NSC-G SERIES
MOTION CONTROLLER
NSC-G Series Overview
The NSC-G Series controller incorporate a 32-bit
microcomputer and provide such advanced features
as PID compensation with velocity and acceleration
feedforward, program memory with multitasking for
simultaneously running up to eight programs, and
uncommitted I/O for synchronizing motion with
external events. Modes of motion include point-topoint positioning, position tracking, jogging, linear and circular interpolation, contouring,
electronic gearing and ECAM.
The controller is configurable to run up to four stepper
motors or servo motors.
These controllers use a simple, intuitive command
language which makes them easy to program. The
controller has RS-232 and Ethernet communication
ports. Communication drivers are available for
Windows, .NET, Mac OSX, and Linux.
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NSC-G Series Specifications
System Processor
Motorola 32-bit microcomputer
Communications
Interface
Ethernet 10BASE-T, RS-232 19.2 kbuad, Commands are sent in ASCII. A binary
communication mode is also available as a standard feature.
Modes of Motion
Point-to-point, Position Tracking, Jogging, 2D Linear and Circular Interpolation,
Linear Interpolation, Helical, Contouring
Memory
Program memory size - 1000 lines x 80 characters, 510 variables, 8000 array
elements in up to 30 arrays
Filter
PID (proportional-integral-derivative) with velocity and acceleration feedforward
Kinematic Ranges
Position: 32 bit (±2.15 billion counts per move), Velocity: Up to 12 million
counts/sec for servo motors, Acceleration: Up to 67 million counts
Digital I/O
4 inputs, 4 TTL outputs
Dedicated Inputs
(per axis)
Encoder inputs - Channel A, A-, B, B-, I, I- (12 MHz Max)
Forward and reverse limit inputs, Home input
Minimum Servo
Loop Update Time
1-2 axes: 250 µsec, 3-4 axes: 375 µsec
Operating
Temperature
0°C to 50°C
Humidity: 20-95% RH, non-condensing
Stepper Motor Driver
Supply Voltage: 24 VDC
Up to 3 Amps output current, Up to 256 microsteps, 2 MHz maximum step rate
Servo Amplifier
Supply Voltage: 48 VDC
Brush/Brushless trans-conductance PWM, 7 Amps Continuous, 10 Amps Peak,
60 kHz Switching Frequency, 0.5 mH Minimum Load Inductance, 120°
Commutation angle
Power Input
Universal 85-264 VAC, 47-63 Hz
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Ethernet/RS232 Econo Series, 1–8 axes
DMC-21x3
Series
NSC-G
Series Instruction Set
Instruction Set
Ethernet
HS
IA
IH
IK
MB
MW
SA
Handle switch
Set IP address
Open IP handle
Ethernet port blocking
Modbus
Modbus wait
Send command
Servo Motor
AF
AG*
AU*
AW*
DV
FA
FV
IL
KD
KI
KP
NB
NF
NZ
OF
PL
SH
TK
TL
TM
Analog feedback
Set AMP-20540 gain
Set current loop gain
Report AMP-20540 bandwidth
Dual velocity
Acceleration feedforward
Velocity feedforward
Integrator limit
Derivative constant
Integrator constant
Proportional constant
Notch bandwidth
Notch frequency
Notch zero
Offset
Pole
Servo here
Peak torque
Continuous torque limit
Sample time
Stepper Motor
AG†
KS
LC
QS
YA
YB
YC
YR
YS
Set SDM-20640 gain
Stepper motor smoothing
Low current
Error magnitude
Step drive resolution
Step motor resolution
Encoder resolution
Error correction
Stepper position maintenance
Internal Sine Commutation
BA
BB
BC
BD
BI
BM
BO
BS
BZ
I/O
AL
AQ
CB
CO
II
OB
OC
OP
SB
Brushless axis
Brushless phase
Brushless calibration
Brushless degrees
Brushless inputs
Brushless modulo
Brushless offset
Brushless setup
Brushless zero
Arm latch
Analog configuration
Clear bit
Configure I/O points
Input interrupt
Define output bit
Output compare function
Output port
Set bit
† For use with SDM-20640
* For use with AMP-20540
I/O (cont.)
Interrogation (cont.)
Value of analog input x
State of digital input x
State of digital output x
@AN[x]
@IN[x]
@OUT[x]
System Configuration
AE
BN
BP
BR*
BV
CC
CE
CF
CI
CN
CW
DE
DP
DR
EO
IT
LO
LZ
MO
MT
PF
QD
RS
ˆRˆS
VF
Amplifier error
Burn parameters
Burn program
Brush motor enable
Burn variables and arrays
Configure communications port
Configure encoder type
Configure unsolicited messages handles
Configure communication interrupt
Configure switches
Data adjustment bit
Define dual encoder position
Define position
Data record update rate
Echo
Independent smoothing
Lockout handle
Leading zeros format
Motor off
Motor type
Position format
Download array
Reset
Master reset
Variable format
Math Functions
@ABS[x]
@ACOS[x]
@ASIN[x]
@ATAN[x]
@COM[x]
@COS[x]
@FRAC[x]
@INT[x]
@RND[x]
@SIN[x]
@SQR[x]
@TAN[x]
Absolute value of x
Arc cosine of x
Arc sine of x
Arc tangent of x
1’s complement of x
Cosine of x
Fraction portion of x
Integer portion of x
Round of x
Sine of x
Square root of x
Tangent
Interrogation
LA
LL
LS
LV
MG
QH*
QR
QU
QZ
RL
RP
ˆRˆV
SC
TA*
List arrays
List labels
List program
List variables
Message command
Query hall state
Data record
Upload array
Return data record info
Report latch
Report command position
Firmware revision information
Stop code
Tell AMP-20540 status
TB
TC
TD
TE
TH
TI
TP
TR
TS
TT
TV
TZ
WH
Tell status
Tell error code
Tell dual encoder
Tell error
Tell handle
Tell input
Tell position
Trace program
Tell switches
Tell torque
Tell velocity
Tell I/O configuration
Which handle
Programming
BK
DA
DL
DM
ED
ELSE
ENDIF
EN
HX
IF
IN
JP
JS
NO
RA
RC
RD
RE
REM
RI
SL
UL
XQ
ZS
‘
Breakpoint
Deallocate variables/arrays
Download program
Dimension arrays
Edit program
Conditional statement
End of cond.statement
End program
Halt execution
If statement
Input variable
Jump
Jump to subroutine
No-operation—for comments
Record array
Record interval
Record data
Return from error routine
Remark program
Return from interrupt routine
Single step
Upload program
Execute program
Zero stack
Comment
Error Control
BL
ER
FL
OE
TW
Backward software limit
Error limit
Forward software limit
Off-on-error function
Timeout for in-position
Trippoint
AD
AI
AM
AP
AR
AS
AT
AV
MC
MF
After distance
After input
After motion profiler
After absolute position
After relative distance
At speed
After time
After vector distance
Motion complete
After motion—forward
Independent Motion Commands
MR
WC
WT
AB
AC
BG
DC
FE
FI
HM
IP
IT
JG
PA
PR
PT
SP
ST
After motion—reverse
Wait for contour data
Wait for time
Abort motion
Acceleration
Begin motion
Deceleration
Find edge
Find index
Home
Increment position
Smoothing time constant
Jog mode
Position absolute
Position relative
Position tracking
Speed
Stop
Contour Mode
CD
CM
DT
WC
Contour data
Contour mode
Contour time interval
Wait for contour data
ECAM/Gearing
EA
EB
EC
EG
EM
EP
EQ
ET
EW
GA
GD
GM
_GP
GR
ECAM master
Enable ECAM
ECAM table index
ECAM go
ECAM modulus
ECAM interval
Disengage ECAM
ECAM table entry
ECAM widen
Master axis for gearing
Engagement distance for gearing
Gantry mode
Correction for gearing
Gear ratio for gearing
Vector/Linear Interpolation
CA
CR
CS
ES
LE
LI
LM
ST
TN
VA
VD
VE
VM
VP
VR
VS
VT
Define vector plane
Circular interpolation move
Clear motion sequence
Elliptical scaling
Linear interpolation end
Linear interpolation segment
Linear interpolation mode
Stop motion
Tangent
Vector acceleration
Vector deceleration
Vector sequence end
Coordinated motion mode
Vector position
Vector speed ratio
Vector speed
Smoothing time constant—vector
www.galilmc.com / Galil Motion Control, Inc.
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NSC-G Series Dimensions
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NSC-G Series Motor - Signals Pin Assignment
Stepper Motor Version
Motor Connector
Signals Connector (Encoder Version)
DB-9 Female
Description
HD-15 Male
Description
1.
Phase A
1.
Forward Limit
2.
Phase A’
2.
Reverse Limit
3.
Phase B
3.
Limit Ground
4.
Phase B’
4.
Encoder Ground
5.
+5V Encoder Power
6.
Ch. A
Signals Connector
DB-9 Male
Description
7.
Ch. A-
1.
Forward Limit
8.
Ch. B
2.
Reverse Limit
9.
Ch. B-
3.
Ground
10.
Index +
4.
Home Input
11.
Index -
5.
+5 VDC Output
12.
Home Input
Servo Motor Version
Motor Connector
Signals Connector
DB-9 Female
Description
HD-15 Male
Description
1.
Phase A
1.
Ch. A-
2.
Phase B
2.
Ch. A
3.
Phase C
3.
Ch. B+
4.
Ch. B-
5.
Index +
6.
Index -
7.
Hall A
8.
Hall B
9.
Hall C
10.
Ground
11.
+5 VDC Output
12.
Home Input
13.
Reverse Limit
14.
Forward Limit
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NSC-G Series Digital I/O - RS-232 Pin Assignment
Digital I/O Connector
RS-232 Connector
DB-9 Male
Description
DB-9 Female
Description
1.
Ground
1.
Carrier Detect
2.
Input 1
2.
RxD
3.
Input 2
3.
TxD
4.
Input 3
4.
Data Terminal Ready
5.
Input 4
5.
Ground
6.
Output 1
6.
Data Set Ready
7.
Output 2
7.
Request to Send
8.
Output 3
8.
Clear to Send
9.
Output 4
9.
Ring Indicator
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Ordering Information
Part Number Configuration:
NSC-GX-X-X
Servo Version: Leave blank for stepper motor version
S for servo motor version
Encoder Option: Leave blank for no encoder input,
E for encoder inputs (Stepper Motor Only)
Number of Axis: 1 - 4
Example Part Number:
NSC-G2-E
This is a NSC-G Series controller with 2 axes of motion and encoder
feedback for stepper motors.
www.newmarksystems.com | 949-830-0621