Galil DMC-2X00 user manual

DMC-2x00 Functional Elements

The DMC-2x00 circuitry can be divided into the following functional groups as shown in Figure 1.1 and discussed below.

WATCHDOG TIMER

USB/ETHERNET

RS-232 /

RS-422

64 Configurable I/O

68331

MICROCOMPUTER WITH

4 Meg RAM

4 Meg FLASH EEPROM

I/O INTERFACE

HIGH-SPEED

MOTOR/ENCODER

INTERFACE

FOR

A,B,C,D

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-2x00 Functional Elements

Microcomputer Section

The main processing unit of the DMC-2x00 is a specialized 32-Bit Motorola 68331 Series Microcomputer with 4 Meg RAM and 4 Meg 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 DMC-2x00 firmware.

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 two DACs to generate two +/-10 volt analog signals. For stepper motor operation, the controller generates a step and direction signal.

Communication

The communication interface with the DMC-2x00 consists of high speed RS-232 and USB or high speed RS-232 and Ethernet. The USB channel accepts based rates up to 12Mb/sec and the two RS-232 channels can generate up to 115K.

DMC-2X00 Chapter 1 Overview y 5