Motor-Amplifier, Voltage Drive, Current Drive

Motor-Amplifier

The motor amplifier may be configured in three modes:

1.Voltage Drive

2.Current Drive

3.Velocity Loop

The operation and modeling in the three modes is as follows:

Voltage Drive

The amplifier is a voltage source with a gain of Kv [V/V]. The transfer function relating the input voltage, V, to the motor position, P, is

PV = KV [Kt S(STm + 1)(STe + 1)]

where		K 2
T	= RJ	K 2	[s]
m		t
and
Te	= L R		[s]

and the motor parameters and units are

Torque constant [Nm/A]

Armature Resistance Ω

Combined inertia of motor and load [kg.m2] Armature Inductance [H]

When the motor parameters are given in English units, it is necessary to convert the quantities to MKS units. For example, consider a motor with the parameters:

Kt = 14.16 oz - in/A = 0.1 Nm/A

R = 2 Ω

J = 0.0283 oz-in-s2= 2.10-4kg . m2

L = 0.004H

Then the corresponding time constants are

Tm = 0.04 sec

and

Te = 0.002 sec

Assuming that the amplifier gain is Kv = 4, the resulting transfer function is

P/V = 40/[s(0.04s+1)(0.002s+1)]

Current Drive

The current drive generates a current I, which is proportional to the input voltage, V, with a gain of Ka. The resulting transfer function in this case is

P/V = Ka Kt / Js2

where Kt and J are as defined previously. For example, a current amplifier with Ka = 2 A/V with the motor described by the previous example will have the transfer function:

DMC-1700/1800

Chapter 10 Theory of Operation • 189

DMC-1800, DMC-1700 specifications

The Galil DMC-1700 and DMC-1800 are advanced motion controllers widely recognized for their high performance and versatility in the automation and robotics industries. These controllers are designed to meet the demands of complex motion control applications, providing users with enhanced features and innovative technologies that optimize motion precision and efficiency.

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Both models leverage Galil's powerful programming interface, which simplifies the development of motion control applications. The DMC-1700 and DMC-1800 controllers utilize a high-level programming language that supports advanced motion commands, including linear interpolation, circular interpolation, and complex motion profiles. This feature allows users to implement sophisticated motion sequences seamlessly.

In terms of connectivity, the Galil DMC series offers multiple communication options, including Ethernet, RS-232, and CAN bus, ensuring compatibility with various hardware and enabling easy integration into existing systems. The controllers also come equipped with digital and analog I/O ports, providing flexibility for sensor feedback and actuator control.

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Another notable characteristic of these motion controllers is their compact design, which offers space-saving advantages while maintaining high processing power. Their robust construction and ability to operate in challenging environments make them suitable for a wide range of industrial applications, from CNC machining to assembly lines.

In conclusion, the Galil DMC-1700 and DMC-1800 motion controllers stand out due to their high-performance capabilities, advanced programming features, and flexibility in connectivity. With their ability to handle complex motion control tasks efficiently, these controllers are invaluable tools for engineers and manufacturers looking to enhance their automation processes. By integrating Galil's innovative motion control technology, industries can achieve greater precision, speed, and reliability in their operational workflows.

Galil DMC-1700, DMC-1800 user manual Motor-Amplifier, Voltage Drive, Current Drive, = 2 Ω, = 0.004H

Models: DMC-1800 DMC-1700