SMC Networks DMX-K-SA User manual

DMX-K-SA
Integrated Step Motor
Encoder/Driver/Controller
Manual
Smart Motion Control Co.,Ltd.
Http://www.smmc.com.tw ;E-mail :[email protected]
[phone] FAX:[phone]
DMX K-SA Manual page 1 rev 3.07

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:
2.0 – First revision
2.1 – Added RS-485 detailed transmission info
2.2 – Fixed pulse/rev feature
3.01 – Added RS-232 communication
Added Sync Output feature
3.02 – Added baud rate support
3.03 – Removed DO LOOPWHILE, added V commands
3.04 – Added limit error correction feature
3.05 – Simplified polarity
3.06 – Added alarm, in position polarity, broadcast address
3.07 – Added SSPDM, home limit correction, current commands
Firmware Compatibility:
v311
Software Compatibility:
DMX-K v311
DMX K-SA Manual page 2 rev 3.07

Table of Contents
1. Introduction..................................................................................................................... 6
Model Numbers .............................................................................................................. 7
Default Settings............................................................................................................... 9
2. Quick Startup Guide ..................................................................................................... 12
3. Dimensions and Motor Spec ......................................................................................... 14
4. Torque Curve ................................................................................................................ 15
5. Connector ...................................................................................................................... 16
Connector Information.................................................................................................. 16
Connector Pin Outs ....................................................................................................... 17
Junction Board .............................................................................................................. 17
Digital Input Connections ............................................................................................. 19
Digital Output Connections .......................................................................................... 19
6. Electrical Specifications................................................................................................ 20
Power Requirement....................................................................................................... 20
Communication Interface: ............................................................................................ 20
+Lim, -Lim, Home, Digital Inputs:............................................................................... 20
Digital Outputs:............................................................................................................. 20
7. Communication............................................................................................................. 21
RS-232 .......................................................................................................................... 21
RS-485 .......................................................................................................................... 22
Communication Protocol .............................................................................................. 23
ASCII Commands ......................................................................................................... 24
8. Feature Overview .......................................................................................................... 27
Built-in encoder ............................................................................................................ 27
Built-in Microstep Driver ............................................................................................. 27
Motion Profile ............................................................................................................... 27
On-The-Fly Speed Change ........................................................................................... 28
Motor Power ................................................................................................................. 30
Homing ......................................................................................................................... 30
Jogging .......................................................................................................................... 34
Stopping Motor ............................................................................................................. 34
Motor Position .............................................................................................................. 34
Motor Status.................................................................................................................. 34
Limit Inputs................................................................................................................... 34
Digital Inputs / Outputs................................................................................................. 35
Latch Input .................................................................................................................... 35
Sync Output .................................................................................................................. 36
Home Limit Error Correction ....................................................................................... 36
StepNLoop Closed Loop Control ................................................................................. 37
Idle Current and Run Current ....................................................................................... 38
Device Number and Baud Rate: ................................................................................... 39
Broadcasting over RS-485 ............................................................................................ 39
DMX K-SA Manual page 3 rev 3.07

Standalone Support ....................................................................................................... 39
Storing to Flash ............................................................................................................. 40
9. DMX-K Windows Program .......................................................................................... 41
10. Standalone Language Specification ............................................................................ 61
; ..................................................................................................................................... 61
ABORT ......................................................................................................................... 61
ACC .............................................................................................................................. 62
DELAY ......................................................................................................................... 62
DI .................................................................................................................................. 63
DI[1-6] .......................................................................................................................... 63
DO................................................................................................................................. 64
DO[1-3]......................................................................................................................... 64
EX ................................................................................................................................. 65
ECLEARX .................................................................................................................... 65
ELSE ............................................................................................................................. 66
ELSEIF ......................................................................................................................... 67
END .............................................................................................................................. 68
ENDIF ........................................................................................................................... 68
ENDSUB....................................................................................................................... 69
ENDWHILE ................................................................................................................. 69
EO ................................................................................................................................. 70
GOSUB ......................................................................................................................... 70
HOMEX ........................................................................................................................ 71
HSPD ............................................................................................................................ 71
IF ................................................................................................................................... 72
JOGX ............................................................................................................................ 73
LSPD............................................................................................................................. 74
MSTX ........................................................................................................................... 74
PS .................................................................................................................................. 75
PX ................................................................................................................................. 75
SCV............................................................................................................................... 76
SSPD ............................................................................................................................. 76
SSPDM ......................................................................................................................... 77
STOPX .......................................................................................................................... 77
SUB............................................................................................................................... 78
SYNCCFG .................................................................................................................... 79
SYNCOFF..................................................................................................................... 79
SYNCON ...................................................................................................................... 80
SYNCPOS..................................................................................................................... 80
SYNCSTAT .................................................................................................................. 81
V[1-99].......................................................................................................................... 82
WAITX ......................................................................................................................... 83
WHILE.......................................................................................................................... 84
X.................................................................................................................................... 85
ZHOMEX ..................................................................................................................... 85
DMX K-SA Manual page 4 rev 3.07

ZOMEX ........................................................................................................................ 85
DMX K-SA Manual page 5 rev 3.07

1. Introduction
DMX K is an all-in-one integrated motor package that combines all the motion
components
in to one convenient package.
DMX K Series has the following features:
- RS-485 or RS-232 ASCII communication with 9600, 19200, 38400, 57600,
115200 Baud rate
- Standalone programming using easy to use text based programming language
- Opto-isolated +Limit/-Limit/Home inputs
- Opto-isolated 6 digital inputs
- Opto-isolated 3 digital outputs
- High speed position capture Digital Input
- Position Synchronized Digital Output
- 1000 line incremental encoder (4000 counts/rev with 4x quadrature decoding)
- StepNLoop closed-loop control
- S-curve/Trapezoidal acceleration profile control
- Homing routine using:
o Home input only
o Z index encoder channel only
o Home input and Z index encoder channel
- 16 micro-step driver with effective resolution with 1.8 degree motor of 3200
pulse/rev
- 12 to 35VDC Voltage Input
- Driver current from 100mA to 2.5A
- NEMA 17 motor sizes available in different stack sizes.
(NEMA 23 size to be released by 3
rd
quarter of 2007)
DMX K-SA Manual page 6 rev 3.07

Motor Stack Size
2 – Double
3 – Triple
4 - Quad
SA - Standalone
Model Numbers
Main Product
DMX-K-SA-17-
17 – NEMA 17 Motor
K – K Series
DMX K-SA Manual page 7 rev 3.07

Accessories
Part ID: DMX-K-SA-IFB
Description: Interface Board for the DMX-K-SA.
Part ID: DMX-K-24FF3
Description: 24 pin female to female cable 3 ft long
DMX K-SA Manual page 8 rev 3.07

Default Settings
Following are the factory default settings when then unit is shipped from the factory.
C
o
mm
un
i
ca
ti
on
M
e
t
hod
RS
-
232
Ba
ud
R
a
t
e
9600
D
e
v
i
c
e
I
D
D
M
K01
I
d
l
e
C
u
r
re
nt
1000
m
A
R
un
C
u
rre
nt
1600
m
A
I
d
l
e
T
im
e
500
mS
e
c
St
e
p
N
L
oop
En
a
b
l
e
d
St
e
p
N
L
oop
M
a
x
im
um
A
tt
e
m
pt
10
St
e
p
N
L
oop
To
l
e
ra
n
c
e
R
a
n
g
e
20
St
e
p
N
L
oop
E
rr
or
R
a
n
ge
1000
D
i
re
c
ti
on
P
o
l
ar
i
t
y
C
W
L
imi
t
P
o
l
ar
i
t
y
A
c
ti
ve
L
ow
Ho
m
e
P
o
l
ar
i
t
y
A
c
ti
ve
L
ow
L
a
t
c
h
P
o
l
ar
i
t
y
A
c
ti
ve
L
ow
Limit Move Out Amount (for H+ or H-
c
o
mm
a
nd
on
l
y
)
1000
R
un
P
r
o
g
ra
m
on
P
ow
e
r
Up
D
i
s
a
b
l
e
d
DMX K-SA Manual page 9 rev 3.07

Contacting Support
For any technical support, contact by email at [e-mail] or by
phone [phone] from 9 AM to 5 PM PST (California, U.S.A.).
DMX K-SA Manual page 10 rev 3.07

2. Quick Startup Guide
If you are a first time user and want to have the DMX-K unit up and running quickly,
follow
the recommended steps:
1) Prepare a Windows XP compatible PC with RS-232 communication port. If the
PC
does not have RS-232 communication port, USB to RS-232 converter is needed.
2) Connect DMX-K-SA to the Interface board using 24-pin cable. Connect RS-232
communication lines between the Junction board and PC. Supply +24V power
and
GND.
3) Download DMX-K Windows program from Arcus Technology website:
www.arcus-technology.com/support
4) When DMX-K Windows program is started, you will see following dialog box:
Click on the Search button on the upper right corner. This search will check all
available
communication ports from COM1 to COM12 and check for
communication
with the DMX-K device. Note that the default baud rate and
device
name is 9600 bps , and 01 respectively.
DMX K-SA Manual page 12 rev 3.07

Click on the Search All button on the middle right corner if the DMX-K is
configured for RS-485. RS-485 is a multi-drop protocol which allows many
devices
to be connected on a bus. This routine will search for all devices
available on COM1 to COM12. Note that this routine does not apply if the DMX-
K is configured for the point-to-point protocol: RS-232.
5) Once the desired device is found, the right port number will be selected and
you can click on Open Connection button to start communicating with the
DMX-K. The following screen will show:
D B E
C
A
A. To energize the motor, check the enable checkbox.
B. To move the motor, try jogging plus or minus.
C. Change speed and acceleration values to see moves at different
speed.
D. To move to position, enter the target position and perform move
ABS.
E. To move back to zero position, push DATUM button.
For detailed information on using the DMX-K Windows program, please see section 9.
DMX K-SA Manual page 13 rev 3.07

3. Dimensions and Motor Spec
NEMA 17 Models L
(
in
c
h
e
s)
Motor Inertia
(
o
z
-
in
^
2)
Amp/Phase
(
a
m
p
)
D
M
X
17
K
-
S
A
-
2
15
8
02
8
1
7
D
M
X
17
K
-
S
A
-
3
18
9
03
7
2
0
D
M
X
17
K
-
S
A
-
4
23
6
05
6
2
0
DMX K-SA Manual page 14 rev 3.07

4. Torque Curve
DMX17K Torque Chart
0.6
0.5
0.4
0.3
0.2
0.1
0 0500 1000 1500 2000 2500 3000
RPM
Quad Stack Triple Double
DMX17K Torque Chart
90
80
70
60
50
40
30
20
10
0 0500 1000 1500 2000 2500 3000
RPM
Quad Stack Triple Double
DMX K-SA Manual page 15 rev 3.07

5. Connector
DMX-K Series come with 24 pin connector as shown below.
Connector Information
Description: Female 24 pin 2mm dual row
Manufacturer: HIROSE
Part Number: DF11-24DS-2C (24 pin female connector)
DF11-2428SC
(female pin)
DMX K-SA Manual page 16 rev 3.07

Connector Pin Outs
D
e
s
cr
ip
t
i
on
P
i
n
P
i
n
D
e
s
cr
ip
t
i
on
P
W
R
1
2
P
W
R
GND
3
4
485
+
HO
M
E
5
6
485
-
DO1
7
8
+
L
I
M
RS
-
232
TXD
9
10
-
L
I
M
D
I
1
11
12
D
I
3
D
I
2
13
14
D
I
4
NC
15
16
D
I
5
O
P
TO
S
U
PP
L
Y
17
18
D
I
6
RS
-
232
R
XD
19
20
DO2
O
P
TO
GND
21
22
DO3
NC
23
24
GND
Junction Board
24 pin connector junction board which breaks out the 24 pin signals to screw terminals
shown
below is available for quick wiring and testing.
DMX K-SA Manual page 17 rev 3.07

Interface Circuit
Note: All the digital inputs (Limits, Home, DI1 to DI6) have same opto-isolated
circuitry)
DMX K-SA Manual page 18 rev 3.07

Digital Input Connections
Limit, Home and Digital Inputs 1 to 6 are opto-isolated inputs.
Connect the Opto-Supply using 12-24VDC input. To trigger the Limit, Home, or Digital
Inputs, sink the line to ground of the Opto-supply.
DI2 is used also as a high speed position capture digital input.
Digital Output Connections
Digital outputs are opto-isolated outputs using a Darlington transistor that can sink up to
100mA of current at maximum voltage of 24VDC.
DMX-K
has 3 general purpose digital outputs.
When using StepNLoop closed loop control, DO1 is used as In-position output and DO3
is used as Alarm Output.
When using Sync Output feature, DO2 is used as the Sync Output signal.
DMX K-SA Manual page 19 rev 3.07

6. Electrical Specifications
Power Requirement
Regulated Supply Voltage Range: +12 to +35 VDC
Recommended Current for power supply: 2.5 A
Important Note:
Higher voltage recommended for high speed application
Communication Interface:
RS-232 (default) 9600, 19200, 38400, 57600, 115K
Baud
RS-232 Arcus ASCII
command
support
RS-485: 9600, 19200, 38400, 57600, 115K
Baud
RS-485 Arcus ASCII
command
support
Important Note:
Factory default setting is RS-232 at 9600 bps
To use RS-485, communicate first using RS-232,
change communication mode to RS-485, store to memory and
reboot
the power and use RS-485 communication.
+Lim, -Lim, Home, Digital Inputs:
Type: Opto-isolated inputs
Opto voltage supply input: +12 to +24 VDC
Digital Outputs:
Type: Darlington Opto-isolated output
Max sink current at 24VDC 100 mA
DMX K-SA Manual page 20 rev 3.07