Manuais de utilizador para Galil DMC-3425

índice analítico

• Contents

  3
• Chapter 1 Overview

  9
  • Introduction

    9
  • Overview of Motor Types

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

      10
    • Stepper Motor with Step and Direction Signals

      10
    • Brushless Servo Motor with Sinusoidal Commutation

      10
  • DMC-3425 Functional Elements

    12
    • Microcomputer Section

      12
    • Motor Interface

      12
    • Communication

      12
    • General I/O

      13
    • System Elements

      13
    • Motor

      13
    • Amplifier (Driver)

      13
    • Encoder

      14
    • Watch Dog Timer

      14
• Chapter 2 Getting Started

  15
  • The DMC-3425 Motion Controller

    15
  • Elements You Need

    16
  • Installing the DMC-3425 Controller

    16
    • Step 1. Determine Overall Motor Configuration

      17
      • Standard Servo Motor Operation:

        17
      • Sinusoidal Commutation:

        17
      • Stepper Motor Operation:

        17
    • Step 2. Configuring Jumpers on the DMC-3425

      17
      • Master Reset and Upgrade Jumper

        17
      • Setting the Baud Rate on the DMC-3425

        18
      • Selecting MO as default on the DMC-3425

        18
      • Axis Configuration Jumpers

        19
    • Step 3. Connecting AC or DC power and the Serial Cable to the DMC-3425

      19
    • Step 4. Installing the Communications Software

      20
      • Using DOS:

        20
      • Using Windows 3.x (16 bit versions):

        20
      • Using Windows 95, NT or 98 (32 bit versions):

        20
    • Step 5. Establishing Communication between the DMC-3425 and the host PC

      20
      • Communicating through the RS-232 Serial Communications Port

        20
        • Using Galil Software for DOS

          20
        • Using Galil Software for Windows

          21
        • Using Non-Galil Communication Software

          23
      • Sending Test Commands to the Terminal:

        23
      • Communicating through the Ethernet

        23
        • Using Galil Software for Windows

          23
      • Sending Test Commands to the Terminal:

        25
    • Step 6. Set-up axis for sinusoidal commutation (optional)

      25
    • Step 7. Make connections to amplifier and encoder

      25
    • Step 8a. Connect Standard Servo Motor

      27
      • Check the Polarity of the Feedback Loop

        28
      • Inverting the Loop Polarity

        29
    • Step 8b. Connect brushless motor for sinusoidal commutation

      31
      • If Hall Sensors are Available:

        32
      • If Hall Sensors are Not Available:

        33
      • If Hall Sensors are Not Available:

        33
      • If Hall Sensors are Available:

        33
    • Step 8c. Connect Step Motors

      34
    • Step 9. Tune the Servo System

      35
    • Step 10. Configure the Distributed Control System

      36
      • Configuring Operation for Distributed Control

        36
  • Design Examples

    40
    • Example 1 - System Set-up

      40
    • Example 2 - Profiled Move

      40
    • Example 3 - Position Interrogation

      40
    • Example 4 - Absolute Position

      40
    • Example 5 - Velocity Control (Jogging)

      41
    • Example 6 - Operation Under Torque Limit

      41
    • Example 7 - Interrogation

      41
    • Example 8 - Operation in the Buffer Mode

      41
    • Example 9 - Motion Programs

      42
    • Example 10 - Motion Programs with Loops

      42
    • Example 11- Motion Programs with Trippoints

      42
    • Example 12 - Control Variables

      43
    • Example 13 - Control Variables and Offset

      43
• Chapter 3 Connecting Hardware

  45
  • Overview

    45
  • Using Inputs

    45
    • Limit Switch Input

      45
    • Home Switch Input

      46
    • Abort Input

      46
    • Uncommitted Digital Inputs

      47
  • Amplifier Interface

    47
  • TTL Inputs

    48
  • Analog Inputs

    48
  • TTL Outputs

    49
• Chapter 4 Communication

  51
  • Introduction

    51
  • RS232 Port

    51
    • RS232 - Port 1 DATATERM

      51
    • RS-232 Configuration

      51
      • Baud Rate Selection

        51
      • Handshaking Modes

        52
  • Ethernet Configuration

    52
    • Communication Protocols

      52
    • Addressing

      52
    • Ethernet Handles

      53
    • Global vs. Local Operation

      53
    • Operation of Distributed Control

      55
    • Accessing the I/O of the Slaves

      55
      • Digital Outputs

        56
      • Digital Inputs

        56
      • Analog Inputs

        56
    • Handling Communication Errors

      56
    • Multicasting

      56
    • Unsolicited Message Handling

      57
    • IOC-7007 Support

      57
    • Modbus Support

      58
    • Other Communication Options

      59
      • User Defined Ethernet Variables

        59
      • Handle Switching

        59
      • Handle Restore on Communication Failure

        59
      • Waiting on Handle Responses

        60
  • Data Record

    60
    • Data Record Map

      60
    • Explanation of Status Information and Axis Switch Information

      63
      • Header Information - Byte 0, 1 of Header:

        63
      • Bytes 2, 3 of Header:

        63
      • General Status Information (1 Byte)

        63
      • Axis Switch Information (1 Byte)

        63
      • Axis Status Information (2 Byte)

        64
      • Coordinated Motion Status Information for plane (2 Byte)

        64
    • Notes Regarding Velocity and Torque Information

      64
    • QZ Command

      64
    • Using Third Party Software

      65
• Chapter 5 Command Basics

  67
  • Introduction

    67
  • Command Syntax - ASCII

    67
    • Coordinated Motion with more than 1 axis

      68
  • Command Syntax - Binary

    68
    • Binary Command Format

      69
      • Header Format:

        69
        • Byte 1

          69
        • Byte 2

          69
        • Byte 3

          69
        • Byte 4

          69
      • Datafields Format

        70
      • Example

        70
    • Binary command table

      70
  • Controller Response to DATA

    71
  • Interrogating the Controller

    72
    • Interrogation Commands

      72
    • Summary of Interrogation Commands

      72
    • Interrogating Current Commanded Values.

      72
    • Operands

      72
    • Command Summary

      73
• Chapter 6 Programming Motion

  75
  • Overview

    75
    • Global vs. Local Operation

      75
  • Independent Axis Positioning

    77
    • Command Summary - Independent Axis

      78
    • Operand Summary - Independent Axis

      78
    • Examples

      78
      • Absolute Position Movement

        78
      • Multiple Move Sequence

        78
  • Independent Jogging

    80
    • Command Summary - Jogging

      80
    • Operand Summary - Independent Axis

      80
    • Examples

      80
      • Jog in A and C axes

        80
      • Joystick Jogging

        81
  • Linear Interpolation Mode (Local Mode)

    81
    • Specifying Linear Segments

      81
    • Additional Commands

      82
      • Specifying Vector Speed for Each Segment

        82
      • Changing Feedrate:

        83
    • Command Summary - Linear Interpolation

      83
    • Operand Summary - Linear Interpolation

      83
    • Example

      84
      • Linear Interpolation Motion

        84
    • Example - Linear Move

      84
    • Example - Multiple Moves

      85
  • Vector Mode: Linear and Circular Interpolation (Local Mode)

    86
    • Specifying Vector Segments

      86
    • Additional commands

      87
      • Specifying Vector Speed for Each Segment:

        87
      • Changing Feedrate:

        87
      • Compensating for Differences in Encoder Resolution:

        88
      • Trippoints:

        88
    • Command Summary - Coordinated Motion Sequence

      88
    • Operand Summary - Coordinated Motion Sequence

      88
      • Example:

        89
  • Electronic Gearing (Local Mode)

    90
    • Command Summary - Electronic Gearing

      90
      • Example – Electronic Gearing

        90
      • Example - Gantry Mode

        90
      • Example - Synchronize two conveyor belts with trapezoidal velocity correction.

        91
  • Electronic Cam (Local Mode)

    91
  • Contour Mode (Local Mode)

    97
    • Specifying Contour Segments

      97
    • Additional Commands

      99
    • Command Summary - Contour Mode

      99
    • Operand Summary - Contour Mode

      99
      • General Velocity Profiles

        99
      • Generating an Array - An Example

        99
      • Contour Mode Example

        100
      • Teach (Record and Play-Back)

        101
      • Record and Playback Example:

        101
  • Virtual Axis (Local Mode)

    102
    • Ecam Master Example

      103
    • Sinusoidal Motion Example

      103
  • Stepper Motor Operation

    103
    • Specifying Stepper Motor Operation

      103
    • Stepper Motor Smoothing

      104
    • Monitoring Generated Pulses vs. Commanded Pulses

      104
    • Motion Complete Trippoint

      105
    • Using an Encoder with Stepper Motors

      105
    • Command Summary - Stepper Motor Operation

      105
    • Operand Summary - Stepper Motor Operation

      105
  • Dual Loop (Auxiliary Encoder)

    106
    • Using the CE Command

      106
    • Additional Commands for the Auxiliary Encoder

      106
    • Backlash Compensation

      106
    • Example

      107
      • Continuous Dual Loop

        107
      • Sampled Dual Loop

        107
  • Motion Smoothing

    108
    • Using the IT and VT Commands:

      108
    • Example

      108
  • Homing

    109
    • Example

      110
    • Command Summary - Homing Operation

      112
    • Operand Summary - Homing Operation

      112
  • High Speed Position Capture (Latch)

    112
    • Example

      113
• Chapter 7 Application Programming

  115
  • Overview

    115
    • Global vs. Local Programming

      115
  • Entering Programs

    116
    • Edit Mode Commands

      116
    • Example:

      117
  • Program Format

    117
    • Using Labels in Programs

      117
      • Valid labels

        117
      • Invalid labels

        117
      • Example

        117
    • Special Labels

      118
    • Commenting Programs

      118
      • NO Command and the Apostrophe (‘)

        118
      • REM Command

        119
  • Executing Programs - Multitasking

    119
  • Debugging Programs

    120
    • Trace Command

      121
    • Error Code Command

      121
      • Example

        121
    • Stop Code Command

      121
    • RAM Memory Interrogation Commands

      121
    • Operands

      122
    • Breakpoints and single stepping

      122
    • EEPROM Memory Interrogation Operands

      122
  • Program Flow Commands

    123
    • Event Triggers & Trippoints

      123
      • DMC-3425 Event Triggers

        124
      • Example- Multiple Move Sequence

        124
      • Example- Set Output after Distance

        125
      • Example- Repetitive Position Trigger

        125
      • Example - Start Motion on Input

        125
      • Example - Set Output when At Speed

        126
      • Example - Change Speed along Vector Path

        126
      • Example - Multiple Move with Wait

        126
      • Example- Define Output Waveform Using AT

        127
    • Conditional Jumps

      127
      • Command Format - JP and JS

        127
      • Logical operators:

        128
      • Conditional Statements

        128
      • Multiple Conditional Statements

        128
      • Example using variables named V1, V2, V3 and V4:

        128
      • Examples

        129
    • If, Else, and Endif

      129
      • Using the IF and ENDIF Commands

        129
      • Using the ELSE Command

        130
      • Nesting IF Conditional Statements

        130
      • Command Format - IF, ELSE and ENDIF

        130
    • Subroutines

      131
    • Stack Manipulation

      131
    • Auto-Start and Auto Error Routine

      131
    • Automatic Subroutines for Monitoring Conditions

      132
      • Example - Limit Switch:

        132
      • Example - Position Error

        132
      • Example - Input Interrupt

        133
      • Example - Motion Complete Timeout

        133
      • Example - Command Error

        133
      • Example - Command Error w/Multitasking

        134
      • Example – Ethernet Communication Error

        135
  • Mathematical and Functional Expressions

    135
    • Mathematical Operators

      135
    • Bit-Wise Operators

      136
    • Functions

      137
  • Variables

    137
    • Programmable Variables

      138
      • Assigning Values to Variables

        138
      • Assigning Variable Values to Controller Parameters

        138
      • Displaying the value of variables at the terminal

        138
      • Example - Using Variables for Joystick

        139
  • Operands

    139
    • Special Operands

      139
    • Examples

      140
  • Arrays

    140
    • Defining Arrays

      140
    • Assignment of Array Entries

      140
      • Using a Variable to Address Array Elements

        141
    • Uploading and Downloading Arrays to On Board Memory

      141
    • Automatic Data Capture into Arrays

      141
      • Command Summary - Automatic Data Capture

        142
      • Data Types for Recording:

        142
      • Operand Summary - Automatic Data Capture

        142
      • Example - Recording into An Array

        142
    • Deallocating Array Space

      143
  • Outputting Numbers and Strings

    143
    • Sending Messages

      143
      • Specifying the Port for Messages:

        143
      • Formatting Messages

        144
      • Example:

        144
      • Using the MG Command to Configure Terminals

        144
      • Summary of Message Functions

        145
    • Displaying Variables and Arrays

      145
      • Example - Printing a Variable and an Array element

        145
    • Interrogation Commands

      145
      • Using the PF Command to Format Response from Interrogation Commands

        145
      • Example

        146
      • Removing Leading Zeros from Response to Interrogation Commands

        146
      • Local Formatting of Response of Interrogation Commands

        146
    • Formatting Variables and Array Elements

      147
      • Local Formatting of Variables

        147
    • Converting to User Units

      148
  • Hardware I/O

    148
    • Digital Outputs

      148
      • Example- Set Bit and Clear Bit

        148
      • Example- Output Bit

        148
      • Example- Output Port

        149
      • Example - Turn on output after move

        149
    • Digital Inputs

      149
      • Example - Using Inputs to control program flow

        149
      • Example - Start Motion on Switch

        149
    • Input Interrupt Function

      150
      • Example - Input Interrupt

        150
    • Analog Inputs

      150
      • Example - Position Follower (Point-to-Point)

        150
      • Example - Position Follower (Continuous Move)

        151
  • Extended I/O of the DMC-3425 Controller

    151
    • Configuring the I/O of the DMC-3425

      151
    • Saving the State of the Outputs in Non-Volatile Memory

      152
    • Accessing Extended I/O

      152
    • Interfacing to Grayhill or OPTO-22 G4PB24

      153
  • Example Applications

    153
    • Wire Cutter

      153
    • A-B (X-Y) Table Controller

      154
    • Speed Control by Joystick

      156
    • Position Control by Joystick

      157
• Chapter 8 Hardware & Software Protection

  159
  • Introduction

    159
  • Hardware Protection

    159
    • Output Protection Lines

      159
    • Input Protection Lines

      160
  • Software Protection

    160
    • Example:

      160
    • Programmable Position Limits

      160
    • Example:

      161
    • Off-On-Error

      161
    • Examples:

      161
    • Automatic Error Routine

      161
    • Example:

      161
    • Limit Switch Routine

      162
      • Limit Switch Example:

        162
• Chapter 9 Troubleshooting

  163
  • Overview

    163
  • Installation

    163
  • Communication

    164
  • Stability

    164
  • Operation

    164
• Chapter 10 Theory of Operation

  165
  • Overview

    165
  • Operation of Closed-Loop Systems

    167
  • System Modeling

    168
    • Motor-Amplifier

      169
      • Voltage Drive

        169
      • Current Drive

        169
      • Velocity Loop

        170
    • Encoder

      171
    • DAC

      172
    • Digital Filter

      172
    • ZOH

      173
  • System Analysis

    173
  • System Design and Compensation

    175
    • The Analytical Method

      175
      • Equivalent Filter Form

        178
• Appendices

  179
  • Electrical Specifications

    179
    • Servo Control

      179
    • Input/Output

      179
    • Power Requirements

      179
  • Performance Specifications

    179
  • Connectors for DMC-3425

    180
    • J3 DMC-3425 General I/O; 37- PIN D-type

      180
    • J3 DMC-3425-Stepper General I/O; 37- PIN D-type

      181
    • J5 POWER; 6 PIN MOLEX

      181
    • J1 RS232 Main port: DB-9 Pin Male:

      182
  • Pin-Out Description

    182
  • ICM-1460 Interconnect Module

    183
  • Opto-Isolation Option for ICM-1460

    185
    • Opto-isolated inputs:

      185
    • Opto-isolated outputs:

      186
  • 64 Extended I/O of the DMC-3425 Controller

    187
    • Configuring the I/O of the DMC-3425 with DB-14064

      187
      • Saving the State of the Outputs in Non-Volatile Memory

        188
      • Accessing extended I/O

        188
    • Connector Description:

      189
  • IOM-1964 Opto-Isolation Module for Extended I/O Controllers

    191
    • Description:

      191
      • Figure A-3

        192
    • Overview

      192
    • Configuring Hardware Banks

      193
    • Digital Inputs

      193
    • High Power Digital Outputs

      195
    • Standard Digital Outputs

      196
    • Electrical Specifications

      197
      • Digital Inputs

        197
      • High Power Digital Outputs

        197
      • Standard Digital Outputs

        197
    • Relevant DMC Commands

      198
    • Screw Terminal Listing

      198
  • Coordinated Motion - Mathematical Analysis

    201
  • List of Other Publications

    204
  • Training Seminars

    204
  • Contacting Us

    205
  • WARRANTY

    206
• Index

  207