Galil Motion Control DMC-40 0 Series User Manual

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The 6 commands used for set up are the BA, BM, BX, BZ, BC and BI commands. Please see the command reference
for details. Further information on setting up commutation on the AMP-43540 can also be found here:
http://www.galilmc.com/techtalk/drives/wiring-a-brushless-motor-for-galils-sine-amplifier/
1. Issue the BA command to specify which axis you want to use the sinusoidal amplifier on
2. Calculate the number of encoder counts per magnetic cycle. For example, in a rotary motor that has 2 pole
pairs and 10,000 counts per revolution, the number of encoder counts per magnetic cycle would be 10,000/2
= 5000. Assign this value to BM
3. Issue either the BZ or BX command. Either the BX or BZ command must be executed on every reset or power-
up of the controller.
• BZ Command:
Issue the BZ command to lock the motor into a phase. Note that this will cause up to ½ a magnetic cycle of
motion. Be sure to use a high enough value with BZ to ensure the motor is locked into phase properly.
• BX Command:
Issue the BX command. The BX command utilizes a minimal movement algorithm in order to determine the
correct commutation of the motor.
Setting Amplifier Gain and Current Loop Gain
The AG command will set the amplifier gain (Amps/Volt), and the AU command will set the current loop gain for
the AMP-43540. The current loop gain will need to be set based upon the bus voltage and inductance of the motor
and is critical in providing the best possible performance of the system.
AG command:
The AMP-43540 has 3 amplifier gain settings. The gain is set with the AG command as shown in Table A4.23 for AG
n=m:
AG setting
Gain Value
m = 0
0.4 A/V
m = 1
0.8 A/V
m = 2
1.6 A/V
Table A4.23: Amplifier Gain Settings for AMP-43540
The axis must be in a motor off (MO) state prior to execution of the AG command. With an amplifier gain of 2
(1.6A/V) the maximum motor command output is limited to 5V (TL of 5).
AU command:
Proper configuration of the AU command is essential to optimum operation of the AMP-43540. This command sets
the gain for the current loop on the amplifier. The goal is to set the gain as high as possible without causing the
current loop to go unstable. In most cases AU 0 should not be used. Table A4.24 indicates the recommended
AUn=m settings for 24 and 48 VDC power supplies.
To set the AU command, put the axis in a motor off (MO) state, set the preferred AG setting, and then set the AU
setting. To verify that the current loop is stable, set the PID's to 0 (KP, KD and KI) and then enable the axis (SH). An
unstable current loop will result in oscillations of the motor or a high frequency “buzz” from the motor.
A4 – AMP-435x0 (-D3540,-D3520) ▫ 231 DMC-40x0 User Manual

Galil Motion Control DMC-40 0 Series Specifications

General

Brand	Galil Motion Control
Model	DMC-40 0 Series
Category	Controller
Language	English