Special Labels, Commenting Programs

AM	Wait for motion complete
WT 2000	Wait 2 sec
JP #START	Jump to label START
EN	End of Program

The above program moves A and B 10000 and 20000 units. After the motion is complete, the motors rest for 2 seconds. The cycle repeats indefinitely until the stop command is issued.

Special Labels

The DMC-3425 has some special labels, which are used to define input interrupt subroutines, limit switch subroutines, error handling subroutines, command error subroutines and auto start and recovery routines.

#AUTO	Label for automatic execution of program upon power up. This program
	must be saved in the non-volatile memory with the BP command.
#AUTOERR	Label for detecting errors in the #AUTO routine. If a Checksum error
	were to occur, the #AUTO would fail to start at power up. This
	#AUTOERR routine would be called instead.
#ININT	Label for Input Interrupt subroutine
#LIMSWI	Label for Limit Switch subroutine
#POSERR	Label for excess Position Error subroutine
#MCTIME	Label for timeout on Motion Complete trip point
#CMDERR	Label for incorrect command subroutine
#COMINT	Label for communication interrupt on the aux. serial port
#TCPERR	Ethernet communication error

Commenting Programs

There are two methods for commenting programs. The first method uses the NO command and allows for comments to be embedded into Galil programs. The second method used the REM statement and requires the use of Galil software.

NO Command and the Apostrophe (‘)

Programs on the DMC-3425 can be commented using the command, NO, or the apostrophe. These commands allow the user to include up to 78 characters on a single line. This can be used to include comments from the programmer as in the following example:

Instruction	Interpretation
#PATH	Label
NO 2-D CIRCULAR PATH	Comment - No Operation
VMAB	Vector Mode
NO VECTOR MOTION ON A AND B	Comment - No Operation
VS 10000	Vector Speed
NO VECTOR SPEED IS 10000	Comment - No Operation
VP -4000,0	Vector Position
NO BOTTOM LINE	Comment - No Operation
CR 1500,270,-180	Circle Motion
NO HALF CIRCLE MOTION	Comment - No Operation

110 • Chapter 7 Application Programming

DMC-3425

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 Special Labels, Commenting Programs, No Command and the Apostrophe ‘

Models: DMC-3425

Special Labels

#AUTO

#AUTOERR

Commenting Programs

NO Command and the Apostrophe (‘)

Instruction

DMC-3425 specifications