USER MANUAL Contents • 7
Off-On-Error........................................................................................................... 151
Automatic Error Routine.........................................................................................151
Limit Switch Routine.............................................................................................. 151
Chapter 9 Troubleshooting 153
Overview............................................................................................................................... 153
Installation............................................................................................................................. 153
Communication......................................................................................................................154
Stability..................................................................................................................................155
Operation............................................................................................................................... 155
Chapter 10 Theory of Operation 157
Overview............................................................................................................................... 157
Operation of Closed-Loop Systems.......................................................................................159
System Modeling...................................................................................................................160
Motor-Amplifier......................................................................................................161
Encoder....................................................................................................................163
DAC........................................................................................................................ 164
Digital Filter............................................................................................................ 164
ZOH.........................................................................................................................165
System Analysis.....................................................................................................................165
System Design and Compensation.........................................................................................167
The Analytical Method............................................................................................167
Appendices 171
Electrical Specifications........................................................................................................ 171
Servo Control.......................................................................................................... 171
Stepper Control........................................................................................................171
Input/Output............................................................................................................ 171
Power.......................................................................................................................172
Performance Specifications................................................................................................... 172
Connectors for DMC-13X8 Main Board............................................................................... 173
Pin-Out Description for DMC-13X8.....................................................................................174
Accessories and Options........................................................................................................175
ICM-1900 Interconnect Module............................................................................................ 176
ICM-1900 Drawing............................................................................................................... 180
AMP-19X0 Mating Power Amplifiers...................................................................................180
ICM-2900 Interconnect Module............................................................................................ 181
Opto-Isolated Outputs ICM-1900 / ICM-2900 (-Opto option)..............................................184
Standard Opto-isolation and High Current Opto-isolation:.....................................184
64 Extended I/O of the DMC-13X8 Controller..................................................................... 184
Configuring the I/O of the DMC-13X8...................................................................185
Connector Description:............................................................................................186
IOM-1964 Opto-Isolation Module for Extended I/O Controllers..........................................189
Description:............................................................................................................. 189
Overview................................................................................................................. 190
Configuring Hardware Banks..................................................................................190
Digital Inputs...........................................................................................................191
High Power Digital Outputs....................................................................................193
Standard Digital Outputs.........................................................................................194
Electrical Specifications..........................................................................................195
Relevant DMC Commands......................................................................................196
Screw Terminal Listing...........................................................................................196
Coordinated Motion - Mathematical Analysis.......................................................................198