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Galil Motion Control DMC-1000 User Manual

Galil Motion Control DMC-1000
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DMC-1000 Chapter 7 Application Programming • 103
Examples - Valid Variable Names
POSX
POS1
SPEEDZ
Examples - Invalid Variable Names
Variable Problem
REALLONGNAME Cannot have more than 8 characters
124 Cannot begin variable name with a number
SPEED Z Cannot have spaces in the name
Assigning Values to Variables:
Assigned values can be numbers, internal variables and keywords, functions, controller parameters and
strings;
Variables hold 6 bytes of data, 4 bytes of integer (2
31
)followed by two bytes of fraction providing a
range of values of +/-2,147,483,647.9999.
Numeric values can be assigned to programmable variables using the equal sign.
Any valid DMC-1000 function can be used to assign a value to a variable. For example,
V1=@ABS[V2] or V2=@IN[1]. Arithmetic operations are also permitted.
To assign a string value, the string must be in quotations. String variables can contain up to six
characters which must be in quotations.
Variable values may be assigned to controller parameters such as PR or SP.
Examples - Assigning values to variables
Instruction Interpretation
POSX=_TPX Assigns returned value from TPX command to variable POSX.
SPEED=5.75 Assigns value 5.75 to variable SPEED
INPUT=@IN[2] Assigns logical value of input 2 to variable INPUT
V2=V1+V3*V4 Assigns the value of V1 plus V3 times V4 to the variable V2.
VAR="CAT" Assign the string, CAT, to VAR
PR V1 Assign value of variable V1 to PR command for X axis
SP VS*2000 Assign VS*2000 to SP command
Displaying the value of variables at the terminal
Variables may be sent to the screen using the format, variable=. For example, V1= , returns the value
of the variable V1.
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Table of Contents

Questions and Answers:

Galil Motion Control DMC-1000 Specifications

General IconGeneral
BrandGalil Motion Control
ModelDMC-1000
CategoryController
LanguageEnglish

Summary

Chapter 1 Overview

Introduction to the DMC-1000

Provides an overview of the DMC-1000 motion controller's capabilities and benefits.

Motor Types Supported

Describes the different motor types (servo, stepper, hydraulics) compatible with the controller.

DMC-1000 Functional Elements

Details the core hardware components of the DMC-1000 controller and their functions.

Chapter 2 Getting Started

DMC-1000 Controller Overview

Introduces the DMC-1000 motion controller and its key features and connectors.

System Prerequisites

Lists the necessary system elements required for setting up the DMC-1000.

Installation and Setup Process

Guides users through installing, configuring, connecting, and tuning the DMC-1000.

Chapter 3 Connecting Hardware

Overview of I/O Signals

Introduces the DMC-1000's digital inputs, outputs, and analog inputs.

Digital Input Signals

Describes optoisolated inputs like Limit, Home, Abort, and Uncommitted, including wiring.

Analog Inputs and Amplifier Interface

Explains the amplifier command signal and analog input configuration.

TTL Outputs and Offset Adjustment

Covers TTL output ports and how to adjust analog output offsets.

Chapter 4 Communication

Introduction

Covers PC communication methods, FIFO buffers, and handshake protocols.

Address Selection

Explains how to select and configure the DMC-1000's I/O address.

Communication Procedures

Details communication registers, simplified, and advanced techniques.

Interrupts

Explains how to configure and use hardware interrupts for PC communication.

Chapter 5 Command Basics

Introduction

Introduces the DMC-1000 command set for motion and parameter control.

Command Syntax and Structure

Explains the format, syntax rules, and examples for DMC-1000 commands.

Controller Responses and Interrogation

Covers controller feedback, error codes, and methods for querying system status.

Command Summary

Provides a concise list of all available DMC-1000 commands.

Chapter 6 Programming Motion

Overview of Motion Modes

Introduces the various motion modes available for the DMC-1000.

Independent Axis and Jogging Motion

Covers programming for independent axis movement and jogging operations.

Interpolation and Vector Motion

Explains linear and vector interpolation for coordinated multi-axis movement.

Advanced Synchronization (Gearing, Cam, Contour)

Covers electronic gearing, electronic cam, and contouring for synchronized motion.

Chapter 7 Application Programming

Introduction

Introduces the DMC-1000's programming capabilities and language features.

Program Creation and Structure

Covers using the editor, program format, labels, and comments.

Program Control Flow

Covers multitasking, event triggers, and conditional jumps for program logic.

Debugging and Error Handling

Covers tools and techniques for troubleshooting application programs.

Chapter 8 Hardware & Software Protection

Introduction

Introduces features for error checking and protecting system components.

Hardware Protection

Details hardware-based protection lines for errors and limits.

Software Protection

Describes programmable limits and the Off-On-Error function for safety.

Error Handling Routines

Covers automatic error routines and limit switch subroutines for error management.

Chapter 9 Troubleshooting

Overview

Introduces common problems and their solutions for system setup and operation.

Installation Issues

Addresses problems related to system installation and initial setup.

Communication Issues

Provides solutions for problems encountered during controller communication.

Stability and Operation Issues

Covers troubleshooting for motor oscillation, drift, and invalid commands.

Chapter 10 Theory of Operation

Overview

Explains the general concepts of motion control systems and their levels.

Closed-Loop System Operation

Describes how servo systems maintain position using feedback and error signals.

System Modeling

Details the mathematical models of servo system components like motor, amplifier, and encoder.

Appendices

Electrical and Performance Specifications

Lists detailed electrical characteristics and performance metrics of the DMC-1000.

Connector Pinouts

Provides pin assignments for all DMC-1000 connectors, including main and auxiliary boards.

Configuration and Settings

Explains dip switch settings for address selection and offset adjustments.

Accessories, Options, and Product Comparison

Lists available accessories, options, and compares DMC-600/DMC-1000 features.

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