Special Operands Keywords, Defining Arrays

Examples of Internal Variables:

POSX=_TPX GAIN=_GNZ*2 JP #LOOP,_TEX>5 JP #ERROR,_TC=1

Assigns value from Tell Position X to the variable POSX. Assigns value from GNZ multiplied by two to variable, GAIN. Jump to #LOOP if the position error of X is greater than 5 Jump to #ERROR if the error code equals 1.

Operands can be used in an expression and assigned to a programmable variable, but they cannot be assigned a value. For example: _GNX=2 is invalid.

Special Operands (Keywords)

The DMC-1700/1800 provides a few additional operands which give access to internal variables that are not accessible by standard DMC-1700/1800 commands.

KEYWORD

_BGn

_BN

_DA

_DL

_DM

_HMn

_LFn

_LRX

_UL

TIME

FUNCTION

*Returns a 1 if motion on axis ‘n’ is complete, otherwise returns 0. *Returns serial # of the board.

*Returns the number of arrays available

*Returns the number of available labels for programming *Returns the available array memory

*Returns status of Home Switch (equals 0 or 1)

Returns status of Forward Limit switch input of axis ‘n’ (equals 0 or 1) Returns status of Reverse Limit switch input of axis ‘n’ (equals 0 or 1) *Returns the number of available variables

Free-Running Real Time Clock (off by 2.4% - Resets with power-on). Note: TIME does not use an underscore character (_) as other keywords.

*- These keywords have corresponding commands while the keywords _LF, _LR, and TIME do not have any associated commands. All keywords are listed in the Command Summary, Chapter 11.

Examples of Keywords:

V1=_LFX	Assign V1 the logical state of the Forward Limit Switch on the X-axis
V3=TIME	Assign V3 the current value of the time clock
V4=_HMW	Assign V4 the logical state of the Home input on the W-axis

Arrays

For storing and collecting numerical data, the DMC-1700/1800 provides array space for 8000 elements. The arrays are one dimensional and up to 30 different arrays may be defined. Each array element has a numeric range of 4

bytes of integer (231)followed by two bytes of fraction (+/-2,147,483,647.9999).

Arrays can be used to capture real-time data, such as position, torque and analog input values. In the contouring mode, arrays are convenient for holding the points of a position trajectory in a record and playback application.

Defining Arrays

An array is defined with the command DM. The user must specify a name and the number of entries to be held in the array. An array name can contain up to eight characters, starting with an uppercase alphabetic character. The number of entries in the defined array is enclosed in [ ].

Example:

DMC-1700/1800

Chapter 7 Application Programming • 157

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 Special Operands Keywords, Defining Arrays, Examples of Internal Variables

Models: DMC-1800 DMC-1700