ii • Contents DMC-2X00
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