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Galil Motion Control
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DMC-4040
Galil Motion Control DMC-4040 User Manual
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Jumper Description f
or ICM-42200
Jumper
Label
Function (If jumpered)
Q and P
1
Sink/Source Selection
2
Sink/Source Selection
3
Sink/Source Selection
4
HAEN/LAEN Selection
5
5V
/12V
/External P
ower Selection
6
5V
/12V
/External P
ower Selection
See ICM-42200 Amplifier Enable Circui
t
in Chapter 3 f
or detailed in
formation r
egar
ding the PQ jumpers.
A13 – ICM-42200 (-I200) ▫ 278
DMC-40x0 User Manual
282
Table of Contents
Table of Contents
3
Chapter 1 Overview
6
Introduction
6
Part Numbers
7
Overview of Motor Types
10
Overview of External Amplifiers
11
Galil Internal Amplifiers and Drivers
11
Functional Elements
12
Chapter 2 Getting Started
15
Layout
15
Power Connections
17
Dimensions
18
Elements You Need
20
Installing the DMC, Amplifiers, and Motors
21
Default Chapter
22
Step 2. Install Jumpers on the DMC-40X0
22
Step 3. Install the Communications Software
22
Step 4. Power the Controller
22
Step 5. Establish Communications with Galil Software
23
Step 6. Connecting Encoder Feedback
24
Step 7. Setting Safety Features before Wiring Motors
25
Step 8. Wiring Motors to Galil's Internal Amps
27
Step 8A. Commutation of 3-Phased Brushless Motors
29
Chapter 3 Connecting Hardware
38
Overview
38
Overview of Optoisolated Inputs
38
Optoisolated Input Electrical Information
41
High Power Optoisolated Outputs
44
TTL Inputs and Outputs
45
Analog Inputs
47
Extended I/O
47
External Amplifier Interface
48
Chapter 4 Software Tools and Communication
55
Introduction
55
Controller Response to Commands
55
Unsolicited Messages Generated by Controller
56
Serial Communication Ports
56
Ethernet Configuration
58
Modbus
60
Data Record
63
Galilsuite (Windows and Linux)
69
Creating Custom Software Interfaces
70
Chapter 5 Command Basics
72
Introduction
72
Command Syntax - ASCII
72
Controller Response to DATA
73
Interrogating the Controller
74
Chapter 6 Programming Motion
76
Overview
76
Independent Axis Positioning
77
Independent Jogging
79
Position Tracking
80
Linear Interpolation Mode
84
Vector Mode: Linear and Circular Interpolation Motion
87
Electronic Gearing
94
Electronic Cam
97
PVT Mode
102
Contour Mode
105
Virtual Axis
109
Stepper Motor Operation
110
Stepper Position Maintenance Mode (SPM)
112
Dual Loop (Auxiliary Encoder)
115
Motion Smoothing
117
Homing
119
High Speed Position Capture (the Latch Function)
121
Chapter 7 Application Programming
122
Overview
122
Program Format
122
Executing Programs - Multitasking
124
Debugging Programs
125
Program Flow Commands
126
Mathematical and Functional Expressions
141
Variables
144
Operands
145
Arrays
146
Input of Data (Numeric and String)
149
Output of Data (Numeric and String)
151
Hardware I/O
155
Extended I/O of the DMC-40X0 Controller
159
Example Applications
161
Using the DMC Editor to Enter Programs
165
Chapter 8 Hardware & Software Protection
167
Introduction
167
Hardware Protection
167
Software Protection
168
Chapter 9 Troubleshooting
172
Overview
172
Chapter 10 Theory of Operation
175
Overview
175
Operation of Closed-Loop Systems
177
System Modeling
178
System Analysis
182
System Design and Compensation
184
Appendices
187
Electrical Specifications
187
Performance Specifications
189
Ordering Options
190
Power Connector Part Numbers
197
Input Current Limitations
198
Serial Cable Connections
199
Configuring the Amplifier Enable Circuit
201
DMC-4040 and DMC-4080 (Step 3)
202
+5V Low Amp Enable Sinking Configuration
203
High Amp Enable Sinking Configuration (Default)
203
+5V High Amp Enable Sourcing Configuration
204
+5V Low Amp Enable Sourcing Configuration
204
+12V High Amp Enable Sinking Configuration
205
+12V Low Amp Enable Sinking Configuration
205
+12V High Amp Enable Sourcing Configuration
206
+12V Low Amp Enable Sourcing Configuration
206
Isolated Power High Amp Enable Sinking Configuration
207
Isolated Power Low Amp Enable Sinking Configuration
207
Signal Descriptions
211
List of Other Publications
213
Training Seminars
213
Contacting Us
214
Warranty
215
Integrated Components
216
Overview
216
A1 - AMP-430X0 (-D3040,-D3020)
218
Description
218
Electrical Specifications
219
Operation
220
Error Monitoring and Protection
222
A2 - Amp-43140 (-D3140)
224
Description
224
Electrical Specifications
225
Operation
226
A3 - Amp-43240 (-D3240)
227
Description
227
Electrical Specifications
228
Operation
229
Error Monitoring and Protection
230
A4 - AMP-435X0 (-D3540,-D3520)
233
Description
233
Electrical Specifications
234
Operation
235
Error Monitoring and Protection
238
A5 - Amp-43640 (-D3640)
240
Introduction
240
Electrical Specifications
241
Operation
243
A6 - Amp-43740 (-D3740)
246
Description
246
Electrical Specifications
247
Operation
248
Error Monitoring and Protection
250
A7 - SDM-440X0 (-D4040,-D4020)
252
Description
252
Electrical Specifications
253
Operation
254
A8 - Sdm-44140 (-D4140)
256
Description
256
Electrical Specifications
257
Operation
258
Error Monitoring and Protection
259
A9 - Cmb-41012 (-C012)
260
Description
260
Connectors for CMB-41012 Interconnect Board
261
A10 - Cmb-41022 (-C022)
264
Description
264
Connectors for CMB-41022 Interconnect Board
265
A11 - ICM-42000 (-I000)
269
Description
269
Connectors for ICM-42000 Interconnect Board
270
A12 - ICM-42100 (-I100)
273
Description
273
Connectors for ICM-42100 Interconnect Board
274
Theory of Operation
277
A13 - ICM-42200 (-I200)
280
Description
280
Connectors for ICM-42200 Interconnect Board
281
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Galil Motion Control DMC-4040 Specifications
General
Brand
Galil Motion Control
Model
DMC-4040
Category
Controller
Language
English
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