Galil DMC-4040 - Default Chapter; Table of Contents

Contents
Contents iii
Chapter 1 Overview 1
Introduction ................................................................................................................... 1
Overview of Motor Types ............................................................................................. 2
Standard Servo Motor with +/- 10 Volt Command Signal ....... 2
Brushless Servo Motor with Sinusoidal Commutation ............. 2
Stepper Motor with Step and Direction Signals ....................... 2
Overview of External Amplifiers .................................................................................. 3
Amplifiers in Current Mode ...................................................... 3
Amplifiers in Velocity Mode .................................................... 3
Stepper Motor Amplifiers ......................................................... 3
Overview of Galil Amplifiers and Drivers ................................................................... 3
A1 – AMP-430x0 (-D3040, -D3020) ........................................ 3
A2 – AMP-43140 (-D3140) ...................................................... 3
A3 – SDM-44040 (-D4040) ...................................................... 3
A4 – SDM-44140 (-D4140) ...................................................... 3
DMC-40x0 Functional Elements .................................................................................. 4
Microcomputer Section ............................................................. 4
Motor Interface ......................................................................... 4
Communication ......................................................................... 4
General I/O ................................................................................ 4
System Elements ....................................................................... 5
Motor ......................................................................................... 5
Amplifier (Driver) ..................................................................... 5
Encoder ..................................................................................... 6
Watch Dog Timer ..................................................................... 6
Chapter 2 Getting Started 7
DMC-4040 Layout ........................................................................................................ 7
DMC-4080 Layout ........................................................................................................ 8
DMC-40x0 Power Connections .................................................................................... 9
DMC-4040 Dimensions ................................................................................................ 10
DMC-4080 Dimensions ................................................................................................ 11
Elements You Need ...................................................................................................... 12
Installing the DMC-40x0 .............................................................................................. 13
Step 1. Determine Overall Motor Configuration ...................... 13
Step 2. Install Jumpers on the DMC-40x0 ................................ 14
Step 3. Install the Communications Software ........................... 14
Step 4. Connect 20-80VDC Power to the Controller ................ 15
Step 5. Establish Communications with Galil Software ........... 15
Step 6. Determine the Axes to be Used for Sinusoidal Commutation .......................................................... 17
Step 7. Make Connections to Amplifier and Encoder. ............. 18
Step 8a. Connect Standard Servo Motors ................................. 19
Step 8b. Connect Sinusoidal Commutation Motors .................. 21
Step 8c. Connect Step Motors ................................................... 24
Step 9. Tune the Servo System ................................................. 24
Design Examples .......................................................................................................... 25
Example 1 - System Set-up ....................................................... 25
Example 2 - Profiled Move ....................................................... 25
DMC-40x0 Contents • ii