 0 If the number of decimal places specified by PF is less than the actual value a nine appears in all th...

Page 167: ...mmand is specified by VF m n where m is the number of digits to the left of the 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 s...

Page 168: ...o these units For example an operator can be prompted to input a number in revolutions A program could be used such that the input number is converted into counts by multiplying it by the number of co...

Page 169: ...lows a single command to define the state of the entire 8 bit output port where 20 is output 1 21 is output 2 and so on A 1 designates that the output is on Example Output Port Instruction Interpretat...

Page 170: ...age that is of the full voltage range for example connect the input to 6 volts if the signal is a 0 12 volt logic Example A DMC 2x10 has one auxiliary encoder This encoder has two inputs channel A and...

Page 171: ...rupt subroutine Analog Inputs The DMC 2x00 provides eight analog inputs The value of these inputs in volts may be read using the AN n function where n is the analog input 1 through 8 The resolution of...

Page 172: ...he I O of the DMC 2x00 The 64 extended I O points of the DMC 2x00 series controller can be configured in blocks of 8 The extended I O is denoted as blocks 2 9 or bits 17 80 The command CO is used to c...

Page 173: ...all blocks are inputs Accessing Extended I O When configured as an output each I O point may be defined with the SBn and CBn commands where n 1 through 8 and 17 through 80 Outputs may also be defined...

Page 174: ...G4PB24 I O mounting rack the user will only have access to 48 of the 64 I O points available on the controller Block 5 and Block 9 must be configured as inputs and will be grounded by the I O rack Ex...

Page 175: ...tool The solid curves in Fig 7 2 indicate sections where cutting takes place Those must be performed at a feed rate of 1 inch per second The dashed line corresponds to non cutting moves and should be...

Page 176: ...ollowing instructions Instruction Interpretation A Label VM AB Circular interpolation for AB VP 160000 160000 Positions VE End Vector Motion VS 200000 Vector Speed VA 1544000 Vector Acceleration BGS S...

Page 177: ...or is controlled by a joystick The joystick produces a signal in the range between 10V and 10V The objective is to drive the motor at a speed proportional to the input voltage Assume that a full volta...

Page 178: ...the starting position JG0 Set motor in jog mode as zero BGA Start B v1 AN 1 Read analog input v2 v1 v3 Compute the desired position v4 v2 _TPA _TEA Find the following error v5 v4 20 Compute a proporti...

Page 179: ...To illustrate the control method assume that the rotary encoder is used as a feedback for the X axis and that the linear sensor is read and stored in the variable LINPOS Further assume that at the st...

Page 180: ...THIS PAGE LEFT BLANK INTENTIONALLY 170 Chapter 7 Application Programming DMC 2X00...

Page 181: ...es 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 enabled OE1 and the abort command is give...

Page 182: ...mit switches Reverse Limit Switch Low input inhibits motion in reverse direction If the motor is moving in the reverse direction when the limit switch is activated the motion will decelerate and stop...

Page 183: ...1 The position error for the specified axis exceeds the limit set with the command ER 2 The abort command is given 3 The abort input is activated with a low signal NOTE If the motors are disabled whi...

Page 184: ...mit switches may also be tested during the jump on condition statement The _LR condition specifies the reverse limit and _LF specifies the forward limit A B C or D following LR or LF specifies the axi...

Page 185: ...otor runs away when connected to 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 Re...

Page 186: ...o 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 complete move No...

Page 187: ...at the motor follows the commanded position This 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...

Page 188: ...may specify the following instruction for example PR 6000 4000 SP 20000 20000 AC 200000 00000 BG A AD 2000 BG B EN This program corresponds to the velocity profiles shown in Fig 10 3 Note that the pro...

Page 189: ...oop is very similar Suppose that we want the motor 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...

Page 190: ...the three constants KP KI and KD which correspond to the proportional integral and derivative term respectively The damping element of the filter acts as a predictor thereby reducing the delay associ...

Page 191: ...inertia of motor and load kg m2 L Armature Inductance 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 t...

Page 192: ...ous equations Velocity Loop The motor driver system 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...

Page 193: ...encoder generates N pulses per revolution It outputs two signals Channel A and B which are in quadrature Due to the quadrature relationship between the encoder channels the position resolution is inc...

Page 194: ...f the filter The transfer function of the filter elements are PID D z K Z A Z CZ Z 1 Low pass L z 1 B Z B Notch N z Z z Z z Z p Z p The filter parameters K A C and B are selected by the instructions K...

Page 195: ...a frequency in Hz selected by the command NF The real part of the poles is set by NB and the real part of the zeros is set by NZ The simplest procedure for setting the notch filter is to identify the...

Page 196: ...l filter gain KD 245 Digital filter zero KI 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...

Page 197: ...frequency c at which A j c equals one This can be done by the Bode plot of A j c 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...

Page 198: ...crossover frequency c with a phase margin PM The system parameters are assumed known The design procedure is best illustrated by a design example Consider a system with the following parameters Kt Nm...

Page 199: ...nd a phase margin of 45 degrees This requires that A j500 1 Arg A j500 135 However since A s L s G s then it follows that G s must have magnitude of G j500 A j500 L j500 160 and a phase arg G j500 arg...

Page 200: ...KP 20 6 KD 68 6 In a similar manner other filters can be programmed The procedure is simplified by the following table which summarizes the relationship between the various filters Equivalent Filter...

Page 201: ...Abort Input IN 9 thru IN 16 Uncommitted Inputs DMC 2x50 through DMC 2x80 only 2 2K ohm in series with opto isolator Active high or low requires at least 1mA to activate Once activated the input requi...

Page 202: ...of 12 volts IN 91 IN 92 DMC 2x60 through DMC 2x80 only Auxiliary Encoder Inputs for F axis Line Receiver Inputs accepts differential or single ended voltages with voltage range of 12 volts IN 93 IN 9...

Page 203: ...ows the controller to operate with the following update rates DMC 2x10 DMC 2x20 125 usec DMC 2x30 DMC 2x40 250 usec DMC 2x50 DMC 2x60 375 usec DMC 2x70 DMC 2x80 500 usec In order to run the DMC 2x00 m...

Page 204: ...everse limit X 16 sign Y dir Y 66 forward limit X 17 pwm Y step Y 67 gnd 18 motor command X 68 5v 19 sign X dir X 69 input common 20 pwm X step X 70 latch X 21 amp enable W 71 latch Y 22 amp enable Z...

Page 205: ...rd limit F 14 pwm G step G 64 home E 15 motor command F 65 reverse limit E 16 sign F dir F 66 forward limit E 17 pwm F step F 67 gnd 18 motor command E 68 5v 19 sign E dir E 69 input common 20 pwm E s...

Page 206: ...0 abY 28 abF 11 aaZ 29 aaG 12 aaZ 30 aaG 13 abZ 31 abG 14 abZ 32 abG 15 aaW 33 aaH 16 aaW 34 aaH 17 abW 35 abH 18 abW 36 abH DMC 2x00 Extended I O 80 Pin High Density Connector Pin Signal Block Bit IN...

Page 207: ...6 50 1 39 I O 6 49 0 40 5V 5V 41 I O 4 40 7 42 I O 5 41 0 43 I O 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...

Page 208: ...UT 2 Transmit data output 3 Receive data input 4 RTS input 5 Gnd 6 CTS output 7 RTS input 8 CTS output 9 Nc RS 232 Auxiliary Port Standard connector and cable 9Pin Pin Signal 1 CTS input 2 Transmit da...

Page 209: ...100 Uses 100Base T speed Ethernet Cable Connections for DMC 2x00 The DMC 2x00 requires the transmit receive and ground for slow communication rates i e 1200 baud For faster rates the handshake lines a...

Page 210: ...9 Pin Serial Connector Male D type Standard serial port connections found on most computers PIN NUMBER FUNCTION 1 Carrier Detect 2 Receive Data 3 Transmit Data 4 Data Terminal Ready 5 Signal Ground 6...

Page 211: ...und 9 Cable to Connect Computer 25 pin to Auxiliary Serial Port Cable 9 pin 25 Pin Male terminal 9 Pin male controller 20 Data Terminal Ready 1 2 Transmit Data 2 3 Receive Data 3 8 Carrier Detect 4 7...

Page 212: ...either be low or high The pulse width is 50 Upon Reset the output will be low if the SM jumper is on If the SM jumper is not on the output will be tristate Sign Direction Used with PWM signal to give...

Page 213: ...itch may be set with the CN command Reverse Limit Switch When active inhibits motion in reverse direction Also causes execution of limit switch subroutine LIMSWI The polarity of the limit switch may b...

Page 214: ...SM G SM H OPT Reserved JP1 MB MRST Master Reset enable Returns controller to factory default settings and erases EEPROM Requires power on or RESET to be activated JP 3 DB for DMC 2000 JP4 DB for DMC...

Page 215: ...Dimensions for DMC 2x00 DMC 2X00 Appendices y 205...

Page 216: ...ect module with 1 4 brush motor amplifiers where x specifies the number of amplifiers OPTO Option for AMP 19x0 Provides Opto0isolation for digital outputs OPTOHC Option for AMP 19x0 Provides High Curr...

Page 217: ...rovides terminal blocks for connections Each terminal is labeled for quick connection of system elements The ICM 2900 provides access to the signals for up to 4 axes Two required for 5 or more axes Bl...

Page 218: ...7 OUT6 O General Output 6 7 OUT7 O General Output 7 7 OUT8 O General Output 8 8 OUT1 O General Output 1 8 OUT2 O General Output 2 8 OUT3 O General Output 3 8 OUT4 O General Output 4 9 5V O 5 volts 9 H...

Page 219: ...7 ANALOG7 I Analog Input 7 17 ANALOG8 I Analog Input 8 18 ANALOG1 I Analog Input 1 18 ANALOG2 I Analog Input 2 18 ANALOG3 I Analog Input 3 18 ANALOG4 I Analog Input 4 19 5V O 5 volts 19 INX I X Main e...

Page 220: ...in encoder B 24 MBZ I Z Main encoder B 25 5V O 5 volts 25 INW I W Main encoder Index 25 INW I W Main encoder Index 25 GND O Signal Ground 26 MAW I W Main encoder A 26 MAW I W Main encoder A 26 MBW I W...

Page 221: ...6 IN7 IN8 5V 12V 12V ANA GND ANALOG5 ANALOG6 ANALOG7 ANALOG8 5V INX INX GND 5V INY INY GND 5V INZ INZ GND 5V INW INW GND AMPENW AMPENZ AMPENY AMPENX OUT1 OUT2 OUT3 OUT4 LSCOM HOMEW RLSW FLSW HOMEY RLS...

Page 222: ...DMC 2x00 series controller and other system elements The ICM 2908 accepts the 36 pin high density cable CABLE 36 from the controller and provides terminal blocks for easy access Each terminal is label...

Page 223: ...nsert screwdriver to open contacts for insertion removal of lead wires AAY AAY ABY ABY AAW AAW ABW ABW GND GND GND GND AAF AAF ABF ABF AAH AAH ABH ABH AAX AAX ABX ABX AAZ AAZ ABZ ABZ 5V 5V 5V 5V AAE A...

Page 224: ...BUFFER ANALOG SWITCH 5V 12V FOR 5 VOLT AMPLIFIER ENABLE PLACE PIN 1 OF RP1 ON PIN LABELED 5V FOR 12 VOLT AMPLIFIER ENABLE PLACE PIN 1 OF RP1 ON PIN LABELED 12V OPTIONAL OPTO ISOLATION CIRCUIT 100PIN...

Page 225: ...y from PC Available with on board servo drives see AMP 19X0 Can be configured for AEN high or low NOTE The part number for the 100 pin connector is 2 178238 9 from AMP Terminal Label I O Description 1...

Page 226: ...amplifier enable 39 AMPENY O Y axis amplifier enable 40 AMPENX O X axis amplifier enable 41 LSCOM I Limit Switch Common 42 HOMEW I W axis home input 43 RLSW I W axis reverse limit switch input 44 FLS...

Page 227: ...X I X Main encoder B 86 MBX I X Main encoder B 87 INX I X Main encoder Index 88 INX I X Main encoder Index 89 ANA GND Analog Ground 90 VCC 5 volts 91 MAY I Y Main encoder A 92 MAY I Y Main encoder A 9...

Page 228: ...fier the AMP 1920 2 amplifiers the AMP 1930 3 amplifiers and the AMP 1940 4 amplifiers Each amplifier is rated for 7 amps continuous 10 amps peak at up to 80 V The gain of the AMP 19x0 is 1 amp V The...

Page 229: ...ROLLER Figure A 4 The ISO OUT POWER OUT POWER ON ICM 2900 and ISO POWER GND OUT GND ON ICM 2900 signals should be connected to an isolated power supply This power supply should be used only to power t...

Page 230: ...he ICM 2900 and can be accessed by removing the cover This option can be requested when ordering the unit by specifying the LAEN option Changing the Amplifier Enable Voltage Level To change the voltag...

Page 231: ...64 I O points has status LED Dimensions 6 8 x 11 4 0 1 3 2 5 7 6 4 J5 80 pin high density connector Banks 0 and 1 provide high power output capability Banks 2 7 are standard banks Screw Terminals Hig...

Page 232: ...ed cable connects from the 80 pin connector of the DMC 2x00 to the 80 pin high density connector on the IOM 1964 J5 Illustrations for this connection can be found on pages 10 and 11 Configuring Hardwa...

Page 233: ...s to this optically isolated input circuit are done in a sinking or sourcing configuration referring to the direction of current Some example circuits are shown below Sinking Sourcing 5V GND 5V GND I...

Page 234: ...MC 2x00 all work with the IOM 1964 all have identical extended I O features High Power Digital Outputs The first two banks on the IOM 1964 banks 0 and 1 have high current output drive capability The I...

Page 235: ...a bank as outputs the optical isolator chips Ux1 and Ux2 are inserted and the digital input isolator chips Ux3 and Ux4 are removed The resistor packs RPx2 and RPx3 are inserted and the input resistor...

Page 236: ...mA maximum current times the resistor value of RPx3 For example if a 10k ohm resistor pack is used for RPx3 then the maximum voltage drop is 20 volts The digital output will never drop below the volta...

Page 237: ...nks 4 5 outputs 49 64 q extended I O banks 6 7 outputs 65 80 SB n Sets the output bit to a logic 1 n is the number of the output from 1 to 80 CB n Clears the output bit to a logic 0 n is the number of...

Page 238: ...5 27 25 I O62 I O bit 62 5 28 28 I O61 I O bit 61 5 29 27 I O60 I O bit 60 5 30 30 I O59 I O bit 59 5 31 29 I O58 I O bit 58 5 32 32 I O57 I O bit 57 5 33 31 OUTC57 64 Out common for I O 57 64 5 34 3...

Page 239: ...O25 I O bit 25 1 73 71 OUTC25 32 Out common for I O 25 32 1 74 74 I OC25 32 I O common for I O 25 32 1 75 73 OUTC25 32 Out common for I O 25 32 1 76 76 I OC25 32 I O common for I O 25 32 1 77 75 PWRO...

Page 240: ...GND Ground Silkscreen on Rev A board is incorrect for these terminals NOTE The part number for the 100 pin connector is 2 178238 9 from AMP CB 50 100 Adapter Board The CB 50 100 adapter board can be u...

Page 241: ...21 22 22 23 23 24 24 25 25 26 26 27 27 28 28 29 29 30 30 31 31 32 32 33 33 34 34 35 35 36 36 37 37 38 38 39 39 40 40 41 41 42 42 43 43 44 44 45 45 46 46 47 47 48 48 49 49 50 50 DMC 2X00 Appendices y 2...

Page 242: ...4 54 5 55 6 56 7 57 8 58 9 59 10 60 11 61 12 62 13 63 14 64 15 65 16 66 17 67 18 68 19 69 20 70 21 71 22 72 23 73 24 74 25 75 26 76 27 77 28 78 29 79 30 80 31 81 32 82 33 83 34 84 35 85 36 86 37 87 38...

Page 243: ...IN USA J9 100 pin connector AMP part 2 178238 9 JC6 JC8 50 pin shrouded headers w center key JC8 pins 1 50 of J9 JC6 pins 51 100 of J9 J9 JC6 JC8 1 51 21 71 41 91 1 8 D 4 places 1 1 4 9 16 1 2 1 8 4...

Page 244: ...an be used to convert the CABLE 80 to 2 50 Pin Ribbon Cables The 50 Pin Ribbon Cables provide a versatile method of accessing the extended I O signals without the use of the Galil IOM 1964 The ribbon...

Page 245: ...D 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 2...

Page 246: ...12 52 13 53 14 54 15 55 16 56 17 57 18 GND 19 59 20 GND 21 61 22 GND 23 63 24 GND 25 65 26 GND 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 4...

Page 247: ...part N10280 52E2VC AMP part 3 178238 0 JC6 JC8 50 pin 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 br...

Page 248: ...IN USA JC6 JC8 50 pin shrouded headers w center key J9 JC6 JC8 1 8 D 4 places JC6 IDC 50 Pin Pin1 JC8 IDC 50 Pin Pin1 41 42 43 2 1 3 4 DETAIL J9 80 pin connector AMP part 3 178238 0 Pin 1 CB 50 80 La...

Page 249: ...or Terminal Two types of terminals are offered from Galil the hand held unit and the panel mount unit Both have the same programming characteristics Hand held unit is shown below Figure A 19 DMC 2X00...

Page 250: ...P2 via coiled cable Description The TERM 2000 is a compact ASCII terminal for use with the DMC 2x00 motion controller Its numeric keypad allows easy data entry from an operator The TERM 1500 is availa...

Page 251: ...24 F4 25 F5 26 5 1 2 3 4 4 5 6 3 7 8 9 2 0 1 CTRL SHIFT SPACE BKSPC ENTER Shift Key Output 6 A B C D E 5 F G H I J 4 K L M N O 3 P Q R S T 2 U V W X Y 1 CTRL SHIFT Z CTRL Key Output 6 18 16 9 4 17 5 1...

Page 252: ...rentheses are ASCII decimal values Key locations are represented by m n where m is element column n is element row Escape Commands Escape codes can be used to control the TERM 1500 display cursor styl...

Page 253: ...ey Click Enable ESC V Key Click Disable Identify sends TT then terminal firmware version ESC Z Send Terminal ID Cursor Position ESC Y Pr Pc In the above sequence Pr is the row number and Pc is the col...

Page 254: ...function keys Default Function Keys F1 22 decimal F2 23 decimal F3 24 decimal F4 25 decimal F5 26 decimal Input Output of Data DMC 2x00 Commands Refer to Chapter 7 in this manual for Data Communicati...

Page 255: ...n keys Do not use these as variables 6 Pin Modular Connector 1 5 volts 2 Handshake in 3 Handshake out 4 Data in 5 Data out 6 Ground 9 Pin D Adaptor Male For P2 1 CTS input 2 Transmit Data input 3 Rece...

Page 256: ...endently of the path to allow continuous motion The path is specified as a collection of segments For the purpose of specifying the path define a special X Y coordinate system whose origin is the star...

Page 257: ...at 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 35708 counts In general the length of each linear segment is L Xk Yk...

Page 258: ...that the direction of motion follows the specified path yet the vector velocity fits the vector speed and acceleration requirements For example the velocities along the X and Y axes for the path show...

Page 259: ...tion Digital Inputs Module 1 Digital Outputs Module 2 Analog Outputs 10V Module 3 Analog Inputs 10V Module 4 Instruction Interpretation CONFIG Label IHF 131 29 50 30 502 2 Establish connection WT10 Wa...

Page 260: ...n array I 0 Set variable CFGLOOP Loop subroutine A I 0 Set array element I I 1 Increment A I CFGVALUE Set array element I I 1 Increment JP CFGLOOP I 2 NUMOFIO Conditional statement MBF 6 16 632 MODULE...

Page 261: ...put at handle 6 module 2 bit 3 or to one OB 6006 1 AO 608 3 6 set analog output at handle 6 module 53 bit 1 to 3 6 volts MG AN 6017 display voltage value of analog input at handle6 module 5 bit 2 DMC...

Page 262: ...encoder speed for servos 8 MHz Faster stepper operation 3 MHz stepper rate 2 MHz Higher servo bandwidth 62 sec axis sample time 125 sec axis Higher resolution for analog inputs 8 analog inputs with 16...

Page 263: ...MADE 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 30pm ADVANCED MOTION CONTROL WHO SHOU...

Page 264: ...arranty period to Galil Motion Control properly packaged and with transportation and insurance prepaid We will reship at our expense only to destinations in the United States and for products within w...

Page 265: ...olation 37 86 Clear Bit 45 158 159 202 225 Clear Sequence 81 83 87 89 CMDERR 124 137 139 140 Coordinated Motion Linear Interpolation36 37 69 70 81 82 83 85 86 91 Data Record 57 59 101 102 252 Echo49 5...

Page 266: ...Digital Input1 41 144 159 222 223 224 226 227 Digital Output 1 144 158 206 219 222 224 225 227 Home Input 40 117 119 191 Limit Switch 39 123 127 136 137 138 146 172 174 176 203 ICM 1900 43 206 215 218...

Page 267: ...de 66 119 127 149 176 Stop Motion 81 87 Subroutine 39 105 121 123 124 125 132 133 134 136 137 138 139 140 152 160 172 174 203 Synchronization 1 7 47 95 Syntax 61 62 63 Tangent 70 86 88 89 144 Teach 70...

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