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USER MANUAL Chapter 1 Overview • 11
WATCHDOG TIMER
68331
MICROCOMPUTER
WITH
2 Meg RAM
2 Meg FLASH EEPROM
HIGH-SPEED
MOTOR/ENCODER
INTERFACE
FOR
X,Y,Z,W
I/O INTERFACE
2ND FIFO
Primary
FIFO
INTERRUPTS
USER INTERFACE
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
VME HOST
Figure 1.1 - DMC-13X8 Functional Elements
Microcomputer Section
The main processing unit of the controller is a specialized 32-bit Motorola 68331 Series
Microcomputer with 2M RAM and 2M 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 firmware of the controller.
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 +/-10Volt
analog signals. For stepper motor operation the controller generates a step and direction signal.
Communication
The DMC-13X8 is an A16D08(O) 6U VME card. The communication interface with the VME host
contains a primary and secondary communication channel. The primary channel uses a bi-directional
FIFO (AM4701). The secondary channel is a 512 byte Polling FIFO (IDT7201) where data is placed
into the controller’s FIFO buffer. The DMC-13X8 uses vectored hardware interrupts through the
VME host.
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.