Uncommitted Digital Inputs; Amplifier Interface - Galil Motion Control DMC-14 5 Series Manual

longer under servo control. If the Off-On-Error function is disabled, the motor will decelerate to a stop
as fast as mechanically possible and the motor will remain in a servo state.
All motion programs that are currently running are terminated when a transition in the Abort input is
detected. For information on setting the Off-On-Error function, see the Command Reference, OE.

Uncommitted Digital Inputs

The general use inputs are TTL and are accessible through the ICM-1460 or AMP-1460 as IN1 – IN7.
The inputs can be accessed directly from the 37 Pin-D cable or connector on the controller, also. For a
description of the pin outs, consult the appendix.
These inputs can be interrogated with the use of the command TI (Tell Inputs), the operand _TI and the
function @IN[n] (See Chapter 7, Mathematical Functions and Expressions).
NOTE: For systems using the ICM-1460 or AMP-1460 interconnect module, there is an option to
provide opto-isolation on the inputs. In this case, the user provides an isolated power supply (+5V to
+24V and ground). For more information, consult Galil.

Amplifier Interface

The DMC-14XX analog command voltage, ACMD, ranges between +/-10V. This signal, along with
GND, provides the input to the power amplifiers. The power amplifiers must be sized to drive the
motors and load. For best performance, the amplifiers should be configured for a current mode of
operation with no additional compensation. The gain should be set such that a 10 Volt input results in
the maximum required current. If the controller is operating in stepper mode, the pulse and direction
signals will be input into a stepper drive.
The DMC-14XX also provides an amplifier enable signal, AEN. This signal is activated under the
following conditions: the watchdog timer activates, the motor-off command, MO, is given, or the
OE1command (Enable Off-On-Error) is given and the position error exceeds the error limit. As
shown in Figure 3.1, AEN can be used to disable the amplifier for these conditions.
The standard configuration of the AEN signal is TTL active high. In this configuration 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-1460 interface board. 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 jumper on the ICM/AMP-1460.
When JP4 has a jumper from "AEN" to "5V" (default setting), the output voltage is 0-5V. To change
to 12 volts, pull the jumper out and rotate it so that it connects the pins marked "AEN" and "+12V". If
the jumper is removed entirely, the output is an open collector, allowing the user to connect an external
supply with voltages up to 24V.
To connect an external 24V supply, remove the jumper JP4 from the interconnect board. Connect a
2.2kΩ resistor in series between the +24V of the supply and the amplifier enable terminal on the
interconnect (AMPEN). Then wire the AMPEN to the enable pin on the amplifier. Connect the -24V
to the ground, GND, of the interconnect and connect the GND of the interconnect to the GND of the
amplifier.
DMC-14x5/6
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Chapter 3 Connecting Hardware 35
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