Manual De UsuarioTabla de contenidosUsing This Manual2Chapter 1 Overview9Introduction9Overview of Motor Types9Standard Servo Motor with +/- 10 Volt Command Signal10Brushless Servo Motor with Sinusoidal Commutation10Stepper Motor with Step and Direction Signals10DMC-13X8 Functional Elements10Microcomputer Section11Motor Interface11Communication11General I/O11System Elements12Motor12Amplifier (Driver)12Encoder13Watch Dog Timer13Chapter 2 Getting Started15The DMC-13X8 Motion Controller15Elements You Need16Installing the DMC-13X817Step 1. Determine Overall Motor Configuration17Standard Servo Motor Operation:17Sinusoidal Commutation:17Stepper Motor Operation:18Step 2. Install Jumpers on the DMC-13X818Address Jumpers18Master Reset and Upgrade Jumpers18Opto Isolation Jumpers18Hardware IRQ (Interrupt) Jumpers18(Optional) Motor Off Jumpers19Step 3. Install the DMC-13X8 in the VME Host19Step 4. Establish Communication with the Galil controller19Step 5. Determine the Axes to be Used for Sinusoidal Commutation19Notes on Configuring Sinusoidal Commutation:19Example: Sinusoidal Commutation Configuration using a DMC-134820Step 6. Make Connections to Amplifier and Encoder.20Step 7a. Connect Standard Servo Motors22Check the Polarity of the Feedback Loop22Inverting the Loop Polarity23Step 7b. Connect Sinusoidal Commutation Motors26Example: Sinusoidal Commutation Configuration using a DMC-134826If Hall Sensors are Available:27If Hall Sensors are Not Available:27If Hall Sensors are Not Available:27If Hall Sensors are Available:28Step 7C. Connect Step Motors29Step 8. Tune the Servo System29Design Examples30Example 1 - System Set-up30Example 2 - Profiled Move31Example 3 - Multiple Axes31Example 4 - Independent Moves31Example 5 - Position Interrogation31Example 6 - Absolute Position32Example 7 - Velocity Control32Example 8 - Operation Under Torque Limit33Example 9 - Interrogation33Example 10 - Operation in the Buffer Mode33Example 11 - Using the On-Board Editor33Example 12 - Motion Programs with Loops34Example 13 - Motion Programs with Trippoints34Example 14 - Control Variables35Example 15 - Linear Interpolation35Example 16 - Circular Interpolation35Chapter 3 Connecting Hardware37Overview37Using Optoisolated Inputs37Limit Switch Input37Home Switch Input38Abort Input38Uncommitted Digital Inputs39Wiring the Optoisolated Inputs39Using an Isolated Power Supply40Bypassing the Opto-Isolation:41Analog Inputs41Amplifier Interface41TTL Inputs42TTL Outputs43Chapter 4 Communication45Introduction45Communication with Controller45Communication Registers45Simplified Communication Procedure46Read Procedure46Write Procedure46Advanced Communication Techniques46Changing Almost Full Flags46Clearing FIFO Buffer46Communication with Controller - Secondary FIFO channel47Polling FIFO47Polling Mode Read Procedure47Overview of Secondary FIFO Procedure:48DMA / Secondary FIFO Memory Map48Explanation of Status Information and Axis Switch Information50General Status Information (1 Byte)50Axis Switch Information (1 Byte)50Axis Status Information (2 Byte)50Coordinated Motion Status Information for S or T plane (2 Byte)50Notes Regarding Velocity and Torque Information51Interrupts51Setting up Interrupts51Configuring Interrupts51Servicing Interrupts53Example - Interrupts53Controller Response to DATA54Chapter 5 Command Basics55Introduction55Command Syntax - ASCII55Coordinated Motion with more than 1 axis56Command Syntax – Binary57Binary Command Format57Header Format:57Datafields Format57Example58Binary command table58Controller Response to DATA59Interrogating the Controller59Interrogation Commands59Summary of Interrogation Commands60Interrogating Current Commanded Values.60Operands60Command Summary61Chapter 6 Programming Motion63Overview63Independent Axis Positioning64Command Summary - Independent Axis65Operand Summary - Independent Axis65Example - Absolute Position Movement65Example - Multiple Move Sequence65Independent Jogging67Command Summary - Jogging67Operand Summary - Independent Axis67Example - Jog in X only67Example - Joystick Jogging68Linear Interpolation Mode68Specifying Linear Segments68Additional Commands69An Example of Linear Interpolation Motion:69Specifying Vector Speed for Each Segment69Changing Feedrate:70Command Summary - Linear Interpolation70Operand Summary - Linear Interpolation71Example - Linear Move71Example - Multiple Moves72Vector Mode: Linear and Circular Interpolation Motion73Specifying the Coordinate Plane73Specifying Vector Segments73Additional commands74Specifying Vector Speed for Each Segment:74Changing Feedrate:75Compensating for Differences in Encoder Resolution:75Trippoints:75Tangent Motion:75Example:75Command Summary - Coordinated Motion Sequence76Operand Summary - Coordinated Motion Sequence76Example:77Electronic Gearing77Command Summary - Electronic Gearing78Example - Simple Master Slave78Example - Electronic Gearing78Example - Gantry Mode79Example - Synchronize two conveyor belts with trapezoidal velocity correction.79Electronic Cam79Command Summary - Electronic CAM83Operand Summary - Electronic CAM84Example - Electronic CAM84Contour Mode85Specifying Contour Segments85Additional Commands87Command Summary - Contour Mode87Operand Summary - Contour Mode87General Velocity Profiles87Generating an Array - An Example87Contour Mode Example88Teach (Record and Play-Back)89Record and Playback Example:89Virtual Axis90Stepper Motor Operation91Specifying Stepper Motor Operation91Stepper Motor Smoothing91Monitoring Generated Pulses vs Commanded Pulses91Motion Complete Trippoint92Using an Encoder with Stepper Motors92Command Summary - Stepper Motor Operation93Operand Summary - Stepper Motor Operation93Stepper Position Maintenance Mode (SPM)93Error Limit94Correction94Example: SPM Mode Setup94Example: Error Correction95Example: Friction Correction97Dual Loop (Auxiliary Encoder)98Using the CE Command98Additional Commands for the Auxiliary Encoder98Backlash Compensation99Continuous Dual Loop - Example99Sampled Dual Loop - Example99Motion Smoothing100Using the IT and VT Commands:100Example - Smoothing100Using the KS Command (Step Motor Smoothing):101Homing102Command Summary - Homing Operation104Operand Summary - Homing Operation104High Speed Position Capture (The Latch Function)104Fast Update Rate Mode105Chapter 7 Application Programming107Overview107Using the DMC-13X8 Editor to Enter Programs107Edit Mode Commands108Program Format108Using Labels in Programs109Special Labels109Commenting Programs110Using the command, NO110Executing Programs - Multitasking110Debugging Programs111Trace Commands111Error Code Command112Stop Code Command112RAM Memory Interrogation Commands112Operands112Debugging Example:112Program Flow Commands113Event Triggers & Trippoints113DMC-13X8 and DMC-13X8 Event Triggers114Event Trigger Examples:115Event Trigger - Multiple Move Sequence115Event Trigger - Set Output after Distance115Event Trigger - Repetitive Position Trigger115Event Trigger - Start Motion on Input116Event Trigger - Set output when At speed116Event Trigger - Change Speed along Vector Path116Event Trigger - Multiple Move with Wait117Define Output Waveform Using AT117Conditional Jumps117Command Format - JP and JS118Logical operators:118Conditional Statements118Multiple Conditional Statements118Using the JP Command:119Example Using JP command:119Using If, Else, and Endif Commands119Using the IF and ENDIF Commands119Using the ELSE Command120Nesting IF Conditional Statements120Command Format - IF, ELSE and ENDIF120Example using IF, ELSE and ENDIF:120Subroutines121Example:121Stack Manipulation121Auto-Start Routine121Automatic Subroutines for Monitoring Conditions122Example - Limit Switch:122Example - Position Error122Example - Input Interrupt123Example - Motion Complete Timeout123Example - Command Error124Example - Command Error w/Multitasking124Mathematical and Functional Expressions125Mathematical Operators125Bit-Wise Operators125Functions126Variables127Programmable Variables127Assigning Values to Variables:128Assigning Variable Values to Controller Parameters128Displaying the value of variables at the terminal128Example - Using Variables for Joystick128Operands129Examples of Internal Variables:129Special Operands (Keywords)129Examples of Keywords:129Arrays130Defining Arrays130Assignment of Array Entries130Using a Variable to Address Array Elements130Uploading and Downloading Arrays to On Board Memory131Automatic Data Capture into Arrays131Command Summary - Automatic Data Capture131Data Types for Recording:132Operand Summary - Automatic Data Capture132Example - Recording into An Array132Deallocating Array Space133Input of Data (Numeric and String)133Input of Data133An Example for Inputting Numeric Data133Cut-to-Length Example133Inputting String Variables134Output of Data (Numeric and String)134Sending Messages134Formatting Messages134Using the MG Command to Configure Terminals135Summary of Message Functions:135Displaying Variables and Arrays135Interrogation Commands136Using the PF Command to Format Response from Interrogation Commands136Removing Leading Zeros from Response to Interrogation Commands136Local Formatting of Response of Interrogation Commands137Formatting Variables and Array Elements137Local Formatting of Variables137Converting to User Units138Hardware I/O138Digital Outputs138Digital Inputs139Example - Start Motion on Switch140Input Interrupt Function140Examples - Input Interrupt140Analog Inputs141Example - Position Follower (Point-to-Point)141Example - Position Follower (Continuous Move)141Example Applications142Wire Cutter142X-Y Table Controller143Speed Control by Joystick145Position Control by Joystick146Backlash Compensation by Sampled Dual-Loop146Chapter 8 Hardware & Software Protection149Introduction149Hardware Protection149Output Protection Lines149Input Protection Lines150Software Protection150Programmable Position Limits150Off-On-Error151Automatic Error Routine151Limit Switch Routine151Chapter 9 Troubleshooting153Overview153Installation153Communication154Stability155Operation155Chapter 10 Theory of Operation157Overview157Operation of Closed-Loop Systems159System Modeling160Motor-Amplifier161Voltage Drive161Current Drive162Velocity Loop162Encoder163DAC164Digital Filter164ZOH165System Analysis165System Design and Compensation167The Analytical Method167Equivalent Filter Form170Appendices171Electrical Specifications171Servo Control171Stepper Control171Input/Output171Power172Performance Specifications172Connectors for DMC-13X8 Main Board173Pin-Out Description for DMC-13X8174Accessories and Options175ICM-1900 Interconnect Module176ICM-1900 Drawing180AMP-19X0 Mating Power Amplifiers180ICM-2900 Interconnect Module181Opto-Isolated Outputs ICM-1900 / ICM-2900 (-Opto option)184Standard Opto-isolation and High Current Opto-isolation:18464 Extended I/O of the DMC-13X8 Controller184Configuring the I/O of the DMC-13X8185Saving the State of the Outputs in Non-Volatile Memory185Accessing extended I/O185Connector Description:186IOM-1964 Opto-Isolation Module for Extended I/O Controllers189Description:189Overview190Configuring Hardware Banks190Digital Inputs191High Power Digital Outputs193Standard Digital Outputs194Electrical Specifications195Digital Inputs195High Power Digital Outputs195Standard Digital Outputs195Relevant DMC Commands196Screw Terminal Listing196Coordinated Motion - Mathematical Analysis198DMC-13X8/DMC-1300 Comparison202List of Other Publications202Training Seminars203Contacting Us204WARRANTY205Index207Tamaño: 900 KBPáginas: 210Language: EnglishManuales abiertas