Galil Motion Control DMC-1000 User Manual page 13

DB-10096 I/O Expansion ......................................................................................................168
Pinouts for DB-10096 Connectors.........................................................................................169
Coordinated Motion - Mathematical Analysis.......................................................................171
DMC-600/DMC-1000 Comparison .......................................................................................174
List of Other Publications ......................................................................................................180
Contacting Us ........................................................................................................................180
WARRANTY ........................................................................................................................181
Using This Manual ....................................................................................................................ii
Chapter 1 Overview
Introduction................................................................................................................................1
Overview of Motor Types..........................................................................................................1
DMC-1000 Functional Elements ...............................................................................................2
Chapter 2 Getting Started
The DMC-1000 Motion Controller............................................................................................5
Elements You Need ...................................................................................................................6
Installing the DMC-1000 ...........................................................................................................7
Design Examples .....................................................................................................................18
vi • Contents
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Connector Description of the DB-10072.................................................................165
J1 Pinout ..................................................................................................................169
J2 Pinout ..................................................................................................................170
DMC-600/DMC-1000 Command Comparison .......................................................175
DMC-600/DMC-1000 Pin-out Conversion Table ...................................................178
Standard Servo Motors with +/- 10 Volt Command Signal ........................................2
Stepper Motor with Step and Direction Signals ..........................................................2
Microcomputer Section ...............................................................................................3
Motor Interface............................................................................................................3
Communication ...........................................................................................................3
General I/O ..................................................................................................................3
System Elements..........................................................................................................3
Motor ...........................................................................................................................4
Amplifier (Driver) .......................................................................................................4
Encoder........................................................................................................................4
Watch Dog Timer ........................................................................................................4
Step 1. Determine Overall Motor Configuration.........................................................7
Step 2. Configure Jumpers on the DMC-1000 ............................................................7
Step 3. Install the DMC-1000 in the Computer...........................................................8
Step 4. Install Communications Software ...................................................................9
Step 5. Establish Communications with Galil Communication Software ...................9
Changing the I/O Address of the Controller..............................................................10
Step 6. Connect Amplifiers and Encoders.................................................................11
Step 7a. Connect Standard Servo Motors..................................................................13
Step 7b. Connect Step Motors ...................................................................................16
Step 8. Tune the Servo System..................................................................................17
Example 1 - System Set-up .......................................................................................18
Example 2 - Profiled Move .......................................................................................18
Example 3 - Multiple Axes........................................................................................18
Example 4 - Independent Moves ...............................................................................19
Example 5 - Position Interrogation............................................................................19
Example 6 - Absolute Position ..................................................................................19
Example 7 - Velocity Control....................................................................................20
Example 8 - Operation Under Torque Limit .............................................................20
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DMC-1000