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