Homing

The Find Edge (FE) and Home (HM) instructions may be used to home the motor to a mechanical reference. This reference is connected to the Home input line. The HM command initializes the motor to the encoder index pulse in addition to the Home input. The configure command (CN) is used to define the polarity of the home input.

The Find Edge (FE) instruction is useful for initializing the motor to a home switch. The home switch is connected to the Homing Input. When the Find Edge command and Begin is used, the motor will accelerate up to the slew speed and slew until a transition is detected on the Homing line. The motor will then decelerate to a stop. A high deceleration value must be input before the find edge command is issued for the motor to decelerate rapidly after sensing the home switch. The Home (HM) command can be used to position the motor on the index pulse after the home switch is detected. This allows for finer positioning on initialization. The HM command and BG command causes the following sequence of events to occur.

Stage 1:

Upon begin, the motor accelerates to the slew speed specified by the JG or SP commands. The direction of its motion is determined by the state of the homing input. If _HMX reads 1 initially, the motor will go in the reverse direction first (direction of decreasing encoder counts). If _HMX reads 0 initially, the motor will go in the forward direction first. CN is the command used to define the polarity of the home input. With CN,-1 (the default value) a normally open switch will make _HMX read 1 initially, and a normally closed switch will make _HMX read zero. Furthermore, with CN,1 a normally open switch will make _HMX read 0 initially, and a normally closed switch will make _HMX read 1. Therefore, the CN command will need to be configured properly to ensure the correct direction of motion in the home sequence.

Upon detecting the home switch changing state, the motor begins decelerating to a stop.

Note: The direction of motion for the FE command also follows these rules for the state of the home input.

Stage 2:

The motor then traverses at 256 counts/sec in the opposite direction of Stage 1 until the home switch toggles again. If Stage 3 is in the opposite direction of Stage 2, the motor will stop immediately at this point and change direction. If Stage 2 is in the same direction as Stage 3, the motor will never stop, but will smoothly continue into Stage 3.

Stage 3:

The motor traverses forward at 256 counts/sec until the encoder index pulse is detected. The motor then stops immediately.

The DMC-1700/1800 defines the home position as the position at which the index was detected and sets the encoder reading at this point to zero.

DMC-1700/1800

Chapter 6 Programming Motion • 129

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Galil DMC-1700, DMC-1800 user manual Homing, Stage
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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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