Galil DMC-13X8 manual

USER MANUAL DMC-13X8 Manual Rev. 1.0e By Galil Motion Control, Inc. Galil Motion Control, Inc. 3750 Atherton Road Rocklin, California 95765 Phone: (916) 626-0101 Fax: (916) 626-0102 Internet Address: support@galilmc.com URL: www.galilmc.com Rev Date: 5-06[...]

Using This Manual This user m anual provi des informati on for proper operation o f the DMC-13X 8 controll er. The appendix to this m anual contains information re garding the accessories to t hese controllers. A separate supplement al manual, the C ommand Refere nce, contains a description of the comm ands available f or use with the controller. Y[...]

USER MANUAL Contents • 3 Contents Using This M anual .................................................................................................................... 2 Chapter 1 Overview 9 Introduc tion ................................................................................................................... ............ 9 Overview o[...]

4 • Contents USER MANUAL Example 12 - Motion Pr ogra ms with Loops.............................................................. 34 Example 13 - Motion Prog ra ms with Trippoints ....................................................... 34 Example 14 - Cont rol Variables ..............................................................................[...]

USER MANUAL Contents • 5 Chapter 6 Programming Motion 63 Overview ................................................................................................................................. 63 Independent Axis Positioni ng .................................................................................................. 64 Command Su mmary [...]

6 • Contents USER MANUAL Program Format ................................................................................................................. .... 108 Using Labels in P rograms ....................................................................................... 109 Special Labels.....................................................[...]

USER MANUAL Contents • 7 Off-On-Error ........................................................................................................... 151 Automatic Err or Routine ......................................................................................... 151 Limit Switch Routine ..........................................................[...]

8 • Contents USER MANUAL DMC-13X8/DMC-1300 Comparis on .................................................................................... 202 List of Other Publica tions ..................................................................................................... . 202 Training Seminars...................................................[...]

USER MANUAL Chapter 1 Overview • 9 Chapter 1 Overview Introduction The DMC-13X8 series motion control cards install directly into the VME bus. This 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. The DMC-13 X8 pro[...]

Chapter 1 Overview • 10 USER MANUAL 4. Other actuators such as hydraulics - For more information, contact Galil. The user can configure each axis for any combina tion of m otor types, providing m aximum flexibility. Standard Servo Motor with +/- 10 Volt Command Signal The DMC-13X8 achi eves sup eri or precisi o n t hrou g h use of a 16- bit m ot [...]

USER MANUAL Chapter 1 Overview • 11 WATCHDOG TIMER 68331 MICROCOMPUTE R WIT H 2 Meg RA M 2 Meg FLA SH EEPROM HIGH-SPEE D MOTOR/ENCODE R INTERF AC E FOR X,Y,Z,W I/O INTERF AC E 2ND FI FO P rima r y FIFO INTERRUPTS USER IN TERFA CE 8 UNC OMM ITTED ANALO G IN PU T S HIGH-SPE E D LATCH FOR EACH AXIS 8 PROGRAMMA BLE, OPTOISO LA TED INPUTS 8 PROGRAMMA [...]

Chapter 1 Overview • 12 USER MANUAL The DMC-13X 8 also provi des standard 64 ex tended I/O points. These TT L I/O points ar e software configurabl e in bank s of 8 point s, and can be brought out directl y on the IOM -1964 I/O module. Each axis on the controller has 2 encoders, the main enco der an d an auxiliary encoder. Each unused auxiliary en[...]

USER MANUAL Chapter 1 Overview • 13 Encoder An encoder translates motion into electrical pulses which are fed back into the controller. T he DMC- 13X8 accepts feedback from either a rotary or linear e ncoder. Typical encoders provide two channels i n quadrature, known as CH A and CHB. T his type o f encoder is known as a quad rature encode r. Qua[...]

Chapter 1 Overview • 14 USER MANUAL THIS PAGE LEFT BLANK INTENTIONALLY[...]

USER MANUAL Chapter 2 Getting Started • 15 Chapter 2 Getting Started The DMC-13X8 Motion Controller Figure 2-1 - Outline of the DMC-13X8[...]

Chapter 2 Getting Started • 16 USER MANUAL 1 Flash EEPRO M J6 VME Connect or 2 RAM JP1 Master Rese t & UPGRD jumpers 3 Motorola 68331 microprocessor JP3 INCOM & LSCOM jumpers. Used for bypassing opto-isolatio n fo r the limit, home, and abort switches and the di gital inputs IN1 - IN8. See section “B ypassing Opt o-Isolation ”, Chap3.[...]

USER MANUAL Chapter 2 Getting Started • 17 Installing the DMC-13X8 Installation of a complete, operational DMC-13X8 system consists of 8 steps. Step 1. Determine overall motor configuration. Step 2. Instal l Jumpers on the DMC-13X8. Step 3. Install the DMC-13X8 in the PC. Step 4. Establish communications with the Galil controller. Step 5. Dete rm[...]

Chapter 2 Getting Started • 18 USER MANUAL Stepper Motor Operation: To configure the DMC-13X 8 for stepper motor oper ation, the co ntroller re quires a jumper for each stepper m otor and the com mand, MT, must be give n. The inst allation of t he stepper m otor jumper i s discussed in the following section en titled "Installing Ju mpers on [...]

USER MANUAL Chapter 2 Getting Started • 19 system upon the specified condition s. It is up to the user to supply an appropriate interrup t h andling routine for the VME host. (Optional) Motor Off Jumpers The state of the motor upon power up may be selected with the placement of a hardware jumper on the controller. With a jumper installed at the O[...]

Chapter 2 Getting Started • 20 USER MANUAL Example: Sinusoidal Commutation Configuration using a DMC-1348 BAXZ This comma n d caus es the contro ller to be re co nfigured as a DMC-132 8 con troller. The X and Z axe s are configured for sinusoidal commutation . The fi rst phase of the X axis will be the motor co mmand X signal. The second phase of[...]

USER MANUAL Chapter 2 Getting Started • 21 To change the voltag e level of the AEN signal, note the state of the resistor pack on the ICM-1900. When Pin 1 i s on the 5V m ark, the out put volta ge is 0-5V. T o change t o 12 volts, pull the resistor pack and rotate it so that Pin 1 is on the 12 volt side. If you remove the resistor pack , th e out[...]

Chapter 2 Getting Started • 22 USER MANUAL Each set of sensors m ust use inputs that are in consecutive order. The input lines are specified with the command, BI. For exampl e, if the Hall sensors of the Z axis are connected to in puts 6, 7 a nd 8, use the i nstruction: BI ,, 6 or BIZ = 6 Step 7a. Connect Standard Servo Motors The following discu[...]

USER MANUAL Chapter 2 Getting Started • 23 For example, the following command will limit the output of the controller to 1 vo lt on the X axis: TL 1 <CR> Note: Once the correct polarity of the feedback loop has been determined, the torque limit should, in general, be increased to the defa ult value of 9.99. The servo will not operate proper[...]

Chapter 2 Getting Started • 24 USER MANUAL J7 J6 J51 DC Servo Mot or Enco de r + - AUX e nco de r in put c onne c t or D B25 f ema l e 100 pin high densi ty connector AMP part # 2-1 78238-9 LSC O M I NCO M VCC VCC I CM/ AMP- 19 00 REV B GALI L MOTI ON CONT ROL MADE I N USA + - DC Power Supply M1W M2W M1Z M2Z M1Y M2Y M1X M2X X Y Filte r C hok es Z[...]

USER MANUAL Chapter 2 Getting Started • 25 J7 J6 ADG202 7407 U6 RP1 RP2 U1 J51 Encoder Wire Connections E ncode r: ICM- 1900: Chann e l A+ +MAX Chann e l A- -MAX Chann e l B+ +MBX Chann e l B- -MBX In dex C ha nne l + +INX In dex C ha nne l - - INX - + Enco de r Signal Gnd 2 BRUSH-T YPE PW M SERVO AMP LIFIER MSA 12-80 Mo tor - 2 Mo tor + 1 High V[...]

Chapter 2 Getting Started • 26 USER MANUAL Step 7b. Connect Sinusoidal Commutation Motors When using sinusoidal com mutation, the par ameters for th e comm utation must be determined and saved in the controllers non-vo latile memory. The servo can then be tuned as described in Step 8. Step A. Disable the motor amplifier Use the command, MO, to di[...]

USER MANUAL Chapter 2 Getting Started • 27 will test the X 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 is correct, the approximate value for BM will agree with the value used in th e pr[...]

Chapter 2 Getting Started • 28 USER MANUAL this voltage may need to be increased and for systems with very small motors, this value should be decreased. For example, BZ -2 will drive the X axis to zero, using a 2V signal. The con tro ller will then leave the motor enabled. For system s that have external forces working against the motor, such as [...]

USER MANUAL Chapter 2 Getting Started • 29 Step 7C. 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 encoder for th e corresponding axis is unavailable for an external connection . If an encoder[...]

Chapter 2 Getting Started • 30 USER MANUAL TE X (CR) Tell error a few tim es, and get varyi ng responses, es pecially wi th reversing pol arity, it i ndicates system vibration. When this happens, simply reduce KD. Next you need to increase the value of KP gradually (maximum allowed is 1023). You can monitor the improvement in the respo nse with t[...]

USER MANUAL Chapter 2 Getting Started • 31 KPD=10 Alternate method for setting D axis gain Example 2 - Profiled Move Objective: Rotate the X axis a di stance of 10,000 counts at a slew speed of 20,000 counts/sec and an acceleration and deceleration rates of 100,000 counts/s2. In this exam ple, the motor turns and stops: Instruction Interpretation[...]

Chapter 2 Getting Started • 32 USER MANUAL TP Y Tell position - Y axis only TP Z Tell positi on - Z axis only TP W Tell positi on - W axis only The position error, wh ich is the differen ce betw een the commande d po sition and the actual position can be interrogated with the in stru ction TE. Instruction Interpretation TE Tell error - al l axes [...]

USER MANUAL Chapter 2 Getting Started • 33 Example 8 - Operation Under Torque Limit The magnitude of the motor command may be limited independently by the instru ction TL. Instruction Interpretation TL 0.2 Set output limit of X axis to 0.2 volts JG 10000 Set X speed BG X Start X motion In this example, the X motor will probably not move since the[...]

Chapter 2 Getting Started • 34 USER MANUAL 003 BGX Start X motion 004 EN End program To exit the edito r mode , input <cntrl>Q. The program may be executed with the command. XQ #A Start the program running Example 12 - Motion Programs with Loops Motion programs may include cond ition al jumps as shown below. Instruction Interpretation #A La[...]

USER MANUAL Chapter 2 Getting Started • 35 Example 14 - 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 position SP 2000 Set speed BGX Move X AMX Wait until m ove is complete WT 500 Wait 500 ms #B V1 = _TPX Determine distance to [...]

Chapter 2 Getting Started • 36 USER MANUAL Instruction Interpretation VM XY Select XY axes f or circular interpolation VP –4000,0 Linear segment CR 2000,270,-180 Circular segment VP 0,4000 Linear segment CR 2000,90,-180 Circular segment VS 1000 Vector speed VA 50000 Vector acceleration VD 50000 Vector deceleration VE End vector sequence BGS Sta[...]

USER MANUAL Chapter 3 Connecting Hardw are • 37 Chapter 3 Connecting Hardware Overview The DMC-13X8 provid es optoisolated digital inputs for forwar d limit , reverse limit, home , and abort signals. The controller also has 8 optoisol ated, uncommi tted inputs ( for general use) as well as 8 TTL outputs and 8 analog inputs configure d for voltage[...]

Chapter 3 Connecting Hardw are • 38 USER MANUAL Home Switch Input Homing in puts are desig ned to pro v ide mechanical reference points fo r a moti on 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 referen[...]

USER MANUAL Chapter 3 Connecting Hardw are • 39 All motion programs that are curren tly running are terminated when a transition in the Abort input is detected. For i nformation on setting the O ff-On-Error f unction, see t he Command Refere nce, OE. Uncommitted Digital Inputs The DMC-13X8 has 8 opto-isolated inpu ts. These inputs can b e read in[...]

Chapter 3 Connecting Hardw are • 40 USER MANUAL INCOM IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 ABORT LSCOM FLSX RLSX HOMEX FLSY RLSY HOMEY Additional Limit Sw itches(Dependent on Num ber of Ax es) (XLATCH) ( YLATCH) ( ZLA TCH) ( W LAT CH) Figure 3-1. The Optoisolated Inputs. Using an Isolated Power Supply To take full a dvantage of opto-isol ation, an iso[...]

USER MANUAL Chapter 3 Connecting Hardw are • 41 LSCOM FLSX External Resisto r Need ed fo r Volt ag es > 24V LSCO M FLSX Extern al Resisto r Needed f o r Volt ag es > 24V Configuration t o source current at the LSC OM term inal and sink current at switch input s Configur atio n to sin k current at the LSCOM term inal and source c urrent at s[...]

Chapter 3 Connecting Hardw are • 42 USER MANUAL The standard configuration of the AEN signal is TTL active high. In other words, the AEN signal will be high when the controller ex pects the amplifier to be enabled. Th e polarity an d the amplitude can be changed if you are using the ICM-1 900interface board. To change th e polarity from active hi[...]

USER MANUAL Chapter 3 Connecting Hardw are • 43 TTL Outputs The DMC-13X 8 provides ei ght general use outputs , an output compare and an error sig nal output. The general us e outputs are TTL and are accessibl e through the ICM-1900 as OU T1 thru OUT8. These outputs can be turned On an d Off with the commands, SB (Set Bit), CB (Clear Bit), OB (Ou[...]

Chapter 3 Connecting Hardw are • 44 USER MANUAL THIS PAGE LEFT BLANK INTENTIONALLY[...]

USER MANUAL Chapter 4 Communication • 45 Chapter 4 Communication Introduction The DMC-13X8 receives commands from the VME host . The c ontroller is configured as a standard 6U VME style card that resides in the 16 bit s hort I/O space. Comm unication between the DMC-13X8 and the computer is in the form of ASCII or bina ry characters whe re data i[...]

Chapter 4 Communicatio n • 46 USER MANUAL data to the DMC-13X8. The CONTROL register may be read or written to and is used for controllin g communicat ion, flags an d interrupts . Simplified Communication Procedure The simplest approach for com municating wi th the DMC- 13X8 is to c heck bits 4 an d 5 of the CONTROL register at a ddress N+3. Bit [...]

USER MANUAL Chapter 4 Communication • 47 Send 01H to N+3 address Send 80H to N+3 address Send 01H to N+3 address Send 80H to N+3 address Read N+3 address (Bit 7 will be 1) It is a good idea to clear any control data before attempting this procedur e. Send a no-op instruction, by reading N+3 address, before you start. All data, including data from[...]

Chapter 4 Communicatio n • 48 USER MANUAL Overview of Secondary FIFO Procedure: When using the Secondary FI FO, the user reads the 8-bit data and 8-bit status values at t he address N+5 and N+7 (N is the base c ommunicat ion address). T he status byte c onsists of 3 bit s of inform ation. Bit 0 is the 'busy' bit, Bit 1 is the 'free[...]

USER MANUAL Chapter 4 Communication • 49 19 UB general output 7 20 UB general output 8 21 UB general output 9 22 UB error code 23 UB general status 24-25 UW segment count of coordinated move for S plane 26-27 UW coordinated move status for S plane 28-31 SL distance traveled in coordinated move for S plane 32-33 UW segment count of coordinated mov[...]

Chapter 4 Communicatio n • 50 USER MANUAL 124-125 UW w,d axis status 126 UB w,d axis switches 127 UB w,d axis stopcode 128-131 SL w,d axis reference position 132-135 SL w,d axis motor position 136-139 SL w,d axis position error 140-143 SL w,d axis auxiliary position 144-147 SL w,d axis velocity 148-149 SW w,d axis torque 150-151 SW w,d axis analo[...]

USER MANUAL Chapter 4 Communication • 51 Move in Progress BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 Motion is slewing Motion is stopping due to ST or Limit Switch Motion is making final decel. Notes Regarding Velocity and Torque Information The velocity information that is returned in the data record is 64 times larger than the value return[...]

Chapter 4 Communicatio n • 52 USER MANUAL Bit Number (m) Condition 0 X motion complete 1 Y motion complete 2 Z motion complete 3 W motion complete 4 E motion complete 5 F motion complete 6 G motion complete 7 H motion complete 8 All axes motion com plete 9 Excess position error* 10 Limit switch 11 Watchdog timer 12 Reserved 13 Application program[...]

USER MANUAL Chapter 4 Communication • 53 N = 2 1 = 2 EI 32768,2,8 Servicing Interrupts Once an interrupt occurs, th e host computer can r ead information about the interru pt by first writing the data 6 to t he CONTROL re gister at addre ss N + 3. Then the host reads the control register data. The returned data has the foll owing meaning: Hex Dat[...]

Chapter 4 Communicatio n • 54 USER MANUAL UI1 Send interrupt EN End This program sends an interrupt when the X axis is at its slew speed. After a 6 is written to address N + 3, the data F1 will be read at address N + 3. F1 corresp onds to UI 1. Controller Response to DATA Instructions t o the DMC -13X8 ma y be sent in Bina ry or ASC II format. B [...]

USER MANUAL Chapter 5 Command Basics • 55 Chapter 5 Command Basics Introduction The DMC-13X8 pr o vi des o ve r 10 0 c om m ands fo r specifying motion 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 bi nary. In ASCII, the DMC-13X8 ins[...]

Chapter 5 Command Basics • 56 USER MANUAL To view the current val ues for each command, type the co mmand followed by a ? for each axis requested. PR 1000 Specify X only as 1 000 PR ,2000 Specif y Y only as 2000 PR ,,3000 Specify Z only as 3000 PR ,,,4000 Specify W only as 4000 PR 2000, 4000,6000 , 8000 Sp ecify X Y Z and W PR ,8000,,9000 Specify[...]

USER MANUAL Chapter 5 Command Basics • 57 Command Syntax – Binary Some comm ands have an e quivalent bi nary value. Bi nary comm unication m ode can be execute d 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 bina[...]

Chapter 5 Command Basics • 58 USER MANUAL 05 specifies bit 0 is active for A axis and bit 2 is active for C axis (2 0 + 2 2 =5) 03 E8 represents 1000 FE OC re present s -500 Example The comm and ST XYZS woul d be A1 00 01 07 where A1 is the command num ber for ST 00 specifies 0 data fields 01 specifi es stop the co ordinated axe s S 07 specifies [...]

USER MANUAL Chapter 5 Command Basics • 59 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 reserved f3 reserved 9e MC c9 reserved f4 reserved 9f TW ca reserved f5 BG a0 MF cb reserved f6 ST a1 MR cc reserved f7 AB a2 AD cd reserved f8 HM a3 AP ce reserved f9 FE a4 [...]

Chapter 5 Command Basics • 60 USER MANUAL and line feed. The form at of the re turne d data can be c hanged usi ng the Posi tion Format (PF), Variable Format (VF) and Leading Ze ros (LZ) command. See C hapter 7 and the Command Reference. Summary of Interrogation Commands RP Report Command Position RL Report Latch ∧ R ∧ V Firmware Revision Inf[...]

USER MANUAL Chapter 5 Command Basics • 61 Command Summary For a complete command sum mary, see the Command Reference manual.[...]

Chapter 5 Command Basics • 62 USER MANUAL THIS PAGE LEFT BLANK INTENTIONALLY[...]

USER MANUAL Chapter 6 Progra mming Motion • 63 Chapter 6 Programming Motion Overview The DMC-13 X8 provides sev eral modes of motion, incl uding indepe ndent posit ioning and jogging, coordinated motion, electronic cam motion, and elect ronic gearing. Each one of these modes is discussed in t he following sections. The DMC-1318 is a single axis c[...]

Chapter 6 Programming Motion • 64 USER MANUAL Electronic gearing where slave axes are scaled to master axis which can move in both directions. Electronic Gearing GA GR GM (if gantry) Master/slave wh ere slave axes m ust follow a master s uch as conveyer speed. Electronic Gearing GA GR Moving along arbitrary profiles o r mathematically prescribed [...]

USER MANUAL Chapter 6 Progra mming Motion • 65 command (ST) can be issued at any time to decelerate the m otor to a stop before it reaches its final position. An incremental position movement (IP) may be specified during motion as long as the additional move is in the same direction. Here, the user specifies the desired position increment, n. The[...]

Chapter 6 Programming Motion • 66 USER MANUAL X-Axis 500 counts Position 10000 count/sec Speed 500000 counts/sec 2 Acceleration Y-Axis 1000 counts Position 15000 count/sec Speed 500000 counts/sec 2 Acceleration Z-Axis 100 counts Position 5000 counts/sec Speed 500000 counts/sec Acceleration This example will specify a relative position move ment o[...]

USER MANUAL Chapter 6 Progra mming Motion • 67 speed, and then decelerate such that the final po sition a grees with the command position, PR. The Z axis accelerates, but before the specified spe ed is ac hieved, m ust begin deceleration such that the axis will stop at the commanded positio n. All 3 axes have the sam e acceleration and decelerati[...]

Chapter 6 Programming Motion • 68 USER MANUAL AC 20000,,20000 Specify X,Z acceleration of 20000 cts / sec DC 20000,,20000 Specify X,Z deceleration of 20000 cts / sec JG 50000,,-25000 Specify jog speed and direction for X and Z axis BG X Begin X motion AS X Wait until X is at speed BG Z Begin Z motion EN Example - Joystick Jogging The jog speed ca[...]

USER MANUAL Chapter 6 Progra mming Motion • 69 It is the responsibility of the user to k eep enough LI segments in the DMC-13X8 sequen ce buffer to ensure continuous motion. If th e controller receives no additional LI segments and no LE comm and, the controller will stop motion instantly at the last vector. There will be no controlled decelerati[...]

Chapter 6 Programming Motion • 70 USER MANUAL The second fu nction, > m, requi res the vector speed to reac h the value m at the end of the segm ent. Note that the function > m may start th e deceleratio n within the given segment or during prev iou s segments, as n eeded to meet t he final speed requi rement, un der the given values of VA [...]

USER MANUAL Chapter 6 Progra mming Motion • 71 Operand Summary - Linear Interpolation OPERAND DESCRIPTION _AV Return distance travelled _CS Segment counter - returns number of the segment in the sequen ce, starting at zero. _LE Returns length of vector (resets after 2147483647) _LM Returns number of available spaces for line ar segm ents in DMC-1[...]

Chapter 6 Programming Motion • 72 USER MANUAL POSI TI O N Z 0 0 40000 FEEDRATE 0 0.1 0.5 0 .6 4000 36000 30000 27000 3000 VE LOCIT Y Z-AXI S VE LOCIT Y W -AXIS POSI TI O N W TIME (sec) TIME (sec) TIME (sec) Figure 6.2 - Linear Interpolatio n Example - Multiple Moves This exampl e makes a coordi nated linear m ove in the XY plane. T he Arrays VX a[...]

USER MANUAL Chapter 6 Progra mming Motion • 73 N=0 Initialize position increment #LOOP LOOP VX [COUNT]=N Fill Array VX VY [COUNT]=N Fill Array VY N=N+10 Increment position COUNT=COUNT+1 Increment counter JP #LOOP,COUNT<750 Loop if array not full #A Label LM XY Specify linear mode for XY COUNT=0 Initialize array counter #LOOP2;JP#LOOP2,_LM=0 If[...]

Chapter 6 Programming Motion • 74 USER MANUAL Immediatel y prior to the execution of t he first coor dinated m ovement, t he controll er defines the c urrent position to be zero for all move ments in a sequence. Note: This ‘local’ definition of zero does not affect the absol ute coordinat e system or subseque nt coordin ated motion se quences[...]

USER MANUAL Chapter 6 Progra mming Motion • 75 Changing Feedrate: The command VR n allows the feedrate, VS, to be s caled between 0 and 10 with a resolution o f .0001. This command takes effect immediately and causes VS scaled. VR also applies when the vector speed is specified with the ‘<’ operator. This is a useful feature for feedrate o[...]

Chapter 6 Programming Motion • 76 USER MANUAL BGS Do the circular cut AMS After the coordinated move is com plete CB0 Disengage knife MG "ALL DONE" EN End program Command Summary - Coordinated Motion Sequence COMMAND DESCRIPTION VM m,n Specifies the axes for the pl anar motion where m and n represent t he planar axes a nd p is the tange[...]

USER MANUAL Chapter 6 Progra mming Motion • 77 Example: Traverse the p ath shown in F ig. 6.3. Fee drate is 20000 counts/sec. Plane of motion is XY VM XY S pecify motion plane VS 20000 Specify vector speed VA 1000000 Specify vector acceleration VD 1000000 Specify vector deceleration VP -4000,0 Segment AB CR 1500,270,-180 Segment BC VP 0,3000 Segm[...]

Chapter 6 Programming Motion • 78 USER MANUAL There are tw o modes: standa rd gearing a nd gantry m ode. The ga ntry mode is enabled wi th the command GM . GR 0,0, 00 turns of f gearing in both modes. A limit swi tch or ST c ommand disable gearing in t he standard m ode but n ot in the gent ry mode. The comm and GM x,y,z,w select the axes to be c[...]

USER MANUAL Chapter 6 Progra mming Motion • 79 MO Z Turn Z off, for external master GA Z, Z Specify Z as the master axis for both X and Y. GR 1.132,-.045 Specify gear ratios Now suppose the gear ratio of the X-axis is to ch ange on-the-fl y to 2. Thi s can be achie ved by commanding: GR 2 Specify gear ra tio for X axis to be 2 Example - Gantry Mo[...]

Chapter 6 Programming Motion • 80 USER MANUAL The electronic cam is a m ore general type o f electronic gea ring which all ows a table-base d relations hip between the axes. It allows synchron izing all the controller axes. For exam ple, the DMC-1348 controller may have one master and up to three slaves. To illustrate the procedure of setting the[...]

USER MANUAL Chapter 6 Progra mming Motion • 81 EP 2000,0 Step 4. Specify the slave positions. Next, we specify the slave position s with the instruction ET[n]=x,y,z,w where n indi cates the or der of the poi nt. The value, n, st arts at zero an d may go u p to 256. The parameters x,y ,z,w indicate the correspondin g slave position. For this examp[...]

Chapter 6 Programming Motion • 82 USER MANUAL EQ x,y,z,w where x,y,z,w are the master positions at which the corresponding slave axes are disengaged. Master X 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[...]

USER MANUAL Chapter 6 Progra mming Motion • 83 The following routine computes the table points. As the phase equals 0.18X and X va ries in increments of 20, the phase va ries by increments of 3.6 ° . The program then computes the values of Y according to the equation and assigns the values to the table with the instruction ET[N] = ,Y. INSTRUCTIO[...]

Chapter 6 Programming Motion • 84 USER MANUAL EM x,y,z,w Specifies the change in pos ition for ea ch axis of the CAM cycle EP m,n Defines CAM table entry s ize and offset EQ m,n Disengages ECAM at specified position ET[n] Defines the EC AM table entries EW Widen segment (see Application Note #2444) Operand Summary - Electronic CAM OPERAND DESCRIP[...]

USER MANUAL Chapter 6 Progra mming Motion • 85 EB 0 Exit the ECAM mode EN End of the program The above exa mple shows h ow the ECAM program is st ructured and how the comm ands can be gi ven to the contr oller. The ne xt page pr ovides the res ults capture d by the WSD K program . This shows how the motion will be seen during the ECAM cycles. The[...]

Chapter 6 Programming Motion • 86 USER MANUAL Consider, for example, the trajectory shown in Fig. 6.5. The positio n X may be described by the points: Point 1 X=0 at T=0ms Point 2 X=48 at T=4ms Point 3 X=288 at T=12ms Point 4 X=336 at T=28ms The same trajectory m ay be re presented by the increm ents Increment 1 DX=48 Time=4 DT=2 Increment 2 DX=2[...]

USER MANUAL Chapter 6 Progra mming Motion • 87 Additional Commands The command, WC, is used as a trippoin t "When Co mplete". This allows the DMC-13X8 to use the next increment only when it is finished with the pr evious one. Zero param eters for DT followed by zero param eters for CD exit the contour m ode. If no new data record is fou[...]

Chapter 6 Programming Motion • 88 USER MANUAL Figure 6.6 - Velocity Profile with Sinusoidal Acceleration The DMC-13 X8 can com pute trigonom etric functio ns. However , the argum ent must be exp ressed in degrees. Using our example, the equation for X is written as: X = 50T - 955 sin 3T A comple te program to generate the contour movem ent in thi[...]

USER MANUAL Chapter 6 Progra mming Motion • 89 C=0 #C D=C+1 DIF[C]=POS[D]-POS[C] Compute the difference and store C=C+1 JP #C,C<15 EN End first program #RUN Program to run motor CMX 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 pro[...]

Chapter 6 Programming Motion • 90 USER MANUAL D=C+1 DELTA=XPOS[D]- XPOS[C] Compute the difference DX[C]=DELTA Store differen ce in array C=C+1 Increment index JP #L,C<500 Repeat until done #PLAYBCK Begin Playback CMX Specify contour mode DT2 Specify time increment I=0 Initialize array counter #B Loop counter CD XPOS[I];WC Specify contour data [...]

USER MANUAL Chapter 6 Progra mming Motion • 91 INSTRUCTION INTERPRETATION VMXN 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, s evera l com mands are interpreted differently th an from s[...]

Chapter 6 Programming Motion • 92 USER MANUAL are moving back and fort h. For exam ple, when operating with serv o motors, the trippoint AM (After Motion) is used to determine when the motion profile r is complete and is prepared to execute a new motion command. However when operating in stepper mode, the controller may still be g enerating step [...]

USER MANUAL Chapter 6 Progra mming Motion • 93 Command Summary - Stepp er Motor Operation COMMAND DESCRIPTION DE Define Encoder Position (When using an encoder) DP Define R eference Position and Step Count Register IT Motion Profile Smoothing - Inde pendent Time Constant KS Stepper Motor Smoothing MT Motor Type (2,-2,2.5 or -2.5 for stepper motor[...]

Chapter 6 Programming Motion • 94 USER MANUAL YA Step Drive Resolu tion (pulses / full motor step) YB Step Motor Resolu tion (full motor steps / revolution) YC Encod er Resolution (counts / revolution ) YR Error Correction (pulses) YS Stepper Position Mainten a n ce enable, status A pulse is de fined by t he resolution o f the step dri ve being u[...]

USER MANUAL Chapter 6 Progra mming Motion • 95 MT -2; 'MOTOR TYPE SET TO STEPPER YA1; 'STEP RESOLUTION OF THE FULL-STEP DRIVE YB200; 'MOTOR RESOLUTION (FULL STEPS PER REVOLUTION) YC4000; 'ENCODER RESOLUTION (COUNTS PER REVOLUTION) SH X ; 'ENABLE AXIS WT 50; 'ALLOW SLIGHT SETTLE TIME YS1; 'ENABLE SPM MODE Half-St[...]

Chapter 6 Programming Motion • 96 USER MANUAL #SETUP OE 1; 'SET THE PROFILER TO STOP AXIS UPON ERROR KS 16; 'SET STEP SMOOTHING MT -2,-2,-2,-2; 'MOTOR TYPE SET TO STEPPER YA2; 'STEP RESOLUTION OF THE DRIVE YB200; 'MOTOR RESOLUTION (FULL STEPS PER REVOLUTION) YC4000; 'ENCODER RESOLUTION (COUNTS PER REVOLUTION) SH X ; [...]

USER MANUAL Chapter 6 Progra mming Motion • 97 Example: Friction Correction The following example illustrates how the SPM mode can be u seful in correcting for X axis friction after each m ove when conduct ing a reciproc ating moti on. The drive i s a 1/64 th m icrostepping drive with a 1.8 o step mot or and 4000 co unt/rev enco der. #SETUP ; &ap[...]

Chapter 6 Programming Motion • 98 USER MANUAL MC X WT 100; 'STABILIZE JP #LOOP ; 'KEEP CORRECTING UNTIL ERROR IS WITHIN 'TOLERANCE #END ; 'END #CORRECT SUBROUTINE, RETURNING TO CODE SP X =spx EN Dual Loop (Auxiliary Encoder) The DMC-13X8 pr o vi des an i nt erf ace for a second encoder for each axis except fo r axes conf igu r[...]

USER MANUAL Chapter 6 Progra mming Motion • 99 Backlash Compensation There are two m ethods for backlash comp ensation using the auxiliary encode rs: 1. Continuous dual loop 2. Sample d dual loop To illustrate the problem, consider a situation in which the coupling between the motor and the load has a backlash. To com pensate for the backlash, po[...]

Chapter 6 Programming Motion • 100 USER MANUAL PR 40000 Main move BGX Start motion #Correct Correction loop AMX Wait for motion comp letion V1=10000-_DEX Find linear encoder error V2=-_TEX/4+V1 Compensate for motor error JP#END,@ABS[V2]<2 Exit if error is small PR V2*4 Correction move BGX Start correction JP#CORRECT Repeat #END EN Motion Smoot[...]

USER MANUAL Chapter 6 Programming Motion • 101 SP 5000 Speed IT .5 Filter for smoothing BG X Begin ACCELERATION VELOCITY VELOCITY VELOCITY ACCELERATION Figure 6.7 - Trapezoi dal velocity and smoot h velocity prof i l es Using the KS Command (Step Motor Smoothing): When operati ng with ste p motors, m otion sm oothing can be accompl ished with the[...]

Chapter 6 Programming Motion • 102 USER MANUAL The smoothi ng parame ters, x,y,z,w an d n are num bers between 0. 5 and 8 and determi ne the degree of filtering. The minimum value of 0.5 implies no filtering, resu lting in trapezoidal velocity profiles. Larger values of the smoothing parameters imply heavier filtering and smoother moves. Note tha[...]

USER MANUAL Chapter 6 Programming Motion • 103 EN End MOTION TOWARD INDEX D I RECT I ON POSI TIO N H OME S WITCH _HMX=1 _HMX=0 POSI TIO N MOTI O N REVERSE TOW ARD HOME D I RECT I ON MOTIO N BEGINS TOW A RD HOME DIRE CT IO N VELOCI TY VELOCI TY VELOCI TY POSI TIO N POSI TIO N INDEX P ULSES POSI TIO N Figure 6.8 - Motion intervals in the Home sequ [...]

Chapter 6 Programming Motion • 104 USER MANUAL Command Summary - Homing Operation COMMAND DESCRIPTION FE XYZW Find Edge Routine. This routine monitors the Ho me Input FI XYZW Find Index Routine - This routin e monitors the Index Input HM XYZW Home Routine - This routine co mbines FE and FI as Described Above SC XYZW Stop Code TS XYZW Tell Status [...]

USER MANUAL Chapter 6 Programming Motion • 105 BG Y Begin motion on Y axis AL Y Arm Latch for Y axis #Wait #Wait label for loop JP #Wait,_ALY=1 Jump to #Wait label if latch has not occured Result=_RLY Set value of variable ‘Resu lt’ equal to the report position of y axis Result= Print result EN End Fast Update Rate Mode The DMC-13X 8 can oper[...]

Chapter 6 Programming Motion • 106 USER MANUAL THIS PAGE LEFT BLANK INTENTIONALLY[...]

USER MANUAL Chapter 7 Application Programming • 107 Chapter 7 Application Programming Overview The DMC-13X8 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 controller memory freeing the ho st comput er for other t asks. Howeve r, the [...]

Chapter 7 Application Programmin g • 108 USER MANUAL 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 characters doesn't exceed 80 characters per line. While in the Edit Mode, the programm er has access to[...]

USER MANUAL Chapter 7 Application Programming • 109 Using Labels in Programs All DMC- 13X8 program s must be gin with a label and end with an End (EN) statement. Labels start with the pound (# ) sign followed by a maximum of se ven characters. The first chara cter must be a letter; after that, numbers are permitted. Spaces are not permitted. The [...]

Chapter 7 Application Programmin g • 110 USER MANUAL Commenting Programs Using the command, NO The DMC-13X 8 provides a co mmand, NO, for comment ing programs. T his comm and allows the user to include up to 78 characters on a single line after the NO command and can be used to include comments from the programmer as in t he following example: #P[...]

USER MANUAL Chapter 7 Application Programming • 111 Note that bot h the XQ an d HX comm ands can be per formed by an executing p rogram. The example b elow produces a wa veform on O utput 1 inde pendent of a m ove. #TASK1 Task1 label AT0 Initialize referen ce tim e CB1 Clear Output 1 #LOOP1 Loop1 label AT 10 Wait 10 msec from reference time SB1 S[...]

Chapter 7 Application Programmin g • 112 USER MANUAL Error Code Command When there is a progr am error, the DMC-13X8 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 th e type of error c ondition that occurre[...]

USER MANUAL Chapter 7 Application Programming • 113 000 #A Program Label 001 PR1000 Position Relative 1000 002 BGX 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 valid while running :ED 3 Edit Line [...]

Chapter 7 Application Programmin g • 114 USER MANUAL DMC-13X8 and DMC-13X8 Event Triggers Command Function AM X Y Z W or S (A B C D) Halts program execution until motion is complete on the specified axes or motion sequence(s). AM with no parameter te st s for mot i on complete on all axes. This command is useful for separating motion sequences in[...]

USER MANUAL Chapter 7 Application Programming • 115 Event Trigger Examples: Event Trigger - Multiple Move Sequence The AM trippoint 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. #TWOMOVE Label PR 2000 Position Command BGX B[...]

Chapter 7 Application Programmin g • 116 USER MANUAL Event Trigger - Start Motion on Input This example waits for input 1 to go low and then starts motion. Note: The AI command actually halts execution of the program until th e input occu rs. If you do not want to halt the program sequences, you can use the Inpu t Interrup t function (II) or use [...]

USER MANUAL Chapter 7 Application Programming • 117 Event Trigger - Multiple Move with Wait This example makes multiple relative distance moves b y waiting for each to be complete before executing new m oves. #MOVES Label PR 12000 Distance SP 20000 Speed AC 100000 Acceleration BGX Start Motion AD 10000 Wait a distance of 10,000 counts SP 5000 New[...]

Chapter 7 Application Programmin g • 118 USER MANUAL Command Format - JP and JS FORMAT DESCRIPTION JS destination, logical cond ition Jump to subroutine if logical condition is satisfied 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 sequen[...]

USER MANUAL Chapter 7 Application Programming • 119 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[...]

Chapter 7 Application Programmin g • 120 USER MANUAL evaluates true, the command interpreter will continu e executing commands wh ich follow the IF command. If the condition al state ment evalu ates fa lse, the controller will ignore command s until the associated ENDIF command is executed OR an ELSE com mand occurs in the program (see discussion[...]

USER MANUAL Chapter 7 Application Programming • 121 ENDIF End of 1 st conditional statement #WAIT Label to be used for a loop JP#WAIT,(@IN[1]=0) | (@IN[2]=0) Loop until both input 1 and input 2 are not active RI0 End Input Interrupt Routine without restor ing trippoints Subroutines A subrouti ne is a gr oup of inst ructions be ginning with a labe[...]

Chapter 7 Application Programmin g • 122 USER MANUAL Automatic Subroutines for Monitoring Conditions Often it is desirable to monitor certain conditions continuously with ou t tying up the host or DMC- 13X8 program sequences. The controller can monitor sev eral important conditions in the back ground. These conditions includ e ch ecking for the o[...]

USER MANUAL Chapter 7 Application Programming • 123 001 JP #LOOP;EN Loop 002 #POSERR Position Error R outine 003 V1=_TEX Read Position Error 004 MG "EXCESS POSITION ERROR" Print Message 005 MG "ERROR=",V1= Print Error 006 RE Return from Error <control> Q Quit Edit Mode :XQ #LOOP Execute Dummy Program :JG 100000 Jog at Hi[...]

Chapter 7 Application Programmin g • 124 USER MANUAL Example - Command Error #BEGIN Begin main program IN "ENTER SPEED", SPEED Prompt for speed JG SPEED;BGX; Begin motion JP #BEGIN Repeat EN End main program #CMDERR Command error utility JP#DONE,_ED<>2 Check if error on line 2 JP#DONE,_TC<>6 Check if out of range MG "SP[...]

USER MANUAL Chapter 7 Application Programming • 125 #CMDERR Begin command error subroutine IF _TC=6 If error is out of range (KP -1) N=1 Set N to a valid number XQ _ED2,_ED1,1 Retry KP N command ENDIF IF _TC=1 If error is invalid command (TY) XQ _ED3,_ED1,1 Skip invalid command ENDIF EN End of command error routine Mathematical and Functional Exp[...]

Chapter 7 Application Programmin g • 126 USER MANUAL significant byte of the f raction. The c haracters can be i ndividually separated by using bit -wise operations as illustrated in the follo wing example: #TEST Begin main program IN "ENTER",LEN{S6} Input ch aracter string of up to 6 characters into variable ‘LEN’ FLEN=@FRAC[LEN] D[...]

USER MANUAL Chapter 7 Application Programming • 127 @ABS[n] Absolute value of n @FRAC[n] Fraction portion of n @INT[n] Integer portio n of n @RND[n] Round of n (Rounds up if the fractional par t of n is .5 or greater) @SQR[n] Square root of n (Accuracy is +/-. 004) @IN[n] Return digital input at general in put n (where n starts at 1) @OUT[n] Retu[...]

Chapter 7 Application Programmin g • 128 USER MANUAL SPEED Z ; Cannot have spaces in the name Assigning Values to Variables: Assigned value s can be num bers, internal vari ables and keywo rds, functions, controller parameters and strings; The range for num eric variab le values is 4 b ytes of intege r (2 31 ) followed by two bytes of fraction (+[...]

USER MANUAL Chapter 7 Application Programming • 129 Operands Operands al low moti on or status param eters of the DMC-13X 8 to be incor porated int o programm able variables and expressions . Most DMC com mands ha ve an equivale nt operand - which ar e designated by adding a n underscore (_) prior to t he DMC-1 3X8 command . The comm and referenc[...]

Chapter 7 Application Programmin g • 130 USER MANUAL Arrays For storing and collecting numerical d ata, th e DMC- 13X8 provides array space for 800 0 ele ments. The arrays are one-dimensi onal and up to 30 different array s may be defined. Each array element has a numeric ran ge of 4 by tes of int eger (2 31 ) foll owed by tw o bytes of fract ion[...]

USER MANUAL Chapter 7 Application Programming • 131 POS[COUNT]=_TPX Re cord pos ition into array eleme nt POS[COUNT]= Report position COUNT=COUNT+1 Increment counter JP #LOOP,COUNT<10 Loop until 10 elements have been stored EN End Program The above example records 10 position values at a rate of one value per 10 msec. The values are stored in [...]

Chapter 7 Application Programmin g • 132 USER MANUAL Data Types for Recording: DATA TYPE DESCRIPTION _DEX 2nd encoder position (dual en coder) _TPX Encoder position _TEX Position error _RPX Commanded position _RLX Latched position _TI Inputs _OP Output _TSX Switches (only bit 0-4 valid) _SCX Stop code _NOX Status bits _TTX Torque (reports digital[...]

USER MANUAL Chapter 7 Application Programming • 133 YERR[N]= Print Y error N=N+1 Increment Counter #DONE Done EN End Program Deallocating Array Space Array space may be deallocated using t he DA command followed by the array nam e. DA*[0] deallocates all the arrays. Input of Data (Numeric and String) Input of Data The comm and, IN, is used t o pr[...]

Chapter 7 Application Programmin g • 134 USER MANUAL AMX Wait for motion done SB1 Set output to cu t WT100;CB1 Wait 100 msec, then turn off cutter JP #CUT Repeat process EN End program Inputting String Variables String variables with up to six ch aracters may inpu t using the specifier, {Sn} where n re presents the number of string characters to [...]

USER MANUAL Chapter 7 Application Programming • 135 The Final Value is 999 99.99 The message com mand normal ly sends a carriage return and line fee d following the statement. The carriage return and the line feed m ay be suppressed by sending {N} at the end of the statement. This is useful when a text string needs to surrou nd a numeri c value. [...]

Chapter 7 Application Programmin g • 136 USER MANUAL Interrogation Commands The DMC-13X 8 has a set of com mands that directly interrogate the controller. When t hese command are entered, the reque sted data is returned in d ecimal format on the ne xt line followed by a carria ge return and line feed. The format of the returned data can be change[...]

USER MANUAL Chapter 7 Application Programming • 137 LZ0 Disables the LZ function TP Tell Position Interrogation Comm and -0000000009, 0 000000005, 00000 00000, 000 0000007 Response from Interrogation Command (With Leading Zeros) LZ1 Enables the LZ function TP Tell Position Interrogation Comm and -9, 5, 0, 7 Response from Interrogation Command (Wi[...]

Chapter 7 Application Programmin g • 138 USER MANUAL {Fn.m} or {$n. m} followi ng the variabl e name and the ‘=’ symbol . F specifie s decimal and $ s pecifies hexadecim al. n is the num ber of digi ts to the le ft of the de cimal, and m is the num ber of digit s to the right of the deci mal. For example: Examples: :V1=10 Assign V1 :V1= Retur[...]

USER MANUAL Chapter 7 Application Programming • 139 For example: INSTRUCTION FUNCTION SB6 Sets bit 6 of output port CB4 Clears bit 4 of output port 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-zero value results in a set bit. INSTRUCTION[...]

Chapter 7 Application Programmin g • 140 USER MANUAL 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 X must turn at 4000 cou n ts/ sec when the user flips a panel sw itch to on. When panel switch is turned [...]

USER MANUAL Chapter 7 Application Programming • 141 #LOOP;JP #LOOP,@IN[1]=0 Loop until In terrupt cleared JG 15000,10000 Specify new speeds WT 300 Wait 300 milliseconds BG XY Begin motion on X and Y axes RI Return from Interrupt subroutine Analog Inputs The DMC-13X8 provides eight analog inputs. Th e valu e of these inputs in volts may be read us[...]

Chapter 7 Application Programmin g • 142 USER MANUAL EN End Example Applications Wire Cutter An operator activates a start switch. This ca uses a motor to advance the wire a distance of 10". When the motion stops, the controller generates an outpu t sign al which activates the cutter. Allowing 100 ms for the cutting completes the cycle. Supp[...]

USER MANUAL Chapter 7 Application Programming • 143 START PULSE I1 MOTOR VELOCITY OUTPUT PULSE TIME INTERVALS move output wait ready move Figure 7.1 - Motor Velocity and the Associated Input/Output signals X-Y Table Controller An X-Y-Z system must cut the pattern shown in Fig. 7.2. The X-Y table moves the plate while the Z- axis raises and lowers[...]

Chapter 7 Application Programmin g • 144 USER MANUAL Further assum e that the Z m ust move 2" at a l inear speed of 2" per second. The required motion is performed by the follo wing instruct ions: INSTRUCTION FUNCTION #A Label VM XY Circular interpolation for XY VP 160000,160000 Positions VE End Vector Motion VS 200000 Vector Speed VA 1[...]

USER MANUAL Chapter 7 Application Programming • 145 R=2 BC A 0 4 9.3 4 Y X 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 joystick produces a si gnal in the range between - 10V and +10V. The objective is to drive the motor at a speed proportional[...]

Chapter 7 Application Programmin g • 146 USER MANUAL The corresponding velo city for the motor is assigned to the VEL variable. Instruction #A JG0 BGX #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 joystick an gle. Furtherm ore, the ratio betwe en[...]

USER MANUAL Chapter 7 Application Programming • 147 An alternative approach is the du al-loop, where we use two sensors, rotary and linear. The rotary sensor assures stability (because th e position loop is closed before the backlash) whereas the linear sensor provides accurate load positio n information. The operation prin ciple is to drive the [...]

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USER MANUAL Chapter 8 Hardware & Softw are Protection • 149 Chapter 8 Hardware & Software Protection Introduction The DMC-13X8 pro vides several ha rd wa re and softwa re features to c heck for error conditions and t o inhibit the m otor on err or. These features he lp protect the various system components fr om dama ge. WARNING: Machiner[...]

Chapter 8 Hardware & Softw are Protection • 150 USER MANUAL Input Protection Lines General Abort - A low input stops commanded motion instantly without a controlled deceleration. For any axis in which the Off-On-Error function is en abled, the amplifiers will be disabled . This could cause the motor to ‘coast’ to a stop. If the Of f-On-Er[...]

USER MANUAL Chapter 8 Hardware & Softw are Protection • 151 BL -2000,-4000,-8000 Set Reverse position limit FL 2000,4000,8000 Set Forward position lim it JG 2000,2000,2000 Jog BG XYZ Begin (motion stops at forwa rd limits) Off-On-Error The DMC-13X8 controller h as a built in function wh ic h can turn off the motors under certain error conditi[...]

Chapter 8 Hardware & Softw are Protection • 152 USER MANUAL The state of the forward and reverse lim it switches may also be tested during the jump-on-condition statement. The _LR condition specifies the reverse limit and _LF specifies the forward limit. X,Y,Z, or W following LR or LF specifies the axis. The CN command can be used to configur[...]

USER MANUAL Chapter 9 Troubleshootin g • 153 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 d[...]

Chapter 9 Troubleshootin g • 154 USER MANUAL Unable to read main or auxiliary encoder input. The encoder does not work when swapped with another encoder input. 1. Wrong encoder connections. 2. Encoder is da maged 3. Encoder configuration incorrect. Check encoder wiring. For single ended encoders (CHA and CHB only) do not make any connections to t[...]

USER MANUAL Chapter 9 Troubleshootin g • 155 Stability SYMPTOM DIAGNOSIS C AUSE REMEDY Servo motor runs away when the loop is clos ed. Reversed Motor Type corrects situation (MT -1) 1. Wrong feedback polarity. Reverse Motor or Encoder Wiring (remember to set Mot o r Ty pe back to default value: MT 1) Motor oscillates. 2. Too high gain or too litt[...]

Chapter 9 Troubleshootin g • 156 USER MANUAL THIS PAGE LEFT BLANK INTENTIONALLY[...]

USER MANUAL Chapter 10 Theory of Operation • 157 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 emen ts of Servo Systems The operation of such[...]

Chapter 10 Theory of Operation • 158 USER MANUAL 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 Fi[...]

USER MANUAL Chapter 10 Theory of Operation • 159 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[...]

Chapter 10 Theory of Operation • 160 USER MANUAL it too slowly, the temperature response will be slow, causing discomfort. Such a slow reaction is called overdam ped response. The results may be worse i f we turn the faucet too fast. The overreacti o n results i n temperature oscillations. When the response of the system oscillates, we say that t[...]

USER MANUAL Chapter 10 Theory of Operation • 161 DIGITAL FILTER Σ ZOH DAC ENCODER AMP MOTOR CONTROLLER R C X Y VE P Figure 10.4 - Functional Elements of a Motion Control System 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 i[...]

Chapter 10 Theory of Operation • 162 USER MANUAL Then the correspond ing time constants are T m = 0.04 sec and T e = 0.002 sec Assuming that the amplifier gain is Kv = 4, the resulting transfer function is P/V = 40/[s (0.04s+1)( 0.002s+1)] Current Drive The current drive generates a current I, which is propor tional to the input voltage, V, with [...]

USER MANUAL Chapter 10 Theory of Operation • 163 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 signal[...]

Chapter 10 Theory of Operation • 164 USER MANUAL DAC The DAC or D -to-A conve rter converts a 16-bit num ber to an a nalog volta ge. The inp ut 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 /6553 6 = 0.0003 [V/count] Digital Filter The digital filter has three ele[...]

USER MANUAL Chapter 10 Theory of Operation • 165 A = 0.9 C = 1 a = 250 rad/s and the equivalent continuou s filter, G(s), is G(s) = [16 + 0.144s + 1000/s} ∗ 250/ (s+250) The notch filter has two complex zeros, Z and z, and two complex poles, P and p. The effect of the notch filter is to cancel the reso nance affect by placing the complex zeros [...]

Chapter 10 Theory of Operation • 166 USER MANUAL M(s) = P/I = Kt/Js2 = 500/s 2 [ra d/A] Amp K a = 4 [Amp/V] DAC K d = 0.000 3 [V/count] Encoder K f = 4N/2 π = 318 [count/rad] ZOH 2000/(s+2000 ) Digital Filter KP = 12 .5, KD = 245, T = 0.001 Therefore, D (z) = 1030 ( z-0.95)/Z Accordingly, the coefficients of the contin uous filter are: P = 50 D [...]

USER MANUAL Chapter 10 Theory of Operation • 167 1 4 0.1 50 200 2000 W (rad/s) Magnitude Figure 10.8 - Bode plo t of the open loop transfer function For the given example, the cros so ver frequency wa s computed numerically resulting in 200 rad/s. Next, we determine the ph ase of A( s) at the cross over frequency. A(j200) = 390,000 (j200+5 1)/ [([...]

Chapter 10 Theory of Operation • 168 USER MANUAL Consider a system with the following parameters: K t Nm/A Torque constan t J = 2.10 -4 kg.m 2 System moment of inertia R = 2 Ω Motor resistance K a = 2 Amp/Volt Current amplifier gain N = 1000 Counts/rev Encoder line density The DAC of theDMC-13X8 outpu ts +/-10V for a 16-bit command of +/-32768 c[...]

USER MANUAL Chapter 10 Theory of Operation • 169 However, sinc e A (s) = L( s) G(s) then it follows that G(s) must have magnitude of |G( j 50 0)| = |A(j500)/L( j500)| = 160 and a phase arg [G (j5 00)] = arg [A(j500)] - arg [L(j500)] = -135 ° + 194 ° = 59 ° In other words, we need to select a filter function G(s) of the form G(s) = P + sD so th[...]

Chapter 10 Theory of Operation • 170 USER MANUAL Equivalent Filter Form DMC-13X8 Digital D(z) =[K( z-A/z) + Cz/(z-1)] ∗ (1-B)/ (Z-B) Digital D(z) = [4 KP + 4 KD(1-z -1 ) + KI/ 2(1-z -1 )] ∗ (1-B)/(Z -B) KP, KD, KI, PL K = (KP + KD) 4 A = KD/(KP+KD) C = K I / 2 B = P L Continuous G(s) = (P + Ds + I/s) ∗ a/s+a PID, T P = 4 KP D = 4 T*KD I = K[...]

USER MANUAL Appendices • 171 Appendices Electrical Specifications Servo Control ACMD Amplifier Command: +/-10 Volts analog signal. Resolution 16- b it DAC or . 000 3 Vo lt s . 3 mA max im um A+,A-,B+,B-,IDX+,IDX- En coder a nd Auxiliary TTL compatible, but can accept up to +/-12 Volts. Quadrature phase on C HA,CHB. Can accept single-ended (A+,B+ [...]

Appendices • 172 USER MANUAL Power +5V 750 mA +12V 40 mA -12V 40mA Performance Specifications Normal Fast Firmware Minimum Servo Loop U pdate Tim e: DMC-1318 250 μ sec 125 μ sec DMC-1328 250 μ sec 125 μ sec DMC-1338 375 μ sec 250 μ sec DMC-1348 375 μ sec 250 μ sec Position Accuracy: +/-1 quadrature cou nt Velocity Accuracy: Long Term Phas[...]

USER MANUAL Appendices • 173 Connectors for DMC-13X8 Main Board J1 DMC-13X8 (A-D AXES) MAIN; J5-DMC-13X8 ( A-D AXES) 100-PIN HIGH DENSITY: AUXILIARY ENCODERS; 26-PIN IDC: 1 Analo g Groun d 51 NC 1 +5V 14 A- Aux Z 2 Groun d 52 Ground 2 Groun d 15 B+ Aux Z 3 +5V 53 +5V 3 A+ Aux X 16 B- Aux Z 4 Error Out p ut 54 Limit common 4 A- Aux X 17 A+ Aux W 5[...]

Appendices • 174 USER MANUAL Pin-Out Description for DMC-13X8 Outputs Analog Motor Command +/- 10 Volt rang e signal for driving amplifier. In servo mode, motor command output is updated at th e co ntroller sample rate. In the motor off mode, t his output i s held at the OF command level. Amp Enable Sig nal to disable and enable an amplifier. Amp[...]

USER MANUAL Appendices • 175 Abort A low input stops commanded motion instan tly without a controlled deceleration. Also aborts motion program. Reset A low input resets the state of the processor to its power-on condition. The previously save d state of t he contr ol l er, al on g wi t h par am eter values, and saved sequences a re restored. Forw[...]

Appendices • 176 USER MANUAL connecting auxiliary encoder cable to ICM-1900 or AMP- 19X0). 16-Bit ADC Increased resolution for analog in puts ICM-1900 (-HAEN or -LAEN) Interconnect modul e with either High or Low Amp Enable ICM-1900-Opto (-HAEN or -LAEN) Interconnect module with Optoisol ated dig ital outputs (either High or Low Amp Enable) AMP-1[...]

USER MANUAL Appendices • 177 7 +ABY I Y Auxiliary encoder B+ 8 -ABY I Y Auxiliary encoder B- 9 +AAZ I Z Auxiliary encoder A+ 10 -AAZ I Z Auxiliary encoder A- 11 +ABZ I Z Auxiliary encoder B+ 12 -ABZ I Z Auxiliary encoder B- 13 +AAW I W Auxiliary encoder A+ 14 -AAW I W Auxiliary encoder A- 15 +ABW I W Auxiliary encoder B+ 16 -ABW I W Auxiliary enc[...]

Appendices • 178 USER MANUAL 52 RLSX I X axis reverse limit switch input 53 FLSX I X axis forward limit switch input 54 +VCC + 5 Volts 55 GND Signal Ground 56 INCOM I Input common (Common fo r general inputs and Abort input) 57 XLATCH I Input 1 (Used for X axis latch in put) 58 YLATCH I Input 2 (Used for Y axis latch in put) 59 ZLATCH I Input 3 ([...]

USER MANUAL Appendices • 179 96 -INY I Y Main encoder Index - 97 +MAZ I Z Main encoder A+ 98 -MAZ I Z Main en coder A- 99 +MBZ I Z Main encoder B+ 100 -MBZ I Z Main encoder B- 101 +INZ I Z Main encoder Index + 102 -INZ I Z Main encoder Index - 103 GND Signal Ground 104 +VCC + 5 Volts 105 +MAW I W Main encoder A+ 106 -MAW I W Main encoder A- 107 +[...]

Appendices • 180 USER MANUAL ICM-1900 Drawing 11.620" 12.560" 13.500" 0.220" 0.440" 2.000" 6.880" 4.940" Dimensions: 13. 5” x 2. 67 5” x 6.8 8” AMP-19X0 Mating Power Amplifiers The AMP-19X0 series are matin g, brush-type servo amplifi e rs for the DMC-13X8 . The AMP-1910 contains 1 amplifier: the AMP-[...]

USER MANUAL Appendices • 181 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 -- 1/4” ∅ Gain: 1 am p/V ICM-2900 Interconnect Module The ICM-2900 interconnect modul e provides easy connections betwee n the DMC-13X8 series controller[...]

Appendices • 182 USER MANUAL 6 AMPENX O X axis amplifier enable 7 OUT5 O General Output 5 7 OUT6 O General Output 6 7 OUT7 O General Output 7 7 OUT8 O General Output 8 8 OUT1 O General Output 1 8 OUT2 O General Output 2 8 OUT3 O General Output 3 8 OUT4 O General Output 4 9 +5V O + 5 Volts 9 HOMEZ I Z axis hom e input 9 RLSZ I Z axis reverse limit[...]

USER MANUAL Appendices • 183 18 ANALOG1 I Analog Input 1 18 ANALOG2 I Analog Input 2 18 ANALOG3 I Analog Input 3 18 ANALOG4 I Analog Input 4 19 +5V O + 5Volts 19 +INX I X Main encoder Index + 19 -INX I X Main encoder Index - 19 GND O Signal Ground 20 +MAX I X Main encoder A+ 20 -MAX I X Main encoder A- 20 +MBX I X Main encoder B+ 20 -MBX I X Main[...]

Appendices • 184 USER MANUAL Opto-Isolated Outputs ICM-1900 / ICM-2900 (-Opto option) The ICM/AMP 1900 and ICM-2900 modules from Galil have an option for opto- isolated outputs. Standard Opto-isolation and Hi gh Current Opto-isolation: The Opto-iso lation option on the ICM-1900 has 2 forms: ICM-1900 -OPTO (standard) and ICM-1900- OPTOHC (hi gh cu[...]

USER MANUAL Appendices • 185 Configuring the I/O of the DMC-13X8 The 64 extended I/O points of th e D MC-13X8 series controller can be configured in blocks of 8. The extended I/ O is denote d as bloc ks 2-9 or bi ts 17-80. The comm and, CO, is used t o configure the extended I/O a s inputs or outputs. T he CO comma nd has one field: CO n Where, n[...]

Appendices • 186 USER MANUAL The comm and, OP, may al so be used to set output bit s, specifie d as blocks o f data. The OP command accepts 5 parameters. T he first parameter sets the values of the m ain outpu t port of the controller (Outputs 1-8, block 0). The addition al paramete rs set the value of the extended I/O as outlined: OP m,a,b,c,d w[...]

USER MANUAL Appendices • 187 13. I/O 4 34 1 15. I/O 4 33 0 17. I/O 3 32 7 19. I/O 3 31 6 21. I/O 3 30 5 23. I/O 3 29 4 25. I/O 3 28 3 27. I/O 3 27 2 29. I/O 3 26 1 31. I/O 3 25 0 33. I/O 2 24 7 35. I/O 2 23 6 37. I/O 2 22 5 39. I/O 2 21 4 41. I/O 2 20 3 43. I/O 2 19 2 45. I/O 2 18 1 47. I/O 2 17 0 49. +5V - - - 2. I/O 5 41 0 4. I/O 5 42 1 6. I/O [...]

Appendices • 188 USER MANUAL J8 50-PIN I DC PIN SIGNAL BLOCK BIT @IN[n], @OUT[n] BIT # 1. I/O 8 72 7 3. I/O 8 71 6 5 I/O 8 70 5 7. I/O 8 69 4 9. I/O 8 68 3 11. I/O 8 67 2 13. I/O 8 66 1 15. I/O 8 65 0 17. I/O 7 64 7 19. I/O 7 63 6 21. I/O 7 62 5 23. I/O 7 61 4 25. I/O 7 60 3 27. I/O 7 59 2 29. I/O 7 58 1 31. I/O 7 57 0 33. I/O 6 56 7 35. I/O 6 55[...]

USER MANUAL Appendices • 189 34. GND - - - 36. GND - - - 38. GND - - - 40. GND - - - 42. GND - - - 44. GND - - - 46. GND - - - 48. GND - - - 50. GND - - - IOM-1964 Opto-Isolation Module for Extended I/O Controllers Description: • Provides 64 optically isolated inputs and outputs, each rated for 2mA at up to 28 VDC • Configura ble as in puts o[...]

Appendices • 190 USER MANUAL 0 1 3 2 5 7 6 4 J1 100 pin high density connector Banks 0 and 1 provide high power output capability. Banks 2-7 are standard banks. Screw Terminals High Current Buffer chips (16) IOM-1964 REV A GALIL MOTION CONTROL MADE IN USA FOR INPUTS: UX3 UX4 RPX4 FOR OUTPUTS: UX1 UX2 RPX2 RPX3 Overview The IOM-19 64 is an input/ [...]

USER MANUAL Appendices • 191 For example, here is the layout of bank 0: Bank 0 IN OUT RP02 OUT RP04 IN RP03 OUT U03 U04 U01 U02 D0 RP01 OUT C6 17 18 19 20 21 22 23 24 Input Buffer IC's Output Buffer IC's Indicator LED's Resistor Pack for LED's Resistor Pack for outputs Resistor Pack for inputs Resistor Pack for outputs All of [...]

Appendices • 192 USER MANUAL Input Circuit 1/4 NEC2505 To DMC-1748* I/O DMC-1748* GND 1/8 RPx4 I/OC n I/O n x = bank number 0-7 n = input number 17-80 Connections to this op tically iso lated input circuit are done in a sinking or sourcing conf iguration, referring t o the directio n of curre nt. Some example circui ts are show n below: Sinking S[...]

USER MANUAL Appendices • 193 Note that the current t hrough the di gital inpu t should be kept below 3 m A in order t o minimi ze the power dissipated in the resistor pack. This will help prevent circu it failures. The resistor pack RPx4 is standard 1.5 k ohm whi ch is suita ble for powe r supply volt ages up to 5.5 VDC. However, use of 24 VDC fo[...]

Appendices • 194 USER MANUAL The power outputs must b e connected in a driving con figuration as shown on the previous page . He r e are the voltage outputs to e xpect after t he Clear Bit and Set Bit commands are given: Output Command Result CB n V pwr = V iso SB n V pwr = GND iso Standard Digital Outputs The I/O bank s 2-7 can be c onfigure d a[...]

USER MANUAL Appendices • 195 Output Command Result CB n V out = GND iso SB n V out = V iso The resistor pack RPx 3 is rem ove d to provide op en collector out puts. The same calculations for maximum source current a nd low level voltage a pplie s as in the above ci rcuit. The maxim um sink current is determined b y the NEC 2505, and is approximat[...]

Appendices • 196 USER MANUAL • Maxim um sink current: 2mA Relevant DMC Commands CO n Configures the 64 bits of extended I/O in 8 banks of 8 bits each . n = n 2 + 2*n 3 + 4*n 4 + 8*n 5 + 16*n 6 + 32*n 7 + 64*n 8 + 128*n 9 where n x is a 1 or 0, 1 for outputs and 0 fo r inputs. The x is the bank number OP m,n,o,p,q m = 8 standard digital outputs [...]

USER MANUAL Appendices • 197 24 I/OC65-72 I/O common for I/O 65-72 25 I/O64 I/O bit 64 26 I/O63 I/O bit 63 27 I/O62 I/O bit 62 28 I/O61 I/O bit 61 29 I/O60 I/O bit 60 30 I/O59 I/O bit 59 31 I/O58 I/O bit 58 32 I/O57 I/O bit 57 33 OUTC57-64 Out common for I/O 57-64 34 I/OC57-64 I/O common for I/O 57-64 35 I/O56 I/O bit 56 36 I/O55 I/O bit 55 37 I/[...]

Appendices • 198 USER MANUAL 69 I/O28 I/O bit 28 70 I/O27 I/O bit 27 71 I/O26 I/O bit 26 72 I/O25 I/O bit 25 73 OUTC25-32 Out common for I/O 25-32 74 *I/OC25-32 I/O common for I/O 25-32 75 *OUTC25-32 Out common for I/O 25-32 76 I/OC25-32 I/O common for I/O 25-32 77 PWROUT32 Power output 32 78 PWROUT31 Power output 31 79 PWROUT30 Power output 30 8[...]

USER MANUAL Appendices • 199 Vs Vx Vy =+ 22 The vector distance is the integral of Vs, or the total distan ce trav eled along the path. To illustrate this further, suppose that a stri ng was placed along the path in the X-Y pl ane. The length of that string represents the distance travel ed by the vector m otion. The vector vel ocity is specifi e[...]

Appendices • 200 USER MANUAL B-C Circular R Δ θ π 2 360 = 15708 C-D Linear 1000 Total 35708 counts In general, the length of each linear segment is L X kY k k = + 22 Where Xk and Yk are the changes in X and Y position s along the linear segment. The length of the circular arc is LR kk k =Δ Θ 2 360 π The total travel distance is gi ven by DL[...]

USER MANUAL Appendices • 201 The total motion time, Tt, is given by T D VS Ts ta =+ = 0 407 . The velocities along the X and Y axes are such that the direction of motion follows the specified pa th, yet the vector velocity fits the vector speed an d acceleration requirements. For example, the velocities along the X and Y axes for the path shown i[...]

Appendices • 202 USER MANUAL DMC-13X8/DMC-1300 Comparison BENEFIT DMC-13X8 DMC-1300 Higher Speed com munication Frees host Two communication ch annels-FIFO and Polling FIFO Only one chann el- DPRAM Instant access to param eters – real time data processing & recording Polling FIFO No Polling FIFO Programs don’t have to be downloaded from V[...]

USER MANUAL Appendices • 203 Training Seminars Galil, a leader in motion control with over 250, 000 controllers working worldwide, has a proud reputation for anticipating and setting the trends in motion con tro l. Galil understands your need to keep abreast with these trends in order to remain resourceful and co mpetitive. Through a series of se[...]

Appendices • 204 USER MANUAL Contacting Us Galil Motion Control 3750 Atherton Road Rocklin, California 95765 Phone: 916-62 6- 0 10 1 Fax: 916- 626-0102 Internet address: support@gal ilmc.com URL: www.galil mc. com FTP: www.galilm c.com/ftp[...]

USER MANUAL Appendices • 205 WARRANTY All products manufactured by Galil Motion Control are warranted against defects in materials and workmanshi p. The wa rranty peri od for cont roller boar ds is 1 yea r. The warra nty perio d for all other products is 180 days. In the event of any defects in materials or workma n ship, Galil Motion Control wil[...]

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USER MANUAL Index • 207 Index Abort .............. 37–39, 47, 70, 76, 160, 162, 183, 186–87 Off-On-Error................................ 20, 39, 42, 160, 162 Stop Motion ....................................... 70 , 76, 131, 163 Absolute Position............................ 65–67, 1 21–22, 126 Absolute Valu e ..............................[...]

Index • 208 USER MANUAL Address ... Error! Not a valid bo okmark in e ntry on page 46, 52, Error! Not a valid bookmark in entry on page 54, 139–41, 188, 216 DMA ........................................................................... 11 Download ................................................... 56, 113, 139 Dual Encoder ...................[...]

USER MANUAL Index • 209 Jog 68–69, 80, 87, 111, 122–23, 13 0–32, 136, 156, 162 Joystick ................................................. 69, 136, 155–56 Jumper .................................................. 41, 54, 166, 167 Keyword ..................................... 125, 133, 136, 137–38 TIME ....................................[...]

Index • 210 USER MANUAL Selecting Address ................. 52, 139–41, 166, 188, 216 Set Bit ....................................................................... 148 Sine 65, 86, 135 Single-Ended .................................................. 13, 21, 23 Slew 55, 65, 81, 108, 121, 123, 151 Smoothing............................... 65, 71,[...]