Galil DMC-2X00 manuels

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

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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

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

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

Analog Inputs

171

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

Communication

186

Stability

186

Operation

186

COMPUTER CONTROLLER DRIVER

187

MOTORENCODER

187

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

Appendices

201

DMC-2X00 Appendices y 147

202

Fast Update Rate Mode

203

DMC-2X00 Appendices y 149

204

• Appendices DMC-2X00

205

DMC-2X00 Appendices y 151

206

DMC-2X00 Appendices y 153

208

Ethernet

209

DMC-2X00 Appendices y 155

210

DMC-2X00 Appendices y 157

212

DMC-2X00 Appendices y 159

214

Dimensions for DMC-2x00

215

DMC-2X00 Appendices y 161

216

ICM-2900 Interconnect Module

217

DMC-2X00 Appendices y 163

218

DMC-2X00 Appendices y 165

220

ICM-2900 Drawing:

221

DMC-2X00 Appendices y 167

222

ICM-2908 Drawing:

223

DMC-2X00 Appendices y 169

224

ICM-1900 Interconnect Module

225

DMC-2X00 Appendices y 171

226

DMC-2X00 Appendices y 173

228

DMC-2X00 Appendices y 175

230

0 1 32 5 764

231

DMC-2X00 Appendices y 177

232

DMC-2X00 Appendices y 179

234

Figure A-12

235

Figure A-13

235

DMC-2X00 Appendices y 181

236

High Power Digital Outputs

237

Standard Digital Outputs

237

Relevant DMC Commands

237

Screw Terminal Listing

237

DMC-2X00 Appendices y 183

238

DMC-2X00 Appendices y 185

240

DMC-2X00 Appendices y 187

242

CB-50-100 Drawing:

243

DMC-2X00 Appendices y 189

244

Connectors:

245

DMC-2X00 Appendices y 191

246

CB-50-80 Drawing:

247

DMC-2X00 Appendices y 193

248

TERM-1500 Operator Terminal

249

DMC-2X00 Appendices y 195

250

DMC-2X00 Appendices y 197

252

DMC-2X00 Appendices y 199

254

6-Pin Modular Connector

255

Ordering Information

255

Vs Vx Vy=+

256

LRkkk=ΔΘ2 360

257

DMC-2X00 Appendices y 203

258

DMC-2X00 Appendices y 205

260

DMC-2X00 Appendices y 207

262

List of Other Publications

263

Training Seminars

263

DMC-2X00 Appendices y 209

264

210 • Index DMC-2X00

265

2 • Index DMC-2X00

266

DMC-2X00 Index y 3

267

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