Application Note #5421 - Galil

Mar-06
Application Note #5421
Connecting a Kollmorgen ServoStar 600 amplifier to a Galil Controller
This application note describes the procedure for properly connecting and tuning a
Kollmorgen ServoStar 600 amplifier using a DMC-1700 controller and an ICM-1900
interconnect module. While this document is specific to the DMC-1700, it can be
used as a reference for any Optima Series controller.
Components referred to in this document include:
• Galil DMC-1700 controller
• Galil ICM-1900 interconnect module
• Galil WSDK servo tuning software
• Kollmorgen ServoStar 600 amplifier - model 601-AS
• Kollmorgen brushless servo motor - model 6SM27M-4000
• Kollmorgen ServoStar MotionLink 600 software
Amplifier Hardware Connections
Hardware Setup
Set up the Kollmorgen ServoStar 600 amplifier, motor, and power supply per
manufacturers instructions. Install the Kollmorgen MotionLink 600 software and
work through the new amplifier setup. Connect the DMC-1700 controller to the ICM-
1900 with the CABLE-100-1m cable.
Connect Amplifier Enable Circuit
Remove the resistor pack located at RP1 on the ICM-1900 (this allows the amplifier
enable circuitry on the controller to accept a +24 Volt pull-up). As an option, use the
+24V supply from the ServoStar600 located at X4. Place a 1kΩ resistor in line with
the +24V supply. After the resistor, split the signal wire into the amp enable signal
from the ICM-1900 and the ServoStar Enable terminal. Connect Pin 18 (DGND) of
the ServoStar600 to the digital ground of the ICM-1900.
Connect Encoder Signal
The emulated incremental encoder signals are connected to the ICM-1900 from the 9pin
D sub located at X5 on the ServoStar. The following diagram (Figure 1) describes
the proper connections for an x-axis system.
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Galil Motion Control, Inc. • 3750 Atherton Road • Rocklin, CA 95765 USA • 800-377-6329 • Ph: 916-626-0101 • Fax: 916-626-0102 • www.galilmc.com

Mar-06
Connect Analog Motor Command Signal
Connect the MOCMD(x) ±10V analog motor command signal to the (SETP1+) pin
on the Kollmorgen amplifier. The Kollmorgen expects a differential motor input
signal, therefore (SETP-) must be referenced to ground.
1k
Figure 1. General Connection Diagram
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Galil Motion Control, Inc. • 3750 Atherton Road • Rocklin, CA 95765 USA • 800-377-6329 • Ph: 916-626-0101 • Fax: 916-626-0102 • www.galilmc.com

Mar-06
Software Settings and Operational Modes
The Kollmorgen amplifier can be set up in numerous modes. Since the DMC-1700
generally outputs a ± 10 Volt command signal, the Kollmorgen drive is best suited for
analog torque or analog velocity mode. The Kollmorgen drive can emulate several
encoder resolutions; in our test procedure we used 4096 counts per revolution.
To tune the motor, the Windows Servo Design Kit from Galil was used. The Auto-
Crossover test and the General Test in the WSDK seemed to give the best results. One
situation to watch for is the Auto-Crossover test inducing severe oscillations in the motor.
If this occurs, try lowering the pulse magnitude in the Edit/Crossover Tuning Parameters.
The Galil default is 5V at 20msec, which may be too large for some systems.
Contact an application engineer at Galil for assistance in tuning the Galil filter.
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Galil Motion Control, Inc. • 3750 Atherton Road • Rocklin, CA 95765 USA • 800-377-6329 • Ph: 916-626-0101 • Fax: 916-626-0102 • www.galilmc.com