Ethernet/RS232 Accelera Series, 1 8 axes DMC-40x0 Series

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1 Ethernet/RS232 Accelera Series, 1 8 axes DMC00 axis and DMC080 8axis controllers Product Description The DMC0x0 is Galil s highest performance, standalone motor controller. It belongs to Galil s latest generation motion controller family: the Accelera Series, which accepts encoder inputs up to 22 MHz, provides servo update rates as high as 32 khz, and processes commands in as fast as 0 microseconds 10 times faster than prior generation controllers. The DMC0x0 is a fullfeatured motion controller packaged with optional multiaxis drives in a compact, metal enclosure. The unit operates standalone or interfaces to a PC with Ethernet 10/100BaseT or RS232. The controller includes optically isolated I/O, highpower outputs capable of driving brakes or relays, and analog inputs for interfacing to analog sensors. The DMC0x0 controller and drive unit accepts power from a single VDC source. The DMC0x0 is available in one through eight axis formats, and each axis is userconfigurable for stepper or servo motor operation. Standard programming features include PID compensation with velocity and acceleration feedforward, multitasking for simultaneously running up to eight programs, and I/O processing for synchronizing motion with external events. Modes of motion include pointtopoint positioning, position tracking, jogging, linear and circular interpolation, PVT, contouring, electronic gearing and electronic cam (ECAM). Like all Galil controllers, the DMC0x0 controllers use Galil s popular, intuitive command language, making them very easy to program. GalilTools servo design software further simplifies system setup with onebutton servo tuning and realtime display of position and velocity information. Features Packaged controller in 1 through 8 axis versions: DMC0x0 where x=1,2,3,,5,6,7,8 axes (1) 10/100BASET Ethernet port with Auto MDIX (2) RS232 ports up to 115 kbaud Userconfigurable for stepper or servo motors on any combination of axes. Optional firmware for piezoceramic motors. Configurable for sinusoidal commutation Accepts up to 22 MHz encoder frequencies for servos. Outputs pulses up to 6 MHz for steppers PID compensation with velocity and acceleration feedforward, integration limits, notch filter and lowpass filter Modes of motion include jogging, pointtopoint positioning, contouring, PVT, linear and circular interpolation, electronic gearing and electronic cam. Features elliptical scaling, slowdown around corners, infinite segment feed and feedrate override Over 200 Englishlike commands including conditional statements and event triggers nvolatile memory for programs, variables and arrays. Multitasking for concurrent execution of up to eight programs Optically isolated home input and forward and reverse endoftravel limits for every axis. Uncommitted, isolated inputs and isolated outputs 1 through axis models: 8 inputs and 8 outputs 5 through 8axis models: 16 inputs and 16 outputs Isolated, highpower outputs for driving brakes or relays High speed position latch for each axis and output compare 8 uncommitted analog inputs 32 additional 3.3 V I/O (5 V option) 2 line x 8 character programmable LCD Dual encoder inputs for each servo axis Accepts single VDC input Available with internal stepper and servo drives. Or, connect to external drives of any power range Communication drivers for Windows, Mac OSX, and Linux Custom hardware and firmware options available DMC0x0 has CE certification. Specify DMC0x0ETL for ETL certification / Galil Motion Control, Inc. 1

2 Ethernet/RS232 Accelera Series, 1 8 axes Specifications System Processor RISCbased, clock multiplying processor with DSP functions Communications Interface (1) 10/100BASET Ethernet port with Auto MDIX (2) RS232 ports up to 115 kbaud Commands are sent in ASCII. A binary communication mode is also available as a standard feature Modes of Motion: Pointtopoint 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 ramptogearing Gantry Mode Electronic Cam Contouring PVT (PositionVelocityTime) Teach and playback Memory Program memory size 2000 lines 80 characters 510 variables 16,000 total array elements in up to 30 arrays Filter PID with velocity and acceleration feedforward tch filter and lowpass filter Dualloop control for backlash compensation Velocity smoothing to minimize jerk Integration limit Torque limit Offset adjustment Kinematic Ranges Position: 32 bit (±2.15 billion counts per move; automatic rollover; no limit in jog or vector modes) Velocity: Up to 22 million counts/sec for servo motors Acceleration: Up to 1 billion counts/sec 2 Uncommitted I/O ISOLATED ISOLATED ANALOG 3.3 V INPUTS OUTPUTS INPUTS I/O DMC010 thru DMC050 thru High Speed Position Latch Uncommitted inputs 1 latch A,B,C,D and 912 latch E, F, G, H axes (latches within 0 microseconds with optoisolation) Dedicated Inputs (per axis) Main encoder inputs Channel A, A, B,B,I, I (±12 V or TTL) Dual encoder (for axes configured as servo) Channel A, A, B, B Forward and reverse limit inputs optoisolated Home input optoisolated Selectable highspeed position latch input optoisolated Selectable abort input for each axis optoisolated Dedicated Outputs (per axis) Analog motor command output with 16bit DAC resolution Pulse and direction output for step motors PWM output also available for servo amplifiers Amplifier enable output Error output (one per controller) Highspeed position compare output (per set of axes) Minimum Servo Loop Update Time STANDARD FAST * 1 2 axes: 62 µsec 31 µsec 3 axes: 125 µsec 62 µsec 5 6 axes: 156 µsec 9 µsec 7 8 axes: 187 µsec 125 µsec Maximum Encoder Feedback Rate 22 MHz Maximum Stepper Rate 6 MHz (Full, half or microstep) Power Requirements VDC Environmental Operating temperature: 0 70º C Humidity: 20 95% RH, noncondensing Mechanical 1 thru axis: 8.1" 7.25" 1.72" 5 thru 8axis: 11.5" 7.25" 1.72" Connectors Amplifier I/O: pin HD Male Dsub General I/O: pin HD Female Dsub Encoder: 15pin HD Female Dsub Analog: 15pin LD Male Dsub Extended I/O: pin HD Male Dsub * Reduced feature set for FAST. 2 / Galil Motion Control, Inc.

3 Ethernet/RS232 Accelera Series, 1 8 axes Instruction Set Ethernet DH HS IA IH IK MB MW SA SM Servo Motor AF AG AU AW DV FA FV IL KD KI KP NB NF NZ OF PL SH TK TL TM DHCP Configuration Handle switch Set IP address Open IP handle Ethernet port blocking Modbus Modbus wait Send command Subnet mask Analog feedback Set amplifier gain Set current loop gain Report AMP300 bandwidth Dual loop operation Acceleration feedforward Velocity feedforward Integrator limit Derivative constant Integrator constant Proportional constant tch bandwidth tch frequency tch zero Offset Pole Servo here Peak torque Torque limit Sample time Stepper Motor KS LC QS YA YB YC YR YS Stepper motor smoothing Low current Error magnitude Step drive resolution Step motor resolution Encoder resolution Error correction Stepper position maintenance Internal Sine Commutation BA BB BC BD BI BM BO BS BX BZ I/O AL AQ CB CO II OB OC @OUT[x] Brushless axis Brushless phase Brushless calibration Brushless degrees Brushless inputs Brushless modulo Brushless offset Brushless setup Sine Amp Initialization Brushless zero Arm latch Analog configuration Clear bit Configure I/O points Input interrupt Define output bit Output compare function Output port Set bit Value of analog input x State of digital input x State of digital output x System Configuration BN BP BR BV BW CC CE CF CI CN CW DE DP DR EI EO IT LB ˆLˆK LU LZ MO MT PF PW QD RS ˆRˆS UI VF Burn parameters Burn program Brush motor enable Burn variables and arrays Brake Wait Configure communications port Configure encoder type Configure unsolicited messages handle Configure communication interrupt Configure switches Data adjustment bit Define dual encoder position Define position Data record update rate Event interrupts Echo Independent smoothing LCD Bias contrast Program protect (Lock) LCD Update Leading zeros format Motor off Motor type Position format Password Download array Reset Master reset User interrupt Variable format Math Absolute value of Arc cosine of Arc sine of Arc tangent of 1 s complement of Cosine of Fraction portion of Integer portion of Round of Sine of Square root of Tangent % Modulus operator Interrogation ID LA LL LS LV MG QH QR QU QZ RL RP ˆRˆV SC TA TB TC AMP ID List arrays List labels List program List variables Message command Query hall state Data record Upload array Return data record information Report latch Report command position Firmware revision information Stop code Tell amplifier status Tell status Tell error code Interrogation (cont.) TD TE TH TI TP TR TS TT TV TZ WH Tell dual encoder Tell error Tell handle Tell input Tell position Trace program Tell switches Tell torque Tell velocity Tell I/O configuration Which handle Programming BK Breakpoint DA Deallocate variables/arrays DL Download program DM Dimension arrays ED Edit program ELSE Conditional statement ENDIF End of cond. statement EN End program HX Halt execution IF If statement IN Input variable JP Jump JS Jump to subroutine NO operation for comments RA Record array RC Record interval RD Record data RE Return from error routine REM Remark program RI Return from interrupt routine SL Single step UL Upload program XQ Execute program ZA Data record variables ZS Zero stack Comment Error Control BL ER FL LD OA OE OT OV TW Trippoint AD AI AM AP AR AS AT AV MC MF MR WT Backward software limit Error limit Forward software limit Limit disable Encoder failure Offonerror function Encoder failure period Encoder failure voltage Timeout for inposition After distance After input After motion profiler After absolute position After relative distance At speed After time After vector distance Motion complete After motion forward After motion reverse Wait for time Independent Motion AB AC BG DC FE FI HM HV IP IT JG PA PR PT SD SP ST 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 Switch deceleration Speed Stop Contour Mode CD CM DT PVT Mode BT PV Contour data Contour mode Contour time interval Coordinate start Position, velocity, time ECAM/Gearing EA EB EC EG EM EP EQ ET EW EY GA GD GM _GP GR ECAM master Enable ECAM ECAM table index ECAM go ECAM modulus 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 Vector/Linear Interpolation CA CR CS ES IT LE LI LM ST TN VA VD VE VM VP VR VS VV Define vector plane Circular interpolation move Clear motion sequence Elliptical 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 Vector Velocity / Galil Motion Control, Inc. 3

4 Ethernet/RS232 Accelera Series, 1 8 axes Connectors Communications RS232 Main Port (DCE) 9pin; Lowdensity Male Dsub 1 NC 2 Transmit dataoutput (TxD) 3 Receive datainput (RxD) NC 5 Ground 6 NC 7 Clear to sendinput (CTS) 8 Request to sendoutput (RTS) 9 NC RS232 Auxiliary Port (DTE) 9pin; Lowdensity Female Dsub 1 NC 2 Receive datainput (RxD) 3 Transmit dataout put (TxD) NC 5 Ground 6 NC 7 Request to sendoutput (RTS) 8 Clear to sendinput (CTS) 9 NC/5 V (jumper select) Ethernet 10/100BaseT RJ5 connector Connectors Amplifier Board AMP300 J2 Power** 6pin 1 Ground 2 Ground 3 Ground +VM (20 V 80 V) 5 +VM (20 V 80 V) 6 +VM (20 V 80 V) JA1, JB1, JC1, JD1 Motor Output pin 1 Motor Phase C 2 Motor Phase B 3 NC Motor Phase A Extended I/O (ICM2000 & 2200) pin Hidensity Male Dsub 1 I/O18 2 I/O21 3 I/O2 I/O26 5 I/O29 6 I/O32 7 I/O33 8 I/O36 9 I/O38 10 NC 11 I/O1 12 I/O 13 I/O7 1 NC 15 Reserved 16 I/O17 17 I/O20 18 I/O23 19 I/O25 20 I/O28 21 I/O31 22 NC 23 I/O35 2 I/O37 25 NC 26 I/O0 27 I/O3 28 I/O6 29 I/O V 31 I/O19 32 I/O22 33 Ground 3 I/O27 35 I/O30 36 Ground 37 I/O3 38 NC 39 Ground 0 I/O39 1 I/O2 2 I/O5 3 Ground NC J2 General I/O Axes A thru D (ICM2000 & 2200) pin Hidensity Female Dsub 1 Error output* 2 Input 1isolated 3 Input isolated Input 7isolated 5 Electronic Lockoutisolated input* 6 Limit switch common 7 Home Aisolated 8 Home Bisolated 9 Home Cisolated 10 Home Disolated 11 Output power+ 12 Output 3isolated 13 Output 6isolated 1 Output return V 16 Resetisolated* 17 Input common 18 Input 3isolated 19 Input 6isolated 20 Abortisolated* 21 NC 22 Reverse limit Aisolated 23 Reverse limit Bisolated 2 Reverse limit Cisolated 25 Reverse limit Disolated 26 NC 27 Output 2isolated 28 Output 5isolated 29 Output 8isolated V 31 Ground 32 Input 2isolated 33 Input 5isolated 3 Input 8isolated 35 Ground 36 Forward limit Aisolated 37 Forward limit Bisolated 38 Forward limit Cisolated 39 Forward limit Disolated 0 Ground 1 Output 1isolated 2 Output isolated 3 Output 7isolated Output Compare A D **te: Power can be input through either of the amplifier connectors to power the entire unit due to power passthru connectors that connect input power to all modules. For 5 through 8axis units with two different types of amplifiers, the lower of the maximum voltages is the maximum rating for the unit. However, if you need different voltages, you can specify the ISAMP and/or ISCNTL option to separate the various power inputs. When using the AMP310 with a power supply lower than +/20 Volts, a separate supply of VDC must be input to the 2pin connector on the side of the DMC0X0 or specify the 12 V option for the DMC controller. J2 General I/O Axes E thru H (ICM2000 & 2200) pin Hidensity Female Dsub 1 Error output* 2 Input 9isolated 3 Input 12isolated Input 15isolated 5 Electronic lockoutisolated input* 6 Limit switch common 7 Home Eisolated 8 Home Fisolated 9 Home Gisolated 10 Home Hisolated 11 Output power+ 12 Output 11isolated 13 Output 1isolated 1 Output return V 16 Resetisolated* 17 Input common 18 Input 11isolated 19 Input 1isolated 20 Abortisolated* 21 NC 22 Reverse limit Eisolated 23 Reverse limit Fisolated 2 Reverse limit Gisolated 25 Reverse limit Hisolated 26 NC 27 Output 10isolated 28 Output 13isolated 29 Output 16isolated V 31 Ground 32 Input 10isolated 33 Input 13isolated 3 Input 16isolated 35 Ground 36 Forward limit Eisolated 37 Forward limit Fisolated 38 Forward limit Gisolated 39 Forward limit Hisolated 0 Ground 1 Output 9isolated 2 Output 12isolated 3 Output 15isolated Output Compare E H *Active low Programmable for Active high or Active low / Galil Motion Control, Inc.

5 Ethernet/RS232 Accelera Series, 1 8 axes Connectors I/O J1 Amplifier I/O Axes A thru D (ICM2000) pin Hidensity Male Dsub 1 Reserved 2 PWM C/Step C 3 Reserved Reserved 5 Sign C/Dir C 6 Reserved 7 Amp enable A 8 Amp enable D 9 NC V 11 Motor command B 12 Reserved 13 NC 1 NC V 16 PWM A/Step A 17 Reserved 18 PWM D/Step D 19 Sign A/Dir A 20 Reserved 21 Sign D/Dir D 22 Amp enable common1 23 Amp enable C 2 NC V 26 Reserved 27 Motor command C 28 Reserved 29 NC 30 NC 31 PWM B/Step B 32 Reserved 33 Ground 3 Sign B/Dir B 35 Reserved 36 Ground 37 Amp enable B 38 Amp enable common2 39 Ground 0 Motor command A 1 Reserved 2 Motor command D 3 Ground NC J1 Amplifier I/O Axes E thru H (ICM2000) pin Hidensity Male Dsub 1 Reserved 2 PWM G/Step G 3 Reserved Reserved 5 Sign G/Dir G 6 Reserved 7 Amp enable E 8 Amp enable H 9 NC V out 11 Motor command F 12 Reserved 13 NC 1 NC V out 16 PWM E/Step E 17 Reserved 18 PWM H/Step H 19 Sign E/Dir E 20 Reserved 21 Sign H/Dir H 22 Amp enable common1 23 Amp enable G 2 NC V out 26 Reserved 27 Motor command G 28 Reserved 29 NC 30 NC 31 PWM F/Step F 32 Reserved 33 Ground 3 Sign F/Dir F 35 Reserved 36 Ground 37 Amp enable F 38 Amp enable common2 39 Ground 0 Motor command E 1 Reserved 2 Motor command H 3 Ground NC JA1, JB1, JC1, JD1 Encoder Axes A thru D (ICM2000) JE1, JF1, JG1, JH1 Encoder Axes E thru H (ICM2000) 15pin Hidensity Female Dsub 1 Index+ 2 B+ 3 A+ Aux B+ 5 Ground 6 Index 7 B 8 A 9 Aux A 10 Hall A 11 Aux A+ 12 Aux B 13 Hall B 1 Hall C V J3 Analog Inputs (ICM2000 & 2200) 15pin Lowdensity Male Dsub 1 Analog Ground 2 Analog input 1 3 Analog input 3 Analog input 5 5 Analog input 7 6 Analog Ground 7 12 V 8 +5 V 9 Analog Ground 10 Analog input 2 11 Analog input 12 Analog input 6 13 Analog input 8 1 NC V Axis Connectors Axes A thru H (ICM2200) 26pin Hidensity Female Dsub 1 Reserved 2 Amp Enable 3 Direction Home isolated 5 Limit switch common 6 Aux A 7 Index+ 8 A 9 +5 V 10 Ground 11 Amp Enable Return 12 Reserved 13 Step 1 Forward limit isolated 15 Aux B+ 16 Index 17 B+ 18 Ground 19 Motor command 20 Amp Enable Power 21 Reserved 22 Reverse limit isolated 23 Aux B 2 Aux A+ 25 B 26 A+ Programmable for Active high or Active low / Galil Motion Control, Inc. 5

6 Ethernet/RS232 Accelera Series, 1 8 axes DMC0x0 Interconnect Options ICM2000 Interconnect Module (I000) The ICM2000 resides inside the DMC0x0 enclosure and breaks out the internal CPU board connector into convenient Dsub connectors for interface to external amplifiers and I/O devices. Eight 500 ma highside drive outputs are available (total current not to exceed 3 A). The ICM2000 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 2 V and sinking or sourcing. Two ICMs are required for 5 thru 8axis controllers. ICM2100 Sinusoidal Encoder Interpolation Module (I100) The ICM2100 option resides inside the DMC0x0 enclosure and accepts sinusoidal encoder signals instead of digital encoder signals as accepted by the ICM2000. The ICM2100 provides interpolation of up to four 1volt differential sinusoidal encoders resulting in a higher position resolution. The AFn command selects sinusoidal interpolation where n specifies 2n interpolation counts per encoder cycle (n=5 to 12). For example, if the encoder cycle is 0 microns, AF10 results in 210=102 counts per cycle, or a resolution of 39 nanometers per count. With the ICM2100, the sinusoidal encoder inputs replace the main digital encoder inputs. ICM2200 Interconnect Module (I200) The ICM2200 interconnect option resides inside the DMC0x0 enclosure and provides a pinout that is optimized for easy connection to external drives. The ICM2200 uses 26pin HD Dsub connectors for each axis that includes encoder, limit, home, and motor command signals. All DMC0x0 are ordered with an internal interconnect module (ICM) which breaks out and buffers the controller I/O and drive signals. 1 axis controllers require one ICM, 58 axis controllers require two, and can be mixed and matched from the following options. (Key: HD=Hidensity, LD=Lowdensity, F=Female, M=Male, D=Dsubminiature connector) ICM (Part Number) ICM2000 (I000) ICM2100 (I100) ICM2200 (I200) Unique Purpose Default ICM Sine Interpolated Encoders More convenient for external drives Inside 0x0 Enclosure Breaks out I/O and Drive Signals Encoder connector 15pin HD F D per axis 15pin HD F D per axis 26pin HD F D per axis Axis Connector pin HD M D per axes pin HD M D per axes On Encoder connector, and pin HD M D per axes Analog In connector 15pin LD M D 15pin LD M D 15pin LD M D I/O Connector pin HD F D pin HD F D pin HD F D 8 500mA highside digital outs (max 3A) Configurable Amp Enable hi/lo, 5 V, 12 V, and ext. V, sink, source, no need to remove cover. Axisindependent circuitry. Accepts Quad and Pulse and Direction encoders and inputs Sine Encoder Interpolation SSI and BiSS options available 6 / Galil Motion Control, Inc.

7 Ethernet/RS232 Accelera Series, 1 8 axes DMC0x0 Servo Drive Options AMP30x0 2 and axis 500 W Servo Drives (D3020, D300) The AMP300 contains four transconductance, PWM amplifiers for driving brushless/brush servo motors. Operating at up to 7 Amps cont., 10 Amps peak, VDC. The gain settings of the amplifier are userprogrammable at 0., 0.7 and 1 Amp/Volt. The switching frequency is 60 khz. 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 amplifier offers protection for overvoltage, undervoltage, overcurrent, shortcircuit and overtemperature. Hall sensors are required for brushless motors. A shunt regulator option is available. A twoaxis version, the AMP3020 is also available. AMP310 axis 20 W Servo Drives (D310) The AMP310 contains four linear drives for operating small, brushtype servo motors. The AMP310 requires a ± 1230 VDC 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 khz. An SSR option is available which guarantees absolutely no current during motor off. AMP320 axis 750 W Servo Drives (D320) The AMP32 contains four transconductance, PWM amplifiers for driving brushless/brush servo motors servo motors. Operating at up to 10 Amps cont., 20 Amps peak, VDC. The gain settings of the amplifier are userprogrammable at 0.5, 1 and 2 Amp/Volt. The switching frequency is 5 8 axis versions can mix and match two of the following drives. Drive Name (Part Number) Motor Type Axes Current Drive Commutation Axis power (Watts) Cont. Current (Amps) Peak Current (Amps) Voltage Bus (VDC) Gains Switching Freq (Khz) Typical Current Loop BW (khz)* Drive Modes Min. Inductance (mh) Over Voltage Under Voltage Over Current Short circuit Over temp ELO input Other tes AMP30x0 (D30x0) Brushed/Brushless servo x=, 2 x=2 PWM Trap w/ 120 Halls (160 available) 0., 0.7, 1.0 A/V 60 (10 available) 28 Inverter, Chopper Shunt option Adjustable current loop AMP310 (D310) Brushed servo Linear Brushed only 20 (60 max for axes) 1 1 +/ 1230 bipolar 0.1 (0.01 available) A/V N/A Linear 0.2 Fused Fused Thermal Shutdown SSR option, disconnects power at startup 2 KHz. The drive operates in chopper mode. The amplifier offers protection for overvoltage, undervoltage, overcurrent, shortcircuit and overtemperature. Hall sensors are required for brushless motors. A shunt regulator option is available. AMP35x0 2 and axis 600 W Servo Drives with Sinusoidal Commutation (D3520, D350) The AMP350 contains four transconductance, PWM amplifiers for driving brushless servo motors with sinusoidal commutation. Each amplifier drives motors operating at up to 8 Amps cont., 15 Amps peak, VDC. The gain settings of the amplifier are userprogrammable at 0., 0.8 and 1.6 Amp/Volt. The switching frequency is 33 KHz. The amplifier offers protection for overvoltage, undervoltage, overcurrent, shortcircuit and overtemperature. Hall sensors are not required for brushless motor commutation. A shunt regulator option is available. A twoaxis version, the AMP3520, is also available. AMP360 axis 20 W Servo Drives with Sinusoidal Commutation (D360) The AMP360 contains four linear, transconductance amplifiers for driving brushless servo motors with sinusoidal commutation. The AMP360 requires VDC, and the gain setting of each amplifier is 0.1 A/V at 1 A maximum current. Hall sensors are not required for brushless motor commutation. The DMC0x0 can be optionally equipped with a multiaxis internal servo or stepper motor drive that resides inside the DMC0x0 enclosure. AMP320 (D320) Brushed/Brushless servo PWM Trap w/ 120 Halls , 1, 2 A/V 2 Chopper 0.2 Shunt option Adjustable current loop *Current Loop bandwidth is system dependent. Contact Galil for unlisted upgrade options for all above ICMs and drives. AMP35x0 (D35x0) Brushed/Brushless servo x=, 2 x=2 PWM Sinusoidal , 0.8, 1.6 A Shunt option AMP360 (D360) Brushless servo Linear Sinusoidal A/V N/A Linear 0.5 Fused Fused Thermal Shutdown SSR option / Galil Motion Control, Inc. 7

8 Ethernet/RS232 Accelera Series, 1 8 axes DMC0x0 Stepper Drive Options SDM0x0 2 and axis Stepper Drives (D020, D00) The SDM00 contains four drives for operating twophase bipolar step motors. The SDM00 requires a single VDC input. The unit is userconfigurable for 1. A, 1.0 A, 0.75 A, or 0.5 A per phase and for fullstep, halfstep, 1/ step or 1/16 step. A twoaxis version, the SDM020, is also available. SDM10 axis Microstep Drives (D10) The SDM10 contains four microstepping drives for operating twophase bipolar stepper motors. The drives produce 6 microsteps per full step or 256 steps per full cycle which results in 12,800 steps/rev for a standard 200step motor. The maximum step rate generated by the controller is 6,000,000 microsteps/second. The SDM10 drives motors operating at up to 3 Amps at 12 to 60 VDC (available voltage at motor is 10% less). There are four softwareselectable current settings: 0.5, 1, 2 and 3 A. Plus, a selectable lowcurrent mode reduces the current by 75% when the motor is not in motion. external heatsink is required. The DMC0x0 can be optionally equipped with a multiaxis internal servo or stepper motor drive that resides inside the DMC0x0 enclosure. 5 8 axis versions can mix and match two of the following drives. Drive Name (Part Number) Motor Type Axes Current Drive Axis power (Watts) Cont. Current (Amps) Peak Current (Amps) Voltage Bus (VDC) Gains Switching Freq (Khz) Typical Current Loop BW (khz)* Drive Modes Commutation Min. Inductance (mh) Over Voltage Under Voltage Over Current Short circuit Over temp ELO input Other tes SDM0x0 (D0x0) Stepper x=, 2 x=2 PWM ,0.75,1.0,1. A 27 (nominal) 1,2,,16 microstep 0.5 Low current feature SDM10 (D10) Stepper PWM ,1.0,2.0,3.0 A 60 6 microstep 0.5 Low current feature Power Supplies PSR Series The PSR Series are regulated DC power supplies capable of operating from a 100/20 VAC input, at 50/60 Hz. The power supply includes a shunt regulator and blocking diode. Model Power Rating Dimensions PSR A cont. 9" 6.5" 2" 3.5 lbs. PSR A cont. 9" 6.5" 2" 3.5 lbs. ICS Dtype to Screw Terminal Boards Galil offers various ICS boards which breakout the DMC0x0 Dtype connectors into screw terminals for quick prototyping: ICS8015M 15pin HD male to terminals encoder. ICS8115F 15pin LD female to terminals analog. ICS80M pin HD male to terminals I/O. ICS80F pin HD female to terminals drive. ICS8032F pin HD female to terminals breaks out and optically isolates the 32 extended I/O points. Configurable for inputs and outputs in banks of 8 bits. The ICS8032F must only be used with the extended I/O on the DMC0x0. ICS8026M 26pin HD male to terminals for ICM2200. *Current Loop bandwidth is system dependent. Contact Galil for unlisted upgrade options for all above ICMs and drives. 8 / Galil Motion Control, Inc.

9 Ethernet/RS232 Accelera Series, 1 8 axes Ordering Information 1 through 8axis Models: D M C 0 x 0 C x x x I x x x I x x x D x x x x D x x x x S R 9 0 Number of Axes 1: 1axis 2: 2axes 3: 3axes : axes 5: 5axes 6: 6axes 7: 7axes 8: 8axes Interconnect (1st four axes) 000: Digital encoder 100: Sinusoidal encoder 200: Separate Axis Connectors Communication 012: one Ethernet port and two RS232 ports Example: DMC080C012I000I000D300D300 Part Number Generator: Options DMC Controller OPT CODE DESCRIPTION DIN DIN Rail mounting option 12 V 12 VDC controller power 16BIT 16Bit ADC for analog inputs. 12bits is standard NRExxxx Customized upgrades ETL Option for ETL certification and documentation SDM and AMP Drives OPT CODE DESCRIPTION 100mA 100 ma output capacity for AMP310. Default is 1 Amp ISAMP Isolation of power between each AMP amplifier ISCNTL Isolation of controller power from amplifier power SSR current during motor off CMB Communication board OPT CODE DESCRIPTION 5 V 5 V for the extended I/O. 3.3 V is standard 22 RS22 on main, auxiliary or both Interconnect (2nd four axes) 000: Digital encoder 100: Sinusoidal encoder 200: Separate Axis Connectors Shunt Regulator (optional) Drive Axes 5 8 (optional) 3020: two 500 Watt servo motor drives 300: four 500 Watt servo motor drives 310: four 20 Watt servo motor drives 320: four 750 Watt servo motor drives 3520: two 600 Watt servo drives sinusoidal commutation 350: four 600 Watt servo drives sinusoidal commutation 360: four 20 Watt servo drives sinusoidal commutation 020: two 1. A stepper motor drives Full, Half, 1/, 1/16 00: four 1. A stepper motor drives Full, Half, 1/, 1/16 10: four microstep drives Drive Axes 1 (optional) 3020: two 500 Watt servo motor drives 300: four 500 Watt servo motor drives 310: four 20 Watt servo motor drives 320: four 750 Watt servo motor drives 3520: two 600 Watt servo motor drives sinusoidal commutation 350: four 600 Watt servo motor drives sinusoidal commutation 360: four 20 Watt servo motor drives sinusoidal commutation 020: two 1. A stepper motor drives Full, Half, 1/, 1/16 00: four 1. A stepper motor drives Full, Half, 1/, 1/16 10: four microstep drives ICM Interconnect board OPT CODE DESCRIPTION SSI SSI Encoders. Quadrature encoders are standard DIFF Differential analog motor command outputs. Singleended is standard LAEN Low Amp Enable. High Amp Enable is standard 2 V 2 V Amp enablesourcing. 5 V sinking is standard STEP Differential Step/Direction outputs. Singleended is standard I100 Specify sinusoidal encoder. Digital is standard I200 Specify 26pin axis connectors (recommended if using external drives) HAEN High amplifier enable SINK Sinking amplifier enable SOURCE Sourcing amplifier enable te: If a special option is required, place the appropriate OPT CODE inside a parenthesis directly following the respective DMC, CMB, ICM, SDM or AMP part numbers. Use commas for multiple options within a parenthesis. Ordering Information continued on the next page. / Galil Motion Control, Inc. 9

10 Ethernet/RS232 Accelera Series, 1 8 axes Ordering Information continued PART NUMBER DESCRIPTION QUANTITY 1 QUANTITY 100 DMC010C012I000 1axis Ethernet/RS232 controller with ICM2000 $1595 $ 95 DMC020C012I000 2axis Ethernet/RS232 controller with ICM2000 $1695 $ 995 DMC030C012I000 3axis Ethernet/RS232 controller with ICM2000 $1995 $1095 DMC00C012I000 axis Ethernet/RS232 controller with ICM2000 $2295 $1195 DMC050C012I000I000 5axis Ethernet/RS232 controller with ICM2000 $2695 $195 DMC060C012I000I000 6axis Ethernet/RS232 controller with ICM2000 $2895 $1595 DMC070C012I000I000 7axis Ethernet/RS232 controller with ICM2000 $305 $1695 DMC080C012I000I000 8axis Ethernet/RS232 controller with ICM2000 $3195 $1795 ICM2100 (I100) Sinusoidal encoder inputs instead of quad inputs. Replace I000 with I100 add $ 100 add $ 60 ICM2200 (I200) Individual 26pin HD connectors for each axis. Replace I000 with I200 add $ no add $ no AMP300 (D300) Four 500 W servo motor drives $ 700 $ 00 AMP3020 (D3020) Two 500 W servo motor drives $ 50 $ 275 AMP310 (D310) Four 20 W servo motor drives $ 175 $ 155 AMP320 (D320) Four 750 W servo motor drives $ 900 $ 500 AMP3520 (D3520) Two 600 W servo motor drives with sinusoidal commutation $ 650 $ 375 AMP350 (D350) Four 600 W servo motor drives with sinusoidal commutation $1000 $ 600 AMP360 (D360) Four 20 W servo motor drives with sinusoidal commutation $ 600 $ 350 SR9000 (SR90) Shunt regulator (90 V) $ 50 $ 35 SDM020 (D020) Two 1. A stepper motor drives Full, Half, 1/, 1/16 $ 125 $ 105 SDM00 (D00) Four 1. A stepper motor drives Full, Half, 1/, 1/16 $ 175 $ 155 SDM10 (D10) Four microstep drives (1/6) $ 600 $ 00 SSR current for motor off (for AMP310 only) $ 75 $ 50 PSR122 Power supply, 12 A, 2 VDC. Includes shunt regulator $ 250 $ 175 PSR68 Power supply, 6 A, 8 VDC. Includes shunt regulator $ 250 $ 175 ICS8015M 15pin D HD male to screw terminals for encoder signals $ 50 $ 35 ICS8115F 15pin D LD female to screw terminals for analog inputs $ 50 $ 35 ICS80M pin D HD male to screw terminals for general I/O $ 75 $ 50 ICS80F pin D HD female to screw terminals for external drive signals $ 75 $ 50 ICS8032F* pin D HD female to screw terminals for extended I/O. $ 125 $ 80 Provides optical isolation of 32 extended I/O points ICS8026M 26pin D HD male to screw terminals for axis connectors on ICM2200 $ 75 $ 50 ETL Option for ETL certification and documentation add $ 50 GalilToolsLite Editor, Terminal, Watch Tools. Includes communication library Free download GalilTools Above with Scope and Tuner $ 195 * ICS8032F Options: ICS8032Fx x x x (5 V) Bank (I=In, O=Out(default=sink)) Bank 3 Bank 2 Bank 1 ICS8032FOOOOSource All banks configured as outputs, outputs sourcing ICS8032FOOII First 2 banks outputs, second 2 banks inputs, outputs sinking ICS8032FOOIISource First 2 banks outputs, second 2 banks inputs, outputs sourcing 5 V configured for 5 V extended I/O. 3.3 V is default 10 / Galil Motion Control, Inc. Galil offers additional quantity discounts for purchases between 1 and 100. Consult Galil for a quotation.