DMC-12x0, DMC-13x8, DMC-16x0, DMC-17xx Series
PC/104, VME, cPCI, ISA Optima 1 8 axes
Specifications
System Processor
Motorola 32-bit microcomputer
Communications Interface
DMC-12x0:PC/104 with bi-directional, high speed FIFO
DMC-13x8:VME with bi-directional FIFO plus auxiliary FIFO
DMC-16x0:CompactPCI with bi-directional FIFO plus
auxiliary FIFO
DMC-17xx:ISA with bi-directional FIFO plus auxiliary 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
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 CONFIGURABLE I/O
DMC-1210 thru -1240* 8
8
64 w/ DB-12064
DMC-1250 thru -1280* 24
16 64 w/ DB-12064
DMC-13x8 thru -1348
8
8
64
DMC-1610 thru -1640 8
8
64
DMC-1710 thru -1740 8
8
64 w/ DB-14064
DMC-1718 thru -1748 8
8 64
DMC-1750 thru -1780 24
16 64 w/ DB-14064
Uncommitted Analog Inputs
8 individual ±10 V analog inputs with 12-bit resolution
(16-bit available as an option)
High Speed Position Latch
Uncommitted inputs 1-8 latch X,Y, Z,W, E, F, G, H axes
(latches within .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-
Forward and reverse limit inputs--optoisolated*
Home input--optoisolated*
Selectable high-speed position latch input
Selectable abort input
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)
* DMC-1200 has TTL limits and home and general inputs.
CONTROLLERS
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O
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www.galilmc.com
/
Galil Motion Control, Inc.
