Anaheim automation Dpy50611 User manual

1

#L010196 September 2005

DPY50611DPY50611

DPY50611

Programmable Driver PackProgrammable Driver Pack

Programmable Driver Pack

User’s GuideUser’s Guide

User’s Guide

910 East Orangefair Lane, Anaheim, CA 92801

e-mail: [email protected] (714) 992-6990 fax: (714) 992-0471

website: www.anaheimautomation.com

ANAHEIM AUTOMATION, INC.ANAHEIM AUTOMATION, INC.

ANAHEIM AUTOMATION, INC.

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#L010196 September 2005

Table of ContentsTable of Contents

Table of Contents

Section 1: IntroductionSection 1: Introduction

Section 1: Introduction....................................................................................................................................................................................................................................................

....................................................................................................................................................................................................................................................

.......................................................................................................................... 33

33

3

Description ............................................................................................................................................... 3

Electrical Specifications ........................................................................................................................... 4

Ordering Information ................................................................................................................................ 4

Dimensions/Switch Locations .................................................................................................................. 5

Wiring Diagrams....................................................................................................................................... 5

Terminal Descriptions - Driver ................................................................................................................. 6

Motor Ground........................................................................................................................................... 6

Terminal Descriptions - Controller ........................................................................................................... 7

Connector Descriptions - Controller......................................................................................................... 7

Slide Switch Descriptions - Controller...................................................................................................... 7

Section 2: Driver FunctionsSection 2: Driver Functions

Section 2: Driver Functions ....................................................................................................................................................................................................................................

....................................................................................................................................................................................................................................

.................................................................................................................. 88

88

8

Motor Selection ........................................................................................................................................ 8

Step Motor Current Setting Guide............................................................................................................ 8

Microstep Selection - Driver SW1 Settings .............................................................................................. 9

Setting the Output Current ....................................................................................................................... 9

Reducing Output Current ....................................................................................................................... 10

Determining Output Current................................................................................................................... 10

Step Motor Configurations ..................................................................................................................... 10

Connecting the Step Motor .................................................................................................................... 12

Short-Circuit, Mis-Wire, and Over-Current Conditions........................................................................... 12

Section 3: Controller FunctionsSection 3: Controller Functions

Section 3: Controller Functions ..................................................................................................................................................................................................................

..................................................................................................................................................................................................................

......................................................................................................... 1313

1313

13

Methods of Communication ................................................................................................................... 13

Baud Rate .............................................................................................................................................. 13

Axis Selection......................................................................................................................................... 13

Controller Status LED ............................................................................................................................ 13

Technical Support .................................................................................................................................. 13

Section 4: SMC60WIN SoftwareSection 4: SMC60WIN Software

Section 4: SMC60WIN Software....................................................................................................................................................................................................................

....................................................................................................................................................................................................................

.......................................................................................................... 1818

1818

18

File Menu ............................................................................................................................................... 19

Setup Menu............................................................................................................................................ 19

Setup - Axis Menu.................................................................................................................................. 19

Program Menu ....................................................................................................................................... 20

Program - Autostart Program Menu....................................................................................................... 20

Edit Menu............................................................................................................................................... 20

Help Menu.............................................................................................................................................. 21

“The Unit is Connected” / “The Unit is NOT Connected” ....................................................................... 21

Toolbar ................................................................................................................................................... 22

Tab Sheets............................................................................................................................................. 22

Add/Change/Insert Commands.............................................................................................................. 27

Calculator ............................................................................................................................................... 32

Section 5: Direct Talk ModeSection 5: Direct Talk Mode

Section 5: Direct Talk Mode ................................................................................................................................................................................................................................

................................................................................................................................................................................................................................

................................................................................................................ 3333

3333

33

Section 6: TroubleshootingSection 6: Troubleshooting

Section 6: Troubleshooting ................................................................................................................................................................................................................................

................................................................................................................................................................................................................................

................................................................................................................ 4343

4343

43

Error Codes............................................................................................................................................ 44

Section 7: Sample ProgramsSection 7: Sample Programs

Section 7: Sample Programs ............................................................................................................................................................................................................................

............................................................................................................................................................................................................................

.............................................................................................................. 4545

4545

45

Appendix 1: ASCII Table for Direct Mode .............................................................................................. 50

Appendix 2: Firmware Revisions............................................................................................................ 50

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#L010196 September 2005

Section 1: IntroductionSection 1: Introduction

Section 1: Introduction

The DPY50611 is a single-axis 5A bipolar microstep driver/controller containing 2 Kbytes of nonvolatile

stored programming space, quadrature encoder feedback, and a 125W power supply, all enclosed in a

package. It provides flexible, independent control of bipolar stepper motors with a current range from 0.5

to 5.0 amps/phase with microstepping resolutions from 200 steps per revolution to 12,800 steps per

revolution from a computer, or any machine controller with a serial port. It is also capable of standalone

operation, making it an embedded machine controller. The easy to use Windows software, SMC60WIN,

can be used to directly control motion and to program the DPY50611. The DPY50611 also has the ability

for real time functions.

The DPY50611 has 40 commands, which are easy-to-remember for direct movement of the stepper

motor and communicates via an USB data bus. A windows driver is provided to communicate with the

DPY50611 through a virtual comport from the PC. This driver will turn any USB port into a virtual comport,

thus enabling simple serial programs to send information to the DPY50611. To use the SMC60Win soft-

ware, the virtual comport driver must be installed. Special functions of the controller include 8 program-

mable open collector outputs and 6 TTL, CMOS and 24V compatible inputs, a quadrature encoder input

with the ability to autocorrect, an analog input to control either maximum speed or absolute position,

registration mark indexing during a slew command, an output that will trigger during an index command at

an absolute position, and a thumbwheel input for indexing a motor. The DPY50611 can be powered from

90-135 VAC, 50/60Hz,

DescriptionDescription

Description

The driver in the DPY50611 (MBC05641) is a microstep motor driver that can drive motors rated from 0.5

to 5.0 amps/phase. It can handle 4, 6 and 8-lead motors in a bipolar fashion. The DPY50611’s driver

features motor current ON/OFF capabilities and a Reduced Current Enable to automatically reduces

motor current to 50% of the set value after the last step is made (20msec delay). With the DPY50611,

various step resolutions can be implemented by the onboard dip switch. These divisions range from 200

steps per revolution to 12,800 steps per revolution. Protection devices have been added to this driver for

short circuit and open circuit conditions. The driver has built-in features to indicate power on (Green LED),

Clocks being received (Yellow LED) and fault conditions (Red LED).

The controller in the DPY50611 (PCL601USB) provides independent programming of acceleration/

deceleration, base speed (start up speed), max speed (running speed), jog speed, and the number of

steps to be taken in both relative and absolute positioning modes. On absolute positioning moves, the

DPY50611 automatically determines the proper direction to go and the number of steps to take. The

relative positioning will move a number of steps in the direction that the user defines. The DPY50611 also

has specific functions such as

encoder feed back, autocorrection, index-on-the-fly and output-on-the-fly

.

An analog input can be used to set either the maximum speed or goto an absolute position based between

the upper and lower programmable limits. A seven decade thumbwheel switch can be read for relative

indexing. The DPY50611 also has a high level programming command set that includes: branching,

looping,conditionalstatements,timedelays,textstrings,and I/O which the user canuse in theprogramming

mode to fully control all machine functionality. A home input, a set of bidirectional hard and soft limit switch

inputs and bidirectional jog inputs are provided for each axis. These features are generally required in

most machine control designs. 6 testable TTL, CMOS and 24V compatible inputs and 8 programmable

open-collector outputs are provided per axis. The I/O may be used for monitoring and controlling machine

operation and/or interaxis coordination. The I/O are accessible independent of the busy state of the axis

controls. The DPY50611 has a built-in programmable reset circuit. Reset is automatic on power-up, or by

pressing the external reset button.

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#L010196 September 2005

Electrical SpecificationsElectrical Specifications

Electrical Specifications

Power Requirements:Power Requirements:

Power Requirements:

90-135 VAC 50/60Hz

Operating Temperature:Operating Temperature:

Operating Temperature:

0 to 60 degrees C

Pulse Output Range:Pulse Output Range:

Pulse Output Range:

1 to 50,000 Hz

10uS negative going pulse width

Inputs (TTL-CMOS):Inputs (TTL-CMOS):

Inputs (TTL-CMOS):

Logic “0”: 0 to 0.8VDC

Logic “1”: 3.5 to 24VDC

Analog input 1: 0 to 5VDC

Output Current Rating:Output Current Rating:

Output Current Rating:

5.0 A/phase maximum running

3.5A/phase maximum standstill

Baud Rate:Baud Rate:

Baud Rate:

38400 Baud, Fixed

Data Format:Data Format:

Data Format:

Half-Duplex, 1 start bit, 8 data bits,

no parity, 1 stop bit

Outputs (8 programmable):Outputs (8 programmable):

Outputs (8 programmable):

Open Drain Type

40V, 100mA

+5VDC Output, 50mA

Output1 active low time for output on the fly:Output1 active low time for output on the fly:

Output1 active low time for output on the fly:

50uS

Note:Note:

Note: For inductive loads, customers must connect

a clamping diode to protect from flyback voltage

spikes.

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Ordering InformationOrdering Information

Ordering Information

Thetable below listsavariety of productsavailablefrom Anaheim Automation,Inc.These products include

those covered by this manual, along with supporting cables and devices. We are continually adding new

products to our line, so please consult Anaheim Automation, Inc. or its representatives for information on

the latest releases.

A CD, provided when you purchase the unit, contains this user’s manual, along with the SMC60WIN

software, windows virtual comport driver and DPY50611 program examples. The software allows you to

write and change programs that are to be stored in the DPY50611 for autostart use, and also upload the

program that is stored in the DPY50611 itself for editing and viewing. The software also allows you to save

the programs onto your computer hard drive, and easily retrieve them when needed.

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#L010196 September 2005

Dimensions/Switch LocationsDimensions/Switch Locations

Dimensions/Switch Locations

Wiring DiagramsWiring Diagrams

Wiring Diagrams

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#L010196 September 2005

Terminal Descriptions - DriverTerminal Descriptions - Driver

Terminal Descriptions - Driver

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Motor GroundMotor Ground

Motor Ground

Meant to be used in conjunction with the motor cable ground wire. Make sure the connection is only on

one end of the motor cable ground wire. If no motor shield is available, and if the motor has no ground

wire, the motor ground pin can be left with no connection.

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#L010196 September 2005

Slide Switch Descriptions - ControllerSlide Switch Descriptions - Controller

Slide Switch Descriptions - Controller

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Terminal Descriptions - ControllerTerminal Descriptions - Controller

Terminal Descriptions - Controller

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8

#L010196 September 2005

Section 2: Driver FunctionsSection 2: Driver Functions

Section 2: Driver Functions

Motor SelectionMotor Selection

Motor Selection

The DPY50611 incorporates a Bipolar Microstep Driver that is compatible with both Bipolar and Unipolar

Motor Configurations, (i.e. 8 and 4 lead motors, and 6 lead center tapped motors).

Step motors with low current ratings and high inductance will perform better at low speeds, providing

higher low-end torque. Motors with high current ratings and low inductance will perform better at higher

speeds, providing more high-end torque.

Since the DPY50611 is a constant current source, it is not necessary to use a motor that is rated at the

same voltage as the supply voltage. What is important is that the driver is set to the appropriate current

level based on the motor being used. Refer to the following chart for setting the current potentiometer

based on the current code in the part number of the motor. Examples of motor part numbers are shown

below. Anaheim Automation offers a comprehensive line of step motors in 14, 17, 23, 34 and 42 frame

sizes. Contact the factory to verify motor compatibility with the DPY50611.

Step Motor Current Setting GuideStep Motor Current Setting Guide

Step Motor Current Setting Guide

Anaheim Automation offers motor cable, making hook-ups quick and easy!Anaheim Automation offers motor cable, making hook-ups quick and easy!

Anaheim Automation offers motor cable, making hook-ups quick and easy!

Contact the factory or visit our website for more motor and cable offerings.Contact the factory or visit our website for more motor and cable offerings.

Contact the factory or visit our website for more motor and cable offerings.

Table 5: Table selection for Anaheim Automation motor current settings.

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9

#L010196 September 2005

Microstep Selection - Driver SW1 SettingsMicrostep Selection - Driver SW1 Settings

Microstep Selection - Driver SW1 Settings

Switches 2, 3 and 4, of the DIP switch select the number of microsteps per step. Table 6 shows the

standardresolution values alongwith the associatedpositions for theselect switches. Thestandard wave-

forms are sinusoidal.

Setting the Output CurrentSetting the Output Current

Setting the Output Current

The output current on the DPY50611 is set by an onboard potentiometer. This potentiometer determines

the per phase peak output current of the driver. The relationship between the output current and the

potentiometer value is as follows:

Table 7: Potentiometer values with respect to the output current

Refer to Table 5 for specific motor current settings.Refer to Table 5 for specific motor current settings.

Refer to Table 5 for specific motor current settings.

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Table 6: Microstep selection on switch 1.

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10

#L010196 September 2005

When configuring the motor in a

series configurationseries configuration

series configuration

(connected from end to end with the center tap

floating) use the specified per Phase (or unipolar) current rating to determine the current setting potenti-

ometer value.

Reducing Output CurrentReducing Output Current

Reducing Output Current

Reducing the output current is accomplished by setting switch 1 of the DIP switch to the ON position and

occurs approximately 1 second after the last positive going edge of the step clock input. The amount of

current per phase in the reduction mode is approximately 50% of the set current. When the current

reduction circuit is activated, the current reduction resistor is paralleled with the current adjustment poten-

tiometer. This lowers the total resistance value, and thus lowers the per Phase output current.

Determining Output CurrentDetermining Output Current

Determining Output Current

The output current for the motor used when microstepping is determined differently from that of a full/half

step unipolar driver. In the DPY50611, a sine/cosine output function is used in rotating the motor. The

output current for a given motor is determined by the motors current rating and the wiring configuration of

the motor. There is a current adjustment potentiometer used to set the output current of the DPY50611.

This sets the peak output current of the sine/cosine waves. The specified motor current (which is the

unipolar value) is multiplied by a factor of 1.0, 1.4, or 2.0 depending on the motor configuration (series,

half-coil, or parallel).

Step Motor ConfigurationsStep Motor Configurations

Step Motor Configurations

Step motors can be configured as 4, 6, or 8 leads. Each configuration requires different currents. Refer to

the lead configurations and the procedures to determine their output current.

WARNING!WARNING!

WARNING! Step motors will run hot even when configured correctly. Damage may occur to the motor if

a higher than specified current is used. Most specified motor currents are maximum values. Care

should be taken to not exceed these ratings.

6 Lead Motors6 Lead Motors

6 Lead Motors

When configuring a 6 lead motor in a

half-coil configurationhalf-coil configuration

half-coil configuration

(connected from one end of the coil to the

center tap), multiply the specified per Phase (or unipolar) current rating by 1.4 to determine the current

setting potentiometer value. This configuration will provide more torque at higher speeds when compared

to the series configuration.

Anaheim Automation DPY50611 User manual

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