The CMD-4EX-SA is based on the PCL6045BL motion control LSI and an ARM Core processor.


Power

  • +12VDC to +48VDC power input / Logic
  • +12VDC to +24VDC motor power
  • 3.3V logic level, 5V tolerant

Communication

  • USB 2.0, HID compatible. No driver signature required
  • RS-485 ASCII, selectable 9600, 19200, 38400, 57600, 115200 baud rates available
  • Ethernet, available for future expansion

Control

  • Command control from PC through USB or serial communication
  • Standalone control allows operation separate from PC, using a BASIC-like programming language known as A-SCRIPT

Utility software

  • Allows for operation check by utility software
  • Compile, write and read standalone programs

Motor interface

  • Maximum pulse output rate of 6.55M PPS 
  • Stepper motor interface with pulse, direction, and enable outputs for XYZU
  • Servo motor interface with pulse, direction, enable, in-position, servo alarm, and error clear outputs for XYZU

Homing Routines

  • 13 different built-in homing routines available, high speed and low speed.

Positioning operations

  • Selectable trapezoidal or s-curve acceleration
  • High-speed correction function for short movements
  • Absolute positioning or incremental positioning can be selected
  • On-the-fly speed change (speed overridden during movement).
  • On-the-fly target position change (target position overridden during movement).
  • Coordinated motion
    • Linear (XYZU) (2 to 4 axis)
    • Circular/Arc (any two axes)
    • Helix/Tangential (XYZ)
    • Continuous linear/circular/arc coordinated buffered move for XYZ axis
  • Control using manual pulse generator (MPG)
    • Electronic camming
    • Electronic gearing

Inputs/Outputs

  • With integrated noise filter, to reduce switch bounce
  • A/B/Z encoder inputs for XYZU (TTL Compatible)
    • Maximum frequency of 6.5 MHz (26M counts with 4x Multiplication)
    • StepNLoop closed-loop position verification algorithm (XYZU)
  • Manual pulse generator (MPG) operation
    • A/B pulse inputs for XYZU (TTL Compatible)
    • Maximum frequency of 6.5 MHz (26M counts with 4x Multiplication)
  • Digital I/O
    • 4 designated high-speed inputs
    • 4 designated high-speed outputs
    • +Limit/-Limit/Home inputs for XYZU
    • Simultaneous start input
    • Emergency stop input
    • 32 configurable I/O
    • Latching input
    • Synchronization Pulse output
  • Analog I/O
    • Two 10-bit analog input
    • Two PWM outputs
    • Joystick operation with analog input (X-axis, Y-axis)

Stepper Motor Driver (TBD)

  • Directly drive 4 bipolar stepper motors
  • PWM-controlled constant-current drive
  • Low on-resistance MOSFET output stage
  • Stepping resolutions of full, half, quarter, 1/8, 1/16, 1/32, 1/64, and 1/128 step
  • High-efficiency motor current control mechanism (ADMD: Advanced Dynamic Mixed Decay)
  • Built-in anti-stall architecture (AGC: Active Gain Control)
  • Motor drive voltage 12 to 24Vdc
  • Motor current 0.19A to 2.3A
  • Multi error detection functions:
    • Thermal shutdown (TSD)
    • Over-current (ISD)
    • Motor load open (OPD)


Firmware upgrade and download via USB using NPA firmware loader software.