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vi • Contents DMC-2X00
Extended I/O of the DMC-2x00 Controller...........................................................................117
Configuring the I/O of the DMC-2x00....................................................................117
Saving the State of the Outputs in Non-Volatile Memory.......................................118
Accessing Extended I/O ..........................................................................................118
Interfacing to Grayhill or OPTO-22 G4PB24 .........................................................119
Example Applications............................................................................................................119
Wire Cutter..............................................................................................................119
A-B Table Controller...............................................................................................120
Speed Control by Joystick.......................................................................................122
Position Control by Joystick....................................................................................123
Backlash Compensation by Sampled Dual-Loop....................................................123
Chapter 8 Hardware & Software Protection 126
Introduction ...........................................................................................................................126
Hardware Protection ..............................................................................................................126
Output Protection Lines...........................................................................................126
Input Protection Lines .............................................................................................127
Software Protection ...............................................................................................................127
Programmable Position Limits................................................................................128
Off-On-Error ...........................................................................................................128
Automatic Error Routine.........................................................................................128
Limit Switch Routine ..............................................................................................129
Chapter 9 Troubleshooting 130
Overview ...............................................................................................................................130
Installation .............................................................................................................................130
Communication......................................................................................................................131
Stability..................................................................................................................................131
Operation ...............................................................................................................................131
Chapter 10 Theory of Operation 132
Overview ...............................................................................................................................132
Operation of Closed-Loop Systems.......................................................................................134
System Modeling...................................................................................................................135
Motor-Amplifier......................................................................................................136
Encoder....................................................................................................................138
DAC ........................................................................................................................139
Digital Filter ............................................................................................................139
ZOH.........................................................................................................................140
System Analysis.....................................................................................................................141
System Design and Compensation.........................................................................................143
The Analytical Method............................................................................................143
Appendices 146
Electrical Specifications ........................................................................................................146
Servo Control ..........................................................................................................146
Stepper Control........................................................................................................146
Input / Output ..........................................................................................................146
Power.......................................................................................................................147
Performance Specifications ...................................................................................................147
Minimum Servo Loop Update Time: ......................................................................147
Fast Update Rate Mode .........................................................................................................148
Connectors for DMC-2x00 Main Board................................................................................149