DMC-21x3 Series
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Ethernet/RS232 Econo Series, 1-8 axes Product Description Galil's DMC-21x3 Ethernet motion controllers are designed for extremely cost-sensitive and space-sensi- tive applications.The DMC-21x3 motor controllers are available with a variety of plug-in multi-axis amplifier boards that are designed to eliminate the wiring and any connectivity issues between the controller and drives. The controllers incorporate a 32-bit microcomputer and provide such advanced features as PID compensa- tion with velocity and acceleration feedforward, pro- gram memory with multitasking for simultaneously running up to eight programs,and uncommitted I/O for synchronizing motion with external events. Modes of motion include point-to-point positioning, position tracking, jogging, linear and circular interpolation, con- touring, electronic gearing and ECAM. Like all Galil controllers,these controllers use a sim- ple, intuitive command language which makes them very easy to program. GalilTools servo design software further simplifies system set-up with "one-button" servo tuning and real-time display of position and velocity information. Communication drivers are available for Windows, .NET, Mac OSX,and Linux. M Ethernet WBase-Tport; (1) RS232 port up to 19.2 kbaud ■ Ethernet supports multiple masters and slaves. TCP/IP, UDP andModbus TCP master protocol for communication with ■ Available in 1 through 8 axis versions ■ User-configurable for stepper or servo motors on any combination of axes. Optional firmware for piezo-ceramic motors. Configurable for sinusoidal commutation ■ Accepts up to 12 MHz encoder frequencies for servos. ■ PID compensation with velocity and acceleration feedfor- ward, integration limits, notch filter and low-pass filter ■ Modes of motion include jogging, point-to-point positioning, contouring, linear and circular interpolation, electronic gear- ing and electronic cam. Features elliptical scaling, slow- down around corners, infinite segment feed and feedrate ■ Over 200 English-like commands executable by controller. Includes conditional statements and event triggers ■ Non-volatile memory for programs, variables and arrays. Concurrent execution of up to eight programs ■ Dual encoders, home and limits for each axis ■ 8 TTL uncommitted inputs and 8 outputs for 1- to 4-axis, ■ Optically isolated I/O and 500 mA highside outputs ■ Add 8 analog inputs and 40 digital I/O with DB-28040 ■ High speed position latch for each axis and output compare M Small size: 1-4 axes card: 4.25"x 7.0" ■ DIN-Rail mount option ■ Accepts +5 V, ± 12 V DC inputs; DC-to-DC converter option ■ DMC-21x3:96-pin DIN connectors for each set of 4 axes. DMC-21x2: SCSI connector for each set of 4 axes ■ Distributed control option with DMC-31x3 series ■ Communication drivers for Windows, Mac OSX, and Linux ■ Custom hardware and firmware options available ■ CE certified for box-level version www.galilmc.com / Galil Motion Control, Inc. 1

Ethernet/RS232 Econo Series, 1-8 axes System Processor Communications Interface ■ Ethernet 10BASE-T. (1) RS232 port up to 19.2 kbaud Commands are sent in ASCII. A binary communication mode is also available as a standard feature ■ 2D Linear and Circular Interpolation with feedrate override ■ Electronic Gearing with multiple masters ■ Program memory size—1000 lines x 80 characters ■ 8000 array elements in up to 30 arrays ■ PID (proportional-integral-derivative) with velocity and acceleration feedforward ■ Notch and low-pass filter ■ Velocity smoothing to minimize jerk ■ Option for...

Ethernet/RS232 Econo Series, 1-8 axes IK Ethernet port blocking Servo Motor AU* Set current loop gain TL Continuous torque limit Stepper Motor KS Stepper motor smoothing YA Step drive resolution YB Step motor resolution YS Stepper position maintenance Internal Sine Commutation Analog configuration Input interrupt Output compare function Output port @AN[x] Value of analog input x @IN[x] State of digital input x @0UT[x] State of digital output x System Configuration BR* Brush motor enable BV Burn variables and arrays CC Configure communications port CF Configure unsolicited messages handles...

Ethernet/RS232 Econo Series, 1–8 axes DMC-21x3 Series I/O Expansion Options ECONO DB-28040 I/O Expansion Board The DB-28040 mounts directly to the DMC-21x3 50-pin header and provides an additional 40 digital inputs and outputs, and eight 12-bit (16-bit optional) analog inputs (default I/O is 3.3 V. For 5 V I/O, order DB-28040-5V). Even with the DB-28040 attached there is still room to mount the ICM-20100, ICM-20105, SDM-20240, AMP-20341 or AMP-20440. The 40 digital I/O signals are available on a 50-pin IDC header,and the analog inputs are available on a 16-pin header.With a controller...

Ethernet/RS232 Econo Series, 1–8 axes DMC-21x3 Series DMC-21x3 Interconnect and Drive Options — continued SDM-206x0 2- and 4-axis Microstep Drives The AMP-20540 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, 18–60 VDC (available voltage at the motor is 10% less). The gain settings of the amplifier are user-programmable at 0.4 Amp/Volt, AMP-20540 Interconnect with 0.7 Amp/Volt and 1 Amp/Volt. 4-axis 500 W servo drives The switching frequency is 60 kHz.The...

Ethernet/RS232 Econo Series, 1-8 axes Error Output* Wofe:The DMC-21x3 comes standard with 96-pin DIN pins UP. It is also available with connector pins at a right angle and facing down. (vertical connector mount; 6 www.galilmc.com / Galil Motion Control, Inc.

Ethernet/RS232 Econo Series, 1-8 axes Analog Ground Analog Ground Analog Ground J3 W-Axis 15-pin Male D-sub 74 Z-Axis 15-pin Male D-sub 75 Y-Axis 15-pin Male D-sub J6 X-Axis 15-pin Male D-sub X,Y,Z,W 25-pin Female D-Sub www.galilmc.com / Galil Motion Control, Inc. 7

Ethernet/RS232 Econo Series, 1-8 axes Interconnect with Optical I JAUX Auxiliary Encoders 11 Limit switch common Interconnect with four 20 W servo drives J3 X-axis 15-pin Male D-sub J4 Y-axis 15-pin Male D-sub 75 Z-axis 15-pin Male D-sub J6 W-axis 15-pin Male D-sub JX,JY,JZ,JW Motor Outputs 8 www.galilmc.com / Galil Motion Control, Inc.