Galil DMC-4040 - Page 4

Example 3 - Multiple Axes ....................................................... 26
Example 4 - Independent Moves .............................................. 26
Example 5 - Position Interrogation ........................................... 26
Example 6 - Absolute Position ................................................. 26
Example 7 - Velocity Control ................................................... 27
Example 8 - Operation Under Torque Limit ............................. 27
Example 9 - Interrogation ......................................................... 27
Example 10 - Operation in the Buffer Mode ............................ 28
Example 11 - Using the On-Board Editor ................................. 28
Example 12 - Motion Programs with Loops ............................. 28
Example 13 - Motion Programs with Trippoints ...................... 29
Example 14 - Control Variables ............................................... 29
Example 15 - Linear Interpolation ............................................ 30
Example 16 - Circular Interpolation ......................................... 30
Chapter 3 Connecting Hardware 32
Overview ....................................................................................................................... 32
Using Optoisolated Inputs ............................................................................................. 32
Limit Switch Input .................................................................... 32
Home Switch Input ................................................................... 33
Abort Input ................................................................................ 33
ELO (Electronic Lock-Out) Input ............................................. 34
Reset Input ................................................................................ 34
Uncommitted Digital Inputs ..................................................... 34
Wiring the Optoisolated Inputs ..................................................................................... 34
Electrical Specifications ............................................................ 34
Bi-Directional Capability .......................................................... 34
Using an Isolated Power Supply ............................................... 36
Bypassing the Opto-Isolation: ................................................... 37
TTL Inputs .................................................................................................................... 37
The Auxiliary Encoder Inputs ................................................... 37
High Power Opto-Isolated Outputs ............................................................................... 38
Electrical Specifications ............................................................ 38
Wiring the Opto-Isolated Outputs ............................................. 38
Analog Inputs ................................................................................................................ 39
AQ settings ................................................................................ 39
Electrical Specifications ............................................................ 39
TTL Outputs ................................................................................................................. 39
Output Compare ........................................................................ 39
Error Output .............................................................................. 39
Extended I/O of the DMC-40x0 Controller ................................................................. 40
Electrical Specifications (3.3V – Standard) .............................. 40
Electrical Specifications (5V – Option) .................................... 40
Amplifier Interface ........................................................................................................ 41
Electrical Specifications ............................................................ 41
Overview ................................................................................... 41
ICM-42000 and ICM-42100 Amplifier Enable Circuit ............ 41
ICM-42200 Amplifier Enable Circuit ....................................... 44
Chapter 4 Software Tools and Communication 48
Introduction ................................................................................................................... 48
RS232 and RS422 Ports ................................................................................................ 48
RS-232 Configuration ............................................................... 48
RS-422 Configuration ............................................................... 50
Ethernet Configuration .................................................................................................. 50
Communication Protocols ......................................................... 50
Addressing ................................................................................ 51
Communicating with Multiple Devices .................................... 52
Multicasting .............................................................................. 52
Using Third Party Software ...................................................... 52
Modbus ......................................................................................................................... 53
Modbus Examples .................................................................... 54
Data Record .................................................................................................................. 55
Explanation Data Record Bit Fields ......................................... 60
Notes Regarding Velocity and Torque Information ................. 61
QZ Command ............................................................................ 61
Controller Response to Commands .............................................................................. 61
Unsolicited Messages Generated by Controller ............................................................ 62
DMC-40x0 Contents • iii