Galil DMC-4040, User Manual

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4080
When ordered with ICM-42000’s or ICM-42100’s the AEN signal is configurable for axes 1-4 and axes 5-8.
Ex – axes 1-4 could be ordered as 5V high amp enable, and axes 5-8 could be ordered as 12V low amp
enable. When ordered with ICM-42200’s each axis is individually configurable.
Step C. Connect the encoders
For stepper motor operation, an encoder is optional.
For servo motor operation, if you have a preferred definition of the forward and reverse directions, make
sure that the encoder wiring is consistent with that definition.
The DMC-40x0 accepts single-ended or differential encoder feedback with or without an index pulse. The
encoder signals are wired to that axis associated 15pin DSub connector found on top of the controller. The
signal leads are labeled MA+ (channel A), MB+ (channel B), and MI+. For differential encoders, the
complement signals are labeled MA-, MB-, and MI-. For complete pin-out information see in the
Appendices.
NOTE: When using pulse and direction encoders, the pulse signal is connected to CHA and the direction
signal is connected to CHB. The controller must be configured for pulse and direction with the command
CE. See the command summary for further information on the command CE.
Step D. Verify proper encoder operation.
Start with the A encoder first. Once it is connected, turn the motor shaft and interrogate the position with
the instruction TPA <return>. The controller response will vary as the motor is turned.
At this point, if TPA does not vary with encoder rotation, there are three possibilities:
1. The encoder connections are incorrect - check the wiring as necessary.
2. The encoder has failed - using an oscilloscope, observe the encoder signals. Verify that both channels
A and B have a peak magnitude between 5 and 12 volts. Note that if only one encoder channel fails,
the position reporting varies by one count only. If the encoder failed, replace the encoder. If you
cannot observe the encoder signals, try a different encoder.
3. There is a hardware failure in the controller - connect the same encoder to a different axis. If the
problem disappears, you may have a hardware failure. Consult the factory for help.
Step E. Connect Hall Sensors if available.
Hall sensors are only used with sinusoidal commutation and are not necessary for proper operation. The
use of Hall sensors allows the controller to automatically estimate the commutation phase upon reset and
also provides the controller the ability to set a more precise commutation phase. Without Hall sensors, the
commutation phase must be determined manually.
The Hall Effect sensors are connected to the digital inputs of the controller. These inputs can be used with
the general use inputs (bits 1-8), the auxiliary encoder inputs (bits 81-96), or the extended I/O inputs of the
DMC-40x0 controller (bits 17-80).
NOTE: The general use inputs are optoisolated and require a voltage connection at the INCOM point - for
more information regarding the digital inputs, see Chapter 3, Connecting Hardware.
Each set of sensors must use inputs that are in consecutive order. The input lines are specified with the
command, BI. For example, if the Hall sensors of the C axis are connected to inputs 6, 7 and 8, use the
instruction:
BI ,, 6 or
BIC = 6
Step 8a. Connect Standard Servo Motors
The following discussion applies to connecting the DMC-40x0 controller to standard servo motors:
Chapter 2 Getting Started
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19 DMC-40x0 User Manual