Note: This function is only available if the system has been configured using the automatic handle configuration command, HC.

Waiting on Handle Responses

The operation of the distributed network has commands being sent to the master controller, which then distributes these commands to the slave axes in the system. For example, the command PR10,10,10,10,10,10,10,10 sent to the master becomes packets of PR10,10 sent by the master to each of the slaves in the system. When the slave receives this command from the master, a colon or question mark is generated and sent back to the master to acknowledge the command.

The HW command allows the user to select whether or not the master will wait on this colon response from the slave. If the HW is set to 0, the master will not wait for these responses. This results in faster command execution but could cause problems if any slave errors are generated. The setting HW1, on the other hand, insures that the master knows of any slave errors but does result in a slightly increased command execution time as it waits for these responses.

Data Record

The DMC-3425 can provide a block of status information with the use of a single command, QR. This command, along with the QZ command can be very useful for accessing complete controller status. The QR command will return 4 bytes of header information and specific blocks of information as specified by the command arguments: QR ABCDEFGHS

Each argument corresponds to a block of information according to the Data Record Map below. If no argument is given, the entire data record map will be returned. Note that the data record size will depend on the number of axes.

NOTE: A, B, C, & D can be interchanged with X, Y, Z, & W respectively.

Data Record Map

DATA TYPE

ITEM

BLOCK

UB

1st byte of header

Header

UB

2nd byte of header

Header

UB

3rd byte of header

Header

UB

4rth byte of header

Header

UW

sample number

I block

UB

general input bank 0 (Inputs 1-7)

I block

UB

general input bank 1 (Always 0)

I block

UB

general input bank 2 (DB-14064)

I block

UB

general input bank 3 (DB-14064)

I block

UB

general input bank 4 (DB-14064)

I block

UB

general input bank 5 (DB-14064)

I block

UB

general input bank 6 (DB-14064)

I block

UB

general input bank 7 (DB-14064)

I block

UB

general input bank 8 (DB-14064)

I block

UB

general input bank 9 (DB-14064)

I block

UB

general output bank 0 (Outputs 1 – 3)

I block

UB

general output bank 1 (Always 0)

I block

52 • Chapter 4 Communication

DMC-3425

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Galil DMC-3425 user manual Data Record Map, Waiting on Handle Responses
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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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