YOKOGAWA 16137-119 input cable

This signal changes under the following conditions: the watchdog timer activates, the motoroff command, MO, is given, or the OE1 command (Enable Off On Error) is given and the position error exceeds the error limit. AMPEN can be used to disable the amplifier for these conditions. The standard configuration of the AMPEN signal is TTL active high. In other words, the AMPEN signal will be high when the controller expects the amplifier to be enabled. The polarity and the amplitude can be changed if you are using the ICM-20100 interface board. To change the polarity from active high (5 volts = enable, zero volts = disable) to active low (zero volts = enable, 5 volts = disable), replace the 7407 IC with a 7406. Note that many amplifiers designate the enable input as ‘inhibit’. To change the voltage level of the AMPEN signal, note the state of the resistor pack on the ICM-20100. When Pin 1 is on the 5V mark, the output voltage is 0-5V. To change to 12 volts, pull the resistor pack and rotate it so that Pin 1 is on the 12 volt side. If you remove the resistor pack, the output signal is an open collector, allowing the user to connect an external supply with voltages up to 24V (through a current limiting resistor).

Connect the encoders 

 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-21x3 accepts single-ended or differential encoder feedback with or without an index pulse. If you are not using the ICM-20100 you will need to consult the appendix for the encoder pinouts for connection to the motion controller. The ICM-20100 and other motor drive modules accept 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.

 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. 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: 4. The encoder connections are incorrect - check the wiring as necessary. 5. 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. 6. 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.