Galil DMC-3425 user manual Motion Smoothing, Using the IT and VT Commands, Jp#Correct, #End

Page 108

PR v2*4

Correction move

BGA

Start correction

JP#CORRECT

Repeat

#END

 

EN

 

Motion Smoothing

The DMC-3425 controller allows the smoothing of the velocity profile to reduce the mechanical vibration of the system.

Trapezoidal velocity profiles have acceleration rates that change abruptly from zero to maximum value. The discontinuous acceleration results in jerk which causes vibration. The smoothing of the acceleration profile leads to a continuous acceleration profile and reduces the mechanical shock and vibration.

Using the IT and VT Commands:

When operating with servo motors, motion smoothing can be accomplished with the IT and VT command. These commands filter the acceleration and deceleration functions to produce a smooth velocity profile. The resulting velocity profile has continuous acceleration and results in reduced mechanical vibrations.

The smoothing function is specified by the following commands:

IT a

Independent time constant

VT n

Vector time constant

The command, IT, is used for smoothing independent moves of the type JG, PR, PA and the command, VT, is used to smooth vector moves of the type VM and LM.

The smoothing parameter a and n are numbers between 0 and 1 and determine the degree of filtering. The maximum value of 1 implies no filtering, resulting in trapezoidal velocity profiles. Smaller values of the smoothing parameters imply heavier filtering and smoother moves.

The following example illustrates the effect of smoothing. Fig. 6.7 shows the trapezoidal velocity profile and the modified acceleration and velocity.

Note that the smoothing process results in longer motion time.

Example

Instruction

Interpretation

PR 20000

Position

AC 100000

Acceleration

DC 100000

Deceleration

SP 5000

Speed

IT .5

Filter for smoothing

BG A

Begin

100 • Chapter 6 Programming Motion

DMC-3425

Page 107 Page 109
Image 108
Page 107 Page 109
Contents DMC-3425 By Galil Motion Control, IncPage Contents Connecting Hardware Programming Motion Application Programming 107 DAC ZOHJ5 Power 6 PIN Molex WarrantyOverview IntroductionStandard Servo Motors with +/- 10 Volt Command Signal Stepper Motor with Step and Direction SignalsOverview of Motor Types Brushless Servo Motor with Sinusoidal CommutationDMC-3425 Overview DMC-3425 Functional Elements Microcomputer SectionMotor Interface CommunicationGeneral I/O System ElementsMotor Amplifier DriverWatch Dog Timer EncoderGetting Started DMC-3425 Motion ControllerInstalling the DMC-3425 Controller Elements You NeedDetermine Overall Motor Configuration Configuring Jumpers on the DMC-3425Setting the Baud Rate on the DMC-3425 Selecting MO as default on the DMC-3425Stepper Motor Jumpers 9600 1200Axis Configuration Jumpers A1 A2 A4 A8Installing the Communications Software Using Galil Software for DOSUsing Galil Software for Windows Getting Started DMC-3425 Using Non-Galil Communication Software Sending Test Commands to the TerminalCommunicating through the Ethernet TPA CRAddress Set-up axis for sinusoidal commutation optional Make connections to amplifier and encoderGetting Started DMC-3425 Connect Standard Servo Motor Check the Polarity of the Feedback Loop MO CRInverting the Loop Polarity SH CRBG CR TT CRPower Supply Connect brushless motor for sinusoidal commutation If Hall Sensors are Available If Hall Sensors are Not Available Connect Step Motors BGA CRAmacr BC CRTune the Servo System TE CRConfigure the Distributed Control System Configuring Operation for Distributed ControlAutomatic Configuration of Distributed Control Manual Slave IP configuration with HC command Manual Configuration of Distributed Control #SETUPMgconfiguration Failed Else Mgconfig Success Endif Instruction InterpretationNA6 CHC=D,ECHE=F,G Design Examples Example 1 System Set-upExample 2 Profiled Move Example 3 Position InterrogationExample 8 Operation in the Buffer Mode Example 5 Velocity Control JoggingExample 6 Operation Under Torque Limit Example 7 InterrogationExample 9 Motion Programs Example 10 Motion Programs with LoopsExample 11- Motion Programs with Trippoints Example 12 Control Variables Example 13 Control Variables and OffsetReturn to top of program Using Inputs Limit Switch InputOverview Home Switch Input Abort InputAmplifier Interface Uncommitted Digital InputsTTL Inputs Analog InputsTTL Outputs This page Left Blank Intentionally RS-232 Configuration RS232 PortRS232 Port 1 Dataterm Baud Rate SelectionEthernet Configuration Communication ProtocolsAddressing Handshaking ModesEthernet Handles Global vs. Local OperationLocal Operation Accessing the I/O of the Slaves Operation of Distributed ControlHandling Communication Errors MulticastingDigital Outputs Digital InputsUnsolicited Message Handling IOC-7007 SupportModbus Support Function Code DefinitionHandle Switching Handle Restore on Communication FailureOther Communication Options User Defined Ethernet VariablesData Record Data Record MapWaiting on Handle Responses DMC-3425 Communication Communication DMC-3425 Axis Switch Information 1 Byte Header Information Byte 0, 1 of HeaderBytes 2, 3 of Header General Status Information 1 ByteQZ Command Axis Status Information 2 ByteCoordinated Motion Status Information for plane 2 Byte Using Third Party Software This page Left Blank Intentionally Command Syntax Ascii Important All DMC-3425 commands are sent in upper caseCommand Syntax Binary Coordinated Motion with more than 1 axisBinary Command Format ByteHeader Format Binary command table Datafields FormatExample LE, VEController Response to Data Interrogation Commands Summary of Interrogation CommandsInterrogating Current Commanded Values Interrogating the ControllerCommand Summary This page Left Blank Intentionally Programming Motion Mode of Motion Basic description Commands Global Independent Axis Positioning VP, CRCommand Summary Independent Axis Operand Summary Independent AxisExamples Absolute Position MovementInstructionInterpretation BG CCommand Summary Jogging Independent JoggingJog in a and C axes Linear Interpolation Mode Local Mode Specifying Linear SegmentsJoystick Jogging Additional Commands Specifying Vector Speed for Each Segment#ALT LmabCommand Summary Linear Interpolation Operand Summary Linear InterpolationChanging Feedrate BGSExample Example Linear MoveLinear Interpolation Motion #LMOVEExample Multiple Moves #LOADVector Mode Linear and Circular Interpolation Local Mode Specifying Vector SegmentsAdditional commands Command Summary Coordinated Motion Sequence Compensating for Differences in Encoder ResolutionOperand Summary Coordinated Motion Sequence TrippointsVM AB Required PathElectronic Gearing Local Mode Command Summary Electronic GearingExample Gantry Mode Example Electronic GearingElectronic Cam Local Mode GA, CABGB GA,AProgramming Motion DMC-3425 DMC-3425 Programming Motion 3000 2250 1500 2000 4000 6000 Master EAA #LOOP#RUN EB1#LOOPJP#LOOP,V1=0 ST aContour Mode Local Mode Specifying Contour SegmentsInstruction Description CMADT0CD0 Command Summary Contour Mode Operand Summary Contour ModeGeneral Velocity Profiles Generating an Array An ExampleContour Mode Example #POINTSPOSC=V4 Teach Record and Play-Back Record and Playback ExampleVirtual Axis Local Mode Mode of Motion Virtual Axis usage CommandsStepper Motor Operation Ecam Master ExampleSinusoidal Motion Example Specifying Stepper Motor OperationMonitoring Generated Pulses vs. Commanded Pulses Stepper Motor SmoothingUsing an Encoder with Stepper Motors Command Summary Stepper Motor OperationMotion Complete Trippoint Operand Summary Stepper Motor OperationUsing the CE Command Additional Commands for the Auxiliary EncoderDual Loop Auxiliary Encoder Backlash CompensationContinuous Dual Loop Sampled Dual Loop#DUALOOP DE0Using the IT and VT Commands Motion SmoothingJP#CORRECT #ENDHoming Trapezoidal velocity and smooth velocity profiles#HOME HM aAM a MG AT HomeHome Switch Command Summary Homing Operation High Speed Position Capture LatchOperand Summary Homing Operation Input FunctionAL B This page Left Blank Intentionally Application Programming Global vs. Local ProgrammingEdit Mode Commands Entering ProgramsReturn ED #BEGINUsing Labels in Programs Program FormatValid labels Invalid labelsNo Command and the Apostrophe ‘ Special LabelsCommenting Programs REM Command Executing Programs MultitaskingDebugging Programs Trace Command Error Code CommandStop Code Command RAM Memory Interrogation CommandsBreakpoints and single stepping Eeprom Memory Interrogation OperandsProgram Flow Commands Event Triggers & TrippointsDMC-3425 Event Triggers Example- Multiple Move SequenceAS a B C D E F G H Example- Set Output after Distance Example- Repetitive Position TriggerExample Start Motion on Input Example Set Output when At Speed Example Change Speed along Vector PathExample Multiple Move with Wait Example- Define Output Waveform Using AT Command Format JP and JSConditional Jumps FormatExample using variables named V1, V2, V3 Logical operatorsConditional Statements Multiple Conditional StatementsUsing the if and Endif Commands If, Else, and EndifExamples Using the Else Command Command Format IF, Else and EndifNesting if Conditional Statements Format DescriptionAuto-Start and Auto Error Routine SubroutinesStack Manipulation Example Limit Switch Example Position ErrorAutomatic Subroutines for Monitoring Conditions Example Motion Complete Timeout Example Command ErrorExample Input Interrupt Example Command Error w/Multitasking Example Ethernet Communication Error Mathematical and Functional ExpressionsMathematical Operators Operator FunctionBit-Wise Operators ENTER,LENS6FLEN=@FRACLEN LEN1=FLEN&$00FFVariables FunctionsPOS PR PosaProgrammable Variables Assigning Values to VariablesAssigning Variable Values to Controller Parameters Displaying the value of variables at the terminalExample Using Variables for Joystick OperandsSpecial Operands InstructionArrays Defining ArraysAssignment of Array Entries Using a Variable to Address Array Elements Uploading and Downloading Arrays to On Board MemoryAutomatic Data Capture into Arrays Command Summary Automatic Data Capture Data Types for RecordingOperand Summary Automatic Data Capture Example Recording into An ArrayOutputting Numbers and Strings Deallocating Array SpaceSending Messages Specifying the Port for MessagesUsing the MG Command to Configure Terminals Formatting MessagesMG STR S3 Displaying Variables and Arrays Summary of Message FunctionsExample Printing a Variable and an Array element Function DescriptionLocal Formatting of Response of Interrogation Commands LZ0LZ1 Formatting Variables and Array Elements Local Formatting of VariablesVF1 V1=ALPHAHardware I/O Converting to User UnitsDigital Outputs Example- Set Bit and Clear BitExample Using Inputs to control program flow Example Start Motion on SwitchDigital Inputs Example- Output PortInput Interrupt Function Analog InputsExample Position Follower Point-to-Point Configuring the I/O of the DMC-3425 Extended I/O of the DMC-3425 ControllerExample Position Follower Continuous Move Accessing Extended I/O Saving the State of the Outputs in Non-Volatile MemoryBit I/O Block Binary Representation Decimal Value for Wire Cutter Example ApplicationsInterfacing to Grayhill or OPTO-22 G4PB24 Argument Blocks Bits DescriptionX-Y Table Controller JP #ABGC AMCBGC AMC Speed Control by Joystick BGS AMSPosition Control by Joystick JG VEL JP #BThis page Left Blank Intentionally Hardware Protection Output Protection LinesSignal or Function State if Error Occurs Software ProtectionInput Protection Lines Programmable Position LimitsOff-On-Error Automatic Error Routine#AJP #AEN Limit Switch Routine Limit Switch ExampleInstallation Symptom Cause RemedySymptom Cause CommunicationStability OperationTheory of Operation Level Operation of Closed-Loop Systems Velocity and Position ProfilesSystem Modeling Functional Elements of a Motion Control SystemMotor-Amplifier Voltage DriveCurrent Drive Velocity Loop Elements of velocity loopsVoltage Source DAC Digital FilterSystem Analysis ZOHMotor Ms = P/I = Kt/Js2 = 500/s2 rad/A Amp Ka = 4 Amp/V System Design and Compensation Analytical MethodKd = 10/32768 = Encoder Kf = 4N/2π = DMC-3425 Theory of Operation Equivalent Filter Form KP, KD, KI, PLPID, T Electrical Specifications Performance SpecificationsPower Requirements Servo ControlConnectors for DMC-3425 J3 DMC-3425 General I/O 37- PIN D-typeAcmda Pwma Acmdy SignaJ3 DMC-3425-Stepper General I/O 37- PIN D-type PwmbSignb Pwma SignaPin-Out Description J1 RS232 Main port DB-9 Pin MaleDCD DTR GND DSR RTS CTS RTS CTS GNDFeatures SpecificationsICM-1460 Interconnect Module Reset ERROR/PULSEYAMPEN/SIGNY5 ACMDX/PULSEXOpto-Isolation Option for ICM-1460 Opto-isolated inputsOpto-isolated outputs Figure A-1Configuring the I/O of the DMC-3425 with DB-14064 CO nAccessing extended I/O Saving the State of the Outputs in Non-Volatile MemoryConnector Description J6 50-PIN IDC Pin Signal Block Bit @INn Bit No @OUTnBlock Bit @INn Bit No @OUTn IOM-1964 Opto-Isolation Module for Extended I/O Controllers DescriptionOverview Buffer chipsConfiguring Hardware Banks Figure A-4Input Circuit High Power Digital Outputs Figure A-6Output Command Result Standard Digital OutputsElectrical Specifications High Power Digital OutputsStandard Digital Outputs Relevant DMC Commands Screw Terminal ListingDMC-3425 Appendices PWROUT32 PWROUT31PWROUT30 PWROUT29Coordinated Motion Mathematical Analysis 1000 2000Velocity 100000 = 0.05 s 2000000 List of Other Publications Training SeminarsWHO should Attend Contacting Us Galil Motion ControlWarranty Index EepromHoming, 38 Eeprom Index DMC-3425

DMC-3425 specifications

The Galil DMC-3425 is a sophisticated motion controller known for its versatility and high performance in various industrial applications. Designed primarily for multi-axis control, it is well-suited for robotics, CNC machinery, and automated manufacturing systems.

One of the standout features of the DMC-3425 is its ability to control up to 32 axes simultaneously, providing unparalleled flexibility for complex motion tasks. This capability is enhanced by its advanced motion algorithms that ensure smooth and precise movements, essential for high-quality manufacturing and assembly processes. The controller supports a variety of motor types, including servo, stepper, and brushless motors, making it compatible with a wide range of existing equipment.

In terms of connectivity, the DMC-3425 offers an extensive selection of communication options. It supports Ethernet, RS-232, and RS-485 interfaces, allowing for seamless integration with various industrial networks, including EtherCAT and CANopen. This connectivity is vital for real-time data exchange and remote monitoring, enhancing overall system efficiency.

The controller is powered by Galil's innovative software architecture, which includes the DMC programming language. This user-friendly language enables engineers to create complex motion profiles easily, with support for trajectory generation, coordinate transformations, and PID control. The DMC-3425 also features built-in commands for motion profiling, including linear and circular interpolation, allowing for sophisticated path planning.

Moreover, the DMC-3425 comes equipped with an integrated programming environment that facilitates rapid application development. Users can simulate motion profiles before implementation, reducing downtime and minimizing errors. This environment is designed for quick learning, making it accessible even for those new to motion control.

Additionally, the Galil DMC-3425 features a robust safety architecture. It includes over-temperature detection, emergency stop inputs, and configurable limits for position and speed, ensuring safe operation in various environments.

Overall, the Galil DMC-3425 is a powerful and flexible motion controller that combines advanced technologies with user-friendly design. Its ability to handle multiple axes, extensive connectivity options, and comprehensive programming environment make it a top choice for manufacturers seeking to enhance automation and improve productivity in their operations.
Top Page Image Contents