Microcomputer Section; Motor Interface; Communication; General I/O - Galil Motion Control DMC-18 2 Series User Manual

Primary
FIFOS
PLUG & PLAY
INTERRUPTS
PCI BUS
Figure 1.1 - DMC-18x2 Functional Elements

Microcomputer Section

The main processing unit of the DMC-18x2 is a specialized 32-bit Motorola 68331 Series
Microcomputer with 2 Meg RAM and 2 Meg Flash EEPROM. The RAM provides memory for
variables, array elements and application programs. The flash EEPROM provides non-volatile storage
of variables, programs, and arrays. It also contains the DMC-18x2 firmware.

Motor Interface

Galil's GL-1800 custom, sub-micron gate array performs quadrature decoding of each encoder at up to
12 MHz. For standard servo operation, the controller generates a +/-10 Volt analog signal (16 Bit
DAC). For sinusoidal commutation operation, the controller uses 2 DACs to generate 2 +/-10Volt
analog signals. For stepper motor operation, the controller generates a step and direction signal.

Communication

The communication interface with the host PC contains a bi-directional FIFO (AM4701) and includes
PC interrupt handling circuitry.

General I/O

The DMC-18x2 provides interface circuitry for 8 TTL inputs and 8 TTL outputs. The general inputs
can also be used for triggering a high speed positional latch for each axis.

System Elements

As shown in Fig. 1.2, the DMC-18x2 is part of a motion control system which includes amplifiers,
motors and encoders. These elements are described below.
DMC-18x2
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WATCHDOG TIMER
68331
MICROCOMPUTER
WITH
2 Meg RAM
2 MegFLASH EEPROM
I/O INTERFACE
HIGH-SPEED
8 PROGRAMMABLE,
LATCH FOR EACH
TTL
AXIS
INPUTS
TTL LIMITS AND
HOME INPUTS
HIGH-SPEED
MAIN ENCODERS
MOTOR/ENCODER
INTERFACE
+/- 10 VOLT OUTPUT FOR
FOR
SERVO MOTORS
X,Y,Z,W
PULSE/DIRECTION OUTPUT
FOR STEP MOTORS
HIGH SPEED ENCODER
COMPARE OUTPUT
8 PROGRAMMABLE
OUTPUTS
Chapter 1 Overview • 3