Galil Motion Control DMC-18 2 Series User Manual page 27

If the motor moves in the required direction but stops short of the target, it is most likely due to
insufficient torque output from the motor command signal ACMD. This can be alleviated by reducing
system friction on the motors. The instruction:
TTX (CR)
reports the level of the output signal. It will show a non-zero value that is below the friction level.
Once you have established that you have closed the loop with the correct polarity, you can move on to
the compensation phase (servo system tuning) to adjust the PID filter parameters, KP, KD and KI. It is
necessary to accurately tune your servo system to ensure fidelity of position and minimize motion
oscillation as described in the next section.
AUX encoder AUX encoder
input connector input connector
DB25 female 26 pin header
Filter
Chokes
+
-
Figure 2-2 - System Connections with the AMP-1900 Amplifier. Note: this figure shows a Galil Motor and
Encoder which uses a flat ribbon cable for connection to the AMP-1900 unit.
16 ● Chapter 2 Getting Started
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Tell torque on X
Reset Switch
DC Power Supply
100 pin high density connector
Error LED
AMP part # 2-178238-9
+
DC Servo Motor
-
DMC-18x2