Post on 05-Aug-2020
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.
508-475-3400sales@dovermotion.com 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
508-475-3400sales@dovermotion.com www.dovermotion.com
Dover Motion159 Swanson Road
Boxborough, MA 01719
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
508-475-3400sales@dovermotion.com www.dovermotion.com
Dover Motion159 Swanson Road
Boxborough, MA 01719
DMCM Dimensional Drawings
Top View
Front View
Left Side View Right Side View
Motor Enabled LED
Power On LED
508-475-3400sales@dovermotion.com www.dovermotion.com
Dover Motion159 Swanson Road
Boxborough, MA 01719
Connectors
J1 - Motor
J2 - Encoder Input
J5 - I/OJ3 -
Communications
P1 - SPI Communications
PWR - Power
508-475-3400sales@dovermotion.com www.dovermotion.com
Dover Motion159 Swanson Road
Boxborough, MA 01719
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
508-475-3400sales@dovermotion.com www.dovermotion.com
Dover Motion159 Swanson Road
Boxborough, MA 01719
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
508-475-3400sales@dovermotion.com www.dovermotion.com
Dover Motion159 Swanson Road
Boxborough, MA 01719
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
508-475-3400sales@dovermotion.com www.dovermotion.com
Dover Motion159 Swanson Road
Boxborough, MA 01719
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
Position Description Switch
ONDigital Quadrature
Output ON
OFFDigital Quadrature
Output OFF
SW5 - Encoder Input Selection Switch
Position Description 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#
508-475-3400sales@dovermotion.com www.dovermotion.com
Dover Motion159 Swanson Road
Boxborough, MA 01719
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:sales@dovermotion.com 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