Galil DMC-2X00 - Page 8

Extended I/O of the DMC-2x00 Controller ...........................................................................162
Configuring the I/O of the DMC-2x00....................................................................162
Saving the State of the Outputs in Non-Volatile Memory....................................... 163
Accessing Extended I/O ..........................................................................................163
Interfacing to Grayhill or OPTO-22 G4PB24 .........................................................164
Example Applications............................................................................................................164
Wire Cutter..............................................................................................................164
A-B Table Controller...............................................................................................165
Speed Control by Joystick ....................................................................................... 167
Position Control by Joystick.................................................................................... 168
Backlash Compensation by Sampled Dual-Loop .................................................... 168
Chapter 8 Hardware & Software Protection 171
Introduction ...........................................................................................................................171
Hardware Protection ..............................................................................................................171
Output Protection Lines...........................................................................................171
Input Protection Lines ............................................................................................. 172
Software Protection ...............................................................................................................172
Programmable Position Limits ................................................................................ 173
Off-On-Error ........................................................................................................... 173
Automatic Error Routine .........................................................................................173
Limit Switch Routine ..............................................................................................174
Chapter 9 Troubleshooting 175
Overview ............................................................................................................................... 175
Installation ............................................................................................................................. 175
Communication......................................................................................................................176
Stability.................................................................................................................................. 176
Operation ............................................................................................................................... 176
Chapter 10 Theory of Operation 177
Overview ............................................................................................................................... 177
Operation of Closed-Loop Systems.......................................................................................179
System Modeling...................................................................................................................180
Motor-Amplifier......................................................................................................181
Encoder....................................................................................................................183
DAC ........................................................................................................................ 184
Digital Filter ............................................................................................................ 184
ZOH.........................................................................................................................185
System Analysis.....................................................................................................................186
System Design and Compensation.........................................................................................188
The Analytical Method............................................................................................ 188
Appendices 191
Electrical Specifications ........................................................................................................ 191
Servo Control ..........................................................................................................191
Stepper Control........................................................................................................191
Input / Output .......................................................................................................... 191
Power....................................................................................................................... 192
Performance Specifications ................................................................................................... 192
Minimum Servo Loop Update Time: ......................................................................192
Fast Update Rate Mode .........................................................................................................193
Connectors for DMC-2x00 Main Board ................................................................................ 194
vi • Contents DMC-2X00