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Figure 6.6: Velocity vs. Time Motion 4

Figure 6.7: Velocity cts/sec vs. Time (msec) with IT

Note the controller treats the point where the velocity passes through zero as the end of one move, and the beginning
of another move. IT is allowed, 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 used while in this mode. It is recommended that MF, MR, or AP be used, as they
involve motion in a specified direction, or the passing of a specific absolute position.

Chapter 6 Programming Motion

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Summary of Contents for DMC-4040

Page 1: ...0x0 Manual Rev 1 0f 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 gali...

Page 2: ...ers with more than 4 axes Please note that many examples are written for the DMC 4040 four axes controller or the DMC 4080 eight axes controller Users of the DMC 4030 3 axis controller DMC 4020 2 axes...

Page 3: ...iver 5 Encoder 6 Watch Dog Timer 6 Chapter 2 Getting Started 7 DMC 4040 Layout 7 DMC 4080 Layout 8 DMC 40x0 Power Connections 9 DMC 4040 Dimensions 10 DMC 4080 Dimensions 11 Elements You Need 12 Insta...

Page 4: ...Inputs 37 The Auxiliary Encoder Inputs 37 High Power Opto Isolated Outputs 38 Electrical Specifications 38 Wiring the Opto Isolated Outputs 38 Analog Inputs 39 AQ settings 39 Electrical Specifications...

Page 5: ...rand Summary Independent Axis 81 Position Tracking 81 Example Motion 2 83 Example Motion 4 84 Trip Points 85 Command Summary Position Tracking Mode 86 Linear Interpolation Mode 86 Specifying Linear Se...

Page 6: ...verview 130 Using the DMC 40x0 Editor to Enter Programs 130 Edit Mode Commands 131 Program Format 131 Using Labels in Programs 131 Special Labels 132 Commenting Programs 132 Executing Programs Multita...

Page 7: ...Software Protection 178 Programmable Position Limits 179 Off On Error 179 Automatic Error Routine 179 Limit Switch Routine 180 Chapter 9 Troubleshooting 181 Overview 181 Installation 181 Stability 18...

Page 8: ...axis Stepper Drives 234 A4 SDM 44140 D4140 4 axis Microstep Drives 234 A5 CMB 41012 C012 Communications Board 234 A6 ICM 42000 I000 Interconnect Module 234 A7 ICM 42100 I100 Sinusoidal Encoder Interpo...

Page 9: ...Sub Connector Male 257 ICM 42000 External Driver E H 44 pin HD D Sub Connector Male 258 ICM 42000 Encoder 15 pin HD D Sub Connector Female 259 ICM 42000 Analog 15 pin D sub Connector Male 259 Jumper D...

Page 10: ...sed for applications involving jogging point to point positioning vector positioning electronic gearing multiple move sequences and contouring The controller eliminates jerk by programmable accelerati...

Page 11: ...ntroller 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 millisecond For...

Page 12: ...ers provides a simple straightforward motion control solution in one box A1 AMP 430x0 D3040 D3020 The AMP 43040 four axis and AMP 43020 two axis are multi axis brush brushless amplifiers that are capa...

Page 13: ...cation programs The flash EEPROM provides non volatile storage of variables programs and arrays The Flash also contains the firmware of the controller which is field upgradeable Motor Interface Galil...

Page 14: ...nd 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 controller into c...

Page 15: ...ver voltage levels 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 complemen...

Page 16: ...I100 interconnect 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...

Page 17: ...DMC 4080 Layout Figure 2 2 Outline of the of the DMC 4080 DMC 40x0 User Manual Chapter 2 Getting Started 8...

Page 18: ...he Integrated section of the Appendices For more information on Connectors mfg PN s and diagrams see the Power Connector Section in the Appendix Chapter 2 Getting Started 9 DMC 40x0 User Manual Power...

Page 19: ...DMC 4040 Dimensions Figure 2 5 Dimensions of DMC 4040 DMC 40x0 User Manual Chapter 2 Getting Started 10...

Page 20: ...DMC 4080 Dimensions Figure 2 6 Dimensions of DMC 4080 Chapter 2 Getting Started 11 DMC 40x0 User Manual...

Page 21: ...ifiers and 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...

Page 22: ...al Commutation Sinusoidal commutation is configured through a single software command BA This configuration causes the controller to reconfigure the number of available control axes Each sinusoidally...

Page 23: ...MO location the controller will be powered up in the motor off state The SH command will need to be issued in order for the motor to be enabled With no jumper installed the controller will immediately...

Page 24: ...ress will automatically be assigned to the controller See Ethernet Configuration in Chapter 4 for more information Using GalilTools Software for Windows Registering controllers in the Windows registry...

Page 25: ...is opened that shows all available controllers The serial ports are listed as COMn communication speed ex COM1 115200 The default serial communication speed on the DMC 40x0 is 115200Bps For more infor...

Page 26: ...on This step is only required when the controller will be used to control a brushless motor s with sinusoidal commutation The command BA is used to select the axes of sinusoidal commutation For exampl...

Page 27: ...ground is not isolated from the power line or when it has a different potential than that of the computer ground serious damage may result to the computer controller and amplifier If you are not sure...

Page 28: ...ry 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...

Page 29: ...ge output of the controller and can be used to avoid excessive torque or speed when initially setting up a servo system When operating an amplifier in torque mode the voltage output of the controller...

Page 30: ...e PID filter parameters KP KD and KI It is necessary to accurately tune your servo system to ensure fidelity of position and minimize motion oscillation as described in the next section Step 8b Connec...

Page 31: ...ons NOTE When using Galil Windows software the timeout must be set to a minimum of 10 seconds time out 10000 when executing the BS command This allows the software to retrieve all messages returned fr...

Page 32: ...ible methods for commutation phase initialization Method 1 Use the BZ command as described above Method 2 Drive the motor close to commutation phase of zero and then use BZ command This method decreas...

Page 33: ...controller to motor amplifier From the controller to respective signals on your step motor amplifier These signals are labeled STPA and DIRA for the A axis on the EXTERNAL DRIVER A D D Sub connector t...

Page 34: ...se examples have remarks next to each command these remarks must not be included in the actual program Example 1 System Set up This example assigns the system filter parameters error limits and enable...

Page 35: ...B AC 100000 Acceleration of C DC 150000 Deceleration of C BG C Start C motion BG B Start B motion Example 5 Position Interrogation The position of the four axes may be interrogated with the instructi...

Page 36: ...sal The motion can be stopped with the instruction ST Stop Example 8 Operation Under Torque Limit The magnitude of the motor command may be limited independently by the instruction TL Instruction Inte...

Page 37: ...the program may be written and edited The editor provides the line number For example in response to the first ED command the first line is zero Line Instruction Interpretation 000 A Define label 001...

Page 38: ...P 6000 Wait until position A 6000 SP 2000 50000 Change speeds AP 50000 Wait until position B 50000 SP 10000 Change speed of B EN End program To start the program command XQ B Execute Program B Example...

Page 39: ...lative distances for linear interpolation LE Linear End VS 6000 Vector speed VA 20000 Vector acceleration VD 20000 Vector deceleration BGS Start motion Example 16 Circular Interpolation Objective Move...

Page 40: ...0 0 local zero 0 4000 4000 4000 4000 0 A B R 2000 Figure 2 7 Motion Path for Circular Interpolation Example Chapter 2 Getting Started 31 DMC 40x0 User Manual...

Page 41: ...n thread zero will be interrupted and the controller will automatically jump to the LIMSWI subroutine if one exists This is a subroutine which the user can include in any motion control program and is...

Page 42: ...n of Find Edge and Find Index homing Initiating the standard homing routine will cause the motor to slew until a transition is detected in the logic state of the Home input The motor will accelerate a...

Page 43: ...through the extended I O These are not opto isolated NOTE INCOM and LSCOM for Inputs 9 16 and Limit and Home Switches for axes 5 8 are found on the connectors for the E H axes These are NOT the same...

Page 44: ...DI1 DI8 ABRT RST ELO INCOM I O A D D Sub Connectors FLSA RLSA HOMA FLSB RLSB HOMB FLSC RLSC HOMC FLSD RLSD HOMD LSCOM I O A D D Sub Connectors Group Controllers with 5 8 Axes DI1 DI8 ABRT RST ELO INCO...

Page 45: ...o the ground of the controller A power supply in the voltage range between 5 to 28 Volts may be applied directly see Figure 3 2 For voltages greater than 28 Volts a resistor R is needed in series with...

Page 46: ...nect TTL signals simply connect the signal to the input and leave the input disconnected For other signal levels the input should be connected to a voltage that is of the full voltage range for exampl...

Page 47: ...the group of 8 outputs The outputs are configured for hi side drive only The supply voltage must be connected to output supply voltage OPWR and the supply return must be connected to output return OR...

Page 48: ...controller The output can be programmed to produce an active low pulse 250 nsec based on an incremental encoder value or to activate once when an axis position has been passed For further information...

Page 49: ...ion in the Appendix for a complete pin out of the Extended I O Electrical Specifications 3 3V Standard Inputs Max Input Voltage 3 4 VDC Guarantee High Voltage 2 0 VDC Guarantee Low Voltage 0 8 VDC Inp...

Page 50: ...configuration than the default 5V HAEN sinking it is highly recommended that the DMC 40x0 is ordered with the desired configuration See the DMC 40x0 ordering information in the catalog http www galilm...

Page 51: ...n R pack next to RP2 label 5V LAEN 5V AECOM1 GND AECOM2 Dot on R pack opposite RP2 label 12V HAEN 12V AECOM1 GND AECOM2 Dot on R pack next to RP2 label 12V LAEN 12V AECOM1 GND AECOM2 Dot on R pack opp...

Page 52: ...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 pack opposite RP2 label 12V LAEN GND AECOM1 12V AECOM2 Dot on R pack next t...

Page 53: ...ult the amplifier enable circuit for each 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 vol...

Page 54: ...Chapter 3 Connecting Hardware 45 DMC 40x0 User Manual...

Page 55: ...DMC 40x0 User Manual Chapter 3 Connecting Hardware 46...

Page 56: ...Chapter 3 Connecting Hardware 47 DMC 40x0 User Manual...

Page 57: ...llowing sections in this chapter are a description of the communications protocol and a brief introduction to the software tools and communication techniques used by Galil At the application level Gal...

Page 58: ...he RTS and CTS lines The CTS line will go high whenever the DMC 40x0 is not ready to receive additional characters The RTS line will inhibit the DMC 40x0 from sending additional characters Note the RT...

Page 59: ...422 Option Pin Signal 1 RTS 2 TXD 3 RXD 4 CTS 5 GND 6 RTS 7 TXD 8 RXD 9 CTS RS 422 Auxiliary Port Non Standard Option Standard connector and cable when DMC 40x0 is ordered with RS 422 Option Pin Signa...

Page 60: ...dress is using a DHCP server The DH command controls whether the DMC 40x0 controller will get an IP address from the DHCP server If the unit is set to DH1 default and there is a DHCP server on the net...

Page 61: ...79 2 This will open handle 2 and connect to the IP address 151 25 255 9 port 179 using TCP IP Which devices receive what information from the controller depends on a number of things If a device queri...

Page 62: ...hree levels of Modbus communication The first level allows the user to create a raw packet and receive raw data It uses the MBh command with a function code of 1 The format of the command is MBh 1 len...

Page 63: ...15 0 16 myarray 3 b Set the outputs using the SB command SB2001 SB2003 SB2005 SB2007 SB2008 SB2010 SB2012 SB2014 Results Both steps 3a and 3b will result in outputs being activated as below The only d...

Page 64: ...1 100 502 2 Dimension and fill an array with values that will be written to the PLC DM pump 2 pump 0 16531 0x4093 pump 1 13107 0x3333 3 Send the appropriate MB command Use function code 16 Start at a...

Page 65: ...uts 1 8 17 UB general output block 1 outputs 9 16 18 UB general output block 2 outputs 17 24 19 UB general output block 3 outputs 25 32 20 UB general output block 4 outputs 33 40 21 UB general output...

Page 66: ...sition 90 93 SL A axis motor position 94 97 SL A axis position error 98 101 SL A axis auxiliary position 102 105 SL A axis velocity 106 109 SL new size A axis torque 110 111 SW or UW 1 A axis analog i...

Page 67: ...ned variable ZA 226 227 UW E axis status see bit field map below 228 UB E axis switches see bit field map below 229 UB E axis stop code 230 233 SL E axis reference position 234 237 SL E axis motor pos...

Page 68: ...erved 330 333 SL new G User defined variable ZA 334 335 UW H axis status see bit field map below 336 UB H axis switches see bit field map below 337 UB H axis stop code 338 341 SL H axis reference posi...

Page 69: ...ch represents the Number of bytes in the data record including the header Byte 2 is the low byte and byte 3 is the high byte NOTE The header information of the data records is formatted in little endi...

Page 70: ...returned in the data record is 64 times larger than the value returned when using the command TV Tell Velocity See command reference for more information about TV The Torque information is represente...

Page 71: ...d CF commands in the Command Reference If the port is not explicitly given or the default is not changed with the CF command unsolicited messages will be sent to the default port The default port is t...

Page 72: ...gram Editor Tool allows for easy writing of application programs and multiple editors to be open simultaneously The Terminal Tool provides a window for sending and receiving Galil commands and respons...

Page 73: ...Figure 4 1 GalilTools DMC 40x0 User Manual Chapter 4 Software Tools and Communication 64...

Page 74: ...code as g represents a single connection to a Galil controller For Ethernet controllers which support more than one connection multiple objects may be used to communicate with the controller An exampl...

Page 75: ...nsitive help making it ideal for even the novice programmer ActiveX Toolkit Includes a terminal control for sending commands and editing programs a polling window for displaying responses from the con...

Page 76: ...ong integer and pass the address of that variable in the DMCOpen function If the DMCOpen function is successful the variable will contain the handle to the Galil controller which is required for all s...

Page 77: ...ace a Text Box and a Command Button on a Form add the DMCCOM40 BAS module and type the following code Dim m_nController As Integer Dim m_hDmc As Long Dim m_nRetCode As Long Dim m_nResponseLength As Lo...

Page 78: ...galilmc com support download html dos QNX Galil offers sample drivers for ISA and PCI cards for the QNX 4 24 operating system We also offer drivers and utilities for QNX 6 2 for PCI only Download at...

Page 79: ...x0 instructions is included in the Command Reference Command Syntax ASCII DMC 40x0 instructions are represented by two ASCII upper case characters followed by applicable arguments A space may be inser...

Page 80: ...the particular axis is specified by the 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...

Page 81: ...il real format 4 bytes integer and 2 bytes fraction Byte 3 specifies whether the command applies to a coordinated move as follows 00 No coordinated motion movement 01 Coordinated motion movement For e...

Page 82: ...No Command No reserved 80 reserved ab reserved d6 KP 81 reserved ac reserved d7 KI 82 reserved ad RP d8 KD 83 reserved ae TP d9 DV 84 reserved af TE da AF 85 LM b0 TD db KS 86 LI b1 TV dc PL 87 VP b2...

Page 83: ...y the reason for the invalid command response To request the error code type the command TC1 For example TC1 return Tell Code command 1 Unrecognized Returned response There are many reasons for receiv...

Page 84: ...xis requested PR Request A B C D values PR Request B value only The controller can also be interrogated with operands Operands Most DMC 40x0 commands have corresponding operands that can be used for i...

Page 85: ...mode of motion 4080 For controllers with 5 or more axes the specifiers ABCDEFGH are used XYZ and W may be interchanged with ABCD EXAMPLE APPLICATION MODE OF MOTION COMMANDS Absolute or relative positi...

Page 86: ...Moving along arbitrary profiles or mathematically prescribed profiles such as sine or cosine trajectories Contour Mode CM CD DT Teaching or Record and Play Back Contour Mode with Automatic Array Capt...

Page 87: ...on The Stop command ST can be issued at any time to decelerate the motor to a stop before it reaches its final position An incremental position movement IP may be specified during motion as long as th...

Page 88: ...0 counts sec2 Acceleration Z Axis 100 counts Position 5000 counts sec Speed 500000 counts sec Acceleration This example will specify a relative position movement on X Y and Z axes The movement on each...

Page 89: ...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 90: ...ler may be placed in the position tracking mode to support changing the target of an absolute position move on the fly New targets may be given in the same direction or the opposite direction of the c...

Page 91: ...the position tracking mode In this example there is a host program that will generate the absolute position targets The absolute target is determined based on the current information the host program...

Page 92: ...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 direction change is commanded...

Page 93: ...0 and then changes it again to 8000 Figure 6 5 shows the plot of position vs time Figure 6 6 plots velocity vs time and Figure 6 7 demonstrates the use of motion smoothing IT on the velocity profile i...

Page 94: ...is allowed 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 n...

Page 95: ...s for linear interpolation change Specifying Linear Segments The command LI x y z w or LI a b c d e f g h specifies the incremental move distance for each axis This means motion is prescribed with res...

Page 96: ...slows the speed to 1000 count s Once the motors reach the corner the speed is increased back to 4000 cts s Specifying Vector Speed for Each Segment The instruction VS has an immediate effect and there...

Page 97: ...o means buffer full 511 means buffer empty LI x y z w n LI a b c d e f g h n Specify incremental distances relative to current position and assign vector speed n VS n Specify vector speed VA n Specify...

Page 98: ...ear Move Make a coordinated linear move in the ZW plane Move to coordinates 40000 30000 counts at a vector speed of 100000 counts sec and vector acceleration of 1000000 counts sec2 LM ZW Specify axes...

Page 99: ...d to store 750 incremental distances which are filled by the program LOAD LOAD Load Program DM VX 750 VY 750 Define Array COUNT 0 Initialize Counter DMC 40x0 User Manual Chapter 6 Programming Motion 9...

Page 100: ...rd axis can be controlled such that it remains tangent to the motion of the selected pair of axes Note that only one pair of axes can be specified for coordinated motion at any given time The command...

Page 101: ...the buffer is empty and 511 segments can be sent A zero means the buffer is full and no additional segments can be sent As long as the buffer is not full additional segments can be sent at PC bus spee...

Page 102: ...mand m defines the scale factor in counts degree and n defines the tangent position that equals zero degrees in the coordinated motion plane The operand _TN can be used to return the initial position...

Page 103: ...egments in DMC 40x0 sequence buffer Zero means buffer is full 511 means buffer is empty CAS or CAT Specifies which coordinate system is to be active S or T Operand Summary Coordinated Motion Sequence...

Page 104: ...cifies the master axes GR x y z w specifies the gear ratios for the slaves where the ratio may be a number between 127 9999 with a fractional resolution of 0001 There are two modes standard gearing an...

Page 105: ...s engaged For example if the master axis is already traveling at 1 000 000 cts sec and the slave will be geared at a ratio of 1 1 when the gearing is engaged the slave will instantly develop following...

Page 106: ...g at high speeds it is desirable for the speeds to change slowly Solution Use a DMC 4030 controller where the Z axis is the master and X and Y are the geared axes We will implement the gearing change...

Page 107: ...Specify master axes as Y GR 5 5 10 Set gear ratios PR 10000 Specify Y position SP 100000 Specify Y speed BGY Begin motion Example Electronic Gearing Objective Run two geared motors at speeds of 1 132...

Page 108: ...t through a main encoder port The electronic cam is a more general type of electronic gearing which allows a table based relationship between the axes It allows synchronizing all the controller axes F...

Page 109: ...n specify that by EP 2000 0 Step 4 Specify the slave positions Next we specify the slave positions with the instruction ET n x y z w where n indicates the order of the point The value n starts at zero...

Page 110: ...X defines X as the master axis The cycle of the master is 2000 Over that cycle Y varies by 1000 This leads to the instruction EM 2000 1000 Suppose we want to define a table with 100 segments This impl...

Page 111: ...he slave axis is engaged with a start signal input 1 but that both the engagement and disengagement points must be done at the center of the cycle X 1000 and Y 500 This implies that Y must be driven t...

Page 112: ...ns size of cycle for each axis _EP Contains value of the ECAM table interval _EQx Contains ECAM status for each axis _EY Set ECAM cycle count Example Electronic CAM The following example illustrates a...

Page 113: ...000 ST Z Stop the Z axis motion EB 0 Exit the ECAM mode EN End of the program The above example shows how the ECAM program is structured and how the commands can be given to the controller The next pa...

Page 114: ...hould slow the motion to a zero velocity prior to executing this command The controller will instantly command a zero velocity once a PVn 0 0 0 is executed In addition a ST command will also exit PVT...

Page 115: ...in 1 second and then back down to 0 counts second within an additional second The velocity profile would be described by the following equation and shown in Figure 6 14 To accomplish this we need to...

Page 116: ...PVX 214 937 256 Incremental move of 214 counts in 256 samples with a final velocity of 937 counts sec PVX 245 1000 256 Incremental move of 245 counts in 256 samples with a final velocity of 1000 coun...

Page 117: ...tween points is critical DMC 40x0 User Manual Chapter 6 Programming Motion 108 X Axis Y Axis 500 500 1500 5000 2500 4000 3300 4200 7300 3300 Figure 6 15 Actual Velocity and Position vs Time of Parabol...

Page 118: ...B axes PVA 800 10000 250 4th point in Figure 6 16 A axis PVB 200 1000 250 4th point in Figure 6 16 B axis PVA 4000 0 1000 5th point in Figure 6 16 A axis PVB 900 0 1000 5th point in Figure 6 16 B axi...

Page 119: ...t is generated for each sample If the time interval changes for each segment use CD x y z w n where n is the new DT value Consider for example the trajectory shown in Fig 6 18 The position X may be de...

Page 120: ...al 2n sample periods 1 ms for TM1000 for position increment where n is an integer between 1 and 8 Zero ends contour mode If n does not change it does not need to be specified with each CD _CM Amount o...

Page 121: ...A complete program to generate the contour movement in this example is given below To generate an array we compute the position value at intervals of 8 ms This is stored at the array POS Then the diff...

Page 122: ...n Dimension array RA C Specify array for automatic record up to 4 for DMC 4040 RD _TPX Specify data for capturing such as _TPX or _TPZ RC n m Specify capture time interval where n is 2n sample periods...

Page 123: ...n electronic cam table Further assume that the ecam master is not an external encoder but has to be a controlled variable This can be achieved by defining the N axis as the master with the command EAN...

Page 124: ...to make sure that the controller has completed generating all step pulses before making additional moves This is most particularly important if you are moving back and forth For example when operatin...

Page 125: ...can be defined by using the command DE Note Closed loop operation with a stepper motor is not possible Command Summary Stepper Motor Operation COMMAND DESCRIPTION DE Define Encoder Position When usin...

Page 126: ...e one pulse could be a full step a half step or a microstep When a Galil controller is configured for step motor operation the step pulse output by the controller is internally fed back to the auxilia...

Page 127: ...solution counts per revolution SHX Enable axis WT50 Allow slight settle time YS1 Enable SPM mode Half Stepping Drive X axis SETUP OE1 Set the profiler to stop axis upon error KS16 Set step smoothing M...

Page 128: ...rn to the main code POSERR Automatic subroutine is called when YS 2 WT100 Wait helps user see the correction spsave _SPX Save current speed setting JP RETURN _YSX 2 Return to thread zero if invalid er...

Page 129: ...nd encoder for each axis except for axes configured for stepper motor operation and axis used in circular compare When used the second encoder is typically mounted on the motor or the load but may be...

Page 130: ...motor and the load has a backlash To compensate for the backlash position encoders are mounted on both the motor and the load The continuous dual loop combines the two feedback signals to achieve sta...

Page 131: ...is is done by the following program INSTRUCTION INTERPRETATION DUALOOP Label CE 0 Configure encoder DE0 Set initial value PR 40000 Main move BGX Start motion Correct Correction loop AMX Wait for motio...

Page 132: ...ltering and smoother moves The following example illustrates the effect of smoothing Fig 6 15 shows the trapezoidal velocity profile and the modified acceleration and velocity Note that the smoothing...

Page 133: ...sition the motor on the index pulse after the home switch is detected This allows for finer positioning on initialization The HM command and BG command causes the following sequence of events to occur...

Page 134: ...Forward Reverse Forward Normally Closed CN 1 0 Forward Reverse Forward Normally Closed CN 1 1 Reverse Forward Forward Example Homing Instruction Interpretation HOME Label CN 1 Configure the polarity...

Page 135: ...MC 40x0 User Manual Chapter 6 Programming Motion 126 _HMX 1 _HMX 0 HOME SWITCH MOTION BEGINS IN FORWARD DIRECTION MOTION CHANGES DIRECTION MOTION IN FORWARD DIRECTION TOWARD INDEX INDEX PULSES POSITIO...

Page 136: ...nd inputs High Speed Position Capture The Latch Function Often it is desirable to capture the position precisely for registration applications The DMC 40x0 provides a position latch feature This featu...

Page 137: ...s not occurred 3 After the latch has occurred read the captured position with the RL XYZW command or _RL XYZW Note The latch must be re armed after each latching event Example Latch Latch program JG 5...

Page 138: ...mode the fast firmware must be uploaded This can be done through the GalilTools communication software The fast firmware is included with the original DMC 40x0 utilities In order to set the desired u...

Page 139: ...Enter Programs The GalilTools software package provides an editor and utilities that allow the upload and download of DMC programs to the motion controller Application programs for the DMC 40x0 may a...

Page 140: ...line number or label following the start listing operand specifies the location at which listing is to stop Example Instruction Interpretation LS List entire program LS 5 Begin listing at line 5 LS 5...

Page 141: ...r subroutines See section on 705HA S R uto tart outine ININT Label for Input Interrupt subroutine LIMSWI Label for Limit Switch subroutine POSERR Label for excess Position Error subroutine MCTIME Labe...

Page 142: ...errors the subroutines are executed as thread 0 To begin execution of the various programs use the following instruction XQ A n Where n indicates the thread number To halt the execution of any thread...

Page 143: ...a which can not be placed into the FIFO In this case the controller does not delay program execution Error Code Command When there is a program error the DMC 40x0 halts the program execution at the po...

Page 144: ...gram is executed the controller stops at line 003 The user can then query the controller using the command TC1 The controller responds with the corresponding explanation ED Edit Mode 000 A Program Lab...

Page 145: ...r absolute position occurs Only one axis may be specified at a time MF X or Y or Z or W A or B or C or D or E or F or G or H Halt program execution until after forward motion reached absolute position...

Page 146: ...cify Absolute position BGX Begin motion AD 1000 Wait until 1000 counts SB1 Set output bit 1 EN End program Event Trigger Repetitive Position Trigger To set the output bit every 10000 counts during a m...

Page 147: ...the last AV command VECTOR Label VMXY VS 5000 Coordinated path VP 10000 20000 Vector position VP 20000 30000 Vector position VE End vector BGS Begin sequence AV 5000 After vector distance VS 1000 Redu...

Page 148: ...o motion profiles based on the state of an input line Command Format JP and JS FORMAT DESCRIPTION JS destination logical condition Jump to subroutine if logical condition is satisfied JP destination l...

Page 149: ...gram to jump to the label TEST under two conditions 1 If V1 is less than V2 and V3 is less than V4 OR 2 If V5 is less than V6 Using the JP Command If the condition for the JP command is satisfied the...

Page 150: ...ument of the IF command evaluates False The ELSE command must occur after an IF command and has no arguments If the argument of the IF command evaluates false the controller will skip commands until t...

Page 151: ...wing section Example An example of a subroutine to draw a square 500 counts per side is given below The square is drawn at vector position 1000 1000 M Begin Main Program CB1 Clear Output Bit 1 pick up...

Page 152: ...AUTO start up Check error condition with _RS bit 0 for variable checksum error bit 1 for parameter checksum error bit 2 for program checksum error bit 3 for master reset error there should be no prog...

Page 153: ...gh Speed BGX Begin Motion Example Input Interrupt A Label II1 Input Interrupt on 1 JG 30000 60000 Jog BGXW Begin Motion LOOP JP LOOP EN Loop ININT Input Interrupt STXW AM Stop Motion TEST JP TEST IN 1...

Page 154: ...either skip or retry invalid commands OPERAND FUNCTION _ED1 Returns the number of the thread that generated an error _ED2 Retry failed command operand contains the location of the failed command _ED3...

Page 155: ...BGA Begin Motion on A axis AMA Wait for motion to be complete JP LOOP Continually loop to make back and forth motion EN End main program COMINT Interrupt Routine JP STOP P2CH 0 Check for S stop motion...

Page 156: ...sions containing 3 Global variables MUST be assigned prior to any use in subroutines where variables are passed by reference Example A Simple Adding Function Add JS SUM 1 2 3 4 5 6 7 8 call subroutine...

Page 157: ...ve NO axis a PR b SP c AC d DC e Profile movement for axis a a a is global so use carefully in subroutines try one variable axis a h for each thread A H PR a b SP a c AC a d DC a e BG a MC a EN _TP a...

Page 158: ...dd up stack depths Executed program from program1 dmc A Axis Position 00029319 Error 00001312 Torque 9 9982 B Axis Position 00001612 Error 00000936 Torque 1 7253 C Axis Position 00001696 Error 0000107...

Page 159: ...e which is represented as 32 bits of integer and 16 bits of fraction Each ASCII character is represented as one byte 8 bits therefore the input variable can hold up to six characters The first charact...

Page 160: ...f n INT n Integer portion of n RND n Round of n Rounds up if the fractional part of n is 5 or greater SQR n Square root of n Accuracy is 004 IN n Return digital input at general input n where n starts...

Page 161: ...es Assigned values can be numbers internal variables and keywords functions controller parameters and strings The range for numeric variable values is 4 bytes of integer 231 followed by two bytes of f...

Page 162: ...tus commands such as Tell Position return actual values whereas action commands such as KP or SP return the values in the DMC 40x0 registers The axis designation is required following the command Exam...

Page 163: ...nts of a position trajectory in a record 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...

Page 164: ...nds QU array start end delim QD array start end where array is an array name such as A start is the first element of array default 0 end is the last element of array default last element delim specifi...

Page 165: ...RPX Commanded position _SCX Stop code _TEX Position error _TI Inputs _TPX Encoder position _TSX Switches only bit 0 4 valid _TTX Torque reports digital value 32544 Note X may be replaced by Y Z or W f...

Page 166: ...assigned to the variable lenX Cut to Length Example In this example a length of material is to be advanced a specified distance When the motion is complete a cutting head is activated to cut the mater...

Page 167: ...an applications program to decode data and they may also be used in conditional statements with logical operators Example Instruction Interpretation JP LOOP P2CD 3 Checks to see if status code is 3 nu...

Page 168: ...e to print message to terminal MG P2 TO CHANGE SPEEDS Print message MG P2 TYPE A OR B MG P2 TYPE S TO STOP JOGLOOP Loop to change Jog speeds JG speedA speedB Set new jog speed JP JOGLOOP EN End of mai...

Page 169: ...er 5 Sending Messages Messages may be sent to the bus using the message command MG This command sends specified text and numerical or string data from variables or arrays to the screen Text strings ar...

Page 170: ...ASCII characters represented by 7 and 255 to the bus Summary of Message Functions function description Surrounds text string Fn m Formats numeric values in decimal n digits to the left of the decimal...

Page 171: ...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 specifies hexadecimal format Hex values are returned preceded by...

Page 172: ...s The VF command 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 s...

Page 173: ...ram could be used such that the input number is converted into counts by multiplying it by the number of counts revolution Instruction Interpretation RUN Label IN ENTER OF REVOLUTIONS n1 Prompt for re...

Page 174: ...t Port Instruction Interpretation OP6 Sets outputs 2 and 3 of output port to high All other bits are 0 21 22 6 OP0 Clears all bits of output port to zero OP 255 Sets all bits of output port to one 22...

Page 175: ...and Channel B input is mapped to input 82 To use 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...

Page 176: ...examples show programs which cause the motor to follow an analog signal The first example is a point to point move The second example shows a continuous move Example Position Follower Point to Point O...

Page 177: ...a n n2 2 n3 4 n4 5 n5 where nx represents the block If the nx value is a one then the block of 8 I O points is to be configured as an output If the nx value is a zero then the block of 8 I O points wi...

Page 178: ...1 2 3 block 0 and bits 33 34 35 block 4 to 1 Bits 4 through 8 and bits 36 through 48 will be set to 0 All other bits are unaffected When accessing I O blocks configured as inputs use the TIn command...

Page 179: ...Speed BGX Start Motion AMX After motion is complete SB1 Set output bit 1 WT 20 Wait 20 ms CB1 Clear output bit 1 WT 80 Wait 80 ms JP A Repeat the process START PULSE I1 MOTOR VELOCITY OUTPUT PULSE TI...

Page 180: ...ch Also assume encoder resolution of 1000 lines per revolution This results in the relationship 1 inch 40 000 counts and the speeds of 1 in sec 40 000 count sec 5 in sec 200 000 count sec an accelerat...

Page 181: ...PR 80000 Move Z down SP 80000 Z speed BGZ Start Z motion AMZ Wait for completion of Z motion CR 80000 270 360 Circle VE VS 40000 Feed rate BGS Start circular move AMS Wait for completion PR 80000 Mov...

Page 182: ...speed proportional to the input 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...

Page 183: ...ompensate for backlash In some cases however when the backlash magnitude is large it may be difficult to stabilize the system In those cases it may be easier to use the sampled dual loop method descri...

Page 184: ...ctive is to move the linear load to the position of 1000 The first step is to command the X motor to move to the rotary position of 1000 Once it arrives we check the position of the load If for exampl...

Page 185: ...THIS PAGE LEFT BLANK INTENTIONALLY DMC 40x0 User Manual Chapter 7 Application Programming 176...

Page 186: ...on 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 given Each axis amplifier has separate amplifier enable lines...

Page 187: ...if the motor 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 t...

Page 188: ...will be disabled under the following 3 conditions 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...

Page 189: ...ng the jump on condition statement The _LR condition specifies the reverse limit and _LF specifies the forward limit X Y Z or W following LR or LF specifies the axis The CN command can be used to conf...

Page 190: ...offset Amplifier offset may also be compensated by use of the offset configuration on the controller see the OF command Replace amplifier Motor is enabled even when MO command is given The SH command...

Page 191: ...s 1 Noise Shield encoder cables Avoid placing power cables near encoder cables Avoid Ground Loops Use differential encoders Use 12V encoders Stability SYMPTOM DIAGNOSIS CAUSE REMEDY Servo motor runs a...

Page 192: ...t the basic level of closing the loop involves the subjects of modeling analysis and design These subjects will be covered in the following discussions The motion profiling is the generation of the de...

Page 193: ...s program corresponds to the velocity profiles shown in Fig 10 3 Note that the profiled positions show where the motors must be at any instant of time Finally it remains up to the servo system to veri...

Page 194: ...s 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 Like...

Page 195: ...hree 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 associated w...

Page 196: ...iven in English units it is necessary to convert the quantities to MKS units For example consider a motor with the parameters Kt 14 16 oz in A 0 1 Nm A R 2 J 0 0283 oz in s2 2 10 4 kg m2 L 0 004H Then...

Page 197: ...motor velocity is sensed by a tachometer and is fed back to the amplifier Such a system is illustrated in Fig 10 5 Note that the transfer function between the input voltage V and the velocity is V Ka...

Page 198: ...drature relationship between the encoder channels the position resolution is increased to 4N quadrature counts rev The model of the encoder can be represented by a gain of Kf 4N 2 count rad For exampl...

Page 199: ...unction G s G s P sD I s a s a where P KP D T KD I KI 2T a B n T 1 1 1 where T is the sampling period and B is the pole setting For example if the filter parameters of the DMC 40x0 are KP 16 KD 144 KI...

Page 200: ...approximated as one This completes the modeling of the system elements Next we discuss the system analysis System Analysis To analyze the system we start with a block diagram model of the system elem...

Page 201: ...rol system The open loop transfer function A s is the product of all the elements in the loop A 390 000 s 51 s2 s 2000 To analyze the system stability determine the crossover frequency c at which A j...

Page 202: ...The Analytical Method The analytical design method is aimed at closing the loop at a crossover frequency c with a phase margin PM The system parameters are assumed known The design procedure is best i...

Page 203: ...es 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 A j500 arg L j500 135 194 59...

Page 204: ...filters can be programmed The procedure is simplified by the following table which summarizes the relationship between the various filters Equivalent Filter Form DMC 40x0 Digital D z K z A z Cz z 1 1...

Page 205: ...THIS PAGE LEFT BLANK INTENTIONALLY DMC 40x0 User Manual Chapter 10 Theory of Operation 196...

Page 206: ...Inputs Home Inputs DI1 thru DI8 Uncommitted Inputs and Abort Input DI9 thru DI16 Uncommitted Inputs DMC 4050 through DMC 4080 only 2 2K ohm in series with opto isolator Active high or low requires at...

Page 207: ...epts differential or single ended voltages with voltage range of 12 volts DI89 DI90 DMC 4050 through DMC 4080 only Auxiliary Encoder Inputs for E axis Line Receiver Inputs accepts differential or sing...

Page 208: ...4080 187 5 sec 125 sec Position Accuracy 1 quadrature count Velocity Accuracy Long Term Phase locked better than 0 005 Short Term System dependent Position Range 2147483647 counts per move Velocity R...

Page 209: ...ontroller in fast mode the fast firmware must be uploaded This can be done through the GalilTools communication software The fast firmware is included with the original DMC 40x0 utilities In order to...

Page 210: ...ontroller with 12VDC The 12V option allows the controller to be powered with a regulated 12V supply In most cases this option is only appropriate if no Galil amplifiers are used Part number ordering e...

Page 211: ...see the Extended I O of the DMC 40x0 Controller section in Chapter 3 Part number ordering example DMC 4010 C012 5V I000 RS 232 RS 422 Serial Port Serial Communication The default serial configuration...

Page 212: ...r enable configurations set on the interconnect module See the Amplifier Interface section in Chapter 3 for more information Part number ordering example DMC 4010 C012 I000 24V HAEN SINK 5V 5V Amplifi...

Page 213: ...d on the 5 8 Axes amplifier board Part number ordering example DMC 4080 C012 I000 I000 D3040 D3040 ISAMP 100mA 100mA Maximum Current output for AMP 43140 The 100mA option configures the AMP 43140 D314...

Page 214: ...the type of Molex Connectors used and the specific part numbers used on each Amplifier or Driver For more information on the connectors go to 366Hhttp www molex com Note These part number list the con...

Page 215: ...on 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 Fun...

Page 216: ...7 GND 5 GND Cable to Connect Computer 9 pin to Main 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 C...

Page 217: ...for 0 Voltage and 99 8 for full positive voltage 64kHz Switching Frequency In the Sign Magnitude Mode MT1 5 the PWM 128 kHz signal is 0 for 0 Voltage 99 6 for full voltage and the sign of the Motor Co...

Page 218: ...lues and saved sequences are restored Electronic Lock Out Input that when triggered will shut down the amplifiers at a hardware level Useful for safety applications where amplifiers must be shut down...

Page 219: ...al details about the amplifier 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 def...

Page 220: ...Step 2 Remove ICM For DMC 4040 Proceed to Step 3 Configure Circuit Appendices 211 DMC 40x0 User Manual...

Page 221: ...1 and 2 Step 1 Remove Cover Notes 1 Cover Removal A Remove Jack Screws 34 Places B Remove 6 32x3 16 Button Head Cover Screws 4 Places 2 Lift Cover Straight Up and Away from Unit DMC 40x0 User Manual...

Page 222: ...Step 2 Remove ICM s Appendices 213 DMC 40x0 User Manual...

Page 223: ...nable Sourcing Configuration pg 216 12V High Amp Enable Sinking Configuration pg 217 12V Low Amp Enable Sinking Configuration pg 217 12V High Amp Enable Sourcing Configuration pg 218 12V Low Amp Enabl...

Page 224: ...king Configuration Default 5V Low Amp Enable Sinking Configuration Appendices 215 DMC 40x0 User Manual Default Configuration Shipped with controller when no specific setup is ordered From Default Conf...

Page 225: ...figuration DMC 40x0 User Manual Appendices 216 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 226: ...iguration Does not require the removal of Metal 12V Low Amp Enable Sinking Configuration Appendices 217 DMC 40x0 User Manual From Default Configuration 1 Change JP1 to 12V From Default Configuration 1...

Page 227: ...figuration DMC 40x0 User Manual Appendices 218 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 228: ...Ohms For 13V to 24V RP6 4 7K Ohms 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 229: ...Default Configuration 1 Move U4 up one pin location on socket 2 Reverse RP2 3 Change JP1 to AEC1 4 Change JP2 to AEC2 5 If AEC2 is 13V to 24V Replace RP6 with 4 7K Resistor Pack AEC1 V AEC2 V For 5V...

Page 230: ...For Steps 4 and 5 with a DMC 4080 refer to DMC 4080 Steps 4 and 5 section below DMC 4040 Steps 4 and 5 Step 4 Replace ICM Appendices 221 DMC 40x0 User Manual...

Page 231: ...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 40x0 User Manual Appendices 222...

Page 232: ...DMC 4080 Steps 4 and 5 Step 4 Replace ICM s Appendices 223 DMC 40x0 User Manual...

Page 233: ...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 DMC 40x0 User Manual Appendices 224...

Page 234: ...ous 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 starting point of the sequence Each linea...

Page 235: ...e changes in X and Y positions along the linear segment The length of the circular arc is L R k k k 2 360 The total travel distance is given by D Lk k n 1 The velocity profile may be specified indepen...

Page 236: ...shown in Fig A 1 are given in Fig A 3 Fig A 3a shows the vector velocity It also indicates the position point along the path starting at A and ending at D Between the points A and B the motion is alo...

Page 237: ...s JS CFGAOUT Configure analog outputs JS CFGAIN Configure analog inputs MBF 6 6 1025 1 Save configuration to OPTO 22 EN End CFGDOUT Label MODULE 2 Set variable CFGVALUE 180 Set variable NUMOFIO 4 Set...

Page 238: ...Label MG UNABLE TO ESTABLISH CONNECTION Message EN End Using the equation I O number Handlenum 1000 Module 1 4 Bitnum 1 MG IN 6001 display level of input at handle 6 module 1 bit 2 SB 6006 set bit of...

Page 239: ...0 Variables 254 labels Faster servo operation good for very high resolution sensors 22 MHz encoder speed for servos 12 MHz Faster stepper operation 6 MHz stepper rate 3 MHz Improved EMI Connections br...

Page 240: ...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 241: ...lil Motion Control 270 Technology Way Rocklin CA 95765 Phone 916 626 0101 Fax 916 626 0102 E Mail Address support galilmc com URL 370Hhttp galilmc com FTP 371Hhttp galilmc com ftp DMC 40x0 User Manual...

Page 242: ...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 243: ...of each transconductance linear amplifier is 0 1 A V at 1 A maximum current The typical current loop bandwidth is 4 kHz A3 SDM 44040 D4040 4 axis Stepper Drives The SDM 44040 is a stepper driver modul...

Page 244: ...nusoidal encoder signals instead of digital encoder signals as accepted by the ICM 42000 and the ICM 42200 A8 ICM 42200 I200 Interconnect Module The ICM 42200 provides a pin out that is optimized for...

Page 245: ...ncy is 60 kHz The drive for each axis is software configurable to operate in either a chopper or inverter mode The chopper mode is intended for operating low inductance motors The amplifier offers pro...

Page 246: ...inimum Load Inductance 0 5 mH Inverter mode 0 2 mH Chopper Mode Brushless Motor Commutation angle 120 60 option available Mating Connectors On Board Connector Terminal Pins POWER 6 pin MATE N LOK MOLE...

Page 247: ...ntroller will alert the operator and recommend which motor phases to change For example the controller might return Wire A to Terminal B Wire B to Terminal A If the controller finds that the commutati...

Page 248: ...nto brush axis operation by issuing BR n n n n By setting n 1 the controller will operate in brushed mode on that axis For example BR0 1 0 0 sets the Y axis as brush type all others as brushless If an...

Page 249: ...cause the amplifier to be disabled if OE 1 is set and will cause the controller to enter the AMPERR subroutine if it is included in a running program Under Voltage Protection If the supply to the ampl...

Page 250: ...s on the A D axis amplifier and Bit 6 of TA0 will be set when the over temperature occurs on the E H axis amplifier The over temperature condition will trigger the AMPERR routine if included in the pr...

Page 251: ...power is 20 W per amplifier or 60 W total The gain of each transconductance linear amplifier is 0 1 A V at 1 A maximum current The typical current loop bandwidth is 4 kHz The AMP 43140 can be ordered...

Page 252: ...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 MATE N LOK MOLEX 39 01 2045 MOLEX 44476 3112 A B C D 4 pin...

Page 253: ...e used for all axes when the ELO is used in an application SSR Option The AMP 43140 linear amplifier require a bipolar power supply It is possible that the plus and minus V and V rise to nominal volta...

Page 254: ...perating two phase bipolar step motors The SDM 44040 requires a single 12 30 VDC input The unit is user configurable for 1 4 A 1 0 A 0 75 A or 0 5 A per phase and for full step half step 1 4 step or 1...

Page 255: ...ctors On Board Connector Terminal Pins POWER 6 pin MATE N LOK MOLEX 39 31 0060 MOLEX 44476 3112 A B C D 4 pin Motor Power Connectors 4 pin MATE N LOK MOLEX 39 31 0040 MOLEX 44476 3112 For mating conne...

Page 256: ...e profiler is not commanding motion This is the default setting LC command set to 1 Low Current Mode causes motor to use 25 of peak current while at a resting state This is the recommended configurati...

Page 257: ...essentially in a Motor Off MO state TA3 will return a 3 and the AMPERR routine will run when the ELO input is triggered To recover from an ELO an MO then SH must be issued or the controller must be re...

Page 258: ...p motor The maximum step rate generated by the controller is 6 000 000 microsteps second The SDM 44140 drives motors operating at up to 3 Amps at 12 to 60 VDC available voltage at motor is 10 less The...

Page 259: ...ce 0 5 mH Mating Connectors On Board Connector Terminal Pins POWER 6 pin MATE N LOK MOLEX 39 01 2065 MOLEX 44476 3112 A B C D 4 pin Motor Power Connectors 4 pin MATE N LOK MOLEX 39 01 2045 MOLEX 44476...

Page 260: ...motor to use 25 of peak current while at 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 specif...

Page 261: ...igurable I O bit 29 20 IO28 Configurable I O bit 28 35 IO30 Configurable I O bit 30 6 IO32 Configurable I O bit 32 21 IO31 Configurable I O bit 31 36 GND Digital Ground 7 IO33 Configurable I O bit 33...

Page 262: ...Female Standard connector and cable 9Pin Pin Signal 1 NC 2 TXD 3 RXD 4 NC 5 GND 6 NC 7 RTS 8 CTS 9 NC 5V with APWR Jumper RS 422 Main Port Non Standard Option Standard connector and cable when DMC 40x...

Page 263: ...2 Option Pin Signal 1 CTS 2 RXD 3 TXD 4 RTS 5 GND 6 CTS 7 RXD 8 TXD 9 RTS Ethernet 100 BASE T 10 BASE T Kycon GS NS 88 3 5 Pin Signal 1 TXP 2 TXN 3 RXP 4 NC 5 NC 6 RXN 7 NC 8 NC 10 BASE 2 AMP 227161 7...

Page 264: ...8 4K Baud Rate setting see 367Htable below 19 2K Baud Rate setting see 368Htable below UPGD Used to upgrade controller firmware when resident firmware is corrupt MRST Master Reset enable Returns contr...

Page 265: ...4 pin HD D Sub Connector Female Pin Label Description Pin Label Description Pin Label Description 1 ERR Error Output 16 RST Reset Input 31 GND Digital Ground 2 DI1 Digital Input 1 A latch 17 INCOM Inp...

Page 266: ...ut 15 14 ORET Output Return 29 DO16 Digital Output 16 44 CMP Output Compare 15 5V 5V 30 5V 5V ICM 42000 External Driver A D 44 pin HD D Sub Connector Male Pin Label Description Pin Label Description P...

Page 267: ...Enable Common 1 37 AENF Amplifier Enable F 8 AENH Amplifier Enable H 23 AENG Amplifier Enable G 38 AEC2 Amp Enable Common 2 9 N C No Connect 24 N C No Connect 39 GND Digital Ground 10 12V 12V 25 12V 1...

Page 268: ...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 5V ICM 42000 Analog 15 pin D sub Connector Male Pin Label Description 1 AG...

Page 269: ...roller 5V 12V Connect AECOM1 or AECOM2 to Controller 12V AEC1 Connect AECOM1 to AEC1 pin on External Driver D Sub AEC2 Connect AECOM2 to AEC2 pin on External Driver D Sub Note See ICM 42000 and ICM 42...

Page 270: ...lil if a single ended quadrature encoder is required when using the ICM 42100 or if you require encoder inputs with a Rev A ICM 42100 The ID command will indicate the hardware Rev of the ICM 42100 whe...

Page 271: ...e Switch G 24 RLSG Reverse Limit Switch G 39 FLSH Forward Limit Switch H 10 HOMH Home Switch H 25 RLSH Reverse Limit Switch H 40 GND Digital Ground 11 OPWR Output Power 26 N C No Connect 41 DO9 Digita...

Page 272: ...5V 5V 30 N C No Connect Notes 1 Negative differential motor command outputs when DIFF option is ordered on ICM Ex DMC 4040 C012 I000 DIFF These pins may be used for other functions when DIFF option i...

Page 273: ...Enable Common 1 37 AENF Amplifier Enable F 8 AENH Amplifier Enable H 23 AENG Amplifier Enable G 38 AEC2 Amp Enable Common 2 9 N C No Connect 24 N C No Connect 39 GND Digital Ground 10 12V 12V 25 12V 1...

Page 274: ...A Digital 9 AA Aux Encoder Input A Digital 10 HALA A Channel Hall Sensor 11 AA Aux Encoder Input A Digital 12 AB Aux Encoder Input B Digital 13 HALB B Channel Hall Sensor 14 HALC C Channel Hall Senso...

Page 275: ...ure count Thus for a complete cycle of the square wave there are a total of four encoder counts Figure A7 22 Quadrature Encoder Signals A sinusoidal encoder is similar to a quadrature encoder in that...

Page 276: ...mined using Fine 2 les Coarse_cyc Position n Where n is the number of bits of resolution that were used in the conversion Coarse_cycles is the whole number of cycles counted Fine is the interpolated p...

Page 277: ...Input 31 GND Digital Ground 2 DI1 Digital Input 1 A latch 17 INCOM Input Common 32 DI2 Digital Input 2 B latch 3 DI4 Digital Input 4 D latch 18 DI3 Digital Input 3 C latch 33 DI5 Digital Input 5 4 DI7...

Page 278: ...Digital Output 15 14 ORET Output Return 29 DO16 Digital Output 16 44 CMP Output Compare 15 5V 5V 30 5V 5V ICM 42200 Encoder 26 pin HD D Sub Connector Female Pin Label Description Pin Label Description...

Page 279: ...1 AI4 Analog Input 4 12 AI6 Analog Input 6 13 AI8 Analog Input 8 14 N C No Connect 15 12V 12V Jumper Description for ICM 42000 Jumper Label Function If jumpered Q and P 1 Sink Source Selection 2 Sink...

Page 280: ...er 98 Backlash 77 120 174 Baud Rate 16 49 Begin Motion 20 23 137 143 153 156 Binary 1 53 70 73 168 Bit Wise 150 Burn 22 48 Burn EEPROM 1 Bypassing Optoisolation 37 Circle 171 Circular Interpolation 91...

Page 281: ...6 159 Design Example 25 Ethernet Communication Error 146 Input Interrupt 166 Opto 22 228 Output Bit 165 Output Port 165 Position Follower 167 Printing a Variable 161 Set Bit and Clear Bit 164 Sinusoid...

Page 282: ...86 96 110 Logical Operator 139 158 Masking Bit Wise 160 Mathematical Expression 149 151 MCTIME 132 136 143 144 Memory 1 2 21 22 28 70 112 130 134 139 143 153 155 168 Message 49 52 62 91 134 143 150 15...

Page 283: ...3 5 13 24 124 Step Motor KS Smoothing 24 Stepper Position Maintenance 117 Stop Code 75 156 Stop Motion 86 92 144 180 Subroutine 32 91 130 132 139 158 166 178 Synchronization 1 6 48 99 Syntax 70 71 Tan...

Page 284: ...Internal Variable 30 Vector Acceleration 30 88 94 172 Vector Deceleration 30 88 94 Vector Mode Circular Interpolation 30 Linear Interpolation 30 Vector Speed 30 86 94 138 172 Wire Cutter 169 Zero Sta...

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