Operation
Brushless Motor Setup
NOTE
: If you purchased a Galil motor with the amplifier, it is ready for use. No additional setup is necessary.
To begin the setup of the brushless motor and amplifier, it is first necessary to have communications with the
motion controller. It is also necessary to have the motor hardware connected and the amplifier powered to begin
the setup phase. After the encoders and motor leads are connected, the controller and amplifier need to be
configured correctly in software. Take all appropriate safety precautions. For example, set a small error limit
(ER*=1000), a low torque limit (TL*=3), and set off on Error to 1 for all axes (OE*=1).
The AMP-430x0 requires that the hall commutation for a brushless motor be manually configured. Details on how
to determine the correct commutation for a brushless motor, see Application Note # 5489.
http://www.galilmc.com/support/appnotes/miscellaneous/note5489.pdf
Brushed Motor 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, BR 0,1,0,0 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.
Setting Amplifier Gain and Current Loop Bandwidth
AG command:
AG setting
Gain Value
m = 0
0.4 A/V
m = 1
0.7 A/V
m = 2
1.0 A/V
Table A1.1: Amplifier Gain Settings for AMP-430x0 (-D3040,-D3020)
The gain is set with the AG command as shown in Table A1.1 for AG n=m. Select the amplifier gain that is
appropriate for the motor. The gain settings for the amplifier are identical for the brush and brushless operation.
The amplifier gain command (AG) can be set to 0, 1, or 2 corresponding to 0.4, 0.7, and 1.0 A/V. In addition to the
gain, peak and continuous torque limits can be set through TK and TL respectively. The TK and TL values are
entered in volts on an axis by axis basis. The peak limit will set the maximum voltage that will be output from the
controller to the amplifier. The continuous current will set what the maximum average current is over a one
second interval. Figure A1.2 is indicative of the operation of the continuous and peak operation. In this figure, the
continuous limit was configured for 2 volts, and the peak limit was configured for 10 volts.
AU and AW commands:
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.
A1 – AMP-430x0 (-D3040,-D3020) ▫ 215
DMC-40x0 User Manual