Contents
Contents iii
Chapter 1 Overview 1
Introduction ................................................................................................................... 1
Part Numbers ................................................................................................................ 2
Overview of Motor Types ............................................................................................. 5
Overview of External Amplifiers .................................................................................. 6
Galil Internal Amplifiers and Drivers ........................................................................... 6
Functional Elements ...................................................................................................... 7
Chapter 2 Getting Started 10
Layout ........................................................................................................................... 10
Power Connections ....................................................................................................... 12
Dimensions ................................................................................................................... 13
Elements You Need ....................................................................................................... 15
Installing the DMC, Amplifiers, and Motors ................................................................ 16
Chapter 3 Connecting Hardware 33
Overview ....................................................................................................................... 33
Overview of Optoisolated Inputs .................................................................................. 33
Optoisolated Input Electrical Information .................................................................... 36
High Power Optoisolated Outputs ................................................................................ 39
TTL Inputs and Outputs ................................................................................................ 40
Analog Inputs ................................................................................................................ 42
Extended I/O ................................................................................................................. 42
External Amplifier Interface ......................................................................................... 43
Chapter 4 Software Tools and Communication 50
Introduction ................................................................................................................... 50
Controller Response to Commands .............................................................................. 50
Unsolicited Messages Generated by Controller ............................................................ 51
Serial Communication Ports ......................................................................................... 51
Ethernet Configuration .................................................................................................. 53
Modbus ......................................................................................................................... 55
Data Record .................................................................................................................. 58
GalilSuite (Windows and Linux) .................................................................................. 64
Creating Custom Software Interfaces ........................................................................... 65
Chapter 5 Command Basics 67
Introduction ................................................................................................................... 67
Command Syntax - ASCII ............................................................................................ 67
Controller Response to DATA ...................................................................................... 68
Interrogating the Controller .......................................................................................... 69
Chapter 6 Programming Motion 71
Overview ....................................................................................................................... 71
Independent Axis Positioning ....................................................................................... 72
Independent Jogging ..................................................................................................... 74
Position Tracking .......................................................................................................... 75
Linear Interpolation Mode ............................................................................................ 79
Vector Mode: Linear and Circular Interpolation Motion .............................................. 82
Electronic Gearing ........................................................................................................ 89
Electronic Cam .............................................................................................................. 92
PVT Mode ..................................................................................................................... 97
Contour Mode ............................................................................................................... 100
DMC-40x0 Contents â–« ii
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