Galil DMC-1700 Manual De Usuario
DMC-1700/1800
Chapter 1 Overview • 3
WATCHDOG TIMER
68331
MICROCOMPUTER
WITH
4 Meg RAM
4 Meg FLASH EEPROM
HIGH-SPEED
MOTOR/ENCODER
INTERFACE
FOR
X,Y,Z,W, etc.
I/O INTERFACE
DMA/DPRAM
2ND FIFO
Primary
FIFOS
ISA/PCI BUS
8 UNCOMMITTED
ANALOG INPUTS
HIGH-SPEED LATCH FOR EACH AXIS
8 PROGRAMMABLE,
OPTOISOLATED
INPUTS
8 PROGRAMMABLE
OUTPUTS
ISOLATED LIMITS AND
HOME INPUTS
MAIN ENCODERS
AUXILIARY ENCODERS
HOME INPUTS
MAIN ENCODERS
AUXILIARY ENCODERS
+/- 10 VOLT OUTPUT FOR
SERVO MOTORS
SERVO MOTORS
PULSE/DIRECTION OUTPUT
FOR STEP MOTORS
FOR STEP MOTORS
HIGH SPEED ENCODER
COMPARE OUTPUT
COMPARE OUTPUT
Interrupts
Figure 1.1 - DMC-1700/1800 Functional Elements
Microcomputer Section
The main processing unit of the controller is a specialized 32-bit Motorola 68331 Series Microcomputer with 512K
byte RAM and 512K byte 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.
byte RAM and 512K byte 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 12 MHz.
For standard servo operation, the controller generates a +/-10 Volt analog signal (16 Bit DAC). For sinusoidal
commutation operation, the controller uses 2 DACs to generate 2
For standard servo operation, the controller generates a +/-10 Volt analog signal (16 Bit DAC). For sinusoidal
commutation operation, the controller uses 2 DACs to generate 2
+/-10Volt analog signals. For stepper motor
operation the controller generates a step and direction signal.
Communication
The communication interface with the host PC contains a primary and secondary communication channel. The
primary channel uses a bi-directional FIFO and includes PC interrupt handling circuitry. The secondary channel can
be set as DMA or DPRAM where data is placed in PC memory or as a Polling FIFO where data is placed into the
controller’s FIFO buffer. The DMA is available on the DMC-1700 and, DPRAM is only available on the DMC-
1800 (1810-1840 Rev H and greater, DMC-1850-1880 Rev E and greater), whereas the Polling FIFO is available on
both the DMC-1700 and DMC-1800.
primary channel uses a bi-directional FIFO and includes PC interrupt handling circuitry. The secondary channel can
be set as DMA or DPRAM where data is placed in PC memory or as a Polling FIFO where data is placed into the
controller’s FIFO buffer. The DMA is available on the DMC-1700 and, DPRAM is only available on the DMC-
1800 (1810-1840 Rev H and greater, DMC-1850-1880 Rev E and greater), whereas the Polling FIFO is available on
both the DMC-1700 and DMC-1800.
General I/O
The controller provides interface circuitry for 8 bi-directional, optoisolated inputs, 8 TTL outputs, and 8 analog
inputs with 12-Bit ADC (16-bit optional). The general inputs can also be used for triggering a high-speed positional
latch for each axis.
inputs with 12-Bit ADC (16-bit optional). The general inputs can also be used for triggering a high-speed positional
latch for each axis.
Each axis on the controller has 2 encoders, the main encoder and an auxiliary encoder. Each unused auxiliary
encoder provides 2 additional inputs available for general use (except when configured for stepper motor operation).
encoder provides 2 additional inputs available for general use (except when configured for stepper motor operation).