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Galil Motion Control
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DMC-1000
Galil Motion Control DMC-1000 User Manual
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Chapter 7 Application Programming
DMC-1000
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Table of Contents
Default Chapter
8
Table of Contents
8
Chapter 1 Overview
20
Introduction
20
Overview of Motor Types
20
Standard Servo Motors with +/- 10 Volt Command Signal
21
Stepper Motor with Step and Direction Signals
21
DMC-1000 Functional Elements
21
Microcomputer Section
22
Motor Interface
22
Communication
22
General I/O
22
System Elements
22
Motor
23
Amplifier (Driver)
23
Encoder
23
Watch Dog Timer
23
Chapter 2 Getting Started
24
The DMC-1000 Motion Controller
24
Elements You Need
25
Installing the DMC-1000
26
Step 1. Determine Overall Motor Configuration
26
Step 2. Configure Jumpers on the DMC-1000
26
Step 3. Install the DMC-1000 in the Computer
27
Step 4. Install Communications Software
28
Step 5. Establish Communications with Galil Communication Software
28
Changing the I/O Address of the Controller
29
Step 6. Connect Amplifiers and Encoders
30
Step 7A. Connect Standard Servo Motors
32
Step 7B. Connect Step Motors
35
Step 8. Tune the Servo System
36
Design Examples
37
Example 1 - System Set-Up
37
Example 2 - Profiled Move
37
Example 3 - Multiple Axes
37
Example 4 - Independent Moves
38
Example 5 - Position Interrogation
38
Example 6 - Absolute Position
38
Example 7 - Velocity Control
39
Example 8 - Operation under Torque Limit
39
Example 9 - Interrogation
39
Example 10 - Operation in the Buffer Mode
40
Example 11 - Motion Programs
40
Example 12 - Motion Programs with Loops
40
Example 13 - Motion Programs with Trippoints
41
Example 14 - Control Variables
41
Example 15 - Linear Interpolation
42
Example 16 - Circular Interpolation
42
Chapter 3 Connecting Hardware
44
Overview
44
Using Optoisolated Inputs
44
Limit Switch Input
44
Home Switch Input
45
Abort Input
45
Uncommitted Digital Inputs
46
Wiring the Optoisolated Inputs
46
Using an Isolated Power Supply
47
Bypassing the Opto-Isolation
48
Changing Optoisolated Inputs from Active Low to Active High
49
Amplifier Interface
49
TTL Inputs
50
Analog Inputs
50
TTL Outputs
51
Offset Adjustment
51
Chapter 4 Communication
52
Introduction
52
Address Selection
52
Example - Address Selection
52
Communication with the Controller
53
Communication Registers
53
Simplified Communication Procedure
53
Advanced Communication Techniques
54
Interrupts
55
Configuring Interrupts
55
Servicing Interrupts
57
Example - Interrupts
57
Controller Response to DATA
58
Galil Software Tools and Libraries
58
Chapter 5 Command Basics
60
Introduction
60
Command Syntax
60
Coordinated Motion with more than 1 Axis
61
Program Syntax
61
Controller Response to DATA
61
Interrogating the Controller
62
Interrogation Commands
62
Additional Interrogation Methods
62
Operands
63
Command Summary
63
Chapter 6 Programming Motion
64
Overview
64
Independent Axis Positioning
64
Command Summary - Independent Axis
65
Operand Summary - Independent Axis
65
Independent Jogging
66
Command Summary - Jogging
67
Operand Summary - Independent Axis
67
Linear Interpolation Mode
68
Specifying Linear Segments
68
Specifying Vector Acceleration, Deceleration and Speed
69
Additional Commands
69
Command Summary - Linear Interpolation
70
Operand Summary - Linear Interpolation
70
Vector Mode: Linear and Circular Interpolation Motion
73
Specifying Vector Segments
73
Specifying Vector Acceleration, Deceleration and Speed
74
Additional Commands
74
Command Summary - Vector Mode Motion
76
Operand Summary - Vector Mode Motion
76
Electronic Gearing
77
Command Summary - Electronic Gearing
78
Operand Summary - Electronic Gearing
78
Electronic Cam
80
Contour Mode
85
Specifying Contour Segments
85
Additional Commands
86
Command Summary - Contour Mode
87
Operand Summary - Contour Mode
87
Stepper Motor Operation
90
Specifying Stepper Motor Operation
90
Using an Encoder with Stepper Motors
91
Command Summary - Stepper Motor Operation
92
Operand Summary - Stepper Motor Operation
92
Dual Loop (Auxiliary Encoder)
92
Backlash Compensation
93
Command Summary - Using the Auxiliary Encoder
94
Operand Summary - Using the Auxiliary Encoder
95
Motion Smoothing
95
Using the IT and VT Commands (S Curve Profiling)
95
Using the KS Command (Step Motor Smoothing)
96
Homing
97
High Speed Position Capture (Latch)
100
Chapter 7 Application Programming
102
Overview
102
Using the DMC-1000 Editor to Enter Programs
102
Edit Mode Commands
103
Program Format
104
Using Labels in Programs
104
Special Labels
105
Commenting Programs
105
Executing Programs - Multitasking
106
Debugging Programs
107
Program Flow Commands
109
Event Triggers & Trippoints
109
Event Trigger Examples
110
Conditional Jumps
113
Subroutines
116
Stack Manipulation
116
Automatic Subroutines for Monitoring Conditions
116
Mathematical and Functional Expressions
119
Mathematical Expressions
119
Bit-Wise Operators
120
Functions
121
Variables
121
Assigning Values to Variables
122
Operands
123
Special Operands (Keywords)
124
Arrays
124
Defining Arrays
124
Assignment of Array Entries
125
Automatic Data Capture into Arrays
126
Deallocating Array Space
127
Input of Data (Numeric and String)
128
Input of Data
128
Output of Data (Numeric and String)
129
Sending Messages
129
Interrogation Commands
130
Formatting Variables and Array Elements
132
Converting to User Units
133
Programmable Hardware I/O
133
Digital Outputs
133
Digital Inputs
134
Input Interrupt Function
135
Analog Inputs
136
Example Applications
137
Wire Cutter
137
X-Y Table Controller
138
Speed Control by Joystick
140
Position Control by Joystick
141
Backlash Compensation by Sampled Dual-Loop
141
Chapter 8 Hardware & Software Protection
144
Introduction
144
Hardware Protection
144
Output Protection Lines
144
Input Protection Lines
144
Software Protection
145
Programmable Position Limits
145
Off-On-Error
145
Automatic Error Routine
146
Limit Switch Routine
146
Chapter 9 Troubleshooting
148
Overview
148
Installation
148
Communication
149
Stability
149
Operation
149
Chapter 10 Theory of Operation
150
Overview
150
Operation of Closed-Loop Systems
152
System Modeling
153
Motor-Amplifier
154
Encoder
156
Dac
157
Digital Filter
157
Zoh
157
System Analysis
158
System Design and Compensation
160
The Analytical Method
160
Appendices
164
Electrical Specifications
164
Servo Control
164
Stepper Control
164
Input/Output
164
Power
164
Performance Specifications
164
Connectors for DMC-1000 Main Board
165
J2 - Main (60 Pin IDC)
165
J5 - General I/O (26 Pin IDC)
166
J3 - Aux Encoder (20 Pin IDC)
166
J4 - Driver (20 Pin IDC)
167
J6 - Daughter Board Connector (60 Pin )
167
J7 - 10 Pin
167
Connectors for Auxiliary Board (Axes E,F,G,H)
167
JD2 - Main (60 Pin IDC)
167
JD5 - I/O (26 Pin IDC)
168
JD3 - 20 Pin IDC - Auxiliary Encoders
169
JD4 - 20 Pin IDC - Amplifiers
169
JD6 - Daughterboard Connector (60 Pin)
169
Pin-Out Description for DMC-1000
169
Jumper Description for DMC-1000
172
Dip Switch Settings
172
Offset Adjustments for DMC-1000
172
Accessories and Options
173
Dip Switch Address Settings
174
PC/AT Interrupts and Their Vectors
177
ICM-1100 Interconnect Module
177
Amp/ICM-1100 Connections
178
J3 - Aux Encoder (20 Pin IDC)
180
J4 - Driver (20 Pin IDC)
180
J5 - General I/O (26 Pin IDC)
180
J2 - Main (60 Pin IDC)
180
J2 - Main (60 Pin IDC)
181
Connectors Are the same as Described in Section Entitled "Connectors for DMC-1000 Main Board
181
JX6, JY6, JZ6, JW6 - Encoder Input (10 Pin IDC)
181
ICM-1100 Drawing
181
AMP-11X0 Mating Power Amplifiers
182
DB-10072 OPTO-22 Expansion Option
182
Configuring the I/O for the DB-10072
182
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Galil Motion Control DMC-1000 Specifications
General
Brand
Galil Motion Control
Model
DMC-1000
Category
Controller
Language
English
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