Galil DMC-13X8 user manual Microcomputer Section, Motor Interface, Communication, General I/O

2ND FIFO

Primary

FIFO

VME HOST

WATCHDOG TIMER

68331

MICROCOMPUTER WITH

2 Meg RAM

2 Meg FLASH EEPROM

INTERRUPTS

I/O INTERFACE

HIGH-SPEED

MOTOR/ENCODER

INTERFACE

FOR

X,Y,Z,W

ISOLATED LIMITS AND

HOME INPUTS

MAIN ENCODERS

AUXILIARY ENCODERS

+/- 10 VOLT OUTPUT FOR SERVO MOTORS PULSE/DIRECTION OUTPUT FOR STEP MOTORS

HIGH SPEED ENCODER

COMPARE OUTPUT

USER INTERFACE

	8 PROGRAMMABLE,
8 UNCOMMITTED		8 PROGRAMMABLE
	OPTOISOLATED
ANALOG INPUTS		OUTPUTS
	INPUTS
HIGH-SPEED LATCH FOR EACH AXIS

Figure 1.1 - DMC-13X8 Functional Elements

Microcomputer Section

The main processing unit of the controller is a specialized 32-bit Motorola 68331 Series Microcomputer with 2M RAM and 2M 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 firmware of the controller.

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 DMC-13X8 is an A16D08(O) 6U VME card. The communication interface with the VME host contains a primary and secondary communication channel. The primary channel uses a bi-directional FIFO (AM4701). The secondary channel is a 512 byte Polling FIFO (IDT7201) where data is placed into the controller’s FIFO buffer. The DMC-13X8 uses vectored hardware interrupts through the VME host.

General I/O

The controller provides interface circuitry for 8 bi-directional, optoisolated inputs, 8 TTL outputs, and 8 analog inputs with 12-Bit ADC (16-bit optional). The general inputs can also be used for triggering a high-speed positional latch for each axis.

USER MANUAL Chapter 1 Overview • 11