Arcus ACE-SXC User manual

ACE-SXC Manual page 1 rev 1.30
ACE-SXC
Single Axis Step Motor Controller
with
USB 2.0 Communication

ACE-SXC Manual page 2 rev 1.30
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 - First revision
Firmware Compatibility:
v101
Software Compatibility:
v101

ACE-SXC Manual page 3 rev 1.30
Table of Contents
1. Introduction..................................................................................................................... 5
2. Part Numbering Scheme ................................................................................................. 5
3. Dimensions ..................................................................................................................... 6
4. Connectors ...................................................................................................................... 7
5. Electrical Specifications.................................................................................................. 8
Internal Interface Circuit Overview................................................................................ 8
Power Input..................................................................................................................... 9
Communication:.............................................................................................................. 9
Pulse and Direction Outputs ......................................................................................... 10
Enable Output ............................................................................................................... 11
Alarm Input................................................................................................................... 11
Limits, Home and Digital Inputs: ................................................................................. 12
Digital Outputs:............................................................................................................. 12
Operating Temperature ................................................................................................. 12
6. Motion Control Overview............................................................................................. 13
Motion Profile and Speed ............................................................................................. 13
Position Counter............................................................................................................ 13
Target Move.................................................................................................................. 13
Home Move .................................................................................................................. 13
Jog Move....................................................................................................................... 14
Stopping Motor ............................................................................................................. 14
Limit Switch Function .................................................................................................. 14
Motor Status.................................................................................................................. 15
7. Connecting to DMX-K-DRV, DMX-A2-DRV, and ACE-SDX .................................. 16
Connecting ACE-SXC to DMX-K-DRV-11/17 ........................................................... 16
Connecting ACE-SXC to DMX-K-DRV-23 ................................................................ 16
Connecting ACE-SXC to DMX-A2-DRV-17/23 ......................................................... 17
Connecting ACE-SXC to ACE-SDX............................................................................ 17
8. DriveMax Configuration............................................................................................... 18
Configuration Method #1 – Using Windows PC.......................................................... 19
Configuration Method #2 – Using the Configuration Button....................................... 19
9. ACE-SXC GUI Windows Program .............................................................................. 20
Motor Status.................................................................................................................. 21
Motor Control ............................................................................................................... 22
DI Status/DO Status/Enable.......................................................................................... 23
Configuration ................................................................................................................ 24
Program Control............................................................................................................ 27
Program Text ................................................................................................................ 28
10. Control Method Overview .......................................................................................... 29
1) PC based Control .............................................................................................. 29
2) Standalone Control............................................................................................ 30
11. PC Based Control........................................................................................................ 31
Interactive Commands .................................................................................................. 32

ACE-SXC Manual page 4 rev 1.30
12. Standalone Control...................................................................................................... 34
13. Standalone Programming Language ........................................................................... 36
Speed Commands.......................................................................................................... 36
Digital Output Commands ............................................................................................ 36
Move Commands .......................................................................................................... 36
Conditional and Program Flow Control Commands .................................................... 37
Variable Commands...................................................................................................... 38
Miscellaneous Commands ............................................................................................ 39
Standalone Example Program 1.................................................................................... 40
Standalone Example Program 2.................................................................................... 40
Standalone Example Program 3.................................................................................... 40
Standalone Example Program 4.................................................................................... 41
Standalone Example Program 5.................................................................................... 41
Standalone Example Program 6.................................................................................... 42

ACE-SXC Manual page 5 rev 1.30
1. Introduction
ACE-SXC is a single axis step motor controller with following features:
-USB 2.0 Communication
-PC based control through USB 2.0
-Standalone Control with BASIC-like programming language
-12-48VDC voltage input
-Pulse/Dir differential signal output
-400K maximum pulse rate output
-Open-collector Enable output
-TTL Alarm input
-Opto-isolated +Limit, -Limit, and Home inputs
-Three Opto-isolated Digital inputs
-Two Opto-isolated Digital outputs
-DMX-K and DMX-A2 and ACE-SDX driver configuration
2. Part Numbering Scheme

ACE-SXC Manual page 6 rev 1.30
3. Dimensions

ACE-SXC Manual page 7 rev 1.30
4. Connectors
DB9 Pinout
Pin Name Type
1 PWR OUT
2 PUL+ OUT
3 DIR+ OUT
4 ENA OUT
5 ALM IN
6 GND OUT
7 PUL- OUT
8 DIR- OUT
9 5V+ OUT

ACE-SXC Manual page 8 rev 1.30
5. Electrical Specifications
Internal Interface Circuit Overview

ACE-SXC Manual page 9 rev 1.30
Power Input
Regulated Supply Voltage Range: +12 to 48 VDC
Recommended Current for power supply: 200 mA
(Current required for powering the
ACE-SXC. If driver is powered
through DB-9 additional current is
required to power the driver.)
Power and ground signals that are supplied to ACE-SXC through 2 pin connector
are also available through the DB9 pin connector.
Important Note: 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.
Communication:
Communication: USB 2.0
Connector: Mini-B to A

ACE-SXC Manual page 10 rev 1.30
Pulse and Direction Outputs
Pulse and Direction Outputs are differential outputs using 75LS191.
An example of connection to differential pulse/dir input driver is shown below:
An example of connection to single-ended pulse/dir input driver is shown below:

ACE-SXC Manual page 11 rev 1.30
Enable Output
Enable Output is an open collector output using 74LS07.
An example of enable circuit connection to a driver is shown below.
Alarm Input
Alarm input is a TTL compatible input using the 74LS07.
An example of Alarm circuit is shown below.

ACE-SXC Manual page 12 rev 1.30
Limits, Home and Digital Inputs:
Type: Opto-isolated inputs
Opto voltage supply input: +24 VDC
Maximum diode forward current: 50mA
4.7K resistor is built in to the limit, home and digital inputs to limit the
current across the diode of the opto-isolator.
Digital Outputs:
Type: Opto-isolated open-emitter
transistor output
Maximum emitter current: 50 mA
Operating Temperature
Electronic components used in ACE-SXC have maximum ambient operating temperature
of 85 degree Celsius.

ACE-SXC Manual page 13 rev 1.30
6. Motion Control Overview
Motion Profile and Speed
ACE-SXC incorporates trapezoidal velocity profile as shown below.
Acceleration and deceleration time is in milliseconds and are symmetrical. Accelation
range is from 10 msec to 1000 msec. Pulse output rate supported is from 100 to 400K
pulses/second.
Position Counter
ACE-SXC has 32 bit signed position counter. Range of the position counter is from
–2,147,483,648 to 2,147,483,647.
Target Move
Target move, also known as absolute move, is used to move the motor to the desired
position from the current position.
Maximum allowable difference to target position from current position is 262,143.
Maximum difference between current position and the target position has to be less than
or equal to 262,143. For example, if the current position counter is 1000, target position
allowed will be between -261,143 (1,000-262,143) and 263,143 (1,000+262,143).
Home Move
Home search sequence involves moving the motor towards the home switch and then
stopping when the home input is detected. Following sequence shows the homing
routine.

ACE-SXC Manual page 14 rev 1.30
A. Issuing home command starts the motor from low speed and
accelerates to high speed.
B. As soon as the home input is triggered, the position counter is reset to
zero and the motor stops immediately. If the home switch is triggered
in the middle of the acceleration, the motor stops immediately.
To trigger the home input switch, supply the opto-supply voltage with 24VDC and
connect the home input signal to opto-supply ground.
If home switch is not used, home input can also be used as general purpose input. Digital
input assignment for home input switch is DI6.
Jog Move
Jog move is used to continuously move the motor without stopping.
Stopping Motor
When motor is moving, jogging, or homing, motion can be stopped abruptly or with
deceleration. It is recommended to use decelerate and stop command so that there is less
impact to the system.
Limit Switch Function
With limit switch function enabled, triggering of the limit switch in motion will stop the
motion immediately depending on the direction of the motion. If positive limit switch is
triggered while moving in positive direction, motor will immediately stop and the motor
status bit for positive limit error is set. Same is for negative limit while moving in
negative direction. Once limit error is set, status must be cleared in order to move again.
Once the error is cleared, move the motor out of the limit switch.
Limit switch function can also be disabled. By disabling the limit switch function, the
limits switches can be used as general purpose inputs. When limit function is disabled,
digital input assignments are: DI5 for –Limit and DI7 for +Limit.

ACE-SXC Manual page 15 rev 1.30
Alarm Switch Function
Alarm switch when triggered will immediately stop the motor if in motion regardless of
the direction of the motor. Alarm switch function cal be disabled and alarm input can be
used as general purpose input as DI8.
Configuration Button Function
Configuration button is used to configure the DMX-K-DRV, DMX-A2-DRV, and ACE-
SDX. Configuration button can also be used as general purpose digital input in the
standalone program. Digital input assignment of configuration button is DI4.
Motor Status
Motor status can be read anytime. The following are bit representation of motor status.
Bit Description
0 Motor running at constant speed
1 Motor in acceleration
2 Motor in deceleration
3 Home input switch status
4 Minus limit input switch status
5 Plus limit input switch status
6 Minus limit error. This bit is latched when minus limit is hit during
negative direction motion. This error must be cleared before issuing any
subsequent move commands.
7 Plus limit error. This bit is latched when plus limit is hit during positive
direction motion. This error must be cleared before issuing any
subsequent move commands.
8 Alarm error. This bit is latched when the alarm input is triggered while
motion is in progress. This error must be cleared before issuing any
subsequent move commands.

ACE-SXC Manual page 16 rev 1.30
7. Connecting to DMX-K-DRV, DMX-A2-DRV, and
ACE-SDX
Connecting ACE-SXC to DMX-K-DRV-11/17
Connecting ACE-SXC to DMX-K-DRV-23

ACE-SXC Manual page 17 rev 1.30
Connecting ACE-SXC to DMX-A2-DRV-17/23
Connecting ACE-SXC to ACE-SDX

ACE-SXC Manual page 18 rev 1.30
8. DriveMax Configuration
ACE-SXC can be used to configure the driver settings for the following products.
DMX-K-DRV-11/17/23
DMX-A2-DRV-17/23
ACE-SDX
ACE-SXC uses patent pending Dynamic Configuration method of reading and writing of
the driver setting through control lines: PULSE/DIR/ENABLE/ALARM.
There are two ways to configure the DMX-K/DMX-A2/ACE-SDX using ACE-SXC.
Configuration
Methods
Method #1
Using ACE-SXC
and Windows PC
Method #2
Using ACE-SXC
Configuration Button

ACE-SXC Manual page 19 rev 1.30
Configuration Method #1 – Using Windows PC
Method #1 uses the Windows PC using the ACE-SXC GUI program to upload and
download the driver parameters. For detailed description, refer to the ACE-SXC GUI
section on driver configuration.
Configuration Method #2 – Using the Configuration Button
Method #2 uses the configuration button on the ACE-SXC controller to download the
driver parameters. Note that configuration button is used only for downloading the driver
parameters that have been stored on the ACE-SXC controller.
On the ACE-SXC controller, driver type needs to be stored on the flash so that when the
button configuration is used, correct driver configuration is done. There are two types of
driver type for button configuration: 1) K-DRV and 2) A2-DRV/ACE-SDX.
Once the correct driver type is selected and the driver parameter values are stored on the
flash memory of ACE-SXC controller, driver parameters can be downloaded from ACE-
SXC to DMX-K-DRV without the use of Windows PC using the configuration button on
the ACE-SXC. To configure the driver through the configuration button follow the steps
below.
1) Power the ACE-SXC controller using 24VDC power supply.
2) Connect the control cable between ACE-SXC and DMX-K-DRV. All the control
signals (Pulse/Dir/Enable/Alarm) must be connected to work properly.
3) Press and hold down the configuration button for 3 seconds. LED on ACE-SXC
controller will start blinking quickly indicating that the configuration is ready to
start.
4) While the LED is blinking quickly, release the button and press the button again
to start the configuration of the connected driver. While the configuration is
done, LED is turned off. Configuration takes about 3 seconds. If button is not
pressed again within 3 seconds during quick blinking state, LED will stop
blinking and configuration will be aborted.
5) If the configuration is done properly, the LED will blink quickly for 3 seconds. If
the configuration is not done properly, LED will blink slowly for 3 seconds.

ACE-SXC Manual page 20 rev 1.30
9. ACE-SXC GUI Windows Program
ACE-SXC comes with Windows GUI program to test, program, compile, download, and
debug the controller. GUI program can also be used to configure driver settings of
DMX-K-DRV, DMX-A2-DRV, and ACE-SDX.
Important Note: In order to communicate with ACE-SXC through USB, proper driver
must be installed first. Before connecting the ACE-SXC device or running any
program, please go to the Arcus web site and download the USB driver installation
instruction and run the USB Driver Installation Program.
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.