Galil DMC-3425 user manual Connecting Hardware

Example 5 - Velocity Control (Jogging)	33
Example 6 - Operation Under Torque Limit	33
Example 7 - Interrogation	33
Example 8 - Operation in the Buffer Mode	33
Example 9 - Motion Programs	34
Example 10 - Motion Programs with Loops	34
Example 11- Motion Programs with Trippoints	34
Example 12 - Control Variables	35
Example 13 - Control Variables and Offset	35
Chapter 3 Connecting Hardware	37
Overview	37
Using Inputs	37
Limit Switch Input	37
Home Switch Input	38
Abort Input	38
Uncommitted Digital Inputs	39
Amplifier Interface	39
TTL Inputs	40
Analog Inputs	40
TTL Outputs	41
Chapter 4 Communication	43
Introduction	43
RS232 Port	43
RS232 - Port 1 DATATERM	43
RS-232 Configuration	43
Ethernet Configuration	44
Communication Protocols	44
Addressing	44
Ethernet Handles	45
Global vs. Local Operation	45
Operation of Distributed Control	47
Accessing the I/O of the Slaves	47
Handling Communication Errors	48
Multicasting	48
Unsolicited Message Handling	49
IOC-7007 Support	49
Modbus Support	50
Other Communication Options	51
Data Record	52
Data Record Map	52
Explanation of Status Information and Axis Switch Information	55
Notes Regarding Velocity and Torque Information	56
QZ Command	56
Using Third Party Software	57
Chapter 5 Command Basics	59
Introduction	59
Command Syntax - ASCII	59
Coordinated Motion with more than 1 axis	60
Command Syntax - Binary	60
Binary Command Format	61
Binary command table	62
ii • Contents	DMC-3425