situations; using Local Mode for setup and testing is useful since this isolates the controller. Specific modes of motion require operation in Local Mode. Also, each controller can have a program, including the slave controllers. When a slave controller has a program, this program would always operate in Local Mode.

Operation of Distributed Control

For most commands it is not necessary to be conscious of whether an axis is local or remote. For instance to set the KP value for the A and C axes, the command to the master would be

KP 10,,20

Similarly, the interrogation commands can also be issued. For example, the position error for all axes would be TE. The position operand for the F axis would be_TPF.

Some commands inherently are sent to all controllers. These include commands such as AB (abort), CN and TM. In addition, the * may be used to send commands to all controllers. For example

SP*=1000

will send a speed of 1000 cts/sec to all axes. This syntax may be used with any configuration or parameter commands.

Certain commands need to be launched specifically. For this purpose there is the SA command. In its simplest form the SA command is

SAh= "command string"

Here "command string" will be sent to handle h. For example, the SA command is the means for sending an XQ command to a slave/server. A more flexible form of the command is

SAh= field1,field2,field3,field4 ... field8 where each field can be a string in quotes or a variable.

For example, to send the command KI,,5,10; Assume var1=5 and var2=10 and send the command: SAF= "KI",var1,var2

When the Master/client sends an SA command to a Slave/server, it is possible for the master to determine the status of the command. The response _IHh4 will return the number 1 to 4. One means waiting for the acknowledgement from the slave. Two means a colon (command accepted) has been received. Three means a question mark (command rejected) has been received. Four means the command timed out.

If a command generates responses (such as the TE command), the values will be stored in _SAh0 thru _SAh7. If a field is unused its _SA value will be -2^31.

Accessing the I/O of the Slaves

The I/O of the server/slaves is settable and readable from the master. The bit numbers are adjusted by the handle number of the slave controller. Each handle adds 100 to the bit number. Handle A is 100 and handle H is 800. In a TCP/IP control setup with two handles per slave, Galil recommends using the value of the first handle for simplicity. In a UDP system, the single handle per slave is used to address the I/O.

The command TZ can be used to display all of the digital I/O contained in a distributed control system. Any IOC-7007’s configured using the HC command will also be displayed with the TZ command. See the Command Reference for more information on the TZ command.

DMC-3425

Chapter 4 Communication47

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Galil DMC-3425 user manual Operation of Distributed Control, Accessing the I/O of the Slaves

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.