Galil DMC-1700 Manual De Usuario
2 • Chapter 1 Overview
DMC-1700/1800
Overview of Motor Types
The DMC-1700/1800 can provide the following types of motor control:
1. Standard servo motors with +/- 10 volt command signals
2. Brushless servo motors with sinusoidal commutation
3. Step motors with step and direction signals
4. Other actuators such as hydraulics - For more information, contact Galil.
2. Brushless servo motors with sinusoidal commutation
3. Step motors with step and direction signals
4. Other actuators such as hydraulics - For more information, contact Galil.
The user can configure each axis for any combination of motor types, providing maximum flexibility.
Standard Servo Motor with +/- 10 Volt Command Signal
The DMC-1700/1800 achieves superior precision through use of a 16-bit motor command output DAC and a
sophisticated PID filter that features velocity and acceleration feedforward, an extra pole filter, and integration
limits.
sophisticated PID filter that features velocity and acceleration feedforward, an extra pole filter, and integration
limits.
The controller is configured by the factory for standard servo motor operation. In this configuration, the controller
provides an analog signal (+/- 10Volt) to connect to a servo amplifier. This connection is described in Chapter 2.
provides an analog signal (+/- 10Volt) to connect to a servo amplifier. This connection is described in Chapter 2.
Brushless Servo Motor with Sinusoidal Commutation
The DMC-1700/1800 can provide sinusoidal commutation for brushless motors (BLM). In this configuration, the
controller generates two sinusoidal signals for connection with amplifiers specifically designed for this purpose.
controller generates two sinusoidal signals for connection with amplifiers specifically designed for this purpose.
Note: The task of generating sinusoidal commutation may be accomplished in the brushless motor amplifier. If the
amplifier generates the sinusoidal commutation signals, only a single command signal is required and the controller
should be configured for a standard servo motor (described above).
amplifier generates the sinusoidal commutation signals, only a single command signal is required and the controller
should be configured for a standard servo motor (described above).
Sinusoidal commutation in the controller can be used with linear and rotary BLMs. However, the motor velocity
should be limited such that a magnetic cycle lasts at least 6 milliseconds*. For faster motors, please contact the
factory.
should be limited such that a magnetic cycle lasts at least 6 milliseconds*. For faster motors, please contact the
factory.
To simplify the wiring, the controller provides a one-time, automatic set-up procedure. The parameters determined
by this procedure can then be saved in non-volatile memory to be used whenever the system is powered on.
by this procedure can then be saved in non-volatile memory to be used whenever the system is powered on.
The DMC-1700/1800 can control BLMs equipped with or without Hall sensors. If hall sensors are available, once
the controller has been setup, the controller will automatically estimates the commutation phase upon reset. This
allows the motor to function immediately upon power up. The hall effect sensors also provides a method for setting
the precise commutation phase. Chapter 2 describes the proper connection and procedure for using sinusoidal
commutation of brushless motors.
the controller has been setup, the controller will automatically estimates the commutation phase upon reset. This
allows the motor to function immediately upon power up. The hall effect sensors also provides a method for setting
the precise commutation phase. Chapter 2 describes the proper connection and procedure for using sinusoidal
commutation of brushless motors.
* 6 Milliseconds per magnetic cycle assumes a servo update of 1 msec (default rate).
Stepper Motor with Step and Direction Signals
The DMC-1700/1800 can control stepper motors. In this mode, the controller provides two signals to connect to the
stepper motor: Step and Direction. For stepper motor operation, the controller does not require an encoder and
operates the stepper motor in an open loop fashion. Chapter 2 describes the proper connection and procedure for
using stepper motors.
stepper motor: Step and Direction. For stepper motor operation, the controller does not require an encoder and
operates the stepper motor in an open loop fashion. Chapter 2 describes the proper connection and procedure for
using stepper motors.
DMC-1700/1800 Functional Elements
The DMC-1700/1800 circuitry can be divided into the following functional groups as shown in Figure 1.1 and
discussed below.
discussed below.