Galil DMC-2X00 用户手册
DMC-2X00
Chapter 4 Communication
y 5
Example- Daisy Chain
Objective: Control a 7-axis motion system using two controllers, a DMC-2040 4 axis controller and a
DMC-2030 3 axis controller. Address 0 is the DMC-2040 and address 1 is the DMC-2030.
DMC-2030 3 axis controller. Address 0 is the DMC-2040 and address 1 is the DMC-2030.
Desired motion profile:
Address 0 (DMC-2040)
A Axis is 500 counts
B Axis is 1000 counts
C Axis is 2000 counts
D Axis is 1500 counts
B Axis is 1000 counts
C Axis is 2000 counts
D Axis is 1500 counts
Address 1 (DMC-2030)
A Axis is 700 counts
B Axis is 1500 counts
C Axis is 2500 counts
B Axis is 1500 counts
C Axis is 2500 counts
Command
Interpretation
%0
Talk only to controller 0 (DMC-2040)
PR 500,1000,2000,1500
Specify A,B,C,D distances
%1
Talk only to controller board 1 (DMC-2030)
PR 700,1500,2500
Specify A,B,C distances
!BG
Begin motion on both controllers
Synchronizing Sample Clocks in Daisy Chain
It is possible to synchronize the sample clocks of all DMC-2000's in the daisy-chain. The first
controller (connected to the computer) should have a jumper placed on the jumper JP3 to connect the
pins labeled S and 8. Note that this connection requires a jumper to be placed sideways. The
subsequent controllers should have jumpers placed on the jumper JP3, JP4 to connect the pins labeled
S and 8 on both jumpers. Note that these connections require the jumpers to be placed sideways.
controller (connected to the computer) should have a jumper placed on the jumper JP3 to connect the
pins labeled S and 8. Note that this connection requires a jumper to be placed sideways. The
subsequent controllers should have jumpers placed on the jumper JP3, JP4 to connect the pins labeled
S and 8 on both jumpers. Note that these connections require the jumpers to be placed sideways.
Ethernet Configuration (DMC-2100/2200 only)
Communication Protocols
The Ethernet is a local area network through which information is transferred in units known as
packets. Communication protocols are necessary to dictate how these packets are sent and received.
The DMC-2100 supports two industry standard protocols, TCP/IP and UDP/IP. The controller will
automatically respond in the format in which it is contacted.
packets. Communication protocols are necessary to dictate how these packets are sent and received.
The DMC-2100 supports two industry standard protocols, TCP/IP and UDP/IP. The controller will
automatically respond in the format in which it is contacted.
TCP/IP is a "connection" protocol. The master must be connected to the slave in order to begin
communicating. Each packet sent is acknowledged when received. If no acknowledgement is
received, the information is assumed lost and is resent.
communicating. Each packet sent is acknowledged when received. If no acknowledgement is
received, the information is assumed lost and is resent.
Unlike TCP/IP, UDP/IP does not require a "connection". This protocol is similar to communicating
via RS232. If information is lost, the controller does not return a colon or question mark. Because the
protocol does not provide for lost information, the sender must re-send the packet.
via RS232. If information is lost, the controller does not return a colon or question mark. Because the
protocol does not provide for lost information, the sender must re-send the packet.