Step 7. Make Connections To Amplifier And Encoder - Galil Motion Control DMC-18 2 Series User Manual

Notes on Configuring Sinusoidal Commutation:
The command, BA, reconfigures the controller such that it has one less axis of 'standard' control for
every axis using sinusoidal commutation. For example, if the command BAX is given to a DMC-1842
controller, the controller will be re-configured to be a DMC-1832 and will appear as such when
interrogated. In this case the highest axis is used for the 2
cannot be connected to control a separate motor. Note that the highest axis on a controller can never
be configured for sinusoidal commutation.
The DAC associated with the selected axis represents the first phase. The second phase uses the
highest available DAC. When two axes are configured for sinusoidal commutation, the controller will
assign the X and Z axes DAC's for the first and second phase of the X axis' commutation respectively
and the Y and W axes DAC's for the first and second phase of the Y axis' commutation respectively.
The highest sinusoidal commutation axis will be assigned to the highest available DAC and the lowest
sinusoidal commutation axis will be assigned to the lowest available DAC.

Step 7. Make Connections to Amplifier and Encoder.

Once you have established communication between the software and the DMC-18x2, you are ready to
connect the rest of the motion control system. The motion control system typically consists of an
interconnect module (ICM-1900 or ICM-2900), an amplifier for each axis of motion, and a motor to
transform the current from the amplifier into torque for motion. Galil also offers the AMP-19X0
which is an ICM-1900 equipped with X number servo amplifiers for brush type DC motors.
If you are using an ICM/AMP-1900 or ICM-2900, connect the 100-pin cable to the DMC-18x2 and to
the connector located on the interconnect board. The interconnect provides screw terminals for access
to the 100-pin connections.
System connection procedures will depend on system components and motor types. Any combination
of motor types can be used with the DMC-18x2. If sinusoidal commutation is to be used, special
attention must be paid to the reconfiguration of axes.
Here are the first steps for connecting a motion control system:
Step A. Connect the motor to the amplifier with no connection to the controller. Consult the
Step B. Connect the amplifier enable signal.
WARNING: When the amplifier ground is not isolated from the power line or when it has a different potential
than that of the computer ground, serious damage may result to the computer, controller, and amplifier.
12 ● Chapter 2 Getting Started
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amplifier documentation for proper instructions. Connect and turn-on the amplifier
power supply. If the amplifiers are operating properly, the motor should stand still even
when the amplifiers are powered up.
Before making any connections from the amplifier to the controller, you need to verify
that the ground level of the amplifier is either floating or at the same potential as earth.
If you are not sure about the potential of the ground levels, connect the two ground
signals (amplifier ground and earth) by a 10 KΩ resistor and measure the voltage across
the resistor. Only if the voltage is zero, connect the two ground signals directly.
The amplifier enable signal (AEN) is used by the controller to disable the motor. This
signal is labeled AMPENX for the X axis on the interconnect board and should be
connected to the enable signal on the amplifier. Note that many amplifiers designate this
signal as the INHIBIT signal. Use the command, MO, to disable the motor amplifiers -
check to insure that the motor amplifiers have been disabled (often this is indicated by an
LED on the amplifier).
This signal changes under the following conditions: the watchdog timer activates, the
motor-off command, MO, is given, or the OE1 command (Enable Off-On-Error) is given
nd
phase of the sinusoidal commutation and
DMC-18x2