TRICONEX 4210 Industrial card

Sinusoidal commutation is configured through a single software command, BA. This configuration causes the controller to reconfigure the number of available control axes. Each sinusoidally commutated motor requires two DAC's. In standard servo operation, the DMC-21x3 has one DAC per axis. In order to have the additional DAC for sinusoidal commutation, the controller must be designated as having one additional axis for each sinusoidal commutation axis. For example, to control two standard servo axes and one axis of sinusoidal commutation, the controller will require a total of four DAC's and the controller must be a DMC-2143. Sinusoidal commutation is configured with the command, BA. For example, BAA sets the A axis to be sinusoidally commutated. The second DAC for the sinusoidal signal will be the highest available DAC on the controller. For example: Using a DMC-2143, the command BAA will configure the A axis to be the main sinusoidal signal and the 'D' axis to be the second sinusoidal signal.

The BA command also reconfigures

 the controller to indicate that the controller has one less axis of 'standard' control for each axis of sinusoidal commutation. For example, if the command BAA is given to a DMC-2143 controller, the controller will be re-configured to a DMC-2133 controller. By definition, a DMC-2133 controls 3 axes: A,B and C. The 'D' axis is no longer available since the output DAC is being used for sinusoidal commutation. For sinusoidal operation, Galil recommends using the ICM-20100/20105. For trapezoidal commutation, Galil offers the AMP-20540. Further instruction for sinusoidal commutation connections are discussed in Step 6.

Stepper Motor Operation

 To configure the DMC-21x3 for stepper motor operation, the controller requires a jumper for each stepper motor and the command, MT, must be given. The installation of the stepper motor jumper is discussed in the following section entitled "Installing Jumpers on the DMC-21x2/21x3". The step and direction signals are available on the ICM-20100/20105 module or the SDM-20240 stepper drive module can power the motors. Further instruction for stepper motor connections are discussed in Step 9. The step and direction signals are available thru the ICM-20100/20105, or the SDM-20240 stepper drive module can power the motors.