Galil DMC-4040, User Manual

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Amplifier Interface
Electrical Specifications
Max Amplifier Enable Voltage 24V
Max Amplifier Enable Current @24V sink/source 25 mA
Motor Command Output Impedance 500
Ω
Overview
The DMC-40x0 command voltage ranges b/-10V and is output on the motor command line - MCMn
(where n is A-H). This signal, along with GND, provides the input to the motor amplifiers. The amplifiers must be
sized to drive the motors and load. For best performance, the amplifiers should be configured for a torque (current)
mode of operation with no additional compensation. The gain should be set such that a 10 volt input results in the
maximum required current.
Note: The DMC-40x0 controller has an option for differential motor command outputs. For more information
contact Galil.
The DMC-40x0 also provides an amplifier enable signal - AENn (where n is A-H). This signal changes under the
following conditions: the motor-off command, MO, is given, the watchdog timer activates, or the OE command
(Enable Off-On-Error) is set and the position error exceeds the error limit or a limit switch is reached (see OE
command in the Command Reference for more information).
For all versions of the ICM-42x00, the standard configuration of the amplifier enable signal is 5V active high amp
enable (HAEN) sinking. In other words, the AEN signal will be high when the controller expects the amplifier to be
enabled. The polarity and the amplitude can be changed by configuring the Amplifier Enable Circuit on the ICM-
42x00.
If your amplifier requires a different configuration than the default 5V HAEN sinking 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.
Note1: Many amplifiers designate the enable input as ‘inhibit’.
ICM-42000 and ICM-42100 Amplifier Enable Circuit
This section describes how to configure the ICM-42000 and ICM-42100 for different Amplifier Enable
configurations. It is advised that the user order the DMC-40x0 with the proper Amplifier enable configuration.
The ICM-42000 and ICM-42100 gives the user a broad range of options with regards to the voltage levels present on
the enable signal. The user can choose between High-Amp-Enable (HAEN), Low-Amp-Enable (LAEN), 5V logic,
12V logic, external voltage supplies up to 24V, sinking, or sourcing. Tables 3-2 and 3-3 found below illustrate the
settings for jumpers, resistor packs, and the socketed optocoupler IC. Refer to Figures 3-4 and 3-5 for precise
physical locations of all components. Note that the resistor pack located at RP2 may be reversed to change the
active state of the amplifier enable output. However, the polarity of RP6 must not be changed; a different resistor
value may be needed to limit the current to 6 mA. The default value for RP6 is 820 ohms, which works at 5V.
When using 24 V, RP6 should be replaced with a 4.7 k
Ω
resistor pack.
NOTE: For detailed step-by-step instructions on changing the Amplifier Enable configuration on the ICM-42000 or
ICM-42100 see the Configuring the Amplifier Enable Circuit section in the Appendices.
Chapter 3 Connecting Hardware
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41 DMC-40x0 User Manual