Galil DMC-2X00 User Manual

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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

address you entered to the controller with the specified serial number. Click on YES to assign it, NO to move to next controller, or CANCEL to not save the changes. If there are no controllers on the

network that do not have an IP address assigned, the program will state this.

When done registering, click on OK. If you do not wish to save the changes, click on CANCEL. Once the controller has been register, select the correct controller from the list and click on OK. If the

software successfully established communications with the controller, the registry entry will be displayed at the top of the screen.

NOTE: The controller must be registered via an Ethernet connection.

Sending Test Commands to the Terminal:

After you connect your terminal, press <return> or the <enter> key on your keyboard. In response to carriage return <return>, the controller responds with a colon, :

Now type

TPA <return>

This command directs the controller to return the current position of the A axis. The controller should respond with a number such as

0000000

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

* This step is only required when the controller will be used to control a brushless motor(s) with sinusoidal commutation.

The command, BA is used to select the axes of sinusoidal commutation. For example, BAAC sets A and C as axes with sinusoidal commutation.

Notes on Configuring Sinusoidal Commutation:

The command, BA, reconfigures the controller such that it 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 be a DMC-2x30 controller. In this case the highest axis is no longer available except to be used for the 2 the highest axis on a controller can never be configured for sinusoidal commutation.

The DAC associated with the selected axis represents the first phase. The second phase uses the highest available DAC. When more than one axis is configured for sinusoidal commutation, the controller will assign the second phases to the DACs which have been made available through the axes reconfiguration. The highest sinusoidal commutation axis will be assigned to the highest available DAC and the lowest sinusoidal commutation axis will be assigned to the lowest available DAC. Note that the lowest axis is the A axis and the highest axis is the highest available axis for which the controller has been configured.

phase of the sinusoidal commutation. Note that

Example: Sinusoidal Commutation Configuration using a DMC-2x70

BAAC

This command causes the controller to be reconfigured as a DMC-2x50 controller. The A and C axes are configured for sinusoidal commutation. The first phase of the A axis will be the motor command A signal. The second phase of the A axis will be F signal. The first phase of the C axis will be the motor command C signal. The second phase of the C axis will be the motor command G signal.

DMC-2X00 Chapter 2 Getting Started y 21

Step 8. Make Connections to Amplifier and Encoder.

Once you have established communications between the software and the DMC-2x00, you are ready to connect the rest of the motion control system. The motion control system typically consists of an ICM-2900 Interface Module, an amplifier for each axis of motion, and a motor to transform the current from the amplifier into torque for motion.

If you are using an ICM-2900, connect it to the DMC-2x00 via the 100-pin high density cable. The ICM-2900 provides screw terminals for access to the connections described in the following discussion.

2x80

WARNING: When the amplifier ground is not isolated from the power line or when it has a different potential than that of the computer ground, serious damage may result to the computer controller and amplifier.

Motion Controllers with more than 4 axes require a second ICM-2900 and 100-pin cable.

System connection procedures will depend on system components and motor types. Any combination of motor types can be used with the DMC-2x00. If sinusoidal commutation is to be used, special attention must be paid to the reconfiguration of axes.

Here are the first steps for connecting a motion control system:

Step A. Connect the motor to the amplifier with no connection to the controller. Consult the

amplifier documentation for instructions regarding proper connections. Connect and turn-on the amplifier power supply. If the amplifiers are operating properly, the motor should stand still even when the amplifiers are powered up.

Step B. Connect the amplifier enable signal.

Before making any connections from the amplifier to the controller, you need to verify that

the ground level of the amplifier is either floating or at the same potential as earth.

If you are not sure about the potential of the ground levels, connect the two ground signals

(amplifier ground and earth) by a 10 kΩ resistor and measure the voltage across the resistor. Only if the voltage is zero, connect the two ground signals directly.

The amplifier enable signal is used by the controller to disable the motor. This signal is

labeled AMPENA for the A axis on the ICM-2900 and should be connected to the enable signal on the amplifier. Note that many amplifiers designate this signal as the INHIBIT signal. Use the command, MO, to disable the motor amplifiers - check to insure that the motor amplifiers have been disabled (often this is indicated by an LED on the amplifier).

This signal changes under the following conditions: the watchdog timer activates, the motor-

off command, MO, is given, or the OE1 command (Enable Off-On-Error) is given and the position error exceeds the error limit. AMPEN can be used to disable the amplifier for these conditions.

The standard configuration of the AMPEN signal is TTL active high. In other words, the AMPEN signal will be high when the controller expects the amplifier to be enabled. The polarity and the amplitude can be changed if you are using the ICM-2900 interface board. To change the polarity from active high (5 volts = enable, zero volts = disable) to active low (zero volts = enable, 5 volts = disable), replace the 7407 IC with a 7406. Note that many amplifiers designate the enable input as ‘inhibit’.

To change the voltage level of the AMPEN signal, note the state of the resistor pack on the ICM-2900. When Pin 1 is on the 5V mark, the output voltage is 0-5V. To change to 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, the output signal is an open collector, allowing the user to connect an external supply with voltages up to 24V.

Step C. Connect the encoders

22 • Chapter 2 Getting Started DMC-2X00

For stepper motor operation, an encoder is optional.

For servo motor operation, if you have a preferred definition of the forward and reverse

directions, make sure that the encoder wiring is consistent with that definition.

The DMC-2x00 accepts single-ended or differential encoder feedback with or without an

index pulse. If you are not using the ICM-2900 you will need to consult the appendix for the encoder pinouts for connection to the motion controller. The ICM-2900 accepts encoder feedback via individual signal leads. Simply match the leads from the encoder you are using to the encoder feedback inputs on the interconnect board. The signal leads are labeled CHA (channel A), CHB (channel B), and INDEX. For differential encoders, the complement signals are labeled CHA-, CHB-, and INDEX-.

NOTE: When using pulse and direction encoders, the pulse signal is connected to CHA and the

direction signal is connected to CHB. The controller must be configured for pulse and direction with the command CE. See the command summary for further information on the command CE.

Step D. Verify proper encoder operation.

Start with the A encoder first. Once it is connected, turn the motor shaft and interrogate the

position with the instruction TPA <return>. The controller response will vary as the motor is turned.

At this point, if TPA does not vary with encoder rotation, there are three possibilities:

1. The encoder connections are incorrect - check the wiring as necessary.

2. The encoder has failed - using an oscilloscope, observe the encoder signals. Verify

that both channels A and B have a peak magnitude between 5 and 12 volts. Note that if only one encoder channel fails, the position reporting varies by one count only. If the encoder failed, replace the encoder. If you cannot observe the encoder signals, try a different encoder.

3. There is a hardware failure in the controller - connect the same encoder to a different

axis. If the problem disappears, you probably have a hardware failure. Consult the factory for help.

Step E. Connect Hall Sensors if available.

Hall sensors are only used with sinusoidal commutation and are not necessary for proper

operation. The use of Hall sensors allows the controller to automatically estimate the commutation phase upon reset and also provides the controller the ability to set a more precise commutation phase. Without Hall sensors, the commutation phase must be determined manually.

The Hall effect sensors are connected to the digital inputs of the controller. These inputs can

be used with the general use inputs (bits 1-8), the auxiliary encoder inputs (bits 81-96), or the extended I/O inputs of the DMC-2x00 controller (bits 17-80).

NOTE: The general use inputs are optoisolated and require a voltage connection at the INCOM

point - for more information regarding the digital inputs, see Chapter 3, Connecting Hardware.

Each set of sensors must use inputs that are in consecutive order. The input lines are specified

with the command, BI. For example, if the Hall sensors of the C axis are connected to inputs 6, 7 and 8, use the instruction:

BI ,, 6 or

BIC = 6

DMC-2X00 Chapter 2 Getting Started y 23

Step 9a. Connect Standard Servo Motors

The following discussion applies to connecting the DMC-2x00 controller to standard servo motor amplifiers:

The motor and the amplifier may be configured in the torque or the velocity mode. In the torque mode, the amplifier gain should be such that a 10 volt signal generates the maximum required current. In the velocity mode, a command signal of 10 volts should run the motor at the maximum required speed.

Step by step directions on servo system setup are also included on the WSDK (Windows Servo Design Kit) software offered by Galil. See section on WSDK for more details.

Step A. Check the Polarity of the Feedback Loop

It is assumed that the motor and amplifier are connected together and that the encoder is

operating correctly (Step B). Before connecting the motor amplifiers to the controller, read

the following discussion on setting Error Limits and Torque Limits. Note that this discussion only uses the A axis as an examples.

Step B. Set the Error Limit as a Safety Precaution

Usually, there is uncertainty about the correct polarity of the feedback. The wrong polarity

causes the motor to run away from the starting position. Using a terminal program, such as DMCTERM, the following parameters can be given to avoid system damage:

Input the commands:

ER 2000 <CR> Sets error limit on the A axis to be 2000 encoder counts

OE 1 <CR> Disables A axis amplifier when excess position error exists

If the motor runs away and creates a position error of 2000 counts, the motor amplifier will be

disabled.

NOTE: This function requires the AMPEN signal to be connected from the controller to the

amplifier.

Step C. Set Torque Limit as a Safety Precaution

To limit the maximum voltage signal to your amplifier, the DMC-2x00 controller has a torque

limit command, TL. This command sets the maximum voltage output of the controller and can be used to avoid excessive torque or speed when initially setting up a servo system.

When operating an amplifier in torque mode, the voltage output of the controller will be

directly related to the torque output of the motor. The user is responsible for determining this relationship using the documentation of the motor and amplifier. The torque limit can be set to a value that will limit the motors output torque.

When operating an amplifier in velocity or voltage mode, the voltage output of the controller

will be directly related to the velocity of the motor. The user is responsible for determining this relationship using the documentation of the motor and amplifier. The torque limit can be set to a value that will limit the speed of the motor.

For example, the following command will limit the output of the controller to 1 volt 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 default value of 9.99. The servo will not operate properly if the torque limit is below the normal operating range. See description of TL in the command reference.

24 • Chapter 2 Getting Started DMC-2X00

Step D. Connect the Motor

Once the parameters have been set, connect the analog motor command signal (ACMD) to the amplifier input.

To test the polarity of the feedback, command a move with the instruction:

PR 1000 <CR> Position relative 1000 counts

BGA <CR> Begin motion on A axis

When the polarity of the feedback is wrong, the motor will attempt to run away. The

controller should disable the motor when the position error exceeds 2000 counts. If the motor runs away, the polarity of the loop must be inverted.

Inverting the Loop Polarity

When the polarity of the feedback is incorrect, the user must invert the loop polarity and this may be accomplished by several methods. If you are driving a brush-type DC motor, the simplest way is to invert the two motor wires (typically red and black). For example, switch the M1 and M2 connections going from your amplifier to the motor. When driving a brushless motor, the polarity reversal may be done with the encoder. If you are using a single-ended encoder, interchange the signal CHA and CHB. If, on the other hand, you are using a differential encoder, interchange only CHA+ and CHA-. The loop polarity and encoder polarity can also be affected through software with the MT, and CE commands. For more details on the MT command or the CE command, see the Command Reference section.

Sometimes the feedback polarity is correct (the motor does not attempt to run away) but the direction of motion is reversed with respect to the commanded motion. If this is the case, reverse the motor leads AND the encoder signals.

If the motor moves in the required direction but stops short of the target, it is most likely due to insufficient torque output from the motor command signal ACMD. This can be alleviated by reducing system friction on the motors. The instruction:

TTA <return> Tell torque on A

reports the level of the output signal. It will show a non-zero value that is below the friction level.

Once you have established that you have closed the loop with the correct polarity, you can move on to the compensation phase (servo system tuning) to adjust the PID filter parameters, KP, KD and KI. It is necessary to accurately tune your servo system to ensure fidelity of position and minimize motion oscillation as described in the next section.

DMC-2X00 Chapter 2 Getting Started y 25

ICM-2900

MOCMDZ

SIGNZ PWMZ

GND

MOCMDX

SIGNX

PWMX

GND

OUT PWR

ERROR

CMP

OUT GND

OUT5 OUT6 OUT7 OUT8

+5V

HOMEZ

RLSZ

FLSZ

HOMEX

RLSX FLSX

GND

+12V

-12V

ANA GND

ANALOG5 ANALOG6 ANALOG7 ANALOG8

+INX

-INX GND

+INY

-INY

GND

+INZ

-INZ

GND

+5V

+INW

-INW GND

+5V

MOCMDW SIGNW PWMW GND

MOCMDY SIGNY PWMY GND

AMPENW AMPENZ AMPENY

AMPENX

OUT1 OUT2 OUT3 OUT4

LSCOM HOMEW RLSW FLSW

HOMEY RLSY FLSY GND

IN5 IN6 IN7 IN8

XLATCH YLATCH ZLATCH WLATCH

INCOM ABORT RESET GND

ANALOG1 ANALOG2 ANALOG3 ANALOG4

+MAX

-MAX

+MBX

-MBX

+MAY

-MAY +MBY

-MBY

+MAZ

-MAZ +MBZ

-MBZ

+MAW

-MAW +MBW

-MBW

Signal Gnd 2 +Ref In 4

Inhibit* 11

Motor + 1

Motor - 2

Power Gnd 4

High Volt 5

Encoder

MSA 12-80

CPS Power

Supply

DC Servo Motor

Figure 2-6 System Connections with a separate amplifier (MSA 12-80). This diagram shows the connections for a standard DC Servo Motor and encoder

26 • Chapter 2 Getting Started DMC-2X00

Step 9b. Connect Sinusoidal Commutation Motors

When using sinusoidal commutation, the parameters for the commutation must be determined and

saved in the controller’s non-volatile memory. The setup for sinusoidal commutation is different when using Hall Sensors. Each step which is affected by Hall Sensor Operation is divided into two parts, part 1 and part 2. After connecting sinusoidal commutation motors,

the servos must be tuned as described in Step 10.

Step A. Disable the motor amplifier

Use the command, MO, to disable the motor amplifiers. For example, MOA will turn the A

axis motor off.

Step B. Connect the motor amplifier to the controller.

The sinusoidal commutation amplifier requires 2 signals, usually denoted as Phase A & Phase

B. These inputs should be connected to the two sinusoidal signals generated by the controller. The first signal is the axis specified with the command, BA (Step 6). The second signal is associated with the highest analog command signal available on the controller - note that this axis was made unavailable for standard servo operation by the command BA.

When more than one axis is configured for sinusoidal commutation, the controller will assign

the second phase to the command output which has been made available through the axes reconfiguration. The 2 command output and the 2 lowest command output.

It is not necessary to be concerned with cross-wiring the 1

incorrect, the setup procedure will alert the user (Step D).

phase of the highest sinusoidal commutation axis will be the highest

phase of the lowest sinusoidal commutation axis will be the

and 2nd signals. If this wiring is

Example: Sinusoidal Commutation Configuration using a DMC2x70

BAAC

This command causes the controller to be reconfigured as a DMC-2x50 controller. The A and

C axes are configured for sinusoidal commutation. The first phase of the A axis will be the motor command A signal. The second phase of the A axis will be the motor command F signal. The first phase of the C axis will be the motor command C signal. The second phase of the C axis will be the motor command G signal.

Step C. Specify the Size of the Magnetic Cycle.

Use the command, BM, to specify the size of the brushless motors magnetic cycle in encoder

counts. For example, if the X axis is a linear motor where the magnetic cycle length is 62 mm, and the encoder resolution is 1 micron, the cycle equals 62,000 counts. This can be commanded with the command:

BM 62000

On the other hand, if the C axis is a rotary motor with 4000 counts per revolution and 3

magnetic cycles per revolution (three pole pairs) the command is:

BM,, 1333.333

Step D - part 1 (Systems with or without Hall Sensors). Test the Polarity of the DACs

Use the brushless motor setup command, BS, to test the polarity of the output DACs. This

command applies a certain voltage, V, to each phase for some time T, and checks to see if the motion is in the correct direction.

DMC-2X00 Chapter 2 Getting Started y 27

The user must specify the value for V and T. For example, the command:

BSA = 2,700

will test the A axis with a voltage of 2 volts, applying it for 700 millisecond for each phase.

In response, this test indicates whether the DAC wiring is correct and will indicate an approximate value of BM. If the wiring is correct, the approximate value for BM will agree with the value used in the previous step.

NOTE: In order to properly conduct the brushless setup, the motor must be allowed to move a

minimum of one magnetic cycle in both directions.

NOTE: When using Galil Windows software, the timeout must be set to a minimum of 10

seconds (time-out = 10000) when executing the BS command. This allows the software to retrieve all messages returned from the controller.

Step D - part 2 (Systems with Hall Sensors Only). Test the Hall Sensor Configuration.

Since the Hall sensors are connected randomly, it is very likely that they are wired in the

incorrect order. The brushless setup command indicates the correct wiring of the Hall sensors. The Hall sensor wires should be re-configured to reflect the results of this test.

The setup command also reports the position offset of the Hall transition point and the zero

phase of the motor commutation. The zero transition of the Hall sensors typically occur at 0°, 30° or 90° of the phase commutation. It is necessary to inform the controller about the offset of the Hall sensor and this is done with the instruction, BB.

Step E. Save Brushless Motor Configuration

It is very important to save the brushless motor configuration in non-volatile memory. After

the motor wiring and setup parameters have been properly configured, the burn command, BN, should be given.

NOTE: Without Hall sensors, the controller will not be able to estimate the commutation phase

of the brushless motor. In this case, the controller could become unstable until the commutation phase has been set using the BZ command (see next step). It is highly recommended that the motor off command be given before executing the BN command. In this case, the motor will be disabled upon power up or reset and the commutation phase can be set before enabling the motor.

Step F - part 1 (Systems with or without Hall Sensors). Set Zero Commutation Phase

When an axis has been defined as sinusoidally commutated, the controller must have an estimate for commutation phase. When Hall sensors are used, the controller automatically estimates this value upon reset of the controller. If no Hall sensors are used, the controller will not be able to make this estimate and the commutation phase must be set before enabling the motor.

To initialize the commutation without Hall effect sensor use the command, BZ. This function drives the motor to a position where the commutation phase is zero, and sets the phase to zero.

The BZ command is followed by real numbers in the fields corresponding to the driven axes. The number represents the voltage to be applied to the amplifier during the initialization. When the voltage is specified by a positive number, the initialization process ends up in the motor off (MO) state. A negative number causes the process to end in the Servo Here (SH) state.

28 • Chapter 2 Getting Started DMC-2X00

WARNING: This command must move the motor to find the zero commutation phase. This movement is instantaneous and will cause the system to jerk. Larger applied voltages will cause more severe motor jerk. The applied voltage will typically be sufficient for proper operation of the BZ command. For systems with significant friction, this voltage may need to be increased and for

systems with very small motors, this value should be decreased. For example: BZ –2, 0,1 will drive both A and C axes to zero, will apply 2V and 1V respectively to A and C and will end up

with A in SH and C in MO.

Step F - part 2 (Systems with Hall Sensors Only). Set Zero Commutation Phase

With Hall sensors, the estimated value of the commutation phase is good to within 30°. This estimate can be used to drive the motor but a more accurate estimate is needed for efficient motor operation. There are 3 possible methods for commutation phase initialization:

Method 1. Use the BZ command as described above. Method 2. Drive the motor close to commutation phase of zero and then use BZ command.

This method decreases the amount of system jerk by moving the motor close to zero commutation phase before executing the BZ command. The controller makes an estimate for the number of encoder counts between the current position and the position of zero commutation phase. This value is stored in the operand _BZn. Using this operand the controller can be commanded to move the motor. The BZ command is then issued as described above. For example, to initialize the A axis motor upon power or reset, the following commands may be given:

SHA ;Enable A axis motor

PRA=-1*(_BZA) ;Move A motor close to zero commutation phase

BGA ;Begin motion on A axis

AMA ;Wait for motion to complete on A axis

BZA=-1 ;Drive motor to commutation phase zero and leave

;motor on

Method 3. Use the command, BC. This command uses the Hall transitions to determine the

commutation phase. Ideally, the Hall sensor transitions will be separated by exactly 60° and any deviation from 60° will affect the accuracy of this method. If the Hall sensors are accurate, this method is recommended. The BC command monitors the Hall sensors during a move and monitors the Hall sensors for a transition point. When that occurs, the controller computes the commutation phase and sets it. For example, to initialize the A axis motor upon power or reset, the following commands may be given:

SHA ;Enable A axis motor

BCA ;Enable the brushless calibration command

PRA=50000 ;Command a relative position movement on A axis

BGA ;Begin motion on A axis. When the Hall sensors

; detect a phase transition, the commutation phase is ;re-set.

DMC-2X00 Chapter 2 Getting Started y 29

Step 9c. Connect Step Motors

In Stepper Motor operation, the pulse output signal has a 50% duty cycle. Step motors operate open loop and do not require encoder feedback. When a stepper is used, the auxiliary encoder for the corresponding axis is unavailable for an external connection. If an encoder is used for position feedback, connect the encoder to the main encoder input corresponding to that axis. The commanded position of the stepper can be interrogated with RP or TD. The encoder position can be interrogated with TP.

The frequency of the step motor pulses can be smoothed with the filter parameter, KS. The KS parameter has a range between 0.5 and 8, where 8 implies the largest amount of smoothing. See Command Reference regarding KS.

The DMC-2x00 profiler commands the step motor amplifier. All DMC-2x00 motion commands apply such as PR, PA, VP, CR and JG. The acceleration, deceleration, slew speed and smoothing are also used. Since step motors run open-loop, the PID filter does not function and the position error is not generated.

To connect step motors with the DMC-2x00 you must follow this procedure:

Step A. Install SM jumpers

Each axis of the DMC-2x00 that will operate a stepper motor must have the corresponding

stepper motor jumper installed. For a discussion of SM jumpers, see section Jumpers on the DMC-2x00.

Step B. Connect step and direction signals from controller to motor amplifier

From the controller to respective signals on your step motor amplifier. (These signals are

labeled PULSX and DIRX for the A-axis on the ICM-2900). Consult the documentation for your step motor amplifier.

Step 2. Install

Step C. Configure DMC-2x00 for motor type using MT command. You can configure the DMC-

2x00 for active high or active low pulses. Use the command MT 2 for active low step motor pulses and MT -2 for active high step motor pulses. See description of the MT command in the Command Reference.

Step 10. Tune the Servo System

Adjusting the tuning parameters is required when using servo motors (standard or sinusoidal commutation). The system compensation provides fast and accurate response and the following presentation suggests a simple and easy way for compensation. More advanced design methods are available with software design tools from Galil, such as the Servo Design Kit (SDK software)

The filter has three parameters: the damping, KD; the proportional gain, KP; and the integrator, KI. The parameters should be selected in this order.

To start, set the integrator to zero with the instruction

KI 0 <return> Integrator gain

and set the proportional gain to a low value, such as

KP 1 <return> Proportional gain

KD 100 <return> Derivative gain

30 • Chapter 2 Getting Started DMC-2X00

For more damping, you can increase KD (maximum is 4095). Increase gradually and stop after the motor vibrates. A vibration is noticed by audible sound or by interrogation. If you send the command

TE A <return> Tell error

a few times, and get varying responses, especially with reversing polarity, it indicates 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 response with the Tell Error instruction

KP 10 <return> Proportion gain

TE A <return> Tell error

As the proportional gain is increased, the error decreases.

Again, the system may vibrate if the gain is too high. In this case, reduce KP. Typically, KP should not be greater than KD/4 (only when the amplifier is configured in the current mode).

Finally, to select KI, start with zero value and increase it gradually. The integrator eliminates the position error, resulting in improved accuracy. Therefore, the response to the instruction

TE A <return>

becomes zero. As KI is increased, its effect is amplified and it may lead to vibrations. If this occurs, simply reduce KI. Repeat tuning for the B, C and D axes.

For a more detailed description of the operation of the PID filter and/or servo system theory, see Chapter 10 - Theory of Operation.

Design Examples

Here are a few examples for tuning and using your controller. These examples have remarks next to each command - these remarks must not be included in the actual program.

System Set-up

This example assigns the system filter parameters, error limits and enables the automatic error shut-off.

Instruction Interpretation

KP10,10,10,10 Set gains for a,b,c,d (or A,B,C,D axes)

KP*=10 Alternate method for setting gain on all axes

KPA=10 Method for setting only A axis gain

KP, 20 Set B axis gain only

Instruction Interpretation

OE 1,1,1,1,1,1,1,1 Enable automatic Off on Error function for all axes

ER*=1000 Set error limit for all axes to 1000 counts

KP10,10,10,10,10,10,10,10 Set gains for a,b,c,d,e,f,g,and h axes

KP*=10 Alternate method for setting gain on all axes

KPA=10 Alternate method for setting A axis gain

KP,,10 Set C axis gain only

KPD=10 Alternate method for setting D axis gain

KPH=10 Alternate method for setting H axis gain

DMC-2X00 Chapter 2 Getting Started y 31

Profiled Move

–

Rotate the A axis a distance 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 example, the motor turns and stops:

Instruction Interpretation

PR1000 Distance SP20000 Spee DC 100000 Deceleration AC 100000 Acceleration BG A Start Motion

Multiple Axes

Objective: Move the four axes independently.

Instruction Interpretation

PR 500,1000,600,-400 Distances of A,B,C,D SP 10000,12000,20000,10000 Slew speeds of A,B,C,D AC 10000,10000,10000,10000 Accelerations of A,B,C,D DC 80000,40000,30000,50000 Decelerations of A,B,C,D BG AC Start A and C motion BG BD Start B and D motion

Independent Moves

The motion parameters may be specified independently as illustrated below.

Instruction Interpretation

PR ,300,-600 Distances of B and C SP ,2000 Slew speed of B DC ,80000 Deceleration of B AC ,100000 Acceleration of B AC ,,100000 Acceleration of C DC,,150000 Deceleration of C BG C Start C motion BG B Start B motion

Position Interrogation

The position of the four axes may be interrogated with the instruction, TP.

Instruction Interpretation

TP Tell position all four axes TP A Tell position TP B Tell position –B axis only TP C Tell position TP D Tell position

A axis only

C axis only D axis only

32 • Chapter 2 Getting Started DMC-2X00

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

–

can be interrogated with the instruction TE.

Instruction Interpretation

TE Tell error TE A Tell error –A axis only TE B Tell error –B axis only TE C Tell error –C axis only TE D Tell error –D axis only

all axes

Absolute Position

Objective: Command motion by specifying the absolute position.

Instruction Interpretation

DP 0,2000 Define the current positions of A,B as 0 and 2000

PA 7000,4000 Sets the desired absolute positions

BG A Start A motion

BG B Start B motion

After both motions are complete, the A and B axes can be command back to zero:

PA 0,0 Move to 0,0

BG AB Start both motions

Velocity Control

Objective: Drive the A and B motors at specified speeds.

Instruction Interpretation

JG 10000,-20000 Set Jog Speeds and Directions

AC 100000, 40000 Set accelerations

DC 50000,50000 Set decelerations

BG AB Start motion

after a few seconds, command:

JG -40000 New A speed and Direction

TV A Returns A speed

and then

JG ,20000 New B speed

TV B Returns B speed

These cause velocity changes including direction reversal. The motion can be stopped with the instruction

ST Stop

DMC-2X00 Chapter 2 Getting Started y 33

Operation Under Torque Limit

The magnitude of the motor command may be limited independently by the instruction TL.

Instruction Interpretation

TL 0.2 Set output limit of A axis to 0.2 volts

JG 10000 Set A speed

BG A Start A motion

In this example, the A motor will probably not move since the output signal will not be sufficient to overcome the friction. If the motion starts, it can be stopped easily by a touch of a finger.

Increase the torque level gradually by instructions such as

Instruction Interpretation

TL 1.0 Increase torque limit to 1 volt.

TL 9.998 Increase torque limit to maximum, 9.998 volts.

The maximum level of 9.998 volts provides the full output torque.

Interrogation

The values of the parameters may be interrogated. Some examples …

Instruction Interpretation

KP? Return gain of A axis

KP ,,? Return gain of C axis.

KP ?,?,?,? Return gains of all axes.

Many other parameters such as KI, KD, FA, can also be interrogated. The command reference denotes all commands which can be interrogated.

Operation in the Buffer Mode

The instructions may be buffered before execution as shown below.

Instruction Interpretation

PR 600000 Distance

SP 10000 Speed

WT 10000 Wait 10000 milliseconds before reading the next instruction

BG A Start the motion

Using the On-Board Editor

Motion programs may be edited and stored in the controller’s on-board memory. When the command, ED is given from the Galil DOS terminal (such as DMCTERM), the controllers editor will be started.

The instruction

ED Edit mode

moves the operation to the editor mode where the program may be written and edited. The editor provides the line number. For example, in response to the first ED command, the first line is zero.

34 • Chapter 2 Getting Started DMC-2X00

Line # Instruction Interpretation

000 #A Define label

001 PR 700 Distance

002 SP 2000 Speed

003 BGA Start A motion

004 EN End program

To exit the editor mode, input <cntrl>Q. The program may be executed with the command.

XQ #A Start the program running

If the ED command is issued from the Galil Windows terminal software (such as SmartTERM), the software will open a Windows based editor. From this editor a program can be entered, edited, downloaded and uploaded to the controller.

Motion Programs with Loops

Motion programs may include conditional jumps as shown below.

Instruction Interpretation

#A Label

DP 0 Define current position as zero

V1=1000 Set initial value of V1

#LOOP Label for loop

PA V1 Move A motor V1 counts

BG A Start A motion

AM A After A motion is complete

WT 500 Wait 500 ms

TP A Tell position A

V1=V1+1000 Increase the value of V1

JP #LOOP,V1<10001 Repeat if V1<10001

EN End

After the above program is entered, quit the Editor Mode, <cntrl>Q. To start the motion, command:

XQ #A Execute Program #A

Motion Programs with Trippoints

The motion programs may include trippoints as shown below.

Instruction Interpretation

#B Label

DP 0,0 Define initial positions

PR 30000,60000 Set targets

SP 5000,5000 Set speeds

BGA Start A motion

AD 4000 Wait until A moved 4000

BGB Start B motion

AP 6000 Wait until position A=6000

SP 2000,50000 Change speeds

DMC-2X00 Chapter 2 Getting Started y 35

AP ,50000 Wait until position B=50000

SP ,10000 Change speed of B

EN End program

To start the program, command:

XQ #B Execute Program #B

Control Variables

Objective: To show how control variables may be utilized.

Instruction Interpretation

#A;DP0 Label; Define current position as zero

PR 4000 Initial position

SP 2000 Set speed

BGA Move A

AMA Wait until move is complete

WT 500 Wait 500 ms

V1 = _TPA Determine distance to zero

PR -V1/2 Command A move 1/2 the distance

BGA Start A motion

AMA After A moved

WT 500 Wait 500 ms

V1= Report the value of V1

JP #C, V1=0 Exit if position=0

JP #B Repeat otherwise

#C Label #C

EN End of Program

To start the program, command

XQ #A Execute Program #A

This program moves A to an initial position of 1000 and returns it to zero on increments of half the distance. Note, _TPA is an internal variable which returns the value of the A position. Internal variables may be created by preceding a DMC-2x00 instruction with an underscore, _.

Linear Interpolation

Objective: Move A,B,C motors distance of 7000,3000,6000, respectively, along linear trajectory. Namely, motors start and stop together.

36 • Chapter 2 Getting Started DMC-2X00

Instruction Interpretation

LM ABC Specify linear interpolation axes

LI 7000,3000,6000 Relative distances for linear interpolation

LE Linear End

VS 6000 Vector speed

VA 20000 Vector acceleration

VD 20000 Vector deceleration

BGS Start motion

Circular Interpolation

Objective: Move the AB axes in circular mode to form the path shown on Fig. 2-7. Note that the vector motion starts at a local position (0,0) which is defined at the beginning of any vector motion sequence. See application programming for further information.

Instruction Interpretation

VM AB Select AB axes for 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 Start motion

(-4000,4000)

R=2000

(-4000,0)

Figure 2-7 Motion Path for Circular Interpolation Example

(0,4000)

(0,0) local zero

DMC-2X00 Chapter 2 Getting Started y 37

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38 • Chapter 2 Getting Started DMC-2X00

Chapter 3 Connecting Hardware

Overview

The DMC-2x00 provides opto-isolated digital inputs for forward limit, reverse limit, home, and abort signals. The controller also has 8 opto-isolated, uncommitted inputs (for general use) as well as 8 TTL outputs and 8 analog inputs configured for voltages between +/- 10 volts.

2x80

Controllers with 5 or more axes have an additional 8 opto-isolated inputs and an additional 8 TTL outputs.

This chapter describes the inputs and outputs and their proper connection.

If you plan to use the auxiliary encoder feature of the DMC-2x00, you will require a separate encoder cable and breakout - contact Galil Motion control

Using Optoisolated Inputs

Limit Switch Input

The forward limit switch (FLSx) inhibits motion in the forward direction immediately upon activation of the switch. The reverse limit switch (RLSx) inhibits motion in the reverse direction immediately upon activation of the switch. If a limit switch is activated during motion, the controller will make a decelerated stop using the deceleration rate previously set with the DC command. The motor will remain “ON” (in a servo state) after the limit switch has been activated and will hold motor position.

When a forward or reverse limit switch is activated, the current application program that is running will be interrupted and the controller will automatically jump to the #LIMSWI subroutine if one exists. This is a subroutine which the user can include in any motion control program and is useful for executing specific instructions upon activation of a limit switch. Automatic Subroutines are discussed in Chapter 6.

After a limit switch has been activated, further motion in the direction of the limit switch will not be possible until the logic state of the switch returns back to an inactive state. This usually involves physically opening the tripped switch. Any attempt at further motion before the logic state has been reset will result in the following error: “022 - Begin not possible due to limit switch” error.

The operands, _LFx and _LRx, contain the state of the forward and reverse limit switches, respectively (x represents the axis, A,B,C,D etc.). The value of the operand is either a ‘0’ or ‘1’ corresponding to the logic state of the limit switch. Using a terminal program, the state of a limit switch can be printed to the screen with the command, MG _LFx or MG _LFx. This prints the value of the limit switch operands for the 'x' axis. The logic state of the limit switches can also be interrogated with the TS command. For more details on TS see the Command Reference.

DMC-2X00 Chapter 3 Connecting Hardware y 39

Home Switch Input

Homing inputs are designed to provide mechanical reference points for a motion control application. A transition in the state of a Home input alerts the controller that a particular reference point has been reached by a moving part in the motion control system. A reference point can be a point in space or an encoder index pulse.

The Home input detects any transition in the state of the switch and toggles between logic states 0 and 1 at every transition. A transition in the logic state of the Home input will cause the controller to execute a homing routine specified by the user.

There are three homing routines supported by the DMC-2x00: Find Edge (FE), Find Index (FI), and Standard Home (HM).

The Find Edge routine is initiated by the command sequence: FEA <return>, BGA <return>. The Find Edge routine will cause the motor to accelerate, then slew at constant speed until a transition is detected in the logic state of the Home input. The direction of the FE motion is dependent on the state of the home switch. The motor will then decelerate to a stop. The acceleration rate, deceleration rate and slew speed are specified by the user, prior to the movement, using the commands AC, DC, and SP.

It is recommended that a high deceleration value be used so the motor will decelerate rapidly after sensing the Home switch.

The Find Index routine is initiated by the command sequence: FIA <return>, BGA <return>. Find Index will cause the motor to accelerate to the user-defined slew speed at a rate specified by the user with the AC command and slew until the controller senses a change in the index pulse signal from low to high. The slew speed and direction in which the motor will move is designated by the JG command. The motor then decelerates to a stop at the rate previously specified by the user with the DC command.

Although Find Index is an option for homing, it is not dependent upon a transition in the logic state of the Home input, but instead is dependent upon a transition in the level of the index pulse signal.

The Standard Homing routine is initiated by the sequence of commands HMA <return>, BGA <return>. Standard Homing is a combination of Find Edge and Find Index homing. Initiating the standard homing routine will cause the motor to slew until a transition is detected in the logic state of the Home input. The motor will accelerate at the rate specified by the command, AC, up to the slew speed. After detecting the transition in the logic state on the Home Input, the motor will decelerate to a stop at the rate specified by the command, DC. After the motor has decelerated to a stop, it switches direction and approaches the transition point at the speed of 256 counts/sec. When the logic state changes again, the motor moves forward (in the direction of increasing encoder count) at the same speed, until the controller senses the index pulse. After detection, it decelerates to a stop and defines this position as 0. The logic state of the Home input can be interrogated with the command MG _HMA. This command returns a 0 or 1 if the logic state is low or high, respectively. The state of the Home input can also be interrogated indirectly with the TS command.

For examples and further information about Homing, see command HM, FI, FE of the Command Reference and the section entitled ‘Homing’ in the Programming Motion Section of this manual.

Abort Input

The function of the Abort input is to immediately stop the controller upon transition of the logic state.

NOTE: The response of the abort input is significantly different from the response of an activated

limit switch. When the abort input is activated, the controller stops generating motion commands immediately, whereas the limit switch response causes the controller to make a decelerated stop.

NOTE: The effect of an Abort input is dependent on the state of the Off-On-Error function for each

axis. If the Off-On-Error function is enabled for any given axis, the motor for that axis will be turned off when the abort signal is generated. This could cause the motor to ‘coast’ to a stop since it is no

40 • Chapter 3 Connecting Hardware DMC-2X00

longer under servo control. If the Off-On-Error function is disabled, the motor will decelerate to a stop as fast as mechanically possible and the motor will remain in a servo state.

All motion programs that are currently running are terminated when a transition in the Abort input is detected. For information on setting the Off-On-Error function, see the Command Reference, OE.

Reset Input

When this input is pulled low (to 0 volts), the controller will reset. This is equivalent to pushing the reset button on the front of the DMC-2x00.

Uncommitted Digital Inputs

The DMC-2x00 has 8 opto-isolated inputs. These inputs can be read individually using the function @ IN[x] where x specifies the input number (1 thru 8). These inputs are uncommitted and can allow the user to create conditional statements related to events external to the controller. For example, the user may wish to have the x-axis motor move 1000 counts in the positive direction when the logic state of IN1goes high.

2x80

Controllers with more than 4 axes have 16 optoisolated inputs which are denoted as Inputs 1 thru 16.

Wiring the Opto-Isolated Inputs

The Opto-isolation inputs have a bi-directional capability. To activate an input, at least 1mA of current must flow from the input common through the input (see figure 3.1). This can be accomplished by 2 methods:

Method 1: Connect a positive voltage in the range of +5V to +24V (with respect to the input) at the input common point. Each input is connected to ground to activate the input.

Method 2: Connect ground to the input common point. Each input is activated by connecting a positive voltage between +5V and +24 volts.

The Opto-Isolation Common Point

The opto-isolated inputs are configured into 2 groups. The general inputs, IN[1]-IN[8], and the ABORT input are in one group. The signal, INCOM, is a common connection for all inputs in this group. The limit switches and home switches are in the second group. The signal, LSCOM, is a common connection for all inputs in this group. Figure 3.1 illustrates the internal circuitry.

Group (Controllers with 1- 4 Axes)

IN[1]-IN[8], ABORT IN[1]-IN[16], ABORT INCOM

FLA,RLA,HOMEA FLB,RLB,HOMEB FLC,RLC,HOMEC FLD,RLD,HOMED

Group (Controllers with 5 - 9 Axes)

FLA,RLA,HOMEA,FLB,RLB,HOMEB FLC,RLC,HOMEC,FLD,RLD,HOMED FLE,RLE,HOMEE,FLF,RLF,HOMEF FLG,RLG,HOMEG,FLH,RLH,HOMEH

Common Signal

LSCOM

DMC-2X00 Chapter 3 Connecting Hardware y 41

LSCOM

Additional Limit

Switches(Dependent on

Number of Axes)

INCO

FLSA

IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8

(ALATCH) (BLATCH) (CLATCH) (DLATCH)

Figure 3-1. The Optoisolated Inputs. NOTE: Controllers with 5 or more axes have IN[9] through IN[16] also connected to INCOM.

RLSA HOMEA FLSB RLSB HOMEB

Using an Isolated Power Supply

ABOR

To take full advantage of opto-isolation, an isolated power supply should be connected to the input common. When using an isolated power supply, do not connect the ground of the isolated power to the ground of the controller. A power supply in the voltage range between 5 to 24 volts may be applied directly (see Figure 3-2). For voltages greater than 24 volts, a resistor, R, is needed in series with the input such that

1 mA < V supply/(R + 2.2K

42 • Chapter 3 Connecting Hardware DMC-2X00

Ω) < 11 mA

External Resistor Needed for

Voltages > +24V

LSCOM

External Resistor Needed for

Voltages > +24V

LSCOM

Configuration to source current at

LSCOM terminal and sink

switch

Figure 3-2. Connecting a single Limit or Home Switch to an Isolated Supply. This diagram only shows the connection for the forward limit switch of the X axis.

NOTE: As stated in Chapter 2, the wiring is simplified when using a Galil Interconnect module, such

as the ICM-1900 or ICM-2900. These boards accept the cables of the DMC-2x00 and provide terminals for easy access (Refer to figure 2-2).

Bypassing the Opto-Isolation:

If no isolation is needed, the internal 5 volt supply may be used to power the switches. This can be done by connecting a jumper between the pins LSCOM or INCOM and 5V, labeled JP3 on the main board. The Galil interconnect modules provide jumpers and the DMC-2x00 also provides a jumper for making this connection.

2.2K

FLSA

2.2K

FLSA

Configuration to sink current at

LSCOM terminal and source

switch

Analog Inputs

The DMC-2x00 has eight analog inputs configured for the range between -10V and 10V. The inputs are decoded by a 12-bit A/D decoder giving a voltage resolution of approximately .005V. A 16-bit ADC is available as an option. The impedance of these inputs is 10 KΩ. The analog inputs are specified as AN[x] where x is a number 1 thru 8.

Amplifier Interface

The DMC-2x00 command voltage ranges between +/-10V. This signal, along with GND, provides the input to the motor amplifiers. The amplifiers must be sized to drive the motors and load. For best performance, the amplifiers should be configured for a torque (current) mode of operation with no additional compensation. The gain should be set such that a 10 volt input results in the maximum required current.

The DMC-2x00 also provides an amplifier enable signal, AMPEN. This signal changes under the following conditions: the motor-off command, MO, is given, the watchdog timer activates, or the OE1

DMC-2X00 Chapter 3 Connecting Hardware y 43

command (Enable Off-On-Error) is given and the position error exceeds the error limit. As shown in

Figure 3-4, AMPEN can be used to disable the amplifier for these conditions.

The standard configuration of the AMPEN signal is TTL active high. In other words, the AMPEN signal will be high when the controller expects the amplifier to be enabled. The polarity and the amplitude can be changed if you are using the ICM-2900 interface board. To change the polarity from active high (5 volts= enable, zero volts = disable) to active low (zero volts = enable, 5 volts= disable), replace the 7407 IC with a 7406. Note that many amplifiers designate the enable input as ‘inhibit’.

100-PIN HIGH DENSITY CABLE

7407 Open Collector Buffer. The Enable can be inverted by using a 7406. Accessed by removing ICM-2900 cover.

ICM-2900DMC-2x00

Connection to +5V or +12V made resistor

+5V+12V

pack RP1. Removing the resistor allows the user to connect their own resistor the desired voltage level (Up to 24V) by removing ICM-2900 cover

MPEN

GND

MOCMDX

nalog Switch

SERVO MOTOR

MPLIFIER

Figure 3-3 Connecting AMPEN to the motor amplifier

TTL Inputs

The Auxiliary Encoder Inputs

The auxiliary encoder inputs can be used for general use. For each axis, the controller has one auxiliary encoder and each auxiliary encoder consists of two inputs, channel A and channel B. The auxiliary encoder inputs are mapped to the inputs 81-96.

44 • Chapter 3 Connecting Hardware DMC-2X00

Each input from the auxiliary encoder is a differential line receiver and can accept voltage levels between +/- 12 volts. The inputs have been configured to accept TTL level signals. To connect TTL signals, simply connect the signal to the + input and leave the - input disconnected. For other signal levels, the - input should be connected to a voltage that is ½ of the full voltage range (for example, connect the - input to 6 volts if the signal is a 0 - 12 volt logic).

Example:

A DMC-2x10 has one auxiliary encoder. This encoder has two inputs (channel A and channel B). Channel A input is mapped to input 81 and Channel B input is mapped to input 82. To use this input for 2 TTL signals, the first signal will be connected to AA+ and the second to AB+. AA- and ABwill be left unconnected. To access this input, use the function @IN[81] and @IN[82].

NOTE: The auxiliary encoder inputs are not available for any axis that is configured for

stepper motor.

TTL Outputs

2x80

The DMC-2x00 provides dedicated and general use outputs.

General Use Outputs

The DMC-2x00 provides eight general use outputs, an output compare and an error signal output. The general use outputs are TTL and are accessible through the ICM-2900 as OUT1 thru OUT8. These outputs can be turned On and Off with the commands, SB (Set Bit), CB (Clear Bit), OB (Output Bit), and OP (Output Port). For more information about these commands, see the Command Summary. The value of the outputs can be checked with the operand _OP and the function @OUT[] (see Chapter 7, Mathematical Functions and Expressions).

Controllers with 5 or more axes have an additional eight general use TTL outputs.

NOTE: The ICM-2900 has an option to provide opto-isolation on the outputs. In this case, the user

provides an isolated power supply (+5volts to +24volts and ground). For more information, consult Galil.

Output Compare

The output compare signal is TTL and is available on the ICM-2900 as CMP. Output compare is controlled by the position of any of the main encoders on the controller. The output can be programmed to produce an active low pulse (1usec) based on an incremental encoder value or to activate once when an axis position has been passed. For further information, see the command OC in the Command Reference.

DMC-2X00 Chapter 3 Connecting Hardware y 45

Error Output

The controller provides a TTL signal, ERROR, to indicate a controller error condition. When an error condition occurs, the ERROR signal will go low and the controller LED will go on. An error occurs because of one of the following conditions:

1. At least one axis has a position error greater than the error limit. The error limit is set by

using the command ER.

2. The reset line on the controller is held low or is being affected by noise.

3. There is a failure on the controller and the processor is resetting itself.

4. There is a failure with the output IC which drives the error signal.

Extended I/O of the DMC-2x00 Controller

The DMC-2x00 controller offers 64 extended TTL I/O points which can be configured as inputs or outputs in 8 bit increments. Configuration is accomplished with command CO - see Chapter 7. The I/O points are accessed through the 80 pin high density connector labeled EXTENDED I/O.

Interfacing to Grayhill or OPTO-22 G4PB24:

The DMC-2x00 controller uses one 80 Pin high density connector to access the extended I/O. This connector is accessed via the Galil CABLE-80. The Galil CABLE-80 can be converted to (2) 50 pin ribbon cables which are compatible with I/O mounting racks such as Grayhill 70GRCM32-HL and OPTO-22 G4PB24. To convert the 80 pin cable, use the CB-50-80 adapter from Galil. The 50 pin ribbon cables which connect to the CB-50-80 connect directly into the I/O mounting racks. The CB50-80 adapter board is described in the appendix.

When using the OPTO-22 G4PB24 I/O mounting rack, the user will only have access to 48 of the 64 I/O points available on the controller. Block 5 and Block 9 must be configured as inputs and will be grounded by the I/O rack.

46 • Chapter 3 Connecting Hardware DMC-2X00

Chapter 4 Communication

Introduction

The DMC-2x00 has two RS232 ports, and either one USB input port and 2 USB output ports, or Ethernet ports. The main RS-232 port is the data set and can be configured through the switches on the front panel. The auxiliary RS-232 port is the data term and can be configured with the software command CC. The auxiliary RS-232 port can be configured either for daisy chain operation (DMC2000 only) or as a general port. This configuration can be saved using the Burn (BN) instruction. The RS232 ports also have a clock synchronizing line that allows synchronization of motion on more than one controller.

RS232 Ports

The RS232 pin-out description for the main and auxiliary port is given below. Note that the auxiliary port is essentially the same as the main port except inputs and outputs are reversed. The DMC-2x00 may also be configured by the factory for RS422. These pin-outs are also listed below.

NOTE: If you are connecting the RS232 auxiliary port to a terminal or any device which is a

DATASET, it is necessary to use a connector adapter, which changes a dataset to a dataterm. This cable is also known as a 'null' modem cable.

RS232 - Main Port {P1} DATATERM

1 CTS – output 6 CTS - output

2 Transmit Data - output 7 RTS - input

3 Receive Data - input 8 CTS - output

4 RTS – input 9 No connect (Can connect to +5V or sample clock)

5 Ground

RS232 - Auxiliary Port {P2} DATASET

1 CTS – input 6 CTS - input

2 Transmit Data - input 7 RTS - output

3 Receive Data - output 8 CTS - input

4 RTS – output 9 5V (Can be connected to sample clock with jumpers)

5 Ground

2 • Chapter 4 Communication DMC-2X00

*RS422 - Main Port {P1}

1 CTS - output 6 CTS+ output

2 Transmit Data - output 7 Transmit+ output

3 Receive Data - input 8 Receive+ input

4 RTS - input 9 RTS+ input

5 Ground

*RS422 - Auxiliary Port {P2}

1 CTS - input 6 CTS+ input

2 Receive Data - input 7 Receive+ input

3 Transmit Data - output 8 Transmit+ output

4 RTS - output 9 RTS+ output

5 Ground

*Default configuration is RS232. RS422 configuration available from factory.

RS-232 Configuration

Configure your PC for 8-bit data, one start-bit, one stop-bit, full duplex and no parity. The baud rate for the RS232 communication can be selected by setting the proper switch configuration on the front panel according to the table below.

Baud Rate Selection

SWITCH 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

Handshaking Modes

The RS232 main port can be configured for hardware and software handshaking. For Hardware Handshaking, set the HSHK switch to ON. In this mode, the RTS and CTS lines are used. The CTS line will go high whenever the DMC-2x00 is not ready to receive additional characters. The RTS line will inhibit the DMC-2x00 from sending additional characters. Note, the RTS line goes high for inhibit. The handshake should be turned on to ensure proper communication especially at higher baud rates.

Software handshaking can be enabled by setting the XON switch to ON. In this mode, the controller will generate / accept XON and XOFF characters to control the flow of characters to / from the terminal. The controller uses the hex value $13 for the XOFF character and the hex value $11 for the XON character.

The auxiliary port of the DMC-2x00 can be configured either as a general port or for the daisy-chain (DMC-2000 only). When configured as a general port, the port can be commanded to send ASCII messages to another DMC-2x00 controller or to a display terminal or panel.

DMC-2X00 Chapter 4 Communication y 3

(Configure Communication) at port 2. The command is in the format of:

CC m,n,r,p

where m sets the baud rate, n sets for either handshake or non-handshake mode, r sets for general port or the auxiliary port, and p turns echo on or off.

m - Baud Rate - 300,1200,4800,9600,19200,38400

n - Handshake - 0=No; 1=Yes

r - Mode - 0=General Port; 1=Daisy-chain

p - Echo - 0=Off; 1=On; Valid only if r=0

Note, for the handshake of the auxiliary port, the roles for the RTS and CTS lines are reversed.

Example:

CC 1200,0,0,1

Configure auxiliary communication port for 1200 baud, no handshake, general port mode and echo turned on.

Daisy-Chaining (DMC-2000 only)

Up to eight DMC-2000 controllers may be connected in a daisy-chain allowing for multiple controllers to be commanded from a single serial port. One DMC-2000 is connected to the host terminal via the RS232 at port 1 or the main port. Port 2 or the auxiliary port of that DMC-2000 is then brought into port 1 of the next DMC-2000, and so on. The address of each DMC-2000 is configured by setting the three address dipswitches (A0, A1, A2) located on the front of the controller.

When connecting multiple controllers in a daisy-chain, the cable between controllers should be female on both ends with all wires connected straight through.

ADR1 represents the 2

bit, ADR2 represents 21 bit, and ADR4 represents 22 bit of the address. The

eight possible addresses, 0 through 7, are set as follows:

A2 A1 A0 ADDRESS

OFF OFF OFF 0

OFF OFF ON 1

OFF ON OFF 2

OFF ON ON 3

ON OFF OFF 4

ON OFF ON 5

ON ON OFF 6

ON ON ON 7

To communicate with any one of the DMC-2000 units, give the command “%A”, where A is the address of the board. All instructions following this command will be sent only to the board with that address. Only when a new %A command is given will the instruction be sent to another board. The only exception is "!" command. To talk to all the DMC-2000 boards in the daisy-chain at one time, insert the character "!" before the software command. All boards receive the command, but only address 0 will echo.

NOTE: The CC command must be specified to configure the port P2 of each unit.

4 • Chapter 4 Communication DMC-2X00

Example- Daisy Chain

Objective: Control a 7-axis motion system using two controllers, a DMC-2040 4 axis controller and a DMC-2030 3 axis controller. Address 0 is the DMC-2040 and address 1 is the DMC-2030.

Desired motion profile:

Address 0 (DMC-2040) A Axis is 500 counts

B Axis is 1000 counts C Axis is 2000 counts D Axis is 1500 counts

Address 1 (DMC-2030) A Axis is 700 counts

B Axis is 1500 counts C Axis is 2500 counts

Command Interpretation

%0 Talk only to controller 0 (DMC-2040)

PR 500,1000,2000,1500 Specify A,B,C,D distances

%1 Talk only to controller board 1 (DMC-2030)

PR 700,1500,2500 Specify A,B,C distances

!BG Begin motion on both controllers

Synchronizing Sample Clocks in Daisy Chain

It is possible to synchronize the sample clocks of all DMC-2000's in the daisy-chain. The first controller (connected to the computer) should have a jumper placed on the jumper JP3 to connect the pins labeled S and 8. Note that this connection requires a jumper to be placed sideways. The subsequent controllers should have jumpers placed on the jumper JP3, JP4 to connect the pins labeled S and 8 on both jumpers. Note that these connections require the jumpers to be placed sideways.

Ethernet Configuration (DMC-2100/2200 only)

Communication Protocols

The Ethernet is a local area network through which information is transferred in units known as packets. Communication protocols are necessary to dictate how these packets are sent and received. The DMC-2100 supports two industry standard protocols, TCP/IP and UDP/IP. The controller will automatically respond in the format in which it is contacted.

TCP/IP is a "connection" protocol. The master must be connected to the slave in order to begin communicating. Each packet sent is acknowledged when received. If no acknowledgement is received, the information is assumed lost and is resent.

Unlike TCP/IP, UDP/IP does not require a "connection". This protocol is similar to communicating via RS232. If information is lost, the controller does not return a colon or question mark. Because the protocol does not provide for lost information, the sender must re-send the packet.

DMC-2X00 Chapter 4 Communication y 5

Although UDP/IP is more efficient and simple, Galil recommends using the TCP/IP protocol. TCP/IP insures that if a packet is lost or destroyed while in transit, it will be resent.

Ethernet communication transfers information in ‘packets’. The packets must be limited to 470 data bytes or less. Larger packets could cause the controller to lose communication.

NOTE: In order not to lose information in transit, Galil recommends that the user wait for an

acknowledgement of receipt of a packet before sending the next packet.

There are four LEDs provided for the status of Ethernet connection. The representation of LED status is given below.

LED Status

F Uses Fiber Link

C Uses Full Duplex – will blink when a collision Uses Full Duplex – will blink when a collision occurs with half

duplex

L Ethernet link established – will blink for any activity

100 Uses 100Base T speed Ethernet

Addressing

There are three levels of addresses that define Ethernet devices. The first is the Ethernet or hardware address. This is a unique and permanent 6 byte number. No other device will have the same Ethernet address. The DMC-2100/2200 Ethernet address is set by the factory and the last two bytes of the address are the serial number of the controller.

The second level of addressing is the IP address. This is a 32-bit (or 4 byte) number. The IP address is constrained by each local network and must be assigned locally. Assigning an IP address to the controller can be done in a number of ways.

The first method is to use the BOOT-P utility via the Ethernet connection (the DMC-2100/2200 must be connected to network and powered). For a brief explanation of BOOT-P, see the section: Third Party Software. Either a BOOT-P server on the internal network or the Galil terminal software may be used. To use the Galil BOOT-P utility, select the registry in the terminal emulator. Select the DMC2100/2200 and then the Ethernet Parameters tab. Enter the IP address at the prompt and select either TCP/IP or UDP/IP as the protocol. When done, click on the ASSIGN IP ADDRESS. The Galil Terminal Software will respond with a list of all controllers on the network that do not currently have IP addresses. The user selects the controller and the software will assign the controller the specified IP address. Then enter the terminal and type in BN to save the IP address to the controller's non-volatile memory.

CAUTION: Be sure that there is only one BOOT-P server running. If your network has DHCP or

BOOT-P running, it may automatically assign an IP address to the controller upon linking it to the

network. In order to ensure that the IP address is correct, please contact your system administrator

before connecting the controller to the Ethernet network.

6 • Chapter 4 Communication DMC-2X00

The second method for setting an IP address is to send the IA command through the DMC-2100/2200 main RS-232 port. The IP address you want to assign may be entered as a 4 byte number delimited by commas (industry standard uses periods) or a signed 32 bit number (Ex. IA 124,51,29,31 or IA

2083724575). Type in BN to save the IP address to the controller's non-volatile memory.

NOTE: Galil strongly recommends that the IP address selected is not one that can be accessed across

the Gateway. The Gateway is an application that controls communication between an internal network and the outside world.

The third level of Ethernet addressing is the UDP or TCP port number. The Galil controller does not require a specific port number. The port number is established by the client or master each time it connects to the controller.

DMC-2X00 Chapter 4 Communication y 7

Communicating with Multiple Devices

The DMC-2100/2200 is capable of supporting multiple masters and slaves. The masters may be multiple PC's that send commands to the controller. The slaves are typically peripheral I/O devices that receive commands from the controller.

NOTE: The term "Master" is equivalent to the internet "client". The term "Slave" is equivalent to the

internet "server".

An Ethernet handle is a communication resource within a device. The DMC-2100/2200 can have a maximum of 6 Ethernet handles open at any time. When using TCP/IP, each master or slave uses an individual Ethernet handle. In UDP/IP, one handle may be used for all the masters, but each slave uses one. (Pings and ARPs do not occupy handles.) If all 6 handles are in use and a 7 connect, it will be sent a "reset packet" that generates the appropriate error in its windows application.

NOTE: There are a number of ways to reset the controller. Hardware reset (push reset button or

power down controller) and software resets (through Ethernet or RS232 by entering RS). The only reset that will not cause the controller to disconnect is a software reset via the Ethernet.

When the Galil controller acts as the master, the IH command is used to assign handles and connect to its slaves. The IP address may be entered as a 4 byte number separated with commas (industry standard uses periods) or as a signed 32 bit number. A port number may also be specified, but if it is not, it will default to 1000. The protocol (TCP/IP or UDP/IP) to use must also be designated at this time. Otherwise, the controller will not connect to the slave. (Ex. IHB=151,25,255,9<179>2 This will open handle #2 and connect to the IP address 151.25.255.9, port 179, using TCP/IP)

An additional protocol layer is available for speaking to I/O devices. Modbus is an RS-485 protocol that packages information in binary packets that are sent as part of a TCP/IP packet. In this protocol, each slave has a 1 byte slave address. The DMC-2100/2200 can use a specific slave address or default to the handle number. The port number for Modbus is 502.

master tries to

The Modbus protocol has a set of commands called function codes. The DMC-2100/2200 supports the 10 major function codes:

Function Code Definition

01 Read Coil Status (Read Bits)

02 Read Input Status (Read Bits)

03 Read Holding Registers (Read Words)

04 Read Input Registers (Read Words)

05 Force Single Coil (Write One Bit)

06 Preset Single Register (Write One Word)

07 Read Exception Status (Read Error Code)

15 Force Multiple Coils (Write Multiple Bits)

16 Preset Multiple Registers (Write Words)

17 Report Slave ID

The DMC-2100/2200 provides three levels of Modbus communication. The first level allows the user to create a raw packet and receive raw data. It uses the MBh command with a function code of –1. The format of the command is

8 • Chapter 4 Communication DMC-2X00

MBh = -1,len,array[] where len is the number of bytes

array[] is the array with the data

The second level incorporates the Modbus structure. This is necessary for sending configuration and special commands to an I/O device. The formats vary depending on the function code that is called. For more information refer to the Command Reference.

The third level of Modbus communication uses standard Galil commands. Once the slave has been configured, the commands that may be used are @IN[], @AN[], SB, CB, OB, and AO. For example, AO 2020,8.2 would tell I/O number 2020 to output 8.2 volts.

If a specific slave address is not necessary, the I/O number to be used can be calculated with the following:

I/O Number = (HandleNum*1000) + ((Module-1)*4) + (BitNum-1)

Where HandleNum is the handle number from 1 (A) to 6 (F). Module is the position of the module in the rack from 1 to 16. BitNum is the I/O point in the module from 1 to 4.

If an explicit slave address is to be used, the equation becomes:

I/O Number = (SlaveAddress*10000) + (HandleNum*1000) +((Module-1)*4) + (Bitnum-1)

To view an example procedure for communicating with an OPTO-22 rack, refer to the appendix.

Which devices receive what information from the controller depends on a number of things. If a device queries the controller, it will receive the response unless it explicitly tells the controller to send it to another device. If the command that generates a response is part of a downloaded program, the response will route to whichever port is specified as the default (unless explicitly told to go to another port) with the ENET switch ("ON" designates Ethernet in which case it goes to the last handle to communicate with the controller, "OFF" designates main RS232). To designate a specific destination for the information, add {Eh} to the end of the command. (Ex. MG{EC}"Hello" will send the message "Hello" to handle #3. TP,,?{EF} will send the z axis position to handle #6.)

Multicasting

A multicast may only be used in UDP/IP and is similar to a broadcast (where everyone on the network gets the information) but specific to a group. In other words, all devices within a specified group will receive the information that is sent in a multicast. There can be many multicast groups on a network and are differentiated by their multicast IP address. To communicate with all the devices in a specific multicast group, the information can be sent to the multicast IP address rather than to each individual device IP address. All Galil controllers belong to a default multicast address of 239.255.19.56. The controller's multicast IP address can be changed by using the IA> u command.

Using Third Party Software

Galil supports ARP, BOOT-P, and Ping which are utilities for establishing Ethernet connections. ARP is an application that determines the Ethernet (hardware) address of a device at a specific IP address. BOOT-P is an application that determines which devices on the network do not have an IP address and assigns the IP address you have chosen to it. Ping is used to check the communication between the device at a specific IP address and the host computer.

The DMC-2100 can communicate with a host computer through any application that can send TCP/IP or UDP/IP packets. A good example of this is Telnet, a utility that comes with most Windows systems.

DMC-2X00 Chapter 4 Communication y 9

Data Record

The DMC-2x00 can provide a block of status information with the use of a single command, QR. This command, along with the QZ command can be very useful for accessing complete controller status. The QR command will return 4 bytes of header information and specific blocks of information as specified by the command arguments:

QR ABCDEFGHST

Each argument corresponds to a block of information according to the Data Record Map below. If no argument is given, the entire data record map will be returned. Note that the data record size will depend on the number of axes.

Data Record Map

DATA TYPE ITEM BLOCK

UB 1st byte of header Header

UB 2

UB 3

UB 4

UW sample number I block

UB general input 0 I block

UB general input 1 I block

UB general input 2 I block

UB general input 3 I block

UB general input 4 I block

UB general input 5 I block

UB general input 6 I block

UB general input 7 I block

UB general input 8 I block

UB general input 9 I block

UB general output 0 I block

UB general output 1 I block

UB general output 2 I block

UB general output 3 I block

UB general output 4 I block

UB general output 5 I block

UB general output 6 I block

UB general output 7 I block

UB general output 8 I block

UB general output 9 I block

UB error code I block

UB general status I block

UW segment count of coordinated move for S plane S block

UW coordinated move status for S plane S block

SL distance traveled in coordinated move for S plane S block

UW segment count of coordinated move for T plane T block

UW coordinated move status for T plane T block

byte of header Header

rth

byte of header Header

10 • Chapter 4 Communication DMC-2X00

SL distance traveled in coordinated move for T plane T block

UW a axis status A block

UB a axis switches A block

UB a axis stop code A block

SL a axis reference position A block

SL a axis motor position A block

SL a axis position error A block

SL a axis auxiliary position A block

SL a axis velocity A block

SW a axis torque A block

SW a axis analog A block

UW b axis status B block

UB b axis switches B block

UB b axis stop code B block

SL b axis reference position B block

SL b axis motor position B block

SL b axis position error B block

SL b axis auxiliary position B block

SL b axis velocity B block

SW b axis torque B block

SW b axis analog B block

UW c axis status C block

UB c axis switches C block

UB c axis stop code C block

SL c axis reference position C block

SL c axis motor position C block

SL c axis position error C block

SL c axis auxiliary position C block

SL c axis velocity C block

SW c axis torque C block

SW c axis analog C block

UW d axis status D block

UB d axis switches D block

UB d axis stop code D block

SL d axis reference position D block

SL d axis motor position D block

SL d axis position error D block

SL d axis auxiliary position D block

SL d axis velocity D block

SW d axis torque D block

SW d axis analog D block

UW e axis status E block

UB e axis switches E block

UB e axis stop code E block

SL e axis reference position E block

DMC-2X00 Chapter 4 Communication y 11

SL e axis motor position E block

SL e axis position error E block

SL e axis auxiliary position E block

SL e axis velocity E block

SW e axis torque E block

SW e axis analog E block

UW f axis status F block

UB f axis switches F block

UB f axis stop code F block

SL f axis reference position F block

SL f axis motor position F block

SL f axis position error F block

SL f axis auxiliary position F block

SL f axis velocity F block

SW f axis torque F block

SW f axis analog F block

UW g axis status G block

UB g axis switches G block

UB g axis stop code G block

SL g axis reference position G block

SL g axis motor position G block

SL g axis position error G block

SL g axis auxiliary position G block

SL g axis velocity G block

SW g axis torque G block

SW g axis analog G block

UW h axis status H block

UB h axis switches H block

UB h axis stop code H block

SL h axis reference position H block

SL h axis motor position H block

SL h axis position error H block

SL h axis auxiliary position H block

SL h axis velocity H block

SW h axis torque H block

SW h axis analog H block

NOTE: UB = Unsigned Byte, UW = Unsigned Word, SW = Signed Word, SL = Signed Long Word

Explanation of Status Information and Axis Switch Information

Header Information - Byte 0, 1 of Header:

BIT 15 BIT 14 BIT 13 BIT 12 BIT 11 BIT 10 BIT 9 BIT 8

1 N/A N/A N/A N/A I Block

Present

12 • Chapter 4 Communication DMC-2X00

T Block Present

S Block Present

in Data Record

BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0

in Data Record

H Block Present in Data Record

G Block Present in Data Record

F Block Present in Data Record

E Block Present in Data Record

D Block Present in Data Record

C Block Present in Data Record

B Block Present in Data Record

Bytes 2, 3 of Header:

Bytes 2 and 3 make a word which represents the Number of bytes in the data record, including the

header.

Byte 2 is the low byte and byte 3 is the high byte

NOTE: The header information of the data records is formatted in little endian.

General Status Information (1 Byte)

BIT 7 BIT

Program Running

N/A N/A N/A N/A Waiting for

BIT 5

BIT 4

BIT 3

BIT 2 BIT 1 BIT 0

Trace On Echo On input from IN command

A Block Present in Data Record

Axis Switch Information (1 Byte)

BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0

Latch Occurred

State of Latch Input

N/A N/A State of

Axis Status Information (2 Byte)

BIT 15 BIT 14 BIT 13 BIT 12 BIT 11 BIT 10 BIT 9 BIT 8

Move in Progress

BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0

Negative Direction Move

Mode of Motion

PA or PR

Mode of Motion

Contour

Mode of Motion

PA only

Motion is slewing

(FE) Find Edge in Progress

Motion is stopping due to ST or Limit

Forward Limit

Home (HM) in Progress

Motion is making final decel.

State of Reverse Limit

1st Phase of HM complete

Latch is armed

State of Home Input

2nd Phase of HM complete

or command issued

Off-OnError armed

SM Jumper Installed

Mode of Motion

Coord. Motion

Motor Off

DMC-2X00 Chapter 4 Communication y 13

Switch

Coordinated Motion Status Information for S or T plane (2 Byte)

BIT 15 BIT

BIT 13 BIT 12 BIT 11 BIT

BIT 9 BIT 8

Move in Progress

BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0

N/A N/A Motion is

N/A N/A N/A N/A N/A N/A N/A

slewing

Motion is stopping due to ST or Limit Switch

Motion is making final decel.

N/A N/A N/A

Notes Regarding Velocity and Torque Information

The velocity information that is returned in the data record is 64 times larger than the value returned when using the command TV (Tell Velocity). See command reference for more information about TV.

The Torque information is represented as a number in the range of +/-32767. Maximum negative torque is -32767. Maximum positive torque is 32767. Zero torque is 0.

QZ Command

The QZ command can be very useful when using the QR command, since it provides information about the controller and the data record. The QZ command returns the following 4 bytes of information.

BYTE # INFORMATION

0 Number of axes present

1 number of bytes in general block of data record

2 number of bytes in coordinate plane block of data record

3 Number of Bytes in each axis block of data record

Controller Response to Commands

Most DMC-2x00 instructions are represented by two characters followed by the appropriate parameters. Each instruction must be terminated by a carriage return or semicolon.

Instructions are sent in ASCII, and the DMC-2x00 decodes each ASCII character (one byte) one at a time. It takes approximately 0.5 msec for the controller to decode each command. However, the PC can send data to the controller at a much faster rate because of the FIFO buffer.

After the instruction is decoded, the DMC-2x00 returns a response to the port from which the command was generated. If the instruction was valid, the controller returns a colon (:) or a question mark (?) if the instruction was not valid. For example, the controller will respond to commands which are sent via the USB port back through the USB port, to commands which are sent via the main RS232 port back through the RS-232 port, and to commands which are sent via the Ethernet port back through the Ethernet port.

14 • Chapter 4 Communication DMC-2X00

For instructions that return data, such as Tell Position (TP), the DMC-2x00 will return the data followed by a carriage return, line feed and : .

It is good practice to check for : after each command is sent to prevent errors. An echo function is provided to enable associating the DMC-2x00 response with the data sent. The echo is enabled by sending the command EO 1 to the controller.

Unsolicited Messages Generated by Controller

When the controller is executing a program, it may generate responses which will be sent via the USB port (DMC-2000), main RS-232 port, or Ethernet ports (DMC-2100/2200). This response could be generated as a result of messages using the MG or IN command OR These responses are known as unsolicited messages since they are not generated as the direct response to a command.

Messages can be directed to a specific port using the specific Port arguments - see MG and IN commands described in the Command Reference. If the port is not explicitly given, unsolicited messages will be sent to the default port. The default port is determined by the state of the USB/Ethernet dip switch when the system is reset.

The controller has a special command, CW, which can affect the format of unsolicited messages. This command is used by Galil Software to differentiate response from the command line and unsolicited messages. The command, CW1 causes the controller to set the high bit of ASCII characters to 1 of all unsolicited characters. This may cause characters to appear garbled to some terminals. This function can be disabled by issuing the command, CW2. For more information, see the CW command in the Command Reference.

as a result of a command error.

When handshaking is used (hardware and/or software handshaking) characters which are generated by the controller are placed in a FIFO buffer before they are sent out of the controller. This size of the USB buffer is 64 bytes and the size of the RS-232 buffer is 128 bytes. When this buffer becomes full, the controller must either stop executing commands or ignore additional characters generated for output. The command CW,1 causes the controller to ignore all output from the controller while the FIFO is full. The command, CW ,0 causes the controller to stop executing new commands until more room is made available in the FIFO. This command can be very useful when hardware handshaking is being used and the communication line between controller and terminal will be disconnected. In this case, characters will continue to build up in the controller until the FIFO is full. For more information, see the CW command in the Command Reference.

Galil Software Tools and Libraries

API (Application Programming Interface) software is available from Galil. The API software is written in C and is included in the Galil CD-ROM. They can be used for development under Windows environments. With the API's, the user can incorporate already existing library functions directly into a C program.

Galil has also developed a Visual Basic Toolkit. This provides 32-bit OCXs for handling all of the DMC-2x00 communications including support of interrupts. These objects install directly into Visual Basic and are part of the run-time environment.

Galil also has an Active-X Tool Kit to allow developers to rapidly develop their own user applications. For more information, contact Galil.

DMC-2X00 Chapter 4 Communication y 15

Chapter 5 Command Basics

Introduction

The DMC-2x00 provides over 100 commands for specifying motion and machine parameters. Commands are included to initiate action, interrogate status and configure the digital filter. These commands can be sent in ASCII or binary.

In ASCII, the DMC-2x00 instruction set is BASIC-like and easy to use. Instructions consist of two uppercase letters that correspond phonetically with the appropriate function. For example, the instruction BG begins motion, and ST stops the motion. In binary, commands are represented by a binary code ranging from 80 to FF.

ASCII commands can be sent "live" over the bus for immediate execution by the DMC-2x00, or an entire group of commands can be downloaded into the DMC-2x00 memory for execution at a later time. Combining commands into groups for later execution is referred to as Applications Programming and is discussed in the following chapter. Binary commands cannot be used in Applications programming.

This section describes the DMC-2x00 instruction set and syntax. A summary of commands as well as a complete listing of all DMC-2x00 instructions is included in the Command Reference chapter.

Command Syntax - ASCII

DMC-2x00 instructions are represented by two ASCII upper case characters followed by applicable arguments. A space may be inserted between the instruction and arguments. A semicolon or <return> is used to terminate the instruction for processing by the DMC-2x00 command interpreter.

NOTE: If you are using a Galil terminal program, commands will not be processed until an <return>

command is given. This allows the user to separate many commands on a single line and not begin execution until the user gives the <return> command.

IMPORTANT: All DMC-2x00 commands are sent in upper case.

For example, the command

PR 4000 <return> Position relative

PR is the two character instruction for position relative. 4000 is the argument which represents the required position value in counts. The <return> terminates the instruction. The space between PR and 4000 is optional.

For specifying data for the A,B,C and D axes, commas are used to separate the axes. If no data is specified for an axis, a comma is still needed as shown in the examples below. If no data is specified for an axis, the previous value is maintained.

16 • Chapter 5 Command Basics DMC-2X00

To view the current values for each command, type the command followed by a ? for each axis requested.

PR 1000 Specify A only as 1000

PR ,2000 Specify B only as 2000

PR ,,3000 Specify C only as 3000

PR ,,,4000 Specify D only as 4000

PR 2000, 4000,6000, 8000 Specify A,B,C and D

PR ,8000,,9000 Specify B and D only

PR ?,?,?,? Request A,B,C,D values

PR ,? Request B value only

The DMC-2x00 provides an alternative method for specifying data. Here data is specified individually using a single axis specifier such as A, B, C or D. An equals sign is used to assign data to that axis. For example:

PRA=1000 Specify a position relative movement for the A axis of 1000

ACB=200000 Specify acceleration for the B axis as 200000

Instead of data, some commands request action to occur on an axis or group of axes. For example, ST AB stops motion on both the A and B axes. Commas are not required in this case since the particular axis is specified by the appropriate letter A, B, C or D. If no parameters follow the instruction, action will take place on all axes. Here are some examples of syntax for requesting action:

BG A Begin A only

BG B Begin B only

BG ABCD Begin all axes

BG BD Begin B and D only

BG Begin all axes

2x80

For controllers with 5 or more axes, the axes are referred to as A,B,C,D,E,F,G,H.

BG ABCDEFGH Begin all axes

BG D Begin D only

Coordinated Motion with more than 1 axis

When requesting action for coordinated motion, the letter S and T are used to specify coordinated motion planes. For example:

BG S Begin coordinated sequence, S

BG TW Begin coordinated sequence, T, and D axis

DMC-2X00 Chapter 5 Command Basics y 17

Command Syntax - Binary

Some commands have an equivalent binary value. Binary communication mode can be executed much faster than ASCII commands. Binary format can only be used when commands are sent from the PC and cannot be embedded in an application program.

Binary Command Format

All binary commands have a 4 byte header and is followed by data fields. The 4 bytes are specified in hexadecimal format.

Header Format:

Byte 1

Specifies the command number between 80 to FF. The complete binary command number table is listed below.

Byte 2

Specifies the # of bytes in each field as 0,1,2,4 or 6 as follows:

00 No datafields (i.e. SH or BG)

01 One byte per field

02 One word (2 bytes per field)

04 One long word (4 bytes) per field

06 Galil real format (4 bytes integer and 2 bytes fraction)

Byte 3

Specifies whether the command applies to a coordinated move as follows:

00 No coordinated motion movement

01 Coordinated motion movement

For example, the command STS designates motion to stop on a vector motion. The third byte for the equivalent binary command would be 01.

Byte 4

Specifies the axis # or data field as follows

Bit 7 = H axis or 8

Bit 6 = G axis or 7

Bit 5 = F axis or 6

Bit 4 = E axis or 5

Bit 3 = D axis or 4

Bit 2 = C axis or 3

data field

18 • Chapter 5 Command Basics DMC-2X00

Bit 1 = B axis or 2nd data field

Bit 0 = A axis or 1

data field

Datafields Format

Datafields must be consistent with the format byte and the axes byte. For example, the command PR 1000,, -500 would be

A7 02 00 05 03 E8 FE 0C

where A7 is the command number for PR

02 specifies 2 bytes for each data field

00 S is not active for PR

05 specifies bit 0 is active for A axis and bit 2 is active for C axis (2

+ 22=5)

03 E8 represents 1000

FE OE represents -500

Example

The command ST ABCS would be

A1 00 01 07

where A1 is the command number for ST

00 specifies 0 data fields

01 specifies stop the coordinated axes S

07 specifies stop X (bit 0), Y (bit 1) and Z (bit 2) 2

Binary Command Table

COMMAND NO. COMMAND NO. COMMAND No.

reserved 80 reserved ab reserved d6

KP 81 reserved ac reserved d7

KI 82 reserved ad RP d8

KD 83 reserved ae TP d9

DV 84 reserved af TE da

AF 85 LM b0 TD db

KF 86 LI b1 TV dc

PL 87 VP b2 RL dd

ER 88 CR a3 TT de

IL 89 TN b4 TS df

TL 8a LE, VE b5 TI e0

MT 8b VT b6 SC e1

CE 8c VA b7 reserved e2

OE 8d VD b8 reserved e3

FL 8e VS b9 reserved e4

BL 8f VR ba TM e5

0+21+23

DMC-2X00 Chapter 5 Command Basics y 19

AC 90 reserved bb CN e6

DC 91 reserved bc LZ e7

SP 92 CM bd OP e8

IT 93 CD be OB e9

FA 94 DT bf SB ea

FV 95 ET c0 CB eb

GR 96 EM c1 II ec

DP 97 EP c2 EI ed

DE 98 EG c3 AL ee

OF 99 EB c4 reserved ef

GM 9a EQ c5 reserved f0

reserved 9b EC c6 reserved f1

reserved 9c reserved c7 reserved f2

reserved 9d AM c8 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 AR cf reserved fa

FI a5 AS d0 reserved fb

PA a6 AI d1 reserved fc

PR a7 AT d2 reserved fd

JG a8 WT d3 reserved fe

MO a9 WC d4 reserved ff

SH aa reserved d5

Controller Response to DATA

The DMC-2x00 returns a : for valid commands and a ? for invalid commands.

For example, if the command BG is sent in lower case, the DMC-2x00 will return a ?.

:bg <return> invalid command, lower case ? DMC-2x00 returns a ?

When the controller receives an invalid command the user can request the error code. The error code will specify the reason for the invalid command response. To request the error code type the command TC1. For example:

?TC1 <return> Tell Code comman 1 Unrecognized

There are many reasons for receiving an invalid command response. The most common reasons are: unrecognized command (such as typographical entry or lower case), command given at improper time (such as during motion), or a command out of range (such as exceeding maximum speed). A complete listing of all codes is listed in the TC command in the Command Reference section.

20 • Chapter 5 Command Basics DMC-2X00

Returned response

Interrogating the Controller

Interrogation Commands

The DMC-2x00 has a set of commands that directly interrogate the controller. When the command is entered, the requested data is returned in decimal format on the next line followed by a carriage return and line feed. The format of the returned data can be changed using the Position Format (PF), Variable Format (VF) and Leading Zeros (LZ) command. See Chapter 7 and the Command Reference.

Summary of Interrogation Commands

RP Report Command Position RL Report Latch

∧R ∧

SC Stop Code

TB Tell Status

TC Tell Error Code

TD Tell Dual Encoder

TE Tell Error

TI Tell Input

TP Tell Position

TR Trace

TS Tell Switches

TT Tell Torque

TV Tell Velocity

Firmware Revision Information

For example, the following example illustrates how to display the current position of the X axis:

TP A <return> Tell position A 0000000000 Controllers Response TP AB <return> Tell position A and B 0000000000,0000000000 Controllers Response

Interrogating Current Commanded Values.

Most commands can be interrogated by using a question mark (?) as the axis specifier. Type the command followed by a ? for each axis requested.

PR ?,?,?,? Request A,B,C,D values PR ,? Request B value only

The controller can also be interrogated with operands.

Operands

Most DMC-2x00 commands have corresponding operands that can be used for interrogation. Operands must be used inside of valid DMC expressions. For example, to display the value of an operand, the user could use the command:

MG ‘operand’ where ‘operand’ is a valid DMC operand

DMC-2X00 Chapter 5 Command Basics y 21

All of the command operands begin with the underscore character (_). For example, the value of the current position on the A axis can be assigned to the variable ‘V’ with the command:

V=_TPA

The Command Reference denotes all commands which have an equivalent operand as "Used as an Operand". Also, see description of operands in Chapter 7.

Command Summary

For a complete command summary, see Command Reference manual.

22 • Chapter 5 Command Basics DMC-2X00

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DMC-2X00 Chapter 5 Command Basics y 23

Chapter 6 Programming Motion

Overview

The DMC-2x00 provides several modes of motion, including independent positioning and jogging, coordinated motion, electronic cam motion, and electronic gearing. Each one of these modes is discussed in the following sections.

The DMC-2x10 is a single axis controller and uses A-axis motion only. Likewise, the DMC-2x20 uses A and B, the DMC-2x30 uses A,B and C, and the DMC-2x40 uses A,B,C and D. The DMC-2x50 uses A,B,C,D, and E. The DMC-2x60 uses A,B,C,D,E, and F. The DMC-2x70 uses A,B,C,D,E,F and G. The DMC-2x80 uses the axes A,B,C,D,E,F,G, and H.

The example applications described below will help guide you to the appropriate mode of motion.

Example Application Mode of Motion Commands

Absolute or relative positioning where each axis is independent and follows prescribed velocity profile.

Velocity control where no final endpoint is prescribed. Motion stops on Stop command.

Absolute positioning mode where absolute position targets may be sent to the controller while the axis is in motion.

Motion Path described as incremental position points versus time.

2,3 or 4 axis coordinated motion where path is described by linear segments.

Independent Axis Positioning PA,PR

SP,AC,DC

Independent Jogging JG

AC,DC ST

Position Tracking PA, PT

SP AC, DC

Contour Mode CM

CD DT WC

Linear Interpolation LM

LI,LE VS,VR VA,VD

24 • Chapter 6 Programming Motion DMC-2X00

2-D motion path consisting of arc segments and linear segments, such as engraving or quilting.

Third axis must remain tangent to 2-D motion path, such as knife cutting.

Electronic gearing where slave axes are scaled to master axis which can move in both directions.

Master/slave where slave axes must follow a master such as conveyer speed.

Moving along arbitrary profiles or mathematically prescribed profiles such as sine or cosine trajectories.

Teaching or Record and Play Back

Backlash Correction Dual Loop DV

Following a trajectory based on a master encoder position

Smooth motion while operating in independent axis positioning

Smooth motion while operating in vector or linear interpolation positioning

Smooth motion while operating with stepper motors

Gantry - two axes are coupled by gantry Gantry Mode GR

Coordinated Motion VM

VP CR VS,VR VA,VD VE

Coordinated motion with tangent axis specified

Electronic Gearing GA, GD

Contour Mode CM

Contour Mode with Automatic Array Capture

Electronic Cam EA

Independent Motion Smoothing IT

Vector Smoothing VT

Stepper Motor Smoothing KS

VM VP CR VS,VA,VD TN VE

_GP, GR GM (if gantry)

_GP, GR

CD DT WC

CM CD DT WC RA RD RC

EM EP ET EB EG EQ

Independent Axis Positioning

In this mode, motion between the specified axes is independent, and each axis follows its own profile. The user specifies the desired absolute position (PA) or relative position (PR), slew speed (SP),

DMC-2X00 Chapter 6 Programming Motion y 25

acceleration ramp (AC), and deceleration ramp (DC), for each axis. On begin (BG), the DMC-2x00 profiler generates the corresponding trapezoidal or triangular velocity profile and position trajectory. The controller determines a new command position along the trajectory every sample period until the specified profile is complete. Motion is complete when the last position command is sent by the DMC-2x00 profiler.

NOTE: The actual motor motion may not be complete when the profile has been completed, however,

the next motion command may be specified.

The Begin (BG) command can be issued for all axes either simultaneously or independently. ABC or D axis specifiers are required to select the axes for motion. When no axes are specified, this causes motion to begin on all axes.

The speed (SP) and the acceleration (AC) can be changed at any time during motion; however, the deceleration (DC) and position (PR or PA) cannot be changed until motion is complete. Remember, motion is complete when the profiler is finished, not when the actual motor is in position. The Stop command (ST) can be issued at any time to decelerate the motor 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 new target is equal to the old target plus the increment, n. Upon receiving the IP command, a revised profile will be generated for motion towards the new end position. The IP command does not require a BG.

NOTE: If the motor is not moving, the IP command is equivalent to the PR and BG command combination.

Command Summary - Independent Axis

COMMAND DESCRIPTION

PR A,B,C,D Specifies relative distance

PA A,B,C,D Specifies absolute position

SP A,B,C,D Specifies slew speed

AC A,B,C,D Specifies acceleration rate

DC A,B,C,D Specifies deceleration rate

BG ABCD Starts motion

ST ABCD Stops motion before end of move

IP A,B,C,D Changes position target

IT A,B,C,D Time constant for independent motion smoothing

AM ABCD Trip point for profiler complete

MC ABCD Trip point for "in position"

The DMC-2x00 also allows use of single axis specifiers such as PRB=2000

Operand Summary - Independent Axis

OPERAND DESCRIPTION

_ACx Return acceleration rate for the axis specified by ‘x’

_DCx Return deceleration rate for the axis specified by ‘x’

_SPx Returns the speed for the axis specified by ‘x’

26 • Chapter 6 Programming Motion DMC-2X00

_PAx

_PRx Returns current incremental distance specified for the ‘x’ axis

Returns current destination if ‘x’ axis is moving, otherwise returns the current commanded position if in a move.

Examples

Absolute Position Movement

Instruction Interpretation

PA 10000,20000 Specify absolute A,B position

AC 1000000,1000000 Acceleration for A,B

DC 1000000,1000000 Deceleration for A,B

SP 50000,30000 Speeds for A,B

BG AB Begin motion

Multiple Move Sequence

Required Motion Profiles:

A-Axis 500 counts Position

10000 count/sec Speed

B-Axis 1000 counts Position

15000 count/sec Speed

C-Axis 100 counts Position

5000 counts/sec Speed

500000 counts/sec

Acceleration

This example will specify a relative position movement on A, B and C axes. The movement on each axis will be separated by 20 msec. Fig. 6.1 shows the velocity profiles for the A,B and C axis.

Instruction Interpretation

#A Begin Program

PR 2000,500,100

SP 15000,10000,5000 Specify speed of 10000, 15000, and 5000 counts / sec

AC 500000,500000,500000 Specify acceleration of 500000 counts / sec

DC 500000,500000,500000 Specify deceleration of 500000 counts / sec

BG A Begin motion on the A axis

WT 20 Wait 20 msec

BG B Begin motion on the B axis

WT 20 Wait 20 msec

BG C Begin motion on C axis

EN End Program

Specify relative position movement of 2000, 500 and 100 counts for A,B and C axes.

for all axes

DMC-2X00 Chapter 6 Programming Motion y 27

VELOCITY (COUNTS/SEC)

A axis velocity profile

20000

15000

10000

5000

B axis velocity profile

C axis velocity profile

TIME (ms)

Figure 6.1 - Velocity Profiles of ABC

Notes on fig 6.1: The A and B axis have a ‘trapezoidal’ velocity profile, while the C axis has a ‘triangular’ velocity profile. The A and B axes accelerate to the specified speed, move at this constant speed, and then decelerate such that the final position agrees with the command position, PR. The C axis accelerates, but before the specified speed is achieved, must begin deceleration such that the axis will stop at the commanded position. All 3 axes have the same acceleration and deceleration rate, hence, the slope of the rising and falling edges of all 3 velocity profiles are the same.

Position Tracking

The Galil controller may be placed in the position tracking mode to support changing the target of an absolute position move on the fly. New targets may be given in the same direction or the opposite direction of the current position target. The controller will then calculate a new trajectory based upon the new target and the acceleration, deceleration, and speed parameters that have been set. The motion profile in this mode is trapezoidal. There is not a set limit governing the rate at which the end point may be changed, however at the standard TM rate, the controller updates the position information at the rate of 1msec. The controller generates a profiled point every other sample, and linearly interpolates one sample between each profiled point. Some examples of applications that may use this mode are satellite tracking, missile tracking, random pattern polishing of mirrors or lenses, or any application that requires the ability to change the endpoint without completing the previous move.

40 60

100

The PA command is typically used to command an axis or multiple axes to a specific absolute position. For some applications such as tracking an object, the controller must proceed towards a target and have the ability to change the target during the move. In a tracking application, this could occur at any time during the move or at regularly scheduled intervals. For example if a robot was designed to follow a moving object at a specified distance and the path of the object wasn’t known the robot would be required to constantly monitor the motion of the object that it was following. To remain within a specified distance it would also need to constantly update the position target it is moving towards. Galil motion controllers support this type of motion with the position tracking mode. This mode will allow scheduled or random updates to the current position target on the fly. Based on the new target the controller will either continue in the direction it is heading, change the direction it is moving, or decelerate to a stop.

28 • Chapter 6 Programming Motion DMC-2X00

The position tracking mode shouldn’t be confused with the contour mode. The contour mode allows the user to generate custom profiles by updating the reference position at a specific time rate. In this mode, the position can be updated randomly or at a fixed time rate, but the velocity profile will always be trapezoidal with the parameters specified by AC, DC, and SP. Updating the position target at a specific rate will not allow the user to create a custom profile.

The following example will demonstrate the possible different motions that may be commanded by the controller in the position tracking mode. In this example, there is a host program that will generate the absolute position targets. The absolute target is determined based on the current information the host program has gathered on the object that it is tracking. The position tracking mode does allow for all of the axes on the controller to be in this mode, but for the sake of discussion, it is assumed that the robot is tracking only in the X dimension.

The controller must be placed in the position tracking mode to allow on the fly absolute position changes. This is performed with the PT command. To place the X axis in this mode, the host would issue PT1 to the controller if both X and Y axes were desired the command would be PT 1,1. The next step is to begin issuing PA command to the controller. The BG command isn’t required in this mode, the SP, AC, and DC commands determine the shape of the trapezoidal velocity profile that the controller will use.

Example Motion 1:

The host program determines that the first target for the controller to move to is located at 5000 encoder counts. The acceleration and deceleration should be set to 150,000 cts/sec

and the velocity is

set to 50,000 cts/sec. The command sequence to perform this is listed below.

COMMAND DESCRIPTION

PT1 Place the X axis in Position tracking mode

AC150000

DC150000

SP50000 Set the X axis speed to 50000 cts/sec

PA5000 Command the X axis to absolute position 5000 encoder counts

Set the X axis acceleration to 150000 cts/sec

Set the X axis deceleration to 150000 cts/sec

DMC-2X00 Chapter 6 Programming Motion y 29

Figure 1 Position vs Time (msec) Motion 1

Example

Motion 2:

The previous step showed the plot if the motion continued all the way to 5000, however partway through the motion, the object that was being tracked changed direction, so the host program determined that the actual target position should be 2000 cts at that time. Figure 2 shows what the position profile would look like if the move was allowed to complete to 2000 cts. The position was modified when the robot was at a position of 4200 cts. Note that the robot actually travels to a distance of almost 5000 cts before it turns around. This is a function of the deceleration rate set by the DC command. When a direction change is commanded, the controller decelerates at the rate specified by the DC command. The controller then ramps the velocity in up to the value set with SP in the opposite direction traveling to the new specified absolute position. In figure 3 the velocity profile is triangular because the controller doesn’t have sufficient time to reach the set speed of 50000 cts/sec before it is commanded to change direction.

30 • Chapter 6 Programming Motion DMC-2X00

Figure 2: Position vs. Time (msec) Motion 2

Figure 3 Velocity vs Time (msec) Motion 2

Example

Motion 4

In this motion, the host program commands the controller to begin motion towards position 5000, changes the target to -2000, and then changes it again to 8000. Figure 4 shows the plot of position vs. time, Figure 5 plots velocity vs. time, and Figure 6 demonstrates the use of motion smoothing (IT) on the velocity profile in this mode. The jerk in the system is also affected by the values set for AC and DC.

DMC-2X00 Chapter 6 Programming Motion y 31

Figure 4 Position vs. Time (msec) Motion 4

Figure 5 Velocity vs.Time Motion 4

32 • Chapter 6 Programming Motion DMC-2X00

Figure 6 Velocity cts/sec vs. Time (msec) with IT Motion 4

Note the controller treats the point where the velocity passes through zero as the end of one move, and the beginning of another move. IT is allowed, however it will introduce some time delay.

Trip Points

Most trip points are valid for use while in the position tracking mode. There are a few exceptions to this; the AM and MC commands may not be used while in this mode. It is recommended that MF, MR, or AP be used, as they involve motion in a specified direction, or the passing of a specific absolute position.

DMC-2X00 Chapter 6 Programming Motion y 33

Command Summary – Position Tracking Mode

COMMAND DESCRIPTION

AC n,n,n,n,n,n,n,n Acceleration settings for the specified axes

AP n,n,n,n,n,n,n,n Trip point that holds up program execution until an absolute position has been reached

DC n,n,n,n,n,n,n,n Deceleration settings for the specified axes

MF n,n,n,n,n,n,n,n

MR n,n,n,n,n,n,n,n

PT n,n,n,n,n,n,n,n Command used to enter and exit the Trajectory Modification Mode

PA n,n,n,n,n,n,n,n Command Used to specify the absolute position target

SP n,n,n,n,n,n,n,n Command used to enter and exit the Trajectory Modification Mode

Trip point to hold up program execution until n number of counts have passed in the forward direction. Only one axis at a time may be specified.

Trip point to hold up program execution until n number of counts have passed in the reverse direction. Only one axis at a time may be specified.

Independent Jogging

The jog mode of motion is very flexible because speed, direction and acceleration can be changed during motion. The user specifies the jog speed (JG), acceleration (AC), and the deceleration (DC) rate for each axis. The direction of motion is specified by the sign of the JG parameters. When the begin command is given (BG), the motor accelerates up to speed and continues to jog at that speed until a new speed or stop (ST) command is issued. If the jog speed is changed during motion, the controller will make an accelerated (or decelerated) change to the new speed.

An instant change to the motor position can be made with the use of the IP command. Upon receiving this command, the controller commands the motor to a position which is equal to the specified increment plus the current position. This command is useful when trying to synchronize the position of two motors while they are moving.

Note that the controller operates as a closed-loop position controller while in the jog mode. The DMC2x00 converts the velocity profile into a position trajectory and a new position target is generated every sample period. This method of control results in precise speed regulation with phase lock accuracy.

Command Summary - Jogging

COMMAND DESCRIPTION

AC A,B,C,D Specifies acceleration rate BG ABCD Begins motion DC A,B,C,D Specifies deceleration rate IP A,B,C,D Increments IT A,B,C,D Time constant for independent motion smoothin JG +/-A,B,C,D Specifies jog speed and direction ST ABCD Stops motion

osition instantl

Parameters can be set with individual axes specifiers such as JGB=2000 (set jog speed for B axis to

2000).

Operand Summary - Independent Axis

OPERAND DESCRIPTION

_ACx Return acceleration rate for the axis specified by ‘x’

34 • Chapter 6 Programming Motion DMC-2X00

_DCx Return deceleration rate for the axis specified by ‘x’

_SPx Returns the jog speed for the axis specified by ‘x’

_TVx Returns the actual velocity of the axis specified by ‘x’ (averaged over .25 sec)

Examples

Jog in X only

Jog A motor at 50000 count/s. After A motor is at its jog speed, begin jogging C in reverse direction at 25000 count/s.

Instruction Interpretation

#A Label

AC 20000,,20000 Specify A,C acceleration of 20000 cts / sec

DC 20000,,20000 Specify A,C deceleration of 20000 cts / sec

JG 50000,,-25000 Specify jog speed and direction for A and C axis

BG A Begin A motion

AS A Wait until A is at speed

BG C Begin C motion

Joystick Jogging

The jog speed can also be changed using an analog input such as a joystick. Assume that for a 10 volt input the speed must be 50000 counts/sec.

Instruction Interpretation

#JOY Label

JG0 Set in Jog Mode

BGA Begin motion

#B Label for loop

vl =@AN[1] Read analog input

vel=v1*50000/10 Compute speed

JG vel Change JG speed

JP #B Loop

DMC-2X00 Chapter 6 Programming Motion y 35

Linear Interpolation Mode

The DMC-2x00 provides a linear interpolation mode for 2 or more axes. In linear interpolation mode, motion between the axes is coordinated to maintain the prescribed vector speed, acceleration, and deceleration along the specified path. The motion path is described in terms of incremental distances for each axis. An unlimited number of incremental segments may be given in a continuous move sequence, making the linear interpolation mode ideal for following a piece-wise linear path. There is no limit to the total move length.

The LM command selects the Linear Interpolation mode and axes for interpolation. For example, LM BC selects only the B and C axes for linear interpolation.

When using the linear interpolation mode, the LM command only needs to be specified once unless the axes for linear interpolation change.

Specifying the Coordinate Plane

The DMC-2x00 allows for 2 separate sets of coordinate axes for linear interpolation mode or vector mode. These two sets are identified by the letters S and T.

To specify vector commands the coordinate plane must first be identified. This is done by issuing the command CAS to identify the S plane or CAT to identify the T plane. All vector commands will be applied to the active coordinate system until changed with the CA command.

Specifying Linear Segments

The command LI a,b,c,d,e,f,g,h specifies the incremental move distance for each axis. This means motion is prescribed with respect to the current axis position. Up to 511 incremental move segments may be given prior to the Begin Sequence (BGS) command. Once motion has begun, additional LI segments may be sent to the controller.

The clear sequence (CS) command can be used to remove LI segments stored in the buffer prior to the start of the motion. To stop the motion, use the instructions STS or AB. The command, ST, causes a decelerated stop. The command, AB, causes an instantaneous stop and aborts the program, and the command AB1 aborts the motion only.

The Linear End (LE) command must be used to specify the end of a linear move sequence. This command tells the controller to decelerate to a stop following the last LI command. If an LE command is not given, an Abort AB1 must be used to abort the motion sequence.

It is the responsibility of the user to keep enough LI segments in the DMC-2x00 sequence buffer to ensure continuous motion. If the controller receives no additional LI segments and no LE command, the controller will stop motion instantly at the last vector. There will be no controlled deceleration. LM? or _LM returns the available spaces for LI segments that can be sent to the buffer. 511 returned means the buffer is empty and 511 LI segments can be sent. A zero means the buffer is full and no additional segments can be sent. As long as the buffer is not full, additional LI segments can be sent at PC bus speeds.

The instruction _CS returns the segment counter. As the segments are processed, _CS increases, starting at zero. This function allows the host computer to determine which segment is being processed.

36 • Chapter 6 Programming Motion DMC-2X00

Additional Commands

The commands VS n, VA n, and VD n are used to specify the vector speed, acceleration and deceleration. The DMC-2x00 computes the vector speed based on the axes specified in the LM mode. For example, LM ABC designates linear interpolation for the A,B and C axes. The vector speed for this example would be computed using the equation:

VS2=AS2+BS2+CS2, where AS, BS and CS are the speed of the A,B and C axes.

The controller always uses the axis specifications from LM, not LI, to compute the speed.

VT is used to set the S-curve smoothing constant for coordinated moves. The command AV n is the ‘After Vector’ trip point, which halts program execution until the vector distance of n has been reached.

Specifying Vector Speed for Each Segment

The instruction VS has an immediate effect and, therefore, must be given at the required time. In some applications, such as CNC, it is necessary to attach various speeds to different motion segments. This can be done by two functions: < n and > m

For example: LI a,b,c,d < n >m

The first command, < n, is equivalent to commanding VSn at the start of the given segment and will cause an acceleration toward the new commanded speeds, subjects to the other constraints.

The second function, > m, requires the vector speed to reach the value m at the end of the segment. Note that the function > m may start the deceleration within the given segment or during previous segments, as needed to meet the final speed requirement, under the given values of VA and VD.

Note, however, that the controller works with one > m command at a time. As a consequence, one function may be masked by another. For example, if the function >100000 is followed by >5000, and the distance for deceleration is not sufficient, the second condition will not be met. The controller will attempt to lower the speed to 5000, but will reach that at a different point.

As an example, consider the following program.

Instruction Interpretation

#ALT Label for alternative program

DP 0,0 Define Position of A and B axis to be 0

LMAB Define linear mode between A and B axes.

LI 4000,0 <4000 >1000

LI 1000,1000 < 4000 >1000

LI 0,5000 < 4000 >1000

LE End linear segments

BGS Begin motion sequence

EN Program end

Specify first linear segment with a vector speed of 4000 and end speed 1000

Specify second linear segment with a vector speed of 4000 and end speed 1000

Specify third linear segment with a vector speed of 4000 and end speed 1000

Changing Feed Rate:

The command VR n allows the feed rate, VS, to be scaled between 0 and 10 with a resolution of

0.0001. This command takes effect immediately and causes VS to be scaled. VR also applies when the vector speed is specified with the ‘<’ operator. This is a useful feature for feed rate override. VR does not ratio the accelerations. For example, VR 0.5 results in the specification VS 2000 to be divided in half.

DMC-2X00 Chapter 6 Programming Motion y 37

Command Summary - Linear Interpolation

COMMAND DESCRIPTION

LM abcdefgh Specify axes for linear interpolation

LM?

LI a,b,c,d,e,f,g,h < n Specify incremental distances relative to current position, and assign vector speed n.

VS n Specify vector speed

VA n Specify vector acceleration

VD n Specify vector deceleration

VR n Specify the vector speed ratio

BGS Begin Linear Sequence

CS Clear sequence

LE Linear End- Required at end of LI command sequence

LE? Returns the length of the vector (resets after 2147483647)

AMS Trip point for After Sequence complete

AV n Trip point for After Relative Vector distance, n

VT S curve smoothing constant for vector moves

Returns number of available spaces for linear segments in DMC-2x00 sequence buffer. Zero means buffer full. 512 means buffer empty.

Operand Summary - Linear Interpolation

OPERAND DESCRIPTION

_AV Return distance traveled

_CS Segment counter - returns number of the segment in the sequence, starting at zero.

_LE Returns length of vector (resets after 2147483647)

_LM

_VPm Return the absolute coordinate of the last data point along the trajectory.

Returns number of available spaces for linear segments in DMC-2x00 sequence buffer. Zero means buffer full. 512 means buffer empty.

(m= A,B,C,D,E,F,G or H)

To illustrate the ability to interrogate the motion status, consider the first motion segment of our example, #LMOVE, where the A axis moves toward the point A=5000. Suppose that when A=3000, the controller is interrogated using the command ‘MG _AV’. The returned value will be 3000. The value of _CS, _VPA and _VPB will be zero.

Now suppose that the interrogation is repeated at the second segment when B=2000. The value of _AV at this point is 7000, _CS equals 1, _VPA=5000 and _VPB=0.

Example

Linear Interpolation Motion

In this example, the AB system is required to perform a 90° turn. In order to slow the speed around the corner, we use the AV 4000 trip point, which slows the speed to 1000 count/s. Once the motors reach the corner, the speed is increased back to 4000 cts / s.

Instruction Interpretation

#LMOVE Label

38 • Chapter 6 Programming Motion DMC-2X00

DP 0,0 Define position of A and B axes to be 0

LMAB Define linear mode between A and B axes.

LI 5000,0 Specify first linear segment

LI 0,5000 Specify second linear segment

LE End linear segments

VS 4000 Specify vector speed

BGS Begin motion sequence

AV 4000 Set trip point to wait until vector distance of 4000 is reached

VS 1000 Change vector speed

AV 5000 Set trip point to wait until vector distance of 5000 is reached

VS 4000 Change vector speed

EN Program end

Linear Move

Make a coordinated linear move in the CD plane. Move to coordinates 40000, 30000 counts at a

vector speed of 100000 counts/sec and vector acceleration of 1000000 counts/sec2.

Instruction Interpretation

LM CD Specify axes for linear interpolation

LI,,40000,30000 Specify CD distances

LE Specify end move

VS 100000 Specify vector speed

VA 1000000 Specify vector acceleration

VD 1000000 Specify vector deceleration

BGS Begin sequence

Note that the above program specifies the vector speed, VS, and not the actual axis speeds VC and VD. The axis speeds are determined by the DMC-2x00 from:

VC VD

The resulting profile is shown in Figure 6.2.

DMC-2X00 Chapter 6 Programming Motion y 39

30000

27000

POSITION D

3000

FEEDRATE

VELOCITY

C-AXIS

VELOCIT

D-AXIS

0 40000

0 0.1 0.5 0.6

4000 36000

POSITION C

TIME (sec)

Figure 6.2 - Linear Interpolation

40 • Chapter 6 Programming Motion DMC-2X00

Multiple Moves

This example makes a coordinated linear move in the AB plane. The Arrays VA and VB are used to store 750 incremental distances which are filled by the program #LOAD.

Instruction Interpretation

#LOAD Load Program

DM VA [750],VB [750] Define Array

count=0 Initialize Counter

n=10 Initialize position increment

#LOOP LOOP

VA [count]=n Fill Array VA

VB [count]=n Fill Array VB

n=n+10 Increment position

count = count +1 Increment counter

JP #LOOP, count <750 Loop if array not full

#A Label

LM AB Specify linear mode for AB

count =0 Initialize array counter

#LOOP2;JP#LOOP2,_LM=0 If sequence buffer full, wait

JS#C, count =500 Begin motion on 500th segment

LI VA[count],VB[count] Specify linear segment

count = count +1 Increment array counter

JP #LOOP2, count <750 Repeat until array done

LE End Linear Move

AMS After Move sequence done

MG "DONE" Send Message

EN End program

#C;BGS;EN Begin Motion Subroutine

Vector Mode: Linear and Circular Interpolation Motion

The DMC-2x00 allows a long 2-D path consisting of linear and arc segments to be prescribed. Motion along the path is continuous at the prescribed vector speed even at transitions between linear and circular segments. The DMC-2x00 performs all the complex computations of linear and circular interpolation, freeing the host PC from this time intensive task.

The coordinated motion mode is similar to the linear interpolation mode. Any pair of two axes may be selected for coordinated motion consisting of linear and circular segments. In addition, a third axis can be controlled such that it remains tangent to the motion of the selected pair of axes. Note that only one pair of axes can be specified for coordinated motion at any given time.

The command VM m,n,p where ‘m’ and ‘n’ are the coordinated pair and p is the tangent axis. NOTE: the commas which separate m,n and p are not necessary. For example, VM ABC selects the

AD axes for coordinated motion and the C-axis as the tangent.

Specifying the Coordinate Plane

The DMC-2x00 allows for 2 separate sets of coordinate axes for linear interpolation mode or vector mode. These two sets are identified by the letters S and T.

DMC-2X00 Chapter 6 Programming Motion y 41

Specifying Vector Segments

The motion segments are described by two commands; VP for linear segments and CR for circular segments. Once a set of linear segments and/or circular segments have been specified, the sequence is ended with the command VE. This defines a sequence of commands for coordinated motion. Immediately prior to the execution of the first coordinated movement, the controller defines the current position to be zero for all movements in a sequence.

NOTE: This ‘local’ definition of zero does not affect the absolute coordinate system or subsequent

coordinated motion sequences.

The command, VP xy specifies the coordinates of the end points of the vector movement with respect to the starting point. Non-sequential axes do not require comma delimitation. The command, CR r,q,d define a circular arc with a radius r, starting angle of q, and a traversed angle d. The convention for q is that zero corresponds to the positive horizontal direction and, for both q and d, the counter-clockwise (CCW) rotation is positive.

Up to 511 segments of CR or VP may be specified in a single sequence and must be ended with the command VE. The motion can be initiated with a Begin Sequence (BGS) command. Once motion starts, additional segments may be added.

The Clear Sequence (CS) command can be used to remove previous VP and CR commands which were stored in the buffer prior to the start of the motion. To stop the motion, use the instructions STS or AB1. ST stops motion at the specified deceleration. AB1 aborts the motion instantaneously.

The Vector End (VE) command must be used to specify the end of the coordinated motion. This command requires the controller to decelerate to a stop following the last motion requirement. If a VE command is not given, an Abort (AB1) must be used to abort the coordinated motion sequence.

It is the responsibility of the user to keep enough motion segments in the DMC-2x00 sequence buffer to ensure continuous motion. If the controller receives no additional motion segments and no VE command, the controller will stop motion instantly at the last vector. There will be no controlled deceleration. LM? or _LM returns the available spaces for motion segments that can be sent to the buffer. 511 returned means the buffer is empty and 511 segments can be sent. A zero means the buffer is full and no additional segments can be sent. As long as the buffer is not full, additional segments can be sent at PC bus speeds.

The operand _CS can be used to determine the value of the segment counter.

Additional commands

The commands VS n, VA n and VD n are used for specifying the vector speed, acceleration, and deceleration.

VT is the s curve smoothing constant used with coordinated motion.

Specifying Vector Speed for Each Segment:

The vector speed may be specified by the immediate command VS. It can also be attached to a motion segment with the instructions

VP a,b < n >m

CR r,

42 • Chapter 6 Programming Motion DMC-2X00

θ,δ < n >m

The first command, <n, is equivalent to commanding VSn at the start of the given segment and will cause an acceleration toward the new commanded speeds, subjects to the other constraints.

Changing Feed rate:

The command VR n allows the feed rate, VS, to be scaled between 0 and 10 with a resolution of .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 feed rate override. VR does not ratio the accelerations. For example, VR .5 results in the specification VS 2000 to be divided by two

Compensating for Differences in Encoder Resolution:

By default, the DMC-2x00 uses a scale factor of 1:1 for the encoder resolution when used in vector mode. If this is not the case, the command, ES can be used to scale the encoder counts. The ES command accepts two arguments which represent the number of counts for the two encoders used for vector motion. The smaller ratio of the two numbers will be multiplied by the higher resolution encoder. For more information, see ES command in Chapter 11, Command Summary.

Trippoints:

The AV n command is the After Vector , which waits for the vector relative distance of n to occur before executing the next command in a program.

Tangent Motion:

Several applications, such as cutting, require a third axis (i.e. a knife blade), to remain tangent to the coordinated motion path. To handle these applications, the DMC-2x00 allows one axis to be specified as the tangent axis. The VM command provides parameter specifications for describing the coordinated axes and the tangent axis.

VM m,n,p

Before the tangent mode can operate, it is necessary to assign an axis via the VM command and define its offset and scale factor via the TN m,n command. m defines the scale factor in counts/degree and n defines the tangent position that equals zero degrees in the coordinated motion plane. The operand _TN can be used to return the initial position of the tangent axis.

m,n specifies coordinated axes p specifies tangent axis such as A,B,C or D p=N turns off tangent axis

Command Summary - Coordinated Motion Sequence

Command Description

VM m,n

VP m,n Return coordinate of last point, where m=A,B,C or D.

CR r,Θ, ±ΔΘ Specifies arc segment where r is the radius, Θ is the starting angle and ΔΘ is the travel

VS n Specify vector speed or feed rate of sequence.

Specifies the axes for the planar motion where m and n represent the planar axes and p is the tangent axis.

angle. Positive direction is CCW.

DMC-2X00 Chapter 6 Programming Motion y 43

VA n Specify vector acceleration along the sequence.

VD n Specify vector deceleration along the sequence.

VR n Specify vector speed ratio

BGS Begin motion sequence.

CS Clear sequence.

AV n Trip point for After Relative Vector distance, n.

AMS Holds execution of next command until Motion Sequence is complete.

TN m,n Tangent scale and offset.

ES m,n Ellipse scale factor.

VT S curve smoothing constant for coordinated moves

LM?

Return number of available spaces for linear and circular segments in DMC-2x00 sequence buffer. Zero means buffer is full. 512 means buffer is empty.

Operand Summary - Coordinated Motion Sequence

operand Description

_VPM The absolute coordinate of the axes at the last intersection along the sequence.

_AV Distance traveled.

_LM

_CS Segment counter - Number of the segment in the sequence, starting at zero.

_VE Vector length of coordinated move sequence.

Number of available spaces for linear and circular segments in DMC-2x00 sequence buffer. Zero means buffer is full. 512 means buffer is empty.

When AV is used as an operand, _AV returns the distance traveled along the sequence.

The operands _VPA and _VPB can be used to return the coordinates of the last point specified along the path.

Example

Tangent Axis

Assume an AB table with the C-axis controlling a knife. The C-axis has a 2000 quad counts/rev

encoder and has been initialized after power-up to point the knife in the +B direction. A 180 cut is desired, with a radius of 3000, center at the origin and a starting point at (3000,0). The motion is

CCW, ending at (-3000,0). Note that the 0

° position in the AB plane is in the +A direction. This

corresponds to the position -500 in the Z-axis, and defines the offset. The motion has two parts. First, A, B and C are driven to the starting point, and later, the cut is performed. Assume that the knife is engaged with output bit 0.

Instruction Interpretation

#EXAMPLE Example program

VM ABC AB coordinate with C as tangent

TN 2000/360,-500 2000/360 counts/degree, position -500 is 0 degrees in AB plane

CR 3000,0,180 3000 count radius, start at 0 and go to 180 CCW

VE End vector

CB0 Disengage knife

° circular

44 • Chapter 6 Programming Motion DMC-2X00

PA 3000,0,_TN

BG ABC Start the move to get into position

AM ABC When the move is complete

SB0 Engage knife

WT50 Wait 50 msec for the knife to engage

BGS Do the circular cut

AMS After the coordinated move is complete

CB0 Disengage knife

MG "ALL DONE"

EN End program

Move A and B to starting position, move C to initial tangent position

Coordinated Motion

Traverse the path shown in Fig. 6.3. Feed rate is 20000 counts/sec. Plane of motion is AB.

Instruction Interpretation

VM AB Specify 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 Segment CD

CR 1500,90,-180 Segment DA

VE End of sequence

BGS Begin Sequence

The resulting motion starts at the point A and moves toward points B, C, D, A. Suppose that we interrogate the controller when the motion is halfway between the points A and B.

The value of _AV is 2000

The value of _CS is 0

_VPA and _VPB contain the absolute coordinate of the point A

Suppose that the interrogation is repeated at a point, halfway between the points C and D.

The value of _AV is 4000+1500

π+2000=10,712

The value of _CS is 2

_VPA,_VPB contain the coordinates of the point C

DMC-2X00 Chapter 6 Programming Motion y 45

Galil DMC-2X00 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Using This Manual

Contents

Chapter 1 Overview

Introduction

Specifications

DMC- 2000 Family Part Number Definition

Electrical Specifications

Mechanical Specifications

Environmental Specifications

Equipment Maintenance

Overview of Motor Types

Standard Servo Motor with +/- 10 Volt Command Signal

Brushless Servo Motor with Sinusoidal Commutation

Stepper Motor with Step and Direction Signals

Overview of Amplifiers

Amplifiers in Current Mode

Amplifiers in Velocity Mode

Stepper Motor Amplifiers

DMC-2x00 Functional Elements

Microcomputer Section

Motor Interface

Communication

General I/O

System Elements

Motor

Amplifier (Driver)

Encoder

Watch Dog Timer

Chapter 2 Getting Started

The DMC-2x00 Main Board

The DMC-2000 Daughter Board

The DMC-2200 Daughter Board

Elements You Need

Installing the DMC-2x00

Step 1. Determine Overall Motor Configuration

Standard Servo Motor Operation:

Sinusoidal Commutation:

Stepper Motor Operation

Step 2. Install Jumpers on the DMC-2x00

Master Reset and Upgrade Jumpers

Opto-Isolation Jumpers

Stepper Motor Jumpers

(Optional) Motor Off Jumpers

Communications Jumpers for DMC-2000

Communications Jumpers for DMC-2100/DMC-2200

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

Switch 1 - Master Reset

Switch 2 - XON / XOFF

Switch 3 - Hardware Handshake Mode

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

Switch 10 - USB

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

Switch 1 - Master Reset

Switch 2 - XON / XOFF

Switch 3 - Hardware Handshake Mode

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

Switch 1 - Master Reset

Switch 2 - XON / XOFF

Switch 3 - Hardware Handshake Mode

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

Switch 7-Option

Switch 8-Ethernet

Step 4. Install the Communications Software

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

Step 5. Connect AC Power to the Controller

Step 6. Establish Communications with Galil Software

Communicating through the Main Serial Communications Port

Communicating through the Universal Serial Bus (USB)

Communicating through the Ethernet

Sending Test Commands to the Terminal:

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

Notes on Configuring Sinusoidal Commutation:

Example: Sinusoidal Commutation Configuration using a DMC-2x70

Step 8. Make Connections to Amplifier and Encoder.

Step 9a. Connect Standard Servo Motors

Inverting the Loop Polarity