Galil Motion Control DMC-1000 User Manual

DMC-1000 Chapter 4 Communication • 35
Status Bit Name Logic
State
Meaning
5 READ 0 Data to be read
5 READ 1 No data to be read
4 WRITE 0 Buffer not full, OK to write up to 16 characters
4 WRITE 1 Buffer almost full. Do not send data
Read Procedure
To receive data from the DMC-1000, read the control register at address N+1 and check bit 5. If bit 5
is zero, the DMC-1000 has data to be read in the READ register at address N. Bit 5 must be checked
for every character read and should be read until it signifies empty. Reading data from the READ
register when the register is empty will result in reading an FF hex.
Write Procedure
To send data to the DMC-1000, read the control register at address N+1 and check bit 4. If bit 4 is
zero, the DMC-1000 FIFO buffer is not almost full and up to 16 characters may be written to the
WRITE register at address N. If bit 4 is one, the buffer is almost full and no additional data should be
sent. The size of the buffer may be changed (see "
Changing Almost Full Flags" on pg. 35).
Any high-level computer language such as C, Basic, Pascal or Assembly may be used to communicate
with the DMC-1000 as long as the READ/WRITE procedure is followed as described above.
Example software drivers are contained on the COM-DISK from Galil.
Advanced Communication Techniques
Changing Almost Full Flags
The Almost Full flag (Bit 4 of the control register) can be configured to change states at a different
level from the default level of 16 characters.
The level, m, can be changed from 16 up to 256 in multiples of 16 as follows:
1. Write a 5 to the control register at address N+1.
2. Write the number m-16 to the control register where m is the desired
Almost Full level between 16 and 256.
For example, to extend the Almost Full level to 256 bytes, write a 5 to address N+1. Then write a 240
to address N+1.
Clearing FIFO Buffer
The FIFO buffer may be cleared by writing the following sequence:
Read N+1 address
Send 01H to N+1 address
Send 80H to N+1 address
Send 01H to N+1 address
Send 80H to N+1 address
Read N+1 address (Bit 7 will be 1)
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Galil Motion Control DMC-1000 Specifications

General

Brand	Galil Motion Control
Model	DMC-1000
Category	Controller
Language	English

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.