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DMC-2X00 Chapter 1 Overview y 5
DMC-2x00 Functional Elements
The DMC-2x00 circuitry can be divided into the following functional groups as shown in Figure 1.1
and discussed below.
WATCHDOG TIMER
68331
MICROCOMPUTER
WITH
4 Meg RAM
4 Meg FLASH EEPROM
HIGH-SPEED
MOTOR/ENCODER
INTERFACE
FOR
A,B,C,D
I/O INTERFACE
USB/ETHERNET
RS-232 /
RS-422
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
+/- 10 VOLT OUTPUT FOR
SERVO MOTORS
PULSE/DIRECTION OUTPUT
FOR STEP MOTORS
HIGH SPEED ENCODER
COMPARE OUTPUT
64 Configurable I/O
Figure 1.1 - DMC-2x00 Functional Elements
Microcomputer Section
The main processing unit of the DMC-2x00 is a specialized 32-Bit Motorola 68331 Series
Microcomputer with 4 Meg RAM and 4 Meg 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. It also contains the DMC-2x00 firmware.
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 two DACs to generate two +/-10
volt analog signals. For stepper motor operation, the controller generates a step and direction signal.
Communication
The communication interface with the DMC-2x00 consists of high speed RS-232 and USB or high
speed RS-232 and Ethernet. The USB channel accepts based rates up to 12Mb/sec and the two RS-232
channels can generate up to 115K.