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Manuals and User Guides for Galil Motion Control DMC-1842. We have
1
Galil Motion Control DMC-1842 manual available for free PDF download: User Manual
Galil Motion Control
DMC-18 2 Series
User Manual
Galil Motion Control DMC-1842 User Manual (218 pages)
Brand:
Galil Motion Control
| Category:
Controller
| Size: 1.16 MB
Table of Contents
Table of Contents
6
Chapter 1 Overview
12
Introduction
12
Overview of Motor Types
12
Standard Servo Motors with +/- 10 Volt Command Signal
13
Brushless Servo Motor with Sinusoidal Commutation
13
Stepper Motor with Step and Direction Signals
13
Functional Elements
13
Microcomputer Section
14
Motor Interface
14
Communication
14
General I/O
14
System Elements
14
Motor
15
Amplifier (Driver)
15
Encoder
15
Watch Dog Timer
16
Chapter 2 Getting Started
18
Motion Controller
18
Elements You Need
19
Nstalling the DMC-18 2
19
Step 1. Determine Overall Motor Configuration
20
Step 2. Install Jumpers on the DMC-18X2
21
Step 3. Install the Communications Software
21
Step 4. Install the DMC-18X2 in the PC
21
Step 5. Establish Communication Using Galil Software
22
Step 6. Determine the Axes to be Used for Sinusoidal Commutation
22
Step 7. Make Connections to Amplifier and Encoder
23
Step 8A. Connect Standard Servo Motors
25
Step 8B. Connect Sinusoidal Commutation Motors
29
Step 8C. Connect Step Motors
31
Step 9. Tune the Servo System
32
Design Examples
33
Example 1 - System Set-Up
33
Example 2 - Profiled Move
33
Example 3 - Multiple Axes
33
Example 4 - Independent Moves
34
Example 5 - Position Interrogation
34
Example 6 - Absolute Position
34
Example 7 - Velocity Control
35
Example 8 - Operation under Torque Limit
35
Example 9 - Interrogation
36
Example 10 - Operation in the Buffer Mode
36
Example 11 - Using the On-Board Editor
36
Example 12 - Motion Programs with Loops
37
Example 13 - Motion Programs with Trippoints
37
Example 14 - Control Variables
37
Example 15 - Linear Interpolation
38
Example 16 - Circular Interpolation
38
Chapter 3 Connecting Hardware
40
Overview
40
Using Inputs
40
Limit Switch Input
40
Home Switch Input
41
Abort Input
41
Uncommitted Digital Inputs
42
Amplifier Interface
42
Ttl Inputs
43
Ttl Outputs
43
Chapter 4 - Software Tools and Communications
46
Introduction
46
Galil Smartterm
48
Communication Settings for Isa and Pci
52
Windows Servo Design Kit (Wsdk)
55
Creating Custom Software Interfaces
56
Galil Communications API with Visual Basic
58
DOS, Linux, and QNX Tools
59
Command Format and Controller Response
60
Controller Event Interrupts and User Interrupts
62
Hardware Level Communications for Pci
64
Communication Registers
65
Simplified Communication Procedure
65
Advanced Communication Techniques
66
Data Record
66
Explanation of Status Information and Axis Switch Information
69
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
Summary of Interrogation Commands
76
Interrogating Current Commanded Values
77
Operands
77
Command Summary
77
Chapter 6 Programming Motion
78
Overview
78
Independent Axis Positioning
79
Command Summary - Independent Axis
80
Operand Summary - Independent Axis
80
Independent Jogging
82
Command Summary - Jogging
82
Operand Summary - Independent Axis
83
Linear Interpolation Mode
83
Specifying Linear Segments
83
Command Summary - Linear Interpolation
85
Operand Summary - Linear Interpolation
86
Example - Linear Move
86
Example - Multiple Moves
88
Vector Mode: Linear and Circular Interpolation Motion
88
Specifying Vector Segments
88
Additional Commands
89
Command Summary - Coordinated Motion Sequence
91
Operand Summary - Coordinated Motion Sequence
91
Electronic Gearing
93
Command Summary - Electronic Gearing
93
Electronic Cam
95
Command Summary - Electronic CAM
99
Contour Mode
100
Specifying Contour Segments
100
Additional Commands
102
Command Summary - Contour Mode
102
Stepper Motor Operation
105
Specifying Stepper Motor Operation
105
Using an Encoder with Stepper Motors
106
Command Summary - Stepper Motor Operation
107
Operand Summary - Stepper Motor Operation
107
Stepper Position Maintenance Mode (Spm)
107
Error Limit
108
Correction
108
Motion Smoothing
112
Using the IT and VT Commands (S Curve Profiling)
112
Using the KS Command (Step Motor Smoothing)
113
Homing
114
High Speed Position Capture (the Latch Function)
117
Fast Update Rate Mode
117
Chapter 7 Application Programming
120
Overview
120
Editor to Enter Programs
120
Edit Mode Commands
121
Program Format
121
Using Labels in Programs
122
Special Labels
122
Commenting Programs
123
Executing Programs - Multitasking
124
Debugging Programs
125
Program Flow Commands
127
Event Triggers & Trippoints
127
Event Trigger Examples
129
Conditional Jumps
131
Using If, Else, and Endif Commands
133
Subroutines
134
Stack Manipulation
135
Auto-Start Routine
135
Automatic Subroutines for Monitoring Conditions
135
Mathematical and Functional Expressions
138
Mathematical Operators
138
Bit-Wise Operators
139
Functions
140
Variables
141
Programmable Variables
141
Operands
142
Special Operands (Keywords)
142
Arrays
143
Defining Arrays
143
Assignment of Array Entries
143
Automatic Data Capture into Arrays
144
Deallocating Array Space
146
Input of Data (Numeric and String)
146
Input of Data
146
Output of Data (Numeric and String)
147
Sending Messages
147
Displaying Variables and Arrays
148
Interrogation Commands
148
Formatting Variables and Array Elements
150
Fast Firmware Mode
151
Converting to User Units
151
Programmable Hardware I/O
152
Digital Outputs
152
Digital Inputs
153
Input Interrupt Function
154
Example Applications
154
Wire Cutter
154
X-Y Table Controller
155
Chapter 8 Hardware & Software Protection
160
Introduction
160
Hardware Protection
160
Output Protection Lines
160
Input Protection Lines
161
Software Protection
161
Programmable Position Limits
161
Off-On-Error
162
Automatic Error Routine
162
Limit Switch Routine
163
Chapter 9 Troubleshooting
164
Overview
164
Installation
164
Communication
164
Stability
165
Operation
165
Chapter 10 Theory of Operation
166
Overview
166
Operation of Closed-Loop Systems
168
System Modeling
169
Motor-Amplifier
170
System Analysis
174
System Design and Compensation
176
The Analytical Method
176
Appendices
180
Electrical Specifications
180
Servo Control
180
Stepper Control
180
Input/Output
180
Power
180
Performance Specifications
181
Main Board
181
Pin -Out Description for DMC-18
182
Jumper Description for DMC-18
184
Accessories and Options
184
ICM-1900 Interconnect Module
185
ICM-1900 Drawing
188
Amp-19X0 Mating Power Amplifiers
188
ICM-2900 Interconnect Module
189
Opto-Isolated Outputs on ICM-1900/ICM-2900 (-Opto Option)
192
Standard Opto-Isolation and High Current Opto-Isolation
192
Controller
192
Configuring the I/O of the DMC-18X2 with DB-14064
193
Connector Description
194
IOM-1964 Opto-Isolation Module for Extended I/O Controllers
197
Description
197
Overview
198
Configuring Hardware Banks
199
Digital Inputs
200
High Power Digital Outputs
202
Standard Digital Outputs
203
Electrical Specifications
204
Coordinated Motion - Mathematical Analysis
207
List of Other Publications
212
Training Seminars
212
Contacting Us
213
Warranty
214
Index
215
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