CR 1500,270,-180

Segment BC

VP 0,3000

Segment CD

CR 1500,90,-180

Segment DA

VE

End of sequence

BGS

Begin Sequence

The resulting motion starts at the point A and moves toward points B, C, D, A. Suppose that we interrogate the controller when the motion is halfway between the points A and B.

The value of _AV is 2000 The value of _CS is 0

_VPX and _VPY contain the absolute coordinate of the point A

Suppose that the interrogation is repeated at a point, halfway between the points C and D. The value of _AV is 4000+1500π+2000=10,712

The value of _CS is 2

_VPX,_VPY contain the coordinates of the point C

C (-4000,3000)D (0,3000)

R = 1500

B (-4000,0)

A (0,0)

Figure 6.3 - The Required Path

Electronic Gearing

This mode allows up to 8 axes to be electronically geared to some master axes. The masters may rotate in both directions and the geared axes will follow at the specified gear ratio. The gear ratio may be different for each axis and changed during motion.

The command GAX yzw or GA ABCDEFGH specifies the master axes. GR x,y,z,w specifies the gear ratios for the slaves where the ratio may be a number between +/-127.9999 with a fractional resolution of .0001. There are two modes: standard gearing and gantry mode. The gantry mode (enabled with the command GM) allows the gearing to stay enabled even if a limit is hit or an ST command is issued. GR 0,0,0,0 turns off gearing in both modes.

The command GM x,y,z,w select the axes to be controlled under the gantry mode. The parameter 1 enables gantry mode, and 0 disables it.

GR causes the specified axes to be geared to the actual position of the master. The master axis is commanded with motion commands such as PR, PA or JG.

When the master axis is driven by the controller in the jog mode or an independent motion mode, it is possible to define the master as the command position of that axis, rather than the actual position. The designation of the commanded position master is by the letter, C. For example, GACX indicates that the gearing is the commanded position of X.

104 • Chapter 6 Programming Motion

DMC-1700/1800

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Galil DMC-1800, DMC-1700 user manual Electronic Gearing, Required Path
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DMC-1800, DMC-1700 specifications

The Galil DMC-1700 and DMC-1800 are advanced motion controllers widely recognized for their high performance and versatility in the automation and robotics industries. These controllers are designed to meet the demands of complex motion control applications, providing users with enhanced features and innovative technologies that optimize motion precision and efficiency.

One of the main features of the Galil DMC-1700 is its ability to handle up to 8 axes of motion control. This capability makes it suitable for a range of applications, from simple point-to-point movements to intricate trajectories in multi-axis systems. In contrast, the DMC-1800 extends this functionality, supporting up to 64 axes, making it ideal for large-scale automation environments.

Both models leverage Galil's powerful programming interface, which simplifies the development of motion control applications. The DMC-1700 and DMC-1800 controllers utilize a high-level programming language that supports advanced motion commands, including linear interpolation, circular interpolation, and complex motion profiles. This feature allows users to implement sophisticated motion sequences seamlessly.

In terms of connectivity, the Galil DMC series offers multiple communication options, including Ethernet, RS-232, and CAN bus, ensuring compatibility with various hardware and enabling easy integration into existing systems. The controllers also come equipped with digital and analog I/O ports, providing flexibility for sensor feedback and actuator control.

The advanced technology incorporated into both the DMC-1700 and DMC-1800 includes on-board PID control, which ensures precise motion control through closed-loop feedback. This results in improved stability and accuracy, particularly in high-speed applications. Additionally, the controllers offer extensive diagnostics and monitoring capabilities, allowing for real-time performance analysis and troubleshooting.

Another notable characteristic of these motion controllers is their compact design, which offers space-saving advantages while maintaining high processing power. Their robust construction and ability to operate in challenging environments make them suitable for a wide range of industrial applications, from CNC machining to assembly lines.

In conclusion, the Galil DMC-1700 and DMC-1800 motion controllers stand out due to their high-performance capabilities, advanced programming features, and flexibility in connectivity. With their ability to handle complex motion control tasks efficiently, these controllers are invaluable tools for engineers and manufacturers looking to enhance their automation processes. By integrating Galil's innovative motion control technology, industries can achieve greater precision, speed, and reliability in their operational workflows.
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