Application Note ####
Contents
1. GALIL WE MOVE THE WORLD Application Note 5442 Connecting the QSI QTERM G124 Operator Interface to Galil Controllers Introduction This application note explains how to interface any Galil stand alone controller to the QTERM G124 Operator Interface Note the G124 is functionally the same as the G70 offered from OSI however the G124 denotes usage with Galil Controllers The QSI QTERM G124 is a 320x240 256 color or grayscale LCD touch screen display with Ethernet 10Base T and RS 232 capability Using a software program called Qlarity Foundry users can program the terminal using an object oriented programming language with BASIC like commands and standard programming structures such as IF THEN and WHILE FOR NEXT looping For complete specifications on the G124 and a complete version of the free Qlarity Foundry software package please visit the website http www qsicorp com sie Galil Motion Control Inc e 3750 Atherton Road e Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com In the above photo the controller being used is a DMC 1425 but any stand alone controller from Galil will allow the same connection One major benefit of the QSI terminal is the ability to connect over Ethernet This note will outline the procedure of connecting from the controller to the G124 over both Ethernet and RS 232 A downloadable version of the demo programs written in Qlarity and used to c2. Description This object draws a graph of data received Use Inputtype and Inputsource properties to choose one of the standard polling displays or choose a custom command to graph _8 Galil Motion Control Inc e 3750 Atherton Road e Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com
3. code is compiled and run in a virtual setup that emulates what the G124 will display including sending and receiving messages over the serial ports and returning error messages The bottom of the screen contains both the error messages and the compiler results The right hand side of Qlarity Foundry contains the Object Palette and the Object Properties windows Click on an object in the Palette window and draw it in the Layout View to create the graphical interface Then click on the object to display its properties in the Properties window ce Galil Motion Control Inc e 3750 Atherton Road e Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com vV Next connect a standard ethernet patch cable from the hub to the G124 unit or if preferred connect a serial cable from the G124 Terminal to the PC see G124 hardware manual for pinout of connector To put the G124 in a mode that is ready to receive an application program from the PC follow these steps a First hold a finger on the top left corner of the G124 as power is applied A Setup screen will appear and the user will need to hit SELECT to change the download option from None to App FW Also if the user does not want to burn the program into the G124 s non volatile memory then change App Mode to Develop Then go to the NETWORK settings and change the IP address to 10 0 51 200 c Next
4. see what happens while communicating via the Serial port Another helpful tool is the Object Tree which allows the user to view all the screens buttons and objects in the code as well as the programming hierarchy in a familiar Tree format Much like a Visual Basic program objects are placed on a screen with their own properties that are easily changed via the Properties Window Also like V B is the ability to layout the screen visually and then go behind the objects to write the code HI The next step is to set up the Galil controller so that communication is possible If not done already install the Galil SmartTerm software If ethernet communication between the G124 and controller is desired then connect straight through ethernet cables from the hub to the PC the controller and the G124 unit Then use the SmartTerm registration utility to Find Ethernet Controllers pick the Galil controller and assign it an IP address in this case 10 0 51 201 Connect to the Galil controller over Ethernet using the standard Galil Terminal window Enter the command BN to burn in the IP address and then TH Tell Handle to make sure that the only connection on the controller is on Handle A and is between the PC and the controller card _2 Galil Motion Control Inc e 3750 Atherton Road e Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com If serial RS 232 communication is desired t
5. select Save and Exit from the DONE option this puts the touch screen into a mode that it is ready to receive an application When ready use Qlarity Foundry to download the application onto the G124 click on File Download Application From the Download window select either Serial and enter your parameters or Ethernet and enter the IP address you set on the G124 10 0 51 200 The preferred method is ethernet since it is a much faster download When the program comes up on the G124 screen use the navigation buttons to choose different screens It should automatically bring up a window that allows you to choose the desired method of communication between the Controller and the G124 unit Enter either the IP address of the controller or the serial parameters of the controller you are connected to directly on the Touchscreen interface Once connected the user can use the navigation buttons on the right hand side to select different screens Each screen has an example of objects that can be used in a User application VI When ready to start a new application using the Galil object library without using the galil_demo qly follow these steps l Start a new programmable workspace in Qlarity Foundry Select Edit Libraries from the Edit menu Click on the button labeled Add existing library On the dialog box that appears click Add Other Library You can then browse for and select the galil_mc lib file that was downloade
6. the G124 select Settings from the View menu Select the Simulation tab and configure the default values for the serial ports Be sure to select a PC serial port to map to the serial port on your G124 TIPS amp TRICKS 1 The user can figure out the IP address of the PC by opening a DOS prompt and typing in ipconfig without quotes If the Subnet Mask is 255 255 255 0 it means the PC will only communicate with devices that have the same IP address as the PC in the first 3 fields 1e where the 255 s are So in this example the PC s address is 10 0 51 100 so the address 10 0 51 201 is assigned to the controller and 10 0 51 200 is assigned to the G124 so that communication is possible This will be different in each system based on the IP address of the computer Either the PC s IP address will need to be changed or the IP addresses that are given to the controller and G124 will Contact your system administrator if you have questions about appropriate IP addresses to assign to your controller and or G124 terminal 2 If App Mode is set to develop then the terminal will expect a new application to be sent to it each time the terminal is powered on Once development has been completed simply set the App Mode back to Galil Motion Control Inc e 3750 Atherton Road e Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com Normal and set Download to App FW to downl
7. at once a Object GMCScaleObject Description Assistant scale display for GMC objects E Object GMCCommand Description Executes a command or series of commands on the motion controller when you push this button When the command s complete execution the results are optionally displayed This object provides a simple interface to execute an arbitray command or series of commands on your Galil Motion Controller This object appears as a push button which when pushed executes the commands defined by the command property then displays the results in the button 7 Galil Motion Control Inc e 3750 Atherton Road e Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com E Object GMCGauge Description a vertical horizontal bar gauge for visual representation This object implements a flexible bar graph to graphically indicate the value of a paramater on the motion controller The object supports user defined start and endpoints and an optional color gradient across the length of the bar i Object GMCPathTrace Description Galil motion controller Path tracing object This object implements a type of 2D graph that can be used to plot the recent positions of the motor To use this object simply set up its properties especially the startRangeHorz endRangeHorz startRangeVert endRangeVert commObject inputTypeHorz inputSourceHorz inputTypeVert inputSourceVert and pollInterval prope
8. ction as follows func Change GalilCommunication_1 SendAsciiCommandStream JGX str slider_1 value BGX default 0 endfunc This sends down the value of the slider as a Jog command anytime the Slider position is changed Change the slider properties to have a range of 0 2000 _5 Galil Motion Control Inc e 3750 Atherton Road Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com 9 So far you should have something on the screen that looks similar to this fe Qlar y Doundiry new_appgly iakiCommwnication_1 n ome Sol x Ge Edt View Took Helo Oe SR the oO mesma la Ehe sede 1 ude statiei I cls Hag E 5 se Ae i BE ie D i a OH ETEA ba bA O E m EES HE Ue aj Comenia TORIET Ra ma T Be ey fEmceptordeplag of eriek 10 0 51 30 omni nah cS Ap i j hou 3000 Cee erect ureckeiteder a Conmgded Mo errors 207 265 Once finished download the application to the G124 unit as shown previously You should be able to easily create a custom User Interface with multiple screens using the pre built objects similar to the galil demo qly program You can attempt to test your workspace in Qlarity Foundry s Simulation View Be aware that the simulation view will only show virtual communication over the serial ports and no ethernet communication at this time To configure Simulation View to use your PC serial port s to emulate the ports on
9. d 2 This will add the Galil library to your workspace and the Galil objects should now appear in the object palette they are the blue and orange ones To begin your workspace start by selecting the GalilCommunication object E and drawing it on the Layout View screen The first thing that needs to be set for proper communication is the CommObj properties Use the object tree to click on this item and set the property commmethod to your preferred communication method ethernet tcp ip ethernet udp or serial Then set the properties for ipaddress serialformat and serialport accordingly For this example the commmethod is set to gmc_ethernettcp and the ipaddress field is set to 10 0 51 200 _4 Galil Motion Control Inc e 3750 Atherton Road e Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com 3 Usually the first step in creating a program is to click on the Screen object and draw it on the screen this will be the first page of your program In this example we will place a few different objects on the screen just to show how it is done 4 Polling objects a are very useful for displaying controller info on the screen Use the properties window to specify what data you need to poll for Enter the Galil command into the command property and then enter the poll interval in milliseconds Any command can be given such as MG TVX for the Velocity of th
10. e X axis or just Temp that will constantly return what value is stored in the Galil variable Temp Place one polling window on the screen and set its command property to TPX Then place a label object next to it and put Motor Position as the caption 5 Add a Simple Terminal Ei to be able to send commands and receive responses Included in this object is a keyboard that enables the user to type in custom commands to send to the controller at run time 6 Put in some command buttons 2 with the caption of Jog X Motor and Stop X Motor using the Properties window Also include the commands JGX 1000 BGX and STX in the command property for each one respectively 7 Include a TrendChart a and set the inputtype and inputsource properties to capture the correct data For this example set usecustomcommand to true and type in MG TVX under the customcommand property Also set the pollinterval to 500 and set the range from 0 2000 8 Lastly for advanced users who wish to take advantage of objects that are not galil specific such as a Slider object Hit is easy to use them to send Galil commands to the controller Create a Slider object called slider 1 Select it and enter Code View Near the top of the display is a drop down list titled Events Overrides Select the entry called Change from the drop down list A function outline will appear in the visible code Fill out the fun
11. hen simply connect a Null Modem serial cable from the QSI G124 to the controller this is not the same as the Straight Through cable that 1s required when connecting from the PC to the controller Be sure that the baud rate is set and hardware handshaking is enabled on the controller and in the Qlarity communication object IV Next use Qlarity Foundry to open the downloaded demo program called galil demo qly that should now be stored on your hard drive A screen similar to this one should now be up on the PC io Qlardly Foundey galihanyple_new gly Globals i Pee daal Ge Ede Yew i Hip Datt be w a z PE Layout scale 7 Duine ail otete po g Eri Jipe jj Foig ja aj PosihonT race 1 2 Jog GS S gh Trending 4 ir g Fun yo E E pip By Higain HDS amp ConmoButiors F ao Escephnnficgly x GMC _1S200_AT The left hand side shows the Object Tree which displays a hierarchy of screens and the objects contained in them Click on the to expand the selection and click on the eyeball to either Show or Hide the item The center section contains the Layout View the Code View and the Simulation screens The Layout View 1s where objects can be placed on the screen creating the G124 s Graphical Interface The Code View is what sits behind the Graphical Interface and allows the user to write further code to handle events that are triggered Lastly the Simulation screen is where the
12. oad an application and save it to the terminal s non volitile memory When App Mode is set to normal each time the terminal is powered on the terminal will run the application saved in its non volitile memory Appendix A Pre Built Object Descriptions PREEK K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K KK K KK K K K K K K K K K K K Author Jeremy Richards Date 01 Nov 2002 Copyright 2002 QSI Corporation Permission to modify and distribute this object is granted provided this copyright notice remains in tact PKK K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K K FK K K K K K K K K FK FK K K FK FK 3K K K K FK FK 3K K K K K K K E Object GalilCommunication Description Galil motion controller communications object This object forms the core of the Galil library This object controls all interaction between the motion controller and the QTERM G70 Itis capable of communicating with a motion controller either serially or via ethernet To communicate with a motion controller create an instance of this object and set up its properties as appropriate Then create other GMC objects and set thier commObject property to refer to this object You can communicate with multiple motion controllers by creating one GalilCommunication object per controller There is a limit of one controller per serial port on the G70 and a limit of 8 ethernet controllers that can be used
13. onnect to the controller are available on the Galil site http www galilmc com ftp pub appnotes qsi Procedure I First you must download and install the latest Qlarity Foundry software package from the QSI website at http Avww qsicorp com gterm_ 70 75_downloads html software Once installed you will need to download the file galil demo zip from http www galilmc com ftp pub appnotes qsi which includes the Galil Object Library galil mc lib and sample program galil demo qly After downloading galil demo zip unzip the files into a folder located on your hard drive C Program Files QSI Corporation Qlarity Foundry Galil The object library includes a communication object as well as many objects for executing and displaying commands on the Galil controller The demo program demonstrates many of the features of the QSI terminal and the Galil objects Il It will probably help to read the G70 User Manual and Qlarity Programming Guide to familiarize the user to the programming environment as well as going through some of the tutorial programs Once there is an understanding of the basics of the Qlarity environment it becomes much easier to see how things work Please note a few key features that are extremely helpful while programming The first one is the Simulation mode with virtual serial ports This allows the user to write the code without having a physical terminal present The simulator emulates the hardware and allows the user to
14. rties Generally you would be interested in polling the motor position along two of the motor axis such as the X and the Y axis This object is robust object and can consume a lot of the processing power availble on the QTERM G70 As such you should minimize the use of other polling type objects on the same screen as you place this GMCPathTrace object You can also improve performance if necessary by increasing pollInterval and decreasing numTracePoints El Object GMCPoll Description Galil motion controller polling object This object polls the controller with an arbitrary command at regular intervals It then displays the controller s response It is useful for displaying values that will change over time such as the motor position Many properties are provided which contorol the appearance of this object the polling frequency and what is being polled Note To enhance performance this object will only poll the controller when it is visible enabled ma Object GMCSimpleTerminal Description A simple terminal for entering interactive commands to the controller This object is a simple terminal window used to send arbitray commands to the controller You can use this object to compose commands to send to the motion controller using a simple on screen keypad Recent commands are saved so that they may be resent The results of the commands are displayed in the terminal window at the bottom of the object a Object TrendChart
Download Pdf Manuals
Related Search