Installing The Dmc-1600; Step 1. Determine Overall Motor Configuration - Galil Motion Control DMC-1600 Series User Manual

Installing the DMC-1600

Installation of a complete, operational DMC-1600 system consists of 9 steps.

Step 1. Determine Overall Motor Configuration

Before setting up the motion control system, the user must determine the desired motor
configuration. The DMC-1600 can control any combination of standard servo motors, sinusoidally
commutated brushless motors, and stepper motors. Other types of actuators, such as hydraulics
can also be controlled, please consult Galil.
The following configuration information is necessary to determine the proper motor configuration:
Standard Servo Motor Operation:
The DMC-1600 has been setup by the factory for standard servo motor operation providing an
analog command signal of +/- 10V. No hardware or software configuration is required for
standard servo motor operation.
Sinusoidal Commutation:
Sinusoidal commutation is configured through a single software command, BA. This
configuration causes the controller to reconfigure the number of available control axes.
Each sinusoidally commutated motor requires two DAC's. In standard servo operation, the DMC-
1600 has one DAC per axis. In order to have the additional DAC for sinusoidal commutation, the
controller must be designated as having one additional axis for each sinusoidal commutation axis.
For example, to control two standard servo axes and one axis of sinusoidal commutation, the
controller will require a total of four DAC's and the controller must be a DMC-1640.
Sinusoidal commutation is configured with the command, BA. For example, BAX sets the X axis
to be sinusoidally commutated. The second DAC for the sinusoidal signal will be the highest
available DAC on the controller. For example: Using a DMC-1640, the command BAX will
configure the X axis to be the main sinusoidal signal and the 'W' axis to be the second sinusoidal
signal.
The BA command also reconfigures the controller to indicate that the controller has one less axis
of 'standard' control for each axis of sinusoidal commutation. For example, if the command BAX
is given to a DMC-1640 controller, the controller will be re-configured to a DMC-1630 controller.
By definition, a DMC-1630 controls 3 axes: X,Y and Z. The 'W' axis is no longer available since
the output DAC is being used for sinusoidal commutation.
DMC-1600
Step 1. Determine overall motor configuration.
Step 2. Install Jumpers on the DMC-1600.
Step 3. Install the communications software.
Step 4. Install the DMC-1600 in the PC.
Step 5. Establish communications with the Galil Communication Software.
Step 6. Determine the Axes to be used for sinusoidal commutation.
Step 7. Make connections to amplifier and encoder.
Step 8a. Connect standard servo motors.
Step 8b. Connect sinusoidal commutation motors
Step 8c. Connect step motors.
Step 9. Tune the servo system
Chapter 2 Getting Started • 9