If there are communication problems, the program will pause for 3-15 seconds. The top of the dialog box will display the message “Status: not connected with Galil motion controller” and the following error will appear: “STOP - Unable to establish communication with the Galil controller. A time-out occurred while waiting for a response from the Galil controller.”

If this error occurs in Windows NT 4, the most likely cause is an address conflict in the computer. If the default of address 1000 causes a conflict, Galil recommends the addresses of 816 and 824, since they are likely to avoid conflict. Please refer to Step-2 Configuring the Address Jumpers on the DMC- 1700 to change the address. If the address jumpers are changed, the Galil registry must be modified to reflect these changes.

Once communication is established, click on the menu for terminal and you will receive a colon prompt. Communicating with the controller is described in later sections.

Sending Test Commands to the Terminal:

After you connect your terminal, press <carriage return> or the <enter> key on your keyboard. In response to carriage return (CR), the controller responds with a colon “:”.

Now type

TPX (CR)

This command directs the controller to return the current position of the X-axis. The controller should respond with a number such as

0

Step 6. Determine the Axes to be Used for Sinusoidal Commutation

Note: This step is only required when the controller will be used to control a brushless motor(s) with sinusoidal commutation. The command, BA is used to select the axes of sinusoidal commutation. For example, BAXZ sets X and Z as axes with sinusoidal commutation.

Notes on Configuring Sinusoidal Commutation:

The command, BA, reconfigures the controller such that it has one less axis of ‘standard’ control for each axis of sinusoidal commutation. For example, if the command BAX is given to a DMC-1740 controller, the controller will be re-configured to be a DMC-1730 controller. In this case the highest axis is no longer available except to be used for the 2nd phase of the sinusoidal commutation. Note that the highest axis on a controller can never be configured for sinusoidal commutation.

The first phase signal is the motor command signal. The second phase is derived from the highest DACX on the controller. When more than one axis is configured for sinusoidal commutation, the highest sinusoidal commutation axis will be assigned to the highest DAC and the lowest sinusoidal commutation axis will be assigned to the lowest available DAC. Note the lowest axis is the X axis.

Example: Sinusoidal Commutation Configuration using a DMC-1770

BAXZ

This command causes the controller to be reconfigured as a DMC-1750 controller. The X and Z axes are configured for sinusoidal commutation. The first phase of the X axis will be the motor command X signal. The second phase of the X axis will be F signal. The first phase of the Z axis will be the motor command Z signal. The second phase of the Z axis will be the motor command G signal.

24 • Chapter 2 Getting Started

DMC-1700/1800

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Galil DMC-1800, DMC-1700 Determine the Axes to be Used for Sinusoidal Commutation, Sending Test Commands to the Terminal
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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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