Galil DMC-40x0 series motion controller

Galil DMC-40x0 series motion controller

Overview

Controller Introduction

The DMC-40x0 series is a Galil high-performance independent controller that supports up to 8-axis control, with high-speed communication, non-volatile program memory, faster encoder speed, and improved EMI reduction wiring.

Provides two communication channels, RS-232 (2-channel, maximum 115K baud rate) and 10BaseT Ethernet, supporting high-speed servo control with up to 22 million encoder counts per second and stepper motor control with 6 million steps per second, with a sampling rate as low as 31.25 µ sec/axis.

Flash EEPROM provides non-volatile memory for storing application programs, parameters, arrays, and firmware, which can be upgraded on-site.

Supported motor types

Standard servo motor with ± 10V command signal

Brushless servo motor with sinusoidal commutation

Stepper motor with step and direction signals

Other actuators (such as hydraulic devices, please contact Galil for more information)

Overview of External Amplifier

Current mode amplifier: accepts analog command signals within the ± 10V range, and the amplifier gain should be set to+10V command to generate the maximum required current.

Speed mode amplifier: The 10V command signal should cause the motor to operate at the maximum required speed.

Stepper motor amplifier: accepts step and direction signals.

Overview of Galil amplifiers and drivers

A1- AMP-430x0 (- D3040, - D3020): Multi axis brushed/brushless amplifier, capable of processing 500 watts of continuous power per axis, accepting 18-80VDC DC power supply voltage.

A2-AMP-43140 (- D3140): Contains four linear drivers for operating small brushed servo motors, requiring ± 12-30 DC voltage input, with an output power of 20W per amplifier and a total power of 60W.

A3-SDM-44040 (- D4040): Stepper driver module capable of driving up to four bipolar two-phase stepper motors, with selectable currents of 0.5, 0.75, 1.0, and 1.4 amperes per phase, and selectable step resolutions of full step, half step, 1/4, and 1/16.

A4- SDM-44140 (- D4140): Microstep module, driving four bipolar two-phase stepper motors with 1/64 microstep resolution (SDM-44140 drives two), with selectable current of 0.5, 1.0, 2.0, and 3.0 amperes per axis.

Beginner's Guide

Layout and Size

Introduced the layout and size information of DMC-4040 and DMC-4080.

power connection

The power connector information for controllers without Galil amplifiers or when ordering ISCNTL power options, as well as the power connector information for controllers with Galil integrated amplifiers.

Required components

Including DMC-40x0 motion controller, motor amplifier (integrated when using Galil amplifier and driver), power supply for amplifier and controller, brushed or brushless servo motor or stepper motor with optical encoder, cable connected to DMC-40x0 integrated ICM, PC (RS232 or Ethernet for DMC-40x0), GalilTools or GalilTools Lite software package.

Installation steps

Determine the overall motor configuration, install jumpers on DMC-40x0, install communication software, connect 20-80VDC power supply to the controller, establish communication with Galil software, determine the axis for sine commutation, connect to amplifiers and encoders, connect standard servo motors/sine commutation motors/stepper motors, and adjust the servo system.

Hardware connection

Optical isolation input

Including limit switch input, origin switch input, abort input, ELO (electronic lock) input, reset input, and unconfirmed digital input, their functions, wiring, and electrical specifications are introduced.

TTL input

The auxiliary encoder input can be used for general purposes, with one auxiliary encoder per axis, containing two inputs, and can accept TTL level signals, etc.

High power optical isolation output

Introduced its electrical specifications and wiring methods, the outputs 9-16 of the 5-8 axis controller are located on the I/O (E-H) D-Sub connector.

analog input

There are eight analog inputs configured in the range of -10V to 10V, and different ranges and modes can be set through the AQ command. The electrical specifications are introduced.

TTL output

Including output comparison, error output, etc.

Expansion I/O of DMC-40x0 Controller

Provides 32 extended TTL I/O points that can be configured as inputs or outputs in 8-bit increments, and introduces their electrical specifications.

Amplifier interface

Introduced its electrical specifications and overview, as well as the ICM-42000 and ICM-42100 amplifier enable circuits, and the ICM-42200 amplifier enable circuit.

Software tools and communication

RS232 and RS422 ports

Introduced RS-232 and RS-422 configurations, including pin descriptions, configuration methods, baud rate selection, and handshake.

Ethernet configuration

Supports two industry standard protocols, TCP/IP and UDP/IP, and introduces addressing methods including MAC address, IP address, and UDP or TCP port number.

communication protocol

Introduced communication methods with multiple devices and multicast functionality.

Third party software usage

Supports tools such as DHCP, ARP, BOOT-P, and Ping for establishing Ethernet connections, and can communicate with hosts through any application that can send TCP/IP or UDP/IP packets, such as Telnet.