Command Summary - Automatic Data Capture

Command

Description

 

 

RA n[],m[],o[],p[]

Selects up to four arrays for data capture. The arrays must be defined

 

with the DM command.

RD type1,type2,type3,type4

Selects the type of data to be recorded, where type1, type2, type3, and

 

type 4 represent the various types of data (see table below). The order

 

of data type is important and corresponds with the order of n,m,o,p

 

arrays in the RA command.

RC n,m

The RC command begins data collection. Sets data capture time

 

interval where n is an integer between 1 and 8 and designates 2n msec

 

between data. m is optional and specifies the number of elements to

 

be captured. If m is not defined, the number of elements defaults to

 

the smallest array defined by DM. When m is a negative number, the

 

recording is done continuously in a circular manner. _RD is the

 

recording pointer and indicates the address of the next array element.

 

n=0 stops recording.

RC?

Returns a 0 or 1 where, 0 denotes not recording, 1 specifies recording

 

in progress

 

 

Data Types for Recording:

Data Type

Description

 

 

_DEA

2nd encoder position (dual encoder)

 

 

_TPA

Encoder position

 

 

_TEA

Position error

 

 

_SHA

Commanded position

 

 

_RLA

Latched position

 

 

_TI

Inputs

 

 

_OP

Output

 

 

_TSA

Switches (only bit 0-4 valid)

 

 

_SCA

Stop code

 

 

_NOA

Status bits

 

 

_TTA

Torque (reports digital value +/-8097)

 

 

 

 

NOTE: B, C, D, E, F, G, or H may replace A for capturing data on other axes.

Operand Summary - Automatic Data Capture

_RC

_RD

Returns a 0 or 1 where, 0 denotes not recording, 1 specifies recording in progress

Returns address of next array element.

Example - Recording into An Array

Instruction

Interpretation

#RECORD

Begin program

DM APOS[300],BPOS[300]

Define A,B position arrays

DM AERR[300],BERR[300]

Define A,B error arrays

RA APOS[],AERR[],BPOS[],BERR[]

Select arrays for capture

RD _TPA,_TEA,_TPB,_TEB

Select data types

PR 10000,20000

Specify move distance

134 • Chapter 7 Application Programming

DMC-3425

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Galil DMC-3425 Command Summary Automatic Data Capture, Data Types for Recording, Operand Summary Automatic Data Capture
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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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