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1. esee enne nennen nenne 87 Debugging PIOPTAIBS ihre p 88 Program Flow 5 e Ete eb tr Rt ERE RC RE 90 Event Triggers amp Trippoints eese rennen enne ener 90 Event Trigger Exainples iusto bn e PE ede 91 DMC 1000 Contents e iii iv e Contents Conditional Jumps ace eoa ete ae E eres 94 SUBLOULIMES 1 53 ede d tee n bet re peti Dal eed age esos 97 Stack RE eh Dee n eei dp e e te 97 Automatic Subroutines for Monitoring Conditions eene 97 Mathematical and Functional Expressions 100 Mathematical Expressions enne ennt nein 100 BitWise Operat r cniinn eO eR eR el atre Deest et eps 101 F nctlonS Re p t i o ce ot OE HEU 102 Variables itt tint ne mae Ob A ped 102 Assigning Values to Variables eese nente enne 103 Operands EE 104 Special Operands Keywords eese eene enne 105 ATLAYS odere pae eo siesta Boe obibat hie etae bs taie peg 105 Defining Arrays ueneno leet 105 Assignment of Array tenerte entren tete SESS EERS 106 Automatic Data Capture into Arrays seeeeseeeeeeeeeneneneenen enne enne nenne 107 Deallocatin amp Array Sp ce uoo edel te debent Le diee 108 Input of Data Numeric
2. teen nennen nre 127 Limit Switch Routine scsi ce bee bee reete tp eee tre eerte 127 Chapter 9 Troubleshooting 129 OVELVIEW ere teet prem e on ERE bed cpanel deste pde eode wD cree dide sse que 129 Contents e ix x e Contents Installation x inen ec ee andae aceti antenas te dotes tenete tein 129 evincere 130 iion le aad oiled ipa bie eiae eb gold 130 Opetr tlonD RUP EO RP PRU edo pr Rte 130 Chapter 10 Theory of Operation 131 OV6I VIEW Fatih a TRE ERE ERR RR TER YO I ERR RN es 131 Operation of Closed Loop Systems eese eene nrenne ne 133 System Modeling i tete EE 134 Motor Amiphlifiet etie p dee tec e oem 135 s Q 137 DAG uhi E e sh Shen EP RH de IE 138 Digital Filter uomen euasit esent e nen 138 ZOLL adipe S rebate REIR 138 System bec eh eet em reu ne eee esatta etes 139 System Design and Compensation eren eene nennen nenne nennen 141 The Analytical Method e eren on e herr dees 141 Appendices 145 Electrical Specifications ocn tte t ee tte eO Re 145 Lp 145 Stepper Control e aeo e en eed er nek iu p ien 145 Input Outputs better ole ee be eb beate ttes 145 POWER CURRO ER ERU
3. A aer o 41 Coordinated Motion with more than 1 axis 42 Program SyntaX nio ner e rr Her a eic ge ee err cet te ts 42 Controller Response to DA DA e po e ge eee erue SA EUH Ree 42 Interrogating the Controllet resensie eeii rE nennen nennen eene enne 43 Interrogation Commands essentia 43 Additional Interrogation Methods esee eene enne 43 Operands e eere te ette e ERE Erbe HEC UTE S GR GERENESS 44 Command S umim ty 4 ede tede ette mek tend 44 Contents e vii Chapter 6 Programming Motion 45 aul E ate 45 Independent Axis enne 45 Command Summary Independent Axis eene 46 Operand Summary Independent Axis sse 46 Independent ien metet br n app cot b d PE PRESE 47 Command Summary Jogging eese nennen ener enne 48 Operand Summary Independent Axis esee 48 Linear Interpolation Modesa oiro uno eA RU d ip Haba naa eat 49 Specifying Linear Segments essere eene eene trennen 49 Specifying Vector Acceleration Deceleration and 50 Additional ierit tere gini pe D 50 Command Summary Linear Interpolation eese 51 Operand Summary Linear Interpolation
4. M 25 Using Optoisolated nenne 25 Limit Switch MPU a ER Dre e 25 cei tete ip ee tete oem 26 Lumine teks 26 Uncommitted Digital Inputs esee rnnt 27 Wiring the Optoisolated Inputs eese eene nne 27 Using an Isolated Power Supply eese enne 28 Bypassing the Opto Isolation enrenar mehren a nennen enne 29 Changing Optoisolated Inputs From Active Low to Active High 30 Amplifier Interface P ao dee d ete dee t rh t it es 30 TTE Inp ts ste Re RESI eme ae E te iiec 31 Analog 0 2 5 e doeet teeth OR RET Ee eet be RE te Rh 31 TTL Outputs e RE tr t RE ee RU t re RO o t 32 Oftfset Adj stment 34 26 e etie debe de eee te i dtu 32 Chapter 4 Communication 33 Introductlon uere RR Ee ptus 33 Address Selection i e bere ER teste Ril S R SELE 33 Example Address Selection eese enne 34 Communication with the Controller eese nennen enne enne 34 Communication Registers eene ener enne nennen trennen enne 34 Simplified Communication Procedure eese 34 Advanced Communication 35 Interrupts b ERR ERO pe HER roni 36 Configure Interrupts 1 nh aree tert dite e ene D ct
5. 1 Operand amp and for conditional statements Description Allows for multiple conditional statements in jump routines IE A223 amp B lt 55 C 78 New feature for Rev 2 0 March 1996 This revision is also designated DMC 1000 18 Feature 1 DAC resolution increased to 16 bits 2 Step motor control method improved 3 KS command added New feature for Rev 1 5 rev 1 2 for DMC 1080 Feature 1 Electronic Cam New commands Command EA EM EP ET EB EG EQ New features added Jan 1995 Allow circular array recording New commands added July 1994 Rev 1 4 Command RLN QU QD MF x y z w MR x y z w MC XYZW TW x y z w VRr New commands added January 1994 Rev 1 3 Description Step Motor Smoothing Description Description Choose ECAM master Cam Cycle Command Cam table interval and starting point ECAM table entry Enable ECAM Engage ECAM cycle Disengage ECAM Description N is a new interrupt mask which allows changing the interrupt mask Upload array Download array Trippoint for motion forward direction Trippoint for motion reverse direction In position trippoint Sets timeout for in position Sets speed ratio for VS Can specify parameters with axis designator For example Command Description KPZ 10 10 Set Z axis gain to 10 Set all axes gains to 10 KPXZ 10 is invalid Only one or all axes can be specified at a time
6. 7 CHB 9 INDEX Connectors are the same as described in section entitled Connectors for DMC 1000 Main Board see pg 146 JX6 JY6 JZ6 JW6 Encoder Input 10 pin IDC 2 VCC 4 No Connection 6 CHA 8 CHB 10 INDEX CAUTION The ICM 1100 10 pin connectors are designed for the N23 and N34 encoders from Galil If you are using Galil s Motor 5 500 Motor 50 1000 or Motor 500 1000 you must cut encoder wires 5 6 7 and 9 ICM 1100 Drawing 4 Bt yi x LT a cs SP B 8 mA SN B 162 e Appendices DMC 1000 11 0 Mating Power Amplifiers The AMP 11XO series are mating brush type servo amplifiers for the DMC 1000 The AMP 1110 contains one amplifier the AMP 1120 two amplifiers the AMP 1130 three and the AMP 1140 four Each amplifier is rated for 7 amps continuous 10 amps peak at up to 80 volts The gain of the AMP 11XO is 1 amp volt The AMP 11XO requires an external DC supply The AMP 11X0 connects directly to the DMC 1000 ribbon connectors and screw type terminals are provided for connection to motors encoders and external switches Features 6ampscontinuous 10 amps peak 20 to 80 volts e Available with 1 2 3 or 4 amplifiers e Connects directly to DMC 1000 series controllers via ribbon cables e Screw type terminals for easy connection to motors encoders and switches e Steel mounting plate with 1 4
7. NS E 864 j x p j x x x 568 _ ___ _____ ___ _ j x x L S Halsroeuipo o xxr _ xq lp sp 82 J x ff _ 94s 98 psp a 9 f 90 924 X do Sx 932 x __ VERE Ill WW I Hr e DMC 1000 Appendices e 157 Interrupts and Their Vectors These occur on the first 8259 IRQ 0 1 nH A U N 7 These occur on the second 8259 IRQ 8 9 10 11 12 13 14 15 VECTOR 8 or 08h 9 or 09h 10 or Oah 11 or Obh 12 or Och 13 or Odh 14 or Oeh 15 or Ofh VECTOR 104 or 70h 105 or 71h 106 or 72h 107 or 73h 108 or 74h 109 or 75h 110 or 76h 111 or 77h USAGE Timer chip DON T USE THIS Keyboard DON T USE THIS Cascade from second 8259 DON T USE THIS COM2 COMI LPT2 Floppy DON T USE THIS LPTI USAGE Real time clock DON T USE THIS Redirect cascade DON T USE THIS Mouse DSR Math Co processor exception Fixed Disk DON T USE THIS ICM 1100 Interconnect Module The ICM 1100 Interconnect Module provides easy connections between the DMC 1000 series controllers and other system elements such as amplifiers encoders and external switches The ICM 1100 accepts each DMC 1000 ribbon cable for J2 13 14 and J5 and breaks th
8. esses eene nennen enter enne enne 27 Using an Isolated Power Supply 28 Bypassing the Opto Isolation eese enne eene nennen 29 Changing Optoisolated Inputs From Active Low to Active High 30 Amplifier Interfaces cei ettet ep oer eo t eet tede een 30 TTE Inp ts nee UO RUFI e duckies diete e eee 31 Analog Inputs oe aa ea ROI aet ua Re 31 CTE Outputs e etr aee ener e n et eate fb uu t etu 32 Offset Adjustment aeter be d eR p eie bs 32 Chapter 4 Communication 33 Introduction uice OUR reni eren 33 AddiressSel ction echa re ra hee a eh t ete n 33 Example Address Selection nar eerta pd S 33 Communication with the Controller esee nennen enne 34 Communication Registers oraison enseres aaea oe e aa nennen enne eene nre 34 Simplified Communication Procedure eee nennen 34 Advanced Communication Techniques esee 35 36 Configuring Interrupts p eR Uo e RERO ETE Re er Ran 36 Servicing Interr pts edet etes 38 Interrupts s ieee Ree terere edite ee iere reni 38 Controller Response to DATA prenosna E E E REE E A nest etre inneren ene 39 Galil Software Tools and 39 Chapter 5 Command Basics 41 Introduction 41 Command
9. 27000 POSITION W 3000 0 0 4000 36000 40000 POSITION Z FEEDRATE 0 0 1 0 5 0 6 TIME sec VELOCITY Z AXIS TIME sec VELOCITY W AXIS TIME sec Figure 6 2 Linear Interpolation Example Multiple Moves This example makes a coordinated linear move in the XY plane The Arrays VX and VY are used to store 750 incremental distances which are filled by the program LOAD Instruction Interpretation LOAD Load Program DM VX 750 VY 750 Define Array DMC 1000 Chapter 6 Programming Motion e 53 COUNT 0 Initialize Counter N 0 Initialize position increment LOOP LOOP VX COUNT N Fill Array VX VY COUNT N Fill Array VY N N 10 Increment position COUNT COUNT 1 Increment counter JP LOOP COUNT lt 750 Loop if array not full A Label LM XY Specify linear mode for XY COUNT 0 Initialize array counter LOOP2 JP LOOP2 LM If sequence buffer full wait 0 JS C COUNT 500 Begin motion on 500th segment LI Specify linear segment VX COUNT VY COUNT COUNT COUNT 1 Increment array counter JP LOOP2 COUNT lt 750 Repeat until array done LE End Linear Move AMS After Move sequence done MG DONE Send Message EN End program C BGS EN Begin Motion Subroutine Vector Mode Linear and Circular Interpolation Motion The DMC 1000 allows a long 2 D path consisting of linear and arc segments to be prescribed Motion along the path is continuous at the prescribed vector speed even at transitions between linear and circular segments
10. Return acceleration rate for the axis specified by x _DCx Return deceleration rate for the axis specified by x _SPx Returns the speed for the axis specified by x _PAx Returns current destination if x axis is moving otherwise returns the current commanded position if in a move _PRx Returns current incremental distance specified for the x axis Example Absolute Position Movement PA 10000 20000 Specify absolute X Y position AC 1000000 1000000 Acceleration for X Y DC 1000000 1000000 Deceleration for X Y SP 50000 30000 Speeds for X Y BG XY Begin motion Example Multiple Move Sequence Required Motion Profiles X Axis 500 counts Position 10000 count sec Speed 500000 counts sec Acceleration Y Axis 1000 counts Position 15000 count sec Speed 500000 counts sec Acceleration Z Axis 100 counts Position 46 Chapter 6 Programming Motion DMC 1000 5000 counts sec 500000 counts sec Speed Acceleration This example will specify a relative position movement on X Y and Z axes The movement on each axis will be separated by 20 msec Fig 6 1 shows the velocity profiles for the X Y and Z axis A PR 2000 500 100 SP 15000 10000 5000 AC 500000 500000 500000 DC 500000 500000 500000 BGX Begin Program Specify relative position movement of 1000 500 and 100 counts for X Y and Z axes Specify speed of 10000 15000 and 5000 counts sec Specify acceleration of 500000 counts s
11. 158 1100 enne enne nenne enne 159 12 60 pin irm HERR 161 J3 Aux Encoder 20 pin IDC ssssessseseeeeeeenennnnee nennen 161 J4 Driver 20 pin IDCO 161 gt Gen ral JO 26 pim ID iiie pire rei e ree qns 161 Connectors are the same as described in section entitled Connectors for DMC 1000 Main Board see pg 162 DMC 1000 DMC 1000 Index JX6 JY6 JZ6 JW6 Encoder Input 10 pin IDC sese 162 ICM 1100 Drawing eerta ga edet te ee tie E To eR Tete Abe 162 AMP 11x0 Mating Power Amplifiers sess 163 DB 10072 OPTO 22 Expansion Option seen enne ener eene nennen 163 Configuring the I O for the DB 10072 essere eene 163 Connector Description of the DB 10072 esses 164 DB 10096 VO Expansions e ated etos tied e eundem aee sped 167 Pinouts for DB 10096 Connectors eesessseseeseeeeeenenrenen rennen enne nennen nennen inneren 168 JI Pmo ut o sinn E aE 168 Mun EIE 169 Coordinated Motion Mathematical Analysis eene 170 DMC 600 DMC 1000 Comparison essere nnne enne nennen ener nee nne 173 DMC 600 DMC 1000 Command Comparison eene 174 DMC 6
12. 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 program in memory If desired the user can edit a specific line number or label by specifying a line number or label following ED Instruction Interpretation ED Puts Editor at end of last program ED 5 Puts Editor at line 5 ED BEGIN Puts Editor at label BEGIN Chapter 7 Application Programming 83 PROGRAM MEMORY SPACE FOR THE DMC 1000 DMC 1040 500 lines x 40 characters per line DMC 1080 1000 lines x 80 characters per line DMC 1040 MX 2000 lines x 40 characters per line 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 the limits given above 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 or enter 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 cntrl gt P The lt cntr
13. T 145 Performance Specifications PR RH tee ra 145 Connectors for DMC 1000 Main Board sse eren 146 J2 Mam 60 pm IDC pri MINES 146 J5 General 26 pin IDC nieni iiaeeeaeo eene 147 J3 Aux Encoder 20 pin IDC ssssssssseseeeeeeeenneenen eene 147 Driver 20 pin DO ere RR 148 J6 Daughter Board Connector 60 pin essere 148 TIO pii a iiiter eter eoe 148 Connectors for Auxiliary Board Axes E F G H sse 148 JD2 60 pin IDC eee tede bee p ted rent 148 JD5 VO 26 pim IDC ERU eee teen 149 JD3 20 pin IDC Auxiliary Encoders eene 150 JD4 20 pin IDC Amplifiers eese enne 150 JD6 Daughterboard Connector 60 pin eere 150 Pin Out Description for DMC 1000 sessi enne nennen nre entere 150 Jumper Description for DMC 1000 sese ener enne nre nnne 153 Dip Switch Settings etse En eb ade a ER UR 153 Offset Adjustments for DMC 1000 essere nee nennen ennemi enne 153 Accessories and OptlOns ie iR HR eee ipte e n tipi doen 154 Dip Switch Address Settings 155 PC AT Interrupts and Their Vectors esee eene eene enne 158 ICM 1100 Interconnect ter ten hee teo ehe
14. The damping element of the filter acts as a predictor thereby reducing the delay associated with the motor response The integrator function represented by the parameter KI improves the system accuracy With the KI parameter the motor does not stop until it reaches the desired position exactly regardless of the level of friction or opposing torque The integrator also reduces the system stability Therefore it can be used only when the loop is stable and has a high gain The output of the filter is applied to a digital to analog converter DAC The resulting output signal in the range between 10 and 10 Volts is then applied to the amplifier and the motor The motor position whether rotary or linear is measured by a sensor The resulting signal called position feedback is returned to the controller for closing the loop The following section describes the operation in a detailed mathematical form including modeling analysis and design System Modeling The elements of a servo system include the motor driver encoder and the controller These elements are shown in Fig 10 4 The mathematical model of the various components is given below 134 e Chapter 10 Theory of Operation DMC 1000 CONTROLLER X DIGITAL Y V E FILTER ZOH DAC 4 AMP MOTOR e P ENCODER Figure 10 4 Functional Elements of a Servo Control System Moto
15. New commands added July 1993 Rev 1 2 Command _UL _DL COM n New commands added March 1993 Rey 1 2 Command CS _AV _VPX VP x y lt n New commands added January 1993 Command HX AT ES OB n expression XQ Label n DV Feature Description Gives available variables Give available labels 2 s complement function Description Segment counter in LM VM and CM modes Return distance travelled in LM and VM modes Return the coordinate of the last point in a motion sequence LM or VM Can specify vector speed with each vector segment Where lt n sets vector speed Description Halt execution for multitasking At time trippoint for relative time from reference Ellipse scale factor Defines output n where expression is logical operation such as I1 amp 16 variable or array element Where n 0 through 3 and is program thread for multitasking Dual velocity for Dual Loop Description Allows gearing and coordinated move simultaneously Multitasking for up to four independent programs Velocity Damping from auxiliary encoder for dual loop Contents Chapter 1 Overview 1 Introduction seen A a ben vis Ak ee ined Sa eae 1 Overview Of Motor Lyp s noit ee Rr RO RP PER n bei 1 Standard Servo Motors with 10 Volt Command Signal 2 Stepper Motor with Step and Direction Signals see 2 DMC 1000 Functional Element
16. When using the linear interpolation mode the LM command only needs to be specified once unless the axes for linear interpolation change Specifying Linear Segments The command LI x y z w or LI a b c d e f g h specifies the incremental move distance for each axis This means motion is prescribed with respect to the current axis position Up to 511 incremental move segments may be given prior to the Begin Sequence BGS command Once motion has begun additional LI segments may be sent to the controller The clear sequence CS command can be used to remove LI segments stored in the buffer prior to the start of the motion To stop the motion use the instructions STS or AB The command ST causes a decelerated stop The command AB causes an instantaneous stop and aborts the program and the command 1 aborts the motion only The Linear End LE command must be used to specify the end of a linear move sequence This command tells the controller to decelerate to a stop following the last LI command If an LE command is not given an Abort ABI must be used to abort the motion sequence Itis the responsibility of the user to keep enough LI segments in the DMC 1000 sequence buffer to ensure continuous motion If the controller receives no additional LI segments and no LE command the controller will stop motion instantly at the last vector There will be no controlled deceleration LM LM returns the available spaces for LI segments that c
17. eeeseeeeeeeeeeeeeeneneenen nennen enne nenne 90 Event Trigger Ex mple ss tute ee dee Rr RUP 91 Conditional Jumps Rede te itd eA eRe 94 SUDIOULlfeS oec eet eed tede tei eei etn ep 97 Stack nuu UR ies BU REA etit d Pee eee 97 Automatic Subroutines for Monitoring Conditions eene 97 Mathematical and Functional Expressions csssssssscssseecseeeeceseeecseceeesccneeseesecneeseenaeseeeas 100 Mathematical Ex pressiOUs eR intere ree ie orbe tatg 100 Bit Wase Operators ee et Re er to RE Rep i S 101 Functions n ee bg e mant RO A AI os eani 102 Variables deis e biegen ea alea te bd ees DIN 102 Assigning Values to Variables sese 103 Operands pg ERE SE RED REUTERS REPRE RR ERR 104 Special Operands Keywords sees rennen 105 ASTRAY me TP 105 Defining Arrays iuueni a e OR T E aes 105 Assignment of Array Entries eeseeseeseseeeeeee eene enne nennen nennen 106 Automatic Data Capture into Arrays eseseeeeeeeeeerenen eene ener nennen 107 Deallocating Array Space rhe pee ip tete e peer 108 Input of Data Numeric and String esee enne nennen 109 Inp tofDat eae eade o REO e att ito re rette ho crat 109 Output of Data Numeric and String enne eene enne 110 Sending Messages ERR EU 110 Int
18. eene 51 Vector Mode Linear and Circular Interpolation Motion eee 54 Specifying Vector Segment essere nnne eene enne enne 54 Specifying Vector Acceleration Deceleration and 55 Additional Commands ret req te reli essit eee 55 Command Summary Vector Mode Motion eee 57 Operand Summary Vector Mode Motion 57 Electronic Gearnng euo beoe uet dei eei eoe at 58 Command Summary Electronic Gearing eene 59 Operand Summary Electronic Gearing eese 59 Electronic Camis css m t e dese et ee dedo aded egt hes 61 66 Specifying Contour Segments eese eene eene nennen nnne 66 Additional Commands n needed eerte esr traer epe ia es 67 Command Summary Contour Mode sse 68 Operand Summary Contour Mode essere 68 Stepper Motor Operation 5 58 ee ERR RE IE RE eee 71 Specifying Stepper Motor Operation sees ener 71 Using an Encoder with Stepper Motors eese 72 Command Summary Stepper Motor Operation eee 73 Operand Summary Stepper Motor Operation sese 73 Dual Loop Auxiliary Encoder
19. eese 2 Microcomputer Section siiven iea a i ue Ter Dep deo Verte ep decade ee dote 3 Motor Interface cinema e pete n e arc itae 3 COMMUNICATION i rette b E eee peus Ce ome eoo bye se et 3 Generabl O aio i E EH eR EUR ER HR EHE UR R 3 System Elements e RR Re D I e RR e EU 3 MO OE ele te Be ear 4 Amplifier Driver ette repente ERROR 4 Encode r eme Ron eene eroe eet eerte eet 4 Watch Dog ted ectetuer d ipe net 4 Chapter 2 Getting Started 5 The DMC 1000 Motion Controller eese nennen enne ener nre 5 Elements Y ou Need Rome ee t bt bee EO 6 Installing th DMC 1000 duet ede 7 Step 1 Determine Overall Motor Configuration esee 7 Step 2 Configure Jumpers on the DMC 1000 sse 7 Step 3 Install the DMC 1000 in the 8 Step 4 Install Communications Software eese 8 Step 5 Establish Communications with Galil Communication Software 9 Changing the I O Address of the Controller eene 10 Step 6 Connect Amplifiers and Encoders eene 11 Step 7a Connect Standard Servo Motors sse 13 Step 7b Connect Step Motors scatet ee rettet erbe ere ret 555 16 S
20. B EN End Position Control by Joystick This system requires the position of the motor to be proportional to the joystick angle Furthermore the ratio between the two positions must be programmable For example if the control ratio is 5 1 it implies that when the joystick voltage is 5 Volts corresponding to 1028 counts the required motor position must be 5120 counts The variable V3 changes the position ratio Instruction Interpretation A Label V3 5 Initial position ratio DPO Define the starting position JGO Set motor in jog mode as zero BGX Start B V1 AN 1 Read analog input V2 V1 V3 Compute the desired position V4 V2 _TPX _TEX Find the following error V5 V4 20 Compute a proportional speed JG V5 Change the speed JP Repeat the process EN End Backlash Compensation by Sampled Dual Loop The continuous dual loop enabled by the DV function is an effective way to compensate for backlash In some cases however when the backlash magnitude is large it may be difficult to stabilize the system In those cases it may be easier to use the sampled dual loop method described below This design example addresses the basic problems of backlash in motion control systems The objective is to control the position of a linear slide precisely The slide is to be controlled by a rotary motor which is coupled to the slide by a leadscrew Such a leadscrew has a backlash of 4 micron and the required position accuracy is for 0 5 mic
21. Increment position Jog mode Conditional jump Conditional jump subroutine Integrator gain List program Message Motor off No op Automatic error shut off Offset Write output port Position absolute Position relative Return from error subroutine Return from interrupt subroutine Reset controller DMC 1000 DMC 1000 SB Set output bit 5 Stop code status SH Servo here SP Slew speed ST Stop motion program TB Tell status byte TC Tell error code TE Tell error TI Tell inputs TL Torque limit TM Sample time TP Tell position TR Trace TS Tell switches TT Tell torque UL Upload program VA Vector acceleration Vn Variable definition Vector position VS Vector speed WT Programmable timer XG Execute program ZR Filter zero ZS Zero subroutine stack New Commands AL Arm latch AR After relative distance trippoint AT After time AV After vector distance trippoint A i n Define array element BL Set reverse software limit BN Burn EEPROM CD Contour data CE Configure encoder CN Configure inputs and step motor CO Configure I O points DB 10072 only DA Deallocate variables and arrays DC Deceleration DE Dual encoder position DM Dimension array DT Delta time for contouring DV Dual Velocity EI Enable interrupts Appendices e 175 ES FI FL FV GA GR HX IL IT KD KP KS LE LI LM MT OB PF RA RC RD RP TN TV VD VE VF VM VT WC Deleted DB DC DD DR HX LA LN
22. Is equal to status of Forward Limit switch input of axis equals or 1 Is equal to status of Reverse Limit switch input of axis n equals 0 or 1 15 equal to the number of available variables Free Running Real Time Clock off by 2 496 Resets with power on Dm Is equal to status of Home Switch equals 0 or 1 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 All keywords are listed in the Command Summary Chapter 11 Examples of Keywords Instruction Interpretation V1 _LFX Assign V1 the logical state of the Forward Limit Switch on the X axis V3 TIME Assign V3 the current value of the time clock V4 HMW Assign V4 the logical state of the Home input on the W axis For storing and collecting numerical data the DMC 1000 provides array space for 1600 elements or 8000 elements for controllers with 5 or more axes or with controller with the MX option The arrays are one dimensional and up to 14 different arrays may be defined 30 for controllers with 5 or more axes the MX option Each array element has a numeric range of 4 bytes of integer 2 followed by two bytes of fraction 2 147 483 647 9999 Arrays can be used to capture real time data such as position torque and analog input values In the contouring mode arrays are convenient for holding the points of
23. Start correction DMC 1000 Electronic Cam DMC 1000 The electronic cam is a motion control mode which enables the periodic synchronization of several axes of motion Up to 7 axes can be slaved to one master axis The master axis encoder must be input through a main encoder port The electronic cam is a more general type of electronic gearing which allows a table based relationship between the axes It allows synchronizing all the controller axes For example the DMC 1080 controller may have one master and up to seven slaves To simplify the presentation we will limit the description to a 4 axis controller To illustrate the procedure of setting the cam mode consider the cam relationship for the slave axis Y when the master is X Such a graphic relationship is shown in Figure 6 8 Step 1 Selecting the master axis The first step in the electronic cam mode is to select the master axis This is done with the instruction EAp where p X Y ZW p is the selected master axis Step 2 Specify the master cycle and the change in the slave axis es In the electronic cam mode the position of the master is always expressed modulo one cycle In this example the position of x is always expressed in the range between 0 and 6000 Similarly the slave position is also redefined such that it starts at zero and ends at 1500 At the end of a cycle when the master is 6000 and the slave is 1500 the positions of both x and y are redefined as zero
24. The instruction EAX defines X as the master axis The cycle of the master is 2000 Over that cycle X varies by 1000 This leads to the instruction EM 2000 1000 Suppose we want to define a table with 100 segments This implies increments of 20 counts each If the master points are to start at zero the required instruction is EP 20 0 The following routine computes the table points As the phase equals 0 18X and X varies in increments of 20 the phase varies by increments of 3 6 The program then computes the values of Y according to the equation and assigns the values to the table with the instruction ET N Y Instruction Interpretation ZSETUP Label EAX Select X as master EM 2000 1000 Cam cycles EP 20 0 Master position increments N 0 Index LOOP Loop to construct table from equation P N 3 6 Note 3 6 0 18 20 S SIN P 100 Define sine position Y N 10 8 Define slave position ET N Y Define table 1 JP LOOP lt 100 Repeat the process EN Now suppose that the slave axis is engaged with a start signal input 1 but that both the engagement and disengagement points must be done at the center of the cycle X 1000 and Y 500 This implies that Y must be driven to that point to avoid a jump This is done with the program Instruction Interpretation RUN Label 1 Enable cam PA 500 starting position SP 5000 Y speed BGY Move Y motor AM After Y moved Wait for start signal EG 1000 Eng
25. USER MANUAL DMC 1000 Manual Rev 2 0xf 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 6 06 Using This Manual This user manual provides information for proper operation of the DMC 1000 controller A separate supplemental manual the Command Reference contains a description of the commands available for use with this controller Your DMC 1000 motion controller has been designed to work with both servo and stepper type motors In addition the DMC 1000 has a daughter board for controllers with more than 4 axes Installation and system setup will vary depending upon whether the controller will be used with stepper motors or servo motors and whether the controller has more than 4 axes of control 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 E B 0 1080 Attention Pertains to controllers with more than 4 axes Please note that many examples are written for the DMC 1040 four axis controller or the DMC 1080 eight axes controller Users of the DMC 1030 3 axis controller DMC 1020 2 ax
26. 25 27 31 32 125 Tuning SDK 11 83 11 83 Stability 74 75 122 129 30 134 140 74 75 122 129 30 134 140 U Upload 83 User Unit 114 V Variable Internal 23 95 103 104 23 95 103 104 Vector Acceleration 23 51 52 57 120 23 51 52 57 120 Vector Deceleration 23 51 52 57 23 51 52 57 Vector Mode Circle 119 20 119 20 Circular Interpolation 1 23 54 55 59 107 119 1 23 54 55 59 107 119 Clear Sequence 49 51 55 57 49 51 55 57 Ellipse Scale 57 Feedrate 51 56 57 93 119 20 51 56 57 93 119 20 Tangent 54 56 57 54 56 57 Vector Speed 23 49 55 57 93 120 23 49 55 57 93 120 W Wire Cutter 118 X XQ Execute Program 22 23 22 23 Index e 187 2 Zero Stack 100 116 100 116 188 Index DMC 1000
27. 73 Backlash is ere p eet er ie de o ene e hebreo dan ten 74 Command Summary Using the Auxiliary Encoder eee 75 Operand Summary Using the Auxiliary Encoder eee 76 Motion Smoothing sco sess DOE OPER EORR E 76 Using the IT and VT Commands S curve profiling eee 76 Using the KS Command Step Motor Smoothing eee 77 HOMNE i etel idum te 78 High Speed Position Capture Latch cece eececescssssceseceeseceeeeceasecceaecaseecsaecaeesecaeeaeenaseeeeas 81 Chapter 7 Application Programming 83 OVVIE W iieri seia e ibo REA rte OA IU Haak nie ae Rahs Maman 83 Using the DMC 1000 Editor to Enter Programs eene eere 83 Edit Mode Commands esses eene enne rennen enne enne 84 Program Format nene eot eg e ee EU REG He REG RD terere 85 Using Labels m eir e re etr partea 85 Special Labels etr e ien tee bp ted e dete 86 Commenting Programis 2 d P er Petre e ie die esee ERE EUH 86 Executing Programs Multitasking eese eene nennen ener 87 viii e Contents DMC 1000 DMC 1000 Deb gzging Progratns eren ae et p p cte aca eot ted 88 Program Flow Commands esses enne nennen nennen nenne 90 Event Triggers amp Trippoints
28. 8 12 25 29 30 125 6 8 12 25 29 30 125 Independent Motion Jog 20 92 93 98 100 104 122 126 20 92 93 98 100 104 122 126 Index Pulse 12 26 78 12 26 78 ININT 86 98 116 86 98 116 Input Analog 8 102 4 105 110 117 122 8 102 4 105 110 117 122 Digital 102 115 102 115 Input Interrupt 38 86 93 98 116 38 86 93 98 116 ININT 86 98 116 86 98 116 Input of Data 109 Inputs Analog 1 3 25 31 145 159 174 1 3 25 31 145 173 Installation 7 8 129 7 8 129 Integrator 134 138 39 134 138 39 Interconnect Module AMP 1100 159 ICM 1100 12 25 29 30 125 12 25 29 30 125 Interface Terminal 83 103 111 83 103 111 Internal Variable 23 95 103 104 23 95 103 104 Interrogation 19 20 43 44 110 111 19 20 43 44 110 111 Interrupt 1 3 6 7 9 33 34 36 39 86 87 93 97 98 116 1 3 6 7 9 33 34 36 39 86 87 93 97 98 116 DMC 1000 Invert Loop Polarity 130 J Jog 20 92 93 98 100 104 122 126 20 92 93 98 100 104 122 126 Joystick 104 121 22 104 121 22 Jumper 6 7 11 29 36 38 130 6 7 11 29 36 38 130 K Keyword 95 101 103 105 6 95 101 103 105 6 TIME 105 6 105 6 L Label 29 83 88 91 98 104 5 109 114 17 120 122 23 127 29 83 88 91 98 104 5 109 114 17 120 122 23 127 LIMSWI 126 28 125 27 POSERR 126 27 126 27 Special Label 86 127 86 127 Latch 30 81 30 81 Arm L
29. If you are using a Galil terminal program commands will not be processed until an enter command is given This allows the user to separate many commands on a single line and not begin execution until the user gives the enter command IMPORTANT All DMC 1000 commands are sent in upper case For example the command PR 4000 enter Position relative PR is the two character instruction for position relative 4000 is the argument which represents the required position value in counts The enter terminates the instruction The space between PR and 4000 is optional For specifying data for the X Y Z and W axes commas are used to separate the axes If no data is specified for an axis a comma is still needed as shown in the examples below If no data is specified for an axis the previous value is maintained The space between the data and instruction is optional For controllers with 5 or more axes the axes are referred to as A B C D E F G H where X Y Z W and A B C D may be used interchangeably The DMC 1000 provides an alternative method for specifying data Here data is specified individually using a single axis specifier such as X Y Z or W or A B C D E F G or H for the DMC 1080 An equals sign is used to assign data to that axis For example DMC 1000 Chapter 5 Command Basics e 41 1000 Specify a position relative movement for the X axis of 1000 ACY 200000 Specify acceleration for the Y axis as 200000 Instead of da
30. Install the DMC 1000 into the computer Step 4 Install communications software Step 5 Establish communications with Galil Software Step 6 Connect amplifiers and Encoders Step 7a Connect standard servo motors Step 7b Connect step motors Step 8 Tune the 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 1000 can control any combination of standard servo motors and stepper motors Other types of actuators such as hydraulics can also be controlled please consult Galil The following configuration information is necessary to determine the proper motor configuration Standard Servo Motor Operation The DMC 1000 has been setup by the factory for standard servo motor operation providing an analog command signal of 10V No hardware or software configuration is required for standard servo motor operation Stepper Motor Operation To configure the DMC 1000 for stepper motor operation the controller requires a jumper for each stepper motor and the command MT must be given The installation of the stepper motor jumper is discussed in the following section entitled Installing Jumpers on the DMC 1000 Further instruction for stepper motor connections are discussed in Step 7b Step 2 Configure Jumpers on the DMC 1000 The DMC 1000 has jumpers inside the controller box which may need to be installed To access
31. Other actuators such as hydraulics For more information contact Galil The user can configure each axis for any combination of motor types providing maximum flexibility Standard Servo Motors with 10 Volt Command Signal The DMC 1000 achieves superior precision through use of a 16 bit motor command output DAC and a sophisticated PID filter that features velocity and acceleration feedforward an extra pole filter and integration limits The controller is configured by the factory for standard servo motor operation In this configuration the controller provides an analog signal 10Volt to connect to a servo amplifier This connection is described in Chapter 2 Stepper Motor with Step and Direction Signals The DMC 1000 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 Chapter 2 describes the proper connection and procedure for using stepper motors DMC 1000 Functional Elements The DMC 1000 circuitry can be divided into the following functional groups as shown in Figure 1 1 and discussed in the following To Host Communication FIFO 512 Bytes poem 68331 GL 1800 8 In 256 EEPROM intertace rom 8 Analog In Encoders Microcomputer 4 Axes rom Interface 64K EPROM Motor Encoder L
32. Print Counter Print X position Print Y position Print X error Print Y error Increment Counter Done Deallocating Array Space Array space may be deallocated using the DA command followed by the array name DA 0 deallocates all the arrays 108 Chapter 7 Application Programming DMC 1000 Input of Data Numeric and String DMC 1000 Input of Data The command IN is used to prompt the user to input numeric or string data Using the IN command the user may specify a message prompt by placing a message in quotations When the controller executes an IN command the controller will wait for the input of data The input data is assigned to the specified variable or array element Example Inputting Numeric Data Instruction Interpretation A Program label IN Enter Length LENX Use input command IN to query the user EN End the program 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 200
33. The vector speed may be specified by the immediate command VS It can also be attached to a motion segment with the instructions lt CR 10 6 n Chapter 6 Programming Motion e 55 Both cases assign a vector speed of n count s to the corresponding motion segment Changing Feedrate The command VR n allows the feedrate VS to be scaled between and 10 with a resolution of 0001 This command takes effect immediately and causes VS scaled VR also applies when the vector speed is specified with the lt operator This is a useful feature for feedrate override VR does not ratio the accelerations For example VR 5 results in the specification VS 2000 to be divided in half Compensating for Differences in Encoder Resolution By default the DMC 1000 uses a scale factor of 1 1 for the encoder resolution when used in vector mode If this is not the case the command ES can be used to scale the encoder counts The ES command accepts two arguments which represent the number of counts for the two encoders used for vector motion The smaller ratio of the two numbers will be multiplied by the higher resolution encoder For more information see ES command in Chapter 11 Command Summary Tangent Motion Several applications such as cutting require a third axis i e a knife blade to remain tangent to the coordinated motion path To handle these applications the DMC 1000 allows one axis to be specified as the tangent axi
34. and ending at D Between the points A and B the motion is along the Y axis Therefore Vyz Vs and Vx 0 Between the points B and C the velocities vary gradually and finally between the points C and D the motion is in the X direction B time Figure 12 4 Vector and Axes Velocities 172 Appendices DMC 1000 DMC 600 DMC 1000 Comparison Maximum number of segments 255 255 Infinite continuous vector in motion path feed Programmable acceleration Yes Yes Yes rate rate parameter storage Digital filter type GN ZR KI GN ZR KI KP KI KD with velocity and acceleration feedforward and integrator limit DMC 600 DMC 6X1 DMC 1000 Analog inputs 8 with DMC 63010 8 with DMC 63010 DMC 1080 DMC 1000 Appendices e 173 1 AS BG CB CM CR CS DL DP ED EN EO ER FA FE GN HM II IN IP JG JP JS KI LS MG MO NO RI RS 174 e Appendices DMC 600 DMC 1000 Command Comparison Unchanged Commands Abort motion Acceleration rate After distance trippoint After input trippoint After motion trippoint After absolute position trippoint After at speed trippoint Begin motion Clear output bit Contour mode Circular segment Clear motion sequence Download program Define position Edit mode End program Echo ON OFF Define error limit Acceleration feedforward Find edge Gain Home Interrupt for input Input prompt
35. keyholes Specifications Minimum motor inductance 1 mH PWM frequency 30 KHz Ambient operating temperature 0 70 C Dimensions 5 7 x 13 4 x 2 5 Weight 4 pounds Mounting Keyholes 1 44 Gain 1 amp volt DB 10072 OPTO 22 Expansion Option DMC 1000 The DB 10072 is a separate full length PC card designed to work with OPTO 22 I O isolation products that feature the 50 pin IDC connector i e OPTO 22 model number G4PB24 It connects to the DMC 1000 and provides 72 I O points Three 50 pin cables may be connected to the card each handling up to 24 I O points The first 48 I O points can be configured through software I O configuration options shown below I O points 9 through 56 can be configured as inputs or outputs in groups of 8 I O points 57 through 80 are always inputs Configuring the I O for the DB 10072 The command CO is used to configure blocks of 8 bits as inputs or outputs The command has one field COn where n is a 6 bit number represented in decimal A 6 bit number ranges in decimal between 0 and 64 Each bit in the 6 bit number represents one of the 8 bit I O blocks If the representative bit is one the corresponding I O block will be configured as an output 8 Bit Block Block Bit Binary Decimal Value of Appendices 163 Representation 9 16 1 0 20 1 17 24 2 1 2 2 25 32 3 2 22 4 33 40 4 3 22 8 41 48 5 4 2 16 49 56 6 5 2 32 The simplest method for determining the proper value for n is
36. 13 18 30 98 125 27 Torque Limit 14 20 14 20 PWM 4 Q Quadrature 1 3 4 114 118 126 137 1 3 4 114 118 126 137 Quit Abort 1 25 26 30 49 55 125 127 145 147 151 52 161 175 179 1 25 26 30 49 55 125 127 145 146 151 52 174 178 Stop Motion 49 55 99 128 49 55 99 128 R Record 68 70 105 108 109 68 70 105 108 109 Latch 30 81 30 81 Position Capture 81 Teach 70 Register 33 36 38 104 33 36 38 104 Reset 6 7 25 31 36 94 125 127 6 7 25 31 36 94 125 127 Master Reset 6 7 6 7 S Save Non Volatile Memory 1 3 1 3 SB Set Bit 114 Scaling Ellipse Scale 57 S Curve Motion Smoothing 1 77 1 77 DMC 1000 SDK 11 83 11 83 Selecting Address 6 9 10 33 36 38 39 106 8 130 153 155 57 180 5 9 10 33 36 38 39 106 8 130 153 155 57 179 Servo Design Kit 1 SDK 11 83 11 83 Set Bit 114 Sine 102 Single Ended 4 12 14 4 12 14 Slew 1 91 93 118 1 91 93 118 Smoothing 1 50 52 55 57 71 77 1 50 51 55 57 71 77 Software Autocad 154 Commdisk 6 8 11 36 6 9 11 36 SDK 1 11 83 1 11 83 Terminal 83 103 111 83 103 111 Special Label 86 127 86 127 Stability 74 75 122 129 30 134 140 74 75 122 129 30 134 140 Stack 97 100 116 97 100 116 Zero Stack 100 116 100 116 Status 34 35 52 88 90 104 108 34 35 52 88 90 104 108 Interrogation 19 20 43 44 58 110 111 19 20
37. 23 25 27 29 31 33 35 37 39 41 43 45 47 49 166 Appendices Block QV tn tA tA lt an J3 Pinout Note All points are inputs on this cable Block NO NO NOD NO NO oco N volts Bit No NU FUN Bit No N OQ NY WwW amp NURAN SBn IN n 43 42 41 56 55 54 53 52 51 50 49 IN n 64 63 62 61 60 59 58 57 72 71 70 69 68 67 66 65 80 79 78 77 76 75 74 73 Pin 28 30 32 34 36 38 40 42 44 46 48 50 Pin 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground Ground DMC 1000 DB 10096 I O Expansion The DB 10096 is an attachment board that provides an additional 64 inputs and 32 TTL level outputs Other I O configurations are available The inputs are pulled up to 5 Volts with 4 7K resistors The DB 10096 attaches to the DMC 1000 with a ribbon cable The inputs and outputs are available via two 60 pin IDC header type connectors J1 and J2 and are connected with ribbon cables Accessing th
38. 5 or mor axes These variables can be numbers or strings Variables are useful in applications where specific parameters such as position or speed must be able to change Variables can be assigned by an operator or determined by program calculations For example a cut to length application may require that a cut length be variable Each variable is defined by a name which can be up to eight characters The name must start with an alphabetic character however numbers are permitted in the rest of the name Spaces are not permitted Variable names should not be the same as DMC 1000 instructions For example PR is not a good choice for a variable name 102 e Chapter 7 Application Programming DMC 1000 Examples Valid Variable Names POSX POSI SPEEDZ Examples Invalid Variable Names Variable Problem REALLONGNAMEB Cannot have more than 8 characters 124 Cannot begin variable name with a number SPEED Z Cannot have spaces in the name Assigning Values to Variables Assigned values can be numbers internal variables and keywords functions controller parameters and strings Variables hold 6 bytes of data 4 bytes of integer 23 followed by two bytes of fraction providing a range of values of 2 147 483 647 9999 Numeric values can be assigned to programmable variables using the equal sign Any valid DMC 1000 function can be used to assign a value to a variable For example V1 ABS V2 or V2 IN 1 Arithmetic operations are also perm
39. A time out occurred while waiting for a response from the Galil controller If this message appears you must click OK There is most likely an I O address conflict in your computer or the registry information does not reflect the address of the motion controller card See section on Changing the I O Address of the Controller The user must ensure that there are no conflicts between the DMC 1000 and other system elements in the host computer If you change the address of the DMC 1000 you must repeat the steps for changing the address of your controller in the Galil Registry Once you establish communications click on the menu for terminal and you will receive a colon prompt Communicating with the controller is described in later sections Changing the I O Address of the Controller The default address both on the Address DIP Switches and in any software package from Galil of the DMC 1000 is 1000 If there is trouble establishing communication changing this address may be necessary If the address 1000 is not available Galil recommends using the address 816 as it is likely to be available Changing the I O address at which the DMC 1000 resides is a two step process First you must configure the address of the controller card physically using the Address DIP Switches located on the card see Your DMC 1000 to locate these Then you must configure your communications software to talk to the address that you have selected A DMC 1000 contr
40. Consider the velocity and position profiles shown in Fig 6 5 The objective is to rotate a motor a distance of 6000 counts in 120 ms The velocity profile is sinusoidal to reduce the jerk and the system vibration If we describe the position displacement in terms of A counts in B milliseconds we can describe the motion in the following manner 1 cos 2z B X 4L 2 Note is the angular velocity X is the position and T is the variable time in milliseconds In the given example A 6000 and B 120 the position and velocity profiles are 50T 6000 27 sin 27 T 120 Note that the velocity in count ms is 50 1 cos 27 T 120 68 Chapter 6 Programming Motion DMC 1000 DMC 1000 Figure 6 5 Velocity Profile with Sinusoidal Acceleration The DMC 1000 can compute trigonometric functions However the argument must be expressed in degrees Using our example the equation for X is written as X 50T 955 sin 3T A complete program to generate the contour movement in this example is given below To generate an array we compute the position value at intervals of 8 ms This is stored at the array POS Then the difference between the positions is computed and is stored in the array 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 DIF 15 C 0 Set initial condition
41. DE RR RS wes peces EE dE SE eR E sa x Lx 59 x x x if 4 59 x x s x X 4 69 x x LL E 64 x x 68 x x x x Lee x 3 E x x Esp EAE ES 66 x x _ 6 amp 0 x sed ice 3 3 7 68 Lo x 69 x x 3 x 66 x X 66 X lt X lt lt X lt x lt x gt x lt x lt x lt x lt b b gt 56 b 1 1 x lt x lt gt x lt x lt x x Xx x lt x lt x x x lt X X X lt X lt lt X lt X lt x lt x lt x lt x x gt x lt x x lt x lt x lt m E x lt x lt 1 1 is 1 1 1 DMC 1000 Appendices e 155 Address Dip A8 Dip A7 Dip Dip A5 Dip A4 Dip A3 Dip A2 GE EXE ee ERE CURES SEE SOLE 78 2 i255 r c __ Wie 60 _ ff Fx ___ _ exe o 2 x _ x j j
42. Formatting 110 111 13 110 111 13 Frequency 1 4 140 42 1 4 140 42 Function 26 27 100 106 119 121 122 26 100 106 119 121 122 Functions Arithmetic 83 95 101 103 114 83 95 101 103 114 G Gain Proportional 134 Gear Ratio 58 60 58 60 Gearing 1 55 61 1 55 61 H Halt 50 55 87 91 93 94 115 50 55 87 91 93 94 115 Abort 1 25 26 30 49 55 125 127 145 147 151 52 161 175 179 1 25 26 30 49 55 125 127 145 146 151 52 174 178 Off On Error 12 27 30 125 127 12 26 30 125 126 Stop Motion 49 55 99 128 49 55 99 128 Hardware 1 25 114 125 1 25 114 125 Address 6 9 10 33 36 38 39 106 8 130 153 155 57 180 5 9 10 33 36 38 39 106 8 130 153 155 57 179 DMC 1000 Amplifier Enable 31 32 125 31 32 125 Clear Bit 114 Jumper 29 36 38 130 29 36 38 130 Offset Adjustment 32 129 32 129 Output of Data 110 Set Bit 114 TTL 4 25 27 31 32 125 4 25 27 31 32 125 Home Input 26 78 105 26 78 105 Homing 26 78 26 78 Find Edge 26 78 26 78 I O Amplifier Enable 31 32 125 31 32 125 Analog Input 8 102 4 105 110 117 122 8 102 4 105 110 117 122 Clear Bit 114 DB 10096 3 4 3 4 Digital Input 25 27 102 115 25 27 102 115 Digital Output 102 114 102 114 Home Input 26 78 105 26 78 105 Output of Data 110 Set Bit 114 TTL 4 25 27 31 32 125 4 25 27 31 32 125 ICM 1100 6
43. GAE or GAF or GAG or GAH for DMC 1080 specifies the master axis There may only be one master GR x y z w specifies the gear ratios for the slaves where the ratio may be a number between 127 9999 with a 58 e Chapter 6 Programming Motion DMC 1000 DMC 1000 fractional resolution of 0001 GR 0 0 0 0 turns off electronic gearing for any set of axes limit switch will also disable electronic gearing for that axis GR causes the specified axes to be geared to the actual position of the master The master axis is commanded with motion commands such as PR PA or JG When the master axis is driven by the controller in the jog mode or an independent motion mode it is possible to define the master as the command position of that axis rather than the actual position The designation of the commanded position master is by the letter C For example GACX indicates that the gearing is the commanded position of X An alternative gearing method is to synchronize the slave motor to the commanded vector motion of several axes performed by GAS For example if the X and Y motor form a circular motion the Z axis may move in proportion to the vector move Similarly if X Y and Z perform a linear interpolation move W can be geared to the vector move Electronic gearing allows the geared motor to perform a second independent or coordinated move in addition to the gearing For example when a geared motor follows a master at a ratio of 1 1 it may be ad
44. L s at the frequency c 500 L j500 0 3175 107 500 2 j500 2000 This function has a magnitude of 10500 0 00625 and a phase Arg L j500 180 tan 1 500 2000 194 G s is selected so that A s has a crossover frequency of 500 rad s and a phase margin of 45 degrees This requires that A j500 I 1 Arg A j500 135 However since A s L s G s then it follows that G s must have magnitude of 16 5500 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 00500 IP G500D I 160 arg G j500 tan 1 S00D P 59 The solution of these equations leads to P 40cos 59 82 4 500D 40sin 59 137 2 Therefore D 0 2744 82 4 0 27445 The function is equivalent to a digital filter of the form D z 24e KP 4 KD 1 zl where KP P 4 and 142 e Chapter 10 Theory of Operation DMC 1000 DMC 1000 KD D 4 T Assuming a sampling period of T 1ms the parameters of the digital filter are KP 20 6 KD 68 6 The DMC 1000 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
45. LOOP JP LOOP EN POSERR 1 _ MG EXCESS POSITION ERROR MG ERROR V1 RE Interpretation Dummy Program Loop Position Error Routine Read Position Error Print Message Print Error Return from Error While running the dummy program if the position error on the X axis exceeds that value 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 HA JG 30000 60000 BGXW LOOP JP LOOP EN ININT STXW AM TEST JP IN 1 0 JG 30000 6000 BGXW RI EN Interpretation Label Input Interrupt on 1 Jog Begin Motion Loop Input Interrupt Stop Motion Test for Input 1 still low Restore Velocities Begin motion and Return to Main Program NOTE Use the RI command to return from ININT subroutine Example Motion Complete Timeout Instruction BEGIN TW 1000 PA 10000 BGX MCX EN MCTIME MG X fell short EN Interpretation Begin main program Set the time out to 1000 ms Position Absolute command Begin motion Motion Complete trip point End main program Motion Complete Subroutine Send out a message End subroutine This simple program will issue the message X fell short if the X axis does not reach the commanded position withi
46. PR5000 Position Relative 5000 004 EN End lt cntrl gt Q Quit Edit Mode XQ 8A Execute A 003 PR5000 Error on Line 3 TCI Tell Error Code 27 Command not valid Command not valid while running while running ED 3 Edit Line 3 003 AMX PR5000 BGX Add After Motion Done lt cntrl gt Quit Edit Mode XQ Execute A Program Flow Commands The DMC 1000 provides instructions to control program flow The DMC 1000 program sequencer normally executes program instructions sequentially The program flow can be altered with the use of event triggers trippoints and conditional jump statements Event Triggers amp Trippoints To function independently from the host computer the DMC 1000 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 1000 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 m
47. The DMC 1000 performs all the complex computations of linear and circular interpolation freeing the host PC from this time intensive task The coordinated motion mode is similar to the linear interpolation mode Any pair of two axes may be selected for coordinated motion consisting of linear and circular segments In addition a third axis can be controlled such that it remains tangent to the motion of the selected pair of axes Note that only one pair of axes can be specified for coordinated motion at any given time The command VM m n p where m and n are the coordinated pair and p is the tangent axis Note the commas which separate m n and p are not necessary For example VM XWZ selects the XW axes for coordinated motion and the Z axis as the tangent Specifying Vector Segments The motion segments are described by two commands VP for linear segments and CR for circular segments Once a set of linear segments and or circular segments have been specified the sequence is ended with the command VE This defines a sequence of commands for coordinated motion Immediately prior to the execution of the first coordinated movement the controller defines the current position to be zero for all movements in a sequence Note This local definition of zero does not affect the absolute coordinate system or subsequent coordinated motion sequences 54 e Chapter 6 Programming Motion DMC 1000 DMC 1000 The command VP xy specifies the c
48. To specify the master cycle and the slave cycle change we use the instruction EM EM x y z w where x y z w specify the cycle of the master and the total change of the slaves over one cycle The cycle of the master is limited to 8 388 607 whereas the slave change per cycle is limited to 2 147 483 647 If the change is a negative number the absolute value is specified For the given example the cycle of the master is 6000 counts and the change in the slave is 1500 Therefore we use the instruction EM 6000 1500 Step 3 Specify the master interval and starting point Next we need to construct the ECAM table The table is specified at uniform intervals of master positions Up to 256 intervals are allowed The size of the master interval and the starting point are specified by the instruction Chapter 6 Programming Motion e 61 EP m n where m is the interval width in counts and n is the starting point For the given example we can specify the table by specifying the position at the master points of 0 2000 4000 and 6000 We can specify that by EP 2000 0 Step 4 Specify the slave positions Next we specify the slave positions with the instruction ET n x y z w where n indicates the order of the point The value n starts at zero and may go up to 256 The parameters x y z w indicate the corresponding slave position For this example the table may be specified by ET 0 0 ET 1 3000 ET 2 2250 ET 3 1500
49. Xx 696 x WE ae 74 x _ __ x x uxo v qs qox s praes kcu quce pex Ere cocer rose N pO urs due ee ae Le e Wr eee Ee eee sexu cue _ eee ee 736 x S qx x iesu iae re 74 x gam wp 3l o nep Tx IE 7967 quse dg pou lal X lt lt gt lt X lt lt X lt x lt x lt x lt x lt lt x x x lt x x x x x x x x x rH lt x lt x x lt x lt x gt x lt x lt m 7e Jx o nh gro p _ 31 9 puer nam I hecunb ba ci e e 768 X X Exe ECIAM p 7 x x Lo 4 x x L1 x a 59 x x xl 3 x x xL 1 7 x x LL I x x Co l 339 ele e BI MESI amp ee X X E ed 80 x e mu p xu Ec Jp 4 363 x qe E ee EE EXE Hee eH eee Hee EHE X lt gt x lt gt x lt x lt x lt x lt x lt m i 1 1 156 Appendices DMC 1000 Address DipAB Dip A7 Dip A6 Dip AS Dip AA Dip AS Dip A2
50. _VPY can be used to return the coordinates of the last point specified along the path Example Traverse the path shown in Fig 6 3 Feedrate is 20000 counts sec Plane of motion is XY Chapter 6 Programming Motion e 57 Instruction Interpretation VM XY Specify motion plane VS 20000 Specify vector speed VA 1000000 Specify vector acceleration VD 1000000 Specify vector deceleration VP 4000 0 Segment AB CR 1500 270 180 Segment BC VP 0 3000 Segment CD CR 1500 90 180 Segment DA VE End of sequence BGS Begin Sequence The resulting motion starts at the point and moves toward points B C D A Suppose that we interrogate the controller when the motion is halfway between the points A and B The value of AV is 2000 The value of CS is 0 _VPX _ contain the absolute coordinate of the point A Suppose that the interrogation is repeated at a point halfway between the points C and D The value of AV is 4000 15007 2000 10 712 The value of CS is 2 _VPX _VPY contain the coordinates of the point C C 4000 3000 D 0 3000 B 4000 0 A 0 0 Figure 6 3 The Required Path Electronic Gearing This mode allows up to 8 axes to be electronically geared to one master axis The master may rotate in both directions and the geared axes will follow at the specified gear ratio The gear ratio may be different for each axis and changed during motion The command GAX or GAY or GAZ or GAW or GAA or GAB or GAC or GAD or
51. back to the program line where the subroutine or interrupt was called The ZS1 command clears 1 level of the stack This allows the program sequencer to continue to the next line The 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 program 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 Automatic Subroutines for Monitoring Conditions Often it is desirable to monitor certain conditions continuously without tying up the host or DMC 1000 program sequences The DMC 1000 can monitor several important conditions in the background These conditions include checking for the occurrence of a limit switch a defined input Chapter 7 Application Programming e 97 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 SUBROUTINE DESCRIPTION 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 Timeout period set by TW command CMDERR Bad command given 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 i
52. 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 A for a new cycle Instruction Function A Label All Wait for input 1 PR 6370 Distance SP 3185 Speed BGX Start Motion AMX After motion is complete SB1 Set output bit 1 WT 20 Wait 20 ms Clear output bit 1 WT 80 Wait 80 ms JP A Repeat the process 118 e Chapter 7 Application Programming DMC 1000 START PULSE 11 ze o e e MOTOR VELOCITY OUTPUT PULSE aM output TIME INTERVALS DMC 1000 move wait ready move Figure 7 1 Motor Velocity and the Associated input output signals X Y Table Controller An X Y Z system must cut the pattern shown in Fig 7 2 The X Y table moves the plate while the Z axis raises and lowers the cutting tool The solid curves in Fig 7 2 indicate sections where cutting takes place Those must be performed at a feedrate of 1 inch per second The dashed line corresponds to non cutting moves and should be performed at 5 inch per second The acceleration rate is 0 1 g The motion starts at point A with the Z axis raised An X Y motion to point B is followed by
53. 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 When active inhibits motion in forward direction Also causes execution of limit switch subroutine LIMSWI The polarity of the limit switch may be set with the CN command When active inhibits motion in reverse direction Also causes execution of limit switch subroutine LIMSWI The polarity of the limit switch may be set with the CN command Input for Homing HM and Find Edge FE instructions Upon BG following HM or FE the motor accelerates to slew speed A transition on this input will cause the motor to decelerate to a stop The polarity of the Home Switch may be set with the CN command Uncommitted inputs May be defined by the user to trigger events Inputs are checked with the Conditional Jump instruction and After Input instruction or Input Interrupt Input 1 is latch X Input 2 is latch Y Input 3 is latch Z and Input 4 is latch W if the high speed position latch function is enabled High speed position latch to capture axis position within 20 nano seconds on occurrence of latch signal AL command arms latch Input 1 is latch X Input 2 is latch Y Input 3 is latch Z and Input 4 is latch W Input 9 is latch E Input 10 is
54. 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 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 backlash compensation by sampled dual loop Instruction HA DPO LINPOS 0 PR 1000 BGX HB AMX WT 50 LIN POS DEX ER 1000 LINPOS TEX JP 4C ABS ER lt 2 PR ER BGX JP 4B HC EN Interpretation Label Define starting positions as zero Required distance Start motion Wait for completion Wait 50 msec Read linear po
55. out 9 2 out 10 3out 11 4 out 12 5 out 13 6 out 14 7 out 15 8 out 16 9 out 17 10 out 18 11 out 19 12 out 20 13 out 21 14 out 22 15 out 23 16 out 24 17 NC 18 GND 19 GND 20 out 25 2 out 26 22 out 27 23 out 28 24 out 29 25 out 30 26 out 31 27 out 32 28 out 33 29 out 34 30 out 35 31 out 36 32 out 37 33 out 38 34 out 39 35 out 40 36 NC 37 NC 38 GND 39 GND 40 NC 4 in9 42 in 10 43in 11 44 in 12 45 in 13 46 in 14 47 in 15 48 in 16 49 in 17 50 in 18 51 in 19 52 in 20 53 in 21 54 in 22 55 in 23 56 in 24 57 NC 58 GND 59 GND 60 5 Volts 168 Appendices DMC 1000 DMC 1000 1 in 25 3 in 27 5 in 29 7 31 9 in 33 11 in 35 13 in 37 15 in 39 17 NC 19 GND 2 in 42 23 in 44 25 in 46 27 in 48 29 in 50 31 in 52 33 in 54 35 in 56 37 NC 39 GND 4 in 57 43 in 59 45 in 61 47 in 63 49 in 65 51 in 67 53 in 69 55 in 71 57 NC 59 GND J2 Pinout 2 in 26 4 in 28 5 in 30 8 in 32 10 in 34 12 in 36 14 in 38 16 in 40 18 GND 20 in 41 22 in 43 24 in 45 26 in 47 28 in 49 30 in 51 32 in 53 34 in 55 36 NC 38 GND 40 NC 42 in 58 44 in 60 46 in 62 48 in 64 50 in 66 52 in 68 54 in 70 56 in 72 58 GND 60 5 Volts Appendices 169 Coordinated Motion Mathematical Analysis The terms of coordinated motion are best explained in terms of the vector motion The vector velocity Vs which is also known as the feed rate is the vector sum of the velocities along the X and Y axes Vx and Vy Vs JVx
56. places Examples DP21 Define position TPX Tell position 0000000021 Default format PF4 Change format to 4 places TPX Tell position 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 The 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 170 0000000009 0000000005 0000000000 0000000007 112 Chapter 7 Application Programming Disables the LZ function Tell Position Interrogation Command Response from Interrogation Command With Leading Zeros DMC 1000 DMC 1000 171 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 0
57. position error based on the load encoder and applies the KD derivative term to the motor encoder This method results in a stable system The dual loop method is activated with the instruction DV Dual Velocity where DV LLLI 74 e Chapter 6 Programming Motion DMC 1000 DMC 1000 activates the dual loop for the four axes and DV 0 0 0 0 disables the dual loop Note that the dual loop compensation depends on the backlash magnitude and in extreme cases will not stabilize the loop The proposed compensation procedure is to start with KP 0 KI 0 and to maximize the value of KD under the condition DV1 Once KD is found increase KP gradually to a maximum value and finally increase KI if necessary Example Sampled Dual Loop In this example we consider a linear slide which is run by a rotary motor via a lead screw Since the lead screw has a backlash it is necessary to use a linear encoder to monitor the position of the slide For stability reasons it is best to use a rotary encoder on the motor Connect the rotary encoder to the X axis and connect the linear encoder to the auxiliary encoder of X Assume that the required motion distance is one inch and that this corresponds to 40 000 counts of the rotary encoder and 10 000 counts of the linear encoder The design approach is to drive the motor a distance which corresponds to 40 000 rotary counts Once the motion is complete the controller monitors the position of the linear encod
58. program such as DMCTERM the following parameters can be given to avoid system damage Input the commands ER 2000 CR Sets error limit on the X axis to be 2000 encoder counts Chapter 2 Getting Started 13 14 e Chapter 2 Getting Started OE 1 CR Disables X axis amplifier when excess position error exists If the motor runs away and creates a position error of 2000 counts the motor amplifier will be disabled Note This function requires the AEN signal to be connected from the controller to the amplifier Step C Set Torque Limit as a Safety Precaution To limit the maximum voltage signal to your amplifier the DMC 1000 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 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
59. program describes the tasks in terms of the motors that need to be controlled the distances and the speed Chapter 10 Theory of Operation 131 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 4000 SP 20000 20000 AC 200000 00000 BGX AD 2000 BG Y EN This program corresponds to the velocity profiles shown in Fig 10 3 Note that the profiled positions show where the motors must be at any instant of time Finally it remains up to the servo system to verify that the motor follows the profiled position by closing the servo loop The following section explains the operation of the servo system First it is explained qualitatively and then the explanation is repeated using analytical tools for those who are more theoretically inclined 132 e Chapter 10 Theory of Operation DMC 1000 X VEL CITY Y VELOCITY X POSITION e si Y POSITION TIME Figure 10 3 Velocity and Position Profiles Operation of Closed Loop Systems DMC 1000 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 t
60. register is used for receiving data from the DMC 1000 The WRITE register is used to send data to the DMC 1000 The CONTROL register may be read or written to and is used for controlling communication flags and interrupts Simplified Communication Procedure The simplest approach for communicating with the DMC 1000 is to check bits 4 and 5 of the CONTROL register at address N 1 Bit 4 is for WRITE STATUS and bit 5 is for READ STATUS 34 Chapter 4 Communication DMC 1000 DMC 1000 READ No data to be read WRITE Buffer not full OK to write up to 16 characters WRITE Buffer almost full Do not send data Read Procedure To receive data from the DMC 1000 read the control register at address 1 and check bit 5 If bit 5 is zero the DMC 1000 has data to be read in the READ register at address N Bit 5 must be checked for every character read and should be read until it signifies empty Reading data from the READ register when the register is empty will result in reading an FF hex Write Procedure To send data to the DMC 1000 read the control register at address N 1 and check bit 4 If bit 4 is zero the DMC 1000 FIFO buffer is not almost full and up to 16 characters may be written to the WRITE register at address N If bit 4 is one the buffer is almost full and no additional data should be sent The size of the buffer may be changed see Changing Almost Full Flags on pg 35 Any high level computer language such as C Basi
61. the following meaning Hex Data 00 D9 DA DB FO through FF E1 through E8 co C8 D8 D7 D6 D5 D4 D3 D2 D1 DO Condition No interrupt Watchdog timer activated Command done Application program done User interrupt Input interrupt Limit switch occurred Excess position error All axis motion complete E axis motion complete F axis motion complete G axis motion complete H axis motion complete W axis motion complete Z axis motion complete Y axis motion complete X axis motion complete Example Interrupts 1 Interrupt on Y motion complete on IRQS PR 5000 BGY Jumper IRQ5 on DMC 1000 Install interrupt service routine in host program Write data 2 then 4 to address N 1 Enable bit 1 on EI command m 2 2 EI2 Now when the motion is complete IRQ5 will go high triggering the interrupt service routine Write a 6 to address N 1 Then read N 1 to receive the data D1 hex DMC 1000 38 Chapter 4 Communication 2 Send User Interrupt when at speed 1 Label PR 1000 Position SP 5000 Speed BGX Begin ASX At speed Uli Send interrupt EN End This program sends an interrupt when the X axis is at its slew speed After a 6 is written to address N 1 the data EI will be read at address N 1 EI corresponds to UII Controller Response to DATA Most DMC 1000 instructions are represented by two characters followed by the appropriate parameters Each instruction must be terminated by a carri
62. the results captured by the WSDK program This shows how the motion will be seen during the ECAM cycles The first graph is for the X axis the second graph shows the cycle on the Y axis and the third graph shows the cycle of the Z axis DMC 1000 Chapter 6 Programming Motion e 65 5 _______ Collection Graph File Collection Graph J E o E e Actual Position 2 econd Scope Actual Position 1500 ES e Third Scope 2 Actual Position le 1500 Command String 3000 Start Collecting 2000 d 0 500 1000 1500 2000 Contour Mode The DMC 1000 also provides a contouring mode This mode allows any arbitrary position curve to be prescribed for 1 to 8 axes This is ideal for following computer generated paths such as parabolic spherical or user defined profiles The path is not limited to straight line and arc segments and the path length may be infinite Specifying Contour Segments The Contour Mode is specified with the command CM For example CMXZ specifies contouring on the X and Z axes Any axes that are not being used in the contouring mode may be operated in other modes A contour is described by position increments which are described with the command CD x y z w time interval DT The parameter specifies the time interval The time interval is defined as 2 ms where n is a n
63. these jumpers the cover of the controller box must be removed The following describes each of the jumpers WARNING Never open the controller box when AC power is applied to it For each axis that will be driving a stepper motor a stepper mode SM jumper must be connected Chapter 2 Getting Started 7 E B If you using a controller with more than 4 axis you will have two pc cards inside the controller box In this case you will have 2 sets of stepper motor jumpers one on each card The jumpers on the bottom card will be for axes X Y Z and W or A B C and D and the top will be E F G and To access the bottom card the top card must be carefully removed The stepper mode jumpers are located next to the GL 1800 which is the largest IC on the board The jumper set is labeled JP40 and the individual stepper mode jumpers are labeled SMX SMY SMZ SMW The fifth jumper of the set OPT is for use by Galil technicians only The jumper set J41 can be used to connect the controllers internal power supply to the optoisolation inputs This may be desirable if your system will be using limit switches home inputs digital inputs or hardware abort and optoisolation is not necessary for your system For a further explanation see section Bypassing the Opto Isolation in Chapter 3 Step 3 Install the DMC 1000 in the Computer The DMC 1000 is installed directly into the ISA expansion bus The procedure is outlined below Step A Make s
64. 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 on the X axis TL 1 CR 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 D Connect the Motor Once the parameters have been set connect the analog motor command signal ACMD to the amplifier input To test the polarity of the feedback command a move with the instruction PR 1000 CR Position relative 1000 counts BGX CR Begin motion on X axis 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 If the motor runs away the polarity of the loop must be inverted Note 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 1 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 us
65. to do the following 1 Choose which 8 bit I O blocks that should be configured as outputs 2 From the table determine the decimal value for each I O block to be set as an output 3 Add up all of the values determined in step 2 This is the value to be used for n For example if blocks 1 2 and 4 are outputs then n is 11 and the command CO11 should be issued This parameter and the state of the outputs can be stored in the EEPROM with the BN command If no value has been set the default of CO 0 is used all blocks are inputs When configured as an output each I O point may be defined with the SBn and CBn commands where n 9 through 56 OBn can also be used with n 9 through 56 Accessing the I O of the DB 10072 The command OQ may be used to set the state of output bits The OQ command set 16 bits at one time The command syntax for the command is the following OQ m n o where m n and o range from 0 to 65535 The data fields define the outputs as follows Field Most significant to least significant byte m block 2 to 1 n block 4 to 3 block 6 to 5 When OQ is used as an operand a 0 will return the current state of blocks 2 to 1 a 1 returns 4 to 3 and a 2 returns 6 to 5 Example MG OQ2 returns the state of the bits in blocks 6 and 5 When accessing I O blocks configured as inputs use the command The operant n refers to the block to be read n 1 to 9 Individual bits can be queried using the IN n comma
66. used to specify the gear ratios For more information see previous section Electronic Gearing on page 58 The second encoder may be a standard quadrature type or it may provide pulse and direction The controller also offers the provision for inverting the direction of the encoder rotation The main and the auxiliary encoders are configured with the CE command The command form is CE x y z w or a b c d e f g h for controllers with more than 4 axes where the parameters x y z w each equal the sum of two integers m and n m configures the main encoder and n configures the auxiliary encoder Using the CE Command Normal quadrature o Normal quadrature Chapter 6 Programming Motion e 73 Pulse amp direction Pulse amp direction Reverse pulse amp direction Reversed pulse amp direction For example to configure the main encoder for reversed quadrature m 2 and a second encoder of pulse and direction n 4 the total is 6 and the command for the X axis is CE6 Additional Commands for the Auxiliary Encoder The command DE x y z w can be used to define the position of the auxiliary encoders For example DE 0 500 30 300 sets their initial values The positions of the auxiliary encoders may be interrogated with the command DE For example DE returns the value of the X and Z auxiliary encoders The auxiliary encoder position may be assigned to variables with the instructions 1 _ The command TD XYZW r
67. variable SPEED is equal to 7 5 multiplied by V1 and divided by 2 DMC 1000 COUNT COUNT 2 The variable COUNT is equal to the current value plus 2 RESULT _TPX COS 45 40 Puts the position of X 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 1000 numeric operand including variables array elements numeric values functions keywords and arithmetic expressions The bit wise operators may also be used with strings Bit wise operators are useful for separating characters from an input string When using the input command for string input the input variable holds 6 bytes of data Each byte is eight bits so a number 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 a six character string 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 Instruction Interpretation TEST Begin main program IN ENTER LEN S6 Inp
68. vy The vector distance is the integral of Vs or the total distance traveled along the path To illustrate this further suppose that a string was placed along the path in the X Y plane The length of that string represents the distance traveled by the vector motion The vector velocity is specified independently of the path to allow continuous motion The path is specified as a collection of segments For the purpose of specifying the path define a special X Y coordinate system whose origin is the starting point of the sequence Each linear segment is specified by the X Y coordinate of the final point expressed in units of resolution and each circular arc is defined by the arc radius the starting angle and the angular width of the arc The zero angle corresponds to the positive direction of the X axis and the CCW direction of rotation is positive Angles are expressed in degrees and the resolution is 1 256th of a degree For example the path shown in Fig 12 2 is specified by the instructions VP 0 10000 CR 10000 180 90 VP 20000 20000 20000 10000 10000 20000 Figure 12 2 X Y Motion Path 170 Appendices DMC 1000 The first line describes the straight line vector segment between points and B The next segment is a circular arc which starts at an angle of 180 and traverses 90 Finally the third line describes the linear segment between points C and D Note that the total length of the motion consists
69. 0 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 through 10 and n is the number of digits to the right of the decimal point 0 through 4 A negative sign for m specifies hexadecimal format The default format for VF is VF 10 4 Hex values are returned preceded by a and in 2 s complement Instruction Interpretation V1 10 Assign V1 1 Return V1 0000000010 0000 Response from controller with default format VF2 2 Change format 1 Return V1 10 00 Response from controller with new format VF 2 2 Specify hex format 1 Return V1 0A 00 Response from controller in hexadecimal format Change format 1 Return V1 9 Response from controller returns 9 if value greater than 9 Local Formatting of Variables PF and VF commands are global format commands that effect 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 numb
70. 0 count rev encoder is on the motor resulting in a resolution of 4000 counts inch The program below uses the variable LEN to length The IN command is used to prompt the operator to enter the length and the entered value is assigned to the variable LEN Instruction Interpretation BEGIN LABEL AC 800000 Acceleration DC 800000 Deceleration SP 5000 Speed LEN 3 4 Initial length in inches CUT Cut routine All Wait for start signal IN enter Length IN LEN Prompt operator for length in inches PR LEN 4000 Specify position in counts BGX Begin motion to move material AMX Wait for motion done SB1 Set output to cut WT100 CB1 Wait 100 msec then turn off cutter JP CUT Repeat process EN End program Chapter 7 Application Programming 109 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 The DMC 1000 stores all variables as 6 bytes of information When a variable is specified as a number the value of the variable is represented as 4 bytes of integer and 2 bytes of fraction When a variable is specified as a string the variable can hold up to 6 characters each ASCII character is 1 byte When using the IN command for string input the first input character will be place
71. 0 ms Report the value of V1 DMC 1000 JP C V1 0 Exit if position 0 JP Repeat otherwise C Label C EN End of Program To start the program command XQ Execute Program This program moves X to an initial position of 1000 and returns it to zero on increments of half the distance Note _TPX is an internal variable which returns the value of the X position Internal variables may be created by preceding a DMC 1000 instruction with an underscore Example 15 Linear Interpolation Objective Move X Y Z motors distance of 7000 3000 6000 respectively along linear trajectory Namely motors start and stop together Instruction Interpretation LM XYZ Specify linear interpolation axes LI 7000 3000 6000 Relative distances for linear interpolation LE Linear End VS 6000 Vector speed VA 20000 Vector acceleration VD 20000 Vector deceleration BGS Start motion Example 16 Circular Interpolation Objective Move the XY axes in circular mode to form the path shown on Fig 2 4 Note that the vector motion starts at a local position 0 0 which is defined at the beginning of any vector motion sequence See application programming for further information Instruction Interpretation VM XY Select XY axes for circular interpolation VP 4000 0 Linear segment CR 2000 270 180 Circular segment VP 0 4000 Linear segment CR 2000 90 180 Circular segment VS 1000 Vector speed VA 50000 Vector acceleration VD 50000 Vector dec
72. 00 DMC 1000 Pin out Conversion Table eene 177 Lastof Other Publications iore Dp EP dte eum 179 Contac ng etd e ia He pei aep etes 179 WARRANTY REG esie ee Pa 180 183 Contents e xi Chapter 1 Overview Introduction The DMC 1000 series motion controller is a state of the art motion controller that plugs into the PC Bus Performance capability of the DMC 1000 series controllers includes 8 MHz encoder input frequency 16 bit motor command output DAC 2 billion counts total travel per move sample rate at up to 125 usec axis bus interrupts and non volatile memory for parameter storage These controllers provide high performance and flexibility while maintaining ease of use and low cost Designed for maximum system flexibility the DMC 1000 is available for one two three or four axes configuration per card An add on card is available for control of five six seven or eight axes The DMC 1000 can be interfaced to a variety of motors and drives including step motors servo motors and hydraulic systems Each axis accepts feedback from a quadrature linear or rotary encoder with input frequencies up to 8 million quadrature counts per second For dual loop applications in which an encoder is required on both the motor and the load auxiliary encoder inputs are included for each axis The DMC 1000 provides many modes of motion including jogging point to point positioning linear and ci
73. 00 controller The filter parameters can be selected by the user for the best compensation The following discussion presents an analytical design method The Analytical Method The analytical design method is aimed at closing the loop at a crossover frequency cx 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 K 0 83 Nm A Torque constant J 2 104 kg m System moment of inertia Rz2 Q Motor resistance K 2 Amp Volt Current amplifier gain N 1000 Counts rev Encoder line density The DAC of the DMC 1000 outputs 10V 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 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 KyJs 4150 52 Amp K4 2 Amp V DAC Kg 20 65536 0003 Encoder Kg 4N 2r 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 Kg H s 0 3175 107 s2 s 2000 Then the open loop transfer function A s is Chapter 10 Theory of Operation 141 A s 2 L s G s Now determine the magnitude and phase of
74. 1 4 136 139 141 Analog Input 1 3 8 25 31 102 4 105 110 117 122 145 159 174 1 3 8 25 31 102 4 105 110 117 122 145 173 Analysis SDK 11 83 11 83 Arithmetic Functions 1 83 95 101 103 114 1 83 95 101 103 114 Arm Latch 81 176 77 81 175 76 Array 3 53 68 70 83 89 95 101 105 13 115 146 154 174 176 77 3 53 68 70 83 89 95 101 105 13 115 146 154 173 175 76 Autocad 154 Automatic Subroutine 86 97 86 97 CMDERR 86 98 100 86 98 100 LIMSWI 25 86 97 98 126 28 25 86 97 98 125 27 MCTIME 86 91 98 99 86 91 98 99 POSERR 86 97 98 126 27 86 97 98 126 27 Auxiliary Board 3 148 154 3 148 154 DMC 1000 Auxiliary Encoder 1 5 25 59 71 75 150 152 160 1 5 25 59 71 75 150 152 Dual Encoder 74 107 74 107 Backlash 73 75 122 73 75 122 Backlash Compensation Dual Loop 71 75 71 75 122 71 75 71 75 122 Begin Motion 175 174 Bit Wise 95 100 95 100 Burn EEPROM 3 Non volatile memory 1 3 1 3 Bypassing Optoisolation 29 C Capture Data Record 68 70 105 108 109 68 70 105 108 109 Circle 119 20 119 20 Circular Interpolation 1 23 54 55 59 107 119 1 23 54 55 59 107 119 Clear Bit 114 Clear Sequence 49 51 55 57 49 51 55 57 Clock 105 CMDERR 86 98 100 86 98 100 Command Syntax 41 42 41 42 Command Summary 44 105 107 44 105 107 Commanded Position 46 47 59 60 99 107
75. 1 Removing the resistor pack allows the user to connect their own resistor to the desired voltage level Up to24V SERVO MOTOR AMPLIFIER 100 PIN RIBBON 7407 Open Collector Buffer The Enable signal can be inverted by using a 7406 Analog Switch Figure 3 4 Connecting AEN to the motor amplifier TTL Inputs 1080 As previously mentioned the DMC 1000 has 8 uncommitted TTL level inputs for controllers with 5 or more axes These are specified as INx where x ranges from 17 thru 24 The reset input is also a TTL level non isolated signal and is used to locally reset the DMC 1000 without resetting the PC Analog Inputs The DMC 1000 has seven analog inputs configured for the range between 10V and 10V The inputs are decoded by a 12 bit A D converter giving a voltage resolution of approximately 005V The impedance of these inputs is 10 KO The analog inputs are specified as AN x where x is a number 1 thru 7 Galil can supply the DMC 1000 with a 16 bit A D converter as an option DMC 1000 Chapter 3 Connecting Hardware e 31 TTL Outputs The DMC 1000 provides eight general use outputs and an error signal output The general use outputs are TTL and are accessible by connections to OUTI thru OUT8 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 the Comm
76. 10 Alternate method for setting gain on all axes KPX 10 Alternate method for setting X or A axis gain KPA 10 Alternate method for setting A or X axis gain When using controllers with 5 or more axes the X Y Z and W axes can also be referred to as the A B C D Instruction Interpretation OE 1 1 1 1 1 1 1 1 Enable automatic Off on Error function for all axes ER 1000 Set error limit for all axes to 1000 counts KP10 10 10 10 10 10 10 10 Set gains for a b c d e f g and h axes 10 Alternate method for setting gain on all axes KPX 10 Alternate method for setting X or A axis gain KPA 10 Alternate method for setting A or X axis gain KPZ 10 Alternate method for setting Z axis gain KPD 10 Alternate method for setting D axis gain KPH 10 Alternate method for setting H axis gain Example 2 Profiled Move Objective Rotate the X axis a distance of 10 000 counts at a slew speed of 20 000 counts sec and an acceleration and deceleration rates of 100 000 counts s2 In this example the motor turns and stops Instruction Interpretation PR 10000 Distance SP 20000 Speed DC 100000 Deceleration AC 100000 Acceleration BGX Start Motion Example 3 Multiple Axes Objective Move the four axes independently 18 e Chapter 2 Getting Started DMC 1000 Instruction PR 500 1000 600 400 SP 10000 12000 20000 10000 AC 100000 10000 100000 100000 DC 80000 40000 30000 50000 BGXZ BG YW Interpretation Distances of X Y Z W Sl
77. 10 Theory of Operation 139 FILTER ZOH DAC AMP MOTOR V 2000 500 4 50 0 980s STOOD 0 0003 E ENCODER 318 Figure 10 7 Mathematical model of the control system The open loop transfer function A s is the product of all the elements in the loop 390 000 s 51 s2 s 2000 To analyze the system stability determine the crossover frequency o at which A j equals one This can be done by the Bode plot of AG as shown in Fig 10 8 Magnitude 50 200 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 1200 2000 a Arg A 200 tan 1 200 51 180 tan 1 200 2000 a 76 180 6 110 Finally the phase margin PM equals PM 180 a 70 140 e Chapter 10 Theory of Operation DMC 1000 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 1000 The closed loop control system can be stabilized by a digital filter which is preprogrammed in the DMC 10
78. 117 131 33 46 47 59 60 99 107 117 131 33 Commdisk 6 8 11 36 6 9 11 36 Communication 3 Almost Full Flag 35 FIFO 3 33 35 36 39 3 33 35 36 39 Compensation Backlash 73 75 122 73 75 122 Conditional jump 1 21 27 83 93 95 116 1 21 27 83 93 95 116 Configuration Jumper 6 7 11 29 36 38 130 6 7 11 29 36 38 130 Connector 5 8 25 28 32 5 8 25 27 32 Contour Mode 66 70 66 70 Control Filter Damping 130 134 130 134 Integrator 134 138 39 134 138 39 Proportional Gain 134 Coordinated Motion 42 53 55 42 53 55 Circular 1 23 54 55 59 107 119 1 23 54 55 59 107 119 Contour Mode 66 70 66 70 Ecam 61 62 65 61 62 65 Electronic Cam 61 63 61 63 Index e 183 Electronic Gearing 1 55 61 1 55 61 Gearing 1 55 61 1 55 61 Linear Interpolation 23 48 51 48 51 53 59 66 23 47 51 47 51 53 59 66 Cosine 101 2 106 101 2 106 Cycle Time Clock 105 D DAC 1 134 138 39 141 1 134 138 39 141 Damping 130 134 130 134 Data Capture 106 8 106 8 Data Output Set Bit 114 Daughter Board DB 10096 3 4 3 4 DB 10096 3 4 3 4 Debugging 88 Deceleration 1 Default Setting Master Reset 6 7 6 7 Differential Encoder 12 14 130 12 15 130 Digital Filter 138 39 141 43 138 39 141 43 Digital Input 25 27 102 115 25 27 102 115 Digital Output 102 114 102 114 Clear Bit 114 Dip Switch 10 11 Address 153 155 57 180 153 155 57 179 Dow
79. 2000 60 Convert to counts sec IN ENTER ACCEL IN RAD SEC2 A1 Prompt for ACCEL AC A1 2000 2 3 14 Convert to counts sec2 BG Begin motion EN End program Programmable Hardware I O Digital Outputs The DMC 1000 has an 8 bit uncommitted output port for controlling external events The DMC 1080 has an additional eight output bits available at JD5 pins 10 17 Each bit on the output port may be set and cleared with the software instructions SB Set Bit and CB Clear Bit or OB define output bit 114 e Chapter 7 Application Programming DMC 1000 DMC 1000 Instruction SB6 CB4 CB9 Example Using Set Bit and Clear Bit Commands SB CB Interpretation Sets bit 6 of output port Clears bit 4 of output port Clear bit 9 of output port on DMC 1080 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 OBI POS OB 2 IN 1 3 GIN 1 amp GIN 2 OB 4 COUNT 1 Example Using the output bit Command OB Interpretation Set Output 1 if the variable POS is non zero Clear Output 1 if POS equals 0 Set Output 2 if Input 1 is high If Input 1 is low clear Output 2 Set Output 3 only if Input 1 and Input 2 are high Set Output 4 if element 1 in the array COUNT is non zero The output port can be set by specifying an 8 bit word using the instruction OP Output Port This instruction a
80. 3 54 55 59 107 119 1 23 54 55 59 107 119 Multitasking 87 Execute Program 22 23 22 23 Halt 50 55 87 91 93 94 115 50 55 87 91 93 94 115 N Non Volatile Memory 1 3 1 3 Off On Error 125 127 125 126 Off On Error 12 27 30 125 127 12 26 30 125 126 Offset Adjustment 32 129 32 129 Operand Internal Variable 23 95 103 104 23 95 103 104 Operators Bit Wise 95 100 95 100 Optoisolation 25 27 28 30 25 27 28 30 Home Input 26 78 105 26 78 105 Output Amplifier Enable 31 32 125 31 32 125 ICM 1100 12 25 29 30 12 25 29 30 Interconnect Module 6 8 6 8 Motor Command 1 14 20 32 138 1 14 20 32 138 Output of Data 110 Clear Bit 114 Set Bit 114 P PID 14 134 138 143 15 134 138 143 Play Back 108 POSERR 86 97 98 126 27 86 97 98 126 27 186 e Index Position Error 13 19 14 19 Position Capture 81 Latch 30 81 30 81 Teach 70 Position Error 12 13 19 30 86 98 104 107 117 122 125 27 130 133 12 14 19 30 86 98 104 107 117 122 125 26 130 133 Position Follow 117 Position Limit 126 Program Flow 85 90 85 90 Interrupt 1 3 6 7 86 87 93 97 98 116 1 3 6 7 86 87 93 97 98 116 Stack 97 100 116 97 100 116 Programmable 1 114 122 126 1 114 122 126 EEPROM 3 Programming Halt 87 91 93 94 115 87 91 93 94 115 Proportional Gain 134 Protection Error Limit 12 13 18 30 98 125 27 12
81. 43 44 58 110 111 Stop Code 108 130 108 130 Step Motor 1 4 6 8 77 78 1 4 6 8 77 78 KS Smoothing 1 50 52 55 57 71 77 1 50 51 55 57 71 77 Stop Abort 1 25 26 30 49 55 125 127 145 147 151 52 161 175 179 1 25 26 30 49 55 125 127 145 146 151 52 174 178 Stop Code 108 130 108 130 Stop Motion 49 55 99 128 49 55 99 128 Subroutine 25 86 94 98 116 126 27 25 86 94 98 116 125 27 Automatic Subroutine 86 97 86 97 Synchronization 4 61 4 61 Syntax 41 42 41 42 Tangent 54 56 57 54 56 57 Teach 70 Data Capture 106 8 106 8 Latch 30 81 30 81 Play Back 108 Position Capture 81 Record 68 70 105 108 109 68 70 105 108 109 Tell Error Position Error 13 19 14 19 Tell Position 39 92 104 6 39 92 104 6 Terminal 26 29 83 103 111 25 29 83 103 111 DMC 1000 Theory 131 Damping 130 134 130 134 Digital Filter 138 39 141 43 138 39 141 43 Modelling 131 134 35 138 131 134 35 138 PID 14 134 138 143 15 134 138 143 Stability 74 75 122 129 30 134 140 74 75 122 129 30 134 140 Time Clock 105 TIME 105 6 105 6 Time Interval 66 68 70 107 66 68 70 107 Timeout 9 86 91 98 99 9 86 91 98 99 MCTIME 86 91 98 99 86 91 98 99 Torque Limit 14 20 14 20 Trigger 1 83 90 91 94 1 83 90 91 94 Trippoint 91 97 91 97 Troubleshooting 129 TTL 4 25 27 31 32 125 4
82. 8 Stepper Motor Operation idee prete eed ete e RH ibidem pre 71 Specifying Stepper Motor Operation eese 71 Using an Encoder with Stepper Motors essere eee 72 Command Summary Stepper Motor Operation sse 73 Operand Summary Stepper Motor Operation eere 73 Dual Loop Auxiliary Encoder nere tete e ee i per tete ente ned 73 Backlash Compensation esee enne enne nennen rennen 74 Command Summary Using the Auxiliary Encoder eee 75 Operand Summary Using the Auxiliary Encoder eee 76 Motion Smoothing iiir Fr o e UO PEL RR Prae D te D RH 76 Using the IT and VT Commands S curve profiling eene 76 Using the KS Command Step Motor Smoothing eee 71 78 High Speed Position Capture Latch eese nennen nnne 81 Chapter 7 Application Programming 83 OV LD VIEW oed teen beoe rented dte ete duties 83 Using the DMC 1000 Editor to Enter Programs eese nne rene 83 Edit Mode Commands eds Iter eere ied reat eue tet 84 Program Format noe cma D et p LOEO De E iro cepe e ierit Met cepe 85 Using Labels in Programs a nee ecd p pecie re 85 Special roget RB ie eg eere ie lane nee 86 Commenting Programs 5 nonet emet e te o He ER e Ebo RR deg 86 Executing Programs Multitasking
83. A Label A 1 Enable input 1 for interrupt function JG 30000 20000 Set speeds on X and Y axes BG XY Begin motion on X and Y axes Label Report X and Y axes positions WT 1000 Wait 1000 milliseconds JP B Jump to EN End of program ININT Interrupt subroutine 116 e Chapter 7 Application Programming DMC 1000 DMC 1000 MG Interrupt occurred Display message ST XY Stops motion on X and Y axes LOOP JP Loop until Interrupt cleared LOOP IN 1 0 JG 15000 10000 Specify new speeds WT 300 Wait 300 milliseconds BG XY Begin motion on X and Y axes RI Return from Interrupt subroutine Analog Inputs The DMC 1000 provides seven analog inputs The value of these inputs in volts may be read using the AN n function where n is the analog input 1 through 7 The resolution of the Analog to Digital conversion is 12 bits Analog inputs are useful for reading special sensors such as temperature tension or pressure The following examples show programs which cause the motor to follow an analog signal The first example is a point to point move The second example shows a continuous move Example Position Follower Point to Point Objective The motor must follow an analog signal When the analog signal varies by 10V motor must move 10000 counts Method Read the analog input and command X to move to that point Instruction Interpretation Points Label SP 7000 Speed AC 80000 DC 80000 Acceleration Loop
84. MF MP MS 176 Appendices Ellipse scale Search for encoder index Set forward software limit Velocity feedforward Specify master axis for gearing Specify gear ratio Halt task Integrator limit Independent time constant for smoothing Derivative constant Proportional constant Stepper Smoothing Constant Linear interpolation end Linear interpolation distance Linear interpolation mode Motor type Output Bit Position format Record array Record Record data Report command position Tangent Tell velocity Vector deceleration Vector sequence end Variable format Coordinated motion mode Vector time constant S curve Wait for contour data Deleted Commands Commands Deadband Decimal mode Define dual encoder position Set DAC resolution Hex mode Arm latch Learn mode Master frequency Master position Master slave mode Axis position equate Comments Not necessary Use local format PF VF DE 14 bits only Use local format PF VF Replaced by AL command Use Record mode RA and RD Use Electronic Gearing amp GR Use Electronic Gearing GA amp GR Use Electronic Gearing GA amp GR Use _TP DMC 1000 Latch position Use RP PD Dual encoder position Use DE PE Position error equate Use TE PL Pole Not required with KP KD KI RC Report when complete Use AMor BG RM Acceleration ramp Use IT SE Specify encoder type Use CE SV Servo Use SH TA Enable S curve Use IT TD Tell dual enco
85. Motor DMC 1000 Typically Red Connector Figure 2 2 System Connections with the AMP 1100Amplifier Note this figure shows a Galil Motor and Encoder which uses a flat ribbon cable to connect to the AMP 1100 unit Chapter 2 Getting Started 15 Pin 2 ICM 1100 X Encoder Z Encoder ms E a LJz Encoder Wire Connections 45V 103 lt Encoder ICM 1100 ol GND 104 z Channel A XA Xi 81 89 O lt Channel B XB XB 79 XB 80 Channel A XA e XA 78 Channel B XB Index Pulse Xl Encoder Wires Index Pulse XI Typically Red Connector DC Servo Motor 1 J 7 Typically Black Connector ze black wire Os 5 5465 28 9 BO 23 sz red wire CPS Power Supply er MSA 12 80 Figure 2 3 System Connections with a separate amplifier MSA 12 80 This diagram shows the connections for a standard DC Servo Motor and encoder Step 7b Connect Step Motors In Stepper Motor operati
86. SDK 1000 OPINT CAD to DMC VBX Toolkit 154 e Appendices Single Axis Controller Two Axis Controller Three Axis Controller Four Axis Controller Five Axis Controller Six Axis Controller Seven Axis Controller Eight Axis Controller Interface board Single axis amplifier Two axis amplifier Three axis amplifier Four axis amplifier Memory expansion option to 2000 lines 8000 array elements 254 labels and 254 variables Analog feedback option Uses analog feedback for servo loop Auxiliary board for additional 64 inputs 32 output I O Can be configured for other sensors Servo motor NEMA 23 54 oz in continuous Servo motor NEMA 34 150 oz in continuos MS DOS Terminal Emulator and Software Sources Servo Design Software Operator Interface Software for PC Autocad to DMC Translator Visual Basic VBX Extensions DMC 1000 Dip Switch Address Settings Use this table to find the dip switch settings for any of the available addresses of the DMC 1000 Note x denotes that the dip switch is ON Address Dip A8 Dip A7 Dip A6 Dip A5 Dip A4 Dip Dip A2 x 56 x x x o 4 EXC CONSER EDEN EGER a ee SA 84 x x x x X eme qe X EE 54 x x se Ses E EE NM RE DN EU 54 x x x 4 TEC USER
87. SP 30000 New Speed AC 150000 New Acceleration BGX Start Motion EN End Example creating an 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 SB1 Set Output 1 LOOP Loop AT 10 After 10 msec from reference Clear Output 1 AT 40 Wait 40 msec from reference and reset reference SB1 Set Output 1 JP LOOP Jump to location LOOP and continue executing commands EN End of program Conditional Jumps The DMC 1000 provides Conditional Jump JP and Conditional Jump to Subroutine JS instructions for branching to a new program location Program execution will continue at the location specified by the JP and JS command if the jump condition is satisfied Conditional jumps are useful for testing events in real time since they allow the DMC 1000 to make decisions without a host computer For example the DMC 1000 can begin execution at a specified label or line number based on the state of an input line 94 e Chapter 7 Application Programming DMC 1000 DMC 1000 Using the JP Command The JP command will cause the controller to execute commands at the location specified by the label or line number if the condition of the jump statement is satisfied If no condition is specified program execution will automatically jump to the specified line If the condition is
88. Start Z motion Wait for completion of Z motion Circle Feedrate Start circular move Wait for completion Move Z up Start Z move Wait for Z completion Move X Speed X Start X Wait for X completion Lower Z Z second circle move Raise Z Return XY to start 120 e Chapter 7 Application Programming DMC 1000 DMC 1000 Figure 7 2 Motor Velocity and the Associated input output signals Speed Control by Joystick The speed of a motor is controlled by a joystick The joystick produces a signal in the range between 10 and 10 The objective is to drive the motor at a speed proportional to the input voltage Assume that a full voltage of 10 Volts must produce a motor speed of 3000 rpm with an encoder resolution of 1000 lines or 4000 count rev This speed equals 3000 rpm 50 rev sec 200000 count sec The program reads the input voltage periodically and assigns its value to the variable VIN To get a speed of 200 000 ct sec for 10 volts we select the speed as Speed 20000 x VIN The corresponding velocity for the motor is assigned to the VEL variable Instruction Interpretation A Label JGO Set jog speed of zero BGX Begin jogging at speed zero Label VIN AN 1 Set variable VIN to value of analog input 1 VEL VIN 20000 Set variable VEL to multiple of variable of VIN Chapter 7 Application Programming e 121 JG VEL Update jog speed to value of variable VEL JP B Loop back to label
89. TL 4 Input 20 TTL 6 Input 22 TTL 8 Ground 10 Output 9 11 Output 10 13 Output 12 15 Output 14 17 Output 16 12 Output 11 14 Output 13 16 Output 15 18 Input 16 Appendices e 149 19 Input 15 2 Input 13 23 Input 11 Latch G 25 Input 9 Latch E 20 Input 14 22 Input 12 Latch H 24 Input 10 Latch F 26 Input Common Isolated 5 Volts JD3 20 pin IDC Auxiliary Encoders N C 3 Aux 5 Aux A H 7 Aux 9 Aux A G 11 Aux B F 13 Aux A F 15 Aux B E 17 Aux A E 19 5 Volt 2 N C 4 Aux B 6 Aux A H 8 Aux 10 Aux A 12 Aux 14 Aux 16 Aux B E 18 Aux A E 20 Ground JD4 20 pin IDC Amplifiers 1 Motor Command E 3 PWM E Step E 5 NC 7 Amp enable F 9 Sign F Dir F 11 Motor Command G 13 PWM G Step 15 5 Volt 17 Amp enable H 19 Sign H Dir H 2 Amp enable E 4 Sign E Dir E 6 Motor Command F 8 PWM F Step F 10 NC 12 Amp enable G 14 Sign G Dir G 16 Motor Command H 18 PWM H Step H 20 Ground H JD6 Daughterboard Connector 60 pin Connects to DMC 1000 Main Board connector J6 Pin Out Description for DMC 1000 Outputs 150 Appendices DMC 1000 DMC 1000 Analog Motor Command Amp Enable PWM STEP OUT PWM STEP OUT Sign Direction Error Output 1 Output 8 Output 9 Output 16 DMC 1080 only 10 Volt range signal for driving amplifier In servo mode motor command output is updated at the contr
90. This specifies the ECAM table Step 5 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 6 Engage the slave motion To engage the slave motion use the instruction EG x y z w 62 e Chapter 6 Programming Motion DMC 1000 where x y z w are the master positions at which the corresponding slaves 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 7 Disengage the slave motion To disengage the cam use the command EQ x y zw where x y z w are the corresponding slave axes are disengaged 2250 1500 0 2000 4000 6000 Master X Figure 6 8 Electronic Cam Example 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 be used only when the master moves forward Some Examples To illustrate the complete process consider the cam relationship described by the equation Y 0 5 X 100 sin 0 18 X where X is the master with a cycle of 2000 counts DMC 1000 Chapter 6 Programming Motion e 63 The cam table can be constructed manually point by point or automatically by a program The following program includes the set up
91. VP AN 1 1000 Read and analog input compute position PA VP Command position BGX Start motion AMX After completion JP Loop Repeat EN End Example Position Follower Continuous Move Method Read the analog input compute the commanded position and the position error Command the motor to run at a speed in proportions to the position error Instruction Interpretation Cont Label AC 80000 DC 80000 Acceleration rate JGO Start job mode BGX Start motion Loop VP AN 1 1000 Compute desired position VE VP _TPX Find position error Chapter 7 Application Programming e 117 VEL VE 20 Compute velocity JG VEL Change velocity JP Loop Change velocity EN End 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 27 inches and it corresponds to 4000 quadrature one inch of travel equals 4000 2n 637 count inch This implies that a distance of 10 inches equals 6370 counts and a slew speed of 5 inches per second for example equals 3185 count sec The input signal may be applied to I1 for example and the output signal
92. W STEPW 20 Ground J6 Daughter Board Connector 60 pin For use only with a Galil daughter board J7 10 pin For test only Connectors for Auxiliary JD Main Ground 3 N C 5 Limit Common 7 Reverse Limit E 9 Forward Limit F 11 Home F 148 Appendices Board Axes E F G H 60 pin IDC 2 5 Volts 4 NC 6 Forward Limit E 8 Home E 10 Reverse Limit F 12 Forward Limit DMC 1000 DMC 1000 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49 51 53 55 57 59 NOTE The ABCD axes and other I O are located on the main DMC 1000 card Reverse Limit G Forward Limit H Home H Input Common Latch F Latch H Motor Command E Motor Command F Motor Command G Motor Command H Channel A4 E Channel E Channel 1 E Channel F Channel B F Channel I F Channel A G Channel B G Channel I G Channel A H Channel B H Channel I H 12V 5V 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50 52 54 56 58 60 Home G Reverse Limit H Output 9 Latch E Latch G Input 24 Amp enable E Amp enable F Amp enable G Amp enable H Channel A E Channel B E Channel I E Channel A F Channel B F Channel I F Channel A G Channel B G Channel I G Channel A H Channel B H Channel I H 12V Ground JD5 1 0 26 pin IDC 1 Input 17 TTL 3 Input 19 TTL 5 Input 21 TTL 7 Input 23 TTL 9 5 Volts 2 Input 18 T
93. 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 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 Motion Profiler Adds a Delay Output Buffer Output To Stepper Driver Reference Position RP Step Count Register TD 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
94. X motion BG Y Start Y motion After both motions are complete the X and Y axes can be command back to zero PA 0 0 Move to 0 0 BG XY Start both motions Example 7 Velocity Control Objective Drive the X and Y motors at specified speeds Instruction Interpretation JG 10000 20000 Set Jog Speeds and Directions AC 100000 40000 Set accelerations DC 50000 50000 Set decelerations BG XY Start motion after a few seconds send the following command JG 40000 New X speed and Direction TVX Returns X speed and then JG 20000 New Y speed TV Y Returns Y speed These cause velocity changes including direction reversal The motion can be stopped with the instruction ST Stop Example 8 Operation Under Torque Limit The magnitude of the motor command may be limited independently by the instruction TL Instruction Interpretation TL 0 2 Set output limit of X axis to 0 2 volts JG 10000 Set X speed BGX Start X motion In this example the X motor will probably not move since the output signal will not be sufficient to overcome the friction If the motion starts it can be stopped easily by a touch of a finger Increase the torque level gradually by instructions such as Instruction Interpretation TL 1 0 Increase torque limit to 1 volt TL 9 98 Increase torque limit to maximum 9 98 Volts The maximum level of 10 volts provides the full output torque Example 9 Interrogation The values of the parameters may be interrogate
95. 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 Chapter 7 Application Programming e 105 Example USING THE COMMAND DM Instruction Interpretation DM POSX 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 assigning values to array entries Instruction Interpretation DM SPEED 10 Dimension Speed Array SPEED 1 7650 2 Assigns the first element of the array SPEED the value 7650 2 SPEED 1 Returns array element value POSX 10 TPX A
96. a will be lost 4 List Variable LV List Array LA List app program labels LL New feature for Rev 2 0e May 1997 Feature 1 ER now accepts argument lt 0 2 During a PR decel can now be changed on an unnatural stop New feature for Rev 2 0d February 1997 Feature 1 AP MF MR in stepper now uses _DE instead of _RP 2 now terminates QD 3 KS can now be fraction down to 5 4 New arguments for MT of 2 5 and 2 5 5 MG now can go to 80 characters New feature for Rev 2 0c October 1996 Feature 1 MC now works for steppers New feature for Rev 2 0b September 1996 Description If CMDERR occurs on thread 1 2 or 3 thread will be holted Thread can be re started with XQ ED2 EDI 1 for retry XQ ED3 EDI 1 for next instruction Description Allows for large circular interpolation radii Allows for monitoring of abort input Allows for output FIFO buffer to fill up without affecting the execution of a program Allows for the user to interrogate Ram Description Disables error output LED and Error Output does not turn on for that axis Allows for monitoring of abort input Description Trippoints based on register after buffer Download array no longer requires control sequence to end Allows for smaller stepper motor smoothing delay due to filter Reverses the direction of motion from MT 2 and MT 2 Increased message size Description More accurate trippoint for stepper motor completion
97. adius start at 0 and go to 180 CCW VE End vector CBO Disengage knife PA 3000 0 _TN Move X and Y to starting position move Z to initial tangent position BG XYZ Start the move to get into position AM XYZ When the move is complete SBO Engage knife 56 e Chapter 6 Programming Motion DMC 1000 DMC 1000 WT50 Wait 50 msec for the knife to engage BGS Do the circular cut AMS After the coordinated move is complete CBO Disengage knife MG ALL DONE EN End program Command Summary Vector Mode Motion COMMAND DESCRIPTION VM m n Specifies the axes for the planar motion where m and n represent the planar axes and p is the tangent axis Specifies arc segment where r is the radius is the starting angle and AO is the travel angle Positive direction is CCW S curve smoothing constant for coordinated moves LM Return number of available spaces for linear and circular segments in DMC 1000 sequence buffer Zero means buffer is full 512 means buffer is empty Operand Summary Vector Mode Motion OPERAND DESCRIPTION The absolute coordinate of the axes at the last intersection along the sequence _LM Number of available spaces for linear and circular segments in DMC 1000 sequence buffer Zero means buffer is full 512 means buffer is empty Segment counter Number of the segment in the sequence starting at zero When AV is used as an operand _AV returns the distance traveled along the sequence The operands _VPX and
98. age return or semicolon Instructions are sent in ASCII and the DMC 1000 decodes each ASCII character one byte one at a time It takes approximately 5 msec for the controller to decode each command However the PC can send data to the controller at a much faster rate because of the FIFO buffer After the instruction is decoded the DMC 1000 returns a colon if the instruction was valid or a question mark if the instruction was not valid For instructions that return data such as Tell Position TP the DMC 1000 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 1000 response with the data sent The echo is enabled by sending the command EO 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 COMM disks They can be used for development under DOS and Windows environments 16 and 32 bit Windows With the API s the user can incorporate already existing library functions directly into a C program Galil has also developed a Visual Basic Toolkit This provides VBXs and 16 bit and 32 bit OCXs for handling all of the DMC 1000 communications including support of interrupts These objects install directly into the Visual Basic tool box and are par
99. age slave Al 1 Wait for stop signal EQ 1000 Disengage slave 64 e Chapter 6 Programming Motion DMC 1000 The following example illustrates a cam program with a master axis Z and two slaves X and Y Instruction A V1 0 PA 0 0 BGXY AMXY EAZ EM 0 0 4000 EP400 0 0 0 0 ET 1 40 20 ET 2 120 60 ET 3 240 120 ET 4 280 140 ET 5 280 140 ET 6 280 140 ET 7 240 120 ET 8 120 60 ET 9 40 20 ET 10 0 0 EB 1 JGZ 4000 EG 0 0 BGZ LOOP JP LOOP V1 0 EQ2000 2000 MF 2000 STZ EBO EN Interpretation Label Initialize variable Go to position 0 0 on X and Y axes Z axis as the Master for ECAM Change for Z is 4000 zero for X Y ECAM interval is 400 counts with zero start When master is at 0 position 1st point 2nd point in the ECAM table 3rd point in the ECAM table 4th point in the ECAM table 5th point in the ECAM table 6th point in the ECAM table 7th point in the ECAM table 8th point in the ECAM table 9th point in the ECAM table 10th point in the ECAM table Starting point for next cycle Enable ECAM mode Set Z to jog at 4000 Engage both X and Y when Master 0 Begin jog on Z axis Loop until the variable is set Disengage X and Y when Master 2000 Wait until the Master goes to 2000 Stop the Z axis motion Exit the ECAM mode End of the program The above example shows how the ECAM program is structured and how the commands can be given to the controller The next page provides
100. an be sent to the buffer 511 returned means the buffer is empty and 511 LI segments can be sent A zero means the buffer is full and no additional segments can be sent As long as the buffer is not full additional LI segments can be sent at PC bus speeds The instruction CS returns the segment counter As the segments are processed _CS increases starting at zero This function allows the host computer to determine which segment is being processed Chapter 6 Programming Motion e 49 Specifying Vector Acceleration Deceleration and Speed The commands VS n V n and VD n are used to specify the vector speed acceleration and deceleration The DMC 1000 computes the vector speed based on the axes specified in the LM mode For example LM XYZ designates linear interpolation for the X Y and Z axes The vector speed for this example would be computed using the equation vs xs vs 4zs where XS YS ZS are the speed of the X Y and Z axes The controller always uses the axis specifications from LM not LI to compute the speed In cases where the acceleration causes the system to jerk the DMC 1000 provides a vector motion smoothing function VT is used to set the S curve smoothing constant for coordinated moves Additional Commands The DMC 1000 provides commands for additional control of vector motion and program control Note Many of the commands used in Linear Interpolation motion also applies Vector motion described in the ne
101. and String eeeeeeeeeeeeeereen eene nennen 109 Input of esae at edi dene 109 Output of Data Numeric and rennes 110 Messages or petia peii o deerit Init dun 110 Interrogation Commands eese eene entente nennen 111 Formatting Variables and Array Elements esee 113 Converting to User Units 3 coal dee itt ee bte e neret 114 Programmable Hardware teens 114 Digital Outputs eee bene tte e dede ee teen 114 Digital Inputs e dederit i RH e udo 115 Input Interrupt F riction oerte ee merger tates eger abest rip 116 Analog XE EVER TO RYE EET 117 Example Applications o In Ce acr aco b eg PERDERE 118 Wire Cutter ig orant beide A a am eco be EE erred 118 X Y Table Controllet 5 ike eth D te ete ORE Re 119 Speed Control by Joystick eese entente nennen enne 121 Position Control by Joystick seen nennen 122 Backlash Compensation by Sampled Dual Loop eee 122 Chapter 8 Hardware amp Software Protection 125 Introduction nope ate e d a e e e e a dee Pe n E s rte EE oie SS 125 Hardware Protection a sit e e eo ee E P D SER Ab t
102. and Summary The value of the outputs can be checked with the operand _OP and the function 9 OUT see Chapter 7 Mathematical Functions and Expressions Controllers with 5 or more axes have an additional eight general use TTL outputs connector JD5 The error signal output is available on the main connector J2 pin 3 This is a TTL signal which is low when the controller has an error This signal is not available through the phoenix connectors of the ICM 1100 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 At least one axis has a position error greater than the error limit The error limit is set by using the command ER 2 Thereset 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 Offset Adjustment For each axis the DMC 1000 provides offset correction potentiometers to compensate for any offset in the analog output These potentiometers have been adjusted at the factory to produce 0 Volts output for a zero digital motor command Before making any adjustment to the offset send the motor off command MO to the DMC 1000 This causes a zero digital motor command Connect an oscilloscope or voltmeter to the motor command pin You should measure zero volts If not adjust the off
103. atch 81 176 77 81 175 76 Data Capture 106 8 106 8 Position Capture 81 Record 68 70 105 108 109 68 70 105 108 109 Teach 70 Limit Torque Limit 14 20 14 20 Limit Switch 25 26 30 86 87 97 98 105 126 28 130 25 26 30 86 87 97 98 105 125 27 130 LIMSWI 25 86 97 98 126 28 25 86 97 98 125 27 Linear Interpolation 23 48 51 48 51 53 59 66 23 47 51 47 51 53 59 66 Clear Sequence 49 51 55 57 49 51 55 57 Logical Operator 96 Masking Bit Wise 95 100 95 100 Master Reset 6 7 6 7 Math Function Absolute Value 96 102 126 96 102 126 Bit Wise 95 100 95 100 Cosine 101 2 106 101 2 106 Logical Operator 96 Sine 102 Mathematical Expression 95 100 102 95 100 102 MCTIME 86 91 98 99 86 91 98 99 Memory 1 3 21 83 89 96 98 105 107 1 3 21 83 89 96 98 105 107 Index e 185 Array 3 53 68 70 83 89 95 101 105 13 115 146 154 174 176 77 3 53 68 70 83 89 95 101 105 13 115 146 154 173 175 76 Download 83 107 83 107 Upload 83 Message 88 98 99 101 108 11 117 127 28 89 98 99 101 108 11 117 127 28 Modelling 131 134 35 138 131 134 35 138 Motion Complete MCTIME 86 91 98 99 86 91 98 99 Motion Smoothing 1 76 77 1 76 77 S Curve 50 55 50 55 Motor Command 1 14 20 32 138 1 14 20 32 138 Moving Acceleration 172 73 174 76 178 171 72 173 75 177 Begin Motion 175 174 Circular 1 2
104. atements 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 using automatic error subroutine Instruction Interpretation A JP Dummy program POSERR Start error routine on error MG error Send message SB 1 Fire relay STX Stop motor AMX After motor stops SHX 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 1000 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 switches may also be tested during the jump on condition statement The LR condition specifies the reverse limit LF specifies the forward limit X Y Z or W following LR or LF specifies the axis The CN command can be used to configure the polarity of t
105. axis on the ICM 1100 Consult the documentation for your step motor amplifier Step C Configure DMC 1000 for motor type using MT command You can configure the DMC 1000 for active high or active low pulses Use the command MT 2 for active high step motor pulses and MT 2 for active low step motor pulses See description of the MT command in the Command Reference Step 8 Tune the Servo System Adjusting the tuning parameters is required when using servo motors The system compensation provides fast and accurate response and the following presentation suggests a simple and easy way for compensation More advanced design methods are available with software design tools from Galil such as the Servo Design Kit SDK software The filter has three parameters the damping KD the proportional gain KP and the integrator KI The parameters should be selected in this order To start set the integrator to zero with the instruction KIO CR Integrator gain and set the proportional gain to 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 X 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 i
106. bove Programming error Avoid resetting position error at end of move with SH command 130 Chapter 9 Troubleshooting DMC 1000 Chapter 10 Theory of Operation Overview The following discussion covers the operation of motion control systems A typical servo control system consists of the elements shown in Fig 10 1 COMPUTER CONTROLLER DRIVER DMC 1000 ENCODER ih 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 The highest level of control is the motion program This can be stored in the host computer or in the controller This
107. bsolute position Only one axis may be specified If position is already past the point then MR will trip immediately Will function on geared axis MC X or or Z or W Halt program execution until after the motion profile has A or B or C or D or E or For G or H been completed and the encoder has entered or passed the specified position TW x y z w sets timeout to declare an error if not in position If timeout occurs then the trippoint will clear and the stopcode will be set to 99 An application program will jump to label MCTIME Halts program execution until after specified input is at specified logic level n specifies input line Positive is high logic level negative is low level n 1 through 8 for DMC 1010 to 1040 n 1 through 24 for DMC 1050 to 1080 ASXYZWS Halts program execution until specified axis has reached its ABCDEFGH slew speed AT Halts program execution until n msec from reference time AT 0 sets reference AT n waits n msec from reference AT n waits n msec from reference and sets new reference after elapsed time Halts program execution until specified distance along a coordinated path has occurred 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 mo
108. c Pascal or Assembly may be used to communicate with the DMC 1000 as long as the READ WRITE procedure is followed as described above Example software drivers are contained on the COM DISK from Galil Advanced Communication Techniques Changing Almost Full Flags The Almost Full flag Bit 4 of the control register can be configured to change states at a different level from the default level of 16 characters The level m can be changed from 16 up to 256 in multiples of 16 as follows 1 Write a 5 to the control register at address 1 2 Write the number m 16 to the control register where m is the desired Almost Full level between 16 and 256 For example to extend the Almost Full level to 256 bytes write a 5 to address N 1 Then write a 240 to address N 1 Clearing FIFO Buffer The FIFO buffer may be cleared by writing the following sequence Read N 1 address Send 01H to N 1 address Send 80H to N 1 address Send 01H to N 1 address Send 80H to N 1 address Read N 1 address Bit 7 will be 1 Chapter 4 Communication e 35 Itis a good idea to clear any control data before attempting this procedure Send a no op instruction by reading N 1 address before you start All data including data from the DMC 1000 will then be cleared Clearing the FIFO is useful for emergency resets or Abort For example to Reset the controller clear the FIFO then send the RS command Interrupts The DMC 1000 provides a hardware interrupt
109. ction XQ A n Where n indicates the thread number To halt the execution of any thread use the instruction where n is the thread number Note that both the XQ and HX commands can be performed by an executing program DMC 1000 Chapter 7 Application Programming e 87 Multitasking Example Producing Waveform Output 1 Independent of a Move Instruction Interpretation Task1 label Initialize reference time 1 1 1 Loop label AT 10 Wait 10 msec from reference time SB1 Set Output 1 AT 40 Wait 40 msec from reference time then initialize reference Clear Output 1 JP LOOP1 Repeat Loop1 TASK2 Task2 label XQ 1 Execute Task1 LOOP2 Loop label PR 1000 Define relative distance BGX Begin motion AMX After motion done WT 10 Wait 10 msec 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 ie Thread 0 TASKI is executed within TASK2 Debugging Programs The DMC 1000 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 Trac
110. ctions may be used to home the motor to a mechanical reference This reference is connected to the Home input line The HM command initializes the motor to the encoder index pulse in addition to the Home input The configure command CN is used to define the polarity of the home input The Find Edge FE instruction is useful for initializing the motor to a home switch The home switch is connected to the Homing Input When the Find Edge command and Begin is used the motor will accelerate up to the slew speed and slew until a transition is detected on the Homing line The motor will then decelerate to a stop A high deceleration value must be input before the find edge command is issued for the motor to decelerate rapidly after sensing the home switch The velocity profile generated is shown in Fig 6 7 The Home HM command can be used to position the motor on the index pulse after the home switch is detected This allows for finer positioning on initialization The command sequence HM and BG causes the following sequence of events to occur Upon begin motor accelerates to the slew speed The direction of its motion is determined by the state of the homing input A zero GND will cause the motor to start in the forward direction 5V will cause it to start in the reverse direction The CN command is used to define the polarity of the home input Upon detecting the home switch changing state the motor begins decelerating to a stop The moto
111. d Some examples 20 Chapter 2 Getting Started DMC 1000 DMC 1000 Instruction KP KP KP Interpretation Return gain of X axis Return gain of Z axis Return gains of all axes Many other parameters such as KI KD FA can also be interrogated The command reference denotes all commands which can be interrogated Example 10 Operation in the Buffer Mode The instructions may be buffered before execution as shown below Instruction PR 600000 SP 10000 WT 10000 BGX Interpretation Distance Speed Wait 10000 milliseconds before reading the next instruction Start the motion Example 11 Motion Programs Motion programs may be edited and stored in the controllers on board memory The instruction ED Edit mode moves the operation to the editor mode where the program may be written and edited The editor provides the line number For example in response to the first ED command the first line is zero LINE INSTRUCTION 000 VA 001 PR 700 002 SP 2000 003 BGX 004 EN INTERPRETATION Define label Distance Speed Start X motion End program To exit the editor mode input lt cntrl gt Q The program may be executed with the command XQ Start the program running Example 12 Motion Programs with Loops Motion programs may include conditional jumps as shown below Instruction 1 1000 PA BGX AMX Interpretation Label Define curr
112. d V If the motor is a DC brushless motor it is driven by an amplifier that performs the commutation The combined transfer function of motor amplifier combination is the same as that of a similar brush motor as described by the previous equations 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 is K K Js 1 K K Js VIKs GT where the velocity time constant T1 equals TI Kt Kg This leads to the transfer function P V VIK s sT1 1 K _ Kt s Figure 10 5 Elements of velocity loops The resulting functions derived above are illustrated by the block diagram of Fig 10 6 136 e Chapter 10 Theory of Operation DMC 1000 VOLTAGE SOURCE V E W P ES SEE TR NU ST_ 1 ST 1 S CURRENT SOURCE V W P VELOCITY LOOP V W P K ST 1 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 c
113. d in the top byte of the variable and the last character will be placed in the lowest significant byte of the fraction The characters can be individually separated by using bit wise operations see section Bit Wise Operators Output of Data Numeric and String 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 Analog input is AN 1 MG The Gain of X is GNX 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 Numeric data may be formatted using the Fn m expression following the completed MG statement n m f
114. ddress of 1000 appears This does not need to be changed unless the address on the controller was changed You will also need to supply an interrupt if you want to use the interrupt capabilities of the controller The registry entry also displays timeout and delay information These are advanced parameters which should only be modified by advanced users see software documentation for more information Once you have set the appropriate Registry information for your controller exit from the DMCREG program You will now be able to run communication software Chapter 2 Getting Started e 9 If you are using Windows 3 x run the program DTERM16 EXE and if you are using Windows 95 or Windows NT run the program DTERM32 EXE From the file menu select Startup You will now see the registry information Select the entry for your controller Note If you have only one entry you still must select this controller for the software to establish communications Once the entry has been selected click on the OK button If the software has successfully established communications with the controller the registry entry will be displayed at the top of the screen If you are not properly communicating with the controller the program will pause for 3 15 seconds The top of the screen will display the message Status not connected with Galil motion controller and the following error will appear STOP Unable to establish communication with the Galil controller
115. dent Moves sss eene enne 19 Example 5 Position Interrogation eeeeeeeeeeeeeneneneenen rennen enne 19 Example 6 Absolute Position eseeeeseeseeeeeee enne nee 19 Velocity Control eic eene tete hierro sn 20 Example 8 Operation Under Torque Limit eeeeeeeeree 20 vi Contents DMC 1000 DMC 1000 Example 9 Interrogation enne nennen nre 20 Example 10 Operation in the Buffer Mode sese 21 Example 11 Motion Programs sssssssssssseeeeneeeneneenenrener enne nnne 21 Example 12 Motion Programs with Loops cesccssecesececeeeeeeseeeeeeeeeeeeeeseeneenees 21 Example 13 Motion Programs with Trippoints eene 22 Example 14 Control amp nennen 22 Example 15 Linear Interpolation esee 23 Example 16 Circular Interpolation eese enne 23 Chapter 3 Connecting Hardware 25 OVerVIeW RP ee IDEE DOE 25 Using Optoisol ted Inputs 52 2 i eer er niente ER 25 Linnt Switch Input hoe etc ror et pre de aree eae tet 25 Home Switch Input senen nei atem OPERE E Pcr d pui 26 Abort Input eo poH see egeo PEE qe ecd 26 Uncommitted Digital Inputs i eie rene ene ettet 27 Wiring the Optoisolated Inputs
116. der Use MG DE TF Tell master frequency Use Electronic Gearing amp GR TV Enable S curve Use VT VR Specify S curve Use VT ZM Zero master Use Electronic Gearing amp GR DMC 600 DMC 1000 Pin out Conversion Table mk LL cori Ro e Cc p e DMC 1000 Appendices e 177 S T E 8 S m e i jm em 178 Appendices DMC 1000 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 Contacting Us Galil Motion Control 203 Ravendale Drive Mountain View CA 94043 Phone 650 967 1700 Fax 650 967 1751 BBS 650 964 8566 8 N 1 up to 14 400 baud Internet address support galilmc com URL www galilmc com FTP galilmc com DMC 1000 Appendices e 179 WARRANTY All products manufactured by Galil Motion Control are warranted against defects in materials and workmanship The warranty period for controller boards is 1 year The warranty period for all other products is 180 days In the event of any defects in materials or workmanship Galil Motion Control will at its sole option repair or replace the defective product covered by this warranty without charge To obtain warranty service the defective product must be returned within 30 days of the expiration of the applicable warranty period to Galil Motion Control properly
117. e If you are using Galil software to communicate with the DMC 1000 controller you may also include REM statements statements begin with the word REM and may be followed by any 86 e Chapter 7 Application Programming DMC 1000 comments which are on the same line The Galil terminal software will remove these statements when the program is downloaded to the controller For example PATH REM 2 D CIRCULAR PATH VMXY REM VECTOR MOTION ON X AND Y VS 10000 REM VECTOR SPEED IS 10000 VP 4000 0 REM BOTTOM LINE CR 1500 270 180 REM HALF CIRCLE MOTION VP 0 3000 REM TOP LINE CR 1500 90 180 REM HALF CIRCLE MOTION VE REM END VECTOR SEQUENCE BGS REM BEGIN SEQUENCE MOTION EN REM END OF PROGRAM These REM statements will be removed when this program is downloaded to the controller Executing Programs Multitasking The DMC 1000 can run up to four independent programs simultaneously These programs are called threads and are numbered 0 through 3 where 0 is the main one Multitasking is useful for executing independent operations such as PLC functions that occur independently of motion The main thread differs from the others in the following ways 1 Only the main thread may use the input command IN 2 When input interrupts are implemented for limit switches position errors or command errors the subroutines are executed in thread 0 To begin execution of the various programs use the following instru
118. e 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 TR1 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 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 it is cleared If the user wants to avoid this delay the command 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 88 Chapter 7 Application Programming DMC 1000 DMC 1000 Error Code Command When there is a program error the DMC 1000 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
119. e I O of the DB 10096 The 64 inputs may be read individually using the IN n function where n 1 through 8 represent the standard 8 inputs on the DMC 1000 and n 9 through 72 represent the 64 inputs on the DB 10096 For example V1 IN 9 reads input 9 on the DB 10096 and assigns the value to variable V1 Inputs may also be read in groups of 8 using the command TIn where n 0 through 8 n 0 reads inputs through 8 on the DMC 1000 n 1 reads inputs 9 through 16 on the DB 10096 n 2 reads inputs 17 through 24 and so on as shown in the table below For example if inputs 17 through 24 are high V1 _TI2 assigns the value 255 to variable V1 TIn Inputs 0 1 8 1 9 16 2 17 24 3 25 32 4 33 40 5 41 48 6 49 56 7 57 64 8 65 72 The AI command is only available for inputs 1 through 8 on the DMC 1000 The 32 outputs are controlled using the SBn CBn and OBn instructions where n 1 through 8 represent the 8 outputs on the DMC 1000 and n 9 through 40 represent the 32 outputs available on the DB 10096 A command OQ is available with the DB 10096 This command has two fields addressing 16 outputs each OQ m n The first field m controls outputs 9 to 24 The second field n controls 25 to 40 When OQ is used in an operand will return inputs 9 24 and a 1 will return 25 40 For example if outputs 9 and 10 are high and all others are low then MG returns a 3 DMC 1000 Appendices e 167 Pinouts for DB 10096 Connectors J1 Pinout 1
120. e 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 Software Protection The DMC 1000 provides a programmable error limit for servo operation 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 200 300 400 500 Set X axis error limit for 200 Y axis error limit to 300 Z axis error limit to 400 counts W axis error limit to 500 counts ER 1 10 Set Y axis error limit to 1 count set W axis error limit to 10 counts 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 1000 will generate several signals to warn the host system of the error condition These signals include Signal or Function Indication of Error POSERR Jumps to automatic excess position error subroutine Error Light Turns on when position error exceeds error limit OE Function Shuts motor off by setting AEN output line low if OEI The position error of X Y Z and W can be monitored during execution using the TE command Programmable Position Limits The DMC 1000 provides programmable forward and reverse position limits These are set by the BL and FL software commands Once a po
121. e e E rye a 36 Servicing Interrupts o ruo e et e o HO a rore be 38 Example Interrupts 2 eet bes tele 38 Controller Response to DATA rette eG DRE EE Ere t be ee RE ete epe pn 39 Galil Software Tools and Libraries eese nennen enne ener enne 39 Chapter 5 Command Basics 41 Introduction o e Stet n eee obe boom 41 Command Synt x 5 enin gebeten p Pe Ree a ER De trt 4l Coordinated Motion with more than 1 axis 42 Program Syntax eer oem p repetunt pit eret 42 Controller Response to 42 Interrogating the Controller eese enne retener 43 Interrogation Commands isss siise teret edes penat eee esae eet 43 Additional Interrogation Methods sss ener 44 Operands r er Le ert e i r e ER erede 44 Command Summary ii e n te ette re e erre ve eere 44 Chapter 6 Programming Motion 45 OVeIVIe Wi dunno aba matado mu ai ate oam panos 45 Independent Axis Positioning d i oce eth Duet eere Reto tete ies 45 DMC 1000 Command Summary Independent Axis esee 46 Operand Summary Independent Axis eese eene 46 Independent Jogging 51 d nione eh edente up 48 Command Summary Jogging eee 48 Operand Summary I
122. e following sections The DMC 1010 is a single axis controller and uses X axis motion only Likewise the DMC 1020 uses X and Y the DMC 1030 uses X Y and Z and the DMC 1040 uses X Y Z W The DMC 1050 uses A B C D and E The DMC 1060 uses A B C D E and F The DMC 1070 uses A B C D E F and G The DMC 1080 uses the axes A B C D E F G and The example applications described below will help guide you to the appropriate mode of motion For controllers with 5 or more axes the specifiers ABCDEFGH are used XYZ and W may be interchanged with ABCD Independent Axis Positioning DMC 1000 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 1000 profiler generates the corresponding trapezoidal or triangular velocity profile and position trajectory 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 1000 profiler Note The actual motor motion may not be complete when the profile has been completed however the next motion command may be specified The Begin BG command can be issued for all axes either simultaneously or independently XYZ or W axis specifi
123. e interpreted as a zero With regard to limit switches a limit switch is considered to be activated when the input is brought low or a switch is closed to ground Some inputs can be configured to be active when the input is high see section Changing Optoisolated Inputs from Active High to Active Low The optoisolated inputs are organized into groups For example the general inputs IN1 IN8 and the ABORT input are one group Each group has a common signal which supplies current for the inputs in the group In order to use an input the associated common signal must be connected to voltage between 5 and 28 volts see discussion below The optoisolated inputs are connected in the following groups these inputs are accessed through the 26 pin J5 header Group Common Signal IN1 IN8 ABORT INCOM FLX RLX HOMEX LSCOM FLY RLY HOMEY FLZ RLZ HOMEZ FLW RLW HOMEW For controllers with more than 4 axes the inputs 9 16 and the limit switch inputs for the additional axes are accessed through a separate connector JD5 Group Common Signal IN9 IN16 INCOM DMC 1000 Chapter 3 Connecting Hardware e 27 FLE RLE HOMEE LSCOM FLF RLF HOMEF FLG RLG HOMEG FLH RLH HOMEH A logic zero is generated when at least ImA of current flows from the common signal to the input A positive voltage with respect to the input must be supplied at the common This can be accomplished by connecting a voltage in the range of 5V to 28V into INCOM of the input circuitry f
124. e motors rest for 2 seconds The cycle repeats indefinitely until the stop command is issued DMC 1000 Chapter 7 Application Programming e 85 Special Labels The DMC 1000 has some special labels which are used to define input interrupt subroutines limit switch subroutines error handling subroutines and command error subroutines See section on Automatic Subroutines for Monitoring Conditions on page 97 ININT Label for Input Interrupt subroutine LIMSWI Label for Limit Switch subroutine POSERR Label for excess Position Error subroutine MCTIME Label for timeout on Motion Complete trip point CMDERR Label for incorrect command subroutine Commenting Programs Using the command NO The DMC 1000 provides a command NO for commenting programs This command allows the user to include up to 37 characters on a single line after the NO command and can be used to include comments from the programmer as in the following example PATH NO 2 D CIRCULAR PATH VMXY NO VECTOR MOTION ON X AND Y VS 10000 NO VECTOR SPEED IS 10000 VP 4000 0 NO BOTTOM LINE CR 1500 270 180 NO HALF CIRCLE MOTION VP 0 3000 NO TOP LINE CR 1500 90 180 NO HALF CIRCLE MOTION VE NO END VECTOR SEQUENCE BGS NO BEGIN SEQUENCE MOTION EN NO END OF PROGRAM 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 Softwar
125. e relays and trigger external events The output lines are toggled by Set Bit SB and Clear Bit CB instructions The OP instruction is used to define the state of all the bits of the Output port Appendices e 151 Inputs Encoder A B Encoder Index I Encoder A B I Auxiliary Encoder Aux A Aux B Aux I Aux A Aux B Aux 1 Abort Reset Forward Limit Switch Reverse Limit Switch Home Switch Input 1 Input 8 Input 9 Input 16 isolated Input 17 Input 23 TTL Latch 152 e Appendices Position feedback from incremental encoder with two channels in quadrature CHA and CHB The encoder may be analog or TTL Any resolution encoder may be used as long as the maximum frequency does not exceed 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 Note Encoders that produce outputs in the format of pulses and direction may also be used by inputting the pulses into CHA and direction into Channel B and using the CE command to configure this mode Once Per Revolution encoder pulse Used in Homing sequence or Find Index command to define home on an encoder index 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 the load
126. e used for the remaining axis Step F Re secure system unit cover and tighten screws making sure all ribbon cable ends that are not terminated lie outside the casing of the PC Step G Turn Power on to PC 8 e Chapter 2 Getting Started DMC 1000 DMC 1000 Step 4 Install Communications Software After you have installed the DMC 1000 controller and turned the power on to your computer you should install software that enables communication between the controller and PC There are several ways to do this The easiest way is to use the communication disks available from Galil COMMDISK VOL1 FOR DOS AND VOL2 FOR WINDOWS Using the COMMdisk Volt for Dos To use this disk insert COMMDISK VOL 1 in drive A Type INSTALL and follow the directions Using the COMMdisk Vol2 for Windows 16 bit and 32 bit versions For Windows3 x run the installation program setupl6 exe For Windows 95 or Windows NT run the installation program setup32 exe Step 5 Establish Communications with Galil Communication Software Dos Users To communicate with the DMC 1000 type TALK2BUS at the prompt 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 there is most likely an I O address conflict in your computer see section on Changing the I O Address of the Controller The user must ensure that there are no conflicts betw
127. e value of V8 V2 Jump to A 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 AMX Wait for motion complete WT 100 Wait 100 msec Position absolute 0 BGX Begin move AMX Wait for motion complete WT 100 Wait 100 msec COUNT COUNT 1 Decrement loop counter JP LOOP COUNT gt 0 Test for 10 times through loop EN End Program Command Format JP and JS FORMAT DESCRIPTION JS destination logical condition Jump to subroutine if logical condition is satisfied JP destination logical condition Jump to location if logical condition is satisfied The destination is a program line number or label where the program sequencer will jump if the specified condition is satisfied Note that the line number of the first line of program memory is 0 The comma designates IF The logical condition tests two operands with logical operators Logical Operators OPERATOR DESCRIPTION greater than less than or equal to 96 Chapter 7 Application Programming DMC 1000 DMC 1000 gt greater than or equal to 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
128. ec for all axes Specify deceleration of 500000 counts sec for all axes Begin motion on the X axis WT 20 Wait 20 msec BG Y Begin motion on the Y axis WT 20 Wait 20 msec BGZ Begin motion on Z axis EN End Program VELOCITY COUNTS SEC X axis velocity profile 20000 Y axis velocity profile 15000 Z axis velocity profile 10000 5000 TIME ms 0 20 40 60 80 100 Figure 6 1 Velocity Profiles of XYZ Notes on fig 6 1 The X and Y axis have a trapezoidal velocity profile while the Z axis has a triangular velocity profile The X and Y axes accelerate to the specified speed move at this constant speed and then decelerate such that the final position agrees with the command position PR The Z axis accelerates but before the specified speed is achieved must begin deceleration such that the axis will stop at the commanded position All 3 axes have the same acceleration and deceleration rate hence the slope of the rising and falling edges of all 3 velocity profiles are the same Independent Jogging The jog mode of motion allows the user to change speed direction and acceleration during motion The user specifies the jog speed JG acceleration AC and the deceleration DC rate for each axis DMC 1000 Chapter 6 Programming Motion e 47 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 sp
129. eed until a new speed or stop ST command is issued If the jog speed is changed during motion the controller will make a accelerated or decelerated change to the new speed An instant change to the motor position can be made with the use of the IP command Upon receiving this command the controller commands the motor to a position which is equal to the specified 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 1000 converts the velocity profile into a position trajectory and a new position target is generated every sample period This method of control results in precise speed regulation with phase lock accuracy Command Summary Jogging COMMAND STXYZW Parameters can be set with individual axes specifiers such as JGY 2000 set jog speed for X axis to 2000 or ACYH 40000 set acceleration for Y and H axes to 400000 Operand Summary Independent Axis OPERAND DESCRIPTION _ACx Return acceleration rate for the axis specified by x _DCx Return deceleration rate for the axis specified by x _SPx Returns the jog speed for the axis specified by x _TVx Returns the actual velocity of the axis specified by x averaged over 25 sec Example Jog in X only Jog X motor at 50000count s After X motor is at its jog speed begi
130. een the DMC 1000 and other system elements in the host computer Windows Users In order for the windows software to communicate with a Galil controller the controller must be registered in the Galil Registry The Galil Registry is simply a list of controllers Registration consists of telling the software the model of the controller the address of the controller and other information To do this run the program DMCREGI6 for Windows 3 x or DMCREG32 for Windows 95 and NT The DMCREG window will appear Select Registry from the menu Note If you are using DMCREG for the first time no controllers will exist in the Galil Register This is normal The registry window is equipped with buttons to Add Change or Delete a controller Pressing any of these buttons will bring up the Set Registry Information window It should be noted that if you wish to change information on any existing controller it should be selected before clicking Change even if it is the only controller listed in the Registry Use the Add button to add a new entry to the Registry You will need to supply the Galil Controller type For any address changes to take effect a model number must be entered If you are changing an existing controller this field will already have an entry If you are adding a controller it will not Pressing the down arrow to the right of this field will reveal a menu of valid controller types You should choose DMC 1000 Note that the default I O a
131. eie mee dte o eee e de mu e uude 4 Amplifier DENerT a 22a eo aee Ar RI ORI en eie RE C E RE 4 Ap i a tU a e d eg ees 4 Watch Dog Timer tete tee dene eec dern de terere teen due 4 Chapter 2 Getting Started 5 The DMC 1000 Motion Controller esee eren enne nennen ener enne 5 Elements Y ou Need rte te ipe d e eee eee ty e e qe ertet ens 6 Installing 1000 ab e 7 Step 1 Determine Overall Motor Configuration eee 7 Step 2 Configure Jumpers on the DMC 1000 essere 7 Step 3 Install the DMC 1000 in the Computer sese 8 Step 4 Install Communications Software esee 9 Step 5 Establish Communications with Galil Communication Software 9 Changing the I O Address of the Controller eene 10 Step 6 Connect Amplifiers and Encoders eee 11 Step 7a Connect Standard Servo Motors serere 13 Step 7b Connect Step Motors nennen nennen rennen 16 Step 8 Tune the Servo System teen nennen rennen 17 Design tete Re Sie A OA BI m n ND 18 Example 1 System Set up siete ette eere er titres 18 Example 2 Profiled Move ir rit ipt eire tete pee ert ces 18 Example 3 Multiple Axes eese nennen ener nennen trennen 18 Example 4 Indepen
132. eleration VE End vector sequence BGS Start motion DMC 1000 Chapter 2 Getting Started 23 4000 4000 0 4000 R 2000 C 4000 0 0 0 local zero Figure 2 4 Motion Path for Example 16 24 e Chapter 2 Getting Started DMC 1000 Chapter 3 Connecting Hardware Overview The DMC 1000 provides optoisolated digital inputs for forward limit reverse limit home and abort signals The controller also has 8 optoisolated uncommitted inputs for general use as well as 8 TTL outputs and 7 analog inputs configured for voltages between 10 volts Controllers with 5 or more axes have an additional 8 TTL level inputs and 8 TTL level outputs This chapter describes the inputs and outputs and their proper connection To access the analog inputs or general inputs 5 8 or all outputs except OUTI connect the 26 pin ribbon cable to the 26 pin J5 IDC connector from the DMC 1000 to the AMP 11X0 or ICM 1100 board If you plan to use the auxiliary encoder feature of the DMC 1000 you must also connect a 20 pin ribbon cable from the 20 pin J3 header connector on the DMC 1000 to the 26 pin J3 header connector on the AMP 11X0 or ICM 1100 This cable is not shipped unless requested when ordering Using Optoisolated Inputs DMC 1000 Limit Switch Input The forward limit switch FLSx inhibits motion in the forward direction immediately upon activation of the switch The reverse limit switch RLSx inhibits motion in the reverse direction im
133. em into screw type terminals Each screw terminal is labeled for quick connection of system elements 158 Appendices DMC 1000 The ICM 1100 is packaged as a circuit board mounted to a metal enclosure A version of ICM 1100 is also available with servo amplifiers see AMP 11X0 Features e Breaks out all DMC 1000 ribbon cables into individual screw type terminals e Clearly identifies all terminals e Provides jumper for connecting limit and input supplies to 5 volt supply from PC e Available with on board servo drives see AMP 1100 e 10 IDC connectors for encoders Specifications Dimensions 5 7 x 13 4 x 2 4 Weight 2 2 pounds AMP ICM 1100 CONNECTIONS DMC 1000 Rev A B boards orange and Rev C boards black have the pinouts listed below Rev A B Rev C Label Description Terminal Terminal 1 11 1 1 14 15 16 17 18 19 20 21 22 23 24 PX pase input Tor sepper ________ Ydmeionforseper Appendices e 159 160 Appendices 37 wes INPS 43 D A 4 a0 XA 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 61 62 63 64 65 FLSY 67 70 1 H 7 Ground Digital Output 1 Digital Output 2 Digital Output 3 Digital Output 4 Digital Output 5 Digital Output 6 Digital Output 7 Dig
134. ent position as zero Set initial value of V1 Label for loop Move X motor V1 counts Start X motion After X motion is complete Chapter 2 Getting Started 21 WT 500 TPX V1 V1 1000 JP Loop V1 lt 10001 EN Wait 500 ms Tell position X Increase the value of V1 Repeat if V1 lt 10001 End After the above program is entered quit the Editor Mode lt cntrl gt Q To start the motion command XQ 4A Execute Program A Example 13 Motion Programs with Trippoints The motion programs may include trippoints as shown below Instruction DP 0 0 PR 30000 60000 SP 5000 5000 BGX AD 4000 BGY AP 6000 SP 2000 50000 AP 50000 SP 10000 EN To start the program command XQ 4B Interpretation Label Define initial positions Set targets Set speeds Start X motion Wait until X moved 4000 Start Y motion Wait until position X26000 Change speeds Wait until position Y 50000 Change speed of Y End program Execute Program B Example 14 Control Variables Objective To show how control variables may be utilized Instruction A DPO PR 4000 SP 2000 BGX AMX WT 500 TPX V1 2 BGX AMX WT 500 1 22 Chapter 2 Getting Started Interpretation Label Define current position as zero Initial position Set speed Move X Wait until move is complete Wait 500 ms Determine distance to zero Command X move 1 2 the distance Start X motion After X moved Wait 50
135. eo oa a te e on ere bete 153 Offset Adjustments for DMC 1000 sess nene 153 Accessories and Options ete RT ee RE RO 154 Dip Switch Address Settings eee tee pdt ee te p ELE 155 PC AT Interrupts and Their Vectors eee eene nennen nennen 158 ICM 1100 Interconnect Module esee rennen nennen trennen 158 AMP ICM 1100 CONNECTIONS eese nee 159 J2 Mam 60 pin IDE eerie reddet eter eie e e Ue HEEL 162 J3 Aux Encoder 20 pin tO Ea e need 162 J4 Driver 20 pin IDC vx eiie ee tee a e treno er ete ea dee edenda 162 J5 General 26 pin IDC ria e s Ga emen 162 Connectors are the same as described in section entitled Connectors for DMC 1000 Main Board see pg 146 nennen etre nre nre 162 JX6 JY6 JZ6 JW6 Encoder Input 10 pin IDC eee 162 ICM z1100 Dr Wwng Pert teet P eei ite erede er rd etes 163 AMP 11x0 Mating Power Amplifiers 0 ces ccssecssesecneeseceseeeceaecasesecaeesecneeeecsaeeeteaesaeeeeens 164 DB 10072 OPTO 22 Expansion Option esee nennen 164 Configuring the I O for the 100772 164 Contents e v Connector Description of the DB 10072 sese 165 DB 10096 Expansion enne oe nennen nnne 168 Pinouts f
136. er and performs position corrections This is done by the following program Instruction DUALOOP CE0 DEO PR 40000 BGX Correct AMX V1 10000 _DEX V2 _TEX 4 V1 JP END ABS V2 lt 2 PR V2 4 BGX 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 Command Summary Using the Auxiliary Encoder COMMAND DESCRIPTION CE Configure Encoder Type DE Define dual auxiliary encoder position DV Set continuos dual loop mode see description below Set master axis for gearing the auxiliary encoder input can be used for gearing Chapter 6 Programming Motion e 75 Set gear ratio for gearing the auxiliary encoder input can be used for gearing Tell dual auxiliary encoder input position Operand Summary Using the Auxiliary Encoder OPERAND DESCRIPTION Contains the encoder configuration for the specified axis Contains the current position of the specified auxiliary encoder Contains 1 or 0 if the specified axis is in continuous dual loop operation Contains the value of the gear ratio for the specified axis _ _DEx _DVx _GRx TDx Contains the position of the specified auxiliary encoder Motion Smoothing The DMC 1000 controller allo
137. er 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 specifies 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 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 Mon
138. er of digits to the right of the decimal For example Chapter 7 Application Programming e 113 Instruction Interpretation V1 10 Assign V1 1 Return V1 0000000010 0000 Response from controller with default format V1 F4 2 Specify local format 0010 00 Response from controller with new format V1 4 2 Specify hex format 000A 00 Response from controller in hexadecimal format V1 ALPHA Assign string ALPHA to VI V1 S4 Specify string format first 4 characters ALPH Response from controller in string format 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 1000 position parameters such as PR PA and VP have units of quadrature counts Speed parameters such as SP JG and VS have units of counts sec Acceleration parameters such as AC DC VA and VD have units of counts sec The controller interprets time in milliseconds 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 converting to user units 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 1
139. errogation Commands 111 Formatting Variables and Array Elements eee 113 Converting to User orn Rep Pb eto rri v eain 114 Programmable Hardware I O E RE ene entren nenne 114 Digital Outputs nietos 114 Digital Inp ts 4 6 2n onte ate omnem eredi 115 Input Interrupt Function tere e teo RE Rete He tre m etre tt 116 UDIN P 117 Example Applications carsi orienti aesa t aeiee a ae E nnne inneren trennen ener eene 118 Wire Cutter otis Beatin dled Bla el a ais ese as 118 X Y Table Controll r ihren temo metr RO UR Rent 119 Speed Control By JOySUCk aiii ti tea iens 121 Position Control by Joystick eese eene enne nennen 122 Backlash Compensation by Sampled Dual Loop eene 122 Chapter 8 Hardware amp Software Protection 125 Introduction dete edt i dotes 125 Hardwa re ProtectiObi oi ee ete e te diete eof ra ede eit 125 Output Protection Lanes 1 221 2 Untere SU Re Rr n eter 125 Input Protection Lines e ter rep ie eoe rete ep dee 125 Software Protech on ritate aito b de A ma at bra oid 126 Programmable Position Limits eee 126 Off OnP BEOE tet estare pte id id aaa 126 Automatic Error RUNE oinei ne a
140. ers are required to select the axes for motion When no axes are specified this causes motion to begin on all axes The speed SP and the acceleration AC can be changed at any time during motion however the deceleration DC and position PR or PA cannot be changed until motion is complete Remember motion is complete when the profiler is finished not when the actual motor is in position The Stop command ST can be issued at any time to decelerate the motor to a stop before it reaches its final position An incremental position movement IP may be specified during motion as long as the additional move is in the same direction Here the user specifies the desired position increment n The new target is equal to the old target plus the increment n Upon receiving the IP command a revised profile will be generated for motion towards the new end position The IP command does not require a begin Note If the motor is not moving the IP command is equivalent to the PR and BG command combination Chapter 6 Programming Motion e 45 Command Summary Independent Axis COMMAND BGXYZW STXYZW The lower case specifiers x y z w represent position values for each axis For controllers with more than 4 axes the position values would be represented as a b c d e f g h The DMC 1000 also allows use of single axis specifiers such as PRY 2000 or SPH 10000 Operand Summary Independent Axis OPERAND DESCRIPTION _
141. es 145 Bl ctrical Specifications eee eee Dp Perte Ee ee tede ee pea Pe itte tide 145 Servo Controle sso adeat ioa iesu obti a ERES 145 Stepper Control 255 oe eee dbur en ER t hee 145 ehe edet edet eee peii 145 POWET vies m 145 Performance Speecification eei Ui ce be eter ren euo de Uem ger ERR ee 146 Connectors for DMC 1000 Main Board eese nennen 146 42 60 pi IDG PC e ae APP ERE Rp 146 General UO 26 pin coe dO erbe ttes 147 J3 Aux Encoder 20 pin IDC ssssseseseeeseeeeenenennn enne 148 J4s Driver 20 pim x nee net ec haves Aie RIA IRR ER Es 148 J6 Daughter Board Connector 60 pin eese 148 pre eb teret 148 Connectors for Auxiliary Board Axes E F G H ssssssssseseeeeeeenee eene 148 JD2 60 pin IDO tti ee cir hoec e i ei etes 148 JD5 pin ID eel e de edere 149 JD3 20 pin IDC Auxiliary Encoders eere 150 JD4 20 pin IDC Amplifiers esee enne enne nennen 150 JD6 Daughterboard Connector 60 pin essere 150 Pin Out Description for DMC 1000 sees enne enne nennen enne 151 Jumper Description for DMC 1000 eese ener enne enne nennen nennen trennt 153 Dip Switch Settings eoa rena
142. eturns the current position of the auxiliary encoder The command DV XYZW configures the auxiliary encoder to be used for backlash compensation Backlash Compensation There are two methods for backlash compensation using the auxiliary encoders Continuous dual loop 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 point motion systems which require position accuracy only at the endpoint Example Continuous Dual Loop Note In order to have a stable continuous dual loop system the encoder on the motor must be of equal or higher resolution than the encoder on the load 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
143. ew speeds of X Y Z W Accelerations of X Y Z W Decelerations of X Y Z W Start X and Z motion Start Y and W motion Example 4 Independent Moves The motion parameters may be specified independently as illustrated below Instruction PR 300 600 SP 2000 DC 80000 AC 100000 SP 40000 AC 100000 DC 150000 BGZ BG Y Interpretation Distances of Y and Z Slew speed of Y Deceleration of Y Acceleration of Y Slew speed of Z Acceleration of Z Deceleration of Z Start Z motion Start Y motion Example 5 Position Interrogation The position of the four axes may be interrogated with the instruction TP Instruction TP TPX TP Y TPZ TPW Interpretation Tell position all four axes Tell position X axis only Tell position Y axis only Tell position Z axis only Tell position W axis only The position error which is the difference between the commanded position and the actual position can be interrogated with the instruction TE Instruction TE TEX TE Y TEZ TEW Interpretation Tell error all axes Tell error X axis only Tell error Y axis only Tell error Z axis only Tell error W axis only Example 6 Absolute Position Objective Command motion by specifying the absolute position Instruction DMC 1000 Interpretation Chapter 2 Getting Started 19 DP 0 2000 Define the current positions of X Y as 0 and 2000 PA 7000 4000 Sets the desired absolute positions BGX Start
144. f the DMC 1000 3 4 Calibration potentiometers to provide a 5 26 pin header connector for the general I O cable of the DMC 1000 zero bias voltage to the amplifier for proper operation Address DIP switches 60 pin daughter board header connector for the cable leading to the DMC 1050 1080 DB 10072 and DB 10096 I O expansion boards GL 1800 Custom sub micron gate array DMC 1000 Chapter 2 Getting Started 5 Error LED J9 INCOM LSCOM jumper set These jumpers are used when connecting limit home and abort switches and the digital inputs IN1 138 JP10 Jumpers for setting the interrupt line JP11 Jumpers for setting the interrupt line JP20 Jumpers for putting card into stepper JP21 Master Reset Jumper mode Elements You Need Before you start you will need the following system elements 1 DMC 1000 Motion Controller and included 60 pin ribbon cable Also included is a 26 pin ribbon cable for general I O la For stepper motor operation you will need an additional 20 pin ribbon cable for 14 Servo motors with Optical Encoder one per axis or step motors Power Amplifiers Power Supply for Amplifiers PC Personal Computer ISA bus Communication Disk COMMdisk from Galil Optional but strongly recommended for first time users WSDK 16 Servo Design Software for Windows 3 1 and 3 11 for Workgroups OR WSDK 32 for Windows 95 or NT Qv Udo Optional but strongly recommended for
145. first time users 7 An Interface Module Optional but strongly recommended The Galil ICM 1100 is an interconnect module with screw type terminals that directly interfaces to the DMC 1000 controller Note An additional ICM 1100 is required for the DMC 1050 through DMC 1080 The motors may be servo brush type or brushless or steppers The amplifiers should be suitable for the motor and may be linear or pulse width modulated An amplifier may have current feedback or voltage feedback S For servo motors the amplifiers should accept an analog signal in the 10 Volt range as a command The amplifier gain should be set so that a 10V command will generate 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 a command signal of 10 Volts should run the motor at the maximum required speed For step motors the amplifiers should accept step and direction signals For start up of a step motor system refer to Connecting Step Motors on page 16 6 e Chapter 2 Getting Started DMC 1000 The WSDK software is highly recommended for first time users of the DMC 1000 It provides step by step instructions for system connection tuning and analysis Installing the DMC 1000 DMC 1000 Installation of a complete operational DMC 1000 system consists of 9 steps Step 1 Determine overall motor configuration Step 2 Configure jumpers on the DMC 1000 Step 3
146. g connections Same as above Bad encoder Check the encoder signals Replace encoder if necessary Same as above Bad controller Connect the encoder to different axis input If it works controller failure Repair or replace DMC 1000 Chapter 9 Troubleshooting e 129 Communication SYMPTOM CAUSE REMEDY Using COMDISK and Address selection in Check address jumper positions TALK2BUS cannot communicate communication does not match and change if necessary The with controller jumpers addresses 1000 or 816 are recommended Note for address 1000 A2 and A4 jumpered For address 816 jumper A7 A6 A3 A2 Stability Motor runs away when the loopis Wrong feedback polarity Invert the polarity of the loop by closed inverting the motor leads brush type or the encoder Motor oscillates Too high gain or too little Decrease KI and KP Increase KD damping Operation SYMPTOM CAUSE REMEDY Controller rejects command Invalid Command Interrogate the cause with TC or Responded with a TCI Motor does not complete move Noise on limit switches stops the To verify cause check the stop motor code SC If caused by limit switch noise reduce noise During a periodic operation motor Encoder noise Interrogate the position drifts slowly periodically If controller states that the position is the same at different locations it implies encoder noise Reduce noise Use differential encoder inputs Same as a
147. ging your computer 3 The DMC 1000 interrupt hardware must be initialized following each reset This is done by writing the data 2 followed by 4 to the control register at address 1 4 The Interrupt conditions must be enabled with the EI instruction The Ul instruction does not require EI The EI instruction has the following format EI M N where 36 e Chapter 4 Communication DMC 1000 The conditions must be re enabled after each occurrence NENNEN T T7 _______ 6 O s s Besser Application program stopped m __ 2 21 For example to select an interrupt for the conditions X motion complete Z motion complete and excess position error you would enable bits 0 2 and 9 27 22 20 512 4 1 517 EI 517 If you want an interrupt for Input 2 only you would enable bit 15 for the m parameter and bit 1 for the n parameter M 2P 32 768 N 2 2 EI 32768 2 DMC 1000 Chapter 4 Communication e 37 The DMC 1000 also provides 16 User Interrupts which can be sent by sending the command UI n to the DMC 1000 where n is an integer between 0 and 15 The UI command does not require the EI command Servicing Interrupts Once an interrupt occurs the host computer can read information about the interrupt by first writing the data 6 to the control register at address N 1 Then the host reads the control register data The returned data has
148. h IN 9 E axis latch IN2 Y axis latch INIO F axis latch IN3 Z axis latch IN11 G axis latch INA W axis latch IN12 H axis latch Note To insure a position capture within 25 microseconds the input signal must be a transition from high to low The DMC 1000 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 Give the AL XYZW command or ABCDEFGH for DMC 1080 to arm the latch for the specified axis or axes Test to see if the latch has occurred Input goes low by using AL X or Y or Z W command Example V1 _ALX returns the state of the X latch into V1 V1 is 1 if the latch has not occurred After the latch has occurred read the captured position with the RL XYZW command or RL XYZW Note The latch must be re armed after each latching event Position Latch Example Instruction Interpretation Latch Latch program JG 5000 Jog Y BG Y Begin motion on Y axis AL Y Arm Latch for Y axis Wait Wait label for loop JP Wait ALY 1 Jump to Wait label if latch has not occurred Result _RLY Set value of variable Result equal to the report position of y axis Result Print result EN End DMC 1000 Chapter 6 Programming Motion e 81 THIS PAGE LEFT BLANK INTENTIONALLY 82 Chapter 6 Programming Motion DMC 1000 Chapter 7 Application Programming Overview The DMC 1000 provides a powerful programming language that allows users to customize
149. h 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 1100 interface board To make these changes see section entitled Amplifier Interface pg 3 25 Input Protection Lines Abort A low input stops commanded motion instantly without a controlled deceleration For any axis in which the Off On Error function is enabled the amplifiers will be 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 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 Chapter 8 Hardware amp Software Protection 125 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 revers
150. hannels the position resolution is increased to 4N quadrature counts rev The model of the encoder can be represented by a gain of 4N 20 count rad For example a 1000 lines rev encoder is modeled as 638 DMC 1000 Chapter 10 Theory of Operation 137 DAC The DAC or D to A converter converts a 16 bit number to an analog voltage The input range of the numbers is 65536 and the output voltage range is 10 or 20V Therefore the effective gain of the DAC is K 20 65536 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 4 KD 4 orK GN 4 A KD KP KD or A ZR C KI2 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 1 4 KP D T K A 4 T KD For example if the filter parameters of DMC 1000 are KP 4 KD 36 2 T 0 001 s the digital filter coefficients K 160 A 0 9 1 and the equivalent continuous filter G s is G s 16 0 1445 1000 s ZOH The ZOH or zero order hold represents the effect of the sampling process where the motor command is updated once pe
151. he command TC1 For example 42 e Chapter 5 Command Basics DMC 1000 TCI enter Tell Code command 1 Unrecognized command Returned response There are many reasons for receiving an invalid command response The most common reasons are unrecognized command such as typographical entry or lower case command given at improper time such as during motion or a command out of range such as exceeding maximum speed A complete list of all error codes can be found with the description of the TC command in the Command Reference Chapter 11 Interrogating the Controller Interrogation Commands The DMC 1000 has a set of commands that directly interrogate the controller When the command is entered the requested data is returned in decimal format on the next line followed by a carriage return and line feed The format of the returned data can be changed using the Position Format PF Variable Format VF and Leading Zeros LZ command See Chapter 7 and the Command Reference Summary of Interrogation Commands Peri sc n E For example the following example illustrates how to display the current position of the X axis TP X enter Tell position X 0000000000 Controllers Response TP XY enter Tell position X and Y 0000000000 0000000000 Controllers Response Additional Interrogation Methods Most commands can be interrogated by using a question mark as the axis specifier Ty
152. he limit switch operands for the x axis The logic state of the limit switches can also be interrogated with the TS command For more details on TS see the Command Reference Chapter 3 Connecting Hardware e 25 Home Switch Input The Home 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 and 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 1000 Find Edge FE Find Index FI and Standard Home HM The Find Edge routine is initiated by the command sequence FEX return BGX return The Find Edge routine 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 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 sensi
153. he limit switches Example using Limit Switch subroutine Instruction Interpretation Dummy Program LIMSWI Limit Switch Utility 1 LFX Check if forward limit Chapter 8 Hardware amp Software Protection 127 V2 LRX JP LF V1 0 JP LR V2 0 JP END LF MG FORWARD LIMIT STX AMX PR 1000 BGX AMX JP END LR MG REVERSE LIMIT STX AMX PR1000 BGX AMX END RE NOTE An applications program must be executing for LIMSWI to function Check if reverse limit Jump to LF if forward Jump to LR 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 128 e Chapter 8 Hardware amp Software Protection DMC 1000 Chapter 9 Troubleshooting Overview The following discussion may help you get your system to work Potential problems have been divided into groups as follows l 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 CAUSE REMEDY Motor runs away when connected to amplifier with Amplifier offsettoo Adjust amplifier offset no additional inputs large Same as above but offset adjustment does not stop Damaged amplifier Replace amplifier the motor Controller does not read changes in encoder position Wrong encoder Check encoder wirin
154. he right of the decimal point and m digits to the left Interrogation Commands The DMC 1700 has a set of commands that directly interrogate the controller When these command are entered the requested data is returned in decimal format on the next line followed by a carriage return and line feed The format of the returned data can be changed using the Position Format PF and Leading Zeros LZ command For a complete description of interrogation commands see chapter 5 Chapter 7 Application Programming e 111 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 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
155. he temperature at a comfortable level say 90 degrees F To achieve that our skin serves as a temperature sensor and reports to the brain controller The brain compares the actual temperature which is called the feedback signal with the desired level of 90 degrees F The difference between the two levels is called the error signal If the feedback temperature is too low the error is positive and it triggers an action which raises the water temperature until the temperature error is reduced sufficiently The closing of the servo loop is very similar Suppose that we want the motor position to be at 90 degrees The motor position is measured by a position sensor often an encoder and the position feedback is sent to the controller Like the brain the controller determines the position error which is the difference between the commanded position of 90 degrees and the position feedback The controller then outputs a signal that is proportional to the position error This signal produces a proportional current in the motor which causes a motion until the error is reduced Once the error becomes small the resulting current will be too small to overcome the friction causing the motor to stop Chapter 10 Theory of Operation 133 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 slow
156. his allows the DMC 1000 to use the next increment only when it is finished with the previous one Zero parameters for DT followed by zero parameters for CD exit the contour mode Chapter 6 Programming Motion e 67 If no new data record is found and the controller is still in the contour mode the controller waits for new data No new motion commands are generated while waiting If bad data is received the controller responds with a Command Summary Contour Mode COMMAND DESCRIPTION CM XYZW Specifies which axes for contouring mode Any non contouring axes may be operated in other modes CM Contour axes for DMC 1080 ABCDEFGH Specifies position increment over time interval Range is 32 000 Zero ends contour mode CD Position increment data for DMC 1080 a b c d e f g h DTn 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 Waits for previous time interval to be complete before next data record is processed Operand Summary Contour Mode OPERAND DESCRIPTION MUTET General Velocity Profiles The Contour Mode is ideal for generating any arbitrary velocity profiles The velocity profile can be specified as a mathematical function or as a collection of points The design includes two parts Generating an array with data points and running the program Generating an Array An Example
157. ified acceleration and velocity Note that the smoothing process results in longer motion time Example Smoothing PR 20000 Position AC 100000 Acceleration DC 100000 Deceleration 76 Chapter 6 Programming Motion DMC 1000 SP 5000 Speed 5 Filter for S curve BGX Begin ACCELERATION VELOCITY ACCELERATION VELOCITY Figure 6 6 Trapezoidal velocity and smooth velocity profiles Using the KS Command Step Motor Smoothing When operating with step motors motion smoothing can be accomplished with the command KS The KS command smoothes the frequency of step motor pulses Similar to the commands IT and VT this produces a smooth velocity profile The step motor smoothing is specified by the following command KS x y zw where x y z w is an integer from 1 to 16 and represents the amount of smoothing The command IT is used for smoothing independent moves of the type JG PR PA and the command VT is used to smooth vector moves of the type VM and LM DMC 1000 Chapter 6 Programming Motion e 77 Homing 78 e Chapter 6 Programming Motion The smoothing parameters x y z w and n are numbers between 0 and 16 and determine the degree of filtering The minimum value of 1 implies no filtering resulting in trapezoidal velocity profiles Larger values of the smoothing parameters imply heavier filtering and smoother moves Note that KS is valid only for step motors The Find Edge FE and Home HM instru
158. imits Watch Dog Timer Figure 1 1 DMC 1000 Functional Elements 2 Chapter 1 Overview DMC 1000 Microcomputer Section The main processing unit of the DMC 1000 is a specialized 32 bit Motorola 68331 Series Microcomputer with 64K RAM 256K available as an option 64K EPROM and 256 bytes EEPROM The RAM provides memory for variables array elements and application programs The EPROM stores the firmware of the DMC 1000 The EEPROM allows certain parameters to be saved in non volatile memory upon power down Motor Interface For each axis a 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 Communication The communication interface with the host PC over the ISA bus uses a bi directional FIFO AM470 and includes PC interrupt handling circuitry General I O The DMC 1000 provides interface circuitry for eight optoisolated inputs eight general outputs and seven analog inputs 12 Bit ADC Controllers with 1 to 4 axes can add additional I O with an auxiliary board the DB 10096 or DB 10072 The DB 10096 provides 96 additional I O The DB 10072 provides interface to up to three OPTO 22 racks with 24 I O modules each Controllers with 5 or more axes provide 24 inputs and 16 outputs System Eleme
159. in should be set such that a 10 Volt input results in the maximum required current The DMC 1000 also provides an amplifier enable signal AEN This signal changes under the following conditions the watchdog timer activates the motor off command MO is given or the OElcommand Enable Off On Error is given and the position error exceeds the error limit As shown in Figure 3 4 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 1100 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 30 Chapter 3 Connecting Hardware DMC 1000 To change the voltage level of the AEN signal note the state of the resistor pack on the ICM 1100 When Pin 1 is on the 5V mark the output voltage is 0 5V 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 24V DMC 1000 ICM 1100 Connection to 5V or 12V made through Resistor pack RP
160. ing a single ended encoder interchange the DMC 1000 signal CHA and CHB If on the other hand you are using a differential encoder interchange only 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 section Note Reversing the Direction of Motion If the feedback polarity is correct but the direction of motion is opposite to the desired direction of motion reverse the motor leads AND the encoder signals When the position loop has been closed with the correct polarity the next step is 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 de OF Iu ICM 1100 J5 J3 Y Encoder Screw Terminal Z Encoder W Encoder red wire Galil black wire _ CPS Power Supply DC Servo
161. 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 Example Using a Subroutine Subroutine to draw a square 500 counts on each side The square starts at vector position 1000 1000 Instruction Interpretation M Begin main program Clear Output Bit 1 pick up pen VMXY Specify vector motion between X and Y axes VP 1000 1000 VE BGS Define vector position move pen AMS Wait for after motion trippoint SB1 Set Output Bit 1 put down pen JS Square CB 1 Jump to square subroutine EN End main program Square Square subroutine V1 500 JS L Define length of side Jump to subroutine L V1 V1 JS L Switch direction Jump to subroutine L EN End subroutine Square L PR V1 V1 BGX Subroutine L Define relative position movement on X and Y Begin motion AMX BGY AMY After motion on X Begin Y Wait for motion on Y to complete EN End subroutine L 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
162. is controller or DMC 1010 1 axis controller should note that the DMC 1030 uses the axes denoted as XYZ the DMC 1020 uses the axes denoted as XY and the DMC 1010 uses the X axis only Examples for the DMC 1080 denote the axes as A B C D E F G H Users of the DMC 1050 5 axis controller DMC 1060 6 axis controller or DMC 1070 7 axis controller should note that the DMC 1050 denotes the axes as A B C D E the DMC 1060 denotes the axes as A B C D E F and the DMC 1070 denotes the axes as A B C D E F G The axes A B C D may be used interchangeably with X Y Z W This manual was written for the DMC 1000 firmware revision 2 0 and later For controllers with firmware previous to revision 2 0 please consult the original manual for your hardware The later revision firmware was previously specified as DMC 1000 18 WARNING Machinery in motion can be dangerous It is the responsibility of the user to design effective error handling and safety protection as part of the machine Galil shall not be liable or responsible for any incidental or consequential damages Firmware Updates New feature for Rev 2 0h February 1998 Feature 1 CMDERR enhanced to support multitasking 2 VM returns instantaneous commanded vector velocity 3 FA resolution increased to 0 25 New feature for Rev 2 0g November 1997 Feature 1 CR radius now has range of 16 million 2 AB returns abort input 3 CW 1 When output FIFO full application program will not pause but dat
163. ital Output 8 Uncommitted Input 8 ncommitted Input 7 ncommitted Input 6 ncommitted Input 5 ncommitted Input 4 Uncommitted Input 3 Uncommitted Input 2 Uncommitted Input 1 Input common Ground W Auxiliary encoder B W Auxiliary encoder B W Auxiliary encoder W Auxiliary encoder A Z Auxiliary encoder B Z Auxiliary encoder Z Auxiliary encoder A Z Auxiliary encoder A4 Y Auxiliary encoder B Y Auxiliary encoder Y Auxiliary encoder A Y Auxiliary encoder X Auxiliary encoder B X Auxiliary encoder X Auxiliary encoder A X Auxiliary encoder Ground 5 Volts Limit common X Forward limit X Reverse limit 65 HOMEX X Home Input Y Forward limit 5 8 FLSY Y Reverse limit ______69 1527 Z Forward limit Z Reverse limit 7 Hone DMC 1000 DMC 1000 N FLSW W Forward limit RLSW HOMEW _ X Main encoder I 3 YA Y Main encoder BERE ve ww 7 wr YMsnenderi zw ze Z L S oo oo amp Z Main encoder A 92 ZA Z Main encoder A Gm 85 87 88 YI A 91 92 93 94 95 WA 97 WI 100 101 102 103 5V 04 ND 1 J2 Main 60 pin IDC J3 Aux Encoder 20 pin IDC Driver 20 pin IDC J5 General I O 26 pin IDC Appendices e 161 1 CHA 3 GND 5
164. itoring Generated Pulses vs Commanded Pulses Chapter 6 Programming Motion e 71 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 Pulses 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
165. itted To assign a string value the string must be in quotations String variables can contain up to six characters which must be in quotations Variable values may be assigned to controller parameters such as PR or SP Examples Assigning values to variables Instruction Interpretation POSX TPX Assigns returned value from TPX command to variable POSX SPEED 5 75 Assigns value 5 75 to variable SPEED INPUT GIN 2 Assigns logical value of input 2 to variable INPUT V2 V1 V3 V4 Assigns the value of V1 plus V3 times V4 to the variable V2 VAR CAT Assign the string CAT to VAR PR V1 Assign value of variable V1 to PR command for X axis 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 1 returns the value of the variable V1 DMC 1000 Chapter 7 Application Programming e 103 Example Using Variables for Joystick The example below reads the voltage of an X Y joystick and assigns it to variables VX and VY to drive the motors at proportional velocities where 10 Volts 3000 rpm 200000 c sec Speed Analog input 200000 10 20000 Instruction JOYSTIK JG 0 0 BGXY LOOP VX AN 1 20000 VY AN 2 20000 JG VX VY JP LOOP EN Operands Interpretation Label Set in Jog mode Begin Motion Loop Read joystick X Read joystick Y Jog at variable VX VY Repeat End Operands allow motion or stat
166. l gt P command moves the editor to the previous line lt cntrl gt I The lt cntrl gt I command inserts a line above the current line For example if the editor is at line number 2 and lt cntrl gt I is applied a new line will be inserted between lines 1 and 2 This new line will be labeled line 2 The old line number 2 is renumbered as line 3 lt cntrl gt D The lt cntrl gt D command deletes the line currently being edited For example if the editor is at line number 2 lt cntrl gt D is applied line 2 will be deleted The previous line number 3 is now renumbered as line number 2 lt cntrl gt Q The lt cntrl gt Q quits the editor mode In response the DMC 1000 will return a colon After the Edit session is over the user may list the entered program using the LS command If no number or label follows the LS command the entire program will be listed The user can start listing at a specific line or label A range of program lines can also be displayed For 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 84 e Chapter 7 Application Programming DMC 1000 Program Format A DMC 1000 program consists of DMC 1000 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 Flo
167. l leads For a 10 pin ribbon cable encoder connect the cable to the protected header connector labeled X ENCODER repeat for each axis necessary 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 XA 12 e Chapter 2 Getting Started DMC 1000 DMC 1000 channel A XB channel B and XI For differential encoders the complement signals are labeled XA XB and XI Note When using pulse and direction encoders the pulse signal is connected to XA and the direction signal is connected to 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 Start with the X encoder first Once it is connected turn the motor shaft and interrogate the position with the instruction TPX return The controller response will vary as the motor is turned At this point if TPX does not vary with encoder rotation there are three possibilities 1 The encoder connections are incorrect check the wiring as necessary 2 The encoder has failed using an oscilloscope observe the encoder signals Verify that both channels A and B have a peak magnitude between 5 and 12 volts Note that if only one encoder channel fails the position reporting varies by one count only If the encoder failed replace the enc
168. latch F Input 11 is latch G Input 12 is latch H DMC 1000 Jumper Description for DMC 1000 JUMPER JP9 JP10 JP11 JP20 JP21 LABEL LSCOM INCOM IRQ 2 9 IRQ3 IRQ4 IRQ 5 IRQ 7 IRQ 10 IRQ 11 IRQ 12 IRQ 15 IRQ 14 SMX SMY SMZ SMW OPT MRST Dip Switch Settings A2 A8 FUNCTION IF JUMPERED Connect LSCOM to 5V Connect INCOM to 5V Interrupt Request line Jumper one only For each axis the 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 Reserved Master Reset enable Returns controller to factory default settings and erases EEPROM Requires power on or RESET to be activated Seven Dip Switches for Address Selection Please follow silkscreen not switch labels Offset Adjustments for DMC 1000 X offset Y offset Z offset DMC 1000 Used to null ACMD offset for X axis Used to null ACMD offset for Y axis Used to null ACMD offset for Z axis Appendices e 153 W offset Used to null ACMD offset for W axis Note These adjustments are made at the Galil factory and should need adjustment under most applications Accessories and Options DMC 1010 DMC 1020 DMC 1030 DMC 1040 DMC 1050 DMC 1060 DMC 1070 DMC 1080 ICM 1100 AMP 1110 AMP 1120 AMP 1130 AMP 1140 MX option AF option DB 10096 N23 54 1000 N34 150 1000 COM Disk
169. line that will when enabled interrupt the PC Interrupts free the host from having to poll for the occurrence of certain events such as motion complete or excess position error The DMC 1000 uses only one of the PC s interrupts however it is possible to interrupt on multiple conditions The controller provides a register that contains a byte designating each condition The user can also send an interrupt with the UI command Configuring Interrupts To use the DMC 1000 interrupt you must complete the following four steps 1 Place a jumper on the desired IRQ line The DMC 1000 board must contain only one jumper to designate the interrupt line for the PC bus The available lines are IRQ2 IRQ3 IRQ4 IRQ5 IRQ7 IRQ9 IRQ10 IRQI11 IRQ12 IRQ14 IRQ15 Note that the jumper for IRQ2 and 1809 is at the same location IRQ9 is used for computers wired for the AT standard and IRQ2 is used for computers wired for the XT standard If you aren t sure select another interrupt line instead Please note that only one card can be attached to each interrupt request line 2 Your host software code must contain an interrupt service routine and must initialize the interrupt vector table in the PC The interrupt vector table and an example interrupt service routine INIT 1000 C included in Galil s COMMDISK is shown in Appendix 12 8 Failure to have proper interrupt servicing in your host program could cause disastrous results including resetting or han
170. llows a single command to define the state of the entire 8 bit output port where 20 is output 1 2l is output 2 and so on A 1 designates that the output is on Instruction OP6 255 Instruction OUTPUT PR 2000 BG AM SBI WT 1000 1 Example Using the output PORT Command Interpretation Sets outputs 2 and 3 of output port to high other bits are 0 2 22 6 Clears all bits of output port to zero Sets all bits of output port to one Q2 421422423 24 25 26 27 Example Using OP to turn on output after move Interpretation Label Position Command Begin After move Set Output 1 Wait 1000 msec Clear Output 1 End Digital Inputs The DMC 1000 has eight digital inputs for controlling motion by local switches The IN n function returns the logic level of the specified input 1 through 8 For example a Jump on Condition instruction can be used to execute a sequence if a high condition is noted on an input 3 To halt program execution the After Input AI instruction waits until the specified input has occurred Chapter 7 Application Programming e 115 Example Using the Al command Instruction Interpretation JP A IN 1 0 Jump to A if input 1 is low JP B IN 2 1 Jump to B if input 2 is high AI7 Wait until input 7 is high Al 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 o
171. lowering the Z axis and performing a cut along the circle Once the circular motion is completed the Z axis is raised and the motion continues to point C etc Assume that all of the 3 axes are driven by lead screws with 10 turns per inch pitch Also assume encoder resolution of 1000 lines per revolution This results in the relationship 1 inch 40 000 counts and the speeds of 1 in sec 40 000 count sec 5 in sec 200 000 count sec an acceleration rate of 0 1g equals 0 1g 38 6 in s2 1 544 000 count s2 Note that the circular path has a radius of 2 or 80000 counts and the motion starts at the angle of 270 and traverses 360 in the CW negative direction Such a path is specified with the instruction CR 80000 270 360 Further assume that the Z must move 2 at a linear speed of 2 per second The required motion is performed by the following instructions Instruction Interpretation Chapter 7 Application Programming e 119 VM XY VP 160000 160000 VE VS 200000 VA 1544000 BGS AMS PR 80000 SP 80000 BGZ AMZ CR 80000 270 360 VE VS 40000 BGS AMS PR 80000 BGZ AMZ PR 21600 SP 20000 BGX AMX PR 80000 BGZ AMZ CR 80000 270 360 VE VS 40000 BGS AMS PR 80000 BGZ AMZ VP 37600 16000 VE VS 200000 BGS AMS EN Label Circular interpolation for XY Positions End Vector Motion Vector Speed Vector Acceleration Start Motion When motion is complete Move Z down Z speed
172. ly 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 results in temperature oscillations When the response of the system oscillates we say that the system is unstable Clearly unstable responses are bad when we want a constant level What causes the oscillations The basic cause for the instability is a combination of delayed reaction and high gain In the case of the temperature control the delay is due to the water flowing in the pipes When the human reaction is too strong the response becomes unstable Servo systems also become unstable if their gain is too high The delay in servo systems is between the application of the current and its effect on the position Note that the current must be applied long enough to cause a significant effect on the velocity and the velocity change must last long enough to cause a position change This delay when coupled with high gain causes instability This motion controller includes a special 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
173. m 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 of the AEN signal note the state of the resistor pack on the ICM 1100 When Pin 1 is on the 5V mark the output voltage is 0 5V To change to 12 volts pull the resistor pack and rotate it so that Pin 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 24V On the ICM 1100 the amplifier enable signal is labeled AENX for the X axis Connect this signal to the amplifier figure 2 3 and issue the command MO to disable the motor amplifiers often this is indicated by an LED on the amplifier 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 1000 accepts single ended or differential encoder feedback with or without an index pulse If you are not using AMP 11X0 or the ICM 1100 you will need to consult the appendix for the encoder pinouts for connection to the motion controller The AMP 11X0 and the ICM 1100 can accept encoder feedback from a 10 pin ribbon cable or individual signa
174. m 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 contains the last line of program execution the command MG ED will display this line number _ED contains the last line of program execution Useful to determine where program stopped DL contains the number of available labels UL contains the number of available variables _DA contains the number of available arrays _DM contains the number of available array elements _AB contains the state of the Abort Input _FLx contains the state of the forward limit switch for the x axis _RLx 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 Chapter 7 Application Programming 89 ED Edit Mode 000 A Program Label 001 PR1000 Position Relative 1000 002 BGX Begin 003
175. mediately 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 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 After a limit switch has been activated further motion in the direction of the limit switch will not be possible until the logic state of the switch returns back to an inactive state This usually involves physically opening the tripped switch Any attempt at further motion before the logic state has been reset will result in the following error 022 Begin not possible due to limit switch error The operands _LFx and _LRx return the state of the forward and reverse limit switches respectively x represents the axis X Y Z W etc 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 _LFx or MG _LFx This prints the value of t
176. 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 NOTE The error LED does not light up when the Abort Input is active Uncommitted Digital Inputs The DMC 1000 has 8 uncommitted opto isolated inputs These inputs are specified as INx where x specifies the input number 1 through 24 These inputs allow the user to monitor events external to the controller For example the user may wish to have the x axis motor move 1000 counts in the positive direction when the logic state of INI goes high 1080 Controllers with 5 or more axes have 16 opto isolated inputs and 8 TTL level inputs For controllers with more than 4 axes the inputs 9 16 and the limit switch inputs for the additional axes are accessed through the second 100 pin connector IN9 IN16 INCOM FLE RLE HOMEE LSCOM FLF RLF HOMEF FLG RLG HOMEG FLH RLH HOMEH A logic zero is generated when at least ImA of current flows from the common to the input A positive voltage with respect to the input must be supplied at the common This can be accomplished by connecting a voltage in the range of 5V to 28V into INCOM of the input circuitry from a separate power supply Wiring the Optoisolated Inputs The default state of the controller configures all inputs to be interpreted as a logic one without any connection The inputs must be brought low to b
177. n When panel switch is turned to off position motor X must stop turning Solution Connect panel switch to input 1 of DMC 1000 High on input 1 means switch is in on position Instruction Interpretation S JG 4000 Set speed AI 1 BGX Begin after input 1 goes high AI 1 STX Stop after input 1 goes low AMX JP 5 After motion repeat EN Input Interrupt Function The DMC 1000 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 is an interrupt mask If m and are unused 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 II 5 enables inputs 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 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
178. n 1 second of the end of the profiled move DMC 1000 Chapter 7 Application Programming e 99 Example Bad Command Instruction BEGIN IN ENTER SPEED SPEED JG SPEED BGX JP BEGIN EN CMDERR JP DONE _ED lt gt 2 JP DONE _TC lt gt 6 MG SPEED TOO HIGH MG TRY AGAIN ZS1 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 Expressions For manipulation of data the DMC 1000 provides the use of the following mathematical operators Logical And Bit wise Logical Or On some computers a solid vertical line appears as a broken line 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 of MATHEMATICAL EXPRESSION SPEED 7 5 V 1 2 100 e Chapter 7 Application Programming The
179. n error and take the appropriate 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 1000 must be executing an applications program from memory This can be a very simple program that does nothing but loop on a statement such as LOOP JP LOOP EN Motion commands such as JG 5000 can still be sent from the PC even while the dummy applications program is being executed Instruction Interpretation LOOP Dummy Program JP LOOP EN Jump to Loop LIMSWI Limit Switch Label MG LIMIT OCCURRED Print Message RE Return to main program XQ LOOP Execute Dummy Program JG 5000 Jog X axis at rate of 5000 counts sec BGX Begin motion on X axis Now when a forward limit switch occurs on the X axis the LIMSWI subroutine will be executed Notes regarding the LIMSWI Routine 1 The RE command is used to return from the LIMSWI subroutine 2 The LIMSWI subroutine will be re executed if the limit switch remains active 3 The LIMSWI routine is only executed when the motor is being commanded to move 98 e Chapter 7 Application Programming DMC 1000 Example Position Error Instruction
180. n jogging Z in reverse direction at 25000 count s A AC 20000 20000 Specify X Z acceleration of 20000 cts sec DC 20000 20000 Specify X Z deceleration of 20000 cts sec JG 50000 25000 Specify jog speed and direction for X and Z axis BG XY Begin X motion AS X Wait until X is at speed BGZ Begin Z motion EN 48 e Chapter 6 Programming Motion DMC 1000 Example Joystick jogging The jog speed can also be changed using an analog input such as a joystick Assume that for a 10 Volt input the speed must be 50000 counts sec Label JGO Set in Jog Mode BGX Begin motion B Label for Loop V1 GAN I Read analog input VEL V1 50000 2047 Compute speed JG VEL Change JG speed JP Loop Linear Interpolation Mode DMC 1000 The DMC 1000 provides a linear interpolation mode for 2 or more axes up to 8 axes for the DMC 1080 In linear interpolation mode motion between the axes is coordinated to maintain the prescribed vector speed acceleration and deceleration along the specified path The motion path is described in terms of incremental distances for each axis An unlimited number of incremental segments may be given in a continuous move sequence making the linear interpolation mode ideal for following a piece wise linear path There is no limit to the total move length The LM command selects the Linear Interpolation mode and axes for interpolation For example LM YZ selects only the Y and Z axes for linear interpolation
181. n the amplifier power supply If the amplifiers are operating properly the motor should stand still even when the amplifiers are powered up Chapter 2 Getting Started e 11 Step B Connect the 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 KQ resistor and measure the voltage across the resistor Only if the voltage is zero connect the two ground signals directly The amplifier enable signal is used by the controller to disable the motor It will disable the motor when the watchdog timer activates the motor off command MO is given or the position error exceeds the error limit with the Off On Error function enabled see the command OE for further information 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 1100 interface board To change the polarity fro
182. ncrease 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 X 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 Only when the amplifier is configured in the current mode 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 TE X CR becomes zero As is increased its effect is amplified and it may lead to vibrations If this occurs simply reduce KI Repeat tuning for the Y Z and W axes Chapter 2 Getting Started 17 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 These examples have remarks next to each command these remarks must not be included in the actual program Example 1 System Set up This example assigns the system filter parameters Error Limits And Enables The Automatic Error Shut Off Instruction Interpretation KP10 10 10 10 10 10 10 10 Set gains for a b c d e f g and h axes KP10 10 10 10 10 10 10 10 Set gains for a b c d e f g and h axes
183. nd where n 9 to 80 If the command below is issued MG IN 17 the response is the least significant bit of block 2 assuming block 2 is configured as input Connector Description of the DB 10072 Three cables connect the DB 10072 to OPTO 22 products One cable is located at the back of the card and may be connected from outside the PC J1 The other two are attached from within the PC J2 and J3 Pinouts are described below 164 e Appendices DMC 1000 J1 Pinout Pin Block Bit No SBn IN n Pin Signal 1 1 7 16 2 Ground 3 1 6 15 4 Ground 5 1 5 14 6 Ground 7 1 4 13 8 Ground 9 1 3 12 10 Ground 11 1 2 11 12 Ground 13 1 1 10 14 Ground 15 1 0 9 16 Ground 17 2 7 24 18 Ground 19 2 6 23 20 Ground 21 2 5 22 22 Ground 23 2 4 21 24 Ground 25 2 3 20 26 Ground 27 2 2 19 28 Ground 29 2 1 18 30 Ground 31 2 0 17 32 Ground 33 3 7 32 34 Ground 35 3 6 31 36 Ground 37 3 5 30 38 Ground 39 3 4 29 40 Ground 41 3 3 28 42 Ground 43 3 2 27 44 Ground 45 3 1 26 46 Ground 47 3 0 25 48 Ground 49 volts 50 Ground J2 Pinout Pin Block SBn IN n Pin 1 4 7 40 2 Ground 3 4 6 39 4 Ground 5 4 5 38 6 Ground 7 4 4 37 8 Ground 9 4 3 36 10 Ground 11 4 2 35 12 Ground 13 4 1 34 14 Ground 15 4 0 33 16 Ground 17 5 7 48 18 Ground 19 5 6 47 20 Ground 21 5 5 46 22 Ground 23 5 4 45 24 Ground 25 5 3 44 26 Ground DMC 1000 Appendices e 165 27 29 31 33 35 37 39 41 43 45 47 49 O0 N U 15 17 19 21
184. ndependent Axis essere 48 Linear Interpolation Mode tene ee dete FD tdem 49 Specifying Linear Segments esee eene nennen enne nennen 49 Specifying Vector Acceleration Deceleration and 50 Additional Comm nds i Le tee Rebeca petet n 50 Command Summary Linear Interpolation eene 51 Operand Summary Linear Interpolation eese 52 Vector Mode Linear and Circular Interpolation Motion see 54 Specifying Vector Segments 54 Specifying Vector Acceleration Deceleration and 55 Additional Comranands 5 og nos eet ue tede eee RR pe HERR 55 Command Summary Vector Mode Motion sese 57 Operand Summary Vector Mode Motion sese 57 Electronic Gearing 2 Dh e TR pU 58 Command Summary Electronic Gearing eene 59 Operand Summary Electronic Gearing eene eere 59 Electronic Car e eet ertet 61 Contour Mode 4 ee it e hte eee o ci Rv Bivens eet hen irt 66 Specifying Contour Segments eese ener 66 Additional Commands ienei iieri niorir eene nein enne eene nennen 67 Command Summary Contour Mode eene 68 Operand Summary Contour 6
185. ndex pulse After detection it decelerates to a stop and defines this position as 0 The logic state of the Home input can be interrogated with the command MG HMX This command returns a 0 or 1 if the logic state is low or high 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 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 26 Chapter 3 Connecting Hardware DMC 1000 All
186. ng the Home switch The Find Index routine is initiated by the command sequence FIX return BGX return Find Index will cause the motor to accelerate to the user defined slew speed SP at a rate specified by the user with the AC command and slew until the controller senses a change in the index pulse signal from low to high The motor then decelerates to a stop at the rate previously specified by the user with the DC command Although Find Index is an option for homing it is not dependent upon a transition in the logic state of the Home input but instead is dependent upon a transition in the level of the index pulse signal The Standard Homing routine is initiated by the sequence of commands HMX return BGX return Standard Homing is a combination of Find Edge and Find Index homing Initiating the standard homing routine will cause 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 i
187. nload 83 107 83 107 Dual Encoder 74 107 74 107 Backlash 73 75 122 73 75 122 Dual Loop 71 75 71 75 122 71 75 71 75 122 Dual Loop 71 75 71 75 122 71 75 71 75 122 Backlash 73 75 122 73 75 122 E Ecam 61 62 65 61 62 65 Electronic Cam 61 63 61 63 Echo 39 Edit Mode 21 83 84 89 90 21 83 84 90 Editor 1 21 22 83 84 1 21 22 83 84 EEPROM 3 Non Volatile Memory 1 3 1 3 Electronic Cam 61 63 61 63 Electronic Gearing 1 55 61 1 55 61 Ellipse Scale 57 Enable Amplifer Enable 31 32 125 31 32 125 Encoder 43 Auxiliary Encoder 1 5 25 59 71 75 71 75 150 152 160 1 5 25 59 71 75 71 75 150 152 Differential 12 14 130 12 15 130 Dual Encoder 74 107 74 107 184 e Index Index Pulse 12 26 78 12 26 78 Quadrature 1 3 4 114 118 126 137 1 3 4 114 118 126 137 Error Handling 25 86 97 98 126 28 25 86 97 98 125 27 Error Limit 12 13 18 30 98 125 27 12 13 18 30 98 125 27 Off On Error 12 27 30 125 127 12 26 30 125 126 Example Wire Cutter 118 Execute Program 22 23 22 23 F Feedrate 51 56 57 93 119 20 51 56 57 93 119 20 FIFO 3 33 35 36 39 3 33 35 36 39 Filter Parameter Damping 130 134 130 134 Integrator 134 138 39 134 138 39 PID 14 134 138 143 15 134 138 143 Proportional Gain 134 Stability 74 75 122 129 30 74 75 122 129 30 Find Edge 26 78 26 78 Flags Almost full 35
188. not satisfied the controller continues to execute the next commands in program sequence Using the Js Command The JS command is significantly different from the JP command When the condition specified by the JS command is satisfied the controller will begin execution at the program location specified by the line or label number However when the controller reaches an end statement EN the controller will jump back to the location of the JS command and resume executing the next commands This is known as jumping to a subroutine For more information see section Conditional Statements The conditional statement is satisfied if it evaluates to any value other than zero The conditional statement can be any valid DMC 1000 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 IO V1 gt AN 2 IN 1 0 Multiple Conditional Statements The DMC 1000 will accept multiple conditions in a single jump statement The conditional statements are combined in pairs using the operands amp and I The amp operand between any two conditions requires that both statements must be true for the combined statement to be true The lt operand between any
189. ns the available spaces for motion segments that can be sent to the buffer 511 returned means the buffer is empty and 511 segments can be sent A zero means the buffer is full and no additional segments can be sent As long as the buffer is not full additional segments can be sent at PC bus speeds The operand _ can be used to determine the value of the segment counter Specifying Vector Acceleration Deceleration and Speed The commands VS n V n and VD n are used to specify the vector speed acceleration and deceleration The DMC 1000 computes the vector speed based on the two axes specified in the VM mode For example VM YZ designates vector mode for the Y and Z axes The vector speed for this example would be computed using the equation 2 2 752 where YS and ZS speed of the Y Z axes In cases where the acceleration causes the system to jerk the DMC 1000 provides a vector motion smoothing function VT is used to set the S curve smoothing constant for coordinated moves Additional Commands The DMC 1000 provides commands for additional control of vector motion and program control Note Many of the commands used in Vector Mode motion also applies Linear Interpolation motion described in the previous section Trippoints The command AV n is the After Vector trippoint which halts program execution until the vector distance of n has been reached Specifying Vector Speed for Each Segment
190. nts As shown in Fig 1 2 the DMC 1000 is part of a motion control system which includes amplifiers motors and encoders These elements are described below Power Supply Computer DMC 1000 Controller Amplifier Driver DMC 1000 Encoder Motor Figure 1 2 Elements of Servo systems Chapter 1 Overview e 3 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 800 371 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 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 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 Fo
191. ny 4th address between 512 and 1024 It is the responsibility of the user to assure there are no address conflicts between the DMC 1000 and the computer The DMC 1000 must not conflict with an address used by the PC or another I O card WARNING The DMC 1000 address setting must not conflict with an address used by the PC or another I O card An address conflict will prevent communication or cause data conflicts resulting in lost characters DMC 1000 To select an address N first make sure it is a number between 512 and 1024 that is divisible by four Then subtract 512 from N and use the switches A2 through to represent the binary result A switch in the ON position represents a binary 0 and the OFF position represents binary 1 Example Address Selection 1 Select address N as 996 2 Check to see if N is divisible by 4 3 Subtract 512 from N Chapter 4 Communication e 33 996 512 484 4 Convert result from above into binary 48421 1 1 1001 00 2208200908 0 Qn 5 Let switches A2 through A8 represent bits 2 through 2 of above Where ON 0 OFF 1 Note The appendix contains a table with the proper switch setting for all possible addresses Communication with the Controller Communication Registers CONTROL Read and Write The DMC 1000 provides three registers used for communication The READ register and WRITE register occupy address N and the CONTROL register occupies address N 1 in the I O space The READ
192. obtain information about the type of error condition that occurred by using the command TCI This command reports back a number and a text message which describes the error condition The command TCO or TC will return the error code without the text message 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 return a number representing the motion status See the command reference for further information The command 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 1700 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 1010 will have a maximum of 1600 array elements in up to 14 arrays If an array of 100 elements is defined the command DM will return the value 1500 and the command DA will return 13 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 Progra
193. oder If you cannot observe the encoder signals try a different encoder 3 There 15 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 7a Connect Standard Servo Motors The following discussion applies to connecting the DMC 1000 controller to standard servo motor amplifiers 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 speed Step by step directions 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 Step A 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 B Before connecting the motor amplifiers to the controller read the following discussion on setting Error Limits and Torque Limits Note that this discussion only uses the X axis as an example Step B 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
194. of the segments A B Linear 10000 units B C Circular RB 15708 C D Linear 1000 Total 35708 counts In general the length of each linear segment is Yk Where are the changes in X and positions along the linear segment The length of the circular arc is Lr 2 2 360 The total travel distance is given by D d k l The velocity profile may be specified independently in terms of the vector velocity and acceleration For example the velocity profile corresponding to the path of Fig 12 2 may be specified in terms of the vector speed and acceleration VS 100000 VA 2000000 The resulting vector velocity is shown in Fig 12 3 Velocity 10000 time s T 0 05 T 0 357 T 0 407 a S a Figure 12 3 Vector Velocity Profile The acceleration time T is given by DMC 1000 Appendices e 171 VS _ 100000 0 055 VA 2000000 The slew time Ts is given by n D m 5 9 05 0 3075 100000 The total motion time Tt is given by D T 0 4075 VS The velocities along the X and Y axes are such that the direction of motion follows the specified path yet the vector velocity fits the vector speed and acceleration requirements For example the velocities along the X and Y axes for the path shown in Fig 12 2 are given in Fig 12 4 Fig 12 4a shows the vector velocity It also indicates the position point along the path starting at A
195. oller sample rate In the motor off mode this output is held at the OF command level Signal to disable and enable an amplifier Amp Enable goes low on Abort and OE1 PWM 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 33 4 Khz for DMC 1000 and 16 7 Khz for DMC 1000 18 The PWM output is available in two formats Inverter and Sign Magnitude In the Inverter mode the PWM signal is 2 duty cycle for full negative voltage 50 for 0 Voltage and 99 846 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 For stepmotors The STEP OUT pin produces a series of pulses for input to a step motor driver The pulses may either be low or high The pulse width is 50 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 Used with PWM signal to give the sign of the motor command for servo amplifiers or direction for step motors The signal goes low when the position error on any axis exceeds the value specified by the error limit command ER These 8 TTL outputs are uncommitted and may be designated by the user to toggl
196. oller with more than 4 axes requires 2 PC slots Only the main DMC 1040 slot needs to be addressed Step A Configuring the Address DIP Switches The DMC 1000 address N is selectable by setting the Address DIP Switches A2 A3 A4 A5 A6 A7 and A8 where each switch represents a digit of the binary number that is equivalent to N minus 512 Switch A2 represents the 2 digit the 3rd binary digit from the right switch A3 represents the 2 digit the 4th binary digit from the right and so on up to the most significant digit which is represented by switch A8 The 2 least significant rightmost digits are not represented A switch in the ON position means the value of the digit represented by that switch is 0 if the switch is in the OFF position the digit is 1 Because the least significant digit represented by the Address DIP Switches is the 2 digit switch A2 only addresses divisible by 4 are configurable on the DMC 1000 The DMC 1000 can be configured for any 4th address between 512 and 1024 To configure an address you must do the following 1 Select an address between 512 and 1024 divisible by 4 Example 516 2 Subtract 512 from N Example 516 512 4 3 Convert the resultant number into a 9 digit binary number being sure to represent all leading zeros Using our example Converting 4 to binary results in 100 As a 9 digit binary number this is represented by 000000100 4 Truncate the 2 least significant rightmost digi
197. on 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 corresponding 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 1000 profiler commands the step motor amplifier All DMC 1000 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 1000 you must follow this procedure 16 e Chapter 2 Getting Started DMC 1000 DMC 1000 Step A Install SM jumpers Each axis of the DMC 1000 that will operate a stepper motor must have the corresponding stepper motor jumper installed For a discussion of SM jumpers see step 2 Step B Connect step and direction signals Make connections from controller to motor amplifiers These signals are labeled PULSX and DIRX for the x
198. oordinates of the end points of the vector movement with respect to the starting point The command CR r q d define a circular arc with a radius starting angle of and a traversed angle d The notation for q is that zero corresponds to the positive horizontal direction and for both q and d the counter clockwise CCW rotation is positive Up to 511 segments of CR or VP may be specified in a single sequence and must be ended with the command VE The motion can be initiated with a Begin Sequence BGS command Once motion starts additional segments may be added The Clear Sequence CS command can be used to remove previous VP and CR commands which were stored in the buffer prior to the start of the motion To stop the motion use the instructions STS or ABI ST stops motion at the specified deceleration ABI aborts the motion instantaneously The Vector End VE command must be used to specify the end of the coordinated motion This command requires the controller to decelerate to a stop following the last motion requirement If a VE command is not given an Abort AB1 must be used to abort the coordinated motion sequence Itis the responsibility of the user to keep enough motion segments in the DMC 1000 sequence buffer to ensure continuous motion If the controller receives no additional motion segments and no VE command the controller will stop motion instantly at the last vector There will be no controlled deceleration LM or _LM retur
199. or DB 10096 Connectors esses ener enne nennen trennen 169 JI Pimno t iE et ttes 169 Aui EE 170 Coordinated Motion Mathematical Analysis eee 171 DMC 600 DMC 1000 Comparison eee enne enne enne nennen nennen enne 174 DMC 600 DMC 1000 Command Comparison eee 175 DMC 600 DMC 1000 Pin out Conversion Table eee 178 Listof Other Publications orien e ei Clem e tn Reto ters 180 Contacting US reo ote ie c ete tte ws 180 WARRANTY thick Hale Ais RAs on IERI A pie seis 181 Using This bte tate dle tempe nite a perde bee epa rie ii Chapter 1 Overview 1 Introduction eet A n qund a tee Reps eu eso be ee ERORE 1 Overview Of Motor Types tan i eae m or ee to o nine E eite a abe 1 Standard Servo Motors with 10 Volt Command Signal 2 Stepper Motor with Step and Direction Signals see 2 DMC 1000 Functional Element eese enne enne enne nennen nennen 2 Microcomputer Section eed eee de e ede mones 3 Motor Iriterface i oie ee edite err de aov reete rtr riens 3 Communication eoa p e taie d eder eR rele ee Ee eet 3 General cies ten ITE eg dto p att ee tete vestes 3 System Elements eoo pte med o Pec te p t teen 3 nt dette eter ER tte E ree
200. ormats 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 10 110 e Chapter 7 Application Programming DMC 1000 DMC 1000 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 at the end of the statement This is useful when a text string needs to surround a numeric value Example A JG 50000 BGX ASX MG The Speed is TVX F5 1 N MG counts sec EN When A is executed the above example will appear on the screen as The speed is 50000 counts sec Using the MG Command to Configure Terminals The MG command can be used to configure a terminal Any ASCII character can be sent by using the format where is any integer between 1 and 255 Example MG 407 4255 sends the ASCII characters represented by 7 and 255 to the bus Summary of Message Functions FUNCTION DESCRIPTION Fn m Formats numeric values in decimal n digits to t
201. otion is complete on the first motion sequence In this way the DMC 1000 can make decisions based on its own status or external events without intervention from a host computer 90 e Chapter 7 Application Programming DMC 1000 DMC 1000 Event Triggers AMXYZWorS Halts program execution until motion is complete on the ABCDEFGH specified axes or motion sequence s AM with no parameter tests for motion complete on all axes This command is useful for separating motion sequences in a program AD X or Y or Z or W Halts program execution until position command has reached A or B or C or D or Eor F or G or H the specified relative distance from the start of the move Only one axis may be specified at a time AR X or Y orZor W Halts program execution until after specified distance from A or B or C or D or E or F or G or H the last AR or AD command has elapsed Only one axis may be specified at a time AP X or Y or Z or W Halts program execution until after absolute position occurs A or B or C or D or E or F or G or H Only one axis may be specified at a time MF X or Y or Z or W Halt program execution until after forward motion reached A or B or C or D or E or F or G or H absolute position Only one axis may be specified If position is already past the point then MF will trip immediately Will function on geared axis MR X or Y orZor W Halt program execution until after reverse motion reached A or B or C or D or E or F or G or H a
202. packaged and with transportation and insurance prepaid We will reship at our expense only to destinations in the United States 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 10 94 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 180 e Appendices DMC 1000 Index A Abort 1 25 26 30 49 55 125 127 145 147 151 52 161 175 179 1 25 26 30 49 55 125 127 145 146 151 52 174 178 Off On Error 12 27 30 125 127 12 26 30 125 126 Stop Motion 49 55 99 128 49 55 99 128 Absolute Position 19 45 46 91 92 96 175 19 45 46 91 92 96 174 Absolute Value 96 102 126 96 102 126 Acceleration 172 73 174 76 178 171 72 173 75 177 Accessories 154 Address 6 9 10 33 36 38 39 106 8 130 153 155 57 180 5 9 10 33 36 38 39 106 8 130 153 155 57 179 Almost Full Flags 35 AMP 1100 15 159 15 159 Amplifier Enable 31 32 125 31 32 125 Amplifier Gain 4 136 139 14
203. pe the command followed by a for each axis requested DMC 1000 Chapter 5 Command Basics e 43 PR The controller will return the PR value for the and E axes PR The controller will return the PR value for the A B C and D axes PR The controller will return the PR value for the H axis The controller can also be interrogated with operands Operands Most DMC 1000 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 All 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 V _TPX The Command Reference denotes all commands which have an equivalent operand as Used as an Operand Also see description of operands in Chapter 7 Command Summary For a complete command summary see the Command Reference manual 44 e Chapter 5 Command Basics DMC 1000 Chapter 6 Programming Motion Overview The DMC 1000 can be commanded to do the following modes of motion Absolute and relative independent positioning jogging linear interpolation up to 8 axes linear and circular interpolation 2 axes with 3 axis of tangent motion electronic gearing electronic cam motion and contouring These modes are discussed in th
204. put 1 20 Latch X Input 1 22 Latch Z 24 Abort input 26 Amp enable X DMC 1000 27 29 31 33 35 37 39 41 43 45 47 49 51 53 55 57 59 Motor Command Y 28 Motor Command Z 30 Motor Command W 32 34 B X 36 I X 38 40 B Y 42 I Y 44 A4 Z 46 B Z 48 I Z 50 A W 52 B W 54 IW 56 12V 58 5V 60 J5 General Analog 1 2 Analog 3 4 Analog 5 6 Analog 7 8 5 Volts 10 Output 2 12 Output 4 14 Output 6 16 Output 8 18 Input 7 20 Input 5 22 Input 3 latch Z Input 1 latch X 24 26 Amp enable Y Amp enable Z Amp enable W A X B X I X A Y B Y IY A Z B Z I Z A W B W I W 12V Ground 26 pin IDC Analog 2 Analog 4 Analog 6 Ground Output 1 Output 3 Output 5 Output 7 Input 8 Input 6 Input 4 Latch W Input 2 Latch Y Input Common Isolated 5 Volts J3 Aux Encoder 20 pin IDC Sample clock B Aux W 2 4 Synch B Aux W Appendices e 147 5 A Aux W 7 B Aux Z 9 A Aux Z 11 B Aux Y 13 A Aux Y 15 B Aux X 17 A Aux X 19 5 Volt J4 Driver 1 Motor Command X 3 PWM X STEP X 5 NC 7 Amp enable Y 9 Sign Y DIR Y 11 Motor command Z 13 PWM Z STEP Z 15 5 Volt 17 Amp enable W 19 Sign W DIR W 6 A Aux W 8 B Aux 2 10 A Aux Z 12 B Aux Y 14 A Aux Y 16 B Aux X 18 A Aux X 20 Ground 20 pin IDC 2 Amp enable X 4 Sign X DIR X 6 Motor Command Y 8 PWM Y STEP Y 10 NC 12 Amp enable Z 14 Sign Z DIR Z 16 Motor command W 18 PWM
205. r 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 modes is as follows Voltage Drive 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 where 2 T RJI K is and 8 and motor parameters and units are Torque constant Nm A R Armature Resistance Q 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 in A 0 1 Nm A 20 J 0 0283 oz in s 2 1074 kg m2 L 0 004H Chapter 10 Theory of Operation 135 Then the corresponding time constants are Tg 0 04 sec and 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 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 current amplifier with 2 A V with the motor described by the previous example will have the transfer function P V 1000 s2 ra
206. r and the follower are controlled by the DMC 1000 controller it may be desired to synchronize the follower with the commanded position of the master rather than the actual position This eliminates the coupling between the axes which may lead to oscillations For example assume that a gantry is driven by two axes X Y on both sides The X axis is the master and the Y axis is the follower To synchronize Y with the commanded position of X use the instructions GA XC GR 1 PR 3000 BGX Specify master as commanded position of X Set gear ratio for Y as 1 1 Command X motion Start motion on X axis You may also perform profiled position corrections in the electronic gearing mode Suppose for example that you need to advance the slave 10 counts Simply command IP 10 Specify an incremental position movement of 10 on Y axis Under these conditions this IP command is equivalent to PR 10 BGY Specify position relative movement of 10 on Y axis Begin motion on Y axis Often the correction is quite large Such requirements are common when synchronizing cutting knives or conveyor belts Example Synchronize two conveyor belts with trapezoidal velocity correction GAX GR 2 PR 300 SP 5000 AC 100000 DC 100000 BGY 60 e Chapter 6 Programming Motion Define master axis as X Set gear ratio 2 1 for Y Specify correction distance Specify correction speed Specify correction acceleration Specify correction deceleration
207. r 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 For stepper motors the amplifier converts step and direction signals into current Encoder An encoder translates motion into electrical pulses which are fed back into the controller The DMC 1000 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 1000 decodes either type into quadrature states or four times the number of cycles Encoders may also have a third channel or index for synchronization The DMC 1000 can also interface to encoders with pulse and direction signals There is no limit on encoder line density however the input 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 1000 Single ended 12 Volt signals require a bias voltage input to the complementary inputs To interface wi
208. r 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 H s may be approximated as one This completes the modeling of the system elements Next we discuss the system analysis 138 e Chapter 10 Theory of Operation DMC 1000 System Analysis DMC 1000 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 1000 controller and the following parameters K 20 1 Nm A Torque constant J 2 104 kg m System moment of inertia Rz2 Q Motor resistance K 4 Amp Volt Current amplifier gain KP 12 5 Digital filter gain KD 245 Digital filter zero 0 No integrator N 500 Counts rev Encoder line density T 1 ms Sample period The transfer function of the system elements are Motor M s Kt Js2 500 52 rad A Amp 4 Amp V DAC 0 0003 V count Encoder Kg 4N 2n 318 count rad ZOH 2000 s 2000 Digital Filter 12 5 KD 245 T 0 001 Therefore D z 50 980 1 7 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 The system elements are shown in Fig 10 7 Chapter
209. r then traverses very slowly back until the home switch toggles again The motor then traverses forward until the encoder index pulse is detected The DMC 1000 defines the home position 0 as the position at which the index was detected Example Instruction Interpretation HOME Label AC 1000000 Acceleration Rate DC 1000000 Deceleration Rate SP 5000 Speed for Home Search HMX Home X BGX Begin Motion AMX After Complete MG AT HOME Send Message EN End EDGE Label AC 2000000 Acceleration rate DC 2000000 Deceleration rate DMC 1000 DMC 1000 SP 8000 FE Y BG Y AM Y MG FOUND HOME DP 0 EN Speed Find edge command Begin motion After complete Print message Define position as 0 End Chapter 6 Programming Motion e 79 MOTION BEGINS TOWARD HOME DIRECTION POSITION MOTION REVERSE TOWARD HOME DIRECTION lt POSITION MOTION TOWARD INDEX DIRECTION POSITION INDEX PULSES POSITION HOME SWITCH POSITION Figure 6 7 Motion intervals in the Home sequence 80 Chapter 6 Programming Motion DMC 1000 High Speed Position Capture Latch Often it is desirable to capture the position precisely for registration applications The DMC 1000 provides a position latch feature This feature allows the position of X Y Z or W to be captured within 25 microseconds of an external low input signal The general inputs 1 through 4 and 9 through 12 correspond to each axis INI X axis latc
210. rcular interpolation electronic gearing and user defined path following Several motion parameters can be specified including acceleration and deceleration rates and slew speed The DMC 1000 also provides S curve acceleration for motion smoothing For synchronizing motion with external events the DMC 1000 includes 8 optoisolated inputs 8 programmable outputs and 7 analog inputs An add on daughter with additional inputs and outputs or for interfacing to OPTO 22 racks Event triggers can automatically check for elapsed time distance and motion complete Despite its full range of sophisticated features the DMC 1000 is easy to program Instructions are represented by two letter commands such as BG to begin motion and SP to set motion 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 Servo Design Kit allows quick system set up and tuning The DMC 1000 provides several error handling features These include software and hardware limits automatic shut off on excessive error abort input and user definable error and limit routines Overview of Motor Types The DMC 1000 can provide the following types of motor control 1 Standard servo motors with 10 volt command signals DMC 1000 Chapter 1 Overview e 1 2 Step motors with step and direction signals 3
211. ris n dern 125 Outp t Protection LMES 5 en dea Lcd eese ett be tee t nae tiere 125 Inp t Protection Lines sere rh RR Te RUE 125 Software Protect OM zs aeree ebd e td i dede imde det 126 Programmable Position Limits eese ener 126 BITOE Rae PE PR UE UE E PR m es 127 Automatic Error Routine eese eee teen nnne nnne 127 Lamt Switch Routine inam ai ena i PG EROR 127 Chapter 9 Troubleshooting 129 OVERVIEW iu si ERE P Set ep E RTL UU 129 Installation irte e Carp ae V eer ueteri e Rie 129 Communication 22 2 0 203 0 9 a 00 EROR eap a paa ERO OPER 130 Staby n r 130 Operat ETE 130 DMC 1000 DMC 1000 Chapter 10 Theory of Operation 131 OVELIVIEW ente n oer eei dif ee efe t dote ues 131 Operation of Closed Loop Systems eese eene ener ener nennen 133 System Mode ling erem gn e tete PU Re ERR deep 134 Motor Amplifier e eg oH te e erret eee dades 135 Encoder tod cineri an Ina ete me RU Om GO D ant POETE 137 DAC hene maesta nba erar 138 Digital Filtet s ie Re teg iei eei ies ee feme etatis 138 6 c 138 System e pe e 139 System Design and Compensation esee ener nennen trennen 141 The Analytical e o eerte reiner 141 Appendic
212. rom a separate power supply LSCOM v v v v v v FLSX HOMEX RLSY RLSX FLSY HOMEY INCOM v v v v v v v v v INT IN2 INS 1 5 6 1 7 IN8 ABORT Figure 3 1 The Optoisolated Inputs Using an Isolated Power Supply To take full advantage of opto isolation an isolated power supply should be used to provide the voltage at the input common connection When using an isolated power supply do not connect the ground of the isolated power to the ground of the controller power supply in the voltage range between 5 to 28 Volts may be applied directly see Figure 3 2 For voltages greater than 28 Volts a resistor R is needed in series with the input such that 1 mA lt V supply R 2 2KQ lt 15 mA 28 Chapter 3 Connecting Hardware DMC 1000 For Voltages gt 28V LSCOM ANM z 2 2K n Isolated Supply FLS d Figure 3 2 Connecting a single Limit or Home Switch to an Isolated Supply NOTE As stated in Chapter 2 the wiring is simplified when using the ICM 1100 or AMP 11x0 interface board This board accepts the signals from the ribbon cables of the DMC 1000 and provides phoenix type screw terminals A picture of the ICM 1100 can be seen on pg 2 14 The user must wire the system directly off the ribbon cable if the ICM 1100 or equivalent breakout board is not available Bypassing
213. ron 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 122 e Chapter 7 Application Programming DMC 1000 The dual loop approach requires the resolution of the rotary sensor to be equal or better than that of the linear system Assuming that the pitch of the lead screw is 2 5mm approximately 10 turns per inch a rotary encoder of 2500 lines per turn or 10 000 count per revolution results in a rotary resolution of 0 25 micron This results in equal resolution on both linear and rotary sensors To illustrate the control method assume that the rotary encoder
214. s 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 Compute position V4 INT V3 Integer value of V3 POS C V4 Store in array POS T T 8 1 A C lt 16 Program to find position differences C20 2C Chapter 6 Programming Motion e 69 D C 1 DIF C POS D POS C Compute the difference and store 1 JP 4C C 15 EN End first program RUN Program to run motor CMX Contour Mode DT3 4 millisecond intervals C 0 E CD DIF C Contour Distance is in DIF WC Wait for completion 1 JP E C lt 15 DTO CDO Stop Contour EN End the program Teach Record and Play Back Several applications require teaching the machine a motion trajectory Teaching can be accomplished using the DMC 1000 automatic array capture feature to capture position data The captured data may then be played back in the contour mode The following array commands are used DM C n Dimension array RA Specify array for automatic record up to 4 for DMC 1040 8 for DMC 1080 RD TPX Specify data for capturing such as _TPX or _TPZ 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 Record and Playback Example Instruction Interpretation RECORD Begin Program DPO Define position for X axis to be 0 DA De allocate all arrays DM XPOS 501 Dimension 501 element array called XPOS RA XPOS Record Elemen
215. s The VM command provides parameter specifications for describing the coordinated axes and the tangent axis VM m n p m n specifies coordinated axes p specifies tangent axis such as X Y Z W or A B C D E F G H p N turns off tangent axis Before the tangent mode can operate it is necessary to assign an axis via the VM command and define its offset and scale factor via the TN m n command m defines the scale factor in counts degree and n defines the tangent position that equals zero degrees in the coordinated motion plane The _TN can be used to return the initial position of the tangent axis Example XY Table Control Assume an XY table with the Z axis controlling a knife The Z axis has a 2000 quad counts rev encoder and has been initialized after power up to point the knife in the Y direction A 180 circular cut is desired with a radius of 3000 center at the origin and a starting point at 3000 0 The motion is CCW ending at 3000 0 Note that the 0 position in the XY plane is in the X direction This corresponds to the position 500 in the Z axis and defines the offset The motion has two parts First X Y and Z are driven to the starting point and later the cut is performed Assume that the knife is engaged with output bit 0 Instruction Interpretation EXAMPLE Example program VM XYZ XY coordinate with Z as tangent TN 2000 360 500 CR 3000 0 180 2000 360 counts degree position 500 is 0 degrees in XY plane 3000 count r
216. set potentiometer on the DMC 1000 until zero volts is observed 32 Chapter 3 Connecting Hardware DMC 1000 Chapter 4 Communication Introduction The DMC 1000 receives commands from a PC XT AT or compatible computer The controller is configured as a standard AT style card that is mapped into the I O space Communication between the DMC 1000 and the computer is in the form of ASCII characters where data is sent and received via READ and WRITE registers on the DMC 1000 A handshake is required for sending and receiving data The DMC 1000 contains a 512 character write FIFO buffer This permits sending commands at high speeds ahead of their actual processing by the DMC 1000 The DMC 1000 also contains a 512 character read buffer This chapter discusses Address Selection Communication Register Description A Simplified Method of Communication Advanced Communication Techniques and Bus Interrupts Address Selection The DMC 1000 address N is selectable by setting the Address Dip Switches A2 A3 A4 A5 A6 A7 and A8 where A2 represents 27 represents 2 bit and so on Setting a switch to the ON position sets that bit to zero and setting a switch to the OFF position sets that bit to 1 Please note that this discussion refers only to the computer address of the controller and is not related to specifying axes for instructions The default address of the DMC 1000 is 1000 A4 and A2 switches ON The DMC 1000 can be configured for a
217. sition Find the correction Exit if error is small Command correction Begin motion on X axis Repeat the process Label End program Chapter 7 Application Programming e 123 THIS PAGE LEFT BLANK INTENTIONALLY 124 e Chapter 7 Application Programming DMC 1000 Chapter 8 Hardware amp Software Protection Introduction The DMC 1000 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 1000 is an integral part of the machine the engineer should design his overall system with protection against a possible component failure on the DMC 1000 Galil shall not be liable or responsible for any incidental or consequential damages Hardware Protection DMC 1000 The DMC 1000 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 Each axis amplifier has separate amplifier enable lines This signal also goes low when the watc
218. sition limit is specified the DMC 1000 will not accept position commands beyond the limit Motion beyond the limit is also prevented Example Using position limits Instruction Interpretation DP0 0 0 Define Position BL 2000 4000 8000 Set Reverse position limit FL 2000 4000 8000 Set Forward position limit JG 2000 2000 2000 Jog BG XYZ Begin motion stops at forward limits Off On Error The DMC 1000 controller has a built in function which can turn off the motors under certain error conditions This function is know as Off On Error To activate the OE function for each axis specify 1 for X Y Z W axis To disable this function specify 0 for the axes When this function is enabled the specified motor will be disabled under the following 3 conditions The position error for the specified axis exceeds the limit set with the command ER 126 e Chapter 8 Hardware amp Software Protection DMC 1000 DMC 1000 The abort command is given The abort input is activated with a low signal Note If the motors are disabled while they are moving they may coast to a stop because they are no longer under servo control To re enable the system use the Reset RS or Servo Here SH command Examples Using Off On Error OE 1 1 1 1 Enable off on error for X Y Z W OE 0 1 0 1 Enable off on error for Y and W axes and disable off on error for W and Z axes Automatic Error Routine The POSERR label causes the st
219. ssigns the 10th element of the array POSX the returned value from the tell position command CON 2 2 9 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 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 HA Begin Program COUNT 0 DM POS 10 Initialize counter and define array LOOP Begin loop WT 10 Wait 10 msec POS COUNT _TPX Record position into array element POS COUNT Report position COUNT COUNT 1 Increment counter 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 106 Chapter 7 Application Programming DMC 1000 DMC 1000 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 arra
220. t of the run time environment For more information contact Galil DMC 1000 Chapter 4 Communication 39 THIS PAGE LEFT BLANK INTENTIONALLY 40 e Chapter 4 Communication DMC 1000 Chapter 5 Command Basics Introduction The DMC 1000 provides over 100 commands for specifying motion and machine parameters Commands are included to initiate action interrogate status and configure the digital filter The DMC 1000 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 bus for immediate execution by the DMC 1000 or an entire group of commands can be downloaded into the DMC 1000 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 1000 instruction set and syntax A summary of commands as well as a complete listing of all DMC 1000 instructions is included in the Command Reference chapter Command Syntax DMC 1000 instructions are represented by two ASCII upper case characters followed by applicable arguments space may be inserted between the instruction and arguments A semicolon or enter is used to terminate the instruction for processing by the DMC 1000 command interpreter Note
221. t the input prompt the controller will respond with the following Response from command MG LEN6 51 Response from command MG LENS 51 Response from command MG LENA S1 Response from command MG LEN3 51 Response from command MG LEN2 51 Response from command MG LENI 51 Functions SIN n Sine of n n in degrees with range of 32768 to 32767 and 16 bit fractional resolution COS n Cosine of n n in degrees with range of 32768 to 32767 and 16 bit fractional resolution COM n I s Compliment of ABS n Absolute value of n Fraction portion of n INT n Integer portion of n Suo edm Ae Functions may be combined with mathematical expressions The order of execution of mathematical expressions is from left to right and can be over ridden by using parentheses Examples Using Functions V1 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 V4 2 5 AN 5 The variable V4 is equal to the value of analog input 5 plus 5 then multiplied by 2 Variables The maximum number of variables available with a DMC 1000 controller depends on the controller configuration 126 variables are available for 1 4 axes controllers 510 variables with 1 4 axes and the MX option and 254 variables with controllers of
222. ta some commands request action to occur on an axis or group of axes For example ST XY stops motion on both the X and Y axes Commas are not required in this case since the particular axis is specified by the appropriate letter X Y Z or W If no parameters follow the instruction action will take place on all axes Here are some examples of syntax for requesting action BGX Begin X only BG Y Begin Y only BG XYZW Begin all axes BG YW Begin Y and W only BG Begin all axes For controllers with 5 or more axes the axes are referred to as A B C D E F G H The specifiers X Y Z W and A B C D may be used interchangeably BG ABCDEFGH Begin all axes BGD Begin D only Coordinated Motion with more than 1 axis When requesting action for coordinated motion the letter S is used to specify the coordinated motion For example BGS Begin coordinated sequence BGSW Begin coordinated sequence and W axis Program Syntax Chapter 7 explains the how to write and execute motion control programs Controller Response to DATA The DMC 1000 returns a for valid commands The DMC 1000 returns a for invalid commands For example if the command BG is sent in lower case the DMC 1000 will return a bg enter invalid command lower case DMC 1000 returns a When the controller receives an invalid command the user can request the error code The error code will specify the reason for the invalid command response To request the error code type t
223. table which summarizes the relationship between the various filters Digital Digital KP KD KI Digital GN ZR KI Continuous PID T Equivalent Filter Form DMC 1000 18 D z K z A z Cz z 1 D z 24 KP 4 KD 1 z7 KI 2 1 z1 K 4 C KI2 D z 4 GN z ZR z KI z 2 z 1 K 4GN A ZR C KI 2 G s Ds I s P 4KP Dz4T KD I KI 2T Chapter 10 Theory of Operation 143 THIS PAGE LEFT BLANK INTENTIONALLY 144 e Chapter 10 Theory of Operation DMC 1000 Appendices Electrical Specifications Servo Control ACMD Amplifier Command 10 Volts analog signal Resolution 16 bit DAC or 0003 Volts 3 mA maximum A A B B IDX IDX Encoder and TTL compatible but can accept up to 12 Volts Quadrature Auxiliary phase on CHA CHB Can accept single ended A B only or differential A A B B Maximum A B edge rate 8 MHz Minimum IDX pulse width 120 nsec Stepper Control Pulse TTL 0 5 Volts level at 50 duty cycle 2 000 000 pulses sec maximum frequency Direction TTL 0 5 Volts Input Output Uncommitted Inputs Limits Home 2 2K ohm in series with optoisolator Requires at least 1 mA for on Can Abort Inputs accept up to 28 Volts without additional series resistor Above 28 Volts requires additional resistor thru AN 7 Analog Inputs Standard configuration is 10 Volt 12 Bit Analog to Digital converter OUTT 1 thru OUT 8 Outpu
224. tation ALT Label for alternative program DP 0 0 Define Position of X and Y axis to be 0 LMXY Define linear mode between X and Y axes LI 4000 0 lt 4000 Specify first linear segment with a vector speed of 4000 LI 1000 0 lt 1000 Specify second linear segment with a vector speed of 1000 LI 0 5000 4000 Specify third linear segment with a vector speed of 4000 LE End linear segments BGS Begin motion sequence EN Program end Changing Feedrate The command VR n allows the feedrate VS to be scaled between and 10 with a resolution of 0001 This command takes effect immediately and causes VS to be scaled VR also applies when the vector speed is specified with the lt operator This is a useful feature for feedrate override VR does not ratio the accelerations For example VR 5 results in the specification VS 2000 to be divided in half Command Summary Linear Interpolation LM xyzw Specify axes for linear interpolation Zero means buffer full 512 means buffer empty LI x y z w lt n Specify incremental distances relative to current position and assign vector speed n LI a b c d e f g h lt n Operand Summary Linear Interpolation Chapter 6 Programming Motion e 51 Return distance traveled Segment counter returns number of the segment in the sequence starting at zero Returns length of vector resets after 2147483647 Return the absolute coordinate of the last data point along the trajectory Returns n
225. tep 8 Tune the Servo System uceieseee timeret terr erster ebrei boire deberes 17 Design Exaniples ioo ord eere e i cete ptc evo eite e ri i epi ed soe 18 Example 1 System Set Up iro erea rE eE rE nenne trennen nennen eene 18 Example 2 Profiled E RE nennen eene nnne 18 Example 3 Multiple Axes eese eene nennen nennen eene e 18 Example 4 Independent Moves seen nennen 19 Example 5 Position Interrogation esee nennen nennen 19 Example 6 Absolute Position esee enne ener nennen rennen 19 Example 7 Velocity Control eese nennen eene nre rene 20 Example 8 Operation Under Torque Limit esee 20 9 Interrogation s order mote ea Ee RD E ERR 20 Example 10 Operation in the Buffer Mode seen 21 Example 11 Motion Programs 21 Example 12 Motion Programs with Loops cescceseessececeeeeeseeeeeeeeeeeeeeseeeeenaes 21 DMC 1000 Contents e i ii Contents Example 13 Motion Programs with Trippoints eee 22 Example 14 Control Variables eese ener 22 Example 15 Linear Interpolation eese enne 23 Example 16 Circular Interpolation eese ener 23 Chapter 3 Connecting Hardware 25 OVEIVIEW i
226. terrupt function II or use a conditional jump on an input such as JP 60 GIN 1 1 Instruction INPUT 1 PR 10000 BGX EN Instruction ATSPEED JG 50000 AC 10000 BGX ASX 581 Interpretation Program Label Wait for input 1 low Position command Begin motion End program Event Trigger Set output when At speed Interpretation Program Label Specify jog speed Acceleration rate Begin motion Wait for at slew speed 50000 Set output 1 End program Event Trigger Change Speed along Vector Path The following program changes the feedrate or vector speed at the specified distance along the vector The vector distance is measured from the start of the move or from the last AV command Instruction VECTOR VMXY VS 5000 VP 10000 20000 VP 20000 30000 VE BGS AV 5000 VS 1000 EN DMC 1000 Interpretation Label Coordinated path Vector position Vector position End vector Begin sequence After vector distance Reduce speed End Chapter 7 Application Programming 93 Event Trigger Multiple Move with Wait This example makes multiple relative distance moves by waiting for each to be complete before executing new moves Instruction Interpretation MOVES Label PR 12000 Distance SP 20000 Speed AC 100000 Acceleration BGX Start Motion AD 10000 Wait a distance of 10 000 counts SP 5000 New Speed AMX Wait until motion is completed WT 200 Wait 200 ms PR 10000 New Position
227. th other types of position sensors such as resolvers or absolute encoders Galil can customize the DB 10096 daughter board and DMC 1000 command set Please contact Galil to talk to one of our applications engineers about your particular system requirements Watch Dog Timer The DMC 1000 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 1000 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 for each axis will also turn on at this stage A reset is required to restore the DMC 1000 to normal operation Consult the factory for a Return Materials Authorization RMA Number if your DMC 1000 is damaged 4 Chapter 1 Overview DMC 1000 Chapter 2 Getting Started The DMC 1000 Motion Controller L E JP B Figure 2 1 DMC 1000 DMC 1000 ROM These are labeled with the firmware revision that you have received For example a label may be affixed to the ROM that specifies the firmware revision such as 2 0c Motorola 68331 Microprocessor 60 pin header connector for the main output cable of the DMC 1000 20 pin header connector for the auxiliary encoder cable of the DMC 1000 20 pin header connector for the stepper amplifier output cable o
228. the controller for their particular application Programs can be downloaded into the DMC 1000 memory freeing the host computer for other tasks However the host computer can send commands to the controller at any time even while a program is being executed In addition to standard motion commands the DMC 1000 provides commands that allow the DMC 1000 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 programming flexibility the DMC 1000 provides user defined variables arrays and arithmetic functions For example with a cut to length operation the length can be specified as a variable in a program which the operator can change as necessary The following sections in this chapter discuss all aspects of creating applications programs Using the DMC 1000 Editor to Enter Programs DMC 1000 Application programs for the DMC 1000 may be created and edited either locally using the DMC 1000 editor or remotely using another editor and then downloading the program into the controller Galil s Terminal and SDK software software provide an editor and UPLOAD and DOWNLOAD utilities The DMC 1000 provides a line Editor for entering and modifying programs The Edit mode is entered with the ED instruction The ED command can only be given when the controller is not running a program
229. the Opto Isolation If no isolation is needed the internal 5 Volt supply may be used to power the switches as shown in Figure 3 3 This can be done by connecting a jumper between the pins LSCOM or INCOM and 5V labeled J9 These jumpers can be added on either the ICM 1100 or the DMC 1000 This can also be done by connecting wires between the 5V supply and common signals using the screw terminals on the ICM 1100 or AMP 11x0 To close the circuit wire the desired input to any ground GND terminal DMC 1000 Chapter 3 Connecting Hardware e 29 5V LSCOM FLS GND Figure 3 3 Connecting Limit switches to the internal 5V supply Changing Optoisolated Inputs From Active Low to Active High Some users may prefer that the optoisolated inputs be active high For example the user may wish to have the inputs be activated with a logic one signal The limit home and latch inputs can be configured through software to be active high or low with the CN command For more details on the CN see Command Reference manual The Abort input cannot be configured in this manner Amplifier Interface The DMC 1000 analog command voltage ACMD ranges between 10V This signal along with GND provides the input to the power amplifiers The power amplifiers must be sized to drive the motors and load For best performance the amplifiers should be configured for a current mode of operation with no additional compensation The ga
230. the number of elements defaults to the smallest array defined by DM When m is a negative number the recording is done continuously in a circular manner RD is the recording pointer and indicates the address of the next array element 0 stops recording RC Returns a 0 or 1 where 0 denotes not recording 1 specifies recording in progress Data Types for Recording Lo wm SSCS Chapter 7 Application Programming e 107 Switches only bit 0 4 valid Note X may be replaced by Y Z or W for capturing data on other axes or A B C D E F G H for DMC 1080 Operand Summary Automatic Data Capture Returns a 0 or 1 where 0 denotes not recording 1 specifies recording in progress RD Returns address of next array element Example Recording into An Array During a position move store the X and Y positions and position error every 2 msec Instruction RECORD DM XPOS 300 YPOS 300 DM XERR 300 YERR 300 RA XPOS XERR YPOS YERR RD TPX TEX TPY TEY PR 10000 20000 RCI BG XY A JP A RC 1 MG DONE EN PLAY N 0 JP DONE N gt 300 N X POS N Y POS N XERR N YERR N 1 DONE Interpretation Begin program Define X Y position arrays Define X Y error arrays Select arrays for capture Select data types Specify move distance Start recording now at rate of 2 msec Begin motion Loop until done Print message End program Play back Initial Counter Exit if done
231. tion is complete DMC 1000 Chapter 7 Application Programming e 91 Instruction TWOMOVE PR 2000 BGX AMX PR 4000 BGX EN Interpretation Label Position Command Begin Motion Wait for Motion Complete Next Position Move Begin 2nd move 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 SETBIT SP 10000 PA 20000 BGX AD 1000 581 set the output bit every 10000 counts during move the AR trippoint is used as shown in the next example Instruction TRIP JG 50000 BGX n 0 REPEAT AR 10000 TPX SB1 WTS50 CBI 1 JP REPEAT n lt 5 STX EN 92 e Chapter 7 Application Programming Interpretation Label Speed is 10000 Specify Absolute position Begin motion Wait until 1000 counts Set output bit 1 End program Event Trigger Repetitive Position Trigger Interpretation Label Specify Jog Speed Begin Motion Repeat Loop Wait 10000 counts Tell Position Set output 1 Wait 50 msec Clear output 1 Increment counter Repeat 5 times Stop End DMC 1000 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 In
232. trippoint After Motion since the step pulses can be delayed from the commanded position due to stepper motor smoothing Using an Encoder with Stepper Motors An encoder may be used on a stepper motor to check the actual motor 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 72 Chapter 6 Programming Motion DMC 1000 Note Closed loop operation with a stepper motor is not possible Command Summary Stepper Motor Operation COMMAND DE Operand Summary Stepper Motor Operation RP commanded positon generas Dual Loop Auxiliary Encoder DMC 1000 The DMC 1000 provides an interface for a second encoder for each axis except for axes 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 auxiliary encoder may also be used for gearing In this case the auxiliary encoder input is used to monitor an encoder which is not under control of the DMC 1000 To use the auxiliary encoder for gearing the master axis is specified as the auxiliary encoder and GR is
233. trollers COMMDISK SDK 1000 DOS based Servo Design Kit for the DMC 1000 WSDK16 Windows 3 x 16 bit version of the Servo Design Kit and WSDK32 Windows 95 and NT 32 bit version of the Servo Design Kit Step 6 Connect Amplifiers and Encoders Once you have established communications between the software and the DMC 1000 you are ready to connect the rest of the motion control system The motion control system typically consists of an ICM 1100 Interface Module an amplifier for each axis of motion and a motor to transform the current from the amplifier into torque for motion Galil also offers the AMP 11XO series Interface Modules which are ICM 1100 s equipped with servo amplifiers for brush type DC motors If you are using an ICM 1100 connect the 100 pin ribbon cable to the DMC 1000 and to the connector located on the AMP 11X0 or ICM 1100 board The ICM 1100 provides screw terminals for access to the connections described in the following discussion Motion Controllers with more than 4 axes require a second ICM 1100 or AMP 11X0 and second 100 pin cable System connection procedures will depend on system components and motor types Any combination of motor types can be used with the DMC 1000 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 o
234. ts Example 0000001 10 e Chapter 2 Getting Started DMC 1000 DMC 1000 5 Set the Address DIP Switches as described above Note that the dip switch is marked with an On marking In this case ON 0 and OFF 1 Example See following illustration A2 4 5 7 8 To simplify this task we have included a complete list of DIP switch settings corresponding to all configurable addresses between 512 and 1024 This is in the table entitled Dip Switch Address Settings in Appendix A In addition two DOS programs which calculate the dip settings are provided on the COMMDISK VOL1 ADDRCALC EXE and PIN CALC EXE To use ADDRCALC type ADDRCALC at the C COMMDISK and enter a decimal address The program will return the DIP switch setting note that when the program refers to a switch as jumpered it means the switch is set in the ON or 0 position and when the program refers to a switch as open it means the switch is set in the OFF or 1 position The PIN CALC program prompts the user for individual switch settings and returns the corresponding decimal address Step B Configuring Address for Communications Software Once you have configured the Address DIP Switches on the DMC 1000 the controller software must be configured to communicate to this address The procedure for address configuration depends on the communication software being used Galil has 4 software packages that can communicate with Galil Motion Con
235. ts TTL OUT 9 through OUT 16 Outputs TTL only available on controllers with 4 or more axes IN 17 through IN 24 Inputs TTL only available on controllers with 4 or more axes Power 45V 750 mA 12V 40 mA 12V 40mA Performance Specifications Minimum Servo Loop Update Time DMC 1010 250 usec Appendices e 145 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 DMC 1020 375 usec DMC 1030 500 usec DMC 1040 500 usec 1 quadrature count Phase locked better than 005 System dependent 2147483647 counts per move Up to 8 000 000 counts sec 2 counts sec 14 Bits or 0012V for DMC 1000 16 bit or 0 0003 for DMC 1000 18 2 billion 1 104 1600 elements 8000 elements DMC 1040 MX and DMC 1080 500 lines x 40 characters 1000 lines x 80 characters DMC 1080 2000 lines x 40 characters DMC 1040 MX Connectors for DMC 1000 Main Board J2 Main 60 pin IDC Ground 3 Error 5 Limit Common 7 Reverse Limit X 9 Forward Limit Y 11 Home Y 13 Reverse Limit Z 15 Forward Limit W 17 Home W 19 Input Common 2 Latch Y Input 2 23 Latch W Input 4 25 Motor Command X 146 Appendices 2 5 Volts 4 Reset 6 Forward Limit X 8 Home X 10 Reverse Limit Y 12 Forward Limit Z 14 Home 2 16 Reverse Limit W 18 Out
236. ts into XPOS array RD_TPX Element to be recorded is encoder position of X axis Motor off for X axis RC2 Begin Recording with a sample rate of 2 msec LOOP1 JP LOOP1 RC 1 Loop until all elements have been recorded COMPUTE Routine to determine the difference between consecutive points DM DX 500 Dimension a 500 element array to hold contour points 1 0 Set loop counter LOOP2 Loop to calculate the difference 70 Chapter 6 Programming Motion DMC 1000 DX IJ XPOS I4 1 XPOSII I I 1 Calculate difference Update loop counter JP LOOP2 1 lt 500 Continue looping until DX is full PLAYBK Routine to play back motion that was recorded SHX Servo Here WT1000 Wait 1 sec 1000 msec CMX Specify contour mode on X axis DT2 Set contour data rate to be 2 msec I 0 Set array index to 0 LOOP3 Subroutine to execute contour points CD DX I wC Contour data command Wait for next contour point I I 1 Update index JP LOOP3 1 lt 500 Continue until all array elements have been executed DTO Set contour update rate to 0 CDO Disable the contour mode combination of DTO and EN End program For additional information about automatic array capture see Chapter 7 Arrays Stepper Motor Operation DMC 1000 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 stepp
237. two conditions requires that only one statement be true for the combined statement to be true Note Each condition must be placed in parenthesis for proper evaluation by the controller In addition the DMC 1000 will execute operations from left to right For further information on Mathematical Expressions and the bit wise operators amp see pg 7 100 For example using variables named V1 V2 V3 and V4 JP TEST V1 lt V2 amp V3 lt V4 In this example this statement will cause the program to jump to the label TEST if V1 is less than V2 and V3 is less than V4 To illustrate this further consider this same example with an additional condition JP TEST V1 lt V2 amp V3 lt V4 V5 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 Chapter 7 Application Programming e 95 Examples Using JP and JS Instruction Interpretation JP Loop COUNT 10 Jump to Loop if the variable COUNT is less than 10 JS MOVE2 IN 1 1 Jump to subroutine MOVE2 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 th
238. umber 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 4 The position X may be described by the points Point 1 X 0 at TZ0ms Point 2 X 48 at T 4ms Point 3 X 288 at T 12ms Point 4 X 336 at T 28ms The same trajectory may be represented by the increments 66 e Chapter 6 Programming Motion DMC 1000 DMC 1000 Increment 1 DX 48 Time 4 DT 2 Increment 2 DX 240 Time 8 DT 3 Increment 3 DX 48 Time 16 DT 4 When the controller receives the command to generate a trajectory along these points it interpolates linearly between the points The resulting interpolated points include the position 12 at 1 msec position 24 at 2 msec etc The programmed commands to specify the above example are A CMX Specifies X axis for contour mode DT2 Specifies first time interval 2 ms CD 48 WC Specifies first position increment DT3 Specifies second time interval 2 ms CD 240 WC Specifies second position increment DT4 Specifies the third time interval 2 ms CD 48 WC Specifies the third position increment DT0 CDO Exits contour mode EN POSITION COUNTS 396 MM e Bd 240 192 96 48 TIME ms 0 4 8 12 16 20 24 28 SEGMENT 1 SEGMENT 2 SEGMENT 3 Figure 6 4 The Required Trajectory Additional Commands The command WC is used as a trippoint When Complete T
239. umber of available spaces for linear segments in DMC 1000 sequence buffer Zero means buffer full 512 means buffer empty m X Y Z or W or A B C D E F G or H To illustrate the ability to interrogate the motion status consider the first motion segment of our example LMOVE where the X axis moves toward the point X 5000 Suppose that when X 3000 the controller is interrogated using the command MG AV The returned value will be 3000 The value of CS VPX and VPY will be zero Now suppose that the interrogation is repeated at the second segment when 2000 The value of _AV at this point is 7000 CS equals 1 _VPX 5000 and VPYzO Example Linear Move Make a coordinated linear move in the ZW plane Move to coordinates 40000 30000 counts at a vector speed of 100000 counts sec and vector acceleration of 1000000 counts sec Instruction Interpretation TEST Label LM ZW Specify axes for linear interpolation LI 40000 30000 Specify ZW distances LE Specify end move VS 100000 Specify vector speed VA 1000000 Specify vector acceleration VD 1000000 Specify vector deceleration BGS Begin sequence AMS After motion sequence ends EN End program Note that the above program specifies the vector speed VS and not the actual axis speeds VZ and VW The axis speeds are determined by the DMC 1000 from VS JVZ vW The resulting profile is shown in Figure 6 2 52 Chapter 6 Programming Motion DMC 1000 30000
240. ure the PC is in the power off condition and unplug power cord from PC Step B Remove unit cover Step C Remove the metal plate covering the expansion bus slot where the DMC 1000 will be inserted DMC 1050 through DMC 1080 require two expansion bus slots Step D Insert DMC 1000 card in the expansion bus and secure with screw Step E Attach the ribbon cables to your controller card Insert the 60 pin ribbon cable into the J2 IDC connector If you are using a Galil ICM 1100 or AMP 11X0 this cable connects into the J2 connection on the interconnect module If you are not using a Galil interconnect module you will need to appropriately terminate the cable to your system components see the appendix for cable pin outs Uncommitted I O and analog inputs are accessed through the 26 pin IDC connector J5 The auxiliary encoder connections are accessed through the 20 pin IDC connector J3 To use the I O or the auxiliary encoder features you must connect ribbon cables to J5 or J3 respectively The locations of the connectors J2 J3 J4 J5 and J6 are shown on the photo of the DMC 1000 on pg 2 5 For step motors the 20 pin ribbon cable J4 Driver must be also be connected If you using a controller with more than 4 axis you will have two pc cards which are connected together via a 50 pin ribbon cable J6 In this case you will have 2 sets of cables to connect the first set will be used for the first four axis and the second set will b
241. us parameters of the DMC 1000 to be incorporated into programmable variables and expressions An operand contains data and must be used in a valid expression or function Most DMC 1000 commands have an equivalent operand which are designated by adding an underscore _ prior to the DMC 1000 command Commands which have an associated operand are listed in the Command Reference as Used as an Operand Yes Status commands such as Tell Position return actual values whereas action commands such as GN or SP return the values in the DMC 1000 registers The axis designation is required following the command Examples of operand usage POSX TPX GAIN GNZ 2 JP LOOP _TEX gt 5 JP ERROR TC 1 Assigns value from Tell Position X to the variable POSX Assigns value from GNZ multiplied by two to variable GAIN Jump to LOOP if the position error of X is greater than 5 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 GNX 2 is invalid The value of an operand can be output to the computer with the message command MG IE MG _TEX sends the current position error value on axis X to the computer 104 e Chapter 7 Application Programming DMC 1000 Arrays DMC 1000 Special Operands Keywords The DMC 1000 provides a few operands which give access to internal variables that are not accessible by standard DMC 1000 commands
242. ut character string up to 6 characters into variable LEN FLEN FRAC LEN Define variable FLEN as fractional part of variable LEN FLEN 10000 FLEN Shift FLEN by 32 bits Convert fraction FLEN to integer LEN1 FLEN amp 00FF 1000000 Set 4 byte of FLEN 1 byte of variable LEN1 LEN2 FLEN amp FFO00 10000 Set 3 byte of FLEN 1 byte of variable of LEN2 LEN3 LEN amp 000000FF 1000000 Set 1 byte of variable LEN3 4 byte of LEN LEN4 LEN amp 0000FF00 10000 Set 1 byte of variable LEN4 3 byte of LEN LENS LEN amp 00FF0000 100 Set 1 byte of variable LEN5 2 byte of LEN LEN6 LEN amp FF000000 Set 1 byte of variable LEN6 1 byte of LEN MG LEN6 51 Display LENG as string message of 1 char MG LENS S1 Display LENS as string message of 1 char MG LEN4 51 Display LEN4 as string message of 1 char MG LEN3 51 Display LEN3 as string message of 1 char MG LEN2 51 Display LEN2 as string message of 1 char MG LENI 51 Display LEN1 as string message of 1 char 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 DMC 1000 Chapter 7 Application Programming e 101 To illustrate further if the user types in the string a
243. vanced an additional distance with PR or JG commands or VP or LI Command Summary Electronic Gearinc COMMAND DESCRIPTION Specifies master axis for gearing where n X Y Z or W or A B C D E F G H for main encoder as master n XC YC ZC or WC or CC DC EC FC GC HC for commanded position n DX DY DZ or DW or DA DB DC DD DE DF DG DH for auxiliary encoders Trippoint for forward motion past specified value Only one field may be used Example Simple Master Slave Master axis moves 10000 counts at slew speed of 100000 counts sec Y is defined as the master X Z W are geared to master at ratios of 5 5 and 10 respectively GAY Specify master axes as Y Chapter 6 Programming Motion e 59 GR 5 5 10 PR 10000 SP 100000 BGY Set gear ratios Specify Y position Specify Y speed Begin motion Example Electronic Gearing Objective Run two geared motors at speeds of 1 132 and 0 045 times the speed of an external master The master is driven at speeds between 0 and 1800 RPM 2000 counts rev encoder Solution Use a DMC 1030 controller where the Z axis is the master and X and Y are the geared axes MOZ GAZ GR 1 132 045 Turn Z off for external master Specify master axis Specify gear ratios Now suppose the gear ratio of the X axis is to change on the fly to 2 This can be achieved by commanding GR2 Specify gear ratio for X axis to be 2 In applications where both the maste
244. w instructions evaluate real time conditions such as elapsed time or motion complete and alter program flow accordingly Each DMC 1000 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 38 characters A carriage return enters the final command on a program line Using Labels in Programs DMC 1000 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 depends on the controller 126 for 1 4 axes 510 for 1 4 axes with the MX option and 254 for controllers with 5 or more axes Valid labels Label BEGIN SQUARE X1 Invalid labels Label Problem 1 Square Can not use number to begin a label SQUAREPEG Can not use more than 7 characters in a label Program Example Instruction Interpretation START Beginning of the Program PR 10000 20000 Specify relative distances on X and Y axes BG XY Begin Motion AM Wait for motion complete WT 2000 Wait 2 sec JP START Jump to label START EN End of Program The above program moves X and Y 10000 and 20000 units After the motion is complete th
245. ws the smoothing of the velocity profile to reduce the mechanical vibration of the system Trapezoidal velocity profiles have acceleration rates which change abruptly from zero to maximum value The discontinuous acceleration results in jerk which causes vibration The smoothing of the acceleration profile leads to a continuous acceleration profile and reduces the mechanical shock and vibration Using the IT and VT Commands S curve profiling S When operating with servo motors motion smoothing can be accomplished with the IT and VT command These commands filter the acceleration and deceleration functions to produce a smooth velocity profile The resulting velocity profile known as S curve has continuous acceleration and results in reduced mechanical vibrations The smoothing function is specified by the following commands IT x y z w Independent time constant n Vector time constant The command IT is used for smoothing independent moves of the type JG PR PA and the command VT is used to smooth vector moves of the type VM and LM The smoothing parameters x y z w and n are numbers between and 1 and determine the degree of filtering 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 smoothing Fig 6 6 shows the trapezoidal velocity profile and the mod
246. xt section Trippoints The command AV n is the After Vector trippoint which halts program execution until the vector distance of n has been reached In this example the XY system is required to perform a 90 turn In order to slow the speed around the corner we use the AV 4000 trippoint which slows the speed to 1000 count s Once the motors reach the corner the speed is increased back to 4000 cts s Instruction Interpretation LMOVE Label DP 0 0 Define position of Z and W axes to be 0 LMXY Define linear mode between X and Y axes LI 5000 0 Specify first linear segment LI 0 5000 Specify second linear segment LE End linear segments VS 4000 Specify vector speed BGS Begin motion sequence AV 4000 Set trippoint to wait until vector distance of 4000 is reached VS 1000 Change vector speed AV 5000 Set trippoint to wait until vector distance of 5000 is reached VS 4000 Change vector speed EN Program end Specifying Vector Speed for Each Segment The instruction VS has an immediate effect and therefore must be given at the required time In some applications such as CNC it is necessary to attach various speeds to different motion segments This can be done by the instruction LI x y z w n 50 e Chapter 6 Programming Motion DMC 1000 DMC 1000 This instruction attaches the vector speed n to the motion segment LI As a consequence the program LMOVE can be written in the alternative form Instruction Interpre
247. y default last element Delim specifies whether the 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 V Automatic Data Capture into Arrays The DMC 1000 provides a special feature for automatic capture of data such as position position error inputs or torque This is useful for teaching motion trajectories or observing system performance Up to four types of data can be captured and stored in four arrays For controllers with 5 or more axes up to eight types of data can be captured and stored in eight arrays The capture rate or time interval may be specified Recording can done as a one time event or as a circular continuous recording Command Summary Automatic Data Capture COMMAND DESCRIPTION RA n m o p Selects up to four arrays eight arrays for DMC 1080 for data capture The arrays must be defined with the DM command RD typel type2 type3 type4 Selects the type of data to be recorded where typel type2 type3 and type 4 represent the various types of data see table below The order of data type is important and corresponds with the order of n m o p arrays in the RA command The RC command begins data collection Sets data capture time interval where nis an integer between 1 and 8 and designates 2 msec between data m is optional and specifies the number of elements to be captured If m is not defined

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