If you are not properly communicating with the controller, the program will pause for 3-15 seconds and an error
message will be displayed. In this case, there is most likely an incorrect setting of the serial communications port or
the serial cable is not connected properly. The user must ensure that the correct communication port and baud rate
are specified when attempting to communicate with the controller. Please note that the serial port on the controller
must be set for handshake mode for proper communication with Galil software. The user must also insure that a
“straight-through” serial cable is being used (NOT a Null Modem cable), see appendix for pin-out of serial cable.
Using Non-Galil Communication Software
The DMC-40x0 main serial port is configured as DATASET. Your computer or terminal must be configured as a
DATATERM for full duplex, no parity, 8 data bits, one start bit and one stop bit.
Check to insure that the baud rate jumpers have been set to the desired baud rate as described above.
Your computer needs to be configured as a "dumb" terminal which sends ASCII characters as they are typed to the
DMC-40x0.
Sending Test Commands to the Terminal:
After you connect your terminal, press <return> or the <enter> key on your keyboard. In response to carriage return
<return>, the controller responds with a colon, :
Now type
TPA <return>
This command directs the controller to return the current position of the A axis. The controller should respond with
a number such as
:0
Step 6. Determine the Axes to be Used for Sinusoidal Commutation
* This step is only required when the controller will be used to control a brushless motor(s) with sinusoidal
commutation.
The command, BA is used to select the axes of sinusoidal commutation. For example, BAAC sets A and C as axes
with sinusoidal commutation.
Notes on Configuring Sinusoidal Commutation:
The command, BA, reconfigures the controller such that it 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 be a DMC-4030 controller. In this case the highest axis is no longer available except to be used
for the 2
nd
phase of the sinusoidal commutation. Note that the highest axis on a controller can never be configured
for sinusoidal commutation.
The DAC associated with the selected axis represents the first phase. The second phase uses the highest available
DAC. When more than one axis is configured for sinusoidal commutation, the controller will assign the second
phases to the DACs which have been made available through the axes reconfiguration. The highest sinusoidal
commutation axis will be assigned to the highest available DAC and the lowest sinusoidal commutation axis will be
assigned to the lowest available DAC. Note that the lowest axis is the A axis and the highest axis is the highest
available axis for which the controller has been configured.
Example: Sinusoidal Commutation Configuration using a DMC-4070
BAAC
This command causes the controller to be reconfigured as a DMC-4050 controller. The A and C axes are configured
for sinusoidal commutation. The first phase of the A axis will be the motor command A signal. The second phase
Chapter 2 Getting Started • 17 DMC-40x0 User Manual
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