AccelMotion DC2M17 User manual

DC2M17
Step Motor Driver/Controller Module
NEMA 17 Motor-Mountable
USER GUIDE

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DC2M17 Driver/Controller Module
TABLE OF CONTENTS
TABLE OF CONTENTS................................................................................................................................2
DC2M17 Features:........................................................................................................................................5
Included in the Box........................................................................................................................................5
Optional Accessories ....................................................................................................................................6
Mating Cable Assembly with 30" color-coded leads: order DC2M17-CABLE.......................................... 6
Case/Heatsink: order DC2M17-CASE....................................................................................................... 6
Communications Interface: order CI-200................................................................................................ 6
Connection Diagram .....................................................................................................................................7
Mating Connectors........................................................................................................................................7
Suggested Wiring Color Codes .................................................................................................................. 7
Overview .......................................................................................................................................................8
Operational Modes ................................................................................................................................... 9
Communication Modes ............................................................................................................................. 9
AM Communications Bus .......................................................................................................................... 9
Parameters & Defaults ............................................................................................................................ 10
Quick Start...................................................................................................................................................11
Operating the DC2M17...............................................................................................................................12
Entering and Using Commands ............................................................................................................... 12
Command Highlights: .......................................................................................................................... 12
Basic Communications ............................................................................................................................ 12
Immediate Mode start-up ................................................................................................................... 12
Programming........................................................................................................................................... 13
Program Entry Example ....................................................................................................................... 13
Program Execution Example –entering Program Mode ..................................................................... 13
Program Editing example .................................................................................................................... 13
Command Entry Mode Highlights: ...................................................................................................... 14
Multi-Axis Considerations ....................................................................................................................... 14
Axis Naming ......................................................................................................................................... 15
Multi-Axis Start-Up .............................................................................................................................. 15
Multi-Axis Communication Note ......................................................................................................... 15
Hardware.....................................................................................................................................................16
Power Supply Selection and Connection................................................................................................. 16
Stepping Motors and Motor Connection ................................................................................................ 17
Motor Connection ............................................................................................................................... 17
Drive Current ....................................................................................................................................... 17
Step Motor Configurations .................................................................................................................. 17

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DC2M17 Driver/Controller Module
Direction Setting .................................................................................................................................. 17
Status LED................................................................................................................................................ 18
Connectors .............................................................................................................................................. 18
Input / Output Subsystem....................................................................................................................... 19
Input Ports............................................................................................................................................... 19
Input Port Electrical Configuration ...................................................................................................... 19
Input Ports configured for Fixed Function........................................................................................... 21
Input Port Read.................................................................................................................................... 21
Input Port Conditional Branching ........................................................................................................ 21
Output Ports............................................................................................................................................ 23
Output Port Electrical Configuration ................................................................................................... 23
Controlling Output Ports ..................................................................................................................... 24
Output Highlights................................................................................................................................. 24
Communications .........................................................................................................................................25
Communications for a single DC-Series Unit in Single-Axis Mode .......................................................... 25
Using Multi-Axis (Party Line) Mode to Command Multiple Controller/Driver Units .............................. 26
Communications Wiring.......................................................................................................................... 26
Short Bus Length - Simplified Wiring Model....................................................................................... 26
High-Reliability Method - Twisted-Pair and Shielded Wiring .............................................................. 27
Grounding................................................................................................................................................ 27
Status LED................................................................................................................................................ 28
Connectors .............................................................................................................................................. 28
Commands..................................................................................................................................................29
Command Description Template ............................................................................................................ 29
Command Notes:..................................................................................................................................... 29
^ (Read Moving Status) ........................................................................................................................... 30
^C (Reset) ................................................................................................................................................ 30
^N (Name Axis)........................................................................................................................................ 31
^P (Enter Multi-Axis Mode)..................................................................................................................... 31
SPACE (Enter Single-Axis Mode).............................................................................................................. 32
ESC (Global Abort) ................................................................................................................................... 32
+ (Index in Plus Direction) ....................................................................................................................... 33
–(Index in Minus Direction).................................................................................................................... 33
@ (Soft Stop) ........................................................................................................................................... 34
| (All Stop/End)........................................................................................................................................ 34
A (Input Port Read).................................................................................................................................. 34
B (Jog Speed) ........................................................................................................................................... 35
C (Clear and Restore Main Memory)....................................................................................................... 35
Memory Space Highlights.................................................................................................................... 35
D (Speed Divider)..................................................................................................................................... 36
E (Delay to Hold Time)............................................................................................................................. 36
F (Find Home) .......................................................................................................................................... 37
Using Normally-Open Home Switch .................................................................................................... 37
Using Normally-Closed Home Switch .................................................................................................. 37
G (Go) ...................................................................................................................................................... 38
Auto Program Execution...................................................................................................................... 38

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DC2M17 Driver/Controller Module
H (Microstepping Resolution) ................................................................................................................. 39
I (Initial Velocity)...................................................................................................................................... 39
J (Jump to Address Multiple Times) ........................................................................................................ 40
K (Ramp Slope) ........................................................................................................................................ 41
L (Loop Waiting on Condition)................................................................................................................. 42
M (Move at a Constant Velocity)............................................................................................................. 43
O (Set Origin)........................................................................................................................................... 44
P (Program Entry Mode - Entry/Exit)....................................................................................................... 44
p (Polarity Inversion for Homing Switch and Limit Switches) ................................................................. 46
Q (List Program)....................................................................................................................................... 46
R (Index Relative to Origin) ..................................................................................................................... 47
S (Save) .................................................................................................................................................... 48
T (Set Echo Mode) ................................................................................................................................... 48
Data 1 = 1: Line-by-line echo mode..................................................................................................... 48
Data 1 = 2: Checksum Echo Mode ....................................................................................................... 49
Data 1 = 3: No echo mode ................................................................................................................... 49
U (Set Port) .............................................................................................................................................. 50
V (Slew Velocity)...................................................................................................................................... 51
In-motion adjustments of Slew Velocity.............................................................................................. 51
w (Output Port Read/Write).................................................................................................................... 52
W (Wait) .................................................................................................................................................. 52
X (Examine Parameters) .......................................................................................................................... 54
Y (Hold and Run Current) ........................................................................................................................ 55
Z (Read Position)...................................................................................................................................... 56
Specifications..............................................................................................................................................57
Absolute Maximum Ratings .................................................................................................................... 57
Electrical Operating Characteristics ........................................................................................................ 57
Thermal and Mechanical Specification ................................................................................................... 57
Programming Specifications.................................................................................................................... 57
Thermal Considerations..............................................................................................................................58
Dimensions & Mounting ..............................................................................................................................58
Motor Mounting ...........................................................................................................................................58
Design Tips .................................................................................................................................................59
Set-up for Current Measurement ................................................................................................................60
ASCII Character Code ................................................................................................................................60
Revision Log —9-19-2016 .........................................................................................................................62
Contact AccelMotion ...................................................................................................................................62

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DC2M17 Driver/Controller Module
DC2M17 Features:
The DC2M17 is the smallest of the DC-series of AccelMotion step motor driver/controllers. It operates a
NEMA17- or NEMA23-size stepper motor at up to 2A max current per phase, under control of a host
computer or PLC, but DC-series controllers can also operate autonomously in Program Mode, when
programmed with instructions and saved to non-volatile memory, with no need for an external host.
The DC2M17 provides:
•Capability to drive a Step Motor with phase current up to 2A max current per phase when equipped
with heatsink/case (optional), and 1.5A/phase when operated without the case
oProgrammable Run and Hold Current settings; control from host or internal program
oProgrammable Delay from Run to Hold drive current mode; use to reduce heat and power
•Single supply voltage, from 9 to 35VDC –including built-in fuse protection
•38 motion, programming, and configuration commands, for powerful control and programming
•Programmable microstepping resolutions: Full, ½ , ¼, ⅛, and ⅟16 step mode
•Step speed programmable up to 28,000 steps per second, and “divide-by”ratios up to ⅟255
•Direct Control Mode supports host-based control –Program Mode allows autonomous operation
oAutomatic Program Mode allows programs to start at power-on automatically
•Four user-configurable input ports –each can be used for:
ostandard general-purpose user input –supporting IO voltages of 5 to 30VDC
ooptionally assignable to standard fixed functions, including: Limits, Home, Go, Stop, or Jog
•Two general-purpose digital output ports, capable of sinking 1A of current per output at up to 30V
•Communications via AccelMotion Comms Bus –recommended adapter: AccelMotion CI-200
oPhysical: RS485 (RS422 voltage-compliant), supports up to 32 modules on one interface
oFast Operation, at 115,200 baud default speed
•Optionally mountable directly to standard NEMA17 stepper motor, for easy local control
•Status LED provides indication of power status and relative motion step rates
•Optional DC2M17-CASE: provides protection and heatsinking (to achieve max 2A drive current)
•Optional DC2M17-CABLE 30” cable harness: color-coded for easy wiring
Included in the Box
Mounting Spacers: four, #4 nylon spacers, 3/8”
DC2M17 Control Module:

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DC2M17 Driver/Controller Module
Optional Accessories
Mating Cable Assembly with 30" color-coded leads: order DC2M17-CABLE
The DC2M17-CABLE is a color-coded cable assembly with pre-stripped lead ends and 30" length,
providing easy and flexible cable connections to the DC2M17.
Figure 1 - DC2M17-CABLE Figure 2 - DC2M17-CASE
Case/Heatsink: order DC2M17-CASE
The DC2M17-CASE provides a cover for the DC2M17 Driver/Controller Module as well as providing
additional heatsinking for the on-board stepper drive stage. The case also allows the DC2M17 power to
increase up to 2A/phase max.
Communications Interface: order CI-200
The CI-200 Communications Interface provides an easy and direct connection to an AccelMotion
Communications Bus such as used on the DC2M17, via USB. Drivers for Windows, Mac, and Linux are
available and provide computer access to the DC2M17 Command Line Interface (CLI).
Figure 3 - CI-200 Communications Interface for DC2M17

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DC2M17 Driver/Controller Module
Connection Diagram
Figure 4 - DC2M17 Connection Diagram
Mating Connectors
Below are the part numbers for construction of DC2M17 mating cable assemblies. These components
are readily available through a variety of distributors:
Suggested Wiring Color Codes
Signal
Pin
Color
Signal
Pin
Color
Comm-
J4-1
Grey
Input 1
J3-1
Brown
Comm+
J4-2
Violet
Input 2
J3-2
Red
VMM
J1-1
White
Input 3
J3-3
Orange
Ground
J1-2
Black
Input 4
J3-4
Yellow
Phase1A
J1-3
White/Green Stripe
Output 1
J3-5
Green
Phase1B
J1-4
Green/White Stripe
Output 2
J3-6
Blue
Phase2A
J1-5
Red/Black Stripe
VIO
J3-7
White/Red Stripe
Phase2B
J1-6
Black/Red Stripe
Ground
J3-8
Black
Crimp Terminals
Housing
Motor and Power
J1
08-50-0113 x 6
Molex
22-01-2067 x 1
Molex
Communications
J4
08-50-0113 x 2
Molex
22-01-2027 x 1
Molex
Input/Output
J3
08-50-0113 x 8
Molex
22-01-2087 x 1
Molex

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DC2M17 Driver/Controller Module
Overview
All AccelMotion DC-series controller/drivers provide efficient and powerful control of a single stepper
motor. Each unit consists of: a controller section which executes motion commands; and a driver
section, which is tailored to the specific drive power and mounting method of that model (see Figure 5 -
DC2M17 Functional Block DiagramThe Communications Bus connects the DC-series controller to an
external computer, which is used for programming and debug, but optionally can be used to control or
query the controller directly.
Each controller contains storage for the operating parameters of the controller and driver, as well as
optional control programs. During operation, the parameters and programs are stored in main memory
(RAM); all functions draw on those parameters, and programs can be run from that main memory.
Programs can be permanently stored by transferring into non-volatile (NV) memory, so that the
parameters and programs are always available - see later sections on Programming and Program Mode.
In Program Mode, the controller executes commands in line-numbered order, but control can be
steered by conditional branches based on input port conditions (see “L” Command), such as from
switches, sensors, and controller/computer output signals of various voltage levels.
Additional functionality can be attributed to the four general-purpose input ports, including Go, Stop,
Limits, Jog, and Home - see the U(Set Port) Command to configure ports for these functions. User
inputs ports can be configured to external voltage levels by connecting an external supply to the VIO pin.
Two programmable output ports are provided to drive logic levels or external devices (relays, etc.)
The driver section provides the power to drive a stepper motor to the step location requested in the
controller. The power level is programmable (Y Command) for motion (Run) and when stopped (Hold);
Run current is used when moving, transitioning automatically to Hold current once movement is ended.
Stepping parameters, such as microstepping mode, velocity, acceleration, etc. determine the
steps/revolution, speed, locations, etc. (as long as the motor output power exceeds the torque
requirement). See the Parameters & Defaults section for more information on parameters and defaults
for command types; and the Stepping Motor appendix about how motors and drivers are rated.
Figure 5 - DC2M17 Functional Block Diagram
VMM
comms bus
connector
Controller
2A
driver
motor connector
Memory
Non-Volatile
Memory
power
connector
regulator
DC2M17 Block Diagram
Step
Current
input/output
connector

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DC2M17 Driver/Controller Module
Operational Modes
All AccelMotion DC-series controller/drivers can be operated two ways: IMMEDIATE mode, where
commands are provided externally via the communications interface and are executed in real time; and
as PROGRAM mode, where commands previously stored internally are executed, programmatically.
Immediate or Direct Control Mode accepts commands via an external computer or controller, and
is used when requiring integration with control systems or when multiple-axis control from a
high-level host is required. Commands and responses come through the Communications Bus
and are executed in real time. Manual entry using a keyboard and terminal window, or
automatic operation from a host script, are examples of Immediate Mode operation. This mode
can address one or many units (axes). Some commands are unavailable in Immediate Mode.
Program Mode executes commands directly from a unit’s internal memory, using programmed
values and making conditional decisions based on its Input Ports and motion (see “L”
Command). Programs can be started from Immediate Mode (see "P (Program Entry Mode -
Entry/Exit)" command), or one can be automatically started on power-up (see Automatic
Program Mode, below).
Once program execution has been started, the controller stays in Program Mode and executes
commands in program order until the program ends or operation is stopped externally (via
<ESC> character, or the STOP input port function). During Program Mode the communications
port is ignored except for the <ESC> character.
Programs are stored internally in main memory, and can be moved permanently into non-
volatile (NV) memory (see "S" command) –NV program memory can be recalled back to Main
memory by the C Command, or at each system reset (see ^C (Reset) Command and Parameters
& Defaults section).
Automatic Program Mode is when the controller executes a program at power-up (or reset); this
occurs when a program is placed at location 192 –see G (Go/Branch) Command for more data.
Communication Modes
All DC-series controller/drivers can be programmed and controlled via the AM Communications Bus.
Two communications and control topologies are available: SINGLE and MULTI-AXIS.
Single-Axis Mode provides an easy way to control a single DC-series controller from a host PC or in
Program Mode. This mode is perfect for single-axis systems, and has advantages:
addressing/naming isn't required; axis name prefixes aren’t required for each command; and a
greater range of commands is supported. Naming does require the use of Single Mode, at least
once.
Multi-Axis Mode allows multiple DC-series controller/drivers to be commanded from the same AM
Comms Bus, allowing one host to control multiple axes. In this mode each controller must have
an axis name; each command must have an axis name prepended to the command string to
identify the target controller; and some commands are unavailable in Multi-Axis mode. Multi-
Axis mode can be used for single unit operation, but Single-Axis Mode is easier (see above).
AM Communications Bus
The AM Communications Bus operates in a Serial Multidrop mode, using RS485 signaling and voltages.
The bus operates at a standard speed of 115,200 baud, 8-bit data, 1 stop bit, and no parity; the
communications driver and all terminal or script software must be set to those settings for correct
operation with any DC-series unit. AccelMotion DC-series controllers are not compatible with Advanced
Micro Systems DCB- or MAX-series controllers communications busses or standards (using 9600 baud).

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DC2M17 Driver/Controller Module
Parameters & Defaults
The Examine command (X) displays the current parameter values. These parameters are located in Main
Memory and are used by the control firmware to set characteristics that the controller and driver will
use to operate the step motor, and utilize optional input ports functions (Jog and Home).
The current parameter values are retrieved into Main Memory, at every power-up or reset time, from
non-volatile (NV) memory; it can be thought of as retrieving ‘stored settings’. Those parameter values
stay in Main Memory unless further modified by a command, or until power-down. Parameters can then
be stored back into non-volatile memory as new defaults using the “S0” command, if desired.
Figure 6 - List of Commands with Parameters, showing Factory Defaults shows the list of parameter
command codes and description, and the value the parameter will have from the factory, or if it is reset
to factory default values –see command C for more info.
Parameter
Command Code
Command Parameter Description
Factory Default
Value
K (Ramp Slope)
Acceleration/Ramp Slope (ramp up/ramp down)
5/3
I (Initial Velocity)
Initial Velocity (steps/sec)
400/1
B
Jog Speed (steps/sec)
400
V
Slew Velocity (steps/sec)
3000/1
Y
Hold/Run Current % (% of 1.5A full-power)
25/50
E
Settling Time Delay (in milliseconds x 10)
100 (1 second)
D
Speed Divider
1
H
Resolution Mode
1
U
Input port assignment (for I1/I2/I3/I4)
1 1 1 1
T
Echo Mode
1
p
Homing Switch Polarity
0(normally-open)
N
Axis Name
blank*
* Programmed only by Ctrl-N naming
Figure 6 - List of Commands with Parameters, showing Factory Defaults
See the Commands Section for more information regarding parameters as well as storing defaults into
non-volatile memory using the “S” command, and recovering defaults with the “C” command, or reset.

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DC2M17 Driver/Controller Module
Quick Start
This outlines the minimum steps required to make a DC2M17 operational, using Operational Modes
mode:
1. Connect the main power supply to connector J1 pins 1 and 2, with an output voltage in the range
from 9VDC to 35VDC. Connect Pin 1 to the positive voltage (VMM) and Pin 2 to Ground. The power
supply must be capable of providing between 1A and 2A of current, depending on the supply voltage
and current settings required. See Power Supply section for more data.
2. With power off, connect an appropriate size stepper motor to the four motor connections of J1.
Typical motor connection diagrams are shown in the Stepping Motor section. Be sure to insulate all
motor leads (and unused leads) to prevent shorts to ground, or to other motor leads.
3. Wire the 2-pin communications connector from the CI-200 Interface into J4. Make a connection
between the GND of the DC2M17 and the GND terminal of the CI-200, to provide a shared ground
level between all devices (refer to Grounding). Connect the other end of the CI-200 Interface to the
USB port of the host computer. Insure the respective driver is installed correctly –see the CI-200
manual for details.
4. Start a terminal application on your computer (any program that allows you to send data through a
serial connection; for example TeraTerm, Hyperterminal, Console, etc.). We provide the free
AccelCom software (on the AccelMotion website), which provides an on-screen terminal with
specialized buttons for clearing, starting Multi-Axis Mode, etc. Open the configuration settings of
your terminal and select the respective virtual COM port to which the CI-200 is connected, and
assure that the standard baud rate of 115,200 baud is set (AccelCom baudrate is preset).
5. Apply power to the DC2M17. The green LED will illuminate and flash slowly.
6. Type <space> to connect in Immediate Mode. The controller will respond with its ID, which
indicates that communication is established, and will appear as: AccelMotion DC2M17 Vx
7. Set safe motor hold current and run current settings, using the “Y” command. Make sure all "Y"
command settings are compliant with the specs of the motor you are using, and that the actual
current does not exceed the current rating of the motor.
8. To verify motion functionality, type a simple motion command: for example, +400 will move the
motor 400 steps in positive/plus direction. The entry will not echo as you type, but at the end the
entire command will be echoed before the response (if any).
Type Echo/Response Remark
<space> AccelMotion DC2M17 Vx space starts connection and shows ID
+400↵+400 motor moves 400 steps, in positive direction
9. To save these settings into non-volatile memory (data which is restored when unit is powered up or
when a reset occurs), type “S0” followed by enter. See the S and C commands for more information.
Important Notes
Do not connect or disconnect the motor when power is applied
The power supply voltage, including ripple and line voltage fluctuations,
must not exceed 35VDC or be less than 9VDC
The selected motor must be compatible with the drive specification
Review and Understand the use of the “Y” Current command,
to limit the power consumption and heat in the driver and motor

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DC2M17 Driver/Controller Module
Operating the DC2M17
Entering and Using Commands
Commands are represented as strings of text, and interpreted through the command-line interface (CLI)
of the controller. Commands can be executed via the communications port in real-time, or interpreted
from main program memory inside the controller once a program exists and Program Mode is entered.
Command string structure and data fields are shown for each command in its specific command
description, in the Commands section. The data fields consist of decimal data values separated by
spaces, and many of the data values are optional. For most commands, if the data field is not provided
then the command is interpreted as a query of the current parameter value for that command; that
queried value is returned to the host via the communications channel.
All command strings terminate with a Carriage-Return (<CR>) character, generated real-time on a
keyboard with Enter↵key, and from a script or application with a ^M ('control-M'), or hex #0D character.
Command Highlights:
Characters are echoed to the host on a line-by-line basis - see Command T (Echo Mode)
Only one command may be entered per line
Each Command is terminated by Enter (from keyboard), or ^M (from script)
The command line may be edited using backspace, as characters are typed
The line entry may be canceled using <ESC>
A space is optional between the command and first parameter value
A space or comma must be used to separate two parameter commands
Basic Communications
Before establishing first communications, the host must be connected to the DC-series controller via a
RS-485 communications adapter (such as a CI-series adapter from AccelMotion), and some software
method is needed to allow communications to and from the unit. See Communications section for more
information on RS-485 communications adapters and wiring.
Most customers start in Immediate Mode; this allows Axis Naming, program entry, quick testing and
debugging. Use a 'terminal window' to access the command interface - any terminal software will work
as long as it allows for sending and receiving data through a COM port. AccelMotion provides a free
terminal called AMCockpit, but many examples exist including TeraTerm, Console, etc. All modes other
than Automatic Program Mode will require the host, adapter, and communications software.
Immediate Mode start-up
Follow these steps:
1. Power ON, then type <space> (causes Immediate Mode connection to controller)
2. Type the command: "R-1000" and terminate with Enter↵(<CR>)
Characters are not echoed as you type; the entire line is echoed after the terminator ↵ is sent
3. The motor should move a small amount (1000 steps, in the negative direction)
4. Type the “Z”command. This command responds with the axis position (-1000)

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DC2M17 Driver/Controller Module
Programming
Program Entry Example
The above examples show commands in Immediate Mode. The following are examples of program
sequences entered into main memory, to be executed in Program Mode. Enter these commands after
signing-on with <space>. As commands are entered, the interface will echo the program line number
in which the next command (and parameters) will reside before –some take more space than others,
and this space is shown as Size in each command's reference data.
Type (line#) Echo/Response Remark
P0 ↵P0 Enter Program Entry Mode at location 0 (zero)
O0 ↵0 O0 Set step counter to 0 (←Command O, value zero)
+1000 ↵5 +1000 Move 1000 steps in “+” direction
W0 ↵10 W0 Wait until motion is complete
-1000 13 -1000 Move 1000 steps in “-“ direction
W0 ↵18 W0 Wait until motion is complete
Z ↵21 Z Respond with current step counter position
G5 ↵22 G5 Go to line 5
26 P ↵25 P Exits Program Entry Mode (P, same as P0)
does not enter data or code into next line (25)
Now, use "Q" command to display the stored program for your review - type “Q0” to start the listing at
0. The screen should now display the lines previously entered, as they are stored in main memory. This
program stays present in memory until the controller is reset or power is lost. Once programs are
debugged and finalized, transfer them to non-volatile (NV) memory with the S Command.
Program Execution Example –entering Program Mode
Type Remark
G0 ↵Enter Program Mode and start executing the program at specified location 0 (zero).
Notes: Program mode can be terminated at any time by hitting <ESC> (escape) key
Trace function allows the real-time display of instructions executed (see “G” command)
Program Editing example
Example: It is desired to change instruction in location 13 from -1000 steps to -5000 steps. In this
example we begin editing at the exact location (13) and we exit Command Entry Mode with <ESC>:
Type (line#) Echo/Response Remark
P13 ↵P0 Enter Program Entry Mode at location 13
-5000 13 -5000 Move 5,000 steps in the minus direction, relative to origin
<ESC> Terminates Edit mode (remember to Enter before the ESC)
In Program Mode, any motion command is automatically stalled (waiting), if it is
executed while a previous motion is still in progress –non-motion commands are not
stalled automatically behind a motion command, so review the W0 Command usage if
motion commands should force following commands to wait for their completion.

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DC2M17 Driver/Controller Module
Command Entry Mode Highlights:
Characters are echoed on a line-by-line basis, and only one command is allowed per line
As commands are entered, the <backspace> key will completely reset the current line
contents and repeat the program line number - same reset if illegal command characters used
Command is terminated by Enter (from keyboard) or ^M (from script)
A space is optional between the command and first parameter value, but must be used to
separate parameters in multiple parameter commands
Once a program is loaded and Entry Mode is exited, a program can be saved to non-volatile
memory using the “S1” command so that it’s retained even after powering down or resetting.
Make sure that command echoes and responses are received completely for each command
before issuing further commands.
Memory Map
The DC-series controller Main Memory is organized to be compatible with previous AMS (Advanced
Micro Systems) controllers. Programs can start at location 0, and can be located in two distinct pages of
memory, shown below. Parameters also live in this Main Memory space, but are modified only by
specific commands that set and retrieve these values.
Memory Space starts with the first program memory page, from locations 0 to 191. Note instructions
take up 3 locations on average, so lower space can hold around 55 instructions, and the upper page
around 75; more motion commands decrease the instructions per space (as they take 5 locations each).
Insure that all programs start and end within the yellow ‘program space’ areas and do not stretch into
Parameter Storage space or beyond the program space limit (511).
Note that if using Automatic Program Mode operation, the Auto-Execute location (192) should contain
a “G” Go/Branch Command, which steers automatic start execution to the desired routine location.
The space available from address 192 to 199 is too small for any actual program steps –locations 200 to
255 contain only Parameter Storage and it is illegal to place programs in that space.

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DC2M17 Driver/Controller Module
Multi-Axis Considerations
Axis Naming
Multi-Axis Mode allows control of more than one unit (axis) on the same Communications Bus. When
using this mode each axis must be assigned a unique address, or “name”, so that the target axis for each
command can be explicitly identified. Axis naming is not required if only Single-Axis mode is used.
To give the unit a name, send a ^N character (type “Ctrl” and “N” at the same time). When requested,
type a single valid axis-name character (Any character A-Z, or a-z), then type “y” (lowercase) to save the
new axis name. This naming can only be done in Single-Axis and Immediate Mode. Utilize the “X”
command to verify the action - it lists the axis name among the other parameters valid for this unit.
Multi-Axis Start-Up
Once all devices have unique address 'names' and are wired as described in the Multi-Axis Wiring
section, the system hardware is ready to operate in Multi-Axis Mode.
In Multi-Axis mode every command is addressed by prepending the name of the addressed axis to the
command. For example: if the user intends to issue the command M1000 to axis A, the command would
be: AM1000. The only exceptions to this are Reset (^C) and <ESC>, which are broadcast commands.
Each controller unit residing on the bus in Multi-Axis Mode acts as a listener, waiting for its specific
address (name) character. Once the programmed name is received, the remainder of the command
string is received until the terminator (<CR> or ^M) is accepted; the unit interprets that command and
the command string is echoed to the host. Once the final characters of the echo (<CR><LF>) have been
received, the host may send another addressed command to the same or any other axis/unit.
Try a few examples in Multi-Axis Mode, (even with only one unit where Multi-Axis isn’t needed):
Power up; start with Host and Communications Adapter, then the controller/driver named “A”
In the terminal window type ^P (“Ctrl” and “P” at the same time - ASCII Code 10 hex)
All devices should now be in Multi-Axis Mode –no additional Enter↵is needed, and no
response is returned
Type the command: "R-1000" and terminate the command with <Enter> Key ↵
Note, that as you type no characters are echoed until the end, where the entire line is echoed
The motor should move a small amount (1000 steps in the negative direction)
Type the “Z”command. This command responds with the axis position (-1000)
Multi-Axis Communication Note
The DC2M17 incorporates a buffered UART input, but because motion control is of the highest priority,
processing of received information may be delayed if commands are sent while stepping at a very fast
rate. The host should always monitor echoed data to avoid multiple command UART overrun.
External Host Control Note:
Make sure that command echoes and responses are received completely for each command before
issuing further commands.

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DC2M17 Driver/Controller Module
Hardware
Power Supply Selection and Connection
The DC2M17 is powered from a single DC power supply (PS). The power supply is connected via the J1
Connector, pins 1 and 2. The input voltage must be in the range of 9VDC to 35VDC.
Pin
Function
J1 - pin 1
VMM (High drive voltage)
J1 - pin 2
Ground
In general, unregulated DC (or linear regulated) power supplies are best suited for stepper motor
applications. Switching power supplies are cost-efficient, however their ability to provide surge currents
can be limited, and may suffer from drop-outs in current during peak operations.
A single power supply can be used for multiple controllers provided that the total maximum peak power
(current) is provided for and the PS voltage is within the specified acceptable voltage range for all units.
Each unit should use separate power and ground leads that connect directly to the output terminal of
the shared power supply. Individual supplies for each unit/axis can be used, as long as the ground
connections for all shared devices are common (see Multi-Axis Communication ).
For 1.5A of max output phase current (DC2M17 max without optional case), we recommend a supply
with output power of 30W (Watts) minimum –at 2A, the minimum requirement is 40W.
The current capability (in Amps) of any specific power supply will depend on its output voltage –this can
be calculated by dividing the total wattage by the output voltage, as shown in these examples:
PS Power
PS Voltage chosen
PS Current Required, at chosen voltage
30W
30V
30W / 30V = 1 Amp @ 30V
30W
24V
30W / 24V = 1.25 A @ 24V
30W
12V
30W / 12V = 2.50 A @ 12V
40W
24V
40W / 24V = 1.66 A @ 24V
40W
12V
40W / 12V = 3.33 A @ 12V
Important Notes
Do not connect or disconnect the motor when power is applied
The power supply voltage, including ripple and line voltage fluctuations,
must not exceed 35VDC or be less than 9VDC
Individual axis units should be fused independently, for fault isolation
Wire size between the power source and the driver(s) should be at least 18 gauge AWG.
Longer distances between the power supply and driver should use a heavier gauge
When powering multiple units with a common power supply, use individual supply leads,
and connect them all together directly at the power supply connection points
Select a common supply that can provide the total max peak supply current for all units

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DC2M17 Driver/Controller Module
Stepping Motors and Motor Connection
The DC2M17 is a bipolar chopping-style stepper driver that works with both bipolar and unipolar
motors, i.e. 8-, 4- and 6-lead motors. It is also possible to half a 6-lead center tapped motor with the
DC2M17, however the performance may be compromised. To avoid unstable chopping conditions and
to provide a higher speed/performance ratio, a motor with a low winding inductance is preferred.
Motor Connection
The J1 connector also provides connections between the DC2M17 and a Stepper Motor.
Drive Current
The ideal current for a given motor is based on the specific characteristics of the motor and the
requirements of the application. As a result, establishing the correct current is often determined
empirically. Insufficient current will result in inadequate torque and under-utilization of the motor.
Excessive current can cause high-speed torque ripple, resulting in stalling or pole slippage, overheating
of the motor, and general inefficiency of the system. The current can be set using the “Y” Command–
see that section for details.
Step Motor Configurations
These days nearly all stepper motors are of the 4-wire bipolar variety, with two isolated windings driven
through a pair of wires; connect each phase of the motor to a phase of the driver, as shown on left.
4-wire 6-wire
Some steppers have center-tapped windings (6-leads); We recommend a configuration that ignores the
center-taps; connect each outside phase lead to a phase of the driver as shown on right. For 8-lead
steppers, please consult the stepper motor white paper on our website, at AccelMotion.com
Direction Setting
The physical direction of the motor with respect to the controller’s ‘positive’ direction will depend on
the connection of the motor windings. To reverse the direction of the motor and make it match the
controller, simply: swap the connections on phase 1, or swap the connection on phase 2, or swap the
phase pairs with each other. Example: phase 1, swap 1A and 1B so that 1A on the driver goes to 1B on
the motor, and 1B on the driver does to 1A on the motor.
Pin #
Description
Function
1, 2
1A, 1B
Phase 1 of the Stepping Motor is connected between Pin 3 and 4 of J1.
3, 4
2A, 2B
Phase 2 of the Stepping Motor is connected between Pin 5 and 6 of J1.

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DC2M17 Driver/Controller Module
Important Notes
Do not connect or disconnect the motor when power is applied
Select the stepper motor for your application first in reference to the required
torque, and then determine the required drive current as a maximum.
Most users finalize their current settings empirically, with the final physical setup in-place
When using a 6-lead motor be sure to insulate unused wires.
There is no inherently positive direction of a stepper motor
Status LED
The DC2M17 indicates its status via a single LED.
The status display LED is Green when the unit is powered. A flashing “heartbeat” is visible at all times,
from a very slow rate (approximately one flash/sec) when the unit is not moving up to higher flashing
rates as the stepper step rate rise. This function is meant to indicate operation of the unit, visibly.
If for any reason the Red light is illuminated, this indicates that the on-board fuse has been blown.
This failure could be due to any electrical short; caused by:
a short from ground to some point on the module main board
a short between any of the motor phase leads
a short between any of the motor phase leads and the ground or power inputs
There are no user-serviceable parts in the DC2M17, including the main power protection fuse.
If damaged, contact AccelMotion for repair authorization (where applicable).
Connectors
The DC2M17 utilizes three connectors for all its functions:
A Power/Motor Connector
oconnects the main motor voltage (VMM), which is used to drive the motor but also
powers all the other on-board functions
oconnects the four motor phase leads for any bipolar stepper motor up to 2A/phase
A Communications Connector for DATA+ and DATA- leads of the AM Communications Bus
An Input/Output Connector for the four inputs and two outputs (plus VIO and ground)
Each connector has physical keying to prevent the incorrect insertion of its mating connector. Each
connector is a different size so as minimize confusion for installation or servicing technicians, and the
optional cable harness has color-coded wiring, to make installation easier and assure correct
connections. See Connection Diagram for information such as pinout and location of connectors.

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DC2M17 Driver/Controller Module
Input / Output Subsystem
DC-series controllers feature input and output ports. These connections operate in an industry-standard
"low-drive" mode, where the ACTIVE state of any input or output is low-voltage (ground), and any
port's INACTIVE state is high-voltage –either VIO (IO voltage level), or disconnected (and internally
pulled-up to VIO).
This method allows easy connections to pushbuttons, limit switches, home switches, or proximity
switches, which simply connect the input to ground when active. Outputs also can operate equipment
such as solenoids, relays or indicators by connecting them between VIO and the chosen output; the
output provides a connection to ground (up to the rated current)
Input Ports
Input Port Electrical Configuration
All digital inputs are evaluated against ½ VIO voltage, to determine the actual digital value - below ½ VIO
is INACTIVE and below is ACTIVE. This circuit supports a wide input voltage range for digital IO, yet
provides noise immunity at the selected voltage. An internal 50k Ohm pull-up resistor to VIO is provided
to force inputs normally high (inactive), and need to be pulled low by the user to activate. An input R-C
filter is also included and provides about a 2kHz cut-off frequency.
Figure 7 - Input Equivalent Circuit
The typical way to use an Input Port is a simple switch contact to Ground. Switch contacts for fixed
functions of Limits, Home, Jog, Go and Stop, and general-purpose User IO inputs from control switches,
can be supported in this manner. Figure 8 - Example of Switch Contact Input shows how such simple
connections are made, for a passive contact to ground. This works because switch connections are low
resistance and the input circuit has a 50kohm pull-up resistor; no other external circuit is needed. As
long as the input voltage is lower than the threshold (1/2 VIO) the input is ACTIVE, and when it is above
the threshold it is INACTIVE. When the switch is closed, if the port is configured as a fixed function, then
that function is activated; if it’s a User I/O, then the data value is set to ‘1’ for all internal status values.

20
DC2M17 Driver/Controller Module
Figure 8 - Example of Switch Contact Input
When an input port is connected to a output from a computer, a PLC, or an active sensor, that device
will drive the input at its supply voltage range; at higher I/O voltage levels (12V, 24V, etc.) the input
section requires a reference point to create a ½VIO value, because the internal default VIO value is 5V.
In these cases, connect the external I/O voltage to the VIO input –the threshold circuit uses the higher
of either 5V or the external pin value, and divide that voltage by 2 for the threshold voltage.
Figure 9 - Example Active Input using external VIO supply shows an example of an input port X driven
from a computer or sensor output terminal, powered by 24V. Connect the external ground to the DC-
series controller ground, and the external 24V supply to the VIO pin. This will set the input threshold to
12V (24V ÷ 2), thus will interpret voltages lower than 12V as ACTIVE, and greater to be INACTIVE.
Figure 9 - Example Active Input using external VIO supply