DMC-3425 Event Triggers

Command

AM A B C D E F G H or S

AD A or B or C or D or E or F or G or H

AR A or B or C or D or E or F or G or H

AP A or B or C or D or E or F or G or H

MF A or B or C or D or E or F or G or H

MR A or B or C or D or E or F or G or H

MC A or B or C or D or E or F or G or H

AI +/- n

AS A B C D E F G H

AT +/-n

AV n

WT n

Function

Halts program execution until motion is complete on the specified axes or motion sequence(s). AM with no parameter tests for motion complete on all axes. This command is useful for separating motion sequences in a program.

Halts program execution until position command has reached the specified relative distance from the start of the move. Only one axis may be specified at a time.

Halts program execution until after specified distance from the last AR or AD command has elapsed. Only one axis may be specified at a time.

Halts program execution until after absolute position occurs. Only one axis may be specified at a time.

Halt program execution until after forward motion reached absolute position. Only one axis may be specified. If position is already past the point, then MF will trip immediately. Will function on geared axis or aux. inputs.

Halt program execution until after reverse motion reached absolute position. Only one axis may be specified. If position is already past the point, then MR will trip immediately. Will function on geared axis or aux. inputs.

Halt program execution until after the motion profile has been completed and the encoder has entered or passed the specified position. TW a,b,c,d sets timeout to declare an error if not in position. If timeout occurs, then the trippoint will clear and the stopcode will be set to 99. An application program will jump to label #MCTIME.

Halts program execution until after specified input is at specified logic level. n specifies input line. Positive is high logic level; negative is low level.

Halts program execution until specified axis has reached its slew speed.

Halts program execution until n msec from reference time. AT 0 sets reference. AT n waits n msec from reference. AT -n waits n msec from reference and sets new reference after elapsed time.

Halts program execution until specified distance along a coordinated path has occurred.

Halts program execution until specified time in msec has elapsed.

Example- Multiple Move Sequence

The AM trippoint is used to separate the two PR moves. If AM is not used, the controller returns a ? for the second PR command because a new PR cannot be given until motion is complete.

116 • Chapter 7 Application Programming

DMC-3425

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Galil user manual DMC-3425 Event Triggers, Example- Multiple Move Sequence, AS a B C D E F G H
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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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