Anaheim Automation DPE25611 User manual

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DPE25611
Programmable Driver Pack
User’s Guide
4985 E. Landon Drive Anaheim, CA 92807
e-mail: [email protected]
[phone] fax: [phone]
website: www.anaheimautomation.com
ANAHEIM AUTOMATION
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Table of Contents
Section 1: Introduction.................................................................................................................................3
Description.....................................................................................................................................................3
Electrical Specications..............................................................................................................................4
Ordering Information.......................................................................................................................................4
Dimensions/Switch Locations.....................................................................................................................5
Wiring Diagrams.........................................................................................................................................5
Terminal Descriptions - Driver.........................................................................................................................6
Terminal Descriptions - Controller..............................................................................................................6
Connector Descriptions - Controller.................................................................................................................6
Slide Switch Descriptions - Controller.............................................................................................................6
Section 2: Driver Functions..........................................................................................................................7
Motor Selection.............................................................................................................................................7
Step Motor Current Setting Guide..............................................................................................................7
Setting the Output Current...............................................................................................................................7
Reducing Output Current................................................................................................................................8
Determining Output Current...........................................................................................................................8
Step Motor Congurations..........................................................................................................................8
Connecting the Step Motor..............................................................................................................................9
Section 3: Controller Functions..................................................................................................................10
Methods of Communication.......................................................................................................................10
Baud Rate................................................................................................................................................10
RS232 Protocol - Controller SW1 in RS232 Position........................................................................................10
RS485 Protocol - Controller SW1 in RS485 Position....................................................................................10
Axis Selection...........................................................................................................................................11
Controller Status LED..................................................................................................................................11
Technical Support.........................................................................................................................................11
Section 4: SMC60WIN Software.................................................................................................................16
File Menu..................................................................................................................................................17
Setup Menu..............................................................................................................................................17
Setup - Axis Menu.....................................................................................................................................17
Program Menu............................................................................................................................................18
Program - Autostart Program Menu............................................................................................................18
Edit Menu..................................................................................................................................................18
Help Menu................................................................................................................................................19
“The Unit is Connected” / “The Unit is NOT Connected”..................................................................................19
Toolbar......................................................................................................................................................20
Tab Sheets................................................................................................................................................20
Add/Change/Insert Commands................................................................................................................25
Calculator..................................................................................................................................................30
Section 5: Direct Talk Mode....................................................................................................................31
Section 6: Troubleshooting.....................................................................................................................41
Errors Codes.............................................................................................................................................42
Section 7: Sample Programs.....................................................................................................................43
Appendix 1: ASCII Table for Direct Mode...................................................................................................47
Appendix 1: ASCII Table for Direct Mode...................................................................................................47
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General Description
The DPE25611 is a single-axis 2.5A bipolar microstep driver/controller, containing 2 Kbytes of
nonvolatile stored programming space, quadrature encoder feedback, and a 24W power supply,
all enclosed in a package. It provides exible, independent control of bipolar stepper motors
with a current range from 0.5 to 2.5 amp/phase with a microstepping resolution of 1,600 steps
per revolution from a computer or any machine controller with a USB 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 DPE25611. The
DPE25611 also has the ability for real time functions.
The DPE25611 has 40 commands, which are easy-to-remember for direct movement of the
stepper motor and communicates via an USB data bus. This driver is provided to communicate
with the DY50611 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 DPE25611. To
use the SMC60WIN Software, the virtual comport driver must be installed. Special functions of
the controller include 8 programmable open collector outputs and 6 TTL, CMOS and 24V compat-
ible inputs, a quadrature encoder input with the ability to auto correct, 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 DPE25611 can be powered from 100-240 VAC, 50/60Hz.
Section 1:
Description
The driver in the DPE25611 (MBC25081) is a microstep motor driver that can drive motors rated
from 0.5 to 2.5 amps/phase. It can handle 4, 6 and 8-lead motors in a bipolar fashion. The
DPE25611’s driver features motor current ON/OFF capabilities and a Reduced Current Enabled
to automatically reduce motor current to 50% of the set value after the last step is made (20msec
delay).
The controller in the DPE25611 (PCL601ISB) 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 DPE25611 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
denes. The DPE25611 also has specic functions such as encoder feedback, autocorrection,
index-on-the-y and output-on-the-y. An analog input can be used to set either the maximum
speed or go to an absolute position based between the upper and lower programmable limits. A
seven decade thumbwheel switch can be read for relative indexing. The DPE25611 also has a
high level programming command set that includes: branching, looping, conditional statements,
time delays, text strings, and I/O which the user can use in the programming mode to fully control
all machine functionality. A home input, a set of 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 coordi-
nation. The I/O are accessible independent of the busy state of axis controls. The DPE25611
has a built-in programmable reset circuit. Reset is automatic on power-up, or by pressing the
external reset button.
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Electrical Specications
Power Requirements:
100 - 240 VAC 50/60Hz
Operating Temperature:
0 to 60° C
Pulse Output Range:
1 to 50,000 Hz (0 to 31.25 Rev/Sec)
Inputs (TTL-CMOS):
Logic “0”: 0 to 0.8VDC
Logic “1”: 3.5 to 24VDC
Analog Input 1: 0 to 5VDC
Output Current Rating:
2.5 A/phase maximum running
1.75 A/phase maximum standstill
Baud Rate:
38400 Baud, Fixed
Data Format:
Half-Duplex, 1 start bit, 8 data bits,
no parity, 1 stop bit
Outputs (8 programmable):
Open Drain Type
40V, 100mA
+ 5VDC Output, 50mA
Output 1 active low time for output
on the y:
50uS
Note: For inductive loads, customers must
connect a clamping diode to protect from
yback voltage spikes.
Ordering Information
The table below lists a variety of products available from Anaheim Automation, Inc. These prod-
ucts include those covered by this manual, analog 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 SMC-
60WIN software and DPE25611 program examples. The software allows you to write and change
programs that are to be stored in the DPE25611 for autostart use, and also upload the program
that is stored in the DPE25611 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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Dimensions
Wiring Diagrams
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Position Description - Motor Connection
1 Phase A: Phase 1 of the Step Motor
2Phase Ā: Phase 3 of the Step Motor
3 Phase B: Phase 2 of the Step Motor
4 Phase B: Phase 4 of the Step Motor
Terminal Descriptions - Driver
Terminal Descriptions - Controller
Connector Descriptions - Controller
Position Description - Encoder
1 +5VDC supply for encoder
2 A Channel for encoder
3 B Channel for encoder
4 Ground return for encoder
Position Description - Limit Switch Inputs
1 Home Limit
2 Jog +
3 Jog -
4 Fast Jog
5 Hard Limit +
6 Hard Limit -
7 Soft Limit +
8 Soft Limit -
9 Ground
Position Description - Motor Connection
1 Input 1 - Analog Input
2Input 2 - Index on the y input
3 Input 3
4 Input 4
5 Input 5 - SW2 in position IN5/6
6 Input 6 - SW2 in position IN5/6
7 Ground
Position Description - Outputs
1Output 1 - Output on the y output
2 Output 2
3 Output 3
4 Output 4
5 Output 5
6 Output 6
7 Output 7
8Output 8 - Encoder Retries Error Output
Switch Description
J1 This connector is for the thumbwheel module and is labeled TWS.
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Motor Selection
The DPE25611 incorporates a Bipolar Microstep Driver that is compatible with both Bipolar and
Unipolar Motor Congurations, (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, pro-
viding 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 DPE25611 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 ap-
propriate 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 DPE25611.
Section 2: Driver Functions
Step Motor Current Setting Guide
Unipolar
Rating
Series Peak
Rating
Parallel
Peak Rating
Series
Current
Setting
Parallel
Current
Setting
0.5A 0.5A 1.0A 0% 25%
1.0A 1.0A 2.0A 25% 75%
1.5A 1.5A 3.0A 50% 100%
2.0A 2.0A 4.0A 75% 100%
2.5A 2.5A 5.0A 100% ----
3.0A 3.0A 6.0A 100% ----
Anaheim Automation offers motor cable, making hook-ups quick
and easy! Contact the factory or visit our website for more motor
and cable offerings.
Setting the Output Current
The output current on the DPE25611 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.
Peak Current Potentiometer
Setting Peak Current Potentiometer Setting
0.50A 0% 1.70A 60%
0.70A 10% 1.90A 70%
0.90A 20% 2.10A 80%
1.10A 30% 2.30A 90%
1.30A 40% 2.50A 100%
1.50A 50% --- ---
Refer to Table 5 for specic motor current settings.
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Reducing Output Current
Reducing the output current is accomplished automatically and occurs approximately 20mSec after the last
clock input has been received. The amount of current per phase in the reduction mode is approximately
70% of the set current. When the current reduction circuit is activated, the current reduction resistor is
paralleled with the current adjustment potentiometer. This lowers the total resistance value, and thus
lowers the per phase output current.
Determine 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 DPE25611, 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 conguration of the motor. There is a current adjustment potentiometer used to set
the output current of the DPE25611. This sets the peak output current of the sine/cosine waves.
The specied motor current (which is the unipolar value) is multiplied by a factor of 1.0, 1.4, or
2.0 depending on the motor conguration (series, half-coil, or parallel).
Step Motor Congurations
Step motors can be congured as 4, 6, or 8 leads. Each conguration requires different currents.
Refer to the lead congurations and the procedures to determine their output current.
WARNING! Step motors will run hot even when congured correctly. Damage may occur to the
motor if a higher than specied current is used. Most specied motor currents are maximum
values. Care should be taken to not exceed these ratings.
6 Lead Motors
When conguring a 6 lead motor in a half-coil conguration (connected from one end of the
coil to the center tap), multiply the specied per Phase (or unipolar) current rating by 1.4 to de-
termine the current setting potentiometer value. This conguration will provide more torque at
higher speeds when compared to the series conguration.
When conguring the motor in a series conguration (connected from end to end with the cen-
ter tap oating) use the specied per phase (or unipolar) current rating to determine the current
setting potentiometer value.
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4 Lead Motors
Multiply the specied series motor current by 1.4 to determine the current adjustment potentiom-
eter value. Four lead motors are usually rated with their appropriate series current, as opposed
to the Phase Current, which is the rating for 6 and 8 lead motors.
8 Lead Motors
Series Connection: When conguring the motor windings in series, use the per phase (or uni-
polar) current rating to determine the current setting potentiometer value.
Parallel Connection: When conguring the motor windings in parallel, multiply the per phase (or
unipolar) current rating by 2.0 to determine the current setting potentiometer value.
Note: After the current has been determined, according to the motor connections above, use
Table 3 to choose the proper setting for the current setting potentiometer.
Connecting the Step Motor
Phase 1 and 3 of the Step Motor is connected between pins 1 and 2 on the motor connector
(TB2). Phase 2 and 4 of the Step Motor is connected between pins 3 and 4 on the motor con-
nector (TB2). The motors case can be grounded to pin 5 on the motor connector (TB2). Refer
to gures 2, 3, & 4 for TYPICAL APPLICATION HOOK-UP.
Note: The physical direction of the motor with respect to the direction input will depend on the
connection of the motor windings. To reverse the direction of the motor with respect to the direc-
tion input, switch the wires on Phase 1 and Phase 3.
WARNING! Do not connect or disconnect motor wires while power is applied!
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Methods of Communication
There are two methods for sending commands to the DPE25611. One is to directly talk to the
DPE25611 by using Direct Talk Mode. This is usually used with a computer or PLC (Programmable
Logic Controller), where the computer or PLC gives the DPE25611 serial commands to off-load its
processor. For example: A PLC can utilize its outputs to toggle the DPE25611’s inputs and gain con-
trol of variable speeds, variable programs, variable distances, etc. Simply using the DPE25611 as
the intelligent pulse generator, a PLC can remove some of the tasks that were not meant for ladder
logic or any PLC processing time.
The second way to give commands to the DPE25611 is to use the software program SMC60WIN to
either manually control, or to write and send programs. This method is used when the DPE25611
is the main controller. For example: A DPE25611 can replace simple motion control and replace I/O
functional when minimal quantities of I/O are required to control specic machinery. Simple motion
proles that can operate with 6 or less inputs and 8 or less outputs can utilize a DPE25611 controller.
Baud Rate
A term used frequently is serial data communications, a “baud” is dened as the reciprocal of the
shortest pulse duration in a data word signal, including start, stop, and parity bits. This is often taken
to mean the same as “bits per second”, a term that expresses only the number of “data” bits per
second. Very often, the parity bit is included as an information or data bit. The DPE25611 accepts
a baud rate of 38400 only.
Axis Selection
Each DPE25611 is addressed using a programmable register allowing the PC to address up to
DPE25611’s from one port. The Default axis is “0”. To change the axis, use the SMC60WIN software
or the “~” command. To verify or check the axis, use the SMC60WIN software or the “%” command.
The axis designation is nonvolatile and will remain the same until changed by the user.
Controller Status LED
When powered and operated properly, the status LED will be green. When an error occurs, the LED will
change to RED, and an error code will be generated in the error code register. To read and clear the
error with the software, click on the “Verify Parameters” button located in the “Motion Tab”. To read and
clear the error while in “Direct Mode”, use the error code “!” command. Once the error has been read and
cleared, the LED will return to green and the error code register will be cleared to 0. Refer to the table on
page 39 for a complete list of the error codes.
Technical Support
Everyone needs assistance on occasion. If you have problems using any of the equipment covered by
this manual, please read the manual to see if it will answer your questions. Be sure to look in the Trouble-
shooting Section located near the back of this manual. If you need assistance beyond what this manual
can provide, you may call the factory direct for application assistance. If possible, have this manual in
hand. It is often helpful to have the controller connected to a computer with the software installed.
Section 3: Controller Functions
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Move Number of Steps: This command causes the motion to start in the direction last specied.
This command will move the motor the number of steps given. (Range: 1 to 8388607)
Move to Position: The move to position command species the next absolute position to go to. The
DPE25611 controller automatically sets the direction and number of steps needed to go to that posi-
tion. (Range: -8388607 to +8388607)
Slew: The slew command will accelerate the motor up to maximum speed and continue to run at
that speed until reaching a registration mark, hard limit switch, soft limit switch, receiving a “.” (stop
hard) or “,” (stop soft) command.
Set Position: The set position command sets the position register to a designated value. The number
will be the new absolute position of the motor. The default value is 0. (Range: -8388607 to +8388607)
Limit Switch Inputs: The limit switch inputs are internally pulled up by a resistor making them normally
+5V. To activate the input, the pin must be grounded to (0VDC). All limit switch inputs are internally
clamped to +5V, thus allowing voltages of up to +24VDC to be used.
Hard Limit Inputs: When a hard limit switch is encountered, the motion will stop immediately. The
position counter will also cease counting. Hard limits are intended as an emergency stop for your
system. It should not be used to do any positioning type functions. These limits are directional.
Soft limit Inputs: These switches should be used exclusively for homing. Once positioned properly
with the appropriate parameters, it causes the motor to ramp down to the base speed before encoun-
tering the home limit switch. However, the soft limit switch will work for any type of motion command.
These limits are directional.
NOTE: Whenever a soft limit switch is activated, the motor will decelerate and run at base speed
during an indexing move, or stop during a slewing move. Be sure to come back past the soft limit
switch to set any origins, otherwise the motor will decelerate as it goes past the soft limit switch dur-
ing normal operation.
Home Limit Input: This switch is used to establish a position designated “home” or datum position
using the following: home to soft and home limit, or home to home limit. This limit is not directional.
Home to Soft, Home Limit (2 Switch Operation): This type of homing routine requires two ground-
ing type limit switched called home and soft. The rst limit switch seen is the soft limit. This will
decelerate the motor down to base speed. The motor will then continue to run at base speed until it
contacts the home limit switch input causing the motor to stop. The home limit switch activates as a
hard limit if a soft limit is not sensed. The soft limit is directional, meaning that it will work in only one
direction as specied. The soft limit switch will work for any type of motion command. The home
limit switch will work only for the two home motion commands.
NOTE: There should be sufcient distance between the two limit switches, as to let the motor reach
base speed.
Home to Home Limit (1 Switch Operation): This type of homing differs in that only one limit switch
is needed. In this homing routine the motor moves toward the home limit switch. When the home
limit switch is contacted the motor will ramp down to base speed, reverse direction and continue at
base speed until the limit switch is released. This is a good way to compensate for any backlash in
a system. It is also useful for minimizing the number of limit switches needed for homing.
NOTE: The home switch needs to be low during the entire deceleration and reversing time.
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Jog Inputs: The jog switch inputs are internally pulled up by a resistor making them normally +5 volts.
To activate the input, the pin must be grounded to (0VDC). All jog switch inputs are internally clamped to
+5V, thus allowing voltages of up to +24VDC to be used. Job is a manual function. The user can select
the direction and speed (fast or slow) by grounding the appropriate combinations of inputs. To jog a mo-
tor, it is necessary to ground the jog input for the direction desired. For fast jog, both the fast input and
jog input for the appropriate direction must be low at the same time. By grounding one of the jog inputs,
the user causes the motor to run at base speed. When the fast input is grounded, the motor will then ac-
celerate to the programmed jog speed. The position register will keep track of the number of steps that
are taken during jogging. Once a +jog or a -jog function has been performed, the direction register will
retain the last direction of movement; that is, a subsequent go command will be in the same direction as
the last jog command.
Inputs: All inputs (except input 1) are internally pulled up by a register making them normally +5 volts.
To activate the input, the pin must be grounded to (0VDC). All inputs are internally clamped to +5V, thus
allowing voltages of up to +24VDC to be used. Six inputs are provided per axis. The inputs are TTL,
CMOS and 24V compatible. The inputs may be used to initiate a machine cycle, for inter-axis coordina-
tion (in stored program mode), for operator intervention, for sensing a machine condition such as out of
stock or wait for temperature to be reached, etc. A grounded input will read a “0” and an open or high
input will read as a “1”. Input 1 is a special input that is capable of reading an analog voltage between
0 and +5VDC. Since this input does not have a pull-up resistor, biasing of this input is needed if it is not
used as an analog input. Inputs 5 and 6 are used together with the thumbwheel switch. To use inputs 5
and 6, SW2 of the controller must be in the IN5/6 position. If SW2 of the controller is in the TWS position,
then these two inputs are not connected to the input port of the processor.
Analog Input: Input 1 can be congured to read an analog voltage to either set the absolute position of
the motor or to set the maximum speed of the motor.
To Set the Position: When told via the goto analog position command, the input will read a voltage
between 0 and +5VDC and based on the “upper and lower” limits of the function, a move will occur to a
calculated position between the two limits. The motor must nish the move before it can be told to read
the input again for the next position. For example, if the lower limit is set to 0 and the upper limit is set
to 5000 and the analog position is set at +2.0VDC, then the motor will move to position 2000. Changing
the lower limit to 1000 and the voltage to +3.2VDC, the motor will move to position 3560. See examples
below for calculations of the analog inputs. (Range of limits: 0 to 65535 and the lower limit < upper limit)
To Set the Max Speed: When told via the set analog speed command the input will read a voltage between
0 and +5VDC, and based on the “upper and lower” limits of the function, a max speed can be obtained
based on a calculated frequency between the two points. The speed however can not be changed when
the DPE25611 is busy (moving). See examples below for calculations of the analog inputs.
(Range of limits: 0 to 50000 and the lower limit < upper limit)
Outputs: Eight outputs are provided per axis. Outputs may be used to operate relays, coolant valves, air
cylinders, or, with the correct interfacing, any electronically controlled device. The outputs can drive all
types of common peripheral power loads, including lamps, relays, solenoids, LED’s, printer heads, and
heaters. For inductive loads, it will be necessary to connect a clamping diode (refer to specication sec-
tion) from the output to the power source in order to provide adequate y-back protection. The outputs
are current sinking, open collector darlingtons. They are capable of sinking up to 100mA per output with
voltages up to 40VDC. Turning an output on will pull the output pin to ground and turning an output off
will make the output pin open. Output 1 has a special function (output on the y) that will enable it to be
triggered at a certain absolute position during a move. Output 8 has a special function that will trigger
when the encoder retries function fails.
Analog Calculations Example 1: Example 2:
(Upper-Lower) * (Voltage/5) = X (5000 - 0) * (2/5) = 2000 (5000 - 1000) * (3.2/5) = 2560
Lower + X = Position or Frequency 0 + 2000 = 2000 1000 + 2560 = 3560
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Output on the y: This special function enables output 1 to turn on during a relative index or absolute
move. There are three critical portions of information needed to make this function work correctly. First,
output 1 will turn on (0VDC) for a preset delay of 50uS at a specic absolute position set by the 1st output
position command. Second, the output can then repeat this after a preset amount of steps set by the
number of steps between outputs command, and third a predetermined amount of times to set the output
is required by the number of outputs command which determines the preset amount of times to trigger
the output. So if you start at position 0 and want to move to an absolute position of 10,000, you can set
output 1 to turn on at position 2000, and every 1000 steps after that 5 times. So at position 2000, 3000,
4000, 5000, and 6000 output 1 will turn on for 50uS. To only have the output turn on at one position set
both the “number of steps between outputs” and the “number of outputs” commands to 0. This function
must be enabled, and will only work during a relative index or absolute position move. The output will
trigger while going in either direction. If you do not want the output to trigger in the negative direction, the
function must be turned off before the index move is started.
Index on the y: This special function uses Input 2 when a motor is slewing to move a predetermined
amount of steps, set with the registration index command, before stopping. This function must be enabled,
and will only work during a slew move. The registration index must be set before movement begins.
(Range: 1 to 8388607)
End of Program: The end of program command, used within a stored program, stops execution of the
program. This command must be used at the end of all programs.
Wait: In stored program mode, the wait command pauses the program for the specied number of mil-
liseconds. (Range:1 to 65535)
If/Then Statements: The if/then statements are conditional based on the values preset in the program.
The user can either test each individual input or all inputs at once. If the input or input register matches
the given value or values, then the program will execute the next line. If the input or input register does
not match the given value, the program will skip the next line and execute the following line. An open
input is read as a 1, and a grounded input is read as a 0.
Branching or Go To statements: The goto instruction will have the program jump to the given label. If
no label is in the program, it will error when trying to send.
Return from Subroutine: This function can be placed anywhere in the program as long as a go to state-
ment has already been executed. The program will jump back to the last go to statement encountered
and executed the next line in the program.
Inner and Outer Loop: The loop instructions allow the user to loop a program a variable number of times.
The program will loop to the designated label location of the program. However, the label must always
be at a lower line number than the loop instruction itself. You can only nest inner loops inside an outer
loop. You may not nest an inner loop inside an inner loop, or an outer loop inside an outer loop. Multiple
nested inner loops are allowed in one outer loop.
Finish Move: When writing a program, the nish move command is used directly after every motion com-
mand. When using this command, the DPE25611 internally generates a busy signal and will wait until the
move is complete before executing any further commands. Unless the nish move command is used, the
DPE25611 will continue to execute the program. If it encounters a command that cannot be used when
the motor is moving, the DPE25611 will error and stop the program prematurely.
Repeat Last Move: This command will move the motor the number of steps given in the last indexing
move. This command will not work correctly if the encoder auto correct function is enabled.
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Encoder Commands: The DPE25611 controller is capable of using a quadrature incremental encoder
with A and B channels.
Encoder Auto Correct: This command will enable or disable the encoder feature of the DPE25611.
When enabled, the encoder function will compare the desired position with the actual encoder position.
If it is not in the correct position a correction move will be made.
Encoder Delay: This sets the wait time, which is a specied number of milliseconds after a relative
index or absolute move is nished, prior to reading the encoder. This is used to remove the ringing that
might be associated with the mechanics of the system. (Range: 0 to 65535)
Encoder Motor Ratio: This represents the ratio for the number of encoder pulses to one motor step.
This ratio must be a whole number. For example, given a 1000 line quadrature encoder and a 400 step/
revolution motor, the motor ratio is (1000 * 4)/400 = 10 (Range: 1 to 255 and must be a whole number).
Encoder Retries: This is the number of times the DPE25611 will try to auto correct the motor shaft
position before producing an error. When the error is produce, Output 8 is triggered. (Range: 0 to 255)
Encoder Window: This is the allowable error in encoder pulses (either plus or minus) from the desired
position that is allowed before the motor auto corrects. (Range: 0 to 255)
Thumbwheel Index: This special function allows a thumbwheel with up to 7 decades to be used with
the DPE25611 to set a relative index. To use the thumbwheel, SW2 must be in the TWS position or
the thumbwheel will be disabled.
Acceleration/Deceleration: The acceleration and deceleration are the same value. The acceleration
is entered directly as steps/sec2and controls the time that the motor will take to move from base speed
to max speed, and from max speed to base speed. The higher the value, the faster the motor will ac-
celerate. The same principal applies for the deceleration which is controlling the time it takes to go from
the max speed to base speed. (Range: 100 to 9,999,999)
Base Speed: The base speed is the speed at which motion starts and stops. It is entered directly as
the number of steps per second. This speed must always be less than the max speed and jog speed.
(Range: 1 to 5000)
Max Speed: The max speed is the top speed the user wants the motor to run. This speed must always
be greater than the base speed. It is entered directly as the number of steps per second. (Range: 1
to 50000)
Jog Speed: The jog speed sets the fast jog rate. Jog (+/-) is used to run at base speed. The FJOG
pin when grounded, will ramp the motor to the set jog speed. This speed must always be greater than
the base speed. It is entered directly as the number of steps per second. (Range: 1 to 50000)
Motor Current: This command will control the ON/OFF output which is designed to connect to the ON/
OFF input of Anaheim Automation’s step motor drivers. To energize and allow current to ow through
the coil of the motor, set the value to on. To de-energize and turn the current off to the motor, set the
value to off. This is dedicated output and not controlled with the output register.
Verify: The verify command causes the DPE25611 controller to send data back to the PC or PLC. The
data is sent as an ASCII decimal string followed by a carriage return and a line feed. The verify com-
mands are shown in the table on page 34.
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The SMC60WIN software is a handy utility that supports Anaheim Automation’s line of DPE25611’s
step motor controllers. Connecting your PC to the DPE25611, via a serial cable, the SMC60WIN
software can easily perform the following tasks:
• Exercise and monitor the DPE25611 controller
• Write and edit stored programs for standalone operation
• Directly communicate with the DPE25611 controller
Section 4: SMC60WIN Software
Installation
Software
• The SMC60WIN is supplied on a CD, containing the setup program and the SMC60WIN
software, DPE25611 manual and sample programs.
• SMC60WIN software is compatible with all versions of Windows including Windows
2000, Windows XP, Vista, and Windows 7.
Windows 95/98/NT/ME/2000/XP Installation
Option 1
1. Insert the CD into the drive
2. From the Program Manager select Start │ Run
3. Enter D:\setup and click OK - use the appropriate drive letter (i.e. Dor E)
Option 2
1. Open Windows Explorer
2. Open CD Drive Folder (D: or E:)
3. Double Click the setup Icon
Getting Started
1. Double click on the SMC60WIN icon to run the SMC60WIN software.
2. Apply power to the DPE25611 controller.
3. Set the appropriate communication setting by selecting Setup │ Com Port Settings
from the menu bar. (Ctrl+M is a shortcut)
4. Set the appropriate axis setting by selecting Setup │ Axis from the menu bar. (Ctrl+A
is a shortcut)
5. Establish communications with the DPE25611 by clicking on the Connect Icon, or select
Setup│Connect from the menu bar. If the unit is connected properly, the program will
notify you when communication has been established. (Ctrl+C is a shortcut)
Changing the COM Port Number of the USB port
1. From DeviceManage, select “View devices by type”, then “Port (COM & LPT)”.
Select the USB serial port and click Properties. Select the “Port Settings” tab, then
click Advanced.
2. Choose the required COM port number from the list and click OK.
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File Menu
Setup Menu
Setup - Axis Menu
Connect Establish communications with the controller.
Disconnect Release the COM port for other devices to use.
Com Port Settings Select COM port.
Axis Set axis selection and stored axis of the controller.
Select Axis Sets the axis select parameter in the SMC60WIN software. (1-99)
Dene Axis Sets the programmable address in the controller. (1-99)
New Program Start editing a new program.
Open Program Open an existing program from disk.
Save Program As Save the current program to disk.
Print... Print the current program.
Exit Exit the SMC60WIN software.
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Program Menu
Program - Autostart Program Menu
Edit Menu
Disable Program will disable the execution of a store program at power up.
Enable Program will start execution when controller is powered up.
Start Program Start the execution of the program in the controller memory.
Stop Program Stop the execution of the program in the controller memory.
View Program View the program stored in the controller memory.
Clear Program Memory Clear the program memory in the controller.
Autostart Program Turn the autostart function on or off.
Add Adds a new line of code to the end of the program.
Change Edits the currently selected line of code.
Insert Insert a new line of code before the currently selected line of code.
Delete Deletes the currently selected line of code.
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Help Menu
Error Coder Reader Utility to read the error code generated by the DPN10601 controller.
PCL601 User’s Guide Opens up the User’s Guide in .pdf format.
anaheimautomation.com Opens up the Anaheim Automation Website.
About Displays the version of the SMC60WIN and contact information.
“The Unit is Connected” / “The Unit is Not Connected”
On the right of the Toolbar, the user will nd the communication status of the DPE25611 controller.
If communications is not established, please refer to the troubleshooting section.
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Toolbar
Exit Exit the SMC60WIN software.
New Start editing a new program.
Open Open an existing program from disk or directory.
Save Save the current program to disk or directory.
Print Print the current program.
Calculator Open the desktop calculator.
Stop All Stop the program and all motion from running.
Connect Establish communication with the controller.
Tab Sheets
Real Time Motion Monitor and control motion of the controller.
Encoder Options and
Registration Inputs
Monitor and change settings for encoder options, input on the y and output on
the y.
Analog Input and
Thumbwheel Options Monitor and change settings to Analog Inputs and the thumbwheel switches.
Create and Edit Pro-
grams Write and edit DPE25611 stored programs.
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Set Accel/Decel Send acceleration & deceleration parameter to controller. (step/sec2)
Set Base Speed Send base speed parameter to the controller. (step/sec)
Set Max Speed Send maximum speed parameter to the controller. (step/sec)
Set Jog Speed Send fast jog speed parameter to the controller. (step/sec)
Set Position Set motor position.
Set Direction Set direction to clockwise or counter-clockwise.
Set Motor Current Set the current in the motor on or off.
Home using
(Home Switch)
Motor will seek the home position by moving towards home switch which will
stop the motor, reverse the motor direction and stop when the home limit
switch is no longer triggered. (One switch is required to stop anti-backlash)
Home using
(Soft and Home Switches)
Motor will seek the home position by moving towards home switch but motor
will slow down to base speed when the soft switch is triggered, following by
triggering the home switch to stop motion. (Two switches are required to stop)
Move number of steps Motor will move number of steps entered.
Move to Position Motor will move to specied position.
Slew Motor will ramp up to maximum speed and keep moving until stop motion is
triggered.
Stop Soft Ramp motor down to base speed and stop.
Stop Hard Stop any motor motion immediately.
Inputs View Inputs. (checked = On, blank = Off)
Outputs View and trigger outputs. (checked = ON, blank = OFF)
Verify Parameters Updates and displays controllers parameters sheet and resets the error codes.
Tab Sheets - Real Time Motion
July 2018