Galil DMC-2X00 - Manual (Page 8)

Extended I/O of the DMC-2x00 Controller ........................................................................... 162
Configuring the I/O of the DMC-2x00.................................................................... 162
Saving the State of the Outputs in Non-Volatile Memory....................................... 163
Accessing Extended I/O .......................................................................................... 163
Interfacing to Grayhill or OPTO-22 G4PB24 ......................................................... 164
Example Applications............................................................................................................ 164
Wire Cutter.............................................................................................................. 164
A-B Table Controller............................................................................................... 165
Speed Control by Joystick ....................................................................................... 167
Position Control by Joystick.................................................................................... 168
Backlash Compensation by Sampled Dual-Loop .................................................... 168
Chapter 8 Hardware & Software Protection 171
Introduction ........................................................................................................................... 171
Hardware Protection .............................................................................................................. 171
Output Protection Lines........................................................................................... 171
Input Protection Lines ............................................................................................. 172
Software Protection ............................................................................................................... 172
Programmable Position Limits ................................................................................ 173
Off-On-Error ........................................................................................................... 173
Automatic Error Routine ......................................................................................... 173
Limit Switch Routine .............................................................................................. 174
Chapter 9 Troubleshooting 175
Overview ............................................................................................................................... 175
Installation ............................................................................................................................. 175
Communication...................................................................................................................... 176
Stability.................................................................................................................................. 176
Operation ............................................................................................................................... 176
Chapter 10 Theory of Operation 177
Overview ............................................................................................................................... 177
Operation of Closed-Loop Systems ....................................................................................... 179
System Modeling................................................................................................................... 180
Motor-Amplifier...................................................................................................... 181
Encoder.................................................................................................................... 183
DAC ........................................................................................................................ 184
Digital Filter ............................................................................................................ 184
ZOH......................................................................................................................... 185
System Analysis..................................................................................................................... 186
System Design and Compensation......................................................................................... 188
The Analytical Method............................................................................................ 188
Appendices 191
Electrical Specifications ........................................................................................................ 191
Servo Control .......................................................................................................... 191
Stepper Control........................................................................................................ 191
Input / Output .......................................................................................................... 191
Power....................................................................................................................... 192
Performance Specifications ................................................................................................... 192
Minimum Servo Loop Update Time: ...................................................................... 192
Fast Update Rate Mode ......................................................................................................... 193
Connectors for DMC-2x00 Main Board ................................................................................ 194
vi
• Contents
DMC-2X00