Galil DMC-1700, DMC-1800 User Manual
USER MANUAL
DMC-1700/1800
Manual Rev. 1.2m
By Galil Motion Control, Inc.
Galil Motion Control, Inc.
3750 Atherton Road
Rocklin, California 95765
Phone: (916) 626-0101
Fax: (916) 626-0102
Internet Address: support@galilmc.com
URL: www.galilmc.com
Rev Date: 6/06
Using This Manual
This user manual provides information for proper operation of the DMC-1700 or DMC-1800
controller. The appendix to this manual contains information regarding the accessories to these
controllers. A separate supplemental manual, the Command Reference, contains a description of the
commands available for use with the controller.
Your motion controller has been designed to work with both servo and stepper type motors.
Installation and system setup will vary depending upon whether the controller will be used with
stepper motors or servo motors. To make finding the appropriate instructions faster and easier, icons
will be next to any information that applies exclusively to one type of system. Otherwise, assume that
the instructions apply to all types of systems. The icon legend is shown below.
1X80
Attention: Pertains to servo motor use.
Attention: Pertains to stepper motor use.
Attention: Pertains to controllers with more than 4 axes.
Please note that many examples are written for the DMC-1740 and DMC-1840 four-axes controller or
the DMC-1780 and DMC-1880 eight axes controller. Users of the DMC-1730/1830 3-axis controller,
DMC-1720/1820 2-axes controller, or DMC-1710/1810 1-axis controller should note that the DMC1730/1830 uses the axes denoted as XYZ, the DMC-1720/1820 uses the axes denoted as XY, and the
DMC-1710/1810 uses the X-axis only.
17X8
Examples for the DMC-1780/1880 denote the axes as A,B,C,D,E,F,G,H. Users of the DMC1750/1850 5-axes controller, DMC-1760/1860 6-axes controller, or DMC-1770/1870 7-axes controller
should note that the DMC-1750/1850 denotes the axes as A,B,C,D and E, the DMC-1760/1860 denotes
the axes as A,B,C,D,E and F, and the DMC-1770/1870 denotes the axes as A,B,C,D,E,F and G. The
axes A,B,C,D may be used interchangeably with X,Y,Z,W for any of the DMC1700 or DMC-1800
regardless of the number of axes.
This manual was written for the DMC-1700 firmware revision 1.1 and later and all DMC-1800
firmware revisions. For a DMC-1700 controller with firmware previous to revision 1.1, please consult
the original manual for your hardware.
Attention: Pertains to a DMC-1700 1 thru 4-axes controllers with an additional 64 I/O points.
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 machine. Galil shall not
responsible for any incidental or consequential damages.
be liable or
Contents
Contents i
Chapter 1 Overview 1
Introduction ...............................................................................................................................1
Overview of Motor Types..........................................................................................................2
Standard Servo Motor with +/- 10 Volt Command Signal ..........................................2
Brushless Servo Motor with Sinusoidal Commutation................................................2
Stepper Motor with Step and Direction Signals ..........................................................2
DMC-1700/1800 Functional Elements...................................................................................... 2
Microcomputer Section ...............................................................................................3
Motor Interface............................................................................................................ 3
Communication ........................................................................................................... 3
General I/O.................................................................................................................. 3
System Elements ......................................................................................................... 4
Motor........................................................................................................................... 4
Amplifier (Driver) ....................................................................................................... 4
Encoder........................................................................................................................4
Watch Dog Timer........................................................................................................ 5
Chapter 2 Getting Started 7
The DMC-17x0 and DMC-18x0 Motion Controllers................................................................ 7
Elements You Need ................................................................................................................... 9
Installing the DMC-1700/1800................................................................................................ 10
Step 1. Determine Overall Motor Configuration....................................................... 10
Step 2. Install Jumpers on the DMC-1700/1800........................................................11
Step 3. Install the Communications Software............................................................13
Step 4. Install the DMC-1700/1800 in the PC........................................................... 14
Step 5. Establishing Communication between the Galil controller and the host PC .14
Step 6. Determine the Axes to be Used for Sinusoidal Commutation....................... 24
Step 7. Make Connections to Amplifier and Encoder. ..............................................25
Step 8a. Connect Standard Servo Motors.................................................................. 27
Step 8b. Connect Sinusoidal Commutation Motors...................................................31
Step 8C. Connect Step Motors ..................................................................................33
Step 9. Tune the Servo System.................................................................................. 34
Design Examples .....................................................................................................................35
Example 1 - System Set-up ....................................................................................... 35
Example 2 - Profiled Move .......................................................................................35
Example 3 - Multiple Axes........................................................................................36
Example 4 - Independent Moves...............................................................................36
Example 5 - Position Interrogation............................................................................ 36
DMC-1700/1800 Contents • i
Example 6 - Absolute Position .................................................................................. 37
Example 7 - Velocity Control....................................................................................37
Example 8 - Operation Under Torque Limit .............................................................37
Example 9 - Interrogation.......................................................................................... 38
Example 10 - Operation in the Buffer Mode............................................................. 38
Example 11 - Using the On-Board Editor ................................................................. 38
Example 12 - Motion Programs with Loops..............................................................39
Example 13 - Motion Programs with Trippoints.......................................................39
Example 14 - Control Variables................................................................................ 39
Example 15 - Linear Interpolation.............................................................................40
Example 16 - Circular Interpolation..........................................................................40
Chapter 3 Connecting Hardware 43
Overview .................................................................................................................................43
Using Optoisolated Inputs .......................................................................................................43
Limit Switch Input.....................................................................................................43
Home Switch Input.................................................................................................... 44
Abort Input ................................................................................................................44
Uncommitted Digital Inputs ...................................................................................... 45
Wiring the Optoisolated Inputs................................................................................................ 45
Using an Isolated Power Supply................................................................................46
Bypassing the Opto-Isolation: ...................................................................................47
Analog Inputs ..........................................................................................................................47
Amplifier Interface .................................................................................................................. 47
TTL Inputs............................................................................................................................... 48
TTL Outputs ............................................................................................................................ 48
Chapter 4 - Software Tools and Communications 51
Introduction .............................................................................................................................51
Galil SmartTERM.................................................................................................................... 53
Communication Settings for ISA and PCI............................................................................... 57
Windows Servo Design Kit (WSDK)...................................................................................... 61
Creating Custom Software Interfaces ...................................................................................... 62
DOS, Linux, and QNX tools....................................................................................................65
Controller Event Interrupts and User Interrupts ......................................................................65
Hardware Level Communications for ISA and PCI ................................................................67
Communications with the DMC-1700.......................................................................67
Communication with DMC-1700............................................................................... 68
Communication with DMC-1800............................................................................... 71
DMA / Secondary FIFO / DPRAM Memory Map .................................................................. 73
Explanation of Status Information and Axis Switch Information..............................76
Chapter 5 Command Basics 79
Introduction .............................................................................................................................79
Command Syntax - ASCII....................................................................................................... 79
Coordinated Motion with more than 1 axis............................................................... 80
Command Syntax - Binary ......................................................................................................80
Binary Command Format.......................................................................................... 81
Binary command table...............................................................................................82
Controller Response to DATA ................................................................................................83
Interrogating the Controller .....................................................................................................83
Interrogation Commands........................................................................................... 83
Summary of Interrogation Commands ...................................................................... 83
Interrogating Current Commanded Values................................................................ 84
ii • Contents DMC-1700/1800
Operands....................................................................................................................84
Command Summary.................................................................................................. 84
Chapter 6 Programming Motion 85
Overview .................................................................................................................................85
Independent Axis Positioning.................................................................................................. 87
Command Summary - Independent Axis ..................................................................87
Operand Summary - Independent Axis .....................................................................87
Independent Jogging................................................................................................................89
Command Summary - Jogging.................................................................................. 89
Operand Summary - Independent Axis .....................................................................90
Position Tracking..................................................................................................................... 90
Example - Motion 2:..................................................................................................92
Example Motion 4 ..................................................................................................... 93
Trip Points ................................................................................................................. 94
Command Summary – Position Tracking Mode .......................................................95
Linear Interpolation Mode....................................................................................................... 95
Specifying Linear Segments...................................................................................... 95
Command Summary - Linear Interpolation...............................................................97
Operand Summary - Linear Interpolation..................................................................97
Example - Linear Move............................................................................................. 98
Example - Multiple Moves........................................................................................99
Vector Mode: Linear and Circular Interpolation Motion.......................................................100
Specifying the Coordinate Plane ............................................................................. 100
Specifying Vector Segments ...................................................................................100
Additional commands.............................................................................................. 101
Command Summary - Coordinated Motion Sequence............................................ 103
Operand Summary - Coordinated Motion Sequence............................................... 103
Electronic Gearing................................................................................................................. 104
Ramped Gearing .................................................................................................................... 105
Example – Electronic Gearing Over a Specified Interval........................................ 106
Command Summary - Electronic Gearing ..............................................................107
Example - Simple Master Slave ..............................................................................107
Example - Electronic Gearing ................................................................................. 107
Example - Gantry Mode .......................................................................................... 107
Example - Synchronize two conveyor belts with trapezoidal velocity correction... 108
Electronic Cam ...................................................................................................................... 108
Command Summary - Electronic CAM.................................................................. 111
Operand Summary - Electronic CAM..................................................................... 112
Example - Electronic CAM..................................................................................... 112
Contour Mode........................................................................................................................ 113
Specifying Contour Segments ................................................................................. 113
Additional Commands............................................................................................. 114
Command Summary - Contour Mode ..................................................................... 115
Stepper Motor Operation ....................................................................................................... 119
Specifying Stepper Motor Operation....................................................................... 119
Using an Encoder with Stepper Motors................................................................... 120
Command Summary - Stepper Motor Operation.....................................................120
Operand Summary - Stepper Motor Operation........................................................120
Stepper Position Maintenance Mode (SPM).......................................................................... 121
Error Limit............................................................................................................... 121
Correction................................................................................................................122
Dual Loop (Auxiliary Encoder)............................................................................................. 125
Backlash Compensation ..........................................................................................126
Motion Smoothing................................................................................................................. 127
DMC-1700/1800 Contents • iii
Using the IT and VT Commands:............................................................................127
Using the KS Command (Step Motor Smoothing):................................................. 128
Homing .................................................................................................................................. 129
Stage 1:.................................................................................................................... 129
Stage 2:.................................................................................................................... 129
Stage 3:.................................................................................................................... 129
Command Summary - Homing Operation...............................................................132
Operand Summary - Homing Operation.................................................................. 132
High Speed Position Capture (The Latch Function).............................................................. 132
Fast Update Rate Mode .........................................................................................................133
Chapter 7 Application Programming 135
Overview ...............................................................................................................................135
Using the DMC-1700/1800 Editor to Enter Programs...........................................................135
Edit Mode Commands............................................................................................. 136
Program Format..................................................................................................................... 136
Using Labels in Programs .......................................................................................136
Special Labels..........................................................................................................137
Commenting Programs............................................................................................ 137
Executing Programs - Multitasking .......................................................................................138
Debugging Programs .............................................................................................................139
Program Flow Commands ..................................................................................................... 140
Event Triggers & Trippoints....................................................................................141
Event Trigger Examples:......................................................................................... 143
Conditional Jumps................................................................................................... 145
Using If, Else, and Endif Commands ...................................................................... 147
Subroutines.............................................................................................................. 149
Stack Manipulation..................................................................................................149
Auto-Start Routine ..................................................................................................149
Automatic Subroutines for Monitoring Conditions.................................................149
Mathematical and Functional Expressions ............................................................................ 153
Mathematical Operators ..........................................................................................153
Bit-Wise Operators.................................................................................................. 153
Functions ................................................................................................................. 154
Variables................................................................................................................................ 155
Programmable Variables ......................................................................................... 155
Operands................................................................................................................................156
Special Operands (Keywords)................................................................................. 157
Arrays ....................................................................................................................................157
Defining Arrays....................................................................................................... 157
Assignment of Array Entries................................................................................... 158
Automatic Data Capture into Arrays....................................................................... 159
Deallocating Array Space........................................................................................ 160
Input of Data (Numeric and String)....................................................................................... 160
Input of Data............................................................................................................ 160
Output of Data (Numeric and String) .................................................................................... 161
Sending Messages ...................................................................................................161
Displaying Variables and Arrays............................................................................. 163
Interrogation Commands......................................................................................... 163
Formatting Variables and Array Elements .............................................................. 165
Converting to User Units......................................................................................... 165
Hardware I/O .........................................................................................................................166
Digital Outputs ........................................................................................................ 166
Digital Inputs........................................................................................................... 167
Input Interrupt Function ..........................................................................................167
iv • Contents DMC-1700/1800
Analog Inputs .......................................................................................................... 168
Example Applications............................................................................................................ 169
Wire Cutter.............................................................................................................. 169
X-Y Table Controller ..............................................................................................170
Speed Control by Joystick....................................................................................... 172
Position Control by Joystick.................................................................................... 174
Backlash Compensation by Sampled Dual-Loop.................................................... 174
Chapter 8 Hardware & Software Protection 177
Introduction ...........................................................................................................................177
Hardware Protection .............................................................................................................. 177
Output Protection Lines........................................................................................... 177
Input Protection Lines ............................................................................................. 177
Software Protection ...............................................................................................................178
Programmable Position Limits ................................................................................ 178
Off-On-Error ...........................................................................................................179
Automatic Error Routine ......................................................................................... 179
Limit Switch Routine ..............................................................................................179
Chapter 9 Troubleshooting 181
Overview ...............................................................................................................................181
Installation ............................................................................................................................. 181
Communication......................................................................................................................182
Stability.................................................................................................................................. 182
Operation ............................................................................................................................... 183
Chapter 10 Theory of Operation 185
Overview ...............................................................................................................................185
Operation of Closed-Loop Systems.......................................................................................187
System Modeling................................................................................................................... 188
Motor-Amplifier...................................................................................................... 189
Encoder....................................................................................................................191
DAC ........................................................................................................................192
Digital Filter ............................................................................................................ 192
ZOH......................................................................................................................... 193
System Analysis.....................................................................................................................193
System Design and Compensation.........................................................................................195
The Analytical Method............................................................................................ 195
Appendices 199
Electrical Specifications ........................................................................................................199
Servo Control ..........................................................................................................199
Stepper Control........................................................................................................199
Input/Output ............................................................................................................ 199
Power....................................................................................................................... 200
Performance Specifications ...................................................................................................200
Connectors for DMC-1700/1800 Main Board ....................................................................... 201
Pin-Out Description for DMC-1700/1800............................................................................. 203
Setting Addresses for the DMC-1700.................................................................................... 206
Standard Addresses .................................................................................................206
Plug and Play Addresses .........................................................................................209
Accessories and Options........................................................................................................ 210
PC/AT Interrupts and Their Vectors...................................................................................... 211
DMC-1700/1800 Contents • v
ICM-1900 Interconnect Module ............................................................................................ 211
ICM-1900 Drawing ...............................................................................................................215
AMP-19X0 Mating Power Amplifiers...................................................................................215
ICM-2900 Interconnect Module ............................................................................................ 216
Opto-Isolated Outputs ICM-1900 / ICM-2900 (-Opto option).............................................. 219
Standard Opto-isolation and High Current Opto-isolation:..................................... 219
64 Extended I/O of the DMC-17x8/1700/1800 Controller.................................................... 219
Configuring the I/O of the DMC-17x8 (and DMC-1750 to DMC-1780 & DMC-
1810 to 1880, with DB-14064)................................................................................
Configuring the 64 Extended I/O of the DMC-1750 to 1780 and 1850 to 1880 using
the DB-14064 ..........................................................................................................
Connector Description:............................................................................................ 221
IOM-1964 Opto-Isolation Module for Extended I/O Controllers.......................................... 224
Description: .............................................................................................................224
Overview .................................................................................................................225
Configuring Hardware Banks.................................................................................. 226
Digital Inputs........................................................................................................... 227
High Power Digital Outputs .................................................................................... 229
Standard Digital Outputs ......................................................................................... 230
Electrical Specifications ..........................................................................................231
Relevant DMC Commands......................................................................................232
Screw Terminal Listing........................................................................................... 232
Coordinated Motion - Mathematical Analysis....................................................................... 234
DMC-1700/DMC-1000 Comparison.....................................................................................237
List of Other Publications...................................................................................................... 238
Training Seminars.................................................................................................................. 239
Contacting Us ........................................................................................................................240
WARRANTY ........................................................................................................................240
219
221
Index 241
vi • Contents DMC-1700/1800
Chapter 1 Overview
Introduction
The DMC-1700 series motion control cards install directly into the ISA bus while the DMC-1800 series motion
controllers install directly into a PCI slot. These controller series offers many enhanced features including highspeed communications, non-volatile program memory, faster encoder speeds, and improved cabling for EMI
reduction.
The DMC-1700/1800 provides two channels for high speed communication. Both controllers use a high speed main
FIFO for sending and receiving commands. Additionally, the DMC-1700 provides a DMA channel which places a
data record directly into PC memory or a secondary polling FIFO for instant access to controller status and
parameters. The DMC-1800 provides either Dual Port RAM (DPRAM) or a secondary polling FIFO for instant
access to controller status and parameters. The controllers allow for high-speed servo control up to 12 million
encoder counts/sec and step motor control up to 3 million steps per second. Sample rates as low as 62.5μsec per
axis are available.
A 4 meg Flash EEPROM provides non-volatile memory for storing application programs, parameters, arrays, and
firmware. New firmware revisions are easily upgraded in the field without removing the controller from the PC.
The DMC-1700 is available with up to eight axes on a single ISA card. The DMC-1710, 1720, 1730, 1740 one thru
four axes controllers are on a single 10.25” x 4.8” card and the DMC-1750, 1760, 1770, 1780 five thru eight axes
controllers are on a single 13.25” x 4.8” card.
The DMC-1800 is available from one to eight axes on a single PCI card. The DMC-1810, 1820, 1830, 1840,
covering from one to four axes, are on a single 8.2” x 4.2” card and the DMC-1850, 1860, 1870, 1880 five thru eight
axes controllers are on a single 12.28” x 4.2” card.
Designed to solve complex motion problems, the DMC-1700/1800 can be used for applications involving jogging,
point-to-point positioning, vector positioning, electronic gearing, multiple move sequences and contouring. The
controller eliminates jerk by programmable acceleration and deceleration with profile smoothing. For smooth
following of complex contours, the DMC-1700/1800 provides continuous vector feed of an infinite number of linear
and arc segments. The controller also features electronic gearing with multiple master axes as well as gantry mode
operation.
For synchronization with outside events, the DMC-1700 and DMC-1800 provide uncommitted I/O, including 8
digital inputs (24 inputs for DMC-1750 thru DMC-1780 and DMC-1850 thru DMC-1880), 8 digital outputs (16
outputs for DMC-1750 thru DMC-1780 and DMC-1850 thru DMC-1880), and 8 analog inputs for interface to
joysticks, sensors, and pressure transducers. The DMC-1718, 1728, 1738, and 1748 controllers are also available
for an additional 64 I/O. Dedicated optoisolated inputs are provided on all DMC-1700/1800 controllers for forward
and reverse limits, abort, home, and definable input interrupts. The DMC-1800 has plug and play capabilities to ease
the setup process. Commands can be sent in either Binary or ASCII. Additional software is available to autotune,
view trajectories on a PC screen, translate CAD.DXF files into motion, and create powerful, application-specific
operator interfaces with Visual Basic. Drivers for WIN98SE, ME, NT4.0, 2000 and XP are available.
DMC-1700/1800 Chapter 1 Overview • 1
Overview of Motor Types
The DMC-1700/1800 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 - 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-1700/1800 achieves superior precision through use of a 16-bit motor command output DAC and a
sophisticated PID filter that features velocity and acceleration feedforward, 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 (+/- 10Volt) to connect to a servo amplifier. This connection is described in Chapter 2.
Brushless Servo Motor with Sinusoidal Commutation
The DMC-1700/1800 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*. For faster motors, please contact the
factory.
To simplify the wiring, the controller provides a one-time, automatic set-up procedure. The parameters determined
by this procedure can then be saved in non-volatile memory to be used whenever the system is powered on.
The DMC-1700/1800 can control BLMs equipped with or without Hall sensors. If hall sensors are available, once
the controller has been setup, the controller will automatically estimates the commutation phase upon reset. This
allows the motor to function immediately upon power up. The hall effect sensors also provides a method for setting
the precise commutation phase. Chapter 2 describes the proper connection and procedure for using sinusoidal
commutation of brushless motors.
* 6 Milliseconds per magnetic cycle assumes a servo update of 1 msec (default rate).
Stepper Motor with Step and Direction Signals
The DMC-1700/1800 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.
DMC-1700/1800 Functional Elements
The DMC-1700/1800 circuitry can be divided into the following functional groups as shown in Figure 1.1 and
discussed below.
2 • Chapter 1 Overview DMC-1700/1800
DMA/DPRAM
2ND FIFO
Primary
FIFOS
Interrupts
WATCHDOG TIMER
68331
MICROCOMPUTER
WITH
4 Meg RAM
4 Meg FLASH EEPROM
HIGH-SPEED
MOTOR/ENCODER
INTERFACE
FOR
X,Y,Z,W, etc.
ISOLATED LIMITS AND
HOME INPUTS
MAIN ENCODERS
AUXILIARY ENCODERS
+/- 10 VOLT OUTPUT FOR
SERVO MOTORS
PULSE/DIRECTION OUTPUT
FOR STEP MOTORS
ISA/PCI BUS
I/O INTERFACE
8 UNCOMMITTED
ANALOG INPUTS
HIGH-SPEED LATCH FOR EACH AXIS
8 PROGRAMMABLE,
OPTOISOLATED
8 PROGRAMMABLE
OUTPUTS
INPUTS
HIGH SPEED ENCODER
COMPARE OUTPUT
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.
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
operation the controller generates a step and direction signal.
+/-10Volt analog signals. For stepper motor
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 DMC1800 (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.
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).
DMC-1700/1800 Chapter 1 Overview • 3
17X8
1X80
The DMC-1718, 1728, 1738, 1748 controllers have 64 additional general I/O points. The user can
configure these I/O points as inputs or outputs in blocks of 8.
The DMC-1750 through DMC-1780 and DMC-1850 through DMC-1880 controllers provide interface
circuitry for 16 optoisolated inputs, 8 TTL inputs, 16 TTL outputs, and 8 analog inputs with 12-bit
ADC (16-bit optional).
System Elements
As shown in Fig. 1.2, the DMC-1700/1800 is part of a motion control system which includes amplifiers, motors, and
encoders. These elements are described below.
Power Supply
Computer
Figure 1.2 - Elements of Servo systems
DMC-1700/1800
Controller
Encoder Motor
Driver
Motor
A motor converts current into torque, which produces motion. Each axis of motion requires a motor sized properly
to move the load at the required speed and acceleration. (Galil’s “Motion Component Selector” software can help
you with motor sizing). Download at
The motor may be a step or servo motor and can be brush-type or brushless, rotary or linear. For step motors, the
controller can operate full-step, half-step, or microstep drives. An encoder is not required when step motors are
used.
www.galilmc.com/support/download, select “MCS”.
Amplifier (Driver)
For each axis, the power amplifier converts a +/-10 Volt signal from the controller into current to drive the motor.
For stepper motors, the amplifier converts step and direction signals into current. The amplifier should be sized
properly to meet the power requirements of the motor. For brushless motors, an amplifier that provides electronic
commutation is required or the controller must be configured to provide sinusoidal commutation. The amplifiers
may be either pulse-width-modulated (PWM) or linear. They may also be configured for operation with or without
a tachometer. For current amplifiers, the amplifier gain should be set such that a 10 Volt command generates the
maximum required current. For example, if the motor peak current is 10A, the amplifier gain should be 1 A/V. For
velocity mode amplifiers, 10 Volts should run the motor at the maximum speed.
Encoder
An encoder translates motion into electrical pulses which are fed back into the controller. The DMC-1700/1800
accepts feedback from either a rotary or linear encoder. Typical encoders provide two channels in quadrature,
known as CHA and CHB. This type of encoder is known as a quadrature encoder. Quadrature encoders may be
4 • Chapter 1 Overview DMC-1700/1800
either single-ended (CHA and CHB) or differential (CHA, CHA-, CHB, CHB-). The controller decodes either type
into quadrature states or four times the number of cycles. Encoders may also have a third channel (or index) for
synchronization.
The DMC-1700/1800 can also interface to encoders with pulse and direction signals. Refer to the “CE” command in
the command reference for details.
There is no limit on encoder line density; however, the input frequency to the controller must not exceed 3,000,000
full encoder cycles/second (12,000,000 quadrature counts/sec). For example, if the encoder line density is 10,000
cycles per inch, the maximum speed is 300 inches/second. If higher encoder frequency is required, please consult
the factory.
The standard encoder voltage level is TTL (0-5v), however, voltage levels up to 12 Volts are acceptable. (If using
differential signals, 12 Volts can be input directly to the DMC-1700/1800. Single-ended 12 Volt signals require a
bias voltage input to the complementary inputs).
The DMC-1700/1800 can accept analog feedback (+/-10v) instead of an encoder for any axis. For more information
see the command AF in the command reference.
To interface with other types of position sensors such as absolute encoders, Galil can customize the controller and
command set. Please contact Galil to talk to one of our applications engineers about your particular system
requirements.
Watch Dog Timer
The DMC-1700/1800 provides an internal watchdog timer which checks for proper microprocessor operation. The
timer toggles the Amplifier Enable Output (AEN), which can be used to switch the amplifiers off in the event of a
serious controller failure. The AEN output is normally high. During power-up and if the microprocessor ceases to
function properly, the AEN output will go low. The error light for each axis will also turn on at this stage. A reset
is required to restore the controller to normal operation. Consult the factory for a Return Materials Authorization
(RMA) Number if your DMC-1700/1800 is damaged.
DMC-1700/1800 Chapter 1 Overview • 5
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6 • Chapter 1 Overview DMC-1700/1800
Chapter 2 Getting Started
The DMC-17x0 and DMC-18x0 Motion Controllers
J5
JP3
1
5
2
4
J1
JP1
3
JP5
JP4
JP8
JP9
Figure 2-1 - Outline of the DMC-1710 through DMC-1740
J6
J8
4
2
JP4
3
J5
1
JP1
JP3
5
4
JP8
J1
JP5
JP9
J7
Figure 2-2 - Outline of the DMC-1750 through DMC-1780
DMC-1700/1800 Chapter 2 Getting Started • 7
JP6
Figure 2-3 - Outline of the DMC-1810 through DMC-1840
Figure 2-4 - Outline of the DMC-1850 through DMC-1880
1 Flash EEPROM J8
2 RAM JP1 Master Reset & UPGRD jumpers
3 Motorola 68331 microprocessor JP3
8 • Chapter 2 Getting Started DMC-1700/1800
50-pin header connector corresponding to pins 1
through 50 of connector for axes 5-8
INCOM & LSCOM jumpers. Used for bypassing optoisolation for the limit, home, and abort switches and the
digital inputs IN1 - IN8. See section “Bypassing OptoIsolation”, Chap3.
DMC-1850/1880 – 1 thru 4 axis only
4 Galil GL-1800 custom gate array JP4
5 Error LED JP5
6 Xilinx for PCI bus communications JP6
J1 100-pin high density connector for axes 1-4.
(Part number Amp #2-178238-9)
J5
J6 / J8
J7
26-pin header connector for the auxiliary encoder
cable. (Axes 1-4)
Two 50-pin headers connecting corresponding
signals for axes 5-8
26-pin header connector for the auxiliary encoder
cable. (Axes 5-8)
JP8 Address jumpers A2 – A8
JP9 IRQ jumper.
JP13
Jumpers used for configuring stepper motor operation
on axes 5-8 (DMC-1750/1780 and DMC-1850/1880
only).
Jumpers used to select DMA channel 0 or 1 (DMC1710/1740 only).
Jumpers used for configuring stepper motor operation
on axes 1-4.
Jumpers used to select DMA channel 0 or 1 (DMC1780 only).
INCOM & LSCOM jumpers. Used for bypassing optoisolation for the limit, home, and abort switches and the
digital inputs IN9 – IN16. See section “Bypassing
Opto-Isolation”, Chap3. (DMC-1850/1880 only)
Note: Above layouts are for the most current controller revisions. For older revision boards, please
refer to Appendix.
Elements You Need
Before you start, you must get all the necessary system elements. These include:
1a. DMC-1710/1810, 1720/1820, 1730/1830, or DMC-1740/1840 Motion Controller, (1)
100-pin cable, and (1) ICM-1900 interconnect module.
or
1b. DMC-1750/1850, 1760/1860, 1770/1870 or DMC-1780/1880, (2) 100-pin cables and (2)
ICM-1900s. CB 50-100 connector board and included two 50-pin ribbon cables which
converts the two 50-pin ribbon cables into a single 100-pin connector.
or
1c. DMC-1718, 1728, 1738, 1748, (1) 100-pin cables and (1) ICM-1900s. Connection to the
extended I/O can be made through the IOM-1964 opto-isolation module. Using the IOM1964 requires (1) IOM-1964, (1) CB-50-100 and (1) 100 pin cable.
2. Servo motors with Optical Encoder (one per axis) or step motors.
3. Power Amplifiers.
4. Power Supply for Amplifiers.
5. PC (Personal Computer - ISA bus or PCI bus).
6. Galil SmartTerm (from CD ROM or download at www.galilmc.com)
7. WSDK is optional but recommended for first time users.
The motors may be servo (brush type or brushless) or steppers. The amplifiers should be suitable for the motor and
may be linear or pulse-width-modulated. An amplifier may have current feedback, voltage feedback or velocity
feedback
.
DMC-1700/1800 Chapter 2 Getting Started • 9
For servo motors in current mode, the amplifiers should accept an analog signal in the +/-10 Volt range
as a command. The amplifier gain should be set such that a +10V command will generate the
maximum required current. For example, if the motor peak current is 10A, the amplifier gain should
be 1 A/V. For velocity mode amplifiers, a command signal of 10 Volts should run the motor at the
maximum required speed. Set the velocity gain so that an input signal of 10V, runs the motor at the
maximum required speed.
The WSDK software is highly recommended for first time users of the DMC-1700/1800. It provides step-by-step
instructions for system connection, tuning and analysis.
For step motors, the amplifiers should accept step and direction signals. For start-up of a step motor
system refer to Step 8c “Connecting Step Motors”.
Installing the DMC-1700/1800
Installation of a complete, operational DMC-1700/1800 system consists of 9 steps.
Step 1. Determine overall motor configuration.
Step 2. Install Jumpers on the DMC-1700/1800.
Step 3. Install the communications software.
Step 4. Install the DMC-1700/1800 in the PC.
Step 5. Establish communications with the Galil Communication Software.
Step 6. Determine the Axes to be used for sinusoidal commutation.
Step 7. Make connections to amplifier and encoder.
Step 8a. Connect standard servo motors.
Step 8b. Connect sinusoidal commutation motors
Step 8c. Connect step motors.
Step 9. Tune the servo system
Step 1. Determine Overall Motor Configuration
Before setting up the motion control system, the user must determine the desired motor configuration. The DMC1700/1800 can control any combination of standard servo motors, sinusoidally commutated brushless motors, and
stepper motors. Other types of actuators, such as hydraulics can also be controlled, please consult Galil.
The following configuration information is necessary to determine the proper motor configuration:
Standard Servo Motor Operation:
The DMC-1700/1800 has been setup by the factory for standard servo motor operation providing an analog
command signal of +/- 10V. No hardware or software configuration is required for standard servo motor operation.
Sinusoidal Commutation:
Sinusoidal commutation is configured through a single software command, BA. This configuration causes the
controller to reconfigure the number of available control axes.
Each sinusoidally commutated motor requires two DAC’s. In standard servo operation, the DMC-1700/1800 has
one DAC per axis. In order to have the additional DAC for sinusoidal commutation, the controller must be
designated as having one additional axis for each sinusoidal commutation axis. For example, to control two
10 • Chapter 2 Getting Started DMC-1700/1800
standard servo axes and one axis of sinusoidal commutation, the controller will require a total of four DAC’s and the
controller must be a DMC-1740 or DMC-1840.
Sinusoidal commutation is configured with the command, BA. For example, BAX sets the X axis to be sinusoidally
commutated. The second DAC for the sinusoidal signal will be the highest available DAC on the controller. For
example: Using a DMC-1740, the command BAX will configure the X axis to be the main sinusoidal signal and the
‘W’ axis to be the second sinusoidal signal.
The BA command also reconfigures the controller to indicate that the controller has one less axis of ‘standard’
control for each axis of sinusoidal commutation. For example, if the command BAX is given to a DMC-1740
controller, the controller will be re-configured to a DMC-1730 controller. By definition, a DMC-1730 controls 3
axes: X,Y and Z. The ‘W’ axis is no longer available since the output DAC is being used for sinusoidal
commutation.
Further instruction for sinusoidal commutation connections are discussed in Step 6.
Stepper Motor Operation:
To configure the DMC-1700/1800 for stepper motor operation, the controller requires a jumper for each stepper
motor and the command, MT, must be given. The installation of the stepper motor jumper is discussed in the
following section entitled “Installing Jumpers on the DMC-1700/1800”. Further instruction for stepper motor
connections are discussed in Step 8c.
Step 2. Install Jumpers on the DMC-1700/1800
Master Reset and Upgrade Jumpers
JP1 contains two jumpers, MRST and UPGRD. The MRST jumper is the Master Reset jumper. With
MRST connected, the controller will perform a master reset upon PC power up or upon the reset input
going low. Whenever the controller has a master reset, all programs, arrays, variables, and motion
control parameters stored in EEPROM will be ERASED.
The UPGRD jumper enables the user to unconditionally update the controller’s firmware. This jumper
is not necessary for firmware updates when the controller is operating normally, but may be necessary
in cases of corrupted EEPROM. EEPROM corruption should never occur, however, it is possible if
there is a power fault during a firmware update. If EEPROM corruption occurs, your controller may
not operate properly. In this case, install the UPGRD Jumper and use the update firmware function on
the Galil Terminal to re-load the system firmware.
Opto Isolation Jumpers
The inputs and limit switches are optoisolated. If you are not using an isolated supply, the internal
+5V supply from the PC may be used to power the optoisolators. This is done by installing jumpers on
JP3 and/or JP13.
For each axis that will be used for stepper motor operation, the corresponding stepper mode (SM)
jumper must be connected. The stepper motor jumpers, labeled JP5 for axes X through W and JP4 for
axes E through H, are located directly beside the GL-1800 IC’s on the main board (see the diagram for
the DMC-1700/1800). The individual jumpers are labeled SMX, SMY, SMZ and SMW for axes 1
through 4 and SME, SMF, SMG and SMH for axes 5 through 8.
Stepper Motor Jumpers
(Optional) DMA Jumpers
The DMA channel is only available with the DMC-1700 controller. The DMC-1700 controller allows
either DMA channel 0 or 1 to be selected. The jumper location JP4 on the DMC-1740 and JP6 on the
DMC-1700/1800 Chapter 2 Getting Started • 11
DMC-1780 allows the user to select which channel will be used. The DMA channel chosen should be
Q
K
Q
K
reflected within the Galil software registry. 2.5 illustrates these settings.
Please note earlier controller revisions (Rev. E and earlier for DMC-1740, Rev. C and earlier for
DMC-1780) did not have hardware jumpers for DMA channel selection.
0
DR
1
DAC
Setting for DMA channel 1 Setting for DMA channel 0
Figure 2.5 - Jumper settings for DMC-1700 DMA
DR
DAC
(Optional) IRQ (Interrupt) Jumpers
IRQ jumpers are not necessary for communication with the Galil controllers. Rather, they are an
option that may be used for notifying the PC of events that occur on the motion controller. The
selectable IRQ jumpers are only available on the DMC-1700. The PCI drivers for the DMC-1800 will
automatically assign it an IRQ based on system availability.
On the DMC-1700, select which IRQ line will be used when the controller needs to notify the PC of an
interrupt. You will need to select an IRQ line which is open on your PC, meaning not shared with any
other device. Within the Galil Software Registry, the corresponding IRQ line should be entered into
the controller registry information.
NOTE: For Version 7 Drivers and ISA/PC-104 controllers with new firmware, a jumper MUST
be installed on one of the IRQ jumper pins in order to use Interrupt Communicati on (the default
method of communication). Match the IRQ jumper on the board with an IRQ Setting that
displays “No Conflicts” in the Device Manager.
1 0
If No IRQ lines are available or Interrupt Communication is not desired, the user must go to the
“Controller Registration” menu and uncheck the “Interrupt Communication” method. Stall or
Delay methods of communication will then be used. A Communication Timeout error will occur
if this is not done.
(Optional) Motor Off Jumpers
The state of the motor upon power up may be selected with the placement of a hardware jumper on the
controller. With a jumper installed at the MO location, the controller will be powered up in the ‘motor
off’ state. The SH command will need to be issued in order for the motor to be enabled. With no
jumper installed, the controller will immediately enable the motor upon power up. The MO command
will need to be issued to turn the motor off.
The MO jumper is always located on the same block of jumpers as the stepper motor jumpers (SM).
This feature is only available to newer revision controllers (Rev. F and later for DMC-1740, Rev. D
and later for DMC-1780, Rev. C and later for DMC-1840). Please consult Galil for adding this
functionality to older revision controllers.
12 • Chapter 2 Getting Started DMC-1700/1800
Configuring the Address Jumpers on the DMC-1700
The DMC-1700 address, N, is selectable by setting the address jumpers labeled A2, A3, A4, A5, A6,
A7 and A8 where each jumper represents a digit of the binary number that is equivalent to N minus
512. Jumper A2 represents the 2
digit (the 4th binary digit from the right) and so on up to the most significant digit, which is represented
by jumper A8. The 2 least significant (rightmost) digits are not represented. A location with a jumper
placed on the board means the value of the digit represented by that jumper is 0. If the jumper is open,
the digit is 1.
Because the least significant digit represented by the Address Jumpers is the 2
addresses divisible by 4 are configurable on the DMC-1700. The DMC-1700 can be configured for
th
address between 512 and 1024. To configure an address you must do the following:
any 4
1. Select an address, N, between 512 and 1024, divisible by 4. Example: 516
2. Subtract 512 from N. Example: 516 – 512 = 4
3. Convert the resultant number into a 9-digit binary number being sure to represent all
leading zeros. Using our example: Converting 4 to binary results in 100. As a 9-digit
binary number, this is represented by 000000100.
4. Truncate the 2 least significant (rightmost) digits. Example: 0000001.
5. Set the jumpers as described above. Again, jumper at the location is represented by a 0,
while no jumper at the location represents a 1.
To simplify this task, there is a complete list of jumper settings for the DMC-1700 found in the
appendix in the section Setting Addresses for the DMC-1700.
2
digit (the 3rd binary digit from the right), jumper A3 represents the 2
2
digit (jumper A2), only
3
Step 3. Install the Communications Software
Before installing the controller in the PC, Galil communications software terminal and drivers should
be loaded. Installing the Galil software prior to installing the card will allow most operating system to
automatically install the DMC-1800 (PCI) controller into both the Windows and Galil registries.
Install the Galil Software Products CD-ROM into your CD drive. A Galil .htm page should
automatically appear with links to the software products. Select “DMCSmartTerm” and click
“Install…” Follow the installation procedure as outlined.
Using the Galil Software CD-ROM, go to the directory, D:\July2000 CD\DMCDOS\Disk1. Type
"INSTALL" at the DOS prompt and follow the directions.
Using the Galil Software CD ROM, go to the directory, D:\July2000 CD\DMCWIN. Select
DMCWIN16.exe and follow the directions.
Using Win98SE, ME, NT4.0, 2000, and XP
Using DOS:
Using Windows 3.x (16 bit versions):
Using Windows 95, 98(first edition):
Using the Galil Software CD ROM, go to the directory, D:\July2000 CD\DMCWIN. Select
DMCWIN32.exe and follow the directions.
DMC-1700/1800 Chapter 2 Getting Started • 13
1X80
Note: Galil software is also available for download at: http://www.galilmc.com/support/download.html
Step 4. Install the DMC-1700/1800 in the PC
The DMC-1700 is installed directly into the ISA expansion bus. The DMC-1800 is installed directly
into the PCI expansion bus. The procedures are outlined below.
Step A. Make sure the PC is in the power-off condition.
Step B. Remove unit cover.
Step C. Remove the metal plate covering the expansion bus slot where the DMC-1700/1800
will be inserted.
Step D. Insert DMC-1700/1800 card in the expansion bus and secure with screw.
Step E. Attach 100-pin cable to your controller card. If you are using a Galil ICM-1900 or
AMP-19X0, this cable connects into the J2 connection on the interconnect module. If
you are not using a Galil interconnect module, you will need to appropriately terminate
the cable to your system components, see the appendix for cable pin outs. The auxiliary
encoder connections are accessed through the 26-pin IDC connector, J5.
If you are using a controller with more than 4 axes you will need a CB-50-100 converter board, which
brings out a second 100-pin cable to be attached to the second ICM-1900. Two 50-pin ribbon cables
attach the CB-50-100 to the DMC-1780.
DMC-1700 Install:
The DMC-1700 is addressed manually, with a default address of 1000. Earlier controller revisions
(Rev. E and earlier for DMC-1740, Rev. C and earlier for DMC-1780) had Plug-and-Play utilities,
which have been removed on the most current revisions. Please refer to the appendix if your controller
has the Plug-and-Play functionality. If an address other than 1000 is necessary for your controller,
refer to Step-2.
DMC-1800 Install:
The installation of the DMC-1800 will vary with operating systems due to how the PCI is handled
within that operating system. For Win98SE, ME, NT4.0, 2000 and XP, the OS will automatically
install the drivers. With Windows 95 or 98, upon power up your computer should recognize the DMC1800 as a new device and will prompt you for an “Installation Disk”. The computer will ask you to
point towards the DMC1800.INF file on your PC. This file will automatically configure the controller
for your computer’s available resources. The installation will also automatically add this information
to the Galil Registry (see Step 5 below).
Step 5. Establishing Communication between the Galil controller and the host PC
Using Galil Software for DOS (DMC-1700 only)
To communicate with the DMC-1700, type DMCTERM at the prompt. You will need to provide
information about your controller such as controller type (DMC-1700), address, and IRQ. Once you
have established communication, the terminal display should show a colon “:”. If you do not receive a
colon, press the carriage return.
If you still do not receive a colon, the most likely cause is an address conflict in your computer. If the
default of address 1000 causes a conflict, Galil recommends the addresses of 816 and 824, since they
are likely to avoid conflict. Please refer to Step-2 Configuring the Address Jumpers on the DMC-1700
to change the address.
14 • Chapter 2 Getting Started DMC-1700/1800
Using Galil Software for Windows 3.x, 95 and 98 First Edition (DMC-1700
only)
In order for the Windows software to communicate with a Galil controller, the controller must be
registered in the Windows Registry. To register a controller, you must specify the model of the
controller, the communication parameters, and other information. The registry is accessed through the
Galil software, such as WSDK and DTERM (DTERM is installed with DMCWIN and installed as the
icon “Galil Terminal”). From WSDK, the registry is accessed under the FILE menu. From the
DTERM program, the registry is accessed from the REGISTRY menu.
The registry window is equipped with buttons to Add, Change, or Delete a controller. Pressing any of
these buttons will bring up the Set Registry Information window.
Use the Add button to add a new entry to the Registry. You will need to supply the Galil Controller
type. The controller model number must be entered and if you are changing an existing controller, this
field will already have an entry. Pressing the down arrow to the right of this field will reveal a menu of
valid controller types. Choose the corresponding controller (DMC-1700).
The registry information for the DMC-1700 will show a default address of 1000. This information
should be changed as necessary to reflect any changes to the controllers address jumpers. Hardware
interrupts may also be set in the registry, although for initial communication these are not necessary.
The default is no interrupt. Driver information is also listed, in which Galil recommends using the
standard Galil Drivers.
The registry entry also displays timeout and delay information. These are advanced parameters that
should only be modified by advanced users (see software documentation for more information).
Once you have set the appropriate Registry information for your controller, Select OK and close the
registry window. You will now be able to communicate with the DMC-1700. Once the entry has been
selected, click on the OK button. If the software has successfully established communications with the
controller, the registry entry will be displayed at the top of the screen.
If you are not properly communicating with the controller, the program will pause for 3-15 seconds.
The top of the screen will display the message “Status: not connected with Galil motion controller” and
the following error will appear: “STOP - Unable to establish communication with the Galil controller.
A time-out occurred while waiting for a response from the Galil controller.” If this message appears,
you must click OK. In this case, there is most likely an address conflict.
If you receive this error, the most likely cause is an address conflict in your computer. If the default of
address 1000 causes a conflict, Galil recommends the addresses of 816 and 824, since they are likely to
avoid conflict. Please refer to Step-2 Configuring the Address Jumpers on the DMC-1700 to change
the address.
Once you establish communications, click on the menu for terminal and you will receive a colon
prompt. Communicating with the controller is described in later sections.
Using Galil Software for Windows 98 SE, ME, XP, and 2000
In order for the Windows software to communicate with a Galil controller, the controller must be
entered in the Windows Registry. In Windows 98 SE, 2000 and XP operating systems (OS), the
DMC-1800 is plug and play. This means that on power up the computer will automatically detect the
card and install the appropriate device driver. A ‘Found New Hardware’ dialog box may appear
during installation of the device driver. The controller will be identified by model name and entered
into the Galil Registry. Now the user can communicate to the controller using DMCSmartTERM.
Note: In order for the PC to recognize the plug and play controller as a Galil device, the Galil
software must be loaded prior to installing the card.
DMC-1700/1800 Chapter 2 Getting Started • 15
DMC-1800 and DMC-1417 in the Galil Registry
Using a DMC-1700 card in a plug and play OS (Win 98 SE, 2000, ME, XP) will require adding the
controller to the system in the Windows Device Manager. In Win 98 SE and ME this feature is
accessed through the Start\Settings\Control Panel\Add New Hardware shortcut. In Win 2000 and XP
it can be accessed through My Computer\Properties\Hardware\Hardware Wizard. The procedures on
the two operating systems are nearly identical, but the dialog boxes may look a little different.
Windows 2000 Hardware Wizard
Note: All the pictures in this Hardware Wizard section are from Windows 2000 unless specified
otherwise.
1. On the first dialog, select Add/Troubleshoot
16 • Chapter 2 Getting Started DMC-1700/1800
Let the Hardware Wizard try to detect a new Plug and Play device.
2.
3. If a device is found, the Hardware Wizard will then ask if the device is on a list of found
devices. Say no and proceed to the next dialog box. In Win 2000, the next window will
display a list of devices. Select “Add a new device” from the top of the list.
DMC-1700/1800 Chapter 2 Getting Started • 17
4. The Hardware Wizard prompts for Windows to search for the new device. This feature is for
devices such as modems that can be found by ‘random’ queries of all available
communication ports. Select, ‘No’ and proceed to the next dialog.
With DMCWIN32 or DMCTERM already installed, the following window will say, “Select
5.
the type of hardware you want to install”. Click on the Diamond with either “Galil” or “Galil
Motion Control” written to the side of it, and the list of Galil controllers will be displayed.
Select the DMC-1700 card from the list.
18 • Chapter 2 Getting Started DMC-1700/1800
Note: If this is the first time a 1700 card has been installed on the machine, then the Galil
diamond may not be present. If there is no Galil diamond on the Hardware Type window,
click on Other Devices instead. At that point, the list of Galil ISA and PC/104 cards will
appear.
6. With the device selected, the OS then needs to allocate any required resources.
6a. In Win 98 SE and ME the OS automatically assigns resources that are most likely
incompatible.
Automatically Assigned resources in Win 98 SE
DMC-1700/1800 Chapter 2 Getting Started • 19
At this point the user must reboot and go to the Device Manager under My Computer\Properties.
Device Manager in Win 98 SE
Select the device from the list, go to the resource tab, and reassign the resources to those that match the
address and interrupt (IRQ) jumpers on the controller (see the appendix for ‘Address Settings’ and
Step 3 for installing jumpers).
Changing the Resources in Win 98 SE
20 • Chapter 2 Getting Started DMC-1700/1800
Edit Input/Output Range in Win 98 SE
When changing the settings, the operating system will inform the user of any resource conflicts. If
there are resource conflicts, it is necessary to compare the available resources to those on the jumpers,
and select a configuration that is compatible. If all configurations have a resource conflict, then the
user will have to reconfigure or remove another card to free up some resources. This is most likely to
happen with IRQs, as they can be scarce.
Note: The “Input/Output Range” is used to assign a communication address to the controller. This
address is given in hexadecimal, which means the user should use the scientific calculator in
Start\Programs\Accessories to convert the decimal address desired into its hexadecimal equivalent.
The user can just enter a single hexidecimal number into the ‘Value:’ box and the OS will assign an
I/O range to it.
6b. In Win 2000, the procedure is the same except the user has the opportunity to set
resources/examine conflicts without rebooting first. Highlight the “Interrupt Request” and
“Input/Output Range” individually and select ‘Change Setting…’ to make the appropriate adjustments.
Similar to Windows 98, the “Input/Output Range” must be assigned as a hexadecimal number.
DMC-1700/1800 Chapter 2 Getting Started • 21
7. Once the controller is properly entered into the Windows registry, it should also be present in
the Galil Registry. The address and IRQ jumpers on the controller may need to be changed depending
on the resources available in Windows (see Step 3 for setting address and IRQ jumpers). Connect to
the controller through the Terminal utility in DMCWIN32, WSDK32, or DMCTERM.
Using Galil Software for Windows NT 4
In Windows NT 4, the DMC-1800 is also plug and play. This means that on power up the computer
will automatically detect the card and install the appropriate device driver. A ‘Found New Hardware’
dialog box may appear during installation of the device driver. The controller will be identified by
model name and entered into the Galil Registry. Now the user can communicate to the controller using
DMCTERM, DMCWIN32, or WSDK32.
To use a DMC-1700 in Win NT4, add the controller using the Galil Registry dialog. To access the
registry in DMCTERM and WSDK, click on the File menu and “Register Controller”. In
DMCWIN32, select the Registry menu.
22 • Chapter 2 Getting Started DMC-1700/1800
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