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Galil DMC-21x3, User Manual

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Contents

  

DMC-21x3 

Accessories 

APPENDIX C  COMMAND REFERENCE ........................................................................................................ 103

 

AE.................................................................................................................................................................... 104

 

AG ................................................................................................................................................................... 105

 

AU ................................................................................................................................................................... 106

 

AW................................................................................................................................................................... 107

 

BR.................................................................................................................................................................... 108

 

BS .................................................................................................................................................................... 109

 

CN ................................................................................................................................................................... 110

 

CO ................................................................................................................................................................... 111

 

LC.................................................................................................................................................................... 112

 

QH................................................................................................................................................................... 113

 

TA.................................................................................................................................................................... 114

 

TK.................................................................................................................................................................... 115

 

TL  (Binary 8a)................................................................................................................................................ 116

 

Summary of Contents for DMC-21x3

Page 1: ...RENCE Manual Rev 1 0m Galil Motion Control Inc 270 Technology Way Rocklin California 95765 Phone 916 626 0101 Fax 916 626 0102 E mail Address support galilmc com URL www galilmc com Rev 12 08 DMC 21x3...

Page 2: ...xis controller should note that the DMC 2133 uses the axes denoted as XYZ the DMC 2123 uses the axes denoted as XY and the DMC 2113 uses the X axis only Examples for the DMC 2183 denote the axes as A...

Page 3: ...R 19900 9 INTRODUCTION 9 LAYOUT 11 PINOUT 11 CONFIGURATION 11 CHAPTER 3 ICM 20100 13 INTRODUCTION 13 LAYOUT 14 PINOUT 15 AMPLIFIER ENABLE 17 CHAPTER 4 ICM 20105 19 INTRODUCTION 19 ELECTRICAL SPECIFICA...

Page 4: ...T PROTECTION 43 ABORT INPUT OPTIONS 44 CHAPTER 8 ICM 20500 45 INTRODUCTION 45 ELECTRICAL SPECIFICATIONS 46 LAYOUT 46 PINOUT 47 CONFIGURATION 48 CHAPTER 9 AMP 20540 20520 49 INTRODUCTION 49 ELECTRICAL...

Page 5: ...and 71 Low Current Setting LC Command 71 ABORT INPUT OPTIONS 71 CHAPTER 12 PCM 20900 73 INTRODUCTION 73 CHAPTER 13 DB 28040 75 INTRODUCTION 75 LAYOUT 76 PINOUT 77 ELECTRICAL SPECIFICATIONS 78 3 3V I O...

Page 6: ...4 Contents DMC 21x3 Accessories APPENDIX C COMMAND REFERENCE 103 AE 104 AG 105 AU 106 AW 107 BR 108 BS 109 CN 110 CO 111 LC 112 QH 113 TA 114 TK 115 TL Binary 8a 116...

Page 7: ...g from passive breakout modules to 500W per channel brush and brushless servo drives to stepper and microstepper drives Each module breaks out the I O provided by the controller and some of the boards...

Page 8: ...ts The J98 JP14 header comes standard hence the purchaser must specify if they would not like this header present with NOJ98 Module Types Servo Drives Part Number Description AMP 20340 4 Axis Brush Ty...

Page 9: ...er 1 Overview 7 Cables Part Number Description CABLE 15 1m 15 pin high density D sub cable with 1 m flying leads AMP 204x0 and AMP 205x0 CABLE 44 1m 44 pin high density D sub cable with 1 m flying lea...

Page 10: ...8 Chapter 1 Overview DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY...

Page 11: ...ulator operates with hysteresis where the regulator switches on at the set voltage threshold and switches off at 2 volts below The shunt regulator should be placed in parallel with the power supply as...

Page 12: ...2 SR 19900 DMC 21x3 Accessories Motor PWM Amplifier DCPower Supply Controller Encoder SR 19900 Shunt Regulator M GND AEN MOCMDx System Load Inertia M Figure 1 Shunt Regulator Placement in a Typical Se...

Page 13: ...ound 1 PG 1 Earth 5 PG Voltage Supply 2 VS 2 VS 6 PG Power Ground 3 PG 3 VS 7 PG Voltage Supply 4 VS 4 VS 8 PG Configuration SR 19900 Configuration USR User Settable Voltage R8 1930 Vs 42 2K Voltage T...

Page 14: ...12 Chapter 2 SR 19900 DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY...

Page 15: ..._____________ Introduction The ICM 20100 interconnect module provides D Sub connections between the DMC 21x3 series controllers and other system elements such as amplifiers encoders and external switc...

Page 16: ...er 3 ICM 20100 DMC 21x3 Accessories Layout Drawing Not to Scale For Reference Only Dimensions are inches Figure 4 ICM 20100 Layout Board Dimensions are 3 7 x 4 25 See Application Note 1231 for Hole Lo...

Page 17: ...Ground 10 Ground 11 A X 11 A Y 12 B X 12 B Y 13 I X 13 I Y 14 Motor command X 14 Motor command Y 15 PWM step X 15 PWM step Y J4 J4 Z Axis 15 pin Male D sub J3 W Axis 15 pin Male D sub 1 Forward Limit...

Page 18: ...7 6 AB Y 6 Abort 7 AA Y 7 Output 1 8 AB X 8 Output 3 9 AA X 9 Output 5 10 5V 10 Output 7 11 5V 11 Ground 12 12V 12 NC 13 NC 13 NC 14 Error Output 14 5V 15 AB W 15 Latch Y Input 2 16 AA W 16 Latch W In...

Page 19: ...ge the voltage level of the AMPEN signal note the state of the resistor pack on the ICM 20100 When pin 1 of the resistor matches pin 1 of the RP1 the output voltage is 0 5 V To change to 12 volts pull...

Page 20: ...18 Chapter 3 ICM 20100 DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY...

Page 21: ...105 opto isolated I O module are used with DMC 21x3 controllers It has four 15 pin Male D Sub connectors for individual axis signals There is one 37 pin D Sub for the 8 digital inputs 8 high side driv...

Page 22: ...Max Voltage 30 VDC Max Drive Current per Output 0 5 A not to exceed 3A for all 8 outputs Minimum Current to turn on Inputs 1 mA Max Enable Current 24V source 25 mA Layout Drawing Not to Scale For Ref...

Page 23: ...Ground 10 Ground 11 A X 11 A Y 12 B X 12 B Y 13 I X 13 I Y 14 Motor command X 14 Motor Command Y 15 PWM step X 15 PWM step Y JZ Z axis 15 Pin Male D sub JW W axis 15 Pin Male D sub 1 Amp enable commo...

Page 24: ...10 Output 8 11 5V 11 Limit Switch Common 12 12V 12 Reverse Limit X 13 NC 13 Forward Limit Y 14 NC 14 Home Y 15 AB W 15 Reverse Limit Z 16 AA W 16 Forward Limit W 17 AB Z 17 Home W 18 AA Z 18 5V 19 AB...

Page 25: ...should be replaced with a 4 7 k resistor pack Amplifier Enable Circuit Sinking Output Configuration Pin 1 of PS2505 in Pin 2 of Socket U1 TTL level Amp Enable signal from controller SH 5V MO 0V TTL l...

Page 26: ...12 V AECOM1 5 V GND JP2 JP1 Figure 9 Amplifier Enable Circuit Sourcing Output Configuration Sourcing Configuration pin1 of opto chip in pin1 of socket U1 Logic State JP1 JP2 RPAE1 square pin next to R...

Page 27: ...are configured for hi side drive only The supply voltage must be connected to output supply voltage and the supply return must be connected to output return Input Isolation Opto isolation of the gener...

Page 28: ...ted The output will be at the voltage that is supplied to the OUTSUP pin Up to 30 VDC may be supplied to OUTSUP The RPOUT resistor pack allows configuration of the active state of the outputs For exam...

Page 29: ...__________ Introduction The SDM 20240 and SDM 20242 are stepper driver modules capable of driving up to four bipolar two phase stepper motors The current is selectable with options of 0 5 0 75 1 0 and...

Page 30: ...ions DC Supply Voltage 12 30 VDC Max Drive Current per axis 1 4 Amps jumper settable Max Step Frequency 3 MHz Motor Type Bipolar 2 phase Layout Drawing Not to Scale For Reference Only Dimensions are i...

Page 31: ...onnector dimensions see SDM 20240 drawing above Pinout J2 Motor Output X 4pin Molex J3 Motor Output Y 4pin Molex 1 XMOA 1 YMOA 2 XMOA 2 YMOA 3 XMOB 3 YMOB 4 XMOB 4 YMOB J4 Motor Output Z 4pin Molex J5...

Page 32: ...d limit Z 1 Forward limit W 2 Home Z 2 Home W 3 5V 3 5V 4 A Z 4 A W 5 B Z 5 B W 6 Reverse limit Z 6 Reverse limit W 7 Ground 7 Ground 8 A Z 8 A W 9 B Z 9 B W J11 I O 25 pin Male D sub 13 NC 1 Ground 1...

Page 33: ...s noted in the table below to 0 5 0 75 1 0 or 1 4 Amps phase Jumpers are also used to control the current level when the motor is holding position and the degree of microstepping The SDM 20242 has add...

Page 34: ...mmand set to 1 and LC jumper OFF turns amplifiers off when at rest not commanding motion LC jumper ON or OFF and LC command set to 0 default Full current to drive even when at rest Proper heat dissipa...

Page 35: ...the error has to be cleared by issuing MO SH If the controller is in LC 1 mode an LC 0 LC 1 command is required to clear the error condition ELO Emergency Lock Out The Emergency Lock Out jumper ELO o...

Page 36: ...34 Chapter 5 SDM 20240 20242 DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY...

Page 37: ...lt input Output power is 20 W per amplifier or 60 W total The gain of each transconductance linear amplifier is 0 1 A V at 1 A maximum current The typical current loop bandwidth is 4 kHz The AMP 20341...

Page 38: ...3 Accessories Electrical Specifications DC Supply Voltage 12 30 VDC bipolar Max Current per axis 1 0 Amps Amplifier gain 0 1 A V Power output per channel 20 W Total max power output 60 W Layout Figure...

Page 39: ...X Forward Limit Y Forward Limit Z Forward Limit W 2 Home X Home Y Home Z Home W 3 5V 5V 5V 5V 4 A X A Y A Z A W 5 B X B Y B Z B W 6 I X I Y I Z I W 7 AA X AA Y AA Z AA W 8 AB X AB Y AB Z AB W 9 Rever...

Page 40: ...le X 6 Motor Command 2 Motor Command X 7 Amp Enable W 3 Amp Enable Y 8 Motor Command W 4 Motor Command Y 9 Ground 5 Amp Enable Z 10 Ground Mating Connectors Connector Terminal Pins J9 Power Molex 26 0...

Page 41: ...lifiers with a power capacity of 200 Watts per channel The amplifier is operational from 18 60 VDC The amplifier is a transconductance amplifier and will supply a current proportional to a given comma...

Page 42: ...ge 18 60 VDC Max Current 3 3 Amps continuous and peak PWM Frequency 60 kHz Minimum Load Inductance 0 5 mH Over Voltage Threshold OV 69 volts resets at 66 volts Layout Drawing Not to Scale For Referenc...

Page 43: ...1 I Z 2 B Z 3 A Z 4 AB Z 5 Ground 6 I Z 7 B Z 8 A Z 9 AA Z 10 Forward Limit Z 11 AA Z 12 AB Z 13 Home Z 14 Reverse Limit Z 15 5V J5 Y axis 15 pin Hi density Female D sub 1 I Y 2 B Y 3 A Y 4 AB Y 5 Gro...

Page 44: ...26 Motor Command X 2 YMO 27 Motor Command Y 28 Motor Command Z JZ1 Motor Output 2 pin Molex 29 Motor Command W 1 ZMO 30 Error Output 2 ZMO 31 NC 32 5V JW1 Motor Output 2 pin Molex 33 5V 1 WMO 34 Grou...

Page 45: ...ent will cause the amplifier to be disabled and can be enabled again from the controller by issuing the MO and then SH command If you see that the red over current LED is lit on the amplifier there is...

Page 46: ...44 Chapter 7 AMP 20440 20420 DMC 21x3 Accessories Abort Input Options See Appendix A...

Page 47: ...D type connectors instead of screw terminals order as ICM 20500 DTYPE This provides optical isolation of the I O when using an AMP 205x0 The D type connectors include four 15 pin high density connecto...

Page 48: ...x Voltage 28 VDC Output Common Max Voltage 28 VDC Max Drive Current per Output 0 5 A outputs 1 4 25 mA outputs 5 8 Minimum Current to turn on Inputs 1 mA Layout Drawing Not to Scale For Reference Only...

Page 49: ...turn 54 X Aux Encoder B 90 W Latch DI 4 19 Z Aux Encoder B 55 X Main Encoder B 91 LSCOM 20 Z Hall Phase A 56 X Main Encoder I 92 Abort Input 21 Z Hall Phase B 57 X Main Encoder I 93 X Latch DI 1 22 Z...

Page 50: ...ut Return The other four outputs Outputs 5 to 8 are opto isolated and can deliver up to 25 mA at up to 24 VDC The diagram refers only to outputs 1 to 4 On outputs 5 to 8 there is no FET on final stage...

Page 51: ...are connected to a DMC 21x3 controller via the 96 pin DIN connector The standard amplifier accepts DC supply voltages from 18 60 VDC Note that the DC48 option is only rated to 72 VDC The 80 V option...

Page 52: ...t Supply Voltage 18 60 VDC Up to 80V optional Continuous Current 7 Amps Peak Current 10 Amps Nominal Amplifier Gain 0 4 0 7 and 1 0 A V Switching Frequency 60 kHz up to 140 kHz available contact Galil...

Page 53: ...AA X 09 AA Y 10 Hall X A 10 Hall Y A 11 AA X 11 AA Y 12 AB X 12 AB Y 13 Hall X B 13 Hall Y B 14 Hall X C 14 Hall Y C 15 5V 15 5V J6 Z axis 15 pin HD Female D sub J7 W axis 15 pin HD Female D sub 01 I...

Page 54: ...MD Z 23 W Latch Input 4 02 Output 6 24 X Latch Input 1 03 Output 8 25 PWM MCMD X 04 Output 5 26 X Home 05 Output 2 27 Y Home 06 Abort see Appendix A 28 Z Home 07 Input 6 29 W Home 08 Z Latch Input 3 3...

Page 55: ...t 1 11 GND 4 VDC 18V 60V 04 Analog Input 2 12 GND 5 GND 05 Analog Input 3 13 12V 6 GND 06 Analog Input 4 14 12V 7 GND 07 Analog Input 5 15 5V 8 GND 08 Analog Input 6 16 GND Mating Connectors Connector...

Page 56: ...essary to issue more voltage to create motion The default for the BS command is BSn 0 25 1000 which will send 0 25 volts to the amplifier for 1 second BSX 0 5 300 will issue 0 5 volts from the control...

Page 57: ...xis for brush type operation connect the 2 motor leads to Phase A and Phase B connections for the axis Connect the encoders homes and limits as required Set the controller into brush axis operation by...

Page 58: ...te axes TA2 will monitor if the amplifier current exceeds the continuous setting and TA3 will return if the ELO has occurred as a result of a hard abort input The user also has the option to include t...

Page 59: ...tal current from the supply exceeds 40 A the amplifier will be disabled The amplifier will not be re enabled until the SH command has been sent or the controller is reset Since the AMP 20540 is a tran...

Page 60: ...58 Chapter 9 AMP 20540 20520 DMC 21x3 Accessories Abort Input Options See Appendix A...

Page 61: ...g up to 200 W continuous per axis and is rated at 3 3A continuous 5A peak The axes are individually software configurable for brush or brushless operation as are the axes gains of 0 1 0 25 or 0 5 A V...

Page 62: ...to the command signal input Supply Voltage 18 60 VDC Continuous Current 3 3 Amps Peak Current 5 Amps Nominal Amplifier Gain 0 1 0 25 and 0 5 A V Switching Frequency 60 kHz Minimum Load Inductance 0 2...

Page 63: ...X 09 AA Y 10 Hall X A 10 Hall Y A 11 AA X 11 AA Y 12 AB X 12 AB Y 13 Hall X B 13 Hall Y B 14 Hall X C 14 Hall Y C 15 5V 15 5V J6 Z axis 15 pin HD Female D sub J7 W axis 15 pin HD Female D sub 01 I Z 0...

Page 64: ...PWM MCMD Z 23 W Latch Input 4 02 Output 6 24 X Latch Input 1 03 Output 8 25 PWM MCMD X 04 Output 5 26 X Home 05 Output 2 27 Y Home 06 Abort see Appendix A 28 Z Home 07 Input 6 29 W Home 08 Z Latch In...

Page 65: ...V 3 VDC 18V 60V 4 VDC 18V 60V 5 GND 6 GND 7 GND 8 GND Mating Connectors Connector Terminal Pins J1 DC Power Connector 8 pin Mini Universal MATE N LOK AMP 770579 1 AMP 170361 1 JX1 JY1 JZ1 and JW1 4 pi...

Page 66: ...plifier Software Setup Select the amplifier gain that is appropriate for the motor The amplifier gain command AG can be set to 0 1 or 2 corresponding to 0 1 0 25 and 0 5 A V In addition to the gain pe...

Page 67: ...drive are accessed through the high density 44 pin D sub connector as are the amplifier enable and motor command line for an external servo amplifier To configure which signals are brought out jumpers...

Page 68: ...e controller to enter the AMPERR subroutine if it is included in a running program Under Voltage Protection If the supply to the amplifier drops below 8 VDC the amplifier will be disabled The amplifie...

Page 69: ...tepper motors with 1 64 microstep resolution the SDM 20620 drives two The current is selectable with options of 0 5 1 0 2 0 3 0 Amps per axis Like the DB 28040 the SDM 206x0 family provides for the ad...

Page 70: ...G command Max Step Frequency 3 MHz microsteps Motor Type Bipolar two phase Switching Frequency 60 kHz Minimum Load Inductance 0 5 mH Layout Figure 33 SDM 20640 Dimensions Overall Dimensions 6 92 x 5 1...

Page 71: ...MB X 9 MB Y JZ2 Z axis 9 pin Male D sub JW2 W axis 9 pin Male D sub 1 Forward limit Z 1 Forward limit W 2 Home Z 2 Home W 3 5V 3 5V 4 MA Z 4 MA W 5 MB Z 5 MB W 6 Reverse limit Z 6 Reverse limit W 7 G...

Page 72: ...log In 5 11 Ground 15 5V 4 Analog In 2 8 Analog In 6 12 Ground 16 Ground JP8 External Drive Breakout 10 Pin IDC Header 1 X Amp Enable 2 X Motor Command 3 Y Amp Enable 4 Y Motor Command 5 Z Amp Enable...

Page 73: ...stant and has three possible configurations LC command set to 0 Full Current Mode causes motor to use 100 of peak current AG while at a resting state profiler is not commanding motion This is the defa...

Page 74: ...72 Chapter 11 SDM 20640 20620 DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY...

Page 75: ...ng it to connect to the DMC 21x3 The user can then test the operation of circuitry before committing to a daughter board design If you need more information for designing your own daughter board pleas...

Page 76: ...74 Chapter 12 PCM 20900 DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY...

Page 77: ...on The DB 28040 is an I O daughter board for the DMC 21x2 21x3 series motion controllers NOTE The following information will apply to all DB 28040 revision E or newer boards For information on previou...

Page 78: ...76 Chapter 13 DB 28040 DMC 21x3 Accessories Layout Figure 36 DB 28040 Interconnect Mounting Dimensions Overall Dimensions 3 075 x 2 425...

Page 79: ...ank 6 Bit 51 23 Bank 3 Bit 29 24 Bank 6 Bit 52 25 Bank 3 Bit 28 26 Bank 6 Bit 53 27 Bank 3 Bit 27 28 Bank 6 Bit 54 29 Bank 3 Bit 26 30 Bank 6 Bit 55 31 Bank 3 Bit 25 32 Bank 6 Bit 56 33 Bank 2 Bit 24...

Page 80: ...g inputs until after the controller is powered If possible it is recommended that circuit generating the analog signal be powered by the 5 or 12V sources available on the controller This will ensure t...

Page 81: ...esent This option must be ordered at the time the AMP and DMC 21x3 is ordered because both the AMP and DB require modification Order AMP 205x0 DBREADY The eight analog inputs on the AMP become invalid...

Page 82: ...80 Chapter 13 DB 28040 DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY...

Page 83: ...commonly called Sin Cosine encoders or 1 Volt peak peak encoders are becoming increasingly popular due to their cost ease of use and performance Galil Motion Control has developed an interface board...

Page 84: ...4 DMC 21x3 Accessories The DB 28104 can be used in conjunction with any of the Galil amplifier boards In Figure 2 a DMC 2143 is mated to the DB 28104 and an ICM 20100 breakout module Figure 39 DMC 214...

Page 85: ...r side of the gratings photo sensors detect the presence or absence of these lines These two sets of lines are offset from each other such that one leads the other by one quarter of a complete cycle a...

Page 86: ...al waves as shown in Figure 4 Figure 42 Sinusoidal Encoder Signals When the motion controller is mated to the DB 28104 the position is tracked on two levels First the number of coarse cycles is counte...

Page 87: ...gnals as indicated in Figure 4 Setting up the Encoder Each axis uses a 9 pin female connector The pinout is described below JX1 X Axis 9 pin Female D sub JZ1 Z Axis 9 pin Female D sub Pin Description...

Page 88: ...ion mode is selected using the AF command AFm where m 0 uses the default quadrature encoder m 1 for standard Analog Feedback DB 28040 or AMP 20540 or SDM 20640 required m 5 to 12 indicates that the si...

Page 89: ...n the 12 000 000 counts s limit Tuning the System With high resolution feedback it is very common for the controller to require tuning gains that are numerically low If the tuning gains are very low c...

Page 90: ...system A second test was run with AFX 12 This highest interpolation requires that the system be wired in such a way that noise is nearly eliminated Even one or two bits of noise on the analog signals...

Page 91: ...5 nm position resolution This encoder can be ordered from RSF with a cable that mates directly to the DB 28104 Use cable code UIE www rsf net Renishaw RGH41B30F00A 40 m pitch at AFX 10 result in 40 nm...

Page 92: ...90 Chapter 14 DB 28104 DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY...

Page 93: ...or 2 meter lengths designated by the xm portion of the part number For example the part number for the 2 meter length is Cable 44pin 2m There are three versions of the Cable 44 each version has differ...

Page 94: ...X Orange 33 5V White Yellow 12 RLSY Orange White 34 GND White Green 13 RLSZ Orange Black 35 GND White Blue 14 RLSW Orange Purple 36 Input8 White Purple 15 FLSW Yellow 37 Input5 Pink 16 NC SignW AmpenW...

Page 95: ...Silver 10 CMP Orange White 32 5V Silver White 11 RLSX Orange Black 33 5V Pink 12 RLSY Orange Purple 34 GND Pink White 13 RLSZ Yellow 35 GND Pink Black 14 RLSW Yellow White 36 Input8 Pink Purple 15 FL...

Page 96: ...6 Input8 Purple Black 15 FLSW Red White 37 Input5 Blue Black 16 NC SignW AmpenW1 Orange White 38 Input2 LatchY Light Green Black 17 NC SignZ AmpenZ1 Green White 39 NC PWMY Motor Command Y1 Light Green...

Page 97: ...w Table 4 Cable 15 Pinout Color Code Pin Description Cable Color Stripe Pin Description Cable Color Stripe 1 Index Black 9 Aux A Green 2 Main B Black White 10 Hall U Blue 3 Main A Brown 11 Aux A Purpl...

Page 98: ...96 Chapter 15 Cables for AMP 20xxx DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY...

Page 99: ...isable AMP 204x0 205x0 SDM 206x0 ELO Emergency Lock Out is a jumper setting on the AMP 204x0 AMP 205x0 and SDM 206x0 which configures the amplifier s behavior when the abort line goes low With the jum...

Page 100: ...ver Current OC axes E H disables axes A D disables axes E H JP5 OC ABRT both AMP 20440s OE 1 Condition input LED state Reaction AMPERR runs TA0 Recovery A D Abort J3 pin 6 OC OV axes A D disables axes...

Page 101: ...DMC 21x3 Accessories Appendix A Abort Input Options 99 E H Over Current OC axis E H A D motion continues disables axes E H firmware OE1 disable as opposed to hardware ELO disable...

Page 102: ...100 Appendix A Abort Input Options DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY...

Page 103: ...Pins Gender Density Daugtherboards Part Number 9 Female low SDM 20240 SDM 206x0 AMP 747905 2 15 Female low ICM 20100 ICM 20105 AMP 20340 1 AMP 747909 2 25 Female low ICM 20100 AMP 20240 AMP 20340 1 S...

Page 104: ...102 Appendix B Mating D Shells DMC 21x3 Accessories THIS PAGE LEFT BLANK INTENTIONALLY...

Page 105: ...DMC 21x3 Accessories Appendix C Command Reference 103 Appendix C Command Reference...

Page 106: ...execution will call the subroutine at the AMPERR label ARGUMENTS AE n m where n 0 Disables input 7 as amp error status bit Axes 1 4 n 1 Enables Input 7 as amp error status bit Axes 1 4 n Returns the v...

Page 107: ...MENTS AG n n n n n n n n where AMP 205x0 n 0 0 4 A V n 1 0 7 A V n 2 1 0 A V AMP 20542 n 0 0 1 A V n 1 0 25 A V n 2 0 5 A V AMP 206x0 n 0 0 5 Amps Phase n 1 1 0 Amps Phase n 2 2 0 Amps Phase n 3 3 0 A...

Page 108: ...higher current loop gain AMP 20542 n 0 for normal current loop gain Inverter n 1 for higher current loop gain Inverter n 0 5 for normal current loop gain Chopper n 1 5 for higher current loop gain Ch...

Page 109: ...he AMP 205xx transfer function If the axis is connected to the AMP 204x0 then the algorithm uses the AMP 204x0 transfer function ARGUMENTS AWx v l n where x Axis designator v Drive voltage in Volts l...

Page 110: ...ured as brush type The hall inputs are available for general use via the QH command ARGUMENTS BR n n n n n n n n n where n 0 Brushless servo axis n 1 Brush type servo axis n Returns the value of the a...

Page 111: ...conduct the brushless setup the motor must be allowed to move a minimum of one magnetic cycle in both directions ARGUMENTS BSA v n where v is a real number between 0 and 10 v represents the voltage le...

Page 112: ...ch input is active low p 1 Configures inputs 5 6 7 8 13 14 15 16 as selective abort inputs for axes A B C D E F G and H respectively 0 Inputs 5 6 7 8 13 14 15 16 are configured as general use inputs q...

Page 113: ...e can be calculated by the following formula n n2 2 n3 4 n4 8 n5 16 n6 32 n7 64 n8 128 n9 where nx represents the bank To configure a bank as an output bank substitute a one into that nx in the formul...

Page 114: ...ommand ARGUMENTS LC n n n n n n n n where n 0 Normal stepper drive always on n 1 Low current stepper mode 25 holding current n 2 No current stepper mode 0 holding current AMP 206x0 only n Returns whet...

Page 115: ...set to 0 04 Undefined set to 0 03 Undefined set to 0 02 Hall C State 01 Hall B State 00 Hall A State ARGUMENTS QHn returns the Hall sensor input byte where n A B C D E F G H USAGE DEFAULTS While Movi...

Page 116: ...e A D Axes Bit 3 Hall Error D Axis Bit 3 Peak Current D Axis Bit 3 0 Bit 2 Over Temperature A D Axes Bit 2 Hall Error C Axis Bit 2 Peak Current C Axis Bit 2 0 Bit 1 Over Voltage A D Axes Bit 1 Hall Er...

Page 117: ...ll circumstances ARGUMENTS TK n n n n n n n n n is an unsigned number in the range of 0 to 9 99 volts n 0 disables the peak torque limit n returns the value of the peak torque limit for the specified...

Page 118: ...ARGUMENTS TL n n n n n n n n or TLA n where n is an unsigned numbers in the range 0 to 9 9982 volts with resolution of 0 0003 volts n Returns the value of the torque limit for the specified axis USAG...

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