Step 8A. Connect Standard Servo Motor - Galil Motion Control DMC-14 5 Series Manual

Step E. Connect Hall Sensors if available (sinusoidal commutation only)

Step 8a. Connect Standard Servo Motor

The following discussion applies to connecting the DMC-14XX controller to standard servo motor
amplifiers:
The motor and the amplifier may be configured in the torque or the velocity mode. In the torque
mode, the amplifier gain should be such that a 10 Volt signal generates the maximum required current.
In the velocity mode, a command signal of 10 Volts should run the motor at the maximum required
speed.
Step by step directions on servo system setup are also included on the WSDK (Windows Servo Design
Kit) software offered by Galil. See section on WSDK for more details.
Check the Polarity of the Feedback Loop
It is assumed that the motor and amplifier are connected together and that the encoder is operating
correctly (Step D). Before connecting the motor amplifiers to the controller, read the following
discussion on setting Error Limits and Torque Limits.
Step A. Set the Error Limit as a Safety Precaution
Step B. Setting Torque Limit as a Safety Precaution
20 Chapter 2 Getting Started
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the encoder failed, replace the encoder. If you cannot observe the encoder signals, try
a different encoder.
3. There is a hardware failure in the controller - connect the same encoder to a different
axis. If the problem disappears, you probably have a hardware failure. Consult the
factory for help.
Please consult factory before operating with sinusoidal commutation. Hall sensors
are only used with sinusoidal commutation on the DMC-1415 and are not necessary for
proper operation. The use of hall sensors allows the controller to automatically estimate
the commutation phase upon reset and also provides the controller the ability to set a
more precise commutation phase. Without hall sensors, the commutation phase must be
determined manually.
The hall effect sensors are connected to the digital inputs of the controller. These inputs
can be used with the general purpose inputs (bits 1 - 7).
Each set of inputs must use inputs that are in consecutive order. The input lines are
specified with the command, BI. For example, if the Hall sensors are connected to inputs
5, 6 and 7, use the instruction:
BI5 <CR>
Usually, there is uncertainty about the correct polarity of the feedback. The wrong
polarity causes the motor to run away from the starting position. Using a terminal
program, such as DMCTERM, the following parameters can be given to avoid system
damage:
Input the commands:
ER 2000 <CR> Sets error limit to be 2000 counts
OE 1 <CR> Disables amplifier when excess error exists
If the motor runs away and creates a position error of 2000 counts, the motor amplifier
will be disabled.
Note: This function requires the AEN signal to be connected from the controller to the
amplifier.
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