Home

DPE25601 (User`s Guide)

1. C Direction Cw C Direction CCW C Home to Soft Home Limits C Home to Home Limit C Slew move continuously C Stop Soft Stop Hard Motor Current On C Motor Current Off Wait milliseconds C End of Program Comment pmet _ _ ____ Please choose a command OK Cancel 4 7 04 10 34 AM Base Speed Set program base start speed rate step sec Set Jog Speed Set program jogging speed rate step sec Wait__Milliseconds This command allows the user to enter a delay in milliseconds Accel Decel Set program acceleration 4 deceleration parameter step sec Move Steps Relative move command will allow motor to move the defined number of steps entered Direction CW CCW Set direction to clockwise or counter clockwise Move to Position Absolute move command will move motor to the position specified Set Position Allows user to change the position register in the controller Mi Command will allow any motion command to be completed before continuing to the Finish Move l next line of code This command should be used after every motion command Command will repeat the previous index move Do not use with encoder auto correct Repeat Last Move nea Max Speed Set program maximum running speed rate step sec Set Position Set motor position Home to Soft Home Limits Home to Home Limit Slew move continuously Motor Current ON OFF Set the current in the motor on or off C
2. SetEncoder Window SetEncoder Window Window SetMotor Ratio SetMotor Ratio Ratio Send number of encoder auto correct retries to the controller When the auto Set Encoder Retries correct errors Output 8 will be triggered Send the encoder pulse to motor step ratio to the controller Send the encoder window to the controller 10 32AM oy fe Encoder Reset Reset the encoder count to 0 in the controller Output on the Fly Set the output on the fly feature on or off Set 1 Output Position Send the 1 position to set the output to the controller Sata oo Send of steps to take between activated outputs to the controller Motor will ramp up to maximum speed and keep moving until the index on the Slew a ee et fly input 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 L010199 22 August 2012 Tab Sheets Analog Input and Thumbwheel Options ER SMCGOWIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help IE i Encoder Options and Analog Input and Real Time Motion Registration Inputs Thumbhweel Options Analog Max Speed Input CON OFF Set Speed Lower Limit 500 fi 500 Set Speed Upper Limit Set Analog Speed Analog Position Input Set Position Lower Limit fo Set Position Upper Limit lo Goto Analog Position
3. Range 0 8 1010199 35 August 2012 P Absolute Position and Analog Position Format 1 P value Description This command calculates and sets the number of clocks for the DPE25601 to send out following a G command Motion is not activated by this command it only sets the register N 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 DPE25601 to send out following a G command The analog position must be enabled for this command to work Motion is not activated by this command it only sets the register N P Z This command is used in conjunction with the analog position the analog position lower limit and the analog position lower limit commands S Go Slew Format S Description This command will send clocks out to the DPE25601 The only commands that can stop the clocks are stop motion or soft limit Motion can also be stopped by 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 1 T O 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
4. IPS Meo hm OF fo 0 46 0 E to em Co oo LO010199 Command Acceleration 1000 steps sec sec Base speed 500 steps sec Max speed 5000 steps sec Direction CC Home type O soft and home switch Finish move Position register U Output on at position 000 steps between outputs 1000 steps of output counts 5 Label TOP lf input 1 1 then execute the next line Goto TOP Enable output on the fly Direction CA Go relative 10000 steps Finish move Output register 1 Wat 1 msec Output register Disable output on the fly Go to position U Finish move Goto TOP End of program 45 Comments Loop to TOP until input 1 is O Turn on Output 1 Turn off Output 1 August 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 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 the output is turned off the unit will be sent back to position 0 The program then is sent back to repeat itself waiting fo
5. Stop Hard CON OFF Thumbwheel Index CON OFF Hove Thumbwheel Stop Index Hard Analog Speed Lower Analog Speed Analog Speed Upper Analog Position Lower Analog Position Analog Position Upper Thumbwheel Index Not Enabled Yerfy Parameters 4 7 04 10 32AM Verify Parameters Updates and displays controllers parameters for this tab sheet L010199 23 August 2012 Tab Sheets Create and Edit Program ER SMCGOWIN Programmable Indexer Software Version 1 0 0 File Setup Frogram Edit Help The Unit is NOT Connected Create and Edit Program Comments Send Program to Controller View Program in Controller Upload Program from Controller Enable Autostart Disable Autostart Add Change o Delete Memory 2 of 2046 bytes used C Program Files SMC60WIN temp mdb a 4777040 3 44PM Cy Run Add DPE25601 Memory Available With the created and edit program tab sheet selected the user can obtain the amount of available memory located to the right of the Delete command button The DPE25601 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 All programs created by the SMC6OWIN software will have a mdb and a bak extension
6. 1010199 24 August 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 Beal Time Mati Encoder Options and Analog Input and Create and Edit ias Registration Inputs Thumbhweel Options Program O cond Pinan 1 Acceleration 10000 steps sec sec Controller 2 Base speed 500 steps sec 3 Label START Max speed 5000 steps sec View Program in 6 Direction CW Controller Go relative 1600 steps E 7 Finish move i Program 8 Inner loop 4 times to START from Controller b ES Direction CCW Home pe home limit switch only Enable anos Goto START 13 Ena of program Dire tot Add Change ms Delete Memory 42 of 2046 bytes used CAS ample1 mdb Add Change Insert Commands The Add Change Insert commands contain four different tab sheets which are Motion Com mands If Then and Output Commands Goto For Loops Encoder and Thumbwheel Com mands and Analog Registration and Text Commands len A TA PEL cy o E a ble Indover Sofware VWorio imix ly SS gl Bil t Ei F Add Comman Goto For Loops Encoder and Analog Registration and Text Motion Commands IR Then and Output Commands E EEEN EREA Motion Commands Software section t
7. 2 5 2560 Lower X Position or Frequency 0 2000 2000 1000 2560 3560 Outputs Eight outputs are provided per axis Outputs may be used to operate relays coolant valves air cylinders or with the correct interfacing any electronically controlled device The outputs can drive all types of common peripheral power loads including lamps relays solenoids LED s printer heads and heaters For inductive loads it will be necessary to connect a clamping diode refer to specification sec tion from the output to the power source in order to provide adequate fly back protection The outputs are current sinking open collector darlingtons They are capable of sinking up to 100mA per output with voltages up to 40VDC Turning an output on will pull the output pin to ground and turning an output off will make the output pin open Output 1 has a special function output on the fly that will enable it to be triggered at a certain absolute position during a move Output 8 has a special function that will trigger when the encoder retries function fails 1010199 13 August 2012 Output on the fly This special function enables output 1 to turn on during a relative index or absolute move There are three critical portions of information needed to make this function work correctly First output 1 will turn on OVDC for a preset delay of 50uS at a specific absolute position set by the 1 output position command Second the output can then repeat this a
8. Exit Calculator L010199 30 August 2012 Section 5 Direct Talk Mode Direct mode is used to directly control the motion for real time movements through serial communication The DPE25601 has 40 commands which are easy to remember for direct movement of a step motor COM Port Settings Baud Rate 38400 Parity None Data Bits 8 Stop Bits 1 Flow Control Xon Xoff Unit Selection In order to select a unit the command followed by O address of the unit must be sent NOTE There should be no spaces between the and address select How to select the unit 10 Unit is selected 1 Unit is selected 29 Unit 29 is selected How to get a response from the unit 0 Carriage Return After the command the DPE25601 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 0 not 0 correct 0 carriage return incorrect O 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 1 Output
9. S Encoder motor ratio 110 counts step 1000 Lines 400 steprey a 6 Encoder retries 3 Allow three retries E F Encoder window 10 counts Allow 1 motor step error ES o Turn on encoder autocorrect 9 Label TOP El 10 Direction CEW E 11 Home type 1 home limit switch only Home to a physical switch 12 Finish move ia 13 Position register Reset position register to U iS 14 Reset the encoder position to U Reset the encoder count I 16 Direction CW a 16 Go relative 4000 steps Move to 1st Position m 17 Finish move 16 Go relative 4000 steps Move to nd Position a 14 Finish move C 20 Wait 1000 msec E 21 Go relative 4000 steps Move to 3rd Position m 22 Finish move m 23 Outer loop 3 times ta TOF E 24 End of program L010199 44 August 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 home 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 O but the output should not be turned on The unit then repeats waiting for input 1 to be O and indexes again Line 011 00 M1 A to ho al BIR PRO PRP PB ae ee ee ee es es
10. command This command cannot be used within an inner loop Command 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 com mand cannot be used within an outer loop Thumbwheel Index Off Command will disable the ability to use the thumbwheel switches to index A index On Command allows the user the thumbwheel index Switch 2 must be in the thumbwheel position for the thumbwheel to be enabled Encoder A Uin Conca OF Command will disable the auto correct of the motor The encoder value can still be read Command will enable the use of the encoder and auto correct the motor if Encoder Auto Correct On needed based on the encoder registers Motor Ratio Command sets the number of encoder counts to one motor step Relative move command will allow motor to move the defined number of steps Move Thumbwheel Index set by the thumbwheel switches Retries Command sets the number of times the motor can auto correct itself before an error occurs When the auto correct errors Output 8 will be triggered Command sets the number of encoder counts the motor is allowed to be off Dela Command sets a time delay used for settling time needed after an index is y finished The delay occurs before the encoder count is read Reset Encoder Count Command will reset the encoder count to 0 zero 1010199 28 August 2012 Add Tab Sheets Analog Registration and Text Command
11. on the Fly Position P Absolute Position Stop Hard EA Encoder Auto Correct Enabled S 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 Limit EW Encoder Window Versions Number A Number of Outputs G Go Number of Steps Verify 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 DPE25601 J Fast Jog Speed L010199 31 August 2012 A Acceleration Deceleration Format A value Description This command sets the acceleration profile which is an integer value between 100 and 9 999 999 The higher the value the faster the motor acceleration Range 100 9 999 999 B Base Speed Format B value Description This command sets the base start speed for motion This value must be set before 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 conjunctio
12. 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 0 Branching or Go To statements The go to 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 go to state ment has already been executed The program will jump back to the last go to statement encountered and executed 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 p
13. program won t Autostart Possible Solutions 1 Verify that the Autostart Function has been enabled 2 Goto Setup Autostart Program and Click on Enable 3 If problems still exist contact Anaheim Automation Tech Support 1010199 41 August 2012 Problem The DPE25601 controller has a fault condition Possible Solutions 1 2 3 Verify your program for improper syntax that may cause an error code Physically press the reset button on the DPE25601 to clear an error Another way to clear an error is by using either the SMC60WIN software or the direct mode command instructions set The SMCWIN can clear an error in the real time motion tab section by clicking on the verify parameters button 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 Note Read the Error returned to the screen to better understand what can be causing the fault condition The error is return in binary coded decimal format If two errors were received their binary values would be added together Error Codes Error Code Type Description y Receive Overflow The serial communications had a receiving error This is an internal Error error caused by the 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 A bad command was sent to the controller Please check to see
14. relative Axis set goto position U AxisU Go to position O Axis Go to position U Wait for moves to end Return and repeat August 2012 Appendix 1 ASCII Table for Direct Mode ASCII Symbol Hex Value ASCII Symbol Hex Value ASCII Symbol Hex Value 6 4 z a 3 m E E Carriage Return A Appendix 2 Firmware Revisions Versions 1 00 Initial Release Versions 1 10 Fixes lockup on RS485 Communication Added capability to stop the motor on an Encoder Error after the Encoder Retries number has been reached 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 version 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 the ca pability to verify the Hard and Soft Limit inputs 1010199 48 August 2012 COPYRIGHT Copyright 2012 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 electronic mechanical magnetic optical chemical manual or otherwise without the prior written permission of Anaheim Automation 910 E Orangefair Lane Anaheim CA 92801 DISCLAIMER Though every effort has been made to supply compl
15. switch but motor will slow down to base speed when the soft switch is triggered following by triggering the home switch to stop motion Two switches are required to stop Home using Home Switch Home using Move number of steps Motor will move number of steps entered Move to Position Motor will move to specified position Slew Motor will ramp up to maximum speed and keep moving until stop motion is triggered LO010199 21 August 2012 Tab Sheets Encoder Options and Registration Inputs Encoder Auto Correct 53 SMCGOWIN Programmable Indexer Software Version 1 0 0 File Setup Frogram Edit Help Beal Time Mot Encoder Options and Analog Input and ee eee Registration Inputs Thumbhweel Options The Unit is NOT Connected Create and Edit Program Encoder Auto Correct Sase dy Ho cad a Encoder Reset ON OFF Output on the Fly CON OFF Set 1st Output Position o C Set AI o Move of Steps 0 Reset Set of Steps Between Outputs Index onthe ON C OFF Fl y Set Registration w Index 0 Stop Slew Hard Encoder Delay Motor Ratio Encoder Retries Encoder Window Encoder Postion 1st Output Position Steps Between Dutputs H of Dutput Counts Registration Index Verify Parameters 1477 04 Set the encoder auto correct feature on or off Set Encoder Delay Send the encoder delay parameter to the controller ms
16. than the base speed Range 1 50000 Format 2 M Description This command uses the voltage on input 1 to calculate and set the max speed The analog speed must be enabled for this command to work This command is used in conjuction 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 Number of Steps Format 1 N value Description This command sets the number of clocks for the DPE25601 to send out fol lowing a G command lt 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 Range O 8388607 Format 2 N Description This command reads the thumbwheel switches to set the number of clocks for the DPE25601 to send out following a G command For this command to work SW2 must be in the TWS position and the thumbwheel enable bit must be enabled Motion is not activated by this command it only sets the index register This command is used in conjunction with the thumbwheel enabled command O Set Outputs Format 1 OR value Description This command sets the output register according to the binary value entered Output 1 is the LSB and output 8 is the MSB Range O 255 Description This command sets the selected output either on or off A 1 will turn the output on OVDC and a 0 will turn the output off open
17. that Command Error l i the command being sent is valid Motor speed profiles are set incorrectly Please make sure that the 16 Motor Error base speed is less than the max speed and that the speeds are within their valid ranges 39 Range Overflow Error The go to position has an overflow error This is caused by the P com mand trying to find a position that is out of its range There was an invalid number of commands and characters sent to the 64 Range Error controller Check to see if the parameters are invalid for the command that was sent 128 Transmit Error To many parameters sent back to the PC This is an internal error caused by the EEProm Controller is in a wrong mode Some commands are good only in pro 256 Mode Error gramming mode while others are good only in direct mode Check the direct mode section to see which commands are good in direct mode There were no parameters sent to the controller A command was sent 512 Zero Parameters Error to the controller 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 Error The specified address is out of range This is caused by overflowing the program memory by having a program that is to large The command pulled from memory is invalid The command that was stored into the EEProm was non executable by the program This is an internal
18. with the analog position enable and absolute position P commands Range O 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 DPE25601 Range 0 99 LO010199 40 August 2012 Section 6 Troubleshooting Troubleshooting Problem Can not establish communications with the DPE25601 Possible Solutions Make sure the DPE25601 controller has power Is the controller s Green LED on Check RS232 RS485 connections Check for loose cable connection either on the DPE25601 controller or COM Port Was the software installed successfully Go to Setup Com Port Settings and verify COM Port settings Go to Setup Axis and verify address settings are the same Click on Setup Connect icon to communicate with the DPE25601 controller If problems still exist contact Anaheim Automation Tech Support So Ok NS 910 East Orangefair Lane Anaheim CA 92801 1195 Phone 714 992 6990 Fax 714 992 0471 www anaheimautomation com Anaheim Automation Inc Tech Support Problem There is no power to the DPE25601 controller Possible Solutions 1 Is the DPE25601 controller connected to the appropriate power supply 2 Check for any blown fuses in line with the DPE25601 controller 3 If problems still exist contact Anaheim Automation Inc Tech Support Problem My
19. 25081 Mente LAS GND SOURCING INPUTS ee ee re L010199 5 August 2012 Terminal Descriptions Driver Position Description Motor Connection Phase A Phase 1 of the Step Motor Phase A Phase 3 of the Step Motor Phase B Phase 2 of the Step Motor Phase B Phase 4 of the Step Motor Terminal Descriptions Controller Position Description Encoder Position Description Motor Connection 1 TA IGND This is an isolated ground for RS485 only Position Description Limit Switch Inputs 2 6 Input 6 SW2 in position IN5 6 EE A channel for encoder B channel for encoder Position Description Outputs Ground return for encoder Output 1 Output on the fly output Output 2 Position Description Limit Switch Inputs Output 3 Output 4 a ee o 6 Hard timt O ICI ETT TAN o foom Connector Descriptions Controller Switch 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 Description This switch is used to select either RS232 or RS485 This switch is used to select either the thumbwheel or inputs 5 and 6 L010199 6 August 2012 Section 2 Motor Selection The DPE25601 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 mot
20. Connection When configuring the motor windings in series use the per phase or uni polar current rating to determine the current setting potentiometer value P1 ana eaaa P3 p2 LENNON get MENE P 4 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 E TE en y ES s g E y amp 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 Connecting the Step Motor Phase 1 and 3 of the Step Motor is connected between pins 1 and 2 on the motor connector Phase 2 and 4 of the Step Motor is connected between pins 3 and 4 on the motor connector 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 direc tion input switch the wires on Phase 1 and Phase 3 WARNING Do not connect or disconnect motor wires while power is applied LO010199 9 August 2012 Section 3 Controller Functions Methods of Communication There are two methods for sending commands to the DPE25601 One is to directly talk to the DPE25601 by using Direct Talk Mode This is usually used with a computer or PLC Programmable Logic Controller where the computer or PLC gives the D
21. DPE25601 Programmable Driver Pack User s Guide nabos ANAHEIM AUTOMATION UTOMATION 910 East Orangefair Lane Anaheim CA 92801 714 992 6990 fax 714 992 0471 e mail info anaheimautomation com website www anaheimautomation com L010199 4 August 2012 Table of Contents Section Ntro CHO coa 3 DESCUPONrrn da dA 3 NSC UC aS PECCI UON a dara a 4 Ordering IOMA ON sta ces ae cc cteed ae A AS A A Sa 4 Dimensions WITCHY IOC AL ONS gto tata cnc aah hata a tatet bie Dat Gat tal erties hia nea 5 WMO DIOS a a E 5 Terminal Descipions DAVE ean a 6 Terminal Descriptions Controle a 6 Connector Descriptions Controle siii dad 6 Slide SWitch Descriptions Controller uv iran 6 Section 2 Driver FUNCIONS ii cdvecdabanutiuetducedetaaeeixeeds 7 Motor SEE CUM es T Step Motor Current Setng Gude nsr ersen r a a a S 7 Setting the OUIPUECU TN Ei AA A A T Reducida QOULDUE CUTE ds 8 Determining Output CUTE bono dad 8 DIED Motor SOntiquratONS 1 e el ile see 8 Connecting THE Step MOON sens crac rr lis ltd tio 9 Section 3 Controller FUNCTIONS ci ti eivecescdedieedasicaueececneucesudaipaavieaieSeussiaitecsiowisausdncvineesntieesateieens 10 Methods OF SOMNUNCIIIN ir Aa 10 A NE 10 RS232 Protocol Controller SW1 in RS232 POSItIOD cccccooonnccconccccooonocononnncnoonconnnnnnnnoonononnnnnononononennnnnnons 10 RS485 Protocol Controller SW1 in RS485 PoOSItION ooccocooccccconnoncccnnccconnncononononononononnnonnrnnnononnnononnnonanos 10
22. PE25601 serial commands to off load its processor For example A PLC can utilize its outputs to toggle the DPE25601 s inputs and gain con trol of variable speeds variable programs variable distances etc Simply using the DPE25601 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 DPE25601 is to use the software program SMC60WIN to either manually control or to write and send programs This method is used when the DPE25601 is the main controller For example ADPE25601 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 DPE25601 controller Baud Rate A term used frequently is 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 DPE25601 accepts a baud rate of 38400 only RS232 Protocol Controller SW1 in RS232 Position The DPE25601 is a DCE device therefore it will transmit on pin 2 and receive on pin 3 of the DB9 RS 232 connector
23. PONS SOIC C HO MW PPPPPCO_ Oo A A COn o eapad cemeiae aes aamen ain eeteee esas 11 CONTO ro tatuS LED eii 11 Technical SUPDO Carr A ta 11 Section 4 SMC60WIN SOMWarEiiincii ie osdawcedeadaceaaucutasad deeds sbenaudeumedsuarestacuenieam 16 FIle MEVA da 17 SUM Ml Ro sE 17 Setup AXIS Me Msn E A eeeiuauecrecaltdauentuacabana tants 17 A e Ob doo t een 18 Program Autostart Program MCN Usain 18 FCI PU aran ae ia 18 A EA OI o o ata learn Rasld ale ea wtepeatga veh NaRa 19 The Unit is Connected The Unit is NOT COnnected cccccccccccessseceeeceeseeeceeceeeseceeesaeaeeeeeesaueeeeeeetanees 19 TOO DAR A teed ace aac aes tant a caer ear Seca eed oneb ain ieee anes aa ieere 20 A A nr ne eon ee een ey een ae 20 Add Giange IASert Commands ois eee ese A A A cis 25 A a atte pant eidc oak Mounted seateuretanecaaatas 30 SECON 5 Direct Talk Mod tia 31 SIE CUION 6 TOU ISS INO OUI ec ia 41 EMOS COGS mm di 42 Section Sample Prod aMSN o baaa 43 Appendix 1 ASGU lable for Direct ModE acrea AAA A A AAA 48 Appendix TASC Table for Direct MOS Ai 48 CODY FIG IA erinti aen a ea ro at 49 L010199 2 August 2012 Section 1 General Description The DPE25601 is a single axis 2 5A bipolar microstep driver controller containing 2 Kbytes of nonvolatile stored programming space quadrature encoder feedback and a 24W power supply all enclosed in a package lt provides flexible independent control of bipolar stepper motors with a current ran
24. 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 DPE25601 does not use handshaking thus the CTS and RTS lines are internally connected and the CD DIR and DSR lines are internally connected inside the DPE25601 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 con nection 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 active mode indefinitely Trans mitters 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 DPE25601 The RS485 method of communication allows increased noise immunity and in
25. creased communication distance of up to 4000 feet without repeaters RS485 repeaters allow an additional 4000 feet per repeater The DPE25601 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 LO010199 10 August 2012 PCL601 PCL601 UNIT 1 UNIT 2 CONVERTER 485SD9TB TB1 TB1 RS232 to RS485 for Multiple units or cables longer than 50ft The DPE25601 can be connected to your PC serial port via a RS485 converter model number 4855D9TB sold separately This converter will convert the RS232 voltage signals to the com patible 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 DPE25601 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 DPE25601 is add
26. d If input matches then ex This conditional command allows the user to execute the next line of code ecute the next line otherwise if the specific input triggered matches the given value If the input does not skip the next line match the next line is skipped The outputs can be turned on 1 or off 0 These outputs can be used to Set Outputs l i trigger PLC operations relays solenoids etc L010199 27 August 2012 Add Tab Sheets Goto For Loops Encoder and Thumbwheel Commands E lS es SA EEN z o a Diners ETE HE enon ammat if as Add Command Goto For Loops Encoder aa lf Then and Output Commands and Thumbwheel Analog on Sadia Commands Goto Label O C Encoder Auto Correct Off C Encoder Auto Correct On C Delay EI C Return from Subroutine Times to Loop Label C Motor Ratio C Retries C Window C Reset Encoder Count Outer Loop C Inner Loop C Thumbwheel Index Off C Thumbwheel Index On Comment Move Thumbwheel Index Please choose a command OK Cancel 477 04 10 35AM Command allows the program to jump to the specified label Command inserts a label for go to and loop commands Return from Subroutine Command will return to the last goto and execute the next line of code Outer Loop Inner Loop Command allows a sequence of commands to be looped a specific number of times to a label This label must be before the outer loop
27. d Lower Limit Format value Description This command sets the lower limit that is used during the calculation follow ing 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 Analog Speed Upper Limit Format J value Description This command sets the upper limit that is used during the calculation follow ing 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 LO010199 39 August 2012 A Number of Outputs During Output on the Fly Format Alvalue 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 enabled command Range O 255 Analog Position Lower Limit Format value Description This command sets the lower limit that is used during the calculation follow ing 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 O 65535 Analog Position Upper Limit Format value Description This command sets the upper limit that is used during the calculation follow ing a P command for the analog position input This command is used in conjunction
28. d programs for standalone operation e Directly communicate with the DPE25601 controller Installation Software e The SMC6OWIN is supplied on a CD containing the setup program and the SMC60WIN software DPE25601 manual and sample programs e SMC6OWIN software is compatible with all versions of Windows including Windows 2000 Windows XP Vista and Windows 7 Windows 95 98 NT ME 2000 XP Installation Option 1 1 Insert the CD into the drive 2 From the Program Manager select Start Run 3 Enter D setup and click OK use the appropriate drive letter i e D or E Option 2 1 Open Windows Explorer 2 Open CD Drive Folder D or E 3 Double Click the setup Icon Getting Started 1 Double click on the SMC60WIN icon to run the SMC6OWIN software 2 Apply power to the DPE25601 controller 3 Set the appropriate communication setting by selecting Setup Com Port Settings from the menu bar Ctrl M is a shortcut 4 Set the appropriate axis setting by selecting Setup Axis from the menu bar Ctrl A is a shortcut 5 Establish communications with the DPE25601 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 communication has been established Ctrl C is a shortcut LO010199 16 August 2012 File Menu 57 SMCGOWIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help New Program Ctrl M Open Program Ctrl 0 Sa
29. ded the motor will then ac celerate 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 5V To activate the input the pin must be grounded to OVDC All inputs are internally clamped to 5V thus al lowing voltages of up to 24VDC to be used Six inputs are provided per axis The inputs are TTL CMOS and 24V compatible The inputs may be used to initiate a machine cycle for inter axis coordination in stored program mode for operator intervention for sensing a machine condition such as out of stock or wait temperature to be reached etc A ground input will read a 0 and an open or high input will read as a 1 Input 1 is a special input that is capable of reading an analog voltage between 0 and 5VDC Since this input does not have a pull up resistor biasing of this input is needed if it is not used as an analog input Inputs 5 and 6 are used together with the thumbwheel switch To use inputs 5 and 6 SW2 of the controller must be in the IN5 6 position If SW2 of the controller is in the TWS position then these two inputs are not connected to the input port of the processo
30. e latest releases Part Number Description DPE25601 Controller Drive Pack Features a 2 5 amp bipolar drive and 24W power supply DPY50601 Controller Drive Pack Features a 5 amp bipolar drive and 125W power supply DPD75601 Controller Drive Pack Features a 7 amp unipolar drive and 300W power supply A CD provided when you purchase the unit contains this user s manual along with the SMC GOWIN software and DPE25601 program examples The software allows you to write and change programs that are to be stored in the DPE25601 for autostart use and also upload the program that is stored in the DPE25601 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 1010199 4 August 2012 Dimensions 156 DIA SLOT 4 PLCS A NAHEIM UTOMATION MOTION CONTROL MADE EASY 0 5A 1 25A 2 5A CURRENT ADJUST RS 232 POWER GRN ERROR RED DPE25601 219 4120 4 175 All units are in inches PCL601 TB4 INDEXER NS SMC60 16 RS 232 IN ee0e y e6eee0 RS 485 IN 4 TO ENCODER 912 COIL 24VDC 313 EXTERNAL lt 1 4 POWER 215 l SUPPLY 6 DIODE 217 I CLAMP 8 I I TO THUMBWHEEL I SWITCH I TO INTERNAL I POWER SUPPLY i I I I I I I I ANAHEIM AUTOMATION STEP MOTOR i ae AN PHASE 3 A 3 HIGH VOLTAGE PHASE 4 6 RISK OF ELECTRIC SHOCK I AC INPUT 48 MBC
31. ed 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 Intype 1 homing the DPE25601 will send clocks until a soft limit is reached then 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 Read Inputs Format 1 IR Description 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 Format 2 input Description 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 0 Range 0 6 J Fast Jog Speed Format J value Description This command sets the fast jog speed This value must be set before motion begins and be greater than the base speed Range 1 50000 L010199 34 August 2012 M Max Speed and Analog Speed Format 1 M value Description This command sets the maximum running speed for motion This value must be set before motion begins and be greater
32. edit DPE25601 stored programs Monitor and change settings to Analog Inputs and the thumbwheel switches L010199 20 August 2012 Tab Sheets Real Time Motion E SMCGOWIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help The Unit is NOT Connected p Encoder Options and Analog Input and Real Time Motion Flegistration Inputs Thumbhweel Options Create and Edit Program Home using 2al Accelertion Accel Dece 110000 Home switch pe Home using Max Speed Set Base 500 Soft Home Jog Speed Sl a Direction Set Max Motor Current Speed hi 300 Move of Steps Step Position ou Encoder Postion et Jog Speed i 500 Error Code Set Position lo Move to Position Verify Parameters Direction OCW C ctw Motor C 0N OFF Inputs Current Stop Stop Outputs Soft Hard 477 04 10 56AM oy Send acceleration amp deceleration parameter to controller step sec Send base speed parameter to the controller step sec Send maximum speed parameter to the controller step sec Send fast jog speed parameter to the controller step sec Set motor position Soft and Home Switches Motor will seek the home position by moving towards home switch which will stop the motor reverse the motor direction and stop when the home limit switch is no longer triggered One switch is required to stop anti backlash Motor will seek the home position by moving towards home
33. ent Enabled to automatically reduce motor current to 50 of the set value after the last step is made 20msec delay The controller in the DPE25601 PCL601 provides independent programming of acceleration deceleration base speed start up speed max speed running speed jog speed and the num ber of steps to be taken in both relative and absolute positioning modes On absolute positioning moves the DPE25601 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 DPE25601 also has specific functions such as encoder feedback auto correction index on the fly and output on the fly An analog input can be used to set either the maximum speed or go to an absolute an absolute position based between the upper and lower programmable limits A seven decade thumbwheel switch can be read for relative indexing The DPE25601 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 in the programming mode to fully control all machine functionality A home input a set of bidirectional hard and soft limit switch inputs and bidirectional jog inputs are provided for each axis These features are generally required in most machine control designs 6 testable TTL CMOS and 24V compatible inputs and 8 programmable open collector outputs a
34. error Memory Command Error 8192 Thumbwheel Read There was an error reading the thumbwheel or the thumbwheel is not Error present L010199 42 August 2012 Section 7 Sample Programs Sample Program 1 Sample Program 1 illustrates a typical application where a system moves to a specific position required The sample program shows how to use motion and go to instruction commands 1010199 A T T T 4000 8000 Initilize Values Move 4000 Steps Repeat Last Move Move to Position 0 then wait 500mSec gt m o qu o Acceleration 1000 steps sec sec ___________ ase speed 500 steps sec MA ax speed 5000 steps sec ae osition register 0 E LabelsTOP_ S Direction CW o relative 4000 steps inish move ANO epeat last index inish move A ait 500 msec to TOP nd of program IN a JEJE omo p m gn 43 August 2012 Sample Program 2 Sample Program 2 illustrates a typical application where a system is first sent home to a datum or O position This sample program shows how a motor will move to a 3 different positions utilizing some of the motion commands loop routines and encoder routine 1st 2nd 3rd Position Position Position T T O Position 2 4 6 Home Position Heel ____Command___ _Commenss_ z Acceleration 1000 steps sec sec Base speed 500 steps sec E 3 Max speed 5000 steps sec a 4 Encoder delay 10 msec Wat 10m for encoder ringing
35. ete 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 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 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 Anahei
36. for a 1000 line quadrature encoder and a 400 step revolution motor the mo tor ratio is 1000 4 400 10 This command is used in conjunction with the encoder auto correct EA command Range 1 255 ER Encoder Retries Format ER value Description This is the number of times the DPE25601 controller will try to auto correct the motor before an error occurs This command is used in conjunction with the encoder auto correct EA command When the auto correct error Output 8 will be triggered Range O 255 ET Encoder Reset Format ET Description This command will reset the internal encoder count register to 0 EW Encoder Window Format EW value Description This is the allowable error in encoder pulses either plus or minus from the desired position that is allowed before the motor auto corrects This command is used in conjunction with the encoder auto correct EA command Range O 255 1010199 33 August 2012 G Go Number of Steps Format G Description This command is used to send a set number of clocks out of the DPE25601 controller An N or P command must be entered before the G command The ramp profile is specified by the B base speed M max speed and A acceleration deceleration com mands H Home Format HA O or 1 Description Home Types HO In type 0 homing the DPE25601 will send clocks until a soft limit is reached then ramp down to base speed Clocks will continue at base spe
37. fter 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 0 This function must be enabled and will only work during a relative index or absolute position move The output will trigger while going in either direction If you do not want the output to trigger in the negative direction the function must be turned off before the index move is started Index on the fly 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
38. ge from 0 5 to 2 5 amp phase with a microstepping resolution of 1 600 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 SMC6OWIN can be used to directly control motion and to program the DPE25601 The DPE25601 also has the ability for real time functions The DPE25601 has 40 commands which are easy to remember for direct movement of the step per motor and communicates via either an RS232 or RS485 bidirectional serial data bus Up to 99 DPE25601 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 auto correct an analog input to control either maximum speed or absolute posi tion registration mark indexing during a slew command an output that will trigger during an index command at an absolute position and a thumbwheel input for indexing a motor The DPE25601 can be powered from 100 240 VAC 50 60Hz Description The driver in the DPE25601 MBC25081 is a microstep motor driver that can drive motors rated from 0 5 to 2 5 amps phase lt can handle 4 6 and 8 lead motors in a bipolar fashion The DPE25601 s driver features motor current ON OFF capabilities and a Reduced Curr
39. hat allows user to enter speeds positions direction etc If Then and Output Com Software section that allows user to manipulate conditional statements and I O mands routines Goto For Loop Encoder and Software section that allows user to manipulate branching and loop routines Thumbwheel Commands enter encoder parameters and control the thumbwheel switches Software section that allow user to enter parameters for analog speed and po sition limits index on the fly and output on the fly parameters and text strings to be sent Analog Registration and Text Commands These tab sheets is where the program functions are selected to be added to or to change exist ing lines of programming code in the Create and Edit Program tab e To add a line of motion control select appropriate command and if required enter the required value for that particular command Then click OK e Comment is optional for any lines of code e The text box above the OK and Cancel buttons will display useful information about each command 1010199 25 August 2012 Add Tab Sheets Motion Commands Ce TWIN Penorammahle Indes Imis Add Command Fl Goto For Loops Encoder and Analog Registration and Text Motion Commands IffThen and Output Commands hunbabes Corimands C Accel Decel Move Steps Base Speed a Mave to Position res y C Max Speed O C Set Position E g C Jog Speed G J C Finish Move C Repeat Last Move
40. ion Website Displays the verison of the SMC60WIN and contact information The Unit is Connected The Unit is Not Connected On the right of the Toolbar the user will find the communication status of the DPE25601 controller lf communications is not established please refer to the troubleshooting section 23 SHCGOWIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help The Unit is Connected WYersion SMC60 Revision 1 00 File Setup Program Edit Help L010199 19 August 2012 Toolbar Exit New Open Save Print Calculator Stop All Connect Exit the SMC6OWIN software Start editing a new program Oen Open an existing program from disk or directory Save the current program to disk or directory Print the current program Open the desktop calculator Stop the program and all motion from running Establish communication with the controller Tab Sheets 7 SMC6OWIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help The Unit ts Connected Yersion SMC60 Revision 1 00 Encoder Options and Analog Input and Real Time Motion Thumbhweel Options Create and Edit Program Real Time Motion Monitor and control motion of the controller Encoder Options and Monitor and change settings for encoder options input on the fly and output on Registration Inputs the fly Analog Input and Thumb wheel Options Create and Edit Programs Write and
41. ith the software installed LO010199 11 August 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 DPE25601 controller automatically sets the direction and number of steps needed to go to that posi tion Range 8388607 to 8388607 Slew The slew command will accelerate the motor up to maximum speed and continue to run at that speed until reaching a registration mark hard limit switch soft limit switch receiving a stop hard or stop soft command Set Position The set position command sets the position register to a designated value The number will be the new absolute position of the motor The default value is 0 Range 8388607 to 8388607 Limit Switch Inputs The limit switch inputs are internally pulled up by a resistor making them normally 5V To activate the input the pin must be grounded to OVDC All limit switch inputs are internally clamped to 5V thus allowing voltages of up to 24VDC to be used Hard Limit Inputs When a hard limit switch is encountered the motion will stop immediately The position counter will also cease counting Hard limits are intended as an emergency stop for your system It should not be used to do any positioning type functions These limits are directi
42. ll continue to the set position and stop In a slew type motion the DPE25601 controller will ramp down and stop In a home type motion the DPE25601 controller will ramp down and run at base speed until the home limit is activated Counter Clockwise Format Description This command sets the direction output to counterclockwise Stop Motion Format Description This command will stop all motion It can also be used to stop the current program that is running 1010199 38 August 2012 Thumbwheel Index Enabled Format O 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 O 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 a0 This command is used in conjunction with the analog position lower limit and analog position upper limit Y commands Analog Speed Enabled Format O or 1 Description This command will either enable or disable input 1 to be used to set the ana log speed To enable the function use a 1 To disable the function use a 0 This command is used in conjunction with the analog speed lower limit and analog speed upper limit T commands Analog Spee
43. m 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 If you need assistance beyond what this manual can provide contact your Local Distributor where you purchased the unit or contact the factory direct ANAHEIM AUTOMATION L010199 49 August 2012
44. mable Indexer Software Version 1 0 0 File Setup Program Edit Help Start Prograrn Stop Prograrn View Program Upload Program Clear Program Memory Autostart Program Disable a Enable Program will disable the execution of a store program at power up Program will start execution when controller is powered up Edit Menu The Unit is Connected Yersion SMC60 Revision 1 00 Analog Input and humbhweel Options Real Ti SMC6OWIN Programmable Indexer Software Yersion 1 0 0 File Setup Program Edit Help Add Change Insert Delete The Unit ts Connected De Wr Version SMC60 Revision 1 00 Real Time Motion Tender Uptions and A eee Create and Edit Program Registration Inputs 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 1010199 18 August 2012 Help Menu oe SMCGOWIN Programmable Indexer Software Yersion 1 0 2 File Setup Program Edit Help Error Coder Reader PCL6M User s Guide WIA anaheimautomation com The Unit is Connected Yersion SMC60 Revision 1 00 Real Time Motion Registration In Error Coder Reader Utility to read the error code generated by the DPN10601 controller PCL601 User s Guide Opens up the User s Guide in pdf format Opens up the Anaheim Automat
45. n with the output on the fly enabled command Range O 65535 D 1 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 O 65535 EA Encoder Autocorrect Enabled Format EA O or 1 Description This command will either enable or disable the encoder auto correct func tion 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 con junction with the encoder delay ED encoder ratio EM encoder retries ER and encoder window EW commands L010199 32 August 2012 ED Encoder Delay Format ED value Description 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 com mand is used in conjunction with the encoder auto correct EA command Range O 65535 EM Encoder Motor Ratio Format EM value Description This represents the ratio for the number of encoder pulses to one motor step An example is
46. ommand 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 Command 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 Command will ramp motor up to max speed and keep moving until triggered to stop Stop Soft Ramp motor down to base speed and stop Stop Hard Stop any motor motion immediately End of Program This command is required as the last command in the program code L010199 26 August 2012 Add Tab Sheets If Then and Output Commands En Ay 5 Fi Add Command lf Then and Output Goto For Loops Encoder and Analog Registration and Text Commands Thumbwheel Commands Commands C If inputs match below then execute the next line otherwise skip the next line 1 2 3 4 5 6 e If input matches then execute the next line otherwise skip the next line Input F Value E C Set Outputs un EAT A A DOLA aie ndeyer SS olla ars Ver imi x t Comment peto Please choose a command OK Cancel 477704 10 35AM 7 If inputs match below then This conditional command allows the user to execute the next line of code if execute the next line other the inputs triggered match the given value If the inputs do not match the next wise skip the next line line is skippe
47. onal 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 dur ing normal operation Home Limit Input This switch is used to establish a position designated home or datum position using the following home to soft and home limit or home to home limit This limit is not directional Home to Soft Home Limit 2 Switch Operation This type of homing routine requires two ground ing type limit switched called home and soft The first limit switch seen is the soft limit This will decelerate the motor down to base speed The motor will then continue to run at base speed until it contacts the home limit switch input causing the motor to stop The home limit switch activates as a hard limit if a soft limit is not sensed The soft limit is directional meaning that it will work in only one direction as specified The soft limit switch will work for any type of motion command The home limi
48. ors with low current ratings and high inductance will perform better at low speeds pro viding 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 DPE25601 is a constant current source it is not necessary to use a motor that is rated at the same voltage as the supply voltage What is important is that the driver is set to the ap propriate current level based on the motor being used Refer to the following chart for setting the current potentiometer based on the current code in the part number of the motor Examples of motor part numbers are shown below Anaheim Automation offers a comprehensive line of step motors in 14 17 23 34 and 42 frame sizes Contact the factory to verify motor compatibility with the DPE25601 Step Motor Current Setting Guide Series Parallel Current Current Setting Setting Unipolar Series Peak Parallel Rating Rating Peak Rating sa 25a soa 100 soa so 60a 100 Anaheim Automation offers motor cable making hook ups quick and easy Contact the factory or visit our website for more motor and cable offerings Setting the Output Current The output current on the DPE25601 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 Potentiometer Poten
49. r 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 The set the position when told via the go to 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 O 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 limit lt upper limit To set the max speed when told via the set analog speed command the input will read a voltage between O 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 DPE25601 is busy moving See examples below for calculations of the analog inputs Range of limits O to 50000 and the lower limit lt upper limit Analog Calculations Example 1 Example 2 Upper Lower Voltage 5 X 5000 0 2 5 2000 5000 1000 3
50. r the input register to be 110111 again LO010199 Acceleration 1000 steps sec sec Base speed 500 steps sec Analog speed lower limit 5000 steps sec Analog speed upper limit 10000 steps sec Enable analog speed Enable index on the fly Direction CEW Home type 1 home limit switch only Home to a physical switch Finish move Position register U Reset position register to U Label TOP lf input registe 59 then execute the next line Input 2 high Input 3 low Goto INPUTGSOOD soto TOR LabelFINPUTGOOD Get max speed from analog input Registration index 2500 steps Direction CY olew Finish move Output register 1 Turn output 1 on Vat 100 msec Output register 0 Turn output 1 off Go to position U Finish move Goto TOP End of program 46 August 2012 Sample Program 5 Sample Program 5 illustrates a typical 3 axis application where one DPE25601 Axis 0 is control ling the other two axes Axis 1 and Axis 2 by using the send text string commands The program first sets the accelerations base speeds and maximum speeds for each axis It then is enabling Axis 0 and Axis 1 to use the thumbwheel switch that is connected to each unit for indexing The direction is then set for Axis O 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
51. re provided per axis The I O may be used for monitoring and control ling machine operation and or interaxis coordination The l O are accessible independent of the busy state of the axis controls The DPE25601 has a built in programmable reset circuit Reset is automatic on power up or by pressing the external reset button 1010199 3 August 2012 Electrical Specifications Power Requirements 100 240 VAC 50 60Hz Operating Temperature O to 60 C Pulse Output Range 1 to 50 000 Hz 0 to 31 25 Rev Sec Inputs TTL CMOS Logic 0 O to 0 8VDC Logic 1 3 5 to 24VDC Analog Input 1 O to 5VDC Output Current Rating 2 5 A phase maximum running 1 75 A phase maximum standstill Ordering Information Baud Rate 38400 Baud Fixed Data Format Half Duplex 1 start bit 8 data bits no parity 1 stop bit Outputs 8 programmable Open Drain Type 40V 100mA 5VDC Output 50mA Output 1 active low time for output on the fly 50usS COIL 24VDC OUTPUTS EXTERNAL POWER SUPPLY Note For inductive loads customers must connect a clamping diode to protect from flyback voltage spikes The table below lists a variety of products available from Anaheim Automation Inc These prod ucts include those covered by this manual analog 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 th
52. ressed using a programmable register allowing the PC to address up to 99 DPE25601 s from one port The Default axis is 0 To change the axis use the SMC60WIN software or the command To verify or check the axis use the SMC6O0WIN software or the 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 software click on the Verify Parameters button located in the Motion Tab To read and clear the error while in Direct Mode use the error code command Once the error has been read and cleared the LED will return to green and the error code register will be cleared to 0 Refer to the table on page 39 for a complete list of the error codes Technical Support Everyone needs assistance on occasion If you have problems using any of the equipment cov ered by this manual please read the manual to see if it will answer your questions Be sure to look in the Trouble shooting Section located near the back of this manual If you need assistance beyond what this manual can provide you may call the factory direct for application assistance If possible have this manual in hand It is often helpful to have the controller connected to a computer w
53. rogram the finish move command is used directly after every motion command When using this command the DPE25601 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 DPE25601 will continue to execute the program If it encounters a command that cannot be used when the motor is moving the DPE25601 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 auto correct function is enabled LO010199 14 August 2012 Encoder Commands The DPE25601 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 DPE25601 When enabled the encoder function will compare the desired position with the actual encoder position If it is not in the correct position a correction move will be made Encoder 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 e
54. s pee O a iral e METIA Arnor anmnmahice ier Pz mm ME s Add Command Fl Then and Output Cormands 69 Ft Loops Encode and Analog estratos ana C Analog Speed Off Analog Position Off sd C Set Analog Speed il C Goto Analog Position Analog Speed On Analog Position On c Analog Speed C Analog Position Lower Limit Lower Limit C Abalog Speed C Analog Position Upper Lirnit Upper Limit C Index on the Fly Off C Dutput On The Fly Off Index on the Fly On C Output On The Fly On C Registration Index C 1st Output Position C Steps Between C Send Text Outputs C H of Dutput Counts Comment Please choose a command OK Cancel 477704 10 36AM Sets the maximum running speed based on the analog input Sets the value of the index that will occur after the registration input is acti Registration Index Waid Send Text Will send the entered text string back to the user 20 characters Maximum L010199 29 August 2012 Calculator Calculator FE 0 a a a E CE Steps Per Rev 400 PPS gt RPS RPS gt PPS Close PPS gt RPS Convert from pulses per second to revolution per second EJ LA HERE 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 p 200 step rev motor in half step which is equal to 400
55. s Step motors can be configured as 4 6 or 8 leads Each configuration requires different currents Refer to the lead configurations and the procedures to determine their output current WARNING Step motors will run hot even when configured correctly Damage may occur to the motor if a higher than specified current is used Most specified motor currents are maximum values Care should be taken to not exceed these ratings 6 Lead 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 de termine the current setting potentiometer value This configuration will provide more torque at higher speeds when compared to the series configuration P1 P2 ae 2 Poss gt P4 al y X X When configuring the motor in a series configuration connected from end to end with the cen ter tap floating use the specified per phase or unipolar current rating to determine the current setting potentiometer value P1 P2 f x COM 1 33 e xX COM 2 4 P3 P4 L010199 8 August 2012 4 Lead Motors Multiply the specified series motor current by 1 4 to determine the current adjustment potenti ometer value 4 lead motors are usually rated with their appropriate series current as opposed to the Phase Current which is the rating for 6 and 8 lead motors P1 P2 ERASE ANM N N N P3 Pa 8 Lead Motors Series
56. 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 ltis 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 dedicated output and not controlled with the output register Verify The verify command causes the DPE25601 controller to send data back to the PC or PLC The data is sent as an ASCII decimal string followed by a carriage return and a line feed The verify com mands are shown in the table on page 34 1010199 15 August 2012 Section 4 SMC60WIN Software The SMC60WIN software is a handy utility that supports Anaheim Automation s line of DPE25601 s step motor controllers Connecting your PC to the DPE25601 via a serial cable the SMC60WIN software can easily perform the following tasks e Exercise and monitor the DPE25601 controller e Write and edit store
57. t it to the screen For a description of the error codes see page 39 Version Number Register Format Description This command requests the DPE25601 controller to return its internal firm ware version number 1010199 37 August 2012 Verify Address Register Format No address is needed before this function will return the address Description This command requests the DPE25601 controller to return its internal ad dress number to the PC or PLC Index on the Fly Enabled Format O 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 1 output position D and number of outputs commands Clockwise Format Description This command sets the direction output to clockwise Soft Limit Input Bit Format l 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 DPE25601 controller wi
58. t 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 L010199 12 August 2012 Jog Inputs The jog switch inputs are internally pulled up by a resistor making them normally 5 volts To activate the input the pin must be grounded to OVDC All jog switch inputs are internally clamped to 5V thus allowing voltages of up to 24VDC to be used Jog is a manual function The user can select the direction and speed fast or slow by grounding the appropriate combinations of inputs To jog a mo tor 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 groun
59. tiometer Peak Current Setting Peak Current Setting 0 50A 1 70A 60 0 70A 1 90A 70 0 90A 80 1 10A 90 1 30A 100 150A 50 Refer to Table 5 for specific motor current settings L010199 7 August 2012 Reducing Output Current Reducing the output current is accomplished by setting switch 1 of the DIP switch to the ON posi tion and occurs approximately 1 second after the last positive going edge of the step clock input The amount of current per phase in the reduction mode is approximately 50 of the set current When the current reduction circuit is activated the current reduction resistor is paralleled with the current adjustment potentiometer This lowers the total resistance value and thus lowers the per Phase output current Determine 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 DPE25601 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 DPE25601 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 Configuration
60. 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 LO010199 Hna ll_ Command Comments Acceleration 1000 stepsf sec sec send Text String 6141000 3 send Text String 2224100 4 Base speed 500 steps sec S send Text string 201 6500 Bb Send Text String 2225100 7o Max speed 5000 steps sec o send Text String 221 MSDOO 4 Send Text String c02MSOD 10 Enable thumbwheel 11 Send Text String a1 12 Label TOF 13 Direction Cy 14 Send Text String 01 15 Send Text String Co 1 16 Go relative thumbwheel index 17 Send Text String 1G 18 Finish move 19 Wait 500 msec 20 Send Text String 2 21 Send Text String 2 M400 22 Send Text String G2 24 Walt 5000 msec 24 Send Text string 2 25 Send Text String G26 46 Wait 1000 msec 2 send Text String 201 PU 0 Go to position O 23 Send Text String 2915 30 Finish move 31 Wait 1000 msec 32 Goto TOP 33 End of program 47 Axis Accel 1000 Axis Accel 1000 Axis Accel 100 Axis Base 500 Axis Base 500 Axis Base 100 Axis Wax S5000 Axis Max 5000 Axis Max 500 Enable Axis Thumbwheel Enable Axis Thumbwheel Axis A Axis C Set Distance with thumbwheel Axis Axis Go relative thumbwheel Wait for moves to end Axisa CCW set axis index Axis2 go relative Axis2 CY Axis2 go
61. turn the current off to the motor set the value to 0 This is a dedicated output and not controlled with the output register 1010199 36 August 2012 V Verify Format Description V command This command can be used with most commands to verify the register con tents This is a read only command Valid Commands are shown below Command Verify 1 output on the fly position Verify encoder position Verify encoder retries Verify encoder window Verify if controller is busy 1 is busy O is not busy y MEJOR Ce Co HUETE EE a NN Description Command Description Verify direction Verify analog position enabled Verify analog speed enabled Verify lower analog speed value Verify upper analog speed value Verify output on the fly enabled Verify jog speed Verify number of outputs L Verify Limits 1 is Hard 2 is Soft 3 is i Ve laweranalod posiionaais Hard and Soft 0 is neither y J P O M Verify max speed Verify upper analog position value Verify number of steps ooo 1 is enabled 0 is disabled Z Position Format Description Z value 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 DPE25601 controller to get the current error code and prin
62. ve Program s Ctrl S The Unit is Connected Version SMC60 Revision 1 00 Print Ctrl P Exit Ctrlex Encoder Options and Analog Input and A e hibiesal Onions Create and Edit Program Setup Menu 2 SMC60WIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help Connect E Disconnect Com Port Settings Axis Establish communications with the controller Release the COM port for other devices to use Com Port Settings Select COM port Axis Set axis selection and stored axis of the controller The Unit is Connected Version SMC60 Revision 1 00 Setup Axis Menu ES SMCGOWIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help The Unit ts Connected Connect E Disconnect Version SMC60 Revision 1 00 Com Port Settings coo Select Ai Real Time Motion Define Axis Select Axis Sets the axis select parameter in the SMC60WIN software 1 99 Sets the programmable address in the controller 1 99 L010199 17 August 2012 Program Menu 27 5 MCGOWIN Programmable Indexer Software Version 1 0 0 File Setup Program Edit Help Start Program The Unit is Connected Stop Program Version SMC60 Revision 1 00 View Program Upload Program Program Autostart Program Menu Clear Program Memory ons and Analog Input and Real Ti lesa hienas peor Create and Edit Prograrn 2 SMCGOWIN Program
63. xample given a 1000 line quadrature encoder and a 400 step revolution motor the motor ratio is 1000 4 400 10 Range 1 to 255 and must be a whole number Encoder Retries This is the number of times the DPE25601 will try to auto correct the motor shaft position before producing an error When the error is produce 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 auto corrects Range O to 255 Thumbwheel Index This special function allows a thumbwheel with up to 7 decades to be used with the DPE25601 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 entered 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 ac celerate 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

DPE25601 (User`s Guide)

Contents

Download Pdf Manuals

Related Search

Related Contents