Correction, Example SPM Mode Setup | Galil DMC-1800, DMC-1700

1.The motion is maintained or is stopped, depending on the setting of the OE command. If OE=0 the axis stays in motion, if OE=1 the axis is stopped.

2.YS is set to 2, which causes the automatic subroutine labeled #POSERR to be executed.

Correction

A correction move can be commanded by assigning the value of QS to the YR correction move command. The correction move is issued only after the axis has been stopped. After an error correction move has completed and QS is less than three full motor steps, the YS error status bit is automatically reset back to 1; indicating a cleared error.

Example: SPM Mode Setup

The following code demonstrates what is necessary to set up SPM mode for a full step drive, a half step drive, and a 1/64th microstepping drive for an axis with a 1.8o step motor and 4000 count/rev encoder. Note the necessary difference is with the YA command.

Full-Stepping Drive, X axis:

#SETUP
OE1;	Set the profiler to stop axis upon error
KS16;	Set step smoothing
MT-2;	Motor type set to stepper
YA1;	Step resolution of the full-step drive
YB200;	Motor resolution (full steps per revolution)
YC4000;	Encoder resolution (counts per revolution)
SHX;	Enable axis
WT50;	Allow slight settle time
YS1;	Enable SPM mode

Half-Stepping Drive, X axis:

#SETUP
OE1;	Set the profiler to stop axis upon error
KS16;	Set step smoothing
MT-2;	Motor type set to stepper
YA2;	Step resolution of the half-step drive
YB200;	Motor resolution (full steps per revolution)
YC4000;	Encoder resolution (counts per revolution)
SHX;	Enable axis
WT50;	Allow slight settle time
YS1;	Enable SPM mode

1/64th Step Microstepping Drive, X axis:

122 • Chapter 6 Programming Motion

DMC-1700/1800

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-1800, DMC-1700 Correction, Example SPM Mode Setup, Full-Stepping Drive, X axis

Models: DMC-1800 DMC-1700