Galil Motion Control DMC-21 5 Series User Manual page 11

as additional 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.
The DMC-2155 through DMC-2185 controller provides an additional 8 inputs and 8 outputs.
2185
System Elements
As shown in Figure 1.3, the DMC-21x5 is part of a motion control system which includes amplifiers, motors and
encoders. These elements are described below.
Motor
A motor converts current into torque which produces motion. Each axis of motion requires a motor sized properly
to move the load at the required speed and acceleration.
The motor may be a step or servo motor and can be brush-type or brushless, rotary 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-21x5.
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
properly 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
may be either pulse-width-modulated (PWM) or linear. They may 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
velocity mode amplifiers, 10 volts should run the motor at the maximum speed.
Galil offers amplifiers that are integrated with the DMC-21x5. See the Accessory Components section in the
Appendices or https://galil.com/motion-controllers/multi-axis/dmc-21x5
Chapter 1 Overview ▫ 6
Figure 1.3: Elements of Servo Systems
for more information.
DMC-21x5 User Manual 1.0a1