Galil DMC-4040 User manual

USER MANUAL
DMC-40x0
Manual Rev. 1.0f
By Galil Motion Control, Inc.
Galil Motion Control, Inc.
270 Technology Way
Rocklin, California 95765
Phone [phone]
Fax [phone]
E-mail Address [email protected]
URL www.galilmc.com
Rev 8/09

Using This Manual
This user manual provides information for proper operation of the DMC-40x0 controller. A separate supplemental
manual, the Command Reference, contains a description of the commands available for use ith this controller.
Your DMC-40x0 motion controller has been designed to ork ith both servo and stepper type motors. Installation
and system setup ill vary depending upon hether the controller ill be used ith stepper motors or servo motors.
To make finding the appropriate instructions faster and easier, icons ill be next to any information that applies
exclusively to one type of system. Other ise, assume that the instructions apply to all types of systems. The icon
legend is sho n belo .
Attention: Pertains to servo motor use.
Attention: Pertains to stepper motor use.
4080
Attention: Pertains to controllers ith more than 4 axes.
Please note that many examples are ritten for the DMC-4040 four-axes controller or the DMC-4080 eight axes
controller. Users of the DMC-4030 3-axis controller, DMC-4020 2-axes controller or DMC-4010 1-axis controller
should note that the DMC-4030 uses the axes denoted as XYZ, the DMC-4020 uses the axes denoted as XY, and the
DMC-4010 uses the X-axis only.
Examples for the DMC-4080 denote the axes as A,B,C,D,E,F,G,H. Users of the DMC-4050 5-axes controller.
DMC-4060 6-axes controller or DMC-4070, 7-axes controller should note that the DMC-4050 denotes the axes as
A,B,C,D,E, the DMC-4060 denotes the axes as A,B,C,D,E,F and the DMC-4070 denotes the axes as
A,B,C,D,E,F,G. The axes A,B,C,D may be used interchangeably ith A,B,C,D.
WARNING Machinery in motion can be dangerous! It is the responsibility of the user to design
effective error handling and safety protection as part of the machinery. Galil shall not be liable or
responsible for any incidental or consequential damages.
DMC-40x0 Contents • i

Contents
Contents iii
Chapter 1 Overview 1
Introduction ................................................................................................................... 1
Overvie of Motor Types ............................................................................................. 2
Standard Servo Motor ith +/- 10 Volt Command Signal ....... 2
Brushless Servo Motor ith Sinusoidal Commutation ............. 2
Stepper Motor ith Step and Direction Signals ....................... 2
Overvie of External Amplifiers .................................................................................. 3
Amplifiers in Current Mode ...................................................... 3
Amplifiers in Velocity Mode .................................................... 3
Stepper Motor Amplifiers ......................................................... 3
Overvie of Galil Amplifiers and Drivers ................................................................... 3
A1 – AMP-430x0 (-D3040, -D3020) ........................................ 3
A2 – AMP-43140 (-D3140) ...................................................... 3
A3 – SDM-44040 (-D4040) ...................................................... 3
A4 – SDM-44140 (-D4140) ...................................................... 3
DMC-40x0 Functional Elements .................................................................................. 4
Microcomputer Section ............................................................. 4
Motor Interface ......................................................................... 4
Communication ......................................................................... 4
General I/O ................................................................................ 4
System Elements ....................................................................... 5
Motor ......................................................................................... 5
Amplifier (Driver) ..................................................................... 5
Encoder ..................................................................................... 6
Watch Dog Timer ..................................................................... 6
Chapter 2 Getting Started 7
DMC-4040 Layout ........................................................................................................ 7
DMC-4080 Layout ........................................................................................................ 8
DMC-40x0 Po er Connections .................................................................................... 9
DMC-4040 Dimensions ................................................................................................ 10
DMC-4080 Dimensions ................................................................................................ 11
Elements You Need ...................................................................................................... 12
Installing the DMC-40x0 .............................................................................................. 13
Step 1. Determine Overall Motor Configuration ...................... 13
Step 2. Install Jumpers on the DMC-40x0 ................................ 14
Step 3. Install the Communications Soft are ........................... 14
Step 4. Connect 20-80VDC Po er to the Controller ................ 15
Step 5. Establish Communications ith Galil Soft are ........... 15
Step 6. Determine the Axes to be Used for Sinusoidal Commutation .......................................................... 17
Step 7. Make Connections to Amplifier and Encoder. ............. 18
Step 8a. Connect Standard Servo Motors ................................. 19
Step 8b. Connect Sinusoidal Commutation Motors .................. 21
Step 8c. Connect Step Motors ................................................... 24
Step 9. Tune the Servo System ................................................. 24
Design Examples .......................................................................................................... 25
Example 1 - System Set-up ....................................................... 25
Example 2 - Profiled Move ....................................................... 25
DMC-40x0 Contents • ii

Example 3 - Multiple Axes ....................................................... 26
Example 4 - Independent Moves .............................................. 26
Example 5 - Position Interrogation ........................................... 26
Example 6 - Absolute Position ................................................. 26
Example 7 - Velocity Control ................................................... 27
Example 8 - Operation Under Torque Limit ............................. 27
Example 9 - Interrogation ......................................................... 27
Example 10 - Operation in the Buffer Mode ............................ 28
Example 11 - Using the On-Board Editor ................................. 28
Example 12 - Motion Programs ith Loops ............................. 28
Example 13 - Motion Programs ith Trippoints ...................... 29
Example 14 - Control Variables ............................................... 29
Example 15 - Linear Interpolation ............................................ 30
Example 16 - Circular Interpolation ......................................... 30
Chapter Connecting Hardware 2
Overvie ....................................................................................................................... 32
Using Optoisolated Inputs ............................................................................................. 32
Limit S itch Input .................................................................... 32
Home S itch Input ................................................................... 33
Abort Input ................................................................................ 33
ELO (Electronic Lock-Out) Input ............................................. 34
Reset Input ................................................................................ 34
Uncommitted Digital Inputs ..................................................... 34
Wiring the Optoisolated Inputs ..................................................................................... 34
Electrical Specifications ............................................................ 34
Bi-Directional Capability .......................................................... 34
Using an Isolated Po er Supply ............................................... 36
Bypassing the Opto-Isolation: ................................................... 37
TTL Inputs .................................................................................................................... 37
The Auxiliary Encoder Inputs ................................................... 37
High Po er Opto-Isolated Outputs ............................................................................... 38
Electrical Specifications ............................................................ 38
Wiring the Opto-Isolated Outputs ............................................. 38
Analog Inputs ................................................................................................................ 39
AQ settings ................................................................................ 39
Electrical Specifications ............................................................ 39
TTL Outputs ................................................................................................................. 39
Output Compare ........................................................................ 39
Error Output .............................................................................. 39
Extended I/O of the DMC-40x0 Controller ................................................................. 40
Electrical Specifications (3.3V – Standard) .............................. 40
Electrical Specifications (5V – Option) .................................... 40
Amplifier Interface ........................................................................................................ 41
Electrical Specifications ............................................................ 41
Overvie ................................................................................... 41
ICM-42000 and ICM-42100 Amplifier Enable Circuit ............ 41
ICM-42200 Amplifier Enable Circuit ....................................... 44
Chapter 4 Software Tools and Communication 48
Introduction ................................................................................................................... 48
RS232 and RS422 Ports ................................................................................................ 48
RS-232 Configuration ............................................................... 48
RS-422 Configuration ............................................................... 50
Ethernet Configuration .................................................................................................. 50
Communication Protocols ......................................................... 50
Addressing ................................................................................ 51
Communicating ith Multiple Devices .................................... 52
Multicasting .............................................................................. 52
Using Third Party Soft are ...................................................... 52
Modbus ......................................................................................................................... 53
Modbus Examples .................................................................... 54
Data Record .................................................................................................................. 55
Explanation Data Record Bit Fields ......................................... 60
Notes Regarding Velocity and Torque Information ................. 61
QZ Command ............................................................................ 61
Controller Response to Commands .............................................................................. 61
Unsolicited Messages Generated by Controller ............................................................ 62
DMC-40x0 Contents • iii

GalilTools (Windo s and Linux) ................................................................................. 63
Creating Custom Soft are Interfaces ........................................................................... 65
HelloGalil – Quick Start to PC programming ........................... 65
GalilTools Communication Libraries ....................................... 65
ActiveX Toolkit ........................................................................ 66
DMCWin Programmers Toolkit ............................................... 66
Galil Communications API ith C/C++ ................................... 67
Galil Communications API ith Visual Basic ........................ 67
DOS, and QNX tools .................................................................................................... 69
Chapter 5 Command Basics 70
Introduction ................................................................................................................... 70
Command Syntax - ASCII ............................................................................................ 70
Coordinated Motion ith more than 1 axis .............................. 71
Command Syntax – Binary (advanced) ........................................................................ 72
Binary Command Format ......................................................... 72
Binary command table .............................................................. 73
Controller Response to DATA ...................................................................................... 74
Interrogating the Controller .......................................................................................... 74
Interrogation Commands .......................................................... 74
Summary of Interrogation Commands ...................................... 75
Interrogating Current Commanded Values. .............................. 75
Operands ................................................................................... 75
Command Summary ................................................................. 75
Chapter 6 Programming Motion 76
Overvie ....................................................................................................................... 76
Independent Axis Positioning ....................................................................................... 78
Command Summary - Independent Axis .................................. 78
Operand Summary - Independent Axis .................................... 78
Independent Jogging ..................................................................................................... 80
Command Summary - Jogging ................................................ 80
Operand Summary - Independent Axis .................................... 81
Position Tracking .......................................................................................................... 81
Example - Motion 2: ............................................................... 83
Example Motion 4 ................................................................... 84
Trip Points ................................................................................. 85
Command Summary – Position Tracking Mode ..................... 86
Linear Interpolation Mode ............................................................................................ 86
Specifying Linear Segments ..................................................... 86
Command Summary - Linear Interpolation .............................. 88
Operand Summary - Linear Interpolation ................................ 88
Example - Linear Move ............................................................ 89
Example - Multiple Moves ....................................................... 90
Vector Mode: Linear and Circular Interpolation Motion ............................................. 91
Specifying the Coordinate Plane ............................................... 91
Specifying Vector Segments ..................................................... 91
Additional commands ............................................................... 92
Command Summary - Coordinated Motion Sequence ............. 94
Operand Summary - Coordinated Motion Sequence ................ 94
Electronic Gearing ........................................................................................................ 95
Ramped Gearing ........................................................................................................... 96
Example – Electronic Gearing Over a Specified Interval ......... 97
Command Summary - Electronic Gearing ................................ 98
Example - Simple Master Slave ................................................ 98
Example - Electronic Gearing ................................................... 98
Example - Gantry Mode ............................................................ 98
Electronic Cam .............................................................................................................. 99
Command Summary - Electronic CAM ................................... 103
Operand Summary - Electronic CAM ...................................... 103
Example - Electronic CAM ...................................................... 103
PVT Mode ..................................................................................................................... 105
Specifying PVT Segments ........................................................ 105
Exiting PVT Mode .................................................................... 105
Error Conditions and Stop Codes ............................................. 105
Additional PVT Information ..................................................... 105
Command Summary – PVT ...................................................... 106
PVT Examples .......................................................................... 106
DMC-40x0 Contents • iv

Multi-Axis Coordinated Move .................................................. 108
Contour Mode ............................................................................................................... 110
Specifying Contour Segments ................................................... 110
Additional Commands .............................................................. 111
Command Summary - Contour Mode ...................................... 111
Stepper Motor Operation .............................................................................................. 115
Specifying Stepper Motor Operation ....................................... 115
Using an Encoder ith Stepper Motors .................................... 116
Command Summary - Stepper Motor Operation ..................... 116
Operand Summary - Stepper Motor Operation ......................... 116
Stepper Position Maintenance Mode (SPM) ................................................................. 117
Internal Controller Commands (user can query): ..................... 117
User Configurable Commands (user can query & change): ..... 117
Error Limit ................................................................................ 117
Correction ................................................................................. 117
Dual Loop (Auxiliary Encoder) .................................................................................... 120
Backlash Compensation ............................................................ 121
Motion Smoothing ....................................................................................................... 122
Using the IT Command: ............................................................ 122
Using the KS Command (Step Motor Smoothing): .................. 124
Homing ......................................................................................................................... 124
Stage 1: ...................................................................................... 124
Stage 2: ...................................................................................... 124
Stage 3: ...................................................................................... 124
Command Summary - Homing Operation ............................... 127
Operand Summary - Homing Operation ................................... 127
High Speed Position Capture (The Latch Function) .................................................... 127
Fast Update Rate Mode ................................................................................................ 129
Chapter 7 Application Programming 1 0
Overvie ....................................................................................................................... 130
Using the DMC-40x0 Editor to Enter Programs ........................................................... 130
Edit Mode Commands .............................................................. 131
Program Format ............................................................................................................ 131
Using Labels in Programs ......................................................... 131
Special Labels ........................................................................... 132
Commenting Programs ............................................................. 132
Executing Programs - Multitasking .............................................................................. 133
Debugging Programs .................................................................................................... 134
Program Flo Commands ............................................................................................ 135
Event Triggers & Trippoints ..................................................... 135
Event Trigger Examples: .......................................................... 137
Conditional Jumps .................................................................... 139
Using If, Else, and Endif Commands ........................................ 141
Subroutines ............................................................................... 142
Stack Manipulation ................................................................... 142
Auto-Start Routine .................................................................... 143
Automatic Subroutines for Monitoring Conditions .................. 143
JS Subroutine Stack Variables (^a, ^b, ^c, ^d, ^e, ^f, ^g, ^h) ... 147
Mathematical and Functional Expressions ................................................................... 149
Mathematical Operators ............................................................ 149
Bit-Wise Operators ................................................................... 150
Functions .................................................................................. 151
Variables ....................................................................................................................... 151
Programmable Variables ........................................................... 152
Operands ....................................................................................................................... 153
Special Operands (Key ords) .................................................. 153
Arrays ............................................................................................................................ 154
Defining Arrays ........................................................................ 154
Assignment of Array Entries .................................................... 154
Automatic Data Capture into Arrays ........................................ 155
De-allocating Array Space ........................................................ 157
Input of Data (Numeric and String) .............................................................................. 157
Input of Data ............................................................................. 157
Operator Data Entry Mode ....................................................... 158
Using Communication Interrupt .............................................. 158
Output of Data (Numeric and String) ........................................................................... 160
Sending Messages ..................................................................... 160
Displaying Variables and Arrays ............................................. 161
DMC-40x0 Contents • v

Interrogation Commands .......................................................... 162
Formatting Variables and Array Elements ............................... 163
Converting to User Units .......................................................... 164
Hard are I/O ................................................................................................................ 164
Digital Outputs .......................................................................... 164
Digital Inputs ............................................................................ 165
The Auxiliary Encoder Inputs ................................................... 166
Input Interrupt Function ............................................................ 166
Analog Inputs ............................................................................ 167
Extended I/O of the DMC-40x0 Controller ................................................................. 168
Configuring the I/O of the DMC-40x0 ..................................... 168
Saving the State of the Outputs in Non-Volatile Memory ........ 168
Accessing Extended I/O ............................................................ 169
Example Applications ................................................................................................... 169
Wire Cutter ................................................................................ 169
X-Y Table Controller ................................................................ 170
Speed Control by Joystick ........................................................ 173
Position Control by Joystick ..................................................... 174
Backlash Compensation by Sampled Dual-Loop ..................... 174
Chapter 8 Hardware & Software Protection 177
Introduction ................................................................................................................... 177
Hard are Protection ..................................................................................................... 177
Output Protection Lines ............................................................ 177
Input Protection Lines ............................................................... 178
Soft are Protection ....................................................................................................... 178
Programmable Position Limits ................................................. 179
Off-On-Error ............................................................................. 179
Automatic Error Routine ........................................................... 179
Limit S itch Routine ................................................................ 180
Chapter 9 Troubleshooting 181
Overvie ....................................................................................................................... 181
Installation ..................................................................................................................... 181
Stability ......................................................................................................................... 182
Operation ....................................................................................................................... 182
Chapter 10 Theory of Operation 18
Overvie ....................................................................................................................... 183
Operation of Closed-Loop Systems .............................................................................. 185
System Modeling .......................................................................................................... 186
Motor-Amplifier ....................................................................... 187
Encoder ..................................................................................... 189
DAC .......................................................................................... 189
Digital Filter .............................................................................. 190
ZOH .......................................................................................... 191
System Analysis ............................................................................................................ 191
System Design and Compensation ................................................................................ 193
The Analytical Method ............................................................. 193
Appendices 197
Electrical Specifications ................................................................................................ 197
Servo Control ............................................................................ 197
Stepper Control ......................................................................... 197
Input / Output ............................................................................ 197
Po er Requirements ................................................................. 198
Max Po er Output .................................................................... 198
Performance Specifications .......................................................................................... 199
Minimum Servo Loop Update Time: ........................................ 199
Fast Update Rate Mode ................................................................................................ 200
Ordering Options for the DMC-40x0 ........................................................................... 201
Overvie ................................................................................... 201
DMC-40x0 Controller Board Options ...................................... 201
CMB Communication Board Options ...................................... 202
ICM Interconnect Board Options .............................................. 202
AMP Internal Amplifier Options .............................................. 204
DMC-40x0 Contents • vi

Po er Connectors for the DMC-40x0 .......................................................................... 205
Overvie ................................................................................... 205
Molex Part Numbers Used ........................................................ 205
Cable Connections for DMC-40x0 ............................................................................... 206
Standard RS-232 Specifications ............................................... 206
DMC-40x0 Serial Cable Specifications .................................... 207
Pin-Out Description for DMC-40x0 ............................................................................. 208
Configuring the Amplifier Enable Circuit .................................................................... 210
ICM-42000 and ICM-42100 ..................................................... 210
DMC-4040 (Steps 1 and 2) ....................................................... 210
DMC-4080 (Steps 1 and 2) ....................................................... 212
DMC-4040 and DMC-4080 (Step 3) ........................................ 214
DMC-4040 (Steps 4 and 5) ....................................................... 221
DMC-4080 (Steps 4 and 5) ....................................................... 223
Coordinated Motion - Mathematical Analysis ............................................................. 225
Example- Communicating ith OPTO-22 SNAP-B3000-ENET ................................. 228
DMC-40x0/DMC-2200 Comparison ............................................................................ 230
List of Other Publications ............................................................................................. 231
Training Seminars ......................................................................................................... 231
Contacting Us ................................................................................................................ 232
WARRANTY ............................................................................................................... 233
Integrated Components 2 4
Overvie ....................................................................................................................... 234
A1 – AMP-430x0 (-D3040,-D3020) 2- and 4-axis 500W Servo Drives .................................................... 234
A2 – AMP-43140 (-D3140) 4-axis 20W Linear Servo Drives 234
A3 – SDM-44040 (-D4040) 4-axis Stepper Drives ................. 234
A4 – SDM-44140 (-D4140) 4-axis Microstep Drives .............. 234
A5 – CMB-41012 (-C012) Communications Board ................. 234
A6 – ICM-42000 (-I000) Interconnect Module ........................ 234
A7 – ICM-42100 (-I100) Sinusoidal Encoder Interpolation Module ......................................................... 235
A8 – ICM-42200 (-I200) Interconnect Module ........................ 235
A1 – AMP-4 0x0 (-D 040,-D 020) 2 6
Description .................................................................................................................... 236
Electrical Specifications ................................................................................................ 237
Mating Connectors .................................................................... 237
Operation ....................................................................................................................... 238
Brushless Motor Setup .............................................................. 238
Brushless Amplifier Soft are Setup ......................................... 238
Chopper Mode .......................................................................... 238
Brush Amplifier Operation ....................................................... 239
Using External Amplifiers ........................................................ 239
Error Monitoring and Protection ............................................... 239
Hall Error Protection ................................................................. 240
Under-Voltage Protection ......................................................... 240
Over-Voltage Protection ........................................................... 240
Over-Current Protection ............................................................ 240
Over-Temperature Protection ................................................... 241
ELO Input ................................................................................. 241
A2 – AMP-4 140 (-D 140) 242
Description .................................................................................................................... 242
Electrical Specifications ................................................................................................ 243
Mating Connectors .................................................................... 243
Operation ....................................................................................................................... 244
Using External Amplifiers ........................................................ 244
ELO Input ................................................................................. 244
-SSR Option .............................................................................. 244
A – SDM-44040 (-D4040) 245
Description .................................................................................................................... 245
Electrical Specifications ................................................................................................ 246
Mating Connectors .................................................................... 246
Operation ....................................................................................................................... 247
Current Level Setup (AG Command) ....................................... 247
DMC-40x0 Contents • vii

Lo Current Setting (LC Command) ....................................... 247
Step Drive Resolution Setting (YA command) ........................ 247
ELO Input ................................................................................. 248
A4 – SDM-44140 (-D4140) 249
Description .................................................................................................................... 249
Electrical Specifications ................................................................................................ 250
Mating Connectors .................................................................... 250
Operation ....................................................................................................................... 251
Current Level Setup (AG Command) ....................................... 251
Lo Current Setting (LC Command) ....................................... 251
ELO Input ................................................................................. 251
A5 – CMB-41012 (-C012) 252
Description .................................................................................................................... 252
Connectors for CMB-41012 Interconnect Board ......................................................... 252
CMB-41012 Extended I/O 44 pin HD D-Sub Connector (Male) ............................................................... 252
RS-232-Main Port (Male) ....................................................... 253
RS-232-Auxiliary Port (Female) ............................................... 253
RS-422-Main Port (Non-Standard Option) ............................... 253
RS-422-Auxiliary Port (Non-Standard Option) ........................ 254
Ethernet ..................................................................................... 254
Jumper Description for CMB-41012 ........................................ 255
A6 – ICM-42000 (-I000) 256
Description .................................................................................................................... 256
Connectors for ICM-42000 Interconnect Board ........................................................... 256
ICM-42000 I/O (A-D) 44 pin HD D-Sub Connector (Female) 256
ICM-42000 I/O (E-H) 44 pin HD D-Sub Connector (Female) . 257
ICM-42000 External Driver (A-D) 44 pin HD D-Sub Connector (Male) .................................................. 257
ICM-42000 External Driver (E-H) 44 pin HD D-Sub Connector (Male) .................................................. 258
ICM-42000 Encoder 15 pin HD D-Sub Connector (Female) ... 259
ICM-42000 Analog 15 pin D-sub Connector (Male) ............... 259
Jumper Description for ICM-42000 ......................................... 260
A7 – ICM-42100 (-I100) 261
Description .................................................................................................................... 261
Connectors for ICM-42100 Interconnect Board ........................................................... 261
ICM-42100 I/O (A-D) 44 pin HD D-Sub Connector (Female) 261
ICM-42100 I/O (E-H) 44 pin HD D-Sub Connector (Female) . 262
ICM-42100 External Driver (A-D) 44 pin HD D-Sub Connector (Male) .................................................. 262
ICM-42100 External Driver (E-H) 44 pin HD D-Sub Connector (Male) .................................................. 264
ICM-42100 Encoder 15 pin HD D-Sub Connector (Female) ... 265
ICM-42100 Analog 15 pin D-sub Connector (Male) ............... 265
Theory of Operation ...................................................................................................... 266
A8 – ICM-42200 (-I200) 268
Description .................................................................................................................... 268
Connectors for ICM-42200 Interconnect Board ........................................................... 268
ICM-42200 I/O (A-D) 44 pin HD D-Sub Connector (Female) 268
ICM-42200 DMC-40x0 I/O (E-H) 44 pin HD D-Sub Connector (Female) ............................................... 269
ICM-42200 Encoder 26 pin HD D-Sub Connector (Female) ... 269
ICM-42200 Analog 15 pin D-sub Connector (Male) ............... 270
Jumper Description for ICM-42000 ......................................... 270
Index 271
DMC-40x0 Contents • viii

Chapter 1 Overview
Introduction
The DMC-40x0 Series are Galil’s highest performance stand-alone controller. The controller series offers many
enhanced features including high speed communications, non-volatile program memory, faster encoder speeds, and
improved cabling for EMI reduction.
Each DMC-40x0 provides t o communication channels: high speed RS-232 (2 channels up to 115K Baud) and
10BaseT Ethernet. The controllers allo for high-speed servo control up to 22 million encoder counts/sec and step
motor control up to 6 million steps per second. Sample rates as lo as 31.25 µsec per axis are available.
A Flash EEPROM provides non-volatile memory for storing application programs, parameters, arrays and firm are.
Ne firm are revisions are easily upgraded in the field.
The DMC-40x0 is available ith up to eight axes in a single stand alone unit. The DMC-4010, 4020, 4030, 4040
are one thru four axes controllers and the DMC-4050, 4060, 4070, 4080 are five thru eight axes controllers. All
eight axes have the ability to use Galil’s integrated amplifiers or drivers and connections for integrating external
devices.
Designed to solve complex motion problems, the DMC-40x0 can be used for applications involving jogging, point-
to-point positioning, vector positioning, electronic gearing, multiple move sequences, and contouring. The
controller eliminates jerk by programmable acceleration and deceleration ith profile smoothing. For smooth
follo ing of complex contours, the DMC-40x0 provides continuous vector feed of an infinite number of linear and
arc segments. The controller also features electronic gearing ith multiple master axes as ell as gantry mode
operation.
For synchronization ith outside events, the DMC-40x0 provides uncommitted I/O, including 8 opto-isolated digital
inputs (16 inputs for DMC-4050 thru DMC-4080), 8 high po er optically isolated outputs (16 outputs for DMC-
4050 thru DMC-4080), and 8 analog inputs for interface to joysticks, sensors, and pressure transducers. The DMC-
40x0 also has an additional 32 I/O at 3.3V logic. Further I/O is available if the auxiliary encoders are not being used
(2 inputs / each axis). Dedicated optoisolated inputs are provided for for ard and reverse limits, abort, home, and
definable input interrupts.
Commands can be sent in either Binary or ASCII. Additional soft are is available for automatic-tuning, trajectory
vie ing on a PC screen, CAD translation, and program development using many environments such as Visual
Basic, C, C++ etc. Drivers for Windo s XP (32 & 64 bit).
Chapter 1 Overview • 1 DMC-40x0 User Manual