Example 12 - Motion Programs with Loops

34

Example 13 - Motion Programs with Trippoints

34

Example 14 - Control Variables

35

Example 15 - Linear Interpolation

35

Example 16 - Circular Interpolation

35

Chapter 3 Connecting Hardware

37

Overview

37

Using Optoisolated Inputs

37

Limit Switch Input

37

Home Switch Input

38

Abort Input

38

Uncommitted Digital Inputs

39

Wiring the Optoisolated Inputs

39

Using an Isolated Power Supply

40

Bypassing the Opto-Isolation:

41

Analog Inputs

41

Amplifier Interface

41

TTL Inputs

42

TTL Outputs

43

Chapter 4 Communication

45

Introduction

45

Communication with Controller

45

Communication Registers

45

Simplified Communication Procedure

46

Advanced Communication Techniques

46

Communication with Controller - Secondary FIFO channel

47

Polling FIFO

47

DMA / Secondary FIFO Memory Map

48

Explanation of Status Information and Axis Switch Information

50

Notes Regarding Velocity and Torque Information

51

Interrupts

51

Setting up Interrupts

51

Configuring Interrupts

51

Servicing Interrupts

53

Example - Interrupts

53

Controller Response to DATA

54

Chapter 5 Command Basics

55

Introduction

55

Command Syntax - ASCII

55

Coordinated Motion with more than 1 axis

56

Command Syntax – Binary

57

Binary Command Format

57

Binary command table

58

Controller Response to DATA

59

Interrogating the Controller

59

Interrogation Commands

59

Summary of Interrogation Commands

60

Interrogating Current Commanded Values

60

Operands

60

Command Summary

61

4 • Contents

USER MANUAL

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Galil DMC-13X8 user manual Connecting Hardware