Galil Motion Control DMC-1000 Manuals

Galil Motion Control DMC-1000 Manuals

Manuals and User Guides for Galil Motion Control DMC-1000. We have 1 Galil Motion Control DMC-1000 manual available for free PDF download: User Manual

Galil Motion Control DMC-1000 User Manual

Galil Motion Control DMC-1000 User Manual (206 pages)

Brand: Galil Motion Control | Category: Controller | Size: 3.82 MB

Table of Contents

Table of Contents
8
Chapter 1 Overview

20
- Introduction
  20
- Overview of Motor Types
  20
  - Standard Servo Motors with +/- 10 Volt Command Signal
    21
  - Stepper Motor with Step and Direction Signals
    21
- DMC-1000 Functional Elements
  21
  - Microcomputer Section
    22
  - Motor Interface
    22
  - Communication
    22
  - General I/O
    22
  - System Elements
    22
  - Motor
    23
  - Amplifier (Driver)
    23
  - Encoder
    23
  - Watch Dog Timer
    23
Chapter 2 Getting Started

24
Chapter 3 Connecting Hardware

44
- Overview
  44
- Using Optoisolated Inputs
  44
  - Limit Switch Input
    44
  - Home Switch Input
    45
  - Abort Input
    45
  - Uncommitted Digital Inputs
    46
- Wiring the Optoisolated Inputs
  46
- Amplifier Interface
  49
- TTL Inputs
  50
- Analog Inputs
  50
- TTL Outputs
  51
- Offset Adjustment
  51
Chapter 4 Communication

52
- Introduction
  52
- Address Selection
  52
  - Example - Address Selection
    52
- Communication with the Controller
  53
- Interrupts
  55
  - Configuring Interrupts
    55
  - Servicing Interrupts
    57
  - Example - Interrupts
    57
- Controller Response to DATA
  58
- Galil Software Tools and Libraries
  58
Chapter 5 Command Basics

60
- Introduction
  60
- Command Syntax
  60
  - Coordinated Motion with more than 1 Axis
    61
  - Program Syntax
    61
- Controller Response to DATA
  61
- Interrogating the Controller
  62
  - Interrogation Commands
    62
  - Additional Interrogation Methods
    62
  - Operands
    63
  - Command Summary
    63
Chapter 6 Programming Motion

64
Chapter 7 Application Programming

102
- Overview
  102
- Using the DMC-1000 Editor to Enter Programs
  102
  - Edit Mode Commands
    103
- Program Format
  104
  - Using Labels in Programs
    104
  - Special Labels
    105
  - Commenting Programs
    105
- Executing Programs - Multitasking
  106
- Debugging Programs
  107
- Program Flow Commands
  109
  - Event Triggers & Trippoints
    109
  - Event Trigger Examples
    110
  - Conditional Jumps
    113
  - Subroutines
    116
  - Stack Manipulation
    116
  - Automatic Subroutines for Monitoring Conditions
    116
- Mathematical and Functional Expressions
  119
  - Mathematical Expressions
    119
  - Bit-Wise Operators
    120
  - Functions
    121
- Variables
  121
  - Assigning Values to Variables
    122
- Operands
  123
  - Special Operands (Keywords)
    124
- Arrays
  124
  - Defining Arrays
    124
  - Assignment of Array Entries
    125
  - Automatic Data Capture into Arrays
    126
  - Deallocating Array Space
    127
- Input of Data (Numeric and String)
  128
  - Input of Data
    128
- Output of Data (Numeric and String)
  129
  - Sending Messages
    129
  - Interrogation Commands
    130
  - Formatting Variables and Array Elements
    132
  - Converting to User Units
    133
- Programmable Hardware I/O
  133
  - Digital Outputs
    133
  - Digital Inputs
    134
  - Input Interrupt Function
    135
  - Analog Inputs
    136
- Example Applications
  137
  - Wire Cutter
    137
  - X-Y Table Controller
    138
  - Speed Control by Joystick
    140
  - Position Control by Joystick
    141
  - Backlash Compensation by Sampled Dual-Loop
    141
Chapter 8 Hardware & Software Protection

144
- Introduction
  144
- Hardware Protection
  144
  - Output Protection Lines
    144
  - Input Protection Lines
    144
- Software Protection
  145
  - Programmable Position Limits
    145
  - Off-On-Error
    145
  - Automatic Error Routine
    146
  - Limit Switch Routine
    146
Chapter 9 Troubleshooting

148
- Overview
  148
- Installation
  148
- Communication
  149
- Stability
  149
- Operation
  149
Chapter 10 Theory of Operation

150
- Overview
  150
- Operation of Closed-Loop Systems
  152
- System Modeling
  153
  - Motor-Amplifier
    154
  - Encoder
    156
  - Dac
    157
  - Digital Filter
    157
  - Zoh
    157
- System Analysis
  158
- System Design and Compensation
  160
  - The Analytical Method
    160
Appendices

164
- Electrical Specifications
  164
  - Servo Control
    164
  - Stepper Control
    164
  - Input/Output
    164
  - Power
    164
- Performance Specifications
  164
- Connectors for DMC-1000 Main Board
  165
  - J2 - Main (60 Pin IDC)
    165
  - J5 - General I/O (26 Pin IDC)
    166
  - J3 - Aux Encoder (20 Pin IDC)
    166
  - J4 - Driver (20 Pin IDC)
    167
  - J6 - Daughter Board Connector (60 Pin )
    167
  - J7 - 10 Pin
    167
- Connectors for Auxiliary Board (Axes E,F,G,H)
  167
  - JD2 - Main (60 Pin IDC)
    167
  - JD5 - I/O (26 Pin IDC)
    168
  - JD3 - 20 Pin IDC - Auxiliary Encoders
    169
  - JD4 - 20 Pin IDC - Amplifiers
    169
  - JD6 - Daughterboard Connector (60 Pin)
    169
- Pin-Out Description for DMC-1000
  169
- Jumper Description for DMC-1000
  172
- Dip Switch Settings
  172
- Offset Adjustments for DMC-1000
  172
- Accessories and Options
  173
- Dip Switch Address Settings
  174
- PC/AT Interrupts and Their Vectors
  177
- ICM-1100 Interconnect Module
  177
- Amp/ICM-1100 Connections
  178
- ICM-1100 Drawing
  181
- AMP-11X0 Mating Power Amplifiers
  182
- DB-10072 OPTO-22 Expansion Option
  182
  - Configuring the I/O for the DB-10072
    182

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