Galil DMC-13X8 user manual Contents

USER MANUAL Contents • 3
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