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Galil DMC-1520 User Manual

Galil DMC-1520 User Manual (203 pages)

DMC-1500 Series motion controller

Brand: Galil | Category: Controller | Size: 0 MB

Table of Contents

Table of Contents
7
Chapter 1 Overview

13
- Introduction
  13
- Overview of Motor Types
  14
  - Standard Servo Motors with +/- 10 Volt Command Signal
    14
  - Stepper Motor with Step and Direction Signals
    14
- DMC-1500 Functional Elements
  14
  - Microcomputer Section
    15
  - Motor Interface
    15
  - Communication
    15
  - General I/O
    15
  - System Elements
    15
  - Motor
    16
  - Amplifier (Driver)
    16
  - Encoder or Position Sensor
    16
  - Watch Dog Timer
    16
Chapter 2 Getting Started

19
Chapter 3 Connecting Hardware

37
- Overview
  37
- Using Opto-Isolated Inputs
  37
  - Limit Switch Input
    37
  - Home Switch Input
    38
  - Abort Input
    38
  - Uncommitted Digital Inputs
    39
- Wiring the Optoisolated Inputs
  39
- Amplifier Interface
  42
- TTL Inputs
  43
- Analog Inputs
  43
- TTL Outputs
  44
- Offset Adjustment
  44
Chapter 4 Communication

45
- Introduction
  45
- RS232 Ports
  45
- Configuration
  46
  - Baud Rate Selection
    46
  - Daisy-Chaining
    47
  - Daisy Chain Example
    47
  - Synchronizing Sample Clocks
    48
- Controller Response to DATA
  48
- Galil Software Tools and Libraries
  48
Chapter 5 Command Basics

49
- Introduction
  49
- Command Syntax
  49
  - Coordinated Motion with more than 1 Axis
    50
  - Program Syntax
    50
- Controller Response to DATA
  50
- Interrogating the Controller
  51
  - Interrogation Commands
    51
  - Summary of Interrogation Commands
    51
  - Additional Interrogation Methods
    52
  - Operands
    52
  - Command Summary
    52
Chapter 6 Programming Motion

53
Chapter 7 Application Programming

91
- Overview
  91
- Using the DMC-1500 Editor to Enter Programs
  91
  - Edit Mode Commands
    92
- Program Format
  93
  - Using Labels in Programs
    93
  - Special Labels
    93
- Commenting Programs
  94
- Executing Programs & Multitasking
  95
- Debugging Programs
  96
- Debugging Programs
  98
  - Commands
    98
  - Operands
    98
- Program Flow Commands
  99
  - Event Triggers & Trippoints
    99
  - DMC-1500 Event Triggers
    100
  - Event Trigger Examples
    100
  - Conditional Jumps
    103
  - Subroutines
    106
  - Stack Manipulation
    106
  - Auto-Start Routine
    107
  - Automatic Subroutines for Monitoring Conditions
    107
- Mathematical and Functional Expressions
  110
  - Mathematical Expressions
    110
  - Bit-Wise Operators
    111
  - Functions
    112
- Variables
  112
  - Assigning Values to Variables
    113
- Operands
  114
  - Special Operands (Keywords)
    115
- Arrays
  115
  - Defining Arrays
    115
  - Assignment of Array Entries
    116
  - Automatic Data Capture into Arrays
    117
  - Command Summary - Automatic Data Capture
    117
  - Data Types for Recording
    117
  - Operand Summary - Automatic Data Capture
    118
  - Deallocating Array Space
    118
- Input of Data (Numeric and String)
  119
  - Input of Data
    119
  - Operator Data Entry Mode
    120
  - Using Communication Interrupt
    120
- Output of Data (Numeric and String)
  122
  - Sending Messages
    122
  - Specifying the Serial Port for Messages
    123
  - Formatting Messages
    123
  - Using the MG Command to Configure Terminals
    124
  - Summary of Message Functions
    124
  - Displaying Variables and Arrays
    124
  - Interrogation Commands
    124
  - Formatting Variables and Array Elements
    126
  - Converting to User Units
    127
- Programmable Hardware I/O
  127
  - Digital Outputs
    127
  - Digital Inputs
    128
  - Input Interrupt Function
    129
  - Analog Inputs
    130
- Example Applications
  131
  - Wire Cutter
    131
  - X-Y Table Controller
    132
  - Speed Control by Joystick
    134
  - Position Control by Joystick
    135
    
    Backlash Compensation by Sampled Dual-Loop
    135
Chapter 8 Hardware & Software Protection

138
- Introduction
  138
- Hardware Protection
  138
  - Output Protection Lines
    138
  - Input Protection Lines
    138
- Software Protection
  139
  - Programmable Position Limits
    139
  - Off-On-Error
    139
  - Automatic Error Routine
    140
  - Limit Switch Routine
    140
Chapter 9 Troubleshooting

142
- Overview
  142
- Installation
  142
- Communication
  143
- Stability
  143
- Operation
  143
Chapter 10 Theory of Operation

144
- Overview
  144
- Operation of Closed-Loop Systems
  146
- System Modeling
  147
  - Motor-Amplifier
    148
  - Encoder
    150
  - Dac
    151
  - Digital Filter
    151
  - Zoh
    151
- System Analysis
  152
- System Design and Compensation
  154
  - The Analytical Method
    154
Appendices

158
- Electrical Specifications
  158
  - Servo Control
    158
  - Stepper Control
    158
  - Input/Output
    158
  - Power
    159
- Performance Specifications
  159
- Card Level Layout
  160
- Connectors for DMC-1500 Main Board
  161
  - J2 - Main (60 Pin IDC)
    161
  - J5 - General I/O (26 Pin IDC)
    162
  - J3 - Aux Encoder (20 Pin IDC)
    162
  - J4 - Driver (20 Pin IDC)
    163
  - J6 - Daughter Board Connector (60 Pin )
    163
  - J7 - 10 Pin
    163
- Connectors for Auxiliary Board (Axes E,F,G,H)
  164
  - JD2 - Main (60 Pin IDC)
    164
  - JD5 - I/O (26 Pin IDC)
    165
  - JD3 - 20 Pin IDC - Auxiliary Encoders
    165
  - JD4 - 20 Pin IDC - Amplifiers
    166
  - JD6 - Daughterboard Connector (60 Pin)
    166
- Cable Connections for DMC-1500
  166
  - Standard RS-232 Specifications
    166
  - DMC-1500 Serial Cable Specifications
    167
- Pin-Out Description for DMC-1500
  169
- Configuration Description for DMC-1500
  171
  - Jumpers
    171
  - Address Configuration Jumpers
    171
  - Front Panel Baud Rate Switches
    171
  - Adjustment Pots
    172
- Dip Switch Settings
  172
- Offset Adjustments for DMC-1500
  172
- Accessories and Options
  173
- ICM-1100 Interconnect Module
  174
- AMP/ICM-1100 Connections
  174
  - J2 - Main (60 Pin IDC)
    177
  - J3 - Aux Encoder (20 Pin IDC)
    177
  - J4 - Driver (20 Pin IDC)
    177
  - J5 - General I/O (26 Pin IDC)
    177
  - JX6, JY6, JZ6, JW6 - Encoder Input (10 Pin IDC)
    177
- ICM-1100 Drawing
  178
- AMP-11X0 Mating Power Amplifiers
  179
- TERM-1500 Operator Terminal
  179
- DB-15072 OPTO-22 Expansion Option
  187
  - Configuring the I/O for the DB-15072
    187
  - Connector Description of the DB-15072
    188
- Coordinated Motion - Mathematical Analysis
  191
- DMC-700/DMC-1500 Comparison
  194
- List of Other Publications
  196
- Contacting Us
  196
- Warranty
  197
Index • 195

203

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