Manuel d'utilisation / d'entretien du produit DMC-1800 du fabricant Galil
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USER MANUAL DMC-1700/1800 Manual Rev. 1.2m By Galil Motion Control, Inc. Galil Motion Control, Inc. 3750 Atherton Road Rocklin, California 95765 Phone: (916) 626-0101 Fax: (916) 626-0102 Internet Address: support@galilmc.
Using This Manual This user manual provides inf ormation for proper oper ation of the DMC-17 00 or DMC-1800 controller. The appendix to this m anual contai ns inform ation regarding the accessories t o these controllers .
DMC-1700/1800 Contents • i Contents Contents i Chapter 1 Overview 1 Introduc tion ................................................................................................................... ............ 1 Overview of Motor Types.............
ii • Contents DMC-1700/1800 Example 6 - Abso lute Po sition .................................................................................. 37 Example 7 - Velo city Control..........................................................................
DMC-1700/1800 Contents • iii Operands.................................................................................................................... 84 Command Su mmary ...........................................................................
iv • Contents DMC-1700/1800 Using the IT and V T Commands:............................................................................ 127 Using the KS Com mand (Step Motor Smoothing): ................................................. 128 Homing ...
DMC-1700/1800 Contents • v Analog Inputs .......................................................................................................... 168 Example App lications ...........................................................................
vi • Contents DMC-1700/1800 ICM-1900 Interc onnect Mo dule ............................................................................................ 211 ICM-1900 Dr awing ...........................................................................
DMC-1700/1800 Chapter 1 Overview • 1 Chapter 1 Overview Introduction The DMC-1700 series motion control car ds i nstall directly into the ISA bus while the DMC-1800 series motion controllers install directly into a PCI slot.
2 • Chapter 1 Overview DMC-1700/1800 Overview of Motor Types The DMC-17 00/1800 ca n provide t he following t ypes of m otor cont rol: 1. Standard servo motors with +/- 10 volt command sign als 2. Brushless se rvo m otors with sinus oidal com mutation 3.
DMC-1700/1800 Chapter 1 Overview • 3 WATCHDOG TIMER 68331 MICROCOMP UTER WIT H 4 Meg RAM 4 Meg FLASH EEPROM HIGH-SPEED MOTOR /ENC ODER INTERF AC E FOR X,Y,Z,W, et c.
4 • Chapter 1 Overview DMC-1700/1800 17X8 The DMC-17 18, 1728, 1738 , 1748 controll ers have 64 addi tional general I/O points. The user can configure these I/O po ints as inpu ts or outputs in bl ocks of 8.
DMC-1700/1800 Chapter 1 Overview • 5 either single-e nded (CH A and CHB ) or diff erential (C HA, CHA-, CHB, CHB- ). The controller decodes either type into quadrature states or four times th e number of cycles. Encoders m ay also have a third channel (or i ndex) for synchronization.
6 • Chapter 1 Overview DMC-1700/1800 THIS PAGE LEFT BLANK INTENTIONALLY.
DMC-1700/1800 Chapter 2 Getting Started • 7 Chapter 2 Getting Started The DMC-17x0 and DMC-18x0 Motion Controllers 1 4 J5 2 3 JP8 JP5 JP4 JP9 JP3 5 JP1 J1 Figure 2-1 - Outline of the DMC-1710 throug.
8 • Chapter 2 Getting Started DMC-1700/1800 Figure 2-3 - Outline of the DMC-1810 through DMC-1840 Figure 2-4 - Outline of the DMC-1850 through DMC-1880 1 Flash EEPROM J8 50-pin header connector corr.
DMC-1700/1800 Chapter 2 Getting Started • 9 4 Galil GL-1800 custom gate array JP4 Jumpers used for configuring stepper motor oper ation on axes 5-8 (DMC-1750/1780 and DMC-1850/1880 only). Jumpers used to select DMA channel 0 or 1 (DMC- 1710/1740 only).
10 • Chapter 2 Getting Started DMC-1700/1800 For servo motors in current mode, the amplifiers sh ould accept an analog sig nal in the +/-10 Volt range as a command. The amplifier gain shou ld be set such that a +10V command will generate the maxi mu m req uir ed cu rren t.
DMC-1700/1800 Chapter 2 Getting Started • 11 standard servo axes and one axis of sinusoidal commutation, the controller will requ ire a total of four DAC’s and the controller m ust be a DMC -1740 or DMC-1840 . Sinusoidal commutat ion is configure d with the c ommand, B A.
12 • Chapter 2 Getting Started DMC-1700/1800 DMC-1780 allows the user to select which channel will be used. The DMA channel chosen should be reflected within the Galil software regist ry. 2.5 illustrates these settings. Please note earlier controller revisions (Rev.
DMC-1700/1800 Chapter 2 Getting Started • 13 Configuring the Address Jumpers on the DMC-1700 The DMC-1700 address, N, is se lectable by setting the address jumpers labeled A2, A3 , A4, A5, A6, A7 and A8 where each jumper represents a digit of the binary number that is equivalent to N m inus 512.
14 • Chapter 2 Getting Started DMC-1700/1800 Note: Galil software is also available for downl o ad at: http://www.galilmc.co m/support/ download.html Step 4. Install the DMC-1700/1800 in the PC The DMC-1700 is installed directly into th e ISA ex pansio n bus.
DMC-1700/1800 Chapter 2 Getting Started • 15 Using Galil Software for Windows 3.x, 95 and 98 First Edition (DMC-1700 only) In order for the Windows software to communicate with a Galil controller, the controller must be registered in t he Windows Re gistry.
16 • Chapter 2 Getting Started DMC-1700/1800 DMC-1800 and DMC-1417 in the Galil Registry Using a DMC-1700 card in a plug an d play OS (W in 98 SE, 2000, ME, XP) will require adding the controller to the system in the Windows Device Manager.
DMC-1700/1800 Chapter 2 Getting Started • 17 2. Let the Hardware Wizard try to de tect a new Plug and Play device. 3. If a device is found, the Hardware Wizard will then ask if the device is on a list o f found devices. Say no and proceed to the next dial og box.
18 • Chapter 2 Getting Started DMC-1700/1800 4. The Hardware Wiza rd prompt s for Windows to sear ch for the new device. This feature is for devices such a s modems that can be found by ‘random’ q ueries of all a vailable communicat ion ports. Select, ‘No’ an d proceed to the next dialog.
DMC-1700/1800 Chapter 2 Getting Started • 19 Note: If this is the first tim e a 1700 card has been installed on the machine, then the Galil diamond may not be present. If there is no Galil diamond on the Hardware Type window, click on Other Devices instead.
20 • Chapter 2 Getting Started DMC-1700/1800 At this point the user m ust reboot and go to the Device M anager under M y Comput erProperties. Device Manager in Win 98 SE Select the device from the l.
DMC-1700/1800 Chapter 2 Getting Started • 21 Edit Input/Output Range in W in 98 SE When chang ing the settings, the operating system will inform the user of any resource con flicts. If there are resource conflicts, it is necessary to com par e the available resources to t hose on the jum pers, and select a configuration that is compatible.
22 • Chapter 2 Getting Started DMC-1700/1800 7. Once the controller is properly entered into the Windows reg istry, it should also be present in the Galil Registry. The address and IRQ jumpers on the con troller may need to be changed depending on the resources available in Windows (see Step 3 for setting address and IRQ jumpers).
DMC-1700/1800 Chapter 2 Getting Started • 23 Once in the Galil Registry, click New Controller under Non-PnP Tool s. Select the a ppropriate controller from the pull down menu and adj ust the tim eout as seen fit. Click Next t o conti nue. The registry information for the DMC-1700 card will show a default address of 1000.
24 • Chapter 2 Getting Started DMC-1700/1800 If there are communication problems, the program will pa use for 3-15 seconds. The top of the dialog box will display the message “Status: no t connected with Galil motion controller” and the following error will appear: “STOP - Unable to establish communication with the Galil controller.
DMC-1700/1800 Chapter 2 Getting Started • 25 Step 7. Make Connections to Amplifier and Encoder. Once you have establishe d comm unications betwee n the soft ware and the DMC-1700/1 800, you a re ready to connect the rest of the motion contro l system .
26 • Chapter 2 Getting Started DMC-1700/1800 For stepper m otor operati on, an e ncoder is op tional. For servo motor operation, if you have a pref erred definition of the forward and reverse directions, m ake sure t hat the enc oder wirin g is consist ent with that defini tion.
DMC-1700/1800 Chapter 2 Getting Started • 27 Step 8a. Connect Standard Servo Motors The following discussion applies to connecting the DMC-1700/1800 contr oller to standard servo motor amplifiers: The motor and the amplifier may be configured in the torque or the velocity mode.
28 • Chapter 2 Getting Started DMC-1700/1800 the command , OE 1. If the motor runs away due to positive feedback or another systematic problem the controller will disable the amplifier when the position error exceeds the value set by the c ommand, ER.
DMC-1700/1800 Chapter 2 Getting Started • 29 J7 J6 J51 DC Servo Mot or Enco de r + - AUX e nco de r in put c onne ctor D B25 f ema le 100 pin high densi ty connector AMP part # 2-1 78238-9 LSC O M I.
30 • Chapter 2 Getting Started DMC-1700/1800 Figure 2-7 System Connections with a separate amplifier (MSA 12-80). This diagram shows the connections for a standard DC Servo Motor and en coder.
DMC-1700/1800 Chapter 2 Getting Started • 31 Step 8b. Connect Sinusoidal Commutation Motors When using sinusoidal commutati on, the pa rameters fo r the com mutation m ust be determ ined and saved in the controllers non-vo latile memory. The servo can then be tuned as described in Step 9.
32 • Chapter 2 Getting Started DMC-1700/1800 will test the X axis with a voltage of 2 volts, applying it for 700 millisecond for each phase. In response, this test indicates whether the DAC wiring is correct and will indicate an approximate value of BM.
DMC-1700/1800 Chapter 2 Getting Started • 33 this voltage may need to be increased and for systems with very small motors, this value should be decreased. For example, BZ -2 will drive the X axis to zero, using a 2V signal. The controller will then leave the motor enabled.
34 • Chapter 2 Getting Started DMC-1700/1800 for an external connection. If an e n coder is used for position feedback, connect the e ncoder to the ma in encoder input corresponding to that ax is. The commanded position of the stepper can be interrog ated with RP or DE.
DMC-1700/1800 Chapter 2 Getting Started • 35 Again, the syst em m ay vibrate if the gain is too high. In this case, reduce KP. Typica lly, KP should not be greater than KD/4. (Only when the amplifier is configu red in the current mod e). Finally, to select KI, start w ith zero value and increase it gradually.
36 • Chapter 2 Getting Started DMC-1700/1800 Instruction Interpretation PR 10000 Distance SP 20000 Speed DC 100000 Deceleration AC 100000 Acceleration BG X Start Motion Example 3 - Multiple Axes Objective: Move the four ax es independently .
DMC-1700/1800 Chapter 2 Getting Started • 37 Instruction Interpretation TE Tell error - al l axes TE X Tell error - X ax is only TE Y Tell error - Y ax is only TE Z Tell error - Z axis only TE W Tell error - W axis only Example 6 - Absolute Position Objective: Command motion by sp ecifying the absolute position.
38 • Chapter 2 Getting Started DMC-1700/1800 In this example, the X motor will probably not move since the ou tput signal will not be sufficient to overcome the friction. If the m otion starts, i t can be stop ped easily by a touch of a finger. Increase the torque level gradually b y instructions such as Instruction Interpretation TL 1.
DMC-1700/1800 Chapter 2 Getting Started • 39 If the ED command is issued from the Galil W indows term inal software (such as DTERM32), the software will open a Wi ndows based e ditor. From this edi tor a program can be entere d, edited, d ownloaded a nd uplo aded to the controller.
40 • Chapter 2 Getting Started DMC-1700/1800 Instruction Interpretation #A;DP0 Label; Define cu rrent position as zero PR 4000 Initial position SP 2000 Set speed BGX Move X AMX Wait until m ove is c.
DMC-1700/1800 Chapter 2 Getting Started • 41 VP 0,4000 Linear segment CR 2000,90,-180 Circular segment VS 1000 Vector speed VA 50000 Vector acceleration VD 50000 Vector deceleration VE End vector se.
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DMC-1700/1800 Chapter 3 Connecting Hardw are • 43 Chapter 3 Connecting Hardware Overview The DMC-1700/1800 prov ides optoiso lated digital inp uts for forward limit , reverse limit, home , a nd abort signals.
44 • Chapter 3 Conn ecting Hardware DMC-1700/1800 _LFx or MG _LFx. This prints the v alue of the limit sw itc h operands for the ‘x’ ax is. The logic state of the limit switches can al so be interr ogated with t he TS comm and. For m ore details on TS see the Com mand Reference .
DMC-1700/1800 Chapter 3 Connecting Hardw are • 45 All motion programs that are cu rrently running are terminated when a transitio n in the Abort input is detected. For informati on on setting t he Off-On- Error func tion, see the Command R eference, OE .
46 • Chapter 3 Conn ecting Hardware DMC-1700/1800 For the DMC-1800 th ere is a separate LSCOM and INCOM for IN1-IN8, home, and limit switches for axes 1-4 and for IN9-16, home, and limit sw itches for axes 5-8. The jump ers are located on the DMC-1 800 at JP3 and JP13, respectively.
DMC-1700/1800 Chapter 3 Connecting Hardw are • 47 LSCOM FLSX External Resisto r Need ed fo r Volt ag es > 24V LSCO M FLSX Extern al Resisto r Needed for Volt ag es > 24V Configuration t o sour.
48 • Chapter 3 Conn ecting Hardware DMC-1700/1800 the ICM-1900interf ace board. To chang e the polarity fr om active high (5 volts= enable, zero volts = disable) to active low (zero volts = ena ble, 5 volts= disable), replace th e 7407 IC with a 7406.
DMC-1700/1800 Chapter 3 Connecting Hardw are • 49 more information about these commands , see the Command Summary. The va lue of t he outputs can be checked with the ope rand _OP and t he function @OUT[x] (see C hapter 7, Ma thematical Functions and Ex pressions) .
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DMC-1700/1800 Chapter 4 - Software Too l s an d Communications • 51 Chapter 4 - Software Tools and Communications Introduction Galil software is available for PC computers running Microsoft Windows ® to communicate with DMC-1700 and DMC- 1800 controllers via ISA and PCI buses, respectiv ely.
52 • Chapter 4 - Softw are Tools and Communications DMC-1700/1800 Smar tTER M / WSDK DMC32.dl l Galil ActiveX Controls (DMCShel l. oc x, DMCReg.oc x, DMCTerm. ocx, et c.) GLWDMPCI.s ys. DMC-1800 FIFO, DPRAM, I RQ Application Level Galil API Lev el Driver Level Hardware Interface DMCBUS32.
DMC-1700/1800 Chapter 4 - Software Too l s an d Communications • 53 Galil SmartTERM SmartTERM is Galil’s basic communications utility that all ows the user to perform basic tasks such as send ing .
54 • Chapter 4 - Softw are Tools and Communications DMC-1700/1800 Download Array... Opens the "Download Array" dialog box that allo ws an array in th e controller's RAM to be defined and populated with data . The dialog box uses the DMC32.
DMC-1700/1800 Chapter 4 - Software Too l s an d Communications • 55 Update Firmware.. . The "Update Firmware" command al lows new firmware to be downloaded to the currently connected controller . Selecting this command will cause a file-open dialog box to open, allowing the user to specif y a *.
56 • Chapter 4 - Softw are Tools and Communications DMC-1700/1800 Figure 4.3 - Data Record Display for a DMC-1840 The Data Record display is user customizable so that all, or just parts, of the record can be display ed. To m odify the display, right click on an object to access t he options.
DMC-1700/1800 Chapter 4 - Software Too l s an d Communications • 57 Communication Settings for ISA and PCI The Galil SmartTERM application installatio n (as well as WSDK, ActiveX, and DMCWIN32 installations) includes the necessary drivers and .DLL files required to communicate with the Galil con troller.
58 • Chapter 4 - Softw are Tools and Communications DMC-1700/1800 Figure 4.5 - General Co mmunicatio ns Parameters Dialog Advanced com municati ons setti ngs are available under the Communic ati ons Method tab to allow different methods of commun ications to be utilized (shown in Fig 4.
DMC-1700/1800 Chapter 4 - Software Too l s an d Communications • 59 Interrupt Communications Method The interrupt method overall is the most eff icient of the thr ee methods. The i nterrupt comm unications met hod uses a hardware interr upt to noti fy the driver that a response or unso licited data is available.
60 • Chapter 4 - Softw are Tools and Communications DMC-1700/1800 Figure 4.7 - DMC-1700 Da ta Record Parameters Figure 4.8 - DMC-1800 Da ta Record Parameters.
DMC-1700/1800 Chapter 4 - Software Too l s an d Communications • 61 Windows Servo Design Kit (WSDK) The Galil Windows Servo Design Kit includes advanced tuning and diagnostic too ls that allows the user to maximize the performance of their systems, as well as aid i n setup and configuration of Galil controllers.
62 • Chapter 4 - Softw are Tools and Communications DMC-1700/1800 Creating Custom Software Interfaces Galil provides programming tools so that use rs can develop th eir own custom software interfaces to a Galil controller. These tools inc lude the Acti veX Toolki t and DMCWin.
DMC-1700/1800 Chapter 4 - Software Too l s an d Communications • 63 After installing DMCWin into the default directory, th e DMCCOM.H header file is located in C:Program FilesGalilDMCWININCLUDE. C++ programs that use the class library need the files DMCWIN.
64 • Chapter 4 - Softw are Tools and Communications DMC-1700/1800 To use this exam ple, start a new Visual Basic project, place a Text Box and a Comm a nd Button on a Form, add the DMCCOM40.
DMC-1700/1800 Chapter 4 - Software Too l s an d Communications • 65 DOS, Linux, and QNX tools Galil offers unsupported cod e examples that demonstrate communications to th e controller using the follo wing operating systems.
66 • Chapter 4 - Softw are Tools and Communications DMC-1700/1800 Bit Number Condition 0 X motion com p lete 1 Y motion complete 2 Z motion complete 3 W motion complete 4 E motion complete 5 F motio.
DMC-1700/1800 Chapter 4 - Software Too l s an d Communications • 67 Status B y te ( hex ) Condition 00 No interrupt D9 Watchdog timer activated DA Command done DB Application program done F0 thru FF.
68 • Chapter 4 - Softw are Tools and Communications DMC-1700/1800 The DMC-1700 prov ides four I/O registers beginning at the base address N, where the base address N is set with the address jumpers as descri bed in Ch.2. Th e Main Comm unications FIFO re gister o ccupies address N a nd is used for the main comm unications t o the cont roller (i.
DMC-1700/1800 Chapter 4 - Software Too l s an d Communications • 69 It is a good idea to clear the FIFO pointer register before attempting this procedure. Send a no-op in struction, by reading N+1 address, before you start. Note: Clearing the FIFO will also re set the configuration for the interrup t mask regist er.
70 • Chapter 4 - Softw are Tools and Communications DMC-1700/1800 Secondary FIFO Registers Operation Register (address) Value Read N+2 Data Byte Read N+3 Status Byte bit 0 = busy bit 1 = freeze bit .
DMC-1700/1800 Chapter 4 - Software Too l s an d Communications • 71 PCI Device Identification DEVICE ID VENDOR ID SUBSYST EM ID SUBSYSTEM VENDOR ID 9050H 10B5H 1800H 1079H Read, Write, and Control Registers The DMC-180 0 provides f our regist ers used for c ommuni cation.
72 • Chapter 4 - Softw are Tools and Communications DMC-1700/1800 FIFO Control Register at N+4 Status Bit Read/Write Meaning 7 Read Only If 1, Secondary FIFO empty 6 Read/Write IRQ enable: Write 1 t.
DMC-1700/1800 Chapter 4 - Software Too l s an d Communications • 73 Resetting the PC to DMC FIFO - To reset the output FIFO, write d ata to address N+8 whe re bit 2 i s high and all other bits are low. Resetting the DM C to PC FIFO - To reset t he input FIFO , write data t o address N+ 8 where bit 1 is hi gh and all ot her bits are low.
74 • Chapter 4 - Softw are Tools and Communications DMC-1700/1800 18 UB general output block 6 (outputs 4 9-56) 19 UB general output block 7 (outputs 5 7-64) 20 UB general output block 8 (outputs 6 .
DMC-1700/1800 Chapter 4 - Software Too l s an d Communications • 75 128-131 SL w,d axis referen ce position 132-135 SL w,d axis motor p osition 136-139 SL w,d axis position error 140-143 SL w,d axis.
76 • Chapter 4 - Softw are Tools and Communications DMC-1700/1800 260-261 SW h axis torque 262-263 SW h axis analog input Note: UB = U nsigned Byte, UW = Unsigned Wor d, SW = Signed Wor d, SL = Sign.
DMC-1700/1800 Chapter 4 - Software Too l s an d Communications • 77 Notes Regarding Veloci ty, To rque and An alog Input Data The velocity information that is returned in the data record is 64 times larger than the value returned when using the command TV (Tell Velocity).
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DMC-1700/1800 Chapter 5 Command Basics • 79 Chapter 5 Command Basics Introduction The DMC-1700/1800 prov ides over 100 command s for specifying motion and machine parameters. Commands are included to initiate action, interro gate status and configure the digital filter.
80 • Chapter 5 Command Basics DMC-1700/1800 PR ,,,4000 Specify W only as 4000 PR 2000, 4000,6000 , 8000 Sp ecify X Y Z and W PR ,8000,,9000 Specify Y and W only PR ?,?, ?,? Req ues t X ,Y, Z ,W va lu es PR ,? Request Y value only The DMC-1700/1800 provides an altern ative method for specify ing data.
DMC-1700/1800 Chapter 5 Command Basics • 81 Binary Command Format All binary commands have a 4 byt e header and is followed by data fiel ds. The 4 by tes are specifie d in he xadecimal format. Header Format: Byte 1 specifies the com mand num ber between 80 t o FF.
82 • Chapter 5 Command Basics DMC-1700/1800 Example The comm and ST XYZS wo uld be A1 00 01 0 7 where A1 is the com mand num ber for ST 00 specifies 0 data fields 01 specifi es stop the co ordinated axe s S 07 specifies stop X (bit 0), Y (bit 1) and Z (bit 2) 2 0 +2 1 +2 3 =7 Binary command table COMMAND NO.
DMC-1700/1800 Chapter 5 Command Basics • 83 PR a7 AT d2 reserved fd JG a8 WT d3 reserved fe MO a9 WC d4 reserved ff SH aa reserved d5 Controller Response to DATA The DMC-1700/1 800 returns a : for valid com mands. The DMC-1700/1 800 returns a ? for invalid com mands.
84 • Chapter 5 Command Basics DMC-1700/1800 For example, the following example illustrates how to display the current position of the X axis: TP X <enter> Tell position X 0000000000 Controllers Response TP XY <enter> Tell position X and Y 0000000000,0000000000 Controllers Response Interrogating Current Commanded Values.
DMC-1700/1800 Chapter 6 Programming Motion • 85 Chapter 6 Programming Motion Overview The DMC-17 00/1800 p rovides seve ral modes o f motion, i ncluding i ndepende nt positi oning and j ogging, coordinated motion, electronic cam motion, and electronic gearing.
86 • Chapter 6 Programmin g Motion DMC-1700/1800 2-D motion path consisting of ar c segments and linear segments, such as engraving or quilting. Coordinated Motion VM VP CR VS,VR VA,VD VE Third axis must remain tangent to 2-D motion pa th, such as knife cutting.
DMC-1700/1800 Chapter 6 Programming Motion • 87 Independent Axis Positioning In this m ode, motion between the s pecified axes is indepe ndent, and each axis follows its own profile.
88 • Chapter 6 Programmin g Motion DMC-1700/1800 _PRx Returns current incrementa l distance specif ied for the ‘x’ axis Example - Absolute Position Movement PA 10000,20000 Specify absolute X,Y p.
DMC-1700/1800 Chapter 6 Programming Motion • 89 VELOCITY (COUNTS/SEC) 20000 10000 5000 15000 20 40 60 80 TIME (ms) 100 X axis velocity profile Y axis velocity profile Z axis velocity profile 0 Figure 6.
90 • Chapter 6 Programmin g Motion DMC-1700/1800 Parameters can be set with individual axes specifiers such as JGY=2000 (set j og speed for Y axis to 2000).
DMC-1700/1800 Chapter 6 Programming Motion • 91 The PA command is typically used to command an axis or multiple axes to a specific ab solute position. For some applications such as tracking an object, the controller must proceed towards a target and have the ab ility to change the target duri ng the m ove.
92 • Chapter 6 Programmin g Motion DMC-1700/1800 Figure 1 Positio n vs Time (msec) Motion 1 Example - Motion 2: The previous step showed the p lot if the motion continued all the way to 5000, how ev.
DMC-1700/1800 Chapter 6 Programming Motion • 93 Figure 3 Velocity vs Time (msec) Motion 2 Example Motion 4 In this motion, the host program comman ds the controller to begin motion towards pos ition 5000, changes the targ et to -2000, an d then chan ges it again t o 8000.
94 • Chapter 6 Programmin g Motion DMC-1700/1800 Figure 5 Velocity vs.Time Motion 4 Figure 6 Velocit y cts/sec vs. T ime (msec) with IT Note the cont roller treats t he point w here the velocity passes throug h zero as the e nd of one m ove, and the beginning of another move.
DMC-1700/1800 Chapter 6 Programming Motion • 95 Command Summary – Position Tracking Mode COMMAND DESCRIPTION AC n,n,n,n,n,n,n,n Acceleration settings for the spec ified axes AP n,n,n,n,n,n,n,n Tri.
96 • Chapter 6 Programmin g Motion DMC-1700/1800 Additional Commands The commands VS n, VA n, a nd VD n are used to speci fy the vector s peed, accelera tion and deceleration. The DMC-1700/ 1800 computes t he vector spee d based on the ax es specified i n the LM mode.
DMC-1700/1800 Chapter 6 Programming Motion • 97 LI 4000,0 <4000 >1000 Specify first linear segment with a vector speed of 4000 and end speed 1000 LI 1000,1000 < 4000 >1000 Specify second.
98 • Chapter 6 Programmin g Motion DMC-1700/1800 To illustrate the ability to interrogate the motion status , consider the first motion segment of our example, #LMOVE, where the X axis moves toward the poin t X=5000. Suppose that when X=3000, the controller is interrogated using the command ‘MG _AV’.
DMC-1700/1800 Chapter 6 Programming Motion • 99 POSI TI O N Z 0 0 40000 FEEDRATE 0 0.1 0.5 0 .6 4000 36000 30000 27000 3000 VELOCI TY Z-AXI S VELOCI TY W- A X IS POSI TI O N W TIME (s ec ) TIME (s ec ) TIME (s ec ) Figure 6.2 - Linear Interpolatio n Example - Multiple Moves This exampl e makes a coordi nated linear m ove in the XY plane.
100 • Chapter 6 Prog ramming Motion DMC-1700/1800 N=0 Initialize position increment #LOOP LOOP VX [COUNT]=N Fill Array VX VY [COUNT]=N Fill Array VY N=N+10 Increment position COUNT=COUNT+1 Increment.
DMC-1700/1800 Chapter 6 Programming Mo tion • 101 This ‘local’ definition of zero does not affect the abso lu te coordinate system or subseq uent coordinated motion sequences. The comm and, VP x,y speci fies the coordi nates of the e nd points of the vector m ovement with respect to the starting point.
102 • Chapter 6 Prog ramming Motion DMC-1700/1800 Compensating for Differences in Encoder Resolution: By default, t he DMC-170 0/1800 uses a s cale factor of 1: 1 for the enc oder resoluti on when used i n vector m ode. If this is not the case, the command, E S can be use d to scale the e ncoder counts.
DMC-1700/1800 Chapter 6 Programming Mo tion • 103 Command Summary - Coordinated Motion Sequence COMMAND DESCRIPTION. VM m,n Specifies the axes for the pl anar motion where m and n represent the planar ax es and p is the tangent axis. VP m,n Return coordin ate of la st point, where m=X,Y,Z or W.
104 • Chapter 6 Prog ramming Motion DMC-1700/1800 CR 1500,270,-180 Segment BC VP 0,3000 Segment CD CR 1500,90,-180 Segment DA VE End of sequence BGS Begin Sequence The resulting motion starts at the po int A and moves toward points B, C, D, A. Suppose that we interrogate the controller when the motion is h alfway between the points A and B.
DMC-1700/1800 Chapter 6 Programming Mo tion • 105 An alternative gearing m ethod is to sy nchronize the sl ave motor to the commanded vector m otion of several a xes performed by GAS. For e xampl e, if the X and Y motor fo rm a circular motion, the Z axis may move in proportion to the vector m ove.
106 • Chapter 6 Prog ramming Motion DMC-1700/1800 Figure 2 Veloc ity (cts/sec) vs. Tim e (msec) Ramped Gearing The slave axis for each figure is shown on the bottom portion of the figure; the master axis is shown on the top portion. The sho ck to the slave axis will be sign ificantly less in figure 2 than in figure1.
DMC-1700/1800 Chapter 6 Programming Mo tion • 107 between these two values is stored in the _GPn operand. If exact p osition synchronization is required, th e IP command is used to adjust for the diffe rence.
108 • Chapter 6 Prog ramming Motion DMC-1700/1800 For exam ple, assume that a ga ntry is dri ven by two a xes, X,Y, on both si des. This requires the gantry mode for strong coupling between the motors. The X-axis is the ma ster and the Y-axis is the foll ower.
DMC-1700/1800 Chapter 6 Programming Mo tion • 109 In the electronic cam mode, the position of the m aster is al ways expressed m odulo one cycle. In t his example, the position of x is always expressed in th e range between 0 an d 6000. Similarly, the slave position is also red efined such that it starts at zero and ends at 1500.
110 • Chapter 6 Prog ramming Motion DMC-1700/1800 EG x,y,z,w where x,y,z,w are the master positions at which the corresponding slaves must be engaged. If the value of any parameter is outside the range of one cycle, the cam engage s immediately. When the cam is engaged, t he slave positi on is redefine d, modulo o ne cycle.
DMC-1700/1800 Chapter 6 Programming Mo tion • 111 EAX Select X as master EM 2000,1000 Cam cycles EP 20,0 Master position increm ents N = 0 Index #LOOP Loop to construct table from equ ation P = N ∗ 3.
112 • Chapter 6 Prog ramming Motion DMC-1700/1800 Operand Summary - Electronic CAM command description _EB Contains State of ECAM _EC Contains current ECAM index _EGx Contains ECAM status for each a.
DMC-1700/1800 Chapter 6 Programming Mo tion • 113 Figure 6.5 – Three Storage Scop es Contour Mode The DMC-1700/1800 also pro vides a contouring mode. This mode allows any arbitrary po sition curve to be prescribed for 1 to 8 axes. This is ideal for following co mputer generate d paths such a s parabol ic, spherical or user- defined profiles.
114 • Chapter 6 Prog ramming Motion DMC-1700/1800 When the cont roller receives the comm and to generate a trajectory along th ese points, it interpolates linearly between the p oints. The res ulting interp olated point s include the po sition 12 at 1 msec, posi tion 24 at 2 msec, etc.
DMC-1700/1800 Chapter 6 Programming Mo tion • 115 Command Summary - Contour Mode COMMAND DESCRIPTION CM XYZW Specifies which axes for cont ouring mode. Any non-contourin g axes may be operated in other modes. CM ABCDEFGH Contour axes for DMC-1780/1880 CD x,y,z,w Specifies position increment ov er time interval .
116 • Chapter 6 Prog ramming Motion DMC-1700/1800 Figure 6.7 - Velocity Profile with Sinusoidal Acceleration The DMC-170 0/1800 can c ompute tri gonometric funct ions.
DMC-1700/1800 Chapter 6 Programming Mo tion • 117 EN End first program #RUN Program to run motor CMX Contour Mode DT3 8 millisecond intervals C=0 #E CD DIF[C] Contour Distance is in DIF WC Wait for .
118 • Chapter 6 Prog ramming Motion DMC-1700/1800 DT2 Specify time increm ent I=0 Initialize array counter #B Loop counter CD DX[I]; I=I+1;WC Specify contour da ta I=I+1 Increment arr ay counter JP #B,I<500 Loop until done DT 0;CD0 End contour mode EN End program For additional info rmation about automatic array capture, see Chapter 7, Arrays.
DMC-1700/1800 Chapter 6 Programming Mo tion • 119 Stepper Motor Operation When confi gured for st epper m otor operation, s everal com mands are inte rpreted di fferently t han from serv o mode. The following describes operation with stepper motors.
120 • Chapter 6 Prog ramming Motion DMC-1700/1800 value of the st ep count regi ster as well as t he value of t he reference position. F or example, D P 0, define s the reference posit ion of the X axis to be zer o.
DMC-1700/1800 Chapter 6 Programming Mo tion • 121 Stepper Position Maintenance Mode (SPM) The Galil controller can be set into the Stepper Position Main tenance (SPM) mode to handle the event of stepper motor position erro r. The mode looks at position feedback from the main enco der and compares it to the comm anded step pulses.
122 • Chapter 6 Prog ramming Motion DMC-1700/1800 1. The moti on is ma intained or i s stopped, dependi ng on the se tting of the OE comm and. If OE=0 the axis stays in motion, if OE=1 the axis is stop ped. 2. YS is set to 2, which causes the automatic subroutin e labeled #POSERR to be executed.
DMC-1700/1800 Chapter 6 Programming Mo tion • 123 #SETUP OE1; Set the profiler to stop axis upon error KS16; Set step smoothing MT-2; Motor ty pe set to stepper YA64; Step resolution of the microste.
124 • Chapter 6 Prog ramming Motion DMC-1700/1800 MG”ERROR= “,_QSX YRX=_QSX; Else, error is valid, use QS for correction MCX; W ait for motion to comple te MG”CORRECTED, ERROR NOW= “,_QSX WT.
DMC-1700/1800 Chapter 6 Programming Mo tion • 125 spx=_SPX #LOOP; Save speed value SP2048; Set a new slow correction speed WT100; Stabilize JP#END,@ABS[_QSX]<10; End correction if error is within.
126 • Chapter 6 Prog ramming Motion DMC-1700/1800 V1= _DEX The command, TD XYZW, returns the curre nt position of the auxiliary encoder. The command, DV 1,1,1,1, configures the auxiliary encod er to be used for backlash compensation. Backlash Compensation There are two m ethods for backlash comp ensation using the auxiliary enc oders: 1.
DMC-1700/1800 Chapter 6 Programming Mo tion • 127 PR 40000 Main move BGX Start motion #Correct Correction loop AMX Wait for motion comp letion V1=10000-_DEX Find linear encoder error V2=-_TEX/4+V1 C.
128 • Chapter 6 Prog ramming Motion DMC-1700/1800 ACCELERATION VELOCITY VELOCITY VELOCITY ACCELERATION Figure 6.7 - Trapezoida l velocity and smo oth velocity profiles Using the KS Command (Step Motor Smoothing): When operati ng with ste p motors, m otion sm oothing ca n be accom plished wit h the com mand, KS.
DMC-1700/1800 Chapter 6 Programming Mo tion • 129 Homing The Find Edge (FE) and Home (HM) i nstructi ons may be u s ed to home the m otor to a m echanical reference. This reference is connected to th e Home input line. The HM command initializes the moto r to the encoder ind ex pulse in addition to the Home inpu t.
130 • Chapter 6 Prog ramming Motion DMC-1700/1800 The 4 different motion possibilities for the ho me sequence are shown in the following table . Direction of Motion Switch Type CN Setting Initial _H.
DMC-1700/1800 Chapter 6 Programming Mo tion • 131 _HMX=1 _HMX =0 HOME SW IT CH MOTION BEGINS IN FORW ARD DIREC TI ON MOTION CHANGES DIREC TI ON MOTION IN FORW ARD DIREC TI ON TOWARD INDEX INDEX PULSES POSITION POSITION POSITION POSITION POSITION VELOCITY VELOCITY VELOCITY Figure 6.
132 • Chapter 6 Prog ramming Motion DMC-1700/1800 Example: Find Edge #EDGE Label AC 2000000 Acceleration rate DC 2000000 Deceleration rate SP 8000 Speed FE Find edge command BG Begin motion AM After.
DMC-1700/1800 Chapter 6 Programming Mo tion • 133 IN4 W-axis latch IN12 H-axis latch Note: To insure a position capture within 25 micros econds, the input signal must be a tran sition from high to low. The DMC-17 00/1800 so ftware comm ands, AL an d RL, are use d to arm the l atch and re port the l atched position.
134 • Chapter 6 Prog ramming Motion DMC-1700/1800 Pole (PL) Analog Feedback (AF) Stepper Motor Operation (MT 2,-2,2.5 ,-2.5) Trippoints in thread 2-8 DMA channel Tell Velocity Int e rrogation Comman.
DMC-1700/1800 Chapter 7 Application Programmin g • 135 Chapter 7 Application Programming Overview The DMC-170 0/1800 provide s a powerful programmi ng language t hat allows user s to customi ze the controller for their particul ar applicati on. Program s can be downl oaded into t he control ler mem ory freeing t he host com puter for other tasks.
136 • Chapter 7 Application Programming DMC-1700/1800 While in the Edit Mode, the programm er has access to special instructi ons for saving, in serting and deleting program lines. These special instru ctions are listed below: Edit Mode Commands <RETURN> Typing the return key cau ses the current line of entered in structions to be saved.
DMC-1700/1800 Chapter 7 Application Programmin g • 137 #SQUARE #X1 #BEGIN1 Invalid labels #1Square #123 A Simple Exam ple Program: #START Beginning of the Program PR 10000,20000 Specify relative dis.
138 • Chapter 7 Application Programming DMC-1700/1800 ‘ BOTTOM LINE CR 1500,270,-180 ‘ HALF CIRCLE MOTION VP 0,3000 ‘ TOP LINE CR 1500,90,-180 ‘ HALF CIRCLE MOTION VE ‘ END VECTOR SEQUENCE BGS ‘ BEGIN SEQUENCE MOTION EN ‘ END OF PROGRAM Note: The NO command is an actual co ntroller command.
DMC-1700/1800 Chapter 7 Application Programmin g • 139 PR 1000 Define relative distance BGX Begin motion AMX After motion done WT 10 Wait 10 msec JP #LOOP2,@IN[2]=1 Repeat motion unless Input 2 is low HX Halt all tasks The program above is exec uted with the instruction XQ #TASK2,0 which designates TASK2 as the main thread (ie.
140 • Chapter 7 Application Programming DMC-1700/1800 interrogation command , LS (List). To list the application program labels only, use the interrog ation command, LL (List Labels). Operands In general, all opera nds provi de inform ation whi ch may be us eful in de bugging an applicat ion program .
DMC-1700/1800 Chapter 7 Application Programmin g • 141 Event Triggers & Trippoints To function independently fro m the host computer, the DMC-1700/1800 can be prog rammed to make decisions based on the occurrence of an ev ent.
142 • Chapter 7 Application Programming DMC-1700/1800 DMC-1700 and DMC-1800 Event Triggers Command Function AM X Y Z W or S (A B C D E F G H) Halts program execution until motion is complete on the specified axes or motion sequence(s). AM with no parameter te sts for motion complete on all a xes.
DMC-1700/1800 Chapter 7 Application Programmin g • 143 Event Trigger Examples: Event Trigger - Multiple Move Sequence The AM trippoint is used to separat e the two PR moves. If AM is not used, the controller returns a ? for the second PR command because a new PR cannot be given until motion is complete.
144 • Chapter 7 Application Programming DMC-1700/1800 Event Trigger - Start Motion on Input This example waits for input 1 to go low and then starts motion.
DMC-1700/1800 Chapter 7 Application Programmin g • 145 Event Trigger - Multiple Move with Wait This example makes multiple relative distance moves b y waiting for each to be complete before ex ecuting new moves.
146 • Chapter 7 Application Programming DMC-1700/1800 Command Format - JP and JS FORMAT: DESCRIPTION JS destination, logical cond ition Jump to subrouti ne if logical con dition is satisfied JP dest.
DMC-1700/1800 Chapter 7 Application Programmin g • 147 JP #TEST, (V1<V2) & (V3<V4) In this example, this statement will cause the program to ju mp to the label #TEST if V1 is less than V2 and V3 is less than V4.
148 • Chapter 7 Application Programming DMC-1700/1800 Note: An EN DIF comm and must always be e xecuted for e v ery IF command that has been executed. It is recommended that the user not include jum p commands in side IF conditional statements since this causes re- direction of command execu tion.
DMC-1700/1800 Chapter 7 Application Programmin g • 149 Subroutines A subrouti ne is a gr oup of inst ructions be ginning with a labe l and ending with an e nd comma nd (EN). Subr outines are called from the main program with the jump subroutin e instru ction JS, followed by a label or line number, and conditional st atement.
150 • Chapter 7 Application Programming DMC-1700/1800 SUBROUTINE DESCRIPTION #LIMSWI Limit switch on any axis goes lo w #ININT Input specified by II goes low #POSERR Position error exceeds limit specified by ER #MCTIME Motion Complete timeout oc curr ed.
DMC-1700/1800 Chapter 7 Application Programmin g • 151 001 JP #LOOP;EN Loop 002 #POSERR Position Error Routine 003 V1=_TEX Read Position Error 004 MG “EXCESS POSITION ERROR” Print Message 005 MG.
152 • Chapter 7 Application Programming DMC-1700/1800 Example - Command Error #BEGIN Begin main program IN “ENTER SPEED”, SPEED Prompt for speed JG SPEED;BGX; Begin motion JP #BEGIN Repeat EN En.
DMC-1700/1800 Chapter 7 Application Programmin g • 153 #CMDERR Begin command error subroutine IF _TC=6 If error is out of range (KP -1) N=1 Set N to a valid number XQ _ED2,_ED1,1 Retry KP N command .
154 • Chapter 7 Application Programming DMC-1700/1800 of the fraction. The characters can be individually sepa rated by u sing bit-wise operations as illustrated in the followi ng example : #TEST Be.
DMC-1700/1800 Chapter 7 Application Programmin g • 155 @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 +/-.
156 • Chapter 7 Application Programming DMC-1700/1800 (+/-2,147,483 ,647.9999) . Numeric value s can be assign ed to program mable varia bles using the eq ual sign. Any valid DM C-1700/1800 function can be used to assign a value t o a variable. F or exam ple, V1=@ABS[V 2] or V2=@IN[1].
DMC-1700/1800 Chapter 7 Application Programmin g • 157 Examples of Internal Variables: POSX=_TPX Assigns value from Tell Position X to the var iable POSX.
158 • Chapter 7 Application Programming DMC-1700/1800 DM POSX[7] Defines an array names POSX with sev en entries DM SPEED[100] Defines an array named speed with 100 entries DM POSX[0] Frees array sp ace Assignment of Array Entries Like variables, each array element can be as signed a value.
DMC-1700/1800 Chapter 7 Application Programmin g • 159 Start is the first element of array (de fault=0) End is the last element of array (defau lt=last element) Delim specifies whether the array data is seperated by a comma (delim=1) or a car riage return (deli m=0).
160 • Chapter 7 Application Programming DMC-1700/1800 Operand Summary - Automatic Data Capture _RC Returns a 0 or 1 where, 0 denotes not record ing, 1 specifies recording in progress _RD Returns address of next array element. Example - Recording into An Array During a position move, store th e X and Y positions and position error ev ery 2 msec .
DMC-1700/1800 Chapter 7 Application Programmin g • 161 EN In this example, the message “Enter Length” is displaye d on the computer screen. T he controller waits for the operator to enter a value. The operator enters the numeric value which is assigned to the variable, LENX.
162 • Chapter 7 Application Programming DMC-1700/1800 Text strings are specified i n quotes and variable or a rray data is designated by the name of the variable or array. Fo r example: MG “The Final Value is”, RESULT In addition to variables, functions and co mmands, responses can be used in th e message command.
DMC-1700/1800 Chapter 7 Application Programmin g • 163 MG {^07} {^255} sends the ASCII cha racters 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 digi ts to the right of the decimal point and m digits to the left {$n.
164 • Chapter 7 Application Programming DMC-1700/1800 PF m.n where m is the number of digits to the left of the decimal point (0 thru 10) and n is th e number of digits to the right of the decim al point (0 t hru 4) A ne gative sig n for m specifi es hexadecim al format.
DMC-1700/1800 Chapter 7 Application Programmin g • 165 Formatting Variables and Array Elements The Variable Form at (VF) comm and is used to fo rmat vari ables a nd array elements.
166 • Chapter 7 Application Programming DMC-1700/1800 All input parameters must be converted into these units. For example, an operator can b e prompted to input a number in re voluti ons. A pro gram could be used such that the input number i s converte d into count s by m ultiplying it by the number of counts/re voluti on.
DMC-1700/1800 Chapter 7 Application Programmin g • 167 Example - Turn on output after move #OUTPUT Label PR 2000 Position Command BG Begin AM After move SB1 Set Output 1 WT 1000 Wait 1000 msec CB1 Clear Output 1 EN End Digital Inputs The DMC-170 0/1800 has eight digi tal inputs for controll ing motion by local swit ches.
168 • Chapter 7 Application Programming DMC-1700/1800 had occurre d. If it is desired to return to s omewhere else in the program after the execution of the #ININT subroutine, th e Zero Stack (ZS) command is used followed by un conditional jump statemen ts.
DMC-1700/1800 Chapter 7 Application Programmin g • 169 JP #Loop Repeat EN End Example - Position Follower (Continuous Move) Method: Read the analog input, compute the commanded pos ition and the position error. Command the motor to run at a speed in proportions to th e position error .
170 • Chapter 7 Application Programming DMC-1700/1800 AI1 Wait for input 1 PR 6370 Distance SP 3185 Speed BGX Start Motion AMX After motion is complete SB1 Set output bit 1 WT 20 Wait 20 ms CB1 Clea.
DMC-1700/1800 Chapter 7 Application Programmin g • 171 5 in/sec = 20 0,000 count /sec an acceleration rate of 0.1g equals 0.1g = 38.6 in/s2 = 1, 544,000 co unt/s 2 Note that the circular path has a radius o f 2” or 8000 0 counts, a nd the motion st arts at the angl e of 270 ° and traverses 360 ° in the CW (negative direction).
172 • Chapter 7 Application Programming DMC-1700/1800 BGZ AMZ VP -37600,-16000 Return XY to start VE VS 200000 BGS AMS EN R=2 BC A 0 4 9.3 4 Y X Figure 7.2 - Moto r Velocity and th e Associated Input/Outpu t signal s Speed Control by Joystick The speed of a motor is controlled by a joystick.
DMC-1700/1800 Chapter 7 Application Programmin g • 173 Speed = 20000 x VIN.
174 • Chapter 7 Application Programming DMC-1700/1800 The corresponding velocity for the motor is assigned to the VEL v ariable . Instruction #A JG0 BGX #B VIN=@AN[1] VEL=VIN*20000 JG VEL JP #B EN Position Control by Joystick This system requires the position of the motor to be proportional to the joystick angle.
DMC-1700/1800 Chapter 7 Application Programmin g • 175 Once there, the load position is read to find the position error and the controller commands the motor to move to a new rotary position which elimin ates the position error. Since the required accuracy is 0.
176 • Chapter 7 Application Programming DMC-1700/1800 THIS PAGE LEFT BLANK INTENTIONALLY.
DMC-1700/1800 Chapter 8 Hardw are & So ftw are Protection • 177 Chapter 8 Hardware & Software Protection Introduction The DMC-1700/1800 provid es several hardware and software features to check fo r error conditions and to inh ibit the motor on error.
178 • Chapter 8 Hardw are & Software Protection DMC-1700/1800 a stop. If the Off-On-Error function is not enabled , the motor will instantaneously stop and servo at the current position. The Off-On-Error function is fu rther discussed in this chapter.
DMC-1700/1800 Chapter 8 Hardw are & So ftw are Protection • 179 Off-On-Error The DMC-1700/1800 contro ller has a built in function which can turn off the motors under certain error condition s. This function is k now as ‘Off -On-Error”. T o activate the OE functio n for each axis, s pecify 1 for X,Y,Z and W axis.
180 • Chapter 8 Hardw are & Software Protection DMC-1700/1800 JP#LF,V1=0 Jump to #LF if forward JP#LR,V2=0 Jump to #LR if reverse JP#END Jump to end #LF #LF MG “FORWARD LIMIT” Send message S.
DMC-1700/1800 Chapter 9 Troubleshooting • 181 Chapter 9 Troubleshooting Overview The following discussion may help you get your system to work. Potential problem s have been divided i nto grou ps as follo ws: 1. Installation 2. Comm unication 3. Stability and Compensation 4.
182 • Chapter 9 Troublesh ooting DMC-1700/1800 Unable to read main or auxiliary encoder input. The encoder does not work when swapped with another encoder input. 1. Wrong encoder connections. 2. Encoder is da maged 3. Encoder configuration incorrect.
DMC-1700/1800 Chapter 9 Troubleshooting • 183 Operation SYMPTOM DIAGNOSIS C AUSE REMEDY Controller rejects commands. Response of controller from TC1 diagnoses error. 1. Anything Correct problem reported by TC1 Motor Doesn’t Move Response of controller from TC1 diagnoses error.
184 • Chapter 9 Troublesh ooting DMC-1700/1800 THIS PAGE LEFT BLANK INTENTIONALLY.
DMC-1700/1800 Chapter 10 Theory of Operatio n • 185 Chapter 10 Theory of Operation Overview The following discussion covers the op eration of motion control systems. A typical motion contro l system consists of the element s shown in Fi g 10.1. COMPUTER CONTROLLER DRIVER MOTOR ENCODER Figure 10.
186 • Chapter 10 Th eo r y of Operation DMC-1700/1800 MOTION PROGRAMMING MOTION PROFILING CLOSED-LOOP CONTROL LEVEL 3 2 1 Figure 10.2 - Levels of Control Functions The three level s of control may be viewed as differe nt levels o f management. T he top m anager, the mot ion program , may specify the following instruction, for example.
DMC-1700/1800 Chapter 10 Theory of Operatio n • 187 Y POSITION X POSITION Y VELOCITY X VELOCITY TIME Figure 10.3 - Velocity and Position Profiles Operation of Closed-Loop Systems To understand the operatio n of a servo system, we may comp are it to a familiar closed-l oop operation, adjusting the water temperature in the shower.
188 • Chapter 10 Th eo r y of Operation DMC-1700/1800 The results may be worse i f we turn the faucet too fast. The overreaction results in temperature oscillations. When the response of the system oscillates, we say that the syst em is unstable. Clearly, unstable responses are bad when we want a cons tant level.
DMC-1700/1800 Chapter 10 Theory of Operatio n • 189 Motor-Amplifier The motor amplifier may be configured in three modes: 1. Voltage Drive 2. Current Dri ve 3. Velocity Loop The operation and modeling in the three mode s is as follows: Voltage Drive The amplifier is a voltage source with a gain of Kv [V/V].
190 • Chapter 10 Th eo r y of Operation DMC-1700/1800 P/V = 1000/s 2 [rad/V] If the motor is a DC brushless motor, it is driven by an amplifier that performs the commutation. The combined transfer function of motor amplifier combination is the same as that of a sim ilar brush m otor, as descri bed by the previous e quations.
DMC-1700/1800 Chapter 10 Theory of Operatio n • 191 K v 1/K e (ST m +1)(ST e +1) 1 S V EW P VOLTAGE SOURCE K a K t JS 1 S V IW P CURRENT SOURCE 1 S V WP VELOCITY LOOP 1 K g (ST 1 +1) Figure 10.6 - Mathemati cal model of the mo tor a nd amplifier in three operational modes Encoder The encoder generates N p ulses per revolut ion.
192 • Chapter 10 Th eo r y of Operation DMC-1700/1800 DAC The DAC or D -to-A conve rter convert s a 16-bit number t o an analog vol tage. T he input range of the num bers is 65536 and the output vol tage range is +/ -10V or 20V . Therefore, t he effecti ve gain of the D AC is K= 20/65536 = 0 .
DMC-1700/1800 Chapter 10 Theory of Operatio n • 193 G(s) = [16 + 0.144s + 1000/s} ∗ 250/ (s+250) The notch filter has two complex zeros, Z and z, and two complex poles, P and p. The effect of the notch filter is to cancel the resonance affect by placing the complex zeros on top of the resonance poles.
194 • Chapter 10 Th eo r y of Operation DMC-1700/1800 Encoder K f = 4N/2 π = 318 [count/rad] ZOH 2000/(s+2000 ) Digital Filter KP = 12.5, KD = 245, T = 0.001 Therefore, D(z) = 10 30 (z-0.95)/Z Accordingly, the coefficients of the contin uous filter are: P = 50 D = 0.
DMC-1700/1800 Chapter 10 Theory of Operatio n • 195 1 4 0.1 50 200 2000 W (rad/s) Magnitude Figure 10.8 - Bode plo t of the open loop transfer function For the given example, the cros sover frequency wa s computed numerically resulting in 200 rad/s.
196 • Chapter 10 Th eo r y of Operation DMC-1700/1800 K t Nm/A Torque constan t J = 2.10 -4 kg.m 2 System moment of inertia R = 2 Ω Motor resistance K a = 2 Amp/Volt Current amplifier gain N = 1000 Counts/rev Encoder line dens ity The DAC of theDMC-1700/1800 outputs +/-10V for a 16-bit co mmand of +/-32768 counts.
DMC-1700/1800 Chapter 10 Theory of Operatio n • 197 then it follows that G(s) must have magnitude of |G(j500)| = |A(j 500)/L(j500) | = 160 and a phase arg [G(j500) ] = arg [A(j500)] - arg [L(j5 00)].
198 • Chapter 10 Th eo r y of Operation DMC-1700/1800 Equivalent Filter Form DMC-1700/1800 Digital D(z) =[K( z-A/z) + Cz/(z-1)] ∗ (1-B)/(Z-B ) Digital D(z) = [4 KP + 4 KD(1-z -1 ) + KI/2( 1-z -1 ).
DMC-1700/1800 Appendices • 199 Appendices Electrical Specifications Servo Control ACMD Amplifier Command: +/-10 Volts analog signal. Resolution 16- b it DAC or . 000 3 V olt s. 3 mA ma xi mum A+,A-,B+,B-,IDX+,IDX- En coder a nd Auxiliary TTL compatible, but can accept up to +/-12 Volts.
200 • Appendices DMC-1700/1800 Power +5V 750 mA +12V 40 mA -12V 40mA Performance Specifications Normal Fast Firmware Minimum Servo Loop U pdate Tim e: DMC-1710 / DMC-1 810 250 μ sec 125 μ sec DMC-.
DMC-1700/1800 Appendices • 201 Connectors for DMC-1700/1800 Main Board J1 DMC-1740/1 840 (A-D AX ES) MAIN; J5 - DMC-1740/184 0 (A-D AXES) 100-PIN HIGH DENSITY: AUXILIARY ENCODERS; 26-PIN IDC: 1 Anal.
202 • Appendices DMC-1700/1800 41 I+ Z 91 Analog In 1 42 I- Z 92 Analog In 2 43 A+ W 93 Analog In 3 44 A- W 94 Analog In 4 45 B+ W 95 Analog In 5 46 B- W 96 Analog In 6 47 I+ W 97 Analog In 7 48 I- W 98 Analog In 8 49 +12V 99 -12V 50 +12V 100 -12V Notes : X,Y,Z,W are interchangeable designations fo r A,B,C,D axes.
DMC-1700/1800 Appendices • 203 29 I+ E 79 Output 9 30 I- E 80 Output 10 31 A+ F 81 Output 11 32 A- F 82 Output 12 33 B+ F 83 Output 13 34 B- F 84 Output 14 35 I+ F 85 Output 15 36 I- F 86 Output 16 .
204 • Appendices DMC-1700/1800 PWM/STEP O UT For stepper m otors: The STEP OUT pi n produces a se ries of p ulses for input to a step motor driver. The pulses may either be low or high. The pulse width is 50%. Upon Reset, the output will be low if the SM j umper is on.
DMC-1700/1800 Appendices • 205 Inputs Encoder, A+, B+ Position feedback from in cremental en coder with two channels in quadrature, CHA and C HB. The encoder may be analog or TTL. Any resolution enco der may be use d as long as th e maxim um frequency does not exceed 12,000,000 quadrature states/sec.
206 • Appendices DMC-1700/1800 Setting Addresses for the DMC-1700 Standard Addresses The newest ve rsions o f the DMC -1700 (DM C-1710/17 40 Rev. F a nd later, DMC-1750/ 1780 Rev. D a nd later) have to be addressed manually. Below is a chart that can be used to select the controller address.
DMC-1700/1800 Appendices • 207 Address HEX JPR A8 JPR A7 JPR A6 JPR A5 JPR A4 JPR A3 JPR A2 648 288 x x x x x 652 28C x x x x 656 290 x x x x x 660 294 x x x x 664 298 x x x x 668 29C x x x 672 2A0 .
208 • Appendices DMC-1700/1800 812 32C x x x 816 330 x x x x 820 334 x x x 824 338 x x x 828 33C x x 832 340 x x x x x 836 344 x x x x 840 348 x x x x 844 34C x x x 848 350 x x x x 852 354 x x x Add.
DMC-1700/1800 Appendices • 209 976 3D0 x x x 980 3D4 x x 984 3D8 x x 988 3DC x 992 3E0 x x x 996 3E4 x x 1000 3E8 x x 1004 3EC x 1008 3F0 x x 1012 3F4 x 1016 3F8 x 1020 3FC Plug and Play Addresses Controllers that still have th e Plug and Play option (DMC-1710/1740 Rev.
210 • Appendices DMC-1700/1800 In Plug and Play Mode (W indows 95 only), no jumpers ar e required. The Galil Plug and Play drivers will register the card with a n open ad dress and IRQ for com munication.
DMC-1700/1800 Appendices • 211 DMC-1700 Utilities Utilities for Plug & Play, COMDISK, firmware DMC-1800 Utilities Utilities for Plug & Play, COMDISK, firmware WSDK-16 Servo Design Kit for Windows 3.X WSDK-32 Servo Design Kit for Windows 98SE, NT4.
212 • Appendices DMC-1700/1800 The ICM-1900 is contained in a metal enclosur e. A version of the ICM-1900 is also available with servo amplifier s (see AMP-19X0 belo w). The ICM-1900 can be purc hased with an optio n to provide opt o-isolation (see -OPTO option belo w).
DMC-1700/1800 Appendices • 213 32 MOCMDX O X axis motor command to amp input (w / respect to ground) 33 SIGNX O X axis sign output for input to stepper motor amp 34 PWMX O X axis pulse output fo r i.
214 • Appendices DMC-1700/1800 76 AN2 I Analog Input 2 77 AN3 I Analog Input 3 78 AN4 I Analog Input 4 79 AN5 I Analog Input 5 80 AN6 I Analog Input 6 81 AN7 I Analog Input 7 82 AN8 I Analog Input 8.
DMC-1700/1800 Appendices • 215 ICM-1900 Drawing 11.620" 12.560" 13.500" 0.220" 0.440" 2.000" 6.880" 4.940" Figure A.1 – ICM-1 9 00 Di m ensi o ns AMP-19X0 Mating Power Amplifiers The AMP-19X0 series are mating , brush-type servo amplifiers for the DMC-1700/1800.
216 • Appendices DMC-1700/1800 Mounting: Key holes -- ¼” ∅ Gain: 1 am p/V ICM-2900 Interconnect Module The ICM-2900 interconnect module pr ovides easy connections between th e DMC-1700 or DMC-1800 series controllers and other system elements, such as am plifiers , encode rs, and external switches.
DMC-1700/1800 Appendices • 217 9 RLSZ I Z axis reverse limit switch input 9 FLSZ I Z axis forward limit switch input 10 LSCOM I Limit Switch Common Input 10 HOMEW I W axis home input 10 RLSW I W axi.
218 • Appendices DMC-1700/1800 20 -MBX I X Main encoder B- 21 +5V O + 5Volts 21 +INY I Y Main encoder Index + 21 -INY I Y Main encoder Index - 21 GND O Signal Ground 22 +MAY I Y Main encoder A+ 22 -.
DMC-1700/1800 Appendices • 219 Opto-Isolated Outputs ICM-1900 / ICM-2900 (-Opto option) The ICM/AMP 1900 and ICM-2900 modules from Galil have an option for opt o- isolated outputs.
220 • Appendices DMC-1700/1800 CO n Where, n is a decimal val ue, which rep resents a binary number. Each bi t of the bi nary num ber represents one block of extende d I/O. Whe n set to 1, t he correspon ding bloc k is configu red as an out put. The least signi ficant bit re presents bl ock 2 and t he most sign ificant bit represents block 9.
DMC-1700/1800 Appendices • 221 Argument Blocks Bits Description m 0 1-8 General Outputs a 2,3 17-32 Extended I/O b 4,5 33-48 Extended I/O c 6,7 49-64 Extended I/O d 8,9 65-80 Extended I/O For exam p.
222 • Appendices DMC-1700/1800 15. I/O 4 33 0 17. I/O 3 32 7 19. I/O 3 31 6 21. I/O 3 30 5 23. I/O 3 29 4 25. I/O 3 28 3 27. I/O 3 27 2 29. I/O 3 26 1 31. I/O 3 25 0 33. I/O 2 24 7 35. I/O 2 23 6 37. I/O 2 22 5 39. I/O 2 21 4 41. I/O 2 20 3 43. I/O 2 19 2 45.
DMC-1700/1800 Appendices • 223 J8 50-PIN IDC Pin Signal Block Bit @IN[n], @OUT[n] Bit No 1. I/O 8 72 7 3. I/O 8 71 6 5 I/O 8 70 5 7. I/O 8 69 4 9. I/O 8 68 3 11. I/O 8 67 2 13. I/O 8 66 1 15. I/O 8 65 0 17. I/O 7 64 7 19. I/O 7 63 6 21. I/O 7 62 5 23.
224 • Appendices DMC-1700/1800 32. GND - - - 34. GND - - - 36. GND - - - 38. GND - - - 40. GND - - - 42. GND - - - 44. GND - - - 46. GND - - - 48. GND - - - 50.
DMC-1700/1800 Appendices • 225 0 1 3 2 5 7 6 4 J5 80 pin high density connector Bank s 0 and 1 provide hi gh power output capability . Banks 2-7 are standa rd b anks. Scre w Term i na ls High Curre nt Buffer chip s (16) IOM-1964 REV A GALIL MOTION CONTROL MADE IN USA FOR INPUTS: UX3 UX4 RPX4 FOR OUTPUTS: UX1 UX2 RPX2 RPX3 Figure A.
226 • Appendices DMC-1700/1800 WARNING! Make sure th at you do not connect the 100 pin cable from the IOM-196 4 Rev. A to the J1 motion I/O connector of the controller. Note the Error LED on the controller bracket to identify the motion I/O connector.
DMC-1700/1800 Appendices • 227 Bank 0 IN OUT RP02 OUT RP04 IN RP03 OUT U03 U04 U01 U02 D0 RP01 OUT C6 17 18 19 20 21 22 23 24 Input Buffer IC's Output Buffer IC's Indicator LED's Resistor Pack for LED's Resistor Pack for outputs Resistor Pack for inputs Resistor Pack for outputs Figure A.
228 • Appendices DMC-1700/1800 Input Circuit 1/4 NEC2505 To DMC-1748* I/O DMC-1748* GND 1/8 RPx4 I/OC n I/O n x = bank number 0-7 n = input number 17-80 Connections to this op tically isolated input circuit are done in a sinking or sourcing con figuration, referring t o the directi on of cu rrent.
DMC-1700/1800 Appendices • 229 Note that the current t hrough the di gital inp ut should be kept below 3 mA in or der to mi nimize the power dissipated in the resistor pack. This will help prevent circu it failures. The resistor pack RPx4 is standard 1.
230 • Appendices DMC-1700/1800 The power outputs must b e connected in a driving con figuration as shown on the previous p age. Here are the voltage outputs t o expect afte r the Clear Bit and Set B.
DMC-1700/1800 Appendices • 231 Output Command Result CB n V out = GND iso SB n V out = V iso The resistor pack RPx 3 is removed to provi de op en collector outputs. The sam e calculations for maximum source current a nd low le vel voltage a pplie s as in the a bove circuit.
232 • Appendices DMC-1700/1800 Relevant DMC Commands CO n Configures the 64 bits of ex tended I/O in 8 b anks of 8 bits each. n = n 2 + 2*n 3 + 4*n 4 + 8*n 5 + 16*n 6 + 32*n 7 + 64*n 8 + 128*n 9 where n x is a 1 or 0, 1 for outputs and 0 fo r inputs.
DMC-1700/1800 Appendices • 233 25 23 I/O64 I/O bit 64 5 26 26 I/O63 I/O bit 63 5 27 25 I/O62 I/O bit 62 5 28 28 I/O61 I/O bit 61 5 29 27 I/O60 I/O bit 60 5 30 30 I/O59 I/O bit 59 5 31 29 I/O58 I/O b.
234 • Appendices DMC-1700/1800 70 70 I/O27 I/O bit 27 1 71 69 I/O26 I/O bit 26 1 72 72 I/O25 I/O bit 25 1 73 71 OUTC25-32 Out common for I/O 25-32 1 74 74 I/OC25-32 I/O common for I/O 25-32 1 75 73 .
DMC-1700/1800 Appendices • 235 The vector distance is the integral of Vs, or the total distance traveled along the path. To illustrate this further, suppose that a string was placed along th e path in the X-Y plane. The length of that string represe nts the distance traveled by the vector motion.
236 • Appendices DMC-1700/1800 Total 35708 counts In general, the length of each linear segment is L Xk Y k k = + 22 Where Xk and Yk are the changes in X and Y position s along the linear segment.
DMC-1700/1800 Appendices • 237 The velocities along the X and Y axes are such that the direction of motion follows the specified pa th, yet the vector velocity fits the vector spee d and acceleration requirements. For example, the velocities along the X and Y axes for the path shown in Fig.
238 • Appendices DMC-1700/1800 Programs don’t have to be downloaded from PC but can be stored on co ntroller Non-Volatile Program Storage No storage for programs Can capture and s ave array data V.
DMC-1700/1800 Appendices • 239 Training Seminars Galil, a leader in motion control with over 250,000 c ontrollers working worldwide, has a proud reputation for anticipating and setting the trends in motion control. Galil un derstands your need to keep abreast with these trends in order to remain resourceful and co mpetitive.
240 • Appendices DMC-1700/1800 Contacting Us Galil Motion Control 3750 Atherton Road Rocklin, California 95765 Phone: 916-626-0101 Fax: 916-626-0102 Internet address: support@galilm c.
DMC-1700/1800 Index • 241 Index A Abort 43–44, 68, 73, 95, 101, 177, 179, 199, 203–5 Off-On-Error 25, 44, 47, 177, 1 79 Stop Motion 95 , 101, 151, 180 Absolute Position 87–88, 142–43, 147 Ab.
242 • Index DMC-1700/1800 Almost Full Flag 68, 72 FIFO 3, 68, 70, 68 Compensation Backlash 86, 125–2 6, 174 Conditional jump 45, 135, 140, 144–47, 168 Configuration Jumper 47, 182 Contour Mode 8.
DMC-1700/1800 Index • 243 Proportional 188 Gear Ratio 104–7 Gearing 85–86, 104–8 H Halt 96, 138–42, 144–45, 167 Abort 43–44, 68, 73, 95, 101, 177, 179, 199, 203–5 Off-On-Error 25, 44, .
244 • Index DMC-1700/1800 Mathematical Expression 146, 153, 155 MCTIME 137, 142, 150, 151 Memory 79, 116, 135, 139, 146, 150, 157, 158 Array 3, 86, 99, 115–17, 135, 139, 146, 153, 157–65, 166, 2.
DMC-1700/1800 Index • 245 Single-Ended 5, 26, 28 Slew 87, 107, 142, 144, 169 Smoothing 86, 96, 97, 101, 103, 127–28 Software SDK 135 Terminal 79 Special Label 137, 179 Specification 96–97, 101 S.
Un point important après l'achat de l'appareil (ou même avant l'achat) est de lire le manuel d'utilisation. Nous devons le faire pour quelques raisons simples:
Si vous n'avez pas encore acheté Galil DMC-1800 c'est un bon moment pour vous familiariser avec les données de base sur le produit. Consulter d'abord les pages initiales du manuel d'utilisation, que vous trouverez ci-dessus. Vous devriez y trouver les données techniques les plus importants du Galil DMC-1800 - de cette manière, vous pouvez vérifier si l'équipement répond à vos besoins. Explorant les pages suivantes du manuel d'utilisation Galil DMC-1800, vous apprendrez toutes les caractéristiques du produit et des informations sur son fonctionnement. Les informations sur le Galil DMC-1800 va certainement vous aider à prendre une décision concernant l'achat.
Dans une situation où vous avez déjà le Galil DMC-1800, mais vous avez pas encore lu le manuel d'utilisation, vous devez le faire pour les raisons décrites ci-dessus,. Vous saurez alors si vous avez correctement utilisé les fonctions disponibles, et si vous avez commis des erreurs qui peuvent réduire la durée de vie du Galil DMC-1800.
Cependant, l'un des rôles les plus importants pour l'utilisateur joués par les manuels d'utilisateur est d'aider à résoudre les problèmes concernant le Galil DMC-1800. Presque toujours, vous y trouverez Troubleshooting, soit les pannes et les défaillances les plus fréquentes de l'apparei Galil DMC-1800 ainsi que les instructions sur la façon de les résoudre. Même si vous ne parvenez pas à résoudre le problème, le manuel d‘utilisation va vous montrer le chemin d'une nouvelle procédure – le contact avec le centre de service à la clientèle ou le service le plus proche.
