BENTLY 132419-01 Monitor module

System Design and Compensation The closed-loop control system can be stabilized by a digital filter, which is preprogrammed in the DMC-21x2/21x3 controller. The filter parameters can be selected by the user for the best compensation. The following discussion presents an analytical design method. The Analytical Method The analytical design method is aimed at closing the loop at a crossover frequency, ωc, with a phase margin PM. The system parameters are assumed known. The design procedure is best illustrated by a design example.As long as PM is positive, the system is stable. However, for a well damped system, PM should be between 30 degrees and 45 degrees. The phase margin of 70 degrees given above indicated overdamped response. Next, we discuss the design of control systems.

Fast Update Rate Mode

 The DMC-21x2/21x3 can operate with much faster servo update rates.In order to run the DMC-21x2/21x3 motion controller in fast mode, the fast firmware must be uploaded. This can be done through the Galil terminal software such as Galil SmartTerminal and WSDK. The fast firmware can be downloaded from the Galil website. To set the update rate use command TM.

Signal to disable and enable an amplifier. Direct from controller Amp Enable goes to enable amplifier. If using ICM unit, 7407 inverts signal to give a High Amp Enable, 7406 chip gives Low Amp Enable.

PWM/STEP OUT

 PWM/STEP OUT is used for directly driving power bridges for DC servo motors or for driving step motor amplifiers. For servo motors: If you are using a conventional amplifier that accepts a +/-10 Volt analog signal, this pin is not used and should be left open. The PWM output is available in two formats: Inverter and Sign Magnitude. In the Inverter mode, the PWM signal is .2% duty cycle for full negative voltage, 50% for 0 Voltage and 99.8% for full positive voltage (25kz switching frequency). In the Sign Magnitude Mode (Jumper SM), the PWM signal is 0% for 0 Voltage, 99.6% for full voltage and the sign of the Motor Command is available at the sign output (50 kHz switching frequency).

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