DMC-1000 Contents • v
Chapter 10 Theory of Operation 131
Overview ...............................................................................................................................131
Operation of Closed-Loop Systems.......................................................................................133
System Modeling...................................................................................................................134
Motor-Amplifier......................................................................................................135
Encoder....................................................................................................................137
DAC ........................................................................................................................138
Digital Filter ............................................................................................................138
ZOH.........................................................................................................................138
System Analysis.....................................................................................................................139
System Design and Compensation ........................................................................................141
The Analytical Method............................................................................................141
Appendices 145
Electrical Specifications ........................................................................................................145
Servo Control ..........................................................................................................145
Stepper Control .......................................................................................................145
Input/Output ............................................................................................................145
Power.......................................................................................................................145
Performance Specifications ...................................................................................................146
Connectors for DMC-1000 Main Board................................................................................146
J2 - Main (60 pin IDC)............................................................................................146
J5 - General I/O (26 pin IDC) .................................................................................147
J3 - Aux Encoder (20 pin IDC)...............................................................................148
J4 - Driver (20 pin IDC)..........................................................................................148
J6 - Daughter Board Connector (60 pin )................................................................148
J7 - 10 pin................................................................................................................148
Connectors for Auxiliary Board (Axes E,F,G,H)..................................................................148
JD2 - Main (60 pin IDC).........................................................................................148
JD5 - I/O (26 pin IDC)...........................................................................................149
JD3 - 20 pin IDC - Auxiliary Encoders...................................................................150
JD4 - 20 pin IDC - Amplifiers.................................................................................150
JD6 - Daughterboard Connector (60 pin)................................................................150
Pin-Out Description for DMC-1000......................................................................................151
Jumper Description for DMC-1000.......................................................................................153
Dip Switch Settings ...............................................................................................................153
Offset Adjustments for DMC-1000.......................................................................................153
Accessories and Options........................................................................................................154
Dip Switch Address Settings.................................................................................................155
PC/AT Interrupts and Their Vectors......................................................................................158
ICM-1100 Interconnect Module............................................................................................158
AMP/ICM-1100 CONNECTIONS .......................................................................................159
J2 - Main (60 pin IDC)............................................................................................162
J3 - Aux Encoder (20 pin IDC)...............................................................................162
J4 - Driver (20 pin IDC)..........................................................................................162
J5 - General I/O (26 pin IDC) .................................................................................162
Connectors are the same as described in section entitled “Connectors for DMC-1000
Main Board”. see pg. 146........................................................................................162
JX6, JY6, JZ6, JW6 - Encoder Input (10 pin IDC).................................................162
ICM-1100 Drawing ...............................................................................................................163
AMP-11x0 Mating Power Amplifiers ...................................................................................164
DB-10072 OPTO-22 Expansion Option................................................................................164
Configuring the I/O for the DB-10072....................................................................164
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