Galil Motion Control CDS-3310 Manuale utente

USER MANUAL

CDS-3310

Manual Rev. 1.0f

By Galil Motion Control, Inc.

Galil Motion Control, Inc.

270 Technology Way

Rocklin, California 95765

Phone: (916) 626-0101

Fax: (916) 626-0102

E-mail Address: [email protected]

URL: www.galilmc.com

Rev 01/10

Using This Manual

This user manual provides information for proper operation of the CDS-3310 controller. A separate

manual, the Command Reference, contains a description of the commands available for use with this

controller.

Users of a 1-4 axis system should note that axes are labeled XYZW.

Users of a 1-8 axis system should note that axes are labeled A,B,C,D,E,F,G,H. The axes A,B,C,D may

be used interchangeably with X, Y, Z, W.

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. Galil shall not be liable or

responsible for any incidental or consequential damages.

CDS-3310 Chapter 1 Overviewyi

ContentsContents i

Chapter 1 Overview 1

Introduction ...............................................................................................................................1

Amplifier Specifications............................................................................................................2

CDS-3310 Functional Elements ................................................................................................ 3

Microcomputer Section ...............................................................................................3

Motor Interface............................................................................................................3

Communication ...........................................................................................................3

General I/O..................................................................................................................3

System Elements .........................................................................................................4

Motor...........................................................................................................................4

Amplifier (Driver) .......................................................................................................4

Encoder........................................................................................................................4

Watch Dog Timer........................................................................................................5

Chapter 2 Getting Started 6

CDS-3310 Layout and Dimensions ...........................................................................................7

Recommended Components ......................................................................................................7

Installing the CDS-3310 ............................................................................................................8

Step 1. Install Jumpers on the CDS-3310....................................................................8

Step 2. Connect 18 to 72 VDC Power to the Controller.............................................. 9

Step 3. Install Windows Communication Software.....................................................9

Step 4. Establish Communication..............................................................................10

Step 5. Make Connections to Encoder....................................................................... 11

Step 6. Configure Amplifier ......................................................................................11

Step 7a. Connect Brush Servo Motor ........................................................................ 12

Step 7b. Connect Brushless Servo Motor .................................................................. 12

Step 8. Close the Loop...............................................................................................13

Step 9. Tune the Servo System.................................................................................. 14

Design Examples .....................................................................................................................15

System Set-up............................................................................................................15

Profiled Move............................................................................................................15

Position Interrogation ................................................................................................15

Absolute Position ......................................................................................................15

Velocity Control ........................................................................................................ 16

Operation Under Torque Limit..................................................................................16

Interrogation ..............................................................................................................16

Motion Programs with Loops....................................................................................16

Control Variables ......................................................................................................17

Chapter 3 Connecting I/O 19

Overview .................................................................................................................................19

Inputs .......................................................................................................................................19

General Use Digital Inputs ........................................................................................ 19

Limit Switch Inputs ................................................................................................... 19

Home Switch Input....................................................................................................20

Abort Input ................................................................................................................21

Reset Input................................................................................................................. 21

Auxiliary Encoder Inputs ..........................................................................................21

Analog Inputs ............................................................................................................22

Outputs.....................................................................................................................................22

ii •Chapter 1 Overview CDS-3310

General Use Digital Outputs......................................................................................22

Amp Enable...............................................................................................................22

Output Compare ........................................................................................................22

Error Output .............................................................................................................. 22

Brake Output ............................................................................................................. 23

Analog Output ........................................................................................................... 23

Chapter 4 Communication 25

Introduction .............................................................................................................................25

RS232 Port...............................................................................................................................25

Ethernet Configuration ............................................................................................................25

Communication Protocols .........................................................................................25

Addressing.................................................................................................................25

Communicating with Multiple Devices (Handles) ....................................................26

Modbus...................................................................................................................... 27

Multicasting...............................................................................................................28

Using Third Party Software.......................................................................................28

Data Record .............................................................................................................................29

Data Record Map....................................................................................................... 29

Explanation of Status and Axis Switch Information .................................................32

Notes Regarding Velocity and Torque Information ..................................................33

QZ Command............................................................................................................ 33

Controller Response to Commands .........................................................................................33

Unsolicited Messages Generated by Controller....................................................................... 33

Galil Software Tools and Libraries.......................................................................................... 34

Chapter 5 Command Basics 35

Introduction .............................................................................................................................35

Command Syntax - ASCII....................................................................................................... 35

Command Syntax - Binary ......................................................................................................37

Binary Command Format.......................................................................................... 37

Binary command table...............................................................................................38

Controller Response to DATA ................................................................................................39

Interrogating the Controller .....................................................................................................39

Interrogation Commands ........................................................................................... 39

Summary of Interrogation Commands ...................................................................... 40

Interrogating Current Commanded Values................................................................ 40

Operands....................................................................................................................40

Chapter 6 Programming Motion 41

Overview .................................................................................................................................41

Independent Axis Positioning..................................................................................................42

Command Summary - Independent Axis ..................................................................42

Operand Summary - Independent Axis .....................................................................43

Examples ...................................................................................................................43

Independent Jogging................................................................................................................ 44

Command Summary - Jogging..................................................................................45

Operand Summary - Independent Axis .....................................................................45

Examples ...................................................................................................................45

Position Tracking.....................................................................................................................46

Example Motion 1:....................................................................................................47

Example Motion 2:....................................................................................................47

Example Motion 3:....................................................................................................48

Trip Points ................................................................................................................. 49

CDS-3310 Chapter 1 Overviewyiii

Command Summary – Position Tracking Mode ....................................................... 49

Electronic Gearing ...................................................................................................................50

Ramped Gearing ......................................................................................................................50

Example – Electronic Gearing Over a Specified Interval.......................................... 51

Command Summary - Electronic Gearing ................................................................52

Electronic Cam ........................................................................................................................ 53

Contour Mode............................................................................................................................4

Specifying Contour Segments .....................................................................................4

Additional Commands.................................................................................................5

Command Summary - Contour Mode ......................................................................... 6

General Velocity Profiles ............................................................................................ 6

Example.......................................................................................................................6

Virtual Axis ...............................................................................................................................9

Dual Loop (Auxiliary Encoder).................................................................................................9

Additional Commands for the Auxiliary Encoder.......................................................9

Backlash Compensation ............................................................................................10

Example.....................................................................................................................10

Motion Smoothing...................................................................................................................11

Using the IT Command: ............................................................................................11

Example.....................................................................................................................12

Homing ....................................................................................................................................13

Example.....................................................................................................................13

Command Summary - Homing Operation................................................................. 15

Operand Summary - Homing Operation....................................................................15

High Speed Position Capture (The Latch Function)................................................................15

Example.....................................................................................................................15

Chapter 7 Application Programming 16

Overview .................................................................................................................................16

Using the DOS Editor to Enter Programs ................................................................................16

Edit Mode Commands...............................................................................................17

Example.....................................................................................................................17

Program Format.......................................................................................................................18

Using Labels in Programs .........................................................................................18

Special Labels............................................................................................................18

Commenting Programs.............................................................................................. 19

Executing Programs - Multitasking .........................................................................................19

Debugging Programs ...............................................................................................................20

Trace Command ........................................................................................................20

Error Code Command................................................................................................21

Stop Code Command.................................................................................................21

RAM Memory Interrogation Commands ..................................................................21

Operands....................................................................................................................21

Example..................................................................................................................... 22

Program Flow Commands .......................................................................................................22

Event Triggers & Trippoints......................................................................................22

Conditional Jumps.....................................................................................................26

IF, ELSE, AND ENDIF.............................................................................................28

Subroutines................................................................................................................ 29

Stack Manipulation....................................................................................................30

Auto-Start Routine ....................................................................................................30

Automatic Subroutines for Monitoring Conditions................................................... 30

Mathematical and Functional Expressions ..............................................................................35

Mathematical Operators ............................................................................................35

Bit-Wise Operators.................................................................................................... 35

iv •Chapter 1 Overview CDS-3310

Functions ................................................................................................................... 36

Variables..................................................................................................................................37

Programmable Variables ...........................................................................................37

Operands..................................................................................................................................38

Common Operands.................................................................................................... 38

Arrays ......................................................................................................................................39

Defining Arrays......................................................................................................... 39

Assignment of Array Entries .....................................................................................39

Uploading and Downloading Arrays to On Board Memory......................................40

Automatic Data Capture into Arrays ......................................................................... 40

Deallocating Array Space.......................................................................................... 42

Input of Data (Numeric and String—Serial Port Only) ...........................................................42

Input of Data..............................................................................................................42

Operator Data Entry Mode ........................................................................................ 43

Communication Interrupt ..........................................................................................43

String Variables.........................................................................................................45

Output of Data (Numeric and String) ......................................................................................45

Sending Messages .....................................................................................................45

Displaying Variables and Arrays...............................................................................46

Interrogation Commands ........................................................................................... 47

Formatting Variables and Array Elements ................................................................48

Converting to User Units........................................................................................... 49

Hardware I/O ...........................................................................................................................50

Digital Outputs ..........................................................................................................50

Digital Inputs............................................................................................................. 51

Analog Inputs ............................................................................................................51

Analog Output ........................................................................................................... 52

The Auxiliary Encoder Inputs ................................................................................... 52

Input Interrupt Function ............................................................................................ 53

Extended I/O of the CDS-3310 Controller ..............................................................................53

Configuring the I/O of the CDS-3310 .......................................................................54

Saving the State of the Outputs in Non-Volatile Memory.........................................54

Accessing Extended I/O ............................................................................................ 54

Example Applications..............................................................................................................55

Wire Cutter................................................................................................................55

Backlash Compensation by Sampled Dual-Loop ......................................................56

Chapter 8 Hardware & Software Protection 58

Introduction .............................................................................................................................58

Hardware Protection ................................................................................................................58

Output Protection Lines............................................................................................. 58

Input Protection Lines ............................................................................................... 59

Amplifier Status LED’s.............................................................................................59

Software Protection .................................................................................................................59

Programmable Position Limits ..................................................................................60

Off-On-Error .............................................................................................................60

Automatic Error Routine ........................................................................................... 60

Limit Switch Routine ................................................................................................61

Amplifier Error Routine ............................................................................................ 62

Chapter 9 Troubleshooting 64

Overview .................................................................................................................................64

Installation ...............................................................................................................................64

Communication........................................................................................................................65

CDS-3310 Chapter 1 Overviewyv

Stability.................................................................................................................................... 65

Operation .................................................................................................................................65

Chapter 10 Theory of Operation 66

Overview .................................................................................................................................66

Operation of Closed-Loop Systems ......................................................................................... 68

System Modeling.....................................................................................................................69

Motor-Amplifier........................................................................................................70

Encoder......................................................................................................................70

DAC ..........................................................................................................................70

Digital Filter ..............................................................................................................70

ZOH...........................................................................................................................72

System Analysis.......................................................................................................................72

System Design and Compensation...........................................................................................74

The Analytical Method.............................................................................................. 74

Chapter 11 Distributed Control 78

Overview .................................................................................................................................78

Configuring Distributed Control..............................................................................................78

Configuration Example............................................................................................................79

Manual Slave IP Configuration ...............................................................................................79

Global versus Local Commands..............................................................................................80

Global Commands..................................................................................................... 80

Local Commands....................................................................................................... 81

Accessing the I/O of the Slaves ...............................................................................................81

Appendices 82

Electrical Specifications ..........................................................................................................82

Servo Control ............................................................................................................82

Input / Output ............................................................................................................82

Power......................................................................................................................... 82

Performance Specifications .....................................................................................................83

Connectors for CDS-3310 ....................................................................................................... 84

J1 MOTOR Output 4-pin AMP Universal Mate-N-Lok............................................84

J2 ENCODER 15-PIN Hi-density Female D-sub...................................................... 84

J3 I/O 37-pin Female D-sub ......................................................................................84

J4 RS-232 Serial Port ................................................................................................85

J5 POWER 2-pin AMP Universal Mate-N-Lok........................................................85

J8 100Base-T Ethernet .............................................................................................. 85

Mating Connectors ....................................................................................................85

Pin-Out Description for CDS-3310 .........................................................................................86

Jumper Description for CDS-3310 ..........................................................................................87

Accessories and Options..........................................................................................................87

ICM-3300 ................................................................................................................................89

Opto Isolation Settings ..............................................................................................89

Input Isolation............................................................................................................90

Output Isolation......................................................................................................... 91

Screw Terminal Description......................................................................................92

SR-19900 .................................................................................................................................93

Introduction ...............................................................................................................93

Layout........................................................................................................................94

Pinout ........................................................................................................................94

Configuration.............................................................................................................94

DB-28040 ................................................................................................................................95

vi •Chapter 1 Overview CDS-3310

Introduction ...............................................................................................................95

Electrical Specifications ............................................................................................95

16 bit Analog Inputs.................................................................................................. 95

Interfacing to the Digital I/O ..................................................................................... 95

Using Opto-22 G4 Series Racks with DB-28040 ......................................................95

Pinout ........................................................................................................................96

Layout........................................................................................................................97

CABLE-15-1m ........................................................................................................................98

Communicating with OPTO-22 SNAP-B3000-ENET ............................................................98

List of Other Publications......................................................................................................100

Training Seminars.................................................................................................................. 100

Contacting Us ........................................................................................................................ 101

WARRANTY ........................................................................................................................102

Index 103

CDS-3310 Chapter 1 Overview i1

Chapter 1 Overview

Introduction

The Galil CDS-3310 controller/drive system is a single-axis integrated Ethernet controller and

brush/brushless amplifier (18-72 VDC, 7 A continuous, 10 A peak) that can be used in one of several

ways, depending on how many total machine axes need to be controlled:

Machine

Axes Mode Communication

Commands

1 The CDS-3310 is used by itself for single axis applications n/a

1.5 The CDS-3310 is used by itself in conjunction with its second

encoder input for gearing, backlash compensation, or reading a hand

wheel.

n/a

2 to 8 The CDS-3310 is used in conjunction with up to 7 other CDS-

3310s. In this “distributed” mode of operation, programming is

simplified because multiple controllers behave as a single multi-axis

controller. Only the master controller requires an application

program and/or the host PC communicates only with the master

controller.

HA, HC

(see Chapter 11)

2 or more The CDS-3310 is used in conjunction with one or more Galil DMC-

14x5, 21x2/3, 22x0 or CDS-3310 Ethernet controllers. In this mode

of operation, each controller must contain it’s own application

program and/or a host PC must communicate with each controller

individually. The number of controllers (and axes) that can be

linked together via Ethernet is only limited by the number of IP

addressed available. Controllers communicate with each other via

the SA command. Groups of axes that are “tightly coupled” via

vector mode (VM), linear interpolation (LM), multi-axis gearing

(GA), or multi-axis camming (EA) must be grouped onto multi-axis

controllers.

IH, SA

Each CDS-3310 provides two communication channels: RS-232 (up to 19.2K Baud) and 10/100BaseT

Ethernet. The serial port may be replaced with a USB port as a factory option.

A 4Meg Flash EEPROM provides non-volatile memory for storing application programs, parameters,

arrays and firmware. New firmware revisions are easily upgraded in the field.

Designed to solve complex motion problems, the CDS-3310 can be used for applications involving

jogging, point-to-point positioning, electronic gearing to an encoder, multiple move sequences, and

contouring. The controller eliminates jerk by programmable acceleration and deceleration with profile

2 iChapter 1 Overview CDS-3310

smoothing. For smooth following of complex contours, the CDS-3310 provides continuous feed of an

infinite number of linear segments (contour mode).

For synchronization with outside events, the CDS-3310 provides uncommitted I/O, including 8 digital

inputs, 10 digital outputs, 2 analog intputs (0-5V) and one analog output (-10V to 10V). When the

DB-28040 is added to the controller, the CDS-3310 has 8 analog inputs and an additional 40 digital

I/O. Dedicated TTL inputs are provided for forward and reverse limit switches, a home switch, and

abort.

Commands can be sent in either Binary or ASCII. Additional software is available for automatic-

tuning, trajectory viewing on a PC screen, and program development using many environments such as

Visual Basic, C, C++ etc. Drivers for DOS, Linux, QNX, Windows 3.1, 95, 98, 2000, ME, NT and XP

are available.

Amplifier Specifications

The CDS-3310 integrated amplifier is a brush/brushless trans-conductance PWM amplifier. The

amplifier operates in torque mode, and will output a motor current proportional to the command signal

input from the controller. For high current applications (near 7 amps continuous), the metal enclosure

should be mounted to metal backing to dissipate heat

*Note: *Do not “hot swap” the motor power connections. If the amp is enabled when the motor

connector is connected or disconnected, damage to the amplifier can occur. Galil recommends

powering the controller and amplifier down before changing the connector.

Supply Voltage: 18-72 VDC

Continuous Current: 7 Amps

Peak Current 10 Amps

Amplifier Gain 0.4, 0.7, or 1.0 A/V (selectable via AG command)

Switching Frequency 60 kHz

Minimum Load Inductance: 0.5 mH

Brushless Motor Commutation angle 120°

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