Digital motion controllers for intelligent movement
Selection guide for digital motion controllers
| Key data | DMC-40x0 | DMC-41x3 | DMC-42x0 | DMC-500x0 | DMC-18x6 | DMC-21x5 |
|---|---|---|---|---|---|---|
| Details | Details | Details | Details | Details | ||
| Number of axes | max. 8 | max. 8 | max. 8 | 4 x local, 8 x EtherCAT | max. 8 | max. 8 |
| Max. Encoder frequency | 22 MHz | 15 MHz | 22 MHz | 22 MHz local | 22 MHz | 15 MHz |
| EtherCAT command time | - | - | - | 1 GHz | - | - |
| Servo update rate | 1-2 axes: 62 µs 3-4 axes: 125 µs 5-6 axes: 156 µs 7-8 axes: 187 µs (half values a.A.) | 1-2 axes: 125 µs 3-4 axes: 250 µs 5-6 axes: 375 µs 7-8 axes: 500 µs (half values a.A.) | 1-2 axes: 62 µs 3-4 axes: 125 µs 5-6 axes: 156 µs 7-8 axes: 187 µs (half values a.A.) | 1-4 axes: 1 ms 5-8 axes: 1 ms | 1-2 axes: 62 µs 3-4 axes: 125 µs 5-6 axes: 156 µs 7-8 axes: 187 µs | 250 µs |
| General | ||||||
| Communication | C012 1 x 10/100Base-T C012 2 x 10/100Base-T | 1 x 10/100Base-T 1 x RS-232 (115 Kb) 1 x USB | 1 x 10/100Base-T | 1 x Ethernet 10/100Base-T 1 x EtherCAT | PCI with bi-directional FIFO Dual Port Ram 32-bit PCI interface 64-bit compatible 5 V/3,3 V | 1 x 10/100Base-T 1 x RS-232 (115 Kb) |
| Main RS-232 | 115 kb | - | 115 kb | 115 kb | - | 19.2 kB |
| Auxiliary RS-232 | Yes | Yes | Yes | Yes | - | - |
| USB | - | 115 kb | - | - | - | - |
| LCD display | 8 x 2 characters | - | - | 8 x 2 characters | - | - |
| Supply voltage | 20 - 80 VDC | 20 - 80 VDC | 90 - 250 VAC | 20 - 80 VDC | +5 V (700 mA) +3.3 V (600 mA) +12 V (150 mA) -12 V (40 mA) | 20 - 60 VDC or (+5 VDC and ±12 VDC) |
| Form factor | Box | Card or Box | Box | Box | PCI card | Box (up to 4 axes) or Card |
| Dual Encoder | Yes | - | Yes | Yes | ||
| I/O specification | ||||||
| Free digital inputs | 1-4 axes: 8 optoisolated 5-8 axes: 16 optoisolated | 1-4 axes: 8 optoisolated 5-8 axes: 16 optoisolated | 1-4 axes: 8 optoisolated 5-8 axes: 16 optoisolated | 1-4 axes: 8 optoisolated | 1-4 axes: 8 5-8 axes: 24 | 1-4 axes: 8 5-8 axes: 16 |
| Free digital outputs | 1-4 axes: 8 optoisolated 5-8 axes: 16 optoisolated | 1-4 axes: 8 optoisolated 5-8 axes: 16 optoisolated | 1-4 axes: 8 optoisolated 5-8 axes: 16 optoisolated | 1-4 axes: 8 optoisolated | 1-4 axes: 8 5-8 axes: 16 | 1-4 axes: 8 5-8 axes: 16 |
| Digital inputs per axis | limit switch Home High-Speed Latch Abort | limit switch Home High-Speed Latch Abort | limit switch Home High-Speed Latch Abort | limit switch Home High-Speed Latch Abort | ||
| Digital I/O optional | 32 x (TTL 0 - 3.3 V) (5 V optional) | - | 64 x (TTL 0 - 5 V) | 32 x (TTL 0 - 3.3 V) (5 V optional) | 64 x (TTL 0 - 5 V) | 40 x 3.3 V (5 V optional) |
| Analog inputs | 8 x 12 bit ±10 V, 16 bit ADC | 8 x 12 bit ±10 V, 16 bit ADC | 8 x 12 bit ±10 V, 16 bit ADC | 8 x 12 bit ±10 V, 16 bit ADC | 8 x 12 bit ±10 V, 16 bit optional | 8 x 12 bit ±10 V, 16 bit optional |
| Analog outputs | 0 | 0 | 0 | 0 | 0 | 0 |
| Max. Stepper motor rate | 6 MHz | 3 MHz | 3 MHz | 6 MHz | ||
| Programming | ||||||
| Command processing | 11 µs | 14 µs | 40 µs | 40 µs | 40 µs | 11 µs |
| Program lines (lines x char) | 4,000 x 80 | 4,000 x 80 | 4,000 x 80 | 4,000 x 80 | 4,000 x 80 | 4,000 x 80 |
| Arraygröße | 24.000 | 24.000 | 24.000 | 24.000 | 24.000 | 24.000 |
| Number of variables | 510 | 510 | 510 | 510 | 510 | 510 |
| Multitasking | 8 Tasks | 8 Tasks | 8 Tasks | 8 Tasks | 8 Tasks | 8 Tasks |
| Integrated controllers | ||||||
| 3-phase brushless | D35x0, D35x7, D37x0 | D35x0, D35x7, D37x0 | External | D35x0, D37x0 | External | - |
| Brushless block commutation | D30x0, D32x0 | D30x0, D32x0 | AMP-19540, External | D30x0, D32x0 | External | AMP-205x0 |
| Brushed controller | D30x0, D32x0 | D30x0, D32x0 | AMP-19540, External | D30x0, D32x0 | External | AMP-204x0 |
| Brushless linear controller | D36x0 | D36x0 | External | D36x0 | External | - |
| Brushed Linear DC | D3140 | D3140 | External | D3140 | External | AMP-20341 |
| 2-phase brushless | External | External | - | |||
| Bipolar Microstepping | D35x7, D41x0 | D35x7, D41x0 | External | D41x0 | External | SDM-206x0 |
| Low Power Stepper | D40x0 | D40x0 | External | D40x0 | External | SDM-20242 |
| External controllers | ±10 V; Step/Dir | ±10 V; Step/Dir | ±10 V; Step/Dir | ±10 V; Step/Dir | ±10 V; Step/Dir | ±10 V; Step/Dir |
Galil serves a wide range of applications with its wide range of digital motion controllers (DMC). Up to 8 axes can be connected to the motion controllers - whether servo motor, stepper motor, linear motor or actuator. In addition to the multi-axis motion controllers, there are also single-axis DMC controllers.
For a better overview, the motion controllers are grouped according to their installation: PC plug-in card or as an independent device (stand-alone). The PC-based solution has interfaces such as Plug&Play PCI Bus, CompactPCI or PC/104 cards. For applications that require a stand-alone motion controller, there are digital motion controllers (DMC) with interfaces to Ethernet, EtherCAT, RS-232 or USB.
Galil also offers accessories such as Interconnect Modules (ICM) and cables for fast wiring, software tools such as the GDK for tuning and analysis and DLL's for integration into your PC software. Galil also offers motion controllers as an option in the DMC series (Accelera, Optima and others)
Easy DMC configuration with the GDK
The Galil Design Kit (GDK) enables communication with the programmable controllers as well as configuration, tuning, testing and analysis options for the operation of controlled servomotor axes and PLC modules. A terminal and editor allow convenient writing, transferring and saving of programs and motion controller settings. Various tuning functions allow automatic settings of the control parameters. A digital storage oscilloscope is also included in the GDK software.
Programming and drivers for the control units
The DMC controls are very easy to program. The commands consist of two letters (e.g. BG corresponds to start) and are therefore easy to remember. Code examples can be found here.
Each controller comes with a free basic software package containing all the necessary drivers and tools for WINDOWS, QNX or LINUX. In addition, we offer further software tool kits that enable convenient customer-specific programming in C, C++, Visual Basic or .NET. This makes it possible, for example, to connect the motion controllers to LabView.
Program example for Galil motion controller
| Command | Comment |
|---|---|
| PR 20000,5000; | 'Relative position move of 20000 and 5000 cts |
| BGA; | 'Begin motion on the A axis |
| AMA; | 'Wait for profiled motion to complete |
| WT 1000; | 'Wait 1000 msec |
| BGB; | 'Begin motion on the B axis |
| AMB; | 'Wait for profiled motion to complete |
| WT 1000; | 'Wait 1000 ms |
Standards and guidelines
ISO 9001:2015- ISO 13485
Movement modes
| Mode | Description | Commands |
|---|---|---|
| Jogging | Speed control if no end point is specified | JG, AC, DC, ST |
| Position Relative Position Absolute | Absolute and relative positioning according to a specified trapezoidal speed profile. The axes are independent of each other. | PA, PR, SP, AC, DC |
| Position Tracking | Absolute position targets are sent to the controller while the axis is in motion. | PA, AC, DC, SP, PT |
| Contour Mode | Movement on arbitrary or mathematically calculated paths, defined as a sequence of positions over time. | CM, CD, DT |
| Contour Mode with Teach | Movement according to a manually specified path curve, e.g. a master encoder position. | CM, CD, DT, RA, RD,RC |
| PVT | Movement path described as incremental position points with speed specification and time difference. | PV, BT |
| Linear Interpolation | Movement coordinated with 2 to 8 axes, in which the path is described by linear segments. | LM, LI, LE, VS, VR,VA, VD |
| Vector Mode (linear and circular interpolation) | Motion path in 2D, consisting of arc segments and linear segments (e.g. for engraving or gluing processes). | VM, VP, CR, VS, VR, VA, VD, VE |
| Tangent Motion | The third axis must be moved tangentially to the 2D movement (e.g. cutting with knives). | VM, VP, CR, VS, VA, VD, TN, VE |
| Gearing Mode | Electronic gearing or transmission between two or more axes. Slaves follow a master axis. | GA, GD, _GP, GR, GM (if gantry) |
| Electronic Gearing with Ramped Gearing | Slave follows master for adapted conveyor speed. | GA, GD, _GP, GR |
| Gantry | Gantry with two mechanically connected axes. | GR, GM |
| Backlash Correction | Backlash correction through superimposed control (dual loop) using an auxiliary encoder. | DV |
| Electronic Cam | Following a path based on the position of the main encoder. | EA, EM, EP, ET, EB, EG, EQ |
| Motion Smothing | Smoothing the motion. | IT |
| Motion Smothing Stepper | Smoothing the movement of stepper motors. | KS |