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DMC-500X0

EtherCAT Master Multi-Axis Motion Controllers, 1-8 axes EtherCAT/1-4 axes Local
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  The DMC-500x0 EtherCAT Controller is Galil Motion Control's newest entry in its latest generation of digital motion controllers. Incorporating all of the features of our flagship Accelera series controller and designed with compatibility and flexibility in mind, the DMC-500x0 allows integration of remote EtherCAT drives into new and existing applications with just a handful of configuration commands. The DMC-500x0 is offered in 1 through 8 axis formats. Axes 1 - 4 can be configured as either local or EtherCAT drives while axes 5 – 8 can be configured for additional EtherCAT drives. Unique to the motion control industry, this ability to mix and match local and EtherCAT drives on the same controller provides increased flexibility for any application. In addition, the DMC-500x0 is fully compatible with Galil’s internal servo and stepper motor amplifiers as well as third party external drives.

  Once enabled, an EtherCAT axis replaces a local axis and can be controlled in the same manner. This transparency means access to Galil’s full library of coordinated motion functions that can be mapped to any combination of local and EtherCAT axes. Standard modes of motion include Jogging, Point to Point, Electronic Gearing and Cam, Linear and Vector Interpolation, Contour, and PVT modes. EtherCAT drives can be configured in software to close the PID control loop on the controller or on the drive. In the first mode, torque commands are sent to the motor amplifier after closing the control loop using Galil’s on board PID control algorithm. This mode allows access to the Galil’s standard PID control loop features, including advanced PID compensation, velocity feedforward, acceleration feedforward, integrator limits, notch filter, low pass filter and backlash compensation. In the second mode, the servo control loop is closed on the EtherCAT drive with the Galil controller sending motion profile commands at rates of up to 2.5 kHz on a 1-4 axis controller. Standard opto-isolated inputs for each local axis include a forward limit, reverse limit and homing input. The controller also features 8 uncommitted opto-isolated inputs and 8 uncommitted opto-isolated high power outputs. The DMC-500x0 includes 8 uncommitted analog inputs, allowing the controller to interface with analog sensors such as joysticks and temperature sensors. Inputs from two separate encoders are available for each local servo axis. Local auxiliary encoder inputs are also available for axes configured for EtherCAT, providing access to Galil’s dual feedback PID control loop. The DMC-500x0 can be used with Galil’s newest software package, GDK; simplifying system set up, controller programming and servo tuning. Also included is access to the GalilTools API, allowing development of powerful host applications in multiple languages and operating systems. Like all Galil controllers, the DMC-500x0 uses Galil’s easy to learn two letter ASCII command language. Configuring and programming the controller is simple and intuitive with English-like commands such as TP for Tell Position and EU for EtherCAT network Up. Built in subroutines and error monitoring make development of robust applications a straightforward affair. One CAT5e Ethernet port and two RS-232 ports are provided for communication with a host PC. Multiple EtherCAT drives can be connected in a daisy chain configuration and connected to the controller’s CAT5e EtherCAT port, simplifying wiring and decreasing setup time. The DMC-500x0 is packaged in a compact metal enclosure measuring 8.1” x 7.25” x 1.72” and operates from a single 20 – 80 volt DC supply. See the above list for EtherCAT drive support.

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一、产品主要规格

系统处理器

● 32-bit 基于RISC结构的DSP高速中央处理器

 

通讯接口

● 具备智能MDIX识别技术的10/100BASE-T 网口

● 两个通讯速率高达115KB的RS232口

● 一个EtherCAT通讯接口

命令以ASCII码传送,二进制通信方式也可作为标准性能

 

运动方式

● 点-点定位控制

● 位置跟踪

● JOG

● 带有进给倍率的2D直线/圆弧插补

● 多达8轴的直线插补

● 刀角跟踪

● 螺旋模式

● 多组主控装置电子齿轮

● 龙门同步模式

● 电子凸轮

● 轮廓控制

● PVT(位置-速度-时间)

● 示教和录返模式

 

存储功能

● 应用程序存储空间:4000行* 80字符

● 510个变量

● 30个数组中24000个数组元素

 

控制算法

● 带有速度、加速度前馈的PID控制算法

● 陷波滤波器和低通滤波器

● 双闭环控制下的间隙补偿

● 消减冲击的速度平滑处理算法

● 积分限制

● 转矩限制

● 偏置调整

 

运动参数

● 位移:-2147483648~2147483647 脉冲

● 速度:对于伺服电机,可高达22000,000个计数/秒

● 加速度:20亿个计数/秒²

 

通用I/O

● 8路光电隔离输入

● 8路带光电隔离的大电流输出

● 8路模拟量输入

● 32路扩展3.3V TTL的I/O(5V可选)

 

高速位置锁存

● 通用输入1-4为四路锁存输入,用于A,B,C,D轴;9-12四路锁存输入用于E,F,G,H轴。

 

专用输入

● 正、反限位输入—带光隔

● 回零输入—带光隔

● 高速位置锁存输入—带光隔

● 急停输入—带光隔

● 复位输入—带光隔

 

专用输出

● 16-bit的DAC模拟量输出

● 脉冲+方向输出

● 放大器使能输出

● 报警输出

● 位置比较输出

 

最小伺服更新速率

● 1-4轴  375 µsec

● 5-8轴  750 µsec

 

最大EtherCAT指令速率

● 10亿个计数/秒

 

最大编码器反馈速率

● 22MHz

 

最大步进电机指令速率

● 6MHz

 

电源规格

● 20-80VDC

 

环境要求

● 操作环境:0-70℃

● 湿度:20-95%RH,无凝结

 

尺寸

● 1-4轴:8.05” x 7.25” x 1.41”

 

显示

● 2行*8字节LCD显示屏

 

二、DMC-500X0选型

1-8轴选型

 

其它选型

DMC控制器

 

型号

描述

DIN

DIN模组形式

12V

控制器输入电压12VDC

16BIT

16位模拟量输入,标配为12位

4-20mA

模拟量输入额外4-20mA电流型                                 

ISCNTL

隔离型供电电源

TRES

编码器终端加电阻

ETL

ETL认证

MO

MO插短路棒                

 

ICM转接模块

 

型号

描述

DIFF

差分型模拟量电机指令输出。标配为单端        

LAEN

电机使能低有效。标配为高有效

HAEN

电机使能高有效

SINK

灌电流伺服电机使能信号

SOURCE

拉电流伺服电机使能信号

24V

24V电机拉电流使能信号。标配为5V灌电流  

STEP

差分型脉冲/方向输出信号。标配为单端           

 

CMB通讯板

 

型号

描述

5V

扩展I/O为5V电平。标配为3.3V

P422

RS422串行通讯接口(主口跟辅口)。标配为RS232    

P1422

RS422串行通讯接口(只主口)    

P2422

RS422串行通讯接口(只辅口)         

 

三、外形尺寸(单位:英寸)  1英寸=25.4毫米

DMC-500x0

选配附件

 

型号

外形

说明

PICM-44F

 

44Pin转接板,方便用户连接各信号到外部设备

CABLE-44-MM-1M/1.5M

 

44芯电缆,可选配1米或1.5米,用于44芯端子板

CABLE-44-MF-1M/1.5M

44芯电缆,可选配1米或1.5米,用于44芯端子板

 

五、软件工具

Galil Tools        运动控制器性能分析及伺服调试软件工具

Galil GDK         运动控制器性能分析及伺服调试软件工具(新)

Galil gclib         运动控制器函数库

 

六、GALIL其它产品

DMC-9542    4轴廉价型PCI总线步进/伺服运动控制卡

DMC-18x2    1-4轴经济型PCI总线步进/伺服运动控制卡

DMC-18x6    1-8轴高速型PCI总线步进/伺服运动控制卡

DMC-C640    1-4轴超高性价比独立型步进/伺服运动控制器

DMC-41x3    1-8轴高性价比Ethernet/USB/RS232独立型步进/伺服运动控制器

DMC-40x0    1-8轴高速型Ethernet/RS232独立型步进/伺服运动控制器

DMC-21x3    1-8轴经济型Ethernet/RS232独立型步进/伺服运动控制器

DMC-3x01x   单轴运动控制器

DMC-B140    1-4轴超经济型Ethernet/RS232独立型步进/伺服运动控制器

RIO-47xxx    小巧、低价位、紧凑型PLC   

RIO-574x0    EtherCAT总线型PLC

七、相关配套产品

日本安川∑Ⅱ、∑Ⅴ、∑7系列全数字交流伺服

美国SERVO DYNAMICS 直流放大器

台湾利茗(LIMING)行星减速机

德国亚特兰大(ATLANTA)高精度齿轮、齿条、蜗轮蜗杆减速机

日本三木(MiKi PULLEY)挠性联轴器、电磁合器、电磁刹车

台湾上(HIWIN)直线导轨、滚珠银丝杠、直线定位平台

韩国FASTECH公司EZI系列闭环反馈步进电机

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