Galil DMC-2X00 Sinusoidal Commutation, Stepper Motor Operation, Install Jumpers on the DMC-2x00

Sinusoidal Commutation:

Sinusoidal commutation is configured through a single software command, BA. This configuration causes the controller to reconfigure the number of available control axes.

Each sinusoidally commutated motor requires two DACs. In standard servo operation, the DMC-2x00 has one DAC per axis. In order to have the additional DAC for sinusoidal commutation, the controller must be designated as having one additional axis for each sinusoidal commutation axis. For example, to control two standard servo axes and one axis of sinusoidal commutation, the controller will require a total of four DACs and the controller must be a DMC-2x40.

Sinusoidal commutation is configured with the command, BA. For example, BAA sets the A axis to be sinusoidally commutated. The second DAC for the sinusoidal signal will be the highest available DAC on the controller. For example: Using a DMC-2x40, the command BAA will configure the A axis to be the main sinusoidal signal and the 'D' axis to be the second sinusoidal signal.

The BA command also reconfigures the controller to indicate that the controller has one less axis of 'standard' control for each axis of sinusoidal commutation. For example, if the command BAA is given to a DMC-2x40 controller, the controller will be re-configured to a DMC-2x30 controller. By definition, a DMC-2x30 controls 3 axes: A,B and C. The 'D' axis is no longer available since the output DAC is being used for sinusoidal commutation.

Further instruction for sinusoidal commutation connections are discussed in Step 6.

Stepper Motor Operation

To configure the DMC-2x00 for stepper motor operation, the controller requires a jumper for each stepper motor and the command, MT, must be given. The installation of the stepper motor jumper is discussed in the following section entitled "Installing Jumpers on the DMC-2x00". Further instruction for stepper motor connections are discussed in Step 9.

Step 2. Install Jumpers on the DMC-2x00

Master Reset and Upgrade Jumpers

JP1 on the main board contains two jumpers, MRST and UPGRD. The MRST jumper is the Master Reset jumper. When MRST is connected, the controller will perform a master reset upon PC power up or upon the reset input going low. The MRST can also be set with the DIP switches on the outside of the controller. Whenever the controller has a master reset, all programs, arrays, variables, and motion control parameters stored in EEPROM will be ERASED.

The UPGRD jumper enables the user to unconditionally update the controller’s firmware. This jumper is not necessary for firmware updates when the controller is operating normally, but may be necessary in cases of corrupted EEPROM. EEPROM corruption should never occur, however, it is possible if there is a power fault during a firmware update. If EEPROM corruption occurs, your controller may not operate properly. In this case, install the UPGRD Jumper and use the update firmware function on the Galil Terminal to re-load the system firmware.

Opto-Isolation Jumpers

The inputs and limit switches are opto-isolated. If you are not using an isolated supply, the internal +5V supply from the PC may be used to power the opto-isolators. This is done by installing jumpers on JP3 on main board.

DMC-2X00 Chapter 2 Getting Started y 15