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Manuals and User Guides for Galil Motion Control DMC-4123. We have
1
Galil Motion Control DMC-4123 manual available for free PDF download: User Manual
Galil Motion Control DMC-4123 User Manual (237 pages)
Brand:
Galil Motion Control
| Category:
Controller
| Size: 27 MB
Table of Contents
Using this Manual
3
Table of Contents
4
Chapter 1 Overview
7
Introduction
7
Part Numbers
8
AMP/SDM, "-DXXXX(Y)" Options
11
Overview of Motor Types
12
Overview of External Amplifiers
12
Stepper Motor Amplifiers
12
Overview of Galil Amplifiers and Drivers
13
DMC-41X3 Functional Elements
14
Microcomputer Section
14
Motor Interface
14
System Elements
15
Amplifier (Driver)
15
Watchdog Timer
16
Chapter 2 Getting Started
17
Elements You Need
17
Installing the DMC, Amplifiers, and Motors
18
Step 1. Connecting Encoder Feedback
19
Step 3. Power the Controller
22
Step 4. Install the Communications Software
23
Step 5. Establish Communications with Galil Software
23
Step 8. Tune the Servo System
25
Chapter 3 Connecting Hardware
26
Overview
26
Overview of Optoisolated Inputs
26
Limit Switch Input
26
Home Switch Input
27
Abort Input
27
ELO (Electronic Lock-Out) Input
28
Reset Input/Reset Button
28
Uncommitted Digital Inputs
28
Optoisolated Input Electrical Information
29
Wiring the Optoisolated Digital Inputs
30
Optoisolated Outputs
32
TTL Inputs and Outputs
36
Main Encoder Inputs
36
The Auxiliary Encoder Inputs
36
Output Compare
37
Error Output
37
Analog Inputs
38
External Amplifier Interface
39
Chapter 4 Software Tools and Communication
44
Introduction
44
Controller Response to Commands
44
Unsolicited Messages Generated by Controller
45
USB and RS-232 Ports
45
Baud Rate Selection
46
USB Driver
46
Ethernet Configuration
47
Communication Protocols
47
Communicating with Multiple Devices
48
Using Third Party Software
49
Modbus
49
Modbus Examples
50
Data Record
53
Data Record Bit Field Maps
55
Amplifier Status (4 Bytes)
56
Notes Regarding Velocity and Torque Information
56
Galil Software
57
Creating Custom Software Interfaces
57
Chapter 5 Command Basics
58
Introduction
58
Command Syntax - ASCII
58
Implicit Notation
59
Explicit Notation
59
Controller Response to DATA
59
Interrogating the Controller
60
Summary of Interrogation Commands
60
Interrogating Current Commanded Values
60
Command Summary
61
Chapter 6 Programming Motion
62
Overview
62
Independent Axis Positioning
63
Command Summary - Independent Axis
63
Operand Summary - Independent Axis
64
Example - Absolute Position Movement
64
Example - Multiple Move Sequence
64
Independent Jogging
65
Command Summary - Jogging
65
Example - Joystick Jogging
66
Position Tracking
66
Command Summary - Position Tracking Mode
69
Linear Interpolation Mode
70
Specifying Linear Segments
70
An Example of Linear Interpolation Motion
71
Specifying Vector Speed for each Segment
71
Changing Feed Rate
71
Command Summary - Linear Interpolation
72
Operand Summary - Linear Interpolation
72
Example - Linear Move
72
Example - Multiple Moves
73
Vector Mode: Linear and Circular Interpolation Motion
73
Specifying the Coordinate Plane
74
Specifying Vector Segments
74
Additional Commands
75
Compensating for Differences in Encoder Resolution
75
Tangent Motion
75
Command Summary - Coordinated Motion Sequence
76
Operand Summary - Coordinated Motion Sequence
76
Vector Mode - Mathematical Analysis
77
Electronic Gearing
80
Ramped Gearing
80
Example - Electronic Gearing over a Specified Interval
81
Example - Synchronize Two Conveyor Belts with Trapezoidal Velocity Correction
83
Electronic Cam
83
Command Summary - Electronic CAM
86
Operand Summary - Electronic CAM
86
Example - Electronic CAM
86
PVT Mode
88
Command Summary - PVT
89
Multi-Axis Coordinated Move
90
Contour Mode
91
Specifying Contour Segments
91
Command Summary - Contour Mode
92
General Velocity Profiles
93
Generating an Array - an Example
93
Contour Mode Example
93
Teach (Record and Play-Back)
94
Virtual Axis
95
Sinusoidal Motion Example
95
Stepper Motor Operation
96
Specifying Stepper Motor Operation
96
Stepper Motor Smoothing
96
Monitoring Generated Pulses Vs. Commanded Pulses
96
Motion Complete Trippoint
97
Using an Encoder with Stepper Motors
97
Command Summary - Stepper Motor Operation
97
Stepper Position Maintenance Mode (SPM)
98
Error Limit
99
Example: SPM Mode Setup
99
Example: Error Correction
100
Example: Friction Correction
100
Dual Loop (Auxiliary Encoder)
101
Using the CE Command
101
Additional Commands for the Auxiliary Encoder
101
Backlash Compensation
102
Continuous Dual Loop - Example
102
Sampled Dual Loop - Example
102
Motion Smoothing
103
Using the IT Command
103
Example - Smoothing
103
Using the KS Command (Step Motor Smoothing)
104
Homing
104
Example: Homing
105
Example: Find Edge
106
Command Summary - Homing Operation
107
Operand Summary - Homing Operation
107
High Speed Position Capture (the Latch Function)
107
Chapter 7 Application Programming
108
Overview
108
Program Format
108
Using Labels in Programs
108
Special Labels
109
Commenting Programs
109
Using the Command, no or Apostrophe
109
Executing Programs - Multitasking
110
Debugging Programs
111
RAM Memory Interrogation Commands
111
Debugging Example
112
Program Flow Commands
112
Event Triggers & Trippoints
112
Event Trigger Examples
113
Event Trigger - Multiple Move Sequence
113
Event Trigger - Multiple Move with Wait
115
Using AT/WT with Non-Default TM Rates
115
Conditional Jumps
116
Multiple Conditional Statements
116
Using If, Else, and Endif Commands
117
Nesting if Conditional Statements
118
Stack Manipulation
119
Auto-Start Routine
119
Automatic Subroutines for Monitoring Conditions
119
Example - Limit Switch
120
Example - Position Error
120
Example - Input Interrupt
120
Example - Motion Complete Timeout
121
Example - Command Error
121
Example - Command Error W/Multitasking
122
Example - Communication Interrupt
122
Example - Ethernet Communication Error
122
Example - Amplifier Error
123
JS Subroutine Stack Variables (^A, ^B, ^C, ^D, ^E, ^F, ^G, ^H)
123
Example: a Simple Adding Function
123
Example: Variable, and an Important Note about Creating Global Variables
124
Example: Working with Arrays
124
Example: Abstracting Axes
124
Example: Recursion
125
General Program Flow and Timing Information
126
WT Vs at and Coding Deterministic Loops
126
Mathematical and Functional Expressions
127
Mathematical Operators
127
Mathematical Operation Precision and Range
128
Bit-Wise Operators
128
Variables
130
Operands
131
Examples of Internal Variables
131
Special Operands (Keywords)
131
Examples of Keywords
132
Arrays
132
Defining Arrays
132
Assignment of Array Entries
132
Using a Variable to Address Array Elements
133
Uploading and Downloading Arrays to on Board Memory
133
Automatic Data Capture into Arrays
133
Input of Data (Numeric and String)
135
Using Communication Interrupt
136
Output of Data (Numeric and String)
137
Sending Messages
137
Using the MG Command to Configure Terminals
138
Displaying Variables and Arrays
138
Example - Printing a Variable and an Array Element
138
Using the PF Command to Format Response from Interrogation Commands
139
Adding Leading Zeros from Response to Interrogation Commands
139
Local Formatting of Response of Interrogation Commands
139
Formatting Variables and Array Elements
140
Local Formatting of Variables
140
Converting to User Units
140
Hardware I/O
141
Digital Outputs
141
Example- Output Bit
141
Example- Output Port
141
Digital Inputs
142
Input Interrupt Function
143
Example - Position Follower (Point-To-Point)
144
Example - Position Follower (Continuous Move)
144
Example - Low Pass Digital Filter for the Analog Inputs
144
Example Applications
145
Wire Cutter
145
X-Y Table Controller
145
Speed Control by Joystick
147
Position Control by Joystick
147
Backlash Compensation by Sampled Dual-Loop
148
Using the DMC Editor to Enter Programs (Advanced)
149
Edit Mode Commands
149
Chapter 8 Hardware & Software Protection
151
Introduction
151
Hardware Protection
151
Output Protection Lines
151
Amp Enable
151
Input Protection Lines
152
Software Protection
152
Position Error
152
Automatic Error Routine
154
Limit Switch Routine
154
Chapter 9 Troubleshooting
156
Overview
156
Installation
156
Operation
157
Error Light (Red LED)
157
Invalid Firmware
157
Chapter 10 Theory of Operation
159
Overview
159
Operation of Closed-Loop Systems
160
System Modeling
161
Voltage Drive
162
Current Drive
162
Digital Filter
164
System Analysis
165
System Design and Compensation
167
The Analytical Method
167
Electrical Specifications
170
Appendices
170
Servo Control
170
Stepper Control
170
Power Requirements
171
5, ±12V Power Output Specifications
171
Performance Specifications
172
Ordering Options
173
4-20Ma - 4-20Ma Analog Inputs
174
TRES - Encoder Termination Resistors
174
ISCNTL - Isolate Controller Power
174
RS-422-Auxiliary Port
175
MO - Motor off Jumpers Installed
175
Description
176
AMP/SDM, "-DXXXX(Y)" Internal Amplifier Options
176
Power Connector Part Numbers
178
Molex Part Numbers
178
Cable Shielding
179
Input Current Limitations
180
Pin-Outs
181
Baud Rate Jumper Settings
184
Signal Descriptions
185
List of Other Publications
187
Training Seminars
187
Contacting Us
188
Warranty
188
Integrated Components
189
Overview
189
Error: Reference Source Not Found
189
A1 - Amp-43040 (-D3040,-D3020)
191
Description
191
Electrical Specifications
192
Mating Connectors
192
Brushed Motor Operation
193
Brushless Motor Setup
193
Setting Amplifier Gain and Current Loop Bandwidth
194
Chopper Mode
194
Using External Amplifiers
196
ELO Input
196
Error Monitoring and Protection
197
Under-Voltage Protection
197
Overvoltage Protection
197
Overcurrent Protection
198
Over Temperature Protection
198
A2 - Amp-43140 (-D3140)
199
Description
199
Electrical Specifications
200
Servo Motor Operation
201
SSR Option
201
Setting Amplifier Gain and Current Loop Gain
211
Stepper Motor Operation
220
Error Monitoring and Protection
221
A6 - Amp-43640 (-D3640)
223
Electrical Specifications
224
Operation
226
A7 - Sdm-44040 (-D4040,-D4020)
229
Description
229
Electrical Specifications
230
Operation
231
Current Level Setup (AG Command)
231
Low Current Setting (LC Command)
231
Step Drive Resolution Setting (YA Command)
231
Protection Circuitry
232
A8 - Sdm-44140 (-D4140)
233
Description
233
Electrical Specifications
234
Operation
235
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