galilmcEthernet/RS232 Accelera Series, 1–8 axes

LM Linear interpolation mode

ST Stop motion

TN Tangent

VA Vector acceleration

VD Vector deceleration

VE Vector sequence end

VM Coordinated motion mode

VP Vector position

VR Vector speed ratio

VS Vector speed

VV Vector Velocity

Ethernet/RS232 Accelera Series, 1–8 axes

RS-232 Main Port

9-pin; Male connector and cable

1 NC

2 Transmit data-output

3 Receive data-input

4 NC

5 Ground

6 NC

7 Clear to Send-input

8 Request to Send-output

9 NC

RS232 Auxiliary Port

9-pin; Female connector and cable

1 NC

2 Receive data-input

3 Transmit data-output

4 NC

5 Ground

6 NC

7 Request toSend-output

8 Clear to Send-input

9 5 V

Ethernet 10/100Base-T

RJ-45 connector

Connectors—I/O

J1 Amplifier I/O Axes A thru D

44-pin Hi-density Male D-sub

1 Reserved

2 PWM C/Step C

3 Reserved

4 Reserved

5 Sign C/Dir C

6 Reserved

7 Amp enable A

8 Amp enable D

9 NC

10 -12V out

11 Motor command B

12 Reserved

13 NC

14 NC

15 +5V out

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 Common-1

23 Amp Enable C

24 NC

25 +12V out

26 Reserved

27 Motor command C

28 Reserved

29 NC

30 NC

31 PWM B/Step B

32 Reserved

33 Ground

34 Sign B/Dir B

35 Reserved

36 Ground

37 Amp enable B

38 Amp Enable Common-2

39 Ground

40 Motor command A

41 Reserved

42 Motor command D

43 Ground

44 NC

J1 Amplifier I/O Axes E thru H

44-pin Hi-density Male D-sub

1 Reserved

2 PWM G/Step G

3 Reserved

4 Reserved

5 Sign G/Dir G

6 Reserved

7 Amp enable E

8 Amp enable H

9 NC

10 -12V out

11 Motor command F

12 Reserved

13 NC

14 NC

15 +5V 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 Common-1

23 Amp Enable G

24 NC

25 +12V out

26 Reserved

27 Motor command G

28 Reserved

29 NC

30 NC

31 PWM F/Step F

32 Reserved

33 Ground

34 Sign F/Dir F

35 Reserved

36 Ground

37 Amp enable F

38 Amp Enable Common-2

39 Ground

40 Motor command E

41 Reserved

42 Motor command H

43 Ground

44 NC

J2 Power*

6-pin

1 Ground

2 +VM (20 V–80 V)

3 Ground

4 +VM (20 V–80 V)

5 Ground

6 +VM (20 V–80 V)

JA1, JB1, JC1, JD1 

Motor Output 

4-pin

1 Motor Phase C

2 NC

3 Motor Phase B

4 Motor Phase A

Connectors—

Amplifier Board

AMP-43040

* Note: Power can be input through either of the amplifier connectors to power the entire unit due to power pass-thru connectors that connect input power to

all modules. For 5- through 8-axis 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 AMP-43140 with a power supply lower than +/-20 Volts, a separate supply of 20 –80 VDC must be input to the 2-pin 

connector on the side of the DMC-40X0 or, specify the 12 V option for the DMC controller.

Extended I/O

44-pin Hi-density Male D-sub

1 I/O18

2 I/O21

3 I/O24

4 I/O26

5 I/O29

6 I/O32

7 I/O33

8 I/O36

9 I/O38

10 NC

11 I/O41

12 I/O44

13 I/O47

14 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

24 I/O37

25 NC

26 I/O40

27 I/O43

28 I/O46

29 I/O48

30 3.3 V

31 I/O19

32 I/O22

33 Ground

34 I/O27

35 I/O30

36 Ground

37 I/O34

38 NC

39 Ground

40 I/O39

41 I/O42

42 I/O45

43 Ground

Connectors—I/O

J2 General I/O Axes A thru D

44-pin Hi-density Female D-sub

1 Error output*

2 Input 1-isolated

3 Input 4-isolated

4 Input 7-isolated

5 Electronic Lockout-isolated input*

6 Limit switch common

7 Home A-isolated

8 Home B-isolated

9 Home C-isolated

10 Home D-isolated

11 Output power+

12 Output 3-isolated

13 Output 6-isolated

14 Output return15 +5V out

16 Reset-isolated*

17 Input Common

18 Input 3-isolated

19 Input 6-isolated

20 Abort-isolated*

21 NC

22 Reverse limit A-isolated†

23 Reverse limit B-isolated†

24 Reverse limit C-isolated†

25 Reverse limit D-isolated†

26 NC

27 Output 2-isolated

28 Output 5-isolated

29 Output 8-isolated

30 +5V out

31 Ground

32 Input 2-isolated

33 Input 5-isolated

34 Input 8-isolated

35 Ground

36 Forward limit A-isolated†

37 Forward limit B-isolated†

38 Forward limit C-isolated†

39 Forward limit D-isolated†

40 Ground

41 Output 1-isolated

42 Output 4-isolated

43 Output 7-isolated

44 Output Compare A–D

J2 General I/O Axes E thru H

44-pin Hi-density Female D-sub

1 Error output*

2 Input 9-isolated

3 Input 12-isolated

4 Input 15-isolated

5 Electronic Lockout-isolated input*

6 Limit switch common

7 Home E-isolated

8 Home F-isolated

9 Home G-isolated

10 Home H-isolated

11 Output power+

12 Output 11-isolated

13 Output 14-isolated

14 Output return15 +5V out

16 Reset-isolated*

17 Input Common

18 Input 11-isolated

19 Input 14-isolated

20 Abort-isolated*

21 NC

22 Reverse limit E-isolated†

23 Reverse limit F-isolated†

24 Reverse limit G-isolated†

25 Reverse limit H-isolated†

26 NC

27 Output 10-isolated

28 Output 13-isolated

29 Output 16-isolated

30 +5V out

31 Ground

32 Input 10-isolated

33 Input 13-isolated

34 Input 16-isolated

35 Ground

36 Forward limit E-isolated†

37 Forward limit F-isolated†

38 Forward limit G-isolated†

39 Forward limit H-isolated†

40 Ground

41 Output 9-isolated

42 Output 12-isolated

43 Output 15-isolated

44 Output Compare E–D

JA1, JB1, JC1, JD1 

Encoder Axes A thru D

JE1, JF1, JG1, JH1 

Encoder Axes E thru H

15-pin Hi-density Female D-sub

1 Index+ 

2 B+ 

3 A+

4 Aux B+

5 Ground

6 Index7 B8 A9 Aux A10 Hall A

11 Aux A+

12 Aux B13 Hall B

14 Hall C

15 +5V out

J3 Analog Inputs

15-pin Low-density Male D-sub