M OTI O N C O NTR O LLE R S LEGACY SERIES DMC-1500, 1300, 1000 FEATURES MOTION PROGRAMMING FORMATS s Modes of motion include jogging, s On-board memory for storing applica- s 1- through 8-axis formats point-to-point positioning, contouring, linear and circular interpolation, electronic gearing and ecam s Dual-loop control and backlash com- pensation s Servo loop update rates as low as 125 microsecond/axis s Encoder frequencies up to 8 MHz; Step motors up to 2 MHz s Software PID control with velocity and acceleration feedforward, offsets and integration limits s Motion Smoothing to eliminate jerk s Linear and Circular interpolation includes ellipse scaling, slow-down around corners, infinite segment feed, feedrate override INPUTS/OUTPUTS s Provides main and auxiliary encoder inputs for each servo axis tion programs, variables and arrays s Non-volatile memory for parameter storage s Programmable event triggers includ- s ISA, VME cards or stand-alone box with RS232/RS422 s Controls step motors and servo motors on any combination of axes ing At Time, At Position, At Input, At Speed s Automatic program execution upon power-up for stand-alone version s Intuitive, English-like command DMC-1500 Stand-alone Motion Controller language with over 200 commands directly executable by controller s Multitasking for simultaneous exe- cution of up to four applications programs s Extensive DLLs and documentation for C/C++ programmers s Software tools for automatic servo tuning and analysis; ActiveX controls for Visual Basic s Drivers for Linux, QNX, DOS, and all Windows operating systems DMC-1300 Motion Controller s 8 uncommitted, optoisolated inputs and 8 TTL outputs for 1- through 4-axis versions s 24 uncommitted inputs and 16 TTL outputs for 5- through 8-axis versions s 64 TTL inputs, 32 TTL outputs with DB-10096 attachment board s 72 I/O with DMC-1500-72 and DMC-1000-72 s 7 uncommitted analog inputs with 12-bit ADC standard; upgrade for 16-bit s Optoisolated Forward and Reverse limits and home input for each axis s High-speed position capture for each axis DMC-1040 Motion Controller www.galilmc.com • Galil Motion Control, Inc. • 77

M OTI O N C O NTR O LLE R S LEGACY SERIES DMC-1500, 1300, 1000 DESCRIPTION Galil continues to support their Legacy Series of generalpurpose controllers—which is a prior generation of controllers with a widely installed base. However, Galil does recommend their newest generation of controllers, the Optima Series, for most new applications. The Legacy Series of controllers is available in ISA, VME and stand-alone formats in 1- through 8-axis configurations. Standard features such as uncommitted I/O, program memory with multitasking, dual encoder inputs per axis, and control of both stepper and...

M OTI O N C O NTR O LLE R S LEGACY SERIES DMC-1500, 1300, 1000 COMMAND LANGUAGE APPLICATIONS PROGRAMMING Galil’s command language is comprised of intuitive, twoletter, English-like ASCII commands designed to make programming as quick and easy as possible. For example, the “BG” command begins motion while the “SP 2000, 4000” command sets the speed of the X-axis as “2000” and the Y-axis as “4000.” Commands are included for system set-up, tuning, prescribing motion, error handling and applications programming. A complete set of commands is described in the following table. Custom commands can be...

M OTI O N C O NTR O LLE R S LEGACY SERIES DMC-1500, 1300, 1000 MODES OF MOTION Point-to-Point Motion Any combination of axes may be operated in the Point-toPoint Motion mode to allow the target position (PA or PR), slew speed (SP), acceleration (AC) and deceleration (DC) to be specified independently for each axis. Upon begin (BG), the controller generates a trapezoidal velocity profile where the speed and acceleration can be changed anytime during motion. For applications that require smooth motion without abrupt velocity transitions, a motion smoothing function (IT) is provided. The position...

M OTI O N C O NTR O LLE R S LEGACY SERIES DMC-1500, 1300, 1000 Linear Interpolation The linear interpolation mode (LM) allows any arbitrary path on up to 8 axes to be defined as a set of linear segments (LI). The vector speed (VS), vector acceleration (VA), vector deceleration (VD), and vector smoothing (VT) are also defined. Up to 255 LI segments can be given prior to the start of motion and additional segments can be sent during motion allowing paths of unlimited length to be followed. Electronic Gearing The electronic gearing mode makes it easy for Galil controllers to simulate the motion...

M OTI O N C O NTR O LLE R S LEGACY SERIES DMC-1500, 1300, 1000 OTHER FEATURES Error Handling Dedicated I/O are provided for safety controls: forward and reverse limit inputs for each axis, home inputs for each axis, amplifier enable outputs for each axis, abort input and error output. In addition, the controller provides safety functions in software: upper and lower software travel limits, error limits, and automatic shut-off on excess error. Program interrupts are provided for error and limit conditions. The program interrupts cause the program sequencer to automatically branch to an error handling...

M OTI O N C O NTR O LLE R S LEGACY SERIES DMC-1500, 1300, 1000 SPECIFICATIONS SYSTEM PROCESSOR AND MEMORY UNCOMMITTED DIGITAL I/O DMC-1000 (1–4 axes): s Motorola 32-bit microcomputer s 64K RAM, 64K EPROM, 256K EEPROM s 1-4 axes: 8 optoisolated inputs, 8 TTL outputs DMC-1000 (5–8 axes): s 256K RAM, 64K EPROM, 512K EEPROM s 7 individual ±10 V analog inputs with 12-bit resolution s 5-8 axes: 16 optoisolated inputs, 8 TTL inputs, 16 TTL outputs UNCOMMITTED ANALOG INPUTS (16-bit available as an option for DMC-1500) DMC-1500, DMC-1300: s Motorola 32-bit microcomputer s 256K RAM, 64K EPROM, 128K EEPROM...

CS Clear motion sequence DT Contour time interval EA Select master cam axis EP Master counts per table entry GA Master axis for gearing IT Smoothing time constant-independent LI Linear interpolation distance LM Linear interpolation mode VM Coordinated motion mode VR Vector speed ratio VT Smoothing time constant—vector AM After motion complete AP After absolute position AR After relative distance AV After vector distance JP Jump to program location MF Forward motion past position MR Reverse motion past position RE Return from error subroutine RI Return from interrupt WC Wait for contour data ZS...