External Amplifier Interface
External Stepper Control
The controller provides step and direction (STPn, DIRn) outputs for every axis available on the controller. Step and
direction outputs need to be wired with respect to digital ground (GND). See the MT command for more details.
Step and Direction Electrical Specifications
Output Voltage 0 – 5 VDC
Current Output 20 mA Sink/Source
External Servo Control
The DMC-41x3 command voltage ranges between ±10V and is output on the motor command line - MCMn (where
n is A-H). This signal, along with GND, provides the input to the motor amplifiers. The amplifiers must be sized to
drive the motors and load. For best performance, the amplifiers should be configured for a torque (current) mode
of operation with no additional compensation. The gain should be set such that a 10 volt input results in the
maximum required current.
Motor Command Line Electrical Specifications
Output Voltage ±10 VDC
Motor Command Output Impedance 500 Ω
The standard configuration of the amplifier enable signal is external voltage with active high amp enable (HAEN)
sinking. In other words, the AEN signal will be high when the controller expects the amplifier to be enabled. The
polarity and the amplitude can be changed by configuring the Amplifier Enable Circuit on the DMC-41x3.
NOTE: Many amplifiers designate the enable input as ‘inhibit’.
Amplifier Enable
This section describes how to configure the DMC-41x3 for different Amplifier Enable configurations.
The default configuration of the amplifier enable signal is external voltage with active high amp enable (HAEN)
sinking. In other words, the AEN signal will be high when the controller expects the amplifier to be enabled.
The DMC-41x3 is designed to be easily interfaced to multiple amplifier manufactures. As a result, the amplifier
enable circuit for each axis is individually configurable through jumper settings. The user can choose between
High-Amp-Enable (HAEN), Low-Amp-Enable (LAEN), 5V logic, 12V logic, external voltage supplies up to 24V, sinking,
or sourcing. The different configurations are described below with jumper settings and a basic schematics of the
circuit.
Chapter 3 Connecting Hardware ▫ 33 DMC-41x3 User Manual
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