Arcus ACE-SXC User manual

ACE-SXC Manual page 1 rev2.02
ACE-SXC
Advanced Stand-Alone
Controller
USB 2.0 communication

ACE-SXC Manual page 2 rev2.02
COPYRIGHT © 2007 ARCUS, ALL RIGHTS RESERVED
First edition, Oct 2007
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:
1.01 – 1st release
2.01 – 2nd release
2.02 – 3rd release
Firmware Compatibility:
†V419BL
†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-SXC Manual page 3 rev2.02
Table of Contents
1. Introduction..................................................................................................................... 6
Features ........................................................................................................................... 6
2. Electrical and Thermal Specifications ............................................................................ 7
Power Requirement......................................................................................................... 7
Temperature Ratings †.................................................................................................... 7
Digital Inputs † ............................................................................................................... 7
Digital Outputs................................................................................................................ 7
Alarm Input..................................................................................................................... 7
3. Dimensions ..................................................................................................................... 8
4. Connections..................................................................................................................... 9
DB9 Connector ............................................................................................................. 10
2-Pin Connector (5.08mm) ........................................................................................... 10
10-Pin Connector (3.81mm) ......................................................................................... 10
ACE-SXC Interface Circuit .......................................................................................... 12
Power Input................................................................................................................... 13
Pulse, Direction and Enable Outputs ............................................................................ 14
Alarm Input................................................................................................................... 14
Limits, Home and Digital Inputs .................................................................................. 15
Digital Outputs.............................................................................................................. 15
5. Getting Started .............................................................................................................. 16
Typical Setup ................................................................................................................ 16
Windows GUI ............................................................................................................... 17
Main Control Screen ..................................................................................................... 17
A. Status.................................................................................................................... 18
B. Axis Control ......................................................................................................... 19
C. DI Status/DO Status/Enable ................................................................................. 20
D. Configuration ....................................................................................................... 20
E. Terminal ............................................................................................................... 22
F. Setup ..................................................................................................................... 23
G. Standalone Program File Management ................................................................ 24
H. Standalone Program Editor .................................................................................. 24
I. Standalone Program Compile/Download/Upload/View ....................................... 25
J. Program Control .................................................................................................... 25
K. Variable Status ..................................................................................................... 26
6. Motion Control Overview............................................................................................. 27
Motion Profile and Speed ............................................................................................. 27
Position Counter............................................................................................................ 27
Target Move.................................................................................................................. 27
Homing ......................................................................................................................... 28
Home Input Only (High speed only) ........................................................................ 28
Home Input Only (High speed and low speed)......................................................... 29
Limit Only................................................................................................................. 29
Jog Move....................................................................................................................... 30
Stopping Motor ............................................................................................................. 30

ACE-SXC Manual page 4 rev2.02
Limit Switch Function .................................................................................................. 30
Alarm Input Function.................................................................................................... 31
Configuration Button Function ..................................................................................... 31
Motor Status.................................................................................................................. 31
Digital Inputs ................................................................................................................ 32
Digital Outputs.............................................................................................................. 32
Motor Power ................................................................................................................. 33
Device Number ............................................................................................................. 33
Standalone Programming.............................................................................................. 33
Communication Time-out Feature (Watchdog)............................................................ 34
Storing to Flash ............................................................................................................. 35
7. Connecting to DMX and ACE Drivers ........................................................................ 36
Connecting DMX-K-DRV-11/17 ................................................................................. 36
Connecting to DMX-K-DRV-23 .................................................................................. 36
Connecting to DMX-A2-DRV-17/23 ........................................................................... 37
Connecting to ACE-SDX.............................................................................................. 37
8. DMX and ACE Configuration ...................................................................................... 38
Configuration Method #1 – Using Windows PC.......................................................... 38
Configuration Method #2 – Using the Configuration Button....................................... 38
9. Communication – USB ................................................................................................. 40
USB Communication API Functions............................................................................ 40
USB Communication Issues ......................................................................................... 41
10. ASCII Language Specification ................................................................................... 42
Error Codes ................................................................................................................... 44
11. Standalone Language Specification............................................................................ 45
; ..................................................................................................................................... 45
ABORTX ...................................................................................................................... 45
ABS............................................................................................................................... 45
ACC .............................................................................................................................. 46
DELAY ......................................................................................................................... 46
DI .................................................................................................................................. 46
DI[1-8] .......................................................................................................................... 47
DO................................................................................................................................. 47
DO[1-2]......................................................................................................................... 48
ECLEARX .................................................................................................................... 48
ELSE ............................................................................................................................. 48
ELSEIF ......................................................................................................................... 49
END .............................................................................................................................. 50
ENDIF........................................................................................................................... 50
ENDSUB....................................................................................................................... 50
ENDWHILE ................................................................................................................. 51
EO ................................................................................................................................. 51
GOSUB ......................................................................................................................... 51
HLHOMEX[+ or -] ....................................................................................................... 52
HOMEX[+ or -] ............................................................................................................ 52
HSPD ............................................................................................................................ 53

ACE-SXC Manual page 5 rev2.02
IF ................................................................................................................................... 53
INC................................................................................................................................ 54
JOGX[+ or -]................................................................................................................. 54
LHOMEX[+ or -].......................................................................................................... 54
LSPD............................................................................................................................. 55
MSTX ........................................................................................................................... 55
PX ................................................................................................................................. 56
STOPX.......................................................................................................................... 56
SR[0,1] .......................................................................................................................... 57
STORE.......................................................................................................................... 57
SUB............................................................................................................................... 57
TOC............................................................................................................................... 58
V[1-50].......................................................................................................................... 58
WAITX ......................................................................................................................... 59
WHILE.......................................................................................................................... 59
X.................................................................................................................................... 60
12. Example Standalone Programs ................................................................................... 61
Standalone Example Program 1 – Single Thread ......................................................... 61
Standalone Example Program 2 – Single Thread ......................................................... 61
Standalone Example Program 3 – Single Thread ......................................................... 61
Standalone Example Program 4 – Single Thread ......................................................... 62
Standalone Example Program 5 – Single Thread ......................................................... 62
Standalone Example Program 6 – Single Thread ......................................................... 63
Standalone Example Program 7 – Multi Thread........................................................... 64
Standalone Example Program 8 – Multi Thread........................................................... 65

ACE-SXC Manual page 6 rev2.02
1. Introduction
ACE-SXC is a stepper controller motion product.
Communication to the ACE-SXC can be established over USB. It is also possible to
download a stand-alone program to the device and have it run independent of a host.
Windows and Linux drivers as well as sample source code are available to aid you in
your software development.
Features
ACE-SXC
-USB 2.0 communication
-Stand-alone programmable
-Opto-isolated I/O
•3 x inputs
•2 x outputs
•+Limit/-Limit/Home inputs
-1 x alarm input (TTL)
-Open-collector outputs
•Pulse, Direction, Enable
-Homing routines:
•Home input only (high speed)
•Home input only (high speed + low speed)
•Limit only
-400 KHz maximum pulse rate output
-12-48VDC voltage input
-DMX-K-DRV, DMX-A2-DRV and ACE-SDX driver configuration
Contacting Support
For technical support contact: [e-mail].
Or, contact your local distributor for technical support.

ACE-SXC Manual page 7 rev2.02
2. Electrical and Thermal Specifications
Power Requirement
Regulated Voltage: +12 to +48 VDC
Recommended Current (Max): 200 mA
Temperature Ratings †
Operating Temperature: 0°C to +80°C
Storage Temperature: -65°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-collector PNP outputs
Max voltage at emitter: +24 VDC
Max source current at 24VDC †45 mA
† A current limiting resistor is required
Alarm Input
Type: TTL
Voltage: +0 to +5VDC

ACE-SXC Manual page 8 rev2.02
3. Dimensions
Figure 3.0
\
†All dimensions in inches

ACE-SXC Manual page 9 rev2.02
4. Connections
Figure 4.0

ACE-SXC Manual page 10 rev2.02
DB9 Connector
Pin # In/Out Name Description
1 O PWR_OUT Shorted to pin 2 (PWR) of the 2-pin 5.08mm connector
2 O PUL Pulse output (open-collector)
3 O ENA Enable output (open-collector)
4 I ALM Alarm input (TTL)
5 O 5V+ +5VDC. Typically used for the opto-supply on the
driver interface
6 O GND_OUT Shorted to pin 1 (GND) of the 2-pin 5.08mm connector
7 O DIR Direction output (open-collector)
8 RV RV Reserved. Do not connect
9 O 5V+ Shorted to pin 5
Table 4.1
2-Pin Connector (5.08mm)
Pin # In/Out Name Description
1 I GND Ground
2 I PWR Power Input +12 to +48 VDC
Table 4.2
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.
10-Pin Connector (3.81mm)
Pin # In/Out Name Description
1 O DO2 Digital Output 1
2 O DO1 Digital Output 2
3 I DI3 Digital Input 3
4 I DI2 Digital Input 2
5 I DI1 Digital Input 1
6 I HOME Home Input
7 I -LIM Minus Limit Input
8 I +LIM Plus Limit Input

ACE-SXC Manual page 11 rev2.02
9 RV RV Reserved. Do not connect
10 I OPTO Opto-supply input (+12 to +24VDC)
Table 4.3
Mating Connector Description: 10 pin 0.15” (3.81mm) connector
Mating Connector Manufacturer: On-Shore
Mating Connector Manufacturer Part: †EDZ1550/10
† Other 3.81 compatible connectors can be used.

ACE-SXC Manual page 12 rev2.02
ACE-SXC Interface Circuit
Figure 4.4

ACE-SXC Manual page 13 rev2.02
Power Input
Figure 4.5 shows that the power and ground signals that are supplied to ACE-SXC
through the 2 pin connector are also available through the DB9 pin connector.
Regulated Supply Voltage Range: +12 to 48 VDC
Recommended Current for power supply: †200 mA
† If driver is powered through the DB-9, additional current is required to power the
driver.)
Figure 4.5
WARNING: If the driver is powered through the DB9 connector, make sure that the
voltage of the power supply does not go over the maximum rated power supply voltage
of the driver. For example, DMX-K-DRV maximum allowed voltage is +24VDC. If
ACE-SXC is powered by +48VDC, powering the DMX-K-DRV through the DB9
connector will damage the driver.

ACE-SXC Manual page 14 rev2.02
Pulse, Direction and Enable Outputs
Enable Output is an open collector output using 74LS07.
Figure 4.6 shows an example of the pulse, direction and enable connections to a driver.
Figure 4.6
Alarm Input
Alarm input is a TTL compatible input using the 74LS07.
Figure 4.7 shows an example wiring of the alarm signal
Figure 4.7

ACE-SXC Manual page 15 rev2.02
Limits, Home and Digital Inputs
Figure 4.8 shows an example wiring of the home, limit and digital inputs.
Figure 4.8
Digital inputs are active high.
Digital Outputs
Figure 4.9 shows an example wiring of the digital outputs.
Figure 4.9
Digital outputs are active low.

ACE-SXC Manual page 16 rev2.02
5. Getting Started
Typical Setup
PC-Controlled
Figure 5.1
Stand-Alone Operation
Figure 5.2

ACE-SXC Manual page 17 rev2.02
Windows GUI
ACE-SXC comes with Windows GUI program to test, program, compile, download, and
debug the controller. The GUI program can also be used to configure driver settings of
DMX-K-DRV, DMX-A2-DRV, and ACE-SDX.
Make sure that the USB driver is installed properly before running the controller.
Startup the ACE-SXC GUI program and you will see following screen:
Main Control Screen
Figure 5.3
A
C
D
E
F
G
I
H
B
J
K

ACE-SXC Manual page 18 rev2.02
A. Status
Figure 5.4
1. Position – Display of the current motor position value. Reset Position
button is used to reset the position counter.
2. Status – Display of current motor status. Possible values are:
ACCEL – acceleration in progress
CONST – constant speed in progress
DECEL – deceleration in progress
-LIM ERROR – minus limit error occurred
+LIM ERROR – plus limit error occurred
3. Clear Error – Clear Error button is used to clear any limit error status.
4. Mode – Display of the move mode of the controller. Possible values are:
ABS – Absolute position movement
INC – Incremental position movement
5. Limit and Home and Alarm Input Status – Display of limits,home and
alarm input status.
1
2
3
5
4

ACE-SXC Manual page 19 rev2.02
B. Axis Control
Figure 5.5
1. Target Position/Speed/Accel
Position – Set the target position. This position is the pulse position
HSPD/LSPD – Set the speed of the move. This value is in pulses/second
ACC – Set the acceleration/deceleration of the move. This value is in
milliseconds
2. Set Position – Set position counter to the Target
Position value.
3. ABS Mode – Set to absolute move mode. In ABS mode, all position
moves go directly to the target position
4. INC Mode – Set to incremental move mode. In INC mode, all moves
increment/decrement from the current position
5. DATUM – Absolute move to zero position. Maximum delta from current
position to target is 262,143. If greater, then move will not perform
6. ABS – Absolute move to target position. Maximum delta from current
position to target is 262,143. If greater, then the move will not perform
7. JOG+/- - Jog in plus or minus direction
8. HOME+/- - Homing in plus or minus direction
9. HL+/- - Low speed homing in the plus of minus direction
10. L+/- - Limit homing in the plus or minus direction
11. ISTOP – Immediate stop without deceleration
12. RSTOP – Stop with deceleration
1
2
3 4
5 6 7
8
9
10
11
12

ACE-SXC Manual page 20 rev2.02
C. DI Status/DO Status/Enable
Figure 5.6
1. Digital Input Status – Display of the three digital input bits. If the digital
input pin is grounded, the digital input is turned on.
2. Configuration Button Input Status – Display of the driver configuration
button.
3. Digital Output Status – Display of the two digital output status. Digital
output can be toggled by clicking on the circle.
4. Enable Output Status – Enable output status. Enable output can be
toggled by clicking on the circle.
D. Configuration
Figure 5.7
1. Configuration Button Selection – Configuration button is used to
download the driver parameters without the use of the Windows PC. A2-
DRV and ACE-SDX use the same driver parameter settings and are
grouped together as one type. Select the driver type that will be used with
the configuration button. Once selected, store it to flash memory.
2. DMX-K-DRV Configuration using Windows GUI – DMX-K-DRV can
be configured from the GUI by selecting the DMX-K-DRV button.
When the DMX-K-DRV button is selected the DMX-K-DRV
configuration dialog box is opened. From this dialog box, settings for
1
2
3
4
1
3
4
2