User Manual - GT series Motion Controllers

User Manual - GT series Motion Controllers
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: support@googoltech.com
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.
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Appendix E: Usage of GT Commander
Fig. E-1 Software Starting Window
Fig. E-2 Menus and Toolbars
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Appendix E: Usage of GT Commander
Fig. E-3 Status Window
Fig. E-4 Axis-based Control (for SV Card)
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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
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Appendix E: Usage of GT Commander
Fig. E-9 Edit and Run GT Commands
Fig. E-10 Set Basis Parameters
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Appendix E: Usage of GT Commander
Fig. E-11 Options
Fig. E-12 Status and Menu
Fig. E-13 Menus
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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.
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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
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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
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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.
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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:
info@googoltech.com
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:
support@googoltech.com
Web:
http://www.googoltech.com.cn/
60
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