Modes of Motion
VME Interface
M O T I O N C O N T R O L L E R S
DMC-1300
50
DMC-1300 VME Bus Controllers
·
Galil Motion Control, Inc.
·
800-377-6329
Other DMC-1300 features
include relative and absolute posi-
tioning with ±2 billion counts per
move; a high-speed latch on each
axis for capturing real-time position;
an expandable 500-line memory for
user programs; multitasking for
simultaneous execution of four inde-
pendent user programs; EEPROM
for storing parameters and programs
on power down; sophisticated error
handling; programmable event trig-
gers; and a comprehensive status
reporting system.
The DMC-1300 resides in the VME
short I/O space. Data transfers are 2
bytes wide and go through the 2 K
dual-port RAM. The dual-port RAM is
divided into buffers for sending com-
mands, application programs, and con-
tour commands, and for receiving sta-
tus information. Semaphore registers
control communication.
A memory map of the dual-port
RAM is shown in the table on page
51. Commands can be sent in either
ASCII or binary format. In the dual-
port RAM, status information such
as position, velocity, and torque is
always available.
Independent Axis Positioning: In
this mode, each axis follows its own
prescribed profile. The user specifies
the desired absolute position (PA) or
relative position (PR), along with the
acceleration rate (AC), deceleration
rate (DC), and slew speed (SP).
Position can be interrogated at any
time using the tell position (TP)
command.
Jogging: The jog mode allows the user
to command each motor to run at a
prescribed jog speed. The user specifies
the jog speed (JG), the acceleration rate
(AC), and the deceleration rate (DC).
On begin (BG), the motor accelerates
up to the jog speed and continues at
that speed until a new speed or stop
command (ST) is issued. The direction
of motion is specified by the sign of
the JG parameter. The JG, AC, and
VME BUS
DMC-1300 Functional Elements
WATCHDOG TIMER
DUAL-PORT RAM
COMMUNICATION
INTERFACE
HIGH-SPEED
MOTOR / ENCODER
INTERFACE
FOR
X , Y, Z, W
68331
MICROCOMPUTER
WITH
64K RAM
64K EPROM
256 EEPROM
64K FLASH EEPROM
I/O INTERFACE
ISOLATED LIMITS AND
HOME INPUTS
MAIN ENCODERS
AUXILIARY ENCODERS
± 10 VOLT OUTPUT FOR
SERVO MOTORS
PULSE/ DIRECTION OUTPUT
FOR STEP MOTORS
7 UNCOMMITTED
8 PROGRAMMABLE 8 PROGRAMMABLE
ANALOG INPUTS OPTOISOLATED OUTPUTS
INPUTS
VME BUS SHORT
VECTORED
I / O ADDRESS INTERRUPTS
HIGH-SPEED LATCH FOR EACH AXIS
