Page 1 USER MANUAL / COMMAND REFERENCE DMC-21x3 Amplifiers & Accessories Manual Rev. 1.0p Galil Motion Control, Inc. 270 Technology Way Rocklin, California 95765 Phone: (916) 626-0101 Fax: (916) 626-0102 E-mail Address: support@galil.com URL: www.galil.com Rev 08/16...
Page 2: Using This Manual
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 machine. Galil shall not be liable or responsible for any incidental or consequential damages.
Page 3: Table Of Contents
NTRODUCTION ..........................21 LECTRICAL PECIFICATIONS ...................................21 AYOUT ..................................22 INOUT ICM-20105 .........................24 ONFIGURATIONS FOR Amplifier Enable Circuit ............................24 Opto Isolation Settings ............................26 CHAPTER 5 SDM-20240/20242 ..........................28 ................................28 NTRODUCTION ..........................29 LECTRICAL PECIFICATIONS ...................................29 AYOUT ..................................30 INOUT Mating Connectors .............................32 DMC-21x3 Accessories Contents• 1...
Page 4 Hall Error Protection ............................57 Under-Voltage Protection ..........................58 Over-Voltage Protection ............................58 Over-Current Protection ............................58 Over-Temperature Protection ..........................58 ............................59 BORT NPUT PTIONS CHAPTER 10 AMP-20542 (OBSOLETE) ......................60 ................................60 NTRODUCTION ..........................61 LECTRICAL PECIFICATIONS ...................................61 AYOUT ..................................62 INOUT Mating Connectors .............................64 2 • Contents DMC-21x3 Accessories...
Page 5 CHAPTER 15 CABLES FOR AMP-20XXX ......................92 APPENDIX A ABORT INPUT OPTIONS ......................98 ELO S ..............................98 CENARIOS DMC-2143 with AMP-20540 ..........................98 DMC-2143 with SDM-20640 ..........................99 DMC-2183 with two AMP-20440s ........................99 APPENDIX B MATING D-SHELLS ........................102 APPENDIX C COMMAND REFERENCE ......................104 DMC-21x3 Accessories Contents• 3...
Page 6 AE ..................................105 AG ..................................106 AU ..................................107 AW ..................................108 BR ..................................109 BS ..................................110 CN ..................................111 CO ..................................112 LC ..................................113 QH ..................................114 TA ..................................115 TK ..................................116 TL (Binary 8a) ..............................117 4 • Contents DMC-21x3 Accessories...
Page 7: Chapter 1 Overview
DC to DC Option The DMC-21x3 series controllers can be ordered with an optional DC-to-DC converter so that a single DC power supply can be used to power the controller (as opposed to the standard 5 V and +/-12 V input). This can be ordered as either the –DC24 (18-36 VDC range) or –DC48 (36-72 VDC range).
Page 8: Dc To Dc Pass Through
“Pass Through” header located at J98 (1-4 axes) or JP14 (5-8 axes) on the controller. When using the pass through on a 1-4 axis DMC-21x3 controller, DC power must be applied only to the amplifier’s power connector.
Page 9: Cables
Cables Part Number Description 15-pin high density D-sub cable with 1 m flying leads (AMP-204x0 and CABLE-15-1m AMP-205x0) 44-pin high density D-sub cable with 1 m flying leads (AMP-204x0 and CABLE-44-1m AMP-205x0) DMC-21x3 Accessories Chapter 1 Overview• 7...
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Page 11: Chapter 2 Sr-19900
____________________________________________________________________________ Introduction For applications requiring a shunt regulator, Galil offers a small mountable model that can be configured for varying voltage levels. Two fixed voltage threshold settings are available with jumpers, which can be set at either 33 or 66 volts.
Page 12 DCPower Supply SR-19900 Shunt Regulator System Load Controller Motor MOCMDx Amplifier (Inertia) Encoder Figure 1 Shunt Regulator Placement in a Typical Servo System 10 • Chapter 2 SR-19900 DMC-21x3 Accessories...
Page 13: Layout
USR - User Settable Voltage SR-19900 Configuration R8 = 1930 * Vs -42.2K Voltage Threshold Voltage Setting (Vs) (Vs) R8 value (ohms) 33 volts 4.12 k 66 volts 50.44 k User selectable 96.76 k DMC-21x3 Accessories Chapter 2 SR-19900• 11...
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Page 15: Chapter 3 Icm-20100
__________________________________________________________________ Introduction The ICM-20100 interconnect module provides D-Sub connections between the DMC-21x3 series controllers and other system elements, such as amplifiers, encoders, and external switches. The ICM-20100 provides access to the signals for up to 4 axes (two required for 5 or more axes).
Page 16: Layout
Layout Drawing Not to Scale. For Reference Only. Dimensions are inches Figure 4 ICM-20100 Layout Board Dimensions are 3.7” x 4.25”. See Application Note #1231 for Hole Locations. 14 • Chapter 3 ICM-20100 DMC-21x3 Accessories...
Page 17: Pinout
B- Z B- W I- Z I- W Amp enable Z Amp enable W Sign/dir Z Sign/dir W Reverse limit Z Reverse limit W Ground Ground A+ Z A+ W B+ Z B+ W DMC-21x3 Accessories Chapter 3 ICM-20100• 15...
Page 18 I+ Z I+ W Motor command Z Motor command W PWM/step Z PWM/step W 16 • Chapter 3 ICM-20100 DMC-21x3 Accessories...
Page 19 Latch W/Input 4 AB+ Z Input 6 AA+ Z Input 8 AB+ Y Encoder-compare output AA+ Y Output 2 AB+ X Output 4 AA+ X Output 6 Ground Output 8 Ground -12V * Active Low Signal DMC-21x3 Accessories Chapter 3 ICM-20100• 17...
Page 20: Amplifier Enable
24V. Note that any external pull-up resistor should limit the current draw to 10 mA Figure Figure 5 ICM-20100 Amplifier Enable Circuit 18 • Chapter 3 ICM-20100 DMC-21x3 Accessories...
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Page 22: Chapter 4 Icm-20105
__________________________________________________________________ Introduction The ICM-20105 opto-isolated I/O module are used with DMC-21x3 controllers. It has four 15-pin Male D-Sub connectors for individual axis signals. There is one 37-pin D-Sub for the 8 digital inputs, 8 high side drive 500 mA digital outputs, home switches, limit switches, and one 25-pin D- Sub for 4 axes of auxiliary encoders.
Page 23: Electrical Specifications
Minimum Current to turn on Inputs 1 mA Max Enable Current @24V source 25 mA Layout Drawing Not to Scale. For Reference Only. Dimensions are inches. Figure 7 ICM-20105 Dimensions and Jumper Locations Overall Dimensions: 4.25” x 3.70” DMC-21x3 Accessories Chapter 4 ICM-20105• 21...
Page 24: Pinout
10 Ground 11 A+ Z 11 A+ W 12 B+ Z 12 B+ W 13 I+ Z 13 I+ W 14 Motor Command Z 14 Motor Command W 15 PWM/step Z 15 PWM/step W 22 • Chapter 4 ICM-20105 DMC-21x3 Accessories...
Page 25 27 Output 5 28 Output 7 29 Output Return 30 Forward Limit X 31 Home X 32 Reverse Limit Y 33 Forward Limit Z 34 Home Z 35 Reverse Limit W 36 5V 37 Ground DMC-21x3 Accessories Chapter 4 ICM-20105• 23...
Page 26: Configurations For Icm-20105
Dot on R-pack opposite RPAE1 label Isolated 24V, HAEN AECOM1 - AEC1 AECOM2 - AEC2 Dot on R-pack next to RPAE1 label Isolated 24V, LAEN AECOM1 - AEC1 AECOM2 - AEC2 Dot on R-pack opposite RPAE1 label 24 • Chapter 4 ICM-20105 DMC-21x3 Accessories...
Page 27 AECOM1. Replace RPAE2 with a 4.7 kΩ resistor pack. AECOM1 and AECOM2 are located on any 15-pin axis D-subs (JX, JY, JZ, or JW). All pins labeled AECOM1 are connected. All pins Labeled AECOM2 are connected. DMC-21x3 Accessories Chapter 4 ICM-20105• 25...
Page 28: Opto Isolation Settings
Number of Axes) 2.2 k Z and W switches use RP1 2.2 k FLSX RLSX HOMEX FLSY RLSY HOMEY Input Common Voltage 2.2 k ABORT (XLATCH) (YLATCH) (ZLATCH) (WLATCH) Figure 10 ICM-20105 Digital Input Isolation 26 • Chapter 4 ICM-20105 DMC-21x3 Accessories...
Page 29 OUTSUP (+) RPOUT RPOUT 5V or GND 5V or GND RP Out RP Out Load Load SB n = 5V SB n = 5V OUTRET (-) OUTRET (-) Figure 11 ICM-20105 General-Purpose Digital Output Opto-Isolation DMC-21x3 Accessories Chapter 4 ICM-20105• 27...
Page 30: Chapter 5 Sdm-20240/20242
Note: Do not “hot swap” the motor power connections. If the amp is enabled when the motor connector is connected or disconnected, damage to the amplifier can occur. Galil recommends powering the controller and amplifier down before changing the connector.
Page 31: Electrical Specifications
Max Drive Current (per axis) Amps (jumper-settable) Max Step Frequency Motor Type Bipolar 2 phase Layout Drawing Not to Scale. For Reference Only. Dimensions are in inches Figure 13 SDM-20240 Dimensions Overall Dimensions: 4.25” x 3.70” DMC-21x3 Accessories Chapter 5 SDM-20240/20242• 29...
Page 32: Pinout
4 XMOB- 4 YMOB- J4 - Motor Output Z (4pin Molex) J5 - Motor Output W (4pin Molex) 1 ZMOA+ 1 WMOA+ 2 ZMOA- 2 WMOA- 3 ZMOB+ 3 WMOB+ 4 ZMOB- 4 WMOB- 30 • Chapter 5 SDM-20240/20242 DMC-21x3 Accessories...
Page 33 21 Output 4 9 Output 5 22 Output 6 10 Output 7 23 Output 8 11 Ground 24 5V 12 Reset 25 Error J1 Power 1 +V (12V-30V) 3 +V (12V-30V) 2 Ground 4 Ground DMC-21x3 Accessories Chapter 5 SDM-20240/20242• 31...
Page 34: Mating Connectors
0.5A, 0.75A, 1.0A, and 1.4 A. In figure below, the X-axis is configured for 0.5A, the Y axis as 0.75A, the Z-axis with 1.0 A, and the W axis for 1.4 A. (Note: when using the 1.4 A setting, a cooling fan or adequate air flow may be required.) 32 • Chapter 5 SDM-20240/20242 DMC-21x3 Accessories...
Page 35: Low Current Setting (Jp1)
SDM-20240 Half Step jumper (JP1) – determines whether pulses from the controller are interpreted by the Driver chips as whole or half step increments. Half Step Jumper On = Half step Half Step Jumper Off = Full step DMC-21x3 Accessories Chapter 5 SDM-20240/20242• 33...
Page 36: Additional Settings For Sdm-20242
7_IN – then input 7 is used. Conversely, if the jumper is placed between the center pin and the side that says ABORT – the Abort line is jumpered to the fault output. ABORT 7_IN 34 • Chapter 5 SDM-20240/20242 DMC-21x3 Accessories...
Page 37 THIS PAGE LEFT BLANK INTENTIONALLY DMC-21x3 Accessories Chapter 5 SDM-20240/20242• 35...
Page 38: Chapter 6 Amp-20341
Note: Do not “hot swap” the motor power connections. If the amp is enabled when the motor connector is connected or disconnected, damage to the amplifier can occur. Galil recommends powering the controller and amplifier down before changing the connector.
Page 39: Electrical Specifications
DC Supply Voltage: +/-12-30 VDC (bipolar) Max Current (per axis) 1.0 Amps Amplifier gain: 0.1 A/V Power output (per channel): 20 W Total max. power output: 60 W Layout Figure 17 AMP-20341 Hole Dimensions DMC-21x3 Accessories Chapter 6 AMP-20341• 37...
Page 40: Pinout
19 Encoder compare output 6 Abort* 13 NC 20 Output 2 7 Output 1 14 5V 21 Output 4 * Active Low J9 Power 1 +V (12 to 30V) 2 Ground 3 -V (-12 to -30V) 38 • Chapter 6 AMP-20341 DMC-21x3 Accessories...
Page 41: Mating Connectors
8 Motor Command W 4 Motor Command Y 9 Ground 5 Amp Enable Z 10 Ground Mating Connectors Connector Terminal Pins Molex: 26-03-4030 Molex: 08-50-0189 J9: Power Molex: 22-01-3027 Molex: 08-50-0114 JX - JW: Motor Leads DMC-21x3 Accessories Chapter 6 AMP-20341• 39...
Page 42: Chapter 7 Amp-20440/20420
Note: Do not “hot swap” the motor power connections. If the amp is enabled when the motor connector is connected or disconnected, damage to the amplifier can occur. Galil recommends powering the controller and amplifier down before changing the connector.
Page 43: Electrical Specifications
Amps (continuous and peak) PWM Frequency: Minimum Load Inductance: Over-Voltage Threshold (OV): volts (resets at 66 volts) Layout Drawing Not to Scale. For Reference Only. Dimensions are inches. Figure 19 AMP-20440 Dimensions Overall Dimensions: 4.85” x 3.70” DMC-21x3 Accessories Chapter 7 AMP-20440/20420• 41...
Page 44: Pinout
10 Forward Limit W 11 AA+ Z 11 AA+ W 12 AB- Z 12 AB- W 13 Home Z 13 Home W 14 Reverse Limit Z 14 Reverse Limit W 15 5V 15 5V 42 • Chapter 7 AMP-20440/20420 DMC-21x3 Accessories...
Page 45 44 Reset* 6 Abort* (see Appendix A) *Active Low Signal 7 Input 6 8 Latch Z / Input 3 9 Y-axis AmpEnable (RevD and greater) 10 Encoder-Compare Output 11 Sign/Dir X 12 Sign/Dir Y DMC-21x3 Accessories Chapter 7 AMP-20440/20420• 43...
Page 46: Over-Voltage Protection
Note that if you are using the -DC24 option from Galil, the DC-DC converter is capable of receiving voltages up to 36 V. If you need a shunt regulator, you should set the device to limit the voltage to a value less than 36 V.
Page 47: Abort Input Options
Abort Input Options See Appendix A. DMC-21x3 Accessories Chapter 7 AMP-20440/20420• 45...
Page 48: Chapter 8 Icm-20500
Pin 40 Limit Switch Common (LSCOM) Note that the ability to connect to external amplifiers on X and Y is lost when using an ICM-20500-DTYPE. Figure 21 ICM-20500 shown mounted to a DMC-2143 and AMP-20540 46 • Chapter 8 ICM-20500 DMC-21x3 Accessories...
Page 49: Electrical Specifications
0.5 A (outputs 1-4), 25 mA (outputs 5-8) Minimum Current to turn on Inputs 1 mA Layout Drawing Not to Scale. For Reference Only. Dimensions are inches. Figure 22 ICM-20500 Dimensions Overall Dimensions: 8.12” x 4.20” DMC-21x3 Accessories Chapter 8 ICM-20500• 47...
Page 50: Pinout
The pinout of 15-pin connectors is the same as the AMP-205x0. The 44-pin connections are the same except for the following four signals: Pin 9 Output Supply Pin 25 Input Common (INCOM) Pin 39 Output Return Pin 40 Limit Switch Common (LSCOM) 48 • Chapter 8 ICM-20500 DMC-21x3 Accessories...
Page 51: Configuration
Figure 24 High Power Outputs The polarity of outputs 1-4 may be reversed by flipping RP11 180 degrees. The polarity of outputs 5-8 may be reversed by flipping RP12 180 degrees. DMC-21x3 Accessories Chapter 8 ICM-20500• 49...
Page 52: Chapter 9 Amp-20540/20520
Galil. Like the DB-28040, the AMP-205x0 family provides for the addition of 8 analog input to the DMC-21x3. The analog inputs accept +/- 10 V input and have a resolution of 12 bits; a 16 bit option is available.
Page 53: Electrical Specifications
Peak Current 10 Amps Nominal Amplifier Gain 0.4, 0.7, and 1.0 A/V Switching Frequency 60 kHz (up to 140 kHz available-contact Galil) Minimum Load Inductance: 0.5 mH (low inductance option available) Brushless Motor Commutation angle 120° (60° option available) Layout Drawing Not to Scale.
Page 54: Pinout
10 Hall W A 11 AA+ Z 11 AA+ W 12 AB- Z 12 AB- W 13 Hall Z B 13 Hall W B 14 Hall Z C 14 Hall W C 15 5V 15 5V 52 • Chapter 9 AMP-20540/20520 DMC-21x3 Accessories...
Page 55 39 PWM/MCMD Y 18 Output 7 40 SIGN/AENX 19 Output 4 41 Forward Limit X 20 Output 1 42 Forward Limit Y 21 Output 3 43 Forward Limit Z 22 Input 7 44 Reset DMC-21x3 Accessories Chapter 9 AMP-20540/20520• 53...
Page 56: Mating Connectors
Mating Connectors Connector Terminal Pins J1: DC Power 8-pin Mini Universal MATE-N-LOK Connector AMP# 770579-1 AMP# 170361-1 4-pin Mini Universal JX1, JY1, JZ1, and MATE-N-LOK JW1: 4-pin Motor AMP# 172167-1 AMP# 170361-1 Lead Connector 54 • Chapter 9 AMP-20540/20520 DMC-21x3 Accessories...
Page 57: Operation
Operation Brushless Motor Setup Note: If you purchased a Galil motor with the amplifier, it is ready for use. No additional setup is necessary. To begin the setup of the brushless motor and amplifier, it is first necessary to have communications with the motion controller.
Page 58: Brush Amplifier Operation
AMP-20520 and two stepper axes that use external drivers. The pulse and direction signals are accessed through the high density 44-pin D-sub connector. The same connector pins are used to bring out the amplifier enable and motor command line. Which signals are brought 56 • Chapter 9 AMP-20540/20520 DMC-21x3 Accessories...
Page 59: Error Monitoring And Protection
QH command. Hall errors will cause the amplifier to be disabled if OE 1 is set, and will cause the controller to enter the #AMPERR subroutine if it is included in a running program. DMC-21x3 Accessories Chapter 9 AMP-20540/20520• 57...
Page 60: Under-Voltage Protection
110°C, then the amplifier will shut down. Bit 2 of TA0 will be set. The amplifier will re-enable when the temperature drops below 110 °C. This error will trigger the #AMPERR routine if included, and the user may decide whether to disable the amplifier. 58 • Chapter 9 AMP-20540/20520 DMC-21x3 Accessories...
Page 61: Abort Input Options
Abort Input Options See Appendix A. DMC-21x3 Accessories Chapter 9 AMP-20540/20520• 59...
Page 62: Chapter 10 Amp-20542 (Obsolete)
Obsolete: As of January 2011 the AMP-20542 is no longer available, it has been replaced by the AMP-20540. For low inductance motors use chopper mode with the AMP-20540 (AU 0.5 or 1.5). Contact Galil, if the lower gain settings that were available with the AMP-20542 are required for a new application.
Page 63: Electrical Specifications
Minimum Load Inductance: 0.2 or 0.5 mH (software-configurable) Brushless Motor Commutation angle 120° Layout Drawing Not to Scale. For Reference Only. Dimensions are inches. Figure 30 AMP-20542 Dimensions Overall Dimensions: 6.82” x 4.90” DMC-21x3 Accessories Chapter 10 AMP-20542 (Obsolete)• 61...
Page 64: Pinout
11 AA+ Z 11 AA+ W 12 AB- Z 12 AB- W 13 Hall Z B 13 Hall W B 14 Hall Z C 14 Hall W C 15 5V 15 5V 62 • Chapter 10 AMP-20542 (Obsolete) DMC-21x3 Accessories...
Page 65 39 PWM/MCMD Y 18 Output 7 40 SIGN/AENX 19 Output 4 41 Forward Limit X 20 Output 1 42 Forward Limit Y 21 Output 3 43 Forward Limit Z 22 Input 7 44 Reset DMC-21x3 Accessories Chapter 10 AMP-20542 (Obsolete)• 63...
Page 66: Mating Connectors
Connector Terminal Pins J1: DC Power 8-pin Mini Universal Connector MATE-N-LOK AMP# 770579-1 AMP# 170361-1 4-pin Mini Universal JX1, JY1, JZ1, and MATE-N-LOK JW1: 4-pin Motor Lead Connector AMP# 172167-1 AMP# 170361-1 64 • Chapter 10 AMP-20542 (Obsolete) DMC-21x3 Accessories...
Page 67: Operation
Operation Brushless Motor Setup Note: If you purchased a Galil motor with the amplifier, it is ready for use. No additional setup is necessary. To begin the setup of a brushless motor, it is first necessary to have communications with the motion controller.
Page 68: Brush Amplifier Operation
= 0, 1, 2, or 3. The command will return an eight bit number representing specific conditions. TA0 will return errors with regard to under voltage, over voltage, and over current. TA1 will return hall errors on the appropriate axes, TA2 will monitor if the amplifier 66 • Chapter 10 AMP-20542 (Obsolete) DMC-21x3 Accessories...
Page 69: Hall Error Protection
Note: If this fault occurs, it is indicative of a problem at the system level. An over-current fault is usually due to a short across the motor leads or a short from a motor lead to ground. Abort Input Options See Appendix A. DMC-21x3 Accessories Chapter 10 AMP-20542 (Obsolete)• 67...
Page 70: Chapter 11 Sdm-20640/20620
1.0, 2.0, & 3.0 Amps per axis. Like the DB-28040, the SDM-206x0 family provides for the addition of 8 analog input to the DMC-21x3. The analog inputs accept +/- 10 V input and have a resolution of 12 bits; a 16 bit option is available. MT-2 MUST BE SET WHEN USING THE SDM-206X0.
Page 71: Electrical Specifications
Overall Dimensions: 6.92” x 5.11” Pinout JX1 Motor Output X (4pin Molex) JY1 Motor Output Y (4pin Molex) 1 XMOB+ 1 YMOB+ 2 XMOA+ 2 YMOA+ 3 XMOB- 3 YMOB- 4 XMOA- 4 YMOA- DMC-21x3 Accessories Chapter 11 SDM-20640/20620• 69...
Page 72 7 Output 1 20 Output 2 8 Output 3 21 Output 4 9 Output 5 22 Output 6 10 Output 7 23 Output 8 11 Ground 24 5V 12 Reset 25 Error Out 70 • Chapter 11 SDM-20640/20620 DMC-21x3 Accessories...
Page 73: Mating Connectors
Mating Connectors Connector Terminal Pins J1: DC Power 8-pin Mini Universal MATE-N-LOK Connector AMP# 770579-1 AMP# 170361-1 4-pin Mini Universal JX1, JY1, JZ1, and MATE-N-LOK JW1: 4 pin Motor AMP# 172167-1 Lead Connector AMP# 170361-1 DMC-21x3 Accessories Chapter 11 SDM-20640/20620• 71...
Page 74: Configurations For Sdm-206X0
The LC command must be entered after the motor type has been selected for stepper motor operation (i.e. MT-2,-2,-2,-2). LC is axis-specific, thus LC1 will cause only the X-axis to operate in “Low Current” mode. Abort Input Options See Appendix A. 72 • Chapter 11 SDM-20640/20620 DMC-21x3 Accessories...
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Page 76: Chapter 12 Pcm-20900
The PCM-20900 is a module that can be used to facilitate the design of a custom daughter board. The module contains the 96 pin connector allowing it to connect to the DMC-21x3. The user can then test the operation of circuitry before committing to a daughter board design. If you need more information for designing your own daughter board, please refer to application note #1232 (http://www.galil.com/support/appnotes/econo/note1232.pdf).
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Page 78: Chapter 13 Db-28040
The DB-28040 is an I/O daughter board for the DMC-21x2/21x3 series motion controllers. NOTE: The following information will apply to all DB-28040 revision E or newer boards. For information on previous revision boards please see application note #1253. http://www.galil.com/support/appnotes/econo/note1253.pdf Figure 35 DB-28040 Mounted to DMC-2143-DIN 76 • Chapter 13 DB-28040 DMC-21x3 Accessories...
Page 79: Layout
Layout Figure 36 DB-28040 Interconnect Mounting Dimensions Overall Dimensions: 3.075” x 2.425” DMC-21x3 Accessories Chapter 13 DB-28040• 77...
Page 80: Pinout
7 Analog Input 5 8 Analog Input 6 9 Analog Input 7 10 Analog Input 8 11 GND 12 GND 13 -12 Volt Supply 14 +12 Volt Supply 15 5 V 16 GND 78 • Chapter 13 DB-28040 DMC-21x3 Accessories...
Page 81: Electrical Specifications3.3V I/O (Standard)
28040-5V are connected directly to the I/O rack using a 50-pin IDC ribbon connector. Note: special considerations must be made to avoid damage when using Opto-22 G4 series racks, read application note# 5450 for details: (http://www.galil.com/support/appnotes/miscellaneous/note5450.pdf) DMC-21x3 Accessories Chapter 13 DB-28040• 79...
Page 82: Ssi
AMP-205x0 is present. This option must be ordered at the time the AMP and DMC-21x3 is ordered because both the AMP and DB require modification. Order AMP-205x0-DBREADY.
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Page 84: Chapter 14 Db-28104
Galil Motion Control has developed an interface board for the DMC-21x2/21x3 series motion controllers that give the engineer the ability to close the servo loop around these feedback devices.
Page 85 The DB-28104 can be used in conjunction with any of the Galil amplifier boards. In Figure 2, a DMC-2143 is mated to the DB-28104 and an ICM-20100 breakout module. Figure 39 DMC-2143+ICM-20100+DB-28104 DMC-21x3 Accessories Chapter 14 DB-28104• 83...
Page 86: Layout
A and B signals leads the other. Each rising or falling edge indicates one quadrature count. Thus for a complete cycle of the square wave there are a total of four encoder counts. 84 •Chapter 14 DB-28104 DMC-21x3 Accessories...
Page 87 This interpolation can be set by the user in the range of 2 through points per sinusoidal cycle DMC-21x3 Accessories Chapter 14 DB-28104• 85...
Page 88: S Etting Up The E Ncoder
JY1 Y-Axis (9-pin Female D-sub) JW1 W-Axis (9-pin Female D-sub) Description Description 5 Volt encoder power 5 Volt encoder power Index - Index - MA-Y MA-W MB-Y MB-W Ground Ground Index + Index + MA+Y MA+W MB+Y MB+W 86 •Chapter 14 DB-28104 DMC-21x3 Accessories...
Page 89 For example, if the encoder cycle is 40 microns, AF10 results in 2 =1024 counts per cycle, or a resolution of 39 nanometers per count. Figure 5 shows a screen capture. Figure 43 Setting AF command. DMC-21x3 Accessories Chapter 14 DB-28104• 87...
Page 90: Tuning The System
After extensive manual tuning, the following parameters were determined: KDX = 22.5 KPX = 6.13 KIX= 4.3 ILX= 9 ITX= 0 FAX= 0 FVX= 1 PLX= 0 This set of tuning parameters resulted in a step response shown in Figure 6. 88 •Chapter 14 DB-28104 DMC-21x3 Accessories...
Page 91 The same system with AFX=12 resulted in the following gains: KDX = 4.75 KPX = 2.0 KIX= 2.1 ILX= 9 ITX= 0 FAX= 0 FVX= 0 PLX= .2 Figure 7 shows the associated step response. DMC-21x3 Accessories Chapter 14 DB-28104• 89...
Page 92: Example Sin/Cos Encoders
DB-28104. Use cable code UIE. www.rsf.net Renishaw RGH41B30F00A 40 μm pitch at AFX=10 result in 40 nm position resolution Renishaw RGH22B series 20 μm pitch at AFX=12 result in 5 nm position resolution www.renishaw.com/client/category/UKEnglish/CAT-1079.shtml 90 •Chapter 14 DB-28104 DMC-21x3 Accessories...
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Page 94: Chapter 15 Cables For Amp-20Xxx
Fig 1. Version 1 Cable-44 Part Number For pinout information of this cable, see Table 1 below. Note: This chapter refers only to the pinout of the AMP-205x0 and 20542. For the AMP-204x0, refer to Chapter 7. 92 •Chapter 15 Cables for AMP-20xxx DMC-21x3 Accessories...
Page 95 Reset Light Blue(Brown) Refer to specific amplifier pinout information in the DMC-21x3 Accessories Manual. Version 2: Cables purchased between January 2004 and March 2006 a black braided sleeve over the slick black sheath. The part number on the braided sleeve is 0006-0044 REV.-S1(same as Version 1).
Page 96 Reset White(Purple) Refer to specific amplifier pinout information in the DMC-21x3 Accessories Manual. Version 3: Cables purchased from March 2006 onward which are RoHS-compliant, have a slick black sheath(similar to Version 1). The part number on the sheath is 89140-03044 REV.-S1.
Page 97 Reset Light Yellow(Red) Refer to specific amplifier pinout information in the DMC-21x3 Accessories Manual. The Cable-15pin-xm is used to break-out the encoders and hall signals on connector J4, J5, J6, & J7 of the AMP-205x0 or AMP-20542. This cable consists of a 15-pin High Density Male DSub connector at one end, and flying leads at the other end.
Page 98 Blue Main A+ Brown Aux A+ Purple Aux B+ Brown (White) Aux B- Silver Hall V White Index - Red (White) Hall W Pink Main B- Orange Light Green Main A- Yellow 96 •Chapter 15 Cables for AMP-20xxx DMC-21x3 Accessories...
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Page 100: Appendix A Abort Input Options
OE*=1; CN,,,,1; #AMPERR defined Condition input LED state Reaction #AMPERR Recovery runs Abort (J3 pin 6) OC + OV -disables axes A-D MO;SH returns 1 A-D Over Current “ “ “ returns 1 98 •Appendix A Abort Input Options DMC-21x3 Accessories...
Page 101: Dmc-2143 With Sdm-20640
A-D & E-H Abort OC + OV -disables axes A-D “ “ “ axes A-D, E-H -disables axes E-H A-D Over Current OC axis A-D -disables axes A-D “ “ “ -E-H motion continues DMC-21x3 Accessories Appendix A Abort Input Options• 99...
Page 102 E-H Over Current OC axis E-H -A-D motion continues “ “ “ -disables axes E-H *firmware (OE1) disable (as opposed to hardware ELO disable) 100 •Appendix A Abort Input Options DMC-21x3 Accessories...
Page 103 THIS PAGE LEFT BLANK INTENTIONALLY DMC-21x3 Accessories Appendix A Abort Input Options• 101...
Page 104: Appendix B Mating D-Shells
ICM-20100, ICM-20105, AMP-20340/1 AMP 747909-2 Female ICM-20100, AMP-20240, AMP-20340/1, SDM-206x0 AMP 747913-2 Male ICM-20100, ICM-20105 AMP 747912-2 Male ICM-20105 AMP 747916-2 Male high AMP-204x0, AMP-205x0 Kycon K86-EA-15P Male high AMP-204x0, AMP-205x0 Kycon K86-BA-44P 102 •Appendix B Mating D-Shells DMC-21x3 Accessories...
Page 105 THIS PAGE LEFT BLANK INTENTIONALLY DMC-21x3 Accessories Appendix B Mating D-Shells• 103...
Page 106: Appendix C Command Reference
Appendix C Command Reference 104 •Appendix C Command Reference DMC-21x3 Accessories...
Page 107 While Moving Default Value In a Program Default Format Command Line Controller Usage DMC-21x3 with AMP-20440 or DMC-2000, 2100, or 2200 with AMP-19540 with 7-IN jumper installed RELATED COMMANDS: Tell Amplifier EXAMPLE: Enables input 7 as the AMP-20440 amp error input DMC-21x3 Accessories Appendix C Command Reference•...
Page 108 While Moving Default Value 1, 1, 1, 1, 1, 1, 1, 1 In a Program Default Format Command Line Controller Usage DMC-21x3 with AMP-205xx or AMP 206x0 RELATED COMMANDS: Tell Amplifier Amplifier Bandwidth Brushless Setup EXAMPLE: Set motor off AG 2,1 Sets the highest amplifier gain for A axis and medium gain for B axis on 205x0.
Page 109 DEFAULTS: While Moving Default Value 0,0,0,0,0,0,0,0 In a Program Default Format Command Line Controller Usage DMC-21x3 with AMP-205xx RELATED COMMANDS: Tell Amplifier Amplifier Gain Brushless Setup Amplifier Bandwidth EXAMPLE: AU1,0 Sets X-axis to higher loop gain and Y-axis to normal loop gain...
Page 110 While Moving Default Value 0, 0, 0 In a Program Default Format Command Line Controller Usage DMC-21x3 with AMP-204x0 or AMP-205xx RELATED COMMANDS: Tell Amplifier Amplifier Gain Brushless Setup EXAMPLE: AWY=60,5,0 Sets a 60 volt drive, motor with 5 millihenries inductance and normal current loop gain : 4525.732...
Page 111 While Moving Default Value 0, 0, 0, 0, 0, 0, 0, 0 In a Program Default Format Command Line Controller Usage DMC-21x3 with AMP-205xx RELATED COMMANDS: Tell Amplifier Hall State EXAMPLE: BR1,0,0 Sets X-axis to brush-type, Y and Z to brushless DMC-21x3 Accessories Appendix C Command Reference•...
Page 112 Apply set up test to C axis with 2 volts for 900 millisecond on each step. Note 1: When using Galil Windows software, the timeout must be set to a minimum of 10 seconds (timeout = 10000) when executing the BS command. This allows the software to retrieve all messages returned from the controller.
Page 113 Contains the state of the selective abort function (1 enabled, 0 disabled) _CN4 Contains the configuration of program execution upon hard abort input EXAMPLES: CN 1,1 Sets limit and home switches to active high CN,, -1 Sets input latch active low DMC-21x3 Accessories Appendix C Command Reference• 111...
Page 114 OPERAND USAGE: _CO returns the extended I/O configuration value EXAMPLES: CO 255 Configure all points as outputs CO 0 Configure all points as inputs CO 1 Configures bank 1 to outputs on extended I/O 112 •Appendix C Command Reference DMC-21x3 Accessories...
Page 115 While Moving Default Value In a Program Default Format Command Line Controller Usage ALL CONTROLLERS EXAMPLES: MTZ=2 Specify stepper mode for the z axis LCZ=1 Specify low current mode for the z axis DMC-21x3 Accessories Appendix C Command Reference• 113...
Page 116 While Moving Default Value In a Program Default Format Command Line Controller Usage DMC-21x3 with AMP-205xx OPERAND USAGE: _QHn Contains the state of the Hall sensor inputs RELATED COMMANDS: Brushless Setup EXAMPLE: Hall inputs B and C active on Y axis 114 •Appendix C Command Reference...
Page 117 DEFAULTS: While Moving Default Value In a Program Default Format Command Line Controller Usage DMC-21x3 with AMP-204x0, AMP-205xx, or SDM 206x0 OPERAND USAGE: _TAn Contains the Amplifier error status RELATED COMMANDS: Brush Axis Configuration Hall State EXAMPLE: Hall Error for Axis A and C *When used with the AMP-20440, only bit 0 of TA0 will be set for all axes A-H.
Page 118 _TKn contains the value of the peak torque limit for the specified axis. RELATED COMMANDS: Amplifier Gain Torque Limit EXAMPLES: TLA=7 Limit A-axis to a 7 volt average torque output TKA=9.99 Limit A-axis to a 9.99 volt peak torque output 116 •Appendix C Command Reference DMC-21x3 Accessories...
Page 119: Tl (Binary 8A)
TL 1,5,9,7.5 Limit A-axis to 1volt Limit B-axis to 5 volts Limit C-axis to 9 volts Limit D-axis to 7.5 volts TL ?,?,?,? Return limits 1.0000,5.0000,9.0000, 7.5000 TL ? Return A-axis limit 1.0000 DMC-21x3 Accessories Appendix C Command Reference• 117...

Galil DMC-21x3 User Manual

Contents

Chapter 1 Overview

Chapter 2 Sr-19900

Chapter 3 ICM-20100

Chapter 4 ICM-20105

Chapter 5 Sdm-20240/20242

Chapter 6 Amp-20341

Chapter 7 Amp-20440/20420

Chapter 8 ICM-20500

Chapter 9 Amp-20540/20520

Chapter 10 Amp-20542 (Obsolete)

Chapter 11 Sdm-20640/20620

Chapter 12 Pcm-20900

Chapter 13 Db-28040

Chapter 14 Db-28104

Chapter 15 Cables for Amp-20Xxx

Appendix A Abort Input Options

Appendix B Mating D-Shells

Appendix C Command Reference

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