Galil Dmc 1700 Users Manual 1800_Cur

2015-02-09

• USER MANUAL
• Contents
• Chapter 1 Overview
  • Introduction
  • Overview of Motor Types
    • Standard Servo Motor with +/- 10 Volt Command Signal
    • Brushless Servo Motor with Sinusoidal Commutation
    • Stepper Motor with Step and Direction Signals
  • DMC-1700/1800 Functional Elements
    • Microcomputer Section
    • Motor Interface
    • Communication
    • General I/O
    • System Elements
    • Motor
    • Amplifier (Driver)
    • Encoder
    • Watch Dog Timer
• Chapter 2 Getting Started
  • The DMC-17x0 and DMC-18x0 Motion Controllers
  • Elements You Need
  • Installing the DMC-1700/1800
    • Step 1. Determine Overall Motor Configuration
      • Standard Servo Motor Operation:
      • Sinusoidal Commutation:
      • Stepper Motor Operation:
    • Step 2. Install Jumpers on the DMC-1700/1800
      • Master Reset and Upgrade Jumpers
      • Opto Isolation Jumpers
      • (Optional) DMA Jumpers
      • (Optional) IRQ (Interrupt) Jumpers
      • (Optional) Motor Off Jumpers
      • Configuring the Address Jumpers on the DMC-1700
    • Step 3. Install the Communications Software
      • Using DOS:
      • Using Windows 3.x (16 bit versions):
      • Using Windows 95, 98(first edition):
    • Step 4. Install the DMC-1700/1800 in the PC
      • DMC-1700 Install:
      • DMC-1800 Install:
    • Step 5. Establishing Communication between the Galil controller and the host PC
      • Using Galil Software for DOS (DMC-1700 only)
      • Using Galil Software for Windows 3.x, 95 and 98 First Edition (DMC-1700 only)
      • Sending Test Commands to the Terminal:
    • Step 6. Determine the Axes to be Used for Sinusoidal Commutation
      • Notes on Configuring Sinusoidal Commutation:
      • Example: Sinusoidal Commutation Configuration using a DMC-1770
        • BAXZ
    • Step 7. Make Connections to Amplifier and Encoder.
    • Step 8a. Connect Standard Servo Motors
      • Check the Polarity of the Feedback Loop
      • Inverting the Loop Polarity
    • Step 8b. Connect Sinusoidal Commutation Motors
      • Example: Sinusoidal Commutation Configuration using a DMC-1770
      • If Hall Sensors are Available:
      • If Hall Sensors are Not Available:
      • If Hall Sensors are Not Available:
      • If Hall Sensors are Available:
    • Step 8C. Connect Step Motors
    • Step 9. Tune the Servo System
      • TE X (CR)
  • Design Examples
    • Example 1 - System Set-up
    • Example 2 - Profiled Move
    • Example 3 - Multiple Axes
    • Example 4 - Independent Moves
    • Example 5 - Position Interrogation
    • Example 6 - Absolute Position
    • Example 7 - Velocity Control
    • Example 8 - Operation Under Torque Limit
    • Example 9 - Interrogation
    • Example 10 - Operation in the Buffer Mode
    • Example 11 - Using the On-Board Editor
      • The instruction
    • Example 12 - Motion Programs with Loops
    • Example 13 - Motion Programs with Trippoints
    • Example 14 - Control Variables
    • Example 15 - Linear Interpolation
    • Example 16 - Circular Interpolation
• Chapter 3 Connecting Hardware
  • Overview
  • Using Optoisolated Inputs
    • Limit Switch Input
    • Home Switch Input
    • Abort Input
    • Uncommitted Digital Inputs
  • Wiring the Optoisolated Inputs
    • Using an Isolated Power Supply
    • Bypassing the Opto-Isolation:
  • Analog Inputs
  • Amplifier Interface
  • TTL Inputs
  • TTL Outputs
• Chapter 4 - Software Tools and Communications
  • Introduction
  • Galil SmartTERM
  • Communication Settings for ISA and PCI
  • Windows Servo Design Kit (WSDK)
  • Creating Custom Software Interfaces
  • DOS, Linux, and QNX tools
  • Controller Event Interrupts and User Interrupts
  • Hardware Level Communications for ISA and PCI
    • Communications with the DMC-1700
    • Communication with DMC-1700
      • Read Procedure-To receive data from the DMC-1700, read the control register at address N+1 and check bit 5. If bit 5 is zero, the DMC-1700 has data to be read in the READ register at address N. Bit 5 must be checked for every character read.
      • Write Procedure-To send data to the DMC-1700, read the control register at address N+1 and check bit 6. If bit 6 is zero, the DMC-1700 FIFO buffer is not full and 1 character may be written to the register at address N. If bit 6 is one, the buffer is full and no additional data should be written. Bit 6 of N+1 must be checked before every character is written to address N.
      • Clearing FIFO Buffer-Clearing the FIFO is useful for emergency resets or Abort. For example, to reset the controller, clear the FIFO, then send the RS command to the controller. All data on the FIFO, including data from the DMC-1700, will then be cleared.
      • Polling FIFO Mode Read Procedure:
    • Communication with DMC-1800
  • DMA / Secondary FIFO / DPRAM Memory Map
    • Explanation of Status Information and Axis Switch Information
• Chapter 5 Command Basics
  • Introduction
  • Command Syntax - ASCII
    • Coordinated Motion with more than 1 axis
  • Command Syntax - Binary
    • Binary Command Format
      • Header Format:
      • Datafields Format
        • A7 02 00 05 03 E8 FE 0C
      • Example
    • Binary command table
  • Controller Response to DATA
  • Interrogating the Controller
    • Interrogation Commands
    • Summary of Interrogation Commands
    • Interrogating Current Commanded Values.
    • Operands
      • V=_TPX
    • Command Summary
• Chapter 6 Programming Motion
  • Overview
  • Independent Axis Positioning
    • Command Summary - Independent Axis
    • Operand Summary - Independent Axis
      • Example - Absolute Position Movement
      • Example - Multiple Move Sequence
  • Independent Jogging
    • Command Summary - Jogging
    • Operand Summary - Independent Axis
      • Example - Jog in X only
      • Example - Joystick Jogging
  • Position Tracking
    • Example - Motion 2:
    • Example Motion 4
    • Trip Points
    • Command Summary – Position Tracking Mode
  • Linear Interpolation Mode
    • Specifying Linear Segments
      • Additional Commands
      • An Example of Linear Interpolation Motion:
      • Specifying Vector Speed for Each Segment
      • Changing Feedrate:
    • Command Summary - Linear Interpolation
    • Operand Summary - Linear Interpolation
    • Example - Linear Move
    • Example - Multiple Moves
  • Vector Mode: Linear and Circular Interpolation Motion
    • Specifying the Coordinate Plane
    • Specifying Vector Segments
    • Additional commands
      • Specifying Vector Speed for Each Segment:
      • Changing Feedrate:
      • Compensating for Differences in Encoder Resolution:
      • Trippoints:
      • Tangent Motion:
      • Example:
    • Command Summary - Coordinated Motion Sequence
    • Operand Summary - Coordinated Motion Sequence
      • Example:
  • Electronic Gearing
  • Ramped Gearing
    • Example – Electronic Gearing Over a Specified Interval
    • Command Summary - Electronic Gearing
    • Example - Simple Master Slave
    • Example - Electronic Gearing
    • Example - Gantry Mode
    • Example - Synchronize two conveyor belts with trapezoidal velocity correction.
  • Electronic Cam
    • EM x,y,z,w
      • EM 6000,1500
        • EP m,n
        • EP 2000,0
          • ET[n]=x,y,z,w
        • ET[0]=,0
          • EB n
          • EG x,y,z,w
          • EQ x,y,z,w
    • Command Summary - Electronic CAM
    • Operand Summary - Electronic CAM
    • Example - Electronic CAM
  • Contour Mode
    • Specifying Contour Segments
    • Additional Commands
    • Command Summary - Contour Mode
      • General Velocity Profiles
      • Generating an Array - An Example
      • Contour Mode Example
      • Teach (Record and Play-Back)
      • Record and Playback Example:
      • Virtual Axis
        • ECAM Master Example
          • Sinusoidal Motion Example
  • Stepper Motor Operation
    • Specifying Stepper Motor Operation
      • Stepper Motor Smoothing
      • Monitoring Generated Pulses vs Commanded Pulses
      • Motion Complete Trippoint
    • Using an Encoder with Stepper Motors
    • Command Summary - Stepper Motor Operation
    • Operand Summary - Stepper Motor Operation
  • Stepper Position Maintenance Mode (SPM)
    • Error Limit
    • Correction
      • Example: SPM Mode Setup
      • Example: Error Correction
      • Example: Friction Correction
  • Dual Loop (Auxiliary Encoder)
    • Using the CE Command
      • CE 6
      • Additional Commands for the Auxiliary Encoder
        • DE 0,500,-30,300
        • DE ?,,?
        • V1= _DEX
    • Backlash Compensation
      • Continuous Dual Loop - Example
      • Sampled Dual Loop - Example
  • Motion Smoothing
    • Using the IT and VT Commands:
      • Example - Smoothing
    • Using the KS Command (Step Motor Smoothing):
  • Homing
    • Stage 1:
    • Stage 2:
    • Stage 3:
      • Example: Homing
      • Example: Find Edge
    • Command Summary - Homing Operation
    • Operand Summary - Homing Operation
  • High Speed Position Capture (The Latch Function)
  • Fast Update Rate Mode
• Chapter 7 Application Programming
  • Overview
  • Using the DMC-1700/1800 Editor to Enter Programs
    • Edit Mode Commands
  • Program Format
    • Using Labels in Programs
      • Valid labels
    • Special Labels
    • Commenting Programs
      • Using the command, NO or Apostrophe (‘)
  • Executing Programs - Multitasking
    • XQ #A, n
    • HX n
  • Debugging Programs
    • Trace Commands
      • Error Code Command
      • Stop Code Command
      • RAM Memory Interrogation Commands
      • Operands
      • Debugging Example:
  • Program Flow Commands
    • Event Triggers & Trippoints
      • DMC-1700 and DMC-1800 Event Triggers
    • Event Trigger Examples:
      • Event Trigger - Multiple Move Sequence
      • Event Trigger - Set Output after Distance
      • Event Trigger - Repetitive Position Trigger
      • Event Trigger - Start Motion on Input
      • Event Trigger - Set output when At speed
      • Event Trigger - Change Speed along Vector Path
      • Event Trigger - Multiple Move with Wait
      • Define Output Waveform Using AT
    • Conditional Jumps
      • Command Format - JP and JS
      • Logical operators:
      • Conditional Statements
      • Multiple Conditional Statements
        • JP #TEST, (V1<V2) & (V3<V4)
      • Using the JP Command:
      • Example Using JP command:
    • Using If, Else, and Endif Commands
      • Using the IF and ENDIF Commands
      • Using the ELSE Command
      • Nesting IF Conditional Statements
      • Command Format - IF, ELSE and ENDIF
      • Example using IF, ELSE and ENDIF:
    • Subroutines
      • Example:
    • Stack Manipulation
    • Auto-Start Routine
    • Automatic Subroutines for Monitoring Conditions
      • Example - Limit Switch:
      • Example - Position Error
      • Example - Input Interrupt
      • Example - Motion Complete Timeout
      • Example - Command Error
      • Example - Command Error w/Multitasking
  • Mathematical and Functional Expressions
    • Mathematical Operators
    • Bit-Wise Operators
    • Functions
  • Variables
    • Programmable Variables
      • POSX
      • Assigning Values to Variables:
      • Assigning Variable Values to Controller Parameters
      • Displaying the value of variables at the terminal
      • Example - Using Variables for Joystick
  • Operands
    • Examples of Internal Variables:
    • Special Operands (Keywords)
      • Examples of Keywords:
  • Arrays
    • Defining Arrays
    • Assignment of Array Entries
      • Using a Variable to Address Array Elements
      • Uploading and Downloading Arrays to On Board Memory
    • Automatic Data Capture into Arrays
      • Command Summary - Automatic Data Capture
      • Data Types for Recording:
      • Operand Summary - Automatic Data Capture
      • Example - Recording into An Array
    • Deallocating Array Space
  • Input of Data (Numeric and String)
    • Input of Data
      • An Example for Inputting Numeric Data
      • Cut-to-Length Example
      • Inputting String Variables
  • Output of Data (Numeric and String)
    • Sending Messages
      • Formatting Messages
        • MG STR {S3}
          • The Final Value is 00004.10
          • The Final Value is 99999.99
      • Using the MG Command to Configure Terminals
        • MG {^07} {^255}
      • Summary of Message Functions:
    • Displaying Variables and Arrays
    • Interrogation Commands
      • Using the PF Command to Format Response from Interrogation Commands
        • PF m.n
      • Removing Leading Zeros from Response to Interrogation Commands
        • Example - Using the LZ command
      • Local Formatting of Response of Interrogation Commands
    • Formatting Variables and Array Elements
      • VF m.n
      • Local Formatting of Variables
    • Converting to User Units
  • Hardware I/O
    • Digital Outputs
      • Example - Turn on output after move
    • Digital Inputs
      • Example - Start Motion on Switch
    • Input Interrupt Function
      • Examples - Input Interrupt
    • Analog Inputs
      • Example - Position Follower (Point-to-Point)
      • Example - Position Follower (Continuous Move)
  • Example Applications
    • Wire Cutter
      • 4000/2 = 637 count/inch
    • X-Y Table Controller
      • 1 inch = 40,000 counts
        • CR 80000,270,-360
    • Speed Control by Joystick
      • Speed = 20000 x VIN
    • Position Control by Joystick
    • Backlash Compensation by Sampled Dual-Loop
• Chapter 8 Hardware & Software Protection
  • Introduction
  • Hardware Protection
    • Output Protection Lines
    • Input Protection Lines
  • Software Protection
    • Programmable Position Limits
    • Off-On-Error
    • Automatic Error Routine
    • Limit Switch Routine
• Chapter 9 Troubleshooting
  • Overview
  • Installation
  • Communication
  • Stability
  • Operation
• Chapter 10 Theory of Operation
  • Overview
  • Operation of Closed-Loop Systems
  • System Modeling
    • Motor-Amplifier
      • Voltage Drive
        • R = 2 
        • L = 0.004H
          • Tm = 0.04 sec
          • Te = 0.002 sec
      • Current Drive
        • P/V = Ka Kt / Js2
      • Velocity Loop
        • T1 = J/Ka Kt Kg
    • Encoder
    • DAC
    • Digital Filter
    • ZOH
  • System Analysis
    • Motor
    • Amp
      • DAC
        • Encoder
        • ZOH
          • Digital Filter
          • D(z) = 1030 (z-0.95)/Z
        • P = 50
          • D = 0.98
          •  = 76 - 180 - 6 = -110
        • PM = 180 +  = 70
  • System Design and Compensation
    • The Analytical Method
      • Motor
      • Amp
        • DAC
          • Kd = 10/32768 = .0003
        • ZOH
          • G(s) = P + sD
        • D = 0.274
          • G = 82.4 + 0.2744s
        • P = 4 ( KP
          • 4 ( KD = D/T
        • KP = 20.6
          • KD = 68.6
        • KP 20.6
          • KD 68.6
      • Equivalent Filter Form
        • DMC-1700/1800
• Appendices
  • Electrical Specifications
    • Servo Control
    • Stepper Control
    • Input/Output
    • Power
  • Performance Specifications
  • Connectors for DMC-1700/1800 Main Board
  • Pin-Out Description for DMC-1700/1800
  • Setting Addresses for the DMC-1700
    • Standard Addresses
    • Plug and Play Addresses
      • Communications Jumpers:
  • Accessories and Options
  • PC/AT Interrupts and Their Vectors
  • ICM-1900 Interconnect Module
    • Features
  • ICM-1900 Drawing
  • AMP-19X0 Mating Power Amplifiers
    • Features
    • Specifications
  • ICM-2900 Interconnect Module
  • Opto-Isolated Outputs ICM-1900 / ICM-2900 (-Opto option)
    • Standard Opto-isolation and High Current Opto-isolation:
      • Figure A.2 – Opto Output Circuit
  • 64 Extended I/O of the DMC-17x8/1700/1800 Controller
    • Configuring the I/O of the DMC-17x8 (and DMC-1750 to DMC-1780 & DMC-1810 to 1880, with DB-14064)
      • CO n
      • Saving the State of the Outputs in Non-Volatile Memory
      • Accessing extended I/O
        • OP 7,,,,7
        • MG @IN[17]
    • Configuring the 64 Extended I/O of the DMC-1750 to 1780 and 1850 to 1880 using the DB-14064
    • Connector Description:
  • IOM-1964 Opto-Isolation Module for Extended I/O Controllers
    • Description:
    • Overview
      • Figure A.4 – CB-50-80 and CB-50-100 Bracket Layout
    • Configuring Hardware Banks
    • Digital Inputs
    • High Power Digital Outputs
    • Standard Digital Outputs
    • Electrical Specifications
      • Digital Inputs
      • High Power Digital Outputs
      • Standard Digital Outputs
    • Relevant DMC Commands
    • Screw Terminal Listing
  • Coordinated Motion - Mathematical Analysis
    • The total travel distance is given by
    • The slew time, Ts, is given by
    • The total motion time, Tt, is given by
    • Vy = Vs
    • Vx = 0
  • DMC-1700/DMC-1000 Comparison
  • List of Other Publications
  • Training Seminars
  • Contacting Us
    • Galil Motion Control
  • WARRANTY
    • COPYRIGHT (3-97)
• Index