Galil DMC-1510 User Manual

DMC-1500 Contents • v
Backlash Compensation by Sampled Dual-Loop....................................................123
Chapter 8 Hardware & Software Protection 126
Introduction ...........................................................................................................................126
Hardware Protection..............................................................................................................126
Output Protection Lines...........................................................................................126
Input Protection Lines.............................................................................................126
Software Protection ...............................................................................................................127
Programmable Position Limits................................................................................127
Off-On-Error ...........................................................................................................127
Automatic Error Routine.........................................................................................128
Limit Switch Routine ..............................................................................................128
Chapter 9 Troubleshooting
130
Overview ...............................................................................................................................130
Installation .............................................................................................................................130
Communication......................................................................................................................131
Stability..................................................................................................................................131
Operation...............................................................................................................................131
Chapter 10 Theory of Operation 132
Overview ...............................................................................................................................132
Operation of Closed-Loop Systems.......................................................................................134
System Modeling...................................................................................................................135
Motor-Amplifier......................................................................................................136
Encoder....................................................................................................................138
DAC ........................................................................................................................139
Digital Filter ............................................................................................................139
ZOH.........................................................................................................................139
System Analysis.....................................................................................................................140
System Design and Compensation ........................................................................................142
The Analytical Method............................................................................................142
Appendices
146
Electrical Specifications ........................................................................................................146
Servo Control ..........................................................................................................146
Stepper Control .......................................................................................................146
Input/Output............................................................................................................146
Power.......................................................................................................................147
Performance Specifications ...................................................................................................147
Card Level Layout.................................................................................................................148
Connectors for DMC-1500 Main Board................................................................................149
J2 - Main (60 pin IDC)............................................................................................149
J5 - General I/O (26 pin IDC) .................................................................................150
J3 - Aux Encoder (20 pin IDC)...............................................................................150
J4 - Driver (20 pin IDC)..........................................................................................151
J6 - Daughter Board Connector (60 pin )................................................................151
J7 - 10 pin................................................................................................................151
Connectors for Auxiliary Board (Axes E,F,G,H)..................................................................152
JD2 - Main (60 pin IDC).........................................................................................152
JD5 - I/O (26 pin IDC)...........................................................................................153
JD3 - 20 pin IDC - Auxiliary Encoders...................................................................153

Galil DMC-1510 Specifications

General

Brand	Galil
Model	DMC-1510
Category	Controller
Language	English