Step C. Connect the command signals
The DMC-41x3 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) and direction (0-5V toggling line), this is referred to as step/dir for short.
The pin-outs for the command signals can be found here:
Jn1 - Encoder 26 pin HD D-Sub Connector (Female), pg 176
See External Amplifier Interface, pg 33 for full electrical specifications.
Step D. Issue the appropriate configuration commands
The Motor Type (MT) command is used to configure each axis for a stepper or servo motor. The Configure Encoder
(CE) command is used to configure the encoder for each axis.
Step 3. Power the Controller
WARNING
Exercise caution with the application of this equipment. Only qualified individuals should attempt to
install, set up, and operate this equipment. Never open the controller box when DC power is applied.
Table 2.5 below shows which power connectors are required for powering the system based upon the options
ordered. If multiple options are ordered, multiple power connections will be required. Different options may effect
which connections and what bus voltages are appropriate. If using an internal amplifier, the ISCNTL – Isolate
Controller Power, pg 168 option will require multiple connections, one to power the controller board and another
to power the amplifiers. If using two banks of amplifiers, the ISAMP – Isolation of power between each AMP
amplifier, pg 171 option will require that the amplifiers are powered independently.
Options Ordered
Controller Power Connector
(2-pin Molex on side)
AMP/SDM Power Connector,
Axis A-D
(6- or 4-pin Molex)
AMP/SDM Power Connector,
Axis E-H
(6- or 4-pin Molex)
None X
ISCNTL
1
X
AMP/SDM
Axis A-D
X
AMP/SDM
Axis E-H
X
ISAMP
2
X X
Table 2.5: Available power connectors based upon options ordered
1
If the ISCNTL option is ordered with an amplifier, the supplies that power the controller and amplifier need to share the same ground.
2
If the ISAMP option is not ordered, the amplifiers are sharing power. Their bus voltages and grounds must be from the same source to
prevent damage to the controller and amplifiers.
WARNING
Controller or amplifier power should never be plugged in HOT. Always power down the power supply
before installing or removing power connector(s) to/from controller or amplifier.
Chapter 2 Getting Started ▫ 16 DMC-41x3 User Manual
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