Galil Motion Control DMC-42 0 Series, User Manual

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Different feedback types can be used on the same controller. For instance, one axis could be using Standard
quadrature and the next could be using SSI. By default, all axis are configured for Standard quadrature.
Feedback Type
Configuration
Command
Connection Location
Standard quadrature
CE
Standard on all units Encoder
Step/Dir
CE
Standard on all units Encoder
Analog 1
AF
Standard on all units
(12-bit Standard. 16-bit optional)
Analog
SSI
SI
Requires the SSI Option, see page(172) Encoder
BiSS
SS
Requires the BiSS Option, see page(172) Encoder
None 2 – – --
Other Contact Galil at 1.800.377.6329
Table 2.1: Configuration commands, ICM/Part numbers required for a given feedback type
1
All wiring/electrical information regarding using analog inputs can be found in the Analog Inputs, pg 33.
2
Although stepper systems do not require feedback, Galil supports a feedback sensor on each stepper axis. Servo motors require a
position sensor.
A note about using encoders and steppers:
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
TD
and the
encoder position can be interrogated with
TP
.
The following steps provide a general guide for connecting encoders to the DMC unit:
Step A. Wire the encoder
The pinouts for the DMC-42x0 Main Board connectors can be found in the Appendix:
Connectors for DMC-42x0 Main Board
The pin-outs and electrical information for SSI and BiSS options can be found here:
DMC-42x0 (BiSS or SSI Option) Pinout, pg. 172.
The encoder pin-outs for Galil Interconnect Modules are listed below.
ICM-2900
A1. ICM-2900 Interconnect Module
ICM-1900
A3. ICM-1900 Interconnect Module
For AMP-19520/40 encoder connections, please refer to the amplifier's User Manual:
http://galilmc.com/download/manual/man_195x0.pdf
Step B. Issue the appropriate configuration commands
Find the appropriate configuration commands for your feedback type as shown in Table 2.1, pg 14.
Step C. Verify proper encoder operation
1. Ensure the motor is off my issuing an
MO
.
2. Check the current position by issuing
TP
, the value reported back is in the units of counts.
Chapter 2 Getting Started ▫ 14 DMC-42x0 User Manual