Introduction
The PMX-2EX-SA is a 2-axis programmable stepper motor controller that can function independently or through USB communication. It supports standalone programming, with a pulse output rate of up to 6M PPS, and features trapezoidal or s-curve acceleration, and XY linear coordinated motion. It includes A/B/Z differential encoder inputs and StepNLoop closed-loop control for position verification, along with opto-isolated I/O with 8 inputs and outputs, and various homing routines.

Electrical Specifications
The controller requires a regulated voltage of +12 to +24 VDC and can handle a peak current of 1.5A. It operates within a temperature range of -20°C to +80°C and can be stored between -55°C and +150°C. The pulse, direction, and enable outputs are open-collector types with a maximum sink voltage of +24 VDC and a current of 40 mA. Digital inputs and outputs are opto-isolated, supporting a voltage range of +12V to +24VDC.

Connections
The PMX-2EX-SA uses a 2-pin connector for power input and a 50-pin connector for control and encoder I/O. The 50-pin motion I/O includes inputs for limit and home signals for both X and Y axes, as well as digital inputs and outputs.

Getting Started
The manual provides guidance on setting up the device, including typical configurations and the main control screen interface.

Motion Control Overview
This section covers motion profiles, pulse speed, on-the-fly speed changes, motor status, and various motion commands such as homing, jogging, and stopping. It also details the use of digital and analog inputs/outputs and joystick control.

Communication
The PMX-2EX-SA supports USB communication with API functions and addresses potential communication issues.

Language Specifications
The manual includes detailed specifications for ASCII and standalone programming languages, including error codes and command syntax.

Example Programs
Several standalone example programs are provided to demonstrate single and multi-threaded operations.

Appendix
The appendix includes information on speed settings and acceleration/deceleration ranges.

Specifications and Connector Details
The document outlines the specifications for digital outputs and connectors, listing digital outputs DO4 to DO8 and mentioning several 'No Connection' pins. The mating connector is a 50-pin 0.1" connector manufactured by CW Industries, part number C3AAG-5018M. Other compatible IDC connectors can also be used.

Interface Circuit and Outputs
The manual describes the interface circuit for the PMX-2EX-SA, detailing pulse/dir/enable outputs which are open collector outputs capable of sinking up to 40mA at 24VDC. Digital outputs are opto-isolated using Darlington transistors, capable of sinking up to 100mA at 24VDC. Digital inputs require an opto-supply input of 12 to 24VDC.

Encoder and Analog Inputs
Encoder inputs can be connected using differential or single-ended connectors. Analog inputs range from 0 to 5V with a 10-bit resolution, allowing joystick control. The maximum source current for analog inputs is 10mA.

Control and Setup
The manual provides detailed instructions on setting up and controlling the PMX-2EX-SA, including setting speed, acceleration, and homing parameters. It explains the use of global and individual speed settings, and how to perform on-the-fly speed and position changes.

Motion Control Overview
The PMX-2EX-SA uses a trapezoidal velocity profile by default, with options for an S-curve profile. Commands for setting high and low speeds, acceleration, and deceleration are provided. The document also covers motor status monitoring and error handling.

Homing and Movement Commands
Homing routines involve moving the motor towards home or limit switches. The document describes various homing commands and routines, including high-speed and low-speed homing.

Programming and Control
The manual includes sections on programming the PMX-2EX-SA, with details on compiling and downloading code, managing program files, and controlling standalone programs. It provides a comprehensive guide to using the terminal for command input and output.

Specifications:
The PMX-2EX-SA manual outlines various parameters and settings for the device, including StepNLoop parameters, joystick settings, and USB communication protocols. It specifies that the device is USB 2.0 compliant and can communicate with a PC using Windows-compatible DLL API function calls. The typical communication transaction time is in single-digit milliseconds, depending on the CPU speed and command type.

Communication Procedures:
The manual provides detailed instructions for USB communication, including functions to get the number of devices, open and close communication, set timeouts, send and receive commands, and flush communication buffers. It highlights common USB communication issues, such as data buffer synchronization problems, and suggests solutions like buffer flushing and using a USB cable with a noise suppression choke.

ASCII Language Specification:
The document describes various ASCII commands for controlling the PMX-2EX-SA, including commands for aborting movements, setting acceleration and deceleration values, and managing digital inputs and outputs. It also covers homing operations, joystick control, and StepNLoop control settings.

Error Codes:
The manual lists potential error codes that may be returned if an ASCII command cannot be processed. These include errors related to invalid commands, out-of-range parameters, and uninitialized subroutines.

Standalone Language Specification:
The standalone language section provides syntax and examples for programming the PMX-2EX-SA. It includes commands for motion control, acceleration settings, and conditional statements. Comments are denoted by a semicolon and must be on their own line.

Key Recommendations:
- Ensure USB cables have noise suppression chokes to prevent communication issues.
- Use the latest PerformaxCom.dll for improved functionality, such as buffer flushing.
- Regularly check for proper replies to commands to avoid synchronization issues.
- Store device settings to flash memory to retain configurations after reboot.

Acceleration and Deceleration: The document provides commands for setting and reading acceleration (ACC) and deceleration (DEC) values for different axes. These values are expressed in milliseconds. Conditional statements can be used to check these values.

Analog and Digital Inputs: The PMX-2EX-SA has 2 analog inputs and 8 digital inputs. Analog inputs range from 0-5000 mV. Syntax for reading and conditional checks are provided.

Delay and Abort Commands: Delays can be set in milliseconds, and the ABORT command stops all axes with deceleration.

Digital Outputs: The device has 8 digital outputs. Commands for reading and setting these outputs are detailed, along with conditional checks.

Encoder Position: Commands for reading and setting the current encoder position (E[axis]) are provided, along with examples.

Conditional Logic: The document outlines the use of IF, ELSE, and ELSEIF statements for conditional operations, including syntax and examples.

Subroutines and Program Control: Commands for defining and calling subroutines (GOSUB, ENDSUB) and program control (PRG, END) are explained.

Homing and Speed Control: Commands for homing (HOME, HLHOME, LHOME) and setting high and low speeds (HSPD, LSPD) are included, with syntax and examples.

Joystick Control: Various commands for joystick control, including enabling the joystick, setting speed, and defining limits, are detailed.

Motor and Pulse Position: Commands for getting motor status (MST) and pulse position (P[axis], PS[axis]) are provided.

S-Curve and StepNLoop Control: Commands for enabling S-Curve (SCV[axis]) and StepNLoop (SL[axis], SLS[axis]) are included, with notes on limitations.

Overview: This document provides detailed instructions and examples for programming and controlling motor movements using the PMX-2EX-SA system. It includes syntax, examples, and explanations for various commands and settings.

1. Command Descriptions: The document outlines several commands used to control motor movements, including:

2. Example Standalone Programs: The document provides several example programs demonstrating different tasks, such as moving motors between positions, using subroutines, and handling digital inputs and outputs.

3. Speed Settings: Detailed tables and formulas are provided for setting high speed (HSPD), low speed (LSPD), and acceleration (ACC) values. The document explains how to calculate maximum allowable acceleration based on speed settings.

4. Acceleration/Deceleration Range: The document explains how the controller calculates acceleration and deceleration for positional moves, including conditions for using triangle velocity profiles.

Contact Information: Arcus Technology, Inc. contact details are provided for further inquiries.

Conclusion: This document serves as a comprehensive guide for programming and controlling motor movements using the PMX-2EX-SA system, with detailed command descriptions, examples, and technical specifications.