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Galil DMC-21x3 User Manual
Summary of DMC-21x3
Page 1
User manual / command reference manual rev. 1.0m galil motion control, inc. 270 technology way rocklin, california 95765 phone: (916) 626-0101 fax: (916) 626-0102 e-mail address: support@galilmc.Com url: www.Galilmc.Com rev 12/08 dmc-21x3 amplifiers & accessories.
Page 2
Using this manual this user manual provides information for proper operation of the daughter boards that connect to the dmc-21x3 controllers. It also includes a small listing of commands that pertain to the daughter boards. This is a subset of the commands listed in the command reference you receive...
Page 3: Contents
Dmc-21x3 accessories contents• 1 contents contents ................................................................................................................................................................ 1 chapter 1 overview ......................................................................
Page 4
2 • contents dmc-21x3 accessories c onfigurations for sdm-20240 & sdm-20242............................................................................................... 31 motor current setting ...........................................................................................................
Page 5
Dmc-21x3 accessories contents• 3 o peration ............................................................................................................................................................. 64 brushless motor setup ............................................................................
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4 • contents dmc-21x3 accessories appendix c command reference ........................................................................................................ 103 ae.................................................................................................................................
Page 7: Chapter 1 Overview
Dmc-21x3 accessories chapter 1 overview• 5 chapter 1 overview ________________________________________________________________________ introduction galil’s dmc-21x3 series motion controllers connect with daughterboard modules that mount directly on the motion controller. This eliminates the need for...
Page 8: Dc to Dc Pass Through
6 • chapter 1 overview dmc-21x3 accessories dc to dc pass through when using the dc-to-dc converter in conjunction with the galil amplifier daughter boards described in this manual, there is an option to have the dc power supply input shared among both boards, which alleviates the need to supply pow...
Page 9
Dmc-21x3 accessories chapter 1 overview• 7 cables part number description cable-15-1m 15-pin high density d-sub cable with 1 m flying leads (amp-204x0 and amp-205x0) cable-44-1m 44-pin high density d-sub cable with 1 m flying leads (amp-204x0 and amp-205x0).
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Page 11: Chapter 2 Sr-19900
Dmc-21x3 accessories chapter 2 sr-19900• 9 chapter 2 sr-19900 ____________________________________________________________________________ introduction for applications requiring a shunt regulator, galil offers a small mountable model that can be configured for varying voltage levels. Two fixed volt...
Page 12
10 • chapter 2 sr-19900 dmc-21x3 accessories motor + - pwm amplifier dcpower supply + - controller encoder sr-19900 shunt regulator m+ gnd aen mocmdx system load (inertia) m- figure 1 shunt regulator placement in a typical servo system.
Page 13: Layout
Dmc-21x3 accessories chapter 2 sr-19900• 11 layout figure 2 sr-19900 layout pinout j2 4-pin molex j1 8-pin mate ‘n lock power ground 1 pg 1 earth 5 pg voltage supply 2 vs 2 vs 6 pg power ground 3 pg 3 vs 7 pg voltage supply 4 vs 4 vs 8 pg configuration sr-19900 configuration usr - user settable volt...
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Page 15: Chapter 3 Icm-20100
Dmc-21x3 accessories chapter 3 icm-20100• 13 chapter 3 icm-20100 __________________________________________________________________ introduction the icm-20100 interconnect module provides d-sub connections between the dmc-21x3 series controllers and other system elements, such as amplifiers, encoder...
Page 16: Layout
14 • chapter 3 icm-20100 dmc-21x3 accessories layout drawing not to scale. For reference only. Dimensions are inches figure 4 icm-20100 layout board dimensions are 3.7” x 4.25”. See application note #1231 for hole locations..
Page 17: Pinout
Dmc-21x3 accessories chapter 3 icm-20100• 15 pinout j6 x-axis 15-pin male d-sub j5 j5 y-axis 15-pin male d-sub 1 forward limit x 1 forward limit y 2 home x 2 home y 3 5v 3 5v 4 a- x 4 a- y 5 b- x 5 b- y 6 i- x 6 i- y 7 amp enable x 7 amp enable y 8 sign/dir x 8 sign/dir y 9 reverse limit x 9 reverse...
Page 18
16 • chapter 3 icm-20100 dmc-21x3 accessories j10 aux encoders 25-pin female d-sub j11 i/o 25-pin male d-sub 1 reset * 1 ground 2 ab- w 2 latch x/input 1 3 aa- w 3 latch z/input 3 4 ab- z 4 input 5 5 aa- z 5 input 7 6 ab- y 6 abort * 7 aa- y 7 output 1 8 ab- x 8 output 3 9 aa- x 9 output 5 10 5v 10 ...
Page 19: Amplifier Enable
Dmc-21x3 accessories chapter 3 icm-20100• 17 amplifier enable the standard configuration of the ampen signal is ttl active high. In other words, the ampen signal will be high when the controller expects the amplifier to be enabled. The polarity and the amplitude can be changed. To change the polarit...
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Page 21: Chapter 4 Icm-20105
Dmc-21x3 accessories chapter 4 icm-20105• 19 chapter 4 icm-20105 __________________________________________________________________ introduction the icm-20105 opto-isolated i/o module are used with dmc-21x3 controllers. It has four 15-pin male d-sub connectors for individual axis signals. There is o...
Page 22: Electrical Specifications
20 • chapter 4 icm-20105 dmc-21x3 accessories electrical specifications input common max voltage 28 vdc output common max voltage 30 vdc max drive current per output 0.5 a (not to exceed 3a for all 8 outputs) minimum current to turn on inputs 1 ma max enable current @24v source 25 ma layout drawing ...
Page 23: Pinout
Dmc-21x3 accessories chapter 4 icm-20105• 21 pinout jx x-axis 15-pin male d-sub jy y-axis 15-pin male d-sub 1 amp enable common-1 (aecom1) 1 amp enable common-1 (aecom1) 2 amp enable x 2 amp enable y 3 5v 3 5v 4 a- x 4 a- y 5 b- x 5 b- y 6 i- x 6 i- y 7 nc 7 nc 8 sign/dir x 8 sign/dir y 9 amp enable...
Page 24
22 • chapter 4 icm-20105 dmc-21x3 accessories jaux aux. Encoder 25-pin female d jio i/o 37-pin female d-sub 1 nc 1 input common voltage 2 ab- w 2 input 2 3 aa- w 3 input 4 4 ab- z 4 input 6 5 aa- z 5 input 8 6 ab- y 6 output supply voltage 7 aa- y 7 output 2 8 ab- x 8 output 4 9 aa- x 9 output 6 10 ...
Page 25: Configurations For Icm-20105
Dmc-21x3 accessories chapter 4 icm-20105• 23 configurations for icm-20105 amplifier enable circuit the icm-20105 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 logi...
Page 26
24 • chapter 4 icm-20105 dmc-21x3 accessories for 24v isolated enable, tie +24v of external power supply to aecom1 at any axis d-sub, tie common return to aecom2. Replace rpae2 with a 4.7 kΩ resistor pack. Aecom1 and aecom2 are located on any 15-pin axis d-subs (jx, jy, jz, or jw). All pins labeled ...
Page 27
Dmc-21x3 accessories chapter 4 icm-20105• 25 opto isolation settings the icm-20105 module allows for opto-isolation on all of the digital inputs and outputs. This includes the dedicated i/o including limits, homes, and abort. The limits and home are powered by limit switch common. The digital inputs...
Page 28
26 • chapter 4 icm-20105 dmc-21x3 accessories output isolation the high current isolated outputs available through the icm-20105 are configured for high side operation. The outputs are capable of 500 ma per output with a total of 3 a from the group of 8 outputs. The figure below shows the manner in ...
Page 29: Introduction
Dmc-21x3 accessories chapter 5 sdm-20240/20242• 27 chapter 5 sdm-20240/20242 ______________________________________________________________________________ introduction the sdm-20240 and sdm-20242 are stepper driver modules capable of driving up to four bipolar two-phase stepper motors. The current ...
Page 30: Electrical Specifications
28 • chapter 5 sdm-20240/20242 dmc-21x3 accessories electrical specifications dc supply voltage: 12-30 vdc max drive current (per axis) 1.4 amps (jumper-settable) max step frequency 3 mhz motor type bipolar 2 phase layout drawing not to scale. For reference only. Dimensions are in inches figure 13 s...
Page 31: Pinout
Dmc-21x3 accessories chapter 5 sdm-20240/20242• 29 figure 14 sdm-20242 layout for connector dimensions, see sdm-20240 drawing above pinout j2 - motor output x (4pin molex) j3 - motor output y (4pin molex) 1 xmoa+ 1 ymoa+ 2 xmoa- 2 ymoa- 3 xmob+ 3 ymob+ 4 xmob- 4 ymob- j4 - motor output z (4pin molex...
Page 32
30 • chapter 5 sdm-20240/20242 dmc-21x3 accessories j6 - x-axis 9-pin male d-sub j7 y-axis 9-pin male d-sub 1 forward limit x 1 forward limit y 2 home x 2 home y 3 5v 3 5v 4 a- x 4 a- y 5 b- x 5 b- y 6 reverse limit x 6 reverse limit y 7 ground 7 ground 8 a+ x 8 a+ y 9 b+ x 9 b+ y j8 z-axis 9-pin ma...
Page 33
Dmc-21x3 accessories chapter 5 sdm-20240/20242• 31 jp8 – servo motor signals 1 xaen (x amp enable) 2 xmcm (x motor cmd) 3 yaen (y amp enable) 4 ymcm (y motor cmd) 5 zaen (z amp enable) 6 zmcm (z motor cmd) 7 waen (w amp enable) 8 wmcm (w motor cmd) 9 gnd 10 gnd mating connectors connector terminal p...
Page 34
32 • chapter 5 sdm-20240/20242 dmc-21x3 accessories xref yref zref wref jp6 jp3 jp4 jp5 sdm-20240 0.5a .75a 1.4a 1.0a figure 15 current limit jumper configuration low current setting (jp1) the lc jumper and associated “lc” command have three possible configurations for both the sdm-20240 and sdm-202...
Page 35
Dmc-21x3 accessories chapter 5 sdm-20240/20242• 33 ______________________________________________________________________________ additional settings for sdm-20242 micro step jumpers (jp1) determines whether pulses from the controller are interpreted by the driver chips as whole, half, or micro-step...
Page 36
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Page 37: Chapter 6 Amp-20341
Dmc-21x3 accessories chapter 6 amp-20341• 35 chapter 6 amp-20341 ______________________________________________________________________________ introduction the amp-20341 contains four linear drives for operating small brush-type servo motors. The amp-20341 requires a ± 12–30 dc volt input.* output ...
Page 38: Electrical Specifications
36 • chapter 6 amp-20341 dmc-21x3 accessories electrical specifications dc supply voltage: +/-12-30 vdc (bipolar) max current (per axis) 1.0 amps amplifier gain: 0.1 a/v power output (per channel): 20 w total max. Power output: 60 w layout figure 17 amp-20341 hole dimensions.
Page 39
Dmc-21x3 accessories chapter 6 amp-20341• 37 pinout j2 i/o (25 pin d-sub) 1 ground 8 output 3 15 latch y/input 2 22 output 6 2 latch x/input 1 9 output 5 16 latch w/input 4 23 output 8 3 latch z/input 3 10 output 7 17 input 6 24 5v 4 input 5 11 ground 18 input 8 25 error output * 5 input 7 12 reset ...
Page 40
38 • chapter 6 amp-20341 dmc-21x3 accessories j8 external amplifier 1 amp enable x 6 motor command 2 motor command x 7 amp enable w 3 amp enable y 8 motor command w 4 motor command y 9 ground 5 amp enable z 10 ground mating connectors connector terminal pins j9: power molex: 26-03-4030 molex: 08-50-...
Page 41: Introduction
Dmc-21x3 accessories chapter 7 amp-20440/20420• 39 chapter 7 amp-20440/20420 _____________________________________________________________ introduction the amp-20420 and amp-20440 are brush style amplifiers with a power capacity of 200 watts per channel. The amplifier is operational from 18-60 vdc. ...
Page 42: Electrical Specifications
40 • chapter 7 amp-20440/20420 dmc-21x3 accessories electrical specifications dc supply voltage: 18-60 vdc max current: 3.3 amps (continuous and peak) pwm frequency: 60 khz minimum load inductance: 0.5 mh over-voltage threshold (ov): 69 volts (resets at 66 volts) layout drawing not to scale. For ref...
Page 43: Pinout
Dmc-21x3 accessories chapter 7 amp-20440/20420• 41 pinout j4 x-axis 15-pin hi-density female d-sub 1 i+ x 2 b+ x 3 a+ x 4 ab+ x 5 ground 6 i- x 7 b- x 8 a- x 9 aa- x 10 forward limit x 11 aa+ x 12 ab- x 13 home x 14 reverse limit x 15 5v j6 z-axis 15-pin hi-density female d-sub 1 i+ z 2 b+ z 3 a+ z ...
Page 44
42 • chapter 7 amp-20440/20420 dmc-21x3 accessories j1 power 4-pin 13 sign/dir z 1 vm+ 18-60 vdc 14 sign/dir w 2 ground 15 pwm/step w 3 vm+ 18-60 vdc 16 w-axis ampenable (revd and greater) 4 ground 17 z-axis ampenable (revd and greater) mating connector amp 770849-4 18 output 7 mating connector pins...
Page 45: Over-Voltage Protection
Dmc-21x3 accessories chapter 7 amp-20440/20420• 43 over-voltage protection the amp-204x0 is protected against over voltage. If the supply voltage to the amplifier exceeds 69 v, the over voltage protection will take effect. The yellow over voltage led will be lit on the amplifier until the voltage dr...
Page 46: Abort Input Options
44 • chapter 7 amp-20440/20420 dmc-21x3 accessories abort input options see appendix a..
Page 47: Chapter 8 Icm-20500
Dmc-21x3 accessories chapter 8 icm-20500• 45 chapter 8 icm-20500 _________________________________________________________________ introduction the icm-20500 provides a screw terminal interface for the amp-205x0. The unit also provides optical isolation on digital inputs and outputs to interface wit...
Page 48: Electrical Specifications
46 • chapter 8 icm-20500 dmc-21x3 accessories electrical specifications input common max voltage 28 vdc output common max voltage 28 vdc max drive current per output 0.5 a (outputs 1-4), 25 ma (outputs 5-8) minimum current to turn on inputs 1 ma layout drawing not to scale. For reference only. Dimen...
Page 49: Pinout
Dmc-21x3 accessories chapter 8 icm-20500• 47 pinout icm-20500 (standard product with screw terminals) 1 w hall phase c 37 y aux encoder a + 73 digital output 6 (25 ma) 2 + 5 v (power output) 38 y aux encoder a - 74 digital output 7 (25 ma) 3 gnd (power return) 39 y aux encoder b + 75 digital output ...
Page 50: Configuration
48 • chapter 8 icm-20500 dmc-21x3 accessories configuration the schematic above shows the digital input configuration. For digital inputs 1 to 8, incom connects to the positive (+) terminal of an external dc supply for a sourcing configuration. For a sinking configuration, the negative (-) supply te...
Page 51: Chapter 9 Amp-20540/20520
Dmc-21x3 accessories chapter 9 amp-20540/20520• 49 chapter 9 amp-20540/20520 ____________________________________________________________________________ introduction the amp-20540 (four-axis) and amp-20520 (two-axis) are multi-axis brush/brushless amplifiers that are capable of handling 500 watts o...
Page 52: Electrical Specifications
50 • chapter 9 amp-20540/20520 dmc-21x3 accessories electrical specifications the amplifier is a brush/brushless trans-conductance pwm amplifier. The amplifier operates in torque mode, and will output a motor current proportional to the command signal input. Supply voltage: 18-60 vdc (up to 80v opti...
Page 53: Pinout
Dmc-21x3 accessories chapter 9 amp-20540/20520• 51 pinout j4 - x-axis 15-pin hd female d-sub j5 - y-axis 15-pin hd female d-sub 01 i+ x 01 i+ y 02 b+ x 02 b+ y 03 a+ x 03 a+ y 04 ab+ x 04 ab+ y 05 gnd 05 gnd 06 i- x 06 i- y 07 b- x 07 b- y 08 a- x 08 a- y 09 aa- x 09 aa- y 10 hall x a 10 hall y a 11...
Page 54
52 • chapter 9 amp-20540/20520 dmc-21x3 accessories jx1 - motor output x (4-pin ) jy1 - motor output y (4-pin) nc nc 2 x axis phase a 2 y axis phase a 3 x axis phase c 3 y axis phase c 4 x axis phase b 4 y axis phase b jz1 - motor output z (4-pin) jw1 - motor output w (4-pin) nc nc 2 z axis phase a ...
Page 55
Dmc-21x3 accessories chapter 9 amp-20540/20520• 53 j1 power (8-pin) j11 – analog input- 16 pin idc header 1 earth 01 gnd 09 analog input 7 2 +vdc (18v-60v) 02 gnd 10 analog input 8 3 +vdc (18v-60v) 03 analog input 1 11 gnd 4 +vdc (18v-60v) 04 analog input 2 12 gnd 5 gnd 05 analog input 3 13 -12v 6 g...
Page 56: Operation
54 • chapter 9 amp-20540/20520 dmc-21x3 accessories 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 wi...
Page 57
Dmc-21x3 accessories chapter 9 amp-20540/20520• 55 figure 27 peak current operation (dmc-2143 and amp-20540) with the amp-20540 and 20520, 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 curren...
Page 58
56 • chapter 9 amp-20540/20520 dmc-21x3 accessories out is set via jumpers (see figure below). If no jumpers are installed (factory default), the corresponding pins on the 44-pin connector will be no-connects. In this example, w axis will output the motor command on pin 31 and amplifier enable on pi...
Page 59
Dmc-21x3 accessories chapter 9 amp-20540/20520• 57 under-voltage protection if the supply to the amplifier drops below 12 vdc, the amplifier will be disabled. The amplifier will return to normal operation once the supply is raised above the 12v threshold; bit 3 of the error status (ta0) will tell th...
Page 60: Abort Input Options
58 • chapter 9 amp-20540/20520 dmc-21x3 accessories abort input options see appendix a..
Page 61: Chapter 10 Amp-20542
Dmc-21x3 accessories chapter 10 amp-20542• 59 chapter 10 amp-20542 ____________________________________________________________________________ introduction the amp-20542 is a four-axis pwm servo amplifier designed for direct plug-in to the dmc- 21x3 motion controller. It requires a single input dc ...
Page 62: Electrical Specifications
60 • chapter 10 amp-20542 dmc-21x3 accessories electrical specifications the amplifier is a brush/brushless pwm amplifier. The amplifier operates in torque mode, and will output a motor current proportional to the command signal input. Supply voltage: 18-60 vdc continuous current: 3.3 amps peak curr...
Page 63: Pinout
Dmc-21x3 accessories chapter 10 amp-20542• 61 pinout j4 - x-axis 15-pin hd female d-sub j5 - y-axis 15-pin hd female d-sub 01 i+ x 01 i+ y 02 b+ x 02 b+ y 03 a+ x 03 a+ y 04 ab+ x 04 ab+ y 05 gnd 05 gnd 06 i- x 06 i- y 07 b- x 07 b- y 08 a- x 08 a- y 09 aa- x 09 aa- y 10 hall x a 10 hall y a 11 aa+ ...
Page 64
62 • chapter 10 amp-20542 dmc-21x3 accessories jx1 - motor output x (4-pin ) jy1 - motor output y (4-pin) 1 earth 1 earth 2 x axis phase a 2 y axis phase a 3 x axis phase c 3 y axis phase c 4 x axis phase b 4 y axis phase b jz1 - motor output z (4-pin) jw1 - motor output w (4-pin) 1 earth 1 earth 2 ...
Page 65
Dmc-21x3 accessories chapter 10 amp-20542• 63 j1 power (8-pin) 1 earth 2 +vdc (18v-60v) 3 +vdc (18v-60v) 4 +vdc (18v-60v) 5 gnd 6 gnd 7 gnd 8 gnd mating connectors connector terminal pins j1: dc power connector 8-pin mini universal mate-n-lok amp# 770579-1 amp# 170361-1 jx1, jy1, jz1, and jw1: 4-pin...
Page 66: Operation
64 • chapter 10 amp-20542 dmc-21x3 accessories 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 a brushless motor, it is first necessary to have communications with the motion control...
Page 67
Dmc-21x3 accessories chapter 10 amp-20542• 65 brush amplifier operation the amp-20542 also allows brush servo 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 ...
Page 68: Abort Input Options
66 • chapter 10 amp-20542 dmc-21x3 accessories current exceeds the continuous setting, and ta3 will return if the elo has occurred as a result of a hard abort input. The user also has the option to include the special label #amperr in their program to handle amplifier errors. As long as a program is...
Page 69: Chapter 11 Sdm-20640/20620
Dmc-21x3 accessories chapter 11 sdm-20640/20620• 67 chapter 11 sdm-20640/20620 ____________________________________________________________________________ introduction the sdm-20640 microstepper module drives four bipolar two-phase stepper motors with 1/64 microstep resolution (the sdm-20620 drives...
Page 70: Electrical Specifications
68 • chapter 11 sdm-20640/20620 dmc-21x3 accessories electrical specifications dc supply voltage: 12-60 vdc max drive current (per axis) 3.0 amps (selectable with ag command) max step frequency 3 mhz (microsteps) motor type bipolar two-phase switching frequency 60 khz minimum load inductance: 0.5 mh...
Page 71
Dmc-21x3 accessories chapter 11 sdm-20640/20620• 69 jz1 motor output z (4pin molex) jw1 motor output w (4pin molex) 1 zmob+ 1 wmob+ 2 zmoa+ 2 wmoa+ 3 zmob- 3 wmob- 4 zmoa- 4 wmoa- jx2 x-axis (9 pin male d-sub) jy2 y-axis (9 pin male d-sub) 1 forward limit x 1 forward limit y 2 home x 2 home y 3 5v 3...
Page 72
70 • chapter 11 sdm-20640/20620 dmc-21x3 accessories j1 power (8 pin molex) 1 earth ground 5 ground 2 +v (12v-60v) 6 ground 3 +v (12v-60v) 7 ground 4 +v (12v-60v) 8 ground j11 analog (16 pin idc header) 1 ground 5 analog in 3 9 analog in 7 13 -12v 2 ground 6 analog in 4 10 analog in 8 14 +12v 3 anal...
Page 73: Configurations For Sdm-206X0
Dmc-21x3 accessories chapter 11 sdm-20640/20620• 71 configurations for sdm-206x0 the ag command sets the current on each axis and the lc command configures each axis’s behavior when holding position. These commands are detailed below: current level setup (ag command) ag configures how much current t...
Page 74
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Page 75: Chapter 12 Pcm-20900
Dmc-21x3 accessories chapter 12 pcm-20900• 73 chapter 12 pcm-20900 ____________________________________________________________________________ introduction the pcm-20900 is a module that can be used to facilitate the design of a custom daughter board. The module contains the 96 pin connector allowi...
Page 76
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Page 77: Chapter 13 Db-28040
Dmc-21x3 accessories chapter 13 db-28040• 75 chapter 13 db-28040 ____________________________________________________________________________ introduction the db-28040 is an i/o daughter board for the dmc-21x2/21x3 series motion controllers. Note: the following information will apply to all db-28040...
Page 78: Layout
76 • chapter 13 db-28040 dmc-21x3 accessories layout figure 36 db-28040 interconnect mounting dimensions overall dimensions: 3.075” x 2.425”.
Page 79: Pinout
Dmc-21x3 accessories chapter 13 db-28040• 77 pinout j1 – 40 digital i/o (50-pin idc header) 1 bank 4 – bit 40 2 bank 5 – bit 41 3 bank 4 – bit 39 4 bank 5 – bit 42 5 bank 4 – bit 38 6 bank 5 – bit 43 7 bank 4 – bit 37 8 bank 5 – bit 44 9 bank 4 – bit 36 10 bank 5 – bit 45 11 bank 4 – bit 35 12 bank ...
Page 80: Electrical Specifications
78 • chapter 13 db-28040 dmc-21x3 accessories electrical specifications 3.3v i/o (standard) inputs max input voltage 3.4 vdc guarantee high voltage 2.0 vdc guarantee low voltage 0.8 vdc inputs are internally pulled up to 3.3v through a 4.7k Ωresistor outputs sink/source 4ma per output 5v i/o (-5v o...
Page 81: Ssi
Dmc-21x3 accessories chapter 13 db-28040• 79 ssi the db-28040 can also be ordered to support ssi encoders. When using the ssi option for the db-28040, note that bank 6 (bits 49 to 56) are not active. Please see application note 2438: galil ssi encoder interface, for more details. Db-28040 and amp-20...
Page 82
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Page 83: Chapter 14 Db-28104
Dmc-21x3 accessories chapter 14 db-28104• 81 chapter 14 db-28104 ____________________________________________________________________________ introduction a family of feedback devices, commonly called sin/cosine encoders or 1 volt peak-peak encoders are becoming increasingly popular due to their cos...
Page 84
82 •chapter 14 db-28104 dmc-21x3 accessories the db-28104 can be used in conjunction with any of the galil amplifier boards. In figure 2, a dmc-2143 is mated to the db-28104 and an icm-20100 breakout module. Figure 39 dmc-2143+icm-20100+db-28104.
Page 85: Layout
Dmc-21x3 accessories chapter 14 db-28104• 83 layout figure 40 db-28104 dimensions overall dimensions: 3.075” x 3.510” theory of operation traditional quadrature rotary encoders work by having two sets of lines inscribed radially around the circumference of an optical disk. A light is passed through ...
Page 86
84 •chapter 14 db-28104 dmc-21x3 accessories figure 41 quadrature encoder signals a sinusoidal encoder is similar to a quadrature encoder in that it produces two signals that are read from two sets of lines inscribed on an optical disk. The difference is that the two signals are output as analog sin...
Page 87: Setting Up The Encoder
Dmc-21x3 accessories chapter 14 db-28104• 85 the unique position within one cycle can be read using the following equation: ⎟⎟ ⎠ ⎞ ⎜⎜ ⎝ ⎛ = a b 1 - n v v tan 360 2 fine the overall position can be determined using: fine 2 les coarse_cyc position n + ⋅ = where: n is the number of bits of resolution t...
Page 88
86 •chapter 14 db-28104 dmc-21x3 accessories after wiring the encoders, it is recommended that the system is powered up with the motor off jumper installed, or the power to the amplifiers disabled. Connect to the controller using dmcsmartterminal or other compatible software. Sinusoidal encoder inte...
Page 89: Tuning The System
Dmc-21x3 accessories chapter 14 db-28104• 87 once the encoder is shown to provide acceptable feedback with correct polarity, set a low torque limit (tl). Set a reasonable error limit (er) and enable the off-on-error function (oe). This ensures that the axis will not be driven unstable once power is ...
Page 90
88 •chapter 14 db-28104 dmc-21x3 accessories figure 44 afx=10 step response close inspection of the step response shows that some overshoot occurred. However, any attempt to eliminate this overshoot resulted in an overdamped system. A second test was run with afx=12. This highest interpolation requi...
Page 91: Example Sin/cos Encoders
Dmc-21x3 accessories chapter 14 db-28104• 89 figure 45 afx=12 step response. Example sin/cos encoders rsf elektronik msa 670.3 20 μm pitch at afx=12 results in 5 nm position resolution. * this encoder can be ordered from rsf with a cable that mates directly to the db-28104. Use cable code uie. Www.R...
Page 92
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Page 93
Dmc-21x3 accessories chapter 15 cables for amp-20xxx• 91 chapter 15 cables for amp-20xxx ____________________________________________________________________________ the cable-44pin-xm is used to break-out the i/o signals on connector j3 of the amp-205x0 or amp-20542. This cable consists of a 44-pin...
Page 94
92 •chapter 15 cables for amp-20xxx dmc-21x3 accessories table 1. First version of cable-44, pinout color-code pin description cable color (dot ) pin description cable color (dot ) 1 nc/pwmz/motor command z 1 white 23 input4/latchw dark blue 2 output 6 white(black) 24 input1/latchx dark blue(white) ...
Page 95
Dmc-21x3 accessories chapter 15 cables for amp-20xxx• 93 for pinout information of this cable, see table 2 below. Table 2. Second version of cable-44, pinout color-code pin description cable color(stripe) pin description cable color (stripe) 1 nc/pwmz/motor command z 1 black 23 input4/latchw dark bl...
Page 96
94 •chapter 15 cables for amp-20xxx dmc-21x3 accessories for pinout information of this cable, see table 3 below. Table 3. Third version of cable-44, pinout color-code pin description cable color (stripe) pin description cable color (stripe) 1 nc/pwmz/motor command z 1 black 23 input4/latchw green(b...
Page 97
Dmc-21x3 accessories chapter 15 cables for amp-20xxx• 95 fig 4. Cable-15 part number for pinout color code information of this cable, see table 4 below. Table 4. Cable-15, pinout color-code pin description cable color (stripe) pin description cable color (stripe) 1 index + black 9 aux a- green 2 mai...
Page 98
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Page 99: Elo Scenarios
Dmc-21x3 accessories appendix a abort input options• 97 appendix a abort input options the factory default behavior of a falling edge on the abort digital input causes the program to stop and all motors to servo to an instantaneous stop; however, it may be advantageous configure the shut down of the...
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98 •appendix a abort input options dmc-21x3 accessories dmc-2143 with sdm-20640 oe*=1; cn,,,,1; #amperr defined condition input led state reaction #amperr runs ta recovery abort (j3 pin 6) oc blinks -disables axes a-d yes ta3 returns 1 mo;sh a-d over current oc “ “ ta0 returns 1 “ dmc-2183 with two ...
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Dmc-21x3 accessories appendix a abort input options• 99 e-h over current oc axis e-h -a-d motion continues -disables axes e-h “ “ “ *firmware (oe1) disable (as opposed to hardware elo disable).
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Page 103: Appendix B Mating D-Shells
Dmc-21x3 accessories appendix b mating d-shells• 101 appendix b mating d-shells the below table lists mating connector part numbers for all daughterboards. The gender is referenced to the mating connector. Pins gender density daugtherboards part number 9 female low sdm-20240, sdm-206x0 amp 747905-2 ...
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Dmc-21x3 accessories appendix c command reference• 103 appendix c command reference.
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104 •appendix c command reference dmc-21x3 accessories ae function: amplifier error. Description: the ae command is used in conjunction with an amp-20440 or amp-19540 to designate input 7 as the amp error status bit. A jumper must be placed on the amplifier to connect the amp error signal to the app...
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Dmc-21x3 accessories appendix c command reference• 105 ag function: amplifier gain description: the ag command sets the amplifier current/voltage gain for the amp-205xx, and the current level for the amp 206x0. 0 sets the lowest ratio or value while 2 sets the highest ratio for the 205xx, and 3 sets...
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106 •appendix c command reference dmc-21x3 accessories au function: set amplifier current loop description: the au command sets the amplifier current loop gain for the amp-205xx. Current loop is available in one of two settings (0 is normal while 1 sets a higher current loop) values stored in eeprom...
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Dmc-21x3 accessories appendix c command reference• 107 aw function: amplifier bandwidth description: the aw command accepts the drive voltage (volts) and motor inductance (millihenries) and uses the current loop gain setting (au) as the default and then reports the calculated bandwidth. The user can...
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108 •appendix c command reference dmc-21x3 accessories br function: brush axis description: the br command is used in conjunction with an amp-205x0 to enable which axis will be set as brush-type servo. The hall error bits are not set in the ta value when an axis is configured as brush-type. The hall...
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Dmc-21x3 accessories appendix c command reference• 109 bs function: brushless setup description: the command bs tests the wiring of a brushless motor. If hall sensors are connected, this command also tests the wiring of the hall sensors. This function can only be performed with one axis at a time. T...
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110 •appendix c command reference dmc-21x3 accessories cn function: configure description: the cn command configures the polarity of the limit switches, home switches, latch inputs, the selective abort function, and the program status after a hard abort. Arguments: cn m,n,o,p,q where m,n,o are integ...
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Dmc-21x3 accessories appendix c command reference• 111 co function: configure extended i/o description: the co command configures the extended i/o. The 64 extended i/o points of the controller can be configured in banks of 8. The extended i/o is denoted as bits 17-80 and banks 2-9. Arguments: co n w...
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112 •appendix c command reference dmc-21x3 accessories lc function: low current stepper mode description: causes the amp enable line for the specified axes to toggle (disabling the stepper drives) when the respective axes stop (profiler holding position). Each axis is handled individually with eithe...
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Dmc-21x3 accessories appendix c command reference• 113 qh function: hall state description: the qh command transmits the state of the hall sensor inputs. The value is decimal and represents an 8 bit value. Bit status 07 undefined (set to 0) 06 undefined (set to 0) 05 undefined (set to 0) 04 undefine...
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114 •appendix c command reference dmc-21x3 accessories ta function: tell amplifier error status description: the command transmits the amplifier error status. The value is decimal and represents an 8 bit value. Ta0 ta1 ta2 ta3 bit # status bit # status bit # status bit # status bit 7 under voltage (...
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Dmc-21x3 accessories appendix c command reference• 115 tk function: peak torque limit despcrition: the tk command sets the peak torque limit on the motor command output and tl sets the continuous torque limit. When the average torque is below tl, the motor command signal can go up to the tk (peak to...
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116 •appendix c command reference dmc-21x3 accessories tl (binary 8a) function: continuous torque limit description: the tl command sets the continuous limit on the motor command output. For example, tl5 limits the motor command output to 5 volts. The maximum output of the motor command is 9.9982 vo...