Motor Controller

The motor controller that is installed on Astrobot is the Galil DMC-2123. Connected to this is the Power amplifier which is a Galil Amp-20520. This power amplifier is connected straight to the motor controller via the pins on the board. The Motors are then connected to the power amplifier through eight wires. This is the same for the two motors. The motors connect to the X and Y motor connectors and the X and Y 15-pin axis inputs. Three wires are the three motor phase wires, three others are the hall sensors, and the last two are Gnd and Vcc. The motor phase A wire is colored brown and connects to the motor controller via the labeled motor connector. The motor phase B wire is colored red and connects to the motor controller via the labeled motor connector. The motor phase C wire is colored orange and connects to the motor controller via the labeled motor connector. The other connector in the motor connector is not connected. The remaining 5 wires are connected to the 15-pin inputs J4 and J5. The wires from each motor to the motor connector and 15-pin input must be connected to their respective axis. *Hall sensor 1 which is colored green is connected to pin 10 of the 15-pin input. Hall sensor 2 which is colored blue is connected to pin 13 of the 15-pin input. Hall sensor 3 which is colored white is connected to pin 14 of the 15-pin input. Vcc which is colored red is connected to pin 15 of the 15-pin input. Gnd which is colored black is connected to pin 5 of the 15-pin input.

There are then five encoder wires that come from each motor. These also attatch to the 15-pin input. Pin 1 from the encoder, which is Gnd and colored black, is connected to pin 5 of the 15-pin input.