Galil DMC-2X00 manuels

Galil DMC-2X00 Manuel d'utilisateur (267 pages)

marque: Galil | Catégorie: Projecteurs | Taille: 3.06 MB |

Anglais

Table des matières

DMC-2x00

1

Using This Manual

2

Contents

3

DMC-2x00 Contentsy iii

5

DMC-2x00 Contentsy v

7

DMC-2x00 Contentsy vii

9

Chapter 1 Overview

11

Specifications

12

Overview of Motor Types

13

Overview of Amplifiers

14

DMC-2x00 Functional Elements

15

General I/O

16

System Elements

16

Amplifier (Driver)

16

Encoder

17

Watch Dog Timer

17

Chapter 2 Getting Started

19

The DMC-2000 Daughter Board

20

The DMC-2200 Daughter Board

21

Elements You Need

22

Installing the DMC-2x00

24

Sinusoidal Commutation:

25

Opto-Isolation Jumpers

25

Commutation

31

Inverting the Loop Polarity

35

DC Servo Motor

36

ICM-2900

36

CPS Power

36

Step 9c. Connect Step Motors

40

Design Examples

41

Profiled Move

42

Multiple Axes

42

Independent Moves

42

Position Interrogation

42

Absolute Position

43

Velocity Control

43

Interrogation

44

Operation in the Buffer Mode

44

Using the On-Board Editor

44

Motion Programs with Loops

45

Control Variables

46

Linear Interpolation

46

Circular Interpolation

47

Using Optoisolated Inputs

49

Home Switch Input

50

Abort Input

50

Reset Input

51

Uncommitted Digital Inputs

51

Ω) < 11 mA

52

Amplifier Interface

53

TTL Inputs

54

TTL Outputs

55

Error Output

56

Chapter 4 Communication

57

*RS422 - Main Port {P1}

58

*RS422 - Auxiliary Port {P2}

58

RS-232 Configuration

58

Baud Rate Selection

58

Handshaking Modes

58

Communication Protocols

60

Addressing

61

Multicasting

64

Using Third Party Software

64

Data Record

65

Information

67

Bytes 2, 3 of Header:

68

QZ Command

69

Chapter 5 Command Basics

71

Command Syntax - Binary

73

Datafields Format

74

Binary Command Table

74

Controller Response to DATA

75

Interrogating the Controller

76

Command Summary

77

Independent Axis Positioning

80

Absolute Position Movement

82

Multiple Move Sequence

82

Position Tracking

83

Example Motion 1:

84

Motion 2:

85

Motion 4

86

Trip Points

88

Independent Jogging

89

Jog in X only

90

Joystick Jogging

90

Linear Interpolation Mode

91

Changing Feed Rate:

92

Linear Interpolation Motion

93

Linear Move

94

Multiple Moves

96

Specifying Vector Segments

97

Additional commands

97

Changing Feed rate:

98

Trippoints:

98

Tangent Motion:

98

Tangent Axis

99

Coordinated Motion

100

Electronic Gearing

101

Ramped Gearing

101

Example

103

Example

104

Simple Master/Slave

104

Gantry Mode

104

Electronic Cam

105

Electronic CAM

109

Contour Mode

110

Additional Commands

111

General Velocity Profiles

112

Generating an Array

112

Instruction Interpretation

114

Virtual Axis

115

Stepper Motor Operation

116

Motion Complete Trip point

117

Error Limit

119

Correction

119

Example: SPM Mode Setup

119

Example: Error Correction

120

Example: Friction Correction

121

Backlash Compensation

123

Continuous Dual Loop

123

Motion Smoothing

124

KS a,b,c,d

126

Instruction Inter

127

Overview

131

Edit Mode Commands

132

Program Format

133

Commenting Programs

134

NO Command

134

REM Command

135

Debugging Programs

136

Error Code Command

137

Stop Code Command

137

Operands

137

Program Flow Commands

138

DMC-2x00 Event Triggers

139

Conditional Jumps

142

Command Format - JP and JS

143

Logical operators:

143

Conditional Statements

143

Examples

144

If, Else, and Endif

144

Using the ELSE Command

145

Subroutines

146

Stack Manipulation

146

Auto-Start Routine

146

Example - Limit Switch:

147

Example - Position Error

148

Example - Input Interrupt

148

Example - Command Error

149

Mathematical Operators

152

Bit-Wise Operators

152

Variables

154

Programmable Variables

155

Defining Arrays

157

Assignment of Array Entries

157

Data Types for Recording:

159

Deallocating Array Space

160

Input of Data

160

Example- Cut-to-Length

160

Operator Data Entry Mode

161

Inputting String Variables

163

Sending Messages

164

Formatting Messages

164

Summary of Message Functions

165

Interrogation Commands

165

Commands

166

Hardware I/O

168

Example- Output Bit

169

Example- Output Port

169

Digital Inputs

169

The Auxiliary Encoder Inputs

170

Input Interrupt Function

170

Analog Inputs

171

Accessing Extended I/O

173

Example Applications

174

A-B Table Controller

175

Speed Control by Joystick

177

Position Control by Joystick

178

Protection

181

Software Protection

182

Limit Switch Routine

184

Chapter 9 Troubleshooting

185

Operation

186

Communication

186

Stability

186

Y POSITION

189

X POSITION

189

Y VELOCITY

189

X VELOCITY

189

System Modeling

190

Motor-Amplifier

191

Voltage Drive

191

Current Drive

191

Velocity Loop

192

VOLTAGE SOURCE

193

CURRENT SOURCE

193

VELOCITY LOOP

193

Digital Filter

194

System Analysis

196

50 200 2000 W (rad/s)

197

Magnitude

197

The Analytical Method

198

Equivalent Filter Form

200

DMC-2X00 Appendices y 191

201

Performance Specifications

202

DMC-2X00 Appendices y 193

203

• Appendices DMC-2X00

204

DMC-2X00 Appendices y 195

205

DMC-2X00 Appendices y 197

207

RS-232-Main Port

208

RS-232-Auxiliary Port

208

USB - In USB - Out

208

DMC-2X00 Appendices y 199

209

DMC-2X00 Appendices y 201

211

Outputs

212

Inputs

212

DMC-2X00 Appendices y 203

213

DMC-2X00 Appendices y 205

215

Accessories and Options

216

DMC-2X00 Appendices y 207

217

DMC-2X00 Appendices y 209

219

DMC-2X00 Appendices y 211

221

ICM-2908 Interconnect Module

222

DMC-2X00 Appendices y 213

223

PCB Layout of the ICM-2900:

224

DMC-2X00 Appendices y 215

225

DMC-2X00 Appendices y 217

227

ICM-1900 Drawing:

228

Features

228

-LAEN Option:

230

DMC-2X00 Appendices y 221

231

Configuring Hardware Banks

232

DMC-2X00 Appendices y 223

233

High Power Digital Outputs

234

DMC-2X00 Appendices y 225

235

Electrical Specifications

236

Standard Digital Outputs

237

Relevant DMC Commands

237

Screw Terminal Listing

237

DMC-2X00 Appendices y 229

239

CB-50-100 Adapter Board

240

DMC-2X00 Appendices y 231

241

DMC-2X00 Appendices y 233

243

CB-50-80 Adapter Board

244

DMC-2X00 Appendices y 235

245

Continued

246

DMC-2X00 Appendices y 237

247

CB-50-80 Layout

248

DMC-2X00 Appendices y 239

249

Description

250

Specifications - Hand-Held

250

DMC-2X00 Appendices y 241

251

DMC-2X00 Appendices y 243

253

DMC-2X00 Appendices y 245

255

Vs Vx Vy=+

256

DMC-2X00 Appendices y 247

257

Velocity

258

DMC-2X00 Appendices y 249

259

DMC-2X00 Appendices y 251

261

DMC-2x00/DMC-1500 Comparison

262

DMC-2X00 Appendices y 253

263

Contacting Us

264

WARRANTY

264

DMC-2X00 Index y 255

265

256 • Index DMC-2X00

266

DMC-2X00 Index y 257

267

Galil appareils