Example:

Traverse the path shown in Fig. 6.3. Feedrate is 20000 counts/sec. Plane of motion is AB

InstructionInterpretation

VM AB

Specify motion plane

VS 20000

Specify vector speed

VA 1000000

Specify vector acceleration

VD 1000000

Specify vector deceleration

VP -4000,0

Segment AB

CR 1500,270,-180

Segment BC

VP 0,3000

Segment CD

CR 1500,90,-180

Segment DA

VE

End of sequence

BGS

Begin Sequence

The resulting motion starts at the point A and moves toward points B, C, D, A. Suppose that we interrogate the controller when the motion is halfway between the points A and B.

The value of _AV is 2000 The value of _CS is 0

_VPA and _VPB contain the absolute coordinate of the point A

Suppose that the interrogation is repeated at a point, halfway between the points C and D. The value of _AV is 4000+1500π+2000=10,712

The value of _CS is 2

_VPA, _VPB contain the coordinates of the point C

C (-4000,3000)D (0,3000)

R = 1500

B (-4000,0)

A (0,0)

Figure 6.3 - The Required Path

DMC-3425

Chapter 6 Programming Motion• 81

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Galil DMC-3425 user manual Vm Ab, Required Path
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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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