Galil DMC-4040 - A6 - ICM-42000 (-I000)

A6 – ICM-42000 (-I000)
Description
The ICM-42000 resides inside the DMC-40x0 enclosure and breaks out the internal CPU board connector into
convenient D-sub connectors for interface to external amplifiers and I/O devices.The ICM-42000 provides a 15-pin
HD D-sub connector for the encoders on each axis, a 15-pin D-sub for analog inputs, a 44-pin HD D-sub for I/O,
and a 44-pin D-sub for the motor command signals.Eight 500 mA highside drive outputs are available (total current
not to exceed 3 A).The ICM-42000 is user-configurable for a broad range of amplifier enable options including:
High amp enable, Low amp enable, 5 V logic, 12 V logic, external voltage supplies up to 24 V and sinking or
sourcing. Two ICMs are required for 5- thru 8-axis controllers.
For more information regarding the Amplifier Enable Operation, see Chapter 3 and Configuring the Amplifier
Enable Circuit in the Appendix.
For electrical specifications on the I/O, see Chapter 3.
Connectors for ICM-42000 Interconnect Board
ICM-42000 I/O (A-D) 44 pin HD D-Sub Connector (Female)
Pin# Label Description Pin# Label Description Pin# Label Description
1 ERR Error Output 16 RST Reset Input 31 GND Digital Ground
2 DI1 Digital Input 1/ A latch 17 INCOM Input Common 32 DI2 Digital Input 2 / B latch
3 DI4 Digital Input 4 / D latch 18 DI3 Digital Input 3 / C latch 33 DI5 Digital Input 5
4 DI7 Digital Input 7 19 DI6 Digital Input 6 34 DI8 Digital Input 8
5 ELO Electronic Lock Out 20 ABRT Abort Input 35 GND Digital Ground
6 LSCOM Limit Switch Common 21 N/C No Connect 36 FLSA Forward Limit Switch A
7 HOMA Home Switch A 22 RLSA Reverse Limit Switch A 37 FLSB Forward Limit Switch B
8 HOMB Home Switch B 23 RLSB Reverse Limit Switch B 38 FLSC Forward Limit Switch C
9 HOMC Home Switch C 24 RLSC Reverse Limit Switch C 39 FLSD Forward Limit Switch D
10 HOMD Home Switch D 25 RLSD Reverse Limit Switch D 40 GND Digital Ground
11 OPWR Output Power 26 N/C No Connect 41 DO1 Digital Output 1
12 DO3 Digital Output 3 27 DO2 Digital Output 2 42 DO4 Digital Output 4
13 DO6 Digital Output 6 28 DO5 Digital Output 5 43 DO7 Digital Output 7
14 ORET Output Return 29 DO8 Digital Output 8 44 CMP Output Compare
15 +5V +5V 30 +5V +5V
DMC-40x0 User Manual A6 – ICM-42000 (-I000) • 256