Galil DMC-3425 user manual Overview, Introduction

Chapter 1 Overview

Introduction

The DMC-3425 provides a highly versatile, powerful form of distributed control where multiple DMC- 3425 controllers can be linked together on the Ethernet. One DMC-3425 is designated as a “master” that receives all commands from the host computer and passes them to the other “slave” DMC-3425 controllers. Efficient, quick communications are realized as this approach eliminates the usual, multiple communication links between the host computer and each controller.

Each DMC-3425 precisely controls two servo motors, providing ECAM, gearing and both linear and circular interpolation for coordinated motion along the two local axis. A single axis DMC-3415 is also available. When acting as the “master,” a DMC-3425 can receive PR, PA and JG commands for up to eight axes and distribute them to the appropriate controller. Coordinated motion is commanded locally by each DMC-3425 “slave” controller. Performance capability of these controllers includes: 12 MHz encoder input frequency, 16-bit motor command output DAC, +/-2 billion counts total travel per move, 250 μsec minimum sample rate and non-volatile memory for program and parameter storage. Designed for maximum flexibility, the DMC-3425 can be interfaced to a variety of motors and drives including step motors, brush and brushless servo motors and hydraulics. The DMC-3425 can also be configured to provide sinusoidal commutation for brushless motors.

The controller accepts feedback from a quadrature linear or rotary encoder with input frequencies up to 12 million quadrature counts per second. Modes of motion include jogging, point-to-point positioning, electronic cam, electronic gearing and contouring. Several motion parameters can be specified including acceleration and deceleration rates and slew speed. The DMC-3425 also provides motion smoothing to eliminate jerk.

For synchronization with outside events, the DMC-3425 provides uncommitted I/O. The DMC-3425 provides up to 3 digital inputs, 3 digital outputs and 2 analog inputs. The DMC-3415 provides 7 digital inputs, 3 digital outputs and 2 analog inputs. Committed digital inputs are provided for forward and reverse limits, abort, home, and definable input interrupts. An additional 64 configurable I/O points may be added with the optional DB-14064 daughter card. The DMC-3425 distributed system may also be linked with multiple IOC-7007 Ethernet I/O modules for complete machine I/O control. Event triggers can automatically check for elapsed time, distance and motion complete.

The DMC-3425 is easy to program. Instructions are represented by two letter commands such as BG for Begin and SP for Speed. Conditional instructions, Jump statements and arithmetic functions are included for writing self-contained applications programs. An internal editor allows programs to be quickly entered and edited, and support software such as the WSDK allows quick system set-up and tuning. Commands may also be sent in Binary to decrease processing time.

To prevent system damage during machine operation, the DMC-3425 provides many error-handling features. These include software and hardware limits, automatic shut-off on excessive error, abort input and user-definable error and limit routines.

DMC-3425 Chapter 1 Overview• 1