USER MANUAL
DMC-13X8
Manual Rev. 1.0e
By Galil Motion Control, Inc.
Galil Motion Control, Inc.
3750 Atherton Road
Rocklin, California 95765
Phone: (916) 626-0101
Fax: (916) 626-0102
Internet Address: [email protected]
URL: www.galilmc.com
Rev Date: 5-06
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Contents
Using This Manual ....................................................................................................................2
Chapter 1 Overview
Introduction ...............................................................................................................................9
Overview of Motor Types..........................................................................................................9
Stepper Motor with Step and Direction Signals ........................................................10
DMC-13X8 Functional Elements ............................................................................................10
Microcomputer Section .............................................................................................11
Motor Interface..........................................................................................................11
Communication .........................................................................................................11
General I/O................................................................................................................11
System Elements .......................................................................................................12
Motor.........................................................................................................................12
Amplifier (Driver) .....................................................................................................12
Encoder......................................................................................................................13
Watch Dog Timer......................................................................................................13
Chapter 2 Getting Started
The DMC-13X8 Motion Controller.........................................................................................15
Elements You Need.................................................................................................................16
Installing the DMC-13X8........................................................................................................17
Step 1. Determine Overall Motor Configuration.......................................................17
Step 2. Install Jumpers on the DMC-13X8................................................................18
Step 3. Install the DMC-13X8 in the VME Host.......................................................19
Step 7a. Connect Standard Servo Motors..................................................................22
Step 7C. Connect Step Motors ..................................................................................29
Step 8. Tune the Servo System..................................................................................29
Design Examples .....................................................................................................................30
Example 1 - System Set-up .......................................................................................30
Example 2 - Profiled Move .......................................................................................31
Example 3 - Multiple Axes........................................................................................31
Example 4 - Independent Moves...............................................................................31
Example 5 - Position Interrogation............................................................................31
Example 6 - Absolute Position..................................................................................32
Example 7 - Velocity Control....................................................................................32
Example 8 - Operation Under Torque Limit .............................................................33
Example 9 - Interrogation..........................................................................................33
Example 10 - Operation in the Buffer Mode.............................................................33
Example 11 - Using the On-Board Editor .................................................................33
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Example 12 - Motion Programs with Loops..............................................................34
Example 13 - Motion Programs with Trippoints.......................................................34
Example 14 - Control Variables ................................................................................35
Example 15 - Linear Interpolation.............................................................................35
Example 16 - Circular Interpolation..........................................................................35
Chapter 3 Connecting Hardware
Overview .................................................................................................................................37
Using Optoisolated Inputs .......................................................................................................37
Limit Switch Input.....................................................................................................37
Home Switch Input....................................................................................................38
Abort Input ................................................................................................................38
Uncommitted Digital Inputs......................................................................................39
Wiring the Optoisolated Inputs................................................................................................39
Using an Isolated Power Supply................................................................................40
Bypassing the Opto-Isolation: ...................................................................................41
Analog Inputs ..........................................................................................................................41
Amplifier Interface ..................................................................................................................41
TTL Inputs...............................................................................................................................42
TTL Outputs ............................................................................................................................43
Chapter 4 Communication
Introduction .............................................................................................................................45
Communication with Controller ..............................................................................................45
Communication Registers .........................................................................................45
Simplified Communication Procedure ......................................................................46
Advanced Communication Techniques.....................................................................46
Communication with Controller - Secondary FIFO channel ...................................................47
Polling FIFO..............................................................................................................47
DMA / Secondary FIFO Memory Map .....................................................................48
Notes Regarding Velocity and Torque Information ..................................................51
Interrupts..................................................................................................................................51
Setting up Interrupts ..................................................................................................51
Configuring Interrupts...............................................................................................51
Servicing Interrupts ...................................................................................................53
Example - Interrupts..................................................................................................53
Controller Response to DATA ................................................................................................54
Chapter 5 Command Basics
Introduction .............................................................................................................................55
Command Syntax - ASCII.......................................................................................................55
Coordinated Motion with more than 1 axis...............................................................56
Command Syntax – Binary......................................................................................................57
Binary Command Format..........................................................................................57
Binary command table...............................................................................................58
Controller Response to DATA ................................................................................................59
Interrogating the Controller .....................................................................................................59
Interrogation Commands...........................................................................................59
Summary of Interrogation Commands ......................................................................60
Interrogating Current Commanded Values................................................................60
Operands....................................................................................................................60
Command Summary..................................................................................................61
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Chapter 6 Programming Motion
Overview .................................................................................................................................63
Independent Axis Positioning..................................................................................................64
Command Summary - Independent Axis ..................................................................65
Operand Summary - Independent Axis .....................................................................65
Independent Jogging................................................................................................................67
Command Summary - Jogging..................................................................................67
Operand Summary - Independent Axis .....................................................................67
Linear Interpolation Mode.......................................................................................................68
Specifying Linear Segments......................................................................................68
Command Summary - Linear Interpolation...............................................................70
Operand Summary - Linear Interpolation..................................................................71
Example - Linear Move.............................................................................................71
Example - Multiple Moves........................................................................................72
Vector Mode: Linear and Circular Interpolation Motion.........................................................73
Specifying the Coordinate Plane ...............................................................................73
Specifying Vector Segments .....................................................................................73
Additional commands................................................................................................74
Electronic Gearing...................................................................................................................77
Command Summary - Electronic Gearing ................................................................78
Electronic Cam ........................................................................................................................79
Command Summary - Electronic CAM ....................................................................83
Operand Summary - Electronic CAM.......................................................................84
Example - Electronic CAM.......................................................................................84
Contour Mode..........................................................................................................................85
Specifying Contour Segments ...................................................................................85
Additional Commands...............................................................................................87
Command Summary - Contour Mode .......................................................................87
Operand Summary - Contour Mode ..........................................................................87
Stepper Motor Operation .........................................................................................................91
Specifying Stepper Motor Operation.........................................................................91
Using an Encoder with Stepper Motors.....................................................................92
Operand Summary - Stepper Motor Operation..........................................................93
Stepper Position Maintenance Mode (SPM)............................................................................93
Error Limit.................................................................................................................94
Correction..................................................................................................................94
Dual Loop (Auxiliary Encoder)...............................................................................................98
Backlash Compensation ............................................................................................99
Motion Smoothing.................................................................................................................100
Using the IT and VT Commands:............................................................................100
Homing..................................................................................................................................102
Command Summary - Homing Operation...............................................................104
Operand Summary - Homing Operation..................................................................104
High Speed Position Capture (The Latch Function)..............................................................104
Fast Update Rate Mode .........................................................................................................105
Chapter 7 Application Programming
Overview ...............................................................................................................................107
Using the DMC-13X8 Editor to Enter Programs...................................................................107
Edit Mode Commands.............................................................................................108
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Program Format.....................................................................................................................108
Using Labels in Programs .......................................................................................109
Special Labels..........................................................................................................109
Commenting Programs............................................................................................110
Executing Programs - Multitasking .......................................................................................110
Debugging Programs .............................................................................................................111
Program Flow Commands .....................................................................................................113
Event Triggers & Trippoints....................................................................................113
Event Trigger Examples:.........................................................................................115
Conditional Jumps...................................................................................................117
Using If, Else, and Endif Commands ......................................................................119
Subroutines..............................................................................................................121
Stack Manipulation..................................................................................................121
Auto-Start Routine ..................................................................................................121
Mathematical and Functional Expressions ............................................................................125
Mathematical Operators ..........................................................................................125
Bit-Wise Operators..................................................................................................125
Functions .................................................................................................................126
Variables................................................................................................................................127
Programmable Variables .........................................................................................127
Operands................................................................................................................................129
Special Operands (Keywords).................................................................................129
Arrays ....................................................................................................................................130
Defining Arrays.......................................................................................................130
Assignment of Array Entries...................................................................................130
Automatic Data Capture into Arrays.......................................................................131
Deallocating Array Space........................................................................................133
Input of Data (Numeric and String).......................................................................................133
Input of Data............................................................................................................133
Output of Data (Numeric and String) ....................................................................................134
Sending Messages ...................................................................................................134
Displaying Variables and Arrays.............................................................................135
Interrogation Commands.........................................................................................136
Formatting Variables and Array Elements ..............................................................137
Converting to User Units.........................................................................................138
Hardware I/O .........................................................................................................................138
Digital Outputs ........................................................................................................138
Digital Inputs...........................................................................................................139
Input Interrupt Function ..........................................................................................140
Analog Inputs ..........................................................................................................141
Example Applications............................................................................................................142
Wire Cutter..............................................................................................................142
X-Y Table Controller ..............................................................................................143
Speed Control by Joystick.......................................................................................145
Position Control by Joystick....................................................................................146
Chapter 8 Hardware & Software Protection
Introduction ...........................................................................................................................149
Hardware Protection ..............................................................................................................149
Output Protection Lines...........................................................................................149
Input Protection Lines .............................................................................................150
Software Protection ...............................................................................................................150
Programmable Position Limits................................................................................150
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Off-On-Error ...........................................................................................................151
Automatic Error Routine.........................................................................................151
Limit Switch Routine ..............................................................................................151
Chapter 9 Troubleshooting
Overview ...............................................................................................................................153
Installation .............................................................................................................................153
Communication......................................................................................................................154
Stability..................................................................................................................................155
Operation ...............................................................................................................................155
Chapter 10 Theory of Operation
Overview ...............................................................................................................................157
Operation of Closed-Loop Systems.......................................................................................159
System Modeling...................................................................................................................160
Motor-Amplifier......................................................................................................161
Encoder....................................................................................................................163
DAC ........................................................................................................................164
Digital Filter ............................................................................................................164
ZOH.........................................................................................................................165
System Analysis.....................................................................................................................165
System Design and Compensation.........................................................................................167
The Analytical Method............................................................................................167
Appendices
Electrical Specifications ........................................................................................................171
Servo Control ..........................................................................................................171
Stepper Control........................................................................................................171
Input/Output ............................................................................................................171
Power.......................................................................................................................172
Performance Specifications ...................................................................................................172
Connectors for DMC-13X8 Main Board ...............................................................................173
Pin-Out Description for DMC-13X8 .....................................................................................174
Accessories and Options........................................................................................................175
ICM-1900 Interconnect Module ............................................................................................176
ICM-1900 Drawing ...............................................................................................................180
AMP-19X0 Mating Power Amplifiers...................................................................................180
ICM-2900 Interconnect Module ............................................................................................181
Opto-Isolated Outputs ICM-1900 / ICM-2900 (-Opto option)..............................................184
64 Extended I/O of the DMC-13X8 Controller .....................................................................184
Configuring the I/O of the DMC-13X8...................................................................185
Connector Description:............................................................................................186
IOM-1964 Opto-Isolation Module for Extended I/O Controllers..........................................189
Description: .............................................................................................................189
Overview .................................................................................................................190
Configuring Hardware Banks..................................................................................190
Digital Inputs...........................................................................................................191
High Power Digital Outputs ....................................................................................193
Standard Digital Outputs.........................................................................................194
Electrical Specifications..........................................................................................195
Relevant DMC Commands......................................................................................196
Screw Terminal Listing...........................................................................................196
Coordinated Motion - Mathematical Analysis.......................................................................198
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DMC-13X8/DMC-1300 Comparison....................................................................................202
List of Other Publications......................................................................................................202
Training Seminars..................................................................................................................203
Contacting Us ........................................................................................................................204
WARRANTY ........................................................................................................................205
Index
8 • Contents
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Chapter 1 Overview
Introduction
The DMC-13X8 series motion control cards install directly into the VME bus. This controller series
offers many enhanced features including high-speed communications, non-volatile program memory,
faster encoder speeds, and improved cabling for EMI reduction.
The DMC-13X8 provides two channels for high speed communication. Both controllers use a high
speed main FIFO for sending and receiving commands. Additionally, the DMC-13X8 provides a
secondary polling FIFO for instant access to controller status and parameters. The controller allows
for high-speed servo control up to 12 million encoder counts/sec and step motor control up to 3 million
steps per second. Sample rates as low as 62.5μsec per axis are available.
A 2 meg Flash EEPROM provides non-volatile memory for storing application programs, parameters,
arrays, and firmware. New firmware revisions are easily upgraded in the field without removing the
controller from the VME backplane.
The DMC-13X8 is available with up to four axes on a single VME card. The DMC-1318, 1328, 1338
and 1348 controllers fit on a single 6U format VME card.
Designed to solve complex motion problems, the DMC-13X8 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-13X8 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-13X8 provides uncommitted I/O, including 8 opto-
isolated digital inputs, 8 digital outputs and 8 analog inputs for interface to joysticks, sensors, and
pressure transducers. The DMC-13X8 controller also comes standard with an additional 64
configurable I/O. Dedicated optoisolated inputs are provided on all DMC-13X8 controllers for
forward and reverse limits, abort, home, and definable input interrupts. The DMC-13X8 is addressed
through the 16 bit short I/O space of your VME system. Vectored hardware interrupts are available to
coordinate events on the controller with the rest of the VME system. Commands can be sent in either
Binary or ASCII.
Overview of Motor Types
The DMC-13X8 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
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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-13X8 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 and notch
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 (+/- 10Volt) to connect to a servo amplifier. This connection
is described in Chapter 2.
Brushless Servo Motor with Sinusoidal Commutation
The DMC-13X8 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 also 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*. For faster
motors, please contact the factory.
To simplify the wiring, the controller provides a one-time, automatic set-up procedure. The
parameters determined by this procedure can then be saved in non-volatile memory to be used
whenever the system is powered on.
The DMC-13X8 can control BLMs equipped with or without Hall sensors. If hall sensors are
available, once the controller has been setup, the controller will automatically estimate the
commutation phase upon reset. This allows the motor to function immediately upon power up. The
hall effect sensors also provides a method for setting the precise commutation phase. Chapter 2
describes the proper connection and procedure for using sinusoidal commutation of brushless motors.
* 6 Milliseconds per magnetic cycle assumes a servo update of 1 msec (default rate).
Stepper Motor with Step and Direction Signals
The DMC-13X8 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.
DMC-13X8 Functional Elements
The DMC-13X8 circuitry can be divided into the following functional groups as shown in Figure 1.1
and discussed below.
Chapter 1 Overview • 10
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WATCHDOG TIMER
ISOLATED LIMITS AND
HOME INPUTS
MAIN ENCODERS
2ND FIFO
68331
MICROCOMPUTER
WITH
HIGH-SPEED
MOTOR/ENCODER
INTERFACE
FOR
AUXILIARY ENCODERS
+/- 10 VOLT OUTPUT FOR
SERVO MOTORS
2 Meg RAM
Primary
FIFO
2 Meg FLASH EEPROM
X,Y,Z,W
PULSE/DIRECTION OUTPUT
FOR STEP MOTORS
VME HOST
INTERRUPTS
HIGH SPEED ENCODER
COMPARE OUTPUT
I/O INTERFACE
8 PROGRAMMABLE,
8 UNCOMMITTED
ANALOG INPUTS
8 PROGRAMMABLE
OUTPUTS
OPTOISOLATED
INPUTS
USER INTERFACE
HIGH-SPEED LATCH FOR EACH AXIS
Figure 1.1 - DMC-13X8 Functional Elements
Microcomputer Section
The main processing unit of the controller is a specialized 32-bit Motorola 68331 Series
Microcomputer with 2M RAM and 2M 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 firmware of the controller.
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 2 DACs to generate 2 +/-10Volt
analog signals. For stepper motor operation the controller generates a step and direction signal.
Communication
The DMC-13X8 is an A16D08(O) 6U VME card. The communication interface with the VME host
contains a primary and secondary communication channel. The primary channel uses a bi-directional
FIFO (AM4701). The secondary channel is a 512 byte Polling FIFO (IDT7201) where data is placed
into the controller’s FIFO buffer. The DMC-13X8 uses vectored hardware interrupts through the
VME host.
General I/O
The controller provides interface circuitry for 8 bi-directional, optoisolated inputs, 8 TTL outputs, and
8 analog inputs with 12-Bit ADC (16-bit optional). The general inputs can also be used for triggering a
high-speed positional latch for each axis.
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The DMC-13X8 also provides standard 64 extended I/O points. These TTL I/O points are software
configurable in banks of 8 points, and can be brought out directly on the IOM-1964 I/O module.
Each axis on the controller has 2 encoders, the main encoder and an auxiliary encoder. Each unused
auxiliary encoder provides 2 additional inputs available for general use (except when configured for
stepper motor operation).
System Elements
As shown in Fig. 1.2, the DMC-13X8 is part of a motion control system which includes amplifiers,
motors, and encoders. These elements are described below.
Power Supply
DMC-1700/1800
Controller
Computer
Driver
Encoder
Motor
Figure 1.2 - Elements of Servo systems
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 operate 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.
Chapter 1 Overview • 12
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Encoder
An encoder translates motion into electrical pulses which are fed back into the controller. The DMC-
13X8 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-, CHB,
CHB-). The controller decodes either type into quadrature states or four times the number of cycles.
Encoders may also have a third channel (or index) for synchronization.
The DMC-13X8 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 10,000 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-13X8. Single-
ended 12 Volt signals require a bias voltage input to the complementary inputs).
The DMC-13X8 can accept analog feedback instead of an encoder for any axis. For more information
see the command AF in the command reference.
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 to talk to one of our applications
engineers about your particular system requirements.
Watch Dog Timer
The DMC-13X8 provides an internal watchdog timer which checks for proper microprocessor
operation. The timer toggles the Amplifier Enable Output (AEN), which can be used to switch the
amplifiers off in the event of a serious controller failure. The AEN output is normally high. During
power-up and if the microprocessor ceases to function properly, the AEN output will go low. The
error light for each axis will also turn on at this stage. A reset is required to restore the controller to
normal operation. Consult the factory for a Return Materials Authorization (RMA) Number if your
DMC-13X8 is damaged.
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Chapter 1 Overview • 14
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1
2
3
Flash EEPROM
RAM
J6
VME Connector
JP1
JP3
Master Reset & UPGRD jumpers
Motorola 68331 microprocessor
INCOM & LSCOM jumpers. Used for
bypassing opto-isolation for the limit, home, and
abort switches and the digital inputs IN1 - IN8.
See section “Bypassing Opto-Isolation”, Chap3.
4
GL-1800 custom gate array
Error LED
JP5
JP9
Jumpers used for configuring stepper motor
operation on axes 1-4.
5
IRQ jumper. Interrupts may be set on IRQ 1–7.
J1
100-pin high density connector for axes 1-4. JP10 Address jumpers. The base address of the
controller is FFF0. Address jumpers A4-A15
may be set as offsets to that address
(Part number Amp #2-178238-9)
J3
J5
80 Pin high-density connector for 64
extended I/O points.
JP11 IAD1-IAD4 allows transfer of the IRQ between
the controller and host. This three bit binary
combination must be set equal to the IRQ line
chosen.
26-pin header connector for the auxiliary
encoder cable. (Axes 1-4)
Note: Above schematics are for most current controller revision. For older revision boards, please refer to Appendix.
Elements You Need
Before you start, you must get all the necessary system elements. These include:
1. DMC-13X8, (1) 100-pin cable and (1) ICM-1900. Connection to the extended I/O can be
made through the IOM-1964 opto-isolation module. Using the IOM-1964 requires (1)
IOM-1964, (1) CB-50-100 and (1) 100 pin cable.
2. Servo motors with Optical Encoder (one per axis) or step motors.
3. Power Amplifiers.
4. Power Supply for Amplifiers.
5. VME host and user interface.
The motors may be servo (brush type or brushless) or steppers. 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.
For servo motors in current mode, the amplifiers should accept an analog signal in the +/-10 Volt range
as a command. 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. For velocity mode amplifiers, a command signal of 10 Volts should run the motor at the
maximum required speed. Set the velocity gain so that an input signal of 10V, runs the motor at the
maximum required speed.
For step motors, the amplifiers should accept step and direction signals. For start-up of a step motor
system refer to Step 7c “Connecting Step Motors”.
Chapter 2 Getting Started • 16
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Installing the DMC-13X8
Installation of a complete, operational DMC-13X8 system consists of 8 steps.
Step 1. Determine overall motor configuration.
Step 2. Install Jumpers on the DMC-13X8.
Step 3. Install the DMC-13X8 in the PC.
Step 4. Establish communications with the Galil controller.
Step 5. Determine the Axes to be used for sinusoidal commutation.
Step 6. Make connections to amplifier and encoder.
Step 7a. Connect standard servo motors.
Step 7b. Connect sinusoidal commutation motors.
Step 7c. Connect step motors.
Step 8. 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-13X8 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 for more information.
The following configuration information is necessary to determine the proper motor configuration:
Standard Servo Motor Operation:
The DMC-13X8 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.
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 DAC's. In standard servo operation, the DMC-
13X8 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 DAC's and the controller must be a DMC-1348.
Sinusoidal commutation is configured with the command, BA. For example, BAX sets the X 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-1348, the command BAX will configure the X
axis to be the main sinusoidal signal and the 'W' 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 BAX is
given to a DMC-1348 controller, the controller will be re-configured to a DMC-1338 controller. By
definition, a DMC-1338 controls 3 axes: X,Y and Z. The 'W' 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 5.
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Stepper Motor Operation:
To configure the DMC-13X8 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-13X8". Further
instruction for stepper motor connections are discussed in Step 7c.
Step 2. Install Jumpers on the DMC-13X8
Address Jumpers
The DMC-13X8 resides in the 16-bit short I/O space of the VME system. The base address of the
DMC-13X8 is set at FFF0. The address jumpers at JP10 are used to select the specific address for the
DMC-13X8 in the VME system. Placing a jumper on an address A4 through A15 makes that location
a 0.
For example, to set the controller address to FFE0, a jumper is placed on location A4.
Master Reset and Upgrade Jumpers
JP1 contains two jumpers, MRST and UPGRD. The MRST jumper is the Master Reset jumper. With
MRST connected, the controller will perform a master reset upon PC power up or upon the reset input
going low. 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 optoisolated. If you are not using an isolated supply, the internal
+5V supply from the PC may be used to power the optoisolators. This is done by installing jumpers on
JP3.
Stepper Motor Jumpers
For each axis that will be used for stepper motor operation, the corresponding stepper mode (SM)
jumper must be connected. The stepper motor jumpers, labeled JP5, are located directly beside the
GL-1800 IC on the main board (see the diagram for the DMC-13X8). The individual jumpers are
labeled SMX, SMY, SMZ and SMW.
Hardware IRQ (Interrupt) Jumpers
The DMC-13X8 controller supports vectored hardware interrupts. The jumper locations JP9 and JP11
are used to select the IRQ line which will interrupt the bus. IRQ1 through IRQ7 are available to the
user as hardware interrupts, and are set at location JP9. The second set of jumpers located at JP11 are
labeled IAD4, IAD2 and IAD1. The summation of these jumpers should be set equal to the IRQ
selected on JP9.
For example, suppose the VME host for a certain system requires a hardware interrupt on IRQ 5. A
jumper would therefore be placed at location JP9 on the pins labeled IRQ5. In addition, IAD4 and
IAD1, which add up to 5, will be jumpered at location JP11.
The vector and the conditions triggering the hardware interrupt on the DMC-13X8 are set through
software using the EI or the UI command. The DMC-13X8 will provide the hardware interrupt to the
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system upon the specified conditions. It is up to the user to supply an appropriate interrupt handling
routine for the VME host.
(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 OPT 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 OPT 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.
Step 3. Install the DMC-13X8 in the VME Host
The DMC-13X8 is installed directly into the VME bus. The procedure is outlined below.
Step A. Make sure the VME host is in the power-off condition.
Step B. Insert DMC-13X8 card into a slot in the VME bus.
Step E. Attach 100-pin cable to your controller card. If you are using a Galil ICM-1900 or
AMP-19X0, this cable connects into the J2 connection on the interconnect module. If
you are not using a Galil interconnect module, you will need to appropriately terminate
the cable to your system components, see the appendix for cable pin outs. The auxiliary
encoder connections are accessed through the 36-pin high-density connector, which will
mate via the CB-36-25 to the ICM-1900.
Step 4. Establish Communication with the Galil controller
The customer will be required to provide a communication interface for the DMC-13X8 and their
specified host VME system. For development of the software interface, refer to Chapter 4 to find
information on the communication registers of the controller.
NOTE: It is highly recommended that communication be established with the controller prior to
applying any power to the amplifiers or other components.
Step 5. 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, BAXZ sets X
and Z 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 BAX is given to a DMC-1338
controller, the controller will be re-configured to be a DMC-1328 controller. In this case the highest
axis is no longer available except to be used for the 2nd phase of the sinusoidal commutation. Note that
the highest axis on a controller can never be configured for sinusoidal commutation.
The first phase signal is the motor command signal. The second phase is derived from the highest
DAC on the controller. When more than one axis is configured for sinusoidal commutation, the
highest sinusoidal commutation axis will be assigned to the highest DAC and the lowest sinusoidal
commutation axis will be assigned to the lowest available DAC. Note the lowest axis is the X axis.
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Example: Sinusoidal Commutation Configuration using a DMC-1348
BAXZ
This command causes the controller to be reconfigured as a DMC-1328 controller. The X and Z axes
are configured for sinusoidal commutation. The first phase of the X axis will be the motor command
X signal. The second phase of the X axis will be Y signal. The first phase of the Z axis will be the
motor command Z signal. The second phase of the Z axis will be the motor command W signal.
Step 6. Make Connections to Amplifier and Encoder.
Once you have established communications between the software and the DMC-13X8, you are ready
to connect the rest of the motion control system. The motion control system typically consists of an
ICM-1900 Interface Module, an amplifier for each axis of motion, and a motor to transform the current
from the amplifier into torque for motion. Galil also offers the AMP-19X0 series Interface Modules
which are ICM-1900’s equipped with servo amplifiers for brush type DC motors.
If you are using an ICM-1900, connect the 100-pin high-density cable to the DMC-13X8 and to the
connector located on the AMP-19x0 or ICM-1900 board. The ICM-1900 provides screw terminals for
access to the connections described in the following discussion.
System connection procedures will depend on system components and motor types. Any combination
of motor types can be used with the DMC-13X8. 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.
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.
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 AMPENX for the X axis on the ICM-1900 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. As shown in Figure 3-3, AEN can be used
to disable the amplifier for these conditions.
The standard configuration of the AEN signal is TTL active high. In other words, the
AEN 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-1900 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’.
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To change the voltage level of the AEN signal, note the state of the resistor pack on the
ICM-1900. 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
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-13X8 accepts single-ended or differential encoder feedback with or without an
index pulse. If you are not using the AMP-19x0 or the ICM-1900 you will need to
consult the appendix for the encoder pinouts for connection to the motion controller. The
AMP-19x0 and the ICM-1900 can accept encoder feedback from a 10-pin ribbon cable or
individual signal leads. For a 10-pin ribbon cable encoder, connect the cable to the
protected header connector labeled X ENCODER (repeat for each axis necessary). For
individual wires, 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 X encoder first. Once it is connected, turn the motor shaft and interrogate
the position with the instruction TPX <return>. The controller response will vary as the
motor is turned.
At this point, if TPX 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-13X8 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.
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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 Z axis are
connected to inputs 6, 7 and 8, use the instruction:
BI ,, 6
or
BIZ = 6
Step 7a. Connect Standard Servo Motors
The following discussion applies to connecting the DMC-13X8 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.
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 X axis as
an example.
Step A. 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 X axis to be 2000 encoder counts
OE 1 <CR>
Disables X 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 AEN signal to be connected from the
controller to the amplifier.
Step B. Set Torque Limit as a Safety Precaution
To limit the maximum voltage signal to your amplifier, the DMC-13X8 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 v
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.
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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.
Step C. Enable Off-On-Error as a safety precaution. To limit the maximum distance the
motor will move from the commanded position, enable the Off-On-Error function using
the command , OE 1. If the motor runs away due to positive feedback or another
systematic problem the controller will disable the amplifier when the position error
exceeds the value set by the command, ER.
Step D. Disable motor with the command MO (Motor off).
Step E. Connect the Motor and issue SH
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
BGX <CR>
Begin motion on X 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:
TTX (CR)
Tell torque on X
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.
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AUX encoder
input connector
DB25 female
AUX encoder
input connector
26 pin header
100 pin high density connector
AMP part # 2-178238-9
Reset Switch
Error LED
Filter
Chokes
+
+
-
DC Power Supply
DC Servo Motor
-
Figure 2-2 - System Connections with the AMP-1900 Amplifier. Note: this figure shows a Galil Motor and
Encoder which uses a flat ribbon cable for connection to the AMP-1900 unit.
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AUX encoder AUX encoder
input connector input connector
Reset Switch
100 pin high density connector
AMP part # 2-178238-9
Error LED
DB25 female
26 pin header
-MAX
-MBX
-INX
ADG202
Motor Command
buffer circuit
+5 VDC
GND
+INX
+MBX
+MAX
7407
Amp enable
buffer circuit
Encoder Wire Connections
Encoder:
Channel A+
Channel A-
ICM-1900:
+MAX
-MAX
Channel B+
Channel B-
Index Channel +
Index Channel -
+MBX
-MBX
+INX
-INX
+
-
DC Brush
Servo Motor
Signal Gnd 2
+Ref In 4
BRUSH-TYPE
Inhibit 11
PWM SERVO
AMPLIFIER
MSA 12-80
Motor + 1
Motor - 2
Power Gnd 3
Power Gnd 4
+
High Volt
5
DC Power Supply
-
Figure 2-3 System Connections with a separate amplifier (MSA 12-80). This diagram shows the connections for a
standard DC Servo Motor and encoder
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Step 7b. Connect Sinusoidal Commutation Motors
When using sinusoidal commutation, the parameters for the commutation must be determined
and saved in the controllers non-volatile memory. The servo can then be tuned as
described in Step 8.
Step A. Disable the motor amplifier
Use the command, MO, to disable the motor amplifiers. For example, MOX will turn the
X 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 5). 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 2nd phase of the highest sinusoidal commutation axis will
be the highest command output and the 2nd phase of the lowest sinusoidal commutation
axis will be the lowest command output.
It is not necessary to be concerned with cross-wiring the 1st and 2nd signals. If this wiring
is incorrect, the setup procedure will alert the user (Step D).
Example: Sinusoidal Commutation Configuration using a
DMC-1348
BAXZ
This command causes the controller to be reconfigured as a DMC-13X8 controller. The
X and Z axes are configured for sinusoidal commutation. The first phase of the X axis
will be the motor command X signal. The second phase of the X axis will be the motor
command the motor command Y signal. The first phase of the Z axis will be the motor
command Z signal. The second phase of the Z axis will be the motor command W 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 Z 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. Test the Polarity of the DACs and Hall Sensor Configuration.
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.
The user must specify the value for V and T. For example, the command
BSX = 2,700
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will test the X 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.
If Hall Sensors are Available:
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.
If Hall Sensors are Not Available:
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. 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.
If Hall Sensors are Not Available:
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 argument is a real number which 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.
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,
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this voltage may need to be increased and for systems with very small motors, this value
should be decreased.
For example,
BZ -2
will drive the X axis to zero, using a 2V signal. The controller will then leave the motor
enabled. For systems that have external forces working against the motor, such as
gravity, the BZ argument must provide a torque 10x the external force. If the torque is
not sufficient, the commutation zero may not be accurate.
If Hall Sensors are Available:
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 _BZx. 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 X axis motor upon power or
reset, the following commands may be given:
SHX
;Enable X axis motor
PRX=-1*(_BZX)
BGX
;Move X motor close to zero commutation phase
;Begin motion on X axis
AMX
;Wait for motion to complete on X axis
;Drive motor to commutation phase zero and leave
;motor on
BZX=-1
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 X axis motor upon power or reset, the following commands may be given:
SHX
;Enable X axis motor
BCX
;Enable the brushless calibration command
;Command a relative position movement on X axis
;Begin motion on X axis. When the hall sensors
detect a phase transition, the commutation phase is re-set.
PRX=50000
BGX
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Step 7C. 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 DE. 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-13X8 profiler commands the step motor amplifier. All DMC-13X8 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-13X8 you must follow this procedure:
Step A. Install SM jumpers
Each axis of the DMC-13X8 that will operate a stepper motor must have the
corresponding stepper motor jumper installed. For a discussion of SM jumpers, see
section “Step 2. Install Jumpers on the DMC-13X8”.
Step B. Connect step and direction signals
For each axis of stepper control, connect the step and direction signals from the controller
to respective signals on your step motor amplifier. (These signals are labeled PULSX
and DIRX for the X-axis on the ICM-1900). Consult the documentation for your step
motor amplifier.
Step C. Configure DMC-13X8 for motor type using MT command. You can configure the
DMC-13X8 for active high or active low pulses. Use the command MT 2 for active high
step motor pulses and MT -2 for active low step motor pulses. See description of the MT
command in the Command Reference.
Step 8. Tune the Servo System
The final step for setting up the motion control system is adjusting the tuning parameters for optimal
performance of the 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.
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 (CR)
Integrator gain
and set the proportional gain to a low value, such as
KP 1 (CR)
Proportional gain
Derivative gain
KD 100 (CR)
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
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TE X (CR)
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 (CR)
TE X (CR)
Proportion gain
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 X (CR)
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 Y, Z and W 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.
Example 1 - System Set-up
This example assigns the system filter parameters, error limits and enables the automatic error shut-off.
Instruction
KP10,10,10,10
KP*=10
Interpretation
Set gains for a,b,c,d (or X,Y,Z,W axes)
Alternate method for setting gain on all axes
Alternate method for setting X (or A) axis gain
Alternate method for setting A (or X) axis gain
Set Y axis gain only
KPX=10
KPA=10
KP, 20
Instruction
OE 1,1,1,1
ER*=1000
KP10,10,10,10
KP*=10
Interpretation
Enable automatic Off on Error function for all axes
Set error limit for all axes to 1000 counts
Set gains for a,b,c and d axes
Alternate method for setting gain on all axes
Alternate method for setting X (or A) axis gain
Alternate method for setting A (or X) axis gain
Set Z axis gain only
KPX=10
KPA=10
KP,,10
KPZ=10
Alternate method for setting Z axis gain
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KPD=10
Alternate method for setting D axis gain
Example 2 - Profiled Move
Objective: Rotate the X 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
PR 10000
SP 20000
DC 100000
AC 100000
BG X
Interpretation
Distance
Speed
Deceleration
Acceleration
Start Motion
Example 3 - Multiple Axes
Objective: Move the four axes independently.
Instruction
Interpretation
PR 500,1000,600,-400
SP 10000,12000,20000,10000
Distances of X,Y,Z,W
Slew speeds of X,Y,Z,W
AC 100000,10000,100000,100000 Accelerations of X,Y,Z,W
DC 80000,40000,30000,50000
Decelerations of X,Y,Z,W
Start X and Z motion
Start Y and W motion
BG XZ
BG YW
Example 4 - Independent Moves
The motion parameters may be specified independently as illustrated below.
Instruction
PR ,300,-600
SP ,2000
Interpretation
Distances of Y and Z
Slew speed of Y
Deceleration of Y
Acceleration of Y
Slew speed of Z
Acceleration of Z
Deceleration of Z
Start Z motion
DC ,80000
AC, 100000
SP ,,40000
AC ,,100000
DC ,,150000
BG Z
BG Y
Start Y motion
Example 5 - Position Interrogation
The position of the four axes may be interrogated with the instruction, TP.
Instruction
Interpretation
TP
Tell position all four axes
Tell position - X axis only
TP X
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TP Y
TP Z
TP W
Tell position - Y axis only
Tell position - Z axis only
Tell position - W axis only
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 - all axes
TE X
Tell error - X axis only
Tell error - Y axis only
Tell error - Z axis only
Tell error - W axis only
TE Y
TE Z
TE W
Example 6 - Absolute Position
Objective: Command motion by specifying the absolute position.
Instruction
DP 0,2000
PA 7000,4000
BG X
Interpretation
Define the current positions of X,Y as 0 and 2000
Sets the desired absolute positions
Start X motion
BG Y
Start Y motion
After both motions are complete, the X and Y axes can be command back to zero:
PA 0,0
Move to 0,0
BG XY
Start both motions
Example 7 - Velocity Control
Objective: Drive the X and Y motors at specified speeds.
Instruction
Interpretation
JG 10000,-20000
AC 100000, 40000
DC 50000,50000
BG XY
Set Jog Speeds and Directions
Set accelerations
Set decelerations
Start motion
after a few seconds, command:
JG -40000
New X speed and Direction
TV X
Returns X speed
and then
JG ,20000
New Y speed
TV Y
Returns Y speed
These cause velocity changes including direction reversal. The motion can be stopped with the
instruction
ST
Stop
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Example 8 - 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 X axis to 0.2 volts
Set X speed
JG 10000
BG X
Start X motion
In this example, the X 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.
Increase torque limit to maximum, 9.98 Volts.
TL 9.98
The maximum level of 9.998 volts provides the full output torque.
Example 9 - Interrogation
The values of the parameters may be interrogated. Some examples …
Instruction
Interpretation
KP ?
Return gain of X axis.
Return gain of Z axis.
Return gains of all axes.
KP ,,?
KP ?,?,?,?
Many other parameters such as KI, KD, FA, can also be interrogated. The command reference denotes
all commands which can be interrogated.
Example 10 - Operation in the Buffer Mode
The instructions may be buffered before execution as shown below.
Instruction
PR 600000
SP 10000
WT 10000
BG X
Interpretation
Distance
Speed
Wait 10000 milliseconds before reading the next instruction
Start the motion
Example 11 - 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 communications software, the controller’s 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.
Line #
Instruction
Interpretation
Define label
Distance
000
#A
001
PR 700
SP 2000
002
Speed
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003
004
BGX
EN
Start X motion
End program
To exit the editor mode, input <cntrl>Q. The program may be executed with the command.
XQ #A
Start the program running
Example 12 - Motion Programs with Loops
Motion programs may include conditional jumps as shown below.
Instruction
Interpretation
#A
Label
DP 0
Define current position as zero
Set initial value of V1
Label for loop
V1=1000
#Loop
PA V1
Move X motor V1 counts
Start X motion
BG X
AM X
After X motion is complete
Wait 500 ms
WT 500
TP X
Tell position X
V1=V1+1000
JP #Loop,V1<10001
EN
Increase the value of V1
Repeat if V1<10001
End
After the above program is entered, quit the Editor Mode, <cntrl>Q. To start the motion, command:
XQ #A
Execute Program #A
Example 13 - Motion Programs with Trippoints
The motion programs may include trippoints as shown below.
Instruction
Interpretation
#B
Label
DP 0,0
Define initial positions
Set targets
PR 30000,60000
SP 5000,5000
BGX
Set speeds
Start X motion
AD 4000
BGY
Wait until X moved 4000
Start Y motion
AP 6000
SP 2000,50000
AP ,50000
SP ,10000
EN
Wait until position X=6000
Change speeds
Wait until position Y=50000
Change speed of Y
End program
To start the program, command:
XQ #B
Execute Program #B
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Example 14 - Control Variables
Objective: To show how control variables may be utilized.
Instruction
#A;DP0
PR 4000
SP 2000
BGX
Interpretation
Label; Define current position as zero
Initial position
Set speed
Move X
AMX
Wait until move is complete
Wait 500 ms
WT 500
#B
V1 = _TPX
PR -V1/2
BGX
Determine distance to zero
Command X move 1/2 the distance
Start X motion
AMX
After X moved
WT 500
V1=
Wait 500 ms
Report the value of V1
Exit if position=0
Repeat otherwise
Label #C
JP #C, V1=0
JP #B
#C
EN
End of Program
To start the program, command
XQ #A
Execute Program #A
This program moves X to an initial position of 1000 and returns it to zero on increments of half the
distance. Note, _TPX is an internal variable which returns the value of the X position. Internal
variables may be created by preceding a DMC-13X8 instruction with an underscore, _.
Example 15 - Linear Interpolation
Objective: Move X,Y,Z motors distance of 7000,3000,6000, respectively, along linear trajectory.
Namely, motors start and stop together.
Instruction
LM XYZ
LI 7000,3000,6000
LE
Interpretation
Specify linear interpolation axes
Relative distances for linear interpolation
Linear End
VS 6000
Vector speed
VA 20000
VD 20000
BGS
Vector acceleration
Vector deceleration
Start motion
Example 16 - Circular Interpolation
Objective: Move the XY axes in circular mode to form the path shown on Fig. 2-4. 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.
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Instruction
VM XY
Interpretation
Select XY axes for circular interpolation
Linear segment
VP –4000,0
CR 2000,270,-180
VP 0,4000
CR 2000,90,-180
VS 1000
Circular segment
Linear segment
Circular segment
Vector speed
VA 50000
VD 50000
VE
Vector acceleration
Vector deceleration
End vector sequence
Start motion
BGS
Y
(-4000,4000)
(0,4000)
R=2000
(-4000,0)
(0,0) local zero
X
Figure 2-4 Motion Path for Example 16
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Chapter 3 Connecting Hardware
Overview
The DMC-13X8 provides optoisolated digital inputs for forward limit, reverse limit, home, and
abort signals. The controller also has 8 optoisolated, uncommitted inputs (for general use) as well
as 8 TTL outputs and 8 analog inputs configured for voltages between +/- 10 volts.
The DMC-13X8 also have an additional 64 configurable TTL I/O which can be connected to the IOM-
1964 optoisolation module or to OPTO-22 I/O racks. Configuration information for the extended I/O
may be found in the appendix.
This chapter describes the inputs and outputs and their proper connection.
If you plan to use the auxiliary encoder feature of the DMC-13X8, you must also order and connect the
36 pin high-density cable. This cable connects from the auxiliary encoder connector on the DMC-
13X8 to either the ICM-1900 via the CB-36-25 or to the ICM-2908.
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, X,Y,Z,W 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.
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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-13X8: Find Edge (FE), Find Index (FI), and
Standard Home (HM).
The Find Edge routine is initiated by the command sequence: FEX <return>, BGX <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. High level causes forward motion. 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: FIX <return>, BGX <return>. Find
Index will cause the motor to accelerate to the user-defined slew speed (SP) 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 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 HMX <return>, BGX
<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
_HMX. 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
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.
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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.
Uncommitted Digital Inputs
The DMC-13X8 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
IN1 goes high.
This can be accomplished by connecting a voltage in the range of +5V to +28V into INCOM of the
input circuitry from a separate power supply.
DMC-13X8 controllers have 64 additional TTL I/O. The CO commands configures each set of 8 I/O
as inputs or outputs. The DMC-13X8 extended I/O points uses the Cable-80 which connects directly
to the IOM-1964, or via the CB-50-80 to an OPTO 22 (24 I/O) or Grayhill Opto rack (32 I/O).
Information and configuration for the extended I/O may be found in the appendix.
The function “@IN[n]” (where n is 1-80) can be used to check the state of the inputs 1 thru 80.
Wiring the Optoisolated Inputs
Bi-Directional Capability.
All inputs can be used as active high or low. If you are using an isolated power supply you can
connect +5V to INCOM or supply the isolated ground to INCOM. Connecting +5V to INCOM
configures the inputs for active low. Connecting ground to INCOM configures the inputs for active
high.
* INCOM can be located on the DMC-13X8 directly or on the ICM-1900 or AMP-19X0. The jumper
is labeled INCOM, and will tie the input common to the internal +5V.
The optoisolated inputs are configured into groups. For example, the general inputs, IN1-IN8, and the
ABORT input are one group. Figure 3.1 illustrates the internal circuitry. The INCOM signal is a
common connection for all of the inputs in this group.
The optoisolated inputs are connected in the following groups
Group (Controllers with 1- 4 Axes)
Common Signal
INCOM
IN1-IN8, ABORT
FLX,RLX,HOMEX
FLY,RLY,HOMEY
FLZ,RLZ,HOMEZ
FLW,RLW,HOMEW
LSCOM
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LSCOM
Additional Limit
Switches(Dependent on
Number of Axes)
FLSX
RLSX
HOMEX FLSY
RLSY
HOMEY
INCOM
IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8
ABORT
(XLATCH) (YLATCH) (ZLATCH) (WLATCH)
Figure 3-1. The Optoisolated Inputs.
Using an Isolated Power Supply
To take full advantage of opto-isolation, an isolated power supply should be used to provide the
voltage at the input common connection. 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 + 2.2KΩ) < 11 mA
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External Resistor Needed for
Voltages > 24V
External Resistor Needed for
Voltages > 24V
LSCOM
LSCOM
2.2K
2.2K
FLSX
FLSX
Configuration to source current at the
LSCOM terminal and sink current at
switch inputs
Configuration to sink current at the
LSCOM terminal and source current at
switch inputs
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 the ICM-1900 or AMP-19X0
interface board. This board accepts the signals from the ribbon cables of the DMC-13X8 and provides
phoenix-type screw terminals. A picture of the ICM-1900 can be seen in Chapter 2. If an ICM-1900
is not used, an equivalent breakout board will be required to connect signals from the DMC-13X8.
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. These
jumpers can be added on either the ICM-1900 (J52) or the DMC-13X8. This can also be done by
connecting wires between the 5V supply and common signals using the screw terminals on the ICM-
1900 or AMP-19X0.
To close the circuit, wire the desired input to any ground (GND) terminal or pin out.
Analog Inputs
The DMC-13X8 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 impedence 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-13X8 analog command voltage, MOCMD, ranges between +/-10V. This signal, along with
GND, provides the input to the power amplifiers. The power amplifiers must be sized to drive the
motors and load. For best performance, the amplifiers should be configured for a 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-13X8 also provides an amplifier enable signal, AEN. This signal changes under the
following conditions: the watchdog timer activates, the motor-off command, MO, is given, or the
OE1command (Enable Off-On-Error) is given and the position error exceeds the error limit. As
shown in Figure 3-3, AEN can be used to disable the amplifier for these conditions.
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The standard configuration of the AEN signal is TTL active high. In other words, the AEN 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-1900interface 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 AEN signal, note the state of the resistor pack on the ICM-1900.
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.
DMC-1700/1800
ICM-1900/2900
Connection to +5V or +12V made
through Resistor pack RP1. Removing
the resistor pack allows the user to
connect their own resistor to the desired
voltage level (Up to24V). Accessed by
removing Interconnect cover.
+12V
+5V
SERVO MOTOR
AMPLIFIER
AMPENX
GND
100-PIN
HIGH
DENSITY
CABLE
MOCMDX
7407 Open Collector
Buffer. The Enable
signal can be inverted
by using a 7406.
Analog Switch
Accessed by removing
Interconnect cover.
Figure 3-3 - Connecting AEN to the motor amplifier
TTL Inputs
The reset is a TTL level, non-isolated signal and is used to locally reset the DMC-13X8 without
resetting the PC.
The firmware of the controllers allows unused auxiliary encoder inputs to be used as general purpose
inputs. These buffered inputs give an additional 2 inputs per unused auxiliary encoder input. On a
four axis controller, these inputs can be queried using @IN[81] - @IN[88]. Hardware connection of
these inputs is made through the A and B channels of the corresponding auxiliary encoder axis.
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TTL Outputs
The DMC-13X8 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-1900 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[x]
(see Chapter 7, Mathematical Functions and Expressions).
NOTE: For systems using the ICM-1900 interconnect module, the ICM-1900 has an option to provide
optoisolation on the outputs. In this case, the user provides a an isolated power supply (+5volts to
+24volts and ground). For more information, consult Galil.
The output compare signal is TTL and is available on the ICM-1900 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.
The error signal output is available on the interconnect module as ERROR. This is a TTL signal which
is low when the controller has an error.
Note: When the error signal is low, the LED on the controller will be on, indicating one of the
following error 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.
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Chapter 4 Communication
Introduction
The DMC-13X8 receives commands from the VME host. The controller is configured as a standard
6U VME style card that resides in the 16 bit short I/O space. Communication between the DMC-13X8
and the computer is in the form of ASCII or binary characters where data is sent and received via
READ and WRITE registers on the DMC-13X8. A handshake is required for sending and receiving
data.
For communication, the DMC-13X8 contains a 512 character write FIFO buffer. This permits sending
commands at high speeds ahead of their actual processing by the DMC-13X8. The DMC-13X8
contains a 512 character read buffer. The DMC-13X8 also provides a secondary, read-only
communication channel for fast access to data. The second communication channel is used as a
Polling FIFO for high speed access to parameters or system information.
The DMC-13X8 may be addressed in either the supervisory or user modes. To address this space, the
address modifier lines of the VME Bus must be set to the following.
AM5
AM4
AM3
AM2
AM1
AM0
1
0
1
X
0
1
Every VME CPU can do this but it is necessary to consult your specific CPU board’s manual for
proper configuration of address modifiers.
This chapter discusses Address Selection, Communication Register Description, A Simplified Method
of Communication, Advanced Communication Techniques, and Bus Interrupts.
Communication with Controller
Communication Registers
Register
Description
Address
Read/Write
READ
WRITE
for receiving data
for transmitting data
for status control
N+1
N+1
N+3
Read only
Write only
CONTROL
Read and Write
The DMC-13X8 provides three registers used for communication. The READ register and WRITE
register occupy address N+1 and the CONTROL register occupies address N+3 in the I/O space. The
READ register is used for receiving data from the DMC-13X8. The WRITE register is used to send
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data to the DMC-13X8. The CONTROL register may be read or written to and is used for controlling
communication, flags and interrupts.
Simplified Communication Procedure
The simplest approach for communicating with the DMC-13X8 is to check bits 4 and 5 of the
CONTROL register at address N+3. Bit 4 is for WRITE STATUS and bit 5 is for READ STATUS.
Status Bit
Name
Logic State Meaning
5
5
4
4
READ
READ
0
1
0
1
Data to be read
No data to be read
WRITE
WRITE
Buffer not full, OK to write up to 16 characters
Buffer almost full. Do not send data
Read Procedure
To receive data from the DMC-13X8, read the CONTROL register at address N+3 and check bit 5. If
bit 5 is zero, the DMC-13X8 has data to be read in the READ register at address N+1. Bit 5 must be
checked for every character read and should be read until it signifies empty. Reading data from the
READ register when the register is empty will result in reading an FF hex.
Write Procedure
To send data to the DMC-13X8, read the CONTROL register at address N+3 and check bit 4. If bit 4
is zero, the DMC-13X8 FIFO buffer is not almost full and up to 16 characters may be written to the
WRITE register at address N+1. If bit 4 is one, the buffer is almost full and no additional data should
be sent. The size of the buffer may be changed (See the following section “Changing Almost Full
Flags”).
Any high-level computer language such as C, Basic, Pascal or Assembly may be used to communicate
with the DMC-13X8 as long as the READ/WRITE procedure is followed as described above. The
specific communications interface used will be determined by the customer and the host VME in the
system.
Advanced Communication Techniques
Changing Almost Full Flags
The Almost Full flag (Bit 4 of the control register) can be configured to change states at a different
level from the default level of 16 characters.
The level, m, can be changed from 16 up to 256 in multiples of 16 as follows:
1. Write a 5 to the CONTROL register at address N+3.
2. Write the number m-16 to the CONTROL register where m is the desired Almost Full level
between 16 and 256.
For example, to extend the Almost Full level to 256 bytes, write a 5 to address N+3. Then write a 240
to address N+3.
Clearing FIFO Buffer
The FIFO buffer may be cleared by writing the following sequence:
Read N+3 address
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Send 01H to N+3 address
Send 80H to N+3 address
Send 01H to N+3 address
Send 80H to N+3 address
Read N+3 address
(Bit 7 will be 1)
It is a good idea to clear any control data before attempting this procedure. Send a no-op instruction,
by reading N+3 address, before you start. All data, including data from the DMC-13X8, will then be
cleared.
Clearing the FIFO is useful for emergency resets or Abort. For example, to Reset the controller, clear
the FIFO, then send the RS command.
Communication with Controller - Secondary FIFO channel
The DMC-13X8 secondary communication channel is used as a Polling FIFO to provide a status
record on demand.
In this mode, the record is in binary format and contains information on position, position error, torque,
velocity, switches, inputs, outputs and status. The secondary communication is NOT ACTIVE by
default and must be enabled with the DR command which activates the polling FIFO and sets the rate
of data update.
Polling FIFO
The Polling FIFO mode puts a record into the secondary FIFO of the controller at a fixed rate. The
data should be retrieved from the FIFO using the specific handshake procedure provided below. To
prevent conflicts, this procedure does not allow the FIFO to be updated while being read. If the data is
not read, the FIFO is updated with new data.
The polling FIFO mode is activated with the command DR-n where n sets the FIFO update rate. This
rate is 2n samples between updates. DR 0 turns off the Polling FIFO mode.
Polling Mode Read Procedure
1. Read bit 2 of address N+7 until it is equal to 1. When it is 1 data is available for reading off the
2
nd FIFO
2. Send 00H to address N+5. This will prevent the controller from updating the record once the
current record has been sent to the 2nd FIFO.
3. Read bit 0 of address N+7 until it is 0. This bit is set to zero by the controller when the data record
has been sent to the 2nd FIFO and is ready to be read.
4. Read byte at address N+5. This is the data.
5. Repeat step 4 until all of the desired records have been read. Do not read past the end of the data
record - this condition can be tested by monitoring the 'Not Empty' status bit. This can be done by
reading bit 2 of address N+7. If this bit is equal to 1, the FIFO is not empty. If this bit is 0, the
FIFO is empty. The status byte is described below.
6. Send 00H to address N+5. This allows the controller to resume updating the record.
Note: Data loss can occur if the above procedure is not followed.
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Overview of Secondary FIFO Procedure:
When using the Secondary FIFO, the user reads the 8-bit data and 8-bit status values at the address
N+5 and N+7 (N is the base communication address). The status byte consists of 3 bits of information.
Bit 0 is the 'busy' bit, Bit 1 is the 'freeze' bit and Bit 2 is the 'not empty' bit. The additional bits are not
used. The following is an explanation of these three status bits:
Bit 0 (Busy Bit) - A '1' signifies that the controller is still sending data to the FIFO. The controller sets
this bit to 0 when it is done.
Bit 1 (Freeze Bit) - This bit is '1' when the controller is not sending data to the FIFO and '0' when the
controller is sending data to the FIFO. When any value is written to the register N+7, this bit will be
set to '1' and the controller will send the rest of the current record then stop sending data to the FIFO.
When any value is written to the register N+5, the freeze bit will be set to '0' and the controller will
resume its updates to the FIFO. The record must be frozen while reading the record so that it does not
change during the read.
Bit 2 (Not Empty Bit) - When this bit is set to '1' by the controller, there is data in the FIFO to be read.
Operation
Read
Register (address)
Value
N+5
N+7
Data Byte
Read
Status Byte
bit 0 = busy
bit 1 = freeze
bit 2 = not empty
bit 3- 7 = Not Used
Write
Write
N+5
N+7
Any Value - Sets freeze bit
Any Value - Clears freeze bit
DMA / Secondary FIFO Memory Map
ADDR
00-01
02
TYPE
UW
UB
UB
UB
UB
UB
UB
UB
UB
UB
UB
UB
UB
UB
UB
UB
UB
UB
ITEM
sample number
general input 0
general input 1
general input 2
general input 3
general input 4
general input 5
general input 6
general input 7
general input 8
general input 9
general output 0
general output 1
general output 2
general output 3
general output 4
general output 5
general output 6
03
04
05
06
07
08
09
10
11
12
13
14
15
16
17
18
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19
UB
UB
UB
UB
UB
UW
UW
SL
general output 7
20
general output 8
21
general output 9
22
error code
23
general status
24-25
26-27
28-31
32-33
34-35
36-39
segment count of coordinated move for S plane
coordinated move status for S plane
distance traveled in coordinated move for S plane
segment count of coordinated move for T plane
coordinated move status for T plane
distance traveled in coordinated move for T plane
UW
UW
SL
40-41
42
UW
UB
UB
SL
x,a axis status
x,a axis switches
43
x,a axis stopcode
44-47
48-51
52-55
56-59
60-63
64-65
66-67
x,a axis reference position
x,a axis motor position
x,a axis position error
x,a axis auxiliary position
x,a axis velocity
SL
SL
SL
SL
SW
SW
x,a axis torque
x,a axis analog input
68-69
70
UW
UB
UB
SL
y,b axis status
y,b axis switches
71
y,b axis stopcode
72-75
76-79
80-83
84-87
88-91
92-93
94-95
y,b axis reference position
y,b axis motor position
y,b axis position error
y,b axis auxiliary position
y,b axis velocity
SL
SL
SL
SL
SW
SW
y,b axis torque
y,b axis analog input
96-97
UW
UB
UB
SL
z,c axis status
98
z,c axis switches
99
z,c axis stopcode
100-103
104-107
108-111
112-115
116-119
120-121
122-123
z,c axis reference position
z,c axis motor position
z,c axis position error
z,c axis auxiliary position
z,c axis velocity
SL
SL
SL
SL
SW
SW
z,c axis torque
z,c axis analog input
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124-125
126
UW
UB
UB
SL
w,d axis status
w,d axis switches
127
w,d axis stopcode
128-131
132-135
136-139
140-143
144-147
148-149
150-151
w,d axis reference position
w,d axis motor position
w,d axis position error
w,d axis auxiliary position
w,d axis velocity
SL
SL
SL
SL
SW
SW
w,d axis torque
w,d axis analog input
Note: UB = Unsigned Byte, UW = Unsigned Word, SW = Signed Word, SL = Signed Long Word
Explanation of Status Information and Axis Switch Information
General Status Information (1 Byte)
BIT 7
BIT 6
BIT 5
BIT 4
BIT 3
BIT 2
BIT 1
BIT 0
Program
Running
N/A
N/A
N/A
N/A
Waiting
for input
from IN
command
Trace On Echo On
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
Forward
Limit
State of
Reverse
Limit
State of
Home
Input
SM
Jumper
Installed
Axis Status Information (2 Byte)
BIT 15
BIT 14
BIT 13
BIT 12
BIT 11
BIT 10
BIT 9
BIT 8
Move in
Progress
Mode of
Motion
Mode of
Motion
(FE) Find Home
1st Phase
of HM
complete
2
nd Phase
of HM
complete
or FI
command
issued
Mode of
Motion
Edge in
(HM) in
Progress
Progress
PA or PR PA only
Coord.
Motion
BIT 7
BIT 6
BIT 5
BIT 4
BIT 3
BIT 2
BIT 1
BIT 0
Negative
Direction Motion
Move
Mode of
Motion is Motion is Motion is Latch is
slewing stopping making armed
due to ST final
Off-On-
Error
occurred
Motor Off
Contour
or Limit
Switch
decel.
Coordinated Motion Status Information for S or T plane (2 Byte)
BIT 15
BIT 14
BIT 13
BIT 12
BIT 11
BIT 10
BIT 9
BIT 8
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Move in
Progress
BIT 7
BIT 6
BIT 5
BIT 4
BIT 3
BIT 2
BIT 1
BIT 0
Motion is Motion is Motion is
slewing stopping making
due to ST final
or Limit
Switch
decel.
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.
Interrupts
The DMC-13X8 provides 7 hardware interrupt lines that will, when enabled, interrupt the VME host.
Interrupts free the host from having to poll for the occurrence of certain events such as motion
complete or excess position error.
Interrupts on the DMC-13X8 are vectored, allowing the controller to interrupt on multiple conditions.
The vector and the interrupting event are specified by the EI command. The vector must be sent prior
to an interrupt occurring, regardless of the interrupt being UI or conditional.
The DMC-13X8 provides an interrupt buffer that is eight levels deep. This allows for multiple
interrupt conditions to be stored in sequence of occurrence without loss of data. The EI0 clears the
interrupt queue.
Setting up Interrupts
To set the controller up for interrupts, the appropriate hardware jumpers must be placed on the
controller to select the specific IRQ. Hardware configuration for the interrupts is described in Step 2,
Chapter 2 of this manual. Once the IRQ line, along with the corresponding IAD jumpers, have been
selected, the data 2 and 4 should be written to the CONTROL register at address N + 3. An interrupt
service routine must also be incorporated in your host program.
After the interrupt has been set up, the EI command is used to specify the event which will cause the
interrupt, as well as the vector on which the interrupt will occur. The events that will cause an
interrupt are listed below in the Configuring Interrupts section.
Interrupts may also be sent by the user, specified by the UI command. There are 16 of these User
Interrupts that can be sent from the controller, either through a program or through the command line.
The EI command must be used to specify the vector to be used by the UI.
Configuring Interrupts
The events which will cause the controller to send an interrupt are as follows:
The * conditions must be re-enabled after each occurrence.
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Bit Number (m)
Condition
0
1
X motion complete
Y motion complete
Z motion complete
W motion complete
E motion complete
F motion complete
G motion complete
H motion complete
All axes motion complete
Excess position error*
Limit switch
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Watchdog timer
Reserved
Application program stopped
Command done
Inputs* (uses n for mask)
When any one of these 8 inputs generate an interrupt, the EI command must be given again to re-
enable the interrupts on other specified inputs.
Bit number (n)
Input
Input 1
Input 2
Input 3
Input 4
Input 5
Input 6
Input 7
Input 8
0
1
2
3
4
5
6
7
m
and
M = Σ 2
n
N = Σ 2
The vector chosen for the specific interrupt is entered into the third data field (o) of the EI command.
The vector is selected as a value between 8 and 255.
For example, to select an interrupt for the conditions X motion complete, Z motion complete, excess
position error and a vector of 16, you would enable bits 0, 2 and 9.
M = 29 + 22 + 20 = 512 + 4 + 1 = 517
EI 517,,16
If you want an interrupt for Input 2 only with vector of 8, you would enable bit 15 for the m parameter
and bit 1 for the n parameter.
M = 215 = 32,768
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N = 21 = 2
EI 32768,2,8
Servicing Interrupts
Once an interrupt occurs, the host computer can read information about the interrupt by first writing
the data 6 to the CONTROL register at address N + 3. Then the host reads the control register data.
The returned data has the following meaning:
Hex Data
Condition
00
No interrupt
D9
Watchdog timer activated
Command done
DA
DB
Application program done
User interrupt
F0 thru FF
E1 thru E8
C0
Input interrupt
Limit switch occurred
Excess position error
All axis motion complete
E axis motion complete
F axis motion complete
G axis motion complete
H axis motion complete
W axis motion complete
Z axis motion complete
Y axis motion complete
X axis motion complete
C8
D8
D7
D6
D5
D4
D3
D2
D1
D0
Example - Interrupts
1) Interrupt on Y motion complete on IRQ5 with vector 255.
Select IRQ5 on DMC-13X8
Install interrupt service routine in host program
Write data 2, then 4 to address N + 3
Enable bit 1 on EI command, m = 21 = 2; EI 2,,255
PR,5000
BGY
Now, when the motion is complete, IRQ5 will go high with a vector of 255, triggering the interrupt
service routine. Write a 6 to address N + 3. Then read N + 3 to receive the data D1 hex.
2) Send User Interrupt when at speed
#I
Label
PR 1000
SP 5000
BGX
Position
Speed
Begin
ASX
At speed
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UI1
EN
Send interrupt
End
This program sends an interrupt when the X axis is at its slew speed. After a 6 is written to address N
+ 3, the data F1 will be read at address N + 3.
F1 corresponds to UI1.
Controller Response to DATA
Instructions to the DMC-13X8 may be sent in Binary or ASCII format. Binary communication allows
for faster data processing.
In the ASCII mode, instructions are represented by two characters followed by the appropriate
parameters. Each instruction must be terminated by a carriage return or semicolon.
The DMC-13X8 decodes each ASCII character (one byte) one at a time. It takes approximately .350
msec for the controller to decode each ASCII command. However, the VME host can send data to the
controller at a much faster rate because of the FIFO buffer. Binary commands are processed
approximately 30% faster than their corresponding ASCII commands.
After the instruction is decoded, the DMC-13X8 returns a colon (:) if the instruction was valid or a
question mark (?) if the instruction was not valid.
For instructions that return data, such as Tell Position (TP), the DMC-13X8 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-13X8 response with the data sent. The echo is enabled by
sending the command EO 1 to the controller.
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Chapter 5 Command Basics
Introduction
The DMC-13X8 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-13X8 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-13X8, or an
entire group of commands can be downloaded into the controller’s 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-13X8 instruction set and syntax. A summary of commands as well as
a complete listing of all DMC-13X8 instructions is included in the Command Reference.
Command Syntax - ASCII
DMC-13X8 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 <enter>
is used to terminate the instruction for processing by the DMC-13X8 command interpreter. Note: If
you are using a Galil terminal program, commands will not be processed until an <enter> command is
given. This allows the user to separate many commands on a single line and not begin execution until
the user gives the <enter> command.
IMPORTANT: All DMC-13X8 or DMC-13X8 commands are sent in upper case.
For example, the command
PR 4000 <enter>
Position relative
PR is the two character instruction for position relative. 4000 is the argument which represents the
required position value in counts. The <enter> terminates the instruction. For specifying data for the
X,Y,Z and W 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.
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To view the current values for each command, type the command followed by a ? for each axis
requested.
PR 1000
Specify X only as 1000
Specify Y only as 2000
Specify Z only as 3000
Specify W only as 4000
Specify X Y Z and W
Specify Y and W only
Request X,Y,Z,W values
Request Y value only
PR ,2000
PR ,,3000
PR ,,,4000
PR 2000, 4000,6000, 8000
PR ,8000,,9000
PR ?,?,?,?
PR ,?
The DMC-13X8 provides an alternative method for specifying data. Here data is specified
individually using a single axis specifier such as X,Y,Z or W. An equals sign is used to assign data to
that axis. For example:
PRX=1000
Specify a position relative movement for the X axis of 1000
Specify acceleration for the Y axis as 200000
ACY=200000
Instead of data, some commands request action to occur on an axis or group of axes. For example, ST
XY stops motion on both the X and Y axes. Commas are not required in this case since the particular
axis is specified by the appropriate letter X Y Z or W. If no parameters follow the instruction, action
will take place on all axes. Here are some examples of syntax for requesting action:
BG X
Begin X only
BG Y
Begin Y only
BG XYZW
BG YW
BG
Begin all axes
Begin Y and W only
Begin all axes
Coordinated Motion with more than 1 axis
When requesting action for coordinated motion, the letter S or T is used to specify the coordinated
motion. This allows for coordinated motion to be setup for two separate coordinate systems. Refer to
the CA command in the Command Reference for more information on specifying a coordinate system.
For example:
BG S
Begin coordinated sequence on S coordinate system.
BG TW
Begin coordinated sequence on T coordinate system and W axis
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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
01
02
04
06
No datafields (i.e. SH or BG)
One byte per field
One word (2 bytes per field)
One long word (4 bytes) per field
Galil real format (4 bytes integer and 2 bytes fraction)
Byte 3 specifies whether the command applies to a coordinated move as follows:
00
01
No coordinated motion movement
Coordinated motion movement
For example, the command STS designates motion to stop on a vector move, S coordinate system. 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 8th data field
Bit 6 = G axis or 7th data field
Bit 5 = F axis or 6th data field
Bit 4 = E axis or 5th data field
Bit 3 = D axis or 4th data field
Bit 2 = C axis or 3rd data field
Bit 1 = B axis or 2nd data field
Bit 0 = A axis or 1st 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
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05 specifies bit 0 is active for A axis and bit 2 is active for C axis (20 + 22=5)
03 E8 represents 1000
FE OC represents -500
Example
The command ST XYZS 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) 20+21+23 =7
Binary command table
Command
No.
Command
No.
Command
No.
reserved
KP
KI
80
81
82
83
84
85
86
87
88
89
8a
8b
8c
8d
8e
8f
reserved
reserved
reserved
reserved
reserved
LM
ab
ac
ad
ae
af
reserved
reserved
RP
d6
d7
d8
d9
da
db
dc
dd
de
df
KD
DV
AF
KF
PL
TP
TE
b0
b1
b2
a3
b4
b5
b6
b7
b8
b9
ba
bb
bc
bd
be
bf
TD
LI
TV
VP
RL
ER
IL
CR
TT
TN
TS
TL
LE, VE
VT
TI
e0
e1
e2
e3
e4
e5
e6
e7
e8
e9
ea
eb
ec
ed
ee
MT
CE
OE
FL
SC
VA
reserved
reserved
reserved
TM
VD
VS
BL
AC
DC
SP
VR
90
91
92
93
94
95
96
97
98
reserved
reserved
CM
CN
LZ
OP
IT
CD
OB
FA
FV
GR
DP
DE
DT
SB
ET
c0
c1
c2
c3
CB
EM
I I
EP
EI
EG
AL
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OF
99
9a
9b
9c
9d
9e
9f
EB
c4
c5
c6
c7
c8
c9
ca
cb
cc
cd
ce
cf
reserved
reserved
reserved
reserved
reserved
reserved
reserved
reserved
reserved
reserved
reserved
reserved
reserved
reserved
reserved
reserved
reserved
ef
f0
f1
f2
f3
f4
f5
f6
f7
f8
f9
fa
fb
fc
fd
fe
ff
GM
EQ
reserved
reserved
reserved
reserved
reserved
BG
EC
reserved
AM
MC
TW
MF
a0
a1
a2
a3
a4
a5
a6
a7
a8
a9
aa
ST
MR
AD
AB
HM
AP
FE
AR
FI
AS
d0
d1
d2
d3
d4
d5
PA
AI
PR
AT
JG
WT
WC
reserved
MO
SH
Controller Response to DATA
The DMC-13X8 returns a : for valid commands.
The DMC-13X8 returns a ? for invalid commands.
For example, if the command BG is sent in lower case, the DMC-13X8 will return a ?.
:bg <enter>
invalid command, lower case
?
DMC-13X8 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 <enter>
Tell Code command
1 Unrecognized command Returned response
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.
Interrogating the Controller
Interrogation Commands
The DMC-13X8 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
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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
RL
∧R ∧V
SC
TB
TC
TD
TE
TI
Report Command Position
Report Latch
Firmware Revision Information
Stop Code
Tell Status
Tell Error Code
Tell Dual Encoder
Tell Error
Tell Input
TP
Tell Position
TR
TS
Trace
Tell Switches
Tell Torque
TT
TV
Tell Velocity
For example, the following example illustrates how to display the current position of the X axis:
TP X <enter>
Tell position X
0000000000
Controllers Response
Tell position X and Y
Controllers Response
TP XY <enter>
0000000000,0000000000
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 X,Y,Z,W values
PR ,?
Request Y value only
The controller can also be interrogated with operands.
Operands
Most DMC-13X8 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
All of the command operands begin with the underscore character (_). For example, the value of the
current position on the X axis can be assigned to the variable ‘V’ with the command:
V=_TPX
The Command Reference denotes all commands which have an equivalent operand as "Used as an
Operand". Also, see description of operands in Chapter 7.
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Chapter 6 Programming Motion
Overview
The DMC-13X8 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-1318 is a single axis controller and uses only X-axis motion. Likewise, the DMC-1328 uses
X and Y, the DMC-1338 uses X, Y and Z and the DMC-1348 uses X, Y, Z and W.
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.
Independent Axis Positioning
PA,PR
SP,AC,DC
Velocity control where no final endpoint is prescribed.
Motion stops on Stop command.
Independent Jogging
JG
AC,DC
ST
Motion Path described as incremental position points versus Contour Mode
time.
CM
CD
DT
WC
2,3 or 4 axis coordinated motion where path is described by Linear Interpolation
linear segments.
LM
LI,LE
VS,VR
VA,VD
2-D motion path consisting of arc segments and linear
segments, such as engraving or quilting.
Coordinated Motion
VM
VP
CR
VS,VR
VA,VD
VE
Third axis must remain tangent to 2-D motion path, such as
knife cutting.
Coordinated motion with tangent axis specified
VM
VP
CR
VS,VA,VD
TN
VE
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Electronic gearing where slave axes are scaled to master axis Electronic Gearing
which can move in both directions.
GA
GR
GM (if gantry)
Master/slave where slave axes must follow a master such as Electronic Gearing
conveyer speed.
GA
GR
Moving along arbitrary profiles or mathematically
prescribed profiles such as sine or cosine trajectories.
Contour Mode
CM
CD
DT
WC
Teaching or Record and Play Back
Contour Mode with Automatic Array Capture
CM
CD
DT
WC
RA
RD
RC
Backlash Correction
Dual Loop
DV
Following a trajectory based on a master encoder position
Electronic Cam
EA
EM
EP
ET
EB
EG
EQ
Smooth motion while operating in independent axis
positioning
Independent Motion Smoothing
Vector Smoothing
IT
Smooth motion while operating in vector or linear
interpolation positioning
VT
Smooth motion while operating with stepper motors
Gantry - two axes are coupled by gantry
Stepper Motor Smoothing
Gantry Mode
KS
GR
GM
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),
acceleration ramp (AC), and deceleration ramp (DC), for each axis. On begin (BG), the DMC-13X8
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-13X8 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. XYZ or
W 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
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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 begin. Note:
If the motor is not moving, the IP command is equivalent to the PR and BG command combination.
Command Summary - Independent Axis
COMMAND
PR x,y,z,w
PA x,y,z,w
SP x,y,z,w
AC x,y,z,w
DC x,y,z,w
BG XYZW
ST XYZW
IP x,y,z,w
DESCRIPTION
Specifies relative distance
Specifies absolute position
Specifies slew speed
Specifies acceleration rate
Specifies deceleration rate
Starts motion
Stops motion before end of move
Changes position target
IT x,y,z,w
Time constant for independent motion smoothing
Trippoint for profiler complete
Trippoint for "in position"
AM XYZW
MC XYZW
The lower case specifiers (x,y,z,w) represent position values for each axis.
The DMC-13X8 also allows use of single axis specifiers such as PRY=2000.
Operand Summary - Independent Axis
OPERAND
DESCRIPTION
_ACx
Return acceleration rate for the axis specified by ‘x’
Return deceleration rate for the axis specified by ‘x’
Returns the speed for the axis specified by ‘x’
_DCx
_SPx
_PAx
Returns current destination if ‘x’ axis is moving, otherwise returns the current commanded
position if in a move.
_PRx
Returns current incremental distance specified for the ‘x’ axis
Example - Absolute Position Movement
PA 10000,20000
Specify absolute X,Y position
Acceleration for X,Y
Deceleration for X,Y
Speeds for X,Y
AC 1000000,1000000
DC 1000000,1000000
SP 50000,30000
BG XY
Begin motion
Example - Multiple Move Sequence
Required Motion Profiles:
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X-Axis
Y-Axis
Z-Axis
500 counts
Position
10000 count/sec
Speed
2
2
Acceleration
500000 counts/sec
1000 counts
Position
15000 count/sec
Speed
Acceleration
500000 counts/sec
100 counts
Position
5000 counts/sec
500000 counts/sec
Speed
Acceleration
This example will specify a relative position movement on X, Y and Z axes. The movement on each
axis will be separated by 20 msec. Fig. 6.1 shows the velocity profiles for the X,Y and Z axis.
#A
Begin Program
PR 2000,500,100
Specify relative position movement of 1000, 500 and 100 counts for X,Y and Z
axes.
SP 15000,10000,5000
Specify speed of 10000, 15000, and 5000 counts / sec
Specify acceleration of 500000 counts / sec2 for all axes
Specify deceleration of 500000 counts / sec2 for all axes
Begin motion on the X axis
AC 500000,500000,500000
DC 500000,500000,500000
BG X
WT 20
BG Y
WT 20
BG Z
EN
Wait 20 msec
Begin motion on the Y axis
Wait 20 msec
Begin motion on Z axis
End Program
VELOCITY
(COUNTS/SEC)
X axis velocity profile
Y axis velocity profile
20000
15000
10000
Z axis velocity profile
5000
TIME (ms)
100
0
20
80
40
60
Figure 6.1 - Velocity Profiles of XYZ
Notes on fig 6.1: The X and Y axis have a ‘trapezoidal’ velocity profile, while the Z axis has a
‘triangular’ velocity profile. The X and Y axes accelerate to the specified speed, move at this constant
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speed, and then decelerate such that the final position agrees with the command position, PR. The Z
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.
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 a 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 DMC-
13X8 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
AC x,y,z,w
BG XYZW
DC x,y,z,w
IP x,y,z,w
DESCRIPTION
Specifies acceleration rate
Begins motion
Specifies deceleration rate
Increments position instantly
Time constant for independent motion smoothing
Specifies jog speed and direction
Stops motion
IT x,y,z,w
JG +/-x,y,z,w
ST XYZW
Parameters can be set with individual axes specifiers such as JGY=2000 (set jog speed for Y axis to
2000) or ACYH=400000 (set acceleration for Y and H axes to 400000).
Operand Summary - Independent Axis
OPERAND
DESCRIPTION
_ACx
Return acceleration rate for the axis specified by ‘x’
Return deceleration rate for the axis specified by ‘x’
Returns the jog speed for the axis specified by ‘x’
Returns the actual velocity of the axis specified by ‘x’ (averaged over .25 sec)
_DCx
_SPx
_TVx
Example - Jog in X only
Jog X motor at 50000 count/s. After X motor is at its jog speed, begin jogging Z in reverse direction at
25000 count/s.
#A
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AC 20000,,20000
DC 20000,,20000
JG 50000,,-25000
BG X
Specify X,Z acceleration of 20000 cts / sec
Specify X,Z deceleration of 20000 cts / sec
Specify jog speed and direction for X and Z axis
Begin X motion
AS X
Wait until X is at speed
BG Z
Begin Z motion
EN
Example - 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.
#JOY
Label
JG0
Set in Jog Mode
Begin motion
Label for loop
Read analog input
Compute speed
Change JG speed
Loop
BGX
#B
V1 =@AN[1]
VEL=V1*50000/10
JG VEL
JP #B
Linear Interpolation Mode
The DMC-13X8 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
YZ selects only the Y and Z 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 Linear Segments
The command LI x,y,z,w 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.
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It is the responsibility of the user to keep enough LI segments in the DMC-13X8 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.
Additional Commands
The commands VS n, VA n, and VD n are used to specify the vector speed, acceleration and
deceleration. The DMC-13X8 computes the vector speed based on the axes specified in the LM mode.
For example, LM XYZ designates linear interpolation for the X,Y and Z axes. The vector speed for
this example would be computed using the equation:
2
2
2
2
VS =XS +YS +ZS , where XS, YS and ZS are the speed of the X,Y and Z 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’ trippoint, which halts program execution until the vector distance of n has been reached.
An Example of Linear Interpolation Motion:
#LMOVE
label
DP 0,0
Define position of X and Y axes to be 0
Define linear mode between X and Y axes.
Specify first linear segment
Specify second linear segment
End linear segments
LMXY
LI 5000,0
LI 0,5000
LE
VS 4000
BGS
Specify vector speed
Begin motion sequence
AV 4000
VS 1000
AV 5000
VS 4000
EN
Set trippoint to wait until vector distance of 4000 is reached
Change vector speed
Set trippoint to wait until vector distance of 5000 is reached
Change vector speed
Program end
In this example, the XY system is required to perform a 90° turn. In order to slow the speed around
the corner, we use the AV 4000 trippoint, which slows the speed to 1000 count/s. Once the motors
reach the corner, the speed is increased back to 4000 cts / s.
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 x,y,z,w < 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.
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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.
#ALT
Label for alternative program
DP 0,0
Define Position of X and Y axis to be 0
LMXY
Define linear mode between X and Y axes.
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
End linear segments
LI 4000,0 <4000 >1000
LI 1000,1000 < 4000 >1000
LI 0,5000 < 4000 >1000
LE
BGS
EN
Begin motion sequence
Program end
Changing Feedrate:
The command VR n allows the feedrate, VS, to be scaled between 0 and 10 with a resolution of .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 feedrate override. VR does not
ratio the accelerations. For example, VR .5 results in the specification VS 2000 to be divided in half.
Command Summary - Linear Interpolation
COMMAND
LM xyzw
LM?
DESCRIPTION
Specify axes for linear interpolation
Returns number of available spaces for linear segments in DMC-13X8 sequence buffer.
Zero means buffer full. 512 means buffer empty.
LI x,y,z,w < n
VS n
VA n
VD n
VR n
BGS
Specify incremental distances relative to current position, and assign vector speed n.
Specify vector speed
Specify vector acceleration
Specify vector deceleration
Specify the vector speed ratio
Begin Linear Sequence
CS
Clear sequence
LE
Linear End- Required at end of LI command sequence
Returns the length of the vector (resets after 2147483647)
Trippoint for After Sequence complete
Trippoint for After Relative Vector distance,n
S curve smoothing constant for vector moves
LE?
AMS
AV n
VT
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Operand Summary - Linear Interpolation
OPERAND
DESCRIPTION
_AV
Return distance travelled
_CS
Segment counter - returns number of the segment in the sequence, starting at zero.
Returns length of vector (resets after 2147483647)
_LE
_LM
Returns number of available spaces for linear segments in DMC-13X8 sequence buffer.
Zero means buffer full. 512 means buffer empty.
_VPm
Return the absolute coordinate of the last data point along the trajectory.
(m=X,Y,Z or W or 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 X axis moves toward the point X=5000. Suppose that when X=3000,
the controller is interrogated using the command ‘MG _AV’. The returned value will be 3000. The
value of _CS, _VPX and _VPY will be zero.
Now suppose that the interrogation is repeated at the second segment when Y=2000. The value of
_AV at this point is 7000, _CS equals 1, _VPX=5000 and _VPY=0.
Example - Linear Move
Make a coordinated linear move in the ZW plane. Move to coordinates 40000,30000 counts at a
2
vector speed of 100000 counts/sec and vector acceleration of 1000000 counts/sec .
LM ZW
Specify axes for linear interpolation
Specify ZW distances
Specify end move
LI,,40000,30000
LE
VS 100000
VA 1000000
VD 1000000
BGS
Specify vector speed
Specify vector acceleration
Specify vector deceleration
Begin sequence
Note that the above program specifies the vector speed, VS, and not the actual axis speeds VZ and
VW. The axis speeds are determined by the controller from:
VS = VZ 2 +VW 2
The resulting profile is shown in Figure 6.2.
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30000
27000
POSITION W
3000
0
0
4000
36000
40000
POSITION Z
FEEDRATE
0
0.1
0.5
0.6
TIME (sec)
VELOCITY
Z-AXIS
TIME (sec)
VELOCITY
W-AXIS
TIME (sec)
Figure 6.2 - Linear Interpolation
Example - Multiple Moves
This example makes a coordinated linear move in the XY plane. The Arrays VX and VY are used to
store 750 incremental distances which are filled by the program #LOAD.
#LOAD
Load Program
DM VX [750],VY [750]
COUNT=0
Define Array
Initialize Counter
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N=0
Initialize position increment
LOOP
#LOOP
VX [COUNT]=N
VY [COUNT]=N
N=N+10
Fill Array VX
Fill Array VY
Increment position
Increment counter
COUNT=COUNT+1
JP #LOOP,COUNT<750
#A
Loop if array not full
Label
LM XY
Specify linear mode for XY
Initialize array counter
If sequence buffer full, wait
Begin motion on 500th segment
Specify linear segment
Increment array counter
Repeat until array done
End Linear Move
COUNT=0
#LOOP2;JP#LOOP2,_LM=0
JS#C,COUNT=500
LI VX[COUNT],VY[COUNT]
COUNT=COUNT+1
JP #LOOP2,COUNT<750
LE
AMS
After Move sequence done
Send Message
MG "DONE"
EN
End program
#C;BGS;EN
Begin Motion Subroutine
Vector Mode: Linear and Circular Interpolation Motion
The DMC-13X8 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-13X8 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 XWZ selects the XW
axes for coordinated motion and the Z-axis as the tangent.
Specifying the Coordinate Plane
The DMC-13X8 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 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.
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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. The command, CR r,q,d define a circular arc with a radius r, starting angle of q,
and a traversed angle d. The notation 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-13X8 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 x,y < n >m
CR r,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.
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.
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Changing Feedrate:
The command VR n allows the feedrate, 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 feedrate 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-13X8 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 trippoint, 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-13X8 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
m,n specifies coordinated axes p specifies tangent axis such as X,Y,Z,W p=N
turns off tangent axis
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.
Example:
Assume an XY table with the Z-axis controlling a knife. The Z-axis has a 2000 quad counts/rev
encoder and has been initialized after power-up to point the knife in the +Y direction. A 180° circular
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 XY plane is in the +X direction. This
corresponds to the position -500 in the Z-axis, and defines the offset. The motion has two parts. First,
X,Y and Z are driven to the starting point, and later, the cut is performed. Assume that the knife is
engaged with output bit 0.
#EXAMPLE
VM XYZ
TN 2000/360,-500
CR 3000,0,180
VE
Example program
XY coordinate with Z as tangent
2000/360 counts/degree, position -500 is 0 degrees in XY plane
3000 count radius, start at 0 and go to 180 CCW
End vector
CB0
Disengage knife
PA 3000,0,_TN
BG XYZ
AM XYZ
SB0
Move X and Y to starting position, move Z to initial tangent position
Start the move to get into position
When the move is complete
Engage knife
WT50
Wait 50 msec for the knife to engage
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BGS
Do the circular cut
AMS
After the coordinated move is complete
Disengage knife
CB0
MG "ALL DONE"
EN
End program
Command Summary - Coordinated Motion Sequence
COMMAND
DESCRIPTION
VM m,n
Specifies the axes for the planar motion where m and n represent the planar axes and p is
the tangent axis.
VP m,n
Return coordinate of last point, where m=X,Y,Z or W.
CR r,Θ, ±ΔΘ
Specifies arc segment where r is the radius, Θ is the starting angle and ΔΘ is the travel
angle. Positive direction is CCW.
VS s,t
VA s,t
VD s,t
VR s,t
BGST
CSST
AV s,t
AMST
TN m,n
ES m,n
VT s,t
LM?
Specify vector speed or feedrate of sequence.
Specify vector acceleration along the sequence.
Specify vector deceleration along the sequence.
Specify vector speed ratio
Begin motion sequence, S or T
Clear sequence, S or T
Trippoint for After Relative Vector distance.
Holds execution of next command until Motion Sequence is complete.
Tangent scale and offset.
Ellipse scale factor.
S curve smoothing constant for coordinated moves
Return number of available spaces for linear and circular segments in DMC-13X8
sequence buffer. Zero means buffer is full. 512 means buffer is empty.
CAS or CAT
Specifies which coordinate system is to be active (S or T)
Operand Summary - Coordinated Motion Sequence
OPERAND
_VPM
_AV
DESCRIPTION
The absolute coordinate of the axes at the last intersection along the sequence.
Distance traveled.
_LM
Number of available spaces for linear and circular segments in DMC-13X8 sequence
buffer. Zero means buffer is full. 512 means buffer is empty.
_CS
_VE
Segment counter - Number of the segment in the sequence, starting at zero.
Vector length of coordinated move sequence.
When AV is used as an operand, _AV returns the distance traveled along the sequence.
The operands _VPX and _VPY can be used to return the coordinates of the last point specified along
the path.
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Example:
Traverse the path shown in Fig. 6.3. Feedrate is 20000 counts/sec. Plane of motion is XY
VM XY
Specify motion plane
Specify vector speed
Specify vector acceleration
Specify vector deceleration
Segment AB
VS 20000
VA 1000000
VD 1000000
VP -4000,0
CR 1500,270,-180
VP 0,3000
CR 1500,90,-180
VE
Segment BC
Segment CD
Segment DA
End of sequence
Begin Sequence
BGS
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
_VPX and _VPY 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+1500π+2000=10,712
The value of _CS is 2
_VPX,_VPY contain the coordinates of the point C
C (-4000,3000)
D (0,3000)
R = 1500
B (-4000,0)
A (0,0)
Figure 6.3 - The Required Path
Electronic Gearing
This mode allows up to 4 axes to be electronically geared to some master axes. The masters may rotate
in both directions and the geared axes will follow at the specified gear ratio. The gear ratio may be
different for each axis and changed during motion.
The command GAXYZW specifies the master axes. GR x,y,z,w specifies the gear ratios for the
slaves where the ratio may be a number between +/-127.9999 with a fractional resolution of .0001.
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There are two modes: standard gearing and gantry mode. The gantry mode is enabled with the
command GM. GR 0,0,00 turns off gearing in both modes. A limit switch or ST command disable
gearing in the standard mode but not in the gentry mode.
The command GM x,y,z,w select the axes to be controlled under the gantry mode. The parameter 1
enables gantry mode, and 0 disables it.
GR causes the specified axes to be geared to the actual position of the master. The master axis is
commanded with motion commands such as PR, PA or JG.
When the master axis is driven by the controller in the jog mode or an independent motion mode, it is
possible to define the master as the command position of that axis, rather than the actual position. The
designation of the commanded position master is by the letter, C. For example, GACX indicates that
the gearing is the commanded position of X.
An alternative gearing method is to synchronize the slave motor to the commanded vector motion of
several axes performed by GAS. For example, if the X and Y motor form a circular motion, the Z axis
may move in proportion to the vector move. Similarly, if X,Y and Z perform a linear interpolation
move, W can be geared to the vector move.
Electronic gearing allows the geared motor to perform a second independent or coordinated move in
addition to the gearing. For example, when a geared motor follows a master at a ratio of 1:1, it may be
advanced an additional distance with PR, or JG, commands, or VP, or LI.
Command Summary - Electronic Gearing
COMMAND
DESCRIPTION
GA n
Specifies master axes for gearing where:
n = X,Y,Z or W for main encoder as master
n = CX,CY,CZ or CW for commanded position.
n = DX,DY,DZ or DW for auxiliary encoders
n = S or T for gearing to coordinated motion.
GR x,y,z,w
GM x,y,z,w
MR x,y,z,w
MF x,y,z,w
Sets gear ratio for slave axes. 0 disables electronic gearing for specified axis.
X = 1 sets gantry mode, 0 disables gantry mode
Trippoint for reverse motion past specified value. Only one field may be used.
Trippoint for forward motion past specified value. Only one field may be used.
Example - Simple Master Slave
Master axis moves 10000 counts at slew speed of 100000 counts/sec. Y is defined as the master.
X,Z,W are geared to master at ratios of 5,-.5 and 10 respectively.
GA Y,,Y,Y
GR 5,,-.5,10
PR ,10000
SP ,100000
BGY
Specify master axes as Y
Set gear ratios
Specify Y position
Specify Y speed
Begin motion
Example - Electronic Gearing
Objective: Run two geared motors at speeds of 1.132 and -0.045 times the speed of an external master.
The master is driven at speeds between 0 and 1800 RPM (2000 counts/rev encoder).
Solution: Use a DMC-13X8 controller, where the Z-axis is the master and X and Y are the geared
axes.
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MO Z
Turn Z off, for external master
Specify Z as the master axis for both X and Y.
Specify gear ratios
GA Z, Z
GR 1.132,-.045
Now suppose the gear ratio of the X-axis is to change on-the-fly to 2. This can be achieved by
commanding:
GR 2
Specify gear ratio for X axis to be 2
Example - Gantry Mode
In applications where both the master and the follower are controlled by the DMC-13X8 controller, it
may be desired to synchronize the follower with the commanded position of the master, rather than the
actual position. This eliminates the coupling between the axes which may lead to oscillations.
For example, assume that a gantry is driven by two axes, X,Y, on both sides. This requires the gantry
mode for strong coupling between the motors. The X-axis is the master and the Y-axis is the follower.
To synchronize Y with the commanded position of X, use the instructions:
GA, CX
Specify the commanded position of X as master for Y.
Set gear ratio for Y as 1:1
Set gantry mode
GR,1
GM,1
PR 3000
BG X
Command X motion
Start motion on X axis
You may also perform profiled position corrections in the electronic gearing mode. Suppose, for
example, that you need to advance the slave 10 counts. Simply command
IP ,10
Specify an incremental position movement of 10 on Y axis.
Under these conditions, this IP command is equivalent to:
PR,10
Specify position relative movement of 10 on Y axis
BGY
Begin motion on Y axis
Often the correction is quite large. Such requirements are common when synchronizing cutting knives
or conveyor belts.
Example - Synchronize two conveyor belts with trapezoidal velocity
correction.
GA,X
Define X as the master axis for Y.
Set gear ratio 2:1 for Y
GR,2
PR,300
SP,5000
AC,100000
DC,100000
BGY
Specify correction distance
Specify correction speed
Specify correction acceleration
Specify correction deceleration
Start correction
Electronic Cam
The electronic cam is a motion control mode which enables the periodic synchronization of several
axes of motion. Up to 3 axes can be slaved to one master axis. The master axis encoder must be input
through a main encoder port.
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The electronic cam is a more general type of electronic gearing which allows a table-based relationship
between the axes. It allows synchronizing all the controller axes. For example, the DMC-1348
controller may have one master and up to three slaves.
To illustrate the procedure of setting the cam mode, consider the cam relationship for the slave axis Y,
when the master is X. Such a graphic relationship is shown in Figure 6.4.
Step 1. Selecting the master axis
The first step in the electronic cam mode is to select the master axis. This is done with the instruction
EAp where p = X,Y,Z,W
p is the selected master axis
For the given example, since the master is x, we specify EAX
Step 2. Specify the master cycle and the change in the slave axis (es).
In the electronic cam mode, the position of the master is always expressed modulo one cycle. In this
example, the position of x is always expressed in the range between 0 and 6000. Similarly, the slave
position is also redefined such that it starts at zero and ends at 1500. At the end of a cycle when the
master is 6000 and the slave is 1500, the positions of both x and y are redefined as zero. To specify the
master cycle and the slave cycle change, we use the instruction EM.
EM x,y,z,w
where x,y,z,w specify the cycle of the master and the total change of the slaves over one cycle.
The cycle of the master is limited to 8,388,607 whereas the slave change per cycle is limited to
2,147,483,647. If the change is a negative number, the absolute value is specified. For the given
example, the cycle of the master is 6000 counts and the change in the slave is 1500. Therefore, we use
the instruction:
EM 6000,1500
Step 3. Specify the master interval and starting point.
Next we need to construct the ECAM table. The table is specified at uniform intervals of master
positions. Up to 256 intervals are allowed. The size of the master interval and the starting point are
specified by the instruction:
EP m,n
where m is the interval width in counts, and n is the starting point.
For the given example, we can specify the table by specifying the position at the master points of 0,
2000, 4000 and 6000. We can specify that by
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EP 2000,0
Step 4. Specify the slave positions.
Next, we specify the slave positions with the instruction
ET[n]=x,y,z,w
where n indicates the order of the point.
The value, n, starts at zero and may go up to 256. The parameters x,y,z,w indicate the corresponding
slave position. For this example, the table may be specified by
ET[0]=,0
ET[1]=,3000
ET[2]=,2250
ET[3]=,1500
This specifies the ECAM table.
Step 5. Enable the ECAM
To enable the ECAM mode, use the command
EB n
where n=1 enables ECAM mode and n=0 disables ECAM mode.
Step 6. Engage the slave motion
To engage the slave motion, use the instruction
EG x,y,z,w
where x,y,z,w are the master positions at which the corresponding slaves must be engaged.
If the value of any parameter is outside the range of one cycle, the cam engages immediately. When
the cam is engaged, the slave position is redefined, modulo one cycle.
Step 7. Disengage the slave motion
To disengage the cam, use the command
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EQ x,y,z,w
where x,y,z,w are the master positions at which the corresponding slave axes are disengaged.
3000
2250
1500
0
2000
4000
6000
Master X
Figure 6.4: Electronic Cam Example
This disengages the slave axis at a specified master position. If the parameter is outside the master
cycle, the stopping is instantaneous.
To illustrate the complete process, consider the cam relationship described by
the equation:
Y = 0.5 X + 100 sin (0.18 X)
*
*
where X is the master, with a cycle of 2000 counts.
The cam table can be constructed manually, point by point, or automatically by a program. The
following program includes the set-up.
The instruction EAX defines X as the master axis. The cycle of the master is
2000. Over that cycle, X varies by 1000. This leads to the instruction EM 2000,1000.
Suppose we want to define a table with 100 segments. This implies increments of 20 counts each. If
the master points are to start at zero, the required instruction is EP 20,0.
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The following routine computes the table points. As the phase equals 0.18X and X varies in
increments of 20, the phase varies by increments of 3.6°. The program then computes the values of Y
according to the equation and assigns the values to the table with the instruction ET[N] = ,Y.
INSTRUCTION
#SETUP
INTERPRETATION
Label
EAX
Select X as master
Cam cycles
EM 2000,1000
EP 20,0
Master position increments
Index
N = 0
#LOOP
Loop to construct table from equation
20
P = N∗3.6
Note 3.6 = 0.18∗
S = @SIN [P] 100
*
Define sine position
Define slave position
Define table
Y = N 10+S
*
ET [N] =, Y
N = N+1
JP #LOOP, N<=100
EN
Repeat the process
Now suppose that the slave axis is engaged with a start signal, input 1, but that both the engagement
and disengagement points must be done at the center of the cycle: X = 1000 and Y = 500. This
implies that Y must be driven to that point to avoid a jump.
This is done with the program:
INSTRUCTION
#RUN
EB1
INTERPRETATION
Label
Enable cam
PA,500
SP,5000
BGY
starting position
Y speed
Move Y motor
After Y moved
Wait for start signal
Engage slave
Wait for stop signal
Disengage slave
End
AM
AI1
EG,1000
AI - 1
EQ,1000
EN
Command Summary - Electronic CAM
COMMAND
DESCRIPTION
EA p
Specifies master axes for electronic cam where:
p = X,Y,Z or W for main encoder as master
EB n
Enables the ECAM
EC n
ECAM counter - sets the index into the ECAM table
Engages ECAM
EG x,y,z,w
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EM x,y,z,w
EP m,n
EQ m,n
ET[n]
Specifies the change in position for each axis of the CAM cycle
Defines CAM table entry size and offset
Disengages ECAM at specified position
Defines the ECAM table entries
EW
Widen segment (see Application Note #2444)
Operand Summary - Electronic CAM
OPERAND
DESCRIPTION
_EB
Contains State of ECAM
_EC
Contains current ECAM index
Contains ECAM status for each axis
Contains size of cycle for each axis
Contains value of the ECAM table interval
Contains ECAM status for each axis
_Egx
_EM
_EP
_Eqx
Example - Electronic CAM
The following example illustrates a cam program with a master axis, Z, and two slaves, X and Y.
INSTRUCTION
INTERPRETATION
#A;V1=0
Label; Initialize variable
PA 0,0;BGXY;AMXY
EA Z
Go to position 0,0 on X and Y axes
Z axis as the Master for ECAM
Change for Z is 4000, zero for X, Y
ECAM interval is 400 counts with zero start
When master is at 0 position; 1st point.
2nd point in the ECAM table
3rd point in the ECAM table
4th point in the ECAM table
5th point in the ECAM table
6th point in the ECAM table
7th point in the ECAM table
8th point in the ECAM table
9th point in the ECAM table
10th point in the ECAM table
Starting point for next cycle
Enable ECAM mode
EM 0,0,4000
EP400,0
ET[0]=0,0
ET[1]=40,20
ET[2]=120,60
ET[3]=240,120
ET[4]=280,140
ET[5]=280,140
ET[6]=280,140
ET[7]=240,120
ET[8]=120,60
ET[9]=40,20
ET[10]=0,0
EB 1
JGZ=4000
Set Z to jog at 4000
EG 0,0
Engage both X and Y when Master = 0
Begin jog on Z axis
BGZ
#LOOP;JP#LOOP,V1=0
EQ2000,2000
MF,, 2000
Loop until the variable is set
Disengage X and Y when Master = 2000
Wait until the Master goes to 2000
Stop the Z axis motion
ST Z
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EB 0
EN
Exit the ECAM mode
End of the program
The above example shows how the ECAM program is structured and how the commands can be given
to the controller. The next page provides the results captured by the WSDK program. This shows how
the motion will be seen during the ECAM cycles. The first graph is for the X axis, the second graph
shows the cycle on the Y axis and the third graph shows the cycle of the Z axis.
Contour Mode
The DMC-13X8 also provides a contouring mode. This mode allows any arbitrary position curve to be
prescribed for 1 to 4 axes. This is ideal for following computer generated paths such as parabolic,
spherical or user-defined profiles. The path is not limited to straight line and arc segments and the path
length may be infinite.
Specifying Contour Segments
The Contour Mode is specified with the command, CM. For example, CMXZ specifies contouring on
the X and Z axes. Any axes that are not being used in the contouring mode may be operated in other
modes.
A contour is described by position increments which are described with the command, CD x,y,z,w
over a time interval, DT n. The parameter, n, specifies the time interval. The time interval is defined
n
as 2 ms, where n is a number between 1 and 8. The controller performs linear interpolation between
the specified increments, where one point is generated for each millisecond.
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Consider, for example, the trajectory shown in Fig. 6.5. The position X may be described by the
points:
Point 1
Point 2
Point 3
Point 4
X=0 at T=0ms
X=48 at T=4ms
X=288 at T=12ms
X=336 at T=28ms
The same trajectory may be represented by the increments
Increment 1
Increment 2
Increment 3
DX=48
DX=240
DX=48
Time=4
Time=8
Time=16
DT=2
DT=3
DT=4
When the controller receives the command to generate a trajectory along these points, it interpolates
linearly between the points. The resulting interpolated points include the position 12 at 1 msec,
position 24 at 2 msec, etc.
The programmed commands to specify the above example are:
#A
CMX
Specifies X axis for contour mode
Specifies first time interval, 22 ms
Specifies first position increment
Specifies second time interval, 23 ms
Specifies second position increment
Specifies the third time interval, 24 ms
Specifies the third position increment
Exits contour mode
DT 2
CD 48;WC
DT 3
CD 240;WC
DT 4
CD 48;WC
DT0;CD0
EN
POSITION
(COUNTS)
336
288
240
192
96
48
TIME (ms)
0
4
8
28
12
20
24
16
SEGMENT 1
SEGMENT 2
SEGMENT 3
Figure 6.5 - The Required Trajectory
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Additional Commands
The command, WC, is used as a trippoint "When Complete". This allows the DMC-13X8 to use the
next increment only when it is finished with the previous one. Zero parameters for DT followed by
zero parameters for CD exit the contour mode.
If no new data record is found and the controller is still in the contour mode, the controller waits for
new data. No new motion commands are generated while waiting. If bad data is received, the
controller responds with a ?.
Command Summary - Contour Mode
COMMAND
DESCRIPTION
CM XYZW
Specifies which axes for contouring mode. Any non-contouring axes may be operated in
other modes.
CD x,y,z,w
DT n
Specifies position increment over time interval. Range is +/-32,000. Zero ends contour
mode.
Specifies time interval 2n msec for position increment, where n is an integer between 1 and
8. Zero ends contour mode. If n does not change, it does not need to be specified with each
CD.
WC
Waits for previous time interval to be complete before next data record is processed.
Operand Summary - Contour Mode
OPERAND
DESCRIPTION
_CM
Contains a ‘0’ if the contour buffer is empty, otherwise contains a ‘1’.
General Velocity Profiles
The Contour Mode is ideal for generating any arbitrary velocity profiles. The velocity profile can be
specified as a mathematical function or as a collection of points.
The design includes two parts: Generating an array with data points and running the program.
Generating an Array - An Example
Consider the velocity and position profiles shown in Fig. 6.6. The objective is to rotate a motor a
distance of 6000 counts in 120 ms. The velocity profile is sinusoidal to reduce the jerk and the system
vibration. If we describe the position displacement in terms of A counts in B milliseconds, we can
describe the motion in the following manner:
Α
Β
ω = 1− cos(2π Β)
(
)
AT
B
A
Χ =
−
2π sin(2π B)
Note: ω is the angular velocity; X is the position; and T is the variable, time, in milliseconds.
In the given example, A=6000 and B=120, the position and velocity profiles are:
X = 50T - (6000/2π) sin (2π T/120)
Note that the velocity, ω, in count/ms, is
ω = 50 [1 - cos 2π T/120]
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Figure 6.6 - Velocity Profile with Sinusoidal Acceleration
The DMC-13X8 can compute trigonometric functions. However, the argument must be expressed in
degrees. Using our example, the equation for X is written as:
X = 50T - 955 sin 3T
A complete program to generate the contour movement in this example is given below. To generate an
array, we compute the position value at intervals of 8 ms. This is stored at the array POS. Then, the
difference between the positions is computed and is stored in the array DIF. Finally the motors are run
in the contour mode.
Contour Mode Example
INSTRUCTION
#POINTS
DM POS[16]
DM DIF[15]
C=0
INTERPRETATION
Program defines X points
Allocate memory
Set initial conditions, C is index
T is time in ms
T=0
#A
V1=50*T
V2=3*T
Argument in degrees
Compute position
Integer value of V3
Store in array POS
V3=-955*@SIN[V2]+V1
V4=@INT[V3]
POS[C]=V4
T=T+8
C=C+1
JP #A,C<16
#B
Program to find position differences
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C=0
#C
D=C+1
DIF[C]=POS[D]-POS[C]
Compute the difference and store
C=C+1
JP #C,C<15
EN
End first program
Program to run motor
Contour Mode
#RUN
CMX
DT3
4 millisecond intervals
C=0
#E
CD DIF[C]
WC
Contour Distance is in DIF
Wait for completion
C=C+1
JP #E,C<15
DT0
CD0
Stop Contour
EN
End the program
Teach (Record and Play-Back)
Several applications require teaching the machine a motion trajectory. Teaching can be accomplished
using the DMC-13X8 automatic array capture feature to capture position data. The captured data may
then be played back in the contour mode. The following array commands are used:
DM C[n]
RA C[]
Dimension array
Specify array for automatic record (up to 4 for DMC-13X8)
Specify data for capturing (such as _TPX or _TPZ)
RD _TPX
RC n,m
Specify capture time interval where n is 2n msec, m is number of records to be
captured
RC? or _RC
Returns a 1 if recording
Record and Playback Example:
#RECORD
DM XPOS[501]
RA XPOS[]
RD _TPX
MOX
Begin Program
Dimension array with 501 elements
Specify automatic record
Specify X position to be captured
Turn X motor off
RC2
Begin recording; 4 msec interval
Continue until done recording
Compute DX
#A;JP#A,_RC=1
#COMPUTE
DM DX[500]
C=0
Dimension Array for DX
Initialize counter
#L
Label
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D=C+1
DELTA=XPOS[D]-
XPOS[C]
Compute the difference
DX[C]=DELTA
C=C+1
Store difference in array
Increment index
JP #L,C<500
#PLAYBCK
CMX
Repeat until done
Begin Playback
Specify contour mode
Specify time increment
Initialize array counter
Loop counter
DT2
I=0
#B
CD XPOS[I];WC
I=I+1
Specify contour data
Increment array counter
Loop until done
JP #B,I<500
DT 0;CD0
EN
End contour mode
End program
For additional information about automatic array capture, see Chapter 7, Arrays.
Virtual Axis
The DMC-13X8 controller has an additional virtual axis designated as the N axis. This axis has no
encoder and no DAC. However, it can be commanded by the commands:
AC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RP.
The main use of the virtual axis is to serve as a virtual master in ECAM modes, and to perform an
unnecessary part of a vector mode. These applications are illustrated by the following examples.
ECAM Master Example
Suppose that the motion of the XY axes is constrained along a path that can be described by an
electronic cam table. Further assume that the ecam master is not an external encoder but has to be a
controlled variable.
This can be achieved by defining the N axis as the master with the command EAN and setting the
modulo of the master with a command such as EMN= 4000. Next, the table is constructed. To move
the constrained axes, simply command the N axis in the jog mode or with the PR and PA commands.
For example,
PAN = 2000
BGN
will cause the XY axes to move to the corresponding points on the motion cycle.
Sinusoidal Motion Example
The x axis must perform a sinusoidal motion of 10 cycles with an amplitude of 1000 counts and a
frequency of 20 Hz.
This can be performed by commanding the X and N axes to perform circular motion. Note that the
value of VS must be
VS=2p * R * F
where R is the radius, or amplitude and F is the frequency in Hz.
Set VA and VD to maximum values for the fastest acceleration.
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INSTRUCTION
VMXN
INTERPRETATION
Select axes
VA 68000000
VD 68000000
VS 125664
CR 1000, -90, 3600
VE
Maximum Acceleration
Maximum Deceleration
VS for 20 Hz
Ten cycles
BGS
Stepper Motor Operation
When configured for stepper motor operation, several commands are interpreted differently than from
servo mode. The following describes operation with stepper motors.
Specifying Stepper Motor Operation
In order to command stepper motor operation, the appropriate stepper mode jumpers must be installed.
See chapter 2 for this installation.
Stepper motor operation is specified by the command MT. The argument for MT is as follows:
2 specifies a stepper motor with active low step output pulses
-2 specifies a stepper motor with active high step output pulses
2.5 specifies a stepper motor with active low step output pulses and reversed direction
-2.5 specifies a stepper motor with active high step output pulse and reversed direction
Stepper Motor Smoothing
The command, KS, provides stepper motor smoothing. The effect of the smoothing can be thought of
as a simple Resistor-Capacitor (single pole) filter. The filter occurs after the motion profiler and has
the effect of smoothing out the spacing of pulses for a more smooth operation of the stepper motor.
Use of KS is most applicable when operating in full step or half step operation. KS will cause the step
pulses to be delayed in accordance with the time constant specified.
When operating with stepper motors, you will always have some amount of stepper motor smoothing,
KS. Since this filtering effect occurs after the profiler, the profiler may be ready for additional moves
before all of the step pulses have gone through the filter. It is important to consider this effect since
steps may be lost if the controller is commanded to generate an additional move before the previous
The general motion smoothing command, IT, can also be used. The purpose of the command, IT, is to
smooth out the motion profile and decrease 'jerk' due to acceleration.
Monitoring Generated Pulses vs Commanded Pulses
For proper controller operation, it is necessary to make sure that the controller has completed
generating all step pulses before making additional moves. This is most particularly important if you
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are moving back and forth. For example, when operating with servo motors, the trippoint AM (After
Motion) is used to determine when the motion profiler is complete and is prepared to execute a new
motion command. However when operating in stepper mode, the controller may still be generating
step pulses when the motion profiler is complete. This is caused by the stepper motor smoothing filter,
KS. To understand this, consider the steps the controller executes to generate step pulses:
First, the controller generates a motion profile in accordance with the motion commands.
Second, the profiler generates pulses as prescribed by the motion profile. The pulses that are generated
by the motion profiler can be monitored by the command, RP (Reference Position). RP gives the
absolute value of the position as determined by the motion profiler. The command, DP, can be used to
set the value of the reference position. For example, DP 0, defines the reference position of the X axis
to be zero.
Third, the output of the motion profiler is filtered by the stepper smoothing filter. This filter adds a
delay in the output of the stepper motor pulses. The amount of delay depends on the parameter which
is specified by the command, KS. As mentioned earlier, there will always be some amount of stepper
motor smoothing. The default value for KS is 2 which corresponds to a time constant of 6 sample
periods.
Fourth, the output of the stepper smoothing filter is buffered and is available for input to the stepper
motor driver. The pulses which are generated by the smoothing filter can be monitored by the
command, TD (Tell Dual). TD gives the absolute value of the position as determined by actual output
of the buffer. The command, DP sets the value of the step count register as well as the value of the
reference position. For example, DP 0, defines the reference position of the X axis to be zero.
Stepper Smoothing Filter
(Adds a Delay)
Output
(To Stepper Driver)
Motion Profiler
Output Buffer
Reference Position (RP)
Step Count Register (TD)
Motion Complete Trippoint
When used in stepper mode, the MC command will hold up execution of the proceeding commands
until the controller has generated the same number of steps out of the step count register as specified in
the commanded position. The MC trippoint (Motion Complete) is generally more useful than AM
trippoint (After Motion) since the step pulses can be delayed from the commanded position due to
stepper motor smoothing.
Using an Encoder with Stepper Motors
An encoder may be used on a stepper motor to check the actual motor position with the commanded
position. If an encoder is used, it must be connected to the main encoder input. Note: The auxiliary
encoder is not available while operating with stepper motors. The position of the encoder can be
interrogated by using the command, TP. The position value can be defined by using the command,
DE.
Note: Closed loop operation with a stepper motor is not possible.
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Command Summary - Stepper Motor Operation
COMMAND
DESCRIPTION
DE
DP
IT
Define Encoder Position (When using an encoder)
Define Reference Position and Step Count Register
Motion Profile Smoothing - Independent Time Constant
Stepper Motor Smoothing
KS
MT
RP
TD
TP
Motor Type (2,-2,2.5 or -2.5 for stepper motors)
Report Commanded Position
Report number of step pulses generated by controller
Tell Position of Encoder
Operand Summary - Stepper Motor Operation
OPERAND
_DEx
_DPx
DESCRIPTION
Contains the value of the step count register for the ‘x’ axis
Contains the value of the main encoder for the ‘x’ axis
Contains the value of the Independent Time constant for the 'x' axis
Contains the value of the Stepper Motor Smoothing Constant for the 'x' axis
Contains the motor type value for the 'x' axis
_ITx
_KSx
_MTx
_RPx
Contains the commanded position generated by the profiler for the ‘x’ axis
Contains the value of the step count register for the ‘x’ axis
Contains the value of the main encoder for the ‘x’ axis
_TDx
_TPx
Stepper Position Maintenance Mode (SPM)
The Galil controller can be set into the Stepper Position Maintenance (SPM) mode to handle the event
of stepper motor position error. The mode looks at position feedback from the main encoder and
compares it to the commanded step pulses. The position information is used to determine if there is
any significant difference between the commanded and the actual motor positions. If such error is
detected, it is updated into a command value for operator use. In addition, the SPM mode can be used
as a method to correct for friction at the end of a microstepping move. This capability provides closed-
loop control at the application program level. SPM mode can be used with Galil and non-Galil step
drives.
SPM mode is configured, executed, and managed with seven commands. This mode also utilizes the
#POSERR automatic subroutine allowing for automatic user-defined handling of an error event.
Internal Controller Commands (user can query):
QS
Error Magnitude (pulses)
User Configurable Commands (user can query & change):
OE Profiler Off-On Error
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YA
YB
YC
YR
YS
Step Drive Resolution (pulses / full motor step)
Step Motor Resolution (full motor steps / revolution)
Encoder Resolution (counts / revolution)
Error Correction (pulses)
Stepper Position Maintenance enable, status
A pulse is defined by the resolution of the step drive being used. Therefore, one pulse could be a full
step, a half step or a microstep.
When a Galil controller is configured for step motor operation, the step pulse output by the controller
is internally fed back to the auxiliary encoder register. For SPM the feedback encoder on the stepper
will connect to the main encoder port. Enabling the SPM mode on a controller with YS=1 executes an
internal monitoring of the auxiliary and main encoder registers for that axis or axes. Position error is
then tracked in step pulses between these two registers (QS command).
TP × YA × YB
QS = TD −
YC
Where TD is the auxiliary encoder register(step pulses) and TP is the main encoder register(feedback
encoder). Additionally, YA defines the step drive resolution where YA = 1 for full stepping or YA = 2
for half stepping. The full range of YA is up to YA = 9999 for microstepping drives.
Error Limit
The value of QS is internally monitored to determine if it exceeds a preset limit of three full motor
steps. Once the value of QS exceeds this limit, the controller then performs the following actions:
The motion is maintained or is stopped, depending on the setting of the OE command. If OE=0 the
axis stays in motion, if OE=1 the axis is stopped.
YS is set to 2, which causes the automatic subroutine labeled #POSERR to be executed.
Correction
A correction move can be commanded by assigning the value of QS to the YR correction move
command. The correction move is issued only after the axis has been stopped. After an error
correction move has completed and QS is less than three full motor steps, the YS error status bit is
automatically reset back to 1 indicating a cleared error.
Example: SPM Mode Setup
The following code demonstrates what is necessary to set up SPM mode for a full step drive, a half
step drive, and a 1/64th microstepping drive for an axis with a 1.8o step motor and 4000 count/rev
encoder. Note the necessary difference is with the YA command.
Full-Stepping Drive, X axis:
#SETUP
OE1;
'SET THE PROFILER TO STOP AXIS UPON ERROR
'SET STEP SMOOTHING
KS16;
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MT-2;
YA1;
'MOTOR TYPE SET TO STEPPER
'STEP RESOLUTION OF THE FULL-STEP DRIVE
'MOTOR RESOLUTION (FULL STEPS PER REVOLUTION)
'ENCODER RESOLUTION (COUNTS PER REVOLUTION)
'ENABLE AXIS
YB200;
YC4000;
SHX;
WT50;
YS1;
'ALLOW SLIGHT SETTLE TIME
'ENABLE SPM MODE
Half-Stepping Drive, X axis:
#SETUP
OE1;
'SET THE PROFILER TO STOP AXIS UPON ERROR
KS16;
MT-2;
YA2;
'SET STEP SMOOTHING
'MOTOR TYPE SET TO STEPPER
'STEP RESOLUTION OF THE HALF-STEP DRIVE
'MOTOR RESOLUTION (FULL STEPS PER REVOLUTION)
'ENCODER RESOLUTION (COUNTS PER REVOLUTION)
'ENABLE AXIS
YB200;
YC4000;
SHX;
WT50;
YS1;
'ALLOW SLIGHT SETTLE TIME
'ENABLE SPM MODE
1/64th Step Microstepping Drive, X axis:
#SETUP
OE1;
'SET THE PROFILER TO STOP AXIS UPON ERROR
KS16;
MT-2;
YA64;
YB200;
YC4000;
SHX;
'SET STEP SMOOTHING
'MOTOR TYPE SET TO STEPPER
'STEP RESOLUTION OF THE MICROSTEPPING DRIVE
'MOTOR RESOLUTION (FULL STEPS PER REVOLUTION)
'ENCODER RESOLUTION (COUNTS PER REVOLUTION)
'ENABLE AXIS
WT50;
YS1;
'ALLOW SLIGHT SETTLE TIME
'ENABLE SPM MODE
Example: Error Correction
The following code demonstrates what is necessary to set up SPM mode for the X axis, detect error,
stop the motor, correct the error, and return to the main code. The drive is a full step drive, with a 1.8o
step motor and 4000 count/rev encoder.
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#SETUP
OE1;
'SET THE PROFILER TO STOP AXIS UPON ERROR
'SET STEP SMOOTHING
KS16;
MT-2,-2,-2,-2;
YA2;
'MOTOR TYPE SET TO STEPPER
'STEP RESOLUTION OF THE DRIVE
'MOTOR RESOLUTION (FULL STEPS PER REVOLUTION)
'ENCODER RESOLUTION (COUNTS PER REVOLUTION)
'ENABLE AXIS
YB200;
YC4000;
SHX;
WT100;
YS1;
'ALLOW SLIGHT SETTLE TIME
'ENABLE SPM MODE
#MOTION
SP512;
'PERFORM MOTION
'SET THE SPEED
PR1000;
BGX;
'PREPARE MODE OF MOTION
'BEGIN MOTION
#LOOP;JP#LOOP;
'KEEP THREAD ZERO ALIVE FOR #POSERR TO RUN IN
REM When error occurs, the axis will stop due to OE1. In
REM #POSERR, query the status YS and the error QS, correct,
REM and return to the main code.
#POSERR;
WT100;
'AUTOMATIC SUBROUTINE IS CALLED WHEN YS=2
'WAIT HELPS USER SEE THE CORRECTION
'SAVE CURRENT SPEED SETTING
spsave=_SPX;
JP#RETURN,_YSX<>2;'RETURN TO THREAD ZERO IF INVALID ERROR
SP64;
'SET SLOW SPEED SETTING FOR CORRECTION
MG"ERROR= ",_QSX
YRX=_QSX;
MCX;
'ELSE, ERROR IS VALID, USE QS FOR CORRECTION
'WAIT FOR MOTION TO COMPLETE
MG"CORRECTED, ERROR NOW= ",_QSX
WT100;
'WAIT HELPS USER SEE THE CORRECTION
#RETURN
SPX=spsave;
RE0;
'RETURN THE SPEED TO PREVIOUS SETTING
'RETURN FROM #POSERR
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Example: Friction Correction
The following example illustrates how the SPM mode can be useful in correcting for X axis friction
after each move when conducting a reciprocating motion. The drive is a 1/64th microstepping drive
with a 1.8o step motor and 4000 count/rev encoder.
#SETUP;
KS16;
'SET THE PROFILER TO CONTINUE UPON ERROR
'SET STEP SMOOTHING
MT-2,-2,-2,-2;
YA64;
'MOTOR TYPE SET TO STEPPER
'STEP RESOLUTION OF THE MICROSTEPPING DRIVE
'MOTOR RESOLUTION (FULL STEPS PER REVOLUTION)
'ENCODER RESOLUTION (COUNTS PER REVOLUTION)
'ENABLE AXIS
YB200;
YC4000;
SHX;
WT50;
'ALLOW SLIGHT SETTLE TIME
YS1;
'ENABLE SPM MODE
#MOTION;
SP16384;
PR10000;
BGX;
'PERFORM MOTION
'SET THE SPEED
'PREPARE MODE OF MOTION
'BEGIN MOTION
MCX
JS#CORRECT;
#MOTION2
SP16384;
PR-10000;
BGX;
'MOVE TO CORRECTION
'SET THE SPEED
'PREPARE MODE OF MOTION
'BEGIN MOTION
MCX
JS#CORRECT;
JP#MOTION
'MOVE TO CORRECTION
'CORRECTION CODE
#CORRECT;
spx=_SPX
#LOOP;
'SAVE SPEED VALUE
SP2048;
WT100;
'SET A NEW SLOW CORRECTION SPEED
'STABILIZE
JP#END,@ABS[_QSX]<10;'END CORRECTION IF ERROR IS WITHIN DEFINED
'TOLERANCE
YRX=_QSX;
'CORRECTION MOVE
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MCX
WT100;
JP#LOOP;
#END;
SPX=spx
EN
'STABILIZE
'KEEP CORRECTING UNTIL ERROR IS WITHIN 'TOLERANCE
'END #CORRECT SUBROUTINE, RETURNING TO CODE
Dual Loop (Auxiliary Encoder)
The DMC-13X8 provides an interface for a second encoder for each axis except for axes configured
for stepper motor operation and axis used in circular compare. When used, the second encoder is
typically mounted on the motor or the load, but may be mounted in any position. The most common
use for the second encoder is backlash compensation, described below.
The second encoder may be a standard quadrature type, or it may provide pulse and direction. The
controller also offers the provision for inverting the direction of the encoder rotation. The main and
the auxiliary encoders are configured with the CE command. The command form is CE x,y,z,w where
the parameters x,y,z,w each equal the sum of two integers m and n. m configures the main encoder
and n configures the auxiliary encoder.
Using the CE Command
m=
Main Encoder
n=
Second Encoder
0
1
2
3
Normal quadrature
Pulse & direction
0
Normal quadrature
4
Pulse & direction
Reverse quadrature
Reverse pulse & direction
8
Reversed quadrature
Reversed pulse & direction
12
For example, to configure the main encoder for reversed quadrature, m=2, and a second encoder of
pulse and direction, n=4, the total is 6, and the command for the X axis is
CE 6
Additional Commands for the Auxiliary Encoder
The command, DE x,y,z,w, can be used to define the position of the auxiliary encoders. For example,
DE 0,500,-30,300
sets their initial values.
The positions of the auxiliary encoders may be interrogated with the command, DE?. For example
DE ?,,?
returns the value of the X and Z auxiliary encoders.
The auxiliary encoder position may be assigned to variables with the instructions
V1= _DEX
The command, TD XYZW, returns the current position of the auxiliary encoder.
The command, DV XYZW, configures the auxilliary encoder to be used for backlash compensation.
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Backlash Compensation
There are two methods for backlash compensation using the auxiliary encoders:
1. Continuous dual loop
2. Sampled dual loop
To illustrate the problem, consider a situation in which the coupling between the motor and the load
has a backlash. To compensate for the backlash, position encoders are mounted on both the motor and
the load.
The continuous dual loop combines the two feedback signals to achieve stability. This method
requires careful system tuning, and depends on the magnitude of the backlash. However, once
successful, this method compensates for the backlash continuously.
The second method, the sampled dual loop, reads the load encoder only at the end point and performs a
correction. This method is independent of the size of the backlash. However, it is effective only in
point-to-point motion systems which require position accuracy only at the endpoint.
Continuous Dual Loop - Example
Connect the load encoder to the main encoder port and connect the motor encoder to the dual encoder
port. The dual loop method splits the filter function between the two encoders. It applies the KP
(proportional) and KI (integral) terms to the position error, based on the load encoder, and applies the
KD (derivative) term to the motor encoder. This method results in a stable system.
The dual loop method is activated with the instruction DV (Dual Velocity), where
DV
activates the dual loop for the four axes and
DV 0,0,0,0
1,1,1,1
disables the dual loop.
Note that the dual loop compensation depends on the backlash magnitude, and in extreme cases will
not stabilize the loop. The proposed compensation procedure is to start with KP=0, KI=0 and to
maximize the value of KD under the condition DV1. Once KD is found, increase KP gradually to a
maximum value, and finally, increase KI, if necessary.
Sampled Dual Loop - Example
In this example, we consider a linear slide which is run by a rotary motor via a lead screw. Since the
lead screw has a backlash, it is necessary to use a linear encoder to monitor the position of the slide.
For stability reasons, it is best to use a rotary encoder on the motor.
Connect the rotary encoder to the X-axis and connect the linear encoder to the auxiliary encoder of X.
Assume that the required motion distance is one inch, and that this corresponds to 40,000 counts of the
rotary encoder and 10,000 counts of the linear encoder.
The design approach is to drive the motor a distance, which corresponds to 40,000 rotary counts. Once
the motion is complete, the controller monitors the position of the linear encoder and performs position
corrections.
This is done by the following program.
INSTRUCTION
#DUALOOP
CE 0
INTERPRETATION
Label
Configure encoder
Set initial value
DE0
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PR 40000
BGX
Main move
Start motion
#Correct
Correction loop
AMX
Wait for motion completion
Find linear encoder error
Compensate for motor error
Exit if error is small
Correction move
Start correction
V1=10000-_DEX
V2=-_TEX/4+V1
JP#END,@ABS[V2]<2
PR V2*4
BGX
JP#CORRECT
#END
Repeat
EN
Motion Smoothing
The DMC-13X8 controller allows the smoothing of the velocity profile to reduce the mechanical
vibration of the system.
Trapezoidal velocity profiles have acceleration rates which change abruptly from zero to maximum
value. The discontinuous acceleration results in jerk which causes vibration. The smoothing of the
acceleration profile leads to a continuous acceleration profile and reduces the mechanical shock and
vibration.
Using the IT and VT Commands:
When operating with servo motors, motion smoothing can be accomplished with the IT and VT
command. These commands filter the acceleration and deceleration functions to produce a smooth
velocity profile. The resulting velocity profile, has continuous acceleration and results in reduced
mechanical vibrations.
The smoothing function is specified by the following commands:
IT x,y,z,w
Independent time constant
VT n
Vector time constant
The command, IT, is used for smoothing independent moves of the type JG, PR, PA and the command,
VT, is used to smooth vector moves of the type VM and LM.
The smoothing parameters, x,y,z,w and n are numbers between 0 and 1 and determine the degree of
filtering. The maximum value of 1 implies no filtering, resulting in trapezoidal velocity profiles.
Smaller values of the smoothing parameters imply heavier filtering and smoother moves.
The following example illustrates the effect of smoothing. Fig. 6.7 shows the trapezoidal velocity
profile and the modified acceleration and velocity.
Note that the smoothing process results in longer motion time.
Example - Smoothing
PR 20000
Position
AC 100000
DC 100000
Acceleration
Deceleration
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SP 5000
IT .5
Speed
Filter for smoothing
Begin
BG X
ACCELERATION
VELOCITY
ACCELERATION
VELOCITY
Figure 6.7 - Trapezoidal velocity and smooth velocity profiles
Using the KS Command (Step Motor Smoothing):
When operating with step motors, motion smoothing can be accomplished with the command, KS.
The KS command smoothes the frequency of step motor pulses. Similar to the commands, IT and VT,
this produces a smooth velocity profile.
The step motor smoothing is specified by the following command:
KS x,y,z,w
where x,y,z,w is an integer from 0.5 to 8 and represents the amount of smoothing
The command, IT, is used for smoothing independent moves of the type JG, PR, PA and the command,
VT, is used to smooth vector moves of the type VM and LM.
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The smoothing parameters, x,y,z,w and n are numbers between 0.5 and 8 and determine the degree of
filtering. The minimum value of 0.5 implies no filtering, resulting in trapezoidal velocity profiles.
Larger values of the smoothing parameters imply heavier filtering and smoother moves.
Note that KS is valid only for step motors.
Homing
The Find Edge (FE) and Home (HM) instructions may be used to home the motor to a mechanical
reference. This reference is connected to the Home input line. The HM command initializes the motor
to the encoder index pulse in addition to the Home input. The configure command (CN) is used to
define the polarity of the home input.
The Find Edge (FE) instruction is useful for initializing the motor to a home switch. The home switch
is connected to the Homing Input. When the Find Edge command and Begin is used, the motor will
accelerate up to the slew speed and slew until a transition is detected on the Homing line. The motor
will then decelerate to a stop. A high deceleration value must be input before the find edge command
is issued for the motor to decelerate rapidly after sensing the home switch. The velocity profile
generated is shown in Fig. 6.8.
The Home (HM) command can be used to position the motor on the index pulse after the home switch
is detected. This allows for finer positioning on initialization. The command sequence HM and BG
causes the following sequence of events to occur.
1. Upon begin, motor accelerates to the slew speed. The direction of its motion is
determined by the state of the homing input. A zero (GND) will cause the motor to start
in the forward direction; +5V will cause it to start in the reverse direction. The CN
command is used to define the polarity of the home input.
2. Upon detecting the home switch changing state, the motor begins decelerating to a stop.
3. The motor then traverses very slowly back until the home switch toggles again.
4. The motor then traverses forward until the encoder index pulse is detected.
5. The DMC-13X8 defines the home position (0) as the position at which the index was
detected.
Example:
#HOME
Label
AC 1000000
DC 1000000
SP 5000
Acceleration Rate
Deceleration Rate
Speed for Home Search
Home X
HM X
BG X
Begin Motion
After Complete
Send Message
End
AM X
MG "AT HOME"
EN
#EDGE
Label
AC 2000000
DC 2000000
SP 8000
Acceleration rate
Deceleration rate
Speed
FE Y
Find edge command
Begin motion
After complete
Send message
Define position as 0
BG Y
AM Y
MG "FOUND HOME"
DP,0
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EN
End
_HMX=1
_HMX=0
POSITION
HOME SWITCH
VELOCITY
MOTION BEGINS
TOWARD HOME
DIRECTION
POSITION
POSITION
VELOCITY
MOTION REVERSE
TOWARD HOME
DIRECTION
VELOCITY
MOTION TOWARD
INDEX
DIRECTION
POSITION
INDEX PULSES
POSITION
Figure 6.8 - Motion intervals in the Home sequence
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Command Summary - Homing Operation
COMMAND
FE XYZW
FI XYZW
DESCRIPTION
Find Edge Routine. This routine monitors the Home Input
Find Index Routine - This routine monitors the Index Input
Home Routine - This routine combines FE and FI as Described Above
Stop Code
HM XYZW
SC XYZW
TS XYZW
Tell Status of Switches and Inputs
Operand Summary - Homing Operation
OPERAND
DESCRIPTION
_HMx
Contains the value of the state of the Home Input
Contains stop code
_SCx
_TSx
Contains status of switches and inputs
High Speed Position Capture (The Latch Function)
Often it is desirable to capture the position precisely for registration applications. The DMC-13X8
provides a position latch feature. This feature allows the position of the main or auxiliary encoders of
X,Y,Z or W to be captured within 25 microseconds of an external low input signal. The general inputs
1 through 4 correspond to each axis.
1 through 4:
IN1 X-axis latch
IN2 Y-axis latch
IN3 Z-axis latch
IN4 W-axis latch
Note: To insure a position capture within 25 microseconds, the input signal must be a transition from
high to low.
The DMC-13X8 software commands, AL and RL, are used to arm the latch and report the latched
position. The steps to use the latch are as follows:
1. Give the AL XYZW command to arm the latch for the main encoder and ALSXSYSZSW
for the auxiliary encoders.
2. Test to see if the latch has occurred (Input goes low) by using the _AL X or Y or Z or W
command. Example, V1=_ALX returns the state of the X latch into V1. V1 is 1 if the
latch has not occurred.
3. After the latch has occurred, read the captured position with the RL XYZW command or
_RL XYZW.
Note: The latch must be re-armed after each latching event.
Example:
#Latch
Latch program
JG,5000
Jog Y
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BG Y
Begin motion on Y axis
AL Y
Arm Latch for Y axis
#Wait
#Wait label for loop
JP #Wait,_ALY=1
Result=_RLY
Result=
Jump to #Wait label if latch has not occured
Set value of variable ‘Result’ equal to the report position of y axis
Print result
End
EN
Fast Update Rate Mode
The DMC-13X8 can operate with much faster servo update rates. This mode is known as 'fast mode'
and allows the controller to operate with the following update rates:
DMC-1318
DMC-1328
125 usec
125 usec
250 usec
250 usec
DMC-1338
DMC-1348
In order to run the DMC-13X8 motion controller in fast mode, the fast firmware must be uploaded.
In order to set the desired update rates, use the command TM.
When the controller is operating with the fast firmware, the following functions are disabled:
Gearing mode
Ecam mode
Pole (PL)
Analog Feedback (AF)
Stepper Motor Operation (MT 2,-2,2.5,-2.5)
Trippoints in thread 2-8
Secondary Polling FIFO
Tell Velocity Interrogation Command (TV)
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Chapter 7 Application Programming
Overview
The DMC-13X8 provides a powerful programming language that allows users to customize the
controller for their particular application. Programs can be downloaded into the controller memory
freeing the host computer for other tasks. However, the host computer can send commands to the
controller at any time, even while a program is being executed. Only ASCII commands can be used
for application programming.
In addition to standard motion commands, the DMC-13X8 provides commands that allow the
controller to make its own decisions. These commands include conditional jumps, event triggers, and
subroutines. For example, the command JP#LOOP, n<10 causes a jump to the label #LOOP if the
variable n is less than 10.
For greater programming flexibility, the DMC-13X8 provides user-defined variables, arrays and
arithmetic functions. For example, with a cut-to-length operation, the length can be specified as a
variable in a program which the operator can change as necessary.
The following sections in this chapter discuss all aspects of creating applications programs. The
program memory size is 80 characters x 1000 lines.
Using the DMC-13X8 Editor to Enter Programs
Application programs for the DMC-13X8 or DMC-13X8 may be created and edited either locally
using the DMC-13X8 editor or remotely using another editor and then downloading the program into
the controller.
The DMC-13X8 provides a line Editor for entering and modifying programs. The Edit mode is
entered with the ED instruction. (Note: The ED command can only be given when the controller is in
the non-edit mode, which is signified by a colon prompt).
In the Edit Mode, each program line is automatically numbered sequentially starting with 000. If no
parameter follows the ED command, the editor prompter will default to the last line of the last program
in memory. If desired, the user can edit a specific line number or label by specifying a line number or
label following ED.
ED
Puts Editor at end of last program
:ED 5
Puts Editor at line 5
:ED #BEGIN
Puts Editor at label #BEGIN
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Line numbers appear as 000,001,002 and so on. Program commands are entered following the line
numbers. Multiple commands may be given on a single line as long as the total number of characters
doesn't exceed 80 characters per line.
While in the Edit Mode, the programmer has access to special instructions for saving, inserting and
deleting program lines. These special instructions are listed below:
Edit Mode Commands
<RETURN>
Typing the return key causes the current line of entered instructions to be saved. The editor will
automatically advance to the next line. Thus, hitting a series of <RETURN> will cause the editor to
advance a series of lines. Note, changes on a program line will not be saved unless a <return> is given.
<cntrl>P
The <cntrl>P command moves the editor to the previous line.
<cntrl>I
The <cntrl>I command inserts a line above the current line. For example, if the editor is at line
number 2 and <cntrl>I is applied, a new line will be inserted between lines 1 and 2. This new line will
be labeled line 2. The old line number 2 is renumbered as line 3.
<cntrl>D
The <cntrl>D command deletes the line currently being edited. For example, if the editor is at line
number 2 and <cntrl>D is applied, line 2 will be deleted. The previous line number 3 is now
renumbered as line number 2.
<cntrl>Q
The <cntrl>Q quits the editor mode. In response, the DMC-13X8 will return a colon.
After the Edit session is over, the user may list the entered program using the LS command. If no
operand follows the LS command, the entire program will be listed. The user can start listing at a
specific line or label using the operand n. A command and new line number or label following the
start listing operand specifies the location at which listing is to stop.
Example:
Instruction
Interpretation
:LS
List entire program
:LS 5
Begin listing at line 5
:LS 5,9
List lines 5 thru 9
:LS #A,9
:LS #A, #A +5
List line label #A thru line 9
List line label #A and additional 5 lines
Program Format
A DMC-13X8 program consists of DMC instructions combined to solve a machine control application.
Action instructions, such as starting and stopping motion, are combined with Program Flow
instructions to form the complete program. Program Flow instructions evaluate real-time conditions,
such as elapsed time or motion complete, and alter program flow accordingly.
Each DMC-13X8 instruction in a program must be separated by a delimiter. Valid delimiters are the
semicolon (;) or carriage return. The semicolon is used to separate multiple instructions on a single
program line where the maximum number of instructions on a line is limited by 80 characters. A
carriage return enters the final command on a program line.
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Using Labels in Programs
All DMC-13X8 programs must begin with a label and end with an End (EN) statement. Labels start
with the pound (#) sign followed by a maximum of seven characters. The first character must be a
letter; after that, numbers are permitted. Spaces are not permitted.
The maximum number of labels which may be defined is 254.
Valid labels
#BEGIN
#SQUARE
#X1
#BEGIN1
Invalid labels
#1Square
#123
A Simple Example Program:
#START
PR 10000,20000
BG XY
Beginning of the Program
Specify relative distances on X and Y axes
Begin Motion
AM
Wait for motion complete
Wait 2 sec
WT 2000
JP #START
EN
Jump to label START
End of Program
The above program moves X and Y 10000 and 20000 units. After the motion is complete, the motors
rest for 2 seconds. The cycle repeats indefinitely until the stop command is issued.
Special Labels
The DMC-13X8 has some special labels, which are used to define input interrupt subroutines, limit
switch subroutines, error handling subroutines, and command error subroutines.
The following is a list of the automatic subroutines available on the DMC-13X8 controller. Specific
information on each subroutine may be found in the section “Automatic Subroutines for Monitoring
Conditions” on page 121.
#ININT
Label for Input Interrupt subroutine
#LIMSWI
#POSERR
#MCTIME
#CMDERR
Label for Limit Switch subroutine
Label for excess Position Error subroutine
Label for timeout on Motion Complete trip point
Label for incorrect command subroutine
The DMC-13X8 also has a special label for automatic program execution. A program which has been
saved into the controllers non-volatile memory can be automatically executed upon power up or reset
by beginning the program with the label #AUTO. The program must be saved into non-volatile
memory using the command, BP.
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Commenting Programs
Using the command, NO
The DMC-13X8 provides a command, NO, for commenting programs. This command allows the user
to include up to 78 characters on a single line after the NO command and can be used to include
comments from the programmer as in the following example:
#PATH
NO 2-D CIRCULAR PATH
VMXY
NO VECTOR MOTION ON X AND Y
VS 10000
NO VECTOR SPEED IS 10000
VP -4000,0
NO BOTTOM LINE
CR 1500,270,-180
NO HALF CIRCLE MOTION
VP 0,3000
NO TOP LINE
CR 1500,90,-180
NO HALF CIRCLE MOTION
VE
NO END VECTOR SEQUENCE
BGS
NO BEGIN SEQUENCE MOTION
EN
NO END OF PROGRAM
Note: The NO command is an actual controller command. Therefore, inclusion of the NO commands
will require process time by the controller.
Executing Programs - Multitasking
The DMC-13X8 can run up to 8 independent programs simultaneously. These programs are called
threads and are numbered 0 through 7, where 0 is the main thread. Multitasking is useful for executing
independent operations such as PLC functions that occur independently of motion.
The main thread differs from the others in the following ways:
1. Only the main thread, thread 0, may use the input command, IN.
2. When input interrupts are implemented for limit switches, position errors or command errors, the
subroutines are executed as thread 0.
To begin execution of the various programs, use the following instruction:
XQ #A, n
Where n indicates the thread number. To halt the execution of any thread, use the instruction
HX n
where n is the thread number.
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Note that both the XQ and HX commands can be performed by an executing program.
The example below produces a waveform on Output 1 independent of a move.
#TASK1
AT0
Task1 label
Initialize reference time
Clear Output 1
CB1
#LOOP1
AT 10
Loop1 label
Wait 10 msec from reference time
Set Output 1
SB1
AT -40
Wait 40 msec from reference time, then initialize reference
Clear Output 1
CB1
JP #LOOP1
#TASK2
XQ #TASK1,1
#LOOP2
PR 1000
BGX
Repeat Loop1
Task2 label
Execute Task1
Loop2 label
Define relative distance
Begin motion
AMX
After motion done
Wait 10 msec
WT 10
JP #LOOP2,@IN[2]=1
HX
Repeat motion unless Input 2 is low
Halt all tasks
The program above is executed with the instruction XQ #TASK2,0 which designates TASK2 as the
main thread (ie. Thread 0). #TASK1 is executed within TASK2.
Debugging Programs
The DMC-13X8 provides commands and operands which are useful in debugging application
programs. These commands include interrogation commands to monitor program execution,
determine the state of the controller and the contents of the controllers program, array, and variable
space. Operands also contain important status information which can help to debug a program.
Trace Commands
The trace command causes the controller to send each line in a program to the host computer
immediately prior to execution. Tracing is enabled with the command, TR1. TR0 turns the trace
function off. Note: When the trace function is enabled, the line numbers as well as the command line
will be displayed as each command line is executed.
Data which is output from the controller is stored in an output FIFO buffer. The output FIFO buffer
can store up to 512 characters of information. In normal operation, the controller places output into the
FIFO buffer. The software on the host computer monitors this buffer and reads information as needed.
When the trace mode is enabled, the controller will send information to the FIFO buffer at a very high
rate. In general, the FIFO will become full since the software is unable to read the information fast
enough. When the FIFO becomes full, program execution will be delayed until it is cleared. If the
user wants to avoid this delay, the command CW,1 can be given. This command causes the controller
to throw away the data which can not be placed into the FIFO. In this case, the controller does not
delay program execution.
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Error Code Command
When there is a program error, the DMC-13X8 halts the program execution at the point where the error
occurs. To display the last line number of program execution, issue the command, MG _ED.
The user can obtain information about the type of error condition that occurred by using the command,
TC1. This command reports back a number and a text message which describes the error condition.
The command, TC0 or TC, will return the error code without the text message. For more information
about the command, TC, see the Command Reference.
Stop Code Command
The status of motion for each axis can be determined by using the stop code command, SC. This can
be useful when motion on an axis has stopped unexpectedly. The command SC will return a number
representing the motion status. See the command reference for further information.
RAM Memory Interrogation Commands
For debugging the status of the program memory, array memory, or variable memory, the DMC-13X8
has several useful commands. The command, DM ?, will return the number of array elements
currently available. The command, DA ?, will return the number of arrays which can be currently
defined. For example, a standard DMC-13X8 will have a maximum of 8000 array elements in up to 30
arrays. If an array of 100 elements is defined, the command DM ? will return the value 7900 and the
command DA ? will return 29.
To list the contents of the variable space, use the interrogation command LV (List Variables). To list
the contents of array space, use the interrogation command, LA (List Arrays). To list the contents of
the Program space, use the interrogation command, LS (List). To list the application program labels
only, use the interrogation command, LL (List Labels).
Operands
In general, all operands provide information which may be useful in debugging an application
program. Below is a list of operands which are particularly valuable for program debugging. To
display the value of an operand, the message command may be used. For example, since the operand,
_ED contains the last line of program execution, the command MG _ED will display this line number.
_ED contains the last line of program execution. Useful to determine where program stopped.
_DL contains the number of available labels.
_UL contains the number of available variables.
_DA contains the number of available arrays.
_DM contains the number of available array elements.
_AB contains the state of the Abort Input
_FLx contains the state of the forward limit switch for the 'x' axis
_RLx contains the state of the reverse limit switch for the 'x' axis
Debugging Example:
The following program has an error. It attempts to specify a relative movement while the X-axis is
already in motion. When the program is executed, the controller stops at line 003. The user can then
query the controller using the command, TC1. The controller responds with the corresponding
explanation:
:ED
Edit Mode
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000 #A
Program Label
Position Relative 1000
Begin
001 PR1000
002 BGX
003 PR5000
004 EN
Position Relative 5000
End
<cntrl> Q
:XQ #A
Quit Edit Mode
Execute #A
?003 PR5000
:TC1
Error on Line 3
Tell Error Code
Command not valid while running
?7 Command not valid
while running.
:ED 3
Edit Line 3
003 AMX;PR5000;BGX
<cntrl> Q
Add After Motion Done
Quit Edit Mode
Execute #A
:XQ #A
Program Flow Commands
The DMC-13X8 provides instructions to control program flow. The controller program sequencer
normally executes program instructions sequentially. The program flow can be altered with the use of
event triggers, trippoints, and conditional jump statements.
Event Triggers & Trippoints
To function independently from the host computer, the DMC-13X8 can be programmed to make
decisions based on the occurrence of an event. Such events include waiting for motion to be complete,
waiting for a specified amount of time to elapse, or waiting for an input to change logic levels.
The DMC-13X8 provides several event triggers that cause the program sequencer to halt until the
specified event occurs. Normally, a program is automatically executed sequentially one line at a time.
When an event trigger instruction is decoded, however, the actual program sequence is halted. The
program sequence does not continue until the event trigger is "tripped". For example, the motion
complete trigger can be used to separate two move sequences in a program. The commands for the
second move sequence will not be executed until the motion is complete on the first motion sequence.
In this way, the controller can make decisions based on its own status or external events without
intervention from a host computer.
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DMC-13X8 and DMC-13X8 Event Triggers
Command
Function
AM X Y Z W or S
(A B C D)
Halts program execution until motion is complete on
the specified axes or motion sequence(s). AM with no
parameter tests for motion complete on all axes. This
command is useful for separating motion sequences in
a program.
AD X or Y or Z or W
(A or B or C or D)
Halts program execution until position command has
reached the specified relative distance from the start of
the move. Only one axis may be specified at a time.
AR X or Y or Z or W
(A or B or C or D)
Halts program execution until after specified distance
from the last AR or AD command has elapsed. Only
one axis may be specified at a time.
AP X or Y or Z or W
(A or B or C or D)
Halts program execution until after absolute position
occurs. Only one axis may be specified at a time.
MF X or Y or Z or W
(A or B or C or D)
Halt program execution until after forward motion
reached absolute position. Only one axis may be
specified. If position is already past the point, then
MF will trip immediately. Will function on geared
axis or aux. inputs.
MR X or Y or Z or W
(A or B or C or D)
Halt program execution until after reverse motion
reached absolute position. Only one axis may be
specified. If position is already past the point, then
MR will trip immediately. Will function on geared
axis or aux. inputs.
MC X or Y or Z or W
(A or B or C or D)
Halt program execution until after the motion profile
has been completed and the encoder has entered or
passed the specified position. TW x,y,z,w sets
timeout to declare an error if not in position. If
timeout occurs, then the trippoint will clear and the
stopcode will be set to 99. An application program
will jump to label #MCTIME.
AI +/- n
Halts program execution until after specified input is
at specified logic level. n specifies input line.
Positive is high logic level, negative is low level. n=1
through 80 for DMC-13X8, which includes all
standard inputs as well as extended I/O.
AS X Y Z W S
(A B C D)
Halts program execution until specified axis has
reached its slew speed.
AT +/-n
Halts program execution until n msec from reference
time. AT 0 sets reference. AT n waits n msec from
reference. AT -n waits n msec from reference and sets
new reference after elapsed time.
AV n
WT n
Halts program execution until specified distance along
a coordinated path has occurred.
Halts program execution until specified time in msec
has elapsed.
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Event Trigger Examples:
Event Trigger - Multiple Move Sequence
The AM trippoint is used to separate the two PR moves. If AM is not used, the controller returns a ?
for the second PR command because a new PR cannot be given until motion is complete.
#TWOMOVE
PR 2000
BGX
Label
Position Command
Begin Motion
AMX
Wait for Motion Complete
Next Position Move
Begin 2nd move
End program
PR 4000
BGX
EN
Event Trigger - Set Output after Distance
Set output bit 1 after a distance of 1000 counts from the start of the move. The accuracy of the
trippoint is the speed multiplied by the sample period.
#SETBIT
SP 10000
PA 20000
BGX
Label
Speed is 10000
Specify Absolute position
Begin motion
AD 1000
SB1
Wait until 1000 counts
Set output bit 1
End program
EN
Event Trigger - Repetitive Position Trigger
To set the output bit every 10000 counts during a move, the AR trippoint is used as shown in the next
example.
#TRIP
Label
JG 50000
BGX;n=0
#REPEAT
AR 10000
TPX
Specify Jog Speed
Begin Motion
# Repeat Loop
Wait 10000 counts
Tell Position
Set output 1
Wait 50 msec
Clear output 1
Increment counter
Repeat 5 times
Stop
SB1
WT50
CB1
n=n+1
JP #REPEAT,n<5
STX
EN
End
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Event Trigger - Start Motion on Input
This example waits for input 1 to go low and then starts motion. Note: The AI command actually
halts execution of the program until the input occurs. If you do not want to halt the program
sequences, you can use the Input Interrupt function (II) or use a conditional jump on an input, such as
JP #GO,@IN[1] = -1.
#INPUT
Program Label
Wait for input 1 low
Position command
Begin motion
AI-1
PR 10000
BGX
EN
End program
Event Trigger - Set output when At speed
#ATSPEED
Program Label
JG 50000
AC 10000
BGX
Specify jog speed
Acceleration rate
Begin motion
ASX
Wait for at slew speed 50000
Set output 1
SB1
EN
End program
Event Trigger - Change Speed along Vector Path
The following program changes the feedrate or vector speed at the specified distance along the vector.
The vector distance is measured from the start of the move or from the last AV command.
#VECTOR
VMXY;VS 5000
VP 10000,20000
VP 20000,30000
VE
Label
Coordinated path
Vector position
Vector position
End vector
BGS
Begin sequence
After vector distance
Reduce speed
End
AV 5000
VS 1000
EN
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Event Trigger - Multiple Move with Wait
This example makes multiple relative distance moves by waiting for each to be complete before
executing new moves.
#MOVES
PR 12000
SP 20000
AC 100000
BGX
Label
Distance
Speed
Acceleration
Start Motion
Wait a distance of 10,000 counts
New Speed
AD 10000
SP 5000
AMX
Wait until motion is completed
Wait 200 ms
New Position
New Speed
WT 200
PR -10000
SP 30000
AC 150000
BGX
New Acceleration
Start Motion
End
EN
Define Output Waveform Using AT
The following program causes Output 1 to be high for 10 msec and low for 40 msec. The cycle repeats
every 50 msec.
#OUTPUT
Program label
AT0
Initialize time reference
SB1
Set Output 1
#LOOP
AT 10
CB1
Loop
After 10 msec from reference,
Clear Output 1
AT -40
SB1
Wait 40 msec from reference and reset reference
Set Output 1
Loop
JP #LOOP
EN
Conditional Jumps
The DMC-13X8 provides Conditional Jump (JP) and Conditional Jump to Subroutine (JS) instructions
for branching to a new program location based on a specified condition. The conditional jump
determines if a condition is satisfied and then branches to a new location or subroutine. Unlike event
triggers, the conditional jump instruction does not halt the program sequence. Conditional jumps are
useful for testing events in real-time. They allow the controller to make decisions without a host
computer. For example, the DMC-13X8 can decide between two motion profiles based on the state of
an input line.
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Command Format - JP and JS
FORMAT
DESCRIPTION
JS destination, logical condition Jump to subroutine if logical condition is satisfied
JP destination, logical condition Jump to location if logical condition is satisfied
The destination is a program line number or label where the program sequencer will jump if the
specified condition is satisfied. Note that the line number of the first line of program memory is 0.
The comma designates "IF". The logical condition tests two operands with logical operators.
Logical operators:
OPERATOR
DESCRIPTION
<
less than
>
greater than
=
equal to
<=
>=
<>
less than or equal to
greater than or equal to
not equal
Conditional Statements
The conditional statement is satisfied if it evaluates to any value other than zero. The conditional
statement can be any valid DMC-13X8 numeric operand, including variables, array elements, numeric
values, functions, keywords, and arithmetic expressions. If no conditional statement is given, the jump
will always occur.
Examples:
Number
V1=6
Numeric Expression
V1=V7*6
@ABS[V1]>10
V1<Count[2]
V1<V2
Array Element
Variable
Internal Variable
_TPX=0
_TVX>500
V1>@AN[2]
@IN[1]=0
I/O
Multiple Conditional Statements
The DMC-13X8 will accept multiple conditions in a single jump statement. The conditional
statements are combined in pairs using the operands “&” and “|”. The “&” operand between any two
conditions, requires that both statements must be true for the combined statement to be true. The “|”
operand between any two conditions, requires that only one statement be true for the combined
statement to be true. Note: Each condition must be placed in paranthesis for proper evaluation by the
controller. In addition, the DMC-13X8 executes operations from left to right. For further
information on Mathematical Expressions and the bit-wise operators ‘&’ and ‘|’, see pg 7- 125.
For example, using variables named V1, V2, V3 and V4:
JP #TEST, (V1<V2) & (V3<V4)
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In this example, this statement will cause the program to jump to the label #TEST if V1 is less than V2
and V3 is less than V4. To illustrate this further, consider this same example with an additional
condition:
JP #TEST, ((V1<V2) & (V3<V4)) | (V5<V6)
This statement will cause the program to jump to the label #TEST under two conditions; 1. If V1 is
less than V2 and V3 is less than V4. OR 2. If V5 is less than V6.
Using the JP Command:
If the condition for the JP command is satisfied, the controller branches to the specified label or line
number and continues executing commands from this point. If the condition is not satisfied, the
controller continues to execute the next commands in sequence.
Conditional
Meaning
JP #Loop,COUNT<10
JS #MOVE2,@IN[1]=1
Jump to #Loop if the variable, COUNT, is less than 10
Jump to subroutine #MOVE2 if input 1 is logic level high. After the subroutine
MOVE2 is executed, the program sequencer returns to the main program location
where the subroutine was called.
JP #BLUE,@ABS[V2]>2
JP #C,V1*V7<=V8*V2
JP#A
Jump to #BLUE if the absolute value of variable, V2, is greater than 2
Jump to #C if the value of V1 times V7 is less than or equal to the value of V8*V2
Jump to #A
Example Using JP command:
Move the X motor to absolute position 1000 counts and back to zero ten times. Wait 100 msec
between moves.
#BEGIN
COUNT=10
#LOOP
Begin Program
Initialize loop counter
Begin loop
PA 1000
BGX
Position absolute 1000
Begin move
AMX
Wait for motion complete
Wait 100 msec
WT 100
PA 0
Position absolute 0
Begin move
BGX
AMX
Wait for motion complete
Wait 100 msec
WT 100
COUNT=COUNT-1
JP #LOOP,COUNT>0
EN
Decrement loop counter
Test for 10 times thru loop
End Program
Using If, Else, and Endif Commands
The DMC-13X8 provides a structured approach to conditional statements using IF, ELSE and ENDIF
commands.
Using the IF and ENDIF Commands
An IF conditional statement is formed by the combination of an IF and ENDIF command. The IF
command has as it's arguments one or more conditional statements. If the conditional statement(s)
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evaluates true, the command interpreter will continue executing commands which follow the IF
command. If the conditional statement evaluates false, the controller will ignore commands until the
associated ENDIF command is executed OR an ELSE command occurs in the program (see discussion
of ELSE command below).
Note: An ENDIF command must always be executed for every IF command that has been executed. It
is recommended that the user not include jump commands inside IF conditional statements since this
causes re-direction of command execution. In this case, the command interpreter may not execute an
ENDIF command.
Using the ELSE Command
The ELSE command is an optional part of an IF conditional statement and allows for the execution of
command only when the argument of the IF command evaluates False. The ELSE command must
occur after an IF command and has no arguments. If the argument of the IF command evaluates false,
the controller will skip commands until the ELSE command. If the argument for the IF command
evaluates true, the controller will execute the commands between the IF and ELSE command.
Nesting IF Conditional Statements
The DMC-13X8 allows for IF conditional statements to be included within other IF conditional
statements. This technique is known as 'nesting' and the DMC-13X8 allows up to 255 IF conditional
statements to be nested. This is a very powerful technique allowing the user to specify a variety of
different cases for branching.
Command Format - IF, ELSE and ENDIF
FORMAT
DESCRIPTION
IF conditional statement(s)
Execute commands proceeding IF command (up to ELSE command) if
conditional statement(s) is true, otherwise continue executing at ENDIF
command or optional ELSE command.
ELSE
Optional command. Allows for commands to be executed when argument
of IF command evaluates not true. Can only be used with IF command.
ENDIF
Command to end IF conditional statement. Program must have an ENDIF
command for every IF command.
Example using IF, ELSE and ENDIF:
#TEST
II,,3
Begin Main Program "TEST"
Enable input interrupts on input 1 and input 2
MG "WAITING FOR INPUT 1, INPUT 2"
Output message
#LOOP
Label to be used for endless loop
Endless loop
JP #LOOP
EN
End of main program
#ININT
Input Interrupt Subroutine
IF (@IN[1]=0)
IF conditional statement based on input 1
2nd IF conditional statement executed if 1st IF conditional true
IF (@IN[2]=0)
MG "INPUT 1 AND INPUT 2 ARE ACTIVE" Message to be executed if 2nd IF conditional is true
ELSE
ELSE command for 2nd IF conditional statement
Message to be executed if 2nd IF conditional is false
End of 2nd conditional statement
MG "ONLY INPUT 1 IS ACTIVE
ENDIF
ELSE
ELSE command for 1st IF conditional statement
Message to be executed if 1st IF conditional statement
MG"ONLY INPUT 2 IS ACTIVE"
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ENDIF
End of 1st conditional statement
#WAIT
Label to be used for a loop
JP#WAIT,(@IN[1]=0) | (@IN[2]=0)
RI0
Loop until both input 1 and input 2 are not active
End Input Interrupt Routine without restoring trippoints
Subroutines
A subroutine is a group of instructions beginning with a label and ending with an end command (EN).
Subroutines are called from the main program with the jump subroutine instruction JS, followed by a
label or line number, and conditional statement. Up to 8 subroutines can be nested. After the
subroutine is executed, the program sequencer returns to the program location where the subroutine
was called unless the subroutine stack is manipulated as described in the following section.
Example:
An example of a subroutine to draw a square 500 counts per side is given below. The square is drawn
at vector position 1000,1000.
#M
Begin Main Program
CB1
Clear Output Bit 1 (pick up pen)
Define vector position; move pen
Wait for after motion trippoint
Set Output Bit 1 (put down pen)
Jump to square subroutine
End Main Program
VP 1000,1000;LE;BGS
AMS
SB1
JS #Square;CB1
EN
#Square
Square subroutine
V1=500;JS #L
V1=-V1;JS #L
EN
Define length of side
Switch direction
End subroutine
#L;PR V1,V1;BGX
AMX;BGY;AMY
EN
Define X,Y; Begin X
After motion on X, Begin Y
End subroutine
Stack Manipulation
It is possible to manipulate the subroutine stack by using the ZS command. Every time a JS
instruction, interrupt or automatic routine (such as #POSERR or #LIMSWI) is executed, the subroutine
stack is incremented by 1. Normally the stack is restored with an EN instruction. Occasionally it is
desirable not to return back to the program line where the subroutine or interrupt was called. The ZS1
command clears 1 level of the stack. This allows the program sequencer to continue to the next line.
The ZS0 command resets the stack to its initial value. For example, if a limit occurs and the #LIMSWI
routine is executed, it is often desirable to restart the program sequence instead of returning to the
location where the limit occurred. To do this, give a ZS command at the end of the #LIMSWI routine.
Auto-Start Routine
The DMC-13X8 has a special label for automatic program execution. A program which has been
saved into the controllers non-volatile memory can be automatically executed upon power up or reset
by beginning the program with the label #AUTO. The program must be saved into non-volatile
memory using the command, BP.
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Automatic Subroutines for Monitoring Conditions
Often it is desirable to monitor certain conditions continuously without tying up the host or DMC-
13X8 program sequences. The controller can monitor several important conditions in the background.
These conditions include checking for the occurrence of a limit switch, a defined input, position error,
or a command error. Automatic monitoring is enabled by inserting a special, predefined label in the
applications program. The pre-defined labels are:
SUBROUTINE
#LIMSWI
#ININT
DESCRIPTION
Limit switch on any axis goes low
Input specified by II goes low
#POSERR
#MCTIME
#CMDERR
Position error exceeds limit specified by ER
Motion Complete timeout occurred. Timeout period set by TW command
Bad command given
For example, the #POSERR subroutine will automatically be executed when any axis exceeds its
position error limit. The commands in the #POSERR subroutine could decode which axis is in error
and take the appropriate action. In another example, the #ININT label could be used to designate an
input interrupt subroutine. When the specified input occurs, the program will be executed
automatically.
NOTE: An application program must be running for automatic monitoring to function.
Example - Limit Switch:
This program prints a message upon the occurrence of a limit switch. Note, for the #LIMSWI routine
to function, the DMC-13X8 must be executing an applications program from memory. This can be a
very simple program that does nothing but loop on a statement, such as #LOOP;JP #LOOP;EN.
Motion commands, such as JG 5000 can still be sent from the PC even while the "dummy"
applications program is being executed.
:ED
Edit Mode
000 #LOOP
001 JP #LOOP;EN
002 #LIMSWI
003 MG "LIMIT OCCURRED"
004 RE
Dummy Program
Jump to Loop
Limit Switch Label
Print Message
Return to main program
Quit Edit Mode
Execute Dummy Program
Jog
<control> Q
:XQ #LOOP
:JG 5000
:BGX
Begin Motion
Now, when a forward limit switch occurs on the X axis, the #LIMSWI subroutine will be executed.
Notes regarding the #LIMSWI Routine:
1) The RE command is used to return from the #LIMSWI subroutine.
2) The #LIMSWI subroutine will be re-executed if the limit switch remains active.
The #LIMSWI routine is only executed when the motor is being commanded to move.
Example - Position Error
:ED
Edit Mode
000 #LOOP
Dummy Program
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001 JP #LOOP;EN
002 #POSERR
Loop
Position Error Routine
Read Position Error
Print Message
003 V1=_TEX
004 MG "EXCESS POSITION ERROR"
005 MG "ERROR=",V1=
006 RE
Print Error
Return from Error
Quit Edit Mode
Execute Dummy Program
Jog at High Speed
Begin Motion
<control> Q
:XQ #LOOP
:JG 100000
:BGX
Now, when a forward limit switch occurs on the X axis, the #LIMSWI subroutine will be executed.
Notes regarding the #LIMSWI Routine:
1) The RE command is used to return from the #LIMSWI subroutine.
2) The #LIMSWI subroutine will be re-executed if the limit switch remains active.
The #LIMSWI routine is only executed when the motor is being commanded to move
Example - Input Interrupt
#A
Label
II1
Input Interrupt on 1
JG 30000,,,60000
BGXW
Jog
Begin Motion
#LOOP;JP#LOOP;EN
#ININT
Loop
Input Interrupt
STXW;AM
#TEST;JP #TEST, @IN[1]=0
JG 30000,,,6000
BGXW
Stop Motion
Test for Input 1 still low
Restore Velocities
Begin motion
RI0
Return from interrupt routine to Main Program and do not re-enable trippoints
Example - Motion Complete Timeout
#BEGIN
TW 1000
PA 10000
BGX
Begin main program
Set the time out to 1000 ms
Position Absolute command
Begin motion
MCX
Motion Complete trip point
End main program
EN
#MCTIME
MG “X fell short”
EN
Motion Complete Subroutine
Send out a message
End subroutine
This simple program will issue the message “X fell short” if the X axis does not reach the commanded
position within 1 second of the end of the profiled move.
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Example - Command Error
#BEGIN
Begin main program
Prompt for speed
Begin motion
IN "ENTER SPEED", SPEED
JG SPEED;BGX;
JP #BEGIN
Repeat
EN
End main program
Command error utility
Check if error on line 2
Check if out of range
Send message
#CMDERR
JP#DONE,_ED<>2
JP#DONE,_TC<>6
MG "SPEED TOO HIGH"
MG "TRY AGAIN"
ZS1
Send message
Adjust stack
JP #BEGIN
Return to main program
End program if other error
Zero stack
#DONE
ZS0
EN
End program
The above program prompts the operator to enter a jog speed. If the operator enters a number out of
range (greater than 8 million), the #CMDERR routine will be executed prompting the operator to enter
a new number.
In multitasking applications, there is an alternate method for handling command errors from different
threads. Using the XQ command along with the special operands described below allows the
controller to either skip or retry invalid commands.
OPERAND
_ED1
FUNCTION
Returns the number of the thread that generated an error
Retry failed command (operand contains the location of the failed command)
_ED2
_ED3
Skip failed command (operand contains the location of the command after the failed
command)
The operands are used with the XQ command in the following format:
XQ _ED2 (or _ED3),_ED1,1
The following example shows an error correction routine which uses the operands.
Example - Command Error w/Multitasking
#A
Begin thread 0 (continuous loop)
JP#A
EN
End of thread 0
#B
Begin thread 1
N=-1
KP N
TY
Create new variable
Set KP to value of N, an invalid value
Issue invalid command
End of thread 1
EN
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#CMDERR
IF _TC=6
N=1
Begin command error subroutine
If error is out of range (KP -1)
Set N to a valid number
XQ _ED2,_ED1,1
ENDIF
Retry KP N command
IF _TC=1
XQ _ED3,_ED1,1
ENDIF
If error is invalid command (TY)
Skip invalid command
EN
End of command error routine
Mathematical and Functional Expressions
Mathematical Operators
For manipulation of data, the DMC-13X8 provides the use of the following mathematical operators:
OPERATOR
FUNCTION
+
-
Addition
Subtraction
*
/
Multiplication
Division
&
|
Logical And (Bit-wise)
Logical Or (On some computers, a solid vertical line appears as a broken line)
Parenthesis
()
The numeric range for addition, subtraction and multiplication operations is +/-2,147,483,647.9999.
The precision for division is 1/65,000.
Mathematical operations are executed from left to right. Calculations within a parentheses have
precedence.
Examples:
SPEED=7.5*V1/2
The variable, SPEED, is equal to 7.5 multiplied by V1 and divided by 2
The variable, COUNT, is equal to the current value plus 2.
Puts the position of X - 28.28 in RESULT. 40 * cosine of 45° is 28.28
TEMP is equal to 1 only if Input 1 and Input 2 are high
COUNT=COUNT+2
RESULT=_TPX-(@COS[45]*40)
TEMP=@IN[1]&@IN[2]
Bit-Wise Operators
The mathematical operators & and | are bit-wise operators. The operator, &, is a Logical And. The
operator, |, is a Logical Or. These operators allow for bit-wise operations on any valid DMC-13X8
numeric operand, including variables, array elements, numeric values, functions, keywords, and
arithmetic expressions. The bit-wise operators may also be used with strings. This is useful for
separating characters from an input string. When using the input command for string input, the input
variable will hold up to 6 characters. These characters are combined into a single value which is
represented as 32 bits of integer and 16 bits of fraction. Each ASCII character is represented as one
byte (8 bits), therefore the input variable can hold up to six characters. The first character of the string
will be placed in the top byte of the variable and the last character will be placed in the lowest
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significant byte of the fraction. The characters can be individually separated by using bit-wise
operations as illustrated in the following example:
#TEST
Begin main program
IN "ENTER",LEN{S6}
FLEN=@FRAC[LEN]
FLEN=$10000*FLEN
LEN1=(FLEN&$00FF)
LEN2=(FLEN&$FF00)/$100
LEN3=LEN&$000000FF
LEN4=(LEN&$0000FF00)/$100
LEN5=(LEN&$00FF0000)/$10000
LEN6=(LEN&$FF000000)/$1000000
MG LEN6 {S4}
Input character string of up to 6 characters into variable ‘LEN’
Define variable ‘FLEN’ as fractional part of variable ‘LEN’
Shift FLEN by 32 bits (IE - convert fraction, FLEN, to integer)
Mask top byte of FLEN and set this value to variable ‘LEN1’
Let variable, ‘LEN2’ = top byte of FLEN
Let variable, ‘LEN3’ = bottom byte of LEN
Let variable, ‘LEN4’ = second byte of LEN
Let variable, ‘LEN5’ = third byte of LEN
Let variable, ‘LEN6’ = fourth byte of LEN
Display ‘LEN6’ as string message of up to 4 chars
Display ‘LEN5’ as string message of up to 4 chars
Display ‘LEN4’ as string message of up to 4 chars
Display ‘LEN3’ as string message of up to 4 chars
Display ‘LEN2’ as string message of up to 4 chars
Display ‘LEN1’ as string message of up to 4 chars
MG LEN5 {S4}
MG LEN4 {S4}
MG LEN3 {S4}
MG LEN2 {S4}
MG LEN1 {S4}
EN
This program will accept a string input of up to 6 characters, parse each character, and then display
each character. Notice also that the values used for masking are represented in hexadecimal (as
To illustrate further, if the user types in the string “TESTME” at the input prompt, the controller will
respond with the following:
T
E
S
Response from command MG LEN6 {S4}
Response from command MG LEN5 {S4}
Response from command MG LEN4 {S4}
Response from command MG LEN3 {S4}
Response from command MG LEN2 {S4}
Response from command MG LEN1 {S4}
T
M
E
Functions
FUNCTION
DESCRIPTION
@SIN[n]
Sine of n (n in degrees, with range of -32768 to 32767 and 16-bit fractional resolution)
Cosine of n (n in degrees, with range of -32768 to 32767 and 16-bit fractional resolution)
Tangent of n (n in degrees, with range of -32768 to 32767 and 16-bit fractional resolution)
Arc Sine of n, between -90° and +90°. Angle resolution in 1/64000 degrees.
Arc Cosine of n, between 0 and 180°. Angle resolution in 1/64000 degrees.
Arc Tangent of n, between -90° and +90°. Angle resolution in 1/64000 degrees
2’s Compliment of n
@COS[n]
@TAN[n]
@ASIN*[n]
@ACOS* [n}
@ATAN* [n]
@COM[n]
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@ABS[n]
@FRAC[n]
@INT[n]
@RND[n]
@SQR[n]
@IN[n]
Absolute value of n
Fraction portion of n
Integer portion of n
Round of n (Rounds up if the fractional part of n is .5 or greater)
Square root of n (Accuracy is +/-.004)
Return digital input at general input n (where n starts at 1)
Return digital output at general output n (where n starts at 1)
Return analog input at general analog in n (where n starts at 1)
@OUT[n]
@AN[n]
* Note that these functions are multi-valued. An application program may be used to find the correct
band.
Functions may be combined with mathematical expressions. The order of execution of mathematical
expressions is from left to right and can be over-ridden by using parentheses.
Examples:
V1=@ABS[V7]
V2=5*@SIN[POS]
V3=@IN[1]
The variable, V1, is equal to the absolute value of variable V7.
The variable, V2, is equal to five times the sine of the variable, POS.
The variable, V3, is equal to the digital value of input 1.
V4=2*(5+@AN[5]) The variable, V4, is equal to the value of analog input 5 plus 5, then multiplied by
2.
Variables
For applications that require a parameter that is variable, the DMC-13X8 provides 254 variables.
These variables can be numbers or strings. A program can be written in which certain parameters,
such as position or speed, are defined as variables. The variables can later be assigned by the operator
or determined by program calculations. For example, a cut-to-length application may require that a cut
length be variable.
Example:
PR POSX
Assigns variable POSX to PR command
JG RPMY*70
Assigns variable RPMY multiplied by 70 to JG command.
Programmable Variables
The DMC-13X8 allows the user to create up to 254 variables. Each variable is defined by a name
which can be up to eight characters. The name must start with an alphabetic character, however,
numbers are permitted in the rest of the name. Spaces are not permitted. Variable names should not
be the same as DMC-13X8 instructions. For example, PR is not a good choice for a variable name.
Examples of valid and invalid variable names are:
Valid Variable Names
POSX
POS1
SPEEDZ
Invalid Variable Names
REALLONGNAME
123
; Cannot have more than 8 characters
; Cannot begin variable name with a number
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SPEED Z
; Cannot have spaces in the name
Assigning Values to Variables:
Assigned values can be numbers, internal variables and keywords, functions, controller parameters and
strings;
The range for numeric variable values is 4 bytes of integer (231) followed by two bytes of fraction
(+/-2,147,483,647.9999).
Numeric values can be assigned to programmable variables using the equal sign.
Any valid DMC-13X8 function can be used to assign a value to a variable. For example,
V1=@ABS[V2] or V2=@IN[1]. Arithmetic operations are also permitted.
To assign a string value, the string must be in quotations. String variables can contain up to six
characters which must be in quotation.
Examples:
POSX=_TPX
SPEED=5.75
INPUT=@IN[2]
V2=V1+V3*V4
VAR="CAT"
Assigns returned value from TPX command to variable POSX.
Assigns value 5.75 to variable SPEED
Assigns logical value of input 2 to variable INPUT
Assigns the value of V1 plus V3 times V4 to the variable V2.
Assign the string, CAT, to VAR
Assigning Variable Values to Controller Parameters
Variable values may be assigned to controller parameters such as GN or PR.
PR V1
Assign V1 to PR command
SP VS*2000
Assign VS*2000 to SP command
Displaying the value of variables at the terminal
Variables may be sent to the screen using the format, variable=. For example, V1= , returns the value
of the variable V1.
Example - Using Variables for Joystick
The example below reads the voltage of an X-Y joystick and assigns it to variables VX and VY to
drive the motors at proportional velocities, where
10 Volts = 3000 rpm = 200000 c/sec
Speed/Analog input = 200000/10 = 20000
#JOYSTIK
Label
JG 0,0
Set in Jog mode
Begin Motion
Loop
BGXY
#LOOP
VX=@AN[1]*20000
VY=@AN[2]*20000
JG VX,VY
JP#LOOP
EN
Read joystick X
Read joystick Y
Jog at variable VX,VY
Repeat
End
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Operands
Operands allow motion or status parameters of the DMC-13X8 to be incorporated into programmable
variables and expressions. Most DMC commands have an equivalent operand - which are designated
by adding an underscore (_) prior to the DMC-13X8 command. The command reference indicates
which commands have an associated operand.
Status commands such as Tell Position return actual values, whereas action commands such as KP or
SP return the values in the DMC-13X8 registers. The axis designation is required following the
command.
Examples of Internal Variables:
POSX=_TPX
Assigns value from Tell Position X to the variable POSX.
Assigns value from KPX multiplied by two to variable, VAR1.
Jump to #LOOP if the position error of X is greater than 5
Jump to #ERROR if the error code equals 1.
VAR1=_KPX*2
JP #LOOP,_TEX>5
JP #ERROR,_TC=1
Operands can be used in an expression and assigned to a programmable variable, but they cannot be
assigned a value. For example: _GNX=2 is invalid.
Special Operands (Keywords)
The DMC-13X8 provides a few additional operands which give access to internal variables that are not
accessible by standard DMC-13X8 commands.
KEYWORD
_BGn
_BN
FUNCTION
*Returns a 1 if motion on axis ‘n’ is complete, otherwise returns 0.
*Returns serial # of the board.
_DA
*Returns the number of arrays available
_DL
*Returns the number of available labels for programming
*Returns the available array memory
_DM
_HMn
_LFn
*Returns status of Home Switch (equals 0 or 1)
Returns status of Forward Limit switch input of axis ‘n’ (equals 0 or 1)
Returns status of Reverse Limit switch input of axis ‘n’ (equals 0 or 1)
*Returns the number of available variables
_LRX
_UL
TIME
Free-Running Real Time Clock (off by 2.4% - Resets with power-on).
Note: TIME does not use an underscore character (_) as other keywords.
* - These keywords have corresponding commands while the keywords _LF, _LR, and TIME do not
have any associated commands. All keywords are listed in the Command Summary, Chapter 11.
Examples of Keywords:
V1=_LFX
V3=TIME
V4=_HMW
Assign V1 the logical state of the Forward Limit Switch on the X-axis
Assign V3 the current value of the time clock
Assign V4 the logical state of the Home input on the W-axis
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Arrays
For storing and collecting numerical data, the DMC-13X8 provides array space for 8000 elements.
The arrays are one-dimensional and up to 30 different arrays may be defined. Each array element has a
31
numeric range of 4 bytes of integer (2 ) followed by two bytes of fraction (+/-2,147,483,647.9999).
Arrays can be used to capture real-time data, such as position, torque and analog input values. In the
contouring mode, arrays are convenient for holding the points of a position trajectory in a record and
playback application.
Defining Arrays
An array is defined with the command DM. The user must specify a name and the number of entries
to be held in the array. An array name can contain up to eight characters, starting with an uppercase
alphabetic character. The number of entries in the defined array is enclosed in [ ].
Example:
DM POSX[7]
DM SPEED[100]
DM POSX[0]
Defines an array names POSX with seven entries
Defines an array named speed with 100 entries
Frees array space
Assignment of Array Entries
Like variables, each array element can be assigned a value. Assigned values can be numbers or
returned values from instructions, functions and keywords.
Array elements are addressed starting at count 0. For example the first element in the POSX array
(defined with the DM command, DM POSX[7]) would be specified as POSX[0].
Values are assigned to array entries using the equal sign. Assignments are made one element at a time
by specifying the element number with the associated array name.
NOTE: Arrays must be defined using the command, DM, before assigning entry values.
Examples:
DM SPEED[10]
SPEED[0]=7650.2
SPEED[0]=
Dimension Speed Array
Assigns the first element of the array, SPEED the value 7650.2
Returns array element value
POSX[9]=_TPX
Assigns the 10th element of the array POSX the returned value from the tell
position command.
CON[1]=@COS[POS]*2
TIMER[0]=TIME
Assigns the second element of the array CON the cosine of the variable POS
multiplied by 2.
Assigns the first element of the array timer the returned value of the TIME
keyword.
Using a Variable to Address Array Elements
An array element number can also be a variable. This allows array entries to be assigned sequentially
using a counter.
For example:
#A
Begin Program
COUNT=0;DM POS[10]
#LOOP
Initialize counter and define array
Begin loop
WT 10
Wait 10 msec
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POS[COUNT]=_TPX
POS[COUNT]=
COUNT=COUNT+1
JP #LOOP,COUNT<10
EN
Record position into array element
Report position
Increment counter
Loop until 10 elements have been stored
End Program
The above example records 10 position values at a rate of one value per 10 msec. The values are
stored in an array named POS. The variable, COUNT, is used to increment the array element counter.
The above example can also be executed with the automatic data capture feature described below.
Uploading and Downloading Arrays to On Board Memory
Arrays may be uploaded and downloaded using the QU and QD commands.
QU array[],start,end,delim
QD array[],start,end
where array is an array name such as A[].
Start is the first element of array (default=0)
End is the last element of array (default=last element)
Delim specifies whether the array data is seperated by a comma (delim=1) or a carriage return
(delim=0).
The file is terminated using <control>Z, <control>Q, <control>D or \.
Automatic Data Capture into Arrays
The DMC-13X8 provides a special feature for automatic capture of data such as position, position
error, inputs or torque. This is useful for teaching motion trajectories or observing system
performance. Up to four types of data can be captured and stored in four arrays. The capture rate or
time interval may be specified. Recording can be done as a one-time event or as a circular continuous
recording.
Command Summary - Automatic Data Capture
COMMAND
DESCRIPTION
RA n[],m[],o[],p[]
Selects up to four arrays for data capture. The arrays must be defined with the
DM command.
RD type1,type2,type3,type4 Selects the type of data to be recorded, where type1, type2, type3, and type 4
represent the various types of data (see table below). The order of data type is
important and corresponds with the order of n,m,o,p arrays in the RA command.
RC n,m
The RC command begins data collection. Sets data capture time interval where
n is an integer between 1 and 8 and designates 2n msec between data. m is
optional and specifies the number of elements to be captured. If m is not
defined, the number of elements defaults to the smallest array defined by DM.
When m is a negative number, the recording is done continuoudly in a circular
manner. _RD is the recording pointer and indicates the address of the next array
element. n=0 stops recording.
RC?
Returns a 0 or 1 where, 0 denotes not recording, 1 specifies recording in progress
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Data Types for Recording:
DATA TYPE
DESCRIPTION
2nd encoder position (dual encoder)
Encoder position
Position error
_DEX
_TPX
_TEX
_RPX
_RLX
_TI
Commanded position
Latched position
Inputs
_OP
Output
_TSX
_SCX
_NOX
_TTX
_AFX
Switches (only bit 0-4 valid)
Stop code
Status bits
Torque (reports digital value +/-8097)
Analog Input (Only stores inputs up to number of axes on the controller. For
example, a DMC-1338 could record the first three analog inputs only)
Note: X may be replaced by Y,Z or W for capturing data on other axes.
Operand Summary - Automatic Data Capture
_RC
_RD
Returns a 0 or 1 where, 0 denotes not recording, 1 specifies recording in progress
Returns address of next array element.
Example - Recording into An Array
During a position move, store the X and Y positions and position error every 2 msec.
#RECORD
Begin program
DM XPOS[300],YPOS[300]
Define X,Y position arrays
Define X,Y error arrays
Select arrays for capture
Select data types
Specify move distance
Start recording now, at rate of 2 msec
Begin motion
DM XERR[300],YERR[300]
RA XPOS[],XERR[],YPOS[],YERR[]
RD _TPX,_TEX,_TPY,_TEY
PR 10000,20000
RC1
BG XY
#A;JP #A,_RC=1
MG "DONE"
EN
Loop until done
Print message
End program
#PLAY
Play back
N=0
Initial Counter
JP# DONE,N>300
N=
Exit if done
Print Counter
XPOS[N]=
YPOS[N]=
XERR[N]=
Print X position
Print Y position
Print X error
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YERR[N]=
N=N+1
#DONE
EN
Print Y error
Increment Counter
Done
End Program
Deallocating Array Space
Array space may be deallocated using the DA command followed by the array name. DA*[0]
deallocates all the arrays.
Input of Data (Numeric and String)
Input of Data
The command, IN, is used to prompt the user to input numeric or string data. Using the IN command,
the user may specify a message prompt by placing a message in quotations. When the controller
executes an IN command, the controller will wait for the input of data. The input data is assigned to
the specified variable or array element.
An Example for Inputting Numeric Data
#A
IN "Enter Length", LENX
EN
In this example, the message “Enter Length” is displayed on the computer screen. The controller waits
for the operator to enter a value. The operator enters the numeric value which is assigned to the
variable, LENX.
Cut-to-Length Example
In this example, a length of material is to be advanced a specified distance. When the motion is
complete, a cutting head is activated to cut the material. The length is variable, and the operator is
prompted to input it in inches. Motion starts with a start button which is connected to input 1.
The load is coupled with a 2 pitch lead screw. A 2000 count/rev encoder is on the motor, resulting in a
resolution of 4000 counts/inch. The program below uses the variable LEN, to length. The IN
command is used to prompt the operator to enter the length, and the entered value is assigned to the
variable LEN.
#BEGIN
LABEL
AC 800000
DC 800000
SP 5000
Acceleration
Deceleration
Speed
LEN=3.4
Initial length in inches
Cut routine
#CUT
AI1
Wait for start signal
Prompt operator for length in inches
Specify position in counts
Begin motion to move material
IN "enter Length(IN)", LEN
PR LEN *4000
BGX
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AMX
Wait for motion done
Set output to cut
SB1
WT100;CB1
JP #CUT
EN
Wait 100 msec, then turn off cutter
Repeat process
End program
Inputting String Variables
String variables with up to six characters may input using the specifier, {Sn} where n represents the
number of string characters to be input. If n is not specified, six characters will be accepted. For
example, IN "Enter X,Y or Z", V{S} specifies a string variable to be input.
Output of Data (Numeric and String)
Numerical and string data can be ouput from the controller using several methods. The message
command, MG, can output string and numerical data. Also, the controller can be commanded to return
the values of variables and arrays, as well as other information using the interrogation commands (the
interrogation commands are described in chapter 5).
Sending Messages
Messages may be sent to the bus using the message command, MG. This command sends specified
text and numerical or string data from variables or arrays to the screen.
Text strings are specified in quotes and variable or array data is designated by the name of the variable
or array. For example:
MG "The Final Value is", RESULT
In addition to variables, functions and commands, responses can be used in the message command.
For example:
MG "Analog input is", @AN[1]
MG "The Gain of X is", _GNX
Formatting Messages
String variables can be formatted using the specifier, {Sn} where n is the number of characters, 1 thru
6. For example:
MG STR {S3}
This statement returns 3 characters of the string variable named STR.
Numeric data may be formatted using the {Fn.m} expression following the completed MG statement.
{$n.m} formats data in HEX instead of decimal. The actual numerical value will be formatted with n
characters to the left of the decimal and m characters to the right of the decimal. Leading zeros will be
used to display specified format.
For example::
MG "The Final Value is", RESULT {F5.2}
If the value of the variable RESULT is equal to 4.1, this statement returns the following:
The Final Value is 00004.10
If the value of the variable RESULT is equal to 999999.999, the above message statement returns the
following:
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The Final Value is 99999.99
The message command normally sends a carriage return and line feed following the statement. The
carriage return and the line feed may be suppressed by sending {N} at the end of the statement. This is
useful when a text string needs to surround a numeric value.
Example:
#A
JG 50000;BGX;ASX
MG "The Speed is", _TVX {F5.1} {N}
MG "counts/sec"
EN
When #A is executed, the above example will appear on the screen as:
The speed is 50000 counts/sec
Using the MG Command to Configure Terminals
The MG command can be used to configure a terminal. Any ASCII character can be sent by using the
format {^n} where n is any integer between 1 and 255.
Example:
MG {^07} {^255}
sends the ASCII characters represented by 7 and 255 to the bus.
Summary of Message Functions:
FUNCTION
DESCRIPTION
" "
Surrounds text string
{Fn.m}
Formats numeric values in decimal n digits to the right of the decimal point
and m digits to the left
{$n.m}
{^n}
Formats numeric values in hexadecimal
Sends ASCII character specified by integer n
Suppresses carriage return/line feed
{N}
{Sn}
Sends the first n characters of a string variable, where n is 1 thru 6.
Displaying Variables and Arrays
Variables and arrays may be sent to the screen using the format, variable= or array[x]=. For example,
V1= , returns the value of V1.
Example - Printing a Variable and an Array element
#DISPLAY
DM POSX[7]
PR 1000
Label
Define Array POSX with 7 entries
Position Command
Begin
BGX
AMX
After Motion
V1=_TPX
POSX[1]=_TPX
V1=
Assign Variable V1
Assign the first entry
Print V1
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Interrogation Commands
The DMC-13X8 has a set of commands that directly interrogate the controller. When these command
are 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),
and Leading Zeros (LZ) command. For a complete description of interrogation commands, see chapter
5.
Using the PF Command to Format Response from Interrogation
Commands
The command, PF, can change format of the values returned by theses interrogation commands:
BL ?
DE ?
DP ?
EM ?
FL ?
IP ?
LE ?
PA ?
PR ?
TN ?
VE ?
TE
TP
The numeric values may be formatted in decimal or hexadecimal* with a specified number of digits to
the right and left of the decimal point using the PF command.
Position Format is specified by:
PF m.n
where m is the number of digits to the left of the decimal point (0 thru 10) and n is the number of digits
to the right of the decimal point (0 thru 4) A negative sign for m specifies hexadecimal format.
Hex values are returned preceded by a $ and in 2's complement. Hex values should be input as signed
2's complement, where negative numbers have a negative sign. The default format is PF 10.0.
If the number of decimal places specified by PF is less than the actual value, a nine appears in all the
decimal places.
Examples:
:DP21
:TPX
0000000021
:PF4
Define position
Tell position
Default format
Change format to 4 places
Tell position
:TPX
0021
New format
:PF-4
:TPX
$0015
:PF2
Change to hexadecimal format
Tell Position
Hexadecimal value
Format 2 places
:TPX
99
Tell Position
Returns 99 if position greater than 99
Removing Leading Zeros from Response to Interrogation Commands
The leading zeros on data returned as a response to interrogation commands can be removed by the use
of the command, LZ.
Example - Using the LZ command
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LZ0
TP
Disables the LZ function
Tell Position Interrogation Command
Response from Interrogation Command
(With Leading Zeros)
-0000000009, 0000000005, 0000000000, 0000000007
LZ1
Enables the LZ function
TP
Tell Position Interrogation Command
-9, 5, 0, 7
Response from Interrogation Command
(Without Leading Zeros)
Local Formatting of Response of Interrogation Commands
The response of interrogation commands may be formatted locally. To format locally, use the
command, {Fn.m} or {$n.m} on the same line as the interrogation command. The symbol F specifies
that the response should be returned in decimal format and $ specifies hexadecimal. n is the number of
digits to the left of the decimal, and m is the number of digits to the right of the decimal. For example:
Examples:
TP {F2.2}
Tell Position in decimal format 2.2
-05.00, 05.00, 00.00, 07.00
TP {$4.2}
Response from Interrogation Command
Tell Position in hexadecimal format 4.2
Response from Interrogation Command
FFFB.00,$0005.00,$0000.00,$0007.00
Formatting Variables and Array Elements
The Variable Format (VF) command is used to format variables and array elements. The VF
command is specified by:
VF m.n
where m is the number of digits to the left of the decimal point (0 thru 10) and n is the number of
digits to the right of the decimal point (0 thru 4).
A negative sign for m specifies hexadecimal format. The default format for VF is VF 10.4
Hex values are returned preceded by a $ and in 2's complement.
:V1=10
:V1=
Assign V1
Return V1
0000000010.0000
:VF2.2
:V1=
Default format
Change format
Return V1
10.00
New format
Specify hex format
Return V1
:VF-2.2
:V1=
$0A.00
:VF1
Hex value
Change format
Return V1
:V1=
9
Overflow
Local Formatting of Variables
PF and VF commands are global format commands that affect the format of all relevant returned
values and variables. Variables may also be formatted locally. To format locally, use the command,
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{Fn.m} or {$n.m} following the variable name and the ‘=’ symbol. F specifies decimal and $ specifies
hexadecimal. n is the number of digits to the left of the decimal, and m is the number of digits to the
right of the decimal. For example:
Examples:
:V1=10
Assign V1
:V1=
Return V1
0000000010.0000
:V1={F4.2}
0010.00
Default Format
Specify local format
New format
:V1={$4.2}
$000A.00
:V1="ALPHA"
:V1={S4}
ALPH
Specify hex format
Hex value
Assign string "ALPHA" to V1
Specify string format first 4 characters
The local format is also used with the MG* command.
Converting to User Units
Variables and arithmetic operations make it easy to input data in desired user units such as inches or
RPM.
The DMC-13X8 position parameters such as PR, PA and VP have units of quadrature counts. Speed
parameters such as SP, JG and VS have units of counts/sec. Acceleration parameters such as AC, DC,
2
VA and VD have units of counts/sec . The controller interprets time in milliseconds.
All input parameters must be converted into these units. For example, an operator can be prompted to
input a number in revolutions. A program could be used such that the input number is converted into
counts by multiplying it by the number of counts/revolution.
Example:
#RUN
Label
IN "ENTER # OF REVOLUTIONS",N1 Prompt for revs
PR N1*2000
Convert to counts
Prompt for RPMs
Convert to counts/sec
IN "ENTER SPEED IN RPM",S1
SP S1*2000/60
IN "ENTER ACCEL IN RAD/SEC2",A1 Prompt for ACCEL
AC A1*2000/(2*3.14)
Convert to counts/sec2
Begin motion
BG
EN
End program
Hardware I/O
Digital Outputs
The DMC-13X8 has an 8-bit uncommitted output port for controlling external events. The DMC-
13x8 also has an additional 64 I/O (configured as inputs or outputs with CO command). Each bit on
the output port may be set and cleared with the software instructions SB (Set Bit) and CB(Clear Bit),
or OB (define output bit).
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For example:
INSTRUCTION
FUNCTION
SB6
CB4
Sets bit 6 of output port
Clears bit 4 of output port
The Output Bit (OB) instruction is useful for setting or clearing outputs depending on the value of a
variable, array, input or expression. Any non-zero value results in a set bit.
INSTRUCTION
OB1, POS
FUNCTION
Set Output 1 if the variable POS is non-zero. Clear Output 1 if POS equals 0.
Set Output 2 if Input 1 is high. If Input 1 is low, clear Output 2.
Set Output 3 only if Input 1 and Input 2 are high.
Set Output 4 if element 1 in the array COUNT is non-zero.
OB 2, @IN [1]
OB 3, @IN [1]&@IN [2]
OB 4, COUNT [1]
The output port can be set by specifying an 8-bit word using the instruction OP (Output Port). This
0
instruction allows a single command to define the state of the entire 8-bit output port, where 2 is
1
output 1, 2 is output 2 and so on. A 1 designates that the output is on.
For example:
INSTRUCTION
FUNCTION
OP6
1
2
Sets outputs 2 and 3 of output port to high. All other bits are 0. (2 + 2 = 6)
Clears all bits of output port to zero
OP0
OP 255
Sets all bits of output port to one.
2
1
2
3
4
5
6
7
(2 + 2 + 2 + 2 + 2 + 2 + 2 + 2 )
The output port is useful for setting relays or controlling external switches and events during a motion
sequence.
Example - Turn on output after move
#OUTPUT
PR 2000
BG
Label
Position Command
Begin
AM
After move
Set Output 1
Wait 1000 msec
Clear Output 1
End
SB1
WT 1000
CB1
EN
Digital Inputs
The DMC-13X8 has eight digital inputs for controlling motion by local switches. The @IN[n]
function returns the logic level of the specified input 1 through 8.
For example, a Jump on Condition instruction can be used to execute a sequence if a high condition is
noted on an input 3. To halt program execution, the After Input (AI) instruction waits until the
specified input has occurred.
Example:
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JP #A,@IN[1]=0
JP #B,@IN[2]=1
AI 7
Jump to A if input 1 is low
Jump to B if input 2 is high
Wait until input 7 is high
Wait until input 6 is low
AI -6
Example - Start Motion on Switch
Motor X must turn at 4000 counts/sec when the user flips a panel switch to on. When panel switch is
turned to off position, motor X must stop turning.
Solution: Connect panel switch to input 1 of DMC-13X8. High on input 1 means switch is in on
position.
INSTRUCTION
#S;JG 4000
AI 1;BGX
AI -1;STX
AMX;JP #S
EN;
FUNCTION
Set speed
Begin after input 1 goes high
Stop after input 1 goes low
After motion, repeat
Input Interrupt Function
The DMC-13X8 provides an input interrupt function which causes the program to automatically
execute the instructions following the #ININT label. This function is enabled using the II m,n,o
command. The m specifies the beginning input and n specifies the final input in the range. The
parameter o is an interrupt mask. If m and n are unused, o contains a number with the mask. A 1
0
1
designates that input to be enabled for an interrupt, where 2 is bit 1, 2 is bit 2 and so on. For
0
2
example, II,,5 enables inputs 1 and 3 (2 + 2 = 5).
A low input on any of the specified inputs will cause automatic execution of the #ININT subroutine.
The Return from Interrupt (RI) command is used to return from this subroutine to the place in the
program where the interrupt had occurred. If it is desired to return to somewhere else in the program
after the execution of the #ININT subroutine, the Zero Stack (ZS) command is used followed by
unconditional jump statements.
IMPORTANT: Use the RI instruction (not EN) to return from the #ININT subroutine.
Examples - Input Interrupt
#A
Label #A
II 1
Enable input 1 for interrupt function
Set speeds on X and Y axes
Begin motion on X and Y axes
Label #B
JG 30000,-20000
BG XY
#B
TP XY
WT 1000
JP #B
Report X and Y axes positions
Wait 1000 milliseconds
Jump to #B
EN
End of program
#ININT
Interrupt subroutine
Displays the message
MG "Interrupt has
occurred"
ST XY
Stops motion on X and Y axes
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#LOOP;JP
Loop until Interrupt cleared
#LOOP,@IN[1]=0
JG 15000,10000
WT 300
BG XY
Specify new speeds
Wait 300 milliseconds
Begin motion on X and Y axes
Return from Interrupt subroutine
RI
Analog Inputs
The DMC-13X8 provides eight analog inputs. The value of these inputs in volts may be read using the
@AN[n] function where n is the analog input 1 through 8. The resolution of the Analog-to-Digital
conversion is 12 bits (16-bit ADC is available as an option). Analog inputs are useful for reading
special sensors such as temperature, tension or pressure.
The following examples show programs which cause the motor to follow an analog signal. The first
example is a point-to-point move. The second example shows a continuous move.
Example - Position Follower (Point-to-Point)
Objective - The motor must follow an analog signal. When the analog signal varies by 10V, motor
must move 10000 counts.
Method: Read the analog input and command X to move to that point.
INSTRUCTION
INTERPRETATION
#Points
Label
SP 7000
Speed
AC 80000;DC 80000
#Loop
Acceleration
VP=@AN[1]*1000
PA VP
Read and analog input, compute position
Command position
Start motion
After completion
Repeat
BGX
AMX
JP #Loop
EN
End
Example - Position Follower (Continuous Move)
Method: Read the analog input, compute the commanded position and the position error. Command
the motor to run at a speed in proportions to the position error.
INSTRUCTION
#Cont
INTERPRETATION
Label
AC 80000;DC 80000
JG 0
Acceleration rate
Start job mode
Start motion
BGX
#Loop
VP=@AN[1]*1000
VE=VP-_TPX
VEL=VE*20
JG VEL
Compute desired position
Find position error
Compute velocity
Change velocity
JP #Loop
Change velocity
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EN
End
Example Applications
Wire Cutter
An operator activates a start switch. This causes a motor to advance the wire a distance of 10". When
the motion stops, the controller generates an output signal which activates the cutter. Allowing 100 ms
for the cutting completes the cycle.
Suppose that the motor drives the wire by a roller with a 2" diameter. Also assume that the encoder
resolution is 1000 lines per revolution. Since the circumference of the roller equals 2π inches, and it
corresponds to 4000 quadrature, one inch of travel equals:
4000/2π = 637 count/inch
This implies that a distance of 10 inches equals 6370 counts, and a slew speed of 5 inches per second,
for example, equals 3185 count/sec.
The input signal may be applied to I1, for example, and the output signal is chosen as output 1. The
motor velocity profile and the related input and output signals are shown in Fig. 7.1.
The program starts at a state that we define as #A. Here the controller waits for the input pulse on I1.
As soon as the pulse is given, the controller starts the forward motion.
Upon completion of the forward move, the controller outputs a pulse for 20 ms and then waits an
additional 80 ms before returning to #A for a new cycle.
INSTRUCTION
#A
FUNCTION
Label
AI1
Wait for input 1
Distance
PR 6370
SP 3185
BGX
Speed
Start Motion
After motion is complete
Set output bit 1
Wait 20 ms
AMX
SB1
WT 20
CB1
Clear output bit 1
Wait 80 ms
WT 80
JP #A
Repeat the process
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START PULSE I1
MOTOR VELOCITY
OUTPUT PULSE
output
TIME INTERVALS
move
wait
ready
move
Figure 7.1 - Motor Velocity and the Associated Input/Output signals
X-Y Table Controller
An X-Y-Z system must cut the pattern shown in Fig. 7.2. The X-Y table moves the plate while the Z-
axis raises and lowers the cutting tool.
The solid curves in Fig. 7.2 indicate sections where cutting takes place. Those must be performed at a
feedrate of 1 inch per second. The dashed line corresponds to non-cutting moves and should be
performed at 5 inch per second. The acceleration rate is 0.1 g.
The motion starts at point A, with the Z-axis raised. An X-Y motion to point B is followed by
lowering the Z-axis and performing a cut along the circle. Once the circular motion is completed, the
Z-axis is raised and the motion continues to point C, etc.
Assume that all of the 3 axes are driven by lead screws with 10 turns-per-inch pitch. Also assume
encoder resolution of 1000 lines per revolution. This results in the relationship:
1 inch = 40,000 counts
and the speeds of
1 in/sec = 40,000 count/sec
5 in/sec = 200,000 count/sec
an acceleration rate of 0.1g equals
2
0.1g = 38.6 in/s2 = 1,544,000 count/s
Note that the circular path has a radius of 2" or 80000 counts, and the motion starts at the angle of 270°
and traverses 360° in the CW (negative direction). Such a path is specified with the instruction
CR 80000,270,-360
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Further assume that the Z must move 2" at a linear speed of 2" per second. The required motion is
performed by the following instructions:
INSTRUCTION
FUNCTION
#A
Label
VM XY
VP 160000,160000
VE
Circular interpolation for XY
Positions
End Vector Motion
Vector Speed
VS 200000
VA 1544000
BGS
Vector Acceleration
Start Motion
AMS
When motion is complete
Move Z down
PR,,-80000
SP,,80000
BGZ
Z speed
Start Z motion
Wait for completion of Z motion
Circle
AMZ
CR 80000,270,-360
VE
VS 40000
BGS
Feedrate
Start circular move
Wait for completion
Move Z up
AMS
PR,,80000
BGZ
Start Z move
Wait for Z completion
Move X
AMZ
PR -21600
SP 20000
BGX
Speed X
Start X
AMX
Wait for X completion
Lower Z
PR,,-80000
BGZ
AMZ
CR 80000,270,-360
VE
Z second circle move
VS 40000
BGS
AMS
PR,,80000
BGZ
Raise Z
AMZ
VP -37600,-16000
VE
Return XY to start
VS 200000
BGS
AMS
EN
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Y
R=2
4
B
C
A
0
4
9.3
X
Figure 7.2 - Motor Velocity and the Associated Input/Output signals
Speed Control by Joystick
The speed of a motor is controlled by a joystick. The joystick produces a signal in the range between -
10V and +10V. The objective is to drive the motor at a speed proportional to the input voltage.
Assume that a full voltage of 10 Volts must produce a motor speed of 3000 rpm with an encoder
resolution of 1000 lines or 4000 count/rev. This speed equals:
3000 rpm = 50 rev/sec = 200000 count/sec
The program reads the input voltage periodically and assigns its value to the variable VIN. To get a
speed of 200,000 ct/sec for 10 volts, we select the speed as
Speed = 20000 x VIN
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The corresponding velocity for the motor is assigned to the VEL variable.
Instruction
#A
JG0
BGX
#B
VIN=@AN[1]
VEL=VIN*20000
JG VEL
JP #B
EN
Position Control by Joystick
This system requires the position of the motor to be proportional to the joystick angle. Furthermore,
the ratio between the two positions must be programmable. For example, if the control ratio is 5:1, it
implies that when the joystick voltage is 5 Volts, corresponding to 1028 counts, the required motor
position must be 5120 counts. The variable V3 changes the position ratio.
INSTRUCTION
FUNCTION
#A
Label
V3=5
Initial position ratio
Define the starting position
Set motor in jog mode as zero
Start
DP0
JG0
BGX
#B
V1=@AN[1]
V2=V1*V3
V4=V2-_TPX-_TEX
V5=V4*20
JG V5
Read analog input
Compute the desired position
Find the following error
Compute a proportional speed
Change the speed
JP #B
Repeat the process
End
EN
Backlash Compensation by Sampled Dual-Loop
The continuous dual loop, enabled by the DV1 function is an effective way to compensate for
backlash. In some cases, however, when the backlash magnitude is large, it may be difficult to
stabilize the system. In those cases, it may be easier to use the sampled dual loop method described
below.
This design example addresses the basic problems of backlash in motion control systems. The
objective is to control the position of a linear slide precisely. The slide is to be controlled by a rotary
motor, which is coupled to the slide by a leadscrew. Such a leadscrew has a backlash of 4 micron, and
the required position accuracy is for 0.5 micron.
The basic dilemma is where to mount the sensor. If you use a rotary sensor, you get a 4 micron
backlash error. On the other hand, if you use a linear encoder, the backlash in the feedback loop will
cause oscillations due to instability.
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An alternative approach is the dual-loop, where we use two sensors, rotary and linear. The rotary
sensor assures stability (because the position loop is closed before the backlash) whereas the linear
sensor provides accurate load position information. The operation principle is to drive the motor to a
given rotary position near the final point. Once there, the load position is read to find the position error
and the controller commands the motor to move to a new rotary position which eliminates the position
error.
Since the required accuracy is 0.5 micron, the resolution of the linear sensor should preferably be twice
finer. A linear sensor with a resolution of 0.25 micron allows a position error of +/-2 counts.
The dual-loop approach requires the resolution of the rotary sensor to be equal or better than that of the
linear system. Assuming that the pitch of the lead screw is 2.5mm (approximately 10 turns per inch), a
rotary encoder of 2500 lines per turn or 10,000 count per revolution results in a rotary resolution of
0.25 micron. This results in equal resolution on both linear and rotary sensors.
To illustrate the control method, assume that the rotary encoder is used as a feedback for the X-axis,
and that the linear sensor is read and stored in the variable LINPOS. Further assume that at the start,
both the position of X and the value of LINPOS are equal to zero. Now assume that the objective is to
move the linear load to the position of 1000.
The first step is to command the X motor to move to the rotary position of 1000. Once it arrives we
check the position of the load. If, for example, the load position is 980 counts, it implies that a
correction of 20 counts must be made. However, when the X-axis is commanded to be at the position
of 1000, suppose that the actual position is only 995, implying that X has a position error of 5 counts,
which will be eliminated once the motor settles. This implies that the correction needs to be only 15
counts, since 5 counts out of the 20 would be corrected by the X-axis. Accordingly, the motion
correction should be:
Correction = Load Position Error - Rotary Position Error
The correction can be performed a few times until the error drops below +/-2 counts. Often, this is
performed in one correction cycle.
Example motion program:
INSTRUCTION
FUNCTION
#A
Label
DP0
Define starting positions as zero
LINPOS=0
PR 1000
Required distance
Start motion
BGX
#B
AMX
Wait for completion
Wait 50 msec
WT 50
LIN POS = _DEX
Read linear position
Find the correction
Exit if error is small
Command correction
ER=1000-LINPOS-_TEX
JP #C,@ABS[ER]<2
PR ER
BGX
JP #B
#C
Repeat the process
EN
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Chapter 8 Hardware & Software
Protection
Introduction
The DMC-13X8 provides several hardware and software features to check for error conditions and to
inhibit the motor on error. These features help protect the various system components from damage.
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 machine. Since the DMC-13X8 is an
integral part of the machine, the engineer should design his overall system with protection against a
possible component failure on the DMC-13X8. Galil shall not be liable or responsible for any
incidental or consequential damages.
Hardware Protection
The DMC-13X8 includes hardware input and output protection lines for various error and mechanical
limit conditions. These include:
Output Protection Lines
Amp Enable - This signal goes low when the motor off command is given, when the position error
exceeds the value specified by the Error Limit (ER) command, or when off-on-error condition is
enabled (OE1) and the abort command is given. Each axis amplifier has separate amplifier enable
lines. This signal also goes low when the watch-dog timer is activated, or upon reset. Note: The
standard configuration of the AEN signal is TTL active low. Both the polarity and the amplitude can
be changed if you are using the ICM-1900 interface board. To make these changes, see section
entitled ‘Amplifier Interface’ pg 3-26.
Error Output - The error output is a TTL signal which indicates an error condition in the controller.
This signal is available on the interconnect module as ERROR. When the error signal is low, this
indicates one of the following error 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.
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Input Protection Lines
General Abort - A low input stops commanded motion instantly without a controlled deceleration.
For any axis in which the Off-On-Error function is enabled, the amplifiers will be disabled. This could
cause the motor to ‘coast’ to a stop. If the Off-On-Error function is not enabled, the motor will
instantaneously stop and servo at the current position. The Off-On-Error function is further discussed
in this chapter.
Selective Abort - The controller can be configured to provide an individual abort for each axis.
Activation of the selective abort signal will act the same as the Abort Input but only on the specific
axis. To configure the controller for selective abort, issue the command CN,,,1. This configures the
inputs 5,6,7,8 to act as selective aborts for axes X,Y,Z and W respectively.
Forward Limit Switch - Low input inhibits motion in forward direction. If the motor is moving in the
forward direction when the limit switch is activated, the motion will decelerate and stop. In addition, if
the motor is moving in the forward direction, the controller will automatically jump to the limit switch
subroutine, #LIMSWI (if such a routine has been written by the user). The CN command can be used
to change the polarity of the limit switches.
Reverse Limit Switch - Low input inhibits motion in reverse direction. If the motor is moving in the
reverse direction when the limit switch is activated, the motion will decelerate and stop. In addition, if
the motor is moving in the reverse direction, the controller will automatically jump to the limit switch
subroutine, #LIMSWI (if such a routine has been written by the user). The CN command can be used
to change the polarity of the limit switches.
Software Protection
The DMC-13X8 provides a programmable error limit. The error limit can be set for any number
between 1 and 32767 using the ER n command. The default value for ER is 16384.
Example:
ER 200,300,400,500
Set X-axis error limit for 200, Y-axis error limit to 300, Z-axis error limit to 400
counts, W-axis error limit to 500 counts
ER,1,,10
Set Y-axis error limit to 1 count, set W-axis error limit to 10 counts.
The units of the error limit are quadrature counts. The error is the difference between the command
position and actual encoder position. If the absolute value of the error exceeds the value specified by
ER, the controller will generate several signals to warn the host system of the error condition. These
signals include:
Signal or Function
# POSERR
State if Error Occurs
Jumps to automatic excess position error subroutine
Error Light
Turns on
OE Function
Shuts motor off if OE1
Goes low
AEN Output Line
The Jump on Condition statement is useful for branching on a given error within a program. The
position error of X,Y,Z and W can be monitored during execution using the TE command.
Programmable Position Limits
The DMC-13X8 provides programmable forward and reverse position limits. These are set by the BL
and FL software commands. Once a position limit is specified, the DMC-13X8 will not accept
position commands beyond the limit. Motion beyond the limit is also prevented.
Example:
DP0,0,0
Define Position
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BL -2000,-4000,-8000
FL 2000,4000,8000
JG 2000,2000,2000
BG XYZ
Set Reverse position limit
Set Forward position limit
Jog
Begin
(motion stops at forward limits)
Off-On-Error
The DMC-13X8 controller has a built in function which can turn off the motors under certain error
conditions. This function is know as ‘Off-On-Error”. To activate the OE function for each axis,
specify 1 for X,Y,Z and W axis. To disable this function, specify 0 for the axes. When this function is
enabled, the specified motor will be disabled under the following 3 conditions:
1. The position error for the specified axis exceeds the limit set with the command, ER
2. The abort command is given
3. The abort input is activated with a low signal.
Note: If the motors are disabled while they are moving, they may ‘coast’ to a stop because they are no
longer under servo control.
To re-enable the system, use the Reset (RS) or Servo Here (SH) command.
Examples:
OE 1,1,1,1
Enable off-on-error for X,Y,Z and W
OE 0,1,0,1
Enable off-on-error for Y and W axes and disable off-on-error for W and Z axes
Automatic Error Routine
The #POSERR label causes the statements following to be automatically executed if error on any axis
exceeds the error limit specified by ER. The error routine must be closed with the RE command. The
RE command returns from the error subroutine to the main program.
NOTE: The Error Subroutine will be entered again unless the error condition is gone.
Example:
#A;JP #A;EN
#POSERR
MG "error"
SB 1
"Dummy" program
Start error routine on error
Send message
Fire relay
STX
Stop motor
AMX
After motor stops
Servo motor here to clear error
Return to main program
SHX
RE
NOTE: An applications program must be executing for the #POSERR routine to function.
Limit Switch Routine
The DMC-13X8 provides forward and reverse limit switches which inhibit motion in the respective
direction. There is also a special label for automatic execution of a limit switch subroutine. The
#LIMSWI label specifies the start of the limit switch subroutine. This label causes the statements
following to be automatically executed if any limit switch is activated and that axis motor is moving in
that direction. The RE command ends the subroutine.
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The state of the forward and reverse limit switches may also be tested during the jump-on-condition
statement. The _LR condition specifies the reverse limit and _LF specifies the forward limit. X,Y,Z,
or W following LR or LF specifies the axis. The CN command can be used to configure the polarity of
the limit switches.
Limit Switch Example:
#A;JP #A;EN
#LIMSWI
V1=_LFX
V2=_LRX
JP#LF,V1=0
JP#LR,V2=0
JP#END
Dummy Program
Limit Switch Utility
Check if forward limit
Check if reverse limit
Jump to #LF if forward
Jump to #LR if reverse
Jump to end
#LF
#LF
MG "FORWARD LIMIT" Send message
STX;AMX
Stop motion
Move in reverse
End
PR-1000;BGX;AMX
JP#END
#LR
#LR
MG "REVERSE LIMIT"
STX;AMX
Send message
Stop motion
Move forward
End
PR1000;BGX;AMX
#END
RE
Return to main program
NOTE: An applications program must be executing for #LIMSWI to function.
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Chapter 9 Troubleshooting
Overview
The following discussion may help you get your system to work.
Potential problems have been divided into groups as follows:
1. Installation
2. Communication
3. Stability and Compensation
4. Operation
The various symptoms along with the cause and the remedy are described in the following tables.
Installation
SYMPTOM
DIAGNOSIS
CAUSE
REMEDY
Motor runs away with no
connections from
controller to amplifier
input.
Adjusting offset causes the 1. Amplifier has an
Adjust amplifier offset. Amplifier
offset may also be compensated by
use of the offset configuration on
the controller (see the OF
command).
motor to change speed.
internal offset.
2. Damaged amplifier.
Replace amplifier.
Contact Galil
Motor is enabled even
when MO command is
given
The SH command disables 1. The amplifier
the motor
requires the -LAEN
option on the
Interconnect Module
Unable to read the
auxiliary encoders.
No auxiliary encoder
inputs are working
1. Auxiliary Encoder
Cable is not connected
Connect Auxiliary Encoder cable
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Unable to read main or
auxiliary encoder input.
The encoder does not work 1. Wrong encoder
Check encoder wiring. For single
ended encoders (CHA and CHB
only) do not make any connections
to the CHA- and CHB- inputs.
when swapped with
connections.
another encoder input.
Replace encoder
2. Encoder is damaged
3. Encoder
configuration incorrect.
Check CE command
Unable to read main or
auxiliary encoder input.
The encoder works
correctly when swapped
with another encoder input.
1. Wrong encoder
connections.
Check encoder wiring. For single
ended encoders (CHA and CHB
only) do not make any connections
to the CHA- and CHB- inputs.
2. Encoder
configuration incorrect.
Check CE command
Contact Galil
3. Encoder input or
controller is damaged
Encoder Position Drifts
Encoder Position Drifts
Swapping cables fixes the
problem
1. Poor Connections /
intermittent cable
Review all terminal connections
and connector contacts.
Significant noise can be
seen on CHA and / or CHB
encoder signals
1. Noise
Shield encoder cables
Avoid placing power cables near
encoder cables
Avoid Ground Loops
Use differential encoders
Use +/-12V encoders
Communication
SYMPTOM
DIAGNOSIS
CAUSE
REMEDY
Cannot communicate with Galil software returns error 1. Address conflict
Change address jumper positions,
and change if necessary (Chap 4)
controller.
message when
communication is
attempted.
2. IRQ address
Select different IRQ
3. Address selection
does not agree with From Galil software, edit Galil
registry
Registry
information.
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Stability
SYMPTOM
DIAGNOSIS
CAUSE
REMEDY
Servo motor runs away
when the loop is closed.
Reversed Motor Type
corrects situation (MT -1)
1. Wrong feedback
polarity.
Reverse Motor or Encoder Wiring
(remember to set Motor Type back
to default value: MT 1)
Motor oscillates.
2. Too high gain or
too little damping.
Decrease KI and KP. Increase KD.
Operation
SYMPTOM
DIAGNOSIS
CAUSE
REMEDY
Controller rejects
commands.
Response of controller
from TC1 diagnoses error.
1. Anything
Correct problem reported by TC1
Motor Doesn’t Move
Response of controller
2. Anything
Correct problem reported by SC
from TC1 diagnoses error.
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Chapter 10 Theory of Operation
Overview
The following discussion covers the operation of motion control systems. A typical motion control
system consists of the elements shown in Fig 10.1.
COMPUTER
CONTROLLER
DRIVER
ENCODER
MOTOR
Figure 10.1 - Elements of Servo Systems
The operation of such a system can be divided into three levels, as illustrated in Fig. 10.2. The levels
are:
1. Closing the Loop
2. Motion Profiling
3. Motion Programming
The first level, the closing of the loop, assures that the motor follows the commanded position. This is
done by closing the position loop using a sensor. The operation at the basic level of closing the loop
involves the subjects of modeling, analysis, and design. These subjects will be covered in the
following discussions.
The motion profiling is the generation of the desired position function. This function, R(t), describes
where the motor should be at every sampling period. Note that the profiling and the closing of the loop
are independent functions. The profiling function determines where the motor should be and the
closing of the loop forces the motor to follow the commanded position
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The highest level of control is the motion program. This can be stored in the host computer or in the
controller. This program describes the tasks in terms of the motors that need to be controlled, the
distances and the speed.
LEVEL
MOTION
PROGRAMMING
3
MOTION
PROFILING
2
CLOSED-LOOP
CONTROL
1
Figure 10.2 - Levels of Control Functions
The three levels of control may be viewed as different levels of management. The top manager, the
motion program, may specify the following instruction, for example.
PR 6000,4000
SP 20000,20000
AC 200000,00000
BG X
AD 2000
BG Y
EN
This program corresponds to the velocity profiles shown in Fig. 10.3. Note that the profiled positions
show where the motors must be at any instant of time.
Finally, it remains up to the servo system to verify that the motor follows the profiled position by
closing the servo loop.
The following section explains the operation of the servo system. First, it is explained qualitatively,
and then the explanation is repeated using analytical tools for those who are more theoretically
inclined.
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X VELOCITY
Y VELOCITY
X POSITION
Y POSITION
TIME
Figure 10.3 - Velocity and Position Profiles
Operation of Closed-Loop Systems
To understand the operation of a servo system, we may compare it to a familiar closed-loop operation,
adjusting the water temperature in the shower. One control objective is to keep the temperature at a
comfortable level, say 90 degrees F. To achieve that, our skin serves as a temperature sensor and
reports to the brain (controller). The brain compares the actual temperature, which is called the
feedback signal, with the desired level of 90 degrees F. The difference between the two levels is called
the error signal. If the feedback temperature is too low, the error is positive, and it triggers an action
which raises the water temperature until the temperature error is reduced sufficiently.
The closing of the servo loop is very similar. Suppose that we want the motor position to be at 90
degrees. The motor position is measured by a position sensor, often an encoder, and the position
feedback is sent to the controller. Like the brain, the controller determines the position error, which is
the difference between the commanded position of 90 degrees and the position feedback. The
controller then outputs a signal that is proportional to the position error. This signal produces a
proportional current in the motor, which causes a motion until the error is reduced. Once the error
becomes small, the resulting current will be too small to overcome the friction, causing the motor to
stop.
The analogy between adjusting the water temperature and closing the position loop carries further. We
have all learned the hard way, that the hot water faucet should be turned at the "right" rate. If you turn
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it too slowly, the temperature response will be slow, causing discomfort. Such a slow reaction is called
overdamped response.
The results may be worse if we turn the faucet too fast. The overreaction results in temperature
oscillations. When the response of the system oscillates, we say that the system is unstable. Clearly,
unstable responses are bad when we want a constant level.
What causes the oscillations? The basic cause for the instability is a combination of delayed reaction
and high gain. In the case of the temperature control, the delay is due to the water flowing in the pipes.
When the human reaction is too strong, the response becomes unstable.
Servo systems also become unstable if their gain is too high. The delay in servo systems is between
the application of the current and its effect on the position. Note that the current must be applied long
enough to cause a significant effect on the velocity, and the velocity change must last long enough to
cause a position change. This delay, when coupled with high gain, causes instability.
This motion controller includes a special filter which is designed to help the stability and accuracy.
Typically, such a filter produces, in addition to the proportional gain, damping and integrator. The
combination of the three functions is referred to as a PID filter.
The filter parameters are represented by the three constants KP, KI and KD, which correspond to the
proportional, integral and derivative term respectively.
The damping element of the filter acts as a predictor, thereby reducing the delay associated with the
motor response.
The integrator function, represented by the parameter KI, improves the system accuracy. With the KI
parameter, the motor does not stop until it reaches the desired position exactly, regardless of the level
of friction or opposing torque.
The integrator also reduces the system stability. Therefore, it can be used only when the loop is stable
and has a high gain.
The output of the filter is applied to a digital-to-analog converter (DAC). The resulting output signal in
the range between +10 and -10 Volts is then applied to the amplifier and the motor.
The motor position, whether rotary or linear is measured by a sensor. The resulting signal, called
position feedback, is returned to the controller for closing the loop.
The following section describes the operation in a detailed mathematical form, including modeling,
analysis and design.
System Modeling
The elements of a servo system include the motor, driver, encoder and the controller. These elements
are shown in Fig. 10.4. The mathematical model of the various components is given below.
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CONTROLLER
X
Y
R
V
E
DIGITAL
FILTER
ZOH
DAC
AMP
MOTOR
P
Σ
C
ENCODER
Figure 10.4 - Functional Elements of a Motion Control System
Motor-Amplifier
The motor amplifier may be configured in three modes:
1. Voltage Drive
2. Current Drive
3. Velocity Loop
The operation and modeling in the three modes is as follows:
Voltage Drive
The amplifier is a voltage source with a gain of Kv [V/V]. The transfer function relating the input
voltage, V, to the motor position, P, is
P V = KV K S ST +1 ST +1
)
]
[
t
m
e
where
and
Tm = RJ Kt2 [s]
Te = L R
[s]
and the motor parameters and units are
K
Torque constant [Nm/A]
t
R
J
Armature Resistance Ω
2
Combined inertia of motor and load [kg.m ]
Armature Inductance [H]
L
When the motor parameters are given in English units, it is necessary to convert the quantities to MKS
units. For example, consider a motor with the parameters:
K = 14.16 oz - in/A = 0.1 Nm/A
t
R = 2 Ω
2
-4
2
J = 0.0283 oz-in-s = 2.10 kg . m
L = 0.004H
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Then the corresponding time constants are
= 0.04 sec
T
m
and
T = 0.002 sec
e
Assuming that the amplifier gain is Kv = 4, the resulting transfer function is
P/V = 40/[s(0.04s+1)(0.002s+1)]
Current Drive
The current drive generates a current I, which is proportional to the input voltage, V, with a gain of Ka.
The resulting transfer function in this case is
2
P/V = K K / Js
a
t
where Kt and J are as defined previously. For example, a current amplifier with K = 2 A/V with the
a
motor described by the previous example will have the transfer function:
2
P/V = 1000/s
[rad/V]
If the motor is a DC brushless motor, it is driven by an amplifier that performs the commutation. The
combined transfer function of motor amplifier combination is the same as that of a similar brush
motor, as described by the previous equations.
Velocity Loop
The motor driver system may include a velocity loop where the motor velocity is sensed by a
tachometer and is fed back to the amplifier. Such a system is illustrated in Fig. 10.5. Note that the
transfer function between the input voltage V and the velocity ω is:
ω /V = [K K /Js]/[1+K K K /Js] = 1/[K (sT +1)]
a
t
a
t
g
g
1
where the velocity time constant, T1, equals
T1 = J/K K K
a
t
g
This leads to the transfer function
P/V = 1/[K s(sT1+1)]
g
V
Ka
Kt/Js
Σ
Kg
Figure 10.5 - Elements of velocity loops
The resulting functions derived above are illustrated by the block diagram of Fig. 10.6.
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VOLTAGE SOURCE
E
W
W
W
P
P
P
V
1/Ke
1
Kv
(STm+1)(STe+1)
S
CURRENT SOURCE
I
V
Kt
1
Ka
JS
S
VELOCITY LOOP
V
1
1
Kg(ST1+1)
S
Figure 10.6 - Mathematical model of the motor and amplifier in three operational modes
Encoder
The encoder generates N pulses per revolution. It outputs two signals, Channel A and B, which are in
quadrature. Due to the quadrature relationship between the encoder channels, the position resolution is
increased to 4N quadrature counts/rev.
The model of the encoder can be represented by a gain of
K = 4N/2π
[count/rad]
f
For example, a 1000 lines/rev encoder is modeled as
K = 638
f
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DAC
The DAC or D-to-A converter converts a 16-bit number to an analog voltage. The input range of the
numbers is 65536 and the output voltage range is +/-10V or 20V. Therefore, the effective gain of the
DAC is
K= 20/65536 = 0.0003
[V/count]
Digital Filter
The digital filter has three element in series: PID, low-pass and a notch filter. The transfer function of
the filter. The transfer function of the filter elements are:
K(Z − A) CZ
PID
D(z) =
L(z) =
+
Z
Z −1
1− B
Z − B
Low-pass
(Z − z)(Z − z)
(Z − p)(Z − p)
Notch
N(z) =
The filter parameters, K, A, C and B are selected by the instructions KP, KD, KI and PL, respectively.
The relationship between the filter coefficients and the instructions are:
K = (KP + KD)
⋅
4
A = KD/(KP + KD)
C = KI/2
B = PL
The PID and low-pass elements are equivalent to the continuous transfer function G(s).
G(s) = (P + sD + I/s) ∗ a/(S+a)
P = 4KP
D = 4T⋅ KD
I = KI/2T
a = 1/T ln = (1/B)
where T is the sampling period.
For example, if the filter parameters of the DMC-13X8 or DMC-13X8 are
KP = 4
KD = 36
KI = 2
PL = 0.75
T = 0.001 s
the digital filter coefficients are
K = 160
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A = 0.9
C = 1
a = 250 rad/s
and the equivalent continuous filter, G(s), is
G(s) = [16 + 0.144s + 1000/s} ∗ 250/ (s+250)
The notch filter has two complex zeros, Z and z, and two complex poles, P and p.
The effect of the notch filter is to cancel the resonance affect by placing the complex zeros on top of
the resonance poles. The notch poles, P and p, are programmable and are selected to have sufficient
damping. It is best to select the notch parameters by the frequency terms. The poles and zeros have a
frequency in Hz, selected by the command NF. The real part of the poles is set by NB and the real part
of the zeros is set by NZ.
The most simple procedure for setting the notch filter, identify the resonance frequency and set NF to
the same value. Set NB to about one half of NF and set NZ to a low value between zero and 5.
ZOH
The ZOH, or zero-order-hold, represents the effect of the sampling process, where the motor command
is updated once per sampling period. The effect of the ZOH can be modelled by the transfer function
H(s) = 1/(1+sT/2)
If the sampling period is T = 0.001, for example, H(s) becomes:
H(s) = 2000/(s+2000)
However, in most applications, H(s) may be approximated as one.
This completes the modeling of the system elements. Next, we discuss the system analysis.
System Analysis
To analyze the system, we start with a block diagram model of the system elements. The analysis
procedure is illustrated in terms of the following example.
Consider a position control system with the DMC-13X8 controller and the following parameters:
K = 0.1
Nm/A
Torque constant
t
-4
2
System moment of inertia
J = 2.10
R = 2
kg.m
Motor resistance
Ω
K = 4
a
Amp/Volt
Current amplifier gain
KP = 12.5
KD = 245
KI = 0
Digital filter gain
Digital filter zero
No integrator
N = 500
T = 1
Counts/rev
ms
Encoder line density
Sample period
The transfer function of the system elements are:
Motor
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2
M(s) = P/I = Kt/Js2 = 500/s [rad/A]
Amp
K = 4 [Amp/V]
a
DAC
K = 0.0003 [V/count]
d
Encoder
ZOH
K = 4N/2π = 318 [count/rad]
f
2000/(s+2000)
Digital Filter
KP = 12.5, KD = 245, T = 0.001
Therefore,
D(z) = 1030 (z-0.95)/Z
Accordingly, the coefficients of the continuous filter are:
P = 50
D = 0.98
The filter equation may be written in the continuous equivalent form:
G(s) = 50 + 0.98s = .098 (s+51)
The system elements are shown in Fig. 10.7.
AMP
4
FILTER
ZOH
DAC
MOTOR
V
2000
500
S2
50+0.980s
0.0003
Σ
S+2000
ENCODER
318
Figure 10.7 - Mathematical model of the control system
The open loop transfer function, A(s), is the product of all the elements in the loop.
2
A = 390,000 (s+51)/[s (s+2000)]
To analyze the system stability, determine the crossover frequency, ω at which A(j ω ) equals one.
c
c
This can be done by the Bode plot of A(j ω ), as shown in Fig. 10.8.
c
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Magnitude
4
1
50
200
2000
W (rad/s)
0.1
Figure 10.8 - Bode plot of the open loop transfer function
For the given example, the crossover frequency was computed numerically resulting in 200 rad/s.
Next, we determine the phase of A(s) at the crossover frequency.
2
A(j200) = 390,000 (j200+51)/[(j200) . (j200 + 2000)]
-1
-1
α = Arg[A(j200)] = tan (200/51)-180° -tan (200/2000)
α = 76° - 180° - 6° = -110°
Finally, the phase margin, PM, equals
PM = 180° + α = 70°
As long as PM is positive, the system is stable. However, for a well damped system, PM should be
between 30 degrees and 45 degrees. The phase margin of 70 degrees given above indicated
overdamped response.
Next, we discuss the design of control systems.
System Design and Compensation
The closed-loop control system can be stabilized by a digital filter, which is preprogrammed in the
DMC-13X8 controller. The filter parameters can be selected by the user for the best compensation.
The following discussion presents an analytical design method.
The Analytical Method
The analytical design method is aimed at closing the loop at a crossover frequency, ω , with a phase
c
margin PM. The system parameters are assumed known. The design procedure is best illustrated by a
design example.
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Consider a system with the following parameters:
K
Nm/A
Torque constant
t
-4
2
System moment of inertia
J = 2.10
R = 2
kg.m
Motor resistance
Ω
K = 2
a
Amp/Volt
Current amplifier gain
N = 1000
Counts/rev
Encoder line density
The DAC of theDMC-13X8 outputs +/-10V for a 16-bit command of +/-32768 counts.
The design objective is to select the filter parameters in order to close a position loop with a crossover
frequency of ω = 500 rad/s and a phase margin of 45 degrees.
c
The first step is to develop a mathematical model of the system, as discussed in the previous system.
Motor
2
2
M(s) = P/I = K /Js = 1000/s
t
Amp
K = 2
[Amp/V]
a
DAC
K = 10/32768 = .0003
d
Encoder
ZOH
K = 4N/2π = 636
f
H(s) = 2000/(s+2000)
Compensation Filter
G(s) = P + sD
The next step is to combine all the system elements, with the exception of G(s), into one function, L(s).
6
2
L(s) = M(s) K K K H(s) =3.17∗10 /[s (s+2000)]
a
d
f
Then the open loop transfer function, A(s), is
A(s) = L(s) G(s)
Now, determine the magnitude and phase of L(s) at the frequency ω = 500.
c
6
2
L(j500) = 3.17∗10 /[(j500) (j500+2000)]
This function has a magnitude of
|L(j500)| = 0.00625
and a phase
-1
Arg[L(j500)] = -180° - tan (500/2000) = -194°
G(s) is selected so that A(s) has a crossover frequency of 500 rad/s and a phase margin of 45 degrees.
This requires that
|A(j500)| = 1
Arg [A(j500)] = -135°
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However, since
A(s) = L(s) G(s)
then it follows that G(s) must have magnitude of
|G(j500)| = |A(j500)/L(j500)| = 160
and a phase
arg [G(j500)] = arg [A(j500)] - arg [L(j500)] = -135° + 194° = 59°
In other words, we need to select a filter function G(s) of the form
G(s) = P + sD
so that at the frequency ω =500, the function would have a magnitude of 160 and a phase lead of 59
c
degrees.
These requirements may be expressed as:
|G(j500)| = |P + (j500D)| = 160
and
-1
arg [G(j500)] = tan [500D/P] = 59°
The solution of these equations leads to:
P = 160cos 59° = 82.4
500D = 160sin 59° = 137
Therefore,
D = 0.274
and
G = 82.4 + 0.2744s
The function G is equivalent to a digital filter of the form:
-1
D(z) = 4KP + 4KD(1-z )
where
P = 4 ∗ KP
D = 4 ∗ KD ∗ T
and
4 ∗ KD = D/T
Assuming a sampling period of T=1ms, the parameters of the digital filter are:
KP = 20.6
KD = 68.6
The DMC-13X8 can be programmed with the instruction:
KP 20.6
KD 68.6
In a similar manner, other filters can be programmed. The procedure is simplified by the following
table, which summarizes the relationship between the various filters.
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Equivalent Filter Form
DMC-13X8
Digital
Digital
D(z) =[K(z-A/z) + Cz/(z-1)]∗ (1-B)/(Z-B)
-1
-1
D(z) = [4 KP + 4 KD(1-z ) + KI/2(1-z )] ∗(1-B)/(Z-B)
KP, KD, KI, PL K = (KP + KD)
4
A = KD/(KP+KD)
C = KI/2
B = PL
Continuous
PID, T
G(s) = (P + Ds + I/s) ∗ a/s+a
P = 4 KP
D = 4 T*KD
I = KI/2T
a = 1/T ln(1/PL)
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Appendices
Electrical Specifications
Servo Control
ACMD Amplifier Command:
+/-10 Volts analog signal. Resolution 16-bit DAC
or .0003 Volts. 3 mA maximum
A+,A-,B+,B-,IDX+,IDX- Encoder and Auxiliary TTL compatible, but can accept up to +/-12 Volts.
Quadrature phase on CHA,CHB. Can accept
single-ended (A+,B+ only) or differential (A+,A-
,B+,B-). Maximum A,B edge rate: 12 MHz.
Minimum IDX pulse width: 80 nsec.
Stepper Control
Pulse
TTL (0-5 Volts) level at 50% duty cycle.
3,000,000 pulses/sec maximum frequency
Direction
TTL (0-5 Volts)
Input/Output
Uncommitted Inputs, Limits, Home, Abort 2.2K ohm in series with optoisolator. Active high or low
Inputs:
requires at least 2mA to activate. Can accept up to 28
Volts without additional series resistor. Above 28 Volts
requires additional resistor.
AN[1] thru AN[8] Analog Inputs:
Standard configuration is +/-10 Volt. 12-Bit Analog-to-
Digital convertor. 16-bit optional.
OUT[1] thru OUT[8] Outputs:
Extended I/O (17 – 80)
TTL.
TTL. Configurable as input or output in banks of 8 with
CO command.
Note: The part number for the 100-pin connector is #2-178238-9 from AMP.
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Power
+5V
750 mA
40 mA
40mA
+12V
-12V
Performance Specifications
Normal
Fast Firmware
Minimum Servo Loop Update Time:
DMC-1318
250 μsec
125 μsec
125 μsec
250 μsec
250 μsec
DMC-1328
250 μsec
DMC-1338
375 μsec
DMC-1348
375 μsec
Position Accuracy:
Velocity Accuracy:
Long Term
+/-1 quadrature count
Phase-locked, better than
.005%
Short Term
System dependent
Position Range:
+/-2147483647 counts per
move
Velocity Range:
Up to 12,000,000 counts/sec
servo;
3,000,000 pulses/sec-stepper
2 counts/sec
Velocity Resolution:
Motor Command Resolution:
Variable Range:
16 bit or 0.0003 V
+/-2 billion
Variable Resolution:
-4
1 ⋅ 10
Array Size:
8000 elements, 30 arrays
1000 lines x 80 characters
Program Size:
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Connectors for DMC-13X8 Main Board
J1 DMC-13X8 (A-D AXES) MAIN;
100-PIN HIGH DENSITY:
J5-DMC-13X8 (A-D AXES)
AUXILIARY ENCODERS; 26-PIN IDC:
1 Analog Ground
2 Ground
3 +5V
4 Error Output
5 Reset
6 Encoder-Compare Output
7 Ground
51 NC
52 Ground
53 +5V
1 +5V
2 Ground
14 A- Aux Z
15 B+ Aux Z
16 B- Aux Z
17 A+ Aux W
18 A- Aux W
19 B+ Aux W
20 B- Aux W
21 Sample Clock
22 NC
23 NC
24 NC
25 NC
26 NC
3 A+ Aux X
4 A- Aux X
5 B+ Aux X
6 B- Aux X
7 A+ Aux Y
8 A- Aux Y
9 B+ Aux Y
10 B- Aux Y
11 +5V
54 Limit common
55 Home W
56 Reverse limit W
57 Forward limit W
58 Home Z
59 Reverse limit Z
60 Forward limit Z
61 Home Y
62 Reverse limit Y
63 Forward limit Y
64 Home X
65 Reverse limit X
66 Forward limit X
67 Ground
68 +5V
69 Input common
70 Latch X
71 Latch Y
72 Latch Z
73 Latch W
74 Input 5
75 Input 6
8 Ground
9 Motor command W
10 Sign W / Dir W
11 PWM W / Step W
12 Motor command Z
13 Sign Z / Dir Z
14 PWM Z / Step Z
15 Motor command Y
16 Sign Y/ Dir Y
17 PWM Y/ Step Y
18 Motor command X
19 Sign X/ Dir X
20 PWM X / Step X
21 Amp enable W
22 Amp enable Z
23 Amp enable Y
24 Amp enable X
25 A+ X
12 Ground
13 A+ Aux Z
Notes: X,Y,Z,W are interchangeable designations for
A,B,C,D axes.
26 A- X
76 Input 7
27 B+ X
77 Input 8
28 B- X
78 Abort
29 I+ X
30 I- X
31 A+ Y
32 A- Y
33 B+ Y
34 B- Y
35 I+ Y
36 I- Y
79 Output 1
80 Output 2
81 Output 3
82 Output 4
83 Output 5
84 Output 6
85 Output 7
86 Output 8
87 +5V
37 A+ Z
38 A- Z
88 Ground
39 B+ Z
89 Ground
40 B- Z
90 Ground
41 I+ Z
42 I- Z
43 A+ W
44 A- W
45 B+ W
46 B- W
47 I+ W
48 I- W
91 Analog In 1
92 Analog In 2
93 Analog In 3
94 Analog In 4
95 Analog In 5
96 Analog In 6
97 Analog In 7
98 Analog In 8
99 -12V
49 +12V
50 +12V
100 -12V
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Pin-Out Description for DMC-13X8
Outputs
Analog Motor Command
+/- 10 Volt range signal for driving amplifier. In servo mode, motor
command output is updated at the controller sample rate. In the motor
off mode, this output is held at the OF command level.
Amp Enable
Signal to disable and enable an amplifier. Amp Enable goes low on
Abort and OE1.
PWM/STEP OUT
PWM/STEP OUT is used for directly driving power bridges for DC
servo motors or for driving step motor amplifiers. For servo motors: If
you are using a conventional amplifier that accepts a +/-10 Volt analog
signal, this pin is not used and should be left open. The switching
frequency is 16.7 kHz. The PWM output is available in two formats:
Inverter and Sign Magnitude. In the Inverter mode, the PWM signal is
.2% duty cycle for full negative voltage, 50% for 0 Voltage and 99.8%
for full positive voltage. In the Sign Magnitude Mode (Jumper SM),
the PWM signal is 0% for 0 Voltage, 99.6% for full voltage and the
sign of the Motor Command is available at the sign output.
PWM/STEP OUT
For stepmotors: The STEP OUT pin produces a series of pulses for
input to a step motor driver. The pulses may either be low or high.
The pulse width is 50%. Upon Reset, the output will be low if the SM
jumper is on. If the SM jumper is not on, the output will be Tristate.
Sign/Direction
Error
Used with PWM signal to give the sign of the motor command for
servo amplifiers or direction for step motors.
The signal goes low when the position error on any axis exceeds the
value specified by the error limit command, ER.
Output 1-Output 8
These 8 TTL outputs are uncommitted and may be designated by the
user to toggle relays and trigger external events. The output lines are
toggled by Set Bit, SB, and Clear Bit, CB, instructions. The OP
instruction is used to define the state of all the bits of the Output port.
Inputs
Encoder, A+, B+
Position feedback from incremental encoder with two channels in
quadrature, CHA and CHB. The encoder may be analog or TTL. Any
resolution encoder may be used as long as the maximum frequency
does not exceed 12,000,000 quadrature states/sec. The controller
performs quadrature decoding of the encoder signals resulting in a
resolution of quadrature counts (4 x encoder cycles). Note: Encoders
that produce outputs in the format of pulses and direction may also be
used by inputting the pulses into CHA and direction into Channel B
and using the CE command to configure this mode.
Encoder Index, I+
Encoder, A-, B-, I-
Once-Per-Revolution encoder pulse. Used in Homing sequence or Find
Index command to define home on an encoder index.
Differential inputs from encoder. May be input along with CHA, CHB
for noise immunity of encoder signals. The CHA- and CHB- inputs are
optional.
Auxiliary Encoder, Aux A+, Inputs for additional encoder. Used when an encoder on both the motor
Aux B+, Aux I+, Aux A-, Aux and the load is required. Not available on axes configured for step
B-, Aux I-
motors.
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Abort
Reset
A low input stops commanded motion instantly without a controlled
deceleration. Also aborts motion program.
A low input resets the state of the processor to its power-on condition.
The previously saved state of the controller, along with parameter
values, and saved sequences are restored.
Forward Limit Switch
Reverse Limit Switch
Home Switch
When active, inhibits motion in forward direction. Also causes
execution of limit switch subroutine, #LIMSWI. The polarity of the
limit switch may be set with the CN command.
When active, inhibits motion in reverse direction. Also causes
execution of limit switch subroutine, #LIMSWI. The polarity of the
limit switch may be set with the CN command.
Input for Homing (HM) and Find Edge (FE) instructions. Upon BG
following HM or FE, the motor accelerates to slew speed. A transition
on this input will cause the motor to decelerate to a stop. The polarity
of the Home Switch may be set with the CN command.
Input 1 - Input 8 isolated
Uncommitted inputs. May be defined by the user to trigger events.
Inputs are checked with the Conditional Jump instruction and After
Input instruction or Input Interrupt.
Latch
High speed position latch to capture axis position within 20 nano
seconds on occurrence of latch signal. AL command arms latch. Input
1 is latch X, Input 2 is latch Y, Input 3 is latch Z and Input 4 is latch W.
Input 9 is latch E, input 10 is latch F, input 11 is latch G, input 12 is
latch H.
Accessories and Options
DMC-13X8
DMC-1328
1- axis VME bus motion controller
2- axes VME bus motion controller
DMC-1338
3- axes VME bus motion controller
DMC-1348
4- axes VME bus motion controller
Cable-100-1M
Cable-100-2M
Cable-100-4M
Cable-80-1M
Cable-80-2M
Cable-80-4M
Cable-36-1M
Cable-36-2M
Cable-36-4M
CB-50-80
100-pin high density cable, 1 meter
100-pin high density cable, 2 meter
100-pin high density cable, 4 meter
80-pin high density cable, 1 meter for extended I/O
80-pin high density cable, 2 meter for extended I/O
80-pin high density cable, 4 meter for extended I/O
36-pin high density cable, 1 meter for auxiliary encoders
36-pin high density cable, 2 meter for auxiliary encoders
36-pin high density cable, 4 meter for auxiliary encoders
50-pin to 80-pin converter board, includes two 50-pin
ribbon cables (For connecting extended I/O to OPTO-22 or
Grayhill I/O racks.)
CB-36-25
36-pin high density to 25-pin D converter board. (For
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connecting auxiliary encoder cable to ICM-1900 or AMP-
19X0).
16-Bit ADC
Increased resolution for analog inputs
ICM-1900 (-HAEN or -LAEN)
ICM-1900-Opto (-HAEN or -LAEN)
Interconnect module with either High or Low Amp Enable
Interconnect module with Optoisolated digital outputs (either
High or Low Amp Enable)
AMP-1910
Interconnect module with 1-axis power amplifier
Interconnect module with 2-axes power amplifier
Interconnect module with 3-axes power amplifier
Interconnect module with 4-axes power amplifier
AMP-1920
AMP-1930
AMP-1940
ICM-2900 (-HAEN or –LAEN)
Interconnect module with either High or Low Amp enable
(No auxiliary encoder connections.)
ICM-2900-Opto(-HAEN or –LAEN)
ICM-2908
Interconnect module with Optoisolated digital outputs. (Either
High or Low Amp Enable, no auxiliary encoder connections.)
Interconnect module for auxiliary encoders. For use in
conjunction with ICM-2900.
IOM-1964
Optoisolated interconnect module for use with extended I/O
of DMC-13X8.
ICM-1900 Interconnect Module
The ICM-1900 interconnect module provides easy connections between the DMC-13X8 series
controllers and other system elements, such as amplifiers, encoders, and external switches. The ICM-
1900 accepts the 100-pin main cable and 25-pin auxiliary cable and breaks them into screw-type
terminals. Each screw terminal is labeled for quick connection of system elements. The ICM-1900
provides connections for all 4 axes of motion.
The ICM-1900 is contained in a metal enclosure. A version of the ICM-1900 is also available with
servo amplifiers (see AMP-19X0 below). The ICM-1900 can be purchased with an option to provide
opto-isolation (see -OPTO option below).
Features
• Separate DMC-13X8 cables into individual screw-type terminals
• Clearly identifies all terminals
• Provides jumper for connecting limit and input supplies to 5 V supply from PC
• Available with on-board servo amplifiers (see AMP-19X0)
• Can be configured for High or Low amplifier enable
Note: The part number for the 100-pin connector is #2-178238-9 from AMP
Terminal #
Label
+AAX
-AAX
+ABX
-ABX
+AAY
-AAY
I/O
Description
1
2
3
4
5
6
I
I
I
I
I
I
X Auxiliary encoder A+
X Auxiliary encoder A-
X Auxiliary encoder B+
X Auxiliary encoder B-
Y Auxiliary encoder A+
Y Auxiliary encoder A-
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7
+ABY
I
I
I
I
I
I
I
I
I
I
Y Auxiliary encoder B+
8
-ABY
Y Auxiliary encoder B-
9
+AAZ
Z Auxiliary encoder A+
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
-AAZ
Z Auxiliary encoder A-
+ABZ
Z Auxiliary encoder B+
-ABZ
Z Auxiliary encoder B-
+AAW
-AAW
W Auxiliary encoder A+
W Auxiliary encoder A-
+ABW
-ABW
W Auxiliary encoder B+
W Auxiliary encoder B-
GND
Signal Ground
+VCC
+ 5 Volts
OUTCOM
ERROR
RESET
CMP
O
O
I
Output Common (for use with the opto-isolated output option)
Error signal
Reset
O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
I
Circular Compare output
MOCMDW
SIGNW
PWMW
MOCMDZ
SIGNZ
PWMZ
MOCMDY
SIGNY
PWMY
MOCMDX
SIGNX
PWMX
ISO*
W axis motor command to amp input (w / respect to ground)
W axis sign output for input to stepper motor amp
W axis pulse output for input to stepper motor amp
Z axis motor command to amp input (w / respect to ground)
Z axis sign output for input to stepper motor amp
Z axis pulse output for input to stepper motor amp
Y axis motor command to amp input (w / respect to ground)
Y axis sign output for input to stepper motor amp
Y axis pulse output for input to stepper motor amp
X axis motor command to amp input (w / respect to ground)
X axis sign output for input to stepper motor amp
X axis pulse output for input to stepper motor amp
Isolated gnd used with opto-isolation *
+ 5 Volts
+VCC
AMPENW
AMPENZ
AMPENY
AMPENX
LSCOM
HOMEW
RLSW
W axis amplifier enable
Z axis amplifier enable
Y axis amplifier enable
X axis amplifier enable
Limit Switch Common
I
W axis home input
I
W axis reverse limit switch input
W axis forward limit switch input
Z axis home input
FLSW
I
HOMEZ
RLSZ
I
I
Z axis reverse limit switch input
Z axis forward limit switch input
Y axis home input
FLSZ
I
HOMEY
RLSY
I
I
Y axis reverse limit switch input
Y axis forward limit switch input
X axis home input
FLSY
I
HOMEX
I
USER MANUAL
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52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
RLSX
FLSX
+VCC
GND
I
I
X axis reverse limit switch input
X axis forward limit switch input
+ 5 Volts
Signal Ground
INCOM
XLATCH
YLATCH
ZLATCH
WLATCH
IN5
I
Input common (Common for general inputs and Abort input)
Input 1 (Used for X axis latch input)
Input 2 (Used for Y axis latch input)
Input 3 (Used for Z axis latch input)
Input 4 (Used for W axis latch input)
Input 5
I
I
I
I
I
IN6
I
Input 6
IN7
I
Input 7
IN8
I
Input 8
ABORT
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
OUT8
GND
I
Abort Input
O
O
O
O
O
O
O
O
Output 1
Output 2
Output 3
Output 4
Output 5
Output 6
Output 7
Output 8
Signal Ground
AN1
I
I
I
I
I
I
I
I
I
I
I
I
I
I
Analog Input 1
AN2
Analog Input 2
AN3
Analog Input 3
AN4
Analog Input 4
AN5
Analog Input 5
AN6
Analog Input 6
AN7
Analog Input 7
AN8
Analog Input 8
+MAX
-MAX
+MBX
-MBX
+INX
-INX
X Main encoder A+
X Main encoder A-
X Main encoder B+
X Main encoder B-
X Main encoder Index +
X Main encoder Index -
Analog Ground*
ANALOG
GND*
90
91
92
93
94
95
+VCC
+MAY
-MAY
+MBY
-MBY
+INY
+ 5 Volts
I
I
I
I
I
Y Main encoder A+
Y Main encoder A-
Y Main encoder B+
Y Main encoder B-
Y Main encoder Index +
Appendices • 178
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96
-INY
I
I
I
I
I
I
I
Y Main encoder Index -
Z Main encoder A+
Z Main encoder A-
Z Main encoder B+
Z Main encoder B-
Z Main encoder Index +
Z Main encoder Index -
Signal Ground
97
+MAZ
-MAZ
+MBZ
-MBZ
+INZ
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
-INZ
GND
+VCC
+MAW
-MAW
+MBW
-MBW
+INW
-INW
+12V
+ 5 Volts
I
I
I
I
I
I
W Main encoder A+
W Main encoder A-
W Main encoder B+
W Main encoder B-
W Main encoder Index +
W Main encoder Index -
+12 Volts
-12V
-12 Volts
* ISOLATED GND and ANALOG GND connections added to Rev D.
J53 provides 4 additional screw terminals for Ground Connection on Revision D.
USER MANUAL
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ICM-1900 Drawing
13.500"
12.560"
11.620"
0.220"
0.440"
Dimensions: 13.5” x 2.675” x 6.88”
AMP-19X0 Mating Power Amplifiers
The AMP-19X0 series are mating, brush-type servo amplifiers for the DMC-13X8. The AMP-1910
contains 1 amplifier: the AMP-1920, 2 amplifiers; the AMP-1930, 3 amplifiers; and the AMP-1940, 4
amplifiers. Each amplifier is rated for 7 amps continuous, 10 amps peak at up to 80 V. The gain of the
AMP-19X0 is 1 amp/V. The AMP-19X0 requires an external DC supply. The AMP-19X0 connects
directly to the DMC-13X8, and screwtype terminals are provided for connection to motors, encoders,
and external switches.
Features
• 7 amps continuous, 10 amps peak; 20 to 80V
• Available with 1, 2, 3, or 4 amplifiers
• Connects directly to DMC-13X8 or DMC-13X8 series controllers
• Screw-type terminals for easy connection to motors, encoders, and switches
• Steel mounting plate with 1/4” keyholes
Appendices • 180
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Specifications
Minimum motor inductance: 1 mH
PWM frequency: 30 Khz
Ambient operating temperature: 0o to 70o C
Dimensions:
Weight:
Mounting: Keyholes -- 1/4”∅
Gain: 1 amp/V
ICM-2900 Interconnect Module
The ICM-2900 interconnect module provides easy connections between the DMC-13X8 series
controllers and other system elements, such as amplifiers, encoders, and external switches. The ICM-
2900 accepts the 100-pin main cable and provides screw-type terminals for connections. Each screw
terminal is labeled for quick connection of system elements. The ICM-2900 provides access to all 4
axes of signals. The ICM-2900 does not provide connection to the auxiliary encoders. Connections to
the auxiliary encoders may be made through the ICM-2908.
Block (4 PIN)
Label
I/O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
I
Description
1
1
1
1
2
2
2
2
3
3
3
3
4
4
4
4
5
5
5
5
6
6
6
MOCMDZ
SIGNZ
Z axis motor command to amp input (w / respect to ground)
Z axis sign output for input to stepper motor amp
Z axis pulse output for input to stepper motor amp
Signal Ground
PWMZ
GND
MOCMDW
SIGNW
PWMW
GND
W axis motor command to amp input (w / respect to ground)
W axis sign output for input to stepper motor amp
W axis pulse output for input to stepper motor amp
Signal Ground
MOCMDX
SIGNX
X axis motor command to amp input (w / respect to ground)
X axis sign output for input to stepper motor amp
X axis pulse output for input to stepper motor amp
Signal Ground
PWMX
GND
MOCMDY
SIGNY
Y axis motor command to amp input (w / respect to ground)
Y axis sign output for input to stepper motor amp
Y axis pulse output for input to stepper motor amp
Signal Ground
PWMY
GND
OUT PWR
ERROR
CMP
Isolated Power In for Opto-Isolation Option
Error output
O
O
O
O
O
O
Circular Compare Output
OUT GND
AMPENW
AMPENZ
AMPENY
Isolated Ground for Opto-Isolation Option
W axis amplifier enable
Z axis amplifier enable
Y axis amplifier enable
USER MANUAL
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6
AMPENX
OUT5
O
O
O
O
O
O
O
O
O
O
I
X axis amplifier enable
General Output 5
7
7
OUT6
General Output 6
7
OUT7
General Output 7
7
OUT8
General Output 8
8
OUT1
General Output 1
8
OUT2
General Output 2
8
OUT3
General Output 3
8
OUT4
General Output 4
9
+5V
+ 5 Volts
9
HOMEZ
RLSZ
Z axis home input
9
I
Z axis reverse limit switch input
Z axis forward limit switch input
Limit Switch Common Input
W axis home input
9
FLSZ
I
10
10
10
10
11
11
11
11
12
12
12
12
13
13
13
13
14
14
14
14
15
15
15
15
16
16
16
16
17
17
17
17
LSCOM
HOMEW
RLSW
FLSW
I
I
I
W axis reverse limit switch input
W axis forward limit switch input
X axis home input
I
HOMEX
RLSX
I
I
X axis reverse limit switch input
X axis forward limit switch input
Signal Ground
FLSX
I
GND
O
I
HOMEY
RLSY
Y axis home input
I
Y axis reverse limit switch input
Y axis forward limit switch input
Signal Ground
FLSY
I
GND
O
I
IN5
Input 5
IN6
I
Input 6
IN7
I
Input 7
IN8
I
Input 8
XLATCH
YLATCH
ZLATCH
WLATCH
+5V
I
Input 1 (Used for X axis latch input)
Input 2 (Used for Y axis latch input)
Input 3 (Used for Z axis latch input)
Input 4 (Used for W axis latch input)
+ 5 Volts
I
I
I
O
O
O
O
I
+12V
+12 Volts
-12V
-12 Volts
ANA GND
INCOM
ABORT
RESET
GND
Isolated Analog Ground for Use with Analog Inputs
Input Common For General Use Inputs
Abort Input
I
I
Reset Input
O
I
Signal Ground
ANALOG5
ANALOG6
ANALOG7
ANALOG8
Analog Input 5
I
Analog Input 6
I
Analog Input 7
I
Analog Input 8
Appendices • 182
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18
18
18
18
19
19
19
19
20
20
20
20
21
21
21
21
22
22
22
22
23
23
23
23
24
24
24
24
25
25
25
25
26
26
26
26
ANALOG1
ANALOG2
ANALOG3
ANALOG4
+5V
I
Analog Input 1
I
Analog Input 2
I
Analog Input 3
I
Analog Input 4
O
I
+ 5Volts
+INX
X Main encoder Index +
X Main encoder Index -
Signal Ground
-INX
I
GND
O
I
+MAX
-MAX
+MBX
-MBX
+5V
X Main encoder A+
X Main encoder A-
X Main encoder B+
X Main encoder B-
+ 5Volts
I
I
I
O
I
+INY
X Main encoder Index +
X Main encoder Index -
Signal Ground
-INY
I
GND
O
I
+MAY
-MAY
+MBY
-MBY
+5V
X Main encoder A+
X Main encoder A-
X Main encoder B+
X Main encoder B-
+ 5Volts
I
I
I
O
I
+INZ
X Main encoder Index +
X Main encoder Index -
Signal Ground
-INZ
I
GND
O
I
+MAZ
-MAZ
+MBZ
-MBZ
+5V
X Main encoder A+
X Main encoder A-
X Main encoder B+
X Main encoder B-
+ 5Volts
I
I
I
O
I
+INW
-INW
X Main encoder Index +
X Main encoder Index -
Signal Ground
I
GND
O
I
+MAW
-MAW
+MBW
-MBW
X Main encoder A+
X Main encoder A-
X Main encoder B+
X Main encoder B-
I
I
I
USER MANUAL
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Opto-Isolated Outputs ICM-1900 / ICM-2900 (-Opto option)
The ICM/AMP 1900 and ICM-2900 modules from Galil have an option for opto-isolated outputs.
Standard Opto-isolation and High Current Opto-isolation:
The Opto-isolation option on the ICM-1900 has 2 forms: ICM-1900-OPTO (standard) and ICM-1900-
OPTOHC (high current). The standard version provides outputs with 4ma drive current / output with
approximately 2 usec response time. The high current version provides 25ma drive current / output
with approximately 400 usec response time.
FROM
CONTROLLER
ICM-1900 / ICM-2900
CONNECTIONS
+5V
ISO OUT POWER (ICM-1900,PIN 19)
OUT POWER (ICM-2900)
RP4=10K OHMS
OUT[x] (66 - 73)
ISO POWER GND (ICM-1900,PIN 35)
OUT GND (ICM-2900)
OUT[x] TTL
The ISO OUT POWER (OUT POWER ON ICM-2900) and ISO POWER GND (OUT GND ON ICM-
2900) signals should be connected to an isolated power supply. This power supply should be used
only to power the outputs in order to obtain isolation from the controller. The signal "OUT[x]" is one
of the isolated digital outputs where X stands for the digital output terminals.
The default configuration is for active high outputs. If active low outputs are desired, reverse RP3 in
it's socket. This will tie RP3 to GND instead of VCC, inverting the sense of the outputs.
NOTE: If power is applied to the outputs with an isolated power supply but power is not applied to
the controller, the outputs will float high (unable to sink current). This may present a problem when
using active high logic and care should be taken. Using active low logic should avoid any problems
associated with the outputs floating high.
64 Extended I/O of the DMC-13X8 Controller
The DMC-13X8 controller offers 64 extended I/O points, which can be interfaced to Grayhill and
OPTO-22 I/O mounting racks. These I/O points can be configured as inputs or outputs in 8 bit
increments through software. The I/O points are accessed through two 50-pin IDC connectors, each
with 32 I/O points.
Appendices • 184
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Configuring the I/O of the DMC-13X8
The 64 extended I/O points of the DMC-13X8 series controller can be configured in blocks of 8. The
extended I/O is denoted as blocks 2-9 or bits 17-80.
The command, CO, is used to configure the extended I/O as inputs or outputs. The CO command has
one field:
CO n
Where, n is a decimal value, which represents a binary number. Each bit of the binary number
represents one block of extended I/O. When set to 1, the corresponding block is configured as an
output.
The least significant bit represents block 2 and the most significant bit represents block 9. The decimal
value can be calculated by the following formula. n = n2 + 2*n3 + 4*n4 + 8*n5 +16* n6 +32* n7 +64*
n8 +128* n9 where nx represents the block. If the nx value is a one, then the block of 8 I/O points is to
be configured as an output. If the nx value is a zero, then the block of 8 I/O points will be configured
as an input. For example, if block 4 and 5 is to be configured as an output, CO 12 is issued.
8-BIT I/O BLOCK BLOCK BINARY REPRESENTATION DECIMAL VALUE FOR BLOCK
0
1
2
3
4
5
6
7
17-24
25-32
33-40
41-48
49-56
57-64
65-72
73-80
2
3
4
5
6
7
8
9
1
2
2
2
2
2
2
2
2
2
4
8
16
32
64
128
The simplest method for determining n:
Step 1. Determine which 8-bit I/O blocks to be configured as outputs.
Step 2. From the table, determine the decimal value for each I/O block to be set as an output.
Step 3. Add up all of the values determined in step 2. This is the value to be used for n.
For example, if blocks 2 and 3 are to be outputs, then n is 3 and the command, CO3, should be issued.
Note: This calculation is identical to the formula: n = n2 + 2*n3 + 4*n4 + 8*n5 +16* n6 +32* n7 +64* n8
+128* n9 where nx represents the block.
Saving the State of the Outputs in Non-Volatile Memory
The configuration of the extended I/O and the state of the outputs can be stored in the EEPROM with
the BN command. If no value has been set, the default of CO 0 is used (all blocks are inputs).
Accessing extended I/O
When configured as an output, each I/O point may be defined with the SBn and CBn commands
(where n=1 through 8 and 17 through 80). Outputs may also be defined with the conditional
command, OBn (where n=1 through 8 and 17 through 80).
USER MANUAL
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The command, OP, may also be used to set output bits, specified as blocks of data. The OP command
accepts 5 parameters. The first parameter sets the values of the main output port of the controller
(Outputs 1-8, block 0). The additional parameters set the value of the extended I/O as outlined:
OP m,a,b,c,d
where m is the decimal representation of the bits 1-8 (values from 0 to 255) and a,b,c,d represent the
extended I/O in consecutive groups of 16 bits. (values from 0 to 65535). Arguments which are given
for I/O points which are configured as inputs will be ignored. The following table describes the
arguments used to set the state of outputs.
Argument
Blocks
Bits
Description
m
a
0
1-8
General Outputs
Extended I/O
Extended I/O
Extended I/O
Extended I/O
2,3
17-32
33-48
49-64
65-80
b
c
4,5
6,7
d
8,9
For example, if block 8 is configured as an output, the following command may be issued:
OP 7,,,,7
This command will set bits 1,2,3 (block 0) and bits 65,66,67 (block 8) to 1. Bits 4 through 8 and bits
68 through 80 will be set to 0. All other bits are unaffected.
When accessing I/O blocks configured as inputs, use the TIn command. The argument 'n' refers to the
block to be read (n=0,2,3,4,5,6,7,8 or 9). The value returned will be a decimal representation of the
corresponding bits.
Individual bits can be queried using the @IN[n] function (where n=1 through 8 or 17 through 80). If
the following command is issued;
MG @IN[17]
the controller will return the state of the least significant bit of block 2 (assuming block 2 is configured
as an input).
Connector Description:
The DMC-13X8 controller has a single 80-pin high density connector for the extended I/O. This cable
may then be connected to either the IOM-1964 directly, or to two 50 Pin IDC header connectors on the
CB-50-80. The 50-pin IDC connectors are compatible with I/O mounting racks such as Grayhill
70GRCM32-HL and OPTO-22 G4PB24.
Note for interfacing to OPTO-22 G4PB24: 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.
J6 50-PIN IDC
PIN
SIGNAL
BLOCK
BIT @IN[n],
@OUT[n]
BIT #
1.
3.
5
I/O
I/O
I/O
I/O
I/O
I/O
4
4
4
4
4
4
40
39
38
37
36
35
7
6
5
4
3
2
7.
9.
11.
Appendices • 186
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13.
15.
17.
19.
21.
23.
25.
27.
29.
31.
33.
35.
37.
39.
41.
43.
45.
47.
49.
2.
I/O
4
4
3
3
3
3
3
3
3
3
2
2
2
2
2
2
2
2
-
34
33
32
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
-
1
0
7
6
5
4
3
2
1
0
7
6
5
4
3
2
1
0
-
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
+5V
I/O
5
5
5
5
5
5
5
5
-
41
42
43
44
45
46
47
48
-
0
1
2
3
4
5
6
7
-
4.
I/O
6.
I/O
8.
I/O
10.
12.
14.
16.
18.
20.
22.
24.
26.
28.
30.
32.
34.
36.
38.
40.
42.
44.
46.
48.
50.
I/O
I/O
I/O
I/O
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
USER MANUAL
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J8 50-PIN IDC
PIN
SIGNAL
BLOCK
BIT @IN[n],
@OUT[n]
BIT #
1.
I/O
8
8
8
8
8
8
8
8
7
7
7
7
7
7
7
7
6
6
6
6
6
6
6
6
-
72
71
70
69
68
67
66
65
64
63
62
61
60
59
58
57
56
55
54
53
52
51
50
49
-
7
6
5
4
3
2
1
0
7
6
5
4
3
2
1
0
7
6
5
4
3
2
1
0
-
3.
I/O
5
I/O
7.
I/O
9.
I/O
11.
13.
15.
17.
19.
21.
23.
25.
27.
29.
31.
33.
35.
37.
39.
41.
43.
45.
47.
49.
2.
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
+5V
I/O
9
9
9
9
9
9
9
9
-
73
74
75
76
77
78
79
80
-
0
1
2
3
4
5
6
7
-
4.
I/O
6.
I/O
8.
I/O
10.
12.
14.
16.
18.
20.
22.
24.
26.
28.
30.
32.
I/O
I/O
I/O
I/O
GND
GND
GND
GND
GND
GND
GND
GND
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
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34.
36.
38.
40.
42.
44.
46.
48.
50.
GND
GND
GND
GND
GND
GND
GND
GND
GND
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
IOM-1964 Opto-Isolation Module for Extended I/O
Controllers
Description:
•
•
•
•
•
•
•
•
Provides 64 optically isolated inputs and outputs, each rated for 2mA at up to 28 VDC
Configurable as inputs or outputs in groups of eight bits
Provides 16 high power outputs capable of up to 500mA each
Connects to controller via 100 pin shielded cable
All I/O points conveniently labeled
Each of the 64 I/O points has status LED
Dimensions 6.8” x 11.4”
Works with extended I/O controllers
USER MANUAL
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High Current
Buffer chips (16)
Screw Terminals
0 1 2 3 4 5 6 7
IOM-1964
REV A
GALIL MOTION CONTROL
MADE IN USA
FOR INPUTS:
UX3
FOR OUTPUTS:
UX1
UX4
UX2
RPX4
RPX2
RPX3
J1
Banks 0 and 1
100 pin high
density connector
Banks 2-7 are
standard banks.
provide high
power output
capability.
Overview
The IOM-1964 is an input/output module that connects to the DMC-13X8 motion controller from
Galil, providing optically isolated buffers for the extended inputs and outputs of the controller. The
IOM-1964 also provides 16 high power outputs capable of 500mA of current per output point. The
IOM-1964 splits the 64 I/O points into eight banks of eight I/O points each, corresponding to the eight
banks of extended I/O on the controller. Each bank is individually configured as an input or output
bank by inserting the appropriate integrated circuits and resistor packs. The hardware configuration of
the IOM-1964 must match the software configuration of the controller card.
All DMC-13X8 series controllers have general purpose I/O connections. On a DMC-13X8, the
standard uncommitted I/O consists of: eight optically isolated digital inputs, eight TTL digital outputs,
and eight analog inputs.
The DMC-13X8 has an additional 64 digital input/output points plus the 16 described above for a total
of 80 input/output points. The 64 I/O points on the DMC-13X8 model controllers are attached via the
Cable-80-1M high density cable to the 80-pin high density connector J1 on the IOM-1964.
Configuring Hardware Banks
The extended I/O on the DMC-13X8 is configured using the CO command. The banks of buffers on
the IOM-1964 are configured to match by inserting the appropriate IC’s and resistor packs. The layout
of each of the I/O banks is identical.
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For example, here is the layout of bank 0:
Resistor Pack for
outputs
RP03 OUT
U03
Resistor Pack for
inputs
Input Buffer IC's
U04
IN
Resistor Pack for
outputs
Output Buffer IC's
Indicator LED's
U01
U02
OUT
Resistor Pack for
LED's
D0
C6
RP01
Bank 0
All of the banks have the same configuration pattern as diagrammed above. For example, all banks
have Ux1 and Ux2 output optical isolator IC sockets, labeled in bank 0 as U01 and U02, in bank 1 as
U11 and U12, and so on. Each bank is configured as inputs or outputs by inserting optical isolator
IC’s and resistor packs in the appropriate sockets. A group of eight LED’s indicates the status of each
I/O point. The numbers above the Bank 0 label indicate the number of the I/O point corresponding to
the LED above it.
Digital Inputs
Configuring a bank for inputs requires that the Ux3 and Ux4 sockets be populated with NEC2505
optical isolation integrated circuits. The IOM-1964 is shipped with a default configuration of banks 2-
7 configured as inputs. The output IC sockets Ux1 and Ux2 must be empty. The input IC’s are labeled
Ux3 and Ux4. For example, in bank 0 the IC’s are U03 and U04, bank 1 input IC’s are labeled U13
and U14, and so on. Also, the resistor pack RPx4 must be inserted into the bank to finish the input
configuration.
USER MANUAL
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Input Circuit
I/OCn
1/8 RPx4
1/4 NEC2505
To DMC-1748* I/O
DMC-1748* GND
x = bank number 0-7
n = input number 17-80
I/On
Connections to this optically isolated input circuit are done in a sinking or sourcing configuration,
referring to the direction of current. Some example circuits are shown below:
Sinking
Sourcing
I/OCn
I/On
+5V
I/OCn
I/On
GND
+5V
GND
Current
Current
There is one I/OC connection for each bank of eight inputs. Whether the input is connected as sinking
or sourcing, when the switch is open no current flows and the digital input function @IN[n] returns 1.
This is because of an internal pull up resistor on the DMC-13X8. When the switch is closed in either
circuit, current flows. This pulls the input on the DMC-13X8 to ground, and the digital input function
@IN[n] returns 0. Note that the external +5V in the circuits above is for example only. The inputs are
optically isolated and can accept a range of input voltages from 4 to 28 VDC.
Active outputs are connected to the optically isolated inputs in a similar fashion with respect to current.
An NPN output is connected in a sinking configuration, and a PNP output is connected in the sourcing
configuration.
Sinking
Sourcing
I/OCn
I/On
I/OCn
I/On
+5V
GND
PNP
output
NPN
output
Current
Current
Whether connected in a sinking or sourcing circuit, only two connections are needed in each case.
When the NPN output is 5 volts, then no current flows and the input reads 1. When the NPN output
goes to 0 volts, then it sinks current and the input reads 0. The PNP output works in a similar fashion,
but the voltages are reversed i.e. 5 volts on the PNP output sources current into the digital input and the
input reads 0. As before, the 5 volt is an example, the I/OC can accept between 4-28 volts DC.
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Note that the current through the digital input should be kept below 3 mA in order to minimize the
power dissipated in the resistor pack. This will help prevent circuit failures. The resistor pack RPx4 is
standard 1.5k ohm which is suitable for power supply voltages up to 5.5 VDC. However, use of 24
VDC for example would require a higher resistance such as a 10k ohm resistor pack.
High Power Digital Outputs
The first two banks on the IOM-1964, banks 0 and 1, have high current output drive capability. The
IOM-1964 is shipped with banks 0 and 1 configured as outputs. Each output can drive up to 500mA of
continuous current. Configuring a bank of I/O as outputs is done by inserting the optical isolator
NEC2505 IC’s into the Ux1 and Ux2 sockets. The digital input IC’s Ux3 and Ux4 are removed. The
resistor packs RPx2 and RPx3 are inserted, and the input resistor pack RPx4 is removed.
Each bank of eight outputs shares one I/OC connection, which is connected to a DC power supply
between 4 and 28 VDC. A 10k ohm resistor pack should be used for RPx3. Here is a circuit diagram:
I/OCn
To DMC-1748 +5V
1/4 NEC2505
1/8 RPx2
IR6210
VCC
OUT
GND
IN
PWROUTn
DMC-1748 I/O
1/8 RPx3
I/On
OUTCn
The load is connected between the power output and output common. The I/O connection is for test
purposes, and would not normally be connected. An external power supply is connected to the I/OC
and OUTC terminals, which isolates the circuitry of the DMC-13X8 controller from the output circuit.
I/OCn
VISO
PWROUTn
External
Isolated
Power
L
o
a
d
Supply
GNDISO
OUTCn
USER MANUAL
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The power outputs must be connected in a driving configuration as shown on the previous page. Here
are the voltage outputs to expect after the Clear Bit and Set Bit commands are given:
Output Command
Result
CBn
SBn
Vpwr = Viso
Vpwr = GNDiso
Standard Digital Outputs
The I/O banks 2-7 can be configured as optically isolated digital outputs, however these banks do not
have the high power capacity as in banks 0-1. In order to configure a bank as outputs, the optical
isolator chips Ux1 and Ux2 are inserted, and the digital input isolator chips Ux3 and Ux4 are removed.
The resistor packs RPx2 and RPx3 are inserted, and the input resistor pack RPx4 is removed.
Each bank of eight outputs shares one I/OC connection, which is connected to a DC power supply
between 4 and 28 VDC. The resistor pack RPx3 is optional, used either as a pull up resistor from the
output transistor’s collector to the external supply connected to I/OC or the RPx3 is removed resulting
in an open collector output. Here is a schematic of the digital output circuit:
Internal Pullup
I/OCn
1/8 RPx3
To DMC-1748 +5V
1/4 NEC2505
1/8 RPx2
I/On
DMC-1748 I/O
OUTCn
The resistor pack RPx3 limits the amount of current available to source, as well as affecting the low
level voltage at the I/O output. The maximum sink current is 2mA regardless of RPx3 or I/OC voltage,
determined by the NEC2505 optical isolator IC. The maximum source current is determined by
dividing the external power supply voltage by the resistor value of RPx3.
The high level voltage at the I/O output is equal to the external supply voltage at I/OC. However,
when the output transistor is on and conducting current, the low level output voltage is determined by
three factors. The external supply voltage, the resistor pack RPx3 value, and the current sinking limit
of the NEC2505 all determine the low level voltage. The sink current available from the NEC2505 is
between 0 and 2mA. Therefore, the maximum voltage drop across RPx3 is calculated by multiplying
the 2mA maximum current times the resistor value of RPx3. For example, if a 10k ohm resistor pack
is used for RPx3, then the maximum voltage drop is 20 volts. The digital output will never drop below
the voltage at OUTC, however. Therefor a 10k ohm resistor pack will result in a low level voltage of
.7 to 1.0 volts at the I/O output for an external supply voltage between 4 and 21 VDC. If a supply
voltage greater than 21 VDC is used, a higher value resistor pack will be required.
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Output Command
Result
CBn
SBn
Vout = GNDiso
Vout = Viso
The resistor pack RPx3 is removed to provide open collector outputs. The same calculations for
maximum source current and low level voltage applies as in the above circuit. The maximum sink
current is determined by the NEC2505, and is approximately 2mA.
Open Collector
To DMC-1748 +5V
1/4 NEC2505
1/8 RPx2
I/On
DMC-1748 I/O
OUTCn
Electrical Specifications
•
I/O points, configurable as inputs or outputs in groups of 8
Digital Inputs
•
•
•
Maximum voltage: 28 VDC
Minimum input voltage: 4 VDC
Maximum input current: 3 mA
High Power Digital Outputs
•
•
•
•
Maximum external power supply voltage: 28 VDC
Minimum external power supply voltage: 4 VDC
Maximum source current, per output: 500mA
Maximum sink current: sinking circuit inoperative
Standard Digital Outputs
•
•
•
Maximum external power supply voltage: 28 VDC
Minimum external power supply voltage: 4 VDC
Maximum source current: limited by pull up resistor value
USER MANUAL
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•
Maximum sink current: 2mA
Relevant DMC Commands
CO n
Configures the 64 bits of extended I/O in 8 banks of 8 bits each.
n = n2 + 2*n3 + 4*n4 + 8*n5 + 16*n6 + 32*n7 + 64*n8 + 128*n9
where nx is a 1 or 0, 1 for outputs and 0 for inputs. The x is the bank number
OP
m = 8 standard digital outputs
m,n,o,p,q
n = extended I/O banks 0 & 1, outputs 17-32
o = extended I/O banks 2 & 3, outputs 33-48
p = extended I/O banks 4 & 5, outputs 49-64
q = extended I/O banks 6 & 7, outputs 65-80
SB n
Sets the output bit to a logic 1, n is the number of the output from 1 to 80.
Clears the output bit to a logic 0, n is the number of the output from 1 to 80.
Sets the state of an output as 0 or 1, also able to use logical conditions.
CB n
OB n,m
TI n
Returns the state of 8 digital inputs as binary converted to decimal, n is the bank number +2.
Operand (internal variable) that holds the same value as that returned by TI n.
Function that returns state of individual input bit, n is number of the input from 1 to 80.
_TI n
@IN[n]
Screw Terminal Listing
TERMINAL
LABEL
GND
DESCRIPTION
Ground pins of J1
5V DC out from J1
Ground pins of J1
5V DC out from J1
I/O bit 80
1
2
5V
3
GND
4
5V
5
I/O80
6
I/O79
I/O bit 79
7
I/O78
I/O bit 78
8
I/O77
I/O bit 77
9
I/O76
I/O bit 76
10
11
12
13
14
15
16
17
18
19
20
21
22
23
I/O75
I/O bit 75
I/O74
I/O bit 74
I/O73
I/O bit 73
OUTC73-80
I/OC73-80
I/O72
Out common for I/O 73-80
I/O common for I/O 73-80
I/O bit 72
I/O71
I/O bit 71
I/O70
I/O bit 70
I/O69
I/O bit 69
I/O68
I/O bit 68
I/O67
I/O bit 67
I/O66
I/O bit 66
I/O65
I/O bit 65
OUTC65-72
Out common for I/O 65-72
Appendices • 196
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24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
I/OC65-72
I/O64
I/O common for I/O 65-72
I/O bit 64
I/O63
I/O bit 63
I/O62
I/O bit 62
I/O61
I/O bit 61
I/O60
I/O bit 60
I/O59
I/O bit 59
I/O58
I/O bit 58
I/O57
I/O bit 57
OUTC57-64
I/OC57-64
I/O56
Out common for I/O 57-64
I/O common for I/O 57-64
I/O bit 56
I/O55
I/O bit 55
I/O54
I/O bit 54
I/O53
I/O bit 53
I/O52
I/O bit 52
I/O51
I/O bit 51
I/O50
I/O bit 50
I/O49
I/O bit 49
*OUTC49-56
I/OC49-56
I/O48
Out common for I/O 49-56
I/O common for I/O 49-56
I/O bit 48
I/O47
I/O bit 47
I/O46
I/O bit 46
I/O45
I/O bit 45
I/O44
I/O bit 44
I/O43
I/O bit 43
I/O42
I/O bit 42
I/O41
I/O bit 41
OUTC41-48
I/OC41-48
I/O40
Out common for I/O 41-48
I/O common for I/O 41-48
I/O bit 40
I/O39
I/O bit 39
I/O38
I/O bit 38
I/O37
I/O bit 37
I/O36
I/O bit 36
I/O35
I/O bit 35
I/O34
I/O bit 34
I/O33
I/O bit 33
OUTC33-40
I/OC33-40
I/O32
Out common for I/O 33-40
I/O common for I/O 33-40
I/O bit 32
I/O31
I/O bit 31
I/O30
I/O bit 30
I/O29
I/O bit 29
USER MANUAL
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69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
I/O28
I/O bit 28
I/O27
I/O bit 27
I/O26
I/O bit 26
I/O25
I/O bit 25
OUTC25-32
*I/OC25-32
*OUTC25-32
I/OC25-32
PWROUT32
PWROUT31
PWROUT30
PWROUT29
PWROUT28
PWROUT27
PWROUT26
PWROUT25
I/O24
Out common for I/O 25-32
I/O common for I/O 25-32
Out common for I/O 25-32
I/O common for I/O 25-32
Power output 32
Power output 31
Power output 30
Power output 29
Power output 28
Power output 27
Power output 26
Power output 25
I/O bit 24
I/O23
I/O bit 23
I/O22
I/O bit 22
I/O21
I/O bit 21
I/O20
I/O bit 20
I/O19
I/O bit 19
I/O18
I/O bit 18
I/O17
I/O bit 17
OUTC17-24
*I/OC17-24
*OUTC17-24
I/OC17-24
PWROUT24
PWROUT23
PWROUT22
PWROUT21
PWROUT20
PWROUT19
PWROUT18
PWROUT17
Out common for I/O 17-24
I/O common for I/O 17-24
Out common for I/O 17-24
I/O common for I/O 17-24
Power output 24
Power output 23
Power output 22
Power output 21
Power output 20
Power output 19
Power output 18
Power output 17
* Silkscreen on Rev A board is incorrect for these terminals.
Coordinated Motion - Mathematical Analysis
The terms of coordinated motion are best explained in terms of the vector motion. The vector velocity,
Vs, which is also known as the feed rate, is the vector sum of the velocities along the X and Y axes, Vx
and Vy.
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Vs = Vx 2 +Vy 2
The vector distance is the integral of Vs, or the total distance traveled along the path. To illustrate this
further, suppose that a string was placed along the path in the X-Y plane. The length of that string
represents the distance traveled by the vector motion.
The vector velocity is specified independently of the path to allow continuous motion. The path is
specified as a collection of segments. For the purpose of specifying the path, define a special X-Y
coordinate system whose origin is the starting point of the sequence. Each linear segment is specified
by the X-Y coordinate of the final point expressed in units of resolution, and each circular arc is
defined by the arc radius, the starting angle, and the angular width of the arc. The zero angle
corresponds to the positive direction of the X-axis and the CCW direction of rotation is positive.
Angles are expressed in degrees, and the resolution is 1/256th of a degree. For example, the path
shown in Fig. 12.2 is specified by the instructions:
VP
CR
VP
0,10000
10000, 180, -90
20000, 20000
Y
C
D
20000
B
10000
A
X
10000
20000
Figure 12.2 - X-Y Motion Path
The first line describes the straight line vector segment between points A and B. The next segment is a
circular arc, which starts at an angle of 180° and traverses -90°. Finally, the third line describes the
linear segment between points C and D. Note that the total length of the motion consists of the
segments:
A-B
Linear
10000 units
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R Δθ 2π
360
B-C
C-D
Circular
= 15708
Linear
Total
1000
35708 counts
In general, the length of each linear segment is
Lk = Xk 2 + Yk 2
Where Xk and Yk are the changes in X and Y positions along the linear segment. The length of the
circular arc is
L
k
= Rk ΔΘk 2π 360
The total travel distance is given by
n
D =
L
k
∑
k=1
The velocity profile may be specified independently in terms of the vector velocity and acceleration.
For example, the velocity profile corresponding to the path of Fig. 12.2 may be specified in terms of
the vector speed and acceleration.
VS
100000
VA
2000000
The resulting vector velocity is shown in Fig. 12.3.
Velocity
10000
time (s)
Ta
0.05
Ts
0.357
Ta
0.407
Figure 12.3 - Vector Velocity Profile
The acceleration time, T , is given by
a
VS
100000
T
a
=
=
= 0.05s
VA 2000000
The slew time, Ts, is given by
D
35708
T
s
=
− Ta
=
= −0.05 = 0.307s
VS
100000
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The total motion time, Tt, is given by
D
T
t
=
+ Ta = 0.407s
VS
The velocities along the X and Y axes are such that the direction of motion follows the specified path,
yet the vector velocity fits the vector speed and acceleration requirements.
For example, the velocities along the X and Y axes for the path shown in Fig. 12.2 are given in Fig.
12.4.
Fig. 12.4a shows the vector velocity. It also indicates the position point along the path starting at A
and ending at D. Between the points A and B, the motion is along the Y axis. Therefore,
Vy = Vs
and
Vx = 0
Between the points B and C, the velocities vary gradually and finally, between the points C and D, the
motion is in the X direction.
B
C
(a)
(b)
(c)
A
D
time
Figure 12.4 - Vector and Axes Velocities
USER MANUAL
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DMC-13X8/DMC-1300 Comparison
BENEFIT
DMC-13X8
DMC-1300
Higher Speed communication Frees
host
Two communication channels-FIFO and Only one channel- DPRAM
Polling FIFO
Instant access to parameters – real time Polling FIFO
data processing & recording
No Polling FIFO
Programs don’t have to be downloaded Non-Volatile Program Storage
No storage for programs
from VME host but can be stored on
controller
Can capture and save array data
Parameters can be stored
Variable storage
No storage for variables
No storage for arrays
Array storage
Firmware can be upgraded in field
without removing controller from PC
Flash memory for firmware
EPROM for firmware which
must be installed on controller
Faster servo operation – good for very
high resolution sensors
12 MHz encoder speed for servos
8 MHz
Faster stepper operation
Higher servo bandwidth
3 MHz stepper rate
2 MHz
62 μsec/axis sample time
125 μsec/axis
500 line X 40 character
Expanded memory lets you store more
programs
1000 lines X 80 character program
memory
Expanded variables
254 symbolic variables
126 variables
Expanded arrays for more storage—
great for data capture
8000 array elements in 30 arrays
1600 elements in 14 arrays
Higher resolution for analog inputs
Better for EMI reduction
8 analog inputs with 16-bit ADC option 7 inputs with 12-bit ADC only
100-pin high density connector
60-pin IDC, 26-pin IDC, 20-pin
IDC (x2)
For precise registration applications
More flexible gearing
Output Position Compare
Available only as a special
One master for gearing
Multiple masters allowed in gearing
mode
High speed software processing
Software commands processed within
200 – 350usec
Software commands processed
within 350 – 500usec
List of Other Publications
"Step by Step Design of Motion Control Systems"
by Dr. Jacob Tal
"Motion Control Applications"
by Dr. Jacob Tal
"Motion Control by Microprocessors"
by Dr. Jacob Tal
Appendices • 202
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Training Seminars
Galil, a leader in motion control with over 250,000 controllers working worldwide, has a proud
reputation for anticipating and setting the trends in motion control. Galil understands your need to
keep abreast with these trends in order to remain resourceful and competitive. Through a series of
seminars and workshops held over the past 15 years, Galil has actively shared their market insights in a
no-nonsense way for a world of engineers on the move. In fact, over 10,000 engineers have attended
Galil seminars. The tradition continues with three different seminars, each designed for your particular
skillset-from beginner to the most advanced.
MOTION CONTROL MADE EASY
WHO SHOULD ATTEND
Those who need a basic introduction or refresher on how to successfully implement servo motion
control systems.
TIME: 4 hours (8:30 am-12:30pm)
ADVANCED MOTION CONTROL
WHO SHOULD ATTEND
Those who consider themselves a "servo specialist" and require an in-depth knowledge of motion
control systems to ensure outstanding controller performance. Also, prior completion of "Motion
Control Made Easy" or equivalent is required. Analysis and design tools as well as several design
examples will be provided.
TIME: 8 hours (8-5pm)
PRODUCT WORKSHOP
WHO SHOULD ATTEND
Current users of Galil motion controllers. Conducted at Galil's headquarters in Rocklin, CA, students
will gain detailed understanding about connecting systems elements, system tuning and motion
programming. This is a "hands-on" seminar and students can test their application on actual hardware
and review it with Galil specialists.
TIME: Two days (8:30-5pm)
USER MANUAL
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Contacting Us
Galil Motion Control
3750 Atherton Road
Rocklin, California 95765
Phone: 916-626-0101
Fax: 916-626-0102
Internet address: [email protected]
URL: www.galilmc.com
FTP: www.galilmc.com/ftp
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WARRANTY
All products manufactured by Galil Motion Control are warranted against defects in materials and
workmanship. The warranty period for controller boards is 1 year. The warranty period for all other
products is 180 days.
In the event of any defects in materials or workmanship, Galil Motion Control will, at its sole option,
repair or replace the defective product covered by this warranty without charge. To obtain warranty
service, the defective product must be returned within 30 days of the expiration of the applicable
warranty period to Galil Motion Control, properly packaged and with transportation and insurance
prepaid. We will reship at our expense only to destinations in the United States.
Any defect in materials or workmanship determined by Galil Motion Control to be attributable to
customer alteration, modification, negligence or misuse is not covered by this warranty.
EXCEPT AS SET FORTH ABOVE, GALIL MOTION CONTROL WILL MAKE NO
WARRANTIES EITHER EXPRESSED OR IMPLIED, WITH RESPECT TO SUCH PRODUCTS,
AND SHALL NOT BE LIABLE OR RESPONSIBLE FOR ANY INCIDENTAL OR
CONSEQUENTIAL DAMAGES.
COPYRIGHT (3-97)
The software code contained in this Galil product is protected by copyright and must not be reproduced
or disassembled in any form without prior written consent of Galil Motion Control, Inc.
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Index
Abort..............37–39, 47, 70, 76, 160, 162, 183, 186–87
Off-On-Error................................ 20, 39, 42, 160, 162
Stop Motion ....................................... 70, 76, 131, 163
Absolute Position............................ 65–67, 121–22, 126
Absolute Value ................................... 83, 126, 135, 161
Acceleration.............123–24, 142, 147, 150–53, 212–13
Accessories............................................................... 187
Address 52, Error! Not a valid bookmark in entry on
page 54, 139–41, 166, 188, 216
Almost Full Flags ....................................................... 46
AMP-1100.................................................................. 24
Ampflier Gain............................................................. 12
Amplifier Enable ................................................ 41, 160
Amplifier Gain.......................................... 174, 177, 180
Analog Input.12, 37, 41, 69, 135–36, 138, 143, 150–51,
156, 183
Arithmetic Functions................ 113, 125, 133, 136, 147
Arm Latch................................................................. 111
Array.....11, 65, 74, 90–93, 113, 118, 125, 133, 137–46,
148, 184
Automatic Subroutine............................................... 129
CMDERR ........................................ 116, 129, 131–32
LIMSWI............................... 37, 115, 128–30, 161–63
MCTIME ....................................... 116, 121, 129, 131
POSERR.................................... 116, 128–30, 162–63
Auxiliary Encoder.......37, 81, 95–105, 95–105, 95–105,
187, 189, 190, 195
Code55, 129, 137, 141–42, 151–53, 155–57
Command
Syntax ................................................................56–57
Command Summary ........... 62, 66, 68, 72, 78, 138, 140
Commanded Position....... 66–68, 80–81, 131, 141, 151,
169–71
Communication.....................................................11, 45
Almost Full Flag ......................................................46
FIFO. 11, 45, Error! Not a valid bookmark in entry
on page 46, 55
Compensation
Backlash.........................................65, 103–4, 156–57
Conditional jump .................. 39, 113, 119, 123–26, 150
Configuration
Jumper................................................41, 54, 166, 167
Contour Mode...........................................64–65, 88–93
Control Filter
Damping.................................................................172
Gain................................................................137, 143
Integrator................................................................172
Proportional Gain...................................................172
Coordinated Motion..................................57, 64, 75–78
Circular...................................75–78, 80, 140, 152–53
Contour Mode ........................................64–65, 88–93
Ecam ............................................................83–84, 87
Electronic Cam.......................................64–65, 82, 85
Electronic Gearing .................................64–65, 80–82
Gearing...................................................64–65, 80–82
Linear Interpolation....................64, 70–72, 74, 80, 88
Cosine ...................................................65, 133–35, 139
Cycle Time
Dual Encoder ........................................... 61, 104, 141
Backlash ........................................... 65, 103–4, 156–57
Backlash Compensation
Dual Loop...............65, 95–104, 95–104, 95–104, 156
Begin Motion....115–17, 122–23, 130–31, 136, 141–43,
148, 150
Clock......................................................................138
DAC172, 176–78, 180
Binary ............................................. 9, 45, 47, 55, 56, 59
Bit-Wise............................................................ 126, 133
Burn
Damping....................................................................172
Data Capture .......................................................139–41
Data Output
EEPROM................................................................. 11
Bypassing Optoisolation............................................. 41
Capture Data
Record.......................................... 65, 90, 92, 138, 141
Circle .................................................................. 152–53
Circular Interpolation ............... 75–78, 80, 140, 152–53
Clear Bit.................................................................... 148
Clear Sequence ......................................... 70, 72, 76, 78
Clock ........................................................................ 138
CMDERR ........................................... 116, 129, 131–32
Set Bit.....................................................................148
Debugging.................................................................118
Deceleration..............................................................142
Differential Encoder..............................................21, 23
Digital Filter....................................56, 176–77, 179–81
Digital Input..........................................37, 39, 135, 149
Digital Output ...................................................135, 148
Clear Bit.................................................................148
Dip Switch
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Address... Error! Not a valid bookmark in entry on
page 46, 52, Error! Not a valid bookmark in
entry on page 54, 139–41, 188, 216
Gear Ratio.............................................................80–81
Gearing......................................................64–65, 80–82
Halt 71, 117–21, 123–24, 149
DMA........................................................................... 11
Download ................................................... 56, 113, 139
Dual Encoder.............................................. 61, 104, 141
Backlash......................................... 65, 103–4, 156–57
Dual Loop...............65, 95–104, 95–104, 95–104, 156
Dual Loop..................65, 95–104, 95–104, 95–104, 156
Backlash......................................... 65, 103–4, 156–57
Ecam............................................................... 83–84, 87
Electronic Cam ...................................... 64–65, 82, 85
Echo55
Edit Mode........................................... 113–14, 119, 130
Editor.................................................................. 113–14
EEPROM.................................................................... 11
Electronic Cam ......................................... 64–65, 82, 85
Electronic Gearing.................................... 64–65, 80–82
Ellipse Scale ............................................................... 78
Enable
Abort ......... 37–39, 47, 70, 76, 160, 162, 183, 186–87
Off-On-Error ................................20, 39, 42, 160, 162
Stop Motion........................................70, 76, 131, 163
Hardware...............................................37, 51, 148, 160
Address....Error! Not a valid bookmark in entry on
page 46, 52, Error! Not a valid bookmark in
entry on page 54, 139–41, 166, 188, 216
Amplifier Enable..............................................41, 160
Clear Bit.................................................................148
Jumper................................................41, 54, 166, 167
Output of Data........................................................143
Set Bit.....................................................................148
TTL ................................................13, 37, 41–42, 160
Home Input .................................................38, 108, 138
Homing ...............................................................38, 108
Find Edge.........................................................38, 108
I/O
Amplifer Enable............................................... 41, 160
Encoder
Auxiliary Encoder....37, 81, 95–105, 95–105, 95–105,
187, 189, 190, 195
Differential......................................................... 21, 23
Dual Encoder ........................................... 61, 104, 141
Index Pulse ................................................ 21, 38, 108
Quadrature ........................13, 103, 147, 151, 161, 175
Error Code .........55, 129, 137, 141–42, 151–53, 155–57
Error Handling........................ 37, 115, 128–30, 161–63
Error Limit................................ 20, 22, 42, 129, 160–63
Off-On-Error................................ 20, 39, 42, 160, 162
Example
Amplifier Enable..............................................41, 160
Analog Input ............................................................69
Clear Bit.................................................................148
Digital Input.......................................37, 39, 135, 149
Digital Output ................................................135, 148
Home Input ..............................................38, 108, 138
Output of Data........................................................143
Set Bit.....................................................................148
TTL ................................................13, 37, 41–42, 160
ICM-1100................................................20, 41, 42, 160
Independent Motion
Jog68–69, 80, 87, 111, 122–23, 130–32, 136, 156,
162
Wire Cutter ............................................................ 151
Feedrate .................................... 72, 77, 78, 123, 152–53
FIFO ....11, 45, Error! Not a valid bookmark in entry
on page 46, 55
Index Pulse....................................................21, 38, 108
ININT............................................115, 129–31, 149–50
Input
Analog......................................................................69
Input Interrupt................. 54, 115, 123, 129–31, 149–50
ININT.........................................115, 129–31, 149–50
Input of Data .............................................................142
Inputs
Analog..... 12, 37, 41, 135–36, 138, 143, 150–51, 156,
183
Installation.................................................................165
Integrator...................................................................172
Interconnect Module
Filter Parameter
Damping ................................................................ 172
Gain ............................................................... 137, 143
Integrator ............................................................... 172
PID........................................................... 24, 172, 182
Proportional Gain................................................... 172
Stability.............................104, 157, 165–67, 172, 178
Find Edge............................................................ 38, 108
Flags
Almost full............................................................... 46
Formatting .................................................. 143, 145–47
Frequency ............................................. 13, 107, 178–80
Function...39, 55, 56, 70, 90–91, 104–5, 110, 113, 117–
21, 123, 125, 129, 133–38, 143–44, 148–52, 153,
156–57
ICM-1100.............................................20, 41, 42, 160
Interface
Terminal...................................................................56
Internal Variable .......................................125, 136, 137
Interrogation..............................61–62, 73, 79, 143, 145
Interrupt .....Error! Not a valid bookmark in entry on
page 46, Error! Not a valid bookmark in entry
on page 51, 115–17, 123, 128–31, 149–50
Functions
Arithmetic.............................. 113, 125, 133, 136, 147
Gain 137, 143
Invert.........................................................................103
Proportional ........................................................... 172
Index • 208
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Jog 68–69, 80, 87, 111, 122–23, 130–32, 136, 156,
162
Off-On-Error...................................20, 39, 42, 160, 162
Operand
Joystick................................................. 69, 136, 155–56
Jumper .................................................. 41, 54, 166, 167
Keyword ..................................... 125, 133, 136, 137–38
TIME ............................................................... 138–39
Label 41, 54, 69–71, 75, 85–87, 93, 105, 108, 111, 113–
19, 121–31, 136–37, 142, 145, 147–51, 153, 156–
57, 163
LIMSWI........................................................... 161–63
POSERR.......................................................... 162–63
Special Label ................................................. 115, 163
Latch................................................................... 61, 110
Arm Latch.............................................................. 111
Data Capture.................................................... 139–41
Position Capture..................................................... 110
Record.......................................... 65, 90, 92, 138, 141
Teach ....................................................................... 92
Limit
Torque Limit............................................................ 23
Limit Switch ..37–39, Error! Not a valid bookmark in
entry on page 53, 115–17, 129–30, 137, 161–63
LIMSWI ................................. 37, 115, 128–30, 161–63
Linear Interpolation...................... 64, 70–72, 74, 80, 88
Clear Sequence ...................................... 70, 72, 76, 78
Logical Operator....................................................... 125
Masking
Internal Variable.....................................125, 136, 137
Operators
Bit-Wise .........................................................126, 133
Optoisolation...................................................37, 39–40
Home Input ..............................................38, 108, 138
Output
Amplifier Enable..............................................41, 160
ICM-1100...........................................................20, 41
Motor Command..............................................23, 177
Output of Data...........................................................143
Clear Bit.................................................................148
Set Bit.....................................................................148
PID 24, 172, 182
Play Back ............................................................65, 141
POSERR .......................................116, 128–30, 162–63
Position Error22, 116, 129–30, 137, 140–41, 151, 157
Position Capture........................................................110
Latch ................................................................61, 110
Teach........................................................................92
Position Error.. 20, 22, 42, 104, 116, 129–30, 137, 140–
41, 151, 157, 160–62, 171
POSERR...................................................116, 128–30
Position Follow ...................................................150–51
Position Limit............................................................162
Program Flow....................................................114, 119
Interrupt...Error! Not a valid bookmark in entry on
page 46, Error! Not a valid bookmark in entry
on page 51, 115–17, 123, 128–31, 149–50
Stack.......................................................128, 132, 150
Programmable.............................135–37, 148, 156, 161
EEPROM .................................................................11
Programming
Halt.......................................71, 117–21, 123–24, 149
Proportional Gain......................................................172
Protection
Error Limit .............................20, 22, 42, 129, 160–63
Torque Limit ............................................................23
PWM...........................................................................12
Quadrature........................... 13, 103, 147, 151, 161, 175
Quit
Abort ......... 37–39, 47, 70, 76, 160, 162, 183, 186–87
Stop Motion........................................70, 76, 131, 163
Record.............................................65, 90, 92, 138, 141
Latch ................................................................61, 110
Position Capture.....................................................110
Teach........................................................................92
Register .........................................................52, 54, 137
Reset..............................................38, 47, 124, 160, 162
SB
Bit-Wise......................................................... 126, 133
Math Function
Absolute Value ................................ 83, 126, 135, 161
Bit-Wise......................................................... 126, 133
Cosine................................................ 65, 133–35, 139
Logical Operator.................................................... 125
Sine............................................................ 65, 86, 135
Mathematical Expression ......................... 126, 133, 135
MCTIME.......................................... 116, 121, 129, 131
Memory .................56, 91, 113, 118, 125, 130, 137, 139
Array..11, 65, 74, 90–93, 113, 118, 125, 133, 137–46,
148, 184
Download................................................. 56, 113, 139
Message...75, 108, 118, 130–31, 134, 141–44, 150, 163
Modelling ........................................... 169, 172–73, 177
Motion Complete
MCTIME ....................................... 116, 121, 129, 131
Motion Smoothing...................................... 65, 105, 107
S-Curve............................................................ 71, 106
Motor Command ................................................ 23, 177
Moving
Acceleration..........123–24, 142, 147, 150–53, 212–13
Begin Motion.115–17, 122–23, 130–31, 136, 141–43,
148, 150
Circular.................................. 75–78, 80, 140, 152–53
Multitasking.............................................................. 117
Halt ...................................... 71, 117–21, 123–24, 149
OE
Set Bit.....................................................................148
Scaling
Ellipse Scale.............................................................78
S-Curve ...............................................................71, 106
Motion Smoothing ...................................65, 105, 107
Off-On-Error.................................................. 160, 162
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Selecting Address ................. 52, 139–41, 166, 188, 216
Set Bit....................................................................... 148
Sine 65, 86, 135
Single-Ended .................................................. 13, 21, 23
Slew 55, 65, 81, 108, 121, 123, 151
Tell Position................................................................61
Tell Torque..................................................................61
Terminal..........................................38, 41, 56, 136, 144
Theory.......................................................................169
Damping.................................................................172
Digital Filter.................................56, 176–77, 179–81
Modelling.........................................169, 172–73, 177
PID...........................................................24, 172, 182
Stability............................ 104, 157, 165–67, 172, 178
Time
Clock......................................................................138
TIME...................................................................138–39
Time Interval...........................................88–90, 92, 140
Timeout.............................................116, 121, 129, 131
MCTIME........................................116, 121, 129, 131
Torque Limit ...............................................................23
Trigger .................................. 54, 113, 119, 122–24, 171
Trippoint ......... 66, 71–72, 77–78, 90, 121–22, 127, 128
Troubleshooting ........................................................165
TTL 13, 37, 41–42, 160
Smoothing............................... 65, 71, 72, 76, 78, 105–7
Software
Terminal................................................................... 56
Special Label .................................................... 115, 163
Specification................................................... 71–72, 77
Stability ...............................104, 157, 165–67, 172, 178
Stack ......................................................... 128, 132, 150
Zero Stack...................................................... 132, 150
Status .................................56, 61, 73, 118–20, 137, 141
Interrogation .......................... 61–62, 73, 79, 143, 145
Stop Code ........................................................ 61, 141
Tell Code ................................................................. 60
Step Motor............................................................ 107–8
KS, Smoothing..................... 65, 71, 72, 76, 78, 105–7
Stop
Abort..........37–39, 47, 70, 76, 160, 162, 183, 186–87
Stop Code 55, 61, 129, 137, 141–42, 141, 151–53, 155–
57
Tuning
Stability............................ 104, 157, 165–67, 172, 178
User Unit...................................................................147
Variable
Internal ...................................................125, 136, 137
Vector Acceleration ................................72–73, 78, 153
Vector Deceleration ........................................72–73, 78
Vector Mode
Circle................................................................152–53
Circular Interpolation.............75–78, 80, 140, 152–53
Clear Sequence.......................................70, 72, 76, 78
Ellipse Scale.............................................................78
Feedrate..................................72, 77, 78, 123, 152–53
Tangent...................................................65, 75, 77–78
Vector Speed...................................70–76, 78, 123, 153
Wire Cutter................................................................151
Zero Stack.........................................................132, 150
Stop Motion.......................................... 70, 76, 131, 163
Subroutine............37, 75, 115, 124–31, 149–50, 161–63
Automatic Subroutine............................................ 129
Synchronization.................................................... 13, 82
Syntax................................................................... 56–57
Tangent..................................................... 65, 75, 77–78
Teach .......................................................................... 92
Data Capture.................................................... 139–41
Latch................................................................ 61, 110
Play-Back......................................................... 65, 141
Position Capture..................................................... 110
Record.......................................... 65, 90, 92, 138, 141
Tell Code .................................................................... 60
Tell Error .................................................................... 61
Position Error22, 116, 129–30, 137, 140–41, 151, 157
Index • 210
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