Arcus DMX-CAN-23 User manual

DMX-CAN Manual page 1 rev 1.6
DMX-CAN-23
Integrated Step Motor
Encoder/Driver/Controller
Manual

DMX-CAN Manual page 2 rev 1.6
COPYRIGHT © 2010 ARCUS, ALL RIGHTS RESERVED
First edition, December 2010
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:
1.4 – 1
st
release
1.5 – 2
nd
release
1.6 – 3
rd
release
Firmware Compatibility:
V117
Software Compatibility:
V108

DMX-CAN Manual page 3 rev 1.6
Table of Contents
1. Introduction..................................................................................................................... 5
Features ........................................................................................................................... 5
Model Numbers .............................................................................................................. 6
2. Electrical and Thermal Specifications ............................................................................ 7
Power Requirement......................................................................................................... 7
Temperature Ratings †.................................................................................................... 7
Digital Inputs † ............................................................................................................... 7
Digital Outputs................................................................................................................ 7
3. Dimensions ..................................................................................................................... 8
DMX-CAN-23 ................................................................................................................ 8
4. Motor Specifications....................................................................................................... 9
Electrical Specifications.................................................................................................. 9
Torque Curve – NEMA 23 ............................................................................................. 9
5. Connections................................................................................................................... 11
24-Pin Connector (2mm) .............................................................................................. 11
DMX-CAN-23 Interface Circuit................................................................................... 13
Digital Outputs.............................................................................................................. 14
Digital Inputs ................................................................................................................ 14
6. Getting Started .............................................................................................................. 15
RS-232 Communication................................................................................................ 15
RS-485 Communication................................................................................................ 15
CANOpen Communication........................................................................................... 16
Windows GUI ............................................................................................................... 17
7. Motion Control Overview............................................................................................. 29
Built-in encoder ............................................................................................................ 29
Built-in Microstep Driver ............................................................................................. 29
Motion Profile............................................................................................................... 29
Digital Inputs/Outputs................................................................................................... 30
Motor Power ................................................................................................................. 31
Polarity.......................................................................................................................... 31
Positional Moves........................................................................................................... 31
On-The-Fly Target Position Change............................................................................. 32
Jogging.......................................................................................................................... 32
Stopping Motor ............................................................................................................. 32
Homing ......................................................................................................................... 32
Home Input Only (High speed only) ........................................................................ 32
Home Input and Z-index........................................................................................... 33
Home Input Only (High speed and low speed)......................................................... 33
Limit Only................................................................................................................. 34
Z-index only.............................................................................................................. 34
Motor Position .............................................................................................................. 35
Motor Status.................................................................................................................. 35
Limit Inputs................................................................................................................... 35
Latch Input .................................................................................................................... 36

DMX-CAN Manual page 4 rev 1.6
Sync Output .................................................................................................................. 36
StepNLoop Closed Loop Control ................................................................................. 37
Idle Current and Run Current ....................................................................................... 39
RS-232/RS-485/CANopen Selection:........................................................................... 39
Node ID, Device Number, and Baud Rate:................................................................... 39
Broadcasting over RS-485 ............................................................................................ 40
Response type selection ................................................................................................ 40
Storing to Flash ............................................................................................................. 41
Default Settings............................................................................................................. 42
8. Object Dictionary [CANOpen] ..................................................................................... 43
Manufacturer Specific Objects [2000
h
-5FFF
h
] ............................................................. 43
CiA DSP-402 [6000
h
-9FFF
h
]........................................................................................ 51
Notes ............................................................................................................................. 64
9. Communication Protocol [ASCII] ................................................................................ 65
10. Communication Protocol [CANOpen] ....................................................................... 66
Object Dictionary.......................................................................................................... 66
Service Data Objects..................................................................................................... 67
11. Language Specification [ASCII]................................................................................. 69
Error Codes ................................................................................................................... 72
Appendix A: Speed Settings ............................................................................................. 73
Acceleration/Deceleration Range ................................................................................. 73

DMX-CAN Manual page 5 rev 1.6
1. Introduction
DMX-CAN is an all-in-one integrated motor package that combines all the motion
components in to one convenient package.
Communication to the DMX-CAN can be established over RS-232, RS-485 or CANbus.
Features
DMX-CAN-23
-RS-485 + RS-232 ASCII communication
•9600, 19200, 38400, 57600, 115200 bps
-CANbus communication over CANOpen implementing CiA DSP-402
•10K, 20K, 50K, 100K, 125K, 250K, 500K, 800K, 1M bps
-A/B/Z differential encoder inputs
•StepNLoop closed loop control (position verification)
-Opto-isolated I/O
•6 x inputs (1 x high speed position capture latch input)
•3 x outputs (1 x position synchronized output)
•+Limit/-Limit/Home inputs
-Homing routines:
•Home input only
•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)
-Stepper driver
•12-35 VDC
•2.5 Amp max current setting (peak current)
•16 micro-step setting (fixed)
•400 KHz max pulse support
-Stepper motor
•NEMA 23 motor sizes available in different stack sizes
•1.8° step angle

DMX-CAN Manual page 6 rev 1.6
Model Numbers
Main Product
Figure 1.0
Contacting Support
For technical support contact: [e-mail].
Or, contact your local distributor for technical support.
DMX-CAN- 23 -
Motor Stack Size
2 – Double
3
–
Triple
CAN Series
Motor Size
23 – NEMA 23 Motor

DMX-CAN Manual page 7 rev 1.6
2. Electrical and Thermal Specifications
Power Requirement
Regulated Voltage: +12 to +35 VDC
Current (Max): 2.5 A (peak)
Temperature Ratings †
Operating Temperature: 0°C to +70°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-collector NPN outputs
Max voltage at collector: +24 VDC
Max source current at 24VDC †90 mA
† A current limiting resistor is required

DMX-CAN Manual page 8 rev 1.6
3. Dimensions
†All dimensions in inches
DMX-CAN-23
Figure 3.0
All dimensions in inches
Model L (inches)
DMX-K-SA-23-2 2.2
DMX-K-SA-23-3 3.1
Table 3.0

DMX-CAN Manual page 9 rev 1.6
4. Motor Specifications
Electrical Specifications
NEMA
Size
Stack
Size
Current /
Phase †
Holding
Torque
Resistance/
Phase
Inductance/
Phase
Inertia
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 23
Figure 4.0

DMX-CAN Manual page 10 rev 1.6
Figure 4.1

DMX-CAN Manual page 11 rev 1.6
5. Connections
24-Pin Connector (2mm)
Figure 5.0
Pin # In/Out Name Description
1 I PWR +12 to +35VDC power input
2 I PWR +12 to +35VDC power input. Shorted to pin 1
3 I GND Ground
4 I/O 485+ RS-485 plus signal
5 I HOME Home input
6 I/O 485- RS-485 minus signal
7 O DO1/INP Digital Output 1
8 I +LIM Plus limit input
9 I/O RXD RS-232 RXD signal
10 I -LIM Minus limit input
11 I DI1 Digital Input 1
12 I DI3 Digital Input 3
13 I DI2/LT Digital Input 2 / Latch
14 I DI4 Digital Input 4
15 I/O CAN-H CAN-H
16 I DI5 Digital Input 5
17 I OPTO +12-24VDC opto-supply
1
2
24
23

DMX-CAN Manual page 12 rev 1.6
18 I DI6 Digital Input 6
19 I/O TXD RS-232 TXD signal
20 O DO2 Digital Output 2
21 I OPTOGND Opto-supply ground
22 O DO3/ALM Digital Output 3 / Alarm
23 I/O CAN-L CAN-L
24 I GND Ground. Shorted to pin 3
Table 5.0
Mating Connector Description: 24 pin 2mm dual row connector
Mating Connector Manufacturer: HIROSE
Mating Connector Housing Part Number: DF11-24DS-2C
Mating Connector Pin Part Number: DF11-2428SC

DMX-CAN Manual page 13 rev 1.6
DMX-CAN-23 Interface Circuit
Figure 5.1

DMX-CAN Manual page 14 rev 1.6
Digital Outputs
Figure 5.2 shows an example wiring to the digital output.
Figure 5.2
WARNING: The maximum sink current for digital outputs is 90 mA. Take caution to
select the appropriate external supply and pull-up resistance to limit the sink current
below this level.
Digital Inputs
Figure 5.3 shows the detailed schematic of the opto-isolated inputs.
Figure 5.3

DMX-CAN Manual page 15 rev 1.6
6. Getting Started
There are three ways to communicate with DMX-CAN series product: RS-232, RS-485,
and CANopen.
RS-232 Communication
When the DMX-CAN unit is shipped from the factory, default communication setting is
RS-232 at 9600 baud rate.
Note that RS-232 is a point-to-point protocol. See figure below:
Figure 6.0
RS-485 Communication
If RS-485 communication is required, first you need to communicate using RS-232 and
use the Windows program to change the communication method to RS-485, download
the setup, and store to flash. Once communication method is changed, you need to reboot
the module for the new parameter to take effect and then communicate through RS-485.
When communicating on RS-485, it is recommended to add 120 Ohm terminating
resistor between 485+ and 485- signal on the last module.
Below is a typical RS-485 master and multi-slave multi-drop network.

DMX-CAN Manual page 16 rev 1.6
Figure 6.1
CANOpen Communication
If CANOpen communication is required, first you need to communicate using RS-232
and use the Windows program to change the communication method to CANOpen,
download the setup, and store to flash. Once communication method is changed, you
need to reboot the module for the new parameter to take effect and then communicate
through CANopen.
When communicating on CANOpen, it is recommended to add 120 Ohm terminating
resistor between CAN-H and CAN-L signal on the last module.
Below is a typical CANopen master and multi-slave multi-drop network.

DMX-CAN Manual page 17 rev 1.6
Figure 6.2
Windows GUI
DMX-CAN comes with user friendly Windows Program to quickly communicate, test,
program, and debug the DMX-CAN unit.
Start the DMX-CAN program and following dialog box will show.
Figure 6.3
A
D
E
B
F
G
C

DMX-CAN Manual page 18 rev 1.6
A. Serial Communication Port Number. This is a drop down combo box which
has selection of serial port from COM1 to COM15.
B. 9600 baud rate is the default communication baud rate that is used. If you
have set your DMX-CAN module to operate at a different baud rate, select the
correct baud rate here.
C. Device name is used for RS-485 communication and to distinguish many
devices on the RS-485 network.
D. Search button is used to search for any DMX-CAN module connected to an
available serial communication port. Search looks for DMX-CAN from
COM1 to COM15 using the device name.
E. Search All button is used to search for all DMX-CAN modules connected to
the available serial communication port. This button should be used when
more than one DMX-CAN are connected on a multi-drop RS-485 bus. Note
that the DMX-CAN must be configured to use RS-485 communication.
F. Open connection uses the selected COM port and the device name to open
communication with the DMX-CAN module.
G. Close the application program.
When connecting for the first time, we recommend that search is done to find out the
COM port number where the DMX-CAN is connected.
If search cannot find the DMX-CAN device or open connection does not find the DMX-
CAN, check the following:
1) Check power supply to DMX-CAN. Recommended power is from 12VDC to
35VDC.
2) Check communication wiring. If using RS-232, TXD from DMX-CAN
should be connected to RXD of the serial port and RXD from DMX-CAN
should be connected to TXD of serial port. If using RS-485, make sure that
the 485+ from DMX-CAN is connected to 485+ of the master and 485- from
DMX-CAN is connected to 485- of the master.
3) Confirm that the device name is set correctly. Default factory device name
setting is “01”. If this name has been changed and stored to flash, enter the
new name.

DMX-CAN Manual page 19 rev 1.6
When Open Connection button is pressed and communication is successfully established,
following screen will show:
Figure 6.4
A
C
J
E
B
I
G
F
H
K
D

DMX-CAN Manual page 20 rev 1.6
A. Status
Figure 6.5
1. Current pulse position (when StepNLoop is enabled, pulse position is
defined as the current target position)
2. Current encoder position
3. Delta position – this is the difference between the target position and
actual position.
4. Speed – actual speed. When StepNLoop is enabled, this value is in
encoder counts/sec. When StepNLoop is disabled, this value is in
pulses/sec.
5. Motor status
i. IDLE – motor is not moving.
ii. ACCEL – motor is accelerating
iii. CONST – motor is running in constant speed
iv. DECEL – motor is decelerating
v. ERROR – limit error
6. StepNLoop status
i. NA – StepNLoop disabled
ii. IDLE – motor is not moving
iii. MOVING – motor is performing a target movement
iv. CORRECTING – motor is correcting its position
v. STOPPING – motor is decelerating to a stop
vi. ABORTING – motor is immediately stopping
vii. JOGGING – motor is jogging
viii. HOMING – motor is homing
ix. Z-HOMING – motor is homing using the Z-index
x. ERR-RANGE – correction range error
xi. ERR-ATMPT – correction attempt error
xii. ERR-STALL – stall error
xiii. ERR-LIM – limit error
1
2
8
9
3
4
10
7
12
5
6
11