Guide to Eason 2000 Family With Galil Motion Controllers: PC104-13A or PC10413B-I Internal or Stand-Alone External

Transcription

1 Guide to Eason 2000 Family With Galil Motion Controllers: PC104-13A or PC10413B-I Internal or Stand-Alone External COMMUNICATING TO INTERNAL OR EXTERNAL GALIL MOTION CONTROLLER Rev 1.2 P/N: This document contains: 1. Eason WinBuild 2000 & PC (Galil) application development methodology. 2. Quick explanation of hardware & software setup. 3. How to arrange the driver to communicate variable data. 4. How to send/receive commands & data between Eason & motion controller. 5. Coordinating Eason-Galil I/O.

2 Suggested Application Development Process: 1. Use the included demo program with WinBuild 2000: in the c:\program files\winbuild 2000v4\examples directory. 2. Compile & download the demo program into the Eason. 3. Connect to the Galil using the Terminal Mode. (COM1) 4. Tune your system using the Galil development software, and create your motion control program. Most aspects of motion critical tasks should be written and debugged here- feedback, control, I/O, etc. 5. Identify variables in the Galil program you would like the Eason HMI to display/monitor/modify. 6. Now expand your initial simple Eason 2000 program- use the Eason Galil driver to set up the Galil variables you wish to display/monitor/modify. 7. Create the rest of your HMI application with WinBuild Use the initial program as a base, and add your HMI and control tasks. It is important to keep in mind that the Galil motion controller is just that- an excellent motion controller- thus most motion control aspects should be left to the Galil.DMC motion program to handle. Positioning, interpolation, & time-critical motion tasks should be programmed directly into the Galil. The Eason 2000 Family product is an excellent HMI product- let the Eason handle the data storage, operator input, calculations, decision making, and communications in your application. Optimal usage of both components will create an efficient, elegant solution.

3 Hardware Setup: Internal Galil (PC10413A, B-I) The Galil DMC1411 and DMC1200 both use the PC104 bus on your 2000 Family product. Communication & power are derived from this bus. In essence, the setup is still like having a separate operator interface with a stand-alone motion controller connected via RS232 serial link. The main advantage to the PC104 bus is in package savings and the simplification of hardware connections. While the bus is faster than an RS232 serial connection, speed is still limited by the Galil s ability to process serial communications. Transfers are relatively quick, but care should be taken not to overload the mechanism with too many requests for data at a time, as the Galil can be slow to respond when overwhelmed or burdened with intense motion tasks. The DMC1411 (PC104-13A) has a single breakout panel that attaches to the rear of your Eason 2000 unit. All of the wiring in your system should be wired to this point. Consult the PC104 Expansion manual for more information regarding wiring. The DMC1200 (PC104-13B-I) 1-4 axis system setups have one large black breakout board requiring three ribbon cable connections to the rear of the Eason unit. Two breakouts (and six cables) are required on systems with 5-8 axis. All real-world Galil connections are made to these breakout boards. See the PC104 Expansion manual for details regarding wiring. The Galil Motion control card resides within the Eason & communicates over the internal bus. Amplifier & breakout cables then connect to the rear panel of the Eason unit. Hardware Setup: External Galil (1500, 2000 series) The external series of Galil motion controllers communicate to the Eason 2000 Family products via serial connection. All 2000 Family products have at least two ports available for RS232 communication, and those with expansion options can be fitted with more serial connections. Even with a RS232 serial connection at baud, communication speed is still limited by the Galil s ability to process serial communications. Transfers are relatively quick, but care should be taken not to overload the mechanism with too many requests for data at

4 a time, as the Galil can be slow to respond when overwhelmed or burdened with intense motion tasks. Also, it has been found the Galil 1500 series will sometimes have troubles at higher communication rates, and the Intercharacter Delay feature in the driver setup should be utilized to help pace communications to the controller. Hardware connections between the Eason & Galil motion controller should consist of just a simple RS232 cable. Either communication port on the Eason is available for use- use the MAIN port on the Galil. Configure the Galil port for: baud, hardware handshaking. Choose either COM1 or COM2 Straight-through Serial cable Main Port Eason 2000 Family Display External Galil Controller Software Drivers Adding the Galil Internal PC104 or Galil External Serial driver to your WinBuild 2000 project makes communicating to your motion controller easy. Add the driver by clicking SETUP PROJECT DRIVERS and selecting the Internal PC (Or External Serial Galil) driver. Click on Properties to configure the driver for your model motion controller. The option to Use Motion Program allows you to associate your DMC motion program with the WinBuild 2000 application. By doing so, whenever you download the application to the Eason unit, WinBuild 2000 also downloads your Galil program. When the WinBuild application boots on the unit, it transfers the file into Galil memory. This is useful for DMC1411 (PC104-13A) units that do not have the ability to burn & store programs into memory. DMC1200 (PC104-13B-I) applications may not necessarily need to download the motion program, as they can have the program burned into memory. Once the driver is added, you can set up the driver to monitor data/variables in your Galil motion controller. For instance, if you want to monitor the variable ESTOP in the Galil, just configure a tag as the following:

5 The Tag Name is the Eason variable name you will refer to whenever using this value in the Eason. Source is the Galil driver. The Address column you enter the command/variable you wish to read/write to. The suffix.r, or.dw tells the driver the data type you are reading. See Supported Data Types in the help system to learn more about this. The ability to store default values is not an option in the Galil driver. The Galil driver allows you to monitor user variables like the one above, or allows you to monitor system values, such as position or error messages. This next example allows us to transparently monitor the position in the Galil. Any time you refer the variable Position in the Eason, the driver will automatically send a TP to the Galil, and read back the response for you- thus providing a constant up to date value for you. The above example works for a one-axis system where there will only be one value to respond to. If you want to report multiple axis positions, each tag must be separate. For example, a three-axis system with X, Y, Z will require three different tags to store that position information. To query the position of the Y-axis, use the Address of TPY. If a data display with your Galil tag is used on the screen, the Eason will poll the Galil as often as it can to obtain a current value to be displayed on screen. (Often once every screen refresh ~ 20ms) Conversely, if you enter a new value for a tag, the driver will send that tag back to the Galil. (That is, if that value is able to be changed in the Galil.) See notes in next section for accessing string variables from Galil. Sending/Receiving Commands In addition to the driver providing easy data read/write capabilities, the driver also lets you manually send commands to the Galil, and read responses. When the Eason boots, it loads your associated.dmc motion control program to the Galil. Most motion applications then need to be told what routines to execute. Use the manual command capability in the driver to perform this. For example, on the opening screen of your program, you would put this command in the On Open pseudocode portion of your program. Use the GALIL: PUT driver VALUE expression.

6 This code will send the command XQ#BRIAN to the Galil to begin the executing the routine BRIAN. This routine BRIAN is defined in your Galil.DMC motion program. You can send down most Galil commands: set output bits, jog, begin motion, etc. You can also use the manual commands to send/receive data. See documentation in the Help System regarding this. Entire motion programs or sections of programs can be sent. If you are using the recipe editor in the Eason using the manual commands is a convenient way to send that information to the Galil controller after you have selected the record you wish to use. Use the GALIL: PUT driver VALUE expression VALUE expression pseudocode. That will allow you send a combination of text & numeric variables to the Galil. For example: This pseudocode will send to the Galil LENGTH=xxxx where the xxxx is whatever the current value of your tag CutLength in the Eason is equal to. A Carriage Return terminates each transmission to the Galil, so each line of pseudocode is interpreted as a separate serial transmission by the Galil. To read string variables from the Galil is a bit trickier, you will need to use the MG{S} command, and read the response back to an Eason string tag. Example: GALIL: PUT "PC104 13B-I Axis Galil Servo Controller [320]" VALUE "MG{S} PROGREV" RESPONSE PROGREV$

7 Coordinating Data I/O It is encouraged to use the on-board Galil I/O for any motion-critical I/O. The Galil is designed to handle this quickly and easily. The Eason unit can handle non motioncritical I/O. Sometimes you will want the Eason unit to know the status of the Galil I/O, or vice versa. To let the Eason know the status of Galil I/O, create a tag in WinBuild 2000 that will hold that value. Then add a Galil pseudocode to query the Galil I/O point. This can be placed where ever you need it: While Open on just a particular screen, on a function key, or add it to a background Task that will always inquire in the background as the application runs. (Which then would allow you to monitor the value and create an alarm situation, or execute another routine based off the response value.) In effect, this code sends out to the Galil, then reads the response, and puts it into the Eason variable InputFromGalil. To send an Eason I/O value to the Galil, you will have to identify a Galil variable to use as a flag for your Galil DMC program. Use the Galil driver commands and send down the value to the Galil. For example- if you have your digital I/O point defined as INPUTONE in the Eason, use the Galil pseudocode GALIL: PUT driver VALUE expression VALUE expression. In effect, what you can then do is send to the Galil INPUTONE=x. (Where x is 1 or 0 based

8 on the input status.) Then in the Galil just watch the value INPUTONE, and you will know what the value of the Eason I/O point is. Galil Terminal (Using WSDK software) When connecting to your Galil PC104 card through the Eason in Terminal Mode, the WSDK software will ask you to Register a controller to connect to. PC104-13A (DMC 1411), select the Galil DMC 1412 baud w/ hardware handshaking. PC104-13B-I (DMC ) select the DMC 1500 baud w/ hardware handshaking. Then connect your programming cable up to COM1 on the Eason unit to do your Galil programming. To exit Terminal Mode with the Eason, just hit the touch screen, or a key on the keypad. The unit will then be free to continue running your application, or download a new program to.