Arcus PMX-4EX-SA User manual

PMX-4EX-SA Manual page 1 Rev 3.11
PMX-4EX-SA
Advanced 4-Axis
Stepper Motion Controller

PMX-4EX-SA Manual page 2 Rev 3.11
COPYRIGHT © 2015 ARCUS,
ALL RIGHTS RESERVED
First edition, February 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:
1.00 – 1
st
Revision
2.10 – 2
nd
Revision
3.00 – 3
rd
Revision
3.01 – 4
th
Revision
3.02 – 5
th
Revision
3.10 – 6
th
Revision
3.11 – 7
th
Revision
Firmware Compatibility:
†V180BL
†If your module’s firmware version number is less than the listed value, contact Arcus for the
appropriate documentation.

PMX-4EX-SA Manual page 3 Rev 3.11
Table of Contents
1. Introduction .......................................................................................................6
1.1. FEATURES .......................................................................................................................................... 6
1.2. MODEL NUMBERS .............................................................................................................................. 7
1.2.1. Top Board Options .................................................................................................................. 7
2. Electrical Specifications ....................................................................................8
3. Dimensions .......................................................................................................9
3.1. PMX-4EX-SA-TBS DIMENSIONS ..................................................................................................... 9
3.2. PMX-4EX-SA-TB9 DIMENSIONS ................................................................................................... 10
4. Connectivity ....................................................................................................11
4.1. 2-PIN POWER CONNECTOR (5.08MM) ............................................................................................ 11
4.2. 3-PIN RS-485 CONNECTOR (3.81MM) ........................................................................................... 11
4.3. 10-PIN AIO CONNECTOR (2.0MM) .................................................................................................. 12
4.4. 10-PIN DI CONNECTOR (3.81MM) ................................................................................................... 12
4.5. 8-PIN DO CONNECTOR (3.81MM) ................................................................................................... 13
4.6. 14-PIN MOTION INPUTS CONNECTOR (3.81MM) ............................................................................. 14
4.7. 8-PIN ENCODER CONNECTORS (3.81MM) ...................................................................................... 15
4.8. 8-PIN TBS AXIS CONNECTORS (3.81MM) ...................................................................................... 16
4.9. 9-PIN TB9 AXIS CONNECTORS (D-SUB 9) .................................................................................... 17
4.10. 2-PIN TB9 POWER CONNECTORS (5.08MM) ................................................................................ 18
4.11. PMX-4EX-SA INTERFACE CIRCUIT .............................................................................................. 19
4.12. PULSE,DIRECTION,AND ENABLE OUTPUTS ................................................................................. 20
4.13. LIMIT,HOME,AND DIGITAL INPUTS ............................................................................................... 21
4.14. DIGITAL OUTPUTS .......................................................................................................................... 22
4.15. ENCODER INPUT CONNECTION...................................................................................................... 22
5. Communication Interface ................................................................................23
5.1. USB COMMUNICATION .................................................................................................................... 23
5.1.1. Typical USB Setup ................................................................................................................ 23
5.1.2. USB Communication API ..................................................................................................... 23
5.1.3. USB Communication Issues ................................................................................................ 24
5.2. SERIAL COMMUNICATION ................................................................................................................. 25
5.2.1. Typical RS-485 Setup ........................................................................................................... 25
5.2.2. Communication Port Settings .............................................................................................. 26
5.2.3. ASCII Protocol ....................................................................................................................... 26
5.2.4. RS-485 Communication Issues ........................................................................................... 27
5.3. DEVICE NUMBER .............................................................................................................................. 28
5.4. WINDOWS GUI ................................................................................................................................. 28
6. General Operation Overview ..........................................................................29
6.1. MOTION PROFILE ............................................................................................................................. 29
6.2. PULSE SPEED .................................................................................................................................. 31
6.3. ON-THE-FLY SPEED CHANGE ......................................................................................................... 31
6.4. MOTOR POSITION ............................................................................................................................ 32
6.5. MOTOR POWER ................................................................................................................................ 32
6.6. JOG MOVE ........................................................................................................................................ 33
6.7. STOPPING ......................................................................................................................................... 33
6.8. POSITIONAL MOVES ......................................................................................................................... 33
6.9. ON-THE-FLY TARGET POSITION CHANGE....................................................................................... 34
6.10. CIRCULAR INTERPOLATION MOVES ............................................................................................... 34
6.11. ARC INTERPOLATION MOVES ........................................................................................................ 35
6.12. BUFFERED INTERPOLATION MOVES .............................................................................................. 37
6.13. HOMING .......................................................................................................................................... 38

PMX-4EX-SA Manual page 4 Rev 3.11
6.13.1. MODE 0: Home Input Only (High Speed Only) .............................................................. 38
6.13.2. MODE 1: Limit Only ............................................................................................................ 39
6.13.3. MODE 2: Home Input and Z-index ................................................................................... 40
6.13.4. MODE 3: Z-index Only ....................................................................................................... 41
6.13.5. MODE 4 : Home Input Only (High Speed and Low Speed) .......................................... 42
6.14. LIMITS AND ALARM SWITCH FUNCTION ......................................................................................... 42
6.15. MOTOR STATUS ............................................................................................................................. 43
6.16. DIGITAL INPUTS/OUTPUTS ............................................................................................................. 44
6.16.1. Digital Inputs ........................................................................................................................ 44
6.16.2. Digital Outputs ..................................................................................................................... 45
6.17. HIGH SPEED LATCH INPUTS .......................................................................................................... 45
6.18. SYNC OUTPUTS ............................................................................................................................. 46
6.19. ANALOG INPUTS ............................................................................................................................. 48
6.20. JOYSTICK CONTROL ...................................................................................................................... 48
6.21. POLARITY ....................................................................................................................................... 51
6.22. STEPNLOOP CLOSED LOOP CONTROL ......................................................................................... 52
6.23 TIMER REGISTER ............................................................................................................................ 54
6.24. COMMUNICATION TIME-OUT WATCHDOG ...................................................................................... 54
6.25. STANDALONE PROGRAM SPECIFICATION ...................................................................................... 54
6.25.1. Standalone Program Specification ................................................................................... 55
6.25.2. Standalone Control ........................................................................................................... 55
6.25.3. Standalone Status ............................................................................................................... 55
6.25.4. Standalone Subroutines ..................................................................................................... 56
6.25.5. Error Handling ..................................................................................................................... 56
6.25.6. Standalone Variables ......................................................................................................... 56
6.25.7. Standalone Run on Boot-Up ............................................................................................. 57
6.26. STORING TO FLASH ....................................................................................................................... 57
7. Software Overview..........................................................................................59
7.1. MAIN CONTROL SCREEN ................................................................................................................. 61
7.1.1. Status ...................................................................................................................................... 61
7.1.2. Control .................................................................................................................................... 63
7.1.3. On-The-Fly-Speed Control................................................................................................... 65
7.1.4. On-The-Fly-Position Control ................................................................................................ 66
7.1.5. Sync Outputs ......................................................................................................................... 66
7.1.6. Digital Input/Output ............................................................................................................... 66
7.1.7. Analog Inputs ......................................................................................................................... 67
7.1.8. Program File Control ............................................................................................................. 67
7.1.9. Standalone Program Editor ................................................................................................. 68
7.1.10. Standalone Program Control ............................................................................................. 68
7.1.11. Standalone Program Compile/Download/Upload........................................................... 69
7.1.12. Setup ..................................................................................................................................... 70
7.1.13. Terminal ................................................................................................................................ 72
7.1.14. Latches ................................................................................................................................. 73
7.1.15. Variable Status .................................................................................................................... 74
7.2. DXF CONVERTER ............................................................................................................................ 75
7.2.1. DXF Viewer ............................................................................................................................ 76
7.2.2. Status ...................................................................................................................................... 76
7.2.3. Control .................................................................................................................................... 77
7.2.4. DXF Action ............................................................................................................................. 77
7.2.5. Motion Conversion Program ................................................................................................ 79
7.2.6. DXF Converter – Important Notes ...................................................................................... 79
8. ASCII Language Specification ........................................................................81

PMX-4EX-SA Manual page 5 Rev 3.11
8.1. ASCII COMMAND SET ..................................................................................................................... 81
8.2. ERROR CODES ................................................................................................................................. 84
9. Standalone Language Specification................................................................86
9.1. STANDALONE COMMAND SET .......................................................................................................... 86
9.2. EXAMPLE STANDALONE PROGRAMS ............................................................................................... 89
9.2.1. Standalone Example Program 1 – Single Thread ............................................................ 89
9.2.2. Standalone Example Program 2 – Single Thread ............................................................ 90
9.2.3. Standalone Example Program 3 – Single Thread ............................................................ 90
9.2.4. Standalone Example Program 4 – Single Thread ............................................................ 91
9.2.5. Standalone Example Program 5 – Single Thread ............................................................ 91
9.2.6. Standalone Example Program 6 – Single Thread ............................................................ 92
9.2.7. Standalone Example Program 7 – Multi Thread............................................................... 93
9.2.8. Standalone Example Program 8 – Multi Thread............................................................... 94
A: Speed Settings ...............................................................................................95
A.1. ACCELERATION/DECELERATION RANGE ......................................................................................... 95
A.2. ACCELERATION/DECELERATION RANGE –POSITIONAL MOVE ...................................................... 96

PMX-4EX-SA Manual page 6 Rev 3.11
1. Introduction
PMX-4EX-SA is an advanced 4 axis stepper standalone programmable motion
controller.
Communication to the PMX-4EX-SA can be established over USB or RS-485. It
is possible to download a standalone program to the device and have it run
independent of a host.
1.1. Features
- USB 2.0 communication
- RS-485 ASCII communication
•9600, 19200, 38400, 57600, 115200 bps
- Standalone programmable using A-SCRIPT
- Pulse/Dir/Enable open collector outputs per axis
•Maximum pulse output rate of 6M PPS
- Advanced Motion features
•Trapezoidal or s-curve acceleration
•On-the-fly speed change
•XYZU linear coordinated motion
•XY circular coordinated motion
•XY arc coordinated motion
•Continuous linear coordinated buffered move for XYZ axes for
smooth contouring.
- A/B/Z differential encoder inputs [Max frequency of 5 MHz]
•StepNLoop closed loop control (position verification)
- Opto-isolated I/O
•8 x inputs [4 x high speed position capture latch input]
•8 x outputs [4 x synchronous output]
•+Limit/-Limit/Home inputs per axis
- Homing routines:
•Home input only
•Limit only
•Z-index encoder channel only
•Home input + Z index encoder channel
- 8 x 10-bit analog inputs
•XYZU joystick control

PMX-4EX-SA Manual page 7 Rev 3.11
1.2. Model Numbers
1.2.1. Top Board Options
The PMX-4EX-SA is available in two different top board configurations. The top
board should be selected depending on your interfacing needs.
The standard top board option (TBS) consists of 3.81mm screw terminals for
X/Y/Z/U pulse/dir/enable outputs and alarm inputs.
The DB9 top board consists of DB9 female headers for X/Y/Z/U pulse/dir/enable
outputs. The DB9 headers on these top boards are pin-to-pin compatible with
the Arcus series motor + driver (DMX-A2-DRV).
Contacting Support
For technical support contact: [e-mail].
Or, contact your local distributor for technical support.
PMX-4EX-SA-
Top Board Type
TBS – Screw Terminal
TB9 – DB9
4EX – 4-axis enhanced controller
SA – Stand-Alone

PMX-4EX-SA Manual page 8 Rev 3.11
2. Electrical Specifications
Parameter
Min
Max
Units
Main Power Input +12 +24 V
- 1.5 A
Opto-supply Power Input +12 +24 V
Driver Power Input
1
+12 +48 V
- 3.0
1
A
Pulse/Direction/Enable
Open Collector
- +24 V
- 40 mA
Alarm Input Forward Diode
Current
- 40 mA
Digital Input Forward Diode
Current
- 40 mA
Digital Output Source
Current
- 90 mA
Operating Temperature
2
-20 +80 °C
Storage Temperature
2
-55 +150 °C
Table 2.0
1
Only applicable to the TB9 top board option. Current requirement is dependent
on the driver settings
2
Based on component ratings

PMX-4EX-SA Manual page 9 Rev 3.11
3. Dimensions
3.1. PMX-4EX-SA-TBS Dimensions
Figure 3.0

PMX-4EX-SA Manual page 10 Rev 3.11
3.2. PMX-4EX-SA-TB9 Dimensions
Figure 3.1

PMX-4EX-SA Manual page 11 Rev 3.11
4. Connectivity
In order for PMX-4EX-SA to operate, it must be supplied with +12VDC to
+24VDC. Power pins as well as communication port pin outs are shown below.
Figure 4.0
4.1. 2-Pin Power Connector (5.08mm)
Pin #
In/Out
Name
Description
1 I G Ground
2 I V+ Power Input +12 to +24 VDC
Table 4.0
Mating Connector Description: 2 pin 0.2” (5.08mm) connector
Mating Connector Manufacturer: On-Shore
Mating Connector Manufacturer Part:
1
EDZ950/2
1
Other 5.08mm compatible connectors can be used.
4.2. 3-Pin RS-485 Connector (3.81mm)
Figure 4.1
Pin #
In/Out
Name
Description
1 I G Ground
2 I/O 485- RS-485 minus signal
3 I/O 485+ RS-485 plus signal
Table 4.1
Mating Connector Description: 3 pin 0.15” (3.81mm) connector
Mating Connector Manufacturer: On-Shore
Mating Connector Manufacturer Part:
1
EDZ1550/3
1
Other 3.81 compatible connectors can be used.
1

PMX-4EX-SA Manual page 12 Rev 3.11
4.3. 10-Pin AIO Connector (2.0mm)
Figure 4.2
Pin #
In/Out
Name
Description
1 O +5V +5V
2 O GND Ground
3 I AI7 Analog Input 7
4 I AI8 Analog Input 8
5 I AI5 Analog Input 5
6 I AI6 Analog Input 6
7 I AI3 Analog Input 3
8 I AI4 Analog Input 4
9 I AI1 Analog Input 1
10 I AI2 Analog Input 2
Table 4.2
Mating Connector Description: Female 10 pin 2mm dual row
Mating Connector Manufacturer: HIROSE
Mating Connector Manufacturer Part: DF11-10DS-2C (10 pin female connector)
DF11-2428SC (female socket pin)
4.4. 10-Pin DI Connector (3.81mm)
Figure 4.3
Pin #
In/Out
Name
Description
1 I V S Opto-Supply +12V to +24 VDC (for digital IO)
2 I V G Opto-Ground (for digital IO)
3 I DI1 Digital Input 1
4 I DI2 Digital Input 2
5 I DI3 Digital Input 3
6 I DI4 Digital Input 4
1
2
1

PMX-4EX-SA Manual page 13 Rev 3.11
7 I DI5 Digital Input 5
8 I DI6 Digital Input 6
9 I DI7 Digital Input 7
10 I DI8 Digital Input 8
Table 4.3
Mating Connector Description: 10 pin 0.15” (3.81mm) connector
Mating Connector Manufacturer: On-Shore
Mating Connector Manufacturer Part:
1
EDZ1550/10
1
Other 3.81 compatible connectors can be used.
4.5. 8-Pin DO Connector (3.81mm)
Figure 4.4
Pin #
In/Out
Name
Description
1 O DO1 Digital Output 1
2 O DO2 Digital Output 2
3 O DO3 Digital Output 3
4 O DO4 Digital Output 4
5 O DO5 Digital Output 5
6 O DO6 Digital Output 6
7 O DO7 Digital Output 7
8 O DO8 Digital Output 8
Table 4.4
Mating Connector Description: 8 pin 0.15” (3.81mm) connector
Mating Connector Manufacturer: On-Shore
Mating Connector Manufacturer Part:
1
EDZ1550/8
1
Other 3.81 compatible connectors can be used.
1

PMX-4EX-SA Manual page 14 Rev 3.11
4.6. 14-Pin Motion Inputs Connector (3.81mm)
Figure 4.5
Pin #
In/Out
Name
Description
1 I V G Ground
2 I V S Opto-Supply Input +12 to +24 VDC (for limit and
home inputs)
3 I -L U -Limit [U Axis]
4 I H U Home [U Axis]
5 I +L U +Limit [U Axis]
6 I -L Z -Limit [Z Axis]
7 I H Z Home [Z Axis]
8 I +L Z +Limit [Z Axis]
9 I -L Y -Limit [Y Axis]
10 I H Y Home [Y Axis]
11 I +L Y +Limit [Y Axis]
12 I -L X -Limit [X Axis]
13 I H X Home [X Axis]
14 I +L X +Limit [X Axis]
Table 4.5
Mating Connector Description: 14 pin 0.15” (3.81mm) connector
Mating Connector Manufacturer: On-Shore
Mating Connector Manufacturer Part:
1
EDZ1550/14
1
Other 3.81 compatible connectors can be used.
1

PMX-4EX-SA Manual page 15 Rev 3.11
4.7. 8-Pin Encoder Connectors (3.81mm)
Figure 4.6
Pin #
In/Out
Name
Description
1 O G Ground
2 O +5V +5V
3 I /Z /Z Index Encoder Input
4 I Z Z Index Encoder Input
5 I /B /B Channel Encoder Input
6 I B B Channel Encoder Input
7 I /A /A Channel Encoder Input
8 I A A Channel Encoder Input
Table 4.6
Mating Connector Description: 8 pin 0.15” (3.81mm) connector
Mating Connector Manufacturer: On-Shore
Mating Connector Manufacturer Part:
1
EDZ1550/8
1
Other 3.81 compatible connectors can be used .
1

PMX-4EX-SA Manual page 16 Rev 3.11
4.8. 8-Pin TBS Axis Connectors (3.81mm)
Figure 4.7
Pin #
In/Out
Name
Description
1 I G Ground
2 O +5V +5V
3 I Al Alarm
4 NC NC No Connection
5 NC NC No Connection
6 O E Enable
7 O D Direction
8 O P Pulse
Table 4.7
Mating Connector Description: 8 pin 0.15” (3.81mm) connector
Mating Connector Manufacturer: On-Shore
Mating Connector Manufacturer Part:
1
EDZ1550/8
1
Other 3.81 compatible connectors can be used.
1

PMX-4EX-SA Manual page 17 Rev 3.11
4.9. 9-Pin TB9 Axis Connectors (D-SUB 9)
Figure 4.8
Pin #
In/Out
Name
Desc
ription
1 O V+ Driver Power
2 O P Pulse
3 O E Enable
4 I ALM Alarm Input (5V TTL)
5 NC NC Reserved. Do not make connection.
6 O G Driver Ground
7 O D Direction
8 NC NC Reserved. Do not make connection.
9 O 5V +5V
Table 4.8
The pins on the DB9 headers can be connected directly to a DMX-A2-DRV
module (pin-to-pin compatible)

PMX-4EX-SA Manual page 18 Rev 3.11
4.10. 2-Pin TB9 Power Connectors (5.08mm)
Figure 4.9
Pin #
In/Out
Name
Description
1 I G Driver Ground
2 I V+ Driver Power
Table 4.9
Mating Connector Description: 2 pin 0.2” (5.08mm) connector
Mating Connector Manufacturer: On-Shore
Mating Connector Manufacturer Part:
1
EDZ950/2
1
Other 5.08mm compatible connectors can be used.
There are two separate driver power inputs. The right side is for axes X + Z.
The left side is for axes Y + U. The power requirement will be dependent on the
driver specifications for each axis.
1

PMX-4EX-SA Manual page 19 Rev 3.11
4.11. PMX-4EX-SA Interface Circuit
Figure 4.10

PMX-4EX-SA Manual page 20 Rev 3.11
4.12. Pulse, Direction, and Enable Outputs
The Pulse, Direction, and Enable outputs for both the standard and DB9 top
boards are all open collector outputs. Figure 4.11 shows the detailed schematic
of these outputs. Each output is capable of sinking up to 40mA of current.
Figure 4.11
Figure 4.12 shows an example wiring diagram between the pulse, direction, and
enable outputs on the PMX-4EX-SA and the corresponding input on a typical
stepper driver.
Figure 4.12