C=0

 

#C

 

D=C+1

 

DIF[C]=POS[D]-POS[C]

Compute the difference and store

C=C+1

 

JP #C,C<15

 

EN

End first program

#RUN

Program to run motor

CMA

Contour Mode

DT3

4 millisecond intervals

C=0

 

#E

 

CD DIF[C]

Contour Distance is in DIF

WC

Wait for completion

C=C+1

 

JP #E,C<15

 

DT0

 

CD0

Stop Contour

EN

End the program

Teach (Record and Play-Back)

Several applications require teaching the machine a motion trajectory. Teaching can be accomplished using the DMC-3425 automatic array capture feature to capture position data. The captured data may then be played back in the contour mode. The following array commands are used:

DM C[n]

Dimension array

RA C[]

Specify array for automatic record

RD _TPA

Specify data for capturing (such as _TPA or _TPB)

RC n,m

Specify capture time interval where n is 2n msec, m is number of records to be

 

captured

RC? or _RC

Returns a 1 if recording

Record and Playback Example:

Instruction

Interpretation

#RECORD

Begin Program

DM APOS[501]

Dimension array with 501 elements

RA APOS[]

Specify automatic record

RD _TPA

Specify A position to be captured

MOA

Turn A motor off

RC2

Begin recording; 4 msec interval

#A;JP#A,_RC=1

Continue until done recording

#COMPUTE

Compute DX

DM DX[500]

Dimension Array for DX

C=0

Initialize counter

DMC-3425

Chapter 6 Programming Motion• 93

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Galil DMC-3425 user manual Teach Record and Play-Back, Record and Playback Example
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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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