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Chapter 2 Getting Started
DMC-18x2
If the motor moves in the required direction but stops short of the target, it is most likely due to
insufficient torque output from the motor command signal ACMD. This can be alleviated by reducing
system friction on the motors. The instruction:
TTX (CR)
Tell torque on X
reports the level of the output signal. It will show a non-zero value that is below the friction level.
Once you have established that you have closed the loop with the correct polarity, you can move on to
the compensation phase (servo system tuning) to adjust the PID filter parameters, KP, KD and KI. It is
necessary to accurately tune your servo system to ensure fidelity of position and minimize motion
oscillation as described in the next section.
J7
J6
J51
DC Servo Motor
En
co
d
e
r
+
-
AUX encoder
input connector
DB25 female
100 pin high density connector
AMP part # 2-178238-9
LS
C
O
M
INCOM
VC
C
VC
C
IC
M
/ A
M
P
-1900
RE
V B
G
A
L
IL
M
O
T
IO
N CO
NT
RO
L
M
A
DE
I
N US
A
+
-
DC Power Supply
M1
W
M2
W
M1
Z
M2
Z
M1
Y
M2
Y
M1
X
M2
X
X
Y
Filter
Chokes
Z
W
Reset Switch
Error LED
VAMP
VAMP
GN
D
EAR
T
H
GN
D
AUX encoder
input connector
26 pin header
Figure 2-2 - System Connections with the AMP-1900 Amplifier. Note: this figure shows a Galil Motor and
Encoder which uses a flat ribbon cable for connection to the AMP-1900 unit.
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Содержание DMC-18 2 Series
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