DMC-1417
PCI Bus, 1 axis
Specifications
System Processor
Motorola 32-bit microcomputer
Communications Interface
PCI with bi-directional, high-speed FIFO buffer
Modes of Motion:
Point-to-point positioning
Jogging
Electronic Gearing
Electronic Cam
Contouring
Memory
Program memory size--250 lines
×
40 characters
126 variables
1000 array elements in up to 6 arrays
Filter
PID (proportional-integral-derivative) with velocity and acceleration
feedforward
Dual-loop control for backlash compensation
Integration limits
Torque limits
Offset adjustment
Kinematic Ranges
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
Acceleration: Up to 67 million counts/sec
2
Dedicated I/O
Main encoder inputs--Channel A, A-, B,B-,I, I- (±12 V or TTL)
Auxiliary encoder--Channel A, A-, B, B-
Forward and reverse limit inputs
Home input
High-speed position latch input
Analog motor command output with 16-bit DAC resolution
Pulse and direction output for step motors
Amplifier enable output
Error output
Uncommitted Digital I/O
7 TTL inputs
3 TTL outputs
High Speed Position Latch
Latches within 0.1 microseconds
Minimum Servo Loop Update Time
375 microseconds
Maximum Encoder Feedback Rate
8 MHz
Maximum Stepper Rate
2 MHz (Full, half or microstep)
Power Requirements
DMC-1417:
+5V 400mA
-12V 40mA
+12V 40mA
Environmental
Operating temperature: 070 ºC
Humidity: 2095% RH, non-condensing
Mechanical
Length: 7.3" Connector: 37 pin D-type
Connector
J3 Main 37-pin D-type
1 Reset* (TTL)
20 Error
2 Amp enable
21 ACMD
3 Output 3
22 Output 2
4 Output 1
23 Reserved
5 PWM or step out
24 Sign or direction
6 Input 7
25 Input 6
7 Input 5
26 Input 4
8 Input 3
27 Input 2
9 Input 1 (and latch)
28 Forward limit
10 +5V
29 Reverse limit
11 Ground
30 Home
12 +12V
31 -12V
13 Ground
32 A+
14 A-
33 B+
15 B-
34 I+
16 I-
35 Auxiliary A+
17 Auxiliary A-
36 Auxiliary B+
18 Auxiliary B-
37 Abort*
19 ACMD Phase B
*Active low
CONTROLLERS
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PCI
www.galilmc.com
/
Galil Motion Control, Inc.
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