YOKOGAWA 16147-51-02 output module

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-21x3 controller (bits 17-56). NOTE: The general use inputs are TTL - for more information regarding the digital inputs, see Chapter 3, Connecting Hardware. Each set of sensors must use inputs that are in consecutive order.

Connect Standard Servo Motors 

The following discussion applies to connecting the DMC-21x3 controller to standard servo motor amplifiers: If the user is working with the Galil AMP-20340 or AMP-20440, then simply wire the motor leads and encoder signals as shown in the appendix. 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 example.

 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 Galil SmartTerminal, the following parameters can be given to avoid system damage: Input the commands: ER 2000Sets error limit on the A axis to be 2000 encoder counts OE 1Disables 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