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User’s Guide For GT Series Motion Controller Revision 1.10 June, 2003 Copyright Statement Part Number: GT400-M-E-R1100603-001 Copyright Statement Googol Technology Ltd. All rights reserved. Googol Technology Ltd. (Googol Technology hereafter) reserves the right to modify the products and product specifications described in this manual without advance notice. Googol Technology is not responsible to any direct, indirect, or consequential damage or liability caused by improper use of this manual or the product. Googol Technology owns the patent, copyright or any other intellectual property right of this product and the related software. No one shall duplicate, reproduce, process or use this product and its parts, unless authorized by Googol Technology 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 machinery. Googol Technology shall not be liable or responsible for any incidental or consequential damages. Foreword Foreword Thank you for choosing Googol Technology motion controller We will help you set up your own control system, by providing our first-class motion controller, complete with after-sale service, and technical support. More information about Googol Technology Products Please visit our website at http://www.googoltech.com for more information about our company and products. . Technical Support and After-Sale Service To get our technical support and after-sale service: ♦ E-mail: [email protected] Use of This User’s Guide This guide helps the user to understand the basic architecture of GT series of motion controllers, and to learn how to install the motion controller, wire the controller with the motor control system and conduct the basic debugging of the motion control system. Users This guide is suitable to those engineering personnel who are having the basic knowledge of hardware and good understanding of motion control. Main Topics This guide consists of three chapters and some appendixes. Chapter One “Overview” introduces GT series of motion controllers and how to implement the motor control system. Chapter Two “Quick Start” explains how to install the controller card, configure components and install the driver program. Chapter Three “Test and Tune the System” introduces how to use the supplied software controller to tune the system. The appendixes provide the usage description of technical parameters of controller, setting position, velocity and acceleration, typical wiring, troubleshooting and use of GT Commander, the software provided. Related Documents For the programming of GT series motion controller, please refer to "Programming Manual of GT Series Motion Controller” provided together with the product. I Contents Contents COPYRIGHT STATEMENT ................................................................................................. 1 FOREWORD.......................................................................................................................................I CONTENTS........................................................................................................................................A CHAPTER 1: OVERVIEW .................................................................................................... 1 1.1 INTRODUCTION .......................................................................................................1 1.2 TERMINOLOGY OF GT SERIES MOTION CONTROLLERS ..........................................1 1.3 FUNCTION LIST OF GT SERIES MOTION CONTROLLERS .........................................2 1.4 CONFIGURATION OF MOTION CONTROL SYSTEM ....................................................3 CHAPTER 2: QUICK START .............................................................................................. 5 2.1 OPEN THE PACKAGE AND CHECK ............................................................................5 2.2 LAYOUT OF GT SERIES MOTION CONTROLLER ......................................................5 2.3 INSTALLATION PROCEDURES ..................................................................................6 2.3.1 Step 1: Set Jumpers on Motion Controller (Only for ISA bus controller). .......................... 7 2.3.2 Step 2: Insert the controller into the PC. ............................................................................. 9 2.3.3 Step 3: Install the Windows driver of the controller (for Windows environment).............. 10 2.3.4 Step 4: Establish communication between the PC and controller (for Windows) ............ 10 2.3.5 Step 5: Connect the motor with driver................................................................................11 2.3.6 Step 6: Connect the controller with the terminal board. ....................................................11 2.3.7 Step 7: Connect the driver and system I/O with terminal board. ...................................... 12 CHAPTER 3: TEST AND TUNE MOTION CONTROL SYSTEM ....................24 3.1 SETUP SYSTEM .....................................................................................................24 3.2 SET OUTPUT AND ENABLE DRIVER (AXIS ON)......................................................27 3.3 TUNE PID PARAMETERS .......................................................................................28 3.4 IMPLEMENT SINGLE-AXIS MOTION IN T-CURVE MOTION MODE ...........................29 A Contents APPENDIX A: TECHNICAL SPECIFICATION ..........................................................................30 APPENDIX B: SETTING OF POSITION, VELOCITY AND ACCELERATION.....................33 B.1 SETTING OF POSITION ..........................................................................................33 B.2 SETTING OF VELOCITY.........................................................................................33 B.3 SETTING OF ACCELERATION .................................................................................34 APPENDIX C: TYPICAL WIRING................................................................................................37 C.1 WIRING DIAGRAM OF PANASONIC MSDA SERIES DRIVER IN VELOCITY CONTROL MODE..........................................................................................................................37 C.2 WIRING DIAGRAM OF PANASONIC MSDA SERIES DRIVER IN POSITION CONTROL MODE..........................................................................................................................38 C.3 WIRING DIAGRAM OF SANYO DENKI PV1 SERIES DRIVER IN VELOCITY CONTROL MODE. .........................................................................................................39 C.4 WIRING DIAGRAM OF SANYO DENKI PV1 SERIES DRIVER IN POSITION CONTROL MODE. .........................................................................................................40 C.5 WIRING DIAGRAM OF SANYO DENKI PY0/PY2 SERIES DRIVER IN VELOCITY CONTROL MODE ............................................................................................................41 C.6 WIRING DIAGRAM OF SANYO DENKI PY0/PY2 SERIES DRIVER IN POSITION CONTROL MODE............................................................................................................42 C.7 WIRING DIAGRAM OF SANYO DENKI PU SERIES DRIVER IN VELOCITY CONTROL MODE. .........................................................................................................................43 C.8 WIRING DIAGRAM OF YASKAWASERVOPACK SERIESDRIVER INVELOCITY/ TORQUE CONTROL MODE.............................................................................................................44 C.9 WIRING DIAGRAM OF YASKAWA SERVOPACK SERIES DRIVER IN POSITION B Contents CONTROL MODE............................................................................................................45 C.10 WIRING DIAGRAM OF YASKAWA SGDE SERIES DRIVER IN POSITION CONTROL MODE..........................................................................................................................46 APPENDIX D TROUBLESHOOTING.....................................................................................47 E.1 GT COMMANDER WINDOWS AND BASIC OPERATION ..........................................49 E.1.1 Menus and Toolbars .......................................................................................................... 56 E.1.2 Display System Status........................................................................................................ 56 E.1.3 Axis-based Control ............................................................................................................ 56 E.1.4 Control Based on Coordinate System................................................................................ 56 E.1.5 Input/Output Control ......................................................................................................... 56 E.1.6 Edit and Run GT Commands............................................................................................. 56 E.1.7 Set Basic Parameters ........................................................................................................ 57 E.1.8 Options .............................................................................................................................. 57 E.1.9 Status Column.................................................................................................................... 57 E.2 OPERATION SAMPLES ...........................................................................................57 E.3 TROUBLESHOOTING .............................................................................................59 C Chapter 1: Overview Chapter 1: Overview 1.1 Introduction GT series of motion controllers can control four motion axes at synchronous, achieving multi-axis coordinated motion. The cores of these controllers consist of ADSP2181 digital signal processor and FPGA, which process high-performance control computation. GT controllers find applications in a wide range of industries including robotics, CNC machinery, carpentry machinery, printing machinery, assembly lines, processing equipments in electronics, laser processing equipments. GT motion controller uses PC as its host, and offers two versions of products - ISA and PCI bus versions. In either version, RS232 serial communication and PC104 interface socket are available to facilitate users in configuring their systems. The C function library and Windows DLL are also provided to accomplish more complicated control functions. A Uses may combine these control functions with the data processing, user interface and other application modules as required by one’s specific control system, to implement a control system of specific application requirements. To operate the motion controller a user is required to have the programming experience with C language or DLL in Windows environment. 1.2 Terminology of GT Series Motion Controllers GT-400-SV-ISA–G Series Symbol GT: GT Series Type of Terminal Board G: Standard A:A/D converter R: Drive relay O: Customized Number of axis 200: 2 300: 3 400: 4 Bus Type ISA: ISA Bus PCI: PCI Bus Output Types SV: Analog or pulse output SP: Pulse output with encoder reading function SG: High-frequency pulse output (1MHz) SD: Pulse output with programmable duty ratio SE: Low-frequency pulse output (256KHz) 1 Chapter 1: Overview 1.3 Function List of GT Series Motion Controllers √ Included - Excluded Features * Optional SV SP SG SD SE √ √ √ √ √ RS232 * * * * √ 64K Byte ROM * * * * * 512K Byte SRAM * * * * * User adjustable (200us by default) √ √ √ √ - √ - - - - √ √ √ √ √ ISA/ PCI BUS Program memory Sampling rate Analog output 4 axes. Range: -10V to +10V Pulse output 4 axes Duty Cycle, programmable 1 axis - - - √ - Encoder channel 4 channels of quadrature incremental encoder. Max. Counting frequency: 8MHz. √ √ - - - 2 channels of quadrature incremental encoder. Max. Counting frequency: 8MHz. √ √ √ √ - Limit switch Left and right limit switch of each axis √ √ √ √ √ Home switch Home switch of each axis √ √ √ √ √ Driver alarm signal 1 channel of driver alarm signal of each axis √ √ √ √ √ Driver enable signal 1 –channel driver enable signal of each axis √ √ √ √ √ Driver reset signal 1 channel driver reset of each axis √ √ √ √ √ Uncommitted digital input 16 channels √ √ √ √ √ Uncommitted output 16 channels √ √ √ √ √ Auxiliary encoder digital Probe input Occupy 1 channel of Uncommitted digital input √ √ √ √ √ A/D 8 channels * * * * * Watchdog Monitor DSP work status in real time. √ √ √ √ √ DSP firmware √ √ √ √ √ On-board linear and 2 Chapter 1: Overview Features SV SP SG SD SE circular interpolation Program memory Motion code compiling √ √ √ √ √ Point-to-point motion S-curve, T-curve, jogging motion and electronic gear motion modes √ √ √ √ √ PID + Velocity Feed forward + Acceleration Feed forward √ - - - - Index signal of encoder √ √ - - - √ √ √ √ √ Following error limit. √ √ - - - Acceleration limit. √ √ √ √ √ √ - - - Filter Hardware capture Safety Home switch Controller output limit. - 1.4 Configuration of Motion Control System 1. Motion controller. 2a. PC with ISA slot for ISA bus version controller, -- Or -2b, PC with PCI slot for PCI bus version controller. 3. Servo motor with incremental encoder or step motor. 4. Driver. 5. +12V to +24V DV power (for terminal board). 6. Home switch, positive/negative limit switches (optional as needed). GT controller works with both AC and DC servomotors. To control the servomotor, the controller outputs +/-10V analog voltage signal to control the servomotor. When selecting a servomotor, make sure the appropriate driver and accessories are selected. If there is any question, please consult your motor supplier. To control a step motor, the motion controller provides two kinds of control signals, one is a positive pulse/negative pulse signal, and the other is a pulse and direction signal. Thus, the controller can be used to work with any step motor currently available in the market. When controlling a step motor, the control mode is open loop and no encoder is needed. For SP model of controller controlling a step motor, the controller provides channels to read encoder signal. A typical connection of motion control system using GT motion controller is illustrated in Fig.1-1. 3 Chapter 1: Overview Motion Controller Terminal B Driver Motor Fig. 1.1 Schematic Diagram of Motion Control system using GT motion controller Servo motor/step motor Encoder (SV/SP card) Positive limit switch Home Switch PC Positive Limit Switch Control Current Encoder feedback Driver Control command GT-400 Fig. 1-2 Typical Application of GT Series Motion Controller 4 Chart 3: Quick Start Chapter 2: Quick Start 2.1 Open the Package and Check Before opening the package, please check whether the product type marked on the package is consistent with your purchase. After opening the package, first check whether there is any mechanical damage on the motion controller. Then check carefully whether the accessories are complete. If there is mechanical damage on the controller, or any item is missing in the package, please do not use the product and contact Googol Technology or our distributor immediately. Warning To avoid any electrostatic from damaging the motion controller, please discharge static in your body before touching the controller or inserting/removing the controller to/from a slot of PC. 2.2 Layout of GT Series Motion Controller The layout of ISA series motion controller is illustrated in Fig. 2-1. CN5 CN4 CN2 CN3 JP3 CN1 1 JP4 DSP FPGA JP1 JP2 Fig. 2-1 ISA Series Motion Controller 5 Chart 3: Quick Start The layout of PCI series motion controller is illustrated in Fig. 2-2. CN4 CN1 CN2 FPGA DSP PCI Bridge JP4 JP3 CN3 Fig. 2-2 PCI Series Motion Controller Table 2-1 lists the description of each connector and jumper. Please locate their positions and know their functions. The following section on Installation Procedures will describe these connectors and jumpers in details. Table 2-1 Definitions of Connectors and Jumpers Definition JP1 JP2 Description Base address switch (only for ISA/PC104) Jumper of IRQ (only for ISA/PC104) JP3 Jumper of watchdog JP4 For debugging (not user Jumper) CN1 CN2 Connector of axis control interface Connector of I/O interface CN3 CN4 Debugging port (not for user) Debugging port (not for user) CN5 Connector of power supply (for PC104 modules) 2.3 Installation Procedures Install the controller according to the following 7procedures. Step 1: Set jumper on motion controller (only for ISA bus controller. Skip to Step 2 for PCI bus controller.). Step 2: Insert the controller into PC. Step 3: Install the Windows driver of the controller (only for Windows environment). Step 4: Establish communication between the host and controller. Step 5: Connect the motor with driver. Step 6: Connect the controller with terminal board. Step 7: Connect the driver and system I/O with terminal board. 6 Chart 3: Quick Start 2.3.1 Step 1: Set Jumpers on Motion Controller (Only for ISA bus controller). 2.3.1.1 Set base address by Dip switch JP1 To establish communication between the host PC and motion controller, user must select and set the base address of the controller. JP1 is the base address-selecting switch of the motion controller. For its location, please see Fig. 2-1. The factory default base address of the controller is 0x300 (hex), as shown in Fig. 2-3. From this address, the controller occupies 14 consecutive I/O addresses to communicate with the host PC. Please check the address occupation of the host to avoid conflict on address and the influence on system operation. Table 2-2 is a list for selecting base address Dipswitch of the motion controller. Table 2-3 lists the I/O addresses occupied by PC, for reference when setting base address. Suggest that user do not change the initial setting of base address when installing the motion controller for the first time, because this address is idle for most computers. If communication problem is encountered in the following test, please refer to Table 2-3 and 2-3 to modify the setting of base address. Address Line A4 A5 A6 A7 A8 A9 A9A8 A7 A6 A5 A4 JP1: ON OFF 1 2 3 4 5 6 Definition ON ON ON ON OFF OFF Fig. 2-3 Default setting of Dip switch JP1 Table 2-2 Lists of Base Address and Setting of Dip Switch Hex Address A9 A8 A7 A6 A5 A4 0x100 Decimal Address 256 ON OFF ON ON ON ON 0x120 288 ON OFF ON ON OFF ON 0x140 320 ON OFF ON OFF ON ON 0x160 352 ON OFF ON OFF OFF ON 0x180 384 ON OFF OFF ON ON ON 0x1a0 416 ON OFF OFF ON OFF ON 0x1c0 448 ON OFF OFF OFF ON ON 0x1e0 480 ON OFF OFF OFF OFF ON 0x200 512 OFF ON ON ON ON ON 0x220 544 OFF ON ON ON OFF ON 7 Chart 3: Quick Start Hex Address Decimal Address A9 A8 A7 A6 A5 A4 0x240 576 OFF ON ON OFF ON ON 0x260 608 OFF ON ON OFF OFF ON 0x280 640 OFF ON OFF ON ON ON 0x2a0 672 OFF ON OFF ON OFF ON 0x2c0 704 OFF ON OFF OFF ON ON 0x2e0 736 OFF ON OFF OFF OFF ON 0x300 (Default) 768 OFF OFF ON ON ON ON 0x320 800 OFF OFF ON ON OFF ON 0x340 832 OFF OFF ON OFF ON ON 0x360 864 OFF OFF ON OFF OFF ON 0x380 896 OFF OFF OFF ON ON ON 0x3a0 928 OFF OFF OFF ON OFF ON 0x3c0 960 OFF OFF OFF OFF ON ON 0x3e0 992 OFF OFF OFF OFF OFF ON Table 2-3 Typ ica l Map pings of Addresses Alloca tion of ISA Bus Addresse s Hex Decimal 000~ 01 F 00~ 31 DMA contro ller 1 020~ 03 F 040~ 05 F 060~ 06 F 32~ 63 64~ 95 96~ 111 Inte rru pt contro lle r 1 Timer Ke yboa rd 070~ 07 F 080~ 09 F 112~ 127 128~ 159 Real-time c lock NMI DMA page reg ister 0A0~ 0B F 0C0~ 0D F 160~ 191 192~ 223 Inte rru pt contro lle r 2 DMA contro ller 2 0 F0~ 0 FF 1 F0~ 1 F8 200~ 20 F 240~ 255 496~ 504 512~ 527 Math c o -p rocessor Hard disk drive Game port 210~ 217 278~ 27 F 2B0~ 2D F 2 F8~ 2 FF 300 ~ 31F 360~ 36 F 378~ 37 F 528~ 535 630~ 639 688~ 735 760~ 767 768 ~ 799 864~ 879 888~ 895 Expansion unit P aralle l po rt 2 Optiona l EGA Asynch ronou s co mmun ica tion port 2 380~ 38 F 390~ 393 896~ 911 912~ 915 SDLC co mmun ica tion p ort 2 Reserved 3A0~ 3A9 3B0~ 3B F 3C0~ 3C F 928~ 937 944~ 959 960~ 975 SDLC co mmun ica tion p ort 1 IBM single-co lor monitor EGA Uses Proto type card P C network c ard P aralle l po rt 1 8 Chart 3: Quick Start 3D0~ 3DF 976~ 991 Color monito r/Gra phic mo nitor 3 F0~ 3 F7 1008~ 1015 Flopp y d river 3 F8~ 3 FF X2E1 1016~ 1023 Asynch ronou s co mmun ica tion port 2 GP IB adapto r Asynch ronou s co mmun ica tion port 1 X390~ X393 2.3.1.2 Set IRQ lines by JP2 The motion controller provides timer interrupt and event interrupt signals for the PC. JP2 is the selection of IRQ jumper of the controller. The description of jumper pins is listed in Table 2-4. The default setting of IRQ line by the controller is IRQ10. Table 2-4 Selection of IRQ lines 2 10 Jumper Pin 1-2 IRQ line IRQ15 3-4 IRQ14 5-6 7-8 IRQ12 IRQ11 9~10 (Default) IRQ10 JP2: 1 9 2.3.1.3 Set watchdog by JP3 The motion controller provides a watchdog to monitor its work status in real time. JP3 is the jumper selector of the watchdog. After the watchdog is set to be enable with the jumper, when the controller downs, the watchdog will automatically reset the controller after a delay time of 150ms. The watchdog is disabled by default. JP3: Watchdog is enabled Watchdog is disabled (By default): 123 123 JP4 is the selector of debugging jumpers of the controller. It has been set before leaving the factory and cannot be changed. JP4 (By default): Warning 1 2 3 2.3.2 Step 2: Insert the controller into the PC. Warning Please be careful when handling. Discharge static in your body before touching the controller circuit or inserting/removing the controller, to avoid any static from damaging the motion controller. 1. Connect the CN2 connector of the controller and the accessory board (ACC1) with a 62-pin flat cable provided with the board. 2. Turn off the PC. 3a. For ISA bus controller, select a free ISA slot in the PC. 3b. For PCI bus controller, select a free PCI slot in the PC. . 4. Insert the controller card into this slot firmly 9 Chart 3: Quick Start 5. Fix the controller card in the slot by tightening the screw. 6. Remove the cover of a nearby slot. Fix the accessory board (ACC1) on the PC frame with screws. 7. Close the PC cover and restart the PC. 2.3.3 Step 3: Install the Windows driver of the controller (for Windows environment) If you are using DOS, skip this step and go to Step 5 directly. For ISA Card: 1. Insert the product CD into the CD-ROM. 2. Run WinSetupCH.exe from the directory “CD-ROM: \Windows\setup”. 3. Restart the computer when prompted. For PCI Card: Install the driver in Windows98/2000 1. After installing hardware and starting computer, Windows98/2000 will detect automatically the motion controller, and start Add hardware wizard. Click Next when prompted. 2. At the prompt of What do you want “Windows” to operate? select Search the driver of equipment (recommended). Then click Next. 3. Insert the product CD into the CD-ROM. 4. Select Appoint position. Use Browse to select the appropriate operating system under “CD-ROM: \Windows”. For example, in Windows 2000, select “CD-ROM: \Windows\Win2000”. Then click Next. 5. Follow Add hardware wizard. Click Next until installation is finished. Install the driver in Windows NT 1. Put the product CD into the CD-ROM. 2. Run setup.exe from the directory “CD-ROM: \Windows\setup\WinNT40”. 2.3.4 Step 4: Establish communication between the PC and controller (for Windows) If you are in DOS environment, skip this step and go to Step 5 directly. GTCmdISA_CH and GTCmdPCI_CH are the motion control demo program used under Windows operating system. GTCmdISA_CH is for the ISA bus motion controller and GTCmdPCI_CH is for the PCI bus motion controller. With the demo program, user can just use mouse clicks and keyboard inputs send commands to the motion controller, performing simple motion control, without C/C++ programming. This software is saved at “CD-ROM: \DEMO\GTCmdPCI_CH.exe”. Now, we can use this software to establish communication between the PC and the motion controller. For ISA Card: First copy the folder “CD-ROM: \DEMO” into the hard disk. Remove the “Read only” property of the file “GTCmd.ini” from the directory “DEMO” in the hard disk. Open the file “GTCmd.ini” and modify corresponding parameters according to the product as follows. [CARD0] 10 Chart 3: Quick Start LimitSense=0 EncoderSense=0 IntrTime=1000 SampleTime=200 ;Effective electrical level of limit switch ;Counting direction of encoder ;Interrupt interval time ;DSP sampling period //cardtype 1: SV 2:SG 3:SP CardType=1 Address=768 ;Type of motion controller ;Base address of motion controller //irq=0 is recemended Irq=0 ;Interrupt vector number (0 is recommended.) The setting of base address and interrupt vector number must be corresponding to the setting of hardware jumpers JP1 and JP2 (Please see Step 1: Set jumper on motion controller.). If the interrupt function of the motion controller is not needed, set the IRQ as 0. After modifying parameters, save the file. Run GTCmdISA_CH.exe. If the program runs normally, it proves that the motion controller successfully communicates to the host PC. If an information box “Fail to open GT equipment” appears, it proves that the motion controller fails to communicate with the host PC. Only the controller successfully communicating to the PC, then user continues to next step. Otherwise, please refer to Appendix D Troubleshooting. If needed, please contact us. For PCI Card: Running the program GTCmdISA_CH.exe, if the program runs normally, it proves that the motion controller successfully communicates to the PC. If an information box “Fail to open GT equipment” appears, it proves that the motion controller fails in communication to the PC. Only the controller successfully communicating, then user continues to next step. Otherwise, please refer to Appendix D Troubleshooting. If needed, please contact us. 2.3.5 Step 5: Connect the motor with driver. Warning For the purpose of safety, we suggest that user do not connect the motor with any mechanical device before installing and debugging the control system. Please check that there is really no load in the motor. Before connecting the driver to the controller, connect the driver with the motor. For correct wiring, please refer carefully to the manual of the drive. Test the driver and the motor as required in the manual to ensure them are working properly. 2.3.6 Step 6: Connect the controller with the terminal board. Refer carefully to the signal description of the connectors in the controller and the pin description of the connectors in motor driver. Wire them correctly and avoid connecting them when power is on. Otherwise, wrong connection may Warning cause the positive feedback of the system and operation with power may cause damage on hardware, so as to make the system unable to work properly. 11 Chart 3: Quick Start Turn off the PC. Take out the two-shielded cables supplied with the controller. Connect CN1 on the controller with CN1 on the terminal board, and CN2 on the accessory board with CN2 on the terminal board. (Fig. 2-4). Shield Cable Terminal Board Flat Cable Accessory board Shield Cable Fig 2-4 Wiring of the Motion Controller and Terminal Board 2.3.7 Step 7: Connect the driver and system I/O with terminal board. 2.3.7.1 Connecting user-supplied power to the terminal board CN3 on the terminal board connects to the external power supply (user-supplied). The connector marked +12V - +24V on the board wires to the power of +12V - +24V, and that marked OGND wires to the ground of external power supply. The value of voltage of the external power to be used depends on the requirements of the sensors and switches in the equipment. For the wiring diagram, refer Fig. 2-5. Ter mi nal Boar d OGND OVCC 2A +12V/ +24V OGND CN3 + DC 12V/ 24V - +12V/ +24V Power Suppl y Fig. 2-5 Wiring Power Supply to the Terminal Board 2.3.7.2 Connect Dedicated Inputs/Outputs The dedicated inputs include the driver alarm signal, home signal and limit signal, which are connected with the driver and sensors through CN5 (CN6, CN7, CN8) and CN12 on the terminal 12 Chart 3: Quick Start board. For the definition of pins of CN5, please see Table 2-5. For the definition of pins of CN12, please see Table 2-6. For wiring, please see Table 2-6. The dedicated outputs include enable driver signal and reset of driver alarm, which are also connected to the driver through CN5, CN6, CN7 and CN8 on the terminal board. CN 5, CN6, CN7 and CN8 are for axis 1 to 4 respectively. The definitions of pins of CN 5 to CN8 are the same (Table 2-5). For wiring, please refer Table 2-6. According to safety standard: 1. The alarm signal of driver is in normally closed status (If user doesn’t use it, please wire this input signal to OGND.). Warning 2. The limit switch of the system shall be in normally closed status. 3. The home switch is in normally open status. Table 2-5 Definition of pins of CN5 (CN6, CN7, CN8) on terminal board Pin 1 Signal OGND 2 ALM Descrip tion Ground of exte rnal po we r supply Driver alarm 3 ENABLE Enable d river 16 Reserved Reserved 4 A- 17 A+ 5 B- 18 B+ 6 C- 19 C+ 7 +5V P hase Encoder P hase Encoder P hase Encoder P ower 20 GND P hase A+ of Encoder signa l P hase B+ of Encoder signa l P hase C+ of Encoder signa l Digital ground 8 9 DAC DIR+ 21 22 GND DIR - 10 11 12 13 GND P ULSE Reserved GND 23 24 25 P ULSE+ GND Reserved Aof signa l Bof signa l Cof signa l Analog ou tput Direc tion+ signa l Digital ground P ulse - signa l Reserved Digital ground 13 Pin 14 Signal OVCC Descrip tion +12V/+24V exte rnal power 15 RESET Reset alarm d rive r Digital ground Direc tion signa l P ulse+ sign al Digital ground Reserved Chart 3: Quick Start Table 2-6 Definition of pins of CN12 on Terminal Board Pin Signal Descrip tion 1 HOME0 Home switch signa l o f axis 1 2 3 HOME1 HOME2 Home switch signa l o f axis 2 Home switch signa l o f axis 3 4 5 6 HOME3 LIMIT0+ LIMIT0 - Home switch signa l o f axis 4 P ositive limit switc h signal o f ax is 1 Negative limit switch signa l of ax is 1 7 8 LIMIT1+ LIMIT1 - P ositive limit switc h signal o f ax is 2 Negative limit switch signa l of ax is 2 9 10 11 LIMIT2+ LIMIT2 LIMIT3+ P ositive limit switc h signal o f ax is 3 Negative limit switch signa l of ax is 3 P ositive limit switc h signal o f ax is 4 12 13 LIMIT3 EXI0 Negative limit switch signa l of ax is 4 Uncommitted inpu t 14 15 16 EXI1 OGND OVCC Uncommitted inpu t Ground of exte rna l po wer sup ply +12V/+24V power 14 Chart 3: Quick Start Dr i ver Ter mi nal Boar d +5V 4. 7k 3K Posi t i ve Li mi t Swi t ch LI MI T0+ 3K + o - Negat i ve Li mi t Swi t ch LI MI T0- 3K + o - Home Swi t ch HOME0 3K + o - Dr i ver Al ar m ALARM0 +5V Dr i ver Enabl e ENABLE0 Cl ear Dr i ver Al ar m RESET0 ENABLE1 RESET1 Dedi cat ed I nput s/ Out put s f or Axi s 1, Axi s 2 and Axi s 3 OGND OGND OVCC OVCC 2A + - DC 24V/ 12V +12V/ +24V Power suppl y Fig. 2-6 Wiring Diagram of Dedicated Input/Output Signals 2.3.7.3 Wiring of encoder feedback signals (only for SV card) User not using SV model of controller may skip to step 2.3.7.4. If the encoder signals are differential, wire the signals directly to A+, A-, B+, B-, C+, C-, VCC and GND of CN5 (CN6, CN7 and CN8). If the encoder signal is single input, wire the signals to A+, B+, C+, VCC and GND of CN5 (CN6, CN7 and CN8), and meanwhile suspend A-, B- and C-. For the definition of pins of CN5 to CN8, please see Table 2-5. For wiring, please see Fig. 2-7 and 2-8. 15 Chart 3: Quick Start Encoder Ter mi nal Boar d 26LS32 A A0 / A0 /A B0 B / B0 /B C0 C / C0 /C +5V +5V 2A GND Fig. 2-7 Wiring Diagram of Encoder with differential signals Encoder Ter mi nal Boar d 26LS32 +5V 1k 1. 5k 300 1k A0 A / A0 B B0 / B0 C C0 / C0 +5V +5V 2A GND Fig. 2-8 Wiring Diagram of Encoder with single signal input 2.3.7.4 Wiring of Auxiliary Encoder Signals The two auxiliary encoder input ports are CN9 and CN10. For the definition of pins of CN9 and CN10, please see Table 2-7 and 2-8. For wiring, please see Fig. 2-7 and 2-8. 16 Chart 3: Quick Start Table 2-7 Definition of pins of CN9 on Terminal Board Pin 1 Signal A4+ 2 B4+ 3 C4+ 4 5 +5V Descrip tion P hase A+ signa l of aux iliar y encoder 1 P hase B+ signa l of aux iliar y encoder 1 P hase C+ signa l of aux iliar y encoder 1 Pin 6 Signal A4- Descrip tion P hase A_ signa l of aux iliary encoder 1 signa l 7 B4- 8 C4- 9 GND P hase B- signa l of auxilia ry encod er 1 P hase C- signa l of auxilia ry encod er 1 Digital ground P ower Table 2-8 Definition of pins of CN10 on Terminal Board Pin 1 Signal A5+ 2 B5+ Descrip tion P hase A+ signa l of aux iliar y encoder 2 P hase B+ signa l of aux iliar y encoder 2 Pin 6 Signal A5- 7 B5- 3 8 4 9 5 +5V GND Descrip tion P hase A - signa l of auxilia ry encod er 2 P hase B- signa l of auxilia ry encod er 2 Digital ground P ower 2.3.7.5 Wiring of controller output signal The SV model of controller can output two kinds of signals, analog or pulse signal. By default, the SV controller outputs analog signal from four axes. When an axis or some axes are used to control step motors (or servo motor operated in position mode), user can use the function GT_CtrlMode (1) to set the output of the axis as pulse signal output. SG, SE, SD and SP models of controller only work in the pulse signal output mode. There are two kinds of pulse signal output mode. One is the pulse/direction signal mode and the other is the positive/negative pulse signal mode. By default, the controller operates in the pulse/direction signal mode. Using the command GT_StepPulse, user can set the axis operating in the positive/negative pulse signal mode, and use the command GT_StepDir to set the axis operating in the pulse/direction signal mode. 17 Chart 3: Quick Start Wiring of Analog Output The analog control output signal is output through Pin 8 of CN5 (CN6, CN7 and CN8) on the terminal board. The ground is the digital ground Pin. For the definition of pins of CN5, please see Table 2-5. For wiring, please see Fig. 2-9. Dr i ver Ter mi nal Boar d × 10 + DAC0 . . o VCMD - 0. 1uF GND SG Fig. 2-9 Wiring Diagram of Analog Voltage Input Wiring of Pulse Output The pulse/direction output signals are output through Pins 9, 22, 23 and 11 of CN5 (CN6, CN7 and CN8) on the terminal board. The ground is the digital ground Pin. For the definition of pins of CN5, please see Table 2-5. For wiring, please see Fig. 2-10. In the pulse/direction signal mode, Pins 23 and 11 output differential pulse signals and Pins 9 and 22 output differential motion direction signals. In the positive/negative pulse output mode, Pins 9 and 22 output differential positive pulse trains and Pins 23 and 11 output differential negative pulse trains. If the signals needed by the driver are not differential signals, wire the corresponding signal with the positive signal pins (i.e. Pins9 and 23) of the above differential signal output, and suspend the negative signal pins. For the output wave, please see Fig. 3-11. 18 Chart 3: Quick Start Ter mi nal Boar d Di r ect i on Si gnal DI R0+ Pul se Si gnal PULSE0- CW- PULSE+ PULSE0+ PULSE- PULSE0- CCW Pul se Si gnal OGND ALM0 Ter mi nal Boar d DI R0- PULSE0+ PULSE0- OGND ALM0 CCW+ CCW- Di f f er ent i al PULSE+/ PULSE- Di f f er ent i al PULSE/ DI R Si gnal DI R0+ CW+ DI R0- OGND ALM0 +5V Dr i ver CW Pul se Si gnal DI R0+ DI R+ DI R- DI R0- PULSE0+ Ter mi nal Boar d Dr i ver Dr i ver COM+ Di r ect i on Si gnal Pul se Si gnal Dr i ver Ter mi nal Boar d COM+(VCC) COM+ +5V DI R0+ CW Pul se Si gnal DI R0- DI R PULSE0+ CCW Pul se Si gnal PULSE0- PULSE COM+(VCC) CW CCW OGND ALM0 Si ngl e- ended PULSE/ DI R Si gnal Si ngl e- ended PULSE+/ PULSE- Si gnal Fig. 2-10 Wiring Diagram of Pulse Output Signal Fig. 2-11 Wave of Pulse and Direction Output 2.3.7.6 Wiring of Uncommitted Digital Input/Output The uncommitted digital inputs are connected through CN12 and CN13 on the terminal board. For the definition of pins of CN12, please see Table 2-6. For the definition of pins of CN13, please see Table 2-9. For wiring, please see Fig. 2-12. The uncommitted digital outputs are connected through CN14 on the terminal board. For the definition of pins of CN14, please see Table 2-10. For wiring, please see Fig. 2-12. The power supply for uncommitted outputs can be provided through CN12 or CN13. 19 Chart 3: Quick Start Hint Pin EXI0 can be used as external interrupt source of PC or a probe to capture encoder signal, as well as for uncommitted input. When these output driving inductive load, consider a linkage circuit of EMF. Table 2-9 Definition of pins of CN13 on Terminal Pin Signal Descrip tion 1 EXI2 Uncommitted input 2 EXI3 Uncommitted input 3 4 EXI4 EXI5 Uncommitted input Uncommitted input 5 EXI6 Uncommitted input 6 7 8 EXI7 EXI8 EXI9 Uncommitted input Uncommitted input Uncommitted input 9 EXI10 Uncommitted input 10 EXI11 Uncommitted input 11 12 13 EXI12 EXI13 EXI14 Uncommitted input Uncommitted input Uncommitted input 14 EXI15 Uncommitted input 15 OGND Ground of external power supply 16 OVCC +12V/+24V power Table 2-10 Definition of pins of CN14 on Terminal Pin Signal Descrip tion 3 4 5 EXO0 EXO1 EXO2 EXO3 EXO4 Uncommitted Uncommitted Uncommitted Uncommitted Uncommitted ou tpu t ou tpu t ou tpu t ou tpu t ou tpu t 6 7 8 9 10 11 12 EXO5 EXO6 EXO7 EXO8 EXO9 EXO10 EXO11 Uncommitted Uncommitted Uncommitted Uncommitted Uncommitted Uncommitted Uncommitted ou tpu t ou tpu t ou tpu t ou tpu t ou tpu t ou tpu t ou tpu t 13 14 15 16 EXO12 EXO13 EXO14 EXO15 Uncommitted Uncommitted Uncommitted Uncommitted ou tpu t ou tpu t ou tpu t ou tpu t 1 2 20 Chart 3: Quick Start Ter mi nal Boar d +5V 4. 7k Swi t ch 3K E X I0 3K E X I1 3K + O - E X I2 …… E X I15 3K Sensor Rel ay +5V E X O0 E X O1 E X O2 Led …… E X O15 OGND OVCC 2A + - DC 24V/ 12V +12V/ +24V Power Suppl y Fig. 2-12 Wiring Diagram of Uncommitted Input/Output Signal 2.3.7.7 RS-232 Interface (optional) The motion controller provides a serial communication port to transfer information with the host, which is through CN4 on the terminal board. For the definition of pins of CN4, please see Table 2-11. For wiring, please see Fig. 2-13. 21 Chart 3: Quick Start Table 2-11 Definition of pins of CN4 on Terminal Pin Signal Descrip tion 1 Signal Descrip tion 6 2 RX 3 TX RS-232 rece iver RS-232 tran smitte r 7 8 4 5 Pin 9 GND Digital ground Ser i al Communi cat i on Devi ce Ter mi nal Boar d MAX202 2 RXD TXD 3 TXD RXD 5 GND GND CN4 Fig. 2-13 Wiring Diagram of Serial Communication 2.3.7.8 Wiring of Analog Input The motion controller provides optional analog input module, which is through CN11 on the terminal board. For the definition of pins of CN11, please see Table 2-12. For wiring, please see Fig. 2-14. Table 2-12 Definition of CN11 Feet on Terminal Board Pin 1 2 3 4 5 6 7 8 Signal AIN0 AIN1 AIN2 AIN3 AIN4 AIN5 AIN6 AIN7 Descrip tion Channel Channel Channel Channel Channel Channel Channel Channel 0 1 2 3 4 5 6 7 Pin 9 10 11 12 13 14 15 22 Signal AGND AGND AGND AGND AGND AGND AGND Descrip tion Analog Analog Analog Analog Analog Analog Analog gro und gro und gro und gro und gro und gro und gro und Chart 3: Quick Start Ter mi nal Boar d AD7890 AGND 1 AI N0 9 AGND 2 AI N1 10 AGND 3 AI N2 11 AGND …… AGND AI N7 15 8 Gr oundi ng Unused Ter mi nal CN11 Fig. 2-14 Wiring Diagram of Analog Input Signal 23 Chart 3: Test and Tune Motion Control System Chapter 3: Test and Tune Motion Control System After configuring the motion control system, user can now test the system with the software GTCmdISA_CH.exe for ISA bus controller or GTCmdPCI_CH.exe for PCI bus controller supplied with the controller. During debugging the system, we can check whether the controller is installed correctly, and whether the controller operates properly and performs a simple single-axis motion. GTCmdISA_CH is located in the directory DEMO in the CD provided together with the product. User can conduct most functions of the motion controller through GTCmdISA_CH. In this chapter, we only use part of these functions. For more detailed description, please refer to Appendix E Introduce of DEMO Software. For safety, we suggest that user do not connect the motor with any mechanical device when debugging the system. Please check that there is really no load in Warning the motor. 3.1 Setup System Before starting the debugging, user need to initialize first the system that includes initialization of the controller and setting parameters on dedicated input signal. In the following function testing, we assume that the system has been initialized correctly. 1. Turn on PC, driver and external power supply for terminal board. 2. In Windows, run GTCmdISA_CH. 3. In the menu, click, and “Set Basic Parameters” appears. 4. User using only one card can skip this step. User using multiple cards opens the pull-down menu from the “Select Control Card” column to select the number of card to be operated. Hint The numbering of card is determined as that, generally according to the distance between the control card slot and BIOS on main board, the cards are numbered card 0, card 1, card 2, etc. from the near to the far. Of course, the main boards provided by each manufacturer are different. For some boards, the numbering of cards is reversed, i.e. card 0, card 1, card 2, etc. from the far to the near. But this is not a problem. In the following debugging, the numbers of each card can be determined. Hereafter, set the numbering of card according to the first case. 5. In the “Select Control Card Type” column, open the pull-down menu and select the type of controller installed. 6. User using PCI bus controller can skip this step. User using ISA bus controller sets “Address and Interrupt” according to setting of those jumpers. Please refer to Step 1: Set Jumper on Motion Controller. 24 Chart 3: Test and Tune Motion Control System 7. Click “Open Control Card” button. 8. Set “Effective Level of Limit Switch”. If the wiring is correct according to 2.3.7.5 Wiring of Dedicated Input, user does not need to modify the default value (0) of motion controller. Otherwise, if user wants the limit switch signal to be triggered in a low voltage level trigger, set parameters according to Table 3-1. For example, the parameter “255” means that the positive and negative limit switches of all axes are all triggered in low voltage level trigger0. Table 3-1 Setting of Effective Level of Limit Switch Bit Description Definition 8-15 Reserved. Set to 0. 7 Axis #4: Negative limit switch status bit 6 Axis #4: Positive limit switch status bit 5 Axis #3: Negative limit switch status bit 4 Axis #3: Positive limit switch status bit 3 Axis #2: Negative limit switch status bit 2 Axis #2: Positive limit switch status bit 1 Axis #1: Negative limit switch status bit 0 Axis #1: Positive limit switch status bit 0: High voltage level trigger, 1: Low voltage level trigger. 0: High voltage level trigger, 1: Low voltage level trigger. 0: High voltage level trigger, 1: Low voltage level trigger. 0: High voltage level trigger, 1: Low voltage level trigger. 0: High voltage level trigger, 1: Low voltage level trigger. 0: High voltage level trigger, 1: Low voltage level trigger. 0: High voltage level trigger, 1: Low voltage level trigger. 0: High voltage level trigger, 1: Low voltage level trigger. 9. User not using SV card skips this step. Otherwise, it is needed to set “Encoder Direction”. If the wiring is proper according to 2.3.7.3Wiring of Encoder Feedback, user does not need to modify the default value (0) of motion controller. Or, if phase A and phase B of an encoder exchange, set the parameters reversed according to Table 2-2. For example, the parameter 15 is to reverse the encoder directions of all the four axes. The motion controller requires the positive direction of motor motion consistent with positive counting direction of corresponding encoder, only that can form the negative feedback. If due to wrong wiring or other reasons, the two directions were Warning reversed, which will form positive feedback and cause the motor to out of control. User can set the encoder direction parameter to form negative feedback. Table 2-2 Setting the direction of encoder feedback 25 Chart 3: Test and Tune Motion Control System Bit Description Definition 5-15 Reserved. Set to 0. 4 Reserved. 3 Axis #4 0: No change, 1: Signal reversed. 2 1 0 Axis #3 Axis #2 Axis #1 0: No change, 1: Signal reversed. 0: No change, 1: Signal reversed. 0: No change, 1: Signal reversed. 10. Set sampling period. The default period of the controller is 200µs. Note that user do not set a period less than 200µs. Otherwise, it may disable the controller. 11. 12. 13. Click “OK”. From the main menu of GTCmdISA_CH, click to open the “Axis-based Control”. Open the pull-down menu for axis selection as illustrated in the following figure, and select the current axis (operation axis). 14. Select “Clear Status” as shown in the right figure. Clear the wrong status of the current axis. 15. View the right part of the main menu of GTCmdISA_CH. Assure that the axis has no abnormal status, as illustrated in the following figure. If the column “Servo Alarm” is triggered (with red cross), please check the wiring. See 2.3.7.5 26 Chart 3: Test and Tune Motion Control System Wiring of dedicated input. If the “Positive Limit switch ” and “Negative Limit switch ” are both triggered, please return back to Step 7 to reset “Limit Switch trigger voltage Level” and then repeat Step 11 to 15. Hint Definition of axis abnormal status: One or more status bits of “servo (drive) alarm, error in motion, positive and negative limit switch triggered and error in host command” are triggered. 3.2 Set Output and Enable Driver (Axis on) 1. After initializing the system, select the current axis from the “Select Axis” box. According to the system requirement, set the output model. Pay attention to that, the setting of output model must be consistent with the setting of control mode of the motor driver of the current axis. For SV Card, Select analog output, i.e. 0, Or, select pulse output, i.e. 1. For SG, SE, SD and SP cards, Set pulse/direction signal output, i.e. D mode, Or, set positive/negative pulse signal output, i.e. P mode. 2. P Mode D Mode For SV Card, Select the option “Enable Servo/Disable Servo” (as illustrated in the figure on the right hand side, check to enable or uncheck to disable). Now, the driver is enabled, and the axis shall be in static status (The change of axis position can be viewed through the “Current Axis Position” column.). If the axis rotates slowly, first tune the “Zero Point Drift Parameter” of the driver. If it has been tuned to the critical point, fine-tune it through the “Zero Point Output Drift Value”. If the driver is not enable after the “Enable Servo” is selected please check the wiring referring to output. If the motor is out of control, check “Disable Servo” to disable servo. Then refer to Step 9 in Section 3.1 to reset the “Encoder Feedback Signal Direction”. For SG, SE, SD and SP cards, Select the option “Axis On/Axis Off” (as illustrated in the right figure, tick for “Axis On” and no tick for “Axis Off”). Now, the driver is enabled, and the axis shall be in static status. If the driver is not enabled after the “Enable Servo” is selected, please refer 2.3.7.2 Wiring of dedicated output to check the wiring. Hint If there is an abnormal motion of axis, select to open the “Set Basic Parameters” interface and click “Reset Overall”. Then, the motor will stop and all the motion parameter settings are all lost. 27 Chart 3: Test and Tune Motion Control System 3.3 Tune PID Parameters In close-loop positioning system, the motion controller compares the command position (trajectory) to the actual position feedback and calculates a motor control signal. The position error is defined as the difference between the command and actual positions. As the position error increases, the motor control signal increases to counteract the error; the digital filter coefficients (proportional-integral-derivative gain) determine the computation of the value of the motor control signal based on the position error. Tuning is the process of adjusting these coefficients to provide the best control for a particular system of motors and loads. For SG, SE, SD and SP cards, and SV card operating in pulse signal output mode, skip this step. When user uses SV card outputting analog voltage signal to control servo motor, in general, it needs to tune PID (proportional-integral-derivative gain) parameters. Before tuning parameters, set the driver of servo motor as in velocity control mode and tune the parameters of servo driver according to following factors including the coupling mode between the motor and mechanism, load, inertia and mechanical rigidity required, to assure the motor operating in a proper status. (If necessary, user can consult motor supplier or technicians of Googol Technology.) The SV model of motion controller provides the digital filter of PID with velocity and acceleration feed forward, i.e. PID+Kvff+Kaff filter. The filtering parameters include KP (proportional gain), KI (integral gain), KD (derivative gain), Kvff (velocity feed forward gain) and Kaff (acceleration feed forward gain). There are two methods generally used for tuning these digital filter coefficients; calculation and trial-and-error. Control systems textbooks provide methods for calculation of the tuning parameters for a large variety of applications. Trial-and error has the advantage in that no knowledge of the control system possessive parameters is necessary and no calculations are needed. However, you may need to try a large number of trial parameters to tune a system and some combinations of the parameters may produce an unstable or runaway system. An organized approach to search the best combination of tuning parameters helps shorten the tuning time while avoiding an unstable combination that may damage the system. The following tuning method is what we suggest. 1. 2. 3. 4. 5. 6. 7. 8. Run GTCmdISA_CH to initialize the system. Select the current axis from the “Select Axis” column. Select “Close Loop/Open Loop Servo Control” as illustrated in the right figure. Click “Clear Status” button and view the status of current axis. Assure the axis has no abnormal status. Set Kp = 1, Ki = 0, Kd = 0 and click “Update Parameters” button as illustrated in the right figure. Enable driver and view whether the motor is in static status. If the motor is not static, tune the bias parameter to make the motor static. According to 3.4 Implement single-axis motion in the T-curve motion mode, set the axis motion. View the situation of the motion of current axis. Increase Kp gradually and update it as Step 5 until the motor begins to shake slightly. During this process, keep Ki and Kd the same. Multiple the Kp value making the axis slight shaking by 0.8. Set the result as the new Kp value and update it. View the overshoot of the motion of the current axis. . If the overshoot is too large, add the Kd value gradually until the overshoot is obviously 28 Chart 3: Test and Tune Motion Control System decreased. 9. After the axis motion completes, view whether there is error between the “actual position” and “command position”. If there is error, add the Ki value gradually until the position error in the band of ±1 pulse. In the actual system, user shall select an appropriate Ki value according to the requirements for error range and settling time. Please pay attention to that when using the parameter Ki, user must set the integral limit. 3.4 Implement Single-axis Motion in T-curve Motion Mode The motion controller provides four motion control modes, S-curve, T-curve, independent jogging and electrical gear modes. For their detailed description, please refer to “Programming Manual of GT Series Motion Controllers”. Here, we only take the T-curve motion mode for example. For the other modes, user may refer to the .CMD file provided by the DEMO software. 1. Run GTCmdISA_CH and initialize the system, select the control output mode and enable the driver. For SV model of controller, tune PID parameters. 2. Clear the status, confirm the axis has no abnormal status and set “Axis On”. The axis should be in static status. 3. Click “Reset Position” button. Check the “Current Position of Axis” is 0. 4. Set the axis motion parameters in the “Motion Control Mode” column as illustrated in the following figure. Set the parameters as required. The unit of velocity is “Pulse/ST”, that of acceleration is “Pulse/ST2”, and that of position is “Pulse”. For more details, please see Appendix B. 5. Click “Update Parameters” button as illustrated in the following box. The axis will move to the target position at the setting of velocity and acceleration. Check whether the “current position of axis” is at the target position. If the motion completes, set a new “target position” and click “Update Parameters”. The axis will move to the new target position. The range of target position is -1,073,741,824 to 1,073,741,823. Now, the motion controller has been setup successfully. Next, if you want to use more functions of the controller, the DEMO software GTCmdISA_CH or GT_CmdPCI_CH provided with the controller will facilitate the usage quickly (For detailed usage description, please refer to Appendix E.). To program an application of control system, please refer to “Programming Manual of GT Series Motion Controllers”. 29 Appendix A: Technical Specification Appendix A: Technical Specification Bus PC/AT bus: ISA/PC104 and PCI bus Program Memory ROM SRAM 64K Byte 512K Byte Sampling Rate 200us for SV, SP, SG and SD models of controller 400us for SE model of controller Analog Output Number of axes: Voltage Range: Resolution: 4 -10V to +10V 16bit Pulse Signal Output Frequency of output pulse train: 1MHz (Maximum) for SV, SP, SG and SD card Frequency of output pulse train: 256KHz (Maximum) for SE card RS-422 line driver, +/-20mA Duty cycle: 50% Nonlinear: <1% Encoder Signal Interface 6 quadrature incremental encoder inputs Maximum counting frequency: 8MHz Asynchronous Serial Port 1 channel of RS-232 (RX, TX, GND) Synchronous Serial Port 1 channel (DT, DR, SCLK, TFS, GND) Transferring speed: 2MHz 30 Appendix A: Technical Specification I/O: 56 channels, TTL compatible, no Pull-up Resistor Dedicated input: Positive limit switch Negative limit switch Home switch Driver alarm 4 channels 4 channels 4 channels 4 channels Dedicated output: Enable signal Reset alarm signal 4 channels 4 channels Uncommitted input: Uncommitted output: 16 channels 16 channels Power Consumption +5V +12V -12V Icc=1.5A Icc=30mA Icc=30mA Dimension 122mmX185mm Operating Temperature 0-60℃ (32℉-140℉) Relative Humidity 5%-90%, no dew 31 Appendix A: Technical Specification GT-400-ACC2 Terminal Board Optical- Isolated I/O Specification for opto-isolated input: Isolation voltage: 5000V RMS Input voltage: +12V~+24VDC Input current: 3.7mA~7.6mA Set time: H→L 5us L→H 3us Specification for opto-isolated output: Isolation voltage: 5000V RMS Open-Collector output, without pull-up resistor Vceo ≤ 50V Veco ≤ 5V Ic ≤ 30mA Average set time: 8us A/D Converter Connect with the motion controller through the synchronous serial port. Number of input channels: 8 (single-ended and bipolarity) Input voltage range: -10V to +10V Resolution: 12bit Accuracy: +/-1bit Maximum sampling rate: 50KHz (single channel) Power Consumption +12V DC Icc=1A +24V DC Icc=1.8A Dimension 220mm 132mm 32 Appendix B: Setting of Position, Velocity and Acceleration Appendix B: Setting of Position, Velocity and Acceleration Since most servo drivers have the frequency multiplying function and the motion controller has the quadrature of encoder feedback signal, the setting of the position, velocity and acceleration of the motion controller will be different for different control systems. This chapter conducts the calculation formulas one by one, which can be used by user directly to set the parameters on the position, velocity and acceleration. Denoted the required motion velocity by V (m/min), acceleration by a (m/s2), and the target position (absolute position) bys (mm). We denote the pitch of lead screw by L (mm/r), the amount of pulses per revolution by p, gear ratio by n (When the motor is coupled with the lead screw directly, the gear ratio = 1.) and multiplier of pulse output of the driver by m. We denote the parameters of the motion controller as following: the target position by Pos (Pulse), target velocity by Vel (Pulse/ST), target acceleration by acc (Pulse/ST2) and control period ST by t (μs). B.1 Setting of Position For a close-loop control system of servomotor by using SV card (the driver operates in the velocity control mode.), we have Pos = 4∗ p∗s ( Pulse) L For an open-loop control system of servomotor by using SV, SG, SP, SE and SD cards (The driver operates in the position control mode.), we have Pos = m∗ p∗s (Pulse) L For an open-loop control system of step motor by using SV, SG, SP, SE and SD cards, we have Pos = p∗s (Pulse) L B.2 Setting of Velocity For a close-loop control system of servomotor by using SV card (the driver operates in the velocity control mode.), we have 33 Appendix B: Setting of Position, Velocity and Acceleration Rotation speed of lead screw is V (m / min) V ∗ 10 3 = (r / min) L(mm / r ) L Assume that gear ratio is n, then rotation speed of motor is V ∗ 10 3 ∗ n (r / min) . L Since the encoder feedback signal from the motor is quadrature, and assume that the number of pulses per revolution of the motor is p, then the number of pulses per revolution to be set as 4p. Hence the setting of the velocity will be Vel = 1 V ∗ n ∗ 4 p ∗10 3 ( Pulse / min) ∗ (min/ µs ) ∗ t ( µs / ST ) L 60 ∗ 10 6 Vel = V ∗n∗4p ∗t ( Pulse / ST ) L ∗ 6 ∗ 10 4 For an open-loop control system of servomotor by using SV, SG, SP, SE and SD cards (the driver operates in the position control mode.), we have Assume that the multiplying coefficient of the pulse from the driver is m, and the number of pulse per revolution is m*p. Then the setting of velocity will be Vel = V ∗n∗m∗ p ∗t ( Pulse / ST ) L ∗ 6 ∗ 10 4 For an open-loop control system of step motor by using SV, SG, SP, SE and SD cards, we have Assume that the number of pulse per revolution is p, then the setting of the velocity will be Vel = V ∗n∗ p ∗t ( Pulse / ST ) L ∗ 6 ∗ 10 4 B.3 Setting of Acceleration For a close-loop control system of servomotor by using SV card (the driver operates in the velocity control mode.), we have Angular acceleration of the lead screw is a(m / s 2 ) a ∗ 10 3 = (r / s 2 ) L(mm / r ) L Denoted the gear ration by n, then the angular acceleration of motor is a ∗ 10 3 ∗ n (r / s 2 ) L Since the encoder feedback signal from the motor is quadrature, and assume that the number of pulses per revolution of the motor is p, then the number of pulses per revolution to be set as 4p. Hence the setting of the acceleration will be a ∗ n ∗ 4 p ∗10 3 1 acc = ( Pulse / s 2 ) ∗ L 10 6 ( ) 34 2 ( s 2 / µs 2 ) ∗ t 2 ( µs 2 / ST 2 ) Appendix B: Setting of Position, Velocity and Acceleration acc = a ∗n∗4p ∗t2 ( Pulse / ST 2 ) L ∗10 9 For an open-loop control system of servomotor by using SV, SG, SP, SE and SD cards (the driver operates in the position control mode.), we have Assume that the multiplying coefficient of the pulse from the driver is m, and the number of pulse per revolution is m*p. Then the setting of velocity will be acc = a ∗ n ∗ mp ∗ t 2 ( Pulse / ST 2 ) 9 L ∗ 10 For an open-loop control system of step motor by using SV, SG, SP, SE and SD cards, we have Assume that the number of pulse per revolution is p, then the setting of the velocity will be acc = a ∗n∗ p ∗t2 ( Pulse / ST 2 ) 9 L ∗ 10 Example 1: Assume that a close-loop control system of servo motor is controlled by a SV card and the driver operates in velocity control mode. Assume V=30m/min; a=10m/s2; s=100mm; n=1; P=2500 (Pulse/r); L=5mm/r; t=200us, then the setting of the acceleration and velocity of the controller will be Pos = Vel = 4 ∗ 2500 ∗ 100 = 200000( Pulse) 5 30 ∗ 1 ∗ 4 ∗ 2500 ∗ 200 = 200( Pulse / ST ) 5 ∗ 6 ∗ 10 4 10 ∗1 ∗ 4 ∗ 2500 ∗ 200 2 acc = = 0.8( Pulse / ST 2 ) 9 5 ∗10 Example 2: For an open-loop control system of servomotor controlled by SV, (or SG, SP, SE and SD) card, and the driver operates in position control mode. Assume V=30m/min; a=10m/s2; s=100mm; n=1; P=2500 (Pulse/r); L=5mm/r; t=200us, then the target position, acceleration and velocity of the controller will be Pos = Vel = 4 ∗ 2500 ∗ 100 = 200000( Pulse) 5 30 ∗ 1 ∗ 4 ∗ 2500 ∗ 200 = 200( Pulse / ST ) 5 ∗ 6 ∗ 10 4 35 Appendix B: Setting of Position, Velocity and Acceleration acc = 10 ∗1 ∗ 4 ∗ 2500 ∗ 200 2 = 0.8( Pulse / ST 2 ) 5 ∗109 Example: For an open-loop control system of step motor controlled by SV (or SG, SP, SE and SD) card, assume V=30m/min; p=2500(Pulse/r); s=100mm; n=1; L=5mm/r; a=10m/s2; t=200us,then the target position, acceleration and velocity of the controller will be Pos = 2500 ∗ 100 = 50000( Pulse) 5 Vel = 30 ∗ 1 ∗ 2500 ∗ 200 = 50( Pulse / ST ) 5 ∗ 6 ∗10 4 10 ∗1 ∗ 2500 ∗ 200 2 acc = = 0.2( Pulse / ST 2 ) 9 5 ∗10 36 Appendix C: Typical Connecting Appendix C: Typical Wiring C.1 Wiring diagram of Panasonic MSDA series driver in velocity control mode. Ter mi nal Boar d Dr i ver CN5、CN6、CN7、CN8 CN 1/ F OGND ALM0 ENABLE0 A0+ A0B0+ B0C0+ C0DAC0 GND GND OVCC RESET0 GND GND GND 1 2 3 17 4 18 5 19 6 7 8 9 10 11 12 13 14 15 16 20 21 22 23 24 25 41 37 29 21 22 48 49 23 24 36 14 COMALM+ SRV- ON OA+ OAOB+ OBOC+ OZALMSPR/ TRQR 15 GND 7 31 COM+ A- CLR Wi r i ng Di agr am of Panasoni c Dr i ver i n Vel oci t y Mode 37 Appendix C: Typical Connecting C.2 Wiring diagram of Panasonic MSDA series driver in position control mode. Ter mi nal Boar d Dr i ver CN5、CN6、CN7、CN8 CN 1/ F 1 2 3 17 4 18 5 19 6 7 8 GND 10 DI R0+ 9 DI R0- 22 PULSE0+ 23 PULSE0- 11 12 GND 13 OVCC 14 RESET0 15 16 GND 20 GND 21 GND 24 25 OGND ALM0 ENABLE0 A0+ A0B0+ B0C0+ C0- 41 37 29 21 22 48 49 23 24 36 COMALM+ SRV- ON OA+ OAOB+ OBOC+ OZALM- 15 5 6 3 4 GND SI GN1 SI GN2 PULS1 PULS2 7 31 COM+ A- CLR Wi r i ng Di agr am of Panasoni c Dr i ver i n Posi t i on Mode Note 1: For SG, SD and SE cards, the encoder feedback is not to be connected, and can be suspended. 38 Appendix C: Typical Connecting C.3 Wiring diagram of SANYO DENKI PV1 series driver in velocity control mode. Ter mi nal Boar d Dr i ver CN5、CN6、CN7、CN8 OGND ALM0 ENABLE0 A0+ A0B0+ B0C0+ C0DAC0 GND OVCC RESET0 CN 1 1 2 3 17 4 18 5 19 6 7 8 9 10 11 12 13 14 15 16 20 21 22 23 24 25 40 33 8 27 28 29 30 31 32 34 1 COM ALM+ SONA A B B C C ALMVCMD 2 SG 7 9 10 SON+ ARST+ ARST- Wi r i ng Di agr am of SANYO DENKI PV1 Dr i ver i n Vel oci t y Mode 39 Appendix C: Typical Connecting C.4 Wiring diagram of SANYO DENKI PV1 series driver in position control mode. Ter mi nal Boar d Dr i ver CN5、CN6、CN7、CN8 Not e 1 CN 1 1 2 3 17 4 18 5 19 6 7 8 GND 10 DI R0+ 9 DI R0- 22 PULSE0+ 23 PULSE0- 11 12 GND 13 OVCC 14 RESET0 15 16 GND 20 GND 21 GND 24 25 OGND ALM0 ENABLE0 A0+ A0B0+ B0C0+ C0- 40 33 8 27 28 29 30 31 32 34 COM ALM+ SONA A B B C C ALM- 2 3 4 5 6 SG PCP+ PCPNCP+ NCP- 7 9 10 SON+ ARST+ ARST- Wi r i ng Di agr am of SANYO DENKI PV1 Dr i ver i n Posi t i on Mode Note 1: For SG, SD and SE cards, the encoder feedback is not to be connected, and can be suspended. 40 Appendix C: Typical Connecting C.5 Wiring diagram of SANYO DENKI PY0/PY2 series driver in velocity control mode Ter mi nal Boar d Dr i ver CN5、CN6、CN7、CN8 OGND ALM0 ENABLE0 A0+ A0B0+ B0C0+ C0DAC0 GND OVCC RESET0 CN 1 1 2 3 17 4 18 5 19 6 7 8 9 10 11 12 13 14 15 16 20 21 22 23 24 25 24 43 37 3 4 5 6 7 8 DC12 t o 24V COM ALM1 SON A A B B C C 21 VCMD 12 SG 49 23 30 DC12 t o 24V DC12 t o 24V RST Wi r i ng Di agr am of SANYO DENKI PY0/ PY2 Dr i ver i n Vel oci t y Mode 41 Appendix C: Typical Connecting C.6 Wiring diagram of SANYO DENKI PY0/PY2 series driver in position control mode. Not e 1 Ter mi nal Boar d Dr i ver CN5、CN6、CN7、CN8 CN 1/ F 1 2 3 17 4 18 5 19 6 7 8 GND 10 DI R0+ 9 DI R0- 22 PULSE0+ 23 PULSE0- 11 12 GND 13 OVCC 14 RESET0 15 16 GND 20 GND 21 GND 24 25 24 43 37 3 4 5 6 7 8 OGND ALM0 ENABLE0 A0+ A0B0+ B0C0+ C0- 12 26 27 28 29 49 23 30 DC12 t o 24V COM ALM1 SON A A B B C C SG PPC PPC NPC NPC DC12 t o 24V DC12 t o 24V RST Wi r i ng Di agr am of SANYO DENKI PY0/ PY2 Dr i ver i n Posi t i on Mode Note 1: For SG, SD and SE cards, the encoder feedback is not to be connected, and can be suspended. 42 Appendix C: Typical Connecting C.7 Wiring diagram of SANYO DENKI PU series driver in velocity control mode. Ter mi nal Boar d Dr i ver CN5、CN6、CN7、CN8 OGND ALM0 ENABLE0 A0+ A0B0+ B0C0+ C0DAC0 GND OVCC RESET0 CN 1 1 2 3 17 4 18 5 19 6 7 8 9 10 11 12 13 14 15 16 20 21 22 23 24 25 12 11 6 30 29 32 31 34 33 COM ALM SON A A B B C C 19 SPEED 20 SG 3 5 7 DC12 t o 24V DC12 t o 24V RST Wi r i ng Di agr am of SANYO DENKI PU Dr i ver i n Vel oci t y Mode 43 Appendix C: Typical Connecting C.8 Wiring diagram of YASKAWA SERVOPACK series driver in velocity / torque control mode. Ter mi nal Boar d Dr i ver CN5、CN6、CN7、CN8 1CN 10 34 14 20 21 22 23 24 25 35 3 OGND 1 2 ALM0 ENABLE0 3 A0+ 17 A04 B0+ 18 B05 C0+ 19 6 C07 DAC0 8 9 GND 10 11 12 13 OVCC 14 RESET0 15 16 20 21 22 23 24 25 4 13 18 SG- COM ALM SV- ON PAO *PAO PBO *PBO PCO *PCO ALM- SG V- REF SG +24V ALM- RST Wi r i ng Di agr am of YASKAWA SERVOPACK SGDA- xxxS Ser i es Dr i ver i n Vel oci t y/ Tor que Mode 44 Appendix C: Typical Connecting C.9 Wiring diagram of YASKAWA SERVOPACK series driver in position control mode. Dr i ver Ter mi nal Boar d 1CN CN5、CN6、CN7、CN8 Not e 1 1 2 3 17 4 18 5 19 6 7 8 GND 10 DI R0+ 9 DI R0- 22 PULSE0+ 23 PULSE0- 11 12 GND 13 OVCC 14 RESET0 15 16 GND 20 GND 21 GND 24 25 OGND ALM0 ENABLE0 A0+ A0B0+ B0C0+ C0- 10 34 14 20 21 22 23 24 25 35 SG- COM ALM SV- ON PAO *PAO PBO *PBO PCO *PCO ALM- SG 19 3 4 1 2 SG0V SI GN *SI GN PULS *PULS 13 18 +24V ALM- RST Wi r i ng Di agr am of YASKAWA SERVOPACK SGDA- xxxP Ser i es Dr i ver i n Posi t i on Mode Note 1: For SG, SD and SE cards, the encoder feedback is not to be connected, and can be suspended. 45 Appendix C: Typical Connecting C.10 Wiring diagram of YASKAWA SGDE series driver in position control mode. Dr i ver Ter mi nal Boar d 1CN CN5、CN6、CN7、CN8 1 2 3 17 4 18 5 19 6 7 8 GND 10 DI R0+ 9 DI R0- 22 PULSE0+ 23 PULSE0- 11 12 GND 13 OVCC 14 RESET0 15 16 GND 20 GND 21 GND 24 25 OGND ALM0 ENABLE0 10 34 14 SG- COM ALM SV- ON 35 ALM- SG 36 3 4 1 2 SG0V SI GN *SI GN PULS *PULS 13 18 +24V ALM- RST Wi r i ng Di agr am of YASKAWA SERVOPACK SGDE- xxxP Ser i es Dr i ver i n Posi t i on Mode 46 Appendix E: Usage of GT Commander Appendix D Troubleshooting Table D.1 Troubleshooting Methods for Motion Controller Trouble After motion controller is installed, the host PC cannot start or other hardware equipment in the host PC cannot work normally. Error in communication between host PC and motion controller. The motor is out of control. Cause Action Addresses conflict. Reset base address selection switch according to Section 2.3 Chapter Two. Motion controller is not installed properly. Reinstall motion controller. Interrupt conflicts. Reset interrupt source selection jumper. ISA bus interface is damaged. Replace motion controller or computer or ISA slot and retry. See trouble that the host PC cannot start. Same as above. The chip of motion controller is damaged. Replace motion controller. Version of motion controller is not correct. Replace motion controller or Windows driver, function library and dynamic link library (DLL). Motion controller always receives limit status of positive limit switch and negative limit switch, i.e. the setting of effective level of limit switch is not correct. Reset the effective level of limit switch. Axis is closed Evoke GT_AxisOn() to open the axis. Motor driver triggered alarm signal Check cause of alarm. Reset motor driver. Motor controller has abnormal work status. Check status and change it. Wiring of motor is wrong. Check the wiring according to the wiring diagram in User Manual. Grounding is wrong. Checking grounding The torque of motor is too small. Check motor driver. Stepper motor lose t step. The output frequency of pulse is too high. Decrease motion speed and set running parameters according to specification of step motor used. Motor vibration The output frequency of pulse is too low. Increase motion speed and set running parameters according to the lowest frequency of the step motor used. 47 Appendix E: Usage of GT Commander When motor driver (without servo on signal) powered on, power on host PC will cause motor to move suddenly. Input/output status of motion controller is wrong. Motion controller is in uncertain status when power on and motor will receive signal from motion controller. Before power on host PC, make sure motor driver has been powered off. Incorrect wiring. Check wiring No external power is supplied. Check external power supply. Grounding is wrong. Connect grounding again. Input/output channel of motion controller is damaged. Replace motion controller. 48 Appendix E: Usage of GT Commander Appendix E Usage of GT Commander GT Commander is a program for the function demo and test of the motion controller. From this demo program, user can find a short way to quickly master the functions and commands of GT400 motion controller, and directly run the batch program of GT commands to implement simple motion control. TGT Commander R3.1 has ISA bus and PCI bus versions. It can be run in WINDOWS98 and WINDOWS2000.GTCmdISA.exe is applicable to the controller with ISA bus, i.e. GT-400-SV-ISA, GT-400-SG-ISA and GT-400-SP-ISA. GTCmdPCI.exe is applicable to the controllers with PCI bus, i.e. GT-400-SV-PCI, GT-400-SG-PCI and GT-400-SP-PCI. These two versions of execution program are almost same. The difference is that the methods of opening devices. The details will be given in the following. Before running GT Commander, make sure that the relevant driver has been installed correctly. Otherwise, GT Commander cannot start. Warning GTCmdISA.exe/GTCmdPCI.exe, GT400.dll, GTDll.dll, G.avi, GTCndLib.dll and Prog.dll must be located in the same directory. If any one of these six files is moved or deleted, the demo program cannot be run. E.1 GT Commander Windows and Basic Operation GT Commander demo program runs in a resolution of 800×600 (or above). When it running, the program will create a text document for user to edit document of GT command (*.cmd) or other plain text documents (*.txt,*.ini, etc.), and also open a control window. By setting “Options” in the dialog box, user can select to create a document or not, to open a control window or not, and to open which control window. The main windows of this program are illustrated as following. 49 Appendix E: Usage of GT Commander Fig. E-1 Software Starting Window Fig. E-2 Menus and Toolbars 50 Appendix E: Usage of GT Commander Fig. E-3 Status Window Fig. E-4 Axis-based Control (for SV Card) 51 Appendix E: Usage of GT Commander P Mode D Mode Fig. E-5 Axis-based Control (for SG Card) P Mode Fig. E-6 Axis-based Control (for SP Card) 52 D Mode Appendix E: Usage of GT Commander Fig. E-7 Control Based on Coordinate System Fig. E-8 Input/Output Control 53 Appendix E: Usage of GT Commander Fig. E-9 Edit and Run GT Commands Fig. E-10 Set Basis Parameters 54 Appendix E: Usage of GT Commander Fig. E-11 Options Fig. E-12 Status and Menu Fig. E-13 Menus 55 Appendix E: Usage of GT Commander E.1.1 Menus and Toolbars The File Management buttons are to open, save files and do other operations on file. The Clipboard buttons are to operate the clipboard. The File Window buttons are to rearrange the windows. The Control Window and Options window buttons are to display each control and option dialog boxes. The Running button is to run the GT batch program. The About and Exit buttons are to display the “About” window and exit the software. The menus are corresponding to all these buttons one by one. Please see Fig. E-2 and E-12. E.1.2 Display System Status After the software runs, the system status display Window will show the values and status of the status register, mode register and coordinate system status register of each axis of the motion controller, and display the positions of axis and coordinate system in real time. Please see Fig. E-3. E.1.3 Axis-based Control This window is to control a single axis. Generally the process of controlling a single control axis is as follows. Select the axis to be controlled. Set such parameters as those of servo filter (for SV card), motion mode, velocity, acceleration and target position. Tick Servo On/Off, clear the status, and update each parameter to start the motion of axis. The functions of SV, SG and SP models of control cards of GT400 series are different from each other. Please see Fig. E-4, E-5 and E-6. E.1.4 Control Based on Coordinate System This window is to control the motion in the coordinate system. When the system is in the coordinate system motion control mode, the process of controlling motion is as follows. First to make sure that the parameters of the filters of all the axes in the coordinated system have been set in the Axis-based Control window and all axes are on. Map coordinates in the “Map Coordinate” box. Input interpolation instruction into the “Interpolation Instruction” box and click “OK” to start interpolating motion immediately. Another way is to input interpolation instruction into the interpolation instruction buffer, and then start interpolating motion in the buffer. Please see Fig. E-7. E.1.5 Input/Output Control This window is for I/O control. Please see Fig. E-8. E.1.6 Edit and Run GT Commands User can program a GT command in this window to realize the batch processing of GT commands. Click “Run” and the software will check the command one line by another. When the command and parameters are all legal, the running will continue. If something is wrong, the software will stop at the statement having error. Note that, only one statement is allowed in a line. User may program GT command according to the sample program. Please see Fig. E-9. 56 Appendix E: Usage of GT Commander E.1.7 Set Basic Parameters This window is to set such parameters as the Effective voltage level of limit switches (LmtSns), encoder direction (EncSns), sampling period (SmplTm) and timer interrupt period (IntrTm), and also to open, close and reset the controller. For GT400 card with ISA bus, user must specify the base address and interrupt number of the controller. But for GT400 card with PCI bus, user does not need to set such parameters. User can install 16 PCI bus controllers into a PC but only two ISA bus controllers in a PC. Please see Fig. E-10. Since the effective voltage level of limit switch (LmtSns), encoder direction (EncSns), sampling period (SmplTm) and timer interrupt period (IntrTm), as well as card type, base address (for ISA card) and interrupt number (for ISA card) are all the basic parameters of the motion control system, it generally requires user to set them when starting the demo program each time. To make the use easy, the demo software saves the card No. 1 in the GTCmd.ini file, i.e. saving these basic parameters, and set these parameters automatically when the software starts. To change the basic parameters setting when starting the program, user may change the set value of relevant parameter in the GTCmd.ini file. E.1.8 Options This window is to specify whether to create a new file, open a control window or which control window to open when starting the program next time. Please see Fig. E-11. E.1.9 Status Column There is a status column at the bottom of the main window, consisting of four parts, to display the basic operation, GT command execution result, interrupt timer and interrupt status. Please see Fig. E-12. E.2 Operation Samples The following samples are based on the four-axis demo system. When referring to them, user should consider one’s own system condition. Notice E.2.1 Let Axis 3 to follow Axis 4 in the electrical gear motion mode with an electrical gear ratio of 0.3. Axis 4 rotates to CW direction by 300000 steps. • Start GT Commander. If the basic parameters setting automatically when starting the software are not consistent with the actual situation, open the Set Basic Parameters window to set proper basic parameters (the effective electrical level of journey switch and encoder direction). • Set Axis 3 in the axis control window. • Set the proportional gain as 10 in the “Set Servo Filter Parameters” box. (If it is a GT card 57 Appendix E: Usage of GT Commander of SG, skip this step.) • Set the motion mode as “Electrical Gear Mode”, “Master Axis” as Axis 4, and “Electrical Gear Ratio” as 0.3. Then click “OK”. • Click the option “Servo On” (SV Card)/”Axis On” (SG card) to make Axis 3 into the servo (open) status. • Click “Clear Status” to clear the event status of Axis 3. • Click “Update Parameters” to make the parameters of Axis 3 effective. • Select Axis 4 in the axis control window. • Set the proportional gain as 10 in the “Set Servo Filter Parameters” box. (If it is a GT card of SG, skip this step.) • Set the “Target Position” as 300000, “Velocity” as 10, and “Acceleration” as 1 in the T-curve page. • Click the option “Servo On” (SV Card)/”Axis On” (SG card) to make Axis 4 into the servo (open) status. • Click “Clear Status” to clear the event status of Axis 4. • Click “Update Parameters” to start the motion of Axis 4 and make Axis 3 follow Axis 4. E.2.2 Set Axis 1, 2 and 3 as Axis X, Y and Z to be Cartesian coordinate system and implement linear interpolated motion with four segments of line in the buffer. • Start GT Commander. If the basic parameters setting automatically when starting the program are not consistent with the actual situation, open the Set Basic Parameters window to set proper basic parameters (the effective voltage level of limit switch and encoder direction). • Set Axis 1 in the axis control window. • Set the proportional gain as 10 in the “Set Servo Filter Parameters” box. (If it is a GT card of SG, skip this step.) • Click the option “Servo On” (SV Card)/”Axis On” (SG card) to make Axis 1 into the servo (open) status. • Click “Update Parameters” to make the parameters of Axis 1 effective. • Click “Clear Status” to clear the event status of Axis 1. • For Axis 2 and 3, perform the same operations as above. • Click the “Control of Coordinate System” in the main window to enter the coordinate system motion control mode. • Check “Axis 1” in the “Map Coordinate” box. Input parameter 1 into the input box in front of “X+” and click “Make Effective” button. • Check “Axis 2” in the “Map Coordinate” box. Input parameter 1 into the input box in front of “Y+” and click “Make Effective” button. • Check “Axis 3” in the “Map Coordinate” box. Input parameter 1 into the input box in front of “Z+” and click “Make Effective” button. • Click “Start Buffer Command”. • Click the option “Set the start points XY(Z)Z” in the “Buffer Interpolation Status” box. • Input “X”: 0, “Y”: 0 and “Z”: 0 in the “Buffer Interpolation Status” box. Input 58 Appendix E: Usage of GT Commander “Synthesized Velocity”: 10 and “Synthesized Acceleration”: 0.5 in the “Interpolation Parameters” box. • Click “Set Start Points Effective”. • Check “Line Interpolation 3” in the “Select Interpolation Method” box and input “X-end point”: 400000, “Y-end point”: -600000 and “Z-end point”: 300000 into the “Interpolation Parameters” box. • Click “Confirm Interpolation Command” in the “Buffer Interpolation Status” box. • Check “Line Interpolation 2” in the “Select Interpolation Method” box and input “X-end point”: 200000 and “Y-end point”: -100000 into the “Interpolation Parameters” box. • Click “Confirm Interpolation Command” in the “Buffer Interpolation Status” box. • Check “XY(Z) – Arc Interpolation (Angel)” in the “Select Interpolation Method” box and input “X-circle center”: 100000 and “Y-circle center”: 0 and “Angle”: 80 into the “Interpolation Parameters” box. • Click “Confirm Interpolation Command” in the “Buffer Interpolation Status” box. • Check “XY(Z) – Arc Interpolation (End Point)” in the “Select Interpolation Method” box and input “Z-end point”: 0 and “Y-end point”: 0, “Radius”: 200000 and “Direction”: 1 into the “Interpolation Parameters” box. • Click “Confirm Interpolation Command” in the “Buffer Interpolation Status” box. • Click “End Buffer Input” in the “Buffer Interpolation Status” box. • Click “Execute Buffer Command” in the “Buffer Interpolation Status” box to start the interpolation motion in the buffer. This software contains several GT instruction batch program samples, which can be opened and executed directly in GT Commander. But pay attention to whether the basic parameters set are consistent with the actual system. If not, modify the program sample or start the initializing file GTCmd.ini for modification appropriately. E.3 Troubleshooting After user sending a series of instructions and the motor doesn’t move, check the following. 1. The positive and negative limit switches in the “Input Status and Information” box of the motor are triggered or not. If they are triggered, check whether the “Triggering Voltage Level of Limit Switch” is set correctly. Then check whether the limit switch of motor are really triggered or not and click “Clear Status” to clear the status of limit switch when 2. The proportional gain (Kp), integral gain (Ki), differential gain (Kd) in the “Set Servo Filter Parameters” of the motor are all set to 0 or not. If they are, reset them to the proper values. (For SV card.) 3. The parameters “Velocity” and “Acceleration” of the motor are all set to 0 or not. If they are, reset them to the proper values. 4. In the Status window, check whether there are other error and alarm status of the motor set as 1. Check and confirm that the motor and other relevant devices really have error or not. Click “Clear Status” to clear the relevant status symbols. 5. Contact Googol Technology. 59 Appendix E: Usage of GT Commander Googol Technology (HK) Ltd Address: Room 3639, Annex Building Hong Kong University of Science and Technology Hong Kong Tel: (852) 2358-1033 Fax: (852) 2358-4931 E-mail: [email protected] Web: http://www.googoltech.com/ Googol Technology (SZ) Ltd. Address: Room W211, IER Building, South Area, Shenzhen Hightech Industrial Park, Shenzhen, PRC Tel.: (0755) 2697-0823, 2697-0819, 2697-0824 Fax: (0755) 2697-0821 E-mail: [email protected] Web: http://www.googoltech.com.cn/ 60
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