1. Manuals
  2. Brands
  3. Galil Manuals
  4. Controller
  5. DMC-2X00
  6. User manual

Galil DMC-2X00 User Manual

Motion controller dmc-2x00 series
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
USER MANUAL
DMC-2x00
Manual Rev. 2.1
By Galil Motion Control, Inc.
Galil Motion Control, Inc.
270 Technology Way
Rocklin, California 95765
Phone: (916) 626-0101
Fax: (916) 626-0102
E-mail Address: support@galilmc.com
URL: www.galilmc.com
Rev 03/2011

Advertisement

Table of Contents
loading

Related Manuals for Galil DMC-2X00

Summary of Contents for Galil DMC-2X00

  • Page 1 USER MANUAL DMC-2x00 Manual Rev. 2.1 By Galil Motion Control, Inc. Galil Motion Control, Inc. 270 Technology Way Rocklin, California 95765 Phone: (916) 626-0101 Fax: (916) 626-0102 E-mail Address: support@galilmc.com URL: www.galilmc.com Rev 03/2011...

  • Page 2: Using This Manual

    WARNING: Machinery in motion can be dangerous! It is the responsibility of the user to design effective error handling and safety protection as part of the machinery. Galil shall not be liable or responsible for any incidental or consequential damages.

  • Page 3: Table Of Contents

    The DMC-2200 Daughter Board ... 11 Elements You Need ... 12 Installing the DMC-2x00 ... 14 Step 1. Determine Overall Motor Configuration ... 14 Step 2. Install Jumpers on the DMC-2x00... 15 Step 3a. Configure DIP switches on the DMC-2000... 16 DMC-2x00 Contents...
  • Page 4 Amplifier Interface ... 43 TTL Inputs... 44 The Auxiliary Encoder Inputs ... 44 TTL Outputs ... 45 General Use Outputs... 45 Output Compare ... 45 Error Output ... 46 Extended I/O of the DMC-2x00 Controller ... 46 ii • Contents DMC-2X00...
  • Page 5 Notes Regarding Velocity and Torque Information ... 59 QZ Command ... 59 Controller Response to Commands ... 59 Unsolicited Messages Generated by Controller... 60 Galil Software Tools and Libraries... 60 Chapter 5 Command Basics Introduction ... 61 Command Syntax - ASCII... 61 Coordinated Motion with more than 1 axis ...
  • Page 6 Using the KS Command (Step Motor Smoothing):... 116 Homing ... 117 Example... 117 Command Summary - Homing Operation... 119 Operand Summary - Homing Operation... 119 High Speed Position Capture (The Latch Function) ... 119 Example... 120 iv • Contents DMC-2X00...
  • Page 7 Formatting Variables and Array Elements ... 157 Converting to User Units... 158 Hardware I/O ... 158 Digital Outputs ... 158 Digital Inputs... 159 The Auxiliary Encoder Inputs ... 160 Input Interrupt Function ... 160 Analog Inputs ... 161 DMC-2x00 Contents...
  • Page 8 Extended I/O of the DMC-2x00 Controller ... 162 Configuring the I/O of the DMC-2x00... 162 Saving the State of the Outputs in Non-Volatile Memory... 163 Accessing Extended I/O ... 163 Interfacing to Grayhill or OPTO-22 G4PB24 ... 164 Example Applications... 164 Wire Cutter ...
  • Page 9 DMC-2x00 Axes A-D High Density Connector... 194 DMC-2x00 Axes E-H High Density Connector ... 195 DMC-2x00 Auxiliary Encoder 36 Pin High Density Connector ... 196 DMC-2x00 Extended I/O 80 Pin High Density Connector ... 196 RS-232-Main Port ... 198 RS-232-Auxiliary Port... 198 USB - In Ethernet ...
  • Page 10 Keypad Map - Panel Mount – 6 columns x 5 rows ... 242 Configuration... 243 Function Keys... 244 Input/Output of Data – DMC-2x00 Commands ... 244 Ordering Information... 245 Coordinated Motion - Mathematical Analysis... 246 Example- Communicating with OPTO-22 SNAP-B3000-ENET... 249 DMC-2x00/DMC-1500 Comparison ...

  • Page 11: Chapter 1 Overview

    New firmware revisions are easily upgraded in the field. The DMC-2x00 is available with up to eight axes in a single stand alone unit. The DMC-2x10, 2x20, 2x30, 2x40 are one thru four axes controllers and the DMC-2x50, 2x60, 2x70, 2x80 are five thru eight axes controllers.

  • Page 12: Specifications

    Electrical Specifications Description ----------- AC Input Line Voltage AC Input Line Frequency Power Dissipation Mechanical Specifications Description ----------- Weight Length Width Height 2 •Chapter 1 Overview Unit Specification ---- ------------- 100-240 50-60 Unit Specification ---- ------------- 12.25 5.49 2.37 DMC-2X00...

  • Page 13: Environmental Specifications

    The DMC-2x00 can control BLMs equipped with Hall sensors as well as without Hall sensors. If Hall sensors are available, once the controller has been setup, the brushless motor parameters may be saved in non-volatile memory.

  • Page 14: Stepper Motor With Step And Direction Signals

    Stepper Motor with Step and Direction Signals The DMC-2x00 can control stepper motors. In this mode, the controller provides two signals to connect to the stepper motor: Step and Direction. For stepper motor operation, the controller does not require an encoder and operates the stepper motor in an open loop fashion.

  • Page 15: Dmc-2X00 Functional Elements

    DMC-2x00 Functional Elements The DMC-2x00 circuitry can be divided into the following functional groups as shown in Figure 1.1 and discussed below. USB/ETHERNET RS-232 / RS-422 64 Configurable I/O Figure 1.1 - DMC-2x00 Functional Elements Microcomputer Section The main processing unit of the DMC-2x00 is a specialized 32-Bit Motorola 68331 Series Microcomputer with 4 Meg RAM and 4 Meg Flash EEPROM.

  • Page 16: General I/O

    The DMC-2x00 provides interface circuitry for 8 bi-directional, optoisolated inputs, 8 TTL outputs and 8 analog inputs with 12-Bit ADC (16-Bit optional). The DMC-2x00 also has an additional 64 I/O and unused auxiliary encoder inputs may also be used as additional inputs (2 inputs / each axis). The general inputs can also be used as high speed latches for each axis.

  • Page 17: Encoder

    During power-up and if the microprocessor ceases to function properly, the AMPEN output will go low. The error light will also turn on at this stage. A reset is required to restore the DMC-2x00 to normal operation. Consult the factory for a Return Materials Authorization (RMA) Number if your DMC-2x00 is damaged.
  • Page 18 THIS PAGE LEFT BLANK INTENTIONALLY 8 •Chapter 1 Overview DMC-2X00...

  • Page 19: Chapter 2 Getting Started

    Communications Jumper Master Daughterboard Reset to clear connector EEPROM Figure 2-1 - Outline of the main board of the DMC-2x00 DMC-2X00 AXES A-D 100 pin high density connector AUX Encoder inputs AMP part # 2-178238-9 36 pin high density connector 9.50 "...

  • Page 20: The Dmc-2000 Daughter Board

    USB type B Switches connector 7.85 " MAIN USB IN CMB-2001 REV C USB DAUGHTER CARD GALIL MOTION CONTROL USB Communications Status LED USB type A 80 pin high connector (x2) density connector for extended I/O EXTENDED I/O USB OUT DMC-2X00 2.53"...

  • Page 21: The Dmc-2200 Daughter Board

    Figure 2-3B - Outline of the DMC-2200 Daughter Board DMC-2X00 100 BASE-T MAIN SERIAL PORT DB-9 MALE AUX SERIAL PORT DB-9 FEMALE CONFIGURATION DIP SWITCHES GALIL MOTION CONTROL 100 PIN CONNECTOR (ATTACHES TO DMC-2000 MAIN BOARD) 9.5" 80 PIN HIGH DENSITY CONNECTOR FOR...

  • Page 22: Elements You Need

    12 • Chapter 2 Getting Started ICM-2900 IOM-1964-80 Provides Connection to Signals for Axes E-H ICM-2900 CABLE-80-1M (1Meter) CABLE-80-4M (4Meter) CABLE-100-1M CABLE-100-4M CABLE-36-1M (1METER) CABLE-36-4M (4METER) ICM-2908 Provides Connection to All Auxiliary Encoder Signals ICM-2900 Connection to Signals for Axes A-D ICM-2908 ICM-2900 DMC-2X00...
  • Page 23 Power Cable (Included with the controller) Figure 2-5 Recommended System Elements of DMC-2100/DMC-2200 For a complete system, Galil recommends the following elements: 1a. DMC-2x10, 2x20, 2x30, or DMC-2x40 Motion Controller 1b. DMC-2x50, 2x60, 2x70 or DMC-2x80 2a. (1) ICM-2900 and (1) CABLE-100 for controllers DMC-2x10 through DMC-2x40 2b.

  • Page 24: Installing The Dmc-2X00

    9a. WSDK-16 or WSDK-32 (recommend for first time users.) 9b. DMCWIN16, DMCWIN32 or DMCDOS communication software. The WSDK software is highly recommended for first time users of the DMC-2x00. It provides step- by-step instructions for system connection, tuning and analysis.

  • Page 25: Step 2. Install Jumpers On The Dmc-2X00

    Further instruction for sinusoidal commutation connections are discussed in Step 6. Stepper Motor Operation To configure the DMC-2x00 for stepper motor operation, the controller requires a jumper for each stepper motor and the command, MT, must be given. The installation of the stepper motor jumper is discussed in the following section entitled "Installing Jumpers on the DMC-2x00".

  • Page 26: Step 3A. Configure Dip Switches On The Dmc-2000

    SMA thru SMH and configure the controller for ‘Stepper Motors’ for the corresponding axes A-H when installed. Note that the daughter board must be removed to access these jumpers. Contact the Galil factory if stepper motor jumpers should be placed on your controller with each order for a special part number.

  • Page 27: Step 3B. Configure Dip Switches On The Dmc-2100

    (a colon), to the default port setting. If this is not the same port that was used to download the firmware, the Galil software will not return control to the user. In this case, the software will have to be re-started.

  • Page 28: Step 4. Install The Communications Software

    (a colon) to the default port setting. If this is not the same port that was used to download the firmware, the Galil software will not return control to the user. In this case, the software will have to be re-started.

  • Page 29: Step 6. Establish Communications With Galil Software

    Windows Registry. To register a controller, you must specify the model of the controller, the communication parameters, and other information. The registry is accessed through the Galil software under the “File” menu in WSDK or under the “Tools” menu in the Galil Smart Terminal.
  • Page 30 Connect the USB cable from the computer to the USB IN port on the controller. Since the controller has been powered on in the previous step, the computer will recognize the first connection to a Galil USB controller. The computer will identify the USB controller and add it to the Windows Registry as a plug and play device.

  • Page 31: Step 7. Determine The Axes To Be Used For Sinusoidal Commutation

    A signal. The second phase of the A axis will be F signal. The first phase of the C axis will be the motor command C signal. The second phase of the C axis will be the motor command G signal. DMC-2X00 phase of the sinusoidal commutation. Note that...

  • Page 32: Step 8. Make Connections To Amplifier And Encoder

    ICM-2900 Interface Module, an amplifier for each axis of motion, and a motor to transform the current from the amplifier into torque for motion. If you are using an ICM-2900, connect it to the DMC-2x00 via the 100-pin high density cable. The ICM-2900 provides screw terminals for access to the connections described in the following discussion.
  • Page 33 The DMC-2x00 accepts single-ended or differential encoder feedback with or without an index pulse. If you are not using the ICM-2900 you will need to consult the appendix for the encoder pinouts for connection to the motion controller.

  • Page 34: Step 9A. Connect Standard Servo Motors

    Step C. Set Torque Limit as a Safety Precaution To limit the maximum voltage signal to your amplifier, the DMC-2x00 controller has a torque limit command, TL. This command sets the maximum voltage output of the controller and can be used to avoid excessive torque or speed when initially setting up a servo system.
  • Page 35 (servo system tuning) to adjust the 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. DMC-2X00 Begin motion on A axis Chapter 2 Getting Started...
  • Page 36 OUT2 OUT3 OUT4 LSCOM HOMEW RLSW FLSW HOMEY RLSY FLSY XLATCH YLATCH ZLATCH W LATCH INCOM ABORT RESET Encoder ANALOG1 ANALOG2 ANALOG3 ANALOG4 +MAX -MAX +MBX -MBX +MAY -MAY +MBY -MBY +MAZ -MAZ +MBZ -MBZ +MAW -MAW +MBW -MBW DMC-2X00...

  • Page 37: Step 9B. Connect Sinusoidal Commutation Motors

    V, to each phase for some time T, and checks to see if the motion is in the correct direction. DMC-2X00 phase of the highest sinusoidal commutation axis will be the highest phase of the lowest sinusoidal commutation axis will be the and 2 signals.
  • Page 38 NOTE: In order to properly conduct the brushless setup, the motor must be allowed to move a minimum of one magnetic cycle in both directions. 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 from the controller.
  • Page 39 For example, to initialize the A axis motor upon power or reset, the following commands may be given: PRA=50000 DMC-2X00 ;Enable A axis motor ;Move A motor close to zero commutation phase ;Begin motion on A axis ;Wait for motion to complete on A axis...

  • Page 40: Step 9C. Connect Step Motors

    To connect step motors with the DMC-2x00 you must follow this procedure: Step A. Install SM jumpers Each axis of the DMC-2x00 that will operate a stepper motor must have the corresponding stepper motor jumper installed. For a discussion of SM jumpers, see section Step 2. Install Jumpers on the DMC-2x00.

  • Page 41: Design Examples

    OE 1,1,1,1,1,1,1,1 ER*=1000 KP10,10,10,10,10,10,10,10 KP*=10 KPA=10 KP,,10 KPD=10 KPH=10 DMC-2X00 Tell error Interpretation Set gains for a,b,c,d (or A,B,C,D axes) Alternate method for setting gain on all axes Method for setting only A axis gain Set B axis gain only Interpretation...

  • Page 42: Profiled Move

    Deceleration of C Start C motion Start B motion Interpretation Tell position all four axes Tell position – A axis only Tell position – B axis only Tell position – C axis only Tell position – D axis only DMC-2X00...

  • Page 43: The Position Error, Which Is The Difference Between The Commanded Position And The Actual Position Can Be Interrogated With The Instruction Te

    JG ,20000 TV B These cause velocity changes including direction reversal. The motion can be stopped with the instruction DMC-2X00 Interpretation Tell error – all axes Tell error – A axis only Tell error – B axis only Tell error –...

  • Page 44: Operation Under Torque Limit

    Using the On-Board Editor Motion programs may be edited and stored in the controller’s on-board memory. When the command, ED is given from the Galil DOS terminal (such as DMCTERM), the controllers editor will be started. The instruction moves the operation to the editor mode where the program may be written and edited. The editor provides the line number.

  • Page 45: Motion Programs With Loops

    To exit the editor mode, input <cntrl>Q. The program may be executed with the command. XQ #A If the ED command is issued from the Galil Windows terminal software (such as SmartTERM), the software will open a Windows based editor. From this editor a program can be entered, edited, downloaded and uploaded to the controller.

  • Page 46: Control Variables

    This program moves A to an initial position of 1000 and returns it to zero on increments of half the distance. Note, _TPA is an internal variable which returns the value of the A position. Internal variables may be created by preceding a DMC-2x00 instruction with an underscore, _. Linear Interpolation Objective: Move A,B,C motors distance of 7000,3000,6000, respectively, along linear trajectory.

  • Page 47: Circular Interpolation

    CR 2000,90,-180 VS 1000 VA 50000 VD 50000 (-4000,4000) R=2000 (-4000,0) Figure 2-7 Motion Path for Circular Interpolation Example DMC-2X00 Interpretation Specify linear interpolation axes Relative distances for linear interpolation Linear End Vector speed Vector acceleration Vector deceleration Start motion...
  • Page 48 THIS PAGE LEFT BLANK INTENTIONALLY 38 • Chapter 2 Getting Started DMC-2X00...

  • Page 49: Chapter 3 Connecting Hardware

    This chapter describes the inputs and outputs and their proper connection. If you plan to use the auxiliary encoder feature of the DMC-2x00, you will require a separate encoder cable and breakout - contact Galil Motion control Using Optoisolated Inputs...

  • Page 50: Home Switch Input

    1 at every transition. A transition in the logic state of the Home input will cause the controller to execute a homing routine specified by the user. There are three homing routines supported by the DMC-2x00: Find Edge (FE), Find Index (FI), and Standard Home (HM).

  • Page 51: Reset Input

    DMC-2x00. Uncommitted Digital Inputs The DMC-2x00 has 8 opto-isolated inputs. These inputs can be read individually using the function @ IN[x] where x specifies the input number (1 thru 8). These inputs are uncommitted and can allow the user to create conditional statements related to events external to the controller.

  • Page 52: Using An Isolated Power Supply

    (see Figure 3-2). For voltages greater than 24 volts, a resistor, R, is needed in series with the input such that Ω 1 mA < V supply/(R + 2.2K ) < 11 mA 42 • Chapter 3 Connecting Hardware DMC-2X00...

  • Page 53: Bypassing The Opto-Isolation

    X axis. NOTE: As stated in Chapter 2, the wiring is simplified when using a Galil Interconnect module, such as the ICM-1900 or ICM-2900. These boards accept the cables of the DMC-2x00 and provide terminals for easy access (Refer to figure 2-2).

  • Page 54: Ttl Inputs

    Pin 1 is on the 12 volt side. If you remove the resistor pack, the output signal is an open collector, allowing the user to connect an external supply with voltages up to 24V. DMC-2x00 7407 Open Collector Buffer.

  • Page 55: Ttl Outputs

    The DMC-2x00 provides dedicated and general use outputs. General Use Outputs The DMC-2x00 provides eight general use outputs, an output compare and an error signal output. The general use outputs are TTL and are accessible through the ICM-2900 as OUT1 thru OUT8. These outputs can be turned On and Off with the commands, SB (Set Bit), CB (Clear Bit), OB (Output Bit), and OP (Output Port).

  • Page 56: Error Output

    4. There is a failure with the output IC which drives the error signal. Extended I/O of the DMC-2x00 Controller The DMC-2x00 controller offers 64 extended TTL I/O points which can be configured as inputs or outputs in 8 bit increments. Configuration is accomplished with command CO - see Chapter 7. The I/O points are accessed through the 80 pin high density connector labeled EXTENDED I/O.

  • Page 57: Chapter 4 Communication

    Chapter 4 Communication Introduction The DMC-2x00 has two RS232 ports, and either one USB input port and 2 USB output ports, or Ethernet ports. The main RS-232 port is the data set and can be configured through the switches on the front panel.

  • Page 58: Rs422 - Main Port {P1

    The controller uses the hex value $13 for the XOFF character and the hex value $11 for the XON character. The auxiliary port of the DMC-2x00 can be configured either as a general port or for the daisy-chain (DMC-2000 only). When configured as a general port, the port can be commanded to send ASCII messages to another DMC-2x00 controller or to a display terminal or panel.
  • Page 59 "!" before the software command. All boards receive the command, but only address 0 will echo. NOTE: The CC command must be specified to configure the port P2 of each unit. DMC-2X00 Configure auxiliary communication port for 1200 baud, no handshake, general port mode and echo turned on.

  • Page 60: Ethernet Configuration (Dmc-2100/2200 Only)

    A Axis is 700 counts B Axis is 1500 counts C Axis is 2500 counts Interpretation Talk only to controller 0 (DMC-2040) Specify A,B,C,D distances Talk only to controller board 1 (DMC-2030) Specify A,B,C distances Begin motion on both controllers DMC-2X00...

  • Page 61: Addressing

    Larger packets could cause the controller to lose communication. NOTE: In order not to lose information in transit, Galil recommends that the user wait for an acknowledgement of receipt of a packet before sending the next packet.
  • Page 62 The third level of Ethernet addressing is the UDP or TCP port number. The Galil controller does not require a specific port number. The port number is established by the client or master each time it connects to the controller.

  • Page 63: Communicating With Multiple Devices

    Ethernet. When the Galil controller acts as the master, the IH command is used to assign handles and connect to its slaves. The IP address may be entered as a 4 byte number separated with commas (industry standard uses periods) or as a signed 32 bit number.

  • Page 64: Multicasting

    For more information refer to the Command Reference. The third level of Modbus communication uses standard Galil commands. Once the slave has been configured, the commands that may be used are @IN[], @AN[], SB, CB, OB, and AO. For example, AO 2020,8.2 would tell I/O number 2020 to output 8.2 volts.

  • Page 65: Data Record

    Data Record The DMC-2x00 can provide a block of status information with the use of a single command, QR. This command, along with the QZ command can be very useful for accessing complete controller status. The QR command will return 4 bytes of header information and specific blocks of information as...
  • Page 66 C block C block C block C block C block C block D block D block D block D block D block D block D block D block D block D block E block E block E block E block DMC-2X00...

  • Page 67: Explanation Of Status Information And Axis Switch Information

    NOTE: UB = Unsigned Byte, UW = Unsigned Word, SW = Signed Word, SL = Signed Long Word Explanation of Status Information and Axis Switch Information Header Information - Byte 0, 1 of Header: BIT 15 DMC-2X00 e axis motor position e axis position error e axis auxiliary position e axis velocity...
  • Page 68 BIT 3 BIT 2 BIT 1 Motion is Latch is Off-On- making armed Error final armed decel. DMC-2X00 in Data Record BIT 0 A Block Present in Data Record BIT 0 Jumper Installed BIT 8 Mode of Motion Coord.

  • Page 69: Notes Regarding Velocity And Torque Information

    Each instruction must be terminated by a carriage return or semicolon. Instructions are sent in ASCII, and the DMC-2x00 decodes each ASCII character (one byte) one at a time. It takes approximately 0.5 msec for the controller to decode each command. However, the PC can send data to the controller at a much faster rate because of the FIFO buffer.

  • Page 70: Unsolicited Messages Generated By Controller

    For instructions that return data, such as Tell Position (TP), the DMC-2x00 will return the data followed by a carriage return, line feed and : . It is good practice to check for : after each command is sent to prevent errors. An echo function is provided to enable associating the DMC-2x00 response with the data sent.

  • Page 71: Chapter 5 Command Basics

    80 to FF. ASCII commands can be sent "live" over the bus for immediate execution by the DMC-2x00, or an entire group of commands can be downloaded into the DMC-2x00 memory for execution at a later time.

  • Page 72: Coordinated Motion With More Than 1 Axis

    PR ?,?,?,? PR ,? The DMC-2x00 provides an alternative method for specifying data. Here data is specified individually using a single axis specifier such as A, B, C or D. An equals sign is used to assign data to that axis.

  • Page 73: Command Syntax - Binary

    No datafields (i.e. SH or BG) One byte per field One word (2 bytes per field) One long word (4 bytes) per field Galil real format (4 bytes integer and 2 bytes fraction) No coordinated motion movement Coordinated motion movement data field...

  • Page 74: Binary Command Table

    07 specifies stop X (bit 0), Y (bit 1) and Z (bit 2) 2 Binary Command Table COMMAND reserved 64 • Chapter 5 Command Basics data field data field A1 00 01 07 COMMAND reserved reserved reserved reserved reserved LE, VE COMMAND reserved reserved reserved reserved reserved DMC-2X00...

  • Page 75: Controller Response To Data

    Controller Response to DATA The DMC-2x00 returns a : for valid commands and a ? for invalid commands. For example, if the command BG is sent in lower case, the DMC-2x00 will return a ?. :bg <return> When the controller receives an invalid command the user can request the error code. The error code will specify the reason for the invalid command response.

  • Page 76: Interrogating The Controller

    Interrogating the Controller Interrogation Commands The DMC-2x00 has a set of commands that directly interrogate the controller. When the command is entered, the requested data is returned in decimal format on the next line followed by a carriage return and line feed. The format of the returned data can be changed using the Position Format (PF), Variable Format (VF) and Leading Zeros (LZ) command.

  • Page 77: Command Summary

    The Command Reference denotes all commands which have an equivalent operand as "Used as an Operand". Also, see description of operands in Chapter 7. Command Summary For a complete command summary, see Command Reference manual. DMC-2X00 Chapter 5 Command Basics...
  • Page 78 THIS PAGE LEFT BLANK INTENTIONALLY 68 • Chapter 5 Command Basics DMC-2X00...

  • Page 79: Chapter 6 Programming Motion

    Chapter 6 Programming Motion Overview The DMC-2x00 provides several modes of motion, including independent positioning and jogging, coordinated motion, electronic cam motion, and electronic gearing. Each one of these modes is discussed in the following sections. The DMC-2x10 is a single axis controller and uses A-axis motion only. Likewise, the DMC-2x20 uses A and B, the DMC-2x30 uses A,B and C, and the DMC-2x40 uses A,B,C and D.

  • Page 80: Independent Axis Positioning

    VS,VA,VD Electronic Gearing GA, GD _GP, GR GM (if gantry) Electronic Gearing GA, GD _GP, GR Contour Mode Contour Mode with Automatic Array Capture Dual Loop Electronic Cam Independent Motion Smoothing Vector Smoothing Stepper Motor Smoothing Gantry Mode DMC-2X00...

  • Page 81: Command Summary - Independent Axis

    (AC), and deceleration ramp (DC), for each axis. On begin (BG), the DMC-2x00 profiler generates the corresponding trapezoidal or triangular velocity profile and position trajectory. The controller determines a new command position along the trajectory every sample period until the specified profile is complete.

  • Page 82: Examples

    Specify acceleration of 500000 counts / sec Specify deceleration of 500000 counts / sec Begin motion on the A axis Wait 20 msec Begin motion on the B axis Wait 20 msec Begin motion on C axis End Program for all axes for all axes DMC-2X00...

  • Page 83: Position Tracking

    3 velocity profiles are the same. Position Tracking The Galil controller 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 current position target.
  • Page 84 Place the X axis in Position tracking mode Set the X axis acceleration to 150000 cts/sec Set the X axis deceleration to 150000 cts/sec Set the X axis speed to 50000 cts/sec Command the X axis to absolute position 5000 encoder counts and the velocity is DMC-2X00...

  • Page 85: Example

    In figure 3 the velocity profile is triangular because the controller doesn’t have sufficient time to reach the set speed of 50000 cts/sec before it is commanded to change direction. DMC-2X00 Chapter 6 Programming Motion...

  • Page 86: Example

    The jerk in the system is also affected by the values set for AC and 76 • Chapter 6 Programming Motion Figure 2: Position vs. Time (msec) Motion 2 Figure 3 Velocity vs Time (msec) Motion 2 DMC-2X00...
  • Page 87 Figure 4 Position vs. Time (msec) Motion 4 Figure 5 Velocity vs.Time Motion 4 DMC-2X00 Chapter 6 Programming Motion...

  • Page 88: Trip Points

    AM and MC commands may not be used while in this mode. It is recommended that MF, MR, or AP be used, as they involve motion in a specified direction, or the passing of a specific absolute position. 78 • Chapter 6 Programming Motion DMC-2X00...

  • Page 89: Command Summary - Position Tracking Mode

    ST ABCD Parameters can be set with individual axes specifiers such as JGB=2000 (set jog speed for B axis to 2000). Operand Summary - Independent Axis OPERAND _ACx DMC-2X00 DESCRIPTION Specifies acceleration rate Begins motion Specifies deceleration rate Increments position instantly...

  • Page 90: Examples

    Specify jog speed and direction for A and C axis Begin A motion Wait until A is at speed Begin C motion Interpretation Label Set in Jog Mode Begin motion Label for loop Read analog input Compute speed Change JG speed Loop DMC-2X00...

  • Page 91: Linear Interpolation Mode

    Abort AB1 must be used to abort the motion sequence. It is the responsibility of the user to keep enough LI segments in the DMC-2x00 sequence buffer to ensure continuous motion. If the controller receives no additional LI segments and no LE command, the controller will stop motion instantly at the last vector.

  • Page 92: Additional Commands

    The commands VS n, VA n, and VD n are used to specify the vector speed, acceleration and deceleration. The DMC-2x00 computes the vector speed based on the axes specified in the LM mode. For example, LM ABC designates linear interpolation for the A,B and C axes. The vector speed for this example would be computed using the equation: The controller always uses the axis specifications from LM, not LI, to compute the speed.

  • Page 93: Command Summary - Linear Interpolation

    DMC-2X00 DESCRIPTION Specify axes for linear interpolation Returns number of available spaces for linear segments in DMC-2x00 sequence buffer. Zero means buffer full. 512 means buffer empty. Specify incremental distances relative to current position, and assign vector speed n. Specify vector speed...
  • Page 94 VD 1000000 Note that the above program specifies the vector speed, VS, and not the actual axis speeds VC and VD. The axis speeds are determined by the DMC-2x00 from: The resulting profile is shown in Figure 6.2. 84 • Chapter 6 Programming Motion Define position of A and B axes to be 0 Define linear mode between A and B axes.
  • Page 95 30000 27000 POSITION D 3000 4000 FEEDRATE VELOCITY C-AXIS VELOCITY D-AXIS Figure 6.2 - Linear Interpolation DMC-2X00 POSITION C 36000 40000 TIME (sec) TIME (sec) TIME (sec) Chapter 6 Programming Motion...

  • Page 96: Vector Mode: Linear And Circular Interpolation Motion

    Vector Mode: Linear and Circular Interpolation Motion The DMC-2x00 allows a long 2-D path consisting of linear and arc segments to be prescribed. Motion along the path is continuous at the prescribed vector speed even at transitions between linear and circular segments.

  • Page 97: Specifying Vector Segments

    Abort (AB1) must be used to abort the coordinated motion sequence. It is the responsibility of the user to keep enough motion segments in the DMC-2x00 sequence buffer to ensure continuous motion. If the controller receives no additional motion segments and no VE command, the controller will stop motion instantly at the last vector.

  • Page 98: Command Summary - Coordinated Motion Sequence

    Compensating for Differences in Encoder Resolution: By default, the DMC-2x00 uses a scale factor of 1:1 for the encoder resolution when used in vector mode. If this is not the case, the command, ES can be used to scale the encoder counts. The ES command accepts two arguments which represent the number of counts for the two encoders used for vector motion.

  • Page 99: Operand Summary - Coordinated Motion Sequence

    Tangent scale and offset. Ellipse scale factor. S curve smoothing constant for coordinated moves Return number of available spaces for linear and circular segments in DMC-2x00 sequence buffer. Zero means buffer is full. 512 means buffer is empty. Description The absolute coordinate of the axes at the last intersection along the sequence.
  • Page 100 Do the circular cut After the coordinated move is complete Disengage knife End program Interpretation Specify motion plane Specify vector speed Specify vector acceleration Specify vector deceleration Segment AB Segment BC Segment CD Segment DA End of sequence Begin Sequence π +2000=10,712 DMC-2X00...

  • Page 101: Electronic Gearing

    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, DMC-2X00 D (0,3000) A (0,0)
  • Page 102 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...

  • Page 103: Example

    Command Summary - Electronic Gearing COMMAND GA n GD a,b,c,d,e,f,g,h _GPn DMC-2X00 Turn Z off, for external master Specify Z as the master axis for both X and Y. Specify ramped gearing over 6000 counts of the master axis. Specify gear ratios...
  • Page 104 GR 2 Gantry Mode In applications where both the master and the follower are controlled by the DMC-2x00 controller, it may be desired to synchronize the follower with the commanded position of the master, rather than the actual position. This eliminates the coupling between the axes which may lead to oscillations.

  • Page 105: Electronic Cam

    EM a,b,c,d where a,b,c,d specify the cycle of the master and the total change of the slaves over one cycle. DMC-2X00 Specify an incremental position movement of 10 on B axis. Specify position relative movement of 10 on B axis...
  • Page 106 When the cam is engaged, the slave position is redefined, modulo one cycle. Step 7. Disengage the slave motion To disengage the cam, use the command EQ a,b,c,d where a,b,c,d are the master positions at which the corresponding slave axes are disengaged. 96 • Chapter 6 Programming Motion DMC-2X00...
  • Page 107 20, the phase varies by increments of 3.6°. The program then computes the values of B according to the equation and assigns the values to the table with the instruction ET[N] = ,B. DMC-2X00 4000 6000 Master A...

  • Page 108: Command Summary - Electronic Cam

    ECAM counter - sets the index into the ECAM table Engages ECAM Specifies the change in position for each axis of the CAM cycle Defines CAM table entry size and offset Disengages ECAM at specified position Defines the ECAM table entries Widen segment (see Application Note #2444) DMC-2X00...

  • Page 109: Operand Summary - Electronic Cam

    ECAM cycles. The first graph is for the A axis, the second graph shows the cycle on the B axis and the third graph shows the cycle of the C axis. DMC-2X00 description Contains State of ECAM...

  • Page 110: Contour Mode

    Figure 6.5 – Position Profiles of XYZ Contour Mode The DMC-2x00 also provides a contouring mode. This mode allows any arbitrary position curve to be prescribed for 1 to 8 axes. This is ideal for following computer generated paths such as parabolic, spherical or user-defined profiles.

  • Page 111: Additional Commands

    Figure 6.6 - The Required Trajectory Additional Commands The command, WC, is used as a trip point "When Complete". This allows the DMC-2x00 to use the next increment only when it is finished with the previous one. Zero parameters for DT followed by zero parameters for CD exit the contour mode.

  • Page 112: Command Summary - Contour Mode

    CD. Waits for previous time interval to be complete before next data record is processed. π − Τ Β cos( π − Τ Β sin( π π π ) sin (2 T/120) ω , in count/ms, is π T/120] DMC-2X00...
  • Page 113 Figure 6.7 - Velocity Profile with Sinusoidal Acceleration The DMC-2x00 can compute trigonometric functions. However, the argument must be expressed in degrees. Using our example, the equation for A is written as: A = 50T - 955 sin 3T 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.
  • Page 114 Several applications require teaching the machine a motion trajectory. Teaching can be accomplished using the DMC-2x00 automatic array capture feature to capture position data. The captured data may then be played back in the contour mode. The following array commands are used:...

  • Page 115: Virtual Axis

    For additional information about automatic array capture, see Chapter 7, Arrays. Virtual Axis The DMC-2x00 controller has an additional virtual axis designated as the N axis. This axis has no encoder and no DAC. However, it can be commanded by the commands: AC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RP, EA.

  • Page 116: Stepper Motor Operation

    DMC-2X00...

  • Page 117: Motion Complete Trip Point

    TP. The position value can be defined by using the command, DE. NOTE: Closed loop operation with a stepper motor is not possible without special firmware. Contact Galil for more information. Command Summary - Stepper Motor Operation command...

  • Page 118: Operand Summary - Stepper Motor Operation

    _TPa Stepper Position Maintenance Mode (SPM) The Galil controller can be set into the Stepper Position Maintenance (SPM) mode to handle the event of stepper motor position error. The mode looks at position feedback from the main encoder and compares it to the commanded step pulses. The position information is used to determine if there is any significant difference between the commanded and the actual motor positions.

  • Page 119: Error Limit

    When a Galil controller is configured for step motor operation, the step pulse output by the controller is internally fed back to the auxiliary encoder register. For SPM the feedback encoder on the stepper will connect to the main encoder port. Enabling the SPM mode on a controller with YS=1 executes an internal monitoring of the auxiliary and main encoder registers for that axis or axes.
  • Page 120 Set the profiler to stop axis upon error Set step smoothing Motor type set to stepper Step resolution of the drive Motor resolution (full steps per revolution) Encoder resolution (counts per revolution) Enable axis Allow slight settle time Perform motion DMC-2X00...
  • Page 121 YA64; YB200; YC4000; SHX; WT50; YS1; #MOTION; DMC-2X00 Set the speed Prepare mode of motion Begin motion Keep thread zero alive for #POSERR to run in Automatic subroutine is called when YS=2 Wait helps user see the correction Save current speed setting...

  • Page 122: Dual Loop (Auxiliary Encoder)

    SPX=spx Dual Loop (Auxiliary Encoder) The DMC-2x00 provides an interface for a second encoder for each axis except for axes configured for stepper motor operation and any axis used in circular compare. When used, the second encoder is typically mounted on the motor or the load, but may be mounted in any position. The most common use for the second encoder is backlash compensation, described below.

  • Page 123: Additional Commands For The Auxiliary Encoder

    Continuous Dual Loop The motor (aux) encoder needs a finer resolution than load (main) encoder. Connect the load encoder to the main encoder port and connect the motor encoder to the dual encoder port. The dual loop DMC-2X00 Second Encoder Normal quadrature Pulse &...

  • Page 124: Motion Smoothing

    JP#END,@ABS[v2]<2 PR v2*4 JP#CORRECT #END Motion Smoothing The DMC-2x00 controller allows the smoothing of the velocity profile to reduce the mechanical vibration of the system. 114 • Chapter 6 Programming Motion Interpretation Label Configure encoder Set initial value...

  • Page 125: Using The It And Vt Commands

    Note that the smoothing process results in longer motion time. Example Instruction PR 20000 AC 100000 DC 100000 SP 5000 IT .5 BG A DMC-2X00 Independent time constant Vector time constant Interpretation Position Acceleration Deceleration Speed Filter for smoothing Begin...

  • Page 126: Using The Ks Command (Step Motor Smoothing)

    Larger values of the smoothing parameters imply heavier filtering and smoother moves. Note that KS is valid only for step motors. 116 • Chapter 6 Programming Motion where a,b,c,d is an integer from 0.5 to 8 and represents the amount of smoothing TIME TIME TIME TIME DMC-2X00...

  • Page 127: Homing

    3. The motor then traverses very slowly back until the home switch toggles again. 4. The motor then traverses forward until the encoder index pulse is detected. 5. The DMC-2x00 defines the home position (0) as the position at which the index was detected. Example...
  • Page 128 TOWARD HOME DIRECTION VELOCITY MOTION REVERSE TOWARD HOME DIRECTION VELOCITY MOTION TOWARD INDEX DIRECTION INDEX PULSES Figure 6.10 - Motion intervals in the Home sequence 118 • Chapter 6 Programming Motion HOME SENSOR _HMA=1 _HMX=0 POSITION POSITION POSITION POSITION POSITION DMC-2X00...

  • Page 129: Command Summary - Homing Operation

    C Axis Latch D Axis Latch The DMC-2x00 software commands, AL and RL, are used to arm the latch and report the latched position. The steps to use the latch are as follows: 1. Give the AL ABCD command to arm the latch for the main encoder and ALSASBSCSD for the auxiliary encoders.

  • Page 130: Example

    Latch program Jog B Begin motion on B axis Arm Latch for B axis #Wait label for loop Jump to #Wait label if latch has not occurred Set ‘Result’ equal to the reported position of y axis Print result DMC-2X00...

  • Page 131: Chapter 7 Application Programming

    The internal editor is opened by the command ED. Note that the command ED will not open the internal editor if issued from Galil's Window based software - in this case, a Windows based editor will be automatically opened. The Windows based editor provides much more functionality and ease- of-use, therefore, the internal editor is most useful when using a simple terminal with the controller and a Windows based editor is not available.

  • Page 132: Edit Mode Commands

    Puts Editor at line 5 Puts Editor at label #BEGIN Interpretation List entire program Begin listing at line 5 List lines 5 thru 9 List line label #A thru line 9 List line label #A and additional 5 lines DMC-2X00...

  • Page 133: Program Format

    Using Labels in Programs All DMC-2x00 programs must begin with a label and end with an End (EN) statement. Labels start with the pound (#) sign followed by a maximum of seven characters. The first character must be a letter;...

  • Page 134: Commenting Programs

    Commenting Programs There are two methods for commenting programs. The first method uses the NO command and allows for comments to be embedded into Galil programs. The second method used the REM statement and requires the use of Galil software.

  • Page 135: Executing Programs - Multitasking

    REM Command If you are using Galil software to communicate with the DMC-2x00 controller, you may also include REM statements. ‘REM’ statements begin with the word ‘REM’ and may be followed by any comments which are on the same line. The Galil terminal software will remove these statements when the program is downloaded to the controller.

  • Page 136: Debugging Programs

    (i.e. Thread 0). #TASK1 is executed within TASK2. Debugging Programs The DMC-2x00 provides commands and operands which are useful in debugging application programs. These commands include interrogation commands to monitor program execution, determine the state of the controller and the contents of the controllers program, array, and variable space.

  • Page 137: Error Code Command

    Error Code Command When there is a program error, the DMC-2x00 halts the program execution at the point where the error occurs. To display the last line number of program execution, issue the command, MG _ED. The user can obtain information about the type of error condition that occurred by using the command, TC1.

  • Page 138: Program Flow Commands

    The commands for the second move sequence will not be executed until the motion is complete on the first motion sequence. In this way, the DMC-2x00 can make decisions based on its own status or external events without intervention from a host computer.
  • Page 139 DMC-2x00 Event Triggers Command AM A B C D E FG H or S AD A or B or C or D or E or F or G or H AR A or B or C or D or E or F or G or H...
  • Page 140 Wait until 1000 counts Set output bit 1 End program Interpretation Label Specify Jog Speed Begin Motion # Repeat Loop Wait 10000 counts Tell Position Set output 1 Wait 50 msec Clear output 1 Increment counter Repeat 5 times Stop DMC-2X00...
  • Page 141 AV command. Instruction #VECTOR VMAB;VS 5000 VP 10000,20000 VP 20000,30000 AV 5000 VS 1000 DMC-2X00 Interpretation Program Label Wait for input 1 low Position command Begin motion End program Interpretation...

  • Page 142: Conditional Jumps

    Conditional jumps are useful for testing events in real-time. They allow the DMC-2x00 to make decisions without a host computer. For example, the DMC-2x00 can decide between two motion profiles based on the state of an input line.
  • Page 143 Internal Variable Multiple Conditional Statements The DMC-2x00 will accept multiple conditions in a single jump statement. The conditional statements are combined in pairs using the operands “&” and “|”. The “&” operand between any two conditions, requires that both statements must be true for the combined statement to be true. The “|” operand between any two conditions, requires that only one statement be true for the combined statement to be true.

  • Page 144: If, Else, And Endif

    WT 100 count = count -1 JP #LOOP, count >0 If, Else, and Endif The DMC-2x00 provides a structured approach to conditional statements using IF, ELSE and ENDIF commands. 134 • Chapter 7 Application Programming Interpretation Jump to #LOOP if the variable, count, is less than 10 Jump to subroutine #MOVE2 if input 1 is logic level high.
  • Page 145 The DMC-2x00 allows for IF conditional statements to be included within other IF conditional statements. This technique is known as 'nesting' and the DMC-2x00 allows up to 255 IF conditional statements to be nested. This is a very powerful technique allowing the user to specify a variety of different cases for branching.

  • Page 146: Subroutines

    To do this, give a ZS command at the end of the #LIMSWI routine. Auto-Start Routine The DMC-2x00 has a special label for automatic program execution. A program which has been saved into the controller’s non-volatile memory can be automatically executed upon power up or reset by 136 •...

  • Page 147: Automatic Subroutines For Monitoring Conditions

    BP. Automatic Subroutines for Monitoring Conditions Often it is desirable to monitor certain conditions continuously without tying up the host or DMC-2x00 program sequences. The DMC-2x00 can monitor several important conditions in the background. These conditions include checking for the occurrence of a limit switch, a defined input, position error, or a command error.
  • Page 148 Label Input Interrupt on 1 Begin Motion Loop Input Interrupt Stop Motion Test for Input 1 still low Restore Velocities Begin motion Return from interrupt routine to Main Program and do not re- enable trippoints Interpretation Begin main program DMC-2X00...
  • Page 149 OPERAND _ED1 _ED2 _ED3 The operands are used with the XQ command in the following format: XQ _ED2 (or _ED3),_ED1,1 DMC-2X00 Set the time out to 1000 ms Position Absolute command Begin motion Motion Complete trip point End main program...
  • Page 150 Move to absolute position 10000 Begin Motion on A axis Wait for motion to be complete Move to absolute position 0 Begin Motion on A axis Wait for motion to be complete Continually loop to make back and forth motion DMC-2X00...
  • Page 151 By monitoring the serial port, the user can re-establish communication if needed. Instruction #LOOP JP#LOOP #TCPERR MG {P1}_IA4 DMC-2X00 End main program Interrupt Routine Check for S (stop motion) Check for P (pause motion) Check for R (resume motion) Do nothing Routine for stopping motion Stop motion on A axis;...

  • Page 152: Mathematical And Functional Expressions

    The mathematical operators & and | are bit-wise operators. The operator, &, is a Logical And. The operator, |, is a Logical Or. These operators allow for bit-wise operations on any valid DMC-2x00 numeric operand, including variables, array elements, numeric values, functions, keywords and arithmetic expressions.
  • Page 153 ‘$’). For more information, see section Sending Messages. To illustrate further, if the user types in the string “TESTME” at the input prompt, the controller will respond with the following: DMC-2X00 Shift flen by 32 bits (IE - convert fraction, flen, to integer) Mask top byte of flen and set this value to variable ‘len1’...

  • Page 154: Functions

    Variables For applications that require a parameter that is variable, the DMC-2x00 provides 254 variables. These variables can be numbers or strings. A program can be written in which certain parameters, such as position or speed, are defined as variables. The variables can later be assigned by the operator or determined by program calculations.

  • Page 155: Programmable Variables

    Spaces are not permitted. Variable can be upper or lowercase, or any combination. Variables are case sensitive; SPEEDC ≠ speedC. Variable names should not be the same as DMC-2x00 instructions. For example, PR is not a good choice for a variable name.

  • Page 156: Operands

    Operands can be used in an expression and assigned to a programmable variable, but they cannot be assigned a value. For example: _TPA=2 is invalid. Special Operands (Keywords) The DMC-2x00 provides a few additional operands which give access to internal variables that are not accessible by standard DMC-2x00 commands. Keyword 146 •...

  • Page 157: Arrays

    Arrays For storing and collecting numerical data, the DMC-2x00 provides array space for 8000 elements. The arrays are one dimensional and up to 30 different arrays may be defined. Each array element has a numeric range of 4 bytes of integer (2 Arrays can be used to capture real-time data, such as position, torque and analog input values.

  • Page 158: Uploading And Downloading Arrays To On Board Memory

    The file is terminated using <control>Z, <control>Q, <control>D or \. Automatic Data Capture into Arrays The DMC-2x00 provides a special feature for automatic capture of data such as position, position error, inputs or torque. This is useful for teaching motion trajectories or observing system performance.
  • Page 159 DM apos[300],bpos[300] DM aerr[300],berr[300] RA apos [],aerr[],bpos[],berr[] RD _TPA,_TEA,_TPB,_TEB DMC-2X00 description Selects up to four arrays for data capture. The arrays must be defined with the DM command. Selects the type of data to be recorded, where type1, type2, type3, and type 4 represent the various types of data (see table below).

  • Page 160: Deallocating Array Space

    Start recording now, at rate of 2 msec Begin motion Loop until done Print message End program Play back Initial Counter Exit if done Print Counter Print X position Print Y position Print X error Print Y error Increment Counter Done End Program DMC-2X00...

  • Page 161: Operator Data Entry Mode

    Operator Data Entry Mode The Operator Data Entry Mode provides for un-buffered data entry through the auxiliary RS-232 port. In this mode, the DMC-2x00 provides a buffer for receiving characters. This mode may only be used when executing an applications program.

  • Page 162: Using Communication Interrupt

    Example A DMC-2x00 is used to jog the A and B axis. This program automatically begins upon power-up and allows the user to input values from the main serial port terminal. The speed of either axis may be changed during motion by specifying the axis letter followed by the new speed value.

  • Page 163: Output Of Data (Numeric And String)

    IN "Enter A,B or C", V{S} specifies a string variable to be input. The DMC-2x00, stores all variables as 6 bytes of information. When a variable is specified as a number, the value of the variable is represented as 4 bytes of integer and 2 bytes of fraction. When a variable is specified as a string, the variable can hold up to 6 characters (each ASCII character is 1 byte).

  • Page 164: Sending Messages

    {N} at the end of the statement. This is useful when a text string needs to surround a numeric value. Example: JG 50000;BGA;ASA MG "The Speed is", _TVA {F5.1} {N} MG "counts/sec" 154 • Chapter 7 Application Programming Sends message to Auxiliary Port DMC-2X00...

  • Page 165: Displaying Variables And Arrays

    Interrogation Commands The DMC-2x00 has a set of commands that directly interrogate the controller. When these command are entered, the requested data is returned in decimal format on the next line followed by a carriage return and line feed. The format of the returned data can be changed using the Position Format (PF), and Leading Zeros (LZ) command.
  • Page 166 Change format to 4 places Tell position New format Change to hexadecimal format Tell Position Hexadecimal value Format 2 places Tell Position Returns 99 if position greater than 99 Disables the LZ function Tell Position Interrogation Command Response (With Leading Zeros) DMC-2X00...

  • Page 167: Formatting Variables And Array Elements

    {Fn.m} or {$n.m} following the variable name and the ‘=’ symbol. F specifies decimal and $ specifies hexadecimal. n is the number of digits to the left of the decimal, and m is the number of digits to the right of the decimal. DMC-2X00 Enables the LZ function Tell Position Interrogation Command Response (Without Leading Zeros) Tell Position in decimal format 2.2...

  • Page 168: Converting To User Units

    Variables and arithmetic operations make it easy to input data in desired user units such as inches or RPM. The DMC-2x00 position parameters such as PR, PA and VP have units of quadrature counts. Speed parameters such as SP, JG and VS have units of counts/sec. Acceleration parameters such as AC, DC, VA and VD have units of counts/sec 2 .

  • Page 169: Digital Inputs

    The general digital inputs for are accessed by using the @IN[n] function or the TI command. The @IN[n] function returns the logic level of the specified input, n, where n is a number 1 through 96.. DMC-2X00 Interpretation Sets bit 6 of output port...

  • Page 170: The Auxiliary Encoder Inputs

    Motor A must turn at 4000 counts/sec when the user flips a panel switch to on. When panel switch is turned to off position, motor A must stop turning. Solution: Connect panel switch to input 1 of DMC-2x00. High on input 1 means switch is in on position.

  • Page 171: Analog Inputs

    BG AB Analog Inputs The DMC-2x00 provides eight analog inputs. The value of these inputs in volts may be read using the @AN[n] function where n is the analog input 1 through 8. The resolution of the Analog-to-Digital conversion is 12 bits (16-bit ADC is available as an option). Analog inputs are useful for reading special sensors such as temperature, tension or pressure.

  • Page 172: Extended I/O Of The Dmc-2X00 Controller

    Configuring the I/O of the DMC-2x00 The 64 extended I/O points of the DMC-2x00 series controller can be configured in blocks of 8. The extended I/O is denoted as blocks 2-9 or bits 17-80. The command, CO, is used to configure the extended I/O as inputs or outputs. The CO command has...

  • Page 173: Saving The State Of The Outputs In Non-Volatile Memory

    I/O in consecutive groups of 16 bits (values from 0 to 65535). Arguments which are given for I/O points which are configured as inputs will be ignored. The following table describes the arguments used to set the state of outputs. Argument DMC-2X00 Block Binary Representation represents the block.

  • Page 174: Interfacing To Grayhill Or Opto-22 G4Pb24

    I/O mounting racks such as Grayhill 70GRCM32-HL and OPTO-22 G4PB24. To convert the 80 pin cable, use the CB-50-80 adapter from Galil. The 50 pin ribbon cables which connect to the CB-50-80 connect directly into the I/O mounting racks.

  • Page 175: A-B Table Controller

    C-axis is raised and the motion continues to point C, etc. Assume that all of the 3 axes are driven by lead screws with 10 turns-per-inch pitch. Also assume encoder resolution of 1000 lines per revolution. This results in the relationship: DMC-2X00 Interpretation Label...
  • Page 176 Wait for completion of C motion Circle Feed rate Start circular move Wait for completion Move C up Start C move Wait for C completion Move A Speed A Start A Wait for A completion Lower C C second circle move DMC-2X00...

  • Page 177: Speed Control By Joystick

    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 rpm = 50 rev/sec = 200000 count/sec DMC-2X00 Raise C Return AB to start...

  • Page 178: Position Control By Joystick

    168 • Chapter 7 Application Programming Interpretation Label Initial position ratio Define the starting position Set motor in jog mode as zero Start Read analog input Compute the desired position Find the following error Compute a proportional speed Change the speed Repeat the process DMC-2X00...
  • Page 179 Instruction linpos=0 PR 1000 WT 50 linpos = _DEA er=1000- linpos -_TEA JP #C,@ABS[er]<2 PR er JP #B DMC-2X00 Interpretation Label Define starting positions as zero Required distance Start motion Wait for completion Wait 50 msec Read linear position Find the correction...
  • Page 180 THIS PAGE LEFT BLANK INTENTIONALLY 170 • Chapter 7 Application Programming DMC-2X00...

  • Page 181: Chapter 8 Hardware & Software Protection

    WARNING: Machinery in motion can be dangerous! It is the responsibility of the user to design effective error handling and safety protection as part of the machine. Since the dmc-2x00 is an integral part of the machine, the engineer should design his overall system with protection against a possible component failure on the dmc-2x00.

  • Page 182: Input Protection Lines

    The units of the error limit are quadrature counts. The error is the difference between the command position and actual encoder position. If the absolute value of the error exceeds the value specified by ER, the DMC-2x00 will generate several signals to warn the host system of the error condition. These signals include:...

  • Page 183: Programmable Position Limits

    (motion stops at forward limits) Off-On-Error The DMC-2x00 controller has a built in function which can turn off the motors under certain error conditions. This function is know as ‘Off-On-Error”. To activate the OE function for each axis, specify 1 for A,B,C and D axis. To disable this function, specify 0 for the axes. When this function is enabled, the specified motor will be disabled under the following 3 conditions: 1.

  • Page 184: Limit Switch Routine

    NOTE: An applications program must be executing for the #POSERR routine to function. Limit Switch Routine The DMC-2x00 provides forward and reverse limit switches which inhibit motion in the respective direction. There is also a special label for automatic execution of a limit switch subroutine. The #LIMSWI label specifies the start of the limit switch subroutine.

  • Page 185: Chapter 9 Troubleshooting

    Same as above, but offset adjustment does not stop the motor. Controller does not read changes in encoder position. Same as above Same as above DMC-2X00 CAUSE REMEDY Amplifier offset too Adjust amplifier offset large. Damaged amplifier.

  • Page 186: Communication

    Interrogate the position periodically. If controller states that the position is the same at different locations it implies encoder noise. Reduce noise. Use differential encoder inputs. Programming error. Avoid resetting position error at end of move with SH command. DMC-2X00...

  • Page 187: Chapter 10 Theory Of Operation

    Note that the profiling and the closing of the loop are independent functions. The profiling function determines where the motor should be and the closing of the loop forces the motor to follow the commanded position DMC-2X00 CONTROLLER ENCODER...
  • Page 188 The following section explains the operation of the servo system. First, it is explained qualitatively, and then the explanation is repeated using analytical tools for those who are more theoretically inclined. 178 • Chapter 10 Theory of Operation MOTION PROGRAMMING MOTION PROFILING CLOSED-LOOP CONTROL DMC-2X00...

  • Page 189: Operation Of Closed-Loop Systems

    "right" rate. If you turn it too slowly, the temperature response will be slow, causing discomfort. Such a slow reaction is called overdamped response. DMC-2X00 TIME Chapter 10 Theory of Operation...

  • Page 190: System Modeling

    The elements of a servo system include the motor, driver, encoder and the controller. These elements are shown in Fig. 10.4. The mathematical model of the various components is given below. CONTROLLER Σ Figure 10.4 - Functional Elements of a Motion Control System 180 • Chapter 10 Theory of Operation DIGITAL FILTER ENCODER MOTOR DMC-2X00...

  • Page 191: Motor-Amplifier

    The current drive generates a current I, which is proportional to the input voltage, V, with a gain of Ka. The resulting transfer function in this case is P/V = K a K t / Js 2 DMC-2X00 K S ST Torque constant [Nm/A] Armature Resistance Ω...
  • Page 192 This leads to the transfer function P/V = 1/[K g s(sT1+1)] Σ Figure 10.5 - Elements of velocity loops The resulting functions derived above are illustrated by the block diagram of Fig. 10.6. 182 • Chapter 10 Theory of Operation [rad/V] Kt/Js DMC-2X00...

  • Page 193: Encoder

    4N quadrature counts/rev. The model of the encoder can be represented by a gain of K f = 4N/2π For example, a 1000 lines/rev encoder is modeled as K f = 638 DMC-2X00 +1)(ST [count/rad] Chapter 10 Theory of Operation...

  • Page 194: Dac

    I = KI/2T a = 1/T ln (1/B) where T is the sampling period. 184 • Chapter 10 Theory of Operation [V/count] − D(z) = − 1 1 − L(z) = − − − N(z) = − − ⋅ DMC-2X00...

  • Page 195: Zoh

    For example, if the filter parameters of the DMC-2x00 are KP = 4 KD = 36 KI = 2 PL = 0.75 T = 0.001 s the digital filter coefficients are K = 160 A = 0.9 C = 1...

  • Page 196: System Analysis

    To analyze the system, we start with a block diagram model of the system elements. The analysis procedure is illustrated in terms of the following example. Consider a position control system with the DMC-2x00 controller and the following parameters: K t = 0.1 J = 2.10 -4...
  • Page 197 Next, we determine the phase of A(s) at the crossover frequency. A(j200) = 390,000 (j200+51)/[(j200) 2 . (j200 + 2000)] α = Arg[A(j200)] = tan -1 (200/51)-180° -tan -1 (200/2000) α = 76° - 180° - 6° = -110° DMC-2X00 FILTER 2000 50+0.980s...

  • Page 198: System Design And Compensation

    System Design and Compensation The closed-loop control system can be stabilized by a digital filter, which is preprogrammed in the DMC-2x00 controller. The filter parameters can be selected by the user for the best compensation. The following discussion presents an analytical design method.
  • Page 199 [G(j500)] = tan -1 [500D/P] = 59° The solution of these equations leads to: P = 160cos 59° = 82.4 500D = 160sin 59° = 137 Therefore, D = 0.274 G = 82.4 + 0.2744s DMC-2X00 Chapter 10 Theory of Operation...
  • Page 200 Assuming a sampling period of T=1ms, the parameters of the digital filter are: KP = 20.6 KD = 68.6 The DMC-2x00 can be programmed with the instruction: KP 20.6 KD 68.6 In a similar manner, other filters can be programmed. The procedure is simplified by the following table, which summarizes the relationship between the various filters.

  • Page 201: Appendices

    OUT[1] thru OUT[8] Outputs: OUT[9] thru OUT[16] Outputs: (DMC-2x50 through DMC-2x80 only) IN[81], IN[82] DMC-2X00 +/-10 volt analog signal. Resolution 16-bit DAC or 0.0003 volts. 3 mA maximum TTL compatible, but can accept up to +/-12 volts. Quadrature phase on CHA, CHB. Can accept single- ended (A+,B+ only) or differential (A+,A-,B+,B-).

  • Page 202: Power

    40 mA Normal 250 μsec 250 μsec 375 μsec 375 μsec 500 μsec 500 μsec 625 μsec 625 μsec +/-1 quadrature count Fast Firmware 125 μsec 125 μsec 250 μsec 250 μsec 375 μsec 375 μsec 500 μsec 500 μsec DMC-2X00...

  • Page 203: Fast Update Rate Mode

    Array Size: Program Size: Fast Update Rate Mode The DMC-2x00 can operate with much faster servo update rates. This mode is known as 'fast mode' and allows the controller to operate with the following update rates: DMC-2x10, DMC-2x20 DMC-2x30, DMC-2x40...

  • Page 204: Connectors For Dmc-2X00 Main Board

    Connectors for DMC-2x00 Main Board DMC-2x00 Axes A-D High Density Connector 1 Analog Ground 2 gnd 3 5v 4 error output 5 reset 6 encoder-compare output 7 gnd 8 gnd 9 motor command W 10 sign W / dir W...

  • Page 205: Dmc-2X00 Axes E-H High Density Connector

    46 B-W 47 I+W 48 I-W 49 +12V 50 +12V DMC-2x00 Axes E-H High Density Connector 1 nc 2 gnd 3 5v 4 error output 5 reset 6 encoder-compare output 7 gnd 8 gnd 9 motor command H 10 sign H / dir H...

  • Page 206: Dmc-2X00 Auxiliary Encoder 36 Pin High Density Connector

    43 A+H 44 A-H 45 B+H 46 B-H 47 I+H 48 I-H 49 +12V 50 +12V DMC-2x00 Auxiliary Encoder 36 Pin High Density Connector 1 5v 2 gnd 3 +aaX 4 -aaX +abX -abX +aaY -aaY +abY 10 -abY 11 +aaZ...
  • Page 207 DMC-2X00 Appendices...

  • Page 208: Rs-232-Main Port

    Receive data-output RTS – output CTS – input RTS – output CTS – input USB - In Series B, 4 pos Connector: Amp # 787780-1 198 • Appendices USB - Out Series A, 8 pos Connector: Amp # 787617-1 DMC-2X00...

  • Page 209: Ethernet

    Uses 100Base T speed Ethernet Cable Connections for DMC-2x00 The DMC-2x00 requires the transmit, receive, and ground for slow communication rates. (i.e. 1200 baud) For faster rates the handshake lines are required. The connection tables below contain the handshake lines. These descriptions and tables are for RS-232 only. RS-422 is available on request.

  • Page 210: Dmc-2X00 Serial Cable Specifications

    9 Pin Serial Connector (Male, D-type) Standard serial port connections found on most computers. PIN NUMBER DMC-2x00 Serial Cable Specifications Cable to Connect Computer 25 pin to Main Serial Port 25 Pin (Male - computer) 8 (Carrier Detect) 3 (Receive Data) 2 (Transmit Data) 200 •...
  • Page 211 9 Pin (FEMALE - terminal) 4 (Data Terminal Ready) 3 (Transmit Data) 2 (Receive Data) 1 (Carrier Detect) 5 (Signal Ground) Controller +5V DMC-2X00 9 Pin (FEMALE - Controller) 9 Pin (male - controller) 9 Pin (MALE - Controller) Appendices...

  • Page 212: Pin-Out Description For Dmc-2X00

    Pin-Out Description for DMC-2x00 Outputs Analog Motor Command Amp Enable PWM/STEP OUT PWM/STEP OUT Sign/Direction Error Output 1-Output 8 Output 9-Output 16 (DMC-2x50 thru 2x80 Inputs Encoder, A+, B+ 202 • Appendices +/- 10 volt range signal for driving amplifier. In servo mode, motor command output is updated at the controller sample rate.
  • Page 213 Input 1 - Input 8 isolated Input 9 - Input 16 isolated Latch DMC-2X00 Once-Per-Revolution encoder pulse. Used in Homing sequence or Find Index command to define home on an encoder index. Differential inputs from encoder. May be input along with CHA, CHB for noise immunity of encoder signals.

  • Page 214: Jumper Description For Dmc-2X00

    Jumper Description for DMC-2x00 Jumper JP5 MB JP7 MB JP1 MB JP 3 DB for DMC-2000 JP4 DB for DMC-2100/2200 JP4 DB for DMC-2000 JP 5 for DMC-2100/2200 NOTE: MB denotes motherboard. DB denotes daughter board. 204 • Appendices Label...

  • Page 215: Dimensions For Dmc-2X00

    Dimensions for DMC-2x00 DMC-2X00 Appendices...

  • Page 216: Accessories And Options

    CB-50-100 CB-50-80 ICM-1900 -LAEN -OPTO -OPTOHC AMP-19x0 -OPTO -OPTOHC ICM-2900 -LAEN -OPTO -OPTOHC Galil CD-ROM / Utilities. Includes the following: DMCWIN16 DMCWIN32 SETUP16 SETUP32 C KIT WSDK-16 WSDK-32 VBX Tool Kit CAD-to-DMC HPGL 206 • Appendices 1- 8 axis motion controllers where x specifies the number of axes...

  • Page 217: Icm-2900 Interconnect Module

    100-pin main cable and provides terminal blocks for connections. Each terminal is labeled for quick connection of system elements. The ICM-2900 provides access to the signals for up to 4 axes (Two required for 5 or more axes). Block (4 PIN) DMC-2X00 Label Description MOCMDZ...
  • Page 218 X axis reverse limit switch input FLSX X axis forward limit switch input Signal Ground HOMEY Y axis home input RLSY Y axis reverse limit switch input FLSY Y axis forward limit switch input Signal Ground Input 5 Input 6 Input 7 DMC-2X00...
  • Page 219 DMC-2X00 Input 8 XLATCH Input 1 (Used for X axis latch input) YLATCH Input 2 (Used for Y axis latch input) ZLATCH Input 3 (Used for Z axis latch input) WLATCH Input 4 (Used for W axis latch input) + 5 volts...
  • Page 220 Z Main encoder B- + 5 volts +INW W Main encoder Index + -INW W Main encoder Index - Signal Ground +MAW W Main encoder A+ -MAW W Main encoder A- +MBW W Main encoder B+ -MBW W Main encoder B- DMC-2X00...

  • Page 221: Icm-2900 Drawing

    ANA GND ANALOG5 ANALOG6 ANALOG7 ANALOG8 +INX -INX +INY -INY +INZ -INZ +INW -INW Front Figure A-1 DMC-2X00 2.75" MOCMDW SIGNW PW MW MOCMDY SIGNY PW MY AMPENW AMPENZ AMPENY Solderless connections AMPENX – use screwdriver to OUT1 open contacts for...

  • Page 222: Icm-2908 Interconnect Module

    The ICM-2908 interconnect module provides easy connections between the auxiliary encoder connections of the DMC-2x00 series controller and other system elements. The ICM-2908 accepts the 36 pin high density cable (CABLE-36) from the controller and provides terminal blocks for easy access.

  • Page 223: Icm-2908 Drawing

    +ABY -ABY +AAW -AAW +ABW -ABW +AAF -AAF +ABF -ABF +AAH -AAH +ABH -ABH Front Figure A-2 DMC-2X00 2.75" Solderless connections - insert screwdriver to open contacts for insertion/ removal of lead wires +AAX -AAX +ABX -ABX +AAZ -AAZ +ABZ -ABZ 12.25"...

  • Page 224: Pcb Layout Of The Icm-2900

    * FOR 5 VOLT AMPLIFIER ENABLE - PLACE PIN 1 OF RP1 ON PIN LABELED "5V" * FOR 12 VOLT AMPLIFIER ENABLE - PLACE PIN 1 OF RP1 ON PIN LABELED "12V" OPTIONAL OPTO-ISOLATION CIRCUIT 100PIN HIGH DENSITY CONNECTOR AMP part # 2-178238-9 DMC-2X00...

  • Page 225: Icm-1900 Interconnect Module

    ICM-1900 Interconnect Module The ICM-1900 interconnect module provides easy connections between the DMC-2x00 series controllers and other system elements, such as amplifiers, encoders, and external switches. The ICM- 1900 accepts the 100-pin main cable and 25-pin auxiliary cable and breaks them into screw-type terminals.
  • Page 226 Input 1 (Used for X axis latch input) Input 2 (Used for Y axis latch input) Input 3 (Used for Z axis latch input) Input 4 (Used for W axis latch input) Input 5 Input 6 Input 7 Input 8 Abort Input DMC-2X00...
  • Page 227 +INY -INY +MAZ -MAZ +MBZ -MBZ +INZ -INZ +VCC +MAW -MAW +MBW DMC-2X00 Output 1 Output 2 Output 3 Output 4 Output 5 Output 6 Output 7 Output 8 Signal Ground Analog Input 1 Analog Input 2 Analog Input 3...

  • Page 228: Icm-1900 Drawing

    Each amplifier is rated for 7 amps continuous, 10 amps peak at up to 80 V. The gain of the AMP-19x0 is 1 amp/V. The AMP-19x0 requires an external DC supply. The AMP-19x0 connects directly to the DMC-2x00, and screw type terminals are provided for connection to motors, encoders, and external switches.

  • Page 229: Specifications

    Opto-Isolated Outputs for ICM-2900 / ICM-1900 / AMP- 19x0 The ICM/AMP 1900 and ICM-2900 modules from Galil have an option for opto-isolated outputs. Standard Opto-Isolation and High Current Opto-isolation: The Opto-isolation option on the ICM-1900 has 2 forms: -opto (standard) and -optohc (high current).

  • Page 230: Configuring The Amplifier Enable For Icm-2900 / Icm-1900

    The polarity can be changed when using a Galil Interconnect Module. To change the polarity from active high (5 volts = enable, zero volts = disable) to active low (zero volts = enable, 5 volts = disable), replace the socketed IC, 7407, with a 7406.

  • Page 231: Iom-1964 Opto-Isolation Module For Extended I/O

    High Current Buffer chips (16) Figure A-6 Overview The IOM-1964 is an input/output module that connects to the motion controller cards from Galil, providing optically isolated buffers for the extended inputs and outputs of the controller. The IOM- DMC-2X00 Screw Terminals...

  • Page 232: Configuring Hardware Banks

    10 and 11. Configuring Hardware Banks The extended I/O on the DMC-2x00 is configured using the CO command. The banks of buffers on the IOM-1964 are configured to match by inserting the appropriate IC’s and resistor packs. The layout of each of the I/O banks is identical.

  • Page 233: Digital Inputs

    Active outputs are connected to the optically isolated inputs in a similar fashion with respect to current. An NPN output is connected in a sinking configuration, and a PNP output is connected in the sourcing configuration. DMC-2X00 Input Circuit 1/8 RPx4...

  • Page 234: High Power Digital Outputs

    1.5k ohm which is suitable for power supply voltages up to 5.5 VDC. However, use of 24 VDC for example would require a higher resistance such as a 10k ohm resistor pack. *The 1-4 axis models of the DMC-2x00 all work with the IOM-1964, all have identical extended I/O features.

  • Page 235: Standard Digital Outputs

    I/OC or the RPx3 is removed resulting in an open collector output. Here is a schematic of the digital output circuit: To DMC-2x40 +5V 1/8 RPx2 DMC-2x40 I/O Figure A-13 DMC-2X00 I/OC PWROUT OUTC Result Internal Pullup...

  • Page 236: Electrical Specifications

    I/O points, configurable as inputs or outputs in groups of 8 Digital Inputs • Maximum voltage: 28 VDC • Minimum input voltage: 4 VDC • Maximum input current: 3 mA 226 • Appendices Result Open Collector 1/4 NEC2505 1/8 RPx2 = GND OUTC DMC-2X00...

  • Page 237: Relevant Dmc Commands

    Function that returns state of individual input bit, n is number of the input from 1 to 80. Screw Terminal Listing Rev A+B boards (orange) and Rev C boards (black) have the pinouts listed below REV A+B TERMINAL # DMC-2X00 + 2*n + 4*n + 8*n + 16*n...
  • Page 238 I/O bit 50 I/O bit 49 Out common for I/O 49-56 I/O common for I/O 49-56 I/O bit 48 I/O bit 47 I/O bit 46 I/O bit 45 I/O bit 44 I/O bit 43 I/O bit 42 I/O bit 41 DMC-2X00...
  • Page 239 REV A+B TERMINAL # DMC-2X00 REV C LABEL TERMINAL # OUTC41-48 I/OC41-48 I/O40 I/O39 I/O38 I/O37 I/O36 I/O35 I/O34 I/O33 OUTC33-40 I/OC33-40 I/O32 I/O31 I/O30 I/O29 I/O28 I/O27 I/O26 I/O25 OUTC25-32 I/OC25-32 OUTC25-32 I/OC25-32 PWROUT32 PWROUT31 PWROUT30 PWROUT29 PWROUT28 PWROUT27...

  • Page 240: Cb-50-100 Adapter Board

    The CB-50-100 adapter board can be used to convert the CABLE-100 to (2) 50 Pin Ribbon Cables. The 50 Pin Ribbon Cables provide a versatile method of accessing the controller signals without the use of a Galil Interconnect Module. Connectors: JC8 50 PIN IDC 230 •...
  • Page 241 DMC-2X00 Appendices...
  • Page 242 JC6 50 PIN IDC 232 • Appendices J9 100 PIN HIGH DENSITY CONNECTOR DMC-2X00...

  • Page 243: Cb-50-100 Drawing

    CB-50-100 Drawing: 1/8" CB 50-100 GALIL MOTION MADE IN USA 1/51 4 1/2" 21/71 41/91 1/8" 1/2" Figure A-15 DMC-2X00 15/16" 1/8" 1/8"D, 4 places REV A CONTROL JC6, JC8 - 50 pin shrouded headers w/ center key JC8 - pins 1-50 of J9...

  • Page 244: Cb-50-80 Adapter Board

    The CB-50-80 adapter board can be used to convert the CABLE-80 to (2) 50 Pin Ribbon Cables. The 50 Pin Ribbon Cables provide a versatile method of accessing the extended I/O signals without the use of the Galil IOM-1964. The ribbon cables provided by the CB-50-80 are compatible with I/O mounting racks such as Grayhill 70GRCM32-HL and OPTO-22 G4PB24.

  • Page 245: Connectors

    Connectors: JC8 and JC6: 50 Pin Male IDC J9: 80 Pin High Density Connector, AMP PART #3-178238-0 DMC-2X00 Appendices...
  • Page 246 236 • Appendices J9 (Continued) DMC-2X00...

  • Page 247: Cb-50-80 Drawing

    CB-50-80 Drawing: CB-50-80 Outline 1/8" GALIL MOTION MADE IN USA 4 1/2" 1/8" Figure A-17 DMC-2X00 1/8" 15/16" 1/8"D, 4 places Mounting bracket CB 50-80 for attaching REV A1 inside PC CONTROL JC6, JC8 - 50 pin shrouded headers w/...
  • Page 248 Pin1 () J9 - 80 pin connector AMP part # 3-178238-0 CB 50-80 (Pin 1) REV A JC8 (IDC 50 Pin) GALIL MOTION Pin1 ( ) CONTROL MADE IN USA DETAIL JC6, JC8 - 50 pin shrouded headers w/ center key Figure A-18 238 •...

  • Page 249: Term-1500 Operator Terminal

    TERM-1500 Operator Terminal Two types of terminals are offered from Galil; the hand-held unit and the panel mount unit. Both have the same programming characteristics. Hand held unit is shown below: Figure A-19 DMC-2X00 Appendices...

  • Page 250: Features

    Connects directly to RS232 port P2 via coiled cable Description The TERM-2000 is a compact ASCII terminal for use with the DMC-2x00 motion controller. Its numeric keypad allows easy data entry from an operator. The TERM-1500 is available with a male adapter for connection to P2 (Dataset).

  • Page 251: Specifications - Panel Mount

    NOTE: Values in parentheses are ASCII decimal values. Key locations are represented by [m,n] where m is element column, n is element row. Example: U is <Shift>[1,2] DMC-2X00 30-Key; 5 rows x 6 columns ; 5x7 font 4 row x 20 character LCD 5 volts, 30mA...

  • Page 252: Keypad Map - Panel Mount - 6 Columns X 5 Rows

    Escape Commands Escape codes can be used to control the TERM-1500 display, cursor style, and position, and sound settings. NOTE: The escape character (hex 1B) can be sent through port 2 of the DMC-2x00 with special syntax {^27}: Example: MG {P2}{^27},”H”...

  • Page 253: Configuration

    1, column 1 (Pr = H20, Pc = H20) representing the upper left corner of the display. Configuration <CNTRL><SHIFT>F1 Allows user to configure terminal; Follow prompts on display to change configuration DMC-2X00 Clear Display and Home Clear Display Cursor to End of Display Cursor to End of Line...

  • Page 254: Function Keys

    22 decimal 23 decimal 24 decimal 25 decimal 26 decimal Input/Output of Data – DMC-2x00 Commands Refer to Chapter 7 in this manual for Data Communication commands. When using Port 2, use CC command to configure P2. Example: CC 9600,0,0,1 MG{P2} “Hello There”, V1{F2.1}...

  • Page 255: Ordering Information

    5V or no connect or sample clock with jumpers NOTE: Out and in are referenced to the terminal. Ordering Information TERM-1500H-P2 TERM-1500P-P2 DMC-2X00 End Program Interrupt Routine Jump to X move if F1 Jump to Y move if F2 End, Re-enable comm interrupt & restore trip point...

  • Page 256: Coordinated Motion - Mathematical Analysis

    X-axis and the CCW direction of rotation is positive. Angles are expressed in degrees, and the resolution is 1/256 shown in Fig. A-21 is specified by the instructions: 246 • Appendices 0,10000 10000, 180, -90 20000, 20000 of a degree. For example, the path DMC-2X00...
  • Page 257 Where Xk and Yk are the changes in X and Y positions along the linear segment. The length of the circular arc is The total travel distance is given by ∑ The velocity profile may be specified independently in terms of the vector velocity and acceleration. DMC-2X00 10000 10000 units θ π R Δ...
  • Page 258 X direction. Fig. A-23b shows X axis velocity. Fig A-23c shows Y axis velocity. 248 • Appendices 0.05 0.357 100000 0 05 2000000 35708 − 0.05 = 0.307 100000 = 0 407 time (s) 0.407 DMC-2X00...

  • Page 259: Example- Communicating With Opto-22 Snap-B3000-Enet

    Analog Inputs (+/-10V) Instruction #CONFIG IHF=131,29,50,30<502>2 WT10 JP #CFGERR,_IHF2=0 JS #CFGDOUT JS #CFGAOUT JS #CFGAIN MBF = 6,6,1025,1 DMC-2X00 Module 1 Module 2 Module 4 Interpretation Label Establish connection Wait 10 milliseconds Jump to subroutine Configure digital outputs Configure analog outputs...
  • Page 260 Set variable Loop subroutine Set array element Increment Set array element Increment Conditional statement Configure I/O using Modbus function code 16 where the starting register is 632+(MODULE*8), number of registers is NUMOFIO*2 and A[] contains the data. Label Message DMC-2X00...
  • Page 261 SB 6006 set bit of output at handle 6, module 2, bit 3 to one OB 6006,1 AO 608,3.6 set analog output at handle 6, module 53, bit 1 to 3.6 volts MG @AN[6017] display voltage value of analog input at handle6, module 5, bit 2 DMC-2X00 Appendices...

  • Page 262: Dmc-2X00/Dmc-1500 Comparison

    DMC-2x00/DMC-1500 Comparison BENEFIT Access to parameters – real time data processing & recording Easy to install – USB is self configuring Plug and Play Can capture and save array data Parameters can be stored Firmware can be upgraded in field without removing controller from PC Faster servo operation –...

  • Page 263: List Of Other Publications

    Through a series of seminars and workshops held over the past 20 years, Galil has actively shared their market insights in a no-nonsense way for a world of engineers on the move. In fact, over 10,000 engineers have attended Galil seminars.

  • Page 264: Contacting Us

    18 months after shipment. Motors, and Power supplies are warranted for 1 year. Extended warranties are available. In the event of any defects in materials or workmanship, Galil Motion Control will, at its sole option, repair or replace the defective product covered by this warranty without charge. To obtain warranty service, the defective product must be returned within 30 days of the expiration of the applicable warranty period to Galil Motion Control, properly packaged and with transportation and insurance prepaid.
  • Page 265 Clear Bit... 45, 158, 159, 202, 225 Clear Sequence ... 81, 83, 87, 89 CMDERR ... 124, 137, 139, 140 DMC-2X00 Coordinated Motion Linear Interpolation36, 37, 69, 70, 81, 82, 83, 85, 86, Data Record ... 57, 59, 101, 102, 252 Echo 49, 58, 60, 244 Edit Mode...34, 122, 137...
  • Page 266 Operator Bit-Wise ... 133, 142 Output Amplifier Enable... 7, 22, 43, 171, 206, 220 Digital Output 1, 144, 158, 206, 219, 222, 224, 225, Error Output ... 46, 171 Motor Command ... 3, 21, 25, 27, 185, 193, 202 DMC-2X00...
  • Page 267 Stop Motion ... 81, 87 Subroutine...39, 105, 121, 123, 124, 125, 132, 133, 134, 136, 137, 138, 139, 140, 152, 160, 172, 174, 203 DMC-2X00 Synchronization ...1, 7, 47, 95 Syntax ...61, 62, 63 Tangent ... 70, 86, 88, 89, 144 Teach...70, 104, 148...

This manual is also suitable for:

Dmc-2010Dmc-2020Dmc-2030Dmc-2040Dmc-2050Dmc-2060 ... Show all

Table of Contents

Save PDF