Galil user manual Pin-Out Description for DMC-13X8, Pwm/Step Out

Pin-Out Description for DMC-13X8

Outputs
Analog Motor Command	+/- 10 Volt range signal for driving amplifier. In servo mode, motor
	command output is updated at the controller sample rate. In the motor
	off mode, this output is held at the OF command level.
Amp Enable	Signal to disable and enable an amplifier. Amp Enable goes low on
	Abort and OE1.
PWM/STEP OUT	PWM/STEP OUT is used for directly driving power bridges for DC
	servo motors or for driving step motor amplifiers. For servo motors: If
	you are using a conventional amplifier that accepts a +/-10 Volt analog
	signal, this pin is not used and should be left open. The switching
	frequency is 16.7 kHz. The PWM output is available in two formats:
	Inverter and Sign Magnitude. In the Inverter mode, the PWM signal is
	.2% duty cycle for full negative voltage, 50% for 0 Voltage and 99.8%
	for full positive voltage. In the Sign Magnitude Mode (Jumper SM),
	the PWM signal is 0% for 0 Voltage, 99.6% for full voltage and the
	sign of the Motor Command is available at the sign output.
PWM/STEP OUT	For stepmotors: The STEP OUT pin produces a series of pulses for
	input to a step motor driver. The pulses may either be low or high.
	The pulse width is 50%. Upon Reset, the output will be low if the SM
	jumper is on. If the SM jumper is not on, the output will be Tristate.
Sign/Direction	Used with PWM signal to give the sign of the motor command for
	servo amplifiers or direction for step motors.
Error	The signal goes low when the position error on any axis exceeds the
	value specified by the error limit command, ER.
Output 1-Output 8	These 8 TTL outputs are uncommitted and may be designated by the
	user to toggle relays and trigger external events. The output lines are
	toggled by Set Bit, SB, and Clear Bit, CB, instructions. The OP
	instruction is used to define the state of all the bits of the Output port.
Inputs
Encoder, A+, B+	Position feedback from incremental encoder with two channels in
	quadrature, CHA and CHB. The encoder may be analog or TTL. Any
	resolution encoder may be used as long as the maximum frequency
	does not exceed 12,000,000 quadrature states/sec. The controller
	performs quadrature decoding of the encoder signals resulting in a
	resolution of quadrature counts (4 x encoder cycles). Note: Encoders
	that produce outputs in the format of pulses and direction may also be
	used by inputting the pulses into CHA and direction into Channel B
	and using the CE command to configure this mode.
Encoder Index, I+	Once-Per-Revolution encoder pulse. Used in Homing sequence or Find
	Index command to define home on an encoder index.
Encoder, A-, B-, I-	Differential inputs from encoder. May be input along with CHA, CHB
	for noise immunity of encoder signals. The CHA- and CHB- inputs are
	optional.
Auxiliary Encoder, Aux A+,	Inputs for additional encoder. Used when an encoder on both the motor
Aux B+, Aux I+, Aux A-, Aux and the load is required. Not available on axes configured for step
B-, Aux I-	motors.

Appendices • 174 USER MANUAL