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Galil DMC to Aries Connections

The following is a table to connect the Aries to a Galil controller. It shows both the Analog and Step&Direction command connections (both would not be used simultaneously). This connection is simply connecting 1 drive to the X axis.
Galil DMC-2140 w/ ICM2900 to Aries Drive
Axes X-W (A-D) High Density Connector (Pin#: Description) ICM-2900 Connector(Block#: Label) Aries Drive I/O Connector(Pin#: Description)
3: +5V 15: +5V 1: Enable+ Input
2: GND 3: GND 2: Digital Ground
25: A+X 20: +MAX 3: Encoder Out A+
26: A-X 20: -MAX 4: Encoder Out A-

27: B+X
20: +MBX 5: Encoder Out B+
28: B-X 20: -MBX 6: Encoder Out B-
29: I+X 19: +INX 7: Encoder Out Z+
30: I-X 19: -INX 8: Encoder Out Z-
3: +5V 15: +5V 9: Fault+ Output
20: PWM X/ STEP X 3: PWMX 10: Step+ Input4
681 ohm Resistor1
681 ohm Resistor2
11: Step-  Input1,4
19: SIGN X/DIR X 3:SIGNX 12: Direction+ Input4
681 ohm Resistor3
681 ohm Resistor4
13: Direction- Input1,4
18: motor command X 3:MOCMDX 14: Analog+ Command Input3
2: GND 3: GND 15: Analog- Command Input3
16:ABORT &
681 ohm Resistor5
16: Fault- Output1
N/A 681 ohm Resistor5 17: Digital Ground1
N/A N/C 18: Reset+ Input
N/A 681 ohm Resistor2 19: Digital Ground1
N/A 5:PC COM RS232 22: Digital Ground
N/A 681 ohm Resistor4 20: Digital Ground1
24: AMP ENABLE X 6:AMPENX 21: Enable- Input5
N/A N/C 23: Reset- Input
N/A N/C 24: Digital Ground
N/A 3:PC COM RS232 25: RS-232Rx/RS-485+
N/A 2:PC COM RS232 26: RS-232Tx/RS-485-
3: +5V 681 ohm Resistor1
681 ohm Resistor3
-------------------------------- ---------------------- ------------------------------------
Axes X-W (A-D)High Density Connector (Pin No.: Description) ICM-2900 Connector(Block No.: Label) ICM-2900 Connector(Block No.: Label)
3: +5V
15: +5V
3: +5V
15: +5V 16:INCOM3

Note 1: These resistors are used for biasing various inputs to appropriate voltage levels. There are 5 individual 681ohm resistors required. For each resistor, there are two locations in the table above to indicate the two leads on each resistor. Thus, each entry in the table applies to one side or lead on each resistor. There is, however, two instances where two different resistors are connected to a single pin on the Aries drive (pins 11 & 13).

Note 2:  The limit switches are wired as sourcing inputs on the Galil in the configuration above, so it requires sinking devices to be connected to the Galil for the Home and Limit inputs. In addition, to have the Galil work with standard Compumotor logic, where the limits must be closed (active) to make motion, the first field of the CN command must be set to 1( active high). The Homing is a little different. There are 3 modes of homing FI (Index pulse only), FE (home to the switch (edge)), and HM, which is a home to switch, reverse to edge, and look for index pulse. The second field of the CN command determines the direction of homing for FE and HM (FI is determined by PR polarity). It also seems to invert the active state of the home switch, but at the same time, the switch still requires a transition (brought low) to be considered home... but the active state in the Status on Axis is inverted.

Note 3:  For the servo axes, verify that the MT command is set to 1.0.

Note 4: For all stepper axes, make sure the jumpers are set on the DMC-2x00 Main Board. These jumpers are labeled SMA(X), SMB(Y), SMC(Z), SMD(W), etc. Each jumper represents Axes A-H. Also verify that the MT command is set to 2.5 for each stepper axis.

Note5:  The amplifier enable, AMP ENABLE n or AMPENn (n is the letter of the axis), is sinking or sourcing depending on the what is loaded into U6 on the ICM-2900 board. The wiring above requires the sinking option, so a 7406 (NOT DEFAULT) needs to be loaded into U6. In addition, we need to use +5V logic for the enable, so we move Pin1 of the resistor pack to the 5V pin of RP1 on the ICM-2900.

Gains  Note the default gains, KP, KD, and KI are way too high for our drives.. need to drop them or motor is unstable.