a stop. If the Off-On-Error function is not enabled, the motor will instantaneously stop and servo at the current position. The Off-On-Error function is further discussed in this chapter.

Selective Abort - The controller can be configured to provide an individual abort for each axis. Activation of the selective abort signal will act the same as the Abort Input but only on the specific axis. To configure the controller for selective abort, issue the command CN,,,1. This configures the inputs 5,6,7,8,13,14,15,16 to act as selective aborts for axes A,B,C,D,E,F,G,H respectively.

Forward Limit Switch - Low input inhibits motion in forward direction. If the motor is moving in the forward direction when the limit switch is activated, the motion will decelerate and stop. In addition, if the motor is moving in the forward direction, the controller will automatically jump to the limit switch subroutine, #LIMSWI (if such a routine has been written by the user). The CN command can be used to change the polarity of the limit switches.

Reverse Limit Switch - Low input inhibits motion in reverse direction. If the motor is moving in the reverse direction when the limit switch is activated, the motion will decelerate and stop. In addition, if the motor is moving in the reverse direction, the controller will automatically jump to the limit switch subroutine, #LIMSWI (if such a routine has been written by the user). The CN command can be used to change the polarity of the limit switches.

Software Protection

The DMC-1700/1800 provides a programmable error limit. The error limit can be set for any number between 1 and 32767 using the ER n command. The default value for ER is 16384.

Example:

ER 200,300,400,500

Set X-axis error limit for 200, Y-axis error limit to 300, Z-axis error limit to 400

 

counts, W-axis error limit to 500 counts

ER,1,,10

Set Y-axis error limit to 1 count, set W-axis error limit to 10 counts.

The units of the error limit are quadrature counts. The error is the difference between the command position and actual encoder position. If the absolute value of the error exceeds the value specified by ER, the controller will generate several signals to warn the host system of the error condition. These signals include:

Signal or Function

State if Error Occurs

# POSERR

Jumps to automatic excess position error subroutine

Error Light

Turns on

OE Function

Shuts motor off if OE1

AEN Output Line

Goes low

The Jump on Condition statement is useful for branching on a given error within a program. The position error of X,Y,Z and W can be monitored during execution using the TE command.

Programmable Position Limits

The DMC-1700/1800 provides programmable forward and reverse position limits. These are set by the BL and FL software commands. Once a position limit is specified, the DMC-1700/1800 will not accept position commands beyond the limit. Motion beyond the limit is also prevented.

Example:

DP0,0,0

Define Position

BL -2000,-4000,-8000

Set Reverse position limit

FL 2000,4000,8000

Set Forward position limit

JG 2000,2000,2000

Jog

BG XYZ

Begin

(motion stops at forward limits)

178 • Chapter 8 Hardware & Software Protection

DMC-1700/1800

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Image 186
Galil DMC-1800 Software Protection, Programmable Position Limits, Signal or Function State if Error Occurs, # Poserr
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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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