Functional Elements
The DMC-40x0 circuitry can be divided into the following functional groups as shown in Figure 1.4 and discussed
below.
Figure 1.4: DMC-40x0 Functional Elements
Microcomputer Section
The main processing unit of the controller is a specialized Microcomputer with RAM and 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 22 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-40x0 consists of high speed RS-232 and Ethernet. The Ethernet is
10/100Bt and the two RS-232 channels can generate up to 115K. An additional Ethernet port is available with the
CMB-41022, see A10 – CMB-41022 (-C022), pg 259 for details.
General I/O
The DMC-40x0 provides interface circuitry for 8 bi-directional, optoisolated inputs, 8 high power optoisolated
outputs and 8 analog inputs with 12-Bit ADC (16-Bit optional). The DMC-40x0 also has an additional 32 I/O (3.3V
Chapter 1 Overview ▫ 7
DMC-40x0 User Manual
WATCHDOG TIMER
RISC BASED
MICROCOMPUTER
HIGH-SPEED
MOTOR/ENCODER
INTERFACE
FOR
A,B,C,D
I/O INTERFACE
ETHERNET
RS-232 /
RS-422
8 UNCOMMITTED
ANALOG INPUTS
HIGH-SPEED LATCH FOR EACH AXIS
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 PROGRAMMABLE,
OPTOISOLATED
INPUTS
8 PROGRAMMABLE
HIGH POWER OPTOISOLATED
OUTPUTS
32 Configurable I/O