Motion Complete Trippoint

Motion Profiler

Reference Position (RP)

Stepper Smoothing Filter

(Adds a Delay)

Output Buffer

Step Count Register (TD)

Output

(To Stepper Driver)

When used in stepper mode, the MC command will hold up execution of the proceeding commands until the controller has generated the same number of steps out of the step count register as specified in the commanded position. The MC trippoint (Motion Complete) is generally more useful than AM trippoint (After Motion) since the step pulses can be delayed from the commanded position due to stepper motor smoothing.

Using an Encoder with Stepper Motors

An encoder may be used on a stepper motor to check the actual motor position with the commanded position. If an encoder is used, it must be connected to the main encoder input.

NOTE: The auxiliary encoder is not available while operating with stepper motors. The position of the encoder can be interrogated by using the command, TP. The position value can be defined by using the command, DE.

NOTE: Closed loop operation with a stepper motor is not possible.

Command Summary - Stepper Motor Operation

Command

Description

Define Encoder Position (When using an encoder) Define Reference Position and Step Count Register Motion Profile Smoothing - Independent Time Constant Stepper Motor Smoothing

Motor Type (2,-2,2.5 or -2.5 for stepper motors) Report Commanded Position

Report number of step pulses generated by controller Tell Position of Encoder

Operand Summary - Stepper Motor Operation

Operand

_DEa

_DPa

_ITa

_KSa

_MTa

_RPa

_TDa

_TPa

Description

Contains the value of the step count register for the ‘a’ axis Contains the value of the main encoder for the ‘a’ axis

Contains the value of the Independent Time constant for the 'a' axis Contains the value of the Stepper Motor Smoothing Constant for the 'a' axis Contains the motor type value for the 'a' axis

Contains the commanded position generated by the profiler for the ‘a’ axis Contains the value of the step count register for the ‘a’ axis

Contains the value of the main encoder for the ‘a’ axis

DMC-3425

Chapter 6 Programming Motion• 97

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.

Galil DMC-3425 user manual Motion Complete Trippoint, Using an Encoder with Stepper Motors

Models: DMC-3425