Galil Motion Control DMC-1000 - Page 13

vi • Contents DMC-1000
Connector Description of the DB-10072.................................................................165
DB-10096 I/O Expansion ......................................................................................................168
Pinouts for DB-10096 Connectors.........................................................................................169
J1 Pinout..................................................................................................................169
J2 Pinout..................................................................................................................170
Coordinated Motion - Mathematical Analysis.......................................................................171
DMC-600/DMC-1000 Comparison.......................................................................................174
DMC-600/DMC-1000 Command Comparison.......................................................175
DMC-600/DMC-1000 Pin-out Conversion Table...................................................178
List of Other Publications......................................................................................................180
Contacting Us ........................................................................................................................180
WARRANTY ........................................................................................................................181
Using This Manual ....................................................................................................................ii
Chapter 1 Overview 1
Introduction................................................................................................................................1
Overview of Motor Types..........................................................................................................1
Standard Servo Motors with +/- 10 Volt Command Signal ........................................2
Stepper Motor with Step and Direction Signals..........................................................2
DMC-1000 Functional Elements...............................................................................................2
Microcomputer Section ...............................................................................................3
Motor Interface............................................................................................................3
Communication ...........................................................................................................3
General I/O..................................................................................................................3
System Elements..........................................................................................................3
Motor...........................................................................................................................4
Amplifier (Driver) .......................................................................................................4
Encoder........................................................................................................................4
Watch Dog Timer........................................................................................................4
Chapter 2 Getting Started 5
The DMC-1000 Motion Controller............................................................................................5
Elements You Need...................................................................................................................6
Installing the DMC-1000...........................................................................................................7
Step 1. Determine Overall Motor Configuration.........................................................7
Step 2. Configure Jumpers on the DMC-1000............................................................7
Step 3. Install the DMC-1000 in the Computer...........................................................8
Step 4. Install Communications Software ...................................................................9
Step 5. Establish Communications with Galil Communication Software ...................9
Changing the I/O Address of the Controller..............................................................10
Step 6. Connect Amplifiers and Encoders.................................................................11
Step 7a. Connect Standard Servo Motors..................................................................13
Step 7b. Connect Step Motors...................................................................................16
Step 8. Tune the Servo System..................................................................................17
Design Examples .....................................................................................................................18
Example 1 - System Set-up .......................................................................................18
Example 2 - Profiled Move .......................................................................................18
Example 3 - Multiple Axes........................................................................................18
Example 4 - Independent Moves...............................................................................19
Example 5 - Position Interrogation............................................................................19
Example 6 - Absolute Position..................................................................................19
Example 7 - Velocity Control....................................................................................20
Example 8 - Operation Under Torque Limit .............................................................20
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