Step 8A. Connect Standard Servo Motors - Galil Motion Control DMC-1600 Series User Manual

Step 8a. Connect Standard Servo Motors

The following discussion applies to connecting the DMC-1600 controller to standard servo motor
amplifiers:
The motor and the amplifier may be configured in the torque or the velocity mode. In the torque
mode, the amplifier gain should be such that a 10 Volt signal generates the maximum required
current. In the velocity mode, a command signal of 10 Volts should run the motor at the
maximum required speed.
Step by step directions on servo system setup are also included on the WSDK (Windows Servo
Design Kit) software offered by Galil. See section on WSDK for more details.
Check the Polarity of the Feedback Loop
It is assumed that the motor and amplifier are connected together and that the encoder is operating
correctly (Step B). Before connecting the motor amplifiers to the controller, read the following
discussion on setting Error Limits and Torque Limits. Note that this discussion only uses the X
axis as an example.
DMC-1600
Hall sensors are only used with sinusoidal commutation and are not necessary for
proper operation. The use of hall sensors allows the controller to automatically
estimate the commutation phase upon reset and also provides the controller the
ability to set a more precise commutation phase. Without hall sensors, the
commutation phase must be determined manually.
The Hall effect sensors are connected to the digital inputs of the controller. These
inputs can be used with the general use inputs (bits 1-8), the auxiliary encoder inputs
(bits 81-96), or the extended I/O inputs of the DMC-1600 controller (bits 17-80).
Note: The general use inputs are optoisolated and require a voltage connection at the
INCOM point - for more information regarding the digital inputs, see Chapter 3,
Connecting Hardware.
Each set of sensors must use inputs that are in consecutive order. The input lines are
specified with the command, BI. For example, if the Hall sensors of the Z axis are
connected to inputs 6, 7 and 8, use the instruction:
BI ,, 6
or
BIZ = 6
Step A. Set the Error Limit as a Safety Precaution
Usually, there is uncertainty about the correct polarity of the feedback. The wrong
polarity causes the motor to run away from the starting position. Using a terminal
program, such as DMCTERM, the following parameters can be given to avoid
system damage:
Input the commands:
ER 2000 <CR> Sets error limit on the X axis to be 2000 encoder counts
OE 1 <CR> Disables X axis amplifier when excess position error exists
If the motor runs away and creates a position error of 2000 counts, the motor
amplifier will be disabled. Note: This function requires the AEN signal to be
connected from the controller to the amplifier.
Step B. Set Torque Limit as a Safety Precaution
Chapter 2 Getting Started • 15