Electronic Gearing Local Mode, Example Gantry Mode

Electronic Gearing (Local Mode)

This mode allows one axis to be electronically geared to the other axis. The master may rotate in both directions and the geared axes will follow at the specified gear ratio. The gear ratio may be different for each axis and changed during motion.

The command GA specifies the master axis. GR n,n specifies the gear ratios for the slaves where the ratio may be a number between +/-127.9999 with a fractional resolution of .0001. There are two modes: standard gearing and gantry mode. The gantry mode is enabled with the command GM. GR 0,0 turns off gearing in both modes. A limit switch or ST command disables gearing in the standard mode but not in the gantry mode.

The command GM n,n selects the axes to be controlled under the gantry mode. The parameter 1 enables gantry mode, and 0 disables it.

GR causes the specified axes to be geared to the actual position of the master. The master axis is commanded with motion commands such as PR, PA, or JG.

When the master axis is driven by the controller in the jog mode or an independent motion mode, it is possible to define the master as the command position of that axis, rather than the actual position. The designation of the commanded position master is by the letter C. For example, GACD indicates that the gearing is the commanded position of D.

Electronic gearing allows the geared motor to perform a second independent or coordinated move in addition to the gearing. For example, when a geared motor follows a master at a ratio of 1:1, it may be advanced an additional distance with PR, JG, VP, or LI commands.

Command Summary - Electronic Gearing

COMMAND	DESCRIPTION

GA n	Specifies master axes for gearing where:
	n = A,B for main encoder as master

	n = CA, CB for commanded position.
GR n,n	Sets gear ratio for slave axes. 0 disables electronic gearing for specified axis.

GM n,n	1 sets gantry mode, 0 disables gantry mode

MF n,n	Trippoint for forward motion past specified value. Only one field may be used.

MR n,n	Trippoint for reverse motion past specified value. Only one field may be used.

GA?	Retuns the GA command setting

Example – Electronic Gearing

Objective: Gear an A-axis slave motor at a speed of 2.5 times the speed of the B-axis master.

GAB	Specify B-axis as the master for A
GR2.5	Specify gear ratio for A to be 2.5 times the B axis master.

Example - Gantry Mode

In applications where both the master and the follower are controlled by the DMC-3425 controller, it may be desired to synchronize the follower with the commanded position of the master, rather than the actual position. This eliminates the possibility of an oscillation on the master passing the oscillation on to the slave.

82 • Chapter 6 Programming Motion

DMC-3425

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.

Galil DMC-3425 user manual Electronic Gearing Local Mode, Command Summary Electronic Gearing

Models: DMC-3425