Galil DMC-4040, User Manual

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of the A axis will be F signal. The first phase of the C axis will be the motor command C signal. The second phase
of the C axis will be the motor command G signal.
Step 7. Make Connections to Amplifier and Encoder.
If the system is run solely by Galil’s integrated amplifiers or drivers, skip this section, the amplifier is already
connected to the controller.
Once you have established communications between the software and the DMC-40x0, you are ready to connect the
rest of the motion control system. The motion control system typically consists of the controller with interconnect
module, an amplifier for each axis of motion, and a motor to transform the current from the amplifier into torque for
motion.
System connection procedures will depend on system components and motor types. Any combination of motor
types can be used with the DMC-40x0. There can also be a combination of axes running from Galil integrated
amplifiers and drivers and external amplifiers or drivers. If sinusoidal commutation is to be used, special attention
must be paid to the reconfiguration of axes (see above section for more information).
Connecting to External Amplifiers
Here are the first steps for connecting a motion control system:
Step A. Connect the motor to the amplifier with no connection to the controller . Consult the amplifier
documentation for instructions regarding proper connections. Connect and turn-on the amplifier power
supply. If the amplifiers are operating properly, the motor should stand still even when the amplifiers are
powered up.
Step B. Connect the amplifier enable signal.
Before making any connections from the amplifier to the controller, you need to verify that the ground
level of the amplifier is either floating or at the same potential as earth.
WARNING: When the amplifier ground is not isolated from the power line or when it has a
different potential than that of the computer ground, serious damage may result to the
computer controller and amplifier.
If you are not sure about the potential of the ground levels, connect the two ground signals (amplifier
ground and earth) by a 10 k
Ω
resistor and measure the voltage across the resistor. Only if the voltage is
zero, connect the two ground signals directly.
The amplifier enable signal is used by the controller to disable the motor. When configured with the ICM-
42000 or ICM-42100, this signal is labeled AENA for the A axis and is found on the 15 pin Dsub
connector associated with the A axis (if configured with the ICM-42200 the AENA signal is located on the
26 pin Dsub associated with the A axis). Note that many amplifiers designate this signal as the INHIBIT
signal. Use the command, MO, to disable the motor amplifiers - check to insure that the motor amplifiers
have been disabled (often this is indicated by an LED on the amplifier).
This signal changes under the following conditions: the watchdog timer activates, the motor-off command,
MO, is given, or the OE3 command (Enable Off-On-Error) is given and the position error exceeds the error
limit. AMPEN can be used to disable the amplifier for these conditions.
The AMPEN signal from the DMC-40x0 is shipped as a default of 5V active high or high amp enable. In
other words, the AMPEN signal will be high when the controller expects the amplifier to be enabled.
If your amplifier requires a different configuration it is highly recommended that the DMC-40x0 is
ordered with the desired configuration.
See the DMC-40x0 ordering information in the catalog
(
http://www.galilmc.com/catalog/cat40x0.pdf
) or contact Galil for more information on ordering different
configurations. If the amplifier enable needs to be changed, see the ICM-42000 and ICM-42100 Amplifier
Enable Circuit section in Chapter 3 Connecting Hardware.
DMC-40x0 User Manual Chapter 2 Getting Started
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