Galil Motion Control DMC-18 2 Series, User Manual

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DMC-18x2 ● i
Contents
CONTENTS ........................................................................................................................................................................ I
CHAPTER 1 OVERVIEW ................................................................................................................................................1
I
NTRODUCTION
.................................................................................................................................................................1
O
VERVIEW OF
M
OTOR
T
YPES
...........................................................................................................................................1
Standard Servo Motors with +/- 10 Volt Command Signal ........................................................................................2
Brushless Servo Motor with Sinusoidal Commutation ...............................................................................................2
Stepper Motor with Step and Direction Signals ..........................................................................................................2
DMC-18
X
2 F
UNCTIONAL
E
LEMENTS
...............................................................................................................................2
Microcomputer Section...............................................................................................................................................3
Motor Interface ...........................................................................................................................................................3
Communication...........................................................................................................................................................3
General I/O..................................................................................................................................................................3
System Elements .........................................................................................................................................................3
Motor ..........................................................................................................................................................................4
Amplifier (Driver).......................................................................................................................................................4
Encoder .......................................................................................................................................................................4
Watch Dog Timer........................................................................................................................................................5
CHAPTER 2 GETTING STARTED ................................................................................................................................7
T
HE
DMC-18
X
2 M
OTION
C
ONTROLLER
...........................................................................................................................7
E
LEMENTS
Y
OU
N
EED
......................................................................................................................................................8
I
NSTALLING THE
DMC-18
X
2............................................................................................................................................8
Step 1. Determine Overall Motor Configuration.........................................................................................................9
Step 2. Install Jumpers on the DMC-18x2 ................................................................................................................10
Step 3. Install the Communications Software ...........................................................................................................10
Step 4. Install the DMC-18x2 in the PC....................................................................................................................10
Step 5. Establish Communication using Galil Software ...........................................................................................11
Step 6. Determine the Axes to be Used for Sinusoidal Commutation.......................................................................11
Step 7. Make Connections to Amplifier and Encoder...............................................................................................12
Step 8a. Connect Standard Servo Motors..................................................................................................................14
Step 8b. Connect Sinusoidal Commutation Motors ..................................................................................................18
Step 8C. Connect Step Motors ..................................................................................................................................20
Step 9. Tune the Servo System .................................................................................................................................21
D
ESIGN
E
XAMPLES
.........................................................................................................................................................22
Example 1 - System Set-up .......................................................................................................................................22
Example 2 – Profiled Move ......................................................................................................................................22
Example 3 – Multiple Axes.......................................................................................................................................22
Example 4 - Independent Moves...............................................................................................................................23
Example 5 - Position Interrogation ...........................................................................................................................23
Example 6 - Absolute Position..................................................................................................................................23
Example 7 - Velocity Control ...................................................................................................................................24
Example 8 - Operation Under Torque Limit .............................................................................................................24
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