Step 7. Make Connections To Amplifier And Encoder - Galil Motion Control DMC-1600 Series User Manual

Example: Sinusoidal Commutation Configuration using a DMC-1640
BAXY
This command causes the controller to be reconfigured as a DMC-1620 controller. The X and Y
axes are configured for sinusoidal commutation. The first phase of the X axis will be the motor
command X signal. The second phase of the X axis will be Z signal. The first phase of the Y axis
will be the motor command Y signal. The second phase of the Y axis will be the motor command
W signal.

Step 7. Make Connections to Amplifier and Encoder.

Once you have established communications between the software and the DMC-1600, you are
ready to connect the rest of the motion control system. The motion control system typically
consists of an ICM-1900 Interface Module, an amplifier for each axis of motion, and a motor to
transform the current from the amplifier into torque for motion. Galil also offers the AMP-19X0
series Interface Modules, which are ICM-1900's equipped with servo amplifiers for brush type
DC motors.
If you are using an ICM-1900, connect the 100-pin ribbon cable to the DMC-1600 and to the
connector located on the AMP-19x0 or ICM-1900 board. The ICM-1900 provides screw
terminals for access to the connections described in the following discussion.
System connection procedures will depend on system components and motor types. Any
combination of motor types can be used with the DMC-1600. If sinusoidal commutation is to be
used, special attention must be paid to the reconfiguration of axes.
Here are the first steps for connecting a motion control system:
WARNING: When the amplifier ground is not isolated from the power line or when it has a different potential
than that of the computer ground, serious damage may result to the computer controller and amplifier.
DMC-1600
Step A. Connect the motor to the amplifier 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, you need to
verify that the ground level of the amplifier is either floating or at the same potential
as earth.
If you are not sure about the potential of the ground levels, connect the two ground
signals (amplifier ground and earth) by a 10 kΩ 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 used by the controller to disable the motor. This
signal is labeled AMPENX for the X axis on the ICM-1900 and should be connected
to the enable signal on the amplifier. Note that many amplifiers designate this signal
as the INHIBIT signal. Use the command, MO, to disable the motor amplifiers -
check to insure that the motor amplifiers have been disabled (often this is indicated
by an LED on the amplifier).
This signal changes under the following conditions: the watchdog timer activates, the
motor-off command, MO, is given, or the OE1 command (Enable Off-On-Error) is
given and the position error exceeds the error limit. As shown in Figure 3-4, AEN
can be used to disable the amplifier for these conditions.
Chapter 2 Getting Started • 13