Arcus DMX-CAN-23 Bedienungsanleitung
DMX-CAN Manual page 1 rev 1.6
DMX-CAN-23
Integrated Step Motor
Encoder/Driver/Controller
Manual
DMX-CAN Manual page 2 rev 1.6
COPYRIGHT © 2010 ARCUS, ALL RIGHTS RESERVED
First edition, December 2010
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:
1.4 – 1
st
release
1.5 – 2
nd
release
1.6 – 3
rd
release
Firmware Compatibility:
V117
Software Compatibility:
V108
DMX-CAN Manual page 3 rev 1.6
Table of Contents
1. Introduction..................................................................................................................... 5
Features ........................................................................................................................... 5
Model Numbers .............................................................................................................. 6
2. Electrical and Thermal Specifications ............................................................................ 7
Power Requirement......................................................................................................... 7
Temperature Ratings †.................................................................................................... 7
Digital Inputs † ............................................................................................................... 7
Digital Outputs................................................................................................................ 7
3. Dimensions ..................................................................................................................... 8
DMX-CAN-23 ................................................................................................................ 8
4. Motor Specifications....................................................................................................... 9
Electrical Specifications.................................................................................................. 9
Torque Curve – NEMA 23 ............................................................................................. 9
5. Connections................................................................................................................... 11
24-Pin Connector (2mm) .............................................................................................. 11
DMX-CAN-23 Interface Circuit................................................................................... 13
Digital Outputs.............................................................................................................. 14
Digital Inputs ................................................................................................................ 14
6. Getting Started .............................................................................................................. 15
RS-232 Communication................................................................................................ 15
RS-485 Communication................................................................................................ 15
CANOpen Communication........................................................................................... 16
Windows GUI ............................................................................................................... 17
7. Motion Control Overview............................................................................................. 29
Built-in encoder ............................................................................................................ 29
Built-in Microstep Driver ............................................................................................. 29
Motion Profile............................................................................................................... 29
Digital Inputs/Outputs................................................................................................... 30
Motor Power ................................................................................................................. 31
Polarity.......................................................................................................................... 31
Positional Moves........................................................................................................... 31
On-The-Fly Target Position Change............................................................................. 32
Jogging.......................................................................................................................... 32
Stopping Motor ............................................................................................................. 32
Homing ......................................................................................................................... 32
Home Input Only (High speed only) ........................................................................ 32
Home Input and Z-index........................................................................................... 33
Home Input Only (High speed and low speed)......................................................... 33
Limit Only................................................................................................................. 34
Z-index only.............................................................................................................. 34
Motor Position .............................................................................................................. 35
Motor Status.................................................................................................................. 35
Limit Inputs................................................................................................................... 35
Latch Input .................................................................................................................... 36
DMX-CAN Manual page 4 rev 1.6
Sync Output .................................................................................................................. 36
StepNLoop Closed Loop Control ................................................................................. 37
Idle Current and Run Current ....................................................................................... 39
RS-232/RS-485/CANopen Selection:........................................................................... 39
Node ID, Device Number, and Baud Rate:................................................................... 39
Broadcasting over RS-485 ............................................................................................ 40
Response type selection ................................................................................................ 40
Storing to Flash ............................................................................................................. 41
Default Settings............................................................................................................. 42
8. Object Dictionary [CANOpen] ..................................................................................... 43
Manufacturer Specific Objects [2000
h
-5FFF
h
] ............................................................. 43
CiA DSP-402 [6000
h
-9FFF
h
]........................................................................................ 51
Notes ............................................................................................................................. 64
9. Communication Protocol [ASCII] ................................................................................ 65
10. Communication Protocol [CANOpen] ....................................................................... 66
Object Dictionary.......................................................................................................... 66
Service Data Objects..................................................................................................... 67
11. Language Specification [ASCII]................................................................................. 69
Error Codes ................................................................................................................... 72
Appendix A: Speed Settings ............................................................................................. 73
Acceleration/Deceleration Range ................................................................................. 73
DMX-CAN Manual page 5 rev 1.6
1. Introduction
DMX-CAN is an all-in-one integrated motor package that combines all the motion
components in to one convenient package.
Communication to the DMX-CAN can be established over RS-232, RS-485 or CANbus.
Features
DMX-CAN-23
-RS-485 + RS-232 ASCII communication
•9600, 19200, 38400, 57600, 115200 bps
-CANbus communication over CANOpen implementing CiA DSP-402
•10K, 20K, 50K, 100K, 125K, 250K, 500K, 800K, 1M bps
-A/B/Z differential encoder inputs
•StepNLoop closed loop control (position verification)
-Opto-isolated I/O
•6 x inputs (1 x high speed position capture latch input)
•3 x outputs (1 x position synchronized output)
•+Limit/-Limit/Home inputs
-Homing routines:
•Home input only
•Limit only
•Z-index encoder channel only
•Home input + Z index encoder channel
-S-curve or trapezoidal acceleration profile control
-On-the-fly speed change
-1000 line incremental encoder (4000 counts/rev with 4x quadrature decoding)
-Stepper driver
•12-35 VDC
•2.5 Amp max current setting (peak current)
•16 micro-step setting (fixed)
•400 KHz max pulse support
-Stepper motor
•NEMA 23 motor sizes available in different stack sizes
•1.8° step angle
DMX-CAN Manual page 6 rev 1.6
Model Numbers
Main Product
Figure 1.0
Contacting Support
For technical support contact: support@arcus-technology.com.
Or, contact your local distributor for technical support.
DMX-CAN- 23 -
Motor Stack Size
2 – Double
3
–
Triple
CAN Series
Motor Size
23 – NEMA 23 Motor
DMX-CAN Manual page 7 rev 1.6
2. Electrical and Thermal Specifications
Power Requirement
Regulated Voltage: +12 to +35 VDC
Current (Max): 2.5 A (peak)
Temperature Ratings †
Operating Temperature: 0°C to +70°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 limit, home and latch
Digital Outputs
Type: Opto-isolated open-collector NPN outputs
Max voltage at collector: +24 VDC
Max source current at 24VDC †90 mA
† A current limiting resistor is required
DMX-CAN Manual page 8 rev 1.6
3. Dimensions
†All dimensions in inches
DMX-CAN-23
Figure 3.0
All dimensions in inches
Model L (inches)
DMX-K-SA-23-2 2.2
DMX-K-SA-23-3 3.1
Table 3.0
DMX-CAN Manual page 9 rev 1.6
4. Motor Specifications
Electrical Specifications
NEMA
Size
Stack
Size
Current /
Phase †
Holding
Torque
Resistance/
Phase
Inductance/
Phase
Inertia
23 Double
2.8A 0.95 N-m 0.9 Ω2.5 mH 1.64 oz-in
2
Triple 2.8A 1.41 N-m 1.13 Ω3.6 mH 2.62 oz-in
2
Table 4.0
† Motor current specifications are in RMS form.
Torque Curve – NEMA 23
Figure 4.0
DMX-CAN Manual page 10 rev 1.6
Figure 4.1
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