Galil DMC-4040 Manuals

Galil DMC-4040 Manuals

Manuals and User Guides for Galil DMC-4040. We have 1 Galil DMC-4040 manual available for free PDF download: User Manual

Galil DMC-4040 User Manual

Galil DMC-4040 User Manual (284 pages)

DMC-40x0 Series

Brand: Galil | Category: Controller | Size: 3.54 MB

Table of Contents

Table of Contents
3
Chapter 1 Overview

10
- Introduction
  10
- Overview of Motor Types
  11
- Overview of External Amplifiers
  12
- Overview of Galil Amplifiers and Drivers
  12
  - A1 - AMP-430X0 (-D3040, -D3020)
    12
  - A2 - Amp-43140 (-D3140)
    12
  - A3 - Sdm-44040 (-D4040)
    12
  - A4 - Sdm-44140 (-D4140)
    12
- DMC-40X0 Functional Elements
  13
  - Microcomputer Section
    13
  - Motor Interface
    13
  - Communication
    13
  - General I/O
    13
  - System Elements
    14
  - Motor
    14
  - Amplifier (Driver)
    14
  - Encoder
    15
  - Watch Dog Timer
    15
Chapter 2 Getting Started

16
Chapter 3 Connecting Hardware

41
- Overview
  41
- Using Optoisolated Inputs
  41
  - Limit Switch Input
    41
  - Home Switch Input
    42
  - Abort Input
    42
  - ELO (Electronic Lock-Out) Input
    43
  - Reset Input
    43
  - Uncommitted Digital Inputs
    43
- Wiring the Optoisolated Inputs
  43
- TTL Inputs
  46
  - The Auxiliary Encoder Inputs
    46
- High Power Opto-Isolated Outputs
  47
  - Electrical Specifications
    47
  - Wiring the Opto-Isolated Outputs
    47
- Analog Inputs
  48
  - AQ Settings
    48
  - Electrical Specifications
    48
- TTL Outputs
  48
  - Output Compare
    48
  - Error Output
    48
- Extended I/O of the DMC-40X0 Controller
  49
  - Electrical Specifications (3.3V - Standard)
    49
  - Electrical Specifications (5V - Option)
    49
- Amplifier Interface
  50
Chapter 4 Software Tools and Communication

57
- Introduction
  57
- RS232 and RS422 Ports
  57
  - RS-232 Configuration
    57
  - Configuration
    59
- Ethernet Configuration
  59
  - Communication Protocols
    59
  - Addressing
    60
  - Communicating with Multiple Devices
    61
  - Multicasting
    61
  - Using Third Party Software
    61
- Modbus
  62
  - Modbus Examples
    63
- Data Record
  64
- Controller Response to Commands
  70
- Unsolicited Messages Generated by Controller
  71
- Galiltools (Windows and Linux)
  72
- Creating Custom Software Interfaces
  74
- DOS, and QNX Tools
  78
Chapter 5 Command Basics

79
- Introduction
  79
- Command Syntax - ASCII
  79
  - Coordinated Motion with more than 1 Axis
    80
- Command Syntax - Binary (Advanced)
  81
  - Binary Command Format
    81
  - Binary Command Table
    82
- Controller Response to DATA
  83
- Interrogating the Controller
  83
  - Interrogation Commands
    83
  - Summary of Interrogation Commands
    84
  - Interrogating Current Commanded Values
    84
  - Operands
    84
  - Command Summary
    84
Chapter 6 Programming Motion

85
- Overview
  85
- Independent Axis Positioning
  87
  - Command Summary - Independent Axis
    87
  - Operand Summary - Independent Axis
    87
- Independent Jogging
  89
  - Command Summary - Jogging
    89
  - Operand Summary - Independent Axis
    90
- Position Tracking
  90
  - Example - Motion 2
    92
  - Example Motion 4
    93
  - Trip Points
    94
  - Command Summary - Position Tracking Mode
    95
- Linear Interpolation Mode
  95
- Vector Mode: Linear and Circular Interpolation Motion
  100
- Electronic Gearing
  104
- Ramped Gearing
  105
- Electronic Cam
  108
  - Command Summary - Electronic CAM
    112
  - Operand Summary - Electronic CAM
    112
  - Example - Electronic CAM
    112
- PVT Mode
  114
  - Specifying PVT Segments
    114
  - Exiting PVT Mode
    114
  - Error Conditions and Stop Codes
    114
  - Additional PVT Information
    114
  - Command Summary - PVT
    115
  - PVT Examples
    115
  - Multi-Axis Coordinated Move
    117
- Contour Mode
  119
  - Specifying Contour Segments
    119
  - Additional Commands
    120
  - Command Summary - Contour Mode
    120
- Stepper Motor Operation
  124
- Stepper Position Maintenance Mode (SPM)
  126
  - Internal Controller Commands (User Can Query)
    126
  - User Configurable Commands (User Can Query & Change)
    126
  - Error Limit
    126
  - Correction
    126
- Dual Loop (Auxiliary Encoder)
  129
  - Backlash Compensation
    130
- Motion Smoothing
  131
  - Using the IT Command
    131
  - Using the KS Command (Step Motor Smoothing)
    133
- Homing
  133
  - Stage 1
    133
  - Stage 2
    133
  - Stage 3
    133
  - Command Summary - Homing Operation
    136
  - Operand Summary - Homing Operation
    136
- High Speed Position Capture (the Latch Function)
  136
- Fast Update Rate Mode
  138
Chapter 7 Application Programming

139
- Overview
  139
- Using the DMC-40X0 Editor to Enter Programs
  139
  - Edit Mode Commands
    140
- Program Format
  140
  - Using Labels in Programs
    140
  - Special Labels
    141
  - Commenting Programs
    141
- Executing Programs - Multitasking
  142
- Debugging Programs
  143
- Program Flow Commands
  144
  - Event Triggers & Trippoints
    144
  - Event Trigger Examples
    146
  - Conditional Jumps
    148
  - Using If, Else, and Endif Commands
    150
  - Subroutines
    151
  - Stack Manipulation
    151
  - Auto-Start Routine
    152
  - Automatic Subroutines for Monitoring Conditions
    152
  - JS Subroutine Stack Variables (^A, ^B, ^C, ^D, ^E, ^F, ^G, ^H)
    156
- Mathematical and Functional Expressions
  158
  - Mathematical Operators
    158
  - Bit-Wise Operators
    159
  - Functions
    160
- Variables
  160
  - Programmable Variables
    161
- Operands
  162
  - Special Operands (Keywords)
    162
- Arrays
  163
  - Defining Arrays
    163
  - Assignment of Array Entries
    163
  - Automatic Data Capture into Arrays
    164
  - De-Allocating Array Space
    166
- Input of Data (Numeric and String)
  166
  - Input of Data
    166
  - Operator Data Entry Mode
    167
  - Using Communication Interrupt
    167
- Output of Data (Numeric and String)
  169
  - Sending Messages
    169
  - Displaying Variables and Arrays
    170
  - Interrogation Commands
    171
  - Formatting Variables and Array Elements
    172
  - Converting to User Units
    173
- Hardware I/O
  173
  - Digital Outputs
    173
  - Digital Inputs
    174
  - The Auxiliary Encoder Inputs
    175
  - Input Interrupt Function
    175
  - Analog Inputs
    176
- Extended I/O of the DMC-40X0 Controller
  177
- Example Applications
  178
  - Wire Cutter
    178
  - X-Y Table Controller
    179
  - Speed Control by Joystick
    182
  - Position Control by Joystick
    183
  - Backlash Compensation by Sampled Dual-Loop
    183
Chapter 8 Hardware & Software Protection

186
- Introduction
  186
- Hardware Protection
  186
  - Output Protection Lines
    186
  - Input Protection Lines
    187
- Software Protection
  187
  - Programmable Position Limits
    188
  - Off-On-Error
    188
  - Automatic Error Routine
    188
  - Limit Switch Routine
    189
Chapter 9 Troubleshooting

190
- Overview
  190
- Installation
  190
- Stability
  191
- Operation
  191
Chapter 10 Theory of Operation

192
- Overview
  192
- Operation of Closed-Loop Systems
  194
- System Modeling
  195
  - Motor-Amplifier
    196
  - Encoder
    198
  - Dac
    198
  - Digital Filter
    199
  - Zoh
    200
- System Analysis
  200
- System Design and Compensation
  202
  - The Analytical Method
    202
- Appendices
  206
  - Electrical Specifications
    206
    
    Input / Output
    206
    
    Servo Control
    206
    
    Stepper Control
    206
    
    Max Power Output
    207
    
    Power Requirements
    207
  - Performance Specifications
    208
    
    Minimum Servo Loop Update Time
    208
  - Fast Update Rate Mode
    209
  - Ordering Options for the DMC-40X0
    210
    
    DMC-40X0 Controller Board Options
    210
    
    Overview
    210
    
    CMB Communication Board Options
    211
    
    ICM Interconnect Board Options
    211
    
    AMP Internal Amplifier Options
    213
  - Power Connectors for the DMC-40X0
    214
    
    Molex Part Numbers Used
    214
    
    Overview
    214
  - Cable Connections for DMC-40X0
    215
    
    Standard RS-232 Specifications
    215
    
    DMC-40X0 Serial Cable Specifications
    216
  - Pin-Out Description for DMC-40X0
    217
  - Configuring the Amplifier Enable Circuit
    219
    
    DMC-4040 (Steps 1 and 2)
    219
    
    ICM-42000 and ICM-42100
    219
    
    DMC-4080 (Steps 1 and 2)
    221
    
    DMC-4040 and DMC-4080 (Step 3)
    223
    
    DMC-4040 (Steps 4 and 5)
    230
    
    DMC-4080 (Steps 4 and 5)
    232
  - Coordinated Motion - Mathematical Analysis
    234
  - Example- Communicating with OPTO-22 SNAP-B3000-ENET
    237
  - DMC-40X0/DMC-2200 Comparison
    239
  - List of Other Publications
    240
  - Training Seminars
    240
  - Contacting Us
    241
  - Warranty
    242
- Integrated Components
  243
  - Overview
    243
    
    A1 - AMP-430X0 (-D3040,-D3020) 2- and 4-Axis 500W Servo Drives
    243
    
    A2 - AMP-43140 (-D3140) 4-Axis 20W Linear Servo Drives
    243
    
    A3 - SDM-44040 (-D4040) 4-Axis Stepper Drives
    243
    
    A4 - SDM-44140 (-D4140) 4-Axis Microstep Drives
    243
    
    A5 - CMB-41012 (-C012) Communications Board
    243
    
    A6 - ICM-42000 (-I000) Interconnect Module
    243
    
    A7 - ICM-42100 (-I100) Sinusoidal Encoder Interpolation Module
    244
    
    A8 - ICM-42200 (-I200) Interconnect Module
    244
- A1 - AMP-430X0 (-D3040,-D3020)
  245
  - Description
    245
  - Electrical Specifications
    246
    
    Mating Connectors
    246
  - Operation
    247
    
    Brushless Amplifier Software Setup
    247
    
    Brushless Motor Setup
    247
    
    Chopper Mode
    247
    
    Brush Amplifier Operation
    248
    
    Error Monitoring and Protection
    248
    
    Using External Amplifiers
    248
    
    Hall Error Protection
    249
    
    Over-Current Protection
    249
    
    Over-Voltage Protection
    249
    
    Under-Voltage Protection
    249
    
    ELO Input
    250
    
    Over-Temperature Protection
    250
- A2 - Amp-43140 (-D3140)
  251
  - Description
    251
  - Electrical Specifications
    252
    
    Mating Connectors
    252
  - Operation
    253
    
    ELO Input
    253
    
    SSR Option
    253
    
    Using External Amplifiers
    253
- A3 - Sdm-44040 (-D4040)
  254
  - Description
    254
  - Electrical Specifications
    255
    
    Mating Connectors
    255
  - Operation
    256
    
    Current Level Setup (AG Command)
    256
    
    ELO Input
    257
    
    A4 – Sdm-44140 (-D4140)
    258
    
    Electrical Specifications
    259
    
    Operation
    260
- A5 – Cmb-41012 (-C012)
  261
- A6 – ICM-42000 (-I000)
  265
- A7 – ICM-42100 (-I100)
  270
- A8 – ICM-42200 (-I200)
  277
  - ICM-42200 DMC-40X0 I/O (E-H) 44 Pin HD D-Sub Connector (Female)
    278
  - ICM-42200 Analog 15 Pin D-Sub Connector (Male)
    279
- Index
  280

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