Galil DMC-2X00 user manual TTL Inputs, Auxiliary Encoder Inputs

command (Enable Off-On-Error) is given and the position error exceeds the error limit. As shown in Figure 3-4, AMPEN can be used to disable the amplifier for these conditions.

The standard configuration of the AMPEN signal is TTL active high. In other words, the AMPEN signal will be high when the controller expects the amplifier to be enabled. The polarity and the amplitude can be changed if you are using the ICM-2900 interface board. To change the polarity from active high (5 volts= enable, zero volts = disable) to active low (zero volts = enable, 5 volts= disable), replace the 7407 IC with a 7406. Note that many amplifiers designate the enable input as ‘inhibit’.

To change the voltage level of the AMPEN signal, note the state of the resistor pack on the ICM-2900. When Pin 1 is on the 5V mark, the output voltage is 0-5V. To change to 12 volts, pull the resistor pack and rotate it so that Pin 1 is on the 12 volt side. If you remove the resistor pack, the output signal is an open collector, allowing the user to connect an external supply with voltages up to 24V.

DMC-2x00

100-PIN HIGH DENSITY CABLE

ICM-2900
+12V	+5V

Connection to +5V or +12V made resistor pack RP1. Removing the resistor allows the user to connect their own resistor the desired voltage level (Up to 24V) by removing ICM-2900 cover

AMPENX	SERVO MOTOR
	AMPLIFIER
GND

MOCMDX

7407 Open Collector Buffer. The Enable can be inverted by using a 7406. Accessed by removing ICM-2900 cover.

Analog Switch

Figure 3-3 Connecting AMPEN to the motor amplifier

TTL Inputs

The Auxiliary Encoder Inputs

The auxiliary encoder inputs can be used for general use. For each axis, the controller has one auxiliary encoder and each auxiliary encoder consists of two inputs, channel A and channel B. The auxiliary encoder inputs are mapped to the inputs 81-96.

44 • Chapter 3 Connecting Hardware DMC-2X00