Galil Motion Control DMC-42 0 Series, User Manual

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2. Reverse the direction of the encoder, see Step 7. Connecting Encoder Feedback, pg 13
Brushless Motor
Choose one of the following:
1. Reverse direction of the encoder, see Step 7. Connecting Encoder Feedback, pg 13
2. Reverse direction of the motor by swapping any two motor phases (
or two hall sensors if using a
trapezoidal amplifier). The motor will now have to be re-commutated by using either the Trapezoidal
or Sinusoidal method, see Step 9a. Commutation of 3-phased Brushless Motors, pg 18
Non-wiring Options
You can reverse the direction of the motor command line by using the
MT
command or reverse direction of the
feedback by using the
CE
command (standard quadrature and step/direction feedback only). It is not
recommended to correct for polarity using configuration commands as an unexpected condition may arise
where these settings are accidentally over-ridden causing a runaway.
See the Command Reference for more details.
Step D. Other Safety Features
This section only provides a brief list of safety features that the DMC can provide. Other features include
Encoder Failure Detection (
OA
,
OT
,
OV
) , Automatic Subroutines to create an automated response to events
such as limit switches toggling (
#LIMSWI
), command errors (
#POSERR
), and amplifier errors (
TA
,
#AMPERR
), and more. For a full list of features and how to program each see Chapter 8 Hardware & Software
Protection, pg 147.
Step 9. Wiring Motors to Galil's AMP-19540.
Table 2.3 below provides a general overview of the connections required for most systems connecting to a Galil
amplifier and controller system. Following the table is a step-by-step guide on how to do so.
Motor Type Required Connections
Brushless servo motor • Power to controller and internal amplifier
• Motor power leads to internal amplifiers
• Encoder feedback
• Hall sensors
(Not required for sinusoidal amplifiers)
Brushed servo motor • Power to controller and internal amplifier
• Motor power leads to internal amplifiers
• Encoder feedback
Table 2.3: Synopsis of connections required to connect a motor to Galil's internal amplifiers
Step A . Connect the encoder feedback ( optional for steppers)
See Step 7. Connecting Encoder Feedback, pg 13.
Step B . Connect the motor power leads and halls (if required) to the Galil amplifier
Table 2.4 lists each of Galil's internal amplifiers and where to find documentation for pin-outs of the
amplifier connections and electrical specifications. In addition it describes the commutation method
and whether halls are required.
Chapter 2 Getting Started ▫ 17 DMC-42x0 User Manual