Overview of Motor Types
The DMC-40x0 can provide the following types of motor control:
1. Standard servo motors with ± 10 volt command signals
2. Brushless servo motors with sinusoidal commutation
3. Step motors with step and direction signals
4. Other actuators such as hydraulics and ceramic motors - For more information, contact Galil.
The user can configure each axis for any combination of motor types, providing maximum flexibility.
Standard Servo Motor with ±10 Volt Command Signal
The DMC-40x0 achieves superior precision through use of a 16-Bit motor command output DAC and a sophisticated
PID filter that features velocity and acceleration feed-forward, an extra pole filter and integration limits.
The controller is configured by the factory for standard servo motor operation. In this configuration, the controller
provides an analog signal (±10 volts) to connect to a servo amplifier. This connection is described in Chapter 2.
Brushless Servo Motor with Sinusoidal Commutation
The DMC-40x0 can provide sinusoidal commutation for brushless motors (BLM). In this configuration, the
controller generates two sinusoidal signals for connection with amplifiers specifically designed for this purpose.
Note:
The task of generating sinusoidal commutation may be accomplished in the brushless motor amplifier. If the
amplifier generates the sinusoidal commutation signals, only a single command signal is required and the controller
should be configured for a standard servo motor (described above).
Sinusoidal commutation in the controller can be used with linear and rotary BLMs. However, the motor velocity
should be limited such that a magnetic cycle lasts at least 6 milliseconds with a standard update rate of 1
millisecond. For faster motors, please contact the factory.
To simplify the wiring, the controller provides a one-time, automatic set-up procedure. When the controller has
been properly configured, the brushless motor parameters may be saved in non-volatile memory.
The DMC-40x0 can control BLMs equipped with Hall sensors as well as without Hall sensors. If Hall sensors are
available, once the controller has been setup, the brushless motor parameters may be saved in non-volatile
memory. In this case, the controller will automatically estimate the commutation phase upon reset. This allows
the motor to function immediately upon power up. The Hall effect sensors also provide a method for setting the
precise commutation phase. Chapter 2 describes the proper connection and procedure for using sinusoidal
commutation of brushless motors.
Stepper Motor with Step and Direction Signals
The DMC-40x0 can control stepper motors. In this mode, the controller provides two signals to
connect to the stepper motor: Step and Direction. For stepper motor operation, the controller does
not require an encoder and operates the stepper motor in an open loop fashion. Chapter 2 describes
the proper connection and procedure for using stepper motors.
If encoders are available on the stepper motor, Galil’s Stepper Position Maintenance Mode may be
used for automatic monitoring and correction of the stepper position. See Stepper Position
Maintenance Mode (SPM) in Chapter 6 for more information.
Chapter 1 Overview ▫ 5
DMC-40x0 User Manual