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DMC-1412/1414 User Manual

1. 60 Debug sings rale Reina a 78 Differential Encoder 16 18 Digial Filter PID sauce la 120 Digital Filter isset niet 41 124 Da nipimpg tete Lian 46 120 Feedforward 46 8 31 34 46 92 119 143 Integrator aio 46 120 Modelling sce iaia 117 Stability sanare Ea 64 107 113 120 Digital Input erre e Rees 31 Digital Inp ts iet 1 32 105 Digital Outputs re ertet e e 104 Download aUa eder heir RE 45 73 Dual Encoder 42 45 64 95 107 DuabLEoO0p ette lidi 61 Dual Eo0p rettet rte 46 49 61 64 d Ka 1i D OPERE AE nia io 53 54 Electronic Cam iii 53 55 ECAM ssaa ia re 1 49 ECHO eet e ee E e 38 39 45 Edit Mode inre eere 79 Editor et tree et eee eet ee 27 45 73 EEPROM este ea eei Ri 3 10 Electronic Cam 44 53 55 Electronic CAM enne 1 49 Electronic Gearing eene 1 49 GS ATT Bs see Ee he et 1 49 Enable Amplifer Enable eese 33 Encoder Auxiliary Encoder eee 61 141 Differential eee rome 16 18 Dual Encoder i 42 Index Pulse 16 32 Quadrature 4 Encoders innate 45 50 65 95 110 Auxiliary Encoders 31 49 136 Index e 155 Dual it e ees 46 49 64 Interconnect B
2. Main encoder I DMC 1412 1414 Appendices e 139 Opto Isolation Option for ICM 1460 rev F and above only The ICM 1460 module from Galil has an option for opto isolated inputs and outputs Any of the following pins can be chosen to be the input output common pin 1 labeled as 12V pin 2 labeled as 12V and pin 13 labeled as CMP ICOM When pin 1 is used as input output common the 12V output be comes inaccessible when pin 2 is used the 12V becomes inaccessible and when pin13 is used the output compare function is not available The common point needs to be specified at the time of ordering The ICM 1460 can also be configured so that the opto common is jumped with Vcc 5V In this case no screw connections is needed and the internal 5V will be used for powering the input output Option for separate input output commons is also available This will require the use of both pin 1 and pin 2 When selecting this option both 12V and 12V become inaccessible Opto isolated Inputs ICM 1460 TO CONTROLLER CONNECTIONS OPTO COMMON vcc RP2 RP4 2 2K RP1 4 7K OHMS IN x To controller IN x The signal IN x is one of the isolated digital inputs where x stands for the digital input terminal The OPTO COMMON signal is available on TERMINAL 13 labeled CMP ICOM The OPTO COMMON point should be connected to an isolated power supply in order to obtain isolation from the controller
3. MB Channel A MA Channel B MB Index 1 Index 1 GND 45V 5V Red Wire cH Red Connector CPS Power Supply Black Wire Motor Black Connector O 5 high volt 4 power gnd 11 INHIBIT 4 REF IN 2 SIGNALGND Figure 2 4 System Connections with a separate amplifier MSA 12 80 This diagram shows the connections for a standard DC Servo Motor and encoder Step 8b Connect Brushless Motor for Sinusoidal Commutation DMC 1412 Hardware Rev D and newer The sinusoidal commutation option is available only on the DMC 1412 When using sinusoidal commutation the parameters for the commutation must be determined and saved in the controllers non volatile memory The servo can then be tuned as described in Step 9 Step A Disable the motor amplifier Use the command MO to disable the motor amplifiers Step B Connect the motor amplifier to the controller The sinusoidal commutation amplifier requires 2 signals usually denoted as Phase A amp Phase B These inputs should be connected to the two sinusoidal signals generated by the controller The first signal is the main controller motor output ACMD The second signal utilizes the second DAC on the controller and is brought out on the ICM 1460 at pin 38 ACMD2 It is not necessary to be concerned with cross wiring the 1 and 2 signals If this wiring is incorrect the setup proce
4. a e hrec b 91 Automatic Data Capture into Arrays iii 92 Input of Data Numeric and String ii 94 Input of D t 2 2 po aret nadia landa RU pee lara 94 Operator Data Entry Mode dete e e eie atero 95 Inputang String V nables itm oo pen e e edicit ette 97 Output of Data Numeric and String ii 97 Sending Messages 3o enis boe praet nee aret beet itd 97 Displaying Variables and ArrayS i 99 Interrogation Commands 3 2 nego ERE TOI EO Reb alal 99 Formatting Variables and Array Elements eene 100 Converting to User Units eiie rai ara 101 Programmable Hardware V O ener nennen eene 102 Digital O tp ts 5 eroe asi ee oh RR te E he dies epa 102 DMC 1412 1414 DMC 1412 1414 Digital Inputs c b luni eren elite eb 103 Input Interrupt PUNCHOM eet ila tpi terere 103 Exatinple Applicati ns x eth peo decente sone etes Stereo 104 Wire Cutter eer tete an nee e diede ie RE UE 104 Backlash Compensation by Dual L00p eese nennen 105 Chapter 8 Error Handling 107 Introduction aec oe tenere eden e e a HI IR Ped 107 Hardware Protection eire entree ede iq Rea a EE tee DER 107 Output Protection Lines i 107 Input Protection ete eie etg ce deer Pe one beenden 107 Software Protection ee Pere dee nd reir ERES 108 Programmable
5. aa alias e bre 45 Chapter 6 Programming Motion 47 Overview scia ela metere 47 Point to Pomt Positioning ie nic i eine Lara 48 Independent Joz ering i he eet tre ec OU iaia 49 Electronic Gears ra 50 Electronic Canis uie eot rei denaro o Pene eee abite deeds 51 Contour Mode nire ptite tenete erit E RE 54 Specifyins Contour Segments ersinnen pee e petet pe e a ese tato reed 55 Additional Commands er RH eoo berto ail 56 DMC 1412 1414 Contents e iii iv e Contents Teach Record and PlaysBack 5 alunni laica 58 Stepper Motor Operation oe perte e pe etm Phot des diceria 59 Specifying Stepper Motor Operation rennen 59 Using an Encoder with Stepper MOtors i 61 Command Summary Stepper Motor Operation sse 61 Operand Summary Stepper Motor Operation 61 Dual Loop Auxihary Encoder ttp hee paia 61 Backlash Comipernsation enr LIPPE REPE OR PE sate 62 Motion Smootling isu nnt pho e EP ORDERED dE RE 64 Using the IT Command CR RP UE Cet b ceeds 64 nerd om HE Rr more 65 High Speed Position Captures i gratter RU en Pe etd aria 69 Chapter 7 Application Programming 71 Introduction ira Las Esci ate rie on Ple e des 71 Using the DMC 141X Editor to Enter ProgramS iii 71 Edit Mode Commands ci 002 nm rit g
6. This causes velocity changes including direction reversal The motion can be stopped with the instruction ST Stop Example 6 Operation Under Torque Limit The magnitude of the motor command may be limited independently by the instruction TL The following program illustrates that effect Instruction Interpretation TL 0 2 Set output limit to 0 2 volts JG 10000 Set speed BG Start motion Chapter 2 Getting Started e 25 The motor will probably not move as the output signal is not 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 TL 1 0 Increase torque limit to 1 volt TL 9 98 Increase torque limit to maximum 9 98 volts The maximum level of 10 volts provides the full output torque Example 7 Interrogation The values of the parameters may be interrogated using a For example the instruction KP Return gain The same procedure applies to other parameters such as KI KD FA etc Example 8 Operation in the Buffer Mode The instructions may be buffered before execution as shown below Instruction Interpretation PR 600000 Distance SP 10000 Speed WT 10000 Wait 10000 milliseconds before reading the next instruction BG Start the motion Example 9 Motion Programs Motion programs may be edited and stored in the memory They may be executed at a later time The instruction ED Edit mode moves the
7. eee 53 85 Varlabl mimere see gare 29 73 132 Bit Wises a red re E PIDE ae 84 Frequency uerit te e ite te tres pU 4 SINE E 56 Functional nee IRI RI 33 84 Math Functions iii 88 Functions Absolute Value 47 90 110 Arithmetica mr e ERES 84 89 alal 47 49 89 90 93 up narici 8 34 46 92 119 143 Logical Operators e 97 Proportional erret 24 Sin47 59 90 Gear Pesci dealin eee ce ar EE Pe Rr de e ERROR 1 49 Mathematical Expression eere 84 Halt Meimnory een 1 27 41 59 73 78 92 Off On Etror eene 15 33 Lun 3 78 84 89 92 Hardware rper RO ares 78 86 89 Amplifier Enable eene 33 MeSSages aereo te tee e eae 38 99 Jumper ces ete te ee eerie diri 114 Modelling ctn creer neret dra Rugs 117 TIE DERI ee 5 31 Motor Command 1 18 124 132 Home Input rte ONERE 32 Moving Home Inputs 32 44 67 131 Contour Mode Ie Seis ened Sete 44 49 cou TAE 32 Home Inputs eene 32 44 67 131 lange E 32 Jog43 51 S CUEVEG GRE E SEES IEEE 66 Amplifier Enable eee 33 Slew Speed eee eere 1 81 136 Digital Input ili ile ssid eines 31 Multitasking 21er 77 Home Input cipria fia ertet 32 No Operation x i piter th I erret
8. 114 e Chapter 9 Troubleshooting DMC 1412 1414 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 DRIVER ENCODER uM 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 this 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 DMC 1412 1414 Chapter 10 Theory of Operation e 115 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 m
9. Appendices e 129 Performance Specifications 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 Connectors 250 usec 1 quadrature count Phase locked better than 0 005 System dependent 2147483647 counts per move Up to 8 000 000 counts sec 2 counts sec 16 bit DAC over 10V range 0 0003 V 2 billion 4 bytes integer 32 bits 2 bytes fraction 16 bits 1 104 4 bytes integer 32 bits 2 bytes fraction 16 bits 1000 elements 6 arrays 250 lines x 40 characters DMC 1412 1414 J3 General I O 37 PIN D type Input 1 and latch 1 Reset 20 Error 2 Amp Enable 2 Amp Command for Servo motors 3 Output 3 22 Output 2 4 Output 1 23 Reserved 5 PWM or Step Out 24 Sign or Direction 6 Input 7 25 Input 6 Input 5 26 Input 4 8 Input 3 27 Input 2 9 28 Forward Limit 10 5 29 Reverse Limit 11 Ground 30 Home 12 12V 31 12v 13 Ground 32 A 14A 33 B 15B 34 I 161 35 Auxiliary A 17 Auxiliary A 36 Auxiliary B 130 e Appendices DMC 1412 1414 18 Auxiliary B 37 Abort 19 Reserved DMC 1412 card J5 Power 7 PIN Molex 12V 5V 2 Ground 12V B Ground Earth 4 5V DMC 1414 J2 Power 5 PIN Female Terminal
10. USER MANUAL DMC 1412 1414 Manual Rev 2 7 By Galil Motion Control Inc Galil Motion Control Inc 270 Technology Way Rocklin California 95765 Phone 916 626 0101 Fax 916 626 0102 Internet Address support galilmc com URL www galilmc com Rev Date 3 08 Using This Manual Your DMC 1412 1414 motion controller has been designed to work with both servo and stepper type motors Installation and system setup will vary depending upon whether the controller will be used with stepper motors or servo motors To make finding the appropriate instructions faster and easier icons will be next to any information that applies exclusively to one type of system Otherwise assume that the instructions apply to all types of systems The icon legend is shown below Attention Pertains to servo motor use Attention Pertains to stepper motor use 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 machinery Galil shall not be liable or responsible for any incidental or consequential damages Contents Chapter 1 Overview 1 Introducti ti ieu REFERT nale lla ii 1 Overview of Motor Types nare lezione asi Solara aaa 2 Standard Servo Motors with 10 Volt Command Signal sess 2 Brushless Servo Motor with Sinusoidal Commutation eee 2 Stepper Motor with Step and Direction Sign
11. 4 KP 4 KD 1 271 KI2 1 z 4 KD KP KD C KI 2 D z 24 GN z ZR z KI z 2 z 1 K 4GN A ZR C KI2 G s P Ds I s 4 D 4T KD I KI2T Chapter 10 Theory of Operation e 127 THIS PAGE LEFT BLANK INTENTIONALLY 128 e Chapter 10 Theory of Operation DMC 1412 414 Appendices Electrical Specifications Servo Control ACMD Amplifier Command A A B B IDX IDX Main Encoder Input A A B B Aux Encoder input Stepper Control Pulse Direction Input Output Limits Home Abort Inputs OUTT 1 thru OUT 3 Outputs IN 1 through IN 7 Inputs Power Requirements 5 400 mA 12 20 mA 12 20mA 10 volts analog signal Resolution 16 bit 0003 volts 3 mA maximum TTL compatible but can accept up to 12 volts Quadrature phase on CHA CHB Can accept single ended only or differential A A B B Maximum A B edge rate 8 MHz Minimum IDX pulse width 120 nsec TTL 0 5 volts level at 5096 duty cycle 2 000 000 pulses sec maximum frequency TTL 0 5 volts Line receiver inputs biased for 0 5v operation Can accept up to 12 V signal TTL buffer output 0 5 V Line receiver inputs biased for 0 5 V operation Can accept up to 12 V signal Note The 12 V DC to DC converter on the DMC 1414 is maxed out at 30mA Do not try to draw any current out of the 12 V pins The 5 V can supply 0 5A the 12 V can supply 100mA DMC 1412 1414
12. By connecting the OPTO COMMON to the side of the power supply the inputs will be activated by sinking current By connecting the OPTO COMMON to the GND side of the power supply the inputs will be activated by sourcing current The opto isolation circuit requires 1ma drive current with approximately 400 response time The voltage should not exceed 24 V without placing additional resistance to limit the current to 11 mA 140 e Appendices DMC 1412 1414 Opto isolated Outputs CONTROLLER ICM 1460 CONNECTIONS VCC RPS 2 2K OPTO COMMON ET OUTPUT avr x The signal OUT x is one of the isolated digital outputs where x stands for the digital output terminal The OPTO COMMON needs to be connected to an isolated power supply The OUT x can be used to source current from the power supply The maximum sourcing current for the OUT x is 25 ma Sinking configuration can also be specified Please contact Galil for details When opto isolated outputs are used either a pull up or pull down resistor needs to be provided by the user depending upon whether the signal is sinking or sourcing AMP 1460 Mating Power Amplifiers DMC 1412 1414 The AMP 1460 provides the features of the ICM 1460 with the addition of a brush type servo amplifier The amplifier is rated for 7 amps continuous 10 amps peak at up to 80 volts The gain of the AMP 1460 is 1 amp per volt The AMP 1460 requires an external DC supply The AMP 1460 connects to
13. Chapter 2 describes the proper connection and procedure for using stepper motors 2 e Chapter 1 Overview DMC 1412 1414 DMC 1400 Functional Elements The DMC 141X circuitry can be divided into the following functional groups as shown in Figure 1 1 and discussed below To Host DUAL UART DMC 1412 DMC 1414 SOT Amplifier 99340 GL 1800 I O Microcomputer 7 In Interface gt EERON e Motor Encoder 4 Limits 256 EEPROM Interface Encoders Watch Dog Timer Figure 1 1 DMC 141X Functional Elements Microcomputer Section The main processing unit of the DMC 141X is a specialized 32 bit Motorola 68340 Series Microcomputer with 32K RAM 256K available as an option 64K EPROM and 128K bytes EEPROM The RAM provides memory for variables array elements and application programs The EPROM stores the firmware of the DMC 141X The DMC 1412 and DMC 1414 provide 128K EEPROM for storing programs arrays and variables in addition to parameters upon power down Motor Interface The GL 1800 custom sub micron gate array performs quadrature decoding of the encoders at up to 8 MHz generates a 10 volt analog signal 16 Bit D to A for input to a servo amplifier and generates step and direction signal for step motor drivers For the DMC 1414 this analog command signal feeds directly into the power amplifier which outputs directly to a brush DC servo motor Commun
14. H s may be approximated as one This completes the modeling of the system elements Next we discuss the system analysis 122 e Chapter 10 Theory of Operation DMC 1412 414 System Analysis DMC 1412 1414 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 DMC 141X controller and the following parameters K 20 1 Nm A Torque constant J 2 1074 kg m System moment of inertia 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 500 Counts rev Encoder line density 1 ms Sample period The transfer function of the system elements are Motor M s Kt Js2 500 s2 rad A K4 4 Amp V DAC Kg 0 0003 V count Encoder Kg 4N 2n 318 count rad ZOH 2000 s 2000 Digital Filter 12 5 245 T 0 001 Therefore D z 12 5 245 1 z 1 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 98s 0 98 s 51 The system elements are shown in Fig 10 7 Chapter 10 Theory of Operation e 123 FILTER ZOH DAC AMP MOTOR V 2000 500 0 98 S 51 TE 0 0003 4 SOS 61817 512000 S ENCODER 318 F
15. N N NI LTCH un su Lors 20 2 Input 1 Input for Latch Function 138 e Appendices DMC 1412 1414 23 FLSX x ABORT um ux Forward limit switch input Reverse limit switch input Home input Abort Input Signal Ground X Axis Auxiliary Encoder A Y Axis Main Encoder A for DMC 1425 X Axis Auxiliary Encoder A Y Axis Main Encoder A for DMC 1425 X Axis Auxiliary Encoder B Y Axis Main Encoder B for DMC 1425 X Axis Auxiliary Encoder B Y Axis Main Encoder B for DMC 1425 2nd Motor command Signal for Sine Amplifier or SIGNX for stepper Signal Ground IDX IDX ACMD2 SIGNX The screw terminals for 12V can be configured as opto input output common See next section for detail The screw terminal for amplifier enable output can be configured as the stepper motor direction output for Y axis for DMC1425 controller This needs to be specified when ordering the controller Please contact Galil for detailed info 3 The screw terminal for ERROR Output can be configured as the stepper motor pulse output for Y axis for DMC 1425 controller This needs to be specified when ordering the controller Please contact Galil for detailed info 4 The screw terminal for CMP can be configured as input output common for opto isolated I O Please see next section for detail N J8 9 Encoder 10pin header 1 Main Encoder A 2 5 VDC on fa nc s Nc de _ 9 10 NC Main encoder B
16. The controller determines a new command position along the trajectory every sample period until the specified profile is complete Motion is complete when the last position command is sent by the DMC 141X 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 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 begin Note If the motor is not moving the IP command is equivalent to the PR and BG command combination Command Summary Point to Point Positioning 48 e Chapter 6 Programming Motion DMC 1412 1414 Operand Summary Point to Point Positioning Return acceleration rate Return deceleration rate _PA Returns curr
17. To halt program execution the After Input AJ instruction waits until the specified input has occurred Example 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 AIT7 Wait until input 7 is high AI 6 Wait until input 6 is low Example Start Motion on Switch Motor X must turn at 4000 counts sec when the user flips a panel switch to on When panel switch is turned to off position motor X must stop turning Solution Connect panel switch to input 1 of DMC 141X High on input 1 means switch is in on position Instruction Function S JG 4000 Set speed AI 1 BG Begin after input 1 goes high AI 1 ST Stop after input 1 goes low AM JP 5 After motion repeat EN Input Interrupt Function The DMC 141X 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 A 1 designates that input to be enabled for an interrupt where 29 is bit 1 2 is bit 2 and so on For example IL 5 enables inputs 1 and 3 20 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
18. auxiliary encoders Unable to read main or auxiliary encoder input DMC 1412 1414 Adjusting offset causes the motor to change speed The SH command disables the motor No auxiliary encoder inputs are working The encoder does not work when swapped with another encoder input 1 Amplifier has an internal offset 2 Damaged amplifier 1 The amplifier requires the LAEN option on the Interconnect Module 1 Auxiliary Encoder Cable is not connected 1 Wrong encoder connections 2 Encoder is damaged 3 Encoder configuration incorrect Adjust amplifier offset Amplifier offset may also be compensated by use of the offset configuration on the controller see the OF command Replace amplifier Contact Galil Connect Auxiliary Encoder cable Check encoder wiring For single ended encoders CHA and CHB only do not make any connections to the CHA and CHB inputs Replace encoder Check CE command Chapter 9 Troubleshooting e 111 Unable to read main or The encoder works 1 Wrong encoder Check encoder wiring For single auxiliary encoder input correctly when swapped connections ended encoders CHA and CHB with another encoder input only do not make any connections 2 Encoder to the CHA and CHB inputs configuration incorrect Check CE command 3 Encoder input or Contact Galil controller is damaged Encoder Position Drifts Swapping cables fixes the 1 Poor Connections Review a
19. be either pulse width modulated PWM or linear They may also be configured for operation with or without a tachometer For current amplifiers the amplifier gain 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 For velocity mode amplifiers 10 volts should run the motor at the maximum speed nn For stepper motors the amplifier converts step and direction signals into current For the DMC 1414 the power amplifier is internal to the unit This PWM power amplifier requires a single external DC power supply from 20 to 60 volts The amplifier provides 6 amps continuous and 12 amps peak Encoder An encoder translates motion into electrical pulses which are fed back into the controller The DMC 141X 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 CHB CHB The DMC 141X decodes either type into quadrature states or four times the number of cycles Encoders may also have a third channel or index for synchronization 4 e Chapter 1 Overview DMC 1412 1414 DMC 1412 1414 The DMC 141X can also interface to encoders with pulse and direction signals There is no limit on encoder line density however the in
20. has a crossover frequency of 500 rad s and a phase margin of 45 degrees This requires that A j500 1 Arg A j500 135 However since A s L s G s then it follows that G s must have magnitude of 16 j500 I AG500 LG500 I 160 and a phase arg G j500 arg AG500 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 lead of 59 degrees These requirements may be expressed as 16 j500 I IP 05000 160 arg G j500 tan 1 500D P 59 The solution of these equations leads to 160cos 59 82 4 500D 160sin 59 137 2 Therefore D 0 274 82 4 0 2745 The function is equivalent to a digital filter of the form D z 4 KP 4 KD 1 z l where KP P 4 126 e Chapter 10 Theory of Operation DMC 1412 1414 DMC 1412 1414 and KD D 4T Assuming a sampling period of T 1ms the parameters of the digital filter are KP 20 6 KD 68 6 The DMC 141X 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 DMC 1410 Digital D z K z A z Cz z 1 Digital KP KD KI Digital GN ZR KI Continuous PID T D z
21. 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 instruction not EN to return from the ININT subroutine Examples Input Interrupt Instruction Interpretation A Label A Enable input 1 for interrupt function JG 30000 Set speed BG Begin motion B Label B TP Report position Chapter 7 Application Programming e 103 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 Stops motion LOOP JP LOOP IN 1 0 Loop until Interrupt cleared JG 15000 Specify new speeds WT 300 Wait 300 milliseconds BG Begin motion RI Return from Interrupt subroutine Example Applications Wire Cutter An operator activates 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 2 inches and it corresponds to 4000 quadrature one inch of travel equals 4000 27 637 count inch This implies th
22. the cursor moves one position in the indicated direction The cursor will not move beyond the start or end of a line and will not cause the display to scroll ESCYPrPc Cursor Position In the above sequence Pr is the row number and Pc is the column number of the target cursor location These parameters are formed by adding hexadecimal 1F to the row and column numbers Row and column numbers are absolute with row 1 column 20 Pr H20 Pc H3F representing the upper right corner of the display The notation Hnn indicates hexadecimal representation When using the ESC Y command from the TERM the Pr and Pc values need to be specified by their ASCII values The ASCII value for 20 hex is the Space and hex is the question mark The question mark for the TERM H is lt SHIFT gt 5 6 and for the TERM P it s lt SHIFT gt 6 5 The same command can be sent from the Galil controller as follows MG P21 271 7Y 32 63 N Thirty two is the decimal value for 20 hex and 63 is the decimal value for 3F hex Also the N is used to suppress the carriage return line feed after the command is sent The commas in between the fields are necessary ESCH Cursor Home Note This command is functionally equivalent to the Cursor Position command with Pr H20 and Pc H20 Erasing Display ESCE Clear Display and Home ESCI Clear Display ESC J Cursor to End of Display ESCK Cursor to End of Line ESCM Line Containing Cursor Sounds ESCT
23. there will always be some amount of stepper motor smoothing The default value for KS is 2 which corresponds to a time constant of 6 sample periods Fourth the output of the stepper smoothing filter is buffered and is available for input to the stepper motor driver The pulses which are generated by the smoothing filter can be monitored by the command TD Tell Dual TD gives the absolute value of the position as determined by actual output of the buffer The command DP sets the value of the step count register as well as the value of the reference position For example DP 0 defines the reference position of the X axis to be zero Stepper Smoothing Filter Output Output Buffi Adds a Delay utput Buffer Stepper Driver Reference Position RP Step Count Register TD Motion Profiler Motion Complete Trippoint When used in stepper mode the MC command will hold up execution of the proceeding commands until the controller has generated the same number of steps out of the step count register as specified in the commanded position The MC trippoint Motion Complete is generally more useful than AM trippoint After Motion since the step pulses can be delayed from the commanded position due to stepper motor smoothing 60 e Chapter 6 Programming Motion DMC 1412 1414 Using an Encoder with Stepper Motors An encoder may be used on a stepper motor to check the actual moto
24. 30 Home Switch nie thd nl lace aa e Eee tice p ege 30 Abort Input ende nae eo ee e eR e t edes 31 Uncommitted Digital Inputs ii 31 pni cie 31 Amplifier Interface uui ne et Ee n e Rb eet ia ei D A A ern 32 Other Inputs e engl i eer et e ge rette A ER pe I rr e Ses 33 Chapter 4 Communication 35 Communication DMC 1412 and DMC 1414 i 35 Introduction oet ttt eh eed tine ERI depen 35 RS232 POItS si dinh ebd e tide t eden 35 RS232 Mam Port 4 5 e eme e e deer 35 RS232 Auxiliary Port P2 ii 35 R5422 Mam Port PT 5 5 eh te Phe deme en 36 RS422 Auxiliary Port P2 ii 36 COMM SUPA ONT iih o ambe p E MU e RETE UTD ED REEL 36 Unsolicited Messages Generated by Controller eene 37 Controller 1 0 tenent rte tr eere Re rere Esi aa 38 Galil Software Tools and Libraries iii 38 Chapter 5 Programming Basics 39 Introduction Rn eee npe 39 Command Syntax ion aee emp ee eh ai 39 Controller Response to Commands sese 40 Intertogating the boire be bite Doce nana 40 Interrogation Commands essere ener nennen rennes 40 Operands c 4l Command EO Ria tr esee hend 4l Instruction Set Examples ss
25. 45 gu 5 31 Non volatile Memory eene 1 ICB 1460 onem 8 137 OTt On BIIOE 2 eire E oben Heres 15 33 ICMC LIOO era ettet tee eene 15 Operand terti ce 31 44 59 135 Internal Variable seen 84 Index Pulse eo eritis 16 32 Operators Inputs Bit WSC coranica TEE EE ie 84 Digital Inputs 1 32 105 Optoisolation Index een 31 44 59 135 Home Input e E 32 Interconnect Module sese 140 Output Limit SWiteh i oem 111 140 ICM 1100 oinline 15 Installation inrer ete e 9 113 Motor Command 18 Integratori iecore etes 24 46 120 ene 1 33 37 43 104 119 131 156 Index DMC 1412 1414 Digital Outputs eicere 104 Interconnect Module esses 140 Motor Command 1 124 132 PID tini heal ic 18 120 Play Back ostio omnee 49 95 Position C pture 2 eie o n ERI 71 Tate Dos E do Pa 42 Position Etror eene 15 Position Latch iii 71 136 Programmable ira eio 3 Proportional Gain eite ica aa 24 Protection Error sisi 15 17 Torque eere 17 BWM Eisen it dosi diet taies 4 132 35 143 Quadrature cete Rer ener 4 31 135 Quit e RENE Ve PEE
26. AMX Wait for motion complete WT 100 Wait 100 msec 0 Position absolute 0 BGX Begin move AMX Wait for motion complete WT 100 Wait 100 msec COUNT COUNT 1 Decrement loop counter LOOP COUNT gt 0 Test for 10 times thru loop EN End Program Subroutines A subroutine is a group of instructions beginning 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 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 751 command clears 1 level of the stack This allows the program sequencer to continue to the next line Chapter 7 Application Programming e 83 The ZSO command resets the stack to its initial value For example if a limit occurs and the LIMSWI routine is executed it is often desirable to restart the pr
27. DMC 1414 the internal amplifier is a 20 V to 60 V brush PWM amplifier Therefore the motor must be a DC brush servo motor The WSDK software is highly recommended for first time users of the DMC 141X It provides step by step instructions for system connection tuning and analysis Installing the DMC 1400 Controller DMC 1412 1414 Installation of a complete operational DMC 141X system consists of 9 steps These steps will be slightly different depending on the exact model of your controller DMC 1412 or DMC 1414 Step 1 Determine overall motor configuration Step 2 Install jumpers on the DMC 141X Step 3a Connect the AC power and serial cable to the DMC 1412 OR Step 3b Connect the 20 60 volt supply and serial cable to the DMC 1414 Step 4 Install the communications software Step 5 Establish communications between the DMC 141X and the host PC Step 6 Set up axis for sinusoidal commutation DMC 1412 only Step 7 Make connections to amplifier and encoder Step 8a Connect standard brush or brushless servo motor OR Step 8b Connect brushless motor for sinusoidal commutation DMC 1412 only OR Step 8c Connect stepper motor OR Step 8d Connect brush motor to DMC 1414 Step 9 Tune servo system Step 1 Determine Overall Motor Configuration Before setting up the motion control system the user must determine the desired motor configuration The DMC 141X can control standard servo motors sinusoidally commutated brushles
28. Motion Complete AP After Absolute Position AR After Relative Distance AS AtSpeed AT After Time EB Enable CAM EG Engage ECAM EM cycle command EN Program EP CAM interval and starting point EQ Disengage ECAM ET ECAM table entry HX Halt Task IN Input Variable II Input Interrupt JP Jump To Program Location JS Jump To Subroutine MC After motor is in position MF After motion forward direction MG Message MR After motion reverse direction 42 e Chapter 5 Programming Basics DMC 1412 1414 DMC 1412 1414 NO RE RI TW WC WT XQ 75 No operation Return from Error Subroutine Return from Interrupt Timeout for in position Wait for Contour Data Wait Execute Program Zero Subroutine Stack GENERAL CONFIGURATION AL BA BB BC BD BI BM BN BO BP BS BV BZ CB CC CE CN DA DE DL DM DP EB ED EG EM EO EP EQ ET LS MO MT OB OP Arm Latch Brushless Axis DMC 1412 only Brushless Phase Begins DMC 1412 only Brushless Calibration DMC 1412 only Brushless Degrees DMC 1412 only Brushless Inputs DMC 1412 only Brushless Modulo DMC 1412 only Burn Brushless Offset DMC 1412 only Burn Program DMC 1412 DMC 1414 only Brushless Setup DMC 1412 only Burn Variable DMC 1412 DMC 1414 only Brushless Zero DMC 1412 only Clear Bit Configure Communication DMC 1412 DMC 1414 only Configure Encoder Type Configure Switches and Stepper Deallocate Arrays Define Dual Encoder Po
29. Note When using Galil Windows software the timeout must be set to a minimum of 10 seconds time out 10000 when executing the BS command This allows the software to retrieve all messages returned from the controller If Hall Sensors are Available Since the Hall sensors are connected randomly it is very likely that they are wired in the incorrect order The brushless setup command indicates the correct wiring of the Hall sensors The hall sensor wires should be re configured to reflect the results of this test The setup command also reports the position offset of the hall transition point and the zero phase of the motor commutation The zero transition of the Hall sensors typically occur at 0 30 or 90 of the phase commutation It is necessary to inform the controller about the offset of the Hall sensor and this is done with the instruction BB Step E Save Brushless Motor Configuration Itis very important to save the brushless motor configuration in non volatile memory After the motor wiring and setup parameters have been properly configured the burn command BN should be given If Hall Sensors are Not Available Without hall sensors the controller will not be able to estimate the commutation phase of the brushless motor In this case the controller could become unstable until the commutation phase has been set using the BZ command see next step It is highly recommended that the motor off command be given before executi
30. RE 31 RECOM guae eta 46 49 ud e t 42 cse UR 32 35 46 83 109 132 PIE 66 Sample Time detener 43 46 SDK 24 Serial Portu ee HW ea 11 Servo Design Kit sess 8 SDK ient e e T E 24 up 47 59 90 Searle liana ai 56 Single Ended 4 16 18 aeree RR RE RAE 50 Slew Speed oe eee eere entes 1 81 136 Smoothing tific chain E REPE 66 Software SDR clienti 24 DMC 1412 1414 Stability 64 107 113 120 ve Retenir 42 78 Interrogation ee 25 42 43 101 SLOP C Odeon our ere er HER 42 Step Motors iii rit 1 9 10 135 tee erected 132 35 143 Stop Code eee li ecd pne 42 Stop Motion or Program 44 49 74 111 119 136 SUubroutine ceesteeeeeseeeee 32 44 75 110 136 Automatic Subroutine 86 Subroutine Stack 45 85 Synchronization sse 4 31 53 Teach gs 60 rdi EE 42 Tell 42 Tell Position itenim Te eae 42 Tell Torque om 42 Termie150055 NEE ORDERS 37 Terminal stelo de acta o RH 32 Theory xi ee rte Ht enc e pets 25 o OPPIDO dos 24 Attila 18 Time Clock oie iaia e Hep UNO 92 Sample Time eec 43 46 hepate DS 92 Timeoulti i E
31. Received string not a number 3 Received number Note The value of PICD and P2CD returns to zero after the corresponding string or number is read These keywords may be used in an applications program to decode data They may be used in conditional statements with logical operators Examples JP LOOP P2CD 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 P2NM Assigns received number to position JS XAXIS PIST X Checks to see if received string is X Using Communications Interrupt The DMC 141X 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 m n o m 0 Don t interrupt Port 1 1 Interrupt on enter Port 1 Chapter 7 Application Programming e 95 2 Interrupt on any character Port 1 1 Clear any characters in buffer n 0 Don t interrupt Port 2 1 Interrupt on lt enter gt Port 2 2 Interrupt on any character Port 2 1 Clear any characters in buffer o 0 Disable operator data mode for P1 1 Enable operator data mode for P1 The COMINT label is used for the communication interrupt For example the DMC 141X can be configured to interrupt on any character received on Port 2 The COMINT subroutine is entered when a character is received and the subroutine can decode the characters At the end of the routine
32. Rh ERR dip ries 143 TERM 1500 Operator Terminal atenta tr PROP AE Oro bs 144 General Deseripti n 2 poer oet OH PRU ee dey eni 144 Iastof Other Publications 5 2 n aialona na E oasi 152 Framing Semlinars ont pera op SER AIA oi 152 Contacting Us 0 nen ERR UP EDU Re SEE puit ae 153 WARRANTY steed ei Le tala te b tia d erbe eee ig Wiesel nated 154 155 DMC 1412 1414 THIS PAGE LEFT BLANK INTENTIONALLY DMC 1412 1414 Contents e vii Chapter 1 Overview Introduction DMC 1412 1414 The DMC 1400 series of motion controllers was developed specifically for one axis applications allowing it to be smaller in size 1 2 size card and lower in cost than multiaxis controllers This manual covers the two serial based stand alone controllers in the DMC 1400 Econo series lineup The DMC 1412 motion controller communicates via the RS 232 serial connection and the DMC 1414 is the equivalent controller integrated with an internal power amplifier Performance capability of these controllers includes 8 MHz encoder input frequency 16 bit motor command output DAC 2 billion counts total travel per move up to 250 usec sample rate and non volatile memory for parameter storage Designed for maximum system flexibility the DMC 141X can be interfaced to a variety of motors and drives including step motors servo motors and hydraulics The controller accepts feedback from a quadrature linear or rotary encoder with input frequen
33. The previous line number 3 is now renumbered as line number 2 lt ctrl gt Q The lt ctrl gt Q quits the editor mode In response the DMC 141X will return a colon After the Edit session is over the user may list the entered program using the LS command If no operand follows the LS command the entire program will be listed The user can start listing at a specific line or label using 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 LS List entire program LS 5 Begin listing at line 5 LS 5 9 List lines 5 through 9 LS A 9 List line label A through line 9 Program Format A DMC 141X program consists of several DMC 141X 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 DMC 141X 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 40 characters A carriage return enters the final command on a program line 72 e Chapter 7 Ap
34. Transmit Data output 8 Transmit output 4 RTS output 9 RTS output 5 Ground RS 485 is also available as a special option on the DMC 1414 Please consult the factory for details Configuration Configure your PC for 8 bit data one start bit one stop bit full duplex and no parity The baud rate for the RS232 communication can be selected by setting the proper switch configuration on JP1 for the DMC 1412 or JP6 for the DMC 1414 according to the table below Baud Rate Selection 9600 Label 38 4K Label Baud Rate jumper jumper 1200 jumper no jumper 9600 no jumper no jumper 192K no jumper jumper 38 4K The RS232 main port is configured for hardware handshake where the RTS and CTS lines are used The CTS line will go high whenever the DMC 141X is not ready to receive additional characters The RTS line will inhibit the DMC 141X from sending additional characters Note the RTS line goes high for inhibit The auxiliary port of the DMC 141X can be configured either as a general port or for the daisy chain When configured as a general port the port can be commanded to send ASCII messages to another DMC 141X controller or to a display terminal or panel Configure Communication at port 2 The command is in the format of CC m n r p where m sets the baud rate n sets for either handshake or non handshake mode r sets for general port or the auxiliary port and p turns echo on or off m Baud Rate 300 1200 4800 9600 19200 38
35. Wait for motion done DMC 1412 1414 DMC 1412 1414 Set output to cut WT100 CB1 Wait 100 msec then turn off cutter JP CUT Repeat process EN End program Operator Data Entry Mode The Operator Data Entry Mode provides for unbuffered data entry through the main RS 232 port In this mode the input will not be interpreted as DMC commands For example input such as ST or JG will not be recognized as commands In this mode the DMC 141X provides a buffer for receiving characters This mode may only be used when executing an applications program The Operator Data Entry Mode may be specified for either Port 1 or Port 2 or both The mode may be exited with the or lt escape gt key NOTE Operator Data Entry Mode cannot be used for high rate data transfer For Port 1 Use the third field of the CI command to set the Data Mode A 1 specifies Operator Data Mode a 0 disables the Data Mode For Port 2 Use the third field of the CC command to set the Data Mode A 0 configures P2 as a general port for the Operator Data Mode To capture and decode characters in the Operator Data Mode the DMC 141X provides the following special keywords Port 1 Main Port 2 Aux Keyword Keyword PICH P2CH Contains the last character received P2ST Contains the received string PINM P2NM Contains the received number PICD P2CD Contains the status code 1 Mode Disabled 0 Nothing received 1 Received character but not lt enter gt 2
36. a low value such as KP 1 CR Proportional gain KD 100 CR Derivative gain For more damping you can increase KD maximum is 4095 Increase gradually and stop after the motor vibrates A vibration is noticed by audible sound or by interrogation If you send the command TE CR Tell error 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 KP 10 CR Proportion gain TE CR Tell error 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 CR becomes zero As KI is increased its effect is amplified and it may lead to vibrations If this occurs simply reduce KI For a more detailed description of the operation of the PID filter and or servo system theory see Chapter 10 Theory of Operation Design Examples Here are a few examples for tuning and using your controller Example 1 System Set up This example assigns the system filter parameters
37. be advanced an additional distance with PR or JG commands Command Summary Electronic Gearing Sets gearing mode and gear ratio 0 disables electronic gearing Trippoint for motion past assigned point in reverse direction Trippoint for motion past assigned point in forward direction Example Electronic Gearing Run geared motor at speeds of 1 132 times the speed of an external master hooked to the auxiliary encoder The master motor is driven externally at speeds between 0 and 1800 RPM 2000 counts rev encoder GR 1 132 Specify gear ratio and enable gear mode Now suppose the gear ratio of the slave is to change on the fly to 2 This can be achieved by commanding GR2 Specify gear ratio for X axis to be 2 50 e Chapter 6 Programming Motion DMC 1412 1414 Electronic Cam The electronic cam is a motion control mode that enables the periodic synchronization of the motor with the auxiliary encoder that is the master The electronic cam is a more general type of electronic gearing that allows a table based relationship between the motor and master To illustrate the procedure of setting the cam mode consider the cam relationship shown in Figure 6 1 Step 1 Specify the master cycle and the change in the slave axis In the electronic cam mode the position of the master is always expressed within one cycle In this example the position of the master is always expressed in the range between 0 and 6000 Similarly the slave pos
38. error limits and enables the automatic error shut off Instruction Interpretation KP 10 Set proportional gain KD 100 Set damping KI 1 Set integral 1 Set error off ER 1000 Set error limit Example 2 Profiled Move Objective Rotate 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 s Instruction Interpretation PR 10000 Distance SP 20000 Speed 24 e Chapter 2 Getting Started DMC 1412 1414 DMC 1412 1414 DC 100000 Deceleration AC 100000 Acceleration BG Start Motion In response the motor turns and stops Example 3 Position Interrogation The position of the axis may be interrogated with the instruction TP Tell position which returns the position of the main encoder The position error which is the difference between the commanded position and the actual position can be interrogated by the instructions TE Tell error Example 4 Absolute Position Objective Command motion by specifying the absolute position Instruction Interpretation Define the current position as 0 PA 7000 Sets the desired absolute position BG Start motion Example 5 Velocity Control Jogging Objective Drive the motor at specified speeds Instruction Interpretation JG 10000 Set Jog Speed AC 100000 Set acceleration DC 50000 Set deceleration BG Start motion after a few seconds command JG 40000 New speed and Direction TV Returns speed
39. is decoded the DMC 141X returns a colon if the instruction was valid or a question mark if the instruction was not valid or was not recognized For instructions requiring data such at Tell Position TP the DMC 141X will return the data followed by a carriage return line feed and It is good practice to check for after each command is sent to prevent errors An echo function is provided to enable associating the DMC 141X response with the data sent The echo is enabled by sending the command EO 1 to the controller 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 Software CD They can be used for development under DOS and Windows environments 16 and 32 bit Windows With the APT s the user can incorporate already existing library functions directly into a C program Galil has also developed a Visual Basic Toolkit This provides VBXs 16 bit OCX s and 32 bit OCXs for handling all of the DMC 141X communications including support of interrupts These objects install directly into Visual Basic and are part of the run time environment For more information contact Galil 38 e Chapter 4 Communication DMC 1412 1414 Chapter 5 Programming Basics Introduction The DMC 141X provides over 100 commands for specifying motion and machine parameters Commands are included to initiate action interrogate status and co
40. modes is as follows Voltage Source The amplifier is a voltage source with a gain of Kv V V The transfer function relating the input voltage V to the motor position P is P V K K S ST 1 ST 1 m where 2 T RJ K Is and T L R s and the motor parameters and units are Torque constant Nm A R Armature Resistance J Combined inertia of motor and load kg m L Armature Inductance H When the motor parameters are given in English units it is necessary to convert the quantities to MKS units For example consider a motor with the parameters 14 16 oz 0 1 Nm A R 2Q0 J 0 0283 oz in s 2 1074 kg m2 L 0 004H Then the corresponding time constants are Tm 0 04 sec and Te 0 002 sec Assuming that the amplifier gain is Kv 4 the resulting transfer function is P V 40 s 0 04s 1 0 002s 1 DMC 1412 1414 Chapter 10 Theory of Operation e 119 Current Drive 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 is P V K Js where Kt and J are as defined previously For example a current amplifier with K 2 A V with the motor described by the previous example will have the transfer function P V 1000 52 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
41. not permitted Variable names should not be the same as DMC 141X instructions For example PR is not a good choice for a variable name 88 e Chapter 7 Application Programming DMC 1412 1414 Examples of valid and invalid variable names are Valid Variable Names POSX POSI SPEEDZ Invalid Variable Names REALLONGNAME Cannot have more than 8 characters 123 Cannot begin variable name with number SPEED 7 Cannot have spaces in the name For the DMC 1412 and DMC 1414 the BV command will save array and variable values upon power down Assigning Values to Variables Assigned values can be numbers internal variables and keywords functions controller parameters and strings The range for numeric variable values is 4 bytes of integer ly followed by two bytes of fraction 2 147 483 647 9999 Numeric values can be assigned to programmable variables using equal sign Any valid DMC 141X 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 Example POSX TP Assigns returned value from TP command to variable POSX 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
42. of program ZC EN End This program starts with a large offset and gradually decreases its value resulting in decreasing error 28 e Chapter 2 Getting Started DMC 1412 1414 Chapter 3 Hardware Interface Overview The DMC 141X provides TTL digital inputs for forward limit reverse limit home and abort signals The controller also has 7 uncommitted inputs for general use as well as 3 TTL outputs This chapter describes the inputs and outputs and their proper connection of the controller signal lines are accessible through the main 37 pin connector J3 for the DMC 1412 The ICM 1460 provides easy access to these signals through screw terminals The DMC 1414 provides access to all signals through the integrated screw terminals Encoder Interface DMC 1412 1414 The DMC 141X accepts inputs from incremental encoders with two channels in quadrature or 90 electrical degrees out of phase The DMC 141X performs quadrature decoding of the two signals resulting in bi directional position information with a resolution of four times the number of full encoder cycles For example a 500 cycle encoder is decoded into 2000 quadrature counts per revolution An optional third channel or index pulse may be used for homing or synchronization Several types of incremental encoders may be used linear or rotary analog or digital single ended or differential Any line resolution may be used the only limitation being that the encoder input frequency
43. operation to the editor mode where the program may be written and edited For example in response to the first ED command the Galil Windows software will open a simple editor window From this window the user can type in the following program Define label PR 700 Distance SP 2000 Speed BG Start motion EN End program This program can be downloaded to the controller by selecting the File menu option download Once this is done close the editor Now the program may be executed with the command XQ A Start the program running Example 10 Motion Programs with Loops Motion programs may include conditional jumps as shown below Instruction Interpretation A Label Define current position as zero V1 1000 Set initial value of V1 26 e Chapter 2 Getting Started DMC 1412 1414 Loop Label for loop PA VI Move motor V1 counts BG Start motion AM After motion is complete WT 500 Wait 500 ms TP Tell position V1 V1 1000 Increase the value of V1 JP Loop V1 lt 10001 Repeat if V1 lt 10001 EN End After the above program is entered quit the Editor Mode lt cntrl gt Q To start the motion command XQ A Execute Program Example 11 Motion Programs with Trippoints The motion programs may include trippoints as shown below Instruction Interpretation B Label DP Define initial position PR 30000 Set target SP 5000 Set speed BG Start motion AD 4000 Wait until X moved 4000 TP Tell position EN End program T
44. point motion systems which require position accuracy only at the endpoint Continuous Dual Loop Example 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 62 e Chapter 6 Programming Motion DMC 1412 1414 DMC 1412 1414 Note It is recommended that the resolution of the rotary encoder be greater than the effective resolution of the load encoder for stability The dual loop method is activated with the instruction DV Dual Velocity where DVI activates the dual loop for the four axes and DV 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 if necessary Sampled Dual Loop Example 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 the position of the slide For stability re
45. single command signal is required and the controller should be configured for a standard servo motor described above Sinusoidal commutation in the controller can be used with linear and rotary BLMs However the motor velocity should be limited such that a magnetic cycle lasts at least 6 milliseconds For faster motors please contact the factory To simplify the wiring the controller provides a one time automatic set up procedure The parameters determined by this procedure can then be saved in non volatile memory to be used whenever the system is powered on The DMC 1412 can control BLMs equipped with Hall sensors as well as without Hall sensors If hall sensors are available once the controller has been set up the controller will automatically estimate the commutation phase upon reset This allows the motor to function immediately upon power up The hall effect sensors also provides a method for setting the precise commutation phase Chapter 2 describes the proper connection and procedure for using sinusoidal commutation of brushless motors 6 milliseconds per magnetic cycle assumes a servo update of 1 msec default rate Stepper Motor with Step and Direction Signals The DMC 141X can control stepper motors In this mode the controller provides two signals to connect to the stepper motor Step and Direction For stepper motor operation the controller does not require an encoder and operates the stepper motor in an open loop fashion
46. start bit and one stop bit Your computer needs to be configured as a dumb terminal which sends ASCII characters as they are typed to the DMC 1412 3 Connect the AC cord for the box level controller AC power requirement is single phase 50 or 60 Hz at 90 to 260 volts 4 If you are using the card level DMC 1412 apply 12 V and 5 V power to the J5 connector 5 Applying power will turn on the green LED power indicator Step 3b Connecting DC power and the Serial Cable to the DMC 1414 Use the 9 pin RS232 ribbon cable to connect the MAIN SERIAL port of the DMC 1414 to your computer or terminal communications port The DMC 1414 main serial port is configured as DATASET Your computer or terminal must be configured as a DATATERM for full duplex no parity 8 bits data one start bit and one stop bit Your computer needs to be configured as a dumb terminal which sends ASCII characters as they are typed to the DMC 1414 2 Connect a single external DC supply from 20 to 60 volts to the 5 pin box connector labeled and GND This supply provides power for both the motion controller and internal PWM brush amplifier Warning Damage to the DMC 1414 will occur if a supply larger than 60 V is connected to the controller 3 Applying power will turn on the green LED power indicator Step 4 Installing the Communications Software After applying power to the computer you should install the Galil software that enables com
47. the LM motion is complete Halts program execution until position command has reached the specified relative distance from the start of the move ARn Halts program execution until after specified distance from the last AR or AD command has elapsed APn Halts program execution until after absolute position Occurs 78 e Chapter 7 Application Programming DMC 1412 1414 DMC 1412 1414 Halt program execution until after forward motion reached absolute position If position is already past the point then MF will trip immediately Will function on geared axis or aux inputs ene MC n n Sn reached absolute position If position is already past the point then MR will trip immediately Will function on geared axis or aux inputs Halt program execution until after the motion profile has been completed and the encoder has entered or passed the specified position TW sets timeout to declare an error if not in position If timeout occurs then the trippoint will clear and the stop code will be set to 99 An application program will jump to label MCTIME AI 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 7 A Halts program execution until specified axis has reached its slew speed Halts program execution until msec from reference time AT 0 sets reference AT n waits n msec from refer
48. the controller with a cable 37 pin cable and screw type terminals are provided for connecting to motors encoders and external switches e 7 amps continuous 10 amps peak 20 to 80 volts DC supply e Connects directly to DMC 141X series controllers via 37 pin cable e Screw type terminals for easy connection to motors encoders and switches Specifications Minimum motor inductance 1 mH PWM frequency 30 kHz Ambient operating temperature 0 70 C Dimensions 6 9 x 4 9 x 2 6 Weight 1 pound Mounting Keyholes 2 Gain 1 amp volt Appendices e 141 The DMC 141X generates a 10 volt range analog signal ACMD and ground pin 21 for input to power amplifiers which have been sized to drive the motor and load For best performance the amplifier should be configured for a current mode of operation with no additional compensation The gain should be set such that a 10 volt input results in the maximum required current The DMC 1460 also provides an AEN amplifier enable signal to control the status of the amplifier This signal toggles when the watchdog timer activates when a motor off command is given or when OEI Off on error is enabled command is given and the position error exceeds the error limit As shown in Figure 3 5 AEN can be used to disable the amplifier for these conditions The standard configuration of the AEN signal is TTL active low Both the polarity and the amplitude can be changed if you are using the ICM 1460 int
49. the string CAT to VAR Assigning Variable Values to Controller Parameters Variable values may be assigned to controller parameters such as KP or PR PR VI 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 format variable For example V1 returns the value of the variable V1 Operands Operands allow motion or status parameters of the DMC 141X to be incorporated into programmable variables and expressions Most DMC 141X commands have an equivalent operand which are DMC 1412 1414 Chapter 7 Application Programming e 89 designated by adding an underscore _ prior to the DMC 141X 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 in the DMC 141X registers Examples of Operands POSX TP Assigns value from Tell Position to the variable POSX GAIN KP 2 Assigns value from KP multiplied by two to variable GAIN JP LOOP _TE gt 5 Jump to LOOP if the position error 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 KP 2 is invalid Special Operands Keywords The DMC 141X also provides a few additional operands which g
50. torque mode the voltage output of the controller will be directly related to the torque output of the motor The user is responsible for determining this relationship using the documentation of the motor and amplifier The torque limit can be set to a value that will limit the motors output torque When operating an amplifier in velocity or voltage mode the voltage output of the controller will be directly related to the velocity of the motor The user is responsible for determining this relationship using the documentation of the motor and amplifier The torque limit can be set to a value that will limit the speed of the motor For example the following command will limit the output of the controller to 1 volt TL 1 CR Sets torque limit to 1 volt Note Once the correct polarity of the feedback loop has been determined the torque limit should in general be increased to the default value of 9 99 The servo will not operate properly if the torque limit is below the normal operating range See description of TL in the command reference Step C Disable motor Issue the motor off command to disable the motor MO CR Turns motor off Step D Connecting the Motor Once the parameters have been set connect the analog motor command signal ACMD to the amplifier input Issue the servo here command to turn the motors on To test the polarity of the feedback command a move with the instruction SH CR Servo Here to turn motors on
51. up to 512 characters of information In normal operation the controller places output into the FIFO buffer The software on the host computer monitors this buffer and reads information as needed When the trace mode is enabled the controller will send information to the FIFO buffer at a very high rate In general the FIFO will become full since the software is unable to read the information fast enough When the FIFO becomes full program execution will be delayed until itis cleared If the user wants to avoid this delay the command CW 1 can be given This command causes the controller to throw away the data which can not be placed into the FIFO In this case the controller does not delay program execution Error Code Command When there is a program error the DMC 141X 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 text message which describes the error condition The command TCO or TC will return the error code without the text message For 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
52. will make _HMX read 1 Therefore the CN command will need to be configured properly to ensure the correct direction of motion in the home sequence Upon detecting the home switch changing state the motor begins decelerating to a stop Note The direction of motion for the FE command also follows these rules for the state of the home input Stage 2 The motor then traverses at 256 counts sec in the opposite direction of Stage 1 until the home switch toggles again If Stage 3 is in the opposite direction of Stage 2 the motor will stop immediately at this point and change direction If Stage 2 is in the same direction as Stage 3 the motor will never stop but will smoothly continue into Stage 3 Stage 3 The motor traverses forward at 256 counts sec until the encoder index pulse is detected The motor then stops immediately The DMC 141X defines the home position as the position at which the index was detected and sets the encoder reading at this point to zero The 4 different motion possibilities for the home sequence are shown in the following table Direction of Motion Switch Type CN PORE EI HMX state Stage 3 Normally Open i ae a Forward Normally Open CMM c 5 Forward Normally Closed rn Jem _ Forward Normally Closed CN 1 Reverse Forward Forward 66 e Chapter 6 Programming Motion DMC 1412 1414 DMC 1412 1414 Example Homing Instruction HOME CN 1
53. 000 REM SPEED IS 10000 AC 100000 REM ACCELERATION IS 100000 DC 100000 REM DECELERATION IS 100000 BG 74 e Chapter 7 Application Programming DMC 1412 1414 REM BEGIN MOTION AM REM WAIT FOR AFTER MOTION EN REM END OF PROGRAM These REM statements will be removed when this program is downloaded to the controller Executing Programs Multitasking DMC 1412 1414 The DMC 141X can run up to two programs simultaneously The programs called threads are numbered 0 and 1 where 0 is the main thread The main thread differs from the others in the following points 1 Only the main thread may use the input command IN Note This is NOT the IN used to check general input status 2 Inacase of interrupts due to inputs limit switches position errors or command errors it is the program in thread 0 which jumps to those subroutines The execution of the various programs is done with the instruction XQ A n Where n indicates the thread number To halt the execution of any thread use the instruction HX n where n is the thread number Note that both the XQ and HX functions can be performed by an executing program Multitasking is useful for executing independent operations such as PLC functions that occur independently of motion The example below produces a waveform on Output 1 independent of a move Instruction Interpretation TASKI Task1 label ATO Initialize reference time 1 1 1 LOOP1 Lo
54. 1414 follows prescribed velocity profile Velocity control where no final endpoint is prescribed Motion stops on Stop command Motion Path described as incremental position points versus time Electronic gearing where axis is scaled to auxiliary encoder which can move in both directions Master slave where slave axis must follow a master such as conveyer speed Moving along arbitrary profiles or mathematically prescribed profiles such as sine or cosine trajectories Teaching or Record and Play Back Backlash Correction Point to Point Positioning PA PR SP AC DC IT Independent Jogging JG AC DC ST CM CD DT WC GR Contour Mode Electronic Gearing Contour Mode CM CD DT WC Contour Mode with Automatic Array Capture Dual Loop Chapter 6 Programming Motion e 47 Following a trajectory based on a master Electronic Cam encoder position Motion Smoothing Applies to all of the above motion Smoothes motion to eliminate vibrations due to jerk discontinuities in acceleration Point to Point 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 DMC 141X profiler generates the corresponding trapezoidal or triangular velocity profile and position trajectory
55. 16 e Chapter 2 Getting Started DMC 1412 1414 DMC 1412 1414 PR 1000 lt CR gt Position relative 1000 counts BG lt CR gt Begin motion When the polarity of the feedback is wrong the motor will attempt to run away The controller should disable the motor when the position error exceeds 2000 counts In this case the polarity of the loop must be inverted Inverting the Loop Polarity When the polarity of the feedback is incorrect the user must invert the loop polarity and this may be accomplished by several methods If you are driving a brush type DC motor the simplest way is to invert the two motor wires typically red and black For example switch the M1 and M2 connections going from your amplifier to the motor When driving a brushless motor the polarity reversal may be done with the encoder If you are using a single ended encoder interchange the CHA and CHB signals 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 For more details on the MT command or the CE command see the Command Reference NOTE To avoid a runaway condition after a Master Reset it is recommended that the motor wires be physically inverted rather than using the software commands Sometimes the feedback polarity is correct the motor does not attempt to run away but the direction of motion is reversed with respect t
56. 34 135 Connections reete terr ERE CER 31 140 Analysis SDK eni edili noi 24 Arithmetic Functions 84 89 NTP AY r ee tee cee RETREAT SERERE 3 78 84 89 92 hurt 45 61 73 93 132 Automatic Record 60 Automatic Record i 60 Automatic Subroutine 86 IIMSWL siii ee ERE cete ees 32 Auxiliary ENCOdEr seen 61 141 Dual Encoder ire 42 Backlash Compensation 64 107 Dual oops arreter enit ett 61 BASIC 4 enoesie nee 41 107 117 119 137 Baud Rate ue cebat te tette 38 Bit WIS8 ice econtra 84 luu 45 EBPROM 4 5 5 etta e e idee 3 i9vdq eee 92 Comments ect e ceri ter 45 Communication eere 3 8 37 97 113 Baud Rates E suu Ree roD 38 Handshake eene ener 38 Serial POLtS i 11 Configuration Jumper cina ananas 114 Configuring Encoders u2m d ta NOR anna 45 65 Contour Mode i 44 49 Control Filter eed 24 Integratori alal alal in 24 Proportional Gain iii 24 Coordinated Motion CAMS vet eset nica 53 54 DMC 1412 1414 Electronic Cam iii 53 55 Cycle Time Clocks ao leali 92 Damptng eer terere da 24 46 120 Data Capture 94 AITAYS EE 93 Automatic Record
57. 400 n Handshake 0 No 1 2 Yes Mode 0 General Port 1 Daisy chain p Echo 0 Off 1 On Valid only if r 0 Note for the handshake of the auxiliary port the roles for the RTS and CTS lines are reversed 36 e Chapter 4 Communication DMC 1412 1414 DMC 1412 1414 Example CC 1200 0 0 1 Configure communication at port 2 with 1200 baud no handshake general port and echo turned on Daisy Chaining Up to eight DMC 141X controllers may be connected in a daisy chain One DMC 141X is connected to the host terminal via the RS232 at port 1 or the main port Port 2 or the auxiliary port of that DMC 141X is then brought into port 1 of the next DMC 141X and so on The address of each of the DMC 141X is configured by the SAn command where n is a number between 0 and 7 NOTE The SA value may be saved by the BN command To communicate with any one of the DMC 141X units give the command 96A where A is the address of the board instructions following this command will be sent only to the board with that address Only when a new A command is given will the instruction be sent to another board The only exception is command To talk to all the DMC 141X boards in the daisy chain at one time insert the character before the software command boards receive the command but only address 0 will echo Note The CC command must be specified to configure the port P2 of each unit Each controller in the chain must have th
58. 412 or DMC 1414 there is most likely an incorrect setting of the serial communications port The user must ensure that the correct communication port and baud rate are specified when attempting to communicate with the controller Please note that the serial port on the controller must be set for handshake mode for proper communication with Galil software The user must also insure that the proper serial cable is being used See appendix for pin out of serial cable NOTE A Null Modem cable will NOT work with the main serial port Using Galil Software for Windows 98 SE NT 4 ME 2000 and XP The registration process for the DMC 1412 1414 controllers in these operating systems is very similar to the Windows 3 x 95 98 procedure In DMC Terminal or WSDK the registry is accessed in the File menu by selecting Register Controller Inh DMCWIN just click on the Registry menu button The Galil Registry Dialog is shown below Edit Registry x Properties Non PnP Tools Mew Controller LL Reese Find Ethemet Controller Plug and Play Device B Non Plug and Play Device Close Select the button that says New Controller under the Non PnP Tools and then select DMC 1412 from the pull down menu Click Next Note The DMC 1414 must be registered as a DMC 1412 The next step is to select the Comm Port being used on the PC and the Comm Speed for data transfer Hardware handsha
59. 5 O 9 Note Out and in are referenced to the TERM H and TERM P For the TERM P use a straight through male to male RS 232 cable to connect to P2 on the controller Ordering Information TERM 1500H P2 Hand held TERM 1500P P2 Panel Mount DMC 1412 1414 Appendices e 151 List of Other Publications Step by Step Design of Motion Control Systems by Dr Jacob Tal Motion Control Applications 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 requir
60. AC 1000000 DC 1000000 SP 5000 HM BG AM MG AT HOME EN Interpretation Label Configure the polarity of the home input Acceleration Rate Deceleration Rate Speed for Home Search Home Begin Motion After Complete Send Message End Chapter 6 Programming Motion e 67 HOME SWITCH _HMX 0 _HMX 1 POSITION VELOCITY MOTION BEGINS IN FORWARD DIRECTION POSITION VELOCITY MOTION CHANGES DIRECTION POSITION VELOCITY MOTION IN FORWARD DIRECTION TOWARD INDEX gt POSITION INDEX PULSES POSITION Figure 6 6 Homing Sequence for Normally Closed Switch and CN 1 68 e Chapter 6 Programming Motion DMC 1412 1414 Example Find Edge EDGE AC 2000000 DC 2000000 SP 8000 FE BG AM MG FOUND HOME Label Acceleration rate Deceleration rate Speed Find edge command Begin motion After complete Send message Define position as 0 End High Speed Position Capture Often it is desirable to capture the position precisely for registration applications The DMC 141X provides a position latch feature This feature allows the position to be captured in less than 1 usec of the external low or high input signal DMC 1412 1414 The DMC 141X 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 command to
61. DM POS 501 Dimension array with 501 elements RA POS Specify automatic record RD TP Specify position to be captured MO Turn motor off 58 e Chapter 6 Programming Motion DMC 1412 1414 RC2 Begin recording 4 msec interval A JPHA _RC 1 Continue until done recording COMPUTE Compute D DM DX 500 Dimension Array for D C 0 Initialize counter L Label D C 1 DELTA POS D POS C DX C DELTA Compute the difference Store difference in array 1 Increment index JP L C lt 500 Repeat until done PLAYBCK Begin Playback SHA Hold position CM Specify contour mode DT2 Specify time increment I 0 Initialize array counter 8B Loop counter CD DX I WC Specify contour data Wait until contour completes I I 1 Increment array counter JP B I lt 500 Loop until done DT 0 CDO End contour mode EN End program For additional information about automatic array capture see Chapter 7 Arrays Stepper Motor Operation DMC 1412 1414 When configured for stepper motor operation several commands are interpreted differently than from servo mode The following describes operation with stepper motors Specifying Stepper Motor Operation In order to command stepper motor operation the appropriate stepper mode jumpers must be installed See chapter 2 for this installation Stepper motor operation is specified by the command MT The argument for MT is as follows 2 specifies a stepper motor with active low step output pulses 2 specifi
62. E P2CH F2 ENO 1 XMOVE PR1000 BGX EN YMOVE PR 1000 BGY EN Configures P2 Send message to P2 Prompts operator for value A Interrupt on any key Configure P2 Print Message to P2 Print Message to P2 End Program Interrupt Routine Jump to X move if FI Jump to Y move if F2 End restore comm interrupt Move X routine Move Y routine Note 1 F1 through FS are used as dedicated internal keywords for testing function keys Do not use these as variables Note 2 The syntax for the CI command above is for the DMC 2xx0 controllers only See the Command Reference of your controller for more information on this command Also the Operator Data Entry Mode section of the controller manual discusses the use of the CI and P2CH commands Pin Out for TERM H 6 Pin RJ 11 Connector into the TERM 1 5 volts 2 Handshake in 3 Handshake out 4 RTS Input 5 CTS Output 6 Ground 6 Pin RJ11 Connector into 9 Pin D Adapter 1 Ground 2 Transmit Data Output 3 Receive Data Input 4 CTS output 5 RTS input 65V 9 Pin D Adapter Male For connection to Aux Serial port on controller 150 e Appendices DMC 1412 1414 CTS output Transmit Data output Receive Data input RTS output Ground NC NC NC SV Pin Out for TERM P 9 Pin D Adapter Female 1 CTS output t SA N Transmit Data output Receive Data input RTS output Ground NC NC NC
63. Exit if error is small PRER Command correction BG JP B Repeat the process C EN 106 e Chapter 7 Application Programming DMC 1412 1414 Chapter 8 Error Handling Introduction The DMC 141X 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 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 DMC 141X is an integral part of the machine the engineer should design his overall system with protection against a possible component failure on the DMC 141X Galil shall not be liable or responsible for any incidental or consequential damages Hardware Protection DMC 1412 1414 The DMC 141X includes hardware input and output protection lines for various error and mechanical limit conditions These include Output Protection Lines Amp Enable This signal goes low when the motor off command is given when the position error exceeds the value specified by the Error Limit ER command or when off on error condition is enabled OE1 and the abort command is given This signal also goes low when the watch dog timer is activated or upon reset Note The standard configuration of the AEN signal is TTL active low Both the polarity and the amplitude can be changed if you are using the ICM 1460 inte
64. JP4 ips JP3 1 3 JP2 JP6 Figure 2 2 Outline of the DMC 1414 DMC 1412 1414 Chapter 2 Getting Started e 7 firmware revision number i e DMC 141X out DMC 1412 Rev 2 0a Motorola 68340 microprocessor 7 Pin power connector for 5 12 and 12 volt input to board DMC 1412 GL 1800 custom gate array Main Auxiliary 9 Pin serial port DMC 1414 Error LED Master Reset Stepper Motor and Baud rate selection jumpers DMC 1412 Controller RAM JP Jumper used for configuring stepper motor operation labeled as SMX DMC 1414 Jumpers for selecting Main Serial port as RS232 or RS422 DMC 1414 Controller Reset Switch Jumper for selecting RS485 serial communication DMC 1414 Main 9 pin Serial Port DMC 1412 Jumpers for selecting Auxiliary Serial port as RS232 or RS422 DMC 1414 Auxiliary 9 pin Serial Port DMC 1412 Master Reset and Baud rate selection jumpers DMC 1414 DMC 141X Firmware ROM Labeled with E 37 Pin D connection for controller signal break EEPROM for program parameter storage J3 J5 JP1 2 JP3 JP4 JP5 JP6 5 Pin power connector for 20 60V DC supply and Motor connections DMC 1414 Elements You Need Before you start you must get all the necessary system elements These include 1 DMC 1412 Controller and 37 pin cable order Cable 37 or DMC 1414 2 Servo motor with Encoder or stepper motor 3 Appropriate motor drive Servo amp Power Amplifier or AMP 1460 or stepper drive 4 Power Sup
65. Label Description EARTH Chassis Connection Input Power Return MOTOR2 Motor Connection MOTORI Motor Connection AMP V Input Power DMC 1412 1414 RS232 Main port DB 9 Pin Male 1 CTS output 6 CTS output 7 RTS input 8 CTS output 2 Transmit data output 3 Receive Data input 4 RTS input 9 No connect 5 Ground DMC 1412 RS232 Auxiliary Port DB 9 pin Female 1 CTS input 6 CTS input 2 Transmit data input 7 RTS output 3 Receive data output 8 CTS input 4 RTS output 9 SV 5 Ground DMC 1414 J3 General I O Terminal Connections Terminal Label Description 1 IGND Signal Ground 2 5 volts 3 AB I Auxiliary encoder B DMC 1412 1414 Appendices e 131 Auxiliary encoder 4 5 6 aas Auxiliary encoder 7 8 9 I Auxiliary encoder B I Main encoder index Main encoder index 10 Main encoder B 11 Main encoder B 12 Ma Main encoder A 13 IMA Main encoder A 14 IGND Signal Ground 15 ABORT Abort Input 16 Home input 17 RLS Reverse limit switch input 18 FLS Forward limit switch input 19 INI LTCH Input 1 Input for Latch Function I I 27 TAR 5 volts 28 cmp Circular Compare output 29 1 30 Output 2 31 Output 3 32 ERROR o Error signa
66. Leading Zeros LZ command For a complete description of interrogation commands see chapter 5 Using the PF Command 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 EM TN FL VE IP TE TP 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 Examples DP21 Define position TPX Tell position 0000000021 Default format PF4 Change format to 4 places TPX Tell position Chapter 7 Application Programming e 99 0021 New format PF 4 Change to hexadecimal format TPX Tell Position 0015 Hexadecimal value PF2 Format 2 places TPX Tell Position 99 Returns 99 if position greater than 99 Removing Leading Zeros from Response to Interrogation Response T
67. MG LENS S4 S Response from command MG LEN4 S4 T Response from command MG LEN3 S4 M Response from command MG LEN2 S4 E Response from command LENI 54 Functions fmc Functions may be combined with mathematical expressions The order of execution is from left to right Examples VI 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 V4zQ AN 5 The variable V4 is equal to the digital value of analog input 5 e Variables For applications that require a parameter that is a variable the DMC 141X provides 126 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 the program calculations For example a cut to length application may require that a cut length be variable Example PR POSX Assigns variable POSX to PR command JG RPMY 70 Assigns variable RPMY multiplied by 70 to JG command Programmable Variables The DMC 141X allows the user to create up to 126 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
68. N 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 LEN1 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 LENS5 LEN amp 00FF0000 10000 Let variable LENS third byte of LEN LEN6 LEN amp FF000000 1000000 Let variable LEN6 fourth byte of LEN MG LEN6 S4 Display LENG as string message of up to 4 chars MG LENS 54 Display LENS as string message of up to 4 chars MG LENA S4 Display LEN4 as string message of up to 4 chars MG LEN3 54 Display LEN3 as string message of up to 4 chars MG LEN2 54 Display LEN as string message of up to 4 chars MG LENI 54 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 values 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 TESTME at the input prompt the controller will respond with the following Chapter 7 Application Programming e 87 T Response from command MG LEN6 S4 E Response from command
69. N End Event Trigger Start Motion on Input This example waits for input 1 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 on an input such as JP GO IN 1 1 Instruction Interpretation INPUT Program Label AI 1 Wait for input 1 low PR 10000 Position command BG Begin motion EN End program Event Trigger Set output when At speed Instruction Interpretation ATSPEED Program Label JG 50000 Specify jog speed AC 10000 Acceleration rate BG Begin motion AS Wait for at slew speed 50000 Set output 1 EN End program 80 e Chapter 7 Application Programming DMC 1412 1414 DMC 1412 1414 Event Trigger Multiple move with wait Instruction Interpretation MOVES Label PR 12000 Distance SP 20000 Speed AC 100000 Acceleration BG Start Motion AD 10000 Wait a distance of 10 000 counts SP 5000 New Speed AM Wait until motion is completed WT 200 Wait 200 ms PR 10000 New Position SP 30000 New Speed AC 150000 New Acceleration BG Start Motion EN End Define Output Waveform Using AT The following program causes Output 1 to be high for 10 msec and low for 40 msec The cycle repeats every 50 msec Instruction Interpretation OUTPUT Program label ATO Initialize time reference Set Output 1 LOOP Loop AT 10 Afte
70. Operand Also see description of operands in Chapter 7 Command Summary Each DMC 141X command is described fully in the Command Reference Manual A summary of the commands follows The commands are grouped in this summary by the following functional categories Motion Program Flow General Configuration Control Settings Status and Error Limits Motion commands are those to specify modes of motion such as Jog Mode or Position Relative and to specify motion parameters such as speed acceleration and deceleration and distance Program flow commands are used in Application Programming to control the program sequencer They include the jump on condition command and event triggers such as after position and after elapsed time General configuration commands are used to set controller configurations such as setting and clearing outputs formatting variables and motor encoder type The control setting commands include filter settings such as KP KD and KI and sample time DMC 1412 1414 Chapter 5 Programming Basics e 41 Error Limit commands are used to configure software limits and position error limits MOTION AB Abort Motion AC Acceleration BG Begin Motion CD Contour Data CM Contour Mode DC Deceleration DT Contour Time Interval FE Find Edge FI Find Index GR Gear Ratio HM Home IP Increment Position JG Jog Mode PA Position Absolute PR Position Relative SP Speed ST Stop PROGRAM FLOW AD After Distance AI After Input AM After
71. Position Limits i 108 Off On BrtOt riale e ER Her e E UNDER RE 109 Automatic Error Routine ii 109 Limit Switch Routine 109 Chapter 9 Troubleshooting 111 OV ELVIEW sedis 111 Install ati Om JA irit teet e 111 Communication rede rnt ee E bue P ru e e eee 112 Siri 112 face td ette eher o RE Pip ee ree Porti rdc ee nx 113 Chapter 10 Theory of Operation 115 115 Operation of Closed Loop Systems ii 117 System Modeling atate ar ter em n lalla ORTA RO EI PO ipt entes 118 Motor Amniphtier 5 aine ree yen EE DO ERU once RE RET 119 Encoder sassate ibi ballano 121 DAC state oM Oma bo bam ates 122 K 20 65 536 0 0003 V count 3 erret th er ter aeree tete 122 Digital Filter m ERs 122 LOU E 122 System 1 816 EIER 123 System Design and CompensationN 125 The Analytical Methodg 5 erret rrt edente erepti 125 Appendices 129 Electical Specifications et e Riva a D Rt eh ege tee 129 Servo Control tee temen e n UH e LH e UR ino 129 Stepper Control a ste Ue ipte eise b d Deeds 129 e tee e ie Fo ete E a
72. RX 1 BZX CR Move X motor close to zero commutation phase BG CR Begin motion on X axis AM CR Wait for motion to complete on X axis BZX 1 CR Drive motor to commutation phase zero and leave motor on Method 3 Use the command BC This command uses the hall transitions to determine the commutation phase Ideally the hall sensor transitions will be separated by exactly 60 and any deviation from 60 will affect the accuracy of this method If the hall sensors are accurate this method is recommended The BC command monitors the hall sensors during a move and monitors the Hall sensors for a transition point When Chapter 2 Getting Started e 21 that occurs the controller computes the commutation phase and sets it For example to initialize the motor upon power or reset the following commands may be given SH CR Enable motor BC CR Enable the brushless calibration command PR 50000 CR Command a relative position movement BG CR Begin motion When the hall sensors detect a phase transition the commutation phase is re set Step 8c Connect Step Motors In Stepper Motor operation the pulse output signal has a 5096 duty cycle Step motors operate open loop and do not require encoder feedback When a stepper is used the auxiliary encoder for the corresponding axis is unavailable for an external connection If an encoder is used for position feedback connect the encoder to the main encoder input correspond
73. S 13 Torque Limit eerte te ee tbe e 17 46 Trippoints conii naar aaa 28 80 TA PRESE ERA eerte ac RICE MES 5 31 Tuning sa e ERUNT NIV 24 Upload ito Ree 46 73 Variable teer 29 73 132 Internal eene eres ee REP 84 Warranty 156 157
74. Short Bell ESCL Long Bell ESCP Click ESCQ Alert 148 e Appendices DMC 1412 1414 DMC 1412 1414 Cursor Style ESC F Underscore Cursor On ESC Underscore Cursor Off ESCR Blinking Cursor On ESC S Blinking Cursor Off Key Clicks audible sounds from terminal ESCU Key Click Enable ESC Key Click Disable Identify sends TT1 then terminal firmware version ESC Z Send Terminal ID Configuration The key lt CNTRL gt lt SHIFT gt FI allows the user to configure the TERM Follow the display prompts to change configuration Likewise the Galil controller s auxiliary serial port is configured with the CC command See the controller Command Reference for more details on CC Recommended TERM Configuration Baud Rate 9600 Data bits 7 Parity Space Display PE Enabled Repeat Fast Echo Disabled Handshake Disabled Self Test Disabled Corresponding CC setting CC 9600 0 0 1 Function Keys The function commands on the TERM have ASCII decimal values assigned to them These number assignments are shown below Default Function Keys 22 decimal F2 23 decimal F3 24 decimal F4 25 decimal F5 26 decimal Therefore to send F1 to the TERM use the command MG P2 22 Example 1 Appendices e 149 CC 9600 0 0 1 MG P2 Hello There V1 F2 1 IN P2 Enter Value NUM Example 2 A CI 0 2 1 CC 9600 0 0 1 MG P2 press FI to start X MG P2 Press F2 to start Y B JP B EN COMINT JS XMOVE P2CH F1 JS YMOV
75. TL active high In other words the AEN signal will be high when the controller expects the amplifier to be enabled The polarity and the amplitude can be changed if you are using the ICM 1460 interface board To change the polarity from active high 5 volts enable zero volts disable to active low zero volts enable 5 volts disable replace the 7407 IC with a 7406 To change the voltage level of the AEN signal note the state of the resistor pack on the ICM 1460 When Pin 1 is on the 5 V mark the output voltage is 0 5 V To change to 12 volts pull the resistor pack and rotate it so that Pin 1 is on the 12 volt side If you remove the resistor pack the output signal is an open collector allowing the user to connect an external supply with voltages up to 24 V Step C Connect the encoders For stepper motor operation an encoder is optional For servo motor operation if you have a preferred definition of the forward and reverse directions make sure that the encoder wiring is consistent with that definition The DMC 141X accepts single ended or differential encoder feedback with or without an index pulse If you are not using the AMP 1460 or the ICM 1460 you will need to consult the appendix for the encoder pinouts for connection to the motion controller The AMP 1460 and the ICM 1460 can accept encoder feedback from a 10 pin ribbon cable or 14 e Chapter 2 Getting Started DMC 1412 1414 DMC 1412 1414 individual signal leads For
76. a 10 pin ribbon cable encoder connect the cable to the protected header connector labeled JP2 For individual wires simply match the leads from the encoder you are using to the encoder feedback inputs on the interconnect board The signal leads are labeled MA MB and IDX These labels represent channel A channel B and the INDEX pulse respectively 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 CHA and the direction signal is connected to CHB The controller must be configured for pulse and direction with the command CE See the command summary for further information on the command CE Step D Verify proper encoder operation Once the encoder is connected as described above turn the motor shaft and interrogate the position with the instruction TP return The controller response will vary as the motor is turned At this point if TP does not vary with encoder rotation there are three possibilities 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 encoder 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 differen
77. acter instruction for position relative 4000 is the argument which represents the required position value in counts The lt enter gt terminates the instruction The space between PR and 4000 is optional To view the current values for each command specify the command followed by a Example Syntax for Specifying Data PR 1000 Specify as 1000 PR Interrogate value in PR register DMC 1412 1414 Chapter 5 Programming Basics e 39 Controller Response to Commands The DMC 141X returns a for valid commands The DMC 141X returns a for invalid commands For example if the command BG is sent in lower case the DMC 141X will return a bg enter invalid command lower case DMC 141X returns a When the controller receives an invalid command the user can request the error code The code will specify the reason for the invalid command response To request the error code type the command TCI For example TC1 enter Tell Code command 1 Unrecognized command Returned response There are several coded reasons for receiving an invalid command response The most common reasons are and unrecognized command such as typographical entry or lower case a command given at improper time 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 section Interrogating the Controller Interrogation Commands The DMC 141X has a set of commands that d
78. action In another example the ININT label could be used to designate an input interrupt subroutine When the specified input occurs the program will be executed automatically NOTE An application program must be running for automatic monitoring 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 DMC 141X 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 JG5000 can still be sent from the PC even while the dummy applications program is being executed Instruction Interpretation TEST Test program JG1000 Set jog speed on X axis BG Begin motion on the X axis LOOP Dummy Program for endless loop JP LOOP EN Jump to LOOP label LIMSWI Limit Switch Label MG LIMIT OCCURRED Print Message RE Return to main program Now when a forward limit switch occurs the LIMSWI subroutine will be executed 84 e Chapter 7 Application Programming DMC 1412 1414 DMC 1412 1414 NOTE The RE command is used to return from the LIMSWI subroutine NOTE The LIMSWI will continue to be executed until the limit switch is cleared NOTE The LIMSWI routine is only executed when the motor is being commanded to move Example Position Error Instruction Interpretation MAIN Main program JG10000 Set jog speed BG Begi
79. age 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 An Example for Inputting Numeric Data A IN Enter Length LENX 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 LENX Cut to Length Example 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 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 PR LEN 4000 BG AM Prompt operator for length in inches Specify position in counts Begin motion to move material
80. ains 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 126 max UL contains the number of available variables 126 max _DA contains the number of available arrays 6 max _DM contains the number of available array elements 1000 max _AB contains the state of the Abort Input _LFx contains the state of the forward limit switch for the x axis _LRx contains the state of the reverse limit switch for the x axis Debugging Example The following program has an error It attempts to specify a relative movement while the X 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 4A 001 PR1000 002 BGX 003 PR5000 004 EN lt cntrl gt Q XQ A 2003 PR5000 TC1 7 Command not valid while running ED 3 003 AMX PR5000 BGX lt cntrl gt Q XQ SA Interpretation Edit Mode Program Label Position Relative 1000 Begin Position Relative 5000 End Quit Edit Mode Execute Error on Line 3 Tell Error Code Command not valid while running Edit Line 3 Add After Motion Done Quit Edit Mode Execute Chapter 7 Application Programming e 77 Program Flow Command
81. als eee 2 DMC 1400 Functional Elements eese eene nennen trennen enne 3 Microcomputer Section ino lea loan 3 Motor Interface iva io lid eee tero e ertet tenet ds 3 Comimunicatl h ase 2 nhe a eO gites iet deu 3 General WO tech Vh non uae cete tegat 3 System FlemeniS cte eter Roli 4 m 4 Amplifier ettet ee EP EE ECRIRE ERE trees CURRERE 4 Iul e 4 Watch Dog Tier e eb bene et PUER e ERR IUE Een i 5 Chapter 2 Getting Started 7 The DMC 141X Motion Controller i 7 Elements You Need iae E tete tene esee ette ecrit e ie 8 Installing the DMC 1400 Controller ii 9 Step 1 Determine Overall Motor Configuration i 9 Step 2 Configuring Jumpers the DMC 141X sese 10 Step Connecting AC or DC power and the Serial Cable to the DMC 1412 11 Step 3b Connecting DC power and the Serial Cable to the DMC 1414 11 Step 4 Installing the Communications Software eere 11 Step 5 Establishing Communication between the DMC 141X and the host PC 12 Step 6 Set up axis for sinusoidal commutation DMC 1412 only 13 Step 7 Make connections to amplifier and encoder sese 13 Step 8a Connect Standard Brush or Brushless Ser
82. arm the latch 2 Testto see if the latch has occurred Input 1 goes low by using the AL command Example V1 _AL returns the state of the latch into V1 V1 is 1 if the latch has not occurred 3 After the latch has occurred read the captured position with the report latch RL command or RL Note The latch must be re armed after each latching event Example High Speed Latch Interpretation Instruction Latch JG 5000 BG AL Wait JP Wait AL 1 Result _RL Result EN Latch Jog Begin program Arm Latch Loop for Latch 1 Wait for latch Report position Print result End Chapter 6 Programming Motion e 69 THIS PAGE LEFT BLANK INTENTIONALLY 70 e Chapter 6 Programming Motion DMC 1412 1414 Chapter 7 Application Programming Introduction The DMC 141X provides a powerful programming language that allows users to customize the controller for their particular application Programs can be downloaded into the DMC 141X memory freeing the host computer for other tasks However the host computer can still send commands to the controller at any time even while a program is being executed In addition to standard motion commands the DMC 141X provides several commands that allow the DMC 141X to make its own decisions These commands include conditional jumps event triggers and subroutines For example the command JP LOOP n lt 10 causes a jump to the label LOOP if the variable n is less than 10 For greater pr
83. asons it is best to use a rotary encoder on the motor Connect the rotary encoder to the main encoders input and connect the linear encoder to the auxiliary encoder input Let the required motion distance be one inch and assume 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 BG Correct AM V1 10000 _DE V2 _TE 4 V1 JP END ABS V2 lt 2 PR V2 4 BG JP Correct END EN 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 Chapter 6 Programming Motion e 63 Motion Smoothing The DMC 141X 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 infinite jerk that causes vibration The smoothing of the acceleration profile leads to a continuous acceleration profile and a finite je
84. at 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 I1 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 A Here the controller waits for the input pulse on 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 for a new cycle Instruction Function Label Wait for input 1 PR 6370 Distance SP 3185 Speed BG Start Motion AM After motion is complete Set output bit 1 WT 20 Wait 20 ms 1 Clear output bit 1 WT 80 Wait 80 ms JP Repeat the process 104 e Chapter 7 Application Programming DMC 1412 1414 START PULSE 11 xx MOTOR VELOCITY OUTPUT PULSE _ output TIME INTERVALS DMC 1412 1414 move wait ready move Figure 7 1 Motor Velocity and the Associated Input Output signals Backlash Compensation by Dual Loop 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 lead screw Such a lead screw has a ba
85. ause 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 HM This command returns a 0 or 1 if the logic state is low or high respectively 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 Section 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 input is activated the controller stops generating motion commands immediately whereas the
86. bel for excess Position Error subroutine Label for timeout on Motion Complete trip point Label for incorrect command subroutine Label for communication interrupt Chapter 7 Application Programming e 73 Commenting Programs Using the Command NO The DMC 141X provides a command NO for commenting programs This command allows the user to include up to 38 characters on a single line after the NO command and can be used to include comments from the programmer as in the following example MOVE NO ABSOLUTE POINT TO POINT MOVE NO SPEED 10000 COUNTS SECOND SP 10000 NO ACCELERATION 100000 COUNTS SEC 2 AC 100000 NO DECELERATION 100000 COUNTS SEC 2 DC 100000 NO MOVE TO ABSOLUTE POSITION 150000 PA 150000 NO BEGIN MOVE BG NO AFTER MOVE COMPLETES AM NO MOVE TO ABSOLUTE POSITION 0 NO BEGIN MOVE BG NO AFTER MOVE AM NO END PROGRAM EN Note The NO command is an actual controller command Therefore inclusion of the NO commands will require process time by the controller Using REM Statements with the Galil Terminal Software If you are using Galil software to communicate with the DMC 141x controller you may also include REM statements REM statements begin with the word REM 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 PA 10000 REM SIMPLE MOVE SP 10
87. bsolute value FRAC Fraction portion INT Integer portion RND Round SQR Square root IN Return digital input AN Return analog input Add Subtract Multiply Divide amp And Or Parentheses Instruction Set Examples Below are some examples of simple instructions It is assumed your system is hooked up and the motors are under stable servo control Note the colon is returned by the controller and appears on the screen You do not need to type the DP 0 lt enter gt PF 6 lt enter gt PR 100 lt enter gt BG lt enter gt TP lt enter gt 00100 PR lt enter gt 00100 tp Define axis position as 0 Define position format as 6 digits Specify position command Begin Motion Tell Position Returned Position data Request Position Command Returned data Enter invalid command Chapter 5 Programming Basics e 45 Controller response TC1 enter Request error code 1 Unrecognized command Controller response 46 e Chapter 5 Programming Basics DMC 1412 1414 Chapter 6 Programming Motion Overview The DMC 141X provides several modes of motion including independent positioning and jogging electronic cam electronic gearing and contouring 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 Mode of Motion Absolute or relative positioning where axis DMC 1412
88. cies up to 8 million quadrature counts per second An additional encoder input is available for gearing or cam applications handwheel inputs or dual loop Modes of motion include jogging point to point positioning electronic cam electronic gearing and contouring Several motion parameters can be specified including acceleration and deceleration rates and slew speed The DMC 141X also provides motion smoothing to eliminate jerk For synchronizing motion with external events the DMC 141X includes seven digital inputs and three digital outputs Event triggers can automatically check for elapsed time distance and motion complete The DMC 141X is easy to program Instructions are represented by two letter commands such as BG for Begin and SP for Speed Conditional Instructions Jump Statements and arithmetic functions are included for writing self contained applications programs An internal editor allows programs to be quickly entered and edited and support software such as the WSDK allows quick system set up and tuning To prevent system damage during machine operation the DMC 141X provides many error handling features These include software and hardware limits automatic shut off on excessive error abort input and user definable error and limit routines The DMC 1412 is designed for stand alone applications and provides non volatile storage for programs variables and array elements The DMC 1414 provides an internal power amplifier and i
89. cklash of 4 micron and the required position accuracy is for 0 5 micron 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 motor 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 t
90. combination is the same as that of a similar brush motor as described by the previous equations Velocity Loop The motor driver system may include a velocity loop where the motor velocity is sensed by a tachometer and is fed back to the amplifier Such a system is illustrated in Fig 10 5 Note that the transfer function between the input voltage V and the velocity o is V K4 K Js 1 K Kg Js VIKsGT4 1 where the velocity time constant T1 equals TI Ky Kg This leads to the transfer function P V 1 Kg s sT1 1 K e Kt Js Figure 10 5 Elements of velocity loops The resulting functions derived above are illustrated by the block diagram of Fig 10 6 120 e Chapter 10 Theory of Operation DMC 1412 1414 VOLTAGE SOURCE V E W P deu La Ad os LIL ST_ 1 ST 1 S CURRENT SOURCE V W P VELOCITY LOOP V W P K ST S Figure 10 6 Mathematical model of the motor and amplifier in three operational modes 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 Kg 4N 2n count rad For exampl
91. d to drive the motor and load For best performance the amplifier should be configured for a current mode of operation with no additional compensation The gain should be set such that a 10 volt input results in the maximum required current A second DAC output is provided on the DMC 1412 for use as the second phase for sinusoidal commutation The ICM 1460 and DMC 1414 also provides an AEN amplifier enable signal to control the status of the amplifier This signal toggles when the watchdog timer activates when a motor off command is given or when 1 Off on error is enabled command is given and the position error exceeds the error limit As shown in Figure 3 1 AEN can be used to disable the amplifier for these conditions The standard configuration of the AEN signal is TTL active high In other words the AEN signal will be high when the controller expects the amplifier to be enabled The polarity and the amplitude can be changed if you are using the ICM 1460 interface board To change the polarity from active high 5 volts enable zero volts disable to active low zero volts enable 5 volts disable replace the 7407 IC with a 7406 Note that many amplifiers designate the enable input as inhibit To change the voltage level note the state of the jumper on the ICM 1460 When JP4 has a jumper from AEN to 5V default setting the output voltage is 0 5V To change to 12 volts pull the jumper and rotate it so that it c
92. de DT2 Specifies first time interval 2 CD 48 WC Specifies first position increment DT3 Specifies second time interval 2 CD 90 WC Specifies second position increment DT4 Specifies the third time interval 2 CD 164 WC Specifies the third position increment Exits contour mode EN Chapter 6 Programming Motion e 55 POSITION 302 138 48 0 4 12 TIME MS 28 Figure 6 3 The Required Trajectory Additional Commands The command WC is used as a trippoint When Complete This allows the DMC 141X to use the next increment only when it is finished with the previous one Zero parameters for DT or CD exit the contour mode 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 Specifies contouring mode Specifies position increment over time interval Range is 32 000 Zero ends contour mode Specifies time interval 2 msec for position increment where n is an integer between 1 and 8 Zero ends contour mode If n does not change it does not need to be specified with each CD 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 speci
93. 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 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 HM command and BG command causes the following sequence of events to occur Chapter 6 Programming Motion e 65 Stage 1 Upon begin the motor accelerates to the slew speed specified by the JG or SP commands The direction of its motion is determined by the state of the homing input If HMX reads 1 initially the motor will go in the reverse direction first direction of decreasing encoder counts If HMX reads 0 initially the motor will go in the forward direction first CN is the command used to define the polarity of the home input With CN 1 the default value a normally open switch will make _HMX read 1 initially and a normally closed switch will make _HMX read zero Furthermore with CN 1 a normally open switch will make _HMX read 0 initially and a normally closed switch
94. des the set up The cycle of the master is 2000 Over that cycle X varies by 1000 This leads to the instruction EM 1000 2000 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 DMC 1412 1414 Chapter 6 Programming Motion e 53 The following routine computes the table points As the phase equals 0 18X and X 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 SETUP EM 1000 2000 EP 20 0 N 0 LOOP P N 3 6 S SIN P 100 X N 10 5 ET N X 1 JP N 100 EN Interpretation Label Cam cycles Master position increments Index Loop to construct table from equation Note 3 6 0 18420 Define sine position Define slave position Define table Repeat the process 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 Master Aux Encoder 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 RUN EBI 500 SP5000 BGX AMX 1000 AI 1 EQ 1000 EN Contour Mode Interpretation Label Enable cam starting p
95. des three general use outputs and an error signal output The general use outputs are TTL and are accessible through the ICM 1460 or DMC 1414 as OUTO OUTI and OUT2 These outputs can be turned On and Off with the commands SB Set Bit CB Clear Bit OB Output Bit and OP Output Port For more information about these commands see Chapter 3 Hardware Interface e 31 the Command Summary The value of the outputs can be checked with the operand _OP and the function OUT n see Chapter 7 Mathematical Functions and Expressions The error signal output is available on the interconnect module as ERROR This is a TTL signal which is low when the controller has an error Note When the error signal is active the LED on the controller will be on An error condition indicates one of the following conditions 1 Atleast one axis has a position error greater than the error limit The error limit is set by the command ER 2 The 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 The outputs can be accessed directly from the 37 or 40 pin connector on the controller For a description of the pinouts consult the appendix Amplifier Interface The DMC 141X generates a 10 volt range analog signal ACMD and ground pin 21 for input to power amplifiers which have been size
96. design method is aimed at closing the loop at a crossover frequency cc 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 Kt Nm A Torque constant J22404 kg m System moment of inertia R 2 Q Motor resistance K 2 Amp volt Current amplifier gain N 1000 Counts rev Encoder line density The DAC of the DMC 141X outputs 10 V for a 16 bit command of 32 768 counts The design objective is to select the filter parameters in order to close a position loop with a crossover frequency of e 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 Kj Js2 1000 52 Amp K 2 Amp V DAC Kg 10 32 768 Encoder Kg 4N 2n 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 Ky Kg Kr H s 3 175 106 s2 s2000 Chapter 10 Theory of Operation e 125 Then the open loop transfer function A s is A s 2 L s G s Now determine the magnitude and phase of L s at the frequency cy 500 L j500 3 175 106 500 3500 2000 This function has a magnitude of ILG500 1 0 00625 and a phase Arg L j500 180 tan 1 500 2000 194 G s is selected so that A s
97. ding 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 Data Types for Recon Em fonte i en Operand Summary Automatic Data Capture Returns a 0 or 1 where 0 denotes not recording 1 denotes recording in progress RD Returns address of next array element Example Recording into An Array During a position move store the position and position error every 2 msec Instruction Interpretation RECORD Begin program DM XPOS 300 Define position array DM XERR 300 Define error array RA XPOS XERR Select arrays for capture RD_TP _TE Select data types PR 10000 Specify move distance RCI Start recording now at rate of 2 msec BG Begin motion A JP A _RC 1 Loop until done MG DONE Print message EN End program PLAY Play back N 0 Initial Counter JP DONE N gt 300 Exit if done N Print Counter XPOS N Print position Chapter 7 Application Programming e 93 XERR N N N 1 DONE EN Print error Increment Counter Done End Program Deallocating Array Space Array space may be deallocated using the DA command followed by the name DA 0 deallocates all the arrays Input of Data Numeric and String 94 e Chapter 7 Application Programming 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 mess
98. dow For general purposes the editing features described in this section are not applicable when not in DOS mode DMC 1412 1414 Chapter 7 Application Programming e 71 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 40 characters per line While in 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 RETURN 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 lt RETURN gt will cause the editor to advance a series of lines Note changes on a program line will not be saved unless a return is given lt ctrl gt P The lt ctrl gt P command moves the editor to the previous line ctrl I The lt ctrl gt I command inserts a line above the current line For example if the editor is at line number 2 and lt ctrl gt I is applied a new line will be inserted between lines 1 and 2 This new line will be labeled line 2 The old line number 2 is renumbered as line 3 lt ctrl gt D The lt ctrl gt D command deletes the line currently being edited For example if the editor is at line number 2 and lt ctrl gt D is applied line 2 will be deleted
99. dure will alert the user Step D Step C Specify the Size of the Magnetic Cycle DMC 1412 1414 Chapter 2 Getting Started e 19 Use the command BM to specify the size of the brushless motors magnetic cycle in encoder counts For example if you are using a linear motor where the magnetic cycle length is 62 mm and the encoder resolution is 1 micron the cycle equals 62 000 counts This can be commanded with the command BM 62000 CR On the other hand if you are using a rotary motor with 4000 counts per revolution and 3 magnetic cycles per revolution three pole pairs the command is BM 1333 333 CR Step D Test the Polarity of the DACs and Hall Sensor Configuration Use the brushless motor setup command BS to test the polarity of the output DACs This command applies a certain voltage V to each phase for some time T and checks to see if the motion is in the correct direction The user must specify the value for V and T For example the command BS 2 700 CR will test the brushless axis with a voltage of 2 volts applying it for 700 millisecond for each phase In response this test indicates whether the DAC wiring is correct and will indicate an approximate value of BM If the wiring is correct the approximate value for BM will agree with the value used in the previous step Note In order to properly conduct the brushless setup the motor must be allowed to move a minimum of one magnetic cycle in both directions
100. e a 1000 lines rev encoder is modeled as 638 DMC 1412 1414 Chapter 10 Theory of Operation e 121 DAC The DAC or D to A converter converts a 16 bit number to an analog voltage The input range of the numbers is 65 536 and the output voltage range is 10 V or 20 V Therefore the effective gain of the DAC is K 20 65 536 0 0003 V count Digital Filter The digital filter has a transfer function of D z K z A z Cz z 1 and a sampling time of T The filter parameters K A and C are selected by the instructions KP KD KI or by GN ZR and KI respectively The relationship between the filter coefficients and the instructions are K KP KD 4 orK GN 4 A KD KP KD or A ZR C KI 2 This filter includes a lead compensation and an integrator It is equivalent to a continuous PID filter with a transfer function G s G s P sD I s P 4KP D 4T KD I KINT For example if the filter parameters of the DMC 141X are KP 4 KD 36 KI 0 5 T 20 001 s the digital filter coefficients are K 40 A 0 9 C 0 25 and the equivalent continuous filter G s is G s 4 0 1445 250 s 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 sT 2 If the sampling period is T 0 001 for example H s becomes H s 2000 s 2000 However in most applications
101. e 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 will 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 152 e Appendices DMC 1412 1414 Contacting Us DMC 1412 1414 Galil Motion Control 270 Technology Way Rocklin California 95765 Phone 916 626 0101 Fax 916 626 0102 Internet address www galilmc com Appendices e 153 WARRANTY 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 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
102. e 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 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 The results may be worse if we turn the faucet too fast The overreaction resul
103. ed 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 Examples OE 1 Enable off on error OE 0 Disable off on error 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 Example Instruction Interpretation A JP Dummy program POSERR Start error routine on error MG error Send message SB 1 Fire relay ST Stop motor AM After motor stops SH Servo motor here to clear error RE Return to main program NOTE An applications program must be executing for the POSERR routine to function Limit Switch Routine The DMC 141X provides 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
104. ence AT n waits n msec from reference and sets new reference after elapsed time WTn Halts program execution until specified time in msec has elapsed Event Trigger Examples Event Trigger Multiple Move Sequence The AM trippoint is used to separate the two PR moves If AM is not used the controller returns a for the second PR command because a new PR cannot be given until motion is complete Instruction Interpretation TWOMOVE Label PR 2000 Position Command BG Begin Motion AM Wait for Motion Complete PR 4000 Next Position Move BG Begin 2nd move EN End program Event Trigger Set Output after Distance 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 Interpretation SETBIT Label SP 10000 Speed is 10000 PA 20000 Specify Absolute position BG Begin motion Chapter 7 Application Programming e 79 AD 1000 Wait until 1000 counts SB1 Set output bit 1 EN End program Event Trigger Repetitive Position Trigger To set the output bit every 10 000 counts during a move the AR trippoint is used as shown in the next example Instruction Interpretation TRIP Label JG 50000 Specify Jog Speed BG n 0 Begin Motion REPEAT Repeat Loop AR 10000 Wait 10000 counts TP Tell Position Set output 1 WT50 Wait 50 msec 1 Clear output 1 1 Increment counter JP REPEAT n lt 5 Repeat 5 times ST Stop E
105. ent destination if axis is moving otherwise returns current commanded position Returns current incremental distance Example Absolute Position PA 10000 Specify absolute position of 10 000 counts AC 1000000 Acceleration of 1 000 000 counts sec 2 DC 1000000 Deceleration of 1 000 000 counts sec SP 50000 Speeds of 50 000 counts sec BG Begin motion Independent Jogging The jog mode of motion is very flexible because the speed direction and acceleration can be changed during motion In this mode the user specifies the jog speed JG acceleration AC and the deceleration DC rate 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 an 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 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 DMC 141X converts the velocity profile into a position trajectory where a new po
106. ent edt 72 Program Format niet tg e a e Ee QS riali 72 Using Labelsin Programs nn eee Ae d 73 Special Labels nii ront otani bp A dee ana eA th takes 73 Commenting Programs eet hm eto bla ey e let 74 Executing Programs Multitasking ii 75 Debugging Programs 1 nto t Rep ere p ee ei o ee e ken 76 Program Flow Commands essent nennen trennen rennen enne 78 Command Summary Program Flow seen 78 Event Triggers amp Trippoints i 78 Event Trigger EX niples I i eA A ee A e 79 Conditional Jurnps aie oe e e AI eo dum A e tob 81 Subrou tibes maine t er RA EE Ae I tpe ir tee eee ie e RD 83 Stack Manipulation 5 oon t ertet rete e ore tege Eee eee tab ge ie 83 Auto Start cere rte r ence Poire rite ett es 84 Automatic Subroutines for Monitoring Conditions eee 84 Mathematical and Functional Expressions ii 86 Mathematical Operators o erre iicet nte dai 86 Bit Wise Operators ita eb licia 87 EUBDCUODS eoe eee bcne ton en eee bie onan eet ts 88 Het norit fes te erae S dia 88 Programmiable V riables ape alal bp p t 88 cunc ia EE LAU ar AE e ia 89 ANSTAYS suos ete poten e e bct a e i te d ala pec e ets 91 te UB D ER eod 91 Assignment of Array
107. er 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 To query the state of a forward limit switch type MG LFx where x is the specified axis 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 To query the state of a reverse limit switch type MG LRx where x is the specified axis Software Protection The DMC 141X 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 is 16384 Example ER 200 Set error limit for 200 The units of the error limit are quadrature counts 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 DMC 141X will generate several signals to warn the host system of the error condition These signals include Signal or Function State if Error Occurs POSERR Jumps to automatic excess position err
108. erface board To change the polarity from active low zero volts disable to active high replace the 7407 IC with a 7406 To change the voltage level note the state of the jumper on the ICM 1460 When JP4 has a jumper from AEN to 5V default setting the output voltage is 0 5V To change to 12 volts pull the jumper and rotate it so that it connects the pins marked AEN and 12V If the jumper is removed entirely the output is an open collector signal allowing the user to connect to external supplies with voltages up to 24 V AMP 1460 20 Watt Linear Amplifier Option The ICM 1460 Interconnect Module can be purchased with a 20 watt linear amplifier suitable for driving small motors This amplifier requires an external supply of 10 V to 35 V Care should be taken to ensure the average power dissipation across the amplifier is less than 20watts 142 e Appendices DMC 1412 1414 ICM 1460 Drawing Yt wars al d yc Qaod i ene ae 2 585 1 100 90 540 2 135 gt lt 1 500 a 2 135 gt 6 850 6 310 _ 87 PIN FEMALE D TYPE CONNECTOR x i UI UI UU a Vno RSS Ju 4 945 00 200 4 PLACES I D0 360 4 PLACES 0 825 0 175 v Y DMC 1412 1414 Appendices e 143 TERM 1500 Operator Terminal General Description Galil offers two terminals for inte
109. ers to appear garbled to some terminals This function can be disabled by issuing the command CW2 For more information see the CW command in the Command Reference When hardware handshaking is used characters which are generated by the controller are placed in a FIFO buffer before they are sent out of the controller The size of the RS 232 buffer is 128 bytes When this buffer becomes full the controller must either stop executing commands or ignore additional characters generated for output The command CW 1 causes the controller to ignore all Chapter 4 Communication e 37 output from the controller while the FIFO is full The command CW 0 causes the controller to stop executing new commands until more room is made available in the FIFO This command can be very useful when hardware handshaking is being used and the communication line between controller and terminal will be disconnected In this case characters will continue to build up in the controller until the FIFO is full For more information see the CW command in the Command Reference Controller Response to DATA Most DMC 141X 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 DMC 141X decodes each ASCII character one byte one at a time It takes approximately 5 msec for the controller to decode each command After the instruction
110. es a stepper motor with active high step output pulses 2 5 specifies a stepper motor with active low step output pulses and reversed direction 2 5 specifies a stepper motor with active high step output pulse and reversed direction Stepper Motor Smoothing The command KS provides stepper motor smoothing The effect of the smoothing can be thought of as a simple Resistor Capacitor single pole filter The filter occurs after the motion profiler and has the effect of smoothing out the spacing of pulses for a more smooth operation of the stepper motor Use of KS is most applicable when operating in full step or half step operation KS will cause the step pulses to be delayed in accordance with the time constant specified Chapter 6 Programming Motion e 59 When operating with stepper motors you will always have some amount of stepper motor smoothing KS Since this filtering effect occurs after the profiler the profiler may be ready for additional moves before all of the step pulses have gone through the filter It is important to consider this effect since steps may be lost if the controller is commanded to generate an additional move before the previous move has been completed See the discussion below Monitoring Generated Pulses vs Commanded Pulses The general motion smoothing command IT can also be used The purpose of the command IT is to smooth out the motion profile and decrease jerk due to acceleration Monitoring Generated Pu
111. es to any value other than zero The conditional statement can be any valid DMC 141X numeric operand including variables array elements numeric values functions keywords and arithmetic expressions If no conditional statement is given the jump will always occur Examples Number V1 6 Numeric Expression V1 V7 6 ABS V1 gt 10 Array Element V1 lt Count 2 Variable 1 lt 2 Internal Variable _TPX 0 _TVX gt 500 VO V1 gt AN 2 IN 1 0 Multiple Conditional Statements The DMC 141X will accept multiple conditions in a single jump statement The conditional statements are combined in pairs using the operands amp and I representing the logical AND and logical OR respectively The amp operand between any two conditions requires that both statements must be true for the combined statement to be true The Il 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 parentheses for proper evaluation by the controller In addition the DMC 141X executes operations from left to right For further information on Mathematical Expressions and the bit wise operators amp and see pg 7 86 For example using variables named V1 V2 V3 and V4 JP TEST V1 V2 amp V3 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 illu
112. esented 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 elements 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 AMP MOTOR C P ENCODER Figure 10 4 Functional Elements of a Motion Control System 118 e Chapter 10 Theory of Operation DMC 1412 414 Motor Amplifier The motor amplifier may be configured in three modes 1 Voltage Drive 2 Current Drive 3 Velocity Loop The operation and modeling in the three
113. fied 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 Generating an Array An Example Consider for example the velocity and position profiles shown in Fig 6 4 The objective is to rotate a motor a distance of 6000 counts in 120 ms The velocity profile uses sinusoidal acceleration to reduce the jerk and the system vibration When the position displacement is A counts in B milliseconds the general expression for the velocity and position profile where T is the time in milliseconds is 56 e Chapter 6 Programming Motion DMC 1412 1414 1 cos 27 B B A X 4 amp sin 2zj B In the given example A 6000 and B 120 the position and velocity profiles are X SOT 6000 27 sin 27 T 120 Note that the velocity in count ms is 50 1 cos 27 T 120 ACCELERATION VELOCITY POSITION DMC 1412 1414 Figure 6 4 Velocity Profile with Sinusoidal Acceleration The DMC 141X can compute trigonometric functions However the argument must be expressed in degrees Accordingly the equation of X is written as X 50T 955 sin 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 sto
114. fine home an encoder index DMC 1412 1414 Appendices e 133 Main Encoder A B Aux Encoder A B Abort input Reset input Forward Limit Switch Reverse Limit Switch Home Switch Input 1 Input 7 Latch input Differential inputs from encoder May be input along with CHA CHB for noise immunity of encoder signals The CHA and CHB inputs are optional Inputs for additional encoder Used when an encoder on both the motor and he load is required 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 hen 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 hen 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 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 nput will cause the motor to decelerate to a stop The polarity of the Home Switch may be set with the CN command ncommitted inputs May be defined by t
115. g abort as well as 7 uncommitted inputs The Limit switches Home switch Abort switch and general purpose inputs are all TTL and accessible through the ICM 1460 or DMC 1414 screw terminals A description of their usage is found below Limit Switch Input The forward limit switch FLS inhibits motion in the forward direction immediately upon activation of the switch The reverse limit switch RLS inhibits motion in the reverse direction immediately upon activation of the switch If a 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 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 Automatic Subroutines are discussed in Chapter 6 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 ha
116. have units of quadrature counts Speed parameters such as SP and JG have units of counts sec Acceleration parameters such as AC and DC have units of counts sec2 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 Example Instruction Interpretation RUN Label IN ENTER OF REVOLUTIONS N1 Prompt for revs PR N1 2000 Convert to counts IN ENTER SPEED IN RPM S1 Prompt for RPMs SP S1 2000 60 Convert to counts sec IN ENTER ACCEL IN RAD SEC2 A1 Prompt for ACCEL Chapter 7 Application Programming e 101 AC A1 2000 2 3 14 Convert to counts sec2 BG Begin motion EN End program Programmable Hardware I O Digital Outputs The DMC 141X has a 3 bit uncommitted output port 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 OB define output bit and OP Output port For example Instruction Function SB2 Set bit 2 of output port 1 Clears bit 1 of output port CB3 Clear bit 3 of output port 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 Fu
117. he amplifier enable signal Before making any connections from the amplifier to the controller you need to verify that the ground level of the amplifier is either floating or at the same potential as earth WARNING When the amplifier ground is not isolated from the power line or when it has a different potential than that of the computer ground serious damage may result to the computer controller and amplifier If you are not sure about the potential of the ground levels connect the two ground signals amplifier ground and earth by a 10 resistor and measure the voltage across the resistor Only if the voltage is zero proceed to connect the two ground signals directly The amplifier enable signal is used by the controller to disable the motor This signal is labeled AMPEN on the ICM 1460 and should be connected to the enable signal on the amplifier Note that many amplifiers designate this signal as the INHIBIT signal Use the command MO to disable the motor amplifiers check to insure that the motor amplifiers have been disabled often this is indicated by an LED on the amplifier This signal changes under the following conditions the watchdog timer activates the motor off command MO is given or the OE1 command Enable Off On Error is given and the position error exceeds the error limit As shown in Figure 3 1 AEN can be used to disable the amplifier for these conditions The standard configuration of the AEN signal is T
118. he array data is separated 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 The DMC 141X 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 Two types of data can be captured and stored in two 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 Commands Summary Automatic Data Capture RA n m Selects up to two arrays for data capture The arrays must have been defined with the DM command RD typel type2 Selects the type of data to be recorded where typel and type2 represent the various types of data see table below The order of data type is important and corresponds with the order of n m arrays in the RA command 92 e Chapter 7 Application Programming DMC 1412 1414 DMC 1412 1414 The RC command begins data collection Sets data capture time interval where n is 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 recor
119. he leading zeros on data returned as a response to interrogation commands can be removed by the use of the command LZ Example Using the LZ command LZO Disables the LZ function TP Tell Position Interrogation Command 0000000009 0000000005 0000000000 0000000007 Response from Interrogation Command With Leading Zeros LZI Enables the LZ function TP Tell Position Interrogation Command 9 5 0 7 Response from Interrogation Command 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 For example Examples TP F2 2 Tell Position in decimal format 2 2 05 00 05 00 00 00 07 00 Response from Interrogation Command TP 4 2 Tell Position in hexadecimal format 4 2 FFFB 00 0005 00 0000 00 0007 00 Response from Interrogation Command Formatting Variables and Array Elements The Variable Format VF command is used to format variables and array elements The VF command is specified by VF 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 decima
120. he 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 of 1000 suppose that the actual position is only 995 implying that X has a position error of 5 counts Chapter 7 Application Programming e 105 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 Example motion program Instruction Interpretation A Label DPO Define starting positions as zero LINPOS 0 PR 1000 Required distance BG Start motion B AM Wait for completion WT 50 Wait 50 msec LIN POS DE Read linear position ER 1000 LINPOS _TE Find the correction JP C ABS ER lt 2
121. he user to trigger events Inputs are hecked with the Conditional Jump instruction and After Input instruction or Input Interrupt Input lis used for the high speed latch High speed position latch to capture axis position in less than 1 usec on occurrence of latch signal AL command arms latch Input 1 is latch Jumpers DMC 1412 DMC 1414 Label SMX 19600 and 38 4 MRST he SM jumper selects the SM magnitude mode for servo motors or selects stepper motors If you are using stepper motors SM must always be jumpered The Analog command is not valid with SM jumpered Selects baud rate See getting started in chapter 2 aster Reset enable Returns controller to factory default settings and erases EPROM Requires power on or RESET to be activated 134 e Appendices DMC 1412 1414 Accessories and Options Part DMC 1412 DMC 1414 ICM 1460 AMP 1460 Cable 37 pin D Cable 9 pin D Software CD WSDK 16 bit WSDK 32 bit Toolkit TERM 1500H TERM 1500P Description 1 motion controller with RS232 1 integrated RS232 motion controller DC brush type amplifier Interconnect module Interconnect module with 1 axis power amplifier 37 pin cable for DMC 1410 amp DMC 1412 9 pin RS232 cable for DMC 1412 1414 erminal emulation and communication drivers and DLL for Windows TM Servo Design Kit for Windows 3 X Servo Design Kit for Wind
122. iary port can either be configured as a general port or for daisy chain communications The auxiliary port configuration can be saved using the Burn BN instruction RS232 Ports The RS232 pin out description for the main and auxiliary port is given below Note the auxiliary port is essentially the same as the main port except inputs and outputs are reversed These pin outs are also listed below Note If you are connecting the RS232 auxiliary port to a terminal or any device which is a DATATERM it is necessary to use a connector adapter Null Modem which changes a dataterm to a dataset RS232 Main Port P1 1 CTS output 6 CTS output 2 Transmit Data output 7 RTS input 3 Receive Data input 8 CTS output 4 RTS input 9 Noconnect 5 Ground RS232 Auxiliary Port P2 1 CTS input 6 CTS input 2 Transmit Data input 7 RTS output 3 Receive Data output 8 CTS input 4 RTS output 95V 5 Ground Note The DMC 1412 and DMC 1414 can also be configured for RS422 The RS422 conversion should be specified at time of purchase The pin outs for the RS422 connection are as follows Chapter 4 Communication e 35 RS422 Main Port P1 1 CTS output 6 CTS output 2 Transmit Data output 7 Transmit output 3 Receive Data input 8 Receive input 4 RTS input 9 RTS input 5 Ground RS422 Auxiliary Port P2 1 CTS input 6 CTS input 2 Receive Data input 7 Receive input 3
123. ication The DMC 1412 and DMC 1414 provide a main and auxiliary RS232 port for communication Communication speeds up to 38 4 kbaud are available General I O The DMC 141X provides interface circuitry for seven TTL inputs and three TTL outputs DMC 1412 1414 Chapter 1 Overview e 3 System Elements As shown in Fig 1 2 the DMC 141X is part of a motion control system which includes amplifiers motors and encoders These elements are described below Power Supply Computer DMC 1400 Controller Amplifier Driver 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 desired speed and acceleration Galil s Motion Component Selector software can help you calculate motor size and drive size requirements Contact Galil at 800 377 6329 if you would like this product The motor may be a step or servo motor and can be brush type or brushless rotary or linear For step motors the controller can control full step half step or microstep drives Amplifier Driver For each axis 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 For brushless motors an amplifier that provides electronic commutation is required The amplifiers may
124. igure 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 c at which A j oc 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 For the given example the crossover 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 j200 2 0200 2000 a Arg A j200 tan 1 200 51 180 tan 1 200 2000 a 76 180 6 110 Finally the phase margin PM equals 180 a 70 124 e Chapter 10 Theory of Operation DMC 1412 1414 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 DMC 1412 1414 The closed loop control system can be stabilized by a digital filter which is preprogrammed in the DMC 141X 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
125. ined in Step 8b Step 7 Make connections to amplifier and encoder Once you have established communications between the software and the DMC 141X you are ready to connect the rest of the motion control system The motion control system generally consists of an ICM 1460 Interface Module a servo amplifier and a motor to transform the current from the servo amplifier into torque for motion Galil also offers the AMP 1460 Interface Module which is an ICM Chapter 2 Getting Started e 13 1460 equipped with a servo amplifier for a DC motor The DMC 1414 contains an interconnect module brush servo amplifier and power supply internally A signal breakout board of some type is strongly recommended If you are using a breakout board from a third party consult the documentation for that board to insure proper system connection If you are using the ICM 1460 or AMP 1460 with the DMC 1412 connect the 37 pin cable between the controller and interconnect module System connection procedures will depend on which components are included in your system Here are the first steps for connecting a motion control system Step A Connect the motor to the amplifier with no connection to the controller Consult the amplifier documentation for instructions regarding proper connections Connect and turn on the amplifier power supply If the amplifiers are operating properly the motor should stand still even when the amplifiers are powered up Step B Connect t
126. ing to that axis The commanded position of the stepper can be interrogated with RP or DE The encoder position can be interrogated with TP The frequency of the step motor pulses can be smoothed with the filter parameter KS The KS parameter has a range between 0 5 and 8 where 8 implies the largest amount of smoothing See Command Reference regarding KS The DMC 141X profiler commands the step motor amplifier DMC 141X motion commands apply such as PR PA VP CR and JG The acceleration deceleration slew speed and smoothing are also used Since step motors run open loop the PID filter does not function and the position error is not generated To connect step motors with the DMC 141X you must follow this procedure Step A Install SM jumpers In order for the DMC 141X to operate in stepper mode the corresponding stepper motor jumper installed For a discussion of SM jumpers see section Step 2 Install jumpers on the DMC 141X Step B Connect step and direction signals from controller to motor amplifier Connect the step and direction signals from the controller to respective signals on your step motor amplifier These signals are labeled PWM and SIGN on the ICM 1460 Consult the documentation for your step motor amplifier Step C Configure DMC 141X for motor type using MT command You can configure the DMC 141X for active high or active low pulses Use the command MT 2 for active high step motor pulses and MT 2 for active lo
127. ions on servo system setup are also included on the WSDK Windows Servo Design Kit software offered by Galil See section on WSDK for more details Chapter 2 Getting Started e 15 Check the Polarity of the Feedback Loop It is assumed that the motor and amplifier are connected together and that the encoder is operating correctly Step D Before connecting the motor amplifiers to the controller read the following discussion on setting Error Limits and Torque Limits Step A Set the Error Limit as a Safety Precaution 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 DMCTERM the following parameters can be given to avoid system damage Input the commands ER 2000 CR Sets error limit to be 2000 counts OE 1 CR Disables amplifier when excess error exists If the motor runs away and creates a position error of 2000 counts the motor amplifier will be disabled Note This function requires the AEN signal to be connected from the controller to the amplifier Step B Setting Torque Limit as a Safety Precaution To limit the maximum voltage signal to your amplifier the DMC 141X controller has a torque limit command TL This command sets the maximum voltage output of the controller and can be used to avoid excessive torque or speed when initially setting up a servo system When operating an amplifier in
128. irectly 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 Summary of Interrogation Commands Trescore SSCS sc T n Ts 40 e Chapter 5 Programming Basics DMC 1412 1414 For example the following example illustrates how to display the current position of the X axis TP enter Tell position 0000000000 Controllers Response Interrogating Current Commanded Values Most commands can be interrogated by using a question mark Type the command followed by a PR Request X axis value The controller can also be interrogated with operands Operands Most DMC 141X 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 of the command operands begin with the underscore character _ For example the value of the current position on the X axis can be assigned to the variable V with the command TP The Command Reference denotes all commands which have an equivalent operand as Used as an
129. is CC specified for daisy chain with the exception of the terminating controller Example 2 axis motion system Address 0 is a DMC 1412 Another DMC 1412 is set for Address 1 Controller Required Motion Address 0 X Axis is 500 counts Address 1 X Axis is 700 counts Software Command Interpretation 960 Talk only to controller 0 First DMC 1412 PR 500 Specify X distance 1 Talk only to controller board 1 Second DMC 1412 PR 700 Specify X distance IBG Begin motion on both controllers Unsolicited Messages Generated by Controller When the controller is executing a program it may generate responses which will be sent via the main RS 232 port This response could be generated as a result of messages using the MG or IN 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 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 The controller has a special command CW which can affect the format of unsolicited messages This command is used by Galil Software to differentiate response 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 charact
130. isi 129 Power Requirements 4a nali iii 129 Performance Specifications seite ii eri alari 130 Connectors er hall 130 DMC 1412 1414 J3 General I O 37 PIN D type n 130 DMC 1412 card J5 Power 7 PIN Molex seen 131 DMC 1414 J2 Power 5 PIN Female enne 131 DMC 1412 1414 RS232 Main port DB 9 Pin Male n 131 DMC 1412 RS232 Auxiliary Port DB 9 pin Female eee 131 DMC 1414 J3 General I O Terminal Connections 131 Pin Out Descriptoliz ope ete sot 133 Jumpers DMC 1412 DMC 1414 134 Contents e v vi e Contents Index Accessories and i ea pene pote sesta ese PR ilaele 135 DMC1412 Box Dimensions eroe ettet epu ere te eite iano 135 DMG 1412 Card Dimensions Lt tenete epit eten diano 136 DMC 1414 Dimensions eo tct ali 137 ICM 1460 Interconnect Module ie tete deti epe ere ee ode een 138 J8 9 Encoder lOpin header ien aate eU OE eR 139 Opto Isolation Option for ICM 1460 rev and above only 140 AMP 1460 Mating Power Amplifiers i 141 AMP 1460 20 Watt Linear Amplifier Option i 142 ICM 1460 Drawing 3 ia ed e pete p E DR
131. ition 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 the aux encoder and the x axis are defined to zero To specify the master cycle and the slave cycle change we use the instruction EM EM n m where n specifies the cycle of the slave axis and m specifies the cycle of the master aux encoder 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 is 6000 counts and the change in the slave is 1500 Therefore we use the instruction EM 1500 6000 Step 2 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 DMC 1412 1414 Chapter 6 Programming Motion e 51 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 3 Specify the slave positions Next we specify the slave positions with the instruction ET n x where n indicates the order of the point The va
132. ive access to internal variables that are not accessible by standard DMC 141X commands Free Running Real Time Clock off by 2 4 Resets with power on Note TIME does not use an underscore character _ as other keywords These keywords have corresponding commands while the keywords _LF LR and TIME do not have any associated commands keywords are listed in the Command Summary Chapter 11 Examples of Keywords LF Assign V1 the logical state of the Forward Limit Switch V3 TIME Assign V3 the current value of the time clock V4 _HM Assign V4 the logical state of the Home input Example Program Instruction Interpretation TIMER Timer INITIME TIME Initialize time variable PR50000 BG Begin move AM After move ELAPSED TIME INTIME Compute elapsed time EN End program LIMSWI Limit Switch Routine 90 e Chapter 7 Application Programming DMC 1412 1414 Arrays DMC 1412 1414 JP FORWARD _LF 0 Jump if Forward Limit AM Wait for Motion Done PR 1000 BG AM Move Away from Reverse Limit JP END Exit FORWARD Forward Label PR 1000 BG AM Move Away from Forward Limit END Exit RE Return to Main Program For storing and collecting numerical data the DMC 141X provides array space for 1000 elements The arrays are one dimensional and up to 6 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 ca
133. king will be selected by default Select Next and the controller will be entered into the registry Connect to the controller by selecting the Terminal utility and choosing the controller from the registry list 12 e Chapter 2 Getting Started DMC 1412 1414 DMC 1412 1414 Serial Parameters E x Comm Port v Comm Speed 13200 Handshake Options Hardware RTS CTS Recommended Requires all 9 pins to be connected Software XOn X0ff lt Back Cancel Note Be sure to configure the Comm Speed jumpers for the same Comm Speed in the Galil Registry No jumpers on the DMC 1412 and DMC 1414 indicates a Comm Speed of 19200 bits per second Sending Test Commands to the Terminal After you connect your terminal press carriage return or the enter key on your keyboard In response to carriage return CR the controller responds with a colon Now type TPX CR This command directs the controller to return the current position of the X axis The controller should respond with a number such as 0000000 Step 6 Set up axis for sinusoidal commutation DMC 1412 only This step is only required when the controller will be used to control a brushless motor with sinusoidal commutation The command is used to specify sinusoidal commutation mode for the DMC 1412 In this mode the controller will output two sinusoidal phases for the DACs Once specified follow the procedure outl
134. l 34 IGND Signal Ground 35 SIGN Direction output for input to stepper motor amp 36 PWM lO Pulse output for input to stepper motor amp 37 acm Motor command to amp input w respect to ground 38 Amplifier enable 39 12 volts 40 12V 12 volts 132 e Appendices DMC 1412 1414 Pin Out Description OUTPUTS Analog Motor 10 volt range signal for driving amplifier In servo mode motor command Command output is updated at the controller sample rate In the motor off mode this output is held at the OF command level Amp Enable Signal to disable and enable an amplifier Amp Enable goes low on Abort and OEI PWM STEP OUT IPWM STEP OUT is used for directly driving power bridges for DC servo motors or for driving step motor amplifiers For servo motors If you are using a conventional amplifier that accepts a 10 volt analog signal this pin is not used and should be left open The switching frequency is 16 7 kHz he PWM output is available in two formats Inverter and Sign Magnitude n the Inverter mode the PWM signal is 2 duty cycle for full negative oltage 50 for 0 voltage and 99 8 for full positive voltage In the Sign Magnitude Mode Jumper SM the PWM signal is 0 for 0 voltage 99 6 for full voltage and the sign of the Motor Command is available at the sign output PWM STEP OUT For step motors The STEP OUT pin produces a series of pulses for input to a
135. l 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 V1 10 Assign VI VI Return V1 0000000010 0000 Default format VF2 2 Change format 100 e Chapter 7 Application Programming DMC 1412 1414 DMC 1412 1414 Vl Return V1 10 00 New format VF 2 2 Specify hex format VI Return V1 0A 00 Hex value VFI Change format VI Return V1 9 Overflow Local Formatting of Variables PF and VF commands are global format commands that affect the format of all relevant 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 For example Examples V1 10 Assign VI Vl Return V1 0000000010 0000 Default Format V1 F4 2 Specify local format 0010 00 New format V1 4 2 Specify hex format 000A 00 Hex value VI ALPHA Assign string ALPHA to VI V1 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 DMC 141X position parameters such as PR and PA
136. 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 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 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 Uncommitted Digital Inputs The general use inputs are TTL and are accessible through the ICM 1460 or DMC 1414 as IN1 IN7 These inputs can be interrogated with the use of the command TI Tell Inputs the operand TI and the function IN see Chapter 7 Mathematical Functions and Expressions NOTE For systems using the ICM 1460 interconnect module there is an option to provide opto isolation on the inputs In this case the user provides an isolated power supply 5 V to 24 V and ground For more information consult Galil The inputs can be accessed directly from the 37 or 40 pin connector on the controller also For a description of the pinouts consult the appendix The DMC 141X provi
137. ll terminal connections problem intermittent cable and connector contacts Encoder Position Drifts Significant noise can be Noise Shield encoder cables seen on CHA and or CHB Avoid placing power cables near encoder signals encoder cables Avoid Ground Loops Use differential encoders Use 12V encoders Communication SYMPTOM DIAGNOSIS CAUSE REMEDY Cannot communicate with Galil software returns error 1 Bad or wrong Try different comm Port or controller message when comm Port computer communication is attempted Wrong baud rate Make sure baud rate selected on selected controller agrees with software Bad comm cable Make sure cable is straight through connection Swap cable if necessary Stability Servo motor runs away Reversed Motor Type 1 Wrong feedback Reverse Motor or Encoder Wiring when the loop is closed corrects situation MT 1 polarity remember to set Motor Type back to default value MT 1 Motor oscillates 2 Too high gain or Decrease KI and KP Increase KD too little damping 112 e Chapter 9 Troubleshooting DMC 1412 1414 Operation SYMPTOM DIAGNOSIS CAUSE REMEDY Controller rejects Response of controller 1 Anything Correct problem reported by TC1 commands from TCI diagnoses error Motor Doesn t Move Response of controller 2 Anything Correct problem reported by SC from TC1 diagnoses error DMC 1412 1414 Chapter 9 Troubleshooting e 113 THIS PAGE LEFT BLANK INTENTIONALLY
138. lses vs Commanded Pulses For proper controller operation it is necessary to make sure that the controller has completed generating all step pulses before making additional moves This is most particularly important if you are moving back and forth For example when operating with servo motors the trippoint AM After Motion is used to determine when the motion profiler is complete and is prepared to execute a new motion command However when operating in stepper mode the controller may still be generating step pulses when the motion profiler is complete This is caused by the stepper motor smoothing filter KS To understand this consider the steps the controller executes to generate step pulses First the controller generates a motion profile in accordance with the motion commands Second the profiler generates pulses as prescribed by the motion profile The pulses that are generated by the motion profiler can be monitored by the command RP Reference Position RP gives the absolute value of the position as determined by the motion profiler The command DP can be used to set the value of the reference position For example DP 0 defines the reference position of the X axis to be zero Third the output of the motion profiler is filtered by the stepper smoothing filter This filter adds a delay in the output of the stepper motor pulses The amount of delay depends on the parameter which is specified by the command KS As mentioned earlier
139. lue n starts at zero and may go up to 256 The parameter x indicate the corresponding slave position For this example the table may be specified by This specifies the ECAM table Step 4 Enable the ECAM To enable the ECAM mode use the command EBn where n 1 enables ECAM mode and n 0 disables ECAM mode Step 5 Engage the slave motion To engage the slave motion use the instruction EGn where n is the master position at which the slave 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 Step 6 Disengage the slave motion 52 e Chapter 6 Programming Motion DMC 1412 1414 To disengage the cam use the command EQn where n is the master position at which the slave axis disengaged This disengages the slave axis at a specified master position If the parameter is outside the master cycle the stopping is instantaneous Programmed start and stop can only be used when the master moves forward 3000 2250 1500 0 2000 4000 6000 Master X Figure 6 1 Electronic Cam Example To illustrate the complete process consider the cam relationship described by the equation Y 2 0 5 X 100 sin 0 18 X where X is the master with a cycle of 2000 counts The cam table can be constructed manually point by point or automatically by a program The following program inclu
140. munication between the controller and PC The CD ROM used for the following installations is Version 11 01 Using DOS Using the Galil Software CD ROM go to the directory July2000 CD DMCDOS DISK1 Type INSTALL at the DOS prompt and follow the directions Using Windows 98 Second Edition SE NT 4 ME 2000 or XP The Galil Software CD ROM will open an HTML page automatically as soon Instead Explore the CD and go to the July2000 CD folder To install the basic communications software click on DMCTERM and then run the application DMCTERM The other basic terminal software is called DMCWIN32 and is located under July2000 CD DMCWIN The Windows Servo Design Kit WSDK32 which is useful for tuning servos and viewing useful controller information can be Chapter 2 Getting Started e 11 downloaded off the CD as well However WSDK32 is a purchase only software package and is password protected on the CD Contact Galil for purchase information Step 5 Establishing Communication between the DMC 141X and the host PC Using Galil Software for DOS To communicate with the DMC 141X type DMCTERM at the prompt You will need to provide information about your controller such as controller type DMC 1412 or DMC 1414 port number and baud rate Once you have established communication the terminal display should show a colon If you do not receive a colon press the carriage return If a colon prompt is not returned and you are using the DMC 1
141. must not exceed 2 000 000 full cycles sec or 8 000 000 quadrature counts sec The DMC 141X also accepts inputs from an additional encoder This is called the auxiliary encoder and can be used for dual loop applications The encoder inputs are not isolated of the encoder signals for the DMC 1412 are accessible through the ICM 1460 or directly from the interface connector on the controller The encoder signals for the DMC 1414 are accessible through the integrated screw terminals The pin outs of the ICM 1460 the connectors and the DMC 1414 are explained in the appendix The DMC 141X can interface to incremental encoders of the pulse and direction type instead of two channels in quadrature In that case replace Channel A by the pulse signal and Channel B by the direction and use the CE command to configure the DMC 141X for pulse and direction encoder format For pulse and direction format the DMC 141X provides a resolution of 1X counts per pulse Note that while TTL level signals are common the DMC 141X encoder inputs accept signals in the range of 12 V If you are using a non TTL single ended encoder signal no complement to assure proper bias connect a voltage equal to the average signal to the complementary input For example if Channel A varies between 2 and 12 V connect 7 volts to Channel A complement input Chapter 3 Hardware Interface e 29 Inputs The DMC 141X provides buffered digital inputs for limit switches homin
142. n jog LOOP Dummy Program JP LOOP EN Loop POSERR Position Error Routine 1 TE Read Position Error MG EXCESS POSITION ERROR Print Message MG ERROR V1 Print Error RE Return from Error Now if the position error on the X axis exceeds that specified by the ER command the POSERR routine will execute NOTE The RE command is used to return from the POSERR subroutine NOTE The POSERR routine will continue to be executed until the position error is cleared is less than the ER limit Example Input Interrupt Instruction Interpretation Label Il Input Interrupt on 1 JG 30000 Jog BG Begin Motion LOOP JP LOOP EN Loop ININT Input Interrupt ST AM Stop Motion TEST JP TEST IN 1 0 Test for Input 1 still low JG 30000 Restore Velocities BG RI Begin motion and Return to Main Program EN When Input 1 changes in state from high to low the ININT subroutine will be executed NOTE Use the RI command to return from ININT subroutine Example Motion Complete Timeout Instruction Interpretation BEGIN Begin main program TW 1000 Set the time out to 1000 ms PA 10000 Position Absolute command BG Begin motion Chapter 7 Application Programming e 85 MC EN MCTIME MG X Fell Short EN Motion Complete trip point End main program Motion Complete Subroutine Send out a message End subroutine This simple program will issue the message Fell Short if the axis does not reach the commanded p
143. n of X is _KP Formatting Messages String variables can be formatted using the specifier Sn where n is the number of characters 1 through 6 For example MG STR S3 This statement returns 3 characters of the string variable named STR Chapter 7 Application Programming e 97 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 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 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 VA JG 50000 BG AS MG The Speed is TV F5 1 N MG counts sec EN When 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 also be used
144. nction OBI POS Set Output 1 if the variable POS is non zero Clear Output 1 if POS equals 0 OB 2 GIN 1 Set Output 2 if Input 1 is high If Input 1 is low clear Output 2 OB 3 GIN 1 amp IN 2 Set Output 3 only if Input 1 and Input 2 are high The output port may also be written to as a 3 bit word using the instruction OP Output Port This instruction allows a single command to define the state of the entire 3 bit output port where 20 is output 1 2l is output 2 and 2 is output 3 A 1 designates that bit is on The value in the output port is the sum of bits 0 1 and 2 For example Instruction Function OP6 Sets outputs 2 and 3 of output port to high All other bits are 0 21 22 6 Clears all bits of output port to zero The output port is useful for firing relays or controlling external switches and events during a motion sequence Example Turn on Output After Move Instruction Interpretation OUTPUT Label PR 2000 Position Command BG Begin AM After move Set Output 1 WT 1000 Wait 1000 msec 1 1 1 End 102 e Chapter 7 Application Programming DMC 1412 1414 DMC 1412 1414 Digital Inputs The DMC 141X has seven digital inputs for controlling motion by local switches The IN n function returns the logic level of the specified input 1 through 7 For example a Jump on Condition instruction can be used to execute a sequence if a high condition is noted on an input 3
145. nfigure the digital filter The DMC 141X 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 Commands can be sent live over the serial link for immediate execution by the DMC 141X or an entire group of commands can be downloaded into the DMC 141X 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 This section describes the DMC 141X instruction set and syntax A complete listing of all DMC 141X instructions is included in the DMC 1400 Series Command Reference Command Syntax DMC 141X 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 lt enter gt is used to terminate the instruction for processing by the DMC 141X command interpreter Note If you are using a Galil terminal program commands will not be processed until an lt enter gt command is given This allows the user to separate many commands on a single line and not begin execution until the user gives the lt enter gt command IMPORTANT All DMC 141X commands are sent in upper case For example the command PR 4000 lt enter gt Position relative PR is the two char
146. ng the BN command In this case the motor will be disabled upon power up or reset and the commutation phase can be set before enabling the motor Step F Set Zero Commutation Phase When an axis has been defined as sinusoidally commutated the controller must have an estimate for commutation phase When hall sensors are used the controller automatically estimates this value upon reset of the controller If no hall sensors are used the controller 20 e Chapter 2 Getting Started DMC 1412 1414 DMC 1412 1414 will not be able to make this estimate and the commutation phase must be set before enabling the motor If Hall Sensors are Not Available To initialize the commutation without Hall effect sensor use the command BZ This function drives the motor to a position where the commutation phase is zero and sets the phase to zero The BZ command argument is a real number which represents the voltage to be applied to the amplifier during the initialization When the voltage is specified by a positive number the initialization process ends up in the motor off MO state A negative number causes the process to end in the Servo Here SH state Warning This command must move the motor to find the zero commutation phase This movement is instantaneous and will cause the system to jerk Larger applied voltages will cause more severe motor jerk The applied voltage will typically be sufficient for proper operation of the BZ command For systems wi
147. nterconnection terminals for a standard brush DC servo motor Chapter 1 Overview e 1 Overview of Motor Types The DMC 141X can provide the following types of motor control 1 Standard servo motors with 10 volt command signals 2 Brushless servo motors with sinusoidal commutation DMC 1412 only 3 Step motors with step and direction signals 4 Other actuators such as hydraulics For more information contact Galil Standard Servo Motors with 10 Volt Command Signal The DMC 141X achieves superior precision through the use of a 16 bit motor command output DAC and a sophisticated PID filter that features velocity and acceleration feedforward and integration and torque limits The controller is configured by the factory for standard servo motor operation In this configuration the controller provides an analog signal 10 volt to connect to a servo amplifier This connection is described in Chapter 2 In the case of the DMC 1414 a brush servo amplifier is connected to the analog signal internally Brushless Servo Motor with Sinusoidal Commutation The DMC 1412 can provide sinusoidal commutation for brushless motors BLM In this configuration the controller generates two sinusoidal signals for connections with amplifiers specifically designed for this purpose Note The task of generating sinusoidal commutation may be accomplished in the brushless motor amplifier If the amplifier generates the sinusoidal commutation signals only a
148. o 37 pin cable from the DMC 1411 and breaks it into screw type terminals Each screw terminal is labeled for quick connection of system elements The ICM 1460 is packaged as a circuit board mounted to a metal enclosure A version of the ICM 1460 is also available with a servo amplifier see AMP 1460 Features e Breaks out 37 pin ribbon cable into individual screw type terminals Clearly identifies all terminals e Available with on board servo drive see AMP 1460 e 10 pin connectors for encoders Specifications Dimensions 6 9 x 4 9 x 2 6 Weight 1 pound _ 12 Volts 12 Volts Amplifier enable X axis or Y Axis Sign Output for Stepper Rev G Terminal 12v 12v AMPEN SIGNY ACMDX PULSE X ANI 12 GND RESET ERROR PULSE Y OUT3 OUT2 OUTI MP ICOM X Axis Motor command or Pulse Output for Stepper Analog Input 1 Analog Input 2 Signal Ground Reset Error signal or Y Axis Pulse Output for Stepper Output 3 Output 2 N Output 1 Q2 e Circular Compare Input common for Opto option Signal Ground Input 7 Y Axis Main Encoder Index for DMC 1425 Input 6 Y Axis Home input for DMC 1425 Input 5 Y axis reverse limit on DMC 1425 Input 4 Y axis forward limit on DMC 1425 Input 3 Y axis main encoder index for DMC 1425 Input 2 AB tA lt Q ND N7 INDY N6 HOMY N5 RLSY N4 FLSY N3 IDY NIN i 2 N
149. o start the program command XQ B Execute Program B Example 12 Control Variables Objective To show how control variables may be utilized Instruction Interpretation A DP0 Label Define current position as zero PR 4000 Initial position SP 2000 Set speed BG Move AM Wait until move is complete WT 500 Wait 500 ms B V1 _TP Determine distance to zero PR 1 2 Command move 1 2 the distance BG Start motion AM After motion WT 500 Wait 500 ms 1 Report the value of V1 JP 4C V1 0 Exit if position 0 DMC 1412 1414 Chapter 2 Getting Started e 27 JP Repeat otherwise To start the program command XQ A Execute Program This program moves the motor to an initial position of 1000 and returns it to zero on increments of half the distance Note TP is an internal variable which returns the value of the position Internal variables may be created by preceding a DMC 141X instruction with an underscore Example 13 Control Variables and Offset Objective Illustrate the use of variables in iterative loops and use of multiple instructions on one line Instruction Interpretation TA Set initial values KIO DPO V1 8 V220 Initializing variables to be used by program B Program label B OF V1 Set offset value WT 200 Wait 200 msec V2 TP Set variable V2 to the current position JP C ABS V2 lt 2 Exit if error small MG V2 Report value of V2 1 1 1 Decrease Offset JP B Return to top
150. o the commanded motion If this is the case reverse the motor leads AND the encoder signals If the motor moves in the required direction but stops short of the target it is most likely due to insufficient torque output from the motor command signal ACMD This can be alleviated by reducing system friction on the motors The instruction TT CR Tell torque reports the level of the output signal It will show a non zero value that is below the friction level Once you have established that you have closed the loop with the correct 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 Chapter 2 Getting Started e 17 AMP 1460 Power Supply VAMP AMPGND Figure 2 3 System Connections with the AMP 1460 Amplifier 18 e Chapter 2 Getting Started Description Connection Channel A MA Channel B MB Channel A MA Channel B MB Index l Index l Gnd GND 5V 5V Motor 1 Motor i Motor 2 DMC 1412 1414 Connection ACMD Description Channel A
151. oard 8 137 iaia 1 31 Interconnect Module 140 Index sei teens 31 44 59 135 ICM 1100 sai iraniana 15 Quadrature iii 31 135 Internal Variable i 84 Error Interrogation 25 42 43 101 Automatic Error Routine 0 111 Int tr pt zu iecore teret 44 75 136 COdeS eror hate tede pere 46 Josie ini 43 51 Handling ine igor 1 75 109 Jumper nni etre eee tree re e e ede e 114 Error Handling ioni gc sette oni Ate 32 Key Words iere idee ea ure 84 89 Error Lit roi or orn 15 17 TIME e nni epe tron tities 92 Off On Etror enne 15 33 56 Excessiye ELTOL 5 4 oer E 1 e e deret 42 Execute Program eet nne 28 45 Limit Feedtorward sine tete aine ee med 46 Torque Limit onto een tr etie 17 Filter Parameter Limit Switch cece ceeneee 32 33 92 111 140 Damping sido Ego PEPPER 24 Limit Switch Routine eee 92 111 Integratori raro 24 LIMSWL 12 rente eicere tis 32 PID clava pini 18 Logical Operatots ana ug n etr e 97 Proportional Gain i 24 Masking Find iet eu e REI ne 32 Bit2WJSe aeneo conet saga 84 Form tting 3 etes 43 101 3 Math Function Hexadecimal eean N 100 104 Absolute
152. 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 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 154 e Appendices DMC 1412 1414 Index I ene RERO RENE ERE VER RU LER EE Rh 31 Off On Ertot eec e Herne 15 33 Abort d eeu 44 Absolute Position 50 85 Absolute Value anann 53 85 Amplifier AMP 1460 eee metres 8 137 Amplifier Enable esses 33 Amplifier Gat cielo 4 Ainplifiers zs cete rrr ees 8
153. ogram sequence instead of returning to the location where the limit occurred To do this give a ZS command at the end of the LIMSWI routine Auto Start Routine The DMC 1412 and DMC 1414 have 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 DMC 141X program sequences The DMC 141X 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 a command error Automatic monitoring is enabled by inserting a special predefined label in the applications program The pre defined labels are LIMSWI Limit switch on any axis goes low ININT Input specified by II goes low POSERR Position error exceeds limit specified by ER MCTIME Motion Complete timeout occurred CMDERR Bad command given COMINT Communication Interrupt DMC 1412 and DMC 1414 only 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
154. ogramming flexibility the DMC 141X provides 126 user defined variables arrays and arithmetic functions For example the length in a cut to length operation can be specified as a variable in a program and then be assigned by an operator The following sections in this chapter discuss all aspects of creating applications programs The program memory size is 250 lines X 40 characters Using the DMC 141X Editor to Enter Programs Application programs for the DMC 141X may be created and edited either locally using the DMC 141X editor or remotely using another editor and then downloading the program into the controller Galil s Terminal and WSDK software provides an editor UPLOAD and DOWNLOAD utilities The DMC 141X provides a line Editor for entering and modifying programs The Edit mode is entered with the ED instruction Note The ED command can only be given when the controller is in the non edit mode which is signified by a colon prompt In the Edit Mode 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 ED Puts Editor at end of last program ED 5 Puts Editor at line 5 ED BEGIN Puts Editor at label BEGIN NOTE The ED command only accepts a parameter e g BEGIN in a DOS Win
155. onnects the pins marked AEN and 12V If the jumper is removed entirely the output is an open collector signal allowing the user to connect to external supplies with voltages up to 24 V Note The DMC 1414 provides an internal DC brush type amplifier No external amplifier connections are needed 32 e Chapter 3 Hardware Interface DMC 1412 1414 DMC 141X ICM 1460 Connection to 5V or 12V made through jumper at JP4 Removing the jumper allows the user to connect their own resistor to the desired voltage level Up to24V 12 SERVO SM cone MOTOR AMPLIFIER 7407 Open Collector Buffer The Enable signal can be inverted by using a 7406 Analog Switch Figure 3 1 Connecting AEN to an amplifier Other Inputs A reset input is TTL level non isolated signal The reset is used to locally reset the DMC 141X without resetting the PC DMC 1412 1414 Chapter 3 Hardware Interface e 33 THIS PAGE LEFT BLANK INTENTIONALLY 34 e Chapter 3 Hardware Interface DMC 1412 1414 Chapter 4 Communication Communication DMC 1412 and DMC 1414 DMC 1412 1414 Introduction The DMC 1412 and DMC 1414 have two RS232 ports The main port is the data set and the auxiliary port is the data term The main port baud rate can be configured through the jumper JP1 for the DMC 1412 and through JP6 for the DMC 1414 The auxiliary port for both can be configured with the software command CC The auxil
156. op label AT 10 Wait 10 msec from reference time Set Output 1 AT 40 Wait 40 msec from reference time then initialize reference 1 1 1 JP LOOP1 Repeat Loopl TASK2 Task2 label XQ TASK1 1 Execute Task1 LOOP2 Loop2 label PR 1000 Define relative distance BGX Begin motion AMX After motion done WT 10 Wait 10 msec Chapter 7 Application Programming e 75 JP LOOP2 IN 2 1 Repeat motion unless Input 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 TASK1 is executed within TASK2 Debugging Programs The DMC 141X 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 Commands 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 TRO turns the trace function off 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 Data which is output from the controller is stored in an output FIFO buffer The output FIFO buffer can store
157. or 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 can be monitored during execution using the TE command Programmable Position Limits The DMC 141X provides programmable forward and reverse position limits These are set by the BL and FL software commands Once a position limit is specified the DMC 141X will not accept position commands beyond the limit Motion beyond the limit is also prevented Example Instruction Interpretation DPO Define Position BL 2000 Set Reverse position limit FL 2000 Set Forward position limit JG 2000 Jog BG Begin 108 e Chapter 8 Error Handling DMC 1412 1414 DMC 1412 1414 In this example the motor will jog forward at a speed of 2000 cts sec until it is stopped by the forward software limit at position 2000 Off On Error The DMC 141X controller has a built in function which can turn off the motors under certain error conditions This function is known as Off On Error To activate the OE function specify a 1 To disable this function specify a 0 When this function is enabled the 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 disabl
158. osition speed Move motor After moved Wait for start signal Engage slave Wait for stop signal Disengage slave End The DMC 141X also provides a contouring mode This mode allows any arbitrary position curve for the axis to be prescribed which is ideal for following computer generated paths or user defined profiles 54 e Chapter 6 Programming Motion DMC 1412 1414 DMC 1412 1414 Specifying Contour Segments The Contour Mode CM command specifies the contour mode The contour is described by position increments CD n over a time interval DT n The time interval must be 2 ms where n is a number between 1 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 3 The position X may be described by the points Point 1 0 at T 0ms Point 2 X 48 at T 4ms Point 3 X 138 at T 12ms Point 4 X 302 at T 28ms The same trajectory may be represented by the increments Increment 1 DX 48 Time 4 DT 4 Increment 2 DX 90 Time 8 DT 8 Increment 3 DX 164 Time 16 DT 16 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 Interpretation A CM Specifies contour mo
159. osition within 1 second of the end of the profiled move Example Command Error Instruction BEGIN IN ENTER SPEED SPEED JG SPEED BG JP BEGIN EN CMDERR JP DONE _ED lt gt 2 JP DONE _TC lt gt 6 MG SPEED TOO HIGH MG TRY AGAIN 751 JP BEGIN DONE 750 Interpretation Begin main program Prompt for speed Begin motion Repeat End main program Command error utility Check if error on line 2 Check if out of range Send message Send message Adjust stack Return to main program End program if other error Zero stack 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 Mathematical and Functional Expressions Mathematical Operators For manipulation of data the DMC 141X provides the use of the following mathematical operators Multiplication Operator 86 e Chapter 7 Application Programming DMC 1412 1414 DMC 1412 1414 The numeric range for addition subtraction and multiplication operations is 2 147 483 647 9999 The precision for division is 1 65 000 Mathematical operations are executed from left to right Calculations within a parentheses have precedence Examples SPEED 7 5 V1 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 cu
160. otors that need to be controlled the distances and the speed LEVEL 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 SP 20000 AC 200000 BG 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 operation of the servo system is done in two manners First it is explained qualitatively in the following section Later the explanation is repeated using analytical tools for those who are more theoretically inclined 116 e Chapter 10 Theory of Operation DMC 1412 414 X VELOCITY X POSITION TIME Figure 10 3 Velocity and Position Profiles Operation of Closed Loop Systems DMC 1412 1414 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 Th
161. ows 95 98 NT4 ME 2000 and XP isual Basic Tool Kit Handheld terminal Panel mount terminal DMC 1412 Box Dimensions DMC 1412 Box o Jo o Jo 6 800 4 8 00 DMC 1412 1414 Appendices e 135 DMC 1412 Card Dimensions r Sp p 3 u T sor ona cy 3 af RM AN Duc wie 3 nus DA O O 225 L lad REF SILK SCREEN mo DMC 1412 REV E oo a8 un an DMC 1412 1414 136 e Appendices DMC 1414 Dimensions DMC 1414 REVF TOP VIEW DC CESAR e jJ ROI E 4 6050 4835 7 7 Y 190 1220 LL e I 8480 La 9 050 SIDEVIEW i 3995 ide KW Je R0 100 x 2 850 X e T 2050 Leo 0200 TN 1500 0945 4 0225 040 DMC 1412 1414 Appendices e 137 ICM 1460 Interconnect Module Rev A F Terminal The ICM 1460 Interconnect Module provides easy connections between the DMC 141X series controllers and other system elements such as amplifiers encoders and external switches The ICM 1460 accepts the 37 pin cable from the DMC 1410 or the 40 pin t
162. please refer to Step 8 Connect Standard Servo Motor for the section Check the Polarity of the Feedback Loop Note Before the PR moves are issued in the tests but after the error limits have been set the SH command needs to be sent to turn on the servo motor DMC 1414 20 60V Power Supply Description Connection Channel A MA 2 Channel MB Red Wire Channel A MA Channel B MB Index Gnd GND DC Brush Motor K 45V 5V Black Wire Figure 2 5 System connections for the DMC 1414 with integrated amplifier interconnect module and amplifier Step 9 Tune the Servo System The system compensation provides fast and accurate response by adjusting the filter parameters 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 If the torque limit was set as a safety precaution in the previous step you may want to increase this value See Step B of the above section Setting Torque Limit as a Safety Precaution 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 integrator to zero with the instruction KIO CR Integrator gain Chapter 2 Getting Started e 23 and set the proportional gain to
163. plication Programming DMC 1412 1414 Using Labels in Programs DMC 141X 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 The maximum number of labels which may be defined is 126 Valid labels BEGIN SQUARE X1 BEGINI Invalid labels 1 Square 123 Example Program Instruction START PR 10000 BG AM WT 2000 JP START EN Interpretation Beginning of the Program Specify relative distances Begin Motion Wait for motion complete Wait 2 sec Jump to label START End of Program The above program moves the motor 10 000 counts After the motion is complete the motor rests for 2 seconds The cycle repeats indefinitely until the stop command is issued Special Labels The DMC 141X also has some special labels which are used to define input interrupt subroutines limit switch subroutines error handling subroutines and command error subroutines The following table lists the automatic subroutines supported by the controller Sample programs for these subroutines can be found in the section Automatic Subroutines for Monitoring Conditions AUTO ININT LIMSWI POSERR MCTIME CMDERR COMINT DMC 1412 1414 Starts Program on power up or Reset Label for Input Interrupt subroutine Label for Limit Switch subroutine La
164. ply for Amplifier 5 V 12 V supply for DMC 1412 card level 20 V to 60 V DC supply for DMC 1414 7 Communication CD from Galil WSDK Servo Design Software not necessary but strongly recommended Interface Module ICM 1460 with screw type terminals or integrated Interface Module Amplifier AMP 1460 Note An interconnect module is not necessary but strongly recommended The DMC 1414 has a version of the ICM 1460 integrated internally The motors may be servo brush or brushless type or steppers The driver amplifier should be suitable for the motor and may be linear or pulse width modulated and it may have current feedback or voltage feedback For servo motors the drivers should accept an analog signal in the 10 volt range as a command The amplifier gain should be set so that a 10 V command will generate the maximum required current For example if the motor peak current is 10 A the amplifier gain should be 1 A V For velocity mode amplifiers a command signal of 10 volts should run the motor at the maximum required speed 8 e Chapter 2 Getting Started DMC 1412 1414 The DMC 1412 can provide sinusoidal commutation for brushless motors The driver should accept two sinusoidal signals from the controller and sum them together to output the three phases to the brushless motor For step motors the driver should accept step and direction signals For start up of a stepper motor system refer to Step 8c Connecting Step Motors For the
165. pture real time data such as position torque and error 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 Example DM 7 Defines an array names POSX with seven entries DM SPEED 100 Defines an array named speed with 100 entries DM POSX 0 Frees array space Assignment of Array Entries Like variables each array element can be 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 POSX array defined with the DM command DM POSX 7 would be specified as POSX 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 Examples DM SPEED 10 Dimension Speed Array SPEED 1 7650 2 Assigns the first element of the array SPEED the value 7650 2 SPEED 1 Report array element value POSX 10 _TP Assigns the 10th elemen
166. put frequency to the controller must not exceed 2 000 000 full encoder cycles second or 8 000 000 quadrature counts sec For example if the encoder line density is 10 000 cycles per inch the maximum speed is 200 inches second 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 DMC 141X Single ended 12 volt signals require a bias voltage input to the complementary inputs Watch Dog Timer The DMC 141X provides an internal watch dog timer which checks for proper microprocessor operation The timer toggles the Amplifier Enable Output AEN which can be used to switch the amplifiers off in the event of a serious DMC 141X failure The AEN output is normally high During power up and if the microprocessor ceases to function properly the AEN output will go low The error light will also turn on at this stage A reset is required to restore the DMC 141X to normal operation Consult the factory for a Return Materials Authorization RMA Number if your DMC 141X is damaged Chapter 1 Overview e 5 THIS PAGE LEFT BLANK INTENTIONALLY 6 e Chapter 1 Overview DMC 1412 1414 Chapter 2 Getting Started The DMC 141X Motion Controller J2 ye J5 J3 JP1 6 5 7 Figure 2 1 Outline of the DMC 1412 J2 58 Terminal Blocks J8
167. r NMLP Routine to check input from terminal JP NMLP P2CD lt 2 Jump to error if string JP ERROR P2CD 2 Read value VAL P2NM EN End subroutine ERROR CI 1 Error Routine MG INVALID TRY AGAIN Error message JP NMLP EN End Inputting 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 If n is not specified six characters will be accepted For example IN Enter X Y or Z V S specifies a string variable to be input Output of Data Numeric and String DMC 1412 1414 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 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 Proportional Gai
168. r 10 msec from reference 1 1 1 AT 40 Wait 40 msec from reference and reset reference Set Output 1 JP LOOP Loop EN Conditional Jumps The DMC 141X 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 DMC 141X to make decisions without a host computer For example the DMC 141X can decide between two motion profiles based on the sate of an input line Command Format JP and JS JS destination logical condition Jump to subroutine if logical condition is satisfied JP destination logical condition Jump to location if logical condition is satisfied Chapter 7 Application Programming e 81 The destination is a program line number or label where the program sequencer will jump if the specified condition is satisfied Not 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 evaluat
169. r position with the commanded position If an encoder is used it must be connected to the main encoder input Note The auxiliary encoder is not available while operating with stepper motors The position of the encoder can be interrogated by using the command TP The position value can be defined by using the command DE Note Closed loop operation with a stepper motor is not possible Command Summary Stepper Motor Operation COMMAND DE Operand Summary Stepper Motor Operation Consist commanded position need by he proier Dual Loop Auxiliary Encoder The DMC 141X provides an interface for a second encoder except when the controller is configured for stepper motor operation 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 of the standard quadrature type or it may be of the pulse and direction type The controller also offers the provision for inverting the direction of the encoder rotation The main and auxiliary encoders are configured with the CE command The command form is CE x where x equals the sum of n and m below DMC 1412 1414 Chapter 6 Programming Motion e 61 Normal quadrature Normal quadrature Pulse amp direction Pulse amp direction Reverse pulse amp direction Reversed pulse amp direction For example to config
170. red in the array DIF Finally the motors are run in the contour mode Contour Mode Example Instruction Interpretation POINTS Program defines X points DM POS 16 Allocate memory DM DIFT 15 C 0 Set initial conditions C is index T 0 T is time in ms A V1 50 T V2 3 T Argument in degrees V3 955 SIN V2 V1 V4 INT V3 Compute position Integer value of V3 Chapter 6 Programming Motion e 57 POS C V4 Store in array POS T T 8 C C 1 JP A C lt 16 B Program to find position differences C 0 C D C 1 DIF C POS D POS C Compute the difference and store C C 1 JP C C lt 15 EN End first program RUN Program to run motor CM Contour Mode DT3 4 millisecond intervals C 0 E CD DIF C Contour Distance is in DIF WC Wait for completion C C 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 by using the DMC 141X 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 Command Summary Teach Mode mon RA CI Specify array for automatic record RD_TP Specify data for capturing RC n m Specify capture time interval where n is 2n msec m is number of records to be captured RC or RC Returns a 1 if recording Example Instruction Interpretation RECORD Begin Program
171. return a number representing the motion status See the command reference for further information The command SCI will return the number and the textual explanation of the motion status RAM Memory Interrogation Commands For debugging the status of the program memory array memory or variable memory the DMC 141X 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 DMC 141X controller will have a maximum of 1000 array elements in up to 6 arrays If an array of 100 elements is defined the command DM will return the value 900 and the command DA will return 5 76 e Chapter 7 Application Programming DMC 1412 1414 DMC 1412 1414 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 display the value of an operand the message command may be used For example since the operand _ED cont
172. rface board To make these changes see section entitled Amplifier Interface pg 3 32 Error Output The error output is a TTL signal which indicates an error condition in the controller This signal is available on the interconnect module as ERROR When the error signal is low this indicates one of the following error conditions 1 Atleast one axis has a position error greater than the error limit The error limit is set by using the command ER 2 The 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 Input Protection Lines Abort A low input stops commanded motion instantly without a controller deceleration Any motion program currently running will also be stopped When the Off On Error function is enabled the Chapter 8 Error Handling e 107 amplifiers will be disabled 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 controll
173. rface to Galil Stand Alone RS 232 controllers e TERM P panel mount unit e TERM H hand held unit Both units have the same programming characteristics The TERM is a compact ASCII terminal for use with Galil RS 232 based motion controllers Its numeric keypad allows easy data entry from an operator The TERM is available with a male adapter for connection to the auxiliary serial port Dataset NOTE Since the TERM 1500 requires 5 V on pin 9 of RS 232 it can only work with port 2 of the DMC 1412 1414 AN ONG Z Figure 1 Hand Held Terminal 144 e Appendices DMC 1412 1414 9 rog dg DMC 1412 1414 Figure 2 Panel Mount Terminal Features For easy data entry to DMC 1412 1414 motion controller 4 line x 20 character Liquid Crystal Display Full numeric keypad Five programmable function keys Available in Hand held or Panel Mount No external power supply required Connects directly to RS232 port P2 via coiled cable Specifications Hand Held Keypad 30 Key 6 rows x 5 columns Display 4 row x 20 character LCD Power 5 volts 30mA from DMC 1412 1414 Specifications Panel Mount Keypad 30 Key 5 rows x 6 columns Display 4 row x 20 character LCD Power 5 volts 30mA from DMC 1412 1414 Appendices e 145 Keypad Maps Hand Held 30 Keys 6 rows by 5 columns Single Key Output 6 AN qp xu AN Shift Ke
174. rk which reduces the mechanical shock and vibration Using the IT Command The smoothing is accomplished by filtering the acceleration profile The degree of the smoothing is specified by the command IT n Independent time constant It is used for smoothing profiled moves of the type JG PR and PA The smoothing parameter n is a number between 0 and 1 and determines the degree of filtering where the maximum value of 1 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 the smoothing Fig 6 5 shows the trapezoidal velocity profile and the modified acceleration and velocity Note that the smoothing process results in longer motion time Example Smoothing Instruction Interpretation PR 20000 Position AC 100000 Acceleration DC 100000 Deceleration SP 5000 Speed IT 5 Filter for Smoothing BG Begin 64 e Chapter 6 Programming Motion DMC 1412 1414 ACCELERATION VELOCITY ACCELERATION VELOCITY Homing DMC 1412 1414 Figure 6 5 Trapezoidal velocity and smooth velocity profiles 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
175. rrent value plus 2 RESULT _TP COS 45 40 Puts the position 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 l is a Logical Or These operators allow for bit wise operations on any valid DMC 141X 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 characters can be individually separated by using bit wise operations as illustrated in the following example 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 FLE
176. s The DMC 141X provides several instructions that control program flow The DMC 141X sequencer normally executes program instructions sequentially The program flow can be altered with the use of event triggers trippoints and conditional jump statements Command Summary Program Flow MC Trigger In position trigger TW sets timeout for in position Event Triggers amp Trippoints To function independently from the host computer the DMC 141X 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 The DMC 141X 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 DMC 141X can make decisions based on its own status or external events without intervention from a host computer DMC 141X Event Triggers Command 0 Halts program execution until
177. s been reset will result in the following error 022 Begin not possible due to limit switch error The operands and LR contain the state of the forward and reverse limit switches respectively The value of the operand is either a 0 or 1 corresponding to the logic state of the limit switch Using a terminal program the state of a limit switch can be printed to the screen with the command MG _LF or This prints the value of the limit switch operands for the axis The logic state of the limit switches can also be interrogated with the TS command For more details on TS 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 toggles between logic states 0 and 1 at every transition A transition in the logic state of the Home input will cause the controller to execute a homing routine specified by the user There are three homing routines supported by the DMC 141X Find Edge FE Find Index FI and Standard Home HM The Find Edge routine is initiated by the command sequence FE lt return gt BG lt return gt The Find Edge ro
178. s motors or stepper motors For control of other types of actuators such as hydraulics please contact Galil The following configuration information is necessary to determine the proper motor configuration Chapter 2 Getting Started e 9 Standard Servo Motor Operation The DMC 141X has been set up by the factory for standard servo motor operation providing an analog command signal of 10 volts No hardware or software configuration is required for standard servo motor operation Sinusoidal Commutation Sinusoidal commutation is configured through a single software command BA This setting causes the controller to reconfigure the control axis to output two commutated phases Only the DMC 1412 allows for sinusoidal commutation through the controller The single axis of commutation requires two DACs In standard servo operation the DMC 1412 has one DAC for the single axis Issuing the BA command will enable the second DAC for commutation Further instruction for sinusoidal commutation connections are discussed in Step 6 Stepper Motor Operation To configure the DMC 141X for stepper motor operation the controller requires that the command MT be given and a jumper placed The installation of the stepper motor jumper is discussed in the following section entitled Configuring Jumpers on the DMC 141X Further instructions for stepper motor connections are discussed in Step 8c Step 2 Configuring Jumpers on the DMC 141X Master Reset J
179. sition Download Dimension Arrays Define Position Enable ECAM Edit Mode Engage ECAM Cam cycle command Echo Off Cam table interval and starting point Disengage ECAM ECAM table entry List Motor Off Motor Type Define Output Bit Output Port Chapter 5 Programming Basics e 43 PF QU QD RA RC RD RS SA SB UL VF Position Format Upload array Download array Record Array Record Record Data Reset Set Address for daisy chaining Set Bit Upload Variable Format CONTROL FILTER SETTINGS DV Damping for dual loop FA Acceleration Feedforward FV Velocity Feedforward GN Gain IL Integrator Limit IT Smoothing Time Constant Independent KD Derivative Constant KI Integrator Constant KP Proportional Constant KS Stepper Smoothing Constant OF Offset SH Servo Here TL Torque Limit TM Sample Time ZR Zero STATUS RP Report Command Position RL Report Latch SC Stop Code TB Tell Status TC Tell Error Code TD Tell Dual Encoder TE Tell Error TI Tell Input TP Tell Position TR Trace TS Tell Switches TT Tell Torque TV Tell Velocity 44 e Chapter 5 Programming Basics DMC 1412 1414 DMC 1412 1414 ERROR AND LIMITS BL Reverse Software Limit ER Error Limit FL Forward Software Limit OE Off on Error EDITOR ED Edit mode return Save line cntrl P Previous line cntrl 1 Insert line lt cntrl gt D Delete line lt entrl gt Q Quit Editor ARITHMETIC FUNCTIONS SIN Sine COS Cosine ABS A
180. sition target is generated every sample period This method of control results in precise speed regulation with phase lock accuracy Command Summary Jogging Specifies jog speed and direction Specifies acceleration rate Specifies deceleration rate IT Time constant for independent motion smoothing ST Stops motion Increments position instantly DMC 1412 1414 Chapter 6 Programming Motion e 49 Operand Summary Jogging Return acceleration rate Return deceleration rate returns the actual velocity of the axis averaged over 25 sec Example Jog in X only Jog motor at 50000 count s HA AC 20000 Specify acceleration as 20000 counts sec DC 20000 Specify deceleration as 20000 counts sec JG 50000 Specify speed and direction as 50000 counts sec BG Begin motion EN Electronic Gearing This mode allows the main encoder axis to be electronically geared to the auxiliary encoder The master may rotate in both directions and the geared axis will follow at the specified gear ratio The gear ratio may be changed during motion GR 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 electronic gearing A limit switch will also disable electronic gearing Electronic gearing allows the geared motor to perform a second independent move in addition to the gearing For example when a geared motor follows a master at a ratio of 1 1 it may
181. step motor driver The pulses may either be low or high The pulse width is 096 Upon Reset the output will be low if the SM jumper is on If the SM jumper is not on the output will be tristate Sign Direction sed with PWM signal to give the sign of the motor command for servo amplifiers or direction for step motors Error he signal goes low when the position error on any axis exceeds the value specified by the error limit command ER Output 1 Output 3 hese 3 TTL outputs are uncommitted and may be designated by the user to oggle 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 he state of all the bits of the Output port INPUTS Main Encoder A B 4 Position feedback from incremental encoder with two channels in quadrature HA and CHB The encoder may be analog or TTL Any resolution encoder ay be used as long as the maximum frequency does not exceed 8 000 000 quadrature states sec The controller performs quadrature decoding of the encoder signals resulting in a resolution of quadrature counts 4 x encoder cycles INote Encoders that produce outputs in the format of pulses and direction ay also be used by inputting the pulses into CHA and direction into Channel and using the CE command to configure this mode Main Encoder Index Once Per Revolution encoder pulse Used in Homing sequence or Find Index ommand to de
182. strate this further consider this same example with an additional condition JP TEST V1 lt V2 amp V3 V4 V5 lt V6 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 82 e Chapter 7 Application Programming DMC 1412 1414 DMC 1412 1414 Using the JP Command 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 Conditional Meaning JP Loop COUNT lt 10 Jump to Loop if the variable COUNT is less than 10 JS MOVE2 IN 1 1 Jump to subroutine MOVE if input 1 is logic level high After the subroutine MOVE 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 Example Using JP command Move the X 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 BGX Begin move
183. switches may also be tested during the jump on condition statement The _LR condition specifies the reverse limit and _LF specifies the forward limit The CN command can be used to configure the polarity of the limit switches Chapter 8 Error Handling e 109 Limit Switch Example Instruction A JP A EN LIMSWI V1 LF V2 LR JP LF V1 0 JP LR V2 0 JP END LF MG FORWARD LIMIT ST AM PR 1000 BG AM JP END LR MG REVERSE LIMIT ST AM PR1000 BG AM END RE NOTE An applications program must be executing for LIMSWI to function 110 e Chapter 8 Error Handling Interpretation Dummy Program Limit Switch Utility Check if forward limit Check if reverse limit Jump to LF if forward Jump to RF if reverse Jump to end LF Send message Stop motion Move in reverse End LR Send message Stop motion Move forward End Return to main program DMC 1412 1414 Chapter 9 Troubleshooting Overview The following discussion helps with getting the system to work For your convenience the potential problems have been divided into groups as follows 1 Installation 2 Communication 3 Stability and Compensation 4 Operation The various symptoms along with the cause and the remedy are described in the following tables Installation SYMPTOM DIAGNOSIS CAUSE REMEDY Motor runs away with no connections from controller to amplifier input Motor is enabled even when MO command is given Unable to read the
184. t encoder 3 There is a hardware failure in the controller connect the same encoder to a different axis If the problem disappears you probably have a hardware failure Consult the factory for help Step E Connect Hall Sensors if available Hall sensors are only used with sinusoidal commutation on the DMC 1412 and are not necessary for proper operation The use of hall sensors allows the controller to automatically estimate the commutation phase upon reset and also provides the controller the ability to set a more precise commutation phase Without hall sensors the commutation phase must be determined manually The hall effect sensors are connected to the digital inputs of the controller These inputs can be used with the general purpose inputs bits 1 7 Each set of inputs must use inputs that are in consecutive order The input lines are specified with the command BI For example if the Hall sensors are connected to inputs 5 6 and 7 use the instruction BI5 CR Step 8a Connect Standard Brush or Brushless Servo Motor The following discussion applies to connecting the DMC 141X controller to standard servo motor The motor and the amplifier may be configured in the torque or the velocity mode In the torque mode the amplifier gain should be such that a 10 volt signal generates the maximum required current In the velocity mode a command signal of 10 volts should run the motor at the maximum required Step by step direct
185. t of the array POS the returned value from the tell position command CON 2 COS POS 2 Assigns the second element of the array CON the cosine of the variable POS multiplied by 2 TIMER 1 TIME Assigns the first element of the array timer the returned value of the TIME keyword Chapter 7 Application Programming e 91 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 For example Instruction Interpretation TA Begin Program COUNT 0 DM POS 10 Initialize counter and define array LOOP Begin loop WT 10 Wait 10 msec POS COUNT _TP 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 position 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 t
186. th significant friction this voltage may need to be increased and for systems with very small motors this value should be decreased For example BZ 2 CR will drive the axis to zero using a 2 V signal The controller will then leave the motor enabled For systems that have external forces working against the motor such as gravity the BZ argument must provide a torque 10x the external force If the torque is not sufficient the commutation zero may not be accurate If Hall Sensors are Available The estimated value of the commutation phase is good to within 30 This estimate can be used to drive the motor but a more accurate estimate is needed for efficient motor operation There are 3 possible methods for commutation phase initialization Method 1 Use the BZ command as described above Method 2 Drive the motor close to commutation phase of zero and then use BZ command This method decreases the amount of system jerk by moving the motor close to zero commutation phase before executing the BZ command The controller makes an estimate for the number of encoder counts between the current position and the position of zero commutation phase This value is stored in the operand _BZx Using this operand the controller can be commanded to move the motor The BZ command is then issued as described above For example to initialize the X axis motor upon power or reset the following commands may be given SH CR Enable X axis motor P
187. the EN command is used EN 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 enabling the interrupt As with any automatic subroutine a program must be running in thread 0 at all times for it to be enabled Example Using the COMINT Routine A DMC 1412 is used to jog the axis The speed of the axis may be changed during motion by specifying the new speed value An S stops motion Command SPEEDX 10000 CI 2 JG SPEEDX BGX PRINT MG P2 TO CHANGE SPEEDS MG P2 TYPE X MG P2 TYPE S TO STOP JOGLOOP JG SPEEDX JP JOGLOOP EN COMINT CLO JP A P2CH X JP B P2CH S ZS1 C1 2 JP JOGLOOP A JSHNUM SPEEDX VAL ZS1 C1 2 JP PRINT B ST AMX CI 1 MG P2 THE END 96 e Chapter 7 Application Programming Interpretation Label for Auto Execute Initial X speed Set Port 2 for Character Interrupt Specify jog mode speed for X 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 Clear interrupt Check for X Check for S Jump if not X Y S New X speed Jump to Print Stop motion on S DMC 1412 1414 ZS EN 1 NUM MG ENTER P2CH S AXIS SPEED N NUMLOOP CL 1 End Re enable interrupt Routine for entering new jog speed Prompt for value Check for ente
188. to configure a terminal Any ASCII character can be sent by using the format n where n is any integer between 1 and 255 Example MG 07 255 sends the ASCII characters represented by 7 and 255 to the bus Summary of Message Functions Function Description MG Message command on Surrounds text string Fn m Formats numeric values in decimal n digits to the right of the decimal point and m digits to the left n m Formats numeric values in hexadecimal Sends ASCII character specified by integer N Suppresses carriage return line feed Sn Sends the first n characters of a string variable where n is 1 through 6 P2 Sends the message to auxiliary Serial Port DMC 141X only 98 e Chapter 7 Application Programming DMC 1412 1414 DMC 1412 1414 Displaying Variables and Arrays Variables may also be sent to the screen using the format variable or array x For example V1 returns the value of the variable V1 Example Printing a Variable and an array element DISPLAY Label PR 1000 Position Command BG Begin AM After Motion V1 _ TP Assign Variable V1 1 Print V1 EN End Interrogation Commands The DMC 141x has a set of commands that directly interrogate the controller When these commands 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
189. ts 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 Chapter 10 Theory of Operation e 117 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 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 repr
190. umpers The jumper labeled MRST is the Master Reset jumper This is located at JP1 for the DMC 1412 and at JP6 for the DMC 1414 When the MRST jumper is connected the controller will perform a master reset upon power up Whenever the controller has a master reset all motion control parameters stored in EEPROM will be ERASED Stepper Motor Jumpers If the DMC 141X will be driving a stepper motor the stepper mode SMX jumper must be connected This jumper is labeled JP1 for the DMC 1412 and JP2 for the DMC 1414 The jumper location marked OPT is for use by Galil technicians only Setting the Baud Rate on the DMC 1412 and DMC 1414 The jumper locations JP1 on the DMC 1412 and JP6 on the DMC 1414 allow the user to select the serial communication baud rate The baud rate can be set using the following table 9600 Jumper 38 4K Jumper Baud Rate No Jumper No Jumper 192K Jumper No Jumper 9600 No Jumper Jumper 38 4K Jumper Jumper 1200 The default baud rate for the controller is 19 2K 10 e Chapter 2 Getting Started DMC 1412 1414 DMC 1412 1414 Step 3a Connecting AC or DC power and the Serial Cable to the DMC 1412 1 Insert 37 pin I O cable to J3 2 Use the 9 pin RS232 ribbon cable to connect the MAIN SERIAL port of the DMC 1412 to your computer or terminal communications port The DMC 1412 main serial port is configured as DATASET Your computer or terminal must be configured as a DATATERM for full duplex no parity 8 bits data one
191. ure 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 is CE6 Additional Commands for the Auxiliary Encoder The DE command can be used to define the position of the auxiliary encoders For example DEO sets the initial value The positions of the auxiliary encoders may be interrogated with DE For example DE returns the value of the auxiliary encoder The auxiliary encoder position may be assigned to variables with the instructions V1 DE The current position of the auxiliary encoder may also be interrogated with the TD command Backlash Compensation The dual loop methods can be used for backlash compensation This can be done by two approaches 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 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
192. utine will cause the motor to accelerate then slew at constant speed until a transition is detected in the logic state of the Home input The direction of the FE motion is dependent on the state of the home switch High level causes forward motion The motor will then decelerate to a stop 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 FI lt return gt BG lt return gt 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 30 e Chapter 3 Hardware Interface DMC 1412 1414 Outputs DMC 1412 1414 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 HM return BG return Standard Homing is a combination of Find Edge and Find Index homing Initiating the standard homing routine will c
193. vo Motor 15 Step 8b Connect Brushless Motor for Sinusoidal Commutation DMC 1412 Hardware Rev D and newer 19 Step 8c Connect Step Motors te lla real 22 Step 8d Connect Brush Motor to the DMC 1414 sse 22 Step 9 Tune the Servo System sess nennen nennen rennes 23 Design Examples PEPPER 24 Example 1 System Set up renren e a KEE N E ETE 24 Example 2 Profiled Move 24 Example 3 Position Interrogation i 25 Example 4 Absolute Position i 25 ii e Contents DMC 1412 1414 Example 5 Velocity Control Jogging seen 25 Example 6 Operation Under Torque Limit eene 25 Example Interrogation ie rit ete Rete Lo epe ri 26 Example 8 Operation in the Buffer Mode sene 26 Example 9 Motion Programs nennen nennen nenne nennen tren 26 Example 10 Motion Programs with LOOpS eee 26 Example 11 Motion Programs with Trippoints 27 Example 12 Control Variables i 27 Example 13 Control Variables and Offset 28 Chapter 3 Hardware Interface 29 OVEIVIEW 1212s aides e eo eter be etie tela oe ate eibi 29 Encoder Interface utiles e Woh lal elena eas a tie et Ala 29 Ji E 30 LinntS witch
194. w step motor pulses See description of the MT command in the Command Reference Step 8d Connect Brush Motor to the DMC 1414 The DMC 1414 provides an integrated brush type amplifier interconnect module and power supply to be used with DC brush motors Warning The DMC 1414 is powered up in the motor on SH condition It is recommended that the MO command is given before connecting the motor in order to prevent a runaway due to reversed polarity This command then needs to be burned into the EEPROM with the BN command To connect the DC brush motor to the DMC 1414 follow this procedure 22 e Chapter 2 Getting Started DMC 1412 1414 DMC 1412 1414 Step A Disconnect controller power Unplug the 5 pin power connector from the front of the unit This will power down the controller so that the motor may be connected Step B Connect DC brush motor Connect the motor leads to the screw terminals corresponding to MOTORI and MOTORQ2 It is assumed that the encoder is already connected and verified operational Step C Reconnect power to controller Reconnect the 5 pin power connector to the DMC 1414 This will power the motor and allow communication with the controller Test communication by sending the TP command and receiving a valid response Step D Test polarity of feedback loop With the hardware connections complete the next step is to test the polarity of the feedback loop to limit a runaway situation For this procedure
195. y Output 6 CTRL Key Output 6 5 4 3 2 Note Values in parentheses are ASCII decimal values Key locations are represented by m n where m is element column n is element row The first column in the above tables is for numbering the rows and is not a column of buttons on the TERM keypad Example U is lt Shift gt 1 2 is Ctrl 5 1 146 e Appendices DMC 1412 1414 Keypad Map Panel Mount 5 rows by 6 columns E Ces Shift Key Output 5 CTRL Key Output 5 e EEO TE eee Note Values in parentheses are ASCII decimal values Key locations are represented by m n where m is element column n is element row The first column in the above tables is for numbering the rows and is not a column of buttons on the TERM keypad DMC 1412 1414 Appendices e 147 Escape Commands Escape codes can be used to control the TERM display cursor style and position and sound settings The controller syntax for the escape character is 27 so the command MG P2 27 H sends ESC H to the TERM Twenty seven is the ASCII decimal value for the Escape command See the controller Command Reference for more information on the MG command The same command can be sent from the TERM keypad by pushing lt CTRL gt SPACE then lt SHIFT gt 3 5 Cursor Movement Commands ESC A Cursor Up ESC B Cursor Down ESC Cursor Right ESC D Cursor Left In the above sequences

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