Galil Motion Control DMC-4123 - Table of Contents

Contents
Contents iii
Chapter 1 Overview 1
Introduction ................................................................................................................... 1
Part Numbers ................................................................................................................ 2
Overview of Motor Types ............................................................................................. 6
Overview of External Amplifiers .................................................................................. 6
Overview of Galil Amplifiers and Drivers ................................................................... 7
DMC-41x3 Functional Elements .................................................................................. 8
Chapter 2 Getting Started 11
Elements You Need ...................................................................................................... 11
Installing the DMC, Amplifiers, and Motors ................................................................ 12
Chapter 3 Connecting Hardware 20
Overview ....................................................................................................................... 20
Overview of Optoisolated Inputs .................................................................................. 20
Optoisolated Input Electrical Information .................................................................... 23
Optoisolated Outputs .................................................................................................... 26
TTL Inputs and Outputs ................................................................................................ 30
Analog Inputs ................................................................................................................ 32
External Amplifier Interface ......................................................................................... 33
Chapter 4 Software Tools and Communication 38
Introduction ................................................................................................................... 38
Controller Response to Commands .............................................................................. 38
Unsolicited Messages Generated by Controller ............................................................ 39
USB and RS-232 Ports .................................................................................................. 39
Ethernet Configuration .................................................................................................. 41
Modbus ......................................................................................................................... 43
Data Record .................................................................................................................. 47
Galil Software ............................................................................................................... 51
Creating Custom Software Interfaces ........................................................................... 51
Chapter 5 Command Basics 52
Introduction ................................................................................................................... 52
Command Syntax - ASCII ............................................................................................ 52
Controller Response to DATA ...................................................................................... 53
Interrogating the Controller .......................................................................................... 54
Chapter 6 Programming Motion 56
Overview ....................................................................................................................... 56
Independent Axis Positioning ....................................................................................... 57
Independent Jogging ..................................................................................................... 59
Position Tracking .......................................................................................................... 60
Linear Interpolation Mode ............................................................................................ 64
Vector Mode: Linear and Circular Interpolation Motion ............................................. 67
Electronic Gearing ........................................................................................................ 74
Electronic Cam .............................................................................................................. 77
PVT Mode ..................................................................................................................... 82
Contour Mode ............................................................................................................... 85
Virtual Axis ................................................................................................................... 89
Stepper Motor Operation .............................................................................................. 90
DMC-41x3 User Manual Rev. 1.3g Contents ▫ ii