Galil Motion Control DMC-4173 Manuals

Manuals and User Guides for Galil Motion Control DMC-4173. We have 1 Galil Motion Control DMC-4173 manual available for free PDF download: User Manual

Galil Motion Control DMC-4173 User Manual

Galil Motion Control DMC-4173 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
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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