Introduction
The PMX-4CX-SA is a standalone 4-axis stepper motor controller with USB communication, compatible with Windows and Linux. It supports standalone programmability and offers drivers and sample code for development.

Features
- USB 2.0 communication
- Standalone programmability
- Opto-isolated I/O with 4 inputs and 4 outputs
- Open-collector outputs for pulse, direction, and enable
- 400K pulse output rate
- Homing routines with high and low-speed options
- 12-24VDC voltage input

Electrical and Thermal Specifications
- Power Requirement: +12 to +24 VDC, 200 mA max
- Operating Temperature: 0°C to +85°C
- Storage Temperature: -55°C to +150°C
- Digital Inputs/Outputs: Opto-isolated, max 90 mA

Pin Descriptions
Includes detailed pin functions for power, digital I/O, and axis control, with example wiring diagrams.

Getting Started
Setup instructions for PC-controlled and standalone operations, with a Windows GUI for testing and programming.

Motion Control Feature Overview
Details on motion profiles, homing, jogging, motor status, and communication time-out features.

Communication
USB communication API functions and troubleshooting tips are provided.

Language Specifications
Includes ASCII and standalone language commands for programming, with examples of standalone programs.

Motion Control Commands
Commands like RSTOP, ISTOP, HOME+/-, HL+/-, JOG+/-, L+/-, ABS, and DAT are detailed for motor control.

Outputs and Inputs
Set and read digital output/input status for DO1-DO4 and DI1-DI4.

Setup
Includes changing polarity, setting boot-up states, auto-run programs, and storing parameters to flash memory.

Variables
Volatile variables reset after power cycle; non-volatile variables can be saved to flash.

Text Programming Box
Features a text box for standalone programming with a larger Program Editor window.

Compiler
Compiles code into assembly level, downloads to memory, and uploads standalone code for translation.

Program File Control
Open, save, and create new standalone programs.

Program Control
Run, stop, pause, and continue programs, with status view (Idle, Running, Paused, Error).

Command Reply
Send commands to the PMX-4CX-SA and view replies.

Standalone Program Specification
Memory size: 1785 assembly lines ~ 10.5 KB, supports multithreading, error handling, and flash storage.

Configuration at Boot-up
Outlines configuration parameters, including home and limit correction amounts, time-out counter reset values, and standalone variables.

Communication
Supports USB 2.0 with Windows-compatible DLL API functions, addressing common issues like buffer synchronization.

ASCII Language Specification
Case-sensitive ASCII command language for interactive commands, with error codes for unrecognized commands.

Standalone Language Specification
Supports programming with comments, motion commands, and conditional logic, with syntax examples.

Example Programs
Includes multi-threaded operations for motor control and handling digital inputs/outputs.

Critical Information
- Subroutine Handling: Subroutine 31 reserved for error handling.
- Speed Range: 1 to 300,000 pulses per second.
- Variable Management: Supports 64 variables, with half stored to flash.
- Conditional Logic: Detailed syntax for complex decision-making.

Contact Information
Arcus Technology, Inc., 3159 Independence Dr, Livermore, CA 94551, Phone: 925-373-8800, Website: www.arcustechnology.com

Disclaimer
Information is accurate at the time of publication but subject to change without notice.