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www.galilmc.com
/
Galil Motion Control, Inc.
CONTROLLERS
--
PCI
DMC-18x0 and DMC-18x2 Series
PCI Bus, 1 8 axes
Specifications
System Processor
Motorola 32-bit microcomputer
Communications Interface
DMC-18x0:PCI with bi-directional FIFO plus auxiliary FIFO, and DPRAM
DMC-18x2:PCI with bi-directional FIFO
Commands are sent in ASCII. A binary communication mode is also
available as a standard feature
Modes of Motion:
Point-to-point positioning
Jogging
2D Linear and Circular Interpolation with feedrate override
Linear Interpolation for up to 8 axes
Tangential Following
Helical
Electronic Gearing with multiple masters
Gantry Mode
Electronic Cam
Contouring
Teach and playback
Memory
Program memory size--1000 lines
×
80 characters
254 variables
8000 array elements in up to 30 arrays
Filter
PID (proportional-integral-derivative) with velocity and acceleration
feedforward
Notch filter and low-pass filter
Dual-loop control for backlash compensation (DMC-18x0 only)
Velocity smoothing to minimize jerk
Integration limits
Torque limits
Offset adjustments
Option for piezo-ceramic motors
Kinematic Ranges
Position: 32 bit (±2.15 billion counts per move; automatic rollover;
no limit in jog or vector modes)
Velocity: Up to 12 million counts/sec for servo motors
Acceleration: Up to 67 million counts/sec
2
Uncommitted Digital I/O
DIGITAL INPUTS DIGITAL OUTPUTS ANALOG INPUTS
DMC-1810 thru -1840 8
8
8
DMC-1850 thru -1880
24
16
8
DMC-18x2 8
8 0
High Speed Position Latch
Uncommitted inputs 1-8 latch X,Y, Z,W, E, F, G, H axes (latches within
0.1 microsecond without optoisolation and 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- (for
DMC-18x0 only)
Forward and reverse limit inputs--optoisolated on DMC-18x0
Home input--optoisolated on DMC-18x0
Selectable high-speed position latch input
Selectable abort input for each axis
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 card)
High-speed position compare output (per card)
Minimum Servo Loop Update Rate
12 axes:125 microseconds
34 axes:250 microseconds
56 axes:375 microseconds
78 axes:500 microseconds
Maximum Encoder Feedback Rate
12 MHz
Maximum Stepper Rate
3 MHz (Full, half or microstep)
Power Requirements
DMC-18x0:
DMC-18x2:
+5V 750mA
750mA
-12V 40mA
20mA
+12V 40mA
20mA
Environmental
Operating temperature: 070º C
Humidity: 2095% RH, non-condensing
Mechanical
DMC-18x0:14 axes:8.175"
×
4.2"
58 axes:12.28"
×
4.2"
DMC-18x2:7.275"
×
4.2"
