Step A. Connect the encoder feedback (optional for steppers)
See Step 6. Connecting Encoder Feedback, pg 19.
Step B. Connect the motor power leads and halls (if required) to the internal amplifiers
Table 2.9 lists each of Galil's internal amplifiers and where to find documentation for pin-outs of the
amplifier connections and electrical specifications. In addition it describes the commutation method
and whether halls are required.
Amplifier Commutation Halls Required
A1 – AMP-430x0 (-D3040,-D3020), pg 213 Trapezoidal Halls required for brushless motors
A2 – AMP-43140 (-D3140), pg 219 Brushed No
A3 – AMP-43240 (-D3240), pg 222 Trapezoidal Halls required for brushless motors
A4 – AMP-435x0 (-D3540,-D3520), pg 228 Sinusoidal Halls optional for brushless motors
A5 – AMP-43640 (-D3640), pg 235 Sinusoidal Halls optional for brushless motors
A6 – AMP-43740 (-D3740), pg 241 Sinusoidal Halls optional for brushless motors
A7 – SDM-440x0 (-D4040,-D4020), pg 247 N/A, stepper No
A8 – SDM-44140 (-D4140), pg 251 N/A, stepper No
Table 2.9: Amplifier documentation location, commutation, and hall requirements for each internal amplifier.
Pin-outs for the hall signals is found under the ICM being used:
ICM-42000
ICM-42000 Encoder 15 pin HD D-Sub Connector (Female), pg 267
ICM-42100
ICM-42100 Encoder 15 pin HD D-Sub Connector (Female), pg 271
ICM-42200
ICM-42200 Encoder 26 pin HD D-Sub Connector (Female), pg 277
NOTE
If wiring 3-phased, brushless motors:
Skip to the additional instructions provided in Step 8a. Commutation of 3-
phased Brushless Motors, pg 24 to find proper commutation.
Step C. Issue the appropriate configuration commands
Table 2.10 provides a brief list of configuration commands that may need to be set depending on your motor
type and motor specifications.
Chapter 2 Getting Started â–« 23 DMC-40x0 User Manual
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