Galil DMC-2X00 user manual Pin-Out Description for DMC-2x00, Outputs, Inputs

Pin-Out Description for DMC-2x00

Outputs

	Analog Motor Command	+/- 10 volt range signal for driving amplifier. In servo mode,
		motor command output is updated at the controller sample rate. In
		the motor off mode, this output is held at the OF command level.
	Amp Enable	Signal to disable and enable an amplifier. Amp Enable goes low
		on Abort and OE1.
	PWM/STEP OUT	PWM/STEP OUT is used for directly driving power bridges for
		DC servo motors or for driving step motor amplifiers. For servo
		motors: If you are using a conventional amplifier that accepts a
		+/-10 volt analog signal, this pin is not used and should be left
		open. The PWM output is available in two formats: Inverter and
		Sign Magnitude. In the Inverter mode, the PWM signal is .2%
		duty cycle for full negative voltage, 50% for 0 voltage and 99.8%
		for full positive voltage (25kHz switching frequency). In the Sign
		Magnitude Mode (Jumper SM), the PWM signal is 0% for 0
		voltage, 99.6% for full voltage and the sign of the Motor
		Command is available at the sign output (50kHz switching
		frequency).
	PWM/STEP OUT	For step motors: The STEP OUT pin produces a series of pulses
		for input to a step motor driver. The pulses may either be low or
		high. The pulse width is 50%. Upon Reset, the output will be low
		if the SM jumper is on. If the SM jumper is not on, the output will
		be tristate.
	Sign/Direction	Used with PWM signal to give the sign of the motor command for
		servo amplifiers or direction for step motors.
	Error	The signal goes low when the position error on any axis exceeds
		the value specified by the error limit command, ER.
	Output 1-Output 8	These 8 TTL outputs are uncommitted and may be designated by
	Output 9-Output 16	the user to toggle relays and trigger external events. The output
		lines are toggled by Set Bit, SB, and Clear Bit, CB, instructions.
	(DMC-2x50 thru 2x80	The OP instruction is used to define the state of all the bits of the
		Output port.
Inputs

Encoder, A+, B+

Position feedback from incremental encoder with two channels in quadrature, CHA and CHB. The encoder may be analog or TTL. Any resolution encoder may be used as long as the maximum frequency does not exceed 12,000,000 quadrature states/sec. The controller performs quadrature decoding of the encoder signals resulting in a resolution of quadrature counts (4 x encoder cycles). NOTE: Encoders that produce outputs in the format of pulses and direction may also be used by inputting the pulses into CHA and direction into Channel B and using the CE command to configure this mode.

DMC-2X00 Appendices y 157