Galil DMC-3425 user manual Mode of Motion Basic description Commands Global

Page 76

GLOBAL OPERATION

DMC-3425

C and D

Axes

Host Computer

RS-232

or

Ethernet

DMC-3425

A and B

Axes

 

Ethernet

DMC-3425

DMC-3425

E and F

G and H

Axes

Axes

The controllers may operate under both Local and/or Global mode. In general, operating in Global mode simplifies controlling the entire system. However, Local Mode operation is necessary in some situations; Using local mode for setup and testing is useful since this isolates the controller. Specific modes of motion require operation in Local Mode. Also, each controller can have a program, including the slave controllers. When a slave controller has a program, this program would always operate in Local mode.

The following table describes the modes of motion and whether this mode will work in Global or Local Mode:

Mode of Motion

Basic description

Commands

Global

LOCAL

 

 

 

 

 

Relative Independent

Each axis operates independently and motion is

PR, AC, DC, SP

YES

YES

Axis Positioning

specified with a relative distance, velocity,

 

 

 

 

acceleration and deceleration. The axis follows the

 

 

 

 

prescribed velocity profile.

 

 

 

Absolute Independent

Each axis operates independently and motion is

PA, AC, DC, SP

YES

YES

Axis Positioning

specified with an absolute position, velocity,

 

 

 

 

acceleration and deceleration. The axis follows the

 

 

 

 

prescribed velocity profile.

 

 

 

Independent Jogging

Each axis operates independently and the axis

JG

YES

YES

 

follows a prescribed velocity profile with no final

AC, DC

 

 

 

endpoint. The motion is specified with velocity,

ST

 

 

 

acceleration and deceleration. Motion stops on Stop

 

 

 

command.

 

 

 

Linear Interpolation

2 thru 8 axes of coordinated motion. The path is

LM

NO

YES

 

described by linear incremental segments and vector

LI, LE

 

 

 

velocity, vector acceleration and vector

VS, VA, VD

 

 

 

deceleration. The vector motion follows the

 

 

 

 

 

 

 

prescribed velocity profile.

 

 

 

 

 

 

 

 

 

 

 

 

 

68 • Chapter 6 Programming Motion

DMC-3425

Page 75 Page 77
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Page 75 Page 77
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 CRConfiguring Operation for Distributed Control Configure the Distributed Control SystemAutomatic Configuration of Distributed Control Manual Slave IP configuration with HC command Manual Configuration of Distributed Control #SETUPMgconfiguration Failed Else Mgconfig Success Endif Instruction InterpretationCHC=D,E NA6CHE=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 10 Motion Programs with Loops Example 9 Motion ProgramsExample 11- Motion Programs with Trippoints Example 12 Control Variables Example 13 Control Variables and OffsetReturn to top of program Limit Switch Input Using InputsOverview 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 Map Data RecordWaiting 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 ByteAxis Status Information 2 Byte QZ CommandCoordinated 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 axisByte Binary Command FormatHeader 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 CIndependent Jogging Command Summary JoggingJog in a and C axes Specifying Linear Segments Linear Interpolation Mode Local ModeJoystick 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 SegmentsCMA Instruction DescriptionDT0CD0 Command Summary Contour Mode Operand Summary Contour ModeGeneral Velocity Profiles Generating an Array An Example#POINTS Contour Mode ExamplePOSC=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 labelsSpecial Labels No Command and the Apostrophe ‘Commenting 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 & TrippointsExample- Multiple Move Sequence DMC-3425 Event TriggersAS a B C D E F G H Example- Repetitive Position Trigger Example- Set Output after DistanceExample Start Motion on Input Example Change Speed along Vector Path Example Set Output when At SpeedExample 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 StatementsIf, Else, and Endif Using the if and Endif CommandsExamples Using the Else Command Command Format IF, Else and EndifNesting if Conditional Statements Format DescriptionSubroutines Auto-Start and Auto Error RoutineStack Manipulation Example Position Error Example Limit SwitchAutomatic Subroutines for Monitoring Conditions Example Command Error Example Motion Complete TimeoutExample 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 InstructionDefining Arrays ArraysAssignment of Array Entries Uploading and Downloading Arrays to On Board Memory Using a Variable to Address Array ElementsAutomatic 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 MessagesFormatting Messages Using the MG Command to Configure TerminalsMG STR S3 Displaying Variables and Arrays Summary of Message FunctionsExample Printing a Variable and an Array element Function DescriptionLZ0 Local Formatting of Response of Interrogation CommandsLZ1 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 PortAnalog Inputs Input Interrupt FunctionExample Position Follower Point-to-Point Extended I/O of the DMC-3425 Controller Configuring the I/O of the DMC-3425Example Position Follower Continuous Move Saving the State of the Outputs in Non-Volatile Memory Accessing Extended I/OBit 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 #AAMC BGCBGC 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 LimitsAutomatic Error Routine Off-On-Error#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 SystemVoltage Drive Motor-AmplifierCurrent 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 KP, KD, KI, PL Equivalent Filter FormPID, 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 GNDSpecifications FeaturesICM-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 OutputsHigh Power Digital Outputs Electrical SpecificationsStandard Digital Outputs Relevant DMC Commands Screw Terminal ListingDMC-3425 Appendices PWROUT32 PWROUT31PWROUT30 PWROUT29Coordinated Motion Mathematical Analysis 1000 2000Velocity 100000 = 0.05 s 2000000 Training Seminars List of Other PublicationsWHO 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.
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