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Galil DMC-2230 User Manual

Galil DMC-2230 User Manual (267 pages)

Motion Controller DMC-2x00 Series

Brand: Galil | Category: Controller | Size: 3 MB

Table of Contents

Using this Manual
2
Table of Contents
3
Chapter 1 Overview

11
- Introduction
  11
- Specifications
  12
- Overview of Motor Types
  13
- Overview of Amplifiers
  14
- DMC-2X00 Functional Elements
  15
  - Microcomputer Section
    15
  - Motor Interface
    15
  - Communication
    15
  - General I/O
    16
  - System Elements
    16
  - Motor
    16
  - Amplifier (Driver)
    16
  - Encoder
    17
  - Watch Dog Timer
    17
Chapter 2 Getting Started

19
Chapter 3 Connecting Hardware

49
- Overview
  49
- Using Optoisolated Inputs
  49
  - Limit Switch Input
    49
  - Home Switch Input
    50
  - Abort Input
    50
  - Reset Input
    51
  - Uncommitted Digital Inputs
    51
- Wiring the Opto-Isolated Inputs
  51
- Analog Inputs
  53
- Amplifier Interface
  53
- TTL Inputs
  54
  - The Auxiliary Encoder Inputs
    54
- TTL Outputs
  55
  - General Use Outputs
    55
  - Output Compare
    55
  - Error Output
    56
- Extended I/O of the DMC-2X00 Controller
  56
- Interfacing to Grayhill or OPTO-22 G4PB24
  56
Chapter 4 Communication

57
- Introduction
  57
- RS232 Ports
  57
  - RS232 - Main Port {P1} DATATERM
    57
  - RS232 - Auxiliary Port {P2} DATASET
    57
  - RS422 - Main Port {P1
    58
  - RS422 - Auxiliary Port {P2
    58
  - RS-232 Configuration
    58
  - Handshaking Modes
    58
- Ethernet Configuration (DMC-2100/2200 Only)
  60
  - Communication Protocols
    60
  - Addressing
    61
  - Communicating with Multiple Devices
    63
  - Multicasting
    64
  - Using Third Party Software
    64
- Data Record
  65
- Controller Response to Commands
  69
- Unsolicited Messages Generated by Controller
  70
- Galil Software Tools and Libraries
  70
Chapter 5 Command Basics

71
- Introduction
  71
- Command Syntax - ASCII
  71
  - Coordinated Motion with more than 1 Axis
    72
- Command Syntax - Binary
  73
  - Binary Command Format
    73
  - Header Format
    73
  - Binary Command Table
    74
- Controller Response to DATA
  75
- Interrogating the Controller
  76
  - Interrogation Commands
    76
  - Summary of Interrogation Commands
    76
  - Interrogating Current Commanded Values
    76
  - Operands
    76
  - Command Summary
    77
Chapter 6 Programming Motion

79
- Overview
  79
- Independent Axis Positioning
  80
- Position Tracking
  83
  - Example
    85
  - Example
    86
  - Trip Points
    88
  - Command Summary - Position Tracking Mode
    89
- Independent Jogging
  89
  - Command Summary - Jogging
    89
  - Operand Summary - Independent Axis
    89
  - Examples
    90
- Linear Interpolation Mode
  91
- Vector Mode: Linear and Circular Interpolation Motion
  96
- Electronic Gearing
  101
- Ramped Gearing
  101
  - Example
    103
  - Command Summary - Electronic Gearing
    103
- Electronic Cam
  105
  - Command Summary - Electronic CAM
    108
  - Operand Summary - Electronic CAM
    109
  - Example
    109
- Contour Mode
  110
  - Specifying Contour Segments
    110
  - Additional Commands
    111
  - Command Summary - Contour Mode
    112
  - General Velocity Profiles
    112
  - Example
    112
    
    Teach (Record and Play-Back)
    114
    
    Record and Playback Example
    114
- Virtual Axis
  115
  - Ecam Master Example
    115
  - Sinusoidal Motion Example
    115
- Stepper Motor Operation
  116
- Stepper Position Maintenance Mode (SPM)
  118
  - Error Limit
    119
  - Correction
    119
    
    Example: SPM Mode Setup
    119
    
    Example: Error Correction
    120
    
    Example: Friction Correction
    121
- Dual Loop (Auxiliary Encoder)
  122
  - Additional Commands for the Auxiliary Encoder
    123
  - Backlash Compensation
    123
  - Example
    123
- Motion Smoothing
  124
  - Using the IT and VT Commands
    125
  - Example
    125
  - Using the KS Command (Step Motor Smoothing)
    126
- Homing
  127
  - Example
    127
  - Command Summary - Homing Operation
    129
  - Operand Summary - Homing Operation
    129
- High Speed Position Capture (the Latch Function)
  129
  - Example
    130
Chapter 7 Application Programming

131
- Overview
  131
- Using the DOS Editor to Enter Programs (DMC-2000 Only)
  131
  - Edit Mode Commands
    132
  - Example
    132
- Program Format
  133
  - Using Labels in Programs
    133
  - Special Labels
    133
  - Commenting Programs
    134
- Executing Programs - Multitasking
  135
- Debugging Programs
  136
  - Trace Commands ( DMC-2100/2200 Only)
    136
  - Error Code Command
    137
  - Stop Code Command
    137
  - RAM Memory Interrogation Commands
    137
  - Operands
    137
  - Example
    137
- Program Flow Commands
  138
  - Event Triggers & Trippoints
    138
  - Example- Multiple Move Sequence
    140
  - Conditional Jumps
    142
    
    Logical Operators
    143
    
    Conditional Statements
    143
    
    Multiple Conditional Statements
    143
  - If, Else, and Endif
    144
  - Subroutines
    146
  - Stack Manipulation
    146
  - Auto-Start Routine
    146
  - Automatic Subroutines for Monitoring Conditions
    147
    
    Example - Limit Switch
    147
    
    Example - Position Error
    148
    
    Example - Input Interrupt
    148
    
    Example - Motion Complete Timeout
    148
    
    Example - Command Error
    149
    
    Example - Command Error W/Multitasking
    150
    
    Example - Communication Interrupt
    150
    
    Example - Ethernet Communication Error
    151
- Mathematical and Functional Expressions
  152
  - Mathematical Operators
    152
  - Bit-Wise Operators
    152
  - Functions
    154
- Variables
  154
  - Programmable Variables
    155
    
    Assigning Values to Variables
    155
    
    Assigning Variable Values to Controller Parameters
    155
    
    Displaying the Value of Variables at the Terminal
    156
    
    Example - Using Variables for Joystick
    156
- Operands
  156
  - Special Operands (Keywords)
    156
- Arrays
  157
- Input of Data (Numeric and String)
  160
  - Input of Data
    160
  - Operator Data Entry Mode
    161
  - Using Communication Interrupt
    162
  - Inputting String Variables
    163
- Output of Data (Numeric and String)
  163
- Hardware I/O
  168
  - Digital Outputs
    168
  - Digital Inputs
    169
    
    Example - Using Inputs to Control Program Flow
    170
    
    Example - Start Motion on Switch
    170
  - The Auxiliary Encoder Inputs
    170
  - Input Interrupt Function
    170
  - Analog Inputs
    171
    
    Example - Position Follower (Point-To-Point)
    171
    
    Example - Position Follower (Continuous Move)
    172
- Extended I/O of the DMC-2X00 Controller
  172
- Example Applications
  174
  - Wire Cutter
    174
  - A-B Table Controller
    175
  - Speed Control by Joystick
    177
  - Position Control by Joystick
    178
  - Backlash Compensation by Sampled Dual-Loop
    178
Chapter 8 Hardware & Software Protection

181
- Introduction
  181
- Hardware Protection
  181
  - Output Protection Lines
    181
  - Input Protection Lines
    182
- Software Protection
  182
  - Programmable Position Limits
    183
  - Off-On-Error
    183
  - Automatic Error Routine
    183
  - Limit Switch Routine
    184
Chapter 9 Troubleshooting

185
- Overview
  185
- Installation
  185
- Communication
  186
- Stability
  186
- Operation
  186
Chapter 10 Theory of Operation

187
- Overview
  187
- Operation of Closed-Loop Systems
  189
- System Modeling
  190
  - Motor-Amplifier
    191
    
    Voltage Drive
    191
    
    Current Drive
    191
    
    Voltage Source
    193
    
    Current Source
    193
    
    Velocity Loop
    193
  - Encoder
    193
  - Dac
    194
  - Digital Filter
    194
  - Zoh
    195
- System Analysis
  196
- System Design and Compensation
  198
  - The Analytical Method
    198
Appendices

201
- Electrical Specifications
  201
  - Servo Control
    201
  - Stepper Control
    201
  - Input / Output
    201
  - Power
    202
- Performance Specifications
  202
  - Minimum Servo Loop Update Time
    202
- Fast Update Rate Mode
  203
- Connectors for DMC-2X00 Main Board
  204
  - DMC-2X00 Axes A-D High Density Connector
    204
  - DMC-2X00 Axes E-H High Density Connector
    205
  - DMC-2X00 Auxiliary Encoder 36 Pin High Density Connector
    206
  - DMC-2X00 Extended I/O 80 Pin High Density Connector
    206
  - RS-232-Main Port
    208
  - RS-232-Auxiliary Port
    208
  - USB - in
    208
  - Ethernet
    209
- Cable Connections for DMC-2X00
  209
  - Standard RS-232 Specifications
    209
  - DMC-2X00 Serial Cable Specifications
    210
    
    Cable to Connect Computer 9 Pin to Main Serial Port Cable (9 Pin)
    211
    
    Cable to Connect Computer 9 Pin to Auxiliary Serial Port Cable (9 Pin)
    211
- Pin-Out Description for DMC-2X00
  212
- Jumper Description for DMC-2X00
  214
- Dimensions for DMC-2X00
  215
- Accessories and Options
  216
- ICM-2900 Interconnect Module
  217
  - Mechanical Specifications
    217
  - Environmental Specifications
    217
  - Equipment Maintenance
    217
  - Description
    217
  - ICM-2900 Drawing
    221
- ICM-2908 Interconnect Module
  222
  - ICM-2908 Drawing
    223
  - PCB Layout of the ICM-2900
    224
- ICM-1900 Interconnect Module
  225
  - Features
    225
  - ICM-1900 Drawing
    228
- AMP-19X0 Mating Power Amplifiers
  228
  - Features
    228
  - Specifications
    229
- Opto-Isolated Outputs for ICM-2900 / ICM-1900 / AMP-19X0
  229
  - Standard Opto-Isolation and High Current Opto-Isolation
    229
- Configuring the Amplifier Enable for ICM-2900 / ICM-1900
  230
  - LAEN Option
    230
  - Changing the Amplifier Enable Voltage Level
    230
- IOM-1964 Opto-Isolation Module for Extended I/O
  231
  - Description
    231
  - Overview
    231
  - Configuring Hardware Banks
    232
  - Digital Inputs
    233
  - High Power Digital Outputs
    234
  - Standard Digital Outputs
    235
  - Electrical Specifications
    236
  - Relevant DMC Commands
    237
  - Screw Terminal Listing
    237
- CB-50-100 Adapter Board
  240
  - Connectors
    240
  - CB-50-100 Drawing
    243
- CB-50-80 Adapter Board
  244
  - Connectors
    245
  - CB-50-80 Drawing
    247
- TERM-1500 Operator Terminal
  249
  - Features
    250
  - Description
    250
  - Specifications - Hand-Held
    250
  - Specifications - Panel Mount
    251
  - Keypad Maps - Hand-Held
    251
  - Keypad Map - Panel Mount - 6 Columns X 5 Rows
    252
  - Configuration
    253
  - Function Keys
    254
  - Input/Output of Data - DMC-2X00 Commands
    254
  - Ordering Information
    255
- Coordinated Motion - Mathematical Analysis
  256
- Example- Communicating with OPTO-22 SNAP-B3000-ENET
  259
- DMC-2X00/DMC-1500 Comparison
  262
- List of Other Publications
  263
- Training Seminars
  263
- Contacting Us
  264
- Warranty
  264

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