Step 2a. Wiring Motors to Galil's Internal Amplifiers
If an external amplifier is being used, proceed to Step 2b. Connecting External Amplifiers and Motors. Table 2.2
below provides a general overview of the connections required for connecting different types of motors to Galil
internal amplifiers.
Motor Type Required Connections
Brushless servo motor • Power to controller and internal amplifier
• Motor power leads to internal amplifiers
• Encoder feedback
• Hall sensors (Optional for sinusoidal amplifiers)
Brushed servo motor • Power to controller and internal amplifier
• Motor power leads to internal amplifiers
• Encoder feedback
Stepper motor • Power to controller and internal drive
• Motor power leads to internal drive
• Encoder feedback (optional)
Table 2.2: Synopsis of connections required to connect a motor to Galil's internal amplifiers
Table 2.3 lists each of Galil's internal amplifiers and where to find pin-outs of the amplifier connections and
electrical specifications. The commutation method and whether hall sensors are required are also listed.
Amplifier Commutation Hall Sensors Required
A1 – AMP-430x0 (-D3040,-D3020), pg 185 Trapezoidal or Brushed Required for brushless motors
A2 – AMP-43140 (-D3140), pg 193 Brushed No
A3 – AMP-43240 (-D3240), pg 183 Trapezoidal or Brushed Required for brushless motors
A4 – AMP-43540 (-D3540, -D3520), pg 202 Sinusoidal or Brushed Optional for brushless motors
A5 – AMP-43547 (-D3547, -D3527), pg 209 Sinusoidal, Stepper, or Brushed Optional for brushless motors
A6 – AMP-43640 (-D3640), pg 217 Sinusoidal Optional for brushless motors
A7 – SDM-44040 (-D4040,-D4020), pg 223 N/A, Stepper No
A8 – SDM-44140 (-D4140), pg 227 N/A, Stepper No
Table 2.3: Amplifier documentation location, commutation method(s), and hall sensor requirements for each internal amplifier.
Pin-outs for the hall sensor inputs can be found here:
Jn1 - Encoder 26 pin HD D-Sub Connector (Female), pg 176
Chapter 2 Getting Started ▫ 14 DMC-41x3 User Manual
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