Galil DMC-2X00 User Manual
Dmc-2x00
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USER MANUAL
DMC-2x00
Manual Rev. 2.1
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: [email protected]
URL: www.galilmc.com
Rev 03/2011
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Table of contents
Document Outline
- Using This Manual
- Contents
- Chapter 1 Overview
- 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
- Step 2. Install Jumpers on the DMC-2x00
- Step 3a. Configure DIP switches on the DMC-2000
- Step 3b. Configure DIP switches on the DMC-2100
- Step 3c. Configure DIP switches on the DMC-2200
- Step 4. Install the Communications Software
- Step 5. Connect AC Power to the Controller
- Step 6. Establish Communications with Galil 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
- Design Examples
- System Set-up
- Profiled Move
- Multiple Axes
- Objective: Move the four axes independently.
- Independent Moves
- The motion parameters may be specified independently as illustrated below.
- Position Interrogation
- The position error, which is the difference between the commanded position and the actual position can be interrogated with the instruction TE.
- Absolute Position
- Velocity Control
- Operation Under Torque Limit
- Interrogation
- Operation in the Buffer Mode
- Using the On-Board Editor
- Motion Programs with Loops
- Motion Programs with Trippoints
- Control Variables
- Linear Interpolation
- Circular Interpolation
- Chapter 3 Connecting Hardware
- Chapter 4 Communication
- Introduction
- RS232 Ports
- Ethernet Configuration (DMC-2100/2200 only)
- Data Record
- Controller Response to Commands
- Unsolicited Messages Generated by Controller
- Galil Software Tools and Libraries
- Chapter 5 Command Basics
- Chapter 6 Programming Motion
- Overview
- Independent Axis Positioning
- Position Tracking
- Independent Jogging
- Linear Interpolation Mode
- Vector Mode: Linear and Circular Interpolation Motion
- Electronic Gearing
- Ramped Gearing
- Electronic Cam
- Contour Mode
- Virtual Axis
- Stepper Motor Operation
- Stepper Position Maintenance Mode (SPM)
- Dual Loop (Auxiliary Encoder)
- Motion Smoothing
- Homing
- High Speed Position Capture (The Latch Function)
- Chapter 7 Application Programming
- Overview
- Using the DOS Editor to Enter Programs (DMC-2000 only)
- Program Format
- Executing Programs - Multitasking
- Debugging Programs
- Program Flow Commands
- Event Triggers & Trippoints
- DMC-2x00 Event Triggers
- Example- Multiple Move Sequence
- Example- Set Output after Distance
- Example- Repetitive Position Trigger
- Example - Start Motion on Input
- Example - Set Output when At Speed
- Example - Change Speed along Vector Path
- Example - Multiple Move with Wait
- Example- Define Output Waveform Using AT
- Conditional Jumps
- If, Else, and Endif
- Subroutines
- Stack Manipulation
- Auto-Start Routine
- Automatic Subroutines for Monitoring Conditions
- Event Triggers & Trippoints
- Mathematical and Functional Expressions
- Variables
- Operands
- Arrays
- Input of Data (Numeric and String)
- Output of Data (Numeric and String)
- Hardware I/O
- Extended I/O of the DMC-2x00 Controller
- Example Applications
- Chapter 8 Hardware & Software Protection
- Chapter 9 Troubleshooting
- Chapter 10 Theory of Operation
- Appendices
- Electrical Specifications
- Performance Specifications
- Fast Update Rate Mode
- Connectors for DMC-2x00 Main Board
- Cable Connections for DMC-2x00
- Pin-Out Description for DMC-2x00
- Jumper Description for DMC-2x00
- Dimensions for DMC-2x00
- Accessories and Options
- ICM-2900 Interconnect Module
- ICM-2908 Interconnect Module
- ICM-1900 Interconnect Module
- AMP-19x0 Mating Power Amplifiers
- Opto-Isolated Outputs for ICM-2900 / ICM-1900 / AMP-19x0
- Configuring the Amplifier Enable for ICM-2900 / ICM-1900
- IOM-1964 Opto-Isolation Module for Extended I/O (Obsolete)
- CB-50-100 Adapter Board
- CB-50-80 Adapter Board
- TERM 1500 Operator Terminal
- Coordinated Motion - Mathematical Analysis
- Example- Communicating with OPTO-22 SNAP-B3000-ENET
- DMC-2x00/DMC-1500 Comparison
- List of Other Publications
- Training Seminars
- Contacting Us
- WARRANTY
- Index