Galil DMC-4040, User Manual

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Figure A1-2 Peak Current Operation
With the AMP-43040 and 43020, the user is also given the ability to choose between normal and high current
bandwidth (AU). In addition, the user can calculate what the bandwidth of the current loop is for their specific
combination (AW). To select normal current loop gain for the X axis and high current loop gain for the Y axis,
issue AU 0,1. The command AW is used to calculate the bandwidth of the amplifier using the basic amplifier
parameters. To calculate the bandwidth for the X axis, issue AWX=v,l,n where v represents the DC voltage input to
the card, l represents the inductance of the motor in millihenries, and n represents 0 or 1 for the AU setting.
Note : For most applications, unless the motor has more than 5 mH of inductance with a 24V supply, or 10 mH of
inductance with a 48 volts supply, the normal current loop bandwidth option should be chosen. AW will return the
current loop bandwidth in Hertz.
Brush Amplifier Operation
The AMP-43040 and AMP-43020 also allow for brush operation. To configure an axis 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 issuing BR n,n,n,n. By setting n=1, the controller will
operate in brushed mode on that axis. For example, BR0,1,0,0 sets the Y-axis as brush-type, all others as brushless.
If an axis is set to brush-type, the amplifier has no need for the Hall inputs. These inputs can subsequently be used
as general-use inputs, queried with the QH command. The gain settings for the amplifier are identical for the brush
and brushless operation. The gain settings can be set to 0.4, 0.7, or 1.0 A/V, represented by gain values of 0, 1, and
2 (e.g.. AG 0,0,2,1). The current loop gain AU can also be set to either 0 for normal, or 1 for high current loop gain.
Using External Amplifiers
Use connectors on top of controller to access necessary signals to run external amplifiers. In order to use the full
torque limit, make sure the AG setting for the axes using external amplifiers are set to 0 or 1. For more information
on connecting external amplifiers, see Connecting to External Amplifiers in Chapter 2.
Error Monitoring and Protection
The amplifier is protected against over-voltage, under-voltage, over-temperature, and over-current for brush and
brushless operation. The controller will also monitor for illegal Hall states (000 or 111 with 120° phasing). The
controller will monitor the error conditions and respond as programmed in the application. The errors are monitored
A1 – AMP-430x0 (-D3040,-D3020)
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239 DMC-40x0 User Manual