DXA-205模块备件

DXA-205

与主机PC的通信接口包含一个双向FIFO（AM4701），包括：
PC中断处理电路。
通用I/O
DMC-18x2为8个TTL输入和8个TTI输出提供接口电路。一般输入
也可用于触发每个轴的高速位置锁存器。
系统元素
如图1.2所示，DMC-18x2是运动控制系统的一部分，
电机和编码器。下面描述这些元件。
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4.● 一章DMC-18x2概述
图1.2-伺服系统的元件
发动机
马达将电流转换成产生运动的扭矩。每个运动轴都需要一个电机
尺寸适当，能够以所需的速度和加速度移动负载。（加利尔的“运动分量
选择器“软件可以帮助您确定电机尺寸）。有关更多信息，请联系Galil。
电机可以是步进电机或伺服电机，并且可以是刷式或无刷、旋转或线性电机。对于步骤
对于电机，控制器能够控制全步、半步或微步驱动。使用编码器
使用步进电机时不需要。
放大器（驱动器）
对于每个轴，功率放大器将来自控制器的+/-10伏信号转换为电流，以：
驱动马达。对于步进电机，放大器将阶跃和方向信号转换为电流。
放大器的尺寸应适当，以满足电机的功率要求。对于无刷
对于电机，需要提供电子换向的放大器，或者必须安装控制器
被配置为提供正弦换向。放大器可以是脉宽调制的
（PWM）或线性。它们也可配置为在有或无转速表的情况下运行。对于
对于电流放大器，应设置放大器增益，以使10伏指令产生电流
所需的大电流。例如，如果峰值电机电流为10A，则放大器增益应为：
为1A/V。对于速度模式放大器，10伏指令应使电机大运行
速度
编码器
编码器将运动转换为电脉冲，电脉冲被反馈到控制器中。DMC18x2接受来自旋转编码器或线性编码器的反馈。典型的编码器提供两个信道
正交，称为CHA和CHB。这种类型的编码器称为正交编码器。
正交编码器可以是单端（CHA和CHB）或差分（CHA、CHA-、CHB-）编码器，
CHB-）。DMC-18x2将任一类型解码为正交状态或四倍的循环数。
编码器还可以具有用于同步的三信道（或索引）。
对于步进电机，DMC-18x2还可以与带有脉冲和方向信号的编码器连接。
编码器线密度没有限制；但是，控制器的输入频率不得
超过3000000个完整编码器周期/秒（12000000个正交计数/秒）。例如
编码器线密度为每英寸10000个循环，大速度为300英寸/秒。如果更高
编码器频率是必需的，请咨询工厂。
计算机DMC-18x2控制器放大器（驱动器）
电源
编码器电动机
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DMC-18x21章概述•5
标准电压电平为TTL（0至5伏），但高电压电平为12伏
可以接受。（如果使用差分信号，12伏可直接输入到DMC-18x2。单端12伏信号需要5-7V偏置电压输入到互补输入。）
DMC-18x2可以接受模拟反馈，而不是任何轴的编码器。有关更多信息
请参阅2章“测试编码器操作”一节中的模拟反馈说明。
为了与其他类型的位置传感器（如旋转变压器或对编码器）连接，Galil可以：
自定义控制器和命令集。请联系Galil了解我们的一个申请
工程师了解您的特定系统要求。
看门狗电路
DMC-18x2提供一个内部看门狗定时器，用于检查微处理器是否正确
活动定时器切换放大器启用输出（AEN），可用于切换
如果DMC-18x2发生严重故障，放大器将关闭。AEN输出通常较高。在期间
通电后，如果微处理器停止正常工作，AEN输出将变低。这个
在此阶段，错误指示灯也将点亮。需要重置以将DMC-18x2恢复正常
活动如果您的DMC18x2损坏，请向工厂咨询退货授权（RMA）编号。

DXA-205

DXA-205

The communication interface with the host PC contains a bi-directional FIFO (AM4701) and includes
PC interrupt handling circuitry.
General I/O
The DMC-18x2 provides interface circuitry for 8 TTL inputs and 8 TTL outputs. The general inputs
can also be used for triggering a high speed positional latch for each axis.
System Elements
As shown in Fig. 1.2, the DMC-18x2 is part of a motion control system which includes amplifiers,
motors and encoders. These elements are described below.
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4 ● Chapter 1 Overview DMC-18x2
 Figure 1.2 - Elements of Servo systems
Motor
A motor converts current into torque which produces motion. Each axis of motion requires a motor
sized properly to move the load at the required speed and acceleration. (Galil's "Motion Component
Selector" software can help you with motor sizing). Contact Galil for more information.
The motor may be a step or servo motor and can be brush-type or brushless, rotary or linear. For step
motors, the controller is capable of controlling full-step, half-step, or microstep drives. An encoder is
not required when step motors are used.
Amplifier (Driver)
For each axis, the power amplifier converts a +/-10 Volt signal from the controller into current to
drive the motor. For stepper motors, the amplifier converts step and direction signals into current.
The amplifier should be sized properly to meet the power requirements of the motor. For brushless
motors, an amplifier that provides electronic commutation is required or the controller must be
configured to provide sinusoidal commutation. The amplifiers may be either pulse-width-modulated
(PWM) or linear. They may also be configured for operation with or without a tachometer. For
current amplifiers, the amplifier gain should be set such that a 10 Volt command generates the
maximum required current. For example, if the peak motor current is 10A, the amplifier gain should
be 1 A/V. For velocity mode amplifiers, a 10 volt command should run the motor at the maximum
speed.
Encoder
An encoder translates motion into electrical pulses which are fed back into the controller. The DMC18x2 accepts feedback from either a rotary or linear encoder. Typical encoders provide two channels in
quadrature, known as CHA and CHB. This type of encoder is known as a quadrature encoder.
Quadrature encoders may be either single-ended (CHA and CHB) or differential (CHA, CHA-, CHB,
CHB-). The DMC-18x2 decodes either type into quadrature states or four times the number of cycles.
Encoders may also have a third channel (or index) for synchronization.
For stepper motors, the DMC-18x2 can also interface to encoders with pulse and direction signals.
There is no limit on encoder line density; however, the input frequency to the controller must not
exceed 3,000,000 full encoder cycles/second (12,000,000 quadrature counts/sec). For example, if the
encoder line density is 10000 cycles per inch, the maximum speed is 300 inches/second. If higher
encoder frequency is required, please consult the factory.
Computer DMC-18x2 Controller Amplifier (Driver)
Power Supply
Encoder Motor
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DMC-18x2 Chapter 1 Overview • 5
The standard voltage level is TTL (zero to five volts), however, voltage levels up to 12 Volts are
acceptable. (If using differential signals, 12 Volts can be input directly to the DMC-18x2. Singleended 12 Volt signals require a 5-7V bias voltage input to the complementary inputs.)
The DMC-18x2 can accept analog feedback instead of an encoder for any axis. For more information
see description of analog feedback in Chapter 2 under the section titled "Test the encoder operation".
To interface with other types of position sensors such as resolvers or absolute encoders, Galil can
customize the controller and command set. Please contact Galil to talk to one of our applications
engineers about your particular system requirements.
Watch Dog Timer
The DMC-18x2 provides an internal watch dog timer which checks for proper microprocessor
operation. The timer toggles the Amplifier Enable Output (AEN), which can be used to switch the
amplifiers off in the event of a serious DMC-18x2 failure. The AEN output is normally high. During
power-up and if the microprocessor ceases to function properly, the AEN output will go low. The
error light will also turn on at this stage. A reset is required to restore the DMC-18x2 to normal
operation. Consult the factory for a Return Materials Authorization (RMA) Number if your DMC18x2 is damaged.