DT2

Specify time increment

I=0

Initialize array counter

#B

Loop counter

CD DX[I]; I=I+1;WC

Specify contour data I=I+1 Increment array counter

JP #B,I<500

Loop until done

DT 0;CD0

End contour mode

EN

End program

For additional information about automatic array capture, see Chapter 7, Arrays.

Virtual Axis

The DMC-1700/1800 controller has an additional virtual axis designated as the N axis. This axis has no encoder and no DAC. However, it can be commanded by the commands:

AC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RP.

The main use of the virtual axis is to serve as a virtual master in ECAM modes, and to perform an unnecessary part of a vector mode. These applications are illustrated by the following examples.

ECAM Master Example

Suppose that the motion of the XY axes is constrained along a path that can be described by an electronic cam table. Further assume that the ecam master is not an external encoder but has to be a controlled variable.

This can be achieved by defining the N axis as the master with the command EAN and setting the modulo of the master with a command such as EMN= 4000. Next, the table is constructed. To move the constrained axes, simply command the N axis in the jog mode or with the PR and PA commands.

For example, PAN = 2000

BGN

will cause the XY axes to move to the corresponding points on the motion cycle.

Sinusoidal Motion Example

The x axis must perform a sinusoidal motion of 10 cycles with an amplitude of 1000 counts and a frequency of 20 Hz.

This can be performed by commanding the X and N axes to perform circular motion. Note that the value of VS must be

VS=2π * R * F

where R is the radius, or amplitude and F is the frequency in Hz. Set VA and VD to maximum values for the fastest acceleration.

INSTRUCTION

INTERPRETATION

VMXN

Select axes

VA 68000000

Maximum Acceleration

VD 68000000

Maximum Deceleration

VS 125664

VS for 20 Hz

CR 1000, -90, 3600

Ten cycles

VE

 

BGS

 

118 • Chapter 6 Programming Motion

DMC-1700/1800

Page 125 Page 127
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Image 126
Galil DMC-1800, DMC-1700 user manual Virtual Axis, Ecam Master Example, Sinusoidal Motion Example, DT2, Vmxn
Page 125 Page 127

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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