Galil DMC-2010, User Manual

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command (Enable Off-On-Error) is given and the position error exceeds the error limit. As shown in
Figure 3-4, AMPEN can be used to disable the amplifier for these conditions.
The standard configuration of the AMPEN signal is TTL active high. In other words, the AMPEN
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-2900 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 AMPEN signal, note the state of the resistor pack on the ICM-2900.
When Pin 1 is on the 5V mark, the output voltage is 0-5V. To change to 12 volts, pull the resistor pack
and rotate it so that Pin 1 is on the 12 volt side. If you remove the resistor pack, the output signal is an
open collector, allowing the user to connect an external supply with voltages up to 24V.
100-PIN
HIGH
DENSITY
CABLE
MOCMDX
AMPENX
GND
ICM-2900 DMC-2x00
+5V +12V
SERVO MOTOR
AMPLIFIER
Analog Switch
Connection to +5V or +12V made resistor
pack RP1. Removing the resistor allows
the user to connect their own resistor the
desired voltage level (Up to 24V) by
removing ICM-2900 cover
7407 Open Collector Buffer.
The Enable can be inverted
by using a 7406. Accessed
by removing ICM-2900
cover.
Figure 3-3 Connecting AMPEN to the motor amplifier
TTL Inputs
The Auxiliary Encoder Inputs
The auxiliary encoder inputs can be used for general use. For each axis, the controller has one
auxiliary encoder and each auxiliary encoder consists of two inputs, channel A and channel B. The
auxiliary encoder inputs are mapped to the inputs 81-96.
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Chapter 3 Connecting Hardware DMC-2X00