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DMC-1700/1800 Contents • v
Analog Inputs..........................................................................................................168
Example Applications............................................................................................................169
Wire Cutter..............................................................................................................169
X-Y Table Controller ..............................................................................................170
Speed Control by Joystick.......................................................................................172
Position Control by Joystick....................................................................................174
Backlash Compensation by Sampled Dual-Loop....................................................174
Chapter 8 Hardware & Software Protection 177
Introduction ...........................................................................................................................177
Hardware Protection..............................................................................................................177
Output Protection Lines...........................................................................................177
Input Protection Lines .............................................................................................177
Software Protection ...............................................................................................................178
Programmable Position Limits................................................................................178
Off-On-Error ...........................................................................................................179
Automatic Error Routine.........................................................................................179
Limit Switch Routine ..............................................................................................179
Chapter 9 Troubleshooting 181
Overview ...............................................................................................................................181
Installation .............................................................................................................................181
Communication......................................................................................................................182
Stability..................................................................................................................................182
Operation ...............................................................................................................................183
Chapter 10 Theory of Operation 185
Overview ...............................................................................................................................185
Operation of Closed-Loop Systems.......................................................................................187
System Modeling...................................................................................................................188
Motor-Amplifier......................................................................................................189
Encoder....................................................................................................................191
DAC ........................................................................................................................192
Digital Filter ............................................................................................................192
ZOH.........................................................................................................................193
System Analysis.....................................................................................................................193
System Design and Compensation.........................................................................................195
The Analytical Method............................................................................................195
Appendices 199
Electrical Specifications ........................................................................................................199
Servo Control ..........................................................................................................199
Stepper Control........................................................................................................199
Input/Output ............................................................................................................199
Power.......................................................................................................................200
Performance Specifications ...................................................................................................200
Connectors for DMC-1700/1800 Main Board.......................................................................201
Pin-Out Description for DMC-1700/1800.............................................................................203
Setting Addresses for the DMC-1700....................................................................................206
Standard Addresses .................................................................................................206
Plug and Play Addresses .........................................................................................209
Accessories and Options........................................................................................................210
PC/AT Interrupts and Their Vectors......................................................................................211