Table of Contents
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Contents
Contents
Contents ▫ ii
Introduction ................................................................................................................... 1
Part Numbers ................................................................................................................ 2
Overview of Motor Types ............................................................................................. 3
Overview of External Amplifiers .................................................................................. 4
Overview of Galil Amplifiers and Drivers ................................................................... 4
DMC-21x5 Functional Elements .................................................................................. 5
Elements Needed .......................................................................................................... 8
Layout ........................................................................................................................... 9
Installing the DMC, Amplifiers, and Motors ................................................................ 10
Overview ....................................................................................................................... 18
Overview of Inputs ....................................................................................................... 19
Overview of Outputs ..................................................................................................... 22
External Amplifier Interface ......................................................................................... 23
Introduction ................................................................................................................... 24
Controller Response to Commands .............................................................................. 24
Unsolicited Messages Generated by Controller ............................................................ 25
RS-232 Port ................................................................................................................... 25
Ethernet Configuration .................................................................................................. 26
Data Record .................................................................................................................. 28
Galil Software ............................................................................................................... 31
Creating Custom Software Interfaces ........................................................................... 31
Introduction ................................................................................................................... 32
Command Syntax - ASCII ............................................................................................ 32
Controller Response to DATA ...................................................................................... 34
Interrogating the Controller .......................................................................................... 34
Overview ....................................................................................................................... 36
Independent Axis Positioning ....................................................................................... 37
Independent Jogging ..................................................................................................... 39
Position Tracking .......................................................................................................... 40
Linear Interpolation Mode ............................................................................................ 44
Vector Mode: Linear and Circular Interpolation Motion ............................................. 49
Electronic Gearing ........................................................................................................ 55
Electronic Cam .............................................................................................................. 58
Contour Mode ............................................................................................................... 63
Virtual Axis ................................................................................................................... 66
Stepper Motor Operation .............................................................................................. 67
Stepper Position Maintenance Mode (SPM) ................................................................. 69
Dual Loop (Auxiliary Encoder) .................................................................................... 72
Motion Smoothing ....................................................................................................... 74
Homing ......................................................................................................................... 75
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DMC-21x5 User Manual 1.0a1
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