Why does the motor drift slowly during periodic operation with my Galil Controller?
If the motor drifts slowly during a periodic operation with the Galil Controller, encoder noise may be the cause. To address this: 1. Interrogate the position periodically. 2. If the controller indicates the position remains the same at different locations, it suggests encoder noise. 3. Reduce the noise and consider using differential encoder inputs.
What causes the motor to drift slowly during periodic operation with my Galil DMC-2X00?
If the motor drifts slowly during a periodic operation with the Galil Controller, a programming error might be the cause. Avoid resetting the position error at the end of the move using the SH command.
Provides an overview of the DMC-2x00 series controller, highlighting enhanced features and capabilities for motion control.
Details electrical, mechanical, and environmental specifications for the DMC-2000 family.
Describes the types of motor control supported: servo motors, brushless motors, and stepper motors.
Discusses amplifier types and configurations in current and velocity modes for motor control.
Details the main functional groups of the DMC-2x00 circuitry, including microcomputer, motor interface, and I/O.
Provides an outline and description of the main board components and connectors.
Lists the recommended system elements required for setting up a DMC-2000 system.
Guides users through the 9-step process of installing and configuring the DMC-2x00 motion controller.
User must determine the desired motor configuration for the motion control system.
Describes the installation of master reset, upgrade, opto-isolation, and stepper motor jumpers.
Steps to establish communication via serial or USB ports using Galil software.
Details connecting motors to amplifiers and encoders, including amplifier enable signals.
Guidance on adjusting PID filter parameters (KP, KD, KI) for servo system tuning.
Describes opto-isolated digital inputs, TTL outputs, and analog inputs of the DMC-2x00.
Details the functionality and connection of limit switch, home, and abort inputs.
Explains how forward/reverse limit switches inhibit motion and trigger subroutines.
Describes homing routines (Find Edge, Find Index, Standard Homing) using the home switch input.
Covers the eight analog inputs and their resolution for sensors.
Describes the +/-10V command signal for amplifiers and the amplifier enable signal (AMPEN).
Covers general use and dedicated TTL outputs.
Details the 64 extended TTL I/O points configurable as inputs or outputs.
Overview of communication ports (RS232, USB, Ethernet) and capabilities.
Detailed pin-out descriptions for main and auxiliary RS-232 ports, including RS422 configuration.
PC configuration settings and front panel switch settings for RS-232 communication.
Details Ethernet communication protocols and addressing setup.
Explains Ethernet device addressing levels: hardware, IP, and UDP/TCP port.
Describes the QR command for retrieving controller status and data record information.
Explains controller responses (colon for valid, question mark for invalid) and error codes.
Overview of the DMC-2x00's command set for motion control and parameter configuration.
Details the format, syntax, and rules for using ASCII commands.
Explains the binary command format, including header structure and data fields.
Covers commands to directly interrogate controller status and parameters.
Lists and describes commands used to retrieve controller information.
Describes operands used for interrogation and within expressions.
Refers to a comprehensive command summary in the Command Reference manual.
Introduces modes of motion: positioning, jogging, coordinated motion, electronic cam, and gearing.
Explains motion where each axis operates independently, following its own profile.
Describes a mode for changing absolute position targets on the fly during motion.
Explains coordinated motion along linear segments for 2+ axes.
Allows electronic gearing of up to 8 axes to a master axis with specified gear ratios.
Enables periodic synchronization of axes using a table-based relationship.
Allows arbitrary position curves for 1-8 axes, ideal for complex paths.
Covers operation and commands specific to stepper motors.
Explains routines for moving the motor to a mechanical reference using Home or Find Edge inputs.
Introduces the virtual N axis for ECAM master and vector mode applications.
Introduces the powerful programming language for customizing controller applications.
Guides on using the controller's internal editor for program creation and editing.
Defines the structure of DMC programs, including instructions and delimiters.
Explains how to run up to 8 independent programs (threads) simultaneously.
Covers commands and operands for monitoring execution and diagnosing issues.
Instructions that control program execution based on events or conditions.
Details JP and JS instructions for branching based on specified conditions.
Explains creating and calling reusable blocks of instructions with labels.
Details using predefined labels for automatic execution based on specific conditions.
Covers mathematical operators, functions, and expressions for calculations.
Explains using programmable variables for dynamic parameter settings.
Describes using arrays for storing and collecting numerical data.
Covers using the IN command to prompt for and input data.
Covers methods for outputting data using MG, interrogation commands, and variables.
Overview of hardware and software features for error checking and motor inhibition.
Details input/output protection lines for errors and mechanical limits.
Explains Amp Enable signal and Error Output signal behavior.
Describes general abort, selective abort, forward, and reverse limit switches.
Covers programmable error limits and the Off-On-Error function.
Explains setting forward and reverse position limits using BL and FL commands.
Details the function to turn off motors under specific error conditions.
Explains the #POSERR subroutine for automatic execution on position error.
Describes the #LIMSWI subroutine for automatic execution upon limit switch activation.
Discusses potential problems, causes, and remedies for system setup and operation.
Provides a table of common installation symptoms, causes, and remedies.
Lists common communication issues and their troubleshooting steps.
Addresses motor oscillation and runaway issues related to feedback polarity and gain.
Covers troubleshooting for command rejection, incomplete moves, and motor drift.
Explains the fundamental levels of motion control systems: loop closing, motion profiling, and programming.
Explains how servo systems maintain position through feedback and error correction.
Describes the functional elements of a servo system and their mathematical models.
Details the three modes of operation (Voltage Drive, Current Drive, Velocity Loop) and their transfer functions.
Explains the PID, low-pass, and notch filter elements and their parameters.
Presents an example of analyzing a position control system using block diagrams.
Discusses stabilizing closed-loop systems using digital filters and analytical design methods.
Provides electrical specifications for servo control, stepper control, I/O, and analog inputs.
Details servo loop update times and position accuracy.
Explains operating the controller with faster servo update rates using fast firmware.
Pin-out descriptions for high-density connectors on the main board.
Details mechanical, environmental, and description of the ICM-2900 module.
Details the ICM-1900 for easy connections to amplifiers, encoders, and switches.
Describes mating servo amplifiers for the DMC-2x00, rated for 7A continuous, 10A peak.
Explains opto-isolation options for outputs on ICM/AMP modules.
Details the operator terminal (hand-held and panel mount) and its features.
Explains the mathematical basis of coordinated motion, including vector velocity and path segments.
General| Category | Controller |
|---|---|
| Communication Interface | Ethernet |
| Encoder Input | up to 12 MHz |
| Analog Input | 12-bit resolution |
| Operating Temperature | 0 to +50 °C |
| Storage Temperature | -20°C to 70°C |
| Humidity | 5% to 95% non-condensing |
| Dimensions | 38mm |
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