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DMC-2X00
Galil DMC-2X00 User Manual
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CB-50-80 Drawing:
CB 50-80
REV A1
GALIL M
OTION
CON
T
ROL
M
AD
E IN USA
J9 -
80 pin connector
3M pa
r
t # N10280-
52E2VC
AMP part # 3-178238-0
JC6,
JC
8 - 50 pin
shr
oude
d hea
ders
w/
ce
nte
r k
ey
JC8 -
pins
1-50 of J
9
JC6 -
pins
51-100 of J
9
JC6
JC8
1/8"D
, 4 places
1 1/4"
9/16"
1/2"
1/8"
4 1/2"
1/8"
1/8"
15/16"
Mo
unting br
acket
for a
ttachin
g
inside
PC
J9
CB-50-80 Outlin
e
Figure A-17
DMC-2X00
Appendices
y
237
246
248
Table of Contents
Default Chapter
2
Using this Manual
2
Table of Contents
3
Chapter 1 Overview
11
Introduction
11
Specifications
12
DMC- 2000 Family Part Number Definition
12
Electrical Specifications
12
Mechanical Specifications
12
Environmental Specifications
13
Equipment Maintenance
13
Overview of Motor Types
13
Standard Servo Motor with +/- 10 Volt Command Signal
13
Brushless Servo Motor with Sinusoidal Commutation
13
Stepper Motor with Step and Direction Signals
14
Overview of Amplifiers
14
Amplifiers in Current Mode
14
Amplifiers in Velocity Mode
14
Stepper Motor Amplifiers
14
DMC-2X00 Functional Elements
15
Microcomputer Section
15
Motor Interface
15
Communication
15
General I/O
16
System Elements
16
Motor
16
Amplifier (Driver)
16
Encoder
17
Watch Dog Timer
17
Chapter 2 Getting Started
19
The DMC-2X00 Main Board
19
The DMC-2000 Daughter Board
20
The DMC-2200 Daughter Board
21
Elements You Need
22
Installing the DMC-2X00
24
Step 1. Determine Overall Motor Configuration
24
Step 2. Install Jumpers on the DMC-2X00
25
Step 3A. Configure DIP Switches on the DMC-2000
26
Step 3B. Configure DIP Switches on the DMC-2100
27
Step 3C. Configure DIP Switches on the DMC-2200
27
Step 4. Install the Communications Software
28
Step 5. Connect AC Power to the Controller
28
Step 6. Establish Communications with Galil Software
29
Step 7. Determine the Axes to be Used for Sinusoidal Commutation
31
Step 8. Make Connections to Amplifier and Encoder
32
Step 9A. Connect Standard Servo Motors
34
Step 9B. Connect Sinusoidal Commutation Motors
37
Step 9C. Connect Step Motors
40
Step 10. Tune the Servo System
40
Design Examples
41
System Set-Up
41
Profiled Move
42
Multiple Axes
42
Objective: Move the Four Axes Independently
42
Independent Moves
42
The Motion Parameters May be Specified Independently as Illustrated below
42
Position Interrogation
42
The Position Error, Which Is the Difference between the Commanded Position and the Actual Position Can be Interrogated with the Instruction te
43
Absolute Position
43
Velocity Control
43
Operation under Torque Limit
44
Interrogation
44
Operation in the Buffer Mode
44
Using the On-Board Editor
44
Motion Programs with Loops
45
Motion Programs with Trippoints
45
Control Variables
46
Linear Interpolation
46
Circular Interpolation
47
Chapter 3 Connecting Hardware
49
Overview
49
Using Optoisolated Inputs
49
Limit Switch Input
49
Home Switch Input
50
Abort Input
50
Reset Input
51
Uncommitted Digital Inputs
51
Wiring the Opto-Isolated Inputs
51
The Opto-Isolation Common Point
51
Using an Isolated Power Supply
52
Bypassing the Opto-Isolation
53
Analog Inputs
53
Amplifier Interface
53
TTL Inputs
54
The Auxiliary Encoder Inputs
54
TTL Outputs
55
General Use Outputs
55
Output Compare
55
Error Output
56
Extended I/O of the DMC-2X00 Controller
56
Chapter 4 Communication
57
Introduction
57
RS232 Ports
57
RS232 - Main Port {P1} DATATERM
57
RS232 - Auxiliary Port {P2} DATASET
57
RS422 - Main Port {P1
58
RS422 - Auxiliary Port {P2
58
RS-232 Configuration
58
Ethernet Configuration (DMC-2100/2200 Only)
60
Communication Protocols
60
Addressing
61
Communicating with Multiple Devices
63
Multicasting
64
Using Third Party Software
64
Data Record
65
Data Record Map
65
Explanation of Status Information and Axis Switch Information
67
Notes Regarding Velocity and Torque Information
69
QZ Command
69
Controller Response to Commands
69
Unsolicited Messages Generated by Controller
70
Galil Software Tools and Libraries
70
Chapter 5 Command Basics
71
Introduction
71
Command Syntax - ASCII
71
Coordinated Motion with more than 1 Axis
72
Command Syntax - Binary
73
Binary Command Format
73
Binary Command Table
74
Controller Response to DATA
75
Interrogating the Controller
76
Interrogation Commands
76
Summary of Interrogation Commands
76
Interrogating Current Commanded Values
76
Operands
76
Command Summary
77
Chapter 6 Programming Motion
79
Overview
79
Independent Axis Positioning
80
Command Summary - Independent Axis
81
Operand Summary - Independent Axis
81
Examples
82
Position Tracking
83
Example
85
Example
86
Trip Points
88
Command Summary - Position Tracking Mode
89
Independent Jogging
89
Command Summary - Jogging
89
Operand Summary - Independent Axis
89
Examples
90
Linear Interpolation Mode
91
Specifying the Coordinate Plane
91
Specifying Linear Segments
91
Additional Commands
92
Command Summary - Linear Interpolation
93
Operand Summary - Linear Interpolation
93
Example
93
Vector Mode: Linear and Circular Interpolation Motion
96
Specifying the Coordinate Plane
96
Specifying Vector Segments
97
Additional Commands
97
Command Summary - Coordinated Motion Sequence
98
Operand Summary - Coordinated Motion Sequence
99
Example
99
Electronic Gearing
101
Ramped Gearing
101
Example
103
Command Summary - Electronic Gearing
103
Electronic Cam
105
Command Summary - Electronic CAM
108
Operand Summary - Electronic CAM
109
Example
109
Contour Mode
110
Specifying Contour Segments
110
Additional Commands
111
Command Summary - Contour Mode
112
General Velocity Profiles
112
Example
112
Virtual Axis
115
Ecam Master Example
115
Sinusoidal Motion Example
115
Stepper Motor Operation
116
Specifying Stepper Motor Operation
116
Stepper Motor Smoothing
116
Monitoring Generated Pulses Vs. Commanded Pulses
116
Motion Complete Trip Point
117
Using an Encoder with Stepper Motors
117
Command Summary - Stepper Motor Operation
117
Operand Summary - Stepper Motor Operation
118
Stepper Position Maintenance Mode (SPM)
118
Error Limit
119
Correction
119
Dual Loop (Auxiliary Encoder)
122
Additional Commands for the Auxiliary Encoder
123
Backlash Compensation
123
Example
123
Motion Smoothing
124
Using the IT and VT Commands
125
Example
125
Using the KS Command (Step Motor Smoothing)
126
Homing
127
Example
127
Command Summary - Homing Operation
129
Operand Summary - Homing Operation
129
High Speed Position Capture (the Latch Function)
129
Example
130
Chapter 7 Application Programming
131
Overview
131
Using the DOS Editor to Enter Programs (DMC-2000 Only)
131
Edit Mode Commands
132
Example
132
Program Format
133
Using Labels in Programs
133
Special Labels
133
Commenting Programs
134
Executing Programs - Multitasking
135
Debugging Programs
136
Trace Commands ( DMC-2100/2200 Only)
136
Error Code Command
137
Stop Code Command
137
RAM Memory Interrogation Commands
137
Operands
137
Example
137
Program Flow Commands
138
Event Triggers & Trippoints
138
Conditional Jumps
142
If, Else, and Endif
144
Subroutines
146
Stack Manipulation
146
Auto-Start Routine
146
Automatic Subroutines for Monitoring Conditions
147
Mathematical and Functional Expressions
152
Mathematical Operators
152
Bit-Wise Operators
152
Functions
154
Variables
154
Programmable Variables
155
Operands
156
Special Operands (Keywords)
156
Arrays
157
Defining Arrays
157
Assignment of Array Entries
157
Uploading and Downloading Arrays to on Board Memory
158
Automatic Data Capture into Arrays
158
Deallocating Array Space
160
Input of Data (Numeric and String)
160
Input of Data
160
Operator Data Entry Mode
161
Using Communication Interrupt
162
Output of Data (Numeric and String)
163
Sending Messages
164
Displaying Variables and Arrays
165
Interrogation Commands
165
Formatting Variables and Array Elements
167
Converting to User Units
168
Hardware I/O
168
Digital Outputs
168
Digital Inputs
169
The Auxiliary Encoder Inputs
170
Input Interrupt Function
170
Analog Inputs
171
Extended I/O of the DMC-2X00 Controller
172
Configuring the I/O of the DMC-2X00
172
Saving the State of the Outputs in Non-Volatile Memory
173
Accessing Extended I/O
173
Interfacing to Grayhill or OPTO-22 G4PB24
174
Example Applications
174
Wire Cutter
174
A-B Table Controller
175
Speed Control by Joystick
177
Position Control by Joystick
178
Backlash Compensation by Sampled Dual-Loop
178
Chapter 8 Hardware & Software Protection
181
Introduction
181
Hardware Protection
181
Output Protection Lines
181
Input Protection Lines
182
Software Protection
182
Programmable Position Limits
183
Off-On-Error
183
Automatic Error Routine
183
Limit Switch Routine
184
Chapter 9 Troubleshooting
185
Overview
185
Installation
185
Communication
186
Stability
186
Operation
186
Chapter 10 Theory of Operation
187
Overview
187
Operation of Closed-Loop Systems
189
System Modeling
190
Motor-Amplifier
191
Encoder
193
Dac
194
Digital Filter
194
Zoh
195
System Analysis
196
System Design and Compensation
198
The Analytical Method
198
Appendices
201
Electrical Specifications
201
Servo Control
201
Stepper Control
201
Input / Output
201
Power
202
Performance Specifications
202
Minimum Servo Loop Update Time
202
Fast Update Rate Mode
203
Connectors for DMC-2X00 Main Board
204
DMC-2X00 Axes A-D High Density Connector
204
DMC-2X00 Axes E-H High Density Connector
205
DMC-2X00 Auxiliary Encoder 36 Pin High Density Connector
206
DMC-2X00 Extended I/O 80 Pin High Density Connector
206
RS-232-Main Port
208
RS-232-Auxiliary Port
208
USB - in
208
Ethernet
209
Cable Connections for DMC-2X00
209
Standard RS-232 Specifications
209
DMC-2X00 Serial Cable Specifications
210
Pin-Out Description for DMC-2X00
212
Jumper Description for DMC-2X00
214
Dimensions for DMC-2X00
215
Accessories and Options
216
ICM-2900 Interconnect Module
217
Mechanical Specifications
217
Environmental Specifications
217
Equipment Maintenance
217
Description
217
ICM-2900 Drawing
221
ICM-2908 Interconnect Module
222
ICM-2908 Drawing
223
PCB Layout of the ICM-2900
224
ICM-1900 Interconnect Module
225
Features
225
ICM-1900 Drawing
228
AMP-19X0 Mating Power Amplifiers
228
Features
228
Specifications
229
Opto-Isolated Outputs for ICM-2900 / ICM-1900 / AMP-19X0
229
Standard Opto-Isolation and High Current Opto-Isolation
229
Configuring the Amplifier Enable for ICM-2900 / ICM-1900
230
LAEN Option
230
Changing the Amplifier Enable Voltage Level
230
IOM-1964 Opto-Isolation Module for Extended I/O
231
Description
231
Overview
231
Configuring Hardware Banks
232
Digital Inputs
233
High Power Digital Outputs
234
Standard Digital Outputs
235
Electrical Specifications
236
Relevant DMC Commands
237
Screw Terminal Listing
237
CB-50-100 Adapter Board
240
Connectors
240
CB-50-100 Drawing
243
CB-50-80 Adapter Board
244
Connectors
245
CB-50-80 Drawing
247
TERM-1500 Operator Terminal
249
Features
250
Description
250
Specifications - Hand-Held
250
Specifications - Panel Mount
251
Keypad Maps - Hand-Held
251
Keypad Map - Panel Mount - 6 Columns X 5 Rows
252
Configuration
253
Function Keys
254
Input/Output of Data - DMC-2X00 Commands
254
Ordering Information
255
Coordinated Motion - Mathematical Analysis
256
Example- Communicating with OPTO-22 SNAP-B3000-ENET
259
DMC-2X00/DMC-1500 Comparison
262
List of Other Publications
263
Training Seminars
263
Contacting Us
264
Warranty
264
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Galil DMC-2X00 Specifications
General
Brand
Galil
Model
DMC-2X00
Category
Controller
Language
English
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