Galil DMC-13X8 user manual Contents

Contents
Using This Manual	2
Chapter 1 Overview	9
Introduction	9
Overview of Motor Types	9
Standard Servo Motor with +/- 10 Volt Command Signal	10
Brushless Servo Motor with Sinusoidal Commutation	10
Stepper Motor with Step and Direction Signals	10
DMC-13X8 Functional Elements	10
Microcomputer Section	11
Motor Interface	11
Communication	11
General I/O	11
System Elements	12
Motor	12
Amplifier (Driver)	12
Encoder	13
Watch Dog Timer	13
Chapter 2 Getting Started	15
The DMC-13X8 Motion Controller	15
Elements You Need	16
Installing the DMC-13X8	17
Step 1. Determine Overall Motor Configuration	17
Step 2. Install Jumpers on the DMC-13X8	18
Step 3. Install the DMC-13X8 in the VME Host	19
Step 4. Establish Communication with the Galil controller	19
Step 5. Determine the Axes to be Used for Sinusoidal Commutation	19
Step 6. Make Connections to Amplifier and Encoder	20
Step 7a. Connect Standard Servo Motors	22
Step 7b. Connect Sinusoidal Commutation Motors	26
Step 7C. Connect Step Motors	29
Step 8. Tune the Servo System	29
Design Examples	30
Example 1 - System Set-up	30
Example 2 - Profiled Move	31
Example 3 - Multiple Axes	31
Example 4 - Independent Moves	31
Example 5 - Position Interrogation	31
Example 6 - Absolute Position	32
Example 7 - Velocity Control	32
Example 8 - Operation Under Torque Limit	33
Example 9 - Interrogation	33
Example 10 - Operation in the Buffer Mode	33
Example 11 - Using the On-Board Editor	33

USER MANUAL Contents • 3