Galil user manual Extended I/O of the DMC-3425Controller, Configuring the I/O of the DMC-3425

Instruction	Interpretation
#Points	Label
SP 7000	Speed
AC 80000;DC 80000	Acceleration
#Loop
VP=@AN[1]*1000	Read and analog input, compute position
PA VP	Command position
BGA	Start motion
AMA	After completion
JP #Loop	Repeat
EN	End

Example - Position Follower (Continuous Move)

Method: Read the analog input, compute the commanded position and the position error. Command the motor to run at a speed in proportions to the position error.

Instruction	Interpretation
#Cont	Label
AC 80000;DC 80000	Acceleration rate
JG 0	Start job mode
BGA	Start motion
#Loop
VP=@AN[1]*1000	Compute desired position
VE=VP-_TPA	Find position error
VEL=VE*20	Compute velocity
JG VEL	Change velocity
JP #Loop	Change velocity
EN	End

Extended I/O of the DMC-3425 Controller

The DMC-3425 controller offers an option for 64 additional I/O, called the daughter board DB-14064. This I/O is known as extended I/O and can be configured as inputs or outputs in 8 bit increments through software. The I/O points are accessed through 2 50-pin high-density connectors.

Configuring the I/O of the DMC-3425

The extended I/O can be configured as outputs in blocks of 8. The I/O is configured as all Inputs by default. The extended I/O is denoted as blocks 2-9 or bits 17-80.

The command, CO, is used to configure the extended I/O as inputs or outputs. The CO command has one field:

CO n

where n is a decimal value which represents a binary number. Each bit of the binary number represents one block of extended I/O. When set to 1, the corresponding block is configured as an output.

NOTE: The CO command must be sent to slave controllers using the SA command.

DMC-3425 Chapter 7 Application Programming• 143