Galil DMC-1800 Sending Test Commands to the Terminal, Notes on Configuring Sinusoidal Commutation

If there are communication problems, the program will pause for 3-15 seconds. The top of the dialog box will display the message “Status: not connected with Galil motion controller” and the following error will appear: “STOP - Unable to establish communication with the Galil controller. A time-out occurred while waiting for a response from the Galil controller.”

If this error occurs in Windows NT 4, the most likely cause is an address conflict in the computer. If the default of address 1000 causes a conflict, Galil recommends the addresses of 816 and 824, since they are likely to avoid conflict. Please refer to Step-2 Configuring the Address Jumpers on the DMC- 1700 to change the address. If the address jumpers are changed, the Galil registry must be modified to reflect these changes.

Once communication is established, click on the menu for terminal and you will receive a colon prompt. Communicating with the controller is described in later sections.

Sending Test Commands to the Terminal:

After you connect your terminal, press <carriage return> or the <enter> key on your keyboard. In response to carriage return (CR), the controller responds with a colon “:”.

Now type

TPX (CR)

This command directs the controller to return the current position of the X-axis. The controller should respond with a number such as

0

Step 6. Determine the Axes to be Used for Sinusoidal Commutation

Note: This step is only required when the controller will be used to control a brushless motor(s) with sinusoidal commutation. The command, BA is used to select the axes of sinusoidal commutation. For example, BAXZ sets X and Z as axes with sinusoidal commutation.

Notes on Configuring Sinusoidal Commutation:

The command, BA, reconfigures the controller such that it has one less axis of ‘standard’ control for each axis of sinusoidal commutation. For example, if the command BAX is given to a DMC-1740 controller, the controller will be re-configured to be a DMC-1730 controller. In this case the highest axis is no longer available except to be used for the 2nd phase of the sinusoidal commutation. Note that the highest axis on a controller can never be configured for sinusoidal commutation.

The first phase signal is the motor command signal. The second phase is derived from the highest DACX on the controller. When more than one axis is configured for sinusoidal commutation, the highest sinusoidal commutation axis will be assigned to the highest DAC and the lowest sinusoidal commutation axis will be assigned to the lowest available DAC. Note the lowest axis is the X axis.

Example: Sinusoidal Commutation Configuration using a DMC-1770

BAXZ

This command causes the controller to be reconfigured as a DMC-1750 controller. The X and Z axes are configured for sinusoidal commutation. The first phase of the X axis will be the motor command X signal. The second phase of the X axis will be F signal. The first phase of the Z axis will be the motor command Z signal. The second phase of the Z axis will be the motor command G signal.

24 • Chapter 2 Getting Started DMC-1700/1800