Looking for more information? Visit us on the web at http://www.artisan-scientific.com for more information: • Price Quotations • Drivers· Technical Specifications. Manuals and Documentation Artisan Scientific is You~ Source for: Quality New and Certified-Used/Pre:-awned ECJuiflment • Tens of Thousands of In-Stock Items • Fast Shipping and DelIve1y • Equipment Demos • Leasing / Monthly Rentals • Hundreds of Manufacturers Supported • Consignment Service Center Repairs InstraView Remote Inspection Experienced Engineers and Technicians on staff in our Remotely inspect equipment before purchasing with our State-of-the-art Full-Service In-House Service Center Facility Innovative InstraView-website at http://www.instraview.com We bUy used equipment! We also offer credit for Buy-Backs and Trade-Ins Sell your excess. underutilized. and idle used equipment. Contact one of our Customer Service Representatives todayl Talk to a live person: 88EM38-S0URCE fB88-887-68721 I Contact us by email: sales@artisan-scientific.com I Visit our website: http://www.artisan-scientific.com Features iBM" PCIXVATcompatibie Controls motion of uo to three servo motors Independent or coordinated motion Circular and linear interpolation of 2 axes Continuous contourina for u~to 3 axes User-definabie application programs Conditional statements for controlling program FORWAROIREVERSE LIMITS HOME INPUTS 8 UNCOMMITTED INPUTS execution real-time 8 UNCOMMTlED OUTPUTS Programmable time and position trippoints 4 Variables for entering and changing system parameters Arithmetic functionsfor manipuiating parameters llncommitted ilO Digitoi filter with gain, damping and integrator for optimum performance Error handling, end of travel, emergency stop. status reporing - 500,000 countslsec maximum speed - Computer-Aided Servo Design Kit available NC machines X-Y staaes Web Processing Figure 1. Motion Control System General Description The DMC-600 series is a fully programmable servo motion controlier contained on an iBM PC com- patible card, It controls the motion of up to three DC or brushless motors with incrernentai encoder feedback.The DMC-610 controis one motor, the DMC-620 controls two motors, and the DMC-630 controls three servo motors. Modes of motion include independent or vector positioning, contouring, jogging and homing The motion profilesfor each motor may be specified separateiy or as a sequence of coordinated vec- tors. The coordinated mode provides linear and circular interpolation of two axes with continuous motion at the programmed vector velocity and acceleration. Up to 256 straight iine or arc seg- ments may be specified in one continuous motion sequence.The contouring mode generates Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com motion for all the axes along any user-defined provides a pulse-width-modulated (PWM) output position path. for switching power transistors directly The PWM The controiler contains an extensive instruction output is available in two formats: Inverter and Sign set for executing complex motion programs. Magnitude, In the lnverter mode, the PWM signai is 0% duty cycie for fuli negative voltage, 50% for Instructions are sentto the DMC-600 via the PC Bus. A FIFO buffer ollowsfost pipelining of instructions. 0 voltage and 99.6% for full positivevoltage. In the Progroms can also be downioaded from the PC Sign Magnitude Mode (Jumper SM), the PWM sig- into the DMC-600 memory nai is 0% for 0 voltage, 99.2% for full voltage and Execution of motion commands in a program the sign of the motor command is available atthe sign output. can be controlled using conditional statements which make decisions based on the logical state of Encoder-The encoder transiates motor motion 110 iines and motion parameters. Variables allow into an electrical signal which is decoded by the parameters to be input or modified during pro- DMC-630 as the motor position. Each axis requires gram execution.Arithmetic operations of variables are permitted. The DMC-600 contains a digital fiiterwith on inte- encoder may behi or anal'og with magnitude up gral gain term for eliminating position error at stop. to 12Volts. For noise imrnuniv, differential encoder The filter coefficients can be changed on-the-fly inputs,CHA and CH B, may also be input.The for optimum dynamic performance. Feedforward DMC-630 also occepts an encoder index signal parameters are provided for reducing error during which is useful for referencing the encoders during acceleration. the Home instruction. Several error handling features are available The DMC-630 performs quadrature decoding of including automatic shut-off for excessive position the encoder signals, resulting in a resolution of error, limit switch inputs, emergency stop inputs quadrature counts (4 x encoder cycles). and programmable torque limits. Complete status External Inputs-Limit switches and emergency reporting and position monitoring functions are stop inputs may be connected to the DMC-630 to included.The DMC-630 also contoins 8 uncom- prevent system damage. There are aiso uncommit- mitted input lines and 8 output iines. ted inputs and outputs the user can define. System Elements Stabilizing the Servo System The elements of the DMC-630 servo system are The DMC-630 implements a digital filter for com- shown in Figure 1, The elements include the iBM PC, pensating the closed-loop system. This filter pro- DMC-630 motion controller, a motoi, incremental vides system gain, damping and integration for encoder and power amplifier for each axis of optimizing system dynamic response and eliminat- motion, and external switches such as end-of-travel ing position error The filter coefficients [Gain, Zero. and homing inputs. Connection of these elements Pole and Integral Gain) can be adjusted on-the-fly. is simplified with the ICB-960 interconnect board. To simpiify the tuning process, Galik Digital IBM PC-Sends high level commands to the DMC- Motion Monitor, DMM-900, is recommended. The 630. Use of the PC computer may be minimized by DMM-900 converts the digital encoder position into storing motion programs in the DMC-630 memory an analog signal for display on an oscilloscope.The DMC-630-Performs all the time-intensive functions designer writes a program to issue repeated step of motor control, These functions include generat- commands to the motor and then observes the ing motion profiles and position trajectories, actual motor response. The filter parameters are decoding the encoder feedbock and comparing adjusted until the desired response is observed. itwith the command position, stabilizing the servo The DMC-630 also provides acceleration feed- system, outputting a motor command signal for forward (FA) for reducing the following error during driving the power amplifier, and providing error acceieration. and status reporting. Motor-The DMC-630 controis up to three DC or Computer Interface brushless moton.Any size motor may be used as The DMC-630 is programmable, receiving com- long as the power amplifier provides sufficient voit- is configured mands over the PC Bus. The controller age and currentto drive the motor, as a standard IBM PC Bus card that is mapped into PowerArnplifier-This element ampiifies the DMC- i1O space. Communication beiween the DMC-630 630 command signal to the appropriate current and PC is in the form of ASCli characters, where necessaryfor driving the motor and load. Each axis data is sent and received via 256 character READ requires its own amplifier. The amplifier shouid be and WRITE FlFO buffers on the DMC-630.A hand- configured as a current source when no velocily shake is requiredfor sending and receiving data. feedback is used, and as a veiocivamp when tachometer feedback is included. The analog outputfrom the DMC-630 to the amplifiervaries between - 10 and + 10 volts, The DMC-630 also Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com Communication Registers-Description DMC-630 memory The DMC-630 memory stores up to 200 lines of 32 characters per line. Multiple Register Name Description Address READIWRITE commands may be stored on a line. Separate READ for receiving data N Readoniy programs or subroutines are distinguished by labels, WRITE for transmitbng data N Write only Programs are entered and edited using the N i~ I Read only STATUS for handshaking DMC-630 editor The edit mode is entered using BUFFER for clearing FIFO buffer N I I Wrte oniy CLEAR SYNCH START for svnchronirina N 12 Write oniv the ED command, The execution of statements in memory is con- trolied by conditional commands which make ogi- Address Selection cai decisions based on controller status, 10 lines. The READ and WRITE registers occupy the same and motor operation. address, N, in the 110 space. The STATUS and CLEAR The conditional commands cause the program BUFFER registers occupy the next address, N + 1. to branch on a condition or to hoid further execu- The selection of the address, N, is done by inseri- tion until an event occurs. For example, the wait ing the appropriate jumpers lobeied A2 through Diiir] command causes the program to hoid execu- A8.The address can be every fourth number tion until the specified time has elapsed. The After between 512 and 1016, whereA2 represents Motion [AM] command waits until the current the 2'bit and A8 represents the 2' bit.Ajumper motion is complete. The Jump on Condition (JP) corresponds to a binary 1. The default address instruction causes a jump to another program iine if is 1000 decimal. a logical condition is satisfied. The JP instruction has the format: Programming the DMC-630 JP Destination, logical condition Instruction Set The destination is a program line number or The DMC-630 contains an extensive instruction set iabei.The condition may be the status of an input or for programming a variety of motion sequences. output line or variable, The use of logical operators Each instruction is represented by a two-character =, <, > is permitted. operation code followed by the applicabie motion Example: parameters. Jumpto labei Aif input1 is high JP#A,II=I DMC-630 instructions are upper case ASCII, JS #B, V1 +V2<4 Jump to subroutine B if V1 +V2 is except for some special commands.Asemi- less than 4 colon or carriage return terminates the motion JP 2, PEX = 0 Jump to line number 2 if position commands. error of X equals zero For example, the instruction JP5, PY = PZ Jump to line number 5 if position PR 4000; of Y is equal to position of Z axis is the Position Relative command. PR is the com- Example: mand and 4000 represents the required position 000 #A; CBI Program starts at iabel A vaiue.The: terminates the command. 001 PR 1000 Define Position Where applicable, instruction parameters may 002 SP 10000 Define Slew Speed be specified forthe X,Y or Z axes independentiy 003 AC 100000 Define Acceleration or simultaneously. Some instructions, such as the 004 W500 Wait here 500 msec tell position command jrP) requestthat data be 005 BGX Begin Profile returned to the host. 006 AMX Wait here until after motion For example. compiete SP 20000,40000,70000; 007 SBI Set output bit 1 AC IOOOOO,, 200000; 008 JP #A, I1 = 1 Repeat program if input 1 is high PR ,200; 009 EN End Program BGY; Variables TP XY; The DMC-630 provides 64 variables specified by specifies the speed of the X axis as 20000 counts1 the commandVO throuah V63,Variables can be sec,Y axis as 40000 countslsec and Z axis as 70000 written into motion proGams and later be assigned counts1 sec. The acceleration of the X-axis is a specificvolue.Variables can also be specified as specified as 100000 countslsec2 and the Z-axis as the actuai motor position (PX, PY Pa, position error 200000,TheY-axis position only is set at 200 counts. (PEX, PF3 PEZ), as the state of input lines (I1 through The command BGY causes they axis to begin 181, or as the state of output lines. Once defined, motion, TP W tells the position of theX andY axis. variables can be manipulated with the arithmetic Acomplete listing of the DMC-630 instructions is operations of add, subtract, multipiy and divide. given in Table I. Arithmetic operations are performed from left to Motion Programs right.Variables can be assigned to motion porame- lnstructions can be combined to form motion pro- ters such as position, They can also be tested with grams, Instructions con be sent from the PC as they iogicai operations using the Jump on Condition ore executed or they may be downloaded into the (JP] instruction. Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com Variables are reai numbers between the range Example: of i 8388602000, The fractionai part has a resolu- JG 40000 Specify speed tion of %soth. AC I00000 Specify acceieration Example: BG X Begin motion 000 #A Begins program A WI 1000 Wait 1000 msec 001 PAVl Assign position X asV1 AC 50000 Change acceieration 002 BGX Begin motion JG 40000 Change direction and speed 003 #B;AMX After motion complete WI 200 Wait 200 msec 004 WI5 Wait 5 msec ST X Stop motion 005 JP #C, PX =:V1 Jump to #C if no error Coordinated Motion Sequences 006 PR V1- PX; BGX Perform o correction Operation in this mode is specified in terms of the 007 JP #B Jump to B trajectory coordinates and the vector veiocity and 008 #C; EN End program acceleration. Up to 256 different straight iine and in this program, the X target position is left as a variable to be assigned.After the motion is exe- ~ - cuted and is complete, line 5 checks theX axis posi- DMC-630 to begin generatingthe trajkctory of the tion error. PEX, if it is notzero, a correction is made. continuous path. The total distance traveled along the path must not exceed 8388607 counts. Linear segments are specified by theX-Y coordinates of Modes of Motion their final points. The DMC-630 controlier can operate in indepen- For example: dent or vector positioning, contouring, jogging or VP 10000,20000 homing modes. Motion profiles can be specified for each of the XY and Zaxes separateiy or the X,Y defines a linear segment ending atthe given X,Y velocity profiles can be coordinated for motion coordinates. Coordinates must aiways be specified along a vector, Both linear and circular interpola- with respect to the start of the move, tion algorithms are provided forvector motion Circular arcs are expressed in terms of the radius, along straight line and arc segments.The various initial angie and travei angie, The units forthe angie modes of motion are described below. are in degrees, but fractional degrees ore permit- ted. For example, Independent Positioning CR 1000, 135.125,90.0 The acceleration rate (AC], siew speed (SP] and end position [PA) or (PR] for each axis are specified. defines a circular arc with a radius of 1000 counts, starting at 135.125" and moving in a positive On Begin [BG], the DMC-630 generates a trapezoi- direction of 90" The definition of the angies is as dal veiocity profiie and position trajectory The Begin command can be issued for aii axes either indicated by Figure 2. simuitaneously or independently. Thevector velocityand acceieration are defined indeoendentlv with vector acceleration WAi and Exarnpie: vector speed (VS] commands The vecto;sp&ed PA 1000,2000,3000 Specify X, Y Z position may be changed during motion, SP 40000.100000,200 S~ecifv X, Y Z speed AC 100000,100000,1000000 ~pecify~.Y,~accei BG X BeginX only WI 500 Wait 500 msec BeginY Z motion BG YZ The speed can be changed at any time during ,~, ta'becelerate motion to a stop, The increient Position (IP) instruction ailows the position target to be extended while the motor is in motion. Jog Mode In this mode, an end position is not specified. The acceieration (AC) and slew speed (JG) are given. On Begin (BG), the motor begins acceierating to the slew speed and runs atthat speed until a new speed is entered or a stop (Sn command is issued. The speed, direction, and acceieration may be Figure 2. Definition ofAngk Movement Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com Example: Generate the motion sequence to The form of each dota record is shown in Fig. 5. scribe a rectangie of dimensions 10000 x 6000 The data record stork with o header consisting of counts with radiused corners of 500 counts, Define the byte 80H. It is foiowed by o time increment byte, the staiiing point as shown in Figure 3 and divide which defines the time interval DT The time incre- the rectangle sequence into 9 segments. ment byte defines a number, n, which sets the time intewal as: VS 5000; VA40000 Definevector speed and DT = 2" milliseconds acceleration k n is oiiowed to vary between 1 ond 8, the VP 4500,O Linear. Segment #I CR 500.270, - 90 Circular, Segment #2 range of DT is between 2 and 256 ms, VP - 5000.5500 Linear, Segment #3 Following are the position increments for the CR 500,180, 90 Circular, Segment #4 three axes Each increment is described by two VP 4500,6000 Linear, Segment #5 bytes, where the upper byte is limited to 2 125. This CR 500.90, 90 Circular. Segment #6 results in position increments in the range VP 5000,500 Linear, Segment #7 32,000 i DX i 32.000 CR 500,0, - 90 Circular. Segment #8 To end the contouring mode, the user transmits VP 0,O Linear. Segment #9 on end record consisting of the byte 80H iwice, as BGS Begin Sequence shown in Figure 6. The contouring mode includes a ieorn mode, where position doto is reported to the host in a for- motwhich makes it ready for play back. To activate the learn mode, the user commands the instruction LN n This seiects the time inte~ol and causes the con- troiler to send to the host computer dota records in the form shown in Fig. 5, Thevaue of n may be var- ied while the learn mode takes place,This mode is terminated with the instruction LN or LN 0 which causes the controiler to transmit an end record. CM XYL [ DATA RECORD 1 1 Figure 3. Scribing a Rectangle with Radiused Corners Contouring The contouring mode enabies the generation of DATA RECORD n position trojectories of ony shape with all the axes. The user describes the required motion trajectories by a sequence of increments of the form: DX, DY DZ, DT Each motion increment is characterized by the Figure 4. Structure of Information Flow relative distance for the active axes and the associ- ated time increment, The controller then performs linear interpolation between the specified points for smooth motion. The contouring mode is activated with the instruction CM XlZ This specifies the contouring axes.Any combina- tion of one,two orthree axes is permitied. Non- contouring axes may perform other motions. The position data is transmitied in the form of data records. The contour~ng mode is terminated with an end record as shown in Fig. 4. Figure 5. Data Record Figure 6. End Record Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com Homing Inputs Using the Home Instruction (HM), the DMC-630 can Encoder CHA, CHB, Index: Quadrature encoder, home each motorto an externai home reference Analog or TlL. 500,000 quadrature counts per signal and an encoder index. Upon the HM and BG second maximum speed. command, the motor begins moving atthe speci- Encoder CHA- , CHB-, Index- : Differential inputs. fied speed until the Home input iine changes Optional. Jumpers required, state. The direction of motion is specified by the Forward Limit Switch*: Low input inhibits motion in initial level of the Home input (Low is forward, high forward direction. is reverse). Atthe transition of the Home input, the motor is commanded to stop. Next, the motor siews Reverse Limit Switch*: Low input inhibits motion in very siowly backto the Home transition again.Atthis reverse direction. point, the motor slews forward untii the encoder Home: Transition causes motorto stop during index is detected. The zero position is defined here. Homing sequence. For custom homing applications, a user defined Abort*: Low input stops motion instantly without homing routine can be created as part of a controlied deceleration, program. lnput I-Input 8: Uncommitted. Error Handling Increment: Each rising edge increments the posi- tion command counter by one quadrature count. The DMC-630 provides several error handiing TTL ievels, features to prevent system damage. Forward Decrement: Each rising edge decrements the posi- and reverse limit switch inputs prevent motion in tion command counter by one quadrature count. the respective direction.An abort input brngs all iiL levels. motors to an immediate stop. The DMC-630 has on error output line that goes iow when the position Reset": Low input resets the state of the controiler to error limit specified by the ER instruction is its power-on condition.TTL levels, exceeded.This signal can be connected to the system computer or an emergency shut-off iine to Outputs prevent system damage. There is also an automatic Analog Motor Command: ? 10 voit range signai for off-on-error shut-off instruction (OE) and automatic driving power ampiifier. error handiing subroutines, PWM, sign: Pulse-width-modulated motor com- The user can interrogate the position error of any axis with theTeil Error (IE) instruction. mand. 20KHz Optional. Error*: Goes lowwhen position error on any axis Uncommitted 110 exceeds specified Iimit.TTL level. Output 0-Output 7: Uncommitted. Set and cieared The DMC-600 provides eight uncommitted input with SB and CB instruction.lTL levei. lines and eight uncommitted outputs.These may be connected to external signais such as reiays. Motion Complete": Goes low when the DMC-630 triggers or system timing signals. processor has completed generating motion pro- The output lines are toggled by the Set Bit (SB) file, Motor may not actually be at position yet, and Clear Bit [CB) instructions. For example. the instruction SB 2 sets output line 2. The OP instruction defines the state of all output lines.The state of the input lines may be checked with the conditional statement, JP, or the After lnput command. Al. For example: JP#A,12=0 Jump to iabeiA if input 2 is zero Jump to labei B if input 3 is high JP#B.13=1 Waituntil input1 is high Al I The statement, 10, checks the status of the least sig- nificant 4 input lines. For example, 10 =7 means 14 is zero, 13 is one, 12 is one, I1 is one. The state of the input lines can aiso be interrogated with the Tell lnput rl) instruction. The -- DMC-630 also ~rovides an interruot for specified inputs,The li command specifies input interrupts. Upon the occurrence of that input, the DMC-630 program sequencer will jump to the subroutine defined by label. #". Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com Looking for more information? Visit us on the web at http://www.artisan-scientific.com for more information: • Price Quotations • Drivers· Technical Specifications. Manuals and Documentation Artisan Scientific is You~ Source for: Quality New and Certified-Used/Pre:-awned ECJuiflment • Tens of Thousands of In-Stock Items • Fast Shipping and DelIve1y • Equipment Demos • Leasing / Monthly Rentals • Hundreds of Manufacturers Supported • Consignment Service Center Repairs InstraView Remote Inspection Experienced Engineers and Technicians on staff in our Remotely inspect equipment before purchasing with our State-of-the-art Full-Service In-House Service Center Facility Innovative InstraView-website at http://www.instraview.com We bUy used equipment! We also offer credit for Buy-Backs and Trade-Ins Sell your excess. underutilized. and idle used equipment. Contact one of our Customer Service Representatives todayl Talk to a live person: 88EM38-S0URCE fB88-887-68721 I Contact us by email: sales@artisan-scientific.com I Visit our website: http://www.artisan-scientific.com