For example, assume that a gantry is driven by two axes, A and B, one on each side. This requires the gantry mode for strong coupling between the motors. The A-axis is the master and the B-axis is the follower. To synchronize B with the commanded position of A, use the instructions:

GA, CA

Specify the commanded position of A as master for B.

GR,1

Set gear ratio for B as 1:1

GM,1

Set gantry mode

PR 3000

Command A motion

BG A

Start motion on A axis

You may also perform profiled position corrections in the electronic gearing mode. Suppose, for example, that you need to advance the slave 10 counts. Simply command

IP ,10

Specify an incremental position movement of 10 on the B axis.

Under these conditions, this IP command is equivalent to:

PR,10

Specify position relative movement of 10 on the B axis

BGB

Begin motion on the B axis

Often the correction is quite large. Such requirements are common when synchronizing cutting knives or conveyor belts.

Example - Synchronize two conveyor belts with trapezoidal velocity correction.

Instruction

Interpretation

GA,A

Define A as the master axis for B.

GR,2

Set gear ratio 2:1 for B

PR,300

Specify correction distance

SP,5000

Specify correction speed

AC,100000

Specify correction acceleration

DC,100000

Specify correction deceleration

BGB

Start correction

Electronic Cam (Local Mode)

The electronic cam is a motion control mode that enables the periodic synchronization of several axes of motion. Similar to the gearing mode, the DMC-3425 uses only A and B main axes as the master or slave.

The electronic cam is a more general type of electronic gearing which allows a table-based relationship between the axes. It allows synchronizing all the controller axes.

To illustrate the procedure of setting the cam mode, consider the cam relationship for the slave axis B, when the master is A. Such a graphic relationship is shown in Figure 6.4.

Step 1. Selecting the master axis

The first step in the electronic cam mode is to select the master axis. This is done with the instruction

EAp where p = A,B

p is the selected master axis

For the given example, since the master is a, we specify EAA

Step 2. Specify the master cycle and the change in the slave axis (es).

DMC-3425

Chapter 6 Programming Motion• 83

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Galil DMC-3425 user manual Electronic Cam Local Mode, Ga, Ca, Bgb, Ga,A
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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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