Compensating for Differences in Encoder Resolution:

By default, the DMC-3425 uses a scale factor of 1:1 for the encoder resolution when used in vector mode. If this is not the case, the command, ES can be used to scale the encoder counts. The ES command accepts two arguments that represent the ratio of the encoder resolutions. For more information refer to ES in the Command Reference.

Trippoints:

The AV n command is the After Vector trippoint, which waits for the vector relative distance of n to occur before executing the next command in a program.

Command Summary - Coordinated Motion Sequence

COMMAND

VM m,n

VP m,n

CR r,θ,δ

VS n

VA n

VD n

VR n

BGS

CS

AV n

AMS

ES m,n

VT

LM?

DESCRIPTION

Specifies the axes for the planar motion where m and n represent the planar axes. Return coordinate of last point, where m=A,B,C or D.

Specifies arc segment where r is the radius, θ is the starting angle and δ is the travel angle. Positive direction is CCW.

Specify vector speed or feedrate of sequence. Specify vector acceleration along the sequence. Specify vector deceleration along the sequence. Specify vector speed ratio

Begin motion sequence Clear sequence.

Trippoint for After Relative Vector distance, n.

Holds execution of next command until Motion Sequence is complete. Ellipse scale factor.

S curve smoothing constant for coordinated moves

Return number of available spaces for linear and circular segments in DMC-3425 sequence buffer. Zero means buffer is full. 512 means buffer is empty.

Operand Summary - Coordinated Motion Sequence

COMMAND

 

DESCRIPTION

 

 

 

_VPM

 

The absolute coordinate of the axes at the last intersection along the sequence.

 

 

 

_AV

 

Distance traveled.

_LM

 

Number of available spaces for linear and circular segments in DMC-3425 sequence

 

 

buffer. Zero means buffer is full. 512 means buffer is empty.

_CS

 

Segment counter - Number of the segment in the sequence, starting at zero.

 

 

 

_VE

 

Vector length of coordinated move sequence.

 

 

 

 

 

 

When AV is used as an operand, _AV returns the distance traveled along the sequence.

The operands _VPA and _VPB can be used to return the coordinates of the last point specified along the path.

80 • Chapter 6 Programming Motion

DMC-3425

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Galil DMC-3425 Command Summary Coordinated Motion Sequence, Operand Summary Coordinated Motion Sequence, Trippoints
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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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