(1 – 8) and SlotNum is the slot number of the IOM output module to be written to (0 – 6). m is the decimal representation of the data written to the 4 (0 – 15) or 8 (0 – 255) output points of the IOM module.

Please refer to the IOC-7007 manual for complete information on how to configure, read and write information to the IOC-7007 Ethernet I/O module.

Modbus Support

The Modbus protocol supports communication between masters and slaves. The masters may be multiple PC's that send commands to the controller. The slaves are typically peripheral I/O devices that receive commands from the controller.

When the Galil controller acts as the master, the IH command is used to assign handles and connect to its slaves. The IP address may be entered as a 4 byte number separated with commas (industry standard uses periods) or as a signed 32 bit number. A port number may also be specified, and should be set to 502, which is the Modbus defined port number. The protocol (TCP/IP or UDP/IP) to use must also be designated at this time. Otherwise, the controller will not connect to the slave. (Ex. IHB=151,25,255,9<502>2 - This will open handle #2 and connect to the IP address 151.25.255.9, port 502, using TCP/IP)

An additional protocol layer is available for speaking to I/O devices. Modbus is an RS-485 protocol that packages information in binary packets that are sent as part of a TCP/IP packet. In this protocol, each slave has a 1 byte slave address. The DMC-3425 can use a specific slave address or default to the handle number.

The Modbus protocol has a set of commands called function codes. The DMC-3425 supports the 10 major function codes:

Function Code

Definition

 

 

01

Read Coil Status (Read Bits)

02

Read Input Status (Read Bits)

03

Read Holding Registers (Read Words)

04

Read Input Registers (Read Words)

05

Force Single Coil (Write One Bit)

06

Preset Single Register (Write One Word)

07

Read Exception Status (Read Error Code)

15

Force Multiple Coils (Write Multiple Bits)

16

Preset Multiple Registers (Write Words)

17

Report Slave ID

50 • Chapter 4 Communication

DMC-3425

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Galil DMC-3425 user manual Modbus Support, Function Code Definition
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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.
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