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Messages - smurph


The resistors are internal to the ICM.

Wilde Racing,

Either type of switch is fine.  Just if you go mechanical, then you want a good one.  Not some cheap crap that bounces.

As to the relay to run a relay, I do that a lot.  I used solid state relays to drive the coils of mechanical relays.  It may be overkill but if you are not sure how much current the coils require, then it is a safe way to handle it.


Well that's good news right?? What type of power supply do I need?

Any power supply that can provide the needed current draw.  24v is max. voltage.  I would suggest a 24v supply if using mechanical switches.  Less noise issues.  Don't skimp on the switches.  Good quality switches will save you from sever headaches in the future.  :)

http://www.galilmc.com/support/appnotes/optima/note1427.pdf  Shows how to wire the opto outputs.


Yes, LSCOMM is limits and homes.

You can probably use the 5v outputs on the ICM to power the optical switches.  No external supply needed if they don't draw much current.

You can ground LSCOMM and provide the pos signal from the switches.  However, all inputs and homes must operate in the same manner.  You can't have limits one way and home another. 


Galil / Re: Galil And Lathe
« on: March 10, 2014, 02:35:56 PM »
It works well except there is no support for threading at the moment.  Kenny is working on this right now.  But there are no guarantees that threading will ever be working at this point.  It looks promising.  But if you need threading, you might want to wait or choose another controller.


The ICM can use the logic level voltages that are present on the ICM (+5 and +12).  There is LSCOM and INCOM which are the common rails of the limit switch inputs and the general purpose inputs.  I usually tie +24 volts from an external supply to these common terminals.  I do NOT recommend using the logic level voltages on mechanical switched circuits.  So 24v is pretty much mandatory.  This sets the circuit up for the switches to ground the circuit.  Each of the wires tied to an input or limit is then tied to one side of the switch and the other end of the switch is tied to ground.  Either normally open or normally closed switches can be used.  However, for safety reasons, I would recommend that the limit switches be the normally closed type.

The output wiring depends on if the ICM is opto-isolated or not.  If it is, it will have a -OPTO label on it.  You would then supply OUTPWR and OUTGND.  Read the Galil documentations for examples of wiring the output circuits.  i usually use the outputs to drive solid state relays regardless of if the ICM is -OPTO or not.  Then you can use the logic level voltages from the ICM to control the output SSRs and let the SSRs switch what ever voltages you need.

The general inputs and outputs (8 each on your 1842 board) are not used for anything special on the Galil.  They are merely there for machine I/O duty.  There is one exception, however, and that is the case of probing.  Inputs 1-4 also serve as the high speed position latch triggers.  So if you want to use a probe, do not use these inputs for other purposes.  The triggers are PER Galil axis.  Input 1 is for axis A, input 2 is for axis B, etc...  So if you are using Galil axes A, B, and C to drive Mach axes X, Y, and Z, then you will want to reserve inputs 1, 2, and 3 for your probe inputs.  Each input should be wired up to the probe so that a probe strike activates all of the inputs at the sane time. 


Galil / Re: Install Error
« on: March 04, 2014, 03:27:13 AM »
Yeah, that one got me too years ago.  I found myself trying to double click the line or the check box.  I'm glad I'm not the only one that suffered this!  :)


Galil / Re: Galil ICM 2900 7407 enable IC
« on: March 04, 2014, 03:23:46 AM »
For future reference, the part number are SN7406N and SN7407N.  Both available from Digikey.

For the 7407: http://www.digikey.com/product-detail/en/SN7407N/296-1436-5-ND/277082
For the 7406: http://www.digikey.com/product-detail/en/SN7406N/296-1435-5-ND/277081


Galil / Re: icm 2900 screw connectors
« on: March 04, 2014, 03:05:21 AM »
They are a pretty common connector.  I purchased them from Digikey or Mouser Electronics.  There is a top access part number and a bottom access part number.  But I ordered just top or bottom (I can't remember which) and they will interchange but just not wire up as nicely.  If I can find my receipt from waaaaaay waaaaay back when, I'll post up the part number.

Ahh...  Here it is.  http://www.digikey.com/product-detail/en/ELFF04230/APC1176-ND/1787967  They only have the top access ones in stock. 


Yes... stepper or servo?

The pins pretty much are how you map the Galil inputs and outputs.  The pin map is in the Galil Plugin PDF.  Basically you find the input or output you want and look up in the PDF and you assign that pin number yo the Mach input or output signal you want to map it to in "Ports and Pins". 

The encoders are internally mapped, so don't do anything on the "Encoders" tab of the Mach config.  Just make sure the encoders are wired up to the ICM.  The AMPENA output on the ICM is also internally mapped.  It is actually toggled high with the Galil command "SH" and low with "MO"  The plugin issues these commands to the Galil appropriately. 


Galil / Re: Problems with losing position
« on: March 04, 2014, 02:38:49 AM »
If you would not mind could you try to explain the gear ratio part of Mach.
I keep reading that section, but I just do not really get it

In Mach, we need to know the amount of encoder counts that results in 1 unit of measure.  If you set your machine up for inches, then we want to know how many encoder counts/steps it takes to move the axis exactly 1 inch.  Hence the term Steps per Unit.  One of my machines is 12700 steps per inch.  This is inclusive of any gear reduction!  But in the end, we don't care about the gearing.  Only about how many steps it takes to get to one inch.  If you set Steps Per Unit in "Config -> Motor Tuning" to this value for each of your axes, you can't go wrong. 

Mach allows each axis to have a different steps per unit.  In a simple scenario like a 45 degree angle cut, X may move 2000 counts and Y may move only 1000 counts.  But if the steps per unit for X and Y are correct, they will both move the same distance and thus produce the 45 degree angle.  This works fine in Mach because we told the machine to move a certain distance that is based in the user units for X and Y.  This is a lot tougher to deal with on the Galil because you are not dealing with distances.  You are working in encoder counts!!  1000 counts on X would be exactly half of the distance of 1000 counts in Y in the 45 degree angle scenario. 

So in Galil code, you have to do a little math in your head to extrapolate a distance based on the number of counts it takes to get there for any particular axis.  In stead of saying "G01 G91 X1 Y1" in Mach, you would give the Galil a command of "PR 2000, 1000" to do the same move.  PR is "Position Relative" (incremental move) and is equivalent to G91 in G code.  So you can see here that having the same number of counts to move each axis a certain distance is VERY beneficial when working in the Galil environment.  It makes things a lot more simple.  Now, how about plotting a circle with X and Y counts per inch being different?  Boom!  Mushroom cloud!  At least in my head it is. 

This is not an issue in Mach because Mach does all of the math for you.  Isn't Mach wonderful?  Thank you Mach!