16 • Chapter 2 Getting Started DMC-1000
W Encoder Z Encoder Y Encoder X Encoder
Pin 1
Pin 2
Screw Terminals
DC Servo Motor
-
(Typically Black Connector)
+
(Typically Red Connector)
red wire
black wire
+
-
CPS Power Supply
GND
ACMDX
Encoder Wires
GND (104)
XI- (82)
XB+ (79)
XA+ (77)
XA- (78)
XB- (80)
XI+ (81)
+5V (103)
Encoder Wire Connections
Encoder: ICM-1100:
Channel A(+) XA+
Channel B(+) XB+
Channel A- XA-
Channel B- XB-
Index Pulse XI+
Index Pulse - XI-
ICM-1100
J2
J3
J5
J4
Encoder
AENX
Signal Gnd 2
MSA 12-80
Motor - 2
Motor + 1
High Volt 5
Power Gnd 4
+Ref In 4
Inhibit* 11
Figure 2-3 System Connections with a separate amplifier (MSA 12-80). This diagram shows the connections for a
standard DC Servo Motor and encoder.
Step 7b. Connect Step Motors
In Stepper Motor operation, the pulse output signal has a 50% duty cycle. Step motors operate open
loop and do not require encoder feedback. When a stepper is used, the auxiliary encoder for the
corresponding axis is unavailable for an external connection. If an encoder is used for position
feedback, connect the encoder to the main encoder input corresponding to that axis. The commanded
position of the stepper can be interrogated with RP or DE. The encoder position can be interrogated
with TP.
The frequency of the step motor pulses can be smoothed with the filter parameter, KS. The KS
parameter has a range between 0.5 and 8, where 8 implies the largest amount of smoothing. See
Command Reference regarding KS.
The DMC-1000 profiler commands the step motor amplifier. All DMC-1000 motion commands apply
such as PR, PA, VP, CR and JG. The acceleration, deceleration, slew speed and smoothing are also
used. Since step motors run open-loop, the PID filter does not function and the position error is not
generated.
To connect step motors with the DMC-1000 you must follow this procedure:
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