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Anaheim Automation DPN10601 User Manual

Programmable driver pack
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DPN10601
Programmable Driver Pack
User's Guide
A N A H E I M
A U T O M A T I O N
4985 E. Landon Drive Anaheim, CA 92807
(714) 992-6990 fax: (714) 992-0471
e-mail: info@anaheimautomation.com
website: www.anaheimautomation.com
L010155
1
September 2012
July 2018

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Summary of Contents for Anaheim Automation DPN10601

  • Page 1 DPN10601 Programmable Driver Pack User’s Guide A N A H E I M A U T O M A T I O N 4985 E. Landon Drive Anaheim, CA 92807 (714) 992-6990 fax: (714) 992-0471 e-mail: info@anaheimautomation.com website: www.anaheimautomation.com L010155...

  • Page 2: Table Of Contents

    Table of Contents Section 1: Introduction..........................3 Description..............................3 Electrical Specifications..........................4 Ordering Information............................4 Dimensions/Switch Locations........................5 Wiring Diagrams............................5 Terminal Descriptions - Power.........................6 Terminal Descriptions - Driver........................6 Motor Ground..............................7 Terminal Descriptions - Controller........................7 Connector Descriptions - Controller.........................7 Slide Switch Descriptions - Controller......................7 Section 2: Driver Functions..........................8 Motor Selection............................8 Step Motor Current Setting Guide........................8 Microstep Selection - Driver SW1 Settings....................9...

  • Page 3: Section 1: Introduction

    The driver in the DPN10601 (MBC10641) is a microstep motor driver that can drive motors rated from 1.5 to 10.0 amps/phase. It can handle 4, 6 and 8-lead motors in a bipolar fashion. The DPN10601’s driver features motor current ON/OFF capabilities and a Reduced Current Enable to automatically reduces motor current to 70% of the set value after the last step is made (20msec delay).

  • Page 4: Electrical Specifications

    DPN10601 for autostart use, and also upload the program that is store in the DPN10601 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.

  • Page 5: Dimensions/Switch Locations

    Dimensions/Switch Locations Wiring Diagrams L010155 September 2012 July 2018...

  • Page 6: Terminal Descriptions - Power

    Terminal Descriptions - Power The DPN10601 is powered by an AC line voltages ranging from 90-265VAC. The following figure shows the various line voltages and the wiring for the power connection terminal block. Terminal Descriptions - Driver Position Description - Motor Connection Step Clock Input Anode (+): Internally Connected to Controllers +5VDC.

  • Page 7: Motor Ground

    Motor Ground Meant to be used in conjunction with the motor cable ground wire. Make sure the connection is only on one end of the motor cable ground wire. If no motor shield is available, and if the motor has no ground wire, the motor ground pin can be left with no connection. Terminal Descriptions - Controller Position Description - Encoder...

  • Page 8: Section 2: Driver Functions

    Since the DPN10601 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.

  • Page 9: Microstep Selection - Driver Sw1 Settings

    Enabled Setting the Output Current The output current on the DPN10601 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 1.5A...

  • Page 10: Reducing 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 DPN10601, 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.
  • Page 11 4 Lead Motors Multiply the specified series motor current by 1.4 to determine the current adjustment potenti- ometer value. 4 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 configuring the motor windings in series, use the per phase (or uni- polar) current rating to determine the current setting potentiometer value.

  • Page 12: Connecting 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 con- nector (TB2).

  • Page 13: Section 3: Controller Functions

    RS232 Protocol - Controller SW1 in RS232 Position The DPN10601 is a DCE device, therefore it will transmit on pin 2 and receive on pin 3 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.

  • Page 14: Axis Selection

    Each DPN10601 is addressed using a programmable register allowing the PC to address up to 99 DPN10601’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 “%”...
  • Page 15 This command will move the motor the number of steps given. (Range: 1 to 8388607) Move to Position: The move to position command specifies the next absolute position to go to. The DPN10601 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 “.”...
  • Page 16 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. Jog is a manual function. The user can select the direction and speed (fast or slow) by grounding the appropriate combinations of inputs.
  • Page 17 Unless the finish move command is used, the DPN10601 will continue to execute the program. If it encounters a command that cannot be used when the motor is moving, the DPN10601 will error and stop the program prematurely.
  • Page 18 Thumbwheel Index: This special function allows a thumbwheel with up to 7 decades to be used with the DPN10601 to set a relative index. To use the thumbwheel, SW2 must be in the TWS position or the thumbwheel will be disabled.

  • Page 19: Section 4: Smc60Win Software

    Section 4: SMC60WIN Software The SMC60WIN software is a handy utility that supports Anaheim Automation’s line of DPN10601’s step motor controllers. Connecting your PC to the DPN10601, via a serial cable, the SMC60WIN software can easily perform the following tasks: •...

  • Page 20: File Menu

    File Menu 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. Setup Menu Connect Establish communications with the controller. Disconnect Release the COM port for other devices to use.

  • Page 21: Program Menu

    Program Menu 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.

  • Page 22: Help Menu

    Displays the verison of the SMC60WIN and contact information. “The Unit is Connected” / “The Unit is Not Connected” On the right of the Toolbar, the user will find the communication status of the DPN10601 control- ler. If communications is not established, please refer to the troubleshooting section.

  • Page 23: Toolbar

    Monitor and change settings for encoder options, input on the fly and output on Registration Inputs the fly. Analog Input and Thumb- Monitor and change settings to Analog Inputs and the thumbwheel switches. wheel Options Create and Edit Programs Write and edit DPN10601 stored programs. L010155 September 2012 July 2018...
  • Page 24 Tab Sheets - Real Time Motion Set Accel/Decel Send acceleration & deceleration parameter to controller. (step/sec 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.
  • Page 25 Tab Sheets - Encoder Options and Registration Inputs Encoder Auto Correct Set the encoder auto correct feature on or off. Set Encoder Delay Send the encoder delay parameter to the controller. (ms) Set Motor Ratio Send the encoder pulse to motor step ratio to the controller. Send number of encoder auto correct retries to the controller.
  • Page 26 Tab Sheets - Analog Input and Thumbwheel Options Analog Max Speed Input Sets the analog speed input feature on or off. Set Speed Lower Limit Send the analog speed lower limit to the controller. Set Speed Upper Limit Send the analog speed upper limit to the controller. Set Analog Speed Sets the max speed based on analog voltage measured at input.
  • Page 27 With the created and edit program tab sheet selected, the user can obtain the amount of available memory, located to the right of the Delete command button. The DPN10601 has a maximum available memory of 2046 bytes - each instruction can use from 2 to 7 bytes.

  • Page 28: Tab Sheets

    Currently Selected Line The currently selected line is indicated in the program by the right pointing arrow/triangle in the left column. Clicking on any line will select a new currently selected line. Add/Change/Insert Commands The Add/Change/Insert commands contain four different tab sheets, which are “Motion Com- mands”, “If/Then and Output Commands”, “Goto, For Loops, Encoder and Thumbwheel Com- mands”...
  • Page 29 Add Tab Sheets - Motion Commands Accel/Decel Set program acceleration & deceleration parameter. (step/sec Base Speed Set program base (start) speed rate. (step/sec) Max Speed Set program maximum (running) speed rate. (step/sec) Set Jog Speed Set program jogging speed rate. (step/sec) Set Position Set motor position.
  • Page 30 Add Tab Sheets - If/Then and Output Commands If inputs match below then This conditional command allows the user to execute the next line of code if execute the next line, other- the inputs triggered match the given value. If the inputs do not match, the next wise skip the next line line is skipped.
  • Page 31 Add Tab Sheets - Goto, For Loops, Encoder and Thumbwheel Commands Goto Command allows the program to jump to the specified label. Label Command inserts a label for go to and loop commands. Return from Subroutine Command will return to the last goto and execute the next line of code. Command allows a sequence of commands to be looped a specific number Outer Loop of times to a label.
  • Page 32 Add Tab Sheets - Analog, Registration and Text Commands Analog Speed On (Off) Sets the analog speed input feature on or off. Set Analog Speed Sets the maximum (running) speed based on the analog input. Analog Speed Lower Limit Sets the analog speed lower limit to the value specified. Analog Speed Upper Limit Sets the analog speed upper limit to the value specified.

  • Page 33: Calculator

    Calculator PPS -> RPS Convert from pulses per second to revolution per second. RPS ->PPS Convert from revolution per second to pulses per second. Enter the number of steps per revolution of the step motor. The default is for a Steps Per Rev 200 step/rev motor in half step, which is equal to 400.

  • Page 34: Section 5: Direct Talk Mode

    Section 5: Direct Talk Mode Direct mode is used to directly control the motion for real time movements through serial communication. The DPN10601 has 40 commands which are easy to remember for direct movement of a step motor. COM Port Settings...
  • Page 35 A - Acceleration/Deceleration Format: A[value] Description: This command sets the acceleration profile which is an integer value between 100 and 9,999,999. The higher the value, the faster the motor acceleration. Range: 100 - 9,999,999 B - Base Speed Format: B[value] Description: This command sets the base (start) speed for motion.
  • Page 36 ER[value] Description: This is the number of times the DPN10601 controller will try to auto correct the motor before an error occurs. This command is used in conjunction with the encoder auto correct EA command. When the auto correct error, Output 8 will be triggered.
  • Page 37 Format: Description: This command is used to send a set number of clocks out of the DPN10601 controller. An N or P command must be entered before the G command. The ramp profile is specified by the B (base speed), M (max speed), and A (acceleration/deceleration) com- mands.
  • Page 38 This command reads the thumbwheel switches to set the number of clocks for the DPN10601 to send out following a G command. For this command to work SW2 must be in the TWS position, and the thumbwheel enable bit must be enabled. Motion is not activated by this command, it only sets the index register.
  • Page 39 This command uses the voltage on input 1 to calculate and set the number of clocks for the DPN10601 to send out following a G command. The analog position must be enabled for this command to work. Motion is not activated by this command, it only sets the register (N = P - Z).
  • Page 40 ! - Error Codes Register Format: Description: This command requests the DPN10601 controller to get the current error code and print it to the screen. For a description of the error codes see page 39. $ - Version Number Register...
  • Page 41 In a relative or absolute type motion the DPN10601 controller will continue to the set position and stop. In a slew type motion the DPN10601 controller will ramp down and stop. In a home type motion the DPN10601 controller will ramp down and run at base speed, until the home limit is activated.
  • Page 42 / - Thumbwheel Index Enabled Format: /[0 or 1] Description: This command will either enable or disable the ability to use the thumbwheel switches for indexing. If enable, SW2 must be in the TWS position for the thumbwheel to be connected to the processor. : - Analog Position Enabled Format: :[0 or 1]...
  • Page 43 ~ - Set Address Register Format: ~[value] (No address is needed before this function. @ ~[value] will set the address) Description: This command sets the address for communication inside the DPN10601. Range: 0 - 99 L010155 September 2012 July 2018...

  • Page 44: Section 6: Troubleshooting

    Can not establish communications with the DPN10601. Possible Solutions: 1. Make sure the DPN10601 controller has power. Is the controller’s Green LED on? 2. Check RS232/RS485 connections. 3. Check for loose cable connection either on the DPN10601 controller or COM Port.

  • Page 45: Errors Codes

    1. Verify your program for improper syntax that may cause an error code. 2. Physically press the reset button on the DPN10601 to clear an error. 3. Another way to clear an error is by using either the SMC60WIN software or the direct mode command instructions set.

  • Page 46: Section 7: Sample Programs

    Section 7: Sample Programs Sample Program 1: Sample Program 1 illustrates a typical application where a system moves to a specific position required. The sample program shows how to use motion and go to instruction commands. L010155 September 2012 July 2018...
  • Page 47 Sample Program 2: Sample Program 2 illustrates a typical application where a system is first sent home to a datum or 0 position. This sample program shows how a motor will move to a 3 different positions utilizing some of the motion commands, loop routines and encoder routine. L010155 September 2012 July 2018...
  • Page 48 Sample Program 3: Sample Program 3 illustrates the setup and operation of the output on the fly function, and the use of the if/then statement. The system is first home using home type 0, waits for input 1 to be a value of 0 (grounded) and then is indexed 10,000 steps.
  • Page 49 Sample Program 4: Sample Program 4 illustrates the setup of the analog speed function and the use of “indexing- on-the-fly.” The system is first homed using home type 1. The next step is to wait for the input register to read 110111 (input 2 must be high while input 3 is low, all other inputs are not used and input 1 is masked high due to analog function being used).
  • Page 50 Sample Program 5: Sample Program 5 illustrates a typical 3 axis application where one DPN10601 (Axis 0) is control- ling the other two axes (Axis 1 and Axis 2) by using the send text string commands. The program first sets the accelerations, base speeds and maximum speeds for each axis. It then is enabling Axis 0 and Axis 1 to use the thumbwheel switch that is connected to each unit for indexing.

  • Page 51: Appendix 1: Ascii Table For Direct Mode

    Appendix 1: ASCII Table for Direct Mode ASCII Symbol Hex Value ASCII Symbol Hex Value ASCII Symbol Hex Value “ Carriage Return Appendix 2: Firmware Revisions Versions 1.00 - Initial Release. Versions 1.10 - Fixes lockup on RS485 Communication. Added capability to stop the motor on an Encoder Error after the Encoder Retries number has been reached.

  • Page 52: Copyright

    Anaheim Automation will repair or replace at its’ option, any product which has been found to be defective and is within the warranty period, provided that the item is shipped freight prepaid, with previous authorization (RMA#) to Anaheim Automation’s plant in Anaheim, California.

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