that occurs, the controller computes the commutation phase and sets it. For example,
to initialize the motor upon power or reset, the following commands may be given:
SH
<CR>
Enable
motor
BC <CR>
Enable the brushless calibration command
PR 50000 <CR>
Command a relative position movement
BG <CR>
Begin motion. When the hall sensors detect a phase
transition, the commutation phase is re-set.
Step 8c. Connect Step Motors
In Stepper Motor operation, the pulse output signal has a 50% duty cycle. Step motors operate open
loop and do not require encoder feedback. When a stepper is used, the auxiliary encoder for the
corresponding axis is unavailable for an external connection. If an encoder is used for position
feedback, connect the encoder to the main encoder input corresponding to that axis. The commanded
position of the stepper can be interrogated with RP or DE. The encoder position can be interrogated
with TP.
The frequency of the step motor pulses can be smoothed with the filter parameter, KS. The KS
parameter has a range between 0.5 and 8, where 8 implies the largest amount of smoothing.
See
Command Reference regarding KS
.
The DMC-14XX profiler commands the step motor amplifier. All DMC-141X motion commands
apply such as PR, PA, VP, CR and JG. The acceleration, deceleration, slew speed and smoothing are
also used. Since step motors run open-loop, the PID filter does not function and the position error is
not generated.
To connect step motors with the DMC-14XX6 you must follow this procedure:
Step A.
Install SMX and SD jumpers
In order for the DMC-141X to operate in stepper mode, the corresponding stepper motor
jumper installed. For a discussion of SM jumpers, see section
Step 2. Install jumpers on
the DMC-141X.
Step B.
Connect step and direction signals from controller to motor amplifier
Connect the step and direction signals from the controller to respective signals on your
step motor amplifier. (The step and direction signals are labeled ACMD (pwm) and
ACMD2 (sign) respectively on the ICM-1460). Consult the documentation for your step
motor amplifier.
Step C.
Configure DMC-141X for motor type using MT command.
You can configure the DMC-141X for active high or active low pulses. Use the
command MT 2 for active low step motor pulses and MT -2 for active high step motor
pulses.
See description of the MT command in the Command Reference.
Step 8d. Connect brush or brushless servo motor to DMC-1416
The DMC-1416 provides an integrated brush or brushless amplifier and DC to DC converter to be used
with DC brush or brushless motors.
Warning:
The DMC-1416 is powered up in the motor on (SH) condition unless the MO jumper is
selected. It is recommended that this jumper be installed (see Step 2. “Configuring Jumpers on the
DMC-14XX”) for the initial power up of the system. This will prevent runaway of the system due to
positive feedback. This jumper can then be removed once polarity has been configured properly.
To connect the DC brush or brushless motor, follow this procedure:
26
i
Chapter 2 Getting Started
DMC-14x5/6
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