currently available. The command, DA?, will return the number of arrays which can be currently defined. The DMC-3425 will have a maximum of 2000 array elements in up to 14 arrays. If an array of 100 elements is defined, the command DM? will return the value 1900 and the command DA? will return 13.

To list the contents of the variable space, use the interrogation command LV (List Variables). To list the contents of array space, use the interrogation command, LA (List Arrays). To list the contents of the Program space, use the interrogation command, LS (List). To list the application program labels only, use the interrogation command, LL (List Labels).

Operands

An operand is a value in the controller. Below is a list of specific operands that are particularly valuable for program debugging. To display an operand, the message command may be used. For example, since the operand, _ED contains the last line of program execution, the command MG _ED will display this line number.

_ED contains the last line of program execution. Useful to determine where program stopped. _DL contains the number of available labels.

_UL contains the number of available variables. _DA contains the number of available arrays.

_DM contains the number of available array elements. _AB contains the state of the Abort Input

_LFx contains the state of the forward limit switch for the 'x' axis _LRx contains the state of the reverse limit switch for the 'x' axis

Breakpoints and single stepping

The DMC-3425 has commands which allow active debugging of programs. The BK command is a breakpoint which may be set to trigger upon execution of a specified line and thread. Upon the program executing the specified line, the program or thread will pause at that line. The SL command may then be used to single step through the program from that breakpoint. See the command reference for more information on the BK and SL command.

EEPROM Memory Interrogation Operands

When the DMC-3425 powers up, any data stored in the EEPROM memory is automatically loaded for use. This data includes the user program, variables and arrays, and controller parameters. If the EEPROM has been corrupted, the corresponding memory sector is flagged as in error. The operand _RS contains the state of the EEPROM as follows:

Bit

Error Condition

 

 

Bit 3

Master reset error

 

 

Bit 2

Program checksum error

Bit 1

Parameter checksum error

 

 

Bit 0

Variable checksum error

 

 

114 • Chapter 7 Application Programming

DMC-3425

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Galil DMC-3425 user manual Breakpoints and single stepping, Eeprom Memory Interrogation Operands
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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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