Manuels d'utilisation pour Galil DMC-1800

Table des matières

• USER MANUAL

  1
• Contents

  3
• Chapter 1 Overview

  9
  • Introduction

    9
  • Overview of Motor Types

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

      10
    • Brushless Servo Motor with Sinusoidal Commutation

      10
    • Stepper Motor with Step and Direction Signals

      10
  • DMC-1700/1800 Functional Elements

    10
    • Microcomputer Section

      11
    • Motor Interface

      11
    • Communication

      11
    • General I/O

      11
    • System Elements

      12
    • Motor

      12
    • Amplifier (Driver)

      12
    • Encoder

      12
    • Watch Dog Timer

      13
• Chapter 2 Getting Started

  15
  • The DMC-17x0 and DMC-18x0 Motion Controllers

    15
  • Elements You Need

    17
  • Installing the DMC-1700/1800

    18
    • Step 1. Determine Overall Motor Configuration

      18
      • Standard Servo Motor Operation:

        18
      • Sinusoidal Commutation:

        18
      • Stepper Motor Operation:

        19
    • Step 2. Install Jumpers on the DMC-1700/1800

      19
      • Master Reset and Upgrade Jumpers

        19
      • Opto Isolation Jumpers

        19
      • (Optional) DMA Jumpers

        19
      • (Optional) IRQ (Interrupt) Jumpers

        20
      • (Optional) Motor Off Jumpers

        20
      • Configuring the Address Jumpers on the DMC-1700

        21
    • Step 3. Install the Communications Software

      21
      • Using DOS:

        21
      • Using Windows 3.x (16 bit versions):

        21
      • Using Windows 95, 98(first edition):

        21
    • Step 4. Install the DMC-1700/1800 in the PC

      22
      • DMC-1700 Install:

        22
      • DMC-1800 Install:

        22
    • Step 5. Establishing Communication between the Galil controller and the host PC

      22
      • Using Galil Software for DOS (DMC-1700 only)

        22
      • Using Galil Software for Windows 3.x, 95 and 98 First Edition (DMC-1700 only)

        23
      • Sending Test Commands to the Terminal:

        32
    • Step 6. Determine the Axes to be Used for Sinusoidal Commutation

      32
      • Notes on Configuring Sinusoidal Commutation:

        32
      • Example: Sinusoidal Commutation Configuration using a DMC-1770

        32
        • BAXZ

          32
    • Step 7. Make Connections to Amplifier and Encoder.

      33
    • Step 8a. Connect Standard Servo Motors

      35
      • Check the Polarity of the Feedback Loop

        35
      • Inverting the Loop Polarity

        36
    • Step 8b. Connect Sinusoidal Commutation Motors

      39
      • Example: Sinusoidal Commutation Configuration using a DMC-1770

        39
      • If Hall Sensors are Available:

        40
      • If Hall Sensors are Not Available:

        40
      • If Hall Sensors are Not Available:

        40
      • If Hall Sensors are Available:

        41
    • Step 8C. Connect Step Motors

      41
    • Step 9. Tune the Servo System

      42
      • TE X (CR)

        43
  • Design Examples

    43
    • Example 1 - System Set-up

      43
    • Example 2 - Profiled Move

      43
    • Example 3 - Multiple Axes

      44
    • Example 4 - Independent Moves

      44
    • Example 5 - Position Interrogation

      44
    • Example 6 - Absolute Position

      45
    • Example 7 - Velocity Control

      45
    • Example 8 - Operation Under Torque Limit

      45
    • Example 9 - Interrogation

      46
    • Example 10 - Operation in the Buffer Mode

      46
    • Example 11 - Using the On-Board Editor

      46
      • The instruction

        46
    • Example 12 - Motion Programs with Loops

      47
    • Example 13 - Motion Programs with Trippoints

      47
    • Example 14 - Control Variables

      47
    • Example 15 - Linear Interpolation

      48
    • Example 16 - Circular Interpolation

      48
• Chapter 3 Connecting Hardware

  51
  • Overview

    51
  • Using Optoisolated Inputs

    51
    • Limit Switch Input

      51
    • Home Switch Input

      52
    • Abort Input

      52
    • Uncommitted Digital Inputs

      53
  • Wiring the Optoisolated Inputs

    53
    • Using an Isolated Power Supply

      54
    • Bypassing the Opto-Isolation:

      55
  • Analog Inputs

    55
  • Amplifier Interface

    55
  • TTL Inputs

    56
  • TTL Outputs

    56
• Chapter 4 - Software Tools and Communications

  59
  • Introduction

    59
  • Galil SmartTERM

    61
  • Communication Settings for ISA and PCI

    65
  • Windows Servo Design Kit (WSDK)

    69
  • Creating Custom Software Interfaces

    70
  • DOS, Linux, and QNX tools

    73
  • Controller Event Interrupts and User Interrupts

    73
  • Hardware Level Communications for ISA and PCI

    75
    • Communications with the DMC-1700

      75
    • Communication with DMC-1700

      76
      • 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.

        76
      • 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.

        76
      • 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.

        76
      • Polling FIFO Mode Read Procedure:

        78
    • Communication with DMC-1800

      79
  • DMA / Secondary FIFO / DPRAM Memory Map

    81
    • Explanation of Status Information and Axis Switch Information

      84
• Chapter 5 Command Basics

  87
  • Introduction

    87
  • Command Syntax - ASCII

    87
    • Coordinated Motion with more than 1 axis

      88
  • Command Syntax - Binary

    88
    • Binary Command Format

      89
      • Header Format:

        89
      • Datafields Format

        89
        • A7 02 00 05 03 E8 FE 0C

          89
      • Example

        90
    • Binary command table

      90
  • Controller Response to DATA

    91
  • Interrogating the Controller

    91
    • Interrogation Commands

      91
    • Summary of Interrogation Commands

      91
    • Interrogating Current Commanded Values.

      92
    • Operands

      92
      • V=_TPX

        92
    • Command Summary

      92
• Chapter 6 Programming Motion

  93
  • Overview

    93
  • Independent Axis Positioning

    95
    • Command Summary - Independent Axis

      95
    • Operand Summary - Independent Axis

      95
      • Example - Absolute Position Movement

        96
      • Example - Multiple Move Sequence

        96
  • Independent Jogging

    97
    • Command Summary - Jogging

      97
    • Operand Summary - Independent Axis

      98
      • Example - Jog in X only

        98
      • Example - Joystick Jogging

        98
  • Position Tracking

    98
    • Example - Motion 2:

      100
    • Example Motion 4

      101
    • Trip Points

      102
    • Command Summary – Position Tracking Mode

      103
  • Linear Interpolation Mode

    103
    • Specifying Linear Segments

      103
      • Additional Commands

        104
      • An Example of Linear Interpolation Motion:

        104
      • Specifying Vector Speed for Each Segment

        104
      • Changing Feedrate:

        105
    • Command Summary - Linear Interpolation

      105
    • Operand Summary - Linear Interpolation

      105
    • Example - Linear Move

      106
    • Example - Multiple Moves

      107
  • Vector Mode: Linear and Circular Interpolation Motion

    108
    • Specifying the Coordinate Plane

      108
    • Specifying Vector Segments

      108
    • Additional commands

      109
      • Specifying Vector Speed for Each Segment:

        109
      • Changing Feedrate:

        109
      • Compensating for Differences in Encoder Resolution:

        110
      • Trippoints:

        110
      • Tangent Motion:

        110
      • Example:

        110
    • Command Summary - Coordinated Motion Sequence

      111
    • Operand Summary - Coordinated Motion Sequence

      111
      • Example:

        111
  • Electronic Gearing

    112
  • Ramped Gearing

    113
    • Example – Electronic Gearing Over a Specified Interval

      114
    • Command Summary - Electronic Gearing

      115
    • Example - Simple Master Slave

      115
    • Example - Electronic Gearing

      115
    • Example - Gantry Mode

      115
    • Example - Synchronize two conveyor belts with trapezoidal velocity correction.

      116
  • Electronic Cam

    116
    • EM x,y,z,w

      117
      • EM 6000,1500

        117
        • EP m,n

          117
        • EP 2000,0

          117
          • ET[n]=x,y,z,w

            117
        • ET[0]=,0

          117
          • EB n

            117
          • EG x,y,z,w

            118
          • EQ x,y,z,w

            118
    • Command Summary - Electronic CAM

      119
    • Operand Summary - Electronic CAM

      120
    • Example - Electronic CAM

      120
  • Contour Mode

    121
    • Specifying Contour Segments

      121
    • Additional Commands

      122
    • Command Summary - Contour Mode

      123
      • General Velocity Profiles

        123
      • Generating an Array - An Example

        123
      • Contour Mode Example

        124
      • Teach (Record and Play-Back)

        125
      • Record and Playback Example:

        125
      • Virtual Axis

        126
        • ECAM Master Example

          126
          • Sinusoidal Motion Example

            126
  • Stepper Motor Operation

    127
    • Specifying Stepper Motor Operation

      127
      • Stepper Motor Smoothing

        127
      • Monitoring Generated Pulses vs Commanded Pulses

        127
      • Motion Complete Trippoint

        128
    • Using an Encoder with Stepper Motors

      128
    • Command Summary - Stepper Motor Operation

      128
    • Operand Summary - Stepper Motor Operation

      128
  • Stepper Position Maintenance Mode (SPM)

    129
    • Error Limit

      129
    • Correction

      130
      • Example: SPM Mode Setup

        130
      • Example: Error Correction

        131
      • Example: Friction Correction

        132
  • Dual Loop (Auxiliary Encoder)

    133
    • Using the CE Command

      133
      • CE 6

        133
      • Additional Commands for the Auxiliary Encoder

        133
        • DE 0,500,-30,300

          133
        • DE ?,,?

          133
        • V1= _DEX

          134
    • Backlash Compensation

      134
      • Continuous Dual Loop - Example

        134
      • Sampled Dual Loop - Example

        134
  • Motion Smoothing

    135
    • Using the IT and VT Commands:

      135
      • Example - Smoothing

        135
    • Using the KS Command (Step Motor Smoothing):

      136
  • Homing

    137
    • Stage 1:

      137
    • Stage 2:

      137
    • Stage 3:

      137
      • Example: Homing

        138
      • Example: Find Edge

        140
    • Command Summary - Homing Operation

      140
    • Operand Summary - Homing Operation

      140
  • High Speed Position Capture (The Latch Function)

    140
  • Fast Update Rate Mode

    141
• Chapter 7 Application Programming

  143
  • Overview

    143
  • Using the DMC-1700/1800 Editor to Enter Programs

    143
    • Edit Mode Commands

      144
  • Program Format

    144
    • Using Labels in Programs

      144
      • Valid labels

        144
    • Special Labels

      145
    • Commenting Programs

      145
      • Using the command, NO or Apostrophe (‘)

        145
  • Executing Programs - Multitasking

    146
    • XQ #A, n

      146
    • HX n

      146
  • Debugging Programs

    147
    • Trace Commands

      147
      • Error Code Command

        147
      • Stop Code Command

        147
      • RAM Memory Interrogation Commands

        147
      • Operands

        148
      • Debugging Example:

        148
  • Program Flow Commands

    148
    • Event Triggers & Trippoints

      149
      • DMC-1700 and DMC-1800 Event Triggers

        150
    • Event Trigger Examples:

      151
      • Event Trigger - Multiple Move Sequence

        151
      • Event Trigger - Set Output after Distance

        151
      • Event Trigger - Repetitive Position Trigger

        151
      • Event Trigger - Start Motion on Input

        152
      • Event Trigger - Set output when At speed

        152
      • Event Trigger - Change Speed along Vector Path

        152
      • Event Trigger - Multiple Move with Wait

        153
      • Define Output Waveform Using AT

        153
    • Conditional Jumps

      153
      • Command Format - JP and JS

        154
      • Logical operators:

        154
      • Conditional Statements

        154
      • Multiple Conditional Statements

        154
        • JP #TEST, (V1<V2) & (V3<V4)

          155
      • Using the JP Command:

        155
      • Example Using JP command:

        155
    • Using If, Else, and Endif Commands

      155
      • Using the IF and ENDIF Commands

        155
      • Using the ELSE Command

        156
      • Nesting IF Conditional Statements

        156
      • Command Format - IF, ELSE and ENDIF

        156
      • Example using IF, ELSE and ENDIF:

        156
    • Subroutines

      157
      • Example:

        157
    • Stack Manipulation

      157
    • Auto-Start Routine

      157
    • Automatic Subroutines for Monitoring Conditions

      157
      • Example - Limit Switch:

        158
      • Example - Position Error

        158
      • Example - Input Interrupt

        159
      • Example - Motion Complete Timeout

        159
      • Example - Command Error

        160
      • Example - Command Error w/Multitasking

        160
  • Mathematical and Functional Expressions

    161
    • Mathematical Operators

      161
    • Bit-Wise Operators

      161
    • Functions

      162
  • Variables

    163
    • Programmable Variables

      163
      • POSX

        163
      • Assigning Values to Variables:

        163
      • Assigning Variable Values to Controller Parameters

        164
      • Displaying the value of variables at the terminal

        164
      • Example - Using Variables for Joystick

        164
  • Operands

    164
    • Examples of Internal Variables:

      165
    • Special Operands (Keywords)

      165
      • Examples of Keywords:

        165
  • Arrays

    165
    • Defining Arrays

      165
    • Assignment of Array Entries

      166
      • Using a Variable to Address Array Elements

        166
      • Uploading and Downloading Arrays to On Board Memory

        166
    • Automatic Data Capture into Arrays

      167
      • Command Summary - Automatic Data Capture

        167
      • Data Types for Recording:

        167
      • Operand Summary - Automatic Data Capture

        168
      • Example - Recording into An Array

        168
    • Deallocating Array Space

      168
  • Input of Data (Numeric and String)

    168
    • Input of Data

      168
      • An Example for Inputting Numeric Data

        168
      • Cut-to-Length Example

        169
      • Inputting String Variables

        169
  • Output of Data (Numeric and String)

    169
    • Sending Messages

      169
      • Formatting Messages

        170
        • MG STR {S3}

          170
          • The Final Value is 00004.10

            170
          • The Final Value is 99999.99

            170
      • Using the MG Command to Configure Terminals

        170
        • MG {^07} {^255}

          171
      • Summary of Message Functions:

        171
    • Displaying Variables and Arrays

      171
    • Interrogation Commands

      171
      • Using the PF Command to Format Response from Interrogation Commands

        171
        • PF m.n

          172
      • Removing Leading Zeros from Response to Interrogation Commands

        172
        • Example - Using the LZ command

          172
      • Local Formatting of Response of Interrogation Commands

        172
    • Formatting Variables and Array Elements

      173
      • VF m.n

        173
      • Local Formatting of Variables

        173
    • Converting to User Units

      173
  • Hardware I/O

    174
    • Digital Outputs

      174
      • Example - Turn on output after move

        175
    • Digital Inputs

      175
      • Example - Start Motion on Switch

        175
    • Input Interrupt Function

      175
      • Examples - Input Interrupt

        176
    • Analog Inputs

      176
      • Example - Position Follower (Point-to-Point)

        176
      • Example - Position Follower (Continuous Move)

        177
  • Example Applications

    177
    • Wire Cutter

      177
      • 4000/2 = 637 count/inch

        177
    • X-Y Table Controller

      178
      • 1 inch = 40,000 counts

        178
        • CR 80000,270,-360

          179
    • Speed Control by Joystick

      180
      • Speed = 20000 x VIN

        181
    • Position Control by Joystick

      182
    • Backlash Compensation by Sampled Dual-Loop

      182
• Chapter 8 Hardware & Software Protection

  185
  • Introduction

    185
  • Hardware Protection

    185
    • Output Protection Lines

      185
    • Input Protection Lines

      185
  • Software Protection

    186
    • Programmable Position Limits

      186
    • Off-On-Error

      187
    • Automatic Error Routine

      187
    • Limit Switch Routine

      187
• Chapter 9 Troubleshooting

  189
  • Overview

    189
  • Installation

    189
  • Communication

    190
  • Stability

    190
  • Operation

    191
• Chapter 10 Theory of Operation

  193
  • Overview

    193
  • Operation of Closed-Loop Systems

    195
  • System Modeling

    196
    • Motor-Amplifier

      197
      • Voltage Drive

        197
        • R = 2 

          197
        • L = 0.004H

          197
          • Tm = 0.04 sec

            197
          • Te = 0.002 sec

            197
      • Current Drive

        197
        • P/V = Ka Kt / Js2

          197
      • Velocity Loop

        198
        • T1 = J/Ka Kt Kg

          198
    • Encoder

      199
    • DAC

      200
    • Digital Filter

      200
    • ZOH

      201
  • System Analysis

    201
    • Motor

      201
    • Amp

      201
      • DAC

        201
        • Encoder

          202
        • ZOH

          202
          • Digital Filter

            202
          • D(z) = 1030 (z-0.95)/Z

            202
        • P = 50

          202
          • D = 0.98

            202
          •  = 76 - 180 - 6 = -110

            203
        • PM = 180 +  = 70

          203
  • System Design and Compensation

    203
    • The Analytical Method

      203
      • Motor

        204
      • Amp

        204
        • DAC

          204
          • Kd = 10/32768 = .0003

            204
        • ZOH

          204
          • G(s) = P + sD

            205
        • D = 0.274

          205
          • G = 82.4 + 0.2744s

            205
        • P = 4 ( KP

          205
          • 4 ( KD = D/T

            205
        • KP = 20.6

          205
          • KD = 68.6

            205
        • KP 20.6

          205
          • KD 68.6

            205
      • Equivalent Filter Form

        206
        • DMC-1700/1800

          206
• Appendices

  207
  • Electrical Specifications

    207
    • Servo Control

      207
    • Stepper Control

      207
    • Input/Output

      207
    • Power

      208
  • Performance Specifications

    208
  • Connectors for DMC-1700/1800 Main Board

    209
  • Pin-Out Description for DMC-1700/1800

    211
  • Setting Addresses for the DMC-1700

    214
    • Standard Addresses

      214
    • Plug and Play Addresses

      217
      • Communications Jumpers:

        217
  • Accessories and Options

    218
  • PC/AT Interrupts and Their Vectors

    219
  • ICM-1900 Interconnect Module

    219
    • Features

      220
  • ICM-1900 Drawing

    223
  • AMP-19X0 Mating Power Amplifiers

    223
    • Features

      223
    • Specifications

      223
  • ICM-2900 Interconnect Module

    224
  • Opto-Isolated Outputs ICM-1900 / ICM-2900 (-Opto option)

    227
    • Standard Opto-isolation and High Current Opto-isolation:

      227
      • Figure A.2 – Opto Output Circuit

        227
  • 64 Extended I/O of the DMC-17x8/1700/1800 Controller

    227
    • Configuring the I/O of the DMC-17x8 (and DMC-1750 to DMC-1780 & DMC-1810 to 1880, with DB-14064)

      227
      • CO n

        228
      • Saving the State of the Outputs in Non-Volatile Memory

        228
      • Accessing extended I/O

        228
        • OP 7,,,,7

          229
        • MG @IN[17]

          229
    • Configuring the 64 Extended I/O of the DMC-1750 to 1780 and 1850 to 1880 using the DB-14064

      229
    • Connector Description:

      229
  • IOM-1964 Opto-Isolation Module for Extended I/O Controllers

    232
    • Description:

      232
    • Overview

      233
      • Figure A.4 – CB-50-80 and CB-50-100 Bracket Layout

        234
    • Configuring Hardware Banks

      234
    • Digital Inputs

      235
    • High Power Digital Outputs

      237
    • Standard Digital Outputs

      238
    • Electrical Specifications

      239
      • Digital Inputs

        239
      • High Power Digital Outputs

        239
      • Standard Digital Outputs

        239
    • Relevant DMC Commands

      240
    • Screw Terminal Listing

      240
  • Coordinated Motion - Mathematical Analysis

    242
    • The total travel distance is given by

      244
    • The slew time, Ts, is given by

      244
    • The total motion time, Tt, is given by

      244
    • Vy = Vs

      245
    • Vx = 0

      245
  • DMC-1700/DMC-1000 Comparison

    245
  • List of Other Publications

    246
  • Training Seminars

    247
  • Contacting Us

    248
    • Galil Motion Control

      248
  • WARRANTY

    248
    • COPYRIGHT (3-97)

      248
• Index

  249