Anaheim automation Dpmlp601 User manual

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#L010168 January 2005

DPMLP601DPMLP601

DPMLP601

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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#L010168 January 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

OrderingInformation................................................................................................................................................ 4

Dimensions/SwitchLocations .................................................................................................................................. 5

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

Terminal Descriptions - Power................................................................................................................................. 6

Terminal Descriptions - Driver ................................................................................................................................. 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 (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

Over-Temperature and Over-Voltage Conditions .................................................................................................. 12

Section 3: Controller FunctionsSection 3: Controller Functions

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

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

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

1313

13

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

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

RS232 Protocol - SW1 in RS232 position.............................................................................................................. 13

RS485 Protocol - SW1 in RS485 position............................................................................................................. 13

Axis Selection ........................................................................................................................................................ 14

Controller Status LED ............................................................................................................................................ 14

Technical Support.................................................................................................................................................. 14

Section 4: SMC60WIN SoftwareSection 4: SMC60WIN Software

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

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

......................................................................................................................... 1919

1919

19

File Menu............................................................................................................................................................... 20

Setup Menu ........................................................................................................................................................... 20

Setup - Axis Menu ................................................................................................................................................. 20

Program Menu....................................................................................................................................................... 21

Program - Autostart Program Menu....................................................................................................................... 21

Edit Menu .............................................................................................................................................................. 21

Help Menu ............................................................................................................................................................. 22

“The Unit is Connected” / “The Unit is NOT Connected”........................................................................................ 22

Toolbar .................................................................................................................................................................. 23

Tab Sheets ............................................................................................................................................................ 23

Tab Sheets - Real Time Motion ............................................................................................................................. 24

Tab Sheets - Encoder Options and Registration Inputs ......................................................................................... 25

Tab Sheets - Analog Input and Thumbwheel Options............................................................................................ 26

Tab Sheets - Create and Edit Program.................................................................................................................. 27

Add/Change/InsertCommands ............................................................................................................................. 28

Add Tab Sheets - Motion Commands.................................................................................................................... 29

Add Tab Sheets - If/Then and Output Commands ................................................................................................. 30

Add Tab Sheets - Goto, For Loops, Encoder and Thumbwheel Commands ......................................................... 31

Add Tab Sheets - Analog, Registration and Text Commands................................................................................ 32

Calculator .............................................................................................................................................................. 33

Section 5: Direct Talk ModeSection 5: Direct Talk Mode

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

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

................................................................................................................................3434

3434

34

Section 6: TroubleshootingSection 6: Troubleshooting

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

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

................................................................................................................................4444

4444

44

Error Codes ........................................................................................................................................................... 45

Section 7: Sample ProgramsSection 7: Sample Programs

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

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

.............................................................................................................................. 4646

4646

46

Appendix 1: ASCII Table for Direct Mode .............................................................................................................. 51

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#L010168 January 2005

Section 1: IntroductionSection 1: Introduction

Section 1: Introduction

The DPMLP601 is a single-axis 8A, 160V motor bus voltage, bipolar microstep motor driver with a control-

ler containing 2 Kbytes of nonvolatile stored programming space and quadrature encoder feedback pack-

age. It provides flexible, independent control of bipolar step motors with a current range from 1.5 to 8.0

amps/phase and a fixed microstepping resolution of 1000 steps per revolution from a computer, or any

machine controller with a serial port. With an input voltage of 90-132 VAC (50/60Hz), no external power

supplies or transformers are needed. It is also capable of stand-alone 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 DPMLP601. The DPMLP601 also has the ability for real time functions.

The DPMLP601 has 40 commands, which are easy-to-remember for direct movement of the step motor

and communicates via either an RS232 or RS485 bidirectional serial data bus. Up to 99 DPMLP601’s can

be networked from one communications port on your PC or PLC, utilizing the RS485 communications

protocol. Special functions of the controller include 8 programmable 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 DPMLP601 can be powered from 90-132 VAC, 50/60Hz,

DescriptionDescription

Description

The driver in the DPMLP601 (MLP08641) is a microstep motor driver that can drive motors rated from 1.5

to 8.0 amps/phase. It has a fixed mictrostepping resolution of 1000 steps per revolution. It can handle 4,

6and8-leadmotors inabipolarfashion. TheDPMLP601’sdriver featuresmotorcurrentON/OFFcapabilities

and a Reduced Current Enable to automatically reduces motor current to 50% of the set value after the

last step is made (1sec delay). Protection devices have been added to this driver for short circuit, open

circuit, over voltage, under voltage and over temperature conditions. The driver has built-in features to

indicate power on (Green LED), Clocks being received (Yellow LED) and fault conditions (Red LED).

Thecontrollerin theDPMLP601(PCL601) providesindependentprogramming ofacceleration/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 DPMLP601

automaticallydetermines theproperdirection togo andthe numberofstepstotake. Therelative positioning

will move a number of steps in the direction that the user defines. The DPMLP601 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

DPMLP601also has ahigh levelprogramming command setthat 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 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

DPMLP601 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 SpecificationsElectrical Specifications

Electrical Specifications

Power Requirements:Power Requirements:

Power Requirements:

90-132 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:

8 A/phase maximum

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 I/O and fault out):Outputs (8 programmable I/O and fault out):

Outputs (8 programmable I/O and fault out):

Open Drain Type

40V, 100mA

+5VDC Output, 50mA

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

Output1 active 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 belowlists avariety of productsavailable fromAnaheim Automation,Inc. Theseproducts 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 and DPMLP601 program examples. The software allows you to write and change programs that

are to be stored in the DPMLP601 for autostart use, and also upload the program that is stored in the

DPMLP601 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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Wiring/Hook-up DiagramWiring/Hook-up Diagram

Wiring/Hook-up Diagram

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Terminal Descriptions - PowerTerminal Descriptions - Power

Terminal Descriptions - Power

The DPMLP601 is powered by an AC line voltage ranging from 90-132VAC. The following figure shows

the wiring for the power connection terminal block.

Terminal Descriptions - DriverTerminal Descriptions - Driver

Terminal Descriptions - Driver

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Dimensions/Switch LocationsDimensions/Switch Locations

Dimensions/Switch Locations

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Slide Switch Descriptions - ControllerSlide Switch Descriptions - Controller

Slide Switch Descriptions - Controller

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Connector Descriptions - Controller

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Terminal Descriptions - Controller

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#L010168 January 2005

Section 2: Driver FunctionsSection 2: Driver Functions

Section 2: Driver Functions

Motor SelectionMotor Selection

Motor Selection

The DPMLP601 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 DPMLP601 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 DPMLP601.

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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1D321D32 1D32 1D321D322020202020SS

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3L323L32 3L32 3L323L3230303030308WL-D8WL-D 8WL-D 8WL-D8WL-D 3030303030A5.1A5.1A0.3%0%33

1N431N43 1N43 1N431N4340404040408WL-S8WL-S 8WL-S 8WL-S8WL-S 4040404040A0.2A0.2A0.4%51%54

04L3204L32 04L32 04L3204L3250505050508WL-D8WL-D 8WL-D 8WL-D8WL-D 5050505050A5.2A5.2A0.5%52%85

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1D241D24 1D24 1D241D249191919191DD

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#L010168 January 2005

Setting the Output CurrentSetting the Output Current

Setting the Output Current

The output current on the DPMLP601 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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A05.1%0 A52.5%06

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Reducing Output CurrentReducing Output Current

Reducing Output Current

Reducing the output current is accomplished automatically 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 potentiometer. This lowers the total resistance value, and

thus lowers the per Phase output current.

Connecting the Step MotorConnecting the Step Motor

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 connector (TB2). The motors

case can be grounded to pin 5 on the motor connector (TB2). Refer to Figures 2, 3 & 4 for TYPICAL

APPLICATION HOOK-UP.

NOTENOTE

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 direction input, switch the

wires on Phase 1 and Phase 3.

WARNING:WARNING:

WARNING: Do not connect or disconnect motor wires while power is applied!

Short-Circuit, Mis-Wire, and Over-Current ConditionsShort-Circuit, Mis-Wire, and Over-Current Conditions

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

If it is found that there is a condition that causes on over current in the driver phase transistors, the Red

LED will turn on solid and power will be shut off to the motor. To reset the drive turn power off, check

wiring, and turn power back on.

Over-Temperature and Over-Voltage ConditionsOver-Temperature and Over-Voltage Conditions

Over-Temperature and Over-Voltage Conditions

If it is found that there is an over temperature on the internal heat sink, or an over voltage on the motor bus

voltage, the Red LED will blink and power will be shut off to the motor. To reset the drive turn power off,

check wiring, and turn power back on.

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#L010168 January 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.

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 DPMLP601, 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 DPMLP601.

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.

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4 Lead Motors4 Lead Motors

4 Lead Motors

Multiply the specified

seriesseries

series

motor current by 1.4 to determine the current adjustment potentiometer

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 Motors8 Lead Motors

8 Lead Motors

Series Connection:Series Connection:

Series Connection: When configuring the motor windings in series, use the per Phase (or unipolar)

current rating to determine the current setting potentiometer value.

Parallel Connection:Parallel Connection:

Parallel Connection: When configuring the motor windings in parallel, multiply the per Phase (or unipo-

lar) current rating by 2.0 to determine the current setting potentiometer value.

NOTE:NOTE:

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.

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Section 3: Controller FunctionsSection 3: Controller Functions

Section 3: Controller Functions

Methods of CommunicationMethods of Communication

Methods of Communication

There are two methods for sending commands to the DPMLP601. One is to directly talk to the DPMLP601

by using Direct Talk Mode. This is usually used with a computer or PLC (Programmable Logic Controller),

where the computer or PLC gives the DPMLP601 serial commands to off-load its processor. For example:

APLC can utilizeits outputsto toggle theDPMLP601’s inputsand gain controlof variablespeeds, variable

programs, variable distances, etc. Simply using the DPMLP601 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 DPMLP601 is to use the software program SMC60WIN to

either manually control, or to write and send programs. This method is used when the DPMLP601 is the

main controller. For example: A DPMLP601 can replace simple motion control and replace I/O functional

when minimal quantities of I/O are required to control specific machinery. Simple motion profiles that can

operate with 6 or less inputs and 8 or less outputs can utilize a DPMLP601 controller.

Baud RateBaud Rate

Baud Rate

A term used frequently in serial data communications, a “baud” is defined 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 DPMLP601 accepts a baud rate of 38400The DPMLP601 accepts a baud rate of 38400

The DPMLP601 accepts a baud rate of 38400The DPMLP601 accepts a baud rate of 38400

The DPMLP601 accepts a baud rate of 38400

onlyonly

only.

RS232 Protocol - SW1 in RS232 positionRS232 Protocol - SW1 in RS232 position

RS232 Protocol - SW1 in RS232 position

The DPMLP601 is a DCE device, therefore it will transmit on pin 2 and receive on pin3 of the DB9 RS-232

connector . The RS232 serial communication mode is single ended. This means that for each signal there

is one wire, and a common ground reference used by all the signals. The DPMLP601 does not use

handshaking, thus the CTS and RTS lines are internally connected, and the CD, DTR and DSR lines are

internally connected inside the DPMLP601. The signal line maintains levels of +5VDC to +15VDC and -

5VDC to -15VDC. For a valid logic level in the controller, the voltage must be at least +/-3 volts. RS232

works at distances of up to 50 feet maximum. RS232 is susceptible to electrical noise, and should notRS232 is susceptible to electrical noise, and should not

RS232 is susceptible to electrical noise, and should notRS232 is susceptible to electrical noise, and should not

RS232 is susceptible to electrical noise, and should not

be used in noisy areas. Always use the shortest cable connection possible. NOTE: Keep controllerbe used in noisy areas. Always use the shortest cable connection possible. NOTE: Keep controller

be used in noisy areas. Always use the shortest cable connection possible. NOTE: Keep controller

wiring separated from motor cable/wiring.wiring separated from motor cable/wiring.

wiring separated from motor cable/wiring.

RS485 Protocol - SW1 in RS485 positionRS485 Protocol - SW1 in RS485 position

RS485 Protocol - SW1 in RS485 position

The RS485 protocol mode is as follows; On board receivers will remain in active mode indefinitely.

Transmitters must be turned off when the unit is not sending data, to prevent the line from sending and

receiving data at the same time. Therefore when the PC is transmitting data its driver will be turned on and

each of the units connected will have their drivers off. If they are requested to send data back to the PC,

theselectedunit willturnit’s driveronto sendthedata andthenturn itoffafter ithascompleted transmission.

Note:The aboveprotocol isdoneinternallybetweenthe converterand theDPMLP601. TheRS485 method

of communication allows increased noise immunity and increased communication distance of up to 4000

feet without repeaters. RS485 repeaters allow an additional 4000 feet per repeater. The DPMLP601 is

designed for two wire configuration. The 2 wire configuration makes use of the tristate capabilities of

RS485to allow a singlepair of wires toshare transmit andreceive signals for halfduplex communications.

This “two wire” configuration (note that an additional ground conductor must be used) reduces cabling

cost. NOTE: Keep control wiring separated from motor cable/wiring.NOTE: Keep control wiring separated from motor cable/wiring.

NOTE: Keep control wiring separated from motor cable/wiring.NOTE: Keep control wiring separated from motor cable/wiring.

NOTE: Keep control wiring separated from motor cable/wiring.

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#L010168 January 2005

RS232 to RS485 for multiple units or cables longer than 50ftRS232 to RS485 for multiple units or cables longer than 50ft

RS232 to RS485 for multiple units or cables longer than 50ft

TheDPMLP601 canbe connectedtoyour PCserial portvia aRS485 converter(

modelnumber:

485SD9TB

soldseparately

).This converterwill convertthe RS232voltage signalsto thecompatible RS485differential

signals. Only one converter box is needed per serial port. Contact the factory or use the website

www.anaheimautomation.com for RS485 converter information and sales.

Terminating ResistorTerminating Resistor

Terminating Resistor

To eliminate noise on the transmission lines or when using a 4000 ft. or longer cable, a terminating

resistor is suggested. If used, the termination resistor need only be added to the last (furthest from the

converter box) DPMLP601 in the network between pins A(-) and B(+) on the RS485 Terminal Block. The

value of this resistor should be 120 ohms.

Axis SelectionAxis Selection

Axis Selection

Each DPMLP601 is addressed using a programmable register allowing the PC to address up to 99

DPMLP601’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 LEDController Status LED

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 SupportTechnical Support

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.

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#L010168 January 2005

Move Number of Steps:Move Number of Steps:

Move Number of Steps: This command causes the motion to start in the direction last specified. This

command will move the motor the number of steps given. (Range: 1 to 8388607)

Move to Position:Move to Position:

Move to Position: The move to position command specifies the next absolute position to go to. The

DPMLP601 controller automatically sets the direction and number of steps needed to go to that posi-

tion. (Range: -8388607 to +8388607)

Slew:Slew:

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:Set Position:

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:Limit Switch Inputs:

Limit Switch Inputs: The limit 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 limit switch inputs are internally

clamped to +5V, thus allowing voltages of upto +24VDC to be used.

Hard Limit Inputs:Hard Limit Inputs:

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:Soft Limit Inputs:

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 during normal

operation.

Home Limit Input:Home Limit Input:

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):Home to Soft, Home Limit (2 Switch Operation):

Home to Soft, Home Limit (2 Switch Operation): This type of homing routine requires two grounding

type limit switches called home and soft. The first 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

specified. 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 sufficient distance between the two limit switches, as to let the motor reach

base speed.

Home to Home Limit (1 Switch Operation)Home to Home Limit (1 Switch Operation)

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 sys-

tem. 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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#L010168 January 2005

Jog Inputs:Jog Inputs:

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 upto +24VDC to be used. Jog 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 motor, 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 accelerate 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:Inputs:

Inputs: All inputs (except input 1) are internally pulled up by a resistor 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 upto +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

coordination (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 must be in the IN5/6 position. If SW2 is in the TWS position, then these two

inputs are not connected to the processor.

Analog Input:Analog Input:

Analog Input: Input 1 can be configured 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 positionTo set the position

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 finish 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 speedTo set the max speed

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 DPMLP601 is busy (moving). See examples below for calculations of the analog

inputs. (Range of limits: 0 to 50000 and the lower limit < upper limit)

Analog calculations.Analog calculations.

Analog calculations. Example1:Example1:

Example1:Example1:

Example1: Example2:Example2:

Example2:Example2:

Example2:

(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

Outputs:Outputs:

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 specification

section) from the output to the power source in order to provide adequate fly-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 fly

) that will

enable it to be triggered at a certain absolute position during a move.

16

#L010168 January 2005

Output on the fly:Output on the fly:

Output on the fly: 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 specific 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 Fly:Index on the Fly:

Index on the Fly: 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:End of Program:

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:Wait:

Wait: In stored program mode, the wait command pauses the program for the specified number of

milliseconds. (Range: 1 to 65535)

If/Then Statements:If/Then Statements:

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 Goto Statements:Branching or Goto Statements:

Branching or Goto 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:Return from Subroutine:

Return from Subroutine: This function can be placed anywhere in the program as long as a goto

statement has been already executed. The program will jump back to the last goto statement encoun-

tered and execute the next line in the program.

Inner and Outer Loop:Inner and Outer Loop:

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:Finish Move:

Finish Move: When writing a program, the finish move command is used directly after every motion

command. When using this command, the DPMLP601 internally generates a busy signal and will wait

until the move is complete before executing any further commands. Unless the finish move command is

used, the DPMLP601 will continue to execute the program. If it encounters a command that cannot be

used when the motor is moving, the DPMLP601 will error and stop the program prematurely.

Repeat Last Move:Repeat Last Move:

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 autocorrect function is enabled.

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#L010168 January 2005

Encoder Commands:Encoder Commands:

Encoder Commands: The DPMLP601 controller is capable of using a quadrature incremental encoder

with A and B channels.

Encoder Auto Correct:Encoder Auto Correct:

Encoder Auto Correct: This command will enable or disable the encoder feature of the DPMLP601.

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 DelayEncoder Delay

Encoder Delay: This sets the wait time, which is a specified number of milliseconds after a relative

index or absolute move is finished, 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:Encoder Motor Ratio:

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 num-

ber)

Encoder Retries:Encoder Retries:

Encoder Retries: This is the number of times the DPMLP601 will try to autocorrect the motor shaft

position before producing an error. (Range: 0 to 255)

Encoder Window:Encoder Window:

Encoder Window: This is the allowable error in encoder pulses (either plus or minus) from the desired

position that is allowed before the motor autocorrects. (Range: 0 to 255)

Thumbwheel Index:Thumbwheel Index:

Thumbwheel Index: This special function allows a thumbwheel with up to 7 decades to be used with

the DPMLP601 to set a relative index. To use the thumbwheel, SW2 must be in the TWS position or

the thumbwheel will be disabled.

Acceleration/Deceleration:Acceleration/Deceleration:

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 acceler-

ate. 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:Base Speed:

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:Max Speed:

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:Jog Speed:

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:Motor Current:

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 flow 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 a dedicated output and not controlled with the output register.

Verify:Verify:

Verify: The verify command causes the DPMLP601 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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#L010168 January 2005

Section 4: SMC60WIN SoftwareSection 4: SMC60WIN Software

Section 4: SMC60WIN Software

The SMC60WIN software is a handy utility that supports Anaheim Automation’s line of DPMLP601’s step

motor controllers. Connecting your PC to the DPMLP601, via a serial cable, the SMC60WIN software can

easily perform the following tasks:

••

• Exercise and monitor the DPMLP601 controller

••

• Write and edit stored programs for standalone operation

••

• Directly communicate with the DPMLP601 controller

InstallationInstallation

Installation

SoftwareSoftware

Software

••

• The SMC60WIN is supplied on a CD, containing the setup program and the SMC60WIN

software, DPMLP601 manual and sample programs.

••

• SMC60WIN is compatible with all versions of Windows including Windows 2000 and

Windows XP.

Windows 95/98/NT/ME/2000/XP InstallationWindows 95/98/NT/ME/2000/XP Installation

Windows 95/98/NT/ME/2000/XP Installation

Option 1

1) Insert the CD into the drive

2) On the Windows Taskbar select StartStart

StartStart

Start | RR

RR

Runun

unun

un

3) Enter D:\setupD:\setup

D:\setupD:\setup

D:\setup and click OKOK

OKOK

OK - use the appropriate drive letter (i.e. DD

DD

D or EE

EE

E)

Option 2

1) Open Windows Explorer

2) Open CD Drive Folder (D: or E:)

3) Double click the Setup Icon

Getting StartedGetting Started

Getting Started

1) Double click on the SMC60WIN icon to run the SMC60WIN software.

2) Apply power to the DPMLP601 controller.

3) Set the appropriate com port 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 DPMLP601 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 communications has been established. (Ctrl+C is a shortcut)

19

#L010168 January 2005

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