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 information

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

Ethernet/RS232 Accelera Series, 1–8 axes

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

Uncommitted I/O

ISOLATED ISOLATED ANALOG 3.3 V

INPUTS OUTPUTS INPUTS I/O

DMC-4010 thru -4040 8 8 8 32

DMC-4050 thru -4080 16 16 8 32

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