Arcus DMX-ETH User manual

DMX ETH Manual page 1 rev 1.16
DMX-ETH
Integrated Step Motor
Encoder/Driver/Controller with
Ethernet communication

DMX ETH Manual page 2 rev 1.16
COPYRIGHT © 2008 ARCUS,
ALL RIGHTS RESERVED
First edition, January 2008
ARCUS TECHNOLOGY copyrights this document. You may not
reproduce or translate into any language in any form and means any part of
this publication without the written permission from ARCUS.
ARCUS makes no representations or warranties regarding the content of this
document. We reserve the right to revise this document any time without
notice and obligation.
Revision History:
1.10 – 1st Release
1.15 – 2nd Release
1.16 – 3rd Release
Firmware Compatibility:
†V223BL
†If your module’s firmware version number is less than the listed value, contact Arcus for the appropriate
documentation. Arcus reserves the right to change the firmware without notice.

DMX ETH Manual page 3 rev 1.16
Table of Contents
1. Introduction..................................................................................................................... 7
Features ........................................................................................................................... 7
Model Numbers .............................................................................................................. 8
2. Electrical and Thermal Specifications ............................................................................ 9
Power Requirement......................................................................................................... 9
Temperature Ratings †.................................................................................................... 9
Digital Inputs † ............................................................................................................... 9
Digital Outputs................................................................................................................ 9
3. Dimensions ................................................................................................................... 10
4. Motor Specifications..................................................................................................... 12
Electrical Specifications................................................................................................ 12
Torque Curve – NEMA 17 ........................................................................................... 12
Torque Curve – NEMA 23 ........................................................................................... 13
5. Connections................................................................................................................... 15
4-Pin Connector (5.08mm) ........................................................................................... 15
14-Pin Connector (2mm) .............................................................................................. 15
DMX-ETH Interface Circuit......................................................................................... 17
Digital Outputs.............................................................................................................. 18
Digital Inputs ................................................................................................................ 18
6. Getting Started .............................................................................................................. 19
Typical Setup ................................................................................................................ 19
Windows GUI ............................................................................................................... 20
Main Control Screen ..................................................................................................... 21
A. Status................................................................................................................. 22
B. Control .............................................................................................................. 23
C. On-the-fly Speed Change.................................................................................. 24
D. DIO Status......................................................................................................... 25
E. Terminal............................................................................................................ 25
F. Standalone Program File Management............................................................. 26
G. Variable Status .................................................................................................. 27
H. Setup ................................................................................................................. 28
I. Product Information .......................................................................................... 29
K. Standalone Processing ...................................................................................... 30
L. Standalone Program Editor ............................................................................... 31
M. About............................................................................................................. 31
7. Motion Control Overview............................................................................................. 32
Motion Profile............................................................................................................... 32
On-the-fly Speed Change.............................................................................................. 33
Digital Inputs/Outputs................................................................................................... 33
Motor Power ................................................................................................................. 34
Polarity.......................................................................................................................... 34
Positional Moves........................................................................................................... 34
On-The-Fly Target Position Change............................................................................. 34
Jogging.......................................................................................................................... 35

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Stopping Motor ............................................................................................................. 35
Homing ......................................................................................................................... 35
Home Input Only (High speed only) ........................................................................ 35
Home Input and Z-index........................................................................................... 36
Home Input Only (High speed and low speed)......................................................... 36
Limit Only................................................................................................................. 37
Z-index only.............................................................................................................. 37
Motor Position .............................................................................................................. 38
Motor Status.................................................................................................................. 38
Limit Inputs................................................................................................................... 38
Latch Input .................................................................................................................... 39
StepNLoop Closed Loop Control ................................................................................. 39
IP Address..................................................................................................................... 41
Micro-step Driver Configuration .................................................................................. 42
Over Temperature Alarm.............................................................................................. 43
Standalone Programming.............................................................................................. 44
Communication Time-out Feature (Watchdog)............................................................ 45
Boot-up Sequence ......................................................................................................... 45
Hard Reset (Flash Memory).......................................................................................... 46
Storing to Flash ............................................................................................................. 47
8. Ethernet Communication Protocol................................................................................ 48
Socket Settings.............................................................................................................. 48
ASCII Protocol.............................................................................................................. 48
9. ASCII Language Specification ..................................................................................... 49
Error Codes ................................................................................................................... 52
10. Standalone Language Specification............................................................................ 53
; ..................................................................................................................................... 53
ABORTX ...................................................................................................................... 53
ABS............................................................................................................................... 53
ACC .............................................................................................................................. 53
DEC............................................................................................................................... 54
DELAY ......................................................................................................................... 54
DI .................................................................................................................................. 54
DI[1-2] .......................................................................................................................... 55
DO................................................................................................................................. 55
DO[1-2]......................................................................................................................... 55
DRVIC .......................................................................................................................... 56
DRVIT .......................................................................................................................... 56
DRVMS ........................................................................................................................ 56
DRVRC......................................................................................................................... 56
ECLEARX .................................................................................................................... 57
ECLEARSX.................................................................................................................. 57
ELSE ............................................................................................................................. 57
ELSEIF ......................................................................................................................... 57
END .............................................................................................................................. 58
ENDIF........................................................................................................................... 58

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ENDSUB....................................................................................................................... 59
ENDWHILE ................................................................................................................. 59
EO ................................................................................................................................. 59
EX ................................................................................................................................. 60
GOSUB ......................................................................................................................... 60
HLHOMEX[+ or -] ....................................................................................................... 60
HOMEX[+ or -] ............................................................................................................ 61
HSPD ............................................................................................................................ 61
IF ................................................................................................................................... 61
INC................................................................................................................................ 62
JOGX[+ or -]................................................................................................................. 62
LHOMEX[+ or -].......................................................................................................... 62
LSPD............................................................................................................................. 62
LTX............................................................................................................................... 63
LTEX ............................................................................................................................ 63
LTPX............................................................................................................................. 63
LTSX............................................................................................................................. 63
MSTX ........................................................................................................................... 64
PRG............................................................................................................................... 64
PS .................................................................................................................................. 64
PX ................................................................................................................................. 65
RW ................................................................................................................................ 65
RWSTAT ...................................................................................................................... 65
SCVX............................................................................................................................ 66
SLX ............................................................................................................................... 66
SLSX............................................................................................................................. 66
SSPDX .......................................................................................................................... 66
SSPDMX....................................................................................................................... 67
STOPX.......................................................................................................................... 67
STORE.......................................................................................................................... 67
SUB............................................................................................................................... 68
V[1-100]........................................................................................................................ 68
WAITX ......................................................................................................................... 69
WHILE.......................................................................................................................... 69
X.................................................................................................................................... 70
ZHOMEX[+ or -].......................................................................................................... 70
ZOMEX[+ or -]............................................................................................................. 70
11. Example Standalone Programs ................................................................................... 71
Standalone Example Program 1 – Single Thread ......................................................... 71
Standalone Example Program 2 – Single Thread ......................................................... 71
Standalone Example Program 3 – Single Thread ......................................................... 71
Standalone Example Program 4 – Single Thread ......................................................... 72
Standalone Example Program 5 – Single Thread ......................................................... 72
Standalone Example Program 6 – Single Thread ......................................................... 73
Standalone Example Program 7 – Multi Thread........................................................... 74
Standalone Example Program 8 – Multi Thread........................................................... 75

DMX ETH Manual page 6 rev 1.16
Appendix A: Speed Settings ............................................................................................. 76
Acceleration/Deceleration Range ................................................................................. 76
Acceleration/Deceleration Range – Positional Move ................................................... 77

DMX ETH Manual page 7 rev 1.16
1. Introduction
DMX-ETH is an integrated stepper controller + driver + motor motion product.
Communication to the DMX-ETH can be established over Ethernet. It is also possible to
download a stand-alone program to the device and have it run independent of a host.
Sample source code are available to aid you in your software development.
Features
DMX-ETH
-10Mbps Ethernet communication
•ASCII
•TCP/IP
-Opto-isolated I/O
•2 x inputs
•2 x outputs
•+Limit/-Limit/Home inputs
-Homing routines:
•Home input only (high speed)
•Home input only (high speed + low speed)
•Limit only
•Z-index encoder channel only
•Home input + Z index encoder channel
-S-curve or trapezoidal acceleration profile control
-On-the-fly speed change
-1000 line incremental encoder (4000 counts/rev with 4x quadrature decoding)
•StepNLoop closed loop control (position verification)
-Stepper driver
•12-48 VDC
•3.0 Amp max current setting (peak current)
•2 to 500 micro-step setting
•1 MHz max pulse support
-Stepper motor
•NEMA 17/23 motor sizes available in different stack sizes
•1.8° step angle

DMX ETH Manual page 8 rev 1.16
Model Numbers
Contacting Support
For technical support contact: [e-mail].
Or, contact your local distributor for technical support.
DMX-ETH- -
Motor Stack Size
2– Double
3 – Triple
Motor Frame Size
17 – NEMA 17 Motor
23 – NEMA 23 Motor

DMX ETH Manual page 9 rev 1.16
2. Electrical and Thermal Specifications
Power Requirement
Regulated Voltage: +12 to +48 VDC
Current (Max): 3 A (peak)
Temperature Ratings †
Operating Temperature: -20°C to +80°C
Storage Temperature: -55°C to +150°C
† Based on component ratings
Digital Inputs †
Type: Opto-isolated NPN inputs
Opto-isolator supply: +12 to +24 VDC
Maximum forward diode current: 45 mA
† Includes limit, home and latch
Digital Outputs
Type: Opto-isolated open-emitter PNP outputs
Max voltage at emitter: +24 VDC
Max source current at 24VDC †90 mA
† A current limiting resistor is required

DMX ETH Manual page 10 rev 1.16
3. Dimensions
†All dimensions in inches
Controller
Figure 3.0
NEMA 17
Figure 3.1

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NEMA 23
Figure 3.2
Model L (inches)
DMX-ETH-17-2 1.58
DMX-ETH-17-3 1.59
DMX-ETH-23-2 2.2
DMX-ETH-23-3 3.1
Table 3.0

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4. Motor Specifications
Electrical Specifications
NEMA
Size
Stack
Size
Current /
Phase †
Holding
Torque
Resistance/
Phase
Inductance/
Phase
Inertia
17 Double
1.7A 0.44 N-m 1.5 Ω3.0 mH 0.28 oz-in
2
Triple 2.0A 0.59 N-m 1.4 Ω2.7 mH 0.37 oz-in
2
23 Double
2.8A 0.95 N-m 0.9 Ω2.5 mH 1.64 oz-in
2
Triple 2.8A 1.41 N-m 1.13 Ω3.6 mH 2.62 oz-in
2
Table 4.0
† Motor current specifications are in RMS form.
Torque Curve – NEMA 17
Figure 4.0

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Figure 4.1
Torque Curve – NEMA 23
Figure 4.2

DMX ETH Manual page 14 rev 1.16
Figure 4.3

DMX ETH Manual page 15 rev 1.16
5. Connections
Figure 5.0
4-Pin Connector (5.08mm)
Pin # In/Out Name Description
1 I GND Ground
2 I V+ Power Input +12 to +48VDC
Table 5.0
Mating Connector Description: 2 pin 0.2” (5.08mm) connector
Mating Connector Manufacturer: On-Shore
Mating Connector Manufacturer Part: †EDZ950/2
† Other 5.08mm compatible connectors can be used.
Figure 5.1
14-Pin Connector (2mm)
Pin # In/Out Name Description
1 I OPTO +12 to +24VDC opto-supply input – used for limit,
home and digital inputs
2 I OPTO +12 to +24VDC opto-supply input – used for limit,
home and digital inputs
1
1
2
13
14

DMX ETH Manual page 16 rev 1.16
3 I LATCH Latch input
4 I HOME Home input
5 I -LIM Minus limit input
6 I +LIM Plus limit input
7 I DI1 Digital Input 1
8 I DI2 Digital Input 2
9 O DO1 Digital Output 1
10 O DO2 Digital Output 2
11 NC NC Not Connected
12 NC NC Not Connected
13 NC NC Not Connected
14 NC NC Not Connected
Table 5.1
Mating Connector Description: 14 pin 2mm dual row connector
Mating Connector Manufacturer: HIROSE
Mating Connector Housing Part Number: DF11-14DS-2C
Mating Connector Pin Part Number: DF11-2428SC

DMX ETH Manual page 17 rev 1.16
DMX-ETH Interface Circuit
Figure 5.2

DMX ETH Manual page 18 rev 1.16
Digital Outputs
Figure 5.3 shows an example wiring to the digital output.
Figure 5.3
WARNING: The maximum source current for digital outputs is 90 mA. Take caution to
select the appropriate pull-down resistance to limit the source current below this level.
Digital Inputs
Figure 5.4 shows the detailed schematic of the opto-isolated inputs.
Figure 5.4

DMX ETH Manual page 19 rev 1.16
6. Getting Started
Typical Setup
Point-to-point
Figure 6.0
Network-based
Figure 6.1

DMX ETH Manual page 20 rev 1.16
Windows GUI
DMX-ETH comes with a Windows GUI program to test, program, compile, download,
and debug the controller.
Startup the DMX-ETH GUI program and you will see following screen.
Figure 6.2
A. Device IP of the DMX-ETH. The device IP can be changed.
B. Port number of the socket that must be opened for Ethernet TCP/IP
communication. This socket number cannot be changed. Default is 5001.
C. Connect via Ethernet
A
B
C