Step 6. Set-Up Axis For Sinusoidal Commutation (Dmc-1415 Only); Step 7. Make Connections To Amplifier And Encoder - Galil Motion Control DMC-14 5 Series Manual

straight through cable must be used. Hubs perform the signal crossing function of a null-modem cable.
If the wrong cable is used, communication with the controller will not be possible.
Note: If an Ethernet controller is connected in a LAN, make sure the assigned IP address is allowed.
Also, Galil strongly recommends the IP address selected cannot be accessed across the Gateway. The
Gateway is an application that controls communication between an internal network and the outside
world. Ask your network administrator for acceptable IP addresses.
Sending Test Commands to the Terminal:
After you connect your terminal, press <return> or the <enter> key on your keyboard. In response to
carriage return <return>, the controller responds with a colon, :
Now type
TPX <return>
This command directs the controller to return the current position of the X axis. The controller should
respond with a number such as
0000000

Step 6. Set-up axis for sinusoidal commutation (DMC-1415 only)

* This step is only required when the controller will be used to control a brushless motor with
sinusoidal commutation. Please consult the factory before operating with sinusoidal commutation.
The command BA is used to specify sinusoidal commutation mode for the DMC-1415. In this mode
the controller will output two sinusoidal phases for the DACs. Once specified, follow the procedure
outlined in Step 8b.

Step 7. Make connections to amplifier and encoder

Once you have established communications between the software and the DMC-14XX, you are ready
to connect the rest of the motion control system. The motion control system generally consists of an
ICM-1460 Interface Module, a servo amplifier, and a motor to transform the current from the servo
amplifier into torque for motion. Galil also offers the AMP-1460 Interface Module which is an ICM-
1460 equipped with a servo amplifier for a DC motor.
A signal breakout board of some type is strongly recommended. If you are using a breakout board
from a third party, consult the documentation for that board to insure proper system connection.
If you are using the ICM-1460 or AMP-1460 with the DMC-14XX, connect the 37-pin cable between
the controller and interconnect module.
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. Before making any connections from the amplifier
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.
18 Chapter 2 Getting Started
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amplifier documentation for instructions regarding proper connections. 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.
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
DMC-14x5/6