Galil DMC-2X00 用户手册
DMC-2X00
Chapter 2 Getting Started
y 15
Sinusoidal Commutation:
Sinusoidal commutation is configured through a single software command, BA. This configuration
causes the controller to reconfigure the number of available control axes.
causes the controller to reconfigure the number of available control axes.
Each sinusoidally commutated motor requires two DACs. In standard servo operation, the DMC-2x00
has one DAC per axis. In order to have the additional DAC for sinusoidal commutation, the controller
must be designated as having one additional axis for each sinusoidal commutation axis. For example,
to control two standard servo axes and one axis of sinusoidal commutation, the controller will require a
total of four DACs and the controller must be a DMC-2x40.
has one DAC per axis. In order to have the additional DAC for sinusoidal commutation, the controller
must be designated as having one additional axis for each sinusoidal commutation axis. For example,
to control two standard servo axes and one axis of sinusoidal commutation, the controller will require a
total of four DACs and the controller must be a DMC-2x40.
Sinusoidal commutation is configured with the command, BA. For example, BAA sets the A axis to
be sinusoidally commutated. The second DAC for the sinusoidal signal will be the highest available
DAC on the controller. For example: Using a DMC-2x40, the command BAA will configure the A
axis to be the main sinusoidal signal and the 'D' axis to be the second sinusoidal signal.
be sinusoidally commutated. The second DAC for the sinusoidal signal will be the highest available
DAC on the controller. For example: Using a DMC-2x40, the command BAA will configure the A
axis to be the main sinusoidal signal and the 'D' axis to be the second sinusoidal signal.
The BA command also reconfigures the controller to indicate that the controller has one less axis of
'standard' control for each axis of sinusoidal commutation. For example, if the command BAA is
given to a DMC-2x40 controller, the controller will be re-configured to a DMC-2x30 controller. By
definition, a DMC-2x30 controls 3 axes: A,B and C. The 'D' axis is no longer available since the
output DAC is being used for sinusoidal commutation.
'standard' control for each axis of sinusoidal commutation. For example, if the command BAA is
given to a DMC-2x40 controller, the controller will be re-configured to a DMC-2x30 controller. By
definition, a DMC-2x30 controls 3 axes: A,B and C. The 'D' axis is no longer available since the
output DAC is being used for sinusoidal commutation.
Further instruction for sinusoidal commutation connections are discussed in Step 6.
Stepper Motor Operation
To configure the DMC-2x00 for stepper motor operation, the controller requires a jumper for each
stepper motor and the command, MT, must be given. The installation of the stepper motor jumper is
discussed in the following section entitled "Installing Jumpers on the DMC-2x00". Further instruction
for stepper motor connections are discussed in Step 9.
stepper motor and the command, MT, must be given. The installation of the stepper motor jumper is
discussed in the following section entitled "Installing Jumpers on the DMC-2x00". Further instruction
for stepper motor connections are discussed in Step 9.
Step 2. Install Jumpers on the DMC-2x00
Master Reset and Upgrade Jumpers
JP1 on the main board contains two jumpers, MRST and UPGRD. The MRST jumper is the Master
Reset jumper. When MRST is connected, the controller will perform a master reset upon PC power up
or upon the reset input going low. The MRST can also be set with the DIP switches on the outside of
the controller. Whenever the controller has a master reset, all programs, arrays, variables, and motion
control parameters stored in EEPROM will be ERASED.
Reset jumper. When MRST is connected, the controller will perform a master reset upon PC power up
or upon the reset input going low. The MRST can also be set with the DIP switches on the outside of
the controller. Whenever the controller has a master reset, all programs, arrays, variables, and motion
control parameters stored in EEPROM will be ERASED.
The UPGRD jumper enables the user to unconditionally update the controller’s firmware. This jumper
is not necessary for firmware updates when the controller is operating normally, but may be necessary
in cases of corrupted EEPROM. EEPROM corruption should never occur, however, it is possible if
there is a power fault during a firmware update. If EEPROM corruption occurs, your controller may
not operate properly. In this case, install the UPGRD Jumper and use the update firmware function on
the Galil Terminal to re-load the system firmware.
is not necessary for firmware updates when the controller is operating normally, but may be necessary
in cases of corrupted EEPROM. EEPROM corruption should never occur, however, it is possible if
there is a power fault during a firmware update. If EEPROM corruption occurs, your controller may
not operate properly. In this case, install the UPGRD Jumper and use the update firmware function on
the Galil Terminal to re-load the system firmware.
Opto-Isolation Jumpers
The inputs and limit switches are opto-isolated. If you are not using an isolated supply, the internal
+5V supply from the PC may be used to power the opto-isolators. This is done by installing jumpers
on JP3 on main board.
+5V supply from the PC may be used to power the opto-isolators. This is done by installing jumpers
on JP3 on main board.