Kmirror controller electronics.pdf - JACH

K Mirror for HARP-B 

K-Mirror Controller 

v2 - Feb 2012 

Compiled by TCC 

INDEX 

JacDocs Index 2012 

Photos 

Extract from ‘K-Mirror for HARP-B Operations Manual’ 

Wiring Diagram 

Parts List 

Spares List 

K-Mirror Drive Rack S648 Instruction Manual - Cortex 

Data Sheets - 

Motion Controller - Galil DMC-1412 

PSU – Artesyn NFS110-7602P 

Incremental Encoder (2500 pulse/rev) – Hengstler RI 58-0/2500AS.41RB 

Limit/Home Switch – Burgess V3S Microswitch 

5-Phase Stepper Motor Drive Card – Cortex D450-B157 (Berger-Lahr D450 

equivalent) 

5-Phase Stepper Motor - Sig Positic (Berger-Lahr) VRDM 568/50 (1ph 1.5A, 1.6 

ohm)

K-Mirror JacDocs Index 2012

PHOTOS 

Controller

Drive Assembly 

Micro switches L-R :- -Ve Limit/ Home/ +Ve Limit 

Mirror in +Ve Limit

Extract from ‘K-Mirror for HARP-B Operations Manual’ 

Mechanical stops are set at +/- 60º 

Limit switches act at +/- 58.7º 

EPICS control limits range to +/- 110º on sky (+/- 55º rotation) 

TCS limits demand to +/- 109.5º on sky 

2.5 deg/sec = 1700 motor steps/sec 

5 deg/sec = 3400 motor steps/sec 

Motor VRDM568/50 half step mode (1000 steps/rev) 

Motor Encoder 2500 lines/rev (10,000 encoder steps/rev) 

Intermediate gear (anti-backlash) 1:1, 54 teeth, metric module 1 

Worm metric module 2, (Tooth Pitch 6.283 mm) 

Wheel PCD 490 mm 

Worm/Wheel gear ratio 245:1 

K-Mirror rotation 1.469 deg/motor rev

End-stop pins on wormshaft set to lock-up at +/-60 degrees 

Home switch activated for ~1300 motor steps 

(1050 – 1360 motor steps, depending on mirco-switch positioning) 

Hysteresis ~32 steps

HARP- B 

HARP-B Project Document 

K Mirror for HARP-B : Operations Manual 

Ref.: HAR_KMI_DOC_0001 

Version: 1.1 

Page 25 of 64 

Date: 13.Dec.01 

Author: Ian Pain 

1.8 Control & Electronics 

1.8.1 Description 

The K-Mirror is driven by a double-ended Berger-Lahr 5-phase stepper motor. The motor is 

controlled by a drive box, which will be housed within the Receiver Cabin. Micro-switches 

are used to let the controller know if the mirror has hit a limit and to home the mirror. An 

encoder is also be used to verify the mirror has moved to the correct position. Cables run 

from the box to a connector panel close to the motor. Connections for the motor, Encoder 

and switches are made via this panel. 

RS232 

115V / 240V 

Interlock 

Switch 

Encoder I/P 

Power supply 

Switch I/Ps 

Galil 1412 

Motor 

Controller 

Step 

Dir 

De-pwr 

Motor 

Drive 

Motor 

Figure 16 : Motor Drive Box, schematic 

The motor drive box houses the motor controller, drive card and power supplies. A lockable 

mains switch is used to apply power to the box, thus enabling it to be locked off when work 

is being carried out on the mirror preventing it from being switched on. 

- 25 -

HARP- B 




Version: 1.1 

Page 26 of 64 



Figure 17 Motor Drive Box, front 

Figure 18 Motor Drive Box, rear 

- 26 -

HARP- B 




Version: 1.1 

Page 27 of 64 



1.8.2 Motor Controller 

The Galil 1412 motor controller is used to control the motion of the K-mirror. This is a 

single axis stand-alone controller, which accepts commands via an RS 232 port. The 

controller will send Direction and Step signals to the drive card. One of the digital outputs is 

also used to send a de-power signal to the drive card. The controller accepts inputs from the 

limit and home switches and the encoder. Input from the limit switches will cause the 

controller to stop the motor; it will then only allow the motor to be driven in the opposite 

direction away from the limit switch. The motor will only stop in the direction it is moving 

when the respective switch is hit. When moving forward it is only the forward limit switch 

that will stop motion. 

The controller will only stop the motor when the home switch is activated if it is looking for 

its home position through software control. The limit switches however act independently 

from the software. 

The commands for the controller are two letter, English like ASCII commands. For example 

“BG” command begins motion and “SP 2000” sets the speed at 2000. 

1.8.3 Motor Drive Card 

The Motor drive card has been designed by Cortex Controllers for use with the Berger-Lahr 

5-phase stepper motors. The card accepts TTL inputs from the controller to give direction 

and the step. It in turn produces the 5 phases to drive the motor. The De-power input 

removes power from all of the motor windings when it is active. This prevents the motor 

from heating or produce any noise when it is inactive. The card can be switched between 

full and half step modes and is set for half step operation. 

1.8.4 Encoder 

The incremental shaft encoder, see Figure 9 , Figure 25 will act as a check to see if the 

required position has been obtained, an error can be flagged if it does not match the 

requested move. It can also be used to create an error if the motor does not move. If a 

request has been sent to the motor but the software does not see the encoder change then an 

error can be flagged. The encoder phases have been swapped round to enable the increments 

to be in the same direction as the controllers step counts. Phase A+ on the encoder is 

connected to Phase B+ at the controller. Similarly A- to B-, B+ to A+ and B- to A-. There 

are ten encoder pulses for every step. 

1.8.5 Safety 

An emergency stop push button (ESPB) will remove power from the motor when pressed 

stopping the motor. Power will however remain on the motor controller. When the ESPB is 

pressed and power removed from the motor, the encoder continues to read if the system is 

moved by hand. However as this is an open loop system and the controller just uses the step 

count for its position it will think it is still at the position where it stopped. It may be 

possible for the software to allow the user to enter a new step count to match the encoder 

reading where the step count should be encoder reading / 10 provided they are both zeroed at 

the index position. 

The drive box is supplied with a lockable mains switch. This will allow any lock out, tag out 

procedures in place to be followed, locking off the power to the motor when any work is 

being carried out on or near when movement of the motor is unsafe. 

- 27 -

1 - FTP FEB 2001 

Encoder pin signals 

different, sig +/- wires may 

not be twisted together! 

No connection for Screen 

microswitches wired with 

+5v & gnd

2 - Doc CD DEC 2001 





+5v & gnd

3 - Modified JUN2006 

Encoder pin signals in 

sequence 


filter on NC to gnd 

Details for Berger-Lahr card

1 - FTP FEB 2001 


sequence 

Encoder color code for 

PTFE wire 


+5v & gnd

2 - Doc CD DEC 2001 




Encoder wired reverse 

phase 


+5v & gnd

3 - Modified JUN2006 


sequence 


only gnd

Wiring 

Stepper Motor Connector 

Communication

Parts list for K-Mirror Motor drive 

Part Part Number Supplier Order number Price Quantity Total Delivery 

Motor V564/50 Sig Positec 12170 0151 00 £289.32 2 £579 4-6 weeks 

Encoder RI58-0 5vdc RS 260-3897 £117.00 1 £117 Next day 

Micro switches V3S RS 317-998 £8.10 6 £49 Next day 

Emegency stop RS 139-215 £27.72 1 £28 Next day 

Motor Drive Box Cortex Controllers £1,900.00 1 £1,900 6 weeks 

Motor Controller (Spare) DMC-1412 Naples Coombe £510.00 1 £510 

Drive card (Spare) Cortex Controllers £200.00 1 £200 6 weeks 

Test Software ActiveX Naples Coombe £500.00 1 £500 

Connector 97-3106A20-27P Electrospeed 7777-17826B £31.73 1 £32 1 week 

MS3116F14-12S Electrospeed 7777-17602B £27.05 1 £27 1 week 

MS3110F14-12P Electrospeed 7777-17764J £20.48 1 £20 1 week 

MS3116F14-15S Electrospeed 7777-17604J £25.81 1 £26 1 week 

MS3110F14-15P Electrospeed 7777-17766E £23.63 1 £24 1 week 

MS3116F12-10S Electrospeed 7777-17598L £28.45 1 £28 1 week 

MS3110F12-10P Electrospeed 7777-17760F £25.93 1 £26 1 week 

FGG 1B 2P (Lemo) Electrospeed 275-56104K £11.74 1 £12 1 week 

15 Way D-Type Plug Electrospeed 17-906640E £3.78 1 £4 1 week 

9 Way D-Type Plug Electrospeed 17-906639D £2.92 1 £3 1 week 

Cable Belden 9505 (30m) Arrow 027547G £57.15 1 £57 1 week 

Belden 9539 (30m) Arrow 075801D £51.20 1 £51 1 week 

Belden 9533 Arrow 009396D £26.54 1 £27 1 week 

Total £4,218

HARP K-Mirror Spares list: dated 27.MAY.02 v 1.1 

SPARES 

Part Part No. Quantity USED on Supplier 

HPC ABSI 54 ...54 teeth 1.0 Mod 

Gear (anti backlash) 

STS 303S22 1 HARP-021-003 HPC 

SPUR GEAR 

HPC G1 54 ... 54 TEETH 1.0 

MOD STS 303S22 1 HARP-021-003 HPC 

Bearing taper roller : 30302 SKF_30302 2 HARP-021-003 BSL 

ANG CONTACT Bearing 7301 7301_ANG_CONT 2 HARP-021-003 BSL 

STEPPER MOTOR VRDM 568/50 lam VRDM 568/50 lam 1 HARP-021-003 SIG POSITEC 

SHAFT ENCODER 256-483 256-484 1 HARP-021-003 RS 

COUPLING RS_3 25_8066 1 HARP-021-003 RS 

LOCK NUT KMT2 M15X1 KMT2 M15X2 1 HARP-021-003 BSL 

LOCKNUT KMT1 M12X1 KMT1 M12X2 1 HARP-021-003 BSL 

LOCK NUT KMT 0 1 HARP-021-003 BSL 

OILITE BUSH QFM12-16 FLANGED QFM12-16 FLANGED 4 HARP-021-003 BSL 

FELT SHEET 2mm 

500mm x 500mm HARP-021-003 

OILSEAL RST 25X42X7 1 HARP-021-003 BSL 

SPRING D22010 1 HARP-021-004 SPRINGMASTER 

SPIROL PIN DIA 3.0 10 

SPIROL INDUSTRIES 

LTD. 

BRAKE PAD 3 HARP-021-003 

M10 EYEBOLT 1 HARP-021-003 

M8 EYEBOLT 4 HARP-021-004 

DRIVE CARD 1 

GALIL BOARD GALIL DMC 1412 1 

SPECIAL TOOLS 

Part Quantity USED on Supplier Notes 

C-SPANNER FOR BEARING NUT 

TIGHTENING 1 SKF 

HANDLING TROLLEY EXP-021-008 1 EXPRESS Engineering 

ALIGNMENT COLLET N/A 1 K-MIRROR ALIGNMENT UK ATC 

ALIGNMENT JIG HARP-50A00A 1 K-MIRROR ALIGNMENT UK ATC 

CMM ALIGNMENT MOUNT EXP-021-007 NIL EXPRESS Engineering RETAINED AT ATC 

MIRROR DUMMY HARP-021-002-001 1 UK ATC 



K-MIRROR STATIC 

MOUNT/TELESCOPE SIMULATOR EXP-021-006 NIL EXPRESS Engineering RETAINED AT ATC 

(eg provided where prove out piece 

non-essential spares 

available etc) 

Part Quantity USED on Supplier Notes 

Mirror mount 1 

Mirror c-shaped shims EXP-021-004-018 NIL HARP-021-004 

Sized, stamped and marked as 

EXPRESS Engineering replacements for O shaped shims 

Gear sector blank NIL HARP-021-004 EXPRESS Engineering unmachined brass gear ring 

misc fasteners 

dowel pins 

cable 

short test cable 

OBSOLETE MIRROR CLAMPS EXP-021-002-001 4 EXPRESS Engineering SUPPLIED 'IN CASE USEFUL' 



OBSOLETE ALIGNMENT COLLET 1 EXPRESS Engineering SUPPLIED 'IN CASE USEFUL' 

CONNECTORS, AMPEHNOL 

1 each type

HARP_B Project Document 

HARP K- MIRROR 

Ref:- HAR -KMI-DOC-CORTEX-S648

BERGER-LAHR D450 STEPPER DRIVE CARD

BERGER-LAHR D450 STEPPER DRIVE CARD 

Stepper Motor 

VRDM566/50 

VRDM568/50

Data Sheets - 

Motion Controller - Galil DMC-1412 

PSU – Artesyn NFS110-7602P 

Incremental Encoder (2500 pulse/rev) – Hengstler RI 58-0/2500AS.41RB 

Limit/Home Switch – Burgess V3S Microswitch 

5-Phase Stepper Motor Drive Card – Cortex D450-B157 (Berger-Lahr D450 

equivalent) 

5-Phase Stepper Motor - Sig Positic (Berger-Lahr) VRDM 568/50 (1ph 1.5A, 1.6 

ohm)

FEATURES 

MOTION 

■ Modes of motion include jogging, point-to-point positioning, contouring, electronic gearing and ECAM 

■ Dual-loop control and backlash compensation 

■ Servo loop update rates as low as 375 microseconds—faster rates 

available as an option 

■ Encoder frequencies up to 8 MHz; Step motors up to 2 MHz 

■ Software PID control with velocity and acceleration feedforward, 

offsets and integration limits 

INPUTS/OUTPUTS 

■ Provides main and auxiliary encoder input 

■ 7 uncommitted TTL inputs and 3 TTL outputs 

■ Forward and Reverse limits and home input for each axis 

■ High-speed position capture 

PROGRAMMING 

■ On-board, non-volatile memory for storing 

parameters 

■ DMC-1412: On-board memory for storing 

application programs, variables and 

arrays 

■ Programmable event triggers including 

At Time, At Position, At Input, At Speed 

■ Multitasking for simultaneous execution of 

two applications programs 

■ Intuitive, English-like command language 

with over 200 commands directly executable 

by controller 

■ Extensive DLLs and documentation for C/C++ 

programmers 

■ Software tools for automatic servo tuning and analysis; ActiveX controls 

for Visual Basic 

■ Drivers for QNX, DOS, Windows 3.1, 95, 98, 2000, NT and CE 

FORMATS 

■ 1 1 / 2 axes 

MOTION CONTROLLERS 

■ ISA, PC/104, and RS232* 

■ DMC-1412 also available as packaged unit with internal power supply 

■ DMC-1414 packaged controller includes an internal servo amplifier and integrated screw terminals 

■ Controls step motors and servo motors 

■ On-board sinusoidal commutation for brushless motors available on DMC-1410 and DMC-1412 

ECONO SERIES 

DMC-1410, 1411, 1412, 1414 

DMC-1410 

ISA Bus 

DMC-1412 

RS232 

DMC-1411 

PC/104 

* Ethernet available on DMC-1415, DMC-1416, and DMC-1425 which are described in another section. 

www.galilmc.com • Galil Motion Control, Inc. • 33


ECONO SERIES 

DMC-1410, 1411, 1412, 1414 

DESCRIPTION 

Galil’s DMC-1400 Econo Series of single-axis controllers 

have proven to be the best choice for those requiring 

minimum cost and space. Not only are these controllers 

roughly half the size of multiaxis controllers—they are 

also half the price. Even so, performance is not sacrificed 

in the least. In fact, the Econo Series handle the most 

demanding applications with such features as an extra 

encoder input which is ideal for electronic gearing, program 

memory with multitasking, uncommitted I/O for 

synchronizing motion with external events, and userselectable 

stepper or servo motor control. 

Best of all, the Econo Series remain—like all Galil products—very 

easy to use. For example, upgrading is painless 

since the two-letter commands maintain the same format 

as prior generations. System setup and programming is easier 

than ever with such enhanced software tools as WSDK 

FUNCTIONAL ELEMENTS 

RS232 

for tuning and analysis, ActiveX Tool Kit for interface to 

Visual Basic, and a C-Programmers Tool Kit. Also, software 

is compatible with DOS, QNX, Windows 3.1, Windows 

95, Windows NT, Windows 98, and Windows 2000. 

Various options are available for the DMC-1400 series 

including the DMC-1410 ISA controller, DMC-1411 

PC/104 controller, and DMC-1412 stand-alone controller 

with RS232. The DMC-1414 includes 

an integrated PWM amplifier for 

driving brush-type motors. 

Note: The Ethernet interface 

is included with the 

DMC-1415, 

DMC-1416, 

and DMC-1425 

Econo controllers 

which are described 

in another section. 

DMC-1412 

Stand-alone Box 

WATCHDOG TIMER 

DUAL UART 

FORWARD AND REVERSE LIMITS AND HOME INPUT 

DMC-1412 

DMC-1410/1411 

HIGH-SPEED 

COMMUNICATION 

INTERFACE 

256 BYTE FIFO 

68331 

MICROCOMPUTER 

WITH 

32 K RAM 

64 K EPROM 

256 K EEPROM 

HIGH-SPEED 

MOTOR/ ENCODER 

INTERFACE 

MAIN ENCODER 

AUXILIARY ENCODER 

±10 VOLT OUTPUT FOR SERVO MOTORS 

PULSE/DIRECTION OUTPUT FOR STEP MOTORS 

I/O INTERFACE 

PC BUS 

I/O ADDRESS 

HIGH-SPEED LATCH 7 PROGRAMMABLE 3 PROGRAMMABLE 

INPUTS 

OUTPUTS 

INTERRUPTS 

34 • Galil Motion Control, Inc. • www.galilmc.com


ECONO SERIES 

DMC-1410, 1411, 1412, 1414 

COMMAND LANGUAGE 

Galil’s command language is comprised of intuitive, twoletter, 

English-like ASCII commands designed to make 

programming as quick and easy as possible. For example, 

the “BG” command begins motion while the “SP 2000” 

command sets the speed of the X-axis as “2000.” Commands 

are included for system set-up, tuning, prescribing motion, 

error handling and applications programming. A complete 

set of commands is described in the following table. 

Custom commands can be created upon request. 

PID COMPENSATION 

Galil controllers provide a compensation function which 

includes a PID (Proportional-Integral-Derivative) filter. 

The compensation also includes velocity and acceleration 

feedforward. All filter parameters are adjustable, allowing 

servo system tuning for best performance. Dual loop control 

is provided for reducing the effect of backlash. 

PID Block Diagram 

S 

S 

K p 

FA 

FV 

Σ 

OF 

APPLICATIONS PROGRAMMING 

One of the more powerful features of all Galil controllers is 

their ability to store and execute complex application programs 

designed by the user. Such applications programs can 

be downloaded directly to the controller and executed without 

host intervention. The benefit of this is the freeing of 

the PC for system-level tasks. In fact, Galil controllers permit 

multitasking, which allows up to two programs to execute 

simultaneously. Also, special commands are available 

for application programming including event triggers, conditional 

jumps, subroutines, symbolic variables and arrays. 

Example—Change Speed on Input 

Move the x-axis forward a distance of 20000 counts at an 

initial speed of 50000 counts/sec and with an acceleration 

and deceleration of 1000000 counts/sec 2 . As soon as the 

motor activates the sensor connected to input 1, reduce the 

speed to 25000 counts/sec. 

PROGRAM 

INTERPRETATION 

#A Label 

PR 20000 Distance 

SP 50000 Initial speed 

AC 1000000 Acceleration rate 

DC 1000000 Deceleration rate 

BGX 

Start the motion 

AI 1 

Wait for the sensor input 

SP 25000 Reduce the speed 

EN 

End program 

R 

+ 

– 

Σ 

K d• s 

Σ 

Σ 

Σ 

TL 

OUT 

VELOCITY 

K i 

s 

IL 

TIME 

INPUT 1 



ECONO SERIES 

DMC-1410, 1411, 1412, 1414 

MODES OF MOTION 

Point-to-Point Motion 

The Point-to-Point Motion mode allows the target position 

(PA or PR), slew speed (SP), acceleration (AC) and 

deceleration (DC) to be specified. Upon begin (BG), the 

controller generates a trapezoidal velocity profile where 

the speed and acceleration can be changed anytime during 

motion. For applications that require smooth motion 

without abrupt velocity transitions, a motion smoothing 

function (IT) is provided. The position (TP) and position 

error (TE) may be interrogated at anytime. 

Example—Jogging 

COMMAND 

JG 20000 

AC 1000000 

DC 1000000 

BG 

WT 5000 

JG 30000 

WT10000 

ST 


Specify jog speed and direction 

Specify acceleration 

Specify deceleration 

Begin motion 

Wait 5 seconds 

Increase X speed 

Wait 10 seconds 

Stop motion 

Example—Point-to-Point Motion 

COMMAND 

AC 1000000 

DC 1000000 

SP 20000 

PR 40000 

BG 


Specify acceleration rate 

Specify deceleration rate 

Specify slew speed 

Specify distance 

Begin motion 

Jogging 

In the jog mode, each axis is given a jog speed and direction 

(JG), acceleration (AC), and deceleration (DC). Upon begin 

(BG), the controller ramps up to the jog speed at the prescribed 

acceleration following a trapezoidal profile. A 

smoothing function (IT) is provided to smooth abrupt 

velocity transitions. The stop command (ST) stops the 

motion at the prescribed deceleration rate. The jog speed 

and direction, acceleration and deceleration may be changed 

at anytime during motion. The average speed can be interrogated 

at any time using the Tell Velocity (TV) command. 

Electronic Gearing 

The electronic gearing mode makes it easy for Galil controllers 

to simulate the motion of mechanical gears electronically. 

A slave axis can be geared to an external master 

at a prescribed gear ratio defined by the GR command. 

The gear ratio can be changed on-the-fly. 

Electronic CAM 

In the electronic CAM mode, the motor’s position can 

be linked to an external motor position, allowing simulation 

of a mechanical CAM. The CAM functions are specified 

by a table that allows complex profiles with varying 

gear ratios to be prescribed. The follower axis may be 

engaged or disengaged independently at specific points 

along a CAM cycle. This allows selecting the engagement 

and disengagement points as those where the speed 

change of the follower is minimal. 

The electronic CAM is an ideal mode for periodic 

operation, especially those requiring varying gear ratio 

along the motion cycle. Such applications include flying 

shears, rotating knives, and packaging systems. 

Contouring 

The contouring mode (CM) is extremely flexible and allows 

any arbitrary profile to be prescribed. Here, the user bypasses 

the controller profiler and inputs the position versus time 

trajectory directly. The trajectory is described as the position 

increment (CD) over a defined time period (DT). The controller 

performs linear interpolation between prescribed 

points. The contour mode is useful for following complex, 

computer-generated paths or for “teaching” position paths. 

An automatic data-recording feature allows the controller to 

“learn” a path and then follow it in the contour mode. 



ECONO SERIES 

DMC-1410, 1411, 1412, 1414 

Error Handling 

Dedicated I/O is provided for safety controls: forward 

and reverse limit inputs, amplifier enable output, abort 

input and error output. In addition, the controller provides 

safety functions in software: upper and lower software 

travel limits, error limits, and automatic shut-off on 

excess error. In addition, program interrupts are provided 

for error and limit conditions. The program interrupts 

cause the program sequencer to automatically branch to 

an error handling subroutine. The error handling subroutine 

can be customized by the user to provide flexibility 

and system protection. 

Dual-Loop 

The dual-loop (DV) feature enables the controller to 

compensate for mechanical backlash. Typically, dual-loop 

systems use a rotary encoder on the motor and a linear 

encoder on the load (Galil controllers accept inputs from 

two encoders per axis as a standard feature). Dual-loop 

control changes the standard PID control and closes the 

position loop with the load encoder (“PI”) and derives 

the damping terms (“D”) from the motor encoder. This 

method provides smooth and accurate control along the 

motion path regardless of backlash. 

Dual-loop Block Diagram 

R 

OTHER FEATURES 

∑ 

+ 

- 

PI 

∑ 

+ 

- 

D 

AMP/MOTOR 

MOTOR 

ENCODER 

LOAD SENSOR 

BACKLASH 

LOAD 

Sinusoidal Commutation 

Sinusoidal commutation assures smooth motion and 

reduces torque ripple when using brushless motors. The 

DMC-1410, DMC-1412, and DMC-1414 stand-alone controller 

includes a sinusoidal commutation feature that 

allows designers to use lower-cost servo drives. Sinusoidally 

commutated motion requires two DAC outputs that are 

phase shifted by 120º. The third commutation signal is 

generated by the servo amplifier. The commutation can be 

initialized with or without hall sensors. 

General Inputs and Outputs 

The controller provides general purpose I/O for direct 

interface with PLC’s, sensors, switches, and other devices. 

In addition, there are inputs and outputs dedicated for 

special features. 

Homing 

The controller provides a home input and an encoder index 

input. These inputs combined with Galil’s built-in homing 

commands, allow for quick and accurate homing. 

High-speed Position Capture 

Galil controllers provide a high-speed position capture 

input for each axis. This feature latches the exact position 

within .1 microsecond of the occurrence of an input. 

Position capture is crucial for applications requiring precise 

synchronization of position to external events such as 

coordinate measurement machines. 

Customization 

Contact Galil for any special hardware or software feature 

you need. We can create a custom mode of motion exactly 

to your specifications, design a circuit board with a special 

connector or design to fit space constraints. An experienced 

application engineer will help you develop a specification 

and provide you with a quotation for custom services. 



ECONO SERIES 

DMC-1410, 1411, 1412, 1414 

SPECIFICATIONS 

SYSTEM PROCESSOR 

■ Motorola 32-bit microcomputer 

COMMUNICATIONS INTERFACE 

■ DMC-1410: ISA with bi-directional, high speed FIFO buffer 

■ DMC-1411: PC/104 with bi-directional, high speed FIFO 

buffer 

■ DMC-1412: (2) daisy-chainable RS232 ports up to 38.4K baud 

■ DMC-1414: (2) daisy-chainable RS232/RS422 ports up to 

38.4K baud; RS485 option 

MODES OF MOTION: 

■ Point-to-point positioning 

■ Jogging 

■ Electronic Gearing 

■ Electronic Cam 

■ Contouring 

MEMORY 

■ Program memory size—250 lines × 40 characters 

■ 126 variables 

■ 1000 array elements in up to 6 arrays 

FILTER 

■ PID (proportional-integral-derivative) with velocity and 

acceleration feedforward 

■ Dual-loop control for backlash compensation 

■ Velocity smoothing to minimize jerk 

■ Integration limits 

■ Torque limits 

■ Offset adjustment 

KINEMATIC RANGES 

■ Position: 32 bit (±2.15 billion counts per move; automatic 

rollover; no limit in jog or vector modes) 

■ Velocity: Up to 8 million counts/sec for servo motors 

■ Acceleration: Up to 67 million counts/sec 2 

UNCOMMITTED DIGITAL I/O 

■ 7 TTL inputs 

■ 3 TTL outputs 

DEDICATED I/O 

■ Main encoder inputs—Channel A, A-, B,B-,I, I- (±12 V or TTL) 

■ Auxiliary encoder—Channel A, A-, B, B- 

■ Forward and reverse limit inputs 

■ Home input 

■ High-speed position latch input 

■ Analog motor command output with 16-bit DAC resolution 

■ Pulse and direction output for step motors 

■ Amplifier enable output 

■ Error output 

MINIMUM SERVO LOOP UPDATE RATE 

■ 375 microsecond 

MAXIMUM ENCODER FEEDBACK RATE 

■ 8 MHz 

MAXIMUM STEPPER RATE 

■ 2 MHz (Full, half or microstep) 

POWER REQUIREMENTS 

■ DMC-1410, DMC-1411, DMC-1412, DMC-1415 card: 

+5V 400mA 

-12V 40mA 

+12V 40mA 

■ DMC-1412 Box: plugs into 90–260 VAC 

■ DMC-1414: requires single 20–60 V DC supply 

ENVIRONMENTAL 

■ Operating temperature: 0–70º C 

■ Humidity: 20-95% RH, non-condensing 

MECHANICAL 

■ DMC-1410: 7" ISA 

■ DMC-1411: 4.4" × 4.15" 

■ DMC-1412: 6.4" × 4.7" 

■ DMC-1412 Box-level: 5.1" × 3.0" × 6.8" 

■ DMC-1414 Box-level: 6" × 8.5" × 2.9" 

HIGH SPEED POSITION LATCH 

■ Latches within .1 microsecond 



ECONO SERIES 

DMC-1410, 1411, 1412, 1414 

INSTRUCTION SET 

MOTION 

AB Abort motion 

AC Acceleration 

BG Begin motion 

CD Contour data 

CM Contour mode 

DC Deceleration 

DT Contour time interval 

EB Enable cam mode 

EG Start cam motion 

EM Modulus for cam 

EP Master counts per table entry 

EQ Stop cam motion 

ET Cam table entry 

FE Find edge 

FI Find index 

GR Gear ratio 

HM Home 

IP Increment position 

IT Smoothing time constant–independent 

JG Jog mode 

KS Stepper smoothing 

PA Position absolute 

PR Position relative 

SP Speed 

ST Stop 

PROGRAM FLOW 

AD Wait for specified distance 

AI Wait for specified input 

AM Wait for motion complete 

AP Wait for absolute position 

AR Wait for relative distance 

AS Wait for “At Speed” 

AT Wait for elapsed time 

EN End program 

HX Halt task 

IN Input variable 

II Input interrupt 

JP Jump to program location 

JS Jump to subroutine 

MG Message 

MC Wait for “In Position” 

MF Forward motion past position 

MR Reverse motion past position 

NO No operation 

RE Return from error subroutine 

RI Return from interrupt 

WC Wait for contour data 

WT Wait for elapsed time 

XQ Execute program 

ZS Zero subroutine stack 

TW Timeout for “In Position” 

CONFIGURATION 

AL Arm latch 

BN Save parameters in EEPROM 

BP Burn program (1412, 1414) 

BV Burn variables and array (1412, 1414) 

CB Clear output bit 

CC Configure 2nd RS232 port (1412, 1414) 

CE Configure encoder type 

CN Configure switches 

DA Deallocate arrays 

DE Define dual encoder position 

DL Download program 

DM Dimension arrays 

DP Define position 

ED Edit mode 

EI Enable ISA interrupts (1410, 1411) 

EO Echo off 

LS List program 

MO Motor off 

MT Motor type 

OB Define output bit 

OP Output port 

PF Position format 

QD Download array 

QU Upload array 

RA Record array 

RC Record 

RD Record data 

RS Reset 

SA Set address (1412, 1414) 

SB Set output bit 

UI User interrupt (1410, 1411) 

UL Upload program 

VF Variable format 

CONTROL FILTER SETTINGS 

DV Damping for dual loop 

FA Acceleration feedforward 

FV Velocity feedforward 

GN Gain 

IL Integrator limit 

KD Derivative constant 

KI Integrator constant 

KP Proportional constant 

OF Offset 

SH Servo here 

TL Torque limit 

TM Sample time 

ZR Zero 

STATUS 

RP 

RL 

SC 

TB 

TC 

TD 

TE 

TI 

TP 

TR 

TS 

TT 

TV 

Report command position 

Report latched position 

Stop code 

Tell status 

Tell error code 

Tell dual encoder position 

Tell position error 

Tell input 

Tell position 

Trace program 

Tell switches 

Tell torque 

Tell velocity 

ERROR AND LIMITS 

BL Reverse software limit 

ER Position error limit 

FL Forward software limit 

OE Off on error 

ARITHMETIC FUNCTIONS 

@SIN Sine 

@COS Cosine 

@ABS Absolute value 

@FRAC Fraction portion 

@INT Integer portion 

@RND Round 

@SQR Square root 

@IN Return digital input 

+ Add 

- Subtract 

* Multiply 

/ Divide 

& And 

| Or 

( ) Parentheses 

BRUSHLESS MOTOR COMMANDS 

BA Brushless axis 

BB Brushless phase 

BC Brushless calibration 

BD Brushless degrees 

BI Brushless inputs 

BM Brushless modulo 

BO Brushless offset 

BS Brushless setup 



ECONO SERIES 

DMC-1410, 1411, 1412, 1414 

HARDWARE ACCESSORIES 

■ ICM-1460 

The ICM-1460 Interconnect Module provides screw 

terminals for the 37-pin D-type cable from the DMC-1410 

or DMC-1412, for quick connection of system hardware. 

A 40-pin to 37-pin cable allows the ICM-1460 to 

be used with the DMC-1411. The ICM-1460 is contained 

in a metal enclosure with dimensions of 6.9" x 

4.9" x 2.6" and .2" diameter keyholes for mounting. 

The ICM is normally shipped configured for high amp 

enable, +5 V (-HAEN). For 

low amp enable, order 

ICM-1460-LAEN. 

ICM-1460 

Interconnect Module 

(shown with and 

without cover) 

■ AMP-1460 

The AMP-1460 series is an ICM module above with a 

PWM amplifier for a brush-type servo motor. The 

amplifier provides 6 amps continuous, 10 amps peak at 

up to 80 Volts. The gain of the amplifier is 1 A/V and 

requires an external DC supply from 20 to 80 Volts. 

The minimum motor inductance is 1 mH and the 

PWM frequency is 30 KHz. 

■ DMC-1414 

The DMC-1414 is a DMC-1412 controller packaged 

with a PWM amplifier for driving a brush-type servo 

motor. The amplifier provides 6 amps continuous at 

up to 60 volts and requires a single, external DC supply 

from 20 to 60 volts. The minimum motor inductance 

is 1 mH and the PWM frequency is 30 KHz. Screw 

terminals provide 

easy connection to 

external devices. 

DMC-1414 

■ ICM-1460 OPTO INPUT 

For applications requiring optoisolated inputs, the 

ICM-1460 option “OPTO INPUT” provides 5–24 V 

and 25 mA optoisolation on all general inputs, home 

inputs, and limits. 

■ ICM-1460-20W 

The ICM-1460-20W provides an internal 20-watt linear 

amplifier suitable for driving small servo motors or 

hydraulic valves. The ICM-1460-20W requires an 

external supply of ±10 V to ±30 V (for 200 mA or 

less, no additional supply is required). Care should be 

taken to ensure the average power dissipation across 

the amplifier is less than 20 watts. 



ECONO SERIES 

DMC-1410, 1411, 1412, 1414 

ORDERING INFORMATION 

PART NUMBER DESCRIPTION QUANTITY 1 QUANTITY 100 

DMC-1410.........................1-axis ISA...........................................................................................$ 595....................$ 395 

DMC-1411.........................1-axis PC/104....................................................................................$ 595....................$ 395 

DMC-1412.........................1-axis stand-alone with RS232........................................................$ 595....................$ 395 

DMC-1415.........................1-axis stand-alone with Ethernet & RS232....................................$ 595....................$ 395 

DMC-1412-box.................1-axis stand-alone in enclosure with power supply......................$ 795....................$ 545 

DMC-1414-box.................DMC-1412 with internal brush servo amplifier and 

screw terminals.................................................................................$ 995....................$ 795 

CABLE 37-pin D...............37-pin cable for DMC-1410, DMC-1412, DMC-1415............... $ 25 

CABLE 40-pin IDC..........40-pin to 37-pin cable for DMC-1411...........................................$ 25 

CABLE 9-pin D.................9-pin RS232 cable for DMC-1412................................................. $ 10 

ICM-1460...........................Interconnect Module for DMC-1400 series. Specify -HAEN 

for high amp enable or -LAEN for low amp enable....................$ 145....................$ 95 

ICM-1460-OPTO INPUTS.ICM with optoisolated inputs ....................................................... $ 195....................$ 145 

ICM-1460-20W................ICM-1460 with 20-watt amplifier.................................................. $ 220....................$ 145 

AMP-1460..........................ICM with on-board, PWM amplifier for 1 brush-type servo..... $ 495....................$ 345 

Galil Utilities......................Communication drivers, terminal, DMCWIN software.............$ 20 

CTOOLKIT........................DMCWIN with C/C++ documentation and examples.............Included with Utilities 

WSDK..................................Set-up, tuning and analysis software..............................................$ 195 

ActiveX Tool kit.................Custom controls for ActiveX software such as Visual Basic........$ 595 

Galil offers additional quantity discounts for purchases between 1 and 100. Consult Galil for a quotation. 


NFS110 Series 

Single and quad output 

LOW TO MEDIUM POWER AC/DC POWER SUPPLIES 80-110 W AC/DC Universal Input Switch Mode Power Supplies 1 

• 7.0 x 4.25 x 1.8 inch package 

• Overvoltage and short circuit protection 

• 110 W with 20 CFM 

• Adjustable outputs 

• EN55022, EN55011 conducted emissions level B 

• UL, VDE and CSA safety approvals 

• CE mark 

• Available RoHS compliant 

The NFS110 series is a 110 W universal input ac-dc power supply on a 7 x 4.25 inch 

card. The NFS110 series has four single and three quad output models and has proven 

itself to be highly reliable and versatile product for a wide range of communication and 

industrial applications, with a very high peak current capability on each output for drive 

and motor applications. The NFS110 provides 80 W of output power with free air 

convection cooling which can be boosted to 110 W with 20 CFM of air. Standard 

features include overvoltage and short circuit protection. The series, with full 

international safety approval and the CE mark, meets conducted emissions EN55022 

level B. The NFS110 series is designed for use in low power data networking, 

computer, telecom and industrial applications such as servers, thermal printers, storage 

devices, vending machines and POS equipment. 

All specifications are typical at nominal input, full load at 25 °C unless otherwise stated 

2 YEAR WARRANTY 

SPECIFICATIONS 

OUTPUT SPECIFICATIONS 

Voltage adjustability +5.1 V o/p on multi’s ±3.0% 

5.1 V single output ±3.0% 

12 V single output 12-14 V 



Line regulation LL to HL, FL ±0.1% max. 

All outputs on all units 

Overshoot/undershoot At turn-on 0% 

Temperature coefficient All outputs ±0.02%/°C 

Overvoltage protection Multi o/p 5.1 V only 6.25 V ±0.75 V 

5.1 V single 6.25 V ±0.75 V 

12 V single 15.75 V ±1.0 V 

15 V single 22 V ±1.5 V 

24 V single 33 V ±2.5 V 

Output power limit Primary power Pin max. 160 W 

limited 

Pout min. 110 W 

Minimum output current (See Note 13) 0 A 

Short circuit protection 

Burst mode operation 

INPUT SPECIFICATIONS 

Input voltage range 

85-264 Vac 

120-370 Vdc 

47-440 Hz 

Input frequency range 

Input surge current 230 Vac 35 A 

Safety ground 110 Vac, 50 Hz 0.2 mA, max. 

leakage current 230 Vac, 50 Hz 0.4 mA, max. 

EMC CHARACTERISTICS 

Conducted emissions EN55022, FCC part 15 Level B 

Radiated emissions EN55022, FCC part 15 Level A 

ESD air EN61000-4-2, level 3 Perf. criteria 1 

ESD contact EN61000-4-2, level 4 Perf. criteria 1 

Surge EN61000-4-5, level 3 Perf. criteria 1 

Fast transients EN61000-4-4, level 3 Perf. criteria 1 

Radiated immunity EN61000-4-3, level 3 Perf. criteria 2 

Conducted immunity EN61000-4-6, level 3 Perf. criteria 1 

GENERAL SPECIFICATIONS 

Hold-up time 110 Vac @ 80 W 35 ms 

110 Vac @ 110 W 17 ms 

230 Vac @ 80 W 140 ms 

230 Vac @ 110 W 100 ms 

Efficiency Multiple outputs 70% typical 

+5.1 V single 70% typical 

12 V and 15 V singles 72% typical 

24 V single 75% typical 

Isolation voltage Input/output 3000 Vac 

Input/chassis 

1500 Vac 

Switching frequency At 100 Watts output 20-70 kHz 

At zero load 

100-250 kHz 

Approvals and 

VDE0805, EN60950, IEC950 

standards 

IEC1010, UL1950 

(See Note 12) CSA C22.2 No. 950 

Weight Singles 550 g (19.4 oz) 

Multiple outputs 600 g (21.2 oz) 

MTBF (See Note 9) MIL-HDBK-217E 125,000 hours 

ENVIRONMENTAL SPECIFICATIONS 

Thermal performance Operating, see curve 0 °C to +70 °C 

(See Notes 9, 10) Non-operating –40 °C to +85 °C 

0 °C to +50 °C, 80 W 

amb. convection cooled 

+50 °C to +70 °C, Derate 2 W/°C 

amb. convection cooled 

0 °C to +50 °C, 110 W 

20 CFM forced air 

+50 °C to +70 °C, Derate 

20 CFM forced air 2.75 W/°C 

Peak, 0 °C to +50 °C, 

110 W 

max. 60 seconds 

Relative humidity Non-condensing 5% to 95% RH 

Altitude Operating 10,000 feet max. 

Non-operating 40,000 feet max. 

Vibration (See Note 11) 5-500 Hz 2.4 G approx. 

File Name: nfs110.pdf nls110.pdf Rev: 15 May 2006

NFS110 Series 


LOW TO MEDIUM POWER AC/DC POWER SUPPLIES 80-110 W AC/DC Universal Input Switch Mode Power Supplies 2 

For the most current data and application support visit www.artesyn.com/powergroup/products.htm 

OUTPUT 

OUTPUT CURRENTS 

RIPPLE (4) TOTAL 

VOLTAGE MAX (1) PEAK (2) FAN (3) REGULATION (5) 

MODEL NUMBERS (13,14,F) 

+5.1 V 8 A 20 A 10 A 50 mV ±2.0% NFS110-7601PJ 

+12 V 4.5 A 9 A 5 A 120 mV ±3.0% 

–12 V 0.5 A 1.5 A 1 A 120 mV ±3.0% 

–5 V 0.5 A 1.5 A 1 A 50 mV ±3.0% 

+5.1 V (I A ) 8 A 20 A 10 A 50 mV ±2.0% NFS110-7602PJ (6) 

+24 V (I B ) (6) 3.5 A 4.5 A 4.5 A 240 mV +10/–5.0% 

+12 V 4.5 A 9 A 5 A 120 mV ±3.0% 

–12 V 0.5 A 1.5 A 1 A 120 mV ±3.0% 

+5.1 V 8 A 20 A 10 A 50 mV ±2.0% NFS110-7604PJ 

+15 V 4 A 7.5 A 5 A 150 mV ±3.0% 

–15 V 0.5 A 1.5 A 1 A 150 mV ±3.0% 

–5 V 0.5 A 1.5 A 1 A 50 mV ±3.0% 

5.1 V 16 A 22 A 20 A 50 mV ±2.0% NFS110-7605J (7,8) 

12 V 7 A 9 A 9 A 120 mV ±2.0% NFS110-7612J (7,8) 

15 V 5 A 7.3 A 7.3 A 150 mV ±2.0% NFS110-7615J (7,8) 

24 V 3.5 A 4.5 A 4.5 A 240 mV ±2.0% NFS110-7624J (7,8) 

Notes 

1 Convection cooled, 80 W maximum. 

2 Peak outputs lasting less than 60 seconds with duty cycle less than 10%. 

Total peak power must not exceed 110 W. 

3 Forced air, 20 CFM at 1 atmosphere, 110 W maximum. 

4 Figure is peak-to-peak. Output ripple is measured across a 50 MHz 

bandwidth using a 12 inch twisted pair terminated with a 47 μF capacitor. 

5 Total regulation is defined as the static output regulation at 25 °C, including 

initial tolerance, line voltage within stated limits and output voltages 

adjusted to their factory settings. 

6 To achieve stated regulation on the 24 V output on the NFS110-7602PJ, 

the following load condition must be true: I A / I B ≤ 5, where: 

I A = +5.1 V output current, and 

I B = +24 V output current 

The +24 V output will maintain ±5.0% regulation under the following 

additional condition: I A ≤5 A. 

7 Single output models have floating outputs which may be referenced as 

either positive or negative. Higher voltage supplies may be adjusted over a 

wide output voltage range, as long as the total output power does not 

exceed 80 Watts (natural convection) or 110 Watts (forced air). 

8 Power fail detect not available on single output models. 

9 Derating curve is application specific for ambient temperatures >50 °C, for 

optimum reliability no part of the heatsink should exceed 90 ºC and no 

semiconductor case temperature should exceed 100 ºC. 

10 Caution: Allow a minimum of 1 second after disconnecting the power when 

making thermal measurements. 

11 Three orthogonal axes, random vibration, 10 minute test for each axis. 

12 This product is only for inclusion by professional installers within other 

equipment and must not be operated as a stand alone product. 

13 Artesyn Technologies recommends a minimum load of 11 W to achieve the 

design MTBF. See the derating curve on page 3. 

14 The ‘J’ suffix indicates that these parts are Pb-free (RoHS 6/6) compliant. 

TSE RoHS 5/6 (non Pb-free) compliant versions may be available on 

special request, please contact your local sales representative for details. 

15 NOTICE: Some models do not support all options. Please contact your 

local Artesyn representative or use the on-line model number search tool at 

http://www.artesyn.com/powergroup/products.htm to find a suitable 

alternative. 

TRANSIENT RESPONSE 

NFS110-7601PJ +5.1 V (7.5 A to 10 A) 150 mV peak, 

1 ms recovery 

+12 V (2.5 A to 5 A) 100 mV peak, 

0.5 ms recovery 

-12 V (0.5 A to 1 A) 100 mV peak, 


-5 V (0.5 A to 1 A) 100 mV peak, 


NFS110-7602PJ +5.1V (7.5 A to 10 A) 150 mV peak, 

1 ms recovery 

+24 V (1.5 A to 3 A) 300 mV peak, 

1 ms recovery 

+12 V (2.5 A to 5 A) 100 mV peak, 


-12 V (0.5 A to 1 A) 100 mV peak, 


NFS110-7604PJ +5.1 V (7.5 A to 10 A) 150 mV peak, 

1 ms recovery 

+15 V (2.5 A to 5 A) 100 mV peak, 


-15 V (0.5 A to 1 A) 100 mV peak, 


-5 V (0.5 A to 1 A) 100 mV peak, 


NFS110-7605J +5.1 V (10 A to 20 A) 250 mV peak, 

1 ms recovery 

NFS110-7612J +12 V (4.5 A to 9 A) 360 mV peak, 

1 ms recovery 

NFS110-7615J +15 V (3.65 A to 7.3 A) 450 mV peak, 

1 ms recovery 

NFS110-7624J +24V (2.25 A to 4.5 A) 720 mV peak, 

1 ms recovery 


NFS110 Series 


LOW TO MEDIUM POWER AC/DC POWER SUPPLIES 80-110W AC/DC Universal Input Switch Mode Power Supplies 3 

For the most current data and application support visit www.artesyn.com/powergroup/products.htm 

AC (J1) mating connector 

Molex 09-50-3051 or Molex 09-91-0500 mating connector with 2478 or 

equivalent crimp terminals. 

DC (J2) mating connector 

Molex 09-50-3131 or Molex 09-91-1300 mating connector with 2478 or 

equivalent crimp terminals. 

0.475 

±0.010 

(12.07) 

OPTIONAL POWER FAIL DETECT TIMING DIAGRAM 

AC INPUT 

4.75V 

5V OUTPUT 

LOW 

PFD SIGNAL 

0-0.4 MAX 

T1 

HIGH 

T2 

4.75V 

3.5V MIN 

DERATING CURVE (See Notes 9, 10) 

Output Power (Watts) 

T3 

Power fail detect signal (Note 8) 

50 ms≤T1≤200 ms 

T2 will vary with line and load 

T3≥3 ms 

Pout: 110 W 

PFD output is an open collector which 

will sink ≤40 mA in the low state. 

1.80 (45.72) MAX 

1.00 

±0.005 

(25.4) 

110W 

20 CFM FORCED AIR COOLING 

0.050 ±0.020 

(1.27) 

3.35 ±0.015 (85.09) 

1.55 ±0.005 

(39.37) 

6-32 UNC 

(4PL) 

80W 

Voltage Adjust 

PIN 1 

4.250 

±0.020 

(107.95) 

3.750 

±0.005 

(95.25) 

T1 T1 

Optional 

Power Fail 

Detect Circuit 

(Key = Pin 2) 

Pin 1 

J2 

PIN 1 

NATURAL 

CONVECTION 

COOLING 

55W 

40W 

L1 

0.250 

±0.010 

(6.35) 

0.250 

±0.010 

(6.35) 

C6 

6.50 ±0.005 (165.1) 

7.00 ±0.020 (177.8) 

ALL DIMENSIONS IN INCHES (mm) 

F1 

5A, 250 VAC 

J1 

0.156 

DIA. HOLE 

(4PL) 

Mechanical Notes 

A Metallic or non-metallic stand-offs (maximum diameter 5.4 mm) can be 

used in all four mounting holes without effecting safety approval. 

B The ground pad of the mounting hole near J1, allows system grounding 

through a metal stand-off to the system chassis. 

C The heat sink is grounded, and allows system grounding by mechanical 

connection to the system chassis. 

D The supply must be mechanically supported using the PCB mounting holes 

and may be additionally supported by the heatsink mounting holes. 

E It is always advisable to attach the power supply heat sink to another 

thermal dissipator (such as a chassis or finned heatsink etc). The resulting 

decrease in heat sink mounted component temperatures will improve 

power supply lifetime. 

F A standard L-bracket and cover is available for mounting which contains all 

screws, connectors and necessary mounting hardware. Two different kits 

are available, order part number ‘NFS110 COVER KIT’ or ‘NFS110C’. 

11W 

11W MINIMUM LOAD REQUIRED AT 230VAC 

0W 

0°C 10°C 20°C 30°C 40°C 50°C 60°C 70°C 

PIN CONNECTIONS 

J1 –7601PJ –7602PJ –7604PJ SINGLES 

Pin 1 AC Ground AC Ground AC Ground AC Ground 

Pin 2 AC Neutral AC Neutral AC Neutral AC Neutral 

Pin 3 AC Line AC Line AC Line AC Line 

J2 

Pin 1 +5.1 V +5.1 V +5.1 V V out 

Pin 2 +5.1 V +5.1 V +5.1 V V out 

Pin 3 +5.1 V +5.1 V +5.1 V V out 

Pin 4 Return Return Return Return 




Pin 8 +12 V +12 V +15 V V out 

Pin 9 +12 V +12 V +15 V V out 

International Safety Standard Approvals 

VDE0805/EN60950/IEC950/IEC1010 File No. 10401-3336-0049 

Licence No. 108333 

UL1950 File No. E136005 

CSA C22.2 No. 950 File No. LR41062C 

Pin 10 PFD PFD PFD N/C 

Pin 11 –12 V –12 V –15 V N/C 

Pin 12 

Removed for Key 

Pin 13 –5 V +24 V –5 V N/C 

N/C = no connection. 

Datasheet © Artesyn Technologies® 2006 

The information and specifications contained in this datasheet are believed to be correct at time of publication. However, Artesyn Technologies accepts no responsibility for consequences arising 

from printing errors or inaccuracies. Specifications are subject to change without notice. No rights under any patent accompany the sale of any such product(s) or information contained herein. 

www.artesyn.com 


Installation instructions 

Incremental Shaft Encoder Type RI 58 / RI 59 

Item No. 2 522 480, Edition: 3290699hu Page 1 of 2 

Introduction 

These installation instructions are provided for the connection and starting 

procedure of your shaft encoder. 

For further informations see our Shaft Encoders Catalogue. 

Safety and Operating Instructions 

• The incremental shaft encoders of the type RI 58 / RI 59 model series are 

quality products manufactured in accordance with established electrical 

engineering standards. 

The units have been delivered from the factory in perfect conformance to 

safety regulations. 

To maintain this condition and to ensure trouble-free operation, please observe 

the technical specifications of this document. 

• Installation and mounting may only be performed by an electrotechnical 

expert! 

• The units may only be operated within the limits specified by the technical 

data. 

• Maximum operating voltages must not be exceeded! 

The units are designed complying with VDE 0160, protection class III. 

To prevent dangerous structure-borne currents, the equipment has to be run 

on safety extra-low voltage (SELV) and must be in an area of equipotential 

bonding. 

• Application: Industrial processes and control systems. 

Overvoltage at the connecting terminals must be limited to the values within 

overvoltage category II. 

• Please avoid shocks to the housing – especially to the encoder shaft – and 

axial or radial overload to the encoder shaft. 

• Maximum accuracy and durability of our shaft encoders is only granted 

when using suitable couplings. 

• The high-quality EMC-specifications are only valid together with standardtype 

cables and plugs. When using screened cables, the screen must broadly 

be connected with ground on both ends. Likewise, the voltage-supply cables 

should entirely be screened. If this is not possible you will have to take 

appropriate filtering measures. 

• Installation environment and wiring are influential on the encoder's EMC: 

Thus the installer must secure EMC of the whole facility (device). 

• Transient peaks on the power supply leads are to be limited by the preconnected 

power unit to a maximum of 1000 V. 

• In electrostaticly threatened areas please take care for neat ESD-protection 

of plug and connecting cable during installation work. 

Mechanical data 

Shaft diameter 

6 / 6.35 / 7 / 9.52 / 10 / 12 mm 

Absolute max. shaft load ∅ 12 mm radial 180 N (39 lbs) 

axial 140 N (30 lbs) 

∅ 7 … 10 mm radial 160 N (35 lbs) 


∅ 6 mm / 6.35 mm radial 110 N (24 lbs) 

Maximum speed 

10,000 RPM 


Torque ≤ 0.5 Ncm (IP 64) 

Moment of inertia 

synchro flange 14 gcm 2 approx. 

clamping flange 20 gcm 2 approx. 

Protection class 

housing/ball bearing IP 50/40, IP 65/64 1) , IP 67/67 

Operating temperature RI 58-O: –10 … +70 °C / RI 58-T: –25 … +100 °C 

Storing temperature RI 58-O: –25 … +85 °C / RI 58-T: –25 … +100 °C 

Vibration performance (IEC 68-2-6) 100 m/s 2 (10 … 2,000 Hz) 

Shock resistance (IEC 68-2-27) 

Connection 

Housing 

Flange 2) 

1,000 m/s 2 (6 ms) 

1.5 m cable or flange box 

RI 58: aluminium, RI 59: high-grade steel 

S = synchro flange, K, L = clamping flange, 

G, Q = square flange, M = synchro clamping flange 

Weight 

360 g approx. 

Bearing life 

1 x 10 10 revolutions (typ.) at 35% of full rated shaft load 



1) 

no standing water allowed at the shaft entrance or at the ball bearing 

2) 

S, L: use threads M4 for fastening 

K: use threads M3 for fastening 

M: use threads 10-32 UNF for fastening 

Electrical data 

Hengstler GmbH 

Postfach 11 51 Tel. 07424 – 890 

D-78550 Aldingen Fax 07424 – 89370 

General design 

as per DIN VDE 0160, protection class III, 

contamination level 2, overvoltage class II 

Screening 

connected to housing 

Noise emission as per EN 50081-2 (edition 1993) 

Noise immunity as per EN 50082-2 (edition 1995) 

Power consumption 40 mA (5 V DC), 30 mA (24 V DC), 60 mA (10 V DC) 

Supply voltage U B 5 V DC (SELV) ±10% 10 ... 30 V DC (SELV) 

Output circuit 1) PP PP RS422 PP PP compl. RS422 

Code letter K D R, T K I R 

Output load [mA] ±10 ±30 ±30 ±30 ±30 ±30 

Output level [V] High ≥2.5 ≥2.5 ≥2.5 U B -3 U B -3 ≥2.5 

Low ≤0.5 ≤0.5 ≤0.5 ≤2 ≤2 ≤0.5 

Pulse rise time [ns] 250 100 100 2000 2000 100 

Max. pulse frequency [kHz] 300 300 300 200 200 300 

Pole protection of U B yes no no yes yes yes 

Short circuit proof yes 1 chn. 1 channel yes yes yes 

Pulse duty factor 1 : 1 

Pulse width error ± 25° electrical 

Phase shift 

90° (distance from Channel A to B is at least 

0.45 μs, at 300 kHz) 

Pulse shape 

rectangular 

Alarm output 

Open Collector, NPN (5 mA, 24 V max. with U B =5 VDC; 

5 mA, 32 V max. with U B =10...30 VDC) 

1) PP=Push-pull; PP compl.=Push-pull complementary; RS422=Line driver 

Item No. 2 522 480, 3290699hu 

Technical specifications subject to change without notice.

DMC-1600 

normal or reversed quadrature

LIMIT SWITCHES 

Over travel – depress to case

Kmirror controller electronics.pdf - JACH

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