Galil Motion Control DMC-18 2 Series, User Manual

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ii ● DMC-18x2
Example 9 - Interrogation .........................................................................................................................................25
Example 10 - Operation in the Buffer Mode.............................................................................................................25
Example 11 - Using the On-Board Editor .................................................................................................................25
Example 12 - Motion Programs with Loops .............................................................................................................26
Example 13 - Motion Programs with Trippoints.......................................................................................................26
Example 14 - Control Variables................................................................................................................................26
Example 15 - Linear Interpolation ............................................................................................................................27
Example 16 - Circular Interpolation..........................................................................................................................27
CHAPTER 3 CONNECTING HARDWARE ................................................................................................................29
O
VERVIEW
......................................................................................................................................................................29
U
SING
I
NPUTS
.................................................................................................................................................................29
Limit Switch Input ....................................................................................................................................................29
Home Switch Input ...................................................................................................................................................30
Abort Input................................................................................................................................................................30
Uncommitted Digital Inputs......................................................................................................................................31
A
MPLIFIER
I
NTERFACE
...................................................................................................................................................31
TTL I
NPUTS
....................................................................................................................................................................32
TTL O
UTPUTS
................................................................................................................................................................32
CHAPTER 4 - SOFTWARE TOOLS AND COMMUNICATIONS............................................................................35
I
NTRODUCTION
...............................................................................................................................................................35
G
ALIL
S
MART
TERM ......................................................................................................................................................37
C
OMMUNICATION
S
ETTINGS FOR
ISA
AND
PCI ..............................................................................................................41
W
INDOWS
S
ERVO
D
ESIGN
K
IT
(WSDK) ........................................................................................................................44
C
REATING
C
USTOM
S
OFTWARE
I
NTERFACES
.................................................................................................................45
Galil Communications API with Visual Basic..........................................................................................................47
DOS, L
INUX
,
AND
QNX
TOOLS
......................................................................................................................................48
C
OMMAND
F
ORMAT AND
C
ONTROLLER
R
ESPONSE
........................................................................................................49
C
ONTROLLER
E
VENT
I
NTERRUPTS AND
U
SER
I
NTERRUPTS
............................................................................................51
H
ARDWARE
L
EVEL
C
OMMUNICATIONS FOR
PCI ............................................................................................................53
Communication Registers .........................................................................................................................................54
Simplified Communication Procedure ......................................................................................................................54
Advanced Communication Techniques ....................................................................................................................55
D
ATA
R
ECORD
................................................................................................................................................................55
Explanation of Status Information and Axis Switch Information .............................................................................58
CHAPTER 5 COMMAND BASICS ...............................................................................................................................61
I
NTRODUCTION
...............................................................................................................................................................61
C
OMMAND
S
YNTAX
- ASCII ..........................................................................................................................................61
Coordinated Motion with more than 1 axis...............................................................................................................62
C
OMMAND
S
YNTAX
- B
INARY
........................................................................................................................................63
Binary Command Format..........................................................................................................................................63
Binary command table ..............................................................................................................................................64
C
ONTROLLER
R
ESPONSE TO
DATA................................................................................................................................65
I
NTERROGATING THE
C
ONTROLLER
................................................................................................................................65
Interrogation Commands...........................................................................................................................................65
Summary of Interrogation Commands ......................................................................................................................65
Interrogating Current Commanded Values. ..............................................................................................................66
Operands ...................................................................................................................................................................66
Command Summary .................................................................................................................................................66
CHAPTER 6 PROGRAMMING MOTION ..................................................................................................................67
O
VERVIEW
......................................................................................................................................................................67
I
NDEPENDENT
A
XIS
P
OSITIONING
...................................................................................................................................68
Command Summary - Independent Axis ..................................................................................................................69
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