Figure 6.7 - Velocity Profile with Sinusoidal Acceleration

The DMC-1700/1800 can compute trigonometric functions. However, the argument must be expressed in degrees. Using our example, the equation for X is written as:

X = 50T - 955 sin 3T

A complete program to generate the contour movement in this example is given below. To generate an array, we compute the position value at intervals of 8 ms. This is stored at the array POS. Then, the difference between the positions is computed and is stored in the array DIF. Finally the motors are run in the contour mode.

Contour Mode Example

INSTRUCTION

INTERPRETATION

#POINTS

Program defines X points

DM POS[16]

Allocate memory

DM DIF[15]

 

C=0

Set initial conditions, C is index

T=0

T is time in ms

#A

 

V1=50*T

 

V2=3*T

Argument in degrees

V3=-955*@SIN[V2]+V1

Compute position

V4=@INT[V3]

Integer value of V3

POS[C]=V4

Store in array POS

T=T+8

 

C=C+1

 

JP #A,C<16

 

#B

Program to find position differences

C=0

 

#C

 

D=C+1

 

DIF[C]=POS[D]-POS[C]

Compute the difference and store

C=C+1

 

JP #C,C<15

 

 

 

116 • Chapter 6 Programming Motion

DMC-1700/1800

Page 123 Page 125
Page 124
Image 124
Galil DMC-1800 user manual Contour Mode Example, #Points, POSC=V4, Difc=Posd-Posc, Programming Motion DMC-1700/1800
Page 123 Page 125

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.
Top Page Image Contents