Preliminary C. Harper
5/30/00
1.
Plug
in the PC Laptop’s power cord and the cable from the Laptop to the Galil
Controller’s Main Serial connector.
2.
Connect
the Amplifier cable from the stage. Plug in the Controller power cord and the
Amplifier power cord.
3.
Connect
the J1 cable to the stage and the red and black power connectors to the motor,
red to red and black to black.
4.
Power
on the PC and the Controller. Reset the Controller by pushing the small reset button
near the Controller power on light.
Instructions can also be found in Galil_Scope on the main window. The Galil prompt is “:”
1.
Double
click on the “Galil WSDK” icon to
bring up the Servo Design Kit.
2.
Highlight
“Controller 1”, then OK.
3.
Click
on Terminal to bring up a Terminal
window.
4.
STx
will stop any programs that may be running. Always do a STx after resetting the
controller.
5.
Either
write your own motion control program or load one in. Programs can be found on
the Laptop’s C drive in WSKD or on the Osborne Torque Tests floppy.
-To load from a floppy: In the Terminal window
choose the File menu, then Download File and use the file arrow
button to move to the floppy drive level. The File Type should be *.dmc. Highlight the program and click on Open.
-To load from the C drive: In the Terminal window
choose the File menu, then Download File. In the WSDK file highlight the program, then click on Open.
Sample programs:
Jog_Minus.dmc Jog_Plus.dmc
VF10.4 VF10.4
CN-1 CN-1
SHX SHX
JG -50000 JG 50000
BGX BGX
EN EN
6.
If
there’s no motion you may need to change CN-1 to CN1 in the program and check
to be sure that you are using the correct axis designation. SHX, JG xxxxx and
BGX specify the X axis only. To specify the E axis use SHE; JG,,,,50000; BGE.
Controller 1 uses CN1 for axes A - D and CN-1 for axes E – H.
-Use the Editor in the Terminal window to change the
program. Choose File and Upload from Controller from the Editor
window. Enter program changes then
choose the File menu and Download to Controller. Close the Editor window.
-A message will appear: “The DMC file has changed.
Do you wish to save changes
before exiting?” NO
7.
You
are now back in the Terminal window. Use LS to verify which program was
downloaded into the controller. XQ will execute the program that was downloaded
into the Controller. Use ST to stop the program.
C.
To Run Torque Tests
Torque tests will be run at various position angles.
1.
First
load the program that you want to run. Download it to the Controller. Close the
Terminal window.
2.
In
the Galil WSKD window click on the Storage
Scopes button and set up for torque tests:
Primary Data:
(Axis) vs. time (A
– D axes = X,Y,Z and W on the Axis menu)
Torque
Check “Collecting for Secondary” box.
Secondary Data:
(Axis) vs. time
Actual Position
Command String: XQ
Check “Stop After Scope Parameters” box.
3.
Click
on the Edit menu, then Storage Scope Parameters. For full range
of travel set
the points
to 2000 and the period to 256ms.
Otherwise determine the length of travel
by multiplying the points x period. Click on Save.
Click in the
Start Collecting box. The movement
will stop after the upload is
complete. A
graph will be displayed showing Torque and Position data.
4. Record the position angle, file name, date
and misc. notes
5.
Transfer
to disk by:
In the Storage Scope menu choose the File menu, then Save Scope Data As…Move to the correct file storage area by
clicking on the arrow in the Save in:
box and highlighting “3 ½ Floppy {A;}” The floppy files will be displayed in
the lower box and “3 ½ Floppy {A;}” will be displayed in the Save In box.
Enter:
File name:
Save as: .txt file
Save as Type: Test (*.txt)
6.
Check
to see that the program was transferred to the floppy by bringing up “My
Computer”, then double clicking on “3 ½ Floppy
{A;}”. The file will be displayed.
7.
Exit
the WSDK program before powering down the Controller.
Power
down Galil before changing axis cable. Use previous motion control programs or
write your own. These tests will be run at various position angles and speeds.
1.
Forward
and Reverse Limits test:
ST stops any running programs
SHx turns motor on axis x
JG xxxxx sets speed and direction, test
in both the forward and reverse direction. i.e. A axis JG 2000, E axis
JG,,,,2000
BGx tells which axis to move and in what
direction.
The motor should stop when you trip the limit
switch. Test in both the positive and negative directions.
2.
Fiducial
Test:
First test the fiducial by manually blocking the LED
before running the program. Use the TSx command before and after blocking the
LED to show if the fiducial is detecting a change of state. If the numbers
don’t change try changing the CN parameters.
SHx
CN -1,1 configures the polarity of the limit
switches and the home switch
CB x enables fiducial, x is different for each axis
i.e. A axis x = 1, E axis x = 9
JG +- xxxx use if you need to move out of the
fiducial
STx stop at desired location
FEx find edge, x = axis
BGx begin motion on axis x
TPx tell position, used to compare position
changes
When the fiducial diode
detects an edge motion will stop. To reverse direction, block
The fiducial diode. Motion
will stop when the diode is no longer blocked.
Troubleshooting Tips:
-Use the TSx command to tell if the diode is detecting a light change and changing states. i.e. On the B axis, TSB will show 015 and will change to 013 after it changes states and another TSB command is given.
-If movement is in the wrong direction try changing the CN settings.
-Change CN settings if “Begin not possible due to limit switch” error message comes up. i.e. CN 1 or CN –1.
-MG@IN[1] queries secondary limit input bit. “1” means it’s out of limit
-If the scaling factor is off in the graph set VF10.4 in the program.