DMC-41x3 User Manual

Example: Find Edge

#EDGE

AC 2000000

DC 2000000

SP 8000

FE

BG

AM

MG “FOUND HOME”

DP 0

EN

Label

Acceleration rate

Deceleration rate

Speed

Find edge command

Begin motion

After complete

Send message

Define position as 0

End

Command Summary - Homing Operation command

FE XYZW

FI XYZW

HM XYZW

SC XYZW

TS XYZW

description

Find Edge Routine. This routine monitors the Home Input

Find Index Routine - This routine monitors the Index Input

Home Routine - This routine combines FE and FI as Described Above

Stop Code

Tell Status of Switches and Inputs

Operand Summary - Homing Operation operand

_HMx

_SCx

_TSx

Description

Contains the value of the state of the Home Input

Contains stop code

Contains status of switches and inputs

High Speed Position Capture (The Latch Function)

Often it is desirable to capture the position precisely for registration applications. The DMC-41x3 provides a position latch feature. This feature allows the position of the main or auxiliary encoders of X,Y,Z or W to be captured within 25 microseconds of an external low input signal (or index pulse). The general inputs 1 through 4 and 9 thru 12 correspond to each axis.

1 through 4:

IN1 X-axis latch

IN2 Y-axis latch

IN3 Z-axis latch

IN4 W-axis latch

9 through 12

IN9 E-axis latch

IN10 F-axis latch

IN11 G-axis latch

IN12 H-axis latch

NOTE: To insure a position capture within 25 microseconds, the input signal must be a transition from high to low.

The DMC-41x3 software commands, AL and RL, are used to arm the latch and report the latched position. The steps to use the latch are as follows:

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1. Give the AL XYZW command or ABCDEFGH for DMC-4183, to arm the latch for the main encoder and

ALSXSYSZSW for the auxiliary encoders.

2. Test to see if the latch has occurred (Input goes low) by using the _AL X or Y or Z or W command.

Example, V1=_ALX returns the state of the X latch into V1. V1 is 1 if the latch has not occurred.

3. After the latch has occurred, read the captured position with the RL XYZW command or _RL XYZW.

NOTE: The latch must be re-armed after each latching event.

Example:

#Latch

JG,5000

Latch program

Jog Y

BG Y

AL Y

#Wait

Begin motion on Y axis

Arm Latch for Y axis

#Wait label for loop

JP #Wait,_ALY=1 Jump to #Wait label if latch has not occurred

Result=_RLY Set value of variable ‘Result’ equal to the report position of y axis

Result=

EN

Print result

End

Fast Update Rate Mode

The DMC-41x3 can operate with much faster servo update rates than the default of every millisecond. This mode is known as ‘fast mode’ and allows the controller to operate with the following update rates:

DMC-4113

DMC-4123

DMC-4133

DMC-4143

DMC-4153

DMC-4163

DMC-4173

DMC-4183

62.5

µ sec

62.5

µ sec

125

µ sec

125

µ sec

187.5

µ sec

187.5

µ sec

250

µ sec

250

µ sec

In order to run the DMC-41x3 motion controller in fast mode, the fast firmware must be uploaded. This can be done through the GalilTools communication software. The fast firmware is included with the original DMC-41x3 utilities.

In order to set the desired update rates, use the command TM.

When the controller is operating with the fast firmware, some functions are disables. For details see Fast Update

Rate Mode in the Appendix.

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