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DMC-1510
Galil DMC-1510 User Manual
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184
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Appendices
DMC-1500
List of Other Publications
"Step by Step Design of Mot
ion Control System
s"
by Dr. Jacob Tal
"Motion Control
Applications"
by Dr. Jacob Tal
"Motion Control
by Microprocessors"
by Dr. Jacob Tal
Contacting Us
Galil Motion Control
3750 Atherton Road
Rocklin, CA 95765
Phone: 916-626-0101
Fax: 916-626-0102
Internet address: support@galilmc.com
URL: www.galilmc.com
195
197
Table of Contents
Default Chapter
7
Table of Contents
7
Chapter 1 Overview
13
Introduction
13
Overview of Motor Types
14
Standard Servo Motors with +/- 10 Volt Command Signal
14
Stepper Motor with Step and Direction Signals
14
DMC-1500 Functional Elements
14
Microcomputer Section
15
Motor Interface
15
Communication
15
General I/O
15
System Elements
15
Motor
16
Amplifier (Driver)
16
Encoder or Position Sensor
16
Watch Dog Timer
16
Chapter 2 Getting Started
19
Elements You Need
19
Installing the DMC-1500
20
Step 1. Determine Overall Motor Configuration
20
Step 2. Install Jumpers on the DMC-1500
20
Step 3. Configure DIP Switches on the DMC-1500
21
Step 4. Connect AC Power to the Controller
21
Step 5. Install Communications Software
21
Step 6. Establish Communications with Galil Software
22
Step 7. Connect Amplifiers and Encoders
23
Step 8A. Connect Standard Servo Motors
25
Step 8B. Connect Step Motors
28
Step 9. Tune the Servo System
29
Design Examples
30
Example 1 - System Set-Up
30
Example 2 - Profiled Move
30
Example 3 - Multiple Axes
31
Example 4 - Independent Moves
31
Example 5 - Position Interrogation
31
Example 6 - Absolute Position
32
Example 7 - Velocity Control
32
Example 8 - Operation under Torque Limit
32
Example 9 - Interrogation
33
Example 10 - Operation in the Buffer Mode
33
Example 11 - Motion Programs
33
Example 12 - Motion Programs with Loops
34
Example 13 - Motion Programs with Trippoints
34
Example 14 - Control Variables
34
Example 15 - Linear Interpolation
35
Example 16 - Circular Interpolation
35
Chapter 3 Connecting Hardware
37
Overview
37
Using Opto-Isolated Inputs
37
Limit Switch Input
37
Home Switch Input
38
Abort Input
38
Uncommitted Digital Inputs
39
Wiring the Optoisolated Inputs
39
Using an Isolated Power Supply
40
Bypassing the Opto-Isolation
41
Changing Optoisolated Inputs from Active Low to Active High
42
Amplifier Interface
42
TTL Inputs
43
Analog Inputs
43
TTL Outputs
44
Offset Adjustment
44
Chapter 4 Communication
45
Introduction
45
RS232 Ports
45
RS232 - Main Port {P1} DATATERM
45
RS232 - Auxiliary Port {P2} DATASET
45
RS422 - Main Port {P1
45
RS422 - Auxiliary Port {P2
46
Configuration
46
Baud Rate Selection
46
Daisy-Chaining
47
Daisy Chain Example
47
Synchronizing Sample Clocks
48
Controller Response to DATA
48
Galil Software Tools and Libraries
48
Chapter 5 Command Basics
49
Introduction
49
Command Syntax
49
Coordinated Motion with more than 1 Axis
50
Program Syntax
50
Controller Response to DATA
50
Interrogating the Controller
51
Interrogation Commands
51
Summary of Interrogation Commands
51
Additional Interrogation Methods
52
Operands
52
Command Summary
52
Chapter 6 Programming Motion
53
Overview
53
Independent Axis Positioning
53
Command Summary - Independent Axis
54
Operand Summary - Independent Axis
54
Independent Jogging
56
Command Summary - Jogging
56
Operand Summary - Independent Axis
56
Linear Interpolation Mode
57
Specifying Linear Segments
57
Specifying Vector Acceleration, Deceleration and Speed
58
Additional Commands
58
Command Summary - Linear Interpolation
59
Operand Summary - Linear Interpolation
60
Vector Mode: Linear and Circular Interpolation Motion
62
Specifying Vector Segments
62
Specifying Vector Acceleration, Deceleration and Speed
63
Additional Commands
63
Command Summary - Vector Mode Motion
65
Operand Summary - Vector Mode Motion
65
Electronic Gearing
66
Command Summary - Electronic Gearing
67
Operand Summary - Electronic Gearing
67
Electronic Cam
69
Command Summary - ECAM Mode
73
Operand Summary - ECAM Mode
73
Contour Mode
75
Specifying Contour Segments
75
Additional Commands
76
Command Summary - Contour Mode
76
Teach (Record and Play-Back)
78
Stepper Motor Operation
79
Specifying Stepper Motor Operation
80
Using an Encoder with Stepper Motors
81
Command Summary - Stepper Motor Operation
81
Operand Summary - Stepper Motor Operation
81
Dual Loop (Auxiliary Encoder)
82
Backlash Compensation
82
Command Summary - Using the Auxiliary Encoder
84
Operand Summary - Using the Auxiliary Encoder
84
Motion Smoothing
84
Using the IT and VT Commands (S Curve Profiling)
84
Using the KS Command (Step Motor Smoothing)
86
Homing
86
High Speed Position Capture (the Latch Function)
89
Chapter 7 Application Programming
91
Overview
91
Using the DMC-1500 Editor to Enter Programs
91
Edit Mode Commands
92
Program Format
93
Using Labels in Programs
93
Special Labels
93
Commenting Programs
94
Executing Programs & Multitasking
95
Debugging Programs
96
Debugging Programs
98
Commands
98
Operands
98
Program Flow Commands
99
Event Triggers & Trippoints
99
DMC-1500 Event Triggers
100
Event Trigger Examples
100
Conditional Jumps
103
Subroutines
106
Stack Manipulation
106
Auto-Start Routine
107
Automatic Subroutines for Monitoring Conditions
107
Mathematical and Functional Expressions
110
Mathematical Expressions
110
Bit-Wise Operators
111
Functions
112
Variables
112
Assigning Values to Variables
113
Operands
114
Special Operands (Keywords)
115
Arrays
115
Defining Arrays
115
Assignment of Array Entries
116
Automatic Data Capture into Arrays
117
Command Summary - Automatic Data Capture
117
Data Types for Recording
117
Operand Summary - Automatic Data Capture
118
Deallocating Array Space
118
Input of Data (Numeric and String)
119
Input of Data
119
Operator Data Entry Mode
120
Using Communication Interrupt
120
Output of Data (Numeric and String)
122
Sending Messages
122
Specifying the Serial Port for Messages
123
Formatting Messages
123
Using the MG Command to Configure Terminals
124
Summary of Message Functions
124
Displaying Variables and Arrays
124
Interrogation Commands
124
Formatting Variables and Array Elements
126
Converting to User Units
127
Programmable Hardware I/O
127
Digital Outputs
127
Digital Inputs
128
Input Interrupt Function
129
Analog Inputs
130
Example Applications
131
Wire Cutter
131
X-Y Table Controller
132
Speed Control by Joystick
134
Position Control by Joystick
135
Backlash Compensation by Sampled Dual-Loop
135
Chapter 8 Hardware & Software Protection
138
Introduction
138
Hardware Protection
138
Output Protection Lines
138
Input Protection Lines
138
Software Protection
139
Programmable Position Limits
139
Off-On-Error
139
Automatic Error Routine
140
Limit Switch Routine
140
Chapter 9 Troubleshooting
142
Overview
142
Installation
142
Communication
143
Stability
143
Operation
143
Chapter 10 Theory of Operation
144
Overview
144
Operation of Closed-Loop Systems
146
System Modeling
147
Motor-Amplifier
148
Encoder
150
Dac
151
Digital Filter
151
Zoh
151
System Analysis
152
System Design and Compensation
154
The Analytical Method
154
Appendices
158
Electrical Specifications
158
Servo Control
158
Stepper Control
158
Input/Output
158
Power
159
Performance Specifications
159
Card Level Layout
160
Connectors for DMC-1500 Main Board
161
J2 - Main (60 Pin IDC)
161
J5 - General I/O (26 Pin IDC)
162
J3 - Aux Encoder (20 Pin IDC)
162
J4 - Driver (20 Pin IDC)
163
J6 - Daughter Board Connector (60 Pin )
163
J7 - 10 Pin
163
Connectors for Auxiliary Board (Axes E,F,G,H)
164
JD2 - Main (60 Pin IDC)
164
JD5 - I/O (26 Pin IDC)
165
JD3 - 20 Pin IDC - Auxiliary Encoders
165
JD4 - 20 Pin IDC - Amplifiers
166
JD6 - Daughterboard Connector (60 Pin)
166
Cable Connections for DMC-1500
166
Standard RS-232 Specifications
166
DMC-1500 Serial Cable Specifications
167
Pin-Out Description for DMC-1500
169
Configuration Description for DMC-1500
171
Jumpers
171
Address Configuration Jumpers
171
Front Panel Baud Rate Switches
171
Adjustment Pots
172
Dip Switch Settings
172
Offset Adjustments for DMC-1500
172
Accessories and Options
173
ICM-1100 Interconnect Module
174
AMP/ICM-1100 Connections
174
J2 - Main (60 Pin IDC)
177
J3 - Aux Encoder (20 Pin IDC)
177
J4 - Driver (20 Pin IDC)
177
J5 - General I/O (26 Pin IDC)
177
JX6, JY6, JZ6, JW6 - Encoder Input (10 Pin IDC)
177
ICM-1100 Drawing
178
AMP-11X0 Mating Power Amplifiers
179
TERM-1500 Operator Terminal
179
DB-15072 OPTO-22 Expansion Option
187
Configuring the I/O for the DB-15072
187
Connector Description of the DB-15072
188
Coordinated Motion - Mathematical Analysis
191
DMC-700/DMC-1500 Comparison
194
List of Other Publications
196
Contacting Us
196
Warranty
197
Index • 195
203
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Galil DMC-1510 Specifications
General
Brand
Galil
Model
DMC-1510
Category
Controller
Language
English
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