Galil DMC-2X00 Manuel D’Utilisation

y 23  

 

For stepper motor operation, an encoder is optional. 

 

For servo motor operation, if you have a preferred definition of the forward and reverse 
directions, make sure that the encoder wiring is consistent with that definition.    

 

The DMC-2x00 accepts single-ended or differential encoder feedback with or without an 
index pulse.  If you are not using the ICM-2900 you will need to consult the appendix for the 
encoder pinouts for connection to the motion controller.  The ICM-2900 accepts encoder 
feedback via individual signal leads.  Simply match the leads from the encoder you are using 
to the encoder feedback inputs on the interconnect board.   The signal leads are labeled CHA 
(channel A), CHB (channel B), and INDEX.  For differential encoders, the complement 
signals are labeled CHA-, CHB-, and INDEX-. 

NOTE: When using pulse and direction encoders, the pulse signal is connected to CHA and the 
direction signal is connected to CHB.  The controller must be configured for pulse and direction 
with the command CE.  See the command summary for further information on the command CE. 

Step D. Verify proper encoder operation. 

 

Start with the A encoder first.  Once it is connected, turn the motor shaft and interrogate the 
position with the instruction TPA <return>.  The controller response will vary as the motor is 
turned. 

 

At this point, if TPA does not vary with encoder rotation, there are three possibilities: 

1.   The encoder connections are incorrect - check the wiring as necessary. 

2.   The encoder has failed - using an oscilloscope, observe the encoder signals.  Verify 

that both channels A and B have a peak magnitude between 5 and 12 volts.  Note 
that if only one encoder channel fails, the position reporting varies by one count 
only.  If the encoder failed, replace the encoder.  If you cannot observe the encoder 
signals, try a different encoder. 

3.   There is a hardware failure in the controller - connect the same encoder to a different 

axis.  If the problem disappears, you probably have a hardware failure. Consult the 
factory for help. 

Step E. Connect Hall Sensors if available.   

 

Hall sensors are only used with sinusoidal commutation and are not necessary for proper 
operation.  The use of Hall sensors allows the controller to automatically estimate the 
commutation phase upon reset and also provides the controller the ability to set a more precise 
commutation phase.  Without Hall sensors, the commutation phase must be determined 
manually. 

 

The Hall effect sensors are connected to the digital inputs of the controller.  These inputs can 
be used with the general use inputs (bits 1-8), the auxiliary encoder inputs (bits 81-96), or the 
extended I/O inputs of the DMC-2x00 controller (bits 17-80).   

NOTE: The general use inputs are optoisolated and require a voltage connection at the INCOM 
point - for more information regarding the digital inputs, see Chapter 3, Connecting Hardware. 

 

Each set of sensors must use inputs that are in consecutive order.  The input lines are specified 
with the command, BI.  For example, if the Hall sensors of the C axis are connected to inputs 
6, 7 and 8, use the instruction: 

 

BI ,, 6   or 

 BIC 

= 

6