galilmcEthernet/RS232 Accelera Series, 1–8 axes

■ 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"

Ethernet/RS232 Accelera Series, 1–8 axes

Instruction Set

Servo Motor

AF Analog feedback

AG* Set AMP-43040 gain

AU* Set current loop gain

AW* Report AMP-43040 bandwidth

DV Dual loop operation

FA Acceleration feedforward

FV Velocity feedforward

IL Integrator limit

IT Independent time constant

KD Derivative constant

KI Integrator constant

KP Proportional constant

NB Notch bandwidth

NF Notch frequency

NZ Notch zero

OF Offset

PL Pole

SH Servo here

TL Torque limit

TM Sample time

Stepper Motor

DE Define encoder position

DP Define referenceposition

KS Stepper motor smoothing

MT Motor type

QS Error magnitude

RP Report commanded position

TD Step counts output

TP Tell position of encoder

YA Step drive resolution

YB Step motor resolution

YC Encoder resolution

YR Error correction

YS Stepper position maintenance

Brushless Motor

BA Brushless axis

BB Brushless phase

BC Brushless calibration

BD Brushless degrees

BI Brushless inputs

BM Brushless modulo

BO Brushless offset

BS Brushless setup

BZ Brushless zero

I/O

AL Arm latch

CB Clear bit

CO Configure I/O points

II Input interrupt

OB Define output bit

OC Output compare function

OP Output port

SB Set bit

@IN[x] State of digital input x

@OUT[x] Stateof digital output x

@AN[x] Value of analog input x

System Configuration

BN Burn parameters

BP Burn program

BR* Brush motor enable

BS* Brushless set-up

BV Burn variables and arrays

CE Configure encoder type

CN Configure switches

CO Configure I/O points

CW Data adjustment bit

DE Define dual encoder position

DP Define position

DR Data record update rate

EO Echo off

HS Handle switch

IA Set IP address

IH Internet handle

IT Independent smoothing

ˆLˆK Program protect

LZ Leading zeros format

MB ModBus

MO Motor off

MT Motor type

PF Position format

PW Password

QD Download array

QU Upload array

RS Reset

ˆRˆS Master reset

SM Subnet mask

VF Variable format

Math Functions

@SIN[x] Sine of x

@COS[x] Cosine of x

@COM[x] 1’s complementof x

@ASIN[x] Arc sine of x

@ACOS[x] Arc cosine of x

@ATAN[x] Arc tangent of x

@ABS[x] Absolutevalue of x

@FRAC[x] Fraction portion of x

@INT[x] Integer portion of x

@RND[x] Round of x

@SQR[x] Square root of x

% Modulus operator

Interrogation

ID AMP ID

LA List arrays

LL List labels

LS List program

LV List variables

MG Message command

QH* Query hall state

QR Data record

QZ Return data record information

RP Report command position

RL Report latch

ˆRˆV Firmware revision information

SC Stop code

TA* Tell AMP-43040 status

Interrogation (cont.)

TB Tell status

TC Tell error code

TD Tell dual encoder

TE Tell error

TI Tell input

TP Tell position

TR Trace program

TS Tell switches

TT Tell torque

TV Tell velocity

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 No-operation—for comments

RA Record array

RC Record interval

RD Record data

REM Remark program

UL Upload program

ZA Data record variables

ZS Zerostack

‘ Comment

Error Control

BL Backward software limit

ER Error limit

FL Forward software limit

LD Limit disable

OA Encoder failure

OE Off-on-error function

OT Encoder failure period

OV Encoder failure voltage

SD Limit deceleration

TL Torque limit

TW Timeout for in-position

Trippoint

AD After distance

AI After input

AM After motion profiler

AP After absolute position

AR After relative distance

AS At speed

AT After time

AV After vector distance

MC Motion complete

MF After motion—forward

MR After motion—reverse

WT Wait for time

Independent Motion

AB Abort motion

AC Acceleration

BG Begin motion

DC Deceleration

FE Find edge

FI Find index

HM Home

HV Home speed

IP Increment position

IT Smoothing time constant

JG Jog mode

PA Position absolute

PR Position relative

PT Position tracking

SD Switch deceleration

SP Speed

ST Stop

Contour Mode

CD Contour data

CM Contour mode

DT Contour time interval

ECAM/Gearing

EA ECAM master

EB Enable ECAM

EC ECAM table index

EG ECAM go

EM ECAM cycle

EP ECAM interval

EQ Disengage ECAM

ET ECAM table entry 

EW ECAM widen 

EY ECAM cycle counter

GA Master axis for gearing

GD Engagement distance for gearing

GM Gantry mode

GP Correction for gearing

GR Gear ratio for gearing

Vector/Linear Interpolation

CA Define vector plane

CR Circular interpolation move

CS Clear motion sequence

ES Ellipse scaling

IT Smoothing time constant

LE Linear interpolation end

LI Linear interpolation segment