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DMC-21x3

1. O SLOT 20187 gw PG VS PG VS 93 0 200 0 000 0400 x gi N 0 on oO oS au al Figure 2 SR 19900 Layout Pinout J2 4 pin Molex 8 pin Mate N Lock Power Ground 1 1 Earth Voltage Supply 2 VS 2 VS PG Power Ground 3 PG 3 VS PG Voltage Supply 4 VS 4 VS PG Configuration USR User Settable Voltage SR 19900 Configuration R8 1930 Vs 42 2K Voltage Threshold Voltage Setting Vs JP1 Vs R value ohms 33 volts 33V 24 4 12 66 volts 66V 48 50 44 k User selectable USR 72 96 76 k DMC 21x3 Accessories Chapter 2 SR 19900 9 Chapter 3 ICM 20100 Introduction The ICM 20100 interconnect module provides D Sub connections between the DMC 21x3 series controllers and other system elements such as amplifiers encoders and external switches The ICM 20100 provides access to the signals for up to 4 axes two required for 5 or more axes Figure 3 ICM 20100 10 Chapter 3 ICM 20100 DMC 21x3 Accessories Layout Drawing Not to Scale For Reference Only Dimensions are inches Figure 4 ICM 20100 Layout Board Dimensions are 3 7 x 4 25 See Application Note 123
2. FLSX RLSX HOMEX FLSY RLSY HOMEY IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 ABORT XLATCH YLATCH ZLATCH WLATCH Figure 10 ICM 20105 Digital Input Isolation 22 Chapter 4 ICM 20105 DMC 21x3 Accessories Output Isolation The high current isolated outputs available through the ICM 20105 are configured for High Side operation The outputs are capable of 500 mA per output with a total of 3 A from the group of 8 outputs The figure below shows the manner in which the load should be connected The output will be at the voltage that is supplied to the OUTSUP pin Up to 30 VDC may be supplied to OUTSUP The RPOUT resistor pack allows configuration of the active state of the outputs For example when you issue the SB1 command the polarity of the resistor will determine whether the output is turned on or off OUTSUP 4 RPOUT 5V or GND NZ OUTRET Figure 11 ICM 20105 General Purpose Digital Output Opto Isolation DMC 21x3 Accessories Chapter 4 ICM 20105 23 Chapter 5 SDM 20240 20242 Introduction The SDM 20240 and SDM 20242 are stepper driver modules capable of driving up to four bipolar two phase stepper motors The current is selectable with options of 0 5 0 75 1 0 and 1 4 Amps Phase The SDM 20242 is the replacement for the SDM 20240 as of December 2006 Figure 12 SDM 20240 shown mounted to a DMC 2143 DIN DC24 Electrical Specifications DC Supply Voltag
3. E fade Over Voltage Protection ee conicere thao tread Over Current Protection Over Temperature Protection ABORT INPUT OPTIONS INTRODUCTION M M ET ELECTRICAL SPECIFICATIONS LAYOUT EINOUT iei piene enn ie eot bud oret reati re enit Mating Connectors OPERATION A enr b ite fbi ede eti tide iit rt e Brushless Motor Setup uicit tie e ye duren snekke nn e NEU be SEE DD Brushless Amplifier Software Brush Amplifier Operation Using External Amplifiers Error Monitoring and Protection H ll Error PrOIGCUOf Gress ERE en Ce PEE FODD dg ee ROSA Under Voltage Protection 5 5 o ete E RR GI et Over Voltage Protection atate iet t qiie ed tei rere rie repre ede eee tbe etri Over Current Protection 2 Contents DMC 21x3 Accessories CHAPTER 11 SDM 20640 20620 64 INTRODUCTION M 64 BEECTRICATSPEGIFICATIONS 2 2 2 HEEL 64 LAYOUT 65 65 Mating Connectors in pivec ee eere ete eee 67 CONFIGURATIONS FOR SDM 206 XO iiss in rtiene eee Eee heidi INNE 68 Current Level Setup AG Command eee esee een
4. 4 Y axis phase B JZ1 Motor Output Z 4 pin Earth 2 Z axis phase A 3 Z axis phase C 4 Z axis phase B JW1 Motor Output W 4 pin Earth 2 W axis phase A 3 W axis phase C 4 W axis phase B J3 VO 44 pin HD Female D sub 01 PWM MCMD Z 02 Output 6 03 Output 8 04 Output 5 05 Output 2 06 Abort see Appendix A 07 Input 6 08 Z Latch Input 3 09 SIGN AEN Y 10 Output Compare 11 Reverse Limit X 12 Reverse Limit Y 13 Reverse Limit Z 14 Reverse Limit W 15 Forward Limit W 16 SIGN AEN W 17 SIGN AEN Z 18 Output 7 19 Output 4 20 Output 1 2 Output 3 22 Input 7 23 W Latch Input 4 24 X Latch Input 1 25 PWM MCMD X 26 X Home 27 Y Home 28 Z Home 29 W Home 30 Error Out 31 PWM MCMD W 325V 335V 34 Ground 35 Ground 36 Input 8 37 Input 5 38 Y Latch Input 2 39 PVM MCMD Y 40 SIGN AENX 41 Forward Limit X 42 Forward Limit Y 43 Forward Limit Z 44 Reset DMC 21x3 Accessories Chapter 10 AMP 20542 59 J1 Power 8 pin Earth 2 FVDC 18V 60V 3 VDC 18V 60V 4 FVDC 18V 60V 5 GND 6 GND 7 GND 8 GND Mating Connectors J1 DC Power Connector JX1 JY1 JZ1 and JW1 4 pin Motor Lead Connector Connector Terminal Pins 8 pin Mini Universal MATE N LOK AMP 770579 1 AMP 170361 1 4 pin Mini Uni
5. label For 24V isolated enable tie 24V of external power supply to AECOMI at any axis D sub tie common return to AECOM2 Replace RPAE2 with a 4 7 resistor pack AECOMI and AECOM are located on any 15 pin axis D subs JX JY JZ or JW All pins labeled AECOMI are connected All pins Labeled AECOM2 are connected 20 Chapter 4 ICM 20105 DMC 21x3 Accessories Amplifier Enable Circuit Sourcing Output Configuration Pin 1 of PS2505 in Pin 1 of Socket U1 s Socket U1 S229 914 Jp2 TTL level Amp o tom eonroler lem o ee AEC2 SH 5V MO OV Amp Enable Output to Drive RPAE1 470 Ohm hb Y RPAE2 820 Ohm E ag JP1 HOSS AECI 5V or GND gt gt T e o a e Figure 9 Amplifier Enable Circuit Sourcing Output Configuration Sourcing Configuration pin1 of PS2505 chip in pin1 of socket U1 RPAE1 Logic State JP1 JP2 square pin next to RPAEI label is 5V 5V HAEN GND AEC1 5V AEC2 Dot on R pack opposite RPAE1 label 5V LAEN GND AECI SV AEC2 Dot on R pack next to RPAEI label 12V HAEN GND AECI 12V AEC2 Dot on R pack opposite label 12V LAEN GND AECI 12V AEC2 Dot on R pack next to RPAEI label Isolated 24V HAEN AECOMI AECI AECOM2 AEC2 Dot on R pack opposite RPAE1 label Isolated 24V LAEN AECOMI AECI AECOM
6. 38 Chapter 7 AMP 20440 20420 DMC 21x3 Accessories J1 Power 4 pin I VM 18 60 VDC 2 Ground 3 VM 18 60 VDC 4 Ground Mating Connector AMP 770849 4 Mating Connector Pins AMP 770476 1 JX1 Motor Output 2 pin Molex 1 XMO 2 XMO JY1 Motor Output 2 pin Molex 1 YMO 2 YMO JZ1 Motor Output 2 pin Molex 1 ZMO 2 ZMO JW1 Motor Output 2 pin Molex 1 WMO 2 WMO Mating Connector Molex 26 03 4020 Mating Connector Pins Molex 08 50 0189 J3 1 0 44 pin Hi density Female D sub 1 NC 2 Output 6 3 Output 8 4 Output 5 5 Output 2 6 Abort see Appendix A 7 Input 6 8 Latch Z Input 3 9 Y axis AmpEnable RevD and greater 10 Encoder Compare Output 11 Sign Dir X 12 Sign Dir Y DMC 21x3 Accessories 13 Sign Dir Z 14 Sign Dir W 15 PWM Step W 16 W axis AmpEnable RevD and greater 17 Z axis AmpEnable RevD and greater 18 Output 7 19 Output 4 20 Output 1 2 Output 3 22 Input 7 23 Latch W Input 4 24 Latch X Input 1 25NC 26 Motor Command X 27 Motor Command Y 28 Motor Command Z 29 Motor Command W 30 Error Output 31 NC 325V 33 5V 34 Ground 35 Ground 36 Input 8 37 Input 5 38 Latch Y Input 2 39 NC 40 X axis AmpEnable RevD and greater 41 PWM Step X 42 PWM Step Y 43 PWM Step Z 44 Reset Active Low Signal Chapter 7 20440 20420 39 Over Voltage P
7. disables axes E H firmware OE1 disable as opposed to hardware ELO disable DMC 21x3 Accessories Appendix A Abort Input Options 95 Appendix B Mating D Shells The below table lists mating connector part numbers for all daughterboards The gender is referenced to the mating connector Pins Gender Density Daugtherboards Part Number 9 Female low SDM 20240 SDM 206x0 AMP 747905 2 15 Female low ICM 20100 ICM 20105 AMP 20340 1 AMP 747909 2 25 Female low ICM 20100 AMP 20240 AMP 20340 1 SDM 206x0 AMP 747913 2 25 Male low ICM 20100 ICM 20105 AMP 747912 2 37 Male low ICM 20105 AMP 747916 2 15 Male high AMP 204x0 AMP 205x0 Kycon K86 EA 15P 44 Male high AMP 204x0 AMP 205x0 Kycon K86 BA 44P 96 Appendix B Mating D Shells DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY DMC 21x3 Accessories Appendix B Mating D Shells 97 Appendix C Command Reference 98 Appendix C Command Reference DMC 21x3 Accessories AE FUNCTION Amplifier Error DESCRIPTION The AE command is used in conjunction with an AMP 20440 or AMP 19540 to designate input 7 as the amp error status bit A jumper must be placed on the amplifier to connect the amp error signal to the appropriate input If enabled by AEI and input 7 is activated or if enabled by AE 1 and input 15 is activated bit 0 of TA will be set If FAMPERR has been defined and an application
8. me oo e Ps ry PO Ps e NM OQ g m u gt NO gt a im ob NS a m uu Pye e D DO e Drawing Not to Scale For Reference Only Dimensions are inches Figure 30 AMP 20542 Dimensions Overall Dimensions 6 82 x 4 90 DMC 21x3 Accessories Chapter 10 20542 57 Pinout JA X axis 15 pin HD Female D sub 01 I X 02 Br X 03 A X 04 AB X 05 GND 06 I X 07 B X 08 A X 09 AA X 10 Hall X A 11 AA X 12 AB X 13 Hall X B 14 Hall X C 155V J5 Y axis 15 pin HD Female D sub 02 B Y 03 Ar Y 04 ABr Y 05 GND 06 I Y 07 B Y 08 A Y 09 AA Y 10 11 AA Y 12 AB Y 13 Hall Y B 14 Hall Y C 155V J6 Z axis 15 pin HD Female D sub 01 I Z 02 B Z 03 A Z 04 Z 05 GND 06 1 7 07 Z 08 7 09 AA Z 10 HallZ A ll AA Z 12 AB Z J7 W axis 15 pin HD Female D sub 011 W 02 B W 03 A W 04 AB W 05 GND 06 I W 07 B W 08 A W 09 AA W 10 Hall WA 11 AA W 13 Hall Z B 12 AB W 14 Hall Z C 13 Hall W B 15 5V 14 Hall W C 15 5V 58 Chapter 10 AMP 20542 DMC 21x3 Accessories JX1 Motor Output X 4 pin Earth 2 X axis phase A 3 X axis phase C 4 X axis phase B JY1 Motor Output Y 4 pin 1 Earth 2 Y axis phase A 3 Y axis phase C
9. Outputl Output4 Outputl Output3 Input7 Cable Color Dot White White Black Black Black White Brown Brown White Red Red White Red Black Red Purple Orange Orange White Orange Black Orange Purple Yellow Yellow White Yellow Black Yellow Purple Green Green White Green Black Green Purple Pin 23 24 25 26 2n 28 29 30 31 22 33 34 35 36 37 38 39 40 4l 42 43 44 Description Input4 LatchW Inputl LatchX NC PWMX Motor Command X HOMEX HOMEY HOMEZ HOMEW Error NC PWMW Motor Command W 5V 5V GND GND Input8 Input5 Input2 LatchY NC PWMY Motor Command Y NC SignX AmpenX FLSX FLSY FLSZ Reset Cable Color Dot Dark Blue Dark Blue White Dark Blue Black Dark Blue Brown Purple Purple White Silver Silver White White Brown White Orange White Yellow White Green White Blue White Purple Pink Pink White Pink Black Pink Brown Light Blue Light Blue White Light Blue Black Light Blue Brown Refer to specific amplifier pinout information in the DMC 21x3 Accessories Manual Version 2 Cables purchased between January 2004 and March 2006 a black braided sleeve over the slick black sheath The part number on the braided sleeve is 0006 0044 REV S1 same as Version 1 DMC 21x3 Accessories Fig 2 Version 2 Cable 44 Part Number Chapter 15 Cables for AMP 205x0 20542 and 204x0 89 For pi
10. disables axes A D yes 1 MO SH disables axes E H E H Abort J3 pin 6 OC OV axes E H disables axes A D disables axes E H hi s A D amp E H Abort OC OV disables axes A D axesA D E H disables axes E H B A D Over Current OC axes A D disables axes A D disables axes E H i s E H Over Current OC axes E H disables axes A D disables axes E H 2 s JP5 OC ABRT both AMP 20440s OE 1 Condition input LED state Reaction AMPERR TAO Recovery runs A D Abort J3 pin 6 OC OV axes A D disables axes A D NO N A OE 0 MO SH disables axes E H WT2 OE 1 E H Abort J3 pin 6 OC OV axes E H A D motion continues disables axes E H E A D amp Abort OV disables axes A D axes A D E H disables axes E H fe a A D Over Current OC axes A D disables axes A D disables axes E H 5 i E H Over Current OC axes E H A D motion continues disables axes E H ii JP5 no jumper both AMP 20440s OE 1 Condition input LED state Reaction AMPERR TAO Recovery runs A D Abort J3 pin 6 OC OV axes A D disables axes A D NO N A MO SH disables axes E H E H Abort J3 pin 6 OC OV axes E H A D motion continues disables axes E H A D amp E H Abort OC OV disables axes A D axes A D E H disables axes E H A D Over Current OC axis A D disables axes A D E H motion continues s OC axis E H A D motion continues
11. RPOUT PIN 1 Drawing Not to Scale For Reference Only Dimensions are inches Figure 7 ICM 20105 Dimensions and Jumper Locations Overall Dimensions 4 25 x 3 70 DMC 21x3 Accessories Chapter 4 ICM 20105 17 Pinout JX X axis 15 Pin Male D sub 1 Amp enable common 1 AECOMI Amp enable X 5 B X NC Sign dir X Amp enable common 2 AECOM2 10 Ground 2 3 4AX 5 6 I X ancen 8 9 ll A X 12 B X 13 1 X 14 Motor command X 15 PWM step X JY Y axis 15 Pin Male D sub 1 Amp enable common 1 AECOM1 Amp enable Y 5V A Y B Y NC Sign dir Y Amp enable common 2 AECOM2 10 Ground 2 3 5 6LY 8 9 ll A Y 12 B Y 13 1 Y 14 Motor Command Y 15 PWM step Y JZ Z axis 15 Pin Male D sub 1 Amp enable common 1 AECOMI 2 Amp enable Z 5V A Z B Z NC Sign dir Z Amp enable common 2 AECOM2 10 Ground 3 AA 3 5 61 7 Lance 8 9 11 A Z 12 B Z 131 Z 14 Motor Command Z 15 PWM step Z JW W axis 15 Pin Male D sub 1 Amp enable common 1 AECOMI Amp enable W 5 A W B W NC Sign dir W Amp enable common 2 AECOM2 10 Ground 2 3 5 6 I W S 8 9 11 A W 12 B W 131 W 14 Motor Command W 15 PWM step W 18 Chapter 4 ICM 20105 DMC 21x3 Accessories JAUX Aux Encoder 25 pin Female D 1 NC 2AB W 3 AA
12. USER MANUAL COMMAND REFERENCE DMC 21x3 Amplifiers amp Accessories Manual Rev 1 0k Galil Motion Control Inc 3750 Atherton Road Rocklin California 95765 Phone 916 626 0101 Fax 916 626 0102 Internet Address support Qgalilmc com URL www galilmc com Rev 12 06 Using This Manual This user manual provides information for proper operation of the daughter boards that connect to the DMC 21x3 controllers It also includes a small listing of commands that pertain to the daughter boards This is a subset of the commands listed in the command reference you received with your motion controller Please note that many examples are written for the DMC 2143 four axes controller or the DMC 2183 eight axes controller Users of the DMC 2133 3 axis controller DMC 2123 2 axes controller or DMC 2113 1 axis controller should note that the DMC 2133 uses the axes denoted as XYZ the DMC 2123 uses the axes denoted as XY and the DMC 2113 uses the X axis only Examples for the DMC 2183 denote the axes as A B C D E F G H Users of the DMC 2153 5 axes controller denotes the axes as A B C D E DMC 2163 6 axes controller denotes the axes as A B C D E F DMC 2173 7 axes controller denotes the axes as A B C D E F G In other words the axes names A B C D may be used interchangeably with X Y Z W WARNING Machinery in motion can be dangerous It is the responsibility of the user to design effective error handling and safety protection
13. The 44 pin connections are the same except for the following four signals 44 Chapter 8 ICM 20500 Pin 9 Output Supply Pin 25 Input Common INCOM Pin 39 Output Return Pin 40 Limit Switch Common LSCOM DMC 21x3 Accessories Configuration Limit Switch Input Voltage o Common LSCOM i i E x x x Fi t y y a a Y Additional Limit Switches Dependent on Number of Axes Y x o o FLSX RLSX HOMEX FLSY RLSY o HOMEY Common INCOM i i x x x Fi et y y a M 7 Y x K 1 1 1 I I IN1 IN2 IN3 IN4 IN5 XLATCH YLATCH ZLATCH WLATCH Figure 23 ICM 20500 Digital Inputs The schematic above shows the digital input configuration For digital inputs 1 to 8 INCOM connects to the positive terminal of an external DC supply for a sourcing configuration For a sinking configuration the negative supply terminal is connected instead The same approach is applied to the Home and Limit switch inputs with LSCOM OUTSUP 5V or GND 540K 1 7 RPOUT 2 zu AT Load SBn 5V NA RZ OUTRET Figure 24 ICM 20500 Digital Outputs 1 to 4 DMC 21x3 Accessories On the digital outputs the first four outputs Outputs 1 to 4 are high power outputs capable of providing up to 500
14. mA at up to 24 VDC An external DC supply must be connected between Output Supply and Output Return The other four outputs Outputs 5 to 8 are opto isolated and can deliver up to 25 mA at up to 24 VDC The diagram refers only to outputs 1 to 4 On outputs 5 to 8 there is no FET on final stage of the output only the opto isolator The polarity of outputs 1 4 may be reversed by flipping RP11 180 degrees The polarity of outputs 5 8 may be reversed by flipping RP12 180 degrees Chapter 8 ICM 20500 45 Chapter 9 AMP 20540 20520 Introduction The AMP 20540 four axis and AMP 20520 two axis are multi axis brush brushless amplifiers that are capable of handling 500 watts of continuous power per axis The AMP 20540 20520 Brushless drive modules are connected to DMC 21x3 controller via the 96 pin DIN connector The standard amplifier accepts DC supply voltages from 18 60 VDC Note that the DC48 option is only rated to 72 VDC The 80 V option requires the user to provide 12 V and 5 V supplies to the controller separate from the amplifier If higher voltages are required please contact Galil Like the DB 28040 the AMP 205x0 family provides for the addition of 8 analog input to the DMC 21x3 The analog inputs accept 10 V input and have a resolution of 12 bits a 16 bit option is available Figure 25 AMP 20540 46 Chapter 9 AMP 20540 20520 DMC 21x3 Accessories Electrical Specifications The amplifier is a brush brus
15. queried with the QH command The gain settings for the amplifier are identical to the brushless operation Using External Amplifiers The AMP 20542 breaks out the step direction or amplifier enable motor command signals to control an external servo or stepper amplifier For example a machine might have two axes XY that use the AMP 20542 one axis that uses an external stepper amplifier Z and another that uses an external servo amplifier W The pulse and direction signals for an external step drive are accessed through the high density 44 pin D sub connector as are the amplifier enable and motor command line for an external servo amplifier To configure which signals are brought out jumpers are used between connectors J3 and J4 see figure below If no jumpers are installed factory default the corresponding pins on the 44 pin connector will be unconnected In the following example the W axis will output the motor command on pin 31 and amplifier enable on pin 16 The Z axis will output PWM Step on pin 1 and Sign Direction on pin 17 of the 44 pin connector AUX I O PWM AENW PIN 16 PIN1 AENZ THAN MCMDY PIN39 AENY PINS SGN 7 MCMDX PIN 25 AENX PIN40 SEN A B C Figure 31 The W axis is configured for an external servo amplifier and Z for an external stepper amplifier Error Monitoring and Protection The amplifier is protected against over v
16. A axis to a 9 99 volt peak torque output DMC 21x3 Accessories TL Binary 8a FUNCTION Continuous Torque Limit DESCRIPTION The TL command sets the continuous limit on the motor command output For example TL5 limits the motor command output to 5 volts The maximum output of the motor command is 9 9982 volts If the amplifier gain is set to AG2 on the AMP 205x0 then the TL will be automatically set to 6 5 The TK value will remain as set but can be set as high as 9 9982 volts ARGUMENTS TL n n n n n n n n or TLA n where n is an unsigned numbers in the range 0 to 9 9982 volts with resolution of 0 0003 volts n Returns the value of the torque limit for the specified axis USAGE DEFAULTS While Moving Yes Default Value 9 9982 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _ TLn contains the value of the torque limit for the specified axis RELATED COMMANDS AG Amplifier Gain TK Peak Torque Limit EXAMPLES TL 1 5 9 7 5 Limit A axis to 1volt Limit B axis to 5 volts Limit C axis to 9 volts Limit D axis to 7 5 volts TL Return limits 1 0000 5 0000 9 0000 7 5000 TL Return A axis limit 1 0000 DMC 21x3 Accessories Appendix C Command Reference 111
17. HE eT 83 EXAMPEESIN COS ENCODERS Y HE IAN IF EE 85 APPENDIX A DB 28104 DIMENSIONS uo ee OFYN GG vea Ves noe vete eve veux PU Ve veu dde T 86 CHAPTER 15 CABLES FOR AMP 205X0 20542 AND 204 88 APPENDIX ABORT INPUT OPTIONS eee ee Verano ete a aret paseo Elo se etra aee rase trei sale PE eia naa epa 94 ELO SCENARIOS c chek y ae Y Cas Oe see Esa 94 DMC 2143 wil AMP 20340 a2 dace a YU 94 DMC 2143 wuh DM 200640 u Y RF tae 94 DMC 2183 With TWO AMP 2044 OS sx benkene eee eee cese 95 APPENDIX B MATING D SHELLS nae ee eo sa eoo toos ena oe 6088565 6666656555085 e PET oe 96 APPENDIX C COMMAND REFERENCE eee eee eee ee eese enne eee nee eene seen aee seen Pese seen eee eaae eese tones Dn ee etna 98 AE A A ttd ND E UMEN tr pot c MATTE EOE EUR Arica ee Iota IN e M ddn eae 99 AG 100 ANER 101 Mer 102 BR 103 Bs 104 ENE 105 CORE 106 LOE 107 OH TT HEH CR RR pe RES 108 ar 109 DMC 21x3 Accessories Contents 3 YH weno E EU Sida ORR RR Riis i end 110 PEA BINAY S inka ID EW un Y tete aee E YW RUN 111 4 Contents DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY DMC 21x3 Accessories Contents 5 Chapter 1 Overview Introduction Galil s DMC 21x3 s
18. W 4 Z 5 7 6 AB Y 7 AA Y 8 AB X 9 AA X 10 5V 11 5V 12 12V 13 NC 14 NC 15 AB W 16 AA W 17 AB Z 18 7 19 AB Y 20 AA Y 21 AB X 22 AA X 23 Ground 24 Ground 25 12V DMC 21x3 Accessories T O 37 Pin Female D sub 1 Input Common Voltage 2 Input 2 3 Input 4 4 Input 6 5 Input 8 6 Output Supply Voltage 7 Output 2 8 Output 4 9 Output 6 10 Output 8 11 Limit Switch Common 12 Reverse Limit X 13 Forward Limit Y 14 Home Y 15 Reverse Limit Z 16 Forward Limit W 17 Home W 18 5V 19 Ground 20 Input 1 21 Input 3 22 Input 5 23 Input 7 24 Abort 25 Output 1 26 Output 3 27 Output 5 28 Output 7 29 Output Return 30 Forward Limit X 31 Home X 32 Reverse Limit Y 33 Forward Limit Z 34 Home Z 35 Reverse Limit W 36 5V 37 Ground Chapter 4 ICM 20105 19 Configurations for ICM 20105 Amplifier Enable Circuit The ICM 20105 gives the user a broad range of options with regards to the voltage levels present on the enable signal The user can choose between High Amp Enable HAEN Low Amp Enable LAEN 5V logic 12V logic external voltage supplies up to 24V sinking or sourcing The tables below illustrate the settings for jumpers RPacks and the socketed optocoupler IC Refer to Figure 7 for precise physical locations of all components Note that the resistor pack located at RPAE 1 may be reversed to change the active s
19. Z axis will output PWM Step and Sign Direction to the appropriate pins AUX I O eS PWM AENW PIN 16 MCMDZ ML BU PIN 17 SGN MCMDY PIN39 PWM AENY PINS SON _ MCMDX PIN25 AENX PIN40 SGN A B C Figure 28 The W axis is configured for an external servo amplifier and Z for an external stepper amplifier Error Monitoring and Protection The amplifier is protected against over voltage under voltage over temperature and over current for brush and brushless operation The controller will also monitor for illegal Hall states 000 or 111 with 120 phasing The controller will monitor the error conditions and respond as programmed in the application The errors are monitored via the TA command TA n may be used to monitor the errors with n 0 1 2 or 3 The command will return an eight bit number representing specific conditions TAO will return errors with regard to under voltage over voltage over current and over temperature TA1 will return hall errors on the appropriate axes TA2 will monitor if the amplifier current exceeds the continuous setting and TA3 will return if the ELO has occurred as a result of a hard abort input The user also has the option to include the special label AMPERR in their program to handle soft or hard errors As long as a program is executing in thread zero and the ZAMPERR label is included when an error is detected the program will jump to the label and execu
20. of a short between the motor phases or between the motor phases and ground This indicates either a wiring problem or a faulty motor Please review the table below to configure the options for the over current signal If you choose the option of connecting the over current signal to the abort line all axes in motion and the controller s application program will be aborted If you choose to transmit the signal to input 7 then an application program can be set to interrupt on this input and run a user defined program For further information on using the abort or the input interrupt routines refer to the user manual supplied with the motion controller OC No jumper factory default causes the controller to ABRT take no action when an over current condition occurs IN7 AMP 204x0 amplifier still disables JP5 OC OC IN7 Place jumper between OC and 17 to transmit ABRT over current condition to the controller s General Purpose IN7 Digital Input 7 Use the AE command to allow AMPERR to run and TA to report status 0C OC ABRT Place jumper between OC and ABRT to transmit over current condition to the controller s Abort Figure 20 AMP 204x0 Overcurrent jumper configurations 40 Chapter 7 AMP 20440 20420 DMC 21x3 Accessories Abort Input Options See Appendix A DMC 21x3 Accessories Chapter 7 AMP 20440 20420 41 Chapter 8 ICM 20500 Introduction The ICM 20500 provides a screw terminal
21. or AU1 5 Asan example of the AU command if the X axis uses normal current loop bandwidth and chopper mode and the Y axis uses high current loop bandwidth and inverter mode the setting would be AU 0 5 1 The bandwidth of the current loop for a specific combination can be determined by the AW command with the basic amplifier parameters To calculate the bandwidth for the X axis issue AWX v l n where v represents the DC voltage input to the card represents the inductance of the motor in millihenries and n represents the AU setting Note For most applications unless the motor has more than 5 mH of inductance with a 24V supply or 10 mH of inductance with a 48 V supply the normal current loop bandwidth option should be chosen AW will return the current loop bandwidth in Hertz DMC 21x3 Accessories Chapter 10 20542 61 Brush Amplifier Operation The AMP 20542 also allows brush servo operation To configure an axis for brush type operation connect the 2 motor leads to Phase A and Phase B connections for the axis Connect the encoders homes and limits as required Set the controller into brush axis operation by issuing the BR command BRn n n n By setting n 1 the controller will operate in brush mode on that axis For example BR0 1 0 0 sets the Y axis as brush type all others as brushless If an axis is set to brush type the amplifier has no need for the Hall inputs These inputs can subsequently be used as general use inputs
22. send 0 25 volts to the amplifier for 1 second BSX 0 5 300 will issue 0 5 volts from the controller for 300 milliseconds If the controller is able to move the motor and the Hall transitions are not correct the controller will alert the operator and recommend which motor phases to change For example the controller might return Wire A to Terminal B Wire to Terminal A If the controller finds that the commutation order is correct but the motor would run away due to positive feedback the controller will prompt the user to Wire Phase B to C and C to B Exchange Hall Sensors A and B After making any necessary changes to the motor phase wiring confirm correct operation by reissuing the BS command Once the axis is wired correctly the controller is ready to perform closed loop motion Brushless Amplifier Software Setup Select the amplifier gain that is appropriate for the motor The amplifier gain command AG can be set to 0 1 or 2 corresponding to 0 4 0 7 and 1 0 A V In addition to the gain peak and continuous torgue limits can be set through TK and TL respectively The TK and TL values are entered in volts on an axis by axis basis The peak limit will set the maximum voltage that will be output from the controller to the amplifier The continuous current will set what the maximum average current is over a one second interval The following figure captured with WSDK is indicative of the operation of the continuous and peak opera
23. sensor input byte where n A B C D E F G H USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage DMC 21x3 with AMP 205xx OPERAND USAGE QHn Contains the state of the Hall sensor inputs RELATED COMMANDS BS Brushless Setup EXAMPLE QHY 6 Hall inputs B and C active on Y axis 108 Appendix C Command Reference DMC 21x3 Accessories TA FUNCTION Tell Amplifier Error Status DESCRIPTION The command transmits the amplifier error status The value is decimal and represents an 8 bit value TAO TA1 TA2 TA3 STATUS STATUS STATUS STATUS Bit7 Under Voltage Bit7 Hall Error H Axis Bit7 Peak Current H Bit 7 E H Axes Axis Bit 6 Over Temperature Bit 6 Hall Error G Axis Bit6 Peak Current G it E H Axes Axis Bit5 Over Voltage Bit5 Hall Error F Axis Bit Peak Current F it E H Axes Axis Bit4 Over Current Bit4 Hall Error E Axis Bit4 Peak Current E it4 E H Axes Axis Bit3 Under Voltage Bit3 Hall Error D Axis Bit3 Peak Current D Bit 3 A D Axes Axis Bit2 Over Temperature Bit2 Hall Error C Axis Bit2 Peak Current C Bit 2 A D Axes Axis Bit I Over Voltage Bit 1 Hall Error B Axis Bit I Peak Current B Bit 1 ELO Active A D Axes Axis E H Axes Bit 0 Over Current Bit 0 Hall Error A Axis Peak Current A Bit0 ELO Active A D Axes Axis A D Axes ARGUMENTS TA n returns the amplifier error status wher
24. 1 4 Analog Input 2 5 Analog Input 3 6 Analog Input 4 7 Analog Input 5 8 Analog Input 6 9 Analog Input 7 10 Analog Input 8 11 GND 12 GND 13 12 Volt Supply 14 12 Volt Supply 155 16 GND 74 Chapter 13 DB 28040 DMC 21x3 Accessories Interfacing to the Digital I O The DB 28040 5V offers 40 digital I O points that can interface directly to Grayhill and OPTO 22 I O mounting racks These I O points can be configured as inputs or outputs in 8 bit increments with the CO command The I O points accessed from the J2 header of the DB 28040 5V are connected directly to the I O rack using a 50 pin IDC ribbon connector Note special considerations must be made to avoid damage when using Opto 22 G4 series racks read application note 5450 for details http www galilmc com support appnotes miscellaneous note5450 pdf 16 bit Analog Inputs SSI The DB 28040 comes with 12 bit Analog Inputs standard For 16 bit Analog Inputs order the DB 28040 16 When using the AF command with the 16 version the DMC 21x3 controller requires the 16 bit Analog Feedback firmware The voltage input range is 10V 10V To ensure they function properly don t apply a voltage to the analog inputs until after the controller is powered If possible it is recommended that circuit generating the analog signal be powered by the 5 or 12V sources available on the controller This will ensure that the input voltage
25. 1 Reverse Limit X 12 Reverse Limit Y 13 Reverse Limit Z 14 Reverse Limit W 15 Forward Limit W 16 SIGN AEN W 17 SIGN AEN Z 18 Output 7 19 Output 4 20 Output 1 2 Output 3 22 Input 7 23 W Latch Input 4 24 X Latch Input 1 25 PWM MCMD X 26 X Home 27 Y Home 28 Z Home 29 W Home 30 Error Out 31 PWM MCMD W 325V 335V 34 Ground 35 Ground 36 Input 8 37 Input 5 38 Y Latch Input 2 39 PVM MCMD Y 40 SIGN AENX 41 Forward Limit X 42 Forward Limit Y 43 Forward Limit Z 44 Reset DMC 21x3 Accessories Chapter 9 AMP 20540 20520 49 J1 Power 8 pin Earth 01 GND 2 FVDC 18V 60V 02 GND 3 VDC 18V 60V 03 Analog Input 1 4 FVDC 18V 60V 04 Analog Input 2 5 GND 05 Analog Input 3 6 GND 06 Analog Input 4 7 GND 07 Analog Input 5 8 GND 08 Analog Input 6 J11 Analog Input 16 pin IDC Header 09 Analog Input 7 10 Analog Input 8 11 GND 12 GND 13 12V 14 12V 155V 16 GND Mating Connectors J1 DC Power Connector JX1 JY1 JZ1 and JW1 4 pin Motor Lead Connector Connector Terminal Pins 8 pin Mini Universal MATE N LOK 770579 1 AMP 170361 1 4 pin Mini Universal MATE N LOK 172167 1 AMP 170361 1 50 Chapter 9 AMP 20540 20520 DMC 21x3 Accessories Operation Brushless Motor Setup Note If you purchased a Galil motor with the
26. 1 for Hole Locations DMC 21x3 Accessories Chapter 3 ICM 20100 11 Pinout J6 X Axis 15 pin Male D sub J5 J5 Y Axis 15 pin Male D sub 1 Forward limit X 1 Forward limit Y 2 Home X 2 Home Y 3 5V 3 5V 4 A X 4 A Y 5 B X 5 B Y 6 LX 6 I Y 7 Amp enable X 7 Amp enable Y 8 Sign dir X 8 Sign dir Y 9 Reverse limit X 9 Reverse limit Y 10 Ground 10 Ground 11 11 12 BrX 12 Br Y 13 HX 13 HY 14 Motor command X 14 Motor command Y 15 PWM step X 15 PWM step Y JA J4 Z Axis 15 pin Male D sub J3 W Axis 15 pin Male D sub 1 Forward Limit Z 1 Forward Limit W 2 Home Z 2 Home W 3 5V 3 5V 4 A Z 4 A W 5 B Z 5 B W 6 1 7 6 LW 7 Amp enable Z 7 Amp enable W 8 Sign dir Z 8 Sign dir W 9 Reverse limit Z 9 Reverse limit W 10 Ground 10 Ground 11 A Z 11 A W 12 B Z 12 B W 13 HZ 13 HW 14 Motor command Z 14 Motor command W 15 PWM step Z 15 PWM step W 12 Chapter 3 ICM 20100 DMC 21x3 Accessories J10 Aux Encoders 25 pin Female D Sub Jil I O 25 pin Male D Sub 1 Reset 1 Ground 2 AB W 2 Latch X Input 1 3 AA W 3 Latch Z Input 3 4 AB Z 4 Input 5 5 AA Z 5 Input 7 6 AB Y 6 Abort 7 AA Y 7 Output 1 8 AB X 8 Output 3 9 AA X 9 Output 5 10 5V 10 Output 7 11 5V 11 Ground 12 12V 12 NC 13 NC 13 NC 14 Error Output 14 5V 15 AB W 15 Latch Y Input 2 16 AA W 16 Latch W Input 4 17 AB Z 17 Input 6 18 AA
27. 12 AB X 13 Hall X B 14 Hall X C 155V J5 Y axis 15 pin HD Female D sub 02 B Y 03 Ar Y 04 ABr Y 05 GND 06 I Y 07 B Y 08 A Y 09 AA Y 10 11 AA Y 12 AB Y 13 Hall Y B 14 Hall Y C 155V J6 Z axis 15 pin HD Female D sub 01 I Z 02 B Z 03 A Z 04 Z 05 GND 06 1 7 07 Z 08 7 09 AA Z 10 HallZ A ll AA Z 12 AB Z J7 W axis 15 pin HD Female D sub 011 W 02 B W 03 A W 04 AB W 05 GND 06 I W 07 B W 08 A W 09 AA W 10 Hall WA 11 AA W 13 Hall Z B 12 AB W 14 Hall Z C 13 Hall W B 15 5V 14 Hall W C 15 5V 48 Chapter 9 AMP 20540 20520 DMC 21x3 Accessories JX1 Motor Output X 4 pin NC 2 X axis phase A 3 X axis phase C 4 X axis phase B JY1 Motor Output Y 4 pin NC 2 Y axis phase A 3 Y axis phase C 4 Y axis phase B JZ1 Motor Output Z 4 pin NC 2 Z axis phase A 3 Z axis phase C 4 Z axis phase B JW1 Motor Output W 4 pin NC 2 W axis phase A 3 W axis phase C 4 W axis phase B J3 VO 44 pin HD Female D sub 01 PWM MCMD Z 02 Output 6 03 Output 8 04 Output 5 05 Output 2 06 Abort see Appendix A 07 Input 6 08 Z Latch Input 3 09 SIGN AEN Y 10 Output Compare 1
28. 16 Z Hall Phase C 52 X Aux Encoder 88 Y Latch DI 2 17 5 V Power output 53 X Aux Encoder A 89 Z Latch DI 3 18 GND Power return 54 X Aux Encoder B 90 W Latch DI 4 19 Z Aux Encoder B 55 X Main Encoder B 91 LSCOM 20 Z Hall Phase A 56 X Main Encoder I 92 Abort Input 21 Z Hall Phase B 57 X Main Encoder I 93 XLatch DI 1 22 Z Aux Encoder A 58 X Main Encoder A 94 W Home Input 23 Z Aux Encoder 59 X Main Encoder A 95 W Reverse Limit 24 Z Aux Encoder B 60 X Main Encoder B 96 W Forward Limit 25 Z Main Encoder B 61 Y Motor Command 97 Z Home Input 26 Z Main Encoder I 62 X Amp Enable 98 Z Reverse Limit 27 Z Main Encoder I 63 X Motor Command 99 Z Forward Limit 28 Z Main Encoder A 64 Z Amp Enable 100 Y Home Input 29 Z Main Encoder A 65 Z Motor Command 101 Y Reverse Limit 30 Z Main Encoder B 66 Y Amp Enable 102 Y Forward Limit 31 Y Hall Phase C 67 5 V Power output 103 X Home Input 32 5 Power output 68 W Amp Enable 104 X Reverse Limit 33 GND Power return 69 W Motor Command 105 X Forward Limit 34 Y Aux Encoder B 70 Output Supply 106 Output Compare 35 Y Hall Phase A 7 Output Return 107 Error Output 36 Y Hall Phase B 72 GND Power return 108 Reset Input ICM 20500 DTYPE D shell connectors and no screw terminals The pinout of 15 pin connectors is the same as the AMP 205x0
29. 18 AMP 20440 shown mounted to a DMC 2143 DIN DC24 Electrical Specifications DC Supply Voltage 18 60 VDC Max Current 3 3 Amps continuous and peak PWM Frequency 60 kHz Minimum Load Inductance 0 5 mH Over Voltage Threshold OV 69 volts resets at 66 volts 36 Chapter 7 AMP 20440 20420 DMC 21x3 Accessories Layout MO INN d if N B po Drawing Not to Scale For Reference Only Dimensions are inches Figure 19 AMP 20440 Dimensions Overall Dimensions 4 85 x 3 70 DMC 21x3 Accessories Chapter 7 AMP 20440 20420 37 Pinout J4 X axis 15 pin Hi density Female D sub IHX 2BrX 3A X 4 ABr X 5 Ground 6I X 7B X 8A X 9 AA X 10 Forward Limit X 11 AA X 12 AB X 13 Home X 14 Reverse Limit X 155V J5 Y axis 15 pin Hi density Female D sub 2BrY 3A Y 4AB Y 5 Ground 61 Y 7B Y 8A Y 9 AA Y 10 Forward Limit Y 11 AA Y 12 AB Y 13 Home Y 14 Reverse Limit Y 15 5V J6 Z axis 15 pin Hi density Female D sub J7 W axis 15 pin Hi density Female D sub 11 7 2B Z 3A Z 4AB Z 5 Ground 61 Z 7B Z 8A Z 9 AA Z 10 Forward Limit Z 11 AA 7 12 7 13 Home Z 14 Reverse Limit Z 15 5V II W 2BrW 3A W 4 AB W 5 Ground 61 W 7B W 8A W 9 AA W 10 Forward Limit W 11 AA W 12 AB W 13 Home W 14 Reverse Limit W 15 5V
30. 2 AEC2 Dot on R pack next to RPAEI label For 24V isolated enable tie 24V of external power supply to AECOM2 at any axis D sub tie common return to AECOMI Replace RPAE2 with a 4 7 resistor pack AECOMI and AECOM are located on any 15 pin axis D subs JX JY JZ or JW All pins labeled AECOMI are connected All pins Labeled AECOM2 are connected DMC 21x3 Accessories Chapter 4 ICM 20105 21 Opto Isolation Settings The ICM 20105 module allows for opto isolation on all of the digital inputs and outputs This includes the dedicated I O including limits homes and abort The limits and home are powered by Limit Switch Common The digital inputs and the Abort Input are powered by Input Common The digital outputs are also optically isolated and are capable of sourcing up to 0 5 A per pin with a 3 A limit for the group of 8 outputs The outputs are configured for hi side drive only The supply voltage must be connected to output supply voltage and the supply return must be connected to output return Input Isolation Opto isolation of the general purpose inputs and the abort input is used by powering the Input Common line The limit switch and home inputs are powered by Limit Switch Common Shown below is the circuit diagram for the isolated inputs Kip ua 806 Switch Additional Limit Common RP2 Switches Dependent on 22kO Number of Axes i gt Na gt Ge Z and W switches use RP1 2 2
31. 2 050 0 000 4 200 REF 3 930 REF Drawing Not to Scale For Reference Only Dimensions are inches Figure 22 ICM 20500 Dimensions Overall Dimensions 8 12 x 4 20 DMC 21x3 Accessories Chapter 8 ICM 20500 43 Pinout ICM 20500 standard product with screw terminals 1 W Hall Phase C 37 Y Aux Encoder 73 Digital Output 6 25 mA 2 5 V Power output 38 Y Aux Encoder A 74 Digital Output 7 25 mA 3 GND Power return 39 Y Aux Encoder 75 Digital Output 8 25 mA 4 W Aux Encoder B 40 Y Main Encoder B 76 Digital Output 3 0 5 A 5 W Hall Phase A 4 Y Main Encoder I TT Digital Output 4 0 5 A 6 W Hall Phase B 42 Y Main Encoder I 78 Digital Output 5 25 mA 7 W Aux Encoder A 43 Y Main Encoder A 79 5 V Power output 8 W Aux Encoder A 44 Y Main Encoder A 80 Digital Output 1 0 5 A 9 W Aux Encoder B 45 Y Main Encoder B 81 Digital Output 2 0 5 A 10 W Main Encoder B 46 XHall Phase C 82 Digital Input 8 11 Main Encoder I 47 5 V Power output 83 INCOM 12 W Main Encoder I 48 GND Power return 84 GND Power return 13 W Main Encoder 49 X Aux Encoder B 85 Digital Input 5 14 W Main Encoder A 50 X Hall Phase A 86 Digital Input 6 15 W Main Encoder 51 X Hall Phase B 87 Digital Input 7
32. 5 5V Light Green 8 Main A Yellow 92 Chapter 15 Cables for AMP 205x0 20542 and 204x0 DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY DMC 21x3 Accessories Chapter 15 Cables for AMP 205x0 20542 and 204x0 93 Appendix A Abort Input Options The factory default behavior of a falling edge on the abort digital input causes the program to stop and all motors to servo to an instantaneous stop however it may be advantageous configure the shut down of the amplifiers and or keep the program running when this occurs CN Command Program Control The 5 field of the CN command configures how the program is handled when the abort line goes low on the controller CN 0 is the default and causes program execution to halt CN 1 will allow program to continue OE Command Firmware Disable If OE is set the controller s firmware will toggle all amp enable lines to turn all drives off when an abort input occurs The SH command needs to be issued to command further motion If OE is not set the controller will instantaneously servo all axis to a stop ELO Jumper Hardware Disable AMP 204x0 205x0 SDM 206x0 ELO Emergency Lock Out is a jumper setting on the AMP 204x0 AMP 205x0 and SDM 206x0 which configures the amplifier s behavior when the abort line goes low With the jumper absent default the behavior of the motors is subject to the OE command above If the jumper is installed the amplifiers will be immediat
33. 92 x 5 11 Ex4 POWER PINOUT Pinout JX1 Motor Output X 4pin Molex 1 XMOB 1 YMOB 2 XMOA 2 YMOA 3 XMOB 3 YMOB 4 XMOA 4 YMOA JY1 Motor Output Y 4pin Molex JZ1 Motor Output Z 4pin Molex JW1 Motor Output W 4pin Molex 1 ZMOB 1 WMOB 2 ZMOA 2 WMOA 3 ZMOB 3 WMOB 4 ZMOA 4 WMOA DMC 21x3 Accessories Chapter 11 SDM 20640 20620 65 JX2 X axis 9 pin Male D sub Forward limit X Home X 5V MA X MB X Reverse limit X Ground MA X MB X IAJ nJ AJ WIN JY2 Y axis 9 pin Male D sub 1 Forward limit Y Home Y 5V MA Y MB Y Reverse limit Y Ground MA Y MB Y JZ2 Z axis 9 pin Male D sub JW2 W axis 9 pin Male D sub 1 Forward limit Z 1 Forward limit W 2 HomeZ 2 Home W 3 5V 3 5V 4 MA Z 4 MA W 5 MB Z 5 MB W 6 Reverse limit Z 6 Reverse limit W 7 Ground 7 Ground 8 MA Z 8 MAr W 9 MBr Z 9 MBr W J3 VO 25 pin Male D sub 13 NC 1 Ground 14 5V 2 Latch X Input 1 15 Latch Y Input 2 3 Latch Z Input 3 16 Latch W Input 4 4 Input 5 17 Input 6 5 Input 7 18 Input 8 6 Abort see Appendix A 19 Encoder Compare Output 7 Output 1 20 Output 2 8 Output 3 2 Output 4 9 Output 5 22 Output 6 10 Output 7 23 Output 8 11 Ground 24 5V 12 Reset 25 Error Out J1 Power 8 Pi
34. A V n 1 0 25 A V n 2 0 5 A V AMP 206x0 n 0 0 5 Amps Phase n 1 1 0 Amps Phase n 2 2 0 Amps Phase n 3 3 0 Amps Phase n Returns the value of the amplifier gain USAGE DEFAULTS While Moving No Default Value 1 1 1 1 1 1 1 1 In a Program Yes Default Format Command Line Yes Controller Usage DMC 21x3 with AMP 205xx or AMP 206x0 RELATED COMMANDS TA Tell Amplifier AW Amplifier Bandwidth BS Brushless Setup EXAMPLE MO Set motor off AG 2 1 Sets the highest amplifier gain for A axis and medium gain for B axis on 205x0 3 2 Sets the highest drive current of 3 0A for A axis and 2 0 gain for B axis on 206x0 SH Turn motor on BN Save AG setting to EEPROM DMC 21x3 Accessories AU FUNCTION Set amplifier current loop DESCRIPTION The AU command sets the amplifier current loop gain for the AMP 205xx Current loop is available in one of two settings 0 is normal while 1 sets a higher current loop Values stored in EEPROM by the BN command ARGUMENTS AU n n n n n n n n where AMP 205x0 n 0 fornormal current loop gain n 1 forhigher current loop gain AMP 20542 n 0 fornormal current loop gain Inverter n 1 forhigher current loop gain Inverter 0 5 for normal current loop gain Chopper 1 5 for higher current loop gain Chopper USAGE DEFAULTS While Moving No Default Value 0 0 0 0 0 0 0 0 In a Program Yes Default Format Command Line Yes Controller Usage DMC 21x3 with AMP 205xx RELATED COMMANDS TA Te
35. AAW 1 A Z A W 12 Bx B Z B W 13 HX HY HZ IW 14 AA X AA Y AA Z AA W 15 AB X AB Y AB Z AB W JX Motor Output X 2pin Molex JY Motor Output Y 2pin Molex JX1 XMO YMO JX2 XMO JY2 YMO JZ Motor Output Z Zpin Molex JW Motor Output W 2pin Molex JZ1 ZMO WMO JZ2 ZMO JW2 WMO J2 VO 25 Pin D sub 1 Ground 8 Output 3 15 Latch Y Input 2 22 Output 6 2 Latch X Input 1 9 Output 5 23 Output 8 3 Latch Z Input 3 10 Output 7 24 5V 4 Input 5 11 Ground 25 Error Output 5 Input 7 12 Reset 7 Output 1 145V 21 Output 4 Active Low J9 Power 1 FV 12 to 30V 2 Ground 3 V 12 to 30V 34 Chapter 6 AMP 20341 DMC 21x3 Accessories Mating Connectors Connector Terminal Pins J9 Power Molex 26 03 4030 Molex 08 50 0189 JX JW Motor Leads Molex 22 01 3027 Molex 08 50 0114 DMC 21x3 Accessories Chapter 6 AMP 20341 35 Chapter 7 AMP 20440 20420 Introduction The AMP 20420 and AMP 20440 are brush style amplifiers with a power capacity of 200 Watts per channel The amplifier is operational from 18 60 VDC The amplifier is a transconductance amplifier and will supply a current proportional to a given command signal The amplifier includes protection against over voltage and over current The controller below is shown connecting with an AMP 20440 Figure
36. Here is a list of possible reasons for the Error LED to turn on and stop all motors from operating e_ If the motor leads are shorted together or shorted to ground e Power is applied to the controller before the driver board e Temperature has risen above maximum e_ Voltage applied to driver board is too high When the LED comes on the error has to be cleared by issuing MO SH If the controller is in LC lt 1 mode LC 0 LC 1 command is required to clear the error condition ELO Emergency Lock Out The Emergency Lock Out jumper ELO on JP1 is a jumper setting on the SDM 20242 which configures the driver s behavior when the abort line goes low With the jumper absent default the behavior of the motors is subject to the OE command When the jumper is installed the amplifiers will be immediately shut down at a hardware level bypasses the controller firmware When the ELO jumper is installed the OE command should be set to 1 recover issue MO SH Fault Output from SDM 20242 The fault output jumper allows the user to choose to bring out the amplifier s error signal to either the Abort line or Input 7 of the controller With no jumper the fault signal is not connected to the controller at all If a jumper is placed between the center pin and towards the side that says 7_IN then input 7 is used Conversely if the jumper is placed between the center pin and the side that says ABORT the Abort line is jumpered to the f
37. INTENTIONALLY DMC 21x3 Accessories Chapter 14 DB 28104 87 Chapter 15 Cables for AMP 205x0 20542 and 204x0 The Cable 44pin xm is used to break out the I O signals on connector J3 of the AMP 205x0 or AMP 20542 This cable consists of a 44 pin High Density Male DSub connector at one end and flying leads at the other end This cable is available in 1 meter or 2 meter lengths designated by the xm portion of the part number For example the part number for the 2 meter length is Cable 44pin 2m There are three versions of the Cable 44 each version has different pinout color coding The following describes the three versions and their differences Version 1 Cables purchased before January 2004 have a slick black sheath The part number on the sheath is 0006 0044 REV S1 9 Fig 1 Version I Cable 44 Part Number For pinout information of this cable see Table 1 below Note This chapter refers only to the pinout of the AMP 205x0 and 20542 For the AMP 204x0 refer to Chapter 7 88 Chapter 15 Cables for AMP 205x0 20542 and 204x0 DMC 21x3 Accessories Table 1 First Version of Cable 44 Pinout Color Code Pin o I o Nn d 10 11 12 13 14 15 16 17 18 19 20 21 22 Description NC PWMZ Motor Command Z Output 6 Output 8 Output 5 Output 2 Abort Input 6 Input3 LatchZ NC SignY AmpenY CMP RLSX RLSY RLSZ RLSW FLSW NC SignW AmpenW NC SignZ AmpenZ
38. LC command set to I and LC jumper OFF turns amplifiers off when at rest not commanding motion LC jumper ON or OFF and LC command set to 0 default Full current to drive even when at rest Proper heat dissipation is critical if using LCO The LC command must be entered after MT 2 2 2 2 LC should be set for each axis so LC1 1 1 1 will cause all axes to operate in Low Current mode Low Current Setting AMP 20240 20242 LC n n n n n n n n 1 25 0 LC function for SDM 20240 requires jumper installation at JP1 else 0 current occurs SDM 20240 Half Step jumper J P1 determines whether pulses from the controller are interpreted by the Driver chips as whole or half step increments Half Step Jumper On Half step Half Step Jumper Off Full step DMC 21x3 Accessories Chapter 5 SDM 20240 20242 29 Additional Settings for SDM 20242 Micro Step jumpers JP1 Determines whether pulses from the controller are interpreted by the Driver chips as whole half or micro step increments No Jumper Full step MI ON only z Half step M2 ON only 1 4 step MI and M2 ON 1 16 step Note when running in full step mode the current to the motor is 70 of maximum All micro step settings are able to deliver full current Protection Circuitry and Error LED The SDM 20241 has short circuit protection circuitry as well as under over voltage and over temperature protection
39. Pinout J99 4 Pin Molex 1 Earth optional 2 No connection 3 Vin 18 36 or 36 72 VDC 4 GND Mating connector AMP 770 849 4 Pins AMP 770 476 1 DC to DC Pass Through When using the DC to DC converter in conjunction with the Galil amplifier daughter boards described in this manual there is an option to have the DC power supply input shared among both boards which alleviates the need to supply power to two connectors Power is passed through from the amp to the controller via the Pass Through header located at J98 1 4 axes or JP14 5 8 axes on the controller When using the pass through on a 1 4 axis DMC 21x3 controller DC power must be applied only to the amplifier s power connector 6 Chapter 1 Overview DMC 21x3 Accessories When using the pass through on a 5 8 axis DMC 21x3 controller DC power must be applied to both amplifier s power connectors Power is passed through to the controller only from the second axes E H amplifier The proper DC to DC converter must be chosen so that the DC voltage range is compatible with the amplifier and motor voltage requirements The J98 JP14 header comes standard hence the purchaser must specify if they would not like this header present with NOJ98 Module Types Servo Drives Part Number Description AMP 20340 4 Axis Brush Type 20 Watt Linear Servo Drives OBSELETE AMP 20341 4 Axis Brush Type 20 Watt Linear Servo Drives bi
40. TION The BR command is used in conjunction with an AMP 205x0 to enable which axis will be set as brush type servo The hall error bits are not set in the TA value when an axis is configured as brush type The hall inputs are available for general use via the OH command ARGUMENTS BR n n n n n n n n n where n 0 Brushless servo axis n 1 Brush type servo axis n Returns the value of the axis USAGE DEFAULTS While Moving Yes Default Value 0 0 0 0 0 0 0 0 In a Program Yes Default Format Command Line Yes Controller Usage DMC 21x3 with AMP 205xx RELATED COMMANDS TA Tell Amplifier OH Hall State EXAMPLE BR1 0 0 Sets X axis to brush type Y and Z to brushless DMC 21x3 Accessories Appendix C Command Reference 103 BS FUNCTION Brushless Setup DESCRIPTION The command BS tests the wiring of a brushless motor If Hall sensors are connected this command also tests the wiring of the Hall sensors This function can only be performed with one axis at a time This command returns status information regarding the setup of brushless motors The following information will be returned by the controller 1 The results of the hall sensor wiring test If hall sensors are used 2 Correct wiring of the brushless motor phases or how to change direction This command will turn the motor off when done and may be given when the motor is off Once the brushless motor is properly setup and the motor configuration has been saved in non vo
41. Z 18 Input 8 19 AB Y 19 Encoder compare output 20 AAT Y 20 Output 2 21 AB X 21 Output 4 22 AA X 22 Output 6 23 Ground 23 Output 8 24 Ground 24 5V 25 12V 25 NC Active Low Signal DMC 21x3 Accessories Chapter3 ICM 20100 13 Amplifier Enable The standard configuration of the AMPEN signal is TTL active high In other words the AMPEN signal will be high when the controller expects the amplifier to be enabled The polarity and the amplitude can be changed To change the polarity from active high 5 volts enable zero volts disable to active low zero volts enable 5 volts disable replace the 7407 IC with a 7406 U2 Note that many amplifiers designate the enable input as inhibit To change the voltage level of the AMPEN signal note the state of the resistor pack on the ICM 20100 When pin 1 of the resistor matches pin 1 of the RP1 the output voltage is 0 5 V To change to 12 volts pull the resistor pack and rotate it so that pin 1 is on the 12 volt side Pin 1 of the resistor will be marked with a designator pin 1 of location RP1 can be determined by the square through hole on the circuit board denoting pin 1 If you remove the resistor pack the output signal is open collector allowing the user to connect an external supply with voltages up to 24V Note that any external pull up resistor should limit the current draw to 10 mA Connection to 5V or 12V made through Resistor pack RP1 Removing the resis
42. amplifier it is ready for use No additional setup is necessary To begin the setup of the brushless motor and amplifier it is first necessary to have communications with the motion controller Refer to the user manual supplied with your controller for questions regarding controller communications It is also necessary to have the motor hardware connected and the amplifier powered to begin the setup phase After the encoders and motor leads are connected the controller and amplifier need to be configured correctly in software Take all appropriate safety precautions For example set a small error limit ER 1000 low torque limit TL 3 and set off on Error to 1 for all axes OE 1 Review the command reference and controller user manual for further details There are 3 settings for the amplifier gain 0 4 A V 0 7 A V and 1 0 A V Ifthe gain is set to 0 7 A V a torque limit of 3 TLn 3 will allow the amplifier to output no more than 2 1 amps of current on the specified axis The controller has been programmed to test whether the Hall commutation order is correct To test the commutation for the X axis issue the BS command BSX n m The controller will attempt to move the motor through one revolution If the motor is unable to move the controller will return unknown Hall transition check wiring and execute BS again It may be necessary to issue more voltage to create motion The default for the BS command is BSn 0 25 1000 which will
43. amplifier the amplifier will never go into this mode during normal operation The amplifier will be shut down regardless of the setting of OE or the presence of the AMPERR routine Bit 0 of TAO will be set Note If this fault occurs it is indicative of a problem at the system level An over current fault is usually due to a short across the motor leads or a short from a motor lead to ground Abort Input Options See Appendix A DMC 21x3 Accessories Chapter 10 20542 63 Chapter 11 SDM 20640 20620 Introduction The SDM 20640 microstepper module drives four bipolar two phase stepper motors with 1 64 microstep resolution the SDM 20620 drives two The current is selectable with options of 0 5 1 0 2 0 amp 3 0 Amps axis Like the DB 28040 the SDM 206x0 family provides for the addition of 8 analog input to the DMC 21x3 The analog inputs accept 10 V input and have a resolution of 12 bits a 16 bit option is available MT 2 MUST BE SET WHEN USING THE SDM 206X0 Figure 32 SDM 20640 shown mounted to a DMC 2143 DIN Electrical Specifications DC Supply Voltage 12 60 VDC Max Drive Current per axis 3 0 Amps selectable with AG command Max Step Frequency 3 MHz microsteps Motor Type Bipolar two phase Switching Frequency 60 kHz Minimum Load Inductance 0 5 mH 64 Chapter 11 SDM 20640 20620 DMC 21x3 Accessories Layout MOTOR 5 PINOUT GALIL Figure 33 SDM 20640 Dimensions Overall Dimensions 6
44. arly eliminated Even one or two bits of noise on the analog signals can result in large disturbances in the position calculation The same system with AFX 12 resulted in the following gains KDX 4 75 KPX 2 0 KIX 2 1 ILX 9 ITX O FAX 0 FVX 0 PLX 2 Figure 7 shows the associated step response 84 Chapter 14 DB 28104 DMC 21x3 Accessories Scopes Eile Edit Graph Terminal Help 1 Scope 2 Scopes I 3 Scopes I 4 Scopes Continuous Scope Primary Data x Vs Time Actual Position Zoom Normal IV Collecting for Secondary Secondary Data x Vs Time Commanded Position Normal Command String IxOHa Stop After Scope Completes Start Collecting Figure 7 AFX 12 step response Example sin cos Encoders RSF Elektronik MSA 670 3 20 um pitch at AFX 12 results in 5 nm position resolution This encoder can be ordered from RSF with a cable that mates directly to the DB 28104 Use cable code UIE www rsf net Renishaw RGH41B30F00A 40 um pitch at AFX 10 result in 40 nm position resolution R Renishaw RGH22B series 20 um pitch at AFX 12 result in 5 nm position resolution www renishaw com client category UKEnglish CAT 1079 shtml DMC 21x3 Accessories Chapter 14 DB 28104 85 Appendix A DB 28104 Dimensions 86 Chapter 14 DB 28104 DMC 21x3 Accessories THIS PAGE LEFT BLANK
45. as part of the machine Galil shall not be liable or responsible for any incidental or consequential damages Contents CONTENTS c 1 CHAPTER T OVERVIEW eec eeesue eeceesees sete vro eeu Vea es scan snos ecol eoo deae Pe IA ae YNN Te VE Pe es Y YNA EON Ere GN a eos 6 INTRODUCTION cn L M 6 DC TO DE OPTION dota cech tette ie tee e e e Y eR sic Ria REE 6 PNOU 4222 6 DC TO DE PASS THROUGH nalen epe DDWY SANE 6 MODULE TYPES grudde re 7 ServoDmesa avatar NN 7 Stepper DIVES a arrested te ote eer eto regiae ard UP eee 7 Non Amplifier Modules sehen Basis need n THUR GYD GTA 7 Cables der st dete ei Re dev et de Y ev etta med 7 CHAPTER 2 5 19900 8 INTRODUCTION rann kledde 8 E T ann 9 se O SSS 9 CONFIGURATIONS An Mn NN te ete e i i dreht CENE 9 3 ICM 20100 R OO 10 INTRODUCTION Meer 10 ir avoir GN WD GN NT Ye 11 PE deren EEE EEE 12 AMPLIFIER ENABLE i un du DU Y eed e Oa hs Rebs Ee Teo de UR dee 14 4 TCM 20105 ii scsisiscsves cssssccssssnsvesessasesssuseoesdsbuesessvesssesjasesssesedessessesesssecesvosuuuesesbsecesveseetsssuseestesasvosaus
46. asees 16 INTRODUCTION kiss Se 16 ELECTRICAL SPECIFICATIONS ccssccccccccsesessscecececsesensssecececeesesaaeeeeececeeeaseeeeececsesaaeceeececseeaseceeececsenssaeeeeeeecseneaasaeees 16 OUT C toe tuetur cs OR ete 17 PINOUT T 18 CONFIGURATIONS FOR ICM 20105 20 Amplifier Enable Circuit iiit Er RR e FYD REPETI Aet cereos AP cite eee YD CyT 20 Opto Isolation Settings s s cerrar erret LU 22 CHAPTER 5 SDM 20240 20242 issssssssscsessevecsssvsvocsesvsiesseonssossusensesseosasocsescoseveasessevtaseosenteassbesteosebestooesiesioseesense 24 INTRODUCTION A xe spe ed equae DG dat e 24 ELECTRICAL SPECIFICATIONS eret veio vene eet ree e eb 24 I roii 25 sedan 26 Matine Connector S re e I e e UE DU e e eU E pee tee e ERU e UE det 26 CONFIGURATIONS FOR SDM 20240 amp 20242 ne mene nne n enne en nennen en enne LI 28 Motor Current Setting o et E pe e SEE e eee Uere o e beo si 26 Low Current Setting IPL itae EE UI 29 ADDITIONAL SETTINGS FOR 20242 30 Protection Circuitry and Error LED gae eto ae
47. ault output JP5 FLT 30 Chapter 5 SDM 20240 20242 DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY DMC 21x3 Accessories Chapter 5 SDM 20240 20242 31 Chapter 6 AMP 20341 Introduction The AMP 20341 contains four linear drives for operating small brush type servo motors The AMP 20341 requires a 12 30 DC Volt input Output power 15 20 W per amplifier or 60 W total The gain of each transconductance linear amplifier is 0 1 A V at 1 A maximum current The typical current loop bandwidth is 4 kHz The AMP 20341 uses 15 pin D sub connectors for encoder and limit connections on each axis and a 25 pin D sub connector for I O connections The AMP 20341 replaces the AMP 20340 which accepted a single voltage supply Figure 16 ICM 20100 left and AMP 20341 right shown mounted with DMC 2183 DIN Electrical Specifications DC Supply Voltage 12 30 bipolar Max Current per axis 1 0 Amps Amplifier gain 0 1 A V Power output per channel 20W Total max power output 60 W 32 Chapter 6 AMP 20341 DMC 21x3 Accessories Layout MOTOR iin iN 0 000 DC POWER CONNECTOR 260000000090 coUOUOGUODOD SAUL MOTION CONTROL EP e 3 611 C st c Mel e c m e e m e e Figure 17 AMP 20341 Hole Dimensions DMC 21x3 Accessories Chapter 6 AMP 20341 33 Pinout Pin J3 4 5 J6 gt Home w aw paw iw
48. e 12 30 VDC Max Drive Current per axis 1 4 Amps jumper settable Max Step Freguency 3 MHz Motor Type Bipolar 2 phase 24 Chapter 5 SDM 20240 20242 DMC 21x3 Accessories Layout DC OR HEATSINK Y ENCODER EEO AA t CURRENT JUMPER zane 2 2 400 ULL HALF STEP F DEFAULT CONFIGURATION JUMPER Drawing Not to Scale For Reference Only Dimensions are in inches Figure 13 SDM 20240 Dimensions Overall Dimensions 4 25 x 3 70 DMC 21x3 Accessories Chapter 5 SDM 20240 20242 25 E Figure 14 SDM 20242 Layout For connector dimensions see SDM 20240 drawing above Pinout J2 Motor Output X 4pin Molex J3 Motor Output Y 4pin Molex 1 XMOA 1 2 XMOA 2 YMOA 3 XMOB 3 YMOB 4 XMOB 4 YMOB 4 Motor Output 7 4pin Molex J5 Motor Output W 4pin Molex 1 ZMOA 1 WMOA 2 ZMOA 2 WMOA 3 ZMOB 3 WMOB 4 ZMOB 4 WMOB 26 Chapter 5 SDM 20240 20242 DMC 21x3 Accessories J6 X axis 9 pin Male D sub 1 Forward limit X 2 Home X 35V 4A X 5B X 6 Reverse limit X 7 Ground 8 A X 9B X J7 Y axis 9 pin Male D sub 1 Forward limit Y 2 Home Y 35V 4 A Y 5B Y 6 Reverse
49. e e o Ed P e p teta 30 ELO Emergency Lock Qut aree Der n dea re e pibe p dece be M pred 30 Fault Output from SDM 20242 oe ree epe eer eset e ed p e i o ah 30 CHAPTER 6 AMP 20341 NN DRODD ASH dd e eS e euo eaa abet ASA OYMA Tene 32 INTRODUCTION ees yD yd FY es a e dee Vie pA el cidit 32 DMC 21x3 Accessories Contents 1 TNTRODUCTION H DHT 36 ELECTRICAL SPECIFICATIONS cro taae ke Mie DI ee ic LE 36 IEAYOUT ae eee EE ee eee cut iie ER 37 38 OVER VOLTAGE PROTECTION danene Eee cote pe 40 OVER CURRENT PROTECTION Ane ee eee ek 40 ABORT INPUT OPTIONS sie ea ke 41 INTRODUCTION hear 50 ise tui im de t db fu cmd etse lepide Aa im inte ELECTRICAL SPECIFICATIONS anw GYD erit drei ee teo eene nto edet et p O atte LAYOUT PINOUT po epe e DB o bon RF eodeni eb Hd ere it FFF Helles RF Matine COTWIeCI TS en Boise ses ette peer ees choke So ese Metro ehe EE eee REIS e MER EUER ERR Aet her OPERATION wi s Brushless Motor Setup Brushless Amplifier Software Setup Br sh Amplifier s eii tre EH AES HERE HD NES RE eor euo dE TER ds Using External Amplifiers ee teet Error Monitoring and Prot ction 3 i ete AA SE REES Hall Error Protection uie seas
50. e encoders or 1 Volt peak peak encoders are becoming increasingly popular due to their cost ease of use and performance Galil Motion Control has developed an interface board for the DMC 21x2 21x3 series motion controllers that give the engineer the ability to close the servo loop around these feedback devices Figure 1 shows the DB 28104 um mr pn Hur nn how u rw ra A i MOTION CONTROL MADE IN USA Figure 1 DB 28104 The DB 28104 can be used in conjunction with any of the Galil amplifier boards In Figure 2 a DMC 2143 is mated to the DB 28104 and an ICM 20100 breakout module 78 Chapter 14 DB 28104 DMC 21x3 Accessories Figure 2 DMC 2143 1CM 201004 DB 28104 Theory of Operation Traditional quadrature rotary encoders work by having two sets of lines inscribed radially around the circumference of an optical disk A light is passed through each of these two sets of lines On the other side of the gratings photo sensors detect the presence or absence of these lines These two sets of lines are offset from each other such that one leads the other by one quarter of a complete cycle as shown in Figure 3 below These signals are commonly referred to as the Channels A and B The direction of rotation of the encoder can be inferred by which of the A and B signals leads the other Each rising or falling edge indicates one quadrature count Thus for a complete cycle of the s
51. e n is 0 1 2 or 3 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format 1 0 Command Line Yes Controller Usage DMC 21x3 with AMP 204x0 AMP 205xx or AMP 206x0 OPERAND USAGE _TAn Contains the Amplifier error status RELATED COMMANDS BR Brush Axis Configuration OH Hall State EXAMPLE TAI 5 Hall Error for Axis A and C When used with the AMP 20440 only bit 0 of TAO will be set for all axes A H DMC 21x3 Accessories Appendix C Command Reference 109 TK 110 Appendix C Command Reference FUNCTION Peak Torque Limit DESPCRITION The TK command sets the peak torque limit on the motor command output and TL sets the continuous torque limit When the average torque is below TL the motor command signal can go up to the TK Peak Torque for a short amount of time If TK is set lower than TL then TL is the maximum command output under all circumstances ARGUMENTS TK n n n n n n n n n is an unsigned number in the range of 0 to 9 99 volts n 0 disables the peak torque limit n returns the value of the peak torque limit for the specified axis USAGE While Moving Yes Default Value 0 0 0 0 0 0 0 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE _ TKn contains the value of the peak torque limit for the specified axis RELATED COMMANDS AG Amplifier Gain TL Torque Limit EXAMPLES TLA 7 Limit A axis to a 7 volt average torque output TKA 9 99 Limit
52. e nene END trente enne terere rennen tenente teen 68 Low Current Setting LC 4 68 ABORT INPUT OPTIONS cov ere case revo ID bake keen ee 68 CHAPTER 12 PCM 20900 eV eei a eo OS SG dnd ec naa rere ve pe eV ero MR y 70 INTRODUCTION se dealer e E EM Y E E re CER Porto ST 70 CHAPTER 13 DB 28040 soi sescssiiecsccssictissesesccceecsessssanseessensecbeseesesssvssnscesssuasseswessastaseeseseacescseubcsseseassoasastasoessscsceossetac 72 72 BEECTRICAT SPECIFICATIONS 72 ur eta FF 73 PINOUT spredd fk mE 74 INTERFACING TO THE DIGIFAET Quinta beret tt pt le ve ete ee ertet e dei 75 16 BIT ANABOGINPUTS mynn A eee tte ee t rerit fete leere vesti eee t tee hei 75 SS vk en hated ek Su E reos sad NC 75 DB 28040 AND AMP 205X0 tt e e e e eue eie bert tee et eee ind ae 75 DB 28040 AND AMP 205x2 OR 20640 nennen eem nennen en nnn n entes ente tnn LL terree Lion 76 CHAPTER 14 28104 78 INTRODUCTION 2 2 er an e ee Pee i e DWG ec 78 THEORY OF OPERA TION nen a ee ve e ont ga ste veut Od E 79 SETTING UP THE ENCODER 5 3 rr tede nn roen Ga See ae a Te B EE ge DWY eo e e eU EUER YF 81 TUNING THE SYSTEM nnp GG zn cee YI vende ded ve PRU RE
53. ely shut down leaving the axes in a free spin state Having the ELO jumper installed is similar to OE1 except that the amplifiers are disabled in hardware rather than firmware WHEN ELO IS INSTALLED OE SHOULD BE SET TO 1 To recover issue MO SH When ELO is active the overcurrent and overvoltage lights will turn on with the AMP 204x0 and AMP 205x0 just the overcurrent light will blink on the SDM 206x0 ELO Scenarios The following tables show the response of the AMP 204x0 205x0 and SDM 206x0 with ELO jumper installed to abort input and over current conditions DMC 2143 with AMP 20540 OE 1 CN 1 ZAMPERR defined Condition input LED state Reaction AMPERR TA Recovery runs Abort J3 pin 6 OC OV disables axes A D yes TA3 MO SH returns 1 A D Over Current OC TAO cc cc returns 1 cc DMC 2143 with SDM 20640 OE 1 CN 1 ZAMPERR defined Condition input LED state Reaction AMPERR TA Recovery runs Abort J3 pin 6 OC blinks disables axes A D yes TA3 MO SH returns 1 A D Over Current OC TAO cc cc returns 1 cc 94 Appendix A Abort Input Options DMC 21x3 Accessories DMC 2183 with two AMP 20440s JP5 OC IN7 both AMP 204405 RECOMMENDED OE 1 AE1 1 CN 1 HAMPERR defined Condition input LED state Reaction AMPERR TAO Recovery runs A D Abort J3 pin 6 OC OV axes A D
54. en Black Gray Black Pink Black Pink Red Pink Blue Pink Green Light Blue Light Blue Black Light Blue Red Light Blue Blue Light Blue Green Gray Red Gray Green Purple Black Blue Black Light Green Black Light Green Red Light Green Blue Light Green Green Light Yellow Light Yellow Black Light Yellow Red 1 Refer to specific amplifier pinout information in the DMC 21x3 Accessories Manual The Cable 15pin xm is used to break out the encoders and hall signals on connector J4 J5 J6 amp J7 of the AMP 205x0 or AMP 20542 This cable consists of a 15 pin High Density Male DSub connector at one end and flying leads at the other end This cable is available in 1 meter or 2 meter lengths designated by the xm portion of the part number For example the part number for the 1 meter length is Cable 15pin 1m This cable has a slick black sheath with part number 0006 0045 REV A SI DMC 21x3 Accessories Chapter 15 Cables for AMP 205x0 20542 and 204x0 91 Fig 4 Cable 15 Part Number For pinout color code information of this cable see Table 4 below Table 4 Cable 15 Pinout Color Code Pin Description Cable Color Stripe Pin Description Cable Color Stripe 1 Index Black 9 Aux A Green 2 Main B Black White 10 Hall U Blue 3 Main A Brown 11 Aux Ar Purple 4 Aux Br Brown White 12 Aux B Silver 5 GND Red 13 Hall V White 6 Index Red White 14 Hall W Pink 0 Main B Orange 1
55. er into brush axis operation by issuing BR n n n n By setting n 1 the controller will operate in brushed mode on that axis For example BR0 1 0 0 sets the Y axis as brush type all others as brushless If an axis is set to brush type the amplifier has no need for the Hall inputs These inputs can subsequently be used as general use inputs queried with the QH command The gain settings for the amplifier are identical for the brush and brushless operation The gain settings can be set to 0 4 0 7 or 1 0 A V represented by gain values of 0 1 and 2 e g AG 0 0 2 1 The current loop gain AU can also be set to either 0 for normal or 1 for high current loop gain Using External Amplifiers The AMP 205x0 breaks out the step direction or amplifier enable motor command signals to control an external servo or stepper amplifier For example a machine might have two axes that use the AMP 20520 and two stepper axes that use external drivers The pulse and direction signals are accessed through the high density 44 pin D sub connector The same connector pins are used to bring out the amplifier enable and motor command line Which signals are brought 52 Chapter 9 AMP 20540 20520 DMC 21x3 Accessories out is set via jumpers see figure below If no jumpers are installed factory default the corresponding pins on the 44 pin connector will be no connects In this example W axis will output the motor command on pin 31 and amplifier enable on pin 16 The
56. eries motion controllers connect with daughterboard modules that mount directly on the motion controller This eliminates the need for a separate cable between the motion controller and the amplifier or breakout module This approach saves the cost of the cable and significantly reduces the real estate required for the controls within a system The DMC 21x3 uses a rugged 96 pin DIN board to board connector to interface the daughter boards with the motion controller The same controller can be ordered with different modules for different system requirements This controller series supports modules ranging from passive breakout modules to 500W per channel brush and brushless servo drives to stepper and microstepper drives Each module breaks out the I O provided by the controller and some of the boards also provide additional I O functions such as analog inputs or optoisolation If you do not find the exact module you are looking for please contact Galil at 800 377 6329 We will work closely with you to create a module that will fit your needs DC to DC Option The DMC 21x3 series controllers can be ordered with an optional DC to DC converter so that a single DC power supply can be used to power the controller as opposed to the standard 5 V and 12 V input This can be ordered as either the DC24 18 36 VDC range or DC48 36 72 VDC range With the DC option a 4 pin molex power connector is provided for DC supply to controller at J99
57. esults in 2 1024 counts per cycle or a resolution of 39 nanometers per count Figure 5 shows a screen capture E DMC Smart Terminal Untitled File Edit Tools View Help but v TPX Eile Edit Goto Debug MG SIN COS 10 BIT INTERPOLATION 000 AFX 10 TP MG SIN COS 12 BIT INTERPOLATION AFX 12 TPX QUADRAT URE POSTION m E j uv ai E Eg B Cursor Coordinate Untitled Status connected with Galil DMC 2112 1 axis controller revision 1 0osinedev Ser 1234 CAP NUM Figure 5 Setting AF command 82 Chapter 14 DB 28104 DMC 21x3 Accessories Once the encoder is shown to provide acceptable feedback with correct polarity set a low torque limit TL Set a reasonable Error Limit ER and enable the Off on Error function OE This ensures that the axis will not be driven unstable once power is applied to the motors Once an axis is controlled using a sinusoidal encoder the maximum allowable speed to 50 000 000 counts sec and acceleration deceleration settings are increased to 10 counts s If the axis 1s controlled in a coordinated move with the VM or LM mode the parameters of the coordinated move VA VD or VS are also increased to the expanded values However it is the responsibility of the user to assure that the speeds on the other axes involved in the coordinated move if not in sinusoidal encoder mode remain within the 12 000 000 counts s limit Tun
58. eversed the controller will return suggestion to the terminal response window regarding the problem and solution After making any necessary changes to the motor phase wiring confirm correct operation by re issuing the BS command Once the axis is wired correctly the controller is ready to perform closed loop motion Brushless Amplifier Software Setup Select the amplifier gain that is appropriate for the motor The amplifier gain command AG can be set to 0 1 or 2 corresponding to 0 1 0 25 and 0 5 A V In addition to the gain peak and continuous torque limits can be set through TK and TL respectively The TK and TL values are entered in volts per axis The peak limit will set the maximum voltage that will be output from the controller to the amplifier The continuous current will set what the maximum average current is over a one second interval As an example if the gain is set to 0 5 A V with a torque limit of 3 TLn 3 this will allow the amplifier to output no more than 1 5 amps of current on the specified axis The user can choose between Inverter AUO or AU1 or Chopper mode 5 or AU1 5 For motors with inductance between 200 and 500 uH use Chopper mode for motors with inductance greater than 500 mH use inverter mode Note that chopper mode inherently has the potential to cause instability at rest depending on tuning and axis characteristics The user can also select between normal AUO or AUO 5 or high current bandwidth AU1
59. f the controller can be configured in banks of 8 The extended I O is denoted as bits 17 80 and banks 2 9 ARGUMENTS COn where n is a decimal value which represents a binary number Each bit of the binary number represents one bank of extended I O When set to 1 the corresponding bank is configured as an output The least significant bit represents bank 2 and the most significant bit represents bank 9 The decimal value can be calculated by the following formula n n 2 ns A n 8 ns 16 ng 32 n 64 ng 128 no where n represents the bank To configure a bank as an output bank substitute a one into that n in the formula If the n value is a zero then the bank of 8 I O points will be configured as an input For example if banks 3 and 4 are to be configured outputs CO 6 is issued Use CO to verify the daughter board is capable of the desired configuration USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage ALL CONTROLLERS WITH I O DAUGHTER BOARD OPERAND USAGE CO returns the extended I O configuration value EXAMPLES CO 255 Configure all points as outputs Configure all points as inputs CO1 Configures bank 1 to outputs on extended I O 106 Appendix C Command Reference DMC 21x3 Accessories LC FUNCTION Low Current Stepper Mode DESCRIPTION Causes the amp enable line for the specified axes to toggle disabling the ste
60. fer to specific amplifier pinout information in the DMC 21x3 Accessories Manual Version 3 Cables purchased from March 2006 onward which are RoHS compliant have a slick black sheath similar to Version 1 The part number on the sheath is 89140 03044 REV S1 Fig 3 Version 3 Cable 44 Part Number 90 Chapter 15 Cables for AMP 205x0 20542 and 204x0 DMC 21x3 Accessories For pinout information of this cable see Table 3 below Table 3 Third Version of Cable 44 Pinout Color Code Pin o I o un 10 11 12 13 14 15 16 17 18 19 20 21 22 Description NC PWMZ Motor Command Z Output 6 Output 8 Output 5 Output 2 Abort Input 6 Input3 LatchZ NC SignY AmpenY CMP RLSX RLSY RLSZ RLSW FLSW NC SignW AmpenW NC SignZ AmpenZ Output7 Output4 Output1 Output3 Input7 Cable Color Stripe Pin Black 23 Brown 24 Red 25 Orange 26 Yellow 27 Green 28 Blue 29 Purple 30 Gray 31 White 32 Pink 33 Light Green 34 Black White 95 Brown White 36 Red White 37 Orange White 38 Green White 39 Blue White 40 Purple White 41 Red Black 42 Orange Black 43 Yellow Black 44 Description Input4 LatchW Inputl LatchX NC PWMX Motor Command X HOMEX HOMEY HOMEZ HOMEW Error NC PWMW Motor Command W 5V 5V GND GND Input8 Input5 Input2 LatchY NC PWMY Motor Command Y NC SignX AmpenX FLSX FLSY FLSZ Reset Cable Color Stripe Gre
61. he table below to 0 5 0 75 1 0 or 1 4 Amps phase Jumpers are also used to control the current level when the motor is holding position and the degree of microstepping The SDM 20242 has additional jumpers for extra functionality The following paragraphs give the details of the jumper settings Motor Current Setting Set the Current Reference jumpers for each axis to determine the maximum peak output current for each motor The axes X Y Z and W apply to jumpers JP4 JP5 and JP6 SDM 20240 or JPX1 JPY1 JPZ1 and JPW1 SDM 20242 respectively Four options are available for each axis 0 5A 0 75A 1 0A and 1 4 A In figure below the X axis is configured for 0 5A the Y axis as 0 75A the Z axis with 1 0 A and the W axis for 1 4 A Note when using the 1 4 A setting a cooling fan or adequate air flow may be required 28 Chapter 5 SDM 20240 20242 DMC 21x3 Accessories XREF YREF ZREF WREF 0 5 o o 75A fo N 1 0 5 3 1 4A JP3 JP4 JP5 JP6 SDM 20240 Figure 15 Current Limit Jumper Configuration Low Current Setting JP1 The LC jumper and associated LC command have three possible configurations for both the SDM 20240 and SDM 20242 LC command set to I and LC jumper ON causes motor to use 25 50 rev A amp B of peak current while at a resting state profiler is not commanding motion This is the recommended configuration to minimize heat generation and power consumption
62. hless trans conductance PWM amplifier The amplifier operates in torque mode and will output a motor current proportional to the command signal input Supply Voltage 18 60 VDC Up to 8 VDC optional Continuous Current 7 Amps Peak Current 10 Amps Nominal Amplifier Gain 0 4 0 7 and 1 0 A V Switching Frequency 60 kHz up to 140 kHz available contact Galil Minimum Load Inductance 0 5 mH low inductance option available Brushless Motor Commutation angle 120 60 option available Layout MOTOR CONNECTORS DC POWER CONNECTOR 7 000 oo C4 es ba 0 089 3 465 Soror JEG oo oooo POWER amp AXIS PINQUT AP o o Oros LOS AMP 20540 ue di STATUS OOVERCURRENT LEDS P DOVERVOLTAGE p 0 AZ R OVERVOLTAGE j THRESHOLD 3M RS 232 JUMPERS HEAT SINK 5 000 ANS ALI 1 0 0 875 EMERGENCY ym SN nat pepe A PWL LOCKOUT iur OM HRN sert ew JUMPER 5 10HALA 15 5V AENZ PN 17 SCN 0 000 GALIL CE Ts 0 661 1 311 0332 3 000 3 368 a ce Cx p gt 3 632 Drawing Not to Scale For Reference Only Dimensions are inches Figure 26 AMP 20540 Dimensions Overall Dimensions 6 92 x 4 85 DMC 21x3 Accessories Chapter 9 AMP 20540 20520 47 Pinout JA X axis 15 pin HD Female D sub 01 I X 02 Br X 03 A X 04 AB X 05 GND 06 I X 07 B X 08 A X 09 AA X 10 Hall X A 11 AA X
63. in Table 1 JX1 X Axis 9 pin Female D sub JZ1 Z Axis 9 pin Female D sub Pin Description Pin Description 1 5 Volt encoder power 1 5 Volt encoder power 2 Index 2 Index 3 MA X 3 MA Z 4 MB X 4 MB Z 5 NC 5 NC 6 Ground 6 Ground 7 Index 7 Index 8 MA X 8 MA Z 9 MB X 9 MB Z JY1 Y Axis 9 pin Female D sub JW1 W Axis 9 pin Female D sub Pin Description Pin Description 1 5 Volt encoder power 1 5 Volt encoder power 2 Index 2 Index 3 MA Y 3 MA W 4 MB Y 4 MB W 5 NC 5 NC 6 Ground 6 Ground 7 Index 7 Index 8 8 MA W 9 MB Y 9 MB W DMC 21x3 Accessories Table 1 Encoder Pinouts Chapter 14 DB 28104 81 After wiring the encoders it is recommended that the system is powered up with the Motor Off jumper installed or the power to the amplifiers disabled Connect to the controller using DMCSmartTerminal or other compatible software Sinusoidal encoder interpolation mode is selected using the AF command AFm where m 0 uses the default quadrature encoder m 1 for standard Analog Feedback DB 28040 or AMP 20540 or SDM 20640 required m 5 to 12 indicates that the sinusoidal encoder input is to be used with 2 interpolation counts per encoder cycle The DB 28104 is required For example if the encoder cycle is 40 microns AF10 r
64. ing the System With high resolution feedback it is very common for the controller to require tuning gains that are numerically low If the tuning gains are very low consider using an amplifier that has lower gain It is almost certain that manual tuning will be required Set up a typical move and capture the position data with the WSDK oscilloscope function For this example the X axis was set up with the following program SETUP AFX 10 SET SINE ENCODER TO 10 BIT INTERPOLATION SPX 1000000 X AXIS SLEW TO 1m COUNTS SEC ACX 1000000 DCX 1000000 SET ACCEL AND DECEL MOVE PRX 1000 MOVE X AXIS FWD 1000 COUNTS BGX AMX BEGIN MOTION AND WAIT FOR COMPLETE WI500 WAIT 500 SAMPLES PRX 0 MOVE X AXIS TO POSITION ZERO BGX AMX BEGIN MOTION AND WAIT FOR COMPLETE WT50O WAIT 500 SAMPLES JPHMOVE LOOP After extensive manual tuning the following parameters were determined KDX 22 5 KPX 6 13 KIX 3 ILX FAX 4 9 ITX 0 0 FVX 1 0 PLX This set of tuning parameters resulted in a step response shown in Figure 6 DMC 21x3 Accessories Chapter 14 DB 28104 83 m Storage Scopes Figure 6 AFX 10 Step Response Close inspection of the step response shows that some overshoot occurred However any attempt to eliminate this overshoot resulted in an overdamped system A second test was run with AFX 12 This highest interpolation requires that the system be wired in such a way that noise is ne
65. interface for the AMP 205x0 The unit also provides optical isolation on digital inputs and outputs to interface with up to 24V I O The first four outputs are high power outputs capable of providing up to 500 mA at up to 24 VDC The ICM 20500 is also available with D type connectors instead of screw terminals order as ICM 20500 DTYPE This provides optical isolation of the I O when using an AMP 205x0 The D type connectors include four 15 pin high density connectors and one 44 pin high density connector The pinout of the 15 pin connectors is the same as the AMP 205x0 The 44 pin connections are the same except for the following four signals Pin 9 Output Supply Pin 25 Input Common INCOM Pin 39 Output Return Pin 40 Limit Switch Common LSCOM Note that the ability to connect to external amplifiers on X and Y is lost when using an ICM 20500 DTYPE XLI i POWER AMP 20540 on 28885 o BOVLIOA H39NVa 000000989000089900008 0060000009080000006080 99098 o ae 00900000080006000 2 SITI TITTET NET e eoeosocoo Figure 21 ICM 20500 shown mounted to a DMC 2143 and AMP 20540 42 Chapter 8 ICM 20500 DMC 21x3 Accessories Electrical Specifications Input Common Max Voltage Output Common Max Voltage Max Drive Current per Output Minimum Current to turn on Inputs Layout 28 VDC 28 VDC 0 5 A outputs 1 4 25 mA outputs 5 8 mA 8 120 REF c
66. ionally a user defined voltage threshold can be set by changing a simple resistor This shunt regulator operates with hysteresis where the regulator switches on at the set voltage threshold and switches off at 2 volts below The shunt regulator should be placed in parallel with the power supply as in the figure below and it should be mounted to a metal surface using thermal grease to aid in heat transfer Connections are made to the unit at VS voltage supply and PG power ground using either the 4 pin Molex connector or the 8 pin Mate N Lock connector AMP 770579 1 For a summary of shunt regulator operation as well as details to help determine if one is required in your system please refer to application note 5448 at http www galilmc com support appnotes miscellaneous note5448 pdf DCPower Supply SR 19900 Shunt Regulator e GND P i N PWM MES i N ystem Load Controller MOCMDx Amplifier Motor K Inertia Se Encoder Figure 1 Shunt Regulator Placement in a Typical Servo System 8 Chapter 2 SR 19900 DMC 21x3 Accessories Layout 0 2185 FROM EDGE OF RESISTOR 5 OHM 20W POWER RESISTOR 1770 Sy 0 138 x4 ea 1 670 je 33v ov IE 03 1 470 usr EE ws SR 19909 PI g HOLE 20 187 U
67. is not applied too soon The DB 28040 can also be ordered to support SSI encoders When using the SSI option for the DB 28040 note that bank 6 bits 49 to 56 are not active Please see Application Note 2438 Galil SSI Encoder Interface for more details DB 28040 and AMP 205x0 DMC 21x3 Accessories Chapter 13 DB 28040 75 The standard DB 28040 is not compatible with an AMP 205x0 however the DB 28040 RA can be ordered to have a special right angle connector installed so that it can connect while the AMP 205x0 is present This option must be ordered at the time the AMP and DMC 21x3 is ordered because both the AMP and DB require modification Order AMP 205x0 DBREADY The eight analog inputs on the AMP become invalid in this configuration Only the eight analog inputs on the DB may be used Figure 37 DMC 2143 DIN with AMP 20540 and DB 28040 DB 28040 and AMP 205x2 or SDM 20640 To use the AMP 205x2 or SDM 20640 with the DB 28040 order AMP 205x2 DBREADY or SDM 20640 DBREADY The standard DB 28040 is used and lays flat on top of the AMP or SDM but the AMP or SDM requires modification The eight analog inputs on the AMP become invalid in this configuration Only the eight analog inputs on the DB may be used 76 Chapter 13 DB 28040 DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY DMC 21x3 Accessories Chapter 13 DB 28040 77 Chapter 14 DB 28104 Introduction A family of feedback devices commonly called Sin Cosin
68. latile memory the BS command does not have to be re issued The configuration is saved by using the burn command BN Note In order to properly conduct the brushless setup the motor must be allowed to move a minimum of one magnetic cycle in both directions ARGUMENTS BSA v n where v is a real number between 0 and 10 v represents the voltage level to be applied to each phase n is a positive integer between 100 or 1000 n represents the duration in milliseconds that voltage should be applied to the motor phases USAGE DEFAULTS While Moving No Default Value of n 0 In a Program Yes Default Value of 200 Command Line Yes Controller Usage ALL CONTROLLERS DMC 21x3 with AMP 205xx EXAMPLES BSC 2 900 Apply set up test to C axis with 2 volts for 900 millisecond on each step Note 1 When using Galil Windows software the timeout must be set to a minimum of 10 seconds timeout 10000 when executing the BS command This allows the software to retrieve all messages returned from the controller Note 2 For a DMC 21x3 with an attached AMP 205x0 the BS command performs an algorithm that verifies the correct motor phase wiring If incorrect the command will recommend the correct motor phase wiring Example BSY Wire A to terminal B wire B to terminal A 104 Appendix C Command Reference DMC 21x3 Accessories CN FUNCTION Configure DESCRIPTION The CN command configures the polarity of the limit switches home swi
69. limit Y 7 Ground 8 9B Y J8 Z axis 9 pin Male D sub Forward limit Z J9 W axis 9 pin Male D sub Forward limit W 2 Home Z 2 Home W 35V 35V 4A Z 4 A W 5B Z 5 B W 6 Reverse limit Z 6 Reverse limit W 7 Ground 7 Ground 8 8 A W 9B Z 9B W J11 I O 25 pin Male D sub 13 NC 1 Ground 14 5V 2 Latch X Input 1 15 Latch Y Input 2 3 Latch Z Input 3 16 Latch W Input 4 4 Input 5 17 Input 6 5 Input 7 18 Input 8 6 Abort 19 Encoder compare output 7 Output 1 20 Output 2 8 Output 3 2 Output 4 9 Output 5 22 Output 6 10 Output 7 23 Output 8 11 Ground 245V 12 Reset 25 Error J1 Power FV 12V 30V 3 V 12V 30V 2 Ground 4 Ground DMC 21x3 Accessories Chapter 5 SDM 20240 20242 27 8 Servo Motor Signals 1 XAEN X Amp Enable 2 XMCM X Motor CMD 3 YAEN Y Amp Enable 4 YMCM Y Motor CMD 5 ZAEN Z Amp Enable 6 ZMCM Z Motor CMD 7 WAEN W Amp Enable 8 WMCM W Motor CMD 9 GND 10 GND Mating Connectors Connector Terminal Pins J1 Power Molex 26 03 4041 Molex 08 50 0189 J2 J5 Motor Leads Molex 22 01 3047 Molex 08 50 0114 Configurations for SDM 20240 amp SDM 20242 The SDM 20240 amp 20242 have jumpers for setting different functions on the amplifier The output current per phase can be set as noted in t
70. ll Amplifier AG Amplifier Gain BS Brushless Setup AW Amplifier Bandwidth EXAMPLE AUI 0 Sets X axis to higher loop gain and Y axis to normal loop gain AUY Query Y axis current loop gain 0 Y axis normal current loop gain DMC 21x3 Accessories Appendix C Command Reference 101 AW FUNCTION Amplifier Bandwidth DESCRIPTION The AW command accepts the drive voltage volts and motor inductance millihenries and uses the current loop gain setting AU as the default and then reports the calculated bandwidth The user can check how the amplifier bandwidth is affected by changing the n parameter If the axis is identified as connected to the AMP 205xx the calculation uses the AMP 205xx transfer function If the axis is connected to the AMP 204x0 then the algorithm uses the AMP 204x0 transfer function ARGUMENTS AWx 1 n where X Axis designator v z Drive voltage in Volts Motor inductance in millihenries n optional current loop gain setting 1 or 0 USAGE DEFAULTS While Moving No Default Value 0 0 0 In a Program Yes Default Format Command Line Yes Controller Usage DMC 21x3 with AMP 204x0 or AMP 205xx RELATED COMMANDS TA Tell Amplifier AG Amplifier Gain BS Brushless Setup EXAMPLE AWY 60 5 0 Sets a 60 volt drive motor with 5 millihenries inductance and normal current loop gain 4525 732 Is the bandwidth in hertz 102 Appendix C Command Reference DMC 21x3 Accessories BR FUNCTION Brush Axis DESCRIP
71. n Molex 1 Earth Ground 5 Ground 2 V 12V 60V 6 Ground 3 V 12V 60V 7 Ground 4 V 12V 60V 8 Ground 66 Chapter 11 SDM 20640 20620 DMC 21x3 Accessories J11 Analog 16 Pin IDC Header Ground 5 Analog In 3 9 Analog In 7 2 Ground 6 Analog In 4 10 Analog In 8 3 Analog In 1 7 Analog In 5 11 Ground 4 Analog In 2 8 Analog In 6 12 Ground 16 Ground 8 External Drive Breakout 10 Pin IDC Header X Amp Enable 2 X Motor Command 3 Y Amp Enable 4 Y Motor Command 5 Z Amp Enable 6 Z Motor Command 7 W Amp Enable 8 W Motor Command 9 Ground 10 Ground Mating Connectors Connector Terminal Pins J1 DC Power 8 pin Mini Universal Connector MATE N LOK AMP 770579 1 AMP 170361 1 JX1 JY1 JZ1 and 4 pin Mini Universal JW1 4 pin Motor MATE N LOK Lead Connector AMP 172167 1 170361 1 DMC 21x3 Accessories Chapter 11 SDM 20640 20620 67 Configurations for SDM 206x0 The AG command sets the current on each axis and the LC command configures each axis s behavior when holding position These commands are detailed below Current Level Setup AG Command AG configures how much current the SDM 206x0 delivers to each motor Four options are available 0 5A 1 0A 2 0A and 3 0Amps Note when using the 3 0A setting a cooling fan or adequate air flow is recommended Drive Current Selection per Axis AG n n
72. n n n n n n n 0 05 n 1 1A default n 2 2A n 3 30A Low Current Setting LC Command LC configures each motor s behavior when holding position when RP is constant and has three possible configurations LC command set to 0 Full Current Mode causes motor to use 100 of peak current AG while at a resting state profiler is not commanding motion This is the default setting LC command set to 1 Low Current Mode causes motor to use 25 of peak current while at a resting state This is the recommended configuration to minimize heat generation and power consumption LC command set to 2 causes motor to use zero current while at a resting state This setting is for a motor off condition at rest Percentage of full AG current used while holding position with LC n n n n n n n n n 0 100 n 1 25 n 2 0 The LC command must be entered after the motor type has been selected for stepper motor operation i e MT 2 2 2 2 LC is axis specific thus LC1 will cause only the X axis to operate in Low Current mode Abort Input Options See Appendix A 68 Chapter 11 SDM 20640 20620 DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY DMC 21x3 Accessories Chapter 11 SDM 20640 20620 69 Chapter 12 PCM 20900 Introduction The PCM 20900 is a module that can be used to facilitate the design of a custom daughter board The module contains the 96 pin connector allowi
73. ng it to connect to the DMC 21x3 The user can then test the operation of circuitry before committing to a daughter board design If you need more information for designing your own daughter board please refer to application note 1232 http www galilmc com support appnotes econo note1232 pdf Please also note that if for some reason the standard daughter boards do not provide the required options you may contact Galil for pricing regarding Galil designed custom daughter boards Figure 34 PCM 20900 70 Chapter 12 PCM 20900 DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY DMC 21x3 Accessories Chapter 12 PCM 20900 71 Chapter 13 DB 28040 Introduction The DB 28040 is an I O daughter board for the DMC 21x2 21x3 series motion controllers Figure 35 DB 28040 Mounted to DMC 2143 DIN Electrical Specifications Standard configuration allows for 8 10 VDC analog inputs and 40 programmable digital IO 3 3V logic The DB 28040 5V option provides up to 24 Open collector outputs that can sink to 5 Volts 3mA In the 5V configuration the first 3 banks of 8 bits may be configured as outputs There is no limitation on the placement of inputs The following tables illustrate the various Input Output combinations DB 28040 Valid I O DB 28040 5V Valid VO Inputs Outputs Inputs Outputs 40 0 40 0 32 8 32 8 24 16 24 16 16 24 16 24 8 32 0 40 N
74. nout information of this cable see Table 2 below Table 2 Second Version of Cable 44 Pinout Color Code Pin o ON OQ tA d 10 11 12 13 14 15 16 17 18 19 20 21 22 Description NC PWMZ Motor Command Z Output 6 Output 8 Output 5 Output 2 Abort Input 6 Input3 LatchZ NC SignY AmpenY CMP RLSX RLSY RLSZ RLSW FLSW NC SignW AmpenW NC SignZ AmpenZ Output7 Output4 Outputl Output3 Input7 Cable Color Stripe Black Black White Brown Brown White Red Red White Red Black Red Purple Orange Orange White Orange Black Orange Purple Yellow Yellow White Yellow Black Yellow Brown Green Green White Green Black Green Purple Dark Blue Dark Blue White Pin 23 24 25 26 27 28 29 30 31 32 35 34 35 36 S 38 39 40 41 42 43 44 Description Input4 LatchW Inputl LatchX NC PWMX Motor Command X HOMEX HOMEY HOMEZ HOMEW Error NC PWMW Motor Command W 5V 5V GND GND Input8 Input5 Input2 LatchY NC PWMY Motor Command Y NC SignX AmpenX FLSX FLSY FLSZ Reset Cable Color Stripe Dark Blue Black Dark Blue Brown Purple Purple White Light Blue Light Blue White Light Blue Black Light Blue Brown Silver Silver White Pink Pink White Pink Black Pink Purple White White Black White Brown White Red White Yellow White Green White Blue White Purple Re
75. oltage under voltage and over current for brush and brushless operation The controller will also monitor for illegal Hall states 000 or 111 with 120 phasing The controller will monitor the error conditions and respond as programmed in the application The errors are monitored via the TA command TA n may be used to monitor the errors with n 0 1 2 or 3 The command will return an eight bit number representing specific conditions TAO will return errors with regard to under voltage over voltage and over current TA1 will return hall errors on the appropriate axes TA2 will monitor if the amplifier 62 Chapter 10 AMP 20542 DMC 21x3 Accessories current exceeds the continuous setting and TA3 will return if the ELO has occurred as a result of a hard abort input The user also has the option to include the special label AMPERR in their program to handle amplifier errors As long as a program is executing in thread zero and the AMPERR label is included the program will jump to the label and execute the user defined routine when an error is detected Note that the TA command is a monitoring function only and does not generate an error condition The over voltage condition will not permanently shut down the amplifier or trigger the HAMPERR routine The amplifier will only be momentarily disabled and when the condition goes away the amplifier will continue normal operation assuming the position error has not exceed the error limit Hall E
76. ote Only the first three I O banks may be configured as outputs 72 Chapter 13 DB 28040 DMC 21x3 Accessories Layout Figure 36 DB 28040 Interconnect Mounting Dimensions Overall Dimensions 3 075 x 2 650 DMC 21x3 Accessories Chapter 13 DB 28040 73 Pinout J1 40 Digital I O 50 Pin IDC Header 1 Bank 4 Bit 40 2 Bank 5 Bit 41 3 Bank 4 Bit 39 4 Bank 5 Bit 42 5 Bank 4 Bit 38 6 Bank 5 Bit 43 7 Bank 4 Bit 37 8 Bank 5 Bit 44 9 Bank 4 Bit 36 10 Bank 5 Bit 45 11 Bank 4 Bit 35 12 Bank 5 Bit 46 13 Bank 4 Bit 34 14 Bank 5 Bit 47 15 Bank 4 Bit 33 16 Bank 5 Bit 48 17 Bank 3 Bit 32 18 Bank 6 Bit 49 19 Bank 3 Bit 31 20 Bank 6 Bit 50 21 Bank 3 Bit 30 22 Bank 6 Bit 51 23 Bank 3 Bit 29 24 Bank 6 Bit 52 25 Bank 3 Bit 28 26 Bank 6 Bit 53 27 Bank 3 Bit 27 28 Bank 6 Bit 54 29 Bank 3 Bit 26 30 Bank 6 Bit 55 31 Bank 3 Bit 25 32 Bank 6 Bit 56 33 Bank 2 Bit 24 34 GND 35 Bank 2 Bit 23 36 GND 37 Bank 2 Bit 22 38 GND 39 Bank 2 Bit 21 40 GND 41 Bank 2 Bit 20 42 GND 43 Bank 2 Bit 19 44 GND 45 Bank 2 Bit 18 46 GND 47 Bank 2 Bit 17 48 GND 495V 50 GND J3 8 Analog Inputs 16 Pin IDC Header 1 GND 2 GND 3 Analog Input
77. polar supply AMP 20420 2 Axis Brush Type 200 Watt Axis PWM Servo Drives AMP 20440 4 Axis Brush Type 200 Watt Axis PWM Servo Drives AMP 20520 2 Axis Brushless Brush 500 Watt Axis PWM Servo Drives AMP 20540 4 Axis Brushless Brush 500 Watt Axis PWM Servo Drives Stepper Drives Part Number Description SDM 20240 4 Axis 2 Phase Full Half Step Stepper Motor Drive SDM 20620 2 Axis 2 Phase Micro Stepper Motor Drive SDM 20640 4 Axis 2 Phase Micro Stepper Motor Drive Non Amplifier Modules Part Number Description ICM 20100 4 Axis Breakout to D Shell Connectors ICM 20105 4 Axis Breakout to D Shell Connectors with opto isolated I O DB 28040 Additional Configurable I O and 8 Dedicated Analog Inputs DB 28104 Accepts Sin Cos Encoder Feedback PCM 20900 Breadboard Module to Aid Design of Customer Daughter Boards SR 19900 Shunt Regulator Cables Part Number Description 15 pin high density D sub cable with 1 m flying leads AMP 204x0 and AMP 205x0 44 pin high density D sub cable with 1 m flying leads AMP 204x0 and CABLE 44 1m AMP 205x0 CABLE 15 1m DMC 21x3 Accessories Chapter 1 Overview 7 Chapter 2 SR 19900 Introduction For applications requiring a shunt regulator Galil offers a small mountable model that can be configured for varying voltage levels Two fixed voltage threshold settings are available with jumpers which can be set at either 33 or 66 volts Addit
78. pper drives when the respective axes stop profiler holding position Each axis is handled individually with either full 2596 or no current at rest This will reduce current consumption but there will be low or no holding torque at rest The MT command must be issued prior to the LC command ARGUMENTS LC n n n n n n n n where n 0 Normal stepper drive always on n 1 Low current stepper mode 25 holding current n 2 current stepper mode 0 holding current AMP 206x0 only n Returns whether the axis is in low current stepper mode Low Current Setting Current LC n n n n n n n n AMP 20240 AMP 206x0 External Drive n 0 100 n 1 0 n 2 0 LC function for SDM 20240 requires jumper installation at JP1 USAGE DEFAULTS While Moving Yes Default Value 0 In a Program Yes Default Format 1 0 Command Line Yes Controller Usage ALL CONTROLLERS EXAMPLES MTZ 2 Specify stepper mode for the z axis LCZ 1 Specify low current mode for the z axis DMC 21x3 Accessories Appendix C Command Reference 107 QH FUNCTION Hall State DESCRIPTION The QH command transmits the state of the Hall sensor inputs The value is decimal and represents an 8 bit value Bit Status 07 Undefined set to 0 06 Undefined set to 0 05 Undefined set to 0 04 Undefined set to 0 03 Undefined set to 0 02 Hall State 01 Hall B State 00 Hall A State ARGUMENTS QHn returns the Hall
79. program is executing program execution will call the subroutine at the ZAMPERR label ARGUMENTS AE non where n 0 Disables input 7 as amp error status bit Axes 1 4 n 1 Enables Input 7 as amp error status bit Axes 1 4 n Returns the value of the amplifier error Axes 1 4 m 0 Disables input 15 as amp error status bit Axes 5 8 m 1 Enables Input 15 as amp error status bit Axes 5 8 m Returns the value of the amplifier error Axes 5 8 USAGE DEFAULTS While Moving Yes Default Value In a Program Yes Default Format Command Line Yes Controller Usage DMC 21x3 with AMP 20440 or DMC 2000 2100 or 2200 with AMP 19540 with 7 IN jumper installed RELATED COMMANDS TA Tell Amplifier EXAMPLE AEI Enables input 7 as the AMP 20440 amp error input DMC 21x3 Accessories Appendix C Command Reference 99 AG FUNCTION Amplifier Gain DESCRIPTION The AG command sets the amplifier current voltage gain for the AMP 205xx and the current level for the AMP 206x0 0 sets the lowest ratio or value while 2 sets the highest ratio for the 205xx and 3 sets the highest current value for the 206x0 AG is stored in EEPROM by the BN command The MT command must be issued prior to the AG command to set the proper range The axis must be in the motor off state MO before new AG settings will take effect ARGUMENTS AG n n n n n n n n where 100 Appendix C Command Reference AMP 205x0 n 0 0 4 n 1 07A V n 2 1 0A V AMP 20542 n 0 0 1
80. quare wave there are a total of four encoder counts DMC 21x3 Accessories Chapter 14 DB 28104 79 Channel A Channel B Figure 3 Guadrature Encoder Signals A sinusoidal encoder is similar to a quadrature encoder in that it produces two signals that are read from two sets of lines inscribed on an optical disk The difference is that the two signals are output as analog sinusoidal waves as shown in Figure 4 Figure 4 Sinusoidal Encoder Signals When the motion controller is mated to the DB 28104 the position is tracked on two levels First the number of coarse cycles is counted much like is done with a quadrature encoder On the fine level the precise position inside the cycle is determined from the two sinusoidal signals using bit wise interpolation This interpolation can be set by the user in the range of 2 through 2 points per sinusoidal cycle 80 Chapter 14 DB 28104 DMC 21x3 Accessories The unique position within one cycle can be read using the following equation Fine Zu tan Ny 360 V a The overall position can be determined using Position Coarse cycles 2 Fine where n is the number of bits of resolution that were used in the conversion Coarse cycles is the whole number of cycles counted Fine is the interpolated position within one cycle V and V are the two signals as indicated in Figure 4 Setting up the Encoder Each axis uses a 9 pin female connector The pinout is described
81. rops below 66 V This error is monitored with bit 1 of the TAO command This protection is configurable to activate at 34V and re enable at 33V by placing a jumper onto JP5 Over Current Protection The amplifier also has circuitry to protect against over current If the total current from the supply exceeds 40 A the amplifier will be disabled The amplifier will not be re enabled until the SH command has been sent or the controller is reset Since the AMP 20540 is a trans conductance amplifier the amplifier will never go into this mode during normal operation The amplifier will be shut down regardless of the setting of OE or the presence of the AMPERR routine Bit 0 of TAO will be set Note If this fault occurs it is indicative of a problem at the system level An over current fault is usually due to a short across the motor leads or a short from a motor lead to ground Over Temperature Protection The controller is also equipped with over temperature protection If the average heat sink temperature rises over 110 C then the amplifier will shut down Bit 2 of TAO will be set The amplifier will re enable when the temperature drops below 110 C This error will trigger the AMPERR routine if included and the user may decide whether to disable the amplifier 54 Chapter 9 AMP 20540 20520 DMC 21x3 Accessories Abort Input Options See Appendix A DMC 21x3 Accessories Chapter 9 AMP 20540 20520 55 Chapter 10 AMP 20542 Introd
82. rotection The AMP 204x0 is protected against over voltage If the supply voltage to the amplifier exceeds 69 V the over voltage protection will take effect The yellow over voltage LED will be lit on the amplifier until the voltage drops below 66 V It is possible to get into this condition if the power supply voltage is too high or if the voltage level is raised due to regeneration If you have very high inertial loads which may cause regeneration you may consider using a shunt regulator such as the SR 19900 supplied by Galil Another important issue to consider is the level of the over voltage protection You should set the shunt regulator at a voltage level which will still allow for proper operation of the power supply Note that if you are using the DC24 option from Galil the DC DC converter is capable of receiving voltages up to 36 V If you need a shunt regulator you should set the device to limit the voltage to a value less than 36 V If you are using the DC48 option the voltage should be limited to 66 V and it is recommended that you use a supply of 60V or less Over Current Protection The controller also has protection against over current Over current will cause the amplifier to be disabled and can be enabled again from the controller by issuing the MO and then SH command If you see that the red over current LED is lit on the amplifier there is a problem with either your system or the amplifier The most likely reason is because
83. rror Protection During normal operation the controller should not have any Hall errors Hall errors can be caused by a faulty Hall effect sensor or a noisy environment If at any time the Halls are in an invalid state the appropriate bit of TA1 will be set The state of the Hall inputs can also be monitored through the QH command Hall errors will cause the amplifier to be disabled 1f OE 1 is set and will cause the controller to enter the ZAMPERR subroutine if it is included in a running program Under Voltage Protection If the supply to the amplifier drops below 8 VDC the amplifier will be disabled The amplifier will return to normal operation once the supply is raised above the 12V threshold Bit 3 of the error status TA0 will tell the user whether the supply is in the acceptable range Over Voltage Protection If the supply to the amplifier rises above 68 VDC then the amplifier will automatically disable The amplifier will re enable when the supply drops below 66 V This error is monitored with bit 1 of the TAO command This protection is configurable to activate at 34V and re enable at 33V by placing a jumper onto JP10 Over Current Protection The amplifier also has circuitry to protect against over current If the total current from the supply exceeds 20A the amplifier will be disabled The amplifier will not be re enabled until the SH command has been sent or the controller is reset Since the AMP 20542 is a trans conductance
84. tate of the amplifier enable output The polarity of RPAE2 must not be changed however a different resistor value may be needed to limit the current to 6 mA The default value for RPAE2 is 820 ohms which works at SV When using 24 V should be replaced with a 4 7 resistor pack Amplifier Enable Circuit Sinking Output Configuration Pin 1 of PS2505 in Pin 2 of Socket U1 Socket U1 Pin 1 of socket Amp Enable Output to Drive 5 1 470 RPAE2 820 Ohm 5 JP1 PIN 1 e AEC1 Pin 1 5V or GND a U N GND 5V 412V AECOM2 TTL level Amp Enable signal from controller 303026 AEC2 SH 5V MO 0V PS2505 4 Figure 8 Amplifier Enable Circuit Output Configuration Sinking Configuration pin1 of PS2505 chip in pin2 of socket U1 RPAE1 Logic State JP1 JP2 square pin next to RPAEI label is 5V 5V HAEN Default Configuration 5V AECI GND AEC2 Dot on R pack next to RPAEI label 5V LAEN 5V AECI GND AEC2 Dot on R pack opposite RPAEI label 12V HAEN 12V AECI GND AEC2 Dot on R pack next to RPAEI label 12V LAEN 12V AECI GND AEC2 Dot on R pack opposite RPAEI label Isolated 24 HAEN AECOMI AECI AECOM2 AEC2 Dot on R pack next to RPAEI label Isolated 24V LAEN AECOMI AECI AECOM2 AEC2 Dot on R pack opposite
85. tches latch inputs the selective abort function and the program status after a hard abort ARGUMENTS CN m n o p q where m n o are integers with values 1 or 1 p q are 0 or 1 m Limit switches active high n 1 Home switch configured to drive motor in forward direction when input is high See HM and FE commands 1 Home switch configured to drive motor in reverse direction when input is high See HM and FE commands 1 Configures inputs 5 6 7 8 13 14 15 16 as selective abort inputs for axes A B C D E F G and H respectively Inputs 5 6 7 8 13 14 15 16 are configured as general use inputs we 1 Abort input will not terminate program execution Pf Abort input will terminate program execution USAGE DEFAULTS While Moving Yes Default Value 1 1 1 0 0 In a Program Yes Default Format 2 0 Command Line Yes Controller Usage ALL CONTROLLERS OPERAND USAGE CNO Contains the limit switch configuration _CN1 Contains the home switch configuration CN2 Contains the latch input configuration _CN3 Contains the state of the selective abort function 1 enabled 0 disabled _CN4 Contains the configuration of program execution upon hard abort input EXAMPLES CN 1 Sets limit and home switches to active high CN 1 Sets input latch active low DMC 21x3 Accessories Appendix C Command Reference 105 CO FUNCTION Configure Extended I O DESCRIPTION The CO command configures the extended I O The 64 extended I O points o
86. te the user defined routine Note that the TA command is a monitoring function only and does not generate an error condition The over voltage condition will not permanently shut down the amplifier or trigger the AMPERR routine The amplifier will be momentarily disabled when the condition goes away the amplifier will continue normal operation assuming it did not cause the position error to exceed the error limit Hall Error Protection During normal operation the controller should not have any Hall errors Hall errors can be caused by a faulty Hall effect sensor or a noisy environment If at any time the Halls are in an invalid state the appropriate bit of TA1 will be set The state of the Hall inputs can also be monitored through the QH command Hall errors will cause the amplifier to be disabled 1f OE 1 is set and will cause the controller to enter the AMPERR subroutine if it is included in a running program DMC 21x3 Accessories Chapter 9 20540 20520 53 Under Voltage Protection If the supply to the amplifier drops below 12 VDC the amplifier will be disabled The amplifier will return to normal operation once the supply is raised above the 12V threshold bit 3 of the error status TA0 will tell the user whether the supply is in the acceptable range Over Voltage Protection If the voltage supply to the amplifier rises above 68 VDC then the amplifier will automatically disable The amplifier will re enable when the supply d
87. tion In this figure the continuous limit was configured for 2 volts and the peak limit was configured for 10 volts DMC 21x3 Accessories Chapter 9 AMP 20540 20520 51 Storage Scope Zoom 078 016 005 797 Figure 27 Peak Current Operation DMC 2143 and AMP 20540 With the AMP 20540 and 20520 the user is also given the ability to choose between normal and high current bandwidth AU In addition the user can calculate what the bandwidth of the current loop is for their specific combination AW To select normal current loop gain for the X axis and high current loop gain for the Y axis issue AU 0 1 The command AW is used to calculate the bandwidth of the amplifier using the basic amplifier parameters To calculate the bandwidth for the X axis issue AWX v l n where v represents the DC voltage input to the card 1 represents the inductance of the motor in millihenries and n represents 0 or 1 for the AU setting Note For most applications unless the motor has more than 5 mH of inductance with a 24V supply or 10 mH of inductance with a 48 volts supply the normal current loop bandwidth option should be chosen AW will return the current loop bandwidth in Hertz Brush Amplifier Operation The AMP 20540 and AMP 20520 also allow for brush operation To configure an axis for brush type operation connect the 2 motor leads to Phase A and Phase B connections for the axis Connect the encoders homes and limits as required Set the controll
88. tor pack allows the user to connect their own resistor to the desired voltage level Up to24V SERVO MOTOR GE AMPENX Fi 7407 Open Collector Buffer The Enable Analog Switch signal can be inverted ADG202AKN by using 2 7406 Figure 5 ICM 20100 Amplifier Enable Circuit 14 Chapter 3 ICM 20100 DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY DMC 21x3 Accessories Chapter 3 ICM 20100 15 Chapter 4 ICM 20105 Introduction The ICM 20105 opto isolated I O module are used with DMC 21x3 controllers It has four 15 pin Male D Sub connectors for individual axis signals There is one 37 pin D Sub for the 8 digital inputs 8 high side drive 500 mA digital outputs home switches limit switches and one 25 pin D Sub for 4 axes of auxiliary encoders Figure 6 ICM 20105 shown mounted to a DMC 2143 Electrical Specifications Input Common Max Voltage Output Common Max Voltage Max Drive Current per Output Minimum Current to turn on Inputs Max Enable Current 24V 16 Chapter 4 ICM 20105 28 VDC 30 VDC 0 5 A not to exceed 3A for all 8 outputs mA source 25 mA DMC 21x3 Accessories AEC JUMPER DEFAULT 5V HAEN SINKING
89. uction The AMP 20542 is a four axis PWM servo amplifier designed for direct plug in to the DMC 21x3 motion controller It requires a single input DC power supply of 18 60V is capable of handling up to 200 W continuous per axis and is rated at 3 3A continuous 5A peak The axes are individually software configurable for brush or brushless operation as are the axes gains of 0 1 0 25 or 0 5 A V There are two software configurable modes of operation to suit low inductance motors These modes are Inverter for motors with 500 uH or greater inductance and Chopper for motors with 200 500 uH inductance configured by the AU command The amplifier cannot be used with controllers other than the DMC 21x3 Figure 29 AMP 20542 PWM Servo Amplifier 56 Chapter 10 AMP 20542 DMC 21x3 Accessories Electrical Specifications The amplifier is a brush brushless PWM amplifier The amplifier operates in torque mode and will output a motor current proportional to the command signal input Supply Voltage 18 60 VDC Continuous Current 3 3 Amps Peak Current 5 Amps Nominal Amplifier Gain 0 1 0 25 and 0 5 A V Switching Frequency 60 kHz Minimum Load Inductance 0 2 or 0 5 mH software configurable Brushless Motor Commutation angle 120 Layout 6 820 REF DC POWER CONNECTOR MOTOR CONNECTORS DT AMP STATUS LEDS RS 232 JUMPERS 0 099 EMERGENCY LOCKOLIT JUMPER 4 900 0 887 0 845 REF 1 425 2 300 2 978 3 411
90. versal MATE N LOK 172167 1 AMP 170361 1 60 Chapter 10 AMP 20542 DMC 21x3 Accessories Operation Brushless Motor Setup Note If you purchased a Galil motor with the amplifier it is ready for use No additional setup is necessary To begin the setup of a brushless motor it is first necessary to have communications with the motion controller Refer to the user manual supplied with your controller for questions regarding controller communications Connect the encoders and motor leads to the amplifier then configure the controller and amplifier in software This first involves taking all appropriate safety precautions For example set a small error limit ER 1000 low torque limit TL 3 and set off on Error to 1 for all axes OE 1 Review the command reference and controller user manual for further details Now it is safe to power the amplifier The controller has been programmed to test whether the Hall commutation order is correct To test the commutation for the X axis issue the BS command The default for the BS command is BSn 0 25 1000 which will send 0 25 volts to the amplifier for 1 second BSX 0 5 300 will Issue 0 5 volts from the controller for 300 milliseconds on the X axis It may be necessary to Issue more voltage to create motion The controller will attempt to move the motor through one revolution If the motor is unable to move hall transitions are not correct or the feedback polarity is r

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