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°