Anaheim Automation DPMLP601 User Manual

Programmable driver pack

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Programmable Driver Pack

#L010168

DPMLP601

User's Guide

A N A H E I M A U T O M A T I O N , I N C .

910 East Orangefair Lane, Anaheim, CA 92801

e-mail: info@anaheimautomation.com

(714) 992-6990 fax: (714) 992-0471

website: www.anaheimautomation.com

January 2005

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Page 1 DPMLP601 DPMLP601 DPMLP601 DPMLP601 DPMLP601 Programmable Driver Pack Programmable Driver Pack Programmable Driver Pack Programmable Driver Pack Programmable Driver Pack User’s Guide User’s Guide User’s Guide User’s Guide User’s Guide A N A H E I M A U T O M A T I O N , I N C .
Page 2: Table Of Contents
Table of Contents Table of Contents Table of Contents Table of Contents Table of Contents Section 1: Introduction Section 1: Introduction ................................................................................... 3 3 3 3 3 Section 1: Introduction Section 1: Introduction Section 1: Introduction ........................................................Description ................................
Page 3: Description
Description 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, 6 and 8-lead motors in a bipolar fashion. The DPMLP601’s driver features motor current ON/OFF capabilities and a Reduced Current Enable to automatically reduces motor current to 50% of the set value after the last step is made (1sec delay).
Page 4: Electrical Specifications
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.
Page 5 Wiring/Hook-up Diagram Wiring/Hook-up Diagram Wiring/Hook-up Diagram Wiring/Hook-up Diagram Wiring/Hook-up Diagram #L010168 January 2005...
Page 6: Dimensions/Switch Locations
Terminal Descriptions - Power Terminal 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 - Driver...
Page 7: Terminal Descriptions - Controller
Terminal Descriptions - Controller Terminal Descriptions - Controller Terminal Descriptions - Controller Terminal Descriptions - Controller Terminal Descriptions - Controller t i s i r c t i s i r c ) - ( y l f t i s t i s i r c t i s...
Page 8: Motor Selection
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.
Page 9: Setting The Output Current
Setting 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...
Page 10: 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.
Page 11 4 Lead Motors 4 Lead Motors 4 Lead Motors 4 Lead Motors 4 Lead Motors series series Multiply the specified series series 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.
Page 12: Section 3: Controller Functions
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.
Page 13: Axis Selection
RS232 to RS485 for multiple units or cables longer than 50ft The DPMLP601 can be connected to your PC serial port via a RS485 converter ( model number: 485SD9TB sold separately ). This converter will convert the RS232 voltage signals to the compatible RS485 differential signals.
Page 14 Move to Position: The move to position command specifies the next absolute position to go to. The Move to Position: Move to Position: DPMLP601 controller automatically sets the direction and number of steps needed to go to that posi- tion. (Range: -8388607 to +8388607) Slew:...
Page 15 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.
Page 16 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.
Page 17 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.
Page 18 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: •...
Page 19: File Menu
F F F F F ile Menu ile Menu ile Menu ile Menu ile Menu t s i . . . t t n i Ex t i t i x S S S S S etup Menu etup Menu etup Menu etup Menu etup Menu...
Page 20: Program Menu
P P P P P rogram Menu rogram Menu rogram Menu rogram Menu rogram Menu l l o . y r l l o . y r l l o . y r e l l . f f P P P P P rogram - rogram - rogram - rogram - A A A A A utostart Program Menu...
Page 21: Help Menu
“The Unit is Connected” / “The Unit is NOT Connected” “The Unit is Connected” / “The Unit is NOT Connected” On the right of the Toolbar, the user will find the communication status of the DPMLP601 controller. If communications are not established, please refer to the Troubleshooting Section.
Page 22: Toolbar
Toolbar Toolbar Toolbar Toolbar Toolbar Exit Exit Exit Exit Exit Open Open Open Open Open Save Save Save Save Save Print Calculator Stop All Connect Print Calculator Stop All Connect Print Calculator Stop All Connect Print Calculator Stop All Connect Print Calculator Stop All Connect t i x t i x...
Page 23: Tab Sheets - Real Time Motion
Tab Sheets - Real Time Motion Tab Sheets - Real Time Motion Tab Sheets - Real Time Motion Tab Sheets - Real Time Motion Tab Sheets - Real Time Motion & e l l e l l e l l e l l t i s t i s...
Page 24: Tab Sheets - Encoder Options And Registration Inputs
Tab Sheets - Encoder Options and Registration Inputs Tab Sheets - Encoder Options and Registration Inputs Tab Sheets - Encoder Options and Registration Inputs Tab Sheets - Encoder Options and Registration Inputs Tab Sheets - Encoder Options and Registration Inputs .
Page 25: Tab Sheets - Analog Input And Thumbwheel Options
Tab Sheets - Analog Input and Thumbwheel Options Tab Sheets - Analog Input and Thumbwheel Options Tab Sheets - Analog Input and Thumbwheel Options Tab Sheets - Analog Input and Thumbwheel Options Tab Sheets - Analog Input and Thumbwheel Options .
Page 26: Tab Sheets - Create And Edit Program
With the create 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 DPMLP601 has a maximum available memory of 2046 bytes - each instruction can use from 2 to 7 bytes.
Page 27: Add/Change/Insert Commands
Currently Selected Line Currently Selected Line Currently Selected Line Currently Selected Line 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 Add/Change/Insert Commands Add/Change/Insert Commands...
Page 28: Add Tab Sheets - Motion Commands
Add Tab Sheets - Motion Commands Add Tab Sheets - Motion Commands Add Tab Sheets - Motion Commands Add Tab Sheets - Motion Commands Add Tab Sheets - Motion Commands & ) t r t i s t i s .
Page 29: Add Tab Sheets - If/Then And Output Commands
Add Tab Sheets - If/Then and Output Commands Add Tab Sheets - If/Then and Output Commands Add Tab Sheets - If/Then and Output Commands Add Tab Sheets - If/Then and Output Commands Add Tab Sheets - If/Then and Output Commands o l l n i l n i l...
Page 30: Add Tab Sheets - Goto, For Loops, Encoder And Thumbwheel Commands
Add Tab Sheets - Goto, For Loops, Encoder and Thumbwheel Commands Add Tab Sheets - Goto, For Loops, Encoder and Thumbwheel Commands Add Tab Sheets - Goto, For Loops, Encoder and Thumbwheel Commands Add Tab Sheets - Goto, For Loops, Encoder and Thumbwheel Commands Add Tab Sheets - Goto, For Loops, Encoder and Thumbwheel Commands o l l f i c...
Page 31: Add Tab Sheets - Analog, Registration And Text Commands
Add Tab Sheets - Analog, Registration and Text Commands Add Tab Sheets - Analog, Registration and Text Commands Add Tab Sheets - Analog, Registration and Text Commands Add Tab Sheets - Analog, Registration and Text Commands Add Tab Sheets - Analog, Registration and Text Commands ) f f .
Page 32: Calculator
Calculator Calculator Calculator Calculator Calculator > - t u l > - t u l t u l t l u t i x #L010168 January 2005...
Page 33 Section 5: Direct Talk Mode Direct mode is used to directly control motion for real time movements through serial communication. The DPMLP601 controller has 40 commands, which are easy to remember for direct movement of a step motor. COM Port Settings...
Page 34 A - Acceleration/Deceleration A - Acceleration/Deceleration A - Acceleration/Deceleration A - Acceleration/Deceleration 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...
Page 35 ER -Encoder retries ER -Encoder retries Format: ER[value] Description: This is the number of times the DPMLP601 controller will try to autocorrect the motor before erroring. This command is used in conjunction with the encoder autocorrect EA command. Range: 0 - 255...
Page 36 Format: Description: This command is used to send a set number of clocks out of the DPMLP601 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 (accelera- tion/deceleration) commands.
Page 37 N[value] Description: This command sets the number of clocks for the DPMLP601 to send out following a G command. It is also used to set the registration index during and index on the fly move. Motion is not activated by this command; it only sets the index register.
Page 38 This command uses the voltage on input 1 to calculate and set the number of clocks for the DPMLP601 to send out following a G command. The analog position must be enabled for this command to work. Motion is not activated by this com- mand, it only sets the register (N = P - Z).
Page 39 ! - Error codes register Format: Description: This command requests the DPMLP601 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 40 In a slew type motion the DPMLP601 controller will ramp down and stop. In a home type motion the DPMLP601 controller will ramp down and run at base speed, until the home limit is activated.
Page 41 / - Thumbwheel index enabled / - Thumbwheel index enabled / - Thumbwheel index enabled / - Thumbwheel index enabled / - Thumbwheel index enabled Format: /[0 or 1] Description: This command will either enable or disable the ability to use the thumbwheel switches for indexing.
Page 42 ~ - Set address register ~ - Set address register Format: ~[value] (No address is needed before this function. @~[value] will set the address) Description: This command sets the address inside the DPMLP601 controller. Range: 0 - 99 #L010168 January 2005...
Page 43 Possible Solutions: Possible Solutions: Possible Solutions: 1) Make sure the DPMLP601 controller has power. Is the controller’s Green LED on ? 2) Check the RS232/RS485 connections. 3) Check for loose cable connections either on the DPMLP601 controller or COM Port.
Page 44: Error Codes
1) Verify your program for improper syntax that may cause an error code. 2) Physically press the reset button on the DPMLP601 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 45 Section 7: Sample Programs Section 7: Sample Programs Section 7: Sample Programs Section 7: Sample Programs Section 7: Sample Programs Sample Program 1: Sample Program 1: Sample Program 1: Sample Program 1: 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 the motion and goto instruction commands.
Page 46 Sample Program 2: Sample Program 2: Sample Program 2: Sample Program 2: 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 3 different positions utilizing some of the motion commands, loop routines and encoder routine.
Page 47 Sample Program 3: Sample Program 3: Sample Program 3: Sample Program 3: 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 homed using home type 0, waits for input 1 to be a value of 0 (grounded) and then is indexed 10,000 steps.
Page 48 Sample Program 4: Sample Program 4: Sample Program 4: Sample Program 4: 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 the analog function being used).
Page 49 Sample Program 5: Sample Program 5 illustrates a typical 3 axis application where one DPMLP601 (Axis 0) is controlling 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.
Page 50: Appendix 1: Ascii Table For Direct Mode
Appendix 1: ASCII Table for Direct Mode Appendix 1: ASCII Table for Direct Mode Appendix 1: ASCII Table for Direct Mode Appendix 1: ASCII Table for Direct Mode Appendix 1: ASCII Table for Direct Mode " #L010168 January 2005...
Page 51 Anaheim Automation, Inc. will repair or replace at its option, any of its products which have been found to be defective and are within the warranty period, provided that the item is shipped freight prepaid, with RMA (return material authorization), to Anaheim Automation’s plant in Anaheim, California.

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