Galil Motion Control CDS-3310 User manual

USER MANUAL
CDS-3310
Manual Rev. 1.0f
By Galil Motion Control, Inc.
Galil Motion Control, Inc.
270 Technology Way
Rocklin, California 95765
Phone: [phone]
Fax: [phone]
E-mail Address: [email protected]
URL: www.galilmc.com
Rev 01/10

Using This Manual
This user manual provides information for proper operation of the CDS-3310 controller. A separate
manual, the Command Reference, contains a description of the commands available for use with this
controller.
Users of a 1-4 axis system should note that axes are labeled XYZW.
Users of a 1-8 axis system should note that axes are labeled A,B,C,D,E,F,G,H. The axes A,B,C,D may
be used interchangeably with X, Y, Z, W.
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 machine. Galil shall not be liable or
responsible for any incidental or consequential damages.

CDS-3310 Chapter 1 Overviewyi
ContentsContents i
Chapter 1 Overview 1
Introduction ...............................................................................................................................1
Amplifier Specifications............................................................................................................2
CDS-3310 Functional Elements ................................................................................................ 3
Microcomputer Section ...............................................................................................3
Motor Interface............................................................................................................3
Communication ...........................................................................................................3
General I/O..................................................................................................................3
System Elements .........................................................................................................4
Motor...........................................................................................................................4
Amplifier (Driver) .......................................................................................................4
Encoder........................................................................................................................4
Watch Dog Timer........................................................................................................5
Chapter 2 Getting Started 6
CDS-3310 Layout and Dimensions ...........................................................................................7
Recommended Components ......................................................................................................7
Installing the CDS-3310 ............................................................................................................8
Step 1. Install Jumpers on the CDS-3310....................................................................8
Step 2. Connect 18 to 72 VDC Power to the Controller.............................................. 9
Step 3. Install Windows Communication Software.....................................................9
Step 4. Establish Communication..............................................................................10
Step 5. Make Connections to Encoder....................................................................... 11
Step 6. Configure Amplifier ......................................................................................11
Step 7a. Connect Brush Servo Motor ........................................................................ 12
Step 7b. Connect Brushless Servo Motor .................................................................. 12
Step 8. Close the Loop...............................................................................................13
Step 9. Tune the Servo System.................................................................................. 14
Design Examples .....................................................................................................................15
System Set-up............................................................................................................15
Profiled Move............................................................................................................15
Position Interrogation ................................................................................................15
Absolute Position ......................................................................................................15
Velocity Control ........................................................................................................ 16
Operation Under Torque Limit..................................................................................16
Interrogation ..............................................................................................................16
Motion Programs with Loops....................................................................................16
Control Variables ......................................................................................................17
Chapter 3 Connecting I/O 19
Overview .................................................................................................................................19
Inputs .......................................................................................................................................19
General Use Digital Inputs ........................................................................................ 19
Limit Switch Inputs ................................................................................................... 19
Home Switch Input....................................................................................................20
Abort Input ................................................................................................................21
Reset Input................................................................................................................. 21
Auxiliary Encoder Inputs ..........................................................................................21
Analog Inputs ............................................................................................................22
Outputs.....................................................................................................................................22

ii •Chapter 1 Overview CDS-3310
General Use Digital Outputs......................................................................................22
Amp Enable...............................................................................................................22
Output Compare ........................................................................................................22
Error Output .............................................................................................................. 22
Brake Output ............................................................................................................. 23
Analog Output ........................................................................................................... 23
Chapter 4 Communication 25
Introduction .............................................................................................................................25
RS232 Port...............................................................................................................................25
Ethernet Configuration ............................................................................................................25
Communication Protocols .........................................................................................25
Addressing.................................................................................................................25
Communicating with Multiple Devices (Handles) ....................................................26
Modbus...................................................................................................................... 27
Multicasting...............................................................................................................28
Using Third Party Software.......................................................................................28
Data Record .............................................................................................................................29
Data Record Map....................................................................................................... 29
Explanation of Status and Axis Switch Information .................................................32
Notes Regarding Velocity and Torque Information ..................................................33
QZ Command............................................................................................................ 33
Controller Response to Commands .........................................................................................33
Unsolicited Messages Generated by Controller....................................................................... 33
Galil Software Tools and Libraries.......................................................................................... 34
Chapter 5 Command Basics 35
Introduction .............................................................................................................................35
Command Syntax - ASCII....................................................................................................... 35
Command Syntax - Binary ......................................................................................................37
Binary Command Format.......................................................................................... 37
Binary command table...............................................................................................38
Controller Response to DATA ................................................................................................39
Interrogating the Controller .....................................................................................................39
Interrogation Commands ........................................................................................... 39
Summary of Interrogation Commands ...................................................................... 40
Interrogating Current Commanded Values................................................................ 40
Operands....................................................................................................................40
Chapter 6 Programming Motion 41
Overview .................................................................................................................................41
Independent Axis Positioning..................................................................................................42
Command Summary - Independent Axis ..................................................................42
Operand Summary - Independent Axis .....................................................................43
Examples ...................................................................................................................43
Independent Jogging................................................................................................................ 44
Command Summary - Jogging..................................................................................45
Operand Summary - Independent Axis .....................................................................45
Examples ...................................................................................................................45
Position Tracking.....................................................................................................................46
Example Motion 1:....................................................................................................47
Example Motion 2:....................................................................................................47
Example Motion 3:....................................................................................................48
Trip Points ................................................................................................................. 49

CDS-3310 Chapter 1 Overviewyiii
Command Summary – Position Tracking Mode ....................................................... 49
Electronic Gearing ...................................................................................................................50
Ramped Gearing ......................................................................................................................50
Example – Electronic Gearing Over a Specified Interval.......................................... 51
Command Summary - Electronic Gearing ................................................................52
Electronic Cam ........................................................................................................................ 53
Contour Mode............................................................................................................................4
Specifying Contour Segments .....................................................................................4
Additional Commands.................................................................................................5
Command Summary - Contour Mode ......................................................................... 6
General Velocity Profiles ............................................................................................ 6
Example.......................................................................................................................6
Virtual Axis ...............................................................................................................................9
Dual Loop (Auxiliary Encoder).................................................................................................9
Additional Commands for the Auxiliary Encoder.......................................................9
Backlash Compensation ............................................................................................10
Example.....................................................................................................................10
Motion Smoothing...................................................................................................................11
Using the IT Command: ............................................................................................11
Example.....................................................................................................................12
Homing ....................................................................................................................................13
Example.....................................................................................................................13
Command Summary - Homing Operation................................................................. 15
Operand Summary - Homing Operation....................................................................15
High Speed Position Capture (The Latch Function)................................................................15
Example.....................................................................................................................15
Chapter 7 Application Programming 16
Overview .................................................................................................................................16
Using the DOS Editor to Enter Programs ................................................................................16
Edit Mode Commands...............................................................................................17
Example.....................................................................................................................17
Program Format.......................................................................................................................18
Using Labels in Programs .........................................................................................18
Special Labels............................................................................................................18
Commenting Programs.............................................................................................. 19
Executing Programs - Multitasking .........................................................................................19
Debugging Programs ...............................................................................................................20
Trace Command ........................................................................................................20
Error Code Command................................................................................................21
Stop Code Command.................................................................................................21
RAM Memory Interrogation Commands ..................................................................21
Operands....................................................................................................................21
Example..................................................................................................................... 22
Program Flow Commands .......................................................................................................22
Event Triggers & Trippoints......................................................................................22
Conditional Jumps.....................................................................................................26
IF, ELSE, AND ENDIF.............................................................................................28
Subroutines................................................................................................................ 29
Stack Manipulation....................................................................................................30
Auto-Start Routine ....................................................................................................30
Automatic Subroutines for Monitoring Conditions................................................... 30
Mathematical and Functional Expressions ..............................................................................35
Mathematical Operators ............................................................................................35
Bit-Wise Operators.................................................................................................... 35

iv •Chapter 1 Overview CDS-3310
Functions ................................................................................................................... 36
Variables..................................................................................................................................37
Programmable Variables ...........................................................................................37
Operands..................................................................................................................................38
Common Operands.................................................................................................... 38
Arrays ......................................................................................................................................39
Defining Arrays......................................................................................................... 39
Assignment of Array Entries .....................................................................................39
Uploading and Downloading Arrays to On Board Memory......................................40
Automatic Data Capture into Arrays ......................................................................... 40
Deallocating Array Space.......................................................................................... 42
Input of Data (Numeric and String—Serial Port Only) ...........................................................42
Input of Data..............................................................................................................42
Operator Data Entry Mode ........................................................................................ 43
Communication Interrupt ..........................................................................................43
String Variables.........................................................................................................45
Output of Data (Numeric and String) ......................................................................................45
Sending Messages .....................................................................................................45
Displaying Variables and Arrays...............................................................................46
Interrogation Commands ........................................................................................... 47
Formatting Variables and Array Elements ................................................................48
Converting to User Units........................................................................................... 49
Hardware I/O ...........................................................................................................................50
Digital Outputs ..........................................................................................................50
Digital Inputs............................................................................................................. 51
Analog Inputs ............................................................................................................51
Analog Output ........................................................................................................... 52
The Auxiliary Encoder Inputs ................................................................................... 52
Input Interrupt Function ............................................................................................ 53
Extended I/O of the CDS-3310 Controller ..............................................................................53
Configuring the I/O of the CDS-3310 .......................................................................54
Saving the State of the Outputs in Non-Volatile Memory.........................................54
Accessing Extended I/O ............................................................................................ 54
Example Applications..............................................................................................................55
Wire Cutter................................................................................................................55
Backlash Compensation by Sampled Dual-Loop ......................................................56
Chapter 8 Hardware & Software Protection 58
Introduction .............................................................................................................................58
Hardware Protection ................................................................................................................58
Output Protection Lines............................................................................................. 58
Input Protection Lines ............................................................................................... 59
Amplifier Status LED’s.............................................................................................59
Software Protection .................................................................................................................59
Programmable Position Limits ..................................................................................60
Off-On-Error .............................................................................................................60
Automatic Error Routine ........................................................................................... 60
Limit Switch Routine ................................................................................................61
Amplifier Error Routine ............................................................................................ 62
Chapter 9 Troubleshooting 64
Overview .................................................................................................................................64
Installation ...............................................................................................................................64
Communication........................................................................................................................65

CDS-3310 Chapter 1 Overviewyv
Stability.................................................................................................................................... 65
Operation .................................................................................................................................65
Chapter 10 Theory of Operation 66
Overview .................................................................................................................................66
Operation of Closed-Loop Systems ......................................................................................... 68
System Modeling.....................................................................................................................69
Motor-Amplifier........................................................................................................70
Encoder......................................................................................................................70
DAC ..........................................................................................................................70
Digital Filter ..............................................................................................................70
ZOH...........................................................................................................................72
System Analysis.......................................................................................................................72
System Design and Compensation...........................................................................................74
The Analytical Method.............................................................................................. 74
Chapter 11 Distributed Control 78
Overview .................................................................................................................................78
Configuring Distributed Control..............................................................................................78
Configuration Example............................................................................................................79
Manual Slave IP Configuration ...............................................................................................79
Global versus Local Commands..............................................................................................80
Global Commands..................................................................................................... 80
Local Commands....................................................................................................... 81
Accessing the I/O of the Slaves ...............................................................................................81
Appendices 82
Electrical Specifications ..........................................................................................................82
Servo Control ............................................................................................................82
Input / Output ............................................................................................................82
Power......................................................................................................................... 82
Performance Specifications .....................................................................................................83
Connectors for CDS-3310 ....................................................................................................... 84
J1 MOTOR Output 4-pin AMP Universal Mate-N-Lok............................................84
J2 ENCODER 15-PIN Hi-density Female D-sub...................................................... 84
J3 I/O 37-pin Female D-sub ......................................................................................84
J4 RS-232 Serial Port ................................................................................................85
J5 POWER 2-pin AMP Universal Mate-N-Lok........................................................85
J8 100Base-T Ethernet .............................................................................................. 85
Mating Connectors ....................................................................................................85
Pin-Out Description for CDS-3310 .........................................................................................86
Jumper Description for CDS-3310 ..........................................................................................87
Accessories and Options..........................................................................................................87
ICM-3300 ................................................................................................................................89
Opto Isolation Settings ..............................................................................................89
Input Isolation............................................................................................................90
Output Isolation......................................................................................................... 91
Screw Terminal Description......................................................................................92
SR-19900 .................................................................................................................................93
Introduction ...............................................................................................................93
Layout........................................................................................................................94
Pinout ........................................................................................................................94
Configuration.............................................................................................................94
DB-28040 ................................................................................................................................95

vi •Chapter 1 Overview CDS-3310
Introduction ...............................................................................................................95
Electrical Specifications ............................................................................................95
16 bit Analog Inputs.................................................................................................. 95
Interfacing to the Digital I/O ..................................................................................... 95
Using Opto-22 G4 Series Racks with DB-28040 ......................................................95
Pinout ........................................................................................................................96
Layout........................................................................................................................97
CABLE-15-1m ........................................................................................................................98
Communicating with OPTO-22 SNAP-B3000-ENET ............................................................98
List of Other Publications......................................................................................................100
Training Seminars.................................................................................................................. 100
Contacting Us ........................................................................................................................ 101
WARRANTY ........................................................................................................................102
Index 103

CDS-3310 Chapter 1 Overview i1
Chapter 1 Overview
Introduction
The Galil CDS-3310 controller/drive system is a single-axis integrated Ethernet controller and
brush/brushless amplifier (18-72 VDC, 7 A continuous, 10 A peak) that can be used in one of several
ways, depending on how many total machine axes need to be controlled:
Machine
Axes Mode Communication Commands
1 The CDS-3310 is used by itself for single axis applications n/a
1.5 The CDS-3310 is used by itself in conjunction with its second
encoder input for gearing, backlash compensation, or reading a hand
wheel.
n/a
2 to 8 The CDS-3310 is used in conjunction with up to 7 other CDS-
3310s. In this “distributed” mode of operation, programming is
simplified because multiple controllers behave as a single multi-axis
controller. Only the master controller requires an application
program and/or the host PC communicates only with the master
controller.
HA, HC
(see Chapter 11)
2 or more The CDS-3310 is used in conjunction with one or more Galil DMC-
14x5, 21x2/3, 22x0 or CDS-3310 Ethernet controllers. In this mode
of operation, each controller must contain it’s own application
program and/or a host PC must communicate with each controller
individually. The number of controllers (and axes) that can be
linked together via Ethernet is only limited by the number of IP
addressed available. Controllers communicate with each other via
the SA command. Groups of axes that are “tightly coupled” via
vector mode (VM), linear interpolation (LM), multi-axis gearing
(GA), or multi-axis camming (EA) must be grouped onto multi-axis
controllers.
IH, SA
Each CDS-3310 provides two communication channels: RS-232 (up to 19.2K Baud) and 10/100BaseT
Ethernet. The serial port may be replaced with a USB port as a factory option.
A 4Meg Flash EEPROM provides non-volatile memory for storing application programs, parameters,
arrays and firmware. New firmware revisions are easily upgraded in the field.
Designed to solve complex motion problems, the CDS-3310 can be used for applications involving
jogging, point-to-point positioning, electronic gearing to an encoder, multiple move sequences, and
contouring. The controller eliminates jerk by programmable acceleration and deceleration with profile

2 iChapter 1 Overview CDS-3310
smoothing. For smooth following of complex contours, the CDS-3310 provides continuous feed of an
infinite number of linear segments (contour mode).
For synchronization with outside events, the CDS-3310 provides uncommitted I/O, including 8 digital
inputs, 10 digital outputs, 2 analog intputs (0-5V) and one analog output (-10V to 10V). When the
DB-28040 is added to the controller, the CDS-3310 has 8 analog inputs and an additional 40 digital
I/O. Dedicated TTL inputs are provided for forward and reverse limit switches, a home switch, and
abort.
Commands can be sent in either Binary or ASCII. Additional software is available for automatic-
tuning, trajectory viewing on a PC screen, and program development using many environments such as
Visual Basic, C, C++ etc. Drivers for DOS, Linux, QNX, Windows 3.1, 95, 98, 2000, ME, NT and XP
are available.
Amplifier Specifications
The CDS-3310 integrated amplifier is a brush/brushless trans-conductance PWM amplifier. The
amplifier operates in torque mode, and will output a motor current proportional to the command signal
input from the controller. For high current applications (near 7 amps continuous), the metal enclosure
should be mounted to metal backing to dissipate heat
*Note: *Do not “hot swap” the motor power connections. If the amp is enabled when the motor
connector is connected or disconnected, damage to the amplifier can occur. Galil recommends
powering the controller and amplifier down before changing the connector.
Supply Voltage: 18-72 VDC
Continuous Current: 7 Amps
Peak Current 10 Amps
Amplifier Gain 0.4, 0.7, or 1.0 A/V (selectable via AG command)
Switching Frequency 60 kHz
Minimum Load Inductance: 0.5 mH
Brushless Motor Commutation angle 120°

CDS-3310 Chapter 1 Overview i3
CDS-3310 Functional Elements
The CDS-3310 controller circuitry can be divided into the following functional groups as shown in
Figure 1.1 and discussed below.
Figure 1.1 - CDS-3310 Functional Elements
Microcomputer Section
The main processing unit of the CDS-3310 is a specialized 32-Bit Motorola 68331 Series
Microcomputer with 4 Meg RAM and 4 Meg Flash EEPROM. The RAM provides memory for
variables, array elements and application programs. The flash EEPROM provides non-volatile storage
of variables, programs, and arrays. It also contains the CDS-3310 firmware.
Motor Interface
Galil’s GL-1800 custom, sub-micron gate array performs quadrature decoding of each encoder at up to
12 MHz. For standard servo operation, the controller generates a +/-10 Volt analog signal (16 Bit
DAC).
Communication
The communication interface with the CDS-3310 consists of a RS-232 port and 10/100 BaseT Ethernet
port. The RS-232 channel can generate up to 19.2Kbaud.
General I/O
The CDS-3310 provides interface circuitry for 8 TTL inputs and 10 TTL outputs. The CDS-3310 also
has an additional 40 I/O daughterboard (DB-28040) that can be ordered as an option. General input 1
can also be used a the high speed position latch. A high speed encoder compare output is also
provided.

4 iChapter 1 Overview CDS-3310
System Elements
As shown in Fig. 1.2, the CDS-3310 controller and drive system is part of a motion control system,
which includes motors and encoders. These elements are described below.
Figure 1.2 - Elements of Servo systems
Motor
A motor converts current into torque, which produces motion. Each axis of motion requires a motor
sized properly to move the load at the required speed and acceleration. The Galil "Motion Component
Selector" software can help with motor sizing. Contact Galil at 800-377-6329 if you would like this
product.
The motor may be a servo motor and can be brush-type or brushless, rotary or linear.
Amplifier (Driver)
The power amplifier converts a +/-10 Volt signal from the controller into current to drive the motor.
The amplifier should be sized properly to meet the power requirements of the motor. The amplifiers is
pulse-width-modulated (PWM). The amplifier gain (AG) should be set such that a 10 Volt command
generates the maximum required current. For example, if the motor peak current is 10A, the amplifier
gain should be 1 A/V.
Encoder
An encoder translates motion into electrical pulses which are fed back into the controller. The CDS-
3310 accepts feedback from either a rotary or linear encoder. Typical encoders provide two channels in
quadrature, known as CHA and CHB. This type of encoder is known as a quadrature encoder.
Quadrature encoders may be either single-ended (CHA and CHB) or differential (CHA,CHA- and
CHB,CHB-). The CDS-3310 decodes either type into quadrature states or four times the number of
cycles. Encoders may also have a third channel (or index) for synchronization.
There is no limit on encoder line density, however, the input frequency to the controller must not
exceed 3,000,000 full encoder cycles/second (12,000,000 quadrature counts/sec). For example, if the
encoder line density is 10000 cycles per inch, the maximum speed is 300 inches/second. If higher
encoder frequency is required, please consult the factory.
The standard voltage level is TTL (zero to five volts), however, voltage levels up to 12 Volts are
acceptable. (If using differential signals, 12 Volts can be input directly to the CDS-3310. Single-
ended 12 Volt signals require a bias voltage input to the complementary inputs).
Com
p
uter Controller
A
m
p
lifier
Power Su
pp
l
y
MotorEncoder
CDS-3310

CDS-3310 Chapter 1 Overview i5
To interface with other types of position sensors such as resolvers or absolute encoders, Galil can
customize the controller and command set. Please contact Galil and talk to one of our applications
engineers about your particular system requirements.
Watch Dog Timer
The CDS-3310 provides an internal watch dog timer which checks for proper microprocessor
operation. The timer toggles the Amplifier Enable Output (AMPEN) which can be used to switch the
amplifier off in the event of a serious CDS-3310 failure. The AMPEN output is normally high.
During power-up and if the microprocessor ceases to function properly, the AMPEN output will go
low. The error light will also turn on at this stage. A reset is required to restore the CDS-3310 to
normal operation. Consult the factory for a Return Materials Authorization (RMA) Number if your
CDS-3310 is damaged.

6 iChapter 2 Getting Started CDS-3310
Chapter 2 Getting Started
This section describes how to begin communicating with a single controller and how to begin
controlling a single motor.

CDS-3310 Chapter 2 Getting Started i7
CDS-3310 Layout and Dimensions
Figure 2-6 - CDS-3310
Recommended Components
For a complete system, Galil recommends the following elements:
1. CDS-3310 Motion Controller
2. ICM-3300 interconnect module with screw terminals and opto-isolation
3. Power Supply
4. Brush or Brushless Servo motor with Incremental Encoder

8 iChapter 2 Getting Started CDS-3310
5. PC (Personal Computer - RS232 or Ethernet for CDS-3310)
6a. WSDK-32 (recommend for first time users.)
or
6b. Galil SmartTerminal communication software.
Software is available for download at http://www.galilmc.com/support/download.html.
Installing the CDS-3310
Step 1. Install jumpers on the CDS-3310
Step 2. Connect 18-72 VDC power to controller
Step 3. Install Windows communication software
Step 4. Establish communication
Step 5. Make connections to encoder
Step 6. Configure Amplifier
Step 7a. Connect brush servo motor
or
Step 7b. Connect brushless servo motor
Step 8. Close the Loop
Step 9. Tune the servo system
Step 1. Install Jumpers on the CDS-3310
Ethernet Speed (10B)
Install this jumper to force the Ethernet communication rate to 10 megabits per second. If the jumper
is removed, the controller will auto negotiate either 10 or 100 megabits per second. This feature is
available on CDS-3310 revision B or higher.
Master Reset (MRST)
When MRST is connected, the controller will perform a master reset upon power up or upon the reset
input going low. Whenever the controller has a master reset, all programs, arrays, variables, and
motion control parameters stored in EEPROM will be ERASED.

CDS-3310 Chapter 2 Getting Started i9
Upgrade Jumper (UPGD)
The UPGRD jumper enables the user to unconditionally update the controller’s firmware. This jumper
is not necessary for firmware updates when the controller is operating normally, but may be necessary
in cases of corrupted EEPROM (e.g. power failure during a firmware update). If EEPROM corruption
occurs, your controller may not operate properly. In this case, install the UPGRD Jumper and use the
update firmware function on the Galil Terminal to re-load the system firmware.
Serial Port Baud Rate (9600)
The following table describes the baud rate settings:
9600 BAUD RATE
ON 9600
OFF 19200
Motor Off Jumper (MO)
The state of the motor upon power up may be selected with the placement of a hardware jumper on the
controller. With a jumper installed at the MO location, the controller will be powered up in the “motor
off” state. The SH command will need to be issued in order for the motor to be enabled. With no
jumper installed, the controller will immediately enable the motor upon power up. The MO command
will need to be issued to turn the motor off.
Option (OPT)
Reserved
Step 2. Connect 18 to 72 VDC Power to the Controller
Connect power to the connector labeled J5 POWER. You will need to crimp two pins onto the
appropriate gage wire and insert the pins into an AMP mate-n-lock II connector.
Location Mating Connector Terminal Pins
J5 POWER (2-pin) AMP# 172165-1 AMP# 170361-1
Connect the positive lead of your DC power supply to the pin labeled VDC on J5 and the negative lead
to GND. Serious damage will occur if the power supply is incorrectly wired. The green power light
indicator should go on when power is applied. Disconnect power when making wiring changes.
WARNING: Dangerous voltages, current, temperatures and energy levels exist in this product and
the associated amplifiers and servo motor(s). Extreme caution should be exercised in the
application of this equipment. Only qualified individuals should attempt to install, set up and
operate this equipment.
Step 3. Install Windows Communication Software
After applying power to the computer, you should install the Galil software that enables
communication between the controller and PC. The following instructions apply to Windows 98
second edition, NT, ME, 2000 or XP. To install the basic communications software, run the Galil

10 iChapter 2 Getting Started CDS-3310
Software CD-ROM and choose “DMCSmartTerm”. This will install the Galil Smart Terminal, which
can be used for communication and programming of the controller.
Step 4. Establish Communication
In order for the Windows software to communicate with a Galil controller, the controller must
be registered in the Windows Registry. The registry is accessed through the Galil software,
such as WSDK or Galil Smart Terminal.
The registry window is equipped with buttons to Add a New Controller, change the Properties
of an existing controller, Delete a controller, or Find an Ethernet Controller.
Step A1. Register a Serial Controller
Connect the CDS-3310 serial port to your computer via the Galil CABLE-9PIN-D (RS-232
“Straight Through” Serial Cable-- NOT Null Modem). The serial port is configured for full
duplex, no parity, 8 data bits, one start bit, one stop bit, and hardware handshaking. See
appendix for pin-out of serial cable
Use the New Controller button to add a new entry to the Registry. You will need to supply the
Galil Controller model (e.g. CDS-3310). You then need to choose serial or Ethernet
connection. The registry information will show a default Comm Port of 1 and a default
Comm Speed of 19200 appears. This information can be changed as necessary to reflect the
computer Comm Port and the baud rate set by the controller's IDC jumper (default is 19200).
Step A2. Register an Ethernet Controller
Use the Find Ethernet Controller button to have the software search for controllers connected to
the network. If an IP address has not been assigned to the controller, click on Set IP Address
and follow the directions on the screen. Refer to application note 4422 if you are having
trouble.
Step B. Send Test Commands to the Terminal
Once the controller has been registered, select the correct controller from the list and click on OK.
If the software successfully established communications with the controller, the registry entry
will be displayed at the bottom of the screen in the Status window.
After you connect your terminal, press <return> or the <enter> key on your keyboard. In response
to carriage return <return>, the controller responds with a colon. :
Now type
TPA <return>
This command directs the controller to return the current position of the A axis. The controller
should respond with a number.

CDS-3310 Chapter 2 Getting Started i11
Step 5. Make Connections to Encoder
Step A. Connect Encoder Wires to 15-pin high density J2 ENCODER
The CDS-3310 accepts single-ended or differential encoder feedback with or without an index
pulse. Match the leads from the encoder you are using to the encoder feedback inputs. The
signal leads are labeled MA+ (channel A), MB+ (channel B), and IDX+ (index). For
differential encoders, the complement signals are labeled MA-, MB-, and IDX-.
NOTE: When using pulse and direction encoders, the pulse signal is connected to channel A
and the direction signal is connected to channel B. The controller must be configured for
pulse and direction with the command CE (see command reference).
Step B. Verify proper encoder operation.
Once it is connected, turn the motor shaft and interrogate the position with the instruction
TPA <return>. The controller response will vary as the motor is turned.
At this point, if TPA does not vary with encoder rotation, there are three possibilities:
1. The encoder connections are incorrect - check the wiring as necessary.
2. The encoder has failed - using an oscilloscope, observe the encoder signals. Verify
that both channels A and B have a peak magnitude between 5 and 12 volts. Note
that if only one encoder channel fails, the position reporting varies by one count
only. If the encoder failed, replace the encoder. If you cannot observe the encoder
signals, try a different encoder.
3. There is a hardware failure in the controller - connect the same encoder to a different
controller. If the problem disappears, you probably have a hardware failure. Consult
the factory for help.
Step 6. Configure Amplifier
Step A. Set the amplifier Gain
Select the amplifier gain that is appropriate for the motor. The amplifier gain command AG
can be set to 0, 1, or 2 corresponding to 0.4, 0.7, and 1.0 A/V.
Step B. Set the Error Limit
Usually, there is uncertainty about the correct polarity of the feedback. The wrong polarity
causes the motor to run away from the starting position. Using a terminal program, such as
Galil SmartTerminal, the following parameters can be given to avoid system damage:
ER 2000 <CR> Sets error limit on the A axis to be 2000 encoder counts
OE 1 <CR> Disables A axis amplifier when excess position error exists
If the motor runs away and creates a position error of 2000 counts, the motor amplifier will be
disabled.
Step C. Set Torque Limit
Peak and continuous torque limits can be set through TK and TL respectively. The TK and
TL values are entered in volts on an axis by axis basis. The peak limit will set the maximum
voltage that will be output from the controller to the amplifier. The continuous current will
set what the maximum average current is over a short time interval. The following figure
captured with WSDK is indicative of the continuous and peak operation. In this figure, the
continuous limit was configured for 2 volts, and the peak limit was configured for 10 volts.

12 iChapter 2 Getting Started CDS-3310
Peak Current Operation
Step 7a. Connect Brush Servo Motor
The CDS-3310 allows for brush operation. To configure an axis for brush-type operation, disconnect
power and connect the two motor leads to Phase A and Phase B connections on J1 MOTOR and leave
Phase C disconnected.
Location Mating Connector Terminal Pins
J1 MOTOR (4-pin) AMP# 172167-1 AMP# 170361-1
Set the controller into brush-axis operation by issuing BR n,n,n,n. By setting n=1, the controller will
operate in brushed mode on that axis. For example, BR0,1,0,0 sets the Y-axis as brush-type, all others
as brushless. If an axis is set to brush-type, the amplifier has no need for the Hall inputs. These inputs
can subsequently be used as general-use inputs and queried with the QH command.
Step 7b. Connect Brushless Servo Motor
Step A. Connect Hall Sensors
To configure an axis for brushless motor operation, connect the Hall sensors to pins HALA,
HALB, and HALC on 15-pin high-density connector J2 ENCODER. The CDS-3310 can only
be connected to a brushless motor with 120 degree Hall commutation. Verify that the hall
sensors change state with the QH command.
Step B. Connect Motor Leads
Next, disconnect power and connect the three motor power leads to the phase A, B, and C
connections on the J1 MOTOR connector.
Location Mating Connector Terminal Pins
J1 MOTOR (4-pin) AMP# 172167-1 AMP# 170361-1
Step C1. Test wiring manually
The motor wiring must correspond to the Hall wiring, so if the motor manufacturer indicates
how to do this, simply connect the power leads as specified. Otherwise, you will need to try
up to six motor power lead combinations (keeping the hall sensor wiring fixed) until smooth
motion results. Three of the combinations result in a stall condition (no torque), two result in