Dover DMM-0200 Specification sheet

DMM-0200
Product User Guide
P/N 34643-01 Rev. D
Revision: Aug 2015

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DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
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DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
Contents
About This Guide .............................................................................................................................................................................. 9
Introduction ....................................................................................................................................................................................... 9
Chapters and Appendixes in This Guide........................................................................................................................................... 9
Information about the DMM-0200 ................................................................................................................................................... 10
About This Release......................................................................................................................................................................... 10
Viewing the PDF Version ................................................................................................................................................................ 10
Symbols .......................................................................................................................................................................................... 10
Regulatory Compliance Certification............................................................................................................................................... 11
Contact Information......................................................................................................................................................................... 12
Chapter 1 –Site Planning ..................................................................................................13
About This Chapter ........................................................................................................................................................................ 13
Introduction ..................................................................................................................................................................................... 13
Topics.............................................................................................................................................................................................. 13
Customer Responsibilities ............................................................................................................................................................. 14
Requirements for the Installation Site ............................................................................................................................................. 14
Preliminary Steps ............................................................................................................................................................................ 14
Site Requirements........................................................................................................................................................................... 15
Requirements for Receiving and Setup .......................................................................................................................................... 15
Receiving ........................................................................................................................................................................................ 15
Setup............................................................................................................................................................................................... 15
Specifications for Power, Communications, and Environment........................................................................................................ 16
Electrical Power .............................................................................................................................................................................. 16
Electrical receptacle ........................................................................................................................................................................ 16
Grounding ....................................................................................................................................................................................... 16
Power Cord and Communications Cables ...................................................................................................................................... 17
Operating Environment ................................................................................................................................................................... 17
Where to Go Next ........................................................................................................................................................................... 18
Chapter 2 –Technical Overview .......................................................................................19
About This Chapter ........................................................................................................................................................................ 19
Introduction ..................................................................................................................................................................................... 19
Topics.............................................................................................................................................................................................. 19
Technical Description...................................................................................................................................................................... 20

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DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
Motion Control Capabilities ............................................................................................................................................................. 20
Description ...................................................................................................................................................................................... 21
Front Panel...................................................................................................................................................................................... 22
Rear Panel ...................................................................................................................................................................................... 23
Rear Panel Connectors & Switches ................................................................................................................................................ 24
Rear Panel Connector Pinouts........................................................................................................................................................ 25
Rear Panel Jumper and Switch Selection ...................................................................................................................................... 29
Rear Panel LEDs ............................................................................................................................................................................ 31
Interface Circuitry ............................................................................................................................................................................ 32
Limit, Home, and Digital Input ......................................................................................................................................................... 32
Digital Outputs................................................................................................................................................................................. 32
Encoder Input Connection............................................................................................................................................................... 33
Analog Inputs .................................................................................................................................................................................. 33
Where to Go Next ........................................................................................................................................................................... 34
Chapter 3 –Installing the DMM-0200 .................................................................................35
About This Chapter ......................................................................................................................................................................... 35
Introduction ..................................................................................................................................................................................... 35
Topics.............................................................................................................................................................................................. 35
Installing the System ....................................................................................................................................................................... 36
Modes of Operation......................................................................................................................................................................... 36
Connecting to the DMM-0200 ......................................................................................................................................................... 37
Installing the Motor and Encoder Cables ........................................................................................................................................ 37
Installing the I/O Cables .................................................................................................................................................................. 37
Installing the Power Cord and Communications Cables ................................................................................................................. 37
Where to Go Next ........................................................................................................................................................................... 38
Chapter 4 –Installing Application Software for the DMM-0200 ......................................39
About This Chapter ......................................................................................................................................................................... 39
Introduction ..................................................................................................................................................................................... 39
Topics.............................................................................................................................................................................................. 39
Software Description ....................................................................................................................................................................... 40
Installing PMX-2EX-SA Software .................................................................................................................................................... 40
Installing PMX Drivers..................................................................................................................................................................... 41
Where to Go Next ........................................................................................................................................................................... 42
Chapter 5 –Running the DMM-0200 via PMX-2EX-SA Software.....................................43

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DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
About This Chapter ......................................................................................................................................................................... 43
Introduction ..................................................................................................................................................................................... 43
Topics.............................................................................................................................................................................................. 43
Connecting a USB Cable ................................................................................................................................................................ 44
Establishing Communication with the DMM-0200........................................................................................................................... 45
Using the Main Control Screen ....................................................................................................................................................... 46
Status Screen (A)............................................................................................................................................................................ 47
Control (B)....................................................................................................................................................................................... 48
On-The-Fly-Speed Control (C)........................................................................................................................................................ 48
Product Information (D)................................................................................................................................................................... 49
Terminal (E) .................................................................................................................................................................................... 49
On-The-Fly-Position Control (F)...................................................................................................................................................... 49
Digital Input/Output (G) ................................................................................................................................................................... 49
About (H)......................................................................................................................................................................................... 50
Setup (I) .......................................................................................................................................................................................... 50
Variables (J).................................................................................................................................................................................... 51
Program File Control (K) ................................................................................................................................................................. 52
Text Programming Box (L) .............................................................................................................................................................. 52
Compiler (M) ................................................................................................................................................................................... 53
Program Control (N)........................................................................................................................................................................ 53
Where to Go Next ........................................................................................................................................................................... 54
Chapter 6 –Running the DMM-0200 via Front Panel Buttons.........................................55
About This Chapter ......................................................................................................................................................................... 55
Introduction ..................................................................................................................................................................................... 55
Topics.............................................................................................................................................................................................. 55
Front Panel Buttons ........................................................................................................................................................................ 56
DMM-0200 Stored programs........................................................................................................................................................... 57
Executing Stored Programs ............................................................................................................................................................ 57
Where to Go Next ........................................................................................................................................................................... 58
Chapter 7 –Editing Programs ...........................................................................................59
About This Chapter ......................................................................................................................................................................... 59
Introduction ..................................................................................................................................................................................... 59
Topics.............................................................................................................................................................................................. 59
Editing a Stored Program................................................................................................................................................................ 60
Standalone Program Specification.................................................................................................................................................. 62

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DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
Programming Language Specification ............................................................................................................................................ 64
Sample Programs ........................................................................................................................................................................... 83
Where to Go Next ........................................................................................................................................................................... 87
Chapter 8 –Interactive Commands & USB Communications......................................... 88
About This Chapter ......................................................................................................................................................................... 88
Introduction ..................................................................................................................................................................................... 88
Topics.............................................................................................................................................................................................. 88
USB Communication Description.................................................................................................................................................... 89
Motion Control Overview and Interactive Command Description ................................................................................................... 91
ASCII Programming Language ..................................................................................................................................................... 103
Error Codes................................................................................................................................................................................... 108
Where to Go Next ......................................................................................................................................................................... 109
Appendix...........................................................................................................................110
About This Chapter ....................................................................................................................................................................... 110
Introduction .................................................................................................................................................................................. 110
Topics............................................................................................................................................................................................ 110
Speed Settings ............................................................................................................................................................................ 111
Acceleration/Deceleration Range.................................................................................................................................................. 111
Acceleration/Deceleration Range –Positional Move .................................................................................................................... 112
Review/Revision History .............................................................................................................................................................. 113

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DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
List of Tables
Table 1 Weights and Measurements.............................................................................................................................15
Table 2 Specifications for Electrical power..................................................................................................................16
Table 3 Specifications for Power and Communications Cables ................................................................................17
Table 4 Specifications for the Operating Environment...............................................................................................17
Table 5 Rear Panel Connectors.....................................................................................................................................24
Table 6 Rear Panel Switches & Jumpers......................................................................................................................24
Table 7 Pinouts –Serial Communications ...................................................................................................................25
Table 8 Pinouts –USB Communication .......................................................................................................................25
Table 9 Pinouts –Encoder/Limits .................................................................................................................................26
Table 10 Pinouts –Motors................................................................................................................................................26
Table 11 Pinouts –Encoder Out X & Y............................................................................................................................27
Table 12 Pinouts –Digital I/O...........................................................................................................................................27
Table 13 Pinouts –Analog I/O & Joystick.......................................................................................................................28
Table 14 Current Switch Settings....................................................................................................................................29
Table 15 Jumper Selection –JP1 –JP8..........................................................................................................................30
Table 16 Fuse LEDs ..........................................................................................................................................................31
Table 17 Enable LEDs.......................................................................................................................................................31
Table 18 Standard Programs ...........................................................................................................................................57
Table 19 Standalone Run on Boot-Up.............................................................................................................................63
Table 20 Storing to Flash .................................................................................................................................................63
Table 21 Pulse Speed .......................................................................................................................................................92
Table 22 Motor Status.......................................................................................................................................................93
Table 23 Polarity................................................................................................................................................................97
Table 24 Digital Inputs......................................................................................................................................................98
Table 25 Digital Outputs...................................................................................................................................................98
Table 26 Enable Outputs ..................................................................................................................................................99
Table 27 Joystick Control.................................................................................................................................................99
Table 28 Summary of Joystick Control Parameters ....................................................................................................100
Table 29 StepNLoop Closed Loop Control ...................................................................................................................101
Table 30 StepNLoop Return Values ..............................................................................................................................101
Table 31 StepNLoop Conditions....................................................................................................................................102
Table 32 ASCII Commands.............................................................................................................................................103
Table 33 Error Codes......................................................................................................................................................108
Table 34 Speed Settings.................................................................................................................................................111

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DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
List of Figures
Figure 1 DMM-0200 Dimensions ......................................................................................................................................15
Figure 2 DMM-0200 ISO View...........................................................................................................................................21
Figure 3 DMM-0200 Front View........................................................................................................................................22
Figure 4 DMM-0200 Rear View .........................................................................................................................................23
Figure 5 DigitalInputs .......................................................................................................................................................32
Figure 6 Digital Outputs ...................................................................................................................................................32
Figure 7 Encoder Inputs...................................................................................................................................................33
Figure 8 Analog Inputs .....................................................................................................................................................33
Figure 9 System Installation ............................................................................................................................................36
Figure 10 Performax Installation .....................................................................................................................................40
Figure 11 Driver Installation.............................................................................................................................................41
Figure 12 DMM-0200 USB Port.........................................................................................................................................44
Figure 13 PMX-2EX-SA Application.................................................................................................................................45
Figure 14 Main Control Screen ........................................................................................................................................46
Figure 15 Status Screen (A) .............................................................................................................................................47
Figure 16 Status Screen (B) .............................................................................................................................................48
Figure 17 On-The-Fly-Speed Control (C) ........................................................................................................................48
Figure 18 Product Information (D)...................................................................................................................................49
Figure 19 Terminal (E) ......................................................................................................................................................49
Figure 20 On-The-Fly-Position Control (F) .....................................................................................................................49
Figure 21 Digital I/O Status (G) ........................................................................................................................................49
Figure 22 About (H)...........................................................................................................................................................50
Figure 23 Setup (I).............................................................................................................................................................50
Figure 24 Variables (J)......................................................................................................................................................51
Figure 25 Program File Control (K) .................................................................................................................................52
Figure 26 Text Programming Box (L) ..............................................................................................................................52
Figure 27 Compiler (M) .....................................................................................................................................................53
Figure 32 Terminal (N) ......................................................................................................................................................53
Figure 29 DMM-0200 Front Panel.....................................................................................................................................56
Figure 30 Retrieving a Program.......................................................................................................................................60
Figure 31 Text Window.....................................................................................................................................................61
Figure 32 USB Cable.........................................................................................................................................................90
Figure 33 Trapezoidal Velocity Profile ............................................................................................................................91
Figure 34 S-Curve Velocity Profile ..................................................................................................................................91
Figure 35 Homing - Home Input Only (High Speed).......................................................................................................94
Figure 36 Homing - Home Input Only (High Speed and Low Speed) ...........................................................................94
Figure 37 Homing - Limit Only.........................................................................................................................................95
Figure 38 Homing - Home and Z-Index ...........................................................................................................................95
Figure 39 Homing - Z-Index Only.....................................................................................................................................96
Figure 40 Joystick Control...............................................................................................................................................99
Figure 41 Acceleration/Deceleration Profile................................................................................................................ 112

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DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
About This Guide
Introduction
This guide describes the installation of the DMM-0200 and the operation of it. The intended audiences are the customer,
technician responsible for performing the installation and preparing the site beforehand, and the operator running the
system.
This point forward, “About This Guide,” covers the following topics.
Topic
Page
Information about the DMM-0200
10
Symbols
10
Regulatory Compliance Certification
11
Contact Information
12
Chapters and Appendixes in This Guide
This guide contains the following chapters. It does not cover advanced topics such as debugging the system or editing
configuration files.
For
Go to page
Chapter 1
Site Planning
Describes the responsibilities of the customer and the requirements for the
installation site, and includes an installation process flow and installation procedure
checklist.
13
Chapter 2
Technical Overview
Describes the functionality of the DMM-0200 and its main components.
19
Chapter 3
Instaling the DMM-0200
Describes how to install the DMM-0200 into your system.
35
Chapter 4
Instaling Application Software for the DMM-0200
Explains how to install application software on your PC.
39
Chapter 5
Running the DMM-0200 via PMX-2EX-SA Software
Explains how to run the DMM-0200 using only the GUI on your PC.
43
Chapter 6
Running the DMM-0200 via Front Panel Buttons
Explains how to run the DMM-0200 using only the front panel buttons.
55
Chapter 7
Editing Programs
Explains how to edit stored programs.
59
Chapter 8
Interactive Commands & USB Communications
Describes the USB communications and ASCII commands to interactively
communicate to the DMM-0200.
88
Appendix
Supporting documentation for the DMM-0200 manual
110

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DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
Information about the DMM-0200
About This Release
This version of the operations manual supports the DMM-0200 GEN1 motion controller.
Viewing the PDF Version
The PDF version of this guide provides a number of ways to navigate through the content. Blue text indicates links to
related topics. You can also do the following:
Click the Bookmarks tab in the left pane to view the list of bookmarks and click any bookmark to navigate to
that topic. If the Bookmarks tab is not visible, choose View> Navigation> Bookmarks from the menu bar.
Click on the Contents bookmark. Pick ant entry in the Contents and click either the entry text or its page
number to go to that topic.
Scroll to the end of the Contents to the List of Figures. Pick any entry in the list and click either the figure
number and title or its page number to go to that topic.
Scroll to the end of the List of Figures to the List of Tables. Pick any entry in the list and click either the table
number and title or its page number to go to that topic.
Click on the Index bookmark. Pick any index entry and click its page number to go to that topic.
Symbols
This guide uses the following symbols.
Note: Indicates neutral or positive information that emphasizes or supplements important points of
the main text.
Caution: Advises users that failure to take or avoid a specified action could result in loss of data.
Warning: Advises users that failure to take or avoid a specified action could result in physical harm
to the user or hardware.

Page 11 of 112
DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
Regulatory Compliance Certification
[TESTING FOR COMPLIANCE IS IN PROCESS.]
The DMM-0200 hardware and its components meet or exceed the requirements of the following regulatory agencies.
Applicable labels indicating compliance with these requirements appear on the hardware.

Page 12 of 112
DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
Contact Information
DMM-0200 Contact Information
The Business Unit of Dover Motion in
Boxborough, MA is the manufacturer of the
DMM-0200. The location of the unit is:
Dover Motion
159 Swanson Rd.
Boxborough, MA 01719
The Dover Motion Website is located at:
http://www.Dovermotion.com
If you have questions or comments, contact:
Phone: [phone]
Email: [email protected]m
Or for Sales, contact:
Eastern U.S. & Canada
Phone: [phone]
Email: [e-mail]
Western U.S. & Canada
Phone: [phone]
Email: [e-mail]

Page 13 of 112
DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
Chapter 1
Site Planning
About This Chapter
Introduction
This chapter describes the responsibilities of the customer and the requirements for the installation site.
Topics
This chapter covers the following topics:
Topic
Page
Customer Responsibilities
14
Site Requirements
15
Specifications for Power, Communications, and Environment
15
Where to Go Next
18

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DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
Customer Responsibilities
Requirements for the Installation Site
For installation of the DMM-0200, you are responsible for supplying the following:
An electrical receptacle available for power to the system. See “Electrical Receptacle” on page 16 for
specifications.
Warning: If you use a different type of power cord, plug, or receptacle, other than those
specified in the guide, you are responsible for having a qualified electrician install them.
Warning: If the system voltage is different than what is specified in the guide, you are
responsible for having a qualified electrician rewire the system power supplies PWS1-4 and
the main transformer T1 for that voltage.
A suitable bench area for the DMM-0200. See bench specifications in the Table 1.
One 2.0 USB cables (optional).
Note: The USB cable is not required for the initial installation since the system software is
already installed on the DMM-0200 when shipped. This cable is for customer use.
Preliminary Steps
Perform the following preliminary steps to prepare for the installation:
1. Complete the Site Requirements Checklist. See Site Requirements section.
Note: Do not attempt to perform an installation unless the requirements specified in this guide
have been carried out.

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DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
12.86cm
Figure 1 DMM-0200 Dimensions
24.06 cm 20.05 cm
Site Requirements
Requirements for Receiving and Setup
Receiving
When you receive your DMM-0200, do the following:
1. Inspect the package for damage.
Caution: If you suspect damage, take pictures of the location where you suspect there is
damage. A representative of the shipping carrier may need to be present during the unpacking
process for insurance purposes.
Setup
Select a location where you want the DMM-0200 to be unpacked and installed. Please ensure the following parameters
are met:Table 1 Weights and Measurements
Specification
DMM-0200
Weight
2.24 Kg (approx. 4.95 lbs)
Dimensions (maximum):
Width
24.06 cm (approx. 9.47 inches)
Depth
20.05 cm (approx. 8.08 inches)
Height
12.86 cm (approx. 5.06 inches)

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DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
Specifications for Power, Communications, and Environment
Electrical Power
The DMM-0200 requires a main power source, as specified in Table 2. Ensure that the AC power source is
easily accessible.
Table 2 Specifications for Electrical power
Specification
Voltage
90-264VAC ± 10%
Frequency
47-63 Hz
Current (at nominal voltage, 110VAC)
Typical, maximum, inrush
surge: No more than 11 amps.
Electrical receptacle
The DMM-0200 requires a NEMA 5-15 receptacle in North America. The electrical receptacle must be located
within 2.5 meters (approx. 8 feet) of the power cord input on the system.
Note: The electrical receptacle must have a dedicated 1.2kVA power line and ground.
Grounding
Certain types of electrical noise are greatly exaggerated by poor or improper electrical ground connections. To
prevent these problems, it is desirable to have a dedicated circuit and ground for use by the DMM-0400.
Note: For grounding wiring, the DMM-0200 uses internal AC ground connections with
green/yellow 16AWG wiring.
Warning: Do not connect the DMM-0200 to the same dedicated line and ground that is
used to power a device with a high current.
Warning: Use qualified personnel for installation of all electrical fixtures, and ensure
that all installations follow local bylaws.

Page 17 of 112
DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
Power Cord and Communications Cables
Table 3 lists the suggested lengths for power cord and communications cables for the DMM-0200. The DMM-0200
shipment includes only the power cord.
Table 3 Specifications for Power and Communications Cables
Cable Type
Length1
Maximum Length
DMM-0200 power cord (supplied):
NEMA5-15
(North America-specific)
2.4 meters (8 feet)
15 Amp
3.6 meters (12 feet)
Communications cables (not supplied):
USB 2.0 cable A-B
3 meters (10 feet)
30 meters (100 feet)
Warning: If you use a different type of power cord, plug, or receptacle, other than those
specified in this guide, you are responsible for having a qualified electrician install them.
Operating Environment
Table 4 lists the specifications for the environment in which the DMM-0200 will be fully operational and compliant with
its performance specifications.
Table 4 Specifications for the Operating Environment
Specification
Acceptable Range
Temperature
15-30˚ C
59-86˚ F
Relative humidity
20-80% non-condensing
Altitude
0 to 2,000 meters above sea level
0 to 6,600 feet above sea level
1 The cord and cable lengths specified in this table are suggested lengths. You must supply the cord or cable if you need to use
anything longer than these (see the column, Maximum length).

Page 18 of 112
DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
Where to Go Next
Continue with the next chapter, Chapter 2 - Technical Overview.The next section will allow you to become familiar
with the functionalities, capabilities, and main components of the DMM-0200.

Page 19 of 112
DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
Chapter 2
Technical Overview
About This Chapter
Introduction
This chapter describes the functionalities, capabilities, and main components of the DMM-0200 from a technical
perspective. This chapter should provide the user with more detail and familiarity regarding the operation DMM-0200.
Topics
This chapter covers the following topics:
Topic
Page
Technical Description
20
Front Panel
22
Rear Panel
23
Rear Panel Connector Pinouts
25
Rear Panel Jumper and Switch Selection
29
Rear Panel LEDs
31
Interface Circuitry
32
Where to Go Next
34

Page 20 of 112
DMM-0200 Product User Guide
159 Swanson Road  Boxborough, MA 01719  Tel: [phone]  Email: [email protected]
Technical Description
Motion Control Capabilities
The DMM-0200 controller (along with the DMM-0400) is a family of programmable, motion controllers. It is highly
customizable and can control up to four axis of motion.
A wide range of applications using stepper motors can be controlled using the DMM-0200. The versatile yet low cost
and highly efficient design of the DMM-0200 allows the user to satisfy a wide range of motion control requirements.
See below for part number information:
The DMM-0200 can be ordered with 1 or 2 step axes per controller. Please contact Dover Motion Sales group for
further information.
Additional axis of motion (up to 4 axes) is available with the DMM-0400 controller.