dmcm - dover motion control module...2 rtn 3 +v logic bus 24 - 48v recommended 4 +v motor bus 24 -...

DMCM - Dover Motion Control ModuleServo & Stepper Drive & Motion ControllerThe Dover Motion Control Module (DMCM) provides versatile high performance motion control with a built in drive that is capable of running 3 phase servo, 1 phase servo, or 4 wire stepper motors at various current output levels. It includes interpolation for use with either analog or digital encoders.

[email protected] www.dovermotion.com

Dover Motion159 Swanson Road

Boxborough, MA 01719

Overview

Dover Motion has implemented a Quality Management System in accordance with ISO 9001:2008 for the Design and Manufacture of Precision Positioning Products and Motion Systems

The DMCM – Dover Motion Control Module is a versatile controller and servo drive capable of powering stepper or servo motors and provides many advanced capabilities. It is the only drive in its class that allows selectable motor current scaling to ensure optimal current resolution for optimal stability and closed loop control performance. A single power source is used for both motor and logic supply, with on board intelligence that allows the motor power to be disconnected while leaving the logic powered on.

A high-speed Trigger On Position can be configured to allow a laser or camera to be triggered using the exact position of the stage. This can be setup as a constant incremental trigger at a fixed distance, or can be configured using a stage position look up table to trigger at different intervals.

The DMCM also includes an interpolated encoder feedback digital quadrature output. This signal can also be used as a master signal sent to a slave axis for coordinated motion.

Fast multi-axis communication can be implemented using RS-485, CAN, or SPI. RS-485 is also available for multi-axis applications.

Additional DMCM Features:

• Multiple communication options: RS-232, RS-485, CAN, and SPI

• 2 digital inputs, general purpose or used for step/direction motion command

• 1 digital output

• 1 analog 12 bit, 0-10V input

• Accepts analog or digital differential encoder feedback inputs

• + and – limit, index, and home inputs

• Digital position feedback output

• High speed trigger on position output

• 24 – 48V power input




Description Units ValueInput Voltage VDC 24 – 48 ± 10%

Idle Power W < 2

Digital Input Voltage VDC 5V

Digital Input Current Range µA 5 - 20

Digital Output Voltage VDC 5

Digital Output Max Current mA 10

Weight g 225

Dimensions mm 130 x 90 x 27.6

DMCM Specifications

Absolute Maximum RatingsPower

Description Units ValueMaximum Voltage Rating VDC 50

Maximum Input Current Rating A 5

Maximum Power Input W 250

Outputs

Description Units ValueMotor Current A 9

Motor Output Power W 250

Encoder Signal Output (A+, A-, B+, B-) VDC 5

Trigger On Position Signal VDC 5

Digital Output (Dig Out 1) VDC 5

RS-232 Communications VDC 12

RS-485 Communications VDC 5

CAN Communications VDC 2.5

SPI Communications VDC 3.3

Environmental Requirements

• Operating Temperature Range 0 oC – 40 oC• Storage Temperature Range -20 oC – 85 oC• Maximum Humidity 90% Non-Condensing• Maximum Operating Altitude 2,000 m

Inputs

Description Units ValueDigital In 1 / Step Voltage VDC 5

Digital In 2 / Direction Voltage VDC 5

Analog Input Range VDC 0 - 10

Analog Input Resolution Bits 12




DMCM Dimensional Drawings

Top View

Front View

Left Side View Right Side View

Motor Enabled LED

Power On LED




Connectors

J1 - Motor

J2 - Encoder Input

J5 - I/OJ3 -

Communications

P1 - SPI Communications

PWR - Power




PinoutsJ1 - Motor

Pin Single Phase Three Phase Stepper (4-wire) DE-9 Female1 Phase A Phase A Phase A

2 Phase C

3

4 Phase B

5

6 Phase A’ Phase B Phase A’

7 EGND EGND EGND

8

9 Phase B’

J2 - Encoder Connector

Pin Description Note DE-15 Female1 Logic +5V

2 Limit+ TTL/Sinking Output Compatible

3 Limit- TTL/Sinking Output Compatible

4 RTN

5 RTN

6 Logic +5V

7 Digital A+ / Analog Sin+

120 Ohm Terminated

8 Digital A- / Analog Sin-

9 Digital B+ / Analog Cos+

10 Digital B- / Analog Cos-

11 Index+

12 Index-

13 Home TTL/Sinking Output Compatible

14 RTN

15 EGND Outer Shield

J3 - Communications

Pin RS-232 RS-485 CAN DE-9 Female1 Z

2 TX Y

3 RX A CANL

4 B CANH

5 RTN RTN RTN

1

9

15

1015

1

9




J5 - I/O Connector

Pin Description Note High Density DE-15 Male1 A+ Out

Interpolated Digital Quadrature Feedback Output

2 A- Out

3 RTN

4 B+ Out

5 B- Out

6 Analog In 0-10V (12bit)

7 RTN

8 Dig In 1 / Step Configurable Input

9 Dig In 2 / Direction Configurable Input

10 +5V

11 Output Compare (Incremental) Trigger on Position Incremental

12 Digital Output 1

13 RTN

14 Output Compare (Gate / LUT)Configurable as Gate or Look-Up

Table for Trigger on Position Mode

15 +5V

PWR - Power

Pin Description Note Molex 172316-12041 EGND

2 RTN

3 +V Logic Bus24 - 48V

Recommended

4 +V Motor Bus24 - 48V

Recommended

P1 - SPI Communications

Pin Description Note Samtec TSS-105-05-F-D-RA1 SS3

2 SS4

3 SS2

4 SCLK

5 MISO

6 MOSI

7 3.3V SPI Enable

8 SS1

9 Factory Use Only (Customer NC)

10 RTN

1 5

1015

1

210

1 2

43




Controller Configuration SwitchesAccessing some of the features on the Dover Motion Control Module must be done by manually changing selection switches on the board. These switches may be accessed directly on the controller board which is accessible after removing the enclosure cover. The switches are factory set according to the ordered configuration

SW6 - Encoder Out

SW5 - Encoder InSW1 -

Communications

SWSS - SPI #

SW3 - I/O

SW4 - Current




SW1 - Communications Method Selection

Description Switch Setting Switch

Position 1 2 3 4Name CAN/SRL 485/232 LOZ/HIZ HD/FD

RS-232 ON ON X X

RS-485 Low Z Full Duplex ON OFF OFF ON

RS-485 Low Z Half Duplex ON OFF OFF OFF

RS-485 High Z Full Duplex ON OFF ON ON

RS-485 High Z Half Duplex ON OFF ON OFF

CAN Low Z OFF X OFF X

CAN High Z OFF X ON X

SW3 - I/O Option Switch

Position Description Switch

ON Position Output Trigger Mode Enabled

OFFStep & Direction Input Mode Enabled, Using Electronic

Gearing for Position Control

SW4 - Drive Current Range Switch

Position Description Switch Setting

1Low Range

1.5 A Continuous 3 A Peak Current

2Medium Range 3 A Continuous

6 A Peak Current

3High Range

4.5 A Continuous 9 A Peak Current

SW6 - Encoder Output Selection Switch


ONDigital Quadrature

Output ON

OFFDigital Quadrature

Output OFF

SW5 - Encoder Input Selection Switch


ONAnalog Encoder

Feedback Connected

OFFDigital Quadrature Encoder Feedback

Connected

SWSS - SPI Slave Select Numbering Switch

Position Description Switch Setting

1 Slave Select 1

2 Slave Select 2

3 Slave Select 3

4 Slave Select 4

432

1

432

1

432

1

432

1

A0

A#




Address # for CAN or RS485

SWSS - Board SPI Slave Select Numbering SwitchSlave Select Address 1Slave Select Address 2Slave Select Address 3Slave Select Address 4

SW6 - Encoder Output Selection SwitchOff - Digital Quadrature Output OffOn - Digital Quadrature Output On

SW4 - Drive Current Range SwitchPosition 1: Low RangePosition 2: Medium RangePosition 3: High Range

SW3 - I/O Option Switch SettingOff – Step and Direction ModeOn – Position Output Trigger Mode

Accessories

ConfiguratorModel

Dover Motion Control Module

PackagingStandard Single Axis Enclosure

Board Only, No Enclosure

SW5 - Encoder Input Selection SwitchOff - Digital Quadrature Encoder Input Mode

On - Analog Encoder Input Mode

Encoder Resolution (Factory Configured)1.25 nm

2.5 nm5 nm

100 nm1 µm

2,000 Count Per Revolution, Rotary4,000 Count Per Revolution, Rotary

Communications Switch SettingRS-232

RS-485(Half Duplex), Low ImpedanceCAN 2.0B, Low Impedance

RS-485(Half Duplex), High ImpedanceRS-485(Full Duplex), Low ImpedanceRS-485(Full Duplex), High Impedance

CAN 2.0B, High Impedance

Standard cable kits are available for communications, power, motor, and feedback connections.

DMCM RS-232 Cable Kit (P/N: 36126-00)• 1m, DMCM to flying leads for power supply• 1m, DMCM to RS-232 Adapter to USB

DMCM RS-485 Cable Kit (P/N: 36127-00)• 1m, DMCM to flying leads for power supply• 1m, DMCM to RS-485 Adapter to USB

For motor, I/O, and feedback cables, contact Dover Motion Applications Support at:[email protected] for ordering information.

DMCM CAN Cable Kit (P/N: 36128-00)• 1m, DMCM to flying leads for power supply• 1m, DMCM to CAN Adapter to USB

2019

-09-

18 R

ev G

1

G01

L

0

0

2

G02

1.25nm

G06

100nm

M

1

1

3

G03

2.5nm

G07

1µm

H

D4

G05

5nm

G08

2000cpr

4000cpr

A

E

DMCM-

DMCM- E 1µm G01 1 M 1A 1

B

dmcm - dover motion control module...2 rtn 3 +v logic bus 24 - 48v recommended 4 +v motor bus 24 -...

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