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Galil Motion Control DMC-1000 User Manual

Galil Motion Control DMC-1000
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106 • Chapter 7 Application Programming DMC-1000
Example - USING THE COMMAND, DM
Instruction Interpretation
DM POSX[7] Defines an array names POSX with seven entries
DM SPEED[100] Defines an array named speed with 100 entries
DM POSX[0] Frees array space
Assignment of Array Entries
Like variables, each array element can be assigned a value. Assigned values can be numbers or
returned values from instructions, functions and keywords.
Array elements are addressed starting at count 0. For example the first element in the POSX array
(defined with the DM command, DM POSX[7]) would be specified as POSX[0].
Values are assigned to array entries using the equal sign. Assignments are made one element at a time
by specifying the element number with the associated array name.
NOTE: Arrays must be defined using the command, DM, before assigning entry values.
Examples - assigning values to array entries
Instruction Interpretation
DM SPEED[10] Dimension Speed Array
SPEED[1]=7650.2 Assigns the first element of the array, SPEED the value 7650.2
SPEED[1]= Returns array element value
POSX[10]=_TPX Assigns the 10th element of the array POSX the returned value from the tell
position command.
CON[2]=@COS[POS]*2 Assigns the second element of the array CON the cosine of the variable POS
multiplied by 2.
TIMER[1]=TIME Assigns the first element of the array timer the returned value of the TIME
keyword.
Using a Variable to Address Array Elements
An array element number can also be a variable. This allows array entries to be assigned sequentially
using a counter. For example;
Instruction Interpretation
#A Begin Program
COUNT=0;DM POS[10] Initialize counter and define array
#LOOP Begin loop
WT 10 Wait 10 msec
POS[COUNT]=_TPX Record position into array element
POS[COUNT]= Report position
COUNT=COUNT+1 Increment counter
JP #LOOP,COUNT<10 Loop until 10 elements have been stored
EN End Program
The above example records 10 position values at a rate of one value per 10 msec. The values are
stored in an array named POS. The variable, COUNT, is used to increment the array element counter.
The above example can also be executed with the automatic data capture feature described below.
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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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