Document Outline

• 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
        • Using Galil Software for DOS (serial communication only)
        • Using Galil Software for Windows
        • Using Non-Galil Communication Software
      • Communicating through the Universal Serial Bus (USB)
      • Communicating through the Ethernet
        • Using Galil Software for Windows
      • 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
    • Step 9b. Connect Sinusoidal Commutation Motors
      • Example: Sinusoidal Commutation Configuration using a DMC-2x70
    • 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
  • Overview
  • Using Optoisolated Inputs
    • Limit Switch Input
    • Home Switch Input
    • Abort Input
    • Reset Input
    • Uncommitted Digital Inputs
  • Wiring the Opto-Isolated Inputs
    • The Opto-Isolation Common Point
    • Using an Isolated Power Supply
    • Bypassing the Opto-Isolation:
  • Analog Inputs
  • Amplifier Interface
  • TTL Inputs
    • The Auxiliary Encoder Inputs
  • TTL Outputs
    • General Use Outputs
    • Output Compare
    • Error Output
  • Extended I/O of the DMC-2x00 Controller
    • Interfacing to Grayhill or OPTO-22 G4PB24:
• Chapter 4 Communication
  • Introduction
  • RS232 Ports
    • RS232 Main Port {P1} DATATERM
    • RS232 Auxiliary Port {P2} DATASET
    • *RS422 Main Port {P1}
    • *RS422 Auxiliary Port {P2}
    • RS-232 Configuration
      • Baud Rate Selection
      • Handshaking Modes
      • Daisy Chaining (DMC-2000 only)
        • Example- Daisy Chain
        • Synchronizing Sample Clocks in Daisy Chain
  • Ethernet Configuration (DMC-2100/2200 only)
    • Communication Protocols
    • Addressing
    • Communicating with Multiple Devices
    • Multicasting
    • Using Third Party Software
  • Data Record
    • Data Record Map
    • Explanation of Status Information and Axis Switch Information
      • Header Information - Byte 0, 1 of Header:
      • Bytes 2, 3 of Header:
        • Byte 2 is the low byte and byte 3 is the high byte
      • General Status Information (1 Byte)
      • Axis Switch Information (1 Byte)
      • Axis Status Information (2 Byte)
      • Coordinated Motion Status Information for S or T plane (2 Byte)
    • Notes Regarding Velocity and Torque Information
    • QZ Command
  • Controller Response to Commands
  • Unsolicited Messages Generated by Controller
  • Galil Software Tools and Libraries
• Chapter 5 Command Basics
  • Introduction
  • Command Syntax - ASCII
    • Coordinated Motion with more than 1 axis
  • Command Syntax - Binary
    • Binary Command Format
      • Header Format:
        • Byte 1
        • Byte 2
        • Byte 3
        • Byte 4
      • Datafields Format
      • Example
    • Binary Command Table
  • Controller Response to DATA
  • Interrogating the Controller
    • Interrogation Commands
    • Summary of Interrogation Commands
    • Interrogating Current Commanded Values.
    • Operands
    • Command Summary
• Chapter 6 Programming Motion
  • Overview
  • Independent Axis Positioning
    • Command Summary - Independent Axis
    • Operand Summary - Independent Axis
    • Examples
      • Absolute Position Movement
      • Multiple Move Sequence
  • Position Tracking
    • Example Motion 1:
    • Example
      • Motion 2:
    • Example
      • Motion 4
    • Trip Points
    • Command Summary – Position Tracking Mode
  • Independent Jogging
    • Command Summary - Jogging
    • Operand Summary - Independent Axis
    • Examples
      • Jog in X only
      • Joystick Jogging
  • Linear Interpolation Mode
    • Specifying the Coordinate Plane
    • Specifying Linear Segments
    • Additional Commands
      • Specifying Vector Speed for Each Segment
      • Changing Feed Rate:
    • Command Summary - Linear Interpolation
    • Operand Summary - Linear Interpolation
    • Example
      • Linear Interpolation Motion
      • Linear Move
      • Multiple Moves
  • Vector Mode: Linear and Circular Interpolation Motion
    • Specifying the Coordinate Plane
    • Specifying Vector Segments
    • Additional commands
      • Specifying Vector Speed for Each Segment:
      • Changing Feed rate:
      • Compensating for Differences in Encoder Resolution:
      • Trippoints:
      • Tangent Motion:
    • Command Summary - Coordinated Motion Sequence
    • Operand Summary - Coordinated Motion Sequence
    • Example
      • Tangent Axis
      • Coordinated Motion
  • Electronic Gearing
  • Ramped Gearing
    • Example
      • Electronic Gearing Over a Specified Interval
    • Command Summary - Electronic Gearing
      • Example
      • Simple Master/Slave
      • Electronic Gearing
      • Gantry Mode
      • Synchronize two conveyor belts with trapezoidal velocity correction.
  • Electronic Cam
    • Command Summary - Electronic CAM
    • Operand Summary - Electronic CAM
    • Example
      • Electronic CAM
  • Contour Mode
    • Specifying Contour Segments
    • Additional Commands
    • Command Summary - Contour Mode
    • General Velocity Profiles
    • Example
      • Generating an Array
      • Contour Mode
      • Teach (Record and Play-Back)
      • Record and Playback Example
  • Virtual Axis
    • Ecam master example
    • Sinusoidal Motion Example
  • Stepper Motor Operation
    • Specifying Stepper Motor Operation
    • Stepper Motor Smoothing
    • Monitoring Generated Pulses vs. Commanded Pulses
    • Motion Complete Trip point
    • Using an Encoder with Stepper Motors
    • Command Summary - Stepper Motor Operation
    • Operand Summary - Stepper Motor Operation
  • Stepper Position Maintenance Mode (SPM)
    • Error Limit
    • Correction
      • Example: SPM Mode Setup
      • Example: Error Correction
      • Example: Friction Correction
  • Dual Loop (Auxiliary Encoder)
    • Additional Commands for the Auxiliary Encoder
    • Backlash Compensation
    • Example
      • Continuous Dual Loop
      • Sampled Dual Loop
  • Motion Smoothing
    • Using the IT and VT Commands:
    • Example
    • Using the KS Command (Step Motor Smoothing):
  • Homing
    • Example
    • Command Summary - Homing Operation
    • Operand Summary - Homing Operation
  • High Speed Position Capture (The Latch Function)
    • Example
• Chapter 7 Application Programming
  • Overview
  • Using the DOS Editor to Enter Programs (DMC-2000 only)
    • Edit Mode Commands
    • Example
  • Program Format
    • Using Labels in Programs
      • Example
    • Special Labels
    • Commenting Programs
      • NO Command
      • REM Command
  • Executing Programs - Multitasking
  • Debugging Programs
    • Trace Commands ( DMC-2100/2200 only)
    • Error Code Command
    • Stop Code Command
    • RAM Memory Interrogation Commands
    • Operands
    • Example
  • 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
      • Command Format - JP and JS
      • Logical operators:
      • Conditional Statements
      • Multiple Conditional Statements
      • Examples
    • If, Else, and Endif
      • Using the IF and ENDIF Commands
      • Using the ELSE Command
      • Nesting IF Conditional Statements
      • Command Format - IF, ELSE and ENDIF
    • Subroutines
    • Stack Manipulation
    • Auto-Start Routine
    • Automatic Subroutines for Monitoring Conditions
      • Example - Limit Switch:
      • Example - Position Error
      • Example - Input Interrupt
      • Example - Motion Complete Timeout
      • Example - Command Error
      • Example - Command Error w/Multitasking
      • Example - Communication Interrupt
  • Mathematical and Functional Expressions
    • Mathematical Operators
    • Bit-Wise Operators
    • Functions
  • Variables
    • Programmable Variables
      • Assigning Values to Variables
      • Assigning Variable Values to Controller Parameters
      • Displaying the value of variables at the terminal
      • Example - Using Variables for Joystick
  • Operands
    • Special Operands (Keywords)
  • Arrays
    • Defining Arrays
    • Assignment of Array Entries
      • Using a Variable to Address Array Elements
    • Uploading and Downloading Arrays to On Board Memory
    • Automatic Data Capture into Arrays
      • Command Summary - Automatic Data Capture
      • Data Types for Recording:
      • Operand Summary - Automatic Data Capture
      • Example - Recording into an Array
    • Deallocating Array Space
  • Input of Data (Numeric and String)
    • Input of Data
      • Example- Inputting Numeric Data
      • Example- Cut-to-Length
    • Operator Data Entry Mode
      • Example
    • Using Communication Interrupt
      • Example
      • Inputting String Variables
  • Output of Data (Numeric and String)
    • Sending Messages
      • Specifying the Port for Messages:
      • Formatting Messages
      • Using the MG Command to Configure Terminals
      • Summary of Message Functions
    • Displaying Variables and Arrays
      • Example - Printing a Variable and an Array element
    • Interrogation Commands
      • Using the PF Command to Format Response from Interrogation Commands
      • Example
      • Removing Leading Zeros from Response to Interrogation Commands
      • Local Formatting of Response of Interrogation Commands
    • Formatting Variables and Array Elements
      • Local Formatting of Variables
    • Converting to User Units
  • Hardware I/O
    • Digital Outputs
      • Example- Set Bit and Clear Bit
      • Example- Output Bit
      • Example- Output Port
      • Example - Turn on output after move
    • Digital Inputs
      • Example - Using Inputs to control program flow
      • Example - Start Motion on Switch
    • The Auxiliary Encoder Inputs
    • Input Interrupt Function
      • Example - Input Interrupt
    • Analog Inputs
      • Example - Position Follower (Point-to-Point)
      • Example - Position Follower (Continuous Move)
  • Extended I/O of the DMC-2x00 Controller
    • Configuring the I/O of the DMC-2x00
    • Saving the State of the Outputs in Non-Volatile Memory
    • Accessing Extended I/O
    • Interfacing to Grayhill or OPTO-22 G4PB24
  • Example Applications
    • Wire Cutter
    • A-B Table Controller
    • Speed Control by Joystick
    • Position Control by Joystick
    • Backlash Compensation by Sampled Dual-Loop
• Chapter 8 Hardware & Software Protection
  • Introduction
  • Hardware Protection
    • Output Protection Lines
    • Input Protection Lines
  • Software Protection
    • Programmable Position Limits
      • Example
    • Off-On-Error
      • Example
    • Automatic Error Routine
      • Example
    • Limit Switch Routine
      • Example
• Chapter 9 Troubleshooting
  • Overview
  • Installation
  • Communication
  • Stability
  • Operation
• Chapter 10 Theory of Operation
  • Overview
  • Operation of Closed-Loop Systems
  • System Modeling
    • Motor-Amplifier
      • Voltage Drive
      • Current Drive
      • Velocity Loop
    • Encoder
    • DAC
    • Digital Filter
    • ZOH
  • System Analysis
  • System Design and Compensation
    • The Analytical Method
      • Equivalent Filter Form
• Appendices
  • Electrical Specifications
    • Servo Control
    • Stepper Control
    • Input / Output
    • Power
  • Performance Specifications
    • Minimum Servo Loop Update Time:
  • Fast Update Rate Mode
  • Connectors for DMC-2x00 Main Board
    • DMC-2x00 Axes A-D High Density Connector
    • DMC-2x00 Axes E-H High Density Connector
    • DMC-2x00 Auxiliary Encoder 36 Pin High Density Connector
    • DMC-2x00 Extended I/O 80 Pin High Density Connector
    • RS-232-Main Port
    • RS-232-Auxiliary Port
    • USB - In USB - Out
    • Ethernet
  • Cable Connections for DMC-2x00
    • Standard RS-232 Specifications
      • 25 pin Serial Connector (Male, D-type)
      • 9 Pin Serial Connector (Male, D-type)
    • DMC-2x00 Serial Cable Specifications
      • Cable to Connect Computer 25 pin to Main Serial Port
      • Cable to Connect Computer 9 pin to Main Serial Port Cable (9 pin)
      • Cable to Connect Computer 25 pin to Auxiliary Serial Port Cable (9 pin)
      • Cable to Connect Computer 9 pin to Auxiliary Serial Port Cable (9 pin)
  • Pin-Out Description for DMC-2x00
    • Outputs
      • Inputs
  • Jumper Description for DMC-2x00
  • Dimensions for DMC-2x00
  • Accessories and Options
  • ICM-2900 Interconnect Module
    • Mechanical Specifications
    • Environmental Specifications
    • Equipment Maintenance
    • Description
    • ICM-2900 Drawing:
  • ICM-2908 Interconnect Module
    • ICM-2908 Drawing:
    • PCB Layout of the ICM-2900:
  • ICM-1900 Interconnect Module
    • Features
    • ICM-1900 Drawing:
  • AMP-19x0 Mating Power Amplifiers
    • Features
    • Specifications
  • Opto-Isolated Outputs for ICM-2900 / ICM-1900 / AMP-19x0
    • Standard Opto-Isolation and High Current Opto-isolation:
  • Configuring the Amplifier Enable for ICM-2900 / ICM-1900
    • -LAEN Option:
    • -Changing the Amplifier Enable Voltage Level:
  • IOM-1964 Opto-Isolation Module for Extended I/O (Obsolete)
    • Description:
    • Overview
    • Configuring Hardware Banks
    • Digital Inputs
    • High Power Digital Outputs
    • Standard Digital Outputs
    • Electrical Specifications
      • Digital Inputs
      • High Power Digital Outputs
      • Standard Digital Outputs
    • Relevant DMC Commands
    • Screw Terminal Listing
  • CB-50-100 Adapter Board
    • Connectors:
    • CB-50-100 Drawing:
  • CB-50-80 Adapter Board
    • Connectors:
    • CB-50-80 Drawing:
  • TERM 1500 Operator Terminal
    • Features
    • Description
    • Specifications Hand Held
    • Specifications Panel Mount
    • Keypad Maps Hand Held
      • Single Key Output
      • Shift Key Output
      • CTRL Key Output
      • Example:
    • Keypad Map Panel Mount – 6 columns x 5 rows
      • Single Key Output
      • Shift Key Output
      • CTRL Key Output
      • Escape Commands
      • Cursor Movement Commands
      • Erasing Display
      • Sounds
      • Cursor Style
      • Key Clicks (audible sounds from terminal)
      • Identify (sends “TT!” then terminal firmware version)
      • Cursor Position
    • Configuration
      • Default Configuration:
    • Function Keys
      • Default Function Keys
    • Input/Output of Data – DMC-2x00 Commands
      • Example:
      • Example:
      • 6 Pin Modular Connector
      • 9 Pin D Adaptor Male (For P2)
    • Ordering Information
  • 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