Installation Manual - Galil Motion Control
Contents
1. 12 20 60VDC IF 2 RELAY IF z DMC 30012 Figure 6 Communication Connection Connect the serial cable or the Ethernet cable from your PC to the DMC 3xx1x motion controller The Ethernet cable may be connected through a hub or switch or directly to the PC If the controller is connected to a DHCP enabled network the IP address will automatically be assigned to the controller Powering the Controller Once the connections have been made from the DC power supply to the DMC 3xx1x motion controller the controller and internal amplifiers may be powered up At this time the Power LED should be illuminated and the LCD should turn on and indicate the status of the axes available on the controller Additional Wiring Additional wiring to the Analog and Digital I O encoders limit switches and other connections found on the D Subs on the DMC 3xx1x motion controller will be required to complete your applications The pinout for the connectors are shown below for additional information regarding these connections see the DMC 3xx1x User Manual 5 I O A D 44 pin HD D Sub Connector Female Pin N Label Description Label Description Label Description Mor Function 3 MF4 Multi Functio2. 2 953 DMC 30011 BOX Included Components Quantiy Description MCB 300M0 1 Main Controller Board IOB 30010 1 T O Board 5 300 1 1 Power Supply Board Description Units Specification Weight Ib Length Same as DMC 30012 in 3 88 Width Same as DMC 30012 in 4 50 Height Same as DMC 30012 in 1 45 DMC 30012 Included Components Quantiy Description MCB 300M0 1 Main Controller Board IOB 30010 1 T O Board AMP 300A2 1 Sine Amplifier Board Description Units Specification Weight Ib 0 95 Length in 3 88 Width in 4 50 Height in 1 45 25 1 4 INSERTION DEPTH 5 5 9 m 1 26 1 45 6 32 EARTH 19 ps DMC 30012 228 535 0 209 020 909 099 e 330 5 00 009 4 500 90 Q 2 688
3. power and amplifier power Qty 1 4 pin molex connectors DMC 3xx12 Qty 1 2 molex connector DMC 3xx11 DMC 3xx12 Qty 1 4 pin molex connector DMC 3xx10 e Software Installation CD Note Connectors and or software installation CD may not be shipped to existing OEM customers 2 Check that no visible damage has occurred to the controller or internal amplifiers If any damage has occurred to the controller or the components shipped with the controller contact Galil Motion Control immediately Contact information can be found in the beginning of this manual 3 Verify the controller that has been shipped to you is in fact the controller that you have ordered from Galil or your authorized Galil distributor To do this check the labeling on the controller and compare it to the part number that was ordered DMC 3xx10 Maximum Input Voltage 12VDC 5VDC Maximum Input Current 50 500mA Figure 1 Label for DMC 3xx10 DMC 3xx11 Maximum Input Voltage 48VDC Maximum Input Current 250mA Figure 2 Label for DMC 3xx11 3 12 Maximum Input Voltage 60 Maximum Output Current 10 Amps Figure 3 Label for DMC 3xx12 TERTS ETL LISTED ID GONFORMS TO CN s UL STD 61010 1 3137106 CERTIFIED CAN CSA STD 622 2 NO 61010 1 Figure 4 ETL Mark Installation Mounting the Controller The DMC 3xx1x motion controller must be mounted to a f
4. DMC 3xx1x Series Installation DMC 3xx1x Integrated Amplifier Installation Manual Manual Rev 1 0a2 By Galil Motion Control Inc Galil Motion Control Inc 270 Technology Way Rocklin California 95765 Phone 916 626 0101 Fax 916 626 0102 E mail Address support galilmc com URL www galilmc com Rev 02 29 12 Using This Manual This manual provides information for the wiring installation powering up and basic communication to the DMC 3xx10 DMC 3xx11 and DMC 3xx12 series motion controllers The following list of part numbers are examples of configurations of the DMC 3xx1x motion controller that are covered in this manual DMC 30010 1 15 controller no power supply no amplifier DMC 30011 l axis controller with 48VDC power supply no amplifier DMC 30012 1 15 controller with 60VDC power supply and sine amplifier This manual covers the basic installation of the controller and amplifier modules For full operational information including specific I O installation detailed programming examples and additional internal driver information see the DMC 3xx1x User Manual WARNING Machinery in motion can be dangerous It is the responsibility of the user to design effective error handling and safety protection as part of the machinery Galil shall not be liable or responsible for any incidental or consequential damages If the DMC 3xx1x motion controller and included amplifiers or
5. block the installation of the controller e Marked as the disconnect device for the equipment Connectors for DMC 3xx12 On Board Connector Terminal Pins POWER 2 pin MATE N LOK MOLEX 39 31 0020 MOLEX 44476 3112 A B C D 4 pin Motor 4 pin MATE N LOK Power Connectors MOLEX 39 31 0040 MOLEX 44476 3112 For mating connectors see http www molex com Motor Connector Power Connector Power Connector Pin Number Connection 1 DC Power Supply Ground 2 VS DC Power Phase C Phase B N C for Bushed Motors No Connect Phase A SERAQ Ke a uju a 5898 elas ENCODER A 10 HALA E 9 AA 55 g ama SMAr 1850 a 999 8 6 MI o ro 15 OPB o 2201 woo SoS 28 13 RST 202 27 17 12 018 050 405 015 GALILMOTION Smo 2501 Spon gesi CONTROL sems 2108 iso 2 MADEINUSA 27 M4 22 NFS 35 34 79 4 ERR 33 GND 18 12V 32 400 2 2 31 2 TAT 2 ETKERNETI 4 f ERR a TMIN TIM PWR Lu i
6. lat surface with 4 10 pan head screws through each mounting hole found on the controller base as shown in Figure 5 If the controller is mounted on a wall the controller should be mounted so that the bottom of the controller is horizontal to the floor as shown in Figure 5 The enclosure must meet or exceed any fire ratings that are required of the system as a whole With the DMC 3xx12 it should be determined at this time whether or not an additional heat sink will be required This is determined based upon the continuous current requirements of the system as defined in the Additional Mounting Consideration when using the DMC 3xx12 section above The Motor Sizer tool found on our website can be used to determine this value http www galilmc com learning motorsizer php Powering the Controller The DMC 3xx1x is powered the DC supply connections All connectors share a common ground The 3 is grounded through the metal enclosure and should be installed on an unpainted metal surface The Earth lugs should be used for additional electrical contact 6 PAN HEAD SCREW or 4 PLACES Figure 5 Mounting the DMC 3xx1x Wiring the DMC 3xx12 The basic wiring for a DMC 3xx12 is shown in Figure 6 The disconnect switch or circuit breaker for AC power must be installed in a location that meets the following requirements e Placed in close proximity to the equipment within easy reach of the operator and must not
7. n 4 MF3 MF4 Multi Function 4 Limit Switch LSCOM Common Forward Limit Switch as Home Switch Input fais Limit Input Common Digital input 1 Input 1 Digital Input 3 Output PWR GND 30 04 Digital Output 4 J4 Encoder 15 pin HD D Sub Connector Female Pin Label Description I I Index Pulse Input MB B Main Encoder Input gt Main Encoder Input B Aux Encoder Input Digital Ground I Index Pulse Input B Main Encoder Input z A Main Encoder Input amp _ A Aux Encoder Input A Channel Hall Sensor A Aux Encoder Input w gt B Aux Encoder Input B Channel Hall Sensor C Channel Hall Sensor 5V 5V als Communication with Galil Software To communicate with the controller the GalilTools communications software must first be installed A free version of GalilTools GalilTools Lite may also be used These software applications can be found on the software installation CD shipped with the controller or online at http www galilmc com support software downloads php Installation instructions for your operating system can be found in the GalilTools user manual http www galilmc com support manuals galiltools introduction html Once the software has been installed run GalilTools or GalilTools Lite and choose your controlle
8. r RS 232 connection If you are using over a serial connection the standard baud rate of the DMC 3xx1x motion controller is 115200 For a standard serial connection over COM1 choose COM1 115200 in the connections dialog window Ethernet connection If you are connected to the controller via an Ethernet connection and your network is DHCP enabled then the controller will automatically have an IP addressed assigned to it If your network is not DHCP enabled or the connection is only between the PC and the controller then the controller be found with the software as no IP address assigned The GalilTools software will allow you to assign the controller with an IP address See the GalilTools documentation for detailed information on using the software to assign the controller IP address Appendix Specifications Al Electrical Specifications DMC 30010 Description Units Specification Input Voltage VDC 5 12 Maximum Input Power W 3 DMC 30011 Description Units Specification Maximum Input Voltage VDC 48 Minimum Input Voltage VDC 9 Maximum Input Power W 3 DMC 30012 Description Units Specification Maximum Input Voltage VDC 60 Minimum Input Voltage VDC 20 Maximum Input Power W 300 Maximum Output Current Amps 10 Peak Output Current Amps 15 Amplifier Gain A V 0 4 0 8 default 1 6 Switching Frequency kHz 33 Supply Voltage Fuse Amps 15 Fault Information The DMC 30012 protected from the following fault conditions Faul
9. stepper drivers are not used in a manner specified by Galil Motion Control the protection provided by the controller amplifiers and drivers may be impaired Chapter 1 Overview Introduction DMC 3xx1x Motion Controller The DMC 3xx 1x Series is Galil s latest generation single axis motion controller It uses a 32 bit RISC processor to provide higher speed than older models The DMC 3xx 1x is available as a compact card level or box level unit and connects to a stepper or servo motor amplifier of any power range Or the DMC 3xx1x can be purchased with an internal 800 Watt brushless sine drive which minimizes space cost and wiring The motion controller operates stand alone or can be networked to a PC via Ethernet Features include PID compensation with velocity and acceleration feedforward program memory with multitasking for concurrent execution of multiple programs and uncommitted optically isolated inputs and outputs for synchronizing motion with external events Modes of motion include point to point positioning jogging contouring PVT electronic gearing and electronic cam Like all Galil motion controllers these controllers use a simple English like command language which makes them very easy to program GalilTools software further simplifies system set up with one button servo tuning and real time display of position and velocity information Commands are sent in ASCII Additional software is available for au
10. t Condition Over Current Protection Under Voltage Protection Over Temperature Protection Over Voltage Protection The Over Current protection circuit is shown in Figure 7 For further specifics on fault conditions see the DMC 3xx1x User Manual VIN_AB OC_N ZS fener 1UF AMP DRIVE OVERCURRENT Figure 7 Overcurrent Circuit 2 Environmental Specifications Description Units Specification Storage Temperature 40 to 125 Operating Temperature 0 to 40 Operating Altitude feet 10 000 Humidity RH 20 95 non condensing Mechanical Specifications DMC 30010 BOX Included Components MCB 300M0 IOB 30010 Description Weight Length Width Height FI 1 1 17 4 1 36 Quantiv Description 1 Main Controller Board 1 T O Board Units Specification Ib 0 71 in 3 88 in 4 20 in 1 36 r 3 88 19 3 500 DMC 30010 T 388 205 1 3 250 4 20 2 463 1 589 1 550 dil p oll 1 7 L m 1 106 125 1 128 PLCS L
11. this case the controller base must be mounted to an addition heat sink When the application requires that the DMC 30012 be mounted to a heat sink the heat sink must be sized such that the base of the DMC 30012 be kept at a temperature of 65 C or below This works out to a thermal resistance of 20 C W at full continuous power Full continuous power is defined as a 100 duty cycle at IOAmps continuous current with a 60VDC bus Elements Needed for Installation 1 Isolated DC power supply a Ratings found in Appendix Al Power Supply Cable PC or laptop with Ethernet and or RS 232 ports GalilTools or GalilTools Lite software package Ethernet Cable Qw es ker Recommended shielded Cat 5 STP cable Straight through Cross over 6 RS 232 straight through serial cable a 9 pin D sub female 7 Molex pin Crimp Tool 8 Additional cables may be required for connection to motors external amplifiers digital or analog I O and other devices See the full DMC 3xx1x User Manual for further information 9 Disconnect switch or circuit breaker for AC power to DC Power Supply Unpacking the Controller Caution DMC 3xx1x motion controller and included internal amplifier include electrostatic sensitive components Observe standard precautions for handling ESD sensitive devices when handling the controller 1 Verify that the following components have been shipped along the motion controller e Connectors and mating pins for motor
12. tomatic tuning trajectory viewing on a PC screen and program development using many environments such as Visual Basic C C etc Drivers for Windows XP Vista and 7 32 amp 64 bit as well as Linux are available DMC 3xx10 The DMC 3xx10 is a single axis controller with no power supply and no amplifier DMC 3xx11 The 3 11 is a single axis controller with a 48VDC power supply and no amplifier DMC 3xx12 The DMC 3xx12 is a single axis controller with a 60VDC power supply and and a single axis sinusoidal amplifier The DMC 3xx12 is capable of 10 Amps of continuous current and 15 Amps of peak current Chapter 2 Installation Pre Installation Operating Environment The location for use of the DMC 3xx1x must meet the following requirements Description Units Specification Ambient Temperature 0 to 40 Altitude feet 10 000 Humidity RH 20 95 non condensing Mounting Location The DMC 3xx1x motion controller must be mounted on a flat surface using the 4 mounting holes found on the metal base plate The grating found on the side of the metal must not be obstructed in order provide proper air flow for adequate heat dissipation The dimensions and the mounting hole locations are found in Appendices A3 Additional Mounting Consideration when using the DMC 3xx12 When operating a DMC 3xx12 special mounting considerations must be made if the total continuous current output for the controller is greater than 5A In
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