By Galil Motion Control, Inc
DMC-3425
Page
 Contents
 Connecting Hardware
 Programming Motion
 Application Programming 107
 ZOH
DAC
 Warranty
J5 Power 6 PIN Molex
 Introduction
Overview
 Brushless Servo Motor with Sinusoidal Commutation
Standard Servo Motors with +/- 10 Volt Command Signal
Stepper Motor with Step and Direction Signals
Overview of Motor Types
 DMC-3425 Overview
 Communication
DMC-3425 Functional Elements
Microcomputer Section
Motor Interface
 Amplifier Driver
General I/O
System Elements
Motor
 Encoder
Watch Dog Timer
 DMC-3425 Motion Controller
Getting Started
 Elements You Need
Installing the DMC-3425 Controller
 Configuring Jumpers on the DMC-3425
Determine Overall Motor Configuration
 9600 1200
Setting the Baud Rate on the DMC-3425
Selecting MO as default on the DMC-3425
Stepper Motor Jumpers
 A1 A2 A4 A8
Axis Configuration Jumpers
 Using Galil Software for DOS
Installing the Communications Software
 Using Galil Software for Windows
 Getting Started DMC-3425
 TPA CR
Using Non-Galil Communication Software
Sending Test Commands to the Terminal
Communicating through the Ethernet
 Address
 Make connections to amplifier and encoder
Set-up axis for sinusoidal commutation optional
 Getting Started DMC-3425
 Connect Standard Servo Motor
 MO CR
Check the Polarity of the Feedback Loop
 TT CR
Inverting the Loop Polarity
SH CR
BG CR
 Power Supply
 Connect brushless motor for sinusoidal commutation
 If Hall Sensors are Available
 If Hall Sensors are Not Available
 BC CR
Connect Step Motors
BGA CR
Amacr
 TE CR
Tune the Servo System
 Configure the Distributed Control System
Configuring Operation for Distributed Control
Automatic Configuration of Distributed Control
 Manual Slave IP configuration with HC command
 Instruction Interpretation
Manual Configuration of Distributed Control
#SETUP
Mgconfiguration Failed Else Mgconfig Success Endif
 NA6
CHC=D,E
CHE=F,G
 Example 3 Position Interrogation
Design Examples
Example 1 System Set-up
Example 2 Profiled Move
 Example 7 Interrogation
Example 8 Operation in the Buffer Mode
Example 5 Velocity Control Jogging
Example 6 Operation Under Torque Limit
 Example 9 Motion Programs
Example 10 Motion Programs with Loops
Example 11- Motion Programs with Trippoints
 Example 13 Control Variables and Offset
Example 12 Control Variables
 Return to top of program
 Using Inputs
Limit Switch Input
Overview
 Abort Input
Home Switch Input
 Uncommitted Digital Inputs
Amplifier Interface
 Analog Inputs
TTL Inputs
 TTL Outputs
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 Baud Rate Selection
RS-232 Configuration
RS232 Port
RS232 Port 1 Dataterm
 Handshaking Modes
Ethernet Configuration
Communication Protocols
Addressing
 Global vs. Local Operation
Ethernet Handles
 Local Operation
 Operation of Distributed Control
Accessing the I/O of the Slaves
 Digital Inputs
Handling Communication Errors
Multicasting
Digital Outputs
 IOC-7007 Support
Unsolicited Message Handling
 Function Code Definition
Modbus Support
 User Defined Ethernet Variables
Handle Switching
Handle Restore on Communication Failure
Other Communication Options
 Data Record
Data Record Map
Waiting on Handle Responses
 DMC-3425 Communication
 Communication DMC-3425
 General Status Information 1 Byte
Axis Switch Information 1 Byte
Header Information Byte 0, 1 of Header
Bytes 2, 3 of Header
 QZ Command
Axis Status Information 2 Byte
Coordinated Motion Status Information for plane 2 Byte
 Using Third Party Software
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 Important All DMC-3425 commands are sent in upper case
Command Syntax Ascii
 Coordinated Motion with more than 1 axis
Command Syntax Binary
 Binary Command Format
Byte
Header Format
 LE, VE
Binary command table
Datafields Format
Example
 Controller Response to Data
 Interrogating the Controller
Interrogation Commands
Summary of Interrogation Commands
Interrogating Current Commanded Values
 Command Summary
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 Programming Motion
 Mode of Motion Basic description Commands Global
 VP, CR
Independent Axis Positioning
 Absolute Position Movement
Command Summary Independent Axis
Operand Summary Independent Axis
Examples
 BG C
InstructionInterpretation
 Command Summary Jogging
Independent Jogging
Jog in a and C axes
 Linear Interpolation Mode Local Mode
Specifying Linear Segments
Joystick Jogging
 Lmab
Additional Commands
Specifying Vector Speed for Each Segment
#ALT
 BGS
Command Summary Linear Interpolation
Operand Summary Linear Interpolation
Changing Feedrate
 #LMOVE
Example
Example Linear Move
Linear Interpolation Motion
 #LOAD
Example Multiple Moves
 Specifying Vector Segments
Vector Mode Linear and Circular Interpolation Local Mode
 Additional commands
 Trippoints
Command Summary Coordinated Motion Sequence
Compensating for Differences in Encoder Resolution
Operand Summary Coordinated Motion Sequence
 Required Path
VM AB
 Example Electronic Gearing
Electronic Gearing Local Mode
Command Summary Electronic Gearing
Example Gantry Mode
 GA,A
Electronic Cam Local Mode
GA, CA
BGB
 Programming Motion DMC-3425
 DMC-3425 Programming Motion
 3000 2250 1500 2000 4000 6000 Master
 EB1
EAA
#LOOP
#RUN
 ST a
#LOOPJP#LOOP,V1=0
 Specifying Contour Segments
Contour Mode Local Mode
 Instruction Description
CMA
DT0CD0
 Generating an Array An Example
Command Summary Contour Mode
Operand Summary Contour Mode
General Velocity Profiles
 Contour Mode Example
#POINTS
POSC=V4
 Record and Playback Example
Teach Record and Play-Back
 Mode of Motion Virtual Axis usage Commands
Virtual Axis Local Mode
 Specifying Stepper Motor Operation
Stepper Motor Operation
Ecam Master Example
Sinusoidal Motion Example
 Stepper Motor Smoothing
Monitoring Generated Pulses vs. Commanded Pulses
 Operand Summary Stepper Motor Operation
Using an Encoder with Stepper Motors
Command Summary Stepper Motor Operation
Motion Complete Trippoint
 Backlash Compensation
Using the CE Command
Additional Commands for the Auxiliary Encoder
Dual Loop Auxiliary Encoder
 DE0
Continuous Dual Loop
Sampled Dual Loop
#DUALOOP
 #END
Using the IT and VT Commands
Motion Smoothing
JP#CORRECT
 Trapezoidal velocity and smooth velocity profiles
Homing
 MG AT Home
#HOME
HM a
AM a
 Home Switch
 Input Function
Command Summary Homing Operation
High Speed Position Capture Latch
Operand Summary Homing Operation
 AL B
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 Global vs. Local Programming
Application Programming
 ED #BEGIN
Edit Mode Commands
Entering Programs
Return
 Invalid labels
Using Labels in Programs
Program Format
Valid labels
 No Command and the Apostrophe ‘
Special Labels
Commenting Programs
 Executing Programs Multitasking
REM Command
 Debugging Programs
 RAM Memory Interrogation Commands
Trace Command
Error Code Command
Stop Code Command
 Eeprom Memory Interrogation Operands
Breakpoints and single stepping
 Event Triggers & Trippoints
Program Flow Commands
 DMC-3425 Event Triggers
Example- Multiple Move Sequence
AS a B C D E F G H
 Example- Set Output after Distance
Example- Repetitive Position Trigger
Example Start Motion on Input
 Example Set Output when At Speed
Example Change Speed along Vector Path
Example Multiple Move with Wait
 Format
Example- Define Output Waveform Using AT
Command Format JP and JS
Conditional Jumps
 Multiple Conditional Statements
Example using variables named V1, V2, V3
Logical operators
Conditional Statements
 Using the if and Endif Commands
If, Else, and Endif
Examples
 Format Description
Using the Else Command
Command Format IF, Else and Endif
Nesting if Conditional Statements
 Auto-Start and Auto Error Routine
Subroutines
Stack Manipulation
 Example Limit Switch
Example Position Error
Automatic Subroutines for Monitoring Conditions
 Example Motion Complete Timeout
Example Command Error
Example Input Interrupt
 Example Command Error w/Multitasking
 Operator Function
Example Ethernet Communication Error
Mathematical and Functional Expressions
Mathematical Operators
 LEN1=FLEN&$00FF
Bit-Wise Operators
ENTER,LENS6
FLEN=@FRACLEN
 PR Posa
Variables
Functions
POS
 Displaying the value of variables at the terminal
Programmable Variables
Assigning Values to Variables
Assigning Variable Values to Controller Parameters
 Instruction
Example Using Variables for Joystick
Operands
Special Operands
 Arrays
Defining Arrays
Assignment of Array Entries
 Using a Variable to Address Array Elements
Uploading and Downloading Arrays to On Board Memory
Automatic Data Capture into Arrays
 Example Recording into An Array
Command Summary Automatic Data Capture
Data Types for Recording
Operand Summary Automatic Data Capture
 Specifying the Port for Messages
Outputting Numbers and Strings
Deallocating Array Space
Sending Messages
 Using the MG Command to Configure Terminals
Formatting Messages
MG STR S3
 Function Description
Displaying Variables and Arrays
Summary of Message Functions
Example Printing a Variable and an Array element
 Local Formatting of Response of Interrogation Commands
LZ0
LZ1
 V1=ALPHA
Formatting Variables and Array Elements
Local Formatting of Variables
VF1
 Example- Set Bit and Clear Bit
Hardware I/O
Converting to User Units
Digital Outputs
 Example- Output Port
Example Using Inputs to control program flow
Example Start Motion on Switch
Digital Inputs
 Input Interrupt Function
Analog Inputs
Example Position Follower Point-to-Point
 Configuring the I/O of the DMC-3425
Extended I/O of the DMC-3425 Controller
Example Position Follower Continuous Move
 Accessing Extended I/O
Saving the State of the Outputs in Non-Volatile Memory
Bit I/O Block Binary Representation Decimal Value for
 Argument Blocks Bits Description
Wire Cutter
Example Applications
Interfacing to Grayhill or OPTO-22 G4PB24
 JP #A
X-Y Table Controller
 BGC
AMC
BGC AMC
 BGS AMS
Speed Control by Joystick
 JG VEL JP #B
Position Control by Joystick
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 Output Protection Lines
Hardware Protection
 Programmable Position Limits
Signal or Function State if Error Occurs
Software Protection
Input Protection Lines
 Off-On-Error
Automatic Error Routine
#AJP #AEN
 Limit Switch Example
Limit Switch Routine
 Symptom Cause Remedy
Installation
 Operation
Symptom Cause
Communication
Stability
 Theory of Operation
 Level
 Velocity and Position Profiles
Operation of Closed-Loop Systems
 Functional Elements of a Motion Control System
System Modeling
 Motor-Amplifier
Voltage Drive
Current Drive
 Elements of velocity loops
Velocity Loop
 Voltage Source
 Digital Filter
DAC
 ZOH
System Analysis
 Motor Ms = P/I = Kt/Js2 = 500/s2 rad/A Amp Ka = 4 Amp/V
 Analytical Method
System Design and Compensation
 Kd = 10/32768 = Encoder Kf = 4N/2π =
 DMC-3425 Theory of Operation
 Equivalent Filter Form
KP, KD, KI, PL
PID, T
 Servo Control
Electrical Specifications
Performance Specifications
Power Requirements
 Acmdy Signa
Connectors for DMC-3425
J3 DMC-3425 General I/O 37- PIN D-type
Acmda Pwma
 Signa
J3 DMC-3425-Stepper General I/O 37- PIN D-type
Pwmb
Signb Pwma
 RTS CTS GND
Pin-Out Description
J1 RS232 Main port DB-9 Pin Male
DCD DTR GND DSR RTS CTS
 Features
Specifications
ICM-1460 Interconnect Module
 ACMDX/PULSEX
Reset
ERROR/PULSEY
AMPEN/SIGNY5
 Opto-isolated inputs
Opto-Isolation Option for ICM-1460
 Figure A-1
Opto-isolated outputs
 CO n
Configuring the I/O of the DMC-3425 with DB-14064
 Saving the State of the Outputs in Non-Volatile Memory
Accessing extended I/O
 J6 50-PIN IDC Pin Signal Block Bit @INn Bit No @OUTn
Connector Description
 Block Bit @INn Bit No @OUTn
 Description
IOM-1964 Opto-Isolation Module for Extended I/O Controllers
 Buffer chips
Overview
 Figure A-4
Configuring Hardware Banks
 Input Circuit
 Figure A-6
High Power Digital Outputs
 Standard Digital Outputs
Output Command Result
 Electrical Specifications
High Power Digital Outputs
Standard Digital Outputs
 Screw Terminal Listing
Relevant DMC Commands
 DMC-3425 Appendices
 PWROUT29
PWROUT32
PWROUT31
PWROUT30
 1000 2000
Coordinated Motion Mathematical Analysis
 Velocity
 100000 = 0.05 s 2000000
 List of Other Publications
Training Seminars
WHO should Attend
 Galil Motion Control
Contacting Us
 Warranty
 Eeprom
Index
 Homing, 38
 Eeprom
 Index DMC-3425