MOTION CONTROLLERS LEGACY SERIES DMC-1500, 1300, 1000 FEATURES MOTION PROGRAMMING FORMATS Modes of motion include jogging,On-board memory for storing applica-1- through 8-axis formats point-to-point positioning, contouring, tion programs, variables and arrays ISA, VME cards or stand-alone box linear and circular interpolation, elec- Non-volatile memory for parameter with RS232/RS422 tronic gearing and ecam storage Controls step motors and servo Dual-loop control and backlash com- Programmable event triggers includ- motors on any combination of axes pensation ing At Time, At Position, At Input, Servo loop update rates as low as At Speed 125 microsecond/axis Automatic program execution upon DMC-1500 Encoder frequencies up to 8 MHz; power-up for stand-alone version Stand-alone Step motors up to 2 MHz Motion ControllerIntuitive, English-like command Software PID control with velocity language with over 200 commands and acceleration feedforward, offsets directly executable by controller and integration limits Multitasking for simultaneous exe- Motion Smoothing to eliminate jerk cution of up to four applications programs Linear and Circular interpolation includes ellipse scaling, slow-downExtensive DLLs and documentation around corners, infinite segment for C/C++ programmers feed, feedrate override Software tools for automatic servo tuning and analysis; ActiveX controls for Visual Basic INPUTS/OUTPUTS Drivers for Linux, QNX, DOS, and all Provides main and auxiliary encoder DMC-1300 Windows operating systems inputs for each servo axis Motion Controller 8 uncommitted, optoisolated inputs and 8 TTL outputs for 1- through 4-axis versions 24 uncommitted inputs and 16 TTL outputs for 5- through 8-axis versions 64 TTL inputs, 32 TTL outputs with DB-10096 attachment board 72 I/O with DMC-1500-72 and DMC-1000-72 7 uncommitted analog inputs with 12-bit ADC standard; upgrade for 16-bit Optoisolated Forward and Reverse limits and home input for each axis High-speed position capture for DMC-1040 each axis Motion Controller www.galilmc.com Galil Motion Control, Inc. 77 • • MOTION CONTROLLERS LEGACY SERIES DMC-1500, 1300, 1000 Like all Galil controllers, the Legacy Series are a great DESCRIPTION value—especially since they are as easy-to-use and cost- effective as ever before. For example, the English-like, two- Galil continues to support their Legacy Series of general- letter commands are easy to learn and maintain the same purpose controllers—which is a prior generation of con- format as prior generations. System setup and program- trollers with a widely installed base. However, Galil does ming is easier than ever with such enhanced software tools recommend their newest generation of controllers, the as WSDK for tuning and analysis, ActiveX Tool Kit for Optima Series, for most new applications. interface to Visual Basic, and a C-Programmers Tool Kit. The Legacy Series of controllers is available in ISA, Also, software is compatible with Linux, DOS, QNX, and VME and stand-alone formats in 1- through 8-axis configu- all current Windows operating systems. Finally, you get rations. Standard features such as uncommitted I/O, pro- Galil’s 100+ Guarantee which assures that you pay the low- gram memory with multitasking, dual encoder inputs per est price in the market in quantities of 100 or more. axis, and control of both stepper and servo motors from a single controller are supported. Modes of motion include point-to-point positioning, contouring, linear and circular interpolation, electronic gearing and ecam. FUNCTIONAL ELEMENTS WATCHDOG TIMER ISOLATED LIMITS AND HOME INPUTS MAIN ENCODERS HIGH-SPEED MOTOR / ENCODER COMMUNICATION 32-BIT INTERFACE AUXILIARY ENCODERS INTERFACE MICROCOMPUTER FOR 1- THROUGH 8-AXES ± 10 VOLT OUTPUT FOR SERVO MOTORS PULSE/DIRECTION OUTPUT FOR STEP MOTORS I/O INTERFACE 7 UNCOMMITTED PROGRAMMABLE PROGRAMMABLE ANALOG INPUTS OPTOISOLATED OUTPUTS INPUTS HOST HIGH-SPEED LATCH FOR EACH AXIS 78 Galil Motion Control, Inc. www.galilmc.com • • MOTION CONTROLLERS LEGACY SERIES DMC-1500, 1300, 1000 COMMAND LANGUAGE APPLICATIONS PROGRAMMING Galil’s command language is comprised of intuitive, two- One of the more powerful features of all Galil controllers letter, English-like ASCII commands designed to make is their ability to store and execute complex application programming as quick and easy as possible. For example, programs as designed by the user. Such applications pro- the “BG” command begins motion while the “SP 2000, grams can be downloaded directly to the controller and 4000” command sets the speed of the X-axis as “2000” and executed without host intervention. The big benefit, of the Y-axis as “4000.” Commands are included for system course, is that this frees the PC for other system-level tasks. set-up, tuning, prescribing motion, error handling and In fact, Galil controllers permit multitasking, which allows applications programming. A complete set of commands is up to four programs to execute simultaneously. Also, spe- described in the following table. Custom commands can cial commands are available for application programming be created upon request. including event triggers, conditional jumps, subroutines, symbolic variables and arrays. PID COMPENSATION Example—Change Speed on Input For best results, Galil controllers provide a compensation Move the x-axis forward a distance of 20000 counts at an function which includes a PID (Proportional-Integral- initial speed of 50000 counts/sec and with an acceleration Derivative) filter. The compensation also includes velocity 2 and deceleration of 1000000 counts/sec . As soon as the and acceleration feedforward. All filter parameters are motor activates the sensor connected to input 1, reduce the adjustable, allowing servo system tuning for best perfor- speed to 25000 counts/sec. mance. Dual loop control is provided for reducing the PROGRAM INTERPRETATION effect of backlash. #A Label PR 20000 Distance PID Block Diagram SP 50000 Initial speed AC 1000000 Acceleration rate S FA DC 1000000 Deceleration rate BGX Start the motion AI 1 Wait for the sensor input FV Σ SP 25000 Reduce the speed EN End program OF K S p VELOCITY + R OUT K s • d Σ Σ Σ Σ – TL K i s TIME IL INPUT 1 www.galilmc.com Galil Motion Control, Inc. 79 • • MOTION CONTROLLERS LEGACY SERIES DMC-1500, 1300, 1000 2D Linear and Circular Interpolation MODES OF MOTION The Vector Mode (VM) is an extremely powerful mode where any two-dimensional path consisting of straight-line (VP) and Point-to-Point Motion arc segments (CR) can be prescribed. Up to 255 segments can Any combination of axes may be operated in the Point-to- be given prior to motion and additional segments can be sent Point Motion mode to allow the target position (PA or PR), during motion allowing very long motion paths to be fol- slew speed (SP), acceleration (AC) and deceleration (DC) lowed without stopping. The vector speed (VS), vector accel- to be specified independently for each axis. Upon begin eration (VA) , vector deceleration (VD), and motion smooth- (BG), the controller generates a trapezoidal velocity profile ing (VT) are also prescribed. The vector speed can be changed where the speed and acceleration can be changed anytime at anytime during motion permitting feedrate override, slow during motion. For applications that require smooth down around corners and assignment of different speeds to motion without abrupt velocity transitions, a motion specific segments. A pause during motion can easily be smoothing function (IT) is provided. The position (TP) accomplished by setting the vector speed to zero and increas- and position error (TE) may be interrogated at anytime. ing the vector speed back to 100% to resume. Another feature of the vector mode is tangential follow- Jogging ing which allows a third axis to remain tangent to the trajec- In the jog mode, each axis is given a jog speed and direction tory, which is ideal for cutting tools. Helical motion is also (JG), acceleration (AC), and deceleration (DC). Upon begin possible by commanding the third axis to follow the coordi- (BG), the controller ramps up to the jog speed at the pre- nated path at the same rate. scribed acceleration following a trapezoidal profile. A Example—Coordinated Motion smoothing function (IT) is provided to smooth abrupt velocity transitions. The stop command (ST) stops the motion at the prescribed deceleration rate. The jog speed Perform a move along the trajectory shown in the figure starting at the point A and moving counter clockwise and direction, acceleration and deceleration may be changed toward B. Set the vector velocity to a uniform rate of at anytime during motion. The average speed can be interro- 5000 counts/sec, and set the accel/decel rate along the gated at any time using the Tell Velocity (TV) command. 2 vector to 500000 counts/sec . Example—Jogging COMMAND INTERPRETATION #PATH Label COMMAND INTERPRETATION VMXY Define plane as XY JG 20000,40000 Specify jog speed and direction for X and Y VA 500000 Acceleration AC 1000000,1000000 Specify acceleration for X and Y VD 500000 Deceleration DC 1000000,1000000 Specify deceleration for X and Y VS 5000 Vector speed BG XY Begin motion for X and Y VP 4000,0 Move AB WT 5000 Wait 5 seconds CR 500,-90,180 Move BC JG 30000 Increase X speed VP -1000,1000 Move CD WT10000 Wait 10 seconds CR 500,90,180 Move DE ST Stop motion on both axes VP 0,0 Move EA VE Indicate end of path BGS Start motion sequence EN End program D (-1000,1000) C (4000,2000) E (-1000,0) A (0,0) B (4000,0) 80 Galil Motion Control, Inc. www.galilmc.com • • MOTION CONTROLLERS LEGACY SERIES DMC-1500, 1300, 1000 Linear Interpolation Electronic CAM The linear interpolation mode (LM) allows any arbitrary Any slave axis or set of slave axes can be linked to a master path on up to 8 axes to be defined as a set of linear seg- axis to simulate the motion of a mechanical CAM. The ments (LI). The vector speed (VS), vector acceleration master axis may be a motor-driven axis or just a master (VA), vector deceleration (VD), and vector smoothing encoder. The CAM functions are specified by a table that (VT) are also defined. Up to 255 LI segments can be allows complex profiles with varying gear ratios to be pre- given prior to the start of motion and additional seg- scribed. Any follower axis may be engaged or disengaged ments can be sent during motion allowing paths of independently at specific points along a CAM cycle. This unlimited length to be followed. allows selecting the engagement and disengagement points as those where the speed change of the follower is minimal. Electronic Gearing The electronic CAM is an ideal mode for periodic The electronic gearing mode makes it easy for Galil con- operation, especially those requiring varying gear ratio trollers to simulate the motion of mechanical gears elec- along the motion cycle. Such applications include flying tronically. Any slave axis or set of slave axes can be geared shears, rotating knives, and packaging systems. to a master at a prescribed gear ratio defined by the GR command. The gear ratio can be changed on-the-fly. Contouring A powerful feature of electronic gearing is that an axis The contouring mode (CM) is extremely flexible and can be geared and do an independent or vector move allows any arbitrary profile on any set of axes to be pre- simultaneously. This is useful for the position correction scribed. Here, the user bypasses the controller profiler and required in packaging applications or when shapes must be inputs the position versus time trajectory directly. The tra- cut on a moving conveyer built. jectory is described as the position increment (CD) over a defined time period (DT). The controller performs linear Example—Electonic Gearing interpolation between prescribed points. The contour mode is useful for following complex, computer-generated PROGRAM INTERPRETATION paths or for “teaching” position paths. An automatic data- GA Y,, Y Specify Y axis as master of X and Z recording feature allows the controller to “learn” a path GR 2,,-4 Specify gear ratios for X and Z and then follow it in the contour mode. PR, 50000 Specify end position of master ACY=1000000 Specify acceleration of master DCY=1000000 Specify deceleration of master SPY=10000 Specify slew speed of master BG Y Begin motion VELOCITY 20,000 X TIME Z -40,000 www.galilmc.com Galil Motion Control, Inc. 81 • • MOTION CONTROLLERS LEGACY SERIES DMC-1500, 1300, 1000 User I/O OTHER FEATURES In addition to dedicated inputs and outputs for home and limits, Galil controllers provide user I/O for synchro- Error Handling nizing motion with external events such as switches and Dedicated I/O are provided for safety controls: forward and relays. I/O includes digital inputs, digital outputs, and reverse limit inputs for each axis, home inputs for each axis, analog inputs. Some controllers include I/O expansion. amplifier enable outputs for each axis, abort input and error For example, the DMC-1540-72 four-axis controller pro- output. In addition, the controller provides safety functions vides eight digital outputs, eight optoisolated inputs, in software: upper and lower software travel limits, error lim- seven analog inputs, 48 additional digital inputs, and 24 its, and automatic shut-off on excess error. Program inter- configurable I/O. Consult the specification table for rupts are provided for error and limit conditions. The pro- detailed I/O on various controller types. Galil controllers gram interrupts cause the program sequencer to automati- include many commands for handling I/O such as input cally branch to an error handling subroutine. The error interrupts, I/O triggers and timers. The combination of handling subroutine can be customized by the user to user I/O and application programming often eliminates provide flexibility and system protection. the requirement for a PLC. Dual-loop High-Speed Position Capture The dual-loop (DV) feature enables the controller to Galil controllers provide a high-speed position capture compensate for mechanical backlash. Typically, dual-loop input for each axis. This feature latches the exact position systems use a rotary encoder on the motor and a linear within .1 microsecond of the occurrence of an input. encoder on the load (Galil controllers accept inputs from Either the main or auxiliary encoder may be specified for two encoders per axis as a standard feature). Dual-loop capture. Position capture is crucial for applications requir- control changes the standard PID control and closes the ing precise synchronization of position to external events position loop with the load encoder (“PI”) and derives the such as coordinate measurement machines. damping terms (“D”) from the motor encoder. This method provides smooth and accurate control along the High-Speed Position Compare— Option motion path regardless of backlash. The high-speed position compare feature produces an out- Dual-loop Block Diagram put pulse at a precise position. The starting position for the initial pulse and incremental distance for subsequent pulses PI AMP/MOTOR R ∑ ∑ are programmable. The accuracy allows for triggering exter- + + - - nal events to exact positions within .1 microseconds. D BACKLASH Customization Contact Galil for any special hardware or software feature LOAD you need. We can create a custom mode of motion exactly MOTOR ENCODER to your specifications, design a circuit board with a special connector or design to fit space constraints. An experienced application engineer will help you develop a specification LOAD SENSOR and provide you with a quotation for custom services. 82 Galil Motion Control, Inc. www.galilmc.com • • MOTION CONTROLLERS LEGACY SERIES DMC-1500, 1300, 1000 SPECIFICATIONS SYSTEM PROCESSOR AND MEMORY UNCOMMITTED DIGITAL I/O DMC-1000 (1–4 axes):1-4 axes: 8 optoisolated inputs, 8 TTL outputs Motorola 32-bit microcomputer5-8 axes: 16 optoisolated inputs, 8 TTL inputs, 16 TTL outputs 64K RAM, 64K EPROM, 256K EEPROM UNCOMMITTED ANALOG INPUTS DMC-1000 (5–8 axes): 7 individual ±10 V analog inputs with 12-bit resolution 256K RAM, 64K EPROM, 512K EEPROM (16-bit available as an option for DMC-1500) DMC-1500, DMC-1300: HIGH SPEED POSITION LATCH Motorola 32-bit microcomputer Uncommitted inputs 1-8 latch X, Y, Z, W, E, F, G, H axes 256K RAM, 64K EPROM, 128K EEPROM (latches within .1 microsecond if optoisolation is bypassed, within COMMUNICATIONS INTERFACE 40 µsec with optoisolation) DMC-1000: ISA with bi-directional, high speed FIFO DEDICATED I/O (PER AXIS) DMC-1300: VME with dual-port RAM and vectored bus interrupts Main encoder inputs—Channel A, A-, B,B-,I, I- (±12 V or TTL) DMC-1500: Stand-alone with (2) RS232/422 up to 38.4K baud Auxiliary encoder (for axes configured as servo)—Channel A, A-, MODES OF MOTION: B, B- Point-to-point positioningHelicalForward and reverse limit inputs—optoisolated JoggingElectronic Gearing Home input—optoisolated 2D Linear and Circular InterpolationElectronic Cam High-speed position latch input with feedrate overrideContouring Analog motor command output with 16-bit resolution Linear Interpolation for up to 8 axesTeach Pulse and direction output for step motors Tangential Following Amplifier enable output MEMORY Error output DMC-1000, DMC-1300 1- through 4-axis: MINIMUM SERVO LOOP UPDATE RATE Program memory size—500 lines × 40 characters 1 axis: 250 microsecond5 axis: 625 microsecond 126 variables 2 axis: 375 microsecond6 axis: 750 microsecond1600 array elements in up to 14 arrays 3 axis: 500 microsecond7 axis: 875 microsecond DMC-1300 (5- through 8-axis); DMC-1000-MX (1- through 4-axis): 4 axis: 500 microsecond8 axis: 1000 microsecondProgram memory size—2000 lines × 40 characters 510 variables MAXIMUM ENCODER FEEDBACK RATE 8000 array elements in up to 3 arrays 8 MHz DMC-1500 (1- through 8-axis); DMC-1000 (5- through 8-axis); MAXIMUM STEPPER RATE Program memory size—1000 lines × 80 characters 2 MHz (Full, half or microstep)254 variables 8000 array elements in up to 30 arrays POWER REQUIREMENTS FILTER 1-4 axis 5-8 axis PID (proportional-integral-derivative) with velocity and +5V 750mA 1.25 A acceleration feedforward-12V 40mA 60mA Dual-loop control for backlash compensation +12V 40mA 60mA Velocity smoothing to minimize jerk ENVIRONMENTAL Integration limits Operating temperature: 0–70º C Torque limits Humidity: 20–95% RH, non-condensing Offset adjustment MECHANICAL KINEMATIC RANGES DMC-1500 13" high × 2.5" wide × 6.6" deep; 6 lbs.Position: 32 bit (±2.15 billion counts per move; automatic rollover; no limit in jog or vector modes) Velocity: Up to 8 million counts/sec for servo motors 2Acceleration: Up to 67 million counts/sec www.galilmc.com Galil Motion Control, Inc. 83 • • MOTION CONTROLLERS LEGACY SERIES DMC-1500, 1300, 1000 INSTRUCTION SET MOTION PROGRAM FLOW (continued) CONTROL FILTER SETTINGS AB Abort motion HX Halt task DV Damping for dual loop AC Acceleration IN Input variable FA Acceleration feedforward BG Begin motion II Input interrupt FV Velocity feedforward CD Contour data JP Jump to program location GN Gain CM Contour mode JS Jump to subroutine IL Integrator limit CR Circle MC After “In Position” KD Derivative constant CS Clear motion sequence MF Forward motion past position KI Integrator constant DC Deceleration MR Reverse motion past position KP Proportional constant DT Contour time interval MG Message OF Offset ES Ellipse scaling NO No operation SH Servo here EA Select master cam axis RE Return from error subroutine TL Torque limit EB Enable cam mode RI Return from interrupt TM Sample time EG Start cam motion TW Timeout for “In Position” ZR Zero EM Modulus for cam WC Wait for contour data EP Master counts per table entry WT Wait STATUS EQ Stop cam motion XQ Execute program RP Report command position ET Cam table entry ZS Zero subroutine stack RL Report latch FE Find edge SC Stop code CONFIGURATION FI Find index TB Tell status AF Analog feedback GA Master axis for gearing TC Tell error code AL Arm latch GR Gear ratio TD Tell dual encoder BN Burn parameters HM Home TE Tell error BP Burn program IP Increment position TI Tell input BV Burn variables IT Smoothing time constant–independent TP Tell position CB Clear bit JG Jog mode TR Trace CC Configure communication port 2 KS Stepper smoothing TS Tell switches CE Configure encoder type LE Linear interpolation end TT Tell torque CI Communication interrupt LI Linear interpolation distance TV Tell velocity CN Configure switches and stepper LM Linear interpolation mode CO Configure outputs PA Position absolute ERROR AND LIMITS DA Deallocate arrays PR Position relative BL Reverse software limit DE Define dual encoder position SP Speed ER Error limit DL Download ST Stop FL Forward software limit DM Dimension arrays TN Tangent OE Off on error DP Define position VA Vector acceleration ED Edit mode VD Vector deceleration ARITHMETIC FUNCTIONS EO Echo off VE Vector sequence end @SIN Sine LS List VM Coordinated motion mode @COS Cosine LZ Leading zeros VP Vector position @ABS Absolute value MO Motor off VR Vector speed ratio @FRAC Fraction portion MT Motor type VS Vector speed @INT Integer portion OB Define output bit VT Smoothing time constant—vector @RND Round OP Output port @SQR Square root PROGRAM FLOW PF Position format @IN Return digital input AD After distance QD Download array @AN Return analog input AI After input QU Upload array +Add AM After motion complete RA Record array - Subtract AP After absolute position RC Record * Multiply RD Record data AR After relative distance / Divide AS At speed RS Reset & And AT After time SB Set bit |Or AV After vector distance UL Upload ( ) Parentheses EN End program VF Variable format 84 Galil Motion Control, Inc. www.galilmc.com • • MOTION CONTROLLERS LEGACY SERIES DMC-1500, 1300, 1000 CONNECTORS DMC-1000, DMC-1300, DMC-1500 DMC-1000, DMC-1300, DMC-1500 Main (Axis 1-4 ) 60-pin IDC, Main (Axis 5-8 ) 60-pin IDC—included General I/O (1-4 Axis) 26-pin IDC, (5-8Axis) 26 pin IDC—included 1 Ground 2 5 V 1 Analog 1, Input 17 2 Analog 2, Input 18 3 Error, nc 4 Reset, nc 3 Analog 3, Input 19 4 Analog 4, Input 20 5 Switch common 6 Forward limit—X, E 5 Analog 5, Input 21 6 Analog 6, Input 22 7 Reverse limit - X, E 8 Home—X, E 7 Analog 7, Input 23 8 Ground 9 Forward limit - Y, F 10 Reverse limit - Y, F 9 5 V 10 Output 1, Output 9 11 Home - Y, F 12 Forward limit - Y, F 11 Output 2, Output 10 12 Output 3, Output 11 13 Reverse limit - Z, G 14 Home - Z, G 13 Output 4, Output 12 14 Output 5, Output 13 15 Forward limit - W, H 16 Reverse limit - W, H 15 Output 6, Output 14 16 Output 7, Output 15 17 Home - W, H 18 Output 1, Output 9 17 Output 8, Output 16 18 Input 8, Input 16 19 Input common 20 Latch X , E or input 1 19 Input 7, Input 15 20 Input 6, Input 14 21 Latch Y , F or input 2 22 Latch Z , G or input 3 21 Input 5, Input 13 22 Input 4, Input 12 23 Latch W, G or input 4 24 Abort input, Input 24 23 Input 3, Input 11 24 Input 2, Input 10 25 Motor command X, E 26 Amp enable X, ,E 25 Input 1, Input 9 26 Input common 27 Motor command Y, F 28 Amp enable Y, F 29 Motor command Z, G 30 Amp enable Z, G 31 Motor command W, H 32 Amp enable W, H DMC-1000, DMC-1300, DMC-500 33 A+ X, E 34 A- X, E Auxiliary Encoder (Axis 1-4) 20-pin IDC*, 35 B+ X, E 36 B- X, E Auxiliary Encoder (Axis 5-8) 20-pin IDC* 37 I+ X, E 38 I- X, E 1 Sample clock, NC 2 Reserved 39 A+ Y, F 40 A- Y, F 3 B- Aux W, H 4 B+ Aux W, H 41 B+ Y, F 42 B- Y, F 5 A- Aux W, H 6 A+ Aux W, H 43 I+ Y, F 44 I- Y, F 7 B- Aux Z, G 8 B+ Aux Z, G 45 A+ Z, G 46 A- Z, G 9 A- Aux Z, G 10 A+ Aux Z, G 47 B+ Z, G 48 B- Z, G 11 B- Aux Y, F 12 B+ Aux Y, F 49 I+ Z, G 50 I- Z, G 13 A- Aux Y, F 14 A+ Aux Y, F 51 A+ W, H 52 A- W, H 15 B- Aux X, E 16 B+ Aux X, E 53 B+ W, H 54 B- W, H 17 A- Aux X, E 18 A+ Aux X, E 55 I+ W, H 56 I- W, H 19 5 V 20 Ground 57 +12V 58 -12V 59 5 V 60 Ground DMC-1000, DMC-1300, DMC-1500 Stepper (1-4 Axis) 20-pin IDC, (5-8Axis) 20-pin IDC* RS-232-Main Port DMC-1500 1 Motor command X, E 2 Amp enable X, E 9-pin; Standard connector and cable 3 Step X,E 4 Dir X, E 1 CTS—output 6 CTS—output 5 6 Motor command Y, F 2 Transmit data—output 7 RTS—input 7 Amp enable Y, F 8 Step Y, F 3 Receive data—input 8 CTS—output 9 Dir Y,F 10 4 RTS—input 9 NC 11 Motor command Z, G 12 Amp enable Z, G 5 Ground 13 Step Z, G 14 Dir Z, G 15 +5V 16 Motor command W, H RS-232-Auxiliary Port DMC-1500 17 Amp enable W, H 18 Step W, H 9-pin; Standard connector and cable 19 Dir W, H 20 Ground 1 CTS—input 6 CTS—input 21 Bit 30 22 Ground 2 Transmit data—input 7 RTS—output 23 Bit 29 24 Ground 3 Receive data–output 8 CTS—input 25 Bit 28 26 Ground 4 RTS-output 9 5 V *If you require 20-pin cable for auxiliary encoders or stepper motors, 5 Ground please specify with order. www.galilmc.com Galil Motion Control, Inc. 85 • • MOTION CONTROLLERS LEGACY SERIES DMC-1500, 1300, 1000 DB-10096-TTL I/O Expansion HARDWARE ACCESSORIES The DB-10096 is an attachment board for the DMC- 1000 that provides additional 64 inputs and 32 TTL-level ICM-1100 Interconnect Module outputs. The DB-10096 can only be used with the 1- The ICM-1100 Interconnect Module breaks-out the 60- through 4-axis versions of the DMC-1000 ISA bus con- pin, 26-pin and (2) 20-pin ribbon cables into screw-type troller. terminals for quick connection of system hardware. An TERM Operator Terminal ICM-1100 is required for each set of four axes. The The TERM is an operator terminal for use with the ICM-1100 is mounted on a metal plate with dimensions DMC-1500 stand-alone controller. It provides a numeric of 5.7" x 13.4" x 2.5" and 1/4" diameter keyholes for keypad , five function keys, and a 4-line by 20-character mounting. The ICM is normally shipped configured for liquid crystal display for easy data entry and display. The high amp enable, +5 V (-HAEN). For low amp enable, TERM is available as a light-weight, handheld unit or in order ICM-1100-LAEN. an industrial, panel-mount configuration. It interfaces AMP-1100 directly to the DMC-1500 RS232 port 2. The AMP-1100 series is an ICM module above with up to 4 PWM amplifiers for brush-type servo motors. Each amplifier provides 7 amps continuous, 10 amps peak at up to 80 Volts. The gain of the amplifier is 1 A/V and requires an external DC supply from 20 to 80 Volts. The minimum motor inductance is 1 mH and the PWM frequency is 30Khz. ICM-1100 Interconnect Module TERM Operator Terminal AMP-1100 DB-10072-OPTO I/O Expansion The DB-10072-OPTO is an attachment board for the DMC-1000 that provides interface to OPTO 22 H-style racks which feature a 50-pin IDC connector. The first 48 I/O points of the DB-10072 can be configured as inputs or outputs in groups of eight. The remaining 24 points are always inputs. The DB-10072 can only be used with the 1- through 4-axis versions of the DMC-1000 ISA bus controller. TERM-P Mounting 86 Galil Motion Control, Inc. www.galilmc.com • • MOTION CONTROLLERS LEGACY SERIES DMC-1500, 1300, 1000 ORDERING INFORMATION PART NUMBER DESCRIPTION These controllers include 60-pin and 26-pin cables (please request 20-pin cables if using steppers or auxiliary encoders): DMC-1010.........................1-axis ISA.......................................................................................... DMC-1020.........................2-axis ISA.......................................................................................... DMC-1030.........................3-axis ISA.......................................................................................... DMC-1040.........................4-axis ISA.......................................................................................... DMC-1050.........................5-axis ISA.......................................................................................... DMC-1060.........................6-axis ISA.......................................................................................... DMC-1070.........................7-axis ISA........................................................................................... DMC-1080.........................8-axis ISA.......................................................................................... DB-10072-OPTO..............Expansion for 72 OPTO I/O (1-4 axis only)................................ DB-10096-TTL..................Expansion for 96 TTL I/O (1-4 axis only).................................... ICM-1100...........................Interconnect Module (use 1 for every set of 4 axes). Specify -HAEN for high amp enable or -LAEN for low amp enable..... -MX option.........................Expands memory to 2000 lines, 8000 array, 510 variables (1–4 axes only)................................................................................. These controllers include 60-pin and 26-pin cables (please request 20-pin cables if using steppers or auxiliary encoders): DMC-1310.........................1-axis VME........................................................................................ DMC-1320.........................2-axis VME........................................................................................ DMC-1330.........................3-axis VME........................................................................................ DMC-1340.........................4-axis VME........................................................................................ DMC-1350.........................5-axis VME........................................................................................ DMC-1360.........................6-axis VME........................................................................................ DMC-1370.........................7-axis VME........................................................................................ DMC-1380.........................8-axis VME........................................................................................ ICM-1100...........................Interconnect Module (use 1 for every set of 4 axes). Specify -HAEN for high amp enable or -LAEN for low amp enable..... -MX option.........................Expands memory to 2000 lines, 8000 array, 510 variables (1–4 axes only)................................................................................. These controllers include 60-pin and 26-pin cables, and power cable (please request 20-pin cables if using steppers or auxiliary encoders): DMC-1510.........................1-axis Stand-alone............................................................................. DMC-1520.........................2-axis Stand-alone............................................................................. DMC-1530.........................3-axis Stand-alone............................................................................. Ordering Information continues on the next page. www.galilmc.com Galil Motion Control, Inc. 87 • • MOTION CONTROLLERS LEGACY SERIES DMC-1500, 1300, 1000 ORDERING INFORMATION (CONT.) PART NUMBER DESCRIPTION DMC-1540.........................4-axis Stand-alone............................................................................. DMC-1550.........................5-axis Stand-alone............................................................................. DMC-1560.........................6-axis Stand-alone............................................................................. DMC-1570.........................7-axis Stand-alone............................................................................. DMC-1580.........................8-axis Stand-alone............................................................................. DMC-1510-72...................1-axis with 72 I/O............................................................................. DMC-1520-72...................2-axis with 72 I/O............................................................................ DMC-1530-72...................3-axis with 72 I/O............................................................................ DMC-1540-72...................4-axis with 72 I/O............................................................................ -4MF option.......................Memory to save arrays..................................................................... -16 Bit ADC.......................16-bit resolution upgrade for analog inputs.................................. TERM-H.............................Hand-held terminal.......................................................................... TERM-P..............................Panel-mount terminal...................................................................... ICM-1100...........................Interconnect Module (use 1 for every set of 4 axes). Specify -HAEN for high amp enable or -LAEN for low amp enable..... AMP-1110.........................ICM with on-board, PWM amplifier for 1 brush-type servo..... AMP-1120.........................ICM with on-board, PWM amplifiers for 2 brush-type servos.. AMP-1130.........................ICM with on-board, PWM amplifiers for 3 brush-type servos... AMP-1140.........................ICM with on-board, PWM amplifiers for 4 brush-type servos... Galil Utilities......................Communication drivers, terminal, DMCWIN software............. CTOOLKIT........................DMCWIN with C/C++ documentation and examples............. WSDK.................................Set-up, tuning and analysis software.............................................. ActiveX Tool Kit................Custom controls for ActiveX software such as Visual Basic....... Galil offers additional quantity discounts for purchases between 1 and 100. Consult Galil for a quotation. 88 Galil Motion Control, Inc. www.galilmc.com • •