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

■ 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

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

1 Analog Ground 

2 Analog input 1 

3 Analog input 3

4 Analog input 5

5 Analog input 7

6 Analog Ground

7 -12V out

8 +5V in

9 Analog Ground

10 Analog input 2

11 Analog input 4

12 Analog input 6

13 Analog input 8

14 NC

15 +12 V

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DMC-40x0 Series

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Ethernet/RS232 Accelera Series, 1–8 axes

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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.

Ethernet/RS232 Accelera Series, 1–8 axes

Ordering Information

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1- through 4-axis Models:

5- through 8-axis Models:

DMC-40x 0-Cxxx -Ixxx -Dxxxx -SR90

Example: DMC-4080-C012-I000-I000-D3040-D3040

Number of Axes

1: 1-axis

2: 2-axes

3: 3-axes

4: 4-axes

Number of Axes

5: 5-axes

6: 6-axes

7:7-axes

8: 8-axes

Drive: Axes 1– 4

(optional)

3020: two 500 Watt servo drives

3040: four 500 Watt servo drives

3140: four 20 Watt servo drives

4040: four 1.4 A stepper drives — Full, Half, 1/4, 1/16

4140: four microstep drives

Interconnect

000: Digital encoder

100: Sinusoidal encoder

Shunt Regulator 

(optional)

Communication

012: one Ethernet port 

and two RS232 ports

Example: DMC-4030-C012-I000-D3040

Shunt Regulator 

(optional)

DMC-40x 0-Cxxx -Ixxx -Ixxx -Dxxxx -Dxxxx -SR90

Drive— Axes 5 –8 

(optional)

3020:two 500 Watt servo drives

3040: four 500 Watt servo drives

3140: four 20 Watt servo drives

4040: four 1.4 A stepper drives—Full, Half, 1/4, 1/16

4140: four microstep drives

Drive — Axes 1–4 

(optional)

3020: two 500 Watt servo drives

3040: four 500 Watt servo drives

3140: four 20 Watt servo drives

4040: four 1.4 A stepper drives — Full, Half, 1/4, 1/16

4140: four microstep drives

Interconnect 

(2nd four axes)

000: Digital encoder

100: Sinusoidal encoder

Interconnect

(1st four axes)

000: Digital encoder

100:Sinusoidal encoder

Communication

012: one Ethernet port 

and two RS232 ports

Ordering Information continued on the next pag

Ethernet/RS232 Accelera Series, 1–8 axes

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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