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