Galil Motion Control DMC-4040 Operation & User’s Manual

180, The resulting functions derived above are illustrated by the block diagram of Figure 10.6. Figure 10.6: Mathematical model of the motor and amplifier in three operational modes Encoder The encoder generates N pulses per revolution. It outputs two signals, Channel A and B, which are in…

186, Galil Motion Control DMC-4040 In a similar manner, other filters can be programmed. The procedure is simplified by the following table, which summarizes the relationship between the various filters. Equivalent Filter Form - DMC-40x0 Digital D(z) =[K(z-A/z) + Cz/(z-1)]∙(1-B)/(Z-B) KP, KD, KI, PL K = (KP + KD) A = KD/(K…

183, G(s) = 50 + 0.98s = .098 (s+51) The system elements are shown in Figure 10.7. Figure 10.7: Mathematical model of the control system The open loop transfer function, A(s), is the product of all the elements in the loop. A(s) = 390,000 (s+51)/[s 2 (s+2000)] To analyze the system s…

147, Examples: DM speed[10] Dimension speed Array speed[0]=7650.2 Assigns the first element of the array, 'speed' the value 7650.2 speed[0]= Returns array element value posx[10]=_TPX Assigns the 10 th element of the array 'posx' the returned value from the tell position command. co…

119, Homing The Find Edge (FE) and Home (HM) instructions may be used to home the motor to a mechanical reference. This reference is connected to the Home input line. The HM command initializes the motor to the encoder index pulse in addition to the Home input. The configure command (CN) is…

81, The position tracking mode shouldn’t be confused with the contour mode. The contour mode allows the user to generate custom profiles by updating the reference position at a specific time rate. In this mode, the position can be updated randomly or at a fixed time rate, but the velocity…