Galil Motion Control DMC-21 5 Series User Manual page 16

Step 1. Connecting Encoder Feedback
The type of feedback the controller is capable of interfacing with depends on the additional options ordered for
the controller. Table 2.1 shows the different encoder feedback types available for the DMC-21x5 including which
options are required. Note that each feedback type has a different configuration command. See the Command
Reference for full details on how to properly configure each axis.
NOTE: GDK's Step-By-Step tool provides an interactive walk-through for configuring motor encoders.
Configuration
Feedback Type
Command
Standard
Quadrature
Pulse and
Direction
None 1
Other
Table 2.1: Configuration commands, ICM/Part numbers required for a given feedback type
1
Although stepper systems do not require feedback, Galil supports a feedback sensor on each stepper axis. Servo motors require a
position sensor.
Different feedback types can be used on the same controller. For instance, one axis could be using standard
quadrature and the next could be using pulse and direction. By default, all axes are configured for standard
quadrature.
When a stepper motor is used, the auxiliary encoder for the corresponding axis is unavailable for an external
connection. If an encoder is used for position feedback with a stepper motor, connect the encoder to the main
encoder input corresponding to that axis. The commanded position of the stepper can be interrogated with
the encoder position can be interrogated with TP.
Encoder pin-outs can be found here:
Chapter 2 Getting Started ▫ 11
ICM/Part Number Required
CE
Standard on all units
CE
Standard on all units
–
A1 – AMP-20341, pg 153
A2 – AMP-20440, pg 157
A3 – AMP-20545/20525, pg 163
A4 – SDM-20242, pg 171
A5 – SDM-20645, pg 177
A6 – ICM-20100, pg 182
A7 – ICM-20105, pg 184
Connection Location
–
Contact Galil
Firmware Required
Encoder Standard
Encoder Standard
– –
DMC-21x5 User Manual 1.0a1
and
TD