DMC-21x2 and DMC-21x3 Series
Ethernet/RS232 Econo 1 8 axes
Specifications
System Processor
Motorola 32-bit microcomputer
Communications Interface
Ethernet 10BASE-T. (1) RS232 port up to 19.2 kb
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
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 and low-pass filter
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
8 buffered inputs for 14 axes; 16 for 5 8 axes*
8 TTL outputs for 14 axes; 16 for 58 axes*
8 analog inputs and 40 digital I/O with DB-28040 (outputs source
3.3 V. For 24 open collector outputs that sink 5 V, order DB-28040-5V)
High Speed Position Latch
Uncommitted inputs 14 latch X,Y, Z,W; 912 latch E, F, G, H
(latches within 0.1 microsecond)*
Dedicated Inputs (per axis)
Main encoder inputs--Channel A, A-,B,B-,I,I- (±12 V or TTL)
Auxiliary encoder inputs for each servo axis
Forward and reverse limit inputs--TTL*
Home input--TTL*
High-speed position latch input*
Dedicated Outputs (per axis)
Analog motor command output with 16-bit DAC resolution
Pulse and direction output for step motors
Amplifier enable output*
Error output
High-speed position compare output
(1 output for each set of 4 axes)*
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
14 axes 58 axes
+5 V 0.8 A
1.4 A
-12 V 20 mA 40 mA
+12 V 20 mA 40 mA
DC-to-DC converter option: 18 V to 36 V input for DC24
36 V to 72 V input for DC48
Environmental
Operating temperature: 070º C
Humidity: 2095% RH, non-condensing
Mechanical
14 axes card: 4.25"
×
7.0"
58 axes card: 4.25"
×
10.75"
*Optically isolated I/O available with ICM-20105 option
CONTROLLERS
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ETHERNET
www.galilmc.com
/
Galil Motion Control, Inc.
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