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An alternative gearing method is to synchronize the slave motor to the commanded vector motion of several axes 
performed by GAS.  For example, if the X and Y motor form a circular motion, the Z axis may move in proportion 
to the vector move.  Similarly, if X,Y and Z perform a linear interpolation move, W can be geared to the vector 
move.

Electronic gearing allows the geared motor to perform a second independent or coordinated move in addition to the 
gearing.  For example, when a geared motor follows a master at a ratio of 1:1, it may be advanced an additional 
distance with PR, or JG, commands, or VP, or LI.

Ramped Gearing

In some applications, especially when the master is traveling at high speeds, it is desirable to have the gear ratio 
ramp gradually to minimize large changes in velocity on the slave axis when the gearing is 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 error, and command maximum current to the motor. 
This can be a large shock to the system.  For many applications it is acceptable to slowly ramp the engagement of 
gearing over a greater time frame.  Galil allows the user to specify an interval of the master axis over which the 
gearing will be engaged.  For example, the same master X axis 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.  Figure 6.10 below shows the velocity vs. time profile for instantaneous gearing.  Figure 6.11 
shows the velocity vs. time profile for the gradual gearing engagement.

Figure 6.10: Velocity cts/sec vs. Time (msec) Instantaneous Gearing 

Engagement

DMC-40x0 User Manual

Chapter 6 Programming Motion 

• 

96

Содержание DMC-4040

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

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

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

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

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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