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2006 Motion Control Product Catalog

Table of Contents

1 COMPANY AND PRODUCT OVERVIEW 5 MOTION CONTROLLERSINTRODUCTION


5 Selection Guide 6 Features and Benefits 7 General Description and Programming Examples

12 MOTION CONTROLLERSPCI BUS


13 20 20 78 DMC-18x6 PCI Accelera 18 axes DMC-18x0 PCI Optima 18 axes DMC-18x2 PCI Econo 14 axes DMC-1417 PCI Econo 1 axis

27 MOTION CONTROLLERSETHERNET/USB/RS232
29 DMC-20x0 USB/RS232 Optima 18 axes 29 DMC-22x0 Ethernet/RS232 Optima 18 axes 35 DMC-21x2 and DMC-21x3 Ethernet/RS232 Econo 18 axes 39 AMP-20341 4-axis 20W Servo Drives 39 AMP-204x0 2- and 4-axis 200 W Servo Drives 39 AMP-205x0 2- and 4-axis 500 W Servo Drives 40 SDM-20240 4-axis Full/Half Stepper Drives 40 SDM-206x0 2- and 4-axis Microstep Drives 40 Power SuppliesCPS Series 50 CDS-3310 Ethernet/RS232 1-axis Controller and Drive 56 DMC-14x5 and DMC-34x5 Ethernet/RS232 Econo 12 axes 62 IOC-7007 I/O Controller

68 MOTION CONTROLLERSPC/104, VME, cPCI, ISA


70 70 70 70 78 78 78 78 DMC-12x0 PC/104 Optima 18 axes DMC-13x8 VME Optima 14 axes DMC-16x0 cPCI Optima 14 axes DMC-17x0 ISA Optima 18 axes DMC-1410 ISA Econo 1 axis DMC-1411 PC/104 Econo 1 axis DMC-1412 RS232 Econo 1 axis DMC-1417 PCI Econo 1 axis

83 SERVO MOTORS
83 Brush Servo MotorsN23 and N34 85 Brushless Servo MotorBLM-N23

88 SOFTWARE TOOLS
88 90 92 94 Galil UtilitiesSmartTERM, DMCSetup, MotorSizer, CToolkit, .NET API Toolkit Servo Tuning SoftwareWSDK ActiveX Tool Kit AutoCAD DXF File Translator

96 SMARTMOVES SPOTLIGHTS BOOK Inside back cover TERMS AND CONDITIONS

OVERVIEW

Galil Motion Control

We Move The World

Ever since they introduced the first microprocessorbased motion controller in 1983, Galil Motion Control has gone on to sell and install over 350,000 controllers worldwide. Galil remains the industrys leading innovator by offering the most powerful, cost-effective and easy-to-use motion controllers available today. Galils commitment is to be your primary source for any motion control application. Galil offers an unparalleled array of motion controllers that are backed by superior technical support and ready to handle the most demanding applicationswith absolute precision.

A Broad Array of Products


Galils full product offering can accommodate all your motion needs.You can choose from single or multi-axis controllers,bus-based or stand-alone,and box-level or card-level.Interface options include PCI,ISA,PC/104,VME, cPCI,USB,RS232 and Ethernet.Select from 1-,2-,3-,4-,5-, 6-,7- or 8-axis controllers; and buy only the number of axes you need.Controllers can be configured to run stepper or servo motors on any combination of axes. If you cannot find a controller to meet your requirements,then Galil will design one specifically for you.We are geared to build cost-effective controllers to meet your criteria, whether it be adding a new command, changing connector style or accommodating a special communication network.With all the inherent costs, time and risks involved, theres no reason why you should design your own controller when you can rely instead on the expertise, cost-efficiency and proven reliability of Galil. Also, Galil provides numerous accessories such as interconnect modules and cables for fast and easy prototyping. Galils software tools, such as WSDK for servo tuning, speed system development.The ActiveX Tool Kit allows users to create an operator interface for their controller using Visual Basic, C/C++, .NET, etc. In addition, Galil offers servo motors and amplifiers to complement its line of controllers.

Powerful Controllers to Solve Demanding Applications


Galils motion controllers use a 32-bit microcomputer and are packed with powerful features to handle any application no matter how simple or complex.That means you get advanced PID tuning with notch filter, velocity and acceleration feedforward, non-volatile memory with multitasking to execute application programs, and plenty of analog and digital I/O for interfacing to external sensors.They also handle various modes of motion including point-to-point positioning, velocity control, linear and circular interpolation, contouring, electronic gearing and ECAM. A high speed encoder interface accepts encoder feedback up to 12 MHz for Optima controllers and up to 22 MHz for new Accelera controllers.

Galils latest generation Accelera Series provides ultra high-speed performance and processing.

www.galilmc.com / Galil Motion Control, Inc.

Galil. We Move The World

Easy-to-Use Controllers Get You to Market Quickly


It has always been a top priority at Galil to design and make motion controllers that are easy to use.Thats why Galil controllers use two-letter, English-like commands to make programming controllers a snap. For example, the command BG begins motion,SP specifies the speed and ST stops motion.With over 200 commands, you can quickly and easily program a Galil controller to handle virtually any application. Additionally, our WSDK Servo Design Kit software is a great tool for easily optimizing the performance of your servo system. Simple One-button tuning automatically selects the best PID parameters for your system. OVERVIEW

Custom Solutions to Fit Any Application


Galil is geared to deliver customized firmware and hardware products built to your specificationsand they can do so quickly and cost-effectively.For example, hardware specials such as modified board size,custom connectors,different communication and additional I/O, are typically completed within a 12-week period with engineering charges as low as $3,000.00. Firmware specials can be written for an unlimited number of requirements and are typically completed within two weeks with engineering charges as low as $400.00. The following is a sampling of custom firmware solutions that Galil has provided:
I Absolute encoder interface I Compiled application programs for high-speed

execution
I High resolution gearing I Coordinate transformation I Copy protection for application programs I Battery back-up for memory I Encoder integrity checking I Modulo position I ECAM acceleration I Backlash and leadscrew compensation I And many more!

WSDK Servo Design Kit software makes PID tuning quick and easy

www.galilmc.com / Galil Motion Control, Inc.

Cost-effective Solutions Give You a Competitive Edge


Galil realizes how critical it is for OEM design engineers to keep their equipment costs down, which is why we designed all of our controllers to give you great valuefull-featured and very cost-effective. In fact, we guarantee 100% that our pricing for 100 quantity orders is the lowest in the industry. Go ahead and compare our prices versus the competition.We confidently publish our pricing in our catalog and at our websiteone of the few motion control companies that does so. For example, Galils 4-axis DMC-1842 PCI bus controller costs only $795 in 100 quantity and $395 in 1000 quantity.Thats less than $100 per axis. With prices this low, why bother to make your own controller!

World-class Support Assures Your Success


Every Galil controller you buy is backed by Galils commitment to superior customer support.This includes a fully-trained technical support team with over 100 man years of motion control experience. Each member has been personally trained by Dr. Jacob Tal, company co-founder and highly respected pioneer and expert in the field of motion control. Galil also offers a contentrich website filled with information such as an on-line bulletin board with a search feature, application bulletins and web-tutorials. Galil has always made motion control education a priority for our customers and offers a variety of training classes to accommodate their busy schedules. Training is directed by Dr. Jacob Tal, who has personally taught over 10,000 engineers about motion control. Galils popular, 4-hour Motion Control Made Easy seminar is taught at various locations. It is also available as a web-based class and is on video. Customers will also find our 2-day workshop a great way to get a head start on their motion projects. This workshop includes hands-on labs which enable users to practice newly introduced concepts.Users also

The mission of Galil's experienced Applications Department is to Galil A Vendor You Can Trust provide prompt and accurate technical Galil Motion Control has been at the forefront of assistance to help motion control technology ever since its founding OEMs successfully in 1983 by Jacob Tal, acclaimed author, lecturer and deliver their products engineer in motion control; and Wayne Baron, an expert in robotics and motion control. Back then, Galil to market. introduced the world's first microprocessor-based, single-axis servo motion controller and the company hasn't stopped innovating since. Now, the installed controller base worldwide exceeds 350,000 units, demonstrating proven product reliability and customer satisfaction. Located in Rocklin, California, USA, Galil is a privately held company that has maintained profitability every year since 1985. You can be assured that when you choose Galil controllers, they are backed by a world-class, superior company with a highly successful track record.

gain familiarity with tuning and programming motion controllers, and can spend quality one-on-one time with Galil engineers to discuss their individual project. To further assure your success,Galil works with a worldwide network of factory-trained,independent representatives who fully understand the requirements of your specific application and stand ready to provide an effective demonstration of Galil motion controllers.They also represent manufacturers of motors, encoders and drives which are compatible with Galil motion controllers.

OVERVIEW
3

www.galilmc.com / Galil Motion Control, Inc.

Galil. We Move The World

OVERVIEW

elivering the Best Value Anywhere

Galil understands your need to work within budgets and keep costs down. Thats why Galil absolutely guarantees that, with a minimum order of 100 high performance controllers within a 12month period, our price in the U.S. will always be less than that of any other manufacturer. In fact, Galils volume prices are typically half that of the competition. To be assured of this low price, you simply need to:

I Present a competitive price for 100+ controllers from a valid price list published within 90 days from a recognized manufacturer. I Show that competitive motion controllers are equivalent, i.e. matching bus type, number of axes, I/O options, and quantity ordered. I Show that competitive motion controllers have the following high performance features: 1) each axis is individually configurable for stepper or servo motors, 2) on-board application program memory is provided with symbolic variables and multi-tasking, and 3) on-board linear and true circular interpolation is provided with unlimited segments and continuous motion. With this guarantee, you have the word of Galils top management that the prices you pay for Galil high performance controllers will be the best you can getanywhere.

Galils price guarantee assures economical solutions for OEMs

Discover www.galilmc.com
At www.galilmc.com, you will find a treasure-trove of valuable informationmuch of which is freeto keep you at the forefront of motion control technology. Galil welcomes and encourages you to take advantage of Galils in-depth, technical website with detailed information on products and a wide array of application notes, articles, and on-line tutorials. I Product Specifications.View product descriptions, pin-outs,command set and pricing on line. I On-line Bulletin Board.Post a question and have it answered promptly by a Galil applications expert. Or, search the subject index for questions and answers similar to yours. I Motion Code. Galils latest engineering tool to aid in the development of motion applications. Includes step-by-step design and downloadable code for several motion types.
4 www.galilmc.com / Galil Motion Control, Inc.

I Web-based Training on Motion Control.Galils popu-

lar Motion Control Made Easyclass has been converted into a web-based course for your access 24/7. This is available free with your purchase of a Galil controller. I On-line Application Notes, Articles and Product Manuals. Download complete technical information to stay up to date on technology, trends and products. I Web-based Tutorials.Browse a library with over 20 technical tutorials on a variety of subjects such as tuning,programming and motor types. I Free Software Downloads.Download the latest Galil communication drivers for all current versions of Windows,Linux and Dos. I MotorSizer.Easy-to-use tool for quickly sizing stepper or servo systems.

MOTION CONTROLLERS

Galil Controllers
Selection Guide
Galil offers an extensive array of controllers that meet a wide variety of design requirements.To help determine the best controller for your project,please answer the following and use the controller selection matrix below:

1. Communication
Do you want a controller card that plugs directly into a PC bus, or to reside outside of the PC and connect serially, or do you need the controller to operate stand-alone without a computer ? For a controller that plugs into the PC,the PCI bus is the most popular format.Other bus formats include ISA,cPCI,VME and PC/104.If your controller is located outside of the PC bus or operates stand-alone,Galil offers card-level and box-level controllers with Ethernet/USB/RS232 connectivity.

2. # of Axes
How many axes of motion do you require? Galil offers controller configurations in 1- through 8-axis andmore importantlylets you purchase only the exact number of axes that your project requires.Should your application require more than 8 axes,then you would use more than one controller.For example,an 11-axis application can use an 8-axis and a 3-axis controller.If you need just one axis,Galils Econo series is a good choice.

CONTROLLERSINTRO

3. I/O
What are your I/O requirements? All Galil controllers provide encoder inputs, amplifier enable outputs, forward and reverse limits and a home input for every axis. Galil also offers uncommitted digital inputs and outputs with each controller. If you do not need analog inputs or optically isolated inputs, then choose Econo versions of Galils popular Ethernet or PCI bus controllers.

Galil Controller Selection Matrix


INTERFACE # OF AXES FORMAT # OF DIGITAL INPUTS, DIGITAL OUTPUTS, ANALOG INPUTS I/O EXPANSION OPTIONS MODEL NUMBER

PCI PCI PCI PCI Ethernet/RS232 Ethernet/RS232 Ethernet/RS232 Ethernet/RS232 Ethernet/RS232 USB/RS232 RS232 PC/104 PC/104 ISA ISA VME cPCI

1 1-4 1-8 1-8 1 1-2 1-2 1-8 1-8 1-8 1 1 1-8 1 1-8 1-4 1-4

card card card card box card or box card or box box card box card or box card card card card card card

7 in, 3 out, 0 analog 8 in, 8 out, 0 analog Econo 8 in, 8 out, 8 analog* Optima 8 in, 8 out, 8 analog* Accelera 8 in, 10 out, 2 analog in,1 analog out Includes 500W drive for brush/brushless 3 in, 3 out, 2 analog 3 in, 3 out, 2 analog (for distributed control) 8 in, 8 out, 8 analog, 64 configurable I/O * 8 in, 8 out, 0 analog 8 in, 8 out, 8 analog, 64 configurable I/O* 7 in, 3 out, 0 analog 7 in, 3 out, 0 analog 8 in, 8 out, 8 analog* 7 in, 3 out, 0 analog 8 in, 8 out, 8 analog* 8 in, 8 out, 8 analog, 64 configurable I/O 8 in, 8 out, 8 analog, 64 configurable I/O 64 I/O with DB-14064 64 I/O with DB-12064 40 I/O, 8 AN w/DB-28040 64 I/O with DB-14064 64 I/O with DB-14064 64 I/O with DB-14064 40 I/O, 8 AN w/DB-28040 64 I/O with DB-14064 64 I/O with DB-14064

DMC-1417 DMC-18x2 DMC-18x0 DMC-18x6 CDS-3310 DMC-14x5 DMC-34x5 DMC-22x0 DMC-21x2 or -21x3 DMC-20x0 DMC-1412 DMC-1411 DMC-12x0 DMC-1410 DMC-17x0 DMC-13x8 DMC-16x0
Note:x denotes the number of axes

*DMC-18x6, DMC-18x0, DMC-17x0: 24 in, 16 out for 5 through 8 axes models; DMC-2xx0, DMC-12x0: 16 in, 16 out for 5 through 8 axes models 7 inputs for 1-axis model, 3 inputs for 2-axis model

www.galilmc.com / Galil Motion Control, Inc.

Galil Controllers

Features
The benefits of Galil motion controllers are many, including: Highest performance
I 32-bit microprocessor for high speed performance and precision I Any mode of motion: point-to-point positioning, jogging, linear and circular interpolation, contouring, electronic gearing, ECAM I Encoder frequencies up to 12 MHz for servos (22 MHz for Accelera Series).Outputs up to 3 MHz for steppers (6 MHz for Accelera Series)

Ease of Use
I Intuitive 2-letter commands for quick and easy programming I Wide array of software tools for quick set-up and tuning. Interface to Linux, QNX, DOS,Visual Basic, LabView, C/C++, .NET, AutoCAD, and all current Windows operating systems

Cost Effective
I Meets OEMs strict cost demands with a 100+ order price guarantee I Significant discounts for quantity purchases.For example, pay only $100 per axis for 4-axis controller in 1,000 quantity

CONTROLLERSINTRO

I Advanced PID compensation with velocity feedforward, acceleration feedforward, integration limits, notch filter, and low-pass filter.Optional compensation for piezoceramic motors

Flexibility
I Buy anywhere from 1 to 8 axes in such formats as ISA, PCI, PC/104,VME, cPCI, USB, Ethernet, and RS232 I Mix and match servo motors, stepper motors and hydraulics on any combination of axes I Analog and digital I/O for interface with external devices I Dual encoder inputs for backlash compensation I Position feedback accepted in digital or analog format

Plug-in Amplifier Boards


I DMC-21x3 Ethernet controllers allow multi-axis amplifiers to attach directly saving wiring and cost I Easy integration between controller and drives

Standard Upgrade Options


I Two sets of PID, anti-friction bias, absolute or SSI encoders, backlash and lead screw error compensation, profile smoothing, anti-resonance profiling, password protection, memory expansion, piezo-ceramic motor compensation

Onboard Intelligence
I Program memory frees host computer for other tasks I Multitasking allows multiple programs to execute concurrently I Symbolic variables, array space and event triggers I Non-volatile memory for program, parameter and data storage I Sinusoidal commutation for controlling brushless motors with low-cost amplifiers

Custom Built Products


I Firmware and hardware customized to your specifications

Reliability
I Over 350,000 motion controllers shipped I Typical MTBF is over 250 years

Galils DMC-21x3 Ethernet controllers allow multi-axis drives to be attached directly without additional cables, saving wiring and cost.

www.galilmc.com / Galil Motion Control, Inc.

Galil Controllers

General Description
Command Language
Galils Command Language is comprised of intuitive, two-letter, Englishlike ASCII commands that make programming as quick and easy as possible. For example, the BG command begins motion while the SP 2000, 4000 command sets the speed of the X-axis as 2000 and the Y-axis to 4000. Commands are included for system set-up, tuning, prescribing motion, error handling and application programming. Custom commands can be created upon request. One of the more powerful features of all Galil controllers is their ability to store and execute complex application programs designed by the user. Application programs can be downloaded directly to the controller and executed without host intervention.The main benefit is that this frees the PC for system-level tasks. In fact, Galil controllers permit multitasking, which allows up to eight programs to execute simultaneously. Also, special commands are available for application programming including event triggers, IF/THEN/ELSE statements, conditional jumps, subroutines, symbolic variables and arrays.

Servo Motor Compensation Features


Galil controllers provide a compensation filter, which includes a PID (Proportional-Integral-Derivative) filter followed by a notch filter and a low-pass filter.The compensation also includes velocity and acceleration feedforward. All filter parameters are adjustable, allowing servo system tuning for best performance. Dual loop control is provided for reducing the effect of backlash. The dual-loop (DV) feature enables the controller to compensate for mechanical backlash.Typically, dual-loop systems use a rotary encoder on the motor and a linear encoder on the load (most Galil controllers accept inputs from two encoders per axis as a standard feature). Dualloop control changes the standard PID control and closes the position loop with the load encoder (PI) and derives the damping terms (D) from the motor encoder.This method provides smooth and accurate control along the motion path regardless of backlash. Most Galil controllers also include a sinusoidal commutation feature that allows designers to use lower-cost servo drives.This feature assures smooth motion and reduces torque ripple when using brushless motors. Each axis of sinusoidal commutated motion requires two DAC outputs that are phase shifted by 120.The servo amplifier generates the third commutation signal.The commutation can be initialized with or without hall sensors.Two controller axes are required for each brushless motor. For example, a two-axis controller is required to drive one brushless motor with sinusoidal commutation.

CONTROLLERSINTRO

PID Block Diagram


S FA

Dual-loop Block Diagram


R

+ -

PI

AMP/MOTOR

FV

OF

BACKLASH

LOAD S Kp MOTOR ENCODER

Kd s

LOW PASS PL

NOTCH NF

TL

OUT LOAD ENCODER

Ki s IL

www.galilmc.com / Galil Motion Control, Inc.

Galil Controllers

General Description
Modes of Motion
Point-to-Point Motion
Any combination of axes can be operated in the Point-to-Point Motion mode to allow the target position (PA or PR), slew speed (SP), acceleration (AC) and deceleration (DC) to be specified independently for each axis.That way, motion on any axis can be started and stopped independently.Upon begin (BG), the controller generates a trapezoidal velocity profile where the speed and acceleration can be changed anytime during motion. For applications that require smooth motion without abrupt velocity transitions, a motion smoothing function (IT) is provided.The position (TP) and position error (TE) may be interrogated at any time. Position Tracking The Position Tracking mode allows an axis to precisely follow a randomly generated position target. In this mode, a new absolute position may be specified even if the axis is in motion.The controlled axis is commanded to move to the new position following a trapezoidal velocity profile. The (PT) command places the controller in the Position Tracking mode, which allows the host to issue absolute position commands on the fly. The axis moves to the new position and waits until a new position target is specified and given by the (PA) command.The (ST) Stop command is used to exit the Position Tracking mode.

Jogging ExamplePoint-to-Point Motion CONTROLLERSINTRO


COMMAND INTERPRETATION

AC 1000000 DC 1000000 SP 20000 PR 40000 BG

Specify acceleration Specify deceleration Specify slew speed Specify distance Begin motion

In the jog mode, each axis is given a jog speed and direction (JG), acceleration (AC), and deceleration (DC). Upon begin (BG), the controller ramps up to the jog speed at the prescribed acceleration following a trapezoidal profile. A smoothing function (IT) is provided to smooth abrupt velocity transitions.The stop command (ST) stops the motion at the prescribed deceleration rate.The jog speed and direction, acceleration and deceleration may be changed at any time during motion.The average speed can be interrogated at any time using the Tell Velocity (TV) command.

ExampleChange Speed on Input


Move the x-axis forward a distance of 20000 counts at an initial speed of 50000 counts/sec and with an acceleration and deceleration of 1000000 counts/sec2.As soon as the motor activates the sensor connected to input 1,reduce the speed to 25000 counts/sec.
PROGRAM INTERPRETATION

ExampleVelocity Control by a Potentiometer


To control the motor velocity by a potentiometer, connect the potentiometer to analog input #1 and read its voltage. Set the motor speed in proportion to the analog input with a maximum speed of 100,000 counts/sec for a 10 Volt input. Also, limit the acceleration and deceleration to 500,000 counts/sec2.
COMMAND INTERPRETATION

#A PR 20000 SP 50000 AC 1000000 DC 1000000 BGX AI 1 SP 25000 EN


VELOCITY

Label Distance Initial speed Acceleration rate Deceleration rate Start the motion Wait for the sensor input Reduce the speed End program

#A JG 0 AC 500000 DC 500000 BGX #LOOP JG@AN[1]*10000 JP#LOOP EN

Label Initial speed Acceleration Deceleration Begin motion Label Read potentiometer and update speed Repeat End program

TIME

INPUT 1

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Galil Controllers

General Description
2D Linear and Circular Interpolation (for controllers with two or more axes)
The Vector Mode (VM) is an extremely powerful mode where any two-dimensional path consisting of straight-line (VP) and arc segments (CR) can be prescribed. Up to 511 segments can be given prior to the start of motion and additional segments can be sent during motion allowing unlimited motion paths to be followed without stopping.The vector speed (VS), vector acceleration (VA), vector deceleration (VD), and motion smoothing (VT) are also prescribed.The vector speed can be changed at any time during motion, permitting feedrate override, slow down around corners and assignment of different speeds to specific segments. Setting the vector speed to zero and increasing the vector speed to resume can easily accomplish a pause during motion. The vector mode can be operated on two sets of coordinated axes at the same time using the (CA) command, which specifies the plane of motion as S and T. By having dual sets of coordinated motion, users can accomplish completely separate coordinated motion tasks with a single controller. It can even handle more complex motion control functions such as collision avoidance. Another feature of the vector mode is tangential following that allows a third axis to remain tangent to the trajectory, which is ideal for cutting tools. Helical motion is also possible by commanding the third axis to follow the coordinated path at the same rate.

ExampleCoordinated Motion with Maximum Feedrate


Repeat the previous example, but set the feedrate to the maximum values allowed.Due to accuracy requirements, the vector speed must be limited to 5000 counts/sec on the circular segments BC and DE. On the linear segment, the motor speed is limited to 25,000 counts/sec. This operation is simplified given the controllers ability to associate two speeds with each segmentupper and lower limits.These limits are designated by the < and > symbols. The resulting motion will accelerate the motors to the maximum allowed speed,but will assure that the speed at the end of the segment is the one indicated by the > symbol.The resulting vector speed is shown as a function of the path in the figure below.
COMMAND INTERPRETATION

CONTROLLERSINTRO

ExampleCoordinated Motion
Perform a move along the trajectory shown in the figure starting at the point A and move counter clockwise toward B. Set the vector velocity to a uniform rate of 5000 counts/sec, and set the accel/decel rate along the vector to 500000 counts/sec2.
COMMAND INTERPRETATION

#PATH CAS VMXY VA 500000 VD 500000 VS 5000 VP 4000,0 CR 500,-90,180 VP -1000,1000 CR 500,90,180 VP 0,0 VE BGS EN
D (-1000,1000)

Label Set coordinate system Define plane as XY Acceleration Deceleration Vector speed Move AB Move BC Move CD Move DE Move EA Indicate end of path Start motion sequence End program
C (4000,1000)

#B CAS VMXY VA 500000 VD 500000 VP 4000,0 <25000>5000 CR 500,-90,180 VP -1000,1000 <25000>5000 CR 500,90,180 VP 0,0 <25000 VE BGS EN
VECTOR SPEED

Label Set coordinate system Define XY plane Acceleration Deceleration Segment AB Segment BC Segment CD Segment DE Segment EA Specify end of path Begin motion sequence End program

25000

5000

VECTOR DISTANCE

E (-1000,0)

A (0,0)

B (4000,0)

www.galilmc.com / Galil Motion Control, Inc.

Galil Controllers

General Description
Linear Interpolation (for controllers with two or more axes)
The linear interpolation mode (LM) allows any arbitrary path of up to 8 axes to be defined as a set of linear segments (LI).The vector speed (VS), vector acceleration (VA), vector deceleration (VD), and vector smoothing (VT) are also defined. Up to 511 LI segments can be given prior to the start of motion and additional segments can be sent during motion to allow paths of unlimited length to be followed.

Electronic Gearing
The electronic gearing mode makes it easy for Galil controllers to simulate the motion of mechanical gears electronically. Any slave axis or set of slave axes can be geared to a master at a prescribed gear ratio defined by the (GR) command.The gear ratio can be changed on-the-fly and the controller permits multiple masters as defined by the (GA) command. A powerful feature of electronic gearing is that an axis can be geared and simultaneously be commanded to perform an independent or vector move.This is useful for the position correction required in packaging applications or when shapes must be cut on a moving conveyer belt.The electronic gearing mode is also useful for gantry applications where a special gantry mode (GM) command tightly couples two axes by ensuring that gearing cannot be disabled. The gearing mode allows for a gradual ramp-to-gearing which results in smoother transitions when the gear ratio is changed. (GD) sets the distance of the master axis over which the slave will be engaged or changed to a new gear setting.The parameter (_GP) corrects for any accumulated errors in gearing during the ramp-to-gearing phase.

ExampleLinear Interpolation
Move a cartesian robot through the following points with the coordinates indicated in inches. P0 (0,0,0) P1 (4,2,1) P2 (6,6,2) P3 (8,8,0) Assume that the resolutions of all the axes are 1000 counts/inch,and set the required speed to 1.2 inches/sec (1200 counts/sec) and the acceleration and deceleration to 100 in/sec2 (100000 counts/sec2 ). Note that the LM mode requires defining the segments in incremental form. Point Coordinate Difference P0 0,0,0 P1 4000,2000,1000 4000,2000,1000 P2 6000,6000,2000 2000,4000,1000 P3 8000,8000,0 2000,2000,-2000
PROGRAM INTERPRETATION

CONTROLLERSINTRO

ExampleElectronic Gearing
PROGRAM INTERPRETATION

#C CAS LM XYZ VS 1200 VA 100000 VD 100000 LI 4000,2000,1000 LI 2000,4000,1000 LI 2000,2000,-2000 LE BGS EN

Label Set coordinate system Define XYZ space Vector speed Vector acceleration Vector deceleration Segment P0-P1 Segment P1-P2 Segment P2-P3 End of move Start the motion End program

GA Y,,Y GR 2,,-4 PRY=50000 ACY=1000000 DCY=1000000 SPY=10000 BG Y


VELOCITY 20,000

Specify Y axis as master of X and Z Specify gear ratios for X and Z Specify end position of master Specify acceleration of master Specify deceleration of master Specify slew speed of master Begin motion

X TIME

-40,000

10

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Galil Controllers

General Description
Contouring
The contouring mode (CM) is extremely flexible as it allows any arbitrary profile on any set of axes to be prescribed. Here, the user bypasses the controller profiler and directly inputs the position versus time trajectory.The trajectory is described as the position increment (CD) over a defined time period (DT). Additionally, the controller performs linear interpolation between prescribed points.The contour mode is useful for following complex, computer-generated paths or for teaching position paths. An automatic data-recording feature allows the controller to learn a path and then follow it in the contour mode.

Electronic Cam
Any slave axis or set of slave axes can be linked to a master axis to simulate the motion of a mechanical Cam. Here, the master axis can be a motor-driven axis or a master encoder.The Cam functions are specified by a table that allows complex profiles with varying gear ratios to be prescribed. Any follower axis may be engaged or disengaged independently at specific points along a Cam cycle.This allows the user to select engagement and disengagement points where the speed change of the follower is minimal.The electronic Cam is an ideal mode for periodic operation, especially those requiring a varying gear ratio along the motion cycle. Applications include flying shears, rotating knives, and packaging systems. Galils Cam-generating software can assist the user in defining the Cam table.

ExampleContouring
Generate an XY motion according to a file of points specifying the position increments every 16 msec.To simplify the example, it is assumed that only 4 segments are required. An array is used for each axis. Segment 1 2 3 4
PROGRAM

CONTROLLERSINTRO

I/O
Error Handling
Dedicated I/O is provided for the following safety controls: forward and reverse limit inputs for each axis, home input for each axis, amplifier enable output for each axis, configurable abort inputs for each axis, master abort input, and error output. Also, the controller provides the following safety functions in software: upper and lower software travel limits, position error limits, and automatic shut-off on excess position error. Program interrupts are provided for error and limit conditions and run-time program errors.The program interrupts cause the program sequencer to automatically branch to an error handling subroutine. In order to provide flexibility and system protection, the error handling subroutine can be customized by the user.

DX 40 100 80 40

DY 40 20 -40 -20
INTERPRETATION

#D DM DX[4],DY[4] DX [0]=40;DY[0]=40 DX [1]=100;DY[1]=20 DX [2]=80;DY[2]=-40 DX [3]=40;DY[3]=-20 CM XY DT4; P=0 #LOOP CD DX[P],DY[P] P=P+1 WC JP#LOOP, P<4 CD 0,0 DT0 EN

Define arrays

Specify contour Time interval Loop Specify contour data Increment counter Wait to complete Loop until done Contour data for end Set time interval to 0 to end mode End program

User I/O
In addition to dedicated inputs for home and limits, Galil controllers provide user I/O for synchronizing motion with external events such as switches and relays.The DMC-18x0 controller, for example, includes 8 analog inputs, 8 digital inputs and 8 digital outputs for 1 to 4-axis models; and 8 analog inputs, 24 inputs and 16 outputs for 58 axis models. All Galil controllers include many commands for handling I/O such as input interrupts, I/O triggers and timers.The combination of user I/O and application programming often eliminates the need for a PLC. As part of the user I/O, Galil controllers provide a high-speed position capture and position compare feature for each axis.The high-speed position capture latches the exact position within 0.1 microseconds (40 sec with optoisolation) of the occurrence of an input. Position capture is crucial for applications requiring precise synchronization of position to external events such as coordinate measurement machines. The high-speed position compare feature produces an output pulse at a precise position.The starting position for the initial pulse and incremental distance for subsequent pulses are programmable.

www.galilmc.com / Galil Motion Control, Inc.

11

PCI Bus Motion Controllers


Galil offers both single and multi-axis controller cards that install directly into the commonly used PCI bus.The DMC-18x6 Accelera Series are Galils newest generation of motion controllers. Incorporating a 32-bit RISC-based microcomputer, the DMC-18x6 controllers offer ultra high-speed performance and processing power. Both the DMC-18x6 Accelera Series and the DMC-18x0 Optima Series are full-featured PCI bus controllers for one through eight axes, which include optically isolated digital inputs and uncommitted analog inputs.The DMC-18x2 Econo Series are lower-cost models for one through four axes and do not include optical isolation, analog inputs or dual encoder inputs.The DMC-1417 is a single-axis PCI bus motion controller. Complete specifications are included in the following pages. PCI Bus, 1-8 axes, DMC-18x6 Accelera Series, Pages 1319 PCI Bus, 1-8 axes, DMC-18x0 and DMC-18x2 Series, Pages 2026 PCI Bus, 1 axis, DMC-1417, Page 7882

PCI Product Comparison Chart


DMC-18x6 DMC-18x0 PCI card x=1,2,3,4,5,6,7,8 100-pin SCSI ICM-1900/-2900 12 MHz 3 MHz 1-2 axes:250 sec 7-8 axes:625 sec yes 1-4 axes:8 5-8 axes:24 1-4 axes:8 5-8 axes:16 8 64 with DB-14064 yes 1000 x 80 8000 254 8 400 sec AMP-19520 AMP-19540 DMC-1840:$2195 DMC-1840:$ 995 DMC-18x2 PCI card x=1,2,3,4 100-pin SCSI ICM-1900/-2900 12 MHz 3 MHz 1-2 axes:250 sec N/A no 8 8 0 64 with DB-14064 no 1000 x 80 8000 254 8 400 sec AMP-19520 AMP-19540 DMC-1842:$1195 DMC-1842:$ 795 DMC-1417 PCI card 1 37-pin D ICM-1460 8 MHz 2 MHz 1 axis:375 sec N/A no (yes with ICM-1460-OPTO) 7 3 0 no yes 250 x 40 1000 126 2 400 sec external DMC-1417:$595 DMC-1417:$395

CONTROLLERSPCI

Communication interface Form factor Number of axes Connector type Mating interconnect module Maximum encoder input rate Maximum stepper output rate Minimum servo update time Optoisolated digital inputs Number of uncommitted digital inputs Number of uncommitted digital outputs Number of analog inputs I/O expansion Dual encoder for each axis Program memory size (lines x chr) Array size (number of elements) Number of variables Number of tasks for multitasking Command execution speed Drive options Price: qty 1 Price: qty 100

PCI card x=1,2,3,4,5,6,7,8 100-pin SCSI ICM-1900/-2900 22 MHz 6 MHz 1-2 axes: 62 sec 7-8 axes:187 sec yes 1-4 axes:8 5-8 axes:24 1-4 axes:8 5-8 axes:16 8 64 with DB-14064 yes 2000 x 80 16000 510 8 40 sec AMP-19520 AMP-19540 DMC-1846:$2195 DMC-1846:$ 995

12

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MOTION CONTROLLERS

PCI Bus Accelera Series, 1 8 axes

DMC-18x6 Series
Product Description
The DMC-18x6 PCI bus controllers belong to Galils latest generation motion controller family: the Accelera Series. Incorporating a 32-bit Risc-based microcomputer, these new controllers offer high-speed performance and processing power. Speed improvements include acceptance of encoder inputs up to 22 MHz, servo update rates as low as 31 microseconds/axis, and command execution speeds as low as 40 microseconds.While the DMC-18x6 offers performance enhancements compared to prior generation controllers, the programming language and 100pin SCSI connector are virtually the same, making conversion to the DMC18x6 quick and easy. The DMC-18x6 is available in one through eightaxis formats,and each axis is user-configurable for stepper or servo motor operation.The controller includes optically isolated inputs including a forward limit, reverse limit and home input for each axis,in addition to uncommitted analog and digital I/O. Up to two encoders are accepted for each servo axis. Standard programming features include PID compensation with velocity and acceleration feedforward, memory for multitasking for simultaneously running up to eight programs,and I/O processing commands for synchronizing motion with external events. Modes of motion include point-to-point positioning, position tracking,jogging,linear and circular interpolation,contouring,electronic gearing and ECAM.Like all Galil controllers,the DMC-18x6 controllers use Galils popular,English-like command language which makes them very easy to program.Galils WSDK servo design software further simplifies system set-up with onebuttonservo tuning and real-time display of position and velocity information.

Features
I PCI card in 1 through 8 axis versions: DMC-18x6 where x=1,2,3,4,5,6,7,8 axes I User-configurable for stepper or servo motors on any combination of axes. Optional sinusoidal commutation for brushless servo motors. I Accepts up to 22 MHz encoder frequencies for servos. Outputs up to 6 MHz for steppers

CONTROLLERSPCI

I PID compensation with velocity and acceleration feedforward, integration limits, notch filter and low-pass filter I Modes of motion include jogging, point-to-point positioning, contouring, linear and circular interpolation, electronic gearing and ECAM. Features ellipse scaling, slow-down around corners, infinite segment feed and feedrate override I Over 200 English-like commands including conditional statements and event triggers I Non-volatile memory for programs, variables and arrays. Multitasking for concurrent execution of up to eight programs I Optically isolated home input and forward and reverse limits accepted for every axis. I 8 Uncommitted, isolated inputs and 8 outputs for 1- through 4-axis models, 24 inputs and 16 outputs for 5- through 8-axis models. I High speed position latch for each axis and output compare I 8 uncommitted analog inputs I Dual encoder inputs for each axis I Expansion for 64 I/O with optional DB-14064 board I 100-pin SCSI connectors for each set of 4 axes. ICM-2900 or ICM-1900 breaks-out 100-pin cable into screw terminals I AMP-19540 connects to PCI controller with 100-pin cable and provides four amplifiers for 500 W servos I Communication drivers for all current versions of Windows, .NET, DOS, QNX, and Linux I Custom hardware and firmware options available

DMC-1886 and DMC-1846

www.galilmc.com / Galil Motion Control, Inc.

13

PCI Bus Accelera Series, 1 8 axes

DMC-18x6 Series
Specifications
System Processor
I Risc-based, clock multiplying processor with DSP functions

High Speed Position Latch


I Uncommitted inputs 1-4 latch X,Y,Z,W and 9-12 latch E,F,G,H axes (latches within 40 microseconds with optoisolation)

Communications Interface
I PCI with bi-directional FIFO and Dual Port RAM I 32-bit PCI interface.64-bit compatible.5 V/3.3 V Commands are sent in ASCII. A binary communication mode is also available as a standard feature

Dedicated Inputs (per axis)


I I I I I I I I I I I I Main encoder inputsChannel A,A-,B,B-,I,I- (12 V or TTL) Dual encoder (for axes configured as servo)Channel A,A-,B,BForward and reverse limit inputsoptoisolated Home inputoptoisolated Selectable high-speed position latch inputoptoisolated Selectable abort input for each axis Analog motor command output with 16-bit DAC resolution Pulse and direction output for step motors PWM output also available for servo amplifiers Amplifier enable output Error output (per card) High-speed position compare output (per card) -FAST 31 sec 62 sec 94 sec 125 sec

Modes of Motion:
I I I I I I I I I I I I Point-to-point positioning Position Tracking Jogging 2D Linear and Circular Interpolation with feedrate override Linear Interpolation for up to 8 axes Tangential Following Helical Electronic Gearing with multiple masters and ramp-to-gearing Gantry Mode Electronic Cam Contouring Teach and playback

Dedicated Outputs (per axis)

CONTROLLERSPCI

Minimum Servo Loop Update Time


I I I I 12 axes: 62 sec 34 axes:125 sec 56 axes:156 sec 78 axes:187 sec

Memory
I Program memory size2000 lines 80 characters I 510 variables I 16,000 total array elements in up to 30 arrays

Filter
I PID (proportional-integral-derivative) with velocity and acceleration feedforward I Notch filter and low-pass filter I Dual-loop control for backlash compensation I Velocity smoothing to minimize jerk I Integration limit I Torque limit I Offset adjustment

Maximum Encoder Feedback Rate


I 22 MHz

Maximum Stepper Rate


I 6 MHz (Full, half or microstep)

Power Requirements
I DMC-18x6: +5V 700 mA +3.3V 600 mA +12V 150 mA -12V 40 mA

Kinematic Ranges
I Position: 32 bit (2.15 billion counts per move; automatic rollover; no limit in jog or vector modes) I Velocity: Up to 22 million counts/sec for servo motors I Acceleration: Up to 1 billion counts/sec2

Environmental
I Operating temperature: 070 C I Humidity: 2095% RH, non-condensing

Uncommitted Digital I/O


INPUTS DIGITAL INPUTS DIGITAL OUTPUTS ANALOG

Mechanical
8 16 8 8 I DMC-18x6:14 axes:7.850" 4.2" 58 axes:12.28" 4.2"
Reduced feature set for -FAST.

DMC-1816 thru -1846 DMC-1856 thru -1886

8 24

14

www.galilmc.com / Galil Motion Control, Inc.

PCI Bus Accelera Series, 1 8 axes

DMC-18x6 Series
Instruction Set
Servo Motor
AF DV FA FV IL IT KD KI KP NB NF NZ OF PL SH TL TM DE DP KS MT QS RP TD TP YA YB YC YR YS BA BB BC BD BI BM BO BS BZ Analog feedback Dual loop operation Acceleration feedforward Velocity feedforward Integrator limit Independent time constant Derivative constant Integrator constant Proportional constant Notch bandwidth Notch frequency Notch zero Offset Pole Servo here Torque limit Sample time Define encoder position Define reference position Stepper motor smoothing Motor type Error magnitude Report commanded position Step counts output Tell position of encoder Step drive resolution Step motor resolution Encoder resolution Error correction Stepper position maintenance Brushless axis Brushless phase Brushless calibration Brushless degrees Brushless inputs Brushless modulo Brushless offset Brushless setup Brushless zero Arm latch Clear bit Configure I/O points Input interrupt Define output bit Output compare function Output port Set bit State of digital input x State of digital output x Value of analog input x

System Configuration
BN BP BV CE CN CO CW DE DP DR DV EI EO IT LK LZ MO MT PF PW QD QU RS RS VF Burn parameters Burn program Burn variables and arrays Configure encoder type Configure switches Configure I/O points Data adjustment bit Define dual encoder position Define position DPRAM update rate Dual velocity (dual loop) Enable interrupts Echo off Independent smoothing Program protect Leading zeros format Motor off Motor type Position format Password Download array Upload array Reset Master reset Variable format Sine of x Cosine of x 1s complement of x Arc sine of x Arc cosine of x Arc tangent of x Absolute value of x Fraction portion of x Integer portion of x Round of x Square root of x Modulus operator

Interrogation (cont.)
TI TP TR TS TT TV DA DL DM ED ELSE ENDIF EN HX IF IN JP JS NO RA RC RD REM UI UL ZA ZS Tell input Tell position Trace program Tell switches Tell torque Tell velocity Deallocate variables/arrays Download program Dimension arrays Edit program Conditional statement End of cond.statement End program Halt execution If statement Input variable Jump Jump to subroutine No-operationfor comments Record array Record interval Record data Remark program User interrupt Upload program Data record variables Zero stack Comment Backward software limit Error limit Forward software limit Limit disable Encoder failure Off-on-error function Encoder failure period Encoder failure voltage Limit deceleration Torque limit Timeout for in-position After distance After input After motion profiler After absolute position After relative distance At speed After time After vector distance Motion complete After motionforward After motionreverse Wait for time

Independent Motion
AB AC BG DC FE FI HM HV IP IT JG PA PR PT SP ST CD CM DT EA EB EC EG EM EP EQ ET EW EY GA GD GM GP GR CA CR CS ES IT LE LI LM ST TN VA VD VE VM VP VR VS Abort motion Acceleration Begin motion Deceleration Find edge Find index Home Home speed Increment position Smoothing time constant Jog mode Position absolute Position relative Position tracking Speed Stop Contour data Contour mode Contour time interval ECAM master Enable ECAM ECAM table index ECAM go ECAM cycle ECAM interval Disengage ECAM ECAM table entry ECAM widen ECAM cycle counter Master axis for gearing Engagement distance for gearing Gantry mode Correction for gearing Gear ratio for gearing Define vector plane Circular interpolation move Clear motion sequence Ellipse scaling Smoothing time constant Linear interpolation end Linear interpolation segment Linear interpolation mode Stop motion Tangent Vector acceleration Vector deceleration Vector sequence end Coordinated motion mode Vector position Vector speed ratio Vector speed 15

Programming

CONTROLLERSPCI

Contour Mode

Stepper Motor

ECAM/Gearing

Math Functions
@SIN[x] @COS[x] @COM[x] @ASIN[x] @ACOS[x] @ATAN[x] @ABS[x] @FRAC[x] @INT[x] @RND[x] @SQR[x] %

Error Control
BL ER FL LD OA OE OT OV SD TL TW AD AI AM AP AR AS AT AV MC MF MR WT

Brushless Motor

Vector/Linear Interpolation

Interrogation
LA List arrays LL List labels LS List program LV List variables MG Message command QR Data record QZ Return data record RP Report command position RL Report latch RV Firmware revision information SC Stop code TB Tell status Tell error code TC Tell dual encoder TD Tell error TE

I/O
AL CB CO II OB OC OP SB @IN[x] @OUT[x] @AN[x]

Trippoint

www.galilmc.com / Galil Motion Control, Inc.

PCI Bus Accelera Series, 1 8 axes

DMC-18x6 Series
Connectors
100-pin, high density; Connector: Amp# 2-178238-9, Cable: Amp# 2-175677-9; Enclosure: Amp# 176793-9

Axis 14 DMC-18x6
1 Analog ground 51 2 Ground 52 3 5V 53 4 Error output* 54 55 5 Reset* 6 Encodercompare output 56 57 7 Ground 8 Ground 58 9 Motor command W 59 10 Sign W / dir W 60 11 PWM W / step W 61 12 Motor command Z 62 13 Sign Z / dir Z 63 14 PWM Z / step Z 64 65 15 Motor command Y 16 Sign Y / dir Y 66 17 PWM Y / step Y 67 18 Motor command X 68 19 Sign X / dir X 69 20 PWM X / step X 70 21 Amp enable W 71 22 Amp enable Z 72 23 Amp enable Y 73 24 Amp enable X 74 25 A+ X 75 26 A- X 76 27 B+ X 77 28 B- X 78 29 I+ X 79 30 I- X 80 31 A+ Y 81 32 A - Y 82 33 B+ Y 83 34 B- Y 84 35 I+ Y 85 86 36 I- Y 37 A+ Z 87 38 A - Z 88 39 B+ Z 89 40 B- Z 90 41 I+ Z 91 92 42 I- Z 43 A+ W 93 44 A - W 94 95 45 B+ W 46 B- W 96 47 I+ W 97 48 I- W 98 49 +12 V 99 50 +12 V 100 *Active low NC Ground 5V Limit common Home W Reverse limit W Forward limit W Home Z Reverse limit Z Forward limit Z Home Y Reverse limit Y Forward limit Y Home X Reverse limit X Forward limit X Ground 5V Input common Latch X/Input 1 Latch Y/Input 2 Latch Z/Input 3 Latch W/Input 4 Input 5 Input 6 Input 7 Input 8 Abort* Output 1 Output 2 Output 3 Output 4 Output 5 Output 6 Output 7 Output 8 5V Ground Ground Ground Analog in 1 Analog in 2 Analog in 3 Analog in 4 Analog in 5 Analog in 6 Analog in 7 Analog in 8 -12 V -12 V

Axis 58 DMC-18x6
1 NC 51 2 Ground 52 3 5V 53 4 Error output* 54 55 5 Reset* 6 Encodercompare output 56 57 7 Ground 8 Ground 58 9 Motor command H 59 10 Sign H / dir H 60 11 PWM H / step H 61 12 Motor command G 62 13 Sign G / dir G 63 14 PWM G / step G 64 65 15 Motor command F 16 Sign F / dir F 66 17 PWM F / step F 67 18 Motor command E 68 19 Sign E / dir E 69 20 PWM E / step E 70 21 Amp enable H 71 22 Amp enable G 72 23 Amp enable F 73 24 Amp enable E 74 25 A+ E 75 26 A- E 76 27 B+ E 77 28 B- E 78 29 I+ E 79 30 I- E 80 31 A+ F 81 32 A- F 82 33 B+ F 83 34 B- F 84 35 I+ F 85 36 I- F 86 37 A+ G 87 38 A- G 88 39 B+ G 89 40 B- G 90 41 I+ G 91 92 42 I- G 43 A+ H 93 44 A- H 94 95 45 B+ H 46 B- H 96 47 I+ H 97 48 I- H 98 49 + 12 V 99 50 + 12 V 100 NC Ground 5V Limit common Home H Reverse limit H Forward limit H Home G Reverse limit G Forward limit G Home F Reverse limit F Forward limit F Home E Reverse limit E Forward limit E Ground 5V Input common Latch E/Input 9 Latch F/Input 10 Latch G/Input 11 Latch H/Input 12 Input 13 Input 14 Input 15 Input 16 Reserved Output 9 Output 10 Output 11 Output 12 Output 13 Output 14 Output 15 Output 16 5V Ground Ground Ground Input 17 Input 18 Input 19 Input 20 Input 21 Input 22 Input 23 Input 24 -12 V -12 V

Auxiliary Encoder (Axis 14 )


26-pin IDC
1 5V 3 AA+X 5 AB+X 7 AA+Y 9 AB+Y 11 +5 V 13 AA+Z 15 AB+Z 17 AA+W 19 AB+W 21 Sample clock 23 NC 25 NC 2 Ground 4 AA-X 6 AB-X 8 AA-Y 10 AB-Y 12 Ground 14 AA-Z 16 AB-Z 18 AA-W 20 AB-W 22 NC 24 NC 26 NC

CONTROLLERSPCI

Auxiliary Encoder (Axis 58)


26-pin IDC
1 5V 3 AA+E 5 AB+E 7 AA+F 9 AB+F 11 +5 V 13 AA+G 15 AB+G 17 AA+H 19 AB+H 21 Sample clock 23 NC 25 NC 2 Ground 4 AA-E 6 AB-E 8 AA-F 10 AB-F 12 Ground 14 AA-G 16 AB-G 18 AA-H 20 AB-H 22 NC 24 NC 26 NC

16

www.galilmc.com / Galil Motion Control, Inc.

PCI Bus Accelera Series, 1 8 axes

DMC-18x6 Series
ConnectorsAMP-19540
J1 Power 8-pin AMP Mate-n-lock II
1 2 3 4 5 6 7 8 Earth +VM (18 V80 V) +VM (18 V80 V) +VM (18 V80 V) Ground Ground Ground Ground

Interconnect with four 500 W servo drives

J4 X-axis 15-pin Hi-density Female D-sub


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 I+ X B+ X A+ X AB+ X Ground I- X B- X A- X AA- X Hall A X AA+ X AB- X Hall B X Hall C X 5V

J7 W-axis 15-pin Hi-density Female D-sub


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 I+ W B+ W A+ W AB+ W Ground I- W B- W A- W AA- W Hall A W AA+ W AB- W Hall B W Hall C W 5V

JX1, JY1, JZ1, JW1 Motor Output 4-pin


AMP Mate-n-lock II
1 2 3 4 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 Earth A C B PWM/MCMD Z Output 6 Output 8 Output 5 Output 2 Abort* Input 6 Latch Z/Input 3 SIGN/AEN Y Encoder compare output Reverse limit X Reverse limit Y Reverse limit Z Reverse limit W Forward limit W SIGN/AEN W SIGN/AEN Z Output 7 Output 4 Output 1 Output 3 Input 7 Latch W/Input 4 Latch X/Input 1 PWM/MCMD X Home X Home Y Home Z Home W Error Output*/INCOM PWM/MCMD W 5V 5V Ground Ground Input 8 Input 5 Latch Y/Input 2 PWM/MCMD Y SIGN/AEN X Forward limit X Forward limit Y Forward limit Z Reset*/LSCOM

CONTROLLERSPCI

J3 I/O 44-pin Hi-density Female D-sub

J5 Y-axis 15-pin Hi-density Female D-sub


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 I+ Y B+ Y A+ Y AB+ Y Ground I- Y B- Y A- Y AA- Y Hall A Y AA+ Y AB- Y Hall B Y Hall C Y 5V

J11 SPI 9-pin Female D-sub (reserved) J12 Analog 15-pin Male D-sub
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Analog ground Analog input 1 Analog input 3 Analog input 5 Analog input 7 Analog ground -12 V 5V Analog ground Analog input 2 Analog input 4 Analog input 6 Analog input 8 Analog ground +12 V

J6 Z-axis 15-pin Hi-density Female D-sub


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 I+ Z B+ Z A+ Z AB+ Z Ground I- Z B- Z A- Z AA- Z Hall A Z AA+ Z AB- Z Hall B Z Hall C Z 5V

AMP-19540

*Active low

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17

PCI Bus Accelera Series, 1 8 axes

DMC-18x6 Series
Hardware Accessories
ICM-2900 Interconnect Module
The ICM-2900 breaks-out the 100-pin SCSI cable into screw-type terminals.One ICM-2900 is required for each set of four axes.The ICM-2900-FL has flanges which allow standard screw-type panel mounting for card-level PCI controllers. Specify -OPTO for optoisolated outputs. Specify -HAEN for high amp enable and -LAEN for low amp enable. If auxiliary encoders are to be used,use an ICM-2908, a CB-36-25,and a CABLE -36-1M.

DB-28104 Sinusoidal Encoder Interpolation Board


The DB-28104 mounts to the DMC-18x6 50-pin header and provides interpolation of up to four 1-volt differential sinusoidal encoders resulting in a higher position resolution.The AF n command selects sinusoidal interpolation where n specifies 2n interpolation counts per encoder cycle (n= 5 to 12). For example, if the encoder cycle is 40 microns, AF10 results in 210 =1024 counts per cycle, or a resolution of 39 nanometers per count. Each sinusoidal encoder connects to the DB-28104 through its own 9-pin D-sub connector. 3.510" x 3.075".

DB-14064 I/O Expansion


The DB-14064 is an optional board which provides 64 additional I/O for the DMC-18x6 controllers.This board mounts directly onto the back of the controller and provides 64 I/O points configurable by the user for inputs or outputs.The I/O is accessible through two 50-pin headers. A CB-50-80 adaptor can be used to convert the IDC connectors to an 80-pin connector. Using the adaptor and the Cable-80 allows for direct connection to the Galil IOM-1964 opto-isolation module.

CONTROLLERSPCI

ICM-2900 Interconnect Module (shown without flange)

IOM-1964 I/O Module


The IOM-1964 is an Input/Output interconnect module that provides optical isolation for the 64 extended I/O of the DB-14064. Each of the 64 optically isolated inputs and outputs is rated for 25 mA at up to 28 VDC and is configurable as inputs or outputs in groups of eight bits. The IOM-1964 also provides 16 highside outputs capable of 500 mA of current per output.The dimensions are 7.0" 13.5".Requires CB-50-80 and CABLE-80.

AMP-19540 Interconnect with Four 500 Watt Servo Drives


Galils AMP-19540 is a 4-axis amplifier for driving brush or brushless motors up to 500 Watts each. By interfacing directly to Galils DMC-18x6 PCI bus controllers, it provides a cost-effective controller/drive solution for multi-axis applications.The AMP-19540 contains four transconductance, PWM amplifiers for driving brush or brushless motors. Each amplifier operates at 18V to 80V DC, up to 7 Amps continuous, 10 Amps peak. The AMP-19540 gain setting is easily configured with jumpers. The PWM switching frequency is 60 kHz.The AMP-19540 enclosure has dimensions of 6.8 x 8.75 x 1 . It interfaces to a PCI bus controller with a single, 100-pin high density SCSI cable.Signals for each axis are brought out through D-type connectors located on the AMP-19540. For applications with less than three axes, the AMP-19520 two-axis model is available. A shunt regulator option is also available. CE certified.

IOM-1964 Optically Isolated 64-bit Input/Output Module

18

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PCI Bus Accelera Series, 1 8 axes

DMC-18x6 Series
Ordering Information
PART NUMBER DESCRIPTION QUANTITY 1 QUANTITY 100

DMC-1816 DMC-1826 DMC-1836 DMC-1846 DMC-1856 DMC-1866 DMC-1876 DMC-1886 CB-50-100-1886 CABLE-100-1M CABLE-100-2M CABLE-100-4M ICM-2900-FL ICM-2900-OPTO AMP-19520 AMP-19540 -SR DB-28104 DB-14064 CB-50-80 CB-36-25 CABLE-36-1M ICM-2908-FL CABLE-26-25 IOM-1964 Galil Utilities DMCWIN32 WSDK ActiveX Tool Kit

1-axis Accelera, PCI 2-axis Accelera, PCI 3-axis Accelera, PCI 4-axis Accelera, PCI 5-axis Accelera, PCI 6-axis Accelera, PCI 7-axis Accelera, PCI 8-axis Accelera, PCI 50- to 100-pin converter board; incl. two ribbon cables for DMC-1856 to -1886 100-pin high-density cable in 1 meter length 100-pin high-density cable in 2-meter length 100-pin high-density cable in 4 meter length Interconnect module (use 1 for every 4 axes). Specify -HAEN for high amp enable or -LAEN for low amp enable. Specify -FL for flange ICM with optoisolated outputs 2-axis amplifier for 500 W servos 4-axis amplifier for 500 W servos Shunt regulator option for AMP-195x0 Sinusoidal Encoder Interpolation Board Attachment board for 64 additional I/O 50-pin to 80-pin adaptor for DB-14064 36-pin adaptor for aux encoders using ICM-2908 36-pin high-density cable for aux encoders using ICM-2908 Aux encoder breakout Ribbon cable for aux encoders with ICM-1900 or AMP-19540 Input/output optoisolated module for 64 I/O (use with DB-14064) Communication drivers, SmartTERM, DMCDOS, .NET Windows API Tool Kit (VB, C, C++, etc.) Set-up, tuning and analysis software Custom ActiveX controls for Visual Basic,Visual C++, etc.

$1095 $1495 $1895 $2195 $2595 $2795 $2995 $3195 $ 75 $ 125 $ 135 $ 150 $ 295 $ 345 $ 595 $ 795 $ 50 $ 395 $ 295 $ 75 $ 50 $ 90 $ 125 $ 15 $ 695

$ 795 $ 875 $ 935 $ 995 $1345 $1425 $1525 $1595 $ 50 $ 95 $ 100 $ 105 $ 195 $ 245 $ 395 $ 495 $ 25 $ 245 $ 195 $ 50 $ 45 $ 75 $ 95 $ 15 $ 495

CONTROLLERSPCI

$ 20 for CD; free download Included with Utilities $ 195 $ 595

Galil offers additional quantity discounts for purchases between 1 and 100. Consult Galil for a quotation.

www.galilmc.com / Galil Motion Control, Inc.

19

MOTION CONTROLLERS

PCI Bus, 1 8 axes

DMC-18x0 and DMC-18x2 Series


Product Description
The DMC-18x0 and DMC-18x2 Series are PCI bus motion controllers designed for single and multi-axis applications. For low-cost, single axis PCI applications, Galils DMC-1417 controller is recommended. While the DMC-18x0 and DMC-18x2 controllers are similar in performance,the Econo DMC-18x2 has a few less features that result in a cost-savings. Eliminated features include five through eight axes of control, optical isolation on inputs, uncommitted analog inputs, dual encoder inputs, and the auxiliary FIFO and DPRAM communication channel.

Features
I PCI card in 1 through 8 axis versions: DMC-18x0 where x=1,2,3,4,5,6,7,8 axes DMC-18x2 where x=1,2,3,4 axes I User-configurable for stepper or servo motors on any combination of axes. Optional sinusoidal commutation for brushless servo motors. Optional firmware for piezoceramic motors. I Accepts up to 12 MHz encoder frequencies for servos. Outputs up to 3 MHz for steppers I PID compensation with velocity and acceleration feedforward, integration limits, notch filter and low-pass filter I Modes of motion include jogging, point-to-point positioning, contouring, linear and circular interpolation, electronic gearing and ECAM. Features ellipse scaling, slow-down around corners, infinite segment feed and feedrate override I Over 200 English-like commands including conditional statements and event triggers I Non-volatile memory for programs, variables and arrays. Multitasking for concurrent execution of up to eight programs I Home input and forward and reverse limits accepted for every axis. Optical isolation on the DMC-18x0 only

CONTROLLERSPCI

PCI Bus Controllers (left to right) DMC-1880, DMC-1840, and DMC-1842

Both controllers incorporate a 32-bit microcomputer and provide advanced features such as PID compensation with velocity and acceleration feedforward, memory with multitasking for simultaneously running up to eight programs, and uncommitted I/O for synchronizing motion with external events. Modes of motion include point-to-point positioning, jogging, linear and circular interpolation, contouring, electronic gearing and ECAM. Like all Galil controllers,the DMC-18x0 and DMC18x2 controllers use a simple,English-like command language which makes them very easy to program. Galils WSDK servo design software further simplifies system set-up with one-button servo tuning and real-time display of position and velocity information.

I 8 uncommitted inputs and 8 outputs for 1- through 4-axis models, 24 inputs and 16 outputs for 5- through 8-axis models. Optical isolation on the DMC-18x0 only I High speed position latch for each axis and output compare I 8 uncommitted analog inputs for the DMC-18x0 only I Dual encoder inputs for the DMC-18x0 only I Expansion for 64 I/O with optional DB-14064 board or ICM-1900 I 100-pin SCSI connectors for each set of 4 axes. ICM-2900 breaks-out 100-pin cable into screw terminals I AMP-19540 connects to PCI controller with 100-pin cable and provides four amplifiers for 500 W servos I Communication drivers for all current versions of Windows, DOS, QNX, and Linux I CE certified I Custom hardware and firmware options available

20

www.galilmc.com / Galil Motion Control, Inc.

PCI Bus, 1 8 axes

DMC-18x0 and DMC-18x2 Series


Specifications
System Processor
I Motorola 32-bit microcomputer

High Speed Position Latch


I Uncommitted inputs 1-4 latch X,Y,Z,W and 9-12 latch E,F,G,H axes (latches within 0.1 microseconds without optoisolation and within 40 microseconds with optoisolation)

Communications Interface
I DMC-18x0:PCI with bi-directional FIFO plus auxiliary FIFO,and DPRAM I DMC-18x2:PCI with bi-directional FIFO I 32-bit PCI interface.64-bit compatible.5 V/3.3 V Commands are sent in ASCII. A binary communication mode is also available as a standard feature

Dedicated Inputs (per axis)


I Main encoder inputsChannel A,A-,B,B-,I,I- (12 V or TTL) I Dual encoder (for axes configured as servo)Channel A,A-,B,B(for DMC-18x0 only) I Forward and reverse limit inputsoptoisolated on DMC-18x0 I Home inputoptoisolated on DMC-18x0 I Selectable high-speed position latch input I Selectable abort input for each axis

Modes of Motion:
I I I I I I I I I I I I Point-to-point positioning Position Tracking Jogging 2D Linear and Circular Interpolation with feedrate override Linear Interpolation for up to 8 axes Tangential Following Helical Electronic Gearing with multiple masters and ramp-to-gearing Gantry Mode Electronic Cam Contouring Teach and playback

CONTROLLERSPCI

Dedicated Outputs (per axis)


I I I I I I Analog motor command output with 16-bit DAC resolution Pulse and direction output for step motors PWM output also available for servo amplifiers Amplifier enable output Error output (per card) High-speed position compare output (per card) -FAST 125 sec 250 sec 375 sec 500 sec

Minimum Servo Loop Update Time


I I I I 12 axes:250 sec 34 axes:375 sec 56 axes:500 sec 78 axes:625 sec

Memory
I Program memory size1000 lines 80 characters I 254 variables I 8000 array elements in up to 30 arrays

Filter
I PID (proportional-integral-derivative) with velocity and acceleration feedforward I Notch filter and low-pass filter I Dual-loop control for backlash compensation (DMC-18x0 only) I Velocity smoothing to minimize jerk I Integration limits I Torque limits I Offset adjustments I Option for piezo-ceramic motors

Maximum Encoder Feedback Rate


I 12 MHz

Maximum Stepper Rate


I 3 MHz (Full, half or microstep)

Power Requirements
I DMC-18x0: +5V 750 mA -12V 40 mA +12V 40 mA DMC-18x2: +5V 750 mA -12V 20 mA +12V 20 mA +3.3V 100 mA*

Kinematic Ranges
I Position: 32 bit (2.15 billion counts per move; automatic rollover; no limit in jog or vector modes) I Velocity: Up to 12 million counts/sec for servo motors I Acceleration: Up to 67 million counts/sec2

Environmental
I Operating temperature: 070 C I Humidity: 2095% RH, non-condensing

Mechanical
I DMC-18x0:14 axes:8.175" 4.2" 58 axes:12.28" 4.2" I DMC-18x2:7.275" 4.2"
* DMC-18x2 revision E and higher require 3.3V from PCI bus. Order DMC-18x2-3VREG to have a regulator installed to allow 5V only supply. Reduced feature set for -FAST.

Uncommitted Digital I/O


DIGITAL INPUTS DIGITAL OUTPUTS ANALOG INPUTS

DMC-1810 thru -1840 DMC-1850 thru -1880 DMC-18x2

8 24 8

8 16 8

8 8 0

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21

PCI Bus, 1 8 axes

DMC-18x0 and DMC-18x2 Series


Instruction Set
Servo Motor
AF DV FA FV IL IT KD KI KP NB NF NZ OF PL SH TL TM DE DP KS MT QS RP TD TP YA YB YC YR YS BA BB BC BD BI BM BO BS BZ Analog feedback (18x0 only) Dual loop operation (18x0 only) Acceleration feedforward Velocity feedforward Integrator limit Independent time constant Derivative constant Integrator constant Proportional constant Notch bandwidth Notch frequency Notch zero Offset Pole Servo here Torque limit Sample time Define encoder position Define reference position Stepper motor smoothing Motor type Error magnitude Report commanded position Step counts output Tell position of encoder Step drive resolution Step motor resolution Encoder resolution Error correction Stepper position maintenance Brushless axis Brushless phase Brushless calibration Brushless degrees Brushless inputs Brushless modulo Brushless offset Brushless setup Brushless zero Arm latch Clear bit Configure I/O points Input interrupt Define output bit Output compare function Output port Set bit State of digital input x State of digital output x Value of analog input x

System Configuration
BN BP BV CE CN CO CW DE DP DR DU DV EI EO IT LZ MO MT PF QD QU RS RS VF Burn parameters Burn program Burn variables and arrays Configure encoder type Configure switches Configure I/O points Data adjustment bit Define dual encoder position Define position DPRAM/FIFO update rate Dual port RAM enable (18x0 only) Dual velocity (dual loop) Enable interrupts Echo off Independent smoothing Leading zeros format Motor off Motor type Position format Download array Upload array Reset Master reset Variable format Sine of x Cosine of x 1s complement of x Arc sine of x Arc cosine of x Arc tangent of x Absolute value of x Fraction portion of x Integer portion of x Round of x Square root of x

Interrogation (cont.)
TD TE TI TP TR TS TT TV DA DL DM ED ELSE ENDIF EN HX IF IN JP JS NO RA RC RD REM UI UL ZS Tell dual encoder Tell error Tell input Tell position Trace program Tell switches Tell torque Tell velocity Deallocate variables/arrays Download program Dimension arrays Edit program Conditional statement End of cond.statement End program Halt execution If statement Input variable Jump Jump to subroutine No-operationfor comments Record array Record interval Record data Remark program User interrupt Upload program Zero stack Comment Backward software limit Error limit Forward software limit Off-on-error function Torque limit Timeout for in-position After distance After input After motion profiler After absolute position After relative distance At speed After time After vector distance Motion complete After motionforward After motionreverse Wait for contour data Wait for time

Independent Motion
AB AC BG DC FE FI HM IP IT JG PA PR PT SP ST CD CM DT WC EA EB EC EG EM EP EQ ET EW GA GD GM GP GR CA CR CS ES LE LI LM ST TN VA VD VE VM VP VR VS VT Abort motion Acceleration Begin motion Deceleration Find edge Find index Home Increment position Smoothing time constant Jog mode Position absolute Position relative Position tracking Speed Stop Contour data Contour mode Contour time interval Wait for contour data ECAM master Enable ECAM ECAM table index ECAM go ECAM cycle ECAM interval Disengage ECAM ECAM table entry ECAM widen Master axis for gearing Engagement distance for gearing Gantry mode Correction for gearing Gear ratio for gearing Define vector plane Circular interpolation move Clear motion sequence Ellipse scaling Linear interpolation end Linear interpolation segment Linear interpolation mode Stop motion Tangent Vector acceleration Vector deceleration Vector sequence end Coordinated motion mode Vector position Vector speed ratio Vector speed Smoothing time constantvector

Programming

CONTROLLERSPCI

Contour Mode

Stepper Motor

ECAM/Gearing

Math Functions
@SIN[x] @COS[x] @COM[x] @ASIN[x] @ACOS[x] @ATAN[x] @ABS[x] @FRAC[x] @INT[x] @RND[x] @SQR[x]

Brushless Motor

Error Control
BL ER FL OE TL TW AD AI AM AP AR AS AT AV MC MF MR WC WT

Vector/Linear Interpolation

Interrogation
LA List arrays LL List labels LS List program LV List variables MG Message command QR Data record QZ Return data record RP Report command position RL Report latch RV Firmware revision information SC Stop code Tell status TB Tell error code TC

Trippoint

I/O
AL CB CO II OB OC OP SB @IN[x] @OUT[x] @AN[x] 22

www.galilmc.com / Galil Motion Control, Inc.

PCI Bus, 1 8 axes

DMC-18x0 and DMC-18x2 Series


Connectors
100-pin, high density; Connector: Amp# 2-178238-9, Cable: Amp# 2-175677-9; Enclosure: Amp# 176793-9

Axis 14 DMC-18x0 and DMC-18x2


1 Analog ground 51 2 Ground 52 3 5V 53 4 Error output* 54 55 5 Reset* 6 Encodercompare output 56 57 7 Ground 8 Ground 58 9 Motor command W 59 10 Sign W / dir W 60 11 PWM W / step W 61 12 Motor command Z 62 13 Sign Z / dir Z 63 14 PWM Z / step Z 64 65 15 Motor command Y 16 Sign Y / dir Y 66 17 PWM Y / step Y 67 18 Motor command X 68 19 Sign X / dir X 69 20 PWM X / step X 70 21 Amp enable W 71 22 Amp enable Z 72 23 Amp enable Y 73 24 Amp enable X 74 25 A+ X 75 26 A- X 76 27 B+ X 77 28 B- X 78 29 I+ X 79 30 I- X 80 31 A+ Y 81 32 A - Y 82 33 B+ Y 83 34 B- Y 84 35 I+ Y 85 86 36 I- Y 37 A+ Z 87 38 A - Z 88 39 B+ Z 89 40 B- Z 90 41 I+ Z 91 92 42 I- Z 43 A+ W 93 44 A - W 94 95 45 B+ W 46 B- W 96 47 I+ W 97 48 I- W 98 49 +12 V 99 50 +12 V 100 *Active low (NC for 18x2) NC Ground 5V Limit common Home W Reverse limit W Forward limit W Home Z Reverse limit Z Forward limit Z Home Y Reverse limit Y Forward limit Y Home X Reverse limit X Forward limit X Ground 5V Input common Latch X/Input 1 Latch Y/Input 2 Latch Z/Input 3 Latch W/Input 4 Input 5 Input 6 Input 7 Input 8 Abort* Output 1 Output 2 Output 3 Output 4 Output 5 Output 6 Output 7 Output 8 5V Ground Ground Ground Analog in 1 Analog in 2 Analog in 3 Analog in 4 Analog in 5 Analog in 6 Analog in 7 Analog in 8 -12 V -12 V

Axis 58 DMC-18x0
1 NC 51 2 Ground 52 3 5V 53 4 Error output* 54 55 5 Reset* 6 Encodercompare output 56 57 7 Ground 8 Ground 58 9 Motor command H 59 10 Sign H / dir H 60 11 PWM H / step H 61 12 Motor command G 62 13 Sign G / dir G 63 14 PWM G / step G 64 65 15 Motor command F 16 Sign F / dir F 66 17 PWM F / step F 67 18 Motor command E 68 19 Sign E / dir E 69 20 PWM E / step E 70 21 Amp enable H 71 22 Amp enable G 72 23 Amp enable F 73 24 Amp enable E 74 25 A+ E 75 26 A- E 76 27 B+ E 77 28 B- E 78 29 I+ E 79 30 I- E 80 31 A+ F 81 32 A- F 82 33 B+ F 83 34 B- F 84 35 I+ F 85 36 I- F 86 37 A+ G 87 38 A- G 88 39 B+ G 89 40 B- G 90 41 I+ G 91 92 42 I- G 43 A+ H 93 44 A- H 94 95 45 B+ H 46 B- H 96 47 I+ H 97 48 I- H 98 49 + 12 V 99 50 + 12 V 100 NC Ground 5V Limit common Home H Reverse limit H Forward limit H Home G Reverse limit G Forward limit G Home F Reverse limit F Forward limit F Home E Reverse limit E Forward limit E Ground 5V Input common Latch E/Input 9 Latch F/Input 10 Latch G/Input 11 Latch H/Input 12 Input 13 Input 14 Input 15 Input 16 Reserved Output 9 Output 10 Output 11 Output 12 Output 13 Output 14 Output 15 Output 16 5V Ground Ground Ground Input 17 Input 18 Input 19 Input 20 Input 21 Input 22 Input 23 Input 24 -12 V -12 V

Auxiliary Encoder (Axis 14 ) DMC 18x0 only


26-pin IDC
1 5V 3 AA+X 5 AB+X 7 AA+Y 9 AB+Y 11 +5 V 13 AA+Z 15 AB+Z 17 AA+W 19 AB+W 21 Sample clock 23 NC 25 NC 2 Ground 4 AA-X 6 AB-X 8 AA-Y 10 AB-Y 12 Ground 14 AA-Z 16 AB-Z 18 AA-W 20 AB-W 22 NC 24 NC 26 NC

CONTROLLERSPCI

Auxiliary Encoder (Axis 58) DMC 18x0 only


26-pin IDC
1 5V 3 AA+E 5 AB+E 7 AA+F 9 AB+F 11 +5 V 13 AA+G 15 AB+G 17 AA+H 19 AB+H 21 Sample clock 23 NC 25 NC 2 Ground 4 AA-E 6 AB-E 8 AA-F 10 AB-F 12 Ground 14 AA-G 16 AB-G 18 AA-H 20 AB-H 22 NC 24 NC 26 NC

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23

PCI Bus, 1 8 axes

DMC-18x0 and DMC-18x2 Series


ConnectorsAMP-19540
J1 Power 8-pin AMP Mate-n-lock II
1 2 3 4 5 6 7 8 Earth +VM (18 V80 V) +VM (18 V80 V) +VM (18 V80 V) Ground Ground Ground Ground

Interconnect with four 500 W servo drives

J4 X-axis 15-pin Hi-density Female D-sub


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 I+ X B+ X A+ X AB+ X Ground I- X B- X A- X AA- X Hall A X AA+ X AB- X Hall B X Hall C X 5V

J7 W-axis 15-pin Hi-density Female D-sub


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 I+ W B+ W A+ W AB+ W Ground I- W B- W A- W AA- W Hall A W AA+ W AB- W Hall B W Hall C W 5V

JX1, JY1, JZ1, JW1 Motor Output 4-pin


AMP Mate-n-lock II
1 2 3 4 Earth A C B PWM/MCMD Z Output 6 Output 8 Output 5 Output 2 Abort* Input 6 Latch Z/Input 3 SIGN/AEN Y Encoder compare output Reverse limit X Reverse limit Y Reverse limit Z Reverse limit W Forward limit W SIGN/AEN W SIGN/AEN Z Output 7 Output 4 Output 1 Output 3 Input 7 Latch W/Input 4 Latch X/Input 1 PWM/MCMD X Home X Home Y Home Z Home W Error Output*/INCOM PWM/MCMD W 5V 5V Ground Ground Input 8 Input 5 Latch Y/Input 2 PWM/MCMD Y SIGN/AEN X Forward limit X Forward limit Y Forward limit Z Reset*/LSCOM

CONTROLLERSPCI

J3 I/O 44-pin Hi-density Female D-sub


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44

J5 Y-axis 15-pin Hi-density Female D-sub


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 I+ Y B+ Y A+ Y AB+ Y Ground I- Y B- Y A- Y AA- Y Hall A Y AA+ Y AB- Y Hall B Y Hall C Y 5V

J11 SPI 9-pin Female D-sub J12 Analog 15-pin Male D-sub (DMC-18x0 only)
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Analog ground Analog input 1 Analog input 3 Analog input 5 Analog input 7 Analog ground -12 V 5V Analog ground Analog input 2 Analog input 4 Analog input 6 Analog input 8 Analog ground +12 V

J6 Z-axis 15-pin Hi-density Female D-sub


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 I+ Z B+ Z A+ Z AB+ Z Ground I- Z B- Z A- Z AA- Z Hall A Z AA+ Z AB- Z Hall B Z Hall C Z 5V

AMP-19540

*Active low

24

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PCI Bus, 1 8 axes

DMC-18x0 and DMC-18x2 Series


Hardware Accessories
ICM-1900 Interconnect Module
The ICM-1900 Interconnect Module breaks-out the 100-pin main cable and 25-pin auxiliary encoder cable into screw-type terminals for quick connection of system hardware.An ICM-1900 is required for each set of four axes.The ICM-1900 is contained in a metal enclosure with dimensions of 13.5" 2.675" 6.88" and 1/4" diameter keyholes for mounting.The ICM is normally shipped configured for high amp enable (-HAEN). For low amp enable, order ICM-1900-LAEN. Also specify -OPTO for optoisolated outputs. If using auxiliary encoders with the DMC-18x0, use a CABLE-26-25 26-pin to 25-pin converter to the ICM-1900.

AMP-19540 Interconnect with Four 500 Watt Servo Drives


Galils AMP-19540 is a 4-axis amplifier for driving brush or brushless motors up to 500 Watts each.By interfacing directly to Galils DMC-18x2 or DMC-18x0 PCI bus controllers,it provides a cost-effective controller/drive solution for multi-axis applications.The AMP-19540 contains four transconductance, PWM amplifiers for driving brush or brushless motors. Each amplifier operates at 18V to 80V DC, up to 7 Amps continuous, 10 Amps peak.The AMP-19540 gain setting is easily configured with jumpers. The PWM switching frequency is 60 kHz.The AMP-19540 enclosure has dimensions of 6.8 x 8.75 x 1 . It interfaces to a PCI bus controller with a single, 100-pin high density SCSI cable. Signals for each axis are brought out through D-type connectors located on the AMP-19540. For applications with less than three axes, the AMP-19520 two-axis model is available. A shunt regulator option is also available. CE certified.

CONTROLLERSPCI

DB-14064 I/O Expansion


The DB-14064 is an optional board which provides 64 additional I/O for the DMC-18x0 and DMC-18x2 controllers.This board mounts directly onto the back of the controller and provides 64 I/O points configurable by the user for inputs or outputs.The I/O is accessible through two 50-pin headers.A CB-50-80 adaptor can be used to convert the IDC connectors to an 80-pin connector. Using the adaptor and the Cable-80 allows for direct connection to the Galil IOM-1964 opto-isolation module. ICM-1900 Interconnect Module and AMP-1900 Series

ICM-2900 Interconnect Module


The ICM-2900 breaks-out the 100-pin SCSI cable into screw-type terminals.One ICM-2900 is required for each set of four axes.The ICM-2900-FL has flanges which allow standard screw-type mounting for card-level Optima controllers. Specify -OPTO for optoisolated outputs. Specify -HAEN for high amp enable and -LAEN for low amp enable. If auxiliary encoders are to be used,use an ICM-2908, a CB-36-25,and a CABLE-36-1M.

IOM-1964 I/O Module


The IOM-1964 is an Input/Output module that provides optical isolation for the 64 extended I/O of the DB-14064.Each of the 64 optically isolated inputs and outputs is rated for 25 mA at up to 28 VDC and is configurable as inputs or outputs in groups of eight bits.The IOM-1964 also provides 16 highside outputs capable of 500 mA of current per output.The dimensions are 7.0" 13.5".Requires CB-50-80 and CABLE-80.

ICB-99000 Interconnect Converter Board


The ICB-99000 interconnect converter board provides interconnectivity between Galils DMC-21x3 amplifier modules and the DMC-18xx controllers.The DMC-21x3 amplifier connects to the 96-pin DIN connector on the ICB-99000,and the DMC-18xx controller connects to the ICB-99000 through the 100-pin SCSI connector. 4.25" 5.88"

CB-1500 Legacy-to-Optima Converter Board


The CB-1500 board provides an interconnect solution for upgrading a Legacy series controller (which uses a 60-pin ribbon cable) to a DMC-18xx controller (which uses a 100-pin SCSI cable).The ribbon cables from the Legacy ICM-1100 interconnect modules plug directly into the CB-1500, which then provides a 100-pin SCSI connector for interface to the DMC18xx. 3.75" 3.85"

ICM-2900 Interconnect Module (shown without flange)

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25

PCI Bus, 1 8 axes

DMC-18x0 and DMC-18x2 Series


Ordering Information
PART NUMBER DESCRIPTION QUANTITY 1 QUANTITY 100

DMC-1810 DMC-1820 DMC-1830 DMC-1840 DMC-1850 DMC-1860 DMC-1870 DMC-1880 DMC-1812

1-axis Optima, PCI 2-axis Optima, PCI 3-axis Optima, PCI 4-axis Optima, PCI 5-axis Optima, PCI 6-axis Optima, PCI 7-axis Optima, PCI 8-axis Optima, PCI 1-axis Econo PCI 2-axis Econo PCI 3-axis Econo PCI 4-axis Econo PCI Option for 3 Volt regulator which allows for 5V only supply from PCI bus 50- to 100-pin converter board; incl. two ribbon cables for DMC-1850 to -1880 26-pin IDC to 25-pin D type for auxiliary encoders 100-pin high-density cable in 1 meter length 100-pin high-density cable in 2-meter length 100-pin high-density cable in 4 meter length Interconnect module (use 1 for every 4 axes). Specify -HAEN for high amp enable or -LAEN for low amp enable ICM with optoisolated outputs Interconnect module (use 1 for every 4 axes). Specify -HAEN for high amp enable or -LAEN for low amp enable. Specify -FL for flange ICM with optoisolated outputs 2-axis amplifier for 500 W servos 4-axis amplifier for 500 W servos Shunt regulator option for AMP-195x0 Attachment board for 64 additional I/O for DMC-18x0, DMC-18x2 50-pin to 80-pin adaptor for DB-14064 Input/output optoisolated module for 64 I/O Interconnect converter board Legacy-to-Optima converter board Communication drivers, SmartTERM, DMCDOS Windows API Tool Kit (VB, C, C++, etc.) Set-up, tuning and analysis software Custom ActiveX controls for Visual Basic,Visual C++, etc.

$1095 $1495 $1895 $2195 $2595 $2795 $2995 $3195 $ 795 $ 895 $1045 $1195 No extra charge $ 75 $ 15 $ 125 $ 135 $ 150 $ 345 $ 395 $ 295 $ 345 $ 595 $ 795 $ 50 $ 295 $ 75 $ 695 $ 75 $ 50

$ 795 $ 875 $ 935 $ 995 $1345 $1425 $1525 $1595 $ 595 $ 665 $ 725 $ 795 $ 50 $ 15 $ 95 $ 100 $ 105 $ 245 $ 295 $ 195 $ 245 $ 395 $ 495 $ 25 $ 195 $ 50 $ 495 $ 50 $ 45

CONTROLLERSPCI

DMC-1822 DMC-1832 DMC-1842 -3VREG CB-50-100-1880 CABLE-26-25 CABLE-100-1M CABLE-100-2M CABLE-100-4M ICM-1900 ICM-1900-OPTO ICM-2900-FL ICM-2900-OPTO AMP-19520 AMP-19540 -SR DB-14064 CB-50-80 IOM-1964 ICB-99000 CB-1500 Galil Utilities DMCWIN32 WSDK ActiveX Tool Kit

$ 20 for CD; free download Included with Utilities $ 195 $ 595

Galil offers additional quantity discounts for purchases between 1 and 100. Consult Galil for a quotation. 26 www.galilmc.com / Galil Motion Control, Inc.

Ethernet/USB/RS232 Motion Controllers


Galils stand-alone motion controllers can either operate without a host computer or they can communicate with a host PC via a serial link such as RS232, USB or Ethernet. Several options are available including boxlevel and card-level models in both single-axis and multi-axis configurations.The DMC-2xx0 Optima controllers are full-featured, packaged controllers with optically isolated inputs.The DMC-21x3 are Econo cardlevel controllers available with mating multi-axis drives to save cost and wiring.The CDS-3310 controller/drive system and the DMC-14x5 controllers are an economical solution for applications with just one axis. Complete specifications are included in the following pages. Ethernet/RS232 and USB/RS232 Optima 18 axes DMC-20x0 and DMC-22x0 Series Pages 2934
Ethernet/RS232 Econo 18 axes

CONTROLLERSETHERNET

DMC-21x2 and DMC-21x3 Series Pages 3549 Ethernet/RS232 Econo 1 axis CDS-3310 Controller and Drive Pages 5055 Ethernet/RS232 Econo 12 axes DMC-14x5 Series & DMC-34x5 Series Pages 5661 Ethernet I/O Controller IOC-7007 Pages 6267

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27

Ethernet/USB/RS232 Motion Controllers


Ethernet Product Comparison Chart
DMC-20x0 Communication interface Form factor Number of axes Connector type USB RS232 x 2 (115 kb) box x=1,2,3,4,5,6,7,8 100-pin SCSI ICM-2900 90-260 VAC 12 MHz 3 MHz 1-2 axes:250 sec 7-8 axes:625 sec yes 1-4 ax: 8; 5-8 ax:16 1-4 ax: 8; 5-8 ax:16 8 64 yes 1000 x 80 8000 510 8 AMP-19520 AMP-19540 DMC-22x0 Ethernet 10/100Base-T RS232 x 2 (115 kb) box x=1,2,3,4,5,6,7,8 100-pin SCSI ICM-2900 90-260 VAC 12 MHz 3 MHz 1-2 axes:250 sec 7-8 axes:625 sec yes 1-4 ax: 8; 5-8 ax:16 1-4 ax: 8; 5-8 ax:16 8 64 yes 1000 x 80 8000 510 8 AMP-19520 AMP-19540 DMC-21x3 Ethernet 10Base-T RS232 x 1 (19.2 kb) card or DIN-rail x=1,2,3,4,5,6,7,8 96-pin DIN ICM-20100/20105 5V,+/-12V or 9-72 VDC 12 MHz 3 MHz 1-2 axes:250 sec 7-8 axes:625 sec yes with ICM-20105 1-4 ax: 8; 5-8 ax:16 1-4 ax: 8; 5-8 ax:16 8 (with DB-28040) 40 (with DB-28040) yes 1000 x 80 8000 510 8 AMP-20341 AMP-204x0 AMP-205xx SDM-20240 SDM-206x0 DMC-2143: $1195 DMC-2143: $795 CDS-3310 DMC-14x5 or -34x5 Ethernet 10/100 Base-T Ethernet 10Base-T RS232 x 1 (19.2 kb) RS232 x 1 (19.2 kb) box x=1 37-pin D ICM-3300 18-72 VDC 12 MHz 3 MHz 250 sec N/A yes with ICM-3300 8 10 2 in, 1 out 40 (with DB-28040) yes 1000 x 80 8000 510 8 Includes 500W brush or brushless drive card or box x=1,2 37-pin D ICM-1460 5V,+/-12V or 90-260 VAC 12 MHz 3 MHz 250 sec N/A yes with ICM-1460 option 1 axis: 7; 2 axis:3 3 2 64 (with DB-14064) 1 axis: yes; 2 axes: no 500 x 80 2000 126 2 AMP-1460 ICM-1460-20 W

CONTROLLERSETHERNET

Mating interconnect module Power requirement Maximum encoder rate Maximum stepper rate Minimum servo update time Optoisolated digital inputs # of uncommitted digital inputs # of uncommitted digital outputs # of analog inputs # of extended I/O Dual Encoder for each axis Program memory size(lines x chr) Array size (number of elements) # of variables # of tasks for multitasking Drive options

Price: qty 1 Price: qty 100

DMC-2040: $2595 DMC-2040: $1295

DMC-2240: $2595 DMC-2240: $1295

CDS-3310: $745 CDS-3310: $495

DMC-1415 card: $595 DMC-1415 card: $395

28

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MOTION CONTROLLERS

Ethernet/RS232 and USB/RS232 Optima 18 axes

DMC-20x0 and DMC-22x0 Series


Product Description
The DMC-20x0 and DMC-22x0 Series are box-level, multi-axis controllers designed for stand-alone applications.The controllers differ only in their type of communication interface: the DMC-20x0 has USB and the DMC-22x0 has an Ethernet 10/100Base-T port. The controllers also include two RS232 serial ports. The DMC-20x0 and DMC-22x0 controllers are available for 1 through 8 axes. The DMC-2xx0 controllers incorporate a 32-bit microcomputer and provide such advanced features as PID compensation with velocity and acceleration feedforward, programmable notch filter, program memory with multitasking for simultaneously running up to eight application programs, and uncommitted I/O for synchronizing motion with external events.They handle various modes of motion including point-to-point positioning, jogging, linear and circular interpolation, contouring, electronic gearing and ECAM. Additionally, the controllers are userconfigurable for stepper or servo motor control on any combination of axes. Like all Galil controllers, the DMC2xx0 controllers use a simple, Englishlike command language which makes them very easy to program. Galils WSDK servo design software further simplifies system set-up with one-button servo tuning and real-time display of position and velocity information. Communication drivers are available for DOS, Linux and all current Windows operating systems.

Features
I Box-level, stand-alone motion controllers I Available in 1 through 8 axis versions: where x=1,2,3,4,5,6,7,8 axes I Two RS232/422 ports up to 115 kbaud I DMC-20x0: USB DMC-22x0: Ethernet 10/100 Base-T I Ethernet supports multiple masters and slaves.TCP/IP, UDP and ModBus TCP master protocol for communication with I/O I User-configurable for stepper or servo motors on any combination of axes.Optional firmware for piezo-ceramic motors. Sinusoidal commutation for brushless servo motors I 12 MHz encoder frequencies for servos; 3 MHz for steppers I PID compensation with velocity and acceleration feedforward, integrator limit, notch filter and low-pass filter I Modes of motion include jogging, point-to-point positioning, contouring, linear and circular interpolation, electronic gearing and ECAM.Features ellipse scaling, slow-down around corners, infinite segment feed and feedrate override I Over 200 English-like commands directly executable by controller.Includes conditional statements and event triggers I Non-volatile memory for programs, variables and arrays. Concurrent execution of up to eight application programs I Dual encoders, isolated home and limits for each axis I 8 optoisolated uncommitted inputs and 8 outputs for 1through 4-axis models, 16 in/16 out for 5- through 8-axis models I High speed position latch for each axis and output compare I 8 uncommitted analog inputs I Additional 64 configurable digital I/O I Use Galils IOC-7007 I/O controller for additional I/O I 100-pin SCSI connectors for each set of 4 axes.Galils ICM-2900 interconnect module breaks-out 100-pin cable into screw terminals and attaches directly to DMC-2xx0 metal enclosure I 12.1" x 2.2" x 6.3" metal enclosure; Accepts 90-250V AC I CE certified I Custom hardware and firmware options available

CONTROLLERSETHERNET

DMC-22x0 Stand-alone with Ethernet/RS232

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29

Ethernet/RS232 and USB/RS232 Optima 1 8 axes

DMC-20x0 and DMC-22x0 Series


Specifications
System Processor
I Motorola 32-bit microcomputer

Uncommitted Digital I/O


DIGITAL INPUTS DIGITAL OUTPUTS CONFIGURABLE I/O

Communications Interface
I DMC-2000:USB 1.1 or 12.5 Mb/sec,expansion hub with two ports. (2) RS232/422 ports up to 115 kb.RS485 option I DMC-2200:Ethernet 10/100BASE-T.(2) RS232/422 ports up to 115 kb. RS485 option Commands are sent in ASCII. A binary communication mode is also available as a standard feature

DMC-2x10 thru -2x40 DMC-2x50 thru -2x80

8 16

8 16

64 64

Uncommitted Analog Inputs


I 8 individual 10 V analog inputs with 12-bit resolution (16-bit available as an option)

High Speed Position Latch


I Uncommitted inputs 14 latch X,Y,Z,W,and 912 latch E,F,G,H axes (latches within 40 microseconds with optoisolation)

Modes of Motion:
I I I I I I I I I I I I Point-to-point positioning Position Tracking Jogging 2D Linear and Circular Interpolation with feedrate override Linear Interpolation for up to 8 axes Tangential Following Helical Electronic Gearing with multiple masters Gantry Mode Electronic Cam Contouring Teach and playback

CONTROLLERSETHERNET

Dedicated Inputs (per axis)


I I I I I I I I I I I I Main encoder inputsChannel A,A-,B,B-,I,I- (12 V or TTL) Auxiliary encoder (for axes configured as servo)Channel A,A-,B,BForward and reverse limit inputsoptoisolated Home inputoptoisolated Selectable high-speed position latch inputoptoisolated Selectable abort inputoptoisolated Analog motor command output with 16-bit DAC resolution Pulse and direction output for step motors PWM output also available for servo amplifiers Amplifier enable output Error output (one per controller) High-speed position compare output (1 output for each set of 4 axes) -FAST 125 sec 250 sec 375 sec 500 sec

Dedicated Outputs (per axis)

Memory
I Program memory size1000 lines 80 characters I 510 variables I 8000 array elements in up to 30 arrays

Minimum Servo Loop Update Time


I I I I 12 axes:250 sec 34 axes:375 sec 56 axes:500 sec 78 axes:625 sec

Filter
I PID (proportional-integral-derivative) with velocity and acceleration feedforward I Notch filter and low-pass filter I Dual-loop control for backlash compensation I Velocity smoothing to minimize jerk I Integration limit I Torque limit I Offset adjustments I Option for piezo-ceramic motors

Maximum Encoder Feedback Rate


I 12 MHz

Maximum Stepper Rate


I 3 MHz (Full, half or microstep)

Power Requirements
I DMC-2xx0 series: accepts 90250 V AC, 5060 Hz

Kinematic Ranges
I Position: 32 bit (2.15 billion counts per move; automatic rollover; no limit in jog or vector modes) I Velocity: Up to 12 million counts/sec for servo motors I Acceleration: Up to 67 million counts/sec2

Environmental
I Operating temperature: 070 C for card; 060 for box I Humidity: 2095% RH, non-condensing

Mechanical
I DMC-2xx0 series:18 axes,12.1" 2.2" 6.3" metal enclosure
Reduced feature set for -FAST.

30

www.galilmc.com / Galil Motion Control, Inc.

Ethernet/RS232 and USB/RS232 Optima 1 8 axes

DMC-20x0 and DMC-22x0 Series


Instruction Set
Servo Motor
AF DV FA FV IL KD KI KP NB NF NZ OF PL SH TL TM DE DP KS MT QS RP TD TP YA YB YC YR YS BA BB BC BD BI BM BO BS BZ Analog feedback Dual loop operation Acceleration feedforward Velocity feedforward Integrator limit Derivative constant Integrator constant Proportional constant Notch bandwidth Notch frequency Notch zero Offset Pole Servo here Torque limit Sample time Define encoder position Define reference position Stepper motor smoothing Motor type Error magnitude Report commanded position Step counts output Tell position of encoder Step drive resolution Step motor resolution Encoder resolution Error correction Stepper position maintenance Brushless axis Brushless phase Brushless calibration Brushless degrees Brushless inputs Brushless modulo Brushless offset Brushless setup Brushless zero Arm latch Analog output Clear bit Communication Interrupt Configure I/O points Input interrupt Define output bit Output compare function Output port Set bit State of digital input x

I/O (cont.)
@OUT[x] @AN[x] BN BP BV CC CE CF CN CO CW DE DP DV EO IA IH IT LZ MB MO MT PF QD QU RS RS VF State of digital output x Value of analog input x

Interrogation Commands (cont.)


TC TD TE TI TP TR TS TT TV BK DA DL DM ED ELSE ENDIF EN HX IF IN JP JS NO RA RC RD REM SL UL ZS Tell error code Tell dual encoder Tell error Tell input Tell position Trace program Tell switches Tell torque Tell velocity Breakpoint Deallocate variables/arrays Download program Dimension arrays Edit program Conditional statement End of cond.statement End program Halt execution If statement Input variable Jump Jump to subroutine No-operationfor comments Record array Record interval Record data Remark program Single step Upload program Zero stack Comment Backward software limit Error limit Forward software limit Off-on-error function Torque limit Timeout for in-position After distance After input After motion profiler After absolute position After relative distance At speed After time After vector distance Motion complete After motionforward After motionreverse Wait for contour data Wait for time

Independent Motion
AB AC BG DC FE FI HM IP IT JG PA PR PT SP ST CD CM DT WC EA EB EC EG EM EP EQ ET EW GA GD GM _GP GR CA CR CS ES LE LI LM ST TN VA VD VE VM VP VR VS VT Abort motion Acceleration Begin motion Deceleration Find edge Find index Home Increment position Smoothing time constant Jog mode Position absolute Position relative Position tracking Speed Stop Contour data Contour mode Contour time interval Wait for contour data ECAM master Enable ECAM ECAM table index ECAM go ECAM cycle ECAM interval Disengage ECAM ECAM table entry ECAM widen Master axis for gearing Engagement distance for gearing Gantry mode Correction for gearing Gear ratio for gearing Define vector plane Circular interpolation move Clear motion sequence Ellipse scaling Linear interpolation end Linear interpolation segment Linear interpolation mode Stop motion Tangent Vector acceleration Vector deceleration Vector sequence end Coordinated motion mode Vector position Vector speed ratio Vector speed Smoothing time constantvector 31

System Configuration
Burn parameters Burn program Burn variables and arrays Configure auxiliary port Configure encoder type Configure unsolicited messages Configure switches Configure I/O points Data adjustment bit Define dual encoder position Define position Dual velocity (dual loop) Echo off Set IP address (22x0 only) Internet handle (22x0 only) Independent smoothing Leading zeros format ModBus (22x0 only) Motor off Motor type Position format Download array Upload array Reset Master reset Variable format Sine of x Cosine of x 1s complement of x Arc sine of x Arc cosine of x Arc tangent of x Absolute value of x Fraction portion of x Integer portion of x Round of x Square root of x

Programming

CONTROLLERSETHERNET

Contour Mode

Stepper Motor

ECAM/Gearing

Math Functions
@SIN[x] @COS[x] @COM[x] @ASIN[x] @ACOS[x] @ATAN[x] @ABS[x] @FRAC[x] @INT[x] @RND[x] @SQR[x]

Brushless Motor

Error Control
BL ER FL OE TL TW AD AI AM AP AR AS AT AV MC MF MR WC WT

Vector/Linear Interpolation

Trippoint

I/O
AL AO CB CI CO II OB OC OP SB @IN[x]

Interrogation
LA List arrays LL List labels LS List program LV List variables MG Message command QR Data record QZ Return DMA information RP Report data record command position RL Report latch RV Firmware revision information SC Stop code TB Tell status

www.galilmc.com / Galil Motion Control, Inc.

Ethernet/RS232 and USB/RS232 Optima 1 8 axes

DMC-20x0 and DMC-22x0 Series


Connectors
100-pin,high density; Connector:Amp# 2-178238-9,Cable:Amp# 2-175677-9; Enclosure:Amp# 176793-9

Axis 14 DMC-2xx0
1 Analog ground 51 52 2 Ground 3 5V 53 4 Error output* 54 55 5 Reset* 6 Encodercompare output 56 7 Ground 57 8 Ground 58 9 Motor command W 59 10 Sign W / dir W 60 11 PWM W / step W 61 12 Motor command Z 62 13 Sign Z / dir Z 63 14 PWM Z / step Z 64 15 Motor command Y 65 16 Sign Y / dir Y 66 17 PWM Y / step Y 67 18 Motor command X 68 19 Sign X / dir X 69 20 PWM X / step X 70 21 Amp enable W 71 22 Amp enable Z 72 23 Amp enable Y 73 24 Amp enable X 74 25 A+ X 75 26 A- X 76 27 B+ X 77 28 B- X 78 29 I+ X 79 30 I- X 80 31 A+ Y 81 32 A - Y 82 33 B+ Y 83 34 B- Y 84 35 I+ Y 85 36 I- Y 86 37 A+ Z 87 38 A - Z 88 39 B+ Z 89 40 B- Z 90 41 I+ Z 91 42 I- Z 92 43 A+ W 93 44 A - W 94 45 B+ W 95 46 B- W 96 47 I+ W 97 48 I- W 98 49 +12 V 99 50 +12 V 100 *Active low NC Ground 5V Limit common Home W Reverse limit W Forward limit W Home Z Reverse limit Z Forward limit Z Home Y Reverse limit Y Forward limit Y Home X Reverse limit X Forward limit X Ground 5V Input common Latch X/Input 1 Latch Y/Input 2 Latch Z/Input 3 Latch W/Input 4 Input 5 Input 6 Input 7 Input 8 Abort* Output 1 Output 2 Output 3 Output 4 Output 5 Output 6 Output 7 Output 8 5V Ground Ground Ground Analog in 1 Analog in 2 Analog in 3 Analog in 4 Analog in 5 Analog in 6 Analog in 7 Analog in 8 -12 V -12 V

Axis 58 DMC-2xx0
1 NC 51 52 2 Ground 3 5V 53 4 Error output* 54 55 5 Reset* 6 Encodercompare output 56 7 Ground 57 8 Ground 58 9 Motor command H 59 10 Sign H / dir H 60 11 PWM H / step H 61 12 Motor command G 62 13 Sign G / dir G 63 14 PWM G / step G 64 15 Motor command F 65 16 Sign F / dir F 66 17 PWM F / step F 67 18 Motor command E 68 19 Sign E / dir E 69 20 PWM E / step E 70 21 Amp enable H 71 22 Amp enable G 72 23 Amp enable F 73 24 Amp enable E 74 25 A+ E 75 26 A- E 76 27 B+ E 77 28 B- E 78 29 I+ E 79 30 I- E 80 31 A+ F 81 32 A- F 82 33 B+ F 83 34 B- F 84 35 I+ F 85 36 I- F 86 37 A+ G 87 38 A- G 88 39 B+ G 89 40 B- G 90 41 I+ G 91 42 I- G 92 43 A+ H 93 44 A- H 94 45 B+ H 95 46 B- H 96 47 I+ H 97 48 I- H 98 49 + 12 V 99 50 + 12 V 100 NC Ground 5V Limit common Home H Reverse limit H Forward limit H Home G Reverse limit G Forward limit G Home F Reverse limit F Forward limit F Home E Reverse limit E Forward limit E Ground 5V Input common Latch E/Input 9 Latch F/Input 10 Latch G/Input 11 Latch H/Input 12 Input 13 Input 14 Input 15 Input 16 Reserved Output 9 Output 10 Output 11 Output 12 Output 13 Output 14 Output 15 Output 16 5V Ground Ground Ground NC NC NC NC NC NC NC NC -12 V -12 V

Auxiliary Encoder DMC-2xx0


36-pin, high density Connector: Amp# 2-178238-5 Cable: Amp#2-175677-5 Enclosure: Amp# 176793-5
1 5V 2 Ground 3 AA+X 4 AA-X 5 AB+X 6 AB-X 7 AA+Y 8 AA-Y 9 AB+Y 10 AB-Y 11 AA+Z 12 AA-Z 13 AB+Z 14 AB-Z 15 AA+W 16 AA-W 17 AB+W 18 AB-W 19 5 V 20 Ground 21 AA+E 22 AA-E 23 AB+E 24 AB-E 25 AA+F 26 AA-F 27 AB+F 28 AB-F 29 AA+G 30 AA-G 31 AB+G 32 AB-G 33 AA+H 34 AA-H 35 AB+H 36 AB-H

CONTROLLERSETHERNET

RS-232-Main Port DMC-2xx0


9 pin; Male connector and cable
1 2 3 4 5 CTSoutput Transmit dataoutput Receive datainput RTSinput Ground 6 7 8 9 CTSoutput RTSinput CTSoutput NC

RS-232-Auxiliary Port DMC-2xx0


9-pin; Female connector and cable
1 2 3 4 5 CTSinput Transmit datainput Receive dataoutput RTSoutput Ground 6 7 8 9 CTSinput RTSoutput CTSinput 5V

USB-In DMC-20x0
Series B, 4 pos; Connector: Amp# 787780-1

USB-Out DMC-20x0
Series A, 8 pos; Connector: Amp# 787617-1

Ethernet 100BASE-T DMC-22x0


RJ-45 connector

32

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Ethernet/RS232 and USB/RS232 Optima 1 8 axes

DMC-20x0 and DMC-22x0 Series


Hardware Accessories
AMP-19540 Interconnect with Four 500 Watt Servo Drives Extended I/O DMC-2xx0
80-pin, high density Connector: 3M# n10280-52e2vc Cable: Amp# 3-175677-0 Enclosure: Amp# 1-176793-0
1 Bit 7 - bank 6 2 Bit 0- bank 7 3 Bit 6 - bank 6 4 Bit 1- bank 7 5 Bit 5 - bank 6 6 Bit 2- bank 7 7 Bit 4 - bank 6 8 Bit 3- bank 7 9 Bit 3 - bank 6 10 Bit 4- bank 7 11 Bit 2 - bank 6 12 Bit 5- bank 7 13 Bit 1 - bank 6 14 Bit 6- bank 7 15 Bit 0 - bank 6 16 Bit 7- bank 7 17 Bit 7 - bank 5 18 Ground 19 Bit 6 - bank 5 20 Ground 21 Bit 5 - bank 5 22 Ground 23 Bit 4 - bank 5 24 Ground 25 Bit 3 - bank 5 26 Ground 27 Bit 2 - bank 5 28 Ground 29 Bit 1 - bank 5 30 Ground 31 Bit 0 - bank 5 32 Bit 7 - bank 4 33 Bit 6 - bank 4 34 Bit 5 - bank 4 35 Bit 4 - bank 4 36 Bit 3 - bank 4 37 Bit 2 - bank 4 38 Bit 1 - bank 4 39 Bit 0 - bank 4 40 5 V 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 Bit 7 - bank 2 Bit 0- bank 3 Bit 6 - bank 2 Bit 1- bank 3 Bit 5 - bank 2 Bit 2- bank 3 Bit 4 - bank 2 Bit 3- bank 3 Bit 3 - bank 2 Bit 4- bank 3 Bit 2 - bank 2 Bit 5- bank 3 Bit 1 - bank 2 Bit 6- bank 3 Bit 0 - bank 2 Bit 7- bank 3 Bit 7 - bank 1 Ground Bit 6 - bank 1 Ground Bit 5 - bank 1 Ground Bit 4 - bank 1 Ground Bit 3 - bank 1 Ground Bit 2 - bank 1 Ground Bit 1 - bank 1 Ground Bit 0 - bank 1 Bit 7 - bank 0 Bit 6 - bank 0 Bit 5 - bank 0 Bit 4 - bank 0 Bit 3 - bank 0 Bit 2 - bank 0 Bitt 1 - bank 0 Bit 0 - bank 0 5V

Galils AMP-19540 is a 4-axis amplifier for driving brush or brushless motors up to 500 Watts. By interfacing directly to Galils Optima controllers, it provides a cost-effective controller/drive solution for multiaxis applications.The AMP-19540 contains four transconductance, PWM amplifiers for driving brush or brushless motors. Each amplifier operates at 18V to 80V DC, up to 7 Amps continuous, 10 Amps peak.The AMP-19540 gain setting is easily configured with jumpers.The PWM switching frequency is 60 kHz.The AMP-19540 enclosure has dimensions of 6.8 x 8.75 x 1 . It interfaces to the Optima controller with a single, 100-pin high density SCSI cable. Signals for each axis are brought out through D-type connectors located on the AMP-19540. For applications with less than three axes, the AMP-19520 two-axis model is available. A shunt regulator option is also available. AMP-19540

CONTROLLERSETHERNET

ICM-2900 Interconnect Module for DMC-2xx0


The ICM-2900 interconnect module for the DMC-2xx0 mounts directly to the DMC-2xx0 enclosure. Use one for every four axes.The ICM-2900 accepts the 100-pin motion controller cable for break-out into screw terminals.

ICM-2908 Interconnect Module for Auxiliary Encoders


The ICM-2908 interconnect module for the DMC-2xx0 accepts the 36-pin cable for auxiliary encoders.One ICM-2908 may be used for up to eight axes.

Left: ICM-2900 Interconnect Module Center: DMC-2040 with attached ICM-2900 Right: ICM-2908

IOM-1964 I/O Module


The IOM-1964 is an Input/Output module that provides optical isolation for the 64 extended I/O of the DMC-2xx0 controllers. Each of the 64 optically isolated inputs and outputs is rated for 25 mA at up to 28 VDC and is configurable as inputs or outputs in groups of eight bits.The IOM-1964 also provides 16 highside outputs capable of 500 mA of current per output.The dimensions are 7.0" 13.5". Use a CABLE-80 to connect controller to IOM-1964. IOM-1964 Optically Isolated 64-bit Input/Output Module

www.galilmc.com / Galil Motion Control, Inc.

33

Ethernet/RS232 and USB/RS232 Optima 1 8 axes

DMC-20x0 and DMC-22x0 Series


Ordering Information
PART NUMBER DESCRIPTION QUANTITY 1 QUANTITY 100

DMC-2010 (or 2210) DMC-2020 (or 2220) DMC-2030 (or 2230) DMC-2040 (or 2240) DMC-2050 (or 2250) DMC-2060 (or 2260) DMC-2070 (or 2270) DMC-2080 (or 2280) FIBEROPTIC ICM-2900 ICM-2900-OPTO ICM-2908 TERM-P CABLE-USB-2M CABLE-USB-3M CABLE-9-pin D CABLE-100-1M CABLE-100-2M CABLE-100-4M CABLE-36-1M CABLE-36-3M CABLE-80-1M CABLE-80-4M IOM-1964 AMP-19520 AMP-19540 -SR Galil Utilities WSDK ActiveX Tool Kit

1-axis USB, RS232 (or 1-axis Ethernet 10/100BASE-T, RS232) 2-axis USB, RS232 (or 2-axis Ethernet 10/100BASE-T, RS232) 3-axis USB, RS232 (or 3-axis Ethernet 10/100BASE-T, RS232) 4-axis USB, RS232 (or 4-axis Ethernet 10/100BASE-T, RS232) 5-axis USB, RS232 (or 5-axis Ethernet 10/100BASE-T, RS232) 6-axis USB, RS232 (or 6-axis Ethernet 10/100BASE-T, RS232) 7-axis USB, RS232 (or 7-axis Ethernet 10/100BASE-T, RS232) 8-axis USB, RS232 (or 8-axis Ethernet 10/100BASE-T, RS232) Ethernet 10/100BASE-F, RS232 fiberoptic link Interconnect module (use 1 for every 4 axes). Specify -HAEN for high amp enable or -LAEN for low amp enable. Specify -FL for flange ICM with optoisolated outputs Interconnect module for auxiliary encoders Panel-mount terminal USB cable,2 meter USB cable,3 meter RS232 cable 100-pin high-density cable in 1 meter length 100-pin high-density cable in 2-meter length 100-pin high-density cable in 4 meter length 36-pin high-density cable in 1 meter length (for aux encoders) 36-pin high-density cable in 3 meter length (for aux encoders) 80-pin high-density cable in 1 meter length (for extended I/O) 80-pin high-density cable in 4 meter length (for extended I/O) Input/Output optoisolated module for 64 I/O 2-axis amplifier for 500 W servos 4-axis amplifier for 500 W servos Shunt regulator option for AMP-195x0 Communication drivers, SmartTERM, DMCDOS Set-up, tuning and analysis software Custom ActiveX controls for Visual Basic,Visual C++, etc.

$1595 $1995 $2395 $2595 $2895 $3095 $3295 $3495 $ 200 $ 295 $ 345 $ 125 $ 945 $ 10 $ 15 $ 10 $ 125 $ 135 $ 150 $ 90 $ 110 $ 125 $ 150 $ 695 $ 595 $ 795 $ 50

$ 995 $1145 $1195 $1295 $1445 $1545 $1645 $1745 $ 150 $ 195 $ 245 $ 95 $ 765 $ 10 $ 15 $ 10 $ 95 $ 100 $ 105 $ 75 $ 90 $ 95 $ 105 $ 495 $ 395 $ 495 $ 25

CONTROLLERSETHERNET

$ 20 for CD; free download $ 195 $ 595

Galil offers additional quantity discounts for purchases between 1 and 100. Consult Galil for a quotation.

34

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MOTION CONTROLLERS

Ethernet /RS232 Econo 1 8 axes

DMC-21x2 and DMC-21x3 Series


Product Description
Galils DMC-21x2 and DMC-21x3 Ethernet motion controllers are designed for extremely cost-sensitive and space-sensitive applications.The DMC-21x3 controllers are available with a variety of plug-in multi-axis amplifier boards that are designed to eliminate the wiring and any connectivity issues between the controller and drives. The DMC-21x2 and DMC-21x3 are similar except the DMC-21x2 controllers use a 100-pin high-density SCSI connector and the DMC-21x3 controllers use a 96-pin DIN connector.
Above: DMC-2182 8-axis Controller Card (horizontal connector mount) Below: DMC-2142 4-axis Controller Card (horizontal connector mount)

Features
I Ethernet 10Base-T port; (1) RS232 port up to 19.2 kbaud I Ethernet supports multiple masters and slaves.TCP/IP, UDP and ModBus TCP master protocol for communication with I/O devices I Available in 1 through 8 axis versions I User-configurable for stepper or servo motors on any combination of axes.Optional firmware for piezo-ceramic motors.Sinusoidal commutation for brushless servo motors I Accepts up to 12 MHz encoder frequencies for servos. Outputs up to 3 MHz for steppers I PID compensation with velocity and acceleration feedforward, integration limits, notch filter and low-pass filter I Modes of motion include jogging, point-to-point positioning, contouring, linear and circular interpolation, electronic gearing and ECAM.Features ellipse scaling, slow-down around corners, infinite segment feed and feedrate override I Over 200 English-like commands executable by controller. Includes conditional statements and event triggers I Non-volatile memory for programs, variables and arrays. Concurrent execution of up to eight programs I Dual encoders, home and limits for each axis I 8 TTL uncommitted inputs and 8 outputs for 1- to 4-axis, 16 in/16 out for 5- to 8-axis models I Optically isolated I/O and 500 mA highside outputs available with ICM-20105 (for DMC-21x3) I Add 8 analog inputs and 40 digital I/O with DB-28040 I High speed position latch and output compare for each axis I Small size: 1-4 axes card: 4.25" x 7.0" 5-8 axes card: 4.25" x 10.75" I DIN-Rail mount option I Accepts +5 V, +/-12 V DC inputs; DC-to-DC converter option for single 9 V to 72 V DC input I DMC-21x2: 100-pin SCSI connectors for each set of 4 axes. ICM-2900 breaks-out 100-pin cable into screw terminals I DMC-21x3: 96-pin DIN connectors for each set of 4 axes. ICM-20100 provides D-connectors for each axis I Distributed control option with DMC-31x3 series I Communication drivers for Windows, DOS and Linux I Custom hardware and firmware options available I CE certified
www.galilmc.com / Galil Motion Control, Inc.

CONTROLLERSETHERNET

The controllers incorporate a 32-bit microcomputer and provide such advanced features as PID compensation with velocity and acceleration feedforward, program memory with multitasking for simultaneously running up to eight programs, and uncommitted I/O for synchronizing motion with external events. Modes of motion include point-to-point positioning, jogging, linear and circular interpolation, contouring, electronic gearing and ECAM. Like all Galil controllers,these controllers use a simple,English-like command language which makes them very easy to program.Galils WSDK servo design software further simplifies system set-up with one-buttonservo tuning and real-time display of position and velocity information.Communication drivers are available for DOS,Linux and all current Windows operating systems.

35

Ethernet/RS232 Econo 1 8 axes

DMC-21x2 and DMC-21x3 Series


Specifications
System Processor
I Motorola 32-bit microcomputer

High Speed Position Latch


I Uncommitted inputs 14 latch X,Y, Z,W; 912 latch E, F, G, H (latches within 0.1 microseconds)*

Communications Interface
I Ethernet 10BASE-T. (1) RS232 port up to 19.2 kbaud Commands are sent in ASCII. A binary communication mode is also available as a standard feature

Dedicated Inputs (per axis)


I I I I I I I I I I Main encoder inputsChannel A, A-,B,B-,I,I- (12 V or TTL) Auxiliary encoder inputs for each servo axis Forward and reverse limit inputsbuffered* Home inputbuffered* High-speed position latch inputbuffered* Analog motor command output with 16-bit DAC resolution Pulse and direction output for step motors Amplifier enable output* Error output (one per controller) High-speed position compare output (1 output for each set of 4 axes) -FAST 125 sec 250 sec 375 sec 500 sec

Modes of Motion:
I I I I I I I I I I I I Point-to-point positioning Position Tracking Jogging 2D Linear and Circular Interpolation with feedrate override Linear Interpolation Tangential Following Helical Electronic Gearing with multiple masters Gantry Mode Electronic Cam Contouring Teach and playback

Dedicated Outputs (per axis)

CONTROLLERSETHERNET

Minimum Servo Loop Update Time


I I I I 12 axes:250 sec 34 axes:375 sec 56 axes:500 sec 78 axes:625 sec

Memory
I Program memory size1000 lines 80 characters I 510 variables I 8000 array elements in up to 30 arrays

Maximum Encoder Feedback Rate


I 12 MHz

Filter
I PID (proportional-integral-derivative) with velocity and acceleration feedforward I Notch and low-pass filter I Velocity smoothing to minimize jerk I Integration limits I Torque limits I Offset adjustments I Option for piezo-ceramic motors

Maximum Stepper Rate


I 3 MHz (Full, half or microstep)

Power Requirements
14 axes 58 axes +5 V 0.8 A 1.4 A -12 V 20 mA 40 mA +12 V 20 mA 40 mA DC-to-DC converter option: 9 V to 18 V for DC12 18 V to 36 V input for DC24 36 V to 72 V input for DC48 I Approximate current draw for the DMC-2143 with no external load is about 200 mA for 24 V supply I I I I

Kinematic Ranges
I Position: 32 bit (2.15 billion counts per move; automatic rollover; no limit in jog or vector modes) I Velocity: Up to 12 million counts/sec for servo motors I Acceleration: Up to 67 million counts/sec2

Environmental
I Operating temperature: 070 C I Humidity: 2095% RH, non-condensing

Uncommitted Digital I/O


I 8 buffered inputs for 14 axes; 16 for 5 8 axes* I 8 TTL outputs for 14 axes; 16 for 58 axes* I 8 analog inputs and 40 digital I/O with DB-28040 (outputs source 3.3 V. For 24 open collector outputs that sink 5 V, order DB-28040-5V) I 8 analog inputs available with AMP-205x0 and SDM-206x0
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Mechanical
I 14 axes card: 4.25" 7.0" I 58 axes card: 4.25" 10.75"
*Optically isolated I/O available with ICM-20105 option Reduced feature set for -FAST.

Ethernet/RS232 Econo 1 8 axes

DMC-21x2 and DMC-21x3 Series


Instruction Set
Servo Motor
AG* AU* AW* DV FA FV IL KD KI KP NB NF NZ OF PL SH TK TL TM AG DE DP KS MT QS RP TD TP YA YB YC YR YS BA BB BC BD BI BM BO BS BZ Set AMP-20540 gain Set current loop gain Report AMP-20540 bandwidth Dual velocity Acceleration feedforward Velocity feedforward Integrator limit Derivative constant Integrator constant Proportional constant Notch bandwidth Notch frequency Notch zero Offset Pole Servo here Set peak current Continuous torque limit Sample time Set SDM-20640 gain Define encoder position Define reference position Stepper motor smoothing Motor type Error magnitude Report commanded position Step counts output Tell position of encoder Step drive resolution Step motor resolution Encoder resolution Error correction Stepper position maintenance Brushless axis Brushless phase Brushless calibration Brushless degrees Brushless inputs Brushless modulo Brushless offset Brushless setup Brushless zero Arm latch Clear bit Configure I/O points Input interrupt Define output bit Output compare function Output port Set bit

I/O (cont.)
@IN[x] State of digital input x @OUT[x] State of digital output x @AN[x] Value of analog input x

Interrogation (cont.)
SC TA* TB TC TD TE TI TP TR TS TT TV BK DA DL DM ED ELSE ENDIF EN HX IF IN JP JS NO RA RC RD REM SL UL ZS Stop code Tell AMP-20540 status Tell status Tell error code Tell dual encoder Tell error Tell input Tell position Trace program Tell switches Tell torque Tell velocity Breakpoint Deallocate variables/arrays Download program Dimension arrays Edit program Conditional statement End of cond.statement End program Halt execution If statement Input variable Jump Jump to subroutine No-operationfor comments Record array Record interval Record data Remark program Single step Upload program Zero stack Comment Backward software limit Error limit Forward software limit Off-on-error function Torque limit Timeout for in-position After distance After input After motion profiler After absolute position After relative distance At speed After time After vector distance Motion complete After motionforward After motionreverse Wait for contour data

Independent Motion Commands


WT AB AC BG DC FE FI HM IP IT JG PA PR PT SP ST CD CM DT WC EA EB EC EG EM EP EQ ET EW GA GD GM _GP GR CA CR CS ES LE LI LM ST TN VA VD VE VM VP VR VS VT Wait for time Abort motion Acceleration Begin motion Deceleration Find edge Find index Home Increment position Smoothing time constant Jog mode Position absolute Position relative Position tracking Speed Stop Contour data Contour mode Contour time interval Wait for contour data ECAM master Enable ECAM ECAM table index ECAM go ECAM cycle ECAM interval Disengage ECAM ECAM table entry ECAM widen Master axis for gearing Engagement distance for gearing Gantry mode Correction for gearing Gear ratio for gearing Define vector plane Circular interpolation move Clear motion sequence Ellipse scaling Linear interpolation end Linear interpolation segment Linear interpolation mode Stop motion Tangent Vector acceleration Vector deceleration Vector sequence end Coordinated motion mode Vector position Vector speed ratio Vector speed Smoothing time constantvector

System Configuration
BN BP BR* BS* BV CE CF CN CW DE DP DV EO HS IA IH IT LO LZ MB MO MT PF QD QU RS RS VF Burn parameters Burn program Brush motor enable Brushless set-up Burn variables and arrays Configure encoder type Configure unsolicited messages Configure switches Data adjustment bit Define dual encoder position Define position Dual velocity (dual loop) Echo off Handle switch Set IP address Internet handle Independent smoothing Lockout handle Leading zeros format ModBus Motor off Motor type Position format Download array Upload array Reset Master reset Variable format Sine of x Cosine of x 1s complement of x Arc sine of x Arc cosine of x Arc tangent of x Absolute value of x Fraction portion of x Integer portion of x Round of x Square root of x

Programming

CONTROLLERSETHERNET

Contour Mode

Stepper Motor

ECAM/Gearing

Math Functions
@SIN[x] @COS[x] @COM[x] @ASIN[x] @ACOS[x] @ATAN[x] @ABS[x] @FRAC[x] @INT[x] @RND[x] @SQR[x] LA LL LS LV MG QH* QR QZ RP RL RV

Brushless Motor

BL ER FL OE TL TW AD AI AM AP AR AS AT AV MC MF MR WC

Error Control

Vector/Linear Interpolation

Trippoint

I/O
AL CB CO II OB OC OP SB

Interrogation
List arrays List labels List program List variables Message command Query hall state Data record Return data record info Report command position Report latch Firmware revision information

For use with SDM-20640 * For use with AMP-20540

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37

Ethernet/RS232 Econo 1 8 axes

DMC-21x2 and DMC-21x3 Series


Distributed Control Option
The DMC-31x3 is a distributed control firmware option for the DMC-21x3 that allows up to eight axes distributed among several DMC-31x3 controllers to be programmed like a single controller.Typically,axes that are close together or that require tightly coupled coordinated motion are controlled by an individual DMC-31x3 controller.For example,an eight axis application might be constructed with two DMC-3143 4-axis controllers, four separate DMC-3123 2-axis controllers, or eight DMC-3113 1-axis controllers. Communication overhead and motion coordination issues typical with distributed, single-axis systems are minimized with the DMC-31x3 controllers. All motion coordination tasks are performed by the various DMC-31x3 multi-axis controllers in the network.The communication burden with the host PC is minimized because the PC communicates only to the one DMC-31x3 controller configured as the master, which in turn communicates with all other DMC-31x3 controllers on the network. A special set of commands for distributed control ease communication issues on the network.

I/O Expansion Options


DB-28040 I/O Expansion Board
The DB-28040 mounts directly to the DMC-21x3 50-pin header and provides an additional 40 digital inputs and outputs,and eight analog inputs (outputs source 3.3 V.For 24 open collector outputs that sink 5 V,order DB28040-5V).Even with the DB-28040 attached there is still room to mount the ICM-20100,ICM-20105,SDM-20240,AMP-20341 or AMP-20440. The 40 digital I/O signals are available on a 50-pin IDC header,and the analog inputs are available on a 16-pin header.With a controller firmware modification,the I/O board can also be modified to accept feedback from SSI encoders. 2.55" x 3.08". DMC-2143 4-axis controller with attached DB-28040 and ICM-20100

CONTROLLERSETHERNET

Distributed Control Commands


HA HC HQ HW Handle Assignment Automatic handle configuration Handle Query Handle wait SA ZA ZB Send slave command Ethernet user variable Ethernet user variable

DB-28104 Sinusoidal Encoder Interpolation Board


The DB-28104 mounts to the DMC-21x3 50-pin header and provides interpolation of up to four 1-volt differential sinusoidal encoders resulting in a higher position resolution.The AF n command selects sinusoidal interpolation where n specifies 2n interpolation counts per encoder cycle (n= 5 to 12). For example, if the encoder cycle is 40 microns, AF10 results in 210 =1024 counts per cycle, or a resolution of 39 nanometers per count. Each sinusoidal encoder connects to the DB-28104 through its own 9-pin D-sub connector. 3.510" x 3.075". DB-28104 mounted on a DMC-2143 controller

DMC-21x3 with Metal Enclosure


The DMC-21x3 is available with a metal enclosure.The standard configuration is for a 1 through 4-axis DMC-21x3-DC24 with an attached ICM-20105 packaged in an 8.55" x 5.6" x 1.95" metal enclosure (4-axis part number:DMC-2143DC24-20105-box).Please consult the factory for other packaging options. For example,a DMC-2183 can be packaged with an AMP-20540 and AMP-20440 upon special request. DMC-2143-DC24 and ICM-20105 packaged in a metal enclosure

IOC-7007 Controller for Ethernet I/O Expansion


Galils IOC-7007 I/O controller provides an intelligent solution for adding I/O and PLC functionality to the DMC-21x2/21x3 Ethernet control system. The IOC-7007 I/O controller connects to the Ethernet network allowing it to communicate with DMC-21x2/21x3 motion controllers and other devices on the network.The intelligent I/O controller has an on-board microprocessor for coordinating I/O events and performing tasks normally handled by a PLC.The IOC-7007 unit accepts up to seven plugin I/O modules for easy connection to optoisolated inputs,optoisolated outputs,analog inputs and outputs and dry-contact relays.Packaging options include card-level,box-level and DIN-rail mount. IOC-7007 BOX and IOC-7007-DIN

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Ethernet/RS232 Econo 1 8 axes

DMC-21x2 and DMC-21x3 Series


DMC-21x3 Interconnect and Drive Options
ICM-20100 Interconnect Module
The ICM-20100 breaks out the 96-pin connector into convenient D-sub connectors for easy interface to external amplifiers and I/O devices.The ICM-20100 provides 15-pin D-sub connectors for each of the four axes and 25-pin D-sub connectors for the auxiliary encoders and I/O.The ICM may be configured for High or Low amp enable.Default is high Amp Enable (-HAEN).For low Amp Enable,order -LAEN.The ICM-20100 mounts directly to the 96-pin connector on the DMC-21x3. 4.25" 3.70".

AMP-20341 4-axis 20 W Servo Drives


The AMP-20341 contains four linear drives for operating small brush-type servo motors.The AMP-20341 requires a 1230 DC Volt input.* Output power is 20 W per amplifier or 60 W total.The gain of each transconductance linear amplifier is 0.1 A/V at 1 A maximum current.The typical current loop bandwidth is 4 kHz.The AMP-20341 uses 15-pin D-sub connectors for encoder and limit connections on each axis and a 25-pin D-sub connector for I/O connections. 4.25" 3.70".
*The default configuration of the AMP-20341 is with J98 removed, which allows operation from a separate dual supply.Specify install J98 for operation of the AMP-20341 and DMC-21x3 from the same dual supply.

ICM-20105 Interconnect with Optically Isolated I/O


The ICM-20105 provides optical isolation for DMC-21x3 inputs and outputs,and breaks out the 96-pin connector into convenient D-sub connectors for easy interface to external amplifiers and I/O devices.The ICM20105 provides four 15-pin D-sub connectors for each of the four axes, a 37-pin D-sub for the digital I/O,home and limits,and a 25-pin D-sub for the auxiliary encoders.The maximum common voltage for the I/O is 28 VDC. Eight 500 mA highside drive outputs are available (total current not to exceed 3 A).The ICM-20105 is user-configurable for a broad range of amplifier enable options including:High amp enable,Low amp enable,5 V logic,12 V logic,external voltage supplies up to 24 V and sinking or sourcing.The ICM-20105 mounts directly to the 96-pin connector on the DMC-21x3. 4.25" x 3.70"

CONTROLLERSETHERNET

DMC-2183 8-axis controller with mounted ICM-20100 and AMP-20341

AMP-204x0 2- and 4-axis 200 W Servo Drives


The AMP-20440 contains four transconductance,PWM amplifiers for driving brush-type servo motors up to 200 Watts. Each amplifier drives up to 3.3 Amps at 2060 VDC (available voltage at the motor is 10% less). No external heat sink is required.The AMP-20440 uses 2-pin Molex connectors for each motor and a 15-pin high density Dconnector for encoder, limits and home for each axis.A single 44-pin high density Dconnector is used for additional I/O signals.A 4-pin Molex is used for the DC voltage input from a single DC power supply ranging from 2060 Volts.A two axis version,the AMP-20420 is also available. 4.95" x 3.75".

ICM-20500 Interconnect Module for AMP-205x0


TThe ICM-20500 provides a screw terminal interface for the AMP-205x0. The unit also provides optical isolation on digital inputs and outputs to interface with up to 24V I/O.The first four outputs are high power outputs capable of providing up to 500 mA at up to 24 VDC.The ICM-20500 is also available with D-type connectors instead of screw terminals (order as ICM-20500-DTYPE).This provides optical isolation of the I/O when using an AMP-205x0.The D-type connectors include four 15-pin high-density connectors and one 44-pin high-density connector.The pinout of the 15-pin connectors are the same as the AMP-205x0.The 44-pin connections are the same ICM-20500 Interconnect except for the following four signals: Module attached to AMP-20540 Amplifier Pin 9 Output Supply Pin 25 Input Common Pin 39 Output Return Pin 40 Limit Switch Common

AMP-205x0 2- and 4-axis 500 W Servo Drives


The AMP-20540 contains four transconductance,PWM amplifiers for driving brushless or brush-type servo motors. Each amplifier drives motors operating at up to 7 Amps continuous, 10 Amps peak, 1860 VDC (available voltage at the motor is 10% less). The gain settings of the amplifier are user-programmable at 0.4 Amp/Volt,0.7 Amp/Volt and 1 Amp/Volt. AMP-20540 Interconnect with The switching frequency is 60 kHz.The 4-axis 500 W servo drives amplifier offers protection for over-voltage, under-voltage,over-current,short-circuit and over-temperature.The amplifier status can be read through the DMC-21x3 controller,and the BS command allows easy hall sensor set-up.A 2-axis amplifier board,
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Ethernet/RS232 Econo 1 8 axes

DMC-21x2 and DMC-21x3 Series


the AMP-20520 is also available. In a standard configuration the DB-28040 I/O board will not install next to an AMP-20540,however the AMP-20540 provides 8 uncommitted analog inputs with 12-bit ADC (16-bit optional).* The SR-19900 shunt regulator is available for the AMP-20540. 6.92" x 4.85". CE certified
* Please consult factory for special options available when using a DB-28040 with an AMP-20540.

SDM-206x0 2- and 4-axis Microstep Drives


The SDM-20640 contains four microstepping drives for operating twophase bipolar stepper motors.The drives produce 64 microsteps per full step or 256 steps per full cycle which results in 12,800 steps/rev for a standard 200-step motor.The maximum step rate generated by the controller is 3,000,000 microsteps/second. Correct motor sizing calculations are critical to achieve stepper performance at speed.Please contact Galil for assistance. The SDM-20640 drives motors operating at up to 3 Amps at 12 VDC to 60 VDC (available voltage at the motor is 10% less).There are four software-selectable current settings:0.5 A,1 A,2 A and 3 A.Plus,a selectable low-current mode reduces the current by 75% when the motor is not in motion.No external heatsink is required.A two-axis model,the SDM-20620 is also available. In a standard configuration*, the DB-28040 I/O board will not install next to an SDM-206x0, however the SDM-206x0 provides 8 uncommitted analog inputs with 12-bit ADC (16-bit optional). 6.92" x 5.1".
*Please consult factory for special options available when using a DB-28040 with a SDM-206x0.

AMP-20542 4-axis Servo Drive for Low-Inductance Motors


The AMP-20542 contains four transconductance,PWM amplifiers for driving small,low-inductance brush or brushless servo motors.Each amplifier drives motors operating at 18-60 VDC,up to 3.3 A continuous,5 A peak (available voltage at the motor is 10% less). The drive for each axis is software configurable to operate in either a chopper or inverter mode.The chopper mode is intended for operating low inductance motors.The AMP20542 offers protection AMP-20542 mounted on a for over-voltage,underDMC-2143 controller voltage,over-current and short-circuit.The amplifier status can be read through the DMC-21x3 controllers,and the BS command allows easy hall sensor set-up.Unlike the AMP-20540,the AMP-20542 does not provide uncommitted analog inputs.The SR-19900 shunt regulator can be used with the AMP-20542. 6.92" x 4.85".

CONTROLLERSETHERNET

SDM-20640 Interconnect with 4-axis microstep drives

5- Through 8-axis Configurations SDM-20240 4-axis Full/Half Stepper Drives


The SDM-20240 contains four drives for operating two-phase bipolar step motors.The SDM-20240 requires a single 1230 DC Volt input.The SDM is user-configurable for 1.4 A,1.0 A,0.75 A,or 0.5 A per phase and full or half-step.Adequate airflow across the board is recommended.The SDM uses 9-pin D-sub connectors for encoder and limit connections on each axis and a 25-pin D-sub connector for I/O connections. 4.25" 3.70". Note Regarding Power for AMP and SDM Amplifiers: The default configuration of the AMP-205xx, AMP-204x0, SDM-20240 and SDM-206x0 amplifiers is to pass their operating voltages to the -DC24 or -DC48 controller supply.If you would like to operate these amplifiers from a separate supply, specify remove J98 on your DMC-21x3 controller and amplifier order.The default configuration of the AMP-20341 is with J98 removed which allows operation from a separate supply.Specify install J98 for operation of the AMP-20341 and DMC-21x3 from the same dual supply. For the first four axes,any ICM,AMP or SDM may be used.Due to size contraints,for axes 5 through 8 only the ICM-20100,ICM-20105,AMP-20341, AMP-204x0 or SDM-20240 can be used.

Power SuppliesCPS Series


The CPS Series are unregulated DC power supplies for providing power to Galil conrollers and drives.The CPS-12-24 and CPS-6-48 are each enclosed. AC connections are made using a standard-style line cord. AC rating is 110/220 VAC, 50/60 Hz, 10%. Model CPS-12-24 CPS-6-48 Power Rating 24 VDC @ 12 A cont. 48 VDC @ 6 A cont. Dimensions 9" 5.75" 6" encl. 9" 5.75" 6" encl.

CPS-12-56** 56 VDC @ 12 A cont. 9" 4.6" 5.6" encl.


* * 120 VAC version only

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Ethernet/RS232 Econo 1 8 axes

DMC-21x2 and DMC-21x3 Series


ConnectorsDMC-21x2
Axis 14 DMC-21x2 J4
100-pin, high density; Connector: Amp# 2-178238-9 Cable: Amp# 2-175677-9; Enclosure: Amp# 176793-9
1 NC 2 Ground 3 5V 4 Error output* 5 Reset* 6 Encoder-compare output 7 Ground 8 Ground 9 Motor command W 10 Sign W / dir W 11 PWM W / step W 12 Motor command Z 13 Sign Z / dir Z 14 PWM Z / step Z 15 Motor command Y 16 Sign Y / dir Y 17 PWM Y / step Y 18 Motor command X 19 Sign X / dir X 20 PWM X / step X 21 Amp enable W 22 Amp enable Z 23 Amp enable Y 24 Amp enable X 25 A+ X 26 A- X 27 B+ X 28 B- X 29 I+ X 30 I- X 31 A+ Y 32 A- Y 33 B+ Y 34 B- Y 35 I+ Y 36 I- Y 37 A+ Z 38 A- Z 39 B+ Z 40 B- Z 41 I+ Z 42 I- Z 43 A+ W 44 A- W 45 B+ W 46 B- W 47 I+ W 48 I- W 49 +12 V 50 +12 V *Active low 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 NC Ground 5V NC Home W Reverse limit W Forward limit W Home Z Reverse limit Z Forward limit Z Home Y Reverse limit Y Forward limit Y Home X Reverse limit X Forward limit X Ground 5V NC Latch X/Input 1 Latch Y/Input 2 Latch Z/Input 3 Latch W/Input 4 Input 5 Input 6 Input 7 Input 8 Abort* Output 1 Output 2 Output 3 Output 4 Output 5 Output 6 Output 7 Output 8 5V Ground Ground Ground AA+ X AA- X AB+ X AB- X AA+ Y AA- Y AB+ Y AB- Y -12 V -12 V

Axis 58 DMC-21x2 J5
100-pin, high density; Connector: Amp# 2-178238-9 Cable: Amp# 2-175677-9; Enclosure: Amp# 176793-9
1 NC 2 Ground 3 5V 4 Error output* 5 Reset* 6 Encoder-compare output 7 Ground 8 Ground 9 Motor command H 10 Sign H / dir H 11 PWM H / step H 12 Motor command G 13 Sign G / dir G 14 PWM G / step G 15 Motor command F 16 Sign F / dir F 17 PWM F / step F 18 Motor command E 19 Sign E / dir E 20 PWM E / step E 21 Amp enable H 22 Amp enable G 23 Amp enable F 24 Amp enable E 25 A+ E 26 A- E 27 B+ E 28 B- E 29 I+ E 30 I- E 31 A+ F 32 A- F 33 B+ F 34 B- F 35 I+ F 36 I- F 37 A+ G 38 A- G 39 B+ G 40 B- G 41 I+ G 42 I- G 43 A+ H 44 A- H 45 B+ H 46 B- H 47 I+ H 48 I- H 49 +12 V 50 +12 V 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 NC Ground 5V NC Home H Reverse limit H Forward limit H Home G Reverse limit G Forward limit G Home F Reverse limit F Forward limit F Home E Reverse limit E Forward limit E Ground 5V NC Latch E/Input 9 Latch F/Input 10 Latch G/Input 11 Latch H/Input 12 Input 13 Input 14 Input 15 Input 16 Reserved Output 9 Output 10 Output 11 Output 12 Output 13 Output 14 Output 15 Output 16 5V Ground Ground Ground AA+ E AA- E AB+ E AB- E AA+ F AA- F AB+ F AB- F -12 V -12 V

DMC-21x2 & DMC-21x3 JP6


10-pin Header Z & W axes auxiliary encoder
1 5V 2 Ground 3 AA+ Z 4 AA- Z 5 AB+ Z 6 AB- Z 7 AA+ W 8 AA- W 9 AB+ W 10 AB- W

CONTROLLERSETHERNET

DMC-21x2 & DMC-21x3 JP8


10-pin Header G & H axes auxiliary encoder
1 5V 2 Ground 3 AA+ G 4 AA- G 5 AB+ G 6 AB- G 7 AA+ H 8 AA- H 9 AB+ H 10 AB- H

For the DMC-21x2, the ICM-2900 Interconnect Module breaks out 100-pin cable into screw terminals.

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Ethernet/RS232 Econo 1 8 axes

DMC-21x2 and DMC-21x3 Series


ConnectorsDMC-21x3
Axis 14 DMC-21x3 J4
96-pin DIN; Connector DIN 41612
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 Ground PWM/step W PWM/step Z PWM/step Y PWM/step X Amp enable W Amp enable X Home W Home Z Home Y Home X Latch X/Input 1 Latch W/Input 4 Input 7 Output 3 Output 5 Output 8 A+ X B- X A+ Y B- Y A+ Z B- Z A+ W B- W Ground AA+ X AB- X AB+ Y AB+ Z -12 V Output 5 V Output 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 Ground Sign/dir W Sign/dir Z Sign/dir Y Sign/dir X Ground Amp enable Y Reverse limit W Reverse limit Z Reverse limit Y Reverse limit X Latch Y/Input 2 Input 5 Input 8 Output 2 Ground Output 7 A- X I+ X A- Y I+ Y A- Z I+ Z A- W I+ W Ground AA- X AA+ Y AB- Y AA+ W Reset* 5 V Output 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 Ground Motor command W Motor command Z Motor command Y Motor command X Output compare Amp enable Z Forward limit W Forward limit Z Forward limit Y Forward limit X Latch Z/Input 3 Input 6 Abort* Output 1 Output 4 Output 6 B+ X I- X B+ Y I- Y B+ Z I- Z B+ W I- W Ground AB+ X AA- Y AA+ Z Error Output* +12 V Output 5 V Output

Axis 5 8 DMC-21x3 J5
96-pin DIN; Connector DIN 41612
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 Ground PWM/step H PWM/step G PWM/step F PWM/step E Amp enable H Amp enable E Home H Home G Home F Home E Latch E/Input 9 Latch H/Input 12 Input 15 Output 11 Output 13 Output 16 A+ E B- E A+ F B- F A+ G B- G A+ H B- H Ground AA+ E AB- E AB+ F AB+ G -12 V Output 5 V Output 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 Ground Sign/dir H Sign/dir G Sign/dir F Sign/dir E Ground Amp enable F Reverse limit H Reverse limit G Reverse limit F Reverse limit E Latch F/Input 10 Input 13 Input 16 Output 10 Ground Output 15 A- E I+ E A- F I+ F A- G I+ G A- H I+ H Ground AA- E AA+ F AB- F AA+ H Reset* 5 V Output 65 Ground 66 Motor command H 67 Motor command G 68 Motor command F 69 Motor command E 70 Output compare 2 71 Amp enable G 72 Forward limit H 73 Forward limit G 74 Forward limit F 75 Forward limit E 76 Latch G/Input 11 77 Input 14 78 Reserved 79 Output 9 80 Output 12 81 Output 14 82 B+ E 83 I- E 84 B+ F 85 I- F 86 B+ G 87 I- G 88 B+ H 89 I- H 90 Ground 91 AB+ E 92 AA- F 93 AA+ G 94 Error Output* 95 +12 V Output 96 5 V Output

CONTROLLERSETHERNET

*Active low

Note: The DMC-21x3 comes standard with 96-pin DIN pins UP.It is also available with connector pins at a right angle and facing down.

DMC-2143/2183 cards (vertical connector mount; 96-pin in UP configuration)

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Ethernet/RS232 Econo 1 8 axes

DMC-21x2 and DMC-21x3 Series


ConnectorsDB-28040
J3 8 Analog inputs (16 pin header)
1 Ground 3 AN1 5 AN3 7 AN5 9 AN7 11 Ground 13 -12V 15 5 V 2 Ground 4 AN2 6 AN4 8 AN6 10 AN8 12 Ground 14 +12V 16 Ground

ConnectorsICM-20100
J1 Power
1 2 3 4 +12 V 5V Ground -12 V

J5 Y-Axis 15-pin Male D-sub


1 Forward limit Y 2 Home Y 3 5V 4 A- Y 5 B- Y 6 I- Y 7 Amp enable Y 8 Sign/dir Y 9 Reverse limit Y 10 Ground 11 A+ Y 12 B+ Y 13 I+ Y 14 Motor command Y 15 PWM/step Y

J10 Auxiliary Encoders for


X, Y, Z, W 25-pin Female D-Sub
1 Reset* 2 AB- W 3 AA- W 4 AB- Z 5 AA- Z 6 AB- Y 7 AA- Y 8 AB- X 9 AA- X 10 5 V 11 5 V 12 +12 V 13 NC 14 Error Output* 15 AB+ W 16 AA+ W 17 AB+ Z 18 AA+ Z 19 AB+ Y 20 AA+ Y 21 AB+ X 22 AA+ X 23 Ground 24 Ground 25 -12 V

J3 W-Axis 15-pin Male D-sub


1 Forward Limit W 2 Home W 3 5V 4 A- W 5 B- W 6 I- W 7 Amp enable W 8 Sign/dir W 9 Reverse limit W 10 Ground 11 A+ W 12 B+ W 13 I+ W 14 Motor command W 15 PWM/step W

J1 40 Digital I/O (50-pin header)


1 Bank 4 - Bit40 3 Bank 4 - Bit39 5 Bank 4 - Bit38 7 Bank 4 - Bit37 9 Bank 4 - Bit36 11 Bank 4 - Bit35 13 Bank 4 - Bit34 15 Bank 4 - Bit33 17 Bank 3 - Bit32 19 Bank 3 - Bit31 21 Bank 3 - Bit30 23 Bank 3 - Bit29 25 Bank 3 - Bit28 27 Bank 3 - Bit27 29 Bank 3 - Bit26 31 Bank 3 - Bit25 33 Bank 2 - Bit24 35 Bank 2 - Bit23 37 Bank 2 - Bit22 39 Bank 2 - Bit21 41 Bank 2 - Bit20 43 Bank 2 - Bit19 45 Bank 2 - Bit18 47 Bank 2 - Bit17 49 5 V 2 Bank 5 - Bit41 4 Bank 5 - Bit42 6 Bank 5 - Bit43 8 Bank 5 - Bit44 10 Bank 5 - Bit45 12 Bank 5 - Bit46 14 Bank 5 - Bit47 16 Bank 5 - Bit48 18 Bank 6 - Bit49 20 Bank 6 - Bit50 22 Bank 6 - Bit51 24 Bank 6 - Bit52 26 Bank 6 - Bit53 28 Bank 6 - Bit54 30 Bank 6 - Bit55 32 Bank 6 - Bit56 34 Ground 36 Ground 38 Ground 40 Ground 42 Ground 44 Ground 46 Ground 48 Ground 50 Ground

CONTROLLERSETHERNET

J6 X-Axis 15-pin Male D-sub


1 Forward limit X 2 Home X 3 5V 4 A- X 5 B- X 6 I- X 7 Amp enable X 8 Sign/dir X 9 Reverse limit X 10 Ground 11 A+ X 12 B+ X 13 I+ X 14 Motor command X 15 PWM/step X

J4 Z-Axis 15-pin Male D-sub


1 Forward Limit Z 2 Home Z 3 5V 4 A- Z 5 B- Z 6 I- Z 7 Amp enable Z 8 Sign/dir Z 9 Reverse limit Z 10 Ground 11 A+ Z 12 B+ Z 13 I+ Z 14 Motor command Z 15 PWM/step Z

J11 I/O 25-pin Male D-Sub


1 Ground 2 Latch X/Input 1 3 Latch Z/Input 3 4 Input 5 5 Input 7 6 Abort* 7 Output 1 8 Output 3 9 Output 5 10 Output 7 11 Ground 12 NC 13 NC 14 5 V 15 Latch Y/Input 2 16 Latch W/Input 4 17 Input 6 18 Input 8 19 Encoder-compare output 20 Output 2 21 Output 4 22 Output 6 23 Output 8 24 5 V 25 NC *Active low

DB-28040

ICM-20100

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Ethernet/RS232 Econo 1 8 axes

DMC-21x2 and DMC-21x3 Series


ConnectorsICM-20105
Interconnect with Optical Isolation

ConnectorsAMP-20341
Interconnect with four 20 W servo drives

JX X-axis
15-Pin Male D-sub
1 Amp enable common-1 2 Amp enable X 3 5V 4 A- X 5 B- X 6 I- X 7 NC 8 Sign/dir X 9 Amp enable common-2 10 Ground 11 A+ X 12 B+ X 13 I+ X 14 Motor command X 15 PWM/step X

JW W-axis
15-Pin Male D-sub
1 Amp enable common-1 2 Amp enable W 3 5V 4 A- W 5 B- W 6 I- W 7 NC 8 Sign/dir W 9 Amp enable common-2 10 Ground 11 A+ W 12 B+ W 13 I+ W 14 Motor command W 15 PWM/step W

J10 I/O 37-Pin Female D-sub


1 Input common 2 Input 2 3 Input 4 4 Input 6 5 Input 8 6 Output supply 7 Output 2 8 Output 4 9 Output 6 10 Output 8 11 Limit switch common 12 Reverse limit X 13 Forward limit Y 14 Home Y 15 Reverse limit Z 16 Forward limit W 17 Home W 18 5 V 19 Ground 20 Input 1 21 Input 3 22 Input 5 23 Input 7 24 Abort* 25 Output 1 26 Output 3 27 Output 5 28 Output 7 29 Output return 30 Forward limit X 31 Home X 32 Reverse limit Y 33 Forward limit Z 34 Home Z 35 Reverse limit W 36 5 V 37 Ground *Active low

J9 Power 3-pin
1 +VM (+12 V to +30 V) 2 Ground 3 -VM (-12 V to -30 V)

J6 W-axis 15-pin Male D-sub


1 Forward limit W 2 Home W 3 5V 4 A- W 5 B- W 6 I- W 7 AA- W 8 AB- W 9 Reverse limit W 10 Ground 11 A+ W 12 B+ W 13 I+ W 14 AA+ W 15 AB+ W

J3 X-axis 15-pin Male D-sub


1 Forward limit X 2 Home X 3 5V 4 A- X 5 B- X 6 I- X 7 AA- X 8 AB- X 9 Reverse limit X 10 Ground 11 A+ X 12 B+ X 13 I+ X 14 AA+ X 15 AB+ X

CONTROLLERSETHERNET

JY Y-axis
15-Pin Male D-sub
1 Amp enable common-1 2 Amp enable Y 3 5V 4 A- Y 5 B- Y 6 I- Y 7 NC 8 Sign/dir Y 9 Amp enable common-2 10 Ground 11 A+ Y 12 B+ Y 13 I+ Y 14 Motor command Y 15 PWM/step Y

JAUX Auxiliary Encoders


25-pin D-sub
1 NC 2 AB- W 3 AA- W 4 AB- Z 5 AA- Z 6 AB- Y 7 AA- Y 8 AB- X 9 AA- X 10 5 V 11 5 V 12 +12V 13 NC 14 NC 15 AB+ W 16 AA+ W 17 AB+ Z 18 AA+ Z 19 AB+ Y 20 AA+ Y 21 AB+ X 22 AA+ X 23 Ground 24 Ground 25 -12V

J2 I/O 25-pin Male D-sub


1 Ground 2 Latch X/Input 1 3 Latch Z/Input 3 4 Input 5 5 Input 7 6 Abort* 7 Output 1 8 Output 3 9 Output 5 10 Output 7 11 Ground 12 Reset* 13 nc 14 5 V 15 Latch Y/Input 2 16 Latch W/Input 4 17 Input 6 18 Input 8 19 Encoder-compare output 20 Output 2 21 Output 4 22 Output 6 23 Output 8 24 5 V 25 Error Output*

J4 Y-axis 15-pin Male D-sub


1 Forward limit Y 2 Home Y 3 5V 4 A- Y 5 B- Y 6 I- Y 7 AA- Y 8 AB- Y 9 Reverse limit Y 10 Ground 11 A+ Y 12 B+ Y 13 I+ Y 14 AA+ Y 15 AB+ Y

JZ Z-axis
15-Pin Male D-sub
1 Amp enable common-1 2 Amp enable Z 3 5V 4 A- Z 5 B- Z 6 I- Z 7 NC 8 Sign/dir Z 9 Amp enable common-2 10 Ground 11 A+ Z 12 B+ Z 13 I+ Z 14 Motor command Z 15 PWM/step Z

J5 Z-axis 15-pin Male D-sub


1 Forward limit Z 2 Home Z 3 5V 4 A- Z 5 B- Z 6 I- Z 7 AA- Z 8 AB- Z 9 Reverse limit Z 10 Ground 11 A+ Z 12 B+ Z 13 I+ Z 14 AA+ Z 15 AB+ Z

ICM-20105

JX, JY, JZ, JW Motor Outputs


JX1 XMO+ JX2 XMOJY1 YMO+ JY2 YMOJZ1 ZMO+ JZ2 ZMOJW1 WMO+ JW2 WMO-

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Ethernet/RS232 Econo 1 8 axes

DMC-21x2 and DMC-21x3 Series


ConnectorsAMP-20440 Interconnect with four 200 W servo drives
J1 Power 4-pin
1 2 3 4 +VM (18 V60 V) Ground +VM (18 V60 V) Ground

J3 I/O 44-pin Hi-density Female D-sub continued


35 36 37 38 39 40 41 42 43 44 Ground Input 8 Input 5 Latch Y/Input 2 NC Amp enable X PWM/step X PWM/step Y PWM/step Z Reset*

J6 Z-axis 15-pin Hi-density Female D-sub


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 I+ Z B+ Z A+ Z AB+ Z Ground I- Z B- Z A- Z AA- Z Forward limit Z AA+ Z AB- Z Home Z Reverse limit Z 5V

JX1 Motor Output 2-pin Molex


1 XMO2 XMO+

JY1 Motor Output 2-pin Molex


1 YMO2 YMO+

J4 X-axis 15-pin Hi-density Female D-sub


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 I+ X B+ X A+ X AB+ X Ground I- X B- X A- X AA- X Forward limit X AA+ X AB- X Home X Reverse limit X 5V

CONTROLLERSETHERNET

JZ1 Motor Output 2-pin Molex


1 ZMO2 ZMO+

J7 W-axis 15-pin Hi-density Female D-sub


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 I+ W B+ W A+ W AB+ W Ground I- W B- W A- W AA- W Forward limit W AA+ W AB- W Home W Reverse limit W 5V

JW1 Motor Output 2-pin Molex


1 WMO2 WMO+

J3 I/O 44-pin Hi-density Female D-sub


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 NC Output 6 Output 8 Output 5 Output 2 Abort* Input 6 Latch Z/Input 3 Amp enable Y Encoder-compare output Sign/dir X Sign/dir Y Sign/dir Z Sign/dir W PWM/step W Amp enable W Amp enable Z Output 7 Output 4 Output 1 Output 3 Input 7 Latch W/Input 4 Latch X/Input 1 NC Motor command X Motor command Y Motor command Z Motor command W Error Output* NC 5V 5V Ground

J5 Y-axis 15-pin Hi-density Female D-sub


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 I+ Y B+ Y A+ Y AB+ Y Ground I- Y B- Y A- Y AA- Y Forward limit Y AA+ Y AB- Y Home Y Reverse limit Y 5V

*Active low

www.galilmc.com / Galil Motion Control, Inc.

45

Ethernet/RS232 Econo 1 8 axes

DMC-21x2 and DMC-21x3 Series


ConnectorsAMP-20540
J1 Power 8-pin AMP Mate-n-lock II
1 2 3 4 5 6 7 8 Earth +VM (18 V60 V) +VM (18 V60 V) +VM (18 V60 V) Ground Ground Ground Ground

Interconnect with four 500 W servo drives (includes 8 analog inputs)

J4 X-axis 15-pin Hi-density Female D-sub


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 I+ X B+ X A+ X AB+ X Ground I- X B- X A- X AA- X Hall A X AA+ X AB- X Hall B X Hall C X 5V I+ Y B+ Y A+ Y AB+ Y Ground I- Y B- Y A- Y AA- Y Hall A Y AA+ Y AB- Y Hall B Y Hall C Y 5V I+ Z B+ Z A+ Z AB+ Z Ground I- Z B- Z A- Z AA- Z Hall A Z AA+ Z AB- Z Hall B Z Hall C Z 5V

J7 W-axis 15-pin Hi-density Female D-sub


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 I+ W B+ W A+ W AB+ W Ground I- W B- W A- W AA- W Hall A W AA+ W AB- W Hall B W Hall C W 5V Ground Ground Analog input 1 Analog input 2 Analog input 3 Analog input 4 Analog input 5 Analog input 6 Analog input 7 Analog input 8 Ground Ground -12 V +12 V 5V Ground

JX1, JY1, JZ1, JW1 Motor Output 4-pin


AMP Mate-n-lock II
1 2 3 4 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 NC A C B PWM/MCMD Z Output 6 Output 8 Output 5 Output 2 Abort* Input 6 Latch Z/Input 3 SIGN/AEN Y Encoder compare output Reverse limit X Reverse limit Y Reverse limit Z Reverse limit W Forward limit W SIGN/AEN W SIGN/AEN Z Output 7 Output 4 Output 1 Output 3 Input 7 Latch W/Input 4 Latch X/Input 1 PWM/MCMD X Home X Home Y Home Z Home W Error Output* PWM/MCMD W 5V 5V Ground Ground Input 8 Input 5 Latch Y/Input 2 PWM/MCMD Y SIGN/AEN X Forward limit X Forward limit Y Forward limit Z Reset*

CONTROLLERSETHERNET

J3 I/O 44-pin Hi-density Female D-sub

J5 Y-axis 15-pin Hi-density Female D-sub

J11 Analog 16-pin Header

J6 Z-axis 15-pin Hi-density Female D-sub

AMP-20540 attached to a DMC-2143 Controller

Note: The AMP-205x0 and DMC-21x3-DC24 or -DC48 are configured to accept their operating voltages from a single DC supply.If you want to operate the AMP and DMC from two separate supplies, you must remove J98 (10-pin header) on the DMC-21x3 controller.Galil will remove this header upon request if you specify -remove J98 on your DMC-21x3 order.
*Active low

46

www.galilmc.com / Galil Motion Control, Inc.

Ethernet/RS232 Econo 1 8 axes

DMC-21x2 and DMC-21x3 Series


ConnectorsSDM-20240
Interconnect with four 1.4 A stepper drives

ConnectorsSDM-20640
Interconnect with four microstepping drives

J1 Power
1 2 3 4 +VM (12 V30 V) Ground +VM (12 V30 V) Ground

J9 W-axis 9-pin Male D-sub


1 2 3 4 5 6 7 8 9 Forward limit W Home W 5V A- W B- W Reverse limit W Ground A+ W B+ W

J1 Power
8-pin AMP Mate-n-lock II
1 Earth 2 +VM (12V-60V) 3 +VM (12V-60V) 4 +VM (12V-60V) 5 Ground 6 Ground 7 Ground 8 Ground

JW2 W-axis
9-pin Male D-sub
1 2 3 4 5 6 7 8 9 Forward limit W Home W 5V A- W B- W Reverse limit W Ground A+ W B+ W

JP8 10-pin Header


1 2 3 4 5 6 7 8 9 10 Amp enable X motor command X Amp enable Y motor command Y Amp enable Z motor command Z Amp enable W motor command W ground ground

J2, J3, J4, J5


X, Y, Z, W Motor Output
1 2 3 4 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 Motor phase A+ Motor phase AMotor phase B+ Motor phase BForward limit X Home X 5V A- X B- X Reverse limit X Ground A+ X B+ X Forward limit Y Home Y 5V A- Y B- Y Reverse limit Y Ground A+ Y B+ Y Forward limit Z Home Z 5V A- Z B- Z Reverse limit Z Ground A+ Z B+ Z

J11 I/O 25-pin Male D-sub


1 Ground 2 Latch X/Input 1 3 Latch Z/Input 3 4 Input 5 5 Input 7 6 Abort* 7 Output 1 8 Output 3 9 Output 5 10 Output 7 11 Ground 12 Reset* 13 NC 14 5 V 15 Latch Y/Input 2 16 Latch W/Input 4 17 Input 6 18 Input 8 19 Encoder-compare output 20 Output 2 21 Output 4 22 Output 6 23 Output 8 24 5 V 25 Error output*

JX1, JY1, JZ1, JW1


Motor Output AMP Mate-n-lock II
1 motor phase B+ 2 motor phase A+ 3 motor phase B4 motor phase A-

J6 X-axis 9-pin Male D-sub

J3 I/O
25-pin Male D-sub
1 Ground 2 Latch X/Input 1 3 Latch Z/Input 3 4 Input 5 5 Input 7 6 Abort* 7 Output 1 8 Output 3 9 Output 5 10 Output 7 11 Ground 12 Reset* 13 NC 14 5 V 15 Latch Y/Input 2 16 Latch W/Input 4 17 Input 6 18 Input 8 19 Encoder-compare output 20 Output 2 21 Output 4 22 Output 6 23 Output 8 24 5 V 25 Error output*

J11 Analog
16-pin Header
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Ground Ground Analog input 1 Analog input 2 Analog input 3 Analog input 4 Analog input 5 Analog input 6 Analog input 7 Analog input 8 Ground Ground -12 V +12 V 5V Ground

CONTROLLERSETHERNET

JX2 X-axis
9-pin Male D-sub
1 2 3 4 5 6 7 8 9 Forward limit X Home X 5V A- X B- X Reverse limit X Ground A+ X B+ X

J7 Y-axis 9-pin Male D-sub

JY2 Y-axis
9-pin Male D-sub
1 2 3 4 5 6 7 8 9 Forward limit Y Home Y 5V A- Y B- Y Reverse limit Y Ground A+ Y B+ Y

J8 Z-axis 9-pin Male D-sub

JP8 10-pin Header


1 2 3 4 5 6 7 8 9 10 Amp enable X Motor command X Amp enable Y Motor command Y Amp enable Z Motor command Z Amp enable W Motor command W Ground Ground

JZ2 Z-axis
9-pin Male D-sub
1 2 3 4 5 6 7 8 9 Forward limit Z Home Z 5V A- Z B- Z Reverse limit Z Ground A+ Z B+ Z

SDM-20640 Interconnect with four microstepping drives

*Active low

www.galilmc.com / Galil Motion Control, Inc.

47

Ethernet/RS232 Econo 1 8 axes

DMC-21x2 and DMC-21x3 Series


DMC-21x2 Axis number x=1 thru 8 -H - DC24 100-pin & Enet/RS232 Connectors DC-to-DC Converter H= horizontal (default) - none (default) V= vertical - DC24 (1836 Volts) - DC48 (3672 Volts) - DIN DIN-rail Mount - none (default) - DIN (requires V option) - VP Molex Power Connector VP = vertical (default) HP = horizontal

The default configuration of the DMC-21x2 is with horizontal connector mount for the communication and 100-pin connectors and vertical mount for the power connector, no DC-to-DC and no DIN rail mount.

DMC-21x3 Axis number x=1 thru 8

-V - DC24 Enet/RS232 Connectors DC-to-DC Converter V= vertical (default) - none (default) H=horizontal - DC24 (1836 Volts) - DC48 (3672 Volts)

- DIN DIN-rail Mount - none (default) - DIN (requires V and UP option)

- UP 96-pin config. - UP (default) - DOWN - RA (right angle)

- VP Molex Power Connector VP = vertical (default) HP = horizontal

The default configuration of the DMC-21x3 is with vertical communication and power connector mount, no DC-to-DC, no DIN rail mount and UP 96-pin connector configuration. ICM and AMP modules only mate with DMC-21x3-V-UP-HP. Only -DC and -DIN need to be specified when ordering DMC-21x3 with AMP or ICM.

CONTROLLERSETHERNET

Ordering Information
PART NUMBER DESCRIPTION QUANTITY 1 QUANTITY 100

DMC-2112 DMC-2122 DMC-2132 DMC-2142 DMC-2152 DMC-2162 DMC-2172 DMC-2182 DMC-2113 DMC-2123 DMC-2133 DMC-2143 DMC-2153 DMC-2163 DMC-2173 DMC-2183 DMC-31x3 -DIN -Box -DC12 -DC24 -DC48 DB-28040 DB-28040-5V DB-28104 ICM-20100 ICM-20105

1-axis Ethernet 10BASE-T, RS232 card, 100-pin SCSI 2-axis Ethernet 10BASE-T, RS232 card, 100-pin SCSI 3-axis Ethernet 10BASE-T, RS232 card, 100-pin SCSI 4-axis Ethernet 10BASE-T, RS232 card, 100-pin SCSI 5-axis Ethernet 10BASE-T, RS232 card, 100-pin SCSI 6-axis Ethernet 10BASE-T, RS232 card, 100-pin SCSI 7-axis Ethernet 10BASE-T, RS232 card, 100-pin SCSI 8-axis Ethernet 10BASE-T, RS232 card, 100-pin SCSI 1-axis Ethernet 10BASE-T, RS232 card, 96-pin DIN 2-axis Ethernet 10BASE-T, RS232 card, 96-pin DIN 3-axis Ethernet 10BASE-T, RS232 card, 96-pin DIN 4-axis Ethernet 10BASE-T, RS232 card, 96-pin DIN 5-axis Ethernet 10BASE-T, RS232 card, 96-pin DIN 6-axis Ethernet 10BASE-T, RS232 card, 96-pin DIN 7-axis Ethernet 10BASE-T, RS232 card, 96-pin DIN 8-axis Ethernet 10BASE-T, RS232 card, 96-pin DIN DMC-21x3 with distributed control functionality DIN-rail mount option for DMC-21x2/x3 Metal enclosure for DMC-2143 and ICM-20105 DC-to-DC converter for 9 V to18 V DC-to-DC converter for 18 V to 36 V DC-to-DC converter for 36 V to 72 V I/O expansion board for 8 analog inputs and 40 digital I/O (outputs source 3.3 V) I/O expansion board for 40 digital I/O (maximum 24 digital outputs) and 8 analog inputs. Outputs are open collector and sink 5 V Sinusodial Encoder Interpolation Board DMC-21x3 Interconnect with D-type connectors (use1 for every 4 axes) DMC-21x3 Interconnect for optically isolated I/O (use 1 for every 4 axes)
Accessories for DMC-21x2/x3 are continued on the next page.

$ 795 $ 895 $1045 $1195 $1295 $1395 $1495 $1595 $ 795 $ 895 $1045 $1195 $1295 $1395 $1495 $1595 $ 100 $ 100 $ 100 $ 100 $ 100 $ 295 $ 295 $ 395 $ 95 $ 195

$ 595 $ 665 $ 725 $ 795 $ 845 $ 895 $ 945 $ 995 $ 595 $ 665 $ 725 $ 795 $ 845 $ 895 $ 945 $ 995 $ 50 $ 75 $ 70 $ 70 $ 70 $ 195 $ 195 $ 245 $ 75 $ 145

Same price as DMC-21x3

48

www.galilmc.com / Galil Motion Control, Inc.

Ethernet/RS232 Econo 1 8 axes

DMC-21x2 and DMC-21x3 Series


Ordering Information continued
PART NUMBER DESCRIPTION QUANTITY 1 QUANTITY 100

ICM-20500 ICM-20500-DTYPE SDM-20240* SDM-20620* SDM-20640* AMP-20341* AMP-20420* AMP-20440* AMP-20520* AMP-20540* AMP-20542* AMP-205x0-80* SR-19900 CPS-12-24 CPS-6-48 CPS-12-56 CABLE-15-1M CABLE-15-2M CABLE-44-1M CABLE-44-2M CABLE-100-1M CABLE-100-2M CABLE-100-4M ICM-2900 ICM-2900-OPTO AMP-19520 AMP-19540 SR Option IOC-7007 Galil Utilities DMCWIN32 WSDK ActiveX Tool Kit

AMP-205x0 Interconnect with optical isolation and screw terminals AMP-205x0 Interconnect with optical isolation and D-Type connectors DMC-21x3 Interconnect with four 1.4 A stepper drivers DMC-21x3 Interconnect with two microstepping drives (includes 8 analog inputs) DMC-21x3 Interconnect with four microstepping drives (includes 8 analog inputs) DMC-21x3 Interconnect with four 20 W servo drives (default J98 removed) DMC-21x3 Interconnect with two 200 W servo drives DMC-21x3 Interconnect with four 200 W servo drives DMC-21x3 Interconnect with two 500 W servo drives (includes 8 analog inputs) DMC-21x3 Interconnect with four 500 W servo drives (includes 8 analog inputs) DMC-21x3 interconnect with four servo drives for low-inductance motors Option for 80 V input (default J98 removed) Shunt regulator for AMP-205x0 Power supply,12 A,24 VDC Power supply,6 A,48 VDC Power supply,12 A,56 VDC 15-pin high-density D sub to discrete wires1-meter (for AMP-205x0, -204x0) 15-pin high-density D sub to discrete wires2-meter (for AMP-205x0, -204x0) 44-pin high-density D sub to discrete wires1-meter (for AMP-205x0, -204x0) 44-pin high-density D sub to discrete wires2-meter (for AMP-205x0, -204x0) 100-pin high-density cable in 1-meter length for DMC-21x2 100-pin high-density cable in 2-meter length for DMC-21x2 100-pin high-density cable in 4-meter length for DMC-21x2 Interconnect module (use 1 for every 4 axes) for DMC-21x2. Specify -HAEN for high amp enable or -LAEN for low amp enable. Specify -FL for flange ICM with optoisolated outputs for DMC-21x2 DMC-21x2 Interconnect with two 500 W servo drives; connects to CABLE-100 DMC-21x2 Interconnect with four 500 W servo drives; connects to CABLE-100 Shunt regulator for AMP-195x0 Intelligent I/O controller box for Ethernet I/O expansion Communication drivers, SmartTERM, DMCDOS Windows API Tool Kit (VB, C, C++, etc.) Set-up, tuning and analysis software Custom ActiveX controls for Visual Basic,Visual C++, etc.

$ 345 $ 245 $ 195 $ 545 $ 695 $ 195 $ 395 $ 595 $ 595 $ 795 $ 695 No extra charge $ 75 $ 250 $ 250 $ 345 $ 25 $ 30 $ 35 $ 40 $ 125 $ 135 $ 150 $ 295 $ 345 $ 595 $ 795 $ 50 $ 595

$ 245 $ 175 $ 175 $ 345 $ 395 $ 175 $ 245 $ 295 $ 395 $ 495 $ 395 $ 40 $ 230 $ 230 $ 295 $ 17 $ 20 $ 24 $ 27 $ 95 $ 100 $ 105 $ 195 $ 245 $ 395 $ 495 $ 25 $ 495

CONTROLLERSETHERNET

$ 20 for CD; free download Included with Utilities $ 195 $ 595

Galil offers additional quantity discounts for purchases between 1 and 100. Consult Galil for a quotation.
* Note Regarding Power for AMP and SDM Amplifiers: The default configuration of the AMP-205xx, AMP-204x0, SDM-20240 and SDM-206x0 amplifiers is to pass their operating voltages to the -DC24 or -DC48 controller supply.If you would like to operate these amplifiers from a separate supply, specify remove J98 on your DMC-21x3 controller and amplifier order.The default configuration of the AMP-20341 is with J98 removed which allows operation from a separate supply.Specify install J98 for operation of the AMP-20341 and DMC-21x3 from the same dual supply. www.galilmc.com / Galil Motion Control, Inc. 49

MOTION CONTROLLERS

Ethernet /RS232 1-axis Controller and Drive

CDS-3310
Product Description
Galils CDS-3310 is a single-axis controller and drive system for precisely controlling a brush or brushless servo motor. It combines a high-performance, programmable motion controller with a PWM drive in a compact, cost-effective package.The CDS-3310 provides a 10/100 Base-T Ethernet port and up to eight individual CDS-3310 units may be connected on a distributed network and programmed as a single controller.The communication burden is minimized because a host PC only has to talk with the master CDS-3310, which in turn communicates with the other CDS-3310 units in the network.
CDS-3310 Single-axis Controller and Drive System

Features
I 1-axis motion controller with on-board PWM drive for a brush or brushless servo motor; 72V, 7A continuous drive I Ethernet 10/100Base-T; (1) RS232 port up to 19.2 kbaud I USB option I Distributed control allows connection of up to 8 CDS-3310 units on an Ethernet network I Ethernet supports multiple masters and slaves.TCP/IP, UDP and ModBus TCP master protocol for communication with I/O devices I Accepts encoder feedback up to 12 MHz I PID compensation with velocity and acceleration feedforward, integration limits, notch filter and low-pass filter I Modes of motion include jogging, point-to-point positioning, contouring, electronic gearing and ECAM I Over 200 English-like commands executable by controller. Includes conditional statements and event triggers I Non-volatile memory for programs, variables and arrays. Concurrent execution of up to eight programs I Dual encoder, home and limits I 8 TTL uncommitted inputs and 10 TTL outputs I 2 uncommitted analog inputs and 1 analog output I Add 8 analog inputs and 40 digital I/O with DB-28040

CONTROLLERSETHERNET

The CDS-3310 incorporates a 32-bit microcomputer and provides such advanced features as PID compensation with velocity and acceleration feedforward, program memory with multitasking for simultaneously running up to eight programs, and uncommitted I/O for synchronizing motion with external events. Modes of motion include point-to-point positioning, jogging, contouring, and electronic gearing. Like all Galil controllers,these controllers use a simple,English-like command language which makes them very easy to program.Galils WSDK servo design software further simplifies system set-up with one-buttonservo tuning and real-time display of position and velocity information.Communication drivers are available for DOS,Linux and all current Windows operating systems.
50 www.galilmc.com / Galil Motion Control, Inc.

I ICM-3300 interconnect module provides screw terminals and optical isolation of inputs and outputs I Brake drive 24V, 0.5A I High speed position latch and output compare I Small size: 5.15" x 8.25" metal enclosure I DIN-Rail mount clip available I On-board DC-to-DC converter for single 18 V to 72 V DC input I Communication drivers for Windows, DOS and Linux I Custom hardware and firmware options available I SSI encoder interface option

Ethernet/RS232 1-axis Controller and Drive

CDS-3310
Distributed Control
In some mechanical systems it is advantageous to have CDS-3310 single axis motion controllers physically distributed throughout the system to reduce wiring. Up to eight CDS-3310 units can be distributed. Communication overhead and motion coordination issues typical with distributed, single-axis systems are minimized with the CDS-3310. The communication burden with a host PC is minimized because the PC communicates to the CDS-3310 controller configured as the master, which in turn communicates with all other CDS-3310 controllers on the network.This allows multiple controllers connected on an Ethernet network to be programmed as a single controller. A special set of commands for distributed control ease communication issues on the network. For example, the command HC configures the network.The complete list of distributed commands is found in the instruction set shown below.

IOC-7007 Controller for Ethernet I/O Expansion


Galils IOC-7007 I/O controller provides an intelligent solution for adding I/O and PLC functionality to the CDS-3310 Ethernet control system.The IOC-7007 I/O controller connects to the Ethernet network allowing it to communicate with CDS-3310 motion controllers and other devices on the network.The intelligent I/O controller has an on-board microprocessor for coordinating I/O events and performing tasks normally handled by a PLC.The IOC-7007 unit accepts up to seven plug-in I/O modules for easy connection to optoisolated inputs, optoisolated outputs, analog inputs and outputs and dry-contact relays. Packaging options include card-level, box-level and DIN-rail mount. Consult the IOC-7007 datasheet for complete specifications.

CONTROLLERSETHERNET

Distributed Control Commands


HA HC HQ HW SA ZA ZB Handle Assignment Automatic handle configuration Handle Query Handle wait Send slave command Ethernet user variable Ethernet user variable

Servo Drive Specifications


The CDS-3310 contains a transconductance,PWM drive for driving brushless or brush-type servo motors.The amplifier drives motors operating at 1872 VDC (voltage at motor is 10% less), up to 7 Amps continuous, 10 Amps peak.The gain settings of the amplifier are user-programmable at 0.4 Amp/Volt, 0.7 Amp/Volt and 1 Amp/Volt.The switching frequency is 60 kHz.The amplifier offers protection for over-voltage, under-voltage, over-current, and short-circuit.The amplifier status can be read through the controller, and the BS command allows easy hall sensor set-up.The SR-19900 shunt regulator is available for the CDS-3310.

IOC-7007 BOX and IOC-7007-DIN

ICM-3300 Interconnect Module


The ICM-3300 attaches directly to the CDS-3310 and breaks out the 37-pin D-sub connector into convenient screw terminals allowing for quick and easy connection to system elements.The ICM-3300 also provides optical isolation for inputs and outputs with the exception of the following signals: brake output, output compare, reset input and digital input 8. Outputs 1 through 4 are high-side, 500 mA drives.The maximum common voltage for the I/O is 28 VDC. The ICM-3300 includes a high density 15-pin D-sub connector which allows direct connection to Galils BLM-N23 brushless servo motor. ICM-3300 attached to CDS-3310

I/O Expansion Options


DB-28040 I/O Expansion Board
The DB-28040 mounts directly to the CDS-3310 and provides an additional 40 digital inputs and outputs, and eight 10 V analog inputs (Outputs source 3.3 V. For 24 open collector outputs that sink 5 V, order DB-28040-5V).The small 2.55" 3.08" board attaches directly to the 50-pin header on the CDS-3310 controller, and no cable is required between the controller and I/O board. The 40 digital I/O signals are available on a 50-pin IDC header, and the analog inputs are available on a 16-pin header.With a controller firmware modification, the I/O board can also be modified to accept feedback from SSI encoders.

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51

Ethernet/RS232 1-axis Controller and Drive

CDS-3310
Specifications
System Processor
I Motorola 32-bit microcomputer

High Speed Position Latch


I Latches encoder position within 0.1 microseconds

Communications Interface
I Ethernet 10/100BASE-T. (1) RS232 port up to 19.2 kbaud Commands are sent in ASCII. A binary communication mode is also available as a standard feature I USB to RS232 option

Dedicated Inputs
I I I I I I I I I I Main encoder inputsChannel A, A-,B,B-,I,I- (12 V or TTL) Auxiliary encoder inputs Forward and reverse limit inputsbuffered** Home inputbuffered** High-speed position latch inputbuffered** Analog motor command output with 16-bit DAC resolution Error output Brake output Amp enable High-speed position compare output

Modes of Motion: CONTROLLERSETHERNET


I I I I I I Point-to-point positioning Position Tracking Jogging Electronic Gearing Contouring Teach and playback

Dedicated Outputs

Memory
I Program memory size1000 lines 80 characters I 510 variables I 8000 array elements in up to 30 arrays

Minimum Servo Loop Update Time


I 250 microseconds

Maximum Encoder Feedback Rate


I 12 MHz

Filter
I PID (proportional-integral-derivative) with velocity and acceleration feedforward I Notch and low-pass filter I Velocity smoothing to minimize jerk I Integration limit I Torque limit I Offset adjustments

Power
I 0.5 A, 5 V available for external devices I 40 mA, +12 V, -12 V available for external devices I Requires 18 V72 V input

Drive Specifications
I 1872 Volt; 7 Amp continuous, 10 Amp peak

Kinematic Ranges
I Position: 32 bit (2.15 billion counts per move; automatic rollover; no limit in jog or vector modes) I Velocity: Up to 12 million counts/sec for servo motors I Acceleration: Up to 67 million counts/sec2

Environmental
I Operating temperature: 070 C I Humidity: 2095% RH, non-condensing

Mechanical
I 5.15" 8.25" metal enclosure (for high current applications, the metal enclosure should be mounted to a metal backing to dissipate heat)

Uncommitted I/O
I I I I 8 buffered inputs 10 TTL outputs 2 analog inputs; 05 Volts, 12-bit ADC* 1 uncommitted analog output 10 V, 16-bit DAC

*For 10 V use DB-28040

**Optically isolated I/O available with ICM-3300 option.

52

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Ethernet/RS232 1-axis Controller and Drive

CDS-3310
Instruction Set
Servo Motor
AG AU AW DV FA FV IL KD KI KP NB NF NZ OF PL SH TK TL TM Set AMP gain Set current loop gain Report AMP bandwidth Dual velocity Acceleration feedforward Velocity feedforward Integrator limit Derivative constant Integrator constant Proportional constant Notch bandwidth Notch frequency Notch zero Offset Pole Servo here Set AMP peak current Continuous torque limit Sample time Arm latch Brake wait Clear bit Configure I/O points Input interrupt Define output bit Output compare function Output port Set bit State of digital input x State of digital output x Value of analog input x

System Configuration (cont.)


LZ MB MO MT PF QD QU RS RS SM TF VF Leading zeros format ModBus Motor off Motor type Position format Download array Upload array Reset Master reset Subnet mask Tell FPGA version Variable format Sine of x Cosine of x 1s complement of x Arc sine of x Arc cosine of x Arc tangent of x Absolute value of x Fraction portion of x Integer portion of x Round of x Square root of x

Programming
BK DA DL DM ED ELSE ENDIF EN HX IF IN JP JS NO RA RC RD SL UL ZS BL ER FL OE TL TW AD AI AM AP AR AS AT AV MC MF MR WC WT Breakpoint Deallocate variables/arrays Download program Dimension arrays Edit program Conditional statement End of cond.statement End program Halt execution If statement Input variable Jump Jump to subroutine No-operationfor remarks Record array Record interval Record data Remark program Single step Upload program Zero stack Backward software limit Error limit Forward software limit Off-on-error function Torque limit Timeout for in-position After distance After input After motion profiler After absolute position After relative distance At speed After time After vector distance Motion complete After motionforward After motionreverse Wait for contour data Wait for time

Independent Motion Commands


AB AC BG DC FE FI HM IP IT JG PA PR PT SP ST CD CM DT WC GA GD _GP GR HA HC HQ HS HW LO SA ZA ZB Abort motion Acceleration Begin motion Deceleration Find edge Find index Home Increment position Smoothing time constant Jog mode Position absolute Position relative Position tracking Speed Stop Contour data Contour mode Contour time interval Wait for contour data Master axis for gearing Engagement distance for gearing Correction for gearing Gear ratio for gearing Handle Assignment Automatic handle configuration Handle Query Handle switch Handle wait Lockout handle Send slave command Ethernet user variable Ethernet user variable

CONTROLLERSETHERNET

Math Functions
@SIN[x] @COS[x] @COM[x] @ASIN[x] @ACOS[x] @ATAN[x] @ABS[x] @FRAC[x] @INT[x] @RND[x] @SQR[x] LA LL LS LV MG QH QR QZ RP RL RV SC TA TB TC TD TE TI TP TR TS TT TV

Contour Mode

I/O
AL BW CB CO II OB OC OP SB @IN[x] @OUT[x] @AN[x] BN BP BR BS BV CE CF CN CW DE DP DV EO IA IH IT

Gearing

Error Control

Interrogation
List arrays List labels List program List variables Message command Query hall state Data record Return data record info Report command position Report latch Firmware revision information Stop code Tell AMP status Tell status Tell error code Tell dual encoder Tell error Tell input Tell position Trace program Tell switches Tell torque Tell velocity

Distributed Control Commands

Trippoint

System Configuration
Burn parameters Burn program Brush motor enable Brushless set-up Burn variables and arrays Configure encoder type Configure for unsolicited messages Configure switches Data adjustment bit Define dual encoder position Define position Dual velocity (dual loop) Echo off Set IP address Internet handle Independent smoothing

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53

Ethernet/RS232 1-axis Controller and Drive

CDS-3310
ConnectorsCDS-3310
J1 Motor Output 4-pin
AMP Mate-n-lock II
1 2 3 4 NC A C B

ConnectorsICM-3300
Screw Terminals
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 Aux. Encoder B+ Aux. Encoder BAux. Encoder A+ Aux. Encoder AMain Encoder Index + Main Encoder Index Main Encoder B+ Main Encoder BMain Encoder A+ Main Encoder AHall C Hall B Hall A Ground 5V Abort Input Digital Input 8+ Digital Input 8Digital Input 7 Digital Input 6 Digital Input 5 Digital Input 4 Digital Input 3 Digital Input 2 Digital Input 1 Input Common Limit Switch Common Home Input Reverse Limit Input Forward Limit Input Output Compare Amplifier Enable Output Ground Output Power Return Output Power Supply Digital Output 10 Digital Output 9 Digital Output 8 Digital Output 7 Digital Output 6 Digital Output 5 Digital Output 4 Digital Output 3 Digital Output 2 Digital Output 1 Brake Power Supply Brake Output (Sinking) -12 V output +12 V Output +5 V Output Analog Output 1 Analog Input 2 Analog Input 1 Analog Input Ground Error Output Reset Input*

J3 I/O 37-pin Female D-sub


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 Reset* Amp enable/Error Output 3 Output 1 Analog in 1 (0 V5 V) Input 7 Input 5 Input 3 Input 1 (latch) 5V Ground +12 V Ground Brake Power Input 8- (differential input) Output 9 Output 7 Output 5 Analog out 1 (16-bit resolution 10V) Analog ground Output 4 Output 2 Encoder-compare output Analog in 2 (0 V5 V) Input 6 Input 4 Input 2 Forward limit Reverse limit Home -12 V Brake output (500mA sinking) Input 8+ (differential input) Output 10 Output 8 Output 6 Abort*

J2 15-pin, Hi-density
Female D-sub
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Main Encoder I+ Main Encoder B+ Main Encoder A+ Aux Encoder B+ Ground Main Encoder IMain Encoder BMain Encoder AAux Encoder AHall A Aux Encoder A+ Aux Encoder BHall B Hall C 5V

J2 15-pin, Hi-density
Female D-sub
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 I+ B+ A+ AB+ Ground IBAAAHall A AA+ ABHall B Hall C 5V

CONTROLLERSETHERNET

J5 Power 2-pin AMP Mate-n-lock II


1 +VM (18 V72 V) 2 Ground

*Active low

Optically isolated

54

www.galilmc.com / Galil Motion Control, Inc.

Ethernet/RS232 1-axis Controller and Drive

CDS-3310
Ordering Information
PART NUMBER DESCRIPTION QUANTITY 1 QUANTITY 100

CDS-3310 -DIN ICM-3300 DB-28040 DB-28040-5V SR-19900 CABLE-15-1M CABLE-15-2M CABLE-Ethernet CABLE-9-pin D IOC-7007 Galil Utilities DMCWIN32 WSDK ActiveX Tool Kit

1-axis motion controller with 500W servo drive; Ethernet/RS232 DIN-rail mounting clip Screw terminal interface with optical isolation I/O expansion board for 8 analog inputs and 40 digital I/O (outputs source 3.3 V) I/O expansion board for 40 digital I/O (maximum 24 digital outputs) and 8 analog inputs. Outputs are open collector and sink 5 V Shunt regulator for CDS-3310 15-pin high-density D sub to discrete wires1 meter 15-pin high-density D sub to discrete wires2 meter Ethernet cables RS232 cable Intelligent I/O controller box for Ethernet I/O expansion Communication drivers, SmartTERM, DMCDOS Windows API Tool Kit (VB, C, C++, etc.) Set-up, tuning and analysis software Custom ActiveX controls for Visual Basic,Visual C++, etc.

$ 745 $ 25 $ 245 $ 295 $ 295 $ 75 $ 25 $ 30 Consult factory $ 10 $ 595

$ 495 $ 20 $ 145 $ 195 $ 195 $ 40 $ 17 $ 20

CONTROLLERSETHERNET

$ 495

$ 20 for CD; free download Included with Utilities $ 195 $ 595

Galil offers additional quantity discounts for purchases between 1 and 100. Consult Galil for a quotation.

www.galilmc.com / Galil Motion Control, Inc.

55

MOTION CONTROLLERS

Ethernet/RS232 Econo 1 2 axes

DMC-14x5 Series and DMC-34x5 Series


Product Description
The DMC-1415 and DMC-1425 are economical, one and two axis motion controllers with an Ethernet 10Base-T and RS232 port.The DMC-34x5 is designed for Ethernet-based distributed systems where one DMC-34x5 controller is designated as the master over the other DMC-34x5 controllers. Controllers are available as a card-level product or in a metal enclosure with power supply. With a 32-bit microcomputer,the single and dual axis controllers provide such advanced features as PID compensation with velocity and acceleration feedforward,program memory with multitasking for simultaneously running two applications programs,and uncommitted I/O for synchronizing motion with external events.It handles various modes of motion including point-to-point positioning,jogging,contouring,electronic gearing and ECAM.The DMC-1415 or -3415 single-axis controller accepts inputs from two encoders,which is useful for electronic gearing applications.The DMC-1425 or -3425 dual-axis controller includes linear and circular interpolation for precise, coordinated motion. Like all Galil controllers, the DMC-14x5 and -34x5 controllers use a simple, English-like command language which makes them very easy to program. Galils WSDK servo design software further simplifies system set-up with one-button servo tuning and real-time display of position and velocity information. Communication drivers are available for DOS,Linux and all current Windows operating systems.

Features
I Card-level and box-level , stand-alone motion controllers I DMC-1415 or DMC-3415: 1-axis card or box DMC-1425 or DMC-3425: 2-axis card or box I Ethernet 10BASE-T and one RS232 port up to 19.2 kb. I Ethernet supports multiple masters and slaves I The DMC-1425, -3425 controls two servos or two steppers I Accepts up to 12 MHz encoder frequencies for servos. Outputs up to 3 MHz for steppers I Advanced PID compensation with velocity and acceleration feedforward, offsets, notch filter and integration limits I Modes of motion include jogging, point-to-point positioning, contouring, electronic gearing and ECAM.Accepts input from auxiliary encoder for DMC-1415, -3415 only.Linear and circular interpolation for DMC-1425, -3425 only. I Over 200 English-like commands directly executable by controller.Includes conditional statements and event triggers I Non-volatile memory for programs, variables and arrays. Concurrent execution of two application programs I Home input and forward and reverse limits I 2 uncommitted analog inputs with 12-bit ADC I DMC-1415, -3415: 7 Uncommitted digital inputs, 3 digital outputs DMC-1425, -3425: 3 Uncommitted digital inputs, 3 digital outputs I High-speed position latch I Use Galils IOC-7007 or DB-14064 for additional I/O I Uses 37-pin D connector. ICM-1460 interconnect module breaks-out 37-pin cable into screw terminals I DMC- 14x5, -34x5-Card accepts +5 V, +/- 12 V; DMC-14x5, -34x5-BOX accepts 90260 VAC I Compact size: DMC-14x5, -34x5-CARD: 3.75" x 5.0" DMC-14x5, -34x5-BOX: 5.1" x 3.0" x 6.8" I Communication drivers for all current versions of Windows, DOS and Linux I CE certified I Custom hardware and firmware options available

CONTROLLERSETHERNET
56

DMC-14x5 and DMC-34x5 Controllers

www.galilmc.com / Galil Motion Control, Inc.

Ethernet/RS232 Econo 1 2 axes

DMC-14x5 Series and DMC-34x5 Series


Specifications
System Processor
I Motorola 32-bit microcomputer

High Speed Position Latch


I Latches within 0.1 microseconds

Communications Interface
I Ethernet 10BASET and RS232 port up to 19.2k baud

Dedicated I/O
I Main encoder inputsChannel A,A-,B,B-,I,I- (12 V or TTL) I Auxiliary encoderChannel A, A-, B, B(not available on DMC-1425, -3425) I Forward and reverse limit inputsbuffered* I Home inputbuffered* I High-speed position latch inputbuffered* I Analog motor command output with 16-bit DAC resolution I Pulse and direction output for step motors I Amplifier enable output I Error output I Encoder output compare

Modes of Motion:
I I I I I I Point-to-point positioning Jogging Electronic Gearing Electronic Cam Contouring Linear and circular interpolation for DMC-1425, -3425

CONTROLLERSETHERNET

Memory
I Program memory size500 lines 80 characters I 126 variables I 2000 array elements in up to 14 arrays

Minimum Servo Loop Update Time


I 250 microseconds I 125 microseconds with fast firmware (DMC-14x5)

Filter
I PID (proportional-integral-derivative) with velocity and acceleration feedforward I Notch filter I Dual-loop control for backlash compensation (DMC-1415, -3415 only) I Velocity smoothing to minimize jerk I Integration limits I Torque limits I Offset adjustment I Option for piezo-ceramic motors

Maximum Encoder Feedback Rate


I 12 MHz

Maximum Stepper Rate


I 3 MHz (Full, half or microstep)

Power Requirements
I DMC-1415 and DMC-1425 cards: +5V 400 mA -12V 40 mA +12V 40 mA I DMC-1415/1425/34x5 box: accepts 90260 V AC 50/60 Hz supply

Kinematic Ranges
I Position: 32 bit (2.15 billion counts per move; automatic rollover; no limit in jog or vector modes) I Velocity: Up to 12 million counts/sec for servo motors I Acceleration: Up to 67 million counts/sec2

Environmental
I Operating temperature: 070 C for card; 060 C for box I Humidity: 20-95% RH, non-condensing

Uncommitted Digital I/O


I DMC-1415/3415:7 buffered inputs; 3 TTL outputs* I DMC-1425,-3425:3 buffered inputs; 3 TTL outputs* I DB-14064:Configurable 64 TTL I/O

Mechanical
I DMC-14x5, -34x5 cards: 3.75" 5.0" I DMC-14x5, -34x5 boxes: 5.1" 6.8" 3.0"

Uncommitted Analog Inputs


I 2 individual 10 V analog inputs with 12-bit resolution (16-bit optional)
*Optically isolated I/O available with ICM-1460-OPTO option.

www.galilmc.com / Galil Motion Control, Inc.

57

Ethernet/RS232 Econo 1 2 axes

DMC-14x5 Series and DMC-34x5 Series


Instruction Set
Servo Motor
AF DV FA FV IL KD KI KP NB NF NZ OF SH TL TM DE DP KS MT RP TD TP BA BB BC BD BI BM BO BS BZ Analog feedback Dual loop operation (1415) Acceleration feedforward Velocity feedforward Integrator limit Derivative constant Integrator constant Proportional constant Notch bandwidth Notch frequency Notch zero Offset Servo here Torque limit Sample time Define encoder position Define reference position Stepper motor smoothing Motor type Report commanded position Step counts output Tell position of encoder Brushless axis Brushless phase Brushless calibration Brushless degrees Brushless inputs Brushless modulo Brushless offset Brushless setup Brushless zero Arm latch Set analog voltage Clear bit Communication interrupt Input interrupt Define output bit Output compare function Output port Set bit State of digital input x State of digital output x Value of analog input x

System Configuration (cont.)


CF CN CO CW DE DP EO IA IH IT LZ MB MO MT PF QD QU RS VF Configure unsolicited messages Configure switches Configure I/O points Data adjustment bit Define dual encoder position Define position Echo off Set IP address Internet handle Independent smoothing Leading zeros format ModBus Motor off Motor type Position format Download array Upload array Master reset Variable format Sine of x Cosine of x 1s complement of x Arc sine of x Arc cosine of x Arc tangent of x Absolute value of x Fraction portion of x Integer portion of x Round of x Square root of x

Interrogation (cont.)
TS TT TV TZ WH BK DA DL DM ED ELSE ENDIF EN HX IF IN JP JS NO RA RC RD RE REM RI SA SL UL XQ ZS Tell switches Tell torque Tell velocity Tell I/O configuration Which handle Breakpoint Deallocate variables/arrays Download program Dimension arrays Edit program Conditional statement End of cond.statement End program Halt execution If statement Input variable Jump Jump to subroutine No-operationfor comments Record array Record interval for RA Record data for RA Return from Error Remark program Return from interrupt Send command Single step Upload program Execute program Zero stack Comment Backward software limit Error limit Forward software limit Off-on-error function Torque limit Timeout for in-position After distance After input After motion profiler After absolute position After relative distance At speed After time After vector distance Motion complete After motionforward After motionreverse

Trippoint (cont.)
WC WT AB AC BG DC FE FI HM IP IT JG PA PR SP ST CD CM DT WC EA EB EC EG EM EP EQ ET GA GM GR Wait for contour data Wait for time Abort motion Acceleration Begin motion Deceleration Find edge Find index Home Increment position Smoothing time constant Jog mode Position absolute Position relative Speed Stop Contour data Contour mode Contour time interval Wait for contour data ECAM master Enable ECAM ECAM table index ECAM go ECAM cycle ECAM interval Disengage ECAM ECAM table entry Master axis for gearing Gantry mode Gear ratio for gearing

Independent Motion

Programming

CONTROLLERSETHERNET

Stepper Motor

Contour Mode

Math Functions
@SIN[x] @COS[x] @COM[x] @ASIN[x] @ACOS[x] @ATAN[x] @ABS[x] @FRAC[x] @INT[x] @RND[x] @SQR[x] LA LL LS LV MG QR QZ RP RL RV SC TB TC TD TE TH TI TIME TP TR

Brushless Motor (-1415,-3415 only)

ECAM/Gearing

Interrogation
List arrays List labels List program List variables Message command Data record Return data record Report command position Report latch Firmware revision information Stop code Tell status Tell error code Tell dual encoder Tell error Tell Ethernet handle Tell input Time operand Tell position Trace program

Error Control
BL ER FL OE TL TW AD AI AM AP AR AS AT AV MC MF MR

I/O Commands
AL AO CB CI II OB OC OP SB @IN[x] @OUT[x] @AN[x] BN BP BV CE 58

Vector/Linear Interpolation (DMC-1425, -3425 only)


CR CS ES LE LI LM ST VA VD VE VM VP VR VS VT Circular interpolation move Clear motion sequence Ellipse scaling Linear interpolation end Linear interpolation segment Linear interpolation mode Stop motion Vector acceleration Vector deceleration Vector sequence end Coordinated motion mode Vector position Vector speed ratio Vector speed Smoothing time constantvector

Trippoint

System Configuration
Burn parameters Burn program Burn variables and arrays Configure encoder type

www.galilmc.com / Galil Motion Control, Inc.

Ethernet/RS232 Econo 1 2 axes

DMC-14x5 Series and DMC-34x5 Series


Connectors
DMC-1415, 3415 J3
Main 37-pin D-type
1 Reset* (TTL) 20 Error* 2 Amp enable 21 ACMD (STEP for Stepper Motor) 3 Output 3 22 Output 2 4 Output 1 23 Output compare 5 Analog Input 1 24 Analog Input 2 6 Input 7 25 Input 6 7 Input 5 26 Input 4 8 Input 3 27 Input 2 9 Input 1 (and latch) 28 Forward limit 10 +5V 29 Reverse limit 11 Ground 30 Home 31 -12V 12 +12V 13 Ground 32 Main Encoder A+ 14 Main Encoder A33 Main Encoder B+ 15 Main Encoder B34 Main Encoder I+ 16 Main Encoder I35 Auxiliary A+ 17 Auxiliary A36 Auxiliary B+ 18 Auxiliary B37 Abort* 19 ACMD Phase B (DIR for Stepper Motor) (For Sinusoidal Commutation)

DMC-1425, -3425 J3
Main 37-pin D-type
1 Reset* 2 Amp Enable (both motors) 3 Output 3 4 Output 1 5 Analog 1 6 Index Y 7 Reverse limit Y 8 Input 3 9 Input 1 (X latch input) 10 + 5V 11 Ground 12 +12V 13 Ground 14 X Encoder A 15 X Encoder B 16 X Encoder I 17 Y Encoder A 18 Y Encoder B 19 ACMDY/DIRX 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 Error* ACMDX/STEPX Output 2 Output compare Analog 2 Home Y Forward limit Y Input 2 (Y latch input) Forward limit X Reverse limit X Home X -12 V X Encoder A+ X Encoder B+ X Encoder I+ Y Encoder A+ Y Encoder B + Abort*

RS232
Main port 9-pin male
1 2 3 4 5 CTSoutput Transmit dataoutput Receive datainput RTSinput Ground 6 7 8 9 CTSoutput RTSinput CTSoutput NC

CONTROLLERSETHERNET

*Active low

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59

Ethernet/RS232 Econo 1 2 axes

DMC-14x5 Series and DMC-34x5 Series


Hardware Accessories
ICM-1460
The ICM-1460 Interconnect Module provides screw terminals for the 37-pin D-type cable from the DMC-14x5 or 34x5 for quick connection of system hardware.The ICM-1460 is contained in a metal enclosure with dimensions of 6.9" 4.9" 2.6" and 0.2" diameter keyholes for mounting.The ICM is normally shipped configured for high amp enable, +5 V (-HAEN). For low amp enable, order ICM-1460-LAEN.

DMC-34x5 Distributed Control Option


The DMC-34x5 Series distributed control system can operate with a single communication channel between the host and the master controller.One controller is programmed to be the master and maintains communication with each slave. Commands sent by the host computer to the master controller are based on the multi-axis convention designating the axes as A, B, C, D, E, F, G, H. The individual slave controllers can contain their own local application program.A slave program would be written to act as if the slave was operating independent of the distributed control network. In most cases, the programming is done on a multi-axis level to simplify the programming. An application program written at the multi-axis level can command all axes of motion and apply trippoints to all axes. On the other hand, a slave controller program can drive only the local motors and include trippoints which refer to the local axes. The multi-axis network may be configured automatically with the HC command.This single command is used to configure the number of axes, data update rate and number of IOC devices in the system. DMC-3415 and DMC-3425 controllers may be used in any combination for a total of up to 8 axes in the network.

ICM-1460 OPTO CONTROLLERSETHERNET


For applications requiring optoisolation, the ICM-1460 OPTO option provides 524 V optoisolation on all general inputs and outputs, home inputs, limits, and abort input.

ICM-1460 Interconnect Module (shown with and without cover)

DMC-3425

AMP-14110 1-axis and AMP-14120 2-axis 20W Servo Drives DB-14064 I/O Expansion
The DB-14064 is an optional board which provides 64 additional I/O for the DMC-14x5 or 34x5 controller cards.This board mounts directly onto the back of the controller and provides 64 I/O points configurable by the user for inputs or outputs.The I/O is accessible through two 50-pin headers. A CB-50-80 adaptor can be used to convert the IDC connectors to an 80-pin connector.Using the adaptor and the Cable-80 allows for direct connection to the Galil IOM-1964 opto-isolation module. The AMP-14110 and AMP-14120 are one-axis and two-axis linear drives for operating small brush-type servo motors.The AMP-14110 mounts directly to the DMC-1415 1-axis controller and the AMP-14120 mounts to the DMC-1425 2-axis controller.The amplifiers require a +/-12-30 DC Volt input.Output power is 20W per amplifier.The gain of each transconductance linear amplifier is 0.1 A/V at 1 A maximum current.The typical current loop bandwidth is 4 kHz.

60

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Ethernet/RS232 Econo 1 2 axes

DMC-14x5 Series and DMC-34x5 Series


Ordering Information
PART NUMBER DESCRIPTION QUANTITY 1 QUANTITY 100

DMC-1415-card (or -3415) DMC-1415-box (or -3415) DMC-1425-card (or -3425) DMC-1425-box (or -3425) -STEPPER option CABLE 37-pin D CABLE 9-pin D ICM-1460 ICM-1460-STEPPER ICM-1460-OPTO AMP-14110 AMP-14120 DB-14064 Galil Utilities DMCWIN32 WSDK ActiveX Tool Kit Upgrade Options

1-axis stand-alone with Ethernet & RS232 DMC-1415 in enclosure with power supply 2-axis controller for 2 servo motors DMC-1425 in enclosure with power supply Controls 2 step motors instead of 2 servo motors 37-pin D-type cable 9-pin RS232 cable Interconnect Module. Specify -HAEN for high amp enable or -LAEN for low amp enable Interconnect for DMC-1425-STEPPER ICM with optoisolated inputs and outputs 1-axis 20W servo amplifier board for DMC-1415-card 2-axis 20W servo amplifier board for DMC-1425-card Expansion board for 64 I/O (for card-level only) Communication drivers, SmartTERM software Windows API Tool Kit (VB,C, C++, etc.) Set-up, tuning and analysis software Custom ActiveX controls for Visual Basic,Visual C++, etc. Two sets of PID, anti-friction bias, absolute or SSI sensors, backlash and leadscrew error compensation, profile smoothing,anti-resonance profiling, high-resolution gearing, passwordprotect, memory expansion, closed-loop steppers, coordinate transformation

$ 595 $ 795 $ 695 $ 895 No extra charge $ 25

$ 395 $ 545 $ 445 $ 595

CONTROLLERSETHERNET

$ 10 $ 145 $ 145 $ 195 $ 75 $ 100 $ 295 $ 95 $ 95 $ 145 $ 50 $ 75 $ 195

$ 20 for CD; free download Included with Utilities $ 195 $ 595

Consult factory One-time set-up charge

Galil offers additional quantity discounts for purchases between 1 and 100. Consult Galil for a quotation.

www.galilmc.com / Galil Motion Control, Inc.

61

MOTION CONTROLLERS

Ethernet I/O Controller

IOC-7007
Product Description
The IOC-7007 I/O controller provides an intelligent solution for handling inputs and outputs.The IOC-7007 controller base accepts up to seven Galil I/O IOM modules. IOM modules are available with TTL inputs,optoisolated inputs,optoisolated outputs,high power outputs,dry contact relays,analog inputs and analog outputs. Galil's IOC-7007 has a 10/100 Base-T auto-negotiable Ethernet port allowing it to communicate with multiple devices in an Ethernet network.This allows easy integration of Galils Ethernet motion controllers with I/O and eliminates the need for an external PLC.

Features
I Intelligent Input/Output Controller IOC includes 32-bit microcomputer with memory and multitasking for programming I/O events. I Install up to seven plug-in IOM modules to handle many input and output functions. I Mix and Match I/O modules to meet specific requirements. I/O modules for: 16 TTL Inputs 8 optoisolated inputs 8 optoisolated outputs 8 high power outputs 4 dry contact relays 4 or 8 analog outputs 8 analog inputs I Interfaces with other Galil Ethernet motion controllers or Ethernet I/O devices I Ethernet 10/100 Base-T with auto-negotiate function for communicating with 100 Base-T or 10 Base-T devices; One RS232 port up to 19.2 kbaud I Supports ModBus TCP in both master and slave mode for interface to other MODBUS devices. I I/O commands and programming are similar to Galil motion controller programming. Additional commands for I/O processing and PLC functions are included. Easy integration of Galil Ethernet motion controller with IOC-7007 I 8 multitasking threads for simultaneous execution of multiple I/O programs. One additional thread for PLC mode I PLC mode for fast I/O scans with deterministic timing I Fast command processing timeless than 100 microseconds I Non-volatile memory includes 500 line x 80 characters program space; 126 symbolic variables; 2000 elements in up to 14 arrays I Accepts 90-260 VAC 50/60 Hz or 20-60 VDC I Packaging options include: metal enclosure, DIN rail mount, or card-level I 20-pin Molex connectors for easy interface to I/O modules

CONTROLLERSETHERNET
IOC-7007

The IOC-7007 is programmable and includes 500 lines of non-volatile program memory, variables, arrays and multitasking for concurrent execution of up to eight different programs.The controller also includes 1 PLC thread with deterministic timing.The programming language is similar to Galil's motion controller language allowing seamless integration of motion and I/O. The IOC-7007 is available as a packaged unit, as a DIN rail mount unit, or as a card-level unit.The boxlevel version accepts 90-260 VAC or 20-60 VDC.The DIN rail and card-level unit accept 20-60 VDC.

62

www.galilmc.com / Galil Motion Control, Inc.

Ethernet I/O Controller

IOC-7007
Application Programming
The IOC-7007 command language is similar to the command language of Galil motion controllers, but the motion-specific commands are removed and additional I/O commands added.The language is comprised of intuitive, two-letter English-like ASCII commands designed to make programming as quick and easy as possible. For example, the command SB1 sets output bit 1 and CB1 clears output bit 1.The complete set of commands is described in the Command Table. Like all Galil motion controllers, the IOC-7007 has the ability to store and execute complex application programs designed by the user. Such application programs can be downloaded directly to the controller and executed without host intervention. Special commands are available for application programming including event triggers, conditional jumps, IF/THEN/ELSE statements, subroutines, symbolic variables and arrays. The IOC-7007 permits multitasking, which allows up to eight application programs to execute simultaneously. An additional task can be executed in a special PLC mode which is described in the next section. the PLC mode are designated in bold in the command list.Variables and arrays are also available in the PLC mode.The CP command compiles the PLC program and the PLC program is executed with the XP command. Precisely the same number of PLC commands are executed per update period which allows for deterministic timing.

Example
INSTRUCTION INTERPRETATION

#PLCSCAN IF (@IN[5]=1) CB1 ELSE SB1 ENDIF EN

PLC special label If Input 5 equals one Clear Output 1 If Input 5 equals 0 Set Output 1 Terminate IF statement End PLC program

CONTROLLERSETHERNET

Example
INSTRUCTION INTERPRETATION

Specifications
System Processor
Task1 label Execute Task2 in thread 1 Wait for 20 seconds Stop thread 1 Print Message End of Program Task2 label Initialize reference time Clear Output 1 Loop label Wait 10 msec from reference time Set Output 1 Wait 40 msec from reference time, then initialize reference Clear Output 1 Repeat Loop End task

#TASK1 XQ #TASK2,1 WT20000 HX1 MGDONE EN #TASK2 AT0 CB1 #LOOP AT 10 SB1 AT -40 CB1 JP #LOOP EN

I Motorola 32-bit microcomputer

Communications Interface
I Ethernet 10/100BASE-T and RS232 port up to 19.2 kbaud

Memory
I Program500 lines 80 characters I Variables126 I Array2000 array elements in up to 14 arrays

Power Requirements
I AC option (BOX version only):90260 VAC 50/60 Hz I DC option (BOX,DIN,CARD):20 60 VDC input

Mechanical
I I I I I I I I I I I I I IOC-7007 board:10.75" 4.25" IOC-7007-box:10.8" 4.5" 2.6" IOC-7007-DIN:fits standard DIN mount IOM modules:1.8" 3.2" IOM-70016:16 buffered inputs,4.7 k ohm pull-up IOM-70108:8 optoisolated inputs,2.2 k pull-up for 5 V in,10k for 24 V in IOM-70208:8 optoisolated outputs,24 V @ 25 mA each IOM-70308:8 low-side,high-power outputs,24 V @ 100 mA each IOM-70508:8 high-side,high-power outputs,30 V @ 500 mA each IOM-70404:4 dry contact relays,150 V @ 250 mA each IOM-70808:8 analog inputs,12-bits standard IOM-70904:4 analog outputs,12-bits standard IOM-70908:8 analog outputs,12-bits standard
www.galilmc.com / Galil Motion Control, Inc. 63

IOM Electrical Specifications

PLC Mode
The PLC Mode is a special mode of operation that allows fast execution of an application program.The program is compiled into optimized code for faster execution with deterministic timing.This feature provides quick and accurate I/O scans. The special PLC application program is designated with the label #PLCSCAN. All commands following the #PLCSCAN label are part of the program. A subset of Galil commands that are available for use in

Ethernet I/O Controller

IOC-7007
Instruction Set
Ethernet
IA IH MB Set IP address Internet handle ModBus Analog output voltage Clear bit Input interrupt Define output bit Output port Set bit State of analog output x State of digital input x State of digital output x Value of analog input x List arrays List labels Launch slave record List program List variables Message command Data record Return data record information Tell status Tell error code Tell Ethernet handle Tell input Time operand, internal clock Trace program Tell thread execution Tell I/O configuration Ethernet Handle

Math Functions
@SIN[x] @COS[x] @COM[x] @ASIN[x] @ACOS[x] @ATAN[x] @ABS[x] @FRAC[x] @INT[x] @RND[x] @SQR[x] +, - , *, / >,<,=,>=,<=,<> & | Sine of x Cosine of x 1s compliment of x Arc sine of x Arc cosine of x Arc tangent of x Absolute value of x Fraction portion of x Integer portion of x Round of x Square root of x Arithmetic commands Logical operators Logical AND Logical OR

System Configuration
BN BP BV CF CW EO HS LZ QD QU RS RS VF AA AI AT WT CP HP TX XP Burn parameters Burn program Burn variables and arrays Configure default port Data adjustment bit Echo off Handle Assignment Leading zeros format Download array Upload array Reset Master reset Variable format After analog input After input At time Wait for time Compile PLC thread Halt PLC thread Tell PLC execution time Execute PLC thread

I/O
AO CB II OB OQ SB @AO[x] @IN[x] @OUT[x] @AN[x] LA LL LR LS LV MG QR QZ TB TC TH TI TIME TR TQ TZ WH

CONTROLLERSETHERNET

Trippoint

Interrogation

Programming
AB DA DL DM ED ELSE EN ENDIF HX IF IN JP JS NO RA RC RD RE RI SA UL XQ ZC ZD ZS Abort program Deallocate variables/arrays Download program Dimension arrays Edit program Conditional statement End program End of conditional statement Halt execution If statement Input variable Jump Jump to subroutine No-operationfor remarks Record array, automatic data capture Record interval for RA Record data for RA Return from Error Return from interrupt routine Send command Upload program Execute program User variable User variable Zero stack

PLC Mode

Note: Commands in bold designate commands available for the PLC mode

64

www.galilmc.com / Galil Motion Control, Inc.

RP4 DO_Emitter

RP8 Power Out 25 mA max on each output GND_Iso

RP6 4.7 k

Ethernet I/O Controller


25 mA max on each output

2.2 k

100 mA max on each output

IOC-7007
Connectors
20-pin molex for each IOM module
Outside RO_NC On IOM-70404 side Vcc

IOM-70016 16-TTL input module


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

IOM-70208 8 Opto-isolated output module

On IOM-70404 side 1 NC 5 VDC supply output (50 mA max)Outside Vcc 2 NC Ground reference for TTL inputs RO_NC 3 Opto Output 1 (Collector) TTL Input 1 RO_C 4 Opto Output 1 (Emitter) TTL Input 2 RO_NO 5 Opto Output 2 (Collector) TTL Input 3 DO 6 Opto Output 2 (Emitter) TTL Input 4 74LS595 7 Opto Output 3 (Collector) TTL Input 5 Each Dry contact relay is rated for 150 V @ 250 mA 8 Opto Output 3 (Emitter) TTL Input 6 9 Opto Output 4 (Collector) TTL Input 7 Opto Output 4 (Emitter) 10 TTL Input 8 11 Opto Output 5 (Collector) TTL Input 9 12 Opto Output 5 (Emitter) TTL Input 10 Opto Output 6 (Collector) 13 TTL Input 11 14 Opto Output 6 (Emitter) TTL Input 12 15 Opto Output 7 (Collector) TTL Input 13 16 Opto Output 7 (Emitter) TTL Input 14 17 Opto Output 8 (Collector) +V (524VDC) TTL Input 15 18 Anode Opto Output 8 (Emitter) TTL Input 16 19 NC NC 20 NC RP2 NC Cathode

RO_C RO_NO

IOM-70016 16 TTL Input Module for IOC-7007


+5 V

DO MC 3486 74LS595

.7 k for RP1 Each Dry contact relay is4rated 150 V @ 250 mA 1.7 V

Out

Outside

On IOM-70016 side

IOM-70108 8 Opto-isolated Inputs


+V (524VDC) Anode

CONTROLLERSETHERNET

Cathode

RP2

Outside

On IOM-70108 side

IOM-70108 8 Opto-isolated input module


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 NC NC Opto Input 1 (Anode) Opto Input 1 (Cathode) Opto Input 2 (Anode) Opto Input 2 (Cathode) Opto Input 3 (Anode) Opto Input 3 (Cathode) Opto Input 4 (Anode) Opto Input 4 (Cathode) Opto Input 5 (Anode) Opto Input 5 (Cathode) Opto Input 6 (Anode) Opto Input 6 (Cathode) Opto Input 7 (Anode) Opto Input 7 (Cathode) Opto Input 8 (Anode) Opto Input 8 (Cathode) NC NC

IOM-70308 8 Opto-isolated high power output module Outside On IOM-70108 side


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 NC
5 to 24 VDC input range NC RP2 is 2.2 k ohms for 5 V input RP2 is 10 Power k ohms for 24 V Output 1 input Specify 5V or -24V when ordering

5 to 24 VDC input range RP2 is 2.2 k ohms for 5 V input RP2 is 10 k ohms for 24 V input Specify 5V or -24V when ordering

Outside

Power Output 2 Power Output 3 Power Output 4 Power Output 5 Power Output 6 Power Output 7 Power Output 8 NC NC NC NC NC NC NC NC On IOM-70208 side VIN_ISO, Input for Power supply (+) Ground_ISO, Input for Return supply (-)

IOM-70208 8 Opto-isolated Outputs


Outside On IOM-70208 side

DO_Collector

RP4 DO_Emitter 2.2 k 25 mA max on each output

IOM-70308 8 Opto-isolated High Power Outputs


Outside VIN_Iso
Outside RO_NC

On IOM-70308 side

On IOM-70404 side Vcc

DO_Collector

RP4 DO_Emitter 2.2 k 25 mA max on each output

Po w er Out RO _ C
RO_NO

RP8

RP6 4.7 k

GND_Iso
DO 74LS595

100 mA max on each output

Each Dry contact relay is rated for 150 V @ 250 mA

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65

Ethernet I/O Controller

IOC-7007
Connectors
20-pin molex for each IOM module

IOM-70508 8 Opto-isolated high power output module


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 NC NC Power Output 1 (+) Power Output 2 (+) Power Output 3 (+) Power Output 4 (+) Power Output 5 (+) Power Output 6 (+) Power Output 7 (+) Power Output 8 (+) NC NC NC NC VIN_ISO, Input for Power supply (+) VIN_ISO, Input for Power supply (+) VIN_ISO, Input for Power supply (+) VIN_ISO, Input for Power supply (+) VIN_ISO, Input for Power supply (+) Ground_ISO, Input for Return supply (-)

IOM-70808 8 Analog input module


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 NC NC Analog Input 1 Ground Analog Input 2 Ground Analog Input 3 Ground Analog Input 4 Ground Analog Input 5 Ground Analog Input 6 Ground Analog Input 7 Ground Analog Input 8 Ground NC NC

IOM-70508 8 Opto-isolated High Power side Outputs Outside On IOM-70208


Outside On IOM-70508 side

VIN

DO_Collector VIN_Iso

10k

11V

RP4 DO_Emitter Power Out


10k 25 mA max on each output GND_Iso 4.7k

Powe

2.2 k

CONTROLLERSETHERNET

500 mA max on each output with 3 Amps max total at 5-30 VDC

IOM-70404 4 Dry Contact Relay Outputs


Outside RO_NC RO_C RO_NO DO Inputs 1..8 74LS5 95 Each Dry contact relay is rated for 150 V @ 250 mA
S8 DC Multiplexer S1 D

On IOM-70404 side Vcc

IOM-70404 4 Dry contact relay output module


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 NC NC Relay Output Common 1 Relay Output Normally Open 1 Relay Output Normally Close 1 Relay Output Common 2 Relay Output Normally Open 2 Relay Output Normally Close 2 Relay Output Common 3 Relay Output Normally Open 3 Relay Output Normally Close 3 Relay Output Common 4 Relay Output Normally Open 4 Relay Output Normally Close 4 NC NC NC NC NC NC

IOM-70908 8 Analog output module


1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 NC NC Analog Output 1 Ground Analog Output 2 Ground Analog Output 3 Ground Analog Output 4 Ground Analog Output 5 Ground Analog Output 6 Ground Analog Output 7 Ground Analog Output 8 Ground NC NC

IOM-70808-12 8 Analog Inputs


Inputs 1..8 GND

C1 C2 C3 ENB HI-508

Multiplexer A/D Converter Ground S1 D Vin B1

Outside
S8 DC

On IOM-70808 side V B
ref 8

+V (524VDC)
Ground Outside

Sign 8 Analog Inputs with Input range: -10 V to +10 V 12-bit resolution. 16-bit option available. C1 Standard C2 C3 ENB Part Number: IOM-70808 -12 (-16 for upgrade) HI-508 ENB

Anode

On IOM-70808 side

8 Analog Inputs with Input range: RP2 -10 V to +10 V Cathode Standard 12-bit resolution. 16-bit option available. Part Number: IOM-70808 -12 (-16 for upgrade)

Outside

On IOM-70108 side
Outside

5 to 24 VDC input range IOM-70908 8 Analog Outputs


Outside

RP2 is 2.2 k ohms for 5 V input RP2 is 10 k ohms for 24 V input On IOM-70908 side Specify 5V or -24V when ordering
TL084 243 Ohms

Analog Out
On IOM-70904 side

Analog Out

Outside

GND
Outside On IOM-70908 side TL084

GND
TL084 Analog Out 243 Ohms

Analog Out

243 Ohms

GND

Analog Output range: -10 V to +10 V Output Resistance: 243 Ohms IOM-70908 provides 8 outputs

GND

Analog Outp IOM-

66

www.galilmc.com / Galil Motion Control, Inc.

Analog Output range: -10 V to +10 V Output Resistance: 243 Ohms IOM-70908 provides 8 outputs

Analog Output range: -10 V to +10 V Output Resistance: 243 Ohms IOM-70904 provides 4 outputs

ENB Ground Outside On IOM-70808 side Ethernet I/O Controller 8 Analog Inputs with Input range: -10 V to +10 V

IOC-7007
Connectors
20-pin molex for each IOM module

Standard 12-bit resolution. 16-bit option available. Part Number: IOM-70808 -12 (-16 for upgrade)

IOM-70904 4 Analog output module


1 2 3 4 5 6 7 8 9 10 NC NC Analog Output 1 Outside On IOM-70908 side Ground Analog Output 2 Out 243 Ohms Analog Ground Analog Output 3 Ground GND Analog Output 4 Ground 11 12 13 14 15 TL084 16 17 18 19 20 NC NC NC NC NC NC NC NC NC NC

IOM-70904 4 Analog Outputs


Outside On IOM-70904 side

TL084 Analog Out 243 Ohms

GND

Analog Output range: -10 V to +10 V Output Resistance: 243 Ohms IOM-70908 provides 8 outputs

Analog Output range: -10 V to +10 V Output Resistance: 243 Ohms IOM-70904 provides 4 outputs

CONTROLLERSETHERNET

Ordering Information
PART NUMBER DESCRIPTION QUANTITY 1 QUANTITY 100

IOC-7007-BOX-AC IOC-7007-BOX-DC IOC-7007-DIN-DC IOC-7007-CARD-DC IOC-7007-CARD-NS IOM-70016 IOM-70108 IOM-70208 IOM-70308 IOM-70508 IOM-70404 IOM-70808 IOM-70908 IOM-70904

I/O Controller Base; BOX; 90 260 AC I/O Controller Base; BOX; 2060 VDC I/O Controller Base; DIN; 2060 VDC I/O Controller Base; CARD; 2060 VDC I/O Controller Base; CARD; no supply (requires +5 V, 12 V inputs) I/O Module16 TTL inputs I/O Module8 optoisolated inputs I/O Module8 optoisolated outputs (24 V @ 25 mA) I/O Module8 low-side, high-power outputs (24 V @ 100 mA) I/O Module8 high-side, high-power outputs (30 V @ 500 mA) I/O Module4 dry contact relays (150 V @ 250 mA) I/O Module8 analog inputs (12-bits) I/O Module8 analog outputs (12-bits) I/O Module4 analog outputs (12-bits)

$ 595 $ 595 $ 595 $ 545 $ 495 $ 30 $ 30 $ 30 $ 30 $ 45 $ 55 $ 60 $ 60 $ 30

$ 495 $ 495 $ 495 $ 445 $ 395 $ 20 $ 20 $ 20 $ 20 $ 30 $ 40 $ 45 $ 45 $ 20

Note: One IOC-7007 controller base accepts up to seven (7) IOM modules Galil offers additional quantity discounts for purchases between 1 and 100. Consult Galil for a quotation.

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67

Other Bus Formats PC/104, ISA, VME, cPCI


In addition to the popular PCI Bus and Ethernet/RS232 controllers, Galil offers motion controller cards in other Bus formats such as PC/104, ISA,VME and cPCI.These cards are available as full-featured, multi-axis Optima controllers or as single-axis Econo controllers. Complete specifications are included in the following pages. PC/104, VME, cPCI, ISA Optima 1-8 axes DMC-12x0, DMC-13x8, DMC-16x0, DMC-17x0 Series Pages 7077 ISA, PC/104, RS232, PCI Econo 1 axis DMC-1410, DMC-1411, DMC-1412, DMC-1417 Pages 7882

PC/104, VME, cPCI, ISA Optima 18 Axes Product Comparison Chart


CONTROLLERSOTHER
DMC-12x0 Communication interface Form factor Number of axes Connector type Mating interconnect module Power requirement Maximum encoder rate Maximum stepper rate Minimum servo update time Optoisolated digital inputs # of uncommitted digital inputs # of uncommitted digital outputs # of analog inputs # of programmable I/O Dual encoder for each axis Program memory size (lines x chr) Array size (number of elements) # of variables # of tasks for multitasking Drive options PC/104 card x=1,2,3,4,5,6,7,8 50-pin IDC x 2 ICM-1900/-2900 5V,+/-12V 12 MHz 3 MHz 125 usec 1-, 2-axes no 1-4 ax: 8; 5-8 ax:16 1-4 ax: 8; 5-8 ax:16 8 64 (with DB-12064) yes 1000 x 80 8000 254 8 AMP-19520 AMP-19540 DMC-1240: $2195 DMC-1240: $995 DMC-13x8 VME card x=1,2,3,4 100-pin SCSI ICM-1900/-2900 5V,+/-12V 12 MHz 3 MHz 125 usec 1-, 2-axes yes 8 8 8 64 yes 1000 x 80 8000 254 8 AMP-19520 AMP-19540 DMC-1348: $2495 DMC-1348: $1145 DMC-16x0 cPCI card x=1,2,3,4 100-pin SCSI ICM-1900/-2900 5V,+/-12V 12 MHz 3 MHz 125 usec 1-, 2-axes yes 8 8 8 64 yes 1000 x 80 8000 254 8 AMP-19520 AMP-19540 DMC-1640: $2495 DMC-1640: $1145 DMC-17x0 ISA card x=1,2,3,4,5,6,7,8 100-pin SCSI ICM-1900/-29000 5V,+/-12V 12 MHz 3 MHz 125 usec 1-, 2-axes yes 1-4 ax: 8; 5-8 ax: 24 1-4 ax: 8; 5-8 ax:16 8 64 (with DB-14064) yes 1000 x 80 8000 254 8 AMP-19520 AMP-19540 DMC-1740: $2195 DMC-1740: $995

Price: qty 1 (4-axis) Price: qty 100 (4-axis)

68

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Other Bus Formats PC/104, ISA, VME, cPCI


ISA, PC/104, RS232, PCI Econo 1 Axis Product Comparison Chart
DMC-1410 Communication interface Form factor Number of axes Connector type Mating interconnect module Power requirement Maximum encoder rate Maximum stepper rate Minimum servo update time Optoisolated digital inputs # of uncommitted digital inputs # of uncommitted digital outputs # of analog inputs Dual encoder for each axis Program memory size (lines x chr) Array size (# of elements) Number of variables # of tasks for multitasking Price: qty 1 Price: qty 100 ISA card 1 37-pin D ICM-1460 5V,+/-12V 8 MHz 2 MHz 375 usec 1-axis no* 7 3 0 yes 250 x 40 1000 126 2 $595 $395 DMC-1411 PC/104 card 1 40-pin IDC ICM-1460 5V,+/-12V 8 MHz 2 MHz 375 usec 1-axis no* 7 3 0 yes 250 x 40 1000 126 2 $595 $395 DMC-1412 RS232 card or box 1 37-pin D ICM-1460 5V,+/-12V card 90-260 VAC box 8 MHz 2 MHz 375 usec 1-axis no* 7 3 0 yes 250 x 40 1000 126 2 DMC-1412-card $595 DMC-1412-card $395 DMC-1417 PCI card 1 37-pin D ICM-1460 5V,+/-12V card 8 MHz 2 MHz 375 usec 1-axis no* 7 3 0 yes 250 x 40 1000 126 2 DMC-1417 $595 DMC-1417 $395

CONTROLLERSOTHER

*Optical isolation available with ICM-1460-OPTO

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69

MOTION CONTROLLERS

PC/104, VME, cPCI, ISA Optima 1 8 axes

DMC-12x0, DMC-13x8, DMC-16x0, DMC-17x0 Series


Product Description
The DMC-12x0,13x8,16x0,and DMC-17x0 are Optima motion controllers designed for multi-axis applications. The controllers differ only in their communication interface:DMC-12x0 is for PC/104; DMC-13x8 for VME; DMC16x0 for cPCI and DMC-17x0 for ISA bus.For single axis applications,Galils Econo DMC-1410 (ISA),DMC-1411 (PC/104),DMC-1412 (RS232),or DMC-1417 (PCI) controllers should be considered. Left to right: DMC-12x0 PC/104 The controllers incorporate a 32-bit microcomputer DMC-16x0 CompactPCI and provide such advanced features as PID compensaDMC-17x0 ISA tion with velocity and acceleration feedforward,

Features
I Available in various communication and axes formats: DMC-12x0: PC/104 x=1,2,3,4,5,6,7,8 axes DMC-13x8:VME x=1,2,3,4 axes plus 64 extended I/O DMC-16x0: cPCI x=1,2,3,4 axes plus 64 extended I/O DMC-17x0: ISA x=1,2,3,4,5,6,7,8 axes I User-configurable for stepper or servo motors on any combination of axes.Optional firmware for piezo-ceramic motors.Sinusoidal commutation for brushless servo motors I 12 MHz encoder frequencies for servos, 3 MHz for steppers I PID compensation with velocity and acceleration feedforward, integration limits, notch filter and low-pass filter I Modes of motion include jogging, point-to-point positioning, contouring, linear and circular interpolation, electronic gearing and ECAM.Features ellipse scaling, slow-down around corners, infinite segment feed and feedrate override I Over 200 English-like commands including conditional statements and event triggers I Non-volatile memory for programs, variables and arrays. Concurrent execution of up to eight application programs I Isolated home and forward and reverse limits accepted for every axis.Isolation not available on the DMC-12x0 I 8 isolated uncommitted inputs and 8 outputs for 1- through 4-axes models, 24 in/16 out for 5- through 8-axis models. Optical isolation not available on the DMC-12x0

CONTROLLERSOTHER

programmable notch,program memory with multitasking for simultaneously running up to eight applications programs,and uncommitted I/O for synchronizing motion with external events.They handle various modes of motion including point-to-point positioning,jogging, linear and circular interpolation,contouring,electronic gearing and ECAM.Additionally,the controllers are userconfigurable for stepper or servo motor control on any combination of axes. Like all Galil controllers,the controllers use a simple, English-like command language which makes them very easy to program.Galils WSDK servo design software further simplifies system set-up with one-buttonservo tuning and real-time display of position and velocity information.Communication drivers are available for DOS,Linux and all current Windows operating systems.
70 www.galilmc.com / Galil Motion Control, Inc.

I High speed position latch for each axis and output compare I 8 uncommitted analog inputs I Dual encoder inputs for each axis I DMC-13x8, DMC-16x0, include 64 configurable I/O. Additional 64 I/O may be added on DMC-12x0 and DMC17x0 using the DB-12064 or DB-14064 daughter board I 100-pin SCSI connectors for each set of 4 axes. Galils ICM-1900 interconnect module breaks-out the 100-pin cable into screw terminals I Communication drivers for all current versions of Windows, DOS and Linux I CE certifiedDMC-17x0 I Custom hardware and firmware options available

PC/104, VME, cPCI, ISA Optima 1 8 axes

DMC-12x0, DMC-13x8, DMC-16x0, DMC-17x0 Series


Specifications
System Processor
I Motorola 32-bit microcomputer

Uncommitted Digital I/O


DIGITAL INPUTS DIGITAL OUTPUTS CONFIGURABLE I/O

Communications Interface
I DMC-12x0:PC/104 with bi-directional,high speed FIFO I DMC-13x8:VME with bi-directional FIFO plus auxiliary FIFO I DMC-16x0:CompactPCI with bi-directional FIFO plus auxiliary FIFO I DMC-17xx:ISA with bi-directional FIFO plus auxiliary FIFO Commands are sent in ASCII.A binary communication mode is also available as a standard feature

DMC-1210 thru -1240* DMC-1250 thru -1280* DMC-1318 thru -1348 DMC-1610 thru -1640 DMC-1710 thru -1740 DMC-1750 thru -1780

8 16 8 8 8 24

8 16 8 8 8 16

64 w/ DB-12064 64 w/ DB-12064 64 64 64 w/ DB-14064 64 w/ DB-14064

Uncommitted Analog Inputs


I 8 individual 10 V analog inputs with 12-bit resolution (16-bit available as an option)

Modes of Motion:
I I I I I I I I I I I I Point-to-point positioning Position Tracking Jogging 2D Linear and Circular Interpolation with feedrate override Linear Interpolation for up to 8 axes Tangential Following Helical Electronic Gearing with multiple masters Gantry Mode Electronic Cam Contouring Teach and playback

CONTROLLERSOTHER

High Speed Position Latch


I Uncommitted inputs 14 latch X,Y,Z,W and 912 latch E,F,G,H axes (latches within 0.1 microseconds without optoisolation and within 40 microseconds with optoisolation)

Dedicated Inputs (per axis)


I I I I I I I I I I I I Main encoder inputsChannel A,A-,B,B-,I,I- (12 V or TTL) Dual encoder (for axes configured as servo)Channel A,A-,B,BForward and reverse limit inputsoptoisolated* Home inputoptoisolated* Selectable high-speed position latch inputoptoisolated* Selectable abort inputoptoisolated* Analog motor command output with 16-bit DAC resolution Pulse and direction output for step motors PWM output for servo amplifiers Amplifier enable output Error output (per card) High-speed position compare output (per card) -FAST 125 sec 250 sec 375 sec 500 sec

Memory
I Program memory size1000 lines 80 characters I 254 variables I 8000 array elements in up to 30 arrays

Dedicated Outputs (per axis)

Filter
I PID (proportional-integral-derivative) with velocity and acceleration feedforward I Notch filter and low-pass filter I Dual-loop control for backlash compensation I Velocity smoothing to minimize jerk I Integration limits I Torque limits I Offset adjustments I Option for piezo-ceramic motors

Minimum Servo Loop Update Time


I I I I 12 axes:250 sec 34 axes:375 sec 56 axes:500 sec 78 axes:625 sec

Maximum Encoder Feedback Rate


I 12 MHz

Kinematic Ranges
I Position:32 bit (2.15 billion counts per move; automatic rollover; no limit in jog or vector modes) I Velocity:Up to 12 million counts/sec for servo motors I Acceleration:Up to 67 million counts/sec2

Maximum Stepper Rate


I 3 MHz (Full, half or microstep)
* DMC-1200 has TTL limits, home, and general inputs.
Reduced feature set for -FAST.

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71

PC/104, VME, cPCI, ISA Optima 1 8 axes

DMC-12x0, DMC-13x8, DMC-16x0, DMC-17x0 Series


Specifications continued
Power Requirements
+5V 750 mA -12V 40 mA +12V 40 mA

Connectors
100-pin,high density; Connector:Amp# 2-178238-9,Cable:Amp# 2-175677-9; Enclosure:Amp# 176793-9 (for DMC-12x0 use CB-50-100-1200)

Axis 14
1 Analog ground 2 Ground 3 5V 4 Error output* 5 Reset* 6 Encodercompare output 7 Ground 8 Ground 9 Motor command W 10 Sign W / dir W 11 PWM W / step W 12 Motor command Z 13 Sign Z / dir Z 14 PWM Z / step Z 15 Motor command Y 16 Sign Y / dir Y 17 PWM Y / step Y 18 Motor command X 19 Sign X / dir X 20 PWM X / step X 21 Amp enable W 22 Amp enable Z 23 Amp enable Y 24 Amp enable X 25 A+ X 26 A- X 27 B+ X 28 B- X 29 I+ X 30 I- X 31 A+ Y 32 A - Y 33 B+ Y 34 B- Y 35 I+ Y 36 I- Y 37 A+ Z 38 A - Z 39 B+ Z 40 B- Z 41 I+ Z 42 I- Z 43 A+ W 44 A - W 45 B+ W 46 B- W 47 I+ W 48 I- W 49 +12 V 50 +12 V *Active low 51 NC 52 Ground 53 5 V 54 Limit common 55 Home W 56 Reverse limit W 57 Forward limit W 58 Home Z 59 Reverse limit Z 60 Forward limit Z 61 Home Y 62 Reverse limit Y 63 Forward limit Y 64 Home X 65 Reverse limit X 66 Forward limit X 67 Ground 68 5 V 69 Input common 70 Latch X/Input 1 71 Latch Y/Input 2 72 Latch Z/Input 3 73 Latch W/Input 4 74 Input 5 75 Input 6 76 Input 7 77 Input 8 78 Abort* 79 Output 1 80 Output 2 81 Output 3 82 Output 4 83 Output 5 84 Output 6 85 Output 7 86 Output 8 87 5 V 88 Ground 89 Ground 90 Ground 91 Analog in 1 92 Analog in 2 93 Analog in 3 94 Analog in 4 95 Analog in 5 96 Analog in 6 97 Analog in 7 98 Analog in 8 99 -12 V 100 -12 V

Axis 58
1 NC 2 Ground 3 5V 4 Error output* 5 Reset* 6 Encodercompare output 7 Ground 8 Ground 9 Motor command H 10 Sign H / dir H 11 PWM H / step H 12 Motor command G 13 Sign G / dir G 14 PWM G / step G 15 Motor command F 16 Sign F / dir F 17 PWM F / step F 18 Motor command E 19 Sign E / dir E 20 PWM E / step E 21 Amp enable H 22 Amp enable G 23 Amp enable F 24 Amp enable E 25 A+ E 26 A- E 27 B+ E 28 B- E 29 I+ E 30 I- E 31 A+ F 32 A- F 33 B+ F 34 B- F 35 I+ F 36 I- F 37 A+ G 38 A- G 39 B+ G 40 B- G 41 I+ G 42 I- G 43 A+ H 44 A- H 45 B+ H 46 B- H 47 I+ H 48 I- H 49 + 12 V 50 + 12 V 51 NC 52 Ground 53 5 V 54 Limit common 55 Home H 56 Reverse limit H 57 Forward limit H 58 Home G 59 Reverse limit G 60 Forward limit G 61 Home F 62 Reverse limit F 63 Forward limit F 64 Home E 65 Reverse limit E 66 Forward limit E 67 Ground 68 5 V 69 Input common 70 Latch E/Input 9 71 Latch F/Input 10 72 Latch G/Input 11 73 Latch H/Input 12 74 Input 13 75 Input 14 76 Input 15 77 Input 16 78 Reserved 79 Output 9 80 Output 10 81 Output 11 82 Output 12 83 Output 13 84 Output 14 85 Output 15 86 Output 16 87 5 V 88 Ground 89 Ground 90 Ground 91 Input 17 92 Input 18 93 Input 19 94 Input 20 95 Input 21 96 Input 22 97 Input 23 98 Input 24 99 -12 V 100 -12 V

Environmental
I Operating temperature: 070 C I Humidity: 2095% RH, non-condensing

Mechanical
I DMC-12x0 14 axes:4.4" 4.15" (2 stacked cards) 58 axes:4.4" 4.15" (3 stacked cards) I DMC-13x8 14 axes:6U I DMC-16x0 14 axes:6U I DMC-17x0 14 axes:10.25" 4.8" 58 axes:13.25" 4.8"

CONTROLLERSOTHER
72

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PC/104, VME, cPCI, ISA Optima 1 8 axes

DMC-12x0, DMC-13x8, DMC-16x0, DMC-17x0 Series


Connectors continued
Auxiliary Encoder DMC-13x8, DMC-1600 J5
36-pin, high density Connector: Amp# 2-178 238-5 Cable: Amp#2-175677-5 Enclosure: Amp# 176793-5
1 5V 2 Ground 3 AA+X 4 AA-X 5 AB+X 6 AB-X 7 AA+Y 8 AA-Y 9 AB+Y 10 AB-Y 11 AA+Z 12 AA-Z 13 AB+Z 14 AB-Z 15 AA+W 16 AA-W 17 AB+W 18 AB-W 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 5V Ground NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC

Extended I/O DMC-13x8


80-pin, high density; Connector: 3M# n10280-52e2vc Cable: Amp# 3-175677-0; Enclosure: Amp# 1-176793-0
1 Bit 7 - bank 6 2 Bit 0- bank 7 3 Bit 6 - bank 6 4 Bit 1- bank 7 5 Bit 5 - bank 6 6 Bit 2- bank 7 7 Bit 4 - bank 6 8 Bit 3- bank 7 9 Bit 3 - bank 6 10 Bit 4- bank 7 11 Bit 2 - bank 6 12 Bit 5- bank 7 13 Bit 1 - bank 6 14 Bit 6- bank 7 15 Bit 0 - bank 6 16 Bit 7- bank 7 17 Bit 7 - bank 5 18 Ground 19 Bit 6 - bank 5 20 Ground 21 Bit 5 - bank 5 22 Ground 23 Bit 4 - bank 5 24 Ground 25 Bit 3 - bank 5 26 Ground 27 Bit 2 - bank 5 28 Ground 29 Bit 1 - bank 5 30 Ground 31 Bit 0 - bank 5 32 Bit 7 - bank 4 33 Bit 6 - bank 4 34 Bit 5 - bank 4 35 Bit 4 - bank 4 36 Bit 3 - bank 4 37 Bit 2 - bank 4 38 Bit 1 - bank 4 39 Bit 0 - bank 4 40 5 V 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 Bit 7 - bank 2 Bit 0- bank 3 Bit 6 - bank 2 Bit 1- bank 3 Bit 5 - bank 2 Bit 2- bank 3 Bit 4 - bank 2 Bit 3- bank 3 Bit 3 - bank 2 Bit 4- bank 3 Bit 2 - bank 2 Bit 5- bank 3 Bit 1 - bank 2 Bit 6- bank 3 Bit 0 - bank 2 Bit 7- bank 3 Bit 7 - bank 1 Ground Bit 6 - bank 1 Ground Bit 5 - bank 1 Ground Bit 4 - bank 1 Ground Bit 3 - bank 1 Ground Bit 2 - bank 1 Ground Bit 1 - bank 1 Ground Bit 0 - bank 1 Bit 7 - bank 0 Bit 6 - bank 0 Bit 5 - bank 0 Bit 4 - bank 0 Bit 3 - bank 0 Bit 2 - bank 0 Bitt 1 - bank 0 Bit 0 - bank 0 5V

CONTROLLERSOTHER

*DMC-13x8 and DMC-1600 have X,Y, Z,W axes only

Auxiliary Encoder (Axis 14) DMC-1700 J5 26-pin IDC (DMC-1200 uses J2 20-pin IDC) DMC-1700 J7 (Axis 58) 26-pin IDC
1 5V 3 AA+X,E 5 AB+X,E 7 AA+Y,F 9 AB+Y,F 11 +5 V 13 AA+Z,G 15 AB+Z,G 17 AA+W,H 19 AB+W,H 21 Sample clock 23 NC 25 NC 2 Ground 4 AA-X,E 6 AB-X,E 8 AA-Y,F 10 AB-Y,F 12 Ground 14 AA-Z,G 16 AB-Z,G 18 AA-W,H 20 AB-W,H 22 NC 24 NC 26 NC

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73

PC/104, VME, cPCI, ISA Optima 1 8 axes

DMC-12x0, DMC-13x8, DMC-16x0, DMC-17x0 Series


Hardware Accessories
ICM-1900 Interconnect Module
The ICM-1900 Interconnect Module breaks-out the 100-pin main cable and 25-pin auxiliary encoder cable into screw-type terminals for quick connection of system hardware. An ICM-1900 is required for each set of four axes.The ICM-1900 is contained in a metal enclosure with dimensions of 13.5" 3.0" 7.0" and 1/4" diameter keyholes for mounting. The ICM is default configured for high amp enable (-HAEN). For low amp enable, order ICM-1900-LAEN. Specify -OPTO for optoisolated outputs.

AMP-19540 Interconnect with Four 500 Watt Servo Drives


Galils AMP-19540 is a 4-axis amplifier for driving brush or brushless motors up to 500 Watts. By interfacing directly to Galils Optima controllers, it provides a cost-effective controller/drive solution for multi-axis applications.The AMP-19540 contains four transconductance, PWM amplifiers for driving brush or brushless motors. Each amplifier operates at 18 V to 80 V dc, up to 7 Amps continuous, 10 Amps peak.The AMP19540 gain setting is easily configured with jumpers.The PWM switching frequency is 60 kHz.The AMP-19540 enclosure has dimensions of 6.8 8.75 1 . It interfaces to the Optima controller with a single, 100-pin high density SCSI cable. Signals for each axis are brought out through D-type connectors located on the AMP-19540. For applications with less than three axes, the AMP-19520 two-axis model is available. A shunt regulator option is also available. AMP-19540

DB-14064 I/O Expansion CONTROLLERSOTHER


The DB-14064 is an optional board which provides 64 additional I/O for the DMC-17x0 controllers (for the DMC-12x0 use the DB-12064).This board mounts directly onto the back of the controller and provides 64 I/O points configurable by the user as inputs or outputs.The I/O is accessible through two 50-pin IDC headers. A CB-50-80 adaptor can be used to convert the IDC connectors to an 80-pin connector. Using the adaptor and the Cable-80 allows for direct connection to the Galil IOM-1964 opto-isolation module.

IOM-1964 I/O Module


The IOM-1964 is an Input/Output module that provides optical isolation for the 64 extended I/O.Each of the 64 optically isolated inputs and outputs is rated for 25 mA at up to 28 VDC and is configurable as inputs or outputs in groups of eight bits.The IOM-1964 also provides 16 highside outputs capable of 500 mA of current per output.The dimensions are 13.5" 3.0" 7.0", with 1/4" diameter keyholes for mounting.

ICM-2900 Interconnect Module


The ICM-2900 breaks-out the 100-pin SCSI cable into removable screw-type terminals. One ICM-2900 is required for each set of four axes.The ICM-2900-FL has flanges which allow standard screw-type mounting. Specify -OPTO for optoisolated outputs. Specify -HAEN for high amp enable or -LAEN for low amp enable.

IOM-1964 Optically Isolated 64-bit Input/Output Module

ICM-2900 Interconnect Module (shown without flange)

74

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PC/104, VME, cPCI, ISA Optima 1 8 axes

DMC-12x0, DMC-13x8, DMC-16x0, DMC-17x0 Series


Instruction Set
Servo Motor
AF DV FA FV IL KD KI KP NB NF NZ OF PL SH TK TL TM DE DP KS MT QS RP TD TP YA YB YC YR YS BA BB BC BD BI BM BO BS BZ Analog feedback Dual loop operation Acceleration feedforward Velocity feedforward Integrator limit Derivative constant Integrator constant Proportional constant Notch bandwidth Notch frequency Notch zero Offset Pole Servo here Peak torque Torque limit Sample time Define encoder position Define reference position Stepper motor smoothing Motor type Error magnitude Report commanded position Step counts output Tell position of encoder Step drive resolution Step motor resolution Encoder resolution Error correction Stepper position maintenance Brushless axis Brushless phase Brushless calibration Brushless degrees Brushless inputs Brushless modulo Brushless offset Brushless setup Brushless zero Arm latch Clear bit Configure I/O points Enable interrupts Input interrupt Define output bit Output compare function Output port Set bit User interrupts

I/O (cont.)
@IN[x] State of digital input x @OUT[x] State of digital output x @AN[x] Value of analog input x

Interrogation (cont.)
TI TP TR TS TT TV BK DA DL DM ED ELSE ENDIF EN HX IF IN JP JS NO RA RC RD REM SL UI UL ZS BL ER FL OE TL TW AD AI AM AP AR AS AT AV MC MF MR WC WT Tell input Tell position Trace program Tell switches Tell torque Tell velocity Breakpoint Deallocate variables/arrays Download program Dimension arrays Edit program Conditional statement End of cond.statement End program Halt execution If statement Input variable Jump Jump to subroutine No-operationfor remarks Record array Record interval Record data Remark program Single step User interrupt Upload program Zero stack Backward software limit Error limit Forward software limit Off-on-error function Torque limit Timeout for in-position After distance After input After motion profiler After absolute position After relative distance At speed After time After vector distance Motion complete After motionforward After motionreverse Wait for contour data Wait for time

Independent Motion
AB AC BG DC FE FI HM IP IT JG PA PR PT SP ST CD CM DT WC EA EB EC EG EM EP EQ ET EW GA GD GM GP GR CA CR CS ES LE LI LM ST TN VA VD VE VM VP VR VS VT Abort motion Acceleration Begin motion Deceleration Find edge Find index Home Increment position Smoothing time constant Jog mode Position absolute Position relative Position tracking Speed Stop Contour data Contour mode Contour time interval Wait for contour data ECAM master Enable ECAM ECAM table index ECAM go ECAM cycle ECAM interval Disengage ECAM ECAM table entry ECAM widen Master axis for gearing Engagement distance for gearing Gantry mode Correction for gearing Gear ratio for gearing Define vector plane Circular interpolation move Clear motion sequence Ellipse scaling Linear interpolation end Linear interpolation segment Linear interpolation mode Stop motion Tangent Vector acceleration Vector deceleration Vector sequence end Coordinated motion mode Vector position Vector speed ratio Vector speed Smoothing time constantvector 75

System Configuration
BN BP BV CE CN CO CW DE DP DR DV EI EO LZ MO MT PF QD QU RS RS VF Burn parameters Burn program Burn variables and arrays Configure encoder type Configure switches Configure I/O points Data adjustment bit Define dual encoder position Define position DMA /FIFO update rate Dual velocity (dual loop) Enable interrupts Echo off Leading zeros format Motor off Motor type Position format Download array Upload array Reset Master reset Variable format Sine of x Cosine of x 1s complement of x Arc sine of x Arc cosine of x Arc tangent of x Absolute value of x Fraction portion of x Integer portion of x Round of x Square root of x

Programming

CONTROLLERSOTHER

Contour Mode

Stepper Motor

ECAM/Gearing

Math Functions
@SIN[x] @COS[x] @COM[x] @ASIN[x] @ACOS[x] @ATAN[x] @ABS[x] @FRAC[x] @INT[x] @RND[x] @SQR[x]

Error Control

Brushless Motor

Trippoint

Vector/Linear Interpolation

Interrogation
LA List arrays LL List labels LS List program LV List variables MG Message command QR Data record QZ Return DMA information RP Report command position RL Report latch RV Firmware revision information SC Stop code Tell status TB Tell error code TC Tell dual encoder TD Tell error TE

I/O
AL CB CO EI II OB OC OP SB UI

www.galilmc.com / Galil Motion Control, Inc.

PC/104, VME, cPCI, ISA Optima 1 8 axes

DMC-12x0, DMC-13x8, DMC-16x0, DMC-17x0 Series


Ordering Information
PART NUMBER DESCRIPTION QUANTITY 1 QUANTITY 100

DMC-1210 DMC-1220 DMC-1230 DMC-1240 DMC-1250 DMC-1260 DMC-1270

1-axis PC/104 2-axis PC/104 3-axis PC/104 4-axis PC/104 5-axis PC/104 6-axis PC/104 7-axis PC/104 8-axis PC/104 50-pin to 100-pin converter board which includes two 50-pin cables 20-pin IDC to 25-pin D type for dual encoders 100-pin high-density cable in 1-meter length 100-pin high-density cable in 2-meter length 100-pin high-density cable in 4-meter length (2) 50-pin ribbon, (1) 20-pin ribbon Interconnect module (use 1 for every 4 axes). Specify -HAEN for high amp enable or -LAEN for low amp enable ICM with optoisolated outputs Attachment board for 64 additional I/O 1-axis VME 2-axis VME 3-axis VME 4-axis VME 1-axis CompactPCI 2-axis CompactPCI 3-axis CompactPCI 4-axis CompactPCI .36-pin high-density cable in 1 meter length 36-pin high-density cable in 3 meter length 100-pin high-density cable in 1 meter length 100-pin high-density cable in 2-meter length 100-pin high-density cable in 4 meter length
Ordering Information continued on the next page.

$1095 $1495 $1895 $2195 $2595 $2795 $2995 $3195 $ 75 $ 15 $ 125 $ 135 $ 150 $ 35 $ 345 $ 395 $ 395 $1395 $1795 $2195 $2495 $1395 $1795 $2195 $2495 $ 90 $ 110 $ 125 $ 135 $ 150

$ 795 $ 875 $ 935 $ 995 $1345 $1425 $1525 $1595 $ 50 $ 15 $ 95 $ 100 $ 105 $ 30 $ 245 $ 295 $ 245 $ 945 $1025 $1085 $1145 $ 945 $1025 $1085 $1145 $ 75 $ 90 $ 95 $ 100 $ 105

CONTROLLERSOTHER
76

DMC-1280 CB-50-100-1200 CABLE-20-25 CABLE-100-1M CABLE-100-2M CABLE-100-4M CABLESET-1200 ICM-1900 ICM-1900-OPTO DB-12064 DMC-1318 DMC-1328 DMC-1338 DMC-1348 DMC-1610 DMC-1620 DMC-1630 DMC-1640 CABLE-36-1M CABLE-36-3M CABLE-100-1M CABLE-100-2M CABLE-100-4M

www.galilmc.com / Galil Motion Control, Inc.

PC/104, VME, cPCI, ISA Optima 1-8 axes

DMC-12x0, DMC-13x8, DMC-16x0, DMC-17x0 Series


Ordering Information continued
PART NUMBER DESCRIPTION QUANTITY 1 QUANTITY 100

DMC-1710 DMC-1720 DMC-1730 DMC-1740 DMC-1750 DMC-1760 DMC-1770 DMC-1780 CB-50-80 CB-50-100-1780 CABLE-26-25 ICM-1900 ICM-1900-OPTO AMP-19520 AMP-19540 -SR IOM-1964 DB-14064 Galil Utilities DMCWIN32 WSDK ActiveX Tool Kit

1-axis ISA 2-axis ISA 3-axis ISA 4-axis ISA 5-axis ISA 6-axis ISA 7-axis ISA 8-axis ISA 50- to 80-pin converter board for 64 I/O to IOM-1964 (including cables) 50- to 100-pin converter board; incl. two ribbon cables for DMC-1750 to -1780 26-pin IDC to 25-pin D type for dual encoders Interconnect module (use 1 for every 4 axes). Specify -HAEN for high amp enable or -LAEN for low amp enable ICM with optoisolated outputs 2-axis amplifier for 500 W servos 4-axis amplifier for 500 W servos Shunt regulator option for AMP-195x0 Input/Output optoisolated module for 64 I/O 64 I/O expansion for DMC-17x0 Communication drivers, SmartTERM, DMCDOS Windows API Tool Kit (VB, C, C++, etc.) Set-up, tuning and analysis software Custom ActiveX controls for Visual Basic,Visual C++, etc.

$1095 $1495 $1895 $2195 $2595 $2795 $2995 $3195 $ 75 $ 75 $ 15 $ 345 $ 395 $ 595 $ 795 $ 50 $ 695 $ 295

$ 795 $ 875 $ 935 $ 995 $1345 $1425 $1525

CONTROLLERSOTHER

$1595 $ 50 $ 50 $ 15 $ 245 $ 295 $ 395 $ 495 $ 25 $ 495 $ 195

$ 20 for CD; free download Included with Utilities $ 195 $ 595

Galil offers additional quantity discounts for purchases between 1 and 100. Consult Galil for a quotation.

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77

MOTION CONTROLLERS

ISA, PC/104, RS232, PCI Econo 1 axis

DMC-1410, DMC-1411, DMC-1412, DMC-1417


Product Description
The DMC-1410, DMC-1411, DMC-1412, DMC-1417 are economical, single axis motion control cards with ISA, PC/104, RS/232 and PCI communications, respectively. They have many of the same high-performance features of Galils multi-axis Optima controllers, but are designed for just one axis.This offers the user both space and cost-savings. With a 32-bit microcomputer,the single axis controllers provide such advanced features as PID compensation with velocity and acceleration feedforward,program memory with multitasking for simultaneously

Features
I 1-axis motion controller I DMC-1410: ISA card DMC-1411: PC/104 card DMC-1412: Card with two daisy-chainable RS232 ports up to 38.4 kbaud DMC-1412-BOX: Above with an enclosure DMC-1417: PCI card I User-configurable for stepper or servo motor control. Sinusoidal commutation for brushless servo motors.* I Accepts up to 8 MHz encoder frequencies for servos. Outputs up to 2 MHz for steppers I Advanced PID compensation with velocity and acceleration feedforward, offsets and integration limit I Modes of motion include jogging, point-to-point positioning, contouring, electronic gearing and ECAM. Accepts input from auxiliary encoder for electronic gearing I Over 125 English-like commands including conditional statements and event triggers such as AT TIME and AT POSITION I Memory for application programs, variables and arrays. Multitasking for concurrent execution of two application programs I Home input and forward and reverse limits I 7 Uncommitted digital inputs, 3 digital outputs

CONTROLLERSOTHER

Left to right: DMC-1412, DMC-1410, DMC-1411

running two applications programs,and uncommitted I/O for synchronizing motion with external events.It handles various modes of motion including point-topoint positioning,jogging,contouring,electronic gearing and ECAM.Additionally,the controllers accept inputs from two encoders,which is useful for electronic gearing applications.The user can configure the controller for either stepper or servo motor control. Like all Galil controllers,the DMC-1410,-1411,-1412 and -1417 use a simple,English-like command language which makes them very easy to program.Galils WSDK servo design software further simplifies system set-up with one-buttonservo tuning and real-time display of position and velocity information.Communication drivers are available for DOS,Linux and all current Windows operating systems.
78 www.galilmc.com / Galil Motion Control, Inc.

I High-speed position latch I DMC-1410, -1412 and -1417 use 37-pin D connector. DMC-1411 uses a 40-pin IDC connector. ICM-1460 interconnect module breaks-out 37-pin cable into screw terminals. I Communication drivers for all current versions of Windows, DOS and Linux I CE certifiedDMC-1410, 1412 I Custom hardware and firmware options available
*DMC-1411 does not support sinusoidal commutation

ISA, PC/104, RS232, PCI Econo 1 axis

DMC-1410, DMC-1411, DMC-1412, DMC-1417


Specifications
System Processor
I Motorola 32-bit microcomputer

Dedicated I/O
I I I I I I I I I Main encoder inputsChannel A, A-, B,B-,I, I- (12 V or TTL) Dual encoderChannel A, A-, B, BForward and reverse limit inputs Home input High-speed position latch input Analog motor command output with 16-bit DAC resolution Pulse and direction output for step motors Amplifier enable output Error output

Communications Interface
I I I I I I I I I DMC-1410: ISA with bi-directional, high speed FIFO buffer DMC-1411: PC/104 with bi-directional, high speed FIFO buffer DMC-1412: (2) daisy-chainable RS232 ports up to 38.4 kbaud DMC-1417: PCI with bi-directional, high speed FIFO buffer Point-to-point positioning Jogging Electronic Gearing Electronic Cam Contouring

Modes of Motion:

Minimum Servo Loop Update Time


I 375 microseconds

CONTROLLERSOTHER

Maximum Encoder Feedback Rate


I 8 MHz

Memory
I Program memory size250 lines 40 characters I 126 variables I 1000 array elements in up to 6 arrays

Maximum Stepper Rate


I 2 MHz (Full, half or microstep)

Power Requirements
I DMC-1410, DMC-1411, DMC-1412-card, DMC-1417: +5V 400 mA -12V 40 mA +12V 40 mA I DMC-1412 Box: plugs into 90260 VAC

Filter
I PID (proportional-integral-derivative) with velocity and acceleration feedforward I Dual-loop control for backlash compensation I Velocity smoothing to minimize jerk I Integration limit I Torque limit I Offset adjustment

Environmental
I Operating temperature: 070 C for card; 060 C for box I Humidity: 2095% RH, non-condensing

Kinematic Ranges
I Position: 32 bit (2.15 billion counts per move; automatic rollover; no limit in jog) I Velocity: Up to 8 million counts/sec for servo motors I Acceleration: Up to 67 million counts/sec2

Mechanical
I I I I I DMC-1410: 7" ISA DMC-1411: 4.4" 4.15" DMC-1412-card: 6.0" 4.375" DMC-1412-box: 5.1" 3.0" 6.8" DMC-1417: 7.3 PCI

Uncommitted Digital I/O


I 7 TTL inputs I 3 TTL outputs

High Speed Position Latch


I Latches within 0.1 microseconds

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79

ISA, PC/104, RS232, PCI Econo 1 axis

DMC-1410, DMC-1411, DMC-1412, DMC-1417


Instruction Set
Motion
AB AC BG CD CM DC DT EB EG EM EP EQ ET FE FI GR HM IP IT JG KS PA PR SP ST AD AI AM AP AR AS AT EN HX IN II JP JS MG MC MF MR NO RE RI TW WC WT XQ ZS Abort motion Acceleration Begin motion Contour data Contour mode Deceleration Contour time interval Enable cam mode Start cam motion Modulus for cam Master counts per table entry Stop cam motion Cam table entry Find edge Find index Gear ratio Home Increment position Smoothing time constantindependent Jog mode Stepper smoothing Position absolute Position relative Speed Stop Wait for specified distance Wait for specified input Wait for motion complete Wait for absolute position Wait for relative distance Wait for At Speed Wait for elapsed time End program Halt task Input variable Input interrupt Jump to program location Jump to subroutine Message Wait for In Position Forward motion past position Reverse motion past position No operation Return from error subroutine Return from interrupt Timeout for In Position Wait for contour data Wait for elapsed time Execute program Zero subroutine stack

Configuration
AL BN BP BV CB CC CE CN DA DE DL DM DP ED EI EO LS MO MT OB OP PF QD QU RA RC RD RS SA SB RS UI UL VF DV FA FV GN IL KD KI KP OF SH TL TM Arm latch Save parameters in EEPROM Burn program (-1412) Burn variables and array (-1412) Clear output bit Configure 2nd RS232 port (-1412) Configure encoder type Configure switches Deallocate arrays Define dual encoder position Download program Dimension arrays Define position Edit mode Enable ISA/PCI interrupts (except -1412) Echo off List program Motor off Motor type Define output bit Output port Position format Download array Upload array Record array Record Record data Reset Set address (-1412) Set output bit Master reset User interrupt (except -1412) Upload program Variable format Damping for dual loop Acceleration feedforward Velocity feedforward Gain Integrator limit Derivative constant Integrator constant Proportional constant Offset Servo here Torque limit Sample time

Interrogation
LA LL LS RL RP RV SC TB TC TD TE TI TP TR TS TT TV BL ER FL OE @SIN @COS @ABS @FRAC @INT @RND @SQR @IN @OUT + * / & | () BA BB BC BD BI BM BO BS BZ List arrays List labels List program Report latched position Report command position Firmware revision Stop code Tell status Tell error code Tell dual encoder position Tell position error Tell input Tell position Trace program Tell switches Tell torque Tell velocity Reverse software limit Position error limit Forward software limit Off on error Sine Cosine Absolute value Fraction portion Integer portion Round Square root Return digital input Return digital output Add Subtract Multiply Divide And Or Parentheses Brushless axis Brushless phase Brushless calibration Brushless degrees Brushless inputs Brushless modulo Brushless offset Brushless setup Brushless zero

CONTROLLERSOTHER

Error and Limits

Arithmetic Functions

Program Flow

Control Filter Settings

Brushless Motor (-1410, -1412, -1417)

80

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ISA, PC/104, RS232, PCI Econo 1 axis

DMC-1410, DMC-1411, DMC-1412, DMC-1417


Connectors
DMC-1410, DMC-1412, DMC-1417 J3
Main 37-pin D-type
1 Reset* 2 Amp enable 3 Output 3 4 Output 1 5 PWM or step out 6 Input 7 7 Input 5 8 Input 3 9 Input 1 (and latch) 10 +5V 11 Ground 12 +12V 13 Ground 14 A15 B16 I17 Auxiliary A18 Auxiliary B19 ACMD Phase B 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 Error Output* ACMD Output 2 Reserved Sign or direction Input 6 Input 4 Input 2 Forward limit Reverse limit Home -12V A+ B+ I+ Auxiliary A+ Auxiliary B+ Abort*

DMC-1412 J5
Power 7-pin Molex
1 2 3 4 5 6 7 -12V Ground Ground +5V +5V +12V Earth

DMC-1412
RS232 Main port 9-pin male
1 2 3 4 5 1 2 3 4 5 CTSoutput Transmit dataoutput Receive datainput RTSinput Ground CTSinput Transmit datainput Receive dataoutput RTSoutput Ground 6 7 8 9 CTSoutput RTSinput CTSoutput NC

CONTROLLERSOTHER

RS232 Auxiliary port 9-pin female


6 7 8 9 CTSinput RTSoutput CTSinput NC

DMC-1411 J3
Main 40-pin IDC
1 Reset* 3 Amp enable 5 Output 3 7 Output1 9 PWM or step out 11 Input 7 13 Input 5 15 Input 3 17 Input 1 (and latch) 19 +5V 21 Ground 23 +12V 25 Ground 27 A29 B31 I33 Auxiliary A35 Auxiliary B37 Reserved 39 NC *Active low 2 Error Output* 4 Amp command for servo 6 Output 2 8 Reserved 10 Sign or direction 12 Input 6 14 Input 4 16 Input 2 18 Forward limit 20 Reverse limit 22 Home 24 -12V 26 A+ 28 B+ 30 I+ 32 Auxiliary A+ 34 Auxiliary B+ 36 Abort* 38 NC 40 NC

Hardware Accessories
ICM-1460
The ICM-1460 Interconnect Module provides screw terminals for the 37-pin D-type cable from the DMC-1410 or DMC-1412, for quick connection of system hardware. A 40-pin to 37-pin cable allows the ICM-1460 to be used with the DMC-1411.The ICM-1460 is contained in a metal enclosure with dimensions of 6.9" 4.9" 2.6"and 0.2" diameter keyholes for mounting.The ICM is normally shipped configured for high amp enable, +5 V (-HAEN). For low amp enable, order ICM-1460-LAEN.

ICM-1460-OPTO
For applications requiring optoisolated inputs and outputs,the ICM-1460 option OPTOprovides 524 V and 25 mA optoisolation on all general inputs and outputs,home inputs,and limits. ICM-1460 Interconnect Module (shown with and without cover)

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81

ISA, PC/104, RS232, PCI Econo 1 axis

DMC-1410, DMC-1411, DMC-1412, DMC-1417


Ordering Information
PART NUMBER DESCRIPTION QUANTITY 1 QUANTITY 100

DMC-1410 DMC-1411 DMC-1412-card DMC-1412-box DMC-1417 CABLE 37-pin D

1-axis ISA 1-axis PC/104 1-axis stand-alone with RS232card 1-axis stand-alone with RS232 in enclosure with power supply 1-axis PCI 37-pin cable for DMC-1410, DMC-1412, DMC-1417 40-pin to 37-pin cable for DMC-1411 9-pin RS232 cable for DMC-1412 Interconnect Module for DMC-1400 series. Specify -HAEN for high amp enable or -LAEN for low amp enable ICM with optoisolated inputs and outputs Communication drivers, SmartTERM, DMCWIN software Windows API Tool Kit (VB, C, C++, etc.) Set-up, tuning and analysis software Custom ActiveX controls for Visual Basic,Visual C++, etc. Two sets of PID, anti-friction bias, absolute or SSI sensors, backlash and leadscrew error compensation, profile smoothing,anti-resonance profiling, high-resolution gearing, passwordprotect, memory expansion, closed-loop steppers, coordinate transformation Piezo-ceramic motor option

$ 595 $ 595 $ 595 $ 795 $ 595 $ 25 $ 25 $ 10 $ 145 $ 195

$ 395 $ 395 $ 395 $ 545 $ 395

CONTROLLERSOTHER

CABLE 40-pin IDC CABLE 9-pin D ICM-1460 ICM-1460-OPTO Galil Utilities DMCWIN32 WSDK ActiveX Tool kit Upgrade Options

$ 95 $ 145

$ 20 for CD; free download Included with Utilities $ 195 $ 595

Consult factory One-time set-up charge $ 400 set-up charge Consult factory

-CER

Galil offers additional quantity discounts for purchases between 1 and 100. Consult Galil for a quotation.

82

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MOTORS

Brush Servo Motors

N23-53-1000, N34-170-1000
Product Description
Galils N23 and N34 brush-type servo motors allow for quick and easy prototyping of servo systems. The motors include an attached 1000 line encoder which provides position feedback to Galil controllers.

Encoder Connectors: N23, N34


Round Cable with Discrete Wire: Function Wire Color +5 V RED GND BLACK CHAYELLOW CHA+ WHITE CHB+ GREEN CHBBLUE INDEXBROWN INDEX+ ORANGE Encoder outputs are line driven.

Encoder Specifications: N23, N34


N23-53-1000 N34-170-1000 Cycles per revolution: 1000 ppr Maximum output frequency: 100 kHz all channels Input power: 5V,135 mA maximum Output: 26LS31 line driver Operating temperature: -10 to +80 C

Features
I High performance brush-type servo motors for precise position and velocity control applications I Available in N23 and N34 frame sizes I Brush-type servo motor options: N23-53-1000: 53 oz-in cont.torque; 300 oz-in peak N34-170-1000: 170 oz-in cont.torque; 1501 oz-in peak I Top speeds: N23-53-1000: 6000 rpm N34-170-1000: 4600 rpm I Includes 1000 line differential quadrature encoder

MOTORS
N23-53-1000
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Brush Servo Motors

N23-53-1000, N34-170-1000
Brush Servo Motor Specifications
PARAMETER UNITS MODEL NUMBER N23-53-1000 N34-170-1000

KtTorque Constant TcContinuous Torque TpPeak Torque Continuous Current Peak Current JmMoment of Inertia Recommended Supply Voltage mMaximum Speed RArmature Resistance LArmature Inductance Rth Thermal Resistance Tm Electro-mechanicalTime Constant Length with Encoder Diameter Shaft Diameter Weight Encoder Resolution

Nm/A oz-in/A Nm oz-in Nm oz-in A A kg m2 oz-in-s2 volts rpm ohm mH C/W msec in in in kg lbs lines/rev

0.096 13.6 0.374 53 2.118 300 3.9 22 5.86 10 -5 0.0083 72 6000 1.18 2.6 3.8 7.2 6.375 2.25 0.25 1.95 4.3 1000

0.197 27.84 1.2 170 10.6 1501 6.1 54 1.69 10 -4 .024 100 4600 1.01 2.1 2.3 3.5 6.0 3.38 0.375 3.41 7.5 1000

MOTORS

N34-170-1000

84

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MOTORS

Brushless Servo Motor

BLM-N23-50-1000-B
Product Description
The BLM-N23-50-1000-B brushless motor with incremental encoder is a low cost, high performance motor well suited for OEM applications.This motor has a high torque to inertia ratio making it ideal for point-topoint applications requiring fast acceleration.The BLM-N23-50-1000-B provides 55 oz-in of continuous torque in a Nema 23 frame size package.

Encoder Specifications
Differential Quadrature Incremental Encoder Resolution: 1000 lines,with index pulse Input Power: 5VDC +/-5% at 120 mA max Output Signals: Line Driver AM26LS31 (20 mA maximum sink or source per output channel) Moment of Inertia: 3.5 10 -3 in-oz sec 2 (2.5 10 -5 kg-m 2) Maximum Acceleration: 100000 rad/sec2 max. Maximum Velocity: 5000 RPM max Operating Temperature: -20 C to 100 C Storage Temperature: -40 C to 125 C Relative Humidity: 98% non-condensing

MOTORS

Encoder Pin Header


BLM-N23-50-1000-B Brushless Servo Motor with Encoder

Features
I 55 oz-in continuous torque; 120 oz-in peak torque I 4 .6 amp continuous current; 48 Volts for 5000 rpm maximum speed I Small size: Nema 23 frame I High torque-to-inertia ratio for fast acceleration and high response point-to-point applications I Extremely low cogging and smooth low speed performance; accurate motion profiling at all speeds I 1000 line differential quadrature encoder with differential hall sensor outputs and shielded cable I Hi-Density 15-pin D connects directly to Galil's AMP-205x0 and AMP-195x0 amplifiers

15 Pin, Hi-Density D-Type : Wire Color Description 1 Orange Index+ Channel B+ 2 Blue Channel A+ 3 Brown 4 Red/white Hall V-* GND 5 Black 6 Yellow Index7 Green Channel BChannel A8 White 9 NC N/A 10 Violet Hall U+ Hall U-* 11 Grey 12 Yellow/white Hall W-* 13 Brown/white Hall V+ 14 Orange/white Hall W+ 15 Red +5V
*Unused with Galil amplifiers

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85

Brushless Servo Motor

BLM-N23-50-1000-B
PARAMETER UNITS MODEL NUMBER BLM-N23-50-1000-B

KtTorque Constant EMF Constant TcContinuous Torque Continuous Current Peak Current TpPeak Torque JmMoment of Inertia Recommended Supply Voltage mMaximum Speed RArmature Resistance LArmature Inductance Maximum Temperature Tm Electro-mechanical Time Constant Length with Encoder Weight Encoder Resolution

Nm/A oz-in/A V/(rad/sec) V/kRPM Nm oz-in A A Nm oz-in kg m2 oz-in-s2 volts rpm ohm mH C F msec mm in kg lbs lines/rev

0.08 12.1 0.08 8.9 0.39 55 4.9 10.4 0.83 120 2.5 10 -5 3.5 10 -3 48 5000 1.2 2.6 132 270 4.5 114 4.5 1.0 2.2 1000

Phase RRed Phase SWhite Phase TBlack

MOTORS

BLM-N23-50-1000-B

86

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Servo Motors

Ordering Information
PART NUMBER DESCRIPTION QUANTITY 1 QUANTITY 100

N23-53-1000 N34-170-1000 BLM-N23-50-1000-B

BRUSH SERVO MOTORS WITH ENCODERS NEMA 23 brush servo motor,1000 PPR with round cable; 53 oz-in NEMA 34 brush servo motor,1000 PPR with round cable; 170 oz-in BRUSHLESS SERVO MOTOR WITH ENCODER 55 oz-in continuous,1000 ppr; Hi-Density D-Connector for encoder

$395 $595 $395

$250 $395 $295

Galil offers additional quantity discounts for purchases between 1 and 100. Consult Galil for a quotation.

MOTORS
www.galilmc.com / Galil Motion Control, Inc. 87

SOFTWARE

Galil Utilities

SmartTERM,DMCSetup,MotorSizer, CToolkit, API Toolkit


Galil Utilities
All Galil software programs can be downloaded from the Galil website or accessed from the CD-ROM.All necessary device drivers and DLLs are included for current Windows operating systems. SmartTERM Terminal program for sending commands,downloading and editing programs,and updating flash firmware.Also includes DMCNet,an Ethernet utility for detecting and addressing Ethernet controllers. DMCSetup Utility to upload,download,view,and save burned parameters to disk. DMCDOS Utility programs and example source code for communicating in the DOS environment. DMCQNX QNX utilities DMCLNX Linux Terminal with PCI, and Ethernet drivers.
SmartTERM

DMCSETUP
Galils set-up software is for easily displaying and editing the configuration parameters of Galil controllers. You can see the contents of the controller registers at a glance. You can view motor type, filter parameters, default settings, switch status, etc.To change a parameter, you merely click on that parameter with the mouse and enter a new value.This makes setting up the controller a snap. The software tool also lets you save (and load) parameters to (and from) a file.This is useful prior to master resets or changing firmware.The software also has a terminal and on-line help.This software is included on the Galil software CD.

Web-based MotorSizer Tool


Galils MotorSizer is a free, web-based tool for easy sizing of your motion system.This easy-to-use tool lets you specify your load and motion requirements for various mechanical systems. MotorSizer performs a thorough analysis to select motors and amplifiers (or enter your own) that can drive your load to the motion requirements. Galils MotorSizer tool analyzes both stepper and servo motor systems. MotorSizer is password protected (registration is required) and automatically saves your data for future reference. Access MotorSizer at: http://www.galilmc.com/ support/motorsizer/index.html.

SOFTWARE
88 www.galilmc.com / Galil Motion Control, Inc.

Galil Utilities

C/C++ Programmers Toolkit


Galils C/C++ Programmers Tool Kit includes DMCWIN software that provides C libraries (Linux,DOS and QNX versions are also available),sample programs,utilities, a complete terminal program,and full documentation. With this kit,all Galil motion controllers can be programmed using standard C/C++ compilers including Borland,Microsoft,Watcom and others.The kit is also compatible with Galil ActiveX Tool Kit. Partial DLL API list: The following represents a partial list from over 60 API functions. DMCOpen DMCClose DMCCommand DMCBinaryCommand DMCDownloadFile DMCArrayUpload Open communications Close communications Send a command Send binary command Download a file from hard disk Upload an array

Example C Program tells the controller to move the X-axis motor 1000 counts.
#include <windows.h> #include <Dmccom.h> long rc; HANDLEDMC hDmc; char szBuffer [64]; int main(void) { rc = DMCOpen(1,0,&hDmc); rc = DMCCommand(hDmc,PR1000;BGX;,szBuffer, sizeof(szBuffer)); rc = DMCClose(hDmc); return 0; }

DMC.NET API Toolkit


Imports Galil 'use Galil namespace Public Class Form1 Inherits System.Windows.Forms.Form 'declare controller object Dim Controller As DMCAPI +Windows Form Designer generated code Private Sub Form1_Load(ByVal sender As System.Object, _ ByVal e As System.EventArgs) Handles MyBase.Load 'allocate memory for controller object Controller = New DMCAPI 'open communications Controller.apiOpen(1, System.IntPtr.Zero) 'declare response string Dim sResponse As String 'send command to controller Controller.apiCommand("TPX", sResponse) 'display response TextBox1.Text = "X position: " + sResponse End Sub

DMC.NET API Toolkit


Galil has taken its CApplication Programming Interface (API) and ported it to .NET (Framework v1.1).This object oriented API uses .NET native types to provide a communication interface to Galil Motion Controllers.It can be used from any of the VisualStudio.NET managed languages (VB,C++,C#,J#). The DMC .NET API includes objects for basic communications,data record access,array operations,and Galil registry modifications.Exception based error handling as well as many other forms of the traditional function calls are implemented to make the API very versatile and help reduce programming.Dynamic help files and sample code are also included.Users of the older CAPI should find the new .NET version familiar and that it fits more naturally into the .NET environment. In .NET,the Galil .NET API objects can be imported to your project by simply adding a reference to the DMCdNet.dll class library.The simple VB.NET example below shows how the DMCAPI object is used to send TPXto the controller and display the response in a text box.

SOFTWARE

Private Sub Form1_Closed(ByVal sender As Object, _ ByVal e As System.EventArgs) Handles MyBase.Closed 'close communications Controller.apiClose() End Sub End Class

www.galilmc.com / Galil Motion Control, Inc.

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SOFTWARE

Servo Tuning Software

WSDK
Product Description
The WSDK (Windows Servo Design Kit) allows easy system setup, tuning, and evaluation.This powerful software package is recommended for all first time users of Galil controllers.WSDK software provides automatic PID tuning for optimizing performance. Several tuning methods are provided allowing automatic tuning for a wide variety of systems and loads. A four-channel storage scope provides a display of the actual position, velocity, error, and torque.The WSDK software also provides several tests for design and analysis of servo systems.These tests include impulse, step and frequency response.

Features
I Allows easy setup, tuning, and analysis of motion systems I Menu-driven,no programming experience required I Four-channel storage scope for displaying real-time position, velocity,error,and torque I Displays X versus Y position for viewing actual 2-D motion path I Terminal emulator and program editor for easy communication with the motion controller I Automatic tuning procedures for quick and easy selection of controllers PID parametersoptimizes performance of actual system hardware I Provides impulse, step, and frequency response tests on actual hardware I Displays system parameters and motion status in convenient matrix format

SOFTWARE

WSDKs automatic tuning routines set the best PID values and display the step response of the system.

System Requirements
I 16MB RAM, 25MB disk space I Galil controller installed I Windows 98SE or newer

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Servo Tuning Software

WSDK

WSDK displays the X versus Y positions, allowing the 2-D motion path to be easily recorded.

WSDKs main menu provides many options for system set-up.

The multi-channel storage scope records up to four channels of information.Many types of data can be observed including actual and command position, velocity, error, torque, and I/O status. A terminal emulator and editor allows programs to be easily entered.

The WSDK performs a closed-loop frequency response test on the actual hardware allowing the system bandwidth and any resonances to be observed.

SOFTWARE

System parameters are displayed in a convenient matrix format.

www.galilmc.com / Galil Motion Control, Inc.

91

SOFTWARE

Programming Tools

ActiveX Tool Kit


Product Description
Galils ActiveX Tool Kit is a powerful software package that lets the designer quickly and easily create an operator interface for Galils controllers using any Windows programming language that supports ActiveX. Pre-built objects include a DMC terminal, polling window, send files and storage scope functions. Dialog boxes allow objects to be easily customized for color, size, location and text. The Tool Kit shortens the development time of an operator interface from days or weeks to a matter of hours. Plus, the tool kit is easy to use, making it ideal for even the novice programmer.

Features
I Provides 32-bit OCXs for handling controller communications including support of interrupts I Objects install right into the Visual Basic tool box and are part of the run-time environment I Pre-built objects for many functions including: Terminal for sending commands and editing programs Pollingwindow for displaying responses from the controller such as position and speed Storage scope for plotting trajectories such as position vs.time or X vs.Y Send file for sending DMC files Continuous array capture for data collection and teach and playback Graphical display of 2D-motion path Diagnostics for capturing current configurations Vector Motion Tools to slow down around corners and tool offset I Built-in dialog boxes for each object for easy selection of color, size,location and text I Context sensitive help with hypertext links

SOFTWARE

Microsofts Visual Basic and Galils ActiveX Tool Kit make developing an operator interface for the controller quick and easy.

System Requirements
I 16MB RAM I Any current version of Windows (Windows 98SE or newer) I Visual Basic,Microsoft Visual C++,Borland C++,Delphi, Visual Studio.NET,LabVIEW,Wonderware,HP VEE,or any products that support ActiveX or OLE controls

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Programming Tools

ActiveX Tool Kit

The Polling window object allows responses from the controller to be displayed.You can poll for data such as position, speed and error for any axis.You can easily specify object properties using the dialog box.

The scope object lets you plot both the commanded and actual XY trajectories or position vs. time which is ideal for viewing the systems dynamic response.

Galils Tool Kit includes a DMC terminal object which is useful for sending commands and editing programs.

Here, a Visual Basic screen was created for a joystick menu where the X and Y real time position is displayed.Motion occurs when the operator selects the jog buttons.

Context-sensitive Help with hypertext makes the tool kit very easy to learn.

SOFTWARE
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SOFTWARE

AutoCAD Translator

CADTODMC
Product Description
CADTODMC is a software tool that translates AutoCAD or equivalent .DXF files into controller motion commands. The designer draws the two-dimensional motion path using AutoCAD software and then uses the translator to obtain a DMC command file.Text Macros,which call for specific operations along the path,can be incorporated in the drawing.

Features
I Translates AutoCAD or equivalent .DXF file to .DMC controller file I Translates two-dimensional contours including lines and arcs I Can specify continuous or stop-start motion along motion path I Translates motion dependent I/O events I User-definable text macros can be defined on the CAD drawing I Tool-offset feature I Allows specification of first and last motion segments and path-order numbers

System Requirements
I 16MB minimum I Windows 98SE or newer This drawing shows how line segments and arcs can be connected to make a continuous path.

This drawing is a motion description for an engraving machine.The line type directives form two functions.The cutting head is raised and lowered by the Z axis, and the motion mode is changed.The curves operate in STOP_Mode so that large accelerations do not occur at the sharp corners in the letters. SMOOTH_Mode is used for the traverse because the lines and arcs connect smoothly.

SOFTWARE
94 www.galilmc.com / Galil Motion Control, Inc.

Software Tools

Ordering Information
PART NUMBER DESCRIPTION QUANTITY 1

Galil Utilities

Installation files for Galil controllers.Utilities and programming libraries for Windows, Linux,QNX,DOS Includes: SmartTERMterminal to communicate to controller and upload/download programs Windows API Tool KitDMCWIN32 API and C source code SETUPset-up utility for Galil controllers MotorSizermotor sizing tool DMCDOSutilities and programming libraries,DOS DMCQNXutilities for QNX4,QNX 6.2 for PCI only DMCLNXLinux terminal and drivers for PCI and Ethernet DMC.NET APItoolkit for .NET development platform Note: Galil utilities are on the CD included with all software products listed below.

$ 20 for CD; free download

WSDK ActiveX Tool Kit CADTODMC ECAM DMCDDE HPGL2DMC Third-party Software

Servo design kit for tuning ActiveX tools for Visual Basic,Visual C++,etc. DXF to DMC translator Electronic CAM set-up utility Generic DDE server HPGL to DMC translator Consult Galil website for available third-party software such as CNC software

$195 $595 $595 $195 $295 $495 Consult website

Windows,Visual Basic,and ActiveX are trademarks of Microsoft Corporation. LabView is a trademark of National Instruments.

SOFTWARE
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Galil Motion Control

We Move The World

SmartMoves Spotlights Book


When innovative companies combine their ingenuity and capabilities to solve a technical challenge or make a better product, the sky truly seems to be the limit.That certainly is the case with the 19 companies featured in Galils latest SmartMoves Spotlights book.These companies represent industries as varied as semiconductors and machine tools, medicine, textiles and publishing.They have incorporated Galil motion controllers and worked closely with Galil engineers to create state-of-the-art solutions while cutting costs.Spotlighted applications include cutting-edge equipment that engrave microscopic numbers on diamonds, use ultrasound to destroy cancer cells, measure wafer surfaces in the sub-nanometer range, move complex Broadway sets and simulate giant cranes.They are just 19 stories from the more than 350,000 Galil motion controllers that are helping move the world.

Semiconductor
I Andrew NDT Engineering Corp. Wafer film deposition measurement I Brooks Automation, Inc. Wafer handling robot I Ultrasonic Systems, Inc. Circuit board coating

Publishing
I GP2 Technology, Inc. Automated book covering

Jewelry
I PhotoScribe/TeoSys Diamond engraving

Medical
I Focus Surgery, Inc.Focused ultrasound to destroy cancer tissue in prostate I IOL InternationalOptical generator of interocular lens I Philips Medical 3D ultrasound for fetal imaging I TechniScanUltrasonic breast exams

Automated Manufacturing Equipment


I CMM/JITVinyl fence cutting I PVA Dispensing and spray coating machine

Textiles
I Statler Stitcher Automated quilting machine

Test and Measurement


I Veeco Instruments, Inc. Non-contact surface measurement

Entertainment
I Hudson Scenic Studio, Inc. Automated scenery for Broadway productions

Simulator Training
I GlobalSim Crane simulator

Machine Tools
I CamSoft Corporation PC-based control for milling machines and lathes I Calypso Waterjet Systems, Inc. Waterjet cutting I Pistorius Machine Company Cut-to-length machine for mitering and fastening

Automotive
I Team MojavatonAutonomous ground vehicle

Download any of these 19 real customer stories at http://www.galilmc.com/about/customers.html or call Galil at 800-377-6329 to request your free SmartMoves book. We are looking forward to working with you so you can be our next SmartMoves partner.

Our commitment is to be the leader in providing high-performance, cost-effective, easy-to-use motion controllers that solve real customer problems in the OEM marketplace.

Terms and Conditions


s ORDERS Orders may be placed by calling Galil at 800-377-6329 or fax 916-6260102.All phone orders require a written confirmation by fax or mail. s LEAD TIME Typical lead-time for standard products is 1 week ARO.Non-standard products may have a longer lead-time.The actual lead-time will be stated upon receipt of the written order. Shipping promises are made in good faith by Seller,and Seller cannot be held accountable for delays in shipping. s EXPEDITED SERVICE An expedite fee of $100 will be charged for expedited service.This fee is additional to any rush shipping charges. s SHIPPING Standard method of shipping is UPS 2nd Day or Federal Express Economy unless otherwise requested. s PRICES Prices and specifications are subject to change. All prices listed are U.S.prices.Prices outside the U.S.are 10% above list. F.O.B. Rocklin, California. Applicable taxes, insurance, shipping and handling charges are to be paid in full by the purchaser. s QUANTITY DISCOUNTS Discounts are available for volume purchases on a per-order or blanket-order basis.Consult Galil for a quotation.A cancellation fee will be charged if purchaser does not receive full delivery on quantity ordered. s PAYMENT TERMS Payment terms are net 30 days from date of invoice, subject to credit approval by Galil.To open a net term account,one bank account reference and three trade-references are required.Accounts past due over 60 days will be charged 1-1/2% per month.Galil reserves the right to defer delivery on past due accounts.Accounts that do not receive credit approval, and accounts that do not pay within the stated terms will be COD. s RETURNED PRODUCTS Products in good and re-sellable condition may be returned for 90% credit within 30 days of purchase. All credit is subject to product testing and approval by Galil. No returns are accepted after 90 days. Non-standard products may not be returned for credit. Opened software products may not be returned for credit. s NOTICE OF SCHEDULE CHANGE All changes to the shipping schedule made by the purchaser must be given to the seller in writing with two weeks advance notice. s WARRANTY All controllers manufactured by Galil Motion Control are warranted against defects in materials and workmanship for a period of 365 days after shipment.Amplifiers,terminals,motors,and power supplies are warranted for 180 days.Extended warranties are available. In the event of any defects in materials or workmanship,Galil Motion Control will,at its sole option,repair or replace the defective product covered by this warranty without charge.To obtain warranty service,the defective product must be returned within 30 days of the expiration of the applicable warranty period to Galil Motion Control, properly packaged,and with transportation and insurance prepaid.We will reship at our expense only to destinations in the United States and for products within warranty. Call Galil to receive a Return Materials Authorization (RMA) number prior to returning product to Galil. Any defect in materials or workmanship determined by Galil Motion Control to be attributable to customer alteration,modification,negligence,or misuse is not covered by this warranty. EXCEPT AS SET FORTH ABOVE, GALIL MOTION CONTROL WILL MAKE NO WARRANTIES EITHER EXPRESSED OR IMPLIED, WITH RESPECT TO SUCH PRODUCTS, AND SHALL NOT BE LIABLE OR RESPONSIBLE FOR ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES.

TO PLACE AN ORDER PHONE: 800-377-6329 OR FAX: 916-626-0102

The following trademarks are the property of the companies listed: AutoCAD, Windows,Visual Basic,MS-DOS LabView OPTO 22 Surfcam InTouch Autodesk,Inc. Microsoft Corporation National Instruments OPTO 22 Corporation Surfware Incorporated Wonderware