Galil DMC-3425 Instruction Interpretation, Manual Configuration of Distributed Control, #Setup

IOC-7007 (1) – 10.10.50.26

Automatic Configuration Example

The example below shows a typical setup file for the DMC-3425 distributed control system using the automatic configuration. This example is for a UDP system, with one handle used per slave. The IP addresses of the slaves are unassigned, as this is the simplest way for the slave controllers to be configured. The IP address of the master needs to have been assigned as described in Step 5 “Establishing Communication between the DMC-3425 and the host PC”. The HC command will automatically assign those IP addresses based on the axis jumper settings described in Chapter 2.

Instruction	Interpretation
#SETUP	Begin Program
HC=6,20,1,0	Automatic configuration for a 6 axis UDP system with 20 msec
	update rate. The final 0 indicates no IOC-7007 Ethernet I/O
	modules in the system.
#LOOP; JP#LOOP,_HC=1	Wait while automatic configuration operates. This could take
	up to 10+ seconds.
IF (_HC=0)	Test for HC success. 0 = failed while 2 = success.
MG”CONFIGURATION FAILED”
ELSE
MG”CONFIG SUCCESS”
ENDIF
EN

Manual Configuration of Distributed Control

For the manual configuration of distributed control, each 3425 must be assigned an IP address. This can be done with the BOOTP procedure in the Galil software or the IA command can be used to assign the IP address through the serial port. Once the IP address has been assigned, a BN command should be issued to save this value in the controller’s non-volatile memory. Since all configuration is done manually in this method, there is no limit for the IP address of each slave in the system.

Upon power-up or reset, the master 3425 must establish each slave connection. The following steps must be taken while connected to the master 3425:

1.Using the IH command, open handles for each slave. For a TCP/IP connection, each slave controller must have 2 open handles, one for commands from the master, the other for data returned from the slave (QW). The second internet handle for each slave controller must contain a specific port value. The value must be an even number greater than 502. For a UDP connection, a slave controller can use a single handle for both commands from the master as well as data returned from the slave. The command for opening the communication handle is:

IHh=ip0,ip1,ip2,ip3<p>n h is the handle. ip is the slave IP address. <p specifies port number. >n specifies connection type, 1 for UDP or 2 for TCP/IP.

2.Set the total number of axes in the system with the NA command. For example, assume there are 2 DMC-3425 slave cards, therefore there will be 6 axes (2 in the master and 4 in the slaves) and the command would be NA6.

3.Connect each slave handle to the master. This is accomplished with the CH command. The format of this command is:

CHa=h1,h2 where a is the first axis designator of the slave controller, h1 is the handle for commands and h2 is the handle for slave status. h1 may equal h2 in a UDP setup.

30 • Chapter 2 Getting Started DMC-3425