ω= 50 [1 - cos 2π T/120]

Figure 6.6 - Velocity Profile with Sinusoidal Acceleration

The DMC-3425 can compute trigonometric functions. However, the argument must be expressed in degrees. Using our example, the equation for X is written as:

X = 50T - 955 sin 3T

A complete program to generate the contour movement in this example is given below. To generate an array, we compute the position value at intervals of 8 ms. This is stored at the array POS. Then, the difference between the positions is computed and is stored in the array DIF. Finally the motors are run in the contour mode.

Contour Mode Example

Instruction

Interpretation

#POINTS

Program defines A points

DM POS[16]

Allocate memory

DM DIF[15]

 

C=0

Set initial conditions, C is index

T=0

T is time in ms

#A

 

V1=50*T

 

V2=3*T

Argument in degrees

V3=-955*@SIN[V2]+V1

Compute position

V4=@INT[V3]

Integer value of V3

POS[C]=V4

Store in array POS

T=T+8

 

C=C+1

 

JP #A,C<16

 

#B

Program to find position differences

92 • Chapter 6 Programming Motion

DMC-3425

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Galil DMC-3425 user manual Contour Mode Example, #Points, POSC=V4
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DMC-3425 specifications

The Galil DMC-3425 is a sophisticated motion controller known for its versatility and high performance in various industrial applications. Designed primarily for multi-axis control, it is well-suited for robotics, CNC machinery, and automated manufacturing systems.

One of the standout features of the DMC-3425 is its ability to control up to 32 axes simultaneously, providing unparalleled flexibility for complex motion tasks. This capability is enhanced by its advanced motion algorithms that ensure smooth and precise movements, essential for high-quality manufacturing and assembly processes. The controller supports a variety of motor types, including servo, stepper, and brushless motors, making it compatible with a wide range of existing equipment.

In terms of connectivity, the DMC-3425 offers an extensive selection of communication options. It supports Ethernet, RS-232, and RS-485 interfaces, allowing for seamless integration with various industrial networks, including EtherCAT and CANopen. This connectivity is vital for real-time data exchange and remote monitoring, enhancing overall system efficiency.

The controller is powered by Galil's innovative software architecture, which includes the DMC programming language. This user-friendly language enables engineers to create complex motion profiles easily, with support for trajectory generation, coordinate transformations, and PID control. The DMC-3425 also features built-in commands for motion profiling, including linear and circular interpolation, allowing for sophisticated path planning.

Moreover, the DMC-3425 comes equipped with an integrated programming environment that facilitates rapid application development. Users can simulate motion profiles before implementation, reducing downtime and minimizing errors. This environment is designed for quick learning, making it accessible even for those new to motion control.

Additionally, the Galil DMC-3425 features a robust safety architecture. It includes over-temperature detection, emergency stop inputs, and configurable limits for position and speed, ensuring safe operation in various environments.

Overall, the Galil DMC-3425 is a powerful and flexible motion controller that combines advanced technologies with user-friendly design. Its ability to handle multiple axes, extensive connectivity options, and comprehensive programming environment make it a top choice for manufacturers seeking to enhance automation and improve productivity in their operations.
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