Galil Motion Control DMC-1600 Series Manuals

Manuals and User Guides for Galil Motion Control DMC-1600 Series. We have 1 Galil Motion Control DMC-1600 Series manual available for free PDF download: User Manual

Galil Motion Control DMC-1600 Series User Manual

Galil Motion Control DMC-1600 Series User Manual (214 pages)

Brand: Galil Motion Control | Category: Controller | Size: 2.02 MB

Table of Contents

Table of Contents
3
Chapter 1 Overview

9
- Introduction
  9
- Overview of Motor Types
  10
- Standard Servo Motor with +/- 10 Volt Command Signal
  10
- Brushless Servo Motor with Sinusoidal Commutation
  10
- Stepper Motor with Step and Direction Signals
  10
- DMC-1600 Functional Elements
  11
- Microcomputer Section
  11
- Motor Interface
  11
- Communication
  11
- General I/O
  12
- System Elements
  12
- Motor
  12
- Amplifier (Driver)
  12
- Encoder
  13
- Watch Dog Timer
  13
Chapter 2 Getting Started

15
Chapter 3 Connecting Hardware

40
- Overview
  40
- Using Optoisolated Inputs
  40
- Limit Switch Input
  40
- Home Switch Input
  41
- Abort Input
  41
- Uncommitted Digital Inputs
  42
- Wiring the Optoisolated Inputs
  42
- Using an Isolated Power Supply
  43
- Bypassing the Opto-Isolation
  44
- Analog Inputs
  44
- Amplifier Interface
  44
- TTL Outputs
  45
Chapter 4 - Software Tools and Communications

46
Chapter 5 Command Basics

72
- Introduction
  72
- Command Syntax - ASCII
  72
- Coordinated Motion with more than 1 Axis
  73
- Command Syntax - Binary
  74
- Binary Command Format
  74
- Binary Command Table
  75
- Controller Response to DATA
  76
- Interrogating the Controller
  76
- Interrogation Commands
  76
- Interrogating Current Commanded Values
  77
- Operands
  77
- Command Summary
  78
Chapter 6 Programming Motion

80
- Overview
  80
- Independent Axis Positioning
  81
- Command Summary - Independent Axis
  82
- Independent Jogging
  84
- Command Summary - Jogging
  84
- Operand Summary - Independent Axis
  85
- Linear Interpolation Mode
  85
- Specifying Linear Segments
  86
- Command Summary - Linear Interpolation
  88
- Operand Summary - Linear Interpolation
  88
- Example - Linear Move
  88
- Example - Multiple Moves
  90
- Coordinated Motion Sequences
  91
- Specifying the Coordinate Plane
  91
- Specifying Vector Segments
  92
- Additional Commands
  92
- Command Summary - Coordinated Motion Sequence
  94
- Operand Summary - Coordinated Motion Sequence
  94
- Electronic Gearing
  96
- Command Summary - Electronic Gearing
  96
- Electronic Cam
  98
- Command Summary - Electronic CAM
  101
- Contour Mode
  103
- Specifying Contour Segments
  103
- Additional Commands
  105
- Command Summary - Contour Mode
  105
- Stepper Motor Operation
  109
- Specifying Stepper Motor Operation
  109
- Using an Encoder with Stepper Motors
  110
- Command Summary - Stepper Motor Operation
  110
- Operand Summary - Stepper Motor Operation
  111
- Stepper Position Maintenance Mode (SPM)
  111
- Error Limit
  112
- Correction
  112
- Dual Loop (Auxiliary Encoder)
  115
- Backlash Compensation
  116
- Motion Smoothing
  118
- Using the IT and VT Commands (S Curve Profiling)
  118
- Homing
  119
- High Speed Position Capture (the Latch Function)
  122
- Fast Firmware Operation
  122
Chapter 7 Application Programming

124
- Overview
  124
- Using the DMC-1600 Editor to Enter Programs
  124
- Edit Mode Commands
  125
- Program Format
  125
- Using Labels in Programs
  126
- Special Labels
  126
- Commenting Programs
  127
- Executing Programs - Multitasking
  128
- Debugging Programs
  129
- Program Flow Commands
  131
- Event Triggers & Trippoints
  131
- Event Trigger Examples
  133
- Conditional Jumps
  135
- Using If, Else, and Endif Commands
  137
- Subroutines
  139
- Stack Manipulation
  140
- Auto-Start Routine
  140
- Automatic Subroutines for Monitoring Conditions
  140
- Mathematical and Functional Expressions
  143
- Mathematical Operators
  143
- Bit-Wise Operators
  144
- Functions
  145
- Variables
  146
- Programmable Variables
  146
- Operands
  147
- Special Operands (Keywords)
  148
- Arrays
  148
- Defining Arrays
  148
- Assignment of Array Entries
  149
- Automatic Data Capture into Arrays
  150
- Deallocating Array Space
  151
- Input of Data (Numeric and String)
  151
- Input of Data
  151
- Output of Data (Numeric and String)
  152
- Sending Messages
  152
- Displaying Variables and Arrays
  154
- Interrogation Commands
  154
- Formatting Variables and Array Elements
  156
- Converting to User Units
  156
- Programmable Hardware I/O
  157
- Digital Outputs
  157
- Digital Inputs
  158
- Input Interrupt Function
  158
- Analog Inputs
  159
- Example Applications
  160
- Wire Cutter
  160
- X-Y Table Controller
  161
- Speed Control by Joystick
  163
- Position Control by Joystick
  164
- Backlash Compensation by Sampled Dual-Loop
  164
Chapter 8 Hardware & Software Protection

166
- Introduction
  166
- Hardware Protection
  166
- Output Protection Lines
  166
- Input Protection Lines
  167
- Software Protection
  167
- Programmable Position Limits
  167
- Off-On-Error
  168
- Automatic Error Routine
  168
- Limit Switch Routine
  168
Chapter 9 Troubleshooting

170
- Overview
  170
- Installation
  170
- Communication
  171
- Stability
  171
- Operation
  171
Chapter 10 Theory of Operation

172
- Overview
  172
- Operation of Closed-Loop Systems
  174
- System Modeling
  175
- Motor-Amplifier
  176
- Encoder
  178
- Dac
  179
- Digital Filter
  179
- Zoh
  180
- System Analysis
  180
- System Design and Compensation
  182
- The Analytical Method
  182
- Appendices
  186
- Electrical Specifications
  186
- Servo Control
  186
- Stepper Control
  186
- Input/Output
  186
- Power Requirement
  187
- Performance Specifications
  187
- Connectors for DMC-1600 Main Board
  188
- Pin-Out Description for DMC-1600
  189
- Extended I/O of the DMC-1600 Controller
  191
- Configuring the I/O of the DMC-1600
  191
- Connector Description
  192
- Note for Interfacing to External I/O Racks
  195
- Jumper Description for DMC-1600
  196
- Accessories and Options
  197
- PC/AT Interrupts and Their Vectors
  198
- ICM-1900 Interconnect Module
  198
- ICM-1900 Drawing
  202
- AMP-19X0 Mating Power Amplifiers
  202
- Coordinated Motion - Mathematical Analysis
  203
- DMC-1600/DMC-1000 Comparison
  206
- List of Other Publications
  207
- Training Seminars
  207
- Contacting Us
  208
- Warranty
  209
- Index
  210

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