Benutzerhandbuch für Galil DMC-2X00

Inhaltsverzeichnis

• Using This Manual

  2
• Contents

  3
• Chapter 1 Overview

  11
  • Introduction

    11
  • Specifications

    12
    • DMC- 2000 Family Part Number Definition

      12
    • Electrical Specifications

      12
    • Mechanical Specifications

      12
    • Environmental Specifications

      13
    • Equipment Maintenance

      13
  • Overview of Motor Types

    13
    • Standard Servo Motor with +/- 10 Volt Command Signal

      13
    • Brushless Servo Motor with Sinusoidal Commutation

      13
    • Stepper Motor with Step and Direction Signals

      14
  • Overview of Amplifiers

    14
    • Amplifiers in Current Mode

      14
    • Amplifiers in Velocity Mode

      14
    • Stepper Motor Amplifiers

      14
  • DMC-2x00 Functional Elements

    15
    • Microcomputer Section

      15
    • Motor Interface

      15
    • Communication

      15
    • General I/O

      16
    • System Elements

      16
    • Motor

      16
    • Amplifier (Driver)

      16
    • Encoder

      17
    • Watch Dog Timer

      17
• Chapter 2 Getting Started

  19
  • The DMC-2x00 Main Board

    19
  • The DMC-2000 Daughter Board

    20
  • The DMC-2200 Daughter Board

    21
  • Elements You Need

    22
  • Installing the DMC-2x00

    24
    • Step 1. Determine Overall Motor Configuration

      24
      • Standard Servo Motor Operation:

        24
      • Sinusoidal Commutation:

        25
      • Stepper Motor Operation

        25
    • Step 2. Install Jumpers on the DMC-2x00

      25
      • Master Reset and Upgrade Jumpers

        25
      • Opto-Isolation Jumpers

        25
      • Stepper Motor Jumpers

        26
      • (Optional) Motor Off Jumpers

        26
      • Communications Jumpers for DMC-2000

        26
      • Communications Jumpers for DMC-2100/DMC-2200

        26
    • Step 3a. Configure DIP switches on the DMC-2000

      26
      • Switch 1 - Master Reset

        26
      • Switch 2 - XON / XOFF

        26
      • Switch 3 - Hardware Handshake Mode

        26
      • Switch 4, 5 and 6 - Main Serial Port Baud Rate

        27
      • Switch 10 - USB

        27
    • Step 3b. Configure DIP switches on the DMC-2100

      27
      • Switch 1 - Master Reset

        27
      • Switch 2 - XON / XOFF

        27
      • Switch 3 - Hardware Handshake Mode

        27
    • Step 3c. Configure DIP switches on the DMC-2200

      27
      • Switch 1 - Master Reset

        27
      • Switch 2 - XON / XOFF

        27
      • Switch 3 - Hardware Handshake Mode

        27
      • Switch 4,5 and 6 - Main Serial Port Baud Rate

        28
      • Switch 7-Option

        28
      • Switch 8-Ethernet

        28
    • Step 4. Install the Communications Software

      28
      • Using Windows 98SE, NT, ME, 2000 or XP:

        28
    • Step 5. Connect AC Power to the Controller

      28
    • Step 6. Establish Communications with Galil Software

      29
      • Communicating through the Main Serial Communications Port

        29
      • Communicating through the Universal Serial Bus (USB)

        30
      • Communicating through the Ethernet

        30
      • Sending Test Commands to the Terminal:

        31
    • Step 7. Determine the Axes to be Used for Sinusoidal Commutation

      31
      • Notes on Configuring Sinusoidal Commutation:

        31
      • Example: Sinusoidal Commutation Configuration using a DMC-2x70

        31
    • Step 8. Make Connections to Amplifier and Encoder.

      32
    • Step 9a. Connect Standard Servo Motors

      34
      • Inverting the Loop Polarity

        35
    • Step 9b. Connect Sinusoidal Commutation Motors

      37
      • Example: Sinusoidal Commutation Configuration using a DMC-2x70

        37
    • Step 9c. Connect Step Motors

      40
    • Step 10. Tune the Servo System

      40
  • Design Examples

    41
    • System Set-up

      41
    • Profiled Move

      42
    • Multiple Axes

      42
    • Objective: Move the four axes independently.

      42
    • Independent Moves

      42
    • The motion parameters may be specified independently as illustrated below.

      42
    • Position Interrogation

      42
    • The position error, which is the difference between the commanded position and the actual position can be interrogated with the instruction TE.

      43
    • Absolute Position

      43
    • Velocity Control

      43
    • Operation Under Torque Limit

      44
    • Interrogation

      44
    • Operation in the Buffer Mode

      44
    • Using the On-Board Editor

      44
    • Motion Programs with Loops

      45
    • Motion Programs with Trippoints

      45
    • Control Variables

      46
    • Linear Interpolation

      46
    • Circular Interpolation

      47
• Chapter 3 Connecting Hardware

  49
  • Overview

    49
  • Using Optoisolated Inputs

    49
    • Limit Switch Input

      49
    • Home Switch Input

      50
    • Abort Input

      50
    • Reset Input

      51
    • Uncommitted Digital Inputs

      51
  • Wiring the Opto-Isolated Inputs

    51
    • The Opto-Isolation Common Point

      51
    • Using an Isolated Power Supply

      52
    • Bypassing the Opto-Isolation:

      53
  • Analog Inputs

    53
  • Amplifier Interface

    53
  • TTL Inputs

    54
    • The Auxiliary Encoder Inputs

      54
  • TTL Outputs

    55
    • General Use Outputs

      55
    • Output Compare

      55
    • Error Output

      56
  • Extended I/O of the DMC-2x00 Controller

    56
    • Interfacing to Grayhill or OPTO-22 G4PB24:

      56
• Chapter 4 Communication

  57
  • Introduction

    57
  • RS232 Ports

    57
    • RS232 Main Port {P1} DATATERM

      57
    • RS232 Auxiliary Port {P2} DATASET

      57
    • *RS422 Main Port {P1}

      58
    • *RS422 Auxiliary Port {P2}

      58
    • RS-232 Configuration

      58
      • Baud Rate Selection

        58
      • Handshaking Modes

        58
      • Daisy Chaining (DMC-2000 only)

        59
  • Ethernet Configuration (DMC-2100/2200 only)

    60
    • Communication Protocols

      60
    • Addressing

      61
    • Communicating with Multiple Devices

      63
    • Multicasting

      64
    • Using Third Party Software

      64
  • Data Record

    65
    • Data Record Map

      65
    • Explanation of Status Information and Axis Switch Information

      67
      • Header Information - Byte 0, 1 of Header:

        67
      • Bytes 2, 3 of Header:

        68
      • General Status Information (1 Byte)

        68
      • Axis Switch Information (1 Byte)

        68
      • Axis Status Information (2 Byte)

        68
      • Coordinated Motion Status Information for S or T plane (2 Byte)

        69
    • Notes Regarding Velocity and Torque Information

      69
    • QZ Command

      69
  • Controller Response to Commands

    69
  • Unsolicited Messages Generated by Controller

    70
  • Galil Software Tools and Libraries

    70
• Chapter 5 Command Basics

  71
  • Introduction

    71
  • Command Syntax - ASCII

    71
    • Coordinated Motion with more than 1 axis

      72
  • Command Syntax - Binary

    73
    • Binary Command Format

      73
      • Header Format:

        73
      • Datafields Format

        74
      • Example

        74
    • Binary Command Table

      74
  • Controller Response to DATA

    75
  • Interrogating the Controller

    76
    • Interrogation Commands

      76
    • Summary of Interrogation Commands

      76
    • Interrogating Current Commanded Values.

      76
    • Operands

      76
    • Command Summary

      77
• Chapter 6 Programming Motion

  79
  • Overview

    79
  • Independent Axis Positioning

    80
    • Command Summary - Independent Axis

      81
    • Operand Summary - Independent Axis

      81
    • Examples

      82
      • Absolute Position Movement

        82
      • Multiple Move Sequence

        82
  • Position Tracking

    83
    • Example Motion 1:

      84
    • Example

      85
      • Motion 2:

        85
    • Example

      86
      • Motion 4

        86
    • Trip Points

      88
    • Command Summary – Position Tracking Mode

      89
  • Independent Jogging

    89
    • Command Summary - Jogging

      89
    • Operand Summary - Independent Axis

      89
    • Examples

      90
      • Jog in X only

        90
      • Joystick Jogging

        90
  • Linear Interpolation Mode

    91
    • Specifying the Coordinate Plane

      91
    • Specifying Linear Segments

      91
    • Additional Commands

      92
      • Specifying Vector Speed for Each Segment

        92
      • Changing Feed Rate:

        92
    • Command Summary - Linear Interpolation

      93
    • Operand Summary - Linear Interpolation

      93
    • Example

      93
      • Linear Interpolation Motion

        93
      • Linear Move

        94
      • Multiple Moves

        96
  • Vector Mode: Linear and Circular Interpolation Motion

    96
    • Specifying the Coordinate Plane

      96
    • Specifying Vector Segments

      97
    • Additional commands

      97
      • Specifying Vector Speed for Each Segment:

        97
      • Changing Feed rate:

        98
      • Compensating for Differences in Encoder Resolution:

        98
      • Trippoints:

        98
      • Tangent Motion:

        98
    • Command Summary - Coordinated Motion Sequence

      98
    • Operand Summary - Coordinated Motion Sequence

      99
    • Example

      99
      • Tangent Axis

        99
      • Coordinated Motion

        100
  • Electronic Gearing

    101
  • Ramped Gearing

    101
    • Example

      103
      • Electronic Gearing Over a Specified Interval

        103
    • Command Summary - Electronic Gearing

      103
      • Example

        104
      • Simple Master/Slave

        104
      • Electronic Gearing

        104
      • Gantry Mode

        104
      • Synchronize two conveyor belts with trapezoidal velocity correction.

        105
  • Electronic Cam

    105
    • Command Summary - Electronic CAM

      108
    • Operand Summary - Electronic CAM

      109
    • Example

      109
      • Electronic CAM

        109
  • Contour Mode

    110
    • Specifying Contour Segments

      110
    • Additional Commands

      111
    • Command Summary - Contour Mode

      112
    • General Velocity Profiles

      112
    • Example

      112
      • Generating an Array

        112
      • Contour Mode

        113
      • Teach (Record and Play-Back)

        114
      • Record and Playback Example

        114
  • Virtual Axis

    115
    • Ecam master example

      115
    • Sinusoidal Motion Example

      115
  • Stepper Motor Operation

    116
    • Specifying Stepper Motor Operation

      116
    • Stepper Motor Smoothing

      116
    • Monitoring Generated Pulses vs. Commanded Pulses

      116
    • Motion Complete Trip point

      117
    • Using an Encoder with Stepper Motors

      117
    • Command Summary - Stepper Motor Operation

      117
    • Operand Summary - Stepper Motor Operation

      118
  • Stepper Position Maintenance Mode (SPM)

    118
    • Error Limit

      119
    • Correction

      119
      • Example: SPM Mode Setup

        119
      • Example: Error Correction

        120
      • Example: Friction Correction

        121
  • Dual Loop (Auxiliary Encoder)

    122
    • Additional Commands for the Auxiliary Encoder

      123
    • Backlash Compensation

      123
    • Example

      123
      • Continuous Dual Loop

        123
      • Sampled Dual Loop

        124
  • Motion Smoothing

    124
    • Using the IT and VT Commands:

      125
    • Example

      125
    • Using the KS Command (Step Motor Smoothing):

      126
  • Homing

    127
    • Example

      127
    • Command Summary - Homing Operation

      129
    • Operand Summary - Homing Operation

      129
  • High Speed Position Capture (The Latch Function)

    129
    • Example

      130
• Chapter 7 Application Programming

  131
  • Overview

    131
  • Using the DOS Editor to Enter Programs (DMC-2000 only)

    131
    • Edit Mode Commands

      132
    • Example

      132
  • Program Format

    133
    • Using Labels in Programs

      133
      • Example

        133
    • Special Labels

      133
    • Commenting Programs

      134
      • NO Command

        134
      • REM Command

        135
  • Executing Programs - Multitasking

    135
  • Debugging Programs

    136
    • Trace Commands ( DMC-2100/2200 only)

      136
    • Error Code Command

      137
    • Stop Code Command

      137
    • RAM Memory Interrogation Commands

      137
    • Operands

      137
    • Example

      137
  • Program Flow Commands

    138
    • Event Triggers & Trippoints

      138
      • DMC-2x00 Event Triggers

        139
      • Example- Multiple Move Sequence

        140
      • Example- Set Output after Distance

        140
      • Example- Repetitive Position Trigger

        140
      • Example - Start Motion on Input

        140
      • Example - Set Output when At Speed

        141
      • Example - Change Speed along Vector Path

        141
      • Example - Multiple Move with Wait

        142
      • Example- Define Output Waveform Using AT

        142
    • Conditional Jumps

      142
      • Command Format - JP and JS

        143
      • Logical operators:

        143
      • Conditional Statements

        143
      • Multiple Conditional Statements

        143
      • Examples

        144
    • If, Else, and Endif

      144
      • Using the IF and ENDIF Commands

        145
      • Using the ELSE Command

        145
      • Nesting IF Conditional Statements

        145
      • Command Format - IF, ELSE and ENDIF

        145
    • Subroutines

      146
    • Stack Manipulation

      146
    • Auto-Start Routine

      146
    • Automatic Subroutines for Monitoring Conditions

      147
      • Example - Limit Switch:

        147
      • Example - Position Error

        148
      • Example - Input Interrupt

        148
      • Example - Motion Complete Timeout

        148
      • Example - Command Error

        149
      • Example - Command Error w/Multitasking

        150
      • Example - Communication Interrupt

        150
  • Mathematical and Functional Expressions

    152
    • Mathematical Operators

      152
    • Bit-Wise Operators

      152
    • Functions

      154
  • Variables

    154
    • Programmable Variables

      155
      • Assigning Values to Variables

        155
      • Assigning Variable Values to Controller Parameters

        155
      • Displaying the value of variables at the terminal

        156
      • Example - Using Variables for Joystick

        156
  • Operands

    156
    • Special Operands (Keywords)

      156
  • Arrays

    157
    • Defining Arrays

      157
    • Assignment of Array Entries

      157
      • Using a Variable to Address Array Elements

        158
    • Uploading and Downloading Arrays to On Board Memory

      158
    • Automatic Data Capture into Arrays

      158
      • Command Summary - Automatic Data Capture

        159
      • Data Types for Recording:

        159
      • Operand Summary - Automatic Data Capture

        159
      • Example - Recording into an Array

        159
    • Deallocating Array Space

      160
  • Input of Data (Numeric and String)

    160
    • Input of Data

      160
      • Example- Inputting Numeric Data

        160
      • Example- Cut-to-Length

        160
    • Operator Data Entry Mode

      161
      • Example

        162
    • Using Communication Interrupt

      162
      • Example

        162
      • Inputting String Variables

        163
  • Output of Data (Numeric and String)

    163
    • Sending Messages

      164
      • Specifying the Port for Messages:

        164
      • Formatting Messages

        164
      • Using the MG Command to Configure Terminals

        165
      • Summary of Message Functions

        165
    • Displaying Variables and Arrays

      165
      • Example - Printing a Variable and an Array element

        165
    • Interrogation Commands

      165
      • Using the PF Command to Format Response from Interrogation Commands

        166
      • Example

        166
      • Removing Leading Zeros from Response to Interrogation Commands

        166
      • Local Formatting of Response of Interrogation Commands

        167
    • Formatting Variables and Array Elements

      167
      • Local Formatting of Variables

        167
    • Converting to User Units

      168
  • Hardware I/O

    168
    • Digital Outputs

      168
      • Example- Set Bit and Clear Bit

        169
      • Example- Output Bit

        169
      • Example- Output Port

        169
      • Example - Turn on output after move

        169
    • Digital Inputs

      169
      • Example - Using Inputs to control program flow

        170
      • Example - Start Motion on Switch

        170
    • The Auxiliary Encoder Inputs

      170
    • Input Interrupt Function

      170
      • Example - Input Interrupt

        171
    • Analog Inputs

      171
      • Example - Position Follower (Point-to-Point)

        171
      • Example - Position Follower (Continuous Move)

        172
  • Extended I/O of the DMC-2x00 Controller

    172
    • Configuring the I/O of the DMC-2x00

      172
    • Saving the State of the Outputs in Non-Volatile Memory

      173
    • Accessing Extended I/O

      173
    • Interfacing to Grayhill or OPTO-22 G4PB24

      174
  • Example Applications

    174
    • Wire Cutter

      174
    • A-B Table Controller

      175
    • Speed Control by Joystick

      177
    • Position Control by Joystick

      178
    • Backlash Compensation by Sampled Dual-Loop

      178
• Chapter 8 Hardware & Software Protection

  181
  • Introduction

    181
  • Hardware Protection

    181
    • Output Protection Lines

      181
    • Input Protection Lines

      182
  • Software Protection

    182
    • Programmable Position Limits

      183
      • Example

        183
    • Off-On-Error

      183
      • Example

        183
    • Automatic Error Routine

      183
      • Example

        183
    • Limit Switch Routine

      184
      • Example

        184
• Chapter 9 Troubleshooting

  185
  • Overview

    185
  • Installation

    185
  • Communication

    186
  • Stability

    186
  • Operation

    186
• Chapter 10 Theory of Operation

  187
  • Overview

    187
  • Operation of Closed-Loop Systems

    189
  • System Modeling

    190
    • Motor-Amplifier

      191
      • Voltage Drive

        191
      • Current Drive

        191
      • Velocity Loop

        192
    • Encoder

      193
    • DAC

      194
    • Digital Filter

      194
    • ZOH

      195
  • System Analysis

    196
  • System Design and Compensation

    198
    • The Analytical Method

      198
      • Equivalent Filter Form

        200
• Appendices

  201
  • Electrical Specifications

    201
    • Servo Control

      201
    • Stepper Control

      201
    • Input / Output

      201
    • Power

      202
  • Performance Specifications

    202
    • Minimum Servo Loop Update Time:

      202
  • Fast Update Rate Mode

    203
  • Connectors for DMC-2x00 Main Board

    204
    • DMC-2x00 Axes A-D High Density Connector

      204
    • DMC-2x00 Axes E-H High Density Connector

      205
    • DMC-2x00 Auxiliary Encoder 36 Pin High Density Connector

      206
    • DMC-2x00 Extended I/O 80 Pin High Density Connector

      206
    • RS-232-Main Port

      208
    • RS-232-Auxiliary Port

      208
    • USB - In USB - Out

      208
    • Ethernet

      209
  • Cable Connections for DMC-2x00

    209
    • Standard RS-232 Specifications

      209
      • 25 pin Serial Connector (Male, D-type)

        209
      • 9 Pin Serial Connector (Male, D-type)

        210
    • DMC-2x00 Serial Cable Specifications

      210
      • Cable to Connect Computer 9 pin to Main Serial Port Cable (9 pin)

        211
      • Cable to Connect Computer 25 pin to Auxiliary Serial Port Cable (9 pin)

        211
      • Cable to Connect Computer 9 pin to Auxiliary Serial Port Cable (9 pin)

        211
  • Pin-Out Description for DMC-2x00

    212
    • Outputs

      212
      • Inputs

        212
  • Jumper Description for DMC-2x00

    214
  • Dimensions for DMC-2x00

    215
  • Accessories and Options

    216
  • ICM-2900 Interconnect Module

    217
    • Mechanical Specifications

      217
    • Environmental Specifications

      217
    • Equipment Maintenance

      217
    • Description

      217
    • ICM-2900 Drawing:

      221
  • ICM-2908 Interconnect Module

    222
    • ICM-2908 Drawing:

      223
    • PCB Layout of the ICM-2900:

      224
  • ICM-1900 Interconnect Module

    225
    • Features

      225
    • ICM-1900 Drawing:

      228
  • AMP-19x0 Mating Power Amplifiers

    228
    • Features

      228
    • Specifications

      229
  • Opto-Isolated Outputs for ICM-2900 / ICM-1900 / AMP-19x0

    229
    • Standard Opto-Isolation and High Current Opto-isolation:

      229
  • Configuring the Amplifier Enable for ICM-2900 / ICM-1900

    230
    • -LAEN Option:

      230
    • -Changing the Amplifier Enable Voltage Level:

      230
  • IOM-1964 Opto-Isolation Module for Extended I/O

    231
    • Description:

      231
    • Overview

      231
    • Configuring Hardware Banks

      232
    • Digital Inputs

      233
    • High Power Digital Outputs

      234
    • Standard Digital Outputs

      235
    • Electrical Specifications

      236
      • Digital Inputs

        236
      • High Power Digital Outputs

        237
      • Standard Digital Outputs

        237
    • Relevant DMC Commands

      237
    • Screw Terminal Listing

      237
  • CB-50-100 Adapter Board

    240
    • Connectors:

      240
    • CB-50-100 Drawing:

      243
  • CB-50-80 Adapter Board

    244
    • Connectors:

      245
    • CB-50-80 Drawing:

      247
  • TERM 1500 Operator Terminal

    249
    • Features

      250
    • Description

      250
    • Specifications Hand Held

      250
    • Specifications Panel Mount

      251
    • Keypad Maps Hand Held

      251
      • Single Key Output

        251
      • Shift Key Output

        251
      • CTRL Key Output

        251
      • Example:

        251
    • Keypad Map Panel Mount – 6 columns x 5 rows

      252
      • Single Key Output

        252
      • Shift Key Output

        252
      • CTRL Key Output

        252
      • Escape Commands

        252
      • Cursor Movement Commands

        252
      • Erasing Display

        253
      • Sounds

        253
      • Cursor Style

        253
      • Key Clicks (audible sounds from terminal)

        253
      • Identify (sends “TT!” then terminal firmware version)

        253
      • Cursor Position

        253
    • Configuration

      253
      • Default Configuration:

        254
    • Function Keys

      254
      • Default Function Keys

        254
    • Input/Output of Data – DMC-2x00 Commands

      254
      • Example:

        254
      • Example:

        254
      • 6 Pin Modular Connector

        255
      • 9 Pin D Adaptor Male (For P2)

        255
    • Ordering Information

      255
  • Coordinated Motion - Mathematical Analysis

    256
  • Example- Communicating with OPTO-22 SNAP-B3000-ENET

    259
  • DMC-2x00/DMC-1500 Comparison

    262
  • List of Other Publications

    263
  • Training Seminars

    263
  • Contacting Us

    264
  • WARRANTY

    264
• Index

  265