Rev 1.0
Contents
1. HC4 20 2 0 Configures a 4 axis system with two TCP IP handles per slave The data update interval is set to 20 milliseconds For each slave the TCP IP handle will be used for the data update TA 151 12 53 89 Assigns the controller with the address 151 12 53 89 HQ Queries the network for controllers without IP addresses issuing Boot P packets HQ Returns the results of the HQ command The results contain serial numbers along with the number of axes available on each controller It may be required to wait 5 10 seconds for the HQ process to complete DMC 31xx Supplement 24 HC FUNCTION Handle Configuration DESCRIPTION The HC command configures and establishes communications for a master slave system The command is executed in the master controller and addresses all slaves and IOC modules in the system After the HC command is initiated the master responds to the slave and IOC bootp requests and assigns corresponding IP addresses in the order assigned by the HA command The master then opens handles and initiates the slave update packets QW The IP address for the master controller must be established with the IA command or DMCNet software prior to the HC command being issued The master will assign IP addresses to these controllers as it receives the bootp packets The slave controllers must not be assigned IP addresses or they will not be sending out bootp packets ARGUMENTS HCa b c d where a is the total number of axes in2. USER MANUAL DMC 31xx Supplement Manual Rev 1 0 By Galil Motion Control Inc Galil Motion Control Inc 270 Technology Way Rocklin California 95765 Phone 916 626 0101 Fax 916 626 0102 Internet Address support galilmc com URL www galilmc com Rev 2 04 Using This Manual El 0 This user manual provides information for proper operation of the DMC 31x2 and DMC 31x3 controllers A separate supplemental manual the Command Reference contains a description of the commands available for use with this controller Note The DMC 31x2 and DMC 31x3 controllers are identical except the DMC 31x2 has 100 pin high density connectors for breaking out the signals and the DMC 31x3 has 96 pin DIN connectors for breaking out the signals The ICM AMP 1900 and the ICM 2900 do not interface to the DMC 31x3 Look in the appendix of the complete users manual for the controller pinouts Your DMC 31x2 31x3 motion controller has been designed to work with both servo and stepper type motors Installation and system setup will vary depending upon whether the controller will be used with stepper motors or servo motors To make finding the appropriate instructions faster and easier icons will be next to any information that applies exclusively to one type of system Otherwise assume that the instructions apply to all types of systems The icon legend is shown below Attention Pertains to servo motor use Attention Pertains to stepper motor u
3. Write Multiple Bits 16 Preset Multiple Registers Write Words 17 Report Slave ID The DMC 31xx provides three levels of Modbus communication The first level allows the user to create a raw packet and receive raw data It uses the MBh command with a function code of 1 The format of the command is MBh 1 len array where len is the number of bytes DMC 31xx Supplement array is the array with the data The second level incorporates the Modbus structure This is necessary for sending configuration and special commands to an I O device The formats vary depending on the function code that is called For more information refer to the Command Reference The third level of Modbus communication uses standard Galil commands Once the slave has been configured the commands that may be used are IN AN SB CB OB and AO For example AO 2020 8 2 would tell I O number 2020 to output 8 2 volts If a specific slave address is not necessary the I O number to be used can be calculated with the following VO Number HandleNum 1000 Module 1 4 BitNum 1 Where HandleNum is the handle number from 1 A to 8 H Module is the position of the module in the rack from 1 to 16 BitNum is the I O point in the module from 1 to 4 If an explicit slave address is to be used the equation becomes T O Number Slave Address 10000 HandleNum 1000 Module 1 4 Bitnum 1 To view an example procedure for communic
4. Stateof Stateof SM Occurred Latch Forward Reverse Home Jumper Input Limit Limit Input Installed Axis Status Information 2 Byte BIT 15 BIT 14 BIT 13 BIT 12 BIT 11 BIT 10 BIT 9 BIT 8 Movein Modeof Modeof FE Home Ist Phase 2 Phase Mode of Progress Motion Motion Find HM in of HM we Motion gt complete PA or PA only oat Progress Jcomplets or FI Coord PR 8 command Motion issued BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 Negative Modeof Motion Motionis Motionis Latchis Off On Motor Direction Motion is stopping making armed Error Off Move slewing duetoST final occurred Contour or Limit decel Switch DMC 31xx Supplement 16 Coordinated Motion Status Information for plane 2 Byte BIT 15 BIT BIT 13 BIT 12 BIT 11 BIT BIT 9 BIT 8 14 10 Movein N A N A N A N A N A N A N A Progress BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 N A N A Motion is Motion is Motion is N A N A N A slewing stopping due making to ST or final Limit decel Switch 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 QZ Command The QZ command can be very useful when using the QR comm
5. Status connected with DMC3112 Rev 1 0 alpha Ser 5584 CAP NUM Figure l Examples of HA HO and HC Configuration order of the Slave Controllers Before the slave controllers can be configured with the master the master must know the order in which the axes will be addressed If an IOC 7007 is located in the system its order should be configured with jumpers located on the IOC 7007 It will not affect the axis selection of the motion axes but its order of configuration will dictate which Ethernet handles it will use for sending updates to the master controller For example the master controller is a single axis card There are two single axis slave controllers serial no 550 and serial no 5501 HA5500 5501 will set the virtual B axis to controller 5500 and the virtual C axis to controller 5501 Assigning Slave Addresses The final step in configuring the distributed network is setting up the total number of axes in the distributed system the frequency of updates between the master and slave controllers the type of connection TCP or UDP and the number of IOC 7007 controllers in the system These operations are configured with the HC command To continue the previous example if there are to be three axes in the distributed system with the slave controllers sending updates to the master controller every 10 milliseconds over TCP IP The HC command setting would be HC 3 10 2 1 Since the communication is over TCP each slave controller wi
6. at updates of 30 msec The single UDP handle is used for both sending commands and receiving data packets 27 DMC 31xx Supplement
7. master and slave axes The number of axes of the master may be queried on the master controller with the RV command before configuring any slaves The R V command will return the number of the controller DMC 31xx The third number in the model will tell you the number of axes For example if the response from R V is DMC 3123 then you have a master with two axes of motion control Querying for Slave Controllers If the serial numbers and corresponding available axes of each slave are not known then the HQ command may be issued to search for motion controllers and I O controllers without IP addresses To DMC 31xx Supplement 6 read the results of the HQ command issue HQ to the master controller This will return the controller type number of motion axes available for the distributed network and the serial number The controller types are 1 for motion controllers and 255 for the IOC 7007 A motion controller may be found with the HQ command that can not be configured for distributed control In this case the number of axes available will display as 0 The IOC 7007 will also show that there are 0 axes available as it is purely an I O controller The serial numbers of the found controllers will also be returned DMC Smart Terminal Untitled File Edit Tools View Help An idi 2 HQ File Edit Goto Debug Add tol HC3 10 2 0 MG HC MG HC ODO E Ei a Fi pi act Ex 1 0000 2 0000 v Line 0 Col 0 Untitled
8. on all controllers in the distributed network AC Global Sets accelerations on all axes specified AD Global Trip point set for after distance on a specific axis in the network AE Local Logic to monitor for amplifier errors should take place on the local controller AF Global Configures axes to accept Analog Feedback local controller requires DB 28040 AG Global Sets the gain for the specified axis Al Local Trip point to wait for a specific I O to change states AL Global Arms latch for the specified axis AM Global Trip point to wait for the profiled motion to be completed AO Global Sets the analog output voltage on an IOC 7007 AP Global Trip point to wait for an absolute position on a specific axis AR Global Trip point to wait for a relative distance to be moved AS Global Trip point set to wait for the specified axis to reach a speed AT Local Trip point to wait for a specific amount of time AU Local Setting for the bandwidth of the local amplifier AV Local Trip point for after a vector distance has passed AW Local Amplifier Bandwidth calculation BA Local Brushless Axis setting used with commutation of a sinusoidal drive do not use with AMP 20540 BB Global Brushless Phase Beginning may be set globally but setup of a sinusoidal axis is done locally BC Local Brushless commutation may be used when configuring a sinusoidal axis BD Local Brushless degrees may be used locally when configuring a sinusoidal axis BG Global Begin motion on specified axes May be u
9. peripheral I O devices that receive commands from the controller When the Galil controller acts as the master the IH command is used to assign handles and connect to its slaves The IP address may be entered as a 4 byte number separated with commas industry standard uses periods or as a signed 32 bit number A port number may also be specified and should be set to 502 which is the Modbus defined port number The protocol must be TCP IP for use with Modbus over Ethernet Otherwise the controller will not connect to the slave Ex THB 151 25 255 9 lt 502 gt 2 This will open handle 2 and connect to the IP address 151 25 255 9 port 502 using TCP IP An additional protocol layer is available for speaking to I O devices Modbus is an RS 485 protocol that packages information in binary packets that are sent as part of a TCP IP packet In this protocol each slave has a 1 byte slave address The DMC 31xx can use a specific slave address or default to the handle number The Modbus protocol has a set of commands called function codes The DMC 31xx supports the 10 major function codes Function Code Definition 01 Read Coil Status Read Bits 02 Read Input Status Read Bits 03 Read Holding Registers Read Words 04 Read Input Registers Read Words 05 Force Single Coil Write One Bit 06 Preset Single Register Write One Word 07 Read Exception Status Read Error Code 15 Force Multiple Coils
10. speed of 1000 cts sec to all axes This syntax may be used with any configuration or parameter commands Certain commands need to be launched specifically For this purpose there is the SA command In its simplest form the SA command is SAh command string Here command string will be sent to handle h For example the SA command is the means for sending an XQ command to a slave server A more flexible form of the command is SAh field1 field2 field3 field4 field8 where each field can be a string in quotes or a variable For example to send the command KI 5 10 Assume varl 5 and var2 10 and send the command SAF KI varl var2 When the Master client sends an SA command to a Slave server it is possible for the master to determine the status of the command The response _1Hh4 will return the number 1 to 4 One means waiting for the acknowledgement from the slave Two means a colon command accepted has been received Three means a question mark command rejected has been received Four means the command timed out If a command generates responses such as the TE command the values will be stored in_SAh0 thru _SAh7 Ifa field is unused its SA value will be 2731 Configuring the Distributed Network A multi axis distributed control system may be composed of DMC 31xx motion controllers along with the IOC 7007 I O controller Before you configure the distributed system you should choose which DMC 31xx motion controller you woul
11. the bit number Handle A is 100 and handle H is 800 Ina TCP IP control setup with two handles per slave it is imperative that you send commands to the first handle designated as the command handle In a UDP system the single handle per slave is used to address the I O For the IOC 7007 each handle adds 1000 to the bit number To set bit 61 if you are communicating on the C handle the command would read SB3061 The command TZ can be used to display all of the digital I O contained in a distributed control system Specific slave controllers may be queried by issuing TZn where n is the specific Ethernet handle Any IOC 7007 s configured using the HC command will not be displayed with the TZ command See the Command Reference for more information on the TZ command Digital Outputs For outputs the SB and CB commands are used to command individual output ports while the OP command is used for setting bytes of data The SB and CB commands may be set globally through the master while the OP command must be sent to the slave using the SA command DMC 31xx Supplement 8 Outputs may be set globally according to the following numbering scheme Bitnum Slave Handle 100 Output Bit For I O located on motion controllers For I O located on the IOC 7007 Bitnum Slave Handle 1000 Output Bit Set Bit 2 on a UDP distributed slave using the E handle for communication The E handle would have a numerical value of 500 plus the bit num
12. the system b is the slave update interval QW in milliseconds c is the communication protocol for the slave communications 1 UDP 1 handle used 2 TCP IP 2 handles used 3 TCP IP used for Command Handle UDP used for QW update Handle d is the total number of IOC 7007 modules in the system HC Returns the present setting of the HC command USAGE DEFAULTS While Moving Yes In a Program Yes Command Line Yes Controller Usage DMC 3xxx OPERAND USAGE _HC contains a 1 if the handle configuration is in progress contains a 2 if the handle configuration has completed successfully contains a 0 if the handle configuration failed or has not been issued RELATED COMMANDS IA Internet Address IH Internet Handle HA Handle Assignment HQ Handle Query QW Slave data records EXAMPLES TA 151 12 53 89 Assigns the controller with the addresses 151 12 53 89 HQ Queries the network for controllers without IP addresses issuing Boot P packets 25 DMC 31xx Supplement HQ HA 5522 5533 HC4 20 2 0 HC6 30 1 0 AUTO HC 3 250 2 LOOP JP LOOP HC lt gt 2 MG Connected EN Returns the results of the HQ command The results contain serial numbers along with the number of axes available on each controller It may be required to wait 5 10 seconds for the HQ process to complete Assigns the connection order of slaves in a distributed system The controller with serial number 5522 will be slave 1 and the controller with serial num
13. 2 although the Galil Smart Terminal and WSDK will set this to CW1 for internal usage If you have difficulty receiving characters from the controller or receive garbage characters instead of messages check the status of the CW command for a setting of CW2 10C 7007 Support The IOC 7007 is an Intelligent Ethernet I O controller that can be programmed in standard Galil language This module allows various configurations of TTL inputs opto isolated inputs high power outputs and relay switches to be used in the Galil distributed motion system Each IOC 7007 may be populated by up to seven IOM I O modules The IOC 7007 Ethernet I O controller may be used in a distributed system and commanded by the master controller The HC command is used to specify total number of IOC 7007 controllers within that distributed system Once configured the I O of that IOC 7007 becomes incorporated in the distributed system much the same as board level I O of the DMC 31xx slaves Inputs of the IOC 7007 are read using the standard IN n and TI commands as follows IN n where n is the IOC 7007 input bit to be read n is calculated with the equation n HandleNum 1000 BitNum HandleNum is the numeric value of the IOC 7007 handle 1 8 while BitNum is the specific bit number on the IOC to be read TIn where n is the IOC 7007 input slot to be read n is calculated with the equation n HandleNum 1000 SlotNum Again HandleNum is the numeric value o
14. ATION Host Computer RS 232 or Ethernet DMC 31 XX a NG DMC 31 KX DMC 31 KX lOoc 7007 B The controllers may operate under both Local and or Global Mode In general operating in Global Mode simplifies controlling the entire system However Local Mode operation is necessary in some situations using Local Mode for setup and testing is useful since this isolates the controller Specific modes of motion require operation in Local Mode Also each controller can have a program including the slave controllers When a slave controller has a program this program would always operate in Local Mode The distributed system works by getting periodic updates from the slave controllers The update rate is set with the HC command A complete listing of local and global commands can be found at the end of this chapter Operation of Distributed Control For most commands it is not necessary to be conscious of whether an axis is local or remote For instance to set the KP value for the A and C axes the command to the master would be KP 10 20 Similarly the interrogation commands can also be issued For example the position error for all axes would be TE The position operand for the F axis would be_TPF Some commands inherently are sent to all controllers These include commands such as AB abort CN and TM In addition the may be used to send commands to all controllers For example SP 1000 DMC 31xx Supplement will send a
15. al axes in vector linear interpolation modes ET Local Ecam Table point FA Global Sets the feedforward acceleration for the specified axis FE Global Find the edge of the home switch for the specified axis FI Global Find the index for the specified axis FL Global Sets the forward software limit for the specified axis FV Global Sets the feedforward velocity for the specified axis Sets the master axis for the specified axis gearing may only occur with axes on the same GA Local controller GM Global Sets the gantry mode for the specified axis Sets the Gear ratio for the specified axis gearing may only occur with axes on the same GR Global controller HM Global Home the specified axis HS Local Switch ethernet handles 19 DMC 31xx Supplement HX Local Halt the specified program thread IA Local Set the IP address IF Local If statement for a local program IH Local Open Close ethernet handle specified I Local Designate input for an input interrupt IL Global Sets the integrator Limit for the specified axes IP Global Increment Position on specified axes IT Global Motion smooting constant for specified axes JG Global Jog for specified axes JP Local Jump to specified program location JS Local Jump subroutine to specified local subroutine KD Global Sets the derivative constant for the specified axes KI Global Sets the i
16. and since it provides information about the controller and the data record The QZ command returns the following 4 bytes of information BYTE INFORMATION o SSCS Number of bytes in general block of data record Number of bytes in coordinate plane block of data record Number of Bytes in each axis block of data record Using Third Party Software Galil supports ARP BOOT P and Ping which are utilities for establishing Ethernet connections ARP is an application that determines the Ethernet hardware address of a device at a specific IP address BOOT P is an application that determines which devices on the network do not have an IP address and assigns the IP address you have chosen to it Ping is used to check the communication between the device at a specific IP address and the host computer The DMC 31xx can communicate with a host computer through any application that can send TCP IP or UDP IP packets A good example of this is Telnet a utility that comes with most Windows systems In the absence of the Galil Windows Terminal software the Telnet terminal may be used for communication with the DMC 3425 Ethernet controller The Windows Hyperterminal may also be used for communication 17 DMC 31xx Supplement Global vs Local Command Listing Command Validity Description AB Global Stops motion and programs
17. ating with an OPTO 22 rack refer to the appendix of the DMC 21x3 users manual Other Communication Options User Defined Ethernet Variables It may be necessary within a distributed system to share information that is not contained as position torque velocity or other control data The DMC 31xx provides 2 user defined variables that are passed as part of the QW record shared among the distributed system In this way it is not necessary for a single controller to write variable data directly to all the other controllers in the system ZA and ZB are two user defined variables which are passed with the QW record at each update Data that is written to these variables is then seen by the master DMC 31xx in the system Handle Switching By default when initiating a communication session with a DMC 31xx controller the first available handle is used If no handles have been assigned to the controller the A handle is chosen The command HS allows the user to switch this connection to another handle freeing up the initial handle or trading with another currently used handle Or once handles have been defined the HS command may be used to switch handles to prioritize slave locations and I O locations Handle Restore on Communication Failure There are instances within an Ethernet system whether UDP or TCP IP when a handle may become disconnected without closing properly An example of this would be a simple cable failure where the Ethernet ca
18. ber 5533 will be slave 2 Configures a 4 axis system with two TCP IP handles per slave The data update interval is set to 20 milliseconds For each slave one TCP IP handle will be used for sending commands while the other TCP IP handle will be used for the data update Configures a 6 axis system with a single UDP handle per slave at updates of 30 msec The single UDP handle is used for both sending commands and receiving data packets Example program that will automatically run when controller is powered up AUTO HC command configures a 3 axis system with a 250 msec update rate Loop routine causes controller to wait for successful connection before continuing execution of code Hint Use a WT Wait or LOOP JP LOOP HC lt gt 2 when issuing the HC command in a program to allow enough time for slaves to be configured correctly before executing any other commands DMC 31xx Supplement 26 HQ FUNCTION Handle Query DESCRIPTION The HC command queries the network for controllers that are issuing bootp packets Only motion controllers without IP addresses will be issuing bootp packets To see the results of the command issue the HQ after the command has completed executing It may be necessary to wait 5 10 seconds for HQ to complete This command must be issued to the master controller The IP address for the master controller must be established with the A command or DMCNet software prior to the HQ command being issue
19. ber of 2 The command would therefore become SB502 Specific outputs in a distributed system may be read by using the OUT n function where n is the corresponding bit number as defined above Output bits on an IOC 7007 may also be set through the master controller in a distributed network Please refer to the IOC 7007 Manual for information on setting and reading these I O points Digital Inputs Digital inputs may be addressed individually using the IN n function or in blocks using the TI command Both of these commands may be sent globally to the controller The n in the IN n function operates identically to the SB CB syntax This means that a specific input bit is referenced as the slave handle number 100 plus the input bit The IOC 7007 is referenced by slave handle number 1000 plus the input bit Read input bit 4 on a TCP IP distributed slave using the C handle for communication The C handle in this case would give a value of 300 Therefore to read bit 4 the command would be MG IN 304 The MG in this case simply displays this data to the terminal The TI command may be used to read all inputs on a slave in blocks of 8 This is helpful if the slave controller in question has a DB 28040 expanded I O daughter card The TI command uses the slave handle number 100 plus the block number to be read The block number is only used if the controller has the DB 28040 expansion option Inputs on an IOC 7007 may also be read throu
20. ble of a certain slave becomes detached The command HR is used to enable a mode in which the master controller upon seeing a failure on a handle will attempt to restore that handle This is helpful when a distributed system is already fully configured and a slave is lost The FTCPERR routine can be used to flag the error while the handle restore will attempt to reconnect to the slave until the problem is fixed This makes it unnecessary to re run the setup for the entire distributed system Note This function is only available if the system has been configured using the automatic handle configuration command HC DMC 31xx Supplement 12 Waiting on Handle Responses The operation of the distributed network has commands being sent to the master controller which then distributes these commands to the slave axes in the system For example the command PR10 10 10 10 10 10 10 10 sent to the master becomes packets of PR10 10 PR10 or possibly PR10 10 10 10 sent by the master to each of the slaves in the system depending upon the number of axes on each slave When the slave receives this command from the master a colon or question mark is generated and sent back to the master to acknowledge the command The HW command allows the user to select whether or not the master will wait on this colon response from the slave If the HW is set to 0 the master will not wait for these responses This results in faster command execution but could cause prob
21. cal Zero program stack DMC 31xx Supplement 22 Supplemental Commands 23 DMC 31xx Supplement HA FUNCTION Handle Assignment DESCRIPTION The HA command establishes the connection order for the slave controllers in a distributed system This command must be executed in order for the HC command to configure and assign the slaves with the proper IP addresses within the distributed system The arguments given with the command are the serial numbers of the slave controllers in the system If you do not know the serial numbers of the controllers in your system you may query them by issuing the HQ command to the master controller The master controller must have a valid IP address before it can execute the HQ command ARGUMENTS HA n n n n n n n where n represents the serial numbers of the slave controllers in the system The system may have a total of 8 axes Each slave may have as few as 1 axis and as many as 7 axes USAGE DEFAULTS While Moving Yes In a Program Yes Command Line Yes Controller Usage DMC 31xx OPERAND USAGE _ Han contains the serial number of the appropriate slave where n may range from 0 to 7 RELATED COMMANDS IA Internet Address IH Internet Handle HQ Handle Query QW Slave data records EXAMPLES HA 5522 5533 Assigns the connection order of slaves in a distributed system The controller with serial number 5522 will be slave 1 and the controller with serial number 5533 will be slave 2
22. cted to the slave in order to begin communicating Each packet sent is acknowledged when received If no acknowledgement is received the information is assumed lost and is resent Unlike TCP IP UDP does not require a connection This protocol is similar to communicating via RS232 If information is lost the controller does not return a colon or question mark Because the protocol does not provide for lost information the sender must re send the packet Ethernet communication transfers information in packets The packets must be limited to 470 data bytes or less Larger packets could cause the controller to lose communication NOTE In order not to lose information in transit Galil recommends that the user wait for an acknowledgement of receipt of a packet before sending the next packet Addressing There are three levels of addresses that define Ethernet devices The first is the Ethernet or hardware address This is a unique and permanent 6 byte number No other device will have the same Ethernet address The DMC 31xx Ethernet address is set by the factory and the last two bytes of the address are the serial number of the controller The second level of addressing is the IP address This is a 32 bit or 4 byte number The IP address is constrained by each local network and must be assigned locally Assigning an IP address to the controller can be done in a number of ways The first method is to use the BOOT P utility via the Ether
23. d ARGUMENTS HQ HQ returns the controllers found without IP addresses in the format a b c where a controller type 1 for motion controllers and 255 for the IOC 7007 b number of motion axes available c the serial number of the controller If the HQ command has not completed execution HQ returns 1 USAGE While Moving In a Program Command Line Controller Usage RELATED COMMANDS IA IH HA QW EXAMPLES HQ HQ IA 151 12 53 89 HA 5522 5533 HC4 20 2 0 HC6 30 1 0 DEFAULTS Yes Yes Yes DMC 3xxx Internet Address Internet Handle Handle Assignment Slave data records Queries the network for controllers without IP addresses issuing Boot P packets Returns the results of the HQ command The results contain serial numbers along with the number of axes available on each controller It may be required to wait 5 10 seconds for the HQ process to complete Assigns the controller with the addresses 151 12 53 89 Assigns the connection order of slaves in a distributed system The controller with serial number 5522 will be slave 1 and the controller with serial number 5533 will be slave 2 Configures a 4 axis system with two TCP IP handles per slave The data update interval is set to 20 milliseconds For each slave one TCP IP handle will be used for sending commands while the other TCP IP handle will be used for the data update Configures a 6 axis system with a single UDP handle per slave
24. d like to designate as the master controller This controller will handle the communication between the other controllers in the system to begin the appropriate motions and set the proper I O bits The master controller may be connected to from the host either serially with RS 232 or Ethernet with UDP or TCP It is also possible for the master controller to operate in a standalone mode An IP address must be assigned to the master before the master can configure the network either standalone or through the host Up to 8 handles of communication may be connected to and from the master controller If the connection is made over TCP with TCP mixed with UDP 2 handles will be used for the connection to each slave Master Controller Configuration The first step required to set up the master is to give the master controller an IP address The IP address may be assigned with the IA command serially or by using the Find Ethernet Controllers button in the Galil registry editor The master controller may communicate with the host over serial or Ethernet It is also possible for the master to operate in a stand alone configuration after the distributed network has been completely configured After the master has been assigned an IP address it is possible to proceed configuring the remaining slave controllers to operate in a distributed manner The user must first know the serial numbers of the slave controllers and the number of axes located on each of the
25. et command for the specified axes OP Local Sets the states of multiple outputs PA Global Position absolute for the specified axes PF Local Sets the format for returned position information PL Local Sets the constant of the pole filter PR Global Position relative for the specified axes QD Local Array upload QH Local Returns hall states when connected with AMP 20540 QR Local Data record command for the local controller QU Local Array upload RA Local Record array function RC Local Begins the array record RD Local Sets what data to record RE Local Return from error routine RI Local Return from interrupt routine RL Global Report latched position RP Global Reports the reference position RS Local Reset the local controller ARAS Local Master reset the local controller ARS V Local Returns the local controller model and firmware revision SA Local Send ASCII command to the specified communication handle SB Global Set the specifed output bit SC Global Returns the stop code for the various axes SH Global Servo here for the specified axes SL Local Single line step through SP Global Sets the speed for the specified axes ST Global Stops the motion of the specified axes TA Local Tells the status of any amplifier errors when used with AMP 20540 TB Local Tell the status byte of the local control TC Local Tell the error code from the command in error TD Global Tell auxiliary encoder position TE Global Tell the following error TH Local Returns the status informatio
26. f the IOC 7007 handle 1 8 SlotNum corresponds to the location of the IOM input module in the 7 slots of the IOC 7007 0 6 This will return either an 8 bit or 16 bit decimal value depending on which IOM input module is being used Outputs of the IOC 7007 are set and cleared using the standard SB and CB commands as well as with the OQ and OB commands Outputs can be read with the OUT n command These commands operate as follows SBn or CBn where n is the IOC 7007 output to be set or cleared n is calculated identically to the IN n configuration with n HandleNum 1000 BitNum OUT n where n is the IOC 7007 output to be read This uses the same n configuration as SB and CB OQn m where n is the IOC 7007 output location and m is the data to be written Specifically n HandleNum 1000 SlotNum where HandleNum is the numeric value of the IOC 7007 handle DMC 31xx Supplement 10 1 8 and SlotNum is the slot number of the IOM output module to be written to 0 6 mis the decimal representation of the data written to the 4 0 15 or 8 0 255 output points of the IOM module Please refer to the IOC 7007 manual for complete information on how to configure read and write information to the IOC 7007 Ethernet I O module Modbus Support The Modbus protocol supports communication between masters and slaves The masters may be multiple PC s that send commands to the controller The slaves are typically
27. g input C block UW D axis status D block UB D axis switches D block UB D axis stopcode D block SL D axis reference position D block SL D axis motor position D block SL D axis position error D block SL D axis auxiliary position D block DMC 31xx Supplement 14 SL SW SW UW UB UB SL SL SL SL SL SW SW UW UB UB SL SL SL SL SL SW SW UW UB UB SL SL SL SL SL SW SW UW UB UB SL SL SL SL SL SW SW NOTE UB Unsigned Byte UW Unsigned Word SW Signed Word SL Signed Long Word D axis velocity D axis torque D axis analog input E axis status E axis switches E axis stopcode E axis reference position E axis motor position E axis position error E axis auxiliary position E axis velocity E axis torque E axis analog input F axis status F axis switches F axis stopcode F axis reference position F axis motor position F axis position error F axis auxiliary position F axis velocity F axis torque F axis analog input G axis status G axis switches G axis stopcode G axis reference position G axis motor position G axis position error G axis auxiliary position G axis velocity G axis torque G axis analog input H axis status H axis switches H axis stopcode H axis reference position H axis motor position H axis position error H axis auxiliary position H axis velocity H axis torque H axis analog input D block D block D block E block E block E block E block E bl
28. gh the master controller in a distributed network Please refer to the IOC 7007 Manual for information on setting and reading these points Analog Inputs Each DMC 31xx controller may have eight 12 bit analog inputs if the DB 28040 has been added These inputs are read with the command AN n where n is the input to be read n may be calculated by the handle number 100 plus the bit number for motion controllers and handle number 1000 plus the bit number for the IOC 7007 Handling Communication Errors A new automatic subroutine which is identified by the label TCPERR has been added Ifa controller has an application program running and the TCP or UDP communication is lost the TCPERR routine will automatically execute The TCPERR routine should be ended with a RE command In the UDP configuration the QW commands must be active in order for the TCPERR routine on the master to operate properly Multicasting A multicast may only be used in UDP and is similar to a broadcast where everyone on the network gets the information but specific to a group In other words all devices within a specified group will receive the information that is sent in a multicast There can be many multicast groups on a network and are differentiated by their multicast IP address To communicate with all the devices in a specific multicast group the information can be sent to the multicast IP address rather than to each individual device IP address All Galil c
29. icate which handles are currently connected to and which are currently free Global vs Local Operation Each DMC 31xx controls one to seven axes of motion The host computer can communicate directly with any DMC 31xx using an Ethernet or RS 232 connection When the host computer is directly communicating with any slave DMC 31xx all commands refer to the local axes beginning with A X Direct communication with the DMC 31xx is known as LOCAL OPERATION The concept of Local and Global Operation also applies to application programming LOCAL OPERATION Host Computer RS 232 or Ethernet DMC 31 KX DMC 31 XX CO DMC 31XX DMC 31 XX The DMC 3 Ixx supports Galil s Distributed Control System This allows a combination of DMC 31xx s to be connected together as a single virtual 8 axis controller In this system one of the bn Og DMC 31xx Supplement 4 controllers is designated as the master The master can receive commands from the host computer that apply to all of the axes in the system A simple way to view Local and Global Operation When the host communicates with a slave controller it considers the slave as a local master controller When the host communicates with a master it acts as a global multi axis controller Similarly an application program residing in a slave controller deals only with local motors such as A amp B An application program in a master deals with all motors referenced as A through H GLOBAL OPER
30. k cccceccceescesscssseeseceseceecseecseeeseeeeeseeeseceseceseceaeceaecaaecaeecaeeeaeeeeeeeseeereeetens 6 Accessing the I O of the Slaves ioniioniii In iBA piang 8 Handling Communication Errors ccc cc ccccesecscecesceicesetcecceeessostecssseddededescesdesdhcendedtadvacescecotsegdesvedecddestsedvantesecees 9 Multas aii 9 Unsolicited Message Handlid8 cinc A idad 10 TOG 7007SUpponk Lana A A A A EA BANNA Oa 10 Modbus Support ssr resne reeni a a E tel iescacesscucedvadesdestdevteetuesticeccdecteeduadeededs 11 Other Communication Options dm didas 12 Data RECO A NN 13 Data R cord A O 13 Explanation of Status Information and Axis Switch Information ooooncnicnccnocnnononconcnnconononononnnonncn conc cono nnco nono 16 Notes Regarding Velocity and Torque Information cccceccceesesssceseceseceseceeecaecaeceaecaeecaeeeaeeeaeeneeeeeeeereerees 17 OZ COMME A ad ee ee 17 Using Third Party Software e r e e a a a T e E a aa aa e ae a a a e asea n aie iE 17 DMC 31xx Supplement 2 Ethernet Configuration Communication Protocols The Ethernet is a local area network through which information is transferred in units known as packets Communication protocols are necessary to dictate how these packets are sent and received The DMC 31xx supports two industry standard protocols TCP IP and UDP IP The controller will automatically respond in the format in which it is contacted TCP IP is a connection protocol The master must be conne
31. lems if any slave errors are generated The setting HW1 on the other hand insures that the master knows of any slave errors but does result in a slightly increased command execution time as it waits for these responses Data Record The DMC 31xx can provide a block of status information with the use of a single command QR This command along with the QZ command can be very useful for accessing complete controller status The QR command will return 4 bytes of header information and specific blocks of information as specified by the command arguments QR ABCDEFGHS Each argument corresponds to a block of information according to the Data Record Map below If no argument is given the entire data record map will be returned Note that the data record size will depend on the number of axes NOTE A B C amp D can be interchanged with X Y Z amp W respectively Data Record Map DATA TYPE ITEM BLOCK UB 1 byte of header Header UB 2 byte of header Header UB 3 byte of header Header UB 4 byte of header Header UW sample number I block UB general input bank 0 I block UB general input bank 1 I block UB general input bank 2 DB 28040 I block UB general input bank 3 DB 28040 I block UB general input bank 4 DB 28040 I block UB general input bank 5 DB 28040 I block UB general input bank 6 DB 28040 I block UB general output bank 0 I block UB general output bank 1 I block UB general output bank 2 DB 28040 I block UB general out
32. ll have two handles of communication open to the master The DMC 31xx Supplement first handle is for sending commands and responses between the master and slave controllers The second handle is used to send the data update between the slave and the master In this example the controller with serial number 5500 will communicate on handles A and B 5501 on C and D and 5503 on handle E The three remaining handles could be used for communication with the host or for connection to some other device After the devices have been configured the status of handles connected to the controller may be queried with the TH command DMC Smart Terminal Untitled File Edit Tools View Help aaa idi 2 File Edit Goto Debug CONTROLLER IP ADDRESS 10 0 51 50 ETHERNET ADDRESS 00 50 4C D0 15 DO IIHA TCP PORT 1010 TO IP ADDRESS TO S fe igo loess PORT 1000 SLAVE B B COMMAND IHB TCP PORT 1021 TO IP ADDRESS 10 0 51 52 PORT 1001 SLAVE B B QU IHC TCP PORT 1032 TO IP ADDRESS 10 0 51 54 PORT 1002 SLAVE C C COMMAND IHD TCP PORT 1043 TO IP ADDRESS 10 0 51 54 IPORT 1003 SLAVE C C QU IHE AVAILABLE IHF AVAILABLE JIHG AVAILABLE Line 0 Col O Untitled salele lane Status connected with DMC3112 Rev 1 0 alpha Ser 5584 CAP NUM Ze Accessing the I O of the Slaves The I O of the server slaves is settable and readable from the master The bit numbers are adjusted by the handle number of the slave controller Each handle adds 100 to
33. n of local ethernet handles TI Local Tells the status of the specified inputs TIME Local Operand containing the free running clock on the controller TK Global Sets the peak torque limit for the specified axes Sets the average torque limit for the specified axes when used with AMP 20540 or AMP TL Global 20440 TM Local Sets the servo update rate 21 DMC 31xx Supplement TN Local Sets the tangent axes for a vector move TP Global Tells the position of the specified axes TR Local Trace the program execution of the local program TS Global Tells the status of the switches on the specified axes TT Global Tells the voltage command output of the specified axes TV Global Tells the velocity of the specified axes TW Local Sets the timeout for the MC command TZ Global Tells the status of the 1 O for the distributed system UL Local Upload the local program VA Local Sets the vector acceleration VD Local Sets the vector deceleration VE Local End of vector sequence VF Local Sets the displayed format of variables VM Local Sets the specified axes in vector mode VP Local Vector position command VR Local Vector ratio VS Local Sets the vector speed VT Local Sets the constant for vector smoothing WC Local Trip point for contour data WH Local Tells what handle the executed command came from WT Local Trip point telling the controller to wait n samples XQ Local Execute program ZS Lo
34. net connection the DMC 31xx must be connected to network and powered For a brief explanation of BOOT P see the section Third Party Software Either a BOOT P server on the internal network or the Galil terminal software may be used To use the Galil BOOT P utility select the registry in the DMC Smart Terminal or the DMC Net Utility If you open the registry click the Find Ethernet Controllers button After your controller has been found click the button to assign an IP address After the IP address has been successfully defined highlight the controller and click the Assign button to add the controller to the registry Close the window and then select the controller in the registry Click the properties button and then select the Ethernet Parameters tab This tab will show you the various options of connection via Ethernet TCP IP or UDP IP It will also give various options regarding how you would like to receive unsolicited messages Next enter the terminal and type in BN to save the IP address to the controller s non volatile memory A full description of addressing the card may be found in Chapter 2 Getting Started CAUTION Be sure that there is only one BOOT P server running If your network has DHCP or BOOT P running it may automatically assign an IP address to the controller upon linking it to the network In order to ensure that the IP address is correct please contact your system administrator before connecting the con
35. ntegrator for the specified axes KP Global Sets the proportional constant for the specified axes KS Global Sets the stepper smoothing constant for the specified axes LA Local List the declared arrays on the local controller LC Global Sets the stepper axes into a low current mode LE Local Linear sequence end _LF Global Forward limit switch operand LI Local Linear interpolation segment LL Local List local program labels LM Local Declare axes for linear interpolation mode _LR Global Reverse limit switch opearnd LS Local List local program LV Local List local variables LZ Local Format the number of leading zeros returned MB Local Modbus Command MC Global Motion complete on the specified axes MF Global Motion forward specified distance on the specified axis MG Local Message command MO Global Motor off for the specified axes MR Global Motion reverse specified distance on the specified axis MT Global Motor type for the specified axes MW Local Modbus wait NB Global Notch filter bandwidth NF Global Notch filter frequency NO Local No operation on program line NZ Global Notch filter zero OB Global Output specifed bits based on logic OC Local Specify the output compare pulse and reoccurrence rate DMC 31xx Supplement 20 OE Global Off on error function specified by axis OF Global Offs
36. ocal Configure the setup of outputs on local extended I O Requires DB 28040 on the local controller CR Local Configures the parameters for a circle in the vector mode of local axes CS Local Clear Sequence of vector linear interpolation moves CW Local Copyright information Data Adjustment Bit DA Local Deallocate local arrays DC Global Set axis specific declarations DE Global Define auxiliary encoder positions DL Local Download program to local controller DM Local Allocate space for arrays on the local controller DP Global Define position of main encoder DT Local Delta time for contour mode DV Local Configure dual loop mode for a specific axis EA Local Set up ecam mode for local axis Enables the ecam mode for the specific axis when commanded globally ecam EB Global parameters must be set up locally EC Local ECAM counter used when entering ECAM table information ED Local Edit the local program space EG Global ECAM go on a specific master position by axis ECAM tables must be set up locally ELSE Local ELSE statement may be used in a local program EM Global ECAM Modulus defines the change in position over one cycle of the master EN Local Program or Subroutine end for a local program ENDIF Local Endif statement for a local program EO Local Sets the echo to off or on for communications EP Local ECAM Interval for the local ECAM table EQ Global ECAM quit for the specified axis ER Global Error limit for the specified axis ES Local Elliptical scale for loc
37. ock E block E block E block E block E block F block F block F block F block F block F block F block F block F block F block G block G block G block G block G block G block G block G block G block G block H block H block H block H block H block H block H block H block H block H block 15 DMC 31xx Supplement Explanation of Status Information and Axis Switch Information Header Information Byte 0 1 of Header BIT 15 BIT 14 BIT 13 BIT 12 BIT 11 BIT 10 BIT 9 BIT 8 1 N A N A N A N A I Block T Block S Block Present Present Present in Data in Data in Data Record Record Record BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 H Block G Block F Block E Block D Block C Block B Block A Block Present Present Present Present Present Present Present Present in Data in Data in Data in Data in Data in Data in Data in Data Record Record Record Record Record Record Record Record Bytes 2 3 of Header Bytes 2 and 3 make a word that represents the Number of bytes in the data record including the header Byte 2 is the low byte and byte 3 is the high byte NOTE The header information of the data records is formatted in little endian General Status Information 1 Byte BIT 7 BIT 6 BIT BIT BIT BIT 2 BIT 1 BIT 0 5 4 3 Program N A N A N A N A Waiting for Trace On Echo On Running input from IN command Axis Switch Information 1 Byte BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0 Latch Stateof N A N A Stateof
38. ontrollers belong to a default multicast address of 239 255 19 56 The controller s multicast IP address can be changed by using the IA u command DMC 31xx Supplement The Galil Registry has an option to disable the opening of the multicast handle on the DMC 31xx By default this multicast handle will be opened Unsolicited Message Handling Anytime a controller generates an internal response from a program generates an internal error or sends a message from a program using the MG command this is termed an unsolicited message There are two software commands that will configure how the controller handles these messages the CW and the CF command The DMC 31xx has 8 Ethernet handles as well as 1 serial port where unsolicited messages may be sent The CF command is used to configure the controller to send these messages to specific ports In addition the Galil Registry has various options for sending this CF command For more information see the CF command in the DMC 21x3 Command Reference The MG can also send the message to a specific handle using the MG Eh syntax where h is the handle See the MG command in the Command Reference for more information The CW command has two data fields that affect unsolicited messages The first field configures the most significant bit MSB of the message A value of 1 will set the MSB of unsolicited messages while a value of 2 suppresses the MSB The majority of software programs use a setting of CW
39. put bank 3 DB 28040 I block UB general output bank 4 DB 28040 I block UB general output bank 5 DB 28040 I block UB general output bank 6 DB 28040 I block 13 DMC 31xx Supplement UB error code I block UB general status I block UW segment count of coordinated move for S plane S block UW coordinated move status for S plane S block SL distance traveled in coordinated move for S plane S block UW segment count of coordinated move for T plane T block UW coordinated move status for T plane T block SL distance traveled in coordinated move for T plane T block UW A axis status A block UB A axis switches A block UB A axis stopcode A block SL A axis reference position A block SL A axis motor position A block SL A axis position error A block SL A axis auxiliary position A block SL A axis velocity A block SW A axis torque A block SW Analog Input 1 A block UW B axis status B block UB B axis switches B block UB B axis stopcode B block SL B axis reference position B block SL B axis motor position B block SL B axis position error B block SL B axis auxiliary position B block SL B axis velocity B block SW B axis torque B block SW Analog Input 2 B block UW C axis status C block UB C axis switches C block UB C axis stopcode C block SL C axis reference position C block SL C axis motor position C block SL C axis position error C block SL C axis auxiliary position C block SL C axis velocity C block SW C axis torque C block SW C axis analo
40. se The DMC 31x2 and 31x3 controllers use identical hardware to the DMC 21x2 and DMC 21x3 controllers This supplement contains information for setting up the firmware features contained in the controller to allow distributed control The examples contained in the DMC 21x2 and DMC 21x3 manual still pertain to the DMC 31xx controllers Please refer to the DMC 21x2 and DMC 21x3 user manual for complete operation of the controller This supplement only contains differences due to the distributed nature of the product 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 Contents CONTENTS le le ate ere lee 2 Ethernet Configurration scccccsssssscsssssssssssssssssscssscssssssssssessesssssssessssssessssesssesenesssessseesscssensesnsesssessseesees 3 Communication Protocols Amic Ali LG a DAGDAG PA DULAY 3 Address a ND kaaa MAN alan MAGALANG NGA A TA LARA AnG RG ala 3 Ethernet Handles na E ONO 4 Global vs Local Operation ccccecccsseesseesesseeescesecesecesecsaecsaecseecaeecseseseeeeeeeesesesecsecsaeceaecaaecaeecaeeeseeeseeesesereetens 4 Operation of Distributed Control ooononnnoninonincnoonoonconnconnconconnconnonn nono nonn ron ron nn r nn nr rn nn nn nr non rnn nr nn rr anno nn ran naar nnnnrnnnns 5 Configuring the Distributed Networ
41. sed to configure inputs for hall inputs when configuring a sinusoidal axis do not use BI Global with AMP 20540 BK Local Sets a breakpoint at a specific line number for debug purposes BL Global Reverse software limit set in counts Configures the brushless modulus may be set globally but sinusoidal axis configuration BM Global must be completed locally BN Local Burns the local parameters into non volatile memory BO Global Sets a voltage offset to an axis configured for sinusoidal operation BP Local Burns the local program into non volatile memory BR Global Brushed axis set for a specific axis that is also associated with an AMP 20540 BS Local Brushless axis used to configure a sinusoidal axis do not use with AMP 20540 BV Local Burns the local variables to non volatile memory BZ Local Brushless zero is used for configuration of sinusoidal axes do not use with AMP 20540 CA Local Coordinate Axes selector used for vector or linear interpolation modes CB Global Clears a specified bit CD Local Contour Data points may be sent locally CE Global Configure the encoder for quadrature pulse and direction CF Local Configure the handle to be used for unsolicited messages CM Local Setup contour mode on a local axis DMC 31xx Supplement 18 CN Local Configure the local setup of limit switch and home switch activity CO L
42. troller to the Ethernet network 3 DMC 31xx Supplement The second method for setting an IP address is to send the IA command through the DMC 31xx main RS 232 port The IP address you want to assign may be entered as a 4 byte number delimited by commas industry standard uses periods or a signed 32 bit number Ex IA 124 51 29 31 or IA 2083724575 Type in BN to save the IP address to the controller s non volatile memory NOTE Galil strongly recommends that the IP address selected is not one that can be accessed across the Gateway The Gateway is an application that controls communication between an internal network and the outside world The third level of Ethernet addressing is the UDP or TCP port number The Galil controller does not require a specific port number The port number is established by the client or master each time it connects to the controller Ethernet Handles An Ethernet handle is a communication resource within a device The DMC 31xx can have a maximum of 8 Ethernet handles open at any time When using TCP IP each connection to a device such as the host computer requires an individual Ethernet handle In UDP IP one handle may be used for all the masters but each slave uses one Pings and ARP s do not occupy handles If all 8 handles are in use and a 9 master tries to connect it will be sent a reset packet that generates the appropriate error in its windows application The TH command may be used to ind
Download Pdf Manuals
Related Search