PR 40000

Main move

BGX

Start motion

#Correct

Correction loop

AMX

Wait for motion completion

V1=10000-_DEX

Find linear encoder error

V2=-_TEX/4+V1

Compensate for motor error

JP#END,@ABS[V2]<2

Exit if error is small

PR V2*4

Correction move

BGX

Start correction

JP#CORRECT

Repeat

#END

 

EN

 

Motion Smoothing

The DMC-1700/1800 controller allows the smoothing of the velocity profile to reduce the mechanical vibration of the system.

Trapezoidal velocity profiles have acceleration rates which change abruptly from zero to maximum value. The discontinuous acceleration results in jerk which causes vibration. The smoothing of the acceleration profile leads to a continuous acceleration profile and reduces the mechanical shock and vibration.

Using the IT and VT Commands:

When operating with servo motors, motion smoothing can be accomplished with the IT and VT command. These commands filter the acceleration and deceleration functions to produce a smooth velocity profile. The resulting velocity profile, has continuous acceleration and results in reduced mechanical vibrations.

The smoothing function is specified by the following commands:

IT x,y,z,w

Independent time constant

VT n

Vector time constant

The command, IT, is used for smoothing independent moves of the type JG, PR, PA and the command, VT, is used to smooth vector moves of the type VM and LM.

The smoothing parameters, x,y,z,w and n are numbers between 0 and 1 and determine the degree of filtering. The maximum value of 1 implies no filtering, resulting in trapezoidal velocity profiles. Smaller values of the smoothing parameters imply heavier filtering and smoother moves.

The following example illustrates the effect of smoothing. Fig. 6.7 shows the trapezoidal velocity profile and the modified acceleration and velocity.

Note that the smoothing process results in longer motion time.

Example - Smoothing

PR 20000

Position

AC 100000

Acceleration

DC 100000

Deceleration

SP 5000

Speed

IT .5

Filter for smoothing

BG X

Begin

DMC-1700/1800

Chapter 6 Programming Motion • 127

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Galil DMC-1700, DMC-1800 Motion Smoothing, Using the IT and VT Commands, Example Smoothing, JP#END,@ABSV22, Jp#Correct
Page 134 Page 136

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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