Galil Motion Control DMC-21 5 Series User Manual page 18

Step 2b. Connecting External Amplifiers and Motors
System connection procedures will depend on system components and motor types. Any combination of motor
types can be used with the DMC-21x5. There can also be a combination of axes running from Galil integrated
amplifiers and drivers and external amplifiers or drivers.
Table 2.4 below shows a brief synopsis of the connections required, the full walkthrough guide is provided below.
Servo motors
(Brushed and Brushless)
Stepper motor
Step A. Connect the motor to the amplifier
Initially do so with no connection to the controller. Consult the 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.
Step B. Connect the amplifier enable signal
Before making any connections from the amplifier to the controller, verify that the ground level of the amplifier is
either floating or at the same potential as earth.
When the amplifier ground is not isolated from the power line or when it has a different potential
WARNING
than that of the computer ground, serious damage may result to the computer, controller, and
amplifier.
If there is uncertainty about the potential of the ground levels, connect the two ground signals (amplifier ground

and earth) by a 10 k resistor and measure the voltage across the resistor. Only if the voltage is zero, connect the
two ground signals directly.
The amplifier enable signal is defaulted to 24V, high amp enable sinking (the amplifier enable signal will be high
when the controller expects the amplifier to be enabled).
Pin-outs for the amplifier enable signal can be found here:
For see External Amplifier Interface, pg 23 for full electrical specifications .
Chapter 2 Getting Started ▫ 13
Motor Type
• Power to controller and amplifier
• Amplifier Enable
• Motor Command
• Encoder Feedback
• See amplifier documentation for motor connections
• Power to controller and amplifier
• Amplifier enable
• Step and Direction lines
• Encoder feedback (optional)
• See amplifier documentation for motor connections
Table 2.4: Synopsis of connections required to connect an external amplifier
External Amplifier Interface, pg 142
A6 – ICM-20100, pg 182
A7 – ICM-20105, pg 184
Connection Requirements
DMC-21x5 User Manual 1.0a1