Galil Motion Control CDS-3310 Manuals

Manuals and User Guides for Galil Motion Control CDS-3310. We have 1 Galil Motion Control CDS-3310 manual available for free PDF download: User Manual

Galil Motion Control CDS-3310 User Manual

Galil Motion Control CDS-3310 User Manual (166 pages)

Brand: Galil Motion Control | Category: Computer Hardware | Size: 0.98 MB

Table of Contents

Table of Contents
3
Chapter 1 Overview

9
- Introduction
  9
- Amplifier Specifications
  10
- CDS-3310 Functional Elements
  11
- Microcomputer Section
  11
- Motor Interface
  11
- Communication
  11
- General I/O
  11
- System Elements
  12
- Motor
  12
- Amplifier (Driver)
  12
- Encoder
  12
- Watch Dog Timer
  13
Chapter 2 Getting Started

14
- CDS-3310 Layout and Dimensions
  15
- Recommended Components
  15
- Installing the CDS-3310
  16
- Step 1. Install Jumpers on the CDS-3310
  16
- Step 2. Connect 18 to 72 VDC Power to the Controller
  17
- Step 3. Install Windows Communication Software
  17
- Step 4. Establish Communication
  18
- Step 5. Make Connections to Encoder
  19
- Step 6. Configure Amplifier
  19
- Step 7A. Connect Brush Servo Motor
  20
- Step 7B. Connect Brushless Servo Motor
  20
- Step 8. Close the Loop
  21
- Step 9. Tune the Servo System
  22
- Design Examples
  23
- System Set-Up
  23
- Profiled Move
  23
- Position Interrogation
  23
- Absolute Position
  23
- Velocity Control
  24
- Operation under Torque Limit
  24
- Interrogation
  24
- Motion Programs with Loops
  24
- Control Variables
  25
Chapter 3 Connecting I/O

27
- Overview
  27
- Inputs
  27
- General Use Digital Inputs
  27
- Limit Switch Inputs
  27
- Home Switch Input
  28
- Abort Input
  29
- Reset Input
  29
- Auxiliary Encoder Inputs
  29
- Analog Inputs
  30
- Outputs
  30
- General Use Digital Outputs
  30
- Amp Enable
  30
- Output Compare
  30
- Error Output
  30
- Brake Output
  31
- Analog Output
  31
Chapter 4 Communication

33
- Introduction
  33
- RS232 Port
  33
- Ethernet Configuration
  33
- Communication Protocols
  33
- Addressing
  33
- Communicating with Multiple Devices (Handles)
  34
- Modbus
  35
- Multicasting
  36
- Using Third Party Software
  36
- Data Record
  37
- Data Record Map
  37
- Explanation of Status and Axis Switch Information
  40
- Notes Regarding Velocity and Torque Information
  41
- QZ Command
  41
- Controller Response to Commands
  41
- Unsolicited Messages Generated by Controller
  41
- Galil Software Tools and Libraries
  42
Chapter 5 Command Basics

43
- Introduction
  43
- Command Syntax - ASCII
  43
- Command Syntax - Binary
  45
- Binary Command Format
  45
- Binary Command Table
  46
- Controller Response to DATA
  47
- Interrogating the Controller
  47
- Interrogation Commands
  47
- Summary of Interrogation Commands
  48
- Interrogating Current Commanded Values
  48
- Operands
  48
Chapter 6 Programming Motion

49
- Overview
  49
- Independent Axis Positioning
  50
- Command Summary - Independent Axis
  50
- Operand Summary - Independent Axis
  51
- Examples
  51
- Independent Jogging
  52
- Command Summary - Jogging
  53
- Operand Summary - Independent Axis
  53
- Examples
  53
- Position Tracking
  54
- Example Motion 1
  55
- Example Motion 2
  55
- Example Motion 3
  56
- Trip Points
  57
- Command Summary - Position Tracking Mode
  57
- Electronic Gearing
  58
- Ramped Gearing
  58
- Example - Electronic Gearing over a Specified Interval
  59
- Command Summary - Electronic Gearing
  60
- Electronic Cam
  61
- Contour Mode
  65
- Specifying Contour Segments
  65
- Additional Commands
  66
- Command Summary - Contour Mode
  67
- General Velocity Profiles
  67
- Example
  67
- Virtual Axis
  70
- Dual Loop (Auxiliary Encoder)
  70
- Additional Commands for the Auxiliary Encoder
  70
- Backlash Compensation
  71
- Example
  71
- Motion Smoothing
  72
- Using the IT Command
  72
- Example
  73
- Homing
  74
- Example
  74
- Command Summary - Homing Operation
  76
- Operand Summary - Homing Operation
  76
- High Speed Position Capture (the Latch Function)
  76
- Example
  76
Chapter 7 Application Programming

77
- Overview
  77
- Using the DOS Editor to Enter Programs
  77
- Edit Mode Commands
  78
- Example
  78
- Program Format
  79
- Using Labels in Programs
  79
- Special Labels
  79
- Commenting Programs
  80
- Executing Programs - Multitasking
  80
- Debugging Programs
  81
- Trace Command
  81
- Error Code Command
  82
- Stop Code Command
  82
- RAM Memory Interrogation Commands
  82
- Operands
  82
- Example
  83
- Program Flow Commands
  83
- Event Triggers & Trippoints
  83
- Conditional Jumps
  87
- If, Else, and Endif
  89
- Subroutines
  90
- Stack Manipulation
  91
- Auto-Start Routine
  91
- Automatic Subroutines for Monitoring Conditions
  91
- Mathematical and Functional Expressions
  96
- Mathematical Operators
  96
- Bit-Wise Operators
  96
- Functions
  97
- Variables
  98
- Programmable Variables
  98
- Operands
  99
- Common Operands
  99
- Arrays
  100
- Defining Arrays
  100
- Assignment of Array Entries
  100
- Uploading and Downloading Arrays to on Board Memory
  101
- Automatic Data Capture into Arrays
  101
- Deallocating Array Space
  103
- Input of Data (Numeric and String-Serial Port Only)
  103
- Input of Data
  103
- Operator Data Entry Mode
  104
- Communication Interrupt
  104
- String Variables
  106
- Output of Data (Numeric and String)
  106
- Sending Messages
  106
- Displaying Variables and Arrays
  107
- Interrogation Commands
  108
- Formatting Variables and Array Elements
  109
- Converting to User Units
  110
- Hardware I/O
  111
- Digital Outputs
  111
- Digital Inputs
  112
- Analog Inputs
  112
- Analog Output
  113
- The Auxiliary Encoder Inputs
  113
- Input Interrupt Function
  114
- Extended I/O of the CDS-3310 Controller
  114
- Configuring the I/O of the CDS-3310
  115
- Saving the State of the Outputs in Non-Volatile Memory
  115
- Accessing Extended I/O
  115
- Example Applications
  116
- Wire Cutter
  116
- Backlash Compensation by Sampled Dual-Loop
  117
Chapter 8 Hardware & Software Protection

119
- Introduction
  119
- Hardware Protection
  119
- Output Protection Lines
  119
- Input Protection Lines
  120
- Amplifier Status Led's
  120
- Software Protection
  120
- Programmable Position Limits
  121
- Off-On-Error
  121
- Automatic Error Routine
  121
- Limit Switch Routine
  122
- Amplifier Error Routine
  123
Chapter 9 Troubleshooting

125
- Overview
  125
- Installation
  125
- Communication
  126
- Stability
  126
- Operation
  126
Chapter 10 Theory of Operation

127
- Overview
  127
- Operation of Closed-Loop Systems
  129
- System Modeling
  130
- Motor-Amplifier
  131
- Encoder
  131
- Dac
  131
- Digital Filter
  131
- Zoh
  133
- System Analysis
  133
- System Design and Compensation
  135
- The Analytical Method
  135
Chapter 11 Distributed Control

139
- Overview
  139
- Configuring Distributed Control
  139
- Configuration Example
  140
- Manual Slave IP Configuration
  140
- Global Versus Local Commands
  141
- Global Commands
  141
- Local Commands
  142
- Accessing the I/O of the Slaves
  142
- Appendices
  143
- Electrical Specifications
  143
- Servo Control
  143
- Input / Output
  143
- Power
  143
- Performance Specifications
  144
- Connectors for CDS-3310
  145
- J1 MOTOR Output 4-Pin AMP Universal Mate-N-Lok
  145
- J2 ENCODER 15-PIN Hi-Density Female D-Sub
  145
- J3 I/O 37-Pin Female D-Sub
  145
- J4 RS-232 Serial Port
  146
- J5 POWER 2-Pin AMP Universal Mate-N-Lok
  146
- J8 100Base-T Ethernet
  146
- Mating Connectors
  146
- Pin-Out Description for CDS-3310
  147
- Jumper Description for CDS-3310
  148
- Accessories and Options
  148
- Opto Isolation Settings
  150
- Input Isolation
  151
- Output Isolation
  152
- Screw Terminal Description
  153
- Introduction
  154
- Layout
  155
- Pinout
  155
- Configuration
  155
- Introduction
  156
- Electrical Specifications
  156
- 16 Bit Analog Inputs
  156
- Interfacing to the Digital I/O
  156
- Using Opto-22 G4 Series Racks with DB-28040
  156
- Pinout
  157
- Layout
  158
- CABLE-15-1M
  159
- Communicating with OPTO-22 SNAP-B3000-ENET
  159
- List of Other Publications
  161
- Training Seminars
  161
- Contacting Us
  162
- Warranty
  163
- Index
  164

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