Galil Motion Control DMC-4040, User Manual, Page: 4 / 283

Virtual Axis ................................................................................................................... 104
Stepper Motor Operation .............................................................................................. 105
Stepper Position Maintenance Mode (SPM) ................................................................. 107
Dual Loop (Auxiliary Encoder) .................................................................................... 110
Motion Smoothing ....................................................................................................... 112
Homing ......................................................................................................................... 114
High Speed Position Capture (The Latch Function) .................................................... 116
Chapter 7 Application Programming 117
Overview ....................................................................................................................... 117
Program Format ............................................................................................................ 117
Executing Programs - Multitasking .............................................................................. 119
Debugging Programs .................................................................................................... 120
Program Flow Commands ............................................................................................ 121
Mathematical and Functional Expressions ................................................................... 136
Variables ........................................................................................................................ 139
Operands ....................................................................................................................... 140
Arrays ............................................................................................................................ 141
Input of Data (Numeric and String) .............................................................................. 144
Output of Data (Numeric and String) ........................................................................... 146
Hardware I/O ................................................................................................................ 150
Extended I/O of the DMC-40x0 Controller .................................................................. 154
Example Applications ................................................................................................... 156
Using the DMC Editor to Enter Programs .................................................................... 160
Chapter 8 Hardware & Software Protection 162
Introduction ................................................................................................................... 162
Hardware Protection ..................................................................................................... 162
Software Protection ....................................................................................................... 163
Chapter 9 Troubleshooting 167
Overview ....................................................................................................................... 167
Chapter 10 Theory of Operation 170
Overview ....................................................................................................................... 170
Operation of Closed-Loop Systems .............................................................................. 172
System Modeling .......................................................................................................... 173
System Analysis ............................................................................................................ 177
System Design and Compensation ................................................................................ 179
Appendices 182
Electrical Specifications ................................................................................................ 182
Performance Specifications .......................................................................................... 184
Ordering Options .......................................................................................................... 185
Power Connector Part Numbers .................................................................................... 192
Input Current Limitations ............................................................................................. 193
Serial Cable Connections .............................................................................................. 194
Configuring the Amplifier Enable Circuit .................................................................... 196
Signal Descriptions ....................................................................................................... 206
List of Other Publications ............................................................................................. 208
Training Seminars ......................................................................................................... 208
Contacting Us ................................................................................................................ 209
WARRANTY ................................................................................................................ 210
Integrated Components 211
Overview ....................................................................................................................... 211
A1 – AMP-430x0 (-D3040,-D3020) 213
Description .................................................................................................................... 213
Electrical Specifications ................................................................................................ 214
Operation ....................................................................................................................... 215
Error Monitoring and Protection ................................................................................... 217
DMC-40x0 Contents ▫ iii