DAINCUBE DMC-L Instructions for use

DMC-L hardware user’s manual
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Embedded based Motion Controller optimized for industrial robots.
DMC-L
Hardware user’s manual
ARM Cortex-A9 Linux system
DTP7H-L Hardware user’s manual
Last updated 191001—May, 2019
DAINCUBE Corp.
Web: www.daincube.com
E-mail: [e-mail]
Tel: [phone]~4
Fax: [phone]
#401-701, Bucheon TechnoPark 4-Danji,
655 Pyeongcheon-ro, Wonmi-gu, Bucheon-Si,
Gyeonggi-Do, Republic of Korea
Copyright © 2005–2019 Daincube co.ltd. All rights reserved. Printed in the Republic of Korea

DMC-L hardware user’s manual
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Preface
Copyright notice
Copyright © 2005–2019 Daincube. All rights reserved.
Copying of this document, and giving it to others and the use or communication of the Contents thereof, is
forbidden without express authority. Offenders are liable to the payment of damages.
All rights are reserved in the event of the grant of a patent or the registration of a utility model or design.
Important information
This documentation is intended for qualified audience only. The product described herein is not an end user
product. It was developed and manufactured for further processing by trained personnel.
Disclaimer
Although this document has been generated with the utmost care no warranty or liability for correctness or
suitability for any particular purpose is implied. The information in this document is provided “as is” and is
subject to change without notice.
Trademarks
All used product names, logos or trademarks are property of their respective owners.
Product support
DAINCUBE Corp.
Web: www.daincube.com
E - MAIL: [e-mail]
Safety precautions
Be sure to observe all of the following safety precautions.
Strict observance of these warning and caution indications are a MUST for preventing accidents, which
could result in bodily injury and substantial property damage. Make sure you fully understand all definitions
of these terms and related symbols given below, before you proceed to the manual.
Symbols
The following symbols may be used in this specification:
⚠Warning
Warnings indicate conditions that, if not observed, can cause personal injury.
⚠Caution
Cautions warn the user about how to prevent damage to hardware or loss of data.
✏Note
Notes call attention to important information that should be observed.

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1. Description
1.1.Product overview
[Figure 1-1] DMC-L
1.2.System structure
DUAL
USB 2.0
Mini
USB
LAN1
Micro
SD Card
CAN
Micro USB
(Debug)
LAN2
HDMI
EtherCAT
PCIe Bus
USB OTG
HS PHY
USB 2.0 Hub
(4 Port)
HDMI 1.4
eSDHC3 :
SD/MMC
Debug Serial
CAN0
Gigabit
Ethernet
RTC Batt
CG4300 Q7 Module
UART 4Port
Cortex-A9
Core
DDR3 1GB
eMMC 8GB
RS485
Stat LED
POWER
RUN
ERROR
M-RAM Cortex-M3
SUB MCU
Serial
Flash
PMIC
Power
protection
circuit
[Figure 1-2] Function block diagram
The DMC-L is the ultimate motion controller with the latest advanced features for a variety of applications

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2. Product Specification
The used processor module was "CG4300" developed by Dain-Cube Co., Ltd.
2.1.Specifications
H/W Specification
List
Contents
Processor
i.MX6Q:1.0GHz Cortex-A9 Quad core
i.MX6S: 800MHz Cortex-A9 Single core (option)
Memory
DDR3 800 MHz 1GB
Internal Storage
MLC type eMMC 4GB or 8GB Flash
SPI flash
4MB NOR Flash (Booting)
4MB NOR Flash (user area)
M-RAM
2MByte or 512KByte (option)
RTC
Lithium 3 years (Min)
Graphics
Display interface HDMI 1.4
Resolution 19201080 at 60Hz
Communications
EtherCAT Master 100 Base-T
2 x Ethernet 10/100Base-T
Isolated RS-485
Isolated CAN(Controller Area Network)
External Interfaces
2 x USB 2.0 host
Micro SD Card
Mini USB device(USB OTG)
Micro USB : Debug Serial Port (USB to Serial dongle option)
General
LED X 3 : power , Error , Run
Power
Power Consumption : 300mA (Max) @ 24VDC
Power Input : +24VDC ±5%
Reverse Protection
Appearance
Enclosure : TOP Cover- EGI Coating Ivory color
: Base Aluminum 6061 - Anodizing natural Color
Dimensions : 168102.530 mm
Weight : 500g (Max)
Environment
Operating temperature: 0℃to +45℃(Fanless)
Storage temperature: -20℃to +70℃
Humidity : 10% to 85% (Non-condensing)
Cooling method Ambient
Altitude: Max. 2000 meters
Pollution Degree 2
Indoor Use Only
[Table 5-1] H/W specifications
⚠Operation beyond the operating limits may result in damage to the product.
S/W Specification
List
Contents
OS
Embedded Linux 4.1.15
Real-time OS
Xenimail 2.6.5
EtherCAT Master
Software EtherCAT Master Stack Ver 1.5.2
File System
Xwayland
GUI
Qt 4.8.7, Qt creator 3.5.1

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2.2.Dimensions
Appearance dimensions: 168 mm x 102.5 mm x 30 mm (L x W x H)
[Figure 5-1] Product dimensions
3. Feature Description
3.1.Interface configuration
Front side
1 2 3 4 5 6 7 8
[Figure 6-1] Front Side Configuration
1. Status LED
ERR: red
RUN LED: Green
Power LED: Orange
2. USB Type B
Used for program update etc.
3. USB Type A
USB 2.0: Usb Memory, Keyboard, Mouse, etc.
4. Terminal Block 3.5mm pitch 위
RS485 :NC, RS485_D+, RS485_D-, GND

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5. Terminal Block 3.5mm Pitch 아래
CAN :NC, CANH, CANL, GND
6. RJ45
LAN1 : Ethernet 10/ 100Base-T
LAN2 : Ethernet 10/ 100Base-T
7. RJ45
EtherCAT Master Port
8. Terminal Block 3pin/3.5mm pitch
Power input
✏Note: Use shielded CAT5e/6 cables for Ethernet and EtherCAT communication.
Left side
910 11 12
[Figure 6-2] Left Side Configuration
9. Micro SD Card
Micro SD Memory
10. Reset
System Reset Switch
11. HDMI
Video Out Port
12. Micro USB
Debugging Serial (Use a dedicated dongle)
✏Note: These ports are used for software development and testing.
Developer's dongle
Serial to USB dongle for development engineers.
To PC
USB A
Micro
USB
USB to Serial cable
[Figure 6-3] Dongle connection
Connect the plug of the dongle to the USB port of the computer and the USB socket to the Debug Serial
Port (Micro USB Connector) of the DMC-L via the cable.
Installing the driver for USB to Serial on the computer activates the virtual Uart Port.

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4. Install the product
4.1. Product installation
Top mounting
Four M3 sized tapped holes are required for mounting.
161mm
86.5mm
102.5mm
[Figure 7-1] top mounting holes position
Rear mounting
Process two M3 tapped holes on the wall to match the holes on the back of the product.
168mm
30mm
161mm
[Figure 7-2] Rear mounting holes position
Din Rail installation
Use with DIN Rail adapters for each installation purpose.
Back side (vertical installation): DM-A35-20mm (Contact customer support)

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[Figure 7-3] Din-rail adapter for vertical use
For floor (horizontal installation): PHOENIX 1201578
[Figure 7-4] Din-rail adapter for horizontal use
DM-A35-20mm
First, hang part 1 of the Dain-rail adapter on the Dain-rail. Pull down part 2 and walk.

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1
2
[Figure 7-5] DM-A35-20mm

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5. Installation example
Please install the device after you understand in detail the contents of the document. This document contains recommendations for wiring, to reduce noise
emissions generated by the driven components.
AC 220
Magnetic contact
Current
Breaker
M/C
Surge
absorber
SMPS
Servo AMP Servo AMP Servo AMP
AC Line Filter
Control Power
M/C
Emergencyswitch
Select switch
Enabling switch
ferrite
Brake Input
Drive Power
VGA
KEY&Touch
CG4300-DMC
HDMI To VGA
Converter
D_Junction
Wall Bracket
26pin Circular plug
(DTP-CU-26P)
Safety Controller
+24V
EMG Switch
[Figure 5-1] Installation example for Monitor Type Teach Pendant and safety controller

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+24V
AC 220
Magnetic contact
Current
Breaker
M/C
Surge
absorber
SMPS
Servo AMP Servo AMP Servo AMP
AC Line Filter
Control Power
M/C
ferrite
Brake Input
Drive Power
CG4300-DMC
HDMI To VGA
Converter
Safety Controller
+24V
VGA
[Figure 5-2] Installation example for monitor and safety controller

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Ethernet
Clean AC
Magnetic contact
M/C M/C
Emergencyswitch
Select switch
Enabling switch
AC 220
Current
Breaker
Surge
absorber
SMPS
AC Line Filter
Servo AMP Servo AMP Servo AMP
Control Power
ferrite
Brake Input
Drive Power
Wall Bracket
26pin Circular plug
(DTP-CU-26P)
+24V
EMG Switch
[Figure 5-3] Installation example for teach pendant and safety controller

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6. Package
6.1.Packing list
The package configuration of DMC-L is shown below.
Basic parts
Option and accessories Parts
Item
photo
Description
Quantity
DIN Rail adapters
PHOENIX 1201578
*Option
2
DIN Rail adapters
DM-A35-20mm
*Option
1
USB to Serial
Dongle (Debug cable)
*Option
1
USB cable
DTP7-CU-USB
*Option
1
Power adapter
DTP7-PU-A
*Option
1
[Table 6-1] Packing list
✏Note: Please make sure there are no missing parts of the items listed in the checklist above
Item
Photo
Description
Quantity
DMC-L
Basic configuration
Main part
Linux
coreCon
1
Development CD
DMC-CD-L
*Option
1

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✏Note: Available for individual purchase by package
6.2. Packaging & Labels
(1) Label
S/N: DMC-YyMm xxxx
DMC-YyMmxxxx
(1) (2) (3) (4)
[Figure 6-1] Labeling position
(1)Model name
(2) division
(3) division
(4) Code number
◆DMC-L
◆Yy: Year of manufacture
◆mm : Manufacturing month
◆xxxx : Serial number
[Table 6-2] Labeling rules
(2) Packing product: 1Box = 1Product x 10ea
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
DAINCUBE CG4300-DMC MOUTION COLTROLLER
1 BOX = 1 Product x 10ea
1 Product
[Figure 6-2] Carton box