ICM-42000 External Driver (A-D) 44 pin HD D-Sub Connector (Male), pg 266
ICM-42000 External Driver (E-H) 44 pin HD D-Sub Connector (Male), pg 266
ICM-42100
ICM-42100 External Driver (A-D) 44 pin HD D-Sub Connector (Male), pg 270
ICM-42100 External Driver (E-H) 44 pin HD D-Sub Connector (Male), pg 270
ICM-42200
ICM-42200 Encoder 26 pin HD D-Sub Connector (Female), pg 277
For full electrical specifications and wiring diagrams refer to:
External Amplifier Interface, pg 43
ICM-42000 and ICM-42100 Amplifier Enable Circuit, pg 44
ICM-42200 Amplifier Enable Circuit, pg 46
For re-configuring the ICM-42000/ICM-42100 for a different amplifier enable option, see:
Configuring the Amplifier Enable Circuit, pg 196
Once the amplifier enable signal is correctly wired , issuing a MO will disable the amplifier and an SH will
enable it.
Step C. Connect the Encoders (optional for stepper systems)
See Step 6. Connecting Encoder Feedback, pg 19.
Step D. Connect the Command Signals
The DMC-40x0 has two ways of controlling amplifiers:
1. Using a motor command line (±10V analog output)
The motor and the amplifier may be configured in torque or velocity mode. In the torque mode, the
amplifier gain should be such that a 10V signal generates the maximum required current. In the
velocity mode, a command signal of 10V should run the motor at the maximum required speed.
2. Using step (0-5V, PWM) and direction (0-5V toggling line), this is referred to as step/dir for short.
Some external amplifiers may require the use of differential step/direction or motor command lines. These are
available upon ordering the (STEP) and (DIFF) options, respectively. See DIFF – Differential analog motor
command outputs, pg 188 and STEP – Differential step and direction outputs, pg 188 for more details.
Pin-outs for the command signals are found under the ICM being used:
The full list of ICM pin-outs are provided in Step B, above.
For full electrical specifications refer to:
External Amplifier Interface, pg 43
To configure the command signal type and other configuration commands see Table 2.16 below for a brief
synopsis. For a full list of configuration commands see the Command Reference.
Step E. Issue the appropriate configuration Commands
Chapter 2 Getting Started â–« 31 DMC-40x0 User Manual
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