DPD72351 - Anaheim Automation
Contents
1. HOME N gr LIMIT FIGURE 6 HOME TYPE 1 SETUP 13 PROGRAMMABLE INPUTS AND OUTPUTS Eight general purpose inputs and outputs are provided per axis The inputs may be used to initiate a machine cycle for inter axis coordination in stored program mode for operator intervention for sensing a machine condition such as out of stock or to wait for temperature to be reached Outputs may be used to operate coolant valves air cylinders relays or with the right interfacing any electrically controlled device Pin assignments are listed in Table 10 fee n eme omne o oocnsrenmce Eco TABLE 10 INPUT OUTPUT CONNECTOR INPUT 1 11 2 3 4 5 6 7 8 19 20 Note For inductive loads customers must connect the clamp input in order to provide adequate fly back protection Input wiring should be kept separate from step motor wiring FIGURE 7 I O HEADER The 8 inputs and 8 outputs are available on a 20 pin male header type connector P5 The first 3 inputs and outputs are also brought out to the terminal block P9 10 amp 11 for easy access see Table 9 The inputs are TTL compatible Since the inputs have on board pull up resistors all that is required for a signal is a switch closure to ground OVDC With zero volts on the input the pull up resistor source current is approximately 5 mA These outputs can drive all types of common peripheral powe2. 00 0c eee ee eee 18 Commands lt s4 osetia toy ein See repr tres 18 Internally Stored Programs llle 18 Programmable Reset 00 cece eee eee eee 18 Command Summary 200s 19 Page Command Dictionary 0 cee eee 23 Sample Programs a cece tenes 32 BLD72 Driver and Power Supply Specifications s ved tases han tie Shee RUE SVEMSS 33 J mpetrs qu o ev pM e eMe 34 Wiring zzscsau REA CHEESE RU OX ERG EE es 36 Troubleshooting the BLD72 Driver 37 Standard Motor Torque Speed Curves 2200 008 38 Enhanced Motor Torque Speed Curves 22000 40 Troubleshooting the Indexer 20000 eee eee eees 42 Glossary i o ue Rex dag ee ie tee Re ee 43 INTRODUCTION The DPD72351 is a single axis programmable indexer driver power supply package based on the SMC35 chip All the necessary motion parameters can be programmed including the maximum speed the motor will turn the minimum or base speed the acceleration rate the deceleration rate as well as many other parameters Encoder feedback can be used to verify and auto correct the motor position while under computer control Eight outputs can be turned on and eight inputs can be read per axis Several units can be daisychained together to provide up to 32 axes of control The DPD72351 can be controlled directly by a computer or can be programmed and then be set up to autostart as
3. Pulled up to 5Vdc through a 10kU Logic 1 open Driver enabled and Fault detection enabled Logic 0 Resets a Fault condition driver is disabled when this input is low This input must be held low for at least 100ms Clock Inputs Terminals 6 Internally connected to indexer Direction Control Terminal 5 Internally connected to indexer Excitation Mode Select Terminal 8 Pulled up to 5Vdc through a 10kU Logic 1 open Half step Logic 0 2 6 Full step Power ON OFF Terminal 9 Internally connected to indexer Output Current Rating Terminals 1 2 3 11 12 and 13 10 Amps phase maximum operating current 7 0 Amps phase maximum standstill current over the operating voltage and temperature range Motor phase ratings of 1 0 Amp minimum are required to meet the minimum kick level Power Requirement 105 125VAC Standard 210 250VAC Optional Order with X250 suffix Operating Temperature 0 to 60 degrees C Fusing 5 Amp 5 X 20mm Fast Blow Fuse located in drawer below line cord input connector 33 JUMPER FUNCTIONS LOCATIONS X rouno aur Dereon osasten x x e TABLE 4 JUMPERS SETTINGS 13 Terminal Block 1 0000008000000 KICK CURRENT ADJUST WARNING Set Kick Current before operating motor AA3020C FIGURE 13 JUMPER LOCATIONS 34 MOTOR POWER ON OFF INPUT The Motor On Off input allows de energizing a
4. With a DB9 a DTE computer transmits on pin 3 and receives on pin 2 With a DB9 a DCE DPD72351 transmits on pin 2 and receives on pin 3 HANDSHAKING SIGNALS There are two handshaking signals that we are concerned with they are RTS and CTS Some devices use these handshaking signals and others do not It is important to know if your device supports certain handshake signals Anaheim Automation Indexers support both of these signals NAME 9 PIN DIRECTION FUNCTION DTE TO DCE TRANSMITTED DATA x 2 DCE TO DTE RECEIVED DATA DTE TO DCE REQ TO SEND DTE READY crs s DCE TO DTE CLEAR TO SEND DCE READY TABLE 6 PIN DESCRIPTION FOR RS232 WITH A DB9 THE COMPUTER IS THE DTE and THE INDEXER IS THE DCE A MANNER OF SPEAKING The communication signals supported by Anaheim Automation Indexers are RECEIVE TRANSMIT CLEAR TO SEND BUSY AND REQUEST TO SEND The method in which the Computer and the Indexer communicate is as follows When the computer wants to send some information it looks at the CTS Clear To Send line This will inform the computer if the Indexer is ready to receive information If a logic LOW is read meaning it is clear to send the computer will send information on pin 3 in which the Indexer will receive on pin 3 When the Indexer receives data that requires some computational time it will pull the CTS HIGH meaning it is not clear to send data When the Indexer is ready to send something to the Comp
5. limit switch terminal block and encoder terminal block FUNCTION CONN TABLE TYPE Table 3 DB 9 female Table 1 amp 2 DB 9 female DB 9 male RS422 Input P1 RS232C Input RS422 Output Encoder Input J4 Table 11 Table 9 Table 10 Handheld Terminal TABLE 9 LIST OF CONNECTORS FOR THE INDEXER Refer to Figure 2 for location of connectors JUMPER JUMPER FUNCTION SETTING SELECT AXIS ADDRESS NUMBERS G V SELECT AXIS ADDRESS NUMBERS 0 F Limit Switches J7 Inputs Outputs J9 c RES N 2 3 HANDHELD TERMINAL The Handheld Terminal is a RS 232 Serial communications device operating on 5Vdc To order this unit use part number TT1R2 1 ERE DESCRIPTION Ka DESCRIPTION 3 Clear to Send 0 VDC Return Common TABLE 11 Standard pinout for TT1R2 1 J10 0m J7 T e 7 Je JEBBE J9 J8 io um JP5 JP6 J4 J1 sw2 E 100 JP1 J2 E C Swi sw4 SW3 L SENS JP2 U 10 FIGURE 2 DPD72351 SERIES INDEXER PHYSICAL LOCATIONS AXIS SELECTION Each DPD72351 can be set to 1 of 32 possible axis numbers This can be changed by turning the axis rotary switch SW3 to the appropriate position For axes greater than F internal jumpers JP11 15 amp 16 must be changed For axes 0 through F the jumper should be across position 2 and 3 For axes
6. G through V the jumper should be across position 1 and 2 Refer to Figure 1 on page 9 for the placement of the switch and jumper INDEXER TERMINAL BLOCK 11 The Indexer Terminal Block connector contains three INPUTS 40 42 three OUTPUTS 40 42 Limit Switch inputs and Jog inputs Table 9 shows the pin connections of the Indexer s Detachable Terminal Block ms mem comes HOME ACTIVE LOW TABLE 9 INDEXER TERMINAL BLOCK CONNECTOR BINARY WEIGHT JUMPER SELECTABLE LEN p e CREME DAISYCHAINING The output of one DPD72351 module can be connected to the input of a subsequent module making it possible to daisychain up to 32 axes of DPD72351 controllers The DPD72351 can be manually reset by holding the RTS line at OVdc for approximately 0 5 seconds The RS422 output port P2 is connected to the subsequent model s RS422 port P1 A standard 9 pin cable AA9MFC 9 can be used and is available from Anaheim Automation This can also be done by sending a break signal to the unit In many communication programs this can be done by the HOME key 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 pin 16 0 VDC on the terminal block For an explanation of Home Soft and Hard Limit Switches see the description of the Home command in the Command Dictionary and the Glossary Figure 5 is a hookup example f
7. I O are accessible independent of the busy state of the axis controls The 8 inputs are TTL CMOS compatible The 8 outputs are current sinking open collector darlingtons The DPD72351 has a built in programmable reset circuit so that all axes in the daisychain may be reset The outputs are reset to the off state when the board is reset Reset is automatic on power up or with a break signal on the RS232 or RS422 input SMC35TRM Software for Windows 3 1 or Windows 95 is provided with a purchase of a DPD72351 the unit This software allows the user to write and change programs that are to be stored in the DPD72351 for autostart use The software also allows the user to save the programs onto a computer disk and retrieve them when needed ORDERING INFORMATION The table below lists a variety of products available from Anaheim Automation These products include those covered by this manual along with supporting cables and devices Anaheim Automation is continually adding new products to our line So please consult your nearest Authorized Anaheim Automation Distributor or Representative for information on the latest releases PART DESCRIPTION NUMBER PCL351 SINGLE AXIS PROGRAMMABLE INDEXER PCL352 DUAL AXIS PROGRAMABLE INDEXER PCL353 TRIPLE AXIS PROGRAMABLE INDEXER DPD72351 SINGLE AXIS DRIVER PACK WITH PCL351 SERIES PRO GRAMMABLE INDEXER AND 300 WATT POWER SUPPLY DPF72352 DUAL AXIS DRIVER PACK WITH PCL352 SERIES PRO GRAMMABLE INDEX
8. Indexer Disks will install the software into the directory of choice After running the setup exe the following files should be found in the directory of installation smc35trm exe config ldb and mdb temp ldb and mdb sample1 ldb and mdb b_sample ldb and mdb vb_smple ldb and mdb SMC35TRM Software DPD72351 STORED PROGRAM GENERATOR The easiest way to program the indexer is to use the smc35trm exe software provided The SMC35TRM software allows three different modes of communication between the Indexer and the PC Motion Tab Under this heading the user is allowed to directly send motor parameters and commands Motor parameters are simply entered in the appropriate space and then sent to the indexer by clicking the corresponding button The parameters can then be verified by clicking the Verify Parameters button gt ANAHEIM AUTOMATION Programmable Indexer SMC35 Program Version 1 01 x File Setup The Unit is Connected Motion Program Terminal Max Speed 10000 Send Max 2500 Base Speed 1000 Acceleration 5 Send Base Deceleration 10 500 Home 0 eR MO vaio n Send Decel 10 Relative Index Number 0 UE Absolute Position 0 Send Number 400 Version SMC35 Revision 106 pese foo Verify Parameters Figure 8 Motion Tab 17 Program Tab In the Program tab see Figure 7 programs can be composed sent to the indexer and then verified Existing program in t
9. a standalone controller without the computer These two modes of operation are known as Direct Mode and Stored Program Mode The DPD72351 can store a program 250 bytes long in its memory This might not seem like a lot of memory but it is usually more than enough Since a program will not be lost after the unit is turned off the user can write the program and then have the DPD72351 autostart that program on power up This manual is intended to help the user apply the DPD72351 in motion control applications Familiarity with computers programmable logic controllers PLC s or terminals would be helpful but is not essential The user is expected to select the step motor and other machine requirements Typical users range from programmers to machine designers and this manual is written intending to be straightforward and yet technical enough for complex designs DESCRIPTION Generally step motor controllers are open loop systems meaning that no information is sent back to the controller from the motor to verify the number of steps taken A step motor is essentially a digital device If the step motor driver receives 10 clock pulses the motor will move 10 steps Sometimes a closed loop system is needed to verify that the motor indeed moved 10 steps The DPD72351 will accept encoder inputs to form the closed loop system The encoder command can be used in conjunction with a computer to verify the position and the computer can make any correction
10. amount of time required can be calculated by the following formula T reset 64 baud rate seconds 19 COMMAND CODE pal DESCRIPTION Base Speed Bdddd set base speed Holding Current CHxx set time motor is on after index Set Autostart CSzz set autostart flag at address zz Inputs Ixx yy Z Stored if inputs as defined by mask xx are equal Zz to yy then goto zz E F G H D Z x X Z o X bi M i uidi Lyy zz loop back yy times to location zz Number of Steps Nrrrrr set number of steps to move Outputs Oxx zz output zz as defined by mask xx Motor Position Prrrrr set next absolute position quit entering program or stop motion Run Rzz run stored program at address zz i T single step through the program Until Uxx yy z Stored if inputs as defined by mask xx are not Zz equal to yy then goto address zz 20 Wait Both wait for a period of time in 01 sec increments ee ee mue E mi TABLE 13 COMMAND SUMMARY Direct means the command is used only with a computer or terminal Stored means the command is used only in the stored program Both means either the Direct or the Stored mode C character Character 1 byte x 0 byte 0 or 1 HOME only 0 byte XX 1 byte 0 255 1 byte yy 1 byte 256 65 535 2 bytes 1 byte 65 536 16 777 215 3 bytes ZZ dddd upto 2 bytes rrrrr up to 3 bytes When using the DPD72351 in the stored program mode the user must keep track of how
11. defects in workmanship materials and construction when used under Normal Operating Conditions and when used in accordance with specifications This warranty will 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 products are subjected to physical modifications damage abuse or misuse Anaheim Automation will repair or replace at its option any product which has been found to be defective and is within the warranty period provided that the item is shipped freight prepaid with previous authorization RMA to Anaheim Automation s plant in Anaheim California TECHNICAL SUPPORT If you should require technical support or if you have problems using any of the equipment covered by this manual please read the manual completely to see if it will answer the questions you have Be sure to look in the TROUBLESHOOTING section located near the back of this manual If you need assistance beyond what this manual can provide contact your Local Distributor where you purchased the unit or contact the factory direct TRADEMARKS Control Link and Driver Pack are registered trademarks of Anaheim Automation IBM PC is a registered trademark of International Business Machines Inc TABLE OF CONTENTS Introduction austr be obe xxr te dalek bx er d e 1 Description isle em xm bee eee eee eae 1 Ordering Information
12. many Number Range bytes each command uses and 255 the addresses of each command 256 65 535 2 Automation SMC35TRM software that comes with the unit byte 65536 16711215 counting is done automatically ASCII character The chart below can be used to determine the byte count for each TABLE 14 ASCII BYTE COUNT 21 command NOTE A comma is not considered as a character therefore it has 0 byte Examples A5 requires 2 bytes 1 byte for A 1byte for 5 M10000 requires 3 bytes 1 byte for M 2 bytes for 10000 G requires 1 byte H1 requires 1 byte Example Stored Program The procedure to enter a stored program from a terminal is as follows 0 E0 A10 D10 B500 M2000 N400 G W10 R0 Q ENTER CSO 0 E0 selects axis 0 and starts program at byte 0 A10 D10 B500 M2000 sets up the speed parameter N400 G set index to 400 direction start motion W10 R0 Q wait 100ms goto byte 0 end of program ENTER CSO exit enter mode autostart the program at location 0 Note Upper Case characters must be used Now whenever the unit is turned on the program will automatically start at bit location 0 22 COMMAND DICTIONARY A 2 to 127 The ACCELERATION command controls the time that the motor will take to move from base speed to maximum speed The higher the value the slower the motor will accelerate The default value is 5 B 50 to 3500 The BASE SPEED is the speed at which motion starts and stops It is ent
13. motor without disturbing the positioning logic After re energizing the motor a routine can continue This reduces motor heating and conserves power especially in applications where motors are stopped for long periods and no holding torque is required Use the CH see Command Dictionary command to de energize the motor after a move FAULT PROTECTION There are 3 types of fault detection incorporated in the BLD72 driver When a fault is detected the driver turns off the motor current and the red Fault LED indicates the type of fault detected See the Troubleshooting section for more information LED Slow Blink shorted wire in the motor or cable LED Fast Blink open wire in the motor or cable LED ON Steady ground fault voltage shorted to OV TABLE16 FAULT LED If the driver goes into a fault condition the fault may be reset by turning the power OFF for at least 15 seconds or by pulling the RESET FAULT input terminal 4 to a logic O for at least 100ms ADJUSTING KICK CURRENT By following the silkscreen instructions on the cover use a small screwdriver to adjust the potentiometer Line up arrow to the number corresponding to the motors rated current amps phase Example 1 23D104 Motor set Kick Current to 2 Amps 4 3 5 N 7 e 7 N 1 7 Example 2 34D314 Motor set Kick Current to 7 Amps 4 3 5 N 7 7 N 1 7 MOTOR CONNECTIONS 35 Figure 14 is a hookup diagram for typical BLD72
14. steps in the negative direction with a maximum speed of 20000 If the user did not include the F command after the G the computer would have kept sending the data while the motor was indexing This causes a loss of index commands only 24 G no value The GO command causes the motion to start in the direction last specified This command will move the motor the number of steps given by the N command or to the absolute position given by the P command This is one of three ways to start motion the other two are the H command and the S command H 0 or 1 The HOME command starts the controller searching for Home in the direction last set Motion will start immediately after a terminator is supplied There are two homing modes The proper syntax is HO or H1 The default value on power up is HO HO or H1 counts only as one byte See Figure 4 HO causes the motor to run to the maximum speed in the last direction programmed The motor will run until a Soft limit switch is encountered at which time the driver will decelerate to the base speed and continue to run in the same direction until a Home limit is encountered Proper spacing is required between Soft and Home limit switches as the Home limit switch will not respond until Base speed is reached H1 causes the motor to run to the maximum speed until a Home limit switch is encountered It will then decelerate to the base speed stop reverse direction and continue in the opposite direction u
15. 15 set the deceleration to 15 4 N440 set the number of steps to 440 8 M10000 set the maximum speed to 10000 12 198 34 2 loop to address 2 if the mask given by 98 is equal to 34 mask 98 11 15 and l6 34 binary value l1 high I5 high I6 low if mask 98 is not equal to 34 continue 16 HO home type 0 18 Q quit J 0 255 The JOG FACTOR sets the slow jog rate The slow jog rate is the base speed divided by the jog factor The default value on power up is 20 Lxx yy 0 to 255 0 to 249 The LOOP instruction reads loop xx times to address yy If x is equal to zero then the loop is endless No nesting of loops is allowed i e a loop cannot have another loop SAMPLE STORED PROGRAM Address Command Remarks 0 A10 set acceleration to 10 2 D18 set deceleration to 18 4 B500 set base speed to 500 7 M5000 set maximum speed to 5000 10 N1000 set number of step to 1000 13 G set the direction to CW then index 15 W100 wait 1 second before continuing 17 L5 10 LOOP 5 times to address 10 20 HO home type 0 21 Q quit M 50 to 20 000 The MAXIMUM SPEED is the top speed the user wants the motor to run at The default value on power up is 10 000 pulses per second The 26 Maximum Speed can never be set below the Base Speed N 1 to 16 777 215 This specifies the NUMBER OF STEPS to be moved for the Go command The default value on power up is 0 Oxx yy 0 to 255 0 to 255 The OUTPUT command reads set the outputs defined by mask x
16. 4 equals 49 16 H1 home type 1 17 Q quit 28 V appropriate code VERIFY causes the DPD72351 to send data back to whatever it is communicating with The data is sent as an ASCII decimal string followed by a carriage return and a line feed If a verify Enter command VE is sent the DPD72351 returns the entire internal stored program No more than one axis at a time can be addressed with this command or they would contend for the bus The permissible verify commands are shown below SAMPLE BASIC PROGRAM 10 OPEN COM1 9600 N 8 1 CS65535 DS CD AS 1 20 PRINT 1 0 B500 M5000 H1F Z P4000 GF 25 PRINT 1 VI 30 INPUT 1 A PRINT A 40 IFA 254 GOTO 50 ELSE 40 50 PRINT 1 P5000 GF 60 GOTO 20 70 END ea ve ees vcr ueni e mem Ns issu mmm La eere La serere Fer Maxum Ses UEM Le omnem he eum e cor rere TABLE 14 VERIFY COMMANDS VA VB VCP VD VG VH VI VJ VM VN VO VP VR VW 29 W 0 255 In the stored program mode the WAIT command pauses the program for the specified number of 0 01 seconds SAMPLE INTERNAL STORED PROGRAM Address Command Remarks 0 N4000 set number of steps to 4000 3 G set the direction to clockwise and index 5 W150 WAIT for 1 5 seconds before continuing 7 G set the direction to counterclockwise and index 9 Q quit X no value The CONTINUE command will continue the stored program from the a
17. ER AND 600 WATT POWER SUPPLY DPFEN353 TRIPLE AXIS ENHANCED DRIVER PACK WITH PCL353 SERIES PROGRAMMABLE INDEXER AND 500 WATT POWER SUPPLY AA2680 6 FOOT SERIAL CABLE WITH MALE AND FEMALE CONNECTOR AA2681 20 PIN RIBBON CABLE CONNECTOR 24 INCHES AA2220 20 PIN RIBBON CABLE CONNEOR 24 INCHES FLYING LEADS AA2M20 20 PIN BREAKOUT TERMINAL BOARD TT1R2 1 HANDHELD TERMINAL TABLE 1 ORDERING INFORMATION SPEED CONSIDERATIONS The SMC35 Integrated Circuit I C was created to handle speeds from 50 steps per second sps to 20 000 sps When maximum speeds of 10 000 sps or less are anticipated a few other I C s are available that offer increased smoothness at these speeds see Table Below Contact your local distributor for information regarding the appropriate part number INTEGRATED CIRCUIT SPEED RANGE PART NUMBER SMC35 50 to 20 000 sps SMC36 35 to 10 000 sps SMC37 35 to 5 000 sps SMC38 35 to 2 500 sps TABLE 2 SMC35 VARIATIONS SPECIFICATIONS Power Requirements GENERAL Operating Temperature Control Inputs Pulse Output Range pps pulses per second Inputs TTL CMOS Outputs CLK DIR PWR Logic 0 Logic 1 RS422 Input Logic 0 Logic 1 sensitivity RS422 Output Voltage Output High Voltage Output Low RS232 Input Logic 0 Logic 1 sensitivity RS232 Output Logic 0 Logic 1 Encoder Inputs Power Baud Rate Data Format Outputs 8 programmable I O Maximu
18. PEED APS 42D112 O 15 20 25 30 SPEED RPS 34D209 23D104 Tojaue rower 4p ib 2 28 ag ag o 5 5i j 5 10 15 SREEDARPS a5 40 45 50 SPEED RPS 34D307 5 10 15 O 35 40 45 50 20 25 a SPEED RPS 34D314 500 o c gt P o ao E 8 150 20 8 o 60 0 30 o o o 15 20 25 30 35 40 45 50 SPEED RPS 420212 225 le jH 00 5 20 25 30 35 40 45 50 SPEED RPS tate SmERSOT TROUBLESHOOTING My computer won t talk to the DPD72351 To use a computer to communicate to the DPD72351 you must use a communications program such as Crosstalk or a programming language such as BASIC or C language The communication parameters must be set up correctly for 8 Data Bits No Parity Bits and 1 Stop Bit The Baud Rate can be set up for rates between 75 Hz to 9600 75 150 300 600 1200 2400 4800 9600 Check the Baud Rate setting on the yellow and black rotary switch on the side of the unit This setting must match to the baud rate you specified see Table 12 The Request To Send RTS signal is supported by some software and not others Refer to the software manual to see what you need or just use trial and error it w
19. USER S MANUAL for the SMC35 Based DPD72351 Programmable Preset Indexer ANAHEIM AUTOMATION 910 E Orangefair Lane Anaheim CA 92801 TEL 714 992 6990 FAX 714 992 0471 email info anaheimautomation com http www anaheimautomation com February 3 2004 L010027 COPYRIGHT Copyright 1997 by Anaheim Automation 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 without the prior written permission of Anaheim Automation 910 E Orangefair Lane Anaheim CA 92801 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 be liable for direct indirect special incidental or consequential damages arising out of the use or inability to use the product or documentation Anaheim Automation s general policy does not recommend the use of its products in life support applications wherein a failure or malfunction of the product may directly threaten life or injury Per Anaheim Automation s Terms and Conditions the user of Anaheim Automation products in life support applications assumes all risks of such use and indemnifies Anaheim Automation against all damages LIMITED WARRANTY All Anaheim Automation products are warranted against
20. ddress byte and puts the controller in the mode to enter a program The information you type in will overwrite any previous information stored there Typing EO will allow you to begin entering the program at address 0 More than one program can be stored in the memory be sure to separate the programs by the Q command Each axis you may be using must be independently programmed Two or more axes can communicate with each other through the 8 inputs and 8 outputs associated with each axis The ENTER command can be used to edit an existing stored program by simply specifying the byte where you wish to start editing You can exit the Enter program mode at any time with a carriage return F no value When using a computer the FINISH command is used directly after a Go command With this command the DPD72351 will send a busy signal to the host computer until the move is complete before accepting any further inputs The FINISH command is used in the direct mode only Unless the F command is used the computer will keep on sending data even thought the DPD72351 is not ready to receive it This data will be ignored by the DPD72351 so the program will not work as expected SAMPLE BASIC PROGRAM 02 OPEN COM 05 PRINT 1 A10 D10 B500 10 PRINT 1 M1000 N4000 GF W 100 20 PRINT 1 M20000 N4000 G Q In this program the motor indexes 4000 steps in the positive direction with a maximum speed of 1000 waits 1 second and then indexes 4000
21. ddress where the stored program was stopped Z 0 to 16 777 215 The ZERO POSITION command sets the position register to a designated value The number following the Z will be the new absolute position of the motor The default value is 0 SAMPLE BASIC PROGRAM 10 OPEN COM1 9600 N 8 1 CS65535 DS CD AS 1 20 PRINT 1 0 A10 D10 B500 M5000 H1F Z1000 P4000 GF 0 to 9 and A to V The SELECT AXIS command will designate an axis or axes Any or all devices can be addressed simultaneously to receive commands from the DPD72351 However only the most recently selected controller will send data to the host such as during a Verify This is necessary to prevent contention on the bus The list of characters must be terminated by a comma If just the command is sent with no axes addresses then all axes are deselected The axes 0 to 9 and A to V represent 32 possible axes that can be selected all at one time or any combination of them SAMPLE BASIC PROGRAM 10 OPEN COM1 9600 N 8 1 CS65535 DS CD AS 1 20 PRINT 1 0 A10 D10 B500 M5000 H1F Z1000 P4000 30 PRINT 1 1 A10 D10 B500 M5000 H1F Z1000 P4000 40 PRINT 1 01 GF no value Set motor direction to clockwise CW no value Set motor direction to counterclockwise CCW 96 no value POLL the device for any waiting messages such as errors or end 30 of move The responses are defined in Table 15 As in the Verify command only one axis at a time may be addressed
22. dress Command Remarks 20 A5 Set acceleration to 5 22 B100 Set base speed to 100 24 M5000 Set Maximum Speed to 5000 27 11 1 33 If INPUT 0 is high then go to address 33 31 R20 Goto to address 20 33 N3320 Set number of steps to 3320 36 G Start Indexing 37 Q End program S no value The SLEW command will accelerate the motor up to maximum speed and continue to run at that speed until reaching a hard limit switch or receiving a quit Q command SAMPLE BASIC PROGRAM 5 OPEN COM 10 PRINT 1 0 A10 D10 B500 M5000 S REM SLEW MOTOR TO 5000 MAX UNTIL Q 20 FOR T 1 TO 10000 NEXT T 30 PRINT 1 Q T no value The TRACE command will allow you to single step through the stored program one step at a time Each time a T is entered the next command of the program will be executed In order to specify the initial program address location the program pointer can be set with the Enter E command followed immediately by a carriage return Uxx yy zz 0 255 0 255 0 249 The UNTIL command reads Until the input pins represented by the mask xx are equal the value yy branch to location zz This command is opposite of the Input command see p 16 SAMPLE STORED PROGRAM Address Command Remarks 0 B500 Set base speed to 500 3 M20000 set maximum speed to 20000 6 N2300 set number of steps to 2300 9 G index 2300 steps in the last direction used 10 W210 wait 2 10 seconds 12 U254 49 9 loop to address 9 until the input mask 25
23. driver applications Wiring con nected to inputs must be separated from motor connections and all other possible sources of interference IMPORTANT NOTE When the wiring from the driver to the step motor extends beyond 25 feet consult the factory WIRING DIAGRAM The wiring diagram in Figure 14 shows the BLD72 with the AA2791 Transformer AA2791 115 VAC TRANSFORMER WHT BLK RED RED YEL YEL BLK BLU LK B QD1 QD2 QD3 QD4 LOW HIGH EXTERNAL d 5 CLOCK 01 o4 RED GENERATOR 2 R W 03 2 BLK ANAHEIM 4 DIRECTION 1 3 COMZ SBL AUTOMATION 6 LEAD 4 PHASE MODE SELECT STEPMOTOR MOTOR ON OFF SE QVHV i KICK r2VLV CURRENT A ADJUST 2 4 COMO SILKSCREEN 02 2 O0VDC 04 2 FIGURE 14 TYPICAL WIRING FOR CLOCKWISE AND DIRECTION OPTION AND MOTOR WIRING TROUBLESHOOTING BLD72 DRIVER PROBLEMS 36 If a Fault occurs reset the Fault by applying a logic O to the Reset Fault Input terminal 4 for at least 100ms or by cycling power OFF for at least 15 seconds After resetting try to run the motor again If the driver faults again then check the conditions listed below Is the LED blinking Slowly This indicates that the motor has a phase shorted or there is a short in the motor cable or wiring Check the motor and the wiring for shorts If the driver continues to sense shorts after the
24. e Baud Rate is the transfer rate of the serial communications how fast the ASCII Data is sent over the transfer lines The number specifies the number of bits that are sent per second With a baud rate of 9600 9600 bits of information are sent in one second For standard communications like the DPD72351 there is one start bit one stop bit and 8 data bits This means that for every ASCII Character 10 bits are sent so for the 9600 Baud Rate 960 ASCII Characters will be sent every second The Baud Rate is selected by adjusting the Baud Rate Rotary Switch SW4 in Figure 1 This switch not only determines the baud rate but also sets the parameter RTS for communication with your computer Table 3 8 shows the position of the switch for the corresponding baud rates If you are not sure if your computer uses RTS the trial by error method works best or you can refer to your software manual Most IBM PC compatibles will work with either RTS ON or OFF BAUD SWITCH POSITION RATE RTS ON RTS OFF TABLE 12 BAUD RATE SWITCH SMC35 Programmable Indexer Disks Included with the DPD72351 is the SMC35 Programmable Indexers Disks These disks contain all of the software needed to run the indexer via a PC Also included in the disks are examples programs that can be downloaded into the indexer This software requires a minimum system of a 486 66MHz processor with 8Mbytes of RAM and Windows 3 1 Running the Setup exe from disk 1 of the SMC35 Programmable
25. ered directly as the number of steps per second This is also the stepping rate in the Fast Jog Mode Not all base speeds will be possible On the computer if you enter B2455 and then VB the DPD72351 would return a speed of 2466 A verify of this parameter will return the actual base speed obtainable by the unit The closest base speed possible is always chosen The default value is 1000 CH 0 to 127 The HOLDING CURRENT ON OFF command sets the time that the motor will be supplied holding current after a move The number entered is in 0 01 second increments If the value of CH is 0 then the power is left on indefinitely If you enter N1000 CH115 G the motor will go 1000 steps stop and remain energized for 1 15 seconds The default value is zero Note A sufficient value for CH is needed to allow the mechanical system to stabilize if the value is too small errors might occur CP 0 to 16 777 215 The ENCODER POSITION command sets the encoder position to a designated value If you enter CP100000 the encoder position will be set to 100 000 A 400 line quadrature encoder will count 1600 steps for every revolution the motor takes If you then move 400 steps clockwise one full revolution half stepping in the clockwise direction then enter VCP the new encoder position will be 101600 The Encoder Position cannot be used in the stored program mode but can effectively be used when interfaced with a computer of encoder counts per
26. he differences between the two types of communications are discussed below RS232 This 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 For the 4 signals RD TD CTS and RTS to be transmitted RS232C requires 5 wires The signal line maintains levels of 5VDC to 15VDC LOW LOGIC INPUT and 5VDC to 15VDC HIGH LOGIC INPUT The receiver for the RS232 looks for a voltage potential of 3 to 25 volts for a logic LOW and 3 to 25 volts for a logic HIGH For a valid logic level the voltage must be 3 volts RS232 works well at 9 600 baud over distances of 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 control wiring separated from motor cable wiring PIN FUNCTION RS232 FUNCTION OVDC SG SIGNAL GROUND TABLE 3 RS232C 9 PIN CONNECTION COMPUTER OR INDEXER RS232 T o oaeee Lm isanos TABLE 4 RS232C 25 PIN CONNECTION COMPUTER PORT NOTE The Autostart function will not be activated while the switches are set to the RS232C mode Place the switches to RS422 when autostarting the unit RS422 To talk to the DPD72351 in RS422 set the switches to RS422 and use P1 The RS422 serial communication standard is differential This means that from each signal there a
27. he indexers memory can also be read saved edited and re written to the indexer ANAHEIM AUTOMATION Programm able adarei SHCI9 Program Versos 1 01 The Unt Conneoted bre 1 5 2 2 Ds 3 E n500 4 W2500 5 amp 10 6 8 12 9 E 10 14 1 15 12 16 13 17 4 18 15 19 zi Verily Peoquam VE CASMCISASAMPLE 1 MDS Figure 9 Program Tab Terminal Tab The Terminal tab allows the PC to act like a handheld terminal Here commands can be sent to the indexer directly AMAHEIM AUTOMATION Programmabic iedese SHEID Program Versios 1 01 Fe Seo rica Moton Progon Terrirad ver 6000 B1000 N10000 H1 5000 VB 1000 15037 Figure 10 Terminal Tab PROGRAMMING COMMANDS Commands are sent to the DPD72351 by a computer dumb terminal or handheld terminal These commands must be sent in ASCII by a RS232 or RS422 communications format RS232 is used most commonly by computers Commands are made up of one or two letters possibly followed by one or more numbers All letters are upper case 8 bit ASCII characters with the most significant bit ignored All numbers are ASCII sent with the most significant digit first Spaces can be imbedded with no effect A comma carriage return or line feed are accepted as terminators for a previous command INTERNALLY STORED PROGRAMS A stored program is a sequence of commands stored in an external EEPROM of the DPD72351 The EEPROM can ho
28. igure 11 Sample Program at address 0 is given thus looping the program to the begining For more information on SMC35 commands see the COMMAND DICTIONARY section C SSMOSAMP E Moa Sample Basic Program Given in Figure 12 is a listing of the OPEN sample basic program COM2 9600 N 8 1 CS65535 DS CD FOR RANDOM AS 1 b sample bas provided with the PRINT B500 installation of the software The PRINT M5000 first line opens COM port 2 for PRINT SIME Son PRIN D10000 communication with the indexer at PRINT NA400 9600 baud consistent with the TOP switch setting on the indexer The PRINT GP PRINT W100 following print statements send PRINT AGF parameters to the indexer After a INPUT BREAK label TOP the program gives a GO GOTO TQE command with a Wait for motion to stop command Then after a delay W100 the same is done in the other direction The program finally waits for a keyboard input before it continues to loop back to TOP Figure 12 Sample Basic Program C Programming and the DPD72351 Programming the DPD72351 using C language usually requires a third party software to handle the serial handshaking communication For information on this software contact the factory 32 BLD72 DRIVER SPECIFICATIONS Control Inputs All Terminals 5 6 8 9 TTL compatible Logic 0 0 to 0 8 V Logic 1 3 5 to 5 0 V Fault Reset Terminal 4
29. ill not damage anything Generally use RTS on or the first 8 positions of the dip switch Once the communications are set up you finally need to talk to the DPD72351 This is done by selecting the axis you want to talk to Position the Axis Select for the desired axis number for your unit If you chose axis O for example the rotary dip switch would be pointing to 0 To communicate to this axis type a period the sign the axis number a comma and a question mark 0 The DPD72351 should then return two numbers to your screen first the number 35 and then the revision number of the chip Now you are communicating The unit will not Autostart Be sure the that the communication switch is set to RS422 NOTE Axis F will not autostart 40 GLOSSARY Absolute Mode A positioning coordinate reference wherein all positions are specified relative to some reference or home position This is different from relative or incremental programming where distances are specified relative to the current position Baud Rate A term used frequently in serial data communications but often is misunderstood 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 Break Signal A break
30. inations of inputs on a particular axis These inputs are located on the Detachable Terminal Block P4 To jog a motor it is necessary to ground the Jog input on that axis for the direction or desired For Fast Jog both the Fast and Jog command for the appropriate direction must be low at the same time The first closure of Jog causes just one step In order to get a continuous stream of pulses the Jog input must be held low The actual Jog rates can be programmed Fast Jog is simply the Base rate The Jog Factor command is used to determine the slow jog rate by dividing the Base speed by the jog factor The position register will keep track of the number of steps that are taken during jogging EXAMPLE If you have a Base speed of 400 pulses per second and a Jog factor of 5 then the Slow Jog Speed will be Jog Speed 400 5 80 pps Fast Jog 400 pps 15 Note Encoder and Jog input wiring should be kept separate from step motor wiring Once a Jog or 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 HARD LIMITS When a Hard Limit switch is encountered the motion will stop The position counter will also cease counting Hard Limits are intended as an emergency stop for your system It should not be used to do any indexing type functions use the limit switches for this BAUD RATE Th
31. is often used to signal a remote computer to stop trans mission Typically a Break Signal is produced by holding the data terminal equipment DTE transmit data TXD low for some time significantly longer than the time it takes to send a word Daisychain A term used to describe the linking of several RS422 RS232C devices in a sequence such that a single data stream flows through one device and on to the next Daisy chained devices usually are distinguished by device addresses which serve to indicate the desired destination for data in the stream Debug A term used to define refinements to a system or program that remove undesirable effects EEPROM Electrically Erasable Programmable Read Only Memory A memory device frequently used with microprocessors that can be erased and reprogrammed with out removing it from the circuit This creates non volatile memory i e memory that won t be lost if the power is turned off Hard Limit Switch A switch i e photo Hall effect or mechanical that defines the absolute limit of motion in a particular direction It may be used to prevent collisions or out of bounds conditions Home A reference position in a motion control system usually derived from a mechanical datum Often designated as the zero position Home Limit Switch The switch used to establish the reference position designated home Program Counter The Program Counter is used by the processor to point to the address of the next instruction
32. ld 250 bytes of code More than one program can be stored by entering the first program byte in a buffer location following the last byte of the preceding program Each program may be run independently by sending the Run command with that program s first byte buffer location To stop the execution of an internal program the Period command is used The Enter command itself uses no program buffer locations All programs are terminated by a Quit Q command which uses one location Terminators comma carriage return and line feed spaces and illegal commands do take up any buffer location See page 20 for a listing of the number of bytes used for each command One buffer location is one byte It should be noted that any parameters stored directly will be used by a program without the need to reenter that parameter within the program Any parameter can be changed within the program A parameter will have the value last specified whether specified directly or by a statement executed within a program PROGRAMMABLE RESET The DPD72351 units have a built in programmable reset circuit so that all axes in the daisychain may be reset The outputs are reset to the off state when the board is reset Reset is automatic on power up From most communications programs this reset can be sent by pressing the Home key This reset holds the DPD72351 s receive Rx line low and will reset the board for a time which is determined by the baud rate setting The
33. llis 2 Speed Considerations 000200c cee ee eee 2 Specifications soe hove ena ee ees Se ee ede eee eae Edd 3 Communication Guidelines 00 ee 4 Talking to the Indexer 0 0 eee eee 4 RS 282 4 dete a eed RR RR nodes eee P RR ee 4 RS422 fb ae kara neea dei PRU DU PAPE DRE 5 DTE VS DCE 4i due eso ttg Da ad etait ied dodged send 5 Handshaking Signals llle 5 A Manner of Speaking lslseelseeeeeees 6 RISdD finad so ee oh oe ER ee Se 6 CTS Defined sosai ereda AS ec es alt Bede 6 SMC35TRM Software 0 ee eee 7 InistallatiOn ascensus ete tenta ne mnc nee ent die ka Te Ende aes ug 9 Connector Listing llis 9 Jumper Selections 0 eee eee 9 Handheld Terminal 0 0 cee eee eee eee 9 Dimension Drawings 0 0 eee eee eee eee 12 Axis Selection 00 nea PENESTE eee 13 Daisychaining sseseeee e 13 Indexer Terminal Block 20 eee eee eee 14 Limit Switch Inputs oera ranei ea E eee 15 Home Type 0 Configuration 25 15 Home Type 1 Configuration llle 15 Programmable Inputs and Outputs 15 Encoder Inputs 0 cece eee eee 16 JOG Inputs i a a e pep REESE da whee YS 16 Hard Limits vv et ea ee dee eet RE RR Rex ER 17 Baud Rate S229 repe tarpe Fer secre ne pelle etl 17 Programimirig nse ees Wa tan end Rach ee eye XR UR eae eS 18 SMC35TRM Software
34. m oer 120 9c am el E 5 60 STANDARD MOTOR TORQUE SPEED CURVES 23D102 23D204 0 5 10 15 20 2 8 SPEED RPS 23D306 O 85 40 45 50 o O 5 10 15 20 25 80 35 40 45 50 20 25 80 8 SPEED APS 34D106 b 10 15 20 2 30 95 SPEED RPS ov ams vE 38 Oo mcouo4 amroz moze C E g b 23D209 140 120 P 85 40 45 50 mz NE o 5 o 5 20 25 30 G8 SPEED RPS 23D309 180 135 veo ee S 105 90 60 30 i rolou owe 6 20 26 SPEED APS 34D109 80 85 40 45 50 6 20 25 39 85 SPEED APS 34D207 5 20 26 30 85 SPEED RPS 34D213 amzoz mozco mcono4 SPEED RPS 34D311 Oo 4 DMSO omroz moz 20 25 80 85 40 45 50 S
35. m voltage Current sink 105 125VAC Standard 210 250VAC X250 Version Fuse 5 AMP Fast Blow 0 to 60 degree C TTL CMOS Compatible DPD72351 50 to 20 000 pps DPD72361 32 to 10 000 pps DPD72371 32 to 5 000 pps DPD72381 32 to 2 500 pps Logic 0 0 to 0 8 VDC Logic 1 8 5 to 5 0 VDC TTL CMOS compatible 0 to 0 32 VDC 4 mA 4 3 to 5 1 VDC 4 mA 2 to 10 VDC 1 5 mA 2 to 10 VDC 2 5 mA 200 mV 2 5 VDC min 20 mA 0 5 VDC max 20 mA 2 to 10 VDC 1 5 mA 2 to 10 VDC 2 5 mA 200 mV 0 5 VDC max 20 mA 2 5 VDC min 20 mA Quadrature only TTL CMOS Compatible 5 VDC 100 ma Max 50 to 9600 BAUD Half Duplex 1 start bit 8 data bits no parity 1 stop bit Open Collector Type 40 VDC 500 ma total all on NOTE For inductive loads customers must connect the clamp input for fly back protection COMMUNICATION GUIDELINES COMMUNICATING WITH THE INDEXER Anaheim Automation programmable indexers communicate by using the RS232C or RS422 standards Most computers contain at least one RS232 serial port Some industrial computers have a RS422 serial port To communicate with the DPD72351 use connector P1 in Figure 1 P1 is used for either RS232 or RS422 and is set by sliding the two switches to the appropriate direction see below P1 is a DB9 Female To communicate with subsequent axes use P2 the RS422 output port P2 is a DB9 Male and is always set for RS422 The switches affect only the Input Port P1 T
36. motor and wiring are determined to be good then the output transistors should be checked see below Is the LED blinking Quickly This indicates that there is an open connection in one of the motor wires Check the motor and the wiring for opens Another condition that may cause this type of fault is when a large motor is ramped down too quickly so that it loses it s positioning Is the LED on Steadily This indicates that there is a ground fault a voltage shorted to OV This detection is useful in detecting a short to case in a motor when the motor s case AND the driver s OV are both connected to earth ground Excessive noise on the OV line may also cause the driver to sense this type of fault This type of fault sensing may be disabled by placing jumper JP3 in position 1 2 NOTE IF THE GROUND FAULT DETECTION IS DISABLED DO NOT CONNECT THE DRIVER S 0V TO EARTH GROUND Checking Output Transistors Remove the side plate 2 Setthe multimeter to Diode Test 3 Place the RED meter lead on between the Sense Resistors labeled Rs in Figure 5 Touch the BLACK meter lead to each phase terminals 1 2 12 and 13 This should give readings between 0 450V and 0 550V If any readings are significantly less than 0 450V then the unit has been damaged To send the unit in for repair contact the factory for an RMA ours 37 osoa co mc moz UMIO mozco mco omroz mozco mcox Gmroz amp 185 m
37. ntil it is off the Home limit switch Since the inputs are edge triggered they need not be held closed until the deceleration and reversal are complete When a hard limit switch is encountered all motion ends Absolute positioning information is lost because the controller then assumes it is no longer valid Ixx yy zz 0 255 0 255 0 249 The INPUT command reads If the input pins as defined by the mask xx are equal to yy then go to program location zz The first data entered xx specifies the binary weighted value of the input pins to be tested The second data entered yy is the binary weighted pattern that these selected inputs are to match If the data and selected pins match the program will execute the next command given by the address location specified by zz If not equal the program will just continue on Since the inputs are pulled up internally they will read high if no signal is applied The mask is defined as follows sw 2 Je T Ts s T ee mer jo qn fe jm ju fs fe JU The mask defines which inputs out of the eight bits that will be tested For instance the following numbers will only test these inputs 255 1 2 4 8 16 32 64 128 233 1 8 32 64 128 98 2 32 64 25 34 2 32 zoms Jo Ja e e e e r mme fo e se v smss qn j jJ je je mss qn je j SAMPLE STORED PROGRAM Address Command Remarks 0 A10 set the acceleration to 10 2 D
38. or a system using Soft Limit and Home Limit Switches STOPS STEP MOTOR X d V wo d d SOFT HOME LIMIT LIMIT SCREW FIGURE 5 HOME TYPE 0 SETUP HOME TYPE 0 CONFIGURATION Using Home Type 0 requires two grounding type limit switches called HOME and SOFT The first limit switch SOFT will decelerate the motor down to base speed It will continue to run at base speed until it receives a HOME Limit Switch input causing the motor to stop The HOME Limit Switch only activates after a SOFT Limit is sensed These switches are not directional meaning that they will work in either direction The SOFT Limit Switch will work for any type of motion The HOME Limit Switch will work only for HOME motions NOTE Whenever a SOFT Limit Switch is activated the motor will decelerate and run at base speed Be sure to come back passed the SOFT Limit Switch to set any origins otherwise the motor will decelerate as it goes passed the Soft Limit Switch HOME TYPE 1 CONFIGURATION This type of homing differs from Home Type 0 in that only one Limit Switch is needed The HOME Limit Switch in this case causes the motor to ramp down to Base Speed reverse direction and continue until the Limit Switch is released This is a good way to compensate for any backlash in the system It is also useful for minimizing the number of limit switches needed for homing STEP MOTOR En SCREW
39. r loads including lamps relays solenoids LEDs printer heads and heaters For inductive loads it will be necessary to connect the Clamp input as indicated in Figure 6 The outputs can also be used as drivers for higher power loads requiring discrete power semiconductors The outputs are current sinking open collector darlingtons They are capable of sinking up to 150 mA per output but not more than 500 mA total when all 8 outputs are on with voltages up to 40 VDC ENCODER INPUTS A Rotary Encoder is a device that measures rotation of a shaft In the case of a step motor shaft the encoder may also be mounted on the load for a true position The encoder sends signals in a format called quadrature to the controller which will take this data and use it to verify the motor position The encoder has four wires Power Ground Channel A and Channel B These lines should be connected to the DPD72351 via Terminal Block P3 The encoder can be used with the DPD72351 to form a closed loop system when it is used with a computer The stored program mode does not allow the use of the encoder See the CP function on page 14 for more information PIN FUNCTION COMMENTS 5 VDC ENCODER POWER CHANNEL AINPUT ACTIVE LOW CHANNEL B INPUT ACTIVE LOW GROUND 0 VDC ENCODER GROUND TABLE 11 ENCODER TERMINAL BLOCK JOG INPUTS Jog is a manual function The user can select the direction and speed fast or slow by grounding the appropriate comb
40. re two wires For the 4 signals transmitted there needs to be 9 wires including the ground reference The signal line maintains a voltage level of up to 12 volts on either line The polarity of the line switches to obtain the logic levels For example if RD is more positive than RD then it is a logic HIGH If RD is more positive than RD then it is a logic LOW For a valid logic level the voltage difference between RD and RD needs to be greater than 200 millivolts RS422 is unsusceptible to noise due to the differential lines We normally specify a maximum of 9600 Baud at up to 4000 feet ss wemweemenn O m maewwrnmy O m m o me G D D S TD T RTS RTS REQ TO SEND RD RECEIVE DATA TABLE 5 RS422 9 PIN CONNECTION E zal Eu RS422 DTE vs DCE There are two types of devices defined The first is called DTE Data Terminal Equipment Examples of this would be a terminal or an IBM Compatible Computer The second type of device is a DCE Data Communication Equipment Examples of this would be a modem or an Anaheim Automation Indexer such as the DPD72351 DTE s have input pins of one type corresponding to output pins on the DCE s NOTE THE SIGNAL NAMES ARE FROM THE POINT OF VIEW OF THE DTE COMPUTER FOR EXAMPLE PIN 3 IS CALLED TD TRANSMIT DATA BY BOTH SIDES EVEN THOUGH THE DTE COMPUTER SENDS IT AND THE DCE DPD72351 RECEIVES IT
41. s that might be necessary The DPD72351 is designed to communicate over a RS232C or RS422 bi directional serial data bus The RS422 serial bus is better suited for industrial environment noise problems RS422 can reliably travel to a distance of 4000 feet The RS232C line can only be used to a distance of 50 feet in a noise free environment Almost all computers have or can be equipped with an RS232 port If you need to send your RS232C signal beyond 50 feet Anaheim Automation offers a RS232C to RS422 Bidirectional Data Converter Model DC1709 The DPD72351 provides independent programming of acceleration deceleration base speed start up speed running speed and the number of steps to be taken in both relative and absolute positioning modes On absolute positioning moves the DPD72351 automatically determines the proper direction to go and the number of 1 steps to take The relative positioning will move a number of steps in the direction that the user defines The DPD72351 has a high level command set which includes looping conditional statements time delays power down motor encoder feedback and maskable I O Hard Soft and Home Limit Switch inputs are provided for each axis These features are generally required in most machine control designs Eight testable Inputs and eight programmable Outputs are provided per axis These I O may be used for monitoring and controlling machine operation and or interaxis coordination These
42. step encoder lines per rev 4 400 half steps per rev SAMPLE BASIC PROGRAM REMARKS 10 OPEN COM1 9600 N 8 1 CS65535 DS CD AS 1 Using a 400 line quadrature encoder 20 PRINT 1 CP1000000 set encoder position to 1 000 000 30 PRINT 1 N2000 GF move motor clockwise 2000 steps wait until themove is finished before continuing 40 PRINT 1 VCP verify encoder position 50 INPUT 1 A PRINT A print encoder position to screen the number 992 000 will be on the screen 23 CS 0 to 249 The SET AUTOSTART command is used to set the Autostart flag to a specified address To Autostart a program enter the first line of the program after CS CS10 will autostart the program starting at line 10 and save the current contents of the program in the EEPROM NOTE To autostart the program be sure that the communi cation switch is on RS422 It is advisable to include a wait command of 100 milliseconds W10 at the start of the Autostart program to allow everything to power up properly NOTE To turn off the autostart flag send CS250 and the autostart flag will be inactive D 2to 127 The DECELERATION command determines the time it takes to go from Maximum speed to Base speed The higher the value the slower the motor will decelerate The default value on power up is 10 E 0 249 The ENTER command allows you to enter a program to be saved in the DPD72351 s memory This command sets the stored program pointer to the specified a
43. to be executed by the processor in the stored program mode Mask A binary weighted number that conceals some or all of the bits in an associated memory address or register Relative Mode A coordinate system where positions or distances are specified relative to the current position Stack A register or buffer in memory that uses Last In First Out LIFO entry and retrieval of data Soft Limit Switch This switch is used exclusively in Homing Mode 0 zero If positioned properly for the appropriate parameters it causes the motor to ramp down to the Base Speed before encountering the Home Limit Switch This ensures that the motor speed is within the start stop region Start Stop Region That range of speeds in which a step motor can start stop or reverse direction in synchronism with the external pulse signal 41 ANAHEIM AUTOMATION 910 E Orangefair Lane Anaheim CA 92801 Phone 714 992 6990 Fax 714 992 0471 42
44. uter it looks at the RTS signal which will inform the Indexer if the Computer is busy If the RTS is low then the Indexer will send information on pin 2 which will be received by the Computer on pin 2 also RTS DEFINED On the DPD72351 there is an option to either enable or disable the RTS If RTS is enabled then the above description applies If RTS is disabled then when the DPD72351 wants to send information to the Computer it will send it without looking at the RTS line This is used when the computer does not support the RTS line CTS DEFINED The CTS line must always be supported No information should be sent to any indexer unless the CTS line is low Otherwise the data sent may be lost and the indexer could possibly stop communicating LE ud TABLE 7 RS232C 25 PIN CONNECTION COMPUTER PORT NOTE THE SIGNAL NAMES ONLY MAKE SENSE FROM THE POINT OF VIEW OF THE DTE FOR EXAMPLE PIN 3 IS CALLED TD TRANSMIT DATA BY BOTH SIDES EVEN THOUGH THE DTE SENDS IT AND THE DCE RECEIVES IT HOOKUP INFORMATION This section applies to all models covered by this manual The DPD72351 Series Indexer has several connectors that can be used for communication and several Detachable Terminal Blocks that can be used to integrate switches sensors encoders and other items to the Indexer LIST OF CONNECTORS There are several connectors in which the user must become familiar with These connectors include communication to the indexer
45. with this command The POLL command is especially useful in debugging a program e ewm o quem o s conan whie e a eomma ony varan sora pogan 5 End of move notice previous Go command complete 6 Era ot wat ae a previa Wat commands a TABLE 15 RESPONSES TO POLL COMMAND ERRORS AND MESSAGES no value This command returns two numbers The first number is the part identifier which is always 35 for the DPD72351 controller IC The second number is the revision number A quick test to see if you are communicating with the DPD72351 is to use this command no value If a period is received the motor will stop the timer will be cleared and the internal program will stop It is possible for this command to stop execution of the internal program in the middle of an instruction causing the parameter for that instruction to be read incorrectly For this reason the period command is only intended as a debugging tool 31 SAMPLE PROGRAMS Sample SMC35TRM Program Given in Figure 11 is a program that could be entered in the program tab This program first sets the motor parameters B500 Base Speed of 500 steps sec M1000 Max Speed of 1000 steps sec and N400 Motor index number of 400 step index Next a Go command in the plus direction is given followed by a one second wait delay G W100 Then a Go command in the minus direction is given again followed by a one second delay Last a Run program F
46. x to the binary weighted number specified by yy See INPUT command for explanation of the mask and binary weighted numbers Keep in mind that the inputs are active low while the outputs are active high EXAMPLE O127 7 would read as look at output 0 to 6 turn on output 0 1 and 2 and turn off output 3 4 5 and 6 P_ 0 to 16 777 215 The POSITION command specifies the next absolute position to go to when the GO command is given The DPD72351 automatically sets the direction and number of steps needed to go to that position The default value on power up is 0 SAMPLE BASIC PROGRAM 5 Open COM 10 PRINT 1 0 A10 D10 B500 M5000 VI INITIAL PARAMETERS 15 INPUT 1 A 20 IF A 254 THEN PRINT 1 P500 GF GOTO POSITION 500 Q no value The QUIT command used within a stored program stops execution of the program In the direct mode the QUIT command will cause the motor to ramp down and then stop R 0 249 The RUN command starts a stored program execution at the address specified This allows multiple programs to be stored in the EEPROM so that any one of them can be started individually Each program must be terminated with the Q command The RUN command is also used as an unconditional branch in the internal program If the sample stored program below is already in the DPD72351 s EEPROM the program can be started by typing R20 The R20 at address 31 is an unconditional branch 27 SAMPLE STORED PROGRAM Ad
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