DMC-40x0 Series
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Ethernet/RS232 Accelera Series, 1– 8 axes DMC-40x0 Series DMC-4040 4-axis and DMC-4080 8-axis controllers The DMC-40x0 is Galil’s highest performance, standalone motor 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 faster than prior generation controllers. The DMC-40x0 is a full-featured 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 for synchronizing motion with external events. Modes of motion include point-to-point positioning, position tracking, jogging, linear and circular interpolation, PVT, contouring, electronic gearing and electronic cam (ECAM). Like all Galil controllers, the DMC-40x0 controllers use Galil’s popular, intuitive command language, making 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. Features ■ Packaged controller in 1 through 8 axis versions: DMC-40x0 where x=1,2,3,4,5,6,7,8 axes ACCELERA Product Description ■ (1) 10/100BASE-T Ethernet port with Auto MDIX (2) RS232 ports up to 115 kbaud ■ 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 22 MHz encoder frequencies for servos. Outputs pulses up to 6 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, PVT, linear and circular interpolation, electronic gearing and electronic cam. Features elliptical 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 to eight programs ■ Optically isolated home input and forward and reverse end-of-travel 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 8 uncommitted analog inputs 32 additional 3.3 V I/O (5 V option) 2 line x 8 character programmable LCD Dual encoder inputs for each servo 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 Windows, Mac OSX, and Linux ■ Custom hardware and firmware options available ■ DMC-40x0 has CE certification. Specify DMC-40x0-ETL for ETL certification www.galilmc.com / Galil Motion Control, Inc. 1

Ethernet/RS232 Accelera Series, 1-8 axes System Processor ■ RISC-based, clock multiplying processor with DSP functions Communications Interface M (1) 10/100BASE-T Ethernet port with Auto MDIX Commands are sent in ASCII. A binary communication mode is also available as a standard feature ■ 2D Linear and Circular Interpolation with feedrate override ■ Linear Interpolation for up to 8 axes ■ Electronic Gearing with multiple masters and ramp-to-gearing ■ Program memory size—2000 lines x 80 characters ■ 16,000 total array elements in up to 30 arrays ■ PID with velocity and acceleration...

Ethernet/RS232 Accelera Series, 1-8 axes IK Ethernet port blocking Servo Motor AU Set current loop gain DV Dual loop operation KS Stepper motor smoothing YA Step drive resolution YB Step motor resolution YS Stepper position maintenance Internal Sine Commutation OC Output compare function @AN[x] Value of analog input x State of digital input x State of digital output x System Configuration BR Brush motor enable BV Burn variables and arrays CC Configure communications port CE Configure encoder type CF Configure unsolicited messages handle CI Configure communication interrupt DE Define dual...

Ethernet/RS232 Accelera Series, 1-8 axes Connectors — Communications 9-pin; Low-density Male D-sub 9-pin; Low-density Female D-sub Ethernet W/WOBase-T Amplifier Board Motor Output 44-pin Hi-density Male D-sub 72 General I/O Axes A thru D 44-pin Hi-density Female D-sub 5 Electronic Lockout-isolated input* 6 Limit switch common 22 Reverse limit A-isolated ^ 23 Reverse limit B-isolated ^ 24 Reverse limit C-isolated ^ 25 Reverse limit D-isolated ^ 36 Forward limit A-isolated ^ 37 Forward limit B-isolated^ 38 Forward limit C-isolated ^ 39 Forward limit D-isolated ^ :*Hote: Power can be input...

Ethernet/RS232 Accelera Series, 1-8 axes 44-pin Hi-density Male D-sub 44-pin Hi-density Male D-sub Encoder Axes A thruD Encoder Axes E thru H 15-pin Hi-density Female D-sub 15-pin Low-density Male D-sub Axis Connectors Axes A thru H 26-pin Hi-density Female D-sub 5 Limit switch common ^Programmable for Active high www.galilmc.com / Galil Motion Control, Inc. 5

Ethernet/RS232 Accelera Series, 1-8 axes The ICM-42000 resides inside the DMC-40xO enclosure and breaks out the internal CPU board connector into convenient D-sub connectors for interface to external amplifiers and I/O devices. 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 ICM-42100 Sinusoidal Encoder Interpolation Module...