galilmcEthernet/RS232 Accelera Series, 1–8 axes

■ 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 set of 4 axes)

■ High-speed position compare output (per set of 4 axes)

Minimum Servo Loop Update Time

STANDARD -FAST*

■ 1–2 axes: 62 µsec 31 µsec

■ 3–4 axes:125 µsec 62 µsec

■ 5–6 axes:156 µsec 94 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

■ 20–80 VDC

Environmental

■ Operating temperature: 0–70º C

■ Humidity: 20–95% RH, non-condensing

Mechanical

■ 1- thru 4-axis: 8.1" × 7.25" × 1.72"

5- thru 8-axis: 11.5" × 7.25" × 1.72"

DMC-40x0 Interconnect and Drive Options

ICM-42000 Interconnect Module (-I000)

The ICM-42000 breaks out the internal CPU board connector into convenient D-sub connectors for easy interface to external amplifiers and I/O

devices.The ICM-42000 provides a 15-pin D-sub connector for the encoders

on each axis, a 15-pin D-sub for analog inputs, a 44-pin D-sub for I/O, and a

44-pin D-sub for the motor command signals. Eight 500 mA highside drive

outputs are available (total current not to exceed 3 A).The ICM-42000 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. Two ICMs are required for 

5- thru 8-axis controllers.

ICM-42100 Sinusoidal Encoder Interpolation Module (-I100)

The ICM-42100 option accepts sinusoidal encoder signals instead of digital

encoder signals as accepted by the ICM-42000.The ICM-42100 provides

interpolation of up to four 1-volt 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

to12). 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.

For the ICM-42100, the sinusoidal encoder inputs replace the main 

digital encoder inputs.The ICM-42100 provides a 15-pin D-sub connector

for the encoders on each axis, a 15-pin D-sub for analog inputs, a 44-pin 

D-sub for I/O, and a 44-pin D-sub for the motor command signals.Two ICMs

are required for 5- through 8-axis controllers.

SDM-44140 4-axis Microstep Drives (-D4140)

The SDM-44140 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 6,000,000 microsteps/second. Correct motor sizing calculations

are critical to achieve stepper performance at speed. Please contact Galil

for assistance.The SDM-44140 drive motors operating up to 3 Amps at 

12 to 60 VDC (available voltage at motor is 10% less).There are four software-selectable current setting: 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.

Power Supplies — CPS 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 enclosed. AC connections are made using a standard-style line 

cord. AC rating is 110/220 VAC, 50/60 Hz, ±10%.

Model Power Rating Dimensions

CPS-12-24 24 VDC @ 12 A cont. 9" × 5.75" × 6" encl.

CPS-6-48 48 VDC @ 6 A cont. 9" × 5.75" × 6" encl.

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

**120 VACversion only

ICS D-type to Screw -Terminal Boards

Galil offers various ICS boards which break-out the DMC-40x0 D-type

connectors intoscrew terminals for quick prototyping:

ICS-48015-M 15-pin D high-density male toscrew terminals—

for encoder signals. Use 1 for each axis on DMC-40x0 to break out 

encoder signals.

ICS-48115-F 15-pin D lowdensityfemale to screw terminals—for analog inputs. Use 

1on a DMC-40x0 tobreak out

the Analog inputs.

ICS-48044-M44-pin D highdensity male to screw terminals—for general I/O. Use 1

for each set of 4 axes on a DMC-40x0 

to break out the General I/O connectors.

ICS-48044-F44-pin D high-density female to screw terminals—

for external drive signals. Use 1 to break out the extended I/O connector 

and 1 for each set of 4 axes on a DMC-40x0 to break out the External 

Driver connectors.

ICS-48032-F 44-pin D high-density female to screw terminals—

breaks out and optically isolates the 32 extended I/O points.

Configurable for inputs and outputs in banks of 8 bits. The ICS-48032-F

must only be used with the extended I/O.

AMP-430x0 2- and 4-axis 500W Servo Drives (-D3020, -D3040)

The AMP-43040 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, 20–80 VDC. The gain settings of

the amplifier are user-programmable at 0.4 Amp/Volt, 0.7 Amp/Volt and