Galil DMC-3425 user manual NA6, Chc=D,E, Che=F,G

Note that only one of the 2 axes (per DMC-3425) needs to be assigned with the CH command.

4.In order for the Master controller to be able to make decisions based on the status of the slave/server controllers, it is necessary for the slaves to generate data records giving their current status. The record is sent at a rate set by the QW command. The QW command must be executed by the master before the slave can issue a record under any method. The format of the command is

QWh=n where h is the handle. n is a number between 4 and 16000. n sets the number of samples (msec with default TM1000).

n equal to 0 disables the mode.

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)

Manual Configuration Example

The example below shows a typical setup file for the DMC-3425 distributed control system in manual mode. This example is for a TCP/IP system, with two handles used per slave. The IP address of the first slave (Axes C and D) is 160.50.10.1, while the address of the second slave (Axes E and F) is

160.50.10.2.Note that in the two axis setup, different port numbers are used for the second handle to the same IP address.

Instruction	Interpretation
#SETUP	Begin Program
IHD=160,50,10,1>2	Set handle D (for commands) to slave 1's IP
IHE=160,50,10,1<510>2	Open handle E for slave 1's data record
IHF=160,50,10,2>2	Set handle F (for commands) to slave 2’s IP
IHG=160,50,10,2<512>2	Open handle G for slave 2's data record
NA6	6 axis total
CHC=D,E	Axis C & D assigned to slave 1 (Handle D,E)
CHE=F,G	Axis E & F assigned to slave 2 (Handle F,G)
QWE=20	Handle E sends data record every 20 msec
QWG=20	Handle G sends data record every 20 msec
EN

Note: This program is the minimum necessary for manually setting up the controller. An actual application program should make use of error and status checking. An example would be testing the operand _IHh2 for successful handle connections. See Command Reference for more details.

DMC-3425 Chapter 2 Getting Started• 31