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DPMLA601 - Anaheim Automation

1. Line Command Comments 1 Acceleration 1000 steps isec sec 4 Base speed 5UU steps sec a Max speed 5U00 steps sec 4 Direction 5 type 0 soft and home switch h Finish move Position pg Output on at position 2000 4 steps between outputs 1000 steps 10 of output counts 5 11 Label TOP 12 It input 1 1 then execute the next line Loop ta TOP until input 1 150 13 Goto 14 Enable output on the 15 Direction CV 16 relative 10000 steps 17 Finish move Output register Turn an Output 1 19 Wait 1 msec Output register U Turn aff Output 1 21 Disable output on the 221 30 to position U 23 Finish move 24 Goto d 25 End of program L010938 51 November 2012 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 The third step is to slew using the analog input as the maximum speed between 5000 and 10000 steps revolution When input 2 is switched low the unit will index 2500 more steps and ramp down to base speed and stop At the end of the index output 1 will turn on for 100 mS After
2. 10000 steps sec sec 2 Base speed 500 steps sec GS3jLabel START o Send Program to Controller View Program in 4 speed 5000 steps sec Go relative 1600 steps Inner loop 4 times to START rection CCW Home type 1 home limit switch only inish move 42 of 2046 byt d Add Change Insert Delete us d ee 5 ample1 mdb Add Change Insert Commands The Add Change Insert commands contain four different tab sheets which are Motion Commands If Then and Output Commands Goto For Loops Encoder and Thumbwheel Commands and Analog Registration and Text Commands imi i Goto Far Loops Encoder and Analog Registration and Motion Commands I Then and Output Commands Tissus SEES amd Motion Commands Software section that allows user to enter speeds positions direction etc If Then and Output Com Software section that allows user to manipulate conditional statements and 1 0 routines mands Goto For Loop Encoder and Software section that allows user to manipulate branching and loop routines enter encoder Thumbwheel Commands parameters and control the thumbwheel switches Analog Regisration and Text Software section that allow user to enter parameters for analog speed and position limits Commands index on the fly and output on the fly parameters and text strings to be sent These tab sheets i
3. ses 8 Microstep Selection Driver SW1 stat taut duisi Ee MO Ree 9 me M P 9 Reduco Quests tiara 10 Determining QUMUECUMEN e 10 Sled Motor ComnouratlOnsS p 10 Connecting The Step pm 12 Short Circuit Mis Wire and Over Current Conditions te tiere rens 12 Over Temperature and Over Voltage Conditions nna 12 section 3 Controller FUNCUONS oio etos eoo Pues tokyo oe ec clue e EP 13 Methods OF COMMUNICATION M e T M m 13 silo T Yat 13 RS232 Protocol Controller SW1 in RS232 nnn nnn nns 13 RS485 Protocol Controller SW1 RS485 13 RS232 to RS485 for multiple units or cables longer than 50 14 OF cmd meo e ete nt oie Dc dU 14 AXIS SC asso sto oe seo a fud cento p aestus
4. ilo PHASE 1 A CAUTION I0 HIGH VOLTAGE clocks 1 m ELECTRIC SMOCK B PWR 10EMC1 PHASE 4 B AC INPUT HOT 1 MOTOR GND aea a The 10EMC1 filter is required at the power input of the DPMLA601 Unit L010938 6 November 2012 Power Supply Requirements The DPMLA601 is powered by an AC line voltages ranging from 90 132VAC TB2 pin 1 is used as the hot terminal and is internally fused TB2 pin 2 is used as the neutral terminal and TB2 pin 3 is the EGND terminal The EGND terminal must be connected Note The 10EMC1 Filter is required at the input voltage of the DPMLA601 Unit See pg 8 9 Position Description Power Inputs AC IN Hot EARTH GROUND Must be connectec Terminal Descriptions Driver Position Description Driver Inputs Step Clock Input Anode A positive going edge on this isolated input advances the motor by one incre ment The size of the increment is dependent on the Microstep Select Inputs of switch 1 Step Clock Input Cathode Direction Anode This isolated input is used to charge the direction of the motor Physical direction also depends on the connection of the motor windings Direction Cathode ON OFF Anode This isolated input is used to enable and disable the output section of the dirver When HIGH open the outputs are enabled However this input does not inhibit the s
5. 1 Programmable Driver User s Guide d 3 m E 4 ww FT T Wo UTOMA TION 910 East Orangefair Lane Anaheim CA 92801 714 992 6990 fax 714 992 0471 e mail info anaheimautomation com website www anaheimautomation com ANAHEIM AUTOMATION INC L010938 1 November 2012 Table of Contents SECON L o LE 3 m 3 Electrical SDC CICA OMS asse secolo sequ dac tu NM sto ratu D e 4 Orde ring iie tL 4 5 rM 5 Power Supbly ISequitelTiellls a cu sau p comes o i us 6 Bese pons On GM tC 6 65 amp e teda Us a Oo itae uses 7 Connector Descriptions Controler T 7 Slide Switch Descriptions 7 Section 2 Driver Fuhctlons d eid 8 Motor SSIS CON NR ERR T p 8 Step Motor Current Setting Guide suseso
6. Operating Ambient Temperature Range 10 to 40 C rated current Ir Electrical Schematic LINE LOAD Dimensions MAX i _ 1 53 MAX 2 938 015 2 56 250 TERMINAL WITH 5 069 HOLE 4 PLCS 250 TERMINAL WITH 5 069 X 155 SLOT 3 85 MAX 1010938 8 November 2012 10EMC1 Filter Continued Typical Insertion Loss Measured in closed 50 Ohm System TOEMC db 100 Bo BO 50 50 at 1 10 Frequency in Common Mode Asymmetrical L G Differential Mode Symmetrical L L Minimum Insertion Loss Common Mode Assemetrical Line to Ground Frequency MHz ene __ _ 58 2 13 2 2 72 48 Differential Mode Symmetrical Line to Line Current Current Frequency MHz Ordering Information Manufacturer Part Number Description 644 DNF 14 250FIB 3K Terminals DISCO FEMALE FULLY Insulated Disconnects DNF14 250FIB 3K Terminals DISCO FEMALE FULLY Insulated Disconnects Crimpmaster Crimp Tool for RG 58 RG 59 62AU BNC Ideal Industries SER TNC 3 Piece Hex Type Connectors 1010938 9 November 2012 Terminal Descriptions Controller Position Description RS485 Position Description Inputs Position Description Encoder e Position Description Outputs 1 Output 1 Output on the fly output Position Description Limit Switch Inputs e
7. I Rot desee oes cu tench sesso 14 Controler status Dt E ccc 14 SUID aet 14 SECTION 4 SMCOOWIN SONWANE e 19 mx MON m 20 MOM 20 SGU 20 Progra 21 Program Autostart Program 21 21 HeD MONU 22 The Unit is Connected The Unit is NOT Connected nennen nennen nnnm nnn 22 TOODA e EOEREM 23 FAD SNEG aac a E 23 Add Change lnsert CommandS sodes 28 n PR RUN 33
8. Lower Limit Lower Limit rc Abalog Speed Analog Position Upper Limit Upper Lirit C Indes on the Fly Off Dutput On The Fly Off Indes on the Fly On Dutput On The Fly On Registration Index 1 lat Output Position Steps Between I send Outputs Counts Comment Please choose a command 4 7 04 10 36 Set Analog Speed Sets the maximum running speed based on the analog input Send Text Will send the entered text string back to the user 20 characters maximum L010938 35 November 2012 Calculator Calculator Steps Per Rev 400 PP3 gt RPS HPS gt PP5 AEE pode pens Close mI PPS gt RPS Convert from pulses per second to revolution per second RPS gt PPS Convert from revolution per second to pulses per second Steps Per Rev Enter the number of steps per revolution of the step motor The default is for a 200 step rev motor in half step which is equal to 400 L010938 36 November 2012 Section 5 Direct Talk Mode Direct mode is used to directly control motion for real time movements through serial communication The DPMLA601 controller has 40 commands which are easy to remember for direct movement of a step motor COM Port Settings Baud Rate 38400 Data Bits 8 Parity None Stop Bits 1 Flow Control Xon Xoff Unit Selection In order
9. EA O or 1 Description This command will either enable or disable the encoder autocorrect function To enable the function use a 1 to disable the function use a 0 When this function is enabled the relative register is used to calculate the encoder position therefore before the next move is made the relative register needs to be set This command is used in conjunction with the encoder delay ED encoder ratio encoder retries ER and encoder window EW commands L010938 38 November 2012 ED Encoder delay Format Description Range ED value This command sets the wait time a specified number of milliseconds after a relative index or absolute move is finished before reading the encoder This is used to remove the ringing that might be associated with the mechanics of the system This command is used in conjunction with the encoder autocorrect EA command 0 65535 Encoder motor ratio Format Description Range ER Encoder retries Format Description Range ET Encoder reset Format Description EM value This represents the ratio for the number of encoder pulses to one motor step An example is for a 1000 line quadrature encoder and a 400 step revolution motor the motor ratio is 1000 4 400 10 This command is used in conjunction with the encoder autocorrect EA command 1 255 ER value This is the number of times the DPMLA601 controller will try to
10. Section 5 Direct Talk Mode 34 Section 6 Troubleshoolllg cios ce EIE Era UE eR TRE Oe 2s LEE 44 I 45 Seclion 7 Sample Programs dubi eoo revue 46 Appendix 1 ASCII Table for Direct Mode sanas nnns 51 ADDeNGIX 2 Firmware ug espace actas NO E eic UIS tp niu M P M Mv 51 L010938 2 November 2012 Section 1 Introduction The DPMLA601 is a single axis 10A bipolar microstep driver controller containing 2 Kbytes of nonvola tile stored programming space quadrature encoder feedback and a 300W transformer all enclosed in a package It provides flexible independent control of bipolar stepper motors with a current range from 2 to 10 0 amps phase with microstepping resolutions from 200 steps per revolution to 12 800 steps per revolution from a computer or any machine controller with a serial port It is also capable of standalone operation making it an embedded machine controller The easy to use Windows software SMC60WIN can be used to directly control motion and to program the DPMLA601 The DPMLA601 also has the abil ity for real time functions The DPMLA601 has 40 commands which are easy to remember for direct movement of the stepper mo tor and communicates via either RS232
11. e Ce pee Output Connector Descriptions Controller Switch Number Description This connector is for the RS 232 communication and is labeled RS 232 This connector is for the thumbwheel module and is labeled TWS Slide Switch Descriptions Controller Switch Number Description SW1 This switch is used to select either RS232 or RS485 1010938 10 November 2012 Section 2 Driver Functions Motor Selection The DPMLA601 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 DPMLA601 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
12. output on the fly that will enable it to be triggered at a certain absolute position during a move Output 8 has a special function that will trig ger when the encoder retries function fails L010938 19 November 2012 Output on the 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 OVDC for a preset delay of 50uS at a specific absolute position set by the 757 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 O 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 O 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 f
13. Edit Help start Program The Unit is Connected Version SMC60 Revision 1 00 Stop Program View Program Upload Program Clear Program Memory Autostart Program Program Autostart Program Menu ES SMCE0WIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help Start Program Stop Fragram View Program The Unit i Connected Version 5MEBU Revision 1 00 Upload Program Clear Program Memory Analog Input and fT humbhweel Options Disable Enable Program will disable the execution of a stored program at power up Program will start execution when controller is powered up Edit Menu PIE SMCBIUWIMNH Programmable Indexer Software Version 1 0 0 Setup Program Edit Help Add The Unit i Connected Change Version SMC60 Revision 1 00 Insert Delete Analog Input and Thumbhweel Options Create and Edit Program Adds a new line of code to the end of the program Edits the currently selected line of code Insert a new line of code before the currently selected line of code Deletes the currently selected line of code L010938 24 November 2012 Help Menu ES SMCE0WIN Programmable Indexer Software Version 1 0 2 File Setup Program Edit Help Error Coder Reader Users Guide www anaheimautomation com The Unit is Connected Version SHMC60 Revision 1 00 The Un
14. as 4 6 8 leads Each configuration requires different currents Refer to the lead configurations and the procedures to determine their output current WARNING Step motors will run hot even when configured correctly Damage may occur to the mo tor 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 Motors When configuring a 6 lead motor in a 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 P1 P2 P3 P4 When configuring the motor in a 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 P1 2 7 4 COM 1 3 COM 2 4 n L010938 13 November 2012 4 Lead Motors Multiply the specified 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 P3 P4 8 Lead Motors Series Connection When configuring the motor windings in series use the per Phase or unipolar
15. contents This is a read only command Valid Commands are shown below Command Description Command Description Verify acceleration deceleration E 58 Verify outputs Verify base speed Verify motor current 1 is on O is off fly 7 Verify encoder position Verify analog position enabled R Verify encoder retries fg Verify analog speed enabled W Verify encoder window Verify lower analog speed value Verify if controller is busy 1 is busy 0 Verify upper analog speed value is not busy Verify jog speed Verify number of outputs Verify Limits 1 is Hard 2 is Soft 3 is Verify lower analog position value Hard and Soft 0 is neither Verify max speed Verify upper analog position value Verify number of steps 1 is enabled 0 is disabled Z Position Format Z value Description This command sets the current position as a reference This register can contain a positive or negative value but cannot be changed while motion is in progress Range 8388607 to 8388607 Error codes register Format Description This command requests the DPMLA601 controller to get the current error code and print it to the screen For a description of the error codes see page 39 1010938 43 November 2012 Version number register Format Description This command requests the DPMLA601 controller to return its internal firmware version number Verify address register Format No address is needed
16. current rating to determine the current setting potentiometer value MS Parallel Connection When configuring the motor windings in parallel multiply the per Phase or unipolar current rating by 2 0 to determine the current setting potentiometer value P1 P2 P3 P4 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 L010938 14 November 2012 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 amp 4 for TYPICAL AP PLICATION 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 direction input switch the wires on Phase 1 and Phase 3 WARNING Do not connect or disconnect motor wires while power is applied 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 Tem
17. limit is reached ramp down to base speed change directions and run at base speed unit the release of the home limit input The ramp profile is specified by the B base speed M max speed and A acceleration deceleration commands IR This command returns the binary value of the inputs to the PC Since the inputs are pulled up internally except input 1 they will return a high when they are open For example if all inputs are active grounded the command will return a 0 If all inputs are inactive open the command will return a 63 Input 1 is the LSB and input 6 is the MSB I input This command returns the value of the selected input to the PC If the input is open or high it will return a 1 If the input is grounded or low it will return a O 0 6 J value This command sets the fast jog speed This value must be set before motion begins and be greater than the base speed 1 50000 40 November 2012 M Max speed and analog speed Format 1 Description Range Format 2 Description N Number of steps Format 1 Description Range Format 2 Description O Set outputs Format 1 Description Range Format 2 Description Range L010938 M value This command sets the maximum running speed for motion This value must be set before motion begins and be greater than the base speed 1 50000 M This command uses the voltage on input 1 to calculate and set the max
18. with the DPMLA601 Step Motor Current Setting Guide Motor Example Motor Current Unipolar Rating Series Peak Parallel Peak Series Current Parallel Number Code Rating Rating Setting Current Table 5 Table selection for Anaheim Automation motor current settings Anaheim Automation offers motor cable making hook ups quick and easy Contact the factory or visit our website for more motor and cable offerings L010938 11 November 2012 Microstep Selection Driver SW1 Settings Switches 2 3 and 4 of the DIP switch select the number of microsteps per step Table 6 shows the stan dard resolution values along with the associated positions for the select switches The standard waveforms are sinusoidal Resolution Steps Rev X Select 1 Select2 Select3 Select 4 Auto Reduce Current e o o for oe for om Dm fo fom Dmm per pum pem em fe fe fe fe fame m Table 6 Microstep selection switch 1 Setting the Output Current The output current on the DPMLAG601 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 Table 7 Potentiometer values with respect to the output current
19. 01 When enabled the encoder function will compare the desired position with the actual encoder position If itis not in the correct position a correction move will be made 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 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 1 1000 4 400 10 Range 1 to 255 and must be a whole number Encoder Retries This is the number of times the DPMLA601 will try to autocorrect the motor shaft posi tion before producing an error Wen the error is produced Output 8 is triggered Range O 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 autocorrects Range 0 to 255 Thumbwheel Index This special function allows a thumbwheel with up to 7 decades to be used with the DPMLAG0 1 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 ent
20. 6 Troubleshooting Problem Cannot establish communications with the DPMLA6071 Possible Solutions Make sure the DPMLA601 controller has power Is the controller s Green LED Check the RS232 RS485 connections Check for loose cable connections either on the DPMLA601 controller or COM Port Was the software installed successfully Go to Setup Com Port Settings and verify COM port setting Go to Setup Axis and verify address settings are the same Click on Setup Connect icon to communicate with the DPMLA601 controller If problems still exist contact Anaheim Automation Tech Support gt eee 910 East Orangefair Lane Anaheim Automation Inc Anaheim CA 92801 1195 Tech Support phone 714 992 6990 fax 714 992 0471 www anaheimautomation com Problem There is no power to the DPMLAGO 1 controller Possible Solutions 1 Is the DPMLA601 controller connected to the appropriate power supply 2 Check for any blown fuses in line with the DPMLA601 controller 3 If problems still exist contact Anaheim Automation Inc Tech Support Problem My program won t Autostart Possible Solutions 1 Verify that the Autostart Function has been enabled 2 Go to Setup Autostart Program and Click on Enable 3 If problems still exist contact Anaheim Automation Tech Support 1010938 47 November 2012 Problem The DPMLA601 controller has a fault condition Possible
21. Format value Description This command sets the upper limit that is used during the calculation following M command for the analog speed input This command is used in conjunction with the analog speed enabled and max speed M commands Range 1 50000 Number of outputs during output on the fly Format value Description This command sets the number of times output 1 will turn on during an output on the fly move This command is used in conjunction with the output on the fly en abled command Range 0 255 Analog position lower limit Format t value Description This command sets the lower limit that is used during the calculation following a P command for the analog position input This command is used in conjunction with the analog position enable and absolute position P commands Range 0 65535 Analog position upper limit Format Description This command sets the upper limit that is used during the calculation following P command for the analog position input This command is used in conjunction with the analog position enable and absolute position P commands Range 0 65535 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 DPMLAG601 controller Range 0 99 L010938 46 November 2012 Section
22. Refer to Table 5 for specific motor current settings Although the MLA10641 has an internal fan current settings above 8 4Amps 80 may require additional cooling L010938 12 November 2012 Reducing Output Current Reducing the output current is accomplished by setting switch 1 of the DIP switch to the ON position and occurs approximately 1 second after the last positive going edge of the step clock input The amount of current per phase in the reduction mode is approximately 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 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 DPMLA601 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 DPMLA601 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 Configurations Step motors can be configured
23. Solutions 1 Verify your program for improper syntax that may cause an error code 2 Physically press the reset button on the DPMLAO601 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 4 The SMC60WIN can clear an error in the real time motion tab section by clicking on the verify parameters button 5 The direct mode command can clear an error by simply prompting the error code register to return the value back to the PC or PLC j Note Read the Error returned to the screen to better understand what can be causing the fault condition The error is returned in binary coded decimal format If two errors were received their binary values would be added together Error Codes Error Code Type Description 1 Receive Over The serial communications had a receiving error This is an internal error caused by the flow Error computer Encoder Error 1 The encoder needed to correct the index Encoder Error 2 The encoder could not finish the index Output 8 is set with this error Command Error A bad command was sent to the controller Please check to see that the command being sent is valid 16 Motor Error Motor speed profiles are set incorrectly Please make sure that the base speed is less than the max speed and that the speeds are within their valid ranges 32 Range Overflow The go to position has an overflow error This is caused by
24. autocorrect the motor before erroring This command is used in conjunction with the encoder autocorrect EA command When the autocorrect errors Output 8 will be triggered 0 255 This command will reset the internal encoder count register to 0 EW Encoder window Format Description Range L010938 EWl value This is the allowable error in encoder pulses either plus or minus from the desired position that is allowed before the motor autocorrects This command is used in conjunction with the encoder autocorrect EA command 0 255 39 November 2012 Go number of steps Format Description H Home Format Description Home Types Read inputs Format 1 Description Format 2 Description Ranged J Fastjog speed Format Description Range L010938 G This command is used to send a set number of clocks out of the DPMLA601 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 or 1 HO In type 0 homing the DPMLA601 will send clocks until a soft limit is reached then ramp down to base speed Clocks will continue at base speed until a home limit is reached The ramp profile is specified by the B base speed M max speed and A acceleration deceleration commands H1 In type 1 homing the DPMLA601 will send clocks until a home
25. before this function will return the address Description This command requests the DPMLA601 controller to return its internal address number to the PC or PLC Index on the fly enabled Format or 1 Description This command will either enable or disable the index on the fly function To enable the function use a 1 To disable the function use a 0 This command is used in conjunction with the number of steps N and go slew S commands Output on the fly enabled Format O or 1 Description This command will either enable or disable the output on the fly function To enable the function use a 1 To disable the function use a 0 This command is used in conjunction with the number of steps between outputs C 1st output pos tion D and number of outputs commands Clockwise Format Description This command sets the direction output to clockwise Soft Limit Input Bit Format Description This command will ramp the clocks down to base speed The move type then determines what will happen In a relative or absolute type motion the DPMLA601 controller will continue to the set position and stop In a slew type motion the DPMLA601 controller will ramp down and stop In home type motion the DPMLA601 controller will ramp down and run at base speed until the home limit is activated L010938 44 November 2012 Counter Clockwise Format Description This command sets the direction ou
26. command it only sets the register P Z Range 8388607 to 8388607 Format 2 P Description This command uses the voltage on input 1 to calculate and set the number of clocks for the DPMLA601 to send out following a G command The analog pos tion must be enabled for this command to work Motion is not activated by this command it only sets the register Z This command is used in conjunction with the analog position the analog position lower limit and the analog posi tion lower limit commands S Go slew Format S Description This command will send clocks out to the DPMLA601 The only commands that can stop the clocks are stop motion or soft limit Motion can also be stoppedby using the limit switch inputs The ramp profile is specified by the B base speed M max speed and A acceleration deceleration commands T Motor current enabled Format or 1 Description 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 1 To de energize and turn the current off to the motor set the value to O This is a dedicated output and not controlled with the output register L010938 42 November 2012 V Verify Format V command Description This command can be used with most commands to verify the register
27. ctive 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 the selected unit will turn it s driver on to send the data and then turn it off after it has completed transmission Note The above protocol is done internally between the converter and the DPMLAG601 The RS485 method of communication allows increased noise immunity and increased communication distance of up to 4000 feet without repeaters 5485 repeaters allow an additional 4000 feet per repeater The DPMLAO01 is designed for two wire configuration The 2 wire configuration makes use of the tristate capabilities of RS485 to allow a single pair of wires to share transmit and receive signals for half duplex 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 L010938 16 November 2012 PCL601 PCL601 UNIT 1 UNIT 2 RS485 CONVERTER 485SD9TB TB1 TB1 RS232 to RS485 for multiple units or cables longer than 50ft The DPMLA601 can be connected to your PC serial port a RS485 converter model number 485SD9TB sold separately This converter will convert the RS232 voltage s
28. der autocorrect retries to the controller When the auotcorrect er rors Output 8 will be triggered Set of Steps Between Send of steps to take between activated outputs to the controller Outputs Set Registration Index Send registration index to controller Slew Motor will ramp up to maximum speed and keep moving until the index on the fly input is activated or a stop motion is triggered Stop Hard Stop any motor motion immediately Verify Parameters Updates and displays controllers parameters for this tab sheet L010938 28 November 2012 Tab Sheets Analog Input and Thumbwheel Options ES SMCEOWIN Programmable Indexer Software Version 1 0 0 File Setup Frooram Edit Help The Unit is NOT Connected Encoder Uptians and Analog Input and Registration Inputs Thumbhweel Options Create and Edit Program Analog Max Analog Thumbwheel Speed Input Position Input Index Set Speed 500 _ may Set Position o Lower Limit 1500 Lower Limit 10 Set Speed Set Position o o Move Thumbwheel Stop Upper Limit 11500 Upper Limit 10 Index Hard Analog 5peed Lower Analog 5peed Analog Speed Upper top tata Analog Position Lower Analog Position Analog Position Upper Thumbwheel Index Not Enabled Verify Parameters 4 7 04 10 32AM L010938 29 November 2012 Tab Sheets Create and Edi
29. eatures a 10 amp bipolar drive and power supply 485SD9TB RS232 to RS485 converter 485USBTB 2W USB to 485 converter TWS7 Seven position thumbwheel switch compatible with any SMC60 series controller AA9MFC 6 foot straight through serial cable with one DB9 male and DBY female connector CD provided when you purchase the unit contains this user s manual along with the SMC60WIN software and DPMLA601 program examples The software allows you to write and change programs that are to be stored in the DPMLA601 for autostart use and also upload the program that is stored in the DPMLAOO 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 1010938 4 November 2012 Dimensions Switch Locations 2 188 SLOT 4 PLCS 33 5 937 cig tii 5 67 7 00 010938 5 November 2012 Wiring Diagrams rni nia n e trit iT nd ime m d PCL601 8W2 7 i INDEXER e ite RS 232IN SMC60 5 4 RS 4B5 IN J 5W8 15 p E 1 TO t B ot 4 colL 24VDC_ 5 EXTERNAL FOWER SUPPLY 2 1 CLAMP THUMBWHEEL SWITCH TO INTERNAL POWER SUPPLY MLA10641 2 Swi WE CLOCK 0 13234 1 CN ANAHEIM AUTOMATION 2
30. er 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 DPMLA601 accepts a baud rate of 38400 only RS232 Protocol Controller SW1 in RS232 position The DPMLAOO 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 DPMLA601 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 DPMLA601 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 not be used in noisy areas Always use the shortest cable connection possible NOTE Keep controller wiring separated from motor cable wiring RS485 Protocol Controller SW1 in RS485 position The RS485 protocol mode is as follows On board receivers will remain in a
31. ered directly as steps sec and 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 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 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 Veri
32. exing The direction is then set for Axis and Axis 1 and these two axes are then told to index the distance set in each thumbwheel at the same time The program then waits for the motion to finish before it tells Axis 2 to move Axis 2 first moves in the negative direction waits for the index to finish and then moves back in the positive direction After Axis 2 is finished moving Axis O and Axis 1 are both sent back to their zero positions at the same time The program is then repeated 10 11 12 13 14 15 16 17 15 15 20 21 22 Pus 24 25 26 20 29 20 31 32 E L010938 Acceleration 1U0U0 steps sec sec send Text String 2211000 send Text String 24100 Base speed 500 steps sec send Text String 5916500 send Text String 2226100 Max 5000 steps sec send Text String 691 5000 send Text String az Enable thumbwheel send Text String 91 1 Label TOP Direction CN send Text string 81 send Text string iM 5n relative thumbwheel index send Text string Finish move Wait 500 msec send Text String Ciz send Text String 22214400 send Text String reo Wait 5000 msec send Text String 02 send Text String Wait 1000 msec send Text String 50 to position send Text String Finish move Wait 1000 msec soto End of program 53 Axis Accel 1000 Axis Accel 1000 AxIsz Accel 100 Axis Base 500 Axi
33. fy The verify command causes the DPMLA601 controller to send data back to the 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 L010938 21 November 2012 Section 4 SMC60WIN Software The SMC60WIN software is a handy utility that supports Anaheim Automation s line of DPMLAGO1 s step motor controllers Connecting your PC to the DPMLAG0O via a serial cable the SMC60WIN software can easily perform the following tasks Exercise and monitor the DPMLA601 controller Write and edit stored programs for standalone operation Directly communicate with the DPMLA601 controller Installation Software The SMC60WIN is available to download at http www anaheimautomation com downloads software software php This download contains the setup program for the SM60WIN software DPMLA601 manual and sample programs e SMC60WIN is compatible with all versions of Windows including Windows 7 and Windows XP Windows XP 7 Installation 1 Download the setup exe file to your desktop 2 Double click the setup exe file and follow the instructions give on the screen Getting Started 1 Double click on the SMC60WIN icon to run the SMC60WIN software 2 Apply power to the DPMLA601 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 ax
34. hould be used after every motion command Command will begin motion in the direction last entered seeking the soft input first to slow the motor down to base speed then to stop when the home limit is triggered will begin motion seeking the home limit which will slow the motor down to base speed reverse the direction and stop when the home limit is no longer triggered Stop Hard Stop any motor motion immediately End of Program This command is required as the last command in the program code L010938 32 November 2012 Set Jog Speed Set program jogging speed rate step sec Add Tab Sheets If Then and Output Commands lIndeyxgr Gnibuare irae xl ai Add Comman lf Then and Output Goto Far Loops Encoder and Analog Registration and Text Commands Thumbwheel Commands Commands IF inputs match below then execute the next line otherwise skip the nest line TIPP IF input matches then execute the next line otherwise skip the nest line Input Value Set Outputs 1 2 3 4 H b B Comment Please choose a command Cancel Z If inputs match below then This conditional command allows the user to execute the next line of code if the inputs trig execute the next line other gered match the given value If the inputs do not match the next line is skipped wise skip the next line If input matches then ex This conditional command allows the user
35. ignals to the compatible RS485 differential 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 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 DPMLA601 in the network between pins A and B on the RS485 Terminal Block The value of this resistor should be 120 ohms Axis Selection Each DPMLAG01 is addressed using a programmable register allowing the PC to address up to 99 DPMLAGO 1 s from one port The Default axis is 0 To change the axis use the SMC60WIN software the command To verify or check the axis use the SMC60WIN software or the 956 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 erro
36. ill 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 return material authorization to Anaheim Automation s plant in Anaheim California Trademarks Control Link and Driver Pack are registered trademarks of Anaheim Automation Inc IBM PC is a registered trademark of International Business Machines Inc ANAHEIM AUTOMATION INC L010938 55 November 2012
37. is setting by selecting Setup Axis from the menu bar is a shortcut 5 Establish communications with the DPMLA601 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 L010938 22 November 2012 File Menu Mew Program tre The Unit is Connected Version 5 Revision 1 00 Print Ctrl P Exit Cube neoder Options and Analog Input and T Registration Inputs Thumbhweel Options Create and Edit Program Setup Menu cannes ad Disconnect Com Port dace ETE Time Motion Open Program Save Program Ctrl 5 The Unit i Connected Version 5 Revision 1 00 Encoder Options and Analog Input and Registration Inputs Thumbhweel Options Create and Edit Program Setup Axis Menu SMCB WIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help Connect The Unit is Connected E Disconnect Version SMC60 Revision 1 00 Com Settings ECENENND en Heal Time Motion E Pu Select Axis Sets the axis select parameter in the SMC60WIN software 1 99 Sets the programmable address in the controller 1 99 1010938 23 November 2012 ES SMCEOWIN Programmable Indexer Software Version 1 0 0 File Setup Program
38. it EW Encoder window Version number Number of outputs G Go number of steps Verify axis number Analog position lower limit H Home Index on the fly enabled Analog position upper limit Read inputs Output on the fly enabled Set address of DPMLA601 J Fast jog speed L010938 3 November 2012 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 This value must be set be fore motion begins and be less then the maximum speed and fast jog speed Range 1 5000 C Number of steps between outputs during output on the fly Format C value Description This command sets the number of steps between when output 1 turns on during an output on the fly move If only one output turn on is needed set this value to 0 This command is used in conjunction with the output on the fly enabled command Range 0 65535 D 1st Output on the fly position Format D value Description This command sets the position at which output 1 will turn on during an output on the fly move This command is used in conjunction with the output on the fly enabled command Range 0 65535 EA Encoder autocorrect enabled Format
39. it is Connected The Unit is NOT Connected On the right of the Toolbar the user will find the communication status of the DPMLA601 controller If communications are not established please refer to the Troubleshooting Section ES SMCB WIN Programmable Indexer Software Version 1 0 0 Setup Program Edit Help The Unit is Connected Version SMC60 Revision 1 00 The Unit is NOT Connected L010938 25 November 2012 Toolbar New Open Save Print Calculator Stop All Connect Tab Sheets ES SMCBOWIN Programmable Indexer Software Version 1 0 0 Setup Program Edit Help The Unit is Connected Version SMC60 Revision 1 00 Encoder Options and Analog Input and Heal Time Motion E Create and Edit Program Real Time Motion Monitor and control motion of the controller Encoder Options and Regis Monitor and change settings for encoder options input on the fly and output on the fly tration Inputs Analog Input and Thumb Monitor and change settings to Analog Inputs and the thumbwheel switches wheel Options Create and Edit Programs Write and edit DPMLA601 stored programs L010938 26 November 2012 Tab Sheets Real Time Motion ES SMCB WIN Programmable Indexer Software Version 1 0 0 Setup Program Edit Help The Unit is NOT Connected Home using Accelertion 10000 Home Base Speed i Home usin Max Speed Soft H
40. jump back to the last goto statement encoun tered and execute 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 finish move command is used directly after every motion command When using this command the DPMLA601 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 DPMLA601 will continue to execute the program If it encounters a command that cannot be used when the motor is moving the DPMLA10601 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 autocorrect function is enabled L010938 20 November 2012 Encoder Commands The DPMLA601 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 DPMLA6
41. limit is not directional 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 deceler ate 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 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 L010938 18 November 2012 Inputs The switch inputs are internally pulled u
42. mand allows a sequence of commands to be looped a specific number of times to a label This label must be before the inner loop command This command can used within an outer loop Thumbwheel Index Off Command will disable the ability to use the thumbwheel switches to index Thumbwheel Index On Command allows the user to use the thumbwheel index Switch 2 must be in the thumb wheel position for the thumbwheel to be enabled Move Thumbwheel Index Relative move command will allow motor to move the defined number of steps set by the thumbwheel switches Encoder Auto Correct Off Command will disable the autocorrect of the motor The encoder value can still be read Encoder Auto Correct On Command will enable the use of the encoder and autocorrect the motor if needed based on the encoder registers the autocorrect errors Output 8 will be triggered Command will reset the encoder count to O zero L010938 34 November 2012 Delay Command sets a time delay used for settling time needed after an index is finished The delay occurs before the encoder count is read Add Tab Sheets Analog Registration and Text Commands Goto Far Loops Encoder and Analog Registration and Then and Output Commands Thumbwheel Commands Text Commands C Analog Speed _ C Analog Position _ is Set Analog Speed E C Goto Analog Position C Analog Speed On Analog Position On Analog Speed Analog Position 3
43. n 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 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 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 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 O to 65535 and the lower limi
44. n 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 5 volts To activate the input the pin must be grounded to OVDC All limit switch inputs are internally clamped to 5V thus allowing voltages of upto 24VDC to be used Hard Limit Inputs When a hard limit switch is encountered the motion will stop immediately The posi tion 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 during normal opera tion Home Limit Input This switch is used to establish a position designated home or datum position us ing the following home to soft and home limit or home to home limit This
45. nditions Red LED The controller in the DPMLA601 PCL601 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 DPMLA601 automatically determines the proper direction to go and the number of steps to take The relative positioning will move a number of steps in the direction that the user defines The DPMLA601 also has specific functions such as encoder feed back autocorrection index on the fly and output on the fly 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 DPMLAO0 1 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 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 may be used for monitoring and controlling machine operation and or interaxis co
46. ome Jog Speed Direction Cet Motor Current Speed 1500 Move of Steps Step Position Encoder Postion io Error Code 0 Position n Hove to Position Verify Parameters 0 Direction Ew cow Motor C ON C OFF Slew Inputs Current 1 Stop Stop Outputs 5 oft Hard ER 477104 10 56 Set Accel Decel Send acceleration amp 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 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 Motor will seek the home position by moving towards home switch which will stop the motor Home Switch reverse the motor direction and stop when the home limit switch is no longer triggered One switch is required to stop anti backlash Set Jog Speed Send fast jog speed parameter to the controller step sec Home using Motor will seek the home position by moving towards home switch but motor will slow down Soft and Home Switches to base speed when the soft switch is triggered followed by triggering the home switch to stop motion Two switches are required to stop View inputs checked On blank Off View and trigger
47. or RS485 bidirectional serial data bus Up to 99 DPMLAG601 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 com mand an output that will trigger during an index command at an absolute position and a thumbwheel input for indexing a motor The DPMLA601 can be powered from 90 132 VAC 50 60Hz Description The driver in the DPMLA601 MLA10641 is a microstep motor driver that can drive motors rated from 2 to 10 0 amps phase It can handle 4 6 and 8 lead motors in a bipolar fashion The DPMLA601 s driver features motor current ON OFF capabilities and a Reduced Current Enable to automatically reduces motor current to 50 of the set value after the last step is made 20msec delay With the DPMLA601 various step resolutions can be implemented by the onboard dip switch These divisions range from 200 steps per revolution to 12 800 steps per revolution Protection devices have been added to this driver for short circuit 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 co
48. ordination The I O are accessible independent of the busy state of the axis controls The DPMLA601 has built in programmable reset circuit Reset is automatic on power up or by pressing the external reset button L010938 3 November 2012 Electrical Specifications Power Requirements Baud Rate 90 132 VAC 50 60Hz 38400 Baud Fixed 10EMC 1 Filter Data Format Operating Temperature Half Duplex 1 start bit 8 data bits 0 to 60 degrees C no parity 1 stop bit Pulse Output Range Outputs 8 programmable 1 to 50 000 Hz 1005 negative going pulse width 40V 100mA 5VDC Output 50mA Inputs TTL CMOS Logic 0 0 to 0 SVDC Output1 active low time for output on the fly Logic 1 3 5 to 24VDC as Analog input 1 0 to 5VDC COIL Output Current Rating 10 0 A phase maximum running 7 0A phase maximum standstill 24VDC EXTERNAL POWER SUPPLY MEA Note For inductive loads customers must connect a clamping diode to protect from flyback voltage spikes Ordering Information The table below lists a variety of products available from Anaheim Automation Inc These products include those covered by this manual along with supporting cables and devices We are continually adding new products to our line so please consult Anaheim Automation Inc or its representatives for information on the latest releases Part Number Description DPMLA601 Controller Driver Pack F
49. outputs checked ON blank OFF L010938 2 November 2012 Tab Sheets Encoder Options and Registration Inputs E SMEBUWIN Programmable Indexer Software Version 1 0 0 Ll x File Setup Program Edit Help Encoder Options and Analog Input and Heal Time Motion Registration Inputs Thutibhaeel B otions Create and Edit Program Encoder C Output on C Index the Auto Correct the Fly Fly Set Encoder Set 1st Output Set Registration Delay ms 10 Position index M Set Motor Set H of Steps Stop Bae T Between Dutputs Set Encoder n Set H of Output n BEES Encoder Delay Set Encoder Motor Hatio Window Move it of Steps Encoder Retries m Encoder Window Encoder Reset 10 Encoder Postion 1st Output Position Reset Steps Between Outputs Position to 0 Stop H of Output Counts Registration Index Verify Parameters 477704 10 32AM Encoder Auto Correct Set the encoder autocorrect 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 Set Encoder Retries Send the number of enco
50. p a resistor making them normally 5 volts To activate the input the pin must be grounded to OVDC 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 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 OVDC 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 coordina tion in stored program mode for operator interventio
51. perature and Over Voltage Conditions If itis 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 L010938 15 November 2012 Section 3 Controller Functions Methods of Communication There are two methods for sending commands to the DPMLA601 One is to directly talk to the DPMLA601 by using Direct Talk Mode This is usually used with a computer or PLC Programmable Logic Controller where the computer or PLC gives the DPMLA601 serial commands to off load its processor For example A PLC can utilize its outputs to toggle the DPMLAGO1 s inputs and gain control of variable speeds variable programs variable distances etc Simply using the DPMLA601 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 DPMLAGO 1 is to use the software program SMC60WIN to either manually control or to write and send programs This method is used when the DPMLAGO 1 is the main controller For example A DPMLA601 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 DPMLA601 controll
52. quired The sample program shows how to use the motion and goto instruction commands RU T 4000 8000 then wait 500mSec bine Command jComens Tj j Acceleraton 1000 steps sec sec 0 _ 2 Base speed 500 steps sec o 0 0 0 0 3 speed 5000 steps sec 0 0 0 0 0 0 0 0 00 4 Position registers0 Sj Labl TOP O 6 Direction _ 71 relative 4000 steps Move to Ist position 8 Finish move 9 Repeat last index Moveto2ndPostion l Fimishmove 9 0 0 0 0 0 O WMj jBGetopostion Return to Zero Position 12 Wat500msc amp Wait Seconds 13 Goo TOP Repeat moves 14 End of program J O L010938 49 November 2012 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 Line 1 MO to 11 12 13 14 15 16 17 15 19 20 2 22 2 24 1010938 1st Position Position 3rd Position 0 Position Home Position Acceleratian 1000 s
53. r code register will be cleared to O 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 Troubleshoot ing 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 L010938 17 November 2012 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 The move to position command specifies the next absolute position to go to The DPMLA601 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 37 speed until reaching a registration mark hard limit switch soft limit switch receiving a stop hard or amp 37 stop soft command Set Position The set position command sets the position register to a designated value The number will be the new absolute positio
54. s Base 500 Axisz Base 100 Axis 5000 Axis 5000 Axisz 500 Enable Axis Thumbywheel Enable amp xist Thumbywheel ES E CNN E AxIsl CVV Axis CVV cet Distance with thumbwheel Axis Axis Go relative thumbwheel Wait for moves to end Axise COM set axis index Axis relative Axis Axis go relative Axis set goto position Axis 20 to position LI Axis to position LI Wait for moves ta end Return and repeat November 2012 Appendix 1 ASCII Table for Direct Mode ASCII Symbol Value ASCII Symbol Hex Value ASCII Symbol Hex Value eltl 5 qx gt e Lo e e EE e Do e fe C9 ae pememm e Appendix 2 Firmware Revisions Version 1 00 Initial Release Version 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 Version 2 00 Added capability for the Encoder Ration to have 2 decimal points Also when the encoder retries fails Output 8 is set This verison of firmware also requires an upgrade to the SMC60WIN version 2 00 Version 2 10 Fixes the update of the Analog Input when the pot was not changed after a manual update of the Max Speed or Goto Position registers Added
55. s where the program functions are selected to be added to or to change existing lines of programming code in the Create and Edit Program tab To add a line of motion control select appropriate command and if required enter the required value for that particular command Then click OK Comment is optional for any lines of code The text box above the OK and Cancel buttons will display useful information about each command L010938 31 November 2012 Add Tab Sheets Motion Commands PES Ir Fi Add Command Goto Loops Encoder and Analog Registration and Text Commands and Output Commands H Accel Decel C Move Steps Base Speed Move to Position Max Speed Set Position mm C Speed Finish Move Repeat Last Move a Direction Cw to Soft Home Limits P CENSET Direction COW Home to Limit Slew move continuously Stop Stop Hard C Motor Current On C Motor Current Off C wat millisecond Wait 7801103 End of Program Comment Please choose a command OF Cancel 1477704 _ 10 34 7 Accel Decel Set program acceleration amp deceleration parameter step sec Base Speed Set program base start speed rate step sec Max Speed Set program maximum running speed rate step sec of code This command s
56. speed The analog speed must be enabled for this command to work This command is used in conjunction with the analog speed the analog speed lower limit and the analog speed lower limit commands This value must be set before motion begins N value This command sets the number of clocks for the DPMLA601 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 0 8388607 N This command reads the thumbwheel switches to set the number of clocks for the DPMLA601 to send out following command For this command to work SW2 must be in the TWS position and the thumbwheel enable bit must be e abled Motion is not activated by this command it only sets the index register This command is used in conjunction with the thumbwheel enabled command OR value This command sets the output register according to the binary value entered Output 1 is the LSB and output 8 is the MSB 0 255 Ofoutput 0 or 1 This command sets the selected output either on or off A 1 will turn the output OVDC and 0 will turn the output off open 0 8 41 November 2012 Absolute position and analog position Format 1 P value Description This command calculates and sets the number of clocks for the DPMLAG601 to send out following G command Motion is not activated by this
57. t 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 DPY50601 is busy moving See examples below for calculations of the analog inputs Range of limits to 50000 and the lower limit lt upper limit Analog calculations Example1 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 Eight outputs are provided per axis Outputs 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 out puts 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
58. t Program ER SMECBUWIN Programmable Indexer Software Version 1 0 0 Setup Edit Help The Unit is NOT Connected Create and E dit Program _ Line Command Comments Send Program to i Controller View Program in Controller Upload Program from Controller Enable Autostart Disable Autostart Add Change Delete Memory 2 of 204 bytes used Files SMC60WIN temp mdb 477 04 344 PM s DPMLA601 Memory Available 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 DPMLA601 has a maximum available memory of 2046 bytes each instruction can use from 2 to 7 bytes Current Program Filename With the create and edit program tab sheet selected the user can obtain the current program filename located in the lower left corner of the SMC60WIN window programs created by the SMC60WIN soft ware will have a mdb and a bak extension L010938 30 November 2012 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 Sese Mal Encoder Options and Analog Input and Lreate and E dit Registration Inputs Thumbhweel Options Program Command Comments 411
59. tep clock ON OFF Cathode Internally Connected to controllers on off output Fault Out C This is the collector of the optically isolated fault output When NO fault occurs this output will conduct current inot the emitter Care must be taken to not pass more than 50mA of current through this transistor Fault Out E This is the emitter of the optically isolated fault output Position Description Motor Connection 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 L010938 7 November 2012 10EMC1 Filter The 10EMC1 filter is required at the power input of the MLA05641 driver The 10EMC1 filter is designed to remove EMI RFI noise from the power line such as common and differential mode noises A filter is usually located in a system right where the power meets the unit or driver so that EMI RFI does not affect the unit or be emitted from the power source such as a cord The 10EMC1 filter helps prevent damages to the system Specifications Max leakage current each Line to Ground Hipot rating one minute 9120 60 Hz 21 mA Line to Ground 2250VDC 9250 VAC 50 Hz 43mA Line to Line 1450VDC Rated Voltage max 250VAC O 250VAC O Operating Frequency 50 60 Hz
60. teps sec sec Hase speed 5UU steps sec 5000 steps sec Encoder delay 10 msec Encoder motor 110 counts step Encoder retries 3 Encoder window 10 counts on encoder autocorrect Label T OP Direction COV type 1 home limit switch only Finish move Position register ll Reset the encoder position to U Direction CY 50 relative 4000 steps Finish move 50 relative 4000 steps Finish move Wat 1000 msec 30 relative 4000 steps Finish move Outer laaop 3 times ta End of program 50 u O Cemments Wait Tm for encoder ringing 1000 Lines 400 step rev Allow three retries Allow 1 motor step error to a physical switch Reset position register to U Reset the encoder count Mlave ta 1st Position ta Znd Position ta 3rd Position November 2012 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 During this index output 1 needs to be turned on every 1000 steps 5 times starting at position 2000 At the end of the index output 1 is then turned on again for 1 mS and the unit is then sent back the 10 000 steps to position 0 but the output should not be turned on The unit then repeats waiting for input 1 to be 0 and indexes again
61. the P command trying to find Error a position that is out of its range 64 Range Error There was an invalid number of commands and characters sent to the controller Check to see if the parameters are invalid for the command that was sent Transmitt Error To many parameters sent back to the PC This is an internal error caused by the eeprom 256 Mode Error Controller is in a wrong mode Some commands are good only in programming mode while others are good only in direct mode Check the direct mode section to see which commands are good in direct mode 512 Zero Parameters There were no parameters sent to the controller A command was sent to the controller Error that expected to see parameters after the command 1024 Busy Error The controller is busy indexing The controller is sending out clocks to the driver and can not execute the next instruction 2048 Memory Range The specified address is out of range This is caused by overflowing the program Error memory by having a program that is to large 4096 Memory Com The command pulled from memory is invalid The command that was stored into the mand Error eeprom was non executable by the program This is an internal error 8192 Thumbwheel There was an error reading the thumbwheel or the thumbwheel is not present Read Error L010938 48 November 2012 Section 7 Sample Programs Sample Program 1 Sample Program 1 illustrates a typical application where a system moves to a specific position re
62. the capability to verify the Hard and Soft Limit inputs L010938 54 November 2012 Copyright Copyright 2004 by Anaheim Automation Inc All rights reserved No part of this publication may be reproduced transmitted transcribed stored in a retrieval system or translated into any language in any form or by any means electronic mechanical magnetic optical chemical manual or otherwise without the prior written permission of Anaheim Automation Inc 910 East Orangefair Lane CA 92801 The only exception to this would be use of the program examples in this manual Disclaimer Though every effort has been made to supply complete and accurate information in this manual the contents are subject to change without notice or obligation to inform the buyer In no event will Anaheim Automation Inc be liable for direct indirect special incidental or consequential damages arising out of the use or inability to use the product or documentation Limited Warranty All Anaheim Automation Inc products are warranted against defects in workmanship materials and construction when used under Normal Operating Conditions and when used in accordance with specifications This warranty shall be in effect for a period of twelve months from the date of purchase or eighteen months from the date of manufacture whichever comes first Warranty provisions may be voided if the products are subjected to physical damage or abuse Anaheim Automation Inc w
63. the output is turned off the unit will be sent back to position O The program then is sent back to repeat itself waiting for the input register to be 110111 again Line Command Comments 1 4 01 to bo 11 12 ifs 14 15 16 17 15 13 20 2 22 23 24 29 26 n L010938 Acceleration 1000 stepsfsec sec Hase speed 5UU steps sec Analog speed lower limit 5U00 steps sec Analog speed upper limit 1UUUU steps sec Enable analog speed Enable index on the fly Direction Home type 1 limit switch only to physical switch Finish move Position register Reset position register ta U Label TUP It input register 58 then execute the next line Input 2 high Input 3 low soto INPL TOODE sota Label INPUTGOOD set max speed from analog input Registration index 25UU steps Direction olew Finish move Output register Turn output 1 on Wat 100 msec Output register Turn output 1 50 to position Finish move End af program 52 November 2012 5 5 Sample Program 5 illustrates a typical axis application where one DPMLA601 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 It then is enabling Axis O and Axis 1 to use the thumbwheel switch that is connected to each unit for ind
64. to execute the next line of code if the specific ecute the next line otherwise input triggered matches the given value If the input does not match the next line is skipped skip the next line Set Outputs The outputs can be turned on 1 or off 0 These outputs can be used to trigger PLC operations relays solenoids etc 1010938 33 November 2012 Add Tab Sheets Goto For Loops Encoder and Thumbwheel Commands Pra lol c Add Command Goto For Loops Encoder o I Then and Output Commands Thumbwheel ammande Commands Bata Encoder Auto Correct Encoder Auto Corect On Label RES C Delay Return fram Subroutine Motor Ratio Window Times to Loop Label Outer Loop Inner Loop Reset Encoder Count Thumbwheel Index C Move Thumbwheel Index C Thumbwheel Index On Comment Please choose a command Cancel 4 7 04 10 35AM Command allows the program to jump to the specified label Command inserts a label for goto 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 looped a specific number of times to label This label must be before the outer loop command This command cannot be used within an inner loop Inpede Com
65. to select a unit the command followed by the address of the unit must be sent NOTE There should be no spaces between the and address select How to select a unit 0O Unit O is selected 01 Unit 1 is selected 029 Unit 29 is selected How to get a response from a unit 0 Carriage Return After the command the DPMLA601 will return a SMC60 the current revision number Note In direct talk mode each command is followed by a carriage return The unit communicates in half duplex mode therefore proper setup of hyper terminal is necessary to view characters if characters are to be echoed back to the screen Instructions All instructions require that no spaces be sent between the command and the parameter followed by a carriage return QOnot Q correct 0 return incorrect 0 carriage return Command Summary A Acceleration Deceleration M Max speed Clockwise direction B Base speed N Number of steps Stop soft C Steps between outputs O Set outputs Counterclockwise direction D 1st output on the fly position P Absolute position Stop hard Encoder autocorrect enabled 5 Go slew Thumbwheel enabled ED Encoder delay T Motor current enabled Analog position enabled EM Encoder motor ratio V Verify Analog speed enabled ER Encoder retries Z Position Analog speed lower limit ET Encoder reset Error codes register Analog speed upper lim
66. tput to counterclockwise Stop Motion Format Description This command will stop all motion It can also be used to stop the current pro gram that is running 1 Thumbwheel index enabled Format 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 Description This command will either enable or disable input 1 to be used to set the analog position To enable the function use a 1 To disable the function use a O This command is used in conjunction with the analog position lower limit and analog position upper limit commands Analog speed enabled Format or 1 Description This command will either enable or disable input 1 to be used to set the analog speed To enable the function use a 1 To disable the function use a O This command is used in conjunction with the analog speed lower limit and analog speed upper limit T commands Analog speed lower limit Format value Description This command sets the lower limit that is used during the calculation following an M command for the analog speed input This command is used in conjunction with the analog speed enabled and max speed M commands Range 1 50000 L010938 45 November 2012 Analog speed upper limit
67. unction must be turned off before the index move is started 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 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 specified 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 O 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 This function can be placed anywhere in the program as long as a goto statement has been already executed The program will

DPMLA601 - Anaheim Automation

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