DMA/DPRAM

2ND FIFO

Primary

FIFOS

Interrupts

ISA/PCI BUS

WATCHDOG TIMER

68331

MICROCOMPUTER WITH

4 Meg RAM

4 Meg FLASH EEPROM

I/O INTERFACE

HIGH-SPEED

MOTOR/ENCODER

INTERFACE

FOR X,Y,Z,W, etc.

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

8 UNCOMMITTED

8 PROGRAMMABLE,

8 PROGRAMMABLE

ANALOG INPUTS

OPTOISOLATED

OUTPUTS

 

INPUTS

 

 

 

 

HIGH-SPEED LATCH FOR EACH AXIS

Figure 1.1 - DMC-1700/1800 Functional Elements

Microcomputer Section

The main processing unit of the controller is a specialized 32-bit Motorola 68331 Series Microcomputer with 512K byte RAM and 512K byte 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. The Flash also contains the firmware of the controller, which is field upgradeable.

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 primary and secondary communication channel. The primary channel uses a bi-directional FIFO and includes PC interrupt handling circuitry. The secondary channel can be set as DMA or DPRAM where data is placed in PC memory or as a Polling FIFO where data is placed into the controller’s FIFO buffer. The DMA is available on the DMC-1700 and, DPRAM is only available on the DMC- 1800 (1810-1840 Rev H and greater, DMC-1850-1880 Rev E and greater), whereas the Polling FIFO is available on both the DMC-1700 and DMC-1800.

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.

Each axis on the controller has 2 encoders, the main encoder and an auxiliary encoder. Each unused auxiliary encoder provides 2 additional inputs available for general use (except when configured for stepper motor operation).

DMC-1700/1800

Chapter 1 Overview • 3

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Galil DMC-1700, DMC-1800 user manual Microcomputer Section, Motor Interface, Communication, General I/O
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DMC-1800, DMC-1700 specifications

The Galil DMC-1700 and DMC-1800 are advanced motion controllers widely recognized for their high performance and versatility in the automation and robotics industries. These controllers are designed to meet the demands of complex motion control applications, providing users with enhanced features and innovative technologies that optimize motion precision and efficiency.

One of the main features of the Galil DMC-1700 is its ability to handle up to 8 axes of motion control. This capability makes it suitable for a range of applications, from simple point-to-point movements to intricate trajectories in multi-axis systems. In contrast, the DMC-1800 extends this functionality, supporting up to 64 axes, making it ideal for large-scale automation environments.

Both models leverage Galil's powerful programming interface, which simplifies the development of motion control applications. The DMC-1700 and DMC-1800 controllers utilize a high-level programming language that supports advanced motion commands, including linear interpolation, circular interpolation, and complex motion profiles. This feature allows users to implement sophisticated motion sequences seamlessly.

In terms of connectivity, the Galil DMC series offers multiple communication options, including Ethernet, RS-232, and CAN bus, ensuring compatibility with various hardware and enabling easy integration into existing systems. The controllers also come equipped with digital and analog I/O ports, providing flexibility for sensor feedback and actuator control.

The advanced technology incorporated into both the DMC-1700 and DMC-1800 includes on-board PID control, which ensures precise motion control through closed-loop feedback. This results in improved stability and accuracy, particularly in high-speed applications. Additionally, the controllers offer extensive diagnostics and monitoring capabilities, allowing for real-time performance analysis and troubleshooting.

Another notable characteristic of these motion controllers is their compact design, which offers space-saving advantages while maintaining high processing power. Their robust construction and ability to operate in challenging environments make them suitable for a wide range of industrial applications, from CNC machining to assembly lines.

In conclusion, the Galil DMC-1700 and DMC-1800 motion controllers stand out due to their high-performance capabilities, advanced programming features, and flexibility in connectivity. With their ability to handle complex motion control tasks efficiently, these controllers are invaluable tools for engineers and manufacturers looking to enhance their automation processes. By integrating Galil's innovative motion control technology, industries can achieve greater precision, speed, and reliability in their operational workflows.
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