Dac, Digital Filter | Galil DMC-1800, DMC-1700 manual

DAC

The DAC or D-to-A converter converts a 16-bit number to an analog voltage. The input range of the numbers is 65536 and the output voltage range is +/-10V or 20V. Therefore, the effective gain of the DAC is

K= 20/65536 = 0.0003 [V/count]

Digital Filter

The digital filter has three element in series: PID, low-pass and a notch filter. The transfer function of the filter. The transfer function of the filter elements are:

PID	D(z) =		K(Z − A)	+		CZ
PID	D(z) =		Z	+	Z − 1
Low-pass	L(z) =		1 − B
Low-pass	L(z) =	Z − B
			(Z − z)(Z −				)
Notch	N(z) =		(Z − z)(Z −			z	)

			(Z − p)(Z − p)
			(Z − p)(Z − p)

The filter parameters, K, A, C and B are selected by the instructions KP, KD, KI and PL, respectively. The relationship between the filter coefficients and the instructions are:

K = (KP + KD) ⋅ 4

A = KD/(KP + KD)

C = KI/2

B = PL

The PID and low-pass elements are equivalent to the continuous transfer function G(s).

G(s) = (P + sD + I/s) ∗ a/(S+a)

where,

P = 4KP

D = 4T ⋅ KD

I = KI/2T

	1	⎛	1 ⎞
a =		1n⎜		⎟
	T
		⎝	B ⎠

where T is the sampling period, and B is the pole setting

For example, if the filter parameters of the DMC-1700 or DMC-1800 are

KP = 4

KD = 36

KI = 2 PL = 0.75 T = 0.001 s

the digital filter coefficients are

K = 160

A = 0.9

C = 1

a = 250 rad/s

and the equivalent continuous filter, G(s), is

192 • Chapter 10 Theory of Operation

DMC-1700/1800

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-1800, DMC-1700 user manual Dac, Digital Filter

Models: DMC-1800 DMC-1700

DAC

Digital Filter

(Z − p)(Z − p)

where,

P = 4KP

KP = 4

DMC-1800, DMC-1700 specifications