A signal breakout board of some type is strongly recommended. If you are using a breakout board from a third party, consult the documentation for that board to insure proper system connection.

If you are using the ICM-1460 or AMP-1460 with the DMC-3425, connect the 37-pin cable between the controller and interconnect module.

Here are the first steps for connecting a motion control system:

Step A. Connect the motor to the amplifier with no connection to the controller. Consult the amplifier documentation for instructions regarding proper connections. Connect and turn on the amplifier power supply. If the amplifiers are operating properly, the motor should stand still even when the amplifiers are powered up.

Step B. Connect the amplifier enable signal. Before making any connections from the amplifier to the controller, you need to verify that the ground level of the amplifier is either floating or at the same potential as earth.

Note: If you are using a DMC-3425-Stepper, the amplifier enable signal is used for the second stepper output.

WARNING: When the amplifier ground is not isolated from the power line or when it has a different potential than that of the computer ground, serious damage may result to the computer controller and amplifier.

If you are not sure about the potential of the ground levels, connect the two ground signals (amplifier ground and earth) by a 10 kΩ resistor and measure the voltage across the resistor. Only if the voltage is zero, proceed to connect the two ground signals directly.

The amplifier enable signal is used by the controller to disable the motor. This signal is labeled AMPEN on the ICM-1460 and should be connected to the enable signal on the amplifier. Note that many amplifiers designate this signal as the INHIBIT signal. Use the command, MO, to disable the motor amplifiers - check to insure that the motor amplifiers have been disabled (often this is indicated by an LED on the amplifier).

This signal changes under the following conditions: the watchdog timer activates, the motor-off command, MO, is given, or the OE1 command (Enable Off-On-Error) is given and the position error exceeds the error limit. As shown in Figure 3.1, AEN can be used to disable the amplifier for these conditions.

The standard configuration of the AEN signal is TTL active high. In other words, the AEN 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-1460 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 AEN signal, note the state of the JP1 jumper on the ICM-1460. When the jumper is placed across 5V and AEN, the output voltage is 0-5V. To change to 12 volts, pull the jumper and rotate it so that +12V is connected to AEN. If you remove the jumper, the output signal is an open collector, allowing the user to connect an external supply with voltages up to 24V.

Step C. Connect the encoders

For stepper motor operation, an encoder is optional.

For servo motor operation, if you have a preferred definition of the forward and reverse directions, make sure that the encoder wiring is consistent with that definition.

18 • Chapter 2 Getting Started

DMC-3425

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Galil user manual Getting Started DMC-3425
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DMC-3425 specifications

The Galil DMC-3425 is a sophisticated motion controller known for its versatility and high performance in various industrial applications. Designed primarily for multi-axis control, it is well-suited for robotics, CNC machinery, and automated manufacturing systems.

One of the standout features of the DMC-3425 is its ability to control up to 32 axes simultaneously, providing unparalleled flexibility for complex motion tasks. This capability is enhanced by its advanced motion algorithms that ensure smooth and precise movements, essential for high-quality manufacturing and assembly processes. The controller supports a variety of motor types, including servo, stepper, and brushless motors, making it compatible with a wide range of existing equipment.

In terms of connectivity, the DMC-3425 offers an extensive selection of communication options. It supports Ethernet, RS-232, and RS-485 interfaces, allowing for seamless integration with various industrial networks, including EtherCAT and CANopen. This connectivity is vital for real-time data exchange and remote monitoring, enhancing overall system efficiency.

The controller is powered by Galil's innovative software architecture, which includes the DMC programming language. This user-friendly language enables engineers to create complex motion profiles easily, with support for trajectory generation, coordinate transformations, and PID control. The DMC-3425 also features built-in commands for motion profiling, including linear and circular interpolation, allowing for sophisticated path planning.

Moreover, the DMC-3425 comes equipped with an integrated programming environment that facilitates rapid application development. Users can simulate motion profiles before implementation, reducing downtime and minimizing errors. This environment is designed for quick learning, making it accessible even for those new to motion control.

Additionally, the Galil DMC-3425 features a robust safety architecture. It includes over-temperature detection, emergency stop inputs, and configurable limits for position and speed, ensuring safe operation in various environments.

Overall, the Galil DMC-3425 is a powerful and flexible motion controller that combines advanced technologies with user-friendly design. Its ability to handle multiple axes, extensive connectivity options, and comprehensive programming environment make it a top choice for manufacturers seeking to enhance automation and improve productivity in their operations.
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