Galil DMC-2X00 - Manual (Page 34)

Step 9a. Connect Standard Servo Motors
The following discussion applies to connecting the DMC-2x00 controller to standard servo motor
amplifiers:
The motor and the amplifier may be configured in the torque or the velocity mode. In the torque
mode, the amplifier gain should be such that a 10 volt signal generates the maximum required current.
In the velocity mode, a command signal of 10 volts should run the motor at the maximum required
speed.
Step by step directions on servo system setup are also included on the WSDK (Windows Servo Design
Kit) software offered by Galil. See section on WSDK for more details.
Step A. Check the Polarity of the Feedback Loop
It is assumed that the motor and amplifier are connected together and that the encoder is
operating correctly (Step B). Before connecting the motor amplifiers to the controller, read
the following discussion on setting Error Limits and Torque Limits. Note that this discussion
only uses the A axis as an examples.
Step B. Set the Error Limit as a Safety Precaution
Usually, there is uncertainty about the correct polarity of the feedback. The wrong polarity
causes the motor to run away from the starting position. Using a terminal program, such as
DMCTERM, the following parameters can be given to avoid system damage:
Input the commands:
ER 2000 <CR> Sets error limit on the A axis to be 2000 encoder counts
OE 1 <CR> Disables A axis amplifier when excess position error exists
If the motor runs away and creates a position error of 2000 counts, the motor amplifier will be
disabled.
NOTE: This function requires the AMPEN signal to be connected from the controller to the
amplifier.
Step C. Set Torque Limit as a Safety Precaution
To limit the maximum voltage signal to your amplifier, the DMC-2x00 controller has a torque
limit command, TL. This command sets the maximum voltage output of the controller and
can be used to avoid excessive torque or speed when initially setting up a servo system.
When operating an amplifier in torque mode, the voltage output of the controller will be
directly related to the torque output of the motor. The user is responsible for determining this
relationship using the documentation of the motor and amplifier. The torque limit can be set
to a value that will limit the motors output torque.
When operating an amplifier in velocity or voltage mode, the voltage output of the controller
will be directly related to the velocity of the motor. The user is responsible for determining
this relationship using the documentation of the motor and amplifier. The torque limit can be
set to a value that will limit the speed of the motor.
For example, the following command will limit the output of the controller to 1 volt on the X
axis:
TL 1 <CR>
NOTE: Once the correct polarity of the feedback loop has been determined, the torque limit
should, in general, be increased to the default value of 9.99. The servo will not operate properly if
the torque limit is below the normal operating range. See description of TL in the command
reference.
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• Chapter 2 Getting Started
DMC-2X00