Galil DMC-1700 Manual De Usuario

When using sinusoidal commutation, the parameters for the commutation must be determined 

and saved in the controllers non-volatile memory.  The servo can then be tuned as 
described in Step 9. 

Step A. Disable the motor amplifier 

 

Use the command, MO, to disable the motor amplifiers.  For example, MOX will turn the X 

axis motor off. 

Step B.  Connect the motor amplifier to the controller. 

The sinusoidal commutation amplifier requires 2 signals, usually denoted as Phase A & Phase 

B.  These inputs should be connected to the two sinusoidal signals generated by the 
controller.  The first signal is the axis specified with the command, BA (Step 6).  The 
second signal is associated with the highest analog command signal available on the 
controller - note that this axis was made unavailable for standard servo operation by the 
command BA. 

When more than one axis is configured for sinusoidal commutation, the controller will assign 

the second phase to the command output which has been made available through the axes 
reconfiguration.  The 2

nd

 phase of the highest sinusoidal commutation axis will be the 

highest command output and the 2

nd

 phase of the lowest sinusoidal commutation axis will 

be the lowest command output. 

It is not necessary to be concerned with cross-wiring the 1

st

 and 2

nd

 signals.  If this wiring is 

incorrect, the setup procedure will alert the user (Step D). 

BAXZ 

This command causes the controller to be reconfigured as a DMC-1750 controller.  The X and 

Z axes are configured for sinusoidal commutation.  The first phase of the X axis will be 
the motor command X signal.  The second phase of the X axis will be the motor 
command F signal.  The first phase of the Z axis will be the motor command Z signal.  
The second phase of the Z axis will be the motor command G signal.  

Step C. Specify the Size of the Magnetic Cycle. 

Use the command, BM, to specify the size of the brushless motors magnetic cycle in encoder 

counts.  For example, if the X axis is a linear motor where the magnetic cycle length is 62 
mm, and the encoder resolution is 1 micron, the cycle equals 62,000 counts.  This can be 
commanded with the command: 

BM 62000 

On the other hand, if the Z axis is a rotary motor with 4000 counts per revolution and 3 

magnetic cycles per revolution (three pole pairs) the command is 

BM,, 1333.333 

Step D. Test the Polarity of the DACs and Hall Sensor Configuration. 

Use the brushless motor setup command, BS, to test the polarity of the output DACs.  This 

command applies a certain voltage, V, to each phase for some time T, and checks to see if 
the motion is in the correct direction. 

The user must specify the value for V and T.  For example, the command 

BSX = 2,700