Home

Artisan Technology Group is your source for quality new and

1. UNUS OO 34 4 4334 54 x x 7 88 x x x Il Em RE SEN EN SO DE GERI ERE CRINE 7 56 x x x Em 59 x x 59 x lx 59 x x x x LL 64 x x I 1 68 x x lx x 62 x x x NN milo x pee x x Tl 66 x x x lx ly x Ca Lo Ces x x lx fx 6 x x lx x TI 66 x lx X 66 x lt x lt lt Xx x lt gt x lt gt x lt gt x lt x lt x e 2 1 1 x Xx x x x x lt x lt x x x X X X lt X lt lt x lt x lt x x lt x x x gt x lt gt x lt gt x lt x lt x lt m i 1 is 1 1 1 1 DMC 1000 Appendices e 155 Artisan Technology Group Quality Instrumentation Guaranteed 88
2. 7 Application program stopped Co 2771 Ce 2 71 2 21 For example to select interrupt for the conditions X motion complete 7 motion complete and excess position error you would enable bits 0 2 and 9 27 22 20 512 4 1 517 517 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 2 32 768 Na gt EI 32768 2 Chapter4 Communication e 37 Guaranteed 888 88 SOURCE www artisantg com 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 O 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 the following meaning Hex Data Condition 00 No interrupt D9 Watchdog timer activated DA Command done DB Application program done F0 through FF User interrupt E1 through E8 Input interrupt CO Limit switch occurred C8 Excess position error D8 All axis motion complete D7 E axis motion complete D6 F axis motion complete D5 G axis motion complete D4 H axis motion complete D3 W axis motion complete D2 Z axis motion complete DI Y axis motion complete
3. 105 Defining Arrays icem Wiehe A dina Ral aide NN 105 Assignment of Array 106 Automatic Data Capture into 107 Deallocating Array 8 108 Input of Data Numeric and String nennen 109 xx p 109 Output of Data Numeric and String nennen 110 Sending MESSAGES RT 110 Interrogation Commands sess eene eene nete tenete 111 Formatting Variables and Array 113 Converting to User Units nn NGANGA ANG Tue E Pac abe cR Bana 114 Programmable Hardware I O sess net retener nennt 114 Digital Outp ts 114 Digital Em 115 Input Interrupt Function eerie 116 Analog INPUTS 117 Example 118 Wire Cutler eei tide etit eei deer 118 X Y Table Controller re ter bere te ER Ee pH ERO t ERR 119 Speed Control by Joystick eee 121 Position Control by Joystick 122 Backlas
4. Pinout Note All points are inputs on this cable Block NO NO OD NO ND O XD oo N volts Bit No N UU RU O N Bit No N O NY DO BU NURANI 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 28 30 32 34 36 38 40 42 44 46 48 50 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10096 I O Expansion The DB 10096 is an attachment board that provides an additional 64 inputs 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 the I O of the DB 10096 The 64 inputs
5. UI re pe tet ii Chapter 1 Overview 1 1 Overview of Motor ag an 1 Standard Servo Motors with 10 Volt Command Signal sss 2 Stepper Motor with Step and Direction Signals see 2 DMC 1000 Functional Element eese 2 Microcomputer 2 8 3 fogli C pL 3 COMMUNICATION Em 3 General Ec E e UE Eee Uberti eR eise 3 System Elements rtt erro he 3 jh M 4 Amplifier DAVET Em 4 sieur AA 4 Watch 4 Chapter 2 Getting Started 5 The DMC 1000 Motion Controller esee enne 5 Elements YouNeed gebat e tete je Dae AREE I edge asian RNB 6 Installing the DMGC 1000 2 norte eoe reed e Hate 7 Step 1 Determine Overall Motor Configuration esee 7 Step 2 Configure Jumpers on the DMC 1000 essere 7 Step 3 Install the DMC 1000 in the Computer esee 8 Step 4 Install Communications Software sess 9 Step 5 Establish Communications with Galil Communication Software 9 Changing the I O Address of the Controller eene 10 Step 6 Connect
6. essere ennemi nrenne ServiCIng cie tet tiere decise ches bxample Interrupts einioes eroe KANA eere Controller Response to DATA Galil Software Tools Libraries essen enne Chapter 5 Command Basics leto Command Syntax eia de pe ep ee ehe Coordinated Motion with more than 1 axis sse Program Syntax cioe repre rte HRS ER RE Controller Response to Interrogating the Controller naaa etie sete tates Pepe sa Pesado lego eo Interrogation Commands esee ener Additional Interrogation Methods Command NAGING NANANA AARIIN 29 T 43 Contents e vii Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 6 Programming Motion 45 iJ 45 Independent Axis Positioning eese 45 Command Summary Independent Axis 0000 0 46 Operand Summary Independent 46 Independent 47 Command Summa
7. 135 137 DAC 138 MOUS C n 138 EE 138 System ANALYSIS Nasaan AN a arde e eid 139 System Design and Compensation 141 The Analytical Method sss ener 141 Appendices 145 Electrical Specifications uiii ce t ete fenetre dent eee he he 145 SErVO Control aE TE TEE ES Ni 145 Stepper Control IN hb ete e ete epa Ra Ree EE CER EE 145 luni 145 POWDER ERE KA Fus 145 Performance Specifications PEL Ro ika eaa eaat 146 Connectors for DMC 1000 Main Board eese nennen 146 J2 Main 60 pii aa eet ene 146 J5 General 26 pin 147 J3 Aux Encoder 20 pin IDC esseeseeseseeeeeeeenen nennen enne nnne en 148 JA Driver 20 WDC 148 J6 Daughter Board Connector 60 2 148 a 148 Connectors for Auxiliary Board Axes 42 41
8. 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 0 5 x X 100 sin 0 18X where X is the master with a cycle of 2000 counts DMC 1000 Chapter 6 Programming Motion e 63 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com cam table be constructed manually point by point or automatically by a program The following program includes the set up 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 69 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 SETUP Label EAX Select X as master EM 200
9. seen eene ener 150 JD6 Daughterboard Connector 60 150 Pin Out Description for DMC 1000 sese eene nennen nennen trennt 150 Jumper Description for DMC 1000 sessi enne enne 153 Dip Switch foe ry rrr er te ee PEN Er 153 Offset Adjustments for DMC 1000 essere nne enne nennen nre 153 Accessories Dp dede Ete beste lands nn ANDA 154 Dip Switch Address Settings nananana 155 PC AT Interrupts and Their nennen nennen rennen 158 ICM 1100 Interconnect Module eseeeseseseeeeeeeeee eene enne nennen enne 158 AMP ICM 1100 CONNECTIONS eese ener nennen etre trennen trennen enne 159 J2 Main 60 pin iR nde aes 161 J3 Aux Encoder 20 Pin ener eorr sto cte EN 161 4 Driver 20 pin IDG mm 161 J5 General 26 pin IDC sse nennen enne 161 Connectors are the same as described in section entitled Connectors for DMC 1000 Mairi Board see ps 1464 5 erede eie 162 DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com JX6 7 6 776 JW6 Encoder Input 10 pin 162
10. x ly Lx amp amp x Ll amp 1 1 11 gt x lt gt x lt Kx x lt m 1 1 156 e Appendices DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Address Dip A8 Dip A7 Dip AG Dip AS Dip A4 Dip A3 Dip 2 Seep pee O LL Co 1 864 x p 868 52 4545 ___ 88 J x x x ee AA Kg o o 1 82 J x o j _ _____ go 1 904 1 98 1 qoo p 96 1 920 1 2 924 x EM C DENEN Wu 9822 _ x Ill 1 DMC 1000 Appendices e 157 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Interrupts and Their Vectors These occur on the first 8259 IRQ 0 1 nH A W 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
11. sese Chapter 3 Connecting Hardware COW ELVIEW coi es NEU BIN AD NA EE UI codd dS Using Optoisolated Inputs Eae E ee Limit Switch EH eere bacco Home Switch herr RAE RR Abort DDUL oett teeth intet pes Uncommitted Digital Wiring the Optoisolated Inputs essere enne enne nennen Using an Isolated Power Supply sese Bypassing the 0 0 0 1 1 4 Changing Optoisolated Inputs From Active Low to Active High Amplifier Interface esee GANG eene enne enne innen entrent tenere cie PE Muni Em c EE Offset Adjustment aan M Chapter 4 Communication gt Address Selection Example Address Communication with the Communication R gIsterS a nanana BAD nanana Simplified Communication Procedure eee Advanced Communication Techniques eee loup MEE LEE Configuring Interrupts
12. 1100 Drawing nG GLAD ssh eke 162 AMP 11x0 Mating Power Amplifiers 0 0 0 0 ccc ccesecseeeecnereeceseeeceaecaeeseeneesecnaeeecsaeeaeeaesneeeeens 163 DB 10072 OPTO 22 Expansion Option eene 163 Configuring the I O for the DB 10072 sess 163 Connector Description of the DB 10072 essere 164 10096 ambahan 167 Pinouts for DB 10096 Connectors essere enne 168 Mu DEM 168 J2 M 169 Coordinated Motion Mathematical 1 15 170 DMC 600 DMC 1000 nennen enne enne enne nennen 173 DMC 600 DMC 1000 Command Comparison eee 174 DMC 600 DMC 1000 Pin out Conversion Table eene 177 List of Other eeeceeeeesseeeceseceeesecseesecsaeeeessecaeesecseeseesaeenesaecaeeseeseeseenaeeees 179 Contact me EET 179 WARRANTY 180 Index 183 DMC 1000 Contents e Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com rtisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE ww
13. 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 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 moto
14. ainda amie aan 101 PUM CHONG CET 102 VaraDle IP 102 Assigning Values to 0 103 EM EE 104 Special Operands Key words et ertet arte ko Rue rk 105 nun rr EE 105 Defining Attay MN 105 Assignment of Array Entries eeseseseeeeseeeeee eene eene nein nennen 106 Automatic Data Capture into Arrays nennen 107 Deallocating Array 108 Input of Data Numeric and 109 Input eRe AL eo eae ie 109 Output of Data Numeric and String sse eene 110 Sending MESSAGES e 110 Interrogation Commands UA ala 111 Formatting Variables and Array Elements eee 113 Converting to User Units 4 ettet tuse ete ceo itte peii dede eda 114 Programmable Hardware LIO ssssssssesseeeeeeeeeeeeneeee nennen nennen rene ens 114 bier GR 114 E 115 Interrupt Function 1 du 116 Dir 117 Example ertt eerte here HR ERO Eh FER ER FERRE EE GALA 118
15. Q 138 System A MALY e 139 System Design and 4 004000 141 The Analytical Method anan Nas aa anG 141 Appendices 145 Electrical 11211 2 0 enne entente 145 Servo Em 145 Stepper Conto lasesis ro eneco Ana 145 145 POWETE 145 Performance Specifications u s nni eneh eeina tren 145 Connectors for DMC 1000 Main sese 146 12 Main 60 pin IDC 146 J5 General T O 26 pin IMG n3 ADD 19185 147 J3 Aux Encoder 20 pin IDC 147 J4 Driver 20 pin ire ee terret LAAL 148 J6 Daughter Board Connector 60 148 ITO Paty 148 Connectors for Auxiliary Board Axes E F G H sse 148 JD2 Main 60 pin 148 JD5 I O 26 pin IDC aap 149 JD3 20 pin IDC Auxiliary Encoders eene 150 JD4 20 pin IDC Amplifiers
16. see pg 7 100 For example using variables named V1 V2 V3 and V4 JP TEST V1 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 5 lt 6 This statement will cause the program to jump to the label TEST under two conditions 1 If V1 is less than V2 and V3 is less than V4 OR 2 If V5 isless than V6 DMC 1000 Chapter 7 Application Programming e 95 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Examples Using JP and JS Instruction JP Loop COUNT lt 10 JS MOVE2 IN 1 1 JP BLUE ABS V2 gt 2 JP C V1 V7 lt V8 V2 JP A Interpretation Jump to Loop if the variable COUNT is less than 10 Jump to subroutine MOVE2 if input 1 is logic level high After the subroutine 2 is executed the program sequencer returns to the main program location where the subroutine was called Jump to BLUE if the absolute value of variable V2 is greater than 2 Jump to C if the value of V1 times V7 is less than or equal to the 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 BEGIN COUNT 10 LOOP PA 1000
17. 118 X Y Table Controller ein ettet etre eo ettet ite p 119 Speed Control by Joystick onere etie Am tienen dated 121 Position Control by Joystick sess eene 122 Backlash Compensation by Sampled Dual Loop eene 122 Chapter 8 Hardware amp Software Protection 125 Hussein EE Ep 125 Hardware Protection GANA epe rete nie pA veins 125 Output Protection Lines reete rre ere thee eet ere be edo 125 Input Protection Lines eene nennen ennemi 125 Software Protection 126 Programmable Position eene enne 126 einn ER HN 127 Automatic Error Routine 127 Limit Switch ROUTINE rien tton t REDE 127 Chapter 9 Troubleshooting 129 cuu PP E Pa 129 129 Sonate 130 EE 130 130 DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DMC 1000 Chapter 10 Theory of Operation 131 131 Operation of Closed Loop 133 System Modeling NAGAGANAP A 134 Motor Amphlifier
18. and a traversed angle d The notation for q is that zero corresponds to the positive horizontal direction and for both q and 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 AB1 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 It is 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 returns 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 bu
19. 11 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 is used as an operand a 0 will return the current state of blocks 2 to 1 a returns 4 to 3 and a 2 returns 6 to 5 Example MG 2 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 command 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 th
20. 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 Latch 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 Guaranteed 888 88 SOURCE www artisantg com 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 MCTIM
21. 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 program such as DMCTERM the following parameters can be given to avoid system damage Input the commands ER 2000 lt CR gt Sets error limit on the X axis to be 2000 encoder counts DMC 1000 Chapter 2 Getting Started 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 1 lt gt Disables axis amplifier when excess position error
22. 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Feature 1 Operand amp and for conditional statements Description Allows for multiple conditional statements in jump routines TE A gt 3 amp B lt 55 C 7
23. 4 rtisan tisan Technology Group is your source for quality Tecmoboycrow new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment EQUIPMENT DEMOS HUNDREDS OF Instra REMOTE INSPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED Contact us 388 88 SOURCE sales artisantg com www artisantg com USER MANUAL DMC 1000 Manual Artisan Technology Group Quality Instrumentation 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 Guaranteed 888 88 SOURCE www artisantg com Using This Manual This user manual provides information for proper operation of the DMC 1000 controller A separa
24. 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 Start correction DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Electronic Cam 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 mast
25. INCOM v v v v v v v v v O O O O INT IN2 INS IN4 1 5 ING 8 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 A 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 e Chapter 3 Connecting Hardware DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com For Voltages gt 28V LSCOM 2 2 4 Isolated Supply FLS Figure 3 2 Connecting a single Limit or Home Switch to Isolated Supply NOTE As stated in Chapter 2 the wiring is simplified when using the ICM 1 100 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 1 100 or equivalent breakout board is not available Bypassing the Opto Isolation If no is
26. Ta DMC 1000 Appendices e 177 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Na S YY Ha E s a m e m jm aaa 178 e Appendices DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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
27. low input 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 A Label A TI Enable input 1 for interrupt function JG 30000 20000 Set speeds on X and BG XY Begin motion on X and Y axes B Label B TP XY Report X and Y axes positions WT 1000 Wait 1000 milliseconds JP B Jump to B EN End of program ININT Interrupt subroutine 116 e Chapter 7 Application Programming DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com MG Interrupt occurred Display message STXY 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 t
28. 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Motor A motor converts current into torque which produces motion Each axis of motion requires a motor sized properly to move the load at the desired speed and acceleration Galil s Motion Component Selector software can help you calculate motor size and drive size requirements Contact Galil at 800 377 6329 if you would like this product The motor may be a step or servo motor and can be brush type or brushless rotary or linear For step motors the controller can control full step half step or microstep drives Amplifier Driver For each axis the power amplifier converts a 10 Volt signal from the controller into current to drive the motor The amplifier should be sized properly to meet the power requirements of the motor For brushless motors an amplifier that provides electronic commutation is required The amplifiers may 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 s
29. 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 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 Guaranteed 888 88 SOURCE www artisantg com 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 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
30. 888 88 SOURCE www artisantg com NI N FLSW W Forward limit RLSW T HOMEW X Main encoder YA e5 Y Main encoder 5 wr zw _ 1 Z 1 NO oo oo 7 Main encoder 92 7 7 Main encoder CU ap Go 1 ps m NER EE EE p ms __ 75 1 NEN p uum 3 NEC 25 Hg 85 87 88 91 92 93 94 I 95 WA 97 WI 100 101 102 103 5V 04 ND 1 J2 Main 60 pin IDC J3 Aux Encoder 20 pin IDC J4 Driver 20 pin IDC J5 General I O 26 pin IDC DMC 1000 Appendices e 161 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Connectors the same as described in section entitled Connectors for DMC 1000 Main Board see pg 146 JX6 JY6 JZ6 JW6 Encoder Input 10 IDC 1 CHA 2 VCC 3 GND 4 No Connection 5 6 7 8 9 INDEX 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 musi cut encoder wires 5 6 7 and 9 ICM 1100 Drawing 8 b r A AN Cy 4 KSI xs
31. 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 lt gt Position relative 1000 counts BGX lt gt 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 M1 and M2 connections going from your amplifier to the motor When driving a brushless motor the polarity reversal may be done with the encoder If you are using a single ended encoder interchange the 14 e Chapter 2 Getting Started DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com signal CHA CHB If on the other hand you are using a differential encoder interchange only CHA and CHA
32. BGX AMX WT 100 BGX AMX WT 100 COUNT COUNT 1 JP LOOP COUNT50 EN Interpretation Begin Program Initialize loop counter Begin loop Position absolute 1000 Begin move Wait for motion complete Wait 100 msec Position absolute 0 Begin move Wait for motion complete Wait 100 msec Decrement loop counter Test for 10 times through loop End Program Command Format JP and JS DESCRIPTION FORMAT 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 96 e Chapter 7 Application Programming DESCRIPTION greater than less than or equal to DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 instruction JS followed by a label or line number and conditional statement Up to 8 subroutines can be nes
33. 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 DMC 1000 Chapter 10 Theory of Operation e 133 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com analogy between adjusting the water temperature and closing the position loop carries further We have all learned the hard way that the hot water faucet should be turned at the right rate If you turn it too slowly the temperature response will be slow causing discomfort Such a slow reaction is called overdamped response The results may be worse if we turn the faucet too fast The overreaction 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 o
34. The various symptoms along with the cause and the remedy are described in the following tables Installation SYMPTOM CAUSE REMEDY Motor runs away when connected to amplifier with Amplifier offset too Adjust amplifier offset no additional inputs large Same as above but offset adjustment does not stop Damaged amplifier Replace amplifier the motor Controller does not read changes in encoder position Wrong encoder Check encoder wiring connections Same as above Bad encoder Check the encoder signals Replace encoder if necessary Same as above Bad controller Connect the encoder to different axis input If it works controller failure Repair or replace DMC 1000 Chapter 9 Troubleshooting e 129 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 2 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 Operati
35. 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DP 0 2000 Define the current positions of X Y as 0 and 2000 PA 7000 4000 Sets the desired absolute positions BG X Start X motion BGY 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 16 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 16 40000 New speed and Direction TVX Returns X speed and then JG 20000 New Y speed TVY 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 0 2 Set output limit of X axis to 0 2 volts 16 10000 Set X speed BG X Start X motion In this example the X motor will probably not move since the output sig
36. ps cS Ww v 8 NN B 7 II 162 e Appendices DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 11 0 Mating Power Amplifiers The 11 0 series are mating brush type servo amplifiers for the DMC 1000 The 1110 contains one amplifier the AMP 1120 two amplifiers the AMP 1130 three and the 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 11X0 requires an external DC supply The 11 0 connects directly to the DMC 1000 ribbon connectors and screw type terminals are provided for connection to motors encoders and external switches Features e amps continuous 10 amps peak 20 to 80 volts 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 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 4 Gain 1 amp volt DB 10072 OPTO 22 Expansion Option 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 D
37. the digit is 1 Because the least significant digit represented by the Address DIP Switches is the 2 digit switch 2 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 N between 512 and 1024 divisible by 4 Example 516 2 Subtract 512 from 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 digits Example 0000001 10 Chapter 2 Getting Started DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 1 Example See following illustration 2 4 5 7 A8 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 VOL 1 ADDRCALC EXE an
38. 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 0 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 modified 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 e Chapter 6 Programming Motion DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 5000 Speed 5 Filter for S curve BG X 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
39. 1 Overview DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 Elements As shown in Fig
40. 1040 n 1 through 24 for DMC 1050 to 1080 ASXYZWS Halts program execution until specified axis has reached its ABCDEFGH slew speed AT n Halts program execution until n msec from reference time AT 0 sets reference AT n waits n msec from reference n waits n msec from reference and sets new reference after elapsed time AVn Halts program execution until specified distance along a coordinated path has occurred WT Halts program execution until specified time in msec has elapsed Event Trigger Examples Event Trigger Multiple Move Sequence The AM trippoint is used to separate the two PR moves If AM is not used the controller returns a for the second PR command because a new PR cannot be given until motion is complete DMC 1000 Chapter 7 Application Programming e 91 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Instruction Interpretation TWOMOVE Label PR 2000 Position Command BGX Begin Motion AMX Wait for Motion Complete PR 4000 Next Position Move BGX Begin 2nd move EN End program Event Trigger Set Output after Distance Set output bit 1 after a distance of 1000 counts from the start of the move The accuracy of the trippoint is the speed multiplied by the sample period Instruction Interpretation SETBIT Label SP 10000 Speed is 10000 PA 20000 Specify Absolute position BGX Begin motion AD 1000 Wait until 1000 counts SB1 Set outpu
41. 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 43 44 58 110 111 Stop Code 108 130 108 130 Step Motor 1 4 6 8 77 78 1 4 6 8 77 718 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 Artisan Technology Group Quality Instrumentation 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 TIM
42. 2 Stepper Motor with Step and Direction Signals eee 2 DMC 1000 Functional Element eese eene rennen ener 2 3 Mot t Interface P 3 AG 3 General VO aman 3 System ave 3 NA 4 Amplifier LE 4 Encoder 4 Watch oe Wimmer 3 al 4 Chapter 2 Getting Started 5 The DMC 1000 Motion Controller eese 5 Elements You Need in E 6 Installing the 1000 7 Step 1 Determine Overall Motor Configuration esee 7 Step 2 Configure Jumpers on the DMC 1000 eee 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 eee 10 Step 6 Connect Amplifiers and Encoders sese 11 Step 7a Connect Standard Servo 13 Step 7b Connect Step 16
43. 8 n DMC 1000 Chapter 6 Programming Motion e 55 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Both cases assign a vector speed of n count s to the corresponding motion segment Changing Feedrate The command VR allows the feedrate VS to be scaled between 0 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 axis The VM command provides parameter specifi
44. 88 SOURCE www artisantg com 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 AA 240 192 96 48 B TIME ms 0 4 8 12 16 20 24 28 SEGMENT 1 SEGMENT 2 SEGMENT 3 Figure 6 4 Required Trajectory Additional Commands The command WC is used as a trippoint When Complete This 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 DMC 1000 Chapter 6 Programming Motion e 67 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com If no new data record is found and the controller is still in the contour mode the controller wa
45. 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 Vs JVx 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 e Appendices DMC 1000 Artisan Technology Group Quality Instrumentation G
46. Aux A H 7 Aux B G 9 Aux 6 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 H 6 Aux AtH 8 Aux B G 10 Aux A 12 Aux 14 Aux A 16 Aux 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 e Appendices DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 controller 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 conventiona
47. Axis COMMAND BG XYZW Starts motion wmm m 277 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 Return acceleration rate for the axis specified by Return deceleration rate for the axis specified by x om Cf Returns the speed for the axis specified by x Returns current destination if x axis is moving otherwise returns the current commanded position if in a move 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5000 counts sec 500000 counts sec Speed Acceleration This examp
48. 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 27 637 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 is chosen as output 1 The motor velocity profile and the related input and output signals are shown in Fig 7 1 The program starts at a state that we define as Here the controller waits for the input pulse on 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 Applicat
49. 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 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 1 1 1 1 74 e Chapter 6 Programming Motion DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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
50. Encoder A B Position feedback from incremental encoder with two channels in quadrature CHA and CHB The encoder may be analog or TTL Any resolution encoder may be used as long as the maximum frequency does not exceed 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 Encoder Index I Once Per Revolution encoder pulse Used in Homing sequence or Find Index command to define home on an encoder index Encoder A B I Differential inputs from encoder May be input along with CHA CHB for noise immunity of encoder signals The CHA and CHB inputs are optional Auxiliary Encoder Aux A Aux Inputs for additional encoder Used when an encoder on both the B Aux I Aux A Aux B Aux motor and the load is required Abort A low input stops commanded motion instantly without a controlled deceleration Also aborts motion program Reset low input resets the state of the processor to its power on condition The previously saved state of the controller along with parameter values and saved sequences are restored Forward Limit Switch When active inhibits motion in forward direction Also causes execution of limit
51. Flags 35 1100 15 159 15 159 Amplifier Enable 31 32 125 31 32 125 Amplifier Gain 4 136 139 141 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 Artisan Technology Group Quality Instrumentation 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 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
52. 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 encoder and performs position corrections This is done by the following program Instruction DUALOOP 0 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Set gear ratio for g
53. 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 be 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 Chapter 2 Getting Started DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 VOL 1 FOR DOS AND VOL2 FOR WINDOWS Using the COMMdisk Vol1 for Dos To use this disk insert the COMMDISK VOL 1 in drive Type INSTALL and follow the directions Using the COMMdisk Vol2 for Windows 16 bit and 32 bit versions For Windows3 x run the installation progr
54. 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 11 0 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 11 0 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 on 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Step 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 t
55. Motion Control properly 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 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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
56. String 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 DMC 1000 Instruction A IN Enter Length LENX EN Interpretation Program label Use input command IN to query the user 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 2000 count rev encoder is 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 Accelerati
57. Suppresses carriage return line feed Sends the first n characters of a string variable where n is 1 through 6 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 DMC 1000 Chapter 7 Application Programming e 111 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Using the Command to Format Response from Interrogation Commands The command PF can change format of the values returned by theses interrogation commands BL LE DE PA DP PR EM TN FL VE IP TE TP The numeric values may be formatted in decimal or hexadecimal with a specified number of digits to the right and left of the decimal point using the PF command Position Format is specified by PF m n where m is the number of digits to the left of the decimal point O thru 10 and n is the number of digits to the right of the decimal point O thru 4 A negative sign for m specifies hexadecimal format Hex values are returned preceded by a S and in 2 s complement Hex values should be input as signed 2 s complement where negative numbers
58. 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 LL ofofojdo J5 ICM 1100 J3 LH X Efkoder Screw Terminal Y Encoder 2 Encoder red wire black wire DMC 1000 CPS Power Supply DC Servo Motor W Encoder Galil Typically Red Connector Figure 2 2 System Connections with the AMP 1100Amplifier Note this figur
59. 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 40 or 17 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 the limit switch operands for the x axis The logic state of the limit switches can also be interrogated with the TS command For more details on TS see the Command Reference Chapter 3 Connecting Hardware e 25 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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
60. This simple program will issue the message fell short if the X axis does not reach the commanded position within 1 second of the end of the profiled move DMC 1000 Chapter 7 Application Programming 99 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 751 JP BEGIN DONE 750 Interpretation Begin main program Prompt for speed Begin motion Repeat End main program Command error utility Check if error on line 2 Check if out of range Send message Send message Adjust stack Return to main program End program if other error Zero stack End program The above program prompts the operator to enter a jog speed If the operator enters a number out of range greater than 8 million the CMDERR routine will be executed prompting the operator to enter a new number Mathematical and Functional Expressions Mathematical Expressions For manipulation of data the DMC 1000 provides the use of the following mathematical operators 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 hav
61. 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 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 1 100 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 J3 J4 and J5 and breaks them into screw type terminals Each screw terminal is labeled for quick connection of system elements 158 e Appendices DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com The 1100 is packaged as a circuit board mounted to metal enclosure version of the 1100 is also available with servo amplifiers see AMP 11X0 Features 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 b
62. 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 VPY 0 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 30000 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
63. Volt signals require a bias voltage input to the complementary inputs To interface with 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 2 Getting Started The DMC 1000 Motion Controller LII 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
64. a particular reference point has been reached by a moving part in the motion control system A reference point can be a point in space or an encoder index pulse The Home input detects any transition in the state of the switch and toggles between logic states 0 and 1 at every transition A transition in the logic state of the Home input will cause the controller to execute a homing routine specified by the user There are three homing routines supported by the DMC 1000 Find Edge FE Find Index FI and Standard Home HM The Find Edge routine is initiated by the command sequence FEX lt return gt BGX lt return gt 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 sensing the Home switch The Find Index routine is initiated by the command sequence FIX lt return gt BGX lt return gt Find Index will cause the motor to accelerate to the user defined slew speed SP at a rate specified by the user with the AC command and slew until the controller senses a change in the index pulse signal from low to high The motor then decelerates to a stop at the rate previ
65. code status Servo here Slew speed Stop motion program Tell status byte Tell error code Tell error Tell inputs Torque limit Sample time Tell position Trace Tell switches Tell torque Upload program Vector acceleration Variable definition Vector position Vector speed Programmable timer Execute program Filter zero Zero subroutine stack New Commands Arm latch After relative distance trippoint After time After vector distance trippoint Define array element Set reverse software limit Burn EEPROM Contour data Configure encoder Configure inputs and step motor Configure I O points DB 10072 only Deallocate variables and arrays Deceleration Dual encoder position Dimension array Delta time for contouring Dual Velocity Enable interrupts Appendices e 175 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 FI FL GR HX IL IT KS LE LI LM MT OB PF RC RD TN TV VD VE VF WC Deleted DB DC DD DR HX LA LN MF MP MS 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 O
66. 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 motor then traverses very slowly back until the home switch toggles again The motor then traverses forward until the encoder index pulse is detected The DMC 1000 defines the home position 0 as the position at which the index was detected 78 e Chapter 6 Programming Motion Example Instruction Interpretation HOME Label AC 1000000 Acceleration Rate DC 1000000 Deceleration Rate SP 5000 Speed for Home Search HM X Home X BG X Begin Motion AM X After Complete MG AT HOME Send Message EN End EDGE Label AC 2000000 Acceleration rate DC 2000000 Deceleration rate DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SO
67. following command KS x y z w 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 77 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Homing The smoothing parameters x y z w and 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 instructions may be used to home the motor to a mechanical reference This reference is connected to the Home input line The HM command initializes the motor to the encoder index pulse in addition to the Home input The configure command is used to define the polarity of the home input The Find Edge 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
68. 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 1s 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 BGY 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 BG SW Begin coordinated sequence and W axis Program Syntax Chapter 7 explains the how to write and execute motion control programs Controller Response to DATA DMC 1000 returns 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 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 the command For example 42 e Chapter 5
69. 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 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 t
70. 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 the 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 signal 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com channel XB channel and XI For differential e
71. 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 51 Prompt for RPMs SP 51 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 OB 3 GIN 1 amp GI
72. 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 Assigns the 10th element of the array POSX the returned value from the tell position command CON 2 COS POS 2 Assigns the second element of the array CON the cosine of the variable POS multiplied by 2 TIMER 1 TIME Assigns the first element of the array timer the returned value of the TIME keyword 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 A 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 Inc
73. 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 of 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 1800 Custom sub micron gate array DMC 1000 Chapter 2 Getting Started 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com J9 INCOM LSCOM jumper set These jumpers are used when connecting limit home and abort switches and the digital inputs IN1 138 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 Com
74. 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 specifiers are required to select the axes for motion When no axes are specified this causes motion to begin on all axes The speed SP and the acceleration AC can be changed at any time during motion however the deceleration DC and position PR or PA cannot be changed until motion is complete Remember motion is complete when the profiler is finished not when the actual motor is in position The Stop command ST can be issued at any time to decelerate the motor to a stop before it reaches its final position An incremental position movement IP may be specified during motion as long as the additional move is in the same direction Here the user specifies the desired position increment n The new target is equal to the old target plus the increment n Upon receiving the IP command a revised profile will be generated for motion towards the new end position The IP command does not require a 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Summary Independent
75. tede 67 Command Summary Contour Mode sess 68 Operand Summary Contour 68 Stepper Motor ia sie teet nich n 71 Specifying Stepper Motor Operation sese 71 Using Encoder with Stepper T2 Command Summary Stepper Motor Operation eee 73 Operand Summary Stepper Motor Operation sss 73 Dual Loop Auxiliary Encode tree teret deese 73 Backlash Compensation Ie uU 74 Command Summary Using the Auxiliary 1 75 Operand Summary Using the Auxiliary 76 Motion Smoothing 22 76 Using the IT and VT Commands S curve profiling eee 76 Using the KS Command Step Motor Smoothing eee TI PLOT Ba EE 78 High Speed Position Capture 81 Chapter 7 Application Programming 83 9 c 83 Using the DMC 1000 Editor to Enter 83 Edit Mode Commaands 2 eerte eet ether ine 84 looruculdovuriTE NEE EES 85 Using L
76. the 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 DMC 1000 controller 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 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
77. 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 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 Basic 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 5 to address N 1 Then write a 240 to address N 1 Clearin
78. 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 offset potentiometer on the DMC 1000 until zero volts is observed 32 e Chapter 3 Connecting Hardware DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 w
79. the program LOAD Instruction Interpretation LOAD Load Program DM VX 750 VY 750 Define Array DMC 1000 Chapter 6 Programming Motion e 53 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 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 coordin
80. with stepper motors Specifying Stepper Motor Operation In order to command stepper motor operation the appropriate stepper mode jumpers must be installed See chapter 2 for this installation Stepper motor operation is specified by the command MT The argument for MT is as follows 2 specifies a stepper motor with active low step output pulses 2 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 add
81. 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 DEX command TD XYZW returns 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
82. 0 Third Scope 2 Actual Position ie ie 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 n The parameter n specifies the time interval The time interval is defined as 2 ms where n is a number between 1 and 8 The controller performs linear interpolation between the specified increments where one point is generated for each millisecond Consider for example the trajectory shown in Fig 6 4 The position X may be described by the points Point 1 X 0 at T 0ms 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 Artisan Technology Group Quality Instrumentation Guaranteed 888
83. 0 1000 Cam cycles EP 20 0 Master position increments 0 Index LOOP Loop to construct table from equation 3 6 Note 3 6 0 18 20 S SIN P 100 Define sine position 10 8 Define slave position ET N Y Define table N N JP LOOP N 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 Enable cam PA 500 starting position SP 5000 Y speed BGY Move Y motor AM After Y moved Wait for start signal EG 1000 Engage slave 1 1 Wait for stop signal EQ 1000 Disengage slave 64 e Chapter 6 Programming Motion DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com The following example illustrates cam program with a master axis 7 and two slaves Instruction A V1 0 PA 0 0 BGXY AMXY EAZ EM 0 0 4000 EP400 0 ET 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 p
84. 0 000 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 1 Ground 3 Error 3 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 21 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 Output 1 20 Latch X Input 1 22 Latch Z 24 Abort input 26 Amp enable X DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 27 29 31 33 35 37 39 41 43 45 47 49 51 53 55 57 59 DMC 1000 Motor Command Y 28 Motor Command Z 30 Motor Command W 32 34 36 38 40 42 44 A4 Z 46 B Z 48 HZ 50 A W 52 B W 54 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 24 Input 1 latch X 26 Amp enable Y Amp enable Z Amp enable W A X B X I X A Y B Y IY
85. 0 Appendices e 173 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AI AM AP 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 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 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DMC 1000 SB SC SH SP ST TB TC TE TI TL TM TP TR TS TT UL VA Vn VP VS WT XG ZR ZS AL AR AT AV BL BN CO DA DC DE DM DT DV EI Set output bit Stop
86. 0 Chapter 10 Theory of Operation 139 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com FILTER ZOH DAC AMP MOTOR V 2000 500 4 50 0 980s 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 c 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 1200 5 1 j200 2 0200 2000 a Arg A j200 tan71 200 51 180 tan 1 200 2000 a 76 180 6 110 Finally the phase margin PM equals 180 70 140 e Chapter 10 Theory of Operation DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com As long as PM is positive the system is stable However for well damped system PM should be between 30 degrees and 45 degrees The phase margin of 70 degrees given above indicated overd
87. 00 snaasaasaa saaan 148 JD2 Main 60 pin 148 IDS I O 26 pi IDE a 2 diel en eels da ata ee 149 JD3 20 pin IDC Auxiliary Encoders cece esent 150 JD4 20 pin IDC Amplifiers eese eene eene nre 150 JD6 Daughterboard Connector 60 pin seen 150 Pin Out Description for DMC 1000 sese enne nnne nennen 151 Jumper Description for DMC 1000 essen enne enne en enne nennen nenne 153 Dip Switch Seting amp EE 153 Offset Adjustments for DMC 1000 0 0 cece eccesecceesecseeeecneeeecaeeecsaecateseeneesecnaeeeesaeeateaeeneeeeens 153 Accessories and Options 154 Dip Switch Address Settings sse nennen nennen nennen 155 PC AT Interrupts and Their 158 ICM 1100 Interconnect Module ereo enni 158 1100 159 2 Main 60 pin ei E REI e ERE REFERRI HEAR 162 J3 Aux Encoder 20 pin IDC cee eeseeceseeeenneesneeceeneessaeceeeesaaeceeneeeneeceereeenaeens 162 Driver 20 pin 162 General UO 26 pitt GNG wade 162 Connectors are the same as described in secti
88. 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com System Analysis To analyze the system we start with a block diagram model of the system elements The analysis procedure is illustrated in terms of the following example Consider a position control system with the DMC 1000 controller and the following parameters K 50 1 Nm A Torque constant J 2 104 kg m2 System moment of inertia R 2 Motor resistance 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 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 DMC 100
89. 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 1100 6 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 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 Artisan Technology Group Quality Instrumentation Invert Loop Polarity 130 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 6 105 6 105 6
90. 3 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 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 5 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 Guaranteed 888 88 SOURCE www artisantg com 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
91. 8 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 RIN 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com KP7 10 KP 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 New commands added July 1993 Rev 1 2 Command _UL _DL COM n New c
92. 8 88 SOURCE www artisantg com Address Dip A8 Dip A7 Dip 6 Dip A5 Dip 4 Dip A3 Dip 2 668 x x x 672 J x Jx j x x 676 x x x 580 olo Ff jo 68 x _ x x 692 x xl X J 696 x x KO 704 x 1 x x x x 708 1 x x __72 1 x x Ce xc un sr 3 720 x x x x 724 x __728 x x X 782 x 736 x 11 x x a 744 x 11 748 x o 1 1 752 x X x 756 o j x x lt x lt gt x lt Xx x lt x lt gt x lt x lt m p xq 764 x J 768 x x Lp x ee 576 75 ly x tx x 34 x x xL 59 x x xl 3 x x 7 x x LL I x x Cop lo To 21 99 7 a RR amp x amp x qoe deed dq m X X 86 od 80 x Lx
93. 86 98 100 Command Syntax 41 42 41 42 Command Summary 44 105 107 44 105 107 Commanded Position 46 47 59 60 99 107 117 131 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 Flectronic Cam 61 63 61 63 Index e 183 Guaranteed 888 88 SOURCE www artisantg com 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 In
94. 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 A Aux W 6 AtAux W 7 B Aux Z 8 B Aux 2 9 A Aux Z 10 A Aux Z 11 B Aux Y 12 B Aux Y 13 A Aux Y 14 AtAux Y 15 B Aux X 16 B Aux 17 A Aux X 18 A Aux X 19 5 Volt 20 Ground J4 Driver 20 pin IDC 1 Motor Command X 2 Amp enable X 3 PWM X STEP X 4 Sign X DIR X 3 NC 6 Motor Command Y 7 Amp enable Y 8 PWM Y STEP Y 9 Sign Y DIR Y 10 NC 11 Motor command Z 12 Amp enable Z 13 PWM Z STEP Z 14 Sign Z DIR Z 15 5 Volt 16 Motor command W 17 Amp enable W 18 PWM W STEPW 19 Sign W DIR W 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 Board Axes E F G H JD2 Main 60 pin IDC Ground 2 5 Volts 3 N C 4 N C 5 Limit Common 6 Forward Limit E 7 Reverse Limit E 8 Home E 9 Forward Limit F 10 Reverse Limit F 11 Home F 12 Forward Limit G 148 e Appendices DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 13
95. Amplifiers and Encoders seen 11 Step 7a Connect Standard Servo Motors sse 13 Step 7b Connect Step MOtOIS prenne Naa kas 16 Step 8 Tune the Servo System nennen nennen ens 17 Design EE 18 Example 1 System ba AN eterne thee cerit 18 Example 2 Profiled 18 Example 3 Multiple Axes iiie eane r ono NGA acsi 18 Example 4 Independent Moves sss 19 Example 5 Position 19 Example 6 Absolute Position eese eene 19 Example 7 Velocity Control essere 20 Example 8 Operation Under Torque 20 vi Contents DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DMC 1000 Example 9 Interrogation abaka eE e Er ik Example 10 Operation in the Buffer 2 Example 11 Motion Example 12 Motion Programs with Example 13 Motion Programs with Example 14 Control Example 15 Linear Interpolation 0 2 0 0 Example 16 Circular Interpolation
96. COM INCOM IRQ 2 9 IRQ 3 IRQ4 IRQ 5 IRQ7 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 1100 1110 1120 1130 1140 MX option AF option DB 10096 N23 54 1000 N34 150 1000 COM Disk SDK 1000 OPINT CAD to DMC VBX Toolki
97. Command Basics DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com TC1 lt enter gt 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 sc n E For example the following example illustrates how to display the current position of the X axis TP X lt enter gt Tell position X 0000000000 Controllers Response TP XY enter Tell position X and Y 0000000000 0000000000 Controllers Response Additional Interrogation Methods Most commands can b
98. Communication Procedure eee 34 Advanced Communication Techniques eene 35 luu M 36 Config tiring Interr pts iere Sero MANANG ADA AA 36 Servicing iru E 38 Example Interfrupts o rte ette ter e roe 38 Controller Response 10 netten entren teen nennen nen 39 Galil Software Tools Libraries eese rennen nre 39 Chapter 5 Command Basics 41 Introduction t etre ten rece re rid c e LE b dn 41 Command Syntax niii iiber ROBORE HER ER HR BABENG DAN AG 41 Coordinated Motion with more than 1 axis esee 42 Program SVMUAK C Sed 42 Controller Response to DATA ied GANANG Mere AREE a Lo 42 Interrogating the Controller 2022222 2 enne nenne nennen nennen 43 Interrogation Commands esee 43 Additional Interrogation Methods eese ener 44 ERES 44 Command Summaa ty sanan NN a as 44 Chapter 6 Programming Motion 45 ONETVIEW BANA 45 Independent Axis Positioning aaa 45 ii e Contents DMC 1000 Artisan Technology Group Quality Instru
99. DO X axis motion complete Example Interrupts 1 Interrupt on Y motion complete on IRQS 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 21 2 EI2 5000 BGY Now when the motion is complete IRQ5 will go high triggering the interrupt service routine Write to address N 1 Then read N 1 to receive the data DI hex 38 e Chapter 4 Communication DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Send User Interrupt when at speed I Label PR 1000 Position SP 5000 Speed BGX Begin ASX At speed 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 carriage 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 vali
100. E 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 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 Guaranteed 888 88 SOURCE www artisantg com 2 Zero Stack 100 116 100 116 188 e Index DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 rtisan tisan Technology Group is your source for quality Tecmoboycrow new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers an
101. E 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 23 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 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 Artisan Technology Group Quality Instrumentation 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 9
102. MC 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 DMC 1000 Appendices e 163 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Representation 9 16 1 0 20 1 17 24 2 1 jl 2 25 32 3 2 22 4 33 40 4 3 22 8 41 48 5 4 24 16 49 56 6 5 2 32 The simplest method for determining the proper value for n is 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
103. N 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 allows a single command to define the state of the entire 8 bit output port where 20 is output 1 2l is output 2 and so on A 1 designates that the output is on Instruction OP6 255 Instruction OUTPUT PR 2000 BG AM SBI WT 1000 Example Using the output PORT Command Interpretation Sets outputs 2 and 3 of output port to high All other bits are 0 21 422 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 exec
104. 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 position 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 and 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 Chapter 8 Hardware amp Software Protection DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 H
105. ROGRAM Note The NO command is an actual controller command Therefore inclusion of the NO commands will require process time by the controller Using REM Statements with the Galil Terminal Software If you are using Galil software to communicate with the DMC 1000 controller you may also include REM statements statements begin with the word and may be followed by any 86 Chapter 7 Application Programming DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com comments which are on the same line The 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 threa
106. Reverse Limit G 14 Home 15 Forward Limit H 16 Reverse Limit H 17 Home H 18 Output 9 19 Input Common 20 Latch E 21 Latch F 22 LatchG 23 Latch H 24 Input 24 25 Motor Command 26 Amp enable E 27 Motor Command F 28 Amp enable F 29 Motor Command G 30 Amp enable G 31 Motor Command H 32 Amp enable H 33 Channel A E 34 Channel A E 35 Channel B E 36 Channel B E 37 Channel I E 38 Channel I E 39 Channel A F 40 Channel A F 41 Channel B F 42 Channel B F 43 Channel I F 44 Channel I F 45 Channel A G 46 Channel 47 Channel B G 48 Channel B G 49 Channel I G 50 Channel I G 51 Channel A H 52 Channel A H 53 Channel B H 54 Channel B H 55 Channel I H 56 Channel I H 57 12V 58 12V 59 5V 60 Ground NOTE The ABCD axes and other I O are located on the main DMC 1000 card JD5 1 0 26 pin IDC 1 Input 17 TTL 2 Input 18 TTL 3 Input 19 TTL 4 Input 20 TTL 5 Input 21 TTL 6 Input 22 TTL 7 Input 23 TTL 8 Ground 9 5 Volts 10 Output 9 11 Output 10 12 Output 11 13 Output 12 14 Output 13 15 Output 14 16 Output 15 17 Output 16 18 Input 16 DMC 10000 8 Appendices e 149 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 19 Input 15 21 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 1 N C 3 Aux B H 5
107. Step 8 Tune the Servo System 22 17 Design Example knna ERR 18 Example 1 System Set Up a GIIT 18 Example 2 Profiled Move aieas ei 18 Example 3 Multiple 18 Example 4 Independent 19 Example 5 Position Interrogation ssseeeeeeeeeeeeeeeee 19 Example 6 Absolute Position esee nennen nennen enne enne 19 Example 7 Velocity Control eese ener nennen 20 Example 8 Operation Under Torque 20 9 nennen eene ren rennen enne 20 Example 10 Operation in the Buffer Mode seen 21 Example 11 Motion 22 21 Example 12 Motion Programs with Loops eeseeeeeeeneeen 21 DMC 1000 Contents e i Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Example 13 Motion Programs with 8 1001 22 Example 14 Control 22 Example 15 Linear 23 Example 16 Circular Interpolation esee 23 Chapter 3 Connecting H
108. T RJ K is and TR 5 and the motor parameters and units Torque constant Nm A R Armature Resistance Q J Combined inertia of motor and load kg m2 L Armature Inductance H When the motor parameters are given in English units it is necessary to convert the quantities to MKS units For example consider a motor with the parameters 14 16 oz 0 1 Nm A 20 J 0 0283 oz in s 2 1074 kg m2 1 0 004 DMC 1000 Chapter 10 Theory of Operation e 135 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Then the corresponding time constants Tm 0 04 sec and 0 002 sec Assuming that the amplifier gain is 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 182 where and J are as defined previously For example a current amplifier with K 2 A V with the motor described by the previous example will have the transfer function P V 1000 52 rad V If the motor is a DC brushless motor it is driven by an amplifier that performs the commutation The combined transfer function of motor amplifier combination is the same as that of a similar brush motor as described by the previous equations Velocity Loop The motor d
109. URCE www artisantg com DMC 1000 SP 8000 FE Y BGY AMY MG FOUND HOME 0 Speed Find edge command Begin motion After complete Print message Define position as 0 End Chapter 6 Programming Motion e 79 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com MOTION BEGINS TOWARD HOME DIRECTION gt 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 latch IN 9 E axis latch IN2 Y axis latch IN10 F axis latch IN3 Z axis latch INI1 G axis latch INA W axis latch INI2 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 a
110. 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com WT50 Wait 50 msec for the knife to engage BGS Do the circular cut AMS After the coordinated move is complete 0 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 Return coordinate of last point where m X Y Z Specifies arc segment where r is the radius O is the starting angle and AO is the travel angle Positive direction is CCW E S curve smoothing constant for coordinated moves 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 buffer Zero means buffer is full 512 means buffer is empty Segment counter Number of the segment in the sequence starting at zero Number of available spaces for linear and circular segments in DMC 1000 seque
111. 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 motion 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 Chapter 7 Application Programming DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DMC 1000 Event Triggers AMX YZWorS 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 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 Hal
112. abels in Programs RA 85 Special 86 Commenting Program S eoceno ane 86 Executing Programs Multitasking 2 0 87 viii e Contents DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Debugging ursus 88 Program Flow Commaands eicere tte 90 Event Triggers amp Trippoints essere nennen enne 90 Event Trigger Examples uester hereto rerba Ree a e Let Reid 91 Conditional NG NYAN TANGAN GAGANA ARIAN 94 ala NABA 97 Stack EET 97 Automatic Subroutines for Monitoring 97 Mathematical and Functional Expressions eccesessesseceeeseceeeeeeeeeeeaeceeeseaceeeeseeaeeseeneens 100 Mathematical Expressions eese eren ener ener nene 100 Bit Wi e Operators E 101 FUDCUONS c 102 Variables eee RO ria Ure e e tte a Lan abis 102 Assigning Values to Variables eseseeseseeeeeeeeeenenennnnen nennen 103 104 Special Operands 5 4042222 1 110 0000000 105 wy ME
113. am setup16 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 O address conflict in your computer see section on Changing the 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 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 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 informati
114. amped 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 the DMC 1000 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 c 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 2 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 Ky Js2 4150 52 Amp K4 2 Amp V DAC Kg 20 65536 0003 Encoder Kg 4N 2n 636 ZOH H s 2000 s 2000 Compensation Filter G s P sD The next step is to combine all the system elements with the exception of G s into one fu
115. ardware 25 OVETVIEW eH E 25 Using Optoisolated Inputs eese edru 25 Limit Switch Input sis mkha BIB RO e tea te 25 Home Switch Input enti NG GIBAIN eter tte oet 26 Abort TIPU a 26 Uncommitted Digital nennen 27 Wiring the Optoisolated Inputs essere 27 Using an Isolated Power Supply sese 28 Bypassing the 1 29 Changing Optoisolated Inputs From Active Low to Active High 30 Amplifier E 30 TTE Inputs tret E eter t Rp tei den adie ack 31 Analog 31 Outputs E 32 Offset Adjustment seenior ae eea adea e a 32 Chapter 4 Communication 33 LEN 33 Address 5 2 RERE iaai 33 Example Address 1 34 Communication with the Controller eese 34 Communication 34 Simplified
116. ated 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 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com command VP xy specifies the coordinates 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
117. ates system vibration When this happens simply reduce KD Next you need to increase the value of KP gradually maximum allowed is 1023 You can monitor the improvement in the response with the Tell Error instruction KP 10 CR Proportion gain TE 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 TEX CR becomes zero As KI 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 DMC 1000 Chapter 2 Getting Started 17 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 Au
118. bination 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 ptm s 68331 lO Microcomputer 2 rom Interface 4 gt Bi 4 gt Motor Encoder ms 256 EEPROM Interface rom 8 Analog In Encoders Watch Dog Timer Figure 1 1 DMC 1000 Functional Elements 2 e Chapter
119. bles 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 160 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 status parameters of the DMC 1000 to be incorporated into programmable variables and expressions An operand contains data and must be used 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 b
120. 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 begin 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 JOY Label JGO Set in Jog Mode BGX Begin motion B Label for Loop V1 AN 1 Read analog input VEL V1 50000 2047 Compute speed JG VEL Change JG speed JP B Loop Linear Interpolation Mode DMC 1000 The DMC 1000 provides a linear
121. cations 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 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 direction 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 radius start at 0 and go to 180 CCW
122. ctor 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 advanced an additional distance with PR or JG commands or VP or LI Command Summary Electronic Gearing 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 XC YC ZC or WC or AC BC 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 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 DMC 1000 Chapter 6 Programming Motion e 59 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com GR 5 5 10 10000 5 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 th
123. d Digital Inputs The DMC 1000 has 8 uncommitted opto isolated inputs These inputs are specified as INx where x specifies the input number 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 IN1 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 of current flows from the common to the input 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 be 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 Inpu
124. d PIN CALC EXE To use ADDRCALC type ADDRCALC at the C COMMDISK and enter 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 Controllers 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
125. d 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 instruction XQ A n Where n indicates the thread number To halt the execution of any thread use the instruction HXn where n is the thread number Note that both the XQ and HX commands can be performed by an executing program DMC 1000 Chapter 7 Application Programming e 87 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Multitasking Example Producing Waveform on Output 1 Independent of a Move Instruction Interpretation Task1 label Initialize reference time 1 LOOP1 Loop label AT 10 Wait 10 msec from reference time 5 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 5 1 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 TASK1 is execute
126. d 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 Chapter 7 Application Programming DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com If the value of the variable RESULT is equal to 999999 999 the above message statement returns the following The Final Value is 99999 99 The message command normally sends a carriage return and line feed following the statement The carriage return and the line feed may be suppressed by sending N at the end of the statement This is useful when a text string needs to surround a numeric value Example 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 n is any integer between 1 and 255 Example MG 407 17255 sends the ASCII characters represented by 7 and 255 to the bus Summary of Message Functions Surrounds text string Formats numeric values in decimal n digits to the right of the decimal point and m digits to the left Formats numeric values in hexadecimal Sends ASCII character specified by integer n
127. d 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 1 to the controller Galil Software Tools and Libraries API Application Programming Interface software is available from Galil The API software is written in C and is included in the Galil 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 part of the run time environment For more information contact Galil DMC 1000 Chapter 4 Communication e 39 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com THIS PAGE LEFT BLANK INTENTIONALLY 40 Chapter 4 Communication DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg co
128. d technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment EQUIPMENT DEMOS HUNDREDS OF Instra REMOTE INSPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED Contact us 388 88 SOURCE sales artisantg com www artisantg com
129. d 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 Trace Commands The trace command causes the controller to send each line in a program to the host computer immediately prior to execution Tracing is enabled with the command TRI 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 1 can be given This command causes the controller to
130. e precedence Examples of MATHEMATICAL EXPRESSION SPEED 7 5 V 1 2 100 e Chapter 7 Application Programming The variable SPEED is equal to 7 5 multiplied by V1 and divided by 2 DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 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 signif
131. e PC J1 The other two are attached from within the PC J2 and J3 Pinouts are described below 164 e Appendices DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com J1 Pinout 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 T 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 T 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 T 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 27 29 31 33 35 37 39 41 43 45 47 49 O U 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49 166 Appendices Block DN Mm OV Tm Tm tA AN lt
132. e and reset reference SBI 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 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 con
133. e can describe the motion in the following manner 1 cos 27 B X 4L amp sin 2zj B Note is the angular velocity X is the position and T is the variable time in milliseconds In the given example A 6000 and 120 the position and velocity profiles are X 50T 6000 27 sin 27 T 120 Note that the velocity 09 in count ms is 50 1 cos 27 T 120 68 Chapter 6 Programming Motion DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 POINTS DM POS 16 DM DIF 15 C 0 0 V1 50 T V2 3 T V3 955 SIN V2 V1 V4 INT V3 POS C V4 T T 8 C C 1 JP A C lt 16 B C 0 C Interpretation Program defines X points Allocate memory Set initial conditions C is index T is time in ms Argument in degrees Co
134. e 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 the RA command The RC command begins data collection Sets data capture time interval where is an integer between 1 and 8 and designates 2 msec between data m is optional and specifies the number of elements to be captured If m is not defined the number of elements defaults to the smallest array defined by DM When m is a negative number the recording is done continuously in a circular manner RD is the 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 om DMC 1000 Chapter 7 Application Programming e 107 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Switches only bit 0 4 valid Status bits Torque reports digital val
135. e 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 e Chapter 3 Connecting Hardware DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 Uncommitte
136. e interrogated by using a question mark as the axis specifier Type the command followed by a for each axis requested DMC 1000 Chapter 5 Command Basics e 43 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com PR The controller will return the PR value for the C 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 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 6 Programming Motion Overview The DMC 1000 can be commanded to do the foll
137. e 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 master 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 BG X 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 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
138. e shows a Galil Motor and Encoder which uses a flat ribbon cable to connect to the AMP 1100 unit Chapter 2 Getting Started 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 1100 Encoder J4 J5 J3 J2 Ee LL id 8 2 ms E a LIS Encoder Wire Connections 45V 103 lt 1100 GND 104 24 Channel A 81 XI 82 oa Channel XB 79 XB 80 Channel A XA e 78 XB Index Pulse Encoder Wires Index Pulse XI Typically Red Connector E DC Servo Motor TIP Typically Black Connector To gs L black wire 6 5 3 5292 BO 23 57 red wire CPS Power Supply er t 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 operation the pulse output s
139. e 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 Chapter 7 Application Programming DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 Is equal to status of Forward Limit switch input of axis equals 0 or 1 Is equal to status of Reverse Limit switch input of axis n equals 0 or 1 s equal to the number of available variables Free Running Real Time Clock off by 2 4 Resets with power on Is equal to status of Home Switch equals 0 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 1 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 inpu
140. earing 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 _CEx _DEx _DVx _GRx TDx Contains the position of the specified auxiliary encoder Motion Smoothing The DMC 1000 controller allows the smoothing of the velocity profile to reduce the mechanical vibration of the system Trapezoidal velocity profiles have acceleration rates which change abruptly from zero to maximum value The discontinuous acceleration results in jerk which causes vibration The smoothing of the acceleration profile leads to a continuous acceleration profile and reduces the mechanical 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
141. encoder is modeled as 638 DMC 1000 Chapter 10 Theory of Operation e 137 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DAC The DAC or D to A converter converts a 16 bit number to an analog voltage The input range of the numbers is 65536 and the output voltage range is 10V or 20V Therefore the effective gain of the DAC is K 20 65536 0 0003 V count Digital Filter The digital filter has 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 KP KD 4 or K GN 4 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 P K 1 A 4 KP D T K A 4 T KD I For example if the filter parameters of the DMC 1000 are 4 KD 36 KI 2 T 0 001 s the digital filter coefficients are K 160 A 0 9 C 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 per sampling period The effect of the ZOH can be modeled by the transfer function H s 1 1 7
142. er 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 To specify the master cycle and the slave cycle change we use the instruction EM x y Zw 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 DMC 1000 Chapter 6 Programming Motion e 61 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com m n where m is the interval width in counts is
143. er to motor amplifiers These signals are labeled PULSX DIRX for the x axis on the ICM 1 100 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 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 TEX CR Tell error a few times and get varying responses especially with reversing polarity it indic
144. ere 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 statements following to be automatically executed if error on any axis exceeds the error limit specified by ER The error routine must be closed with the RE command The RE command returns from the error subroutine to the main program NOTE The Error Subroutine will be entered again unless the error condition is gone Example 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
145. exadecimal as denoted by the preceding For more information see section Sending Messages DMC 1000 Chapter 7 Application Programming e 101 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com To illustrate further if the user types in the string TESTME at 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 51 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 175 Compliment of n ABS n Absolute value of n Fraction portion of INT n Integer portion of n ex T Um A 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 t
146. 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 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 lt gt 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
147. f 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 and the deceleration DC rate for each axis DMC 1000 Chapter 6 Programming Motion e 47 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com The direction of motion is specified by the sign of the JG parameters When the begin command is given BG the motor accelerates up to speed and continues to jog at that speed until a new speed or stop ST command is issued If the jog speed is changed during motion the controller will make a accelerated or decelerated change to the new speed An instant change to the motor position can be made with the use of the IP command Upon receiving this command the controller commands the motor to a position which is equal to the specified 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 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
148. f the stack This allows the program sequencer to continue to the next line The 750 command resets the stack to its initial value For example 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 75 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 DMC 1000 Chapter 7 Application Programming e 97 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com position error 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 w
149. f 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 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
150. ffer 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 _CS can be used to determine the value of the segment counter Specifying Vector Acceleration Deceleration and Speed The commands VS n VA 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 75 speed of the Z cases where the acceleration causes the system to jerk 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 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 r 0
151. for X axis to be 0 De allocate all arrays Dimension 501 element array called XPOS Record Elements into XPOS array Element to be recorded is encoder position of X axis Motor off for X axis Begin Recording with a sample rate of 2 msec Loop until all elements have been recorded Routine to determine the difference between consecutive points Dimension a 500 element array to hold contour points Set loop counter Loop to calculate the difference DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DX I XPOS I 1 XPOS I 1 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 0 Set array index to 0 LOOP3 Subroutine to execute contour points CD DX I WC Contour data command Wait for next contour point F1 Update index JP LOOP3 Ix500 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 When configured for stepper motor operation several commands are interpreted differently than from servo mode The following describes operation
152. 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Step motors with step and direction signals 3 Other actuators such as hydraulics For more information contact Galil The user can configure each axis for any com
153. from above into binary 484 1 1 1 1001 00 22020 2 5 Let switches 2 through 8 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 Register Description Address Read Write 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 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 e Chapter 4 Communication DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ome SSCS No data to be read WRITE o 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 N 1 and check bit 5 If bit 5 is zero the DMC 1000 has data to be read in
154. g 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 DMC 1000 Chapter 4 Communication e 35 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com It is good idea to clear any control data before attempting this procedure Send 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 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 bu
155. general use outputs and an error signal output The general use outputs TTL and are accessible by connections to OUTI thru 8 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 Command Summary The value of the outputs can be checked with the operand OP and the function 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 Atleast one axis has a position error greater than the error limit The error limit is set by using the command ER 2 The reset line on the controller is held low or is being affected by noise 3 There is a failure on the controller and the processor is resetting itself 4 There is a failure with the output IC which drives the error signal 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
156. h Compensation by Sampled Dual Loop eee 122 Chapter 8 Hardware amp Software Protection 125 isset Em 125 Hardware Protection D H 125 Output Protection LINES nii I LU HAT 125 Input Protection Lanes o eret a terere ee 125 Software Prove Ct OM AA 126 Programmable Position Limits eese eene 126 OIL OT BHOE eite detras iiir Dep 126 Autormatic Error ROWE obe hA EROR DE Rene RTL do ep BE Doe ade 127 Limit Switch Routme 127 Chapter 9 Troubleshooting 129 iD M 129 DMC 1000 Contents e ix Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com x e Contents a aaa E EEE 129 Goin M M 130 Stability mee 130 LE 130 Chapter 10 Theory of Operation 131 ERE 131 Operation of Closed Loop Systems esee ener 133 System Modeling sampa oho dit e ede abe be e D BRA ALABANG REPRE HER 134 Motor Amplifier trennen enne ne 135 y EH 137 pe 138 Digital FIET EE 138
157. hat 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 from active high 5 volts enable zero volts disable to active low zero volts enable 5 volts disable replace the 7407 IC with a 7406 Note that many amplifiers designate the enable input as inhibit To change the voltage level 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 5 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
158. have a negative sign The default format is PF 10 0 If the number of decimal places specified by PF is less than the actual value a nine appears in all the decimal places Examples DP21 Define position TPX Tell position 0000000021 Default format PF4 Change format to 4 places TPX Tell position 0021 New format PF 4 Change to hexadecimal format TPX Tell Position 80015 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 be removed by the use of the command LZ Example Using the LZ command 170 Disables the LZ function TP Tell Position Interrogation Command 0000000009 0000000005 0000000000 0000000007 Response from Interrogation Command With Leading Zeros 112 Chapter 7 Application Programming DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 121 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 i
159. he 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 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 160 Start job mode BGX Start motion Loop VP AN 1 1000 Compute desired position VE VP _TPX Find position error DMC 1000 Chapter 7 Application Programming 117 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com VEL VE 20 Compute velocity JG VEL Change velocity JP Loop Change velocity EN End Example Applications Wire
160. he program and the command AB1 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 It is 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 or _LM returns the available spaces for LI segments that can 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Specifying Vector Acceleration Deceleration and Speed The commands VS n VA n and VD n are used to specify the vector speed acceleration and deceleration The DMC 1000 computes the vect
161. he 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 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Examples Valid Variable Names POSX POS1 SPEEDZ Examples Invalid Variable Names Variable Problem REALLONGNAME 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 keyword
162. here A2 represents 2 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 any 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 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 and use the switches A2 through 8 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 DMC 1000 Chapter 4 Communication e 33 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 996 512 484 4 Convert result
163. hich axis is in 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 165000 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 Chapter 7 Application Programming DMC 1000 Artisan Technology Group Qual
164. hould be set such that a 10 Volt command generates the maximum required current For example if the motor peak current is 10A the amplifier gain should be 1 A V For velocity mode amplifiers 10 Volts should run the motor at the maximum speed 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 or differential CHA CHA CHB CHB 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
165. icant 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 56 Input 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 LEN 1 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 15 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 S1 Display LEN6 as string message of 1 char MG LENS S1 Display LENS as string message of 1 char MG LEN4 S1 Display LEN4 as string message of 1 char MG LEN3 S1 Display LEN3 as string message of 1 char MG LEN2 S1 Display LEN 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 h
166. ignal has a 50 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 DMC 1000 profiler commands the step motor amplifier 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Step Install SM jumpers Fach 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 controll
167. igured for a current mode of operation with no additional compensation The gain should be set such that a 10 Volt input results in the maximum required current The DMC 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 1 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 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 7406 Note that many amplifiers designate the enable input as inhibit 30 e Chapter 3 Connecting Hardware DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com change the voltage level of the signal note the state of the resistor pack 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
168. ines This signal also goes low when the watch dog timer is activated or upon reset Note The standard configuration of the AEN signal is TTL active low Both the polarity and the amplitude can be changed if you are using the ICM 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 DMC 1000 Chapter 8 Hardware amp Software Protection 125 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Reverse Limit Switch Low input inhibits motion in reverse direction If the m
169. ion Programming DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com START PULSE 11 ___________ ___ MOTOR VELOCITY OUTPUT PULSE 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 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 s
170. irections 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 or GAY or GAZ GAW GAA or GAB or GAC or GAD or 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com fractional resolution of 0001 GR 0 0 0 0 turns off electronic gearing for 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 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 ve
171. itional move before the previous move has been completed See the discussion below Monitoring Generated Pulses vs Commanded Pulses DMC 1000 Chapter 6 Programming Motion e 71 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com The general motion smoothing command can also be used purpose of the command IT is to smooth out the motion profile and decrease 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 g
172. its 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 Return segment number 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 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 w
173. ity Instrumentation Guaranteed 888 88 SOURCE www artisantg com Example Position Error Instruction LOOP JP LOOP EN POSERR 1 TEX 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 A 30000 60000 BGXW LOOP JP LOOP EN ININT STXW AM TEST JP TEST IN 1 0 16 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 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
174. ives the absolute value of the position as determined by the motion profiler The command DP can be used to set the value of the reference position For example DP 0 defines the reference position of the X axis to be zero Third the output of the motion profiler is filtered by the stepper smoothing filter This filter adds a delay in the output of the stepper motor pulses The amount of delay depends on the parameter which is specified by the command KS As mentioned earlier 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 c
175. l 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 8 for full positive voltage In the Sign Magnitude Mode Jumper SM the PWM signal is 0 for 0 Voltage 99 6 for full voltage and the sign of the Motor Command is available at the sign output 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 toggle relays and trigger external events The output lines are toggled by Set Bit SB and Clear Bit CB instructions The OP instruction is used to define the state of all the bits of the Output port Appendices e 151 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Inputs
176. lack 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 DIRK 1 Yami for seer Appendices e 159 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 27 28 3 3 2 33 4 43 44 45 46 47 48 49 5 5 52 53 54 5 56 5 5 1 62 63 64 65 67 70 71 160 Appendices Digital Output 4 Digital Output 5 Digital Output 6 Digital Output 7 Digital Output 8 INP8 Uncommitted Input 8 Uncommitted Input 7 INCOM Input common W Auxiliary encoder B W Auxiliary encoder B W Auxiliary encoder A W Auxiliary encoder A Z Auxiliary encoder B Z Auxiliary encoder B Z Auxiliary encoder A Z Auxiliary encoder A Y Auxiliary encoder B Y Auxiliary encoder B Y Auxiliary encoder A Y Auxiliary encoder A X Auxiliary encoder B X Auxiliary encoder B X Auxiliary encoder A Limit common X Forward limit 66 RESX X Reverse limit 68 FLSY Y Forward limit Y Reverse limit ______69 1527 7 Forward limit RLSZ Z Reverse limit Zone Uncommitted Input 6 Uncommitted Input 5 Uncommitted Input 4 Uncommitted Input 3 Uncommitted Input 2 Uncommitted Input 1 DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed
177. le 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 BG X 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 sec 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 and Y axis have a trapezoidal velocity profile while the Z axis has triangular velocity profile The 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 o
178. llowing 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 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 SBI Set Output 1 LOOP Loop AT 10 After 10 msec from reference Clear Output 1 AT 40 Wait 40 msec from referenc
179. llows 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 ED5 Puts Editor at line 5 ED BEGIN Puts Editor at label BEGIN Chapter 7 Application Programming 83 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 lt RETURN gt 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 RETURN will cause the editor to advance a series of lines Note changes on a program line will not be saved unless a lt return gt is given lt cntrl gt P The lt cntrl gt P com
180. lly 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com X VELOCITY Y VELOCITY X POSITION ri Y POSITION 7 Figure 10 3 Velocity and Position Profiles Operation of Closed Loop Systems To understand the operation of a servo system we may compare it to a familiar closed loop operation adjusting the water temperature in the shower One control objective is to keep the temperature at a comfortable level say 90 degrees F To achieve that our skin serves as a temperature sensor and reports to the brain controller The brain compares the actual temperature which is called the feedback signal with the desired level of 90 degrees F The difference between the two levels is called the error signal If the feedback temperature is too low the error is positive and it triggers an action which raises the water temperature until the temperature error is reduced sufficiently The closing of the servo loop is very similar Suppose that we want the motor position to be at 90 degrees
181. log 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 OUT1 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 11 0 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 immediately upon activation of the switch If a limit switch is activated during motion the controller will make a decelerated stop using the deceleration rate previously set with the DC command The motor will remain 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
182. m 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 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 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 A space may be inserted between the instruction and arguments A semicolon or lt enter gt is used to terminate the instruction for processing by the DMC 1000 command interpreter Note If you are using a Galil terminal program commands will not be processed until an lt enter gt command is given This allows the user to separate many commands on a single li
183. mand moves the editor to the previous line lt cntrl gt I The lt cntrl gt I command inserts line above the current line For example if the editor is at line number 2 lt gt 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 and 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Program Format A DMC 1000 program consists of DMC 1000 instructions combined to solve a machine control application Action instructions such as starting and stoppi
184. may also be tested during the jump on condition statement The LR condition specifies the reverse limit and 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 the limit switches Example using Limit Switch subroutine Instruction Interpretation A JP Dummy Program LIMSWI Limit Switch Utility 1 LFX Check if forward limit DMC 1000 Chapter 8 Hardware Software Protection e 127 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 9 Troubleshooting Overview The following discussion may help you get your system to work Potential problems have been divided into groups as follows 1 Installation 2 Communication 3 Stability and Compensation 4 Operation
185. 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 1 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 instructions where 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 0 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 OQO returns a 3 DMC 1000 Appendices e 167 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE w
186. mentation Guaranteed 888 88 SOURCE www artisantg com Command Summary Independent 202224 400 0 46 Operand Summary Independent 46 Independent Jogging iiiter Rer i e denter tc rt ee be ede ETUR e ct 48 Command Summary Jogging sese eene 48 Operand Summary Independent 48 Linear Interpolation Mode erhielt eerte gessi decret 49 Specifying Linear Seginehts ns eios prete Aero og tbe 49 Specifying Vector Acceleration Deceleration and 50 Additional Commnarids itr etr reete Animal 50 Command Summary Linear Interpolation esee 51 Operand Summary Linear 52 Vector Mode Linear and Circular Interpolation Motion eene 54 Specifying nre 54 Specifying Vector Acceleration Deceleration and 55 Additional Commands seen enne nennen 55 Command Summary Vector Mode 57 Operand Summary Vector Mode 57 Iu encoder isum 58 Command Summary Electronic Gearing seen 59 Operand Summary Elec
187. mmand 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 Program space use the interrogation command LS List To list the application program labels only use the interrogation command LL List Labels Operands In general all operands provide information which may be useful in debugging an application program Below is a list of operands which are particularly valuable for program debugging To display the value of an operand the message command may be used For example since the operand _ED 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
188. mpute position Integer value of V3 Store in array POS Program to find position differences Chapter 6 Programming Motion e 69 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com D C 1 DIF C POS D POS C C C 1 JP C C lt 15 EN RUN CMX DT3 0 E CD DIF C WC 1 JP E C lt 15 DTO CDO EN Compute the difference and store End first program Program to run motor Contour Mode 4 millisecond intervals Contour Distance is in DIF Wait for completion Stop Contour 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 RA C RD RC n m RC or _RC Dimension array Specify array for automatic record up to 4 for DMC 1040 8 for DMC 1080 Specify data for capturing such as _TPX or TPZ Specify capture time interval where n is 2n msec m is number of records to be captured Returns a 1 if recording Record and Playback Example Instruction RECORD DPO DA DM XPOS 501 RA XPOS RD_TPX RC2 LOOP1 JP LOOP1 RC 1 COMPUTE DM DX 500 0 LOOP2 70 e Chapter 6 Programming Motion Interpretation Begin Program Define position
189. munication 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 pe de us ES Optional but strongly recommended for 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 Chapter 2 Getting Started DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com
190. n 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 deceleration VE End vector sequence BGS Start motion DMC 1000 Chapter 2 Getting Started 23 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4000 4000 0 4000 2000 4000 0 0 0 local zero Figure 2 4 Motion Path for Example 16 24 e Chapter 2 Getting Started DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 ana
191. n decimal format and S 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 F2 2 Tell Position in decimal format 2 2 05 00 05 00 00 00 07 00 Response from Interrogation Command 4 2 Tell Position in hexadecimal format 4 2 FFFB 00 50005 00 50000 00 50007 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 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 1 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 VFI 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 ma
192. n 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 A LINPOS 0 PR 1000 BGX B AMX WT 50 LIN POS _DEX ER 1000 LINPOS TEX JP 4C ABS ER 2 PR ER BGX JP 4B Interpretation Label Define starting positions as zero Required distance Start motion Wait for completion Wait 50 msec Read linear position Find the correction Exit if error is small Command correction Begin motion on X axis Repeat the process Label End program Chapter 7 Applicati
193. nal 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 interrogated Some examples 20 Chapter 2 Getting Started DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DMC 1000 Instruction 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 BG X 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 res
194. nce When is used as an operand AV returns the distance traveled along the sequence The operands VPX and 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 DMC 1000 Chapter 6 Programming Motion e 57 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Instruction Interpretation VMXY 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 A 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 5 is 0 _VPX and VPY 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 4000 3000 4000 0 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 d
195. ncoders the complement signals are labeled XB and XI Note When using pulse and direction encoders the pulse signal is connected to and the direction signal is connected to 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 lt return gt 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 encoder If you cannot observe the encoder signals try a different encoder 3 There is a hardware failure in the controller connect the same encoder to a different 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
196. nction Los L s Ke H s 0 3175 107 s2 s 2000 Then the open loop transfer function A s is Chapter 10 Theory of Operation 141 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com A s L s G s Now determine the magnitude and phase of L s at the frequency c 500 1 0500 0 3175 107 G500 2 j500 2000 This function has a magnitude of 10500 0 00625 and a phase Arg L j500 180 tan71 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 IGG500 I AG500 LG500 I 160 and a phase 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 5 so that at the frequency 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 3500 tan 500D P 59 The solution of these equations leads to P 40cos 59 82 4 500D 40sin 59 137 2 Therefore D 0 2744 and G 82 4 0 2744s The function G is equivalent to a digital filter of the form D z 4 e KP 4 KD 1 z l where KP P 4 and 142 e Chapter 10 Theo
197. nd 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 DMC 1000 Chapter 6 Programming Motion e 51 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Return distance traveled Segment counter returns number of the segment in the sequence starting at zero Returns length of vector resets after 2147483647 Zero means buffer full 512 means buffer empty Return the absolute coordinate of the last data point along the trajectory Returns number of available spaces for linear segments in DMC 1000 sequence buffer 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 The returned value will be 3000 value of CS
198. nd 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 1 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 16 5000 Jog Y BGY Begin motion on Y axis ALY 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com THIS PAGE LEFT BLANK INTENTIONALLY 82 e Chapter 6 Programming Motion DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 7 Application Programming Overview The DMC 1000 provides a powerful programming language that allows users to customize the controller for their particular application Programs can be downloaded into the DMC 1000 memory freeing the hos
199. ne and not begin execution until the user gives the lt enter gt command IMPORTANT All DMC 1000 commands are sent in upper case For example the command PR 4000 lt enter gt Position relative PR is the two character instruction for position relative 4000 is the argument which represents the required position value in counts The lt enter gt terminates the instruction The space between PR and 4000 is optional For specifying data for the X Y Z 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 1000 Specify a position relative movement for the X axis of 1000 ACY 200000 Specify acceleration for the Y axis as 200000 Instead of data some commands request action to occur on an axis or
200. ng motion are combined with Program Flow instructions to form the complete program Program Flow instructions evaluate real time conditions such as elapsed time or motion complete and alter program flow accordingly Each DMC 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 All 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 1Square 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 P
201. ngle 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 AN 1 thru AN 7 Analog Inputs Standard configuration is 10 Volt 12 Bit Analog to Digital converter OUT 1 thru OUT 8 Outputs 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 5V 750 mA 12V 40 mA 12V 40mA Performance Specifications Minimum Servo Loop Update Time DMC 1010 250 psec DMC 1000 Appendices e 145 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 00
202. ntly 18 e Chapter 2 Getting Started DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Instruction PR 500 1000 600 400 SP 10000 12000 20000 10000 AC 100000 10000 100000 100000 DC 80000 40000 30000 50000 BG XZ BG YW Interpretation Distances of X Y Z W Slew 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
203. 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 DMC 1000 Chapter 7 Application Programming e 89 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Edit Mode 000 A Program Label 001 PR1000 Position Relative 1000 002 BGX Begin 003 PR5000 Position Relative 5000 004 EN End lt cntrl gt Quit Edit Mode XQ A Execute A 2003 PR5000 Error on Line 3 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 Q Quit Edit Mode XQ 8A Execute 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
204. olation is needed the internal 5 Volt supply may be used to power the switches as shown in Figure 3 3 This 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 conf
205. ommands until the controller has generated the same number of steps out of the step count register as specified in the commanded position The MC trippoint Motion Complete is generally more useful than AM trippoint After Motion since the step pulses can be delayed from the commanded position due to stepper motor smoothing 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 e Chapter 6 Programming Motion DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 generate Dual Loop Auxiliary Encoder 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 compensati
206. ommands 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 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com rtisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Contents Chapter 1 Overview 1 Hiep EET 1 Overview of Motor Types 1 Standard Servo Motors with 10 Volt Command Signal sss
207. on SYMPTOM CAUSE REMEDY Controller rejects command Invalid Command Interrogate the cause with TC or Responded witha 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 above Programming error Avoid resetting position error at end of move with SH command 130 e Chapter 9 Troubleshooting DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 ENCODER 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 ope
208. on 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 SBI 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 variable is specified as a string the variable can hold up to 6 characters each ASCII character is byte When using the IN command for string input the first input character will be placed in the top byte of the variable and the last character will be placed in the lowest significant byte of the fraction The characters can be individually separated by using bit wise operations see section Bit Wise Ope
209. on 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 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 mul Normal quadrature DMC 1000 Chapter 6 Programming Motion e 73 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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
210. on Programming 123 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com THIS PAGE LEFT BLANK INTENTIONALLY 124 e Chapter 7 Application Programming DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 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 l
211. on entitled Connectors for DMC 1000 Main Board see pg 146 a AALALA NG NG KING 162 JX6 JY6 176 JW6 Encoder Input 10 pin 2 24 162 ICM VV bre 163 AMP 11x0 Mating Power Amplifiers rennen rennen enne 164 DB 10072 OPTO 22 Expansion Option nennen enne nennen 164 Configuring the I O for the DB 10072 sese 164 Contents e v Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Connector Description of the 10072 22 0 6 4 165 DB 10096 Expansion ies ANNA NG BANAAG me BABA 168 Pinouts for DB 10096 Connectors sese 169 WL Pim outs CL mL 169 WZ PIN OU 170 Coordinated Motion Mathematical 1 8 171 DMC 600 DMC 1000 Comparison esee nennen nennen 174 DMC 600 DMC 1000 Command Comparison eene 175 DMC 600 DMC 1000 Pin out Conversion Table eene 178 List of Other Publications enne ener 180 E 180 WARRANTY NIKA Na 181 Using This Manual sessie oet aee rre
212. on 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 address 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 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com If you using Windows 3 x run the program DTERM16 EXE and if you using Windows 95 Windows NT run the program DTERM32 EXE From the file menu select Startup Y
213. or 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 VS7 XS YS 4ZS where XS YS and 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 next 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
214. osition 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 O 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 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com FE Three storage ScopesforDMCio00 Collection Graph File Collection Graph J o 9 Actual Position ES i Le Le 2 econd Scope Actual Position 150
215. otion Wait until X moved 4000 Start Y motion Wait until position X 6000 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 B TPX PR 1 2 BGX AMX WT 500 1 22 e 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 500 ms Report the value of V1 DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com JP C V1 0 Exit if position 0 JP B Repeat otherwise C Label C EN End of Program To start the program command XQ A Execute Program A 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 interpolatio
216. otor is moving in the reverse direction when the limit switch is activated the motion will decelerate and stop In addition if the motor is moving in the reverse direction the controller will automatically jump to the limit switch subroutine LIMSWI if such a routine has been written by the user The CN command can be used to change the polarity of the limit switches 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
217. ou 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 A time out occurred while waiting for a response from the Galil controller If this message appears you must 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
218. ously specified by the user with the DC command Although Find Index is an option for homing it is not dependent upon a transition in the logic state of the Home input but instead is dependent upon a transition in the level of the index pulse signal The Standard Homing routine is initiated by the sequence of commands HMX lt return gt BGX lt return gt 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 index pulse After detection it decelerates to a stop and defines this position as 0 The logic state of the Home input can be interrogated with the command MG HMX This command returns a 0 or 1 if the logic state is low or high respectively The state of the Home input can also be interrogated indirectly with the TS command For examples and further information about Homing se
219. owing 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 the 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 7 and the DMC 1040 uses 7 W 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 H 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
220. 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 or 12V made through Resistor pack RP1 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Outputs DMC 1000 provides eight
221. ponse to the first ED command the first line is zero LINE INSTRUCTION 000 A 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 cntrl 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 A 1 1000 Loop PA BG X AM X Interpretation Label Define current 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 e 21 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com WT 500 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 Example 13 Motion Programs with Trippoints The motion programs may include trippoints as shown below Instruction B 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 B Interpretation Label Define initial positions Set targets Set speeds Start X m
222. put 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 Download 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 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 Flectronic 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 Artisan Technology Group Quality Instrumentation 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
223. r 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 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 H 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
224. r to Enter Programs eeeeeeeeeeeeeneennen enne 83 Edit Mode Commands irm edet etie reete docte erede 84 Program FOr al EUER 85 Using Labels Programs 1111 1 SE a RoE eena EE R eaaeo 85 Special Labels 0 E RRE 86 Commenting Programs sssri aires Nman 86 Executing Programs 87 Debugging 1 1 1 aes aeee enne aar Pin 88 Program Elow Cormands e eiie ere terrere eere Robe o are EE eo Rao Robur DR TEn i 90 Event Triggers amp Trippoints essere eren rennen eene ene 90 Event Trigger Examples uidet rete RE eH re eR 91 DMC 1000 Contents e iii Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com iv e Contents Conditional Aban a nan 94 NI GIA 97 Stack Manipulation rte ret outre ite AE 97 Automatic Subroutines for Monitoring Conditions eee 97 Mathematical and Functional Expressions eese 100 Mathematical Expressions eee eee eeteee neenon etta 100 Bitt Wise
225. ration 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 program describes the tasks in terms of the motors that need to be controlled the distances and the speed Chapter 10 Theory of Operation e 131 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 BG X AD 2000 BGY 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 Fina
226. rators 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 through 6 For example MG STR 53 This statement returns 3 characters of the string variable named STR Numeric data may be formatted using the Fn m expression following the completed MG statement n m formats data in HEX instead of decimal The actual numerical value will be formatted with n characters to the left of the decimal and m characters to the right of the decimal Leading zeros will be used to display specifie
227. rement 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 e Chapter 7 Application Programming DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Uploading and Downloading Arrays to Board Memory Arrays may be uploaded and downloaded using the QU and QD commands QU array start end delim QD array start end where array is an array name such as A Start is the first element of array default 0 End is the last element of array default last element Delim specifies whether the array data is separated by a comma delim 1 or a carriage return delim 0 The file is terminated using lt control gt Z lt control gt Q lt control gt D or Automatic Data Capture into Arrays The DMC 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 Th
228. river 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 o V K4 Ky Js I K Kj Js 871 1 1 where the velocity time constant equals TI Ki Kg This leads to the transfer function P V 1 Kg s sT1 1 K tm Kts Figure 10 5 Elements of velocity loops The resulting functions derived above are illustrated by the block diagram of Fig 10 6 136 Chapter 10 Theory of Operation DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com VOLTAGE SOURCE V E W P 4 __ o 7 ST_ 1 ST 1 5 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 channels the position resolution is increased to 4N quadrature counts rev The model of the encoder can be represented by a gain of 2 count rad For example a 1000 lines rev
229. roach 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com The dual loop approach requires the resolution of the rotary sensor to be equal or better than that of the linear system Assuming that the pitch of the lead screw is 2 5mm approximately 10 turns per inch a rotary encoder of 2500 lines per turn or 10 000 count per revolution results in a rotary resolution of 0 25 micron This results in equal resolution on both linear and rotary sensors To illustrate the control method assume that the rotary encoder is used as a feedback for the X axis and that the linear sensor is read and stored in the variable LINPOS Further assume that at the start both the positio
230. rogram The above program moves X and Y 10000 and 20000 units After the motion is complete the motors rest for 2 seconds The cycle repeats indefinitely until the stop command is issued DMC 1000 Chapter 7 Application Programming e 85 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 P
231. ry Jogging oe eee eese enne eene trennen 48 Operand Summary Independent 48 Linear Interpolation Mode EE agre certs 49 Specifying Linear Segments eese enne eene nennen nennen enne 49 Specifying Vector Acceleration Deceleration and 50 Additional Commands eese nee nenne trennen 50 Command Summary Linear Interpolation eee 51 Operand Summary Linear Interpolation eere 51 Vector Mode Linear and Circular Interpolation Motion eere 54 Specifying Vector Segment esses enne eene nennen nre nnne 54 Specifying Vector Acceleration Deceleration and 55 Additional ComMands llana R P M 55 Command Summary Vector Mode 57 Operand Summary Vector Mode Motion cescessesseeseceeeeeceeeeeceseceeeseeaeeeeeneeeees 57 Electronic Gearimp eine testis erect tei ec eec 58 Command Summary Electronic Gearing eee 59 Operand Summary Electronic Gearing esee nen 59 Ia oen E HO 61 Contour Mode epe 66 Specifying Contour Segments essent eene ener nennen 66 Additional Commands tte rere eerte eris
232. ry of Operation DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com KD D 4eT Assuming a sampling period of 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 table which summarizes the relationship between the various filters Equivalent Filter Form DMC 1000 18 Digital D z K z A z Cz z 1 Digital D z 24 KP 4 KD 1 z 2 1 2 1 KP KD KI K KP KD 4 A KD KP KD 2 Digital D z 4 GN z ZR z KI z 2 z 1 GN ZR KI K 4GN A ZR 2 Continuous G s P Ds I s PID T P 4 D 4 T KD Iz KI 2T DMC 1000 Chapter 10 Theory of Operation 143 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com THIS PAGE LEFT BLANK INTENTIONALLY 144 Chapter 10 Theory of Operation DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 si
233. s The available lines IRQ2 IRQ3 IRQ4 5 IRQ7 IRQ9 IRQ10 IRQ11 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 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 hanging 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 N 1 4 The Interrupt conditions must be enabled with the EI instruction The UI instruction does not require EI The EI instruction has the following format EI M N where 36 e Chapter 4 Communication DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DMC 1000 Artisan Technology Group Quality Instrumentation The conditions must be re enabled after each occurrence 0 T T7 pin compte
234. s 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 permitted 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 IN 2 Assigns logical value of input 2 to variable INPUT V2 V1 V3 V4 Assigns the value of V1 plus V3 times V4 to the variable V2 VAR CAT Assign the string CAT to VAR PR 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 V1 returns the value of the variable V1 DMC 1000 Chapter 7 Application Programming e 103 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Example Using Varia
235. switch subroutine LIMSWI The polarity of the limit switch may be set with the CN command Reverse Limit Switch When active inhibits motion in reverse direction Also causes execution of limit switch subroutine LIMSWI The polarity of the limit switch may be set with the CN command Home Switch Input for Homing HM and Find Edge FE instructions Upon BG following HM or FE the motor accelerates to slew speed A transition on this input will cause the motor to decelerate to a stop The polarity of the Home Switch may be set with the CN command Input 1 Input 8 Uncommitted inputs May be defined by the user to trigger events Inputs are checked with the Conditional Jump instruction and After Input instruction or Input Interrupt Input is latch X Input Input 17 Input 23 TTL 2 is latch Y Input 3 is latch Z and Input 4 is latch W if the high speed position latch function is enabled Input 9 Input 16 isolated Latch 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 latch F Input 11 is latch G Input 12 is latch H 152 e Appendices DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Jumper Description for DMC 1000 JUMPER JP9 JP10 JP11 JP20 JP21 LABEL LS
236. t 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 8 Dip A7 Dip A6 Dip A5 Dip A4 Dip Dip A2 82 x x x fx x 56 x x x o x x x X fx x 84 x x x 88 x x x lvl e a a a SH X ke 54 x x x 589 x x
237. t bit 1 EN End program To set the output bit every 10000 counts during a move the AR trippoint is used as shown in the next Event Trigger Repetitive Position Trigger example Instruction Interpretation TRIP Label JG 50000 Specify Jog Speed BGX n 0 Begin Motion REPEAT Repeat Loop AR 10000 Wait 10000 counts TPX Tell Position SB1 Set output 1 WT50 Wait 50 msec Clear output 1 n n 1 Increment counter JP REPEAT n lt 5 Repeat 5 times STX Stop EN End 92 e Chapter 7 Application Programming Artisan Technology Group Quality Instrumentation DMC 1000 Guaranteed 888 88 SOURCE www artisantg com Event Trigger Start Motion on Input This example waits for input 1 to go low and then starts motion Note The AI command actually halts execution of the program until the input occurs If you do not want to halt the program sequences you can use the Input Interrupt function II or use a conditional jump on an input such as JP GO IN 1 1 Instruction INPUT 1 10000 Instruction ATSPEED 1650000 10000 5 SBI EN 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 fo
238. t 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 In the Edit Mode each program line is automatically numbered sequentially starting with 000 If no parameter fo
239. t 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 or the MX option Each array element has a numeric range of 4 bytes of integer 27 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 a position trajectory in a record and playback application Defining Arrays An array is defined with the command DM 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 1 Chapter 7 Application Programming e 105 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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
240. t 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 VI 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 B Repeat the process EN End Backlash Compensation by Sampled Dual Loop The continuous dual loop enabled by the DV1 function is an effective way to compensate for backlash In some cases however when the backlash magnitude 15 large it may be difficult to stabilize the system In those cases it may be easier to use the sampled dual loop method described below This design example addresses the basic problems of backlash in motion control systems The objective is to control the position of a linear slide precisely The slide is to be controlled by a rotary motor which is coupled to the slide by a leadscrew Such a leadscrew has a backlash of 4 micron and the required position accuracy is for 0 5 micron 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 app
241. tarts 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DMC 1000 9 3 X Figure 7 2 Motor Velocit
242. te 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 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 axis controller or DMC 1010 1 axis controller should note that the DMC 1030 uses the axes denoted as X YZ 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
243. ted 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 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 SBI 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 Itis possible to manipulate the subroutine stack by using the ZS command Every time a JS instruction interrupt or automatic routine such as POSERR or LIMSWI is executed the subroutine stack is incremented by 1 Normally the stack is restored with an EN instruction Occasionally it is desirable not to return back to the program line where the subroutine or interrupt was called The ZS1 command clears 1 level o
244. 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 data 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 0 2 During a PR decel can now be changed on an unnatural stop New feature for Rev 2 0d February 1997 Feature
245. 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com CONTROLLER R X DIGITAL Y V E FILTER ZOH DAC MOTOR C P ENCODER Figure 10 4 Functional Elements of a Servo Control System Motor Amplifier The motor amplifier may be configured in three modes 1 Voltage Drive 2 Current Drive 3 Velocity Loop The operation and modeling in the three 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
246. 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 0 0 1 3000 ET 2 2250 ET 3 1500 This specifies the ECAM table Step 5 Enable the ECAM To enable the ECAM mode use the command EBn where 1 enables ECAM mode and n 0 disables ECAM mode Step 6 Engage the slave motion To engage the slave motion use the instruction EG x y z w 62 e Chapter 6 Programming Motion DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com where x y z w 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 Z W where x y z w are the corresponding slave axes are disengaged 3000 AA NO GD 6 n 1500
247. throw away the data which can not be placed into the FIFO In this case the controller does not delay program execution 88 e Chapter 7 Application Programming DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 obtain information about the type of error condition that occurred by using the command This command reports back a number and a text message which describes the error condition The command 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 2 will return the number of array elements currently available The co
248. time Tt is given by D 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 and ending at D Between the points A and B the motion is along the Y axis Therefore Vy 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 e Appendices DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 EEPROM memory for None None Yes parameter storage Number of variables 64 0 63 64 0 63 126 symbolic up to 8 chr Number of array elements 1000 1 array 1600 up to 14 arrays 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 100
249. 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 sure 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 11XO 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
250. tomatic Error Shut Off Instruction KP10 10 10 10 10 10 10 10 KP10 10 10 10 10 10 10 10 KP 10 KPX 10 KPA 10 Interpretation Set gains for a b c d e f g and h axes Set gains for a b c d e f g and h axes Alternate method for setting gain on all axes Alternate method for setting X or A axis gain Alternate method for setting A or X axis gain When using controllers with 5 or more axes the 7 and W axes can also be referred to as the A B C D 3 Instruction 1 1 1 1 1 1 1 1 1000 KP10 10 10 10 10 10 10 10 KP 10 KPX 10 KPA 10 KPZ 10 KPD 10 KPH 10 Interpretation Enable automatic Off on Error function for all axes Set error limit for all axes to 1000 counts Set gains for a b c d e f g and h axes Alternate method for setting gain on all axes Alternate method for setting X or A axis gain Alternate method for setting A or X axis gain Alternate method for setting Z axis gain Alternate method for setting D axis gain 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 PR 10000 SP 20000 DC 100000 AC 100000 BGX Interpretation Distance Speed Deceleration Acceleration Start Motion Example 3 Multiple Axes Objective Move the four axes independe
251. troller 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 1 6 Numeric Expression V1 V7 6 ABS V1 gt 10 Array Element V1 lt Count 2 Variable V1 lt V2 Internal Variable _TPX 0 _TVX gt 500 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 The amp operand between any two conditions requires that both statements must be true for the combined statement to be true The 41 operand between any two conditions requires that only one statement be true for the combined statement to be true Note Each condition must be placed in parenthesis for proper evaluation by the controller In addition the DMC 1000 will execute operations from left to right For further information on Mathematical Expressions and the bit wise operators amp and
252. tronic Gearing ssseeeeeeeeeee 59 Electronic 61 jede RO 66 Specifying Contour 66 Additional Commands rere tite reete 67 Command Summary Contour Mode sss 68 Operand Summary Contour 68 Stepper Motor MM 71 Specifying Stepper Motor 402 24 20 00 00 0 000000000000000000000 81 71 Using an Encoder with Stepper Motors 72 Command Summary Stepper Motor Operation sse 73 Operand Summary Stepper Motor Operation eee 73 Dual Loop Auxiliary Encoder seen nennen nennen eren eene 73 Backlash Compensation eot reote IBANG p eer DAANG ANG anan 74 Command Summary Using the Auxiliary Encoder sess 75 Operand Summary Using the Auxiliary Encoder 76 Motion Smoothing serieei kap ber RE eer TEE rE OE E 76 Using the IT and VT Commands S curve profiling eene 76 Using the KS Command Step Motor TI a E DC cL 78 High Speed Position Capture 2 81 Chapter 7 Application Programming 83 uaa EUER 83 Using the DMC 1000 Edito
253. ts 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 INI 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 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 from a separate power supply LSCOM Q v v v v v v FLSX HOMEX RLSY RLSX FLSY HOMEY
254. ts 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 orZor 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 or Z or W Halt program execution until after reverse 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 MR will trip immediately Will function on geared axis MC X or Y or Z or W Halt program execution until after the motion profile has A or B or C or D or E or For 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 AI n 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
255. uaranteed 888 88 SOURCE www artisantg com The first line describes the straight line vector segment between points and next segment is circular arc which starts at an angle of 180 and traverses 909 Finally the third line describes the linear segment between points C and D Note that the total length of the motion consists of the segments A B Linear 10000 units B C Circular 2 15708 C D Linear 1000 Total 35708 counts In general the length of each linear segment is Le NXk Where are the changes and Y positions along the linear segment The length of the circular arc is Le 22 360 The total travel distance is given by Li 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 T4 0 05 T 0 357 0 407 Figure 12 3 Vector Velocity Profile The acceleration time T is given by DMC 1000 Appendices e 171 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com VS _ 100000 a 0 055 2000000 The slew time Ts is given by fc n 2108 0 05 0 3075 VS 100000 The total motion
256. ue 8097 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 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 e Chapter 7 Application Programming DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Input of Data and
257. ution the After Input instruction waits until the specified input has occurred Chapter 7 Application Programming 115 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 on 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 n are unused contains a number with the mask A 1 designates that input to be enabled for an interrupt where 20 is bit 1 2 is bit 2 and so on For example II 5 enables inputs 1 and 3 20 22 5
258. utput 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 R U U U U U Use Electronic Gearing GA amp GR se local format PF VF eplaced by AL command se Record mode RA and RD se Electronic Gearing GA amp GR se Electronic Gearing GA amp GR se _TP DMC 1000 176 e Appendices Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 AM or 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 encoder Use MG DE TF Tell master frequency Use Electronic Gearing GA amp GR TV Enable S curve Use VT VR Specify S curve Use VT ZM Zero master Use Electronic Gearing GA amp GR DMC 600 DMC 1000 Pin out Conversion Table me me C m Ro amp Cc
259. 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 Chapter 6 Programming Motion DMC 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com This instruction attaches the vector speed to the motion segment LI As a consequence the program LMOVE can be written in the alternative form Instruction Interpretation 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 lt 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 allows the feedrate VS to be scaled between 0 and 10 with a resolution of 0001 This command takes effect immediately a
260. w artisantg com 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 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 circular 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
261. ww artisantg com Pinouts for DB 10096 Connectors J1 Pinout 1 out 9 2 out 10 3 out 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 41 in9 42 in 10 43in 11 44 in 12 45 in 13 46 in 14 47 in 15 48 in 16 49 in 17 50in 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 e Appendices 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Lin 25 2 in 26 3 in 27 4 in 28 5 in 29 5 in 30 7in 31 8 in 32 9 in 33 10 in 34 11 in 35 12 in 36 13 in 37 14 in 38 15 in 39 16 in 40 17 NC 18 GND 19 GND 20 in 41 21 in 42 22 in 43 23 in 44 24 in 45 25 in 46 26 in 47 27 in 48 28 in 49 29 in 50 30 in 51 31 in 52 32 in 53 33 in 54 34 in 55 35 in 56 36 NC 37 NC 38 GND 39 GND 40 NC 41 in 57 42 in 58 43 in 59 44 in 60 45 in 61 46 in 62 47 in 63 48 in 64 49 in 65 50 in 66 51 in 67 52 in 68 53 in 69 54 in 70 55 in 71 56 in 72 57 NC 58 GND 59 GND 60 5 Volts 1000 8 Appendices e 169 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Coordinated Motion Mathematical
262. y 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 5 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 DMC 1000 Chapter 7 Application Programming e 113 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 V1 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 All input parameters must be converted into these units For example an operator can be prompted to input a
263. y 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 10V 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 160 B VIN AN 1 VEL VIN 20000 Interpretation Label Set jog speed of zero Begin jogging at speed zero Label Set variable VIN to value of analog input 1 Set variable VEL to multiple of variable of VIN Chapter 7 Application Programming e 121 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com JG VEL Update jog speed to value of variable VEL JP B Loop back to label 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 tha

Artisan Technology Group is your source for quality new and

Contents

Download Pdf Manuals

Related Search

Related Contents