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USER MANUAL Contents • 7
Off-On-Error ...........................................................................................................151
Automatic Error Routine.........................................................................................151
Limit Switch Routine ..............................................................................................151
Chapter 9 Troubleshooting 153
Overview ...............................................................................................................................153
Installation .............................................................................................................................153
Communication......................................................................................................................154
Stability..................................................................................................................................155
Operation ...............................................................................................................................155
Chapter 10 Theory of Operation 157
Overview ...............................................................................................................................157
Operation of Closed-Loop Systems.......................................................................................159
System Modeling...................................................................................................................160
Motor-Amplifier......................................................................................................161
Encoder....................................................................................................................163
DAC ........................................................................................................................164
Digital Filter ............................................................................................................164
ZOH.........................................................................................................................165
System Analysis.....................................................................................................................165
System Design and Compensation.........................................................................................167
The Analytical Method............................................................................................167
Appendices 171
Electrical Specifications ........................................................................................................171
Servo Control ..........................................................................................................171
Stepper Control........................................................................................................171
Input/Output ............................................................................................................171
Power.......................................................................................................................172
Performance Specifications ...................................................................................................172
Connectors for DMC-13X8 Main Board...............................................................................173
Pin-Out Description for DMC-13X8 .....................................................................................174
Accessories and Options........................................................................................................175
ICM-1900 Interconnect Module............................................................................................176
ICM-1900 Drawing ...............................................................................................................180
AMP-19X0 Mating Power Amplifiers...................................................................................180
ICM-2900 Interconnect Module............................................................................................181
Opto-Isolated Outputs ICM-1900 / ICM-2900 (-Opto option)..............................................184
Standard Opto-isolation and High Current Opto-isolation:.....................................184
64 Extended I/O of the DMC-13X8 Controller .....................................................................184
Configuring the I/O of the DMC-13X8...................................................................185
Connector Description:............................................................................................186
IOM-1964 Opto-Isolation Module for Extended I/O Controllers..........................................189
Description:.............................................................................................................189
Overview.................................................................................................................190
Configuring Hardware Banks..................................................................................190
Digital Inputs...........................................................................................................191
High Power Digital Outputs....................................................................................193
Standard Digital Outputs.........................................................................................194
Electrical Specifications..........................................................................................195
Relevant DMC Commands......................................................................................196
Screw Terminal Listing...........................................................................................196
Coordinated Motion - Mathematical Analysis.......................................................................198