Arcus ACE-SDC-V3 User manual

ACE-SDC-V3 Manual page 1 rev 1.08
ACE-SDC-V3
Board Level Controller + Microstep Driver
USB 2.0 Communication

ACE-SDC-V3 Manual page 2 rev 1.08
COPYRIGHT © 2015 ARCUS,
ALL RIGHTS RESERVED
First edition, April 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:
1.00 – 1st Release
1.01 – 2nd Release
1.02 – 3rd Release
1.04 – 4th Release
1.05 – 5th Release
1.07 – 6th Release
1.08 – 7th Release
Firmware Compatibility:
†V212BL
†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.

ACE-SDC-V3 Manual page 3 rev 1.08
Table of Contents
1. Introduction................................................................................................................................ 5
1.1 Features ................................................................................................................................ 5
2. Electrical and Thermal Specifications..................................................................................... 6
3. Dimensions ................................................................................................................................ 7
4. Connectivity............................................................................................................................... 8
4.1. JP1 3-Pin Connector Pin-outs.............................................................................................. 8
4.2. JP2 4-Pin Motor Connector Pin-outs.................................................................................... 8
4.3. JP4 14-Pin IO Connector Pin-outs....................................................................................... 9
4.4. Internal Interface Circuit..................................................................................................... 10
4.5. Digital Inputs....................................................................................................................... 11
4.6. Digital Outputs.................................................................................................................... 12
4.7. Analog Input ....................................................................................................................... 12
5. Stepper Motor Driver Overview.............................................................................................. 13
5.1. Microstep............................................................................................................................ 13
5.2. Driver Current..................................................................................................................... 13
6. Communication Interface ....................................................................................................... 14
6.1. USB Communication.......................................................................................................... 14
6.1.1. Typical USB Setup...................................................................................................... 14
6.1.2. USB Communication API............................................................................................ 14
6.1.3. USB Communication Issues....................................................................................... 16
6.2. Device Number................................................................................................................... 16
6.3. Windows GUI ..................................................................................................................... 16
7. General Operation Overview .................................................................................................. 17
7.1. Motion Profile ..................................................................................................................... 17
7.2. On-The-Fly Speed Change................................................................................................ 17
7.3. Motor Position .................................................................................................................... 18
7.4. Motor Power....................................................................................................................... 18
7.5. Jog Move............................................................................................................................ 18
7.6. Stopping ............................................................................................................................. 18
7.7. Motor Status....................................................................................................................... 18
7.8. Digital Inputs / Outputs....................................................................................................... 19
7.8.1. Digital Inputs............................................................................................................... 19
7.8.2. Digital Outputs ............................................................................................................ 19
7.9. Analog Speed Control........................................................................................................ 20
7.9.1. Current Used For Analog Speed Control.................................................................... 20
7.9.2. Digital IO Used For Analog Speed Control................................................................. 21
7.10. Polarity ............................................................................................................................. 21
7.11. Storing to Flash................................................................................................................ 22
8. Software Overview .................................................................................................................. 23
8.1. Main Control Screen .......................................................................................................... 24
8.1.1. Status.......................................................................................................................... 24
8.1.2. Control ........................................................................................................................ 25
8.1.3. Digital Input................................................................................................................. 25
8.1.4. Digital Output .............................................................................................................. 26
8.1.5. DO Boot ...................................................................................................................... 26
8.1.6. Terminal...................................................................................................................... 27
8.1.7. Microstep .................................................................................................................... 27
8.1.8. Upload / Download / Store to Flash............................................................................ 28
8.1.9. Control Mode .............................................................................................................. 28
8.1.10. Polarity...................................................................................................................... 29
8.1.11. Idle Current ............................................................................................................... 29
8.1.12. DIO Control Mode Settings....................................................................................... 30
8.1.13. Product Information................................................................................................... 31

ACE-SDC-V3 Manual page 4 rev 1.08
9. ASCII Language Specification................................................................................................ 32
9.1 ASCII Command Set........................................................................................................... 32
9.2. Error Codes........................................................................................................................ 34

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1. Introduction
ACE-SDC-V3 is a single board cost-effective stepper driver and controller with
USB 2.0 communication.
1.1 Features
-USB 2.0 Communication
-12-24VDC voltage input
-Different configurable current settings from 0 mA to 2.0A peak current
(100 mA resolution)
-Selectable Full, 1/2, 1/4, 16 microstep
-6 Opto-isolated Digital inputs
-2 Opto-isolated Digital outputs
-1 Analog input
-Three different control modes:
•DIO Control – motion is done using the digital inputs and
outputs.
•USB Control – motion is done from PC using USB
communication.
•Analog Control – speed control is done from analog input.
For technical support contact: [e-mail]
Or, contact your local distributor for technical support.

ACE-SDC-V3 Manual page 6 rev 1.08
2. Electrical and Thermal Specifications
Parameter
Min
Max
Units
Main Power Input
1
+12
+24
V
-
2
A
Opto-supply Power Input
+12
+24
V
Digital Input Forward Diode Current
-
50
mA
Digital Output Emitter Current
-
50
mA
Analog Input Range
0
+3.3
V
Operating Temperature2
-
+85
°C
Table 2.0
1The supply current should match the driver current setting.
2Based on component ratings.

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3. Dimensions
Figure 3.0

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4. Connectivity
In order for ACE-SDC-V3 to operate, it must be supplied with +12VDC to
+24VDC. Power pins as well as communication port pin outs are shown below.
Figure 4.0
4.1. JP1 3-Pin Connector Pin-outs
Pin #
Name
In/Out
Description
1
3.3V Out
O
3.3V Output
2
Analog
Input
I
Analog Signal Input used for Analog Speed
Control (Section 7.9)
3
GND
O
Ground
Table 4.0
3-pin Mating Connector Information
Mating Connector Description: Female 3 pin 0.1 inch single row
Mating Connector Manufacturer: Tyco/AMP
Mating Connector Manufacturer Part: 770602-3 (Connector)
770666-1 (Pin)
4.2. JP2 4-Pin Motor Connector Pin-outs
Pin #
Name
In/Out
Description
1
A
O
Phase A of Bi-polar Step Motor

ACE-SDC-V3 Manual page 9 rev 1.08
2
/A
O
Phase /A of Bi-polar Step Motor
3
B
O
Phase B of Bi-polar Step Motor
4
/B
O
Phase /B of Bi-polar Step Motor
Table 4.1
4-pin Mating Connector Information
Mating Connector Description: Female 10 pin 2mm single row
Mating Connector Manufacturer: HIROSE
Mating Connector Manufacturer Part: DF3-4S-2C (4 pin female connector)
DF3-2428SC (female pin)
Warning: Do not disconnect the motor connector while power is on. This
can damage the product! Turn off the power before disconnecting the
motor connector.
4.3. JP4 14-Pin IO Connector Pin-outs
Pin #
Name
In/Out
Description
1
OPTO
I
Opto-Supply Input (+12 to +24VDC)
2
DI1
I
Digital Input 1
3
DI2
I
Digital Input 2
4
DI3
I
Digital Input 3
5
DI4
I
Digital Input 4
6
DI5
I
Digital Input 5
7
DI6
I
Digital Input 6
8
DO1
O
Digital Output 1
9
DO2
O
Digital Output 2
10
NC
NC
No Connection
11
GND
I
Ground
12
PWR
I
Power (+12 to +24 VDC)
13
GND
I
Ground
14
PWR
I
Power (+12 to +24 VDC)
Table 4.2
14-pin Mating Connector Information
Mating Connector Description: Female 14 pin 0.1 inch dual row
Mating Connector Manufacturer: AMP
Mating Connector Manufacturer Part: 1658621-2

ACE-SDC-V3 Manual page 10 rev 1.08
4.4. Internal Interface Circuit
Figure 4.1

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4.5. Digital Inputs
Figure 4.2 shows the detailed schematic of the opto-isolated general purpose
digital inputs. All opto-isolated inputs are NPN type.
Figure 4.2
The opto-supply must be connected to +12 to +24 VDC in order for the digital
inputs to operate.
When the digital input is pulled to ground, current will flow from the opto-supply to
ground, turning on the opto-isolator and activating the input.
To deactivate the input, the digital input should be left unconnected or pulled up
to the opto-supply, preventing current from flowing through the opto-isolator.

ACE-SDC-V3 Manual page 12 rev 1.08
4.6. Digital Outputs
Figure 4.3 shows an example wiring of the digital outputs. All opto-isolated
digital outputs will be PNP type.
Figure 4.3
The opto-supply must be connected to +12 to +24VDC in order for the digital
outputs to operate.
When activated, the opto-isolator for the digital output pulls the voltage on the
digital output line to the opto-supply. The maximum sink current for digital
outputs is 50mA. Take caution to select the appropriate external resistor so that
the current does not exceed 50mA.
When deactivated, the opto-isolator will break the connection between the digital
output and the power supply.
4.7. Analog Input
Analog inputs are 0 to 3.3V range and 10 bit in resolution. Using the analog
input, analog speed control can be achieved. Section 7.9 will provide details on
analog speed control mode. The maximum source current for the analog input is
10mA. The recommended potentiometer range is 1KΩ to 10KΩ.

ACE-SDC-V3 Manual page 13 rev 1.08
5. Stepper Motor Driver Overview
The ACE-SDC-V3 has one built-in microstep driver, allowing the controller to
directly drive a stepper motor.
5.1. Microstep
The ACE-SDC-V3 has four microstepping options including full step, ½ step, ¼
step, and 1/16 step. In general, the number of microsteps per revolution can be
determined by the following equation, where “DEGREE” is the full step angle of
the motor and “USTEP” is the microstep setting.
Microsteps/Revolution = 360° / (DEGREE * USTEP)
For example, using a 1.8° motor and a microstep setting of 1/16, the number of
microsteps/revolution would be [360° / (1.8° * 1/16)] = 3200.
5.2. Driver Current
The ACE-SDC-V3 has a maximum rated current output of 2.0A. The current
settings should not exceed the rated current of the motor being used. Setting the
driver current higher than the maximum rated current will overheat and potentially
damage the motor. It is recommended to use a current setting that is in the
range of 60-80% of the maximum rated current for the motor.

ACE-SDC-V3 Manual page 14 rev 1.08
6. Communication Interface
6.1. USB Communication
ACE-SDV-V3 USB communication is 2.0 compliant.
In order to communicate with ACE-SDV-V3 via USB, the proper software driver
must first be installed. Before connecting the ACE-SDC-V3 controller, or running
any programs, please go to the Arcus website, download the Arcus Drivers and
Tools Setup, and run the installation.
All USB communication will be done using an ASCII command protocol.
6.1.1. Typical USB Setup
The ACE-SDC-V3 can be connected to a PC directly via USB or through a USB
hub. All USB cables should have a noise suppression choke to avoid
communication loss or interruption. See a typical USB network setup in Figure
6.0 below.
Figure 6.0
6.1.2. USB Communication API
Communication between the PC and ACE-SDC-V3 is done using the Windows
compatible DLL API function calls shown below. Windows programming
languages such as Visual BASIC, Visual C++, LabVIEW, or any other
programming language that can use a DLL can be used to communicate with the
ACE-SDC-V3.

ACE-SDC-V3 Manual page 15 rev 1.08
Typical communication transaction time between PC and ACE-SDC-V3 for
sending a command from a PC and getting a reply from the controller using the
fnPerformaxComSendRecv() API function is in single digit milliseconds. This
value will vary with the CPU speed of the PC as well as the type of command.
For USB communication, following DLL API functions are provided.
BOOL fnPerformaxComGetNumDevices(OUT LPDWORD lpNumDevices);
- This function is used to get total number of all types of Performax and
Performax USB modules connected to the PC.
BOOL fnPerformaxComGetProductString(IN DWORD dwNumDevices,
OUT LPVOID lpDeviceString,
IN DWORD dwOptions);
- This function is used to get the Performax or Performax product string.
This function is used to find out Performax USB module product string
and its associated index number. Index number starts from 0.
BOOL fnPerformaxComOpen(IN DWORD dwDeviceNum,
OUT HANDLE* pHandle);
- This function is used to open communication with the Performax USB
module and to get communication handle. dwDeviceNum starts from
0.
BOOL fnPerformaxComClose(IN HANDLE pHandle);
- This function is used to close communication with the Performax USB
module.
BOOL fnPerformaxComSetTimeouts(IN DWORD dwReadTimeout,
DWORD dwWriteTimeout);
- This function is used to set the communication read and write timeout.
Values are in milliseconds. This must be set for the communication to
work. Typical value of 1000 msec is recommended.
BOOL fnPerformaxComSendRecv(IN HANDLE pHandle,
IN LPVOID wBuffer,
IN DWORD dwNumBytesToWrite,
IN DWORD dwNumBytesToRead,
OUT LPVOID rBuffer);
- This function is used to send commands and receive replies. The
number of bytes to read and write must be 64 characters.
BOOL fnPerformaxComFlush(IN HANDLE pHandle)
- Flushes the communication buffer on the PC as well as the USB
controller. It is recommended to perform this operation right after the
communication handle is opened.

ACE-SDC-V3 Manual page 16 rev 1.08
6.1.3. USB Communication Issues
A common problem that users may have with USB communication is that after
sending a command from the PC to the device, the response is not received by
the PC until another commands is sent. In this case, the data buffers between
the PC and the USB device are out of sync. Below are some suggestions to help
alleviate the issue.
1) Buffer Flushing: If USB communication begins from an unstable state (i.e.
your application has closed unexpectedly), it is recommended to first flush
the USB buffers of the PC and the USB device. See the following function
prototype below:
BOOL fnPerformaxComFlush(IN HANDLE pHandle)
2) USB Cable:Another source of USB communication issues may come
from the USB cable. Confirm that the USB cable being used has a noise
suppression choke. See Figure 6.1.
Figure 6.1
6.2. Device Number
If multiple ACE-SDC-V3 devices are connected to the PC, each device should
have a unique device number. This will allow the PC to differentiate between
multiple controllers. In order to make this change to an ACE-SDC-V3, first store
the desired number using the DN command. Note that this value must be within
the range [CFG00 – CFG99].
To write the values to the devices’ flash memory, use the STORE command.
After a complete power cycle, the new device number will be written to memory.
Note that before a power cycle is completed, the settings will not take effect.
By default: Device Name is set to: CFG00
6.3. Windows GUI
The ACE-SDC-V3 comes with a Windows GUI program to test, program,
compile, download, and debug the controller. The Windows GUI will perform all
communication via USB. See section 8 for further details.

ACE-SDC-V3 Manual page 17 rev 1.08
7. General Operation Overview
Important Note: All the commands described in this section are defined as
ASCII or standalone commands. ASCII commands are used when
communicating over USB.
7.1. Motion Profile
The ACE-SDC-V3 incorporates trapezoidal velocity profile as shown in Figure
7.0.
Figure 7.0
Once a typical move is issued, the motor will immediately start and accelerate to
the high speed. Once at high speed, the motor will move at a constant speed
until it decelerates and stops.
High speed is in pps (pulses/second). Use ASCII commands HSPD to set/get
high speed settings. Acceleration times are in milliseconds. Use the ACC
command to set/get acceleration values.
The minimum and maximum acceleration values depend on the high speed and
low speed settings. Refer to Table A.0 and Figure A.0 in Appendix A for details.
ASCII
HSPD
ACC
7.2. On-The-Fly Speed Change
An on-the-fly speed change can be achieved at any point while the motor is in
motion. The ASCII command SSPD[Value], (no square brackets), can be used
to perform the actual speed change.
ASCII
SSPD

ACE-SDC-V3 Manual page 18 rev 1.08
7.3. Motor Position
The ACE-SDC-V3 has a 32 bit signed step position counter. Range of the
position counter is from –2,147,483,648 to 2,147,483,647. Motor positions can be
read using the ASCII command PX, which returns the pulse position.
ASCII
PX
7.4. Motor Power
The EO command can be used to enable or disable the current to the motor. The
effect of the enable output signals will depend on the characteristics of the motor
drive. By default, the enable output is enabled at boot-up.
ASCII
EO
7.5. Jog Move
A jog move is used to continuously move the motor without stopping. Use the
J+/J- command when operating in ASCII mode. Once this move is started, the
motor will only stop if a limit input is activated during the move or a stop
command is issued.
If a motion command is sent while the controller is already moving, the command
is not processed. Instead, an error response is returned. See table 9.2 for details
on error responses.
ASCII
J[+/-]
7.6. Stopping
When the motor is performing any type of move, motion can be stopped abruptly
or with deceleration. It is recommended to use decelerated stops so that there is
less impact on the system.
Use the ABORT (ASCII) command to immediately stop the motor. To employ
deceleration on a stop, use the STOP (ASCII) command to stop the motor.
ASCII
ABORT
STOP
7.7. Motor Status
Motor status can be read anytime by reading the response to the MST command.
The following is the bit representation of motor status:
Bit
Description
0
Motor running at constant speed
1
Motor in acceleration
2
Motor in deceleration
Table 7.0
ASCII
MST

ACE-SDC-V3 Manual page 19 rev 1.08
7.8. Digital Inputs / Outputs
ACE-SDC-V3 module comes with 6 digital inputs and 2 digital outputs.
7.8.1. Digital Inputs
Read digital input status using the DI command.
Digital input values can also be referenced one bit at a time by the DI[1-6]
commands. Note that the indexes are 1-based for the bit references (i.e. DI1
refers to bit 0, not bit 1)
Bit Description
Bit-Wise
Command
0
Digital Input 1
DI1
1
Digital Input 2
DI2
2
Digital Input 3
DI3
3
Digital Input 4
DI4
4
Digital Input 5
DI5
5
Digital Input 6
DI6
Table 7.1
If a digital input is on (i.e. input is pulled to GND of opto-supply), the bit status is
0. Otherwise, the bit status is 1.
ASCII
DI
DI[1-6]
7.8.2. Digital Outputs
Read digital output status using the DO command.
Digital output values can also be referenced one bit at a time by the DO[1-2]
commands. Note that the indexes are 1-based for the bit references (i.e. DO1
refers to bit 0, not bit 1)
Bit Description
Bit-Wise
Command
0
Digital Output 1 (Moving)
DO1
1
Digital Output 2 (General)
DO2
Table 7.2
If digital output is turned on (i.e. the output is pulled to GND), the bit status is 1.
Otherwise, the bit status is 0.
The initial state of both digital outputs can be defined by setting the DOBOOT
register to the desired initial digital output value. The value is stored to flash
memory once the STORE command is issued.
ASCII
DO
DO[1-2]
DOBOOT

ACE-SDC-V3 Manual page 20 rev 1.08
7.9. Analog Speed Control
In analog speed control mode, the speed of the motor is determined by the
analog input value [0 – 1023]. The direction of the motor is determined by the
status of digital input 1.
7.9.1. Current Used For Analog Speed Control
There is only one current value used for the analog speed mode as shown
below. Other current values including idle current are NOT used for analog
speed control. Digital inputs 3 and 4 for current selection is NOT used for analog
speed control.
Figure 7.1
Current value used for Analog Speed Control