Galil DMC-13X8 ユーザーズマニュアル

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system upon the specified conditions.  It is up to the user to supply an appropriate interrupt handling 
routine for the VME host. 

The state of the motor upon power up may be selected with the placement of a hardware jumper on the 
controller.  With a jumper installed at the OPT location, the controller will be powered up in the ‘motor 
off’ state.  The SH command will need to be issued in order for the motor to be enabled.  With no 
jumper installed, the controller will immediately enable the motor upon power up.  The MO command 
will need to be issued to turn the motor off. 

The OPT jumper is always located on the same block of jumpers as the stepper motor jumpers (SM).  
This feature is only available to newer revision controllers.  Please consult Galil for adding this 
functionality to older revision controllers. 

The DMC-13X8 is installed directly into the VME bus.  The procedure is outlined below. 

Step A. Make sure the VME host is in the power-off condition. 

Step B. Insert DMC-13X8 card into a slot in the VME bus.   

Step E. Attach 100-pin cable to your controller card.   If you are using a Galil ICM-1900 or 

AMP-19X0, this cable connects into the J2 connection on the interconnect module.  If 
you are not using a Galil interconnect module, you will need to appropriately terminate 
the cable to your system components, see the appendix for cable pin outs.  The auxiliary 
encoder connections are accessed through the 36-pin high-density connector, which will 
mate via the CB-36-25 to the ICM-1900.  

The customer will be required to provide a communication interface for the DMC-13X8 and their 
specified host VME system.  For development of the software interface, refer to Chapter 4 to find 
information on the communication registers of the controller. 

NOTE:  It is highly recommended that communication be established with the controller prior to 
applying any power to the amplifiers or other components. 

* This step is only required when the controller will be used to control a brushless motor(s) with 
sinusoidal commutation. 

The command, BA is used to select the axes of sinusoidal commutation.  For example, BAXZ sets X 
and Z as axes with sinusoidal commutation.   

The command, BA, reconfigures the controller such that it has one less axis of 'standard' control for 
each axis of sinusoidal commutation.  For example, if the command BAX is given to a DMC-1338 
controller, the controller will be re-configured to be a DMC-1328 controller.  In this case the highest 
axis is no longer available except to be used for the 2

nd

 phase of the sinusoidal commutation.  Note that 

the highest axis on a controller can never be configured for sinusoidal commutation.  

The first phase signal is the motor command signal.  The second phase is derived from the highest 
DAC on the controller.  When more than one axis is configured for sinusoidal commutation, the 
highest sinusoidal commutation axis will be assigned to the highest DAC and the lowest sinusoidal 
commutation axis will be assigned to the lowest available DAC.  Note the lowest axis is the X axis.