Step 1. Determine Overall Motor Configuration

Before setting up the motion control system, the user must determine the desired motor configuration. The DMC-3425 can control standard brush or brushless servo motors, sinusoidally commutated brushless motors or stepper motors. For control of other types of actuators, such as hydraulics, please contact Galil. The following configuration information is necessary to determine the proper motor configuration:

Standard Servo Motor Operation:

The DMC-3425 has been setup by the factory for standard servo motor operation providing an analog command signal of +/- 10 volt. The position of the jumpers at JP2/JP3 determines the type of output the controllers will provide, analog motor command or PWM output. The installation of these jumpers is discussed in the section “Configuring Jumpers on the DMC-3425”. Figure 2.2 shows how the jumpers are configured for the standard output mode.

The DMC-3425 controller will output the analog command signal to either brush or brushless servo amplifiers. Please note that if the brushless amplifier provides the sinusoidal commutation, the standard servo motor operation from the controller will be used. If the commutation is to be performed by the controller, please see below.

Sinusoidal Commutation:

Please consult the factory before operating with sinusoidal commutation.

Sinusoidal commutation is configured through a single software command, BA. This setting causes the controller to reconfigure the control axis to output two commutated phases. The DMC-3425 requires two DAC outputs for a single axis of commutation. Issuing the BA command will enable the second DAC for commutation.

If a DMC-3425 is used for sinusoidal commutation, the second axis will be used for the second DAC phase. Please note that if the DMC-3425 is used for sinusoidal commutation, it will still be represented by two axes within the distributed system, even though only one axis is truly active. The DMC-3415 in brushless mode will take only a single axis within the distributed system.

Further instruction for sinusoidal commutation connections are discussed in Step 6.

Stepper Motor Operation:

The DMC-3415 can be configured to operate in stepper mode by installing a hardware jumper and issuing a software command. The DMC-3425 can be configured to operate with two stepper motors by ordering the DMC-3425-Stepper option from the factory. To configure the DMC-3425 for stepper motor operation, the controller requires a jumper for the stepper motors and the command, MT, must be given. The installation of the stepper motor jumper is discussed in the following section entitled "Configuring Jumpers on the DMC-3425". Further instructions for stepper motor connections are discussed in Step 8b.

Step 2. Configuring Jumpers on the DMC-3425

Master Reset and Upgrade Jumper

JP1 contains two jumpers, MRST and UPGD. The MRST jumper is the Master Reset jumper. When MRST is connected, the controller will perform a master reset upon PC power up or upon the reset input going low. Whenever the controller has a master reset, all programs, arrays, variables, and motion control parameters stored in EEPROM will be ERASED.

The UPGD jumper enables the user to unconditionally update the controller’s firmware. This jumper is not necessary for firmware updates when the controller is operating normally, but may be necessary in cases of corrupted EEPROM. EEPROM corruption should never occur, however, it is possible if

DMC-3425

Chapter 2 Getting Started• 9

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Galil user manual Determine Overall Motor Configuration, Configuring Jumpers on the DMC-3425
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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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