Galil DMC-2X00 User Manual

DMC-2x00

Manual Rev. 2.0

USER MANUAL

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

Using This Manual

This user manual provides information for proper operation of the DMC-2x00 controller. A separate supplemental manual, the Command Reference, contains a description of the commands available for use with this controller.

Your DMC-2x00 motion controller has been designed to work with both servo and stepper type motors. Installation and system setup will vary depending upon whether the controller will be used with stepper motors or servo motors. To make finding the appropriate instructions faster and easier, icons will be next to any information that applies exclusively to one type of system. Otherwise, assume that the instructions apply to all types of systems. The icon legend is shown below.

2x80

Please note that many examples are written for the DMC-2x40 four-axes controller or the DMC-2x80 eight axes controller. Users of the DMC-2x30 3-axis controller, DMC-2x20 2-axes controller or DMC-2x10 1-axis controller should note that the DMC-2x30 uses the axes denoted as XYZ, the DMC2x20 uses the axes denoted as XY, and the DMC-2x10 uses the X-axis only.

Examples for the DMC-2x80 denote the axes as A,B,C,D,E,F,G,H. Users of the DMC-2x50 5-axes controller. DMC-2x60 6-axes controller or DMC-2x70, 7-axes controller should note that the DMC2x50 denotes the axes as A,B,C,D,E, the DMC-2x60 denotes the axes as A,B,C,D,E,F and the DMC2x70 denotes the axes as A,B,C,D,E,F,G. The axes A,B,C,D may be used interchangeably with A,B,C,D.

WARNING: Machinery in motion can be dangerous! It is the responsibility of the user to design effective error handling and safety protection as part of the machinery. Galil shall not be liable or responsible for any incidental or consequential damages.

Attention: Pertains to servo motor use.

Attention: Pertains to stepper motor use.

Attention: Pertains to controllers with more than 4 axes.

Using This Manual ....................................................................................................................ii

Contents i Chapter 1 Overview 1

Introduction ...............................................................................................................................1

Specifications............................................................................................................................. 2

Overview of Motor Types..........................................................................................................3

Overview of Amplifiers.............................................................................................................4

DMC-2x00 Functional Elements ............................................................................................... 5

DMC- 2000 Family Part Number Definition...............................................................2

Electrical Specifications ..............................................................................................2

Mechanical Specifications........................................................................................... 2

Environmental Specifications...................................................................................... 3

Equipment Maintenance..............................................................................................3

Standard Servo Motor with +/- 10 Volt Command Signal .......................................... 3

Brushless Servo Motor with Sinusoidal Commutation................................................3

Stepper Motor with Step and Direction Signals .......................................................... 4

Amplifiers in Current Mode ........................................................................................ 4

Amplifiers in Velocity Mode.......................................................................................4

Stepper Motor Amplifiers............................................................................................4

Microcomputer Section ............................................................................................... 5

Motor Interface............................................................................................................ 5

Communication ........................................................................................................... 5

General I/O.................................................................................................................. 6

System Elements ......................................................................................................... 6

Motor........................................................................................................................... 6

Amplifier (Driver) ....................................................................................................... 6

Encoder........................................................................................................................7

Watch Dog Timer........................................................................................................ 7

Chapter 2 Getting Started 9

The DMC-2x00 Main Board......................................................................................................9

The DMC-2000 Daughter Board .............................................................................................10

The DMC-2200 Daughter Board .............................................................................................11

Elements You Need ................................................................................................................. 12

Installing the DMC-2x00......................................................................................................... 14

Step 1. Determine Overall Motor Configuration....................................................... 14

Step 2. Install Jumpers on the DMC-2x00................................................................. 15

Step 3a. Configure DIP switches on the DMC-2000................................................. 16

DMC-2x00 Contentsy i

Step 3b. Configure DIP switches on the DMC-2100.................................................17

Step 3c. Configure DIP switches on the DMC-2200................................................. 17

Step 4. Install the Communications Software............................................................18

Step 5. Connect AC Power to the Controller.............................................................18

Step 6. Establish Communications with Galil Software............................................19

Step 7. Determine the Axes to be Used for Sinusoidal Commutation....................... 21

Step 8. Make Connections to Amplifier and Encoder. ..............................................22

Step 9a. Connect Standard Servo Motors.................................................................. 24

Step 9b. Connect Sinusoidal Commutation Motors...................................................27

Step 9c. Connect Step Motors ...................................................................................30

Step 10. Tune the Servo System................................................................................ 30

Design Examples ..................................................................................................................... 31

System Set-up............................................................................................................ 31

Profiled Move............................................................................................................ 32

Multiple Axes............................................................................................................ 32

Objective: Move the four axes independently. .......................................................... 32

Independent Moves ...................................................................................................32

The motion parameters may be specified independently as illustrated below........... 32

Position Interrogation ................................................................................................32

The position error, which is the difference between the commanded position and the

actual position can be interrogated with the instruction TE. .....................................

Absolute Position ......................................................................................................33

Velocity Control ........................................................................................................ 33

Operation Under Torque Limit.................................................................................. 34

Interrogation .............................................................................................................. 34

Operation in the Buffer Mode ...................................................................................34

Using the On-Board Editor........................................................................................ 34

Motion Programs with Loops.................................................................................... 35

Motion Programs with Trippoints ............................................................................. 35

Control Variables ......................................................................................................36

Linear Interpolation................................................................................................... 36

Circular Interpolation ................................................................................................37

Chapter 3 Connecting Hardware 39

Overview .................................................................................................................................39

Using Optoisolated Inputs .......................................................................................................39

Limit Switch Input.....................................................................................................39

Home Switch Input.................................................................................................... 40

Abort Input ................................................................................................................40

Reset Input................................................................................................................. 41

Uncommitted Digital Inputs ...................................................................................... 41

Wiring the Opto-Isolated Inputs .............................................................................................. 41

The Opto-Isolation Common Point ...........................................................................41

Using an Isolated Power Supply................................................................................42

Bypassing the Opto-Isolation: ...................................................................................43

Analog Inputs ..........................................................................................................................43

Amplifier Interface .................................................................................................................. 43

TTL Inputs............................................................................................................................... 44

The Auxiliary Encoder Inputs ...................................................................................44

TTL Outputs ............................................................................................................................ 45

General Use Outputs..................................................................................................45

Output Compare ........................................................................................................45

Error Output ..............................................................................................................46

Extended I/O of the DMC-2x00 Controller............................................................................. 46

ii • Contents DMC-2X00

Chapter 4 Communication 2

Introduction ...............................................................................................................................2

RS232 Ports ...............................................................................................................................2

RS232 - Main Port {P1} DATATERM.......................................................................2

RS232 - Auxiliary Port {P2} DATASET................................................................ 2

*RS422 - Main Port {P1}............................................................................................ 3

*RS422 - Auxiliary Port {P2}.....................................................................................3

RS-232 Configuration .................................................................................................3

Ethernet Configuration (DMC-2100/2200 only) .......................................................................5

Communication Protocols ...........................................................................................5

Addressing................................................................................................................... 6

Communicating with Multiple Devices....................................................................... 8

Multicasting................................................................................................................. 9

Using Third Party Software......................................................................................... 9

Data Record .............................................................................................................................10

Data Record Map....................................................................................................... 10

Explanation of Status Information and Axis Switch Information..............................12

Notes Regarding Velocity and Torque Information .................................................. 14

QZ Command............................................................................................................ 14

Controller Response to Commands ......................................................................................... 14

Unsolicited Messages Generated by Controller.......................................................................15

Galil Software Tools and Libraries.......................................................................................... 15

Chapter 5 Command Basics 16

Introduction .............................................................................................................................16

Command Syntax - ASCII....................................................................................................... 16

Coordinated Motion with more than 1 axis............................................................... 17

Command Syntax - Binary ......................................................................................................18

Binary Command Format.......................................................................................... 18

Binary Command Table ............................................................................................19

Controller Response to DATA ................................................................................................20

Interrogating the Controller .....................................................................................................21

Interrogation Commands........................................................................................... 21

Summary of Interrogation Commands ......................................................................21

Interrogating Current Commanded Values................................................................ 21

Operands....................................................................................................................21

Command Summary.................................................................................................. 22

Chapter 6 Programming Motion 24

Overview .................................................................................................................................24

Independent Axis Positioning.................................................................................................. 25

Command Summary - Independent Axis .................................................................. 26

Operand Summary - Independent Axis ..................................................................... 26

Examples ................................................................................................................... 27

Position Tracking..................................................................................................................... 28

Example..................................................................................................................... 30

Example..................................................................................................................... 31

Trip Points ................................................................................................................. 33

Command Summary – Position Tracking Mode ....................................................... 34

Independent Jogging................................................................................................................34

Command Summary - Jogging.................................................................................. 34

Operand Summary - Independent Axis ..................................................................... 34

Examples ................................................................................................................... 35

Linear Interpolation Mode....................................................................................................... 36

DMC-2x00 Contentsy iii

Specifying the Coordinate Plane ............................................................................... 36

Specifying Linear Segments...................................................................................... 36

Additional Commands............................................................................................... 37

Command Summary - Linear Interpolation...............................................................38

Operand Summary - Linear Interpolation..................................................................38

Example..................................................................................................................... 38

Vector Mode: Linear and Circular Interpolation Motion.........................................................41

Specifying the Coordinate Plane ............................................................................... 41

Specifying Vector Segments .....................................................................................42

Additional commands................................................................................................ 42

Command Summary - Coordinated Motion Sequence..............................................43

Operand Summary - Coordinated Motion Sequence................................................. 44

Example..................................................................................................................... 44

Electronic Gearing................................................................................................................... 46

Ramped Gearing ...................................................................................................................... 46

Example..................................................................................................................... 48

Command Summary - Electronic Gearing ................................................................48

Electronic Cam ........................................................................................................................ 50

Command Summary - Electronic CAM.................................................................... 53

Operand Summary - Electronic CAM....................................................................... 54

Example..................................................................................................................... 54

Contour Mode.......................................................................................................................... 55

Specifying Contour Segments ................................................................................... 55

Additional Commands............................................................................................... 56

Command Summary - Contour Mode ....................................................................... 57

General Velocity Profiles .......................................................................................... 57

Example..................................................................................................................... 57

Virtual Axis .............................................................................................................................60

Ecam master example................................................................................................ 60

Sinusoidal Motion Example ......................................................................................60

Stepper Motor Operation .........................................................................................................61

Specifying Stepper Motor Operation......................................................................... 61

Stepper Motor Smoothing ......................................................................................... 61

Monitoring Generated Pulses vs. Commanded Pulses .............................................. 61

Motion Complete Trip point...................................................................................... 62

Using an Encoder with Stepper Motors..................................................................... 62

Command Summary - Stepper Motor Operation.......................................................62

Operand Summary - Stepper Motor Operation..........................................................63

Stepper Position Maintenance Mode (SPM)............................................................................63

Error Limit................................................................................................................. 64

Correction..................................................................................................................64

Dual Loop (Auxiliary Encoder)............................................................................................... 67

Additional Commands for the Auxiliary Encoder..................................................... 68

Backlash Compensation ............................................................................................68

Example..................................................................................................................... 68

Motion Smoothing................................................................................................................... 69

Using the IT and VT Commands:..............................................................................70

Example..................................................................................................................... 70

Using the KS Command (Step Motor Smoothing):................................................... 71

Homing .................................................................................................................................... 72

Example..................................................................................................................... 72

Command Summary - Homing Operation.................................................................74

Operand Summary - Homing Operation.................................................................... 74

High Speed Position Capture (The Latch Function)................................................................ 74

Example..................................................................................................................... 75

iv • Contents DMC-2X00

Chapter 7 Application Programming 76

Overview .................................................................................................................................76

Using the DOS Editor to Enter Programs (DMC-2000 only) ..................................................76

Edit Mode Commands............................................................................................... 77

Example..................................................................................................................... 77

Program Format....................................................................................................................... 78

Using Labels in Programs .........................................................................................78

Special Labels............................................................................................................78

Commenting Programs.............................................................................................. 79

Executing Programs - Multitasking ......................................................................................... 80

Debugging Programs ............................................................................................................... 81

Trace Commands ( DMC-2100/2200 only)............................................................... 81

Error Code Command................................................................................................82

Stop Code Command.................................................................................................82

RAM Memory Interrogation Commands .................................................................. 82

Operands....................................................................................................................82

Example..................................................................................................................... 82

Program Flow Commands ....................................................................................................... 83

Event Triggers & Trippoints......................................................................................83

Conditional Jumps..................................................................................................... 87

If, Else, and Endif...................................................................................................... 89

Subroutines................................................................................................................ 91

Stack Manipulation....................................................................................................91

Auto-Start Routine ....................................................................................................91

Automatic Subroutines for Monitoring Conditions...................................................92

Mathematical and Functional Expressions .............................................................................. 97

Mathematical Operators ............................................................................................97

Bit-Wise Operators.................................................................................................... 97

Functions ................................................................................................................... 99

Variables.................................................................................................................................. 99

Programmable Variables ......................................................................................... 100

Operands................................................................................................................................101

Special Operands (Keywords)................................................................................. 101

Arrays ....................................................................................................................................102

Defining Arrays....................................................................................................... 102

Assignment of Array Entries................................................................................... 102

Uploading and Downloading Arrays to On Board Memory....................................103

Automatic Data Capture into Arrays....................................................................... 103

Deallocating Array Space........................................................................................ 105

Input of Data (Numeric and String)....................................................................................... 105

Input of Data............................................................................................................ 105

Operator Data Entry Mode ...................................................................................... 106

Using Communication Interrupt.............................................................................. 107

Output of Data (Numeric and String) .................................................................................... 108

Sending Messages ...................................................................................................109

Displaying Variables and Arrays............................................................................. 110

Interrogation Commands......................................................................................... 110

Formatting Variables and Array Elements .............................................................. 112

Converting to User Units......................................................................................... 113

Hardware I/O .........................................................................................................................113

Digital Outputs ........................................................................................................ 113

Digital Inputs........................................................................................................... 114

The Auxiliary Encoder Inputs .................................................................................115

Input Interrupt Function ..........................................................................................115

Analog Inputs .......................................................................................................... 116

DMC-2x00 Contentsy v

Extended I/O of the DMC-2x00 Controller........................................................................... 117

Configuring the I/O of the DMC-2x00.................................................................... 117

Saving the State of the Outputs in Non-Volatile Memory.......................................118

Accessing Extended I/O .......................................................................................... 118

Interfacing to Grayhill or OPTO-22 G4PB24 .........................................................119

Example Applications............................................................................................................ 119

Wire Cutter.............................................................................................................. 119

A-B Table Controller............................................................................................... 120

Speed Control by Joystick....................................................................................... 122

Position Control by Joystick.................................................................................... 123

Backlash Compensation by Sampled Dual-Loop.................................................... 123

Chapter 8 Hardware & Software Protection 126

Introduction ...........................................................................................................................126

Hardware Protection .............................................................................................................. 126

Output Protection Lines........................................................................................... 126

Input Protection Lines ............................................................................................. 127

Software Protection ...............................................................................................................127

Programmable Position Limits ................................................................................ 128

Off-On-Error ...........................................................................................................128

Automatic Error Routine ......................................................................................... 128

Limit Switch Routine ..............................................................................................129

Chapter 9 Troubleshooting 130

Overview ...............................................................................................................................130

Installation ............................................................................................................................. 130

Communication......................................................................................................................131

Stability.................................................................................................................................. 131

Operation ............................................................................................................................... 131

Chapter 10 Theory of Operation 132

Overview ...............................................................................................................................132

Operation of Closed-Loop Systems....................................................................................... 134

System Modeling................................................................................................................... 135

Motor-Amplifier...................................................................................................... 136

Encoder....................................................................................................................138

DAC ........................................................................................................................139

Digital Filter ............................................................................................................ 139

ZOH......................................................................................................................... 140

System Analysis.....................................................................................................................141

System Design and Compensation.........................................................................................143

The Analytical Method............................................................................................ 143

Appendices 146

Electrical Specifications ........................................................................................................146

Servo Control ..........................................................................................................146

Stepper Control........................................................................................................146

Input / Output ..........................................................................................................146

Power....................................................................................................................... 147

Performance Specifications ...................................................................................................147

Minimum Servo Loop Update Time: ...................................................................... 147

Fast Update Rate Mode .........................................................................................................148

Connectors for DMC-2x00 Main Board................................................................................ 149

vi • Contents DMC-2X00

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 Pin High Density Connector ..................................... 151

RS-232-Main Port ...................................................................................................153

RS-232-Auxiliary Port.............................................................................................153

USB - In USB - Out......................................................................................... 153

Ethernet ...................................................................................................................154

Cable Connections for DMC-2x00........................................................................................ 154

Standard RS-232 Specifications.............................................................................. 154

DMC-2x00 Serial Cable Specifications...................................................................155

Pin-Out Description for DMC-2x00...................................................................................... 157

Jumper Description for DMC-2x00.......................................................................................159

Dimensions for DMC-2x00 ................................................................................................... 160

Accessories and Options........................................................................................................ 161

ICM-2900 Interconnect Module ............................................................................................ 162

Mechanical Specifications....................................................................................... 162

Environmental Specifications.................................................................................. 162

Equipment Maintenance..........................................................................................162

Description .............................................................................................................. 162

ICM-2900 Drawing: ................................................................................................ 166

ICM-2908 Interconnect Module ............................................................................................ 167

ICM-2908 Drawing: ................................................................................................ 168

PCB Layout of the ICM-2900: ................................................................................ 169

ICM-1900 Interconnect Module ............................................................................................ 170

Features ...................................................................................................................170

ICM-1900 Drawing: ................................................................................................ 173

AMP-19x0 Mating Power Amplifiers ...................................................................................173

Features ...................................................................................................................173

Specifications ..........................................................................................................174

Opto-Isolated Outputs for ICM-2900 / ICM-1900 / AMP-19x0............................................174

Standard Opto-Isolation and High Current Opto-isolation:..................................... 174

Configuring the Amplifier Enable for ICM-2900 / ICM-1900.............................................. 175

-LAEN Option:........................................................................................................ 175

-Changing the Amplifier Enable Voltage Level:..................................................... 175

IOM-1964 Opto-Isolation Module for Extended I/O............................................................. 176

Description: .............................................................................................................176

Overview .................................................................................................................176

Configuring Hardware Banks.................................................................................. 177

Digital Inputs........................................................................................................... 178

High Power Digital Outputs .................................................................................... 179

Standard Digital Outputs ......................................................................................... 180

Electrical Specifications ..........................................................................................181

Relevant DMC Commands......................................................................................182

Screw Terminal Listing........................................................................................... 182

CB-50-100 Adapter Board..................................................................................................... 185

Connectors:.............................................................................................................. 185

CB-50-100 Drawing:............................................................................................... 188

CB-50-80 Adapter Board....................................................................................................... 189

Connectors:.............................................................................................................. 190

CB-50-80 Drawing:................................................................................................. 192

TERM-1500 Operator Terminal ............................................................................................ 194

Features ...................................................................................................................195

Description .............................................................................................................. 195

Specifications - Hand-Held .....................................................................................195

Specifications - Panel Mount................................................................................... 196

DMC-2x00 Contentsy vii

Keypad Maps - Hand-Held...................................................................................... 196

Keypad Map - Panel Mount – 6 columns x 5 rows ................................................. 197

Configuration...........................................................................................................198

Function Keys.......................................................................................................... 199

Input/Output of Data – DMC-2x00 Commands ...................................................... 199

Ordering Information...............................................................................................200

Coordinated Motion - Mathematical Analysis....................................................................... 201

Example- Communicating with OPTO-22 SNAP-B3000-ENET..........................................204

DMC-2x00/DMC-1500 Comparison..................................................................................... 207

List of Other Publications...................................................................................................... 208

Training Seminars.................................................................................................................. 208

Contacting Us ........................................................................................................................209

WARRANTY ........................................................................................................................ 209

Index 210

viii • Contents DMC-2X00

Chapter 1 Overview

Introduction

The DMC-2x00 Series are Galil’s highest performance stand-alone controller. The controller series offers many enhanced features including high speed communications, non-volatile program memory, faster encoder speeds, and improved cabling for EMI reduction.

Each DMC-2x00 provides two communication channels: high speed RS-232 (2 channels up to 115K Baud) and Universal Serial Bus (12Mb/s) for the DMC-2000 or 10BaseT Ethernet for the DMC-2100 and 100BaseT Ethernet for the DMC-2200.

A 4Meg Flash EEPROM provides non-volatile memory for storing application programs, parameters, arrays and firmware. New firmware revisions are easily upgraded in the field.

The DMC-2x00 is available with up to eight axes in a single stand alone unit. The DMC-2x10, 2x20, 2x30, 2x40 are one thru four axes controllers and the DMC-2x50, 2x60, 2x70, 2x80 are five thru eight axes controllers.

Designed to solve complex motion problems, the DMC-2x00 can be used for applications involving jogging, point-to-point positioning, vector positioning, electronic gearing, multiple move sequences, and contouring. The controller eliminates jerk by programmable acceleration and deceleration with profile smoothing. For smooth following of complex contours, the DMC-2x00 provides continuous vector feed of an infinite number of linear and arc segments. The controller also features electronic gearing with multiple master axes as well as gantry mode operation.

For synchronization with outside events, the DMC-2x00 provides uncommitted I/O, including 8 optoisolated digital inputs (16 inputs for DMC-2x50 thru DMC-2x80), 8 digital outputs (16 outputs for DMC-2x50 thru DMC-2x80), and 8 analog inputs for interface to joysticks, sensors, and pressure transducers. The DMC-2x00 also has an additional 64 I/O. Further I/O is available if the auxiliary encoders are not being used (2 inputs / each axis). Dedicated optoisolated inputs are provided for forward and reverse limits, abort, home, and definable input interrupts.

Commands can be sent in either Binary or ASCII. Additional software is available for automatictuning, trajectory viewing on a PC screen, CAD translation, and program development using many environments such as Visual Basic, C, C++ etc. Drivers for DOS, Linux, Windows 3.1, 95, 98, 2000, ME and NT are available.

DMC-2X00 Chapter 1 Overview y 1

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 Specification

----------- ---- -------------

AC Input Line Voltage VAC 100-240

AC Input Line Frequency Hz 50-60

Power Dissipation W 12

Mechanical Specifications

Description Unit Specification

----------- ---- -------------

Weight lb 5.2

Length in 12.25

Width in 5.49

Height in 2.37

2 •Chapter 1 Overview DMC-2X00

Environmental Specifications

Description Unit Specification

----------- ---- -------------

Storage Temperature C -25 to +70

Operating Temperature C 0 to +70

Operating Altitude feet 10,000

Equipment Maintenance

The DMC-2000 does not require maintenance.

Overview of Motor Types

The DMC-2x00 can provide the following types of motor control:

1. Standard servo motors with +/- 10 volt command signals

2. Brushless servo motors with sinusoidal commutation

3. Step motors with step and direction signals

4. Other actuators such as hydraulics - For more information, contact Galil.

The user can configure each axis for any combination of motor types, providing maximum flexibility.

Standard Servo Motor with +/- 10 Volt Command Signal

The DMC-2x00 achieves superior precision through use of a 16-Bit motor command output DAC and

a sophisticated PID filter that features velocity and acceleration feedforward, an extra pole filter and

integration limits.

The controller is configured by the factory for standard servo motor operation. In this configuration,

the controller provides an analog signal (+/- 10 volts) to connect to a servo amplifier. This connection

is described in Chapter 2.

Brushless Servo Motor with Sinusoidal Commutation

The DMC-2x00 can provide sinusoidal commutation for brushless motors (BLM). In this

configuration, the controller generates two sinusoidal signals for connection with amplifiers

specifically designed for this purpose.

Note: The task of generating sinusoidal commutation may be accomplished in the brushless motor

amplifier. If the amplifier generates the sinusoidal commutation signals, only a single command signal

is required and the controller should be configured for a standard servo motor (described above).

Sinusoidal commutation in the controller can be used with linear and rotary BLMs. However, the

motor velocity should be limited such that a magnetic cycle lasts at least 6 milliseconds with a standard

update rate of 1 millisecond. For faster motors, please contact the factory.

To simplify the wiring, the controller provides a one-time, automatic set-up procedure. When the

controller has been properly configured, the brushless motor parameters may be saved in non-volatile

memory.

The DMC-2x00 can control BLMs equipped with Hall sensors as well as without Hall sensors. If Hall

sensors are available, once the controller has been setup, the brushless motor parameters may be saved

in non-volatile memory. In this case, the controller will automatically estimate the commutation phase

DMC-2X00 Chapter 1 Overview y 3

upon reset. This allows the motor to function immediately upon power up. The Hall effect sensors

also provide a method for setting the precise commutation phase. Chapter 2 describes the proper

connection and procedure for using sinusoidal commutation of brushless motors.

Stepper Motor with Step and Direction Signals

The DMC-2x00 can control stepper motors. In this mode, the controller provides two signals to

connect to the stepper motor: Step and Direction. For stepper motor operation, the controller does not

require an encoder and operates the stepper motor in an open loop fashion. Chapter 2 describes the

proper connection and procedure for using stepper motors.

Overview of Amplifiers

The amplifiers should be suitable for the motor and may be linear or pulse-width-modulated. An

amplifier may have current feedback, voltage feedback or velocity feedback.

Amplifiers in Current Mode

Amplifiers in current mode should accept an analog command signal in the +/-10 volt range. The

amplifier gain should be set such that a +10V command will generate the maximum required current.

For example, if the motor peak current is 10A, the amplifier gain should be 1 A/V.

Amplifiers in Velocity Mode

For velocity mode amplifiers, a command signal of 10 volts should run the motor at the maximum

required speed. The velocity gain should be set such that an input signal of 10V runs the motor at the

maximum required speed.

Stepper Motor Amplifiers

For step motors, the amplifiers should accept step and direction signals.

4 •Chapter 1 Overview DMC-2X00

DMC-2x00 Functional Elements

The DMC-2x00 circuitry can be divided into the following functional groups as shown in Figure 1.1

and discussed below.

USB/ETHERNET

64 Configurable I/O

Figure 1.1 - DMC-2x00 Functional Elements

RS-232 /

RS-422

WATCHDOG TIMER

ISOLATED LIMITS AND

HOME INPUTS

68331

MICROCOMPUTER

WITH

4 Meg RAM

4 Meg FLASH EEPROM

I/O INTERFACE

8 UNCOMMITTED

ANALOG INPUTS

HIGH-SPEED LATCH FOR EACH AXIS

8 PROGRAMMABLE,

OPTOISOLATED

INPUTS

HIGH-SPEED

MOTOR/ENCODER

INTERFACE

FOR

A,B,C,D

8 PROGRAMMABLE

OUTPUTS

MAIN ENCODERS

AUXILIARY ENCODERS

+/- 10 VOLT OUTPUT FOR

SERVO MOTORS

PULSE/DIRECTION OUTPUT

FOR STEP MOTORS

HIGH SPEED ENCODER

COMPARE OUTPUT

Microcomputer Section

The main processing unit of the DMC-2x00 is a specialized 32-Bit Motorola 68331 Series

Microcomputer with 4 Meg RAM and 4 Meg Flash EEPROM. The RAM provides memory for

variables, array elements and application programs. The flash EEPROM provides non-volatile storage

of variables, programs, and arrays. It also contains the DMC-2x00 firmware.

Motor Interface

Galil’s GL-1800 custom, sub-micron gate array performs quadrature decoding of each encoder at up to

12 MHz. For standard servo operation, the controller generates a +/-10 volt analog signal (16 Bit

DAC). For sinusoidal commutation operation, the controller uses two DACs to generate two +/-10

volt analog signals. For stepper motor operation, the controller generates a step and direction signal.

Communication

The communication interface with the DMC-2x00 consists of high speed RS-232 and USB or high

speed RS-232 and Ethernet. The USB channel accepts based rates up to 12Mb/sec and the two RS-232

channels can generate up to 115K.

DMC-2X00 Chapter 1 Overview y 5

General I/O

The DMC-2x00 provides interface circuitry for 8 bi-directional, optoisolated inputs, 8 TTL 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 may also be used as additional inputs (2 inputs / each axis). The

general inputs can also be used as high speed latches for each axis. A high speed encoder compare

output is also provided.

2x80

The DMC-2x50 through DMC-2x80 controller provides an additional 8 optoisolated inputs and 8 TTL

outputs.

System Elements

As shown in Fig. 1.2, the DMC-2x00 is part of a motion control system which includes amplifiers,

motors and encoders. These elements are described below.

Power Supply

Computer DMC-2x00 Controller

Encoder Motor

Figure 1.2 - Elements of Servo systems

mplifier (Driver)

Motor

A motor converts current into torque which produces motion. Each axis of motion requires a motor

sized properly to move the load at the required speed and acceleration. (Galil's "Motion Component

Selector" software can help you with motor sizing). Contact Galil at 800-377-6329 if you would like

this product.

The motor may be a step or servo motor and can be brush-type or brushless, rotary or linear. For step

motors, the controller can be configured to control full-step, half-step, or microstep drives. An encoder

is not required when step motors are used.

Amplifier (Driver)

For each axis, the power amplifier converts a +/-10 volt signal from the controller into current to drive

the motor. For stepper motors, the amplifier converts step and direction signals into current. The

amplifier should be sized properly to meet the power requirements of the motor. For brushless motors,

an amplifier that provides electronic commutation is required or the controller must be configured to

provide sinusoidal commutation. The amplifiers may be either pulse-width-modulated (PWM) or

linear. They may also be configured for operation with or without a tachometer. For current

amplifiers, the amplifier gain should be set such that a 10 volt command generates the maximum

required current. For example, if the motor peak current is 10A, the amplifier gain should be 1 A/V.

For velocity mode amplifiers, 10 volts should run the motor at the maximum speed.

6 •Chapter 1 Overview DMC-2X00

Encoder

An encoder translates motion into electrical pulses which are fed back into the controller. The DMC-

2x00 accepts feedback from either a rotary or linear encoder. Typical encoders provide two channels in

quadrature, known as CHA and CHB. This type of encoder is known as a quadrature encoder.

Quadrature encoders may be either single-ended (CHA and CHB) or differential (CHA,CHA- and

CHB,CHB-). The DMC-2x00 decodes either type into quadrature states or four times the number of

cycles. Encoders may also have a third channel (or index) for synchronization.

For stepper motors, the DMC-2x00 can also interface to encoders with pulse and direction signals.

There is no limit on encoder line density, however, the input frequency to the controller must not

exceed 3,000,000 full encoder cycles/second (12,000,000 quadrature counts/sec). For example, if the

encoder line density is 10000 cycles per inch, the maximum speed is 300 inches/second. If higher

encoder frequency is required, please consult the factory.

The standard voltage level is TTL (zero to five volts), however, voltage levels up to 12 volts are

acceptable. (If using differential signals, 12 volts can be input directly to the DMC-2x00. Single-

ended 12 volt signals require a bias voltage input to the complementary inputs).

The DMC-2x00 can accept analog feedback instead of an encoder for any axis.

To interface with other types of position sensors such as resolvers or absolute encoders, Galil can

customize the controller and command set. Please contact Galil and talk to one of our applications

engineers about your particular system requirements.

Watch Dog Timer

The DMC-2x00 provides an internal watch dog timer which checks for proper microprocessor

operation. The timer toggles the Amplifier Enable Output (AMPEN) which can be used to switch the

amplifiers off in the event of a serious DMC-2x00 failure. The AMPEN output is normally high.

During power-up and if the microprocessor ceases to function properly, the AMPEN output will go

low. The error light will also turn on at this stage. A reset is required to restore the DMC-2x00 to

normal operation. Consult the factory for a Return Materials Authorization (RMA) Number if your

DMC-2x00 is damaged.

DMC-2X00 Chapter 1 Overview y 7

THIS PAGE LEFT BLANK INTENTIONALLY

8 •Chapter 1 Overview DMC-2X00

Chapter 2 Getting Started

The DMC-2x00 Main Board

Stepper Motor

configuration

header

AXES E-H 100 pin high density connector AMP part # 2-178238-9

GL-1800

AUX Encoder inputs 36 pin high density connector

AXES E-H

SME SMF SMG SMH

OPT2

JP7

AUX ENCODERS AXES A-D (X-W)J5 J1

SRAM

GALIL MOTION CONTROL

AXES A-D 100 pin high density connector AMP part # 2-178238-9

9.50 "

DMC-2000

REV A

GL-1800

SMA(X) SMB(Y) SMC(Z)

SMD(W)

OPT1

Error, Power LED's

JP5

Reset Switch

Stepper motor configuration header

Analog to Digital Converter IC 7806 - 12 bit 7807 - 16 bit

SW1

ADS7806

5.80"

Jumper to

connect

onboard 5V

supply

Communications

Daughterboard

connector

JP3

LSCOM INCOM

MADE IN USA

Jumper Master

Reset to clear

EEPROM

JP1

||| ||||| |||||

*AH-9999*

MASTER RESET UPGRADE

Serial number label

SRAM

-12V

GND

+5V

6 pin Molex

+12V

EEPROM

MicroprocessorPower connector

Motorola

68331

optoisolators to

Figure 2-1 - Outline of the main board of the DMC-2x00

DMC-2X00 Chapter 2 Getting Started y 9

The DMC-2000 Daughter Board

AUX Serial port

DB-9 Female

AUX

JP4

MAIN Serial port

R485

R232

TERM

DB-9 Male

8 S

R422

R232

U7U2 U6

MC1489

MAIN J5

JP3

S 8

MC1488

R232

USB type B

connector

R485

TERM

USB IN

Configuration DIP

Switches

USB

USB type A

conne ctor (x2)

7.85 "

MRST

XON XO F

HSHK

9600

19.238A2

USB OUT

80 pin high density connector for extend ed I/O

EXTENDED I/O

2.53"

RS-232 buffer

IC's

3.94"

MADE IN USA

CMB-2001

USB DAUGHTER CARD

GALIL MOTION CONTROL

REV C

100 pin connector

(attaches to DMC-2000

Main board)

Figure 2-2 - Outline of the DMC-2000 Daughter Board

A1 B1 C1

USB Communications

Status LED

10 • Chapter 2 Getting Started DMC-2X00

The DMC-2200 Daughter Board

10 BASE-2

10 BASE-F

RECEIVER

3.94"

10 BASE-F

TRANSMITTER

100 BASE-T

AUX SERIAL PORT DB-9 FEMALE

JP5

U15

MAIN SERIAL PORT DB-9 MALE

JP4

U16

JP4 JP5

U14

485

232

TRM

185

232

TRM

CONFIGURATION DIP SWITCHES

CMB-21002 REV A

GALIL MOTION CONTROL

422

80 PIN HIGH DENSITY CONNECTOR FOR EXTENDED I/O

COMMUNICATIONS STATUS LED

D1 D2

JP3

100 PIN CONNECTOR (ATTACHES TO DMC-2000 MAIN BOARD)

J8 A1 B1 C1

9.5"

Figure 2-3B - Outline of the DMC-2200 Daughter Board

DMC-2X00 Chapter 2 Getting Started y 11

Elements You Need

Provides Opto-Isolation

and Interconnection for

Auxiliary Serial Port

(System Dependent

IOM-1964-80

Extended I/O

Connection

Cable)

132

IOM-1964-80

ICM-2900 Provides Connection to Signals for Axes E-H

ICM-2908

Provides Connection to All Auxiliary Encoder Sig n als

Cable 9-PinD

Main Serial Port to

Computer

CABLE-USB-2M

CABLE-USB-3M

ICM-2900

GALIL

DMC-2000

Power Cable (Included

with the controller)

CABLE-80-1M (1Meter)

CABLE-80-4M (4Meter)

CABLE-100-1M

CABLE-100-4M

Figure 2-4 Recommended System Elements of DMC-2000

ICM-2908

CABLE-36-1M (1METER)

CABLE-36-4M (4METER)

ICM-2900 Connection to Signals for Axes A-D

ICM-2900

12 • Chapter 2 Getting Started DMC-2X00

Provides Opto-Isolation and Interconnection for

100/10 BASE-T

Cable

Auxiliary Serial Port

Connection

(System Dependent

Cable)

IOM-1964-80

Extended I/O

IOM-1964-80

132

GALIL

CABLE-80-1M (1Meter)

CABLE-80-4M (4Meter)

ICM-2900 Provides Connection to Signals for Axes E-H

ICM-2900

ICM-2908 Provides Connection to All Auxiliary Encoder Signals

ICM-2908

ICM-2900 Connection to Signals for Axes A-D

ICM-2900

Cable 9-PinD

Main Serial Port to

Computer

CABLE-100-1M

CABLE-100-4M

DMC-2000

Power Cable (Included

with the controller)

CABLE-36-1M (1METER)

CABLE-36-4M (4METER)

Figure 2-5 Recommended System Elements of DMC-2100/DMC-2200

For a complete system, Galil recommends the following elements:

1a. DMC-2x10, 2x20, 2x30, or DMC-2x40 Motion Controller

1b. DMC-2x50, 2x60, 2x70 or DMC-2x80

2a. (1) ICM-2900 and (1) CABLE-100 for controllers DMC-2x10 through DMC-2x40

2b. (2) ICM-2900's and (2) CABLE-100’s for controllers DMC-2x50 through DMC-2x80.

2c. An interconnect board provided by the user.

3. (1) IOM-1964 and (1) CABLE-80 for access to the extended I/O. Only required if extended

I/O will be used. The CABLE-80 can also be converted for use with OPTO-22 or Grayhill I/O modules - consult Galil.

4. (1) ICM-2908 and (1) CABLE-36 for access to auxiliary encoders. Only required if auxiliary

encoders are needed.

DMC-2X00 Chapter 2 Getting Started y 13

5. Motor Amplifiers.

6. Power Supply for Amplifiers.

7. Brush or Brushless Servo motors with Optical Encoders or stepper motors.

8. PC (Personal Computer - RS232 or USB for DMC-2000 or Ethernet for DMC-2100)

9a. WSDK-16 or WSDK-32 (recommend for first time users.)

9b. DMCWIN16, DMCWIN32 or DMCDOS communication software.

The WSDK software is highly recommended for first time users of the DMC-2x00. It provides stepby-step instructions for system connection, tuning and analysis.

Installing the DMC-2x00

Installation of a complete, operational DMC-2x00 system consists of 9 steps.

Step 1. Determine overall motor configuration. Step 2. Install Jumpers on the DMC-2x00. Step 3a. Configure the DIP switches on the DMC-2000. Step 3b. Configure the DIP switches on the DMC-2100. Step 3c. Configure the DIP switches on the DMC-2200 Step 4. Install the communications software. Step 5. Connect AC power to controller. Step 6. Establish communications with the Galil Communication Software. Step 7. Determine the Axes to be used for sinusoidal commutation. Step 8. Make connections to amplifier and encoder. Step 9a. Connect standard servo motors. Step 9b. Connect sinusoidal commutation motors Step 9c. Connect step motors. Step 10. Tune the servo system

Step 1. Determine Overall Motor Configuration

Before setting up the motion control system, the user must determine the desired motor configuration. The DMC-2x00 can control any combination of standard servo motors, sinusoidally commutated brushless motors, and stepper motors. Other types of actuators, such as hydraulics can also be controlled, please consult Galil.

The following configuration information is necessary to determine the proper motor configuration:

Standard Servo Motor Operation:

The DMC-2x00 has been setup by the factory for standard servo motor operation providing an analog command signal of +/- 10V. No hardware or software configuration is required for standard servo motor operation.

14 • Chapter 2 Getting Started DMC-2X00

Sinusoidal Commutation:

Sinusoidal commutation is configured through a single software command, BA. This configuration causes the controller to reconfigure the number of available control axes.

Each sinusoidally commutated motor requires two DACs. In standard servo operation, the DMC-2x00 has one DAC per axis. In order to have the additional DAC for sinusoidal commutation, the controller must be designated as having one additional axis for each sinusoidal commutation axis. For example, to control two standard servo axes and one axis of sinusoidal commutation, the controller will require a total of four DACs and the controller must be a DMC-2x40.

Sinusoidal commutation is configured with the command, BA. For example, BAA sets the A axis to be sinusoidally commutated. The second DAC for the sinusoidal signal will be the highest available DAC on the controller. For example: Using a DMC-2x40, the command BAA will configure the A axis to be the main sinusoidal signal and the 'D' axis to be the second sinusoidal signal.

The BA command also reconfigures the controller to indicate that the controller has one less axis of 'standard' control for each axis of sinusoidal commutation. For example, if the command BAA is given to a DMC-2x40 controller, the controller will be re-configured to a DMC-2x30 controller. By definition, a DMC-2x30 controls 3 axes: A,B and C. The 'D' axis is no longer available since the output DAC is being used for sinusoidal commutation.

Further instruction for sinusoidal commutation connections are discussed in Step 6.

Stepper Motor Operation

To configure the DMC-2x00 for stepper motor operation, the controller requires a jumper for each stepper motor and the command, MT, must be given. The installation of the stepper motor jumper is discussed in the following section entitled "Installing Jumpers on the DMC-2x00". Further instruction for stepper motor connections are discussed in Step 9.

Step 2. Install Jumpers on the DMC-2x00

Master Reset and Upgrade Jumpers

JP1 on the main board contains two jumpers, MRST and UPGRD. The MRST jumper is the Master Reset jumper. When MRST is connected, the controller will perform a master reset upon PC power up or upon the reset input going low. The MRST can also be set with the DIP switches on the outside of the controller. Whenever the controller has a master reset, all programs, arrays, variables, and motion

control parameters stored in EEPROM will be ERASED.

The UPGRD jumper enables the user to unconditionally update the controller’s firmware. This jumper is not necessary for firmware updates when the controller is operating normally, but may be necessary in cases of corrupted EEPROM. EEPROM corruption should never occur, however, it is possible if there is a power fault during a firmware update. If EEPROM corruption occurs, your controller may not operate properly. In this case, install the UPGRD Jumper and use the update firmware function on the Galil Terminal to re-load the system firmware.

Opto-Isolation Jumpers

The inputs and limit switches are opto-isolated. If you are not using an isolated supply, the internal +5V supply from the PC may be used to power the opto-isolators. This is done by installing jumpers on JP3 on main board.

DMC-2X00 Chapter 2 Getting Started y 15

Stepper Motor Jumpers

For each axis that will used for stepper motor operation, the corresponding stepper mode (SM) jumper must be connected. The stepper mode jumpers, labeled JP5 and JP7 are located directly beside the GL-1800 IC's on the main board (see the diagram of the DMC-2x00). The individual jumpers are labeled SMA thru SMH and configure the controller for ‘Stepper Motors’ for the corresponding axes A-H when installed. Note that the daughter board must be removed to access these jumpers. Contact the Galil factory if stepper motor jumpers should be placed on your controller with each order for a special part number.

(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 MO location, the controller will be powered up in the “motor off” state. The SH command will need to be issued in order for the motor to be enabled. With no jumper installed, the controller will immediately enable the motor upon power up. The MO command will need to be issued to turn the motor off.

The MO jumper is always located on the same block of jumpers as the stepper motor jumpers (SM). This feature is only available to newer revision controllers. Please consult Galil for adding this functionality to older revision controllers.

Communications Jumpers for DMC-2000

The Main and Auxiliary Serial Communication Ports are normally connected for RS-232 connection. The jumpers JP3 and JP4 on the DMC-2001 daughter-board allows the DMC-2000 to be configured for RS-422. This can be specified as an option when the unit is purchased or the DMC-2000 may be re-configured by the user, please consult Galil for instructions. Other serial communication protocols, such as RS-485, can be implemented as a special - consult Galil.

Communications Jumpers for DMC-2100/DMC-2200

The main and Auxiliary Serial Commutations Ports are normally connected for RS-232 connection. The jumpers JP4 and JP5 on the DMC-21001 daughter board allows the controller to be configured for RS-422. This can be specified as an option when the unit is purchased or the controller may be reconfigured by the user, please consult Galil for instructions. Other serial communications protocols, such as RS-485, can be implemented as a special - consult Galil.

Step 3a. Configure DIP switches on the DMC-2000

Located on the outside of the controller box is a set of 5 DIP switches. When the controller is powered on or reset, the state of the dip switches are read.

Switch 1 - Master Reset

When this switch is on, the controller will perform a master reset upon PC power up. Whenever the controller has a master reset, all programs and motion control parameters stored in EEPROM will be ERASED. During normal operation, this switch should be off.

Switch 2 - XON / XOFF

When on, this switch will enable software handshaking (XON/XOFF) through the main serial port.

Switch 3 - Hardware Handshake Mode

When on, this switch will enable hardware handshaking through the main serial port.

16 • Chapter 2 Getting Started DMC-2X00

Switch 4, 5 and 6 - Main Serial Port Baud Rate

The following table describes the baud 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 off, the controller will use the RS-232 port as default. When the firmware is updated, the controller will send the response (a colon), to the default port setting. If this is not the same port that was used to download the firmware, the Galil software will not return control to the user. In this case, the software will have to be re-started.

Step 3b. Configure DIP switches on the DMC-2100

Switch 1 - Master Reset

Switch 2 - XON / XOFF

When on, this switch will enable software handshaking (XON/XOFF) through the main serial port.

Switch 3 - Hardware Handshake Mode

When on, this switch will enable hardware handshaking through the main serial port.

Step 3c. Configure DIP switches on the DMC-2200

Switch 1 - Master Reset

Switch 2 - XON / XOFF

When on, this switch will enable software handshaking (XON/XOFF) through the main serial port.

Switch 3 - Hardware Handshake Mode

When on, this switch will enable hardware handshaking through the main serial port.

DMC-2X00 Chapter 2 Getting Started y 17

Switch 4,5 and 6 - Main Serial Port Baud Rate

The following table describes the baud 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 function to set the Ethernet connection speed. When the DIP switch is ON, the controller defaults to 10BaseT.

Switch 8-Ethernet

When ON, the controller will use the Ethernet port as the default port for unsolicited messages. When OFF, the controller will use the RS-232 port as the default. When the firmware is updated, the controller will send the response (a colon) to the default port setting. If this is not the same port that was used to download the firmware, the Galil software will not return control to the user. In this case, the software will have to be re-started.

Step 4. Install the Communications Software

After applying power to the computer, you should install the Galil software that enables communication between the controller and PC.

Using Windows 98SE, NT, ME, 2000 or XP:

The Galil Software CD-ROM will automatically begin the installation procedure when the CD-ROM is installed. To install the basic communications software, run the Galil Software CD-ROM and choose DMC Smart Term. This will install the Galil Smart Terminal, which can be used for communication.

Step 5. Connect AC Power to the Controller

Before applying power, connect the 100-pin cable between the DMC-2x00 and ICM-2900 interconnect module. The DMC-2x00 requires a single AC supply voltage, single phase, 50 Hz or 60 Hz. from 90 volts to 260 volts.

WARNING: Dangerous voltages, current, temperatures and energy levels exist in this product and the associated amplifiers and servo motor(s). Extreme caution should be exercised in the application of this equipment. Only qualified individuals should attempt to install, set up and operate this equipment. Never open the controller box when AC power is applied to it.

The green power light indicator should go on when power is applied.

18 • Chapter 2 Getting Started DMC-2X00

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 communicate with the DMC-2000, type TALK2DMC at the prompt. Once you have established communication, the terminal display should show a colon, :. If you do not receive a colon, press the carriage return. If a colon prompt is not returned, there is most likely an incorrect setting of the serial communications port. The user must ensure that the correct communication port and baud rate are specified when attempting to communicate with the controller. Please note that the serial port on the controller must be set for handshake mode for proper communication with Galil software. The user must also insure that the proper serial cable is being used, see appendix for pin-out of serial cable.

Using Galil Software for Windows

In order for the windows software to communicate with a Galil controller, the controller must be registered in the Windows Registry. To register a controller, you must specify the model of the controller, the communication parameters, and other information. The registry is accessed through the Galil software under the “File” menu in WSDK or under the “Tools” menu in the Galil Smart Terminal.

The registry window is equipped with buttons to Add a New Controller, change the Properties of an existing controller, Delete a controller, or Find an Ethernet Controller.

Use the “New Controller” button to add a new entry to the Registry. You will need to supply the

Galil Controller model (eg: DMC-2000). Pressing the down arrow to the right of this field will reveal a menu of valid controller types. You then need to choose serial or Ethernet connection. Remember, a

DMC-2000 connected via USB is plug and play and should be automatically added to the registry upon connection. The registry information will show a default Comm Port of 1 and a default Comm

Speed of 19200 appears. This information can be changed as necessary to reflect the computers Comm Port and the baud rate set by the dip switches on the front of the controller (default is 19200 with HSHK on). The registry entry also displays timeout and delay information. These are advanced parameters which should only be modified by advanced users (see software documentation for more information).

Once you have set the appropriate Registry information for your controller, Select OK and close the registry window. You will now be able to communicate with the controller.

If you are not properly communicating with the controller, the program will pause for 3-15 seconds and an error message will be displayed. In this case, there is most likely an incorrect setting of the serial communications port or the serial cable is not connected properly. The user must ensure that the correct communication port and baud rate are specified when attempting to communicate with the controller. Please note that the serial port on the controller must be set for handshake mode for proper communication with Galil software. The user must also insure that a “straight-through” serial cable is

being used (NOT a Null Modem cable), see appendix for pin-out of serial cable.

Once you establish communications, open up the Terminal and hit the “Enter” key. You should receive a colon prompt. Communicating with the controller is described in later sections.

DMC-2X00 Chapter 2 Getting Started y 19

Using Non-Galil Communication Software

The DMC-2x00 main serial port is configured as DATASET. Your computer or terminal must be configured as a DATATERM for full duplex, no parity, 8 data bits, one start bit and one stop bit.

Check to insure that the baud rate switches have been set to the desired baud rate as described above.

Your computer needs to be configured as a "dumb" terminal which sends ASCII characters as they are typed to the DMC-2x00.

Communicating through the Universal Serial Bus (USB)

NOTE: Galil Software only supports the use of the USB port under Windows 98SE, ME, 2000 and

XP.

Connect the USB cable from the computer to the USB IN port on the controller. Since the controller has been powered on in the previous step, the computer will recognize the first connection to a Galil USB controller. The computer will identify the USB controller and add it to the Windows Registry as a plug and play device.

Communicating through the Ethernet

Using Galil Software for Windows

The controller must be registered in the Windows registry for the host computer to communicate with it. The registry may be accessed via Galil software, such as WSDK or SmartTERM.

From WSDK, the registry is accessed under the FILE menu. From Smart TERM it is accessed under

the TOOLS menu. Use the NEW CONTROLLER button to add a new entry in the registry. Choose

DMC-2100 or DMC-2200 as the controller type. Enter the IP address obtained from your system administrator. Select the button corresponding to the UDP or TCP protocol in which you wish to communicate with the controller. If the IP address has not been already assigned to the controller,

click on ASSIGN IP ADDRESS.

ASSIGN IP ADDRESS will check the controllers that are linked to the network to see which ones do

not have an IP address. The program will then ask you whether you would like to assign the IP

20 • Chapter 2 Getting Started DMC-2X00

+ 237 hidden pages