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To get started with this blank [[TiddlyWiki]], you'll need to modify the following tiddlers:
* [[SiteTitle]] & [[SiteSubtitle]]: The title and subtitle of the site, as shown above (after saving, they will also appear in the browser title bar)
* [[MainMenu]]: The menu (usually on the left)
* [[DefaultTiddlers]]: Contains the names of the tiddlers that you want to appear when the TiddlyWiki is opened
You'll also need to enter your username for signing your edits: <<option txtUserName>>

These [[InterfaceOptions]] for customising [[TiddlyWiki]] are saved in your browser

Your username for signing your edits. Write it as a [[WikiWord]] (eg [[JoeBloggs]])

<<option txtUserName>>
<<option chkSaveBackups>> [[SaveBackups]]
<<option chkAutoSave>> [[AutoSave]]
<<option chkRegExpSearch>> [[RegExpSearch]]
<<option chkCaseSensitiveSearch>> [[CaseSensitiveSearch]]
<<option chkAnimate>> [[EnableAnimations]]

----
Also see [[AdvancedOptions]]

<<importTiddlers>>

Shielded cable clamps
Shell size 2

''O. Diameter= 0.430 (10.92mm)''

specifications: pag.141 [[ Tyco-AMPLIMITE_Cable_Connectors_0108.pdf |Tyco-AMPLIMITE_Cable_Connectors_0108.pdf ]]
[[vie in Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=3749036]]

Multi-Conductor - 600V Tray Cable
16 AWG pairs stranded (7x24) bare copper conductors, twisted pairs, PVC/Nylon insulation, overall Beldfoil shield (100% coverage), PVC jacket.
4 pairs
Overall Nominal Diameter:	0.560 in.

https://edeskv2.belden.com/Products/index.cfm?event=showproductdetail&partid=882
!Similars
9721
*https://edeskv2.belden.com/Products/index.cfm?event=showproductdetail&partid=2477
*8 x 16AWG
*@@unshielded@@
*5 Amps per conductor @ 25ÒÀC

27616
*https://edeskv2.belden.com/Products/index.cfm?event=showproductdetail&partid=1886
*8 x 16 AWG multi-conductor s
*@@unshielded@@
* 8 Amps per conductor @ 25ÒÀC

AB or Rockwell Automation Circuit Breakers
!Description
Bulletin 1489-A Circuit Breakers for Branch Circuit protection are available in 1-, 2-, and 3-pole construction and are rated 0.5...40 A at 240V AC and 0.5...32 A at 480Y/277V AC for North American applications (UL 489 and CSA C22.2 No. 5). The circuit breakers also have a 1-pole 48V DC, 2-pole (series) 96V DC rating. For EN\IEC applications the products are rated 415V AC, 48V AC 0.5...40 A.

View CircuitBreaker-Selection

!References
http://www.ab.com/en/epub/catalogs/12768/229240/471158/1213081/5725120/index.html
http://www.scribd.com/doc/6358171/Basics-Of-Circuit-Breakers
http://www.brainfiller.com/articles/TimeCurrentCurves.php

Inner dimension: 119.5mm x 119.5mm x 51.50mm
Outer dimentions: 125.mm x 125mm x 57mm

Inside components
Board width (66mm) + 2 x margin (25mm) = 116 mm
Board length (92mm)
Heigh: standdoff (9.5mm) + Board (2mm) + terminal block (14.2mm) + cable range (15mm) = 40.7mm

[[Hammond 1590KK.pdf|Hammond 1590KK.pdf]] (http://www.hammondmfg.com/pdf/1590KK.pdf)

Inner dimension: 103.68mm x 75.68mm x 37.50mm
Outer dimension: 110.10mm x 82.10mm x  42mm

Indise components:
19 Wago terminal (19 * 5mm = 95mm) + End plate (3mm) = 98mm
1 Wago terminal (1 * 25mm = 25mm)  = 25mm
1 Wago terminal (1*17mm=17mm) + Carriel rail (7mm) = 24 mm

[[Hammond 1590S.pdf|Hammond 1590S.pdf]] (http://www.hammondmfg.com/pdf/1590S.pdf)

''Supplier:'' 
http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=HM589-ND

Standoff, Threaded; #6-32; 0.375 in.; 0.25 in.; Hex; Aluminum;

specifications [[Keyston-2209.pdf|Keyston-2209.pdf]]
[[view in Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=8390813]]

The 305FX is an unmanaged five port Industrial Ethernet Switch. It is housed in a ruggedized DIN-Rail enclosure
*The 305FX provides four RJ-45 auto sensing 10/100BaseTX ports, plus a fiber based Fast Ethernet uplink port.
*The product also keeps the network affordable, while maintaining the plug & play simplicity of the unmanaged hub
*Operating Temperature: -20ÒÊC to 70ÒÊC

D-sub metal junction shells for EMI/ESD protection, 3M
specifications [[3M D sub EMI shell.pdf|3M D sub EMI shell.pdf]]
[[view in Newark | http://www.newark.com/3m/3357-9209/metal-connector-backshell/dp/87F3873?whydiditmatch=rel_1&matchedProduct=3357-9209&Ntt=3357-9209]]

3RHP Series DC Control
3 Phase Hybrid Solid State Contactor
*Solid State switch in parallel with an EMR contact forms each pole of the 3RHP
*//The DC input versions however, are logic compatible requiring less than 12 mA or 60 to 300 mW from the control circuit depending upon the voltage selected. Power to operate the contactor coil is derived from the AC supply.//
See  [[datasheet|Crydom-RHP-datasheet.pdf]], [[Installation|Crydom-RHP-installation.pdf]], [[Whitepaper|Crydom-RHP-whitepaper.pdf]]
view in [[Allied|http://www.alliedelec.com/search/productdetail.aspx?SKU=6820506#tab=Specs]]
!Accessories
*Auxiliary contact: HAC1
*DIN rail bracket: DMB3

Tyco Electronics
AMPLIMITE HDP-20 Plug, Solder Cup, 9 Position, Full Metal Shell, 20 AWG 
*Contact position 9

specifications: pag. 129 [[ Tyco-AMPLIMITE_Cable_Connectors_0108.pdf|Tyco-AMPLIMITE_Cable_Connectors_0108.pdf ]]
[[view in Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=3740305]]

Tyco Electronics
D-Sub Receptacle; Steel; Solder; Female; 1; Tin; Solder Cup; 9 position

specifications: pag. 129 [[ Tyco-AMPLIMITE_Cable_Connectors_0108.pdf|Tyco-AMPLIMITE_Cable_Connectors_0108.pdf ]]
[[view in Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=3740410]]

Tyco Electronics
D-Sub Plug; Steel; Plug; Phosphor Bronze; Solderable; 2; Zinc; D-Subminiature
*Contact position: 15

specifications: pag. 129 [[ Tyco-AMPLIMITE_Cable_Connectors_0108.pdf|Tyco-AMPLIMITE_Cable_Connectors_0108.pdf ]]
[[view in Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=3740315]]

Tyco Electronics
D-Sub Receptacle; Steel; Solder; Female; 1; Tin; Solder Cup; 15 position

Backshell: [[5-748676-2]]

specifications: pag. 129 [[ Tyco-AMPLIMITE_Cable_Connectors_0108.pdf|Tyco-AMPLIMITE_Cable_Connectors_0108.pdf ]]
[[view in Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=3740420]]

Tyco Electronics
D-Sub Plug; Steel; Plug; Phosphor Bronze; Solderable; 3; Tin; 
D-Subminiature 
*Contact position 25

specifications: pag. 129 [[ Tyco-AMPLIMITE_Cable_Connectors_0108.pdf|Tyco-AMPLIMITE_Cable_Connectors_0108.pdf ]]
[[view in Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=3740425]]

Tyco Electronics
D-Sub Receptacle; Steel; Solder; Female; 1; Tin; Solder Cup; 25 position

specifications: pag. 129 [[ Tyco-AMPLIMITE_Cable_Connectors_0108.pdf|Tyco-AMPLIMITE_Cable_Connectors_0108.pdf ]]
[[view in Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=3740430]]

Tyco Electronics
AMPLIMITE Cable Clamp, Shell Size 1, Shielded, 180 Degree Exit, w/Grommets

specifications: pag. 141 [[ Tyco-AMPLIMITE_Cable_Connectors_0108.pdf|Tyco-AMPLIMITE_Cable_Connectors_0108.pdf ]]
[[view in Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=3748768]]

Tyco Electronics
SHIELDED CABLE CLAMPS, 2 PC STRAIGHT EXIT, SUB D, 15-PIN

specifications: pag. 141 [[ Tyco-AMPLIMITE_Cable_Connectors_0108.pdf|Tyco-AMPLIMITE_Cable_Connectors_0108.pdf ]]
[[view in Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=3748755]]

Tyco Electronics
Connector; Two-Piece RFI/EMI Shield; 0.255 to 0.470 in.; 3; 4-40; Steel

specifications: pag. 141 [[ Tyco-AMPLIMITE_Cable_Connectors_0108.pdf|Tyco-AMPLIMITE_Cable_Connectors_0108.pdf ]]
[[view in Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=3748764]]

ALPHA WIRE-* P/N 5156C ''6C 20 AWG'' 
XTRAGUARD(R) 1 SHIELDED (UL) TYPE CM 105C 
''D. Diameter: 0.308''

http://www.alphawire.com/Products/Cable/Xtra-Guard-Performance-Cable/Xtra-Guard-1/5156C.aspx

alternative: [[83606]]

ALPHA WIRE-* P/N 5158C ''8C 20 AWG''
XTRAGUARD(R) 1 SHIELDED (UL) TYPE CM 105C OR AWM
''Outer Diameter: 0.33 (0.344 Max.)''

http://www.alphawire.com/Products/Cable/Xtra-Guard-Performance-Cable/Xtra-Guard-1/5158C.aspx

Alternativa [[83606]] [[5156C]] But it is required 8 conductors

ALPHA WIRE-* P/N 5160/15C ''15C 20 AWG'' 
XTRAGUARD(R) 1 SHIELDED (UL)
''O. Diameter: 0.419''

http://www.alphawire.com/Products/Cable/Xtra-Guard-Performance-Cable/Xtra-Guard-1/5160_15C.aspx

ALPHA WIRE-* P/N 5160/20C ''20C 20 AWG'' 
XTRAGUARD(R) 1 SHIELDED (UL)
''O.diameter: 0.465''

http://www.alphawire.com/Products/Cable/Xtra-Guard-Performance-Cable/Xtra-Guard-1/5160_20C.aspx

ALPHA WIRE-* P/N 5176C ''6C 16 AWG''
XTRAGUARD(R) 1 SHIELDED (UL) TYPE CM 105C OR AWM
''Outer Diameter: 0.371 (0.385 Max.)''

This cable is used as motor power cable inside the cabinet.  This cable connects the Pi filter Box and the drive B8501. In addition it could be used as external cable.

http://www.alphawire.com/Products/Cable/Xtra-Guard-Performance-Cable/Xtra-Guard-1/5176C.aspx

Alternativa [[83706]]

Series 700 High filtered connectors
Pin/Socket Adapter
* 9 shell size
*EMI filter C, cut-off frequency=3.2MHz
*Cap=1000uF, Pi filter
[[[Specifications|SpectrumControl - 700 series emi149-170.pdf]]]
[[[View online| http://www.specemc.com/dsub_700.asp ]]]

Series 700 High filtered connectors
Pin/Socket Adapter
* 9 shell size
*EMI filter E, cut-off frequency=0.8MHz
*Cap=4000uF, Pi filter
[[[Specifications|SpectrumControl - 700 series emi149-170.pdf]]]
[[[View online| http://www.specemc.com/dsub_700.asp ]]]

Series 700 High filtered connectors
Pin/Socket Adapter
* 9 shell size
*EMI filter K, cut-off frequency=1.3MHz
*Cap=2500uF, Pi filter
[[[Specifications|Manuals\SpectrumControl - 700 series emi149-170.pdf]]]
[[[View online| http://www.specemc.com/dsub_700.asp ]]]

Series 700 High filtered connectors
Pin/Socket Adapter
*15 shell size
*EMI filter E, cut-off frequency=0.8MHz
*Cap=4000uF, Pi filter
[[[Specifications|SpectrumControl - 700 series emi149-170.pdf]]]
[[[View online| http://www.specemc.com/dsub_700.asp ]]]

Series 700 High filtered connectors
Pin/Socket Adapter
*15 shell size
*EMI filter K, cut-off frequency=1.3MHz
*Cap=2500uF, Pi filter
[[[Specifications|SpectrumControl - 700 series emi149-170.pdf]]]
[[[View online| http://www.specemc.com/dsub_700.asp ]]]

Series 700 High filtered connectors
Pin/Socket Adapter
* 25 shell size
*EMI filter C, cut-off frequency=3.2MHz
*Cap=1000uF, Pi filter
[[[Specifications|SpectrumControl - 700 series emi149-170.pdf]]]
[[[View online| http://www.specemc.com/dsub_700.asp ]]]

Series 700 High filtered connectors
Pin/Socket Adapter
* 25 shell size
*EMI filter K, cut-off frequency=1.3MHz
*Cap=2500uF, Pi filter
[[[Specifications|SpectrumControl - 700 series emi149-170.pdf]]]
[[[View online| http://www.specemc.com/dsub_700.asp ]]]

Tyco Electronics
SOCKET CONTACT, 20 DF 

Specifications pag.100 [[ Tyco-AMPLIMITE_Cable_Connectors_0108.pdf|Tyco-AMPLIMITE_Cable_Connectors_0108.pdf ]]
[[ view in Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=5122488 ]]

Tyco Electronics
PIN CONTACT, 20 DF 

Specifications pag.100 [[ Tyco-AMPLIMITE_Cable_Connectors_0108.pdf|Tyco-AMPLIMITE_Cable_Connectors_0108.pdf ]]
[[ view in Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=5122486 ]]

Miniature Ice Cube relay
*2PDT
*Coil voltage: 24VDC
*Contact rating: 10A
[[Specifications | ABB-700-HC-MiniatureRelay.pdf]]

This relay are used as enable relay  and fault relay for each one of the Brushless Servo Drive. The enable relays are:
*RLY1: Horizontal Left Enable relay
*RLY3: Horizontal right Enable relay
*RLY5: Vertical Left Enable relay
*RLY7: Vertical Right Enable relay
*RLY9: Tilt Enable relay
Tha fault relays are:
*RLY2: Horizontal Left Fault relay
*RLY4: Horizontal Right Fault relay
*RLY6: Vertical Left Fault relay
*RLY8: Vertical Right Fault relay
*RLY10: Tilt Fault relay
The relay RLY11 is used to indicate an error condition on DMC-2183.  This relay is inactive when there is a controller error condition.

!Accesories
*700-HN104, screw terminal socket
*700-ADL1, diode with LED surge supressor

Safety Control Relays, 700S-P
The 700S-P safety control relay is designed with special features for use in safety circuits. It is designed to reduce the possibility of a welded contact, and, with external monitoring, a welded contact can be detected if one ever occurs.
*Coil consumption: 12.7W
!Use
MCR1, MCR2

[[specifications | AB-700S-scp1020Z24.pdf]]

Standard D-subminiature Connector
Connector Type:D Sub
Series:8300
No. of Contacts:9
D Sub Shell Size:DE
Connector Body Material:Metal
Gender:Receptacle
[[view in newark | http://www.newark.com/3m/8309-6000/standard-d-subminiature-connector/dp/46F4830]]

Multi-Conductor - Audio, Control and Instrumentation Cable
22 AWG stranded (7x30) TC conductors, conductors cabled, plenum, FEP insulation, overall BeldfoilÒ? (100% coverage) + TC braid shield (85% coverage), FEP jacket
19 conductors
Overall Nominal Diameter:	0.269 in.

https://edeskv2.belden.com/Products/index.cfm?event=showproductdetail&partid=2135

Multi-Conductor - Audio, Control and Instrumentation Cable
''20 AWG'' stranded (7x28) TC conductors, conductors cabled, plenum, FEP insulation, overall BeldfoilÒ? (100% coverage) + TC braid shield (85% coverage), FEP jacket.
''6 conductors''
Overall Nominal Diameter:	0.207 in.

https://edeskv2.belden.com/Products/index.cfm?event=showproductdetail&partid=2085

Multi-Conductor - Audio, Control and Instrumentation Cable
20 AWG stranded (7x28) TC conductors, conductors cabled, plenum, FEP insulation, overall BeldfoilÒ? (100% coverage) + TC braid shield (85% coverage), FEP jacket.
9 conductors

https://edeskv2.belden.com/Products/index.cfm?event=showproductdetail&partid=3155

Multi-Conductor - Audio, Control and Instrumentation Cable
''16 AWG'' stranded (19x29) TC conductors, conductors cabled, plenum, FEP insulation, overall BeldfoilÒ? (100% coverage) + TC braid shield (85% coverage) FEP jacket.
''6 conductors''
Overall Nominal Diameter:	0.265 in.
Max. Recommended Current: 4.5 Amps per conductor @ 25ÒÀC

https://edeskv2.belden.com/Products/index.cfm?event=showproductdetail&partid=2947

Alternative [[5176C]]

Multi-Conductor - Direct Burial Cable, 2 Conductors Cabled
20 AWG solid TC conductors, conductors cabled, polypropylene insulation, overall BeldfoilÒ? shield (100% coverage), 22 AWG solid TC drain wire, HDPE jacket.
15 conductors
Overall Nominal Diameter:	0.390 in.

https://edeskv2.belden.com/Products/index.cfm?event=showproductdetail&partid=2897

Multi-Conductor - Computer Cable for EIA RS-232 Applications 8 x 22 AWG stranded (7x30) TC conductors, S-R PVC insulation, overall BeldfoilÒ? (100% coverage) + TC braid shield (65% coverage), PVC jacket.
*Diameter: 0.264in (6.7056mm)
[[Belden 9944__ Product Details.pdf|Belden 9944__ Product Details.pdf]] ([[Belden catalog | https://edeskv2.belden.com/Products/index.cfm?event=showproductdetail&partid=2150]])

Absolute Encoder with SSI interface.  
*Resolution: 24 bits
*Steps per revolution: 4096
*Max number of revolutions: 4096 revolutions
*Counts range: 0 to 16777216
*Code: Gray
*Connector M23 12 pin
<html>
<table cellpadding="5" cellspacing="5" border="0" width="100%">
<tr>
<td valign="top">
<img src="img/cabinet/DSC01716.JPG" style="width:100%;">
</td>
<td valign="top">
<img src="img/cabinet/DSC01715.JPG" style="width:100%;">
</td>
</tr>
</table>
ATM60-A4A12X12 with PT8600
</html>
!Documentation
[[ATM60-90-Datasheet | ATM60-90_3017.pdf]]
[[SSI-Signals-Absolute-Encoders | Sick-Stegmann-SSI.pdf]]
!Accessories:
*Linear-to-Rotational Motion Conversion Module: PT8600
*Programming Tool PGT-01-S
*Connector [[M23-female]], 12 pin, straight screened
*Cable Alpha Wire [[5160/15C]]
!Aternatives
*Sick's Absolute Wire Draw Encoder: BTF08-A1AM0240 
*Sick's Absolute encoder ATM60-A4A12X12 with Wire draw system MRA-F080-402D2

Microwave MLCò??s AVX
Features
ò?? Low ESR
ò?? High Q
ò?? High Self Resonance
ò?? Capacitance Range 0.1 pF to 5100 pF
ò?? 175ÒÊC Capability SQCB
Applications
ò?? RF Power Amplifiers
ò?? Low Noise Amplifiers
ò?? Filter Networks
ò?? MRI Systems

see more [[AVX MLC | AVX_cap_sq.pdf ]]

*Para ordenar no se consigue de 5100pF y voltaje mayor a 50V, Para 300V la maxima capacitancia es 220pF
*Tiene un lead time de 40 dia approx
ver [[distribuidores |http://www.stkcheck.com/evs/avxcorp/avxcorpheader.asp?mfg=avxcorp&Part=sqcb%]]

This webpage is a supplement  to  the [[Schematics]] of the Tertiary Motion and Control System. It provides a quick reference to the [[Component List]] of the Tertiary System with links to the manufacturer documentation; therefore, it does not pretend to replace the manuals, datasheets and guides of each part of the tertiary system but it simplifies to find this documents.  

Besides to the brief description of  the main components, the [[Configurations]] are also presented. Moreover, this documents contains some [[Calculations]]  and measurements that made the component selection easier. Some components of the tertiary that were designed in the AO electronics department are also described, some of this components are: a junction or [[Connection Box]], the pair alarm circuit or [[TAPAC]], the [[Remote On-Off]] system among others.

This suplement is made up of content panes called [[tiddler|http://tiddlywiki.com]].  There is a tiddler for each component and for each note;  all of the tiddler are listed alphabetically in the right side under the '"All" tab. The left side shows a MainMenu , which contains the main sections of this document in alphabetical order.  Moreover, there is a search box at the upper right, which is active when more of three characters are typed.

!Absolute Encoder ATM 60 / ATM 90
~ATM60-A4A12X12:
<<tiddler ATM60-A4A12X12>>

*Copy /usr/share/GalilTools/hello.cpp to your work directory
*Install c++ compiler g++ using synaptic
*In terminal, locate your work directory and type: {{{$ sudo g++ hello.cpp -lGalil}}}, miss out the 'lib' part of the library name and the extension
*"Execute" {{{$ ./a.out}}}
!References
http://www.galilmc.com/support/manuals/galiltools/hello.html
http://www.galilmc.com/support/manuals/galiltools/library.html

Figure shows a block diagram of the axis control subsystem. This diagram is similar for the horizontal and vertical axes, and for the tilt control. The main parts are: the motion controller DMC-2183, the amplier IDC's [[B8501]] and the motor. For simplicity, sensing instruments such as potentiometers and encoder are included in the motor diagram.

<html><center><img src="img/FunctionalDiag.jpg"  style="width:75%;"/></center></html>

The controller can check the amplier outputs such as Fault and limits. There is two signals for indicate limits: the software limit signals that indicate the statuses of the limit switches near to the final positions (extended and reverse), and the hardware limits that are the signals of the limit switches that are located in the maximum allowed position before a collision occurs.

Other signals that are followed by the controller are the status of brakes and the movement of the motor through an incremental encoder, an absolute encoder and a potentiometer. The incremental encoder is factory mounted directly to the rear of a shaft of an IDC motor.

The controller can enable or disable the amplifier by using the Amp Enable output or a general purpose output called Axis Enable, which is defined for each axis (Horizontal, Vertical and Tilt). In addition, the controller can drive the amplier through the output named Motor command; this output has a range from -10V to +10V. 

In the Tertiary Motion and Control System there is ve control subsystems: two vertical axes, two horizontal axes and the tilt axis. The controller DMC-2183 can drive until eight axes. For each axis, its power amplifier converts the Motor command signal from the controller into current to drive the motor. 

The brakes are controlled by a logic circuit that is implemented with relays. The brakes are engaged when they are not energized. For energizing the brake (allowing motion) is required that the system is enabled, there is no fault and the Master Control Relay (MCR) are active.

Brushless Servo Driver
The B8501 is a 5 amp continuous, 10 amp peak, digital brushless servo drive using state of the art DSP technology to provide high performance, closed loop servo control to a wide variety of permanent magnet brushless and brushed servo motors and actuators offered by Industrial Devices. In addition to industry standard step and direction and +/-10V control inputs, the B8501 features absolute analog position feedback capabilities. This 12 bit resolution analog input allows the position loop to be closed from a load mounted linear potentiometer.HOWEVER, The B8501 can also be driven by a step and direction or analog command signal from a motion controller, just like IDCò??s B8001
<html><img src="img/cabinet/DSC01722.JPG" style="width:30%"</html>

!Configurations
*IDC-B8501-Amplifier-Mode
*IDC-B8501-Tuning
!Documentation
[[B8001-Operators Manual|IDC-B8001.pdf]]
[[B8501-Manual suplement|IDC-B8501.pdf]]
!Compatible
*B8961 and B8962, which incorporated machine control. They do not have analog command input.
**http://www.kollmorgen.com/website/com/eng/products/drives/b8000_series_archive.php
**http://www.kollmorgen.com/website/common/download/document/B8961_B8962_Brushless_Servo_Drives_TB.pdf
**http://www.kollmorgen.com/website/com/eng/download/document/B8961_2_71810_snapshot.pdf
*S200 of Kollmorgen ''it is not an alternative''
**Analog command is not allowed is this product (See [[3.6 I/O specifications pag.12 S200 Position Node Installation Guide| http://www.kollmorgen.com/website/com/eng/download/document/S200_Position_NodeInstallationRB_1649871_snapshot.pdf]])
*S300 of Kollmorgen
*xDrive all-digital brushless servo drives. See Overview [[DA-XDA-230 | http://www.alliedmotion.com/Data/Documents/xDrive%20Servo%20Amplifier%20R3(scrn).pdf]] ''Real alternative''
**http://www.alliedmotion.com/Products/Series.aspx?s=65

!B8501 vs ~DA-XDA-230-8
!Dimensions
DA-XDA-230 is smaller. It could be mounted in the same location.
|Dimensions | B8001 | ~DA-XDA-230 |h
|Height | 10.50  | 7.48 |
|Width | 2.5  | 2.28 |
|Depth | 5.86 | 5.84 |
!Power
|Dimensions | B8001 | ~DA-XDA-230 |h
|Powe input | 90-230 VAC single phase, 50/60 Hz | 115-230 VAC single- or three-phase, 50/60 Hz |
|Continous Current | 5A | 5.6A RMS |
|Peak current | 10A | 11.2A RMS |

Absolute wire draw encoder
*25 bits SSI
*Gray code
*Set=1000
*Connector M23, 12 pin
*Measuring length: 2m
*Measuring step: 0.025m

This is considered an alternative product to ATM60-A4A12X12

The parts are required to complete the wiring of the tertiary and the installation of the position sensors.  In each motor, a box of terminal block is going to be installed, where the cables of limit switches, linear potentiometers and absolute encoders are grouped.  Then, a multiconductor cable is used to connect the cabinet with the box of terminal blocks.  The parts are also necessary to switch off/on the power remotely.  In addition, some parts will be added in order to reduce EMI and RFI.

{{{
#CALIB
lim=6
cont=0 'Counter in #LOOKFOR
DM posINC[80];DM posABS[80];DM indEX[80]
speed=1000
DCA=2560000
#GOEND
IF (_LRA=0)
MG "Reverse Limit is Active"
JS#MOVEFWD
ENDIF
MG "Looking for Initial Position..."
JS#TOREVER
#GOIDX
JGA=80
FIA; BGA; AMA;WT1000
inc=_TPA; abs=_TDA; ind=_HMX;
MG "INDEX Positions INC,ABS: ",inc,abs,ind
posINC[cont]=inc; posABS[cont]=abs; indEX[cont]=ind
cont=cont+1
#GOHOME
SPA=25000
JP#THEEND,_LFA=0
PRA=7950; BGA; AMA; WT100
count=0 'Counter in #SEARCH
countR=0 'Counter in #ATRIGHT
countL=0 'Counter in #ATLEFT
JP#THEEND,_LFA=0
JS#FIHOME
inc=_TPA; abs=_TDA; ind=_HMX;
MG "HOME Positions INC,ABS: ",inc,abs,ind
posINC[cont]=inc; posABS[cont]=abs; indEX[cont]=ind
cont=cont+1
JP#GOHOME,_LFA=1
#THEEND
MG "Forward Limit"
EN
#MOVEFWD
SPA=25000
PRA=64000
BGA
AMA
EN
#TOREVER
JGA=-25*speed
BGA
AMA
MG "End of Road",_TPA,_TDA
EN
'DESCRIPTION
REM This routine searches for the Home input
REM and for the first count with _HMX=1
#FIHOME
 MG"Finding Home..."
 DCA=2560000
 JP#FOUND,_HMX=1
 JGA=100
 FEA
 BGA
 AMA
 WT1000
 JP#ATRIGHT,_HMX=0
#FOUND
 MG "FOUND: ",_HMX,_TPA,_TDA
#SEARCH
 PRA=-1;BGA;AMA;WT1000
 MG "STEP LEFT: ",_HMX,_TPA,_TDA
 count=count+1
 JP#SEARCH,_HMX=1
#FIRST0
 PRA=1;BGA;AMA;WT1000
 #DONE
 MG "DONE: ",_HMX,_TPA,_TDA
EN
#ATRIGHT
 PRA=-1;BGA;AMA;WT1000
 MG "STEP LEFT: ",_HMX,_TPA,_TDA
 countR=countR+1
 JP#SEARCH,_HMX=1
 JP#ATRIGHT,(_HMX=0)&(countR<lim)
 #JUMP2R
 PRA=LIM+1;BGA;AMA;WT1000
 MG "JUMP RIGHT: ",_HMX,_TPA,_TDA

#ATLEFT
 PRA=1;BGA;AMA;WT1000 
 MG "STEP RIGHT: ",_HMX,_TPA,_TDA
 countL=countL+1
 JP#DONE,_HMX=1
 JP#ATLEFT,(_HMX=0)&(countL<lim)
 MG "Fail trying again"
 JP#FIHOME
}}}

*Strain relief Nickel Plain Brass EMI/RFI proof
*FEED-THROUGH style: works well with braided or foil shield and provides reliable grounding by means of metal spring fingers.
*''Cable range: 0.12 - 0.26 inches (3 - 6.5 mm)''
*''Diameter of limit switch cable: 0.172in''

[[SEALCON strain relief EMI.pdf|SEALCON strain relief EMI.pdf ]] ([[sealcon|http://www.sealconusa.com/ncemi-feed-thru.html]])

*Strain relief Nickel Plain Brass EMI/RFI proof
*FEED-THROUGH style: works well with braided or foil shield and provides reliable grounding by means of metal spring fingers.
*''Cable range: .20 - .39 inches (5-10mm)''

considering [[5176C]] ''Diameter of 6C x AWG with jacket: 0.371in''  jacket diameter= 0.032in, then diameter=0.307
considering [[83706]] ''Diameter of 6C x AWG with jacket: 0.265in''  jacket diameter= 0.007in, then diameter=0.251

[[SEALCON strain relief EMI.pdf|SEALCON strain relief EMI.pdf]] ([[sealcon|http://www.sealconusa.com/ncemi-feed-thru.html]])

*Strain relief Nickel Plain Brass EMI/RFI proof
*FEED-THROUGH style: works well with braided or foil shield and provides reliable grounding by means of metal spring fingers.
*''Cable range: .24 - .47  inches (6 -12 mm)''
*''Diameter of AbsoluteEncoder cable ([[5160/15C]]): 0.419 in''
*''Diameter of internal Motor power cable ([[5176C]]):  0.371 in''

[[SEALCON strain relief EMI.pdf|SEALCON strain relief EMI.pdf ]] ([[sealcon|http://www.sealconusa.com/ncemi-feed-thru.html]])

These are the old cabinet coolers. The manufacturer recommends to replace the fans each four years; the fan must be replaced by a model of 220V.  There is three units.  The cabinet cooler price is around $1025 each, they are sold by Noren directly.
!Flush Mount Heat Exchangers of Noren 
(http://www.norenproducts.com/products_he_flushmount.php)
Flush mount Compact Cabinet Coolers remove waste heat from sealed electrical panels and enclosures using Noren heat pipe technology
Change fans every four or five years.
!Specifications for CC400F
| Standard Models | Weight (lbs) |  Efficiency  Watt/C | Rating BTU/hr | Amps @115V | Fan Size | Height | Width | Depth|h
| CC400F	| 10 | 20.4 | 1400 |  0.4 | 2-4" | 22 1/2 | 6 1/4 | 4 |
More info: http://www.norenproducts.com/pdf/he/flush_mount/Noren_CC400F&CC400FP.pdf

The real cabinet weight is 785lb
!Estimation
|Part number | Description | Qty | Weight (lb) | Subtotal |h
|PF1884HF	Òš|Modular EMC Frame, Single Bay	|2	|102.7	|205.4|
|PSS184HF2	|Solid Sides	|2	|31	|62|
|PCS188HF2	|Solid Cover	|2	|58	|116|
|PDS188HF2	|Door, EMI/RFI Med P |2	|58	|116|
|PT84HF2	|Top, EMI/RFI Med P	|2	|17	34|
|PB084HF2	|Base, 0mm, EMI/RFI Med P	|2	|17	|34|
|PJ2FHF2	|EMC Joining Kit, Frame/Frame	|1	|1.08	|1.08|
|PJLBSS	Òš|Lifting Angle Kit for 2 Encl	|1	|2.98	|2.98|
|PJP18	|Joining Subpanel, 1648x67mm	|1	|8.52	|8.52|
|PPF188Òš	|Full Subpanel, 1685x730mm	|2	|56	|112|
|PFFM12	|Frame Feet	|2	|0.5	|1|
|B8501	|Brushless Servo Drive	|5	|5	|25|
|SG1K-2T		|1	|33	|33|

The estimation is 750.98lb

*Encoder-Calibration
*Power-PiFilter
*EMI-Filter-Selection
*SSIsignalsCharacterization
*CircuitBreaker-Selection
*TimingLoop
*CabinetWeight

The circuit breakers CB1 to CB6 were replaced by the models with  D characteristics.  These models are designed for high inrush current during inductive start-ups.  The CB1, part number  1489-A2C300 was replaced by the part 1489-A2D300. The circuit breakers CB2 to CB6 were 1489-A2C100, they were replaced by the part 1489-A2D100.

!Characterization of the inrush current
In order to measure the inrush current through the amplifiers, a series resistor of 3.3 Ohms was connected in the input Line 1 of the driver. Figure shows the voltage on the series resistor, whose peak value is 174V; then the peak current is 52.7A. 

<html><img src="img/DriverCurrentMax.JPG" style="width:65%;"/></html>

 The nominal current of the circuit breakers 1489-A2C100 is 10A; since the circuit breakers with C characteristic trip when the current is 5 times the nominal current (i.e. 50A), it is necessary to change these circuit breakers.  The circuit breakers 1489-A2D100 with D characteristic were selected, these circuit breakers could operate with inrush current until 100A.  The figure shows the characteristic curves of Allen-Bradley 1489 circuit breakers.

<html><img src="img/1489curves.jpg" style="width:65%;"/></html>

Optical fiber for N-tron

View the part list by categories and  by listing the manufacturer name
*Controllers
**DMC-2183
**ICM-20105
**DB-28040
**RIO-47200
*Amplifiers
**[[B8501]]
*Motors
**TB41-204B-18-MP2-MT1-BM-PBL-C50 (In lab)
**EC5B41-5010B-450-MP2-MT1E-BM24-L-PB-C0 (Vertical)
**TB32-1001B-24-MP2-MT1-BM-PB-L (Tilt)
**TB32-1001B-12-MP2-MT1-BM-PB-L-C25 (Horizontal)
*Encoders
**ATM60-A4A12X12
*Circuit Breakers
**[[1489]]-A2D300
**[[1489]]-A2D100
**[[1489]]-A2C015
**[[1489]]-A2C040
**[[1489]]-A2C005R
**[[1489]]-A1C005
**[[1489]]-A1C020
**[[1489]]-A1C015
**[[1489]]-A1C070
**[[1489]]-A1C030
*Relays
**[[700HC22Z24]]
*Communications
**[[305FX]] 
**[[EIT-D]]
*Power
**Condor MTAA-16W-A
**PowerOne HC24-2.4-AG
**PowerOne HE24-7.2-A
**PowerOne HB5-3/OVP-A
*Optocouplers
//It would be nice to list by schematic label//

This section describe the settings for each device of the Tertiary control systems. The devices can be set by means of hardware configurations such as jumpers, switches or potentiometers. In addition, some devices required software configurations. Below is explained the main configuration in two categories: Hardware configurations and Software configurations.
!Hardware Configuration
*Galil-ICM-20105-Amplifier-Enable-Signal
*Galil-ICM-20105-Error-Ouput
*IDC-B8501-Amplifier-Mode
*SG1K-2T-Output-Voltage
*Linear-Power-Supply-Configurations.
!Software Configuration
*Galil-DMC2183-IP-Address
*Galil-DMC2183-Limit-switches-Input-mode
*Galil-DMC2183-PID-parameters
*Galil-DMC2183-SSI-Encoder-Interface
*Galil-DMC2183-Port-for-messages
*RIO47200-IP-Address
*IDC-B8501-Tuning
*Newport-iServer-EIT-D-settings

DMC-2183 can send messages though serial port using RS-232 with instruction {{{MG}}}; however, the baudrate of Galil controller can be configured to 1200bps, 9600bps or 19200bps, while the UPS SG1K-2T can only communicate at 2400bps. Technical support of Galil Motion and Control suggest to use a baud rate converter, because to change firmware in DMC is expensive.

Other approach is using a ethernet to serial like the Newport iServer EIT-D, which can be configured using a built-in webserver. After Galil opens the handle 
{{{
IHB=192,168,100,234<2000>2
}}}
the following line can be executed.
{{{
:MG"S.2"{EB}
}}}
*Don't use colon among parameters, 
*in the example the handle B is used. 
*The MG command ends with a Carrier Return character, (ASCII code 13)
*The handled is set up in port or socket 2000, then communication with serial port is direct. See EIT-D manual

!Refefences
*DJ Roberts Sr. Applications Engineer. Galil Motion Control. Phone 916-626-0101.mailto:djr@galilmc.com
*http://www.bb-elec.com/product.asp?sku=232BRC

From DMC-2183, To create a Ethernet handle, this case handle B is used, use TH to see available handles:
{{{:IHB = 192,168,100, 233}}}
To send a command using SA, example:
{{{
:SAB="TZ" 
:MG _SAB0
}}}

Also, the command can be issues with the format: I/Onumber= (Handlenumber*1000)+bitnum, 
{{{
:SB3001
:CB3001
}}}
To set and to clear digital output bit 1 on the RIO-47200, by handle 3

An input can be read using {{{@IN}}} instruction, then, input 2 in handle B can be read:
{{{
:MG@IN[2002]
}}}
An analog input can be read using {{{@AN}}} instruction, then, input 3 in handle B can be read:
{{{
:MG@AN[2003]
}}}
The analog input mode is configured using {{{AQ}}}, then status is read:
{{{
:SAB="MG_AQ0"
:MG_SAB
}}}

!References:
note2512-Using RIO as External IO for Galil.pdf

The controller registration process showed error in DMC Smart Terminal. Cases with previous IP address and no IP address were tryied. Then, then controller was added with IP address 0.0.0.0; i.e. the buttons Set IP address and Assign IP address were not clicked.
The IP address was set by using REGEDIT. The registry key where the IP address can be assigned is:
 {{{HKEY LOCAL MACHINE\SOFTWARE\GalilnController2}}}.
After that, DMC Smart Terminal communication through Ethernet was succesful.

This is a junction box, which must be installed on each tertiary motor. The purpose is to group the signals of limit switches, potentiometer and absolute encoder; thus one cable [[5160/20C]] carries all the signals toward the tertiary cabinet by using a DB25.
!Components
*Box: Hammond Diecast Aluminum - Light Duty Watertight [[1590WS]]
*Terminal Block: [[WAGO-260-311]]
**End Terminal block [[WAGO-260-323]]
**End Plate [[WAGO-260-371]]  
**Carrier Rail [[WAGO-210-154]] 
*EMI Filter 3.2MHz, DB 25 Pin/Socket adapter : [[56-725-003]]
** DB25 plug [[5-747912-2]]
*EMI filter 3.2MHz, DB 9 Pin/Socket adapter : [[56-705-003]]
** DB9 plug G17S0910110EU
*Strain relief for limit switch cable: Sealcon CD07AA-FE 
**Locking nuts: Sealcon NP-07-BE,
*Strain relief for potentiometer cable: Sealcon CD11AA-FE 
**Locking nuts: Sealcon NP-11-BE,
<html>
<table cellpadding="5" cellspacing="5" border="0" width="100%">
<tr>
<td valign="top">
<img src="img/Box/PC210186.JPG" border=0 style="width: 100%; "/>
</td>
<td valign="top">
<img src="img/Box/PC210187.JPG"  style="width: 100%; "/>
</td>
</tr>
</table>
Left: DMC-2183. Right: DMC-2183 with ICM-20105 and DB-28040
</html>
!Notes:
**//The Pin side of the EMI filter must be located toward the box outside. The socket contact must be connected to the DB25 plug in order to wire them to the terminal blocks.//
**//DB9 filter with cut-off frequency of 0.8MHz produceD errors on absolute encoder readings.//
**//Limit switch cables must be cut: extension limit cable = 30in, retrieve limit cable = 12in//
see OrderConnectionBox

!Older desing
*Strain relief for AbsoluteEncoder cable : CD13AA-FE
**Locking nuts: NP-13-BE

D-sub connectors, commercial parts

| Size      | Plug | Receptacle        |  Backshell      | Filter                | Contact Pin     | Contact Socket | Jackscrews |h
|DB9       | [[5-747904-2]]  | [[5-747905-2]]         | [[5-748676-1]]       | [[56-705-010]]  | [[66506-9]]	        | [[66504-9]]	        |  ? |
|Qt| 4 | 4 | 4 | 4 | 36 | 36 | |
|DB15     | [[5-747908-2]] |  [[5-747909-2]]         | [[5-748676-2]]	| [[56-715-009]]	| [[66506-9]]		| [[66504-9]]	        | ? |
|Qt| 5 | 5 | 5 | 5 | 75 | 75 | |
|DB25     | [[5-747912-2]] |  [[5-747913-2]]         | [[5-748676-3]]	| [[56-725-021]]	| [[66506-9]]		| [[66504-9]]	        | ? |
|Qt| 11 | 11 | 11 | 11 | 275 | 275 | |
|Part Number of D connectors Tyco|c

In Tertiary stock we have:
| size  | Receptacle          | Qty |   Plug                | Qty  |  Backshell       | Qty |  Filter       | Qty  |h
|  DB9 | G17S0900110EU  | 19 | G17S0910110EU | 14 |  [[17E-1657-09]]  | 19  |  [[56-705-005]] | 14 |
| DB15 | G17S1500110EU | 10  | G17S1510110EU | 10 | [[17E-1657-15]]  | 10  |  [[56-715-005]] | 9 |
| DB25 | G17S2500110EU |  1   | G17S2510110EU |   1 |  [[17E-1657-25]] | 1  |   [[56-725-003]] | 1 |

Gear Mode Demo:  The motors run forward and backward continuosly. The axis A is the master and the axis B is the slave. 
!Precondition
The Galil should have the following configurations: 
*PID parameters for each axis.
*Speed, acceleration and deceleration for each axis.
*Absolute encoders as main encoder and incremental encoder as auxiliar encoder.
*Galil inputs of limit switches for reading normally closed switches.
*Vertical enable output must be active.
!Code
{{{
REM GEAR MODE IN HORIZONTALS
REM Forward and backwards
#ALIGN
SHA
SHB
PAA=17800
BGA
PAB=18200
BGB
AM
WT2000
#GEARM
GA,A
GR,1
#LOOP
PAA=15500
BGA
AM
WT1000
PAA=20500
BGA
AM
WT1000
JP#LOOP
EN
}}}

Gear Mode Demo:  The motors run forward and backward continuosly. The axis C is the master and the axis D is the slave. 
!Precondition
The Galil should have the following configurations: 
*PID parameters for each axis.
*Speed, acceleration and deceleration for each axis.
*Absolute encoders as main encoder and incremental encoder as auxiliar encoder.
*Galil inputs of limit switches for reading normally closed switches.
*Vertical enable output must be active.
!Code
{{{
REM GEAR MODE IN VERTICAL AXIS
REM Forward and backward movement
#ALIGN
SHC
SHD
PAC=17800
BGC
PAD=18200
BGD
AM
WT2000
#GEARM
GAD=C
GRD=1
#LOOP
PAZ=15300
BGZ
AM
WT1000
PAZ=20900
BGZ
AM
WT1000
JP#LOOP
EN
}}}

I/O daughter board for the ~DMC-21x2/21x3 series motion controllers.
''Special requirements: 5V-SSI''
<html><img src="img/cabinet/DSC01717.JPG" style="width: 40%;" ></html>
!Specifications
The DB-28040 are rev A-D with clock 18-25MHz (See note2438).  However SSI clock measurements show the clock is equal to ''25MHz''.
Serial Number:
*On cabinet: AZ-12396
*Spare: AZ-12397
!Purpose
*Reading of SSI absolute encoders via two 20-pin IDC headers (J4 & J5)
*40 digitals I/O configured as inputs or outputs in 8 bits increments. With SSI, bank 6, bits 49 to 56 are not active.
**Digital inputs include signals like Range_Out, Brake_FB, PotAlarm, E-Stop, Safety24VDC, CB, //HybridSSR?, RemoteONOFF?//
**''Number of digitals inputs: 23''
*8 analog inputs, 12-bits, default range +/-10VDC, input impedance of 42kOhm
**Linear potentiometer on each one of the five [[Electric Cylinders]]
**''Number of analog inputs: 5''

--''In order to decrease the frequency of absolute encoder, a NRE quote could be requested.  The issue is to set-up the clock frequency equals 100kHz, this way the filters could be specified with a cut-off frequency equals 1MHz.''--
!Documentation
*Note 1237 - DB-28040 I/O Daughter Board Specifications (DMC-21x3 Amplifiers and Accesories)
*Note 1253 - Changes in DB-28040
*Note 2438 - Galil SSI Encoder Interface

<<tiddler D-Subminiature>>

<<tiddler D-Subminiature>>

<<tiddler D-Subminiature>>

ACCESSORY; 3-PHASE RHP DIN-RAIL BRACKET
View [[Whitepaper|Crydom-RHP-whitepaper.pdf]]
View in [[Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=6820512]]

The DMC-2183 is Galil's Ethernet/RS232 Econo Motion Controllers, it is an 8-axis controller. All the features can be found in the  [[DMC-21x2/21x3-UserManual | Galil-man21x2.pdf]] or Galil website (http://www.galilmc.com/products/dmc-21x3.php).  In the tertiary control system the controller DMC-2183 uses five axis to control the tertiary [[Electric Cylinders]]. This controllers is not only used for the motor control, but it is also  able to monitor the complete status of the tertiary control system by using its inputs and outputs. 
<html>
<table cellpadding="5" cellspacing="5" border="0" width="100%">
<tr>
<td valign="top">
<img src="img/cabinet/DSC01714.JPG" border=0 style="width: 100%; "/>
</td>
<td valign="top">
<img src="img/cabinet/DSC01721.JPG"  style="width: 100%; "/>
</td>
</tr>
</table>
Left: DMC-2183. Right: DMC-2183 with ICM-20105 and DB-28040
</html>
!Spare Info.
Serial Number AH-37203
Galil DMC-2182 8 axis controller
Firmware: 1.0q1-SSI2
!Configurations
*Galil-DMC2183-IP-Address
*Galil-DMC2183-Limit-switches-Input-mode
*Galil-DMC2183-PID-parameters
*Galil-DMC2183-SSI-Encoder-Interface
*Galil-DMC2183-Port-for-messages (This is not used in the Tertiary System)
!Outputs
<<tiddler GalilOutputs>>
!Inputs
<<tiddler GalilInputs>>
!Manuals
*[[DMC-21x2/21x3-UserManual | Galil-man21x2.pdf]]
*[[DMC-21x2/21x3-CommandReference | Galil-com21x3.pdf]]

[[About]]

Four cables (Emergency-stop-2, Emergency-stop-3, Emergency-stop-4, Emergency-stop-5) of eight conductors (six but NCA and NCB are double) each one. 
**E-Stop-NOA, E-stop-NOB
**E-Stop-NCA, E-stop-NCB  (x2)
**E-Stop-LightA, E-Stop-LightB
See p.40, p.46, p.68, p.69

Brushless servo EC5B41-5010B-450-MP2-MT1E-BM24-L-PB-C0
*EC5: Rod Type cylinder
*B41: Motor type:  NEMA 42 Frame. Brushless servo motor
*50: Drive ratio: 5.0:1 --Drive belt/Pulley-- Helical gear
*10B: Screw type: 10mm/rev ballscrew
*450: Stroke length (milimeters)
*MP2: Mounting style: Rear double clevis mount
*MT1E: Rod ends: male thread
*BM24: Brake on motor: 24VDC
*PBL: Protective boot, Linear potentiometer

Industrial DIN Rail case with screw terminal serial ports; Full RS-232 serial interface without I/Oò??s.The iServer is a stand alone Ethernet Server designed to connect devices with serial interfaces to the Ethernet network using the TCP/IP protocol. 
*Power Input: 10 to 32 VDC
<html><img src="img/iServer.jpg" style="width:35%;"/></html>

View configuration in Newport-iServer-EIT-D-settings

The [[External Cables]] of the tertiary control system are filtered by using Spectrum Control Series 700 DB filters and the Power-PiFilter. The Series 700 filters have an inductor=860nH and capacitors values from 100pF to 4000pF (Cut-off frequency from 32MHz to 0.8MHz).  Because there is digital signals on this cables, selection must be done carefully.
| Cable | Signal with maximum frequency | Maximum frequency | Filter | Cut-off frequency|h
| [[Encoder/Hall cable]] | Incremental Encoder  | 126kHz | [[56-715-005]] | 0.8MHz|
| [[Sensors cable]] | Absolute Encoder clock | 463kHz | [[56-725-003]] | 3.2MHz|
The absolute encoder cable that connects the ATM60-A4A12X12 with the [[Connection Box]] is filtered with the filter [[56-705-003]].  This filter has a cut-off frequency of 3.2MHz.  The filter [[56-705-005]] with cut-off frequency of 0.8MHz produced data corruption on the encoder signals, this filter is only used for the [[E-Stop cables]]

!Maximum Frequency of the SquareWave
The code allows to simulate a square wave, see its frequency components and the results when the wave is filtered.
{{{
%% Analisys of square wave
% Generating, Filtering and Frequency analysis
% JDGL 2010
close all
%% Generating the wave
f=100e3;   %frequency
fs=10e6;     %Sampling frequency
nc=10;    %Number of cycles
ts=1/fs;
T=1/(f); tf=nc*T;
t=[0:ts:tf];
sw=2.5*square(2*pi*f*t);
figure(1),plot(t,sw), xlim([0,tf/2])
ylabel('Amplitude'),xlabel('tiempo')
%% Frequency Analysis
%FFT contains information between 0 and fs
%Maximum frequency is fs/2
N=1024           %Number of points
X=abs(fft(sw,N)) %Magnitud
X=fftshift(X)    %Zero frequency at center
F=[-N/2:N/2-1]/N %Normalized frequency scale
figure(2),plot(F,X), xlim([0,0.5])
xlabel('Frequency / fs')    
%% Filtering
no=3;           %Orden
fc=0.8e6;         %cut-off frequency
[b,a]=butter(no,fc/(fs/2),'low');
[H,w]=freqz(b,a,1024,fs);
figure(3),subplot(2,1,1)
plot(w,20*log10(abs(H))),grid on
xlabel('Frequency (Hz)'), ylabel('Magnitude (dB)')
title(sprintf('Butterworth, #Order=%g, fc=%g',no,fc))
subplot(2,1,2)
plot(w,angle(H)*180/pi), grid on
xlabel('Frequency (Hz)'), ylabel('Phase (deg)')
swf=filter(b,a,sw);
%% Plotting Filtered signal
figure(1), hold on, title(sprintf('fo=%g, fc=%g, fs=%g',f,fc,fs))
plot(t,swf,'g')
XF=abs(fft(swf,N)) %Magnitud
XF=fftshift(XF)    %Zero frequency at center
figure(2), hold on, title(sprintf('fo=%g, fc=%g, fs=%g',f,fc,fs))
plot(F,XF,'g'), xlim([0,0.5])
}}}

!Connectors
!!ITT cannon
*ITT Cannon PV MIL-DTL-26482 Series II
A highly reliable aerospace connector available with EMI-RFI shielding, qualified to MIL-C-26482 Series II. Silicone seals, three point quick bayonet coupling. Little Caesar metal time contacts retention system. Series II is an enhanced version of 26482 Series I, but unlike Series 1 is supplied without rear accessory (but has standard military rear threads allowing you to use a broad range of back end options). Series II intermates with all MIL-DTL-26482 Series I connectors. Mil spec part numbers include: MS3470, MS3471, MS3472, MS3474, MS3476,MS3475. ITT Cannon proprietary prefixes KPT, KPSE.[[ view PDF|ITTcannon-pv-mil-dtl-26482-series-II.pdf ]] [[view online | http://www.peigenesis.com/connectors/by-manufacturer/itt-cannon-connectors/183:itt-cannon-pv.html]] @@No es un filtro, requiere backshield@@ 
*ITT Cannon TPV MIL-C-26482, Series 2 or MIL-C-83723, Series 1 filter connectors
These miniature circular filter connectors are designed ''to combine the functions of a standard electrical connector and a feed-thru filter into one compact package''. TPV filter connectors are designed to meet the applicable portions of military specifications MILC-26482 and MIL-C-83723. They are also intermateable with the NAS1599 and the NASA 40M39569 type connectors. These connectors feature three-point bayonet lock coupling, five keyway polarization, and have contact arrangements that will accommodate up to 61 contacts in shell sizes, with both pin and socket contact versions available. [[ view PDF|ITTcannon-Filters-TPV.pdf]] [[view online | http://ittcannon.com/product.aspx?id=596]]  @@No distributor@@
!!Amphenol
*FPT Miniature  MIL-DTL-26482 Series I with Filter Protection - EMI/EMP Filter Protection Connectors 
AmphenolÒ? EMI/EMP Protection Connectors offer the versatility of standard connectors with EMI/EMP protection for sensitive circuits. Internal housing of the EMI/EMP devices eliminates costly and bulky exterior discrete protection devices. [[view PDF|AMPHENOL-38999_filter.pdf ]]  [[view online | http://www.amphenol-aerospace.com/filters_26482.asp]] @@No distributor@@
*Filter connectors:
A full range of high quality, cost competitive connectors that meet or exceed all EMI/EMP requirements is available. Proprietary, stress-isolated, solderless technology is used to provide tubular, planar, or chip capacitor-designed products.
[[view online | http://www.peigenesis.com/connectors/by-manufacturer/amphenol-connectors/251:amphenol-filter-connectors.html]] @@No hay del tipo 26842, util para D sub series@@

!Selecting the cut-off frequency
*Maximum frequency of SSI: 1MHz (view specificications of ATM60-A4A12X12)
*Maximum Speed of motors
**B41: 2000RPM
**B32: 3800RPM

Electric Cylinders are the actuators of the tertiary motion and control system. Each one is a //self contained leadscrew system which converts rotary motion (from a motor) to linear motion// [motion control terminology].  Tertiary uses IDC's T series and EC series (http://www.kollmorgen.com/website/com/eng/products/ec5.php) (http://www.kollmorgen-seidel.de/website/com/eng/products/actuators/precision_linear_actuators/114811.php)
!Old vertical drive (Two cylinder in the lab)
<<tiddler TB41-204B-18-MP2-MT1-BM-PBL-C50>> 
!Vertical Axis (Two Cylinders)
<<tiddler EC5B41-5010B-450-MP2-MT1E-BM24-L-PB-C0>> 
!Tilt Axis (One Cylinders)
<<tiddler TB32-1001B-24-MP2-MT1-BM-PB-L>> 
!Horizontal Axis (Two Cylinders)
''Take from AO doc'' <<tiddler TB32-1001B-12-MP2-MT1-BM-PB-L-C25>>

!!Absolute Encoder ATM60-A4A12X12 with PT8600 resolution
Since the encoder has 4096 steps per revolution and the PT8600 is specified for 5 inchs per ervolutuion, then the length measuring step can calculated as:
{{{Measuring step: Distance [inch] / steps [counts]}}}
Measurin step = 5 /4096  = 0.0012207 inchs/count
Measurin step = 5*25.4 /4096  = 0.031 mm/count

!Incremental Encoder
Incremental rotary encoder, factory-mounted directly to the rear of the D, H, P22, P32, S32, and S42 IDC motors.  A 2000-line encoder is standard equipment on the B23, B32, and B41 motors. (From: [[IDC-EC-manual|IDC-EC-ScrewMotorManual.pdf]] and [[IDC-TB-series pag.B-73|IDC-TB-Series_Dimensions.pdf]])
*Pulses per revolution: 2000 line with quadrature (8000PPR)
!Basic Equations
To obtain encoder counts per revolution and the distance per counts is required:
*Drive ratio n2:n1 (i.e. Drive Belt/Pulley)
*Screw type: Lead_value (Amount of axial advance of a point accompanying a complete turn of a thread)
*Pulses per revolution: PPR

{{{Distance = Lead_value[inch/rev] x n1/n2 x 1/Count_rev [1/(counts/rev)] x Counts_enc [counts]}}}

{{{Counts_enc = Distance x n2/n1 x Count_rev x 1/Lead_value}}}
!Summary
| Parameter | !Old Vertical | !Vertical Axis| !Tilt Axis | !Horizontal Axis |h
| Lead_value | 0.25 [inch/rev]   | 10[mm/rev] | 1[inch/rev] | 1[inch/rev] |
| n2         | 2                          | 5 | 10 | 10 |

!Results
Thess results have been checke fot Old Vertical axis.
| Parameters \ Electrical Cylinders      | !Old Vertical | !Vertical Axis| !Tilt Axis | !Horizontal Axis |h
| Motor rev. per ballscrew rev.              | 2 | 5 | 10 | 10 |
| Ballscrew revolution per inch of travel | 4 | 2.54 | 1 | 1 |
| Displacement per motor rev.             | 1/8" | 2mm | 1/10" | 1/10" |
| Incremental encoder counts(post-quad) per motor rev.     | 8000 | 8000 | 8000 | 8000 |
| Incremental encoder counts(post-quad) per inch of travel | 64000 | 101600 | 80000 | 80000 |
| Absolute encoder rev. per inch of travel      | 1/5 | 1/5 | 1/5 | 1/5 |
| Absolute encoder counts per rev.              | 4096 | 4096 | 4096 | 4096 |
| Absolute encoder counts per inch of travel | 819.2 | 819.2 | 819.2 | 819.2 |
| Absolute encoder counts per motor rev      | 102.4 |  64.5   | 81.92 | 81.92 |

*It communicates each amplifier with the corresponding motor
*Number of conductors:13+2. 
** +5V
** GND
** Temp
** Ref
** six encoder signals (A+, A-, B+, B-, Z+, Z-)
** three hall sensor (R, S, T)
!Connectors
*PT06E-14-18S(SR): connection with PT02E-14-18P in motor.
*DB15F: connection with DB15M-DB15F EMI filter.

''Axis Motion Cables'': There is a cable for each motion axis: Horizontal Left, Horizontal Right, Vertical Left, Vertical Right and Tilt.  Then, there is five cables of each one of them.
*[[Motor Power cable]]
*[[Encoder/Hall cable]]
*[[Sensors cable]]
[[Pendant cables]]
[[E-Stop cables]]
[[Communications Cables]]
[[Power cables]]

|Qty |Type                     | Cabinet           | Filter             | Connector End  |    Cable   | Connector End | Filter              | Component |h
|5  |[[Motor Power cable]] |KPT02E16-8S |                    | [[PT06E-16-8S(SR)]] | [[KA-50531]] | [[PT06E-16-8S(SR)]] |                       | PT02A-16-8P|
|5  |[[Encoder/Hall cable]] |DB15 plug   | [[56-715-005]] |  DB15 recep| [[KA-50527]]     | [[PT06E-14-18S(SR)]] |                          | PT02E14-18P|
|5  |[[Sensors cable]]       |DB25 plug  | [[56-725-003]] |  DB25 recept| [[5160/20C]]   |DB25 recept  |   [[56-725-003]]   | DB25 plug|
|1  |[[Pendant cables]]       |DB25 plug     | [[56-725-003]] | DB25 recept| [[5160/20C]] | N/A               |    N/A               |  N/A        |
|4  |[[E-Stop cables]]         |DB9 plug      | [[56-705-005]]  | DB9 recept| [[5158C]] | [[PT06E-16-8(SR)]] |    N/A           |  PT02A-16-8P]] |
|External cables|c
*Motor Power cable is filtered inside of cabinet by the Power-PiFilter.
*Cables will be reused, KA-50527 for [[Encoder/Hall cable]] and KA-50531 for [[Motor Power cable]]
Filters have been selected with cut-off frequency equals 3.2MHz. See recommendations for FilterSelection

!Lengths of cable:
*Vertical Left: 60ft
*Vertical Right: 63ft
*Horizontal Left: 49ft
*Horizontal Right: 50ft
*xxxx(tilt): 36ft

view OrderExternalCable

!Panel of connectos
*Connectors are mounted on a panel of 7 x 14 inches
*The connector panel is installed on a window of 5.5 x 12.5 inches in the side solid of the enclosure (PSS184HF2)
*The connectors are mount in horizontal orientation.
<html><img src="img/cabinet/DSC01741.JPG" style="width:50%"/></html>

!Recommendations
*The [[EMI/RFI]] filter are all Low band pass, whose ''cut-off frequency'' must be specified. 
*An analysis of ''desired frequency'' must be done for each conductor
**Motor Cable: Maximum frequency 190Hz, calculated from the maximum frequency of R,S,T sensors. For B31, Freq_R-S-T = Velocidad[RPM]*(Rotor pair pole)*(1/60) = (3800RPM)*(3)*(1/60) = 190Hz
**Encoder/Hall cable:Maximum frequency:126.6kHz, calculated from the maximum frequency of encoder signals. Freq_ENC=(pulses/revolution)*(VelocidadRPM)*(1/60) = (2000pulse/rev)*(3800rev/min)(1/60min/seg) = 126.6kHz
**Absolute Encoder: Frequency of SSI: 500kHz ~2.5MHz
*Square wave are infinite series of ''odd harmonics'', summed together to create the square shape.  It must be defined what  harmonics must be passed and what can be eliminated. [[more|Filters for Data Transmission-sloa063.pdf]]
*An analysis of ''rejected  frequency'' must be done. View [[NAIC receivers |http://www.naic.edu/~astro/RXstatus/rcvrtabz.shtml]]
!Final selection
*Filters ITT cannon would be a good option, cutoff frequency is 2MHz, then at 40 MHz they have more than 30dB, and at 100MHz they have more than 45dB. These filters were discarded by:
**High price, approx $900.00
**Delivery delay: 22 weeks
**Minimum order: 20 pieces
*D-Subminiature Series 700 of Spectrumcontrol are inexpensive compare to MIL-DTL-26482 shown in EMI/RFI
** DB25: [[56-725-003]] PI filter with cut-off frequency 3.2MHz (AbsoluteEncoder signal 460kHz)
** DB15: [[56-715-005]] PI filter with cut-off frequency 0.8MHz (Incremental Encoder <72kHz)
** DB9: [[56-705-005]] PI filter with cut-off frequency 0.8MHz (Pushbutton and lights )

This a metalic box that contains the Power-PiFilter, which is used to filter the [[Motor Power cable]].  Then, there is five filtered box (Horizontal Left, Horizontal Right, Vertical Left, Vertical Right and Tilt)
<html><img src="img/cabinet/DSC01744.JPG" style="width:75%"/></html>
!Components
*Metalic box: Hammond [[1590KK]]: http://www.hammondmfg.com/dwg.htm
*Strain relief: [[CD11AA-FE]]
**Lock nut: [[NP-11-BE]]
*Strain relief: [[CD13AA-FE]]
**Lock nut: [[NP-13-BE]]
*Standoff 6-32: [[2209]]
''Note'' The original design only used one input and one output through strain relief CD11AA-FE.  However, it was necessary to add the strain relief CD13AA-FE to connect the power signals directly to the amplifiers [[B8501]] by using shielded cable. The two brake conductors are connected to the terminal blocks through the CD11AA-FE. The electrical noise was reduced inside the cabinet by using shielded cable ([[5176C]]) for the power wires.

See OrderFilteredBox

Standard D-Subminiature Connector; Connector Type:D Sub; No. of Contacts:9; D Sub Shell Size:DE; Gender:Plug; Series:G17S; Contact Termination:Solder; Connector Body Material:Metal; Leaded Process Compatible:Yes; Body Material:Steel ;RoHS Compliant: Yes
[[Datasheet | AMPHENOL-G17S0910110EU.pdf]]

''OPTO22 G4 Digital DC Input Module''
Opto 22ò??s G4 DC input modules are used to detect on/off DC voltage  levels. Each module provides up to 4000 volts (transient) of optical isolation between field inputs and the logic output of the circuit.
*G4 DC Input 2.5ò??28 VDC, 5 VDC Logic

[[specifications | OPTO22-G4IDC5D.pdf]]

''G4 Digital DC Output Module''
Opto 22ò??s G4 DC output modules are used to control or switch DC loads. Each module provides up to 4000 volts of optical isolation (transient) between field devices and control logic.
*G4 DC Output 5ò??60 VDC, 5 VDC Logic

[[specifications | OTPO22-G4ODC5.pdf]]

''G4 Digital Dry Contact Output Module''
Opto 22ò??s G4 family of modules includes two dry-contact, lowcontact- resistance DC output modules, the G4ODC5R and the G4ODC5R5.
*G4 Dry Contact Output, 5 VDC Logic, Normally Open

[[specifications | OTPO22-G4ODC5R.pdf]]

IP address is 190.168.100.230, the command used is IA. The IP address must be
assigned through an RS-232 connection, and the command sequence is shown below.
{{{
:IA 192,168,100,230
:BN
}}}

Because of the limit switches RPS-2 are normally closed, activation high is configured. In activation high the reading is inverted and no connection or a 5V input is read as '1' (this is inactive and '0' is active). In order to set the activation state of the limit switches the command CN must be used.
{{{
:CN 1
:BN
}}}

!References:
pag. 51  Galil Motion Control. DMC-21x2/21x3 User Manual.

The amplifiers must be disable when the galil turns on, the following commands must be used:
{{{
:MO
:BN
}}}

!Using dual loop
In this case the loop is closed with absolute encoder, which detect changes in the load position.  However, the derivative action is applied on the motor encoder, while the PI part is applied on the load encoder.  Speed and acceleration values must be adjusted. The dual loop is enable with the command {{{DV}}}.
{{{
:KDA=200
:KPA=80
:KIA=1
:DVA=1
}}}


!Closing the loop with motor encoder
The following parameters are for the motor TB41 horizontal position in the Digital Lab:
*KD=50
*KP=10
*KI=1
{{{
:KDA=50
:KPA=10
:KIA=1
}}}
A bettter parameters were found with auto crossover frequency, these are:
{{{
:KDA=221.25
:KPA=29.63
:KIA=11.40
}}}

Also,
*the amplifier [[B8501]] is working in torque mode, i.e. it is responsible of the current loop and the  commutation. see IDC-B8501-Amplifier-Mode
*the amplifier [[B8501]] was configured using ServoTuner and the configuration file B41ap220, this file contains the PID parameters of the current loop. In order to see these parameters in ServoTuner, then: <ctrl>+<shift>+<M>
!References:
*http://www.danahermotion.com
**Servo control
**Drive control modes
**comparison od drive and controller
*note3414-Sinusoidal commutation of Brushless Motors.pdf
*note5419-Connecting Advanced Digital Simple Servo SS-504.pdf

DMC2183 can send messages either to a serial port or to Ethernet handles, whic are eight.  Then, in order  to set-up the port the command CF is used.  Parameter I set the port that issues the CF command.  This is helpful when RS-232 is used to communicate with DMC-2183.
{{{
:CF I
}}}

Absolute Encoder is read by using DB-28040 SSI options.

In order to read the encoder ATM60-A4A12X12, the DMC-2183 must be configured as is explained in [[application note 2438|note2438-Galil SSI Encoder Interface.pdf]].  The command is {{{Sin=Si0,Si1,Si2,Si3<p>q}}}. An command example is
{{{ :SIX=2,24,12,0<10>2 }}}
This is, it is an auxiliar encoder, 24-bits, 4096 steps/revolution, ?, SSI frequency equals to 1136kHz and Gray code.

Commands to operate the auxiliar encoder are: TD or TDA, DE or DEA
!Configuration on the Tertiary System
Since the absolute encoder will be used as the main encoder then {{{Si0=1}}}, in addition the SSI frequency should be reduced to 463 kHz because to the length of the cables. The SSI command is:
{{{
:SIX=1,24,12,0<26>2
}}}
This configuration was tested by using the cable of 63ft and three DB filters; there was no data corruption.

Since the ICM-20105 gives the user several options with regards to the voltage present on the Amp Enable output, the enable circuit must be configured through JP1, JP2 and RPAE1 (See pag 23 Galil DMC-21x3AmplifiersAccesories). The amplifier B8501 is enabled (power will be applied to the motor) when the input enabled is connected to ground (See pag 14-15 in B8001OperatorsManual).

Below is described how to configure the ICM-20105 for the tertiary system.
!Configuration used in tertiary system for ICM-20105
Amplifier is enable when its enable relay (i.e.[[700HC22Z24]]) is active .  In order to activate this relay, the DMC-2183 axis enable output AND the ICM-20105 enable output must be High (See pag. 52, 53 and 54 of schematics). Using the mode ''5V HAEN'' (High Amplifier Enable, 5Volts), the ICM-20105 output enable is High when the enable is active(i.e. when motion  is required by example: the command SH). The mode 5V HAEN is obtained with the following configuration:
*JP1 = 5VDC - AEC1
*JP2 = GND - AEC2
*RPAE1 = Dot on R-pack NEXT to RPAE1 label
!Configuration used in testbench for ICM-20105
This configuration was used on the laboratory. In this case the relay is not used, the ICM-20105 is directly connected to the amplifier. Terminal COMMON of the amplifier is also used
*No JP1
*JP2 = AECOM2-AEC2
*RPAE1 dot opposite to label
Then the wiring required was:
*Amp Enable Pin2 connected to Enable input of amplifier (Option: switch)
*AECOM2 Pin 9 connected to COMMON input of amplifier

A jumper must be connected on ICM-20105. This jumper connects the JAUX pin 14 to the EROUT.  This signal is used in the safety chain and it is required to activate the relay RLY11 ( [[700HC22Z24]]) when there is not a controller error condition. When an error occurs the relay RLY11 is inactive.  The conditions that could activate the error signal are:
*Position error.
*Reset line. 
*Processor is resetting itself.
*Failure on error IC.
''If there is no jumper to JAUX pin 14, the RLY11 will be inactive. Then the safety chain avoid to activate the MCR''

See more information about Error output in [[DMC-21x2/21x3 user manual | Galil-man21x2.pdf]]
!Referece:
Taken from the forums Ask to the doctors
"posted 09-01-2006 08:08 AM
//I am using the DMC-2123 with the ICM-20105. Is there a way to get the Error output to one of the pins on the 25 or 37 pin connector of the ICM-20105? The documentation for the ICM-20105 in DMC-21x3 Amplifiers and Accessories does not show "Error" as an available output."//

''"The Error signal is already brought up to the ICM 20105 through the 96 pin connector. The signal is routed to a test point next to the JAUX d-sub. Right next to this test point is another point labeled JAUX.14. This is normally a no connect on the d-sub. If a jumper wire is placed between EROUT and JAUX.14, the error signal will be available on the JAUX d-sub, pin 14. 
Best, DJ"''

| Input ID | Pinout | Interface | Opto | Function |h
| 1 | U2 : JIO-20 | IM1-20 | INM1  |  -Limit-Out-HL-Amp |
| 2 | U2 : JIO-2 | IM1-2 | INM2  |  +Limit-Out-HL-Amp |
| 3 | U2 : JIO-21 | IM1-21 | INM3  |  -Limit-Out-HR-Amp |
| 4 | U2 : JIO-3 | IM1-3 | INM4  |  +Limit-Out-HR-Amp |
| 5 | U2 : JIO-22 | IM1-22 | INM5  |  -Limit-Out-VL-Amp |
| 6 | U2 : JIO-4 | IM1-4 | INM6  |  +Limit-Out-VL-Amp |
| 7 | U2 : JIO-23 | IM1-23 | INM7  |  -Limit-Out-VR-Amp |
| 8 | U2 : JIO-5 | IM1-5 | INM8  |  +Limit-Out-VR-Amp |
| 9 | U3 : JIO-20 | IM2-20 | INM9  |  -Limit-Out-TLT-Amp |
| 10 | U3 : JIO-2 | IM2-2 | INM10  |  +Limit-Out-TLT-Amp |
| 11 | U3 : JIO-21 | IM2-21 | INM11  |  FaultSignal-HL-Amp |
| 12 | U3 : JIO-3 | IM2-3 | INM12  |  FaultSignal-HR-Amp |
| 13 | U3 : JIO-22 | IM2-22 | INM13  |  FaultSignal-VL-Amp |
| 14 | U3 : JIO-4 | IM2-4 | INM14  |  FaultSignal-VR-Amp |
| 15 | U3 : JIO-23 | IM2-23 | INM15  |  FaultSignal-TLT-Amp |
| 16 | U3 : JIO-5 | IM2-5 | INM16  |  Circuit-Breaker-37 |
| 17 | U4 : J1-47 | IM11-47 | INM17  |  Range-Out-HL-Amp |
| 18 | U4 : J1-45 | IM11-45 | INM18  |  Range-Out-HR-Amp |
| 19 | U4 : J1-43 | IM11-43 | INM19  |  Range-Out-VL-Amp |
| 20 | U4 : J1-41 | IM11-42 | INM20  |  Range-Out-VR-Amp |
| 21 | U4 : J1-39 | IM11-41 | INM21  |  Range-Out-TLT-Amp |
| 22 | U4 : J1-37 | IM11-37 | INM22  |  Brake-Feedback-HL |
| 23 | U4 : J1-35 | IM11-35 | INM23  |  Brake-Feedback-HR |
| 24 | U4 : J1-33 | IM11-33 | INM24  |  Brake-Feedback-VL |
| 25 | U4 : J1-15 | IM11-15 | INM25  |  Brake-Feedback-VR |
| 26 | U4 : J1-13 | IM11-13 | INM26  |  Brake-Feedback-TLT |
| 27 | U4 : J1-11 | IM11-11 | INM27  |  TAPAC-V-Alarm |
| 28 | U4 : J1-9 | IM11-9 | INM28  |  TAPAC-H-Alarm |
| 29 | U4 : J1-7 | IM11-7 | INM29  |  Emergency-Stop-1 |
| 30 | U4 : J1-5 | IM11-5 | INM30  |  Emergency-Stop-2 |
| 31 | U4 : J1-3 | IM11-3 | INM31  |  Emergency-Stop-3 |
| 32 | U4 : J1-1 | IM11-1 | INM32  |  Emergency-Stop-4 |
| 33 | U4 : J1-2 | IM11-2 | INM33  |  Emergency-Stop-5 |
| 34 | U4 : J1-4 | IM11-4 | INM34  |  MCR-1-status |
| 35 | U4 : J1-6 | IM11-6 | INM35  |  MCR-2-status |
| 36 | U4 : J1-8 | IM11-8 | INM36  |  Safety-Chain-Status |
| 37 | U4 : J1-10 | IM11-10 | INM37  |  Circuit-Breaker-1 |
| 38 | U4 : J1-12 | IM11-12 | INM38  |  Remote-OnOff-Signal |
| 39 | U4 : J1-14 | IM11-14 | INM39  |  Hybrid-Solid-State-Contactor-Status |
| 40 | U4 : J1-16 | IM11-16 | INM40  |  Circuit-Breaker-9 |
|See also "IO map 2010.xls"|c

The following table list the  galil outputs connected on the tertiary system.
| Input ID | Pinout | Interface | Opto | Function |h
| 1 | U2 : JIO-25 | IM1-25 | RLM01  | Galil-Emergency-Reset|
| 2 | U2 : JIO-7   | IM1-7   | RLM02 | Galil-Safe-Signal|
| 3 | U2 : JIO-26 | IM1-26 | OUM3   | Emergency-Status-Light|
| 4 | U2 : JIO-8   | IM1-8   | OUM4   | Emergency-Reset-Light|
| 5 | U2 : JIO-27 | IM1-27 | OUM5   | Green-Light|
| 6 | U2 : JIO-9   | IM1-9   | OUM6   | Red-Light|
| 7 | U2 : JIO-28 | IM1-28 | OUM7   | Blue-Light|
| 8 | U2 : JIO-10 | IM1-10 | OUM8   | Horizontal-Enable|
| 9 | U3 : JIO-25 | IM2-25 | OUM9   | Vertical-Enable|
| 10 | U3 : JIO-7 | IM2-7   | OUM10  | Tilt-Enable|

The .deb files were downloaded from: http://www.galilmc.com/support/downloads/software/galiltools/linux/
Installation:
{{{
~$ sudo su
# dpkg -i galiltools_1.4.0-1_i386.deb
# exit
}}}
For running GalilTools:
{{{
~$ GalilTools &
}}}
!References
*http://www.galilmc.com/forums/ubbthreads.php?ubb=showflat&Number=8157&page=1#Post8163
*http://www.galilmc.com/support/downloads/software/galiltools/linux/

Generation of text file with extension .NET
#Open the project manager
#In the project manager click on the filename.dsn
#Navigate in Tools - Create netlist
##Click on tab Other
##Select wirelist.dll
##Click on OK

ACCESSORY; 3-PHASE RHP Auxiliary contact
Includes one normally open and one normally closed contact
5A, 600 VAC
View [[Whitepaper|Crydom-RHP-whitepaper.pdf]]

Optical Transmitter for Industrial Apps, High Power, 2x4, Threaded ST, RoHS

[[specifications|Agilent-HFBR-0400-datasheet.pdf]]
View in [[Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=7870081]]

Optical Receiver for Industrial Applications, TTL Output, 2x4, Threaded ST, RoHS

[[specifications|Agilent-HFBR-0400-datasheet.pdf]]
View in [[Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=7870073]]

[[Connecting Galil Controller through ethernet in Windows XP]]
[[Connect RIO47200 and DMC2183]]
[[Connect DMC2183 and UPS SG1K-2T]]
[[Generate a wire list in cadence Orcad]]
[[Transfer (save) the Tektronix THS710A screen to the PC]]
[[Apply Galil's Communication Library using g++ on Linux]]

The ICM-20105 is an opto-isolated input-output module that is used as an interconnection module for the DMC-2183.  This module has four male DB15 for the individual axis signals, one female DB25 for the inputs of the auxiliar encoders and one female DB37 for digital inputs, digital outputs and limit switches.
<html><img src="img/cabinet/DSC01718.JPG" style="width: 40%; "/></html>
The tertiary control system uses two modules ICM-20105, which are labeled as U2 and U3.  The module U2 is used to control four axis: Horizontal Left (X or A axis), Horizontal Right (Y or B axis), Vertical Left (Z or C axis) and Vertical Right (W or D axis).  The module U3 is used to control the Tilt axis (E axis).
!Configurations
The ICM-20105 requires special configuration for the tertiary control systems:
*Galil-ICM-20105-Error-Ouput
*Galil-ICM-20105-Amplifier-Enable-Signal
!Documentation
*See more info: [[DMC-21x3 Amplifiers and Accesories |Galil-21x3_accessories.pdf]]

The amplifier IDC B8501 can be configured in torque mode or velocity mode.  In tertiary control system, the amplifier is used in ''torque mode'', by jumpering the ''Mode input'' to ''Common'' in the front of the drive.  In torque mode the amplifier is in charge of the commutation and current loop.  The position loop is executed by the motion controller (DMC-2183).

Each driver B8501 must be tuned with the corresponding configuration file according to the motor that is driving.  Using the software IDC-Motion-Servo-Tuner, the configuration file is downloaded to the driver.  In torque mode, the torque loop must be set; the controller is composed of {{{Kip}}} and {{{Kii}}}, whose values depends on the kind of motor.
There is a configuration file for each IDC motor, which must be  downloaded to the driver via a RS232 serial link. The B8501 are configured for drive B41 motors by using the file: "~B41AP220.MTR"; however, each drive must be configured according to the [[motor|Electric Cylinders]] that is driving:
*Horizontal drives: to use "~B32AP220.MTR"
*Vertical drives: to use "~B41AP220.MTR"
*Tilt drives: to use "~BB32AP220.MTR"
Thess files contain the PID parameters of the current loop. In order to see these parameters in ServoTuner, then: <ctrl>+<shift>+<M>

|192.168.100.230| DMC-2183 |
|--192.168.100.231--| --Printer?--|
| 192.168.100.232 | PC |
| 192.168.100.233 | RIO-47200 |
| 192.168.100.234 | iServer EIT-D |
| 192.168.100.235 | MyLaptop |

Cable for motor feedback.
22AWG 11Conductors
20AWG 2 Conductors
O.Diameter= 9.3mm [0.36in]
!Substitute
[[5160/15C]]

Cable for motor power.
18AWG  6 Conductors
O.D. = 8.16mm [0.321in]
!Substitute
Alpha wire [[5176C]]

specifications [[[ITTcannon-kpt-kpse-mil-dtl-26482-series-1.pdf|ITTcannon-kpt-kpse-mil-dtl-26482-series-1.pdf]]]
!Accesories
Gasket: CMD02-16C
Nut Plate:	M85528/2-16A
Screws:	S440-1/2
view [[[ITTcannon-kpt-kpse-mil-dtl-26482-series-1-accessories-pg148.pdf|ITTcannon-kpt-kpse-mil-dtl-26482-series-1-accessories-pg148.pdf]]]

specifications [[[ITTcannon-kpt-kpse-mil-dtl-26482-series-1.pdf|ITTcannon-kpt-kpse-mil-dtl-26482-series-1.pdf]]]

specifications [[[ITTcannon-kpt-kpse-mil-dtl-26482-series-1.pdf|ITTcannon-kpt-kpse-mil-dtl-26482-series-1.pdf]]]

specifications [[[ITTcannon-kpt-kpse-mil-dtl-26482-series-1.pdf|ITTcannon-kpt-kpse-mil-dtl-26482-series-1.pdf]]]

LM4040
Precision Micropower Shunt Voltage Reference
*Maximum operating current of 15 mA
*Minimum Operating Current = 0.75uA
*Reverse Breakdown Voltage: 10V

[[View datasheets | National-LM4040AIZ-10.pdf]]

Power Line Filter
LRC SERIES ò?? 80 dB at 1.0 MHz to 10 GHz
LRC-2030 2 x 30 Amp
LRC series is designed for 277 volt line-to-ground, 480 volt line-to-line, 0-60 Hz applications. These filters may also be used for lower voltage ratings, such as 120/208 volts, with no adverse effect.
[[specifications|LRC-2030.pdf]]
!Alternatives
*LRE-2030
**High Performance: For Moderate Requirements
**Dual or Multiple Lines
**Maximum Voltage: 0-60 Hz: 277V to GND; 480V Line to Line,0-400Hz: 125V to GND; 208V Line to Line
**Frequency Range: 150 kHz - 18 GHz
**Insertion Loss: 100 dB
**//The size is similar to LRC-2030, Size is 21.25 x 5 x 3 inches//
**http://www.ets-lindgren.com/page/?i=MultipleCircuitFilters
*LRX-2030-S2
**Superior Performance: For Stringent Requirements.
**Maximum Voltage: 0-60 Hz: 277V to GND; 480V Line to Line, 0-400Hz: 125V to GND; 208V Line to Line
**Frequency Range: 14 kHz ò?? 18 GHz
**Insertion Loss: 100 dB
**//The size is NOT similar to LRC-2030, Size is 37 x 9 x 5 inches//
**http://www.ets-lindgren.com/page/?i=duallinesinglephasefilters

Linear power supplies in the tertiary control system are manufactured by PowerOne and Condor (SL Power Electronics).  The AC input of these power supplies must be configured according to the desired the input range.  There is two ac values In the tertiary control system: 208V and 220V. The power supplies that are connected to the UPS have 220V in the input. These power supplies are:
*PS1: Condor power supply MTAA-16W-A
*PS2: PowerOne HC24-2.4-AG
*PS4: PowerOne HB5-3/0VP-A
The following power supplies are fed by 208V:
*PS3: PowerOne HE24-7.2-A
*PS5: PowerOne HC24-2.4-AG
Review the configuration table for each power supply in order to select the suitable position jumper and the correct terminals for the input voltage. 

Female connector for AbsoluteEncoder
*//En el cuarto del terciario tenemos: 90 Right Angle Elbow Connector - Female Thread EMI Ready, con numero de parte: 7301 600 000 ver mas detalles en [[sealcon M23 website | http://www.sealconusa.com/connectors/products/m23_signal/elbowconnfelthr.htm]].//
//Esta especificado para cables de diametro: 10-14 mm (.39 - .55"), el cable [[5160/15C]] cumple, O.D. es 0.419. Sin embargo el cable [[5158C]] ha sido escogido, este cable tambien es ajustado a pesar de que el diametro es .33//
*Datasheet of AbsoluteEncoder recommends DOS-2312-G ([[view in sick| https://mysick.com/partnerPortal/ProductCatalog/DataSheet.aspx?ProductID=12017#]])
*Alternativa en sealcon [[straight connector M23 female | http://www.sealconusa.com/connectors/products/m23_signal/strconnfemthr.htm]]

Sick's Wire Draw mechanism for absolute encoder
*Measuring length: 2m
*Number of turns for full extension: 10 approx.
!Calculations:
With 4096 steps per revolution, the measuting step would be:
{{{Measuring step = 2000 mm / 40960 }}}
Measuring step = 0.0488 mm.  It is worse than ATM60-A4A12X12 with PT8600.  The PT8600 has 5inch per rotation (12.7cm/rev) while the MRA has 20cm/rev.

Condor DC Power Supply
MTAA-16W-A, commercial model: ~HTAA-16W-A+G
*Output 1: 5 V @ 2 A
*Output 2:  +12 to 15 V @ 0.4/0.4 A
*Output 3: -12 to 15 V @ 0.4/0.4 A (No. 3 output usable at -5 V, rate at 1/2 of 15 V current rating.)
[[Specifications|Condor-LinearMed-DS-MTAA.pdf]]
!Use
This source supplies the Galil controller DMC-2183. 

[[About]]
[[Axis Overview]]
[[Configurations]]
[[Cabinet Coolers]]
[[Calculations]]
[[Component List]]
[[Connection Box]]
[[Electric Cylinders]]
[[External Cables]]
[[Filtered Box]]
[[HowTo]]
[[IPaddress]]
[[Remote On-Off]]
[[RFI-Test]]
[[Scenarios]]
[[Schematics]]
[[Software Routines]]
[[Suppliers & Makers]]
[[TAPAC]]
[[Temperature Sensing]]
[[Testing]]
[[ToSolve]]

*Goal: It communicates each amplifier with the corresponding motor
*Number of Conductors:Six
** R
** S
** T
** GND
** Brake+
** Brake-
!Connectors
*KPT06E16-8S(SR): connection with PT02E16-8P in motor.   
*KPT06J16-8P: connection with KPT02E16-8S in gabinet, which is connected to a PI filter.for each conductor.
@@In datasheet, the motor connector is PT02E-14-5P, Brake is not considered@@ 

[[SEALCON BRASS-LOCKING-NUTS-EMI-RFI.pdf|SEALCON BRASS-LOCKING-NUTS-EMI-RFI.pdf ]] ([[sealcon | http://www.sealconusa.com/ncnuts_emi.htm]])

[[SEALCON BRASS-LOCKING-NUTS-EMI-RFI.pdf|SEALCON BRASS-LOCKING-NUTS-EMI-RFI.pdf ]] ([[sealcon | http://www.sealconusa.com/ncnuts_emi.htm]])

[[SEALCON BRASS-LOCKING-NUTS-EMI-RFI.pdf|SEALCON BRASS-LOCKING-NUTS-EMI-RFI.pdf ]] ([[sealcon | http://www.sealconusa.com/ncnuts_emi.htm]])

[[SEALCON BRASS-LOCKING-NUTS-EMI-RFI.pdf|SEALCON BRASS-LOCKING-NUTS-EMI-RFI.pdf ]] ([[sealcon | http://www.sealconusa.com/ncnuts_emi.htm]])

Configuration for the EIT-D. This is used to send commands to the UPS SG1K-2T via ethernet; so the RS-232 parameters must be compatible.
*IP address:192.168.100.234
*RS-232
**Baud-rate: 2400
**Stop bit: 1
**Parity: None
**Control: None

AC voltage transducer
*Input signal: 0-300VAC
*Input frequency: 50 /60Hz
*Ouput signal: 0-1mA DC
*Self powered

!Order
| Qty | Part Number | Manufacturer | Description  | Supplier |h
| 5    | [[1590WS]]     | Hammond     | Box            | [[Allied |  http://www.alliedelec.com/search/productdetail.aspx?SKU=8065915]] |
| 5+    | [[5-747912-2]]  | Tyco            | DB25 Plug  | [[Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=3740425]] |
| 100 | [[WAGO-260-311]] | WAGO  | Terminal Block | [[connex-electronics | http://www.connex-electronics.com/?url=/html/products/wago/panelmount/wag_260series.html]] |
| 10   | [[WAGO-260-323]] | WAGO   | End Terminal Block |  [[connex-electronics | http://www.connex-electronics.com/?url=/html/products/wago/panelmount/wag_260series.html]] |
| 10   | [[WAGO-260-371]] | WAGO   | End Plate | [[connex-electronics | http://www.connex-electronics.com/?url=/html/products/wago/panelmount/wag_260series.html]] |
| 1   | [[WAGO-210-154]] | WAGO   | Carrier Rail |  [[connex-electronics | http://www.connex-electronics.com/?url=/html/products/wago/panelmount/wag_260series.html]] |
| 20 | [[CD07AA-FE]] | Sealcon   |  Strain relief  | [[sealcon | http://www.sealconusa.com/ncemi-feed-thru.html ]] |
| 20 | [[NP-07-BE]]   | Sealcon   |  Lock nut    | [[sealcon | http://www.sealconusa.com/ncnuts_emi.htm ]] |
| 5 | [[CD13AA-FE]] | Sealcon   |  Strain relief  | [[sealcon | http://www.sealconusa.com/ncemi-feed-thru.html ]] |
| 5 | [[NP-13-BE]]   | Sealcon   |  Lock nut    | [[sealcon | http://www.sealconusa.com/ncnuts_emi.htm ]] |
See cable for Absolute Encoder: [[5160/15C]] in OrderExternalCable

!Order
| Qty | Part Number | Manufacturer | Description  | Supplier |h
| 9    | KPT02E16-8S | ITT cannon  | Circular connector  | [[pei-genesis | http://www.peigenesis.com/shop/part-information/KPT02E168S/CAN/EACH/190049]] |
| 9    | KPT06J16-8P | ITT cannon  | Circular connector  | [[pei-genesis | http://www.peigenesis.com/shop/part-information/KPT06J168P/CAN/EACH/192284]] |
| 5    | KPT06J16-8S | ITT cannon  | Circular connector  | [[pei-genesis | http://www.peigenesis.com/shop/part-information/KPT06J168S/CAN/EACH/192287]] |
| 5    | KPT06J14-18S | ITT cannon  | Circular connector  | [[pei-genesis | http://www.peigenesis.com/shop/part-information/KPT06J1418S/CAN/EACH/192252]] |
| 9    | CMD02-16C | ITT cannon  | Gasket  | [[pei-genesis | http://www.peigenesis.com/shop/part-information/CMD0214C/ACC/EACH/332]] |
| 9    | M85528/2-16A | ITT cannon  | Nut Plate  | [[pei-genesis | http://www.peigenesis.com/shop/part-information/M85528214A/ABA/EACH/222]] |
| 40   | S440-1/2       | ITT cannon  | Screws | [[pei-genesis | http://www.peigenesis.com/shop/part-information/S44012/YYC/EACH/315848]] |
| 6+   | [[5-747912-2]] | Tyco          | DB25 Plug  |  [[Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=3740325]] |
| 11   | [[5-747913-2]] | Tyco          | DB25 Recep  |  [[Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=3740430]] |
| 5    | [[1-5745172-3]] | Tyco          | DB15 shield  |  [[Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=3749036]] |
| 11   | [[5-748676-3]] | Tyco          | DB25 shield  |  [[Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=3748764]] |
| 4    | [[5747024-3]] | Tyco          | DB9 Gasket  |  [[Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=5126494]] |
| --5--    | --[[5747025-3]]-- | Tyco          | --DB15 Gasket--  |  none |
| --11--   | --[[745776-4]]-- | Tyco          | --DB25 Gasket-- |  none |
| 11    | [[56-725-003]] | spectrumcontrol | DB25 filter  |  [[MCI | http://www.metcaps.com/]] |
|  x   | [[5160/20C]]   |  Alphawire  |  20C x 20 AWG   | [[Anixter | http://onlinecatalog.anixter.com/SearchResultsServlet?QUERY=KEYWORD-SEARCH&KEYWORD=5160/20C]] |
|  x   | [[5160/15C]]   |  Alphawire  |  15C x 20 AWG   | [[Anixter | http://onlinecatalog.anixter.com/SearchResultsServlet?QUERY=KEYWORD-SEARCH&KEYWORD=5160/15C]] |
|  x   | [[5176C]]   |  Alphawire  |  6C x 16 AWG   | [[Anixter | http://onlinecatalog.anixter.com/SearchResultsServlet?QUERY=KEYWORD-SEARCH&KEYWORD=5176C]] |
|  x   | [[5158C]]   |  Alphawire  |  8C x 20 AWG   | [[Anixter | http://onlinecatalog.anixter.com/SearchResultsServlet?QUERY=KEYWORD-SEARCH&KEYWORD=5158C]] |

+There is five more in OrderConnectionBox

!Order
| Qty | Part Number | Manufacturer | Description | Supplier |h
| 20   | [[2209]]        | Keystone      | standoff      | [[Allied | http://www.alliedelec.com/search/productdetail.aspx?SKU=8390813]] |
| 10  | [[CD11AA-FE]] | Sealcon     | strain relief  | [[sealcon | http://www.sealconusa.com/ncemi-feed-thru.html ]] |
| 10  | [[NP-11-BE]] | Sealcon      | strain relief  | [[sealcon | http://www.sealconusa.com/ncnuts_emi.htm ]] |
| 5    | [[1590KK]]    | Hammond   | Box           |  [[ Allied| http://www.alliedelec.com/search/productdetail.aspx?SKU=8060685]] |

Programming Tool for Encoders ATM60-A4A12X12
The purpose of this tool is to increase the resolution of the absolute encoders ATM60-A4A12X12. The standard resolution is 4096 steps x 4096 revolutions. They can be configured to the maximum resolution: 8192 steps per revolution and 8192 revolutions, i.e. 26 bits.

!Documentation
[[General Information|Sick-Stegmann-Software_Prog_Tool.pdf]]
[[Technical Information |SICK-STEGMANN-PGT-01-S.pdf]]

!PT Series
These connnectos are intermateable, intermountable and interchangeable with all MIL-C-26482
*Connectors: 19 
*Type: Pin
*Shell size: 28.6mm
*Radio: 23mm

[[Guide |amphenol PT partguide.pdf]]
[[Dimensions|amphenolCSG_130-131.pdf]]
[[Dimensions|amphenolCSG_134.pdf]]

Encoder/Halls cable
Specified in IDC screw motor manual

Motor connector
*Motor R
*Motor S
*Motor T
*GND
*Brake +
*Brake -
IDC screw motor manual specifies ~PT02E14-5P; however this is the option without brake

See PT8600-0050-111-S02

Celesco'string encoder. This is a linear to rotational string encoder module, it is also knows as a  motion convertion module.
*Stroke range: 50in (-0050-)
*Measuring cable tension: standard tension 17oz (-1)
*Motion conversion ratio: 1 turn = 5.000 +/- 0.0094in (1)
*Cable guide: Stainless steel  (SS)
*Mounting style: Face-mount 10mm shaft, M4 mounting screws

This is used with ATM60-A4A12X12 in order to measure the displacement of the screw of electrical cylinders.

[[ datasheet  | Celesco-pt8600.pdf]]
[[ cable replacement | Celesco-pt8600-cable.pdf]]
[[installation | Celesco-pt8600-install.pdf ]]

!Code
{{{
REM File: Pendant.dmc
'TESTING INPUTS
#MAIN
time=200
timep=1000
TH
JS#OUTLOOP
#LLL
JS#FORW
JS#BACK
JP#LLL
EN
'SUBROUTINES
#OUTLOOP
MG "------TESTING OUTPUTS-----"
OP $000C
WT 5000
OP $0000
WT timep
OP $0070
WT 5000
OP $0000
WT timep
OP $002A
WT 5000
OP $0055
WT 5000
OP $0000
WT timep
OP $007F
WT 1000
OP $0000
WT timep
EN
#FORW
i=0
var=1
#LLOOP
OPvar
WT time
var=var*2
i=i+1
JP#LLOOP,i<7
OP $0000
WT time
EN
#BACK
i=0
var=64
#LLOOPB
OPvar
WT time
var=var/2
i=i+1
JP#LLOOPB,i<7
OP $0000
WT time
EN

}}}

FLT22 in cabinet
*Conductors:18
** one  Emergency-stop-1 (6+2:conductors).  See p.68, p.46, p.40
** one Emergency reset (4:conductor).  See p.71, p.45
** three status lights(3*2).    See p.47

!Pendant parts
*Illuminated 40mm Twist to release Allen Bradley 800FP-LMT44
*Illuminated flush push button Allend Bradley 800FP-LF3
*Pilot light Allend Bradley 800FP-P4PQ3R
*Pilot light Allend Bradley 800FP-P3PQ3G
*Pilot light Allend Bradley 800FP-P6PQ3B
*Led/Contact modules with latch yellow Allen Bradley 800F-PQ3YQ10
*Led/Contact modules with latch red Allen Bradley 800F-PQ3RQ11

AC lines?

!Cut-off frequency
A Low-Pass, first order, simple LC circuit is calculated with a Characteristic Equivalent Resistance
{{{ Re = ò??(L/C)}}}
and the  cutoff frequency is:
{{{ fc = 1/[2*PI*ò??(L*C)] }}}
However the PI, LC , low pass filter is calculated as:
{{{ fc = 1/[2*PI*ò??(L/2*C)] }}}
See more in http://www.corollarytheorems.com/Design/filter.htm
!!Motor power filter
The original PI filter for the motor power cable had the the following parameteres:
*C=56e-12 F
*L=82e-9 H
then, the cut-off frequency is 100MHz(see Frequency analysis using Matlab).  In order to obtain lowe cut-off frequency, the values of L and C must be increased.  The inductor (SLC7530series) just can increase from 82e-9 H to 100e-9 H, i.e. 1.219 times.  Since the maximum capacitance in AVXMicrowaveMLC at 300V is 200pF  this values is chosen and the new cut-off frequency is calculated:
*C=200pF, 
*L=100nH,  
fc=50.3MHz
''However, capacitors could be parallelly connected.  Thus, the cut-off frequency could be decrease until 35.58MHz when two capacitors are connected in parallel''. Seven power filter were assembled with fc=35.58MHz, the component list for each board is shown in the following table.
| Qty per board | Part number | Description | Price |
| 24 |  SQCB9M201JAJME  | ML Capacitor RF 200pF,+/-5%, 300V  | $1.14 @ Mouser|
| 6 | SLC7530S-101MLC | Power inductor 100nH | $0.77 @ Coilcraft|
!!Frequency Analysis using Matlab
The Matlab code plots the frequency response of the PiFilter
{{{
%% Parameters
clear all
ZL=10e3;
Zg=50;
C=56e-12;
L=82e-9;
%% Transfer function of Filter 
num=ZL;
den=[L*C*C*ZL*Zg, L*(ZL*C+Zg*C), 2*C*Zg*ZL+L, ZL+Zg]
%% Plotting
w=logspace(3,11,100)
h = freqs(num,den,w);
mag = abs(h);
phase = angle(h);
%Convert to hertz, degrees, and decibels
f = w/(2*pi);
mag = 20*log10(mag);
phase = phase*180/pi;
subplot(2,1,1), semilogx(f,mag), ylabel('Magnitud (dB)'), grid on
subplot(2,1,2), semilogx(f,phase), ylabel('Phase (deg)'), grid on
xlabel('Frequency (Hz)')
fc = 1/(2*pi*sqrt(L/2*C))
}}}

''To add HSSC1 for enable [[Remote On-Off]]''
#To turn on the CB1 ([[1489-A2C300]]):  Connect the AC input  and the terminal blocks for 208V.  None of the devices is powered up because each one has independent cicuit breaker.
# To turn on the circuit breakers CB2 until CB6 ([[1489-A2C100]]): These circuit breaker connect the 208V to the servo drivers IDC B8501 through the contactors of the MCR1 and MCR2.  The drivers will not powered up  until the MCR coil be energized.
#To turn on the CB7 ([[1489-A2C015]]): This breaker power up the power supply PS3 (Power-One [[HE24-7.2-AG]]), which supplies 24VDC for the brakes through the CB35; however, there is a relay logic for disconnecting this power when an unsafe condition is presented.
#To turn on the CB8 ([[1489-A2C040]]): This breaker powers up the UPS SG1K-2T.
#To turn on the CB21 ([[1489-A2C005R]]): This breaker power up the power supply PS1 (SL MTAA-16W-A), whose outputs of +5V +12V and -12V feed the Galil controller DMC-2183 through the breakers CB31, CB32 and CB33.
#To turn on the CB22 ([[1489-A2C005R]]): This breaker power up the power supply PS2 (Power-One [[HB24-1.2-A]]), whose outputs supply the ethernet switch N-TRON [[305FX]] and the Newport's iServer EIT-D through the CB34
#To turn on the CB23 ([[1489-A2C005R]]): This breaker power up the power supply PS4 (Power-One [[HB5-3/OVP-A]]); which supplies 5VDC for the optoisolator G4IDC5D, G4ODC5 (Some of the G4ODC5 are fed by 24VDC) through the CB36
!Summary of breakers Required 
*Controller DMC-2183: CB1, CB8, CB21, CB31, CB32 and CB33
*Ethernet Switch [[305FX]]: CB1, CB8, CB22, CB34
*Controller RIO-47200: CB1, CB8, CB22, CB34
*iServer EIT-D: CB1, CB8, CB22, CB34

{{{
'DESCRIPTION
REM Rutina to recover the counts of Incremental encoder
REM PRE: Arrays posINC[],posABS[]
#RECOV
size=80
lim=6
count=0 'Counter in #SEARCH
countR=0 'Counter in #ATRIGHT
countL=0 'Counter in #ATLEFT
cont=0 'Counter in #LOOKFOR
JS#LIMIT,_LFA=0
JS#FIHOME
#LOOKFOR
 abs=_TDA
 diff=@ABS[abs-posABS[cont]]  
 cont=cont+1
 MG cont
JP#LOOKFOR,(diff>2)&(cont<size)
IF diff<=2
 MG "Succes", _TPA,_TDA,posINC[cont-1]
 DPA=posINC[cont-1]
ELSE
 MG "Fail...Index no founded"
ENDIF
EN
#LIMIT
 MG "Limit Forward. Going back..."
 SPA=16000;PRA=-16000;BGA;AMA
 WT500
EN
'DESCRIPTION
REM This routine searches for the Home input
REM and for the first count with _HMX=1
#FIHOME
 MG"Finding Home..."
 DCA=2560000
 JP#FOUND,_HMX=1
 JGA=100
 FEA
 BGA
 AMA
 WT1000
 JP#ATRIGHT,_HMX=0
#FOUND
 MG "FOUND: ",_HMX,_TPA,_TDA
#SEARCH
 PRA=-1;BGA;AMA;WT1000
 MG "STEP LEFT: ",_HMX,_TPA,_TDA
 count=count+1
 JP#SEARCH,_HMX=1
#FIRST0
 PRA=1;BGA;AMA;WT1000
 #THEEND
 MG "DONE: ",_HMX,_TPA,_TDA
EN

#ATRIGHT
 PRA=-1;BGA;AMA;WT1000
 MG "STEP LEFT: ",_HMX,_TPA,_TDA
 countR=countR+1
 JP#SEARCH,_HMX=1
 JP#ATRIGHT,(_HMX=0)&(countR<lim)
 #JUMP2R
 PRA=LIM+1;BGA;AMA;WT1000
 MG "JUMP RIGHT: ",_HMX,_TPA,_TDA

#ATLEFT
 PRA=1;BGA;AMA;WT1000 
 MG "STEP RIGHT: ",_HMX,_TPA,_TDA
 countL=countL+1
 JP#THEEND,_HMX=1
 JP#ATLEFT,(_HMX=0)&(countL<lim)
 MG "Fail trying again"
 JP#FIHOME
}}}

!Tertiary Cabinet
Courtesy of Ray VÓ?lez
The cabinet was tested on either open doors  and closed doors
!Open doors
@100MHz
<html><img src="img/RFIdataTC/data002.jpg" alt="@100MHZ" style="width:80%"></img></html>
@50MHz
<html><img src="img/RFIdataTC/data003.jpg" alt="@50MHZ" style="width:80%"></html>
@300MHz
<html><img src="img/RFIdataTC/data004.jpg" alt="@300MHZ" style="width:80%"></html>
@430MHz
<html><img src="img/RFIdataTC/data005.jpg" alt="@430MHZ" style="width:80%"></html>
@800MHz
<html><img src="img/RFIdataTC/data006.jpg" alt="@800MHZ" style="width:80%"></html>
@1.4GHz
<html><img src="img/RFIdataTC/data007.jpg" alt="@1.4GHZ" style="width:80%"></html>
@2380MHz
<html><img src="img/RFIdataTC/data008.jpg" alt="@2380MHZ" style="width:80%"></html>
!Closed doors
@2380MHz
<html><img src="img/RFIdataTC/data009.jpg" alt="@2380MHZ" style="width:80%"></html>
@1400MHz
<html><img src="img/RFIdataTC/data010.jpg" alt="@50MHZ" style="width:80%"></html>
@430MHz
<html><img src="img/RFIdataTC/data011.jpg" alt="@50MHZ" style="width:80%"></html>
!Open doors (Check)
@100MHz
<html><img src="img/RFIdataTC/data012.jpg" alt1="@50MHZ" style="width:80%"></html>








!Absolute Encoder Test
Courtesy of Luis Quintero and Joel Rosario.
The absolute encoder ATM60-A4A12X12 was tested by following the procedure shown in http://wiki.naic.edu/twiki/bin/view/Main/RfiTestProcedure.  
*The encoder absolute was checked using antenna for magnetic field, It didn't show any interference. The  graphic results can be found in the file [[RFItestMagnetic20100526_Sick_Encoder_902.pdf | img/RFItestMagnetic20100526_Sick_Encoder_902.pdf]]
*Results for electric field shown some emissions near to L-band and low frequencies, peak around 325 MHZ corresponds to the power supply [[RFItestElectric20100610_Sick_Encoder_904.pdf | img/RFItestElectric20100610_Sick_Encoder_904.pdf]]

Intelligent, Remote Ethernet I/O Controller
10/100Base-T Ethernet Link and 115 kb RS232 port
DIN rail mount unit with screw terminals.
*8 Analog input: 0ò??5 V; 12-bit ADC (ÒÁ10 V, 16-bit option)
*16 optically isolated inputs
*16 high-power, isolated outputs rated at 500 mA per output
<html><img src="img/cabinet/DSC01731.JPG" style="width:40%;"></html>
!Specifications of installed RIO
*Serial: BO-1064
*Labels: AI_10V, 16-bits
*RS-232: jumper in 19.2
*IP address: 192.168.100.233
!Specifications of test RIO
*Serial: BO-1065
*Labels: AI_10V, 16-bits, 4AO_10V
*RS-232: No jumper, then 115.2
*IP address: 192.168.100.233
!Purpose
RIO-47200 is used to read the status of the circuit breakers:
*CB2 - CB8
*CB21 - CB23
*CB31 - CB36
**''Number of read inputs is: 16'' 
It is also used to read analog output voltage of the OM8-22362AFA0

!Documentation
*[[RIO-47xxxUserManual|Galil-man47100.pdf]]
*[[RIO-47xxxCommandReference|Galil-RIO47xxxCommandRef.pdf]]

The IP address of the RIO47200 was assigned through serial communication, by using the GalilTools communication software. However,  the Ethernet cable must be connected.
{{{
:IA 192,168,100,233
:BN
}}}
Also, DHCP must be disabled:
{{{
:DH0
}}}

This implementation is based on the solution of the Alpha System by William Iguina [[CAD file|ALFAON-OFF-FO-RECEIVER.pdf]].  The tertiary implementation is on the [[Schematics]].
!Components
*Hybrid 3 phase contactor: Crydom [[3RHP2440D5]]
** DIN rail bracket: DMB3
** Auxiliary contact: HAC1
*Optical Transmitter: HFBR-1414TZ
*Optical Receiver: HFBR-2412TZ
!!Components for power supply
The hybrid contactor control circuit is rated 5VDC@12mA
The optical receiver has maximum output current 25mA
!!!Customized power supply: (100mA)
*Transformer: 030-7233.0
*Linear regulator: LM330
*Bridge rectifier: DB101
!Operation Mode
DMC-2183 should read the inputs  46, 47 and the analog input 1 of the RIO-47200.  If the status of the inputs indicate a remote off. Galil must execute some routines in order to have a safe shutdown and then to turn off itself by sending the following command
{{{
IHn = 192,168,100,234<2000>2
MG"S.2"{En}
}}}
The letter {{{n}}} represents an available Internet Handle.

The system will turn on when the fiber pulse is removed.  The UPS SG1K-2T does not have a manual switch. 

Uninterruptible Power Supply
FALCON 
SG SeriesTM UPS Plus
Nominal 1000VA
Noiminal AC voltage: 230V
AC voltage range: 170V - 275V
*Allow at least 24 hours, after the UPS is first installed and turned on, to fully charge the internal battery and assure the maximum backup time is available.
*Dip switch 3 "enables" or "disablesò?? the "Green Mode" function. The UPS is shipped from the factory with the switch set in the "disabled" position (up). If SW3 is switched down or to the "enabled" position, the Green Mode function is activated. When the load connected to the output of the UPS drops to under 10% of the full rated UPS output for 30 seconds, the UPS is automatically placed into bypass and the inverter is turned off. NO BATTERY BACKUP IS PROVIDED AFTER THE GREEN MODE HAS ACTIVATED.
*Check batteries of UPS system, recharge each four months
!Operation modes
| currenr \ Next | OFF | INV-OFF | INV-AC | INV-Battery | Bypass |h
|OFF        |         |               | AC on | On/Off button |         |
|INV-OFF  | AC off |             | On/Off button |            |         |
|INV-AC    |         | RS-232   |            | Ac off        |  On/Off button |
|INV-Battery | On/off button, RS-232 |        | AC on  |         |        |
|Bypass   | Ac off  | RS-232   | On/Off button  |         |         |
|Transition state table|c

!Communications Interfaces
!!~RS-232 port setup
BAUD RATE: 2400 bps
DATA LENGTH: 8 bits
STOP BIT: 1 bit
PARITY: NONE
!!Connector ~DB9 pinout
|Pin # | Function | explanation I/O |
| 9 | RS 232 Rx | INPUT |
| 6 | RS 232 Tx | OUTPUT |
| 7 | Ground |  |
|~DB-9 Connector Pin Assignment|c
!!Reference:
Chapter 5 Communications Interfaces, OWNER'S OPERATING MANUAL SG SeriesTM UPS Plus. [[View PDF|FALCON-SG-Series-UPS-OwnersManual.pdf]]

!Communication with Galil ~DMC-2183
See the instruction in [[Connect DMC2183 and UPS SG1K-2T]]

The UPS SG1K-2T  has a dipswitches on the rear panel.  These dipswitches determine the output voltage. In the tertiary system the UPS must be set ''to operate at '220V''. This mode is obtained when the switches 1 and 2 are down.  In addition the green mode must be disable by keeping up the switch 3.

Power inductor 100nH
Inductor used in PI filter for filtering the motor power cable in the tertiary cabinet

more features in SLC7530series

SMT Power Inductors - SLC7530 Series
*Designed for high-speed switch mode applications
*Can be used as a 1:1 transformer or in SEPIC applications 

see more [[SLC7530series|Coilcraft-slc7530.pdf]]

view [[distributor | http://www.coilcraft.com/pn/SLC7530S-101MLC.htm]]

ML Capacitor RF 200pF,+/-5%, 300V
Capacitor used in PI filter board for filtering the motor power cable in the tertiary cabinet.
More features in AVXMicrowaveMLC

! Measurements of SSI signals parameters
The characteristic of SSI signals (clock+, clock-, data+, data-) for the tertiary system are measured and registered.  Validation of amplitud, frequency and delays of signals are required to verify the correctness of the signals. In addition, this information could be used to select the correct filters
!!Test setup  
*DB-28040
*DMC-2183
*ATM60-A4A12X12
*Power supply 24VDC
!!Results
The signals are show for the following SSI configurations:
*Clock frequency = 1136 kHz, by using {{{SIX=2,24,12,0<10>2}}}
*Clock frequency = 463 kHz, by using {{{SIX=2,24,12,0<26>2}}}
Screenshots are registered for three cases:
*No encoder
*Encoder 
*Encoder through a DB9 filter
!!!SSI clock - No encoder
<html><img src="img/SSInoEncoder.png" style="width: 100%; "/></html>
!!!Parameters with clock frequency = 1136 kHz
| Signal | Galil Pin | Vmax | Vmin |h
| Clock+ | J4-2      | 3.4V   | 0.44V |
| Clock- | J4-3      | 3.28V   | 0.40V |
| Data+  | J4-5      | 5.04V   | 0.80V |
| Data-   | J4-4      | 4.32V   | 0.08V |
Timing parameters:
*Freeze data and prepare shift register (t1): 420ns
*Data transmission delay (t2): 120ns
*Refresh position (t3): 23.96us
*Clock period (T): 880ns 
<html><img src="img/SSIf1136kHz.png" style="width: 100%; "/></html>
!!!Parameters with clock frequency = 463 kHz
| Signal | Galil Pin | Vmax | Vmin |h
| Clock+ | J4-2      | 3.5V   | 0.40V |
| Clock- | J4-3      | 3.28V   | 0.36V |
| Data+  | J4-5      | 5.2V   | 0.88V |
| Data-   | J4-4      | 4.40V   | 0.12V |
Timing parameters:
*Freeze data and prepare shift register (t1): 1us
*Data transmission delay (t2): 120ns
*Refresh position (t3): 23.8us
*Clock period (T): 2.14us 
<html><img src="img/SSIf463kHz.png" style="width: 100%; "/></html>
!!!SSI with filter fc=3..2MHz
<html><img src="img/SSIfiltered32MHz.png" style="width: 100%; "/></html>

[[PowerUp]]
[[TurningOnTertiary]]
[[TurningOffTertiary]]

!Schematics JAN-03-2011: TERTIARY CONTROL V8.DSN 
[[View PDF | TERTIARY_CONTROL_SCHEMATIC_JAN-03-2011.pdf]]
*Major change: Incremental encoders are wired to Auxiliar Encoder inputs of DMC-2183
*New: remote on/off system
*New: Digital inputs for DMC-2183
*Minor changes: Update of circuit breakers part number, clarification notes.

!Schematics  SEP-22-2010: TERTIARY CONTROL V7.DSN 
[[View PDF | TERTIARY_CONTROL_SCHEMATIC_SEP-22-2010.pdf]]
*Major Change: A connection box was added, where the signals of limit switches, potentiometer and absolute encoder were grouped. Then, a DB25 connector replaced the DB15 for the absolute encoder, the DB9 for the potentiometer and the DB9 for the limit switches.
*Minor changes: Addition of jumpers,  minor corrections, addition of iServer, clarification notes, addition of power supply, update of connectors.

!Schematics  AUG-11-2009: TERTIARY CONTROL V6.DSN 
[[View PDF | TERTIARY_CONTROL_SCHEMATIC_AUGUST_11_2009.pdf]]
*The cabinet wiring was started with this version.


!Wiring
COLOR	AWG	SIGNAL	SCHEMATIC EXAMPLES
BLACK	14	"208V AC L1 & L2, 
AC RESITOR PACKS"	"WACL1-208-001, WACL2-208-001 ò??
WRP-HL-001, WRP-VL-001 ò??"
GREEN	14	AC GND	WAC-GND-001 ò??
RED	14	24V SAFETY CHAIN 	WDC-(+24)-111, WLG-24V-161 ò??
			
ORANGE	18	5V DC HIGH	WDC-(+5)-001 ò??
WHITE/ORANGE	18	5V LOGIC	WLG-5V-001 ò??
BROWN	18	5V RETURN	WDC-5Ret-001, WLG-5Ret-001 ò??
			
DARK BLUE	18	24V DC HIGH	WDC-(+24)-001 ò??
WHITE/BLUE	18	24V LOGIC	WLG-24V-001 ò??
LIGHT BLUE	18	24V RETURN	WDC-24Ret-001, WLG-24Ret-001 ò??
			
WHITE/RED	18	(+12V) DC	WDC-(+12)-001 ò??
WHITE/VIOLET	18	(-12V) DC	WDC-(-12)-001 ò??
WHITE	18	12V RETURN	WDC-12Ret-001 ò??
SHIELDED		0-12V ANALOG	WANA-(0-12)-001 ò??
SHIELDED		0-5V ANALOG	WANA-(0-5)-001
			
GRAY	16	MOTOR PHASE R	WAC-PWR-001 ò??
YELLOW	16	MOTOR PHASE S	WAC-PWR-004 ò??
VIOLET	16	MOTOR PHASE T	WAC-PWR-021 ò??
GREEN/YELLOW	16	MOTOR AC RETURN	WAC-GND-021 ò??
			
GRAY	22	HALL PHASE R	WAC-Halls-005 ò??
YELLOW	22	HALL PHASE S	WAC-Halls-003 ò??
VIOLET	22	HALL PHASE T	WAC-Halls-001 ò??
			
WHITE/GRAY	24	TEMP. REFERENCE	WANA-Ref-001 ò??
			

*It communicates each [[Connection Box]] with the cabinet.
*19 conductors: 
** eight limit switch signals(~SWExt+,~SWExt-,~SWRet+,~SWRet-,~HWExt+,~HWExt-,~HWRet+,~HWRet-)
** three potentiometer wires (POT+, ~POT-,POT wiper)
** eight absolute enconder(US,GND,clock+,clock-,Data+,Data-,set,cw/ccw)
!Connectors
*Female D-Subminiature 25 pins: connection with [[Connection Box]].
*Female D-Subminiature 25 pins: connection with male DB25 in cabinet.
@@EMI filter is included in cabinet@@

<<tabs txtMainTab "All" "All tiddlers" TabAll "Timeline" "Timeline" TabTimeline  "Tags" "All tags" TabTags "More" "More lists" TabMore>>

notes

Tertiary Project

!Galil programming
TESTinputs: Set of routines to read the DMC-2183 and the RIO-47200 inputs.  to add more inputs of the galil.  it also has a subroutine to [[TestofGalilOutputs]]
TESTTuning: A step is applied and arrays are used to record the main encoder, auxiliar encoder, the setpoint and the torque.  
D2GearM: Vertical motors are commanded to an aligned position; then, the gear mode is activated and the master motor is commanded to move in forward and backward direction.
D1GearM: Horizontal motors are commanded to an aligned position; then, the gear mode is activated and the master motor is commanded to move in forward and backward direction.
[[Pendant]]: Similar to TESTinputs, this routine active the galil outputs that controls the pendant.
[[TestGear]]: The routine is used to save 8 arrays automatically, which register the main encoder, the setpoint, the torque and the auxiliar encoder (the incremental encoder).  It could be used
[[TestIndpte]]:  Actually, this routine is similar to TestGear, it also save the data of the movement, but it commands the two motors independently.  The gear mode must be inactive before to run this routine.
!!!Homing routines
The following routines are used to implement homing when the incremental encoder is used as the main encoder and the AbsoluteEncoder as auxiliar encoder. The current design uses the AbsoluteEncoder as main encoder, so homing routines are not required.
*CALIBbeta2: Generate two arrays, posINC[] and posABS[], which contains the   values of incremental encoder and absolute encoder for each index.
*RECOVbeta2: Recover the incremental encoder counts after a shutdown. It uses the arrays posABS and posINC. 

!C++ programming
C++ has been tested in Ubuntu Linux. See  GalilToolsOnLinux for installation and example in [[Apply Galil's Communication Library using g++ on Linux]] 
*[[hello.cpp]]: it provides us an example of each of the Galil API functions.
*[[configLoadLoop.cpp]]: It sends the command to configure the absolute encoder as main encoder, by setting speed, acelleration, etc.
*[[TestCLP.cpp]]:it downloads and executes the Galil program TESTTuning.dmc.  Then, it uploads the arrays and save them in the file dataTEST.csv

!Analog input range on DMC-2183 is+/-10V. The problem is that the potentiometer is supplied with 12V
Analog input range could be change to 0-10V.  
TAPAC uses a voltage regulator with IC LM4040-10V

!Noise when motor cable is used
Motor power cable is connected directly from the PI filter box to the Drive.  Alpha Wire shielded cable [[5176C]] is used. 

    .tiddler .subtitle { 
         display: none; 
     } 

<<toolbar 9944>>
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|[[Amphenol | http://www.amphenol.com/ ]]| http://www.peigenesis.com/ |
|[[ITT cannon |http://ittcannon.com]]| http://www.peigenesis.com/ |
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|[[Belden | http://www.belden.com]] | http://www.anixter.com |
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|[[Tyco| www.tycoelectronics.com/]] | http://www.alliedelec.com/ |
|[[Hammond | http://www.hammondmfg.com/]] | http://www.alliedelec.com/ |
|[[AB | http://www.ab.com/ ]]  | http://www.1sourcedist.com |
|~| http://www.warrendelcaribe.com/ |

|Component | Manufacturer |h
|cables | http://www.generalcable.com |
|~|        http://www.belden.com           |
|~|        http://www.alphawire.com/      |
|Box    | http://budind.com/                |
|~|       http://www.hammondmfg.com/  |

!Email (Communications)
*Sick, about the problems with the Programming tool for the encoders [[view|emails/Sick-Stegmann-Problems-PGT-01-S.pdf]]
*Sick, about the minimum frequency for the absolute encoders [[view|emails/Sick-Stegmann-clock-Encoder.pdf]]
*Galil, about to decrease the frequency of the SSI clock: [[view|emails/Galil-SSI-clock.pdf]]
*Allied Motion, about the substitute drivers for the IDC B8501 [[view |emails/AlliedMotionServo Drives.pdf]]
*Noren, about the cabinet coolers quotation [[view|emails/Noren_CabinetCooler.pdf]]

!Tertiary Actuator Pair Alarm Circuit
The TAPAC's main function is indicate if the motors of the same axis are aligned.  For this purpose, TAPAC has three relay outputs:
#Vertical and Horizontal Alarm.
#Vertical Alarm.
#Horizontal Alarm.
All the outputs are normally open contacts, in this case it is not safe to operate.  This contacts are closed when TAPAC is powered and the difference between the positions of each motor is less than a minimum established value.  This minimum value is set by the potentiometers on TAPAC board
<html><img src="img/cabinet/DSC01746.JPG" style="width:40%;"></html>
!!Power
This circuit is powered by the 12VDC sources available on DB-28040 as recommended in order to assure the analog inputs function properly. However, there is a 10VDC output, which is used to supply the potentiometer on each motor.  This 10VDC source is obtained by using a voltage reference ([[LM4040AIZ-10.0]]), with a series resistor of 220 Ohms. Then, the maximum current is Imax = (12-10) / 220 = 9mA. This current is less than 15mA, that  is the maximum current for the voltage reference [[LM4040AIZ-10.0]]. 
''TAPAC_V2a had the following changes: R3 was removed and R4 was substitute by 220 Ohms.''

Brushless servo motor: TB32-1001B-12-MP2-MT1-BM-PB-L-C25
*T: Rod Type cylinder
*B32: Motor type:  3.3in Brushless servo motor
*100: Drive ratio: 10.0:1 Helical Gear
*1B: Screw type: 1 Pitch (1.0" lead) ballscrew
*12: Stroke length (inches)
*MP2: Mounting style: Rear double clevis mount
*MT1: Rod ends: male thread
*BM: Brake on motor
*PBL: Protective boot, Linear potentiometer

Brushless servo TB32-1001B-24-MP2-MT1-BM-PB-L
*T: Rod Type cylinder
*B32: Motor type:  3.3in Brushless servo motor
*100: Drive ratio: 10.0:1 Helical Gear
*1B: Screw type: 1 Pitch (1.0" lead) ballscrew
*24: Stroke length (inches)
*MP2: Mounting style: Rear double clevis mount
*MT1: Rod ends: male thread
*BM: Brake on motor
*PBL: Protective boot, Linear potentiometer

Brushless servo motor TB41-204B-18-MP2-MT1-BM-PBL-C50
*T: Rod Type cylinder
*B41: Motor type:  5in Brushless servo motor
*20: Drive ratio: 2.0:1 Drive belt/Pulley
*4B: Screw type: 4 Pitch (0.25" lead) ballscrew
*18: Stroke length (inches)
*MP2: Mounting style: Rear double clevis mount
*MT1: Rod ends: male thread
*BM: Brake on motor
*PBL: Protective boot, Linear potentiometer

!Precondition
The variable {{{step}}} must be initialized before to execute the program.  This program can be used with the C++ program ..., which downloads and executes the routine; in addition the arrays are uploaded and saved in a .csv file.
!Code
{{{
'TESTING TUNING
#TESTT
DA*[]
DM main[2000], set[2000], torque[2000], aux[2000]
RA main[], set[], torque[], aux[]
RD _TPA, _SHA, _TTA, _DEA
#STEP
RC 1
MG TIME
PRA=step; BGA
REM WT2000
REM PRA=-10; BGA
REM WT2000
#A;JP#A,_RC=1
MG TIME
MG "It is done"
EN

}}}

!Description
The main routine calls a sequence of subroutines in order to read the status of the inputs. Each routine read a set of inputs, which are grouped by categories as: breakers, hardware limits, faults, range out, brakes, mis alignment alarms, emergency stops, master relays, safety, potentiometer values.  In addition a test of the outputs is made by setting and clearing groups as bits such as emergency stop, status lights and enable signals. 
!Code
{{{
REM File: TESTinputs.dmc
'TESTING INPUTS
#MAIN
TH
'JS#CON2RIO
'JS#TCIRBRK
JS#THWLIMI
JS#TFAULTS
JS#TRANGEO
JS#TBRAKES
JS#TTAPAC
JS#TESTOP
JS#TMCRLY
JS#TSAFETY
JS#TPOTPOS
JS#OUTPUTS
'JS#DIS2RIO
EN
'SUBROUTINES
#CON2RIO
MG "----CONNECTING with RIO47200----"
ipAddr=_IHC2 
IF(ipAddr=0)
 IHC=192,168,100,233
ELSE
 MG "Handle in use!!"
 IHC=?
ENDIF
TH
EN
#DIS2RIO
MG "------DISCONNECTING  RIO47200------"
IHC=>-2
WT5
TH
EN
#TCIRBRK
MG "---CIRCUIT BREAKERS by RIO47200---"
NOTE For Individual input to use: MG@IN[3001]
MG "CB1: "
MG@IN[45]{F1}
MG "CB21, CB8-CB2: "
SAC="TI0"
WT5
MG"Inputs 8 through 1"
MG_SAC0
MG "CB36-CB31,CB23,CB22,"
SAC="TI1"
WT5
MG"Inputs 16 through 9",
MG_SAC0
EN
#THWLIMI
MG "------HARDWARE LIMITS------"
NOTE For reading block to use MG_TI0{$3}
MG "EXT_VR,RET_VR"
MG@IN[8]{F1},@IN[7]{F1}
MG "EXT_VL,RET_VL"
MG@IN[6]{F1},@IN[5]{F1}
MG "EXT_HR,RET_HR"
MG@IN[4]{F1},@IN[3]{F1}
MG "EXT_HL,RET_HL"
MG@IN[2]{F1},@IN[1]{F1}
MG "EXT_TILT,RET_TILT"
MG@IN[10]{F1},@IN[9]{F1}
EN
#TFAULTS
MG "-------FAULT SIGNALS-------"
MG "TILT,VR,VL,HR,HL"
MG@IN[15]{F1},@IN[14]{F1},@IN[13]{F1},@IN[12]{F1},@IN[11]{F1}
EN
#TRANGEO
MG "---------RANGE OUT---------"
MG "TILT,VR,VL,HR,HL"
MG@IN[21]{F1},@IN[20]{F1},@IN[19]{F1},@IN[18]{F1},@IN[17]{F1}
EN
#TBRAKES
MG "--------- BRAKES ---------"
MG "TILT,VR,VL,HR,HL"
MG@IN[34]{F1},@IN[33]{F1},@IN[24]{F1},@IN[23]{F1},@IN[22]{F1}
EN
#TTAPAC
MG "--------- TAPAC ---------"
MG "HORIZONTAL, VERTICAL"
MG@IN[36]{F1},@IN[35]{F1}
EN
#TESTOP
MG "--------- E-STOP ---------"
MG "PB5 - PB1"
MG@IN[41]{F1},@IN[40]{F1},@IN[39]{F1},@IN[38]{F1},@IN[37]{F1}
EN
#TMCRLY
MG "--------- MCR ---------"
MG "MCR2, MCR1"
MG@IN[43]{F1},@IN[42]{F1}
EN
#TSAFETY
MG "-------SAFETY CHAIN-------"
MG "24VDC safety"
MG@IN[44]{F1}
EN
#TPOTPOS
MG "------POTENTIOMETER------"
MG "TILT,VR,VL,HR,HL"
MG@AN[5]{F1.4},@AN[4]{F1.4},@AN[3]{F1.4},@AN[2]{F1.4},@AN[1]{F1.4}
EN
#OUTPUTS
MG "------TESTING OUTPUTS------"
MG "Setting all bits"
OP $FFFF
WT5000
MG "Setting the E-STOP"
OP $000F
WT5000
MG "Setting the status lights"
OP $0070
WT5000
MG "Setting the enables"
OP $0380
WT5000
MG "Clearing all bits"
OP $0000
WT5000
EN
}}}

MIL-C-26482 Series 2 Filter connectors

Used in [[Connection Box]]

''Specifications'':[[ITTcannon-Filters-TPV.pdf|ITTcannon-Filters-TPV.pdf]]([[ITT cannon| http://ittcannon.com/uploadedFiles/Product_PDFs/Filters-TPV.pdf]])

''Note:'' Similar  connector, (TPV0C-14B19-LSN) will be used for cabinet
Pin version could be considered, but with mores more quantity lower price.

*Intergrated-circuit temperature sensors of National instruments have been choose, LM34
*A 10k resistor from output to ground must be included in order to overcome the  RIO-47200's impedance
*Temperature range: -50 to 300F
*See how to read the analog input in [[Connect RIO47200 and DMC2183]]
*Connect the LM34 output to the analog input of RIO-47200

This program downloads and executes the Galil program TESTTuning.dmc.  Then, it uploads the arrays and save them in the file dataTEST.csv
!Code
{{{
//cl  TestCLP.cpp Galil1.lib -EHsc -MD
//g++ TestCLP.cpp -lGalil -oTestCLP.out

#include "Galil.h"   //vector string Galil
#include <iostream>  //cout
#include <sstream>   //ostringstream istringstream
//#include <string>    //string
using namespace std; //cout ostringstream vector string

int main()
{
   //string filepath;
    int i;
    double motion;
   cout << Galil::libraryVersion() << endl;         //e.g. 1.2.0.7 Jan 26 2009 09:15:13 libGalil.so
   
   vector<string> addresses = Galil::addresses();   //retreive available addresses to connect to via constructor Galil()
   try
   {     
      Galil g("192.168.100.230");                     //Ethernet
      cout << g.connection() << endl;       
//----Download program and configure PID and step value
      g.programDownloadFile("../Programs/TESTTuning.dmc");   //download a from a file
      g.command("SHA");
      g.command("KPA=80");
      g.command("KDA=150");
      g.command("KIA=0.08");
      g.command("step=100");      
//----Execute the Galil program and wait 
      g.command("XQ#TESTT");                        //start the program
      i=0;
      do{					     //Waiting Loop
      sleep(2);
      motion=g.commandValue("MG_RC");		      //Recording status. _RC=0
      cout << motion << flush;                        
      i++;
      }while((i<30)&(motion==1));
//----Save the arrays in .csv file
      sleep(1);
      g.arrayUploadFile("../Data/dataTESTCLP.csv");           //upload all arrays on controller to a file on local host
      cout << endl <<"Encoder: " << g.commandValue("TPA") <<endl;           
   }   
   catch(string e) //error
   {
      cout << e;
      if(string::npos != e.find("COMMAND ERROR")) 
         cout << "a command error occurred";  //special processing for command errors
      return 1; //error.  0 is normal.
   }
} //main

}}}

This galil routine save the absolute position, the setpoint, the torque and the incremental encoder value for the axes A and B.  The commands {{{RA, RD}}} and {{{RC}}} are used. The galil's 8000 array spaces are divided into the eight arrays equally.  Before to run the routine, a value should be assigned to the  {{{step}}} variable and the gear mode must be active.  The parameter for the {{{RC}}} command specifies the sampling time.

!Code
{{{
'TESTING RESPONSE IN GEAR MODE
'DEFINE step variable before to run this program
#TESTT
DA*[]
DM mainA[1000], setA[1000], torqA[1000], auxA[1000]
DM mainB[1000], setB[1000], torqB[1000], auxB[1000]
RA mainA[], setA[], torqA[], auxA[], mainB[], setB[], torqB[], auxB[]
RD _TPA,_SHA,_TTA,_DEA,_TPB,_SHB,_TTB,_DEB
#STEP
RC 4
MG TIME
PRA=step; BGA
#A;JP#A,_RC=1
MG TIME
MG "It is done"
EN
}}}

!Code
{{{
'TESTING RESPONSE IN INDEPENDENT MODE
'DEFINE step variable before to run this program
#TESTT
DA*[]
DM mainC[1000], setC[1000], torqC[1000], auxC[1000]
DM mainD[1000], setD[1000], torqD[1000], auxD[1000]
RA mainC[], setC[], torqC[], auxC[], mainD[], setD[], torqD[], auxD[]
RD _TPC,_SHC,_TTC,_DEC,_TPD,_SHD,_TTD,_DED
#STEP
RC 5
MG TIME
PR ,,step,step; BG CD
#A;JP#A,_RC=1
MG TIME
MG "It is done"
EN

}}}

[[TestofSensorsandExternalWiring]]
[[TestofGalilOutputs]]
[[TestofGalilInputs]]
[[TestofSickProgrammingTool]]
!Test of the tertiary cabinet with load 
[[TestofTheTwoAxesWithLoad]]
[[TestofGearModeResponse]]
[[TestofIndependentMovement]]

View the Software Routine TESTinputs

<<tiddler GalilInputs>>

The Galil controller  DMC-2183 has16 outputs accesibles from ICM-20105;  additional  outputs could be by configuring the DB-28040 (View the {{{CO}}} command in the CommandReference). In order to test the Galil 16 outputs, the commands {{{OP}}},  {{{SB}}} and {{{CB}}} should be used.

View GalilOutputs

The following subroutine, which is used to  test the outputs is in the file TESTinputs.dmc
{{{
#OUTPUTS
MG "------TESTING OUTPUTS------"
MG "Setting the E-STOP"
OP $000F
WT10000
MG "Setting the status lights"
OP $0070
WT10000
MG "Setting the enables"
OP $0380
WT10000
MG "Setting all bits"
OP $FFFF
WT10000
MG "Clearing all bits"
OP $0000
WT10000
EN
#OUTLOOP
MG "------TESTING OUTPUTS-----"
OP $AAAA
WT 5000
OP $5555
WT 5000
OP $0000
WT1000
i=0
var=1
#LLOOP
OPvar
WT2000
var=var*2
i=i+1
JP#LLOOP,i<10
OP $0000
EN
}}}

In gear mode with load (2000lb), the master axis is commanded to move a step of 10 counts; the procedure is repeated for a step of 1000 counts. The PID gains for all axis are: KP=50, KD=150, KI=1.  The speed value is 512 counts/sec.  Dual loop is set, hence the motor encoder is used to evaluate the derivative part of the PID.  For this test the galil routine [[TestGear]] was used.
!!Results for step response in Gear Mode
The galil arrays are uploaded to the host computer into a csv file and plotted  by using the  Matlab m file [[plotTestGear]]. The results for a step  of 10 counts  and for a step of 1000 counts are shown below:
*The setpoint (red) for axis A; the axis A position (blue) that is the setpoint for the axis B (yellow); and the axis B position (green).[[Figure1step10|img/test/dataStep10-f1.pdf]] - [[Figure1step1000|img/test/dataStep1000-f1.pdf]]   
*The motor encoder counts, i.e. the auxiliar encoder input. Axis A (blue) and Axis B (green).  [[Figure2step10|img/test/dataStep10-f2.pdf]] - [[Figure2step1000|img/test/dataStep1000-f2.pdf]]  
*The calculated velocity by using the  motor encoder counts. Axis A (blue) and Axis B (green). [[Figure3step10|img/test/dataStep10-f3.pdf]] - [[Figure3step1000|img/test/dataStep1000-f3.pdf]]
*The control signal for each amplifier.  Axis A (blue) and axis B (green). [[Figure4step10|img/test/dataStep10-f4.pdf]] - [[Figure4step1000|img/test/dataStep1000-f4.pdf]]
!Analysis of results
The axis A has a settling time of six seconds approximately, however the steady state error is no zero at this time, it takes more time to reach zero steady state error.  While the axis B keeps continuous oscillation around of the steady state value. These are not acceptable results.
In conclusion,  the controller must be tuning. Independent movement must be considered.

Since the results of the controller in gear mode (TestofGearModeResponse), independent movement is tried to improve the response of the system. The two motors are commanded with the same step at the same time while the positions are saved automatically.  The galil  TestIndpte routine is used in this test.  

!Results for step response on independent mode
The initial condition is shown below, after that the PID paramenters are changed to improve the response
!!Step 50 counts KP=50, KI=1; KD=150
*Positions and setpoints [[Fig|img/test/dStep50indpt-f1.pdf]]
*Incremental Encoder [[Fig|img/test/dStep50indpt-f2.pdf]]
*Calculated motor speed by using the Incremental Encoder data [[Fig|img/test/dStep50indpt-f3.pdf]]
*Torque [[Fig|img/test/dStep50indpt-f4.pdf]]
!Tuning the PID parameters
!!Step 50 counts KP=30, KI=1; KD=150
*Positions and setpoints [[Fig|img/test/dStep50bindpt-f1.pdf]]
*Incremental Encoder [[Fig|img/test/dStep50bindpt-f2.pdf]]
*Calculated motor speed by using the Incremental Encoder data [[Fig|img/test/dStep50bindpt-f3.pdf]]
*Torque [[Fig|img/test/dStep50bindpt-f4.pdf]]
''The overshoot increased when KP was decreased''
!!Step 50 counts KP=50, KI=1; KD=200
*Positions and setpoints [[Fig|img/test/dStep50cindpt-f1.pdf]]
*Incremental Encoder [[Fig|img/test/dStep50cindpt-f2.pdf]]
*Calculated motor speed by using the Incremental Encoder data [[Fig|img/test/dStep50cindpt-f3.pdf]]
*Torque [[Fig|img/test/dStep50cindpt-f4.pdf]]
''The oscillations decreased''
!!Step 50 counts KP=50, KI=1; KD=300
''There was noise because to motor vibrations.  There is not plots''
!!Step 50 counts KP=80, KI=1; KD=200
*Positions and setpoints [[Fig|img/test/dStep50eindpt-f1.pdf]]
*Incremental Encoder [[Fig|img/test/dStep50eindpt-f2.pdf]]
*Calculated motor speed by using the Incremental Encoder data [[Fig|img/test/dStep50eindpt-f3.pdf]]
*Torque [[Fig|img/test/dStep50eindpt-f4.pdf]]
''Lower overshoot''
!!Step 50 counts KP=90, KI=1; KD=150
*Positions and setpoints [[Fig|img/test/dStep50findpt-f1.pdf]]
*Incremental Encoder [[Fig|img/test/dStep50findpt-f2.pdf]]
*Calculated motor speed by using the Incremental Encoder data [[Fig|img/test/dStep50findpt-f3.pdf]]
*Torque [[Fig|img/test/dStep50findpt-f4.pdf]]
''The overshoot decreased but the noise increased''
!Parameters Selection
The PID parameters KP=80, KI=1; KD=200 were chosen to test with greater steps.
!!Step 500 counts KP=80, KI=1; KD=200
*Positions and setpoints [[Fig|img/test/dStep500indpt-f1.pdf]]
*Incremental Encoder [[Fig|img/test/dStep500indpt-f2.pdf]]
*Calculated motor speed by using the Incremental Encoder data [[Fig|img/test/dStep500indpt-f3.pdf]]
*Torque [[Fig|img/test/dStep500indpt-f4.pdf]]
!!Step -2000 counts KP=80, KI=1; KD=200
*Positions and setpoints [[Fig|img/test/dStep-2000indpt-f1.pdf]]
*Incremental Encoder [[Fig|img/test/dStep-2000indpt-f2.pdf]]
*Calculated motor speed by using the Incremental Encoder data [[Fig|img/test/dStep-2000indpt-f3.pdf]]
*Torque [[Fig|img/test/dStep-2000indpt-f4.pdf]]
!!Step 3000 counts KP=80, KI=1; KD=200
*Positions and setpoints [[Fig|img/test/dStep3000indpt-f1.pdf]]
*Incremental Encoder [[Fig|img/test/dStep3000indpt-f2.pdf]]
*Calculated motor speed by using the Incremental Encoder data [[Fig|img/test/dStep3000indpt-f3.pdf]]
*Torque [[Fig|img/test/dStep3000indpt-f4.pdf]]

Sensors and its wiring is going to be installed on each motor assemble; which is composed of:
*One Connection Box
*Three external wires
**Motor Power cable
**Encoder/Hall cable
**Sensors cable
***Four normally closed limit switches RPS-2
***One absolute encoder ATM60-A4A12X12
***One Potentiometer
!Testing procedure
#Connect the three cables of the motor assemble
#To turn up the tertiary system
#To unscrew the limit switches
#To displace the limit switch until the input activates
#Repeat before step for each limit switch
#To read the absolute and incremental encoders counts
#Review the PID , SIX and DVA settings
#Type the command to move one inches
#Type the command to move one inches in opposite direction
#To read the absolute and incremental encoders counts
#Complete the following table with a checkmark for each motor assemble
|	| HL	| HR | VL |	VR | TLT |
|HW Limit Ret | | | | | |
|HW Limit Ext | | | | | |
|SW Limit Ret | | | | | |
|SW Limit Ext  | | | | | |
|Potentiometer  | | | | | |
|Absolute Encoder  | | | | | |
|Incremental Encoder | | | | | |
|Step forward  | | | | | |
|Step backward	 | | | | | |

The above procedure could be used both for external wire and for connection box.

When the tool was tested, there was not communication with the encoder.  The software showed the following message:
//"The encoder is not responding.  Please check that the encoder is connected correctly"//

After the review the connection, the following was tried unsuccessfully:
# Different computer
# Different ports in the same computer

!Additional Tests 
# Is The PGT-01 software able to send data to the COM port?.  Yes, The data {{{FF52AD}}} was received in another computer by using Hyperterminal.
# The Cable layout.
## DB9 female - DB9 female.  //The cable is straight and the conductivity is OK.//
## Female circular M23:12 pin - Male DB25
{{{
1 <---> 7
2 <---> 8
3 <---> 22
4 <---> 20
5 <---> 19
6 <---> 16
7 <---> 24
8 <---> 4
9 <---> No Connection
10 <---> 6
11 <---> 21
12  <---> No connection
}}}
# Power source to Encoder.  //The voltage between pin 4 and pin 7on DB25 (i.e. between the pin 8 and the pin 1) is zero//  There is no power to the encoder.  The response of the Sick support was:
//"'Regarding the power to the encoder, the programming tool is only writing to the eeprom on the encoder, so it's possible (this is true for another family) that power to those lines is not necessarily needed. I unfortunately do not have a schematic for the tool itself so I am unsure which lines would require power for the eeprom and how much that would be. I have put in a request with our colleagues in Germany for this information. "//

The emails about this issue can be found [[here|emails/Sick-Stegmann-PGT-01-S.pdf]]

A load of  2000lb is shared between the two axes. Galil DMC-2183 must be configured appropriately; this is PID parameters, dual loop enable, absolute encoder as the main encoder, limit switch mode.
''Note: Before to push the reset button, the amplifier should be disable by sending the command {{{MO}}} to DMC-2183; in this way the amplifiers will have time to be ready to operate.''
!Procedure to start the system
# To connect the external plug to the 208 AC and to turn on the circuit breaker CB1.
# To open GalilTools software and to connect to Galil controller IP : 192.168.100.230
##To verify if amplifiers are disable by using {{{MG_MOA; MG_MOB}}}.  The commands returns {{{1}}} when they are disable. If the amplifiers are enable then to disable by sending the command {{{MO}}}
##To activate the axes enable. {{{:SB8}}} for the horizontal axes.
##To activate the GalilSafeSignal output. {{{:SB2}}}
#To press the reset push button.  Amplifier will turn on, but in disable mode.  The brakes will not be released.
#Once the amplifiers are on and they are not in fault, to send the command {{{:SH}}}.  The brakes will be released and the motor are commanded to keep the current position.
#To download the galil routine [[D1GearM]]
##To execute the subroutine {{{#GEARM}}} by sending  the command {{{:XQ#GEARM}}}.  This routine activate the electronic gear mode and command the motors to move forward and backward direction.  Please verify the limits on the code.
!Test of the brakes when an Emergency Stop is present
The goal is to evaluate the performance of the brakes when the vertical electric cylinders are moving forward and the emergency stop is pressed. The system was tested with a load of 2000lb, the axes were in gear mode and in a continuous loop of movement forward and backward.  The test was repeated for the following speed values: 256 counts/s, 512 counts/s, 820 counts/s and 1600 counts/s.
''Result'': As result, the brakes stopped the movement and disabled the amplifiers for all the speed values that were tested. 

The SSI clock frequency  is 463kHz.
"At slower clock frequencies, we start running into the issue of making sure that all SSI encoders can be read within the time between servo samples (approximately 1 msec). This is more of a concern when we have more encoders and are running at slower clock speeds." //Stephen Otis
Applications Engineer. Galil Motion Control Inc  Phone - (916) 626-0101 X137 Fax - (916) 626-0102//

!Cabinet
*Cabinet Coolers
*AC transformer 208V : 115V.  Internal lamps and AC outlet.
!Order
*Following to 
**Radwell: Auxiliary contact for the circuit breaker 1489.  It is required for CB37
!Design
*To increase the resolution of encoders ATM60-A4A12X12, view TestofSickProgrammingTool
*Safety condition of Galil
*Three conditions for tuning on/off the UPS SG1K-2T

!Configuracion
!!Oscilloscope
*Press on ''utility'' -> ''System Hard Copy''  and selec ''Format BMP''
*Press on ''utility'' -> ''RS232''  and configure Baud rate to 9600, Flagging, Parity none, Stop bits 1, Delays 0, EOL:LF. (Default Parameters)
!!PC
*Open ''hyperterminal'' -> ''new connection''.  Configure to 9600 bps, 8bits, parity: none, 1 stop bit, Flow control: hardware.
!Do it
*Connect oscilloscope to PC by RS-232.  
*In hyperterminal go to ''transfer'' -> ''capture text...''.  Specify the file .BMP
*In oscilloscope press HARD COPY
*In hyperterminal go to ''transfer'' -> ''capture text...''.  and ''stop''
*Ready, the file must be where you specify
!References
http://www.electronicspoint.com/tektronix-wstr31-wtb-t113835.html

!Methods
#Basic procedure: See Galil User manual, Tune the servo system. chp 2 pag. 25
#Software design tool as Windows servo design kit WSDK software
#Mathematical model

Galil Documentation:http://www.galilmc.com/support/application-notes.php
*Note 5479: Micron Positioning With THK Stages and Galil Controllers
*Note 5475: Nanopositioning with ALIO Ceramic Stages and Galil controllers
*Note 5465: High Resolution Linear Stage Tuning
*Note 5463: Backlash Compensation - Web Tutorial Abstract
*Note 5462: Tuning Servo Systems - Web Tutorial Abstract
*Note 5460: Piezo Ceramic Control - Web Tutorial Abstract
*Note 5427: Guidelines for Tuning a Primatics Linear Stage
*Note 5426: Tuning Ceramic Motors
*Note 3413: Manual Tuning Methods
*Note 2442: Tuning with PL (Pole) and PID

The operator turns off the Hybrid Solid State contactor HSSC1, in this case, the UPS SG1K-2T continues supplying the DMC-2183, the N-Tron and the RIO-47200.
Galil Could  use interrupt input or  polling the inputs in order to determine if it must shutdown the UPS.
Which actions Galil must be execute before to send the shutdown command?

Description of scenario when the operator turns on the HSSC1 and the circuit breakers CB1,  CB8 and CB21
#DMC-2183 determines its safety condition GalilSafeSignal
## Galil initial Configuration??
## It is able to communicate with RIO-47200 and ControlRoom
#DMC-2183 updates the ouput GalilSafeSignal
Post-condition: DMC-2183 is ready to operate, but SafetyChain have not verified.  SafetyChain must be verified when a scenario with motor movement is initialized.
!Alternatives
*--DMC-2183 can be powered by the UPS SG1K-2T, this generate an GalilSafeSignal --
*If the DMC-2183 can't communicate with RIO-47200 and with ContorlRoom, then GalilSafeSignal must be false

STEEL CARRIER RAIL 15 x 5.5 mm SLOTTED 1 MM / 0.039 IN THICK according to EN 60715
*Height	5.5 mm (0.217 in)
*Width	2000 mm (78.74 in)
*Depth	15 mm (0.591 in)
''Specifications:'' [[wago_210-111.pdf|wago_210-111.pdf]]([[Wago Catalog | http://www.wagocatalog.com/okv3/index.asp?str_from=a&strBestNrID=2100154&strBestNr=210-111&lid=5&cid=51]])

''Supplier:''http://www.connex-electronics.com/html/products/wago/din_rail/wag_dinrail.html

ALUMINUM CARRIER RAIL 1000 MM / 3' 3 IN LONG 18 mm width 7 mm high
*Height	7 mm
*Width	1000 mm
*Depth	18 mm


([[Wago catalog | http://www.wagocatalog.com/okv3/index.asp?str_from=a&strBestNrID=2100154&strBestNr=210-154&lid=5&cid=51]])

Height: 17mm
Width: 5mm

Amount: 19

[[wago_260-301.pdf|wago_260-301.pdf]] ([[wago catalog|http://www.wagocatalog.com/okv3/index.asp?cid=51&lid=5&str_from_home=first]])

@@Reemplazado por WAGO-260-321@@

2-Conductor Blocks with Snap-In  Mounting Feet
*Height	17 mm (0.669 in)
*Width	5 mm (0.197 in)
*Depth	25 mm (0.985 in)

''Specifications:'' [[wago_260-311.pdf|wago_260-311.pdf]]([[Wago Catalog | http://www.wagocatalog.com/okv3/index.asp?str_from=a&strBestNrID=2100154&strBestNr=260-311&lid=5&cid=51]])

''Supplier:''http://www.connex-electronics.com/?url=/html/products/wago/panelmount/wag_260series.html

2-CONDUCTOR END TERMINAL BLOCK FOR TERMINAL STRIPS WITH FIXING FOOTS WITHOUT FIXING FOOT
*Height	17 mm (0.669 in)
*Width	5 mm (0.197 in)
*Depth	25 mm (0.985 in)

''Specifications:'' [[wago_260-321.pdf|wago_260-321.pdf]]([[Wago Catalog | http://www.wagocatalog.com/okv3/index.asp?str_from=a&strBestNrID=2100154&strBestNr=260-321&lid=5&cid=51]])

''Supplier:''http://www.connex-electronics.com/?url=/html/products/wago/panelmount/wag_260series.html

2-CONDUCTOR END TERMINAL BLOCK FOR TERMINAL STRIPS WITH FIXING FOOTS WITHOUT FIXING FOOT
*Height	17 mm (0.669 in)
*Width	5 mm (0.197 in)
*Depth	25 mm (0.985 in)

''Specifications:'' [[wago_260-323.pdf|wago_260-323.pdf]]([[Wago Catalog | http://www.wagocatalog.com/okv3/index.asp?str_from=a&strBestNrID=2100154&strBestNr=260-323&lid=5&cid=51]])

''Supplier:''http://www.connex-electronics.com/?url=/html/products/wago/panelmount/wag_260series.html

Width=3mm

[[wago_260-361.pdf|wago_260-361.pdf]] ([[wago catalog|http://www.wagocatalog.com/okv3/index.asp?cid=51&lid=5&str_from_home=first]])

End plate for WAGO-260-321
END PLATE WITH SNAP-IN MOUNTING FOOT
*Height	17 mm
*Width	3 mm
*Depth	25 mm

''Specifications:'' [[wago_260-371.pdf|wago_260-371.pdf]]([[Wago Catalog | http://www.wagocatalog.com/okv3/index.asp?str_from=a&strBestNrID=2100154&strBestNr=260-371&lid=5&cid=51]])

''Supplier:''http://www.connex-electronics.com/?url=/html/products/wago/panelmount/wag_260series.html

INTERFACE MODULE WITH SUB MINIATURE D-MALE
CONNECTOR 37 POLE FOR MATING CONNECTORS WITH
IDC MATING DIRECTION VERTICAL

The numeration of this connector does not correspond with DB connectors.  See WAGO-289-548

[[wago_289-543.pdf|wago_289-543.pdf]]

INTERFACE MODULE WITH SUB MINIATURE D-MALE
CONNECTOR 25 POLE FOR MATING CONNECTORS WITH
SOLDER CONNECTION MATING DIRECTION VERTICAL

In the schematic, the connector WAGO-289-542 MUST be replaced by WAGO-289-547

[[wago_289-547.pdf|wago_289-547.pdf]]

INTERFACE MODULE WITH SUB MINIATURE D-MALE
CONNECTOR 37 POLE FOR MATING CONNECTORS WITH
SOLDER CONNECTION MATING DIRECTION VERTICAL

In the Schematics, the connector WAGO-289-543 was replaced by WAGO-289-548. 

[[wago_289-548.pdf|wago_289-548.pdf]]

INTERFACE MODULE WITH SUB MINIATURE D-FEMALE
CONNECTOR 15 POLE FOR MATING CONNECTORS WITH
IDC MATING DIRECTION VERTICAL

The numeration of this connector does not correspond with DB connectors.  See WAGO-289-556

[[wago_289-551.pdf|wago_289-551.pdf]]

INTERFACE MODULE WITH SUB MINIATURE D-FEMALE
CONNECTOR 15 POLE FOR MATING CONNECTORS WITH
SOLDER CONNECTION MATING DIRECTION VERTICAL

In the Schematics, the connector WAGO-289-551 was replaced by WAGO-289-556. 

[[wago_289-556.pdf|wago_289-556.pdf]]

INTERFACE MODULE FOR FLAT CABLE CONNECTOR ACC. TO DIN 41651 16 POLE
 
[[wago_289-613.pdf|wago_289-613.pdf]]

!Code
{{{
//cl  configLoadLoop.cpp Galil1.lib -EHsc -MD
//g++ configLoadLoop.cpp -lGalil -oconfigLoadLoop.out

#include "Galil.h"   //vector string Galil
#include <iostream>  //cout
using namespace std; //cout ostringstream vector string

int main()
{

    int i;
    double motion;
   cout << Galil::libraryVersion() << endl;         //e.g. 1.2.0.7 Jan 26 2009 09:15:13 libGalil.so
   
   vector<string> addresses = Galil::addresses();   //retreive available addresses to connect to via constructor Galil()
   try
   {     
      Galil g("192.168.100.230");                     //Ethernet
      cout << g.connection() << endl;       

//---------Configure DMC-2183 to close the loop using ABS_ENC----------------------
      g.command("MOA");
      g.command("SIX=1,24,12,0<26>2");
      g.command("SPA=250");
      g.command("ACA=2500");
      g.command("DCA=2500");
      cout << endl <<"Encoder: " << g.commandValue("TPA") <<endl;
           
   }   
   catch(string e) //error
   {
      cout << e;
      if(string::npos != e.find("COMMAND ERROR")) 
         cout << "a command error occurred";  //special processing for command errors
      return 1; //error.  0 is normal.
   }
} //main

}}}

{{{
//cl  hello.cpp Galil1.lib -EHsc -MD
//g++ hello.cpp -lGalil

#include "Galil.h"   //vector string Galil
#include <iostream>  //cout
#include <sstream>   //ostringstream istringstream
using namespace std; //cout ostringstream vector string

int main()
{
   cout << Galil::libraryVersion() << endl;         //e.g. 1.2.0.7 Jan 26 2009 09:15:13 libGalil.so
   
   vector<string> addresses = Galil::addresses();   //retreive available addresses to connect to via constructor Galil()
   for(vector<string>::size_type i = 0; i < addresses.size(); i++) //print associated connections
      try{
         Galil g(addresses[i]);
         cout << g.connection() << endl;
      }catch(string e){
         cout << addresses[i] << " " << e;
      }   
   
   try
   {     
//      Galil g;//Windows        //Linux              //prompt user for address      
      Galil g("192.168.100.230");                     //Ethernet
//      Galil g("COM1 19200"); //"/dev/ttyS0 19200" //RS-232
//      Galil g("GALILPCI1");  //"/dev/galilpci0"   //PCI
//      Galil g("C:\\Documents and Settings\\All Users\\Desktop\\Connection.con");       
      cout << g.connection() << endl; 
      
      ostringstream os;  
      os.str("");  os << -1.23;                                         //convert number to string...      
      cout << 1 + g.commandValue("MG @ABS[" + os.str() + "]") << endl;  //and back (returns 2.23)

      g.programDownload("MG TIME\rEN");       //download a program from buffer
      g.programUploadFile("program.dmc");     //upload program to a file
      g.programDownloadFile("program.dmc");   //download a from a file
      cout << g.programUpload();              //upload to buffer            
      g.command("XQ");                        //start the program
      cout << g.message(1000);                //capture MG (wait up to 1 second)      
      
      vector<double> array;                        
      for(vector<double>::size_type i = 0; i <= 5; i++) 
         array.push_back(i * i);              //populate an array on the local host
      g.arrayDownload(array, "a");            //download the local host array to array "a" on the controller
      g.arrayUploadFile("arrays.csv");        //upload all arrays on controller to a file on local host
      g.arrayDownloadFile("arrays.csv");      //download array(s) from a file on local host to controller
      vector<double> arrayUp = g.arrayUpload("a");          //upload controller array "a" to local host array.
      for(vector<double>::size_type i = 0; i < arrayUp.size(); i++)
         cout << arrayUp[i] << endl;
      
      vector<string> sources = g.sources();   //get all sources available on this controller
      vector<char>   record  = g.record();    //ask for one binary record            
      for(vector<string>::size_type i = 0; i < sources.size(); i++)      //print the value of all sources
         cout << i << " " << sources[i] << ", " << g.sourceValue(record, sources[i]) << " " << g.source("Units", sources[i]) << ", " << g.source("Description", sources[i]) << endl;         
      //ADVANCED          TM size  S axes   1000
      g.command(string("\xE5\x02\x00\x01\x03\xE8", 6), ""); //binary command TM1000.  Response is still text.  Don't send carraige return for binary commands
      g.write("\r");             //send a carraige return
      while(":" != g.read()){}   //wait for a colon

      //g.command("this is an error"); //purposefully cause an error (jump to catch)
   }   
   catch(string e) //error
   {
      cout << e;
      if(string::npos != e.find("COMMAND ERROR")) 
         cout << "a command error occurred";  //special processing for command errors
      return 1; //error.  0 is normal.
   }
} //main
}}}

!Code
{{{
%PLOTTESTGEAR
%Plot the position, setpoint, torque and aux_position for Axis A and B
file='dataStep10.csv';
ts=8e-3;   %ts is given by the parameters of the Galil command RC
DATA=csvread(['../../Data/with2000lb/', file],1,0)
%Axis A Data 
aux=DATA(:,1);
main=DATA(:,3);
set=DATA(:,5);
torq=DATA(:,7);
%Axis B Data 
auxB=DATA(:,2);
mainB=DATA(:,4);
setB=DATA(:,6);
torqB=DATA(:,8);
%Time vector
t=[1:length(aux)]*ts;
%Plotting encoder counts (Position)
color=[0 0 1];
figure(1)
plot(t,main-main(1),'Color',color),title('Load Position')
xlabel('time (s)'), ylabel('Absolute Encoder (counts)')
hold on
figure(2),title('Motor Position')
plot(t,aux-aux(1),'Color',color)
xlabel('time (s)'), ylabel('Motor Encoder (counts)')
hold on
%Calculating speed
speedAux=diff(aux)/ts;
figure(3),title('Speed (Motor Encoder)')
plot(t(1:length(t)-1),speedAux,'Color',color)
xlabel('time (s)'), ylabel('Speed Motor Encoder (counts/s)')
hold on
% speedMain=diff(main)/ts;
% figure(4),title('Speed (Load Encoder)')
% plot(t(1:length(t)-1),speedMain,'Color',color)
% xlabel('time (s)'), ylabel('Speed Load Encoder (counts/s)')
% hold on
%Controller characteristics
figure(1)
plot(t,set-set(1),'Color',[1 0 0])
figure(4)
plot(t,(torq-torq(1))*10/32767,'Color',color),title('Torque')
xlabel('time (s)'), ylabel('Controller output(counts)')
hold on
%Axis B response
color=[0 1 0];
figure(1)
plot(t,mainB-mainB(1),'Color',color)
figure(2)
plot(t,auxB-auxB(1),'Color',color)
speedAuxB=diff(auxB)/ts;
figure(3)
plot(t(1:length(t)-1),speedAuxB,'Color',color)
speedMainB=diff(mainB)/ts;
figure(4)
plot(t,(torqB-torqB(1))*10/32767,'Color',color)
figure(1)
plot(t,setB-setB(1),'Color',[1 1 0])
legend('PosA','SetA','PosB','SetB')
for k=1:4
     figure(k)
     savefig(sprintf('%s-f%d',file(1:length(file)-4),k),'pdf')
end 
%%Figure properties
% for k=1:4
%     figure(k)
%     xlim([0 0.5])
%     legend('V=0.3','V=0.6','V=0.9','V=1.2')
% end
% for k=1:4
%     figure(k)
%     name=sprintf('dataOLP%1d',(k)*3)
%     saveas(gcf,name, 'pdf')
% end
}}}