When the controller receives the command to generate a trajectory along these points, it interpolates linearly between the points. The resulting interpolated points include the position 12 at 1 msec, position 24 at 2 msec, etc.

The programmed commands to specify the above example are:

#A

 

CMX

Specifies X axis for contour mode

DT 2

Specifies first time interval, 22 ms

CD 48;WC

Specifies first position increment

DT 3

Specifies second time interval, 23 ms

CD 240;WC

Specifies second position increment

DT 4

Specifies the third time interval, 24 ms

CD 48;WC

Specifies the third position increment

DT0;CD0

Exits contour mode

EN

 

POSITION

 

 

 

 

 

 

(COUNTS)

 

 

 

 

 

 

336

 

 

 

 

 

 

 

288

 

 

 

 

 

 

 

240

 

 

 

 

 

 

 

192

 

 

 

 

 

 

 

96

 

 

 

 

 

 

 

48

 

 

 

 

 

 

TIME (ms)

0

4

8

12

16

20

24

28

SEGMENT 1

SEGMENT 2

 

 

SEGMENT 3

 

 

Figure 6.6 - The Required Trajectory

Additional Commands

The command, WC, is used as a trippoint “When Complete”. This allows the DMC-1700/1800 to use the next increment only when it is finished with the previous one. Zero parameters for DT followed by zero parameters for CD exit the contour mode.

If no new data record is found and the controller is still in the contour mode, the controller waits for new data. No new motion commands are generated while waiting. If bad data is received, the controller responds with a ?.

114 • Chapter 6 Programming Motion

DMC-1700/1800

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Galil DMC-1800, DMC-1700 user manual Cmx, DT0CD0
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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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