Automatic Subroutines for Monitoring Conditions

Often it is desirable to monitor certain conditions continuously without tying up the host or DMC-3425 program sequences. The DMC-3425 can monitor several important conditions in the background. These conditions include checking for the occurrence of a limit switch, a defined input, position error, or a command error. Automatic monitoring is enabled by inserting a special, predefined label in the applications program, and having an application program actively executing on the controller. The pre-defined labels are:

SUBROUTINE	DESCRIPTION

#LIMSWI	Limit switch on any axis goes low

#ININT	Input specified by II goes low

#POSERR	Position error exceeds limit specified by ER

#MCTIME	Motion Complete timeout occurred. Timeout period set by TW command

#CMDERR	Bad command given
#TCPERR	Ethernet Communication Error

The following examples illustrate the use of the automatic subroutines:

Example - Limit Switch:

This simple program prints a message upon the occurrence of a limit switch. For the #LIMSWI sub- routine to execute, the DMC-3425 must be executing an applications program from memory and the controller must be commanding the motor to move. The RE command is used to return from the #LIMSWI subroutine. The #LIMSWI subroutine will be re-executed if the limit switch remains active.

Instruction	Interpretation
#LOOP	Dummy Program
JP #LOOP;EN	Jump to Loop
#LIMSWI	Limit Switch Label
MG "LIMIT OCCURRED"	Print Message
RE	Return to main program

Example - Position Error

Instruction		Interpretation
:ED		Edit Mode
000	#LOOP	Dummy Program
001 JP #LOOP;EN		Loop
002	#POSERR	Position Error Routine
003	V1=_TEA	Read Position Error
004 MG "EXCESS POSITION ERROR"		Print Message
005 MG "ERROR=",V1=		Print Error
006	RE	Return from Error
<control> Q		Quit Edit Mode
:XQ #LOOP		Execute Dummy Program
:JG 100000		Jog at High Speed
:BGA		Begin Motion

124 • 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 Automatic Subroutines for Monitoring Conditions, Example Limit Switch

Models: DMC-3425