Galil Motion Control, Inc. is an established motion control company with over 35 years of experience. It provides high-performance Ethernet and PCI motion controllers, as well as technical support from applications engineers. The document discusses Galil's product lines, which include multi-axis controllers like the DMC-40x0 Accelera and single-axis controllers like the DMC-30000 Pocket Motion Controller. It also outlines the technical specifications and features of these products.

1. Galil's High-Performance Ethernet
Controllers and Drives For Robotic
Applications
Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

2. Introduction: About the Company
Established Reputation and Long History of Success
• Founded in 1983 by Jacob Tal and Wayne Baron
• Introduced 1st microprocessor-based servo controller
• Profitable for over 100 consecutive quarters
• Delivered over 500,000 controllers world-wide
Excellent Technical Support and Service
• World-wide network of factory-trained reps & distributors
• Technical support team with over 100 man-years of motion
control experience
• On-line support tools at www.galil.com
2 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

3. Introduction: The Galil Support Team
• Live, prompt technical support
• Over 100 years of combined
motion control experience
• Degreed MEs and EEs
“The mission of Galil’s experienced Applications Department is to provide
prompt and accurate technical assistance to help OEMs successfully deliver
their products to market ”
3 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

4. Introduction: The Galil Support Team
• VP/Sr. Member of Tech Staff Kaushal Shah
• Application Engineering Team Todd Shearer (New England)
John Hayes
Andy Herum
Robin Riley
Stephen Otis
DJ Roberts
Marissa Tucker
• Chairman of the Board Jacob Tal
• President & CEO Wayne Baron
• VP of R&D Brian Kambe
• VP of Marketing/Sales Lisa Wade
• National Sales Manager Mark Middleton
• VP of Operations John Thompson
• Order Entry & RMAs Shaila Shah
• Finance/Commissions Roni Ransome
• Receptionists/Admin Angie Luzaki
4 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

5. Introduction: Tools and Resources
• LIVE Tech Support Provided at Galil headquarters:
Galil Motion Control, Inc.
270 Technology Way
Rocklin, CA 95765
Toll Free: 800-377-6329
Phone: 916-626-0101
Fax: 916-626-0102
Hours: 8am to 5pm PST
Monday - Friday
• When calling please provide:
– Name
– Company
– Address
– Phone/Email
– Galil Products and revisions (Serial Numbers if possible!)
– Problem
– Error messages
5 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

6. Online Support Tools
• Reference
Application Notes
http://www.galilmc.com/support/application-notes.php
Product Catalog with Specs and Pricing
http://www.galilmc.com/support/catalog.php
ServoTrends Newsletter and Archives
http://www.galilmc.com/support/servotrends.php
Customer applications and videos
http://www.galilmc.com/support/smartmoves.php
• Learning Tools
Online Tutorials and Two-minute How-to Videos
http://www.galilmc.com/learning/tutorials.php
MotionCodetm Toolkit with downloadable programs
http://www.galilmc.com/learning/motioncode.php
MotorSizertm Software for easy sizing of motion systems
http://www.galilmc.com/learning/motorsizer.php
HelloGaliltm Quick start for PC programming languages
http://www.galilmc.com/learning/hellogalil.php
• Community
Forum
http://www.galilmc.com/forums/ubbthreads.php
TechTalk Blog
http://www.galilmc.com/techtalk/index.php
6 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

7. About the Products: Overview
• Leading Edge
– 32 bit microcomputer with high-speed processing
– On-board program memory with multitasking
• Easy to Use
– 2 letter, English-like instructions
– Software tools for servo tuning
• Cost Effective
– 100 qty price guarantee; as low as $100/axis
• Flexible
– Available in 1 through 8-axis configurations
– Configurable for steppers and servos on any axis
– Box-level or card-level; PCI, RS232, and Ethernet
• Easy to Customize
– Firmware & hardware customized to specifications
7 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

8. About the Products: Programming Features
• Non-volatile Memory
• For storing application programs, variables and arrays
• Frees host for other tasks
• Event Triggers
• At time, At position, At input, At speed
• Multitasking
• Execution of up to eight application programs simultaneously
• Logical Functions
• Conditional JUMPS and IF/THEN/ELSE/Constructs
• Mathematics
• Arithmetic and trigonometric functions
8 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

9. About the Products: I/O Features
• Feedback
• Accepts both main and auxiliary encoders for each axis
• SSI, BiSS, and sinusoidal encoder interface options
• Forward and reverse limits and home input for each axis
• Uncomitted I/O
• Opto-isolated
• Analog inputs on most controllers
• Expandable I/O
• High speed position capture
• High speed position compare
9 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

10. About the Products: Options to Fit every Application
• Format
• Available in 1-through 8-axis formats
• Box-level or card-level; Bus-based or stand-alone
• Communication
• Ethernet/RS232, USB, or PCI cards
• Motor types
• “Mix-n-Match” motor types: User-configurable for steppers, servos
and piezo ceramic motors on any combination of axes
• Variety of internal amplifier options
• Custom solutions available
10 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

11. About the Products: Latest Generation Galil Controllers
• Multi-axis Ethernet Motion Controllers
– DMC-40x0 Accelera
– DMC-41x3 Econo New!
• Single-Axis Ethernet Motion Controllers
– DMC-300xx Pocket Motion Controller New!
• Ethernet I/O Controllers
– RIO-47xxx Pocket PLC
• Software Tools
– GalilSuite New!
– GalilTools Servo Tuning
– Frequency Analysis Software – New!
11 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

12. Multi-axis Features- Handles any Mode of Motion
• Point-to-Point Positioning
• Position Tracking
• Jogging
• Linear and Circular Interpolation
• Tangential Following
• Helical
• Electronic Gearing
• Electronic Cam
• PVT Mode
• Teach and Playback
12 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

13. Position Control Systems
BLOCK DIAGRAM
HOST MOTION MOTOR
DRIVER
COMPUTER CONTROLLER AND LOAD
POSITION
SENSOR
13 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

14. Motion Controller Functions
COMMAND R X V
PROFILE
GENERATOR +
Σ FILTER
-
C
POSITION
DECODER
FUNCTIONS
Decode Position Feedback
Generate Desired Position R( t )
Close the Position Loop
P
Stability Compensation
14 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

15. Filter Operation
Proportional P(k) = KP · X(k)
Derivative D(k) = KD · [X(k) - X(k-1)]
Integral I(k) = KI · X(k) + I(k-1)
Functions:
Proportional For speed of response
Derivative For stability and damping
Integral For accuracy - slow response
15 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

16. System Elements
FILTER
DESIRED R X Y
POSITION
+
Σ G DAC AMP
GENERATOR -
C
POSITION
DECODER
P M
16 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

17. ACCELERA - Sizzling Speed. Fully Loaded
DMC-40x0 in 1-4-axis and 5-8-axis options
17 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

18. ACCELERA – Sizzling Speed. Fully Loaded.
Feature Specification
Servo Update Rate 32 µsec/axis
Output Pulses for Steppers 6 MHz
Encoder Inputs 22 MHz
Processor Type RISC
Command Processing Time 40 µsec
Memory 2000 lines X 80 characters
Variables 510
Array Elements 16,000
Communication Ethernet, 2x RS232 Serial
PCI Option DMC-18x6
18 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

19. ECONO: Lowest Priced Controllers Just Got Smarter
DMC-41x3 in 1-4-axis card and –BOX Options
19 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

20. ECONO: Lowest Priced Controllers Just Got Smarter
Feature Specification
Servo Update Rate 62 µsec/axis
Output Pulses for Steppers 6 Mhz
Encoder Inputs 15 MHz
Memory 2000 lines X 80 characters
Variables 510
Array Elements 16,000
Communication Ethernet (Auto MDIX), USB,
RS232 Serial
20 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

21. Accelera and ECONO Internal Drive Options
21 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

22. Why Sinusoidal Amplifiers?
• Sinusoidal commutation
• Minimizes torque ripple. Ideal for linear motors.
• Does not require hall feedback to commutate.
• Compatible Models
• ACCELERA Series, DMC-40x0
• ECONO Series, DMC-41x3
• Pocket Motion Controller, DMC-30012
22 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

23. Single-Axis Motion Controller & Drive
DMC-30000 Pocket Motion Controller
Smart. Compact. Low Cost.
23 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

24. DMC-30000 Pocket Motion Controller
Feature Specification
Servo Update Rate 125 µsec/axis
Output Pulses for Steppers 3 Mhz
Encoder Inputs 15 MHz
Processor Type RISC
Memory 1000 lines X 40 characters
Variables 254
Array Elements 3,000
Communication 2x Ethernet Port, 1 RS232
24 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

25. Key Benefits – Daisy Chain Ethernet
•Multiple DMC-30000 can be daisy
chained over Ethernet without the
use of an external hub
•DMC-30000 is ideal for single-axis
motor control where compact size,
low cost and control at remote
location is important.
•DMC-30000 does not replace
Galil’s central, multi-axis
controllers which are ideal for
tightly coupled coordinated motion.
25 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

26. DMC-30000: Compact
DMC-30012 controller & drive
3.9” x 5.0” x 1.5” box
DMC-30010 controller only
3.0” x 4.0” card
26 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

27. DMC-30000 Internal Amplifier Options
Drive Model # of Axis Motor Type Specs
DMC-30012 1 Sinusoidal Brushless or 10A Continuous
Brush servo 15A peak
20-80 VDC
DMC-30017 1 1/256 Microstepper 6 A/Phase
20-80 VDC
27 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

28. Ordering Information for DMC-30000
DMC-30000-OTHER
0 – No Amp,
1 – No Amp, DC-DC converter
2 – Sine Amp, DC-DC converter
7 – Stepper Amp, DC-DC converter
1 – Number of Axis–
0 – Standard Quad Feedback
1 – Sine/Cosine Feedback
Example Description Single Piece 100 Piece
DMC-30012 Single Axis Controller box $695 $445
with internal 800W sine
drive and 20-80VDC Input
28 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

29. RIO Pocket PLC
Smart. Compact. Low-Cost. Packed with I/O
29 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

30. RIO-47xxx Pocket PLC
Analog and Digital I/O with intelligence
in a cost-effective, compact unit
Pocket PLC in Standard Box Pocket PLC with Screw Terminals and DIN Tray
30 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

31. Smart. Compact. Low Cost. Lots of I/O.
Feature Specification (RIO-4710x)
Opto-isolated I/O 32
Analog Inputs 8
Analog Outputs 8
PID Loops 2
Expanded Memory Option 6
Compact 3.9”x4.3”X1.3”
Processor Type RISC
Memory 200 lines X 40 characters
Expanded Memory Option 400 lines X 80 characters
Variables 126
Array Elements 400
Expanded Memory Option 1000
Communication 1x Ethernet Port (PoE)
1x RS232 Serial
31 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

32. RIO Options
RIO-47xxx-OTHER
0 – Standard Memory
2 – Expanded Memory
1 – Metal box enclosure
2 – PLC with Screw Terminals, DIN
16 high power outputs
Example Description Single Piece 100 Piece
RIO-47100 8 high power digital outputs $295 $195
8 low power digital outputs
16 digital inputs
(All digital I/O Opto-isolated)
8 12bit 0-5V Analog Inputs
8 12bit 0-5V Analog Outputs
32 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com

33. GalilSuite Software Demonstration
33 Sold & Serviced By:
Toll Free Phone: 877-378-0240
Toll Free Fax: 877-378-0249
sales@servo2go.com
www.servo2go.com