Arcus DMX-K-SA User manual

DMX-K-SA-17/23 Manual page 1 rev 3.18
DMX-K-SA
Integrated Step Motor
Encoder/Driver/Controller
Manual

DMX-K-SA-17/23 Manual page 2 rev 3.18
COPYRIGHT © 2007 ARCUS, ALL RIGHTS RESERVED
First edition, April 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:
2.00 – 1st Release
3.15 – 2nd Release
3.16 – 3rd Release
3.17 – 4th Release
3.18 – 5th Release
Firmware Compatibility:
†V340BL
†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-K-SA-17/23 Manual page 3 rev 3.18
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
DMX-K-SA-17 ............................................................................................................. 10
DMX-K-SA-23 ............................................................................................................. 10
4. Motor Specifications..................................................................................................... 12
Electrical Specifications................................................................................................ 12
Torque Curve – NEMA 17 ........................................................................................... 12
Torque Curve – NEMA 23 ........................................................................................... 13
5. Connections................................................................................................................... 15
24-Pin Connector (2mm) .............................................................................................. 15
Junction Board .............................................................................................................. 16
DMX-K-SA-17/23 Interface Circuit............................................................................. 17
Digital Outputs.............................................................................................................. 18
Digital Inputs ................................................................................................................ 18
6. Getting Started .............................................................................................................. 19
Typical Setup ................................................................................................................ 19
RS-232 .......................................................................................................................... 19
RS-485 .......................................................................................................................... 20
Windows GUI ............................................................................................................... 21
Main Control Screen ..................................................................................................... 22
A. Status................................................................................................................. 23
B. Control .............................................................................................................. 24
C. Digital Input / Output........................................................................................ 25
D. Communication................................................................................................. 26
E. Product Info ...................................................................................................... 26
F. Terminal............................................................................................................ 27
G. Setup ................................................................................................................. 28
H. Standalone Program File Management............................................................. 29
I. Standalone Program Editor ............................................................................... 30
J. Standalone Processing ...................................................................................... 30
K. Variable Status .................................................................................................. 31
M. On-The-Fly Speed Change ........................................................................... 32
N. About................................................................................................................. 32
7. Motion Control Overview............................................................................................. 33
Built-in encoder ............................................................................................................ 33
Built-in Microstep Driver ............................................................................................. 33
Motion Profile............................................................................................................... 33

DMX-K-SA-17/23 Manual page 4 rev 3.18
On-The-Fly Speed Change ........................................................................................... 34
Digital Inputs/Outputs................................................................................................... 34
Motor Power ................................................................................................................. 35
Polarity.......................................................................................................................... 35
Positional Moves........................................................................................................... 36
On-The-Fly Target Position Change............................................................................. 36
Jogging.......................................................................................................................... 36
Stopping Motor ............................................................................................................. 36
Homing ......................................................................................................................... 37
Home Input Only (High Speed Only)....................................................................... 37
Home Input and Z-index........................................................................................... 37
Home Input Only (High Speed and Low Speed) ...................................................... 38
Limit Only................................................................................................................. 39
Z-Index Only............................................................................................................. 39
Motor Position .............................................................................................................. 40
Motor Status.................................................................................................................. 40
Limit Inputs................................................................................................................... 40
Latch Input .................................................................................................................... 41
Sync Output .................................................................................................................. 41
StepNLoop Closed Loop Control ................................................................................. 42
Idle Current and Run Current ....................................................................................... 44
RS-232/RS-485 Selection: ............................................................................................ 44
Device Number ............................................................................................................. 44
Baud Rate Setting ......................................................................................................... 44
Broadcasting over RS-485 ............................................................................................ 45
Response type selection ................................................................................................ 45
Auto-response Feature .................................................................................................. 46
Standalone Programming.............................................................................................. 46
Communication Time-out Feature (Watchdog)............................................................ 47
Storing to Flash ............................................................................................................. 48
Default Settings............................................................................................................. 48
8. Communication Protocol .............................................................................................. 50
9. ASCII Language Specification ..................................................................................... 51
Error Codes ................................................................................................................... 54
10. Standalone Language Specification............................................................................ 55
; ..................................................................................................................................... 55
ABORTX ...................................................................................................................... 55
ABS............................................................................................................................... 55
ACC .............................................................................................................................. 55
DEC............................................................................................................................... 56
DELAY ......................................................................................................................... 56
DI .................................................................................................................................. 56
DI[1-6] .......................................................................................................................... 57
DO................................................................................................................................. 57
DO[1-3]......................................................................................................................... 57
DRVIC .......................................................................................................................... 58

DMX-K-SA-17/23 Manual page 5 rev 3.18
DRVIT .......................................................................................................................... 58
DRVRC......................................................................................................................... 58
ECLEARX .................................................................................................................... 58
ELSE ............................................................................................................................. 58
ELSEIF ......................................................................................................................... 59
END .............................................................................................................................. 60
ENDIF........................................................................................................................... 60
ENDSUB....................................................................................................................... 60
ENDWHILE ................................................................................................................. 61
EO ................................................................................................................................. 61
EX ................................................................................................................................. 61
GOSUB......................................................................................................................... 62
HLHOMEX[+ or -]....................................................................................................... 62
HOMEX[+ or -] ............................................................................................................ 62
HSPD ............................................................................................................................ 63
IF ................................................................................................................................... 63
INC................................................................................................................................ 64
JOGX[+ or -]................................................................................................................. 64
LHOMEX[+ or -].......................................................................................................... 64
LSPD............................................................................................................................. 64
LTX............................................................................................................................... 65
LTEX ............................................................................................................................ 65
LTPX............................................................................................................................. 65
LTSX............................................................................................................................. 65
MSTX ........................................................................................................................... 66
PX ................................................................................................................................. 66
PS .................................................................................................................................. 66
SCVX............................................................................................................................ 67
SLX ............................................................................................................................... 67
SLSX............................................................................................................................. 67
SSPDX .......................................................................................................................... 67
SSPDMX....................................................................................................................... 68
STOPX.......................................................................................................................... 68
STORE.......................................................................................................................... 68
SYNCFGX.................................................................................................................... 69
SYNOFFX .................................................................................................................... 69
SYNONX...................................................................................................................... 69
SYNPOSX .................................................................................................................... 69
SYNSTATX.................................................................................................................. 70
SUB............................................................................................................................... 70
TOC............................................................................................................................... 70
V[0-99].......................................................................................................................... 71
WAITX ......................................................................................................................... 71
WHILE.......................................................................................................................... 72
X.................................................................................................................................... 72
ZHOMEX[+ or -].......................................................................................................... 73

DMX-K-SA-17/23 Manual page 6 rev 3.18
ZOMEX[+ or -]............................................................................................................. 73
11. Example Standalone Programs ................................................................................... 74
Standalone Example Program 1 – Single Thread ......................................................... 74
Standalone Example Program 2 – Single Thread ......................................................... 74
Standalone Example Program 3 – Single Thread ......................................................... 74
Standalone Example Program 4 – Single Thread ......................................................... 75
Standalone Example Program 5 – Single Thread ......................................................... 75
Standalone Example Program 6 – Single Thread ......................................................... 76
Standalone Example Program 7 – Multi Thread........................................................... 77
Standalone Example Program 8 – Multi Thread........................................................... 78
Appendix A: Speed Settings ............................................................................................. 79
Acceleration/Deceleration Range ................................................................................. 79
Acceleration/Deceleration Range – Positional Move ................................................... 80

DMX-K-SA-17/23 Manual page 7 rev 3.18
1. Introduction
DMX-K-SA is an all-in-one integrated motor package that combines all the motion
components in to one convenient package.
Communication to the DMX-K-SA can be established over RS-232 or RS-485. It is also
possible to download a stand-alone program to the device and have it run independent of
a host.
Sample source code is available to aid you in your software development.
Features
DMX-K-SA-17/23
-RS-485 + RS-232 ASCII communication
•9600, 19200, 38400, 57600, 115200 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 (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)
-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 17/23 motor sizes available in different stack sizes
•1.8° step angle

DMX-K-SA-17/23 Manual page 8 rev 3.18
Model Numbers
Contacting Support
For technical support contact: [e-mail].
Or, contact your local distributor for technical support.
DMX-K-SA- -
Motor Stack Size
2 – Double
3
–
Triple
SA - Standalone
K– K Series
Motor Size
17 – NEMA 17 Motor
23
–
NEMA 23 Motor

DMX-K-SA-17/23 Manual page 9 rev 3.18
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-K-SA-17/23 Manual page 10 rev 3.18
3. Dimensions
†All dimensions in inches
DMX-K-SA-17
Figure 3.0
DMX-K-SA-23
Figure 3.1

DMX-K-SA-17/23 Manual page 11 rev 3.18
Model L (inches)
DMX-K-SA-17-2 1.58
DMX-K-SA-17-3 1.89
DMX-K-SA-23-2 2.2
DMX-K-SA-23-3 3.1
Table 3.0

DMX-K-SA-17/23 Manual page 12 rev 3.18
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

DMX-K-SA-17/23 Manual page 13 rev 3.18
Figure 4.1
Torque Curve – NEMA 23
Figure 4.2

DMX-K-SA-17/23 Manual page 14 rev 3.18
Figure 4.3

DMX-K-SA-17/23 Manual page 15 rev 3.18
5. Connections
Figure 5.0
24-Pin Connector (2mm)
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 NC NC No Connection
16 I DI5 Digital Input 5
1
2
24
23

DMX-K-SA-17/23 Manual page 16 rev 3.18
17 I OPTO +12-24VDC opto-supply
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 NC NC No Connection
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
Junction Board
JBD-K-SA is a junction board that allows users to easily access the signals on the DMX-
K-SA. The accessory comes with a 1ft long cable to connect to the DMX-K-SA.
JBD-K-SA is not included in the purchase of DMX-K-SA.
Figure 5.1
Note that JP8 is used for both RS-485 and RS-232 communication. In order to switch
between the two communication methods, the jumpers SW1 and SW2 must be placed on
the appropriate pins. The configuration shown in Figure 5.1 is set for RS-232.

DMX-K-SA-17/23 Manual page 17 rev 3.18
DMX-K-SA-17/23 Interface Circuit
Figure 5.2

DMX-K-SA-17/23 Manual page 18 rev 3.18
Digital Outputs
Figure 5.3 shows an example wiring to the digital output.
Figure 5.3
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 5.4 shows the detailed schematic of the opto-isolated inputs.
Figure 5.4

DMX-K-SA-17/23 Manual page 19 rev 3.18
6. Getting Started
Typical Setup
Figure 6.0
There are two ways to communicate with DMX-K-SA series product: RS-232 and RS-
485.
RS-232
When the DMX-K-SA 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 6.1

DMX-K-SA-17/23 Manual page 20 rev 3.18
RS-485
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.
When communicating via RS-485, it is recommended to add a 120 Ohm terminating
resistor between 485+ and 485- signal on the last module.
Below is a typical RS-485 master and multi-slave network.
Figure 6.2