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DMX ETH Manual

page 68

rev 1.16

SUB

Description:

Indicates start of subroutine

Syntax:

SUB [subroutine number]
[Subroutine Number] range is 0 to 31

Note:

Sub 31 is reserved for error handling.

Examples:

GOSUB 1
END
SUB 1

WAITX

X1000

WAITX

ENDSUB

V[1-100]

Description:

Assign to variable.
DMX-ETH has 100 variables [V1-V100]

Syntax:

V[Variable Number] = [Argument]
V[Variable Number] = [Argument1][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

Multiplication

Division

Modulus

Bit Shift Right

Bit Shift Left

Bit AND

Bit OR

Bit NOT

Содержание DMX-ETH

Страница 1: ...DMX ETH Manual page 1 rev 1 16 DMX ETH Integrated Step Motor Encoder Driver Controller with Ethernet communication...

Страница 2: ...rmission 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 His...

Страница 3: ...mm 15 DMX ETH Interface Circuit 17 Digital Outputs 18 Digital Inputs 18 6 Getting Started 19 Typical Setup 19 Windows GUI 20 Main Control Screen 21 A Status 22 B Control 23 C On the fly Speed Change 2...

Страница 4: ...Driver Configuration 42 Over Temperature Alarm 43 Standalone Programming 44 Communication Time out Feature Watchdog 45 Boot up Sequence 45 Hard Reset Flash Memory 46 Storing to Flash 47 8 Ethernet Com...

Страница 5: ...7 STORE 67 SUB 68 V 1 100 68 WAITX 69 WHILE 69 X 70 ZHOMEX or 70 ZOMEX or 70 11 Example Standalone Programs 71 Standalone Example Program 1 Single Thread 71 Standalone Example Program 2 Single Thread...

Страница 6: ...DMX ETH Manual page 6 rev 1 16 Appendix A Speed Settings 76 Acceleration Deceleration Range 76 Acceleration Deceleration Range Positional Move 77...

Страница 7: ...isolated I O 2 x inputs 2 x outputs Limit Limit Home inputs Homing routines Home input only high speed Home input only high speed low speed Limit only Z index encoder channel only Home input Z index...

Страница 8: ...Numbers Contacting Support For technical support contact support arcus technology com Or contact your local distributor for technical support DMX ETH Motor Stack Size 2 Double 3 Triple Motor Frame Si...

Страница 9: ...20 C to 80 C Storage Temperature 55 C to 150 C Based on component ratings Digital Inputs Type Opto isolated NPN inputs Opto isolator supply 12 to 24 VDC Maximum forward diode current 45 mA Includes li...

Страница 10: ...DMX ETH Manual page 10 rev 1 16 3 Dimensions All dimensions in inches Controller Figure 3 0 NEMA 17 Figure 3 1...

Страница 11: ...DMX ETH Manual page 11 rev 1 16 NEMA 23 Figure 3 2 Model L inches DMX ETH 17 2 1 58 DMX ETH 17 3 1 59 DMX ETH 23 2 2 2 DMX ETH 23 3 3 1 Table 3 0...

Страница 12: ...ng Torque Resistance Phase Inductance Phase Inertia 17 Double 1 7A 0 44 N m 1 5 3 0 mH 0 28 oz in2 Triple 2 0A 0 59 N m 1 4 2 7 mH 0 37 oz in2 23 Double 2 8A 0 95 N m 0 9 2 5 mH 1 64 oz in2 Triple 2 8...

Страница 13: ...DMX ETH Manual page 13 rev 1 16 Figure 4 1 Torque Curve NEMA 23 Figure 4 2...

Страница 14: ...DMX ETH Manual page 14 rev 1 16 Figure 4 3...

Страница 15: ...ion 2 pin 0 2 5 08mm connector Mating Connector Manufacturer On Shore Mating Connector Manufacturer Part EDZ950 2 Other 5 08mm compatible connectors can be used Figure 5 1 14 Pin Connector 2mm Pin In...

Страница 16: ...igital Input 2 9 O DO1 Digital Output 1 10 O DO2 Digital Output 2 11 NC NC Not Connected 12 NC NC Not Connected 13 NC NC Not Connected 14 NC NC Not Connected Table 5 1 Mating Connector Description 14...

Страница 17: ...DMX ETH Manual page 17 rev 1 16 DMX ETH Interface Circuit Figure 5 2...

Страница 18: ...digital output Figure 5 3 WARNING The maximum source current for digital outputs is 90 mA Take caution to select the appropriate pull down resistance to limit the source current below this level Digi...

Страница 19: ...DMX ETH Manual page 19 rev 1 16 6 Getting Started Typical Setup Point to point Figure 6 0 Network based Figure 6 1...

Страница 20: ...d debug the controller Startup the DMX ETH GUI program and you will see following screen Figure 6 2 A Device IP of the DMX ETH The device IP can be changed B Port number of the socket that must be ope...

Страница 21: ...DMX ETH Manual page 21 rev 1 16 Main Control Screen Figure 6 3 A B C D E F L K J H M G I...

Страница 22: ...Motion Status displays current motion status by displaying one of the following status IDLE motor is not moving ACCEL motion is in acceleration DECEL motion is in deceleration CONST motion is in cons...

Страница 23: ...hen motion status is in error use this button to clear the error 12 Reset Encoder Counter Encoder counter can be reset to zero using this botton 13 Encoder Z Index Channel Status Encoder Z index chann...

Страница 24: ...xis will move to zero position zero encoder position when in StepNLoop and zero pulse position when in open loop 10 Perform Absolute Move use this to move the motor to the target position When in abso...

Страница 25: ...ec The acceleration deceleration use for the on the fly speed change operation 5 Set Accel Speed Start the on the fly speed operation D DIO Status Figure 6 7 1 Digital Input Status Status of DI1 and D...

Страница 26: ...dialog box allows manual testing of the commands from a terminal screen as shown in Figure 6 8 F Standalone Program File Management Figure 6 9 1 Open Open standalone program 2 Save Save standalone pro...

Страница 27: ...DMX ETH Manual page 27 rev 1 16 G Variable Status Figure 6 10 View the status of variables 1 100 Note that this window is read only 1 Command line To write to variable use V 1 100 value syntax 1...

Страница 28: ...kwise or counter clockwise Home home input polarity Limit limit input polarity Latch latch input polarity Z Index Encoder Z index channel polarity Encoder encoder multiplication factor can be configur...

Страница 29: ...ues Auto Run 0 Run standalone program 0 on boot up Auto Run 1 Run standalone program 1 on boot up RZ Return to zero position after homing routines IERR Ignore limit error EOBOOT Configure enable outpu...

Страница 30: ...number which shows here 3 Run program is run 4 Stop program is stopped 5 Pause program that is running can be paused 6 Continue program that is paused can be continued 7 X Thread Open the Program Con...

Страница 31: ...is button to remove the current standalone program 3 Use this button to open a larger and easier to manage program editor M About Figure 6 16 Click this button to display the GUI version as well as th...

Страница 32: ...second Use HSPD LSPD commands to modify the high speed and low speed settings Acceleration and deceleration time are in milliseconds Use the ACC DEC command to modify the acceleration and deceleratio...

Страница 33: ...t status using the DI command Digital input values can also be referenced one bit at a time by the DI 1 2 commands Note that the indexes are 1 based for the bit references i e DI1 refers to bit 0 not...

Страница 34: ...12 Jump to line 0 on error 13 Enable Output Table 7 2 Used for error handling within standalone operation If this bit is on the line that is executed after SUB31 is called will be line 0 Otherwise it...

Страница 35: ...and then stop Homing Home search sequence involves moving the motor towards the home or limit switches and then stopping when the relevant input is detected The DMX ETH has 5 different homing routine...

Страница 36: ...lse is found the motor stops and the position is set to zero Home Input Only High speed and low speed Use the HL HL command Figure 7 4 shows the homing routine Figure 7 4 A Starts the motor from low s...

Страница 37: ...the homing routine Figure 7 5 A Issuing a limit home command starts the motor from low speed and accelerates to high speed B The corresponding limit is triggered and the motor stops immediately C The...

Страница 38: ...subsequent move commands 8 Latch input status 9 Z index status 10 TOC time out status Table 7 3 Examples When motor status value is 0 motor is idle and all input switches are off When motor status val...

Страница 39: ...algorithm called StepNLoop SNL The algorithm requires the use of an incremental encoder SNL performs the following operations 1 Position Verification At the end of any targeted move SNL will perform...

Страница 40: ...EX value Note that the value must be positive If it is not then the direction polarity must be adjusted See Table 7 4 for details To enable disable the SNL feature use the SL command To read the SNL s...

Страница 41: ...osition SLT Tolerance range SLE Error range SLA Max correction attempt Notes Once SNL is enabled position move commands are in terms of encoder position For example X1000 means to move the motor to th...

Страница 42: ...r 2 500 DRVRC Run current value of the driver 100 3000 mA peak current DRVIC Idle current value of the driver 100 2800 mA peak current DRVIT Idle time value of the driver 1 100 centi sec This is the a...

Страница 43: ...the micro step driver StepNLoop control mode must be disabled These control modes may interfere with the driver configuration Over Temperature Alarm The integrated driver included with DMX ETH is DMX...

Страница 44: ...e programs Program 0 is controlled via the SR0 command and program 1 is controlled via the SR1 command For examples of multi threading please refer to the Example Stand alone Programs section Note Sub...

Страница 45: ...settings See Hard Reset Flash Memory section for details Connection detection If the hard reset input sequence is not detected the device begins to look for an Ethernet connection If an Ethernet conne...

Страница 46: ...p Input Conditions Step Condition LIM LIM HOME DI1 DI2 1 ON ON OFF OFF ON 2 OFF ON OFF OFF ON 3 ON ON OFF OFF ON 4 ON ON ON OFF ON 5 ON ON OFF OFF ON 6 ON ON OFF OFF OFF 7 ON ON OFF OFF ON Table 7 10...

Страница 47: ...operation the motor will stay enabled Once the flash is reset a power cycle needs to be performed in order to communicate via factory default settings Storing to Flash The following items are stored t...

Страница 48: ...Port 5001 ASCII Protocol Sending Command ASCII command string in the format of ASCII Command NUL NUL character has ASCII code 0 Receiving Reply The response will be in the format of Response NUL NUL...

Страница 49: ...ts See Table 7 0 DI 1 2 Get individual bit status of digital inputs 0 1 DO Return status of digital outputs 2 bit number DO Value Set digital output 2 bit number OK DO 1 2 Get individual bit status of...

Страница 50: ...t ignore limit error enable 0 or 1 IERR Value Set ignore limit error enable OK ID Returns product ID DMX SERIES ETH INC Set move mode to incremental OK IP Get IP Address XXX XXX XXX XXX IP Address Set...

Страница 51: ...01 999 999 SLR factor Sets StepNLoop ratio value Must be in the range 0 001 999 999 OK SLS Returns current status of StepNLoop control See Table 7 6 SLT Returns StepNLoop tolerance value 32 bit SLT va...

Страница 52: ...or possible error responses Error Code Description Command The ASCII command is not understood ABS INC is not in operation T command is invalid because a target position move is not in operation Bad S...

Страница 53: ...mediately stop motion without deceleration Syntax ABORTX Examples JOGX Jogs axis to positive direction DELAY 1000 Wait 1 second ABORTX Stop axis immediately ABS Description Command Changes all move co...

Страница 54: ...amples DEC 300 Sets the deceleration to 300 milliseconds V3 500 Sets the variable 3 to 500 DEC V3 Sets the deceleration to variable 3 value of 500 DELAY Description Set a delay 1 ms units Syntax Delay...

Страница 55: ...value Write Sets the digital output value DMX ETH has 2 digital outputs Syntax Read variable DO Write DO value DO variable Conditional IF DO variable ENDIF IF DO value ENDIF Examples DO 3 Turn on both...

Страница 56: ...A RW Write driver parameters DELAY 2000 Wait 2 seconds for write operation V1 RWSTAT Check write operation status IF V1 1 DO1 1 If write operation was success DO1 1 ELSE DO2 1 Write operation failed D...

Страница 57: ...oop error ELSE Description Perform ELSE condition check as a part of IF statement Syntax ELSE Examples IF V1 1 X1000 If V1 is 1 then move to 1000 WAITX ELSE X 1000 If V1 is not 1 then move to 1000 WAI...

Страница 58: ...2000 WAITX ELSEIF V1 3 X3000 WAITX ELSE X0 WAITX ENDIF END Description Indicate end of program Program status changes to idle when END is reached Note Subroutine definitions should be written AFTER th...

Страница 59: ...D SUB 1 X0 WAITX X1000 WAITX ENDSUB ENDWHILE Description Indicate end of WHILE loop Syntax ENDWHILE Examples WHILE V1 1 While V1 is 1 continue to loop X0 WAITX X1000 WAITX ENDWHILE End of while loop s...

Страница 60: ...ion Perform go to subroutine operation Subroutine range is from 0 to 31 Note Subroutine definitions should be written AFTER the END statement Note Sub 31 is reserved for error handling Syntax GOSUB su...

Страница 61: ...D variable Examples HSPD 10000 Sets the high speed to 10 000 pulses sec V1 2500 Sets the variable 1 to 2 500 HSPD V1 Sets the high speed to variable 1 value of 2500 IF Description Perform IF condition...

Страница 62: ...nt high speed low speed and acceleration Syntax JOGX or Examples JOGX Jogs axis in positive direction STOPX WAITX JOGX Jogs axis in negative direction STOPX WAITX LHOMEX or Description Command Perform...

Страница 63: ...variable Examples LTX 1 Enable latch WHILE 1 1 V2 LTSX Get latch status IF LTSX 2 V3 LTEX Get latch encoder value if latch is triggered V4 LTPX Get latch position value if latch is triggered ENDIF END...

Страница 64: ...amples IF MSTX 0 DO 3 ELSE DO 0 ENDIF PRG Description Indicates the start of a program When END is reached the program is concluded Syntax PRG program number Examples PRG 0 Program 0 X8000 WAITX END P...

Страница 65: ...e Conditional IF PX variable ENDIF IF PX value ENDIF Examples JOGX Jogs axis to positive direction DELAY 1000 Wait 1 second ABORTX Stop with deceleration all axes including X axis PX 0 Sets the curren...

Страница 66: ...is axis SLX Description Write Set StepNLoop closed loop mode Range is from 0 or 1 Syntax Write SL 0 or 1 Examples SL 1 Sets axis to closed loop mode SLSX Description Read Get StepNLoop status Syntax R...

Страница 67: ...low speed ACC 100 Set acceleration JOGX Jogs to positive direction DELAY 1000 Wait 1 second SSPDMX 1 Set on the fly speed change mode to 1 ACC 20000 Set acceleration to 20 seconds SSPDX 190000 Change...

Страница 68: ...ign to variable DMX ETH has 100 variables V1 V100 Syntax V Variable Number Argument V Variable Number Argument1 Operation Argument2 Special case for BIT NOT V Variable Number Argument Argument can be...

Страница 69: ...ples X10000 Move axis to position 10000 WAITX Wait until axis move is done DO 3 Set digital output X3000 Move axis to 3000 WAITX Wait until axis move is done WHILE Description Perform WHILE loop Synta...

Страница 70: ...XV10 Move axis to variable 10 value WAITX ZHOMEX or Description Command Perform Z homing using current high speed low speed and acceleration Syntax ZHOMEX or Examples ZHOMEX Z Homes axis in positive d...

Страница 71: ...igh 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 X1000 Move to zero WAITX Wait f...

Страница 72: ...NDIF ENDWHILE Go back to WHILE statement END Standalone Example Program 5 Single Thread Task Using a subroutine increment the motor by 1000 whenever the DI1 rising edge is detected HSPD 20000 Set the...

Страница 73: ...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...

Страница 74: ...eed to 500pps ACC 500 Set acceleration to 500ms WHILE 1 1 Forever loop X0 Move to position 0 WAITX Wait for the move to complete X1000 Move to position 1000 WAITX Wait for the move to complete ENDWHIL...

Страница 75: ...LSPD 500 Set low speed to 500pps ACC 500 Set acceleration to 500ms TOC 5000 Set time out counter alarm to 5 seconds EO 1 Enable motor WHILE 1 1 Forever loop X0 Move to position 0 WAITX Wait for the mo...

Страница 76: ...acceleration deceleration values depend on the LSPD and HSPD settings The minimum acceleration deceleration setting for a given high speed and low speed is shown in Table A 0 The maximum acceleration...

Страница 77: ...on where the controller begins deceleration is less than L 2 the acceleration value is used for both ramp up and ramp down This is regardless of the EDEC setting 2 ACC vs DEC 2 If the theoretical posi...

Страница 78: ...Information Arcus Technology Inc 3159 Independence Drive Livermore CA 94551 925 373 8800 www arcustechnology com The information in this document is believed to be accurate at the time of publication...

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