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DMC-1700/1800 Chapter 6 Programming Motion • 133
IN4 W-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-1700/1800 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:
1. Give the AL XYZW command or ABCDEFGH for DMC-1780 or DMC-1880, 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 Latch program
JG,5000 Jog Y
BG Y Begin motion on Y axis
AL Y Arm Latch for Y axis
#Wait #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= Print result
EN End
Fast Update Rate Mode
The DMC-1700/1800 can operate with much faster servo update rates. This mode is known as ‘fast mode’ and
allows the controller to operate with the following update rates:
DMC-1710 or DMC-1810 125 usec
DMC-1720 or DMC-1820 125 usec
DMC-1730 or DMC-1830 250 usec
DMC-1740 or DMC-1840 250 usec
DMC-1750 or DMC-1850 375 usec
DMC-1760 or DMC-1860 375 usec
DMC-1770 or DMC-1870 500 usec
DMC-1780 or DMC-1880 500 usec
In order to run the DMC-1700/1800 motion controller in fast mode, the fast firmware must be uploaded. This can
be done through the Galil terminal software such as DMCTERM and WSDK. The fast firmware is included with
the original DMC-1700 or DMC-1800 utilities.
In order to set the desired update rates, use the command TM.
When the controller is operating with the fast firmware, the following functions are disabled:
Gearing mode
Ecam mode