Galil DMC-4040 - A7 - ICM-42100 (-I100)

A7 – ICM-42100 (-I100)
Description
The ICM-42100 option resides inside the DMC-40x0 enclosure and accepts sinusoidal encoder signals instead of
digital encoder signals as accepted by the ICM-42000. The ICM-42100 provides interpolation of up to four 1-volt
differential sinusoidal encoders resulting in a higher position resolution. The AFn command selects sinusoidal
interpolation where n specifies 2
n
interpolation counts per encoder cycle (n=5 to 12). For example, if the encoder
cycle is 40 microns, AF10 results in 2
10
=1024 counts per cycle, or a resolution of 39 nanometers per count. With the
ICM-42100, the sinusoidal encoder inputs replace the main digital encoder inputs. The ICM-42100 provides a 15-
pin D-sub connector for the encoders on each axis, a 15-pin D-sub for analog inputs, a 44-pin D-sub for I/O, and a
44-pin D-sub for the motor command signals. Two ICMs are required for 5- thru 8-axis controllers.
Note: Hardware Rev B of the the ICM-42100 supports the use of standard differential quadrature encoders
for axes that will not be using the sinusoidal encoders. A standard ICM-42100 does not support the
use of single ended quadrature encoders. Contact Galil if a single ended quadrature encoder is
required when using the ICM-42100, or if you require encoder inputs with a Rev A ICM-42100
The ID command will indicate the hardware Rev of the ICM-42100 where Rev B will return Rev 1 and
Rev A will return Rev 0. A typical response from ID with a ICM-42100 Rev B is shown below.
DMC4000
Connector J3= Communications Board CMB-41012 5.0 volt i/o rev 0
Connector J1= 42100 Sine rev 1
Connector P1= Servo Amplifier Board AMP-43040 500 watt rev 1
Connector P2= Servo Amplifier Board AMP-43040 500 watt rev 1
Connectors for ICM-42100 Interconnect Board
ICM-42100 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
A7 – ICM-42100 (-I100) • 261 DMC-40x0 User Manual