galilmcEthernet/RS232 Accelera Series, 1–8 axes

Product Description

The DMC-40x0 motion controller is Galil’s highest 

performance, stand-alone motion 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 40 microseconds—10 times the speed of prior

generation controllers.

The DMC-40x0 is a fullfeatured motion controller

packaged with optional

multi-axis drives in a compact,metal enclosure.The

unit operates stand-alone 

or interfaces to a PC with

Ethernet 10/100Base-T 

or RS232.The controller

includes optically isolated 

I/O, high-power outputs capable of driving brakes or

relays, and analog inputs for interfacing to analog 

sensors.The DMC-40x0 controller and drive unit accepts

power from a single 20–80 VDC source.

The DMC-40x0 is available in one through eight axis

formats, and each axis is user-configurable 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

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-40x0 controllers use

Galil’s popular, English-like command language, which

makes them very easy to program. Galil’s WSDK servo

design software further simplifies system set-up with

“one-button” servo tuning and real-time display of

position and velocity informatio

Features

■ Packaged controller in 1 through 8 axis versions:

DMC-40x0 where x=1,2,3,4,5,6,7,8 axes

■ (1) 10/100BASE-T Ethernet port 

(2) RS232 ports up to 115 kbaud 

■ User-configurable for stepper or servo motors on any 

combination of axes. Optional sinusoidal commutation 

for brushless servo motors.

■ Accepts up to 22 MHz encoder frequencies for servos.

Outputs pulses up to6 MHz for steppers

■ PID compensation with velocity and acceleration feedforward, integration limits, notch filter and low-pass filter 

■ 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

■ Over 200 English-like commands including conditional

statements and event triggers

■ Non-volatile memory for programs,variables and arrays.

Multitasking for concurrent execution of up toeight 

programs

■ Optically isolated home input and forward and reverse 

limits for every axis.

■ Uncommitted, isolated inputs and isolated outputs

1- through 4-axis models: 8 inputs and 8 outputs

5- through 8-axis models: 16 inputs and 16 outputs

■ Isolated, high-power outputs for driving brakes or relays

■ High speed position latch for each axis and output compare

■ 8uncommitted analog inputs

■ 32 additional 3.3 V I/O (5 V option)

■ 2line x 8 character LCD

■ Dual encoder inputs for each axis

■ Accepts single 20–80 VDC input

■ Available with internal stepper and servo drives.

Or, connect to external drives of any power range

■ Communication drivers for all current versions of 

Windows XP, .NET, and Linux 

■ Custom hardware and firmware options available

Specifications

System Processor

■ RISC-based, clock multiplying processor with DSP functions

Communications Interface

■ (1) 10/100BASE-T Ethernet port

■ (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:

■ 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

Memory

■ Program memory size—2000 lines × 80 characters

■ 510 variables

■ 16,000 total arrayelements in up to30 arrays

Filter

■ PID (proportional-integral-derivative) with velocity and acceleration

feedforward

■ Notch filter and low-pass filter

■ Dual-loop 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/sec2

High Speed Position Latch

■ Uncommitted inputs 1-4 latch A,B,C,D and 9-12 latch E, F, G, H axes

(latches within 40 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 high-speed position latch input—optoisolated 

■ Selectable abort input for each axis—optoisolated 

Dedicated Outputs (per 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 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 

1 Amp/Volt.The switching frequency is 60 kHz.The drive for each axis is softwareconfigurable to operate in either a chopper or inverter mode.The chopper mode is intended for operating low inductance motors.The amplifier

offers protection for over-voltage, under-voltage, over-current, short-circuit

and over-temperature. The amplifier status can be read through the 

controller, and the BS command allows easy hall sensor set-up. Two 

AMP-43040s are required for 5-thru 8-axis controllers. A shunt regulator

option is available.A two-axis version, the AMP-43020 is also available.

AMP-43140 4-axis 20W Servo Drives (-D3140)

The AMP-43140 contains four linear drives for operating small brush-type

servo motors.The AMP-43140 requires a +/- 12-30 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 at1 A maximum current.The typical current loop bandwidth is 4 kHz.

SDM-44040 4-axis Stepper Drives (-D4040)

The SDM-44040 contains four drives for operating two-phase bipolar step

motors.The SDM-44040 requires a single 12-30 VDC input.The unit is 

user-configurable for 1.4 A, 1.0 A, 0.75 A, or 0.5 A per phase and for full-step,

half-step,1/4 stepor 1/16 step.

Ordering Information— continued

Ordering Information continued on the next page.

Options (opt)

The (opt)specifier is only necessary for special configurations of the DMC, CMB, ICM, SDM and

AMP boards. 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 number. Use commas for

multiple option specifications within a parenthesis.

DMC Controller

OPT CODE DESCRIPTION

DIN DIN Rail mounting option

12 V 12 VDC controller power

16BIT 16-Bit ADC for analog inputs. 12-bits is standard

D400sxxx Firmware special part number

CMB Communication board

OPT CODE DESCRIPTION

5 V 5 V for the extended I/O. 3.3 V is standard 

ICM Interconnect board

OPT CODE DESCRIPTION

SSI SSI Encoders. Quadrature encoders are standard

DIFF Differential analog motor command outputs. Single-ended is standard

LAEN Low Amp Enable. High Amp Enable is standard

24 V 24 V Amp enable-sourcing. 5 V–12 V sinking is standard

STEP Differential Step/Direction outputs. Single-ended is standard

I100 Specify sinusoidal encoder. Digital is standard

SDM and AMP Drives

OPT CODE DESCRIPTION

100mA 100 mA output capacity for AMP-43140. Default is 1 Amp

ISAMP Isolation of power between each AMP amplifier

ISCNTL Isolation of controller power from amplifier power 

Example: Specify a DMC-4040 four axis controller with an AMP-43040 four axis amplifier configured for

isolation of controller power from amplifier power, 5 V extended I/O, Low amp enable, and 24 V amp enable:

DMC-4040(ISCNTL)-C012(5V)-I000(LAEN,24V)-D3040