Installing the DMC-40x0
Installation of a complete, operational DMC-40x0 system consists of 9 steps.
Step 1. Determine overall motor configuration.
Step 2. Install Jumpers on the DMC-40x0.
Step 3. Install the communications software.
Step 4. Connect DC power to controller.
Step 5. Establish communications with the Galil Communication Software.
Step 6. Determine the Axes to be used for sinusoidal commutation.
Step 7. Make connections to amplifier and encoder.
Step 8a. Connect standard servo motors.
Step 8b. Connect sinusoidal commutation motors
Step 8c. Connect step motors.
Step 9. Tune the servo system
Step 1. Determine Overall Motor Configuration
Before setting up the motion control system, the user must determine the desired motor configuration. The DMC-
40x0 can control any combination of standard servo motors, sinusoidally commutated brushless motors, and stepper
motors. Other types of actuators, such as hydraulics can also be controlled, please consult Galil.
The following configuration information is necessary to determine the proper motor configuration:
Standard Servo Motor Operation:
Unless ordered with stepper motor drivers or in a non-standard configuration, the DMC-40x0 has been setup by the
factory for standard servo motor operation providing an analog command signal of +/- 10V. No hardware or
software configuration is required for standard servo motor operation.
Sinusoidal Commutation:
Sinusoidal commutation is configured through a single software command, BA. This configuration causes the
controller to reconfigure the number of available control axes.
Each sinusoidally commutated motor requires two DACs. In standard servo operation, the DMC-40x0 has one DAC
per axis. In order to have the additional DAC for sinusoidal commutation, the controller must be designated as
having one additional axis for each sinusoidal commutation axis. For example, to control two standard servo axes
and one axis of sinusoidal commutation, the controller will require a total of four DACs and the controller must be a
DMC-4040.
Sinusoidal commutation is configured with the command, BA. For example, BAA sets the A axis to be sinusoidally
commutated. The second DAC for the sinusoidal signal will be the highest available DAC on the controller. For
example: Using a DMC-4040, the command BAA will configure the A axis to be the main sinusoidal signal and the
'D' axis to be the second sinusoidal signal.
The BA command also reconfigures the controller to indicate that the controller has one less axis of 'standard'
control for each axis of sinusoidal commutation. For example, if the command BAA is given to a DMC-4040
controller, the controller will be re-configured to a DMC-4030 controller. By definition, a DMC-4030 controls 3
axes: A,B and C. The 'D' axis is no longer available since the output DAC is being used for sinusoidal commutation.
Further instruction for sinusoidal commutation connections are discussed in Step 6.
Chapter 2 Getting Started • 13 DMC-40x0 User Manual
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