Galil DMC-3425 Make connections to amplifier and encoder, Sending Test Commands to the Terminal

ASSIGN IP ADDRESS will check the controllers that are linked to the network to see which ones do not have an IP address. The program will then ask you whether you would like to assign the IP address you entered to the controller with the specified serial number. Click on YES to assign it, NO to move to next controller, or CANCEL to not save the changes. If there are no controllers on the network that do not have an IP address assigned, the program will state this. Once the correct controller has been selected, click on Finish.

If an IP address has already been assigned to the controller through the serial port and the IA command, add this address to the IP Address box and then select Finish.

The second method for registering the controller is by using the option within the registry labeled Find Ethernet Controllers. This utility uses the DMCNet software program to search for any controllers on the network, both with and without IP addresses. If the DMC-3425 does not have an IP address, the utility will listen for the BOOTP packet and then ask for an IP address to be assigned. Once the IP address is added, click on Register and the controller will be added to the Galil Registry. If an IP address has already been assigned to the controller, the utility will list that controller with its current IP address. At this point, click on Register and the controller will be added to the Galil Registry.

Once you have set the appropriate Registry information for your controller, Select Close to close the registry window. You will now be able to communicate with the DMC-3425. Within WSDK, select File and Connect to Controller. Within DMCSmartTerm, select Tools and Select Controller. Once the appropriate entry has been selected, click on the OK button. If the software has successfully established communications with the controller, the registry entry will be displayed at the top of the screen.

See Chapter 4 Communication for additional information on the Ethernet configuration and connection.

Sending Test Commands to the Terminal:

After you connect your terminal, press <return> or the <enter> key on your keyboard. In response to carriage return <return>, the controller responds with a colon, :

Now type

TPA <return>

This command directs the controller to return the current position of the A axis. The controller should respond with a number such as

0000000

Step 6. Set-up axis for sinusoidal commutation (optional)

*This step is only required when the controller will be used to control a brushless motor with sinusoidal commutation. Please consult the factory before operating with sinusoidal commutation.

The command BA is used to specify sinusoidal commutation mode for the DMC-3415 or DMC-3425. In this mode the controller will output two sinusoidal phases for the DACs. Once specified, follow the procedure outlined in Step 8b.

Step 7. Make connections to amplifier and encoder

Once you have established communications between the software and the DMC-3425, you are ready to connect the rest of the motion control system. The motion control system generally consists of an ICM-1460 Interface Module, a servo amplifier, and a motor to transform the current from the servo amplifier into torque for motion. Galil also offers the AMP-1460 Interface Module which is an ICM- 1460 equipped with a servo amplifier for a DC motor.

DMC-3425 Chapter 2 Getting Started• 17