Dual Loop Auxiliary Encoder, Using the CE Command

spx=_SPX
#LOOP;	Save speed value
SP2048;	Set a new slow correction speed
WT100;	Stabilize
JP#END,@ABS[_QSX]<10;	End correction if error is within defined tolerance
YRX=_QSX;	Correction move
MCX
WT100;	Stabilize
JP#LOOP;	Keep correcting until error is within tolerance
#END;	End #CORRECT subroutine, returning to code
SPX=spx
EN

Dual Loop (Auxiliary Encoder)

The DMC-1700/1800 provides an interface for a second encoder for each axis except for axes configured for stepper motor operation and axis used in circular compare. When used, the second encoder is typically mounted on the motor or the load, but may be mounted in any position. The most common use for the second encoder is backlash compensation, described below.

The second encoder may be a standard quadrature type, or it may provide pulse and direction. The controller also offers the provision for inverting the direction of the encoder rotation. The main and the auxiliary encoders are configured with the CE command. The command form is CE x,y,z,w (or a,b,c,d,e,f,g,h for controllers with more than 4 axes) where the parameters x,y,z,w each equal the sum of two integers m and n. m configures the main encoder and n configures the auxiliary encoder.

Using the CE Command

m= Main Encoder

Second Encoder

0	Normal quadrature		0	Normal quadrature

1	Pulse & direction	4		Pulse & direction

2	Reverse quadrature	8		Reversed quadrature
3	Reverse pulse & direction	12		Reversed pulse & direction

For example, to configure the main encoder for reversed quadrature, m=2, and a second encoder of pulse and direction, n=4, the total is 6, and the command for the X axis is

CE 6

Additional Commands for the Auxiliary Encoder

The command, DE x,y,z,w, can be used to define the position of the auxiliary encoders. For example,

DE 0,500,-30,300

sets their initial values.

The positions of the auxiliary encoders may be interrogated with the command, DE?. For example

DE ?,,?

returns the value of the X and Z auxiliary encoders.

The auxiliary encoder position may be assigned to variables with the instructions

DMC-1700/1800

Chapter 6 Programming Motion • 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.

Galil DMC-1700 Dual Loop Auxiliary Encoder, Using the CE Command, DE 0,500,-30,300, De ?,,?

Models: DMC-1800 DMC-1700