Chapter 1 Overview; Introduction - Galil Motion Control DMC-14 5 Series Manual

Chapter 1 Overview

Introduction

The DMC-1400 series of motion controllers were developed specifically for one or two axis
applications, allowing it to be smaller in size (1/2 size card) and lower in cost than the Optima series
multi-axis controllers. This manual covers three Ethernet based stand-alone controllers in the DMC-
1400 Econo series. The DMC-1415 is a state-of-the-art single axis motion controller that
communicates via the Ethernet. The DMC-1425 is the identical controller configured for basic two
axis applications. The DMC-1416 is a single axis Ethernet controller integrated with an internal brush
or brushless power amplifier. Performance capability of these controllers includes: 12 MHz encoder
input frequency, 16-bit motor command output DAC, +/-2 billion counts total travel per move, 250
μsec minimum sample rate and non-volatile memory for program and parameter storage. Designed for
maximum flexibility, the DMC-14XX can be interfaced to a variety of motors and drives including
step motors, brush and brushless servo motors and hydraulics. The DMC-1415 can also be configured
to provide sinusoidal commutation for brushless motors.
The controller accepts feedback from a quadrature linear or rotary encoder with input frequencies up to
12 million quadrature counts per second. An additional encoder input is available on the DMC-1415
and DMC-1416 for gearing or cam applications, hand wheel inputs, or dual-loop operation. Modes of
motion include jogging, point-to-point positioning, electronic cam, electronic gearing and contouring.
Several motion parameters can be specified including acceleration and deceleration rates and slew
speed. The DMC-14XX also provides motion smoothing to eliminate jerk.
For synchronization with outside events, the DMC-14XX provides uncommitted I/O. The DMC-1415
and DMC-1416 provide 7 digital inputs, 3 digital outputs and 2 analog inputs. The DMC-1425
provides up to 3 digital inputs, 3 digital outputs and 2 analog inputs. Committed digital inputs are
provided for forward and reverse limits, abort, home, and definable input interrupts. Event triggers can
automatically check for elapsed time, distance and motion complete.
The DMC-14XX is easy to program. Instructions are represented by two letter commands such as BG
for Begin and SP for Speed. Conditional instructions, Jump statements and arithmetic functions are
included for writing self-contained applications programs. An internal editor allows programs to be
quickly entered and edited, and support software such as the WSDK allows quick system set-up and
tuning. Commands may also be sent in Binary to decrease processing time.
To prevent system damage during machine operation, the DMC-14XX provides many error handling
features. These include software and hardware limits, automatic shut-off on excessive error, abort
input and user-definable error and limit routines.
The DMC-1415 and DMC-1425 are designed for stand-alone applications and provide non-volatile
storage for programs, variables and array elements. The DMC-1416 provides an internal brush or
brushless power amplifier for a standard DC servo motor.
DMC-14x5/6
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Chapter 1 Overview 1
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