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Table of Contents
Summary of Contents for AccelMotion DC2M17
- Page 1 DC2M17 Step Motor Driver/Controller Module NEMA 17 Motor-Mountable USER GUIDE...
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Page 2: Table Of Contents
TABLE OF CONTENTS ..........................2 DC2M17 Features: ............................5 Included in the Box ............................5 Optional Accessories ............................ 6 Mating Cable Assembly with 30" color-coded leads: order DC2M17-CABLE .......... 6 Case/Heatsink: order DC2M17-CASE....................... 6 Communications Interface: order CI-200 ....................6 Connection Diagram ............................. 7 Mating Connectors ............................ - Page 3 DC2M17 Driver/Controller Module Direction Setting ..........................17 Status LED ..............................18 Connectors .............................. 18 Input / Output Subsystem ........................19 Input Ports ............................... 19 Input Port Electrical Configuration ...................... 19 Input Ports configured for Fixed Function ................... 21 Input Port Read ............................ 21 Input Port Conditional Branching ......................
- Page 4 DC2M17 Driver/Controller Module H (Microstepping Resolution) ......................... 39 I (Initial Velocity)............................39 J (Jump to Address Multiple Times) ......................40 K (Ramp Slope) ............................41 L (Loop Waiting on Condition) ......................... 42 M (Move at a Constant Velocity)......................43 O (Set Origin) ............................44 P (Program Entry Mode - Entry/Exit).......................
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Page 5: Dc2M17 Features
• Status LED provides indication of power status and relative motion step rates • Optional DC2M17-CASE: provides protection and heatsinking (to achieve max 2A drive current) • Optional DC2M17-CABLE 30” cable harness: color-coded for easy wiring Included in the Box Mounting Spacers: four, #4 nylon spacers, 3/8”... -
Page 6: Optional Accessories
The CI-200 Communications Interface provides an easy and direct connection to an AccelMotion Communications Bus such as used on the DC2M17, via USB. Drivers for Windows, Mac, and Linux are available and provide computer access to the DC2M17 Command Line Interface (CLI). -
Page 7: Connection Diagram
DC2M17 Driver/Controller Module Connection Diagram Figure 4 - DC2M17 Connection Diagram Mating Connectors Below are the part numbers for construction of DC2M17 mating cable assemblies. These components are readily available through a variety of distributors: Crimp Terminals Housing Motor and Power... -
Page 8: Overview
(see Figure 5 - DC2M17 Functional Block DiagramThe Communications Bus connects the DC-series controller to an external computer, which is used for programming and debug, but optionally can be used to control or query the controller directly. -
Page 9: Operational Modes
DC2M17 Driver/Controller Module Operational Modes AccelMotion DC-series controller/drivers can be operated two ways: IMMEDIATE mode, where commands are provided externally via the communications interface and are executed in real time; and as PROGRAM mode, where commands previously stored internally are executed, programmatically. -
Page 10: Parameters & Defaults
DC2M17 Driver/Controller Module Parameters & Defaults The Examine command (X) displays the current parameter values. These parameters are located in Main Memory and are used by the control firmware to set characteristics that the controller and driver will use to operate the step motor, and utilize optional input ports functions (Jog and Home). -
Page 11: Quick Start
3. Wire the 2-pin communications connector from the CI-200 Interface into J4. Make a connection between the GND of the DC2M17 and the GND terminal of the CI-200, to provide a shared ground level between all devices (refer to Grounding). Connect the other end of the CI-200 Interface to the USB port of the host computer. -
Page 12: Operating The Dc2M17
Use a 'terminal window' to access the command interface - any terminal software will work as long as it allows for sending and receiving data through a COM port. AccelMotion provides a free terminal called AMCockpit, but many examples exist including TeraTerm, Console, etc. All modes other than Automatic Program Mode will require the host, adapter, and communications software. -
Page 13: Programming
DC2M17 Driver/Controller Module Programming Program Entry Example The above examples show commands in Immediate Mode. The following are examples of program sequences entered into main memory, to be executed in Program Mode. Enter these commands after signing-on with <space>. As commands are entered, the interface will echo the program line number in which the next command (and parameters) will reside before –... -
Page 14: Command Entry Mode Highlights
DC2M17 Driver/Controller Module Command Entry Mode Highlights: Characters are echoed on a line-by-line basis, and only one command is allowed per line As commands are entered, the <backspace> key will completely reset the current line contents and repeat the program line number - same reset if illegal command characters used ... -
Page 15: Multi-Axis Considerations
Type the “Z” command. This command responds with the axis position (-1000) Multi-Axis Communication Note The DC2M17 incorporates a buffered UART input, but because motion control is of the highest priority, processing of received information may be delayed if commands are sent while stepping at a very fast rate. -
Page 16: Hardware
Power Supply Selection and Connection The DC2M17 is powered from a single DC power supply (PS). The power supply is connected via the J1 Connector, pins 1 and 2. The input voltage must be in the range of 9VDC to 35VDC. -
Page 17: Stepping Motors And Motor Connection
Stepping Motors and Motor Connection The DC2M17 is a bipolar chopping-style stepper driver that works with both bipolar and unipolar motors, i.e. 8-, 4- and 6-lead motors. It is also possible to half a 6-lead center tapped motor with the DC2M17, however the performance may be compromised. -
Page 18: Status Led
a short between any of the motor phase leads and the ground or power inputs There are no user-serviceable parts in the DC2M17, including the main power protection fuse. If damaged, contact AccelMotion for repair authorization (where applicable). Connectors The DC2M17 utilizes three connectors for all its functions: ... -
Page 19: Input / Output Subsystem
DC2M17 Driver/Controller Module Input / Output Subsystem DC-series controllers feature input and output ports. These connections operate in an industry-standard "low-drive" mode, where the ACTIVE state of any input or output is low-voltage (ground), and any port's INACTIVE state is high-voltage – either VIO (IO voltage level), or disconnected (and internally pulled-up to VIO). - Page 20 DC2M17 Driver/Controller Module Figure 8 - Example of Switch Contact Input When an input port is connected to a output from a computer, a PLC, or an active sensor, that device will drive the input at its supply voltage range; at higher I/O voltage levels (12V, 24V, etc.) the input section requires a reference point to create a ½VIO value, because the internal default VIO value is 5V.
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Page 21: Input Ports Configured For Fixed Function
AccelMotion recommends Limit Switches for protection of mechanical systems. Input Port Read All input ports are readable in Immediate Mode by the A (Input Port Read) command, which returns the combined value of all input ports, for use by external control scripts running in the host. - Page 22 DC2M17 Driver/Controller Module Input Port Highlights Input ports are configurable to drive various optional fixed functions (U command) Input ports are accessed via L (Loop) in Program Mode and A (Read Inputs) command in Immediate/Direct Mode, and access raw input data irrespective of fixed function assignments ...
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Page 23: Output Ports
Output Ports The DC-series controller provides digital output ports capable of driving external devices in active-low open-collector mode, at up to 1A current per output. The DC2M17 provides two output ports. Output Port Electrical Configuration Each output port can operate in one of two general modes: Logic Mode, and Driver Mode. Both modes are available with no internal configuration required: Logic Mode –... -
Page 24: Controlling Output Ports
DC2M17 Driver/Controller Module Figure 12 - Driver-Mode Output Port configuration (with diode protection) Controlling Output Ports Output ports are actuated via the “w” Command, Immediate and Program Modes. All output port control bits are referred by a single “w” parameter; multiple outputs can be updated at one time, or just one at a time, as needed. -
Page 25: Communications
DC-series unit. Note also that AccelMotion DC-series controllers are not compatible with Advanced Micro Systems DCB- or MAX-series controllers using 9600 baud. -
Page 26: Using Multi-Axis (Party Line) Mode To Command Multiple Controller/Driver Units
Some applications may require multiple DC-series controllers to be commanded at one time from a single control host (computer/PLC). In these cases, Multi-Axis Mode can be used, via the AccelMotion Communications Bus, to address up to 32 controller/drivers individually via the same script/software. -
Page 27: High-Reliability Method - Twisted-Pair And Shielded Wiring
DC2M17 Driver/Controller Module High-Reliability Method - Twisted-Pair and Shielded Wiring When units are more than one meter from each other or the host interface, it is recommended to make connections with twisted-pair wiring, in a shielded cable bundle. This method is similar to Ethernet wiring and can use the same wire type (four twisted pairs), or a single-pair cable. -
Page 28: Status Led
There are no user-serviceable parts on the DC2M17, including the main power protection fuse. To repair any damage, get in touch with AccelMotion so as to return the unit for repair (where applicable). Connectors The DC2M17 requires three connectors for all its functions: ... -
Page 29: Commands
DC2M17 Driver/Controller Module Commands Command Description Template Command Function Type Size Example Data 1 Data 2 Result *(axis) Command *(data1) *(data2) (↵) *(Range) *(Range) Where: Command: Keystroke or character mnemonic for the command Function: Functional description of command Type: Immediate Mode = Direct execution... -
Page 30: (Read Moving Status)
DC2M17 Driver/Controller Module ^ (Read Moving Status) Command Function Type Size Read Moving Status Immediate Example Data 1 Data 2 Result (Name) ^ ↵ none none Status The ^ command is used to determine the motion status of an axis controller, in Immediate Mode; “1”... -
Page 31: N (Name Axis)
DC2M17 Driver/Controller Module ^N (Name Axis) Command Function Type Size Name Controller Immediate Example Data 1 Data 2 Result none none none The single-character command ^N (“Ctrl N,” or 0E hex) is used to assign an address, called a 'name'. -
Page 32: Space (Enter Single-Axis Mode)
Model ID number and revision of the DC-series controller/driver unit. There is no additional command echo. The result appears as: AccelMotion <model> <version> Benefits of Immediate Mode include more valid commands available and allowing commands to be sent without addressing. -
Page 33: (Index In Plus Direction)
DC2M17 Driver/Controller Module + (Index in Plus Direction) Command Function Type Size Index (step) relative to current position Immediate, Program in Plus Direction Example Data 1 Data 2 Result (Name) + n ↵ n steps (0 to 2,147,483,647) none none Step (index) in the positive direction for the specified step count, relative to the axis current position. -
Page 34: (Soft Stop)
DC2M17 Driver/Controller Module @ (Soft Stop) Command Function Type Size Soft Stop Immediate, Program Example Data 1 Data 2 Result (Name) @ ↵ none none none If axis is moving, "@" command decelerates the motor to a stop, using "K" Decel ramp parameters. -
Page 35: B (Jog Speed)
DC2M17 Driver/Controller Module B (Jog Speed) Command Function Type Bytes Jog Speed/Velocity (default = 400) Immediate, Program Example Data 1 Data 2 Result (Name) B ↵ none none B value ↵ (Name) B (n) SPS (0 – 28,000) none none The “B”... -
Page 36: D (Speed Divider)
DC2M17 Driver/Controller Module D (Speed Divider) Command Function Type Bytes Divide Speed Value (default= 4) Immediate, Program Example Data 1 Data 2 Result (Name) D ↵ none none D value (Name) D n ↵ Divider (1-255) none none The “D” command modifies the Speed Divider value. All step speeds during ramping and slewing are divided by this divider value (n). -
Page 37: F (Find Home)
DC2M17 Driver/Controller Module F (Find Home) Command Function Type Bytes Find Home Immediate, Program Example Data 1 Data 2 Result (Name) F n (d) ↵ n SPS (1-28,000) d Direction (0,1) none The “F” command implements the Find Home function, which moves the axis to a physical location determined by a HOME switch, such as a microswitch or other detector. -
Page 38: G (Go)
DC2M17 Driver/Controller Module G (Go/Branch) Command Function Type Size Execute Program/Branch to location Immediate, Program Example Data 1 Data 2 Result (Name) G a (t) ↵ a 0-511 (excluding 200-255) t (0-1) none The Go command is used to enter Program Mode and begin execution of a user-programmed sequence, starting at memory location “a”. -
Page 39: H (Microstepping Resolution)
DC2M17 Driver/Controller Module H (Microstepping Resolution) Command Function Type Size Resolution (default 1) Immediate, Program Example Data 1 Data 2 Result (Name) H ↵ none none H value (Name) H n ↵ n 0-3 none none The H command sets the Stepping/Microstepping Resolution operating parameter, as shown below. The setting is updated into main RAM memory;... -
Page 40: J (Jump To Address Multiple Times)
DC2M17 Driver/Controller Module J (Jump to Address Multiple Times) Command Function Type Size Jump to Address Multiple Times Program Example Data 1 Data 2 Result (Name) J a n ↵ a address (0-511) n additional loops 0-255 none The “J” Command is used (in Program Mode) to execute a jump to a program location repeatedly – this command operates like a FOR loop, allowing a set of commands to be executed up to 255 times. -
Page 41: K (Ramp Slope)
DC2M17 Driver/Controller Module K (Ramp Slope) Command Function Type Size Ramp Slopes (defaults 5/3) Immediate, Program Example Data 1 Data 2 Result (Name) K ↵ none none K values (Name) K (Accel) (Decel) ↵ Accel (1-255) Decel (1-255) none The "K" command is used to adjust the acceleration and deceleration ramp slope, under changing motor motion. -
Page 42: L (Loop Waiting On Condition)
DC2M17 Driver/Controller Module L (Loop Waiting on Condition) Command Function Type Size Loop Waiting (conditional jump) Program Example Data 1 Data 2 Result (Name) L a c ↵ a address (0-511) c source/polarity (table) none Command “L” (Loop Waiting on Condition) is used to implement conditional execution flow, by testing a specified source and polarity (value c);... -
Page 43: M (Move At A Constant Velocity)
DC2M17 Driver/Controller Module M (Move at a Constant Velocity) Command Function Type Size Move at Constant Velocity Immediate, Program Example Data 1 Data 2 Result (Name) M (+/-) s ↵ s speed (±0 - 28,000 SPS) none none The M command causes the axis to move at a constant velocity (after completing its acceleration ramp). -
Page 44: O (Set Origin)
DC2M17 Driver/Controller Module O (Set Origin Command Function Type Size Set Origin (position counter reset) Immediate, Program Example Data 1 Data 2 Result (Name) O ↵ None (0 implied – clears to zero) none none (Name) O a ↵ a position (-2,147,483,648 to +2,147,483,647) - Page 45 DC2M17 Driver/Controller Module (continued) When using the AccelCom editor, it’s useful to add the commands needed to enter Program Entry mode, then the program contents, then the exit; here’s a simple program in the editor: enters Program Entry Mode +1000...
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Page 46: P (Polarity Inversion For Homing Switch And Limit Switches)
DC2M17 Driver/Controller Module p (Polarity Inversion for Homing Switch and Limit Switches) Command Function Type Size Polarity Inversion of Home and Limit Switches Immediate, Program Example Data 1 Data 2 Result (Name) p ↵ none none s values (small “p”) (Name) p s ↵... -
Page 47: R (Index Relative To Origin)
DC2M17 Driver/Controller Module R (Index Relative to Origin) Command Function Type Size Index Relative to Origin Immediate, Program Example Data 1 Data 2 Result (Name) R ↵ None implies move to zero (0) none none (Name) R n ↵ n position (-2,147,483,648 to 2,147,483,647) -
Page 48: S (Save)
DC2M17 Driver/Controller Module S (Save) Function Type Size Command Save to NV Memory Immediate, Program Example Data 1 Data 2 Result (Name) S ↵ None implies type 0 none none (Name) S t ↵ t type (0,1) none none The “S” Command is used to save Parameters and Programs into NV (non-volatile) memory. -
Page 49: Data 1 = 2: Checksum Echo Mode
DC2M17 Driver/Controller Module Under Echo Mode 1, command requests data from the controller (such as a Z command), then that data will be added to the response prior to the end of the line: ↵ Host: Controller: <CR><LF> time axis Data 1 = 2: Checksum Echo Mode Characters sent by the host since the last <enter>... -
Page 50: U (Set Port)
DC2M17 Driver/Controller Module U (Set Port) Function Type Size Command Set Ports Immediate, Program Example Data 1 Data 2 Result (Name) U ↵ none none U values (Name) U p f ↵ p port 1-4 f function 0-9 none The “U” command enables the assignment of fixed functions to each input port (I1, I2, I3, I4). Data 1... -
Page 51: Slew Velocity)
DC2M17 Driver/Controller Module V (Slew Velocity) Function Type Size Command Slew (final) Velocity (default= 10,000) Immediate, Program Example Data 1 Data 2 Result (Name) V ↵ none none V value (Name) V (n) ↵ n speed (1 to 28,000 SPS) -
Page 52: W (Output Port Read/Write)
DC2M17 Driver/Controller Module w (Output Port Read/Write) Command Function Type Size Write Outputs/Read Back Outputs Immediate, Program Example Data 1 Data 2 Result (Name) w ↵ None none Output State small w (Name) w (d) ↵ d data 0-255 (only bits 0 & 1 valid) -
Page 53: W (Wait)
DC2M17 Driver/Controller Module W (Wait) Function Type Size Command Wait / Wait for motion end Program Example Data 1 Data 2 Result (Name) W 0 ↵ none, implies 0 (wait for motion end) none none (Name) W m ↵ m wait value x 10 mSec. (0-65535) -
Page 54: Examine Parameters)
DC2M17 Driver/Controller Module X (Examine Parameters) Command Function Type Size Examine Settings Immediate Example Data 1 Data 2 Result X ↵ none none All Settings This command returns the current value of all operational parameters. It also includes product name and code revision. -
Page 55: Y (Hold And Run Current)
DC2M17 Driver/Controller Module Y (Hold and Run Current) Command Function Type Size Program Hold and Run Current Immediate, Program Example Data 1 Data 2 Result (Name) Y ↵ none none Y values (Name) Y h r ↵ h Hold (0-100) in % r Run (0-100) in % (133 opt*.) -
Page 56: Z (Read Position)
DC2M17 Driver/Controller Module Z (Read Position) Command Function Type Size Read/Display Current Position Counter Immediate, Program Example Data 1 Data 2 Result (Name) Z ↵ none none Position The “Z” command is used to read the 32-bit signed Position Counter (Origin Counter). During a move command, this value will update depending on direction of travel. -
Page 57: Specifications
DC2M17 Driver/Controller Module Specifications Absolute Maximum Ratings Characteristic Symbol Unit Supply Voltage V (DC) Positive Voltage Reference for Input/Output V (DC) ~4.8V (unloaded) generated internally, if not externally provided input Input and output signal voltage range (J3 pins 1-6) V (DC) -
Page 58: Thermal Considerations
NEMA17 dimensions only Motor Mounting When mounting the DC2M17 onto a motor it is required to replace the four machine screws that hold the motor together with longer screws which attach the DC2M17 and holds the motor together. See the table below for suggested screws and lengths with AccelMotion or AMS motors; for different brand motor refer to that manufacturers information to determine the replacement screw type. -
Page 59: Design Tips
DC2M17 Driver/Controller Module Design Tips EMI (electromagnetic interference or electrical noise) can be a major source of problems when integrating power drivers with microprocessor-based devices. EMI is typically generated through ground loops and AC power line disturbances. External devices such as relays, coils, solenoids, arc-welders, motors are all sources of EMI. -
Page 60: Set-Up For Current Measurement
1. Ensure set-up is wired as shown in the above diagram 2. Apply power to the DC2M17 3. Set the DC2M17 to half-step mode using the H command (H1) 4. Set the hold and run current to a safe reference measurement value of 50%, using “Y50 50”... -
Page 61: Ascii Character Code
DC2M17 Driver/Controller Module ASCII Character Code Ctrl Char Code Char Char Char ☺ ☻ “ ♥ ♦ ♣ ♠ & • ‘ ◘ ○ ◙ ♂ ♀ ♪ ♫ ☼ ► ◄ ↕ ‼ ¶ § ▬ ↨ ↑ ↓... -
Page 62: Revision Log - 9-19-2016
DC2M17 Driver/Controller Module Revision Log October 11, 2016 – Pre-Release Revision 0.9 Contact AccelMotion Email: support@accelmotion.com Phone: 512-212-7300 AccelMotion Systems 3051 N Hwy 183, Unit 4 Liberty Hill, TX 78642 www.accelmotion.com...