Getting Started, DMC-3425 Motion Controller

Chapter 2 Getting Started

The DMC-3425 Motion Controller

Stepper motor/Motor off	+12V/-12V Test	Daughter card connector for	RAM
configuration jumpers	Points	DB-14064 Extended I/O card	RAM

+5V/Gnd Test Points

6 Pin Molex Power Connector

Distributed Control Axis configuration jumpers

Step/Direction or Motor Command configuration jumpers

	JP2	-12
	*	+12		J6			9-Pin DSub
	*						RS232 serial port
+5 G	MO SMX SMY	DMC-1415					RS232 serial port
		DMC-1415
		REV D
		U1	U4				Ethernet
		U1	GALIL MOTION CONTROL				network IC
			GALIL MOTION CONTROL				network IC
-12			MADE IN USA
-12	Motorola
G	Motorola
G	68331						Master reset/baud
G	68331
G	J4
+5	J4					J1	rate jumpers
+5	A8					J1
+5	A8	U10	GL-1800		U2
+5	A4	U10	GL-1800		U2
+12	A2
+12	A1
J5
				JP1			Reset switch
				1200			Reset switch
				1200
				MRST UPGD	9600		SW1
				J2			SW1
JP3			J3	J2
JP3			J3	D2
SD MC			D4	D2
							RJ-45 10BaseT
							Ethernet connector

Main 37-pin DSub	Status/Communications
connector	LED's

Figure 2.1 – Outline of the DMC-3425

DMC-3425

Chapter 2 Getting Started• 7

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Image 15

Galil user manual Getting Started, DMC-3425 Motion Controller

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.

Contents

By Galil Motion Control, Inc DMC-3425Page Contents Connecting Hardware Programming Motion Application Programming 107 ZOH DAC Warranty J5 Power 6 PIN Molex Introduction Overview Brushless Servo Motor with Sinusoidal Commutation Standard Servo Motors with +/- 10 Volt Command SignalStepper Motor with Step and Direction Signals Overview of Motor Types DMC-3425 Overview Communication DMC-3425 Functional ElementsMicrocomputer Section Motor Interface Amplifier Driver General I/OSystem Elements Motor Encoder Watch Dog Timer DMC-3425 Motion Controller Getting Started Elements You Need Installing the DMC-3425 Controller Configuring Jumpers on the DMC-3425 Determine Overall Motor Configuration 9600 1200 Setting the Baud Rate on the DMC-3425Selecting MO as default on the DMC-3425 Stepper Motor Jumpers A1 A2 A4 A8 Axis Configuration Jumpers Using Galil Software for DOS Installing the Communications Software Using Galil Software for Windows Getting Started DMC-3425 TPA CR Using Non-Galil Communication SoftwareSending Test Commands to the Terminal Communicating through the Ethernet Address Make connections to amplifier and encoder Set-up axis for sinusoidal commutation optional Getting Started DMC-3425 Connect Standard Servo Motor MO CR Check the Polarity of the Feedback Loop TT CR Inverting the Loop PolaritySH CR BG CR Power Supply Connect brushless motor for sinusoidal commutation If Hall Sensors are Available If Hall Sensors are Not Available BC CR Connect Step MotorsBGA CR Amacr TE CR Tune the Servo System Configure the Distributed Control System Configuring Operation for Distributed ControlAutomatic Configuration of Distributed Control Manual Slave IP configuration with HC command Instruction Interpretation Manual Configuration of Distributed Control#SETUP Mgconfiguration Failed Else Mgconfig Success Endif NA6 CHC=D,ECHE=F,G Example 3 Position Interrogation Design ExamplesExample 1 System Set-up Example 2 Profiled Move Example 7 Interrogation Example 8 Operation in the Buffer ModeExample 5 Velocity Control Jogging Example 6 Operation Under Torque Limit Example 9 Motion Programs Example 10 Motion Programs with LoopsExample 11- Motion Programs with Trippoints Example 13 Control Variables and Offset Example 12 Control Variables Return to top of program Using Inputs Limit Switch InputOverview Abort Input Home Switch Input Uncommitted Digital Inputs Amplifier Interface Analog Inputs TTL Inputs TTL Outputs This page Left Blank Intentionally Baud Rate Selection RS-232 ConfigurationRS232 Port RS232 Port 1 Dataterm Handshaking Modes Ethernet ConfigurationCommunication Protocols Addressing Global vs. Local Operation Ethernet Handles Local Operation Operation of Distributed Control Accessing the I/O of the Slaves Digital Inputs Handling Communication ErrorsMulticasting Digital Outputs IOC-7007 Support Unsolicited Message Handling Function Code Definition Modbus Support User Defined Ethernet Variables Handle SwitchingHandle Restore on Communication Failure Other Communication Options Data Record Data Record MapWaiting on Handle Responses DMC-3425 Communication Communication DMC-3425 General Status Information 1 Byte Axis Switch Information 1 ByteHeader Information Byte 0, 1 of Header Bytes 2, 3 of Header QZ Command Axis Status Information 2 ByteCoordinated Motion Status Information for plane 2 Byte Using Third Party Software This page Left Blank Intentionally Important All DMC-3425 commands are sent in upper case Command Syntax Ascii Coordinated Motion with more than 1 axis Command Syntax Binary Binary Command Format ByteHeader Format LE, VE Binary command tableDatafields Format Example Controller Response to Data Interrogating the Controller Interrogation CommandsSummary of Interrogation Commands Interrogating Current Commanded Values Command Summary This page Left Blank Intentionally Programming Motion Mode of Motion Basic description Commands Global VP, CR Independent Axis Positioning Absolute Position Movement Command Summary Independent AxisOperand Summary Independent Axis Examples BG C InstructionInterpretation Command Summary Jogging Independent JoggingJog in a and C axes Linear Interpolation Mode Local Mode Specifying Linear SegmentsJoystick Jogging Lmab Additional CommandsSpecifying Vector Speed for Each Segment #ALT BGS Command Summary Linear InterpolationOperand Summary Linear Interpolation Changing Feedrate #LMOVE ExampleExample Linear Move Linear Interpolation Motion #LOAD Example Multiple Moves Specifying Vector Segments Vector Mode Linear and Circular Interpolation Local Mode Additional commands Trippoints Command Summary Coordinated Motion SequenceCompensating for Differences in Encoder Resolution Operand Summary Coordinated Motion Sequence Required Path VM AB Example Electronic Gearing Electronic Gearing Local ModeCommand Summary Electronic Gearing Example Gantry Mode GA,A Electronic Cam Local ModeGA, CA BGB Programming Motion DMC-3425 DMC-3425 Programming Motion 3000 2250 1500 2000 4000 6000 Master EB1 EAA#LOOP #RUN ST a #LOOPJP#LOOP,V1=0 Specifying Contour Segments Contour Mode Local Mode Instruction Description CMADT0CD0 Generating an Array An Example Command Summary Contour ModeOperand Summary Contour Mode General Velocity Profiles Contour Mode Example #POINTSPOSC=V4 Record and Playback Example Teach Record and Play-Back Mode of Motion Virtual Axis usage Commands Virtual Axis Local Mode Specifying Stepper Motor Operation Stepper Motor OperationEcam Master Example Sinusoidal Motion Example Stepper Motor Smoothing Monitoring Generated Pulses vs. Commanded Pulses Operand Summary Stepper Motor Operation Using an Encoder with Stepper MotorsCommand Summary Stepper Motor Operation Motion Complete Trippoint Backlash Compensation Using the CE CommandAdditional Commands for the Auxiliary Encoder Dual Loop Auxiliary Encoder DE0 Continuous Dual LoopSampled Dual Loop #DUALOOP #END Using the IT and VT CommandsMotion Smoothing JP#CORRECT Trapezoidal velocity and smooth velocity profiles Homing MG AT Home #HOMEHM a AM a Home Switch Input Function Command Summary Homing OperationHigh Speed Position Capture Latch Operand Summary Homing Operation AL B This page Left Blank Intentionally Global vs. Local Programming Application Programming ED #BEGIN Edit Mode CommandsEntering Programs Return Invalid labels Using Labels in ProgramsProgram Format Valid labels No Command and the Apostrophe ‘ Special LabelsCommenting Programs Executing Programs Multitasking REM Command Debugging Programs RAM Memory Interrogation Commands Trace CommandError Code Command Stop Code Command Eeprom Memory Interrogation Operands Breakpoints and single stepping Event Triggers & Trippoints Program Flow Commands DMC-3425 Event Triggers Example- Multiple Move SequenceAS a B C D E F G H Example- Set Output after Distance Example- Repetitive Position TriggerExample Start Motion on Input Example Set Output when At Speed Example Change Speed along Vector PathExample Multiple Move with Wait Format Example- Define Output Waveform Using ATCommand Format JP and JS Conditional Jumps Multiple Conditional Statements Example using variables named V1, V2, V3Logical operators Conditional Statements Using the if and Endif Commands If, Else, and EndifExamples Format Description Using the Else CommandCommand Format IF, Else and Endif Nesting if Conditional Statements Auto-Start and Auto Error Routine SubroutinesStack Manipulation Example Limit Switch Example Position ErrorAutomatic Subroutines for Monitoring Conditions Example Motion Complete Timeout Example Command ErrorExample Input Interrupt Example Command Error w/Multitasking Operator Function Example Ethernet Communication ErrorMathematical and Functional Expressions Mathematical Operators LEN1=FLEN&$00FF Bit-Wise OperatorsENTER,LENS6 FLEN=@FRACLEN PR Posa VariablesFunctions POS Displaying the value of variables at the terminal Programmable VariablesAssigning Values to Variables Assigning Variable Values to Controller Parameters Instruction Example Using Variables for JoystickOperands Special Operands Arrays Defining ArraysAssignment of Array Entries Using a Variable to Address Array Elements Uploading and Downloading Arrays to On Board MemoryAutomatic Data Capture into Arrays Example Recording into An Array Command Summary Automatic Data CaptureData Types for Recording Operand Summary Automatic Data Capture Specifying the Port for Messages Outputting Numbers and StringsDeallocating Array Space Sending Messages Using the MG Command to Configure Terminals Formatting MessagesMG STR S3 Function Description Displaying Variables and ArraysSummary of Message Functions Example Printing a Variable and an Array element Local Formatting of Response of Interrogation Commands LZ0LZ1 V1=ALPHA Formatting Variables and Array ElementsLocal Formatting of Variables VF1 Example- Set Bit and Clear Bit Hardware I/OConverting to User Units Digital Outputs Example- Output Port Example Using Inputs to control program flowExample Start Motion on Switch Digital Inputs Input Interrupt Function Analog InputsExample Position Follower Point-to-Point Configuring the I/O of the DMC-3425 Extended I/O of the DMC-3425 ControllerExample Position Follower Continuous Move Accessing Extended I/O Saving the State of the Outputs in Non-Volatile MemoryBit I/O Block Binary Representation Decimal Value for Argument Blocks Bits Description Wire CutterExample Applications Interfacing to Grayhill or OPTO-22 G4PB24 JP #A X-Y Table Controller BGC AMCBGC AMC BGS AMS Speed Control by Joystick JG VEL JP #B Position Control by Joystick This page Left Blank Intentionally Output Protection Lines Hardware Protection Programmable Position Limits Signal or Function State if Error OccursSoftware Protection Input Protection Lines Off-On-Error Automatic Error Routine#AJP #AEN Limit Switch Example Limit Switch Routine Symptom Cause Remedy Installation Operation Symptom CauseCommunication Stability Theory of Operation Level Velocity and Position Profiles Operation of Closed-Loop Systems Functional Elements of a Motion Control System System Modeling Motor-Amplifier Voltage DriveCurrent Drive Elements of velocity loops Velocity Loop Voltage Source Digital Filter DAC ZOH System Analysis Motor Ms = P/I = Kt/Js2 = 500/s2 rad/A Amp Ka = 4 Amp/V Analytical Method System Design and Compensation Kd = 10/32768 = Encoder Kf = 4N/2π = DMC-3425 Theory of Operation Equivalent Filter Form KP, KD, KI, PLPID, T Servo Control Electrical SpecificationsPerformance Specifications Power Requirements Acmdy Signa Connectors for DMC-3425J3 DMC-3425 General I/O 37- PIN D-type Acmda Pwma Signa J3 DMC-3425-Stepper General I/O 37- PIN D-typePwmb Signb Pwma RTS CTS GND Pin-Out DescriptionJ1 RS232 Main port DB-9 Pin Male DCD DTR GND DSR RTS CTS Features SpecificationsICM-1460 Interconnect Module ACMDX/PULSEX ResetERROR/PULSEY AMPEN/SIGNY5 Opto-isolated inputs Opto-Isolation Option for ICM-1460 Figure A-1 Opto-isolated outputs CO n Configuring the I/O of the DMC-3425 with DB-14064 Saving the State of the Outputs in Non-Volatile Memory Accessing extended I/O J6 50-PIN IDC Pin Signal Block Bit @INn Bit No @OUTn Connector Description Block Bit @INn Bit No @OUTn Description IOM-1964 Opto-Isolation Module for Extended I/O Controllers Buffer chips Overview Figure A-4 Configuring Hardware Banks Input Circuit Figure A-6 High Power Digital Outputs Standard Digital Outputs Output Command Result Electrical Specifications High Power Digital OutputsStandard Digital Outputs Screw Terminal Listing Relevant DMC Commands DMC-3425 Appendices PWROUT29 PWROUT32PWROUT31 PWROUT30 1000 2000 Coordinated Motion Mathematical Analysis Velocity 100000 = 0.05 s 2000000 List of Other Publications Training SeminarsWHO should Attend Galil Motion Control Contacting Us Warranty Eeprom Index Homing, 38 Eeprom Index DMC-3425