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DMC-1300

1. IT Binary BC JG Binary CB JP No Binary JS No Binary KD Binary B Piron eile te Oecd Bites KI Binary BA 3 rrera nero saacee ech gene ae EAER AES KP Binary B6 KS Binary LE Binary E6 sh be sh LERE NO Binary neari E N E EA EROE RERA This is an Operand Not a COMMANA L es essssssssssssssssetstentnnnnssessesssseesee 228 LT Bitary o E a ceveseetbcat eis sss teesesteaed E E E tease LM Binary E8 a S o ZER Binary Vjesn A E Note This is an Operand Not a command IMG Binary D8 oniri aee connie nave atta tanta coals commer ouve MF Binary D9 MG Binary 81 MO Binary BD MR No Binary MEFs Bim atty FD os ssiseesn sah isn tee ses ceued stoasa Histon sce A E sehen E A NO NO Binary jasena dos doa cov tasescvessnesavuteodiovesnseh ges senciotsscsyebentect OB Binary 92 OE Binary C0 OF Binary C2 OP Binary 8F ae ie be BA Bithatry C8 E E N A A T ET PP NO Bitiar y 5 csc cessescciauvsciessecivoseastessvessteatestaveotcseash ovevencaghavensb cexesucavesivatasesavessnevbeusuceseelass PRis Bitiarey 9 EEEE AFETE ETAETA RA NO Binary a Et ANER RA AEE AEE R R Ai RC Binary FO RD No Binary RE No Binary ses vee RI No Binary arae RREA EAO E EE ARAA Rie B aaa R Doc To Help Standard Template Appendices RM Binary Bi oerien eee ee haces hea Bees located R EE oa een
2. CD on page 181 Contour Data WC on page 295 Wait for Contour DT on page 195 Time Increment EXAMPLES V _CM V Return contour buffer status CM Return contour buffer status CM XZ Specify X Z axes for Contour Mode Error Reference source not found e 10 183 CN Binary F3 FUNCTION Configure DESCRIPTION The CN command configures the polarity of the limit switches the home switch and the latch input ARGUMENTS CN m n o where m n o are integers with values 1 or 1 m Limit switches active high pF iin sites active tw Home switch configured to drive motor in forward direction when input is high See HM and FE commands Home switch configured to drive motor in reverse direction when input is high See HM and FE commands poe i atchinparis active high pt atch inputs active tow Note The latch function will occur within 25usec only when used in active low mode USAGE DEFAULTS While Moving Yes Default Value 1 1 1 1 In a Program Yes Default Format 2 0 Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS AL on page 167 Arm latch EXAMPLES CN 1 1 Sets limit and home switches to active high CN 1 Sets input latch active low AR Hint To use step motors connect the 20 pin connector on the DMC 1000 and install the SM jumpers DMC 1300 Error Reference source not found e 10 184 DMC 1300 CP Binary 9E FUNCTION Clear Program DESCRIPTION The CP command
3. Hint An applications program must be executing for the ININT subroutine to function DMC 1300 Error Reference source not found 10 253 RL Binary F1 FUNCTION Report Latched Position DESCRIPTION The RL command will return the last position captured by the latch The latch must first be armed by the AL command and then a 0 must occur on the appropriate input Input 1 2 3 and 4 for X Y Z and W respectively The armed state of the latch can be configured using the CN command ARGUMENTS RL XYZW RL ABCDEFGH where the argument specifies the axes to be affected USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _RLx contains the latched position of the specified axis RELATED COMMAND AL on page 167 Arm Latch EXAMPLES JG 5000 Set up to jog the Y axis BGY Begin jog ALY Arm the Y latch assume that after about 2 seconds input goes low RLY Report the latch 10000 DMC 1300 Error Reference source not found 10 254 DMC 1300 RM Binary B1 FUNCTION Response Mode DESCRIPTION The RM command sets the communication mode from the program buffer This command determines what happens if there is an outgoing message in the buffer and another message needs to be sent Either the new data is lost the old data is lost or the program execution is suspended until the buffer is read
4. Program Flow Commands DMC1000 The DMC 1300 provides instructions to control program flow The DMC 1300 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 1300 can be programmed to make decisions based on the occurrence of an event Such events include waiting for motion to be comp lete waiting for a specified amount of time to elapse or waiting for an input to change logic levels The DMC 1300 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 1300 can make decisions based on its own status or external events without intervention from a host computer Chapter 7 Application Programming 7 e 106 DMC 1300 Event Triggers AMX YZWorS ABCDEFGH AD X or Y or Z or W A or B or C or D or E
5. 246 PP No Binary FUNCTION Program Pause DESCRIPTION PP suspends the execution of the application program and sets the appropriate semaphore bit PP is useful when data needs to be input from a host The program is resumed when the host clears the appropriate semaphore bit depending on which task thread had been paused ARGUMENTS None USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Can be Interrogated No Used as an Operand No EXAMPLES A Label MG INPUT SPEED Send message PP Program Pause host sends SPEED value and clears semaphore bit to resume JG SPEED Jog at input speed BGX Begin motion EN End program DMC 1300 Error Reference source not found 10 247 PR Binary C9 FUNCTION Position Relative DESCRIPTION The PR command sets the incremental distance and direction of the next move The move is referenced with respect to the current position If a is used then the current incremental distance is returned even if it was set by a PA command Units are in quadrature counts ARGUMENTS PR x y z w PRX x PR a b c d e f g h where X y Z W are signed integers in the range 2147483648 to 2147483647 decimal 2 returns the current incremental distance for the specified axis DPRAM Bit 6 of the Status 1 address in the Axis Buffer will show a 1 if the controller is performing a positional move Bit 7 of the Status 2 address in t
6. Chapter 2 Getting Started e 2 15 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 1300 you must follow this procedure Step A Install SM jumpers Each axis of the DMC 1300 that will operate a stepper motor must have the corresponding stepper motor jumper installed For a discussion of SM jumpers see step 2 Step B Connect step and direction signals Make connections from controller to motor amplifiers These signals are labeled PULSX and DIRX for the x axis on the ICM 1100 Consult the documentation for your step motor amplifier Step C Configure DMC 1300 for motor type using MT command You can configure the DMC 1300 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 7 Tune the Servo System Adjusting the tuning parameters for the servo motors is required when using servo motors The system compensation provides fast and accurate response by adjusting the filter parameters The following presentation suggests a simple and easy way for compensation The filter has three parameters the damping KD the proportional gain KP and the integrator KI The parameters should be selected in this order To start set the integrator to zero with the instruction KIO CR Integrator gain
7. Connecting AEN to the motor amplifier TTL Inputs 1380 As previously mentioned the DMC 1300 has 16 additional uncommitted TTL level inputs for controllers with 5 or more axes These are specified as INx where x ranges from 9 thru 24 The reset input is also a TTL level non isolated signal and is used to locally reset the DMC 1300 without resetting the PC Analog Inputs The DMC 1300 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 KQ The analog inputs are specified as AN x where x is a number 1 thru 7 Galil can supply the DMC 1300 with a 16 bit A D converter as an option DMC 1300 Chapter 3 Connecting e Error Main Document Only 32 TTL Outputs The DMC 1300 provides eight general use outputs and an error signal output The general use outputs are TTL and are accessible by connections to OUT thru OUT8 These outputs can be turned On and Off with the commands SB Set Bit CB Clear Bit OB Output Bit and OP Output Port For more information about these commands see the Command Summary The value of the outputs can be checked with the operand _OP and the function OUT see Chapter 7 Mathematical Functions and Expressions Controllers with 5 or more axes have an additional eight general use TTL outputs connector JD5 The status of the general purpose outputs can b
8. DE Binary C4 FUNCTION Dual Auxiliary Encoder Position DESCRIPTION The DE x y z w command defines the position of the auxiliary encoders The auxiliary encoders may be used for dual loop applications nn The DE command defines the current motor position when used with stepper motors DE returns the commanded reference position of the motor The units are in steps Note The auxiliary encoders are not available for the stepper axis or for the axis where output compare is active ARGUMENTS DE x y z w DEX x DE a b c d e f g h where X y Z W are signed integers in the range 2147483647 to 2147483648 decimal 2 returns the position of the auxiliary encoders for the specified axes DPRAM DE can be read through the Axis Buffer for the corresponding axis ie DMC 1340 X axis is read at addresses 110 113 or DMC 1380 X axis at addresses 210 213 USAGE DEFAULTS While Moving Yes Default Value 0 0 0 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _DEx contains the current position of the specified auxiliary encoder EXAMPLES DE 0 100 200 400 Set the current auxiliary encoder position to 0 100 200 400 on X Y Z and W axes DE Return auxiliary encoder positions DUALX _DEX Assign auxiliary encoder position of X axis to the variable DUALX Hint Dual encoders are useful when you need an encoder on the motor and on the load The encoder
9. Examples of operand usage POSX _TPX Assigns value from Tell Position X to the variable POSX GAIN _GNZ 2 Assigns value from GNZ multiplied by two to variable GAIN JP LOOP _TEX gt 5 Jump to LOOP if the position error of X is greater than 5 JP ERROR _TC 1 Jump to ERROR if the error code equals 1 Operands can be used in an expression and assigned to a programmable variable but they cannot be assigned a value For example _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 Chapter 7 Application Programming 7 e 122 Arrays DMC1000 Special Operands Keywords The DMC 1300 provides a few operands which give access to internal variables that are not accessible by standard DMC 1300 commands Is equal to status of Forward Limit switch input of axis n equals 0 or 1 Is equal to status of Reverse Limit switch input of axis n equals 0 or 1 Is equal to the number of available variables Free Running Real Time Clock off by 2 4 Resets with power on Note TIME does not use an underscore character _ as other keywords These keywords have corresponding commands while the keywords _LF LR and TIME do not have any associated commands All keywords are listed in the Command Summary Chapter 11 Examples of Keywords Instruction Interpretation Vi _LFX Assign V1 the logical state of
10. LOOP Loop AT 10 After 10 msec from reference CB1 Clear Output 1 AT 40 Wait 40 msec from reference and reset reference SB1 Set Output 1 JP LOOP Jump to location LOOP and continue executing commands EN End of program Conditional Jumps The DMC 1300 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 1300 to make decisions without a host computer For example the DMC 1300 can begin execution at a specified label or line number based on the state of an input line DMC1000 Chapter 7 Application Programming 7 e 111 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 co
11. LOOP2 PR 1000 BGX AMX WT 10 JP LOOP2 IN 2 1 HX Interpretation Task1 label Initialize reference time Clear Output 1 Loop label Wait 10 msec from reference time Set Output 1 Wait 40 msec from reference time then initialize reference Clear Output 1 Repeat Loop1 Task2 label Execute Task1 Loop2 label Define relative distance Begin motion After motion done Wait 10 msec Repeat motion unless Input 2 is low Halt all tasks The program above is executed with the instruction XQ TASK2 0 which designates TASK2 as the main thread ie Thread 0 TASK1 is executed within TASK2 Chapter 7 Application Programming 7 e 103 Debugging Programs DMC1000 The DMC 1300 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 TR1 TRO turns the trace function off Note When the trace function is enabled the line numbers as well as the command line will be displayed as each command line is executed The status of the trace command can be read at Bit
12. 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 1300 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 Print Message OCCURRED RE Return to main program XQ LOOP Execute Dummy Program JG 5000 Jog X axis at rate of 5000 counts sec BGX Begin motion on X axis NOTE Regarding the LIMSWI Routine Now when a forward limit switch occurs on the X axis the LIMSWI subroutine will be executed 1 The RE command is used to return from the LIMSWI subroutine 2 The LIMSWI will continue to be executed until the limit switch is cleared goes high 3 The LIMSWI routine will only be executed when the motor is being commanded to move Chapter 7 Application Programming 7 e 115 Example Position Error Instruction Interpretation LOOP Dummy Program JP LOOP EN Loop POSERR Position Error Routine V1 _TEX Read Position Error MG EXCESS POSITION ERROR Print Message MG ERROR V 1 Print Error RE Return from Err
13. Specifications Dimensions 5 7 x 13 4 x24 Weight 2 2 pounds AMP ICM 1100 CONNECTIONS DMC 1300 Screw Terminals Internal DMC 1300 Connection Terminal Label VO J2 B J4 J5 Description 1 GND 1 Ground 2 ACMDX O 25 1 X input to servo amp 3 AENX O 26 2 X amp enable 4 PULSX O 3 X pulse input for stepper 5 DIRX O 4 X direction input for stepper 6 ACMDY O 27 6 Y amp input 7 AENY O 28 7 Y amp enable 8 PULSY O 8 Y pulse for stepper 9 DIRY O 9 Y direction for stepper 10 ACMDZ O 29 11 Z amp input 11 AENZ O 30 12 Z amp enable 12 PULSZ O 13 Z pulse for stepper 13 DIRZ O 14 Z direction for stepper 14 ACMDW O 31 16 W amp input 15 AENW O 32 17 W amp enable 16 PULSW O 18 W pulse for stepper Appendices e A 314 DMC 1300 17 18 19 20 21 22 23 24 25 Terminal 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 Label OUTI OUT2 OUT3 OUT4 OUTS OUT6 OUT7 OUTS INP8 INP7 INP6 INP5 INP4 LW INP3 LZ INP2 LY INPI LX INCOM GND WAB WAB WAA WAA ZAB ZAB ZAA ZAA YAB YAB roO O O OJO nO O OTO 1 60 20 J2 J3 18 23 22 21 20 19 1 60 20 3 4 5 6 7 8 9 10 11 12 19 20 20 W direction for stepper Analog Input 1 Analog Input 2 Analog Input 3 Analog Input 4 Analog Input 5 Analog Input 6 Analog Input 7 Description Digital Output 1 Digital Output 2 Digital Output 3 Digital Outpu
14. The clock is reset to 0 with a standard reset or a master reset won The keyword TIME does not require an underscore as does the other operands USAGE Used as an Operand Yes Format TIME EXAMPLES MG TIME Display the value of the internal clock Error Reference source not found e 10 274 DMC 1300 TL Binary BE FUNCTION Torque Limit DESCRIPTION The TL command sets the limit on the motor command output For example TL of 5 limits the motor command output to 5 volts Maximum output of the motor command is 9 998 volts ARGUMENTS TL x y z w TLX x TL a b c d e f g h where X y Z w are unsigned numbers in the range 0 to 9 998 volts with resolution of 0 003 volts 2 returns the value of the torque limit for the specified axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _TLx contains the value of the torque limit for the specified axis EXAMPLES TL 1 5 9 7 5 Limit X axis to volt Limit Y axis to 5 volts Limit Z axis to 9 volts Limit W axis to 7 5 volts TL Return limits 1 0000 5 0000 9 0000 7 5000 TL Return X axis limit 1 0000 Error Reference source not found 10 275 DMC 1300 TM Binary AE FUNCTION Time DESCRIPTION The TM command sets the sampling period of the control loop Changing the sampling period will uncalibrate the speed and acceleration paramete
15. User Manual DMC 1300 Manual Rev 1 3a 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 12 99 Using This Manual This user manual provides information for proper operation of the DMC 1300 controller Your DMC 1300 motion controller has been designed to work with both servo and stepper type motors In addition the DMC 1300 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 ll E 1380 Attention Pertains to controllers with more than 4 axes Please note that many examples are written for the DMC 1340 four axis controller or the DMC 1380 eight axes controller Users of the DMC 1330 3 axis controller DMC 1320 2 axis controller or DMC 1310 1 axis controller should note that the DMC 1330 uses the axes denoted as XYZ the DMC 1320 uses the axes de
16. m ARGUMENTS TIn where n equals 0 1 or 2 TI returns the status byte of input block 0 DPRAM Input status can be read from the Dual Port RAM at address 02A for the DMC 1310 1340 or addresses 02A through 02C for the DMC 1350 1380 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _TIn contains the status byte of the input block specified by n Note that the operand can be masked to return only specified bit information see section on Bitwise operations EXAMPLES TI 08 Input 4 is high others low TI 00 All inputs low Input _TI Sets the variable Input with the TI value TI 255 All inputs high DMC 1300 Error Reference source not found e 10 272 DMC 1300 Error Reference source not found e 10 273 DMC 1300 TIME FUNCTION Time Operand Keyword DES CRIPTION The TIME operand returns the value of the intenal free running real time clock The returned value represents the number of servo loop updates and is based on the TM command The default value for the TM command is 1000 With this update rate the operand TIME will increase by count every update of approximately 1000usec Note that a value of 1000 for the update rate TM command will actually set an update rate of 1 1024 seconds Thus the value returned by the TIME operand will be off by 2 4 of the actual time
17. n is an integer corresponding to the output bit to be cleared The first output bit is specified as 1 DPRAM The status of the output ports are located at address 02B on the DMC 1310 1340 or 02E 02F on the DMC 1350 1380 Writing to these addresses will change the state of the output ports USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS SB on page 261 OP on page 245 DEFAULTS Yes Default Value Yes Default Format Set Bit Define output port bytewise Error Reference source not found e 10 180 DMC 1300 CD No Binary FUNCTION Contour Data DESCRIPTION USAGE The CD command specifies the incremental position on X Y Z and W axes The units of the command are in quadrature counts This command is used only in the Contour Mode CM ARGUMENTS CD x y z w CDX x CPD a b c d e f g h where X y Z W are integers in the range of 32762 While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS CM on page 183 WC on page 295 DT on page 195 CS on page 188 EXAMPLES CM XYZW DT 4 CD 200 350 150 500 WC CD 100 200 300 400 WC DTO CD 0 0 0 0 DEFAULTS Yes Default Value Yes Default Format Yes No No Contour Mode Wait for Contour Time Increment _CS is the Segment Counter Specify Contour Mode Specify time increment for contour Specify incremental po
18. 42 B Y 44 LY 46 A Z 48 B Z 50 I Z 52 A W 54 B W 56 I W 58 12V 60 Ground Appendices e A 303 DMC 1300 J5 General I O 26 pin IDC 1 Analog 1 3 Analog 3 5 Analog 5 7 Analog 7 9 5 Volts 11 Output 2 13 Output 4 15 Output 6 17 Output 8 19 Input 7 21 Input 5 23 Input 3 latch Z 25 Input 1 latch X 2 Analog 2 4 Analog 4 6 Analog 6 8 Ground 10 Output 1 12 Output 3 14 Output 5 16 Output 7 18 Input 8 20 Input 6 22 Input 4 Latch W 24 Input 2 Latch Y 26 Input Common Isolated 5 Volts J3 Aux Encoder 20 pin IDC 1 Sample clock 3 B Aux W 5 A Aux W 7 B Aux Z 9 A Aux Z 11 B Aux Y 13 A Aux Y 15 B Aux X 17 A Aux X 19 5 Volt 2 Synch 4 B Aux W 6 A Aux W 8 B Aux Z 10 A Aux Z 12 B Aux Y 14 A Aux Y 16 B Aux X 18 A Aux X 20 Ground Appendices e A 304 DMC 1300 J4 Driver 20 pin IDC 1 Motor Command X 3 PWM X STEP X 5 NC 7 Amp enable Y 9 Sign Y DIR Y 11 Motor command Z 13 PWM Z STEP Z 15 5 Volt 17 Amp enable W 19 Sign W DIR W 2 Amp enable X 4 Sign X DIR X 6 Motor Command Y 8 PWM Y STEP Y 10 NC 12 Amp enable Z 14 Sign Z DIR Z 16 Motor command W 18 PWM W STEP W 20 Ground J6 Daughter Board Connector 60 pin For use only with a Galil daughter board J7 10 pin For test only Appendices e A 305 Connectors for Auxiliary Board Axes E F G H DMC 1300 JD2 Main 60 pin IDC 1 Ground 3 N C 5 Limit Common 7 Reverse
19. 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 1300 instructions For example PR is not a good choice for a variable name In addition to the local variables the DMC 1300 has 64 variables that are stored as arrays and shared with the Dual Port RAM These variables can be addressed directly by the VME host The variables are stored in the Variable Buffer at 240 3BF for the DMC 1310 1340 and at 440 SBF Variables are assigned by VR n value where n is a number in the range 0 to 63 and the value is 4 bytes of integer followed by two bytes of fraction 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
20. Another method for testing motion complete is to check for the internal variable _BG being equal to zero DMC 1300 Error Reference source not found e 10 168 AP Binary A3 FUNCTION After Absolute Position DESCRIPTION The After Position AP command is a trippoint used to control the timing of events This command will hold up the execution of the following command until one of the following conditions have been met 1 The commanded motor position crosses the specified absolute position 2 The motion profiling on the axis is complete 3 The commanded motion is in the direction which moves away from the specified position The units of the command are quadrature counts Only one axis may be specified at a time The motion profiler must be on or the trippoint will automatically be satisfied ARGUMENTS APx or AP y or AP z or AP w APX x AP abcdefgh where X y Z W are signed integers in the range 2147483648 to 2147483647 decimal USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS AD on page 164 Trippoint for relative distances MF on page 236 Trippoint for forward motion EXAMPLES TEST Program B DPO Define zero JG 1000 Jog mode speed of 1000 counts sec BGX Begin move AP 2000 After passing the position 2000 V1 _TPX Assign V1 X position MG Position is Vl1 Print Message ST S
21. Assigned values can be numbers internal variables and keywords functions controller parameters and strings Chapter 7 Application Programming 7 e 120 Variables hold 6 bytes of data 4 bytes of integer 27 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 1300 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 When using the shared Dual Port RAM variables values are assigned using the VR n value command 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 V1 Assign value of variable V1 to PR command for X axis SP VS 2000 Assign VS 2000 to SP command Examples Dual Port RAM assigned variables Instruction Interpretation VR 22 200 Assigns the decimal value 200 to variable element number 22 O
22. Auxiliary Encoder 1 25 76 83 87 83 87 182 183 192 209 308 311 315 Differential 12 14 144 Dual Encoder 87 126 192 196 Index Pulse 12 26 91 206 212 Quadrature 1 3 4 132 140 151 164 169 170 173 176 181 82 186 194 202 218 236 239 246 248 256 278 283 291 Error Codes 267 268 Error Code 159 167 182 192 196 202 205 6 209 212 234 236 239 262 284 Error Handling 25 101 114 15 140 42 252 Error Limit 11 13 17 31 115 139 41 202 280 Off On Error 11 27 31 139 141 162 243 Example Wire Cutter 131 332 e Index Execute Program 21 22 297 F Feedforward Acceleration 204 Feedrate 74 110 133 Filter Parameter Damping 144 148 Gain 210 224 25 Integrator 148 152 53 217 PID 14 148 152 157 Proportional Gain 148 Stability 87 136 143 44 196 Find Edge 26 91 205 6 Frequency 1 5 154 56 226 Sample Time 276 Function 27 117 24 133 135 136 Functions Arithmetic 97 112 118 121 G Gain 210 224 25 Proportional 148 Gear Ratio 76 77 209 211 Gearing 1 72 78 209 211 H Halt 67 72 103 7 110 11 129 166 168 214 265 Abort 1 25 27 31 66 72 139 141 162 301 303 310 11 317 325 Off On Error 11 27 31 139 141 162 243 Stop Motion 66 72 116 142 265 Hardware 1 25 128 139 176 207 259 Address 125 26 144 250 51 329 Amplifier Enable 32 33 139 Clear Bit 128 180 Jumper 30 144 184 240 259 Offset Adjustment 33 143 Output o
23. EN End Program ININT Interrupt subroutine STX MG INTERRUPT Stop X print message AMX After stopped CLEAR JP CLEAR IN 1 0 Check for interrupt clear DMC 1300 Error Reference source not found e 10 215 BGX Begin motion RIO Return to main program don t re enable trippoints DMC 1300 Error Reference source not found e 10 216 IL Binary B5 FUNCTION Integrator Limit DESCRIPTION The IL command limits the effect of the integrator function in the filter to a certain voltage For example IL 2 limits the output of the integrator of the X axis to the 2 Volt range A negative parameter also freezes the effect of the integrator during the move For example IL 3 limits the integrator output to 3V If at the start of the motion the integrator output is 1 6 Volts that level will be maintained through the move Note however that the KD and KP terms remain active in any case ARGUMENTS IL x y z w ILX x ILa c d e f g h where X y Z w are numbers in the range 9 9988 to 9 9988 Volts with a resolution of 0 0003 2 returns the value of the integrator limit for the specified axis USAGE DEFAULTS While Moving Yes Default Value 9 9988 In a Program Yes Default Format 1 4 Command Line Yes Can be Interrogated Yes Used as an Operand Yes USAGE _ILx contains the value of the integrator limit for the specified axis RELATED COMMANDS KI on page 224 Integrator EXAMPLES KI 2 3 5 8 Integrator constants IL 3 2
24. HX IL IT KD KP KS LE LI MT OB RA RC RD RP TN TV 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 Deallocate variables and arrays Deceleration Dual encoder position Dimension array Delta time for contouring Dual Velocity Enable interrupts Ellipse scale Search for encoder index Set forward software limit Velocity feedforward Specify master axis for gearing Specify gear ratio Halt task Integrator limit Independent time constant for smoothing Derivative constant Proportional constant Stepper Smoothing Constant Linear interpolation end Linear interpolation distance Linear interpolation mode Motor type Output Bit Record array Record Record data Report command position Tangent Tell velocity Appendices e A 327 VD VE VM VT WC Vector deceleration Vector sequence end Coordinated motion mode Vector time constant S curve Wait for contour data Deleted Commands Deleted DB DC DD DR HX LA LN MF MP MS P PC PD PE PL RC RM SE SV TA TD TF TV VR ZM DMC 1300 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 Latch position Dual encoder position Posi
25. Limit Subroutine Label for main program Begin Error Handling Subroutine Print message Set output bit 1 Return to main program and clear trippoint Hint An applications program must be executing for the LIMSWI and POSERR subroutines to function DMC 1300 Error Reference source not found 10 252 RI No Binary FUNCTION Return from Interrupt Routine DESCRIPTION The RI command is used to end the interrupt subroutine beginning with the label ARGUMENTS RIn n Oor 1 ININT An RI at the end of this routine causes a return to the main program The RI command also re enables input interrupts If the program sequencer was interrupted while waiting for a trippoint such as WT RII restores the trippoint on the return to the program RIO clears the trippoint To avoid returning to the main program on an interrupt use the command ZS to zero the subroutine stack This turns the jump subroutine into a jump only where O clears interrupt trippoint 1 restores trippoint USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line No Can be Interrogated No Used as an Operand No RELATED COMMANDS ININT II on page 215 Input interrupt subroutine Enable input interrupts EXAMPLES A II1 JP A EN Program label ININT Begin interrupt subroutine MG INPUT Print Message INTERRUPT SB 1 Set output line 1 RI1 Return to the main program and restore trippoint
26. No Binary FUNCTION Tell Error Code DESCRIPTION The TC command returns a number between 1 and 255 This number is a code that reflects why a command was not accepted by the controller This command is useful when the controller halts execution of a program at a command or when the response to a command is a question mark Entering the TC command will provide the user with a code as to the reason After TC has been read it is set to zero TC 1 returns the text message as well as the numeric code ARGUMENTS TC n where n 0 returns code only n 1 returns code and message TC returns the error code s si z 2 3 4 5 7 Command not valid while running 56 Array index invalid or out of range Command not valid when not 57 Bad function or array running Variable error 58 Unrecognized command in a command response i e _GNX Empty program line or undefined 59 Mismatched parentheses label Invalid label or line number Download error line too long or too many lines Subroutine more than 16 deep 61 Duplicate or bad label JG only valid when running in jog 62 Too many labels mode EEPROM check sum error 65 IN command must have a comma EEPROM write error IP incorrect sign during position 67 Too many arrays or variables Array space full move or IP given during forced deceleration ED BN and DL not valid while 71 IN only valid in task 0 program running fis Command not valid when 1 10 11 12 13 14
27. OE Function Shuts motor off by setting AEN output line low if OE1 The position error of X Y Z and W can be monitored during execution using the TE command Programmable Position Limits The DMC 1300 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 1300 will not accept position commands beyond the limit Motion beyond the limit is also prevented Example Using position limits Instruction Interpretation DPO 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 DMC 1300 Chapter 8 Hardware amp Software Protection e 8 140 DMC 1300 Off On Error The DMC 1300 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 1 The position error for the specified axis exceeds the limit set with the command ER 2 The abort command is given 3 The abort input is activated with a low signal The status of the OE command is read through the Dual Port RAM at Bit 1 of Status 2 in the Axis Buffers of the
28. Reverse motion beyond this limit is not permitted The reverse limit is activated at X 1 Y 1 Z 1 W 1 To disable the reverse limit set X Y Z W to 2147483648 The units are in quadrature counts ARGUMENTS BL x y z w BLX x BL a b c d e f g h where X y Z W are signed integers in the range 2147483648 to 2147483647 214783648 turns off the reverse limit 2 returns the reverse software limit for the specified axes USAGE DEFAULTS While Moving Yes Default Value 214783648 In a Program Yes Default Format Position format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _BLx contains the value of the reverse software limit for the specified axis RELATED COMMANDS FL on page 207 Forward Limit EXAMPLES TEST Test Program AC 1000000 Acceleration Rate DC 1000000 Deceleration Rate BL 15000 Set Reverse Limit JG 5000 Jog Reverse BGX Begin Motion AMX After Motion limit occurred TPX Tell Position EN End Program Hint Galil Controllers also provide hardware limits DMC 1300 Error Reference source not found e 10 176 BN Binary BO FUNCTION Burn DESCRIPTION The BN command saves controller parameters variables arrays and applications programs shown below in Flash EEPROM memory This command typically takes 1 second to execute and must not be interrupted The controller returns a when the Burn is complete PARAMETERS SAVED DURING BURN ARGUMENTS None USAGE DEFAULTS
29. TE No Binary FUNCTION Tell Error DESCRIPTION This command returns the current position error of the motor s The range of possible error is 2147483647 The Tell Error command is not valid for step motors since they operate open loop ARGUMENTS TE XYZW TE ABCDEFGH where the argument specifies the axes to be affected DPRAM The position error for an axis can be read in the corresponding Axis Buffer ie addresses 10A through 10D for the DMC 1340 X axis or addresses 20A through 20D for the DMC 1380 X axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Not in a Program Yes Can be Interrogated No Used in an Operand Yes RELATED COMMANDS OE on page 243 Off On Error ER on page 202 Error Limit POSERR Error Subroutine EXAMPLES TE Return all position errors 00005 00002 00000 00006 TEX Return the X motor position error 00005 TEY Return the Y motor position error 00002 Error _TEX Sets the variable Error with the X axis position error Hint Under normal operating conditions with servo control the position error should be small The position error is typically largest during acceleration DMC 1300 Error Reference source not found 10 271 TI Binary E0 FUNCTION Tell Inputs DESCRIPTION This command returns the state of the general inputs TI or TIO return inputs I1 through I8 TI1 returns I9 through I16 and TI2 returns I17 through 124 mw
30. is automatically displayed in the Program Buffer upon sending the ED command This line is then edited using the same commands Chapter 7 Application Programming 7 98 The following example shows how to load this simple program into the Program Buffer of a DMC 1340 in ASCIL TEST MG TEST 1 IP1000 EN 1 Write the ED command to the controller Command Buffer to enter the editor mode Address Value hex Characters 40 45 E 41 44 D 42 OD Return 2 Set the Command Semaphore 001 to load the command Address Value hex Characters 01 80 MSB set high 3 When the Command Semaphore is cleared write MG TEST 1 to the Program Buffer Address Value hex Characters CO 4D M Cl 47 G C3 22 be C4 54 T C5 45 E C6 53 S C7 54 T C8 20 Space C9 31 1 CA 22 i CB oD Return 4 Write 9D to the Command Buffer to save the line and advance to the next program line Address Value hex Characters 40 9D Save current line 41 OD Return 5 Set the Command Semaphore 001 to load the command Address Value hex Characters 01 80 MSB set high 6 Wait for the Command Semaphore to clear Load the command IP1000 into the Program Buffer Address Value hex Characters CO 49 I Cl 50 P C2 31 1 C3 30 0 C4 30 0 C5 30 0 C6 oD Return 7 Write 9D to the Command Buffer to save the line and advance to the next program line 8 Set the Command Semaphore 001 to load the command DMC1000 Chapter 7 Applicatio
31. 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 usin g the command DE Note Closed loop operation with a stepper motor is not possible Command Summary Stepper Motor Operation bE Operand Summary Stepper Motor Operation OPERAND DESCRIPTION x Contains the value of the step count register _DPx Contains the value of the main encoder E positon gnerisdty he proti Chapter 6 Programming Motion e Error Main Document Only 85 Contains the value of the step count register Contains the value of the main encoder Dual Loop Auxiliary Encoder DMC 1300 The DMC 1300 provides an interface for a second encoder for each axis except for axes configured for stepper motor operation When used the second encoder is typically mounted on the motor or the load but may be mounted in any position The most common use for the second encoder is backlash compensation described below The auxiliary encoder may also be used for gearing In this case the auxiliary encoder input is used to monitor an encoder which is not under control of the DMC 1300 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 Gearin
32. specified axis or axes is completed Any combination of axes or a motion sequence may be specified with the AM command For example AM XY waits for motion on both the X and Y axis to be complete AM with no parameter specifies that motion on all axes is complete ARGUMENTS AM XYZW or AMS where X Y Z W specifies X Y Z or W axis and S specifies sequence No argument specifies that motion on all axes is complete USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS BG on page 174 EXAMPLES MOVE PR 5000 5000 5000 5000 BGX gt MX w GY gt MY GZ gt W MZ w GW gt MW EN DEFAULTS Yes Default Value 0 Yes Default Format 1 0 Yes _BGx contains a 0 if motion complete Program MOVE Position relative moves Start the X axis After the move is complete on X Start the Y axis After the move is complete on Y Start the Z axis After the move is complete on Z Start the W axis After the move is complete on W End of Program Hint AM is a very important command for controlling the timing between multiple move sequences For example if the X axis is in the middle of a position relative move PR you cannot make a position absolute move PAX BGX until the first move is complete Use AMX to halt the program sequences until the first motion is complete AM tests for profile completion The actual motor may still be moving
33. 1 Overview Introduction DMC 1300 The DMC 1300 series motion controller is a state of the art motion controller that plugs into the VME Bus Performance capability of the DMC 1300 series controllers includes 8 MHz encoder input frequency 16 bit motor command output DAC 2 billion counts total travel per move sample rate at up to 125 usec axis 16 bit Dual Port RAM 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 1300 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 1300 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 1300 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 1300 also provides S curve accele
34. 100 000 counts s2 In this example the motor turns and stops INSTRUCTION INTERPRETATION PR 10000 Distance DMC1000 Chapter 2 Getting Started e 2 17 SP 20000 DC 100000 AC 100000 BGX Speed Deceleration Acceleration Start Motion Example 3 Multiple Axes Objective Move the four axes independently INSTRUCTION PR 500 1000 600 400 SP 10000 12000 20000 10000 AC 100000 10000 100000 100000 DC 80000 40000 30000 50000 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 BG XZ BG YW 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 INTERPRETATION PR 300 600 Distances of Y and Z SP 2000 Slew speed of Y DC 80000 Deceleration of Y AC 100000 Acceleration of Y SP 40000 Slew speed of Z AC 100000 Acceleration of Z DC 150000 Deceleration of Z BGZ Start Z motion BGY Start Y motion Example 5 Position Interrogation The position of the four axes may be interrogated with the instruction TP INSTRUCTION INTERPRETATION TP Tell position all four axes TP X Tell position X axis only TP Y Tell position Y axis only TPZ Tell position Z axis only DMC1000 Chapter 2 Getting Started e 2 18 TP W Tell position W axis only The position error which is the difference between the commanded position and the actual position
35. 139 141 162 301 303 310 11 317 325 Stop Motion 66 72 116 142 265 R Record 80 82 123 127 249 51 Latch 31 94 167 184 254 Position Capture 94 167 Teach 82 249 Register 122 Reset 25 32 111 139 141 161 189 258 59 258 59 274 Master Reset 161 259 260 274 Standard 274 S Sample Time 276 Update Rate 274 Save Burn 177 Non Volatile Memory 1 3 SB Set Bit 128 180 261 Scaling Ellipse Scale 74 203 S Curve 171 219 294 Motion Smoothing 1 90 Selecting Address 125 26 144 250 51 329 Set Bit 128 180 261 Sine 119 20 Single Ended 4 12 14 Slew 1 107 110 132 218 220 264 Smoothing 1 66 68 72 74 83 90 219 226 KS 226 Software Terminal 121 Special Label 101 141 234 284 Specification 227 229 31 265 Stability 87 136 143 44 148 154 196 Stack 114 117 130 215 252 53 296 299 Zero Stack 117 130 Standard Reset 274 Status 68 104 6 122 126 183 189 190 214 243 245 250 266 72 280 299 Interrogation 18 20 58 59 75 127 218 Stop Code 126 144 262 Step Motor 1 4 7 90 91 184 226 240 Doc To Help Standard Template KS Smoothing 1 66 68 72 74 83 90 219 226 Smoothing 226 Stop Abort 1 25 27 31 66 72 139 141 162 301 303 310 11 317 325 Stop Code 126 144 159 167 182 192 196 202 205 6 209 212 234 236 239 262 284 Stop Motion 66 72 116 142 265 Subroutine 25 101 111 15 130 140 41 215 222 252 53 284 299 Automa
36. 15 16 17 18 Record mode already running Error Reference source not found 10 267 DMC 1300 contouring Application strand already executing Begin not valid with motor off Begin not valid while running 22 Begin not possible due to Limit Switch 24 Begin not valid because no sequence defined No array or source specified Undefined Array Not a valid number Only X Y Z W valid operand Variable not given in IN command SM jumper needs to be installed for stepper motor operation S operand not valid Not valid when running ECAM Not valid during coordinated move 101 Improper index into ET must be 0 256 No master axis defined for ECAM Master axis modulus greater than 256 EP value Not valid when axis performing ECAM EB1 command must be given first Controller has GL1600 not GL1800 Sequence segment too short 31 Total move distance in a sequence gt 2 billion More than 511 segments ina sequence Contouring record range error Contour data being sent too slowly Gear axis both master and follower Bit 0 and bit 1 of address 010 in the General Registers indicates if there is an error in either an application program or command from the command buffer Address 012 of the General Registers will specify which error was generated from the command buffer while address 013 will specify which error was generated from the application program USAGE DEFAULTS While Moving Yes Default Value In a Progr
37. 2 Y or B axis Input 3 Z or C axis Input 4 W or D axis Input 5 E axis Input 6 F axis Input 7 6 axis The command RL returns the captured position for the specified axes When interrogated the AL command will return a 1 if the latch for that axis is armed or a zero after the latch has occurred The CN command will change the polarity of the latch ARGUMENTS AL XYZW where X Y Z W specifies the X Y Z W axes DPRAM The latch status can be read at bit 2 of the Status 2 address in the Axis Buffer Bit 6 of the Switches address in the Axis Buffer will also indicate the status of the latch while Bit 7 of that address will indicate when the latch has occurred USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _ALx contains the state of the specified latch 0 not armed 1 armed RELATED COMMANDS RL on page 254 Report Latch EXAMPLES START Start program ALY Arm Y axis latch JG 50000 Set up jog at 50000 counts sec BGY Begin the move LOOP Loop until latch has occurred JP LOOP _ALY 1 RLY Transmit the latched position EN End of program DMC 1300 Error Reference source not found 10 167 AM Binary A4 FUNCTION After Move DESCRIPTION The AM command is a trippoint used to control the timing of events This command will hold up execution of the following commands until the current move on the
38. 53 259 284 85 LIMSWI 140 42 POSERR 140 41 Special Label 101 141 234 284 Latch 31 94 167 184 254 Arm Latch 94 167 326 28 Data Capture 125 26 249 Doc To Help Standard Template Position Capture 94 167 Record 80 82 123 127 249 51 Teach 82 249 Limit Torque Limit 13 20 Limit Switch 25 27 31 101 3 114 15 123 140 42 144 184 207 211 228 233 252 262 266 LIMSWI 25 101 114 15 140 42 252 Linear Interpolation 23 64 68 64 68 70 76 78 227 229 31 291 Clear Sequence 66 68 72 74 188 Logical Operator 113 221 22 M Masking Bit Wise 118 Master Reset 161 259 260 274 Math Function Absolute Value 112 119 20 140 Bit Wise 118 Cosine 118 19 124 Logical Operator 113 221 22 Sine 119 20 Mathematical Expression 117 120 MCTIME 101 107 115 116 234 284 Memory 1 3 21 97 104 113 115 123 177 190 Array 3 70 80 83 97 104 112 118 123 28 190 193 242 302 313 324 327 Download 97 Message 104 115 17 119 127 28 130 141 42 Modelling 145 148 49 153 Motion Complete MCTIME 101 107 115 116 234 284 Motion Smoothing 1 89 90 S Curve 66 72 171 219 294 Motor Command 1 13 20 33 152 243 44 275 Moving Acceleration 163 171 204 8 218 20 276 286 88 322 23 324 26 328 Begin Motion 325 Circular 1 23 24 71 72 76 125 133 250 289 Multitasking 103 214 Execute Program 21 22 297 Halt 67 72 103 7 110 11 129 166 168 214 265 N Non volatile
39. 6 of the General Status register 010 Single Stepping The trace command can be used in conjunction with the Program Buffer Control 028 to single step through a program By setting both the trace and the Program Buffer Control to 1 each line will be displayed as executed and program flow will not proceed until the Program Buffer has been cleared by the host This allows for diagnostics of an application program Error Code Command When there is a program error the DMC 1300 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 TC1 This command reports back a number and a text message which describes the error condition The command TCO or TC will return the error code without the text message For more information about the command TC see the Command Reference Error codes are also read through the Dual Port RAM Bits and 0 of the General Status register 010 will indicate an error in either an application program or a command respectively The corresponding error is found at 012 of the General Registers for a Command Buffer error or 013 of the General Registers for an Application Program error A list of all the error codes is found under the TC command Stop Code Command The status of motion for each axis can be determined by using the
40. A list of error codes is listed in the TC command Application Program Error Code This byte contains the error code of the last error from an application program command The error code will remain valid until cleared by the host or another error occurs Sample Time This 4 byte value contains a count of the samples since reset Itis the last item to be updated during an update cycle and can therefore be used to determine whether new axis data has been updated NOTE Writing in these locations has no effect Coordinated Move Segment Count For coordinated moves the 2 byte value shows which coordinated segment is being run Firmware Revision This 6 byte value shows the firmware revision of the controller Axis Number This register contains the number of axis of the controller 1 4 Analog Inputs Contains 1 if Analog 0 if No Analog Program Buffer Control This register chooses between three communication modes for the Application Program Buffer To select the mode write its number to the register Mode 0 If the Program Buffer is full and an application program needs to write to the buffer the new data will be lost Mode 1 If the Program Buffer is full and an application program needs to write to the buffer application program execution will be held up until the buffer is clear and no data will be lost Mode 2 If the Program Buffer is full and an application program needs to write to the buffer the old data will b
41. AA 145 iv e Index Doc To Help Standard Template Operation of Closed Loop Systems oo eee cesseesesseseseseseseseecesssesesnesesescsesececseecesessaeanseeseneesseeeaeas 147 System Mode Hiss enren r s eee aarte Eeee EE E S e Rro E E So peee aoi 148 MotormAmplitier ener a e EA RANE E e N de a ee E R 149 Encoder DAC eka Digital Filter V40 e E T SI E E E E E E a ait System Ahaly siS erort Sh Aa ses E A E E AEE AE S A E NE E ti System Design and Compensation ss sessssesestsesesssterrtssstesttssttestesretsstesressnterersnteterrettresrtesreererere 155 The Analytical Methodists eeens eren erre Ep Prr eiere R a E i 155 Chapter 11 Command Reference 159 Command Descriptions eeren ara EPEE cdc bcs A R OEE EEA S SEE ia Axes Arguments Parameter Arguments se ae Direct Command Arguments occ ceseseeseseecsesseseseeceseseneseseseecsesusssanecesessaeaesneseseesseeaeaeas 160 RCSLT OSA COM os secesvesSevnevesivoross ETA E csv ven ETETE dhvebens tus E EE E AB Binary D3 AC Binary CC AD Binary A2 scien Ba ihe Oa a as ee en A as deans aa GS eee AI Binary AL Joeriii ne E ctveee R TEAR E E T eee AL Binary 90 acd r a EUNE EET NE N N O TEE OS AM Binary A4 AP Binary A3 AR Binary CF ae 3 vi AS Binary AS E E E E ETET O EE E AT Binary AD a e hk Beans deo a Era Eee a aoii AV Binary AB BG Binary CE BL Binary C7 BN Binary BO BP Binary B2 BV Binary B2 CB Binary SE sic n EE ite ten
42. Analog input is AN 1 MG The Gain of X is GNX The response from the message command when sent through the Command Buffer is found in the Response Buffer The response from the message command when sent through an application program is found in the Program Buffer See the MG command in Chapter 12 for more details Programmable Hardware I O DMC1000 Digital Outputs The DMC 1300 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 The outputs may also be set and read through the Dual Port RAM Example Using Set Bit and Clear Bit Commands SB CB Instruction Interpretation SB6 Sets bit 6 of output port CB4 Clears bit 4 of output port CB9 Clear bit 9 of output port on DMC 1380 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 Example Using the output bit Command OB Instruction Interpretation OB1 POS Set Output 1 if the variable POS is non zero Clear Output 1 if POS equals 0 OB 2 IN 1 Set Output 2 if Input 1 is high If Input 1 is low clear Output 2 OB 3 IN 1 amp IN 2 Set Output 3 only if Input 1 and Input 2 are high OB 4 COUNT 1 Set
43. D Linear 1000 Total 35708 counts In general the length of each linear segment is Ln V Xk Yk Where Xk and Yk are the changes in X and Y positions along the linear segment The length of the circular arc is Li Ri A 4 27 360 The total travel distance is given by D Si 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 T 0 05 T 0 357 T 0 407 Figure 12 3 Vector Velocity Profile The acceleration time T is given by Appendices e A 322 DMC 1300 VS _ 100000 _ a 0 05s VA 2000000 The slew time Ts is given by Ts eee ANR sa 0 307 s VS 100000 The total motion time Tt is given by D T Ta 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
44. DG DH for auxiliary encoders GR a b c d e f g h Sets gear ratio for slave axes 0 disables electronic gearing for specified axis Trippoint for reverse motion past specified value Only one field may be used Trippoint for forward motion past specified value Only one field may be used Example Simple Master Slave Master axis moves 10000 counts at slew speed of 100000 counts sec Y is defined as the master X Z W are geared to master at ratios of 5 5 and 10 respectively GAY Specify master axes as Y GR 5 5 10 Set gear ratios PR 10000 Specify Y position SP 100000 Specify Y speed BGY 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 1330 controller where the Z axis is the master and X and Y are the geared axes MOZ Turn Z off for external master GAZ Specify master axis GR 1 132 045 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 GR 2 Specify gear ratio for X axis to be 2 In applications where both the master and the follower are controlled by the DMC 1300 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
45. DMC 1300 to the 26 pin J3 header connector on the AMP 11X0 or ICM 1100 This cable is not shipped unless requested when ordering Using Optoisolated Inputs DMC 1300 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 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 Chapter 3
46. For proper controller operation it is necessary to make sure that the controller has completed generating all step pulses before making additional moves This is most particularly important if you are moving back and forth For example when operating with servo motors the trippoint AM After Motion is used to determine when the motion profiler is complete and is prepared to execute a new motion command However when operating in stepper mode the controller may still be generating step pulses when the motion profiler is complete This is caused by the stepper motor smoothing filter KS To understand this consider the steps the controller executes to generate step pulses First the controller generates a motion profile in accordance with the motion commands Second the profiler generates pulses as prescribed by the motion profile The pulses that are generated by the motion profiler can be monitored by the command RP Reference Position RP gives the absolute value of the position as determined by the motion profiler The command DP can be used to set the value of the reference position For example DP 0 defines the reference position of the X axis to be zero Third the output of the motion profiler is filtered by the stepper smoothing filter This filter adds a delay in the output of the stepper motor pulses The amount of delay depends on the parameter which is specified by the command KS As mentioned earlier there will always be some
47. Inputs Bit 6 Command Done Bit 5 Application program stopped Bit 4 Bit 3 Watchdog timer Bit 2 Limit Switch occurred Bit 1 Excess position error Bit 0 Motion complete on all axes Bit 7 Bit 6 Contour interrupt Bit 5 Bit 4 Bit 3 W axis motion complete Bit 2 Z axis Motion Complete Bit 1 Y axis Motion Complete Bit 0 X axis Motion Complete 036 Input Mask This register shows which general inputs will cause a bus interrupt DMC 1350 1380 Address Register 010 General Status Bit 7 Application Strand Executing Bit 6 Trace On Chapter 4 VME Communication e Error Main Document Only 39 DMC 1300 014 017 0 0 02 018 019 020 025 12 13 29 Bit 5 Contour Mode Bit 4 Edit Mode Bit 3 Overflow in Program Buffer Bit 2 Contour Error Bit 1 Error in Application Program Command Bit 0 Error in Command from Command Buffer Command Buffer Error Code and Contour Mode Error Code This byte contains the error code of the last error from a command buffer command The error code will remain valid until cleared by the host or another error occurs A list of error codes is listed in the TC command Application Program Error Code This byte contains the error code of the last error from an application program command The error code will remain valid until cleared by the host or another error occurs Sample Time This 4 byte value contains a count of the samples since r
48. JP B IN 2 1 Jump to B if input 2 is high AI7 Wait until input 7 is high AI 6 Wait until input 6 is low Example Start Motion on Switch Motor X must turn at 4000 counts sec when the user flips a panel switch to on When panel switch is turned to off position motor X must stop turning Solution Connect panel switch to input 1 of DMC 1300 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 S After motion repeat EN Chapter 7 Application Programming 7 e 129 DMC1000 Input Interrupt Function The DMC 1300 provides an input interrupt function which causes the program to automatically execute the instructions following the ININT label This function is enabled using the II m n o command The m specifies the beginning input and n specifies the final input in the range The parameter o is an interrupt mask If m and n are unused o contains a number with the mask A 1 designates that input to be enabled for an interrupt where 29 is bit 1 21 is bit 2 and so on For example II 5 enables inputs 1 and 3 29 22 5 A low input on any of the specified inputs will cause automatic execution of the ININT subroutine The Return from Interrupt RI command is used to return from this subroutine to the place in the program where the interrupt had occurred If itis desired to return to somewhere else in t
49. LM XYZW command specifies the linear interpolation mode where XYZW denote the axes for linear interpolation Any set of 1 2 3 or 4 axes may be used for linear interpolation LI x y z w commands are used to specify the travel distances for linear interpolation The LE command specifies the end of the linear interpolation sequence Several LI commands may be given as long as the controller sequence buffer has room for additional segments Once the LM command has been given it does not need to be given again unless the VM command has been used It should be noted that the controller computes the vector speed based on the axes specified in the LM mode For example LM XYZ designates linear interpolation for fhe XY angl Z axes The speed of these axes will be computed from VS XS YS ZS where XS YS and ZS are the speed of the X Y and Z axes If the LI command specifies only X and Y the speed of Z will still be used in the vector calculations The controller always uses the axis specifications from LM not LI to compute the speed ARGUMENTS LM XYZW LM ABCDEFGH where XYZW denote X Y Z or W axes LM will return the number of spaces available in the sequence buffer for additional LI commands DPRAM Bit 0 of the Status 1 address in the Axis Buffer indicates if the controller is in the coordinated motion mode USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used
50. Limit E 9 Forward Limit F 11 Home F 3 Reverse Limit G 15 Forward Limit H 17 Home H 19 Input Common 21 Latch F 23 Latch H 25 Motor Command E 27 Motor Command F 29 Motor Command G 31 Motor Command H 33 Channel A E 35 Channel B E 37 Channel I E 39 Channel A F 41 Channel B F 43 Channel I F 45 Channel A G 47 Channel B G 49 Channel I G 51 Channel A H 53 Channel B H 55 Channel I H 57 12V 59 5V 2 5 Volts 4 NC 6 Forward Limit E 8 Home E 10 Reverse Limit F 12 Forward Limit G 14 Home G 16 Reverse Limit H 18 Output 9 20 Latch E 22 LatchG 24 Input 24 26 Amp enable E 28 Amp enable F 30 Amp enable G 32 Amp enable H 34 Channel A E 36 Channel B E 38 Channel I E 40 Channel A F 42 Channel B F 44 Channel I F 46 Channel A G 48 Channel B G 50 Channel I G 52 Channel A H 54 Channel B H 56 Channel I H 58 12V 60 Ground Appendices e A 306 NOTE The ABCD axes and other I O are located on the main DMC 1300 card DMC 1300 Appendices A 307 DMC 1300 JD5 T O 26 pin IDC 1 Input 17 TTL 3 Input 19 TTL 5 Input 21 TTL 7 Input 23 TTL 9 5 Volts 11 Output 10 13 Output 12 15 Output 14 17 Output 16 19 Input 15 21 Input 13 23 Input 11 Latch G 25 Input 9 Latch E 2 Input 18 TTL 4 Input 20 TTL 6 Input 22 TTL 8 Ground 10 Output 9 12 Output 11 14 Output 13 16 Output 15 18 Input 16 20 Input 1
51. N N N 1 DONE Deallocating Array Space 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 Array space may be deallocated using the DA command followed by the array name DA 0 deallocates all the arrays Output of Data Numeric and String DMC1000 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 Chapter 7 Application Programming 7 e 127 In addition to variables functions and commands responses can be used in the message command For example MG
52. 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 JGO Start job mode BGX Start motion Loop VP AN 1 1000 Compute desired position VE VP _TPX Find position error VEL VE 20 Compute velocity JG VEL Change velocity JP Loop Change velocity EN End Example Applications Wire Cutter An operator activates a start switch This causes a motor to advance the wire a distance of 10 When the motion stops the controller generates an output signal which activates the cutter Allowing 100 ms for the cutting completes the cycle DMC1000 Chapter 7 Application Programming 7 e 131 START PULSE l1 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 a
53. Operation Design Examples Here are a few examples for tuning and using your controller These examples have remarks next to each command these remarks must not be included in the actual program Example 1 System Set up This example assigns the system filter parameters error limits and enables the automatic error shut off INSTRUCTION INTERPRETATION KP10 10 10 10 10 10 10 10 Set gains for a b c d e f g and h axes KP10 10 10 10 10 10 10 10 Set gains for a b c d e f g and h axes KP 10 Alternate method for setting gain on all axes KPX 10 Alternate method for setting X or A axis gain KPA 10 Alternate method for setting A or X axis gain When using controllers with 5 or more axes the X Y Z and W axes can also be referred to as the A B C D axes INSTRUCTION INTERPRETATION OE 1 1 1 1 1 1 1 1 Enable automatic Off on Error function for all axes ER 1000 Set error limit for all axes to 1000 counts KP10 10 10 10 10 10 10 10 Set gains for a b c d e f g and h axes KP 10 Alternate method for setting gain on all axes KPX 10 Alternate method for setting X or A axis gain KPA 10 Alternate method for setting A or X axis gain KPZ 10 Alternate method for setting Z axis gain KPD 10 Alternate method for setting D axis gain KPH 10 Alternate method for setting H axis gain Example 2 Profiled Move Objective Rotate the X axis a distance of 10 000 counts at a slew speed of 20 000 counts sec and an acceleration and deceleration rates of
54. SH commands tells the controller to use the current motor position as the command position and to enable servo control here This command can be useful when the position of a motor has been manually adjusted following a motor off MO command ARGUMENTS SH XYZW SH ABCDEFGH where the argument specifies the axes to be affected DPRAM Bit 0 of the Status 2 address of the Axis Buffer will show a 1 if the servo is in the servo here state USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS MO on page 238 Motor off EXAMPLES SH Servo X Y Z W motors SHX Only servo the X motor the Y Z and W motors remain in its previous state SHY Servo the Y motor leave the X Z and W motors unchanged SHZ Servo the Z motor leave the X Y and W motors unchanged SHW Servo the W motor leave the X Y and Z motors unchanged Note The SH command changes the coordinate system Therefore all position commands given prior to SH must be repeated Otherwise the controller produces incorrect motion DMC 1300 Error Reference source not found 10 263 SP Binary CA FUNCTION Speed DESCRIPTION This command sets the slew speed of any or all axes for independent moves or it will return the previously set value The parameters input will be rounded down to the nearest factor of 2 and the units of the parameter are in counts per second
55. This command has the same response as writing to 028 hex in the Dual Port RAM ARGUMENTS RM n n 0 New data is lost n 1 Program execution suspended until buffer is read n 2 Old data is lost DPRAM Status of the RM command can be read at address 028 Writing to this address will change the state of the RM command USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand DEFAULTS Yes Yes Yes No No Default Value 0 Default Format Error Reference source not found 10 255 DMC 1300 RP No Binary FUNCTION Reference Position DESCRIPTION This command returns the commanded reference position of the motor s ARGUMENTS RP XYZW RP ABCDEFGH where the argument specifies the axes to be affected DPRAM The commanded position of an axis can be read in the corresponding Axis Buffer ie read addresses 114 117 for the DMC 1340 X axis addresses 214 217 for the DMC 1380 X axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _RPx contains the commanded reference position for the specified axis RELATED COMMAND TP on page 278 Tell Position Note The relationship between RP TP and TE TEX equals the difference between the reference position RPX and the actual position _TPX EXAMPLES Assume that XYZ and W axes are commanded to
56. This command sets the acceleration rate of the vector in a coordinated motion sequence The parameter input will be rounded down to the nearest factor of 1024 The units of the parameter is counts per second squared ARGUMENTS VAn where nis an unsigned number in the range 1024 to 68 431 360 decimal 2 returns the value of the vector acceleration for the specified axis USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE DEFAULTS Yes Default Value 262144 Yes Default Format Yes Yes Yes _VAx contains the value of the vector acceleration for the specified axis RELATED COMMANDS VS on page 293 VP on page 291 VE on page 288 CR on page 186 VM on page 289 BG on page 174 VD on page 287 VT on page 294 EXAMPLES VA 1024 VA 00001024 VA 20000 VA 0019456 ACCEL _VA DMC 1300 Error Reference source not found e 10 286 Vector Speed Vector Position End Vector Circle Vector Mode Begin Sequence Vector Deceleration Vector smoothing constant S curve Set vector acceleration to 1024 counts sec Return vector acceleration Set vector acceleration Return vector acceleration Assign variable ACCEL the value of VA Position Format DMC 1300 VD Binary E5 FUNCTION Vector Deceleration DESCRIPTION This command sets the deceleration rate of the vector in a coordinated motion sequence The parameter input will be round
57. This signal goes low when the motor off command is given when the position error exceeds the value specified by the Error Limit ER command or when off on error condition is enabled OE1 and the abort command is given Each axis amplifier has separate amplifier enable lines This signal also goes low when the 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 Chapter 8 Hardware amp Software Protection e 8 139 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
58. Vector Mode VA on page 286 Vector Acceleration VD on page 287 Vector Deceleration VE on page 288 Vector End VS on page 293 Vector Speed BG on page 174 Begin Sequence VT on page 294 Vector smoothing Error Reference source not found e 10 291 EXAMPLES A Program A VM X Y Specify motion plane VP 1000 2000 Specify vector position X Y CR 1000 0 360 Specify arc VE Vector end VS 2000 Specify vector speed VA 400000 Specify vector acceleration BGS Begin motion sequence EN End Program Hint The first vector in a coordinated motion sequence defines the origin for that sequence All other vectors in the sequence are defined by their endpoints with respect to the start of the move sequence DMC 1300 Error Reference source not found 10 292 VS Binary E4 FUNCTION Vector Speed DESCRIPTION The VS command specifies the speed of the vector in a coordinated motion sequence in either the LM or VM modes The parameter input is rounded down to the nearest factor of 2 The units are counts per second VS may be changed during motion Vector Speed can be calculated by taking the square root of the sum of the squared values of speed for each axis specified for vector or linear interpolated motion ARGUMENTS VSn where n specifies the rate n is an unsigned number in the range 2 to 8 000 000 decimal for servo motors and 2 to 8 000 000 decimal for stepper motors VS returns the vector speed USAGE DEFAULTS
59. 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 C gt w time Figure 12 4 Vector and Axes Velocities Appendices e A 323 DMC 500 DMC 1300 Comparison Modes of Motion DMC 500 DMC 1300 Yes Absolute positioning Yes Yes Velocity control Linear interpolation Up to 4 axes Circular interpolation Any 2 axes plus 3rd tangent Maximum number of Infinite continuous vector segments in motion path n Contouring Electronic gearing S curve profiling Programmable acceleration Yes rate Ta on rate Maximum encoder 2x 10 counts s 8 x 106 counts s frequency EEPROM memory for None Yes parameter storage Number of variables 64 V0 V63 126 symbolic up to 8 chrs in addition to 64 V0 V63 Number of array elements None 1600 up to 14 arrays 8000 30 arrays for DMC 1380 or DMC 1340 MX Digital filter type GN ZR KI KP KI KD with velocity and acceleration feedforward and integrator limit Maximum of axes card 4 8 for DMC 1380 Analog inputs 8 with DMC 63010 DMC 1300 Appendices e A 324 Digital inputs 8 TTL 8 optoisolated 24 for DMC 1380 Digital outputs 8 TTL 8 TTL 16 for DMC 1380 Motor command output 10V 10V and step direction DMC 500 DMC 1300 Command Comparison Unchanged Commands AB Abort motion AC Acceleration rate AD After distance trippoint Al Afte
60. Wait 10 msec POS COUNT _TPX Record position into array element POS COUNT Report position COUNT COUNT 1 Increment counter JP LOOP COUNT lt 10 Loop until 10 elements have been stored EN End Program The above example records 10 position values at a rate of one value per 10 msec The values are stored in an array named POS The variable COUNT is used to increment the array element counter The above example can also be executed with the automatic data capture feature described below Automatic Data Capture into Arrays The DMC 1300 provides a special feature for automatic capture of data such as position position error inputs or torque This is useful for teaching motion trajectories or observing system performance Up to four types of data can be captured and stored in four arrays For controllers with 5 or more axes up to eight types of data can be captured and stored in eight arrays The capture rate or time interval may be specified Recording can done as a one time event or as a circular continuous recording DMC1000 Chapter 7 Application Programming 7 e 125 DMC1000 Command Summary Automatic Data Capture COMMAND DESCRIPTION RA nl m o pi Selects up to four arrays eight arrays for DMC 1080 for data capture The arrays must be defined with the DM command RD Selects the type of data to be recorded where typel type2 type3 and typel type2 type3 type4 type 4 represent the various types of data see table below T
61. Y and Z axes If the LI command specifies only X and Y the speed of Z will still be used in the vector calculations The controller always uses the axis specifications from LM not LI to compute the speed The parameter n is optional and can be used to define the vector speed that is attached to the motion segment ARGUMENTS LI x y z w lt n LI a b c d e f g h where X y Z w and a b c d e f h are signed integers in the range 8 388 607 to 8 388 607 and represent incremental move distance n specifies a vector speed to be taken into effect at the execution of the linear segment n is an unsigned even integer between 0 and 8 000 000 for servo motor operation and between 0 and 2 000 000 for stepper motors USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No Error Reference source not found 10 229 RELATED COMMANDS LE on page 227 Linear end BG on page 174 BGS Begin sequence LM on page 231 Linear Interpolation Mode CS on page 188 Clear Sequence VS on page 293 Vector Speed VA on page 286 Vector Acceleration VD on page 287 Vector Deceleration EXAMPLES LM XYZ Specify linear interpolation mode LI 1000 2000 3000 Specify distance LE Last segment BGS Begin sequence DMC 1300 Error Reference source not found 10 230 DMC 1300 LM Binary E8 FUNCTION Linear Interpolation Mode DESCRIPTION The
62. abort input Allows for monitoring of abort input 3 CW 1 When output FIFO full application program will Allows for output FIFO buffer to fill up without affecting not pause but data will be lost the execution of a program oe Variable LV List Array LA List app program labels Allows for the user to interrogate Ram ar New feature for Rev 2 0e May 1997 Feature Description 1 ER now accepts argument lt 0 Disables error output LED and Error Output does not turn on for that axis 2 During a PR decel can now be changed on an unnatural Allows for monitoring of abort input stop New feature for Rev 2 0d February 1997 Feature Description 1 AP MF MR in stepper now uses _DE instead of RP _ Trippoints based on register after buffer 2 now terminates QD Download array no longer requires control sequence to end 3 KS can now be fraction down to 5 Allows for smaller stepper motor smoothing delay due to filter 4 New arguments for MT of 2 5 and 2 5 Reverses the direction of motion from MT 2 and MT 2 New feature for Rev 2 0c October 1996 Feature 1 MC now works for steppers New feature for Rev 2 0b September 1996 Feature 1 Operand amp and for conditional statements Description More accurate trippoint for stepper motor completion Description Allows for multiple conditional statements in jump routines IE A gt 3 amp B lt 55 C 78 New feature for Rev 2 0 March 1996 This rev
63. and circular segments in DMC 1300 sequence buffer Zero means buffer is full 512 means buffer is empty Segment counter Number of the segment in the sequence starting at zero When AV is used as an operand _AV returns the distance traveled along the sequence The operands _VPX and _VPY can be used to return the coordinates of the last point specified along the path Chapter 6 Programming Motion e Error Main Document Only 74 Example Traverse the path shown in Fig 6 3 Feedrate is 20000 counts sec Plane of motion is XY Instruction Interpretation VM XY Specify motion plane VS 20000 Specify vector speed VA 1000000 Specify vector acceleration VD 1000000 Specify vector deceleration VP 4000 0 Segment AB CR 1500 270 180 Segment BC VP 0 3000 Segment CD CR 1500 90 180 Segment DA VE End of sequence BGS Begin Sequence The resulting motion starts at the point 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 _CS 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 150070 2000 10 712 The value of _CS is 2 _VPX _VPY contain the coordinates of the point C C 4000 3000 D 0 3000 B 4000 0 A 0 0 Figure 6 3 The Required Path DMC 1300 Chapter 6 Programmi
64. and set the proportional gain to a low value such as KP 1 CR Proportional gain KD 100 CR Derivative gain For more damping you can increase KD maximum is 4095 Increase gradually and stop after the motor vibrates A vibration is noticed by audible sound or by interrogation If you send the command TE X CR Tell error a few times and get varying responses especially with reversing polarity it indicates system vibration When this happens simply reduce KD Next you need to 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 DMC1000 Chapter 2 Getting Started e 2 16 TE X 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 For a more detailed description of the operation of the PID filter and or servo system theory see Chapter 10 Theory of
65. as an Operand DEFAULTS Yes Yes Yes No No Default Value TRO Default Format Error Reference source not found 10 279 TS Binary DF FUNCTION Tell Switches DESCRIPTION TS returns status information of the Home switch Forward Limit switch and Reverse Limit switch error conditions motion condition and motor state The value returned by this command is decimal and represents an 8 bit value decimal value ranges from 0 to 255 Each bit represents the following status information BIT ARGUMENTS TS XYZW TS ABCDEFGH where the argument specifies the axes to be affected DPRAM The status bits of this command differ from the switches byte in the Axis Buffers Refer to the address location and description in Chapter 4 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 3 0 Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _TS contains the current status of the switches DMC 1300 Error Reference source not found e 10 280 EXAMPLES V1 _TSY Assigns value of TSY to the variable V1 Vil Interrogate value of variable V1 015 returned value Decimal value corresponding to bit pattern 00001111 Y axis not in motion bit 7 value of 0 Y axis error limit not exceeded bit 6 value of 0 Y axis motor is on bit 5 value of 0 Y axis forward limit is inactive bit 3 value of 1 Y axis reverse limit is inactive bit 2 value of 1 Y axis home switch
66. as an Operand Yes OPERAND USAGE _LM contains the number of spaces available in the sequence buffer for additional LI commands RELATED COMMANDS LE on page 227 Linear end LI on page 229 Linear Distance VA on page 286 Vector acceleration VS on page 293 Vector Speed VD on page 287 Vector deceleration AV on page 173 Vector distance CS on page 188 _CS Sequence counter Error Reference source not found e 10 231 EXAMPLES LM XYZW Specify linear interpolation mode VS 10000 VA 100000 VD 1000000 Specify vector speed acceleration and deceleration LI 100 200 300 400 Specify linear distance LI 200 300 400 500 Specify linear distance LE BGS Last vector then begin motion DMC 1300 Error Reference source not found e 10 232 DMC 1300 _LR Binary FUNCTION Reverse Limit Switch Operand Keyword DESCRIPTION The _LR operand contains the state of the reverse limit switch for the specified axis _LRx where x is the specified axis DPRAM Bit 2 of the Switches address in the Axis Buffer will tell the status of the reverse limit switch on an axis ie bit 2 of address 105 for the DMC 1340 X axis reverse limit switch and bit 2 of address 205 for the DMC 1380 X axis reverse limit switch EXAMPLES MG _LRX Display the status of the X axis reverse limit switch Note This is an Operand Not a command Error Reference source not found 10 233 MC Binary D8 FUNCTION Motion Complete In Position DES
67. clears an application program from the EEPROM memory This command can take up to 10 seconds to complete ARGUMENTS None USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS BP on page DEFAULTS Yes Default Value No Default Format Yes No No Burn Program Error Reference source not found e 10 185 DMC 1300 CR Binary E1 FUNCTION Circle DESCRIPTION The CR command specifies a 2 dimensional arc segment of radius r starting at angle O and traversing over angle A9 A positive A denotes counterclockwise traverse negative A9 denotes clockwise The VE command must be used to denote the end of the motion sequence after all CR and VP segments are specified The BG Begin Sequence command is used to start the motion sequence All parameters r 0 A must be specified Radius units are in quadrature counts and A have units of degrees The parameter n is optional and describes the vector speed that is attached to the motion segment ARGUMENTS CR 1 8 A0 lt n where r is an unsigned real number in the range 10 to 6000000 decimal radius O a signed number in the range 0 to 32000 decimal starting angle in degrees A9 is a signed real number in the range 0 0001 to 32000 decimal angle in degrees n specifies a vector speed to be taken into effect at the execution of the vector segment n is an unsigned even integer between 0 and 8 000
68. e 10 147 The analogy between adjusting the water temperature and closing the position loop carries further We have all learned the hard way that the hot water faucet should be turned at the right rate If you turn it too slowly the temperature response will be slow causing discomfort Such a slow reaction is called overdamped response The results may be worse if we turn the faucet too fast The overreaction results in temperature oscillations When the response of the system oscillates we say that the system is unstable Clearly unstable responses are bad when we want a constant level What causes the oscillations The basic cause for the instability is a combination of delayed reaction and high gain In the case of the temperature control the delay is due to the water flowing in the pipes When the human reaction is too strong the response becomes unstable Servo systems also become unstable if their gain is too high The delay in servo systems is between the application of the current and its effect on the position Note that the current must be applied long enough to cause a significant effect on the velocity and the velocity change must last long enough to cause a position change This delay when coupled with high gain causes instability This motion controller includes a special filter which is designed to help the stability and accuracy Typically such a filter produces in addition to the proportional gain damping and integ
69. 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 1300 for stepper motor operation the controller requires a jumper for each stepper motor and the command MT must be given Chapter 2 Getting Started e 2 8 ll E DMC1000 The DMC 1300 has jumpers on the board which may need to be installed for stepper motor operation The following describes each of the jumpers For each axis that will be driving a stepper motor a stepper mode SM jumper must be connected If you using a controller with more than 4 axis you will have two VME cards residing on the backplane In this case you will have 2 sets of stepper motor jumpers one on each card The jumpers on the first card will be for axes X Y Z and W or A B C and D and the second will be E F G and H The stepper mode jumpers are located next to the GL 1800 which is the largest IC on the board The jumper set is labeled JP20 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 Further instruction for stepper motor connections are discussed in Step 8b The jumper set JP9 can be used to connect the controllers internal power supply to the optoisolation inputs This may be desirable if your system will be using limit switches home
70. for X Y CR 500 0 180 Specify arc segment VP 100 200 Specify linear segment VE End vector BGS Begin sequence DMC 1300 Error Reference source not found e 10 290 VP Binary B2 FUNCTION Vector Position DESCRIPTION The VP command defines the target coordinates of a straight line segment in a 2 axis motion sequence The axes are chosen by the VM command The motion starts with the Begin sequence command The units are in quadrature counts and are a function of the vector scale factor For three or four axis linear interpolation use the LI command ARGUMENTS VP n m lt n where nand m are signed integers in the range 2147483648 to 2147483647 The length of each segment must be limited to 8 106 n specifies a vector speed to be taken into effect at the execution of the vector segment n is an unsigned even integer between 0 and 8 000 000 for servo motor operation and between 0 and 2 000 000 for stepper motors USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _VPx contains the absolute coordinate of the axes at the last intersection along the sequence For example during the first motion segment this instruction returns the coordinate at the start of the sequence The use as an operand is valid in the linear mode LM and in the Vector mode VM RELATED COMMANDS CR on page 186 Circle VM on page 289
71. 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 1380 ABCDEFGH CD x y z w Specifies position increment over time interval Range is 32 000 Zero ends contour mode CD Position increment data for DMC 1380 a b c d e f g h DTn Specifies time interval 2 msec for position increment where n is an integer between l and 8 Zero ends contour mode If n does not change it does not need to be specified with each CD WC Waits for previous time interval to be complete before next data record is processed 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
72. i I DIGITAL i FILTER i i i i ENCODER Figure 10 4 Functional Elements of a Servo Control System Motor Ampilifier 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 I ST 1 where 2 T RI K is and T L R s and the motor parameters and units are Ki 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 K 14 16 oz in A 0 1 Nm A R 2Q J 0 0283 oz in s2 2 104 kg m2 DMC 1300 Theory of Operation e 10 149 DMC 1300 L 0 004H Then the corresponding time constants are Ty 0 04 sec and Te 0 002 sec Assuming that the amplifier gain is Kv 4 the resulting transfer function is P V 40 s 0 04s 1 0 002s 1 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 PIV K K Js where Kt and J are as defined previously For example a current ampli
73. information on the state of the switch as well as what phase of homing an axis is currently performing The Find Edge FE instruction is useful for initializing the motor to a home switch The home switch is connected to the Homing Input When the Find Edge command and Begin is used the motor will accelerate up to the slew speed and slew until a transition is detected on the Homing line The motor will then decelerate to a stop A high deceleration value must be input before the find edge command is issued for the motor to decelerate rapidly after sensing the home switch The velocity profile generated is shown in Fig 6 7 The Home HM command can be used to position the motor on the index pulse after the home switch is detected This allows for finer positioning on initialization The command sequence HM and BG causes the following sequence of events to occur 1 Upon begin motor accelerates to the slew speed The direction of its motion is determined by the state of the homing input A zero GND will cause the motor to start in the forward direction 5V will cause it to start in the reverse direction The CN command is used to define the polarity of the home input 2 Upon detecting the home switch changing state the motor begins decelerating to a stop 3 The motor then traverses very slowly back until the home switch toggles again 4 The motor then traverses forward until the encoder index pulse is detected 5 The DMC 1300 define
74. is less than 5 Jump to LOOP if V1 is not equal to 0 Jump to subroutine A no condition Error Reference source not found 10 222 KD Binary B7 FUNCTION Derivative Constant DESCRIPTION KD designates the derivative constant in the controller filter The filter transfer function is D z 4 KP 4 KD z 1 z Kiz 2 z 1 For further details on the filter see the section Theory of Operation ARGUMENTS KD x y z w KDX x KD a b c d e f g h where X y Z W are unsigned numbers in the range 0 to 4095 875 with a resolution of 1 8 2 returns the value of the derivative constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value 64 In a Program Yes Default Format 4 2 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _KDx contains the value of the derivative constant for the specified axis RELATED COMMANDS KI on page 224 Integrator KP on page 225 Proportional EXAMPLES KD 100 200 300 400 25 Specify KD KD Return KD 0100 00 0200 00 0300 00 0400 25 DMC 1300 Error Reference source not found e 10 223 KI Binary BA FUNCTION Integrator DESCRIPTION The KI command sets the integral gain of the control loop It fits in the control equation as follows D z 4 KP 4 KD z 1 z KI z 2 z 1 The integrator term will reduce the position error at rest to zero ARGUMENTS KI x y z w KIX x KIa b c d e f g h where X y Z W are unsigned numbers in th
75. limit switches stops To verify cause check the stop the motor code SC If caused by limit switch noise reduce noise During a periodic operation Encoder noise Interrogate the position motor 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 DMC1000 Chapter 9 Troubleshooting e 9 144 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 Figure 10 1 Elements of Servo Systems The operation of such a system can be divided into three levels as illustrated in Fig 10 2 The levels are 1 Closing the Loop 2 Motion Profiling 3 Motion Programming The first level the closing of the loop assures that the motor follows the commanded position This is done by closing the position loop using a sensor The operation at the basic level of closing the loop involves the subjects of modeling analysis and design These subjects will be covered in the following discussions The motion profiling is the generation of the desired position function This function R t describes where the motor should be at every sampling period Note that the pr
76. lt 15 EN RUN CMX DT3 C 0 E CD DIF C WC C C 1 JP E C lt 15 DTO CDO EN Argument in degrees Compute position Integer value of V3 Store in array POS Program to find position differences 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 1300 automatic array capture feature to capture position data The captured data may then be played back in the contour mode The following array commands are used DM C n RA C RD _TPX RC n m RC or _RC Dimension array Specify array for automatic record up to 4 for DMC 1340 8 for DMC 1380 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 Chapter 6 Programming Motion e Error Main Document Only 82 Record and Playback Example Instruction Interpretation RECORD Begin Program DPO Define position for X axis to be 0 DA De allocate all arrays DM XPOS 501 Dimension 501 element array called XPOS RA XPOS Record Elements into XPOS array RD_TPX Element to be recorded is encoder position of X axis MOX Motor off for X axis RC2 Begin R
77. memory Burn 177 Non Volatile Memory 1 3 Index e 333 O OE Off On Error 139 141 162 243 Off On Enrror 11 27 31 139 141 162 243 Offset Adjustment 33 143 Operand Internal Variable 23 112 120 122 168 Operators Bit Wise 118 Optoisolation 25 27 29 31 Home Input 26 91 123 205 6 Output Amplifier Enable 32 33 139 ICM 1100 11 25 30 31 Interconnect Module 7 9 Motor Command 1 13 20 33 152 243 44 275 Output of Data 127 Clear Bit 128 180 Set Bit 128 180 261 P PID 14 148 152 157 Play Back 127 Plug and Play 198 285 POSERR 101 114 15 140 41 202 243 252 Position Error 13 19 164 224 243 256 Position Capture 94 167 Latch 31 94 167 184 254 Teach 82 249 Position Error 11 13 19 31 101 114 15 122 125 26 131 136 139 41 144 147 164 224 243 256 POSERR 202 243 252 Position Follow 131 Position Limit 140 207 Program Flow 100 106 Interrupt 1 3 101 3 110 114 15 130 177 198 99 201 215 249 252 53 266 285 299 Stack 114 117 130 215 252 53 296 299 Programmable 1 128 136 140 EEPROM 3 177 189 259 Programming Halt 103 7 110 11 129 166 168 214 265 Proportional Gain 148 Protection Error Limit 11 13 17 31 115 139 41 202 280 Torque Limit 13 20 275 PWM 4 334 e Index Q Quadrature 1 3 4 132 140 151 164 169 170 173 176 181 82 186 194 202 218 236 239 246 248 256 278 283 291 Quit Abort 1 25 27 31 66 72
78. milliseconds we can describe the motion in the following manner 1 cos 2z B X 4p 3 Sin 277 B Note is the angular velocity X is the position and T is the variable time in milliseconds Chapter 6 Programming Motion e Error Main Document Only 80 DMC 1300 In the given example A 6000 and B 120 the position and velocity profiles are X 50T 6000 27 sin 270 T 120 Note that the velocity in count ms is 50 1 cos 27 T 120 Figure 6 5 Velocity Profile with Sinusoidal Acceleration The DMC 1300 can compute trigonometric functions However the argument must be expressed in degrees Using our example the equation for X is written as X 50T 955 sin 3T A complete program to generate the contour movement in this example is given below To generate an array we compute the position value at intervals of 8 ms This is stored at the array POS Then the difference between the positions is computed and is stored in the array DIF Finally the motors are run in the contour mode Contour Mode Example Instruction Interpretation POINTS Program defines X points DM POS 16 Allocate memory DM DIF 15 C 0 Set initial conditions C is index T 0 T is time in ms A V1 50 T Chapter 6 Programming Motion e Error Main Document Only 81 DMC 1300 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 D C 1 DIF C POS D POS C C C 1 JP C C
79. or For Gor H AR X or Y or Z or W A or B or C or D or Eor For Gor H AP X or Y or Z or W A or B or C or D or Eor For Gor H MF X or Y or Z or W A or B or C or D or Eor For Gor H MR X or Y or Z or W A or B or C or D or Eor For Gor H MC X or Y or Z or W A or B or C or D or Eor F or Gor H ASXYZWS ABCDEFGH AVn WTn DMC1000 Halts program execution until motion is complete on the specified axes or motion sequence s AM with no parameter tests for motion complete on all axes This command is useful for separating motion sequences in a program Halts program execution until position command has reached the specified relative distance from the start of the move Only one axis may be specified at a time Halts program execution until after specified distance from the last AR or AD command has elapsed Only one axis may be specified at a time Halts program execution until after absolute position occurs Only one axis may be specified at a time Halt program execution until after forward motion reached absolute position Only one axis may be specified If position is already past the point then MF will trip immediately Will function on geared axis Halt program execution until after reverse motion reached absolute position Only one axis may be specified If position is already past the point then MR will trip immediately Will function on geared axis Halt program execution until after the motion profile h
80. page 224 Integral Gain EXAMPLES ZR 95 9 8 822 Set X axis zero to 0 95 Y axis to 0 9 Z axis to 0 8 W axis zero to 0 822 ZR Return all zeroes 0 9527 0 8997 0 7994 0 8244 ZR Return X zero only 0 9527 ZR Return Y zero only 0 8997 DMC 1300 Error Reference source not found e 10 298 ZS Binary 83 FUNCTION Zero Subroutine Stack DESCRIPTION The ZS command is only valid in an application program and is used to avoid returning from an interrupt either input or error ZS alone returns the stack to its original condition ZS1 adjusts the stack to eliminate one return This turns the jump to subroutine into a jump Do not use RI Return from Interrupt when using ZS To re enable interrupts you must use II command again The status of the stack can be interrogated with the operand _ZSx see operand usage below ARGUMENTS ZS n where O returns stack to original condition 1 eliminates one return on stack USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 3 0 Command Line No Can be Interrogated No Used as an Operand Yes OPERAND USAGE _ZSn contains the stack level for the specified thread where n 0 1 2 or 3 Note n can also be specified using X thread 0 Y thread 1 Z thread 2 or W thread 3 EXAMPLES Il Input Interrupt on 1 A JP A EN Main program ININT Input Interrupt MG INTERRUPT Print message S _ZS Interrogate stack S Print stack ZS Zero stack S _ZS In
81. specified following the instruction In the argument description these commands are followed by lower case x y z w or a b c d e f g h where the lowercase letter represents the value Values may be specified for any axis separately or any combination of axes The argument for each axis is separated by commas Examples of valid syntaxare listed below Error Reference source not found e 10 159 DMC 1300 Valid x y z w syntax AC x Specify argument for x axis only AC x y Specify x and y only AC x z Specify x and z only AC x y z w Specify x y z w AC a b c d Specify arguments for a b c d Note a b c d are the same as x y z w AC b e Specify b and e axis only Note b and y axis are the same AC e f Specify e and f Note e and z axis are the same Where x y z w and a b c d e f g and h are replaced by actual values Direct Command Arguments An alternative method for specifying data is to set data for individual axes using an axis designator followed by an equals sign The symbol defines data for all axes to be the same For example PRY 1000 Sets Y axis data at 1000 PR 1000 Sets all axes to 1000 Interrogation Most commands accept a question mark as an argument This argument causes the controller to return parameter information listed in the command description Type the command followed by a for each axis requested The syntax format is the same as the parameter arguments described above except replaces the val
82. the Command Buffer for a custom VME interface 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 This command is sent directly through the command line of the COMM 1300 software with a Bit 3 system With a custom VME interface the following hex equivalent is written to the command buffer at address 40 Address Command hex Description 40 50 ASCII P 41 52 ASCH R 42 34 ASCII 4 43 30 ASCII 0 44 30 ASCII 0 45 30 ASCII 0 46 0D ASCII Return Bit 7 of the Command Semaphore is then set to 80 hex which will send this command to the controller For specifying data for the X Y Z and W axes commas are used to separate the axes If no data is specified for an axis a comma is still needed as shown in the examples below If no data is specified for an axis the previous value is maintained The space between the data and instruction is optional For controllers with 5 or more axes the axes are referred to as A B C D E F G H where X Y Z W and A B C D may be used interchangeably Instead of data some commands request action to occur on an axis or group of axes For example ST XY stops motion on both the X and Y axes Commas are not required in this case since the pa
83. the FE command USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS FI on page 206 Find Index HM on page 212 Home BG on page 174 Begin AC on page 163 DC on page 191 SP on page 264 Acceleration Rate Deceleration Rate Speed for search EXAMPLES FE Set find edge mode BG Begin all axes FEX Only find edge on X BGX FEY Only find edge on Y BGY FEZW Find edge on Z and W BGZW Hint Find Edge only searches for a change in state on the Home Input Use FI Find Index to search for the encoder index Use HM Home to search for both the Home input and the Index Remember to specify BG after each of these commands DMC 1300 Error Reference source not found e 10 205 FI Binary D6 FUNCTION Find Index DESCRIPTION The FI and BG commands move the motor until an encoder index pulse is detected The controller looks for a transition from low to high When the transition is detected motion stops and the position is defined as zero To improve accuracy the speed during the search should be specified as 500 counts s or less The FI DMC 1300 command is useful in custom homing sequences The direction of motion is specified by the sign of the JG command ARGUMENTS FI XYZW Where X Y Z W specify XYZ or W axis No argument specifies all axes USAGE While Moving In a Program Command Line Can be Interr
84. the Forward Limit Switch on the X axis V3 TIME Assign V3 the current value of the time clock V4 _HMW Assign V4 the logical state of the Home input on the W axis For storing and collecting numerical data the DMC 1300 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 The user must specify a name and the number of entries to be held in the array An array name can contain up to eight characters starting with an uppercase alphabetic character The number of entries in the defined array is enclosed in Chapter 7 Application Programming 7 e 123 DMC1000 Example USING THE COMMAND DM Instruction DM POSX 7 DM SPEED 100 DM POSX 0 Interpretation Defines an array names POSX with seven entries Defines an array named speed with 100 entries Frees array space Assignment of Array Entries Like variables each ar
85. the servo motors back on with SH and then use DPO to redefine the new position as your absolute zero Error Reference source not found e 10 194 DT No Binary FUNCTION Delta Time DESCRIPTION The DT command sets the time interval for Contouring Mode Sending the DT command once will set the time interval for all following contour data until a new DT command is sent 2 milliseconds is the time interval Sending DTO followed by CDO command terminates the Contour Mode ARGUMENTS DT n where n is an integer in the range 0 to 8 0 terminates the Contour Mode n thru 8 specifies the time interval of 2 samples The default time interval is n 1 or 2 msec for a sample period of 1 msec DT returns the value for the time interval for contour mode USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _DT contains the value for the time interval for Contour Mode DMC 1300 RELATED COMMANDS CM on page 183 Contour Mode CD on page 181 Contour Data WC on page 295 Wait for next data EXAMPLES DT4 Specifies time interval to be 16 msec DT7 Specifies time interval to be 128 msec CONTOUR Begin CMXY Enter Contour Mode DT4 Set time interval CD 1000 2000 Specify data WC Wait for contour CD 2000 4000 New data WC Wait DTO Stop contour CDO Exit Contour Mode EN End Error Reference source not found e 10 19
86. through 109 for the DMC 1340 X axis or addresses 206 through 209 for the DMC 1380 X axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _TPx contains the current position value for the specified axis EXAMPLES Assume the X axis is at the position 200 decimal the Y axis is at the position 10 decimal the Z axis is at position 0 and the W axis is at 110 decimal The returned parameter units are in quadrature counts PF 7 Position format of 7 TP Return X Y Z W positions 0000200 0000010 0000000 0000110 TPX Return the X motor position 0000200 TPY Return the Y motor position 0000010 PF 6 0 Change to hex format TP Return X Y Z W in hex 0000C8 FFFFF6 000000 FFFF93 Position _TPX Assign the variable Position the value of TPX DMC 1300 Error Reference source not found 10 278 DMC 1300 TR Binary AF FUNCTION Trace DESCRIPTION The TR command causes each instruction in a program to be sent out the communications port prior to execution TR1 enables this function and TRO disables it The trace command is useful in debugging programs ARGUMENTS TR n where n 0 or 1 0 disables function 1 enables function DPRAM Bit 6 of address 010 in the General Registers tells the status of the trace command USAGE While Moving In a Program Command Line Can be Interrogated Used
87. unless a lt return gt is given lt cntrl gt P The lt cntrl gt P command moves the editor to the previous line lt cntrl gt I The lt cntrl gt I command inserts a line above the current line For example if the editor is at line number 2 and lt cntrl gt I is applied a new line will be inserted between lines 1 and 2 This new line will be labeled line 2 The old line number 2 is renumbered as line 3 lt cntrl gt D The lt cntrl1 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 1300 will return a colon Programs may also be created by writing the ED command directly to the Program Buffer This places the controller in the edit mode The following commands are used to edit or create application programs in the Program Buffer 9A hex Deletes a line 99 hex Inserts a line before the current one 9B hex Displays the previous line 9C hex Exits the Edit subsystem 9D hex Saves a line When creating a program the first program line is loaded into the Program Buffer 9D is then written to the Command Buffer and set by the Command Semaphore This stores the first line in the application program The second line is then written in the same manner When editing a program the current line
88. unsigned numbers in the range 0 to 8191 decimal with a resolution of 0 25 2 returns the value of the feedforward acceleration coefficient for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 4 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _FAx contains the value of the feedforward acceleration coefficient for the specified axis RELATED COMMANDS FV on page 208 Velocity feedforward EXAMPLES AC 500000 1000000 Set feedforward coefficient to 10 for the X axis FA 10 15 and 15 for the Y axis The effective bias will be 0 75V for X and 2 25V for Y FA Return X and Y values 010 015 Note If the feedforward coefficient is changed during a move then the change will not take effect until the next move DMC 1300 Error Reference source not found 10 204 FE Binary D1 FUNCTION Find Edge DESCRIPTION The FE command moves a motor until a transition is seen on the homing input for that axis The direction of motion depends on the initial state of the homing input use the CN command to configure the polarity of the home input Once the transition is detected the motor decelerates to a stop This command is useful for creating your own homing sequences ARGUMENTS FE XYZW FE ABCDEFGH where X Y Z W specify XYZ or W axis No argument specifies all axes DPRAM Bit 4 of the Status 1 address in the axis buffer gives the status of
89. value For example if a limit occurs and the LIMSWI routine is executed it is often desirable to restart the program sequence instead of returning to the location where the limit occurred To do this give a ZS command at the end of the LIMSWI routine Automatic Subroutines for Monitoring Conditions Often it is desirable to monitor certain conditions continuously without tying up the host or DMC 1300 program sequences The DMC 1300 can monitor several important conditions in the background These conditions include checking for the occurrence of a limit switch a defined input position error or a command error Automatic monitoring is enabled by inserting a special predefined label in the applications program The pre defined labels are Chapter 7 Application Programming 7 e 114 DMC1000 SUBROUTINE DESCRIPTION LIMSWI Limit switch on any axis goes low ININT Input specified by II goes low POSERR Position error exceeds limit specified by ER MCTIME Motion Complete timeout occurred Timeout period set by TW command CMDERR Bad command given For example the POSERR subroutine will automatically be executed when any axis exceeds its position error limit The commands in the POSERR subroutine could decode which axis is 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
90. 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 Specify vector speed Operand Summary Linear Interpolation Return the absolute coordinate of the last data point along the trajectory _LM Returns number of available spaces for linear segments in DMC 1300 sequence buffer Zero means buffer full 512 means buffer empty m X Y Z or W or A B C D E F G or H To illustrate the ability to interrogate the motion status consider the first motion segment of our example LMOVE where the X axis moves toward the point X 5000 Suppose that when X 3000 the controller is interrogated using the command MG _AV The returned value will be 3000 The value of _CS _VPX and _VPY will be zero Chapter 6 Programming Motion e Error Main Document Only 68 DMC 1300 Now suppose that the interrogation is repeated at the second segment when Y 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 sec2 Instruction TEST LM ZW LI 40000 30000 LE VS 100000 VA 1000000 VD 1000000 BGS AMS EN Interpretation Label Specify axes for linear interpolation Specify ZW distances Specify end move Specify vector speed Specify vector
91. 00 In a Program Yes Default Format 8 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _ACXx contains the value of acceleration for the specified axis RELATED COMMANDS DC on page 191 Specifies deceleration rate FA on page 204 Feedforward Acceleration IT on page 219 Smoothing constant S curve EXAMPLES AC 150000 200000 300000 400000 Set X axis acceleration to 150000 Y axis to 200000 counts sec2 the Z axis to 300000 counts sec and the W axis to 400000 count sec AC Request the Acceleration 0149504 0199680 0299008 0399360 Return Acceleration resolution 1024 V _ACY Assigns the Y acceleration to the variable V Hint Specify realistic acceleration rates based on your physical system such as motor torque rating loads and amplifier current rating Specifying an excessive acceleration will cause large following error during acceleration and the motor will not follow the commanded profile The acceleration feedforward command FA will help minimize the error Error Reference source not found e 10 163 AD Binary A2 FUNCTION After Distance DESCRIPTION The After Distance AD command is a trippoint used to control the timing of events This command will hold up the execution of the following command until one of the following conditions have been met 1 The commanded motor position crosses the specified relative distance from the start of the move 2 The motion profil
92. 000 for servo motor operation and between 0 and 2 000 000 for stepper motors Note The product r A must be limited to 4 5 108 USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS VP on page 291 VS on page 293 VD on page 287 VA on page 286 VM on page 289 VE on page 288 BG on page 174 EXAMPLES VMXY VS 10000 CR 1000 0 360 CR 1000 0 360 lt 40000 DEFAULTS Yes Yes Yes Vector Position Vector Speed Vector Deceleration Vector Acceleration Vector Mode End Vector BGS Begin Sequence Default Value Default Format Specify vector motion in the X and Y plane Specify vector speed Generate circle with radius of 1000 counts start at 0 degrees and complete one circle in counterclockwise direction Generate circle with radius of 1000 counts start at 0 degrees and complete one circle in counterclockwise direction and use a vector speed of 40000 Error Reference source not found e 10 186 VE End Sequence BGS Start motion DMC 1300 Error Reference source not found e 10 187 DMC 1300 CS Binary E2 FUNCTION Clear Sequence DESCRIPTION The CS command will remove VP CR or LI commands stored in a motion sequence Note after a sequence has been run the CS command is not necessary to put in anew sequence This command is useful when you have incorrectly specified VP CR or LI commands Note This co
93. 10 in the General Registers indicates if an application strand is executing USAGE DEFAULTS While Moving Yes Default Value of n 0 In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _XQn contains the current line number of execution for thread n and 1 if thread n is not running RELATED COMMANDS HX on page 214 Halt execution EXAMPLES XQ Apple 0 Start execution at label Apple thread zero XQ data 2 Start execution at label data thread two XQ0 Start execution at line 0 Hint Don t forget to quit the edit mode first before executing a program DMC 1300 Error Reference source not found 10 297 ZR Binary B9 FUNCTION Zero DESCRIPTION The ZR command sets the compensating zero in the control loop or returns the previously set value It fits in the control equation as follows D z GN z ZR z ARGUMENTS ZR x y z w ZRX x ZR a b c d e f g h where X y Z W are unsigned numbers in the range 0 to 1 decimal with a resolution of 1 256 2 returns the value of the compensating zero for the specified axis USAGE DEFAULTS While Moving Yes Default Value 9143 In a Program Yes Default Format 3 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _ZRx contains the value of the compensating zero for the specified axis RELATED COMMANDS GN on page 210 Gain KD on page Derivative KP on page 225 Proportional KI on
94. 1300 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 Chapter 3 Connecting Error Main Document Only 30 LSCOM 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 DMC 1300 The DMC 1300 analog command voltage ACMD ranges between 10V This signal along with GND provides the input to the power amplifiers The power amplifiers must be sized to drive the motors and load For best performance the amplifiers should be configured for a current mode of operation with no additional compensation The gain should be set such that a 10 Volt input results in the maximum required current The DMC 1300 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 OE command Enable Off On Error i
95. 147483648 to 2147483647 decimal 2 returns the current position of the specified axis DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 7 0 Command Line Yes Can be Interrogated Yes Used as an Operand No EXAMPLES IP 50 50 counts with set acceleration and speed CORRECT Label AC 100000 Set acceleration JG 10000 BGX Jog at 10000 counts sec rate WT 1000 Wait 1000 msec IP 10 Move the motor 10 counts instantaneously STX Stop Motion Error Reference source not found e 10 218 IT Binary BC FUNCTION Independent Time Constant Smoothing Function DESCRIPTION The IT command filters the acceleration and deceleration functions in independent moves of JG PR PA type to produce a smooth velocity profile The resulting profile known as S curve has continuous acceleration and results in reduced mechanical vibrations IT sets the bandwidth of the filter where 1 means no filtering and 0 004 means maximum filtering Note that the filtering results in longer motion time ARGUMENTS IT x y z w ITX x IT a b c d e f g h where X y Z W are positive numbers in the range between 0 004 and 1 0 with a resolution of 1 256 2 returns the value of the independent time constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 7 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _ITx contains the value of the indepen
96. 199 EN Binary 84 FUNCTION End DESCRIPTION The EN command is used to designate the end of a program or subroutine If a subroutine was called by the JS command the EN command ends the subroutine and returns program flow to the point just after the JS command The EN command is used to end the automatic subroutines MCTIME CMDERR and COMINT When the EN command is used to terminate the COMINT communications interrupt subroutine there are two arguments the first determines whether trippoints will be restored upon completion of the subroutine and the second determines whether the communication interrupt will be re enabled ARGUMENTS EN m n where m 0 Return from COMINT without restoring trippoint m Return from subroutine and restore trippoint n 0 Return from COMINT without restoring interrupt n 1 Return from communications interrupt COMINT and restore interrupt Note1l The default values for the arguments are 0 For example EN 1 and ENO 1 have the same effect Note2 Trippoints cause a program to wait for a particular event The AM command for example waits for motion on all axes to complete If the COMINT subroutine is executed due to a communication interrupt while the program is waiting for a trippoint the COMINT can end by continuing to wait for the trippoint as if nothing happened or clear the trippoint and continue executing the program at the command just after the trippoint The EN arguments will specify how t
97. 2 53 54 55 56 Description X Home Input Y Forward limit Y Reverse limit Y Home Z Forward limit Z Reverse limit Z Home W Forward limit W Reverse limit W Home Ground Abort input Main encoder A Main encoder A Main encoder B Main encoder B Main encoder I X X X X X X Main encoder I Y Main encoder A Y Main encoder A Y Main encoder B Y Main encoder B Y Main encoder I Y Main encoder I Z Main encoder A Z Main encoder A Z Main encoder B Z Main encoder B Z Main encoder I Z Main encoder I W Main encoder A W Main encoder A W Main encoder B W Main encoder B W Main encoder I W Main encoder I Appendices e A 317 Terminal 101 102 103 104 Label 12V 12V 5y GND I O J2 J3 J4 J5 Description 57 58 2 59 19 15 9 1 60 20 20 8 J2 Main 60 pin IDC J3 Aux Encoder 20 pin IDC J4 Driver 20 pin IDC J5 General I O 26 pin IDC Connectors are the same as described in section entitled Connectors for DMC 1300 Main Board see pg 303 JX6 JY6 JZ6 JW6 Encoder Input 10 pin IDC 1 CHA 3 GND 5 CHA 7 CHB 9 INDEX 2 VCC 4 No Connection 6 CHA 8 CHB 10 INDEX CAUTION The ICM 1100 10 pin connectors are designed for the N23 and N34 encoders from Galil If you are using Galil s Motor 5 500 Motor 50 1000 or Motor 500 1000 you must cut encoder wires 5 6 7 and 9 DMC 1300 Appendices A 318 ICM 1100 Drawing DM
98. 2 087 OB8 OBD G axis data OBE 0C3 H axis data DMC 1300 Chapter 4 VME Communication e Error Main Document Only 46 DMC 1300 Example The command KP is sent to the command buffer of a DMC 1340 The response buffer would show the following for X Y Z and W values of 10 20 30 and 40 respectively Address Value hex Comment 070 B6 Code for KP 071 8F All axes valid 072 077 00 00 00 0A 00 00 X data 10 078 07D 00 00 00 14 00 00 Y data 20 OTE 083 00 00 00 1E 00 00 Z data 30 084 089 00 00 00 28 00 00 W data 40 Example The command ER is sent to the command buffer of a DMC 1380 The response buffer would show the following for X Y Z W E F Gand H values of 100 200 300 400 500 600 700 and 800 respectively Address Value hex Comment 090 BF Code for ER 091 80 Bit 7 1 for interrogation 093 FF All axes valid 094 099 00 00 00 64 00 00 X data 100 09A OOF 00 00 00 C8 00 00 Y data 200 OAO 0A5 00 00 01 2C 00 00 Z data 300 0A6 0AB 00 00 01 90 00 00 W data 400 OAC 0B1 00 00 01 F4 00 00 E data 500 OB2 OB7 00 00 02 58 00 00 F data 600 OB8 OBD 00 00 02 BC 00 00 G data 700 OBE 0C3 00 00 03 20 00 00 H data 800 Contour Buffer DMC 1310 1340 Addresses 0A0 0BD DMC 1350 1380 Addresses 0E0 101 The contour buffer holds the contour record sent by the host during contour mode This mode allows for arbitrary profiles by defining a set of positions vs time The contour mode is expl
99. 3 Address 125 26 144 250 51 329 AMP 1100 14 314 Amplifier Enable 32 33 139 Amplifier Gain 4 150 153 155 Analog Input 1 3 25 32 120 21 123 128 130 31 136 301 315 324 Arithmetic Functions 1 97 112 118 121 Arm Latch 94 167 326 28 Array 3 70 80 83 97 104 112 118 123 28 190 193 242 302 313 324 327 Automatic Subroutine 101 114 CMDERR 101 115 117 LIMSWI 25 101 114 15 140 42 252 MCTIME 101 107 115 116 234 284 POSERR 101 114 15 140 41 202 243 252 Auxiliary Board 306 Auxiliary Encoder 1 25 76 83 87 83 87 182 183 192 209 308 311 315 Dual Encoder 87 126 192 196 B Backlash 86 87 136 196 Backlash Compensation Dual Loop 83 87 83 87 136 196 Begin Motion 325 Binary 159 Doc To Help Standard Template Bit Wise 118 Burn 177 EEPROM 3 177 189 259 Non volatile memory 1 3 Variables 179 Bypassing Optoisolation 30 C Capture Data Record 80 82 123 127 249 51 Circle 133 185 186 203 Circular Interpolation 1 23 24 71 72 76 125 133 250 289 Clear Bit 128 180 Clear Sequence 66 68 72 74 188 Clock 123 274 276 Sample Time 276 Update Rate 274 CMDERR 101 115 117 Code 159 167 182 192 196 202 205 6 209 212 234 236 239 262 284 Command Syntax 55 56 159 60 Command Summary 60 123 126 Commanded Position 62 64 76 77 117 126 131 145 47 209 Communication 3 189 Compare Function 192 270 Compensation Backlash 86 87 136 196
100. 4 22 Input 12 Latch H 24 Input 10 Latch F 26 Input Common Isolated 5 Volts JD3 20 pin IDC Auxiliary Encoders 1 NC 3 Aux B H 5 Aux A H 7 Aux B G 9 Aux A G 11 Aux B F 13 Aux A F 15 Aux B E 17 Aux A E 19 5 Volt 2 N C 4 Aux B H 6 Aux A H 8 Aux B G 10 Aux A G 12 Aux B F 14 Aux A F 16 Aux B E 18 Aux A E 20 Ground Appendices e A 308 DMC 1300 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 G 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 1300 Main Board connector J6 Appendices e A 309 Pin Out Description for DMC 1300 DMC 1300 Outputs Analog Motor Command Amp Enable PWM STEP OUT PWM STEP OUT Sign Direction Error Output 1 Output 8 Output 9 Output 16 DMC 1380 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 ampli
101. 4KP D 4T KD I KI2T DMC 1300 Theory of Operation e 10 157 THIS PAGE LEFT BLANK INTENTIONALLY DMC 1300 Theory of Operation e 10 158 Chapter 11 Command Reference Command Descriptions DMC 1300 Each executable instruction is listed in the following section in alphabetical order Below is a description of the information which is provided for each command The two letter Opcode for each instruction is placed in the upper right corner Commands that have a binary equivalent list the binary value next to the ASCII command in parenthesis Below the opcode is a description of the command and required arguments Axes Arguments Some commands require the user to identify the specific axes to be affected These commands are followed by uppercase X Y Z W or A B C D E F G and H No commas are needed and the order of axes is not important Do not insert any spaces prior to any command For example STX AMX is invalid because there is a space after the semicolon When no argument is given the command is executed for all axes Valid XYZW syntax SH X Servo Here X only SH XYW Servo Here X Y and W axes SH XZW Servo Here X Z and W axes SH XYZW Servo Here X Y Z and W axes SH BCAD Servo Here A B C and D axes Note ABCD IS the same as XYZW SH ADEG Servo Here A D E and G axes Note AD is the same as XW SHH Servo Here H axis only SH Servo Here all axes Parameter Arguments Some commands require numerical arguments to be
102. 5 DV Binary F4 FUNCTION Dual Velocity Dual Loop DESCRIPTION The DV function changes the operation of the filter It causes the KD derivative term to operate on the dual encoder instead of the main encoder This results in improved stability in the cases where there is a backlash between the motor and the main encoder and where the dual encoder is mounted on the motor ARGUMENTS DV x y z w where x y z w may be 0 or 1 0 disables the function 1 enables the dual loop 2 returns a 0 if dual velocity mode is disabled and 1 if enabled for the specified axes USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE DEFAULTS Yes Default Value 0 Yes Default Format 1 0 Yes Yes Yes _DVx contains the state of dual velocity mode for specified axis 0 disabled 1 enabled RELATED COMMANDS KD on page 223 FV on page 208 EXAMPLES DV 1 1 1 1 DV0 DV 11 DV 1 0 1 0 Damping constant Velocity feedforward Enables dual loop on all axes Disables DV on X axis Enables dual loop on Z axis and WX axis Other axes remain unchanged Enables dual loop on X and Z axis Disables dual loop on Y and W axis Hint The DV command is useful in backlash and resonance compensation DMC 1300 Error Reference source not found e 10 196 ED Binary 98 FUNCTION Edit DESCRIPTION Using Galil COMM 1300 Terminal Software The ED command puts the
103. 7 2 Integrator limits IL Returns the X axis limit 3 0000 DMC 1300 Error Reference source not found e 10 217 DMC 1300 IP Binary CF FUNCTION Increment Position DESCRIPTION The IP command allows for a change in the command position while the motor is moving This command does not require a BG The command has three effects depending on the motion being executed The units of this are quadrature Case 1 Motor is standing still An IP x y z w command is equivalent to a PR x y z w and BG command The motor will move to the specified position at the requested slew speed and acceleration Case 2 Motor is moving towards specified position An IP x y z w command will cause the motor to move to a new position target which is the old target plus x y z w x y z w must be in the same direction as the existing motion Case 3 Motor is in the Jog Mode An IP x y z w command will cause the motor to instantly try to servo to a position x y zZ w from the present instantaneous position The SP and AC parameters have no effect This command is useful when synchronizing 2 axes in which one of the axis speed is indeterminate due to a variable diameter pulley Warning When the mode is in jog mode an IP will create an instantaneous position error In this mode the IP should only be used to make incremental position movements ARGUMENTS IP x y z w IPX x IP a b c d e f g h where USAGE X y Z w are signed numbers in the range 2
104. 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 DMC 1300 Chapter 3 Connecting Error Main Document Only 29 DMC 1300 For Voltages gt 28V Isolated Supply Figure 3 2 Connecting a single Limit or Home Switch to an Isolated Supply NOTE As stated in Chapter 2 the wiring is simplified when using the ICM 1100 or AMP 11x0 interface board This board accepts the signals from the ribbon cables of the DMC 1300 and provides phoenix type screw terminals A picture of the ICM 1100 can be seen on pg 2 14 The user must wire the system directly off the ribbon cable if the ICM 1100 or equivalent breakout board is not available Bypassing the Opto lsolation If no isolation is needed the internal 5 Volt supply may be used to power the switches as shown in Figure 3 3 This can be done by connecting a jumper between the pins LSCOM or INCOM and 5V labeled J9 These jumpers can be added on either the ICM 1100 or the DMC
105. Abort input is detected For information on setting the Off On Error function see the Command Reference OE NOTE The error LED does not light up when the Abort Input is active Uncommitted Digital Inputs The DMC 1300 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 Controllers with 5 or more axes have 16 opto isolated inputs and 8 TTL level inputs The inputs 9 16 and the limit switch inputs for the additional axes are accessed through the second 26 pin connector JD 5 The status of the general purpose inputs can be read in the General Registers of the Dual Port RAM Address 02A on the DMC 1310 1340 shows the status of the 8 general purpose inputs while addresses 02A 02C of the DMC 1350 1380 show the status of the 24 general purpose inputs Wiring the Optoisolated Inputs DMC 1300 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 i
106. BG command combination Command Summary Independent Axis HO xYEW SU xv SES 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 Operand Summary Independent Axis OPERAND DESCRIPTION _Acx Return acceleration rate for the axis specified by x _DCx Return deceleration rate for the axis specified by x _SPx Returns the speed for the axis specified by x _PAx Returns current destination if x axis is moving otherwise returns the current commanded position if in a move _PRx Returns current incremental distance specified for the x axis 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 Chapter 6 Programming Motion e Error Main Document Only 62 X Axis Y Axis Z Axis DMC 1300 Example Multiple Move Sequence Required Motion Profiles 500 counts 10000 count sec 500000 counts sec2 1000 counts 15000 count sec 500000 counts sec2 100 counts 5000 counts sec 500000 counts sec Position Speed Acceleration Position Speed Acceleration Position Speed Acceleration This example will specify a relative position movement on X Y and Z axes The movement on each axis will be separated
107. Binary A1 FUNCTION After Input DESCRIPTION The AI command is used in motion programs to wait until after the specified input has occurred If n is positive it waits for the input to go high If n is negative it waits for n to go low ARGUMENTS AI n where n is an integer in the range to 8 decimal USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS IN n II on page 215 ININT EXAMPLES A AI8 SP 10000 AC 20000 PR 400 BGX EN Function to read input 1 through 8 Input interrupt Label for input interrupt Begin Program Wait until input 8 is high Speed is 10000 counts sec Acceleration is 20000 counts sec2 Specify position Begin motion End Program Hint The AI command actually halts execution until specified input is at desired logic level Use the conditional Jump command JP or input interrupt II if you do not want the program sequence to halt DMC 1300 Error Reference source not found e 10 166 AL Binary 90 FUNCTION Arm Latch DESCRIPTION The AL command enables the latching function high speed main or auxiliary position capture of the controller When the position latch is armed the main or auxiliary encoder position will be captured upon a low going signal Each axis has a position latch and can be activated through the general inputs Input 1 X or A axis Input
108. C through 11F for the X axis velocity of the DMC 1340 and 21C through 21F for the X axis velocity of the DMC 1380 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 7 0 Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _TVx contains the value of the velocity for the specified axis EXAMPLES VELX _TVX Assigns value of X axis velocity to the variable VELX TVX Returns the Y axis velocity 0003420 Note The TV command is computed using a special averaging filter over approximately 25 sec Therefore TV will return average velocity not instaneous velocity Error Reference source not found 10 283 TW No Binary FUNCTION Timeout for IN Position MC DESCRIPTION The TW x y z w command sets the timeout in msec to declare an error if the MC command is active and the motor is not at or beyond the actual position within n msec after the completion of the motion profile If a timeout occurs then the MC trippoint will clear and the stopcode will be set to 99 An application program will jump to the special label MCTIME The RE command should be used to return from the MCTIME subroutine ARGUMENTS TW x y z w TWX X TW a b c d e f g h where x y z w specifies timeout in msec range 0 to 32767 msec 1 disables the timeout returns the timeout in msec for the MC command for the specified axis USAGE DEFAULTS While Moving Yes Default Value 32766 In a Program Ye
109. C 1300 Appendices e A 319 AMP 11x0 Mating Power Amplifiers The AMP 11X0 series are mating brush type servo amplifiers for the DMC 1300 The AMP 1110 contains one amplifier the AMP 1120 two amplifiers the AMP 1130 three and the AMP 1140 four Each amplifier is rated for 7 amps continuous 10 amps peak at up to 80 volts The gain of the AMP 11X0 is 1 amp volt The AMP 11X0 requires an external DC supply The AMP 11X0 connects directly to the DMC 1300 ribbon connectors and screw type terminals are provided for connection to motors encoders and external switches Features e 6amps continuous 10 amps peak 20 to 80 volts e Available with 1 2 3 or 4 amplifiers e Connects directly to DMC 1300 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 DMC 1300 Appendices e A 320 Coordinated Motion Mathematical Analysis DMC 1300 The terms of coordinated motion are best explained in terms of the vector motion The vector velocity Vs which is also known as the feed rate is the vector sum of the velocities along the X and Y axes Vx and Vy Vs 4 Vx Vy The vector distance is the integral of Vs or the total distanc
110. COS 45 40 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 1300 numeric operand including variables array elements numeric values functions keywords and arithmetic expressions The bit wise operators may also be used with strings Bit wise operators are useful for separating characters from an input string When using the input command for string input the input variable holds 6 bytes of data Each byte is eight bits so a number represented as 32 bits of integer and 16 bits of fraction Each ASCII character is represented as one byte 8 bits therefore the input variable can hold a six character string The first character of the string will be placed in the top byte of the variable and the last character will be placed in the lowest significant byte of the fraction The characters can be individually separated by using bit wise operations as illustrated in the following example Instruction Interpretation TEST Begin main program IN ENTER LEN S6 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 Chapter 7 Appli
111. CRIPTION The MC command is a trippoint used to control the timing of events This command will hold up execution of the following commands until the current move on the specified axis or axes is completed and the encoder reaches or passes the specified position Any combination of axes or a motion sequence may be specified with the MC command For example MC XY waits for motion on both the X and Y axis to be complete MC with no parameter specifies that motion on all axes is complete TW x y z w sets the timeout to declare an error if the encoder is not in position within the specified time If a timeout occurs the trippoint will clear and the stopcode will be set to 99 An application program will jump to the special label HMCTIME When used in stepper mode the controller will hold up execution of the proceeding commands nn until the controller has generated the same number of steps as specified in the commanded position The actual number of steps that have been generated can be monitored by using the interrogation command TD Note The MC command is useful when operating with stepper motors since the step pulses can be delayed from the commanded position due to the stepper motor smoothing function KS ARGUMENTS MC XYZW MC ABCDEFGH where X Y Z W specifies X Y Z or W axis or sequence No argument specifies that motion on all axes is complete USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command
112. Chapter 5 Command Basics e Error Main Document Only 60 Chapter 6 Programming Motion Overview The DMC 1300 can be commanded to do the following modes of motion Absolute and relative independent positioning jogging linear interpolation up to 8 axes linear and circular interpolation 2 axes with 3rd axis of tangent motion electronic gearing and contouring These modes are discussed in the following sections The DMC 1310 is a single axis controller and uses X axis motion only Likewise the DMC 1320 uses X and Y the DMC 1330 uses X Y and Z and the DMC 1340 uses X Y Z and W The DMC 1350 uses A B C D and E The DMC 1360 uses A B C D E and F The DMC 1370 uses A B C D E F and G The DMC 1380 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 1300 In this mo de 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 1300 profiler generates the corresponding trapezoidal or triangular velocity profile and position trajectory The controller determines a new command position along the traje
113. Conditional jump 1 21 27 97 110 12 130 166 221 22 Configuration Jumper 30 144 184 240 259 Connector 25 28 33 184 240 Contour Mode 78 83 181 183 188 195 295 Control Filter Damping 144 148 Gain 210 224 25 Integrator 148 152 53 217 Proportional Gain 148 Coordinated Motion 57 70 72 209 277 286 87 289 292 293 Circular 1 23 24 71 72 76 125 133 250 289 Contour Mode 78 83 181 183 188 195 295 Electronic Gearing 1 72 78 209 211 Gearing 1 72 78 209 211 Linear Interpolation 23 64 68 64 68 70 76 78 227 229 31 291 Vector Mode 173 74 203 291 Cosine 118 19 124 Cycle Time Clock 123 274 276 Index e 331 D DAC 1 148 152 53 155 Damping 144 148 Data Capture 125 26 249 Data Output Set Bit 128 180 261 Debugging 104 279 Deceleration 1 162 63 171 191 204 7 219 20 294 Default Setting 259 Master Reset 161 259 260 274 Differential Encoder 12 14 144 Digital Filter 152 53 155 57 Digital Input 25 27 119 129 Digital Output 119 128 Clear Bit 128 180 Dip Switch Address 250 51 329 Download 97 Dual Encoder 87 126 192 196 Backlash 86 87 136 196 Dual Loop 83 87 83 87 136 196 Dual Loop 83 87 83 87 136 196 Backlash 86 87 136 196 E Echo 266 Edit Mode 21 97 98 105 197 297 Editor 21 97 98 EEPROM 3 177 189 259 Non Volatile Memory 1 3 Electronic Gearing 1 72 78 209 211 Ellipse Scale 74 203 Enable Amplifer Enable 32 33 139 Encoder 58
114. Connecting Error Main Document Only 25 DMC 1300 The operands _LFx and _LRx return the state of the forward and reverse limit switches respectively x represents the axis X Y Z W etc The value of the operand is either a 0 or 1 corresponding to the logic state of the limit switch Using a terminal program the state of a limit switch can be printed to the screen with the command MG _LFx or MG _LFx This prints the value of 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 The state of the forward and reverse limit switches can also be read directly through the Dual Port RAM Bit 3 of the Switches address in the Axis Buffer indicates the status of the forward limit switch on an axis while Bit 2 of that address indicates the status of the reverse limit switch For example the forward limit switch for the DMC 1340 X axis is read at Bit 3 of address 105 while the reverse limit switch for the DMC 1380 X Axis is read at Bit 2 of address 205 Home Switch Input The Home inputs are designed to provide mechanical reference points for a motion control application A transition in the state of a Home input alerts the controller that a particular reference point has been reached by a moving part in the motion control system A reference point can be a point in space or an encoder index pulse The Home input
115. Cutter 131 X XQ Execute Program 21 22 297 Z Zero Stack 117 130 Index e 335
116. DMC 1300 Note If the motors are disabled while they are moving they may coast to a stop because they are no longer under servo control To re enable the system use the Reset RS or Servo Here SH command Examples Using Off On Error OE 1 1 1 1 Enable off on error for X Y Z and 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 A EN 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 1300 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 Chapter 8 Hardware amp Software Protection e 8 141 LIMSWI label specifies the start of the limit switc
117. DMC 1300 FUNCTION IF JUMPERED Connect LSCOM to 5V Connect INCOM to 5V Address selection jumpers Default is no jumpers for base address of FO 00 Interrupt address jumpers This three bit number must equal the IRQ number selected ie AD2 and IAD4 jumpered for IRQ6 Interrupt request jumpers One of these must be jumpered to enable an interrupt line and a service routine written to the host In addition the interrupt address jumpers IAD must be set and the EI command sent with a corresponding vector 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 Appendices e A 312 Offset Adjustments for DMC 1300 X offset Y offset Z offset W offset Used to null ACMD offset for X axis Used to null ACMD offset for Y axis Used to null ACMD offset for Z axis Used to null ACMD offset for W axis Note These adjustments are made at the Galil factory and should not need adjustment under most applications Accessories and Options DMC 1310 DMC 1320 DMC 1330 DMC 1340 DMC 1350 DMC 1360 DMC 1370 DMC 1380 ICM 1100 AMP 1110 AMP 1120 AMP 1130 AMP 1140 MX option AF option N23 54 1000 N34 150 1000 COM
118. G SPEED TOO HIGH MG TRY AGAIN ZS1 JP BEGIN DONE ZSO EN 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 1300 provides the use of the following mathematical operators DMC1000 Chapter 7 Application Programming 7 e 117 DMC1000 Logical And Bit wise Logical Or On some computers a solid vertical line appears as a broken line Parenthesis The numeric range for addition subtraction and multiplication operations is 2 147 483 647 9999 The precision for division is 1 65 000 Mathematical operations are executed from left to right Calculations within a parentheses have precedence Examples of MATHEMATICAL EXPRESSION SPEED 7 5 V 1 2 The variable SPEED is equal to 7 5 multiplied by V1 and divided by 2 COUNT COUNT 2 The variable COUNT is equal to the current value plus 2 RESULT _TPX Puts the position of X 28 28 in RESULT 40 cosine of 45 is 28 28
119. IPTION The II command enables the interrupt function for the specified inputs m specifies the beginning input and n specifies the final input in the range For example II 2 4 specifies interrupts occurring for Input 2 Input 3 and Input 4 m 0 disables the Input Interrupts If only the m parameter is given only that input will generate an interrupt The parameter o is an interrupt mask for all eight inputs If m and n are unused o contains a number with the mask A 1 designates that input to be enabled for an interrupt Example II 5 enables inputs 1 and 3 If any of the specified inputs go low during program execution the program will jump to the subroutine with label ININT Any trippoints set by the program will be cleared but can be re enabled by the proper termination of the interrupt subroutine using RI The RI command is used to return from the ININT routine ARGUMENTS II m n o where m is an integer in the range 0 to 8 decimal n is an integer in the range to 8 decimal ois an integer in the range 0 to 255 decimal USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 3 0 mask only Command Line No Can be Interrogated No Used as an Operand No RELATED COMMANDS RI on page 253 Return from Interrupt ININT Interrupt Subroutine AI on page 166 Trippoint for input EXAMPLES A Program A Il Specify interrupt on input 1 JG 5000 BGX Specify jog and begin motion on X axis LOOP JP LOOP Loop
120. In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _BG contains a 0 if motion complete on the specified axis otherwise contains a 1 RELATED COMMANDS AM on page 168 After motion complete ST on page 265 Stop motion DMC 1300 EXAMPLES PR 2000 3000 5000 Set up for a relative move BG XYW Start the X Y and W motors moving HM Set up for the homing BGX Start only the X axis moving JG 1000 4000 Set up for jog BGY Start only the Y axis moving YSTATE _BGY VP 1000 2000 Assign a 1 to YSTATE if the Y axis is performing a move Specify vector position VS 20000 Specify vector velocity BGS Begin coordinated sequenOce VMXY Vector Mode VP 4000 1000 Specify vector position VE Vector End PR 8000 5000 Specify Z and W position BGSZW Begin sequence and Z W motion MG _BGS Displays a 1 if coordinated sequence move is running Error Reference source not found e 10 174 Hint You cannot give another BG command until current BG motion has been completed Use the AM trippoint to wait for motion complete between moves Another method for checking motion complete is to test for _BG being equal to 0 DMC 1300 Error Reference source not found e 10 175 BL Binary C7 FUNCTION Reverse Software Limit DESCRIPTION The BL command sets the reverse software limit If this limit is exceeding during motion motion on that axis will decelerate to a stop
121. Instruction EX AMPLE VM XYZ TN 2000 360 500 CR 3000 0 180 VE CBO PA 3000 0 _TN BG XYZ AM XYZ SBO Interpretation Example program XY coordinate with Z as tangent 2000 360 counts degree position 500 is 0 degrees in XY plane 3000 count radius start at 0 and go to 180 CCW End vector Disengage knife Move X and Y to starting position move Z to initial tangent position Start the move to get into position When the move is complete Engage knife Chapter 6 Programming Motion e Error Main Document Only 73 DMC 1300 WT50 Wait 50 msec for the knife to engage BGS Do the circular cut AMS After the coordinated move is complete CBO Disengage knife MG ALL DONE EN End program Command Summary Vector Mode Motion COMMAND DESCRIPTION VM m n Specifies the axes for the planar motion where m and n represent the planar axes and p is the tangent axis Return coordinate of last point where m X Y Z or W CR 1 0 tAO Specifies arc segment where r is the radius Ois the starting angle and A is the travel angle Positive direction is CCW Specify vector speed or feedrate of sequence sequence buffer Zero means buffer is full 512 means buffer is empty Operand Summary Vector Mode Motion OPERAND DESCRIPTION _VPM The absolute coordinate of the axes at the last intersection along the sequence Distance traveled Trippoint for After Relative Vector distance n Number of available spaces for linear
122. 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 activates the dual loop for the four axes and DV 0 0 0 0 disables the dual loop Note that the dual loop compensation depends on the backlash magnitude and in extreme cases will not stabilize the loop The proposed compensation procedure is to start with KP 0 KI 0 and to maximize the value of KD under the condition DV1 Once KD is found increase KP gradually to a maximum value and finally increase KI if necessary Example Sampled Dual Loop In this example we consider a linear slide which is run by a rotary motor via a lead screw Since the lead screw has a backlash it is necessary to use a linear encoder to monitor the position of the slide For stability reasons it is best to use a rotary encoder on the motor Connect the rotary encoder to the X axis and connect the linear encoder to the auxiliary encoder of X Assume that the required motion distance is one inch and that this corresponds to 40 000 counts of the rotary encoder and 10 000 counts of the linear encoder The design approach is to drive the motor a distance which corresponds to 40 000 rotary counts Once the motion is complete the controller monitors the position of the linear encoder and performs position corrections This is done by the following program Chapter 6 Programming Motion e E
123. Labels in Programs All DMC 1300 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 BEGINI Invalid labels Label Problem Chapter 7 Application Programming 7 e 100 DMC1000 1Square SQUAREPEG Program Example Instruction START PR 10000 20000 BG XY AM WT 2000 JP START EN Can not use number to begin a label Can not use more than 7 characters in a label Interpretation Beginning of the Program Specify relative distances on X and Y axes Begin Motion Wait for motion complete Wait 2 sec Jump to label START End of Program 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 Special Labels The DMC 1300 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 114 ININT LIMSWI POSERR MCTIME CMDERR Label f
124. Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS BG on page 174 Begin AM on page 168 After Move TW on page 284 Timeout EXAMPLES MOVE Program MOVE PR 5000 5000 5000 5000 Position relative moves BGX Start the X axis MC X After the move is complete on X BGY Start the Y axis MC Y After the move is complete on Y BGZ Start the Z axis MCZ After the move is complete on Z DMC 1300 Error Reference source not found 10 234 BG W Start the W axis MC W After the move is complete on W EN End of Program F DP 0 0 0 0 Program F Position PR 5000 6000 7000 8000 relative moves BG Start X Y Z and W axes MC After motion complete on all axes MG DONE TP Print message EN End of Program Hint MC can be used to verify that the actual motion has been completed DMC 1300 Error Reference source not found 10 235 MF Binary D9 FUNCTION Forward Motion to Position DESCRIPTION The MF command is a trippoint used to control the timing of events This command will hold up the execution of the following command until the specified motor moves forward and crosses the position specified The units of the command are in quadrature counts Only one axis may be specified at a time The MF command can also be used when the encoder is the master and not under servo control ARGUMENTS MFx or MF y or MF z or MF w MFX X MF abcdefgh where X y Z W are signed integers in the range 2147483648 t
125. M 1300 DMC 1300 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 Servo motor NEMA 23 54 0z in continuous Servo motor NEMA 34 150 ozin continous Terminal emulator for use with DMC 1300 and Bit 3 VME system Appendices e A 313 ICM 1100 Interconnect Module The ICM 1100 Interconnect Module provides easy connections between the DMC 1300 series controllers and other system elements such as amplifiers encoders and external switches The ICM 1100 accepts each DMC 1300 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 The ICM 1100 is packaged as acircuit board mounted to a metal enclosure A version of the ICM 1100 is also available with servo amplifiers see AMP 11X0 Features Breaks out all DMC 1300 ribbon cables into individual screw type terminals Clearly identifies all terminals Provides jumper for connecting limit and input supplies to 5 volt supply from PC Available with on board servo drives see AMP 1100 10 pin IDC connectors for encoders
126. MANDS KP on page 225 Proportional Constant KI on page 224 Integrator IL on page 217 Integrator Limit DMC 1300 Error Reference source not found 10 225 KS Binary FUNCTION Step Motor Smoothing DESCRIPTION nn The KS parameter smoothes the frequency of the step motor pulses Larger values of KS provide greater smoothness This parameter will also increase the motion time by 3KS sampling periods KS adds a single pole low pass filter onto the output of the motion profiler This function smoothes out the generation of step pulses and is most useful when operating in full or half step mode Note KS will delay the step output ARGUMENTS KS x y z w KSX x KS a b c d e f g h where X y Z W are positive integers in the range between 5 and 8 with a resolution of 1 32 2 returns the value of the derivative constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value 2 In a Program Yes Default Format 4 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _KSx contains the value of the derivative constant for the specified axis RELATED COMMANDS MT on page 221 Motor Type EXAMPLES KS 2 4 8 Specify x y z axes KS 5 Specify x axis only KS 15 Specify z axis only Hint KS is valid for step motor only DMC 1300 Error Reference source not found e 10 226 DMC 1300 LE Binary E6 FUNCTION Linear Interpolation End DESCRIPTION LE signifies the end
127. MMANDS MT on page 240 Specify motor type EXAMPLES CE 0 3 6 2 Configure encoders CE Interrogate configuration V _CEX Assign configuration to a variable Note When using pulse and direction encoders the pulse signal is connected to CHA and the direction signal is connected to CHB DMC 1300 Error Reference source not found e 10 182 CM Binary D4 FUNCTION Contouring Mode DESCRIPTION The Contour Mode is initiated by the instruction CM This mode allows the generation of an arbitrary motion trajectory with any of the axes The CD command specified the position increment and the DT command specifies the time interval The command CM can be used to check the status of the Contour Buffer A value of 1 returned from the command CM indicates that the Contour Buffer is full A value of 0 indicates that the Contour Buffer is empty ARGUMENTS CM XYZW CM ABCDEFGH where the argument specifies the axes to be affected CM returns a if the contour buffer is full and 0 if the contour buffer is empty DPRAM The contour mode status can be read at bit 5 of address 010 of the General Status and at bit 6 of the Status 2 address in the Axis Buffer USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 2 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _CM contains a 0 if the contour buffer is empty otherwise contains a 1 RELATED COMMANDS
128. N INTERPRETATION 000 A Define label 001 PR 700 Distance 002 SP 2000 Speed 003 BGX Start X motion 004 EN End program To exit the editor mode input lt cntrl gt Q The program may be executed with the command XQ A Start the program running Example 12 Motion Programs with Loops Motion programs may include conditional jumps as shown below INSTRUCTION INTERPRETATION A Label DP 0 Define current position as zero V1 1000 Set initial value of V1 Loop Label for loop PA V1 Move X motor V1 counts BGX Start X motion AM X After X motion is complete WT 500 Wait 500 ms TPX Tell position X V1 V1 1000 Increase the value of V1 JP Loop V1 lt 10001 Repeat if V1 lt 10001 EN End After the above program is entered quit the Editor Mode lt cntrl gt Q To start the motion command XQ A Execute Program A Example 13 Motion Programs with Trippoints The motion programs may include trippoints as shown below INSTRUCTION INTERPRETATION DMC1000 Chapter 2 Getting Started e 2 21 B Label DP 0 0 Define initial positions PR 30000 60000 Set targets SP 5000 5000 Set speeds BGX Start X motion AD 4000 Wait until X moved 4000 BGY Start Y motion AP 6000 Wait until position X 6000 SP 2000 50000 Change speeds AP 50000 Wait until position Y 50000 SP 10000 Change speed of Y EN End program To start the program command XQ B Execute Program B Example 14 Control Variables Objective To show how control variable
129. N 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 DMC1000 Chapter 7 Application Programming 7 e 102 Executing Programs Multitasking The DMC 1300 can run up to four independent programs simultaneously These programs are called threads and are numbered 0 through 3 where 0 is the main one Multitasking is useful for executing independent operations such as PLC functions that occur independently of motion The main thread differs fromthe 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 HX n where n is the thread number Note that both the XQ and HX commands can be performed by an executing program Multitasking Example Producing Waveform on Output 1 Independent of a Move Instruction TASK1 ATO CBI LOOP1 AT 10 SBI AT 40 CBI JP LOOPI1 TASK2 XQ TASKI 1
130. Note Negative values will be interpreted as the absolute value ARGUMENTS SP x y z w SPX x SP a b c d e f g h where X y Z w or a b c d e f g h are unsigned numbers in the range 0 to 8 000 000 for servo motors OR nn X y Z W or a b c d e f g h are unsigned numbers in the range 0 to 2 000 000 for stepper motors 2 returns the speed for the specified axis USAGE DEFAULTS While Moving Yes Default Value 25000 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _SPx contains the speed for the specified axis RELATED COMMANDS AC on page 163 Acceleration DC on page 191 Deceleration PA on page 246 Position Absolute PR on page 247 Position Relation BG on page 174 Begin EXAMPLES PR 2000 3000 4000 5000 Specify x y z w parameter SP 5000 6000 7000 8000 Specify x y z w speeds BG Begin motion of all axes AMZ After Z motion is complete Note For vector moves use the vector speed command VS to change the speed SP is not a mode of motion like JOG JG DMC 1300 Error Reference source not found e 10 264 DMC 1300 ST Binary D2 FUNCTION Stop DESCRIPTION The ST command stops motion on the specified axis Motors will come to a decelerated stop If ST is given without an axis specification program execution will stop in addition to XYZW XYZW specification will not halt program execution ARGUMENTS ST XYZW ST ABCDEFGH
131. OMMANDS RC on page 250 Record Interval DM on page 193 Dimension Array EXAMPLES DM ERRORX 50 ERRORY 50 Define array RA ERRORX ERRORY Specify record mode RD _TEX _TEYS Specify data type RCI Begin record JG 1000 BG Begin motion DMC 1300 Error Reference source not found e 10 251 RE No Binary FUNCTION Return from Error Routine DESCRIPTION The RE command is used to end a position error handling subroutine or limit switch handling subroutine The error handling subroutine begins with the POSERR label The limit switch handling subroutine begins with the LIMSWI An RE at the end of these routines causes a return to the main program Care should be taken to be sure the error or limit switch conditions no longer occur to avoid re entering the subroutines If the program sequencer was waiting for a trippoint to occur prior to the error interrupt the trippoint condition is preserved on the return to the program if REI is used REO clears the trippoint To avoid returning to the main program on an interrupt use the ZS command to zero the subroutine stack ARGUMENTS REn where n Oor 1 O clears the interrupted trippoint 1 restores state of trippoint USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS POSERR LIMSWI EXAMPLES A JP A EN POSERR MG ERROR SB1 RE DEFAULTS No Default Value Yes Default Format Error Subroutine
132. ON The WT command is a trippoint used to time events After this command is executed the controller will wait for the number of samples specified before executing the next command If the TM command has not been used to change the sample rate from 1 msec then the units of the Wait command are milliseconds ARGUMENTS WT n where n is an integer in the range 0 to 2 Billion decimal USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No EXAMPLES Assume that 10 seconds after a move is over a relay must be closed A Program A PR 50000 Position relative move BGX Begin the move AMX After the move is over WT 10000 Wait 10 seconds SB 0 Turn on relay EN End Program Hint To achieve longer wait intervals just stack multiple WT commands DMC 1300 Error Reference source not found 10 296 XQ Binary 82 FUNCTION Execute Program DESCRIPTION The XQ command begins execution of a program residing in the program memory of the programs may be executed simultaneously with the DMC 1300 ARGUMENTS XQ A n XQm n where A is a program name of up to seven characters m is a line number n is an integer representing the thread number for multitasking in the range of 0 to 3 NOTE The arguments for the command XQ are optional If no arguments are given the first program in memory will be executed as thread 0 DPRAM Bit 7 of address 0
133. OP2 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 DMC 1300 The DMC 1300 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 1300 performs all the complex computations of linear and circular interpolation freeing the host from this time intensive task The coordinated motion mode is similar to the linear interpolation mode Any pair of two axes may be selected for coordinated motion consisting of linear and circular segments In addition a third axis can be controlled such that it remains tangent to the motion of the selected pair of axes Note that only one pair of axes can be specified for coordinated motion at any given time The command VM m n p where m and n are the coordinated pair and p is the tangent axis Note the commas which separate m n and p are not necessary For example VM XWZ selects the XW axes for coordinated motion and the Z axis as the tangent Specifying Vector Segments The motion segments are described by two commands VP for linear segments and CR for circular segments Once a set of linear segments and or circular segments have been specified the sequence is ended with the com
134. 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 2lis output 2 and so on A 1 designates that the output is on Example Using the output PORT Command op Instruction Interpretation OP6 Sets outputs 2 and 3 of output port to high All other bits are 0 a2 22 6 OPO Clears all bits of output port to zero Chapter 7 Application Programming 7 e 128 DMC1000 OP 255 Sets all bits of output port to one 27 21 422423424425 4 26427 Example Using OP to turn on output after move Instruction Interpretation OUTPUT Label PR 2000 Position Command BG Begin AM After move SB1 Set Output 1 WT 1000 Wait 1000 msec CB1 Clear Output 1 EN End Digital Inputs The DMC 1300 has eight digital inputs for controlling motion by local switches The IN n function returns the logic level of the specified input through 8 For example a Jump on Condition instruction can be used to execute a sequence if a high condition is noted on an input 3 To halt program execution the After Input AI instruction waits until the specified input has occurred Digital inputs on the DMC 1300 may also be read through the Dual Port RAM Example Using the AI command Instruction Interpretation JP A IN 1 0 Jump to A if input 1 is low
135. PLES MG LFX Display the status of the X axis forward limit switch This is an Operand Not a command Error Reference source not found 10 228 LI Binary E9 FUNCTION Linear Interpolation Distance DESCRIPTION The LI x y z w command specifies the incremental distance of travel for each axis in the Linear Interpolation LM mode LI parameters are relative distances given with respect to the current axis positions Up to 511 LI specifications may be given ahead of the Begin Sequence BGS command Additional LI commands may be sent during motion when the controller sequence buffer frees additional spaces for new vector segments The Linear End LE command must be given after the last LI specification in a sequence This command tells the controller to decelerate to a stop at the last LI command Itis the responsibility of the user to keep enough LI segments in the controller s sequence buffer to ensure continuous motion 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 It should be noted that the controller computes the vector speed based on the axes specified in the LM mode For example LM XYZ designates linear interpolation for the XY and Z axes The speed of these axes will be computed from VS XS YS ZS where XS YS and ZS are the speed of the X
136. RE NO BINAY Jenster tyes a a a a a E RS Binary AC a e Be eR NS A Oa ea ean RE eae lt control gt R lt control gt S lt control gt R lt control gt V SB Binary 8D aa se SG NO Binary a eect tase eh ac Ag a alas cote a case OROL SH Bilary BB goria ier ste den ch dnvoss RAGE custo obs E EAE ETES SP Binary CA eeen ic cas eek rea solo cee a canes ST Binary D2 rynni e a E A dvets A ARE E anes ae TB No Binary TC No Binary TD No Binary ae we ees SEE NO Binary cvosssessnss svssss sess a vonenss eves cd up E A E E AE TE ues TD Binary HO eects air iets elai aie naee E AN O TEE TE Binary BE esesioiestlie etna inde een oe ees a ees TM Binary AE TN Binary EC TP No Binary TR Binary AF SES GBia ry DF LAASTE EOT savgevsvces cnn vacencss cates eavsss eon venectnanetentecncaie ovens sav seuasteste nib veaes ateben TETANO Binary 25sec lore ete rite ec ae Aaa eae aleve TEV No Baty arenei eta aas A E A GEENE EAN S TW No Binary UI Binary 8B VA Binary E3 Loh wes ih VDA Bmary ED acsscssssvcevesitevess exp cosveveostovevenencvetunes exe ves ENEE ER NRR VE Binary E6 sieves ceed ail an ecole Wn Aenea Bae eels MMe Binary ED EST EAE eus cate sect ohavinst taneous ose awe VP Binary B2 a earar nile iia ween ea eee ee en VS Binary E4 VT Binary EA WC No Binary WT Binary A6 XO Binary 82 rarna ok e av ak save cdc ave ce Sevens EEEO da
137. 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 T1 amp I6 variable or array element 0 through 3 and is program thread for ng DV Feature i 3 Dual velocity for Dual Loop Description Allows gearing and coordinated move simultaneously Multitasking for up to four independent programs Velocity Damping from auxiliary encoder for dual loop Contents Chapter 1 Overview 1 Introduction ou eee Overview of Motor Types Standard Servo Motors with 10 Volt Command Signal oo eeeeeseeeeteeeeeeeeeees 2 Stepper Motor with Step and Direction Signals occ ee eseseseseecesescseseeeeseeeeeeeneans 2 DMC 1300 Functional Element 20 0 0 eeeceessesseseseecescscceceeseseecescscaeaneseseacscesecseeceseusaeanseseseeseeseeaeseeees 2 Microcomputer Section Motor Interface Communication General I O Amplifier Driven scsi arinena eben a a a i a a a i IOa A AN ie leh Mathie A E AATE Watch Doe Tiimetuenansinisninniiieneiinranei a eienn a tees Chapter 2 Getting Started 7 Elements You Needse erene E ENEE K EEE A EN AEE E E E Ear NESS Installing the DMC 1300 Step 1 Dete
138. S curve profiling S When operating with servo motors motion smoothing can be accomplished with the IT and VT command These commands filter the acceleration and deceleration functions to produce a smooth velocity profile The resulting velocity profile known as S curve has continuous acceleration and results in reduced mechanical vibrations The smoothing function is specified by the following commands IT x y z w Independent time constant VTn 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 SP 5000 Speed IT 5 Filter for S curve BG X Begin DMC 1300 Chapter 6 Programming Motion e Error Main Document Only 89 DMC 1300 ACCELERATION VELOCITY ACCELERATION VELOCITY Figure 6 6 Trapezoidal velocity and smooth veloc
139. The contain nothing USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS DM on page 193 RD on page 251 RC on page 250 EXAMPLES Record DM POS 100 RA POS RD _TPX RC 1 PR 1000 BG EN DEFAULTS Yes Default Value Yes Default Format Yes Dimension Array Record Data Record Interval Label Define array Specify Record Mode Specify data type for record Begin recording at 2 msec intervals Start motion End Hint The record array mode is useful for recording the real time motor position during motion The data is automatically captured in the background and does not interrupt the program sequencer The record mode can also be used for a teach or learn of a motion path DMC 1300 Error Reference source not found 10 249 RC Binary FO FUNCTION Record DESCRIPTION The RC command begins recording for the Automatic Record Array Mode RA RC 0 stops recording ARGUMENTS RC n m where n is an integer 1 thru 8 and specifies 2 samples between records RC 0 stops recording m is optional and specifies the number of records to be recorded If m is not specified the DM number will be used A negative number for m causes circular recording over array addresses 0 to m 1 The address for the array element for the next recording can be interrogated with _RD RC returns status of recording 1 if recording 0 if n
140. Value Yes Default Format Gear Ratio EXAMPLES FOR DMC 1000 AND DMC 1500 GEAR GAX GR 5 2 5 JG 5000 BGX WT 10000 STX DMC 1300 Gear program Specify X axis as master Specify Y and Z ratios Specify master jog speed Begin motion Wait 10000 msec Stop Error Reference source not found e 10 209 GN Binary B8 FUNCTION Gain DESCRIPTION The GN command sets the gain of the control loop or returns the previously set value It fits in the z transform control equation as follows D z GN z ZR z ARGUMENTS GN x y z w GNX x GN a b c d e f g h where X y Z W are unsigned integers in the range 0 to 2047 decimal 2 returns the value of the gain for the specified axis While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE DEFAULTS Yes Default Value 70 Yes Default Format 4 Yes Yes Yes _GNx contains the value of the gain for the specified axis x RELATED COMMANDS ZR on page 298 KI on page 224 KP on page 225 KD on page 223 EXAMPLES GN 12 14 15 20 GN 6 GN 8 GN 0006 0008 0015 0020 GN 0006 GN 0008 Zero Integrator Proportional Derivative Set X axis gain to 12 Set Y axis gain to 14 Set Z axis gain to 15 Set W axis gain to 20 Set X axis gain to 6 Leave other gains unchanged Set Y axis gain to 8 Leave other gains unchanged Returns X Y Z W gains Returns X gain Returns Y gain Er
141. While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No OPERAND USAGE _BN contains the serial number of the controller EXAMPLES KD 100 Set damping term for X axis KP 10 Set proportional gain term for X axis KI 1 Set integral gain term for X axis AC 200000 Set acceleration DC 150000 Set deceleration rate SP 10000 Set speed MT 1 Set motor type for X axis to be type 1 reversed polarity servo motor MO Turn motor off DMC 1300 Error Reference source not found e 10 177 BP Binary B2 FUNCTION Burn Program DESCRIPTION The BP command saves the application program in non volatile EEPROM memory This command typically takes up to 10 seconds to execute and must not be interrupted The controller returns a when the Burn is complete ARGUMENTS None USAGE DEFAULTS While Moving No Default Value In a Program No Not in a Program Yes Can be Interrogated No Used in an Operand No RELATED COMMANDS BN on page 177 Burn Parameters BV on page 179 Burn Variable Note This command may cause the Galil software to issue the following warning A time out occurred while waiting for a response from the controller This warning is normal and is designed to warn the user when the controller does not respond to a command within the timeout period This occurs because this command takes more time than the default timeout of 1 sec The timeout can
142. While Moving Yes Default Value 8192 In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _VS contains the vector speed RELATED COMMANDS VA on page 286 Vector Acceleration VP on page 291 Vector Position CR on page 186 Circle LM on page 231 Linear Interpolation VM on page 289 Vector Mode BG on page 174 Begin Sequence VE on page 288 Vector End EXAMPLES VS 2000 Define vector speed as 2000 counts sec VS Return vector speed 002000 Hint Vector speed can be attached to individual vector segments For more information see description of VP CR and LI commands DMC 1300 Error Reference source not found e 10 293 VT Binary EA FUNCTION Vector Time Constant S curve DESCRIPTION The VT command filters the acceleration and deceleration functions in vector moves of VM LM type to produce a smooth velocity profile The resulting profile known as S curve has continuous acceleration and results in reduced mechanical vibrations VT sets the bandwidth of the filter where 1 means no filtering and 0 004 means maximum filtering Note that the filtering results in longer motion time ARGUMENTS VT n where nis a positive number in the range between 0 004 and 1 0 with a resolution of 1 256 VT returns the vector time constant USAGE DEFAULTS While Moving Yes Default Value 1 0 In a Program Yes Default Format 1 4 Command Line Yes Can be Interrogate
143. Xk 81 Channel B XB B 79 XB 80 Channel A XA XA 77 XA 78 Channel B XB Index Pulse Xl Encoder Wires Index Pulse XI MI A Typically Red Connector DC Servo Motor Encoder Typically Black Connector black wire RefIn 4 Inhibit 11 Motor 1 oO Signal Gnd 2 CPS Power Supply Power Gnd 4 O High Volt 5 O 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 6b Connect Step Motors In Stepper Motor operation the pulse output signal 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 The DMC 1300 profiler commands the step motor amplifier All DMC 1300 motion commands apply such as PR PA VP CR and JG The acceleration acceleration slew speed and smoothing are also
144. 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 1300 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 buffer is full and no additional segments can be sent As long as the buffer is not full additional segments can be sent to the controller through the Command Buffer The operand _CS can be used to determine the value of the segment counter This information is also available at addresses 018 019 of the general registers in the Dual Port RAM 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 1300 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 VS7 YS74Z87 where YS and ZS are the speed of the Y and Z axes In cases where the acceleration causes the s
145. acceleration Specify vector deceleration Begin sequence After motion sequence ends 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 1300 from VS VZ VW The resulting profile is shown in Figure 6 2 Chapter 6 Programming Motion e Error Main Document Only 69 30000 27000 POSITION W 3000 0 4000 36000 40000 POSITION Z FEEDRATE 0 0 1 0 5 0 6 TIME sec VELOCITY Z AXIS TIME sec VELOCITY W AXIS Figure 6 2 Linear Interpolation TIME sec Example Multiple Moves This example makes a coordinated linear move in the XY plane The Arrays VX and VY are used to store 750 incremental distances which are filled by the program LOAD Instruction Interpretation LOAD Load Program DM VX 750 VY 750 Define Array DMC 1300 Chapter 6 Programming Motion e Error Main Document Only 70 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 0 If sequence buffer full wait JS C COUNT 500 Begin motion on 500th segment LI Specify linear segment VX COUNT VY COUNT COUNT COUNT 1 Increment array counter JP LO
146. ailable spaces for motion segments that can be sent to the buffer 511 returns means that the buffer is empty and 511 segments may be sent A zero means that the buffer is full and no additional segments may be sent ARGUMENTS VM nmp where n and m specifies the plane of vector motion The parameters can be any two axes of X Y Z W or A B C D E F G H The parameter p is the tangent axis X Y Z W or A B C D E F G H A value of N for the parameter p turns off tangent Vector Motion can be specified for one axis by specifying the parameter m as N This allows for sinusoidal motion on 1 axis DPRAM Bit 0 of the Status 1 address in the Axis Buffer indicates if the controller is in the coordinated motion mode USAGE DEFAULTS While Moving No Default Value X Y In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No OPERAND USAGE _VM contains instantaneous commanded vector velocity RELATED COMMANDS VP on page 291 Vector Position VS on page 293 Vector Speed VA on page 286 Vector Acceleration VD on page 287 Vector Deceleration CR on page 186 Circle VE on page 288 End Vector Sequence BG on page 174 Begin Sequence DMC 1300 Error Reference source not found 10 289 CS on page 188 Clear Sequence CS on page 188 _CS Segment counter VT on page 294 Vector smoothing constant S curve AV on page 173 Vector distance EXAMPLES VM X Y Specify coordinated mode
147. ained in detail in Section 5 The procedure to send a contour record to the controller is as follows 1 Enter the contour mode with the CM command 2 Wait for Bit 7 of the contour semaphore 005 to be clear 3 Write the contour record to the contour buffer 4 Set Bit 7 of the contour semaphore 5 Repeat steps 2 through 5 until the contour record 80 80 is sent ending contour mode The general status register s Bit 2 will be set if there is an error either in the timing or in the format of the contour record and the command buffer error code will help find the cause of the error The format of the contour records are as follows DMC 1310 1340 oao aooo O Chapter 4 VME Communication e Error Main Document Only 47 DMC 1300 80 to 88 time interval 0A2 0A5 DMC 1350 1380 joo N i OFA D OFE 101 Number of counts to move H axis Below is an example of using the contour mode on a DMC 1340 controller OE6 0F9 Address Value hex Comment OAO 80 Contour mode 0A1 84 Time between records 16 msec 0A2 0A5 00 00 00 10 X move 16 counts 0A6 0A9 FF FF FF E6 Y move 26 counts 0AA 0AD 00 00 02 11 Z move 529 counts OAE 0B1 00 00 00 00 W move 0 counts The contour mode is then terminated using the following command Address Value hex Comment 0A0 80 Contour mode 0A1 80 End contour mode 0A2 OAS XX XX XX XK Don t care 0A6 0A9 XX XX XX XX Don t care 0AA 0AD XX XX XX XX Don t ca
148. am Yes Default Format 3 0 Not in a Program Yes Can be Interrogated Yes Used in an Operand Yes USAGE _TC contains the error code EXAMPLES GF32 Bad command 2TC Tell error code Error Reference source not found 10 268 001 Unrecognized command DMC 1300 Error Reference source not found e 10 269 DMC 1300 TD No Binary FUNCTION Tell Dual Encoder DESCRIPTION This command returns the current position of the dual auxiliary encoder s Auxiliary encoders are not available for stepper axes or for the axis where output compare is used When operating with stepper motors the TD command returns the number of counts that have been output by the controller ARGUMENTS TD XYZW TD ABCDEFGH where the argument specifies the axes to be affected DPRAM The auxiliary encoder position for an axis can be read in the corresponding Axis Buffer ie addresses 110 through 113 for the DMC 1340 X axis or addresses 210 through 213 for the DMC 1380 X axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Position Format Not in a Program Yes Can be Interrogated No Used in an Operand Yes RELATED COMMANDS DE on page 192 Dual Encoder EXAMPLES PF 7 Position format of 7 TD Return X Y Z W Dual encoders 0000200 0000010 0000000 00001 10 TDX Return the X motor Dual encoder 0000200 DUAL _TDX Assign the variable DUAL the value of TDX Error Reference source not found e 10 270
149. ameter controls the first output port bits 1 8 and the second output port bits 9 16 if the controller has 5 or more axes ARGUMENTS OP m n where m is an integer in the range 0 to 65535 decimal or 0 to FF hexadecimal 0 to 255 for 4 axes or less nis an integer in the range 0 to 16772215 OP returns the value of the first argument m OP returns the value of the second argument n DPRAM The status of the output ports are located at address 02B on the DMC 1310 1340 or 02E 02F on the DMC 1350 1380 Writing to these addresses will change the state of the output ports DEFAULTS USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE Yes Yes Yes Yes Yes Default Value 0 Default Format 3 0 _OPO contains the value of the first argument m _OP1 contains the value of the second argument n RELATED COMMANDS SB on page 261 CB on page 180 OB on page 242 EXAMPLES OP 0 OP 85 MG OPO MG OP1 DMC 1300 Set output bit Clear output bit Output Byte Clear Output Port all bits Set outputs 1 3 8 clear the others Returns the first parameter m Returns the second parameter n Error Reference source not found 10 245 PA Binary C8 FUNCTION Position Absolute DESCRIPTION The PA command will set the final destination of the next move The position is referenced to the absolute zero If a is used then the current destinati
150. 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 Chapter 6 Programming Motion e Error Main Document Only 84 DMC 1300 Stepper Smoothing Filter Motion Profiler Adds a Delay Output Output Buffe pur Buter To Stepper Driver Reference Position RP Step Count Register TD Motion Complete Trippoint When used in stepper mode the MC command will hold up execution of the proceeding commands until the controller has generated the same number of steps out of the step count register as specified in the commanded position The MC trippoint Motion Complete is generally more useful than AM 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
151. ample will be divided by the ratio m n When m lt n the resolution of the second axis Y in the example will be divided by n m The resolution change applies for the purpose of generating the VP and CR commands Note that this command results in one axis moving a distance specified by the CR and VP commands while the other one moves a larger distance ARGUMENTS ES m n where m and n are positive integers in the range between 1 and 65 535 USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS VM on page 289 CR on page 186 VP on page 291 EXAMPLES VMXY ES3 4 VMZX ES2 3 DEFAULTS Yes Default Value 1 1 Yes Default Format Yes No No Vector Mode Circle move Vector position Divide Y resolution by 4 3 Divide X resolution by 3 2 Error Reference source not found e 10 203 FA Binary C1 FUNCTION Acceleration Feedforward DESCRIPTION The FA command sets the acceleration feedforward coefficient or returns the previously set value This coefficient when scaled by the acceleration adds a torque bias voltage during the acceleration phase and subtracts the bias during the deceleration phase of a motion Acceleration Feedforward Bias FA AC 1 5 10 7 Deceleration Feedforward Bias FA DC 1 5 10 7 The Feedforward Bias product is limited to 10 Volts FA will only be operational during independent moves ARGUMENTS FA x y z w where X y Z W are
152. and MG LEN6 S1 Response from command MG LENS S1 Response from command MG LEN4 S1 Response from command MG LEN3 S1 Response from command MG LEN2 S1 Response from command MG LENI S1 DESCRIPTION Sine of n n in degrees resolution of 1 64 000 degrees max 4 billion Cosine of n n in degrees resolution of 1 64 000 degrees max 4 billion 1 s Compliment of n Absolute value of n Fraction portion of n Integer portion of n Round of n Rounds up if the fractional part of n is 5 or greater Square root of n Accuracy is 004 Return status of digital input n Return status of digital output n Chapter 7 Application Programming 7 e 119 AN n Return voltage measured at analog input n 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 ANJ 5 The variable V4 is equal to the value of analog input 5 plus 5 then multiplied by 2 Variables DMC1000 The maximum number of variables available with a DMC 1300 controller depends on the controller configuration 126 variables are available for 1 4 axes controllers
153. and frees the array and or variable memory space In this command more than one array or variable can be specified for deallocation of memories Different arrays and variables are separated by comma when specified in one command The argument deallocates all the variables and 0 deallocates all the arrays ARGUMENTS DA c 0 variable name where c 0 Defined array name variable name Defined variable name Deallocates all the variables 0 Deallocates all the arrays DA returns the numb er of arrays available on the controller USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _DA contains the total number of arrays available For example before any arrays have been defined the operand _DA ona standard DMC 1310is 14 If an array is defined the operand _DA will return 13 CONTROLLER NUMBER OF AVAILABLE ARRAYS DMC 1310 thru DMC 1340 DMC 1350 thru DMC 1380 DMC 1310 MX thru DMC 1340 MX RELATED COMMANDS DM on page 193 Dimension Array EXAMPLES Cars and Sales are arrays and Total is a variable DM Cars 400 Sales 50 Dimension 2 arrays Total 70 Assign 70 to the variable Total DA Cars 0 Sales 0 Total Deallocate the 2 arrays amp variables DA 0 Deallocate all arrays DA 0 Deallocate all variables and all arrays Note Since this command deallocates the spaces and compact
154. ange 2147483648 to 2147483647 decimal USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS AD on page 164 AP on page 169 EXAMPLES TEST DPO JG 1000 BGX MR 3000 V1 _TPX MG Position is V1 ST EN DEFAULTS No Default Value Default Format Trippoint for Relative Distances Trippoint for after Absolute Position Program B Define zero Jog mode speed of 1000 counts sec Begin move After passing the position 3000 Assign V1 X position Print Message Stop End of Program Hint The accuracy of the MR command is the number of counts that occur in 2 msec Multiply the speed by 2 msec to obtain the maximum error MR tests for absolute position The MR command can also be used when the specified motor is driven independently by an external device DMC 1300 Error Reference source not found 10 239 MT Binary F5 FUNCTION Motor Type DESCRIPTION The MT command selects the type of the motor and the polarity of the drive signal Motor types include standard servo motors which require a voltage in the range of 10 Volts nn and step motors which require pulse and direction signals The polarity reversal inverts the analog signals for servo motors and inverts logic level of the pulse train for step motors ARGUMENTS MTx y z w MTX x MT a b c d e f g h where X y Z W are integers with 1 Servo motor 1 Servo motor reversed po
155. arabolic 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 over a time interval DT n The parameter n specifies the time interval The time interval is defined as 2 ms where n is a number between and 8 The controller performs linear interpolation between the specified increments where one point is generated for each millisecond The contour mode may also be accessed through the Contour Buffer of the Dual Port RAM Contour data may be sent to this buffer to generate an arbitrary motion profile The Contour Buffer holds the contour record sent by the host during the contour mode and is set and cleared by the Contour Semaphore An error in the contour mode can be checked at Bit 2 of the General Status 010 with the corresponding error code found at 012 A list of the Contour Buffer addresses can be found in Chapter 4 Consider the trajectory shown in Fig 6 4 The position X may be described by the points Point 1 X 0 at T Oms Point 2 X 48 at T 4ms Chapter 6 Programming Motion e Error Main Document Only 78 Point 3 X 288 at T 12ms P
156. as been completed and the encoder has entered or passed the specified position TW x y z w sets timeout to declare an error if not in position If timeout occurs then the trippoint will clear and the stopcode will be set to 99 An application program will jump to label MCTIME Halts program execution until after specified input is at specified logic level n specifies input line Positive is high logic level negative is low level n 1 through 8 for DMC 1010 to 1040 n 1 through 24 for DMC 1050 to 1080 Halts program execution until specified axis has reached its slew speed Halts program execution until n msec from reference time AT 0 sets reference AT n waits n msec from reference AT n waits n msec from reference and sets new reference after elapsed time Halts program execution until specified distance along a coordinated path has occurred Halts program execution until specified time in msec has elapsed Chapter 7 Application Programming 7 e 107 Event Trigger Examples Event Trigger Multiple Move Sequence The AM trippoint is used to separate the two PR moves If AM is not used the controller returns a for the second PR command because a new PR cannot be given until motion is complete Instruction Interpretation TWOMOVE Label PR 2000 Position Command 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 Distanc
157. as 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 CB1 Clear Output Bit 1 pick up pen VMXY Specify vector motion between X and Y axes VP 1000 1000 VE BGS Define vector position move pen AMS Wait for after motion trippoint SB1 Set Output Bit 1 put down pen JS Square CB1 Jump to square subroutine EN End main program Square Square subroutine V1 500 JS L Define length of side Jump to subroutine L V1 V1 JS L Switch direction Jump to subroutine L EN End subroutine Square L PR V1 V1 BGX Subroutine L Define relative position movement on X and Y Begin motion AMX BGY AMY After motion on X Begin Y Wait for motion on Y to complete EN End subroutine L Stack Manipulation It is possible to manipulate the subroutine stack by using the ZS command Every time a JS instruction interrupt or automatic routine such as POSERR or LIMSWYD 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 level of the stack This allows the program sequencer to continue to the next line The ZSO command resets the stack to its initial
158. 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 1300 allows one axis to be specified as the tangent axis The VM command provides parameter specifications for describing the coordinated axes and the tangent axis VM m n p m n specifies coordinated axes p specifies tangent axis such as X Y Z W or A B C D E F G H p N turns off tangent axis Before the tangent mode can operate it is necessary to assign an axis via the VM command and define its offset and scale factor via the TN m n command m defines the scale factor in counts degree and n defines the tangent position that equals zero degrees in the coordinated motion plane The _TN can be used to return the initial position of the tangent axis Example XY Table Control Assume an XY table with the Z axis controlling a knife The Z axis has a 2000 quad counts rev encoder and has been initialized after power up to point the knife in the Y direction A 180 circular cut is desired with a radius of 3000 center at the origin and a starting point at 3000 0 The motion is CCW ending at 3000 0 Note that the 0 position in the XY plane is in the X direction This corresponds to the position 500 in the Z axis and defines the offset The motion has two parts First X Y and Z are driven to the starting point and later the cut is performed Assume that the knife is engaged with output bit 0
159. atch IN12 H axis latch Note To insure a position capture within 25 microseconds the input signal must be a transition from high to low Latch information can be read directly from the Dual Port RAM Bit 2 of the Status 2 address in the axis buffer will indicate when the latch is armed The latched position is also available in the corresponding axis buffer The DMC 1300 software commands AL and RL are used to arm the latch and report the latched position The steps to use the latch are as follows 1 Give the AL XYZW command or ABCDEFGH for DMC 1380 to arm the latch for the specified axis or axes 2 Test to see if the latch has occurred Input goes low by using the _AL X or Y or Z or W command Example V1 _ALX returns the state of the X latch into V1 V1 is 1 if the latch has not occurred 3 After the latch has occurred read the captured position with the RL XYZW command or RL XYZW Note The latch must be re armed after each latching event Position Latch Example Instruction Interpretation Latch Latch program JG 5000 Jog Y 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 1300 Chapter 6 Programming Motion e Error Main Document Only 94 THIS PAGE LEFT BLANK INTENTIONALLY DMC 1300 Chapter 6 Pro
160. ation program stopped Bit4 Bit 3 Watchdog timer Bit 2 Limit switch occurred Bit 1 Excess position error Bit 0 Inputs DMC 1300 Chapter 4 VME Communication e Error Main Document Only 41 Bit 7 Bit 6 Contour interrupt Bit 0 All axes motion complete Bit 7 H axis motion complete Bit 6 G axis motion complete Bit 5 F axis motion complete Bit 4 E axis motion complete Bit 3 W axis motion complete Bit 2 Z axis motion complete Bit 1 Y axis motion complete Bit 0 X axis motion complete 03A 03B Input Mask This address shows which general purpose input will cause a bus interrupt Command Buffer DMC 1310 1340 Addresses 040 059 DMC 1350 1380 Addresses 040 073 The command buffer is used by the host to send commands to the DMC 1300 These commands can be sent in either Binary or ASCII format A complete list of DMC commands in both Binary and ASCII format can be found in Chapter 12 If the Bit 3 system is being used commands may be sent directly from the DMC terminal Otherwise commands will be written directly to the command buffer Sending commands using the Bit 3 System Loading the Galil COMM1300 software gives the user a basic terminal emu lator and status screen All the basic commands of the controller can be sent to the command buffer from this screen The communication options available through this screen are accessed as follows IUL lt file name gt Uploads file to PC from 1300 IDO l
161. be at the positions 200 10 0 110 respectively The returned units are in quadrature counts PF7 Position format of 7 0 RP 0000200 0000010 0000000 00001 10 Return X Y Z W reference positions RPX 0000200 Return the X motor reference position RPY 0000010 Return the Y motor reference position PF 6 0 Change to hex format RP 0000C8 FFFFF6 000000 FFFF93 Return X Y Z W in hex Position _RPX Assign the variable Position the value of RPX Error Reference source not found 10 256 nn Hint RP command is useful when operating step motors since it provides the commanded position in steps when operating in stepper mode DMC 1300 Error Reference source not found 10 257 DMC 1300 RS Binary AC FUNCTION Reset DESCRIPTION USAGE The RS command 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 While Moving In a Program Command Line Can be Interrogated Used as an Operand DEFAULTS Yes No Yes No Default Value 0 Default Format Error Reference source not found 10 258 lt control gt R lt control gt S FUNCTION Master Reset DESCRIPTION The Master Reset command resets the controller to factory default settings and erases EEPROM A master reset can also be performed by installing a jumper on the controller at the location labeled MRST and resetting the co
162. be changed in the Galil software but this warning does not affect the operation of the controller or software DMC 1300 Error Reference source not found e 10 178 BV Binary B2 FUNCTION Burn Variables DESCRIPTION The BV command saves the controller variables in non volatile EEPROM memory This command typically takes up to 2 seconds to execute and must not be interrupted The controller returns a when the Burn is complete ARGUMENTS None USAGE DEFAULTS While Moving No Default Value In a Program Yes Not in a Program Yes Can be Interrogated No Used in an Operand No RELATED COMMANDS BN on page 27 Burn Parameters BP on page 29 Burn Program Note This command may cause the Galil software to issue the following warning A time out occurred while waiting for a response from the controller This warning is normal and is designed to warn the user when the controller does not respond to a command within the timeout period This occurs because this command takes more time than the default timeout of 1 sec The timeout can be changed in the Galil software but this warning does not affect the operation of the controller or software DMC 1300 Error Reference source not found 10 179 DMC 1300 CB Binary 8E FUNCTION Clear Bit DESCRIPTION The CB command sets the specified output bit low CB can be used to clear the outputs of extended I O which have been configured as outputs ARGUMENTS CB n where
163. be computed using the equation VS7 XS YS 4Z8 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 1300 provides a vector motion smoothing function VT is used to set the S curve smoothing constant for coordinated moves DMC 1300 Chapter 6 Programming Motion e Error Main Document Only 66 DMC 1300 Additional Commands The DMC 1300 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 vector speed BGS Begin motion sequence AV 4000 Set trippoint to wait until vector
164. by 20 msec Fig 6 1 shows the velocity profiles for the X Y and Z axis A PR 2000 500 100 SP 15000 10000 5000 AC 500000 500000 500000 DC 500000 500000 500000 BGX WT 20 BG Y WT 20 BGZ EN 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 Wait 20 msec Begin motion on the Y axis Wait 20 msec Begin motion on Z axis End Program Chapter 6 Programming Motion e Error Main Document Only 63 VELOCITY COUNTS SEC X axis velocity profile 20009 Y axis velocity profile 15000 Z axis velocity profile 10000 5000 TIME ms 0 20 40 60 80 100 Figure 6 1 Velocity Profiles of XYZ Notes on fig 6 1 The X and Y axis have a trapezoidal velocity profile while the Z axis has a triangular velocity profile The X and Y axes accelerate to the specified speed move at this constant speed and then decelerate such that the final position agrees with the command position PR The Z axis accelerates but before the specified speed is achieved must begin deceleration such that the axis will stop at the commanded position All 3 axes have the same acceleration and deceleration rate hence the slope of the rising and falling edges of all 3 velocity profiles are the sa
165. can be interrogated with the instruction TE INSTRUCTION INTERPRETATION TE Tell error all axes TEX Tell error X axis only TE Y Tell error Y axis only TEZ Tell error Z axis only TE W Tell error W axis only Example 6 Absolute Position Objective Command motion by specifying the absolute position INSTRUCTION INTERPRETATION DP 0 2000 Define the current positions of X Y as 0 and 2000 PA 7000 4000 Sets the desired absolute positions BGX 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 JG 10000 20000 Set Jog Speeds and Directions AC 100000 40000 Set accelerations DC 50000 50000 Set decelerations BG XY Start motion after a few seconds send the following command JG 40000 New X speed and Direction TV X Returns X speed and then JG 20000 New Y speed DMC1000 Chapter 2 Getting Started e 2 19 TV Y Returns Y speed These cause velocity changes including direction reversal The motion can be stopped with the instruction ST Stop Example 8 Operation Under Torque Limit The magnitude of the motor command may be limited independently by the instruction TL INSTRUCTION INTERPRETATION TL 0 2 Set output limit of X axis to 0 2 volts JG 10000 Set X speed BGX Start X motion In th
166. cation Programming 7 118 DMC1000 LEN1 FLEN amp 00FF 1000000 Set 4 byte of FLEN 1 byte of variable LEN1 LEN2 FLEN amp FFO00 10000 Set 3 byte of FLEN 1 byte of variable of LEN2 LEN3 LEN amp 000000FF 1000000 Set 1 byte of variable LEN3 4 byte of LEN LEN4 LEN amp 0000FF00 10000 Set 1 byte of variable LEN4 3 byte of LEN LEN5 LEN amp 00FF0000 100 Set 1 byte of variable LENS 2 byte of LEN LEN6 LEN amp FF000000 Set 1 byte of variable LEN6 1 byte of LEN MG LEN6 S1 MG LENS S1 MG LEN4 S1 MG LEN3 S1 MG LEN2 S1 MG LENI S1 EN T E S T M E Functions FUNCTION SIN n COS n COM n ABS n FRAC n INT n RNDJ n SQR n IN n OUT n Display LENO as string message of 1 char Display LENS as string message of 1 char Display LEN4 as string message of 1 char Display LEN3 as string message of 1 char Display LEN2 as string message of 1 char Display LEN as string message of 1 char This program will accept a string input of up to 6 characters parse each character and then display each character Notice also that the values used for masking are represented in hexadecimal as denoted by the preceding For more information see section Sending Messages To illustrate further if the user types in the string TESTME at the input prompt the controller will respond with the following Response from comm
167. ceseseeseceesecseseseesescesseseeseseesensseaeanesseeeeneneaes 23 Example 16 Circular Interpolation 0 cesceseseeseseeseeseseseeeseeseesecseseesessseneaneseseeeeeeneees 24 Chapter 3 Connecting Hardware 25 Changing Optoisolated Inputs From Active Low to Active High Amplifier Interfaces Sesen eveisadves ects sasveattavest ones ea E eieo GF Bg Ba 00 eee een E E Tee Analog Inputs visvscsesstecavdiensecesesvery ssceveat a T E ANTERA T OU puts iena TE aN dda deeb E R E REAR OPFSELA GUS MEN Esse css Fics e ereen eer Orre EErEE EEEn RS eee EE eE e Ea ER ere ae En ere Ee Sor AEPA NE REAR E or Chapter 4 VME Communication 35 TRO MUCH n a e ae A A EE EE AEE EEE E AE E A REES 35 RAM Organization sscsc sess cesecscopeaceseedetbcevsd seisein iise ie cos Sr EEE dea ESENES KEE ESTEE So SEES VESES 35 Semaphore ROAS ETS ra r e desis sonia sedalagssedesp seven pans ER EES RETE San T Eana EEA Eosi 37 General Registers sionerien e ii tA EEE EEE 37 Command Buffer serei enie EE E E E e EAEE E 42 Response Buffer Contour Buffer Program Buffer eo SR aiT TA R EEE AET AAEE Coordinate Axis Buffer csicc ciscsssscescoscscoucssusuesousveveesdss tes concuassusucutsevausesdeosvan R RE Ra ae 52 War iaDle DAN DTe AAN EEES E AE EE AS 52 Interruptors naea e T A A EV E Ee 53 Chapter 5 Command Basics 55 Propran Synta R siaaa aoaea aaaea ar aae TA EEE AI EEn PAE EEEa EDSON nS ETENEE ERARE EE aS Controller Response to DATA s ssssssresesresreesresrsessterressr
168. controller into the Edit subsystem In the Edit subsystem programs can be created changed or destroyed The commands in the Edit subsystem are lt cntrl gt D Deletes a line lt cntrl gt I Inserts a line before the current one lt cntrl gt P Displays the previous line lt cntrl gt Q Exits the Edit subsystem lt return gt Saves a line Using your own VME host system Programs can be created or edited directly by writing ED Binary 98 to the command buffer The current program line in the buffer is displayed and can be modified using the following commands 9A hex Deletes a line 99 hex Inserts a line before the current one 9B hex Displays the previous line 9C hex Exits the Edit subsystem 9D hex Saves a line USAGE Used as an Operand Yes OPERAND USAGE _ED contains the line number of the last line to have an error EXAMPLES ED 000 START 001 PR 2000 002 BGX 003 SLKJ Bad line 004 EN 005 CMDERR Routine which occurs upon a command error 006 V _ED 007 MG An error has occurred n 008 MG In line V F3 0 009 ST 010 ZSO 011 EN Hint Remember to quit the Edit Mode prior to executing a program DMC 1300 Error Reference source not found e 10 197 El Binary 8C FUNCTION Enable Interrupts DESCRIPTION The EI command enables interrupt conditions such as motion complete or excess error The conditions are selected by the parameter m where m is the bit mask for the selected conditions as shown bel
169. ctory every sample period until the specified profile is complete Motion is complete when the last position command is sent by the DMC 1300 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 Chapter 6 Programming Motion e Error Main Document Only 61 DMC 1300 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
170. d Yes Used as an Operand Yes OPERAND USAGE _VT contains the vector time constant RELATED COMMANDS IT on page 219 Independent Time Constant for smoothing independent moves EXAMPLES VT 0 8 Set vector time constant VT Return vector time constant 0 8 DMC 1300 Error Reference source not found 10 294 DMC 1300 WC No Binary FUNCTION Wait for Contour Data DESCRIPTION USAGE The WC command acts as a flag in the Contour Mode After this command is executed the controller does not receive any new data until the internal contour data buffer is ready to accept new commands This command prevents the contour data from overwriting on itself in the contour data buffer While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS CM on page 183 CD on page 181 DT on page 195 EXAMPLES CM XYZW DT 4 CD 200 350 150 500 WC CD 100 200 300 400 WC DTO CD 0 0 0 0 DEFAULTS Yes Default Value 1 0 Yes Default Format 1 4 Yes Contour Mode Contour Data Contour Time Specify contour mode Specify time increment for contour Specify incremental position on X Y Z and W X axis moves 200 counts Y axis moves 300 counts Z axis moves 150 counts W axis moves 500 counts Wait for contour data to complete Wait for contour data to complete Stop contour Exit mode Error Reference source not found 10 295 WT Binary A6 FUNCTION Wait DESCRIPTI
171. d 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 if the logic state is low or high respectively The state of the Home input can also be interrogated indirectly with the TS command Chapter 3 Connecting e Error Main Document Only 26 The status of the Home Switch can also be read through the Dual Port RAM Bits 1 2 and 3 of the Status 1 address in the Axis Buffer gives the state of the HM command Bit 1 s
172. d 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 should be set such that a 10 Volt command generates the maximum required current For example if the motor peak current is 10A the amplifier gain should be 1 A V For velocity mode amplifiers 10 Volts should run the motor at the maximum speed nn For stepper motors the amplifier converts step and direction signals into current Encoder An encoder translates motion into electrical pulses which are fed back into the controller The DMC 1300 accepts feedback from either a rotary or linear encoder Typical encoders provide two channels in quadrature known a
173. d to switch the amplifiers off in the event of a serious DMC 1300 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 1300 to normal operation A hardware interrupt may also be configured to notify the VME host of a watch dog timer occurrence Hardware interrupts are discussed in more detail in Chapter 4 Consult the factory for a Return Materials Authorization RMA Number if your DMC 1300 is damaged Chapter 1 Overview e 5 Chapter 2 Getting Started Elements You Need Before you start you will need the following system elements DMC1000 1 DMC 1300 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 Nn nM FY N J4 Servo motors with Optical Encoder one per axis or step motors Power Amplifiers Power Supply for Amplifiers VME Bus host system with VME interface software BIT 3 s PC to VME Adapter System with PC and Galil Comm 1300 software Optional but strongly recommended 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 1300 controller Note An additional ICM 1100 is requi
174. ddress of the Axis Buffer will show a 0 if the servo is in the motor off state USAGE DEFAULTS While Moving No Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _MOx contains the state of the motor for the specified axis RELATED COMMANDS SH on page 263 Servo Here EXAMPLES MO Turn off all motors MOX Turn off the X motor Leave the other motors unchanged MOY Turn off the Y motor Leave the other motors unchanged MOZX Turn off the Z and X motors Leave the other motors unchanged SH Turn all motors on Bob _MOX Sets Bob equal to the X axis servo status Bob Return value of Bob If 1 in motor off mode If 0 in servo mode Hint The MO command is useful for positioning the motors by hand Turn them back on with the SH command DMC 1300 Error Reference source not found 10 238 MR No Binary FUNCTION Reverse Motion to Position DESCRIPTION The MR command is a trippoint used to control the timing of events This command will hold up the execution of the following command until the specified motor moves backward and crosses the position specified The units of the command are in quadrature counts Only one axis may be specified at a time The MR command can also be used when the encoder is the master and not under servo control ARGUMENTS MRx or MR y or MR z or MR w MRX X MR abcdefgh where X y Z W are signed integers in the r
175. dent time constant for the specified x axis RELATED COMMANDS VT on page 294 Vector Time Constant for smoothing vector moves EXAMPLES IT 0 8 0 6 0 9 0 1 Set independent time constants for x y z w axes IT Return independent time constant for X axis 0 8 DMC 1300 Error Reference source not found e 10 219 DMC 1300 JG Binary CB FUNCTION Jog DESCRIPTION The JG command sets the jog mode The parameters following the JG set the slew speed of the axes Use of the question mark returns the previously entered value or default value The units of this are counts second ARGUMENTS JG x y z w JGX x JG a b c d e f g h where X y Z W are signed numbers in the range 0 to 12 000 000 decimal For stepper motor operation the maximum value is 2 000 000 steps second 2 returns the absolute value of the jog speed for the specified axis DPRAM A 0 at bit 6 of the Status 1 address in the Axis Buffer indicates the axis is in jog mode Bit 7 of the Status 2 address will indicate the direction of the jog USAGE DEFAULTS While Moving Yes Default Value 16385 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _JGx contains the absolute value of the jog speed for the specified axis RELATED COMMANDS BG on page 174 Begin ST on page 265 Stop AC on page 163 Acceleration DC on page 191 Deceleration IP on page 218 Increment Positio
176. der A B I Auxiliary Encoder Aux A Aux B Aux I Aux A Aux B Aux I Abort Reset Forward Limit Switch Reverse Limit Switch Home Switch Input 1 Input 8 Input 9 Input 16 isolated Input 17 Input 23 TTL Latch DMC 1300 Position feedback from incremental encoder with two channels in quadrature CHA and CHB The encoder may be analog or TTL Any resolution encoder may be used as long as the maximum frequency does not exceed 8 000 000 quadrature states sec The controller performs quadrature decoding of the encoder signals resulting in a resolution of quadrature counts 4 x encoder cycles Note Encoders that produce outputs in the format of pulses and direction may also be used by inputting the pulses into CHA and direction into Channel B and using the CE command to configure this mode Once Per Revolution encoder pulse Used in Homing sequence or Find Index command to define home on an encoder index Differential inputs from encoder May be input along with CHA CHB for noise immunity of encoder signals The CHA and CHB inputs are optional Inputs for additional encoder Used when an encoder on both the motor and the load is required A low input stops commanded motion instantly without a controlled deceleration Also aborts motion program A low input resets the state of the processor to its power on condition The previously saved state of the controller along with parameter values and sa
177. der of arguments is not important DPRAM The MG command submitted through the command buffer can be read in the response buffer with the ASCII string being read in the Y axis data address and any binary data being read in the X axis data address When the MG command is submitted through the program buffer the response can be read in the program buffer with the ASCII string read at the Y axis data address and the binary data being read in the X axis data address Data is displayed as 4 bytes of integer with 2 bytes of fraction USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Variable Format Command Line Yes Can be Interrogated No Used as an Operand No EXAMPLES Case 1 Message command displays ASCII strings MG Good Morning Displays the string Good Morning Case 2 Message command displays variables or arrays MG The Answer is Total Displays the string with the content of variable TOTAL in local format of 4 bytes before and 2 bytes after the decimal point DMC 1300 Error Reference source not found 10 237 MO Binary BD FUNCTION Motor Off DESCRIPTION The MO command shuts off the control algorithm The controller will continue to monitor the motor position To turn the motor back on use the Servo Here command SH ARGUMENTS MO XYZW MO ABCDEFGH where XYZW specify the axes to be turned off 2 returns the state of the motor for the specified axis DPRAM Bit 0 of the Status 2 a
178. der to a different axis If the problem disappears you probably have a hardware failure Consult the factory for help Step 6a Connect Standard Servo Motors The following discussion applies to connecting the DMC 1300 controller to standard servo motor amplifiers The motor and the amplifier may be configured in the torque or the velocity mode In the torque mode the amplifier gain should be such that a 10 Volt signal generates the maximum required current In the velocity mode a command signal of 10 Volts should run the motor at the maximum required speed Step by step directions on servo system setup are also included on the WSDK Windows Servo Design Kit software offered by Galil See section on WSDK for more details Step A Check the Polarity of the Feedback Loop It is assumed that the motor and amplifier are connected together and that the encoder is operating correctly Step B Before connecting the motor amplifiers DMC1000 Chapter 2 Getting Started e 2 12 DMC1000 to the controller read the following discussion on the setting Error Limits and Torque Limits Note that this discussion only uses the X axis for the examples 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 dama
179. 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 1300 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 previously specified by the user with the DC command Although Find Index is an option for homing it is not dependent upon a transition in the logic state of the Home input but instea
180. 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 lt n This instruction attaches the vector speed n to the motion segment LI As a consequence the program LMOVE can be written in the alternative form Instruction 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 Chapter 6 Programming Motion e Error Main Document Only 67 DMC 1300 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 Command Summary Linear Interpolation COMMAND DESCRIPTION LM xyzw Specify axes for linear interpolation LM abcdefgh same controllers with 5 or more axes LM Returns number of available spaces for linear segments in DMC 1300 sequence buffer Zero means buffer full 512 means buffer empty LI x
181. e 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 output bit 1 EN End program Event Trigger Repetitive Position Trigger To set the output bit every 10000 counts during a move the AR trippoint is used as shown in the next example Instruction 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 CB1 Clear output 1 n n 1 Increment counter DMC1000 Chapter 7 Application Programming 7 e 108 JP REPEAT n lt 5 Repeat 5 times STX Stop EN End DMC1000 Chapter 7 Application Programming 7 e 109 Event Trigger Start Motion on Input This example waits for input to go low and then starts motion Note The AI command actually halts execution of the program until the input occurs If you do not want to halt the program sequences you can use the Input Interrupt function II or use a conditional jump on an input such as JP GO IN 1 1 Instruction Interpretation INPUT Program Label Al 1 Wait for input 1 low PR 10000 Position command BGX Begin motion EN End program Event Trigger Set output when At speed Instruction Interpretatio
182. e ane os Di Sita TN puts se a on vo vananass A eonwenectnanetend cntadeopees sev ESEE EO Input Interrupt Function as ences eee anc aaa ih REEN AMAL OS TMP Utes eeaeee cvs ateo EAA AAE A EAA EN ONSKER ENNEN Example Applications i ornin inre EEE E T OEO A R EN ERE Wire CuUtt T serepan rae e Eea ET EE aeara oeri TE SEESE EES ESTES X Y Table C ntro ler srn nan Aes ona Ne aA a ike Sole Ri Speed Control by Joystick eee Position Control by Joystick eeeeseeeeeeeees Backlash Compensation by Sampled Dual Loop Chapter 8 Hardware amp Software Protection 139 InthoductiOn saiwikceasiais hatin tiie ce he Hardware Protection ccccccscsscsessssscsessesecsesssseesesessesessesseseeees Output Protection Lines Input Protection Lines ee ceeeeeesseeeeeeteeeeeeeteneeees Software Protection anen aa E sos ees sesevesseae sve A E A E A ATEREA Programmable Position Limits ses ssesssesssesssseseessssestessestersreenteesresnreesersntentreserenreereessreenees 140 Off OTE m i KO KOLSET EET N TEE EE ETETETT EEEE EOT EEEE 141 Autom tic Error Routine ersen a E A A A ee 141 Eimit Switch Routine ssar ennor r E AANA gas RERE 141 Chapter 9 Troubleshooting 143 LONI AT EEE EEE EEA E IEEE EE E AE E A 143 EDAEN DETE O aAA ESE EEEE AE EET AE A EEE E A 143 COMMUNICATION AE E E EE A EE 144 Aoi Ta EEEE EE E ERRE 144 COPE LALOR EE EEEN E EEREN TA TAREA E 144 Chapter 10 Theory of Operation 145 ORLAT EET EEEE AEE AE BEENA AE ETNE ERTE REEE
183. e lost Number of Samples between Updates divided by 2 The default is 1 sample 2 msec This register can be used to help a host create a position history at a particular time interval Uncommitted Input Port This is a copy of the uncommitted inputs I8 I1 with I8 being Uncommitted Output Port This is a copy of the uncommitted outputs O8 O1 Writing to this address will change the state of the outputs on the following sample Interrupt Status These registers state which event has caused the VME Bus interrupt These DMC 1300 Input Number This register states which of the digital inputs caused an interrupt User Interrupt Number interrupts are set by the controller and need to be cleared by the host after the interrupt has been processed 030 Bit 7 Inputs Bit 6 Command Done Bit 5 Application program stopped Bit 4 User Interrupt Bit 3 Watchdog timer Bit 2 Limit switch occurred Bit 1 Excess position error Bit 0 All axes motion complete Bit 7 Application program paused Bit 6 Contour interrupt Bit 5 Bit 4 Bit 3 W Axis Motion Complete Bit 2 Z Axis Motion Complete Bit 1 Y Axis Motion Complete Bit 0 X Axis Motion Complete This register states which user interrupt has been sent using the UI command 034 035 Interrupt Mask These two registers state which events will cause the VME bus to interrupt The conditions that cause the interrupt are selected with the EI command 034 Bit 7
184. e 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 starts at the angle of 270 and traverses 360 in the CW negative direction Such a path is specified with the instruction CR 80000 270 360 Further assume that the Z must move 2 at a linear speed of 2 per second The required motion is performed by the following instructions Instruction Interpretation A Label VM XY Circular interpolation for XY VP 160000 160000 VE VS 200000 VA 1544000 BGS AMS PR 80000 SP 80000 BGZ AMZ CR 80000 270 360 VE VS 40000 Positions End Vector Motion Vector Speed Vector Acceleration Start Motion When motion is com
185. e range 0 to 2047 875 with a resolution of 1 8 2 returns the value of the derivative constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 4 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _KIx contains the value of the derivative constant for the specified axis RELATED COMMANDS KP on page 225 Proportional Constant KI on page 224 Integrator IL on page 217 Integrator Limit EXAMPLES KI 12 14 16 20 Specify X y z w axis integral KI7 Specify x axis only KI 8 Specify z axis only KI Return X Y Z W 0007 0014 0008 0020 KI values DMC 1300 Error Reference source not found 10 224 KP Binary B6 FUNCTION Proportional Constant DESCRIPTION KP designates the proportional constant in the controller filter The filter transfer function is D z 4 KP 4 KD z 1 z KI z 2 z 1 For further details see the section Theory of Operation ARGUMENTS KP x y z w KPX x KP a b c d e f g h where X y Z W are unsigned numbers in the range 0 to 1023 875 with a resolution of 1 8 2 returns the value of the proportional constant for the specified axis USAGE DEFAULTS While Moving Yes Default Value 6 In a Program Yes Default Format 4 2 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _KPx contains the value of the proportional constant for the specified axis RELATED COM
186. e read in the General Registers of the Dual Port RAM Address 02B on the DMC 1310 1340 shows the status of the 8 general purpose outputs while addresses 02E and 02F of the DMC 1350 1380 show the status of the 16 general purpose outputs 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 DMC 1300 For each axis the DMC 1300 provides offset correction potentiometers to compensate for any offset in the analog output These potentiometers have been adjusted at the factory to produce 0 Volts output for a zero digital motor command Before making any adjustment to the offset send the motor off command MO to the DMC 1300 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 p
187. e those characters which are returned from the controller without being directly queried from the terminal This is the case when a program has a command that requires the controller to return a value or string ARGUMENTS CW n m where nis anumber either 0 1 2 or O causes the controller to return the copyright information 1 causes the controller to set the MSB of unsolicited returned characters to 1 2 causes the controller to not set the MSB of unsolicited characters returns the copyright information for the controller USAGE DEFAULTS While Moving Yes Default Value 2 0 In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _CW contains the value of the data adjustment bit 2 off 1 on Note The CW command can cause garbled characters to be returned by the controller The default state of the controller is to disable the CW command however the Galil Servo Design Kit software and terminal software may sometimes enable the CW command for internal usage If the controller is reset while the Galil software is running the CW command could be reset to the default value which would create difficulty for the software It may be necessary to re enable the CW command The CW command status can be stored in EEPROM DMC 1300 Error Reference source not found e 10 189 DMC 1300 DA No Binary FUNCTION Deallocate the Variables amp Arrays DESCRIPTION The DA comm
188. e 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 C D 10000 10000 20000 Figure 12 2 X Y Motion Path Appendices e A 321 The first line describes the straight line vector segment between points A and B The next segment is a circular arc which starts at an angle of 180 and traverses 90 Finally the third line describes the linear segment between points C and D Note that the total length of the motion consists of the segments A B Linear 10000 units R A 27 B C Circular 15708 360 C
189. ecording with a sample rate of 2 msec LOOP1 JP LOOP1 _RC 1 COMPUTE Loop until all elements have been recorded Routine to determine the difference between consecutive points DM DX 500 Dimension a 500 element array to hold contour points I 0 Set loop counter LOOP2 Loop to calculate the difference DX IJ XPOS I 1 XPOS I Calculate difference I I 1 Update loop counter JP LOOP2 1 lt 500 Continue looping until DX is full PLAYBK Routine to play back motion that was recorded SHX Servo Here WT1000 Wait 1 sec 1000 msec CMX Specify contour mode on X axis DT2 Set contour data rate to be 2 msec I 0 Set array index to 0 LOOP3 Subroutine to execute contour points CD DX I WC Contour data command Wait for next contour point I I 1 Update index JP LOOP3 1 lt 500 Continue until all array elements have been executed DTO Set contour update rate to 0 CDO Disable the contour mode combination of DTO and CDO 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 with stepper motors DMC 1300 Chapter 6 Programming Motion e Error Main Document Only 83 DMC 1300 Specifying Stepper Motor Operation In order to command stepper motor operation the appropriate stepper mode jumpers must be installed See chapter 2 f
190. ector 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 channel A XB channel B and XI For differential encoders the complement signals are labeled XA XB and XI Note When using pulse and direction encoders the pulse signal is connected to XA and the direction signal is connected to XB The controller must be configured for pulse and direction with the command CE See the command summary for further information on the command CE Step D Verify proper encoder operation Start with the X encoder first Once it is connected turn the motor shaft and interrogate the position with the instruction TPX 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 enco
191. ed 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 1300 When using the Comm1300 software the DMC 1300 returns a for valid commands and a for invalid commands Chapter 5 Command Basics e Error Main Document Only 57 For example if the command BG is sent in lower case the DMC 1300 will return a bg lt enter gt invalid command lower case DMC 1300 returns a When the controller receives an invalid command the user can request the error code The error code will specify the reason for the invalid command response To request the error code type the command TC1 For example TC1 lt enter gt Tell Code command 1 Unrecognized Returned response command Command errors can also be read directly from the address registers Command errors can be generated either fromthe Command Buffer or from an application program When the controller receives an error from the Command Buffer Bit 0 of the General Status 010 will be set The reason for the error is read at address 012 with the error codes listed in the TC command Similarly when the controller receives an error from an application program Bit 1 of the General Status 010 w
192. ed down to the nearest factor of 1024 The units of the parameter is counts per second squared ARGUMENTS VD n where nis an unsigned number in the range 1024 to 68 431 360 decimal 2 returns the value of the vector deceleration for the specified axis USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE DEFAULTS No Default Value 262144 Yes Default Format Yes Yes Yes _VDx contains the value of the vector deceleration for the specified axis RELATED COMMANDS VA on page 286 VS on page 293 VP on page 291 CR on page 186 VE on page 288 VM on page 289 BG on page 174 VT on page 294 EXAMPLES VECTOR VMXY VA1000000 VD 5000000 VS 2000 VP 10000 20000 VE BGS Vector Acceleration Vector Speed Vector Position Circle Vector End Vector Mode Begin Sequence Smoothing constant S curve Vector Program Label Specify plane of motion Vector Acceleration Vector Deceleration Vector Speed Vector Position End Vector Begin Sequence Error Reference source not found 10 287 Position Format VE Binary E6 FUNCTION Vector Sequence End DESCRIPTION VE is required to specify the end segment of a coordinated move sequence VE would follow the final VP or CR command in a sequence VE is equivalent to the LE command ARGUMENTS VE returns the length of the vector in counts USAGE While Moving In a Program C
193. eesseseseesesesceeseeeeseeseseseneseeeseeeeeeneees 74 Operand Summary Vector Mode Motion Electronic Gearing ssns reremen eessen ene ita Nesna Command Summary Electronic Gearing Operand Summary Electronic Gearing ae yu Contour Mode ae a a A SRA Gs Rh NA E Specifying Contour Segments e ss sesessseseressreestessresstessesssteetessntenerssrtentesseessresressstererssreerers Additional Command seein aaa are a E E E RE E R NEER Command Summary Contour Mode Operand Summary Contour Mode Stepper Motor Operation eects teens Specifying Stepper Motor Operation Using an Encoder with Stepper Motors Command Summary Stepper Motor Operation scesescceseeeeeeseeseseseeteeeeeeeeees Operand Summary Stepper Motor Operation eee eeeseseecesescseseeeeseeeeseseseseeeeeeeeeneees Dual Loop Auxiliary Encoder sciiccncicieciscidesssceschiveeseevies hecsteceeciab TE O ERENCE Backlash Compensation 0 0 eeeeecesseseseseeeeseeeseeeeeeeeees Command Summary Using the Auxiliary Encoder Operand Summary Using the Auxiliary Encoder Motion Smoothin irin heed erah baste tes tA RANG ee AS ee Chapter 7 Application Programming 97 OV CIVIC WA e te et teat alg A Naess el aa R seth aah tae tas die Using the DMC 1300 Editor to Enter Programs a see EditMode Commands sae einige ete Aaa ae ase ees Progra Forat e onera orerar rs ET envas veges oe vara dob costunevebpves tens EN N EE E Using Labels in Pro
194. efects in materials or workmanship Galil Motion Control will at its sole option repair or replace the defective product covered by this warranty without charge To obtain warranty service the defective product must be returned within 30 days of the expiration of the applicable warranty period to Galil Motion Control properly packaged and with transportation and insurance prepaid We will reship at our expense only to destinations in the United States Any defect in materials or workmanship determined by Galil Motion Control to be attributable to customer alteration modification negligence or misuse is not covered by this warranty EXCEPT AS SET FORTH ABOVE GALIL MOTION CONTROL WILL MAKE NO WARRANTIES EITHER EXPRESSED OR IMPLIED WITH RESPECT TO SUCH PRODUCTS AND SHALL NOT BE LIABLE OR RESPONSIBLE FOR ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES COPYRIGHT 10 94 The software code contained in this Galil product is protected by copyright and must not be reproduced or disassembled in any form without prior written consent of Galil Motion Control Inc DMC 1300 Appendices A 330 Index A Abort 1 25 27 31 66 72 139 141 162 301 303 310 11 317 325 Off On Error 11 27 31 139 141 162 243 Stop Motion 66 72 116 142 265 Absolute Position 19 61 62 107 8 113 169 70 194 236 239 277 325 Absolute Value 112 119 20 140 Acceleration 163 171 204 8 218 20 276 286 88 322 23 324 26 328 Accessories 31
195. ells the controller to decelerate to a stop following the last LI command If an LE command is not given an Abort AB1 must be used to abort the motion sequence It is the responsibility of the user to keep enough LI segments in the DMC 1300 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 and loaded through the DMC 1300 Command Buffer 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 This information is also available at addresses 018 019 of the general registers in the Dual Port RAM 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 1300 computes the vector speed based on the axes specified in the LM mode For example LM XYZ designates linear interpolation for the X Y and Z axes The vector speed for this example would
196. ent Used as an Operand states whether the command has an associated operand Default Description In the command description the DEFAULT section provides the default values for controller setup parameters These parameters can be changed and the new values can be saved in the controller s non volatile memory by using the command BN If the setup parameters are not saved in non volatile memory the default values will automatically reset when the system is reset A reset occurs when the power is turned off and on when the reset button is pushed or the command RS is given When a master reset occurs the controller will always reset all setup parameters to their default values and the non volatile memory is cleared to the factory state A master reset is executed by the command lt ctrl R gt lt ctrl S gt lt Return gt OR by powering up or resetting the controller with the MRST jumper or dip switch on For example the command KD is used to set the Derivative Constant for each axis The default value for the derivative constant is 64 If this parameter is not set by using the command KD the controller will automatically set this value to 64 for each axis If the Derivative Constant is changed but not saved in non volatile memory the default value of 64 will be used if the controller is reset or upon power up of the controller If this value is set and saved in non volatile memory it will be restored upon reset until a master reset is
197. er and J means a jumper is present Step 3 Install the DMC 1300 into VME Host With the address jumpers properly configured the DMC 1300 may be installed into the VME host With the custom VME system this is simply a matter of installing the controller into an available slot and powering up the system With the Bit 3 system the process is more in depth First the Bit 3 PC adapter card once properly address must be inserted into an ISA slot on the host PC The Bit 3 VME card also properly addressed is then installed into the master VME slot usually the first slot The Bit 3 cable is then used to connect the PC to the VME host Finally the DMC 1300 may be installed into any VME slot Please refer to the Bit 3 documentation for more specific information Chapter 2 Getting Started e 2 9 DMC1000 Step 4 Install and Test Communications Software The communication software used will depend on the type of VME system being used Bit 3 or custom system Both procedures are outlined below BIT 3 System Interface Communication with the Bit 3 system can be established using the Galil Comm 1300 software This software provides a terminal emulator to send commands to the controller as well as a display of axis and Dual Port RAM status information To install this software insert the Comm 1300 communication disks In the DOS command prompt type A INSTALL lt enter gt and follow the instructions on the screen Upon installation execute the Co
198. er of available labels _UL contains the number of available variables _DA contains the number of available arrays _DM contains the number of available array elements _AB contains the state of the Abort Input _FLx contains the state of the forward limit switch for the x axis _RLx contains the state of the reverse limit switch for the x axis Debugging Example The following program has an error It attempts to specify a relative movement while the X axis is already in motion When the program is executed the controller stops at line 003 The user can then query the controller using the command TC1 The controller responds with the corresponding explanation ED 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 Q Quit Edit Mode XQ A Execute A 2003 PR5000 Error on Line 3 TC1 Tell Error Code 7 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 A Execute A In the Dual Port RAM Bit lof the General Status 010 will be set when the program executes line 3 Upon being set the Application Error Code register 013 will read 07 corresponding to the Command not valid while running error This error will remain valid until cleared by the host or another error occurs Chapter 7 Application Programming 7 e 105
199. ero ten times Wait 100 msec between moves Instruction Interpretation BEGIN Begin Program COUNT 10 Initialize loop counter LOOP Begin loop PA 1000 Position absolute 1000 BGX Begin move AMX Wait for motion complete WT 100 Wait 100 msec PAO Position absolute 0 BGX Begin move AMX Wait for motion complete WT 100 Wait 100 msec COUNT COUNT 1 Decrement loop counter JP LOOP COUNT gt 0 Test for 10 times through loop EN End Program Command Format a and i FORMAT DESCRIPTION JS destination logical Jump to subroutine if logical condition is satisfied condition JP destination logical Jump to location if logical condition is satisfied condition 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 a e a o O y Chapter 7 Application Programming 7 e 113 DMC1000 Subroutines A subroutine is a group of instructions beginning with a label and ending with an end command EN Subroutines are called from the main program with the jump subroutine instruction JS followed by a label or line number and conditional statement Up to 8 subroutines can be nested After the subroutine is executed the program sequencer returns to the program location where the subroutine w
200. es active 044 073 Don t care Response Buffer DMC 1310 1340 Addresses 070 09F DMC 1350 1380 Addresses 090 0C3 Chapter 4 VME Communication e Error Main Document Only 45 The response buffer is used to return the values requested by an interrogation command The information is always presented as a binary record in similar format to the command record The data for each axis is 4 bytes integer and 2 bytes fraction When the response buffer has valid data the response buffer semaphore 003 is set Once the data has been read by the host the semaphore should be cleared The response semaphore will always be valid when the command buffer semaphore is cleared to show command done The address locations for the responses are as follows DMC 1310 1340 Command which generated response Bit 7 interrogation Bit 6 Bit 5 Bit 4 Bit 3 W axis or field 4 data valid Bit 2 Z axis or field 3 data valid Bit 1 Y axis or field 2 data valid Bit 0 X axis or field 1 data valid oon ors 01D OTE 083 Z axis data 084 080 DMC 1350 1380 loo Command which generated response Format Bit 7 1 interrogation Bit 7 H axis data valid Bit 6 G axis data valid Bit 5 F axis data valid Bit 4 E axis data valid Bit 3 W axis data valid Bit 2 Z axis data valid Bit 1 Y axis data valid Bit 0 X axis data valid 094 090 09A 00E 0A0 0A5 Z axis data 0A6 0AB OAC OB1 E axis data 08
201. eset It is the last item to be updated during an update cycle and can therefore be used to determine whether new axis data has been updated NOTE Writing in these locations has no effect Coordinated Move Segment Count For coordinated moves the 2 byte value shows which coordinated segment is being run Firmware Revision This 6 byte value shows the firmware revision of the controller Axis Number This register contains the number of axis of the controller 1 8 Analog Inputs Contains 1 if Analog 0 if No Analog Program Buffer Control This register chooses between three communication modes for the Application Program Buffer To select the mode write its number to the register Mode 0 If the Program Buffer is full and an application program needs to write to the buffer the new data will be lost Mode 1 If the Program Buffer is full and an application program needs to write to the buffer application program execution will be held up until the buffer is clear and no data will be lost Mode 2 If the Program Buffer is full and an application program needs to write to the buffer the old data will be lost Number of Samples between Updates divided by 2 The default is 1 sample 2 msec This register can be used to help a host create a position history at a particular time interval 02A 02C Uncommitted Input Port Chapter 4 VME Communication e Error Main Document Only 40 This is a copy of the uncommitted in
202. f Data 127 Set Bit 128 180 261 Torque Limit 275 TTL 5 25 27 32 33 139 Home Input 26 91 123 205 6 Homing 26 91 205 6 212 Find Edge 26 91 205 6 T O Amplifier Enable 32 33 139 Analog Input 120 21 123 128 130 31 136 Clear Bit 128 180 Doc To Help Standard Template Digital Input 25 27 119 129 Digital Output 119 128 Home Input 26 91 123 205 6 Output of Data 127 Set Bit 128 180 261 TIL 5 25 27 32 33 139 ICM 1100 7 9 11 25 30 31 139 Independent Motion Jog 19 108 10 115 17 122 136 140 191 218 220 264 Index Pulse 12 26 91 206 212 ININT 101 115 130 166 201 215 253 Input Analog 120 21 123 128 130 31 136 Digital 119 129 Input Interrupt 101 110 115 130 201 215 266 ININT 101 115 130 166 201 215 253 Inputs Analog 1 3 25 32 301 315 324 Installation 8 9 143 Integrator 148 152 53 217 Interconnect Module AMP 1100 314 ICM 1100 11 25 30 31 139 Interface Terminal 121 Internal Variable 23 112 120 122 168 Interrogation 18 20 58 59 127 218 Interrupt 1 3 101 3 110 114 15 130 177 198 99 201 215 249 252 53 266 285 299 Invert 182 240 Invert Loop Polarity 144 J Jog 19 108 10 115 17 122 136 140 191 218 220 264 Joystick 121 135 36 Jumper 30 144 184 240 259 K Keyword 112 118 120 123 24 228 233 274 TIME 123 24 274 KS 226 L Label 30 97 103 107 15 122 23 133 136 37 141 215 221 22 234 252
203. fier with K 2 A V with the motor described by the previous example will have the transfer function P V 1000 s2 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 driver system may include a velocity loop where the motor velocity is sensed by a tachometer and is fed back to the amplifier Such a system is illustrated in Fig 10 5 Note that the transfer function between the input voltage V and the velocity is V K K Js 1 K Kt Kg Js I Kg sT 1 where the velocity time constant T1 equals T1 J K ky Kg This leads to the transfer function PIV I Kg s sT1 1 Figure 10 5 Elements of velocity loops The resulting functions derived above are illustrated by the block diagram of Fig 10 6 Theory of Operation e 10 150 VOLTAGE SOURCE 1 K ST 1 ST 1 CURRENT SOURCE VELOCITY LOOP 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 b
204. fiers For servo motors If you are using a conventional amplifier that accepts a 10 Volt analog signal this pin is not used and should be left open The switching frequency is 33 4 Khz for DMC 1300 and 16 7 Khz for DMC 1300 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 mo tors 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 A 310 Inputs Encoder A B Encoder Index I Enco
205. g500 I 1 Arg AG500 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 arg G j500 arg AG500 arg LG500 135 194 59 In other words we need to select a filter function G s of the form G s P sD so that at the frequency 500 the function would have a magnitude of 160 and a phase lead of 59 degrees These requirements may be expressed as IGG500 I IP GS500D I 160 and arg G j500 tan 1 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 KP 4 KD 1 z DMC 1300 Theory of Operation e 10 156 where KP P 4 and KD D 4eT Assuming a sampling period of T 1ms the parameters of the digital filter are KP 20 6 KD 68 6 The DMC 1300 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 1300 Digital D z K z A z Cz z 1 Digital D z 4 KP 4 KD 1 z KI 2 1 z KP KD KI K KP KD 4 A KDAKP KD C KI2 Digital D z 4 GN z ZR z KI 2 2 z 1 GN ZR KI K 4GN A ZR C KI2 Continuous G s P Ds T s PID T P
206. ge Input the commands ER 2000 lt CR gt Sets error limit on the X axis to be 2000 encoder counts OE 1 lt CR gt Disables X axis amplifier when a excess position error exists If the motor runs away and creates a position error of 2000 counts the motor amplifier will be disabled Note This function requires the AEN signal to be connected from the controller to the amplifier Step C Set Torque Limit as a Safety Precaution To limit the maximum voltage signal to your amplifier the DMC 1300 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 axi
207. ging at speed zero B Label VIN AN 1 Set variable VIN to value of analog input 1 DMC1000 Chapter 7 Application Programming 7 e 135 DMC1000 VEL VIN 20000 JG VEL JP B EN Set variable VEL to multiple of variable of VIN Update jog speed to value of variable VEL Loop back to label B End Position Control by Joystick This system requires the position of the motor to be proportional to the joystick angle Furthermore the ratio between the two positions must be programmable For example if the control ratio is 5 1 it implies that when the joystick voltage is 5 Volts corresponding to 1028 counts the required motor position must be 5120 counts The variable V3 changes the position ratio Instruction A V3 5 DPO JGO BGX B V1 AN 1 V2 V1 V3 V4 V2 _TPX _TEX V5 V4 20 JG V5 JP B EN Interpretation Label Initial position ratio Define the starting position Set motor in jog mode as zero Start Read analog input Compute the desired position Find the following error Compute a proportional speed Change the speed Repeat the process 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 is large it may be difficult to stabilize the system In those cases it may be easier to use the sampled dual loop method described below This design example add
208. given to the controller The default format describes the format for numerical values which are returned when the command is interrogated The format value represents the number of digits before and after the decimal point Servo and Stepper Motor Notation Your motion controller has been designed to work with both servo and stepper type motors Installation and system setup will vary depending upon whether the controller will be used with stepper motors or servo motors To make finding the appropriate instructions faster and easier icons will be next to any information that applies exclusively to one type of system Otherwise assume that the instructions apply to all types of systems The icon legend is shown below Attention Pertains to servo motor use Attention Pertains to stepper motor use Error Reference source not found e 10 161 AB Binary D3 FUNCTION Abort DESCRIPTION AB Abort stops a motion instantly without a controlled deceleration If there is a program operating AB also aborts the program unless a argument is specified The command AB will shut off the motors for any axis in which the off on error function is enabled see command OE on page 243 ARGUMENTS AB n USAGE where n no argument or 1 1 aborts motion without aborting program 0 aborts motion and program AB aborts motion on all axes in motion and cannot stop individual axes While Moving In a Program Command Line Ca
209. gon page 76 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 lo Normal quadrature o Normal quadrature 1 Pulse amp direction 4 Pulse amp direction Reverse pulse amp direction Reversed pulse amp direction For example to configure the main encoder for reversed quadrature m 2 and a second encoder of pulse and direction n 4 the total is 6 and the command for the X axis is CE6 Additional Commands for the Auxiliary Encoder The command DE x y z w can be used to define the position of the auxiliary encoders For example DE 0 500 30 300 sets their initial values The positions of the auxiliary encoders may be interrogated with the command DE For example DE returns the value of the X and Z auxiliary encoders The auxiliary encoder position may be assigned to variables with the instructions Vl _DEX The command TD XYZW returns the current position of the auxiliary encoder The command DV XYZW configures the auxiliary encoder to be used for backlash compe
210. gramming Motion e Error Main Document Only 95 Chapter 7 Application Programming Overview The DMC 1300 provides a powerful programming language that allows users to customize the controller for their particular application Programs can be downloaded into the DMC 1300 memory freeing the host for other tasks However the VME host can send commands to the controller at any time even while a program is being executed In addition to standard motion commands the DMC 1300 provides commands that allow the DMC 1300 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 1300 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 1300 Editor to Enter Programs DMC1000 Application programs for the DMC 1300 may be created and edited either using the COMM 1300 editor or by writing directly to the Program Buffer In the COMM 1300 software the DMC 1300 provides a line Editor for entering and modifying programs The Edit mode is entered with the ED instruction The ED command can only be gi
211. grams 00 eee cssssesesseseceesesseseseecesenenesneseseecsusesacseesesescaeansueseeeecsnsueaeas Special Dl o c KAOTE ETENEE EE EEEE ETE EEEE Commenting Programs Executing Programs Multitasking Debugging Programs s essessesseeeseeseesse Program Flow CommandS s esere eee aprener cdv oeeo eo ee eier toreo sap rae See ei aas re Eero Doc To Help Standard Template Contents e iii Conditional Jumps asc vars ee eee neha EER E toncea anne eatin SUBTOULINES 5 vests ETERO ENTON ROEE ETE TAE Stack Maniptlation one n a cae ae E AOR E ah aadey Automatic Subroutines for Monitoring Conditions Mathematical and Functional Expressions ccsssessssssseseeseesecescsesesencaeseecacaeseecacaeseeeacaeseeeneaeseeenes Mathematical Expressions asennon giiia aE Ea S ES STEE EI ot Bit Wise Operators are he OO A O R EE E RRE E Rg Func UON Saesson araea ea Sko ere P Eia AEE EPEE KEE ER SSA AT ET E EEEE ATE Defining Arrays Assignment of Array Entries sseesseeseseseereesesseee Automatic Data Capture into ArrayS s sssesssssseesssesseessesstersreesteesressteerersntentresrrenreereessreenees Deallocating Array Space cinis eeii iee E E Output of Data Numeric and String ssesseesssessssseessssereessesrersseestresressreererssteerrrsntetresrtenrrererssreerees Sending Messages eninin Bel Ee Re Sita Proprammable Hard wate W O vicssesiescsscstesces nterra ss ivan ESEA tstesteeooeeverntereeyess Digital Outputs cesses vee sh BK TSN OA Cr a N
212. h The motion path is described in terms of DMC 1300 Chapter 6 Programming Motion e Error Main Document Only 65 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 the 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 t
213. h subroutine This label causes the statements following to be automatically executed if any limit switch is activated and that axis motor is moving in that direction The RE command ends the subroutine The state of the forward and reverse limit switches may also be tested during the jump on condition statement The _LR condition specifies the reverse limit and _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 A EN Dummy Program LIMSWI Limit Switch Utility V1 _LFX Check if forward limit V2 _LRX Check if reverse limit JP LF V 1 0 Jump to LF if forward JP LR V2 0 Jump to LR if reverse JP END Jump to end LF LF MG FORWARD Send message LIMIT STX AMX Stop motion PR 1000 BGX AMX Move in reverse JP END End LR LR MG REVERSE LIMIT Send message STX AMX Stop motion PR1000 BGX AMX Move forward END End RE Return to main program NOTE An applications program must be executing for LIMSWI to function DMC 1300 Chapter 8 Hardware amp Software Protection e 8 142 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 2 3 4 Installation Communication Stability and Compensation Operation The various symptoms along w
214. he COMINT routine handles trippoints Note3 Use the RE command to return from the interrupt handling subroutines LIMSWI and POSERR Use the RI command to return from the ININT subroutine USAGE DEFAULTS While Moving Yes Default Value n 0 m 0 In a Program Yes Default Format Command Line No Can be Interrogated No Used as an Operand No RELATED COMMANDS RE on page 252 Return from error subroutine RI on page 253 Return from interrupt subroutine DMC 1300 Error Reference source not found e 10 200 EXAMPLES A Program A PR 500 Move X axis forward 500 counts BGX Pause the program until the X axis completes the motion AMX Move X axis forward 1000 counts PR 1000 Set another Position Relative move BGX Begin motion EN End of Program Note Instead of EN use the RE command to end the error subroutine and limit subroutine Use the RI command to end the input interrupt ININT subroutine DMC 1300 Error Reference source not found e 10 201 ER Binary 88 FUNCTION Error Limit DESCRIPTION The ER command sets the magnitude of the X Y Z and W axis position errors that will trigger an error condition When the limit is exceeded the Error output will go low true If the Off On Error OE1 command is active the motors will be disabled The units of ER are quadrature counts ARGUMENTS ER x y z w ERX x ER a b c d e f g h where X y Z W are unsigned numbers in the range 1 to 32767 2 returns the val
215. he Axis Buffer will indicate the direction USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE DEFAULTS No Default Value 0 Yes Default Format Position Format Yes Yes No _PRx contains the current incremental distance for the specified axis RELATED COMMANDS PA on page 246 BG on page 174 AC on page 163 DC on page 191 SP on page 264 IP on page 218 EXAMPLES PR 100 200 300 400 BG PR Position Absolute Begin Acceleration Deceleration Speed Increment Position On the next move the X axis will go 100 counts the Y axis will go to 200 counts forward Z axis will go 300 counts and the W axis will go 400 counts Return relative distances 0000000100 0000000200 0000000300 PR 500 BG Used as an Operand DMC 1300 Set the relative distance for the X axis to 500 The X axis will go 500 counts on the next move while the Y axis will go its previously set relative distance No Error Reference source not found 10 248 RA No Binary FUNCTION Record Array DESCRIPTION The RA command selects one through four arrays for automatic data capture The selected arrays must be dimensioned by the DM command The data to be captured is specified by the RD command and time interval by the RC command ARGUMENTS RA n m o p0 RAnf m o pfl qi1rf1 stl where n m o and p are dimensioned arrays as defined by DM command
216. he freeze update semaphore Therefore to ensure that data has not changed during the READ cycle it is suggested that you read the data twice For example the 22 variable element on a DMC 1310 would be at address 22 6 240 2C4 The 22 variable element on a DMC 1350 would be at address 22 6 440 4C4 DMC 1300 Chapter 4 VME Communication e Error Main Document Only 52 DMC 1300 Interrupts The DMC 1300 board supports the VME Bus vectored interrupts The interrupt may occur on any one of the seven interrupt levels To select the interrupt level two sets of jumpers must be installed on the board These are JP13 IRQI IRQ7 and JP12 IAD1 IAD4 and are located on the bottom right side of the board The two sets work together and must be set correctly for the interrupt procedure to function correctly The IRQ1 IRQ7 jumpers set the interrupt priority IRQ7 is the highest One jumper should be placed on the level chosen The IAD1 IAD4 jumpers are used to put the vector on the bus They form a 3 bit binary combination where IAD4 is the most significant bit The combination must be equal to the IRQ number picked A jumper causes that bit to be a zero For example to set the interrupt for level 6 a jumper would be placed on IRQ6 The IAD1 IAD4 jumpers would be as follows where R means jumper removed and J means jumper present The interrupt vector is a number between 8 and 255 and must be set by the EI comma
217. he order of data type is important and corresponds with the order of n m o p arrays in the RA command The RC command begins data collection Sets data capture time interval where n is an integer between and 8 and designates 2 msec between data m is optional and specifies the number of elements to be captured If m is not defined the number of elements defaults to the smallest array defined by DM When m is a negative number the recording is done continuously in a circular manner _RD is the recording pointer and indicates the address of the next array element n 0 stops recording RC Returns a 0 or 1 where 0 denotes not recording 1 specifies recording in progress Data Types for Recording own SSS 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 1380 Operand Summary Automatic Data Capture _RC Returns a 0 or 1 where 0 denotes not recording 1 specifies recording in progress Returns address of next array element Example Recording into An Array During a position move store the X and Y positions and position error every 2 msec Instruction Interpretation Chapter 7 Application Programming 7 e 126 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
218. he 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 A Il JG 30000 20000 BG XY B TP XY WT 1000 JP B EN ININT MG Interrupt occurred ST XY LOOP JP LOOP IN 1 0 JG 15000 10000 WT 300 BG XY RI Analog Inputs Interpretation Label A Enable input 1 for interrupt function Set speeds on X and Y axes Begin motion on X and Y axes Label B Report X and Y axes positions Wait 1000 milliseconds Jump to B End of program Interrupt subroutine Display message Stops motion on X and Y axes Loop until Interrupt cleared Specify new speeds Wait 300 milliseconds Begin motion on X and Y axes Return from Interrupt subroutine The DMC 1300 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 through 7 The resolution of the Analog to Digital conversion is 12 bits Analog inputs are useful for reading special sensors such as temperature tension or pressure The following examples show programs which cause the motor to follow an analog signal The first example is a point to point move The second example shows a continuous move Chapter 7 Application Programming 7 e 130 Example Position Follower Point to Point
219. he system parameters are assumed known The design procedure is best illustrated by a design example Consider a system with the following parameters Ky Nm A Torque constant J 2 104 kg m2 System moment of inertia R 2 Q Motor resistance K 2 Amp Volt Current amplifier gain N 1000 Counts rev Encoder line density The DAC of the DMC 1300 outputs 10V for a 14 bit command of 8192 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 P I K Js2 1000 s2 Amp Ka 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 Theory of Operation e 10 155 The next step is to combine all the system elements with the exception of G s into one function Ls L s M s K Kg Kf H s 0 3175 10 s s 2000 Then the open loop transfer function A s is A s L s G s Now determine the magnitude and phase of L s at the frequency 500 L j500 0 3175 10 j500 2 500 2000 This function has a magnitude of ILG500 0 00625 and a phase Arg LG500 180 tan 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
220. hows when home has been found Bit 2 shows when the 1 phase of the homing routine has completed and Bit 3 shows when the 2 phase of the homing routine has completed For example a 1 at Bit 2 of address 240 on a DMC 1380 indicates that the 1 phase of homing on the Y axis has completed For examples and further information about Homing see command HM FI FE of the Command Reference and the section entitled Homing in the Programming Motion Section of this manual Abort Input The function of the Abort input is to immediately stop the controller upon transition of the logic state NOTE The response of the abort input is significantly different from the response of an activated limit switch When the abort input is activated the controller stops generating motion commands immediately whereas the limit switch response causes the controller to make a decelerated stop NOTE The effect of an Abort input is dependent on the state of the off on error function for each axis If the Off On Error function is enabled for any given axis the motor for that axis will be turned off when the abort signal is generated This could cause the motor to coast to a stop since it is no longer under servo control If the Off On Error function is disabled the motor will decelerate to a stop as fast as mechanically possible and the motor will remain in a servo state All motion programs that are currently running are terminated when a transition in the
221. ield 8 data valid Bit 6 G axis or field 7 data valid Bit 5 F axis or field 6 data valid Bit 4 E axis or field 5 data valid Bit 3 W axis or field 4 data valid Bit 2 Z axis or field 3 data valid DMC 1300 Chapter 4 VME Communication e Error Main Document Only 44 DMC 1300 OEE O Bit 0 X axis or field 1 data valid 056 05B Field 4 W axis 05C 061 Field 5 axis 062 067 Field 6 F axis 068 06D Field 7 G axis 06E 073 Field 8 H axis Below are three examples showing how to send Binary commands to the DMC 1300 Example Send the command KP4 6 8 20 30 to the DMC 1380 in Binary format Address Value hex Comment 040 B6 Code for KP 041 00 No interrogation 042 00 No coordinated motion 043 D6 X Z W F G axes active 044 049 00 00 00 04 00 00 X data 4 04A 04F 00 00 00 00 00 00 Y data 0 050 055 00 00 00 06 00 00 Z data 6 056 05B 00 00 00 08 00 00 W data 8 05C 061 00 00 00 00 00 00 E data 0 062 067 00 00 00 14 00 00 F data 20 068 06D 00 00 00 1E 00 00 G data 30 O6F 073 00 00 00 00 00 00 H data 0 Example Send the command BGS to the DMC 1340 in Binary format Address Value hex Comment 040 CE Code for BG 041 10 Coordinated motion 042 059 Don t care Example Interrogate the DMC 1380 controller with the command ER Address Value hex Comment 040 BF Code for ER 041 80 Interrogation 042 00 No coordinated motion 043 2A Y W F ax
222. iliarity with both the VME system protocol and programming OR 2 UseaPCto VME adapter system such as the Model 406 202 from BIT 3 Phone 612 881 6955 This system will substitute a PC for the VME host allowing for quick and easy development The Galil Comm 1300 software may be used with this setup which includes the basic terminal emulator interface access to the Dual Port RAM and development tools for tuning servo motors This approach allows for a faster system setup and is useful in prototyping applications Installation of a complete operational DMC 1300 system can be described in 9 steps Step 1 Determine overall motor configuration Step 2 Configure address jumpers on the DMC 1300 Step 3 Install the DMC 1300 into the VME host Step 4 Install and test communications software Step 5 Connect amplifiers and Encoders Step 6a Connect standard servo motors Step 6b Connect step motors Step 7 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 1300 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 for more information The following configuration information is necessary to determine the proper motor configuration Standard Servo Motor Operation The DMC 1300 has been setup by the
223. ill be set The reason for that error is read at address 013 with the list of error codes listed in the TC command 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 DMC 1300 Interrogation Commands The DMC 1300 has a set of commands that directly interrogate the controller When the command is entered through the COMM 1300 software the requested data is returned in decimal format on the next line followed by a carriage return and line feed When the command is written to the Command Buffer the response can be read in the Response Buffer When there is valid data in the Response Buffer the Response Buffer Semaphore is set If the interrogation is sent from an application program the response is found in the Program Buffer Summary of Interrogation Commands Per OO sc TC Tell Error Code TD Tell Dual Encoder Chapter 5 Command Basics e Error Main Document Only 58 DMC 1300 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
224. ill even when the amplifiers are powered up Step B Connect the amplifier enable signal Before making any connections from the amplifier to the controller you need to verify that the ground level of the amplifier is either floating or at the same potential as earth WARNING When the amplifier ground is not isolated from the power line or when it has a different potential than that of the computer ground serious damage may result to the computer controller and amplifier If you are not sure about the potential of the ground levels connect the two ground signals amplifier ground and earth by a 10 KQ resistor and measure the voltage across the resistor Only if the voltage is zero connect the two ground signals directly The amplifier enable signal is used by the controller to disable the motor It will disable the motor when the watchdog timer activates the motor off command MO is given or the position error exceeds the error limit with the Off On Error function enabled see the command OE for further information The standard configuration of the AEN signal is TTL active high In other words the AEN signal will be high when the controller expects the amplifier to be enabled The polarity and the amplitude can be changed if you are using the ICM 1100 interface board To change the polarity from active high 5 volts enable zero volts disable to active low zero volts enable 5 volts disable replace the 7407 IC w
225. in proportion to the vector move Similarly if X Y and Z perform a linear interpolation move W can be geared to the vector move Electronic gearing allows the geared motor to perform a second independent or coordinated move in addition to the gearing For example when a geared motor follows a master at a ratio of 1 1 it may be 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 n CX CY CZ or CW or CA CB CC CD CE CF CG CH for commanded position n DX DY DZ or DW or DA DB DC DD DE DF DG DH for auxiliary encoders n S vector move as master Sets gear ratio for slave axes 0 disables electronic gearing for specified axis GR a b c d e f g h Sets gear ratio for slave axes 0 disables electronic gearing for specified axis Trippoint for reverse motion past specified value Only one field may be used Trippoint for forward motion past specified value Only one field may be used Operand 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 Chapter 6 Programming Motion e Error Main Document Only 76 DMC 1300 n CX CY CZ or CW or CA CB CC CD CE CF CG CH for commanded position n DX DY DZ or DW or DA DB DC DD DE DF
226. inary the equivalent would be C9 07 00 00 OF AO 00 00 00 00 23 28 00 00 where C9 is the Position Relative binary code 07 specifies parameters for the X and Y fields and the remaining fields are the X and Y data showing four bytes of integer followed by two bytes of fraction Commands can be sent live over the bus for immediate execution by the DMC 1300 or an entire group of commands can be downloaded into the DMC 1300 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 1300 instruction set and syntax A summary of commands as well as a complete listing of all DMC 1300 instructions is included in the Command Reference chapter DMC 1300 Chapter 5 Command Basics e Error Main Document Only 55 Command Syntax ASCII DMC 1300 instructions are represented by two ASCII upper case characters followed by applicable arguments A space may be inserted between the instruction and arguments An lt enter gt is used to terminate the instruction for processing by the DMC 1300 command interpreter Note If you are using a Galil terminal program commands will not be processed until an lt enter gt command is given IMPORTANT All DMC 1300 commands are sent in upper case Commands may be sent to the controller through the Galil COMM 1300 software if using the Bit 3 system or written directly to
227. ing on the axis is complete 3 The commanded motion is in the direction which moves away from the specified position The units of the command are quadrature counts Only one axis may be specified at a time The motion profiler must be on or the trippoint will automatically be satisfied ARGUMENTS AD x or AD y or AD z or AD w ADX x AD a b c d e f g h where X y Z W are unsigned integers in the range 0 to 2147483647 decimal USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS AD on page 164 After distance for repetitive triggering AV on page 173 After distance for vector moves EXAMPLES A DP0 0 0 0 Begin Program PR 10000 20000 30000 40000 Specify positions BG Begin motion AD 5000 After X reaches 5000 MG Halfway to X TPX Send message AD 10000 After Y reaches 10000 MG Halfway to Y TPY Send message AD 15000 After Z reaches 15000 MG Halfway to Z TPZ Send message AD 20000 After W reaches 20000 MG Halfway to W TPW Send message EN End Program Hint The AD command is accurate to the number of counts that occur in 2 msec Multiply your speed by 2 msec to obtain the maximum position error in counts Remember AD measures incremental DMC 1300 Error Reference source not found e 10 164 distance from start of move on one axis DMC 1300 Error Reference source not found e 10 165 Al
228. 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 2 Configure Address Jumpers on the DMC 1300 The DMC 1300 is installed directly into the VME backplane The address jumpers of the controller must be set for proper communication with the host If using the BIT 3 system address jumpers must also be set on both the PC card and VME card The procedures for both setups are outlined below BIT 3 System Interface In order to communicate with the DMC 1300 using the Bit 3 system jumpers must be installed on the controller Bit 3 VME card and Bit 3 PC card Setting the address jumpers of the Galil controller is identical to the set up for the custom VME interface with the default at FO 00 Once this has been accomplished the Bit 3 VME and PC card are configured as shown on page XX of the appendix Custom VME Interface The first step in communicating with the Galil controller is to set the address jumpers to the proper configuration These address jumpers can be found at location JP11 labeled as A12 through A15 The default address of the board with no jumpers installed is FO 00 Placing a jumper will make the corresponding bit a zero while no jumper corresponds to a one For example to set the base address to EO 00 hex the following jumpers would be installed A15 A14 A13 A12 1 1 1 0 N N N J where N means no jump
229. ion Profiles Operation of Closed Loop Systems To understand the operation of a servo system we may compare it to a familiar closed loop operation adjusting the water temperature in the shower One control objective is to keep the temperature at a comfortable level say 90 degrees F To achieve that our skin serves as a temperature sensor and reports to the brain controller The brain compares the actual temperature which is called the feedback signal with the desired level of 90 degrees F The difference between the two levels is called the error signal If the feedback temperature is too low the error is positive and it triggers an action which raises the water temperature until the temperature error is reduced sufficiently The closing of the servo loop is very similar Suppose that we want the motor position to be at 90 degrees The motor position is measured by a position sensor often an encoder and the position feedback is sent to the controller Like the brain the controller determines the position error which is the difference between the commanded position of 90 degrees and the position feedback The controller then outputs a signal that is proportional to the position error This signal produces a proportional current in the motor which causes a motion until the error is reduced Once the error becomes small the resulting current will be too small to overcome the friction causing the motor to stop DMC 1300 Theory of Operation
230. ion Range Velocity Range Velocity Resolution Motor Command Resolution Variable Range Variable Resolution Array Size Program Size DMC 1300 750 mA 40 mA DMC 1310 250 usec DMC 1320 375 usec DMC 1330 500 usec DMC 1340 500 usec 1 quadrature count Phase locked better than 005 System dependent 2147483647 counts per move Up to 8 000 000 counts sec 2 counts sec 14 Bits or 0012V for DMC 1300 16 bit or 0 0003 for DMC 1300 18 2 billion 1 104 1600 elements 8000 elements DMC 1340 MX and DMC 1380 500 lines x 40 characters 1000 lines x 80 characters DMC 1380 2000 lines x 40 characters DMC 1340 MX Appendices e A 302 Connectors for DMC 1300 Main Board DMC 1300 J2 Main 60 pin IDC 1 Ground 3 Error 5 Limit Common 7 Reverse Limit X 9 Forward Limit Y 11 Home Y 13 Reverse Limit Z 15 Forward Limit W 17 Home W 19 Input Common 21 Latch Y Input 2 23 Latch W Input 4 25 Motor Command X 27 Motor Command Y 29 Motor Command Z 31 Motor Command W 33 A X 35 B X 37 HX 39 A Y 41 B Y 43 I Y 45 A Z 47 B Z 49 HZ 51 A W 53 B W 55 HW 57 12V 59 5V 2 5 Volts 4 Reset 6 Forward Limit X 8 Home X 10 Reverse Limit Y 12 Forward Limit Z 14 Home Z 16 Reverse Limit W 18 Output 1 20 Latch X Input 1 22 Latch Z 24 Abort input 26 Amp enable X 28 Amp enable Y 30 Amp enable Z 32 Amp enable W 34 A X 36 B X 38 I X 40 A Y
231. is example the X motor will probably not move since the output signal will not be sufficient to overcome the friction If the motion starts it can be stopped easily by a touch of a finger Increase the torque level gradually by instructions such as INSTRUCTION INTERPRETATION TL 1 0 Increase torque limit to 1 volt TL 9 98 Increase torque limit to maximum 9 98 Volts The maximum level of 10 volts provides the full output torque Example 9 Interrogation The values of the parameters may be interrogated Some examples INSTRUCTION INTERPRETATION KP Return gain of X axis KP Return gain of Z axis KP 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 INTERPRETATION PR 600000 Distance SP 10000 Speed WT 10000 Wait 10000 milliseconds before reading the next instruction BGX Start the motion DMC1000 Chapter 2 Getting Started e 2 20 Example 11 Motion Programs Motion programs may be edited and stored in the controllers on board memory The instruction ED Edit mode moves the operation to the editor mode where the program may be written and edited The editor provides the line number For example in response to the first ED command the first line is zero LINE INSTRUCTIO
232. is high bit 1 value of 1 Y axis latch is not armed bit 0 value of 1 DMC 1300 Error Reference source not found e 10 281 DMC 1300 TT No Binary FUNCTION Tell Torque DESCRIPTION The TT command reports the value of the analog output signal which is a number between 9 998 and 9 998 volts ARGUMENTS TT XYZW TT ABCDEFGH where the argument specifies the axes to be affected DPRAM The torque output of the controller can be read in the corresponding Axis Buffer For example X axis torque for the DMC 1340 is read at addresses 10E through 10F while X axis torque for the DMC 1380 is read at addresses 20E through 20F USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 1 4 Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _TTx contains the value of the torque for the specified axis RELATED COMMANDS TL on page 275 Torque Limit EXAMPLES Vl _TTX Assigns value of TTX to variable V1 TTX Report torque on X 0 2843 Torque is 2843 volts Error Reference source not found e 10 282 DMC 1300 TV No Binary FUNCTION Tell Velocity DES CRIPTION The TV command returns the actual velocity of the axes in units of quadrature count s The value returned includes the sign ARGUMENTS TV XYZW TV ABCDEFGH where the argument specifies the axes to be affected DPRAM The actual velocity of an axis can be read in the corresponding Axis Buffer ie 11
233. ision is also designated DMC 1300 18 DAC resolution increased to 16 bits Step motor control method improved Command KS New feature for Rev 1 5 rev 1 2 for DMC 1080 Electronic Cam New commands Command BS Bas g g New features added Jan 1995 Allow circular array recording New commands added July 1994 Rev 1 4 Command RI N QU QD MF x y z w MR x y z w TW x y z w Description Step Motor Smoothing Description Choose ECAM master 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 ion reverse direction Trippoint for mo In position trippoint Sets timeout for in position VRr Sets speed ratio for VS nands added January 1994 Rev 1 3 Can specify parameters with axis designator For example Command Description 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 ded July 1993 Rev 1 2 New commands added March 1993 Rev 1 2 Command _CS _AV _VPX VP x y lt n New commands added January 1993 Command AT OB n expression XQ Label n Description Gives available variables Give available labels 2 s complement function Description Segment counter in LM VM and CM modes
234. itch of the lead screw is 2 5mm approximately 10 turns per inch a rotary encoder of 2500 lines per turn or 10 000 count per revolution results in a rotary resolution of 0 25 micron This results in equal resolution on both linear and rotary sensors To illustrate the control method assume that the rotary encoder is used as a feedback for the X axis and that the linear sensor is read and stored in the variable LINPOS Further assume that at the start both the position of X and the value of LINPOS are equal to zero Now assume that the objective is to move the linear load to the position of 1000 The first step is to command the X motor to move to the rotary position of 1000 Once it arrives we check the position of the load If for example the load position is 980 counts it implies that a correction of 20 counts must be made However when the X axis is commanded to be at the position 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 l
235. ith 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 SV To change to 12 volts pull the resistor pack and rotate it so that Pin 1 is on the 12 volt side If you remove the resistor pack the output signal is an open collector allowing the user to connect an external supply with voltages up to 24V On the ICM 1100 the amp lifier 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 DMC1000 Chapter 2 Getting Started e 2 11 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 1300 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 conn
236. ith the cause and the remedy are described in the following tables Installation SYMPTOM CAUSE REMEDY Motor runs away when connected to amplifier Amplifier offset too Adjust amplifier offset with no additional inputs large Same as above but offset adjustment does not Damaged amplifier Replace amplifier stop the motor Same as above but offset adjustment does not Damaged amplifier Replace amplifier stop the motor position Controller does not read changes in encoder 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 DMC1000 Chapter 9 Troubleshooting e 9 143 Communication SYMPTOM CAUSE REMEDY No communication with host Address selection in Check address jumper system communication does not match positions and change if jumpers necessary Stability Motor runs away when the loop Wrong feedback polarity Invert the polarity of the loop by is closed inverting the motor leads brush type or the encoder Motor oscillates Too high gain or too little Decrease KI and KP Increase KD damping Operation SYMPTOM CAUSE si CAUSE REMEDY sd Controller rejects command Invalid Command C E the cause with TC or Responded with a TCl Motor does not complete move Noise on
237. ity profiles Using the KS Command Step Motor Smoothing When operating with step motors motion smoothing can be accomplished with the command KS The KS command smoothes the frequency of step motor pulses Similar to the commands IT and VT this produces a smooth velocity profile The step motor smoothing is specified by the following command KS x y 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 Chapter 6 Programming Motion e Error Main Document Only 90 Homing DMC 1300 The smoothing parameters x y z w and n are numbers between 0 and 16 and determine the degree of filtering The minimum value of 1 implies no filtering resulting in trapezoidal velocity profiles Larger values of the smoothing parameters imply heavier filtering and smoother moves Note that KS is valid only for step motors The Find Edge FE and Home HM instructions may be used to home the motor to a mechanical reference This reference is connected to the Home input line The HM command initializes the motor to the encoder index pulse in addition to the Home input The configure command CN is used to define the polarity of the home input The Find Edge FE and Home HM command status can be read from the Dual Port RAM in the Axis Buffers These buffers include
238. larity 2 Step motor with active low step pulses 2 Step motor with active high step pulses 2 returns the value of the motor type for the specified axis DPRAM Bit 0 of the Switches address in the Axis Buffer will indicate the stepper motor jumpers are installed for the axis For example a at bit 0 of address 105 ona DMC 1340 indicates the SM jumper is installed for the X axis USAGE DEFAULTS While Moving No Default Value 1 1 1 1 In a Program Yes Default Format 1 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _MTx contains the value of the motor type for the specified axis RELATED COMMANDS CN on page 184 Configure step pulse width EXAMPLES MT 1 1 2 2 Configure x as servo y as reverse servo z and w as steppers MT Interrogate motor type V _MTX Assign motor type to variable Hint When using step motors you must install the SM jumper for each axis The step and direction signals are accessed through the J4 20 pin connector on the controller DMC 1300 Error Reference source not found e 10 240 DMC 1300 NO No Binary FUNCTION No Operation DESCRIPTION The NO command performs no action in a sequence but can be used as a comment in a program This helps to document a program ARGUMENTS NO m where m is any group of letter number symbol or lt cntrl gt G For DMC 1340 up to 37 characters can follow the NO command For DMC 1380 or DMC 1340 MX up to 77 charac
239. lt enter gt Tell position X and Y 0000000000 0000000000 Controllers Response Many of these interrogation commands can also be read directly from registers in the DMC 1300 Please refer to Chapter 4 to find the actual address locations of these commands Additional Interrogation Methods Most commands can be interrogated by using a question mark as the axis specifier Type the command followed by a for each axis requested PR 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 40555557 The controller will return the PR value for the H axis The controller can also be interrogated with operands Operands Most DMC 1300 commands have corres ponding operands that can be used for interrogation Operands must be used inside of valid DMC expressions For example to display the value of an operand the user could use the command MG operand All of the command operands begin with the underscore character _ For example the value of the current position on the X axis can be assigned to the variable V with the command V _TPX The Command Reference denotes all commands which have an equivalent operand as Used as an Operand Also see description of operands in Chapter 7 Chapter 5 Command Basics e Error Main Document Only 59 Command Summary For a complete command summary see Chapter 12 Command Reference DMC 1300
240. mand 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 Chapter 6 Programming Motion e Error Main Document Only 71 DMC 1300 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 The 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 r starting angle of q anda traversed angle d The notation for q is that zero corresponds to the positive horizontal direction and for both q and d the counter clockwise CCW rotation is positive Up to 511 segments of CR or VP may be specified in a single sequence and must be ended with the command VE The motion can be initiated with a Begin Sequence BGS command Once motion starts additional segments may be added The Clear Sequence CS command can be used to remove previous VP and CR commands which were stored in the buffer prior to the start of the motion To stop the motion use the instructions STS or AB1 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
241. 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 CX Specify master as commanded position of X GR 1 Set gear ratio for Y as 1 1 PR 3000 Command X motion BGX Start motion on X axis Chapter 6 Programming Motion e Error Main Document Only 77 You may also perform profiled position corrections in the electronic gearing mode Suppose for example that you need to advance the slave 10 counts Simply command IP 10 Specify an incremental position movement of 10 on Y axis Under these conditions this IP command is equivalent to PR 10 Specify position relative movement of 10 on Y axis BGY Begin motion on Y axis Often the correction is quite large Such requirements are common when synchronizing cutting knives or conveyor belts Example Synchronize two conveyor belts with trapezoidal velocity correction GAX Define master axis as X GR 2 Set gear ratio 2 1 for Y PR 300 Specify correction distance SP 5000 Specify correction speed AC 100000 Specify correction acceleration DC 100000 Specify correction deceleration BGY Start correction Contour Mode DMC 1300 The DMC 1300 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 p
242. me Independent Jogging The jog mode of motion allows the user to change speed direction and acceleration during motion The user specifies the jog speed JG acceleration AC and the deceleration DC rate for each axis 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 The DMC 1300 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 DESCRIPTION AC x y z w Specifies acceleration rate DC x y z w Specifies deceleration rate IP x y z w Increments position instantly DMC 1300 Chapter 6 Programming Motion e Error Main Document Only 64 Ti
243. me constant for independent motion smoothing JG x y z w Specifies jog speed and direction SUNY Operand Summary Independent Axis OPERAND DESCRIPTION Return acceleration rate for the axis specified by x Return deceleration rate for the axis specified by x Returns the jog speed for the axis specified by x Returns the actual velocity of the axis specified by x averaged over 25 sec 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 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 JOG 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 The DMC 1300 provides a linear interpolation mode for 2 or more axes up to 8 axes for the DMC 1380 In linear interpolation mode motion between the axes is coordinated to maintain the prescribed vector speed acceleration and deceleration along the specified pat
244. mension of array Tests with 1600 elements Error Reference source not found e 10 193 DMC 1300 DP Binary C3 FUNCTION Define Position DESCRIPTION The DP command sets the current motor position and current command positions to a user specified value The units are in quadrature counts The DP command sets the commanded reference position for axes configured as steppers The units are in steps ARGUMENTS DP x y z w DPX x DP a b c d e f g h where X y Z W are signed integers in the range 2147483648 to 2147483647 decimal 2 returns the current position of the motor for the specified axes USAGE DEFAULTS While Moving No Default Value 0 0 0 0 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _DPx contains the current position of the specified axis EXAMPLES DP 0 100 200 400 Sets the current position of the X axis to 0 the Y axis to 100 the Z axis to 200 and the W axis to 400 DP 50000 Sets the current position of Y axis to 50000 The Y Z and W axes remain unchanged DP Interrogate the position of X Y Z and W axis 0000000 0050000 0000200 00004 00 Returns all the motor positions DP Interrogate the position of X axis 0000000 Returns the X axis motor position Hint The DP command is useful to redefine the absolute position For example you can manually position the motor by hand using the Motor Off command MO Turn
245. ments These arguments are of the form X Y Z and W for 1 through 4 axes and A B C D E F G and H for 5 through 8 axes The host loads the buffer with the proper ASCII values starting at Address 040 Every ASCII command must be terminated with a carriage return OD hex Only one command can be sent at a time Axis parameters in ASCII mode are separated by commas If no data is specified for an axis a comma is still needed as shown in the examples below KP12 8 10 23 Set the proportional gain of the X axis to 12 Y axis to 8 W axis to 10 and E axis to 23 OF 23 Set the Y axis offset to 23 KD 100 Set the F axis derivative gain to 100 Instead of data some commands request action to occur on an axis or group of axes For example STXY stops motion on both the X and Y axes Commas are not required in this case since the particular axis is specified by the appropriate letter If no parameter follow the instruction action will take place on all axes Here are some examples of syntax for requesting action SHXW Perform the Servo Here function on the X and W axes MO Turn the motors off on all axes STG Stop motion on the G axis BGAE Begin motion on the A and E axes When requesting action for coordinated motion the letter S is used to specify the coordinated motion For example BGS Begin coordinated sequence BGSW Begin coordinated Below are two examples of sending ASCII commands to the DMC 1300 and their corresponding addres
246. mm 1300 software by running COMM1300 exe The screen should now show the terminal emulator as well as status information for the controller axes and the Dual Port RAM To test the communication with the controller type TP lt enter gt at the command prompt The position of the corresponding axes should be displayed There are also various special functions that can be used in this terminal screen such as IUL lt file name gt Uploads file to PC from 1300 IDO lt file name gt Downloads file from PC into 1300 Reports available screen and configuration options IBI Selects binary mode of communication IAS Selects ASCII mode of communication IDE Selects decimal display option HE Selects hex display option IW m n Displays contents of address m m 1 m 2 m 3 as a four byte value nis the watch number 1 2 or 3 You can watch up to three groups of data Example W 20 1 Watches address 20 1 W 30 2 Watches address 30 2 Q Quits the COMM1300 Custom VME Interface Communication with a custom VME system will depend on the type of host software being used Upon powering up the DMC 1300 the first step should be to test communication with the controller To test this read the data at address 241 hex above the base address This should return a 00 hex Next write a byte to that address and read the data again If this was successful the controller has been properly addressed Sending commands to the controller is a fairly detailed p
247. mmand is not valid for single axis controllers ARGUMENTS None DPRAM Similar to _CS address 018 and 019 in the Dual Port RAM show which coordinated move segment is currently being run USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE When used as an operand _CS contains the number of the segment in the sequence starting at zero The operand _CS is valid in the Linear mode LM Vector mode VM and contour mode CM RELATED COMMANDS CR on page 185 Circular Interpolation Segment LI on page 229 Linear Interpolation Segment LM on page 231 Linear Interpolation Mode VM on page 289 Vector Mode VP on page 291 Vector Position EXAMPLES CLEAR Label VP 1000 2000 Vector position VP 4000 8000 Vector position CS Clear vectors VP 1000 5000 New vector VP 8000 9000 New vector VE End Sequence BGS Begin sequence EN End of Program Error Reference source not found e 10 188 CW No Binary FUNCTION Copyright information Data Adjustment bit on off DESCRIPTION The CW command has a dual usage The CW command will return the copyright information when the argument n is 0 Otherwise the CW command is used as a communications enhancement for use by the Servo Design Kit software When turned on the communication enhancement sets the MSB of unsolicited returned ASCII characters to 1 Unsolicited ASCII characters ar
248. n ATSPEED Program Label JG 50000 Specify jog speed AC 10000 Acceleration rate BGX Begin motion ASX Wait for at slew speed 50000 SB1 Set output 1 EN End program Event Trigger Change Speed along Vector Path The following program changes the feedrate or vector speed at the specified distance along the vector The vector distance is measured from the start of the move or from the last AV command Instruction Interpretation VECTOR Label VMXY VS 5000 Coordinated path VP 10000 20000 Vector position VP 20000 30000 Vector position VE End vector BGS Begin sequence AV 5000 After vector distance VS 1000 Reduce speed EN End DMC1000 Chapter 7 Application Programming 7 e 110 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 to be high for 10 msec and low for 40 msec The cycle repeats every 50 msec Instruction Interpretation OUTPUT Program label ATO Initialize time reference SB1 Set Output 1
249. n TV on page 283 Tell Velocity EXAMPLES JG 100 500 2000 5000 Set for jog mode with a slew speed of 100 counts sec for the X axis 500 counts sec for the Y axis 2000 counts sec for the Z axis and 5000 counts sec for W axis BG Begin Motion JG 2000 Change the Z axis to slew in the negative direction at 2000 counts sec Error Reference source not found e 10 220 JP No Binary FUNCTION Jump to Program Location DESCRIPTION The JP command causes a jump to a program location on a specified condition The program location may be any program line number or label The condition is a conditional statement which uses a logical operator such as equal to or less than A jump is taken if the specified condition is true ARGUMENTS JP location condition where location is a program line number or label condition is a conditional statement using a logical operator The logical operators are lt less than gt greater than equal to lt less than or equal to gt greater than or equal to lt gt not equal to USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line No Can be Interrogated No Used as an Operand No EXAMPLES JP POS1 V1 lt 5 Jump to label POS1 if variable V1 is less than 5 JP A V7 V8 0 Jump to A if V7 times V8 equals 0 JP B Jump to B no condition Hint JP is similar to an IF THEN command Text to the right of the comma is the condition that must be met fo
250. n Programming 7 e 99 9 Wait for the Command Semaphore to clear Load the command EN into the Program Buffer Address Value hex Characters CO 45 E Cl 4E N C2 OD Return 10 Write 9D to the Command Buffer to save the line and advance to the next program line 11 Set the Command Semaphore 001 to load the command 12 Wait for the Command Semaphore to clear Write 9C to the Command Buffer to quit the editor mode Set the Command Semaphore 001 to the load the command 13 Write XQ to the Command Buffer to execute the application program Address Value hex Characters 40 58 X 41 51 Q 42 0D Return 4 Set the Command Semaphore 001 to load the command and begin execution of the program Program Format A DMC 1300 program consists of DMC 1300 instructions combined to solve a machine control application Action instructions such as starting and stopping motion are combined with Program Flow instructions to form the complete program Program Flow instructions evaluate real time conditions such as elapsed time or motion complete and alter program flow accordingly Each DMC 1300 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
251. n a DMC 1340 this element is found at address 2CF with the data 00 00 00 C8 00 00 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 Example Using Variables for Joystick The example below reads the voltage of an X Y joystick and assigns it to variables VX and VY to drive the motors at proportional velocities where 10 Volts 3000 rpm 200000 c sec Speed Analog input 200000 10 20000 Instruction Interpretation DMC1000 Chapter 7 Application Programming 7 121 JOYSTIK Label JG 0 0 Set in Jog mode BGXY Begin Motion LOOP Loop VX AN 1 20000 Read joystick X VY AN 2 20000 Read joystick Y JG VX VY Jog at variable VX VY JP LOOP Repeat EN End Operands DMC1000 Operands allow motion or status parameters of the DMC 1300 to be incorporated into programmable variables and expressions An operand contains data and must be used in a valid expression or function Most DMC 1300 commands have an equivalent operand which are designated by adding an underscore _ prior to the DMC 1300 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 1300 registers The axis designation is required following the command
252. n be Interrogated Used as an Operand RELATED COMMANDS SH on page 263 EXAMPLES AB OE 1 1 1 1 AB A JG 20000 BGX WT 5000 ABI WT 5000 SH JP A EN DEFAULTS Yes Default Value Yes Default Format Yes Turns servos back on if they were shut off by Abort and OE1 Stops motion Enable off on error Shuts off motor command and stops motion Label Start of program Specify jog speed on X axis Begin jog on X axis Wait 5000 msec Stop motion without aborting program Wait 5000 milliseconds Servo Here Jump to Label A End of the routine Hint Remember to use the parameter I following AB if you only want the motion to be aborted Otherwise your application program will also be aborted Error Reference source not found e 10 162 DMC 1300 AC Binary CC FUNCTION Acceleration DESCRIPTION The Acceleration AC command sets the linear acceleration rate of the motors for independent moves such as PR PA and JG moves The parameters input will be rounded down to the nearest factor of 1024 The units of the parameters are counts per second squared The acceleration rate may be changed during motion The DC command is used to specify the deceleration rate ARGUMENTS AC x y z w ACX x AC a b c d e f g h where X y Z w are unsigned numbers in the range in the range 1024 to 67107840 2 returns the acceleration value for the specified axes USAGE DEFAULTS While Moving Yes Default Value 256
253. n erie eee etek AGRE CDii NO Binary ere e See etaeass Ab geod ns esterases Aedes as e E STE s CE Binary F2 aian eee Raa ae GA eee athe he CM Binary D4 CN Binary F3 CP Binary 9E csi naa ike CR Binay El sassy secs ieacete E a aces cca rT T GS Binary E2 aena e TAEAE E AE AEA EA eri CW No Binary DA NO Binary arenans a aeaea A e DC Binary CD DE Binary C4 DM No Binary ae hee ees DP Binary C3 iescsssesvees cveiss spose tavceesvanscoass vacances cates ely O EE A E e DT No BMI i ee A ge DV Binay Meen toca e E O EET aie ke Contents e v Doc To Help Standard Template vi e Index ED Binary 98 EL Binay 8G ra ee enter atecaie At pian esters EAn e oE Er En EEEE R ES S EN Binary 84 ER Binary 88 ES Binary EB FA Binary C1 we ne see FE Binary DI sities enn ian les eh weasel oes PL Binary DO oaeee iea cvs tee AN den cn dua ves dup sewevunotessceuges SE ENNER ENRE FE Binary CO joaren it E hie ae hao e aa eek ee a eae BV Bintaty C ke ssvvesesonseesenstovesssavess cdvesvaseds sresstenest bes cov sup cobeeneaseasaivnsedvs sae dvses T a ATES GA No Binary GN Binary B8 GR Binary D7 os Be Les HM Bithaty DDO dcx cccscusstavnss N R s HX Binary 97 onio ar r lees Oe ine ies tes Binary ID seis sect docs cessed seis A hae dace sean heehee eee Tet Binaty BS siete Bich eats t Nita eee eel lea ee eee a Aa dea see IP Binary CF
254. nd Below is an example of setting the interrupt vector to 64 40 hex ASCII EI 64 Binary 8C 02 00 00 00 00 00 00 00 00 00 00 40 There are many events which can generate an interrupt While more than one event can be enabled there is only one interrupt on the DMC 1300 Each event can be enabled by the EI instruction or by writing directly to the interrupt mask in the dual port RAM The events and their corresponding position in the interrupt mask can be found on page The mask can be set in the first field of the EI instruction The byte that corresponds to 38 is the most significant and 39 the least For input interrupts 03A must be set for the corresponding input If we wished to create an interrupt whenever the Y axis completes its motion the mask would consist of Bit 2 of the LSB which is 0002 hex In decimal that number is 2 so the commands would be as follows ASCII EI2 Binary 8C 01 00 00 00 02 00 00 00 XX XX XX XX The User Interrupt UI instruction is used to generate an interrupt from an application program The User Interrupt number will appear in address 033 for the DMC 1310 1340 and 035 for the DMC 1350 1380 The motion complete interrupts will generate an interrupt whenever the controller has finished profiling a motion The motor motion itself may still not have settled Bit 1 of 36 will cause an interrupt whenever the position error for any axis exceeds the limits set in the ER instruction Bits 5 and 6 of 36 create inte
255. nd Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _FLx contains the value of the forward limit switch for the specified axis RELATED COMMANDS BL on page 176 Reverse Limit EXAMPLES FL 150000 Set forward limit to 150000 counts on the X axis TEST Test Program AC 1000000 Acceleration Rate DC 1000000 Deceleration Rate FL 15000 Forward Limit JG 5000 Jog Forward BGX Begin AMX After Limit TPX Tell Position EN End Hint Galil controllers also provide hardware limits DMC 1300 Error Reference source not found 10 207 DMC 1300 FV Binary C5 FUNCTION Velocity Feedforward DESCRIPTION The FV command sets the velocity feedforward coefficient or returns the previously set value This coefficient generates an output bias signal in proportions to the commanded velocity Velocity feedforward bias 1 22 10 6 FV Velocity in ct s For example if FV 10 and the velocity is 200 000 count s the velocity feedforward bias equals 2 44 volts ARGUMENTS FV x y z w FVX x FV a b c d e f g h where X y Z W are unsigned numbers in the range 0 to 8191 decimal 2 returns the feedforward velocity for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 3 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _FVx contains the feedforward velocity for the specified axis RELATED COMMANDS FA on page 204 Accelera
256. nd 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 A Here the controller waits for the input pulse on I1 As soon as the pulse is given the controller starts the forward motion Upon completion of the forward move the controller outputs a pulse for 20 ms and then waits an additional 80 ms before returning to A for a new cycle 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 CB1 Clear output bit 1 WT 80 Wait 80 ms JP A Repeat the process Sa E A E MOTOR VELOCITY OUTPUT PULSE S E output TIME INTERVALS move wait ready move Chapter 7 Application Programming 7 e 132 DMC1000 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 Thos
257. ng Motion e Error Main Document Only 75 Electronic Gearing DMC 1300 This mode allows up to 8 axes to be electronically geared to one master axis The master may rotate in both directions and the geared axes will follow at the specified gear ratio The gear ratio may be different for each axis and changed during motion The command GAX or GAY or GAZ or GAW or GAA or GAB or GAC or GAD or GAE or GAF or GAG or GAH for DMC 1380 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 fractional resolution of 0001 GR 0 0 0 0 turns off electronic gearing for any set of axes A limit switch will also disable electronic gearing for that axis GR causes the specified axes to be geared to the actual position of the master The master axis is commanded with motion commands such as PR PA or JG When the master axis is driven by the controller in the jog mode or an independent motion mode it is possible to define the master as the command position of that axis rather than the actual position The designation of the commanded position master is by the letter C For example GACX indicates that the gearing is the commanded position of X An alternative gearing method is to synchronize the slave motor to the commanded vector motion of several axes performed by GAS For example if the X and Y motor form a circular motion the Z axis may move
258. not found 10 172 DMC 1300 AV Binary AB FUNCTION After Vector Distance DESCRIPTION The AV command is a trippoint which is used to hold up execution of the next command during coordinated moves such as VP CR or LI This trippoint occurs when the path distance of a sequence reaches the specified value The distance is measured from the start of a coordinated move sequence or from the last AV command The units of the command are quadrature counts ARGUMENTS AV n where nis an unsigned integer in the range 0 to 2147483647 decimal USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE _AV contains the vector distance from the start of the sequence DEFAULTS Yes Default Value Yes Default Format Yes No Yes linear mode LM and in the vector mode VM EXAMPLES MOVE DP 0 0 LMXY LI 1000 2000 LI 2000 3000 LE BGS AV 500 Label Linear move for X Y Specify distance Specify distance Begin After path distance 500 _AV is valid in the Error Reference source not found e 10 173 BG Binary CE FUNCTION Begin DESCRIPTION The BG command starts a motion on the specified axis or sequence ARGUMENTS BG XYZWS BG ABCDEFGH where XYZW are X Y Z W axes and S is coordinated sequence DPRAM Bit 7 of the Status 1 address in the Axis Buffer will indicate if there is motion on a given axis USAGE DEFAULTS While Moving Yes Default Value 0
259. noted as XY and the DMC 1310 uses the X axis only Examples for the DMC 1380 denote the axes as A B C D E F G H Users of the DMC 1350 5 axis controller DMC 1360 6 axis controller or DMC 1370 7 axis controller should note that the DMC 1350 denotes the axes as A B C D E the DMC 1060 denotes the axes as A B C D E F and the DMC 1370 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 1300 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 1300 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 ire Updates New feature for Rev 2 0h February 1998 Feature Description 1 CMDERR enhanced to support multitasking If CMDERR occurs on thread 1 2 or 3 thread will be holted Thread can be re started with XQ_ED2 _ED1 for retry XQ_ED3 _ED1 1 for next instruction 2 _VM returns instantaneous commanded vector velocity 3 FA resolution increased to 0 25 New feature for Rev 2 0g November 1997 Feature Description 1 CR radius now has range of 16 million Allows for large circular interpolation radii 2 _AB returns
260. nsation Chapter 6 Programming Motion e Error Main Document Only 86 DMC 1300 Backlash Compensation There are two methods for backlash compensation using the auxiliary encoders Continuous dual loop Sampled dual loop To illustrate the problem consider a situation in which the coupling between the motor and the load has a backlash To compensate for the backlash position encoders are mounted on both the motor and the load The continuous dual loop combines the two feedback signals to achieve stability This method requires careful system tuning and depends on the magnitude of the backlash However once successful this method compensates for the backlash continuously The second method the sampled dual loop reads the load encoder only at the end point and performs a correction This method is independent of the size of the backlash However it is effective only in point to point motion systems which require position accuracy only at the endpoint Example Continuous Dual Loop Note In order to have a stable continuous dual loop system the encoder on the motor must be of equal or higher resolution than the encoder on the load Connect the load encoder to the main encoder port and connect the motor encoder to the dual encoder port The dual loop method splits the filter function between the two encoders It applies the KP proportional and KI integral terms to the position error based on the load encoder and applies the
261. nse Buffer DMC 1300 Host o ost H D Contour Buffer Host 300 o7 joo Updating fpomcro ic 00 0A Host DMC 1300 wc mmea pases DMCA3000rHost Host oD thread 2Paused f DMC 13000rHost Hose ooe thread 3paused DIC 13000rHost Hose oor threadsPaused omcizooornos Host General Registers DMC 1310 1340 Address 010 036 DMC 1350 1380 Address 010 03B The General Registers contain information about the controller such as motion status error status general I O and interrupt status Some of these registers are copies of internal DMC 1300 registers and writing to them will have no effect Other registers are the only representation and writing to them affects the internal status DMC 1310 1340 Address Register General Status Bit 7 Application Strand Executing Bit 6 Trace On Bit 5 Contour Mode Bit 4 Edit Mode Bit 3 Overflow in Program Buffer Bit 2 Contour Error Bit 1 Error in Application Program Command Bit 0 Error in Command from Command Buffer Command Buffer Error Code and Contour Mode Error Code DMC 1300 Chapter 4 VME Communication e Error Main Document Only 37 DMC 1300 014 017 018 019 020 025 0 02 13 026 7 029 02A 030 031 Chapter 4 VME Communication e Error Main Document Only 38 This byte contains the error code of the last error from a command buffer command The error code will remain valid until cleared by the host or another error occurs
262. ntial encoder interchange only CHA and CHA The loop polarity and encoder polarity can also be affected through software with the MT and CE commands For more details on the MT command or the CE command see the Command Reference 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 ICM 1100 J5 J3 J2 eS SS G Y Encoder Pin 2 Screw Terminals DUATAAOENAADAQAEAATENOARYEAOOAR OO DAONNAN TATAN PLUV O CT TTT ZEncoder Pin 1 I Encoder Ribbon Cable W Encoder Typically Black Connector red wire Galil DC Servo Motor Encoder CPS Power Supply Typically Red Connector Figure 2 2 System Connections with the AMP 1100Amplifier Note this figure shows a Galil Motor and Encoder which uses a flat ribbon cable to connect to the AMP 1100 unit DMC1000 Chapter 2 Getting Started 2 14 DMC1000 Ce Ge Ge A Pin 1 ECS ICM 1100 J5 J3 J2 Screw Terminals Encoder Wire Connections 45V 103 Encoder ICM 1100 Channel A XA
263. ntroller power cycle or pressing the reset button Remove the jumper after this procedure USAGE DEFAULTS While Moving Yes Default Value In a Program No Default Format Command Line Yes Can be Interrogated No Used as an Operand No DMC 1300 Error Reference source not found 10 259 DMC 1300 lt control gt R lt control gt V FUNCTION Revision Information DESCRIPTION USAGE The Revision Information command causes the controller to return firmware revision information While Moving In a Program Command Line Can be Interrogated Used as an Operand DEFAULTS Yes Default Value Default Format Error Reference source not found e 10 260 SB Binary 8D FUNCTION Set Bit DESCRIPTION The SB command sets one of eight bits on the output port or one of 16 bits if the controller has 5 or more axes ARGUMENTS SB n where n is an integer in the range to 8 decimal for 1 4 axes nis an integer in the range to 16 for 5 or more axes DPRAM The status of the output ports are located at address 02B on the DMC 1310 1340 or 02E 02F on the DMC 1350 1380 Writing to these addresses will change the state of the output ports USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No DMC 1300 RELATED COMMAND CB on page 180 Clear Bit EXAMPLES SB 5 Set output bit 5 SB 10 Set output bit 10 Er
264. ntroller 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 1300 numeric operand including variables array elements numeric values functions keywords and arithmetic expressions If no conditional statement is given the jump will always occur Examples Number V1 6 Numeric Expression V1 V7 6 ABS V1 gt 10 Array Element V1 lt Count 2 Variable V1 lt V2 Internal Variable _TPX 0 _TVX gt 500 T O V1 gt AN 2 IN 1 0 Examples Using JP and JS Instruction Interpretation JP Loop COUNT lt 10 Jump to Loop if the variable COUNT is less than 10 JS MOVE2 IN 1 1 Jump to subroutine MOVE2 if input 1 is logic level high After the subroutine MOVE2 is executed the program sequencer returns to the main program location where the subroutine was called JP BLUE ABS V2 gt 2 Jump to BLUE if the absolute value of variable V2 is greater than 2 JP C V1 V7 lt V8 V2 Jump to C if the value of V1 times V7 is less than or equal to the value of V8 V2 JP A Jump to A DMC1000 Chapter 7 Application Programming 7 112 DMC1000 Example Using JP command Move the X motor to absolute position 1000 counts and back to z
265. o 2147483647 decimal USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS AD on page 164 AP on page 169 EXAMPLES TEST DPO JG 1000 BGX MF 2000 V1 _TPX MG Position is V1 ST EN DEFAULTS Yes Default Value Yes Default Format Yes No No Trippoint for after Relative Distances Trippoint for after Absolute Position Program B Define zero Jog mode speed of 1000 counts sec Begin move After passing the position 2000 Assign V1 X position Print Message Stop End of Program Hint The accuracy of the MF command is the number of counts that occur in 2 msec Multiply the speed by 2 msec to obtain the maximum error MF tests for absolute position The MF command can also be used when the specified motor is driven independently by an external device DMC 1300 Error Reference source not found 10 236 MG Binary 81 FUNCTION Message DESCRIPTION The MG command sends data to the host This can be used to alert an operator send instructions or return a variable value The command can send one ASCII string and one binary value If the command is sent ARGUMENTS MG m V where m is a text message including letters numbers symbols or lt ctrl gt G up to 31 characters V is a variable name or array element Note Multiple text variables and ASCII characters may be used each must be separated by a comma Note The or
266. of a linear interpolation sequence It follows the last LI specification in a linear sequence After the LE specification the controller issues commands to decelerate the motors to a stop The VE command is interchangeable with the LE command ARGUMENTS LE returns the length of the vector in counts USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand OPERAND USAGE DEFAULTS Yes Default Value Yes Default Format Yes Yes Yes _LE contains the length of the vector in counts RELATED COMMANDS LI on page 229 BG on page 174 LM on page 231 VS on page 293 VA on page 286 VD on page 287 EXAMPLES LM ZW LI 100 200 LE BGS Linear Distance BGS Begin Sequence Linear Interpolation Mode Vector Speed Vector Acceleration Vector Deceleration Specify linear interpolation mode Specify linear distance End linear move Begin motion Error Reference source not found 10 227 DMC 1300 _LF No Binary FUNCTION Forward Limit Switch Operand Keyword DESCRIPTION The _LF operand contains the state of the forward limit switch for the specified axis _LFx where x is the specified axis DPRAM Bit 3 of the Switches address in the Axis Buffer will tell the status of the forward limit switch on an axis ie bit 3 of address 105 for the DMC 1340 X axis forward limit switch and bit 3 of address 205 for the DMC 1380 X axis forward limit switch EXAM
267. ofiling and the closing of the loop are independent functions The profiling function determines where the motor should be and the closing of the loop forces the motor to follow the commanded position DMC 1300 Theory of Operation e 10 145 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 LEVEL MOTION 3 PROGRAMMING MOTION 2 PROFILING CLOSED LOOP 1 CONTROL Figure 10 2 Levels of Control Functions The three levels of control may be viewed as different levels of management The top manager the motion program may specify the following instruction for example PR 6000 4000 SP 20000 20000 AC 200000 00000 BGX AD 2000 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 Finally it remains up to the servo system to verify that the motor follows the profiled position by closing the servo loop The following section explains the operation of the servo system First it is explained qualitatively and then the explanation is repeated using analytical tools for those who are more theoretically inclined DMC 1300 Theory of Operation e 10 146 X VEL Y VELOCITY X POSITION Y POSITION TIME Figure 10 3 Velocity and Posit
268. ogated Used as an Operand RELATED COMMANDS FE on page 205 HM on page 212 BG on page 174 AC on page 163 DC on page 191 SP on page 264 EXAMPLES HOME JG 500 FIX BGX AMX MG FOUND INDEX DEFAULTS No Default Value Yes Default Format Yes No No Find Edge Home Begin Acceleration Rate Deceleration Rate Search Speed Home Routine Set speed and forward direction Find index Begin motion After motion Hint Find Index only searches for a change in state on the Index Use HM Home to search for both the Home input and the Index Remember to specify BG after each of these commands Error Reference source not found e 10 206 Use FE to search for the Home FL Binary C6 FUNCTION Forward Software Limit DESCRIPTION The FL command sets the forward software position limit If this limit is exceeded during motion motion on that axis will decelerate to a stop Forward motion beyond this limit is not permitted The forward limit is activated at X 1 Y 1 Z 1 W 1 The forward limit is disabled at 2147483647 The units are in counts ARGUMENTS FL x y z w FLX x FL a b c d e f g h where X y Z W are signed integers in the range 2147483648 to 2147483647 2147483647 turns off the forward limit 2 returns the value of the forward limit switch for the specified axis USAGE DEFAULTS While Moving Yes Default Value 2147483647 In a Program Yes Default Format Position Format Comma
269. oint 4 X 336 at T 28ms The same trajectory may be represented by the increments Increment 1 DxX 48 Time 4 DT 2 Increment 2 DX 240 Time 8 DT 3 Increment 3 DxX 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 DT 2 Specifies first time interval 2 ms CD 48 WC Specifies first position increment DT 3 Specifies second time interval 2 ms CD 240 WC Specifies second position increment DT4 Specifies the third time interval 24 ms CD 48 WC Specifies the third position increment DT0 CDO Exits contour mode EN POSITION COUNTS Ck ee eee eer 288 o poectetenernreretenetees 240 192 96 aae akties TIME ms 0 4 8 12 16 20 24 28 SEGMENT 1 SEGMENT 2 i SEGMENT 3 Figure 6 4 The Required Trajectory DMC 1300 Chapter 6 Programming Motion e Error Main Document Only 79 DMC 1300 Additional Commands The command WC is used as a trippoint When Complete This allows the DMC 1300 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 If no new data record is found and the controller is still in the contour mode the controller waits
270. ommand Line Can be Interrogated Used as an Operand OPERAND USAGE DEFAULTS Yes Default Value Yes Default Format Yes Yes Yes _VE contains the length of the vector in counts RELATED COMMANDS VM on page 289 VS on page 293 VA on page 286 VD on page 287 CR on page 186 VP on page 291 BG on page 174 CS on page 188 EXAMPLES VM XY VP 1000 2000 CR 0 90 180 VP 0 0 VE BGS DMC 1300 Vector Mode Vector Speed Vector Acceleration Vector Deceleration Circle Vector Position Begin Sequence Clear Sequence Vector move in XY Linear segment Arc segment Linear segment End sequence Begin motion Error Reference source not found 10 288 VM Binary E7 FUNCTION Coordinated Motion Mode DESCRIPTION The VM command specifies the coordinated motion mode and the plane of motion This mode may be specified for motion on any set of two axes The motion is specified by the instructions VP and CR which specify linear and circular segments Up to 511 segments may be given before the Begin Sequence BGS command Additional segments may be given during the motion when the DMC 1300 buffer frees additional spaces for new segments The Vector End VE command must be given after the last segment This tells the controller to decelerate to a stop during the last segment It is the responsibility of the user to keep enough motion segments in the buffer to ensure continuous motion VM returns the av
271. on current command position if not moving destination if in a move is returned For each single move the largest position move possible is 2147483647 Units are in quadrature counts ARGUMENTS PA x y z w PAX x PA a b c d e f g h where X y Z W are signed integers in the range 2147483647 to 2147483648 decimal DPRAM Bit 5 of the Status 1 address in the Axis Buffer indicates when the controller is performing a position absolute move Bit 7 of the Status 2 address will show the direction USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _PAx contains current destination current command position if not moving destination if in a move RELATED COMMANDS PR on page 247 Position relative SP on page 264 Speed AC on page 163 Acceleration DC on page 191 Deceleration BG on page 174 Begin EXAMPLES PA 400 600 500 200 X axis will go to 400 counts Y axis will go to 600 counts Z axis will go to 500 counts W axis will go to 200 counts PA Returns the current commanded position 400 600 500 200 BG Start the move PA 700 X axis will go to 700 on the next move while the BG Y Z and W axis will travel the previously set relative distance if the preceding move was a PR move or will not move if the preceding move was a PA move Error Reference source not found e 10
272. on A s is the product of all the elements in the loop A 390 000 s 51 s2 s 2000 To analyze the system stability determine the crossover frequency at which AG equals one This can be done by the Bode plot of AG as shown in Fig 10 8 Magnitude W rad s 0 1 Figure 10 8 Bode plot of the open loop transfer function For the given example the crossover frequency was computed numerically resulting in 200 rad s Next we determine the phase of A s at the crossover frequency A j200 390 000 j200 51 j200 2 200 2000 a Arg A Gj200 tan 200 51 180 tan 200 2000 a 76 180 6 110 DMC 1300 Theory of Operation e 10 154 Finally the phase margin PM equals PM 180 a 70 As long as PM is positive the system is stable However for a well damped system PM should be between 30 degrees and 45 degrees The phase margin of 70 degrees given above indicated overdamped response Next we discuss the design of control systems System Design and Compensation DMC 1300 The closed loop control system can be stabilized by a digital filter which is preprogrammed in the DMC 1300 controller The filter parameters can be selected by the user for the best compensation The following discussion presents an analytical design method The Analytical Method The analytical design method is aimed at closing the loop at a crossover frequency with a phase margin PM T
273. on the load is typically the auxiliary encoder and is used to verify the true load position Any error in load position is used to correct the motor position DMC 1300 Error Reference source not found e 10 192 DMC 1300 DM No Binary FUNCTION Dimension DESCRIPTION The DM command defines a single dimensional array with a name and n total elements The first element of the defined array starts with element number 0 and the last element is at n 1 ARGUMENTS DM c n where c is a name of up to eight characters starting with an uppercase alphabetic character n specifies the size of the array number of array elements DM returns the number of array elements available USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _DM contains the available array space For example before any arrays have been defined the operand _DM on a standard DMC 1310 will return 1600 If an array of 100 elements is defined the operand _DM will return 1500 CONTROLLER AMT OF AVAILABLE ARRAY SPACE DMC 1310 thru DMC 1340 1600 elements DMC 1350 thru DMC 1380 8000 elements DMC 1310 MX thru DMC 1340 MX 8000 elements RELATED COMMANDS DA on page 190 Deallocate Array EXAMPLES DM Define dimension of arrays pets with 5 elements Dogs with 2 Pets 5 Dogs 2 Cats 3 elements Cats with 3 elements DM Tests 1600 Define di
274. oop Instruction A DPO LINPOS 0 PR 1000 BGX B AMX WT 50 LIN POS _DEX ER 1000 LINPOS _TEX JP C ABS ER lt 2 PR ER BGX JP B C EN 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 Application Programming 7 e 137 THIS PAGE LEFT BLANK INTENTIONALLY DMC1000 Chapter 7 Application Programming 7 e 138 Chapter 8 Hardware amp Software Protection Introduction The DMC 1300 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 1300 is an integral part of the machine the engineer should design his overall system with protection against a possible component failure on the DMC 1300 Galil shall not be liable or responsible for any incidental or consequential damages Hardware Protection DMC 1300 The DMC 1300 includes hardware input and output protection lines for various error and mechanical limit conditions These include Output Protection Lines Amp Enable
275. or 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 Interpretation A Label H1 Input Interrupt on 1 JG 30000 60000 Jog BGXW Begin Motion LOOP JP LOOP EN Loop ININT Input Interrupt STXW AM Stop Motion TEST JP TEST IN 1 0 Test for Input 1 still low JG 30000 6000 Restore Velocities BGXW RI Begin motion and Return to Main Program EN NOTE Use the RI command to return from ININT subroutine Example Motion Complete Timeout Instruction Interpretation BEGIN Begin main program TW 1000 Set the time out to 1000 ms PA 10000 Position Absolute command BGX Begin motion MCX Motion Complete trip point EN End main program MCTIME Motion Complete Subroutine DMC1000 Chapter 7 Application Programming 7 e 116 MG X fell short EN Send out a message End subroutine This simple program will issue the message X fell short if the X axis does not reach the commanded position within 1 second of the end of the profiled mo ve 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 M
276. or Input Interrupt subroutine Label for Limit Switch subroutine Label for excess Position Error subroutine Label for timeout on Motion Complete trip point Label for incorrect command subroutine Commenting Programs Using the command NO The DMC 1300 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 Chapter 7 Application Programming 7 e 101 NO HALF CIRCLE MOTION VP 0 3000 NO TOP LINE CR 1500 90 180 NO HALF CIRCLE MOTION VE NO END VECTOR SEQUENCE BGS NO BEGIN SEQUENCE MOTION EN NO END OF PROGRAM Note The NO command is an actual controller command Therefore inclusion of the NO commands will require process time by the controller Using REM Statements with the Galil Terminal Software If you are using Galil software to communicate with the DMC 1300 controller you may also include REM statements REM statements begin with the word REM and may be followed by any comments which are on the same line The Galil terminal software will remove these statements when the program is downloaded to the controller For example PATH REM 2 D CIRCULAR PATH VMXY REM VECTOR MOTION O
277. or 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 Stepper Motor Smoothing The command KS provides stepper motor smoothing The effect of the smoothing can be thought of as a Simple Resistor Capacitor single pole filter The filter occurs after the motion profiler and has the effect of smoothing out the spacing of pulses for a more smooth operation of the stepper motor Use of KS is most applicable when operating in full step or half step operation KS will cause the step pulses to be delayed in accordance with the time constant specified When operating with stepper motors you will always have some amount of stepper motor smoothing KS Since this filtering effect occurs after the profiler the profiler may be ready for additional moves before all of the step pulses have gone through the filter It is important to consider this effect since steps may be lost if the controller is commanded to generate an additional move before the previous move has been completed See the discussion below Monitoring Generated Pulses vs Commanded Pulses The general motion smoothing command IT can also be used The purpose of the command IT is to smooth out the motion profile and decrease jerk due to acceleration Monitoring Generated Pulses vs Commanded Pulses
278. ore 007 This tells the DMC 1300 not to start its update procedure 2 Wait for Bit 7 of the updating semaphore to be a 0 This is in case the DMC 1300 was already in its update procedure 3 Perform all the reads needed DMC 1300 Chapter 4 VME Communication e Error Main Document Only 51 4 Clear the Freeze semaphore Coordinate Axis Buffer DMC 1310 1340 Addresses 200 23F DMC 1350 1380 Addresses 400 43F This buffer gives status information during a coordinated move VP or CR DMC 1310 1340 Status 1 Bit 7 Coordinate move running Status 2 Bit 7 Bit 6 Bit 5 Profile is in velocity slew Bit 4 Stopped other than by reaching final destination Bit 3 Profile is in final deceleration Bit2 Bit 1 Bit 0 DMC 1350 1380 lao Status 1 Bit 7 Coordinate move running Status 2 Bit 7 Bit 6 Bit 5 Profile is in velocity slew Bit 4 Stopped other than by reaching final destination Bit 3 Profile is in final deceleration Bit 2 Bit 1 Bit 0 Variable Buffer DMC 1310 1340 Addresses 240 3BF DMC 1350 1380 Addresses 440 5BF An array with 64 variable elements is automatically assigned to the dual port RAM at locations 240 3BF for the DMC 1310 1340 and locations 440 5BF for the DMC 1350 1380 These variables have 4 bytes of integer and 2 bytes of fraction Variables are assigned with the VR n command where n 0 through 63 Variable updates are not affected by t
279. ot recording USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _RC contains status of recording 1 if recording 0 if not recording RELATED COMMANDS DM on page 193 Dimension Array RD on page 251 Record Data EXAMPLES RECORD Record DM Torque 1000 Define Array RA Torque Specify Record Mode RD _TTX Specify Data Type RC 2 Begin recording and set 4 msec between records JG 1000 BG Begin motion A JP A _RC 1 Loop until done MG DONE Print message RECORDING EN End program DMC 1300 Error Reference source not found 10 250 RD No Binary FUNCTION Record Data DESCRIPTION The RD command specifies the data type to be captured for the Record Array RA mode The command type includes opi owes SSCS Tell torque Note the values recorded for torque are in the range of 32767 where 0 is 0 torque 32767 is 10 volt command output and 32767 is 10 volt where x is the axis specifier ARGUMENTS RD _TI_TPX SVZ _TSY where The order is important Each of the four data types correspond with the array specified in the RA command USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _RD contains the address for the next array element for recording RELATED C
280. otentiometer on the DMC 1300 until zero volts is observed Chapter 3 Connecting Error Main Document Only 33 Chapter 4 VME Communication Introduction The DMC 1300 utilizes a Dual Port RAM communication system The DMC 1300 occupies 2K of the 65K available in the short I O space Either supervisory or user modes are permitted To address this space the address modifier lines of the VME Bus must be set to the following Please consult your VME CPU s user manual for more specific information on the proper configuration of address modifiers The DMC 1300 provides 4 address jumpers labeled A15 through A12 where A15 represents the MSB of the address or 2 Bits 2 through 2 are all zero The address jumpers A15 through A12 are configured for the desired address A jumper present is a zero a jumper missing sets the bit to a one For the following example R Jumper removed and J Jumper present This results in a base address of 8000 hex The default address for the DMC 1300 is no jumpers present or F000 hex RAM Organization DMC 1300 All addresses in the communication section will be in hex and be an offset from the base address set by jumpers This section will also show address locations for two versions of the controller one for the DMC 1310 1340 and the other for the DMC 1350 1380 The dual port RAM of the DMC 1300 is organized into 12 buffers Those buffer locations are listed below Chapter 4 VME Communica
281. our mode Bit 5 Profile is in velocity slew Bit 4 Stopped other than by reaching final destination Bit 3 Profile is in final deceleration Bit 2 Latch is armed Bit 1 Off on error Bit ae Motor is off 204 304 244 344 284 384 2C4 3C4 Stop aace Switches 205 305 245 345 285 385 2C5 3C5 Bie T ahotara Bit 6 Latch is armed Bit 3 State of forward limit switch Bit 2 State of reversed limit switch Bit 1 State of home Bit 0 SM Jumper installed 206 209 246 249 286 289 2C6 2C9 Motor position 306 309 346 349 386 389 3C6 3C9 20A 20D 24A 24D 28A 28D 2CA 2CD Position error 30A 30D G4A 34D G8A 38D 3CA 3CD 20E 20F 24E 24F 28A 28D 2CA 2CD 30E 30F 34E 34F 38A 38D GCA 3CD 210 213 250 253 290 293 2D0 2D3 Auxiliary encoder 310 313 350 353 390 393 3D0 3D3 214 217 254 257 294 297 2D4 2D7 Command position 314 317 354 357 394 397 3D4 3D7 218 21B 258 25B 298 29B 2D8 2DB Latched position 318 31B 358 35B 398 39B 3D8 3DB 21C 21F 25C 25F 29C 29F 2DC 2DF Velocity 2 2 counts sample 31C 31F 35C 35F 39C 39F 3DC 3DF The information in the axis buffers is updated by the DMC 1300 automatically at the rate set by the Number of Samples Register 029 The default value is every 2 msec In order to insure that these values and the Sample Count 014 017 remain stable during a read the following procedure should be followed 1 Set Bit 7 of the Freeze semaph
282. ow Prior to using interrupts jumpers must be placed on the DMC 1300 to select the interrupt priority IRQ1 IRQ7 and vector placement IAD1 IAD4 The interrupt vector must also be set using the third field of the EI command An interrupt service routine must be incorporated in your host program Refer to section 4 3 for more details on the interrupt settings ARGUMENTS EI m n o where EI 0 0 clears the interrupt mask m is interrupt condition mask nis input mask 0 is the vector numbered 8 255 DPRAM The settings for the EI mask as well as the status of the interrupts are available in the Dual Port RAM The interrupt status can be found at address 30 through 33 for the DMC 1310 1340 and address 30 through 35 for the DMC 1350 1380 Below are the addresses for the EI mask DMC 1310 1340 Address Bit Condition 034 Bit 7 Inputs Use n for mask 034 Bit 6 Command done 034 Bit 5 Application program paused 034 Bit 4 NA 034 Bit 3 Watchdog timer 034 Bit 2 Limit switch occurred 034 Bit 1 Excess position error 034 Bit 0 All axes motion complete DMC 1350 1380 Address Bit Condition 036 Bit 6 Command done 036 Bit 5 Application program stopped 036 Bit 4 NA 036 Bit 3 Watchdog timer 036 Bit 2 Limit switch occurred DMC 1300 Address Bit 035 Bit 7 035 Bit 6 035 Bit 5 035 Bit 4 035 Bit 3 035 Bit 2 035 Bit 1 035 Bit 0 Address Bit 039 Bit 7 039 Bit 6 039 Bit 5 039 Bit 4 039 Bit 3 Condition Contour inte
283. plete Move Z down Z speed Start Z motion Wait for completion of Z motion Circle Feedrate Chapter 7 Application Programming 7 e 133 DMC1000 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 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 Chapter 7 Application Programming 7 e 134 0 4 9 3 xX Figure 7 2 Motor Velocity and the Associated input output signals Speed Control by Joystick The speed of a motor is controlled by a joystick The joystick produces a signal in the range between 10V 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 Interpretation A Label JGO Set jog speed of zero BGX Begin jog
284. puts 124 I1 The locations are I8 I1 at 02A 116 I9 at 02B and 124 I17 at 02C 02E 02F Uncommitted Output Port This is a copy of the uncommitted outputs O16 O1 Writing to this register will change the outputs on the next sample The locations are 016 09 at 02E and 08 01 at O2F 030 033 Interrupt Status These registers state which event has caused the VME Bus interrupt These interrupts are set by the controller and need to be cleared by the host after the interrupt has been processed 030 Bit 6 Command done Bit 5 Application program stopped Bit 4 User Interrupt Bit 3 Watchdog timer Bit 2 Limit switch occurred Bit 1 Excess position error Bit 0 Inputs Bit 7 Application program paused Bit 6 Contour interrupt Bit 0 All axes motion complete Bit 7 H axis motion complete Bit 6 G axis motion complete Bit 5 F axis motion complete Bit 4 E axis motion complete Bit 3 W axis motion complete Bit 2 Z axis motion complete Bit 1 Y axis motion complete Bit 0 X axis motion complete Input Number This address shows which general purpose input caused the interrupt 035 User Interrupt Number This address shows which user interrupt sent by the UI command caused the VME interrupt 036 039 Interrupt Mask These two registers state which events will cause the VME bus to interrupt The conditions that cause the interrupt are selected with the EI command 036 Bit 6 Command done Bit 5 Applic
285. quence for servo systems and two stage sequence for stepper motor operation For servo motor operation The first stage consists of the motor moving at the user programmed speed until detecting a transition on the homing input for that axis The direction for this first stage is determined by the initial state of the Homing Input Once the homing input changes state the motor decelerates to a stop The state of the homing input can be configured using the CN command The second stage consists of the motor changing directions and slowly approaching the transition again When the transition is detected the motor is stopped instantaneously The third stage consists of the motor slowly moving forward until it detects an index pulse from the encoder It stops at this point and defines it as position 0 For stepper mode operation the sequence consists of the first two stages The frequency of the motion in stage 2 is 256 cts sec ARGUMENTS None DPRAM Bits 1 2 and 3 of the Status 1 address in the Axis Buffer gives the state of the HM command Bit 1 shows if home has been found bit 2 shows if the 1 phase of the homing routine has completed and bit 3 shows if the 2 phase of the homing routine has completed USAGE DEFAULTS While Moving No Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _HMx contains the state of the home switch for the specified a
286. r 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 Y 4000 4000 0 4000 R 2000 O 4000 0 0 0 local zero Figure 2 4 Motion Path for Example 16 DMC1000 Chapter 2 Getting Started e 2 24 Chapter 3 Connecting Hardware Overview The DMC 1300 provides optoisolated digital inputs for forward limit reverse limit home and abort signals The controller also has 8 optoisolated uncommitted inputs for general use as well as 8 TTL outputs and 7 analog inputs configured for voltages between 10 volts Controllers with 5 or more axes have an additional 16 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 JS IDC connector from the DMC 1300 to the AMP 11X0 or ICM 1100 board If you plan to use the auxiliary encoder feature of the DMC 1300 you must also connect a 20 pin ribbon cable from the 20 pin J3 header connector on the
287. r a jump to occur The destination is the specified label before the comma DMC 1300 Error Reference source not found e 10 221 JS No Binary FUNCTION Jump to Subroutine DESCRIPTION The JS command will change the sequential order of execution of commands in a program If the jump is taken program execution will continue at the line specified by the destination parameter which can be either a line number or label The line number of the JS command is saved and after the next EN command is encountered End of subroutine program execution will continue with the instruction following the JS command There can be a JS command within a subroutine Note Subroutines may be nested 16 deep in the standard DMC 1300 controller A jump is taken if the specified condition is true Conditions are tested with logical operators The logical operators are lt less than or equal to gt greater than equal to ARGUMENTS JS destination condition lt less than or equal to gt greater than or equal to lt gt not equal where destination is a line number or label condition is a conditional statement using a logical operator USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS EN on page 200 EXAMPLES JS SQUARE V1 lt 5 JS LOOP V1 lt gt 0 JS A DMC 1300 DEFAULTS Yes Default Value Yes Default Format End Jump to subroutine SQUARE if V1
288. r input trippoint AM After motion trippoint AP After absolute position trippoint AS After at speed trippoint BG Begin motion CB Clear output bit CM Contour mode CP Clear program CR Circular segment CS Clear motion sequence DP Define position ED Edit mode EN End program EO Echo ON OFF ER Define error limit FA Acceleration feedforward FE Find edge GN Gain HM Home Il Interrupt for input IP Increment position JG Jog mode JP Conditional jump JS Conditional jump subroutine KI Integrator gain MG Message DMC 1300 Appendices e A 325 MO NO OE OF OP PA PP PR RI RM RS SB SC SH SP ST TB TC TE TI TL TM TP TR TS TT VA V n VS WT XQ ZR ZS Motor off No op Automatic error shut off Offset Write output port Position absolute Program pause Position relative Return from error subroutine Return from interrupt subroutine Response mode Reset controller Set output bit Stop 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 Vector acceleration Variable definition Vector position Vector speed Programmable timer Execute program Filter zero Zero subroutine stack New Commands AL DMC 1300 Arm latch Appendices e A 326 DMC 1300 AR AT AV AfiJ n BL BN CD CE CN DA DC DE DM DT DV EI FI FL FV GA GR
289. ration for motion smoothing For synchronizing motion with external events the DMC 1300 includes 8 optoisolated inputs 8 programmable outputs and 7 analog inputs 24 inputs and 16 programmable outputs are available for five through eight axes Event triggers can automatically check for elapsed time distance and motion complete Despite its full range of sophisticated features the DMC 1300 is easy to program Commands may be send to the controller in either Binary or ASCII format ASCII 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 The DMC 1300 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 In addition the DMC 1300 has a full range of VME Bus interrupts Chapter 1 Overview 1 Overview of Motor Types The DMC 1300 can provide the following types of motor control 1 Standard servo motors with 10 volt command signals 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 combination of motor types providing maximum flexibility Standard Servo Motors with 10 Volt Command Signal The DMC 1300 achieve
290. rator The combination of the three functions is referred to as a PID filter The filter parameters are represented by the three constants KP KI and KD which correspond to the proportional integral and derivative term respectively The damping element of the filter acts as a predictor thereby reducing the delay associated with the motor response The integrator function represented by the parameter KI improves the system accuracy With the KI parameter the motor does not stop until it reaches the desired position exactly regardless of the level of friction or opposing torque The integrator also reduces the system stability Therefore it can be used only when the loop is stable and has a high gain The output of the filter is applied to a digital to analog converter DAC The resulting output signal in the range between 10 and 10 Volts is then applied to the amplifier and the motor The motor position whether rotary or linear is measured by a sensor The resulting signal called position feedback is returned to the controller for closing the loop The following section describes the operation in a detailed mathematical form including modeling analysis and design System Modeling The elements of a servo system include the motor driver encoder and the controller These elements are shown in Fig 10 4 The mathematical model of the various components is given below DMC 1300 Theory of Operation e 10 148 CONTROLLER
291. ray element can be assigned a value Assigned values can be numbers or returned values from instructions functions and keywords Array elements are addressed starting at count 0 For example the first element in the POSX array defined with the DM command DM POSX 7 would be specified as POSX 0 Values are assigned to array entries using the equal sign Assignments are made one element at a time by specifying the element number with the associated array name NOTE Arrays must be defined using the command DM before assigning entry values Examples assigning values to array entries Instruction DM SPEED 10 SPEED 1 7650 2 SPEED 1 POSX 10 _TPX CON 2 COS POS 2 TIMER 1 TIME Interpretation Dimension Speed Array Assigns the first element of the array SPEED the value 7650 2 Returns array element value Assigns the 10th element of the array POSX the returned value from the tell position command Assigns the second element of the array CON the cosine of the variable POS multiplied by 2 Assigns the first element of the array timer the returned value of the TIME keyword Chapter 7 Application Programming 7 e 124 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
292. re OAE OB1 XX XX XX XX Don t care Program Buffer DMC 1310 1340 Addresses OBE 0E7 DMC 1350 1380 Addresses 10E 15F The program buffer is used for creating and editing application programs receiving information from application programs and receiving the program line if an error occurs during program execution Programs sent to the program buffer must always be in ASCII format There are two ways to write a program to the buffer Chapter 4 VME Communication e Error Main Document Only 48 DMC 1300 Writing programs using the Bit 3 system Programs may be written directly through the COMM 1300 software when using the Bit 3 adapter system In this instance the ED command is given to enter the editor mode Once in the editor mode commands are written in ASCII with each line ending in a carriage return Below are the commands used for working in the COMM 1300 editor mode lt return gt Save line lt control gt I Insert line lt control gt D Delete line Up arrow Previous line DO NOT USE lt ctrl gt P lt control gt Q Quit Editor When the lt control gt Q command is issued at the end of editing the program is automatically downloaded to the controller Writing programs to the Program Buffer Programs may also be written directly to the program buffer The first two memory locations will contain the program line number whenever the program buffer contains a program line The program buffer semaphore Bit 7 is set by
293. red for the DMC 1350 through DMC 1380 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 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 Error Bookmark not defined Chapter 2 Getting Started e 2 7 Installing the DMC 1300 DMC1000 The DMC 1300 is a VME card that requires users to be familiar with VME system protocol and or programming The following section describes the steps for installing communicating with and developing the DMC 1300 system There are two options available for interfacing to a VME system 1 Write custom interface software for the VME host C drivers are available for the Galil controller to help in this development Chapter 4 of this manual describes in detail all the DMC 1300 address registers needed for a custom host program This approach requires fam
294. rereessreenees Offset Adjustments for DMC 1300 0 eee ceesseseseeeeseseseseseseecesescsesneseseessesecscseecesessaeansueseseeseneeeaeas Accessories and Options cceccsccesesesseseeescessseseseescsescsesneseseessssscaeanssescsssesesscseecesessatanseseseesseteeaees ICM 1100 Interconnect Module AMP ICM 1100 CONNECTIONS J2 Main 60 pin IDC J3 Aux Encoder 20 pin IDC J4 Driver 20 pin IDG tina cane en a Aenea ia J5 General VO 26 pit WDC vs ssss sazscosedesecenesivecets senczcas udencesutnenenacese onexte stack sdeseeneasestecsstesoes Connectors are the same as described in section entitled Connectors for DMC 1300 Main Board see pg 303 0 ceesesessssssssesesesescessesseseseeceseseseseeseseesesesaesnscesessaeacsueseseesenseeaees JX6 JY6 JZ6 JW6 Encoder Input 10 pin IDC ICM 1100 Drawing oo eee cesses eeeescseseseeseeeeeessneasseesesesesesnseeseeans AMP 11x0 Mating Power Amplifiers 0 0 cc esesesesseseseseseeseseecesescseanesescecssesseseecesessaeansuescseesenseeaeas Coordinated Motion Mathematical Analysis occ esseseseseeeeeseseseseeseecesessasanseeseseesenseeaees DMC 500 DMC 1300 Comparison eeeeesecescssssesesessesescseseseseecessseaesnesesescsnsesacseeceseusaeanseeseseeseneeeaeas DMC 500 DMC 1300 Command Comparison List of Other Publications Contacting Us WARRANTY us ao a us Usine This TAI A Loss sc scectsccesepcos ena E ERA RAEE A ii Doc To Help Standard Template Chapter
295. resses 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 approach is the dual loop where we use two sensors rotary and linear The rotary sensor assures stability because the position loop is closed before the backlash whereas the linear sensor provides accurate load position information The operation principle is to drive the motor to a given rotary position near the final point Once there the load position is read to find the position error and the controller commands the motor to move to a new rotary position which eliminates the position error Chapter 7 Application Programming 7 e 136 Since the required accuracy is 0 5 micron the resolution of the linear sensor should preferably be twice finer A linear sensor with a resolution of 0 25 micron allows a position error of 2 counts The dual loop approach requires the resolution of the rotary sensor to be equal or better than that of the linear system Assuming that the p
296. rmine Overall Motor Configuration Step 2 Configure Address Jumpers on the DMC 1300 se ssssssssssesssesseessrseserssesrrrsseseressee 9 Step 3 Install the DMC 1300 into VME Host sssssssseeessssesresssssstrssessstesresssrererssnserersseesrresne 9 Step 4 Install and Test Communications Software ssssseessseseeeessessstessessstesressseererssresers 10 Step 5 Connect Amplifiers and Encoders Step 6a Connect Standard Servo Motors Step 6b Connect Step Motors oes Step 7 Tune the Servo Syst Mn seenen an D si i ELamMpleS ner anaa aa e tovens cathe cestus tues te dvesns E E aasit Doc To Help Standard Template Example l System SetU Paranna n a E E A E R Example 2 Profiled Moye nanses titt EREE Example 3 Multiple Axes Example 4 Independent Moves Example 5 Position Interrogation ae a Example 6 Absolute Position cesses esseseseseseeseececsssessseeesesceesueseseeseasseseaneseseeeenentees Example 7 Velocity Control cece eina a E ERE AANS Example 8 Operation Under Torque Limit cesseeseesesesceeseeseseesesesenesneeseeeeneneees Example 9 Interrogation ccscecceskie a neha Wan Abend dei aie ok iors Example 10 Operation in the Buffer Mode Example 11 Motion Programs eessseeeeseeeeeeees Example 12 Motion Programs with Loops Example 13 Motion Programs with Trippoints Example 14 Control Variables ninne rrira esi TRA Contents e i Example 15 Linear Interpolation ce
297. rocess The procedure for sending commands can be found in Chapter 4 Step 5 Connect Amplifiers and Encoders Once you have established communications between the host and the DMC 1300 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 11X0 series Interface Modules which are ICM 1100 s equipped with servo amplifiers for brush type DC motors Chapter 2 Getting Started e 2 10 If you are using an ICM 1100 connect the 100 pin ribbon cable to the DMC 1300 and to the connector located on the AMP 11X0 or ICM 1100 board The ICM 1100 provides screw terminals for access to the connections described in the following discussion 1380 Motion Controllers with more than 4 axes require a second ICM 1100 or AMP 11X0 and second 100 pin cable System connection procedures will depend on system components and motor types Any combination of motor types can be used with the DMC 1300 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 st
298. rogram Default Value Default Format The AS command applies to a trapezoidal velocity profile only with linear acceleration AS used with S curve profiling will be inaccurate Error Reference source not found e 10 171 DMC 1300 AT Binary A7 FUNCTION At Time DESCRIPTION The AT command is a trippoint which is used to hold up execution of the next command until after the specified time has elapsed The time is measured with respect to a defined reference time AT 0 establishes the initial reference AT n specifies n msec from the reference AT n specifies n msec from the reference and establishes a new reference after the elapsed time period ARGUMENTS AT n where n is a signed integer in the range 0 to 2 Billion n 0 defines a reference time at current time positive n waits n msec from reference negative n waits n msec from reference and sets new reference after elapsed time period AT n is equivalent to AT n AT 0 USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No EXAMPLES The following commands are sent sequentially ATO Establishes reference time 0 as current time AT 50 Waits 50 msec from reference 0 AT 100 Waits 100 msec from reference 0 AT 150 Waits 150 msec from reference 0 and sets new reference at 150 AT 80 Waits 80 msec from new reference total elapsed time is 230 msec Error Reference source
299. ror Reference source not found e 10 261 SC No Binary FUNCTION Stop Code DESCRIPTION The SC command allows the user to determine why a motor stops The controller responds with the stop code as follows cope MEANING CODE MEANING Motors are running Stopped after Finding independent mode Edge FE 1 Motors stopped at commanded 10 Stopped after Homing independent position HM 2 Decelerating or stopped by 50 Contour running FWD limit switches 3 Decelerating or stopped by 51 Contour Stop REV limit switches Decelerating or stopped by MC timeout Stop Command ST Stopped by Abort input 100 Motors are running vector sequence Stopped by Abort command 101 Motors stopped at AB commanded vector Decelerating or stopped by Off on Error OE1 ARGUMENTS SC XYZW SC ABCDEFGH where the argument specifies the axes to be affected DPRAM The stop code for any given axis can be read in the corresponding Axis Buffer For example the SC for a DMC 1340 is read at 104 while the SC for a DMC 1380 is read at 204 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 3 0 Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE _SCx contains the value of the stop code for the specified axis EXAMPLES Tom _SCW Assign the Stop Code of W to variable Tom DMC 1300 Error Reference source not found 10 262 SH Binary BB FUNCTION Servo Here DESCRIPTION The
300. ror Reference source not found e 10 210 GR Binary D7 FUNCTION Gear Ratio DESCRIPTION GR specifies the Gear Ratios for the geared axes in the electronic gearing mode The master axis is defined by the GAX or GAY or GAZ or GAW command The gear ratio may be different for each geared axis and range between 127 9999 The slave axis will be geared to the actual position of the master The master can go in both directions GR 0 0 0 0 disables gearing for each axis A limit switch also disables the gearing ARGUMENTS GR x y z w GRX x GR a b c d e f g h where X y Z W are signed numbers in the range 127 with a fractional resolution of 0001 0 disables gearing 2 returns the value of the gear ratio for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 3 4 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _GRx contains the value of the gear ratio for the specified axis RELATED COMMANDS GA on page Page Master Axis EXAMPLES GEAR MOY Turn off servo to Y motor GAY Specify master axis as Y GR 25 5 Specify X and Z gear ratios EN End program Now when the Y motor is rotated by hand the X will rotate at 1 4th the speed and Z will rotate 5 times the speed in the opposite direction DMC 1300 Error Reference source not found e 10 211 HM Binary DO FUNCTION Home DESCRIPTION The HM command performs a three stage homing se
301. rror Main Document Only 87 DMC 1300 Instruction Interpretation DUALOOP Label CE0 Configure encoder DEO Set initial value PR 40000 Main move BGX Start motion Correct Correction loop AMX Wait for motion completion V1 10000 _DEX Find linear encoder error V2 _TEX 4 V1 Compensate for motor error JP END ABS V2 lt 2 Exit if error is small PR V2 4 Correction move BGX Start correction JP CORRECT Repeat END EN Command Summary Using the Auxiliary Encoder COMMAND DESCRIPTION E Configure Encoder Type Define dual auxiliary encoder 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 the value of the gear ratio for the specified axis Contains a 1 or 0 if the specified axis is in continuous dual loop operation Chapter 6 Programming Motion e Error Main Document Only 88 Motion Smoothing The DMC 1300 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
302. rrupt NA NA NA W axis motion complete Z axis motion complete Y axis motion complete X axis motion complete Condition H axis motion complete G axis motion complete F axis motion complete E axis motion complete W axis motion complete Error Reference source not found e 10 198 036 Bit 1 Excess position error 039 Bit 2 Z axis motion complete 036 Bit 0 Inputs 039 Bit 1 Y axis motion complete 037 Bit 6 Contour interrupt 039 Bit 0 X axis motion complete 038 Bit 0 All axes motion complete USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS UI on page 285 User interrupt EXAMPLES 1 Specify interrupts for all axes motion complete and limit switch with a vector of 8 on a DMC 1340 Enable bits 0 and 2 of address 34 EI mask will reflect 2 byte value of 05 00 hex EI 1280 8 2 Specify interrupt on Input 3 and contour interrupt with a vector of 10 on a DMC 1380 Enable bit 0 of address 36 and bit 6 of address 37 on m and bit 2 on n EI mask will reflect 4 byte value of 01 00 40 00 hex EI 16793600 4 10 Note The EI command on the DMC 1310 1340 will pass a 2 byte mask while the EI command for the DMC 1350 1380 will pass a 4 byte mask Care should be taken to insure that the correct interrupt is set by reading the corresponding interrupt mask register DMC 1300 Error Reference source not found e 10
303. rrupts which facilitate communication Command Done interrupts when the command semaphore is cleared at the end of acommand Application Program Stopped generates an interrupt on any termination of an application program either an EN command an error or an abort The Program Buffer Valid interrupt occurs on any write to the program buffer by the DMC 1300 This would be an MG command or an interrogation KP command in an application program The Program Pause interrupt is caused by the Program Pause PP command Chapter 4 VME Communication e Error Main Document Only 53 Chapter 5 Command Basics Introduction The DMC 1300 provides over 100 commands for specifying motion and machine parameters Commands are included to initiate action interrogate status and configure the digital filter Commands can be sent to the DMC 1300 in either ASCII or Binary In ASCII the 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 while ST stops motion In Binary commands are fixed format with a command number followed by numeric fields for each axis For example to send a positional move in ASCII format the following command is sent PR 4000 9000 lt enter gt where PR is the Position Relative command 4000 and 9000 are the X and Y positions respectively and the lt enter gt terminates the command In B
304. rs A negative number turns off the internal clock allowing for an external source to be used as the time base The units of this command are usec ARGUMENTS TM n where nis an integer in the range 250 to 20000 decimal with resolution of 125 microseconds The minimum sample time for the DMC 1310 is 250 usec 375 usec for the DMC 1320 500 usec for the DMC 1330 500 usec for the DMC 1340 625 usec for the DMC 1350 750 usec for the DMC 1360 875 usec for the DMC 1370 1000 usec for the DMC 1380 2 returns the value of the sample time USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _TM contains the value of the sample time EXAMPLES TM 1000 Turn off internal clock TM 2000 Set sample rate to 2000 EQN mu sec This will cut all speeds in half and all acceleration in fourths TM 1000 Return to default sample rate Error Reference source not found e 10 276 TN Binary EC FUNCTION Tangent DESCRIPTION The TN m n command describes the tangent axis to the coordinated motion path m is the scale factor in counts degree of the tangent axis n is the absolute position of the tangent axis where the tangent axis is aligned with zero degrees in the coordinated motion plane The tangent axis is specified with the VM n m p command where p is the tangent axis The tangent function is useful for cutting applica
305. rticular axis is specified by the appropriate letter X Y Z or W If no parameters follow the instruction action will take place on all axes Here are some examples of syntax for requesting action BGX Begin X only BGY Begin Y only BG XYZW Begin all axes BG YW Begin Y and W only DMC 1300 Chapter 5 Command Basics e Error Main Document Only 56 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 Binary Commands may also be sent to the DMC 1300 in Binary mode Most DMC commands will have a corresponding Binary code Binary commands and any corresponding data are written to the Command Buffer 040 For example the Binary code for GN is B8 hex This code is written to address 040 followed by axis data The axis data is represented by four bytes of integer and two bytes of data To send the command GN 5 7 to the DMC 1300 the following command is sent Address Command hex Description 40 B8 Code for GN 41 05 X and Z axis active 42 45 00 00 00 05 X axis integer 46 47 00 00 X axis fraction 48 4D Y axis data 4E 51 00 00 00 07 Z axis integer 52 53 00 00 Z axis fraction 54 59 W axis data This command is sent when Bit 7 of the Command Semaphore is set to 80 hex A full listing and explanation of the DMC 1300 address registers can be found in Chapter 4 Coordinat
306. s TL 1 lt CR 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 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 CR gt Position relative 1000 counts BGX lt CR 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 Chapter 2 Getting Started e 2 13 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 signal CHA and CHB If on the other hand you are using a differe
307. s H s 2000 s 2000 DMC 1300 Theory of Operation e 10 152 However in most applications H s may be approximated as one This completes the modeling of the system elements Next we discuss the system analysis System Analysis To analyze the system we start with a block diagram model of the system elements The analysis DMC 1300 procedure is illustrated in terms of the following example Consider a position control system with the DMC 1300 controller and the following parameters K 0 1 Nm A Torque constant J 2 104 kg m2 System moment of inertia R 2 Q Motor resistance Ka 4 Amp Volt Current amplifier gain KP 12 5 Digital filter gain KD 245 Digital filter zero KI 0 No integrator N 500 Counts rev Encoder line density T 1 ms Sample period The transfer function of the system elements are Motor M s P I Kt Js2 500 s2 rad A Amp K 4 Amp V DAC Kg 0 0003 V count Encoder Kg 4N 2n 318 count rad ZOH 2000 s 2000 Digital Filter KP 12 5 KD 245 T 0 001 Therefore D z 50 980 1 z 1 Accordingly the coefficients of the continuous filter are P 50 D 0 98 The filter equation may be written in the continuous equivalent form G s 50 0 98s Theory of Operation e 10 153 The system elements are shown in Fig 10 7 FILTER ZOH DAC AMP MOTOR V 2000 2000 50 0 980s Figure 10 7 Mathematical model of the control system The open loop transfer functi
308. s CHA and CHB This type of encoder is known as a quadrature encoder Quadrature encoders may be either single ended CHA and CHB or differential CHA CHA CHB CHB The DMC 1300 decodes either type into quadrature states or four times the number of cycles Encoders may also have a third channel or index for synchronization 4 e Chapter 1 Overview DMC1000 DMC 1300 The DMC 1300 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 1300 Single ended 12 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 an expanded I O board and DMC 1300 command set Please contact Galil to talk to one of our applications engineers about your particular system requirements Watch Dog Timer The DMC 1300 provides an internal watch dog timer which checks for proper microprocessor operation The timer toggles the Amplifier Enable Output AEN which can be use
309. s Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _TWx contains the timeout in msec for the MC command for the specified axis RELATED COMMANDS MC on page 234 Motion Complete trippoint DMC 1300 Error Reference source not found 10 284 UI Binary 8B FUNCTION User Interrupt DESCRIPTION The UI command causes an interrupt on the selected IRQ line Prior to using interrupts jumpers must be placed on the controller to select the interrupt priority IRQ1 IRQ7 and vector placement IAD1 IAD4 An interrupt service routine must be incorporated into the VME host program ARGUMENTS UIn where n is an integer between 0 and 15 DPRAM The user interrupt status may be read at address 030 bit 4 of the General Registers while address 033 will show the user interrupt number USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No EXAMPLES 1 Label EI 8 Enable interrupt vector 8 PR 10000 Position relative SP 5000 Speed BGX Begin motion AS Wait for at speed UI 08 Send interrupt 1 EN End program This program sends an interrupt to the selected IRQ line using vector 8 A read at address 030 will show a 01 while a read at address 033 will show a 08 DMC 1300 Error Reference source not found 10 285 VA Binary E3 FUNCTION Vector Acceleration DESCRIPTION
310. s and W axis other axes remain unchanged OE 1 0 1 0 Enable OE on X and Z axis Disable OE on Y and W axis Hint The OE command is useful for preventing system damage on excessive error Error Reference source not found 10 243 OF Binary C2 FUNCTION Offset DESCRIPTION The OF command sets a bias voltage in the motor command output or returns a previously set value This can be used to counteract gravity or an offset in an amplifier ARGUMENTS OF x y z w OFX x OF a b c d e f g h where X y Z W are signed numbers in the range 9 998 to 9 998 volts with resolution of 0 0003 2 returns the offset for the specified axis USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _OFx contains the offset for the specified axis EXAMPLES OF 1 2 3 5 Set X axis offset to 1 the Y axis offset to 2 the Z axis to 3 and the W axis to 5 OF 3 Set X axis offset to 3 Leave other axes unchanged OF 0 Set Y axis offset to 0 Leave other axes unchanged OF Return offsets 3 0000 0 0000 3 0000 5 0000 OF Return X offset 3 0000 OF Return Y offset 0 0000 DMC 1300 Error Reference source not found e 10 244 OP Binary 8F FUNCTION Output Port DESCRIPTION The OP command sends data to the output ports of the controller You can use the output port to control external switches and relays The first par
311. s given and the position error exceeds the error limit As shown in Figure 3 4 AEN can be used to disable the amplifier for these conditions The standard configuration of the AEN signal is TTL active high In other words the AEN signal will be high when the controller expects the amplifier to be enabled The polarity and the amplitude can be changed if you are using the ICM 1100 interface board To change the polarity from active high 5 volts Chapter 3 Connecting Error Main Document Only 31 enable zero volts disable to active low zero volts enable 5 volts disable replace the 7407 IC with a 7406 Note that many amplifiers designate the enable input as inhibit To change the voltage level of the AEN signal note the state of the resistor pack on the ICM 1100 When Pin 1 is on the 5V mark the output voltage is 0 5V To change to 12 volts pull the resistor pack and rotate it so that Pin 1 is on the 12 volt side If you remove the resistor pack the output signal is an open collector allowing the user to connect an external supply with voltages up to 24V DMC 1300 ICM 1100 Connection to 5V 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 AMPENX MOTOR AMPLIFIER 100 PIN RIBBON 7407 Open Collector Buffer The Enable signal Analog Switch can be inverted by using a 7406 Figure 3 4
312. s high see section Changing Optoisolated Inputs from Active High to Active Low The optoisolated inputs are organized into groups For example the general inputs IN1 IN8 and the ABORT input are one group Each group has a common signal which supplies current for the inputs in the group In order to use an input the associated common signal must be connected to voltage between 5 and 28 volts see discussion below Chapter 3 Connecting Error Main Document Only 27 DMC 1300 The optoisolated inputs are connected in the following groups these inputs are accessed through the 26 pin J5 header Group Common Signal IN1 IN8 ABORT INCOM FLX RLX HOMEX LSCOM FLY RLY HOMEY FLZ RLZ HOMEZ FLW RLW HOMEW For controllers with more than 4 axes the inputs 9 16 and the limit switch inputs for the additional axes are accessed through a separate connector JD5 Group Common Signal IN9 IN16 INCOM FLE RLE HOMEE LSCOM FLF RLF HOMEF FLG RLG HOMEG FLH RLH HOMEH A logic zero is generated when at least mA 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 Chapter 3 Connecting Error Main Document Only 28 LSCOM FLSX HOMEX RLSY RLSX FLSY HOMEY INCOM O O O O O O O O O N1 IN2 INS N4 INS IN6 IN7 IN8
313. s may be utilized DMC1000 INSTRUCTION INTERPRETATION A DPO Label Define current position as zero PR 4000 Initial position SP 2000 Set speed BGX Move X AMX Wait until move is complete WT 500 Wait 500 ms B V1 _TPX Determine distance to zero PR V1 2 Command X move 1 2 the distance BGX Start X motion AMX After X moved WT 500 Wait 500 ms Vl Report the value of V1 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 Chapter 2 Getting Started e 2 22 This program mo ves 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 1300 instruction with an underscore _ Example 15 Linear Interpolation Objective Move X Y Z motors distance of 7000 3000 6000 respectively along linear trajectory Namely motors start and stop together INSTRUCTION INTERPRETATION LM XYZ Specify linear interpolation axes LI 7000 3000 6000 Relative distances for linear interpolation LE Linear End VS 6000 Vector speed VA 20000 Vector acceleration VD 20000 Vector deceleration BGS Start motion DMC1000 Chapter 2 Getting Started e 2 23 Example 16 Circular Interpolation Objective Move the XY axes in circular mode to form the path shown on Fig 2 4 Note that the vecto
314. s 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 10 Volt to connect to a servo amplifier This connection is described in Chapter 2 Stepper Motor with Step and Direction Signals The DMC 1300 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 1300 Functional Elements The DMC 1300 circuitry can be divided into the following functional groups as shown in Figure 1 1 and discussed below 2 e Chapter 1 Overview DMC1000 To Host Communication Dual Port 2K RAM DMC 1300 68391 GL 1800 O oa 4 Axes Interface 64K EPROM Motor Encoder Interface 256 EEPROM rom Watch Dog Timer Figure 1 1 DMC 1300 Functional Elements Microcomputer Section The main processing unit of the DMC 1300 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 memor
315. s the array spaces in the memory it is possible that execution of this command may take longer time than 2 ms Error Reference source not found e 10 190 DC Binary CD FUNCTION Deceleration DESCRIPTION The Deceleration command DC sets the linear deceleration rate of the motors for independent moves such as PR PA and JG moves The parameters will be rounded down to the nearest factor of 1024 and have units of counts per second squared ARGUMENTS DC x y z w DCX x DC a b c d e f g h where X y Z W are unsigned numbers in the range 1024 to 67107840 2 returns the deceleration value for the specified axes USAGE DEFAULTS While Moving Yes Default Value 256000 In a Program Yes Default Format 8 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes When moving the DC command can only be specified while in the jog mode OPERAND USAGE _DCx contains the deceleration rate for the specified axis RELATED COMMANDS AC on page 163 Acceleration PR on page 247 Position Relative PA on page 246 Position Absolute SP on page 264 Speed JG on page 220 Jog BG on page 174 Begin IT on page 219 Smoothing EXAMPLES PR 10000 Specify position AC 2000000 Specify acceleration rate DC 1000000 Specify deceleration rate SP 5000 Specify slew speed BG Begin motion Note The DC command may be changed during the move in JG move but not in PR or PA move DMC 1300 Error Reference source not found e 10 191
316. s the home position 0 as the position at which the index was detected Example Instruction Interpretation HOME Label AC 1000000 Acceleration Rate DC 1000000 Deceleration Rate SP 5000 Speed for Home Search HM X Home X BGX Begin Motion AM X After Complete MG AT HOME Send Message Chapter 6 Programming Motion e Error Main Document Only 91 EN End EDGE Label AC 2000000 Acceleration rate DC 2000000 Deceleration rate SP 8000 Speed FE Y Find edge command BGY Begin motion AMY After complete MG FOUND HOME Print message DP 0 Define position as 0 EN End DMC 1300 Chapter 6 Programming Motion e Error Main Document Only 92 MOTION BEGINS TOWARD HOME DIRECTION eS POSITION MOTION REVERSE TOWARD HOME DIRECTION Z POSITION MOTION TOWARD INDEX DIRECTION rd POSITION INDEX PULSES POSITION POSITION Figure 6 7 Motion intervals in the Home sequence DMC 1300 Chapter 6 Programming Motion e Error Main Document Only 93 High Speed Position Capture Latch Often it is desirable to capture the position precisely for registration applications The DMC 1300 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 through 4 and 9 through 12 correspond to each axis IN X axis latch IN 9 Eaxis latch IN2 Y axis latch IN10 F axis latch IN3 Z axis latch IN11 Gaxis latch IN4 W axis l
317. ses Example Send the command STX in ASCII format Address Value hex Characters 40 53 S 41 54 T 42 58 X 43 0D Return Example Send the command PR 1024 2048 in ASCII format Chapter 4 VME Communication e Error Main Document Only 43 Address Value hex Characters 40 50 P 41 52 R 42 31 1 43 30 0 44 32 2 45 34 4 46 2C 47 2C gt 48 32 2 49 30 0 4A 34 4 4B 38 8 4C oD Return Binary Commands Commands may also be sent to the DMC 1300 controller in Binary format The Binary command format is in the form of a fixed format record The first byte is always the command number which is between 138 and 255 The second byte is used to define whether the command is an interrogation and which axis or fields are valid for the command Four fields of six bytes each follow for the data for each axis where 4 bytes are integer and 2 bytes are fraction Numbers in these fields are represented in 2 s complement DMC 1310 1340 041 Bit 7 for interrogation 0 for otherwise Bit 6 Reserved Bit 5 Reserved Bit 4 Coordinated axis S Bit 3 W axis or field 4 data valid Bit 2 Z axis or field 3 data valid Bit 1 Y axis or field 2 data valid Bit 0 X axis or field 1 data valid 042 047 Field 1 X axis 048 04D Field 2 Y axis 053 Field 3 Z axis 054 059 Field 4 W axis DMC 1350 1380 Command Bit 7 Bina Format Bit 7 1 for interrogation Bit 0 S Coordinated axis S Bit 7 H axis or f
318. sitions on X Y Z and W axes X axis moves 200 counts Y axis moves 350 counts Z axis moves 150 counts W axis moves 500 counts Wait for complete New position data Wait for complete Stop Contour Exit Mode Error Reference source not found e 10 181 CE Binary F2 FUNCTION Configure Encoder DESCRIPTION The CE command configures the encoder to the quadrature type or the pulse and direction type It also allows inverting the polarity of the encoders The configuration applies independently to the four main axes encoders and the four auxiliary encoders ARGUMENTS CE x y z w CEX x CE a b c d e f g h where X y Z W are integers in the range of 0 to 15 Each integer is the sum of two integers n and m which configure the main and the auxiliary encoders The values of m and n are MAIN ENCODER TYPE AUXILIARY ENCODER TYPE o Normal quadrature o Normal quadrature Normal pulse and direction Normal pulse and direction Reversed quadrature al Reversed quadrature Reversed pulse and direction Reversed pulse and direction For example x 6 implies m 2 and n 4 both encoders are reversed quadrature 2 returns the value of the encoder configuration for the specified axes USAGE DEFAULTS While Moving Yes Default Value O In a Program Yes Default Format 2 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _CEx contains the value of encoder type for the axis specified by x RELATED CO
319. 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 SC1 will return the number and the textual explanation of the motion status The stop code is also available in Axis Buffers of the Dual Port RAM RAM Memory Interrogation Commands For debugging the status of the program memory array memory or variable memory the DMC 1300 has several useful commands The command DM will return the number of array elements currently available The command DA will return the number of arrays which can be currently defined For example a standard DMC 1310 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 Chapter 7 Application Programming 7 e 104 DMC1000 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 numb
320. t 4 Digital Output 5 Digital Output 6 Digital Output 7 Digital Output 8 U U U ncommitted Input 8 ncommitted Input 7 ncommitted Input 6 Uncommitted Input 5 U U U U ncommitted Input 4 ncommitted Input 3 ncommitted Input 2 ncommitted Input 1 Input common Ground W Auxiliary encoder B W Auxiliary encoder B W Auxiliary encoder A W Auxiliary encoder A Z Z Z Z Auxiliary encoder B Auxiliary encoder B Auxiliary encoder A Auxiliary encoder A Y Auxiliary encoder B Y Auxiliary encoder B Appendices e A 315 DMC 1300 54 55 56 57 58 59 60 61 62 63 64 YAA YAA XAB XAB XAA XAA GND 5V LSCOM FLSX RLSX I I 1 60 2 59 13 14 15 16 17 18 20 19 20 15 Y Auxiliary encoder A Y Auxiliary encoder A X Auxiliary encoder B X Auxiliary encoder B X Auxiliary encoder A X Auxiliary encoder A Ground 5 Volts X Limit common X Forward limit X Reverse limit Appendices e A 316 DMC 1300 Terminal 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 Label HOMEX FLSY RLSY HOMEY FLSZ RLSZ HOMEZ FLSW RLSW HOMEW GND ABORT XA XA XB XB XI XI YA YA YB YI YI ZA ZA ZB ZB ZI WA WA WB WB WI WI roO I 1 60 20 20 24 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 5
321. t file name gt Downloads file from PC into 1300 Reports available screen and configuration options IBI Selects binary mode of communication IAS Selects ASCII mode of communication IDE Selects decimal display option HE Selects hex display option W m n Displays contents of address m m 1 m 2 m 3 as a four byte value nis the watch number 1 2 or 3 You can watch up to three groups of data Example W 20 1 Watches address 20 1 IW 30 2 Watches address 30 2 Q Quits the COMM1300 Sending commands to the Command Buffer DMC 1300 Chapter 4 VME Communication e Error Main Document Only 42 DMC 1300 The procedure for sending a command to the DMC 1300 whether Binary or ASCII is as follows 1 Check that Bit 7 of the Command Semaphore register 001 is clear This means the last command has been completed 2 Load the command into the command buffer in either Binary or ASCII 3 Set Bit 7 80 hex of the command semaphore to start the command being processed 4 Check that Bit 7 of the command semaphore is clear Then check Bit 0 of the General Status 010 If the value is a one then the command was not accepted The command buffer error code will help find the cause of the problem 5 If an interrogation command was sent read the response buffer and clear the response buffer semaphore register ASCII Commands The DMC 1300 instructions are represented by two ASCII upper case characters followed by applicable argu
322. terrogate stack S Print stack EN End DMC 1300 Error Reference source not found 10 299 DMC 1300 Error Reference source not found e 10 300 Appendices Electrical Specifications Servo Control ACMD Amplifier Command A A B B IDX IDX Encoder and Auxiliary Stepper Control Pulse Direction Input Output Uncommitted Inputs Limits Home Abort Inputs AN 1 thru AN 7 Analog Inputs OUT 1 thru OUT 8 Outputs OUT 9 through OUT 16 Outputs IN 17 through IN 24 Inputs 10 Volts analog signal Resolution 16 bit DAC or 0003 Volts 3 mA maximum TTL compatible but can accept up to 12 Volts Quadrature phase on CHA CHB Can accept single ended A B only or differential A A B B Maximum A B edge rate 8 MHz Minimum IDX pulse width 120 nsec TTL 0 5 Volts level at 50 duty cycle 2 000 000 pulses sec maximum frequency TTL 0 5 Volts 2 2K ohm in series with optoisolator Requires at least 1 mA for on Can accept up to 28 Volts without additional series resistor Above 28 Volts requires additional resistor Standard configuration is 10 Volt 12 Bit Analog to Digital convertor TIL TTL only available on controllers with 4 or more axes TTL only available on controllers with 4 or more axes Appendices e A 301 Power 5V 12V 12V Performance Specifications Minimum Servo Loop Update Time Position Accuracy Velocity Accuracy Long Term Short Term Posit
323. ters can follow the NO command USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand EXAMPLES A NO NO This Program NO Does Absolutely NO Nothing EN DEFAULTS Yes Yes Yes No No Program A No Operation No Operation No Operation No Operation End of Program Default Value Default Format Error Reference source not found e 10 241 DMC 1300 OB Binary 92 FUNCTION Output Bit DESCRIPTION The OB n logical expression command defines output bit n 1 through 8 as either 0 or 1 depending on the result from the logical expression Any non zero value of the expression results in a one on the output ARGUMENTS OB n expression where n denotes the output bit 1 though 8 for the DMC 1310 1340 or 1 through 16 for the DMC 1350 1380 and MX expression is any valid logical expression variable or array element DPRAM The status of the output ports are located at address 02B on the DMC 1310 1340 or 02E 02F on the DMC 1350 1380 Writing to these addresses will change the state of the output ports USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No EXAMPLES OB 1 POS 1 If POS 1 is non zero Bit 1 is high If POS 1 is zero Bit 1 is low OB 2 IN 1 amp IN 2 _ If Input 1 and Input 2 are both high then Output 2 is set high OB 3 COUNT 1 If the element 1 in the array is
324. tersrssueruresnsestecsususteeusrsseereresnteuteenieostecusesreersresse Interrogating the Controller Interrogation Commands Additional Interrogation Methods da ee Operands piii irose rie n e E EEE AE EREE EIERE EEE O Command Summary esien ei a eee EE Ra EE E EEA N E EERE Chapter 6 Programming Motion 61 OV ELVIC W n a a R e E A EE tesa ER E Na Independent Axis Positioning ii e Index Doc To Help Standard Template Command Summary Independent AXis oo eee ceceeceeseseseeceseeceeseeseseetessseneanessseeeeeeneees Operand Summary Independent AXIS oo esses eecesseseseeenesceeseeseseetessseaesteseseeeeeeneee Independent Jog ein En oe abe A CAG ERE RR EN Command Summary Jogging Operand Summary Independent Axis Linear Interpolation Mode eesssseeeeseseteeeneteeeeees Specifying Linear Segments marrons wilting nena isla ened Specifying Vector Acceleration Deceleration and Speed oo eee eeeeseeteeeeeeeeeeees 66 Additional Commands neame n a ee eA ea a ee ee E Command Summary Linear Interpolation occ eeseeeseeeeseseseseeeeseeeesenenesneeseeeseeneees Operand Summary Linear Interpolation Vector Mode Linear and Circular Interpolation Motion Specifying Vector Segments 0 eee eeesseseseeeeneseseseeeeeeeeeees Specifying Vector Acceleration Deceleration and Speed oe eeseeseeeeteeeeeeeeees 72 Additional Commands sie ese sect A NG es ee IAS I aot R E a ae 72 Command Summary Vector Mode Motion eecc
325. the DMC 1300 whenever valid data is placed in the program buffer Bit 6 is set whenever that data is a program line as opposed to an interrogation or output from an MG command To create or edit an application program the ED command is given to put the DMC 1300 in edit mode This can always be checked by testing Bit 4 of the general status register The program line number of the program line in the buffer is placed by the DMC 1300 in the first two memory locations with the program line following The program buffer semaphore is set to CO signifying that the buffer contains valid data and that the data is a program line At this point the host can alter the contents of the program buffer and invoke any of the editor commands These commands are as follows Command Command Code Function Save Line 9D Save current line and put the next line in the program buffer Previous Line 9B Put the previous line in the program buffer Delete Line 9A Delete the program line Insert Line 99 Insert a new line before the current line Quit Edit 9C Terminate the edit mode All program lines must be terminated in a carriage return OD hex The editor command is placed in the command buffer 40 by the host and the command semaphore 001 hex is set 80 hex When the command semaphore is cleared another edit command may be executed Axis Buffers DMC 1310 1340 Addresses 100 1FF DMC 1350 1380 Addresses 200 43F The axis buffers contain information on
326. the control of each of the axes The four buffers are identical in format DMC 1310 1340 Chapter 4 VME Communication e Error Main Document Only 49 Status 1 Bit 7 Axis running In motion Bit 6 1 Positional move 0 jog Bit 5 Position absolute move Bit 4 Find edge Bit 3 Home Bit 2 Homing 1 phase complete Bit 1 Homing 2 phase complete Bit 0 Coordinated move Status 2 Bit 7 Minus direction Bit 6 Contour mode Bit 5 Profile is in velocity slew Bit 4 Stopped other than by reaching final destination Bit 3 Profile is in final deceleration Bit 2 Latch is armed Bit 1 Off on error Bit 0 Motor is off jos fae ise fice stop code Switches i 1 ie Bit 7 Latched Bit 6 State of Latch Bit 3 State of Forward Limit Switch Bit 2 State of Reversed Limit Switch Bit 1 State of Home Bit 0 SM Jumper installed Motor position Position error Torque 110 113 150 153 190 193 1D0 1D3 Auxiliary encoder DMC 1350 1380 x lym z w 200 300 240 340 280 380 2C0 3C0 Status 1 Bit 7 Axis running In motion Bit 6 1 Positional move 0 jog Bit 5 position absolute move Bit 4 Find edge Bit 3 Home Bit 2 Homing 1 phase complete Bit 1 Homing 2 phase complete Bit 0 Coordinated move DMC 1300 Chapter 4 VME Communication e Error Main Document Only 50 Status 2 201 301 241 341 281 381 2C1 3C1 Bit 7 Minus direction Bit 6 Cont
327. tic Subroutine 101 114 Synchronization 4 Syntax 55 56 159 60 T Tangent 71 73 74 277 289 Teach 82 249 Data Capture 125 26 249 Latch 31 94 167 184 254 Play Back 127 Position Capture 94 167 Record 80 82 123 127 249 51 Tell Error Position Error 13 19 164 224 243 256 Tell Position 108 122 24 Terminal 26 30 121 189 Theory 145 223 225 Damping 144 148 Digital Filter 152 53 155 57 Modelling 145 148 49 153 PID 14 148 152 157 Stability 87 136 143 44 148 154 196 Time Clock 123 274 276 Sample Time 276 Update Rate 274 TIME 123 24 274 Time Interval 78 80 82 125 183 195 249 Timeout 101 107 115 116 234 284 MCTIME 101 107 115 116 234 284 Torque Limit 13 20 275 Trigger 1 97 106 108 11 171 202 Trippoint 107 8 114 164 168 75 169 170 214 15 234 236 239 252 53 284 296 Troubleshooting 143 TIL 5 25 27 32 33 139 Tuning Stability 87 136 143 44 148 154 196 U Update Rate 274 Sample Time 276 Doc To Help Standard Template V Variable Internal 23 112 120 122 168 Vector Acceleration 23 24 68 69 74 133 286 88 Vector Deceleration 23 24 68 69 74 Vector Mode 173 74 203 291 Circle 133 185 186 203 Circular Interpolation 1 23 24 71 72 76 125 133 250 289 Clear Sequence 66 68 72 74 188 Ellipse Scale 74 203 Feedrate 74 110 133 Tangent 71 73 74 277 289 Vector Speed 23 24 65 72 74 110 133 186 229 31 264 W Wire
328. tion e Error Main Document Only 35 DMC 1300 DMC 1310 1340 Address Description 000 OOF Semaphore Registers 010 03F General Registers 040 06F Command Registers 070 OOF Response Buffer OAO OBL Contour Buffer OBE 0E7 Program Buffer Program Buffer Vais o 240 3BF Variables DMC 1350 1380 Address Description 000 OOF Semaphore Registers General Registers Response Buffer Contour Buffer Program Buffer 200 23F X axis xa o 400 3FF 400 43F Coordinated Axis S 140 58 Each of these registers and buffers will be described in detail in the following sections 380 38 Chapter 4 VME Communication e Error Main Document Only 36 Semaphore Registers DMC 1310 1380 Address 000 00F The semaphore registers control signals for communication timing between the host CPU and the DMC 1300 These semaphore registers are set and cleared by either the host CPU or the DMC 1300 They are addressed only by their most significant bit Bit 7 with the exception of the Program Buffer semaphore Bit 6 of that semaphore is also set if an application program line is in the program buffer and is cleared if the buffer contains communication from the application program Below are the addresses and functions of each of the semaphore registers These are identical for both the DMC 1310 1340 and the DMC 1350 1380 Address Function Bit 7 Set by Bit 7 Cleared by o1 Command Butter DMC 1300 e Respo
329. tion error equate Pole Report when complete Acceleration ramp Specify encoder type Servo Enable S curve Tell dual encoder Tell master frequency Use Electronic Gearing GA amp GR Enable S curve Specify S curve Zero master Use Electronic Gearing GA amp GR Comments Not necessary Use local format PF VF DE 14 bits only Use local format PF VF Replaced by AL command Use Record mode RA and RD Use Electronic Gearing GA amp GR Use Electronic Gearing GA amp GR Use Electronic Gearing GA amp GR Use _TP Use _RP Use _DE Use _TE Not required with KP KD KI se AM or __BG se IT se CE se SH se IT U U U U U Use MG __DE Use VT Use VT Appendices e A 328 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 1300 Appendices e A 329 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 d
330. tion feedforward EXAMPLES FV 10 20 Set feedforward coefficients to 10 and 20 for x JG 30000 80000 and y respectively This produces 0 366 volts for x and 1 95 volts for y FV Return the x and y values 010 020 Error Reference source not found 10 208 GA No Binary FUNCTION Master Axis for Gearing DESCRIPTION The GA command specifies the master axis for electronic gearing Only one master may be specified The master may be the main encoder input auxiliary encoder input or the commanded position of any axis The master may also be the commanded vector move in a coordinated motion of LM or VM type When the master is a simple axis it may move in any direction and the slave follows When the master is a commanded vector move the vector move is considered positive and the slave will move forward if the gear ratio is positive and backward if the gear ratio is negative The slave axes and ratios are specified with the GR command and gearing is turned off by the command GRO ARGUMENTS GAn where n X or Y or Zor W or A B C D E F G H for main encoder as axis master n CX or CY or CZ or CW or CA CB CC CD CE CF CG CH for command position as master axis n S for vector motion as master n DX or DY or DZ or DW or DA DB DC DD DE DF DG DH for auxiliary encoder as master USAGE While Moving In a Program Command Line Can be Interrogated Used as an Operand RELATED COMMANDS GR on page 210 DEFAULTS No Default
331. tions where a cutting tool must remain tangent to the part ARGUMENTS TN m n where m is the scale factor in counts degree in the range between 127 and 127 witha fractional resolution of 0 004 nn When operating with stepper motors m is the scale factor in steps degree n is the absolute position at which the tangent angle is zero in the range between 2 10 TN returns the first position value for the tangent axis USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _TN contains the first position value for the tangent axis This allows the user to correctly position the tangent axis before the motion begins RELATED COMMANDS VM on page 289 Vector mode EXAMPLES VM X Y Z Specify coordinated mode for X and Y axis Z axis is tangent to the motion path TN 100 50 Specify scale factor as 100 counts degree and 50 counts at which tangent angle is zero VP 1000 2000 Specify vector position X Y VE End Vector BGS Begin coordinated motion with tangent axis DMC 1300 Error Reference source not found 10 277 TP No Binary FUNCTION Tell Position DESCRIPTION This command returns the current position of the motor s ARGUMENTS TP XYZW TP ABCDEFGH where the argument specifies the axes to be affected DPRAM The actual position for an axis can be read in the corresponding Axis Buffer ie addresses 106
332. top EN End of Program Hint The accuracy of the AP command is the number of counts that occur in 2 msec Multiply the speed by 2 msec to obtain the maximum error AP tests for absolute position Use the AD command to measure incremental distances DMC 1300 Error Reference source not found 10 169 AR Binary CF FUNCTION After Relative Distance DESCRIPTION The After Relative AR command is a trippoint used to control the timing of events This command will hold up the execution of the following command until one of the following conditions have been met 1 The commanded motor position crosses the specified relative distance from either the start of the move or the last AR or AD command 2 The motion profiling on the axis is complete 3 The commanded motion is in the direction which moves away from the specified position The units of the command are quadrature counts Only one axis may be specified at a time The motion profiler must be on or the trippoint will automatically be satisfied ARGUMENTS ARx or AR y or AR z or AR w ARX X AR abcdefgh where X y Z W are unsigned integers in the range 0 to 2147483647 decimal USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS AV on page 173 Trippoint for after vector position for coordinated moves AP Binary A3 on page 169 Trippoint for after absol
333. ue of the Error limit for the specified axis USAGE DEFAULTS While Moving Yes Default Value 16384 In a Program Yes Default Format Position Format Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _ERx contains the value of the Error limit for the specified axis RELATED COMMANDS OE on page 243 Off On Error POSERR Automatic Error Subroutine EXAMPLES ER 200 300 400 600 Set the X axis error limit to 200 the Y axis error limit to 300 the Z axis error limit to 400 and the W axis error limit to 600 ER 1000 Sets the Y axis error limit to 1000 leave the X axis error limit unchanged ER Return X Y Z and W values 00200 00100 00400 006 00 ER Return X value 00200 V1 _ERX Assigns V1 value of ERX Vl Returns V1 00200 Hint The error limit specified by ER should be high enough as not to be reached during normal operation Examples of exceeding the error limit would be a mechanical jam or a fault in a system component such as encoder or amplifier DMC 1300 Error Reference source not found e 10 202 DMC 1300 ES Binary EB FUNCTION Ellipse Scale DESCRIPTION The ES command divides the resolution of one of the axes in a vector mode This allows the generation of an ellipse instead of a circle The command has two parameters m and n ES m n and it applies to the axes designated by the VM command VMXY for example When m gt n the resolution of the first axis X in the ex
334. ues PR The controller will return the PR value for the X axis PR The controller will return the PR value for the W axis PR The controller will return the PR value for the A B C and D axes PR 40455557 The controller will return the PR value for the H axis Operand Usage Most commands have a corresponding operand that can be used for interrogation The Operand Usage description provides proper syntax and the value returned by the operand Operands must be used inside of valid DMC expressions For example to display the value of an operand the user could use the command MG operand All of the command operands begin with the underscore character _ For example the value of the current position on the X axis can be assigned to the variable V with the command V _TPX Usage Description The Usage description specifies the restrictions on proper command usage The following provides an explanation of the command information provided Error Reference source not found e 10 160 S T DMC 1300 While Moving states whether or not the command is valid while the controller is performing a previously defined motion In a program states whether the command may be used as part of a user defined program Command Line states whether the command may be used other than in a user defined program Can be Interrogated states whether or not the command can be interrogated by using the as a command argum
335. user The CN command can be used to change the polarity of the limit switches Reverse Limit Switch Low input inhibits motion in reverse direction If the motor is moving in the reverse direction when the limit switch is activated the motion will decelerate and stop In addition if the motor is moving in the reverse direction the controller will automatically jump to the limit switch subroutine LIMSWI if such a routine has been written by the user The CN command can be used to change the polarity of the limit switches Software Protection The DMC 1300 provides a programmable error limit for servo operation The error limit can be set for any number between 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 1300 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
336. ute position EXAMPLES A DP 0 0 0 0 Begin Program JG 50000 7000 Specify speeds BG XW Begin motion B Label AR 25000 After passing 25000 counts of relative distance on X axis MG Passed_X TPX Send message on X axis JP B Jump to Label B EN End Program Hint AR is used to specify incremental distance from last AR or AD command Use AR if multiple position trippoints are needed in a single motion sequence DMC 1300 Error Reference source not found e 10 170 DMC 1300 AS Binary A5 FUNCTION At Speed DESCRIPTION ARGUMENTS AS X or AS Y or AS Z or AS W or ASS DPRAM USAGE The AS command is a trippoint that occurs when the generated motion profile has reached the specified speed This command will hold up execution of the following command until the speed is reached The AS command will operate after either accelerating or decelerating If the speed is not reached the trippoint will be triggered after the motion is stopped after deceleration AS ABCDEFGH where XYZWS specifies X Y Z W axis or sequence Bit 5 of the Status 2 address in the Axis Buffer will indicate if the controller is at slew speed While Moving In a Program Command Line Can be Interrogated Used as an Operand EXAMPLES SPEED PR 100000 SP 10000 BG X ASX MG At Speed EN WARNING DEFAULTS Yes Yes Yes No No Program A Specify position Specify speed Begin X After speed is reached Print Message End of P
337. veanebeanenataneatayeiets ZR Binaty BO snc cciee ena ead EAA wean Se alee MRR a tee ZS BUDALY BI e iii R EEE R E r E A El ctrical Specifications an enaar 0d aos a A oiai Dee a a Servo Control Stepper Control uss is sie Mpu Output cies eee eS ey ae i ee eg Performance Specifications ine i ithe ean tatece ites bd Ie eee ede ARE Maes Connectors for DMC 1300 Main Board Doc To Help Standard Template J2 Main 60 pin IDC eeeeeeeeeeeeeeeeee J5 General I O 26 pin IDC eee J3 Aux Encoder 20 pin IDC tee ees JA Driver 20 pir IDE rinine steve evseanenssaterecivese estes dens eoerensseastereesitresne reese J6 Daughter Board Connector 60 pin eee eeesseeseseesesesesesecseeeecessaeaeseeseseeeenseeaees 305 JIA TOPi sss ce eee etches cesti a eae nite men A EEEE T 305 Contents e vii viii e Index Index Connectors for Auxiliary Board Axes E F G H sessessessessssessrsressesssssseteesresrssrsntsnesssessereesresrsrrssesses JUDD Main GO pin IDC rrisin s e a arsaa S S o i are STET iei JID5 1VOCOPN IDC zearen e E E SN JD3 20 pin IDC Auxiliary Encoders JD4 20 pin IDC Amplifiers oe JD6 Daughterboard Connector 60 pin ais as Pin Out Description for DMC 1300 se sssesssesssesssesseessssereessssererssesstresresnrenserssteerrrsntentrentenrreseessreerens Jumper Description for DMC 1300 se sssesssssssesssisseessrseseessrssrersreetresresnteesersnrenrrrsntentrrsrsenr
338. ved sequences are restored When active inhibits motion in forward direction Also causes execution of limit switch subroutine LIMSWI The polarity of the limit switch may be set with the CN command When active inhibits motion in reverse direction Also causes execution of limit switch subroutine LIMSWI The polarity of the limit switch may be set with the CN command Input for Homing HM and Find Edge FE instructions Upon BG following HM or FE the motor accelerates to slew speed A transition on this input will cause the motor to decelerate to a stop The polarity of the Home Switch may be set with the CN command Uncommitted inputs May be defined by the user to trigger events Inputs are checked with the Conditional Jump instruction and After Input instruction or Input Interrupt Input 1 is latch X Input 2 is latch Y Input 3 is latch Z and Input 4 is latch W if the high speed position latch function is enabled High speed position latch to capture axis position within 20 nano seconds on occurrence of latch signal AL command arms latch Input 1 is latch X Input 2 is latch Y Input 3 is latch Z and Input 4 is latch W Input 9 is latch E Input 10 is latch F Input 11 is latch G Input 12 is latch H Appendices e A 311 Jumper Description for DMC 1300 JUMPER LABEL JP9 LSCOM INCOM JP11 A12 A13 A14 A15 JP12 IAD4 IAD2 IADI JP13 IRQ7 IRQ6 IRQ5 IRQ4 IRQ3 IRQ2 IRQI JP20 SMX SMY SMZ SMW OPT JP21 MRST
339. ven 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 follows the ED command the editor prompter will default to the last line of the program in memory If desired the user can edit a specific line number or label by specifying a line number or label following ED Instruction Interpretation ED Puts Editor at end of last program ED 5 Puts Editor at line 5 ED BEGIN Puts Editor at label BEGIN Chapter 7 Application Programming 7 e 97 DMC1000 PROGRAM MEMORY SPACE FOR THE DMC 1300 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 lt RETURN gt will cause the editor to advance a series of lines Note changes on a program line will not be saved
340. where the argument specifies the axes to be affected No parameters will stop motion on all axes and stop program USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand No RELATED COMMANDS BG on page 174 AB on page 162 AM on page 168 DC on page 191 Begin Motion Abort Motion Wait for motion end Deceleration rate EXAMPLES STX Stop X axis motion STS Stop coordinated sequence ST XYZW Stop X Y Z W motion ST Stop program and XYZW motion ST SZW Stop coordinated XY sequence and Z and W motion Hint Use the after motion complete command AM to wait for motion to be stopped Error Reference source not found 10 265 TB No Binary FUNCTION Tell Status Byte DESCRIPTION The TB command returns status information from the controller as a decimal number Each bit of the status byte denotes the following condition when the bit is set high Executing input interrupt routine ARGUMENTS TB returns the status byte USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _TB Contains the status byte EXAMPLES TB on page 266 Tell status information from the controller 65 Executing program and Echo is on 2 2 64 1 65 DMC 1300 Error Reference source not found e 10 266 DMC 1300 TC
341. xis RELATED COMMANDS CN on page 184 Configure Home FI on page 206 Find Index Only FE on page 205 Find Home Only Error Reference source not found e 10 212 EXAMPLES HM Set Homing Mode for all axes BG Home all axes BGX Home only the X axis BGY Home only the Y axis BGZ Home only the Z axis BGW Home only the W axis Hint You can create your own custom homing sequence by using the FE Find Home Sensor only and FI Find Index only commands DMC 1300 Error Reference source not found 10 213 DMC 1300 HX Binary 97 FUNCTION Halt Execution DESCRIPTION The HX command halts the execution of any of the four programs that may be running independently in multitasking The parameter n specifies the program to be halted ARGUMENTS HXn where n is an integer in the range of 0 to 3 which indicates the thread number USAGE DEFAULTS While Moving Yes Default Value n 0 In a Program Yes Default Format Command Line Yes Can be Interrogated No Used as an Operand Yes OPERAND USAGE When used as an operand HXn contains the running status of thread n with 0 Thread not running 1 Thread is running 2 Thread has stopped at trippoint RELATED COMMANDS XQ on page 297 Execute program EXAMPLES XQ A Execute program A thread zero XQ B 3 Execute program B thread three HX0 Halt thread zero HX3 Halt thread three Error Reference source not found e 10 214 Il Binary II FUNCTION Input Interrupt DESCR
342. y a gain of K 4N 2n count rad For example a 1000 lines rev encoder is modeled as Ke 638 DMC 1300 Theory of Operation e 10 151 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 K KP KD 4 orK GN 4 A KD KP KD orA ZR C KI 2 This filter includes a lead compensation and an integrator It is equivalent to a continuous PID filter with a transfer function G s G s P sD T s P K 1 A 4 KP D T K A 4 T KD I C T KI2T For example if the filter parameters of the DMC 1300 are KP 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 144s 1000 s ZOH The ZOH or zero order hold represents the effect of the sampling process where the motor command is updated once per samp ling period The effect of the ZOH can be modeled by the transfer function H s 1 1 sT 2 If the sampling period is T 0 001 for example H s become
343. y for variables array elements and application programs The EPROM stores the firmware of the DMC 1300 The EEPROM allows certain parameters and application programs 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 DMC 1300 uses a Dual Port RAM for communication This controller resides in the 16 bit VME short I O space with 2 byte wide data transfers through the 2K Dual Port RAM ID77133 The default base address of the controller is F000 with address jumpers A12 A15 available to select a specific address General I O The DMC 1300 provides interface circuitry for eight optoisolated inputs eight general outputs and seven analog inputs 12 Bit ADC Controllers with 5 or more axes provide 24 inputs and 16 outputs Chapter 1 Overview e 3 System Elements As shown in Fig 1 2 the DMC 1300 is part of a motion control system which includes amplifiers motors and encoders These elements are described below Power Supply Amplifier Driver VME Host DMC 1300 Controller Figure 1 2 Elements of Servo systems Motor A motor converts current into torque which produces motion Each axis of motion requires a motor size
344. ystem to jerk the DMC 1300 provides a vector motion smoothing function VT is used to set the S curve smoothing constant for coordinated moves Additional Commands The DMC 1300 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 nis 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 Chapter 6 Programming Motion e Error Main Document Only 72 DMC 1300 VP xy lt n CRr 0 6 lt n Both cases assign a vector speed of n count s to the corresponding motion segment Compensating for Differences in Encoder Resolution By default the DMC 1300 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
345. zero clear bit 3 OB N COUNT 1 If element 1 in the array is zero clear bit N Error Reference source not found e 10 242 DMC 1300 OE Binary CO FUNCTION Off on Error DESCRIPTION The OE command causes the controller to shut off the motor command if a position error exceeds the limit specified by the ER command occurs or an abort occurs from either the abort input or on AB command If a position error is detected on an axis and the motion was under an independent move only that axis will be shut off However if the motion is a coordinated mode of the types VM LM or CM all the participating axes will be stopped ARGUMENTS OE x y z w OEX x OE a b c d e f g h where the argument may be 0 or 1 O disables function 1 enables off on error function 2 returns the state of the off an error function for the specified axis DPRAM The status of the Off On error can be read at bit 1 of the Status 2 address in the Axis Buffer USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Can be Interrogated Yes Used as an Operand Yes OPERAND USAGE _OEx contains the status of the off on error function for the specified axis 0 off 1 on RELATED COMMANDS AB on page 162 Abort ER on page 202 Error limit SH on page 263 Servo Here POSERR Error Subroutine EXAMPLES OE 1 1 1 1 Enable OE on all axes OE 0 Disable OE on X axis other axes remain unchanged OE 1 1 Enable OE on Z axi

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