Galil DMC-2X00 Bedienungsanleitung

USER MANUAL DMC-2x00 Manual Rev. 2.0 By Galil Motion Control, Inc. Galil Motion Control, Inc. 270 Technology Way Rocklin, California 95765 Phone: (916) 626-0101 Fax: (916) 626-0102 E-mail Address: support@galilmc.com URL: www.galilmc.com Rev 02/0 8[...]

Using This Manual This user m anual provi des informati on for proper operation o f the DMC-2x0 0 controll er. A separate supplement al manual, the C ommand Refere nce, contains a description of the comm ands available f or use with this controller. Your DMC -2x00 moti on controller has been desig ned to work with both servo and st epper type motor[...]

DMC-2x00 Contents y i Contents Using This Manual .............................................................................................................. ...... ii Contents i Chapter 1 Overview 1 Introduc tion ................................................................................................................... ............ 1 Spe[...]

ii • Contents DMC-2X00 Step 3b. Configure DIP sw itches on th e DMC-2100................................................. 17 Step 3c. Configure DIP sw itches on th e DM C-2200 ................................................. 17 Step 4. Install the Co mmunications Software............................................................ 18 Step 5. Con[...]

DMC-2x00 Contents y iii Chapter 4 Communication 2 Introduc tion ................................................................................................................... ............ 2 RS232 Ports .................................................................................................................... ........... 2 RS232 - Main[...]

iv • Co ntents DMC-2X00 Specifying the Coor dinate Pla ne ............................................................................... 36 Specifying Lin ear Segm ents ...................................................................................... 36 Additional Comm ands ...................................................................[...]

DMC-2x00 Contents y v Chapter 7 Application Programming 76 Overview ................................................................................................................................. 76 Using the DOS Editor to Enter Program s (DMC-2000 only) .................................................. 76 Edit Mode Comm ands ...................[...]

vi • Contents DMC-2X00 Extended I/O of the DMC-2x00 Co ntroller ........................................................................... 117 Configuring the I/O of the DM C-2x00 .................................................................... 117 Saving the State of the Outp ut s in Non-Vo latile Memory.....................................[...]

DMC-2x00 Contents y vii DMC-2x00 Axes A-D High Density Connector...................................................... 149 DMC-2x00 Axes E-H High Density Connector ...................................................... 150 DMC-2x00 Auxiliary Encoder 36 Pin High Density Connector ............................. 151 DMC-2x00 Extended I/O 80 Pi n High D[...]

viii • Contents DMC-2X00 Keypad Maps - H and-Held ...................................................................................... 196 Keypad Map - Panel M oun t – 6 columns x 5 rows ................................................. 197 Configur ation.........................................................................................[...]

DMC-2X00 Chapter 1 O ver view y 1 Chapter 1 Overview Introduction The DMC-2x00 Series are Galil’s highest performan ce stand-alone controller. The controller series offers many enhanced features including high speed communication s, non-volatile program memory, faster encode r speeds, and i mproved cablin g for EMI reduc tion. Each DMC-2x 00 prov[...]

2 • Chapter 1 Overview DMC-2X00 Specifications DMC- 2000 Family Part Number Definition D M C - 2 0 0 0 | | Communication Options ------| | 0: USB | 2: Ethernet | | Number of Axis ---------------| 1: One Axes 2: Two Axes 3: Three Axes 4: Four Axes 5: Five Axes 6: Six Axes 7: Seven Axes 8: Eight Axes Electrical Specifications Description Unit Speci[...]

DMC-2X00 Chapter 1 O ver view y 3 Environmental Specifications Description Unit Specification ---------- - ---- ---------- --- Storage Temperature C -25 to +70 Operating Temperat ure C 0 to +70 Operating Altitud e feet 10,000 Equipment Maintenance The DMC-2000 doe s not require mai ntenance. Overview of Motor Types The DMC-2x 00 can provi de the fo[...]

4 • Chapter 1 Overview DMC-2X00 upon reset. This allows the motor to function immediatel y upon power up. The Hall effe ct sensors also provide a method for setting the precise comm ut ation phase. Chapter 2 describes the proper connection a nd procedure for using si nusoidal com mutation of brushless motors. Stepper Motor with Step and Direction[...]

DMC-2X00 Chapter 1 O ver view y 5 DMC-2x00 Functional Elements The DMC-2x 00 circuitry ca n be divide d into the following fu nctional gr oups as shown i n Figure 1.1 and discusse d below. WATCHDOG TIMER 68331 MICROCOMP UTER WIT H 4 Meg RAM 4 Meg FLASH EEPROM HIGH-SPEED MOTOR /ENCO DER INTERF AC E FOR A,B,C,D I/O INTER FAC E USB/ETH ERNE T RS-232 /[...]

6 • Chapter 1 Overview DMC-2X00 General I/O The DMC-2x00 provides interface circuitry for 8 bi-directional, optois olated inputs, 8 T TL outputs and 8 analog inputs with 12-Bit ADC (16-Bit optional). The DMC-2x00 also has an additional 64 I/O and unused auxiliary encoder inputs ma y also be used as additional in puts (2 inputs / each axis). The g[...]

DMC-2X00 Chapter 1 O ver view y 7 Encoder An encoder translates motion into electrical pulses which a re fed back into the controller. T he DMC- 2x00 accepts feedback from either a rotary or linear e ncoder. Typical encoders provide two channels in quadrature, known as CH A and CHB. T his type o f encoder is known as a quad rature encode r. Quadrat[...]

8 • Chapter 1 Overview DMC-2X00 THIS PAGE LEFT BLANK INTE NTIONALLY[...]

DMC-2X00 Chapter 2 Getting Started y 9 Chapter 2 Getting Started The DMC-2x00 Main Board GL-1800 Moto rol a 68331 GL-1800 DMC-2000 REV A GALIL MOTION CONTROL SRAM EEPROM 1 AUX ENCODERS AXES A-D (X -W) J5 J1 MADE IN USA J9 AXES E-H J2 JP5 SMA(X) SMB(Y) SMC(Z) SMD(W) OPT1 SW 1 +5V +12V GND -12V +5V ||| ||||| ||||| *AH-9999* SRAM JP7 SME SMF SMG SMH O[...]

10 • Chapter 2 Getting Started DMC-2X00 The DMC-2000 Daughter Board J4 CMB-200 1 REV C USB DAUGHTER CARD GALIL MOTION CONT ROL U9 J6 MRST XON XO F HSHK 9600 19.2 38 A2 A1 A0 USB EXTENDED I/O J1 J3 MADE I N USA 1 A1 B1 C1 AUX JP4 JP3 R232 R232 R232 R485 TE R M MAI N J 5 USB IN USB OUT TE R M R485 R232 R232 R232 R422 S 8 8 S D1 USB Com mu nic ati o[...]

DMC-2X00 Chapter 2 Getting Started y 11 The DMC-2200 Daughter Board D1 D2 J2 JP3 U14 JP4 JP5 U15 U16 U6 U4 U1 J8 A1 B1 C1 J7 10 BASE-F RECEIVER 10 BASE-2 10 BASE-F TRANS MI TTER 100 BAS E-T AUX SERIAL PORT DB-9 FEMALE MAIN SERIA L PORT DB-9 MALE CONFIGURATION DIP SW IT CHES 80 PIN HIGH DENSITY CONNECTOR FOR EXTENDED I/O COMMUNICATIONS STATUS LED 10[...]

12 • Chapter 2 Getting Started DMC-2X00 Elements You Need GALIL ICM-2900 ICM-2908 ICM-2900 0 1 3 2 7 6 4 5 IOM-1964- 80 Power Ca ble ( Include d with the co n tro ller) ICM-2900 Prov ides Conne ction t o Sign als for Axes E-H ICM-2908 Prov ides Connec tion to A ll Auxiliary En coder Si gnal s CABLE-36-1M (1MET ER) OR CABLE-36-4M (4MET ER) CABLE-1[...]

DMC-2X00 Chapter 2 Getting Started y 13 ICM-2900 ICM-2908 ICM-2900 0 1 3 2 7 6 4 5 IOM-1964-80 GALIL Power Cable (Included with the control ler) ICM-2900 Provides Connection to Signals for Axes E-H ICM-2908 Provides Connection to All Auxiliary Encoder Signals CABLE-36-1M (1METER) OR CABLE-36-4M (4METER) CABLE-100-1M OR CABLE-100-4M Cable 9-PinD Mai[...]

14 • Chapter 2 Getting Started DMC-2X00 5. Motor Amplifiers. 6. Power Supply for Am plifiers. 7. Brush or Brushless Serv o motors wit h Optical Enc oders or st epper motors . 8. PC (Personal Computer - RS2 32 or USB for DMC-2000 or Eth ernet for DMC-2100) 9a. WSDK-16 or WSDK-3 2 (recommend for fi rst time users.) or 9b. DMCWIN 16, DMCWIN 32 or DM[...]

DMC-2X00 Chapter 2 Getting Started y 15 Sinusoidal Commutation: Sinusoidal commutat ion is configure d through a single so ftware comm and, BA. Thi s config uration causes the controller t o reconfigure th e number of a vailable control axes. Each sinusoidally commutated motor requires two DACs. In standard serv o operation, the DMC-2x00 has one DA[...]

16 • Chapter 2 Getting Started DMC-2X00 Stepper Motor Jumpers For each axis that will used fo r stepper motor opera tion, the corresponding step per mode (SM) jumper must be conne cted. The stepper m ode jumpers, la beled JP5 and JP7 are located di rectly beside the GL-1800 IC 's on the m ain board (see the diagram of the DMC-2x00). The indi[...]

DMC-2X00 Chapter 2 Getting Started y 17 Switch 4, 5 and 6 - Main Serial Port Baud Rate The following table describes the b aud rate settings: 9600 19.2 3800 BAUD RATE ON ON OFF 1200 ON OFF OFF 9600 OFF ON OFF 19200 OFF OFF ON 38400 OFF ON ON 115200 Switch 10 - USB When on, the controller will use the USB port as a default port for messages. When of[...]

18 • Chapter 2 Getting Started DMC-2X00 Switch 4,5 and 6 - Main Serial Port Baud Rate The following table describes the b aud rate settings: 9600 19.2 3800 BAUD RATE ON ON OFF 1200 ON OFF OFF 9600 OFF ON OFF 19200 OFF OFF ON 38400 OFF ON ON 115200 Switch 7-Option When OFF, the controller will use the auto-negotiate functio n to set the Ethernet c[...]

DMC-2X00 Chapter 2 Getting Started y 19 Step 6. Establish Communications with Galil Software Communicating through the Main Serial Communications Port Connect the DMC-2x00 MAIN serial port to your computer via the Galil CABLE-9PIN-D (RS-232 Cable). Using Galil Software for DOS (serial communication only) To comm unicate with the DM C-2000, type T A[...]

20 • Chapter 2 Getting Started DMC-2X00 Using Non-Galil Communication Software The DMC-2x00 main serial port is conf igured as DATASE T. Your com puter or te rminal must be configured a s a DATATERM for full duplex, no parity, 8 da ta bits, one start bit an d one stop bi t. Check to insur e that the bau d rate switches have been set to the desire[...]

DMC-2X00 Chapter 2 Getting Started y 21 address you entered to the contro ller with the specifi ed serial num ber. Clic k on YES to assign it, NO to move to next cont roller, or CANCEL to not save th e changes. If there are no controllers on the network that do not have a n IP address assi gned, the prog ram will state this. When done registeri ng,[...]

22 • Chapter 2 Getting Started DMC-2X00 Step 8. Make Connections to Amplifier and Encoder. Once you have established c ommunicat ions between the software and t he DMC-2x00, y ou are ready to connect the rest of the m otion cont rol system . The motion c ontrol sy stem typically consists of an ICM-2900 Interface Module, an amplifier for eac h axi[...]

DMC-2X00 Chapter 2 Getting Started y 23 For stepper m otor operati on, an enco der is opti onal. For servo motor operation, if you have a pr eferred definition of the forward and reverse directions, m ake sure that the encode r wiring is consistent with that de finition. The DMC-2x00 accepts single-ended or differe ntial encoder feedback wit h or w[...]

24 • Chapter 2 Getting Started DMC-2X00 Step 9a. Connect Standard Servo Motors The following discussion applies to conn ecting the DMC-2x00 controller to stand ard servo motor amplifiers: The motor and the amplifier may be configured in the torque or the velocity mode. In the torque mode, the am plifier gain s hould be such t hat a 10 volt si gna[...]

DMC-2X00 Chapter 2 Getting Started y 25 Step D. Connect the Motor Once the para meters have been set, connect the analog motor command signal (ACMD) to the amplifier input. To test the polarity of the feedback , command a move with the instruction : PR 1000 <CR> Position relative 1000 cou nts BGA <CR> Begi n motion on A axis When the po[...]

26 • Chapter 2 Getting Started DMC-2X00 DC Ser vo Mo t or - + Encode r ICM-2900 MOCMDZ SI GN Z PWMZ GND MOCMDX SI GN X PWMX OUT P W R ERROR CMP OUT GND OUT5 OUT6 OUT7 OUT8 MOCMDW SI GNW PW MW GND MOCMDY SI GNY PW MY GND +5V HOME Z RLSZ FLS Z HOME X RLSX FLSX GND IN5 IN6 IN7 IN8 +5V +12V -12V ANA GND ANALOG5 ANALOG6 ANALOG7 ANALOG8 +5V +5V +I NY -[...]

DMC-2X00 Chapter 2 Getting Started y 27 Step 9b. Connect Sinusoidal Commutation Motors When using sinusoidal com mutation, the par ameters for t he comm utation must be determ ined and saved in the controller’s non-vo latile memory. The setup for sinusoidal co mmutation is different w hen using Hall Sensors . Each step whi ch is affe cted by Hall[...]

28 • Chapter 2 Getting Started DMC-2X00 The user must specify the value for V a nd T. For example, the comm and: BSA = 2,700 will test the A axis with a voltage of 2 volts, applying it for 700 millisecond for each phase. In response, this test indicates whether the DAC wiring is correct and will indicate an approximate value of BM. If the wiring [...]

DMC-2X00 Chapter 2 Getting Started y 29 WARNING: This command must move the motor to find the zero commutation phase. This movement is instantaneous and will cause the system to jerk. Larger applied voltages will cause more severe motor jerk. The applied v oltage will ty pically be sufficient for proper operation of the BZ command. For systems with[...]

30 • Chapter 2 Getting Started DMC-2X00 Step 9c. Connect Step Motors In Stepper Mot or operation, t he pulse output signal ha s a 50% duty cycle. Step motors operate open loop and do not require encoder feedb ack. When a stepper is used, the auxiliary en coder for the corresponding axis is unavailable for an external connection . If an encoder is[...]

DMC-2X00 Chapter 2 Getting Started y 31 For more damping, y ou can increase KD (maximum is 4095) . Increase gr adually and sto p after the motor vibrat es. A vibrati on is noti ced by audibl e sound or b y interrogati on. If you se nd the command TE A <return> Tell error a few tim es, and get varyi ng responses, es pecially wi th reversing po[...]

32 • Chapter 2 Getting Started DMC-2X00 Profiled Move Rotate the A axis a distance of 10,000 counts at a slew s peed of 20,000 counts/sec and a n acceleration and deceleration rates of 100,000 counts/s 2. In this example, the m otor turns and stops: Instruction Interpretation PR1000 Distance SP20000 Spee d DC 100000 Deceleration AC 100000 Acceler[...]

DMC-2X00 Chapter 2 Getting Started y 33 The position error, wh ich is the d ifference betw een the command ed position and the actual position can be interrogated with the in struction TE. Instruction Interpretation TE Tell error – all axes TE A Tell error – A axis only TE B Tell error – B axis only TE C Tell error – C axis only TE D Tell e[...]

34 • Chapter 2 Getting Started DMC-2X00 Operation Under Torque Limit The magnitude of the motor command may be limited independently b y the instruction TL. Instruction Interpretation TL 0.2 Set output limit of A axis to 0.2 volts JG 10000 Set A speed BG A Start A motion In this example, the A motor will probably not move since the ou tput signal[...]

DMC-2X00 Chapter 2 Getting Started y 35 Line # Instruction Interpretation 000 #A Define label 001 PR 700 Distance 002 SP 2000 Speed 003 BGA Start A motion 004 EN End program To exit the edito r mode, input <cntrl>Q. The program may be execu ted with the command. XQ #A Start the program running If the ED command is issued from the Galil W indo[...]

36 • Chapter 2 Getting Started DMC-2X00 AP ,50000 Wait until position B=50000 SP ,10000 Change speed of B EN End program To start the program, comm and: XQ #B Execute Program #B Control Variables Objective: To show ho w control variables may be utilized. Instruction Interpretation #A;DP0 Label; Define cu rrent position as zero PR 4000 Initial pos[...]

DMC-2X00 Chapter 2 Getting Started y 37 Instruction Interpretation LM ABC Specify linear interpolation axes LI 7000,3000,6000 Relative distan ces for linear interpolation LE Linear End VS 6000 Vector speed VA 20000 Vector acceleration VD 20000 Vector deceleration BGS Start motion Circular Interpolation Objective: Move the AB axes in circular mode t[...]

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DMC-2X00 Chapter 3 Connecting Hardw are y 39 Chapter 3 Connecting Hardware Overview The DMC-2x00 provid es opto-isolated d igital inputs for forwa rd limit , reverse limit, home , and abort signals. The controller also has 8 opto-isolated , uncommitted inputs (for genera l use) as well as 8 TTL outputs and 8 analog inputs configured for voltages be[...]

40 • Chapter 3 Connecting Hardware DMC-2X00 Home Switch Input Homing in puts are desig ned to pro v ide mechanical reference points fo r a motion control application. A transition in the state of a Home input alert s the controller that a particul ar reference point has been reached by a movi ng part in the mo tion control system. A reference poi[...]

DMC-2X00 Chapter 3 Connecting Hardw are y 41 longer under servo control. If the Off-On-Erro r func tion is disabled, th e motor will decelerate to a stop as fast as mechanically possible and the mo tor will remain in a servo state. All motion programs that are curren tly running are terminated when a transition in the Abort input is detected. For i[...]

42 • Chapter 3 Connecting Hardware DMC-2X00 INCO M IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 ABOR T LSCOM FLSA RLS A HOMEA FLSB RLSB HOMEB Additional Limit Switches(Dependent on Number of Axes) (ALATCH) (B LATCH) (CL ATCH) (DLATCH) Figure 3-1. The Optoisolated Inputs. NOTE: Controllers with 5 or more ax es have IN[9] through IN[16] also connected to INCOM.[...]

DMC-2X00 Chapter 3 Connecting Hardw are y 43 LSCOM FLSA External Resistor N eeded fo r Voltages > +24V LSCOM FLSA External Resistor N eeded fo r Voltages > +24V Configur ation to s ource current at LSCOM ter m inal and sink switch Configur ation to sink current at LSCOM ter minal and source switch 2.2K 2.2K Figure 3-2. Connecting a single Lim[...]

44 • Chapter 3 Connecting Hardware DMC-2X00 command (Enable Off-On-Error) is given and the po sition error exceeds the error limit. As shown in Figure 3-4, AMPEN can be used to disabl e the amplifie r for these condi tions. The standar d configuration of the AMPE N signal is TTL active high. I n other words, t he AMPEN signal will be high when th[...]

DMC-2X00 Chapter 3 Connecti n g Hardware y 45 Each input from the auxiliary encode r is a differe ntial line receiver and can accept voltage levels between +/- 12 volts. The inputs have been config ured to ac cept TTL level signals. To connect TTL signals, sim ply connect the signal t o the + input and leave t he - input discon nected. For othe r s[...]

46 • Chapter 3 Connecting Hardware DMC-2X00 Error Output The controller provides a TTL sign al, ERROR, to indicate a controller error condition. When an error condition occurs, the ERROR signal will go low and the controller LED will go on. An error occu rs because of one of th e following conditions: 1. At least one axis has a position error gre[...]

2 • Chapter 4 Communicatio n DMC-2X00 Chapter 4 Communication Introduction The DMC-2x00 ha s two RS232 por ts, and either o ne USB input por t and 2 US B output ports, or Ethernet ports. The main RS-232 port is the data set and can be configur ed through the switch es on the front panel. The auxiliary RS-232 port is the da ta term and can be conf[...]

DMC-2X00 Chapter 4 Communi cati on y 3 *RS422 - Main Port {P1} 1 CTS - output 6 CTS+ output 2 Transmit Data - outpu t 7 Transmit+ output 3 Receive Data - input 8 Receive+ input 4 RTS - input 9 RTS+ input 5 Ground *RS422 - Auxiliary Port {P2} 1 CTS - input 6 CTS+ input 2 Receive Data - input 7 Receive+ input 3 Transmit Data - outpu t 8 Transmit+ out[...]

4 • Chapter 4 Communicatio n DMC-2X00 (Configure C ommunication) at port 2. The com mand is in the format of: CC m,n,r,p where m sets the baud rate, n sets for either hand shake or non- handshake mode, r sets fo r general port or the auxiliary port, and p turn s echo on or off. m - Baud Rate - 300,1200,48 00,9600,1920 0,38400 n - Handshake - 0=N [...]

DMC-2X00 Chapter 4 Communi cati on y 5 Example- Daisy Chain Objective: Control a 7-axis motion system using two controllers, a DMC-2040 4 axis con troller and a DMC-2030 3 axis con troller. Address 0 is the DMC-2040 and address 1 is the DMC-2 030. Desired m otion profil e: Address 0 (DMC-2040) A Axis is 500 counts B Axis is 1000 counts C Axis is 20[...]

6 • Chapter 4 Communicatio n DMC-2X00 Although UDP/IP is more efficient and simple, Ga lil recommends using the TCP/IP protocol. TCP/IP insures that if a packet is lost or destroyed while in transit, it will be resent. Ethernet comm unication trans fers inform ation in ‘packets ’. The packet s must be lim ited to 470 data bytes or less. Large[...]

DMC-2X00 Chapter 4 Communi cati on y 7 The second method for setting an IP address is to send the IA co mmand through the DMC-2100 /2200 main RS-23 2 port. The IP address y ou want to assi gn may be entered as a 4 byte num ber delimit ed by commas (ind ustry standa rd uses peri ods) or a si gned 32 bit number (E x. IA 124,5 1,29,31 or I A 208372457[...]

8 • Chapter 4 Communicatio n DMC-2X00 Communicating with Multiple Devices The DMC-2100/2200 is capab le of supporting multip le masters and slaves. The masters may be multiple PC's that send commands to the contro ller. The slaves are ty pically periphe ral I/O devices that receive commands from the c ontroller. NOTE: The term "Master&q[...]

DMC-2X00 Chapter 4 Communi cati on y 9 MBh = -1,len,a rray[] where len i s the number of bytes array[] is the array with the data The second level incorporates the Modbus st ructure. This is necessa ry for sending confi guration and special comm ands to an I/O device. The f ormats vary depe nding on t he function code t hat is called. For more info[...]

10 • Chapter 4 Communica ti o n DMC-2X00 Data Record The DMC-2x0 0 can provide a block of stat us informati on with the use of a single com mand, QR. Thi s command, along with the QZ comm and can be very useful for accessing complete controller status. The QR command will return 4 bytes of header information and specific blocks of information as [...]

DMC-2X00 Chapter 4 Communi cati on y 11 SL distance traveled in coordinated move for T plane T block UW a axis status A block UB a axis switch e s A block UB a axis stop code A block SL a axis reference position A block SL a axis motor position A block SL a axis position error A block SL a axis auxiliary position A block SL a axis velocity A block [...]

12 • Chapter 4 Communica ti o n DMC-2X00 SL e axis motor position E block SL e axis position error E block SL e axis auxiliary position E block SL e axis velocity E block SW e axis torque E block SW e axis analog E block UW f axis status F block UB f axis s witches F block UB f axis stop cod e F block SL f axis reference position F block SL f axi[...]

DMC-2X00 Chapter 4 Communi cati on y 13 in Data Record in Data Record in Data Record BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 H Block Present in Data Record G Block Present in Data Record F Block Present in Data Record E Block Present in Data Record D Block Present in Data Record C Block Present in Data Record B Block Present in Data Record [...]

14 • Chapter 4 Communica ti o n DMC-2X00 Switch Coordinated Motion Status Information for S or T plane (2 Byte) BIT 15 BIT 14 BIT 13 BIT 12 BIT 11 BIT 10 BIT 9 BIT 8 Move in Progress N/A N/A N/A N/ A N/A N/A N/A BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 N/A N/A Motion is slewing Motion is stopping due to ST or Limit Switch Motion is making [...]

DMC-2X00 Chapter 4 Communi cati on y 15 For instructions that return data, such as Tell Position (TP), the DMC-2x00 will return the data followed by a carriage return, line fee d and : . It is good practice to check for : after each c ommand is sent to prevent errors. An echo function is provided to enable asso ciating the DMC-2x00 response with th[...]

16 • Chapter 5 Command Basic s DMC-2X00 Chapter 5 Command Basics Introduction The DMC-2x00 pr ovides over 100 com mands fo r specifying m otion and machine parameters. Commands are includ ed to initiate action, interrogate status and configure the digital filter. Th ese commands can be sent in AS CII or binary. In ASCII, the DMC-2x00 instruction [...]

DMC-2X00 Chapter 5 Command Basi cs y 17 To view the current val u es for each command, type the c ommand followed by a ? for each a xis requested. PR 1000 Specif y A only as 1000 PR ,2000 Specify B only as 2000 PR ,,3000 Specify C only as 3000 PR ,,,4000 Specify D only as 4000 PR 2000, 4000,6000, 8000 Specify A,B ,C and D PR ,8000,,9000 Specify B a[...]

18 • Chapter 5 Command Basic s DMC-2X00 Command Syntax - Binary Some comm ands have an e quivalent bi nary value. Bi nary comm unication mode can be execut ed much faster than ASCII c ommands. Bina ry format can only be used when commands are sent from the PC and cannot be embedde d in an appl ication pro gram. Binary Command Format All binary co[...]

DMC-2X00 Chapter 5 Command Basi cs y 19 Bit 1 = B axis or 2 nd data field Bit 0 = A axis or 1 st data field Datafields Format Datafields must be consistent with the fo rmat byte and the axes byte. For example, the command PR 1000,, -5 00 would be A7 02 00 05 03 E8 FE 0C where A7 is the command number for PR 02 specifies 2 bytes for each data field [...]

20 • Chapter 5 Command Basic s DMC-2X00 AC 90 reserved bb CN e6 DC 91 reserved bc LZ e7 SP 92 CM bd OP e8 IT 93 CD be OB e9 FA 94 DT bf SB ea FV 95 ET c0 CB eb GR 96 EM c1 II ec DP 97 EP c2 EI ed DE 98 EG c3 AL ee OF 99 EB c4 reserved ef GM 9a EQ c5 reserved f0 reserved 9b EC c6 reserved f1 reserved 9c reserved c7 reserved f2 reserved 9d AM c8 re[...]

DMC-2X00 Chapter 5 Command Basi cs y 21 Interrogating the Controller Interrogation Commands The DMC-2x0 0 has a set of com mands that directly interrogate the controller. When th e comman d is entered, the requested data is returne d in decim al format on the next li ne followed by a carriage return and line feed. The form at of the re turne d data[...]

22 • Chapter 5 Command Basic s DMC-2X00 All of the com mand operands be gin with the underscore character (_). F or example, the value o f the current position on the A axis can be assigned to the variable ‘V’ with the command: V=_TPA The Comm and Reference de notes all comm ands which have an equi valent operan d as "Used as an Operand [...]

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24 • Chapter 6 Programmin g Motion DMC-2X00 Chapter 6 Programming Motion Overview The DMC-2x 00 provides sev eral modes of motion, incl uding indepe ndent positioning an d jogging, coordinated motion, electronic cam motion, and elect ronic gearing. Each one of these modes is discussed in t he following sections. The DMC-2x10 is a single axis cont[...]

DMC-2X00 Chapter 6 Programmin g Motion y 25 2-D motion path consisting of ar c segments and linear segments, such as engravin g or quilting. Coordinated Motion VM VP CR VS,VR VA,VD VE Third axis must remai n tangent to 2-D motion path, such as knife cutting. Coordinated motion with tangent axis specified VM VP CR VS,VA,VD TN VE Electronic gearing w[...]

26 • Chapter 6 Programmin g Motion DMC-2X00 acceleration ramp (AC), and deceleration ramp (DC) , for e ach axis. On begin (BG), the DMC-2x00 profiler generates the co rresponding trapezoidal or tr iangular velocity profile and po sition trajectory. The controller determines a new command positio n al ong the trajectory every sample period until t[...]

DMC-2X00 Chapter 6 Programmin g Motion y 27 _PAx Returns current destination if ‘x’ axis is moving, otherwise returns the current commanded position if in a move. _PRx Returns current increm ental distance spe cified for the ‘x’ axis Examples Absolute Position Movement Instruction Interpretation PA 10000,20000 Specify absolute A,B position [...]

28 • Chapter 6 Programmin g Motion DMC-2X00 VELOCIT Y (COUNTS/SEC) 20000 10000 5000 15000 20 40 60 80 TIME (ms ) 100 A ax is velocity profile B ax is velocity profile C ax is velocity profile 0 Figure 6.1 - Velocity Profiles of ABC Notes on fi g 6.1: The A and B axis have a ‘t rapezoidal’ vel ocity profile, while the C a xis has a ‘triangul[...]

DMC-2X00 Chapter 6 Programmin g Motion y 29 The position t racking m ode shouldn’t be confused wit h the contour m ode. The conto ur mode allows the user to generate custom profiles by updating the reference position at a specific time rate. In this mode, the position can be updated rand omly or at a fixed time rate, but the velocity profile will[...]

30 • Chapter 6 Programmin g Motion DMC-2X00 Figure 1 Positio n vs Time (msec) Motion 1 Example Motion 2: The previous step showed the plot if the m otion continued all the way to 50 00, howeve r partway through the motion , the object that was being tracked changed direction, so the host program determined that the actual targ et position should [...]

DMC-2X00 Chapter 6 Programmin g Motion y 31 Figure 2: Position vs. Time (m sec) Motion 2 Figure 3 Veloc ity vs Time (msec) Motion 2 Example Motion 4 In this motion, the host program comman ds the controller to begin motion toward s position 5000, changes the target to -2000, and then chang es it again to 8000. Figure 4 shows the plot of position vs[...]

32 • Chapter 6 Programmin g Motion DMC-2X00 Figure 4 Position vs. Time (msec) Motion 4 Figure 5 Velocity vs.Time Motion 4[...]

DMC-2X00 Chapter 6 Programmin g Motion y 33 Figure 6 Velo city cts/sec vs. Time ( msec) with IT Motion 4 Note the cont roller treats the point w here the velocity passes through ze ro as the end of one m ove, and the beginning of another move. IT is allowed, however it will introduce some time delay. Trip Points Most trip points are valid for use w[...]

34 • Chapter 6 Programmin g Motion DMC-2X00 Command Summary – Po sition Tracking Mode COMMAND DESCRIPTION AC n,n,n,n,n,n,n,n Acceleration settings for the specified axes AP n,n,n,n,n,n,n,n Trip point that holds up program execution until an absolute position has been reached DC n,n,n,n,n,n,n,n Deceleration settings for the specified axes MF n,n[...]

DMC-2X00 Chapter 6 Programmin g Motion y 35 _DCx Return deceleration rate for the axis specif ied by ‘x’ _SPx Returns the jog s peed for the axis specified by ‘x’ _TVx Returns the actual v elocity of the axis specified by ‘x’ (averaged over .25 sec) Examples Jog in X only Jog A motor at 50000 count/s. After A motor is at its jog speed, [...]

36 • Chapter 6 Programmin g Motion DMC-2X00 Linear Interpolation Mode The DMC-2x0 0 provides a li near interpolati on mode for 2 or more axes . In linear inte rpolation m ode, motion between the axes is coordinated to mainta in the prescribed vector speed, acceleration, and deceleration along the specified path. The motion path is described in te[...]

DMC-2X00 Chapter 6 Programmin g Motion y 37 Additional Commands The commands VS n, VA n, a nd VD n are used to specify the vector speed, acceleration and deceleration. The DMC-2x00 comput es the vector spee d based on the axes specified in t he LM mode. For example, LM ABC designates linear interpolatio n for the A,B and C axes. The vector spee d f[...]

38 • Chapter 6 Programmin g Motion DMC-2X00 Command Summary - Linear Interpolation COMMAND DESCRIPTION LM abcdefgh Specify axes for linear interpolati on LM? Returns number of available spaces fo r linear segments in DMC-2x00 sequence buffer. Zero means buffer fu ll. 512 means buffer empty. LI a,b,c,d,e,f,g,h < n Specify incremental distan ces[...]

DMC-2X00 Chapter 6 Programmin g Motion y 39 DP 0,0 Define position of A and B axes to be 0 LMAB Define linear mode be tween A and B axes. LI 5000,0 Specify first linear segment LI 0,5000 Specify second linear segment LE End linear segments VS 4000 Specify vector speed BGS Begin motion sequence AV 4000 Set trip point to wait until vector distance of[...]

40 • Chapter 6 Programmin g Motion DMC-2X00 POSITION C 0 0 40000 FEEDRATE 0 0.1 0.5 0 .6 4000 36000 30000 27000 3000 VELOCIT Y C-AXIS VELOCIT Y D-AXIS POSITION D TIME (s ec ) TIME (s ec ) TIME (s ec ) Figure 6.2 - Linear Interpolatio n[...]

DMC-2X00 Chapter 6 Programmin g Motion y 41 Multiple Moves This exampl e makes a coordi nated linear m ove in the AB plane. T he Arrays VA and VB are used to store 750 incremental distan ces whic h are filled by the program #LOAD. Instruction Interpretation #LOAD Load Program DM VA [750],VB [750] Define Array count=0 Initialize Counter n=10 Initial[...]

42 • Chapter 6 Programmin g Motion DMC-2X00 To specify vector commands the coordinate plane must first be identified. This is don e by issuing the command CAS to iden tify the S plane or CAT to iden tify the T plane. All vector command s will be applied to the active coord inate system until changed with the CA command. Specifying Vector Segments[...]

DMC-2X00 Chapter 6 Programmin g Motion y 43 The first command, <n, is eq uivalent to commanding VSn at the start of the given segment and will cause an acceleration toward the ne w commanded spee ds, subjects to the other c onstraints. The second fu nction, > m, requi res the vector speed to rea ch the value m at the end of the segm ent. Note[...]

44 • Chapter 6 Programmin g Motion DMC-2X00 VA n Specify vecto r acceleration alon g the sequence. VD n Specify vecto r deceleration alon g the sequence. VR n S pecify vector s peed ratio BGS Begin motion sequence. CS Clear sequence. AV n Trip point for Af ter Relative Vector distan ce, n. AMS Holds execution of next command until Motion Sequence[...]

DMC-2X00 Chapter 6 Programmin g Motion y 45 PA 3000,0,_TN Move A and B to starting positio n, move C to initial tangent position BG ABC Start the move to get into positio n AM ABC When the move is com plete SB0 Engage knife WT50 Wait 50 msec for the knife to en gage BGS Do the circular cut AMS After the coordinated move is complete CB0 Disengage kn[...]

46 • Chapter 6 Programmin g Motion DMC-2X00 C (-4000,3000) R = 1500 B (-4000,0) D (0,3000) A (0,0) Figure 6.3 - The Required Path Electronic Gearing This mode allows up to 8 axes to be electronically geared to som e master ax es. The masters m ay rotate in both directions and th e geared axes will follow at the specified gear ratio. The gear rati[...]

DMC-2X00 Chapter 6 Programmin g Motion y 47 and command maxim um current to th e motor. This can be a large shock t o the system. For many applications it is acceptable to slowly ram p the enga gem ent of gearing over a greate r time frame. Galil allows the user to specify an interval of the master axis over which the gearing will be eng aged. For [...]

48 • Chapter 6 Programmin g Motion DMC-2X00 The slave axis for each figure is shown in the bottom portion of the figure; the master axis is shown in the top portion. The sho ck to the slave axis will be significantly less in figure 2 than in figure1 . The ramped gearing does have one consequ ence. There isn’t a true synchronization of the two a[...]

DMC-2X00 Chapter 6 Programmin g Motion y 49 GR a,b,c,d,e,f,g, h Sets gear ratio for slave ax es. 0 disables electronic gearing for specified axis. GM a,b,c, d,e,f, g,h X = 1 sets gant ry mode, 0 disables gantry mode MR x,y,z,w Trippoint for reverse motion past sp ecified value. Only one field may be used. MF x,y,z,w Trippoint for forward motion p a[...]

50 • Chapter 6 Programmin g Motion DMC-2X00 You may also perform profiled position correctio ns in the electronic gearing mode . Suppose, for example, that you need to a dvance the slave 10 counts. Simply command IP ,10 Specify an incremental pos ition movement of 10 on B axis. Under these conditions, th is IP command is equivalent to: PR,10 Spec[...]

DMC-2X00 Chapter 6 Programmin g Motion y 51 The cycle of the master is li mited to 8,388,607 whereas the sl ave change per cycle is limited to 2,147,483,64 7. If the change is a negative number, the absolu te value is specified. For the given example, the cycle of the master is 6000 counts and the change in the slave is 1500. Therefore, we use t h [...]

52 • Chapter 6 Programmin g Motion DMC-2X00 Master A 4000 2250 2000 6000 3000 1500 0 Figure 6.4: Electronic Cam Example This disengages the slave ax is at a specified master position. If the parameter is outside the master cycle, the stopping is instantaneous. Step 8. Create program to generate ECAM table To illustrate the complete process, consi[...]

DMC-2X00 Chapter 6 Programmin g Motion y 53 Instruction Interpretation #SETUP Label EAA Select A as maste r EM 2000,1000 Cam cycles EP 20,0 Master position increments n = 0 Index #LOOP Loop to construct table from equa tion p = n ∗ 3.6 Note 3 .6 = 0.18 ∗ 20 s = @SIN [P] * 100 Define sine position b = n * 10+s Define slave position ET [n] =, b D[...]

54 • Chapter 6 Programmin g Motion DMC-2X00 Operand Summary - Electronic CAM command description _EB Contains State of ECAM _EC Contains current ECAM index _EGa Contains ECAM status for each axis _EM Contains size of c ycle for each axis _EP Contains value of the ECAM table interval _EQx Contains ECAM status for each axis Example Electronic CAM T[...]

DMC-2X00 Chapter 6 Programmin g Motion y 55 Figure 6.5 – Position Profiles of XY Z Contour Mode The DMC-2x 00 also provi des a contouring m ode. This mode allows any ar bitrary posit ion curve to be prescribed for 1 to 8 axes. This is ideal for following co mputer generated paths su ch as parabolic, spherical or user-defined profiles. Th e path i[...]

56 • Chapter 6 Programmin g Motion DMC-2X00 Increment 1 DA=48 Time=4 DT=2 Increment 2 DA=240 Time=8 DT=3 Increment 3 DA=48 Time=16 DT=4 When the cont roller receives the comm and to generate a t rajectory along these points, it interpolates linearly between the po ints. The resulting interpolated points includ e the position 12 at 1 msec, positio[...]

DMC-2X00 Chapter 6 Programmin g Motion y 57 Command Summary - Contour Mode COMMAND DESCRIPTION CM ABCDEFGH Specifies which axes for contouring m ode. Any non-contouring axes may be operated in other modes. CD a,b, c,d, e,f,g,h Specifies position increment over time interv al. Range is +/-32,000. (Zero ends contour mode, when issued following DT0) D[...]

58 • Chapter 6 Programmin g Motion DMC-2X00 Figure 6.7 - Velocity Profile with Sinusoidal Acceleration The DMC-2x0 0 can com pute trigonom etric functions. Howe ver, the argum ent must be exp ressed in degrees. Using our example, the equation for A is written as: A = 50T - 955 sin 3T A comple te program to generate the contour movem ent in this e[...]

DMC-2X00 Chapter 6 Programmin g Motion y 59 JP #c,c<15 EN End first program #RUN Program to run motor CMA Contour Mode DT3 4 millisecond intervals c=0 #E CD dif[c] Contour Distance is in dif WC Wait for completion c=c+1 JP #E,c<15 DT0 CD0 Stop Contour EN End the program Teach (Record an d Play-Back) Several applications require teaching the m[...]

60 • Chapter 6 Programmin g Motion DMC-2X00 SHA Servo Here WT1000 Wait 1 sec (1000 msec) CMA Specify contour mode on A axis DT2 Set contour data rate to be 2 2 m sec i=0 Set array index to 0 #LOOP3 Subroutine to execute contour points CD dx[i];WC Contour data command; Wait fo r next contour point i=i+1 Update index JP#LOOP3,i<500 Continue unti[...]

DMC-2X00 Chapter 6 Programmin g Motion y 61 Instruction Interpretation VMAN Select Axes VA 68000000 Maximum Acceleration VD 68000000 Maximum Deceleration VS 125664 VS for 20 Hz CR 1000, -90, 3600 Ten Cycles VE BGS Stepper Motor Operation When confi gured for steppe r motor operation, severa l commands are interpreted differently than from servo mod[...]

62 • Chapter 6 Programmin g Motion DMC-2X00 First, the controller generates a motion profile in accordance with the motion commands. Second, the pr ofiler generat es pulses as pres cribed by the m otion profile. The pulses that are generated by the motion profiler can be monitored by the comman d, RP (Reference Position). RP gives the absolute va[...]

DMC-2X00 Chapter 6 Programmin g Motion y 63 MT Motor Type (2,-2,2.5 or -2.5 for stepper motors) RP Report Commanded Position TD Report number of step pulses generated by controller TP Tell Position of Encoder Operand Summary - S tepper Motor Operation operand Description _DEa Contains t he value of the s tep count register for the ‘a’ ax is _DP[...]

64 • Chapter 6 Programmin g Motion DMC-2X00 When a Galil controller is configur ed for step motor operation, the step pulse output by the controller is internally fed back to the auxiliary encoder re gister. For SPM the feedback encoder on the stepper will connect to the main encoder port. Enablin g the SPM mode on a controller with YS=1 executes[...]

DMC-2X00 Chapter 6 Programmin g Motion y 65 Half-Stepping Drive , X axis: #SETUP OE1; Set the profiler to stop axis upon error KS16; Set step smoothing MT-2; Motor type set to stepper YA2; Step resolution of the half-step drive YB200; Motor resolution (full steps per revolution) YC4000; Encoder resolution (counts per re volution) SHX; Enable axis W[...]

66 • Chapter 6 Programmin g Motion DMC-2X00 SP512; Set the speed PR1000; Prepare mode of motion BGX; Begin motion #LOOP;JP#LOOP; Keep thread zero alive for #POSERR to run in REM When erro r occurs, the ax is will st op due to OE1. In REM #POSERR, query the status YS and the error QS, correct , REM and return to the main code. #POSERR; Automatic s[...]

DMC-2X00 Chapter 6 Programmin g Motion y 67 SP16384; Set the speed PR10000; Prepare mode of motion BGX; Begin motion MCX JS#CORRECT; Move to correction #MOTION2 SP16384; Set the speed PR-10000; Prepare mode of motion BGX; Begin motion MCX JS#CORRECT; Move to correction JP#MOTION #CORRECT; Correction code spx=_SPX #LOOP; Save speed value SP2048; Set[...]

68 • Chapter 6 Programmin g Motion DMC-2X00 Using the CE Command m= Main Encoder n= Second Encoder 0 Normal quadrature 0 Normal quadrature 1 Pulse & direction 4 Pulse & dire ction 2 Reverse quadrature 8 Reversed quadrature 3 Reverse pulse & direction 12 Reversed pulse & direction For exa mple, to co nfigur e the main encode r for [...]

DMC-2X00 Chapter 6 Programmin g Motion y 69 method splits the filter functi on between the two enco ders. It a pplies the KP (proportional) and KI (integral) terms to the position error, based on the lo ad encoder, and app lies the KD (derivative) term to the motor encoder. This method results in a stable system. The dual loop method is acti vated [...]

70 • Chapter 6 Programmin g Motion DMC-2X00 Trapezoidal velocity profiles have acceleration rate s which change ab ruptly from zero to maxim um value. The dis continuous acc eleration resul ts in jerk whi ch causes vibrati o n. The sm oothing of the acceleration profile leads to a continuous accelera tion profile and reduces the mechanical shock [...]

DMC-2X00 Chapter 6 Programmin g Motion y 71 TIME VELOCI TY TIME ACCELERATION TIME ACCELERA TI ON W I TH SMOO THING TIME VEL OCITY W ITH SMOO THING Figure 6.9 - Trapezoidal velocit y and smooth velocity profiles Using the KS Command (Step Motor Smoothing): When operati ng with ste p motors, m otion sm oothing can be accompl ished with the comma nd, [...]

72 • Chapter 6 Programmin g Motion DMC-2X00 Homing The Find Edge (FE) and Home (HM) i nstructions m ay be used to home the motor to a mechanical reference. Thi s reference is connected to t he Home input li ne. The HM command initializes the motor to the encoder index pu lse in addition to the Home input. The configu re command (CN) is used to de[...]

DMC-2X00 Chapter 6 Programmin g Motion y 73 MOTI ON TOW ARD INDEX DIRECTION POSITION HOME SWITCH _ HMA=1 _ HMX=0 POSITION MOTION REVERSE TOWARD HOME DIRECTION MOTION BEGINS TOWARD HOME DIRECTION VELOCIT Y VELOCIT Y VELOCIT Y POSITION POSITION INDEX PULSES POSITION HOME SENSOR (1) (2) (3) Figure 6.10 - Motion interva ls in the Home sequence[...]

74 • Chapter 6 Programmin g Motion DMC-2X00 Command Summary - Homing Operation command Description FE ABCD Find Edge Routine. This routine monitors the Home Input FI ABCD Find Index Routine - This routine monitors the Index Input HM ABCD Home Routine - This routine combines FE and FI as Described Above SC ABCD Stop Code TS ABCD Tell Status of S w[...]

DMC-2X00 Chapter 6 Programmin g Motion y 75 Example Instruction Interpretation #LATCH Latch program JG,5000 Jog B BG B Begin motion on B axis AL B Arm Latch for B axis #WAIT #Wait label for loop JP #WAIT,_ALB=1 Jump to #Wait label if latch has not occurred Result=_RLB Set ‘Result’ equal to the r eported position of y axis Result= Print result E[...]

76 • Chapter 7 A pplication Programming DMC-2X00 Chapter 7 Application Programming Overview The DMC-2x00 p rovides a pow erful progr amming la nguage that allows users to cust omize the controller for their particular application. Programs can be downloaded into the DMC-2x00 memory freeing the ho st comput er for other t asks. Howeve r, the host [...]

DMC-2X00 Chapter 7 Applicati on Programming y 77 :ED Puts Editor at end of last program :ED 5 Puts Editor at lin e 5 :ED #BEGIN Puts Editor at label #BEGIN Line numbers appear as 000, 001,002 and so o n. Program com mands are ente red followin g the line numbers. Multiple commands may be given on a single line as long as the total number of charact[...]

78 • Chapter 7 A pplication Programming DMC-2X00 Program Format A DMC program consists o f DMC-2x00 instruction s co mbined to solve a machin e control application. Action instructions, such as st arting and stoppi ng m otion, are combined with Program Flow instructions to form the complete program. Progr am Flow instructions evaluate real-time c[...]

DMC-2X00 Chapter 7 Applicati on Programming y 79 beginning the program with the label #AUTO. The program must be saved into non-volatile memory using the c ommand, BP. Automa tic Subroutines f or Monitorin g Condit ions on page 91. #ININT Label for Input Interrupt subroutine #LIMSWI Label for Limit Switch subroutine #POSERR Label for excess Positio[...]

80 • Chapter 7 A pplication Programming DMC-2X00 REM Command If you are using Galil software to communicate with the DMC-2x00 controller, you may also include REM statem ents. ‘REM’ statement s begin wit h the word ‘ REM’ and m ay be followe d by any comments which are on the same line. The Galil terminal software will remove th ese state[...]

DMC-2X00 Chapter 7 Applicati on Programming y 81 Instruction Interpretation #TASK1 Task1 label AT0 Initialize reference time CB1 Clear Output 1 #LOOP1 Loop1 label AT 10 Wait 10 msec from reference time SB1 Set Output 1 AT -40 Wait 40 msec from reference, th en initialize reference CB1 Clear Output 1 JP #LOOP1 Repeat Loop1 #TASK2 Task2 label XQ #TAS[...]

82 • Chapter 7 A pplication Programming DMC-2X00 Error Code Command When there is a progr am error, the DMC-2x00 halts the program execution at th e point where the error occurs. To display the last line number of program execution, is sue the com mand, MG _E D. The user can obtain information abou t the type of error c ondition that occurred by [...]

DMC-2X00 Chapter 7 Applicati on Programming y 83 Instruction Interpretation :ED Edit Mode 000 #A Program Label 001 PR1000 Position Relative 1000 002 BGA Begin 003 PR5000 Position Relative 5000 004 EN End <cntrl> Q Quit Edit Mode :XQ #A Execute #A ?003 PR5000 Error on Line 3 :TC1 Tell Error Code ?7 Command not valid while running. Command not [...]

84 • Chapter 7 A pplication Programming DMC-2X00 DMC-2x00 Event Triggers Command Function AM A B C D E FG H or S Halts program execution until motion is complete on the specified axes or motion sequence(s). AM with no parameter te sts for motion complete on all a xes. This command is useful for separating motion sequences in a program. AD A or B [...]

DMC-2X00 Chapter 7 Applicati on Programming y 85 Example- Multiple Move Sequence The AM trip point is used to separate the two PR moves. If AM is not used, the controller returns a ? for the second PR comm and because a new PR cannot be given until motion is com plete. Instruction Interpretation #TWOMOVE Label PR 2000 Position Command BGA Begin Mot[...]

86 • Chapter 7 A pplication Programming DMC-2X00 NOTE: The AI command actually halts execution of the program until the inpu t occurs. If you do not want to halt the program sequences, you can use th e Input Interrupt function (II) or use a conditional jump on an i nput, such as JP #GO,@ IN[1] =1. Instruction Interpretation #INPUT Program Label A[...]

DMC-2X00 Chapter 7 Applicati on Programming y 87 Example - Multiple Move with Wait This example makes multiple relative distance moves b y waiting for each to be complete before executing new m oves. Instruction Interpretation #MOVES Label PR 12000 Distance SP 20000 Speed AC 100000 Acceleration BGA Start Motion AD 10000 Wait a distance of 10,000 co[...]

88 • Chapter 7 A pplication Programming DMC-2X00 Command Format - JP and JS FORMAT: DESCRIPTION JS destination, logical cond ition Jump to subroutine if logi cal condition is sat isfied JP destination, logical condition Jump to location if logical condition is satisfied The destination is a program line number or labe l where the prog ram sequenc[...]

DMC-2X00 Chapter 7 Applicati on Programming y 89 In this example, this statement will cause the program to jump to the label #TEST if V1 is less than V2 and V3 is less than V4. To illustrate th is furthe r, consider this same example with an additional condition: JP #TEST, ((V 1<V2) & (V3< V4)) | (V5< V6) This statement will cause the [...]

90 • Chapter 7 A pplication Programming DMC-2X00 Using the IF and ENDIF Commands An IF conditional statement is formed by the combination of an IF and ENDIF command. The IF command has as its argum ents one or m ore conditiona l statements. If the conditional statem ent(s) evaluates true, the command interpreter will continu e executing commands [...]

DMC-2X00 Chapter 7 Applicati on Programming y 91 ELSE ELSE command for 2 nd IF statem ent MG "ONLY INPUT 1 IS ACTI VE Messa ge executed if 2 nd IF is false ENDIF End of 2 nd conditional statement ELSE ELSE command for 1 st IF statement MG"ONLY INPUT 2 IS ACTIVE" Message executed if 1 st IF statement ENDIF End of 1 st conditional stat[...]

92 • Chapter 7 A pplication Programming DMC-2X00 beginning the program with the label #AUTO. The program must be saved into non-volatile memory using the c ommand, BP. Automatic Subroutines fo r Monitoring Conditions Often it is desirable to monitor certain condition s continuously without tying up the host or DMC-2x00 program seque nces. The DM [...]

DMC-2X00 Chapter 7 Applicati on Programming y 93 Now, when a forward limit switch occurs on th e A axis, the #LIMSWI subroutine will be executed Notes regarding the #LIMSWI Routine: 1) The RE command is used to return from the #LIMSWI sub routine. 2) The #LIMSWI subroutine will be re-executed if the limit switch remains active. The #LIMSWI routine [...]

94 • Chapter 7 A pplication Programming DMC-2X00 TW 1000 Set the time out to 1000 ms PA 10000 Position Absolute comm and BGA Begin motion MCA Motion Complete trip point EN End main program #MCTIME Motion Complete Subroutine MG “A fell short” Send out a message EN End subroutine This simple program will issue the message “A fell short” if [...]

DMC-2X00 Chapter 7 Applicati on Programming y 95 Where the “,1” at the end of t he command line indicat es a restart; therefore, the existing program stack will not be remov ed when the above format execu tes. The following example shows an error correction routine which uses th e operands. Example - Command Error w/Multitasking Instruction Int[...]

96 • Chapter 7 A pplication Programming DMC-2X00 EN End main program #COMINT Interrupt Routin e JP #STOP,P2CH="0" Check for S (stop motion) JP #PAUSE,P2CH="1" Check for P (pause motion) JP #RESUME,P2CH="2" Check for R (resume motion) EN1,1 Do nothing #STOP Routine for stopping motion STA;ZS;EN Stop motion on A axis; [...]

DMC-2X00 Chapter 7 Applicati on Programming y 97 Mathematical and Functional Expressions Mathematical Operators For manipul ation of data , the DMC-2x 00 provides t he use of the following m athematical operators: Operator Function + Addition - Subtraction * Multiplication / Division & Logical And (Bi t-wise) | Logical Or (On some computers, a [...]

98 • Chapter 7 A pplication Programming DMC-2X00 flen=$10000* flen Shift flen by 32 bits (IE - conver t fraction, flen, to integer) len1=( flen &$00FF) Mask top byte of flen and set this value to variable ‘len1’ len2=( flen &$FF00)/$100 Let variable, ‘len2’ = top byte of flen len3= len &$000000FF Let variable, ‘len3’ = bot[...]

DMC-2X00 Chapter 7 Applicati on Programming y 99 Functions FUNCTION DESCRIPTION @SIN[n] Sine of n (n in degrees, with range of -32768 to 32767 and 16-bit fractional resolution) @COS[n] Cosine of n (n in degrees, with range of -32768 to 32767 and 16-bit fractional resolution) @TAN[n] Tangent of n (n in degrees, with range of -32768 to 32767 and 16-b[...]

100 • Chapter 7 A pplication Programming DMC-2X00 Programmable Variables The DMC-2x00 allows the user to create up to 254 variables. Eac h variable i s defines by a nam e which can be up to eight characters. The name m u st start with an alphab etic character; however, numbers are pe rmitted in the rest of the nam e. Sp aces are not permitted. Va[...]

DMC-2X00 Chapter 7 Applicati on Programming y 101 Displaying the value of va riables at the terminal Variables may be sent to the screen using th e format , variable=. For exam ple, v1= returns the value of the variable v1. Example - Using Variables for Joystick The example below reads the voltage of an A-B joystick an d assigns it to variables VA [...]

102 • Chapter 7 A pplication Programming DMC-2X00 _LRn Returns status of Reverse Limit s w itch input of axis ‘n’ (equals 0 or 1) UL *Returns the number of available var iables TIME Free-Running Real Time Clock (off by 2 .4% - Resets with power-on). NOTE: TIME does not use an underscore character (_) as other keywords. * These keywo rds have [...]

DMC-2X00 Chapter 7 Applicati on Programming y 103 con[2]=@COS[POS]*2 Assigns the 2 nd element of the arr ay the cosine of POS * 2. timer[1]=TIME Assigns the 1 st element of the array TIME Using a Variable to Address Array Elements An array element number can also be a variable. Th is allows array entries to be assigned sequentially using a cou nter[...]

104 • Chapter 7 A pplication Programming DMC-2X00 Command Summary - Automatic Data Capture command description RA n[], m[],o[ ],p[] Selects up to four arr ays for data capture. The arrays m ust be defined with the DM command. RD type1,type2,ty pe3,type4 Sel ects the type of data to be recorded , where type1, type2, type3, and type 4 represent the[...]

DMC-2X00 Chapter 7 Applicati on Programming y 105 PR 10000,20000 Specif y move distance RC1 S tart recording now, at ra te of 2 msec BG AB Begin motion #A;JP #A,_RC=1 Loop until done MG "DONE" Print message EN End program #PLAY Play back n=0 Initial Counter JP# DONE,N>300 Exit if done n= Print Counter apos [n]= Print X position bpos [n[...]

106 • Chapter 7 A pplication Programming DMC-2X00 The load is coupled with a 2 pitch lead screw. A 2000 count/rev encoder is on the motor, resulting in a resolution of 4000 counts/in ch. The program below uses the variable len, to length. The IN comman d is used to prompt the operator to enter th e length, and the entered valu e is assigned to th[...]

DMC-2X00 Chapter 7 Applicati on Programming y 107 These keywords m ay be used in an applications program to decode data and they ma y also be used in conditional statements w ith l ogical operators. Example Instruction Interpretation JP #LOOP,P2CD< >3 Checks to see if status code is 3 (number received ) JP #P,P1CH="V" Checks if last[...]

108 • Chapter 7 A pplication Programming DMC-2X00 #COMINT Interrupt routine JP #A,P2CH="A" Check for A JP #B,P2CH="B" Check for B JP #C,P2CH="S" Check for S ZS1;CI2;JP#JOGLOOP Jump if not X,Y,S #A;JS#NUM speedX=val New X speed ZS1;CI2;JP#PRINT Jump to Print #B;JS#NUM speedY=val New Y speed ZS1;CI2;JP#PRINT Jump to Pr[...]

DMC-2X00 Chapter 7 Applicati on Programming y 109 Sending Messages Messages may be sent to the bus using the messa ge comm a nd, MG. This command sends specified text and num erical or string data fr om variables or arrays to the screen. Text strings are specified in quotes and vari able or array data is desi gnated by the name of the variable or a[...]

110 • Chapter 7 A pplication Programming DMC-2X00 EN When #A is executed, the above ex ample will appear on the screen as: The speed is 50000 counts/sec Using the MG Command to Configure Terminals The MG command can be used to configure a terminal. Any ASCII character ca n be sent by usi ng the format {^ n} where n is any i nteger betwee n 1 and [...]

DMC-2X00 Chapter 7 Applicati on Programming y 111 Using the PF Command to Format Response from Interrogation Commands The comm and, PF, can change f ormat of the val ues returned by theses inte rrogation com mands: BL ? LE ? DE ? PA ? DP ? PR ? EM ? TN ? FL ? VE ? IP ? TE TP The numeri c values may be form atted in decimal or he xadecimal with a sp[...]

112 • Chapter 7 A pplication Programming DMC-2X00 LZ1 Enables the LZ function TP Tell Position Interrogation Command -9, 5 Response (Without Leading Zeros) Local Formatting of Response of Interrogation Commands The response of interrogation commands may be formatted locally. To format locally, use the command, {Fn .m} or {$n.m } on the sam e line[...]

DMC-2X00 Chapter 7 Applicati on Programming y 113 Instruction Interpretation v1=10 Assign v1 v1= Return v1 :0000000010.0000 Default Format v1={F4.2} Specify local format :0010.00 New format v1={$4.2} Specify hex format :$000A.00 Hex value v1="ALPHA" Assign string "ALPHA" to v1 v1={S4} S pecify string format first 4 characters :A[...]

114 • Chapter 7 A pplication Programming DMC-2X00 Example- Set Bit and Clear Bit Instruction Interpretation SB6 Sets bit 6 of output port CB4 Clears bit 4 of output port Example- Output Bit The Output B it (OB) inst ruction is usef ul for sett ing or cleari ng outputs depending o n the value o f a variable, array, input or expr ession. Any non-ze[...]

DMC-2X00 Chapter 7 Applicati on Programming y 115 Example - Using Inputs to control program flow Instruction Interpretation JP #A,@IN[1]=0 Jump to A if input 1 is low JP #B,@IN[2]=1 Jump to B if input 2 is high AI 7 Wait until input 7 is high AI -6 Wait until input 6 is low Example - Start Motion on Switch Motor A must turn at 4000 cou nts/ sec whe[...]

116 • Chapter 7 A pplication Programming DMC-2X00 after the execution of the #ININT subroutin e, the Zero Stack (ZS) command i s used followed by unconditional jump state ments. Important: Use the RI comm and (no t EN) to return from the #ININT su broutine. Example - Input Interrupt Instruction Interpretation #A Label #A II 1 Enable input 1 for i[...]

DMC-2X00 Chapter 7 Applicati on Programming y 117 PA VP Command position BGA Start motion AMA After completion JP #LOOP Repeat EN End Example - Position Follower (Continuous Move) Method: Read the analog input, compute the commanded pos ition and the position error. Command the motor to run at a speed in proportions to the position error. Instructi[...]

118 • Chapter 7 A pplication Programming DMC-2X00 8-Bit I/O Block Block Binary Representation Decimal Value for Block 17-24 2 2 0 1 25-32 3 2 1 1 2 33-40 4 2 2 4 41-48 5 2 3 8 49-56 6 2 4 16 57-64 7 2 5 32 65-72 8 2 6 64 73-80 9 2 7 128 The simplest method for determini ng n: Step 1. Determine which 8-bit I/O blocks to be configu red as outputs. [...]

DMC-2X00 Chapter 7 Applicati on Programming y 119 For exam ple, if block 8 is configured as an outp ut, the follo wing comm and may be issue d: OP 7,,,,7 This command will set bits 1,2,3 (block 0) and b its 65 ,66,67 (block 8) to 1. Bits 4 through 8 and bits 68 through 80 will be set to 0. All other bits are unaffected. When accessing I/O blocks c [...]

120 • Chapter 7 A pplication Programming DMC-2X00 Instruction Inter p retation #A Label AI1 Wait for input 1 PR 6370 Distance SP 3185 Speed BGA Start Motion AMA After motion is comp lete SB1 Set output bit 1 WT 20 Wait 20 ms CB1 Clear output bit 1 WT 80 Wait 80 ms JP #A Repeat the process START PULSE I1 MOTOR VELOCITY OUTPUT PULSE TIME INTERVALS [...]

DMC-2X00 Chapter 7 Applicati on Programming y 121 1 inch = 40,000 counts and the speeds of 1 in/sec = 40,000 count/sec 5 in/sec = 200, 000 count/sec an acceleration rate of 0.1g equals 0.1g = 38.6 in/ s2 = 1,544,000 count/ s 2 Note that the circular path has a radius of 2" or 80000 co unts, and the m otion starts at t he angle of 27 0 ° and t[...]

122 • Chapter 7 A pplication Programming DMC-2X00 PR,,80000 Raise C BGC AMC VP -37600,-16000 Return AB to start VE VS 200000 BGS AMS EN R=2 B C A 0 4 9.3 4 B A Figure 7.2 - Motor Velocity and the Associated Input/Output signals Speed Control by Joystick The speed of a motor is controlled by a joystick. Th e joysti ck produces a signal in the rang[...]

DMC-2X00 Chapter 7 Applicati on Programming y 123 Speed = 20000 x vin The corresponding velocity for the motor is assigned to the VEL v ariable. Instruction #A JG0 BGA #B vin=@AN[1] vel=vin*20000 JG vel JP #B EN Position Control by Joystick This system requires the posi tion of the motor to be proporti onal to the joyst ick angle. Fur thermore, the[...]

124 • Chapter 7 A pplication Programming DMC-2X00 The basic dile mma is where t o mount the se nsor. If you us e a rotary sens or, you get a 4 micron backlash error. On the other hand, if you use a linear encoder, the b acklash in the feedback loop will cause oscillations d ue to instability. An alternative approach is the du al-loop, where we us[...]

DMC-2X00 Chapter 7 Applicati on Programming y 125 THIS PAGE LEFT BLANK INTENTIONALLY[...]

126 • Chapter 8 Hardware & Software Protection DMC-2X00 Chapter 8 Hardware & Software Protection Introduction The DMC-2x00 prov ides several hardw are and softw a re features to check for error conditions and to inhibit the m otor on error. These features help protect t he various system component s from dam age. WARNING: Machinery in mot[...]

DMC-2X00 Chapter 8 Hardware & Softw are Protection y 127 3. There is a failure on the controller and the processor is resetting itself. 4. There is a failure with the output IC which drives the error signal. Input Protection Lines General Abort - A low input stops commanded motion instantly without a controlled deceleration. For any axis in whi[...]

128 • Chapter 8 Hardware & Software Protection DMC-2X00 Programmable Position Limits The DMC-2x00 provid es programmable forward and reverse position limits. These are set by the BL and FL software commands. Once a position limit is specified, the DMC-2x00 will not accept position commands beyond the limit. Motio n beyond the limit is also pr[...]

DMC-2X00 Chapter 8 Hardware & Softw are Protection y 129 SHA Servo motor here to clear error RE Return to main p rogram NOTE : An applications program must be executing for the #POSERR routine to function . Limit Switch Routine The DMC-2x00 provides forward and reverse limit switches which inhibit motion in th e respective direction. There is a[...]

130 • Chapter 9 Troublesh ooting DMC-2X00 Chapter 9 Troubleshooting Overview The following discussion may help you get your system to work. Potential problem s have been divided i nto groups as follows: 1. Installation 2. Comm unication 3. Stability and Compensation 4. Operati on The various sy mptoms al ong with the cause and the remedy are desc[...]

DMC-2X00 Chapter 9 Troubleshootin g y 131 Communication SYMPTOM CAUSE REMEDY Using terminal emulator, cannot communicate with con troller. Selected comm . port incorrect Try another com port Same as above Selected b aud rate incorrect Check to be sure that baud rate same as dip switch settings on controller, chang e as necessar y. Stability SYMPTOM[...]

132 • Chapter 10 Theory of Operation DMC-2X00 Chapter 10 Theory of Operation Overview The followin g discussion c overs the ope ration of m otion control systems. A t ypical moti on control system consists of the elements shown in Fig 10.1. COMPUTER CONTROLLER DRIVER MOTOR ENCODER Figure 10.1 - El ements of Servo Systems The operation of such a s[...]

DMC-2X00 Chapter 10 Theory of Operati on y 133 The highest level of control is the motion program. This can be stored in the host co mputer or in the controller. This program describes the tasks in terms of the motors that need to be controlled, the distances and the spee d. MOTION PROGRAMMING MOTION PROFILING CLOSED-LOOP CONTROL LEVEL 3 2 1 Figure[...]

134 • Chapter 10 Theory of Operation DMC-2X00 Y POSITION X POSITION Y VELOCITY X VELOCITY TIME Figure 10.3 - Velocity and Position Profiles Operation of Closed-Loop Systems To understand the operatio n of a servo system, we may compare it to a familiar closed-loop operation, adjusting the water temperature in the shower. One control obj ective is[...]

DMC-2X00 Chapter 10 Theory of Operati on y 135 The results may be worse i f we turn the faucet too fast. The overreacti on results in temperature oscillations. When the response of the system oscillates, we say that the system is unstable. Clearly, unstable resp onses are bad when we want a constant level . What causes the oscillations? The basic c[...]

136 • Chapter 10 Theory of Operation DMC-2X00 Motor-Amplifier The motor amplifier may be configured in three modes: 1. Voltage Drive 2. Current Dri ve 3. Velocity Loop The operation and modeling in the three mode s is as follows: Voltage Drive The amplifier is a voltage source with a gain of Kv [V/V]. The tran sfer function relating the input vol[...]

DMC-2X00 Chapter 10 Theory of Operati on y 137 where Kt a nd J are as defi ned previo usly. For exam ple, a current amplifier with K a = 2 A/V with the motor described by the previous example will have the transfer function: P/V = 10 00/s 2 [ rad/V] If the motor is a DC brushless motor, it is driven by an amplifier that performs the commutation. Th[...]

138 • Chapter 10 Theory of Operation DMC-2X00 K v 1/K e (ST m +1)(ST e +1) 1 S V EW P VOLTAGE SOURCE K a K t JS 1 S V IW P CURRENT SOURCE 1 S V WP VELOCITY LOOP 1 K g (ST 1 +1) Figure 10.6 - Mathemati cal model of the mo tor a nd amplifier in three operational modes Encoder The encoder generates N p ulses per revol ution. It outputs two signals, [...]

DMC-2X00 Chapter 10 Theory of Operati on y 139 DAC The DAC or D -to-A conve rter converts a 16-bit num ber to an analog volt age. The in put range of t he numbers is 65536 and the outpu t voltage range is +/-10V or 20V. Therefore, the effective g ain of the DAC is K= 20/65536 = 0 .0003 [V/count] Digital Filter The digital filter has three elements [...]

140 • Chapter 10 Theory of Operation DMC-2X00 For example, if the filter pa rameters of the DMC-2x00 are KP = 4 KD = 36 KI = 2 PL = 0.75 T = 0.001 s the digital filter coefficients are K = 160 A = 0.9 C = 1 a = 250 rad/s and the equivalent continuou s filter, G(s), is G(s) = [16 + 0.14 4s + 1000/s} ∗ 250/ (s+250) The notch filter has two comple[...]

DMC-2X00 Chapter 10 Theory of Operati on y 141 System Analysis To analyze the system, we start with a block diag ram model of the system elements. The analysis procedure is illustrated in terms of th e following example. Consider a position con trol system with the DMC-2x00 controller and the following parameters: K t = 0.1 Nm/A Torque constant J =[...]

142 • Chapter 10 Theory of Operation DMC-2X00 Σ 50+0.980s 318 V ENCODER 500 S 2 FILTER 2000 S+2000 0.0003 4 ZOH DAC AMP MOTOR Figure 10.7 - Mathematical mod el of the control system The open loop transfer function, A(s), is the produ ct of all the elements in the loop. A = 390,000 (s+51)/[s 2 (s+200 0)] To analyze the system stability, determine[...]

DMC-2X00 Chapter 10 Theory of Operati on y 143 Finally, the phase margin, PM, equals PM = 180 ° + α = 70 ° As long as PM is positive, the system is stable . However, for a well damped system, PM should be between 30 de grees and 45 degrees. The phase margi n of 70 degrees given above i ndicated overdam ped response. Next, we discuss the desi gn [...]

144 • Chapter 10 Theory of Operation DMC-2X00 The next step is to com bine all the system elements, with the exception of G(s), into one function, L(s). L(s) = M(s) K a K d K f H(s) =3.17 ∗ 10 6 /[s 2 (s+2000)] Then th e open loop tr an sfer function, A(s), is A( s) = L(s) G(s) Now, determine the magnitude and phase of L(s) at the frequency ω [...]

DMC-2X00 Chapter 10 Theory of Operati on y 145 The function G is equivalent to a digital filter of the form: D(z) = 4KP + 4K D(1-z -1 ) where P = 4 ∗ KP D = 4 ∗ KD ∗ T and 4 ∗ KD = D/T Assuming a sampling period of T=1ms, the param eters of the digital filter are: KP = 20.6 KD = 68.6 The DMC-2x00 can be programmed with the in struction: KP [...]

146 • Appendices DMC-2X00 Appendices Electrical Specifications Servo Control ACMD Amplifier Command: +/-10 volt analog signal. Resolu tion 16-bit DAC or 0.0003 volts. 3 m A maximum A+,A-,B+,B-,I DX+,IDX- En coder and Auxiliary TTL compatible, but can acce pt up to +/-12 volts. Quadrature phase on C HA, CHB. Can accept single- ended (A+,B+ onl y) [...]

DMC-2X00 Appendices y 147 IN[83], IN[8 4] (DMC-2x20 throug h DMC-2x80 only) Auxiliary Encoder Inputs for B (Y) axis. Li ne Receiver Inputs - accepts differential or single ended voltages with voltage ra nge of +/- 12 volts. IN[85], IN[8 6] (DMC-2x30 throug h DMC-2x80 only) Auxiliary Encoder Inputs for C (Z) axis. Line Receive r Inputs - accepts dif[...]

148 • Appendices DMC-2X00 Velocity Accuracy: Long Term Ph ase-locked, better than .005% Short Te rm System dependent Position Range: +/-21474836 47 counts per mov e Velocity Range: Up to 12,000,000 coun ts/sec servo; 3,000,000 p ulses/sec-stepper Velocity Resolution: 2 counts/sec Motor Command Resolutio n: 16 bit or 0.0003 V Variable Range: +/-2 [...]

DMC-2X00 Appendices y 149 Connectors for DMC-2x00 Main Board DMC-2x00 Axes A-D High Density Connector 1 Analog Ground 51 nc 2 gnd 52 gnd 3 5v 53 5v 4 error output 54 limit commo n 5 reset 55 home W 6 encode r-com pare output 56 reverse lim it W 7 gnd 57 forward l imit W 8 gnd 58 home Z 9 motor c ommand W 59 reverse lim it Z 10 sign W / di r W 60 fo[...]

150 • Appendices DMC-2X00 46 B-W 96 analog in 6 47 I+W 97 analog in 7 48 I-W 98 analog in 8 49 +12V 9 9 -12v 50 +12V 100 -12v DMC-2x00 Axes E-H High Density Connector 1 nc 51 nc 2 gnd 52 gn d 3 5v 53 5v 4 error output 5 4 limit common 5 reset 55 home H 6 encode r-com pare output 56 reverse limit H 7 gnd 57 fo rward lim it H 8 gnd 58 hom e G 9 mot[...]

DMC-2X00 Appendices y 151 43 A+H 93 nc 44 A-H 94 nc 45 B+H 95 nc 46 B-H 96 nc 47 I+H 97 nc 48 I-H 98 nc 49 +12V 99 -12v 50 +12V 100 - 12v DMC-2x00 Auxiliary Encoder 36 Pin High Density Connector 1 5v 19 5v 2 gnd 20 gnd 3 +aaX 21 +aaE 4 -aaX 22 -aaE 5 +abX 23 +abE 6 -abX 24 -abE 7 +aaY 25 +aaF 8 -aaY 26 -aaF 9 +abY 27 +abF 10 -abY 28 -abF 11 +aaZ 29[...]

152 • Appendices DMC-2X00 19 I/O 7 63 6 20 GND -- -- GND 21 I/O 7 62 5 22 GND -- -- GND 23 I/O 7 61 4 24 GND -- -- GND 25 I/O 7 60 3 26 GND -- -- GND 27 I/O 7 59 2 28 GND -- -- GND 29 I/O 7 58 1 30 GND -- -- GND 31 I/O 7 57 0 32 I/O 6 56 7 33 I/O 6 55 6 34 I/O 6 54 5 35 I/O 6 53 4 36 I/O 6 52 3 37 I/O 6 51 2 38 I/O 6 50 1 39 I/O 6 49 0 40 +5V -- [...]

DMC-2X00 Appendices y 153 71 I/O 3 25 0 72 I/O 2 24 7 73 I/O 2 23 6 74 I/O 2 22 5 75 I/O 2 21 4 76 I/O 2 20 3 77 I/O 2 19 2 78 I/O 2 18 1 79 I/O 2 17 0 80 +5V -- -- +5V RS-232-Main Port Standard con nector and cabl e, 9Pin Pin Signal 1 CTS – OUTPUT 2 Transmit data-output 3 Receive data-input 4 RTS – input 5 Gnd 6 CTS – output 7 RTS – input [...]

154 • Appendices DMC-2X00 Ethernet 100 BASE-T/1 0 BASE-T - Kycon GS -NS-88-3.5 Pin Signal 1 TXP 2 TXN 3 RXP 4 NC 5 NC 6 RXN 7 NC 8 NC 10 BASE-2- AMP 227161-7 10 BASE-F- H P HFBR-1414 (TX, T r ansmitter) HP HFBR-2416 (RX, Receiver) LED Status F Uses Fiber Link C Uses Full Duplex – will blink wh en a collision Uses Fu ll Duplex – will blink whe[...]

DMC-2X00 Appendices y 155 7 Signal Ground 8 Carrier Detect 9 +Transmit Current Loop Return 10 NC 11 -Transmit Current Loop Data 12 NC 13 NC 14 NC 15 NC 16 NC 17 NC 18 +Receive Current Loop Data 19 NC 20 Data Terminal Ready 21 NC 22 Ring Indicator 23 NC 24 NC 25 -Receive Current Loop Return 9 Pin Serial Connector (Male, D-type) Standard seri al port[...]

156 • Appendices DMC-2X00 7 (Signal Ground) 5 Controller Ground 9 Cable to Connect Computer 9 pin to Main Serial Port Cable (9 pin) 9 Pin (FEMALE - Computer) 9 Pin (FEMALE - Controller) 1 (Carrier Detect) 1 2 (Receive Data) 2 3 (Transmit Data) 3 4 (Data Termin al Ready) 4 5 (Signal Ground) 5 Controller Ground 9 Cable to Connect Computer 25 pin to[...]

DMC-2X00 Appendices y 157 Pin-Out Description for DMC-2x00 Outputs Analog Motor Command +/- 10 volt range signal for driving amplifier. In servo mode, motor command output is updated at the controller sample rate. In the motor of f mode, thi s output is held at the OF command level. Amp Enable Signal to disable and en able an amplifier. Amp Enable [...]

158 • Appendices DMC-2X00 Encoder Inde x, I+ Once-Per-Rev olution encode r pulse. Used in Homing seque nce or Find Index co mmand to defi ne home on an encode r index. Encoder, A -, B-, I- Differentia l inputs from encoder. May be input al ong with CHA, CHB for noi se immuni ty of encode r signals. The CHA- and CHB- inputs are optional. Auxiliary[...]

DMC-2X00 Appendices y 159 Jumper Description for DMC-2x00 Jumper Label Function (If jumpered) JP5 MB SMX For each axis , the SM jumper s elects the S M SMY magnitude mode for servo motors or selects SMZ stepper motors. If you are using stepper SMW motors, SM mu st always be jumpered. The Analog command is not valid with SM ju mpered. JP7 MB SM E SM[...]

160 • Appendices DMC-2X00 Dimensions for DMC-2x00[...]

DMC-2X00 Appendices y 161 Accessories and Options DMC-20x0 1- 8 axis m otion controllers wh ere x specifies the num ber of axes -16 16-Bit ADC Option for anal og inputs CABLE-100-1M 100-pin h igh density cable, 1 meter CABLE-100-4M 100-pin h igh density cable, 4 meter CABLE-80-1 M 80-pin high density cable, 1 meter CABLE-80-4 M 80-pin high density [...]

162 • Appendices DMC-2X00 ICM-2900 Interconnect Module Mechanical Specifications Description Unit Specification ---------- - ---- ------ ------- Weight lb 2.3 Length in 12.25 Width in 2.61 Height in 2.37 Environmental Specifications Description Unit Specification ---------- - ---- ------ ------- Storage Tempe r ature C -25 to +70 Operating Tem p [...]

DMC-2X00 Appendices y 163 3 PWMX O X axis pulse output fo r input to stepper motor am p 3 GND O Signal Ground 4 MOCMDY O Y axis motor command to amp input (w / respect to ground) 4 SIGNY O Y axis sign output for input to stepper motor amp 4 PWMY O Y axis pulse output fo r input to stepper motor am p 4 GND O Signal Ground 5 OUT PWR I Isolated Power [...]

164 • Appendices DMC-2X00 13 IN8 I Input 8 14 XLATCH I Input 1 (Used for X axis latch input) 14 YLATCH I Input 2 (Used for Y axis latch input) 14 ZLATCH I Input 3 (Used for Z axis latch inp ut) 14 WLATCH I Input 4 (Used for W axis latch input) 15 +5V O + 5 volts 15 +12V O +12 volts 15 -12V O -12 volts 15 ANA GND O Isolated Analog Ground for Use w[...]

DMC-2X00 Appendices y 165 24 +MAZ I Z Main encoder A+ 24 -MAZ I Z Main encoder A- 24 +MBZ I Z Main encoder B+ 24 -MBZ I Z Main encoder B- 25 +5V O + 5 volts 25 +INW I W Main encoder Index + 25 -INW I W Main encoder Index - 25 GND O Signal Ground 26 +MAW I W Main encoder A+ 26 -MAW I W Main encoder A- 26 +MBW I W Main encoder B+ 26 -MBW I W Main enc[...]

166 • Appendices DMC-2X00 ICM-2900 Drawing: IC M - 2.40" 12.25" Fr ont Si de Ba ck 2.75" 2.40" 100 pin high density connector A MP #2-178 23 8-9 Hol es f or m ounting to D M C - 2000 (2 holes) MOCMD Z SIGNZ PW MZ GND MOCM DX SIGNX PW M X GND OUT P W R ERROR CMP OUT GN D OUT5 OUT6 OUT7 OUT8 MOCMD W SIGN W PW MW GND MOCM DY SIGN[...]

DMC-2X00 Appendices y 167 ICM-2908 Interconnect Module The ICM-2908 interconnect modul e provides easy connections between the auxiliary encode r connections of the DMC-2x00 series controller and other system el em ents. The ICM-2908 accepts the 36 pin hi gh density cable (CABLE-3 6) from the cont roller and p rovides t erminal block s for easy acc[...]

168 • Appendices DMC-2X00 ICM-2908 Drawing: ICM-2908 2.40" 12.25" Fro nt S ide Ba ck 2.75" 2 .40" Hole s f or mounting to DMC- 2000 (2 holes) Sold erle ss connections - inse rt scre wd riv e r to op en c ont ac t s for i n serti o n/ r emoval of l ead wir es +AAY -AAY +ABY -ABY +AAW -AAW +ABW -ABW GND GND GND GND +AAF -AAF +AB[...]

DMC-2X00 Appendices y 169 PCB Layout of the ICM-2900: U1 RP3 U2 RP2 RP4 U1 MA X 3 32 U6 RP1 7407 7407 A MPLIFIER ENABLE BUFFER ANAL O G SWIT C H 5V 12V * FOR 5 VO LT AMPLIFIER ENABLE - PLACE PIN 1 OF R P1 ON PIN LABELED "5V" * FOR 12 VOLT AM PLIFIER E N ABLE - PLACE PIN 1 OF R P1 ON PIN LABELED "12V" OPTIO NA L OPT O-ISOLATION C[...]

170 • Appendices DMC-2X00 ICM-1900 Interconnect Module The ICM-1900 interconnect modul e provides easy connections betwee n the DMC-2x00 series controllers and other system ele ments, such as am p lifiers, encoders, and external switches. The ICM- 1900 accepts the 100-pi n main cable and 25-pin a u xiliary cable and breaks them into screw-type te[...]

DMC-2X00 Appendices y 171 24 SIGNW O W axis sign output for input to stepper motor amp 25 PWMW O W axis pulse output fo r input to stepper motor am p 26 MOCMDZ O Z axis motor co mmand to amp input (w / respect to ground) 27 SIGNZ O Z axis sign output for input to stepper motor amp 28 PWMZ O Z axis pulse output fo r input to stepper motor am p 29 MO[...]

172 • Appendices DMC-2X00 66 OUT1 O Output 1 67 OUT2 O Output 2 68 OUT3 O Output 3 69 OUT4 O Output 4 70 OUT5 O Output 5 71 OUT6 O Output 6 72 OUT7 O Output 7 73 OUT8 O Output 8 74 GND Signal Ground 75 AN1 I Analog Input 1 76 AN2 I Analog Input 2 77 AN3 I Analog Input 3 78 AN4 I Analog Input 4 79 AN5 I Analog Input 5 80 AN6 I Analog Input 6 81 AN[...]

DMC-2X00 Appendices y 173 108 -MBW I W Main encoder B- 109 +INW I W Main encoder Index + 110 -INW I W Main encoder Index - 111 +12V +12 volts 112 -12V -12 volts ICM-1900 Drawing: 11.620" 12.560" 13.500" 0.220" 0.440" 2.000" 6.880" 4.940" Figure A-3 AMP-19x0 Mating Power Amplifiers The AMP-19x0 series are mati[...]

174 • Appendices DMC-2X00 • Screw-type terminals for easy connec tion to motors, encoders, and switches • Steel mount ing plate wit h ¼” keyholes Specifications Minimum moto r inductance : 1 mH PWM frequency: 30 kHz Ambient operat i ng tem per at u re: 0 o to 70 o C Dimensions: Weight : Mounting: Key holes – ¼” ∅ Gain: 1 am p/V Opto[...]

DMC-2X00 Appendices y 175 active high l ogic and care sh ould be taken . Using acti ve low logi c should avoi d any problems associated with the out puts floating hi gh. Configuring the Amplifier Enable for ICM-2900 / ICM- 1900 The ICM-1900 and ICM-2900 modules can be configured to provide a n active low signal to enable external am plifiers. These[...]

176 • Appendices DMC-2X00 IOM-1964 Opto-Isolation Module for Extended I/O Description: • Provides 64 optically isolated inputs and outputs, each rated for 2mA at up to 28 VDC • Configura ble as in puts or out puts in gr oups of ei ght bits • Provides 16 hi gh power outputs capabl e of up to 500mA each • Connects to contr oller via 80 pin [...]

DMC-2X00 Appendices y 177 of extende d I/O on t he controll er. Each ba nk is individual ly configure d as an input or out put bank by inserting the a ppropriate int egrated circ uits and resist or packs. T he hardware confi guration of the IOM-1964 must match the softw are configuration of th e controller card. All DMC-2 x00 series cont rollers ha[...]

178 • Appendices DMC-2X00 I/O point. The numbers above the Ban k 0 label indicate the number of the I/O point corresp onding to the LED above it. Digital Inputs Configuri ng a bank for i nputs requi res that the Ux3 and Ux 4 sockets be p opulated wit h NEC2505 optical isolation in tegrated circuits. The IOM-1964 is shi pped with a default co nfig[...]

DMC-2X00 Appendices y 179 Sinking Sourcing +5V PNP output GND I/OC n I/OC n I/O n I/O n Current NPN output Current Figure A-10 Whether conne cted in a sin king or sourci ng circuit, onl y two connecti ons are needed i n each case. When the NPN output is 5 volts, then no current flow s and the input reads 1. When the NPN output goes to 0 volts, then[...]

180 • Appendices DMC-2X00 PWROUT n OUTC n Current L o a d External Isolated Power Supply I/OC n V ISO GND ISO V pwr Figure A-12 The power outputs must b e connected in a driving con figuration as shown on the previous p age. Here are the voltage outputs to e xpect after t h e Clear Bit and Set Bit commands are given: Output Command Result CB n V [...]

DMC-2X00 Appendices y 181 The resistor pa ck RPx3 limit s the amount of cur rent available to sou rce, as well as affecti n g the low level voltage at the I/O output. T he maxim um sink current is 2mA rega rdless of RPx 3 or I/OC vol tage, determined by the NEC250 5 optical isol ator IC. T he maxim um source curre nt is determ ined by dividing t he[...]

182 • Appendices DMC-2X00 High Power Digital Outputs • Maximum external power supply voltag e: 28 VDC • Minimum external power supply voltage: 4 VDC • Maxim um source current, per out put: 500m A • Maximum sink current: sinking circu it inoperative Standard Digital Outputs • Maximum external power supply voltag e: 28 VDC • Minimum ext[...]

DMC-2X00 Appendices y 183 REV A+B TERMINAL # REV C TERMINAL # LABEL DESCRIPTION BANK 10 10 I/O75 I/O bit 75 7 11 9 I/O74 I/O bit 74 7 12 12 I/O73 I/O bit 73 7 13 11 OUTC73-80 Out common for I/O 73-80 7 14 14 I/OC73-80 I/O common for I/O 73-80 7 15 13 I/O72 I/O bit 72 6 16 16 I/O71 I/O bit 71 6 17 15 I/O70 I/O bit 70 6 18 18 I/O69 I/O bit 69 6 19 17[...]

184 • Appendices DMC-2X00 REV A+B TERMINAL # REV C TERMINAL # LABEL DESCRIPTION BANK 53 51 OUTC41-48 Out common for I/O 41-48 3 54 54 I/OC41-48 I/O common for I/O 41-48 3 55 53 I/O40 I/O bit 40 2 56 56 I/O39 I/O bit 39 2 57 55 I/O38 I/O bit 38 2 58 58 I/O37 I/O bit 37 2 59 57 I/O36 I/O bit 36 2 60 60 I/O35 I/O bit 35 2 61 59 I/O34 I/O bit 34 2 62[...]

DMC-2X00 Appendices y 185 REV A+B TERMINAL # REV C TERMINAL # LABEL DESCRIPTION BANK 96 96 I/OC17-24 I/O common for I/O 17-24 0 97 95 PWROUT24 Power output 24 0 98 98 PWROUT23 Power output 23 0 99 97 PWROUT22 Power output 22 0 100 100 PWROUT21 Power output 21 0 101 99 PWROUT20 Power output 20 0 102 102 PWROUT19 Power output 19 0 103 101 PWROUT18 Po[...]

186 • Appendices DMC-2X00 21 21 22 22 23 23 24 24 25 25 26 26 27 27 28 28 29 29 30 30 31 31 32 32 33 33 34 34 35 35 36 36 37 37 38 38 39 39 40 40 41 41 42 42 43 43 44 44 45 45 46 46 47 47 48 48 49 49 50 50[...]

DMC-2X00 Appendices y 187 JC6 50 PIN IDC J9 100 PIN HIGH DENSITY CONNECTOR 1 51 2 52 3 53 4 54 5 55 6 56 7 57 8 58 9 59 10 60 11 61 12 62 13 63 14 64 15 65 16 66 17 67 18 68 19 69 20 70 21 71 22 72 23 73 24 74 25 75 26 76 27 77 28 78 29 79 30 80 31 81 32 82 33 83 34 84 35 85 36 86 37 87 38 88 39 89 40 90 41 91 42 92 43 93 44 94[...]

188 • Appendices DMC-2X00 45 95 46 96 47 97 48 98 49 99 50 100 CB-50-100 Drawing: CB 50-100 REV A GALIL MO T I ON CONTROL MAD E IN USA J9 - 100 pi n connector AMP part # 2-178238 -9 JC6, J C8 - 50 pin sh r ouded header s w/ cen ter k e y JC8 - pins 1-50 of J9 JC6 - pins 51-100 of J9 J9 JC6 JC8 1/51 21/71 41/91 1/8"D, 4 places 1 1/4" 9/1[...]

DMC-2X00 Appendices y 189 CB 50-100 REV A GALIL M OTION CONTRO L MAD E IN U SA JC6, J C8 - 50 pin shrouded headers w/ cen ter ke y JC8 - pins 1-50 of J9 JC6 - pins 51-100 of J9 J9 JC6 JC8 1/8"D, 4 places J9 - 100 pin c onnector AMP part # 2- 178238-9 (Pin 1) JC6 ( IDC 5 0 Pin) Pin1 (2. 975", 0. 9875" ) JC8 ( ID C 50 Pin) Pin1 (2. 975[...]

190 • Appendices DMC-2X00 Connectors: JC8 and JC6: 50 Pin Mal e IDC J9: 80 Pin H igh Density Connector, A MP PART #3-178238-0 JC8 J9 JC8 J9 1 1 38 GND 2 2 39 35 3 3 40 GND 4 4 41 36 5 5 42 GND 6 6 43 37 7 7 44 GND 8 8 45 38 9 9 46 GND 10 10 47 39 11 11 48 GND 12 12 49 +5V 13 13 50 GND 14 14 15 15 16 16 17 17 18 GND 19 19 20 GND 21 21 22 GND 23 23[...]

DMC-2X00 Appendices y 191 JC6 J9 ( Continued ) 1 41 2 42 3 43 4 44 5 45 6 46 7 47 8 48 9 49 10 50 11 51 12 52 13 53 14 54 15 55 16 56 17 57 18 GND 19 59 20 GND 21 61 22 GND 23 63 24 GND 25 65 26 GND 27 67 28 GND 29 69 30 GND 31 71 32 GND 33 72 34 GND 35 73 36 GND 37 74 38 GND 39 75 40 GND 41 76 42 GND 43 77 44 GND 45 78 46 GND 47 79 48 GND 49 +5V 5[...]

192 • Appendices DMC-2X00 CB-50-80 Drawing: CB 50-80 REV A 1 GAL IL M OTIO N CON T ROL M ADE IN US A J9 - 80 pin conne ctor 3M pa r t # N10280-52E2V C AMP pa rt # 3-178238-0 JC6, JC8 - 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 pl aces 1 1/4" 9/16" 1/2" 1/8&[...]

DMC-2X00 Appendices y 193 CB 50-80 REV A GAL IL MOTION CONT ROL MADE IN USA JC 6, J C8 - 50 pin shr oude d hea de r s w/ ce nte r ke y J9 JC6 JC8 1/8" D, 4 places JC 6 (ID C 50 Pin) Pin1 () JC 8 (ID C 50 Pin) Pin1 ( ) 41 42 43 2 1 3 4 DET AIL J9 - 80 pin c onne c tor AMP part # 3-178238- 0 (Pin 1 ) CB-50-80 Lay out Figure A-18[...]

194 • Appendices DMC-2X00 TERM-1500 Operator Terminal Two types of terminals are offered from Galil; the hand-held unit and the panel mount unit. Both have the same programming ch aracteristics. Hand held unit is shown b elow: Figure A-19[...]

DMC-2X00 Appendices y 195 The panel m ount terminal is shown below: Figure A-20 Features  For easy data entry to DMC-2x00 motion controller  4 line x 20 c h aracter Liqui d Crystal Display  Full numeric keypad  Five programm able function keys  Available in Hand-held or Panel Mou nt  No external power supply r equired  Connects[...]

196 • Appendices DMC-2X00 Specifications - Panel Mount Keypad 30-Key; 5 row s x 6 colum ns ; 5x7 font Display 4 row x 20 character LCD Power 5 volts, 3 0mA Keypad Maps - Hand-Held 30 Keys: 5 keys across, 6 down Single Key Output 6 F1 (22) F2 (23) F3 (24) F4 ( 25) F5 (26) 5 1 2 3 4 4 5 6 3 7 8 9 2 0 1 CTRL SHIFT SPACE BKSPC ENTER Shift Key Output [...]

DMC-2X00 Appendices y 197 # is <Cntrl>[ 5,1] Keypad Map - Panel Mount – 6 columns x 5 rows Single Key Output 5 F1 1 2 3 4 F2 4 5 6 3 F3 7 8 9 2 F4 - 0 . 1 F5 CTRL SHIFT SPACE BKSPC ENTER Shift Key Output 5 A F G H I J 4 B K L M N O 3 C P Q R S T 2 D U V W X Y 1 E CTRL SHIFT Z , ? CTRL Key Output 5 (18) (19) (2) ! “ % 4 (16) * + / $ ; 3 (9[...]

198 • Appendices DMC-2X00 Erasing Display ESC E Clear Display and Home ESC I Clear Disp lay ESC J Cursor to End of Di splay ESC K Cursor to En d of Line ESC M Line Containing C ursor Sounds ESC T Short Bell ESC L Long Bell ESC P Click ESC Q Alert Cursor Style ESC F Underscore C ursor On ESC G Underscore Cursor Off ESC R Blinking Cursor On ESC S B[...]

DMC-2X00 Appendices y 199 Default Configuration: Baud Rate 9600 Data bits 7 Parity Ignore PE Display enabled Repeat Fast Echo Disabled Handshake Disabled Self Test Disabled Key Click - Disabled <Ctrl>Space < Shift> [2,2] Key Click - Enabled <Ctrl >Space <Shift> [1,2] Clear Display and Home <Ctrl>Space <Shi ft> [5[...]

200 • Appendices DMC-2X00 #B; JP#B;E N End Program #COMINT Interr upt Routi ne JS #XMOVE, P2CH=F1 Jump to X move if F1 JS #YMOVE, P2CH=F2 Jump to Y move if F2 EN1,1 End, Re-ena ble comm interrupt & resto re trip poi nt #XMOVE;PR1000;BGX;EN Move X routine #YMOVE;PR,1000;BGY;EN Mo ve Y routine NOTE: F1 through F 5 are used as de dicated keyword[...]

DMC-2X00 Appendices y 201 Coordinated Motion - Mathematical Analysis The terms of c o ordinated motion are best explained i n terms of the vector m otion. The vect or velocity, Vs, which is also known as the feed rate, is the vector sum of the velocities along the X and Y axes, Vx and Vy. Vs Vx Vy =+ 22 The vector distance is the integral of Vs, or[...]

202 • Appendices DMC-2X00 10000 20000 20000 10000 Y CD B A X Figure A-21 - X-Y Motion Path The first line describes the straight line v ector segment between points A and B. The next segment is a circular arc, which starts at an angle of 180 ° and traverses -90 ° . Finally, the third line describes the linear segment between points C and D. Not[...]

DMC-2X00 Appendices y 203 For example, the velocity profile co rresponding to the path of Fig. A-21 may be specified in ter ms of the vector speed a nd acceleration. VS 1 00000 VA 2000000 The resulting vector v elocity is shown in Fig. A-22. 0.05 0.357 10000 Velocity time (s) 0.407 T a T a T s Figure A-22 - Vector V elocity Profile The acceleration[...]

204 • Appendices DMC-2X00 A B D (a) (b) (c) time C Figure A-23 - Vector and Axes Velocities Example- Communicating with OPTO-22 SNAP-B3000- ENET Controller i s connected to OPTO-22 via handle F. T he OPTO-22’s I P address is 13 1.29.50.30. T h e Rack has the following configuration : Digital Inpu ts Mo dule 1 Digital Outpu ts Module 2 Analog Ou[...]

DMC-2X00 Appendices y 205 EN End #CFGDOUT Label MODULE=2 Set var iable CFGVALUE=$180 Set variable NUMOFIO=4 Set variable JP #CFGJOIN Jump to subroutine #CFGAOUT Label MODULE=3 Set var iable CFGVALUE=$A7 Set variable NUMOFIO=2 Set variable JP #CFGJOIN Jump to subroutine #CFGAIN Label MODULE=5 Set var iable CFGVALUE=12 Set variable NUMOFIO=2 Set vari[...]

206 • Appendices DMC-2X00 SB 6006 set bit of output at han dle 6, m odule 2, bit 3 or to one OB 6006,1 AO 608,3. 6 set analog out put at handl e 6, modul e 53, bit 1 to 3.6 volts MG @AN[60 17] display voltage value of analo g input at ha ndle6, modul e 5, bit 2[...]

DMC-2X00 Appendices y 207 DMC-2x00/DMC-1500 Comparison BENEFIT DMC-2x00 DMC-1500 Access to parameters – real time data processing & recording Data Record - Bl ock Data Transfer No DMA channel Easy to install – USB is self confi guring Plug and Play USB not available Can capture and save ar ray da ta Variable storage Option Parameters can be[...]

208 • Appendices DMC-2X00 List of Other Publications "Step by Step Design of M otion Cont rol System s" by Dr. Jacob Tal "Motion Control App lications" by Dr. Jacob Tal "Motion Control by Microp rocessors" by Dr. Jacob Tal Training Seminars Galil, a leader in motion control with over 500,000 c ontrollers working worl[...]

DMC-2X00 Appendices y 209 Contacting Us Galil Motion Control 270 Technology W ay Rocklin, CA 95765 Phone: 916-62 6-0101 Fax: 916- 626-0102 E-Mail Addres s: support@gal ilmc.com URL: www.galil mc.com FTP: www.galilmc.com/ftp WARRANTY All controllers manufactured by Galil Mo tion Control are wa rranted against defects in materials and workmanship for[...]

210 • Index DMC-2X0 0 Index Abort ..... 1, 40, 41, 81, 87, 12 7, 171, 172, 173, 191, 202, 203 Off-On-Error................................. 40, 171, 172, 173 Stop Motion .................................................... 81, 87 Absolute Position.............................. 33, 70, 71, 72, 129 Absolute Valu e ..................................[...]

2 • Index DMC-2X00 Independent Axis .................................................. 72 Input Interrup t ............................................. 138, 161 Inputting Numeric Data ...................................... 150 Jog 80 Latch ................................................................... 120 Limit Switch ......................[...]

DMC-2X00 Index y 3 Output Com pare.................................................... 45 Step and Direction .............................................. 3, 4 Position Error POSERR ..............................124, 136, 137, 172, 173 Position Limit ........................................................... 173 Program Flow .....................[...]