Galil DMC-2X00 user manual Connecting Hardware

Step 3b. Configure DIP switches on the DMC-2100	17
Step 3c. Configure DIP switches on the DMC-2200	17
Step 4. Install the Communications Software	18
Step 5. Connect AC Power to the Controller	18
Step 6. Establish Communications with Galil Software	19
Step 7. Determine the Axes to be Used for Sinusoidal Commutation	21
Step 8. Make Connections to Amplifier and Encoder	22
Step 9a. Connect Standard Servo Motors	24
Step 9b. Connect Sinusoidal Commutation Motors	27
Step 9c. Connect Step Motors	30
Step 10. Tune the Servo System	30
Design Examples	31
System Set-up	31
Profiled Move	32
Multiple Axes	32
Objective: Move the four axes independently	32
Independent Moves	32
The motion parameters may be specified independently as illustrated below	32
Position Interrogation	32
The position error, which is the difference between the commanded position and the
actual position can be interrogated with the instruction TE	33
Absolute Position	33
Velocity Control	33
Operation Under Torque Limit	34
Interrogation	34
Operation in the Buffer Mode	34
Using the On-Board Editor	34
Motion Programs with Loops	35
Motion Programs with Trippoints	35
Control Variables	36
Linear Interpolation	36
Circular Interpolation	37
Chapter 3 Connecting Hardware	39
Overview	39
Using Optoisolated Inputs	39
Limit Switch Input	39
Home Switch Input	40
Abort Input	40
Reset Input	41
Uncommitted Digital Inputs	41
Wiring the Opto-Isolated Inputs	41
The Opto-Isolation Common Point	41
Using an Isolated Power Supply	42
Bypassing the Opto-Isolation:	43
Analog Inputs	43
Amplifier Interface	43
TTL Inputs	44
The Auxiliary Encoder Inputs	44
TTL Outputs	45
General Use Outputs	45
Output Compare	45
Error Output	46
Extended I/O of the DMC-2x00 Controller	46

ii • Contents DMC-2X00