GT-400 Series Motion Controller
Googol's inverted pendulum system is a nonlinear unstable system, an ideal experiment platform for teaching control theories and conducting various control experiments. Many abstract control concepts, such as the stability and the controllability of a control system, can all be shown visually through the inverted pendulum system. In addition to educational purposes, an inverted pendulum is also an excellent tool for researchers of modern control theories. Through continuous research,  new control methods haven been developed and then applied to high-tech industries such as aeronautical engineering and robotics.  
The GT-400 series motion controller is a universal controller. The series has several product versions, including the GT-400-SV, GT-400-SG, GT-400-SP, GT-400-SE and GT-400-SD. They are widely used in applications ranging from simple point-to-point motion control equipment to highly complicated profile motion control equipment, such as measuring machines, engraving machines, NC lathes, machining centers and robots.


  • Adopt high-performance DSP and FPGA technology
  • Each card can control 4 servo/step motors
  • Programmable sampling rate. The minimum interpolation period of four axes is 200µs. The minimum control period of single-axis point-to-point motion is 25µs.
  • Modes of motion: point-to-point motion, linear interpolation, circular interpolation, velocity control, interface to manual pulse generator, and electronic gearing
  • Programmable trapezoid curve planning and S-curve planning and update parameters on-the-fly
  • All registers for computational parameters and trajectory planning parameters are 32 bits
  • Hardware capture of home switch and index signal of encoder
  • Set following-error limit, acceleration limit and output limit, to ensure safe and reliable control
  • PID (Proportional-Integral-Derivative) digital filter with velocity and acceleration feed-forward, and with integral limit and bias compensation (for SV card)
  • Network communication port (Ethernet, Profibus-DP, RS232, RS232/485) (Optional)
    User-defined coordinate system for ease of programming
  • Coordinated motion of 4 axes, linear interpolation of two to four axes, and circular interpolation of any two axes
  • Continuous interpolation function
  • On-board memory buffer to improve communication efficiency
  • Programmable event interrupt: external input interrupt, even interrupt and time interrupt
  • On-board EEPROM to update firmware and parameters
  • Drivers and DLL for Windows98/2000/NT/XP, C and C++ function library



Axis Channels

  • 4 channels of 16-bit analog voltage output signal or pulse output signal with a frequency up to 1MHz
  • 4 channels of quadrature incremental encoder input : 4 channels used for feedback signal input of each axis, 2
    channels are used for the auxiliary encoder input
  • Encoder sampling rate up to 8MHz
  • Flexible combination of analog voltage output and pulse output mode

Analog Input (Optional)

  • 8 channels of independent 12-bit ±10V analog input

Uncommitted Digital Input/Output

  • 16 channels of uncommitted opto-isolated digital input
  • 16 channels of uncommitted opto-isolated digital output

Dedicated Digital Input/Output

  • Dedicated opto-isolated inputs for each axis: 2 channels for limit switch signal, 1 channel for home signal, and 1 channel for drive alarm signal input
  • Dedicated opto-isolated outputs for each axis: 1 channels for drive enable signal and 1 channel for drive alarm signal reset

Position Capture

  • 1 channel of probe input for capturing the positions of 4 axes simultaneously, 1 channel of home capture signal and 1 channel index capture signal for each axis

Bus Type

  • Standard ISA/PC104 bus
  • Standard PCI bus
  • Stand-alone through standard network interface (Optional)

System Software

  • Demo software in Windows environment
  • Windows 98/2000/NT/XP equipment drivers
  • C/C++ function library and demo software in DOS

Power Consumption

  • +5V, Icc = 2A, power supplied from PC
  • ±12V, Icc = 60mA, power supplied from PC
  • +24V or +12V, Icc = 2A, external power provided by user

Operating Environment

  • Operating temperature: 0-60°C
  • Relative humidity: 5% - 90%, non-condensing

Mechanical Dimension

  • 122mm x 185mm

Basic Accessories

  • GT-400-ACC1 interconnect board
  • GT-400-ACC2 terminal board
  • GT-400-ACC3 62-pin shielded cable (x2)
  • GT-400-ACC4 60-pin flat cable

Ordering Guide

Type Model No of Axes Motor Type Control Mode PC Bus Type
4 axis, for point to point motion control
Servo / Step
Pulse output. Open Loop control
ISA / PC104 or PCI
Servo / Step
Analog output & Pulse output, close loop control, encode input
ISA / PC104 or PCI
4 axis, for point -to-point & Interpolation motion control
Servo / Step
Pulse output. Open Loop control
ISA / PC104 or PCI
Servo / Step
Pulse output. Open Loop control, Encoder input
ISA / PC104 or PCI
Servo / Step
Analog output & Pulse output, close loop control, encode input
ISA / PC104 or PCI
Servo / Step
Pulse output. Open Loop control, High interpolating accuracy
ISA / PC104 or PCI


MY Office : 72-3C, JALAN PUTERI 2/4, BANDAR PUTERI, 47100 PUCHONG, SELANGOR, Malaysia. Tel:+603-8063 9300 fax:+603-8063 9400
SG Office : 259, Onan Road, Singapore 424651. Tel: +65-6468 3325 Fax: +65-6764 5646