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USER MANUAL
DMC-41x3
Manual Rev. 1.3g
Galil Motion Control, Inc.
270 Technolog Wa
Rocklin, California
916.626.0101
[email protected]
galil.com
09/2021

Using This Manual
This user manual provides information for proper operation of the DMC-41x3 controller. A separate supplemental
manual, the Command Reference, contains a description of the commands available for use with this controller. It
is recommended that the user download the latest version of the Command Reference and User Manual from the
Galil Website.
http://galil.com/downloads/manuals-and-data-sheets
Your DMC-41x3 motion controller has been designed to work with both servo and stepper t pe motors.
Installation and s stem setup will var depending upon whether the controller will be used with stepper motors or
servo motors. To make finding the appropriate instructions faster and easier, icons will be next to an information
that applies exclusivel to one t pe of s stem. Otherwise, assume that the instructions appl to all t pes of
s stems. The icon legend is shown below.
Attention: Pertains to servo motor use.
Attention: Pertains to stepper motor use.
4183 Attention: Pertains to controllers with more than 4 axes.
Please note that man examples are written for the DMC-4143 four-axes controller or the DMC-4183 eight axes
controller. Users of the DMC-4133 3-axis controller, DMC-4123 2-axes controller or DMC-4113 1-axis controller
should note that the DMC-4133 uses the axes denoted as ABC, the DMC-4123 uses the axes denoted as AB, and
the DMC-4113 uses the A-axis onl .
Examples for the DMC-4183 denote the axes as A,B,C,D,E,F,G,H. Users of the DMC-4153 5-axes controller. DMC-
4163 6-axes controller or DMC-4173, 7-axes controller should note that the DMC-4153 denotes the axes as
A,B,C,D,E, the DMC-4163 denotes the axes as A,B,C,D,E,F and the DMC-4173 denotes the axes as A,B,C,D,E,F,G.
The axes A,B,C,D ma be used interchangeabl with X, Y, Z, W.
WARNING
Machiner in motion can be dangerous!
It is the responsibilit of the user to design effective error handling and safet protection as part of the
machiner . Galil shall not be liable or responsible for an incidental or consequential damages
DMC-41x3 User Manual Rev. 1.3g Contents ▫ i

Contents
Contents iii
Chapter 1 Overview 1
Introduction ................................................................................................................... 1
Part Numbers ................................................................................................................ 2
Overview of Motor Types ............................................................................................. 6
Overview of Externa Amp ifiers .................................................................................. 6
Overview of Ga i Amp ifiers and Drivers ................................................................... 7
DMC-41x3 Functiona E ements .................................................................................. 8
Chapter 2 Getting Started 11
E ements You Need ...................................................................................................... 11
Insta ing the DMC, Amp ifiers, and Motors ................................................................ 12
Chapter 3 Connecting Hardware 20
Overview ....................................................................................................................... 20
Overview of Optoiso ated Inputs .................................................................................. 20
Optoiso ated Input E ectrica Information .................................................................... 23
Optoiso ated Outputs .................................................................................................... 26
TTL Inputs and Outputs ................................................................................................ 30
Ana og Inputs ................................................................................................................ 32
Externa Amp ifier Interface ......................................................................................... 33
Chapter 4 Software Tools and Communication 3
Introduction ................................................................................................................... 38
Contro er Response to Commands .............................................................................. 38
Unso icited Messages Generated by Contro er ............................................................ 39
USB and RS-232 Ports .................................................................................................. 39
Ethernet Configuration .................................................................................................. 41
Modbus ......................................................................................................................... 43
Data Record .................................................................................................................. 47
Ga i Software ............................................................................................................... 51
Creating Custom Software Interfaces ........................................................................... 51
Chapter 5 Command Basics 52
Introduction ................................................................................................................... 52
Command Syntax - ASCII ............................................................................................ 52
Contro er Response to DATA ...................................................................................... 53
Interrogating the Contro er .......................................................................................... 54
Chapter 6 Programming Motion 56
Overview ....................................................................................................................... 56
Independent Axis Positioning ....................................................................................... 57
Independent Jogging ..................................................................................................... 59
Position Tracking .......................................................................................................... 60
Linear Interpo ation Mode ............................................................................................ 64
Vector Mode: Linear and Circu ar Interpo ation Motion ............................................. 67
E ectronic Gearing ........................................................................................................ 74
E ectronic Cam .............................................................................................................. 77
PVT Mode ..................................................................................................................... 82
Contour Mode ............................................................................................................... 85
Virtua Axis ................................................................................................................... 89
Stepper Motor Operation .............................................................................................. 90
DMC-41x3 User Manual Rev. 1.3g Contents ▫ ii

Stepper Position Maintenance Mode (SPM) ................................................................. 92
Dua Loop (Auxi iary Encoder) .................................................................................... 95
Motion Smoothing ....................................................................................................... 97
Homing ......................................................................................................................... 98
High Speed Position Capture (The Latch Function) .................................................... 101
Chapter 7 Application Programming 102
Overview ....................................................................................................................... 102
Program Format ............................................................................................................ 102
Executing Programs - Mu titasking .............................................................................. 104
Debugging Programs .................................................................................................... 105
Program F ow Commands ............................................................................................ 106
Mathematica and Functiona Expressions ................................................................... 121
Variab es ....................................................................................................................... 124
Operands ....................................................................................................................... 125
Arrays ............................................................................................................................ 126
Input of Data (Numeric and String) .............................................................................. 129
Output of Data (Numeric and String) ........................................................................... 131
Hardware I/O ................................................................................................................ 135
Examp e App ications ................................................................................................... 139
Using the DMC Editor to Enter Programs (Advanced) ................................................ 143
Chapter Hardware & Software Protection 145
Introduction ................................................................................................................... 145
Hardware Protection ..................................................................................................... 145
Software Protection ....................................................................................................... 146
Chapter 9 Troubleshooting 150
Overview ....................................................................................................................... 150
Chapter 10 Theory of Operation 153
Overview ....................................................................................................................... 153
Operation of C osed-Loop Systems .............................................................................. 154
System Mode ing .......................................................................................................... 155
System Ana ysis ............................................................................................................ 159
System Design and Compensation ................................................................................ 161
Appendices 164
E ectrica Specifications ................................................................................................ 164
Performance Specifications .......................................................................................... 166
Ordering Options .......................................................................................................... 167
Power Connector Part Numbers .................................................................................... 172
Cab e Shie ding ............................................................................................................. 173
Input Current Limitations ............................................................................................. 174
Pin-outs ......................................................................................................................... 175
Signa Descriptions ....................................................................................................... 179
List of Other Pub ications ............................................................................................. 181
Training Seminars ......................................................................................................... 181
Contacting Us ................................................................................................................ 182
WARRANTY ............................................................................................................... 182
Integrated Components 1 3
Overview ....................................................................................................................... 183
A1 – AMP-43040 (-D3040,-D3020) 1 5
Description .................................................................................................................... 185
E ectrica Specifications ................................................................................................ 186
Operation ....................................................................................................................... 187
Error Monitoring and Protection ................................................................................... 189
A2 – AMP-43140 (-D3140) 191
Description .................................................................................................................... 191
DMC-41x3 User Manual Rev. 1.3g Contents ▫ iii

E ectrica Specifications ................................................................................................ 192
Operation ....................................................................................................................... 193
A3 – AMP-43240 (-D3240) 194
Description .................................................................................................................... 194
E ectrica Specifications ................................................................................................ 195
Operation ....................................................................................................................... 196
Error Monitoring and Protection ................................................................................... 198
A4 – AMP-43540 (-D3540, -D3520) 200
Description .................................................................................................................... 200
E ectrica Specifications ................................................................................................ 201
Servo Motor Operation ................................................................................................. 202
Error Monitoring and Protection ................................................................................... 205
A5 – AMP-43547 (-D3547, -D3527) 207
Description .................................................................................................................... 207
E ectrica Specifications ................................................................................................ 208
Servo Motor Operation ................................................................................................. 209
Stepper Motor Operation .............................................................................................. 212
Error Monitoring and Protection ................................................................................... 213
A6 – AMP-43640 (-D3640) 215
Introduction ................................................................................................................... 215
E ectrica Specifications ................................................................................................ 216
Operation ....................................................................................................................... 218
A7 – SDM-44040 (-D4040,-D4020) 221
Description .................................................................................................................... 221
E ectrica Specifications ................................................................................................ 222
Operation ....................................................................................................................... 223
A – SDM-44140 (-D4140) 225
Description .................................................................................................................... 225
E ectrica Specifications ................................................................................................ 226
Operation ....................................................................................................................... 227
DMC-41x3 User Manual Rev. 1.3g Contents ▫ iv

Chapter 1 verview
Introduction
The DMC-41x3 Series are Galil’s Econo motion controller that is a scaled-down version of the DMC-40x0 Acclerra
series controller. The controller series offers man enhanced features compared to prior generation Econo series
controllers including high speed communications, non-volatile program memor , faster encoder speeds, and
improved cabling for EMI reduction.
Each DMC-41x3 provides two communication channels: a high speed 100BaseT Ethernet connection and a USB
programming port. There is an auxiliar RS-232 port that can be used to communicate to external devices such as
HMI's. The controllers allow for high-speed servo control up to 15 million encoder counts/sec and step motor
control up to 3 million steps per second. Sample rates as low as 62 μsec per axis are available.
A Flash EEPROM provides non-volatile memor for storing application programs, parameters, arra s and firmware.
New firmware revisions are easil upgraded in the field.
The DMC-41x3 is available with up to eight axes in a single stand alone unit. The DMC-4113, 4123, 4133, 4143 are
one thru four axes controllers and the DMC-4153, 4163, 4173, 4183 are five thru eight axes controllers. All eight
axes have the abilit to use Galil’s integrated amplifiers or drivers and connections for integrating external devices.
Designed to solve complex motion problems, the DMC-41x3 can be used for applications involving jogging, point-
to-point positioning, vector positioning, electronic gearing, multiple move sequences, contouring and a PVT Mode.
The controller eliminates jerk b programmable acceleration and deceleration with profile smoothing. For smooth
following of complex contours, the DMC-41x3 provides continuous vector feed of an infinite number of linear and
arc segments. The controller also features electronic gearing with multiple master axes as well as gantr mode
operation.
For s nchronization with outside events, the DMC-41x3 provides uncommitted I/O, including 8 optoisolated digital
inputs (16 inputs for DMC-4153 thru DMC-4183), 8 opticall isolated outputs (16 outputs for DMC-4153 thru DMC-
4183), and 8 analog inputs for interface to jo sticks, sensors, and pressure transducers. Further I/O is available if
the auxiliar encoders are not being used (2 inputs / each axis). Dedicated optoisolated inputs are provided for
forward and reverse limits, abort, home, and definable input interrupts.
Commands are sent in ASCII. Additional software is available for automatic-tuning, trajector viewing on a PC
screen, and program development using man environments such as Visual Basic, C, C++ etc. Drivers for Windows
XP, Vista and 7 (32 & 64 bit) as well as Linux are available.
Chapter 1 Overview ▫ 1 DMC-41x3 User Manual

Part Numbers
The DMC controller board comes in two sizes, 1-4 axis models (labeled A-D) and 5-8 axis models (labeled E-H).
The number of axis is designated b x in the part number DMC-41x3. In addition, Axis A-D and Axis E-H have their
own set of axis-specific options that can be ordered. For example, Axis A-D can have a different set of feedback
options as Axis E-H even though the reside on the same DMC-41x3 board. The DMC-41x3 can also be ordered
with optional internal amplifiers, labeled as AMP or SDM. These amplifiers are “sandwiched” to the back of the
DMC-41x3 board. The abstract internal la out of a DMC-41x3 with optional AMP/SDM is shown for 1-4 axis in
Figure 1.1.
The 5-8 axis models have room for an additional bank of internal amplifiers as shown in Figure 1.2.
It is important to note that if the DMC-41x3 is ordered without optional AMP/SDM options that it can come in
either a card or box form factor, ordered as -CARD or -BOXn respectivel ; where n denotes 4 (for 1-4 axis models)
or 8 (for 5-8 axis models). If the DMC-41x3 is ordered with an optional AMP/SDM then it must be ordered with a
-BOXn. Table 1.1 below shows the different form factors and the appropriate part numbers to order them.
Chapter 1 Overview ▫ 2 DMC-41x3 User Manual
Figure 1.1: Abstract layout of a 1-4 axis DMC-41x3 an optional internal amp
Figure 1.2: Abstract layout of a 5-8 axis DMC-41x3 an optional internal amps

Form Factor (example) Part Number Description
-CARD DMC-41x3, 1-4 axis model ordered with the -CARD
option.
-CARD DMC-41x3, 5-8 axis model ordered with the -CARD
option.
-B X4
DMC-41x3, 1-4 axis model ordered with the -BOX4 option.
This option is require if the DMC-41x3 is ordered with
internal amplifiers, AMP or SDM. This example shows a
DMC-41x3 with an internal AMP.
-B X8
DMC-41x3, 1-4 axis model ordered with the -BOX8 option.
This option is require if the DMC-41x3 is ordered with
internal amplifiers, AMP and/or SDM. This example shows
a DMC-41x3 with internal AMPs.
Table 1.1: Explanation of ifferent form factor options for the DMC-41x3
The full DMC-41x3 part number is a combination of the DMC controller part number (DMC-41x3), form factor (“-
XXXX(Y)), axis-specific options (-ABCD(Y) and -EFGH(Y)), and optional amplifier t pes (-DXXXX(Y)), where Y is
customization options for that specific board or set of axis. The la out of the full DMC-41x3 part number is shown
in Figure 1.3 below.
Chapter 1 Overview ▫ 3 DMC-41x3 User Manual

If the part number is not readil available, ou can determine the information b using the 'ID' command. Issuing
an 'ID' command when connected to the controller will return our controller's internal hardware configuration.
The placement of the AMP/SDM options is extremel important for 5-8 axis models. Reading the DMC-41x3 part
number in Figure 1.3 from left to right, the first AMP/SDM (Axis A-D) will be placed in the AMP(1) spot as shown in
Figure 1.2 and the second AMP/SDM (Axis E-H) will be placed in the AMP(2) spot.
Man “Y” options can be ordered per board or set of axis if separated b a comma. Please use the DMC-41x3 part
number generator to check the validit of all part numbers before ordering:
http://galil.com/order/part-number-generator/dmc-41x3
DMC and Form Factor, “DMC-41X3-XXXX(Y)” ptions
ption Type ptions Brief Description Documentation
X 1, 2, 3, 4, 5, 6, 7, and 8 Number of controller axis N/A
-XXXX -CARD See Table 1.1 See DMC and Form Factor , “DMC-41x3-
XXXX(Y)” Options, starting on pg 167
-BOX4
-BOX8
Y
DIN DIN Rail Mount clips (-BOXn onl )
12 VDC Power Controller with 12 VDC
16-bit 16-bit analog inputs
4-20mA 4-20mA analog inputs
TRES Encoder terminating resistors
ISCNTL Isolate Controller Power
422 RS-422 on Aux Serial Port
ETL ETL Certification
MO Motor off jumpers added
Table 1.2: Brief list of DMC an Form Factor options
Chapter 1 Overview ▫ 4 DMC-41x3 User Manual
Figure 1.3: Layout of the full DMC-41x3 part number

Axis-specific options, “-ABCD(Y) and -EFGH(Y)”
Option T pe Options Brief Description Documentation
Y SER BiSS and SSI feedback SER – BiSS and SSI Absolute Encoder Interface, starting on pg
170
HSRC 500mA Sourcing Outputs 500mA Sourcing Optoisolated Outputs (HSRC), pg 29
LSNK 25mA Sinking Outputs 25mA Sinking Optoisolated Outputs (LSNK), pg 27
LSRC 25mA Sourcing Outputs 25mA Sourcing Optoisolated Outputs (LSRC), pg 28
Table 3: Brief list of axis-specific options
It is important to note that 1-4 axis models come with a single bank (Bank 0) of eight optoisolated specified b
-ABCD(Y). 5-8 axis models comes with an a itional bank (Bank 1) of eight optoisolated outputs specified b
-EFGH(Y). See Optoisolated Input Electrical Information, pg 23 for further details.
WARNING If no option is specified, the default optoisolated outputs for -ABCD and -EFGH are 4mA sinking,
see 4mA Sinking Optoisolated Outputs (Default), pg 26 for further details.
AMP/SDM, “-DXXXX(Y)” ptions
ption Type ptions Brief Description Documentation
XXXX 3020/3040 500 W trapazoidal servo drive
2 and 4-axis models
Error: Reference source not found, pg Error:
Reference source not found
3140 20 W brush-t pe onl drive Error: Reference source not found, pg Error:
Reference source not found
3240 750 W trapazoidal servo drive Error: Reference source not found, pg Error:
Reference source not found
3520/3540 600 W sinusoidal servo drive
2 and 4-axis models A4 – AMP-43540 (-D3540, -D3520), pg 202
3527/3547 600 W sinusoidal servo and
microstepping drive
A5 – AMP-43547 (-D3547, -D3527), pg 209
3640 20 W sinusoidal servo drive A6 – AMP-43640 (-D3640), pg 217
4040/4020 1.4 A with 1/16 microstepping drive A7 – SDM-44040 (-D4040,-D4020), pg 223
4140 3 A with 1/64 microstepping drive A8 – SDM-44140 (-D4140), pg 227
Y
ISAMP Isolates power between amplifiers
Two banks of AMP/SDMs required
AMP/SDM, “-DXXXX(Y)” Internal Amplifier
Options, starting on pg 170
1 Not available for all amplifier options, see the proper
ocumentation.
SR90 SR-49000 Shunt regulator option
SSR Solid state rela 1
100mA 100mA current
-D3140 option onl
HALLF Filtered hall inputs
Table 1.4: Brief list of amplifier options
Chapter 1 Overview ▫ 5 DMC-41x3 User Manual

verview of Motor Types
The DMC-41x3 can provide the following t pes of motor control:
1. Standard servo motors with ±10 volt command signals
2. Step motors with step and direction signals
3. Other actuators such as h draulics and ceramic motors - For more information, contact Galil.
The user can configure each axis for an combination of motor t pes, providing maximum flexibilit .
Standard Servo Motor with ±10 Volt Command Signal
The DMC-41x3 achieves superior precision through use of a 16-Bit motor command output DAC and a
sophisticated PID filter that features velocit and acceleration feed-forward, an extra pole filter and integration
limits.
The controller is configured b the factor for standard servo motor operation. In this configuration, the controller
provides an analog signal (±10 volts) to connect to a servo amplifier. This connection is described in Chapter 2.
Stepper Motor with Step and Direction Signals
The DMC-41x3 can control stepper motors. In this mode, the controller provides two signals to
connect to the stepper motor: Step and Direction. For stepper motor operation, the controller does
not require an encoder and operates the stepper motor in an open loop fashion. Chapter 2 describes
the proper connection and procedure for using stepper motors.
If encoders are available on the stepper motor, Galil’s Stepper Position Maintenance Mode ma be
used for automatic monitoring and correction of the stepper position. See Stepper Position
Maintenance Mode (SPM) in Chapter 6 for more information.
verview of External Amplifiers
The amplifiers should be suitable for the motor and ma be linear or pulse-width-modulated. An amplifier ma
have current feedback, voltage feedback or velocit feedback.
Amplifiers in Current Mode
Amplifiers in current mode should accept an analog command signal in the ±10 volt range. The amplifier gain
should be set such that a +10V command will generate the maximum required current. For example, if the motor
peak current is 10A, the amplifier gain should be 1 A/V.
Amplifiers in Velocity Mode
For velocit mode amplifiers, a command signal of 10 volts should run the motor at the maximum required speed.
The velocit gain should be set such that an input signal of 10V runs the motor at the maximum required speed.
Stepper Motor Amplifiers
For step motors, the amplifiers should accept step and direction signals.
Chapter 1 Overview ▫ 6 DMC-41x3 User Manual

verview of Galil Amplifiers and Drivers
With the DMC-41x3 Galil offers a variet of Servo Amplifiers and Stepper Drivers that are integrated into the same
enclosure as the controller. Using the Galil Amplifiers and Drivers provides a simple straightforward motion
control solution in one box. Instead of having to route a +/-10V motor command signal, or STEP/DIR to some
external box, all the wiring is taken care of internall . In addition, Galil's internal amplifiers reside inside the same
box as the controller, saving real estate space and the hassle of configuring a separate device.
A full list of amplifier specifications and details can be found in the Integrated Components, starting on pg 183.
Chapter 1 Overview ▫ 7 DMC-41x3 User Manual

DMC-41x3 Functional Elements
The DMC-41x3 circuitr can be divided into the following functional groups as shown in Figure 1.4 and discussed
below.
Figure 1.4: DMC-41x3 Functional Elements
Microcomputer Section
The main processing unit of the controller is a specialized Microcomputer with RAM and Flash EEPROM. The RAM
provides memor for variables, arra elements, and application programs. The flash EEPROM provides non-volatile
storage of variables, programs, and arra s. The Flash also contains the firmware of the controller, which is field
upgradeable.
Motor Interface
Galil’s GL-1800 custom, sub-micron gate arra performs quadrature decoding of each encoder at up to 15 MHz.
For standard servo operation, the controller generates a ±10 volt analog signal (16 Bit DAC). For stepper motor
operation, the controller generates a step and direction signal.
Communication
The communication interface with the DMC-41x3 consists of high speed 100bT Ethernet and a USB programming
port.
General I/
The DMC-41x3 provides interface circuitr for 8 bi-directional, optoisolated inputs, 8 optoisolated outputs and 8
analog inputs with 12-Bit ADC (16-Bit optional). Unused auxiliar encoder inputs ma also be used as additional
Chapter 1 Overview ▫ 8 DMC-41x3 User Manual

inputs (2 inputs / each axis). The general inputs as well as the index pulse can also be used as high speed latches
for each axis. A high speed encoder compare output is also provided.
4183 The DMC-4153 through DMC-4183 controller provides an additional 8 optoisolated inputs and 8
optoisolated outputs.
System Elements
As shown in Figure 1.5, the DMC-41x3 is part of a motion control s stem which includes amplifiers, motors and
encoders. These elements are described below.
Figure 1.5: Elements of Servo Systems
Motor
A motor converts current into torque which produces motion. Each axis of motion requires a motor sized properl
to move the load at the required speed and acceleration.
The motor ma be a step or servo motor and can be brush-t pe or brushless, rotar or linear. For step motors, the
controller can be configured to control full-step, half-step, or microstep drives. An encoder is not required when
step motors are used.
Other motors and devices such as Ultrasonic Ceramic motors and voice coils can be controlled with the DMC-41x3.
Amplifier (Driver)
For each axis, the power amplifier converts a ±10 volt signal from the controller into current to drive the motor.
For stepper motors, the amplifier converts step and direction signals into current. The amplifier should be sized
properl to meet the power requirements of the motor. For brushless motors, an amplifier that provides
electronic commutation is required or the controller must be configured to provide sinusoidal commutation. The
amplifiers ma be either pulse-width-modulated (PWM) or linear. The ma also be configured for operation with
or without a tachometer. For current amplifiers, the amplifier gain should be set such that a 10 volt command
generates the maximum required current. For example, if the motor peak current is 10A, the amplifier gain should
be 1 A/V. For velocit mode amplifiers, 10 volts should run the motor at the maximum speed.
Galil offers amplifiers that are integrated into the same enclosure as the DMC-41x3. See the Integrated section in
the Appendices or http://galil.com/motion-controllers/multi-axis/dmc-41x3 for more information.
Encoder
An encoder translates motion into electrical pulses which are fed back into the controller. The DMC-41x3 accepts
feedback from either a rotar or linear encoder. T pical encoders provide two channels in quadrature, known as
Chapter 1 Overview ▫ 9 DMC-41x3 User Manual
Computer DMC-41x3 Controller Amplifier (Driver)
Power Supply
Encoder Motor

MA and MB. This t pe of encoder is known as a quadrature encoder. Quadrature encoders ma be either single-
ended (MA and MB) or differential (MA+, MA- and MB+, MB-). The DMC-41x3 decodes either t pe into quadrature
states or four times the number of c cles. Encoders ma also have a third channel (or index) for s nchronization.
The DMC-41x3 can be ordered with 120 Ω termination resistors installed on the encoder inputs. See the Ordering
Options in the Appendix for more information.
The DMC-41x3 can also interface to encoders with pulse and direction signals. Refer to the “CE” command in the
command reference for details.
There is no limit on encoder line densit ; however, the input frequenc to the controller must not exceed
3,750,000 full encoder c cles/second (15,000,000 quadrature counts/sec). For example, if the encoder line densit
is 10,000 c cles per inch, the maximum speed is 375 inches/second. If higher encoder frequenc is required,
please consult the factor .
The standard encoder voltage level is TTL (0-5v), however, voltage levels up to 12 Volts are acceptable. (If using
differential signals, 12 Volts can be input directl to the DMC-41x3. Single-ended 12 Volt signals require a bias
voltage input to the complementar inputs).
The DMC-41x3 can accept analog feedback (±10v) instead of an encoder for an axis. For more information see
the command AF in the command reference.
To interface with other t pes of position sensors such as absolute encoders, Galil can customize the controller and
command set. Please contact Galil to talk to one of our applications engineers about our particular s stem
requirements.
Watch Dog Timer
The DMC-41x3 provides an internal watch dog timer which checks for proper microprocessor operation. The timer
toggles the Amplifier Enable Output (AMPEN) which can be used to switch the amplifiers off in the event of a
serious DMC-41x3 failure. The AMPEN output is normall high. During power-up and if the microprocessor ceases
to function properl , the AMPEN output will go low. The error light will also turn on at this stage. A reset is
required to restore the DMC-41x3 to normal operation. Consult the factor for a Return Materials Authorization
(RMA) Number if our DMC-41x3 is damaged.
Chapter 1 Overview ▫ 10 DMC-41x3 User Manual

Chapter 2 Getting Started
Elements You Need
For a complete s stem, Galil recommends the following elements:
1. DMC-41x3 series motion controller
2. Motor Amplifiers (integrated when using Galil amplifiers)
3. Power Suppl for controller and amplifiers
4. Brushed or brushless servo motors with encoders or stepper motors
5. Cables for connecting motors and encoders to DMC-41x3
6. PC running Windows 7 or newer (64 bit) or Linux (64 bit)
7. Ethernet cable or straight-through serial cable
8. GDK software
GDK is recommended for first time users of the DMC-41x3. It provides interactive instructions for s stem
connection, tuning, and anal sis.
Chapter 2 Getting Started ▫ 11 DMC-41x3 User Manual

Installing the DMC, Amplifiers, and Motors
Installation of a complete, operational motion control s stem consists of the following steps:
Step 1. Connecting Encoder Feedback, pg 13 Optional for steppers
Step 2a. Wiring Motors to Galil's Internal Amplifiers, pg 14 Internal Amplifiers only
Step 2b. Connecting External Amplifiers and Motors, pg 15 External Amplifiers only
Step 3. Power the Controller, pg 16
Step 4. Install the Communications Software, pg 17
Step 5. Establish Communications with Galil Software, pg 17
Step 6. Motor Setup with GDK Step-B -Step, pg 17 Internal Amplifiers only
Step 7. Setting Safet Features, pg 18
Step 8. Tune the Servo S stem, pg 19 Servo motors only
WARNING All wiring procedures and suggestions mentioned in the following sections should be done with the
controller in a powered-off state. Failing to do so can cause harm to the user or to the controller.
N TE
The following instructions are given for Galil products onl . If wiring an non-Galil device, follow the
instructions provided with that product. Galil shall not be liable or responsible for an incidental or
consequential damages that occur to a 3rd part device.
Chapter 2 Getting Started ▫ 12 DMC-41x3 User Manual

Step 1. Connecting Encoder Feedback
The t pe of feedback the controller is capable of interfacing with depends on the additional options ordered for
the controller. Table 2.1 shows the different encoder feedback t pes available for the DMC-41x3 including which
options are required. Note that each feedback t pe has a different configuration command. See the Command
Reference for full details on how to properl configure each axis.
N TE GDK's Step-B -Step tool provides an interactive walk-through for configuring motor encoders.
Feedback Type Configuration
Command ICM/Part Number Required Connection Location Firmware Required
Standard
Quadrature CE Standard on all units Encoder Standard
Pulse and
Direction CE Standard on all units Encoder Standard
Analog 1AF Standard on all units
(12-bit Standard. 16-bit optional) Analog Standard
SSI SI SER option Encoder -SER
BiSS SS SER option Encoder -SER
None2– – – –
Other Contact Galil
Table 2.1: Configuration comman s, ICM/Part numbers require for a given fee back type
1 All wiring/electrical information regarding using analog inputs can be found in Analog Inputs, pg 32.
2 Although stepper s stems do not require feedback, Galil supports a feedback sensor on each stepper axis. Servo motors require a
position sensor.
Different feedback t pes can be used on the same controller. For instance, one axis could be using standard
quadrature and the next could be using SSI. B default, all axes are configured for standard quadrature.
When a stepper motor is used, the auxiliar encoder for the corresponding axis is unavailable for an external
connection. If an encoder is used for position feedback with a stepper motor, connect the encoder to the main
encoder input corresponding to that axis. The commanded position of the stepper can be interrogated with TD
and the encoder position can be interrogated with TP.
See SER – BiSS and SSI Absolute Encoder Interface, pg 170 for pin-outs and electrical information for SSI and BiSS
options.
Encoder pin-outs can be found here:
Jn1 - Encoder 26 pin HD D-Sub Connector (Female), pg 176
Chapter 2 Getting Started ▫ 13 DMC-41x3 User Manual

Step 2a. Wiring Motors to Galil's Internal Amplifiers
If an external amplifier is being used, proceed to Step 2b. Connecting External Amplifiers and Motors. Table 2.2
below provides a general overview of the connections required for connecting different t pes of motors to Galil
internal amplifiers.
Motor Type Required Connections
Brushless servo motor • Power to controller and internal amplifier
• Motor power leads to internal amplifiers
• Encoder feedback
• Hall sensors (Optional for sinusoidal amplifiers)
Brushed servo motor • Power to controller and internal amplifier
• Motor power leads to internal amplifiers
• Encoder feedback
Stepper motor • Power to controller and internal drive
• Motor power leads to internal drive
• Encoder feedback (optional)
Table 2.2: Synopsis of connections require to connect a motor to Galil's internal amplifiers
Table 2.3 lists each of Galil's internal amplifiers and where to find pin-outs of the amplifier connections and
electrical specifications. The commutation method and whether hall sensors are required are also listed.
Amplifier Commutation Hall Sensors Required
A1 – AMP-430x0 (-D3040,-D3020), pg 185 Trapezoidal or Brushed Required for brushless motors
A2 – AMP-43140 (-D3140), pg 193 Brushed No
A3 – AMP-43240 (-D3240), pg 183 Trapezoidal or Brushed Required for brushless motors
A4 – AMP-43540 (-D3540, -D3520), pg 202 Sinusoidal or Brushed Optional for brushless motors
A5 – AMP-43547 (-D3547, -D3527), pg 209 Sinusoidal, Stepper, or Brushed Optional for brushless motors
A6 – AMP-43640 (-D3640), pg 217 Sinusoidal Optional for brushless motors
A7 – SDM-44040 (-D4040,-D4020), pg 223 N/A, Stepper No
A8 – SDM-44140 (-D4140), pg 227 N/A, Stepper No
Table 2.3: Amplifier ocumentation location, commutation metho (s), an hall sensor requirements for each internal amplifier.
Pin-outs for the hall sensor inputs can be found here:
Jn1 - Encoder 26 pin HD D-Sub Connector (Female), pg 176
Chapter 2 Getting Started ▫ 14 DMC-41x3 User Manual