Step 10. Configure the Distributed Control System

The final step in Getting Started with the DMC-3425 distributed control system is to configure the individual controllers as their respective axes in the system. For more information on the operation of distributed control, please refer to Chapter 4.

Configuring Operation for Distributed Control

There are two methods for configuring a distributed control system; an automatic mode or a manual mode. The automatic mode uses a single command (HC) to configure all the slaves in a particular system. This command uses the BOOTP packets from the slaves, along with configuration jumpers, to automatically select IP addresses and set up the system. In the manual mode, slave controllers are assigned IP addresses and then configured into axes through various software commands. Both methods are outlined below.

Automatic Configuration of Distributed Control

The automatic method of assigning a distributed control network uses the HC command to indicate number of axes, type of communication and update rate of a system. This command also configures the number of IOC extended I/O modules in the system, if any.

The data update rate specifies the rate at which each slave sends a data packet to the master containing current status information. The data records are used by the master controller to make decisions based on the status of the slave controllers or IOC-7007 modules. This data record rate may be selected manually with the QW command, but will be set automatically by the second field of the HC command.

The data contained in the record is as follows: reference position

encoder position position error velocity torque

limit and home switches

axis status (in motion, motor off, at speed, stopcode) uncommitted inputs

uncommitted outputs user defined variables (4)

In order for the HC command to be initiated, an IP address must already be assigned to the master. See Step 5 “Establishing Communication between the DMC-3425 and the host PC” for information on addressing the master controller. The slaves, in this method, will typically remain without IP addresses. If the slaves are to be addressed manually while still using the HC mode, skip to the next section Manual Slave IP configuration with HC command.

Once initiated, the master controller will ARP for slaves with IP address already assigned, and then ‘listen’ for BOOTP packets from the slave controllers without IP addresses. As it receives these packets, the master will configure the slave axes according to jumpers set on each slave controller. Once this connection has been established, the master will initiate QW, or data records, to begin from each slave for status updates.

The full procedure for this method is as follows:

28 • Chapter 2 Getting Started

DMC-3425

Page 35 Page 37
Page 36
Image 36
Galil DMC-3425 user manual Configure the Distributed Control System, Configuring Operation for Distributed Control
Page 35 Page 37

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.
Top Page Image Contents