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CDS-3310 User Manual - Galil Motion Control

1. etes 17 Chapter 3 Connecting I O 19 19 Inputs caste 19 General Use Digital Inputs 1 41220 0000040000000000000000000000000000000 19 Limit Switch Inputs 19 Home Switch Inputs deerit reddere e RR 20 ime 21 iced erre rr n UR Tee e ER EDEN ae eee 21 Auxiliary Encoder Inp ts esee tette iet cde 21 Analog INp ts 22 e EE CCP dede RE ee ARa 22 Chapter 1 Overviewe i General Use Digital Outputs sess 22 Amp Enabled eR oT e eoe RGR HEAR e a dte 22 Output Compare Dl n ee ae ERREUR e ERI ensue Pe RS 22 Error Output xou eroe e Us AREE Re ER Os he Het 22 Brake Output et ead ett 23 Analog Output toco Rene onte ee atn i e 23 Chapter 4 Communication 25 Introduction ao annee omuia ep oie berba res etm deside Eh cud 25 9232 ae p das et e p e des dea 25 Ethernet Cornfipuration s novos estie ee i aes tea quate 25 Communication Protocols s eere arte td ete 25 A ddressitigs s ee eo 25 Communicating with Multiple Devices Handles eee 26 7 27 Multic stthg otn eec deett 2
2. 255 J2 5300 o soo Z Sz RPTI un 5 1 REV P2 oe 6666 6 6 106 6 GALIL 666 00000 G6 6 6 O OM 15 1 P3 5 F 3000001 L 196 6 6 6 6 6 6 6 0 66 0 6 6 6 6 0 6 WY 606607 376 6 6 6 6 6 6 6 0 P2 GALIL MOTION CONTROL MADE IN USA y Oo o C ost O N F On Figure 1 3300 Layout and Dimensions Opto Isolation Settings The ICM 3300 module allows for opto isolation on digital inputs and outputs This includes the dedicated I O including limits homes and abort The limits and home are powered by Limit Switch Common Digital inputs 1 7 and the Abort Input are powered by Input Common The digital outputs are also optically isolated including the Error and Amp Enable outputs The first four outputs are configured for hi side drive only sourcing The supply voltage must be connected to output supply voltage and the supply return must be connected to output return Appendices 89 Input Isolation Opto isolation of the general purpose inputs and the abort input is used by powering the Input Common line The limit switch and home inputs are powered by Limit Switch Common Shown below is the circuit diagram for the isolated inputs Limit Switch tye gt Common LSCOM 1 22k When LSCOM V switch input to GND When LSCOM GND switch input to V V range 5 to 24V x x x t A X FLS
3. 45 Operand Summary Independent 45 Il 45 Position Tracking Re ARRA er e e hr e d e e E EI ERG 46 Example Motion niece eene eite de i bee eR ee 47 Example Moti n 2 5 e e te lice i iiie dete Roe 47 Example Moti n 35 he i dre do diced 48 Trip Poms cess ever wie Sees t tete RS de dtes eee dia 49 ii e Chapter 1 Overview CDS 3310 Command Summary Position Tracking 49 Electronic Gearing eet e tee eee HUI Pe ee RR RAHA nee a RG 50 e RR t e Re e Oe Rue eie Og s 50 Example Electronic Gearing Over a Specified 51 Command Summary Electronic Gearing 2 52 Electronic eB dern e eL 53 Gontour Mode ete a al espe eek t ipe 4 Specifying Contour Segment sse ener 4 Additional 65 0 22420 000000000 000000000000000000050000 5 Command Summary Contour Mode esses 6 General Velocity Profiles 6 Example By Me tea ia M ef 6 Martial A T HERUM 9 Dual Loop Auxiliary sess 9 Additional Commands for the Auxiliary Encoder sse 9 Backlash Compensation sisser E ii 10 ichs nens u
4. 2 21 60 Example Automatic Subroutines esses 32 Communication Interrupt 44 Contouring 6 Cut to Length 42 iini 15 10 Editor Mode nene trente ides 22 Electronic Gearing sese 52 General tds 24 VO Examples petere etnies 50 Input Interrupt esee 53 JOS e eere ES 45 JP Command oe eee 27 Latching iei eed 15 S WI sec aeree rt reet 61 Limit Swee Sinorino eres 31 Motion Smoothing sse 11 Index 103 22 Secs OR et 98 PF Command 47 Position Follower seen 51 52 PRzPA MOYVe6S ie eerte us Cete etas re fenes 43 Record Array ocaeca EIC 41 Sampled Dual Loop see 56 eai peas 18 Wire Cutter 0 0000 0 55 ETEQ S ERE 33 Filter Parameter D rmping 14 65 69 72 14 16 65 69 70 INCE STATOR iiem terae 14 69 72 19119 14 69 70 76 2 14 10 69 Stability essen 10 64 65 69 73 Filter Parameters Stability cc se eni pe 57 Find Edge
5. Invalid labels 1 Square 123 Example Instruction Interpretation START Beginning of the Program PR 10000 20000 Specify relative distances on A and B axes BG AB Begin Motion AM Wait for motion complete WT 2000 Wait 2 sec JP START Jump to label START EN End of Program The above program moves A and B 10000 and 20000 units After the motion is complete the motors rest for 2 seconds The cycle repeats indefinitely until the stop command is issued Special Labels The CDS 3310 has some special labels which are used to define input interrupt subroutines limit switch subroutines error handling subroutines and command error subroutines See the section on Auto Start Routine The CDS 3310 has a special label for automatic program execution A program which has been saved into the controller s non volatile memory can be automatically executed upon power up or reset by 18 Chapter 7 Application Programming CDS 3310 beginning the program with the label AUTO The program must be saved into non volatile memory using the command BP Automatic Subroutines for Monitoring Conditions ININT Label for Input Interrupt subroutine LIMSWI Label for Limit Switch subroutine POSERR Label for excess Position Error subroutine Label for timeout on Motion Complete trip point CMDERR Label for incorrect command subroutine COMINT Label for communication interrupt TCPERR Label for TCP IP communication error AMPERR
6. 10 return Proportion gain TEA return Tell error on A axis As the proportional gain is increased the error decreases Again the system may vibrate if the gain is too high In this case reduce KP Typically KP should not be greater than KD 4 Finally to select KI start with zero value and increase it gradually The integrator eliminates the position error resulting in improved accuracy Therefore the response to the instruction TEA lt return gt becomes zero As is increased its effect is amplified and it may lead to vibrations If this occurs simply reduce KI After appropriate PID gains are found burn them into the EEPROM with BN For a more detailed description of the operation of the PID filter and or servo system theory see Chapter 10 Theory of Operation Tuning must be done before configuring a distributed network Chapter 11 14 Chapter 2 Getting Started CDS 3310 Design Examples CDS 3310 Here are a few examples for tuning and using your controller These examples have remarks next to each command these remarks must not be included in the actual program Burn programs to EEPROM with the BP command System Set up This example assigns the proportional gain error limit and enables the automatic error shut off Instruction Interpretation KP10 Method for setting only A axis gain OE 1 Enable automatic Off on Error function ER1000 Set error limit to 1000 counts Profiled Move Rot
7. Contains status of switches and inputs High Speed Position Capture The Latch Function CDS 3310 Often it is desirable to capture the position precisely for registration applications The CDS 3310 provides a position latch feature This feature allows the position of the main or auxiliary encoder to be captured when the latch input changes state This function can be set up such that the position is captured when the latch input goes high or low When the latch function is enabled for active low operation the position will be captured within 12 microseconds When the latch function is enabled for active high operation the position will be captured within 35 microseconds General input 1 is associated to the axis for position capture The CDS 3310 software commands AL and RL are used to arm the latch and report the latched position The steps to use the latch are as follows 1 Give the AL ABCD command to arm the latch for the main encoder and ALSASBSCSD for the auxiliary encoders 2 Test to see if the latch has occurred Input goes low by using the AL A or B or C or D command Example V1 _ALA returns the state of the A latch into V1 V1 is 1 if the latch has not occurred 3 After the latch has occurred read the captured position with the RL ABCD command RL ABCD NOTE The latch must be re armed after each latching event Example LATCH Latch program JG 5000 Jog B BGB Begin motion on B axis ALB Arm Latch for B
8. 22 Conditional Jumps sce eee ee de anuo e eR RD SU RI E I NE C ae 26 ELSE AND ENDIF tere rt ten her tre REI e OR E A RR RE RR 28 SUDFOULIES NER C 29 Stack Manipulation 3 5 nee te e HR UR FUR RERO RU REN RU ER te etn 30 Auto Start 23 neha annwks shee EO RR PERO e tho ede eh 30 Automatic Subroutines for Monitoring Conditions esse 30 Mathematical and Functional Expressions 7 35 Mathematical Operators see ee Ree e e e EU ete 35 Bit Wise Operatots c aceoenop e elisa aoc e e NERO 35 CDS 3310 Chapter 1 Overviewe iii PUneti Ons Read Cite 36 METIDO EE 37 Programmable Variables e eR nee e ee e RC e eR ER Ede ute 37 Operands snc ene ane ae he RR 38 Common Operands e Ree epe e E ee Ede duis 38 Euri LEE 39 Detining ATr ays uenire rise ete mr gie ertet ie 39 Assignment of Array 1 2 2 40 0420040444000400000000900005900 39 Uploading and Downloading Arrays to On Board 40 40 Deallocating Array 42 Input of Data Numeric and String Serial Port Only 42 Input ot D ta un nee terere lieet M Eee RR e RU Ee e PERENNE 42 43 95 43 String Variables eset eme dieere e sess R RE a 45 Output of Data Num
9. 86 Appendices CDS 3310 Home Switch Input for Homing HM and Find Edge FE instructions Upon BG following HM or FE the motor accelerates to slew speed A transition on this input will cause the motor to decelerate to a stop The polarity of the Home Switch may be set with the CN command Input 1 Input 8 Uncommitted inputs May be defined by the user to trigger events Inputs are checked with the Conditional Jump instruction and After Input instruction or Input Interrupt Input 1 can be used for the high speed input latch AL and RL commands High speed position latch to capture axis position within 20 nano seconds on occurrence of latch signal AL command arms latch Input 1 is latch Jumper Description for CDS 3310 10B hen OFF the controller will use the auto negotiate function to Rev Set the Ethernet connection speed to either 10 or 100 Base T hen the DIP switch is ON the controller defaults to 10BaseT IMRST Master Reset enable Returns controller to factory default settings and erases EEPROM Requires power on or RESET to be activated orrupt is 19200 baud when no jumper is installed Reserved Accessories and Options PART NUMBER DESCRIPTION CDS 3310 1 motion controller with 500W servo drive Ethernet RS232 DIN rail mounting clip Interconnect module with opto isolation and screw terminals 15 pin High Density D to discrete wires in 1 meter length 2m for 2 meter length
10. The Final Value is 99999 99 The message command normally sends a carriage return and line feed following the statement The carriage return and the line feed may be suppressed by sending N at the end of the statement This is useful when a text string needs to surround a numeric value Example HA JG 50000 BGA ASA MG The Speed is TVA F5 1 N counts sec EN When A is executed the above example will appear on the screen as The speed is 50000 counts sec Using the MG Command to Configure Terminals The MG command can be used to configure a terminal Any ASCII character can be sent by using the format where is any integer between 1 and 255 Example MG 407 4255 sends the ASCII characters represented by 7 and 255 to the Ethernet serial port Summary of Message Functions Fn m Formats numeric values in decimal n digits to the left of the decimal point and m digits to the right P1 or En Send message to Serial Port or Ethernet Port Displaying Variables and Arrays Variables and arrays may be sent to the screen using the format variable or array x For example vl returns the value of v1 Example Printing a Variable and an Array element Instruction Interpretation DISPLAY Label DM posA 7 Define Array POSA with 7 entries 46 Chapter 7 Application Programming CDS 3310 CDS 3310 PR 1000 Position Command BGX Begin AMX After Motion vl _ TPA Assig
11. The second method the sampled dual loop reads the load encoder only at the end point and performs a correction This method is independent of the size of the backlash However it is effective only in point to point motion systems which require position accuracy only at the endpoint Example Continuous Dual Loop Connect the load encoder to the main encoder port and connect the motor encoder to the dual encoder port The dual loop method splits the filter function between the two encoders It applies the KP proportional and KI integral terms to the position error based on the load encoder and applies the KD derivative term to the motor encoder This method results in a stable system The dual loop method is activated with the instruction DV Dual Velocity where DV LLLI activates the dual loop for the four axes and DV 0 0 0 0 disables the dual loop Note that the dual loop compensation depends on the backlash magnitude and in extreme cases will not stabilize the loop The proposed compensation procedure is to start with KP 0 KI 0 and to maximize the value of KD under the condition DV1 Once KD is found increase KP gradually to a maximum value and finally increase KI 1f necessary 10 Chapter 6 Programming Motion CDS 3310 Sampled Dual Loop In this example we consider a linear slide which is run by a rotary motor via a lead screw Since the lead screw has a backlash it is necessary to use a linear encoder to monitor
12. aea tete RO NR e e E Ae tes tne GAN 4 Encodet noted ette n e dn 4 Watch Dog Timers utn se tee o ee lateque 5 Chapter 2 Getting Started 6 CDS 3310 Layout and Dimensions essen ener enne entente nennen 7 Recommended Components 22 7 Installing the D S 3310 53 8 Step 1 Install Jumpers on the 5 3310 8 Step 2 Connect 18 to 72 VDC Power to the 9 Step 3 Install Windows Communication 9 10 Step 5 Make Connections to 11 Step 6 Configure Ampli ien ase essere nennen 11 Step 7a Connect Brush Servo Motor sse nennen 12 12 Step g Close the npe edt ce 13 Step 9 Tune the Servo 5 14 Design 8 es deos cetus een are ae ees 15 SyStetm SSL UP s in eet ree tet 15 Profiled Move iine ee Meet rut ir tre etes 15 15 Absolute POoSitiOti oS ete eres tr et 15 Velocity Controls he et eet eder td ute dee terne 16 Operation Under Torque Limit ener 16 1 6 0 03000 Ra eoe te t irae 16 Motion Programs with 16 Control Variables
13. 13 12 Volt Supply 14 12 Volt Supply 155 16 GND Layout Figure 3 DB 28040 Interconnect Mounting Dimensions Overall Dimensions 3 075 x 2 650 Appendices 97 CABLE 15 1m The Cable 15 1m is a cable with a 15 pin high density connector at one end and flying leads at the other that is used to break out the J2 connector on the CDS 3310 This 15 pin cable provides an interface to the encoder and hall sensors This section lists the color coding for 15 pin cable 2 meter cables are also available with 2m designation 15 Pin Break out Cable for J2 Color Coding Pin Pin Color Color 1 Black 9 Green 2 Black White 10 Blue 3 Brown 11 Purple 4 Brown White 12 Silver 5 Red 13 White 6 Red White 14 Pink 7 Orange 15 Light Green 8 Yellow Communicating with OPTO 22 SNAP B3000 ENET The controller is connected to OPTO 22 via handle F The OPTO 22 s IP address is 131 29 50 30 The Rack has the following configuration 98 e Appendices Digital Inputs Module 1 Digital Outputs Module 2 Analog Outputs 10V Module 3 Analog Inputs 10V Module 4 Instruction Interpretation CONFIG Label 131 29 50 30 lt 502 gt 2 Establish connection WT10 Wait 10 milliseconds JP CFGERR IHF2 0 Jump to subroutine JS CFGDOUT Configure digital outputs JS CFGAOUT Configure analog outputs JS CFGAIN Configure analog inputs MBF 6 6 1025 1 Save configuration to OPTO 22 EN End CFGDOUT Label
14. Digital Outputs 5 10 Error AEN at OUTRET Figure 4 Outputs 5 10 and Error Amp Enable are low power opto outputs with the above circuit CDS 3310 Appendices 91 Screw Terminal Description 92 e Appendices Terminal Silkscreen Description Opto In Out 1 ABX Aux Encoder B 2 Aux Encoder B 3 AAX Aux Encoder A 4 AAX Aux Encoder A 5 Main Encoder Index 6 INX Main Encoder Index 7 MBX Main Encoder B 8 MBX Main Encoder B 9 MAX Main Encoder A 10 MAX Main Encoder 11 HALXC Hall C 12 HALXB Hall B 13 HALXA Hall A 14 GND Ground 0 15 5V 0 16 ABORT Abort Input Y 17 DI8 Digital Input 8 18 DI8 Digital Input 8 19 DI7 Digital Input 7 Y 20 6 Digital Input 6 Y 21 DI5 Digital Input 5 Y 22 DI4 Digital Input 4 Y 23 DI3 Digital Input 3 Y 24 DI2 Digital Input 2 Y 25 1 Digital Input 1 Y 26 COM nput Common 27 LSCOM Limit S witch Common 28 XHOM Home Input Y 29 RLSX Reverse Limit Input Y 30 FLSX Forward Limit Input Y 31 CMP Output Compare 0 32 AEN ERR Amp Enable Error Y 0 33 GND Ground 0 34 OUTRET Output Power Retum 35 OUTSUP Output Power Supply 36 0010 Digital Output 10 Y 0 37 009
15. USER MANUAL CDS 3310 Manual Rev 1 0f By Galil Motion Control Inc Galil Motion Control Inc 270 Technology Way Rocklin California 95765 Phone 916 626 0101 Fax 916 626 0102 E mail Address support galilmc com URL www galilmc com Rev 01 10 Using This Manual This user manual provides information for proper operation of the CDS 3310 controller A separate manual the Command Reference contains a description of the commands available for use with this controller Users of a 1 4 axis system should note that axes are labeled XYZW Users of a 1 8 axis system should note that axes are labeled A B C D E F G H The axes A B C D may be used interchangeably with X Y Z W WARNING Machinery in motion can be dangerous It is the responsibility of the user to design effective error handling and safety protection as part of the machine Galil shall not be liable or responsible for any incidental or consequential damages CDS 3310 ContentsContents i Chapter 1 Overview 1 Inttod ction eae ee 1 Amplifier SpecifiCationis e ee Ran RN Ra eit ite s 2 CDS 3310 Functional Elements 3 3 Motor Interface e dee Rene etos ee t Meta tes 3 Communication ort a A E E perte 3 General VO nonna ten ee oo Te re ER He Rer a SE Dee edt 3 System Elements eae Sa a gite 4 ote ee eate Sa en ette Ra cde eno edited 4 Amplifier
16. WARNING Machinery in motion can be dangerous It is the responsibility of the user to design effective error handling and safety protection as part of the machine Since the CDS 3310 is an integral part of the machine the engineer should design his overall system with protection against a possible component failure on the CDS 3310 Galil shall not be liable or responsible for any incidental or consequential damages Hardware Protection The CDS 3310 includes hardware input and output protection lines for various error and mechanical limit conditions These include Output Protection Lines Error Output The error output is a TTL signal which indicates on error condition in the controller This signal is available on the interconnect module as ERROR When the error signal is low this indicates on of the following error conditions 1 At least one axis has a position error greater than the error limit The error limit is set by using the command ER The reset line on the controller is held low or is being affected by noise There is a failure on the controller and the processor is resetting itself There is a failure with the output IC which drives the error signal 58 e Chapter 8 Hardware amp Software Protection CDS 3310 Input Protection Lines General Abort A low input stops commanded motion instantly without a controlled deceleration For any axis in which the Off On Error function is enabled the amplifiers will be di
17. 39 POSERR thea a 19 30 60 61 Position Capture etre rete tases 15 IE inl mE 3 32 40 15 87 Position Error 11 13 14 15 22 10 19 20 30 31 40 57 58 60 68 86 POSER R 19 30 60 61 uon tanget RES 60 Program Terminale bien steer ite us 11 Program Flow 22 51 7 18 19 25 30 32 43 44 3 NEE E 29 30 33 53 2 41 16 65 Proportional 14 Protection Error 111 22 30 59 86 Torque eh cete tee es 11 16 PWM nece E RR REQUE 4 Quadrature 4 9 40 55 59 70 82 83 86 Quit 21 59 82 86 Stop Motion sese 61 Recotd X o eese in 42 8 39 40 41 iste n eie red 3 40 15 87 Teach senti ane 42 8 40 ubt HT 10 7 5 8 20 Selecting 4 101 astiro ie 10 34 44 46 85 A a T s sse QU SR RIT SMART 22 50 55 86 Sine 41 3 36 Single Ended sess 11 13 82 Slew 15 20 32 42 12 23 55 87 Smoothing seinnse 42 43 45 11 4 Software 10 9 8 WSDK tse penes 10 14 Special Label 18 19 23 30 31 53 60 61 Stability enseignes 10 57 64 65 69 73 Stack isset n tie etnies 29 30 33 53 Zero Stack ete INS ens
18. 61 86 MGTIME 19 23 30 32 techs 19 30 60 61 e 19 30 Automatic Subroutine XE Subroutine iui recae RR oR 34 Auxiliary 21 9 10 15 52 82 Dual 40 10 ene einen 42 9 10 56 Dual 00 eee ee 42 9 10 56 9 10 25 65 Motion nave ees 13 2 27 35 37 54 Binary 38 27 35 45 Burn 54 9 8 3 1 Capture Data 42 8 39 40 41 Clear Bit ett ee RE ERN 22 50 86 Coordinated Motion 3 53 1 CDS 3310 Electronic 53 2 Data Record aii ein BAR AER RES 29 33 Dip Switch Address ee orb e GERENS 101 BECA iacet et teer th e EE ETE 53 1 3 Electronic 53 2 Echo32 33 Edit Mode eec o tet 17 22 31 ee ape 16 17 EEPROM nee o ae DR 1 3 8 9 54 Electronic Cara aea RSE PARR 53 2 Electronic Gearing 1 41 50 52 Encoder Auxiliary Encoder 21 9 10 15 52 82 Differential 4 11 13 21 52 65 82 86 Dual 40 10 Index 11 20 12 Quadrature 3 4 9 49 55 59 70 82 83 86 0 27 29 39 40 21 1 18 58 Error 22 30 59 86 Off On
19. CDS For example KP 10 20 sets the P gain on the master X and the second slave Z and SP 1000 sets the speed on all controllers The list of global commands is below All commands not in the table are local Global Command Listing AB AS DC IL MF 007 SC TT AC AU DE IN MO PA SH TV AD AW DP IP MR PL SP TW AF BG DV IT MT PR ST TZ AG BL ER JG NB PT TD WC AL BR FA KD NF QH TE AM BW FE KI NZ RC AN CB FI KP OB RD TK AO CD FL LF OC RL TL AP CE FV LR OE RP TP AR CM HM MC OF SB TS 80 Chapter 11 Distributed Control CDS 3310 Local Commands Local commands only affect a single controller and take one of three forms 1 A local command is sent to the master Any command such as BN not in the table above will only affect the master 2 An application program runs on a slave controller or a PC sends a command to a slave The command will affect only that slave Any motion commands must reference the X axis e g BGX x Host Computer RS 232 CDS CDS CDS CDS slaves 3310 3310 3 An SA command is sent to a slave For the master controller to send a command that is not on the global list to a slave it must send an SA command Accessing the I O of the Slaves CDS 3310 The I O of the slaves is settable and readable from the master The bit numbers are adjusted by the handle number of the slave controller use TH on the ma
20. MODULE 2 Set variable CFGV ALUE 180 Set variable NUMOFIO 4 Set variable JP CFGJOIN Jump to subroutine CDS 3310 CFGAOUT MODULE 3 CFGVALUE A7 NUMOFIO 2 JP CFGJOIN CFGAIN MODULE 5 CFGVALUE 12 NUMOFIO 2 JP CFGJOIN CFGJOIN DM 8 0 CFGLOOP A I 0 41 II JP CFGLOOP I lt 2 NUMOFIO Label Set variable Set variable Set variable Jump to subroutine Label Set variable Set variable Set variable Jump to subroutine Label Dimension array Set variable Loop subroutine Set array element Increment Set array element Increment Conditional statement MBF 6 16 632 MODULE 8 NU Configure I O using Modbus function code 16 where the starting MOFIO 2 A EN CFGERR MG UNABLE TO ESTABLISH CONNECTION EN Using the equation register is 6322 MODULE 8 number of registers is NUMOFIO 2 and contains the data end Label Message End I O number Handlenum 1000 Module 1 4 Bitnum 1 MG IN 6001 display level of input at handle 6 module 1 bit 2 SB 6006 Or OB 6006 1 AO 608 3 6 set bit of output at handle 6 module 2 bit 3 to one set analog output at handle 6 module 53 bit 1 to 3 6 volts MG AN 6017 display voltage value of analog input at handle6 module 5 bit 2 CDS 3310 Appendices 99 List of Other Publications Step by Step Design of Motion Control Systems by Dr Jacob Tal Motion Control Applications
21. Output Limit Switch Inputs Home Inputs TTL 0 5 Volts Pulled up internally to 5VDC through IN 1 thru IN 8 Uncommitted Inputs 4 7kOhm resistor Ground input to change state and Abort Input OUT 1 thru OUT 10 Outputs TTL 0 5Volts IN 81 IN 82 Auxiliary Encoder Inputs for A X axis Line Receiver Inputs accepts differential or single ended voltages with voltage range of 12 Volts Power 18 to 72 VDC 82 Appendices CDS 3310 Performance Specifications CDS 3310 Minimum Servo Loop Update Time Position Accuracy Velocity Accuracy Long Term Short Term Position Range Velocity Range Velocity Resolution Motor Command Resolution Variable Range Variable Resolution Array Size Program Size 250 psec 1 ms distributed 1 quadrature count Phase locked better than 0 005 System dependent 2147483647 counts per move Up to 12 000 000 counts sec servo 2 counts sec 16 bit or 0 0003 V 2 billion 1 10 4 8000 elements 30 arrays 1000 lines x 80 characters Appendices 83 Connectors for CDS 3310 J1 MOTOR Output 4 pin AMP Universal Mate N Lok 3 4 Ground AA 0 Hall A 1 2 AB 3 Hall B 4 Hall C 55V Reset Error Output Amp Enable Output 3 Output 1 Analog input 1 OV 5V Input 7 Input 5 Input 3 Input 1 05V Ground 2 12 V 3 Ground 4 Brake Power 5 Input 8 6 Output 9 7 Output 7 8 Output 5 19
22. RMA number prior to returning product to Galil Any defect in materials or workmanship determined by Galil Motion Control to be attributable to customer alteration modification negligence or misuse is not covered by this warranty EXCEPT AS SET FORTH ABOVE GALIL MOTION CONTROL WILL MAKE NO WARRANTIES EITHER EXPRESSED OR IMPLIED WITH RESPECT TO SUCH PRODUCTS AND SHALL NOT BE LIABLE OR RESPONSIBLE FOR ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES COPYRIGHT 3 97 The software code contained in this Galil product is protected by copyright and must not be reproduced or disassembled in any form without prior written consent of Galil Motion Control Inc 102 Appendices CDS 3310 Index ADO ai en tees 21 59 58 60 82 86 OM EFfOF oe eoe eben 21 Absolute 240 24122 15 42 43 23 Absolute 2 53 36 59 20 42 44 45 11 49 ACCESSOTIES Sed ved vet ie e nire een ORE 87 Adress aaar Ee 101 Amplifier Enable 2 012 24 14 0 0000000000 000 00000 5 Amplifier Gain essen 4 72 74 Analog 22 23 51 Analysis 10 14 Atm Liat lis 15 1 3 8 42 6 8 16 20 26 35 39 40 41 42 45 46 48 50 83 Automatic Subroutine E trente 19 30 ININT EI 19 29 30 32 53 insedit 20 19 30 31 59
23. Similarly the slave position is also redefined such that it starts at zero and ends at 1500 At the end of a cycle when the master is 6000 and the slave is 1500 the positions of both x and y are redefined as zero To specify the master cycle and the slave cycle change we use the instruction EM EM x y where x y specify the cycle of the master and the total change of the slave over one cycle On the CDS 3310 x will always be the master cycle and y will be the slave cycle The cycle of the master is limited to 8 388 607 whereas the slave change per cycle is limited to 2 147 483 647 If the change is a negative number the absolute value is specified For the given example the cycle of the master 1s 6000 counts and the change in the slave is 1500 Therefore we use the instruction EM 6000 1500 Step 3 Specify the master interval and starting point Next we need to construct the ECAM table The table is specified at uniform intervals of master positions Up to 256 intervals are allowed The size of the master interval and the starting point are specified by the instruction EP m n where m is the interval width in counts and n is the starting point Chapter 6 Programming Motion 53 For the given example we can specify the table by specifying the position at the master points of 0 2000 4000 and 6000 We can specify that by EP 2000 0 Step 4 Specify the slave positions Next we specify the slave positions with the instru
24. The error is the difference between the command position and actual encoder position If the absolute value of the error exceeds the value specified by ER the CDS 3310 will generate several signals to warn the host system of the error condition These signals include Chapter 8 Hardware amp Software Protection 59 SIGNAL OR FUNCTION STATE IF ERROR OCCURS POSERR Jumps to automatic excess position error subroutine Error Light Turns on OE Function Shuts motor off if OE1 AEN Output Line Goes low The Jump on Condition statement is useful for branching on a given error within a program The position error of A B C and D can be monitored during execution using the TE command Programmable Position Limits The CDS 3310 provides programmable forward and reverse position limits These are set by the BL and FL software commands Once a position limit is specified the CDS 3310 will not accept position commands beyond the limit Motion beyond the limit is also prevented Example DP0 0 0 Define Position BL 2000 4000 8000 Set Reverse position limit FL 2000 4000 8000 Set Forward position limit JG 2000 2000 2000 Jog BG ABC Begin motion stops at forward limits Off On Error The CDS 3310 controller has a built in function which can turn off the motors under certain error conditions This function is know as Off On Error To activate the OE function for each axis specify 1 for A B C and D axis To disable this function specify 0 fo
25. computer For example the CDS 3310 can decide between two motion profiles based on the state of an input line Command Format JP and JS FORMAT DESCRIPTION JS destination logical condition Jump to subroutine if logical condition is satisfied JP destination logical condition Jump to location if logical condition is satisfied The destination is a program line number or label where the program sequencer will jump if the specified condition is satisfied Note that the line number of the first line of program memory is 0 The comma designates IF The logical condition tests two operands with logical operators Logical operators less than or equal to greater than or equal to Conditional Statements The conditional statement is satisfied if it evaluates to any value other than zero The conditional statement can be any valid CDS 3310 numeric operand including variables array elements numeric 26 Chapter 7 Application Programming CDS 3310 CDS 3310 values functions keywords and arithmetic expressions If no conditional statement is given the jump will always occur Number 1 6 Numeric Expression V1 V7 6 ABS V1 gt 10 Array Element V1 lt Count 2 Variable 1 lt 2 Internal Variable _TPA 0 _TVA gt 500 V1 gt _TTX IN 1 0 Multiple Conditional Statements The CDS 3310 will accept multiple conditions in a single jump statement The conditional statements are combined in pairs using the
26. input disconnected For other signal levels the input should be connected to a voltage that is of the full voltage range for example connect the input to 6 volts if the signal 1s a 0 12 volt logic Example A CDS 3310 has one auxiliary encoder This encoder has two inputs channel A and channel B Channel A input is mapped to input 81 and Channel B input is mapped to input 82 To use this input for 2 TTL signals the first signal will be connected to AA and the second to AA and AB will be left unconnected To access this input use the function IN 81 and IN 82 CDS 3310 Chapter 3 Connecting I O 21 Analog Inputs The CDS 3310 has two analog inputs configured for the range between and 5V The inputs are decoded by a 12 bit A D decoder giving a voltage resolution of approximately 1 mV a 16 bit A D is available on the DB 28040 The impedance of these inputs is effectively infinite The analog inputs are read with AN x where x is a number 1 thru 2 Outputs The general outputs amp enable output compare and error outputs are 0 or 5V digital outputs General Use Digital Outputs The general use outputs are TTL and are labeled DGTL OUT 1 to DGTL OUT 10 on the silkscreen on the sheet metal These outputs can be turned On and Off with the commands SB Set Bit CB Clear Bit OB Output Bit and OP Output Port The value of the outputs can be checked with the operand and the function OUT see Cha
27. oes 20 12 15 87 Formatting eee a 45 48 49 Frequency 4 72 73 74 75 Function Arithmetlc eere erem 16 27 35 38 49 Gain 4 14 16 65 69 70 72 74 Gear Ratio iun eL ne PRINS 50 52 1 41 50 52 Halt 20 21 22 23 25 26 58 Address nasse Deep TRIER 101 1 050 MO 9 Home Input esee 20 21 12 15 39 82 Homiig oen 20 12 15 86 Find Bde etos 20 12 15 87 IO Amplifier Enable ERR es 5 Digital Input irte 2 19 36 51 Digital Output unes 2 36 Home Input 20 12 15 39 82 Limit Switch 21 50 18 20 21 30 31 39 59 61 65 82 86 007 87 Independent Motion 7061 16 41 44 45 4 Index Pulse 11 20 12 ININT DES 19 29 30 32 53 Input Interrupt NNT rests ether bert d 29 30 32 53 Inte PALO iso a eo Bee 14 69 72 Interconnect Module ICM 1900 aceti imer asi ns 87 Internal Variable 0 00eeeeeoeeeeseeeeeseeeesessssees 17 27 37 Interrogation 14 15 16 39 40 20 21 45 47 48 Interruption ases omoes sos 19 29 30 32 53 InVert s dct err REG 13 20 9 65 Jog 1 16 41 44 45 4 44 104 Index CDS 3310 Labels Ram eaedem Weenie 2 3 Program L
28. 3 8 17 40 16 20 21 26 35 37 38 40 42 45 46 47 48 49 83 37 27 17 0 Vector Mode Linear Interpolation sese 4 Tangente ra reto rege ree ede 36 Wire Cutlets ares ete tene 55 AJ gd EE 10 14 Zero Stack ie 33 53 Index 105
29. A continuous 10 A peak that can be used in one of several ways depending on how many total machine axes need to be controlled CDS 3310 Machine Mode Communication Axes Commands 1 The CDS 3310 is used by itself for single axis applications n a 1 5 The CDS 3310 is used by itself in conjunction with its second n a encoder input for gearing backlash compensation or reading a hand wheel 2 to 8 The CDS 3310 is used in conjunction with up to 7 other CDS HA HC 3310s In this distributed mode of operation programming is simplified because multiple controllers behave as a single multi axis ee Chopin controller Only the master controller requires an application program and or the host PC communicates only with the master controller 2ormore The CDS 3310 is used in conjunction with one or more Galil DMC IH SA 14x5 21x2 3 22x0 or CDS 3310 Ethernet controllers In this mode of operation each controller must contain it s own application program and or a host PC must communicate with each controller individually The number of controllers and axes that can be linked together via Ethernet is only limited by the number of IP addressed available Controllers communicate with each other via the SA command Groups of axes that are tightly coupled via vector mode VM linear interpolation LM multi axis gearing GA or multi axis camming EA must be grouped onto multi axis controllers Ea
30. Analog output 16 bit resolution 10V Active Low 84 Appendices CDS 3310 CDS 3310 J4 RS 232 Serial Port Standard connector and cable 9Pin Male D sub CTS output CTS output NC can connect to 5V or sample clock J5 POWER 2 pin AMP Universal Mate N Lok GND J8 100Base T Ethernet 100 BASE T 10 BASE T Kycon GS NS 88 3 5 Mating Connectors Location Mating Connector Terminal Pins J5 POWER 2 pin AMP 172165 1 AMP 170361 1 J1 MOTOR 4 pin AMP 172167 1 AMP 170361 1 Appendices 85 Pin Out Description for CDS 3310 Outputs Amp Enable Goes high when the amp is turned on SH and low when turned off MO Error The signal goes low when the position error on any axis exceeds the value specified by the error limit command ER Output 1 Output 10 These 10 TTL outputs are uncommitted and may be designated by the user to toggle relays and trigger external events The output lines are toggled by Set Bit SB and Clear Bit CB instructions The OP instruction is used to define the state of all the bits of the Output port Inputs Encoder B Position feedback from incremental encoder with two channels in quadrature CHA and CHB The encoder may be analog or TTL Any resolution encoder may be used as long as the maximum frequency does not exceed 12 000 000 quadrature states sec The controller performs quadrature decoding of the encoder signals resulting in
31. B C D Increments position instantl IT A B C D Time constant for independent motion smoothing JG A B C D Specifies jog speed and direction ST ABCD Stops motion Parameters can be set with individual axes specifiers such as JGB 2000 set jog speed for B axis to 2000 Operand Summary Independent Axis OPERAND DESCRIPTION Return acceleration rate for the axis specified by x Return deceleration rate for the axis specified by x Returns the jog speed for the axis specified by x Returns the actual velocity of the axis specified by x averaged over 25 sec Examples Jog in X only Jog A motor at 50000 count s After A motor is at its jog speed begin jogging C in reverse direction at 25000 count s Instruction Interpretation Label AC 20000 20000 Specify A C acceleration of 20000 cts sec DC 20000 20000 Specify A C deceleration of 20000 cts sec JG 50000 25000 Specify jog speed and direction for A and C axis BGA Begin A motion ASA Wait until A is at speed BGC Begin C motion EN Chapter 6 Programming Motion 45 Position Tracking The Galil controller may be placed in the position tracking mode to support changing the target of an absolute position move on the fly New targets may be given in the same direction or the opposite direction of the current position target The controller will then calculate a new trajectory based upon the new target and the acceleration deceleration an
32. Chapter 10 Theory of Operation 67 X VELOCITY Y VELOCITY X POSITION m Y POSITION Be TIME Figure 10 3 Velocity and Position Profiles Operation of Closed Loop Systems To understand the operation of a servo system we may compare it to a familiar closed loop operation adjusting the water temperature in the shower One control objective is to keep the temperature at a comfortable level say 90 degrees F To achieve that our skin serves as a temperature sensor and reports to the brain controller The brain compares the actual temperature which is called the feedback signal with the desired level of 90 degrees F The difference between the two levels is called the error signal If the feedback temperature is too low the error is positive and it triggers an action which raises the water temperature until the temperature error is reduced sufficiently The closing of the servo loop is very similar Suppose that we want the motor position to be at 90 degrees The motor position is measured by a position sensor often an encoder and the position feedback is sent to the controller Like the brain the controller determines the position error which is the difference between the commanded position of 90 degrees and the position feedback The controller then outputs a signal that is proportional to the position error This signal produces a proportional current in the motor which causes a motion until the error is reduced Once the
33. Galil CD ROM T O ActiveX Tool Kit Visual Basic Tool Kit includes VBXs and OCXs Password Required CDS 3310 Appendices 87 CAD to DMC AutoCAD DXF translator Password Required MCS Motion Control Selector Utility for motor amplifier sizing HPGL HPGL translator Password Required 88 Appendices CDS 3310 ICM 3300 1 040 0 000 0 220 145209 CDS 3310 The ICM 3300 Interconnect module breaks out the 15 pin and 37 pin connectors on the CDS 3310 into screw type terminals to allow for easier wiring of external devices It also provides opto isolation for all digital I O except the following brake output output compare reset input and digital input 8 Additionally it converts four of the CDS 3310 s standard digital outputs into high power 500mA 24V sourcing outputs 5 700 6 6 66 6 8 8 9 6 6 6 6 68 6 6 6 686 0 6 6 6 6 6 8 68 6 8 0 60 68 680 6 Oo E 00500505 SINT Ed i ooooooooo so oooOo d R 5 5 2 350 as 1 RPI2 GND 5V GND 6
34. PLAY Play back N 0 Initial Counter JP DONE N gt 300 Exit if done n Print Counter apos N Print X position bpos N Print Y position aerr N Print X error berr N Print Y error n n 1 Increment Counter DONE Done EN End Program Chapter 7 Application Programming 41 Deallocating Array Space Array space may be deallocated using the DA command followed by the array name DA 0 deallocates all the arrays Input of Data Numeric and String Serial Port Only Input of Data The command IN is used to prompt the user to input numeric or string data Using the IN command the user may specify a message prompt by placing a message in quotations When the controller executes an IN command the controller will wait for the input of data The input data is assigned to the specified variable or array element Example Inputting Numeric Data IN Enter Length lenA EN In this example the message Enter Length is displayed on the computer screen The controller waits for the operator to enter a value The operator enters the numeric value which is assigned to the variable lenA NOTE Do not include a space between the comma at the end of the input message and the variable name Example Cut to Length In this example a length of material is to be advanced a specified distance When the motion is complete a cutting head is activated to cut the material The length is variable and the operator is prompted to input it
35. The brake is actuated by a MOSFET that can sink up to 500 mA The controller provides an internal snubbing diode via the brake power input The diagram below shows how to wire a brake The brake is controlled with the MO FET off and SH FET on commands The OS command allows the brake to be controlled with SB and CB CDS 3310 BRAKE PWR 03 pin 14 External DC Supply BRAKE J3 32 GND J3 pins 11 13 Brake Output Wiring Diagram Analog Output The CDS 3310 has one analog output configured for the range between 10V and 10V The output is driven by a 16 bit D A converter giving a voltage resolution of approximately 300 uV The analog output is set with AO command CDS 3310 Chapter 3 Connecting I O 23 THIS PAGE LEFT PLANK INTENTIONALLY 24 Chapter 3 Connecting 0 CDS 3310 Chapter 4 Communication Introduction The CDS 3310 has one RS232 port and one Ethernet port The RS 232 port can be configured to speeds of up to 19200 baud The Ethernet port is 10 100baseT RS232 Port Configure your PC for 8 bit data one start bit one stop bit full duplex and no parity The Baud rate is set by installing a jumper The RS232 pin out and jumper configuration is given in the appendix Ethernet Configuration CDS 3310 Communication Protocols The Ethernet is a local area network through which information is transferred in units known as packets Communication protocols are necessary to dictate how these packet
36. a resolution of quadrature counts 4 x encoder cycles NOTE Encoders that produce outputs in the format of pulses and direction may also be used by inputting the pulses into CHA and direction into Channel B and using the CE command to configure this mode Encoder Index I Once Per Revolution encoder pulse Used in Homing sequence or Find Index command to define home on an encoder index Encoder A B I Differential inputs from encoder May be input along with CHA CHB for noise immunity of encoder signals The CHA and CHB inputs are optional Auxiliary Encoder Aux A Inputs for additional encoder Used when an encoder on both the Aux Aux I Aux A motor and the load is required Not available on axes configured Aux B Aux I for step motors Abort A low input stops commanded motion instantly without a controlled deceleration Also aborts motion program A low input resets the state of the processor to its power on condition The previously saved state of the controller along with parameter values and saved sequences are restored Forward Limit Switch When active inhibits motion in forward direction Also causes execution of limit switch subroutine LIMSWI The polarity of the limit switch may be set with the CN command Reverse Limit Switch When active inhibits motion in reverse direction Also causes execution of limit switch subroutine LIMSWI The polarity of the limit switch may be set with the CN command
37. after the corresponding string or number is read These keywords may be used in an applications program to decode data and they may also be used in conditional statements with logical operators Example Instruction Interpretation JP LOOP P1CD lt gt 3 Checks to see if status code is 3 number received JP P P1CH V Checks if last character received was a V PR PINM Assigns received number to position JS XAXIS PIST X Checks to see if received string is X Communication Interrupt The controller provides a special interrupt for communication allowing the application program to be interrupted by input from the user The interrupt is enabled using the CI command The syntax for the command is CI n m n 0 Don t interrupt Port 1 n l Interrupt on lt enter gt Port 1 n 2 Interrupt on any character Port 1 n l Clear any characters in buffer m 0 Disable entry mode m 1 Enable entry mode The COMINT label is used for the communication interrupt For example the controller can be configured to interrupt on any character received on Port 1 The COMINT subroutine is entered when a character is received and the subroutine can decode the characters At the end of the routine the EN command is used 1 will re enable the interrupt and return to the line of the program where the interrupt was called EN will just return to the line of the program where it was called without re Chapter 7 Application Programming 43 enabling the interrupt
38. amp direction For example to configure the main encoder for reversed quadrature m 2 and a second encoder of pulse and direction n 4 the total is 6 and the command for the A axis is CE6 Additional Commands for the Auxiliary Encoder The command DE a b c d can be used to define the position of the auxiliary encoders For example DE 0 500 30 300 Chapter 6 Programming Motion 9 sets their initial values The positions of the auxiliary encoders may be interrogated with the command DE For example DE returns the value of the A and C auxiliary encoders The auxiliary encoder position may be assigned to variables with the instructions V1l _DEA The command TD a b c d returns the current position of the auxiliary encoder The command DV a b c d configures the auxilliary encoder to be used for backlash compensation Backlash Compensation There are two methods for backlash compensation using the auxiliary encoders 1 Continuous dual loop 2 Sampled dual loop To illustrate the problem consider a situation in which the coupling between the motor and the load has a backlash To compensate for the backlash position encoders are mounted on both the motor and the load The continuous dual loop combines the two feedback signals to achieve stability This method requires careful system tuning and depends on the magnitude of the backlash However once successful this method compensates for the backlash continuously
39. and can be over ridden by using parentheses Instruction Interpretation vl ABS v7 The variable V1 is equal to the absolute value of variable V7 v2 5 SIN pos The variable V2 is equal to five times the sine of the variable POS v3 IN 1 The variable V3 is equal to the digital value of input 1 Variables CDS 3310 For applications that require a parameter that is variable the CDS 3310 provides 510 variables These variables can be numbers or strings A program can be written in which certain parameters such as position or speed are defined as variables The variables can later be assigned by the operator or determined by program calculations For example a cut to length application may require that a cut length be variable Instruction Interpretation PR posa Assigns variable to PR command JG rpmb 70 Assigns variable rpmb multiplied by 70 to JG command Programmable Variables Each variable is defined by a name which can be up to eight characters The name must start with an alphabetic character however numbers are permitted in the rest of the name Spaces are not permitted Variables can be upper or lowercase or any combination Variables are case sensitive SPEEDC speedC Variable names should not be the same as CDS 3310 instructions For example PR is not a good choice for a variable name Examples of valid and invalid variable names are Valid Variable Names POSA posl speedC Invalid Vari
40. assigned a value Assigned values can be numbers or returned values from instructions functions and keywords Array elements are addressed starting at count 0 For example the first element in the posA array defined with the DM command DM posA 7 would be specified as posA 0 Values are assigned to array entries using the equal sign Assignments are made one element at a time by specifying the element number with the associated array name NOTE Arrays must be defined using the command DM before assigning entry values Chapter 7 Application Programming 39 DM speed 10 Dimension Speed Array speed 1 7650 2 Assigns the first element of the array the value 7650 2 speed 1 Returns array element value posXA 10 TPA Assigns the 10th element the position of A con 2 2 COS POS 2 Assigns the 2 element of array the cosine of POS 2 timer 1 TIME Assigns the 1 element of the array timer Using a Variable to Address Array Elements An array element number can also be a variable This allows array entries to be assigned sequentially using a counter Instruction Interpretation Begin Program count 0 DM POS 10 Initialize counter and define array LOOP Begin loop WT 10 Wait 10 msec POS count _TPA Record position into array element POS count Report position count count 1 Increment counter JP LOOP count lt 10 Loop until 10 elements have been stored EN End Program The above example records 10 pos
41. axes were desired the command would be PT 1 1 The next step is to begin issuing PA command to the controller The BG command isn t required in this mode the SP AC and DC commands determine the shape of the trapezoidal velocity profile that the controller will use 46 Chapter 6 Programming Motion CDS 3310 CDS 3310 Example Motion 1 The host program determines that the first target for the controller to move to is located at 5000 encoder counts The acceleration and deceleration should be set to 150 000 cts sec and the velocity is set to 50 000 cts sec The command sequence to perform this is listed below Figure 1 Position vs Time msec Motion 1 Example Motion 2 The previous step showed the plot if the motion continued all the way to 5000 however partway through the motion the object that was being tracked changed direction so the host program determined that the actual target position should be 2000 cts at that time Figure 2 shows what the position profile would look like if the move was allowed to complete to 2000 cts The position was modified when the robot was at a position of 4200 cts Note that the robot actually travels to a distance of almost 5000 cts before it turns around This is a function of the deceleration rate set by the DC command When a direction change is commanded the controller decelerates at the rate specified by the DC command The controller then ramps the velocity in up to the value set with SP in
42. axis position error h axis auxiliary position h axis velocity h axis torque 0 or h axis analog DB 28040 Chapter 4 Communication 31 E block E block E block E block E block E block E block F block F block F block F block F block F block F block F block F block F block G block G block G block G block G block G block G block G block G block G block H block H block H block H block H block H block H block H block H block H block Explanation of Status and Axis Switch Information Header Information Byte 0 1 of Header BIT15 BIT14 BIT13 BIT12 BIT11 BIT10 BIT9 8 1 I Block T Block S Block Present Present Present BIT 7 BIT 6 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 H Block G Block F Block E Block D Block C Block Block A Block Present Present Present Present Present Present Present Present Bytes 2 3 of Header Bytes 2 and 3 make a word which represents the Number of bytes in the data record including the header Byte 2 is the low byte and byte 3 is the high byte NOTE The header information of the data records is formatted in little endian General Status Information 1 Byte BIT 7 BIT6 BIT5 BIT4 BIT3 BIT 2 BIT 1 BIT 0 Program N A N A N A N A Waiting for TraceOn Echo On Running input from IN command Axis Switch Information 1 Byte BIT7 BITG6 875 BIT4 BIT3 2 BIT1 BIT 0 Latch State of N A N A State of State of State of N A Occurred Latch
43. by Dr Jacob Tal Motion Control by Microprocessors by Dr Jacob Tal Training Seminars Galil a leader in motion control with over 500 000 controllers working worldwide has a proud reputation for anticipating and setting the trends in motion control Galil understands your need to keep abreast with these trends in order to remain resourceful and competitive Through a series of seminars and workshops held over the past 20 years Galil has actively shared their market insights in a no nonsense way for a world of engineers on the move In fact over 10 000 engineers have attended Galil seminars The tradition continues with three different seminars each designed for your particular skill set from beginner to the most advanced MOTION CONTROL MADE EASY WHO SHOULD ATTEND Those who need a basic introduction or refresher on how to successfully implement servo motion control systems TIME 4 hours 8 30 am 12 30pm ADVANCED MOTION CONTROL WHO SHOULD ATTEND Those who consider themselves a servo specialist and require an in depth knowledge of motion control systems to ensure outstanding controller performance Also prior completion of Motion Control Made Easy or equivalent is required Analysis and design tools as well as several design examples will be provided TIME 8 hours 8 5pm PRODUCT WORKSHOP WHO SHOULD ATTEND Current users of Galil motion controllers Conducted at Galil s headquarters in Rocklin CA students wi
44. command accepts 5 parameters The first parameter sets the values of the main output port of the controller Outputs 1 8 bank 0 The additional parameters set the value of the extended I O as outlined OP m a b c d 54 e Chapter 7 Application Programming CDS 3310 where m is the decimal representation of the bits 1 8 values from 0 to 255 and a b c d represent the extended I O in consecutive groups of 16 bits values from 0 to 65535 Arguments which are given for I O points which are configured as inputs will be ignored The following table describes the arguments used to set the state of outputs Argument Banks Bits Description m 0 1 8 General Outputs a 2 3 17 32 Extended I O b 4 5 33 48 Extended I O 6 7 49 56 Extended I O For example the following command may be issued OP 7 This command will set bits 1 2 3 bank 0 to 1 Bits 4 through 8 will be set to 0 All other bits are unaffected When accessing I O banks configured as inputs use the TIn command The argument n refers to the bank to be read n 0 2 3 4 5 6 The value returned will be a decimal representation of the corresponding bits Individual bits can be queried using the IN n function where n 1 through 8 or 17 through 56 If the following command is issued MG IN 17 the controller will return the state of the least significant bit of bank 2 assuming bank 2 is configured as an input Example Applications CDS 3310 Wire Cutter An operator a
45. communicate with the controller OFF designates main RS232 To designate a specific destination for the information add Eh to the end of the command Ex MG EC Hello will send the message Hello to handle 3 TP EF will send the z axis position to handle 6 Multicasting A multicast may only be used UDP IP and is similar to a broadcast where everyone the network gets the information but specific to a group In other words all devices within a specified group will receive the information that is sent in a multicast There can be many multicast groups on a network and are differentiated by their multicast IP address To communicate with all the devices in a specific multicast group the information can be sent to the multicast IP address rather than to each individual device IP address All Galil controllers belong to a default multicast address of 239 255 19 56 The controller s multicast IP address can be changed by using the IA u command Using Third Party Software Galil supports ARP BOOT P and Ping which are utilities for establishing Ethernet connections ARP is an application that determines the Ethernet hardware address of a device at a specific IP address BOOT P is an application that determines which devices on the network do not have an IP address and assigns the IP address you have chosen to it Ping is used to check the communication between the device at a specific IP address and the host comp
46. each axis is independent and follows prescribed velocity profile Velocity control where no final endpoint is prescribed Motion stops on Stop command Absolute positioning mode where absolute position targets may be sent to the controller while the axis is in motion Motion Path described as incremental position points versus time Electronic gearing where slave axes are scaled to master axis which can move in both directions Master slave where slave axes must follow a master such as conveyer speed Moving along arbitrary profiles or mathematically prescribed profiles such as sine or cosine trajectories Independent Axis Positioning PA PR SP AC DC Independent Jogging Position Tracking Contour Mode Electronic Gearing Electronic Gearing Contour Mode Chapter 6 Programming Motion 41 Teaching or Record and Play Back Contour Mode with Automatic Array Capture Backlash Correction Dual Loop Smooth motion while operating in independent axis Independent Motion Smoothing IT positioning Independent Axis Positioning In this mode motion between the specified axes is independent and each axis follows its own profile The user specifies the desired absolute position PA or relative position PR slew speed SP acceleration ramp AC and deceleration ramp DC for each axis On begin BG the CDS 3310 profiler generates the corresponding trapezoidal or triangular velocity profile and position trajectory
47. error becomes small the resulting current will be too small to overcome the friction causing the motor to stop The analogy between adjusting the water temperature and closing the position loop carries further We have all learned the hard way that the hot water faucet should be turned at the right rate If you turn it too slowly the temperature response will be slow causing discomfort Such a slow reaction is called overdamped response 68 e Chapter 10 Theory of Operation CDS 3310 The results may be worse if we turn the faucet too fast The overreaction results in temperature oscillations When the response of the system oscillates we say that the system is unstable Clearly unstable responses are bad when we want a constant level What causes the oscillations The basic cause for the instability is a combination of delayed reaction and high gain In the case of the temperature control the delay is due to the water flowing in the pipes When the human reaction is too strong the response becomes unstable Servo systems also become unstable if their gain is too high The delay in servo systems is between the application of the current and its effect on the position Note that the current must be applied long enough to cause a significant effect on the velocity and the velocity change must last long enough to cause a position change This delay when coupled with high gain causes instability This motion controller includes a special
48. etae e e dir ete ra ERE Tee kin 58 Output Protection 2 uet e e as eite e ERR RA ee 58 Input Protection Lines uen te eee ee te e 59 Amplifier Status 59 Software Protection eee de aee reo sg bete tede pa 59 Programmable Position Limits sess 60 ates 60 Automatic Error Routine ise e eben enar e aD Ee e a a 60 Limit Switch Routine gene no voa Rao Pene eager pae 61 Amplitier Error Routine 2o oo annee medien noU re dere 62 Chapter 9 Troubleshooting 64 OVERVIEW A 64 bao ian tet Sut leh 64 Corimuntc ati n de aUe ese EAE teu 65 iv gt Chapter 1 Overview CDS 3310 eek eek nad Sead Hla RES 65 ele e ne RAO A eee ae ROR 65 Chapter 10 Theory of Operation 66 OVERVIC Who s enit 66 Operation of Closed Loop Systems nennen enne 68 System Modeling 5 epe ate er e pete ed t ete 69 Motor Atiplifier eee eb pO eunt n das eene 70 Encodeta anb dari o b Eon etu obi oda esie te 70 IDA Cori dan woken eae 70 Digital Filter satin dea onte e eden teret 70 A eG anes 72 SystemvAnalysls 72 74 74 Chap
49. example the equation for A is written as A 501 955 sin 3T A complete program to generate the contour movement in this example is given below To generate an array we compute the position value at intervals of 8 ms This is stored at the array pos Then the difference between the positions is computed and is stored in the array dir Finally the motors are run in the contour mode POINTS Program defines A points DM pos 16 Allocate memory DM dir 15 c 0 d 0 Set initial conditions C is index t 0 T is time in ms HA 1 50 2 3 Argument in degrees v3 955 SIN V2 V1 Compute position v4 INT V3 Integer value of V3 pos c v4 Store in array POS t t 8 1 JP A c lt 16 B Program to find position differences c 0 d c 1 dir c pos d pos c Compute the difference and store 1 JP lt 15 Chapter 6 Programming Motion 7 EN End first program RUN Program to run motor CMA Contour Mode DT3 8 millisecond intervals c 0 CD dir c Contour Distance is in dir WC Wait for completion 1 JP E c lt 15 DTO CDO Stop Contour EN End the program Teach Record and Play Back Several applications require teaching the machine a motion trajectory Teaching can be accomplished using the CDS 3310 automatic array capture feature to capture position data The captured data may then be played back in the contour mode The following array commands are used DM C n Dimension a
50. in inches Motion starts with a start button which is connected to input 1 The load is coupled with a 2 pitch lead screw A 2000 count rev encoder is on the motor resulting in a resolution of 4000 counts inch The program below uses the variable len to length The IN command is used to prompt the operator to enter the length and the entered value is assigned to the variable LEN Instruction Interpretation BEGIN LABEL AC 800000 Acceleration DC 800000 Deceleration SP 5000 Speed len 3 4 Initial length in inches CUT Cut routine All Wait for start signal IN enter Length IN len Prompt operator for length in inches PR len 4000 Specify position in counts BGA Begin motion to move material AMA Wait for motion done SBI Set output to cut WT100 CBl Wait 100 msec then turn off cutter JP ZCUT Repeat process 42 Chapter 7 Application Programming CDS 3310 CDS 3310 EN End program Operator Data Entry Mode The Operator Data Entry Mode provides for un buffered data entry through the RS 232 port This mode is entered and exited by the CI command NOTE Operator Data Entry Mode cannot be used for high rate data transfer To capture and decode characters in the Operator Data Mode the controller provides the following keywords PICD Contains the status code mode disabled 0 nothing received 1 received character but not lt enter gt 2 received string not a number 3 received number NOTE The value of P1CD returns to zero
51. of the Home input The direction of the FE motion is dependent on the state of the home switch Refer to the CN command to set the correspondence between the Home Input voltage and motion direction The motor will decelerate to a stop when a transition is seen on the input The acceleration rate deceleration rate and slew speed are specified by the user prior to the movement using the commands AC DC and SP It is recommended that a high deceleration value be used so the motor will decelerate rapidly after sensing the Home switch The Find Index routine is initiated by the command sequence FIX lt return gt BGX lt return gt where X could be any axis on the controller X Y Z or W Find Index will cause the motor to accelerate to the user defined slew speed SP at a rate specified by the user with the AC command and slew until the controller senses a change in the index pulse signal from low to high The motor then decelerates to a stop at the rate previously specified by the user with the DC command Although Find Index is an option for homing it is not dependent upon a transition in the logic state of the Home input but instead is dependent upon a transition in the level of the index pulse signal The Standard Homing routine is initiated by the sequence of commands HMX lt return gt BGX lt return gt where X could be any axis on the controller X Y Z or W Standard Homing is a combination of Find Edge and Find Index homing Initiating
52. operands amp and The amp operand between any two conditions requires that both statements must be true for the combined statement to be true The operand between any two conditions requires that only one statement be true for the combined statement to be true NOTE Each condition must be placed in parenthesis for proper evaluation by the controller In addition the CDS 3310 executes operations from left to right For further information on Mathematical Expressions and the bit wise operators amp and see pg 35 For example using variables named V1 V2 V3 and V4 JP TEST V1 lt V2 amp V3 lt V4 In this example this statement will cause the program to jump to the label TEST if V1 is less than V2 and V3 is less than V4 To illustrate this further consider this same example with an additional condition JP TEST 1 lt 2 amp V3 lt V4 5 lt 6 This statement will cause the program to jump to the label TEST under two conditions 1 If V1 is less than V2 and V3 is less than V4 OR 2 If V5 is less than V6 Examples If the condition for the JP command is satisfied the controller branches to the specified label or line number and continues executing commands from this point If the condition is not satisfied the controller continues to execute the next commands in sequence Instruction Interpretation JP LOOP count lt 10 Jump to Loop if the variable COUNT is less
53. process START PULSE 11 MOTOR VELOCITY OUTPUT PULSE output TIME INTERVALS move wait ready move Figure 7 1 Motor Velocity and the Associated Input Output signals Backlash Compensation by Sampled Dual Loop The continuous dual loop enabled by the DV1 function is an effective way to compensate for backlash In some cases however when the backlash magnitude is large it may be difficult to stabilize the system In those cases it may be easier to use the sampled dual loop method described below This design example addresses the basic problems of backlash in motion control systems The objective is to control the position of a linear slide precisely The slide is to be controlled by a rotary motor which is coupled to the slide by a leadscrew Such a leadscrew has a backlash of 4 micron and the required position accuracy is for 0 5 micron 56 e Chapter 7 Application Programming CDS 3310 The basic dilemma is where to mount the sensor If you use a rotary sensor you get a 4 micron backlash error On the other hand if you use a linear encoder the backlash in the feedback loop will cause oscillations due to instability An alternative approach is the dual loop where we use two sensors rotary and linear The rotary sensor assures stability because the position loop is closed before the backlash whereas the linear sensor provides accurate load position information The operation principle is to drive the mot
54. switches and events during a motion sequence Example Turn on output after move PR 2000 Position Command BG Begin AM After move SBI Set Output 1 WT 1000 Wait 1000 msec Clear Output 1 EN End 50 e Chapter 7 Application Programming CDS 3310 CDS 3310 Digital Inputs The general digital inputs for are accessed by using the IN n function or the TI command The IN n function returns the logic level of the specified input n where n is a number 1 through 96 Example Using Inputs to control program flow Instruction Interpretation JP A IN 1 0 Jump to A if input 1 is low JP B IN 2 1 Jump to B if input 2 is high AIT Wait until input 7 is high AI 6 Wait until input 6 is low Example Start Motion on Switch Motor A must turn at 4000 counts sec when the user flips a panel switch to on When panel switch is turned to off position motor A must stop turning Solution Connect panel switch to input 1 of CDS 3310 High on input 1 means switch is in on position Instruction Interpretation S JG 4000 Set speed AI 1 BGA Begin after input 1 goes high AI 1 STA Stop after input 1 goes low AMA JP 5 After motion repeat EN Analog Inputs The controller has two analog inputs and provides eight analog inputs with the addition of the DB 28040 The value of these inputs in volts may be read using the AN n function where n is the analog input through 8 The resolution of the Analog to Digital
55. the interrogation commands are described in chapter 5 Sending Messages Messages may be sent to the bus using the message command MG This command sends specified text and numerical or string data from variables or arrays to the screen Text strings are specified in quotes and variable or array data is designated by the name of the variable or array For example MG The Final Value is result In addition to variables functions and commands responses can be used in the message command For example MG Input 1 is IN 1 MG The Position of A is TPA Formatting Messages String variables can be formatted using the specifier Sn where n is the number of characters 1 thru 6 For example MG STR 53 This statement returns 3 characters of the string variable named STR Numeric data may be formatted using the Fn m expression following the completed MG statement n m formats data in HEX instead of decimal The actual numerical value will be formatted with n characters to the left of the decimal and m characters to the right of the decimal Leading zeros will be used to display specified format For example MG The Final Value is result F5 2 If the value of the variable result is equal to 4 1 this statement returns the following Chapter 7 Application Programming 45 The Final Value is 00004 10 If the value of the variable result is equal to 999999 999 the above message statement returns the following
56. the Edit Mode the programmer has access to special instructions for saving inserting and deleting program lines These special instructions are listed below Edit Mode Commands lt RETURN gt Typing the return key causes the current line of entered instructions to be saved The editor will automatically advance to the next line Thus hitting a series of RETURN will cause the editor to advance a series of lines Note changes on a program line will not be saved unless a lt return gt is given lt cntrl gt P The lt cntrl gt P command moves the editor to the previous line lt entrl gt I The lt cntrl gt I command inserts a line above the current line For example if the editor is at line number 2 and lt cntrl gt I is applied a new line will be inserted between lines 1 and 2 This new line will be labelled line 2 The old line number 2 is renumbered as line 3 lt cntrl gt D The lt cntrl gt D command deletes the line currently being edited For example if the editor is at line number 2 and lt gt is applied line 2 will be deleted The previous line number 3 is now renumbered as line number 2 lt cntrl gt Q The lt cntrl gt Q quits the editor mode In response the CDS 3310 will return a colon After the Edit session is over the user may list the entered program using the LS command Ifno operand follows the LS command the entire program will be listed The user can start listing at a specific line or label using
57. the TAO command It is possible to get into this condition if the power supply voltage is too high or if the voltage level is raised due to regeneration If you have very high inertial loads which may cause regeneration you may consider using a shunt regulator such as the SR 199000 supplied by Galil Over Current Protection The controller also has protection against over current If the total current from the supply exceeds 15 A the amplifier will be disabled It can be enabled again from the controller by issuing the MO and then SH command The amplifier will be shut down regardless of the setting of OE or the presence of the AMPERR routine Bit 0 of TAO will be set If you see that the red over current LED is lit on the amplifier there is a problem with either your system or the amplifier The most likely reason is because of a short between the motor phases or between the motor phases and ground This indicates either a wiring problem or a faulty motor Software Protection CDS 3310 The CDS 3310 provides a programmable error limit The error limit can be set for any number between 1 and 32767 using the ER n command The default value for ER 15 16384 ER 200 300 400 500 Set A axis error limit for 200 B axis error limit to 300 C axis error limit to 400 counts D axis error limit to 500 counts ER 1 10 Set B axis error limit to 1 count set D axis error limit to 10 counts The units of the error limit are quadrature counts
58. the operand n A command and new line number or label following the start listing operand specifies the location at which listing is to stop Example Instruction Interpretation 15 List entire program 155 Begin listing at line 5 158 5 9 List lines 5 thru 9 1 5 A 9 List line label A thru line 9 15 ZA A 5 List line label A and additional 5 lines CDS 3310 Chapter 7 Application Programming 17 Program Format A DMC program consists of CDS 3310 instructions combined to solve a machine control application Action instructions such as starting and stopping motion are combined with Program Flow instructions to form the complete program Program flow instructions evaluate real time conditions such as elapsed time or motion complete and alter program flow accordingly Each CDS 3310 instruction in a program must be separated by a delimiter Valid delimiters are the semicolon or carriage return The semicolon is used to separate multiple instructions on a single program line where the maximum number of instructions on a line is limited by 80 characters A carriage return enters the final command on a program line Using Labels in Programs All CDS 3310 programs must begin with a label and end with an End EN statement Labels start with the pound sign followed by a maximum of seven characters The first character must be a letter after that numbers are permitted Spaces are not permitted Valid labels BEGIN SQUARE X1
59. the standard homing routine will cause 20 Chapter 3 Connecting 0 CDS 3310 the motor to slew until a transition is detected in the logic state of the Home input The motor will accelerate at the rate specified by the command AC up to the slew speed After detecting the transition in the logic state on the Home Input the motor will decelerate to a stop at the rate specified by the command DC After the motor has decelerated to a stop it switches direction and approaches the transition point at the speed of 256 counts sec When the logic state changes again the motor moves forward in the direction of increasing encoder count at the same speed until the controller senses the index pulse After detection it decelerates to a stop and defines this position as 0 The logic state of the Home input can be interrogated with the command MG HMX This command returns a 0 or 1 if the logic state is low or high dependent on the CN command The state of the Home input can also be interrogated indirectly with the TS command For examples and further information about Homing see command HM FI FE of the Command Reference and the section entitled Homing in the Programming Motion Chapter of this manual Abort Input The function of the Abort input is to immediately stop the controller upon transition of the logic state NOTE The response of the abort input is significantly different from the response of an activated limit switch When the abort inp
60. trapezoidal velocity correction Instruction Interpretation GA DA Define aux encoder as the master axis for B GR2 Set gear ratio 2 1 PR300 Specify correction distance SP5000 Specify correction speed AC100000 Specify correction acceleration DC100000 Specify correction deceleration BG Start correction 52 Chapter 6 Programming Motion CDS 3310 Electronic Cam CDS 3310 The electronic cam is a motion control mode which enables the periodic synchronization of the axis of motion Similar to the gearing mode the CDS 3310 use the auxiliary encoder or the imaginary axis as the master axis The electronic cam is a more general type of electronic gearing which allows a table based relationship between the axes It allows synchronizing of the motor based on an auxiliary encoder input or on an internal reference from the imaginary axis n To illustrate the procedure of setting the cam mode consider the cam relationship shown in Figure 6 4 Step 1 Selecting the master axis The first step in the electronic cam mode is to select the master axis This is done with the instruction EAp where p X N p is the selected master axis In this example x axis will be the master Thus we specify EAX Step 2 Specify the master cycle and the change in the slave axes In the electronic cam mode the position of the master is always expressed within one cycle In this example the position of x is always expressed in the range between 0 and 6000
61. with a label and ending with an end command EN Subroutines are called from the main program with the jump subroutine instruction JS followed by a label or line number and conditional statement Up to 8 subroutines can be nested After the subroutine is executed the program sequencer returns to the program location where the subroutine was called unless the subroutine stack is manipulated as described in the following section An example of a subroutine is given below Chapter 7 Application Programming 29 Instruction Interpretation M Begin Main Program Clear Output Bit 1 JS MySub Jump to square subroutine EN End Main Program MySub subroutine MG In subroutine EN End subroutine Stack Manipulation It is possible to manipulate the subroutine stack by using the ZS command Every time a JS instruction interrupt or automatic routine such as POSERR or LIMSWI is executed the subroutine stack is incremented by 1 Normally the stack is restored with an EN instruction Occasionally it is desirable not to return back to the program line where the subroutine or interrupt was called The ZS1 command clears 1 level of the stack This allows the program sequencer to continue to the next line The 750 command resets the stack to its initial value For example 11 a limit occurs and the LIMSWI routine is executed it is often desirable to restart the program sequence instead of returning to the location where the limit occurre
62. 03 ES where A7 is the command number for PR 02 specifies 2 bytes for each data field 00 S is not active for PR 00 specifies bit 0 is active for A axis 2 1 03 E8 represents 1000 FE OE represents 500 Example The command ST Awould be A1 00 00 01 where 1 is the command number for ST 00 specifies 0 data fields 00 specifies no coordinated motion 01 specifies stop X bit 0 2 1 Binary command table COMMAND SS ee Ss reserved _ 80 reseved _ 80 _ reseved 06 Ki 82 reeved RP 1833 reeved _ TP 9 reserved _ 86 reserved PL 87 reserved ER 8 reserved 53 17 66 89 reserved 4 15 4 8a reserved 8b reserved 8c reserved b7 8d reseved 068 reseved 6 8e reserved 8f reeved 5 90 7686068 5 _ CN 1 SP 92 54 be 08 69 87 88 8 f 38 Chapter 5 Command Basics CDS 3310 5 FV 9 0 8 GR 96 858068 11 DP 97 reserved 5 reseved DE 98 7656068 9 OF 9 7656068 4 reseved reserved reseved 5 reseved 0 reserved 9e do 1 reseved 0 SH moo 5 fa prm c1 Controller Response to DATA The CDS 3310 returns a for valid commands and a for invalid commands For example if the comm
63. 1000000 DC 1000000 SP 5000 HM A BGA AMA MG AT HOME EN EDGE AC 2000000 DC 2000000 SP 8000 FEB BGB AMB MG FOUND HOME DP 0 EN CDS 3310 Upon detecting the home switch changing state the motor begins decelerating to a stop The motor then traverses very slowly back until the home switch toggles again The motor then traverses forward until the encoder index pulse is detected The CDS 3310 defines the home position 0 as the position at which the index was detected Interpretation Label Acceleration Rate Deceleration Rate Speed for Home Search Home A Begin Motion After Complete Send Message End Label Acceleration rate Deceleration rate Speed Find edge command Begin motion After complete Send message Define position as 0 End Chapter 6 Programming Motion 13 HOME SENSOR HOME SWITCH POSITION VELOCITY 1 MOTION BEGINS TOWARD HOME DIRECTION gt POSITION VELOCITY MOTION REVERSE TOWARD HOME DIRECTION POSITION VELOCITY 3 MOTION TOWARD INDEX DIRECTION gt POSITION INDEX PULSES POSITION Figure 6 10 Motion intervals in the Home sequence 14 Chapter 6 Programming Motion CDS 3310 HIM ABCD Command Summary Homing Operation command Description TS ABCD Tell Status of Switches and Inputs Operand Summary Homing Operation Operand Description Contains the value of the state of the Home Input Contains
64. 2n count rad For example a 1000 lines rev encoder is modelled as 638 DAC The DAC or D to A converter converts a 16 bit number to an analog voltage The input range of the numbers is 65536 and the output voltage range is 10V or 20V Therefore the effective gain of the DAC is K 20 65536 0 0003 V count Digital Filter The digital filter has three element in series PID low pass and a notch filter The transfer function of the filter The transfer function of the filter elements are 70 Chapter 10 Theory of Operation CDS 3310 CDS 3310 K Z A PID D z 2 2 1 Low pass 2 P Notch N z ZZ 2 2 The filter parameters and selected by the instructions KP KD KI and PL respectively The relationship between the filter coefficients and the instructions are K KP KD 4 A KD KP C KI2 B PL The PID and low pass elements are equivalent to the continuous transfer function G s G s P sD 1 8 a St a P 4KP D 4T KD I KI 2T a 1 T In 1 B where T is the sampling period For example if the filter parameters of the CDS 3310 are 4 KD 36 2 PL 0 75 T 0 001 s the digital filter coefficients are K 160 A 0 9 C 1 a 250 rad s and the equivalent continuous filter G s is G s 16 0 1445 1000 s 250 s 250 The notch filter has two complex zeros Z and z and two complex poles P and p The effec
65. 310 The CDS 3310 can run up to 8 independent programs simultaneously These programs are called threads and are numbered 0 through 7 where 0 is the main thread Multitasking is useful for executing independent operations such as PLC functions that occur independently of motion The main thread differs from the others in the following ways Chapter 7 Application Programming 19 1 Only the main thread thread 0 may use the input command IN 2 When automatic subroutines are implemented for limit switches position errors or command errors they are executed in thread 0 To begin execution of the various programs use the following instruction XQ A n Where n indicates the thread number To halt the execution of any thread use the instruction HXn where n is the thread number Note that both the XQ and HX commands can be performed by an executing program The example below produces a waveform on Output 1 independent of a move Instruction Interpretation Task1 label ATO Initialize reference time Clear Output 1 LOOP1 Loop label AT 10 Wait 10 msec from reference time SBI Set Output 1 AT 40 Wait 40 msec from reference then initialize reference Clear Output 1 JP LOOP1 Repeat Loopl TASK2 Task2 label 5 1 1 Execute Task1 LOOP2 2 label PR 1000 Define relative distance BGX Begin motion AMX After motion done WT 10 Wait 10 msec JP ZLOOP2 QIN 2 1 Repeat motion unless I
66. 33 53 Step 86 Stop 6 eese 40 15 21 65 Stop Motion seeders 61 20 Subroutine 20 18 19 20 23 26 29 30 31 32 34 43 53 59 60 61 86 SynclitOnlzatlOnz 2 4 53 SYNAR 35 36 37 Tanp 36 dir E 42 8 40 Data no rte 40 41 CDS 3310 ncn wae Rein t Es 3 32 40 15 87 8 Recordo oeoa 42 8 39 40 41 Tel Coden aa eco eos 39 40 22 Tell Position s sssssnseeseoseese0osse 15 17 33 40 38 48 Tell 10 nasce c eR 40 Terminal i e ete ene 9 10 11 20 THEO s e ceat e 66 Damping i aae ce enema em 14 65 69 72 Digital Filter esses 70 71 74 76 Modeling eese eR RT eet es 66 69 PID isse notis 14 69 70 76 Stability csse 10 57 64 65 69 73 TINIE eee een t da eet su 39 Time Interval DT4 5 RC8 40 41 Timeout donari tore 19 23 30 32 Torque nee aet tpe een 11 16 Trigger 2 2202 16 22 23 24 26 86 87 Trippoint 22 23 24 29 Troubleshoot iie ee HER 64 TTL 2 3 4 19 21 52 53 58 82 86 T tlihg 2 14 15 10 Stability iii reete tee 10 57 64 65 69 73 10 14 ere 40 User Unit RIGEN TO tees 49 Variable
67. 3310 instructions are represented by two characters followed by the appropriate parameters Each instruction must be terminated by a carriage return or semicolon Instructions are sent in ASCII and the CDS 3310 decodes each ASCII character one byte one at a time It takes approximately 0 5 msec for the controller to decode each command However the PC can send data to the controller at a much faster rate because of the FIFO buffer After the instruction is decoded the CDS 3310 returns a response to the port from which the command was generated If the instruction was valid the controller returns a colon or a question mark if the instruction was not valid For example the controller will respond to commands which are sent via the main RS 232 port back through the RS 232 port and to commands which are sent via the Ethernet port back through the Ethernet port For instructions that return data such as Tell Position TP the CDS 3310 will return the data followed by a carriage return line feed and colon It is good practice to check for after each command is sent to prevent errors An echo function is provided serial only to enable associating the CDS 3310 response with the data sent The echo is enabled by sending the command EO to the controller Unsolicited Messages Generated by Controller CDS 3310 When the controller is executing a program it may generate responses which will be sent via the main RS 232 port or Etherne
68. 8 Using Third Party Software sees 28 Data petet te d io te 29 Data Record Map see eee ee ee tecti 29 Explanation of Status and Axis Switch Information eee 32 Notes Regarding Velocity and Torque Information 33 Command eec tete e ee tere e vete Pee n HERR Red 33 Controller Response to Commands sse eren ener enne 33 Unsolicited Messages Generated by Controller essen 33 Galil Software Tools Libraries eese ener 34 Chapter 5 Command Basics 35 Introduction oen REIR 35 Command Syntax ASCI a e 7 35 37 37 5 38 5 39 Interrogating the Comtroller 4 esser dere feeit eoe ees 39 Interrogation Commands 39 Summary of Interrogation Commands 40 Interrogating Current Commanded Values sess 40 6 issued deer E COR REGES EROR Ee e EE e etin 40 Chapter 6 Programming Motion 41 vc ul A 41 Independent Axis Positioning 242 42 Command Summary Independent Axis 42 Operand Summary Independent Axis 43 Examples inet ie ea ed e i RR E RT REDE 43 Independent Jogging cies ect ee ee ee e ch eed 44
69. As with any automatic subroutine a program must be running in thread 0 at all times for it to be enabled Example A controller is used to jog the A and B axis This program allows the user to input values from the main serial port terminal The speed of either axis may be changed during motion by specifying the axis letter followed by the new speed value An ST stops motion on both axes AUTO speedA 10000 speedB 10000 Cro JG speedA speedB BGXY ZPRINT MG TO CHANGE SPEEDS MG TYPEAOR B MG TYPE S TO STOP JOGLOOP JG speedA speedB JP JOGLOOP EN COMINT JP A PICH A JP B P1CH B JP 2C PICH S ZSL CD JPZJOGLOOP A JSHNUM speedA val ZS1 CI2 JPHPRINT B JS4NUM speedB val ZS1 CI2 JP HPRINT C ST AMX CI 1 MG 8 THE END 25 ZNUM MG ENTER P1CH S AXIS SPEED N ZNUMLOOP CI 1 ZNMLP JP ZNMLP PICD 2 JP ERROR P1CD 2 val PINM EN ERROR CI 1 MG INVALID TRY AGAIN 44 e Chapter 7 Application Programming Label for Auto Execute Initial A speed Initial B speed Set Port 1 for Character Interrupt Specify jog mode speed for A and B axis Begin motion Routine to print message to terminal Print message Loop to change Jog speeds Set new jog speed End of main program Interrupt routine Check for A Check for B Check for S Jump if not X Y S New A speed Jump to Print New B speed Jump to Print Stop motion on S End Re enable interrupt Routine for enter
70. B C D sets timeout to declare an error if not in position If timeout occurs then the trippoint will clear and the stopcode will be set to 99 An application program will jump to label MCTIME Halts program execution until after specified input is at specified logic level n specifies input line Positive is high logic level negative is low level n 1 through 8 n 17 through 56 with DB 28040 ASABCDEFGH Halts program execution until specified axis has reached its slew speed AT n Halts program execution until n msec from reference time AT 0 sets reference AT n waits n msec from reference AT n waits n msec from reference and sets new reference after elapsed time Halts program execution until specified time in msec has elapsed CDS 3310 Chapter 7 Application Programming 23 Example Multiple Move Sequence The trippoint is used to separate the two PR moves If AM is not used the controller returns 2 for the second PR command because a new PR cannot be given until motion is complete Instruction TWOMOVE PR 2000 BGA AMA PR 4000 BGA EN Example Set Output after Distance Interpretation Label Position Command Begin Motion Wait for Motion Complete Next Position Move Begin 2nd move End program Set output bit 1 after a distance of 1000 counts from the start of the move The accuracy of the trippoint is the speed multiplied by the sample period Instruction SETBIT SP 10000 PA 20000 B
71. CXs for handling all of the CDS 3310 communications including support of interrupts These objects install directly into Visual Basic LabVIEW C or any software that accepts ActiveX tools and are part of the run time environment For more information contact Galil 34 Chapter 4 Communication CDS 3310 Chapter 5 Command Basics Introduction The CDS 3310 provides over 100 commands for specifying motion and machine parameters Commands are included to initiate action interrogate status and configure the digital filter These commands can be sent in ASCII or binary In ASCII the CDS 3310 instruction set is BASIC like and easy to use Instructions consist of two uppercase letters that correspond phonetically with the appropriate function For example the instruction BG begins motion and ST stops the motion In binary commands are represented by a binary code ranging from 80 to FF ASCII commands can be sent live over the bus for immediate execution by the CDS 3310 or an entire group of commands can be downloaded into the CDS 3310 memory for execution at a later time Combining commands into groups for later execution is referred to as Applications Programming and is discussed in the following chapter Binary commands cannot be used in Applications programming This section describes the CDS 3310 instruction set and syntax A summary of commands as well as a complete listing of all CDS 3310 instructions is included in the Command Ref
72. Digital Output 9 Y 0 38 DO8 Digital Output 8 Y 0 39 7 Digital Output 7 Y 0 40 006 Digital Output 6 Y 0 41 5 Digital Output 5 Y 0 42 004 Digital Output 4 Y 0 43 3 Digital Output 3 Y 0 44 DO2 Digital Output 2 Y 0 45 1 Digital Output 1 Y 0 46 BRK PWR_ Brake Power Supply 47 BRAKE Brake Output Sinking 0 48 12V 12V output 0 49 12V 12V Output 0 50 V 5V Output 0 51 A01 Analog Output 1 0 52 A2 Analog Input 2 53 All Analog Input 1 54 AGND Analog Input Ground 0 55 AGND Analog Ground 0 56 RESET Reset Input CDS 3310 SR 19900 Introduction For applications requiring a shunt regulator Galil offers a small mountable model that can be configured for varying voltage levels Two fixed voltage threshold settings are available with jumpers which can be set at either 33 or 66 volts Additionally a user defined voltage threshold can be set by changing a simple resistor This shunt regulator operates with hysteresis where the regulator switches on at the set voltage threshold and switches off at 2 volts below The shunt regulator should be placed in parallel with the power supply as in the figure below and it should be mounted to a metal surface using thermal grease to aid in heat transfer Connections are made to the unit at VS voltage supply and PG power ground using either the 4 pin Molex connector or the 8 pin Mate N Lock connector AMP 770579 1 For a summary of shunt regulator
73. End program This example makes multiple relative distance moves by waiting for each to be complete before executing new moves Instruction ZMOVES PR 12000 SP 20000 AC 100000 BGA AD 10000 SP 5000 AMA WT 200 PR 10000 SP 30000 AC 150000 BGA EN Interpretation Label Distance Speed Acceleration Start Motion Wait a distance of 10 000 counts New Speed Wait until motion is completed Wait 200 ms New Position New Speed New Acceleration Start Motion End Chapter 7 Application Programming 25 Example Define Output Waveform Using AT The following program causes Output to be high for 10 msec and low for 40 msec The cycle repeats every 50 msec Instruction Interpretation ZOUTPUT Program label ATO Initialize time reference SBI Set Output 1 LOOP Loop AT 10 After 10 msec from reference Clear Output 1 AT 40 Wait 40 msec from reference and reset reference SBI Set Output 1 JP LOOP Loop EN Conditional Jumps The CDS 3310 provides Conditional Jump JP and Conditional Jump to Subroutine JS instructions for branching to a new program location based on a specified condition The conditional jump determines if a condition is satisfied and then branches to a new location or subroutine Unlike event triggers the conditional jump instruction does not halt the program sequence Conditional jumps are useful for testing events in real time They allow the CDS 3310 to make decisions without a host
74. Forward Reverse Home Input Limit Limit Input Axis Status Information 2 Bytes BIT15 BIT14 BIT13 BIT12 BIT11 BIT10 BIT9 8 Movein Modeof Modeof FE Home l Phase 2 Phase Mode of Progress Motion Motion Find HM in of HM of HM Motion PA only Progress complete 2 Coord PR 5 zm Motion comman d issued BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 Negative Modeof Motion Motion Motion Latchis Off On Motor Direction Motion is stopping is armed Error Off Move slewing due to making armed Contour ST or final Limit decel Switch 32 Chapter 4 Communication CDS 3310 Notes Regarding Velocity and Torque Information The velocity information that is returned in the data record is 64 times larger than the value returned when using the command TV Tell Velocity See command reference for more information about TV The Torque information is represented as a number in the range of 32767 Maximum negative torque is 32767 Maximum positive torque is 32767 Zero torque is 0 QZ Command The QZ command can be very useful when using the QR command since it provides information about the controller and the data record The QZ command returns the following 4 bytes of information BYTE INFORMATION number of bytes in general block of data record number of bytes in coordinate plane block of data record Number of Bytes in each axis block of data record Controller Response to Commands Most CDS
75. GA AD 1000 SBI EN Interpretation Label Speed is 10000 Specify Absolute position Begin motion Wait until 1000 counts Set output bit 1 End program Example Repetitive Position Trigger To set the output bit every 10000 counts during a move the AR trippoint is used as shown in the next example Instruction TRIP JG 50000 BGA n 0 ZREPEAT AR 10000 TPA SBI WT50 n n 1 JP REPEAT n lt 5 STA EN 24 Chapter 7 Application Programming Interpretation Label Specify Jog Speed Begin Motion Repeat Loop Wait 10000 counts Tell Position Set output 1 Wait 50 msec Clear output 1 Increment counter Repeat 5 times Stop End CDS 3310 CDS 3310 Example Start Motion on Input This example waits for input to go low and then starts motion NOTE The AI command actually halts execution of the program until the input occurs If you do not want to halt the program sequences you can use the Input Interrupt function II or use a conditional jump an input such as JP GO IN 1 1 Instruction INPUT 10000 Example Set Output when At Speed Instruction ZATSPEED JG 50000 AC 10000 BGA ASA SBI EN Example Multiple Move with Wait Interpretation Program Label Wait for input 1 low Position command Begin motion End program Interpretation Program Label Specify jog speed Acceleration rate Begin motion Wait for at slew speed 50000 Set output 1
76. GIN 2 1 MG Type 0 to stop motion MG Type 1 to pause motion MG Type 2 to resume motion rate 2000 SPA rate LOOP PAA 10000 BGA 32 Chapter 7 Application Programming Interpretation Label for beginning of program Set up communication interrupt for serial port on CDS 3310 Message out of serial port Message out of serial port Message out of serial port Variable to remember speed Set speed of A axis motion Label for Loop Move to absolute position 10000 Begin Motion on A axis CDS 3310 AMA Wait for motion to be complete PAA 0 Move to absolute position 0 BGA Begin Motion on A axis AMA Wait for motion to be complete JP LOOP Continually loop to make back and forth motion EN End main program COMINT Interrupt Routine STOP P1CH 0 JP PAUSE P1CH 1 JP RESUME P1CH 2 Check for S stop motion Check for P pause motion Check for R resume motion 1 Do nothing STOP Routine for stopping motion STA ZS EN Stop motion on A axis Zero program stack End Program PAUSE Routine for pausing motion rate SPA Save current speed setting of A axis motion SPA 0 Set speed of A axis to zero allows for pause 1 Re enable trip point and communication interrupt RESUME Routine for resuming motion SPA rate Set speed on A axis to original speed 1 Re enable trip point and communication interrupt Example Command Error Instruction Interpretation BEGIN Begin main progr
77. H SPEED ENCODER COMPARE OUTPUT VO INTERFACE 10 PROGRAMMABLE OUTPUTS 8 PROGRAMMABLE INPUTS HIGH SPEED LATCH Figure 1 1 CDS 3310 Functional Elements Microcomputer Section The main processing unit of the CDS 3310 is a specialized 32 Bit Motorola 68331 Series Microcomputer with 4 Meg RAM and 4 Meg Flash EEPROM The RAM provides memory for variables array elements and application programs The flash EEPROM provides non volatile storage of variables programs and arrays It also contains the CDS 3310 firmware Motor Interface Galil s GL 1800 custom sub micron gate array performs quadrature decoding of each encoder at up to 12 MHz For standard servo operation the controller generates a 10 Volt analog signal 16 Bit DAC Communication The communication interface with the CDS 3310 consists of a RS 232 port and 10 100 BaseT Ethernet port The RS 232 channel can generate up to 19 2Kbaud General I O The CDS 3310 provides interface circuitry for 8 TTL inputs and 10 TTL outputs The CDS 3310 also has an additional 40 I O daughterboard DB 28040 that can be ordered as an option General input 1 can also be used a the high speed position latch A high speed encoder compare output is also provided Chapter 1 Overview 3 System Elements As shown in Fig 1 2 the CDS 3310 controller and drive system is part of a motion control system which includes motors and encoders These elements are described below Power S
78. Homing The Find Edge FE and Home HM instructions may be used to home the motor to a mechanical reference This reference is connected to the Home input line The HM command initializes the motor to the encoder index pulse in addition to the Home input The configure command CN is used to define the polarity of the home input The Find Edge FE instruction is useful for initializing the motor to a home switch The home switch is connected to the Homing Input When the Find Edge command and Begin is used the motor will accelerate up to the slew speed and slew until a transition is detected on the Homing line The motor will then decelerate to a stop A high deceleration value must be input before the find edge command is issued for the motor to decelerate rapidly after sensing the home switch The velocity profile generated is shown in Fig 6 10 The Home HM command can be used to position the motor on the index pulse after the home switch is detected This allows for finer positioning on initialization The command sequence HM and BG causes the following sequence of events to occur 1 Upon begin motor accelerates to the slew speed The direction of its motion is determined by the state of the homing input A zero GND will cause the motor to start in the forward direction 5V will cause it to start in the reverse direction The CN command is used to define the polarity of the home input pee Ou NO Example Instruction 4HOME AC
79. Label for Amplifier Error AUTOERR Label for checksum error on power up See_RS Commenting Programs There are two methods for commenting programs The first method uses the NO command and allows for comments to be embedded into Galil programs The second method used the REM statement and requires the use of Galil software NO Command The CDS 3310 provides a command NO for commenting programs This command allows the user to include up to 78 characters on a single line after the NO command and can be used to include comments from the programmer as in the following example Instruction Interpretation PATH Label NO This is a comment Comment No Operation NOTE The NO command is an actual controller command Therefore inclusion of the NO commands will require process time by the controller HINT Some users annotate their programs using the word NOTE since everything after the NO is a comment Likewise an apostrophe can be used instead of the NO command when commenting programs REM Command If you are using Galil software to communicate with the CDS 3310 controller you may also include REM statements statements begin with the word and may be followed by any comments which are on the same line The Galil terminal software will remove these statements when the program is downloaded to the controller For example PATH REM 2 D CIRCULAR PATH Executing Programs Multitasking CDS 3
80. OTE TIME does not use an underscore character _ as other keywords These keywords have corresponding commands while the keywords LR and TIME do not have any associated commands All keywords are listed in the Command Reference vl LFA Assign v1 the state of the Forward Limit Switch on the A axis v3 TIME Assign v3 the current value of the time clock v4 HMD Assign v4 the logical state of the Home input on the D axis For storing and collecting numerical data the CDS 3310 provides array space for 8000 elements The arrays are one dimensional and up to 30 different arrays may be defined Each array element has a numeric range of 4 bytes of integer 2 followed by two bytes of fraction 2 147 483 647 9999 Arrays can be used to capture real time data such as position and torque values In the contouring mode arrays are convenient for holding the points of a position trajectory in a record and playback application Defining Arrays An array is defined with the command DM The user must specify a name and the number of entries to be held in the array An array name can contain up to eight characters starting with an uppercase alphabetic character The number of entries in the defined array is enclosed in DM posA 7 Defines an array names posA with seven entries DM speed 100 Defines an array named speed with 100 entries DM posA 0 Frees array space Assignment of Array Entries Like variables each array element can be
81. P IP is used for commands and UDP is used for slave data records A total of eight handles are available Poll the operand HC for success of connection A response of indicates the command is currently executing a 2 is for a successful configuration and a 0 is for a failed configuration or no HC issued NOTE The HC command may take up to 20 seconds to complete due to the time involved in waiting for the BOOTP packets Configuration Example The example below shows a typical setup file for a three axis three CDS 3310s distributed control system This example is for a UDP system with one handle used per slave The IP addresses of the slaves are unassigned but the IP address of the master needs to have been assigned The HC command will automatically assign IP addresses to the slaves Instruction AUTO HA 5522 5533 Interpretation This program runs on the master controller when it powers up The controller with serial number 5522 will be Y and the controller with serial number 5533 will be Z HC 3 20 1 3 axis system 20 msec update rate UDP connection LOOP JP LOOP HC 1 Wait while automatic configuration operates This could take to 10 seconds IF HC 0 Test for HC success 0 failed while 2 success MG CONFIGURATION FAILED ELSE MG CONFIG SUCCESS ENDIF EN Manual Slave IP Configuration It may be desired to manually assign IP addresses to the slaves while still using the HC comman
82. Response TP AB return Tell position A and B 0000000000 0000000000 Controllers Response Interrogating Current Commanded Values Most commands can be interrogated by using a question mark as the axis specifier Type the command followed by a for each axis requested PR Request A B C D values PR Request B value only The controller can also be interrogated with operands Operands Most CDS 3310 commands have corresponding operands that can be used for interrogation Operands must be used inside of valid DMC expressions For example to display the value of an operand the user could use the command MG operand where operand is a valid DMC operand All of the command operands begin with the underscore character _ For example the value of the current position on the A axis be assigned to the variable with the command V TPA The Command Reference denotes all commands which have an equivalent operand as Used as an Operand Also see description of operands in Chapter 7 40 Chapter 5 Command Basics CDS 3310 Overview Chapter 6 Programming Motion The CDS 3310 provides several modes of motion including independent positioning and jogging and electronic gearing Each one of these modes is discussed in the following sections The example applications described below will help guide you to the appropriate mode of motion Example Application Absolute or relative positioning where
83. Specify A B C and D PR 8000 9000 Specify B and D only PR Request A B C D values PR Request B value only The CDS 3310 provides an alternative method for specifying data Here data is specified individually using a single axis specifier such as A B C or D An equals sign is used to assign data to that axis For example PRA 1000 Specify a position relative movement for the A axis of 1000 ACB 200000 Specify acceleration for the B axis as 200000 Instead of data some commands request action to occur on an axis or group of axes For example ST AB stops motion on both the A and B axes Commas are not required in this case since the particular axis is specified by the appropriate letter A B C or D If no parameters follow the instruction action will take place on all axes Here are some examples of syntax for requesting action BGA Begin A only BGB Begin B only BG ABCD Begin all axes BG BD Begin B and D only BG Begin all axes For systems with 5 or more axes the axes are referred to as A B C D E F G H BG ABCDEFGH Begin all axes BGD Begin D only 36 Chapter 5 Command Basics CDS 3310 Command Syntax Binary CDS 3310 Some commands have an equivalent binary value In the command reference these values are listed next to the command in parentheses in hexadecimal format Binary communication mode can be executed much faster than ASCII commands Binary format can only be used when commands are sent from the PC and cannot b
84. The controller determines a new command position along the trajectory every second sample period until the specified profile is complete Motion is complete when the last position command is sent by the CDS 33 10 profiler NOTE The actual motor motion may not be complete when the profile has been completed however the next motion command may be specified The Begin BG command can be issued for all axes either simultaneously or independently ABC or D axis specifiers are required to select the axes for motion When no axes are specified this causes motion to begin on all axes The speed SP and the acceleration AC can be changed at any time during motion however the deceleration DC and position PR or PA cannot be changed until motion is complete Remember motion is complete when the profiler is finished not when the actual motor is in position The Stop command ST can be issued at any time to decelerate the motor to a stop before it reaches its final position An incremental position movement IP may be specified during motion as long as the additional move is in the same direction Here the user specifies the desired position increment n The new target is equal to the old target plus the increment n Upon receiving the IP command a revised profile will be generated for motion towards the new end position The IP command does not require a BG NOTE If the motor is not moving the IP command is equivalent to the PR and BG com
85. X RLSX When INCOM V switch input to GND When INCOM GND switch input to V V range 5 to 24V Input Common Voltage NGOM RP3 2 2k Figure 2 ICM 3300 Digital Input Isolation 90 Appendices CDS 3310 Output Isolation The first four digital outputs on the ICM 3300 are set up as high current isolated outputs and are configured for High Side Sourcing operation The outputs are capable of sourcing 500 mA per output Digital outputs 5 10 and the Amp Enable Error output are low power opto outputs The output will be at the voltage that is supplied to the OUTSUP pin Up to 24 VDC may be supplied to OUTSUP The resistor packs RP10 RP11 and RP12 allow for the configuration of the active state of the outputs For example when you issue the SB1 command the polarity of the resistor pack will determine whether the output is turned on or off ICM 3300 RP10 be reversed to invert output logic lt OUTSUP 5 to 24V Pin1 to GND SB V Pin 1 to 5V SB GND GND or 5V DO 1 4 2 2k gt RP10 2 anA Load lt OUTRET 7 Figure 3 ICM 3300 General Purpose Opto Isolation for Outputs 1 4 ICM 3300 Machine RP11 amp RP12 can be reversed to invert output logic RP11 Outputs 5 8 RP12 Outputs 9 10 Err AEN lt OUTSUP 5 to 24V Pint to GND SB V Load Pin 1 to 5V SB GND GND or 5V Br RP11 12 22 2k
86. a R 2 Q Motor resistance K 4 Amp Volt Current amplifier gain KP 12 5 Digital filter gain KD 245 Digital filter zero KI 0 No integrator N 0 Counts rev Encoder line density T 1 ms Sample period The transfer function of the system elements are Motor M s Kt Js2 500 62 rad A Amp K 4 Amp V DAC 0 0003 V count Encoder 2 318 count rad ZOH 2000 s 2000 72 Chapter 10 Theory of Operation CDS 3310 Digital Filter 12 5 KD 245 0 001 Therefore D z 1030 z 0 95 Z Accordingly the coefficients of the continuous filter are P 50 D 0 98 The filter equation may be written in the continuous equivalent form G s 50 0 985 098 5 51 The system elements are shown in Fig 10 7 FILTER ZOH DAC AMP MOTOR E 50 0 980s 2000 0 0003 4 390 5 2000 Sg ENCODER 318 Figure 10 7 Mathematical model of the control system The open loop transfer function A s is the product of all the elements in the loop A 390 000 s 51 s2 s 2000 To analyze the system stability determine the crossover frequency o at which A j equals one This can be done by the Bode plot of AG as shown in Fig 10 8 Magnitude 2000 W rad s 0 1 Figure 10 8 Bode plot of the open loop transfer function CDS 3310 Chapter 10 Theory of Operation 73 For the given example the cro
87. abel 10 16 18 21 26 27 29 39 Special Label 18 19 23 30 31 53 60 61 Eatchi ede tees 3 32 40 15 87 Arm ER 15 Position Capture sss 15 Limit Switch 21 50 18 20 21 30 31 39 59 61 65 82 86 86 61 59 31 30 19 20 4 7 43 26 Logical Masking nen 27 35 36 45 Math 000000 36 40 Absolute 0 53 UH EE 3 19 23 30 32 Memory 3 26 35 7 16 21 26 30 31 39 40 54 2 4222222 28 33 21 29 36 45 46 Modelling sss 69 Motion Complete a didi tent 19 23 30 32 Motion Smoothing sess 42 43 45 11 Motor Command see 16 72 83 Multitasking esee eere ende 19 33 OE rennen 21 Off On Error ceri teet 21 32 58 60 Operand Internal Variable eee Re 17 27 37 Operator Bit Wie vont IIR TE 27 35 Output Amplifier Enable sss 5 58 60 Digital Output 2 3 22 20 24 36 50 53 54 55 82 Error Output eerte ertet tr 22 23 58 Motor 69 70 Output Compa 22 22 Outp t of Data ERES 45 PID 14 69 70 76 Pl yb ek tiet een tr he deese 8
88. able Names REALLONGNAME Cannot have more than 8 characters 123 Cannot begin variable name with a number SPEED C Cannot have spaces in the name Assigning Values to Variables Assigned values can be numbers internal variables and keywords functions controller parameters and strings Chapter 7 Application Programming 37 The range for numeric variable values is 4 bytes of integer 2 followed by two bytes of fraction 2 147 483 647 9999 Numeric values be assigned to programmable variables using the equal sign Any valid CDS 3310 function can be used to assign a value to a variable For example V1 ABS v2 or v2 IN 1 Arithmetic operations are also permitted To assign a string value the string must be in quotations String variables can contain up to six characters which must be in quotation Instruction Interpretation Assigns returned value from TPA command to variable posA SPEED 5 75 Assigns value 5 75 to variable SPEED input IN 2 Assigns logical value of input 2 to variable input v2 v1 v3 v4 Assigns the value of v1 plus v3 times v4 to the variable v2 Var CAT Assign the string CAT to Var Assigning Variable Values to Controller Parameters Variable values may be assigned to controller parameters such as KD or PR PR vl Assign v1 to PR command SP vS 2000 Assign vS 2000 to SP command Displaying the value of variables at the terminal Variables may be sent to the screen using the for
89. ad of 59 degrees These requirements may be expressed as GG500 j500D 160 and arg G j500 tan 500D P 59 The solution of these equations leads to P 160cos 59 82 4 Chapter 10 Theory of Operation 75 500D 160sin 59 137 Therefore D 0 274 and G 82 4 0 27445 The function is equivalent to a digital filter of the form D z 4 4 0 1 271 where 4 D 4 KD T and 4 KD D T Assuming a sampling period of T 1ms the parameters of the digital filter are KP 20 6 KD 68 6 The CDS 3310 can be programmed with the instruction KP 20 6 KD 68 6 In a similar manner other filters can be programmed The procedure is simplified by the following table which summarizes the relationship between the various filters Equivalent Filter Form CDS 3310 Digital D z K z A z Cz z 1 1 B Z B Digital D z 4 KP 4 KD 1 z P 2 1 271 1 7 KP KD KI PL 4 A KD KP KD 2 B PL Continuous G s Ds I s 48 PID T P 4KP D 4T KD I 2 a 1 T In 1 PL 76 Chapter 10 Theory of Operation CDS 3310 THIS PAGE LEFT BLANK INTENTIONALLY CDS 3310 Chapter 10 Theory of Operation 77 Chapter 11 Distributed Control Overview In the distributed mode of operation the CDS 3310 is used in conjunction with up to 7 other CDS 3310s connected via Ethernet Programming is simplified because multiple co
90. ady traveling at 1 000 000 cts sec and the slave will be geared at a ratio of 1 1 when the gearing is engaged the slave will instantly develop following error and command maximum current to the motor This can be a large shock to the system For many applications it is acceptable to slowly ramp the engagement of gearing over a greater time frame Galil allows the user to specify an interval of the master axis over which the gearing will be engaged For example the same master X axis in this case travels at 1 000 000 counts sec and the gear ratio is 1 1 but the gearing is slowly engaged over 30 000 cts of the master axis greatly diminishing the initial shock to the slave axis Figure 1 below shows the velocity vs time profile for instantaneous gearing Figure 2 shows the velocity vs time profile for the gradual gearing engagement 4 4 1 1 4 Figure 1 Velocity cts sec vs Time msec Instantaneous Gearing Engagement 50 Chapter 6 Programming Motion CDS 3310 1 1 1 1 1 1 1 1 zd Exe 2 Figure 2 Velocity cts sec vs Time msec Ramped Gearing The slave axis for each figure is shown in the bottom portion of the figure the master axis is shown in the top portion The shock to the slave axis will be significantly less in figure 2 than in figurel The ramped gearing does have one consequence There isn t a true synchronization of the two axes until the ge
91. al output 7 general output 8 general output 9 error code general status reserved reserved reserved reserved BLOCK Header Header Header Header I block I block I block I block I block I block I block I block I block I block I block I block I block I block I block I block I block I block I block I block I block I block I block S block S block S block T block Chapter 4 Communication 29 UW SL UW UB UB SL SL SL SL SL SW SW UW UB UB SL SL SL SL SL SW SW UW UB UB SL SL SL SL SL SW SW UW UB UB SL SL SL SL SL SW SW UW UB UB 30 Chapter 4 Communication reserved reserved a axis status a axis switches a axis stopcode a axis reference position a axis motor position a axis position error a axis auxiliary position a axis velocity a axis torque 0 or a axis analog DB 28040 b axis status b axis switches b axis stopcode b axis reference position b axis motor position b axis position error b axis auxiliary position b axis velocity b axis torque 0 or b axis analog DB 28040 c axis status axis switches axis stopcode c axis reference position axis motor position axis position error axis auxiliary position c axis velocity c axis torque 0 axis analog DB 28040 d axis status d axis switches d axis stopcode d axis reference position d axis motor position d axis position error d axis auxiliary position d axis v
92. alil software that enables communication between the controller and PC The following instructions apply to Windows 98 second edition NT ME 2000 or XP To install the basic communications software run the Galil Chapter 2 Getting Started 9 Software CD ROM and choose DMCSmartTerm This will install the Galil Smart Terminal which can be used for communication and programming of the controller Step 4 Establish Communication In order for the Windows software to communicate with a Galil controller the controller must be registered in the Windows Registry The registry is accessed through the Galil software such as WSDK or Galil Smart Terminal The registry window is equipped with buttons to Add a New Controller change the Properties of an existing controller Delete a controller or Find an Ethernet Controller Edit Registry Index Description Model Controller Details Controller DMC 1800 CDS 33 0 Non PnP Tools Controller2 DMC 1802 Ethemet Communication Interface Controller3 DMC 21 3 2 IP Address 10 10 10 5 New Controller Controller4 SN Protocol TCP Controller S DMC 2200 Serial Number 6 Delete Controller6 05 33 0 Controller DMC 2100 Eind Ethernet Controllers 05 33 0 Controller Edit Controller Properties Plug and Play Device gt NM Non Plug and Play Device Step A1 Register a Serial Controller Connect the CDS 3310 serial port to your computer via the Galil CABLE 9PIN D RS 232 Strai
93. alues used for masking are represented in hexadecimal as denoted by the preceding For more information see section Sending Messages To illustrate further if the user types in the string at the input prompt the controller will respond with the following T Response from command MG len6 S4 E Response from command MG 1 5 S4 5 Response from command MG len4 54 T Response from command MG len3 S4 M Response from command MG len2 S4 E Response from command MG len S4 Functions FUNCTION DESCRIPTION SIN n Sine of n n in degrees with range of 32768 to 32767 and 16 bit fractional resolution COS n Cosine of n n in degrees with range of 32768 to 32767 and 16 bit fractional resolution TAN n Tangent of n n in degrees with range of 32768 to 32767 and 16 bit fractional resolution ASIN n Arc Sine of n between 90 and 90 Angle resolution in 1 64000 degrees ACOS n Arc Cosine of n between 0 180 Angle resolution in 1 64000 degrees ATAN n Arc Tangent of n between 90 and 90 Angle resolution in 1 64000 degrees GINTIS 36 e Chapter 7 Application Programming CDS 3310 Note that these functions are multi valued An application program may be used to find the correct band Functions may be combined with mathematical expressions The order of execution of mathematical expressions is from left to right
94. am IN ENTER SPEED speed Prompt for speed JG speed BGA Begin motion JP BEGIN Repeat EN End main program CMDERR Command error utility JP DONE _ED lt gt 2 JP DONE _TC lt gt 6 MG SPEED TOO HIGH MG TRY AGAIN Check if error on line 2 Check if out of range Send message Send message ZS1 Adjust stack JP BEGIN Return to main program DONE End program if other error 280 Zero stack EN End program The above program prompts the operator to enter a jog speed If the operator enters a number out of range greater than 8 million the CMDERR routine will be executed prompting the operator to enter a new number In multitasking applications there is an alternate method for handling command errors from different threads Using the XQ command along with the special operands described below allows the controller to either skip or retry invalid commands CDS 3310 Chapter 7 Application Programming 33 OPERAND FUNCTION _ 1 Returns the number of the thread that generated an error _ED2 Retry failed command operand contains the location of the failed command _ED3 Skip failed command operand contains the location of the command after the failed command The operands are used with the XQ command in the following format XQ ED2 or ED3 ED1 1 Where the 1 at the end of the command line indicates a restart therefore the existing program stack will not be removed when the above format executes The followi
95. and BG is sent in lower case the CDS 3310 will return a bg retur invalid command lower case CDS 3310 returns a When the controller receives an invalid command the user can request the error code The error code will specify the reason for the invalid command response To request the error code type the command TC1 For example TC1 return Tell Code command 1 Unrecognized Command Returned response There are many reasons for receiving an invalid command response The most common reasons are unrecognized command such as typographical entry or lower case command given at improper time such as during motion or a command out of range such as exceeding maximum speed A complete listing of all codes is listed in the TC command in the Command Reference Interrogating the Controller CDS 3310 Interrogation Commands The CDS 3310 has a set of commands that directly interrogate the controller When the command is entered the requested data is returned in decimal format on the next line followed by a carriage return and line feed The format of the returned data can be changed using the Position Format PF Variable Format VF and Leading Zeros LZ command See Chapter 7 and the Command Reference Chapter 5 Command Basics 39 Summary of Interrogation Commands For example the following example illustrates how to display the current position of the X axis TP A lt return gt Tell position A 0000000000 Controllers
96. aring ramp is complete The slave will lag behind the true ratio during the ramp period If exact position synchronization is required from the point gearing is initiated then the position must be commanded in addition to the gearing The controller keeps track of this position phase lag with the GP operand The following example will demonstrate how the command is used Example Electronic Gearing Over a Specified Interval Objective Run a geared motor at a speed of 1 132 times the speed of an external master Because the master is traveling at high speeds it is desirable for the speeds to change slowly We will implement the gearing change over 6000 counts 3 revolutions of the master axis GADA Specify aux encoder as the master GD 6000 Specify ramped gearing over 6000 counts of the master axis GR 1 132 Specify gear ratios Question What is the effect of the ramped gearing Answer Had GD not been issued gearing would take effect immediately and if the master traveled 6000 counts the slave would travel 6792 counts Using the ramped gearing the slave will engage gearing gradually Since the gearing is engaged over the interval of 6000 counts of the master the slave will only travel 3396 counts The difference between these two values is stored in GPn operand If exact position synchronization is required the IP command is used to adjust for the difference CDS 3310 Chapter 6 Programming Motion 51 Command Summary Electro
97. as parabolic spherical or user defined profiles The path is not limited to straight line and arc segments and the path length may be infinite Specifying Contour Segments The Contour Mode is specified with the command CM For example CMAC specifies contouring on the A and C axes Any axes that are not being used in the contouring mode may be operated in other modes A contour is described by position increments which are described with the command CD a b c d over a time interval DT n The parameter n specifies the time interval The time interval is defined as 2 ms where n is a number between and 8 The controller performs linear interpolation between the specified increments where one point is generated for each millisecond Consider for example the trajectory shown in Fig 6 6 The position A may be described by the points Point 1 A 0 at T 0ms 4 e Chapier 6 Programming Motion CDS 3310 CDS 3310 Point 2 A 48 at T 4ms Point 3 A 288 at T 12ms Point 4 A 336 at T 28ms The same trajectory may be represented by the increments Increment 1 DA 48 Time 4 DT 2 Increment 2 DA 240 Time 8 DT 3 Increment 3 DA 48 Time 16 DT 4 When the controller receives the command to generate a trajectory along these points it interpolates linearly between the points The resulting interpolated points include the position 12 at 1 msec position 24 at 2 msec etc The programmed commands to specify the above example are Instruction Interp
98. ate the axis a distance of 10 000 counts at a slew speed of 20 000 counts sec and an acceleration and deceleration rates of 100 000 counts s2 In this example the motor turns and stops Instruction Interpretation PR1000 Distance SP20000 Speed DC 100000 Deceleration AC 100000 Acceleration BG Start Motion Position Interrogation The position of the axis may be interrogated with the instruction TP Instruction Interpretation TP Tell position The position error which is the difference between the commanded position and the actual position can be interrogated with the instruction TE Instruction Interpretation TE Tell error Absolute Position Objective Command motion by specifying the absolute position Instruction Interpretation DP 2000 Define the current positions as 2000 PA 7000 Sets the desired absolute position BG Start A motion After motion is complete the axis can be command back to zero PA 0 Move to 0 BG Start motion Chapter 2 Getting Started 15 Velocity Control Objective Drive the motor at specified speeds Instruction Interpretation JG20000 Set Jog Speed and Direction AC 100000 Set acceleration DC 50000 Set deceleration BG Start motion after a few seconds command JG 40000 New A speed and Direction TV Returns A speed These cause velocity changes including direction reversal The motion can be stopped with the instruction ST Stop Operation Under Torque Limit The magnitude of the
99. ation program will jump to the ZAMPERR automatic subroutine Once the routine is running the user can program conditional statements to alert the operator to the amplifier error shut off the amplifiers turn on the error output etc Instruction A JP AMPERR vl TAl v2 12 IF v2 1 MG Hall Error on X ENDIF IF v2 2 MG Hall Error on Y ENDIF IF v2 4 MG Hall Error on 7 ENDIF If v2 8 MG Hall Error on W IF 1 1 MG Overcurrent ENDIF IF v1 2 MG Overvoltage ENDIF IF 1 4 MG Too Hot ENDIF IF v1 8 MG Voltage too low ENDIF MO EN 62 Chapter 8 Hardware amp Software Protection Interpretation Dummy Program Amplifier Error Utility Set variable v1 to general amplifier set v2 to Hall Error Check Hall error on X axis Alert Operator Check Hall error on Y axis Alert Operator Check Hall error on Z axis Alert Operator Check Hall Error on W axis Alert Operator Check for Overcurrent Alert Operator Check for Overvoltage Alert Operator Check for Overtemperature Alert Operator Check for Undervoltage Alert Operator Motors Off End Program CDS 3310 THIS PAGE LEFT PLANK INTENTIONALLY CDS 3310 Chapter 8 Hardware amp Software Protection 63 Chapter 9 Troubleshooting Overview The following discussion may help you get your system to work Potential problems have been divided into groups as follows 1 Installation 2 Communication 3 Stab
100. axis 7W AIT Wait label for loop JP WAIT ALB 1 Jump to Wait label if latch has not occurred Result RLB Set Result equal to the reported position of y axis Result Print result EN End Chapter 6 Programming Motion 15 Chapter 7 Application Programming Overview CDS 3310 provides a powerful programming language that allows users to customize the controller for their particular application Programs can be downloaded into the CDS 3310 memory freeing the host computer for other tasks However the host computer can send commands to the controller at any time even while a program is being executed Only ASCII commands can be used for application programming In addition to standard motion commands the CDS 3310 provides commands that allow the CDS 3310 to make its own decisions These commands include conditional jumps event triggers and subroutines For example the command JPZLOOP n 10 causes a jump to the label LOOP if the variable n is less than 10 For greater programming flexibility the CDS 3310 provides user defined variables arrays and arithmetic functions For example with a cut to length operation the length can be specified as a variable in a program which the operator can change as necessary The following sections in this chapter discuss all aspects of creating applications programs The program memory size is 80 characters x 1000 lines Using the DOS Editor to Enter Programs The CDS 3310 has an inter
101. ay the value of an operand the message command may be used For example since the operand ED contains the last line of program execution the command MG ED will display this line number ED contains the last line of program execution Useful to determine where program stopped DL contains the number of available labels _UL contains the number of available variables _DA contains the number of available arrays DM contains the number of available array elements _AB contains the state of the Abort Input _LFa contains the state of the forward limit switch for the a axis _LRa contains the state of the reverse limit switch for the a axis _RS contains the state of the power up error status CDS 3310 Chapter 7 Application Programming 21 Example The following program has an error It attempts to specify a relative movement while the A axis is already in motion When the program is executed the controller stops at line 003 The user can then query the controller using the command TC1 The controller responds with the corresponding explanation Instruction ED 000 ZA 001 PR1000 002 BGA 003 PR5000 004 EN lt cntrl gt XQ A 003 PR5000 97 Command not valid while running ED 3 003 AMX PR5000 BGA lt cntrl gt Q XQ A Program Flow Commands Interpretation Edit Mode Program Label Position Relative 1000 Begin Position Relative 5000 End Quit Edit Mode Execute A Error on Line 3 Tell Err
102. cally by a program The following program includes the set up The instruction EAN defines N as the master axis The cycle of the master is 2000 Over that cycle X varies by 1000 This leads to the instruction EM 2000 1000 2 e Chapter 6 Programming Motion CDS 3310 CDS 3310 Suppose we want to define a table with 100 segments This implies increments of 20 counts each If the master points are to start at zero the required instruction is EP 20 0 The following routine computes the table points As the phase equals 0 18N and N varies in increments of 20 the phase varies by increments of 3 6 The program then computes the values of X according to the equation and assigns the values to the table with the instruction ET n X Instruction Interpretation SETUP Label EAN Select N as master EM 2000 1000 Cam cycles EP 20 0 Master position increments n 0 Index LOOP Loop to construct table from equation 3 6 Note 3 6 0 18 20 S SIN P 100 Define sine position 5 Define slave position ET n X Define table 1 JP LOOP gt 0 Repeat the process EN Now suppose that the slave axis is engaged with a start signal input 1 but that both the engagement and disengagement points must be done at the center of the cycle N 1000 and X 500 This implies that X must be driven to that point to avoid a jump This is done with the program Instruction Interpretation RUN Label Enable cam 500 X startin
103. can have a maximum of 8 Ethernet handles open at any time The TH command may be used to indicate which handles are currently connected to and which are currently free When using TCP IP each master or slave uses an individual Ethernet handle In UDP IP one handle may be used for all the masters but each slave uses one Pings and ARP s do not occupy handles If all 8 handles are in use and a 9 master tries to connect it will be sent a reset packet that generates the appropriate error in its windows application When the Galil controller acts as the master the IH command is used to assign handles and connect to its slaves The IP address may be entered as a 4 byte number separated with commas industry standard uses periods or as a signed 32 bit number A port number may also be specified but if it is not it will default to 1000 The protocol TCP IP or UDP IP to use must also be designated at this time Otherwise the controller will not connect to the slave Ex 151 25 255 9 lt 179 gt 2 This will open handle B and connect to the IP address 151 25 255 9 port 179 using TCP IP 26 Chapter 4 Communication CDS 3310 CDS 3310 If the slave is another Galil Ethernet controller the SA command can be used to send commands as in the following example 10 10 10 20 open a handle to another Galil controller L JP L 2 lt gt 2 wait until the connection is complete SAC MG TPX sent a command to the cont
104. ch CDS 3310 provides two communication channels RS 232 up to 19 2K Baud and 10 100BaseT Ethernet The serial port may be replaced with a USB port as a factory option A 4Meg Flash EEPROM provides non volatile memory for storing application programs parameters arrays and firmware New firmware revisions are easily upgraded in the field Designed to solve complex motion problems the CDS 3310 can be used for applications involving jogging point to point positioning electronic gearing to an encoder multiple move sequences and contouring The controller eliminates jerk by programmable acceleration and deceleration with profile Chapter 1 Overview 1 smoothing For smooth following of complex contours the CDS 3310 provides continuous feed of an infinite number of linear segments contour mode For synchronization with outside events the CDS 3310 provides uncommitted I O including 8 digital inputs 10 digital outputs 2 analog intputs 0 5 and one analog output 10V to 10V When the DB 28040 is added to the controller the CDS 3310 has 8 analog inputs and an additional 40 digital Dedicated TTL inputs are provided for forward and reverse limit switches a home switch and abort Commands can be sent in either Binary or ASCII Additional software is available for automatic tuning trajectory viewing on a PC screen and program development using many environments such as Visual Basic C C etc Drivers for DOS Linux QNX Window
105. complete move Noise on limit switches stops the To verify cause check the stop motor code SC If caused by limit switch noise reduce noise During a periodic operation motor Encoder noise Interrogate the position drifts slowly periodically If controller states that the position is the same at different locations it implies encoder noise Reduce noise Use differential encoder inputs Same as above Programming error Avoid resetting position error at end of move with SH command CDS 3310 Chapter 9 Troubleshooting 65 Chapter 10 Theory of Operation Overview The following discussion covers the operation of motion control systems A typical motion control system consists of the elements shown in Fig 10 1 COMPUTER CONTROLLER ENCODER DRIVER ND Figure 10 1 Elements of Servo Systems The operation of such a system can be divided into three levels as illustrated in Fig 10 2 The levels are 1 Closing the Loop 2 Motion Profiling 3 Motion Programming The first level the closing of the loop assures that the motor follows the commanded position This is done by closing the position loop using a sensor The operation at the basic level of closing the loop involves the subjects of modeling analysis and design These subjects will be covered in the following discussions The motion profiling is the generation of the desired position function Th
106. conversion is 12 bits 16 bit optional Consult Galil Analog inputs are useful for reading special sensors such as temperature tension or pressure The following examples show programs which cause the motor to follow an analog signal The first example is a point to point move The second example shows a continuous move Example Position Follower Point to Point Objective The motor must follow an analog signal When the analog signal varies by 10V motor must move 10000 counts Method Read the analog input and command A to move to that point Instruction Interpretation POINTS Label SP 7000 Speed AC 80000 DC 80000 Acceleration LOOP vp AN 1 1000 Read and analog input compute position PA vp Command position BGA Start motion Chapter 7 Application Programming 51 AMA After completion JP LOOP Repeat EN End Example Position Follower Continuous Move Method Read the analog input compute the commanded position and the position error Command the motor to run at a speed in proportions to the position error Instruction Interpretation CONT Label AC 80000 DC 80000 Acceleration rate JG 0 Start Jog mode BGX Start motion LOOP vp AN 1 1000 Compute desired position 1000 chosen for system ve vp _TPA Find position error vel ve 20 Compute velocity 20 chosen for system JG vel Change velocity JP LOOP Change velocity EN End NOTE Position tacking mode also provides for a continuous move Analo
107. ction ET n x where n indicates the order of the point The value n starts at zero and may go up to 256 The parameter x indicates the corresponding slave position For this example the table may be specified by ET 0 0 ET 1 3000 ET 2 2250 ET 3 1500 This specifies the ECAM table Step 5 Enable the ECAM To enable the ECAM mode use the command EBn where 1 enables ECAM mode and n 0 disables ECAM mode Step 6 Engage the slave motion To engage the slave motion use the instruction EGx where x is the master position at which the x axis must be engaged If the value of any parameter is outside the range of one cycle the cam engages immediately When the cam is engaged the slave position is redefined modulo one cycle 54 Chapter 6 Programming Motion CDS 3310 Step 7 Disengage the slave motion To disengage the cam use the command EQx where x is the master position at which the x axis must be disengaged 3000 2250 1500 0 2000 4000 6000 Master X Figure 6 4 Electronic Cam Example This disengages the slave axis at a specified master position If the parameter 1s outside the master cycle the stopping is instantaneous To illustrate the complete process consider the cam relationship described by the equation 0 18 N 100 sin 0 5 where N is the master with a cycle of 2000 counts The cam table can be constructed manually point by point or automati
108. ctivates a start switch This causes a motor to advance the wire a distance of 10 When the motion stops the controller generates an output signal which activates the cutter Allowing 100 ms for the cutting completes the cycle Suppose that the motor drives the wire by a roller with a 2 diameter Also assume that the encoder resolution is 1000 lines per revolution Since the circumference of the roller equals 27 inches and it corresponds to 4000 quadrature one inch of travel equals 4000 2 637 count inch This implies that a distance of 10 inches equals 6370 counts and a slew speed of 5 inches per second for example equals 3185 count sec The input signal may be applied to for example and the output signal is chosen as output 1 The motor velocity profile and the related input and output signals are shown in Fig 7 1 The program starts at a state that we define as Here the controller waits for the input pulse on I1 As soon as the pulse is given the controller starts the forward motion Upon completion of the forward move the controller outputs a pulse for 20 ms and then waits an additional 80 ms before returning to A for a new cycle Chapter 7 Application Programming 55 Instruction Interpretation A Label All Wait for input 1 PR 6370 Distance SP 3185 Speed BGA Start Motion AMA After motion is complete SBI Set output bit 1 WT 20 Wait 20 ms Clear output bit 1 WT 80 Wait 80 ms JP A Repeat the
109. cts the type of data to be recorded where typel type2 type3 and type 4 represent the various types of data see command reference The order of data type is important and corresponds with the order of n m o p arrays in the RA command The RC command begins data collection Sets data capture time interval where nis an integer between 1 and 8 and designates 2 msec between data m is optional and specifies the number of elements to be captured If m is not defined the number of elements defaults to the smallest array defined by DM When m is a negative number the recording is done continuously in a circular manner RD is the recording pointer and indicates the address of the next array element N 0 stops recording Returns a 0 or 1 where 0 denotes not recording 1 specifies recording in progress Operand Summary Automatic Data Capture Returns a 0 or 1 where 0 denotes not recording 1 specifies recording in progress Returns address of next array element Example Recording into An Array Instruction Interpretation RECORD Begin program DM apos 300 bpos 300 Define A B position arrays DM aerr 300 berr 300 Define A B error arrays RA apos aerr bpos berr RD TPA TEA TPB TEB PR 10000 20000 Select arrays for capture Select data types Specify move distance Start recording now at rate of 2 msec BG AB Begin motion A JP ZA RC 1 Loop until done MG DONE Print message EN End program
110. d To do this give a ZS command at the end of the LIMSWI routine Auto Start Routine The CDS 3310 has a special label for automatic program execution A program which has been saved into the controllers non volatile memory can be automatically executed upon power up or reset by beginning the program with the label AUTO The program must be saved into non volatile memory using the command BP Automatic Subroutines for Monitoring Conditions Often it is desirable to monitor certain conditions continuously without tying up the host or CDS 3310 program sequences The CDS 3310 can monitor several important conditions in the background These conditions include checking for the occurrence of a limit switch a defined input position error or acommand error Automatic monitoring is enabled by inserting a special predefined label in the applications program The pre defined labels are ANINT FAMPERR For example the POSERR subroutine will automatically be executed when any axis exceeds its position error limit The commands in the POSERR subroutine could decode which axis is in error and take the appropriate action In another example the ININT label could be used to designate an 30 e Chapter 7 Application Programming CDS 3310 input interrupt subroutine When the specified input occurs the program will be executed automatically NOTE An application program must be running for automatic m
111. d inputs uncommitted outputs two user defined variables ZA and ZB In order for the HC command to be initiated an IP address must first be assigned to the master see chapter 2 The slaves will typically remain without IP addresses Once HC is initiated the master controller will listen for BOOTP packets from the slave controllers without IP addresses As it receives these packets the master will configure the slave axes according to the HA command Once this connection has been established the master will initiate the slave data records 78 Chapter 11 Distributed Control CDS 3310 The full procedure for this method is as follows Step 1 Step 2 Step 3 Step 4 Step 5 Assign IP address to master controller through SmartTerm see Chapter 2 Determine serial numbers of the slave controllers with the Find Ethernet Controllers feature in SmartTerm Issue the HA command indicating which slaves correspond to which axes in the system where the arguments to HA are the serial numbers found in step 2 Issue the command HCn m o where n is the total number of axes m is the slave data update rate in milliseconds and o is a 1 for UDP communication or 2 for TCP IP communication When using UDP communication the HC command will assign one handle for both commands and slave data records When using TCP IP communication the HC command will assign one handle for commands and one handle for slave data records If o is a 3 then TC
112. d speed parameters that have been set The motion profile in this mode is trapezoidal There is not a set limit governing the rate at which the end point may be changed however at the standard TM rate the controller updates the position information at the rate of Imsec The controller generates a profiled point every other sample and linearly interpolates one sample between each profiled point Some examples of applications that may use this mode are satellite tracking missile tracking random pattern polishing of mirrors or lenses or any application that requires the ability to change the endpoint without completing the previous move The PA command is typically used to command an axis or multiple axes to a specific absolute position For some applications such as tracking an object the controller must proceed towards a target and have the ability to change the target during the move In a tracking application this could occur at any time during the move or at regularly scheduled intervals For example if a robot was designed to follow a moving object at a specified distance and the path of the object wasn t known the robot would be required to constantly monitor the motion of the object that it was following To remain within a specified distance it would also need to constantly update the position target it is moving towards Galil motion controllers support this type of motion with the position tracking mode This mode will allow scheduled or ran
113. d to connect to these slaves This is possible but you will need to take into account the addressing scheme the HC command uses When the HC command is initiated the master will ARP addresses where it expects slave controllers to reside If no controllers respond to the ARPs the master will then listen for the BOOTP packets from un assigned slave controllers CDS 3310 Chapter 11 Distributed Control 79 For addressing the slaves manually the IP address MUST be assigned as follows This will insure that the HC command will properly configure these controllers based on the master IP address Assume Master IP address m n o p where m n o and p is a valid Ethernet IP address First Slave IP address Axis B m n o p42 Second Slave IP address Axis C m n o p 4 For example in a 4 axis system the following IP addresses would be set Master X Axis IP address 10 10 50 10 B Axis CDS 3310 10 10 50 12 C Axis CDS 3310 10 10 50 14 D Axis CDS 3310 10 10 50 16 Global versus Local Commands Global Commands The command set of the controller is divided into global and local commands When a global command is sent to the master CDS 3310 e g from a PC or an application program running on the master it affects one or more controllers in the system axes A to H just as if the master were a multi axis controller GLOBAL OPERATION Host Computer RS 232 o Ethernet CDS 3510 master CDS CDS
114. depending on the function code that is called For more information refer to the Command Reference The third level of Modbus communication uses standard Galil commands Once the slave has been configured the commands that may be used are IN SB CB OB and AO For example AO 2020 8 2 would tell I O number 2020 to output 8 2 volts If a specific slave address is not necessary the I O number to be used can be calculated with the following Number HandleNum 1000 Module 1 4 BitNum 1 Chapter 4 Communication 27 Where HandleNum is the handle number from 1 A to 8 Module is the position of the module in the rack from 1 to 16 BitNum is the I O point in the module from 1 to 4 If an explicit slave address is to be used the equation becomes Number SlaveAddress 10000 HandleNum 1000 Module 1 4 Bitnum 1 To view an example procedure for communicating with an OPTO 22 rack refer to the appendix Which devices receive what information from the controller depends on a number of things Ifa device queries the controller it will receive the response unless it explicitly tells the controller to send it to another device If the command that generates a response is part of a downloaded program the response will route to whichever port is specified as the default unless explicitly told to go to another port with the switch ON designates Ethernet in which case it goes to the last handle to
115. der channel fails the position reporting varies by one count only If the encoder failed replace the encoder If you cannot observe the encoder signals try a different encoder 3 There is a hardware failure in the controller connect the same encoder to a different controller If the problem disappears you probably have a hardware failure Consult the factory for help Step 6 Configure Amplifier Step A Set the amplifier Gain Select the amplifier gain that 1s appropriate for the motor The amplifier gain command AG can be set to 0 1 or 2 corresponding to 0 4 0 7 and 1 0 A V Step B Set the Error Limit Usually there is uncertainty about the correct polarity of the feedback The wrong polarity causes the motor to run away from the starting position Using a terminal program such as Galil SmartTerminal the following parameters can be given to avoid system damage ER 2000 CR Sets error limit on the A axis to be 2000 encoder counts OE 1 lt CR gt Disables A axis amplifier when excess position error exists If the motor runs away and creates a position error of 2000 counts the motor amplifier will be disabled Step C Set Torque Limit Peak and continuous torque limits can be set through TK and TL respectively The TK and TL values are entered in volts on an axis by axis basis The peak limit will set the maximum voltage that will be output from the controller to the amplifier The continuous current will set what the maxim
116. dom updates to the current position target on the fly Based on the new target the controller will either continue in the direction it is heading change the direction it is moving or decelerate to a stop The position tracking mode shouldn t be confused with the contour mode The contour mode allows the user to generate custom profiles by updating the reference position at a specific time rate In this mode the position can be updated randomly or at a fixed time rate but the velocity profile will always be trapezoidal with the parameters specified by AC DC and SP Updating the position target at a specific rate will not allow the user to create a custom profile The following example will demonstrate the possible different motions that may be commanded by the controller in the position tracking mode In this example there is a host program that will generate the absolute position targets The absolute target is determined based on the current information the host program has gathered on the object that it is tracking The position tracking mode does allow for all of the axes on the controller to be in this mode but for the sake of discussion it is assumed that the robot is tracking only in the X dimension The controller must be placed in the position tracking mode to allow on the fly absolute position changes This is performed with the PT command To place the X axis in this mode the host would issue to the controller if both X and Y
117. e been executed DTO Set contour update rate to 0 CDO Disable the contour mode combination of DTO and EN End program For additional information about automatic array capture see Chapter 7 Arrays Virtual Axis The CDS 3310 controller has an additional virtual axis designated as the N axis This axis has no encoder and no DAC However it can be commanded by the commands AC DC JG SP PR PA BG IT GA ST DP RP Dual Loop Auxiliary Encoder CDS 3310 The CDS 3310 provides an interface for a second encoder except when configured for output compare When used the second encoder is typically mounted on the motor or the load but may be mounted in any position The most common use for the second encoder is backlash compensation described below The second encoder may be a standard quadrature type or it may provide pulse and direction The controller also offers the provision for inverting the direction of the encoder rotation The main and the auxiliary encoders are configured with the CE command The command form is CE a b c d or a b c d e f g h for controllers with more than 4 axes where the parameters a b c d each equal the sum of two integers m and n m configures the main encoder and n configures the auxiliary encoder Using the CE Command m Main Encoder In Second Encoder lo Normal quadrature o Normal quadrature Pulse amp direction Pulse amp direction Reverse pulse amp direction Reversed pulse
118. e embedded in an application program hexadecimal format represents a byte as two 4 bit values Each 4 bit value is represented as a single character with a decimal equivalent between 0 and 15 The characters used for representing 10 15 is A B C D E and F For example the hexadecimal value 6D represent the binary value 01101101 Negative values are represented in 2 s complement Binary Command Format All binary commands have a 4 byte header and is followed by data fields The 4 bytes are specified in hexadecimal format Header Format Byte 1 Specifies the command number between 80 to FF The complete binary command number table is listed below Byte 2 Specifies the of bytes in each field as 0 1 2 4 or 6 as follows 00 No datafields i e SH or BG 01 One byte per field 02 One word 2 bytes per field 04 One long word 4 bytes per field 06 Galil real format 4 bytes integer and 2 bytes fraction Byte 3 00 No coordinated motion Byte 4 Specifies the axis or data field as follows Bit 7 axis or 8 data field Bit 6 axis or 7 data field Bit 5 axis or 6 data field Bit 4 E axis or 5 data field Bit 3 D axis or 4 data field Bit 2 C axis or 3 data field Chapter 5 Command Basics 37 Bit 1 B axis or 2 data field Bit 0 axis or 1 data field Datafields Format Datafields must be consistent with the format byte and the axes byte For example the command PR 1000 would be 7 02 00 01
119. e placement of a hardware jumper on the controller With a jumper installed at the MO location the controller will be powered up in the motor off state The SH command will need to be issued in order for the motor to be enabled With no jumper installed the controller will immediately enable the motor upon power up The MO command will need to be issued to turn the motor off Option OPT Reserved Step 2 Connect 18 to 72 VDC Power to the Controller Connect power to the connector labeled Js POWER You will need to crimp two pins onto the appropriate gage wire and insert the pins into an AMP mate n lock II connector Location Mating Connector Terminal Pins J5 POWER 2 pin AMP 172165 1 AMP 170361 1 Connect the positive lead of your DC power supply to the pin labeled VDC on J5 and the negative lead to GND Serious damage will occur if the power supply is incorrectly wired The green power light indicator should go on when power is applied Disconnect power when making wiring changes WARNING Dangerous voltages current temperatures and energy levels exist in this product and the associated amplifiers and servo motor s Extreme caution should be exercised in the application of this equipment Only qualified individuals should attempt to install set up and operate this equipment CDS 3310 Step 3 Install Windows Communication Software After applying power to the computer you should install the G
120. eaders The pinout configurations are laid out for a specific DEC computer interface and PAMUX 4 brain boards Pinout J1 40 Digital O 50 Pin IDC Header 1 Bank 4 Bit 40 2 Bank 5 Bit 41 3 Bank 4 Bit 39 4 Bank 5 Bit 42 5 Bank 4 Bit 38 6 Bank 5 Bit 43 7 Bank 4 Bit 37 8 Bank 5 Bit 44 9 Bank 4 Bit 36 10 Bank 5 Bit 45 11 Bank 4 Bit 35 12 Bank 5 Bit 46 13 Bank 4 Bit 34 14 Bank 5 Bit 47 15 Bank 4 Bit 33 16 Bank 5 8 17 Bank 3 Bit 32 18 Bank 6 Bit 49 19 Bank 3 Bit 31 20 Bank 6 Bit 50 2 Bank 3 Bit 30 22 Bank 6 51 23 Bank 3 Bit 29 24 Bank 6 Bit 52 25 Bank 3 Bit 28 26 Bank 6 Bit 53 27 Bank 3 Bit 27 28 Bank 6 Bit 54 29 Bank 3 Bit 26 30 Bank 6 Bit 55 31 Bank 3 Bit 25 32 Bank 6 Bit 56 33 Bank 2 Bit 24 34 GND 35 Bank 2 Bit 23 36 GND 37 Bank 2 Bit 22 38 GND 39 Bank 2 Bit 21 40 GND 4 Bank 2 Bit 20 42 GND 43 Bank 2 Bit 19 44 GND 45 Bank 2 Bit 18 46 GND 47 Bank 2 Bit 17 48 GND 495V 50 GND 96 e Appendices CDS 3310 CDS 3310 J3 8 Analog Inputs 16 Pin IDC Header 1 GND 2 GND 3 Analog Input 1 4 Analog Input 2 5 Analog Input 3 6 Analog Input 4 7 Analog Input 5 8 Analog Input 6 9 Analog Input 7 10 Analog Input 8 11 GND 12 GND
121. ecision for division is 1 65 000 Mathematical operations are executed from left to right Calculations within a parentheses have precedence speed 7 5 V 1 2 The variable speed is equal to 7 5 multiplied by V1 and divided by 2 count count 2 The variable count is equal to the current value plus 2 result TPA COS 45 40 Puts the position of A 28 28 in result 40 cosine of 45 is 28 28 temp IN 1 amp IN 2 temp is equal to 1 only if Input 1 and Input 2 are high Bit Wise Operators The mathematical operators amp and are bit wise operators The operator amp is a Logical And The operator is a Logical Or These operators allow for bit wise operations on any valid CDS 3310 numeric operand including variables array elements numeric values functions keywords and arithmetic expressions The bit wise operators may also be used with strings This is useful for separating characters from an input string When using the input command for string input the input variable will hold up to 6 characters These characters are combined into a single value which is represented as 32 bits of integer and 16 bits of fraction Each ASCII character is represented as one byte 8 bits therefore the input variable can hold up to six characters The first character of the string will be placed in the top byte of the variable and the last character will be placed in the lowest significant byte of the fraction The charact
122. eene 87 TO M 3300 M 89 Opto Isolation Settings esie eri 89 Input Isolation cic eicere n dr i eie e eee cete 90 Output Isolation ice ee e eee ER 91 Screw Terminal Description eene 92 SR 19900 M 93 T trod ctiob S T ite e ere EL ee eae 93 lv M RH 94 E 94 94 roni T IESU 95 CDS 3310 Chapter 1 Overviewe v Index Introduction xod RA ees 95 Electrical Specifications asas c ere ert E Re 95 16 bit Analog Inputs iae ee e e ETUR ete Ee ec ento 95 95 Using Opto 22 G4 Series Racks with 28040 0 2 22 045 95 96 97 CADBEE I95 5I 98 Communicating with OPTO 22 5 3000 98 List of Other 100 Tr ming 0 100 Contacting E PEERS 101 102 103 vi e Chapter 1 Overview CDS 3310 Chapter 1 Overview Introduction The Galil CDS 3310 controller drive system is a single axis integrated Ethernet controller and brush brushless amplifier 18 72 VDC 7
123. elocity d axis torque 0 or d axis analog DB 28040 e axis status e axis switches e axis stopcode T block T block A block A block A block A block A block A block A block A block A block A block B block B block B block B block B block B block B block B block B block B block C block C block C block C block C block C block C block C block C block C block D block D block D block D block D block D block D block D block D block D block E block E block E block CDS 3310 CDS 3310 SL SL SL SL SL SW SW UW UB UB SL SL SL SL SL SW SW UW UB UB SL SL SL SL SL SW SW UW UB UB SL SL SL SL SL SW SW NOTE UB Unsigned Byte UW Unsigned Word SW Signed Word SL Signed Long Word e axis reference position e axis motor position axis position error e axis auxiliary position e axis velocity e axis torque 0 axis analog DB 28040 f axis status f axis switches f axis stopcode f axis reference position f axis motor position f axis position error f axis auxiliary position f axis velocity f axis torque 0 or f axis analog DB 28040 g axis status g axis switches g axis stopcode g axis reference position g axis motor position g axis position error g axis auxiliary position g axis velocity g axis torque 0 or g axis analog DB 28040 h axis status h axis switches h axis stopcode h axis reference position h axis motor position h
124. ensors change state with the QH command Step B Connect Motor Leads Next disconnect power and connect the three motor power leads to the phase A B and C connections on the 11 MOTOR connector Location Mating Connector Terminal Pins J1 MOTOR 4 pin AMP 172167 1 AMP 170361 1 Step C1 Test wiring manually The motor wiring must correspond to the Hall wiring so if the motor manufacturer indicates how to do this simply connect the power leads as specified Otherwise you will need to try up to six motor power lead combinations keeping the hall sensor wiring fixed until smooth motion results Three of the combinations result in a stall condition no torque two result in 12 Chapter 2 Getting Started CDS 3310 CDS 3310 jerky motion in one direction but smooth in the other and the last correct combination results in smooth movement in both directions The following table will help you connect all six combinations Aid to connect all six motor power lead combinations Phase A Phase B Phase C Behavior Power Lead 1 Power Lead 2 Power Lead 3 Power Lead 1 Power Lead 3 Power Lead 2 Power Lead 2 Power Lead 3 Power Lead 1 Power Lead 2 Power Lead 1 Power Lead 3 Power Lead 3 Power Lead 1 Power Lead 2 Power Lead 3 Power Lead 2 Power Lead 1 Set the PID gains to zero KPX 0 KDX 0 KIX 0 For each combination set an offset OF2 If the motor does not move smoothly go
125. erence Manual Command Syntax ASCII CDS 3310 instructions are represented by two ASCII upper case characters followed by applicable arguments A space may be inserted between the instruction and arguments A semicolon or return is used to terminate the instruction for processing by the CDS 3310 command interpreter NOTE If you are using a Galil terminal program commands will not be processed until an return command is given This allows the user to separate many commands on a single line and not begin execution until the user gives the return command IMPORTANT All CDS 3310 commands are sent in upper case For example the command PR 4000 return Position Relative PR is the two character instruction for position relative 4000 is the argument which represents the required position value in counts The return terminates the instruction The space between PR and 4000 is optional CDS 3310 Chapter 5 Command Basics 35 For specifying data for the A B C and D axes commas are used to separate the axes If no data is specified for an axis a comma is still needed as shown in the examples below If no data is specified for an axis the previous value is maintained To view the current values for each command type the command followed by a 2 for each axis requested PR 1000 Specify A only as 1000 PR 2000 Specify B only as 2000 PR 3000 Specify C only as 3000 PR 4000 Specify D only as 4000 PR 2000 4000 6000 8000
126. eric and 45 Sending 45 Displaying Variables and Arrays eese eene 46 Interrogation Commands eese eene nennen nennen ennt 47 Formatting Variables and Array Elements eene 48 Converting to User eee Rd 49 Hardware lO e oe Be ee oe iet ROUTER OREERR n 50 Digital Outputs ien tere ee e RR E n ee edes 50 Digital Inputs ete e e UGG e Te RR Re avers TEETH 51 Analog Inp ts eee 51 Analog Output eee e He e e HERR ER e He Pee EE He tees 52 The Auxiliary Encoder 52 Input Interrupt Euriction 53 Extended I O of the CDS 3310 Controller eee 53 Configuring the I O of the 5 3310 20 4 02 040 0 00 54 Saving the State of the Outputs in Non Volatile Memory eee 54 Accessing Extended RETIRER AUTE ER 54 55 buie 55 Backlash Compensation by Sampled Dual Loop eee 56 Chapter 8 Hardware amp Software Protection 58 RP 58 Hardware Protection
127. ers can be individually separated by using bit wise operations as illustrated in the following example Instruction Interpretation TEST Begin main program IN ENTER len S6 Input character string of up to 6 characters into variable len flen FRAC len Define variable flen as fractional part of variable len flen 10000 flen Shift flen by 32 bits IE convert fraction flen to integer len1 flen amp 00FF Mask top byte of flen and set this value to variable Chapter 7 Application Programming 35 len len2 flen amp FF00 100 Let variable len2 top byte of flen len3 len amp 000000FF Let variable len3 bottom byte of len len4 len amp 0000FF00 100 Let variable len4 second byte of len len5 0 Let variable len5 third byte of len len6 len amp FF000000 1000000 Let variable len6 fourth byte of len MG len6 S4 Display len6 as string message of up to 4 chars MG 1 5 54 Display 5 as string message of up to 4 chars MG len4 S4 Display len4 as string message of up to 4 chars MG len3 54 Display 3 as string message of up to 4 chars MG len2 S4 Display len2 as string message of up to 4 chars MG len1 S4 Display len1 as string message of up to 4 chars EN This program will accept a string input of up to 6 characters parse each character and then display each character Notice also that the v
128. es forward and reverse limit switches which inhibit motion in the respective direction There is also a special label for automatic execution of a limit switch subroutine The LIMSWI label specifies the start of the limit switch subroutine This label causes the statements following to be automatically executed if any limit switch is activated and that axis motor is moving in that direction The RE command ends the subroutine The state of the forward and reverse limit switches may also be tested during the jump on condition statement The LR condition specifies the reverse limit and specifies the forward limit A B C or D following LR or LF specifies the axis The CN command can be used to configure the polarity of the limit switches Example Instruction Interpretation A EN Dummy Program LIMSWI Limit Switch Utility vl LFA Check if forward limit v2 LRA Check if reverse limit JP LF v1 0 Jump to LF if forward JP LR v2 0 Jump to LR if reverse JP END Jump to end LF LF MG FORWARD LIMIT Send message STX AMA Stop motion PR 1000 BGA AMA Move in reverse JP END End LR LR MG REVERSE LIMIT Send message STX AMA Stop motion PR1000 BGA AMA Move forward END End RE Return to main program NOTE An applications program must be executing for LIMSWI to function Chapter 8 Hardware amp Software Protection 61 Amplifier Error Routine If there is an overcurrent overvoltage undervoltage or Hall input error the applic
129. f 1000 suppose that the actual position is only 995 implying that X has a position error of 5 counts which will be eliminated once the motor settles This implies that the correction needs to be only 15 counts since 5 counts out of the 20 would be corrected by the X axis Accordingly the motion correction should be Correction Load Position Error Rotary Position Error The correction can be performed a few times until the error drops below 2 counts Often this is performed in one correction cycle Instruction Interpretation Label DPO Define starting positions as zero linpos 0 PR 1000 Required distance BGA Start motion B AMA Wait for completion WT 50 Wait 50 msec linpos Read linear position er 1000 linpos TEA JP C ABS er lt 2 Find the correction Exit if error is small PR er Command correction BGA JP B Repeat the process CDS 3310 Chapter 7 Application Programming 57 Chapter 8 Hardware amp Software Protection Introduction The CDS 3310 provides several hardware and software features to check for error conditions and to inhibit the motor on error These features help protect the various system components from damage Note Do not hot swap the motor power connections If the amp is enabled when the motor connector is connected or disconnected damage to the amplifier can occur Galil recommends powering the controller and amplifier down before changing the connector
130. filter which is designed to help the stability and accuracy Typically such a filter produces in addition to the proportional gain damping and integrator The combination of the three functions is referred to as a PID filter The filter parameters are represented by the three constants KP KI and KD which correspond to the proportional integral and derivative term respectively The damping element of the filter acts as a predictor thereby reducing the delay associated with the motor response The integrator function represented by the parameter KI improves the system accuracy With the KI parameter the motor does not stop until it reaches the desired position exactly regardless of the level of friction or opposing torque The integrator also reduces the system stability Therefore it can be used only when the loop is stable and has a high gain The output of the filter is applied to a digital to analog converter DAC The resulting output signal in the range between 10 and 10 Volts is then applied to the amplifier and the motor The motor position whether rotary or linear is measured by a sensor The resulting signal called position feedback is returned to the controller for closing the loop The following section describes the operation in a detailed mathematical form including modeling analysis and design System Modeling The elements of a servo system include the motor driver encoder and the controller These elemen
131. g Output The controller has one analog output which may be set in Volts using the AO 1 n command where n is the voltage from 9 999 to 9 999 The resolution of the Digital to Analog conversion is 16 bits Example Objective Produce a sinusoidal analog signal with a specified amplitude and period Instruction Interpretation Amplitud 5 7 5 Volts to 5 Volts Period 1000 71 second period loop Label AO 1 Amplitud SIN 360 Period TIME set analog output JP loop The Auxiliary Encoder Inputs The auxiliary encoder inputs can be used for general use The controller has one auxiliary encoder which consists of two inputs channel A and channel B The auxiliary encoder inputs are mapped to the inputs 81 82 Each input from the auxiliary encoder is a differential line receiver and can accept voltage levels between 12Volts The inputs have been configured to accept TTL level signals To connect TTL signals simply connect the signal to the input and leave the input disconnected For other signal levels the input should be connected to a voltage that is of the full voltage range for example connect the input to 6 volts if the signal 1s a 0 12 volt logic Example 52 Chapter 7 Application Programming CDS 3310 CDS 3310 has one auxiliary encoder This encoder has two inputs channel A and channel Channel A input is mapped to input 81 and Channel B input is mapped to input 82 To use this input for 2 TTL si
132. g position SP5000 X speed BGY Move X motor AM After X moved All Wait for start signal EG1000 Engage slave AI 1 Wait for stop signal EQ1000 Disengage slave EN End The following example illustrates a cam program with a master axis N Instruction Interpretation A V1 0 Label Initialize variable Chapter 6 Programming Motion 3 PA 0 BGX AMX Go to position 0 0 on X axis EAN N axis as the Master for ECAM EM 4000 0 Change for N is 4000 zero for X EP400 0 ECAM interval is 400 counts with zero start ET 0 0 When master is at 0 position Ist point ET 1 20 2nd point in the ECAM table ET 2 60 3rd point in the ECAM table ET 3 120 4th point in the ECAM table ET 4 140 5th point in the ECAM table ET 5 140 6th point in the ECAM table ET 6 140 7th point in the ECAM table ET 7 120 8th point in the ECAM table ET 8 60 9th point in the ECAM table ET 9 20 10th point in the ECAM table ET 10 0 Starting point for next cycle EBI Enable ECAM mode JGN 4000 Set N to jog at 4000 EG 0 Engage X when Master 0 BGX Begin jog on N axis ZLOOP JPZLOOP V1 0 Loop until the variable is set EQ 2000 Disengage X when Master 2000 MF2000 Wait until the Master goes to 2000 STN Stop the N axis motion 0 Exit the ECAM mode EN End of the program Contour Mode The CDS 3310 also provides a contouring mode This mode allows any arbitrary position curve to be prescribed for to 8 axes This is ideal for following computer generated paths such
133. ge Print Error Return from Error Quit Edit Mode Execute Dummy Program Jog at High Speed Begin Motion Now when position error exceeds error limit ER on the A axis the ZPOSERR subroutine will be executed The RE command is used to return from the ZPOSERR subroutine CDS 3310 Chapter 7 Application Programming 31 Example Input Interrupt Instruction JG 30000 60000 BGAD LOOP JP LOOP EN ININT STAD AM TEST JP TEST IN 1 0 JG 30000 6000 BGAD RIO Interpretation Label Input Interrupt on 1 Jog Begin Motion Loop Input Interrupt Stop Motion Test for Input 1 still low Restore Velocities Begin motion Return from interrupt routine to Main Program and do not re enable trippoints Example Motion Complete Timeout Instruction BEGIN TW 1000 PA 10000 BGA MCA EN MG fell short EN Interpretation Begin main program Set the time out to 1000 ms Position Absolute command Begin motion Motion Complete trip point End main program Motion Complete Subroutine Send out a message End subroutine This simple program will issue the message A fell short if the A axis does not reach the commanded position within 1 second of the end of the profiled move Example Communication Interrupt A CDS 3310 is used to move the A axis back and forth from 0 to 10000 This motion can be paused resumed and stopped via input from an auxiliary port terminal Instruction BE
134. ges of all 3 velocity profiles are the same Independent Jogging The jog mode of motion is very flexible because speed direction and acceleration can be changed during motion The user specifies the jog speed JG acceleration AC and the deceleration DC rate for each axis The direction of motion is specified by the sign of the JG parameters When the begin command is given BG the motor accelerates up to speed and continues to jog at that speed until a new speed or stop ST command is issued If the jog speed is changed during motion the controller will make a accelerated or decelerated change to the new speed An instant change to the motor position can be made with the use of the IP command Upon receiving this command the controller commands the motor to a position which is equal to the specified 44 Chapter 6 Programming Motion CDS 3310 CDS 3310 increment plus the current position This command is useful when trying to synchronize the position of two motors while they are moving Note that the controller operates as a closed loop position controller while in the jog mode The CDS 3310 converts the velocity profile into a position trajectory and a new position target is generated every other sample period This method of control results in precise speed regulation with phase lock accuracy Command Summary Jogging COMMAND DESCRIPTION AC A B C D BG ABCD Begins motion DC A B C D Specifies deceleration rate IP A
135. ght Through Serial Cable NOT Null Modem The serial port is configured for full duplex no parity 8 data bits one start bit one stop bit and hardware handshaking See appendix for pin out of serial cable Use the New Controller button to add a new entry to the Registry You will need to supply the Galil Controller model e g CDS 3310 You then need to choose serial or Ethernet connection The registry information will show a default Comm Port of and a default Comm Speed of 19200 appears This information can be changed as necessary to reflect the computer Comm Port and the baud rate set by the controller s IDC jumper default is 19200 Step A2 Register an Ethernet Controller Use the Find Ethernet Controller button to have the software search for controllers connected to the network If an IP address has not been assigned to the controller click on Set IP Address and follow the directions on the screen Refer to application note 4422 if you are having trouble Step B Send Test Commands to the Terminal Once the controller has been registered select the correct controller from the list and click on OK If the software successfully established communications with the controller the registry entry will be displayed at the bottom of the screen in the Status window After you connect your terminal press return or the lt enter gt key on your keyboard In response to carriage return return the controller responds with a col
136. gnals the first signal will be connected to AA and the second to AB AA and AB will be left unconnected To access this input use the function IN 81 and IN 82 Input Interrupt Function The CDS 3310 provides an input interrupt function which causes the program to automatically execute the instructions following the ININT label This function is enabled using the II m n o command The m specifies the beginning input and n specifies the final input in the range The parameter o is an interrupt mask If m and n are unused o contains a number with the mask 1 designates that input to be enabled for an interrupt where 2 is bit 1 2 is bit 2 and so on For example 5 enables inputs 1 and 3 2 22 5 A low input on any of the specified inputs will cause automatic execution of the ININT subroutine The Return from Interrupt RI command is used to return from this subroutine to the place in the program where the interrupt had occurred If it is desired to return to somewhere else in the program after the execution of the ININT subroutine the Zero Stack ZS command is used followed by unconditional jump statements Important Use the RI command not EN to return from the ZININT subroutine Example Input Interrupt Instruction Interpretation Label Enable input 1 for interrupt function JG 30000 20000 Set speeds on A and B axes BG AB Begin motion on A and B axes B Label B TP AB Report A and B axes pos
137. h Galil extended I O special considerations must be made depending on the models described below Due to changes to the pinout orientation of the 50 pin header of the G4 rack input damage may occur to Galil components or the opto rack may not be properly powered In the past Opto 22 racks adhered to a standard pinout configuration for the 50 pin IDC header that mated with Galil extended I O headers The standard pinout configuration of the 50 pin header on Galil products allows the Galil to power the opto isolated relays by supplying 5 VDC at pin 49 Appendices 95 G4PB8 G4PB16 G4PB24 The 50 pin headers on these opto racks do not connect pin 49 to the supply input for the modules The user will have to supply 5 VDC to the terminal marked LOGIC on the rack This can be accomplished by simply running a single lead from the Galil 5 V supply to LOGIC note the return is already connected by the header G4PB8H G4PB16H The 50 pin headers on these racks actually connect both pin 49 and pin 1 to the logic supply The user does not have to supply 5 V however 1 of the ribbon cable MUST be cut to avoid damage 1 leads to an actual unused I O channel on the Galil and damage will occur to the extended I O board if the 5 V line is left connected G4PB32H G4PB32DEC These 32 channel opto racks are NOT compatible with Galil extended I O headers Damage may occur if the connection is made with Galil extended I O h
138. hock and vibration Using the IT Command When operating with servo motors motion smoothing can be accomplished with the IT command These commands filter the acceleration and deceleration functions to produce a smooth velocity profile The resulting velocity profile has continuous acceleration and results in reduced mechanical vibrations The smoothing function is specified by the following command IT a b c d Independent time constant The command IT is used for smoothing independent moves of the type JG PR PA CDS 3310 Chapter 6 Programming Motion 11 The smoothing parameters a b c d and n are numbers between 0 and 1 and determine the degree of filtering The maximum value of implies no filtering resulting in trapezoidal velocity profiles Smaller values of the smoothing parameters imply heavier filtering and smoother moves The following example illustrates the effect of smoothing Fig 6 9 shows the trapezoidal velocity profile and the modified acceleration and velocity Note that the smoothing process results in longer motion time Example Instruction Interpretation PR 20000 Position AC 100000 Acceleration DC 100000 Deceleration SP 5000 Speed IT 5 Filter for smoothing BGA Begin ACCELERATION TIME VELOCITY TIME ACCELERATION WITH SMOOTHING VELOCITY WITH SMOOTHING TIME Figure 6 9 Trapezoidal velocity and smooth velocity profiles 12 Chapter 6 Programming Motion CDS 3310
139. hronization There is no limit on encoder line density however the input frequency to the controller must not exceed 3 000 000 full encoder cycles second 12 000 000 quadrature counts sec For example if the encoder line density is 10000 cycles per inch the maximum speed is 300 inches second If higher encoder frequency is required please consult the factory The standard voltage level is TTL zero to five volts however voltage levels up to 12 Volts are acceptable If using differential signals 12 Volts can be input directly to the CDS 3310 Single ended 12 Volt signals require a bias voltage input to the complementary inputs 4 Chapter 1 Overview CDS 3310 To interface with other types of position sensors such as resolvers or absolute encoders Galil can customize the controller and command set Please contact Galil and talk to one of our applications engineers about your particular system requirements Watch Dog Timer The CDS 3310 provides an internal watch dog timer which checks for proper microprocessor operation The timer toggles the Amplifier Enable Output AMPEN which can be used to switch the amplifier off in the event of a serious CDS 3310 failure The AMPEN output is normally high During power up and if the microprocessor ceases to function properly the AMPEN output will go low The error light will also turn on at this stage A reset is required to restore the CDS 3310 to normal operation Consult the factory for a Re
140. ility and Compensation 4 Operation The various symptoms along with the cause and the remedy are described in the following tables Installation SYMPTOM CAUSE REMEDY Motor runs away when connected to amplifier with Amplifier offset too Adjust amplifier offset no additional inputs large Same as above but offset adjustment does not stop Damaged amplifier Repair amplifier the motor Controller does not read changes in encoder position Wrong encoder Check encoder wiring connections Same as above Bad encoder Check the encoder signals Replace encoder if necessary Same as above Bad controller Connect the encoder to different axis input If it works controller failure Repair or replace 64 e Chapter 9 Troubleshooting CDS 3310 Communication SYMPTOM CAUSE REMEDY Using terminal emulator cannot Selected comm port incorrect Try another comport communicate with controller Same as above Selected baud rate incorrect Check to be sure that baud rate same as jumper settings on controller change as necessary Stability Motor runs away when the loopis Wrong feedback polarity Invert the polarity of the loop by closed inverting the motor leads brush type or the encoder Motor oscillates Too high gain or too little Decrease KI and KP Increase KD damping Operation SYMPTOM CAUSE REMEDY Controller rejects command Anything Interrogate the cause with TC or Responded with a TCl Motor does not
141. ing Variables and Array Elements The Variable Format VF command is used to format variables and array elements The VF command is specified by VF mn where m is the number of digits to the left of the decimal point 0 thru 10 and n is the number of digits to the right of the decimal point 0 thru 4 A negative sign for m specifies hexadecimal format The default format for VF is VF 10 4 Hex values are returned preceded by a and in 2 s complement Instruction 1 10 1 0000000010 0000 VF2 2 vl 10 00 vF 2 2 vl 0A 00 VFI vl 19 48 e Chapter 7 Application Programming Interpretation Assign v1 Return v1 Response Default format Change format Return v1 Response New format Specify hex format Return v1 Response Hex value Change format Return v1 Response Overflow CDS 3310 Local Formatting of Variables PF and VF commands are global format commands that effect the format of all relevent returned values and variables Variables may also be formatted locally To format locally use the command Fn m or n m following the variable name and the symbol F specifies decimal and specifies hexadecimal n is the number of digits to the left of the decimal and m is the number of digits to the right of the decimal Instruction Interpretation 1 10 Assign v1 vl Return v1 0000000010 0000 Default Format vl F4 2 Specify local format 0010 00 New format vl 4 2 Specify hex fo
142. ing new jog speed Prompt for value Check for enter Routine to check input from terminal Jump to error if string Read value End subroutine Error Routine Error message CDS 3310 JP ZNMLP EN End String Variables String variables with up to six characters may be input using the specifier Sn where n represents the number of string characters to be input Ifn is not specified six characters will be accepted For example IN Enter A B or C V S specifies a string variable to be input The controller stores all variables as 6 bytes of information When a variable is specified as a number the value of the variable is represented as 4 bytes of integer and 2 bytes of fraction When a variable is specified as a string the variable can hold up to 6 characters each ASCII character is 1 byte When using the IN command for string input the first input character will be placed in the top byte of the variable and the last character will be placed in the lowest significant byte of the fraction The characters can be individually separated by using bit wise operations see section Bit wise Operators Output of Data Numeric and String CDS 3310 Numerical and string data can be output from the controller using several methods The message command MG can output string and numerical data Also the controller can be commanded to return the values of variables and arrays as well as other information using the interrogation commands
143. is 45 7k Standard configuration allows for 3 3 V digital I O The DB 28040 5V option provides up to 24 Open collector outputs that can sink to 5 Volts 3mA In the 5V configuration the first 3 banks of 8 bits may be configured as outputs There is no limitation on the placement of inputs The following tables illustrate the various Input Output combinations DB 28040 Valid I O DB 28040 5V Valid Inputs Outputs Inputs Outputs 40 0 40 0 32 8 32 8 24 16 24 16 16 24 16 24 8 32 0 40 Note Only the first three I O banks may be configured as outputs 16 bit Analog Inputs The DB 28040 comes with eight 12 bit analog inputs standard For 16 bit analog inputs order the DB 28040 16 When using the AF command with the 16 version the controller requires the 16 bit Analog Feedback firmware Interfacing to the Digital I O The DB 28040 5V offers up to 32 digital I O points that can interface directly to I O racks such as Grayhill 70GRCM32 HL Galil IOM 1964 and OPTO 22 see next section These I O points can be configured as inputs or outputs in 8 bit increments with the CO command The I O points accessed from the J1 header of the DB 28040 5V are connected directly to the I O rack using a 50 pin IDC ribbon connector Unused banks must be configured as inputs and will be grounded by the I O rack Using Opto 22 G4 Series Racks with DB 28040 When using Opto 22 G4 series I O racks wit
144. is function R t describes where the motor should be at every sampling period Note that the profiling and the closing of the loop are independent functions The profiling function determines where the motor should be and the closing of the loop forces the motor to follow the commanded position 66 e Chapter 10 Theory of Operation CDS 3310 The highest level of control is the motion program This can be stored in the host computer or in the controller This program describes the tasks in terms of the motors that need to be controlled the distances and the speed MOTION 3 PROGRAMMING MOTION 2 PROFILING CLOSED LOOP 1 CONTROL Figure 10 2 Levels of Control Functions The three levels of control may be viewed as different levels of management The top manager the motion program may specify the following instruction for example PR 6000 4000 SP 20000 20000 AC 200000 00000 BGA AD 2000 BGB EN This program corresponds to the velocity profiles shown in Fig 10 3 Note that the profiled positions show where the motors must be at any instant of time Finally it remains up to the servo system to verify that the motor follows the profiled position by closing the servo loop The following section explains the operation of the servo system First it is explained qualitatively and then the explanation is repeated using analytical tools for those who are more theoretically inclined CDS 3310
145. ition values at a rate of one value per 10 msec The values are stored in an array named POS The variable count is used to increment the array element counter The above example can also be executed with the automatic data capture feature described below Uploading and Downloading Arrays to On Board Memory Arrays may be uploaded and downloaded using the QU and QD commands QU array start end delim QD array start end where array is an array name such as A Start is the first element of array default 0 End is the last element of array default last element Delim specifies whether the array data is seperated by a comma delim 1 or a carriage return delim 0 The file is terminated using lt control gt Z lt control gt Q lt control gt D or Automatic Data Capture into Arrays CDS 3310 provides a special feature for automatic capture of data such as position position error inputs or torque This is useful for teaching motion trajectories or observing system performance Up to eight types of data can be captured and stored in eight arrays The capture rate or time interval may be specified Recording can be done as a one time event or as a circular continuous recording 40 Chapter 7 Application Programming CDS 3310 CDS 3310 Command Summary Automatic Data Capture RA n m o p Selects up to four arrays for data capture The arrays must be defined with the DM command RD typel type2 type3 type4 Sele
146. itions WT 1000 Wait 1000 milliseconds JP B Jump to B EN End of program ININT Interrupt subroutine MG Interrupt has occurred Displays the message ST AB Stops motion on A and B axes LOOP JP LOOP IN 1 0 Loop until Interrupt cleared JG 15000 10000 Specify new speeds WT 300 Wait 300 milliseconds BG AB Begin motion on A and B axes RI Return from Interrupt subroutine Extended I O of the CDS 3310 Controller The CDS 3310 controller with optional DB 28040 offers 40 extended I O points which can be configured as inputs or outputs in 8 bit increments through software The I O points are accessed through the daughter board which utilizes one 50 pin IDC ribbon connectors CDS 3310 Chapter 7 Application Programming 53 Configuring the I O of the CDS 3310 The 40 extended I O points of the CDS 3310 series controller can be configured in banks of 8 The extended I O is denoted as banks 2 6 or bits 17 56 The command CO is used to configure the extended I O as inputs or outputs The CO command has one field COn where n is a decimal value which represents a binary number Each bit of the binary number represents one bank of extended I O When set to 1 the corresponding bank is configured as an output The least significant bit represents bank 2 and the most significant bit represents bank 9 The decimal value can be calculated by the following formula n n 2 n3 4 n4 8 16 ng where n represents the bank If
147. ll gain detailed understanding about connecting systems elements system tuning and motion programming This is a hands on seminar and students can test their application on actual hardware and review it with Galil specialists Attendees must have a current application and recently purchased a Galil controller to attend this course TIME Two days 8 30 4 30pm 100 Appendices CDS 3310 Contacting Us CDS 3310 Galil Motion Control 270 Technology Way Rocklin California 95765 Phone 916 626 0101 Fax 916 626 0102 E mail address support galilmc com URL www galilmc com FTP www galilmc com ftp Appendices 101 WARRANTY All controllers manufactured by Galil Motion Control are warranted against defects in materials and workmanship for a period of 18 months after shipment Motors and Power supplies are warranted for 1 year Extended warranties are available In the event of any defects in materials or workmanship Galil Motion Control will at its sole option repair or replace the defective product covered by this warranty without charge To obtain warranty service the defective product must be returned within 30 days of the expiration of the applicable warranty period to Galil Motion Control properly packaged and with transportation and insurance prepaid We will reship at our expense only to destinations in the United States and for products within warranty Call Galil to receive a Return Materials Authorization
148. mand combination Command Summary Independent Axis 42 Chapter 6 Programming Motion CDS 3310 CDS 3310 IP A B C D Changes position target Time constant for independent motion smoothing IT A B C D MC ABCD AM ABCD Trippoint for profiler complete Trippoint for in position The CDS 3310 also allows use of single axis specifiers such as PRB 2000 Operand Summary Independent Axis OPERAND DESCRIPTION _ACx Return acceleration rate for the axis specified by x _DCx Return deceleration rate for the axis specified by x _SPx Returns the speed for the axis specified by x _PAx Returns current destination if x axis is moving otherwise returns the current commanded position if in a move _PRx Returns current incremental distance specified for the x axis Examples Absolute Position Movement Instruction PA 10000 20000 AC 1000000 1000000 DC 1000000 1000000 SP 50000 30000 BG AB Multiple Move Sequence Required Motion Profiles A Axis 500 counts 10000 count sec 500000 counts sec B Axis 1000 counts 15000 count sec 500000 counts sec C Axis 100 counts 5000 counts sec 500000 counts sec Interpretation Specify absolute A B position Acceleration for A B Deceleration for A B Speeds for A B Begin motion Position Speed Acceleration Position Speed Acceleration Position Speed Acceleration This example will specify a relative position movement on A B a
149. mat variable For example 1 returns the value of the variable v1 Operands Operands allow motion or status parameters of the CDS 3310 to be incorporated into programmable variables and expressions Most CDS 3310 commands have an equivalent operand which is designated by adding an underscore _ prior to the CDS 3310 command The command reference indicates which commands have an associated operand Status commands such as Tell Position return actual values whereas action commands such as KP or SP return the values stored in the CDS 3310 registers The axis designation is required following the command Instruction Interpretation posA TPA Assigns value from Tell Position A to the variable posA JP LOOP TEA gt 5 Jump to LOOP if the position error of A is greater than 5 JP ERROR TC 1 Jump to ERROR if the error code equals 1 Operands can be used in an expression and assigned to a programmable variable but they cannot be assigned a value For example TPA 2 is invalid _BGn Returns a 1 if motion on axis n is complete otherwise returns 0 Returns serial of the board 38 e Chapter 7 Application Programming CDS 3310 Arrays CDS 3310 _LFn Returns status of Forward Limit switch input of axis n equals 0 or 1 Returns status of Reverse Limit switch input of axis n equals 0 or 1 Returns the number of available variables TIME Free Running Real Time Clock off by 2 4 Resets with power on N
150. mends that the IP address selected is not one that can be accessed across the Gateway The Gateway is an application that controls communication between an internal network and the outside world To decide on an IP address find the address of the computer the controller will be connecting to then find the computer s Subnet Mask In Windows open a DOS prompt and type ipconfig The fields of the subnet mask that contain a 255 require that the corresponding fields in the IP address of the controller be the same as the IP address of the PC For instance if the Subnet Mask of the PC is 255 255 0 0 and the IP address is 192 168 100 10 then the controller s IP address should be set to 192 168 nnn nnn where nnn can be anything from 0 255 The third level of Ethernet addressing is the UDP or TCP port number The Galil controller does not require a specific port number The port number is established by the client or master each time it connects to the controller Communicating with Multiple Devices Handles The CDS 3310 is capable of supporting multiple masters and slaves The masters may be multiple PC s that send commands to the controller The slaves are typically peripheral I O devices that receive commands from the controller NOTE The term Master is equivalent to the internet client The term Slave is equivalent to the internet server An Ethernet handle is a communication resource within a device The CDS 3310
151. motor command may be limited independently by the instruction TL Instruction Interpretation TL 0 2 Set output limit of A axis to 0 2 volts JG 10000 Set A speed BG Start A motion In this example the A motor will probably not move since the output signal will not be sufficient to overcome the friction If the motion starts it can be stopped easily by a touch of a finger Increase the torque level gradually by instructions such as Instruction Interpretation TL 1 0 Increase torque limit to 1 volt TL 9 998 Increase torque limit to maximum 9 998 Volts The maximum level of 9 998 volts provides the full output torque Interrogation The values of the parameters may be interrogated Some examples Instruction Interpretation KP Return gain of A axis Many other parameters such as KI KD FA can also be interrogated The command reference denotes all commands which can be interrogated Motion Programs with Loops Motion programs may include conditional jumps as shown below Instruction Interpretation JA Label Define current position as zero 1 1000 Set initial value of v1 16 Chapter 2 Getting Started CDS 3310 LOOP vl BG AM WT 500 TP vl v1 1000 JP LOOP v1 lt 10001 EN Label for loop Move A motor v1 counts Start A motion After A motion is complete Wait 500 ms Tell position A Increase the value of v1 Repeat if v1 lt 10001 End After the above program is entered download to the co
152. n Variable v1 posA 1 TPA Assign the first entry vl Print v1 Interrogation Commands The CDS 3310 has a set of commands that directly interrogate the controller When these command are entered the requested data is returned in decimal format on the next line followed by a carriage return and line feed The format of the returned data can be changed using the Position Format PF and Leading Zeros LZ command For a complete description of interrogation commands see Chapter 5 Using PF to Format Response from Interrogation Commands The command PF can change format of the values returned by theses interrogation commands BL LE DE PA DP PR FL TN IP VE TP TE The numeric values may be formatted in decimal or hexadecimal with a specified number of digits to the right and left of the decimal point using the PF command Position Format is specified by PF m n where m is the number of digits to the left of the decimal point 0 thru 10 and n is the number of digits to the right of the decimal point 0 thru 4 A negative sign for m specifies hexadecimal format Hex values are returned preceded by a and in 2 s complement Hex values should be input as signed 2 s complement where negative numbers have a negative sign The default format is PF 10 0 If the number of decimal places specified by PF is less than the actual value a nine appears in all the decimal places Example Instruction Interpretation DP21 Define po
153. nal editor which may be used to create and edit programs in the controller s memory The internal editor is opened by the command ED Note that the command ED will not open the internal editor if issued from Galil s Window based software in this case a Windows based editor will be automatically opened The Windows based editor provides much more functionality and ease of use therefore the internal editor is most useful when using a simple terminal with the controller and a Windows based editor is not available Once the ED command has been given each program line is automatically numbered sequentially starting with 000 If no parameter follows the ED command the editor prompter will default to the last line of the last program in memory If desired the user can edit a specific line number or label by specifying a line number or label following ED NOTE ED command only accepts a parameter such as BEGIN in DOS Window For general purposes the editing features in this section are not applicable when not in DOS mode Instruction Interpretation ED Puts Editor at end of last program 16 Chapter 7 Application Programming CDS 3310 ED 5 Puts Editor at line 5 ED BEGIN Puts Editor at label ZBEGIN Line numbers appear as 000 001 002 and so on Program commands are entered following the line numbers Multiple commands may be given on a single line as long as the total number of characters doesn t exceed 80 characters per line While in
154. nd C axes The movement on each axis will be separated by 20 msec Fig 6 1 shows the velocity profiles for the A B and C axis Chapter 6 Programming Motion 43 Instruction HA PR 2000 500 100 SP 15000 10000 5000 AC 500000 500000 500000 DC 500000 500000 500000 Interpretation Begin Program Specify relative position movement of 2000 500 and 100 counts for A B and C axes Specify speed of 10000 15000 and 5000 counts sec Specify acceleration of 500000 counts sec for all axes Specify deceleration of 500000 counts sec for all axes BGA Begin motion on the A axis WT 20 Wait 20 msec BGB Begin motion on the B axis WT 20 Wait 20 msec BGC Begin motion on C axis EN End Program VELOCITY COUNTS SEC A axis velocity profile 20000 axis velocity profile 15000 C axis velocity profile 10000 5000 TIME ms 0 20 40 60 80 100 Figure 6 1 Velocity Profiles of ABC Notes on fig 6 1 The A and B axis have a trapezoidal velocity profile while the C axis has a triangular velocity profile The A and B axes accelerate to the specified speed move at this constant speed and then decelerate such that the final position agrees with the command position PR The C axis accelerates but before the specified speed is achieved must begin deceleration such that the axis will stop at the commanded position All 3 axes have the same acceleration and deceleration rate hence the slope of the rising and falling ed
155. ng example shows an error correction routine which uses the operands Example Command Error with Multitasking Instruction HA EN B n KPn TY EN CMDERR IF TC 6 n ED2 ED1 1 ENDIF IF 1 XQ_ED3 1 ENDIF EN Interpretation Begin thread 0 continuous loop End of thread 0 Begin thread 1 Create new variable Set KP to value of n an invalid value Issue invalid command End of thread 1 Begin command error subroutine If error is out of range KP 1 Set n to a valid number Retry KP n command If error is invalid command TY Skip invalid command End of command error routine Example Ethernet Communication Error This simple program executes in the CDS 3310 and indicates via the serial port when a communication handle fails By monitoring the serial port the user can re establish communication if needed Instruction Interpretation LOOP Simple program loop JP LOOP EN TCPERR Ethernet communication error auto routine MG 4 Send message to serial port indicating which handle did not receive proper acknowledgment RE 34 e Chapter 7 Application Programming CDS 3310 Mathematical and Functional Expressions CDS 3310 Mathematical Operators For manipulation of data the CDS 3310 provides the use of the following mathematical operators Operator Funcion Cd The numeric range for addition subtraction and multiplication operations is 2 147 483 647 9999 The pr
156. nic Gearing COMMAND DESCRIPTION Specifies master axes for gearing where n DX for auxiliary encoder Sets the distance the master will travel for the gearing change to take full effect _GPn This operand keeps track of the difference between the theoretical distance traveled if gearing changes took effect immediately and the distance traveled since gearing changes take effect over a specified interval Sets gear ratio 0 disables electronic gearing for specified axis Examples Electronic Gearing Objective Run a geared motors at a speed of 1 132 times the speed of an external master The master is driven at speeds between 0 and 1800 RPM 2000 counts rev encoder Solution Instruction Interpretation GA DA Specify aux encoder as the master GR 1 132 Specify gear ratios Now suppose the gear ratio of the A axis is to change on the fly to 2 This can be achieved by commanding GR2 Specify gear ratio for A axis to be 2 Phase Corrections You may also perform profiled position corrections in the electronic gearing mode Suppose for example that you need to advance the slave 10 counts Simply command IP 10 Specify an incremental position movement of 10 Under these conditions this IP command is equivalent to PR10 Specify position relative movement of 10 BGA Begin motion Often the correction is quite large Such requirements are common when synchronizing cutting knives or conveyor belts Synchronize two conveyor belts with
157. nication 25 Ethernet address The CDS 3310 Ethernet address is set by the factory and the last two bytes of the address are the serial number of the controller The second level of addressing is the IP address This is a 32 bit or 4 byte number The IP address is constrained by each local network and must be assigned locally Assigning an IP address to the controller can be done in a number of ways The first method is to use the BOOT P utility via the Ethernet connection the CDS 3310 must be connected to network and powered For a brief explanation of BOOT P see the section Third Party Software Either a BOOT P server on the internal network or the Galil terminal software may be used see Chapter 2 CAUTION Be sure that there is only one BOOT P server running If your network has DHCP or BOOT P running it may automatically assign an IP address to the controller upon linking it to the network In order to ensure that the IP address is correct please contact your system administrator before connecting the controller to the Ethernet network The second method for setting an IP address is to send the IA command through the CDS 3310 RS 232 port The IP address you want to assign may be entered as a 4 byte number delimited by commas industry standard uses periods or a signed 32 bit number Ex 124 51 29 31 or IA 2083724575 Type in BN to save the IP address to the controller s non volatile memory NOTE Galil strongly recom
158. nput 2 is low HX Halt all tasks The program above is executed with the instruction XQ TASK2 0 which designates TASK2 as the main thread ie Thread 0 TASK1 is executed within TASK2 Debugging Programs The CDS 3310 provides commands and operands which are useful in debugging application programs These commands include interrogation commands to monitor program execution determine the state of the controller and the contents of the controllers program array and variable space Operands also contain important status information which can help to debug a program Trace Command The trace command causes the controller to send each line in a program to the host computer immediately prior to execution Tracing is enabled with the command TR1 TRO turns the trace function off 20 Chapter 7 Application Programming CDS 3310 NOTE When the trace function is enabled the line numbers as well as the command line will be displayed as each command line is executed Error Code Command When there is a program error the CDS 3310 halts the program execution at the point where the error occurs To display the last line number of program execution issue the command MG ED The user can obtain information about the type of error condition that occurred by using the command TCI This command reports back a number and a text message which describes the error condition The command TCO or TC will return the error code without the text message F
159. nt Triggers AMABCDEFGHorS Halts program execution until motion is complete on the specified axes or motion sequence s AM with no parameter tests for motion complete on all axes This command is useful for separating motion sequences in a program AD A or Bor Cor Dor EorF or or H Halts program execution until position command has reached the specified relative distance from the start of the move Only one axis may be specified at a time AR A or B or C or D or E or F or G or H Halts program execution until after specified distance from the last AR or AD command has elapsed Only one axis may be specified at a time APA or B or Cor Dor E or For or H Halts program execution until after absolute position occurs Only one axis may be specified at a time MF A or B or Cor Dor Eor F or Gor H Halt program execution until after forward motion reached absolute position Only one axis may be specified If position is already past the point then MF will trip immediately Will function on geared axis aux inputs MR A or Bor Cor D or E or For G or H Halt program execution until after reverse motion reached absolute position Only one axis may be specified If position is already past the point then MR will trip immediately Will function on geared axis or aux inputs MC A or Bor CorD or or F or G or H Halt program execution until after the motion profile has been completed and the encoder has entered or passed the specified position TW A
160. ntroller To start the motion command XQ A Control Variables Execute Program Objective To show how control variables may be utilized Instruction A DPO0 PR 4000 SP 2000 BG AM WT 500 B vl 1 2 WT 500 vl JP 4C v1 0 JP 4B To start the program command XQ Interpretation Label Define current position as zero Initial position Set speed Move A Wait until move is complete Wait 500 ms Determine distance to zero Command A move 1 2 the distance Start A motion After A moved Wait 500 ms Report the value of V1 Exit if position 0 Repeat otherwise Label C End of Program Execute Program A This program moves A to an initial position of 1000 and returns it to zero on increments of half the distance Note TPA is an internal variable which returns the value of the A position Internal variables may be created by preceding a CDS 3310 instruction with an underscore CDS 3310 Chapter 2 Getting Started 17 THIS PAGE LEFT PLANK INTENTIONALLY 18 Chapter 2 Getting Started CDS 3310 Chapter 3 Connecting I O Overview Inputs CDS 3310 This chapter describes the inputs and outputs and their proper connection see appendix if you are using an ICM 3300 In addition to encoder and hall inputs the CDS 3310 provides the I O listed below INPUTS OUTPUTS quantity descripti
161. ntrollers behave as a single multi axis controller For example the commands PR1000 1000 1000 BGX YZ issued on the master CDS 3310 will initiate motion on three controllers In this case the master CDS 3310 controls the X axis the first slave CDS 3310 controls Y and the second slave CDS 3310 controls Z Only the master controller requires an application program and or the host PC communicates only with the master controller The following commands are used for distributed control HA HC HQ HW ZA and ZB DISTRIBUTED CONTROL MUST BE PERFORMED ON A CLOSED MACHINE NETWORK Configuring Distributed Control The HA command establishes the axis order YZWEFGH of the slave controllers by controller serial number and the HC command configures all the slaves in a particular system HC uses the BOOTP packets from the slaves to automatically select IP addresses and set up the system The HC command indicates the number of axes including the master update rate and type of communication The data update rate specifies the rate at which each slave sends a data packet to the master containing current status information These slave data records are used by the master controller to make decisions based on the status of the slave controllers The data contained in the record is as follows reference position encoder position position error velocity torque limit and home switches axis status in motion motor off at speed stopcode uncommitte
162. o Chapter 3 Connecting I O 19 set the activation state of the limit switches refer to the command CN configure in the Command Reference When a forward or reverse limit switch is activated the current application program that is running will be interrupted and the controller will automatically jump to the LIMSWI subroutine if one exists This is a subroutine which the user can include in any motion control program and is useful for executing specific instructions upon activation of a limit switch After a limit switch has been activated further motion in the direction of the limit switch will not be possible until the logic state of the switch returns back to an inactive state This usually involves physically opening the tripped switch Any attempt at further motion before the logic state has been reset will result in the following error 022 Begin not possible due to limit switch error The operands LFx LRx return the state of the forward and reverse limit switches respectively x represents the axis X Y Z W The value of the operand is either a 0 or 1 corresponding to the logic state of the limit switch active or inactive respectively Ifthe limit switches are configured for active low no connection or a 5V input will be read as a 0 while grounding the switch will return 1 Ifthe limit switches are configured for active high the reading will be inverted and no connection or 5V inp
163. ommand for controlling external events Each bit on the output port may be set and cleared with the software instructions SB Set Bit and CB Clear Bit or OB define output bit Example Set Bit and Clear Bit Instruction Interpretation SB6 Sets bit 6 of output port CB4 Clears bit 4 of output port Example Output Bit The Output Bit OB instruction is useful for setting or clearing outputs depending on the value of a variable array input or expression Any non zero value results in a set bit Instruction Interpretation OBI POS Set Output 1 if the variable POS is non zero Clear Output 1 if POS equals 0 OB 2 IN 1 Set Output 2 if Input 1 is high If Input 1 is low clear Output 2 OB 3 IN 1 amp IN 2 Set Output 3 only if Input 1 and Input 2 are high OB 4 COUNT 1 Set Output 4 if element 1 in the array COUNT is non zero The output port can be set by specifying an 8 bit word using the instruction OP Output Port This instruction allows a single command to define the state of the entire 8 bit output port where 20 is output 1 2l is output 2 and so on A 1 designates that the output 1s on Example Output Port Instruction Interpretation OP6 Sets outputs 2 and 3 of output port to high All other bits are 0 21 22 6 OPO Clears all bits of output port to zero OP 255 Sets all bits of output port to one Q2 21 22 23 2 25 26 27 The output port is useful for setting relays or controlling external
164. ommand Format IF ELSE and ENDIF Execute commands proceeding IF command up to ELSE command if conditional statement s is true otherwise continue executing at ENDIF command or optional ELSE command Instruction TEST 3 MG WAITING FOR INPUT 1 INPUT 2 LOOP JP 4LOOP EN ININT IF IN 1 0 IF IN 2 0 MG INPUT 1 AND INPUT 2 ARE ACTIVE ELSE MG ONLY INPUT 1 IS ACTIVE ENDIF ELSE MG ONLY INPUT 2 IS ACTIVE ENDIF WAIT JP WAIT IN 1 0 IN 2 0 RIO Optional command Allows for commands to be executed when argument of IF command evaluates not true Can only be used with IF command Command to end IF conditional statement Program must have an ENDIF command for every IF command Interpretation Begin Main Program TEST Enable interrupts on input 1 and input 2 Output message Label to be used for endless loop Endless loop End of main program Input Interrupt Subroutine IF conditional statement based on input 1 2 TF executed if 1 IF conditional true Message executed if 2 IF is true ELSE command for 27 IF statement Message executed if 2 IF is false End of 2 conditional statement ELSE command for 1 IF statement Message executed if 1 IF statement End of 1 conditional statement Label to be used for a loop Loop until Input 1 amp 2 are not active End Input Interrupt Routine without restoring trippoints Subroutines A subroutine is a group of instructions beginning
165. on Now type TPA lt return gt This command directs the controller to return the current position of the A axis The controller should respond with a number 10 Chapter 2 Getting Started CDS 3310 CDS 3310 Step 5 Make Connections to Encoder Step A Connect Encoder Wires to 15 pin high density J2 ENCODER The CDS 3310 accepts single ended or differential encoder feedback with or without an index pulse Match the leads from the encoder you are using to the encoder feedback inputs The signal leads are labeled MA channel A MB channel B and IDX index For differential encoders the complement signals are labeled MA MB and IDX NOTE When using pulse and direction encoders the pulse signal is connected to channel A and the direction signal is connected to channel B The controller must be configured for pulse and direction with the command CE see command reference Step B Verify proper encoder operation Once it is connected turn the motor shaft and interrogate the position with the instruction TPA return The controller response will vary as the motor is turned At this point if TPA does not vary with encoder rotation there are three possibilities 1 The encoder connections are incorrect check the wiring as necessary 2 The encoder has failed using an oscilloscope observe the encoder signals Verify that both channels A and B have a peak magnitude between 5 and 12 volts Note that if only one enco
166. on quantity description 8 general 10 general 1 reverse limit 1 amp enable error 1 forward limit output compare 1 home brake abort ELO 1 analog 1 reset 2 aux encoder 2 analog The DB 28040 can be used to add an additional 40 digital I O and 8 analog inputs see appendix All digital inputs accept a 0 or 5V signal and are pulled up to 5V To change the state of the input the input must be shorted to ground GND General Use Digital Inputs The general use inputs are TTL and are labeled DGTL IN 1 to DGTL IN 8 on the silkscreen on the sheet metal These inputs can be interrogated with the use of the command TI Tell Inputs the operand and the function IN n see Chapter 7 Mathematical Functions and Expressions Digital input 8 can accept a differential two wire signal To connect a single ended one wire signal connect to DGTL IN 8 and leave DGTL IN 8 disconnected Limit Switch Inputs The forward limit switch FLSx inhibits motion in the forward direction immediately upon activation of the switch The reverse limit switch RLSx inhibits motion in the reverse direction immediately upon activation of the switch Ifa limit switch is activated during motion the controller will make a decelerated stop using the deceleration rate previously set with the DC command The motor will remain on in a servo state after the limit switch has been activated and will hold motor position T
167. onitoring to function Example Limit Switch This program prints a message upon the occurrence of a limit switch Note for the LIMSWI routine to function the CDS 3310 must be executing an applications program from memory This can be a very simple program that does nothing but loop on a statement such as LOOP JP LOOP EN Motion commands such as JG 5000 can still be sent from the PC even while the dummy applications program is being executed Instruction ED 000 LOOP 001 JP LOOP EN 002 LIMSWI 003 MG LIMIT OCCURRED 004 RE lt control gt Q XQ LOOP JG 5000 BGA Interpretation Edit Mode Dummy Program Jump to Loop Limit Switch Label Print Message Return to main program Quit Edit Mode Execute Dummy Program Jog Begin Motion Now when a forward limit switch occurs on the A axis LIMSWI subroutine will be executed Notes regarding the LIMSWI Routine 1 The RE command is used to return from the ZLIMSWI subroutine 2 The LIMSWI subroutine will be re executed if the limit switch remains active The LIMSWI routine is only executed when the motor is being commanded to move Example Position Error Instruction 000 LOOP 001 JP LOOP EN 002 POSERR 003 1 004 MG EXCESS POSITION ERROR 005 MG ERROR vi 006 RE lt control gt Q XQ LOOP 16 100000 BGX Interpretation Edit Mode Dummy Program Loop Position Error Routine Read Position Error Print Messa
168. operation as well as details to help determine if one is required in your system please refer to application note 5448 at http www galilmc com support appnotes miscellaneous note5448 pdf DCPower Supply 19900 Regulator 7 GND E N PWM System Load Controller ifi Moto Amplifier Inertia EN Encoder Figure 1 Shunt Regulator Placement a Typical Servo System Appendices 93 Layout 2 VS SR 19900 2 GALIL 33V 66V GUSR USR INSTALL JP1 PG VS PG VS Figure 2 SR 19900 Layout Pinout J2 4 pin Molex 8 pin Mate N Lock Power Ground 1 PG 1 Earth 5 PG Voltage Supply 2 VS 2 VS 6 PG Power Ground 3 PG 3 VS 7 PG Voltage Supply 4 VS 4 VS 8 PG Configuration SR 19900 Configuration Voltage Threshold Setting Vs 33 volts 66 volts User selectable JP1 33V 66V USR USR User Settable Voltage R8 1930 Vs 42 2K Voltage Vs R8 value ohms 24 4 12 k 48 50 44 k 72 96 76 k 94 Appendices CDS 3310 DB 28040 CDS 3310 Introduction The DB 28040 is an I O expansion daughter board for the CDS 3310 motion controller that provides 8 analog inputs and 40 digital I O Electrical Specifications The analog input impedance
169. or Code Command not valid while running Edit Line 3 Add After Motion Done Quit Edit Mode Execute A The CDS 3310 provides instructions to control program flow The CDS 3310 program sequencer normally executes program instructions sequentially The program flow can be altered with the use of event triggers trippoints and conditional jump statements Event Triggers amp Trippoints To function independently from the host computer the CDS 3310 can be programmed to make decisions based on the occurrence of an event Such events include waiting for motion to be complete waiting for a specified amount of time to elapse or waiting for an input to change logic levels CDS 3310 provides several event triggers that cause the program sequencer to halt until the specified event occurs Normally a program is automatically executed sequentially one line at a time When an event trigger instruction is decoded however the actual program sequence is halted The program sequence does not continue until the event trigger is tripped For example the motion complete trigger can be used to separate two move sequences in a program The commands for the second move sequence will not be executed until the motion is complete on the first motion sequence In this way the CDS 3310 can make decisions based on its own status or external events without intervention from a host computer 22 Chapter 7 Application Programming CDS 3310 CDS 3310 Eve
170. or more information about the command TC see the Command Reference Stop Code Command The status of motion for each axis can be determined by using the stop code command SC This can be useful when motion on an axis has stopped unexpectedly The command SC will return a number representing the motion status See the command reference for further information RAM Memory Interrogation Commands For debugging the status of the program memory array memory or variable memory the CDS 3310 has several useful commands The command DM will return the number of array elements currently available The command DA will return the number of arrays which can be currently defined For example a standard CDS 3310 will have a maximum of 8000 array elements in up to 30 arrays If an array of 100 elements is defined the command DM will return the value 7900 and the command DA will return 29 To list the contents of the variable space use the interrogation command LV List Variables To list the contents of array space use the interrogation command LA List Arrays To list the contents of the Program space use the interrogation command LS List To list the application program labels only use the interrogation command LL List Labels Operands In general all operands provide information which may be useful in debugging an application program Below is a list of operands which are particularly valuable for program debugging To displ
171. or to a given rotary position near the final point Once there the load position is read to find the position error and the controller commands the motor to move to a new rotary position which eliminates the position error Since the required accuracy is 0 5 micron the resolution of the linear sensor should preferably be twice finer A linear sensor with a resolution of 0 25 micron allows a position error of 2 counts The dual loop approach requires the resolution of the rotary sensor to be equal or better than that of the linear system Assuming that the pitch of the lead screw is 2 5mm approximately 10 turns per inch a rotary encoder of 2500 lines per turn or 10 000 count per revolution results in a rotary resolution of 0 25 micron This results in equal resolution on both linear and rotary sensors To illustrate the control method assume that the rotary encoder is used as a feedback for the X axis and that the linear sensor is read and stored in the variable LINPOS Further assume that at the start both the position of X and the value of LINPOS are equal to zero Now assume that the objective is to move the linear load to the position of 1000 The first step is to command the X motor to move to the rotary position of 1000 Once it arrives we check the position of the load If for example the load position is 980 counts it implies that a correction of 20 counts must be made However when the X axis is commanded to be at the position o
172. orm closed loop motion Step 8 Close the Loop Step A Test feedback polarity To test the polarity of the feedback set small gains KPX 6 KDX 64 and command a move with the instruction PRX 1000 CR BGX CR Begin motion on A axis Position relative 1000 counts When the polarity of the feedback is wrong the motor will run away and the controller will disable the motor when the position error exceeds 2000 counts If the motor runs away the polarity of the loop must be inverted Step B Invert feedback polarity if necessary When the polarity of the feedback is incorrect the user must invert the loop polarity The polarity reversal may be done with the encoder If you are using a single ended encoder interchange the signal CHA and CHB If on the other hand you are using a differential encoder interchange only CHA and CHA The loop polarity and encoder polarity can also be affected through software with the MT and CE commands see the Command Reference Chapter 2 Getting Started 13 The motor should now hold position Step C Reverse positive direction if desired Once the feedback polarity is correct the motor does not run away the positive direction of motion may be backwards from the desired positive direction If this is the case the positive direction can be changed with both the CE and MT commands while the motor is off For example MOX CEX 2 MTX 1 SHX Once you have closed the loop with the correct
173. plifier Connect brush servo motor Connect brushless servo motor Step 8 Close the Loop Step 9 Tune the servo system Step 1 Install Jumpers on the CDS 3310 Ethernet Speed 10B Install this jumper to force the Ethernet communication rate to 10 megabits per second If the jumper is removed the controller will auto negotiate either 10 or 100 megabits per second This feature is available CDS 3310 revision or higher Master Reset MRST When MRST is connected the controller will perform a master reset upon power up or upon the reset input going low Whenever the controller has a master reset all programs arrays variables and motion control parameters stored in EEPROM will be ERASED 8 Chapter 2 Getting Started CDS 3310 Upgrade Jumper UPGD The UPGRD jumper enables the user to unconditionally update the controller s firmware This jumper is not necessary for firmware updates when the controller is operating normally but may be necessary in cases of corrupted EEPROM e g power failure during a firmware update If EEPROM corruption occurs your controller may not operate properly In this case install the UPGRD Jumper and use the update firmware function on the Galil Terminal to re load the system firmware Serial Port Baud Rate 9600 The following table describes the baud rate settings 9600 BAUD RATE OFF 19200 Motor Off Jumper MO The state of the motor upon power up may be selected with th
174. polarity you can move on to the compensation phase servo system tuning to adjust the PID filter parameters KP KD and KI It is necessary to accurately tune your servo system to ensure fidelity of position and minimize motion oscillation as described in the next section Step 9 Tune the Servo System Adjusting the tuning parameters is required when using servo motors The system compensation provides fast and accurate response and the following presentation suggests a simple and easy way for compensation More advanced design methods are available with software design tools from Galil such as the Windows Servo Design Kit WSDK software The filter has three parameters the damping KD the proportional gain KP and the integrator KI The parameters should be selected in this order To start set the gains to zero with the instructions KIX 0 lt return gt Integrator gain KPX 0 lt return gt Proportional gain KDX 0 return Derivative gain Increase KD gradually maximum is 4095 and stop after the motor vibrates A vibration is noticed by audible sound or by interrogation If you send the command TEA return Tell error on A axis a few times and get varying responses especially with reversing polarity it indicates system vibration When this happens simply reduce KD Next you need to increase the value of KP gradually maximum allowed is 1023 You can monitor the improvement in the response with the Tell Error instruction
175. pter 7 Mathematical Functions and Expressions Amp Enable This signal is used by the controller internally to disable the amplifier and 1s exposed for optional external connection The signal toggles with the commands MO and SH Output Compare The output compare signal is TTL and is labeled COMPARE on the silkscreen Output compare is controlled by the position of any of the main encoders on the controller The output can be programmed to produce an active low pulse 1usec based on an incremental encoder value or to activate once when an axis position has been passed For further information see the command OC in the Command Reference Error Output The error output is TTL and is available on the breakout modules to indicate a controller error condition When an error condition occurs the ERROR signal will go low and the controller LED will go on error occurs because of one of the following conditions 1 The axis has a position error greater than the error limit The error limit is set by using the command ER 2 reset line on the controller is held low or is being affected by noise 3 There is a failure on the controller and the processor is resetting itself 4 There is a failure with the output IC which drives the error signal 22 Chapter 3 Connecting 0 CDS 3310 Brake Output The brake digital output is provided for direct connection to a normally engaged motor brake and external DC power supply 5 to 24 V
176. r the axes When this function is enabled the specified motor will be disabled under the following 3 conditions 1 The position error for the specified axis exceeds the limit set with the command ER 2 The abort command is given 3 The abort input is activated with a low signal NOTE If the motors are disabled while they are moving they may coast to a stop because they are no longer under servo control To re enable the system use the Reset RS or Servo Here SH command Example OE 1 1 1 1 Enable off on error for A B C and D OE 0 1 0 1 Enable off on error for B and D axes Disable off on error for A and C Automatic Error Routine The POSERR label causes the statements following to be automatically executed if error on any axis exceeds the error limit specified by ER The error routine must be closed with the RE command The RE command returns from the error subroutine to the main program NOTE The Error Subroutine will be entered again unless the error condition is gone 60 e Chapter 8 Hardware amp Software Protection CDS 3310 CDS 3310 Example Instruction Interpretation A EN Dummy program POSERR Start error routine on error MG error Send message SB 1 Fire relay STA Stop motor AMA After motor stops SHA Servo motor here to clear error RE Return to main program NOTE An applications program must be executing for the ZPOSERR routine to function Limit Switch Routine The CDS 3310 provid
177. retation Label CMA Specifies A axis for contour mode DT 2 Specifies first time interval 2 ms CD 48 WC Specifies first position increment DT3 Specifies second time interval 2 ms CD 240 WC Specifies second position increment DT 4 Specifies the third time interval 2 ms CD 48 WC Specifies the third position increment DT0 CDO Exits contour mode EN POSITION COUNTS 288 eee 240 192 96 ds ere TIME ms 4 8 12 16 20 24 28 SEGMENT 1 SEGMENT 2 SEGMENT 3 Figure 6 6 The Required Trajectory Additional Commands The command WC is used as a trippoint Wait for Contour This allows the CDS 3310 to use the next increment only when it is finished with the previous one Zero parameters for DT followed by zero parameters for CD exit the contour mode Chapter 6 Programming Motion 5 If no new data record is found and the controller is still in the contour mode the controller waits for new data No new motion commands are generated while waiting If bad data is received the controller responds with a Command Summary Contour Mode COMMAND DESCRIPTION CM ABCDEFGH Specifies which axes for contouring mode Any non contouring axes may be operated in other modes CD a b c d e f g h Specifies position increment over time interval Range is 32 000 Zero ends contour mode when issued following DTn Specifies time interval 2 msec for position increment where n is an in
178. rmat 000A 00 Hex value vl ALPHA Assign string ALPHA to v1 vl S4 Specify string format first 4 characters ALPH The local format is also used with the MG command Converting to User Units Variables and arithmetic operations make it easy to input data in desired user units such as inches or RPM The CDS 3310 position parameters such as PR PA and VP have units of quadrature counts Speed parameters such as SP JG and VS have units of counts sec Acceleration parameters such as AC DC VA and VD have units of counts sec The controller interprets time in milliseconds All input parameters must be converted into these units For example an operator can be prompted to input a number in revolutions A program could be used such that the input number is converted into counts by multiplying it by the number of counts revolution Instruction Interpretation RUN Label IN ENTER OF REVOLUTIONS n1 Prompt for revs PR 1 2000 Convert to counts IN ENTER SPEED IN 51 Prompt for RPMs SP s1 2000 60 Convert to counts sec IN ENTER ACCEL IN RAD SEC2 al Prompt for accelleration AC a1 2000 2 3 14 Convert to counts sec 2 BG Begin motion EN End program CDS 3310 Chapter 7 Application Programming 49 Hardware Digital Outputs The CDS 3310 has an 10 bit uncommitted output port and an additional 40 I O with the addition of the daughter board DB 28040 which may be configured as inputs or outputs with the CO c
179. roller WTS wait for the response Position 0 assign the result to a variable Modbus An additional protocol layer is available for speaking to I O devices Modbus over TCP is a protocol that packages information in binary packets that are sent as part of a TCP IP packet In this protocol each slave has a byte slave address The CDS 3310 can use a specific slave address or default to the handle number The port number for Modbus is 502 The Modbus protocol has a set of commands called function codes The CDS 3310 supports the 10 major function codes Function Code Definition 1 01 02 Read Input Status Read Bits 03 Holding Registers Read Words 11 04 1 0ReadInputRegisters Read Words 0 05 Force Single Coil Write One Bit 06 222 Single Register Write One Word 07 Read Exception Status Read Error Code 15 Fo i ils Wri iple Bit 16 2222221 Preset Multiple Registers Write Words 17 Report Slave ID The CDS 3310 provides three levels of Modbus communication The first level allows the user to create a raw packet and receive raw data It uses the MBh command with a function code of 1 The format of the command is MBh 1 len array where lenis the number of bytes array is the array with the data The second level incorporates the Modbus structure This is necessary for sending configuration and special commands to an I O device The formats vary
180. rray RA Specify array for automatic record RD TPA Specify data for capturing such TPC RC n m Specify capture time interval where n is 2 samples m is number of records to be captured RC or RC Returns a 1 if recording Record and Playback Example Instruction Interpretation RECORD Begin Program DPO Define position for A axis to be 0 DA De allocate all arrays DM xpos 501 Dimension 501 element array called xpos RA xpos Record Elements into xpos array RD TPA Element to be recorded is encoder position of A axis MOA Motor off for A axis RC2 Begin Recording with a sample rate of 2 msec LOOP1 JP LOOP1 RC 1 Loop until all elements have been recorded COMPUTE Routine to determine the difference between consecutive points DM dx 500 Dimension a 500 element array to hold contour points i 0 Set loop counter LOOP2 Loop to calculate the difference dx I xpos i 1 xpos i Calculate difference 1 1 1 Update loop counter JP LOOP2 i lt 500 Continue looping until dx is full PLAYBK Routine to play back motion that was recorded SHA Servo Here 8 Chapter 6 Programming Motion CDS 3310 WT1000 Wait 1 sec 1000 msec CMA Specify contour mode on A axis DT2 Set contour data rate to be 2 msec i 0 Set array index to 0 LOOP3 Subroutine to execute contour points Contour data command Wait for next contour point iil Update index JP LOOP3 i lt 500 Continue until all array elements hav
181. s 3 1 95 98 2000 ME NT and XP are available Amplifier Specifications The CDS 3310 integrated amplifier is a brush brushless trans conductance PWM amplifier The amplifier operates in torque mode and will output a motor current proportional to the command signal input from the controller For high current applications near 7 amps continuous the metal enclosure should be mounted to metal backing to dissipate heat Note Do not hot swap the motor power connections If the amp is enabled when the motor connector is connected or disconnected damage to the amplifier can occur Galil recommends powering the controller and amplifier down before changing the connector Supply Voltage 18 72 VDC Continuous Current 7 Amps Peak Current 10 Amps Amplifier Gain 0 4 0 7 or 1 0 A V selectable via AG command Switching Frequency 60 kHz Minimum Load Inductance 0 5 mH Brushless Motor Commutation angle 120 2 Chapter 1 Overview CDS 3310 CDS 3310 Functional Elements CDS 3310 SERIAL RS 232 40 CONFIGURABLE The CDS 3310 controller circuitry can be divided into the following functional groups as shown in Figure 1 1 and discussed below WATCHDOG TIMER TTL LIMITS AND HOME INPUTS MAIN ENCODER 100 BaseT ETHERNET 68331 HIGH SPEED MIC ROC OMPUTER WITH 4 RAM MOTOR ENC ODER AUX ENCODER 3 INTERFACE 10 OUTPUT FOR 4Meg FLASH EEPROM SERVO MOTOR HIG
182. s are sent and received The CDS 3310 supports two industry standard protocols TCP IP and UDP IP The controller will automatically respond in the format in which it is contacted TCP IP is a connection protocol The master must be connected to the slave in order to begin communicating Each packet sent is acknowledged when received If no acknowledgement is received the information is assumed lost and is resent Unlike TCP IP UDP IP does not require a connection This protocol is similar to communicating via RS232 If information is lost the controller does not return a colon or question mark Because the protocol does not provide for lost information the sender must re send the packet Although UDP IP is more efficient and simple Galil recommends using the TCP IP protocol TCP IP insures that if a packet is lost or destroyed while in transit it will be resent Ethernet communication transfers information in packets The packets must be limited to 470 data bytes or less Larger packets could cause the controller to lose communication NOTE In order not to lose information in transit Galil recommends that the user wait for an acknowledgement of receipt of a packet before sending the next packet Addressing There are three levels of addresses that define Ethernet devices The first is the Ethernet or hardware MAC address This is a unique and permanent 6 byte number No other device will have the same Chapter 4 Commu
183. sabled This could cause the motor to coast to a stop If the Off On Error function is not enabled the motor will instantaneously stop and servo at the current position The Off On Error function is further discussed in this chapter Forward Limit Switch Low input inhibits motion in forward direction If the motor is moving in the forward direction when the limit switch is activated the motion will decelerate and stop In addition if the motor is moving in the forward direction the controller will automatically jump to the limit switch subroutine LIMSWI if such a routine has been written by the user The CN command can be used to change the polarity of the limit switches Reverse Limit Switch Low input inhibits motion in reverse direction If the motor is moving in the reverse direction when the limit switch is activated the motion will decelerate and stop In addition if the motor is moving in the reverse direction the controller will automatically jump to the limit switch subroutine LIMSWI if such a routine has been written by the user The CN command can be used to change the polarity of the limit switches Amplifier Status LED s Over Voltage Protection The CDS 3310 is protected against over voltage If the supply voltage exceeds 78 V the over voltage protection will take effect The yellow over voltage LED will be lit on the amplifier until the voltage drops below 74 V This error is monitored with bit 1 of
184. select the filter parameters in order to close a position loop with a crossover frequency of o 500 rad s and a phase margin of 45 degrees The first step is to develop a mathematical model of the system as discussed in the previous system Motor M s Ky Js2 1000 s2 Amp 52 Amp V DAC 10 32768 0003 74 Chapter 10 Theory of Operation CDS 3310 CDS 3310 Encoder 2 636 ZOH H s 2000 s 2000 Compensation Filter G s P sD The next step is to combine all the system elements with the exception of G s into one function L s L s M s Ka Kg Kf H s 3 17 10 s2 s 2000 Then the open loop transfer function A s is A s L s G s Now determine the magnitude and phase of L s at the frequency c 0 L j500 3 17 106 0 500 2 j500 2000 This function has a magnitude of L j500 0 00625 and a phase Arg L j500 180 tan 1 500 2000 194 G s is selected so that A s has a crossover frequency of 500 rad s and a phase margin of 45 degrees This requires that AG500 1 Arg AG500 135 However since A s L s G s then it follows that G s must have magnitude of GG500 AG500 LG500 160 and a phase arg G j500 A Gj500 arg LG500 135 194 59 In other words we need to select a filter function G s of the form G s P sD so that at the frequency c 500 the function would have a magnitude of 160 and a phase le
185. sition TPA Tell position 0000000021 Default format PF4 Change format to 4 places TPA Tell position 0021 New format PF 4 Change to hexadecimal format TPA Tell Position 0015 Hexadecimal value PF2 Format 2 places Chapter 7 Application Programming 47 TPA 99 Tell Position Returns 99 if position greater than 99 Removing Leading Zeros from Response to Interrogation Commands The leading zeros on data returned as a response to interrogation commands can be removed by the use of the command LZ 170 0000000009 0000000005 1 TP 9 5 Disables the LZ function Tell Position Interrogation Command Response With Leading Zeros Enables the LZ function Tell Position Interrogation Command Response Without Leading Zeros Local Formatting of Response of Interrogation Commands The response of interrogation commands may be formatted locally To format locally use the command Fn m or n m on the same line as the interrogation command The symbol F specifies that the response should be returned in decimal format and specifies hexadecimal n is the number of digits to the left of the decimal and m is the number of digits to the right of the decimal F2 2 05 00 05 00 00 00 07 00 TP 4 2 FFFB 00 0005 00 0000 00 0007 00 Tell Position in decimal format 2 2 Response from Interrogation Command Tell Position in hexadecimal format 4 2 Response from Interrogation Command Formatt
186. ssover frequency was computed numerically resulting in 200 rad s Next we determine the phase of A s at the crossover frequency A j200 390 000 j200 51 200 2 200 2000 Arg A j200 tan 200 51 180 tan 200 2000 a 76 180 6 110 Finally the phase margin PM equals 180 a 70 As long as PM is positive the system is stable However for a well damped system PM should be between 30 degrees and 45 degrees The phase margin of 70 degrees given above indicated overdamped response Next we discuss the design of control systems System Design and Compensation The closed loop control system can be stabilized by a digital filter which is preprogrammed in the CDS 3310 controller The filter parameters can be selected by the user for the best compensation The following discussion presents an analytical design method The Analytical Method The analytical design method is aimed at closing the loop at a crossover frequency with a phase margin PM The system parameters are assumed known The design procedure is best illustrated by a design example Consider a system with the following parameters Nm A Torque constant J 2 104 kg m2 System moment of inertia R22 Q Motor resistance Amp Volt Current amplifier gain 2 N 1000 Counts rev Encoder line density The DAC of the CDS 3310 outputs 10V for a 14 bit command of 8192 counts The design objective is to
187. ster to determine which slave is connected to which handle Each handle adds 100 to the bit number Handle A is 100 and handle H is 800 Ina TCP IP control setup with two handles per slave it is imperative that you send commands to the first handle designated as the command handle Slave I O may be set globally according to the following numbering scheme GlobalBit Slave Handle 100 LocalBit For example to set digital output bit 2 on a UDP distributed slave using the E handle for communication the E handle would have a numerical value of 500 and the bit has a value of 2 The command would therefore be SB 502 The command TZ can be used to display all of the digital I O contained in a distributed control system Specific slave controllers may be queried by issuing TZn where n is the specific Ethernet handle The table below lists global commands that can be issued on the master to query slave I O Type Global Commands Handle 100 bit Digital Inputs QIN TI Digital Outputs SB CB OUT Analog Inputs AN Analog Outputs AO Chapter 11 Distributed Control 81 Appendices Electrical Specifications Servo Control A A B B IDX IDX Encoder and TTL compatible but can accept up to 12 Volts Auxiliary Encoder Quadrature phase on CHA CHB Can accept single ended A B only or differential A A B B Maximum A B edge rate 12 MHz Minimum IDX pulse width 80 nsec Input
188. t of the notch filter is to cancel the resonance affect by placing the complex zeros on top of the resonance poles The notch poles P and p are programmable and are selected to have sufficient Chapter 10 Theory of Operation 71 damping It is best to select the notch parameters by the frequency terms The poles and zeros have a frequency in Hz selected by the command NF The real part of the poles is set by NB and the real part of the zeros is set by NZ The most simple procedure for setting the notch filter identify the resonance frequency and set NF to the same value Set NB to about one half of NF and set NZ to a low value between zero and 5 ZOH The ZOH or zero order hold represents the effect of the sampling process where the motor command is updated once per sampling period The effect of the ZOH can be modeled by the transfer function H s 1 1 81 2 If the sampling period is T 0 001 for example H s becomes H s 2000 s 2000 However in most applications H s may be approximated as one This completes the modeling of the system elements Next we discuss the system analysis System Analysis To analyze the system we start with a block diagram model of the system elements The analysis procedure is illustrated in terms of the following example Consider a position control system with the CDS 3310 controller and the following parameters K 0 1 Nm A Torque constant 210 4 kg m System moment of inerti
189. t ports This response could be generated as a result of messages using the MG or IN serial only command OR as a result of a command error These responses are known as unsolicited messages since they are not generated as the direct response to a command Messages can be directed to a specific port using the CF command or using the specific Port arguments see MG and IN commands described in the Command Reference If the port is not explicitly given unsolicited messages will be sent to the default port Chapter 4 Communication 33 The controller has a special command CW which can affect the format of unsolicited messages This command is used by Galil Software to differentiate responses from the command line and unsolicited messages The command CW1 causes the controller to set the high bit of ASCII characters to 1 of all unsolicited characters This may cause characters to appear garbled to some terminals This function can be disabled by issuing CW2 For more information see application note 2437 Galil Software Tools and Libraries API Application Programming Interface software is available from Galil The API software is written in C and is included in the Galil CD ROM They can be used for development under DOS and Windows environments 16 and 32 bit Windows With the API s the user can incorporate already existing library functions directly into a C program Galil has also developed an ActiveX Tool Kit This provides 32 bit O
190. teger between and 8 Zero ends contour mode Ifn does not change it does not need to be specified with each CD WC Waits for previous time interval to be complete before next data record is processed General Velocity Profiles The Contour Mode is ideal for generating any arbitrary velocity profiles The velocity profile can be specified as a mathematical function or as a collection of points The design includes two parts Generating an array with data points and running the program Example Generating an Array Consider the velocity and position profiles shown in Fig 6 7 The objective is to rotate a motor a distance of 6000 counts in 120 ms The velocity profile is sinusoidal to reduce the jerk and the system vibration If we describe the position displacement in terms of A counts in B milliseconds we can describe the motion in the following manner 0 2 A sin2zT B 2m NOTE is the angular velocity is the position and T is the variable time in milliseconds In the given example A 6000 and 120 the position and velocity profiles are 501 6000 27 sin 27 T 120 Note that the velocity 02 in count ms is 6 50 1 cos 27 T 120 6 Chapter 6 Programming Motion CDS 3310 CDS 3310 Figure 6 7 Velocity Profile with Sinusoidal Acceleration The CDS 3310 can compute trigonometric functions However the argument must be expressed in degrees Using our
191. ter 11 Distributed Control 78 OVVIE W e E 78 eere enne 78 Configuration Example ie ot eoe E OR TU TREE E CREER UE ences 79 Manual Slave IP Configuration sessi nnns 79 Global versus Local Commands essere 80 Gl b l Commands t ttu e E ERR 80 Local Commands ree tute tiet 81 Accessing the I O of the Slaves 7 81 Appendices 82 Electrical Specttication m tete tT RI Ue a tege takes eam heehee gene 82 Servo Control esis he utet iata ee ttem ed o eee 82 Input OU pUE etin te AI EN t Mr d este 82 ed I oles EEE t pp be ele sp abies e E 82 Performance Specifications 22 83 4 MOTOR Output 4 pin AMP Universal Mate N Lok eee 84 J2 ENCODER 15 PIN Hi density Female D sub sese 84 J3 37 pin Female D sub ssssssssessesseeeeenenerenenen enne 84 74 852232 Seria PORE UI eti PR PRI TRI ute 85 J5 POWER 2 AMP Universal 2 85 18 100 Bthernet ee ep Eat ia east 85 Mating Connectors eee ette e ete edere Poetis 85 nennen enne nennen 86 Jumper Description for 5 3310 2222222 2 4 1 00000000000000000000000000000 87 Accessories and Options eer ec terii eiecit ee ena e Rc e
192. than 10 JS MOVE2 IN 1 1 Jump to subroutine ZMOVE2 if input 1 is logic level high After the subroutine 2 is executed the program sequencer returns to the main program location where the subroutine was called JP BLUE ABS v2 gt 2 Jump to BLUE if the absolute value of variable v2 is greater than 2 JP C v1 v7 lt v8 v2 Jump to C if the value of v1 times v7 is less than or equal to the value of V8 v2 Jump to A Chapter 7 Application Programming 27 Move the A motor to absolute position 1000 counts and back to zero ten times Wait 100 msec between moves Instruction Interpretation BEGIN Begin Program count 10 Initialize loop counter LOOP Begin loop PA 1000 Position absolute 1000 BGA Begin move AMA Wait for motion complete WT 100 Wait 100 msec 0 Position absolute 0 BGA Begin move AMA Wait for motion complete WT 100 Wait 100 msec count count 1 Decrement loop counter JP LOOP count gt 0 Test for 10 times thru loop EN End Program IF ELSE AND ENDIF The CDS 3310 provides a structured approach to conditional statements using IF ELSE and ENDIF commands Using the IF and ENDIF Commands An IF conditional statement is formed by the combination of an IF and ENDIF command The IF command has as it s arguments one or more conditional statements If the conditional statement s evaluates true the command interpreter will continue executing commands which follow the IF command If the condi
193. the n value is a one then the bank of 8 I O points is to be configured as an output If the n value is a zero then the bank of 8 I O points will be configured as an input For example if bank 4 and 5 is to be configured as an output CO 12 is issued 8 Bit I O Bank Binary Decimal Value for Representation Bank 17 24 mm 9m e 33 40 41 48 49 56 The simplest method for determining n Step 1 Determine which 8 bit I O banks to be configured as outputs Step 2 From the table determine the decimal value for each I O bank to be set as an output Step 3 Add up all of the values determined in step 2 This is the value to be used for n For example if banks 2 and 3 are to be outputs then n is 3 and CO3 should be issued NOTE This calculation is identical to the formula n n 2 n 4 n 8 n 16 ng where n represents the bank Saving the State of the Outputs in Non Volatile Memory The configuration of the extended I O and the state of the outputs can be stored in the EEPROM with the BN command If no value has been set the default of CO 0 1s used all banks are inputs Accessing Extended I O When configured as an output each I O point may be defined with the SBn and CBn commands where n 1 through 8 and 17 through 56 Outputs may also be defined with the conditional command OBn where n 1 through 8 and 17 through 56 The command OP may also be used to set output bits specified as banks of data The OP
194. the opposite direction traveling to the new specified absolute position In figure 3 the velocity profile is triangular because the controller doesn t have sufficient time to reach the set speed of 50000 cts sec before it is commanded to change direction Chapter 6 Programming Motion 47 Figure 2 Position vs Time msec Motion 2 Figure 3 Velocity vs Time msec Motion 2 Example Motion 3 In this motion the host program commands the controller to begin motion towards position 5000 changes the target to 2000 and then changes it again to 8000 Figure 4 shows the plot of position vs time Figure 5 plots velocity vs time and Figure 6 demonstrates the use of motion smoothing IT on the velocity profile in this mode The jerk in the system is also affected by the values set for AC and D Figure 4 Position vs Time msec Motion 4 Figure 5 Velocity vs Time Motion 4 48 Chapter 6 Programming Motion CDS 3310 CDS 3310 Figure 6 Velocity cts sec vs Time msec with IT Note the controller treats the point where the velocity passes through zero as the end of one move and the beginning of another move IT is allowed however it will introduce some time delay Trip Points Most trip points are valid for use while in the position tracking mode There are a few exceptions to this the AM and MC commands may not be used while in this mode It is recommended that MF MR or AP be used as they involve motion in a specified direc
195. the position of the slide For stability reasons it is best to use a rotary encoder on the motor Connect the rotary encoder to the A axis and connect the linear encoder to the auxiliary encoder of A Assume that the required motion distance is one inch and that this corresponds to 40 000 counts of the rotary encoder and 10 000 counts of the linear encoder The design approach is to drive the motor a distance which corresponds to 40 000 rotary counts Once the motion is complete the controller monitors the position of the linear encoder and performs position corrections This is done by the following program Instruction DUALOOP 0 DEO PR 40000 BGA CORRECT AMA vl 10000 DEA v2 _TEA 4 v1 JP END ABS v2 lt 2 PR v2 4 BGA JP CORRECT END EN Motion Smoothing Interpretation Label Configure encoder Set initial value Main move Start motion Correction loop Wait for motion completion Find linear encoder error Compensate for motor error Exit if error is small Correction move Start correction Repeat The CDS 3310 controller allows the smoothing of the velocity profile to reduce the mechanical vibration of the system Trapezoidal velocity profiles have acceleration rates which change abruptly from zero to maximum value The discontinuous acceleration results in jerk which causes vibration The smoothing of the acceleration profile leads to a continuous acceleration profile and reduces the mechanical s
196. tion or the passing of a specific absolute position Command Summary Position Tracking Mode COMMAND MF n n n n n n n n Trip point to hold up program execution until n number of counts have passed in the forward direction Only one axis at a time may be specified reverse direction Only one axis at a time may be specified Chapter 6 Programming Motion 49 Electronic Gearing This mode allows the axis to be electronically geared to the auxiliary encoder The masters may rotate in both directions and the geared axis will follow at the specified gear ratio The gear ratio may be changed during motion The command GA DA specifies the master axes GR a specifies the gear ratio for the slave where the ratio may be a number between 127 9999 with a fractional resolution of 0 0001 GR 0 turns off gearing A limit switch or ST command disables gearing GR causes the axis to be geared to the actual position of the master Electronic gearing allows the geared motor to perform a second independent or coordinated move in addition to the gearing For example when a geared motor follows a master at a ratio of 1 1 it may be advanced an additional distance with PR or JG Ramped Gearing In some applications especially when the master is traveling at high speeds it is desirable to have the gear ratio ramp gradually to minimize large changes in velocity on the slave axis when the gearing is engaged For example if the master axis is alre
197. tional statement evaluates false the controller will ignore commands until the associated ENDIF command is executed OR an ELSE command occurs in the program see discussion of ELSE command below NOTE An ENDIF command must always be executed for every IF command that has been executed It is recommended that the user not include jump commands inside IF conditional statements since this causes re direction of command execution In this case the command interpreter may not execute an ENDIF command Using the ELSE Command The ELSE command is an optional part of an IF conditional statement and allows for the execution of command only when the argument of the IF command evaluates False The ELSE command must occur after an IF command and has no arguments If the argument of the IF command evaluates false the controller will skip commands until the ELSE command If the argument for the IF command evaluates true the controller will execute the commands between the IF and ELSE command Nesting IF Conditional Statements The CDS 3310 allows for IF conditional statements to be included within other IF conditional statements This technique is known as nesting and the CDS 3310 allows up to 255 IF conditional statements to be nested This is a very powerful technique allowing the user to specify a variety of different cases for branching 28 Chapter 7 Application Programming CDS 3310 CDS 3310 Format IF conditional statement s ELSE C
198. to the next combination If it does move smoothly try the other direction with OF 2 If it is smooth you have found the correct combination If not go to the next combination Step C2 Test wiring automatically The controller has been programmed to test whether the Hall commutation order is correct To test the commutation for the X axis issue the BS command BSX n m The controller will attempt to move the motor through one revolution If the motor is unable to move the controller will return unknown Hall transition check wiring and execute BS again It may be necessary to issue more voltage to create motion The default for the BS command is BSn 0 25 1000 which will send 0 25 volts to the amplifier for 1 second BSX 0 5 300 will Issue 0 5 volts from the controller for 300 milliseconds If the controller is able to move the motor and the Hall transitions are not correct the controller will alert the operator and recommend which motor phases to change For example the controller might return Wire A to Terminal B Wire B to Terminal A If the controller finds that the commutation order is correct but the motor would run away due to positive feedback the controller will prompt the user to Wire Phase B to C and C to B Exchange Hall Sensors A and B After making any necessary changes to the motor phase wiring confirm correct operation by reissuing the BS command Once the axis is wired correctly the controller is ready to perf
199. ts are shown in Fig 10 4 The mathematical model of the various components is given below CONTROLLER R x DIGITAL Y V E FILTER ZOH DAC MOTOR C P ENCODER Figure 10 4 Functional Elements of a Motion Control System CDS 3310 Chapter 10 Theory of Operation 69 Motor Amplifier The current drive generates a current I which is proportional to the input voltage V with a gain of Ka The resulting transfer function in this case 1s P V K K 82 where Kt and J are as defined previously For example a current amplifier with K4 2 A V with the motor described by the previous example will have the transfer function P V 2 rad V If the motor is a DC brushless motor it is driven by an amplifier that performs the commutation The combined transfer function of motor amplifier combination is the same as that of a similar brush motor as described by the previous equations CURRENT SOURCE V W P JS Figure 10 6 Mathematical model of the motor and amplifier Encoder The encoder generates N pulses per revolution It outputs two signals Channel A and B which are in quadrature Due to the quadrature relationship between the encoder channels the position resolution is increased to 4N quadrature counts rev The model of the encoder can be represented by a gain of 4N
200. turn Materials Authorization RMA Number if your CDS 3310 is damaged CDS 3310 Chapter 1 Overview 5 Chapter 2 Getting Started This section describes how to begin communicating with a single controller and how to begin controlling a single motor 6 Chapter 2 Getting Started CDS 3310 CDS 3310 Layout and Dimensions MOTOR CONNECTOR POWER CONNECTOR JUMPERS 4 825 4 500 4 495 gt STATUS LEDS DB 28040 KNOCKOUT USB ETHERNET KNOCKOUT STATUS LEDS o 0 ie 0 000 1 214 4 211 6 484 7 250 1 o Figure 2 6 CDS 3310 Recommended Components For a complete system Galil recommends the following elements 1 CDS 3310 Motion Controller 2 ICM 3300 interconnect module with screw terminals and opto isolation 3 Power Supply 4 Brush or Brushless Servo motor with Incremental Encoder CDS 3310 Chapter 2 Getting Started 7 5 PC Personal Computer RS232 or Ethernet for CDS 3310 6a WSDK 32 recommend for first time users or 6b Galil SmartTerminal communication software Software is available for download at http www galilmc com support download html Installing the CDS 3310 Step 1 Step 2 Step 3 Step 4 Step 5 Step 6 Step 7a or Step 7b Install jumpers on the CDS 3310 Connect 18 72 VDC power to controller Install Windows communication software Establish communication Make connections to encoder Configure Am
201. u e UNT ERE CERRO IER 10 16 Motion Smoothing 11 Using the IT Command 11 Examples iie nee eee e RR RT IRR 12 Homing niet erre ne e RI RE Ee e E RR ent ede Fe TERES 13 cnet sedan vanced bes e HG e m e ER TRENDS 13 Command Summary Homing Operation sess 15 Operand Summary Homing Operation 15 High Speed Position Capture The Latch 15 ase veces rete ee e EROR TE e RI TREES 15 Chapter 7 Application Programming 16 OVEIVICW A iain deepsea ihn be alin in 16 16 Edit Mode Corimands tec 17 Example accen eet eR ee t e e Ref Red 17 Program te etti eU ae tere ketene dl 18 Using Labels in Programs cette tene eei ec deed 18 Special 130018 18 Commenting Programs ue e tete eO as tei b e RH 19 Executing Programs Multitasking 0 cccesccesccsseesseeseeeseeeseeseeeeeceseceseceseeaecaecseecaeeeaeenaeenes 19 Debugging Programs 0 20 Trace Command c uenenum tete es 20 Error Code Command ne eret e E 21 Stop Code Commi atid sete RR Re Ta RT ENT 21 21 RE 21 EE 22 Program Flow Commands eaaet ditis a eite 22 Event Triggers amp Trippoints cese ee ene eR ne
202. um average current is over a short time interval The following figure captured with WSDK is indicative of the continuous and peak operation In this figure the continuous limit was configured for 2 volts and the peak limit was configured for 10 volts Chapter 2 Getting Started 11 storage Scope Zoom zoom Close Peak Current Operation Step 7a Connect Brush Servo Motor The CDS 3310 allows for brush operation To configure an axis for brush type operation disconnect power and connect the two motor leads to Phase A and Phase connections on JI MOTOR and leave Phase C disconnected Location Mating Connector Terminal Pins J1 MOTOR 4 pin AMP 172167 1 AMP 170361 1 Set the controller into brush axis operation by issuing BR n n n n By setting n 1 the controller will operate in brushed mode on that axis For example BRO 1 0 0 sets the Y axis as brush type all others as brushless If an axis is set to brush type the amplifier has no need for the Hall inputs These inputs can subsequently be used as general use inputs and queried with the QH command Step 7b Connect Brushless Servo Motor Step A Connect Hall Sensors To configure an axis for brushless motor operation connect the Hall sensors to pins HALA HALB and HALC on 15 pin high density connector 12 ENCODER The CDS 3310 can only be connected to a brushless motor with 120 degree Hall commutation Verify that the hall s
203. upply CDS 3310 Figure 1 2 Elements of Servo systems Motor A motor converts current into torque which produces motion Each axis of motion requires a motor sized properly to move the load at the required speed and acceleration The Galil Motion Component Selector software can help with motor sizing Contact Galil at 800 377 6329 if you would like this product The motor may be a servo motor and can be brush type or brushless rotary or linear Amplifier Driver The power amplifier converts a 10 Volt signal from the controller into current to drive the motor The amplifier should be sized properly to meet the power requirements of the motor The amplifiers is pulse width modulated PWM The amplifier gain AG should be set such that a 10 Volt command generates the maximum required current For example if the motor peak current is 10A the amplifier gain should be 1 A V Encoder An encoder translates motion into electrical pulses which are fed back into the controller The CDS 3310 accepts feedback from either a rotary or linear encoder Typical encoders provide two channels in quadrature known as CHA and CHB This type of encoder is known as a quadrature encoder Quadrature encoders may be either single ended CHA and CHB or differential CHA CHA and CHB CHB The CDS 3310 decodes either type into quadrature states or four times the number of cycles Encoders may also have a third channel or index for sync
204. ut is activated the controller stops generating motion commands immediately whereas the limit switch response causes the controller to make a decelerated stop NOTE The effect of an Abort input is dependent on the state of the off on error function OE for each axis If the Off On Error function is enabled for any given axis the motor for that axis will be turned off when the abort signal is generated This could cause the motor to coast to a stop since it is no longer under servo control If the Off On Error function is disabled the motor will decelerate to a stop as fast as mechanically possible and the motor will remain in a servo state All motion programs that are currently running are terminated when a transition in the Abort input is detected For information on setting the Off On Error function see the Command Reference OE Reset Input Bringing the reset inputs low is equivalent to power cycling the controller Auxiliary Encoder Inputs The auxiliary encoder inputs can be used for general use The controller has one auxiliary encoder and each auxiliary encoder consists of two inputs channel A and channel B The auxiliary encoder inputs are mapped to the inputs 81 92 Each input from the auxiliary encoder is a differential line receiver and can accept voltage levels between 12Volts The inputs have been configured to accept TTL level signals To connect TTL signals simply connect the signal to the input and leave the
205. ut will be read as a 1 while grounding the switch will return a 0 Using a terminal program the state of a limit switch can be printed to the screen with the command MG _LFx or MG LRx This prints the value of the limit switch operands for the x axis The logic state of the limit switches can also be interrogated with the TS command For more details on TS _LFx LRx or MG see the Command Reference Home Switch Input Homing inputs are designed to provide mechanical reference points for a motion control application A transition in the state of a Home input alerts the controller that a particular reference point has been reached by a moving part in the motion control system A reference point can be a point in space or an encoder index pulse The Home input detects any transition in the state of the switch and changes between logic states 0 and 1 corresponding to either or 5V depending on the configuration set by the user CN command The CN command can be used to customize the homing routine to the user s application There are three homing routines supported by the CDS 3310 Find Edge FE Find Index FI and Standard Home HM The Find Edge routine is initiated by the command sequence FEX lt return gt BGX lt return gt where X could be any axis on the controller X Y Z or W The Find Edge routine will cause the motor to accelerate then slew at constant speed until a transition is detected in the logic state
206. uter The CDS 3310 can communicate with a host computer through any application that can send TCP IP or UDP IP packets A good example of this is Telnet a utility that comes with most Windows systems 28 Chapter 4 Communication CDS 3310 Data Record The CDS 3310 can provide a block of status information with the use of a single command QR This command along with the QZ command can be very useful for accessing complete controller status The QR command will return 4 bytes of header information and specific blocks of information as specified by the command arguments QR ABCDEFGHST Each argument corresponds to a block of information according to the Data Record Map below If no argument is given the entire data record map will be returned Note that the data record size will depend on the number of axes See dmewin include dmedrc h Data Record Map CDS 3310 DATA TYPE z U z 34 tU Uu t zi ITEM 15 byte of header 2 byte of header 3 byte of header 4 byte of header sample number general input 0 general input 1 general input 2 general input 3 general input 4 general input 5 general input 6 general input 7 general input 8 general input 9 general output 0 general output 1 general output 2 general output 3 general output 4 general output 5 general output 6 gener

CDS-3310 User Manual - Galil Motion Control

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