#L

Label

D=C+1

 

DELTA=XPOS[D]-XPOS[C]

Compute the difference

DX[C]=DELTA

Store difference in array

C=C+1

Increment index

JP #L,C<500

Repeat until done

#PLAYBCK

Begin Playback

CMA

Specify contour mode

DT2

Specify time increment

I=0

Initialize array counter

#B

Loop counter

CD XPOS[I];WC

Specify contour data I=I+1 Increment array counter JP #B,I<500 Loop until

 

done

DT 0;CD0

End contour mode

EN

End program

For additional information about automatic array capture, see Chapter 7, Arrays.

Virtual Axis (Local Mode)

The DMC-3425 controller has an internal motion profiler, also referred to as a virtual axis. This axis is designated as the N axis and has no encoder input and no DAC output. With the N axis, a commanded position profile can be generated using the following modes of motion:

Mode of Motion

Virtual Axis usage

Commands

 

 

 

Relative Independent

N axis profile is specified with a relative distance, velocity,

PRN=<value>

Axis Positioning

acceleration and deceleration. The N axis profile follows the

ACN=<value>

 

prescribed velocity profile.

DCN=<value>

 

 

 

 

SPN=<value>

 

 

 

Absolute Independent

N axis profile is specified with an absolute distance, velocity,

PAN=<value>

Axis Positioning

acceleration and deceleration. The N axis profile follows the

ACN=<value>

 

prescribed velocity profile.

DCN=<value>

 

 

 

 

SPN=<value>

 

 

 

Independent Jogging

N axis profile is specified with a prescribed velocity with no

JGN=<value>

 

final endpoint. The motion is specified with velocity,

ACN=<value>

 

acceleration and deceleration. Motion stops on Stop

DCN=<value>

 

command.

 

STN=<value>

 

 

 

 

 

Vector Motion

N axis profile replaces one of the 2 axes specified for 2-D

VMxN

 

motion. Vector velocity, vector acceleration and vector

VMNx

 

deceleration are specified. The vector motion follows the

x represents the 2nd

 

prescribed velocity profile.

axis used for

 

 

vector motion

 

 

 

Electronic Gearing

N axis can be used as a master axis for gearing

GAx=N

 

 

GA N,N

 

 

 

Electronic Cam

N axis can be used as a master axis for electronic CAM

EA N

 

 

EMN=<value>

 

 

 

 

 

 

94 • Chapter 6 Programming Motion

DMC-3425

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Galil DMC-3425 user manual Virtual Axis Local Mode, Mode of Motion Virtual Axis usage Commands
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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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