Mathematical and Functional Expressions

#CMDERR	Begin command error subroutine
IF _TC=6	If error is out of range (KP -1)
N=1	Set N to a valid number
XQ _ED2,_ED1,1	Retry KP N command
ENDIF
IF _TC=1	If error is invalid command (TY)
XQ _ED3,_ED1,1	Skip invalid command
ENDIF
EN	End of command error routine

Mathematical Operators

For manipulation of data, the DMC-1700/1800 provides the use of the following mathematical operators:

OPERATOR	FUNCTION

+	Addition

-	Subtraction

*	Multiplication

/	Division

&	Logical And (Bit-wise)

	Logical Or (On some computers, a solid vertical line appears as a broken line)
()	Parenthesis

The numeric range for addition, subtraction and multiplication operations is +/-2,147,483,647.9999. The precision for division is 1/65,000.

Mathematical operations are executed from left to right. Calculations within parentheses have precedence.

Examples:

SPEED = 7.5*V1/2 COUNT = COUNT+2 RESULT =_TPX-(@COS[45]*40) TEMP = @IN[1]&@IN[2]

The variable, SPEED, is equal to 7.5 multiplied by V1 and divided by 2 The variable, COUNT, is equal to the current value plus 2.

Puts the position of X - 28.28 in RESULT. 40 * cosine of 45° is 28.28 TEMP is equal to 1 only if Input 1 and Input 2 are high

Bit-Wise Operators

The mathematical operators & and are bit-wise operators. The operator, &, is a Logical And. The operator, , is a Logical Or. These operators allow for bit-wise operations on any valid DMC-1700/1800 numeric operand, including variables, array elements, numeric values, functions, keywords, and arithmetic expressions. The bit-wise operators may also be used with strings. This is useful for separating characters from an input string. When using the input command for string input, the input variable will hold up to 6 characters. These characters are combined into a single value which is represented as 32 bits of integer and 16 bits of fraction. Each ASCII character is represented as one byte (8 bits), therefore the input variable can hold up to six characters. The first character of the string will be placed in the top byte of the variable and the last character will be placed in the lowest significant byte

DMC-1700/1800

Chapter 7 Application Programming • 153

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, DMC-1800 Mathematical and Functional Expressions, Mathematical Operators

Models: DMC-1800 DMC-1700

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