Coordinated Motion - Mathematical Analysis

The terms of coordinated motion are best explained in terms of the vector motion. The vector velocity, Vs, which is also known as the feed rate, is the vector sum of the velocities along the A and B axes, Va and Vb.

Vs = Va 2 + Vb 2

The vector distance is the integral of Vs, or the total distance traveled along the path. To illustrate this further, suppose that a string was placed along the path in the A-B plane. The length of that string represents the distance traveled by the vector motion.

The vector velocity is specified independently of the path to allow continuous motion. The path is specified as a collection of segments. For the purpose of specifying the path, define a special A-B coordinate system whose origin is the starting point of the sequence. Each linear segment is specified by the A-B coordinate of the final point expressed in units of resolution, and each circular arc is defined by the arc radius, the starting angle, and the angular width of the arc. The zero angle corresponds to the positive direction of the A-axis and the CCW direction of rotation is positive. Angles are expressed in degrees, and the resolution is 1/256th of a degree. For example, the path shown in Fig. A-10 is specified by the instructions:

 

VP

0,10000

 

 

CR

10000, 180, -90

 

 

VP

20000, 20000

 

 

B

 

 

2000

 

C

D

 

 

 

1000

B

 

 

 

 

 

 

A

 

A

 

 

1000

2000

DMC-3425

Appendices• 193

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Galil DMC-3425 user manual Coordinated Motion Mathematical Analysis, 1000 2000
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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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