Step 3b. Configure DIP switches on the DMC-2100................................................. 17
Step 3c. Configure DIP switches on the DMC-2200................................................. 17
Step 4. Install the Communications Software............................................................ 18
Step 5. Connect AC Power to the Controller.............................................................18
Step 6. Establish Communications with Galil Software............................................19
Step 7. Determine the Axes to be Used for Sinusoidal Commutation.......................21
Step 8. Make Connections to Amplifier and Encoder. .............................................. 22
Step 9a. Connect Standard Servo Motors..................................................................24
Step 9b. Connect Sinusoidal Commutation Motors...................................................27
Step 9c. Connect Step Motors ...................................................................................30
Step 10. Tune the Servo System................................................................................30
Design Examples ..................................................................................................................... 31
System Set-up............................................................................................................31
Profiled Move............................................................................................................ 32
Multiple Axes ............................................................................................................ 32
Objective: Move the four axes independently. .......................................................... 32
Independent Moves ...................................................................................................32
The motion parameters may be specified independently as illustrated below...........32
Position Interrogation ................................................................................................32
The position error, which is the difference between the commanded position and the
actual position can be interrogated with the instruction TE. ..................................... 33
Absolute Position ......................................................................................................33
Velocity Control ........................................................................................................33
Operation Under Torque Limit.................................................................................. 34
Interrogation .............................................................................................................. 34
Operation in the Buffer Mode ...................................................................................34
Using the On-Board Editor........................................................................................ 34
Motion Programs with Loops .................................................................................... 35
Motion Programs with Trippoints .............................................................................35
Control Variables ...................................................................................................... 36
Linear Interpolation ...................................................................................................36
Circular Interpolation ................................................................................................37
Chapter 3 Connecting Hardware 39
Overview ................................................................................................................................. 39
Using Optoisolated Inputs .......................................................................................................39
Limit Switch Input.....................................................................................................39
Home Switch Input.................................................................................................... 40
Abort Input ................................................................................................................ 40
Reset Input.................................................................................................................41
Uncommitted Digital Inputs ......................................................................................41
Wiring the Opto-Isolated Inputs ..............................................................................................41
The Opto-Isolation Common Point ........................................................................... 41
Using an Isolated Power Supply................................................................................ 42
Bypassing the Opto-Isolation: ...................................................................................43
Analog Inputs ..........................................................................................................................43
Amplifier Interface ..................................................................................................................43
TTL Inputs...............................................................................................................................44
The Auxiliary Encoder Inputs ...................................................................................44
TTL Outputs ............................................................................................................................45
General Use Outputs..................................................................................................45
Output Compare ........................................................................................................45
Error Output ..............................................................................................................46
Extended I/O of the DMC-2x00 Controller .............................................................................46
ii • Contents DMC-2X00
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