Galil DMC-40x0 series motion controller

Modbus

An RS-485 protocol is introduced, including its function code, communication level, and examples.

data record

The status information block can be provided through QR commands, which introduces the mapping of data records and the interpretation of bit fields.

GalilTools (Windows and Linux)

It is a software toolset provided by Galil for the current Galil controller, which includes multiple tools and can run on both Windows and Linux platforms.

Create custom software interface

Provide programming tools such as GalilTools communication library, ActiveX Toolkit,. NET API, and DMCWin to facilitate users in developing their own custom software interfaces.

Command Fundamentals

introduce

Provide over 100 commands for specifying motion and machine parameters, which can be sent via ASCII or binary.

ASCII command syntax

The instruction consists of two uppercase letters followed by applicable arguments, terminated with a semicolon or carriage return, and introduces the syntax for specifying axis data and requesting actions.

Binary Command Syntax (Advanced)

The binary communication mode is about 20% faster than ASCII commands. The binary format can only send commands from a PC and cannot be embedded in applications. This article introduces the binary command format and tables.

Controller's response to data

Return ':' for valid commands and '?' for invalid commands, error codes can be requested through the TC1 command.

Inquire about the controller

There is a set of commands that directly query the controller and return the required data, introducing the query commands and operands.

Sports programming

overview

Provides multiple motion modes, such as independent positioning and jogging, coordinated motion, electronic cam motion, and electronic gear transmission, and introduces application examples applicable to different modes.

Independent axis positioning

Each axis moves independently and follows its own contour. Relevant commands and operands, as well as examples, are introduced.

Independent Jogging

The ability to change speed, direction, and acceleration during motion is introduced, along with relevant commands and operands, as well as examples.

Position Tracking

This article introduces the characteristics and examples of a target that allows absolute position movement to be changed during motion.

Linear interpolation mode

Multi axis motion coordination, maintaining specified vector velocity, acceleration, and deceleration along a specified path, introducing relevant commands and operands, as well as examples.

Vector mode: Linear and circular interpolation motion

Allow the specification of long 2-D paths consisting of linear and circular arc segments, introduce relevant commands and operands, and provide examples.

Electronic gear transmission

Up to 8 axes can be connected to certain main axis electronic gears, and relevant commands and examples are introduced, including bevel gear transmission.

Electronic cam

A motion control mode that supports periodic synchronization of multiple motion axes, introducing relevant commands and examples.

PVT mode

Allowing the definition of arbitrary motion contours for all 8 axes through position, velocity, and time, relevant commands and examples are introduced.

Multi axis coordinated motion

Many applications require multiple axes to move in a coordinated manner, while also requiring smooth motion. An example was introduced.

contour mode

Allowing the specification of curves at any position for 1 to 8 axes, introduces relevant commands and examples, including recording and playback functions.

Stepper motor operation

Introduced the relevant commands for operating stepper motors, smoothing functions, methods for using encoders, and the Stepper Position Maintenance Mode (SPM).

Double loop (auxiliary encoder)

Except for the shaft configured for stepper motor operation and the shaft used for circular comparison, each shaft provides a second encoder interface, and its purpose and related commands are introduced.

**Backlash compensation**

Two methods of using auxiliary encoders for backlight compensation were introduced: continuous dual loop and sampling dual loop.

Motion Smoothing

Smooth motion and reduced mechanical vibration of the system can be achieved through IT and KS commands.

zeroing

The Find Edge (FE) and Home (HM) commands can be used to zero the motor to the mechanical reference point, and the steps and related commands for zeroing are introduced.

High speed position capture (latch function)

The position of the main encoder or auxiliary encoder can be captured within 25 microseconds of external low input signals (or index pulses), and its usage steps and examples are introduced.

Quick update rate mode

It can run at a much faster servo update rate than the default per millisecond, and introduces the update rates and related limitations of different models of controllers.

Application Programming

overview

Provide a powerful programming language that allows users to customize controllers for specific applications. The program can be downloaded to DMC-40x0 memory, freeing up the host for other tasks.

Using DMC-40x0 editor to input program