Additional Commands

The command, WC, is used as a trippoint "When Complete" or “Wait for Contour Data”. This allows the DMC-3425 to use the next increment only when it is finished with the previous one. Zero parameters for DT followed by zero parameters for CD exit the contour mode.

If no new data record is found and the controller is still in the contour mode, the controller waits for new data. No new motion commands are generated while waiting. If bad data is received, the controller responds with a ?.

Command Summary - Contour Mode

Command

CM AB

CD a,b

DT n

WC

Description

Specifies which axes for contouring mode. Any non-contouring axes may be operated in other modes.

Specifies position increment over time interval. Range is +/-32,000. Zero ends contour mode.

Specifies time interval 2n msec for position increment, where n is an integer between 1 and

8.Zero ends contour mode. If n does not change, it does not need to be specified with each CD.

Waits for previous time interval to be complete before next data record is processed.

Operand Summary - Contour Mode

Operand

_CS

Description

Return segment number

General Velocity Profiles

The Contour Mode is ideal for generating an arbitrary velocity profile. The velocity profile can be specified as a mathematical function or as a collection of points.

The design includes two parts: Generating an array with data points and running the program.

Generating an Array - An Example

Consider the velocity and position profiles shown in Fig. 6.6. The objective is to rotate a motor a distance of 6000 counts in 120 ms. The velocity profile is sinusoidal to reduce the jerk and the system vibration. If we describe the position displacement in terms of A counts in B milliseconds, we can describe the motion in the following manner:

ω= (A/B) [1 - cos (2πΤ/B)]

X= (AT/B) - (A/2π)sin (2πΤ/B)

Note: ω is the angular velocity; X is the position; and T is the variable, time, in milliseconds.

In the given example, A=6000 and B=120, the position and velocity profiles are:

X = 50T - (6000/2π) sin (2π T/120)

Note that the velocity, ω, in count/ms, is

DMC-3425

Chapter 6 Programming Motion• 91

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Galil DMC-3425 Command Summary Contour Mode, Operand Summary Contour Mode, General Velocity Profiles, Operand Description
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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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