Galil_DMC-41x3_运动控制器产品目录（英文）.pdfGalil_DMC-41x3_运动控

文件名称: Galil_DMC-41x3_运动控制器产品目录（英文）.pdf

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详细说明：Galil_DMC-41x3_运动控制器产品目录（英文）pdf,Galil_DMC-41x3_运动控制器产品目，文档主要介绍产品的主要特性以及订货信息。Ethernet/RS232/USB Econo Series, 1-8 axes DMC-41x3 Series Instruction set Ethernet System Configuration Interrogation(cont.) Independent Motion DH DHCP Configuration BN Burn parameters TE Tell error Abort motion Hs Handle switch BP Burn program TH Tell handle ac Acceleration A Set ip address br Brush motor enable TI Tell input bG Begin motion IH Open IP handle IK Ethernet port blocking Bv Burn variables and arrays TP Tell position Do Deceleration Mb Modbus bw Brake wait TR Trace program FE Find edge Configure communications port ts Tell switches mw Modbus wait FI Find inde TT Tell torque sa Send command ce Configure encoder type HM Home SM Subnet mask CF Configuration unsolicited messages handl Tell velocity Hv Home speed C Configure communication interrupt Tz Tell l/O configuration Servo motor IP Increment position CN Configure switches Wh Which handle IT Smoothing time constant AF Analog feedback Data adjustment bit AG G Jog mode ampliFier gain DE Define dual encoder position Programming au Set current loop gain Breakpoint Pa Position absolute DP Define position Pr Position relative Aw Report AMP-43040 bandwidth DR Data record update rate Da Deallocate variables/arrays 之2 Dv Dual loop operation DL Event interrupts Fa Acceleration feedforward DM Dimension arrays sd Switch deceleration e0 Echo Fv Velocity feedforward Independent smoothing ed Edit program SP Speed IL Integrator limit ELSE Conditional statement Lk Program protect ( Lock) Kd Derivative constant ENDIF End of cond statement Lz Leading zeros format Contour Mode KI Integrator constant EN End Mo Motor off cd Contour data KP Proportional constant HX 〔M〔 ontour mode nb Notch bandwidth MT Motor type PF Position format dt Contour time interval NF Notch frequency PW Password in Input variable nz Notch zero QD Download array JP Jump PVT Mode OF Offset QU Upload array us Jump to subroutine PV Position, velocity, time PL pole No No-operation--for comments bT Coordinate start Sh Servo here rs Res Rs Master reset Ra Record array ECAM/ Gearing TK Peak torque UI User interrupt RC Record interval ECAM master TL Torque limit ve Variable format Record data TM Sample time re Return from error routine ABC Enable ecam Ec ECAM table index Stepper Motor Math functions REM Remark program Ks Stepper motor smoothing ABS(x Absolute value of x RI Return from interrupt routine EG ECAM go EM ECAM modulus Lc Low current A〔0Sx] Arc cosine of x SL Single EP ECAMinterval Qs Error magnitude ASNX」 Arcsine of x pload program Ya Step drive resolution ATAN(x Arc tangent of x XQ Execute program EQ Disengage ECAM E ECAM table yb Step motor resolution 〔OMx13 complement of x za Data record variables YC Encoder resolution c〔0Sx] Cosine ofx zs Zero stack EW ECAM widen EY ECAM cycle counter Yr Error correction FRACx] Fraction portion of x 〔 ommen Master axis for gearing Ys Stepper position maintenance NTix] Integer portion of x Error control Gd Engagement distance for gearir Internal sine commutation RNDIx] Round of x bl backward software lin M Gantry mode ba Brushless axis SINx] Sine of x Er Error limit GP Correction for gearing Bb Brushless phase SQRkx] Square root of x FL Forward software limit Gr Gear ratio for gearing bo Brushless calibration IANix] tangent ld Limit disable Modulus operator Vector/Linear Interpolation Bd Brushless degre 0a Encoder failure 〔 a Define vector plane B useless Inputs Interrogation oe Off-on-error fur Cr Circular interpolation move BM Brushless modulo AMP ID oT Encoder failure period bo Brushless offs La List ov Encoder failure voltage (s Clear motion sequence ES BS Brushless setup L list labels Timeout for in-position i Smoothing time constant Bx Sine amp Initializati List program bz Brushless zero Lv List variables le Linear interpolation end ad After disti Linear interpolation segment ∥0 MG Message command Al After input AL Arm latch QH Query hall state LM Linear interpolation mode AM After motion profiler sT Stop motion AQ Analog confiquration QR Data record aP After absolute positio tn Tangent 〔 ear bit Qu Upload amay QZ Return data record information ar After relative distance va Vector acceleration Configure /0 points RL Repcrt latch As At speed yd Vector deceleration Input interrupt at After ti VE Vector sequence end Define output bit RP Report command position Rv Firmware revision information av After vector distance VM oordinated motion mode OC Output compare function Output port S〔 Stop cod Mc Motion complete VP Vector position SB Set bit Ta Tell amplifier status mf After motion --forward Vr Vector speed ANx] Value of analog input x tb Tell status mr After motion -reverse Vs Vector speed eIN[x] State of digital input x TC Tell error code Wt Wait for time W Vector Velocity OUTLx] State of digital output X id Tell dual encoder www.galiLmc.com/galIlMotionControlInc.3 Ethernet/RS232/USB Econo Series, 1-8 axes DMC-41x3 Series Connectors Connectors-/o Communications J2 General /0 Axes A thru D|J2 General/0 Axes E thru H J3 Analog Inputs RS232 Auxiliary Port 44-pin Hi-density Female D-sub 44-pin Hi-density Female D-sub 15-pin Low-density Male D-sub 9-pin Female connecto I Error output 1 Error output 1 Analog Ground and cable 2 Input 1-isolated 2 Input g-isolated 2 Analog input 1 1 NO 3 Input 4-isolated 3 Input 12-isolated 3 Analog input 3 2 Receive data-input 4 Input 7-isolated 4 Input 15-isolated 4 Analog input 5 3 Transmit data-output 5 Electronic Lockout-isolated input* 5 Electronic lockout-isolated input 5 Analo 4 NO 6 Limit switch common 6 Limit switch common 6 Analog ground 5 Ground 7 Home A-isolated 7 Home e-isolated 7-12V 6 NO 8 Home B-isolated 8 Home f-isolated 8+5V 7 Request to send-output 9 Home c-isolated 9 Home G-isolated 9 Analog Ground 8 Clear to send-input 10 Home D-isolated 10 Home h-isolated 10 Analog input 2 95V 11 Output power 11 Output power 11 Analog input 4 12 Output 3-isolated 12 Output 11-isolated 12 Analog input 6 Ethernet 10/100Base-T 13 Output 6-isolated 13 Output 14-isolated 13 Analog input 8 R-45 connector 14 Output return 14 Output return 14 NO USB Connector 15+5V 15+12V 16 Reset-isolated 16 Reset- isolated≠ 17 Input common 17 Input common Axis Connectors Axes a thru h 18 Input 3-isolated 18 Input 11-isolated Connectors 26-pin Hi-density Female D-sub 19 Input 6-isolated 19 Input 14-isolated 1 Hal 2 Amplifier Board 20 Abort-isolatedi*e 20 abort.- isolated米 2 Amp Enable AMP-43040 21 NO 21 NO 3 Direction 丿2 Power米 22 Reverse limit Aisolated 22 Reverse limit e-isolated 4 Home-isolated 6-pin 23 Reverse limit b-isolated 23 Reverse limit F-isolated 5 Limit switch common 1 Ground 24 Reverse limit c-isolated 24 Reverse limit g-isolated 6 AUx A- 2 Ground 25 Reverse limitd-isolated 25 Reverse limit h-isdlatedt 7 ndex+ 3 Ground 26 NO 26 NO 8A- 4+VM(20V-80V) 27 Output 2-isolated 27 Output 10-isolated 9+5V 5+VM(20V-80V) 28 Output 5-isolated 28 Output 13-isolated 10 Ground 6+VM(20V-80V) 29 Output 8-isolated 29 Output 16-isolated 11 Amp Enable Return 30+5V 12 Hall 1 JAL JBL JCL, JDT 31 Ground 31 Ground Motor Output 32 Input 2-isolated 32 Input 10-isclated 14 Forward limit-isolatedt 4-pin 33 Input 5-isolated 33 Input 13-isolated 15 Aux B+ 1 Motor phase c 34 Input 8-isolated 34 Input 16-isclated 16 Index- 2 Motor phase b 35 Ground 35 Ground 3 NO 36 Forward limit a-isolated 36 Forward limit e-isolated 18 Ground 4 Motor phase a 37 Forward limit b-isolated 19 Motor command 38 Forward limit c-isolatec 38 Forward limit g-isolated 20 Amp Enable power 39 Forward limit d-isolated 39 Forward limit h-isolated 21Ha0 40 Ground 40 Ground 22 Reverse limit -isolated 41 output 1-isolated 41 Output 9-isolated 23 AUx B 42 Output isolated 42 Output 12-isolated 24 AUX A+ 43 Output 7-isolated 43 Output 15-isolated 25B 44 Output compare A-D 44 Output Compare E-H 26A *Note: Power can be input through either of the amplifier connectors to power the entire unit due to power pass-thruconnectors *Active low that connect input power to all modules. For 5-through 8-axis units with two different types of amplifiers, the lower of the Programmable for active high or Active lo maximum voltages is the maximum rating for the unit. However, if you need different voltages, you can specify the SAMp and/or /S(NTL option to separate the various power inputs When using the AMP-43140 with a power supply lower than +20 Volts, a separate supply of 20-80 VDC must be input to the 2-pin connector on the side of the DMC-41x3 4www.galilmc.com/galilMotionControl,Inc Ethernet/RS232/USB Econo Series, 1-8 axes DMC- 41x3 Series DMC-41x3 Servo Drive Options AMP-430x0 2-and 4-axis 500 W Servo Drives(-D3020-D3040) is 24 KHz. The drive operates in chopper mode. The amplifier offers protec The AMp-43040 contains four transconductance, PWM amplifiers for ion for over-voltage, under-voltage, over-current, short-circuit and over driving brushless/brush servo motors. Operating at up to 7 Amps cont temperature hall sensors are required for brushless motors. A shunt regu 10 Amps peak, 20-80 VDC. The gain settings of the amplifier are user-pro- lator option is available grammable at 0.4, 0.7 and 1 Amp/Volt. The switching frequency is 60 kHz. AMP-435x0 2-and4-axis 600 W Servo Drives with sinusoidal The drive for each axis is software configurable to operate in either a chop- Commutation(-D3520-D3540) per or inverter mode The chopper mode is intended for operating low The AMp-43540 contains four transconductance, PWM amplifiers for driv inductance motors The amplifier offers protection for over-voltage, unde ing brushless servo motors with sinusoidal commutation. Each amplifier voltage, over-current, short-circuit and over-temperature hall sensors are drives motors operating at up to 8 Amps cont, 15 Amps peak, 20-80 VDC. required for brushless motors. a shunt regulator option is available a two The gain settings of the amplifier are user-programmable at 0.4, 0.8 and axis version the amp- 43020 is also available 1.6 Amp/Volt. The switching frequency is 33 KHZ. The amplifier offers pro AMP-43140 4-axis 20 W Servo Drives(-D3140 tection for over-voltage, under-voltage, over-current, short-circuit and 之2 The AMP-43140 contains four linear drives for operating small, brush-type over-temperature hall sensors are not required for brushless motor com servo motors. The AMp-43140 requires a 12-30 VDC input Output power mutation. a shunt regulator option is available a two-axis version, the is 20 W per amplifier or 60W total. The gain of each transconductance linear AMP-43520, is also available amplifier is 0. 1 A/at 1 A maximum current. The typical current loop band- AMP-43640 4-axis 20 W Servo Drives with sinusoidal width is 4 KHz. An SSR option is available which guarantees absolutely no Commutation (-D3640) current during motor off. The AMp-43640 contains four linear, transconductance amplifiers for driving AMP-43240 4-axis 750 W Servo Drives(-D3240) brushless servo motors with sinusoidal commutation the amp-43640 The AMp-4324 contains four transconductance, PWM amplifiers for driv- requires 15-30 VDC, and the gain setting of each amplifier is 0. 1 A/ at ing brushless/brush servo motors servo motors. Operating at up to 10 1A maximum current. hall sensors are not required for brushless motor Amps cont, 20 Amps peak, 20-80 VDC. The gain settings of the amplifier commutation are user-programmable at 0.5, 1 and 2 Amp/Volt. The switching frequency The DMc-41x3 can be optionally equipped with a multi-axis internal servo or stepper motor drive that resides inside the dmc-41x3 enclosure 5-8 axis versions can mix and match two of the following drives Drive Name(Part Number) AMP-430x0(-D30x0) AMP-43140(-D3140) AMP-43240(-D3240) AMP-435X0 (-D35x0) AMP-43640(-D3640) Motor Type Brushed/ Brushless servo Brushed servo Brushed/ Brushless servo Brushless servo-sinusoidal Brushless servo-sinusoidal Axes 4X=4,2X=2 4x=4,2x=2 Current drive PWM Linear PWM PWM Linear Axis power (Watts) 500 20(60 max for 4 axes)750 600 Cont, Current(Amps) 10 Peak current (Amps) 15 Voltage Bus(VDg 208010a|te+1230bioa2080 20-80 15 Gains 040.7,1.0AV 010012leN012040816A 0. 2 A/ Switching Freq( Khz) 60(140 available) N/A 24 N/A Typical Current Loop BW(kHz)* 2-8 Drive Modes nverter, chopper Linear Chopper Linear Commutation Trap w/120 Halls Brushed only Trap w/120°Hals Sinusoidal Sinusoidal Min Inductance(mH) 0.2-0.5 0.2 0.2 0.5 0.5 Over voltage Yes No Under voltage No No Over current Yes Fused Fused Short circuit Yes Fused Yes Ye Over temp Thermal shutdown Yes Thermal Shutdown ELO input Other notes Shunt option SSR option, disconnects Shunt option Shunt option SSR option Adjustable current loop power at startup Adjustable current loop "Current Loop bandwidth is system dependent. Contact Galil for unlisted upgrade options for all above drives www.galilmc.com/galiLMotionControl,Inc.5 Ethernet/RS232/USB Econo Series, 1-8 axes DMC- 41x3 Series DMC-41x3 Stepper Drive Options SDM-440X0 2-and 4-axis Stepper Drives(-D4020,-D4040 Power Supplies--PSR Series The SDM-44040 contains four drives for operating two-phase bipolar The psr series are regulated dc power supplies capable of operating step motors. The SDM-44040 requires a single 12-30 VDC input. The from a 100/240 VAC input, at 50/60 HZ. The power supply includes a unit is user-configurable for 1. 4 A, 1.0 A, 0.75 A, or 0.5 a per phase and shunt regulator and blocking diode for full-step, half-step, 1/4 step or 1/16 step. a two-axis version, the Model Power Rating Dimensions SDM-44020. is also available PSR-122424VDC12 a cont.9"×6"×2"3.5bs. SDM-44140 4-axis Microstep Drives(-D4140) PSR64848VDC6Aont.9"×6.5"×2"3.5|bs The sdm-44140 contains four microstepping drives for operating two /CS D-type to Screw-Terminal Boards phase bipolar stepper motors. The drives produce 64 microsteps per full Galil offers various iCs boards which break-out the DMc-41x3 D-type step or 256 steps per full cycle which results in 12, 800 steps/rev for a onnectors into screw terminals for quick prototyping standard 200-step motor. The maximum step rate generated by the con troller is 3, 000,000 microsteps/second. The sdm-44140 drives motors ICS48115-F 15-pin LD female to terminals-analog operating at up to 3 Amps at 12 to 60 VDC (available voltage at motor is ICS-48026-M 26-pin HD male to terminals--for axes 10% less). There are four software-selectable current settingS: 0.5, 1A, IC5-48044-M 44-pin Hd male to terminals--170 2A and 3a. plus, a selectable low-current mode reduces the current by 75% when the motor is not in motion. no external heatsink is required The DMc-41x3 can be optionally equipped with a multi-axis internal servo or stepper motor drive that resides inside the dmc-41x3 enclosure 5-8 axis versions can mix and match two of the following drives Drive Name(part Number) SDM-440X0 (-D40X0) SDM44140(D4140 Motor Type Stepper Stepper Axes 4X=4,2x=2 Current Drive PWM PWM Axis power ( Watts) 42 Cont. Current(Amps) Peak Current(Amps) 30 BOX version of the DMC-41x3 controller Voltage Bus(VDC 12-30 1260 G anns 0.5,0.751.01.4A 0.5,102.0,30A Switching Freq ( Khz) 27 (nominal) 60 Typical Current Loop BW (kHz) Drive Modes 1, 2, 4, 16 microstep 64 microstep Commutation Min Inductance(mH) 0.5 0.5 Over Voltage No Under voltage Over current Yes Short circuit Over temp ELO input Ye Yes Other notes Low current feature Low current feature Current Loop bandwidth is system dependent. Contact Galil for unlisted upgrade options for all above drives. 6www.galilmc.com/galiLMotionControl,Inc Ethernet/RS232/USB Econo Series, 1-8 axes DMC-41x3 Series Ordering Information 1-through 8-axis Models DMC-41x3-DXXXX-DXXXX-SR90-BOX Number Shunt Requlator of axes (optional) 1: 1-axis 2: 2-axes Metal enclosure 3: 3-axes (optional if not using Galil drives. 4: 4-axes Required for AMPs and SDMs) 5: 5-axes 6: 6-axes Drive-Axes 5-8 (optional) 7: 7-axes 3020 two 500 Watt servo motor drives 之2 8: 8-axes 3040 four 500 Watt servo motor drives 3140 four 20 Watt servo motor drives 3240 four 750 Watt servo motor drives 3520 two 600 Watt servo motor drives -sinusoidal commutation 3540 four 600 Watt servo motor drives-sinusoidal commutation 3640 four 20 Watt servo motor drives -sinusoidal commutation 4020: two 1.4 A stepper motor drives--Full, Half, 1/4, 1/16 4040: four 1. 4 A stepper motor drives-Full, Half, 1/4, 1/16 4140 four microstep drives Drive-Axes 1-4(optional) 3020 two 500 Watt servo motor drives 3040 four 500 Watt servo motor drives 3140 four 20 Watt servo motor drives 3240 four 750 Watt servo motor drives 3520 two 600 Watt servo motor drives- sinusoidal commutation 3540 four 600 Watt servo motor drives -sinusoidal commutation 3640 four 20 Watt servo motor drives -sinusoidal commutation 4020: two 1. 4 A stepper motor drives-Full, Half, 1/4, 1/16 4040: four 1. 4 A stepper motor drives--Full, Half, 1/4, 1/16 4140 four microstep drives Options DMC Controller sdM and amp drives OPT CODE DESCRIPTION OPT CODE DESCRIPTION DIN DIN Rail mounting option 100mA 100 mA output capacity for AMP-43 140 Default is 1 Amp 12V 12 VDC controller power ISAMP Isolation of power between each AMP amplifier 16BIT 16-Bit ADC for analog inputs. 12-bits is standard ISCNTL Isolation of controller power from amplifier power NREXXXX Customized upgrade No current during motor off 422 RS422 on auxiliary SSl encoders Quadrature encoders are standard BISS BiSS encoders. Quadrature encoders are standard TRES Termination resistors Note: If a special option is required, place the appropriate OPT CODE 4-20mA 4-20mA analog inputs inside a parenthesis directly following the respective DMC, CMI HSRO HIgh power sourcing outputs( default low power ICM, SDM or AMP part numbers. Use commas for multiple options sinKing, within a parenthesis Ordering information continued on the next page. www.galilmc.com/galiLMotionControl,Inc.7 Ethernet/RS232/USB Econo Series, 1-8 axes DMC- 41x3 Series Ordering Information- continued PART NUMBER DESCRIPTION QUANTITY 1 QUANTITY 100 DMC-4113 1-axis Ethernet/RS232/USB controller(card-level) s1095 S795 DMC-4123 2-axis Ethernet/RS232/USB controller(card-level) 51195 5865 DMC-4133 3-axis Ethernet/RS232/ USB controller (card-level) S1345 s925 DMC-4143 4-axis Ethernet/RS232/USB controller (card-level) s1495 s995 DMC-4153 5-axis Ethernet/RS232/USB controller(card-level) s1695 s1145 DMC-4163 6-axis Ethernet/RS232/USB controller(card-level) 51795 s1215 DMC-4173 7-axis Ethernet/RS232/ USB controller (card-level) s1895 s1280 DMC-4183 8-axis Ethernet/RS232/USB controller(card-level) s1995 s1345 BOX Metal enclosure for 1-4 axis models(required if using AMPs and SDMs) add S 100 adds 75 BOX Metal enclosure for 5-8 axis models(required if using AMPs and SDMs) add S 12 add S 100 AMP43040(-D3040) Four 500 W servo motor drives(use one for 1-4 axis models Two for 5-8 axes $700 S400 models). Add to above -BOX version is required for AMPs and SDms AMP43020(D3020) Two 500 W servo motor drives. -BoX version is required for amps and Sdms S450 S275 AMP43140(D3140) Four 20 W servo motor drives. - BOX version is required for Amps and SDms S175 s155 AMP43240(-D3240) Four 750 W servo motor drives. -BOX version is required for AMps and SDms s900 S500 AMP-43520(-D3520) Two 600 W servo motor drives with sinusoidal commutation S650 s375 AMP43540(D3540 Four 600w servo motor drives with sinusoidal commutation S600 AMP-43640(D3640) Four 20 W servo motor drives with sinusoidal commutation s600 s350 SR49000SR90) Shunt regulator (90 V). Add to above S50 S35 SDM44020(D4020) Two 1.4 A stepper motor drives-Full, Half, 1/4, 1/16. -BOX required S125 S105 SDM44040(D4040) Four 1.4 A stepper motor drives-Full, Half, 1/4, 1/16.-BOX required S175 S155 sDM44140(-D4140) Four microstep drives -boX version is required for amps and sdms s600 s400 PS250-24 24 V, 60-Watt power supply S85 PSR-12-24 Power supply, 12 A, 24 VDC. Includes shunt regulator S250 S175 PSR-6-48 Power supply, 6 A, 48 VDC. Includes shunt regulator S250 S175 cS48115 15-pin D LD female to screw terminals--for analog inputs s50 S35 cS-48044M 44-pin D HD male to screw terminals--for general 1/0 s75 s50 [CS-48026-M 26-pin D HD male to screw terminals--for axis connectors S75 GaliITools-Lite Editor, Terminal, Watch Tools Includes communication library Free download Galiitools Above with Scope and Tuner S195 Galil offers additional quantity discounts for purchases between 1 and 100. Consult Galil for a quotation 8www.galilmc.com/galiLMotionControl,Inc

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