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-43240 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-43240 allows 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
0.5 A/V
m = 1
1.0 A/V
m = 2
2.0 A/V
Table A3.22: Amplifier Gain Settings for AMP-43240
Select the amplifier gain that is appropriate for the motor. The gain settings for the amplifier are identical for brush
and brushless operation. The gain is set with the AG command as shown in Table A3.22 for AG n=m.
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 A3.2 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.
Note:
The TL command is limited to 5 with the amplifier gain setting of 2.0A/V
AU and AW commands:
With the AMP-43240, 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
A3 – AMP-43240 (-D3240) ▫ 224
DMC-40x0 User Manual