ACE-SXC Single Axis Step Motor Controller with USB 2.0
Contents
1. 54 M a ane bee 55 SLOP qc 55 STORES ERE 56 SADI e Y I 56 VASO X 57 bp Sup d 58 WHILE ose posee o te Cte ah 59 iva 60 ACE SXC Manual page 4 rev 1 8 ARCUS Technology Standalone Example Program wai actuate 61 Standalone Example Program 2 61 Standalone Example Program 61 Standalone Example Program 4 5 62 Standalone Example Prostran nett niet etu 62 Standalone Example Program 6 eet iet eren eine int 63 ACE SXC Manual page 5 rev 1 8 ARCUS Technology 1 Introduction ACE SXC is a single axis step motor controller with following features USB 2 0 Communication PC based control through USB 2 0 Standalone Control with BASIC like programming language 12 48VDC voltage input Pulse Dir open collector signal output 400K maximum pulse rate output Open collector Enable output TTL Alarm input Opto isolated Limi2. RSTOP HOME Text Program Enable Disable Limit Alarm Terminal Variables Open Save H New ACE SXC Manual page 15 rev 1 8 ARCUS Technology A Status Axis Status 1 Position 0 4 2 status ch 3 HC HO LO Alam Al 4 1 Position Display of current motor position counter value 2 Status Display of current motor status Possible values are ACCEL acceleration in progress CONST constant speed in progress DECEL deceleration in progress LIM ERROR minus limit error occurred LIM ERROR plus limit error occurred 3 Clear Error Clear Error button is used to clear the Limit error status 4 Limit and Home and Alarm Input Status Display of limits and home and alarm input status ACE SXC Manual page 16 rev 1 8 ARCUS Technology B Axis Control Axis Control 3 4 gue ems Postion 100 m E i 1000 o sono ABS JOG JOG 1 Speed 100 uam ana E Accel 300 SET POS ABS INC STOP DE LH 2 11 12 10 Target Position Speed Accel Target Position use this to set the target position This position is the pulse position High Low Speed use this to set the speed of the move This value is in pulses second Accel acceleration value in milliseconds Set Position Set
3. Issuing home command starts the motor from low speed and accelerates to high speed B As soon as the home input is triggered the position counter is reset to zero and the motor stops immediately If the home switch is triggered in the middle of the acceleration the motor stops immediately To trigger the home input switch supply the opto supply voltage with 24VDC and connect the home input signal to opto supply ground If home switch is not used home input can also be used as general purpose input Digital input assignment for the home input switch is DI6 Digital inputs are active high Jog Move Jog move is used to continuously move the motor without stopping Use J J commands Stopping Motor When motor is moving jogging or homing motion can be stopped abruptly or with deceleration It is recommended to use decelerate and stop command so that there is less ACE SXC Manual page 27 rev 1 8 ARCUS Technology impact to the system To stop abruptly use the ABORT command To stop with deceleration use the STOP command Limit Switch Function With limit switch function enabled triggering of the limit switch in motion will stop the motion immediately depending on the direction of the motion If positive limit switch is triggered while moving in positive direction motor will immediately stop and the motor status bit for positive limit error is set Same is for negative limit while moving in negative directi
4. ACE SXC Manual page 58 rev 1 8 ARCUS Technology WHILE Description Perform WHILE loop Syntax WHILE Argument 1 Comparison Argument 2 Argument can be any of the following Numerical value Pulse or Encoder Position Digital Output Digital Input Enable Output Motor Status Comparison can be any of the following Equal to gt Greater than lt Less than gt Greater than or equal to lt Less than or equal to Not Equal to Examples WHILE 1 1 While V1 is 1 continue to loop X0 WAITX X1000 WAITX ENDWHILE ACE SXC Manual page 59 rev 1 8 ARCUS Technology X Description Command Perform X axis move to target location Syntax X value X variable Examples ABS Absolute move mode X10000 Move to position 10000 V10 1200 5 variable 10 value to 1200 10 Move axis to variable 10 value ACE SXC Manual page 60 rev 1 8 ARCUS Technology Standalone Example Program 1 Task Set the high speed and low speed and move the motor to 1000 and back to 0 HSPD 20000 Set the high speed to 20000 pulses sec LSPD 1000 Set the low speed to 1000 pulses sec ACC 300 Set the acceleration to 300 msec EO 1 Enable the motor power X1000 Move to 1000 X0 Move to 1000 END End of the program Standalone Example Program 2 Task Move the motor back and forth indefinitely between position 1000 and 0 HSPD 20000 Set the high speed to 20000 pulses sec L
5. m m IET 0 2 o 012 USB ACE SXC 001 57 A 0028 DMX K DRV 24V GHD OR Stand Alone Operation Master Controller H L m ACE SXC on 001 002 Control Through DIO DMX K DRV 249 GHD ACE SXC Manual page 14 rev 1 8 ARCUS 2 Technology Windows GUI ACE SXC comes with Windows GUI program to test program compile download and debug the controller GUI program can also be used to configure driver settings of DMX K DRV DMX A2 DRV and ACE SDX Make sure that the USB driver is installed properly before running the controller Startup the ACE SX C GUI program and you will see following screen Main Control Screen ACE SXC V412 Axis Status Position Status Mode LO Bs H 18 HO Alam 7 DI Status DIC wO wO Configuration Polarity Dir C Limit I DMX ACE Driver Setup Configuration Button Selection KDRY amp 2DRV gt ACE SDX DMX K DRV A2 DRV ACE SDX Config Button Axis Control Position fon High Speed 1000 LowSpeed 100 300 SET POS ABs DO Status 001 002 ma O Product ID and Firmware ACE SXC SA USB Ver 409 Device Name 5 lt 00 SET Autostart StoreT oF lash Program Control gt Run Total Size 0 Status Idle Stop Pause DATUM ABS JOG JOG ISTOP Accel Index 4m
6. HOMEX Home the motor in negative direction ENDIF V1 MSTX Store the motor status to variable 1 V2 V1 amp 7 Get first 3 bits IF V2 0 DOI 1 ELSE DO1 0 ENDIF ENDWHILE Go back to WHILE statement END ACE SXC Manual page 63 rev 1 8 ACE SXC Manual ARCUS Technology Contact Information Arcus Technology Inc 3061 Independence Drive Suite H Livermore CA 94551 925 373 8800 www arcus technology com page 64 rev 1 8
7. HSPD Write HSPD value HSPD variable Examples HSPD 10000 Sets the high speed to 10 000 pulses sec V 1 2500 Sets the variable 1 to 2 500 HSPDzVI Sets the high speed to variable 1 value of 2500 ACE SXC Manual page 51 ARCUS Technology rev 1 8 ARCUS Technology IF Description Perform IF condition check Syntax IF Argument 1 Comparison Argument 2 Argument can be any of the following Numerical value Pulse or Encoder Position Digital Output Digital Input Enable Output Motor Status Comparison can be any of the following Equal to gt Greater than lt Less than gt Greater than or equal to lt Less than or equal to I Not Equal to Examples IF V1 1 X1000 ENDIF ACE SXC Manual page 52 rev 1 8 ARCUS Technology INC Description Command Changes all move commands to incremental mode Syntax INC Examples INC Change to incremental mode PX 0 Change position to 0 X1000 Move axis to position 1000 0 1000 X2000 Move axis to position 3000 1000 2000 JOGX or Description Command Perform jogging using current high speed low speed and acceleration Syntax JOGX or Examples JOGX Jogs axis in positive direction JOGX Jogs axis in negative direction ACE SXC Manual page 53 rev 1 8 LSPD Description Read Get low speed Value is in pulses second Write Set low speed Value is in pulses second Range i
8. If ACE SXC is powered by 48VDC powering the DMX K DRV through the DB9 connector will damage the driver Communication Communication USB 2 0 Connector Mini B to A ACE SXC Manual page 11 rev 1 8 ARCUS Technology Pulse Direction and Enable Outputs Enable Output is an open collector output using 74LS07 An example of a pulse direction and enable circuit connection to a driver is shown below ACE SXC DRIVER PUL DIR ENABLE ENABLE Alarm Input Alarm input is TTL compatible input using the 741 507 An example of Alarm circuit is shown below ACE SXC DRIVER Alarm ACE SXC Manual page 12 rev 1 8 ARCUS Technology Limits Home and Digital Inputs Opto isolated inputs Type Opto voltage supply input 24 VDC Maximum diode forward current 50mA ACE SXC 50 OPTO COM LIMITS HOME Di LIM HOME DI 4 7K resistor is built in to the limit home and digital inputs to limit the current across the diode of the opto isolator Digital inputs are active high Digital Outputs Type Opto isolated open emitter transistor output Maximum emitter current 50 mA ACE SXC OPTO COM 24 VDC Digital outputs are active low Operating Temperature Electronic components used in ACE SXC have maximum ambient operating temperature of 85 degree Celsius ACE SXC Manual page 13 rev 1 8 ARCUS Technology 5 Getting Started Typical Setup PC Controlled H L
9. home input Bit 4 minus limit input Bit 5 plus limit input Bit 6 minus limit error Bit 7 plus limit error Bit 8 alarm error POL Returns current polarity Bit 0 Dir Bit 1 Limit POL value Sets polarity OK PX Returns current position value 32 bit number PX value Sets the current position value OK SASTAT Get standalone program status 0 4 0 Stopped Running 2 Paused 4 In Error SA LineNumber Get standalone line LineNumber 0 1274 SA LineNumber Value Set standalone line LineNumber 0 1274 SLOAD Returns RunOnBoot parameter 0 1 SLOAD 0 or 1 0 Do NOT run standalone program on boot up OK Run standalone program on boot up SR Value Control standalone program OK 0 Stop standalone program 1 Run standalone program 2 Pause standalone program 3 Continue standalone program SPC Get program counter for standalone program 0 1274 STORE Store settings to flash OK V 1 50 Read variables 1 50 32 bit number V 1 50 value Set variables 1 50 OK VER Get firmware version VXXX X value Moves the motor to absolute position value using the HSPD OK LSPD and ACC values Maximum allowed incremental move amount is 262143 For example if current position is ACE SXC Manual page 39 rev 1 8 ARCUS Technology 100000 target move must be between 362143 and 162143 ACE SXC Manual page 40 rev 1 8 ARCUS Technology 11 Standalone Langu
10. 1 uses the Windows PC using the ACE SXC GUI program to upload and download the driver parameters For detailed description refer to the ACE SXC GUI section on driver configuration Configuration Method 2 Using the Configuration Button Method 2 uses the configuration button on the ACE SXC controller to download the driver parameters Note that configuration button is used only for downloading the driver parameters that have been stored on the ACE SXC controller On the ACE SXC controller driver type needs to be stored on the flash so that when the button configuration is used correct driver configuration is done There are two types of driver type for button configuration 1 K DRV and 2 A2 DRV ACE SDX Once the correct driver type is selected and the driver parameter values are stored on the flash memory of ACE SXC controller driver parameters can be downloaded from ACE SXC to DMX K DRV without the use of Windows PC using the configuration button on the ACE SXC To configure the driver through the configuration button follow the steps below 1 Power the ACE SXC controller using 24VDC power supply 2 Connect the control cable between ACE SXC and DMX K DRV A2 DRV ACE SDX All the control signals Pulse Dir Enable Alarm must be connected to work properly 3 Press and hold down the configuration button for 3 seconds LED on ACE SXC controller will start blinking quickly indicating that the configuration is ready to start 4 W
11. acceleration as deceleration Use the ACC command to set get the acceleration deceleration value Acceleration range is from 10 msec to 1000 msec Position Counter ACE SXC has 32 bit signed position counter Range of the position counter is from 2 147 483 648 to 2 147 483 647 Get the current position by using the PX command Note on motion commands If a motion command is sent while the controller is already moving the command is not processed Instead an error response is returned Target Move Target move also known as absolute move is used to move the motor to the desired position from the current position Maximum allowable difference to target position from current position is 262 143 Maximum difference between current position and the target position has to be less than ACE SXC Manual page 26 rev 1 8 ARCUS Technology or equal to 262 143 For example if the current position counter is 1000 target position allowed will be between 261 143 1 000 262 143 and 263 143 1 000 262 143 ACE SXC can operate in either incremental or absolute move modes Use X command to make moves Use the INC and ABS commands to set the move mode Use the MODE command to read the current move mode Home Move Home search sequence involves moving the motor towards the home switch and then stopping when the home input is detected Use the H H command Following sequence shows the homing routine HOME INPUT Speed
12. flash is loaded and used Following are parameters that are stored on the flash Direction Polarity Limit Polarity Autostart Enable Disable Limit and Alarm switch function Device Name ACE SXC Manual page 19 rev 1 8 ARCUS Technology Driver settings Configuration Button Selection Variables V26 V50 6 Configuration Button Selection Configuration button is used to download the driver parameters without the use of the Windows PC With the controller powered and connected to DMX K DRV DMX A2 DRV or ACE SDX the driver configurations on the controller can be downloaded to the driver by using the configuration button A2 DRV and ACE SDX use the same driver parameter settings and grouped together as one type Select the driver type that will be used with the configuration button and once selected store to the flash memory so that the driver type and driver parameters to be used will be stored to the controller 7 DMX K DRV and DMX A2 DRV ACE SDX Configuration using Windows GUI DMX K DRV and DMX A2 DRV ACE SDX can be configured from the GUI by selecting one of the buttons 1 When DMX K DRV button is selected DMX K DRV configuration dialog box is opened From this dialog box settings for DMX K DRV can be uploaded or downloaded Note that Temperature showing the current driver temperature as detected and Version can only be uploaded DMX K DRV Setup DMX K DRV Settings Microstep 1 16 1 Run Cu
13. suse iia paie dti ed oa eo 26 POSITIOD Counter de Bes ua ee uten R 26 Target 26 Horne MOVE TERNE 27 Jos MOVE eed as le ee Ade eos 27 itenim 24 WP NCH OMe T m 28 Alarm switch Puncton 28 Conliguratiom Button BUN WON 28 28 Digital 29 Digital cnet vv soa 29 Motor POW Er 30 Device Number as qt Ha rit ERI A tI iE 30 Standalone Programming ehe tiet bet e 30 storing to e Tete E Ere ears eon eee Peer ee See 31 ACE SXC Manual page 3 rev 1 8 ARCUS Technology 7 Connecting to DMX K DRV DMX A2 DRV and ACE SDX 32 Connecting ACE SXC to DMX K DRV 11 17 seen 32 Connecting ACE SXC to 23 32 Connecting ACE SXC to 2 17 23 3 33 Connecting ACE SXC to ACE SDX iei cedat erede eee 33 8 DriveMax Configuration uere re eR E RR VERI e EINEN NR varer breve Ea ee vue RS 34 Configuration Method 1 Using Windows PC eene 35 Configuration Method 2 Using the Configuration Button eese 35 9 Comun caoi dar oe e ar 36 USB C
14. 0000 pulses sec LSPD 1000 Set the low speed to 1000 pulses sec ACC 300 Set the acceleration to 300 msec 1 Enable the motor power V1 0 Set variable 1 to zero WHILE 1 1 Forever loop IF DI121 If digital input 1 is on execute the statements GOSUB 1 Move to zero ENDIF ENDWHILE Go back to WHILE statement END SUB 1 XVI Move to V1 target position V1 V1 1000 Increment V1 by 1000 WHILE 1 Wait until the DII 1s turned off so that ENDWHILE 1000 increment is not continuously done ENDSUB ACE SXC Manual page 62 rev 1 8 ARCUS Technology Standalone Example Program 6 Task If digital input 1 is on move to position 1000 If digital input 2 is on move to position 2000 If digital input 3 is on move to 3000 If digital input 5 is on home the motor in negative direction Use digital output 1 to indicate that the motor is moving or not moving Note that in order to have digital input 3 and 5 working as digital input instead of limit switches disable the limit switch function HSPD 20000 Set the high speed to 20000 pulses sec LSPD 1000 Set the low speed to 1000 pulses sec ACC 300 Set the acceleration to 300 msec EO 1 Enable the motor power WHILE 1 1 Forever loop IF DI1 1 If digital input 1 is on X1000 Move to 1000 ELSEIF DI2 1 If digital input 2 is on X2000 Move to 2000 ELSEIF D13 1 If digital input 3 is on X3000 Move to 3000 ELSEIF DI5 1 If digital input 5 is on
15. 10F L1 G24 V1 DB9 Male 2mm 10 pin Female Dual Row DMX K DRV 11 17 ACE SXC Connecting ACE SXC to DMX K DRV 23 Cable Accessory CBL DB 9M DF3 10 L1 G24 V1 DB9 Male 2mm 10 pin Female Single Row ACE SXC DMX K DRV 23 ACE SXC Manual page 32 rev 1 8 ARCUS Technology Connecting ACE SXC to DMX A2 DRV 17 23 Cable Accessory CBL DB_9M DB_9F L1 G24 V1 089 Male DB9 Female DMX A2 DRV 17 23 ACE SXC Connecting ACE SXC to ACE SDX Cable Accessory CBL DB_9M I_8F L1 G24 V1 DBS Male ACE SDX ACE SXC 1 Female 5 mm Female ACE SXC Manual page 33 rev 1 8 ARCUS Technology 8 DriveMax Configuration ACE SXC can be used to configure the driver settings for the following products DMX K DRV 11 17 23 DMX A2 DRV 17 23 ACE SDX ACE SXC uses patent pending Dynamic Configuration method of reading and writing of the driver setting through control lines PULSE DIR ENABLE ALARM There are two ways to configure the DMX K DMX A2 ACE SDX using ACE SXC Configuration Methods Method 1 Using ACE SXC and Windows PC Method 2 Using ACE SXC Configuration Button Configuration ACE SXC Button age DMX K DRV DMX A2 DRV ACE SDX DMX K DRV DMX A2 DRV ACE SDX 24 GHD ACE SXC Manual page 34 rev 1 8 ARCUS Technology Configuration Method 1 Using Windows PC Method
16. ARCUS Technology ACE SXC Single Axis Step Motor Controller with USB 2 0 Communication ACE SXC Manual page 1 rev 1 8 ARCUS Technology COPYRIGHT 2007 ARCUS ALL RIGHTS RESERVED First edition Oct 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 01 First revision 1 02 Added dimensions 1 03 Added ASCH command set 1 3 Added new graphics 1 4 Added firmware and software compatibility 1 5 New hardware outputs changed removed loopwhile repeat 1 6 Delay resolution updated 1 7 Updated introduction updated alarm input schematic added connector information moved GUI section up to section 5 added active low high for inputs and outputs updated GUI section updated stand alone command spec updated ASCII command spec 1 8 Removed differential output spec added pull down resistor to circuit overview updated B C D F J sections of GUI already in motion situations enable as GPIO updated cable accessory names male side Firmware Compatibility V410 Software Compatibility V413 ACE SXC Manual page 2 rev 1 8 ARCUS Technology Table o
17. E SXC To store the downloaded parameters permanently on the ACE SXC controller make sure to store to flash before powering down the controller To close without downloading the parameters to ACE SXC select Cancel button ACE SXC Manual page 21 rev 1 8 ARCUS Technology E Terminal Terminal Reply Command Interactive terminal commands be sent and replies can be received See interactive commands for details of the interactive commands F Variable Status View the status of variables 1 50 Note that this window is read only Variables Volatile Variables Non Volatile Variables VI V26 V2 V2 V3 28 V4 v23 v5 v3 VE V31 32 v8 33 vg 34 910 13 38 1 Command line To write to variable use V 1 50 value syntax ACE SXC Manual page 22 rev 1 8 ARCUS Technology G Standalone Program File Management Open Save New Te 1 2 3 1 Open Open standalone program 2 Save Save standalone program 3 New Clear the standalone program editor H Standalone Program Editor Text Program Total Size 0 ACE SXC Manual page 2 rev 1 8 ARCUS Technology I Standalone Program Compile Download Upload View es 1 1 Compile Download Compile Compile the standalone program Download Download the compiled program Upload Upload the standalone p
18. Position button 3 DATUM Absolute move to zero position Maximum delta from current position to target is 262 143 If greater then move will not perform ABS Absolute move to target position Maximum delta from current position to target is 262 143 If greater then the move will not perform JOG Jog to minus direction JOG Jog to plus direction RSTOP Stop with deceleration ISTOP Immediate stop without deceleration HOME Homing in minus direction HOME Homing in plus direction ABS Mode Set to absolute move mode In ABS mode all position moves go directly to the target position 12 INC Mode Set to incremental move mode In INC mode all moves increment decrement from the current position p gt Elem ml ACE SXC Manual page 17 rev 1 8 ARCUS Technology C DI Status DO Status Enable DI Status DO Status nO 2 j Eonia y O 1 2 3 4 1 Digital Input Status Display of the three digital input bits If the digital input pin is grounded the digital input is turned on 2 Configuration Button Input Status Display of the driver configuration button 3 Digital Output Status Display of the two digital output status Digital output can be toggled by clicking on the circle 4 Enable Output Status Enable output status Enable output can be toggled by clicking on the circle ACE SXC Manual page 18 rev 1 8 ae ARCUS Technology D Configurat
19. SPD 1000 Set the low speed to 1000 pulses sec ACC 300 Set the acceleration to 300 msec EO 1 Enable the motor power WHILE 1 1 Forever loop X1000 Move to zero Move to 1000 ENDWHILE Go back to WHILE statement END Standalone Example Program 3 Task Move the motor back and forth 10 times between position 1000 and 0 HSPD 20000 Set the high speed to 20000 pulses sec LSPD 1000 Set the low speed to 1000 pulses sec ACC 300 Set the acceleration to 300 msec EO 1 Enable the motor power V1 0 Set variable 1 to value 0 WHILE V1 lt 10 Loop while variable 1 is less than 10 1000 Move to zero Move to 1000 V1 V1 1 Increment variable 1 ENDWHILE Go back to WHILE statement END ACE SXC Manual page 61 rev 1 8 ARCUS Technology Standalone Example Program 4 Task Move the motor back and forth between position 1000 and 0 only if the digital input 1 is turned on HSPD 20000 Set the high speed to 20000 pulses sec LSPD 1000 Set the low speed to 1000 pulses sec ACC 300 Set the acceleration to 300 msec EO 1 Enable the motor power WHILE 1 1 Forever loop IF DI1 1 If digital input 1 is on execute the statements X1000 Move to zero X0 Move to 1000 ENDIF ENDWHILE Go back to WHILE statement END Standalone Example Program 5 Task Using a subroutine increment the motor by 1000 whenever the rising edge 15 detected HSPD 20000 Set the high speed to 2
20. ached the program returns to the previously called subroutine Syntax ENDSUB Examples GOSUB 1 END SUB 1 X0 WAITX X1000 WAITX ENDSUB ENDWHILE Description Indicate end of WHILE loop Syntax ENDWHILE Examples WHILE V1 1 While is 1 continue to loop X0 WAITX X1000 WAITX ENDWHILE End of while loop so go back to WHILE ACE SXC Manual page 49 rev 1 8 ARCUS Technology EO Description Read Gets the enable output value Write Sets the enable output value Syntax Read variable EO Write EO value EO variable Conditional IF EO variable ENDIF IF EO value ENDIF Examples EO 1 Energize motor GOSUB Description Perform go to subroutine operation Subroutine range is from 0 to 31 Note Subroutine definitions should be written AFTER the END statement Subroutine 31 is reserved for error handling Syntax GOSUB subroutine number Subroutine Number range is 0 to 31 Examples GOSUB 0 END SUB 0 X0 WAITX X1000 WAITX ENDSUB ACE SXC Manual page 50 rev 1 8 or Description Command Perform homing using current high speed low speed and acceleration Syntax or Examples axis in positive direction HSPD Description Read Gets high speed Value is in pulses second Write Sets high speed Value is in pulses second Range is from 1 to 400 000 Syntax Read variable
21. age Specification Description Comment notation In programming comment must be in its own line Syntax Comment Text Examples This is a comment JOGX Jogs axis to positive direction DELA Y 1000 Wait 1 second ABORT Stop immediately all axes including X axis ABORTX Description Motion Immediately stop motion without deceleration Syntax ABORTX Examples JOGX Jogs axis to positive direction DELA Y 1000 Wait 1 second ABORTX Stop axis immediately ACE SXC Manual page 41 rev 1 8 ARCUS Technology ABS Description Command Changes all move commands to absolute mode Syntax ABS Examples ABS Change to absolute mode PX 0 Change position to 0 X1000 Move X axis to position 1000 X3000 Move X axis to position 3000 ACC Description Read Get acceleration value Write Set acceleration value Value is in milliseconds Syntax Read variable ACC Write ACC value ACC variable Examples ACC 300 Sets the acceleration to 300 milliseconds 3 500 Sets the variable 3 to 500 ACC V3 Sets the acceleration to variable 3 value of 500 ACE SXC Manual page 42 rev 1 8 ARCUS Technology DELAY Description Set a delay 1 ms units Syntax Delay Number 1 ms units Examples JOGX Jogs axis to positive direction DELA Y 10000 Wait 10 second ABORTX Stop axis DI Description Read Gets the digita
22. atile flash SUB Description Indicates start of subroutine Syntax SUB subroutine number Subroutine Number range is 0 to 31 Examples GOSUB 1 END SUB 1 X0 WAITX X1000 WAITX ENDSUB ACE SXC Manual page 56 rev 1 8 ARCUS Technology V 1 50 Description Assign to variable ACE SXC has 100 variables V1 V50 Syntax V Variable Number Argument V Variable Number Argument Operation Argument2 Special case for BIT NOT V Variable Number Argument Argument can be any of the following Numerical value Pulse or Encoder Position Digital Output Digital Input Enable Output Motor Status Operation can be any of the following Addition Subtraction S Multiplication Division Modulus gt gt Bit Shift Right lt lt Bit Shift Left amp Bit AND Bit OR Bit NOT Examples V1 12345 Set Variable 1 to 123 2 1 1 Set Variable 2 to V1 plus 1 V3 DI Set Variable 3 to digital input value V4 DO Sets Variable 4 to digital output value V5 EO Sets Variable 5 to bit NOT of enable output value ACE SXC Manual page 57 rev 1 8 ARCUS Technology WAITX Description Command Tell program to wait until move on the certain axis is finished before executing next line Syntax WAITX Examples X10000 Move axis to position 10000 WAITX Wait until axis move is done DO 3 digital output X3000 P Move axis to 3000 WAITX Wait until axis move is done
23. chnology ECLEARX Description Write Clears motor error status Syntax Write ECLEARX Examples ECLEARX Clears motor error ELSE Description Perform ELSE condition check as a part of IF statement Syntax ELSE Examples IF V1 21 X1000 If V is 1 then move to 1000 ELSE X 1000 If V1 is not 1 then move to 1000 ENDIF ACE SXC Manual page 46 rev 1 8 ARCUS Technology ELSEIF Description Perform ELSEIF condition check as a part of the IF statement Syntax ELSEIF Argument 1 Comparison Argument 2 Argument can be any of the following Numerical value Pulse or Encoder Position Digital Output Digital Input Enable Output Motor Status Comparison can be any of the following Equal to gt Greater than lt Less than gt Greater than or equal to lt Less than or equal to i Not Equal to Examples IF V1 1 X1000 ELSEIF V1 2 X2000 ELSEIF V1 3 X3000 ELSE X0 ENDIF ACE SXC Manual page 47 rev 1 8 ARCUS Technology END Description Indicate end of program Program status changes to idle when END is reached Note Subroutine definitions should be written AFTER the END statement Syntax END Examples X0 WAITX X1000 END ENDIF Description Indicates end of IF operation Syntax ENDIF Examples IF V1 1 X1000 ENDIF ACE SXC Manual page 48 rev 1 8 ARCUS Technology ENDSUB Description Indicates end of subroutine When ENDSUB is re
24. es to read and write must be 64 characters USB Communication Issues A common problem that users may have with USB communication is that after sending a command from the PC to the device the response is not received by the PC until another command is sent In this case the data buffers between the PC and the USB device are out of sync Below are some suggestions to help alleviate this issue 1 Multi threading Be sure that your application does not employ multi thread processing See important note in the beginning of this section 2 Buffer Flushing If USB communication begins from an unstable state 1 e your application has closed unexpectedly it is recommended to first flush the USB buffers of the PC and the USB device See the following function prototype below BOOL fnPerformaxComFlush IN HANDLE pHandle Note fnPerformaxComFlush is only available in the most recent PerformaxCom dll which is not registered by the standard USB driver installer A sample of how to use this function along with this newest DLL is available for download on the website 3 USB Cable Another source of USB communication issues may come from the USB cable Confirm that the USB cable being used has a noise suppression choke See photo below Moise suppression choke ACE SXC Manual page 37 rev 1 8 ARCUS Technology 10 ASCII Language Specification All the commands described in this section are all interactive commands and do n
25. f Contents 1 rincon fele eee CE 6 De LTRIGBSIOBS ee ee 7 B CONMECEORS 8 DB29 Connector Information ees deo 8 2 pin Connector Information ieties i eera 9 10 pin Connector repe uta EA ee ede 9 4 Electrical Specifications ucc tr ER RD MPO SCORES DOCET LR ep ATER Ets 10 Internal Interface Circuit Overview etu eruca iei E bcne etate de SEA 10 Power 11 11 Pulse Direction and Enable Outputs Neatorama A 12 12 Limits Home and Digital Inputs 13 Disital Otitputs 13 Op eratins Temperature 13 9 Geran SS ATC Me MEME 14 Typical 14 Windows a 15 Main Control 15 M de Son ea EN he en on ES 16 17 C DI Status DO Status Enable tret eai 18 D BAUR OT aso eese pc I ed once pec P wes ance pa be ies TA cots eae ta iuo Rn CR ca ae 19 E Terminal sea eb ev ein pig E ida 22 Variable Status 22 Standalone Program File Management eese 23 6 Motiorn Control OVerVIe Wo edic tse TE d ARI 26 Motion Profile and Speed
26. hile the LED is blinking quickly release the button and press the button again to start the configuration of the connected driver While the configuration is done LED is turned off Configuration takes about 3 seconds If button is not pressed again within 3 seconds during quick blinking state LED will stop blinking and configuration will be aborted 5 If the configuration is done properly the LED will blink quickly for 3 seconds If the configuration is not done properly LED will blink slowly for 3 seconds ACE SXC Manual pe rev 1 8 go O2 UA ARCUS Technology 9 Communication USB ACE SXC USB communication is USB 2 0 compliant Communication between the PC and ACE SXC is done using Windows compatible DLL API function calls as shown below Windows programming language such as Visual BASIC Visual C LABView or any other programming language that can use DLL can be used to communicate with the Performax module Typical communication transaction time between PC and ACE SXC for sending a command from a PC and getting a reply from ACE SXC using the fnPerformaxComSendRecv API function is in single digit milliseconds This value will vary with CPU speed of PC and the type of command Important Note PerformaxCom dll only supports single threaded programming Calling PerformaxCom dll functions from different threads will lead to unexpected behavior even if the functions are not being used by different threads simultaneous
27. ion 1 2 Configuration Polarity Product ID and Firmware Dir G ACE SXC SA USB Ver 408 Limit fe Device Name 5 00 SET 3 DMX ACE Driver Setup Autostart dz EE n Button Meu Enable 6 KDRv A2DRV ACE SDX Al j Disable 5 im Limit amp larm s StoreT oFlash A2 DRV DMX K DRV ACE SDX T 4 1 Polarity Direction polarity can be configured to change the rotational direction Limit switch input can be configured Limit switch polarity setting is valid only when the limit switch function is enabled 2 Product ID and Firmware Product ID and firmware is shown to confirm the ACE SXC product Firmware version loaded on the ACE SXC is shown Device name can be changed so that multiple ACE SXC can be connected on the USB When entering the new Device Name make sure to enter in the format of SXCXX where XX ranges from 00 to 99 To change the device name click SET then store the parameter to flash After a power cycle the new device name will take effect 3 Autostart Autostart is for automatic startup of the standalone program If this is checked the standalone program startup up automatically when the unit is powered 4 Limit and Alarm Disable Limit and alarm switch function can be disabled and the inputs can be used as general purpose inputs 5 Store To Flash Parameters on the ACE can be permanently stored on the flash memory The unit is powered the parameter values stored on the
28. it Description 0 Digital Output 1 1 Digital Output 2 Digital output values can also be referenced one bit at a time by the DO 1 2 commands Note that the indexes 1 based for the bit references i e DOI refers to bit 0 not bit 1 Digital outputs are active low ACE SXC Manual page 29 rev 1 8 ARCUS Technology Motor Power Using the EO command the motor power can be enabled or disabled If the enable function is not used the enable output can be used as a general purpose output The enable output does not effect the move command Polarity Using POL command polarity of following signals can be configured Bit Description 0 Direction 1 Limit Device Number ACE SXC module provides the user with the ability to set the device number of a specific device In order to make these changes first store the desired number using the DN command Please note that this value must be within the range SXCO1 SXC99 To write the values to the device s flash memory use the STORE command After a complete power cycle the new device number will be written to memory Note that before a power cycle is completed the settings will not take effect By default Device name is set to SXC00 Standalone Programming Standalone Program Specification Memory size 1275 assembly lines 7 5 KB Note Each line of pre compiled code equates to 1 4 lines of assembly lines Stand alone execution while in Ste
29. l input value ACE SXC has 8 digital inputs Digital inputs are active high Syntax Read variable DI Conditional IF DI variable ENDIF IF DI value ENDIF Examples IF DI 0 DO 1 f all digital inputs are triggered set DO 1 ENDIF ACE SXC Manual page 43 rev 1 8 ARCUS Technology DI 1 8 Description Read Gets the digital input value ACE SXC has 8 digital inputs Digital inputs are active high Syntax Read variable DI 1 8 Conditional IF DI 1 8 variable ENDIF IF DI 1 8 0 or 1 ENDIF Examples IF DI1 0 DO 1 f digital input 1 is triggered set DO 1 ENDIF DO Description Read Gets the digital output value Write Sets the digital output value ACE SXC has 2 digital outputs Digital outputs are active low Syntax Read variable DO Write DO value DO variable Conditional IF DO variable ENDIF IF DO value ENDIF Examples DO 3 Turn on both bits ACE SXC Manual page 44 rev 1 8 ARCUS Technology DO 1 2 Description Read Gets the individual digital output value Write Sets the individual digital output value ACE SXC has 2 digital outputs Digital outputs are active low Syntax Read variable DO 1 2 Write DO 1 2 0 or 1 DO 1 2 variable Conditional IF DO 1 2 variable ENDIF IF DO 1 2 0 or 1 ENDIF Examples DOI 1 Turn DOI on DO2 1 Turn DO2 on ACE SXC Manual page 45 rev 1 8 ARCUS Te
30. ly USB Communication API Functions For USB communication following DLL API functions are provided BOOL fnPerformaxComGetNumDevices OUT LPDWORD IpNumDevices This function is used to get total number of all types of Performax and Performax USB modules connected to the PC BOOL fnPerformaxComGetProductString IN DWORD dwNumDevices OUT LPVOID IpDeviceString IN DWORD dwOptions This function is used to get the Performax or Performax product string This function is used to find out Performax USB module product string and its associated index number Index number starts from 0 BOOL fnPerformaxComOpen IN DWORD dwDeviceNum OUT HANDLE pHandle This function is used to open communication with the Performax USB module and to get communication handle dwDeviceNum starts from 0 BOOL fnPerformaxComClose IN HANDLE pHandle This function is used to close communication with the Performax USB module BOOL fnPerformaxComSetTimeouts IN DWORD dwReadTimeout DWORD dwWiriteTimeout ACE SXC Manual page 36 rev 1 8 ARCUS Technology This function is used to set the communication read and write timeout Values are in milliseconds This must be set for the communication to work Typical value of 1000 msec is recommended BOOL fnPerformaxComSendRecv IN HANDLE pHandle IN LPVOID wBuffer IN DWORD dwNumBytesToWrite IN DWORD dwNumBytesToRead OUT LPVOID rBuffer This function is used to send command and get reply Number of byt
31. mm connector Mating Connector Manufacturer On Shore Mating Connector Manufacturer Part EDZ1550 10 Note Other 3 81mm compatible connector can be used ACE SXC Manual page 9 rev 1 8 ARCUS Technology 4 Electrical Specifications Internal Interface Circuit Overview ACE SXC _T PUL DIR GHD a SZ 1K 2 EM E 4 1507 Lim Lim Home 02 03 002 ACE SXC Manual L 4 7K v 4 7K Repeat O Same Input Circuit aK page 10 12 48 0 GHD PWR_OUT GHD_OUT PUL DIR Alarm 5Vy Opto com 24VDC Lim Lim Home 012 002 1 8 ARCUS Technology Power Input Regulated Supply Voltage Range 12 to 48 VDC Recommended Current for power supply 200 mA Current required for powering the ACE SXC If driver is powered through the DB 9 additional current is required to power the driver Power and ground signals that are supplied to ACE SXC through the 2 pin connector are also available through the DB9 pin connector ACE SXC 2 pin POWER SUPPLY connector Important Note If the driver is powered through the DB9 connector make sure that the voltage of the power supply does not go over the maximum rated power supply voltage of the driver For example DMX K DRV maximum allowed voltage is 24VDC
32. ommunication API Functions 36 USB Communication Issues 37 10 ASCH Language Specification E re TE ger 38 11 Standalone Language Specification s d etse erbe o eae tes tr eta EORR 41 M M 41 41 R 42 e qm e 42 DELA 43 ID ER 43 Ip RE 44 DO doo ae A eee Aa 44 EA 45 Qe edat 46 46 em ee 47 48 ENDIE e HS 48 49 a 49 50 GOSU 50 51 HSPD eg faa ce 51 52 cae 53 JOGXLEEOr a 53 A Ged 54 MSTX dq
33. on Once limit error is set status must be cleared using the CLR command in order to move again Once the error is cleared move the motor out of the limit switch Limit switch function can also be disabled by using the DL command By disabling the limit switch function the limits switches can be used as general purpose inputs When limit function is disabled digital input assignments are DIS for Limit and DI7 for Limit Digital inputs are active high Alarm Switch Function Alarm switch when triggered will immediately stop the motor if in motion regardless of the direction of the motor Once alarm error is set status must be cleared using the CLR command in order to move again Alarm switch function can be disabled using the DL command and alarm input can be used as general purpose input as DIS Digital inputs are active high Configuration Button Function Configuration button is used to configure the DMX K DRV DMX A2 DRV and ACE SDX Configuration button can also be used as general purpose digital input in the standalone program Digital input assignment of configuration button is DIA Digital inputs are active high Motor Status Motor status can be read anytime using the MST command The following are bit representation of motor status Description Motor running at constant speed Motor in acceleration Motor in deceleration Home input switch status Minus limit input switch status Plus limit input switch
34. ot transfer over directly to standalone commands Please refer to the Standalone Language Specification section for details ACE SXC language is case sensitive All command should be in capital letters Invalid command is returned Always check for proper reply when command is sent Command Description Return ABORT Immediately stops the motor if in motion For decelerate stop OK use STOP command This command can also be used to clear a StepNLoop error ABS Set move mode to absolute OK ACC Returns current acceleration value in milliseconds 10 1000 Milli seconds ACC Value Sets acceleration value in milliseconds 10 1000 Example OK ACC 300 BDT Get driver configuration type 1 DMX K DRV 2 DMX A2 DRV ACE SDX BDT 0 1 Set driver configuration type OK CLR Clears limit error as well as StepNLoop error OK DI Return status of digital inputs Bit 0 Digital Input 1 Bit 1 Digital Input 2 Bit 2 Digital Input 3 Bit 3 Configuration Button Bit 4 Minus Limit Input Bit 5 Home Bit 6 Plus Limit Input Bit 7 Alarm Input DI 1 8 Return individual status of inputs DD Digital inputs 1 2 and 3 DI4 Configuration Button DI5 Minus Limit DI6 Home DI7 Plus Limit DI8 Alarm DO Return status of digital outputs 2 bit number DO Value Set digital output 2 bit number Digital output is
35. p N Loop While a stand alone program is running in closed loop operation before executing an absolute move command the controller first verifies that it is NOT correcting or moving to a previous absolute position Error Handling If an error occurs during standalone execution i e limit error the program automatically jumps to SUB 31 If SUB 31 is NOT defined the program will cease execution and go to error state If SUB 31 is defined by the user the code within SUB 31 is first executed and then standalone execution continues Calling subroutines over communication a subroutine is written into the flash they can be called via USB communication using the GS command The subroutines are ACE SXC Manual page 30 rev 1 8 ARCUS Technology referenced by their subroutine number 0 31 If a subroutine number is not defined the ACE SXC will return with an error Storing to Flash The following items are stored to flash Device Name Polarity settings Standalone program run on boot up parameter Stepper driver configuration type Stepper driver parameters Variables V26 V50 Note that on boot up V1 V25 are reset to value 0 Note When standalone program is downloaded the program is immediately written on the flash memory ACE SXC Manual page 31 rev 1 8 ARCUS Technology 7 Connecting to DMX K DRV DMX A2 DRV and ACE SDX Connecting ACE SXC to DMX K DRV 11 17 Cable Accessory CBL DB_9M DF11_
36. rogram from the controller View View the low level compiled program ACE SXC Manual page 24 rev 1 8 ARCUS Technology J Program Control Program Control Status gt B E 3 gt Run Stop Index 2 8 Cont Pause 1 Program Status display of program status Possible statuses are Idle program is not running Running program is running Paused program is paused Errored program 1 in error status 2 Program Index display of low level program index This is the index of the low level program index 3 Program Control Program can be RUN STOP PAUSED and CONTINUED ACE SXC Manual page 25 rev 1 8 ARCUS Technology 6 Motion Control Overview All the commands described in this section are all interactive commands and do not transfer over directly to standalone commands Please refer to the Standalone Language Specification section for details Motion Profile and Speed ACE SXC incorporates trapezoidal velocity profile as shown below speed HSPD high speed LSPD low speed ACC ACC time in in msec msec E oo i i Symmetrical Accel and Decel High speed and low speed are in pps pulses second Use HSPD and LSPD commands to set get the high speed and low speed settings Pulse output rate supported is from 100 to 400K pulses second Acceleration and deceleration time is in milliseconds and are symmetrical same value is used for
37. rrent 08 Upload from Idle Current 04 Driver Idle Time 01 Dir Polarity CEW Clock Mode One Cik Temperature t Download to Driver Version 0 Save and Close The driver settings can be stored on ACE SXC so that the parameter values can be used by the configuration button To save to ACE SXC select Save and Close button which will download the parameters to the ACE SXC To store the downloaded parameters permanently on the ACE SXC controller make sure to store to flash before powering down the controller To close without downloading the parameters to ACE SXC select Cancel button ACE SXC Manual page 20 rev 1 8 ARCUS Technology 2 When DMX A2 DRV ACE SDX button is selected DMX A2 DRV ACE SDX configuration dialog box is opened From this dialog box settings for DMX A2 DRV ACE SDX can be uploaded or downloaded Note that Temperature showing the current driver temperature as detected and Version can only be uploaded DMX A2 DRV ACE SDX Setup DMX A2 DRV ACE SDX Settings Microstep 50 1 Run Current Amp Upload from Idle Current Driver Idle Time Dir Polarity Clock Mode One Cik Temperature Download to Driver Version 0 Save and Close The driver settings can be stored on ACE SXC so that the parameter values can be used by the configuration button To save to ACE SXC select Save and Close button which will download the parameters to the AC
38. s from 1 to 400 000 Syntax Read variable LSPD Write LSPD long value LSPD variable Examples LSPD 1000 Sets the start low speed to 1 000 pulses sec 1 500 Sets the variable 1 to 500 LSPDzVI Sets the start low speed to variable 1 value of 500 MSTX Description Read Get motor status Syntax Read variable M S TX Conditional IF MSTX variable ENDIF IF MSTX value ENDIF Examples IF MSTX 0 DO 3 ELSE DO 0 ENDIF ACE SXC Manual page 54 ARCUS Technology rev 1 8 ARCUS Technology PX Description Read Gets the current pulse position Write Sets the current pulse position Syntax Read Variable PX Write PX value PX variable Conditional IF PX variable ENDIF IF PX value ENDIF Examples JOGX Jogs axis to positive direction DELA Y 1000 Wait 1 second ABORTX Stop with deceleration all axes including X axis PX 0 Sets the current pulse position to 0 STOPX Description Command Stop all axes if in motion with deceleration Previous acceleration value is used for deceleration Syntax STOPX Examples JOGX Jogs axis to positive direction DELA Y 1000 1 second 5 Stop with deceleration ACE SXC Manual page 55 rev 1 8 ARCUS Technology STORE Description Command Store all values to flash Syntax STORE Examples V40 PX Put position value in V40 DELA Y 1000 Wait 1 second STORE Store V40 to non vol
39. status Ole ACE SXC Manual pe rev 1 8 go ARCUS Technology 6 Minus limit error This bit is latched when minus limit is hit during negative direction motion This error must be cleared before issuing any subsequent move commands CLR command 7 Plus limit error This bit is latched when plus limit is hit during positive direction motion This error must be cleared before issuing any subsequent move commands CLR command 8 Alarm error This bit is latched when the alarm input is triggered while motion is in progress This error must be cleared before issuing any subsequent move commands CLR command Digital Inputs ACE SXC module comes with 3 digital inputs If limit alarm function is disabled up to 8 inputs can be used as general purpose inputs Read digital input status using the DI command See description below Description Digital Input 1 Digital Input 2 Digital Input 3 Configuration Button Minus Limit Home Plus Limit Alarm Digital input values can also be referenced one bit at a time by the DI 1 8 commands Note that the indexes are 1 based for the bit references i e DII refers to bit 0 not bit 1 Digital inputs are active high Digital Outputs ACE SXC module comes with 2 digital outputs Read set digital output status using the DO command See description below B
40. t Limit and Home inputs Three Opto isolated Digital inputs Two Opto isolated Digital outputs DMX K DRV DMX A2 DRV and ACE SDX driver configuration ACE SXC Manual page 6 rev 1 8 ARCUS Technology 2 Dimensions sli 0 175 2 400 T 1 000 3 0 ACE SXC Manual page 7 rev 1 8 ARCUS Technology 3 Connectors OPTO HC Lim Driver CFG Switch Lim HOME 012 001 002 GHD Status LED DB9 Connector Information Pinf Name 1 PWR OUT 2 PUL OUT 3 ENA OUT 4 ALM IN 5 5V OUT 6 GND OUT 7 DIR OUT 8 NC OUT 9 5V OUT ACE SXC Manual page 8 rev 1 8 ARCUS Technology 2 pin Connector Information Pin Name Description 1 G Ground 2 V Power Input 12 to 48VDC Mating Connector Description 2 pin 0 2 5 08mm connector Mating Connector Manufacturer On Shore Mating Connector Manufacturer Part EDZ950 2 Note Other 5 08 compatible connector can be used 10 pin Connector Information Pin Name Description 1 202 Digital Output 1 2 DOI Digital Output 2 3 DI3 Digital Input 3 4 DI2 Digital Input 2 5 Digital Input 1 6 HOME Home Input 1 7 LIM Minus Limit Input 8 LIM Plus Limit input 9 NC No Connection 10 OPTO IN Opto supply in 12 24VDC Mating Connector Description 10 pin 0 15 3 81
41. writable only if DIO is disabled OK DO I 2 Get status if individual output Digital Output 1 DO2 Digital Output 2 DO 1 2 Value Set individual output OK DL Get disable limit alarm function 0 1 0 limit alarm function is enabled 1 limit alarm function is disabled DL Value Set disable limit alarm function OK 0 limit alarm function is enabled 1 limit alarm function is disabled DN Get device number SXC00 SXC99 DN value Set device number OK EO Returns driver power enable 1 Motor power enabled 0 Motor power disabled ACE SXC Manual page 38 rev 1 8 ARCUS Technology EO 0 or 1 Enables 1 or disable 0 motor power OK GS 0 31 Call a subroutine that has been previously stored to flash OK memory HSPD Returns High Speed Setting PPS HSPD Value Sets High Speed OK H Homes the motor in positive direction OK H Homes the motor in negative direction OK ID Returns product ID ACE SXC SA USB INC Set move mode to incremental OK J Jogs the motor in positive direction OK J Jogs the motor in negative direction OK LSPD Returns Low Speed Setting PPS LSPD Value Sets Low Speed OK MODE Get move mode status 0 Absolute move mode 1 Incremental move mode MST Returns motor status Bit 0 constant speed Bit accelerating Bit 2 decelerating Bit 3
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