Galil Motion Control DMC-18 2 Series User Manual page 24

Step C. Connect the encoders
Step D. Verify proper encoder operation.
DMC-18x2
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and the position error exceeds the error limit. As shown in Figure 3-4, AEN can be used
to disable the amplifier for these conditions.
The standard configuration of the AEN signal is TTL active high. In other words, the
AEN signal will be high when the controller expects the amplifier to be enabled. The
polarity and the amplitude can be changed if you are using the ICM/AMP-1900 or ICM-
2900. To change the polarity from active high (5 volts = enable, zero volts = disable) to
active low (zero volts = enable, 5 volts = disable), replace the 7407 IC with a 7406. Note
that many amplifiers designate the enable input as 'inhibit'.
To change the voltage level of the AEN signal, note the state of the resistor pack on the
interconnect module. When Pin 1 is on the 5V mark, the output voltage is 0-5V. To
change to 12 volts, pull the resistor pack and rotate it so that Pin 1 is on the 12 volt side.
If you remove the resistor pack, the output signal is an open collector, allowing the user
to connect an external supply with voltages up to 24V. To do this, pull the resistor pack.
Then connect the power supply +24V to the AEN connector on the ICM. A resistor is
placed in line to limit the current to 10mA.
For stepper motor operation, an encoder is optional.
For servo motor operation, if you have a preferred definition of the forward and reverse
directions, make sure that the encoder wiring is consistent with that definition.
The DMC-18x2 accepts single-ended or differential encoder feedback with or without an
index pulse. If you are not using the AMP-19x0 or the ICM-1900 you will need to
consult the appendix for the encoder pinouts for connection to the motion controller. The
AMP-19x0 and the ICM-1900 can accept encoder feedback from a 10-pin ribbon cable or
individual signal leads. For a 10-pin ribbon cable encoder, connect the cable to the
protected header connector labeled X ENCODER (repeat for each axis necessary). For
individual wires, simply match the leads from the encoder you are using to the encoder
feedback inputs on the interconnect board. The signal leads are labeled CHA (channel
A), CHB (channel B), and INDEX. For differential encoders, the complement signals are
labeled CHA-, CHB-, and INDEX-.
Note: When using pulse and direction encoders, the pulse signal is connected to CHA
and the direction signal is connected to CHB. The controller must be configured for
pulse and direction with the command CE. See the command summary for further
information on the command CE.
Start with the X encoder first. Once it is connected, turn the motor shaft and interrogate
the position with the instruction TPX <return>. The controller response will vary as the
motor is turned.
Chapter 2 Getting Started • 13