Command Summary Contour Mode | Galil DMC-1700, DMC-1800 specs

Command Summary - Contour Mode

COMMAND

CM XYZW

CM ABCDEFGH

CD x,y,z,w

CD a,b,c,d,e,f,g,h

DT n

DESCRIPTION

Specifies which axes for contouring mode. Any non-contouring axes may be operated in other modes.

Contour axes for DMC-1780/1880

Specifies position increment over time interval. Range is +/-32,000. (Zero ends contour mode, when issued following DT0.)

Position increment data for DMC-1780/1880

Specifies time interval 2n msec for position increment, where n is an integer between 1 and

8.Zero ends contour mode. If n does not change, it does not need to be specified with each CD.

Waits for previous time interval to be complete before next data record is processed.

General Velocity Profiles

The Contour Mode is ideal for generating any arbitrary velocity profiles. The velocity profile can be specified as a mathematical function or as a collection of points.

The design includes two parts: Generating an array with data points and running the program.

Generating an Array - An Example

Consider the velocity and position profiles shown in Fig. 6.7. The objective is to rotate a motor a distance of 6000 counts in 120 ms. The velocity profile is sinusoidal to reduce the jerk and the system vibration. If we describe the position displacement in terms of A counts in B milliseconds, we can describe the motion in the following manner:

ω= ΑΒ (1 − cos(2π Β))

Χ= ATB − 2Aπ sin(2π B)

Note: ω is the angular velocity; X is the position; and T is the variable, time, in milliseconds. In the given example, A=6000 and B=120, the position and velocity profiles are:

X = 50T - (6000/2π) sin (2π T/120) Note that the velocity, ω, in count/ms, is

ω= 50 [1 - cos 2π T/120]

DMC-1700/1800

Chapter 6 Programming Motion • 115

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.

Galil DMC-1700, DMC-1800 user manual Command Summary Contour Mode, General Velocity Profiles

Models: DMC-1800 DMC-1700