Design Examples, Example 1 System Set-up | Galil DMC-1700, DMC-1800

Again, the system may vibrate if the gain is too high. In this case, reduce KP. Typically, KP should not be greater than KD/4. (Only when the amplifier is configured in the current mode).

Finally, to select KI, start with zero value and increase it gradually. The integrator eliminates the position error, resulting in improved accuracy. Therefore, the response to the instruction

TE X (CR)

becomes zero. As KI is increased, its effect is amplified and it may lead to vibrations. If this occurs, simply reduce KI. Repeat tuning for the Y, Z and W axes.

For a more detailed description of the operation of the PID filter and/or servo system theory, see Chapter 10 - Theory of Operation.

Design Examples

Here are a few examples for tuning and using your controller. These examples have remarks next to each command - these remarks must not be included in the actual program.

Example 1 - System Set-up

This example assigns the system filter parameters, error limits and enables the automatic error shut-off.

Instruction	Interpretation
KP10,10,10,10	Set gains for a,b,c,d (or X,Y,Z,W axes)
KP*=10	Alternate method for setting gain on all axes
KPX=10	Alternate method for setting X (or A) axis gain
KPA=10	Alternate method for setting A (or X) axis gain
KP, 20	Set Y axis gain only

1X80

When using controllers with 5 or more axes, the X,Y,Z and W axes can also be referred to as the A,B,C,D axes.

InstructionInterpretation

OE 1,1,1,1,1,1,1,1	Enable automatic Off on Error function for all axes
ER*=1000	Set error limit for all axes to 1000 counts
KP10,10,10,10,10,10,10,10	Set gains for a,b,c,d,e,f,g,and h axes
KP*=10	Alternate method for setting gain on all axes
KPX=10	Alternate method for setting X (or A) axis gain
KPA=10	Alternate method for setting A (or X) axis gain
KP,,10	Set Z axis gain only
KPZ=10	Alternate method for setting Z axis gain
KPD=10	Alternate method for setting D axis gain
KPH=10	Alternate method for setting H axis gain

Example 2 - Profiled Move

Objective: Rotate the X axis a distance of 10,000 counts at a slew speed of 20,000 counts/sec and an acceleration and deceleration rates of 100,000 counts/s2. In this example, the motor turns and stops:

DMC-1700/1800

Chapter 2 Getting Started • 35

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 Design Examples, Example 1 System Set-up, Example 2 Profiled Move

Models: DMC-1800 DMC-1700